diff --git a/opendbc_repo/opendbc.egg-info/SOURCES.txt b/opendbc_repo/opendbc.egg-info/SOURCES.txt
index 73e7ef4..6daebf2 100644
--- a/opendbc_repo/opendbc.egg-info/SOURCES.txt
+++ b/opendbc_repo/opendbc.egg-info/SOURCES.txt
@@ -57,6 +57,13 @@ opendbc/car/body/carstate.py
 opendbc/car/body/fingerprints.py
 opendbc/car/body/interface.py
 opendbc/car/body/values.py
+opendbc/car/byd/__init__.py
+opendbc/car/byd/bydcan.py
+opendbc/car/byd/carcontroller.py
+opendbc/car/byd/carstate.py
+opendbc/car/byd/fingerprints.py
+opendbc/car/byd/interface.py
+opendbc/car/byd/values.py
 opendbc/car/chrysler/__init__.py
 opendbc/car/chrysler/carcontroller.py
 opendbc/car/chrysler/carstate.py
@@ -214,6 +221,7 @@ opendbc/dbc/FORD_CADS_64.dbc
 opendbc/dbc/__init__.py
 opendbc/dbc/acura_ilx_2016_nidec.dbc
 opendbc/dbc/bmw_e9x_e8x.dbc
+opendbc/dbc/byd_common.dbc
 opendbc/dbc/cadillac_ct6_chassis.dbc
 opendbc/dbc/cadillac_ct6_object.dbc
 opendbc/dbc/cadillac_ct6_powertrain.dbc
@@ -345,6 +353,7 @@ opendbc/safety/lateral.h
 opendbc/safety/longitudinal.h
 opendbc/safety/safety.h
 opendbc/safety/modes/body.h
+opendbc/safety/modes/byd.h
 opendbc/safety/modes/chrysler.h
 opendbc/safety/modes/chrysler_common.h
 opendbc/safety/modes/chrysler_cusw.h
@@ -416,6 +425,8 @@ opendbc/sunnypilot/car/intelligent_cruise_button_management_interface_base.py
 opendbc/sunnypilot/car/interfaces.py
 opendbc/sunnypilot/car/lateral_ext.py
 opendbc/sunnypilot/car/platform_list.py
+opendbc/sunnypilot/car/byd/__init__.py
+opendbc/sunnypilot/car/byd/mads.py
 opendbc/sunnypilot/car/chrysler/__init__.py
 opendbc/sunnypilot/car/chrysler/carcontroller_ext.py
 opendbc/sunnypilot/car/chrysler/carstate_ext.py
diff --git a/opendbc_repo/opendbc/car/byd/README.md b/opendbc_repo/opendbc/car/byd/README.md
new file mode 100644
index 0000000..6126410
--- /dev/null
+++ b/opendbc_repo/opendbc/car/byd/README.md
@@ -0,0 +1 @@
+# byd
diff --git a/opendbc_repo/opendbc/car/byd/__init__.py b/opendbc_repo/opendbc/car/byd/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/opendbc_repo/opendbc/car/byd/bydcan.py b/opendbc_repo/opendbc/car/byd/bydcan.py
new file mode 100644
index 0000000..47f6ea9
--- /dev/null
+++ b/opendbc_repo/opendbc/car/byd/bydcan.py
@@ -0,0 +1,161 @@
+from opendbc.car.byd.values import CANBUS
+
+
+def byd_checksum(data: bytearray) -> int:
+  byte_key = 0xAF
+  sum_first = sum(byte >> 4 for byte in data) # Extract upper nibble.
+  sum_second = sum(byte & 0xF for byte in data) # Extract lower nibble.
+
+  remainder = sum_second >> 4
+
+  sum_first += (byte_key & 0xF) # Low nibble of byte_key.
+  sum_second += (byte_key >> 4) # High nibble of byte_key.
+
+  # Inline inverse computation for each sum:
+  # inv = (-sum + 0x9) & 0xF
+  inv_first = ((-sum_first + 0x9) & 0xF)
+  inv_second = ((-sum_second + 0x9) & 0xF)
+
+  return (((inv_first + (5 - remainder)) << 4) + inv_second) & 0xFF
+
+
+def byd_checksum_short(data: bytearray) -> int:
+  # checksum for CHECKSUM_S 4byte
+  pass
+
+
+class BydCAN:
+  LKAS_MODE_ACTIVE2 = 3
+  LKAS_MODE_PASSIVE = 1
+
+  def __init__(self, packer):
+    self.packer = packer
+    self.mpc_lkas_counter = 0
+    self.eps_steering_torque_counter = 0
+    self.mpc_acc_cmd_counter = 0
+
+  def update_mpc_lkas_counter(self, val):
+    self.mpc_lkas_counter = val
+
+  def _generate_mpc_lkas_new_counter(self):
+    counter = self.mpc_lkas_counter
+    self.mpc_lkas_counter = int(self.mpc_lkas_counter + 1) & 0xF
+    return counter
+
+  def update_eps_steering_torque_counter(self, val):
+    self.eps_steering_torque_counter = val
+
+  def _generate_eps_steering_torque_new_counter(self):
+    counter = self.eps_steering_torque_counter
+    self.eps_steering_torque_counter = int(
+      self.eps_steering_torque_counter + 1) & 0xF
+    return counter
+
+  def update_acc_cmd_counter(self, val):
+    self.mpc_acc_cmd_counter = val
+
+  def _generate_acc_cmd_new_counter(self):
+    counter = self.mpc_acc_cmd_counter
+    self.mpc_acc_cmd_counter = int(self.mpc_acc_cmd_counter + 1) & 0xF
+    return counter
+
+  # MPC -> Panda -> EPS
+  def create_steering_control_torque(self, mpc_lkas_cmd_msg, torque,
+                                     request_prepare, active, mode,
+                                     eps_active):
+    lkas_output = torque if active and eps_active else 0
+    lkas_prepare = request_prepare
+    lkas_active = active
+    lkas_mode = mode
+    left_lane = mpc_lkas_cmd_msg["LeftLane"]
+    right_lane = mpc_lkas_cmd_msg["RightLane"]
+    if active or request_prepare:
+      left_lane = 1
+      right_lane = 1
+
+    values = {
+      "SETME_0x1": mpc_lkas_cmd_msg["SETME_0x1"],
+      "LeftLane": left_lane,
+      "Config": mpc_lkas_cmd_msg["Config"],
+      "SETME2_0x1": mpc_lkas_cmd_msg["SETME2_0x1"],
+      "Keep_Hands_On_Wheel": 0,
+      "MPCErr": mpc_lkas_cmd_msg["MPCErr"],
+      "SETME3_0x1": mpc_lkas_cmd_msg["SETME3_0x1"],
+      "LKAS_Output": lkas_output,
+      "LKASPrepare": lkas_prepare,
+      "LKAS_ACTIVE": lkas_active,
+      "TSRStatus": mpc_lkas_cmd_msg["TSRStatus"],
+      "SETME4_0x1": mpc_lkas_cmd_msg["SETME4_0x1"],
+      "RightLane": right_lane,
+      "LKAS_Mode": lkas_mode,
+      "SETME_0x0": mpc_lkas_cmd_msg["SETME_0x0"],
+      "TSRResult": mpc_lkas_cmd_msg["TSRResult"],
+      "Unknow1": mpc_lkas_cmd_msg["Unknow1"],
+      "COUNTER": self._generate_mpc_lkas_new_counter(),
+    }
+    data = self.packer.make_can_msg("MPC_LKAS_CMD", CANBUS.main_bus, values)[1]
+    values["CHECKSUM"] = byd_checksum(data)
+    return self.packer.make_can_msg("MPC_LKAS_CMD", CANBUS.main_bus, values)
+
+  def create_steering_torque(self, eps_steering_torque_msg, mpc_lkas_output,
+                             mpc_lkas_request_prepare, mpc_lkas_active):
+    lks_prepared = eps_steering_torque_msg["LKSPrepare"]
+    cruise_activated = eps_steering_torque_msg["Cruise_Activated"]
+    main_torque = eps_steering_torque_msg["MAIN_TORQUE"]
+
+    if mpc_lkas_active:
+      lks_prepared = 0
+      cruise_activated = 1
+      main_torque = mpc_lkas_output
+    elif mpc_lkas_request_prepare:
+      lks_prepared = 1
+      cruise_activated = 0
+      main_torque = 0
+    else:
+      lks_prepared = 0
+      cruise_activated = 0
+      main_torque = 0
+
+    values = {
+      "LKSPrepare": lks_prepared,
+      "Cruise_Activated": cruise_activated,
+      "TORQUE_FAILED": eps_steering_torque_msg["TORQUE_FAILED"],
+      "SET_ME_1_1": eps_steering_torque_msg["SET_ME_1_1"],
+      "Steer_Warning": eps_steering_torque_msg["Steer_Warning"],
+      "Steer_Error_1": eps_steering_torque_msg["Steer_Error_1"],
+      "Steer_Error_2": eps_steering_torque_msg["Steer_Error_2"],
+      "SET_ME_1": eps_steering_torque_msg["SET_ME_1"],
+      "MAIN_TORQUE": main_torque,
+      "SET_ME_1_2": eps_steering_torque_msg["SET_ME_1_2"],
+      "Keep_Hands_On_Wheel": 0,
+      "SET_ME_3": eps_steering_torque_msg["SET_ME_3"],
+      "Steer_Torque_Sensor": eps_steering_torque_msg["Steer_Torque_Sensor"],
+      "SET_ME_XF_1": eps_steering_torque_msg["SET_ME_XF_1"],
+      "SET_ME_XFFF": eps_steering_torque_msg["SET_ME_XFFF"],
+      "COUNTER": self._generate_eps_steering_torque_new_counter(),
+    }
+    data = self.packer.make_can_msg("STEERING_TORQUE", CANBUS.cam_bus, values)[1]
+    values["CHECKSUM"] = byd_checksum(data)
+    return self.packer.make_can_msg("STEERING_TORQUE", CANBUS.cam_bus, values)
+
+  def create_acc_cmd(self, acc_cmd_msg, accel):
+    values = {
+      "ACCEL_CMD": accel,
+      "ComfortBandUpper": acc_cmd_msg["ComfortBandUpper"],
+      "ComfortBandLower": acc_cmd_msg["ComfortBandLower"],
+      "JerkUpperLimit": 1,
+      "SET_ME_1": acc_cmd_msg["SET_ME_1"],
+      "JerkLowerLimit": -1,
+      "STANDSTILL_RESUME": 0,
+      "STANDSTILL_STATE": 0,
+      "BRAKE_BEHAVIOR": acc_cmd_msg["BRAKE_BEHAVIOR"],
+      "ACC_REQ_NOT_STANDSTILL": acc_cmd_msg["ACC_REQ_NOT_STANDSTILL"],
+      "ACC_CONTROLLABLE_AND_ON": acc_cmd_msg["ACC_CONTROLLABLE_AND_ON"],
+      "ACC_OVERRIDE_OR_STANDSTILL": acc_cmd_msg["ACC_OVERRIDE_OR_STANDSTILL"],
+      "ESP_BEHAVIOR": acc_cmd_msg["ESP_BEHAVIOR"],
+      "COUNTER": self._generate_acc_cmd_new_counter(),
+      "SET_ME_XF": acc_cmd_msg["SET_ME_XF"],
+    }
+    data = self.packer.make_can_msg("ACC_CMD", CANBUS.main_bus, values)[1]
+    values["CHECKSUM"] = byd_checksum(data)
+    return self.packer.make_can_msg("ACC_CMD", CANBUS.main_bus, values)
diff --git a/opendbc_repo/opendbc/car/byd/carcontroller.py b/opendbc_repo/opendbc/car/byd/carcontroller.py
new file mode 100644
index 0000000..fea956a
--- /dev/null
+++ b/opendbc_repo/opendbc/car/byd/carcontroller.py
@@ -0,0 +1,104 @@
+import numpy as np
+from opendbc.can.packer import CANPacker
+from opendbc.car import Bus, structs
+from opendbc.car.lateral import apply_meas_steer_torque_limits
+from opendbc.car.interfaces import CarControllerBase
+from opendbc.car.byd.bydcan import BydCAN
+from opendbc.car.byd.values import CarControllerParams
+
+VisualAlert = structs.CarControl.HUDControl.VisualAlert
+ButtonType = structs.CarState.ButtonEvent.Type
+LongCtrlState = structs.CarControl.Actuators.LongControlState
