Hyundai: add corner radar FW query (#26143)

* Hyundai: add corner radar FW query

* Add to both, and fix when we look at data

* add TODO

* comments

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: d828b69e14

selfdrive/car/hyundai/values.py

@@ -292,6 +292,8 @@ HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x4
 
 FW_QUERY_CONFIG = FwQueryConfig(
   requests=[
+    # TODO: minimize shared whitelists for CAN and cornerRadar for CAN-FD
+    # CAN queries (OBD-II port)
     Request(
       [HYUNDAI_VERSION_REQUEST_LONG],
       [HYUNDAI_VERSION_RESPONSE],
@@ -302,22 +304,23 @@ FW_QUERY_CONFIG = FwQueryConfig(
       [HYUNDAI_VERSION_RESPONSE],
       whitelist_ecus=[Ecu.engine, Ecu.transmission, Ecu.eps, Ecu.abs, Ecu.fwdRadar],
     ),
-    # CAN-FD queries
+    # CAN-FD queries (camera)
     Request(
       [HYUNDAI_VERSION_REQUEST_LONG],
       [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar],
+      whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.cornerRadar],
       bus=4,
     ),
     Request(
       [HYUNDAI_VERSION_REQUEST_LONG],
       [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.fwdCamera, Ecu.adas],
+      whitelist_ecus=[Ecu.fwdCamera, Ecu.adas, Ecu.cornerRadar],
       bus=5,
     ),
   ],
   extra_ecus=[
-    (Ecu.adas, 0x730, None),  # ADAS Driving ECU on HDA2 platforms
+    (Ecu.adas, 0x730, None),         # ADAS Driving ECU on HDA2 platforms
+    (Ecu.cornerRadar, 0x7b7, None),
   ],
 )