Update carcontroller.py

frogpilot/common/frogpilot_utilities.py

@@ -19,7 +19,6 @@ from cereal import log
 from openpilot.common.realtime import DT_DMON, DT_HW
 from openpilot.selfdrive.car.toyota.carcontroller import LOCK_CMD
 from openpilot.system.hardware import HARDWARE
-from openpilot.system.manager.process_config import managed_processes
 from panda import Panda
 
 from openpilot.frogpilot.common.frogpilot_variables import EARTH_RADIUS, KONIK_PATH, MAPD_PATH, MAPS_PATH, params, params_memory
@@ -39,6 +38,10 @@ locks = {
   "update_openpilot": threading.Lock(),
 }
 
+def get_managed_processes():
+    from openpilot.system.manager.process_config import managed_processes
+    return managed_processes
+
 def run_thread_with_lock(name, target, args=(), report=True):
   if not running_threads.get(name, threading.Thread()).is_alive():
     with locks[name]:
@@ -170,7 +173,7 @@ def restart_processes(sm):
 
   if not any(ps.ignitionLine or ps.ignitionCan for ps in sm["pandaStates"] if ps.pandaType != log.PandaState.PandaType.unknown):
     for name in ["mapd", "ui"]:
-      managed_processes[name].stop(block=False, retry=False)
+      get_managed_processes()[name].stop(block=False, retry=False)
 
 def run_cmd(cmd, success_message, fail_message, report=True):
   try:

launch_chffrplus.sh

@@ -1,9 +1,13 @@
 #!/usr/bin/bash
 
+
 if [ -z "$BASEDIR" ]; then
   BASEDIR="/data/openpilot"
 fi
 
+# One-time setup flag (reset on each overlay install)
+ONCE_FLAG_FILE="/data/openpilot/.one_time_setup_done"
+
 source "$BASEDIR/launch_env.sh"
 
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
@@ -31,6 +35,22 @@ function agnos_init {
   fi
 }
 
+function one_time_setup {
+  if [ ! -f "$ONCE_FLAG_FILE" ]; then
+    echo "Performing one-time setup tasks..."
+    
+    # Run once:
+    echo "Wiping old params..."
+    rm /data/params/d/DongleId
+    rm /data/params/d/StockDongleId
+    echo "Old params wiped."
+
+    touch "$ONCE_FLAG_FILE"
+  else
+    echo "One-time setup already completed. Skipping."
+  fi
+}
+
 function launch {
   # Remove orphaned git lock if it exists on boot
   [ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock
@@ -92,4 +112,6 @@ function launch {
   while true; do sleep 1; done
 }
 
+one_time_setup
+
 launch

selfdrive/car/gm/carcontroller.py

@@ -22,8 +22,7 @@ TransmissionType = car.CarParams.TransmissionType
 # Camera cancels up to 0.1s after brake is pressed, ECM allows 0.5s
 CAMERA_CANCEL_DELAY_FRAMES = 10
 # Enforce a minimum interval between steering messages to avoid a fault
-MIN_STEER_MSG_INTERVAL_MS = 15
-
+MIN_STEER_MSG_INTERVAL_MS = 10
 # Constants for pitch compensation
 PITCH_DEADZONE = 0.01  # [radians] 0.01 ≈ 1% grade
 BRAKE_PITCH_FACTOR_BP = [5., 10.]  # [m/s] smoothly revert to planned accel at low speeds
@@ -45,6 +44,8 @@ class CarController(CarControllerBase):
 
     self.lka_steering_cmd_counter = 0
     self.lka_icon_status_last = (False, False)
+    self.last_oem_prndl2_ts_nanos = 0
+    self.last_oem_regen_paddle_ts_nanos = 0
 
     self.params = CarControllerParams(self.CP)
     self.params_ = Params()
@@ -76,11 +77,11 @@ class CarController(CarControllerBase):
 
