EV6 blinkers (#26618)

* right blink

* left blink

* rm debug

* just the support code

* revert panda

* behind flag

opendbc

@@ -1 +1 @@
-Subproject commit 94fff4782be263efad10032a612b3c96a120c0b7
+Subproject commit 1f8aa057bc1c96fcf8a2b612a9897ce91e627381

selfdrive/car/hyundai/carcontroller.py

@@ -83,11 +83,16 @@ class CarController:
 
     # tester present - w/ no response (keeps relevant ECU disabled)
     if self.frame % 100 == 0 and not (self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and self.CP.openpilotLongitudinalControl:
+      # for longitudinal control, either radar or ADAS driving ECU
       addr, bus = 0x7d0, 0
       if self.CP.flags & HyundaiFlags.CANFD_HDA2.value:
         addr, bus = 0x730, 5
       can_sends.append([addr, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", bus])
 
+      # for blinkers
+      if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
+        can_sends.append([0x7b1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 5])
+
     # >90 degree steering fault prevention
     # Count up to MAX_ANGLE_FRAMES, at which point we need to cut torque to avoid a steering fault
     if CC.latActive and abs(CS.out.steeringAngleDeg) >= MAX_ANGLE:
@@ -118,6 +123,10 @@ class CarController:
       if self.frame % 5 == 0 and (not hda2 or hda2_long):
         can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CP, CC.enabled))
 
+      # blinkers
+      if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
+        can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.frame, False, False))
+
       if self.CP.openpilotLongitudinalControl:
         if hda2:
           can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.frame))

selfdrive/car/hyundai/hyundaicanfd.py

@@ -1,7 +1,6 @@
 from common.numpy_fast import clip
 from selfdrive.car.hyundai.values import HyundaiFlags
 
-
 def get_e_can_bus(CP):
   # On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. HDA2 cars
   # have a different harness than the HDA1 and non-HDA variants in order to split
@@ -98,6 +97,25 @@ def create_acc_control(packer, CP, enabled, accel_last, accel, stopping, gas_ove
   return packer.make_can_msg("SCC_CONTROL", get_e_can_bus(CP), values)
 
 
+def create_spas_messages(packer, frame, left_blink, right_blink):
+  ret = []
+
+  values = {
+  }
+  ret.append(packer.make_can_msg("SPAS1", 5, values))
+
+  blink = 0
+  if left_blink:
+    blink = 3
+  elif right_blink:
+    blink = 4
+  values = {
+    "BLINKER_CONTROL": blink,
+  }
+  ret.append(packer.make_can_msg("SPAS2", 5, values))
+
+  return ret
+
 
 def create_adrv_messages(packer, frame):
   # messages needed to car happy after disabling

selfdrive/car/hyundai/interface.py

@@ -287,6 +287,10 @@ class CarInterface(CarInterfaceBase):
         addr, bus = 0x730, 5
       disable_ecu(logcan, sendcan, bus=bus, addr=addr, com_cont_req=b'\x28\x83\x01')
 
+    # for blinkers
+    if CP.flags & HyundaiFlags.ENABLE_BLINKERS:
+      disable_ecu(logcan, sendcan, bus=5, addr=0x7B1, com_cont_req=b'\x28\x83\x01')
+
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
 

selfdrive/car/hyundai/values.py

@@ -58,6 +58,8 @@ class HyundaiFlags(IntFlag):
 
   ALT_LIMITS = 16
 
+  ENABLE_BLINKERS = 32
+
 
 class CAR:
   # Hyundai