From 0e06cf15d762f1547369a901d9f0f004b76dc9a8 Mon Sep 17 00:00:00 2001
From: lukasloetkolben <61192133+lukasloetkolben@users.noreply.github.com>
Date: Sun, 19 Apr 2026 10:08:42 +0200
Subject: [PATCH 1/9] BYD: add Atto 3 support

---
 .github/labeler.yaml                     |   4 +
 opendbc/can/dbc.py                       |   4 +
 opendbc/car/byd/__init__.py              |   0
 opendbc/car/byd/bydcan.py                |  45 +++++++
 opendbc/car/byd/carcontroller.py         |  43 ++++++
 opendbc/car/byd/carstate.py              |  74 ++++++++++
 opendbc/car/byd/fingerprints.py          |  13 ++
 opendbc/car/byd/interface.py             |  26 ++++
 opendbc/car/byd/values.py                |  98 ++++++++++++++
 opendbc/car/car.capnp                    |   1 +
 opendbc/car/tests/routes.py              |   3 +
 opendbc/car/tests/test_fw_fingerprint.py |   3 +-
 opendbc/car/torque_data/override.toml    |   3 +
 opendbc/car/values.py                    |   3 +-
 opendbc/dbc/byd_atto3.dbc                | 164 +++++++++++++++++++++++
 opendbc/safety/declarations.h            |   2 +
 opendbc/safety/modes/byd.h               |  92 +++++++++++++
 opendbc/safety/safety.h                  |   2 +
 opendbc/safety/tests/test_byd.py         | 162 ++++++++++++++++++++++
 19 files changed, 740 insertions(+), 2 deletions(-)
 create mode 100644 opendbc/car/byd/__init__.py
 create mode 100644 opendbc/car/byd/bydcan.py
 create mode 100644 opendbc/car/byd/carcontroller.py
 create mode 100644 opendbc/car/byd/carstate.py
 create mode 100644 opendbc/car/byd/fingerprints.py
 create mode 100644 opendbc/car/byd/interface.py
 create mode 100644 opendbc/car/byd/values.py
 create mode 100644 opendbc/dbc/byd_atto3.dbc
 create mode 100644 opendbc/safety/modes/byd.h
 create mode 100644 opendbc/safety/tests/test_byd.py

diff --git a/.github/labeler.yaml b/.github/labeler.yaml
index 520e2d12a50..28f3ca874bb 100644
--- a/.github/labeler.yaml
+++ b/.github/labeler.yaml
@@ -23,6 +23,10 @@ body:
   - changed-files:
     - any-glob-to-any-file: 'opendbc/car/body/**'
 
+byd:
+  - changed-files:
+    - any-glob-to-any-file: 'opendbc/car/byd/**'
+
 chrysler:
   - changed-files:
     - any-glob-to-any-file: 'opendbc/car/chrysler/**'
diff --git a/opendbc/can/dbc.py b/opendbc/can/dbc.py
index 97300c55e5c..ee0fbe03c2b 100644
--- a/opendbc/can/dbc.py
+++ b/opendbc/can/dbc.py
@@ -16,6 +16,7 @@
 from opendbc.car.volkswagen.mqbcan import volkswagen_mqb_meb_checksum, xor_checksum
 from opendbc.car.tesla.teslacan import tesla_checksum
 from opendbc.car.body.bodycan import body_checksum
+from opendbc.car.byd.bydcan import byd_checksum
 from opendbc.car.psa.psacan import psa_checksum
 
 
@@ -34,6 +35,7 @@ class SignalType:
   TESLA_CHECKSUM = 11
   PSA_CHECKSUM = 12
   VOLKSWAGEN_MLB_CHECKSUM = 13
+  BYD_CHECKSUM = 14
 
 
 @dataclass
@@ -212,6 +214,8 @@ def get_checksum_state(dbc_name: str) -> ChecksumState | None:
     return ChecksumState(8, -1, 0, -1, True, SignalType.TESLA_CHECKSUM, tesla_checksum, tesla_setup_signal)
   elif dbc_name.startswith("psa_"):
     return ChecksumState(4, 4, 7, 3, False, SignalType.PSA_CHECKSUM, psa_checksum)
+  elif dbc_name.startswith("byd_"):
+    return ChecksumState(8, 4, 56, 55, True, SignalType.BYD_CHECKSUM, byd_checksum)
   return None
 
 
diff --git a/opendbc/car/byd/__init__.py b/opendbc/car/byd/__init__.py
new file mode 100644
index 00000000000..e69de29bb2d
diff --git a/opendbc/car/byd/bydcan.py b/opendbc/car/byd/bydcan.py
new file mode 100644
index 00000000000..be755b56c14
--- /dev/null
+++ b/opendbc/car/byd/bydcan.py
@@ -0,0 +1,45 @@
+def byd_checksum(address: int, sig, d: bytearray) -> int:
+  return (~sum(d[:7])) & 0xFF
+
+
+def create_steering_control(packer, apply_angle: float, lat_active: bool, counter: int):
+  # Stock saturates the rate limits at ±299 when engaged, 0 when disengaged
+  rate_limit = 299 if lat_active else 0
+  values = {
+    "STEER_REQ": 1 if lat_active else 0,
+    "STEER_REQ_ACTIVE_LOW": 0 if lat_active else 1,
+    "STEER_ANGLE": apply_angle,
+    "ANGLE_RATE_LIMIT_UPPER": rate_limit,
+    "ANGLE_RATE_LIMIT_LOWER": -rate_limit,
+    "SET_ME_1_1": 1,
+    "SET_ME_1_2": 1,
+    "SET_ME_FF": 0xFF,
+    "SET_ME_F": 0xF,
+    "COUNTER": counter,
+  }
+  return packer.make_can_msg("STEERING_MODULE_ADAS", 0, values)
+
+
+def create_buttons(packer, cancel: bool):
+  values = {
+    "SET_ME_1_1": 1,
+    "SET_ME_1_2": 1,
+    "ACC_ON_BTN": 1 if cancel else 0,
+  }
+  return packer.make_can_msg("PCM_BUTTONS", 0, values)
+
+
+def create_lkas_hud(packer, lat_active: bool, counter: int):
+  values = {
+    # TODO: test STEER_ACTIVE_1_1 to 3 individual
+    "STEER_ACTIVE_1_1": 1 if lat_active else 0,
+    "STEER_ACTIVE_1_2": 1 if lat_active else 0,
+    "STEER_ACTIVE_1_3": 1 if lat_active else 0,
+    "STEER_ACTIVE_ACTIVE_LOW": 0 if lat_active else 1,
+    "LSS_STATE": 2 if lat_active else 0,
+    "SET_ME_1_2": 1,
+    "SET_ME_X5F": 0x5F,
+    "SET_ME_XFF": 0xFF,
+    "COUNTER": counter,
+  }
+  return packer.make_can_msg("LKAS_HUD_ADAS", 0, values)
diff --git a/opendbc/car/byd/carcontroller.py b/opendbc/car/byd/carcontroller.py
new file mode 100644
index 00000000000..fb35212a23e
--- /dev/null
+++ b/opendbc/car/byd/carcontroller.py
@@ -0,0 +1,43 @@
+from opendbc.can.packer import CANPacker
+from opendbc.car import Bus
+from opendbc.car.lateral import apply_steer_angle_limits_vm
+from opendbc.car.interfaces import CarControllerBase
+from opendbc.car.byd import bydcan
+from opendbc.car.byd.values import CarControllerParams
+from opendbc.car.vehicle_model import VehicleModel
+
+
+def get_safety_CP():
+  from opendbc.car.byd.interface import CarInterface
+  return CarInterface.get_non_essential_params("BYD_ATTO_3")
+
+
+class CarController(CarControllerBase):
+  def __init__(self, dbc_names, CP):
+    super().__init__(dbc_names, CP)
+    self.packer = CANPacker(dbc_names[Bus.pt])
+    self.apply_angle_last = 0.0
+
+    # Vehicle model used for lateral limiting
+    self.VM = VehicleModel(get_safety_CP())
+
+  def update(self, CC, CS, now_nanos):
+    can_sends = []
+    actuators = CC.actuators
+
+    if self.frame % 2:
+      self.apply_angle_last = apply_steer_angle_limits_vm(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgoRaw,
+                                                          CS.out.steeringAngleDeg, CC.latActive, CarControllerParams, self.VM)
+
+      cntr = (self.frame // 2) % 16
+      can_sends.append(bydcan.create_steering_control(self.packer, self.apply_angle_last, CC.latActive, cntr))
+      can_sends.append(bydcan.create_lkas_hud(self.packer, CC.latActive, cntr))
+
+    if CC.cruiseControl.cancel and self.frame % 10 == 0:
+      can_sends.append(bydcan.create_buttons(self.packer, cancel=True))
+
+    new_actuators = actuators.as_builder()
+    new_actuators.steeringAngleDeg = float(self.apply_angle_last)
+
+    self.frame += 1
+    return new_actuators, can_sends
diff --git a/opendbc/car/byd/carstate.py b/opendbc/car/byd/carstate.py
new file mode 100644
index 00000000000..96eea9e284b
--- /dev/null
+++ b/opendbc/car/byd/carstate.py
@@ -0,0 +1,74 @@
+from opendbc.car import Bus, structs
+from opendbc.can.parser import CANParser
+from opendbc.car.common.conversions import Conversions as CV
+from opendbc.car.byd.values import DBC, CarControllerParams as CCP
+from opendbc.car.interfaces import CarStateBase
+
+GearShifter = structs.CarState.GearShifter
+
+# BYD gear enum from DRIVE_STATE.GEAR
+GEAR_MAP = {
+  1: GearShifter.park,
+  2: GearShifter.reverse,
+  3: GearShifter.neutral,
+  4: GearShifter.drive,
+}
+
+
+class CarState(CarStateBase):
+  def update(self, can_parsers) -> structs.CarState:
+    cp = can_parsers[Bus.pt]
+    cp_cam = can_parsers[Bus.cam]
+    ret = structs.CarState()
+
+    # speed
+    speed_kph = cp.vl["WHEELSPEED_CLEAN"]["WHEELSPEED_CLEAN"]
+    ret.vEgoRaw = speed_kph * CV.KPH_TO_MS
+    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
+    ret.standstill = speed_kph < 0.1
+    ret.vEgoCluster = ret.vEgo
+
+    # steering wheel
+    ret.steeringAngleDeg = cp.vl["STEER_MODULE_2"]["STEER_ANGLE_2"]
+    ret.steeringTorque = cp.vl["STEERING_TORQUE"]["MAIN_TORQUE"]
+    ret.steeringTorqueEps = cp.vl["STEER_MODULE_2"]["DRIVER_EPS_TORQUE"]
+    ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorqueEps) > CCP.STEER_DRIVER_OVERRIDE, 5)
+    ret.steeringDisengage = abs(ret.steeringTorqueEps) > CCP.STEER_DRIVER_DISENGAGE
+
+    # gas / brake
+    ret.gasPressed = cp.vl["DRIVE_STATE"]["RAW_THROTTLE"] > 0
+    ret.brake = cp.vl["PEDAL"]["BRAKE_PEDAL"]
+    ret.brakePressed = bool(cp.vl["DRIVE_STATE"]["BRAKE_PRESSED"])
+
+    # gear
+    ret.gearShifter = GEAR_MAP.get(int(cp.vl["DRIVE_STATE"]["GEAR"]), GearShifter.unknown)
+
+    # blinkers
+    ret.leftBlinker = bool(cp.vl["STALKS"]["LEFT_BLINKER"])
+    ret.rightBlinker = bool(cp.vl["STALKS"]["RIGHT_BLINKER"])
+
+    # doors / belt
+    ret.doorOpen = any((
+      cp.vl["METER_CLUSTER"]["FRONT_LEFT_DOOR"],
+      cp.vl["METER_CLUSTER"]["FRONT_RIGHT_DOOR"],
+      cp.vl["METER_CLUSTER"]["BACK_LEFT_DOOR"],
+      cp.vl["METER_CLUSTER"]["BACK_RIGHT_DOOR"],
+    ))
+    ret.seatbeltUnlatched = not bool(cp.vl["METER_CLUSTER"]["SEATBELT_DRIVER"])
+
+    # cruise state: ACC messages come from camera bus on Atto 3
+    # ACC_STATE: 0=OFF, 2=ACC_ON (available), 3=ACC_ACTIVE (enabled), 5=FORCE_ACCEL, 7=ERROR
+    ret.cruiseState.speed = cp_cam.vl["ACC_HUD_ADAS"]["SET_SPEED"] * CV.KPH_TO_MS
+    acc_state = int(cp_cam.vl["ACC_HUD_ADAS"]["ACC_STATE"])
+    ret.cruiseState.available = acc_state in (2, 3, 5)
+    ret.cruiseState.enabled = acc_state in (3, 5)
+    ret.cruiseState.standstill = bool(cp_cam.vl["ACC_CMD"]["STANDSTILL_STATE"])
+
+    return ret
+
+  @staticmethod
+  def get_can_parsers(CP):
+    return {
+      Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 0),
+      Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 2),
+    }
diff --git a/opendbc/car/byd/fingerprints.py b/opendbc/car/byd/fingerprints.py
new file mode 100644
index 00000000000..95f6bb18f37
--- /dev/null
+++ b/opendbc/car/byd/fingerprints.py
@@ -0,0 +1,13 @@
+""" AUTO-FORMATTED USING opendbc/car/debug/format_fingerprints.py, EDIT STRUCTURE THERE."""
+from opendbc.car.structs import CarParams
+from opendbc.car.byd.values import CAR
+
+Ecu = CarParams.Ecu
+
+FW_VERSIONS = {
+  CAR.BYD_ATTO_3: {
+    (Ecu.engine, 0x7e0, None): [
+      b'PLACEHOLDER_FOR_VIN_FINGERPRINT',
+    ],
+  },
+}
diff --git a/opendbc/car/byd/interface.py b/opendbc/car/byd/interface.py
new file mode 100644
index 00000000000..49209c3b412
--- /dev/null
+++ b/opendbc/car/byd/interface.py
@@ -0,0 +1,26 @@
+from opendbc.car import get_safety_config, structs
+from opendbc.car.interfaces import CarInterfaceBase
+from opendbc.car.byd.carcontroller import CarController
+from opendbc.car.byd.carstate import CarState
+
+
+class CarInterface(CarInterfaceBase):
+  CarState = CarState
+  CarController = CarController
+
+  @staticmethod
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
+    ret.brand = "byd"
+
+    ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.byd)]
+
+    ret.dashcamOnly = False
+
+    ret.steerControlType = structs.CarParams.SteerControlType.angle
+    ret.steerActuatorDelay = 0.2
+    ret.steerLimitTimer = 0.4
+
+    ret.radarUnavailable = True
+    ret.alphaLongitudinalAvailable = False
+
+    return ret
diff --git a/opendbc/car/byd/values.py b/opendbc/car/byd/values.py
new file mode 100644
index 00000000000..a1f4ed3b1d5
--- /dev/null
+++ b/opendbc/car/byd/values.py
@@ -0,0 +1,98 @@
+from dataclasses import dataclass, field
+from enum import IntFlag, StrEnum
+
+from opendbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, structs
+from opendbc.car.lateral import AngleSteeringLimits, ISO_LATERAL_ACCEL
+from opendbc.car.docs_definitions import CarDocs, CarHarness, CarParts
+from opendbc.car.fw_query_definitions import FwQueryConfig
+from opendbc.car.vin import Vin
+
+Ecu = structs.CarParams.Ecu
+
+
+# Add extra tolerance for average banked road since safety doesn't have the roll
+AVERAGE_ROAD_ROLL = 0.06  # ~3.4 degrees, 6% superelevation. higher actual roll lowers lateral acceleration
+
+
+class CarControllerParams:
+  STEER_STEP = 2  # Angle command is sent at 50 Hz
+
+  ANGLE_LIMITS: AngleSteeringLimits = AngleSteeringLimits(
+    360,  # deg
+    # BYD uses a vehicle model instead, check carcontroller.py for details
+    ([], []),
+    ([], []),
+
+    # Vehicle model angle limits
+    # Add extra tolerance for average banked road since safety doesn't have the roll
+    MAX_LATERAL_ACCEL=ISO_LATERAL_ACCEL + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL),  # ~3.6 m/s^2
+    MAX_LATERAL_JERK=3.0 + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL),  # ~3.6 m/s^3
+
+    # limit angle rate to both prevent a fault and for low speed comfort (~12 mph rate down to 0 mph)
+    MAX_ANGLE_RATE=5,  # deg/20ms frame, EPS faults at 12 at a standstill
+  )
+
+  STEER_DRIVER_OVERRIDE = 10   # EPS torque threshold for soft override
+  STEER_DRIVER_DISENGAGE = 30  # EPS torque threshold for hard disengage
+
+
+class BydSafetyFlags(IntFlag):
+  LONG_CONTROL = 1
+
+
+class WMI(StrEnum):
+  BYD_AUTO = "LGX"  # BYD Auto Co., Ltd. (Shenzhen)
+
+
+class ModelYear(StrEnum):
+  N_2022 = "N"
+  P_2023 = "P"
+  R_2024 = "R"
+  S_2025 = "S"
+
+
+@dataclass
+class BydCarDocs(CarDocs):
+  package: str = "All"
+  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.custom]))
+
+
+@dataclass
+class BydPlatformConfig(PlatformConfig):
+  dbc_dict: DbcDict = field(default_factory=lambda: {
+    Bus.pt: 'byd_atto3',
+  })
+  wmis: set[WMI] = field(default_factory=set)
+  years: set[ModelYear] = field(default_factory=set)
+
+
+class CAR(Platforms):
+  BYD_ATTO_3 = BydPlatformConfig(
+    [BydCarDocs("BYD Atto 3 2022-25")],
+    CarSpecs(mass=1750, wheelbase=2.72, steerRatio=14.8),
+    wmis={WMI.BYD_AUTO},
+    years={ModelYear.N_2022, ModelYear.P_2023, ModelYear.R_2024, ModelYear.S_2025},
+  )
+
+
+def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str]:
+  # BYD Atto 3 VIN: LGX (WMI) + <VDS> + <year><plant><seq> (VIS).
+  # TODO: currently we only match on WMI + model year
+  vin_obj = Vin(vin)
+  year = vin_obj.vis[:1]
+
+  candidates = set()
+  for platform in CAR:
+    if vin_obj.wmi in platform.config.wmis and year in platform.config.years:
+      candidates.add(platform)
+
+  return {str(c) for c in candidates}
+
+
+FW_QUERY_CONFIG = FwQueryConfig(
+  requests=[],
+  match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,
+)
+
+
+DBC = CAR.create_dbc_map()
diff --git a/opendbc/car/car.capnp b/opendbc/car/car.capnp
index d2b8d758a7c..62dfce64b9d 100644
--- a/opendbc/car/car.capnp
+++ b/opendbc/car/car.capnp
@@ -635,6 +635,7 @@ struct CarParams {
     fcaGiorgio @32;
     rivian @33;
     volkswagenMeb @34;
+    byd @35;
   }
 