+
+
+class LKASState:
+  INACTIVE = 0
+  PREPARING = 1
+  ACTIVE = 2
+
+
+class CarController(CarControllerBase):
+  def __init__(self, dbc_names, CP, CP_SP):
+    super().__init__(dbc_names, CP, CP_SP)
+    self.params = CarControllerParams(CP)
+    self.packer = CANPacker(dbc_names[Bus.pt])
+    self.can = BydCAN(self.packer)
+    self.apply_torque_last = 0
+
+    self.lkas_state = LKASState.INACTIVE
+    self.lkas_counter_updated = False
+
+    self.apply_accel_last = 0
+
+  def update(self, CC, CC_SP, CS, now_nanos):
+    # car control running in 100Hz
+    actuators = CC.actuators
+    can_sends = []
+
+    if (self.frame % self.params.STEER_STEP) == 0:
+      # steering control running in 50Hz
+      if not self.lkas_counter_updated:
+        self.lkas_counter_updated = True
+        self.can.update_mpc_lkas_counter(
+          int(CS.mpc_lkas_cmd_msg["COUNTER"] + 1) & 0xF)
+        self.can.update_eps_steering_torque_counter(
+          int(CS.eps_steering_torque_msg["COUNTER"] + 1) & 0xF)
+        self.can.update_acc_cmd_counter(
+          int(CS.acc_cmd_msg["COUNTER"] + 1) & 0xF)
+
+      # update lkas state
+      if self.lkas_state == LKASState.INACTIVE:
+        if CC.latActive:
+          self.lkas_state = LKASState.PREPARING
+      elif self.lkas_state == LKASState.PREPARING:
+        if CS.eps_prepared:
+          self.lkas_state = LKASState.ACTIVE
+      elif self.lkas_state == LKASState.ACTIVE:
+        if not CC.latActive:
+          self.lkas_state = LKASState.INACTIVE
+
+      lkas_request_prepare = int(self.lkas_state == LKASState.PREPARING)
+      lkas_active = int(self.lkas_state == LKASState.ACTIVE)
+      if self.lkas_state in (LKASState.PREPARING, LKASState.ACTIVE):
+        lkas_mode = BydCAN.LKAS_MODE_ACTIVE2
+      else:
+        lkas_mode = BydCAN.LKAS_MODE_PASSIVE
+
+      # calc apply torque
+      apply_torque = 0
+      if self.lkas_state == LKASState.ACTIVE:
+        apply_torque = int(round(actuators.torque * self.params.STEER_MAX))
+        apply_torque = apply_meas_steer_torque_limits(apply_torque, self.apply_torque_last,
+                                                      CS.out.steeringTorqueEps, self.params)
+
+      pack = self.can.create_steering_control_torque(CS.mpc_lkas_cmd_msg, apply_torque,
+                                                     lkas_request_prepare, lkas_active,
+                                                     lkas_mode, CS.eps_activated)
+      can_sends.append(pack)
+      pack = self.can.create_steering_torque(CS.eps_steering_torque_msg,
+                                             CS.mpc_lkas_output,
+                                             CS.mpc_lkas_request_prepare,
+                                             CS.mpc_lkas_active)
+      can_sends.append(pack)
+
+      self.apply_torque_last = apply_torque
+
+    # Longitudinal control
+    if self.CP.openpilotLongitudinalControl:
+      if (self.frame % self.params.ACC_SETP) == 0:
+        accel = 0
+
+        if CC.longActive:
+          accel = float(np.clip(actuators.accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX))
+
+        pack = self.can.create_acc_cmd(CS.acc_cmd_msg, accel)
+        can_sends.append(pack)
+        self.apply_accel_last = accel
+
+    new_actuators = actuators.as_builder()
+    new_actuators.torque = self.apply_torque_last / self.params.STEER_MAX
+    new_actuators.torqueOutputCan = self.apply_torque_last
+    new_actuators.accel = self.apply_accel_last
+
+    self.frame += 1
+    return new_actuators, can_sends
diff --git a/opendbc_repo/opendbc/car/byd/carstate.py b/opendbc_repo/opendbc/car/byd/carstate.py
new file mode 100644
index 0000000..519264d
--- /dev/null
+++ b/opendbc_repo/opendbc/car/byd/carstate.py
@@ -0,0 +1,125 @@
+import copy
+from opendbc.car import Bus, create_button_events, structs
+from opendbc.can.parser import CANParser
+from opendbc.car.common.conversions import Conversions as CV
+from opendbc.car.interfaces import CarStateBase
+from opendbc.car.byd.values import DBC, CANBUS, STEER_THRESHOLD, GEAR_MAP
+from opendbc.sunnypilot.car.byd.mads import MadsCarState
+
+GearShifter = structs.CarState.GearShifter
+ButtonType = structs.CarState.ButtonEvent.Type
+
+
+class CarState(CarStateBase, MadsCarState):
+  def __init__(self, CP, CP_SP):
+    CarStateBase.__init__(self, CP, CP_SP)
+    MadsCarState.__init__(self, CP, CP_SP)
+
+    self.mpc_lkas_cmd_msg = None
+    self.eps_steering_torque_msg = None
+    self.eps_prepared = False
+    self.eps_activated = False
+    self.acc_cmd_msg = None
+
+    self.mpc_lkas_output = 0
+    self.mpc_lkas_active = False
+    self.mpc_lkas_request_prepare = False
+
+  def update(self, can_parsers) -> tuple[structs.CarState, structs.CarStateSP]:
+    cp = can_parsers[Bus.pt]
+    cp_cam = can_parsers[Bus.cam]
+    ret = structs.CarState()
+    ret_sp = structs.CarStateSP()
+
+    # car Speed
+    ret.vEgoRaw = cp.vl["ESC"]["VEHICLE_SPEED"] * CV.KPH_TO_MS
+    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
+    ret.standstill = cp.vl["BRAKE_APPLIED"]["STANDSTILL"] == 1
+
+    # Gas pedal
+    ret.gasPressed = cp.vl["PEDAL"]["GAS_PEDAL"] > 0
+
+    # Brake pedal
+    ret.brakePressed = cp.vl["PEDAL"]["BRAKE_PEDAL"] > 0
+
+    # Steering wheel
+    ret.steeringAngleDeg = cp.vl["STEER_MODULE"]["STEER_ANGLE"]
+    ret.steeringRateDeg = cp.vl["STEER_MODULE"]["STEERING_RATE"]
+    ret.steeringTorque = cp.vl["STEERING_TORQUE"]["Steer_Torque_Sensor"]
+    ret.steeringTorqueEps = cp.vl["STEERING_TORQUE"]["MAIN_TORQUE"]
+    # TODO: looks like STEER_THRESHOLD is too small
+    ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > STEER_THRESHOLD, 5)
+    ret.steerFaultPermanent = cp.vl["STEERING_TORQUE"]["TORQUE_FAILED"] != 0
+    ret.steerFaultTemporary = cp.vl["STEERING_TORQUE"]["TORQUE_FAILED"] != 0
+
+    ret.stockAeb = cp_cam.vl["ACC_HUD_ADAS"]["AEB"] == 1
+    ret.stockFcw = cp_cam.vl["ACC_HUD_ADAS"]["FCW"] == 1  # Forward Collision Warning
+
+    # Cruise state
+    ret.cruiseState.enabled = cp_cam.vl["ACC_HUD_ADAS"]["CRUISE_STATE"] in (3, 5)  # (Active, Override)
+    ret.cruiseState.speed = cp_cam.vl["ACC_HUD_ADAS"]["SET_SPEED"] * 10 * CV.KPH_TO_MS
+    ret.cruiseState.available = cp_cam.vl["ACC_HUD_ADAS"]["CRUISE_STATE"] not in (8, 9)  # (Failure, PermanentFailure)
+    ret.cruiseState.standstill = False  # This needs to be false, since we can resume from stop without sending anything special
+
+    # Gear
+    ret.gearShifter = GEAR_MAP.get(int(cp.vl["DRIVE_STATE"]["GEAR"]), GearShifter.unknown)
+
+    # MADS: track the dedicated LKAS steering wheel button
+    MadsCarState.update_mads(self, ret, can_parsers)
+
+    # button presses
+    ret.leftBlinker = cp.vl["STALKS"]["TURN_SIGNAL_SWITCH"] == 3  # LeftSteeringLongLift
+    ret.rightBlinker = cp.vl["STALKS"]["TURN_SIGNAL_SWITCH"] == 5  # RightSteeringLongLift
+
+    ret.buttonEvents = [*create_button_events(self.lkas_button, self.prev_lkas_button, {1: ButtonType.lkas})]
+
+    # lock info
+    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 = cp.vl["METER_CLUSTER"]["SEATBELT_DRIVER"] != 1
+
+    # blindspot sensors
+    # ret.leftBlindspot = False
+    # ret.rightBlindspot = False
+
+    # Messages needed by carcontroller
+    # for generate MPC_LKAS_CMD
+    self.mpc_lkas_cmd_msg = copy.copy(cp_cam.vl["MPC_LKAS_CMD"])
+    self.eps_prepared = cp.vl["STEERING_TORQUE"]["LKSPrepare"] != 0
+    self.eps_activated = cp.vl["STEERING_TORQUE"]["Cruise_Activated"] != 0
+    # for generate STEERING_TORQUE
+    self.eps_steering_torque_msg = copy.copy(cp.vl["STEERING_TORQUE"])
+    self.mpc_lkas_output = cp_cam.vl["MPC_LKAS_CMD"]["LKAS_Output"]
+    self.mpc_lkas_active = cp_cam.vl["MPC_LKAS_CMD"]["LKAS_ACTIVE"] != 0
+    self.mpc_lkas_request_prepare = cp_cam.vl["MPC_LKAS_CMD"]["LKASPrepare"] != 0
+    # for generate ACC_CMD
+    self.acc_cmd_msg = copy.copy(cp_cam.vl["ACC_CMD"])
+    return ret, ret_sp
+
+  @staticmethod
+  def get_can_parsers(CP, CP_SP):
+    pt_messages = [
+      # sig_address, frequency
+      ("ESC", 50),
+      ("BRAKE_APPLIED", 50),
+      ("PEDAL", 50),
+      ("STEER_MODULE", 100),
+      ("STEERING_TORQUE", 50),
+      ("DRIVE_STATE", 50),
+      ("STALKS", 20),
+      ("METER_CLUSTER", 20),
+      ("PCM_BUTTONS", 20),
+    ]
+
+    cam_messages = [
+      ("ACC_HUD_ADAS", 50),
+      ("MPC_LKAS_CMD", 50),
+      ("ACC_CMD", 25),
+    ]
+
+    return {
+      Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, CANBUS.main_bus),
+      Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], cam_messages, CANBUS.cam_bus),
+    }
diff --git a/opendbc_repo/opendbc/car/byd/fingerprints.py b/opendbc_repo/opendbc/car/byd/fingerprints.py
new file mode 100644
index 0000000..63dd91c
--- /dev/null
+++ b/opendbc_repo/opendbc/car/byd/fingerprints.py
@@ -0,0 +1,22 @@
+from opendbc.car.structs import CarParams
+from opendbc.car.byd.values import CAR
+
+Ecu = CarParams.Ecu
+
+FINGERPRINTS = {
+  # NOTE: the HAN EV 23 fingerprint is a minimal subset of the SEAL fingerprint,
+  # so a HAN cannot be uniquely identified by live CAN fingerprinting.
