Chrysler: limit buttons to 20Hz (#25125)

* Chrysler: limit buttons to 10Hz

* cleanup

* 20hz
old-commit-hash: 614b3a01f8

selfdrive/car/chrysler/carcontroller.py

@@ -1,4 +1,5 @@
 from opendbc.can.packer import CANPacker
+from common.realtime import DT_CTRL
 from selfdrive.car import apply_toyota_steer_torque_limits
 from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons
 from selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams
@@ -14,6 +15,7 @@ class CarController:
     self.hud_count = 0
     self.last_lkas_falling_edge = 0
     self.lkas_active_prev = False
+    self.last_button_frame = 0
 
     self.packer = CANPacker(dbc_name)
     self.params = CarControllerParams(CP)
@@ -26,11 +28,19 @@ class CarController:
 
     # *** control msgs ***
 
-    das_bus = 2 if self.CP.carFingerprint in RAM_CARS else 0
-    if CC.cruiseControl.cancel:
-      can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, cancel=True))
-    elif CC.enabled and CS.out.cruiseState.standstill:
-      can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, resume=True))
+    # cruise buttons
+    if (self.frame - self.last_button_frame)*DT_CTRL > 0.05:
+      das_bus = 2 if self.CP.carFingerprint in RAM_CARS else 0
+
+      # ACC cancellation
+      if CC.cruiseControl.cancel:
+        self.last_button_frame = self.frame
+        can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, cancel=True))
+
+      # ACC resume from standstill
+      elif CC.cruiseControl.resume:
+        self.last_button_frame = self.frame
+        can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, resume=True))
 
     # HUD alerts
     if self.frame % 25 == 0:

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-2ae52e9b2218c23d4c80b36fb0b50387b6ecdd8f
+11e721366f1c177a84e6cb8b48171113ac3b54f9