   enum SteerControlType {
diff --git a/opendbc/car/tests/routes.py b/opendbc/car/tests/routes.py
index 2fe80c0f781..630296c4a40 100644
--- a/opendbc/car/tests/routes.py
+++ b/opendbc/car/tests/routes.py
@@ -15,6 +15,7 @@
 from opendbc.car.values import Platform
 from opendbc.car.volkswagen.values import CAR as VOLKSWAGEN
 from opendbc.car.body.values import CAR as COMMA
+from opendbc.car.byd.values import CAR as BYD
 from opendbc.car.psa.values import CAR as PSA
 
 # FIXME: add routes for these cars
@@ -341,6 +342,8 @@ class CarTestRoute(NamedTuple):
 
   CarTestRoute("6a7075a4fdd765ee/0000004e--1f612006dd", PSA.PSA_PEUGEOT_208),
 
+  CarTestRoute("148fa33c79475c93/00000002--bb5e1aa449", BYD.BYD_ATTO_3),
+
   CarTestRoute("bc095dc92e101734/000000db--ee9fe46e57", RIVIAN.RIVIAN_R1),
   CarTestRoute("c70d59e4150956fc/0000006e--48bfbfda01", RIVIAN.RIVIAN_R1), # GEN2
 
diff --git a/opendbc/car/tests/test_fw_fingerprint.py b/opendbc/car/tests/test_fw_fingerprint.py
index 811347bb365..2d34e7a1231 100644
--- a/opendbc/car/tests/test_fw_fingerprint.py
+++ b/opendbc/car/tests/test_fw_fingerprint.py
@@ -262,10 +262,11 @@ def fake_get_ecu_addrs(*_, timeout):
         print(f'get_vin {name} case, query time={self.total_time / self.N} seconds')
 
   def test_fw_query_timing(self):
-    total_ref_time = 7.4
+    total_ref_time = 7.6
     brand_ref_times = {
       'gm': 1.0,
       'body': 0.1,
+      'byd': 0.2,
       'chrysler': 0.3,
       'ford': 1.5,
       'honda': 0.45,
diff --git a/opendbc/car/torque_data/override.toml b/opendbc/car/torque_data/override.toml
index f6bab7603f9..105f8fd3a10 100644
--- a/opendbc/car/torque_data/override.toml
+++ b/opendbc/car/torque_data/override.toml
@@ -10,6 +10,9 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 # PSA angle based controllers
 "PSA_PEUGEOT_208" = [nan, 2.0, nan]
 
+# BYD angle based controllers
+"BYD_ATTO_3" = [nan, 2.0, nan]
+
 # New subarus angle based controllers
 "SUBARU_FORESTER_2022" = [nan, 3.0, nan]
 "SUBARU_OUTBACK_2023" = [nan, 3.0, nan]
diff --git a/opendbc/car/values.py b/opendbc/car/values.py
index f606249a4e0..5a9a3a5d7b6 100644
--- a/opendbc/car/values.py
+++ b/opendbc/car/values.py
@@ -1,5 +1,6 @@
 from typing import get_args
 from opendbc.car.body.values import CAR as BODY
+from opendbc.car.byd.values import CAR as BYD
 from opendbc.car.chrysler.values import CAR as CHRYSLER
 from opendbc.car.ford.values import CAR as FORD
 from opendbc.car.gm.values import CAR as GM
@@ -15,7 +16,7 @@
 from opendbc.car.toyota.values import CAR as TOYOTA
 from opendbc.car.volkswagen.values import CAR as VOLKSWAGEN
 
-Platform = BODY | CHRYSLER | FORD | GM | HONDA | HYUNDAI | MAZDA | MOCK | NISSAN | PSA | RIVIAN | SUBARU | TESLA | TOYOTA | VOLKSWAGEN
+Platform = BODY | BYD | CHRYSLER | FORD | GM | HONDA | HYUNDAI | MAZDA | MOCK | NISSAN | PSA | RIVIAN | SUBARU | TESLA | TOYOTA | VOLKSWAGEN
 BRANDS = get_args(Platform)
 