+  # Set FINGERPRINT=BYD_HAN_EV_23 (and SKIP_FW_QUERY) to force it.
+  CAR.BYD_HAN_EV_23: [{
+    140: 8, 213: 8, 287: 5, 289: 8, 291: 8, 301: 8, 307: 8, 337: 8, 496: 8, 536: 8, 544: 8, 546: 8, 547: 8, 575: 8, 576: 8
+  }],
+  CAR.BYD_SEAL_PERFORMANCE_25: [{
+    140: 8, 213: 8, 287: 5, 289: 8, 291: 8, 301: 8, 307: 8, 311: 8, 312: 8, 337: 8, 359: 8, 482: 8, 493: 8, 496: 8, 508: 8,
+    511: 8, 536: 8, 544: 8, 546: 8, 547: 8, 567: 8, 575: 8, 576: 8, 578: 8, 588: 8, 604: 8, 612: 8, 626: 8, 657: 8, 660: 8,
+    661: 8, 663: 8, 668: 8, 692: 8, 694: 8, 714: 8, 724: 8, 748: 8, 758: 8, 790: 8, 797: 8, 798: 8, 801: 8, 802: 8, 803: 8,
+    813: 8, 814: 8, 815: 8, 833: 8, 834: 8, 836: 8, 837: 8, 854: 8, 860: 8, 868: 8, 877: 8, 904: 8, 906: 8, 944: 8, 948: 8,
+    951: 8, 965: 8, 973: 8, 985: 8, 1023: 8, 1028: 8, 1031: 8, 1033: 8, 1040: 8, 1048: 8, 1058: 8, 1074: 8, 1092: 8, 1093: 8,
+    1107: 8, 1108: 8, 1141: 8, 1166: 8, 1168: 8, 1178: 8, 1189: 8, 1193: 8, 1203: 64, 1204: 64, 1226: 16, 1246: 8, 1297: 8,
+    1319: 8, 1322: 8, 1365: 8, 1366: 8
+  }],
+}
diff --git a/opendbc_repo/opendbc/car/byd/interface.py b/opendbc_repo/opendbc/car/byd/interface.py
new file mode 100644
index 0000000..03b6727
--- /dev/null
+++ b/opendbc_repo/opendbc/car/byd/interface.py
@@ -0,0 +1,49 @@
+from opendbc.car import get_safety_config, structs
+from opendbc.car.common.conversions import Conversions as CV
+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, BydFlags, BydSafetyFlags
+
+
+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.dashcamOnly = False
+
+    ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.byd)]
+
+    # lateral control parameters
+    ret.steerActuatorDelay = 0.3
+    ret.steerLimitTimer = 0.5
+
+    if candidate in (CAR.BYD_HAN_EV_23, CAR.BYD_SEAL_PERFORMANCE_25):
+      ret.steerControlType = structs.CarParams.SteerControlType.torque
+
+    ret.minEnableSpeed = -1.
+    ret.minSteerSpeed = 0.1 * CV.KPH_TO_MS
+    ret.steerLimitTimer = 0.5
+
+    if ret.steerControlType == structs.CarParams.SteerControlType.torque:
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
+    # longitudinal control parameters
+    ret.alphaLongitudinalAvailable = True
+    if alpha_long:
+      ret.openpilotLongitudinalControl = True
+      ret.startingState = True
+      ret.startAccel = 0.1
+      ret.flags |= BydFlags.LONG_CONTROL.value
+      ret.safetyConfigs[0].safetyParam |= BydSafetyFlags.LONG_CONTROL.value
+      ret.vEgoStopping = 0.1
+      ret.vEgoStarting = 0.1
+      ret.stoppingDecelRate = 0.3
+
+    # TODO: add radar support
+    ret.radarUnavailable = True
+
+    return ret
diff --git a/opendbc_repo/opendbc/car/byd/values.py b/opendbc_repo/opendbc/car/byd/values.py
new file mode 100644
index 0000000..f0331b9
--- /dev/null
+++ b/opendbc_repo/opendbc/car/byd/values.py
@@ -0,0 +1,78 @@
+from dataclasses import dataclass, field
+from enum import IntFlag
+from opendbc.car import Bus, DbcDict, PlatformConfig, Platforms, CarSpecs, STD_CARGO_KG
+from opendbc.car.structs import CarParams, CarState
+from opendbc.car.docs_definitions import CarHarness, CarDocs, CarParts
+
+Ecu = CarParams.Ecu
+
+
+class CANBUS:
+  main_bus = 0
+  radar_bus = 1
+  cam_bus = 2
+
+
+class BydSafetyFlags(IntFlag):
+  LONG_CONTROL = 1
+
+
+class BydFlags(IntFlag):
+  LONG_CONTROL = 1
+
+
+@dataclass
+class BydCarDocs(CarDocs):
+  package: str = "All"
+  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.custom]))
+  #todo add docs and harness info
+
+
+@dataclass
+class BydPlatformConfig(PlatformConfig):
+  dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: "byd_common"})
+
+
+class CAR(Platforms):
+  BYD_HAN_EV_23 = BydPlatformConfig(
+    [BydCarDocs("BYD HAN EV 2023")],
+    CarSpecs(mass=1940 + STD_CARGO_KG, wheelbase=2.92, steerRatio=16.5,
+             centerToFrontRatio=0.44, tireStiffnessFactor=1.0)
+  )
+  BYD_SEAL_PERFORMANCE_25 = BydPlatformConfig(
+    [BydCarDocs("BYD SEAL PERFORMANCE 2025")],
+    # TODO: verify steerRatio and centerToFrontRatio on a real car
+    CarSpecs(mass=2100 + STD_CARGO_KG, wheelbase=2.92, steerRatio=16.0,
+             centerToFrontRatio=0.44, tireStiffnessFactor=1.0)
+  )
+
+
+class CarControllerParams:
+  def __init__(self, CP):
+    self.STEER_STEP = 2  # 50Hz
+    self.ACC_SETP = 4  # 25Hz
+
+    self.STEER_ERROR_MAX = 46
+    if CP.carFingerprint in (CAR.BYD_HAN_EV_23, CAR.BYD_SEAL_PERFORMANCE_25):
+      self.STEER_MAX = 300
+      self.STEER_DELTA_UP = 6
+      self.STEER_DELTA_DOWN = 6
+
+    self.ACCEL_MAX = 2.0  # m/s^2
+    self.ACCEL_MIN = -4.0  # m/s^2
+    self.JERK_LIMIT_MAX = 4.0  # m/s^3
+    self.JERK_LIMIT_MIN = -4.0  # m/s^3
+
+
+STEER_THRESHOLD = 1
+
+GEAR_MAP = {
+  4: CarState.GearShifter.drive,
+  2: CarState.GearShifter.reverse,
+  3: CarState.GearShifter.neutral,
+  1: CarState.GearShifter.park,
+}
+
+# TODO: Get a BYD VDS to see how firmware could be queried. Until then BYD is
+# identified by legacy CAN fingerprinting only.