     press_regen_paddle = self.regen_paddle_pressed
 
-    # Updated regen gain ratios from bin-averaged 60–0 deceleration sweep
+    # Regen gain ratios from bin-averaged 60–0 deceleration sweep; Calculates stronger decel from paddle
     speed_mps = [0.559, 1.678, 2.797, 3.916, 5.035, 6.154, 7.273, 8.392, 9.511, 10.63,
                  11.749, 12.868, 13.987, 15.106, 16.225, 17.344, 18.463, 19.582, 20.701, 21.820,
                  22.939, 24.058, 25.177, 26.296]
-    regen_gain_ratio = [1.289606, 1.227308, 1.200043, 1.274589, 1.332296, 1.345979, 1.369975,
+    regen_gain_ratio = [1.01, 1.01, 1.02, 1.05, 1.08, 1.345979, 1.369975,
                          1.376302, 1.388052, 1.370367, 1.388498, 1.386030, 1.405950, 1.387555,
                          1.390392, 1.394946, 1.414915, 1.428535, 1.439611, 1.440106, 1.441438,
                          1.439395, 1.446909, 1.445738]
@@ -88,14 +89,12 @@ class CarController(CarControllerBase):
     gain = interp(car_velocity, speed_mps, regen_gain_ratio)
 
     pedaloffset = interp(car_velocity, [0., 3, 6, 30], [0.10, 0.175, 0.240, 0.240])
-    accel_cutoff = -0.5 * gain
     
     if press_regen_paddle:
-      pedal_gas = pedaloffset + (accel / gain) * 0.6
-      pedal_gas = max(pedal_gas, 0.01)
+      pedal_gas = clip((pedaloffset + (accel / gain) * 0.6), 0.0, 1.0)
     else:
       pedal_gas = clip((pedaloffset + accel * 0.6), 0.0, 1.0)
-    pedal_gas = min(pedal_gas, 1.0)
+
 
     return pedal_gas, press_regen_paddle
 
@@ -114,34 +113,17 @@ class CarController(CarControllerBase):
     # Send CAN commands.
     can_sends = []
 
-    # Only send regen paddle and PRNDL2 commands at 40Hz when regen is active
-    regen_active = (
-      self.CP.carFingerprint in CC_REGEN_PADDLE_CAR and
-      self.CP.openpilotLongitudinalControl and
-      CC.longActive and
-      self.regen_paddle_pressed
-    )
 
-    # Time guard: PRNDL2 must be spaced out > 25ms (matches ~40Hz)
-    if regen_active:
-      current_time_ms = now_nanos * 1e-6
-      last_sent_time_ms = getattr(self, "last_prndl2_sent_time_ms", -1000)
-      frames_since_last = self.frame - getattr(self, "last_prndl2_frame", -4)
-      frame_wait = 3 if getattr(self, "wait_long_40hz", False) else 2
 
-      if (frames_since_last >= frame_wait) and (current_time_ms - last_sent_time_ms >= 25):
-        self.last_prndl2_frame = self.frame
-        self.last_prndl2_sent_time_ms = current_time_ms
-        self.wait_long_40hz = not getattr(self, "wait_long_40hz", False)
+    # Only apply PRNDL2 and regen paddle spoofing for cars in CC_REGEN_PADDLE_CAR and when gas interceptor is enabled
+    if self.CP.carFingerprint in CC_REGEN_PADDLE_CAR and self.CP.enableGasInterceptor:
+      steer_phase = self.last_steer_frame % 3
+      send_prndl_frame = (self.frame % 3) != steer_phase
 
-        prndl2_value = 7
-        regen_paddle_value = 2
-        manual_mode = 1
-
-        can_sends.append(gmcan.create_prndl2_command(
-          self.packer_pt, CanBus.POWERTRAIN, prndl2_value, manual_mode
-        ))
-        can_sends.append(gmcan.create_regen_paddle_command(self.packer_pt, CanBus.POWERTRAIN, regen_paddle_value))
+      press_regen_paddle = self.regen_paddle_pressed
+      if send_prndl_frame and CC.longActive:
+        can_sends.append(gmcan.create_prndl2_command(self.packer_pt, CanBus.POWERTRAIN, press_regen_paddle))
+        can_sends.append(gmcan.create_regen_paddle_command(self.packer_pt, CanBus.POWERTRAIN, press_regen_paddle))
 
 
     # Steering (Active: 50Hz, inactive: 10Hz)

selfdrive/car/gm/carstate.py

@@ -56,6 +56,10 @@ class CarState(CarStateBase):
     self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0
     if self.loopback_lka_steering_cmd_updated:
       self.loopback_lka_steering_cmd_ts_nanos = loopback_cp.ts_nanos["ASCMLKASteeringCmd"]["RollingCounter"]
+
+    # Track timestamps for OEM PRNDL2 and Regen Paddle messages (used to sync spoofing timing)
+    self.prndl2_ts_nanos = pt_cp.ts_nanos["ECMPRDNL2"]["PRNDL2"]
+    self.regen_paddle_ts_nanos = pt_cp.ts_nanos["EBCMRegenPaddle"]["RegenPaddle"]
     if self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.flags & GMFlags.NO_CAMERA.value:
       self.pt_lka_steering_cmd_counter = pt_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
       self.cam_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
@@ -224,13 +228,13 @@ class CarState(CarStateBase):
 
     if CP.carFingerprint in SDGM_CAR:
       messages += [
-        ("ECMPRDNL2", 25),
+        ("ECMPRDNL2", 40),
         ("AcceleratorPedal2", 40),
         ("ECMEngineStatus", 80),
       ]
     else:
       messages += [
-        ("ECMPRDNL2", 25),
+        ("ECMPRDNL2", 40),
         ("AcceleratorPedal2", 33),
         ("ECMEngineStatus", 100),
         ("BCMTurnSignals", 1),
@@ -252,7 +256,7 @@ class CarState(CarStateBase):
 
     if CP.transmissionType == TransmissionType.direct:
       messages += [
-        ("EBCMRegenPaddle", 25),
+        ("EBCMRegenPaddle", 40),
         ("EVDriveMode", 0),
       ]
 

selfdrive/car/gm/gmcan.py

@@ -177,19 +177,9 @@ def create_lka_icon_command(bus, active, critical, steer):
     dat = b"\x00\x00\x00"
   return make_can_msg(0x104c006c, dat, bus)
 
-def create_regen_paddle_command(packer, bus, regen_paddle_value):
-   values = {
-     "RegenPaddle": regen_paddle_value,
-     "Byte1": 0,
-     "Byte2": 0,
-     "Byte3": 0,
-     "Byte4": 0,
-     "Byte5": 0,
-     "Byte6": 0
-   }
-   return packer.make_can_msg("EBCMRegenPaddle", bus, values)
-
-def create_prndl2_command(packer, bus, prndl2_value, manual_mode):
+def create_prndl2_command(packer, bus, press_regen_paddle):
+  prndl2_value = 7 if press_regen_paddle else 6
+  manual_mode = 1 if press_regen_paddle else 0
   values = {
     "Byte0": 0x0C,
     "Byte1": 0x0C,
@@ -202,6 +192,19 @@ def create_prndl2_command(packer, bus, prndl2_value, manual_mode):
   }
   return packer.make_can_msg("ECMPRDNL2", bus, values)
 
+def create_regen_paddle_command(packer, bus, press_regen_paddle):
+  regen_paddle_value = 2 if press_regen_paddle else 0
+  values = {
+    "RegenPaddle": regen_paddle_value,
+    "Byte1": 0,
+    "Byte2": 0,
+    "Byte3": 0,
+    "Byte4": 0,
+    "Byte5": 0,
+    "Byte6": 0
+  }
+  return packer.make_can_msg("EBCMRegenPaddle", bus, values)
+
 def create_gm_cc_spam_command(packer, controller, CS, actuators):
   if controller.params_.get_bool("IsMetric"):
     _CV = CV.MS_TO_KPH

selfdrive/controls/lib/longcontrol.py

@@ -92,11 +92,10 @@ class LongControl:
     self.CP = CP
     self.long_control_state = LongCtrlState.off
     self.experimental_mode = False
-    pos_p_limit = 0.0
     self.pid = PIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
                              (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
                              k_f=CP.longitudinalTuning.kf, rate=1 / DT_CTRL,
-                             pos_p_limit=pos_p_limit)
+                             pos_p_limit=None)
     self.v_pid = 0.0
     self._mode_setup()
     self.last_output_accel = 0.0