Hyundai: CAN-FD blindspot signals (#26229)

* Hyundai: CAN-FD blindspot signals

* fix that

* update refs

opendbc

@@ -1 +1 @@
-Subproject commit 7bd94e3ff4a2890eb69118f0dfadb64f9d32d618
+Subproject commit a95b0ae8a5244a9d6311bf72aa2a7d63d41b4a9f

selfdrive/car/hyundai/carstate.py

@@ -187,6 +187,9 @@ class CarState(CarStateBase):
 
     ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"]["LEFT_LAMP"],
                                                                       cp.vl["BLINKERS"]["RIGHT_LAMP"])
+    if self.CP.enableBsm:
+      ret.leftBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR"] != 0
+      ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0
 
     ret.cruiseState.available = True
     self.is_metric = cp.vl["CLUSTER_INFO"]["DISTANCE_UNIT"] != 1
@@ -450,6 +453,15 @@ class CarState(CarStateBase):
       ("DOORS_SEATBELTS", 4),
     ]
 
+    if CP.enableBsm:
+      signals += [
+        ("FL_INDICATOR", "BLINDSPOTS_REAR_CORNERS"),
+        ("FR_INDICATOR", "BLINDSPOTS_REAR_CORNERS"),
+      ]
+      checks += [
+        ("BLINDSPOTS_REAR_CORNERS", 20),
+      ]
+
     if CP.flags & HyundaiFlags.CANFD_HDA2 and not CP.openpilotLongitudinalControl:
       signals += [
         ("CRUISE_STATUS", "CRUISE_INFO"),

selfdrive/car/hyundai/interface.py

@@ -311,6 +311,13 @@ class CarInterface(CarInterfaceBase):
     ret.vEgoStarting = 0.1
     ret.startAccel = 2.0
 
+    # *** feature detection ***
+    if candidate in CANFD_CAR:
+      bus = 5 if ret.flags & HyundaiFlags.CANFD_HDA2 else 4
+      ret.enableBsm = 0x1e5 in fingerprint[bus]
+    else:
+      ret.enableBsm = 0x58b in fingerprint[0]
+
     # *** panda safety config ***
     if candidate in CANFD_CAR:
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
@@ -321,8 +328,6 @@ class CarInterface(CarInterfaceBase):
       if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
         ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
     else:
-      ret.enableBsm = 0x58b in fingerprint[0]
-
       if candidate in LEGACY_SAFETY_MODE_CAR:
         # these cars require a special panda safety mode due to missing counters and checksums in the messages
         ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)]

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-9d042d06f61c8f48e8c7a4e30001630c14712272
+68457035e9223fcbd70bd40966d5a1d9fe4f1567