+DBC = CAR.create_dbc_map()
diff --git a/opendbc_repo/opendbc/car/car.capnp b/opendbc_repo/opendbc/car/car.capnp
index 31a1587..34a4aa7 100644
--- a/opendbc_repo/opendbc/car/car.capnp
+++ b/opendbc_repo/opendbc/car/car.capnp
@@ -634,6 +634,7 @@ struct CarParams {
     fcaGiorgio @32;
     rivian @33;
     volkswagenMeb @34;
+    byd @35;
   }
 
   enum SteerControlType {
diff --git a/opendbc_repo/opendbc/car/fingerprints.py b/opendbc_repo/opendbc/car/fingerprints.py
index 81800aa..324fbd9 100644
--- a/opendbc_repo/opendbc/car/fingerprints.py
+++ b/opendbc_repo/opendbc/car/fingerprints.py
@@ -1,5 +1,6 @@
 from opendbc.car.interfaces import get_interface_attr
 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
@@ -56,6 +57,8 @@ def all_legacy_fingerprint_cars():
 
 # A dict that maps old platform strings to their latest representations
 MIGRATION = {
+  "BYD HAN EV 23": BYD.BYD_HAN_EV_23,
+  "BYD SEAL PERFORMANCE 2025": BYD.BYD_SEAL_PERFORMANCE_25,
   "ACURA ILX 2016 ACURAWATCH PLUS": HONDA.ACURA_ILX,
   "ACURA RDX 2018 ACURAWATCH PLUS": HONDA.ACURA_RDX,
   "ACURA RDX 2020 TECH": HONDA.ACURA_RDX_3G,
diff --git a/opendbc_repo/opendbc/car/torque_data/params.toml b/opendbc_repo/opendbc/car/torque_data/params.toml
index 1fbabf6..0e79259 100644
--- a/opendbc_repo/opendbc/car/torque_data/params.toml
+++ b/opendbc_repo/opendbc/car/torque_data/params.toml
@@ -1,4 +1,6 @@
 legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
+"BYD_HAN_EV_23" = [1.807, 1.674, 0.04]
+"BYD_SEAL_PERFORMANCE_25" = [1.807, 1.674, 0.04]
 "ACURA_ILX" = [1.524988973896102, 0.519011053086259, 0.34236219253028]
 "ACURA_RDX" = [0.9987728568686902, 0.5323765166196301, 0.303218805715844]
 "ACURA_RDX_3G" = [1.4314459806646749, 0.33874701282109954, 0.18048847083897598]
diff --git a/opendbc_repo/opendbc/car/values.py b/opendbc_repo/opendbc/car/values.py
index f606249..5a9a3a5 100644
--- a/opendbc_repo/opendbc/car/values.py
+++ b/opendbc_repo/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.tesla.values import CAR as TESLA
 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_repo/opendbc/dbc/byd_common.dbc b/opendbc_repo/opendbc/dbc/byd_common.dbc
new file mode 100644
index 0000000..ca01638
--- /dev/null
+++ b/opendbc_repo/opendbc/dbc/byd_common.dbc
@@ -0,0 +1,375 @@
+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_: XXX
+
+BO_ 85 EPB: 8 XXX
+ SG_ EPB_ACTIVE : 40|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 234 STEERING_TORQUE_ALT: 8 XXX
+ SG_ LKSPrepare : 0|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 1|1@1+ (1,0) [0|1] "" XXX
+ SG_ TORQUE_FAILED : 4|1@1+ (1,0) [0|1] "" XXX
+ SG_ Steer_Torque_Sensor : 8|12@1- (1,0) [0|4095] "" XXX
+ SG_ MAIN_TORQUE : 24|12@1+ (0.15,-316) [0|4095] "" XXX
+ SG_ WAIT_INIT : 36|1@1+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 52|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 235 MPC_LKAS_CMD_ALT: 8 XXX
+ SG_ TORQUE_FACTOR : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ LKAS_Output : 8|12@1- (0.15,0) [0|4095] "" XXX
+ SG_ LKASPrepare : 20|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_ACTIVE : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_2 : 22|2@1+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_FF_1 : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_FF_2 : 32|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_FF_3 : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_F : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 52|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 269 ECM: 8 XXX
+ SG_ ENG_RPM : 0|16@1+ (0.25,0) [0|255] "" XXX
+ SG_ GAS_PEDAL : 40|8@1+ (0.00392,0) [0|255] "" XXX
+
+BO_ 287 STEER_MODULE: 5 XXX
+ SG_ STEER_ANGLE : 0|16@1- (0.1,0) [-450|450] "" XXX
+ SG_ STEERING_RATE : 16|8@1+ (4,0) [0|1020] "" XXX
+ SG_ PAYLOAD : 24|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 32|4@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM_S : 36|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 289 ESC: 8 XXX
+ SG_ VEHICLE_SPEED : 0|12@1+ (0.0725,0) [0|4095] "" XXX
+
+BO_ 291 IPB: 8 XXX
+ SG_ BRAKE_PRESSED : 43|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 301 BRAKE_PRESSED: 8 XXX
+ SG_ BRAKE_PRESSED : 8|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 307 STALKS: 8 XXX
+ SG_ EPB_ACTIVE : 1|1@1+ (1,0) [0|1] "" XXX
+ SG_ HEADLIGHT : 2|1@1+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 3|1@1+ (1,0) [0|1] "" XXX
+ SG_ LEFT_BLINKER : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_BLINKER : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ TURN_SIGNAL_SWITCH : 36|3@1+ (1,0) [0|7] "" XXX
+ SG_ AUTO_HEADLIGHT : 40|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 455 STEER_ANGLE_ALT: 8 XXX
+ SG_ STEER_ANGLE : 0|16@1- (0.1,0) [0|4095] "" XXX
+ SG_ STEER_RATE : 16|8@1+ (4,0) [0|255] "" XXX
+
+BO_ 482 MPC_LKAS_CMD_ANGLE: 8 XXX
+ SG_ JerkUpperLimit : 0|10@1- (1,0) [0|65535] "" XXX
+ SG_ JerkLowerLimit : 10|10@1- (1,0) [0|15] "" XXX
+ SG_ LKASPrepare : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_ACTIVE : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_3 : 22|2@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Output : 24|16@1- (0.1,0) [0|255] "" XXX
+ SG_ SET_ME_FF : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_F : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 52|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 496 WHEEL_SPEED: 8 XXX
+ SG_ WHEELSPEED_FL : 0|12@1+ (0.0725,0) [0|281.4625] "km/h" XXX
+ SG_ FAULT_FR : 12|1@1+ (1,0) [0|1] "" XXX
+ SG_ FAULT_FL : 13|1@1+ (1,0) [0|1] "" XXX
+ SG_ FAULT_BR : 14|1@1+ (1,0) [0|1] "" XXX
+ SG_ FAULT_BL : 15|1@1+ (1,0) [0|1] "" XXX
+ SG_ WHEELSPEED_FR : 16|12@1+ (0.0725,0) [0|281.4625] "km/h" XXX
+ SG_ WHEELSPEED_BL : 28|12@1+ (0.0725,0) [0|281.4625] "km/h" XXX
+ SG_ WHEELSPEED_BR : 40|12@1+ (0.0725,0) [0|281.4625] "km/h" XXX
+ SG_ COUNTER : 52|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 508 STEERING_TORQUE_ANGLE: 8 XXX
+ SG_ LKSPrepare : 0|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 1|1@1+ (1,0) [0|1] "" XXX
+ SG_ TORQUE_FAILED : 2|1@1+ (1,0) [0|1] "" XXX
+ SG_ Steer_Torque_Sensor : 4|12@1- (0.1,0) [0|65535] "" XXX
+ SG_ TARGET_ANGLE : 16|16@1- (0.1,0) [0|255] "" XXX
+ SG_ MAIN_TORQUE : 32|12@1- (1,0) [0|63] "" XXX
+ SG_ Keep_Hands_On_Wheel : 45|1@1+ (1,0) [0|255] "" XXX
+ SG_ TORQUE_TEMP_FAILED : 46|2@1+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 52|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 522 ENGINE_RPM: 8 XXX
+ SG_ ENG_RPM : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 523 ENGINE_GAUGE: 8 XXX
+ SG_ ENG_RPM : 15|8@0+ (12,0) [0|0] "" XXX
+
+BO_ 530 TCU: 8 XXX
+ SG_ GEAR : 48|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 536 EPB_NG: 8 XXX
+ SG_ EPB_ACTIVE : 0|2@1+ (1,0) [0|3] "" XXX
+ SG_ EPB_STATUS : 9|3@1+ (1,0) [0|7] "" XXX
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 544 BRAKE_APPLIED: 8 XXX
+ SG_ BRAKE_HOLD_ACTIVE : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_APPLIED_ACTIVE_LOW : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL : 19|2@0+ (1,0) [0|3] "" XXX
+ SG_ VLC_SENSOR : 24|8@1+ (0.05,-7) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 32|13@1+ (1,0) [0|8191] "" XXX
+
+BO_ 546 YAW_SENSOR: 8 XXX
+ SG_ YAW_RATE : 0|12@1+ (0.002132603,-2.094216146) [0|4095] "" XXX
+ SG_ YAW_OFFSET : 12|12@1+ (0.002132603,-0.130088783) [0|4095] "" XXX
+
+BO_ 547 ACCEL_SENSOR: 8 XXX
+ SG_ LONGITUDE : 0|12@1- (0.027126736,-21.592881856) [-2848|1247] "" XXX
+ SG_ LONGITUDE_OFFSET : 12|12@1+ (0.027126736,-21.592881856) [0|4095] "" XXX
+ SG_ LATERAL : 24|12@1- (0.027126736,-21.592881856) [-2848|1247] "" XXX
+ SG_ LATERAL_OFFSET : 36|12@1+ (0.027126736,-21.592881856) [0|4095] "" XXX
+
+BO_ 578 DRIVE_STATE: 8 XXX
+ SG_ WHEELSPEED_HR : 0|16@1+ (0.01706666666,-512) [0|65535] "" XXX
+ SG_ RAW_THROTTLE : 30|7@0+ (1,0) [0|127] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ GEAR : 40|3@1+ (1,0) [0|7] "" XXX
+
+BO_ 660 METER_CLUSTER: 8 XXX
+ SG_ FRONT_RIGHT_DOOR : 1|1@1+ (1,0) [0|511] "" XXX
+ SG_ FRONT_LEFT_DOOR : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ BACK_LEFT_DOOR : 5|1@1+ (1,0) [0|511] "" XXX
+ SG_ BACK_RIGHT_DOOR : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ SEATBELT_DRIVER : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_PRESSED_ALT : 26|1@1+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 48|4@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 665 IKEY: 3 XXX