 PLATFORMS: dict[str, Platform] = {str(platform): platform for brand in BRANDS for platform in brand}
diff --git a/opendbc/dbc/byd_atto3.dbc b/opendbc/dbc/byd_atto3.dbc
new file mode 100644
index 00000000000..579a3b05d91
--- /dev/null
+++ b/opendbc/dbc/byd_atto3.dbc
@@ -0,0 +1,164 @@
+VERSION ""
+
+
+NS_ :
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BS_:
+
+BU_: EPS ESP_ECU BCM VCU MPC_CAM ADAS_ECU MCU
+
+
+BO_ 287 STEER_MODULE_2: 5 EPS
+ SG_ STEER_ANGLE_2 : 0|16@1- (0.1,0) [-3276.8|3276.7] "deg" MCU,ADAS_ECU
+ SG_ DRIVER_EPS_TORQUE : 16|8@1+ (1,0) [0|255] "" MCU,ADAS_ECU
+ SG_ COUNTER : 35|4@0+ (1,0) [0|15] "" MCU
+ SG_ CHECKSUM_4BIT : 39|4@0+ (1,0) [0|15] "" MCU
+
+BO_ 307 STALKS: 8 BCM
+ SG_ LEFT_BLINKER : 37|1@0+ (1,0) [0|1] "" MCU
+ SG_ RIGHT_BLINKER : 38|1@0+ (1,0) [0|1] "" MCU
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" MCU
+
+BO_ 482 STEERING_MODULE_ADAS: 8 ADAS_ECU
+ SG_ ANGLE_RATE_LIMIT_UPPER : 0|10@1- (1,0) [-512|511] "" EPS
+ SG_ ANGLE_RATE_LIMIT_LOWER : 10|10@1- (1,0) [-512|511] "" EPS
+ SG_ STEER_REQ_ACTIVE_LOW : 20|1@0+ (1,0) [0|1] "" EPS
+ SG_ STEER_REQ : 21|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_1_2 : 22|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_1_1 : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ STEER_ANGLE : 24|16@1- (0.1,0) [-3276.8|3276.7] "deg" EPS
+ SG_ SET_ME_FF : 47|8@0+ (1,0) [0|255] "" EPS
+ SG_ SET_ME_F : 48|4@1+ (1,0) [0|15] "" EPS
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" EPS
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" EPS
+
+BO_ 496 WHEELSPEED_CLEAN: 8 ESP_ECU
+ SG_ WHEELSPEED_CLEAN : 0|16@1+ (0.1,0) [0|6553.5] "kph" MCU
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" MCU
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" MCU
+
+BO_ 508 STEERING_TORQUE: 8 EPS
+ SG_ MAIN_TORQUE : 0|16@1- (0.1,0) [-3276.8|3276.7] "" MCU,ADAS_ECU
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" MCU
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" MCU
+
+BO_ 578 DRIVE_STATE: 8 VCU
+ SG_ RAW_THROTTLE : 30|7@0+ (1,0) [0|127] "" MCU
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" MCU,ADAS_ECU
+ SG_ GEAR : 40|3@1+ (1,0) [0|7] "" MCU
+
+BO_ 660 METER_CLUSTER: 8 BCM
+ SG_ FRONT_RIGHT_DOOR : 1|1@1+ (1,0) [0|1] "" MCU
+ SG_ FRONT_LEFT_DOOR : 3|1@0+ (1,0) [0|1] "" MCU
+ SG_ BACK_LEFT_DOOR : 5|1@1+ (1,0) [0|1] "" MCU
+ SG_ BACK_RIGHT_DOOR : 7|1@0+ (1,0) [0|1] "" MCU
+ SG_ SEATBELT_DRIVER : 17|1@0+ (1,0) [0|1] "" MCU
+
+BO_ 790 LKAS_HUD_ADAS: 8 MPC_CAM
+ SG_ HMA : 4|5@0+ (1,0) [0|31] "" MCU
+ SG_ STEER_ACTIVE_1_1 : 5|1@0+ (1,0) [0|1] "" MCU
+ SG_ LSS_STATE : 7|2@0+ (1,0) [0|3] "" MCU
+ SG_ HAND_ON_WHEEL_WARNING : 10|1@0+ (1,0) [0|1] "" MCU
+ SG_ SET_ME_XFF : 23|8@0+ (1,0) [0|255] "" MCU
+ SG_ SET_ME_X5F : 31|8@0+ (1,0) [0|255] "" MCU
+ SG_ SET_ME_1_2 : 32|1@0+ (1,0) [0|1] "" MCU
+ SG_ STEER_ACTIVE_1_3 : 35|1@0+ (1,0) [0|1] "" MCU
+ SG_ STEER_ACTIVE_ACTIVE_LOW : 36|1@0+ (1,0) [0|1] "" MCU
+ SG_ STEER_ACTIVE_1_2 : 37|1@0+ (1,0) [0|1] "" MCU
+ SG_ TSR : 47|8@0+ (1,0) [0|255] "" MCU
+ SG_ SETTINGS : 48|4@1+ (1,0) [0|15] "" MCU
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" MCU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" MCU
+
+BO_ 813 ACC_HUD_ADAS: 8 ADAS_ECU
+ SG_ SET_SPEED : 0|8@1+ (0.5,0) [0|127.5] "kph" MCU
+ SG_ SET_DISTANCE : 12|3@0+ (1,0) [0|7] "" MCU
+ SG_ ACC_STATE : 19|3@1+ (1,0) [0|7] "" MCU
+ SG_ ACC_ON2 : 20|1@0+ (1,0) [0|1] "" MCU
+ SG_ ACC_ON1 : 22|1@0+ (1,0) [0|1] "" MCU
+ SG_ SET_ME_XFF : 47|8@0+ (1,0) [0|255] "" MCU
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" MCU
+ SG_ SET_ME_XF : 55|4@0+ (1,0) [0|15] "" MCU
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" MCU
+
+BO_ 814 ACC_CMD: 8 ADAS_ECU
+ SG_ ACCEL_CMD : 0|8@1+ (1,-100) [-100|155] "" MCU
+ SG_ ACC_ON_1 : 9|1@0+ (1,0) [0|1] "" MCU
+ SG_ SET_ME_25_1 : 10|6@1+ (1,0) [0|63] "" MCU
+ SG_ ACC_ON_2 : 17|1@0+ (1,0) [0|1] "" MCU
+ SG_ SET_ME_25_2 : 18|6@1+ (1,0) [0|63] "" MCU
+ SG_ DECEL_FACTOR : 24|4@1+ (1,0) [0|15] "" MCU
+ SG_ SET_ME_X8 : 31|4@0+ (1,0) [0|15] "" MCU
+ SG_ ACCEL_FACTOR : 32|4@1+ (1,0) [0|15] "" MCU
+ SG_ CMD_REQ_ACTIVE_LOW : 36|1@0+ (1,0) [0|1] "" MCU
+ SG_ SET_ME_1 : 38|1@0+ (1,0) [0|1] "" MCU
+ SG_ STANDSTILL_RESUME : 39|1@0+ (1,0) [0|1] "" MCU
+ SG_ STANDSTILL_STATE : 40|1@0+ (1,0) [0|1] "" MCU
+ SG_ ACC_REQ_NOT_STANDSTILL : 43|1@0+ (1,0) [0|1] "" MCU
+ SG_ ACC_CONTROLLABLE_AND_ON : 44|1@0+ (1,0) [0|1] "" MCU
+ SG_ ACC_OVERRIDE_OR_STANDSTILL : 45|1@0+ (1,0) [0|1] "" MCU
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" MCU
+ SG_ SET_ME_XF : 55|4@0+ (1,0) [0|15] "" MCU
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" MCU
+
+BO_ 834 PEDAL: 8 VCU
+ SG_ GAS_PEDAL : 0|8@1+ (0.01,0) [0|2.55] "" MCU
+ SG_ BRAKE_PEDAL : 8|8@1+ (0.01,0) [0|2.55] "" MCU
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" MCU
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" MCU
+
+BO_ 944 PCM_BUTTONS: 8 MCU
+ SG_ SET_ME_1_1 : 2|1@0+ (1,0) [0|1] "" MCU
+ SG_ SET_BTN : 3|1@0+ (1,0) [0|1] "" MCU
+ SG_ RES_BTN : 4|1@0+ (1,0) [0|1] "" MCU
+ SG_ LKAS_ON_BTN : 6|1@0+ (1,0) [0|1] "" MCU
+ SG_ SET_ME_1_2 : 12|1@0+ (1,0) [0|1] "" MCU
+ SG_ DEC_DISTANCE_BTN : 15|1@0+ (1,0) [0|1] "" MCU
+ SG_ INC_DISTANCE_BTN : 16|1@0+ (1,0) [0|1] "" MCU
+ SG_ ACC_ON_BTN : 19|1@0+ (1,0) [0|1] "" MCU
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" MCU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" MCU
+
+CM_ BO_ 287 "EPS steering wheel angle + driver torque. Validated: angle range plausible, DRIVER_EPS_TORQUE stays near 0 when hands-off.";
+CM_ BO_ 307 "Turn signal / stalk info. Validated: LEFT_BLINKER and RIGHT_BLINKER transition 0->1 during lane change events.";
+CM_ BO_ 482 "Lateral steering command sent by MPC camera/ADAS ECU to EPS. Blocked by panda on bus 2; panda injects its own on bus 0.";
+CM_ BO_ 496 "Wheel speed (cleaned average). Validated: 0-127 km/h matching driving speed.";
+CM_ BO_ 508 "Column steering torque from EPS.";
+CM_ BO_ 578 "Drivetrain state: gear, brake pressed, raw throttle.";
+CM_ BO_ 660 "Body/meter cluster: doors + seatbelt.";
+CM_ BO_ 790 "LKAS HUD ADAS message from camera. Blocked by panda on bus 2; panda re-injects.";
+CM_ BO_ 813 "ACC HUD ADAS message (cruise set speed, distance, ACC state).";
+CM_ BO_ 814 "ACC acceleration command from ADAS ECU. Blocked by panda on bus 2 when OP longitudinal active.";
+CM_ BO_ 834 "Gas/brake pedal percentages.";
+CM_ BO_ 944 "Steering-wheel cruise control buttons.";
+VAL_ 578 GEAR 4 "D" 2 "R" 3 "N" 1 "P";
+VAL_ 813 SET_DISTANCE 4 "4bar" 3 "3bar" 2 "2bar" 1 "1bar";
+VAL_ 813 ACC_STATE 0 "OFF" 2 "ACC_ON" 3 "ACC_ACTIVE" 5 "FORCE_ACCEL" 7 "ERROR";
diff --git a/opendbc/safety/declarations.h b/opendbc/safety/declarations.h
index 1a68549445b..700c8106eb7 100644
--- a/opendbc/safety/declarations.h
+++ b/opendbc/safety/declarations.h
@@ -34,6 +34,7 @@
 #define SAFETY_PSA 31U
 #define SAFETY_RIVIAN 33U
 #define SAFETY_VOLKSWAGEN_MEB 34U
+#define SAFETY_BYD 35U
 
 #define GET_BIT(msg, b) ((bool)!!(((msg)->data[((b) / 8U)] >> ((b) % 8U)) & 0x1U))
 #define GET_FLAG(value, mask) (((value) & (mask)) == (mask))
@@ -343,3 +344,4 @@ extern const safety_hooks volkswagen_mqb_hooks;
 extern const safety_hooks volkswagen_pq_hooks;
 extern const safety_hooks rivian_hooks;
 extern const safety_hooks psa_hooks;
+extern const safety_hooks byd_hooks;
diff --git a/opendbc/safety/modes/byd.h b/opendbc/safety/modes/byd.h
new file mode 100644
index 00000000000..0a31ea677df
--- /dev/null
+++ b/opendbc/safety/modes/byd.h
@@ -0,0 +1,92 @@
+#pragma once
+
+#include "opendbc/safety/declarations.h"
+
+static void byd_rx_hook(const CANPacket_t *msg) {
+
+  if (msg->bus == 0U) {
+    // Steering angle: 0.1 deg/LSB, signed
+    if (msg->addr == 0x11FU) {
+      int angle_meas_new = to_signed((msg->data[1] << 8) | msg->data[0], 16);  // STEER_ANGLE_2
+      update_sample(&angle_meas, angle_meas_new);
+    }
+
+    // Vehicle speed: 0.1 kph/LSB
+    if (msg->addr == 0x1F0U) {
+      int speed = (msg->data[1] << 8) | msg->data[0];  // WHEELSPEED_CLEAN
+      vehicle_moving = speed > 0;
+      UPDATE_VEHICLE_SPEED(speed * 0.1 * KPH_TO_MS);
+    }
+
+    // Gas and brake pressed
+    if (msg->addr == 0x242U) {
+      brake_pressed = (msg->data[4] >> 5) & 0x1U;   // BRAKE_PRESSED
+      gas_pressed = (msg->data[3] & 0x7FU) > 0U;    // RAW_THROTTLE
+    }
+  }
+
+  if (msg->bus == 2U) {
+    // Cruise state
+    if (msg->addr == 0x32DU) {
+      // ACC_STATE: 0=OFF, 2=ACC_ON, 3=ACC_ACTIVE, 5=FORCE_ACCEL, 7=ERROR
+      uint8_t acc_state = (msg->data[2] >> 3) & 0x7U;
+      bool acc_on = (acc_state == 3U) || (acc_state == 5U);
+      pcm_cruise_check(acc_on);
+    }
+  }
+}
+
+
+static bool byd_tx_hook(const CANPacket_t *msg) {
+  const AngleSteeringLimits BYD_STEERING_LIMITS = {
+    .max_angle = 3900,  // 390 deg
+    .angle_deg_to_can = 10,
+    .frequency = 50U,
+  };
+
+  // NOTE: based off BYD_ATTO_3 to match openpilot
+  const AngleSteeringParams BYD_STEERING_PARAMS = {
+    .slip_factor = -0.0006166479109059387,  // calc_slip_factor(VM)
+    .steer_ratio = 14.8,
+    .wheelbase = 2.72,
+  };
+
+  bool tx = true;
+
+  // Steering control: 0.1 deg/LSB, signed
+  if (msg->addr == 0x1E2U) {
+    int desired_angle = to_signed((msg->data[4] << 8) | msg->data[3], 16);  // STEER_ANGLE
+    bool steer_req = ((msg->data[2] >> 5) & 0x1U) != 0U;                    // STEER_REQ
+
+    if (steer_angle_cmd_checks_vm(desired_angle, steer_req, BYD_STEERING_LIMITS, BYD_STEERING_PARAMS)) {
+      tx = false;
+    }
+  }
+
+  return tx;
+}
+
+static safety_config byd_init(uint16_t param) {
+  SAFETY_UNUSED(param);
+
+  static const CanMsg BYD_TX_MSGS[] = {
+    {0x1E2, 0, 8, .check_relay = true},   // STEERING_MODULE_ADAS (lateral steering command)
+    {0x316, 0, 8, .check_relay = true},   // LKAS_HUD_ADAS (dash HUD)
+    {0x3B0, 0, 8, .check_relay = false},  // PCM_BUTTONS (cruise cancel button spoof)
+  };
+
+  static RxCheck byd_rx_checks[] = {
+    {.msg = {{0x11F, 0, 5, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},  // STEER_MODULE_2 (steering angle)
+    {.msg = {{0x1F0, 0, 8,  50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},  // WHEELSPEED_CLEAN (vehicle speed)
+    {.msg = {{0x242, 0, 8,  50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},  // DRIVE_STATE (gas and brake pressed)
+    {.msg = {{0x32D, 2, 8,  50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},  // ACC_HUD_ADAS (cruise state)
+  };
+
+  return BUILD_SAFETY_CFG(byd_rx_checks, BYD_TX_MSGS);
+}
+
+const safety_hooks byd_hooks = {
+  .init = byd_init,
+  .rx = byd_rx_hook,
+  .tx = byd_tx_hook,
+};
diff --git a/opendbc/safety/safety.h b/opendbc/safety/safety.h
index 6417881df12..b410c57f96e 100644
--- a/opendbc/safety/safety.h
+++ b/opendbc/safety/safety.h
@@ -27,6 +27,7 @@
 #include "opendbc/safety/modes/elm327.h"
 #include "opendbc/safety/modes/body.h"
 #include "opendbc/safety/modes/psa.h"
+#include "opendbc/safety/modes/byd.h"
 #include "opendbc/safety/modes/hyundai_canfd.h"
 
