From 00b5cba95a01799b0bb275c0e94bdf2cfc60f3ad Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 9 Jul 2020 18:26:06 -0700
Subject: [PATCH] only check BSM on sonata for now, not equipped on all HKG

old-commit-hash: 8bf198ba7de7f50274cb3b1ebca938031b71ced1
---
 selfdrive/car/hyundai/carstate.py | 16 ++++++++++------
 selfdrive/car/hyundai/values.py   |  2 ++
 2 files changed, 12 insertions(+), 6 deletions(-)

diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 7865e4c95..1e4ad4018 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -120,8 +120,9 @@ class CarState(CarStateBase):
       ret.stockAeb = cp.vl["SCC12"]['AEB_CmdAct'] != 0
       ret.stockFcw = cp.vl["SCC12"]['CF_VSM_Warn'] == 2
 
-    ret.leftBlindspot = cp.vl["LCA11"]["CF_Lca_IndLeft"] != 0
-    ret.rightBlindspot = cp.vl["LCA11"]["CF_Lca_IndRight"] != 0
+    if self.CP.carFingerprint in FEATURES["use_bsm"]:
+      ret.leftBlindspot = cp.vl["LCA11"]["CF_Lca_IndLeft"] != 0
+      ret.rightBlindspot = cp.vl["LCA11"]["CF_Lca_IndRight"] != 0
 
     # save the entire LKAS11 and CLU11
     self.lkas11 = cp_cam.vl["LKAS11"]
@@ -179,9 +180,6 @@ class CarState(CarStateBase):
 
       ("CF_Lvr_GearInf", "LVR11", 0),        # Transmission Gear (0 = N or P, 1-8 = Fwd, 14 = Rev)
 
-      ("CF_Lca_IndLeft", "LCA11", 0),
-      ("CF_Lca_IndRight", "LCA11", 0),
-
       ("CR_Mdps_StrColTq", "MDPS12", 0),
       ("CF_Mdps_ToiActive", "MDPS12", 0),
       ("CF_Mdps_ToiUnavail", "MDPS12", 0),
@@ -211,9 +209,15 @@ class CarState(CarStateBase):
       ("SAS11", 100),
       ("SCC11", 50),
       ("SCC12", 50),
-      ("LCA11", 50),
     ]
 
+    if CP.carFingerprint in FEATURES["use_bsm"]:
+      signals += [
+        ("CF_Lca_IndLeft", "LCA11", 0),
+        ("CF_Lca_IndRight", "LCA11", 0),
+      ]
+      checks += [("LCA11", 50)]
+
     if CP.carFingerprint in EV_HYBRID:
       signals += [
         ("Accel_Pedal_Pos", "E_EMS11", 0),
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 1e564f377..e19db60c8 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -213,6 +213,8 @@ FEATURES = {
 
   # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
   "use_fca": [CAR.SONATA, CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ, CAR.KONA, CAR.KONA_EV, CAR.KIA_FORTE, CAR.PALISADE],
+
+  "use_bsm": [CAR.SONATA],
 }
 
 EV_HYBRID = [CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV]