Hyundai: add BSM detection (#20747)

* Hyundai: add BSM detection

* update refs
old-commit-hash: b0503e534a

selfdrive/car/hyundai/carstate.py

@@ -125,7 +125,7 @@ class CarState(CarStateBase):
       ret.stockAeb = cp.vl["SCC12"]['AEB_CmdAct'] != 0
       ret.stockFcw = cp.vl["SCC12"]['CF_VSM_Warn'] == 2
 
-    if self.CP.carFingerprint in FEATURES["use_bsm"]:
+    if self.CP.enableBsm:
       ret.leftBlindspot = cp.vl["LCA11"]["CF_Lca_IndLeft"] != 0
       ret.rightBlindspot = cp.vl["LCA11"]["CF_Lca_IndRight"] != 0
 
@@ -225,7 +225,7 @@ class CarState(CarStateBase):
         ("SCC12", 50),
       ]
 
-    if CP.carFingerprint in FEATURES["use_bsm"]:
+    if CP.enableBsm:
       signals += [
         ("CF_Lca_IndLeft", "LCA11", 0),
         ("CF_Lca_IndRight", "LCA11", 0),

selfdrive/car/hyundai/interface.py

@@ -237,6 +237,7 @@ class CarInterface(CarInterfaceBase):
                                                                          tire_stiffness_factor=tire_stiffness_factor)
 
     ret.enableCamera = True
+    ret.enableBsm = 0x58b in fingerprint[0]
 
     return ret
 

selfdrive/car/hyundai/values.py

@@ -548,9 +548,6 @@ FEATURES = {
 
   # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
   "use_fca": set([CAR.SONATA, CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS]),
-
-  "use_bsm": set([CAR.SONATA, CAR.PALISADE, CAR.HYUNDAI_GENESIS, CAR.GENESIS_G70,
-                  CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.KONA, CAR.KIA_SELTOS]),
 }
 
 EV_HYBRID = set([CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_NIRO_EV])

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-8539d7c0d5186cd2d13e7f031ecb93e64b5ed8ae
+17a1bec4747f2a449baed294a6fc395ddb745e52