From ed41b14b55426fe4400e1a87ac7c4e9d4f031b40 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sat, 7 May 2022 01:23:19 -0700
Subject: [PATCH] Chrysler: reduce ACC faults when disengaging on gas (#24445)

---
 selfdrive/car/chrysler/carcontroller.py | 3 +--
 selfdrive/car/chrysler/carstate.py      | 3 +++
 selfdrive/car/chrysler/chryslercan.py   | 2 +-
 3 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
index eda00a2ea1..3d6295d77d 100644
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -49,8 +49,7 @@ class CarController:
     # *** control msgs ***
 
     if CC.cruiseControl.cancel:
-      # TODO: would be better to start from frame_2b3
-      can_sends.append(create_wheel_buttons(self.packer, self.frame, cancel=True))
+      can_sends.append(create_wheel_buttons(self.packer, CS.button_counter + 1, cancel=True))
 
     # LKAS_HEARTBIT is forwarded by Panda so no need to send it here.
     # frame is 100Hz (0.01s period)
diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
index 6dcd2cea62..8ddf1c8684 100644
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@@ -70,6 +70,7 @@ class CarState(CarStateBase):
     self.lkas_counter = cp_cam.vl["LKAS_COMMAND"]["COUNTER"]
     self.lkas_car_model = cp_cam.vl["LKAS_HUD"]["CAR_MODEL"]
     self.lkas_status_ok = cp_cam.vl["LKAS_HEARTBIT"]["LKAS_STATUS_OK"]
+    self.button_counter = cp.vl["WHEEL_BUTTONS"]["COUNTER"]
 
     return ret
 
@@ -104,6 +105,7 @@ class CarState(CarStateBase):
       ("COUNTER", "EPS_STATUS",),
       ("TRACTION_OFF", "TRACTION_BUTTON"),
       ("SEATBELT_DRIVER_UNLATCHED", "SEATBELT_STATUS"),
+      ("COUNTER", "WHEEL_BUTTONS"),
     ]
 
     checks = [
@@ -116,6 +118,7 @@ class CarState(CarStateBase):
       ("ACC_2", 50),
       ("GEAR", 50),
       ("ACCEL_GAS_134", 50),
+      ("WHEEL_BUTTONS", 50),
       ("DASHBOARD", 15),
       ("STEERING_LEVERS", 10),
       ("SEATBELT_STATUS", 2),
diff --git a/selfdrive/car/chrysler/chryslercan.py b/selfdrive/car/chrysler/chryslercan.py
index 33f614d75e..896a6b15da 100644
--- a/selfdrive/car/chrysler/chryslercan.py
+++ b/selfdrive/car/chrysler/chryslercan.py
@@ -52,6 +52,6 @@ def create_wheel_buttons(packer, frame, cancel=False):
   # WHEEL_BUTTONS (571) Message sent to cancel ACC.
   values = {
     "ACC_CANCEL": cancel,
-    "COUNTER": frame % 10  # FIXME: this counter is wrong
+    "COUNTER": frame % 0x10
   }
   return packer.make_can_msg("WHEEL_BUTTONS", 0, values)