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I was able to sort things out by completely tossing out gpsp and reinstalling it manually by cloning from GitHub and compiling it.
I’m not sure which fork of gpsp RetroPie-Setup is installing, but Aloshi just updated his/her port today(!!!), and it now includes the ability to map keys with a config file as well as set hotkeys for things like exiting the emulator. It’s now a good RetroPie citizen. I’ve been able to launch games from the menu, play at full speed, and quit back to the menu when done.
Just clone the repo, cd into the raspberrypi directory, and run “make”. Then create the gpsp_input.cfg file according to the instructions in INPUT.md, and customize with your gamepad’s keys, and edit .emulationstation/es_systems.cfg to point to the newly compiled gpsp.
I haven’t figured out if there’s a way to map multiple-button hotkeys like you can do with RetroArch, or if I can map a hotkeys for savestates, but it’s definitely playable.