+ SG_ IKEY_REVERT : 20|1@1+ (1,0) [0|1] "" XXX
+ SG_ IKEY_MOVE_OR_STEERING : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ IKEY_ENABLE : 22|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 790 MPC_LKAS_CMD: 8 XXX
+ SG_ SETME_0x1 : 0|4@1+ (1,0) [0|3] "" XXX
+ SG_ LeftLane : 4|2@1+ (1,0) [0|3] "" XXX
+ SG_ Config : 6|2@1+ (1,0) [0|3] "" XXX
+ SG_ SETME2_0x1 : 8|2@1+ (1,0) [0|3] "" XXX
+ SG_ Keep_Hands_On_Wheel : 10|1@1+ (1,0) [0|1] "" XXX
+ SG_ MPCErr : 11|4@1+ (1,0) [0|1] "" XXX
+ SG_ SETME3_0x1 : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_Output : 16|11@1- (1,0) [-1024|1023] "" XXX
+ SG_ LKASPrepare : 27|1@1+ (1,0) [0|1] "" XXX
+ SG_ LKAS_ACTIVE : 28|1@1+ (1,0) [0|3] "" XXX
+ SG_ TSRStatus : 29|3@1+ (1,0) [0|1] "" XXX
+ SG_ SETME4_0x1 : 32|2@1+ (1,0) [0|3] "" XXX
+ SG_ RightLane : 34|2@1+ (1,0) [0|3] "" XXX
+ SG_ LKAS_Mode : 36|3@1+ (1,0) [0|3] "" XXX
+ SG_ SETME_0x0 : 39|1@1+ (1,0) [0|3] "" XXX
+ SG_ TSRResult : 40|8@1+ (5,-5) [-5|1270] "" XXX
+ SG_ Unknow1 : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 52|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 792 STEERING_TORQUE: 8 XXX
+ SG_ LKSPrepare : 0|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Activated : 1|1@1+ (1,0) [0|1] "" XXX
+ SG_ TORQUE_FAILED : 2|1@1+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_1_1 : 3|1@1+ (1,0) [0|1] "" XXX
+ SG_ Steer_Warning : 4|1@1+ (1,0) [0|1] "" XXX
+ SG_ Steer_Error_1 : 5|1@1+ (1,0) [0|1] "" XXX
+ SG_ Steer_Error_2 : 6|1@1+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_1 : 7|1@1+ (1,0) [0|1] "" XXX
+ SG_ MAIN_TORQUE : 8|12@1- (1,0) [-2048|2047] "" XXX
+ SG_ SET_ME_1_2 : 20|1@1+ (1,0) [0|1] "" XXX
+ SG_ Keep_Hands_On_Wheel : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_3 : 22|2@1+ (1,0) [0|15] "" XXX
+ SG_ Steer_Torque_Sensor : 24|12@1- (1,0) [-2048|2047] "" XXX
+ SG_ SET_ME_XF_1 : 36|4@1+ (1,0) [0|15] "" XXX
+ SG_ SET_ME_XFFF : 40|12@1+ (1,0) [0|4095] "" XXX
+ SG_ COUNTER : 52|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 801 BRAKE_PEDAL_LEG: 8 XXX
+ SG_ BRAKE_PEDAL : 0|12@1+ (0.001,-0.278) [0|255] "" XXX
+ SG_ COUNTER : 52|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 813 ACC_HUD_ADAS: 8 XXX
+ SG_ SET_SPEED : 0|9@1+ (0.5,0) [0|255.5] "" XXX
+ SG_ HAS_LEAD : 9|1@1+ (1,0) [0|1] "" XXX
+ SG_ SET_DISTANCE : 10|3@1+ (1,0) [0|7] "" XXX
+ SG_ LEAD_DISTANCE : 13|3@1+ (1,0) [0|7] "" XXX
+ SG_ AEB : 16|1@1+ (1,0) [0|1] "" XXX
+ SG_ FCW : 17|1@1+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_1 : 18|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACC_ON2 : 19|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_CONTROLLABLE_AND_ON : 20|1@1+ (1,0) [0|1] "" XXX
+ SG_ OVERRIDE : 21|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACC_ON1 : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ TOO_CLOSE : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_1_1 : 24|3@1+ (1,0) [0|1] "" XXX
+ SG_ NOTIFY : 27|5@1+ (1,0) [0|127] "" XXX
+ SG_ ERROR : 32|4@1+ (1,0) [0|15] "" XXX
+ SG_ SET_ME_XFF : 36|8@1+ (1,0) [0|4095] "" XXX
+ SG_ CRUISE_STATE : 44|4@1+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ SET_ME_XF : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 814 ACC_CMD: 8 XXX
+ SG_ ACCEL_CMD : 0|8@1+ (0.05,-5) [-100|155] "m/s^2" XXX
+ SG_ ComfortBandUpper : 8|8@1+ (0.05,-5) [0|1.26] "m/s^2" XXX
+ SG_ ComfortBandLower : 16|8@1+ (0.05,-5) [0|1.26] "m/s^2" XXX
+ SG_ JerkUpperLimit : 24|7@1+ (0.2,0) [0|12.7] "m/s^3" XXX
+ SG_ SET_ME_1 : 31|1@0+ (1,0) [0|3] "" XXX
+ SG_ JerkLowerLimit : 32|7@1+ (0.2,-16) [0|12.7] "m/s^3" XXX
+ SG_ STANDSTILL_RESUME : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_STATE : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_BEHAVIOR : 41|2@1+ (1,0) [0|3] "" XXX
+ SG_ ACC_REQ_NOT_STANDSTILL : 43|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACC_CONTROLLABLE_AND_ON : 44|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_OVERRIDE_OR_STANDSTILL : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ ESP_BEHAVIOR : 46|2@1+ (1,0) [0|3] "" XXX
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ SET_ME_XF : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 815 ACC_AEB: 8 XXX
+ SG_ PAYLOAD : 0|48@1+ (1,0) [0|4.5035996273705e+15] "" XXX
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ SETME_0xF : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 834 PEDAL: 8 XXX
+ SG_ GAS_PEDAL : 0|8@1+ (0.01,0) [0|2.55] "" XXX
+ SG_ BRAKE_PEDAL : 8|8@1+ (0.01,0) [0|2.55] "" XXX
+ SG_ STILL_GENERATOR : 19|1@1+ (1,0) [0|1] "" XXX
+ SG_ DRIVE_MODE : 20|2@1+ (1,0) [0|255] "" XXX
+ SG_ POWER_MODE : 28|2@1+ (1,0) [0|1] "" XXX
+
+BO_ 848 RADAR_UNUSED_0: 8 XXX
+
+BO_ 849 RADAR_TRACK_1: 8 XXX
+ SG_ LONG_DIST : 16|12@1- (0.06,-4) [-61.44|61.41] "m" XXX
+ SG_ LAT_DIST : 28|10@1+ (0.05,-25.6) [-15.36|15.33] "m" XXX
+ SG_ TRACK_ID : 38|6@1+ (1,0) [0|63] "" XXX
+ SG_ REL_SPEED : 44|10@1+ (1,-512) [-512|511] "km/s" XXX
+ SG_ SETME_0x3 : 54|2@1+ (1,0) [0|3] "" XXX
+ SG_ VALID : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ SETME_0x0 : 57|7@1+ (1,0) [0|127] "" XXX
+
+BO_ 850 RADAR_TRACK_2: 8 XXX
+ SG_ LONG_DIST : 16|12@1- (0.06,-4) [-61.44|61.41] "m" XXX
+ SG_ LAT_DIST : 28|10@1+ (-0.05,-25.6) [-15.36|15.33] "m" XXX
+ SG_ TRACK_ID : 38|6@1+ (1,0) [0|63] "" XXX
+ SG_ REL_SPEED : 44|10@1+ (1,-512) [-512|511] "km/s" XXX
+ SG_ SETME_0x3 : 54|2@1+ (1,0) [0|3] "" XXX
+ SG_ VALID : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ SETME_0x0 : 57|7@1+ (1,0) [0|127] "" XXX
+
+BO_ 851 RADAR_TRACK_3: 8 XXX
+ SG_ LONG_DIST : 16|12@1- (0.06,-4) [-61.44|61.41] "m" XXX
+ SG_ LAT_DIST : 28|10@1+ (0.05,-25.6) [-15.36|15.33] "m" XXX
+ SG_ TRACK_ID : 38|6@1+ (1,0) [0|63] "" XXX
+ SG_ REL_SPEED : 44|10@1+ (1,-512) [-512|511] "km/s" XXX
+ SG_ SETME_0x3 : 54|2@1+ (1,0) [0|3] "" XXX
+ SG_ VALID : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ SETME_0x0 : 57|7@1+ (1,0) [0|127] "" XXX
+
+BO_ 852 RADAR_TRACK_4: 8 XXX
+ SG_ LONG_DIST : 16|12@1- (0.06,-4) [-61.44|61.41] "m" XXX
+ SG_ LAT_DIST : 28|10@1+ (0.05,-25.6) [-15.36|15.33] "m" XXX
+ SG_ TRACK_ID : 38|6@1+ (1,0) [0|63] "" XXX
+ SG_ REL_SPEED : 44|10@1+ (1,-512) [-512|511] "km/s" XXX
+ SG_ SETME_0x3 : 54|2@1+ (1,0) [0|3] "" XXX
+ SG_ VALID : 56|1@0+ (1,0) [0|1] "" XXX
+ SG_ SETME_0x0 : 57|7@1+ (1,0) [0|127] "" XXX
+
+BO_ 884 RADAR_TRACK_COMBINE: 8 XXX
+ SG_ TRACK_ID : 0|3@1+ (1,0) [0|7] "bit" XXX
+ SG_ TargetType : 4|4@1+ (1,0) [0|8] "bit" XXX
+ SG_ LAT_DIST : 8|8@1+ (0.1,-12) [-100|100] "bit" XXX
+ SG_ LONG_DIST : 16|8@1+ (1,-100) [-100|100] "bit" XXX
+ SG_ REL_SPEED : 24|8@1+ (1,0) [0|254] "km/h" XXX
+ SG_ REL_SPEED_H : 32|8@1+ (1,0) [0|254] "km/h" XXX
+ SG_ VALID : 40|2@1+ (1,0) [0|3] "bit" XXX
+ SG_ COUNTER : 52|4@1+ (1,0) [0|15] "bit" XXX
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "bit" XXX
+
+BO_ 926 GAUGE_SPEED: 8 XXX
+ SG_ GAUGE_SPEED : 8|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 944 PCM_BUTTONS: 8 XXX
+ SG_ DISTANCE_BTN : 0|3@1+ (1,0) [0|7] "" XXX
+ SG_ BTN_ACC_DEC : 3|3@1+ (1,0) [0|7] "" XXX
+ SG_ SET_BTN : 6|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_0_1 : 7|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACC_ON_BTN : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_0 : 9|1@1+ (1,0) [0|1] "" XXX
+ SG_ RES_BTN : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_2 : 11|3@1+ (1,0) [0|7] "" XXX
+ SG_ LKAS_ON_BTN : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ BTN_DIST_DOWN : 15|1@1+ (1,0) [0|1] "" XXX
+ SG_ BTN_DIST_UP : 16|1@1+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_0_2 : 17|2@1+ (1,0) [0|1] "" XXX
+ SG_ ACC_SWITCH : 19|1@1+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_XFFFFF : 20|32@1+ (1,0) [0|68719476735] "" XXX
+ SG_ COUNTER : 52|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 1048 BSM: 8 XXX
+ SG_ LEFT_APPROACH : 9|2@0+ (1,0) [0|1] "" XXX
+ SG_ RIGHT_APPROACH : 11|2@0+ (1,0) [0|1] "" XXX
+ SG_ APPROACH : 17|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1172 BRAKE_APPLIED_2: 8 XXX
+ SG_ BRAKE_APPLIED_ACTIVE_LOW : 47|1@1+ (1,0) [0|1] "" XXX
+
+VAL_ 307 TURN_SIGNAL_SWITCH 0 "Invalid" 1 "OFFGear" 2 "LeftSteeringShortLift" 3 "LeftSteeringLongLift" 4 "RightSteeringShortLift" 5 "RightSteeringLongLift" 7 "Unavaliable";