 uint32_t GET_BYTES(const CANPacket_t *msg, int start, int len) {
@@ -407,6 +408,7 @@ int set_safety_hooks(uint16_t mode, uint16_t param) {
 #ifdef ALLOW_DEBUG
     {SAFETY_CHRYSLER_CUSW, &chrysler_cusw_hooks},
     {SAFETY_PSA, &psa_hooks},
+    {SAFETY_BYD, &byd_hooks},
     {SAFETY_SUBARU_PREGLOBAL, &subaru_preglobal_hooks},
     {SAFETY_VOLKSWAGEN_MLB, &volkswagen_mlb_hooks},
     {SAFETY_VOLKSWAGEN_PQ, &volkswagen_pq_hooks},
diff --git a/opendbc/safety/tests/test_byd.py b/opendbc/safety/tests/test_byd.py
new file mode 100644
index 00000000000..771e7c079e6
--- /dev/null
+++ b/opendbc/safety/tests/test_byd.py
@@ -0,0 +1,162 @@
+#!/usr/bin/env python3
+import unittest
+import numpy as np
+
+from opendbc.car.byd.carcontroller import get_safety_CP
+from opendbc.car.byd.values import CarControllerParams
+from opendbc.car.lateral import get_max_angle_delta_vm, get_max_angle_vm
+from opendbc.car.structs import CarParams
+from opendbc.car.vehicle_model import VehicleModel
+from opendbc.safety.tests.libsafety import libsafety_py
+import opendbc.safety.tests.common as common
+from opendbc.safety.tests.common import CANPackerSafety, away_round
+
+STEERING_MODULE_ADAS = 0x1E2
+LKAS_HUD_ADAS = 0x316
+PCM_BUTTONS = 0x3B0
+
+
+def safety_max_can(max_angle_float, can_offset=0):
+  # Matches C: max_angle_can = (int)(max_angle * 10 + 1.) which is floor(max_angle * 10) + 1
+  return int(max_angle_float * 10 + 1.) + can_offset
+
+
+class TestBydSafety(common.CarSafetyTest, common.AngleSteeringSafetyTest):
+  RELAY_MALFUNCTION_ADDRS = {0: (STEERING_MODULE_ADAS, LKAS_HUD_ADAS)}
+  FWD_BLACKLISTED_ADDRS = {2: [STEERING_MODULE_ADAS, LKAS_HUD_ADAS]}
+  TX_MSGS = [[STEERING_MODULE_ADAS, 0], [LKAS_HUD_ADAS, 0], [PCM_BUTTONS, 0]]
+
+  MAIN_BUS = 0
+  CAM_BUS = 2
+
+  STEER_ANGLE_MAX = 390  # deg, EPS fault limit
+  DEG_TO_CAN = 10
+
+  # BYD uses get_max_angle_delta_vm and get_max_angle_vm for lateral accel and jerk limits
+  ANGLE_RATE_BP = None
+  ANGLE_RATE_UP = None
+  ANGLE_RATE_DOWN = None
+
+  # Real time limits
+  LATERAL_FREQUENCY = 50  # Hz
+
+  def _get_steer_cmd_angle_max(self, speed):
+    return get_max_angle_vm(max(speed, 1), self.VM, CarControllerParams)
+
+  def setUp(self):
+    self.VM = VehicleModel(get_safety_CP())
+    self.packer = CANPackerSafety("byd_atto3")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.byd, 0)
+    self.safety.init_tests()
+
+  def _angle_cmd_msg(self, angle: float, enabled: bool, increment_timer: bool = True):
+    values = {"STEER_ANGLE": angle, "STEER_REQ": 1 if enabled else 0, "STEER_REQ_ACTIVE_LOW": 0 if enabled else 1}
+    if increment_timer:
+      self.safety.set_timer(self.__class__.cnt_angle_cmd * int(1e6 / self.LATERAL_FREQUENCY))
+      self.__class__.cnt_angle_cmd += 1
+    return self.packer.make_can_msg_safety("STEERING_MODULE_ADAS", self.MAIN_BUS, values)
+
+  cnt_angle_cmd = 0
+
+  def _angle_meas_msg(self, angle: float):
+    values = {"STEER_ANGLE_2": angle}
+    return self.packer.make_can_msg_safety("STEER_MODULE_2", self.MAIN_BUS, values)
+
+  def _pcm_status_msg(self, enable):
+    # ACC_STATE: 0=OFF, 3=ACC_ACTIVE
+    values = {"ACC_STATE": 3 if enable else 0}
+    return self.packer.make_can_msg_safety("ACC_HUD_ADAS", self.CAM_BUS, values)
+
+  def _speed_msg(self, speed):
+    values = {"WHEELSPEED_CLEAN": speed * 3.6}
+    return self.packer.make_can_msg_safety("WHEELSPEED_CLEAN", self.MAIN_BUS, values)
+
+  def _user_brake_msg(self, brake):
+    values = {"BRAKE_PRESSED": 1 if brake else 0}
+    return self.packer.make_can_msg_safety("DRIVE_STATE", self.MAIN_BUS, values)
+
+  def _user_gas_msg(self, gas):
+    values = {"RAW_THROTTLE": int(gas * 100)}
+    return self.packer.make_can_msg_safety("DRIVE_STATE", self.MAIN_BUS, values)
+
+  def test_angle_cmd_when_enabled(self):
+    # We properly test lateral acceleration and jerk below
+    pass
+
+  def test_lateral_accel_limit(self):
+    for speed in np.linspace(0, 40, 100):
+      speed = max(speed, 1)
+      # match both CAN encoding (0.1 kph/LSB) and VEHICLE_SPEED_FACTOR=1000 rounding in UPDATE_VEHICLE_SPEED
+      sent = speed + 1
+      sent_can = away_round(sent / 0.1 * 3.6) * 0.1 / 3.6
+      speed = round(sent_can * 1000) / 1000 - 1
+      for sign in (-1, 1):
+        self.safety.set_controls_allowed(True)
+        self._reset_speed_measurement(speed + 1)  # safety fudges the speed
+
+        max_angle_float = get_max_angle_vm(speed, self.VM, CarControllerParams)
+
+        # at limit (safety tolerance adds 1 CAN unit)
+        max_angle_can = safety_max_can(max_angle_float)
+        max_angle_can = min(max_angle_can, self.STEER_ANGLE_MAX * self.DEG_TO_CAN)
+        max_angle = sign * max_angle_can / self.DEG_TO_CAN
+        self.safety.set_desired_angle_last(sign * max_angle_can)
+
+        self.assertTrue(self._tx(self._angle_cmd_msg(max_angle, True)))
+
+        # 1 unit above limit
+        over_can = safety_max_can(max_angle_float, 1)
+        over_can_clipped = min(over_can, self.STEER_ANGLE_MAX * self.DEG_TO_CAN)
+        over_angle = sign * over_can_clipped / self.DEG_TO_CAN
+        self._tx(self._angle_cmd_msg(over_angle, True))
+
+        # at low speeds max angle is above STEER_ANGLE_MAX, so adding 1 has no effect
+        should_tx = over_can >= self.STEER_ANGLE_MAX * self.DEG_TO_CAN
+        self.assertEqual(should_tx, self._tx(self._angle_cmd_msg(over_angle, True)))
+
+  def test_lateral_jerk_limit(self):
+    for speed in np.linspace(0, 40, 100):
+      speed = max(speed, 1)
+      # match both CAN encoding (0.1 kph/LSB) and VEHICLE_SPEED_FACTOR=1000 rounding in UPDATE_VEHICLE_SPEED
+      sent = speed + 1
+      sent_can = away_round(sent / 0.1 * 3.6) * 0.1 / 3.6
+      speed = round(sent_can * 1000) / 1000 - 1
+      for sign in (-1, 1):
+        self.safety.set_controls_allowed(True)
+        self._reset_speed_measurement(speed + 1)  # safety fudges the speed
+        self._tx(self._angle_cmd_msg(0, True))
+
+        max_delta_float = get_max_angle_delta_vm(speed, self.VM, CarControllerParams)
+
+        # Stay within limits
+        # Up
+        max_delta_can = safety_max_can(max_delta_float)
+        max_angle_delta = sign * max_delta_can / self.DEG_TO_CAN
+        self.assertTrue(self._tx(self._angle_cmd_msg(max_angle_delta, True)))
+
+        # Don't change
+        self.assertTrue(self._tx(self._angle_cmd_msg(max_angle_delta, True)))
+
+        # Down
+        self.assertTrue(self._tx(self._angle_cmd_msg(0, True)))
+
+        # Inject too high rates
+        # Up
+        over_delta_can = safety_max_can(max_delta_float, 1)
+        max_angle_delta = sign * over_delta_can / self.DEG_TO_CAN
+        self.assertFalse(self._tx(self._angle_cmd_msg(max_angle_delta, True)))
+
+        # Don't change
+        self.safety.set_desired_angle_last(sign * over_delta_can)
+        self.assertTrue(self._tx(self._angle_cmd_msg(max_angle_delta, True)))
+
+        # Down
+        self.assertFalse(self._tx(self._angle_cmd_msg(0, True)))
+
+        # Recover
+        self.assertTrue(self._tx(self._angle_cmd_msg(0, True)))
+
+
+if __name__ == "__main__":
+  unittest.main()

From 085bdcf343cbbcd2049fdb987fec5393c2e7405a Mon Sep 17 00:00:00 2001
From: lukasloetkolben <61192133+lukasloetkolben@users.noreply.github.com>
Date: Sun, 19 Apr 2026 10:41:35 +0200
Subject: [PATCH 2/9] =?UTF-8?q?390=C2=B0=20Angle=20limit?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 opendbc/car/byd/values.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc/car/byd/values.py b/opendbc/car/byd/values.py
index a1f4ed3b1d5..a81fc668952 100644
--- a/opendbc/car/byd/values.py
+++ b/opendbc/car/byd/values.py
@@ -18,7 +18,7 @@ class CarControllerParams:
   STEER_STEP = 2  # Angle command is sent at 50 Hz
 
   ANGLE_LIMITS: AngleSteeringLimits = AngleSteeringLimits(
-    360,  # deg
+    390,  # deg
     # BYD uses a vehicle model instead, check carcontroller.py for details
     ([], []),
     ([], []),

From 95ad9b471e6fd624e4d1337f0d2ddc28eda9f74b Mon Sep 17 00:00:00 2001
From: lukasloetkolben <61192133+lukasloetkolben@users.noreply.github.com>
Date: Wed, 22 Apr 2026 15:42:56 +0200
Subject: [PATCH 3/9] BYD: LKAS_HUD_ADAS message

---
 opendbc/car/byd/bydcan.py        | 20 +++++++-------------
 opendbc/car/byd/carcontroller.py |  2 +-
 opendbc/car/byd/carstate.py      |  9 +++++++++
 opendbc/dbc/byd_atto3.dbc        | 30 ++++++++++++++++--------------
 4 files changed, 33 insertions(+), 28 deletions(-)

diff --git a/opendbc/car/byd/bydcan.py b/opendbc/car/byd/bydcan.py
index be755b56c14..cd356fc496f 100644
--- a/opendbc/car/byd/bydcan.py
+++ b/opendbc/car/byd/bydcan.py
@@ -29,17 +29,11 @@ def create_buttons(packer, cancel: bool):
   return packer.make_can_msg("PCM_BUTTONS", 0, values)
 
 
-def create_lkas_hud(packer, lat_active: bool, counter: int):
-  values = {
-    # TODO: test STEER_ACTIVE_1_1 to 3 individual
-    "STEER_ACTIVE_1_1": 1 if lat_active else 0,
-    "STEER_ACTIVE_1_2": 1 if lat_active else 0,
-    "STEER_ACTIVE_1_3": 1 if lat_active else 0,
-    "STEER_ACTIVE_ACTIVE_LOW": 0 if lat_active else 1,
-    "LSS_STATE": 2 if lat_active else 0,
-    "SET_ME_1_2": 1,
-    "SET_ME_X5F": 0x5F,
-    "SET_ME_XFF": 0xFF,
-    "COUNTER": counter,
-  }
+def create_lkas_hud(packer, lat_active: bool, counter: int, stock_lkas_hud: dict):
+  values = {**stock_lkas_hud, "COUNTER": counter, "HANDS_ON_WHEEL_REQ": 0}
+  if lat_active:
+    values["LKS_MODE"] = 2
+    values["LKAS_STATE"] = 2
+    values["LEFT_LANE_STATE"] = 2
+    values["RIGHT_LANE_STATE"] = 2
   return packer.make_can_msg("LKAS_HUD_ADAS", 0, values)
diff --git a/opendbc/car/byd/carcontroller.py b/opendbc/car/byd/carcontroller.py
index fb35212a23e..45e9e4785ea 100644
--- a/opendbc/car/byd/carcontroller.py
+++ b/opendbc/car/byd/carcontroller.py
@@ -31,7 +31,7 @@ def update(self, CC, CS, now_nanos):
 
       cntr = (self.frame // 2) % 16
       can_sends.append(bydcan.create_steering_control(self.packer, self.apply_angle_last, CC.latActive, cntr))
-      can_sends.append(bydcan.create_lkas_hud(self.packer, CC.latActive, cntr))
+      can_sends.append(bydcan.create_lkas_hud(self.packer, CC.latActive, cntr, CS.lkas_hud))
 
     if CC.cruiseControl.cancel and self.frame % 10 == 0:
       can_sends.append(bydcan.create_buttons(self.packer, cancel=True))
diff --git a/opendbc/car/byd/carstate.py b/opendbc/car/byd/carstate.py
index 96eea9e284b..e0f4645a075 100644
--- a/opendbc/car/byd/carstate.py
+++ b/opendbc/car/byd/carstate.py
@@ -1,3 +1,5 @@
+import copy
+
 from opendbc.car import Bus, structs
 from opendbc.can.parser import CANParser
 from opendbc.car.common.conversions import Conversions as CV
@@ -16,6 +18,10 @@
 
 
 class CarState(CarStateBase):
+  def __init__(self, CP):
+    super().__init__(CP)
+    self.lkas_hud = {}
+
   def update(self, can_parsers) -> structs.CarState:
     cp = can_parsers[Bus.pt]
     cp_cam = can_parsers[Bus.cam]
@@ -64,6 +70,9 @@ def update(self, can_parsers) -> structs.CarState:
     ret.cruiseState.enabled = acc_state in (3, 5)
     ret.cruiseState.standstill = bool(cp_cam.vl["ACC_CMD"]["STANDSTILL_STATE"])
 
+    # forward stock LKAS HUD
+    self.lkas_hud = copy.copy(cp_cam.vl["LKAS_HUD_ADAS"])
+
     return ret
 
   @staticmethod
diff --git a/opendbc/dbc/byd_atto3.dbc b/opendbc/dbc/byd_atto3.dbc
index 579a3b05d91..42e94d46da1 100644
--- a/opendbc/dbc/byd_atto3.dbc
+++ b/opendbc/dbc/byd_atto3.dbc
@@ -83,20 +83,22 @@ BO_ 660 METER_CLUSTER: 8 BCM
  SG_ SEATBELT_DRIVER : 17|1@0+ (1,0) [0|1] "" MCU
 
