Three independent changes for the parked-controlsd architecture.
controlsd_parked: send the Hyundai HDA2 tester-present heartbeat
("\x02\x3E\x80\x00\x00\x00\x00\x00") at 1 Hz to 0x730 on E-CAN while we're
the active controlsd variant. The full carcontroller normally sends this
to keep the ADAS ECU held in its disabled diagnostic session — when full
controlsd hands off to parked-controlsd, the heartbeat used to stop, the
ECU would time out (~5 s default-session timeout) and snap back to stock,
lighting up the LKAS / blind-spot warning icons on the cluster. Continuing
the heartbeat from the parked variant keeps the ECU disabled across the
swap. The panda safety filter only allows tester-present on 0x730 so this
is the only "graceful release" mechanism available to us.
thermald: cruise-set override on the parked check. If carState.cruiseState
.speed > 0 (engaged OR paused-with-speed-set), stay in not_parked even if
gear is in P. The user can shift to park at a stop, glance at the cluster
to verify cruise is still set, and roll forward without waiting for full
controlsd to spin up. PARKED_HYSTERESIS_S still applies for the
gear-in-park-no-cruise → parked transition.
dashcamd: close the trip immediately on gear shift to PARK (was: 10-min
idle timer before close). User wants the dashcam idle in park and a fresh
trip on every drive engagement; brief drive-thru / fuel-stop across-trip
continuity isn't valued.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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