+VAL_ 508 TORQUE_TEMP_FAILED 2 "TooFast" 1 "TooLarge" 3 "Both";
+VAL_ 530 GEAR 4 "D" 2 "R" 3 "N" 1 "P";
+VAL_ 536 EPB_ACTIVE 0 "NotActive" 1 "Release" 2 "Apply" 3 "Reserved";
+VAL_ 536 EPB_STATUS 0 "Releasing" 1 "Released" 2 "Applying" 3 "Applied" 4 "FaultProhibitionOfRemoteDriving";
+VAL_ 578 GEAR 4 "D" 2 "R" 3 "N" 1 "P";
+VAL_ 790 Config 3 "FULL_TERRAIN" 2 "LKAS" 1 "ALERT" 0 "DISABLE";
+VAL_ 790 LKAS_Mode 0 "OFF" 1 "Passive" 2 "Active1" 3 "Active2" 4 "Fault" 5 "StandBy";
+VAL_ 813 SET_DISTANCE 4 "4bar" 3 "3bar" 2 "2bar" 1 "1bar";
+VAL_ 813 NOTIFY 4 "OVERRIDE" 3 "ENGAGE" 2 "DISENGAGE" 7 "ACC_ON" 8 "ACC_OFF" 0 "NONE";
+VAL_ 813 CRUISE_STATE 0 "OFF" 1 "Passive" 2 "StandBy" 3 "Active" 4 "BrakeOnly" 5 "Override" 6 "StandStillActive" 7 "StandStillWait" 8 "Failure" 9 "PermanentFailure";
+VAL_ 834 DRIVE_MODE 3 "NORMAL" 2 "SPORT" 1 "ECO";
+VAL_ 834 POWER_MODE 3 "HEV" 2 "FORCE_EV" 1 "EV";
+VAL_ 944 BTN_ACC_DEC 4 "ACC 10" 3 "ACC 1" 2
\ No newline at end of file
diff --git a/opendbc_repo/opendbc/safety/declarations.h b/opendbc_repo/opendbc/safety/declarations.h
index 66f1e2c..db081e7 100644
--- a/opendbc_repo/opendbc/safety/declarations.h
+++ b/opendbc_repo/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))
@@ -368,3 +369,4 @@ extern const safety_hooks volkswagen_meb_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_repo/opendbc/safety/modes/byd.h b/opendbc_repo/opendbc/safety/modes/byd.h
new file mode 100644
index 0000000..e2a3389
--- /dev/null
+++ b/opendbc_repo/opendbc/safety/modes/byd.h
@@ -0,0 +1,145 @@
+#include "opendbc/safety/declarations.h"
+
+// MPC_LKAS_CMD (790), little endian
+#define BYD_GET_LKAS_OUTPUT(msg)  (to_signed((((msg)->data[3] & 0x7U) << 8U) | (msg)->data[2], 11))
+#define BYD_LKAS_ACTIVE_BIT       28U
+// STEERING_TORQUE (792), little endian
+#define BYD_GET_MAIN_TORQUE(msg)  (to_signed((((msg)->data[2] & 0xFU) << 8U) | (msg)->data[1], 12))
+#define BYD_GET_DRIVER_TORQUE(msg) (to_signed((((msg)->data[4] & 0xFU) << 8U) | (msg)->data[3], 12))
+// PCM_BUTTONS (944)
+#define BYD_LKAS_ON_BTN_BIT       14U
+
+static bool byd_tx_hook(const CANPacket_t *msg) {
+  const TorqueSteeringLimits BYD_STEERING_LIMITS = {
+    .max_torque = 300,
+    .max_rate_up = 6,
+    .max_rate_down = 6,
+    .max_rt_delta = 112, // 75 per 250ms at 50Hz steer rate, plus 50% buffer
+    .type = TorqueMotorLimited,
+    .driver_torque_allowance = 46,
+    .driver_torque_multiplier = 1,
+    .max_torque_error = 46,
+  };
+
+  const LongitudinalLimits BYD_LONG_LIMITS = {
+    .max_accel = 140,      // 2.0 m/s^2  (raw = (m/s^2 + 5) / 0.05)
+    .min_accel = 20,       // -4.0 m/s^2
+    .inactive_accel = 100, // 0 m/s^2, sent when longitudinal control is inactive
+  };
+
+  bool tx = true;
+
+  // MPC_LKAS_CMD: steering actuation towards the EPS
+  if (msg->addr == 790U) {
+    int desired_torque = BYD_GET_LKAS_OUTPUT(msg);
+    bool steer_req = GET_BIT(msg, BYD_LKAS_ACTIVE_BIT);
+
+    if (steer_torque_cmd_checks(desired_torque, steer_req, BYD_STEERING_LIMITS)) {
+      tx = false;
+    }
+  }
+
+  // STEERING_TORQUE: feedback message towards the camera, torque echoes the
+  // camera's own request. Only sanity-check the absolute limit so stock LKAS
+  // requests don't fault when openpilot is inactive.
+  if (msg->addr == 792U) {
+    int main_torque = BYD_GET_MAIN_TORQUE(msg);
+    if (safety_max_limit_check(main_torque, BYD_STEERING_LIMITS.max_torque, -BYD_STEERING_LIMITS.max_torque)) {
+      tx = false;
+    }
+  }
+
+  // ACC_CMD: longitudinal actuation
+  if (msg->addr == 814U) {
+    int desired_accel = msg->data[0];
+
+    if (longitudinal_accel_checks(desired_accel, BYD_LONG_LIMITS)) {
+      tx = false;
+    }
+  }
+
+  return tx;
+}
+
+static void byd_rx_hook(const CANPacket_t *msg) {
+  // Main Bus
+  if (msg->bus == 0U) {
+    // PEDAL
+    if (msg->addr == 834U) {
+      gas_pressed = msg->data[0] != 0U;
+      brake_pressed = msg->data[1] != 0U;
+    }
+    // ESC
+    if (msg->addr == 289U) {
+      vehicle_moving = (((msg->data[1] & 0x0FU) << 8U) | msg->data[0]) != 0U;
+    }
+    // STEERING_TORQUE: sample EPS output torque and driver torque
+    if (msg->addr == 792U) {
+      int torque_meas_new = BYD_GET_MAIN_TORQUE(msg);
+      update_sample(&torque_meas, torque_meas_new);
+      torque_meas.min--;
+      torque_meas.max++;
+
+      int torque_driver_new = BYD_GET_DRIVER_TORQUE(msg);
+      update_sample(&torque_driver, torque_driver_new);
+    }
+    // PCM_BUTTONS: dedicated LKAS steering wheel button for MADS
+    if (msg->addr == 944U) {
+      mads_button_press = GET_BIT(msg, BYD_LKAS_ON_BTN_BIT) ? MADS_BUTTON_PRESSED : MADS_BUTTON_NOT_PRESSED;
+    }
+  }
+  // Cam Bus
+  else if (msg->bus == 2U) {
+    // ACC_HUD_ADAS
+    if (msg->addr == 813U) {
+      // CRUISE_STATE in (3, 5) == (Active, Override)
+      uint8_t cruise_state = (msg->data[5] >> 4U) & 0x0FU;
+      pcm_cruise_check((cruise_state == 3U) || (cruise_state == 5U));
+    }
+  } else {
+  }
+}
+
+static safety_config byd_init(uint16_t param) {
+  static const CanMsg BYD_TX_MSGS[] = {
+    {790, 0, 8, .check_relay = true}, // MPC_LKAS_CMD
+    {792, 2, 8, .check_relay = true}, // STEERING_TORQUE
+  };
+
+  static const CanMsg BYD_TX_LONG_MSGS[] = {
+    {790, 0, 8, .check_relay = true}, // MPC_LKAS_CMD
+    {792, 2, 8, .check_relay = true}, // STEERING_TORQUE
+    {814, 0, 8, .check_relay = true}, // ACC_CMD
+  };
+
+  static RxCheck byd_rx_checks[] = {
+    {.msg = {{578, 0, 8, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},  // DRIVE_STATE
+    {.msg = {{544, 0, 8, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},  // BRAKE_APPLIED
+    {.msg = {{834, 0, 8, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},  // PEDAL
+    {.msg = {{289, 0, 8, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},  // ESC
+    {.msg = {{287, 0, 5, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},  // STEER_MODULE
+    {.msg = {{792, 0, 8, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},  // STEERING_TORQUE
+    {.msg = {{944, 0, 8, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},  // PCM_BUTTONS
+    {.msg = {{813, 2, 8, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},  // ACC_HUD_ADAS
+    {.msg = {{307, 0, 8, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},  // STALKS
+    {.msg = {{660, 0, 8, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},  // METER_CLUSTER
+    {.msg = {{790, 2, 8, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},  // MPC_LKAS_CMD
+  };
+
+  const uint16_t BYD_FLAG_LONG_CONTROL = 1;
+  const bool byd_longitudinal = GET_FLAG(param, BYD_FLAG_LONG_CONTROL);
+
+  safety_config ret;
+  if (byd_longitudinal) {
+    ret = BUILD_SAFETY_CFG(byd_rx_checks, BYD_TX_LONG_MSGS);
+  } else {
+    ret = BUILD_SAFETY_CFG(byd_rx_checks, BYD_TX_MSGS);
+  }
+  return ret;
+}
+
+const safety_hooks byd_hooks = {
+  .init = byd_init,
+  .rx = byd_rx_hook,
+  .tx = byd_tx_hook,
+};
diff --git a/opendbc_repo/opendbc/safety/safety.h b/opendbc_repo/opendbc/safety/safety.h
index 7a5dfb4..77e08df 100644
--- a/opendbc_repo/opendbc/safety/safety.h
+++ b/opendbc_repo/opendbc/safety/safety.h
@@ -29,6 +29,7 @@
 #include "opendbc/safety/modes/body.h"
 #include "opendbc/safety/modes/psa.h"
 #include "opendbc/safety/modes/hyundai_canfd.h"
+#include "opendbc/safety/modes/byd.h"
 
 uint32_t GET_BYTES(const CANPacket_t *msg, int start, int len) {
   uint32_t ret = 0U;
@@ -419,6 +420,7 @@ int set_safety_hooks(uint16_t mode, uint16_t param) {
     {SAFETY_RIVIAN, &rivian_hooks},
     {SAFETY_TESLA, &tesla_hooks},
     {SAFETY_HYUNDAI_CANFD, &hyundai_canfd_hooks},
+    {SAFETY_BYD, &byd_hooks},
 #ifdef ALLOW_DEBUG
     {SAFETY_CHRYSLER_CUSW, &chrysler_cusw_hooks},
     {SAFETY_PSA, &psa_hooks},
diff --git a/opendbc_repo/opendbc/safety/tests/common.py b/opendbc_repo/opendbc/safety/tests/common.py
index 90a0df3..7cd77de 100644
--- a/opendbc_repo/opendbc/safety/tests/common.py
+++ b/opendbc_repo/opendbc/safety/tests/common.py
@@ -1017,6 +1017,8 @@ class SafetyTest(SafetyTestBase):
               continue
             if attr.startswith('TestFord') and current_test.startswith('TestFord'):
               continue