 BO_ 790 LKAS_HUD_ADAS: 8 MPC_CAM
- SG_ HMA : 4|5@0+ (1,0) [0|31] "" MCU
- SG_ STEER_ACTIVE_1_1 : 5|1@0+ (1,0) [0|1] "" MCU
- SG_ LSS_STATE : 7|2@0+ (1,0) [0|3] "" MCU
- SG_ HAND_ON_WHEEL_WARNING : 10|1@0+ (1,0) [0|1] "" MCU
- SG_ SET_ME_XFF : 23|8@0+ (1,0) [0|255] "" MCU
- SG_ SET_ME_X5F : 31|8@0+ (1,0) [0|255] "" MCU
- SG_ SET_ME_1_2 : 32|1@0+ (1,0) [0|1] "" MCU
- SG_ STEER_ACTIVE_1_3 : 35|1@0+ (1,0) [0|1] "" MCU
- SG_ STEER_ACTIVE_ACTIVE_LOW : 36|1@0+ (1,0) [0|1] "" MCU
- SG_ STEER_ACTIVE_1_2 : 37|1@0+ (1,0) [0|1] "" MCU
- SG_ TSR : 47|8@0+ (1,0) [0|255] "" MCU
- SG_ SETTINGS : 48|4@1+ (1,0) [0|15] "" MCU
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" MCU
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" MCU
+ SG_ HMA_STATE : 3|4@0+ (1,0) [0|15] "" MCU
+ SG_ LEFT_LANE_STATE : 4|2@1+ (1,0) [0|3] "" MCU
+ SG_ LKS_MODE : 6|2@1+ (1,0) [0|3] "" MCU
+ SG_ HANDS_ON_WHEEL_REQ : 10|1@1+ (1,0) [0|1] "" MCU
+ SG_ TJA_ICA_STATE : 11|4@1+ (1,0) [0|15] "" MCU
+ SG_ HMA_ON_OFF : 15|1@0+ (1,0) [0|1] "" MCU
+ SG_ LKAS_OUTPUT : 16|11@1- (1,0) [-1024|1023] "" MCU
+ SG_ LKAS_REQ_PREPARE : 27|1@1+ (1,0) [0|1] "" MCU
+ SG_ LKAS_ACTIVE : 28|1@1+ (1,0) [0|1] "" MCU
+ SG_ SLA_ON_OFF : 30|1@0+ (1,0) [0|1] "" MCU
+ SG_ RIGHT_LANE_STATE : 34|2@1+ (1,0) [0|3] "" MCU
+ SG_ LKAS_STATE : 36|4@1+ (1,0) [0|15] "" MCU
+ SG_ SPEED_LIMIT_VALUE : 40|8@1+ (5,-5) [-5|1270] "kph" MCU
+ SG_ LKAS_ALARM_TYPE : 49|2@0+ (1,0) [0|3] "" MCU
+ SG_ COUNTER : 52|4@1+ (1,0) [0|15] "" MCU
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" MCU
 
 BO_ 813 ACC_HUD_ADAS: 8 ADAS_ECU
  SG_ SET_SPEED : 0|8@1+ (0.5,0) [0|127.5] "kph" MCU

From cc711e05d2de3e9e157bcd7394670f7e5f44177b Mon Sep 17 00:00:00 2001
From: lukasloetkolben <61192133+lukasloetkolben@users.noreply.github.com>
Date: Wed, 22 Apr 2026 16:52:28 +0200
Subject: [PATCH 4/9] BYD: improve DBC and add Blindspot

---
 opendbc/car/byd/bydcan.py   |  4 ++--
 opendbc/car/byd/carstate.py |  4 ++++
 opendbc/dbc/byd_atto3.dbc   | 43 ++++++++++++++++++++++++++++++-------
 3 files changed, 41 insertions(+), 10 deletions(-)

diff --git a/opendbc/car/byd/bydcan.py b/opendbc/car/byd/bydcan.py
index cd356fc496f..24088f7c9b0 100644
--- a/opendbc/car/byd/bydcan.py
+++ b/opendbc/car/byd/bydcan.py
@@ -11,8 +11,8 @@ def create_steering_control(packer, apply_angle: float, lat_active: bool, counte
     "STEER_ANGLE": apply_angle,
     "ANGLE_RATE_LIMIT_UPPER": rate_limit,
     "ANGLE_RATE_LIMIT_LOWER": -rate_limit,
-    "SET_ME_1_1": 1,
-    "SET_ME_1_2": 1,
+    "E2E_ALIVE_1": 1,
+    "E2E_ALIVE_2": 1,
     "SET_ME_FF": 0xFF,
     "SET_ME_F": 0xF,
     "COUNTER": counter,
diff --git a/opendbc/car/byd/carstate.py b/opendbc/car/byd/carstate.py
index e0f4645a075..67579bd7cef 100644
--- a/opendbc/car/byd/carstate.py
+++ b/opendbc/car/byd/carstate.py
@@ -53,6 +53,10 @@ def update(self, can_parsers) -> structs.CarState:
     ret.leftBlinker = bool(cp.vl["STALKS"]["LEFT_BLINKER"])
     ret.rightBlinker = bool(cp.vl["STALKS"]["RIGHT_BLINKER"])
 
+    # blind spot monitor
+    ret.leftBlindspot = cp.vl["BSD_RADAR"]["LEFT_APPROACH"] != 0
+    ret.rightBlindspot = cp.vl["BSD_RADAR"]["RIGHT_APPROACH"] != 0
+
     # doors / belt
     ret.doorOpen = any((
       cp.vl["METER_CLUSTER"]["FRONT_LEFT_DOOR"],
diff --git a/opendbc/dbc/byd_atto3.dbc b/opendbc/dbc/byd_atto3.dbc
index 42e94d46da1..8fb321487b2 100644
--- a/opendbc/dbc/byd_atto3.dbc
+++ b/opendbc/dbc/byd_atto3.dbc
@@ -33,15 +33,21 @@ NS_ :
 
 BS_:
 
-BU_: EPS ESP_ECU BCM VCU MPC_CAM ADAS_ECU MCU
+BU_: EPS ESP_ECU BCM VCU MPC_CAM ADAS_ECU MCU BSD
 
 
 BO_ 287 STEER_MODULE_2: 5 EPS
- SG_ STEER_ANGLE_2 : 0|16@1- (0.1,0) [-3276.8|3276.7] "deg" MCU,ADAS_ECU
+ SG_ STEER_ANGLE_2 : 0|16@1- (0.1,0) [-780|780] "deg" MCU,ADAS_ECU
  SG_ DRIVER_EPS_TORQUE : 16|8@1+ (1,0) [0|255] "" MCU,ADAS_ECU
  SG_ COUNTER : 35|4@0+ (1,0) [0|15] "" MCU
  SG_ CHECKSUM_4BIT : 39|4@0+ (1,0) [0|15] "" MCU
 
+BO_ 290 WHEEL_SPEED: 8 ESP_ECU
+ SG_ WHEELSPEED_FL : 0|16@1+ (0.1,0) [0|6553.5] "kph" MCU,ADAS_ECU
+ SG_ WHEELSPEED_FR : 16|16@1+ (0.1,0) [0|6553.5] "kph" MCU,ADAS_ECU
+ SG_ WHEELSPEED_BL : 32|16@1+ (0.1,0) [0|6553.5] "kph" MCU,ADAS_ECU
+ SG_ WHEELSPEED_BR : 48|16@1+ (0.1,0) [0|6553.5] "kph" MCU,ADAS_ECU
+
 BO_ 307 STALKS: 8 BCM
  SG_ LEFT_BLINKER : 37|1@0+ (1,0) [0|1] "" MCU
  SG_ RIGHT_BLINKER : 38|1@0+ (1,0) [0|1] "" MCU
@@ -52,8 +58,8 @@ BO_ 482 STEERING_MODULE_ADAS: 8 ADAS_ECU
  SG_ ANGLE_RATE_LIMIT_LOWER : 10|10@1- (1,0) [-512|511] "" EPS
  SG_ STEER_REQ_ACTIVE_LOW : 20|1@0+ (1,0) [0|1] "" EPS
  SG_ STEER_REQ : 21|1@0+ (1,0) [0|1] "" EPS
- SG_ SET_ME_1_2 : 22|1@0+ (1,0) [0|1] "" EPS
- SG_ SET_ME_1_1 : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ E2E_ALIVE_2 : 22|1@0+ (1,0) [0|1] "" EPS
+ SG_ E2E_ALIVE_1 : 23|1@0+ (1,0) [0|1] "" EPS
  SG_ STEER_ANGLE : 24|16@1- (0.1,0) [-3276.8|3276.7] "deg" EPS
  SG_ SET_ME_FF : 47|8@0+ (1,0) [0|255] "" EPS
  SG_ SET_ME_F : 48|4@1+ (1,0) [0|15] "" EPS
@@ -66,8 +72,15 @@ BO_ 496 WHEELSPEED_CLEAN: 8 ESP_ECU
  SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" MCU
 
 BO_ 508 STEERING_TORQUE: 8 EPS
- SG_ MAIN_TORQUE : 0|16@1- (0.1,0) [-3276.8|3276.7] "" MCU,ADAS_ECU
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" MCU
+ SG_ LKS_PREPARED : 0|1@1+ (1,0) [0|1] "" MCU,ADAS_ECU
+ SG_ CRUISE_ACTIVATED : 1|1@1+ (1,0) [0|1] "" MCU,ADAS_ECU
+ SG_ TORQUE_FAILED : 2|1@1+ (1,0) [0|1] "" MCU,ADAS_ECU
+ SG_ DRIVER_TORQUE : 4|12@1- (0.1,0) [-204.8|204.7] "Nm" MCU,ADAS_ECU
+ SG_ TARGET_ANGLE : 16|16@1- (0.1,0) [-3276.8|3276.7] "deg" MCU,ADAS_ECU
+ SG_ MAIN_TORQUE : 32|12@1- (1,0) [-2048|2047] "" MCU,ADAS_ECU
+ SG_ HANDS_ON_WHEEL_WARN : 45|1@1+ (1,0) [0|1] "" MCU,ADAS_ECU
+ SG_ TORQUE_TEMP_FAILED : 46|2@1+ (1,0) [0|3] "" MCU,ADAS_ECU
+ SG_ COUNTER : 52|4@1+ (1,0) [0|15] "" MCU
  SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" MCU
 
 BO_ 578 DRIVE_STATE: 8 VCU
@@ -92,11 +105,11 @@ BO_ 790 LKAS_HUD_ADAS: 8 MPC_CAM
  SG_ LKAS_OUTPUT : 16|11@1- (1,0) [-1024|1023] "" MCU
  SG_ LKAS_REQ_PREPARE : 27|1@1+ (1,0) [0|1] "" MCU
  SG_ LKAS_ACTIVE : 28|1@1+ (1,0) [0|1] "" MCU
- SG_ SLA_ON_OFF : 30|1@0+ (1,0) [0|1] "" MCU
+ SG_ SLA_STATE : 29|3@1+ (1,0) [0|7] "" MCU
  SG_ RIGHT_LANE_STATE : 34|2@1+ (1,0) [0|3] "" MCU
  SG_ LKAS_STATE : 36|4@1+ (1,0) [0|15] "" MCU
  SG_ SPEED_LIMIT_VALUE : 40|8@1+ (5,-5) [-5|1270] "kph" MCU
- SG_ LKAS_ALARM_TYPE : 49|2@0+ (1,0) [0|3] "" MCU
+ SG_ LDSW_TYPE : 49|2@0+ (1,0) [0|3] "" MCU
  SG_ COUNTER : 52|4@1+ (1,0) [0|15] "" MCU
  SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" MCU
 
@@ -149,7 +162,13 @@ BO_ 944 PCM_BUTTONS: 8 MCU
  SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" MCU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" MCU
 
+BO_ 1048 BSD_RADAR: 8 BSD
+ SG_ LEFT_APPROACH : 9|2@0+ (1,0) [0|3] "" MCU,ADAS_ECU
+ SG_ RIGHT_APPROACH : 11|2@0+ (1,0) [0|3] "" MCU,ADAS_ECU
+ SG_ APPROACH : 17|1@0+ (1,0) [0|1] "" MCU,ADAS_ECU
+
 CM_ BO_ 287 "EPS steering wheel angle + driver torque. Validated: angle range plausible, DRIVER_EPS_TORQUE stays near 0 when hands-off.";
+CM_ BO_ 290 "Per-wheel speed from ESP (FL/FR/BL/BR). Scale 0.1 kph/bit. Use WHEELSPEED_CLEAN (0x1F0) for the aggregated filtered value openpilot consumes.";
 CM_ BO_ 307 "Turn signal / stalk info. Validated: LEFT_BLINKER and RIGHT_BLINKER transition 0->1 during lane change events.";
 CM_ BO_ 482 "Lateral steering command sent by MPC camera/ADAS ECU to EPS. Blocked by panda on bus 2; panda injects its own on bus 0.";
 CM_ BO_ 496 "Wheel speed (cleaned average). Validated: 0-127 km/h matching driving speed.";
@@ -164,3 +183,11 @@ CM_ BO_ 944 "Steering-wheel cruise control buttons.";
 VAL_ 578 GEAR 4 "D" 2 "R" 3 "N" 1 "P";
 VAL_ 813 SET_DISTANCE 4 "4bar" 3 "3bar" 2 "2bar" 1 "1bar";
 VAL_ 813 ACC_STATE 0 "OFF" 2 "ACC_ON" 3 "ACC_ACTIVE" 5 "FORCE_ACCEL" 7 "ERROR";
+VAL_ 790 HMA_STATE 0 "OFF" 1 "PASSIVE" 2 "STANDBY" 3 "ACTIVE" 4 "FAULT" 5 "CAMERA_BLOCKED";
+VAL_ 790 LKS_MODE 0 "OFF" 1 "DIVERGE" 2 "KEEPING" 3 "ALL";
+VAL_ 790 TJA_ICA_STATE 0 "OFF" 1 "PASSIVE" 2 "ACTIVE1" 3 "ACTIVE2" 4 "FAULT";
+VAL_ 790 LDSW_TYPE 0 "VIBRATE" 1 "SOUND" 2 "ALL";
+VAL_ 790 SLA_STATE 0 "OFF" 1 "FUSION_MODE" 2 "VISION_MODE" 3 "NV_ONLY_MODE" 4 "DEFECT";
+VAL_ 790 LEFT_LANE_STATE 0 "OFF" 2 "WARNING";
+VAL_ 790 RIGHT_LANE_STATE 0 "OFF" 2 "WARNING";
+VAL_ 508 TORQUE_TEMP_FAILED 1 "TooLarge" 2 "TooFast" 3 "Both";

From adb6de75a5f50f58abfe1fc59b06e9a224eb7565 Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Thu, 16 Apr 2026 11:08:49 +0300
Subject: [PATCH 5/9] Add BYD Sealion 7 dbc

