From 330f2860addb3f91e03ee0cafb011038de97ec61 Mon Sep 17 00:00:00 2001
From: Brian Hanson <brian@hanson.xyz>
Date: Mon, 13 Apr 2026 03:21:12 +0000
Subject: [PATCH] telemetry: log Hyundai CAN-FD HDA2 vehicle data

Logs high-value CAN bus data every frame in update_canfd():
- car: vEgo, aEgo, steering angle, gear, brake/gas, blinkers, standstill
- cruise: enabled, speed, ACCMode, VSetDis, aReq, distance setting, lead dist
- speed_limit: all 3 CLUSTER_SPEED_LIMIT values, school zone, chimes,
  calculated speed limit, metric flag
- buttons: cruise buttons, main button, LKAS, main_enabled state

Data flows through the diff-based telemetry logger (only changed values
written to CSV) when TelemetryEnabled param is set.

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
---
 selfdrive/car/hyundai/carstate.py | 53 +++++++++++++++++++++++++++++++
 1 file changed, 53 insertions(+)

diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 47e2646..c69878f 100755
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -420,6 +420,59 @@ class CarState(CarStateBase):
     # self.params_memory.put_float("CarSpeedLimitLiteral", self.calculate_speed_limit(cp, cp_cam))
     self.params_memory.put_float("CarSpeedLimit", self.calculate_speed_limit(cp, cp_cam) * speed_factor)
 
+    # CLEARPILOT: telemetry logging
+    from openpilot.selfdrive.clearpilot.telemetry import tlog
+
+    speed_limit_bus = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam
+    scc = cp_cam.vl["SCC_CONTROL"] if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp.vl["SCC_CONTROL"]
+    cluster = speed_limit_bus.vl["CLUSTER_SPEED_LIMIT"]
+
+    tlog("car", {
+      "vEgo": round(ret.vEgo, 3),
+      "vEgoRaw": round(ret.vEgoRaw, 3),
+      "aEgo": round(ret.aEgo, 3),
+      "steeringAngleDeg": round(ret.steeringAngleDeg, 1),
+      "gear": str(ret.gearShifter),
+      "brakePressed": ret.brakePressed,
+      "gasPressed": ret.gasPressed,
+      "standstill": ret.standstill,
+      "leftBlinker": ret.leftBlinker,
+      "rightBlinker": ret.rightBlinker,
+    })
+
+    tlog("cruise", {
+      "enabled": ret.cruiseState.enabled,
+      "available": ret.cruiseState.available,
+      "speed": round(ret.cruiseState.speed, 3),
+      "standstill": ret.cruiseState.standstill,
+      "accFaulted": ret.accFaulted,
+      "ACCMode": scc.get("ACCMode", 0),
+      "VSetDis": scc.get("VSetDis", 0),
+      "aReqRaw": round(scc.get("aReqRaw", 0), 3),
+      "aReqValue": round(scc.get("aReqValue", 0), 3),
+      "DISTANCE_SETTING": scc.get("DISTANCE_SETTING", 0),
+      "ACC_ObjDist": round(scc.get("ACC_ObjDist", 0), 1),
+    })
+
+    tlog("speed_limit", {
+      "SPEED_LIMIT_1": cluster.get("SPEED_LIMIT_1", 0),
+      "SPEED_LIMIT_2": cluster.get("SPEED_LIMIT_2", 0),
+      "SPEED_LIMIT_3": cluster.get("SPEED_LIMIT_3", 0),
+      "SCHOOL_ZONE": cluster.get("SCHOOL_ZONE", 0),
+      "CHIME_1": cluster.get("CHIME_1", 0),
+      "CHIME_2": cluster.get("CHIME_2", 0),
+      "SPEED_CHANGE_BLINKING": cluster.get("SPEED_CHANGE_BLINKING", 0),
+      "calculated": self.calculate_speed_limit(cp, cp_cam),
+      "is_metric": self.is_metric,
+    })
+
+    tlog("buttons", {
+      "cruise_button": self.cruise_buttons[-1],
+      "main_button": self.main_buttons[-1],
+      "lkas_enabled": self.lkas_enabled,
+      "main_enabled": self.main_enabled,
+    })
+
     return ret
 
   def get_can_parser(self, CP):