Ford: catch camera ACC faults (#28170)

* catch camera acc faults

* Update selfdrive/car/ford/carstate.py

* cmt

* needs to be CP

selfdrive/car/ford/carstate.py

@@ -62,6 +62,8 @@ class CarState(CarStateBase):
     ret.cruiseState.nonAdaptive = cp.vl["Cluster_Info1_FD1"]["AccEnbl_B_RqDrv"] == 0
     ret.cruiseState.standstill = cp.vl["EngBrakeData"]["AccStopMde_D_Rq"] == 3
     ret.accFaulted = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (1, 2)
+    if not self.CP.openpilotLongitudinalControl:
+      ret.accFaulted = ret.accFaulted or cp_cam.vl["ACCDATA"]["CmbbDeny_B_Actl"] == 1
 
     # gear
     if self.CP.transmissionType == TransmissionType.automatic:
@@ -218,6 +220,8 @@ class CarState(CarStateBase):
   def get_cam_can_parser(CP):
     signals = [
       # sig_name, sig_address
+      ("CmbbDeny_B_Actl", "ACCDATA"),               # ACC/AEB unavailable/lockout
+
       ("CmbbBrkDecel_B_Rq", "ACCDATA_2"),           # AEB actuation request bit
 
       ("HaDsply_No_Cs", "ACCDATA_3"),
@@ -264,6 +268,7 @@ class CarState(CarStateBase):
 
     checks = [
       # sig_address, frequency
+      ("ACCDATA", 50),
       ("ACCDATA_2", 50),
       ("ACCDATA_3", 5),
       ("IPMA_Data", 1),