---
 opendbc/dbc/byd_sealion_7.dbc | 105 ++++++++++++++++++++++++++++++++++
 1 file changed, 105 insertions(+)
 create mode 100644 opendbc/dbc/byd_sealion_7.dbc

diff --git a/opendbc/dbc/byd_sealion_7.dbc b/opendbc/dbc/byd_sealion_7.dbc
new file mode 100644
index 00000000000..6fd00ae9caf
--- /dev/null
+++ b/opendbc/dbc/byd_sealion_7.dbc
@@ -0,0 +1,105 @@
+BO_ 213 BRAKE_POSITION: 8 XXX
+ SG_ BRAKE_POSITION : 0|9@1+ (1,0) [0|1] "" XXX
+
+BO_ 287 STEER_ANGLE_SENSOR: 5 XXX
+ SG_ STEER_RACK_ANGLE : 0|16@1- (0.01,0) [-50|50] "deg" XXX
+ SG_ STEER_TORQUE_MAG : 16|8@1+ (1,0) [0|255] "Nm" XXX
+
+BO_ 289 NEW_MSG_121: 8 XXX
+
+BO_ 482 NEW_MSG_1E2: 8 XXX
+ SG_ STEER_ANGLE_2 : 24|16@1- (0.01,0) [0|65535] "" XXX
+
+BO_ 496 WHEEL_SPEEDS: 8 XXX
+ SG_ WHEEL_FL : 0|12@1+ (0.075,0) [0|4095] "" XXX
+ SG_ WHEEL_FR : 16|12@1+ (0.075,0) [0|4095] "" XXX
+ SG_ WHEEL_RL : 28|12@1+ (0.075,0) [0|31] "" XXX
+ SG_ WHEEL_RR : 40|12@1+ (0.075,0) [0|8191] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 508 ICC_STEERING: 8 XXX
+ SG_ ICC_STEERING_STATE : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEER_ANGLE_EPS : 4|28@1- (1,0) [-1000|1000] "" XXX
+ SG_ EPS_STEERING : 32|12@1- (1,0) [-2048|2047] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|15] "" XXX
+
+BO_ 537 BRAKE: 8 XXX
+ SG_ BRAKE_PRESSED : 2|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 544 NEW_MSG_220: 8 XXX
+
+BO_ 546 YAW_RATE: 8 XXX
+ SG_ YAW_RATE : 0|11@1+ (1,-982) [0|2047] "" XXX
+
+BO_ 547 NEW_MSG_223: 8 XXX
+
+BO_ 578 NEW_MSG_242: 8 XXX
+ SG_ GAS_PEDAL_2 : 30|7@0+ (1,0) [0|127] "" XXX
+ SG_ BRAKE_STATE : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 660 SEATBELT: 8 XXX
+ SG_ DOOR_FL_OPEN : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_FR_OPEN : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_RL_OPEN : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_RR_OPEN : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ SEATBELT_DRIVER_LATCHED : 17|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 661 NEW_MSG_295: 8 XXX
+
+BO_ 790 ICC_STATE: 8 XXX
+ SG_ ACC_ON : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ ICC_ON : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_1 : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_2 : 63|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 814 ICC_GAS_NOTSURE: 8 XXX
+ SG_ GAS_NOTSURE : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ CHECKSUM : 51|12@0+ (1,0) [0|4095] "" XXX
+
+BO_ 834 PEDALS: 8 XXX
+ SG_ GAS_PEDAL : 6|7@0+ (1,0) [0|127] "" XXX
+ SG_ BRAKE_PRESSED : 14|7@0+ (1,0) [0|1] "" XXX
+ SG_ DRIVE_MODE : 22|3@0+ (1,0) [0|7] "" XXX
+ SG_ COUNTER : 55|12@0+ (1,0) [0|4095] "" XXX
+
+BO_ 854 NEW_MSG_356: 8 XXX
+
+BO_ 860 GEAR_STATE: 8 XXX
+ SG_ GEAR_STATE : 8|3@1+ (1,0) [0|7] "" XXX
+
+BO_ 906 LIGHTS: 8 XXX
+ SG_ BRIGHTS : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ LEFT_TURN : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_TURN : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_LIGHT : 59|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 944 STEERING_WHEEL_BUTTONS: 8 XXX
+ SG_ ACC_SPEED_BUTTON_MINUS : 3|1@1+ (1,0) [0|3] "" XXX
+ SG_ ACC_SPEED_BUTTON_PLUS : 4|2@0+ (1,0) [0|3] "" XXX
+ SG_ ACC_BUTTON : 6|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_DISTANCE_BUTTON_NOTSURE_MINUS : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_DISTANCE_BUTTON_NOTSURE_PLUS : 16|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1028 IGNITION: 8 XXX
+ SG_ IGNITION_ON : 6|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1033 NEW_MSG_409: 8 XXX
+
+BO_ 1040 xxxx: 8 XXX
+
+BO_ 1058 MAYBE_RPM: 8 XXX
+
+BO_ 1092 NEW_MSG_444: 8 XXX
+
+BO_ 1093 maybe_ignition: 8 XXX
+
+BO_ 1189 NEW_MSG_4A5: 8 XXX
+
+BO_ 1193 DRIVING_MODE_BUTTON: 8 XXX
+ SG_ DRIVING_MODE_BUTTON_PRESSED : 40|1@0+ (1,0) [0|1] "" XXX
+
+CM_ BO_ 1193 "to be deleted";
+VAL_ 834 DRIVE_MODE 0 "RESERVED" 1 "ECO" 2 "SPORT" 3 "SNOW" 4 "NORMAL" 5 "RESERVED" 6 "RESERVED" 7 "RESERVED";
+VAL_ 860 GEAR_STATE 1 "P" 2 "R" 3 "N" 4 "D" 0 "UNKNOWN" 5 "UNKNOWN" 6 "UNKNOWN" 7 "UNKNOWN";

From cdc35b6160c94b21b781a63fd336985fdeee04f8 Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Tue, 21 Apr 2026 22:03:04 +0300
Subject: [PATCH 6/9] BYD: update Sealion 7 dbc

---
 opendbc/dbc/byd_sealion_7.dbc | 249 ++++++++++++++++++++++------------
 1 file changed, 163 insertions(+), 86 deletions(-)

diff --git a/opendbc/dbc/byd_sealion_7.dbc b/opendbc/dbc/byd_sealion_7.dbc
index 6fd00ae9caf..b1c44ebeeb9 100644
--- a/opendbc/dbc/byd_sealion_7.dbc
+++ b/opendbc/dbc/byd_sealion_7.dbc
@@ -1,70 +1,143 @@
-BO_ 213 BRAKE_POSITION: 8 XXX
- SG_ BRAKE_POSITION : 0|9@1+ (1,0) [0|1] "" XXX
-
-BO_ 287 STEER_ANGLE_SENSOR: 5 XXX
- SG_ STEER_RACK_ANGLE : 0|16@1- (0.01,0) [-50|50] "deg" XXX
- SG_ STEER_TORQUE_MAG : 16|8@1+ (1,0) [0|255] "Nm" XXX
-
-BO_ 289 NEW_MSG_121: 8 XXX
-
-BO_ 482 NEW_MSG_1E2: 8 XXX
- SG_ STEER_ANGLE_2 : 24|16@1- (0.01,0) [0|65535] "" XXX
-
-BO_ 496 WHEEL_SPEEDS: 8 XXX
- SG_ WHEEL_FL : 0|12@1+ (0.075,0) [0|4095] "" XXX
- SG_ WHEEL_FR : 16|12@1+ (0.075,0) [0|4095] "" XXX
- SG_ WHEEL_RL : 28|12@1+ (0.075,0) [0|31] "" XXX
- SG_ WHEEL_RR : 40|12@1+ (0.075,0) [0|8191] "" XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" XXX
-
-BO_ 508 ICC_STEERING: 8 XXX
- SG_ ICC_STEERING_STATE : 1|1@0+ (1,0) [0|1] "" XXX
- SG_ STEER_ANGLE_EPS : 4|28@1- (1,0) [-1000|1000] "" XXX
- SG_ EPS_STEERING : 32|12@1- (1,0) [-2048|2047] "" XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|15] "" XXX
-
-BO_ 537 BRAKE: 8 XXX
+VERSION ""
+
+
+NS_ :
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BS_:
+
+BU_: EPS ESP_ECU BCM VCU MPC_CAM ADAS_ECU MCU
+
+
+BO_ 287 STEER_MODULE_2: 5 EPS
+ SG_ STEER_ANGLE_2 : 0|16@1- (0.1,0) [-3276.8|3276.7] "deg" MCU,ADAS_ECU
+ SG_ DRIVER_EPS_TORQUE : 16|8@1+ (1,0) [0|255] "" MCU,ADAS_ECU
+ SG_ COUNTER : 35|4@0+ (1,0) [0|15] "" MCU
+ SG_ CHECKSUM_4BIT : 39|4@0+ (1,0) [0|15] "" MCU
+
+BO_ 307 STALKS: 8 BCM
+ SG_ LEFT_BLINKER : 37|1@0+ (1,0) [0|1] "" MCU
+ SG_ RIGHT_BLINKER : 38|1@0+ (1,0) [0|1] "" MCU
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" MCU
+
+BO_ 482 STEERING_MODULE_ADAS: 8 ADAS_ECU
+ SG_ ANGLE_RATE_LIMIT_UPPER : 0|10@1- (1,0) [-512|511] "" EPS
+ SG_ ANGLE_RATE_LIMIT_LOWER : 10|10@1- (1,0) [-512|511] "" EPS
+ SG_ STEER_REQ_ACTIVE_LOW : 20|1@0+ (1,0) [0|1] "" EPS
+ SG_ STEER_REQ : 21|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_1_2 : 22|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_1_1 : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ STEER_ANGLE : 24|16@1- (0.1,0) [-3276.8|3276.7] "deg" EPS
+ SG_ SET_ME_FF : 47|8@0+ (1,0) [0|255] "" EPS
+ SG_ SET_ME_F : 48|4@1+ (1,0) [0|15] "" EPS
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" EPS
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" EPS
+
+BO_ 496 WHEELSPEED_CLEAN: 8 ESP_ECU
+ SG_ WHEELSPEED_CLEAN : 0|16@1+ (0.1,0) [0|6553.5] "kph" MCU
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" MCU
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" MCU
+
+BO_ 508 STEERING_TORQUE: 8 EPS
+ SG_ MAIN_TORQUE : 0|16@1- (0.1,0) [-3276.8|3276.7] "" MCU,ADAS_ECU
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" MCU
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" MCU
+
+BO_ 537 SL7_BRAKE: 8 XXX
  SG_ BRAKE_PRESSED : 2|1@0+ (1,0) [0|1] "" XXX
 
-BO_ 544 NEW_MSG_220: 8 XXX
-
-BO_ 546 YAW_RATE: 8 XXX
- SG_ YAW_RATE : 0|11@1+ (1,-982) [0|2047] "" XXX
-
-BO_ 547 NEW_MSG_223: 8 XXX
-
-BO_ 578 NEW_MSG_242: 8 XXX
- SG_ GAS_PEDAL_2 : 30|7@0+ (1,0) [0|127] "" XXX
- SG_ BRAKE_STATE : 37|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 660 SEATBELT: 8 XXX
- SG_ DOOR_FL_OPEN : 1|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_FR_OPEN : 3|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_RL_OPEN : 5|1@0+ (1,0) [0|1] "" XXX
- SG_ DOOR_RR_OPEN : 7|1@0+ (1,0) [0|1] "" XXX
- SG_ SEATBELT_DRIVER_LATCHED : 17|1@0+ (1,0) [0|1] "" XXX
-
-BO_ 661 NEW_MSG_295: 8 XXX
-
-BO_ 790 ICC_STATE: 8 XXX
- SG_ ACC_ON : 27|1@0+ (1,0) [0|1] "" XXX
- SG_ ICC_ON : 28|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_1 : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_2 : 63|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 814 ICC_GAS_NOTSURE: 8 XXX
- SG_ GAS_NOTSURE : 7|16@0+ (1,0) [0|65535] "" XXX
- SG_ CHECKSUM : 51|12@0+ (1,0) [0|4095] "" XXX
-
-BO_ 834 PEDALS: 8 XXX
- SG_ GAS_PEDAL : 6|7@0+ (1,0) [0|127] "" XXX
- SG_ BRAKE_PRESSED : 14|7@0+ (1,0) [0|1] "" XXX
+BO_ 578 DRIVE_STATE: 8 VCU
+ SG_ RAW_THROTTLE : 30|7@0+ (1,0) [0|127] "" MCU
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" MCU,ADAS_ECU
+ SG_ GEAR : 40|3@1+ (1,0) [0|7] "" MCU
+
+BO_ 660 METER_CLUSTER: 8 BCM
+ SG_ FRONT_RIGHT_DOOR : 1|1@1+ (1,0) [0|1] "" MCU
+ SG_ FRONT_LEFT_DOOR : 3|1@0+ (1,0) [0|1] "" MCU
+ SG_ BACK_LEFT_DOOR : 5|1@1+ (1,0) [0|1] "" MCU
+ SG_ BACK_RIGHT_DOOR : 7|1@0+ (1,0) [0|1] "" MCU
+ SG_ SEATBELT_DRIVER : 17|1@0+ (1,0) [0|1] "" MCU
+
+BO_ 790 LKAS_HUD_ADAS: 8 MPC_CAM
+ SG_ HMA : 4|5@0+ (1,0) [0|31] "" MCU
+ SG_ STEER_ACTIVE_1_1 : 5|1@0+ (1,0) [0|1] "" MCU
+ SG_ LSS_STATE : 7|2@0+ (1,0) [0|3] "" MCU
+ SG_ HAND_ON_WHEEL_WARNING : 10|1@0+ (1,0) [0|1] "" MCU
+ SG_ SET_ME_XFF : 23|8@0+ (1,0) [0|255] "" MCU
+ SG_ SET_ME_X5F : 31|8@0+ (1,0) [0|255] "" MCU
+ SG_ SET_ME_1_2 : 32|1@0+ (1,0) [0|1] "" MCU
+ SG_ STEER_ACTIVE_1_3 : 35|1@0+ (1,0) [0|1] "" MCU
+ SG_ STEER_ACTIVE_ACTIVE_LOW : 36|1@0+ (1,0) [0|1] "" MCU
+ SG_ STEER_ACTIVE_1_2 : 37|1@0+ (1,0) [0|1] "" MCU
+ SG_ TSR : 47|8@0+ (1,0) [0|255] "" MCU
+ SG_ SETTINGS : 48|4@1+ (1,0) [0|15] "" MCU
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" MCU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" MCU
+
+BO_ 813 ACC_HUD_ADAS: 8 ADAS_ECU
+ SG_ SET_SPEED : 0|8@1+ (0.5,0) [0|127.5] "kph" MCU
+ SG_ SET_DISTANCE : 12|3@0+ (1,0) [0|7] "" MCU
+ SG_ ACC_STATE : 19|3@1+ (1,0) [0|7] "" MCU
+ SG_ ACC_ON2 : 20|1@0+ (1,0) [0|1] "" MCU
+ SG_ ACC_ON1 : 22|1@0+ (1,0) [0|1] "" MCU
+ SG_ SET_ME_XFF : 47|8@0+ (1,0) [0|255] "" MCU
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" MCU
+ SG_ SET_ME_XF : 55|4@0+ (1,0) [0|15] "" MCU
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" MCU
+
+BO_ 814 ACC_CMD: 8 ADAS_ECU
+ SG_ ACCEL_CMD : 0|8@1+ (1,-100) [-100|155] "" MCU
+ SG_ ACC_ON_1 : 9|1@0+ (1,0) [0|1] "" MCU
+ SG_ SET_ME_25_1 : 10|6@1+ (1,0) [0|63] "" MCU
+ SG_ ACC_ON_2 : 17|1@0+ (1,0) [0|1] "" MCU
+ SG_ SET_ME_25_2 : 18|6@1+ (1,0) [0|63] "" MCU
+ SG_ DECEL_FACTOR : 24|4@1+ (1,0) [0|15] "" MCU
+ SG_ SET_ME_X8 : 31|4@0+ (1,0) [0|15] "" MCU
+ SG_ ACCEL_FACTOR : 32|4@1+ (1,0) [0|15] "" MCU
+ SG_ CMD_REQ_ACTIVE_LOW : 36|1@0+ (1,0) [0|1] "" MCU
+ SG_ SET_ME_1 : 38|1@0+ (1,0) [0|1] "" MCU
+ SG_ STANDSTILL_RESUME : 39|1@0+ (1,0) [0|1] "" MCU
+ SG_ STANDSTILL_STATE : 40|1@0+ (1,0) [0|1] "" MCU
+ SG_ ACC_REQ_NOT_STANDSTILL : 43|1@0+ (1,0) [0|1] "" MCU
+ SG_ ACC_CONTROLLABLE_AND_ON : 44|1@0+ (1,0) [0|1] "" MCU
+ SG_ ACC_OVERRIDE_OR_STANDSTILL : 45|1@0+ (1,0) [0|1] "" MCU
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" MCU
+ SG_ SET_ME_XF : 55|4@0+ (1,0) [0|15] "" MCU
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" MCU
+
+BO_ 834 PEDAL: 8 VCU
+ SG_ GAS_PEDAL : 0|8@1+ (0.01,0) [0|2.55] "" MCU
+ SG_ BRAKE_PEDAL : 8|8@1+ (0.01,0) [0|2.55] "" MCU
  SG_ DRIVE_MODE : 22|3@0+ (1,0) [0|7] "" XXX
- SG_ COUNTER : 55|12@0+ (1,0) [0|4095] "" XXX
-
-BO_ 854 NEW_MSG_356: 8 XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" MCU
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" MCU
 
 BO_ 860 GEAR_STATE: 8 XXX
  SG_ GEAR_STATE : 8|3@1+ (1,0) [0|7] "" XXX
@@ -75,31 +148,35 @@ BO_ 906 LIGHTS: 8 XXX
  SG_ RIGHT_TURN : 38|1@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_LIGHT : 59|1@0+ (1,0) [0|1] "" XXX
 
-BO_ 944 STEERING_WHEEL_BUTTONS: 8 XXX
- SG_ ACC_SPEED_BUTTON_MINUS : 3|1@1+ (1,0) [0|3] "" XXX
- SG_ ACC_SPEED_BUTTON_PLUS : 4|2@0+ (1,0) [0|3] "" XXX
- SG_ ACC_BUTTON : 6|1@0+ (1,0) [0|1] "" XXX
- SG_ ACC_DISTANCE_BUTTON_NOTSURE_MINUS : 15|1@0+ (1,0) [0|1] "" XXX
- SG_ ACC_DISTANCE_BUTTON_NOTSURE_PLUS : 16|1@0+ (1,0) [0|1] "" XXX
+BO_ 944 PCM_BUTTONS: 8 MCU
+ SG_ SET_ME_1_1 : 2|1@0+ (1,0) [0|1] "" MCU
+ SG_ SET_BTN : 3|1@0+ (1,0) [0|1] "" MCU
+ SG_ RES_BTN : 4|1@0+ (1,0) [0|1] "" MCU
+ SG_ LKAS_ON_BTN : 6|1@0+ (1,0) [0|1] "" MCU
+ SG_ SET_ME_1_2 : 12|1@0+ (1,0) [0|1] "" MCU
+ SG_ DEC_DISTANCE_BTN : 15|1@0+ (1,0) [0|1] "" MCU
+ SG_ INC_DISTANCE_BTN : 16|1@0+ (1,0) [0|1] "" MCU
+ SG_ ACC_ON_BTN : 19|1@0+ (1,0) [0|1] "" MCU
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" MCU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" MCU
 
 BO_ 1028 IGNITION: 8 XXX
  SG_ IGNITION_ON : 6|1@0+ (1,0) [0|1] "" XXX
 
-BO_ 1033 NEW_MSG_409: 8 XXX
-
-BO_ 1040 xxxx: 8 XXX
-
-BO_ 1058 MAYBE_RPM: 8 XXX
-
-BO_ 1092 NEW_MSG_444: 8 XXX
-
-BO_ 1093 maybe_ignition: 8 XXX
-
-BO_ 1189 NEW_MSG_4A5: 8 XXX
-
-BO_ 1193 DRIVING_MODE_BUTTON: 8 XXX
- SG_ DRIVING_MODE_BUTTON_PRESSED : 40|1@0+ (1,0) [0|1] "" XXX
-
-CM_ BO_ 1193 "to be deleted";
+CM_ BO_ 287 "EPS steering wheel angle + driver torque. Validated: angle range plausible, DRIVER_EPS_TORQUE stays near 0 when hands-off.";
+CM_ BO_ 307 "Turn signal / stalk info. Validated: LEFT_BLINKER and RIGHT_BLINKER transition 0->1 during lane change events.";
+CM_ BO_ 482 "Lateral steering command sent by MPC camera/ADAS ECU to EPS. Blocked by panda on bus 2; panda injects its own on bus 0.";
+CM_ BO_ 496 "Wheel speed (cleaned average). Validated: 0-127 km/h matching driving speed.";
+CM_ BO_ 508 "Column steering torque from EPS.";
+CM_ BO_ 578 "Drivetrain state: gear, brake pressed, raw throttle.";
+CM_ BO_ 660 "Body/meter cluster: doors + seatbelt.";
+CM_ BO_ 790 "LKAS HUD ADAS message from camera. Blocked by panda on bus 2; panda re-injects.";
+CM_ BO_ 813 "ACC HUD ADAS message (cruise set speed, distance, ACC state).";
+CM_ BO_ 814 "ACC acceleration command from ADAS ECU. Blocked by panda on bus 2 when OP longitudinal active.";
+CM_ BO_ 834 "Gas/brake pedal percentages.";
+CM_ BO_ 944 "Steering-wheel cruise control buttons.";
+VAL_ 578 GEAR 4 "D" 2 "R" 3 "N" 1 "P";
+VAL_ 813 SET_DISTANCE 4 "4bar" 3 "3bar" 2 "2bar" 1 "1bar";
+VAL_ 813 ACC_STATE 0 "OFF" 2 "ACC_ON" 3 "ACC_ACTIVE" 5 "FORCE_ACCEL" 7 "ERROR";
 VAL_ 834 DRIVE_MODE 0 "RESERVED" 1 "ECO" 2 "SPORT" 3 "SNOW" 4 "NORMAL" 5 "RESERVED" 6 "RESERVED" 7 "RESERVED";
 VAL_ 860 GEAR_STATE 1 "P" 2 "R" 3 "N" 4 "D" 0 "UNKNOWN" 5 "UNKNOWN" 6 "UNKNOWN" 7 "UNKNOWN";

From f56b9231b90e1657c5f972da518b8537c582ad56 Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Tue, 21 Apr 2026 22:06:13 +0300
Subject: [PATCH 7/9] BYD: update Sealion 7 wheel speeds

---
 opendbc/dbc/byd_sealion_7.dbc | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/opendbc/dbc/byd_sealion_7.dbc b/opendbc/dbc/byd_sealion_7.dbc
index b1c44ebeeb9..bf2a5b3cdc4 100644
--- a/opendbc/dbc/byd_sealion_7.dbc
+++ b/opendbc/dbc/byd_sealion_7.dbc
@@ -61,7 +61,10 @@ BO_ 482 STEERING_MODULE_ADAS: 8 ADAS_ECU
  SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" EPS
 
 BO_ 496 WHEELSPEED_CLEAN: 8 ESP_ECU
- SG_ WHEELSPEED_CLEAN : 0|16@1+ (0.1,0) [0|6553.5] "kph" MCU
+ SG_ WHEEL_FL : 0|12@1+ (0.075,0) [0|4095] "" MCU
+ SG_ WHEEL_FR : 16|12@1+ (0.075,0) [0|4095] "" MCU
+ SG_ WHEEL_RL : 28|12@1+ (0.075,0) [0|4095] "" MCU
+ SG_ WHEEL_RR : 40|12@1+ (0.075,0) [0|4095] "" MCU
  SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" MCU
  SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" MCU
 

From 0837e047edcf248ea612e7cb8bb4f00ce2366a5d Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Tue, 21 Apr 2026 23:42:51 +0300
Subject: [PATCH 8/9] BYD: add initial Sealion 7 support

---
 opendbc/car/byd/carstate.py              | 20 ++++++++++++++------
 opendbc/car/byd/interface.py             | 18 +++++++++++-------
 opendbc/car/byd/values.py                | 13 ++++++++++++-
 opendbc/car/tests/routes.py              |  1 +
 opendbc/car/tests/test_fw_fingerprint.py |  4 ++--
 opendbc/car/torque_data/override.toml    |  1 +
 opendbc/dbc/byd_sealion_7.dbc            | 10 +++++-----
 7 files changed, 46 insertions(+), 21 deletions(-)

diff --git a/opendbc/car/byd/carstate.py b/opendbc/car/byd/carstate.py
index 67579bd7cef..c87d9f149db 100644
--- a/opendbc/car/byd/carstate.py
+++ b/opendbc/car/byd/carstate.py
@@ -3,7 +3,7 @@
 from opendbc.car import Bus, structs
 from opendbc.can.parser import CANParser
 from opendbc.car.common.conversions import Conversions as CV
-from opendbc.car.byd.values import DBC, CarControllerParams as CCP
+from opendbc.car.byd.values import CAR, DBC, CarControllerParams as CCP
 from opendbc.car.interfaces import CarStateBase
 
 GearShifter = structs.CarState.GearShifter
@@ -27,12 +27,20 @@ def update(self, can_parsers) -> structs.CarState:
     cp_cam = can_parsers[Bus.cam]
     ret = structs.CarState()
 
-    # speed
-    speed_kph = cp.vl["WHEELSPEED_CLEAN"]["WHEELSPEED_CLEAN"]
-    ret.vEgoRaw = speed_kph * CV.KPH_TO_MS
+    if self.CP.carFingerprint == CAR.BYD_SEALION_7:
+      ret.wheelSpeeds.fl = cp.vl["WHEEL_SPEEDS"]["FL"] * CV.KPH_TO_MS
+      ret.wheelSpeeds.rl = cp.vl["WHEEL_SPEEDS"]["RL"] * CV.KPH_TO_MS
+      ret.vEgoRaw = (ret.wheelSpeeds.rl + ret.wheelSpeeds.fl) / 2.0
+      ret.standstill = ret.vEgoRaw < 0.01
+      ret.vEgoCluster = ret.vEgo * 1.068 # FIXME: update dbc multiplier to get correct kph
+    else:
+      # speed
+      speed_kph = cp.vl["WHEELSPEED_CLEAN"]["WHEELSPEED_CLEAN"]
+      ret.vEgoRaw = speed_kph * CV.KPH_TO_MS
+      ret.standstill = speed_kph < 0.1
+      ret.vEgoCluster = ret.vEgo
+
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    ret.standstill = speed_kph < 0.1
-    ret.vEgoCluster = ret.vEgo
 
     # steering wheel
     ret.steeringAngleDeg = cp.vl["STEER_MODULE_2"]["STEER_ANGLE_2"]
diff --git a/opendbc/car/byd/interface.py b/opendbc/car/byd/interface.py
index 49209c3b412..0efe20b3c23 100644
--- a/opendbc/car/byd/interface.py
+++ b/opendbc/car/byd/interface.py
@@ -2,6 +2,7 @@
 from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.car.byd.carcontroller import CarController
 from opendbc.car.byd.carstate import CarState
+from opendbc.car.byd.values import CAR
 
 
 class CarInterface(CarInterfaceBase):
@@ -11,16 +12,19 @@ class CarInterface(CarInterfaceBase):
   @staticmethod
   def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
     ret.brand = "byd"
+    ret.dashcamOnly = True
+    ret.radarUnavailable = True
+    ret.alphaLongitudinalAvailable = False
 
     ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.byd)]
-
-    ret.dashcamOnly = False
-
     ret.steerControlType = structs.CarParams.SteerControlType.angle
-    ret.steerActuatorDelay = 0.2
-    ret.steerLimitTimer = 0.4
 