+            if attr.startswith('TestByd') and current_test.startswith('TestByd'):
+              continue
             if attr.startswith('TestHyundaiCanfd') and current_test.startswith('TestHyundaiCanfd'):
               continue
             if {attr, current_test}.issubset({'TestHyundaiLongitudinalSafety', 'TestHyundaiLongitudinalSafetyCameraSCC', 'TestHyundaiSafetyFCEVLong'}):
diff --git a/opendbc_repo/opendbc/safety/tests/test_byd.py b/opendbc_repo/opendbc/safety/tests/test_byd.py
new file mode 100644
index 0000000..9548ae9
--- /dev/null
+++ b/opendbc_repo/opendbc/safety/tests/test_byd.py
@@ -0,0 +1,140 @@
+#!/usr/bin/env python3
+import unittest
+
+from opendbc.car.structs import CarParams
+from opendbc.safety.tests.libsafety import libsafety_py
+import opendbc.safety.tests.common as common
+from opendbc.safety.tests.common import CANPackerSafety
+
+MSG_MPC_LKAS_CMD = 790       # TX by OP, lateral actuation towards EPS
+MSG_STEERING_TORQUE = 792    # RX from EPS / TX by OP, torque feedback towards camera
+MSG_ACC_HUD_ADAS = 813       # RX from camera, ACC state
+MSG_ACC_CMD = 814            # TX by OP, longitudinal actuation
+MSG_PCM_BUTTONS = 944        # RX from PCM, steering wheel buttons
+
+
+def byd_checksum(msg):
+  addr, dat, bus = msg
+  ret = bytearray(dat)
+
+  if addr in (MSG_MPC_LKAS_CMD, MSG_STEERING_TORQUE, MSG_ACC_CMD):
+    byte_key = 0xAF
+    sum_first = sum(byte >> 4 for byte in ret)  # upper nibbles
+    sum_second = sum(byte & 0xF for byte in ret)  # lower nibbles
+
+    remainder = sum_second >> 4
+
+    sum_first += (byte_key & 0xF)
+    sum_second += (byte_key >> 4)
+
+    inv_first = ((-sum_first + 0x9) & 0xF)
+    inv_second = ((-sum_second + 0x9) & 0xF)
+
+    ret[7] = (((inv_first + (5 - remainder)) << 4) + inv_second) & 0xFF
+
+  return addr, ret, bus
+
+
+class TestBydSafetyBase(common.CarSafetyTest, common.MotorTorqueSteeringSafetyTest):
+  TX_MSGS = [[MSG_MPC_LKAS_CMD, 0], [MSG_STEERING_TORQUE, 2]]
+  STANDSTILL_THRESHOLD = 0
+  RELAY_MALFUNCTION_ADDRS = {0: (MSG_MPC_LKAS_CMD,), 2: (MSG_STEERING_TORQUE,)}
+  FWD_BLACKLISTED_ADDRS = {0: [MSG_STEERING_TORQUE], 2: [MSG_MPC_LKAS_CMD]}
+
+  MAX_TORQUE_LOOKUP = ([0], [300])
+  MAX_RATE_UP = 6
+  MAX_RATE_DOWN = 6
+  MAX_RT_DELTA = 112
+  MAX_TORQUE_ERROR = 46
+  TORQUE_MEAS_TOLERANCE = 1
+
+  def setUp(self):
+    self.packer = CANPackerSafety("byd_common")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.byd, 0)
+    self.safety.init_tests()
+
+  def _torque_cmd_msg(self, torque, steer_req=1):
+    values = {"LKAS_Output": torque, "LKAS_ACTIVE": steer_req}
+    return self.packer.make_can_msg_safety("MPC_LKAS_CMD", 0, values, byd_checksum)
+
+  def _torque_meas_msg(self, torque):
+    values = {"MAIN_TORQUE": torque}
+    return self.packer.make_can_msg_safety("STEERING_TORQUE", 0, values)
+
+  def _torque_driver_msg(self, torque):
+    values = {"Steer_Torque_Sensor": torque}
+    return self.packer.make_can_msg_safety("STEERING_TORQUE", 0, values)
+
+  def _speed_msg(self, speed):
+    values = {"VEHICLE_SPEED": speed}
+    return self.packer.make_can_msg_safety("ESC", 0, values)
+
+  def _user_brake_msg(self, brake):
+    values = {"BRAKE_PEDAL": brake}
+    return self.packer.make_can_msg_safety("PEDAL", 0, values)
+
+  def _user_gas_msg(self, gas):
+    values = {"GAS_PEDAL": gas}
+    return self.packer.make_can_msg_safety("PEDAL", 0, values)
+
+  def _pcm_status_msg(self, enable):
+    # CRUISE_STATE: 3 == Active, 0 == Off
+    values = {"CRUISE_STATE": 3 if enable else 0}
+    return self.packer.make_can_msg_safety("ACC_HUD_ADAS", 2, values)
+
+  def _lkas_button_msg(self, enabled):
+    values = {"LKAS_ON_BTN": enabled}
+    return self.packer.make_can_msg_safety("PCM_BUTTONS", 0, values)
+
+  def _acc_state_msg(self, enable):
+    # BYD has no separate ACC main switch state in panda; MADS is toggled
+    # with the dedicated LKAS steering wheel button instead
+    raise NotImplementedError
+
+
+class TestBydStockSafety(TestBydSafetyBase):
+  pass
+
+
+class TestBydLongitudinalSafety(TestBydSafetyBase):
+  TX_MSGS = [[MSG_MPC_LKAS_CMD, 0], [MSG_STEERING_TORQUE, 2], [MSG_ACC_CMD, 0]]
+  RELAY_MALFUNCTION_ADDRS = {0: (MSG_MPC_LKAS_CMD, MSG_ACC_CMD), 2: (MSG_STEERING_TORQUE,)}
+  FWD_BLACKLISTED_ADDRS = {0: [MSG_STEERING_TORQUE], 2: [MSG_MPC_LKAS_CMD, MSG_ACC_CMD]}
+
+  MIN_ACCEL = 20    # -4.0 m/s^2, raw = (m/s^2 + 5) / 0.05
+  MAX_ACCEL = 140   # 2.0 m/s^2
+  INACTIVE_ACCEL = 100  # 0 m/s^2
+
+  def setUp(self):
+    self.packer = CANPackerSafety("byd_common")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.byd, 1)  # BydSafetyFlags.LONG_CONTROL
+    self.safety.init_tests()
+
+  def _accel_msg(self, accel: float):
+    # accel in m/s^2, ACCEL_CMD raw = (m/s^2 + 5) / 0.05
+    values = {"ACCEL_CMD": accel}
+    return self.packer.make_can_msg_safety("ACC_CMD", 0, values, byd_checksum)
+
+  def test_accel_actuation_limits(self):
+    self.safety.set_controls_allowed(True)
+    for accel in [self.MIN_ACCEL - 1, self.MIN_ACCEL, 100, self.MAX_ACCEL, self.MAX_ACCEL + 1]:
+      send = self.MIN_ACCEL <= accel <= self.MAX_ACCEL
+      self.assertEqual(send, self._tx(self._accel_raw_msg(accel)), f"{accel=}")
+
+  def _accel_raw_msg(self, raw: int):
+    msg = self._accel_msg(0)
+    msg[0].data[0] = raw & 0xFF
+    return msg
+
+  def test_accel_when_not_allowed(self):
+    # when controls are not allowed, only 0 m/s^2 (inactive) may be sent
+    self.safety.set_controls_allowed(False)
+    self.assertTrue(self._tx(self._accel_raw_msg(self.INACTIVE_ACCEL)))
+    self.assertFalse(self._tx(self._accel_raw_msg(self.INACTIVE_ACCEL + 5)))
+    self.assertFalse(self._tx(self._accel_raw_msg(self.INACTIVE_ACCEL - 5)))
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/opendbc_repo/opendbc/sunnypilot/car/byd/__init__.py b/opendbc_repo/opendbc/sunnypilot/car/byd/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/opendbc_repo/opendbc/sunnypilot/car/byd/mads.py b/opendbc_repo/opendbc/sunnypilot/car/byd/mads.py
new file mode 100644
index 0000000..2d346d5
--- /dev/null
+++ b/opendbc_repo/opendbc/sunnypilot/car/byd/mads.py
@@ -0,0 +1,24 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+from enum import StrEnum
+
+from opendbc.car import Bus, structs
+
+from opendbc.sunnypilot.mads_base import MadsCarStateBase
+from opendbc.can.parser import CANParser
+
+
+class MadsCarState(MadsCarStateBase):
+  def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP):
+    super().__init__(CP, CP_SP)
+
+  def update_mads(self, ret: structs.CarState, can_parsers: dict[StrEnum, CANParser]) -> None:
+    cp = can_parsers[Bus.pt]
+
+    self.prev_lkas_button = self.lkas_button
+    self.lkas_button = cp.vl["PCM_BUTTONS"]["LKAS_ON_BTN"]
diff --git a/openpilot/sunnypilot/mads/mads.py b/openpilot/sunnypilot/mads/mads.py
index 4ae3534..d519e1f 100644
--- a/openpilot/sunnypilot/mads/mads.py
+++ b/openpilot/sunnypilot/mads/mads.py
@@ -47,6 +47,9 @@ class ModularAssistiveDrivingSystem:
         self.allow_always = True
     if self.CP.brand == "tesla":
       self.allow_always = True
+    if self.CP.brand == "byd":
+      # BYD has a dedicated LKAS steering wheel button
+      self.allow_always = True
 
     if self.CP.brand in MADS_NO_ACC_MAIN_BUTTON:
       self.no_main_cruise = True
diff --git a/panda/SConscript b/panda/SConscript
new file mode 100644
index 0000000..de77092
--- /dev/null
+++ b/panda/SConscript
@@ -0,0 +1,176 @@
+import os
+import hashlib
+import opendbc
+import subprocess
+
+PREFIX = "arm-none-eabi-"
+BUILDER = "DEV"
+
+common_flags = []
+
+if os.getenv("RELEASE"):
+  BUILD_TYPE = "RELEASE"
+  cert_fn = os.getenv("CERT")
+  assert cert_fn is not None, 'No certificate file specified. Please set CERT env variable'
+  assert os.path.exists(cert_fn), 'Certificate file not found. Please specify absolute path'
+else:
+  BUILD_TYPE = "DEBUG"
+  cert_fn = File("./board/certs/debug").srcnode().relpath
+  common_flags += ["-DALLOW_DEBUG"]
+
+  if os.getenv("DEBUG"):
+    common_flags += ["-DDEBUG"]
+
+def objcopy(source, target, env, for_signature):
+    return '$OBJCOPY -O binary %s %s' % (source[0], target[0])
+
+def get_version(builder, build_type):
+  try:
+    git = subprocess.check_output(["git", "rev-parse", "--short=8", "HEAD"], encoding='utf8').strip()
