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Update carcontroller.py

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firestar5683
2025-06-04 20:52:07 -05:00
parent f043766864
commit d81713bb4e
1 changed files with 7 additions and 7 deletions
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selfdrive/car/gm/carcontroller.py
+7 -7
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@@ -137,10 +137,10 @@ class CarController(CarControllerBase):
regen_active = raw_regen_active
# === Spoof scheduling: midpoint + overflow (~40Hz) ===
# Implement 500ms hold-off after CAN reconnect
# Implement 1s hold-off after CAN reconnect
# Detect reconnect: loopback_lka_steering_cmd_ts_nanos == 0 and self.last_steer_ts_ns != 0
if CS.loopback_lka_steering_cmd_ts_nanos == 0 and self.last_steer_ts_ns != 0:
self.loopback_holdoff_until = now_nanos + 500_000_000
self.loopback_holdoff_until = now_nanos + 1_000_000_000
# Remove holdoff if expired
if hasattr(self, "loopback_holdoff_until") and now_nanos >= self.loopback_holdoff_until:
del self.loopback_holdoff_until
@@ -173,9 +173,9 @@ class CarController(CarControllerBase):
if not skip_spoof and not self.spoof_mid_sent and interval_ns > 0:
midpoint_ns = self.prev_steer_ts_ns + interval_ns // 2
if (CS.loopback_lka_steering_cmd_ts_nanos != 0 and
now_nanos - CS.loopback_lka_steering_cmd_ts_nanos < 20_000_000 and
now_nanos - CS.loopback_lka_steering_cmd_ts_nanos < 10_000_000 and
now_nanos >= midpoint_ns and
now_nanos - self.last_steer_ts_ns >= 20_000_000):
now_nanos - self.last_steer_ts_ns >= 26_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
@@ -185,9 +185,9 @@ class CarController(CarControllerBase):
if not skip_spoof and self.spoof_accum >= 0.5 and not self.spoof_over_sent and interval_ns > 0:
slot2_ns = self.prev_steer_ts_ns + (interval_ns * 2) // 3
if (CS.loopback_lka_steering_cmd_ts_nanos != 0 and
now_nanos - CS.loopback_lka_steering_cmd_ts_nanos < 20_000_000 and
now_nanos - CS.loopback_lka_steering_cmd_ts_nanos < 10_000_000 and
now_nanos >= slot2_ns and
now_nanos - self.last_steer_ts_ns >= 22_000_000):
now_nanos - self.last_steer_ts_ns >= 28_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
@@ -208,7 +208,7 @@ 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 >= 15_000_000:
if not self.off_sent[i] and now_nanos >= t_ns and now_nanos - self.last_steer_ts_ns >= 18_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