cleanup dash

selfdrive/car/hyundai/carcontroller.py

@@ -1,6 +1,6 @@
 from cereal import car
 from selfdrive.car import apply_std_steer_torque_limits
-from selfdrive.car.hyundai.hyundaican import create_lkas11, create_clu11
+from selfdrive.car.hyundai.hyundaican import create_lkas11, create_clu11, create_lfa_mfa
 from selfdrive.car.hyundai.values import Buttons, SteerLimitParams, CAR
 from opendbc.can.packer import CANPacker
 
@@ -69,7 +69,7 @@ def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert,
 
     can_sends = []
     can_sends.append(create_lkas11(self.packer, frame, self.car_fingerprint, apply_steer, lkas_active,
-                                   CS.lkas11, sys_warning, sys_state,
+                                   CS.lkas11, sys_warning, sys_state, enabled,
                                    left_lane, right_lane,
                                    left_lane_warning, right_lane_warning))
 
@@ -84,7 +84,7 @@ def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert,
         self.resume_cnt = 0
       # when lead car starts moving, create 6 RES msgs
       elif CS.lead_distance != self.last_lead_distance and (frame - self.last_resume_frame) > 5:
-        can_sends.append(create_clu11(self.packer, CS.clu11, Buttons.RES_ACCEL))
+        can_sends.append(create_clu11(self.packer, frame, CS.clu11, Buttons.RES_ACCEL))
         self.resume_cnt += 1
         # interval after 6 msgs
         if self.resume_cnt > 5:
@@ -95,4 +95,9 @@ def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert,
       self.last_lead_distance = 0
 
 
+    # 20 Hz LFA MFA message
+    if frame % 5 == 0 and self.car_fingerprint == CAR.SONATA:
+      can_sends.append(create_lfa_mfa(self.packer, frame, enabled))
+
+
     return can_sends

selfdrive/car/hyundai/hyundaican.py

@@ -5,7 +5,7 @@
 
 
 def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
-                  lkas11, sys_warning, sys_state,
+                  lkas11, sys_warning, sys_state, enabled,
                   left_lane, right_lane,
                   left_lane_depart, right_lane_depart):
   values = lkas11
@@ -29,16 +29,13 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
     # FcwOpt_USM 2 = Green car + lanes
     # FcwOpt_USM 1 = White car + lanes
     # FcwOpt_USM 0 = No car + lanes
-    values["CF_Lkas_FcwOpt_USM"] = 2 if steer_req else 0
+    values["CF_Lkas_FcwOpt_USM"] = 2 if enabled else 0
 
     # 4 is keep hands on wheel
     # 5 is keep hands on wheel (red)
     # 6 is keep hands on wheel (red) + beep
     values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0
 
-    # TODO: LFA stuff (steering wheel) is in 0x485
-    # Make sure there is no dash error when pressing LFA button on wheel
-
   elif car_fingerprint == CAR.HYUNDAI_GENESIS:
     # This field is actually LdwsActivemode
     # Genesis and Optima fault when forwarding while engaged
@@ -69,3 +66,23 @@ def create_clu11(packer, frame, clu11, button):
   values["CF_Clu_CruiseSwState"] = button
   values["CF_Clu_CruiseSwState"] = frame % 0x10
   return packer.make_can_msg("CLU11", 0, values)
+
+
+def create_lfa_mfa(packer, frame, enabled):
+  values = {
+    "LFA_ACTIVE": enabled,
+  }
+
+  # ACTIVE 1 = Green steering wheel icon
+
+  # LFA_USM 2 & 3 = LFA cancelled, fast loud beeping
+  # LFA_USM 0 & 1 = No mesage
+
+  # LFA_SysWarning 1 = "Switching to HDA", short beep
+  # LFA_SysWarning 2 = "Switching to Smart Cruise control", short beep
+  # LFA_SysWarning 3 =  LFA error
+
+  # ACTIVE2: nothing
+  # HDA_USM: nothing
+
+  return packer.make_can_msg("LFAHDA_MFC", 0, values)