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firestar5683
2025-06-01 00:15:36 -05:00
parent 3b12d08f82
commit 98d6ee1d8f
1 changed files with 7 additions and 7 deletions
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selfdrive/car/gm/carcontroller.py
+7 -7
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@@ -173,21 +173,21 @@ class CarController(CarControllerBase):
# Midpoint spoof: one per interval
if not self.spoof_mid_sent and interval_ns > 0:
midpoint_ns = self.prev_steer_ts_ns + interval_ns // 2
if now_nanos >= midpoint_ns and now_nanos - self.last_steer_ts_ns >= 11_000_000:
if now_nanos >= midpoint_ns and now_nanos - self.last_steer_ts_ns >= 15_000_000:
paddle_sends.append(gmcan.create_prndl2_command(self.packer_pt, CanBus.POWERTRAIN, True))
paddle_sends.append(gmcan.create_regen_paddle_command(self.packer_pt, CanBus.POWERTRAIN, True))
self.last_spoof_ts_ns = now_nanos
self.spoof_mid_sent = True
# Overflow spoof: insert extra when accumulator allows
if self.spoof_accum >= 1.0 and not self.spoof_over_sent and interval_ns > 0:
if self.spoof_accum >= 0.6 and not self.spoof_over_sent and interval_ns > 0:
slot2_ns = self.prev_steer_ts_ns + (interval_ns * 2) // 3
if now_nanos >= slot2_ns and now_nanos - self.last_steer_ts_ns >= 11_000_000:
if now_nanos >= slot2_ns and now_nanos - self.last_steer_ts_ns >= 15_000_000:
paddle_sends.append(gmcan.create_prndl2_command(self.packer_pt, CanBus.POWERTRAIN, True))
paddle_sends.append(gmcan.create_regen_paddle_command(self.packer_pt, CanBus.POWERTRAIN, True))
self.last_spoof_ts_ns = now_nanos
self.spoof_over_sent = True
self.spoof_accum -= 1.0
self.spoof_accum -= 0.6
# === End Spoof scheduling ===
# === Off-pulse scheduling on regen release ===
@@ -203,7 +203,7 @@ class CarController(CarControllerBase):
if hasattr(self, "off_schedule_ns"):
for i, t_ns in enumerate(self.off_schedule_ns):
if not self.off_sent[i] and now_nanos >= t_ns and now_nanos - self.last_steer_ts_ns >= 11_000_000:
if not self.off_sent[i] and now_nanos >= t_ns and now_nanos - self.last_steer_ts_ns >= 15_000_000:
paddle_sends.append(gmcan.create_prndl2_command(self.packer_pt, CanBus.POWERTRAIN, False))
paddle_sends.append(gmcan.create_regen_paddle_command(self.packer_pt, CanBus.POWERTRAIN, False))
self.off_sent[i] = True
@@ -255,8 +255,8 @@ class CarController(CarControllerBase):
# Merge paddle spoof CAN frames, time-guarded only
if paddle_sends:
# wait at least 11 ms after the last bus0 steer send
if now_nanos - self.last_steer_ts_ns >= 11_000_000:
# wait at least 15 ms after the last bus0 steer send
if now_nanos - self.last_steer_ts_ns >= 15_000_000:
can_sends.extend(paddle_sends)
if self.CP.openpilotLongitudinalControl: