Hyundai: split CAN and CAN FD CarController update function

[sshane]

The entirety is very confusing, especially all of this:

opendbc/opendbc/car/hyundai/carcontroller.py

Lines 105 to 164 in bc83987

	if self.CP.flags & HyundaiFlags.CANFD:
	lka_steering = self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING
	lka_steering_long = lka_steering and self.CP.openpilotLongitudinalControl
	# steering control
	can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_torque))
	# prevent LFA from activating on LKA steering cars by sending "no lane lines detected" to ADAS ECU
	if self.frame % 5 == 0 and lka_steering:
	can_sends.append(hyundaicanfd.create_suppress_lfa(self.packer, self.CAN, CS.lfa_block_msg,
	self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT))
	# LFA and HDA icons
	if self.frame % 5 == 0 and (not lka_steering or lka_steering_long):
	can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled))
	# blinkers
	if lka_steering and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
	can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.CAN, self.frame, CC.leftBlinker, CC.rightBlinker))
	if self.CP.openpilotLongitudinalControl:
	if lka_steering:
	can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
	else:
	can_sends.extend(hyundaicanfd.create_fca_warning_light(self.packer, self.CAN, self.frame))
	if self.frame % 2 == 0:
	can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
	set_speed_in_units, hud_control))
	self.accel_last = accel
	else:
	# button presses
	can_sends.extend(self.create_button_messages(CC, CS, use_clu11=False))
	else:
	can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.CP, apply_torque, apply_steer_req,
	torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled,
	hud_control.leftLaneVisible, hud_control.rightLaneVisible,
	left_lane_warning, right_lane_warning))
	if not self.CP.openpilotLongitudinalControl:
	can_sends.extend(self.create_button_messages(CC, CS, use_clu11=True))
	if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
	# TODO: unclear if this is needed
	jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
	use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
	can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2),
	hud_control, set_speed_in_units, stopping,
	CC.cruiseControl.override, use_fca, self.CP))
	# 20 Hz LFA MFA message
	if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value:
	can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled))
	# 5 Hz ACC options
	if self.frame % 20 == 0 and self.CP.openpilotLongitudinalControl:
	can_sends.extend(hyundaican.create_acc_opt(self.packer, self.CP))
	# 2 Hz front radar options
	if self.frame % 50 == 0 and self.CP.openpilotLongitudinalControl:
	can_sends.append(hyundaican.create_frt_radar_opt(self.packer))

and this function:

opendbc/opendbc/car/hyundai/carcontroller.py

Line 174 in bc83987

def create_button_messages(self, CC: structs.CarControl, CS: CarState, use_clu11: bool):

use_clu11 has nothing to do with CAN FD, but it looks like it could.

The file should match CarState's split

[sshane]

Related: #1898, we weren't testing one of the ACC cancel messages, allowing actuation

[sunnyhaibin]

use_clu11 is required in CAN FD for these 2 ports:

• HKG: Car Port for Hyundai Palisade and Kia Telluride 2023-24 (HDA2) #1268
• HKG: Car Port for Hyundai Palisade and Kia Telluride 2023-25 (non-HDA2) #1273

It was introduced in this PR as prerequisites for the above 2 PRs:

• Hyundai: consolidate button messages creation openpilot#29663