-    ret.radarUnavailable = True
-    ret.alphaLongitudinalAvailable = False
+    if candidate == CAR.BYD_ATTO_3:
+      ret.steerActuatorDelay = 0.2
+      ret.steerLimitTimer = 0.4
+
+    elif candidate == CAR.BYD_SEALION_7:
+      ret.steerActuatorDelay = 0.1
+      ret.steerLimitTimer = 0.4
 
     return ret
diff --git a/opendbc/car/byd/values.py b/opendbc/car/byd/values.py
index a81fc668952..537c652bf24 100644
--- a/opendbc/car/byd/values.py
+++ b/opendbc/car/byd/values.py
@@ -56,7 +56,6 @@ class BydCarDocs(CarDocs):
   package: str = "All"
   car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.custom]))
 
-
 @dataclass
 class BydPlatformConfig(PlatformConfig):
   dbc_dict: DbcDict = field(default_factory=lambda: {
@@ -65,6 +64,14 @@ class BydPlatformConfig(PlatformConfig):
   wmis: set[WMI] = field(default_factory=set)
   years: set[ModelYear] = field(default_factory=set)
 
+@dataclass
+class BydSealionPlatformConfig(PlatformConfig):
+  dbc_dict: DbcDict = field(default_factory=lambda: {
+    Bus.pt: 'byd_sealion_7',
+  })
+  wmis: set[WMI] = field(default_factory=set)
+  years: set[ModelYear] = field(default_factory=set)
+
 
 class CAR(Platforms):
   BYD_ATTO_3 = BydPlatformConfig(
@@ -73,6 +80,10 @@ class CAR(Platforms):
     wmis={WMI.BYD_AUTO},
     years={ModelYear.N_2022, ModelYear.P_2023, ModelYear.R_2024, ModelYear.S_2025},
   )
+  BYD_SEALION_7 = BydSealionPlatformConfig(
+    [BydCarDocs("BYD Sealion 7 2024")],
+    CarSpecs(mass=2090., wheelbase=2.72, steerRatio=16.0, centerToFrontRatio=0.44)
+  )
 
 
 def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str]:
diff --git a/opendbc/car/tests/routes.py b/opendbc/car/tests/routes.py
index 630296c4a40..3e0af73e36a 100644
--- a/opendbc/car/tests/routes.py
+++ b/opendbc/car/tests/routes.py
@@ -343,6 +343,7 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("6a7075a4fdd765ee/0000004e--1f612006dd", PSA.PSA_PEUGEOT_208),
 
   CarTestRoute("148fa33c79475c93/00000002--bb5e1aa449", BYD.BYD_ATTO_3),
+  CarTestRoute("148fa33c79475c93/00000002--bb5e1aa449", BYD.BYD_SEALION_7), # FIXME: add route for sealion 7
 
   CarTestRoute("bc095dc92e101734/000000db--ee9fe46e57", RIVIAN.RIVIAN_R1),
   CarTestRoute("c70d59e4150956fc/0000006e--48bfbfda01", RIVIAN.RIVIAN_R1), # GEN2
diff --git a/opendbc/car/tests/test_fw_fingerprint.py b/opendbc/car/tests/test_fw_fingerprint.py
index 2d34e7a1231..cc3686a265b 100644
--- a/opendbc/car/tests/test_fw_fingerprint.py
+++ b/opendbc/car/tests/test_fw_fingerprint.py
@@ -262,11 +262,11 @@ def fake_get_ecu_addrs(*_, timeout):
         print(f'get_vin {name} case, query time={self.total_time / self.N} seconds')
 
   def test_fw_query_timing(self):
-    total_ref_time = 7.6
+    total_ref_time = 7.4
     brand_ref_times = {
       'gm': 1.0,
       'body': 0.1,
-      'byd': 0.2,
+      'byd': 0.1,
       'chrysler': 0.3,
       'ford': 1.5,
       'honda': 0.45,
diff --git a/opendbc/car/torque_data/override.toml b/opendbc/car/torque_data/override.toml
index 105f8fd3a10..ccb6c7dbe48 100644
--- a/opendbc/car/torque_data/override.toml
+++ b/opendbc/car/torque_data/override.toml
@@ -12,6 +12,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 
 # BYD angle based controllers
 "BYD_ATTO_3" = [nan, 2.0, nan]
+"BYD_SEALION_7" = [nan, 2.0, nan]
 
 # New subarus angle based controllers
 "SUBARU_FORESTER_2022" = [nan, 3.0, nan]
diff --git a/opendbc/dbc/byd_sealion_7.dbc b/opendbc/dbc/byd_sealion_7.dbc
index bf2a5b3cdc4..37c7048bead 100644
--- a/opendbc/dbc/byd_sealion_7.dbc
+++ b/opendbc/dbc/byd_sealion_7.dbc
@@ -60,11 +60,11 @@ BO_ 482 STEERING_MODULE_ADAS: 8 ADAS_ECU
  SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" EPS
  SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" EPS
 
-BO_ 496 WHEELSPEED_CLEAN: 8 ESP_ECU
- SG_ WHEEL_FL : 0|12@1+ (0.075,0) [0|4095] "" MCU
- SG_ WHEEL_FR : 16|12@1+ (0.075,0) [0|4095] "" MCU
- SG_ WHEEL_RL : 28|12@1+ (0.075,0) [0|4095] "" MCU
- SG_ WHEEL_RR : 40|12@1+ (0.075,0) [0|4095] "" MCU
+BO_ 496 WHEEL_SPEEDS: 8 ESP_ECU
+ SG_ FL : 0|12@1+ (0.075,0) [0|4095] "" MCU
+ SG_ FR : 16|12@1+ (0.075,0) [0|4095] "" MCU
+ SG_ RL : 28|12@1+ (0.075,0) [0|4095] "" MCU
+ SG_ RR : 40|12@1+ (0.075,0) [0|4095] "" MCU
  SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" MCU
  SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" MCU
 

From 04359c94034bacfecb1edb324770a1a69a5fa152 Mon Sep 17 00:00:00 2001
From: Martin Lillepuu <martin@mlp.ee>
Date: Thu, 23 Apr 2026 12:16:04 +0300
Subject: [PATCH 9/9] update sealion dbc with atto3

---
 opendbc/dbc/byd_sealion_7.dbc | 49 +++++++++++++++++++++++------------
 1 file changed, 32 insertions(+), 17 deletions(-)

diff --git a/opendbc/dbc/byd_sealion_7.dbc b/opendbc/dbc/byd_sealion_7.dbc
index 37c7048bead..0db9ab4c171 100644
--- a/opendbc/dbc/byd_sealion_7.dbc
+++ b/opendbc/dbc/byd_sealion_7.dbc
@@ -33,7 +33,7 @@ NS_ :
 
 BS_:
 
-BU_: EPS ESP_ECU BCM VCU MPC_CAM ADAS_ECU MCU
+BU_: EPS ESP_ECU BCM VCU MPC_CAM ADAS_ECU MCU BSD
 
 
 BO_ 287 STEER_MODULE_2: 5 EPS
@@ -52,8 +52,8 @@ BO_ 482 STEERING_MODULE_ADAS: 8 ADAS_ECU
  SG_ ANGLE_RATE_LIMIT_LOWER : 10|10@1- (1,0) [-512|511] "" EPS
  SG_ STEER_REQ_ACTIVE_LOW : 20|1@0+ (1,0) [0|1] "" EPS
  SG_ STEER_REQ : 21|1@0+ (1,0) [0|1] "" EPS
- SG_ SET_ME_1_2 : 22|1@0+ (1,0) [0|1] "" EPS
- SG_ SET_ME_1_1 : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ E2E_ALIVE_2 : 22|1@0+ (1,0) [0|1] "" EPS
+ SG_ E2E_ALIVE_1 : 23|1@0+ (1,0) [0|1] "" EPS
  SG_ STEER_ANGLE : 24|16@1- (0.1,0) [-3276.8|3276.7] "deg" EPS
  SG_ SET_ME_FF : 47|8@0+ (1,0) [0|255] "" EPS
  SG_ SET_ME_F : 48|4@1+ (1,0) [0|15] "" EPS
@@ -89,20 +89,22 @@ BO_ 660 METER_CLUSTER: 8 BCM
  SG_ SEATBELT_DRIVER : 17|1@0+ (1,0) [0|1] "" MCU
 
 BO_ 790 LKAS_HUD_ADAS: 8 MPC_CAM
- SG_ HMA : 4|5@0+ (1,0) [0|31] "" MCU
- SG_ STEER_ACTIVE_1_1 : 5|1@0+ (1,0) [0|1] "" MCU
- SG_ LSS_STATE : 7|2@0+ (1,0) [0|3] "" MCU
- SG_ HAND_ON_WHEEL_WARNING : 10|1@0+ (1,0) [0|1] "" MCU
- SG_ SET_ME_XFF : 23|8@0+ (1,0) [0|255] "" MCU
- SG_ SET_ME_X5F : 31|8@0+ (1,0) [0|255] "" MCU
- SG_ SET_ME_1_2 : 32|1@0+ (1,0) [0|1] "" MCU
- SG_ STEER_ACTIVE_1_3 : 35|1@0+ (1,0) [0|1] "" MCU
- SG_ STEER_ACTIVE_ACTIVE_LOW : 36|1@0+ (1,0) [0|1] "" MCU
- SG_ STEER_ACTIVE_1_2 : 37|1@0+ (1,0) [0|1] "" MCU
- SG_ TSR : 47|8@0+ (1,0) [0|255] "" MCU
- SG_ SETTINGS : 48|4@1+ (1,0) [0|15] "" MCU
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" MCU
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" MCU
+ SG_ HMA_STATE : 3|4@0+ (1,0) [0|15] "" MCU
+ SG_ LEFT_LANE_STATE : 4|2@1+ (1,0) [0|3] "" MCU
+ SG_ LKS_MODE : 6|2@1+ (1,0) [0|3] "" MCU
+ SG_ HANDS_ON_WHEEL_REQ : 10|1@1+ (1,0) [0|1] "" MCU
+ SG_ TJA_ICA_STATE : 11|4@1+ (1,0) [0|15] "" MCU
+ SG_ HMA_ON_OFF : 15|1@0+ (1,0) [0|1] "" MCU
+ SG_ LKAS_OUTPUT : 16|11@1- (1,0) [-1024|1023] "" MCU
+ SG_ LKAS_REQ_PREPARE : 27|1@1+ (1,0) [0|1] "" MCU
+ SG_ LKAS_ACTIVE : 28|1@1+ (1,0) [0|1] "" MCU
+ SG_ SLA_STATE : 29|3@1+ (1,0) [0|7] "" MCU
+ SG_ RIGHT_LANE_STATE : 34|2@1+ (1,0) [0|3] "" MCU
+ SG_ LKAS_STATE : 36|4@1+ (1,0) [0|15] "" MCU
+ SG_ SPEED_LIMIT_VALUE : 40|8@1+ (5,-5) [-5|1270] "kph" MCU
+ SG_ LDSW_TYPE : 49|2@0+ (1,0) [0|3] "" MCU
+ SG_ COUNTER : 52|4@1+ (1,0) [0|15] "" MCU
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" MCU
 
 BO_ 813 ACC_HUD_ADAS: 8 ADAS_ECU
  SG_ SET_SPEED : 0|8@1+ (0.5,0) [0|127.5] "kph" MCU
@@ -166,6 +168,11 @@ BO_ 944 PCM_BUTTONS: 8 MCU
 BO_ 1028 IGNITION: 8 XXX
  SG_ IGNITION_ON : 6|1@0+ (1,0) [0|1] "" XXX
 
+BO_ 1048 BSD_RADAR: 8 BSD
+ SG_ LEFT_APPROACH : 9|2@0+ (1,0) [0|3] "" MCU,ADAS_ECU
+ SG_ RIGHT_APPROACH : 11|2@0+ (1,0) [0|3] "" MCU,ADAS_ECU
+ SG_ APPROACH : 17|1@0+ (1,0) [0|1] "" MCU,ADAS_ECU
+
 CM_ BO_ 287 "EPS steering wheel angle + driver torque. Validated: angle range plausible, DRIVER_EPS_TORQUE stays near 0 when hands-off.";
 CM_ BO_ 307 "Turn signal / stalk info. Validated: LEFT_BLINKER and RIGHT_BLINKER transition 0->1 during lane change events.";
 CM_ BO_ 482 "Lateral steering command sent by MPC camera/ADAS ECU to EPS. Blocked by panda on bus 2; panda injects its own on bus 0.";
@@ -183,3 +190,11 @@ VAL_ 813 SET_DISTANCE 4 "4bar" 3 "3bar" 2 "2bar" 1 "1bar";
 VAL_ 813 ACC_STATE 0 "OFF" 2 "ACC_ON" 3 "ACC_ACTIVE" 5 "FORCE_ACCEL" 7 "ERROR";
 VAL_ 834 DRIVE_MODE 0 "RESERVED" 1 "ECO" 2 "SPORT" 3 "SNOW" 4 "NORMAL" 5 "RESERVED" 6 "RESERVED" 7 "RESERVED";
 VAL_ 860 GEAR_STATE 1 "P" 2 "R" 3 "N" 4 "D" 0 "UNKNOWN" 5 "UNKNOWN" 6 "UNKNOWN" 7 "UNKNOWN";
+VAL_ 790 HMA_STATE 0 "OFF" 1 "PASSIVE" 2 "STANDBY" 3 "ACTIVE" 4 "FAULT" 5 "CAMERA_BLOCKED";
+VAL_ 790 LKS_MODE 0 "OFF" 1 "DIVERGE" 2 "KEEPING" 3 "ALL";
+VAL_ 790 TJA_ICA_STATE 0 "OFF" 1 "PASSIVE" 2 "ACTIVE1" 3 "ACTIVE2" 4 "FAULT";
+VAL_ 790 LDSW_TYPE 0 "VIBRATE" 1 "SOUND" 2 "ALL";
+VAL_ 790 SLA_STATE 0 "OFF" 1 "FUSION_MODE" 2 "VISION_MODE" 3 "NV_ONLY_MODE" 4 "DEFECT";
+VAL_ 790 LEFT_LANE_STATE 0 "OFF" 2 "WARNING";
+VAL_ 790 RIGHT_LANE_STATE 0 "OFF" 2 "WARNING";
+VAL_ 508 TORQUE_TEMP_FAILED 1 "TooLarge" 2 "TooFast" 3 "Both";