From 0e229c0b6d29c5059edd65aa9c687def6731fbd3 Mon Sep 17 00:00:00 2001
From: Your Name <you@example.com>
Date: Tue, 30 Apr 2024 10:27:10 -0500
Subject: [PATCH] wip

---
 clearpilot_notes.txt                   | 14 +++++++++++++-
 panda/board/safety/safety_hyundai.h    | 16 ++++++++--------
 selfdrive/car/hyundai/carcontroller.py |  4 +++-
 3 files changed, 24 insertions(+), 10 deletions(-)

diff --git a/clearpilot_notes.txt b/clearpilot_notes.txt
index 655645d..14f591e 100644
--- a/clearpilot_notes.txt
+++ b/clearpilot_notes.txt
@@ -1,3 +1,15 @@
 example of using stdin and stdout as a message buffer:
 
-selfdrive/manager/build.py
\ No newline at end of file
+selfdrive/manager/build.py
+
+pandacan: pandacan is a user space library for talking to your car over USB or Wi-Fi from Python. It allows full read/write access to all the CAN and LIN buses. “pip install pandacan”
+
+SocketCAN: SocketCAN is the Linux standard for CAN interfaces. The included driver allows panda to work with all SocketCAN tools, including can-utils and Wireshark.
+
+SunnyPilot lfa btn:
+class HyundaiFlagsSP(IntFlag):
+  SP_ENHANCED_SCC = 1
+  SP_CAN_LFA_BTN = 2
+  SP_NAV_MSG = 4
+LFA_Pressed
+  188,47:       self.lkas_enabled = cp.vl["BCM_PO_11"]["LFA_Pressed"]
\ No newline at end of file
diff --git a/panda/board/safety/safety_hyundai.h b/panda/board/safety/safety_hyundai.h
index 49565b9..1fccf13 100644
--- a/panda/board/safety/safety_hyundai.h
+++ b/panda/board/safety/safety_hyundai.h
@@ -283,16 +283,16 @@ static bool hyundai_tx_hook(const CANPacket_t *to_send) {
   if ((addr == 0x4F1) && !hyundai_longitudinal) {
     int button = GET_BYTE(to_send, 0) & 0x7U;
 
-    // bool allowed_resume = (button == 1) && controls_allowed;
-    // bool allowed_cancel = (button == 4) && cruise_engaged_prev;
-    // if (!(allowed_resume || allowed_cancel)) {
-      // tx = false;
-    // }
-    
-    // CLEARPILOT - Allow buttons 1 (accel), 2 (decel), 4 (pause/resume)
-    if (!(button == 1 || button == 2 || button == 3)) {
+    bool allowed_resume = (button == 1) && controls_allowed;
+    bool allowed_cancel = (button == 4) && cruise_engaged_prev;
+    if (!(allowed_resume || allowed_cancel)) {
       tx = false;
     }
+    
+    // CLEARPILOT - Allow buttons 1 (accel), 2 (decel), 4 (pause/resume)
+    // if (!(button == 1 || button == 2 || button == 3)) {
+      // tx = false;
+    // }
   }
 
   return tx;
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index a61da9f..12d736e 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -121,7 +121,9 @@ class CarController(CarControllerBase):
 
       # LFA and HDA icons
       if self.frame % 5 == 0 and (not hda2 or hda2_long):
-        can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled, CC.latActive))
+        # CLEARPILOT TEST self.CS.lkas_enabled
+        # can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled, CC.latActive))
+        can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CS.lkas_enabled, CS.lkas_enabled))
 
       # blinkers
       if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS: