From 61515e3233db96ea01e638c3b9482fcee8de4745 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 12 Oct 2022 23:10:42 -0700
Subject: [PATCH] add queries

---
 selfdrive/car/fw_versions.py    | 2 +-
 selfdrive/car/hyundai/values.py | 8 ++++++++
 2 files changed, 9 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index c1b349ff5e..7e03f4b020 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -12,7 +12,7 @@ from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
 from system.swaglog import cloudlog
 
 Ecu = car.CarParams.Ecu
-ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa, Ecu.adas]
+ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa]
 
 FW_QUERY_CONFIGS = get_interface_attr('FW_QUERY_CONFIG', ignore_none=True)
 VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True)
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 43c6c62de9..74313e8897 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -284,9 +284,17 @@ HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x4
 
 FW_QUERY_CONFIG = FwQueryConfig(
   requests=[
+    # CAN-FD queries
     Request(
       [HYUNDAI_VERSION_REQUEST_LONG],
       [HYUNDAI_VERSION_RESPONSE],
+      [Ecu.fwdRadar],
+      bus=4,
+    ),
+    Request(
+      [HYUNDAI_VERSION_REQUEST_LONG],
+      [HYUNDAI_VERSION_RESPONSE],
+      [Ecu.fwdCamera, Ecu.adas],
       bus=5,
     ),
     Request(