From d732fe98ff075d2503c2b89c6d614f250435c128 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Tue, 20 May 2025 00:54:25 -0500
Subject: [PATCH] Update carcontroller.py

---
 selfdrive/car/gm/carcontroller.py | 21 ++++++++++++++++-----
 1 file changed, 16 insertions(+), 5 deletions(-)

diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index 90769560fc..b5379c0a1a 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -59,6 +59,7 @@ class CarController(CarControllerBase):
     self.accel_g = 0.0
     self.regen_paddle_pressed = False
     self.aego = 0.0
+    self.regen_disable_until = 0  # frame index until which regen spoof is blocked after a fault
 
   def calc_pedal_command(self, accel: float, long_active: bool, car_velocity) -> Tuple[float, bool]:
     if not long_active:
@@ -122,11 +123,16 @@ class CarController(CarControllerBase):
       self.regen_paddle_pressed
     )
 
-    # Send regen paddle and PRNDL2 commands at ~40Hz, avoiding steer frame timing
-    steer_phase = self.last_steer_frame % 5
-    send_paddle_and_prndl2 = (self.frame % 5) != steer_phase  # Avoid steer frame
-    send_every_other = self.frame % 2 == 0                    # ~50Hz -> ~40Hz
-    send_prndl_frame = send_paddle_and_prndl2 and send_every_other
+    # If longActive just dropped (EPS error), block regen spoof for a cooldown period
+    if not CC.longActive and getattr(self, "last_regen_active", False):
+      # block for 50 frames (~0.5s)
+      self.regen_disable_until = self.frame + 50
+
+    regen_active = regen_active and (self.frame >= self.regen_disable_until)
+
+    # Send regen paddle and PRNDL2 commands at ~66Hz, avoiding steer frame timing
+    steer_phase = self.last_steer_frame % 3
+    send_prndl_frame = (self.frame % 3) != steer_phase
 
     press_regen_paddle = None
     if regen_active and send_prndl_frame:
@@ -134,6 +140,11 @@ class CarController(CarControllerBase):
     elif not regen_active and getattr(self, "last_regen_active", False):
       press_regen_paddle = False
 
+    # Enforce at least 3-frame gap after last steer to avoid EPS faults
+    frames_since_last_steer = self.frame - self.last_steer_frame
+    if frames_since_last_steer < 3:
+      press_regen_paddle = None
+
     if press_regen_paddle is not None:
       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))