Hyundai CAN-FD HDA2: specify signals to suppress LFA (#29658)

* Hyundai CAN-FD HDA2: specify signals to suppress LFA

* bump opendbc

* Fix

* Update comment

* fix

* closer to original

* preserve behavior

* Revert "preserve behavior"

This reverts commit 6549c085ab.

* preserve behavior

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>

opendbc

@@ -1 +1 @@
-Subproject commit 25dd2b50fc93ff6a25b99b72c664b9c37413097d
+Subproject commit 814763889df3d1f19112a9628dfb4d1f17c0c533

selfdrive/car/hyundai/carcontroller.py

@@ -110,7 +110,7 @@ class CarController:
       # steering control
       can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_steer))
 
-      # disable LFA on HDA2
+      # prevent LFA from activating on HDA2 by sending "no lane lines detected" to ADAS ECU
       if self.frame % 5 == 0 and hda2:
         can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, self.CAN, CS.cam_0x2a4))
 

selfdrive/car/hyundai/hyundaicanfd.py

@@ -61,9 +61,12 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer):
   return ret
 
 def create_cam_0x2a4(packer, CAN, cam_0x2a4):
-  values = {f"BYTE{i}": cam_0x2a4[f"BYTE{i}"] for i in range(3, 24)}
-  values['COUNTER'] = cam_0x2a4['COUNTER']
-  values["BYTE7"] = 0
+  values = {f"BYTE{i}": cam_0x2a4[f"BYTE{i}"] for i in range(3, 24) if i != 7}
+  values["COUNTER"] = cam_0x2a4["COUNTER"]
+  values["SET_ME_0"] = 0
+  values["SET_ME_0_2"] = 0
+  values["LEFT_LANE_LINE"] = 0
+  values["RIGHT_LANE_LINE"] = 0
   return packer.make_can_msg("CAM_0x2a4", CAN.ACAN, values)
 
 def create_buttons(packer, CP, CAN, cnt, btn):