From a24c95db62a8c2424f540af22ce93256ceef2ffc Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 15 Apr 2024 14:41:03 -0700
Subject: [PATCH] Hyundai CAN: check traction control enabled (#32208)

* add esp

* add tcs11
old-commit-hash: ed1d12974fdf37f8acc295b25ec21da308296160
---
 selfdrive/car/hyundai/carstate.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index eac91d5293..92c489cf34 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -118,6 +118,7 @@ class CarState(CarStateBase):
     ret.brakePressed = cp.vl["TCS13"]["DriverOverride"] == 2  # 2 includes regen braking by user on HEV/EV
     ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2  # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
     ret.parkingBrake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1
+    ret.espDisabled = cp.vl["TCS11"]["TCS_PAS"] == 1
     ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
 
     if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
@@ -255,6 +256,7 @@ class CarState(CarStateBase):
     messages = [
       # address, frequency
       ("MDPS12", 50),
+      ("TCS11", 100),
       ("TCS13", 50),
       ("TCS15", 10),
       ("CLU11", 50),