+  except subprocess.CalledProcessError:
+    git = "unknown"
+  return f"{builder}-{git}-{build_type}"
+
+def get_key_header(name):
+  from Crypto.PublicKey import RSA
+
+  public_fn = File(f'./board/certs/{name}.pub').srcnode().get_path()
+  with open(public_fn) as f:
+    rsa = RSA.importKey(f.read())
+  assert(rsa.size_in_bits() == 1024)
+
+  rr = pow(2**1024, 2, rsa.n)
+  n0inv = 2**32 - pow(rsa.n, -1, 2**32)
+
+  r = [
+    f"RSAPublicKey {name}_rsa_key = {{",
+    f"  .len = 0x20,",
+    f"  .n0inv = {n0inv}U,",
+    f"  .n = {to_c_uint32(rsa.n)},",
+    f"  .rr = {to_c_uint32(rr)},",
+    f"  .exponent = {rsa.e},",
+    f"}};",
+  ]
+  return r
+
+def to_c_uint32(x):
+  nums = []
+  for _ in range(0x20):
+    nums.append(x % (2**32))
+    x //= (2**32)
+  return "{" + 'U,'.join(map(str, nums)) + "U}"
+
+
+def build_project(project_name, project, main, extra_flags):
+  project_dir = Dir(f'./board/obj/{project_name}/')
+
+  flags = project["FLAGS"] + extra_flags + common_flags + [
+    "-Wall",
+    "-Wextra",
+    "-Wstrict-prototypes",
+    "-Werror",
+    "-mlittle-endian",
+    "-mthumb",
+    "-nostdlib",
+    "-fno-builtin",
+    "-std=gnu11",
+    "-fmax-errors=1",
+    f"-T{File(project['LINKER_SCRIPT']).srcnode().relpath}",
+    "-fsingle-precision-constant",
+    "-Os",
+    "-g",
+  ]
+
+  env = Environment(
+    ENV=os.environ,
+    CC=PREFIX + 'gcc',
+    AS=PREFIX + 'gcc',
+    OBJCOPY=PREFIX + 'objcopy',
+    OBJDUMP=PREFIX + 'objdump',
+    OBJPREFIX=project_dir,
+    CFLAGS=flags,
+    ASFLAGS=flags,
+    LINKFLAGS=flags,
+    CPPPATH=[Dir("./"), "./board/stm32h7/inc", opendbc.INCLUDE_PATH],
+    ASCOM="$AS $ASFLAGS -o $TARGET -c $SOURCES",
+    BUILDERS={
+      'Objcopy': Builder(generator=objcopy, suffix='.bin', src_suffix='.elf')
+    },
+    tools=["default", "compilation_db"],
+  )
+
+  startup = env.Object(project["STARTUP_FILE"])
+
+  # Build bootstub
+  bs_env = env.Clone()
+  bs_env.Append(CFLAGS="-DBOOTSTUB", ASFLAGS="-DBOOTSTUB", LINKFLAGS="-DBOOTSTUB")
+  bs_elf = bs_env.Program(f"{project_dir}/bootstub.elf", [
+    startup,
+    "./board/crypto/rsa.c",
+    "./board/crypto/sha.c",
+    "./board/bootstub.c",
+  ])
+  bs_env.Objcopy(f"./board/obj/bootstub.{project_name}.bin", bs_elf)
+
+  # Build + sign main (aka app)
+  main_elf = env.Program(f"{project_dir}/main.elf", [
+    startup,
+    main
+  ], LINKFLAGS=[f"-Wl,--section-start,.isr_vector={project['APP_START_ADDRESS']}"] + flags)
+  main_bin = env.Objcopy(f"{project_dir}/main.bin", main_elf)
+  sign_py = File(f"./board/crypto/sign.py").srcnode().relpath
+  env.Command(f"./board/obj/{project_name}.bin.signed", main_bin, f"SETLEN=1 {sign_py} $SOURCE $TARGET {cert_fn}")
+
+
+
+base_project_h7 = {
+  "STARTUP_FILE": "./board/stm32h7/startup_stm32h7x5xx.s",
+  "LINKER_SCRIPT": "./board/stm32h7/stm32h7x5_flash.ld",
+  "APP_START_ADDRESS": "0x8020000",
+  "FLAGS": [
+    "-mcpu=cortex-m7",
+    "-mhard-float",
+    "-DSTM32H7",
+    "-DSTM32H725xx",
+    "-Iboard/stm32h7/inc",
+    "-mfpu=fpv5-d16",
+  ],
+}
+
+# Common autogenerated includes
+with open("board/obj/gitversion.h", "w") as f:
+  version = get_version(BUILDER, BUILD_TYPE)
+  f.write(f'extern const uint8_t gitversion[{len(version)+1}];\n')
+  f.write(f'const uint8_t gitversion[{len(version)+1}] = "{version}";\n')
+
+with open("board/obj/version", "w") as f:
+  f.write(f'{get_version(BUILDER, BUILD_TYPE)}')
+
+certs = [get_key_header(n) for n in ["debug", "release"]]
+with open("board/obj/cert.h", "w") as f:
+  for cert in certs:
+    f.write("\n".join(cert) + "\n")
+
+# Packet version defines: SHA hash of the struct header files
+def version_hash(path):
+  with open(path, "rb") as f:
+    # Normalize line endings on Windows
+    return int.from_bytes(hashlib.sha256(f.read().replace(b'\r', b'')).digest()[:4], 'little')
+hh, ch, jh = version_hash("board/health.h"), version_hash(os.path.join(opendbc.INCLUDE_PATH, "opendbc/safety/can.h")), version_hash("board/jungle/jungle_health.h")
+common_flags += [f"-DHEALTH_PACKET_VERSION=0x{hh:08X}U", f"-DCAN_PACKET_VERSION_HASH=0x{ch:08X}U",
+                 f"-DJUNGLE_HEALTH_PACKET_VERSION=0x{jh:08X}U"]
+
+# panda fw
+build_project("panda_h7", base_project_h7, "./board/main.c", [])
+
+# panda jungle fw
+flags = [
+  "-DPANDA_JUNGLE",
+]
+build_project("panda_jungle_h7", base_project_h7, "./board/jungle/main.c", flags)
+
+# body fw
+build_project("body_h7", base_project_h7, "./board/body/main.c", ["-DPANDA_BODY"])
+
+# test files
+SConscript('tests/libpanda/SConscript')
diff --git a/panda/SConstruct b/panda/SConstruct
new file mode 100644
index 0000000..6e40beb
--- /dev/null
+++ b/panda/SConstruct
@@ -0,0 +1,13 @@
+import os
+
+env = Environment(
+  COMPILATIONDB_USE_ABSPATH=True,
+  tools=["default", "compilation_db"],
+)
+
+SetOption('num_jobs', max(1, int((os.cpu_count() or 1)-1)))
+
+env.CompilationDatabase("compile_commands.json")
+
+# panda fw & test files
+SConscript('SConscript')
diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed
index 3288847..eda2dbb 100644
Binary files a/panda/board/obj/body_h7.bin.signed and b/panda/board/obj/body_h7.bin.signed differ
diff --git a/panda/board/obj/body_h7/bootstub.elf b/panda/board/obj/body_h7/bootstub.elf
index 298d989..618bf1a 100755
Binary files a/panda/board/obj/body_h7/bootstub.elf and b/panda/board/obj/body_h7/bootstub.elf differ
diff --git a/panda/board/obj/body_h7/main.bin b/panda/board/obj/body_h7/main.bin
index 5647aa3..991ed8b 100755
Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ
diff --git a/panda/board/obj/body_h7/main.elf b/panda/board/obj/body_h7/main.elf
index f8257cc..478e118 100755
Binary files a/panda/board/obj/body_h7/main.elf and b/panda/board/obj/body_h7/main.elf differ
diff --git a/panda/board/obj/bootstub.body_h7.bin b/panda/board/obj/bootstub.body_h7.bin
index aa2d3a0..6c30fb2 100755
Binary files a/panda/board/obj/bootstub.body_h7.bin and b/panda/board/obj/bootstub.body_h7.bin differ
diff --git a/panda/board/obj/bootstub.panda_h7.bin b/panda/board/obj/bootstub.panda_h7.bin
index b4fe5e7..92f70b0 100755
Binary files a/panda/board/obj/bootstub.panda_h7.bin and b/panda/board/obj/bootstub.panda_h7.bin differ
diff --git a/panda/board/obj/bootstub.panda_jungle_h7.bin b/panda/board/obj/bootstub.panda_jungle_h7.bin
index b2e3184..a63cbb8 100755
Binary files a/panda/board/obj/bootstub.panda_jungle_h7.bin and b/panda/board/obj/bootstub.panda_jungle_h7.bin differ
diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h
index 1c43694..14f9e0f 100755
--- a/panda/board/obj/gitversion.h
+++ b/panda/board/obj/gitversion.h
@@ -1,2 +1,2 @@
-extern const uint8_t gitversion[18];
-const uint8_t gitversion[18] = "DEV-unknown-DEBUG";
+extern const uint8_t gitversion[19];
+const uint8_t gitversion[19] = "DEV-de77c89c-DEBUG";
diff --git a/panda/board/obj/panda_h7.bin.signed b/panda/board/obj/panda_h7.bin.signed
index fa5e524..905296b 100644
Binary files a/panda/board/obj/panda_h7.bin.signed and b/panda/board/obj/panda_h7.bin.signed differ
diff --git a/panda/board/obj/panda_h7/bootstub.elf b/panda/board/obj/panda_h7/bootstub.elf
index eee2d1c..e18e9ac 100755
Binary files a/panda/board/obj/panda_h7/bootstub.elf and b/panda/board/obj/panda_h7/bootstub.elf differ
diff --git a/panda/board/obj/panda_h7/main.bin b/panda/board/obj/panda_h7/main.bin
index d7c3121..5575cf9 100755
Binary files a/panda/board/obj/panda_h7/main.bin and b/panda/board/obj/panda_h7/main.bin differ
diff --git a/panda/board/obj/panda_h7/main.elf b/panda/board/obj/panda_h7/main.elf
index 51c8222..dfd68f9 100755
Binary files a/panda/board/obj/panda_h7/main.elf and b/panda/board/obj/panda_h7/main.elf differ
diff --git a/panda/board/obj/panda_jungle_h7.bin.signed b/panda/board/obj/panda_jungle_h7.bin.signed
index 5c601a5..83de861 100644
Binary files a/panda/board/obj/panda_jungle_h7.bin.signed and b/panda/board/obj/panda_jungle_h7.bin.signed differ
diff --git a/panda/board/obj/panda_jungle_h7/bootstub.elf b/panda/board/obj/panda_jungle_h7/bootstub.elf
index c52327d..08cac8f 100755
Binary files a/panda/board/obj/panda_jungle_h7/bootstub.elf and b/panda/board/obj/panda_jungle_h7/bootstub.elf differ
diff --git a/panda/board/obj/panda_jungle_h7/main.bin b/panda/board/obj/panda_jungle_h7/main.bin
index a4576d5..3ffd2c0 100755
Binary files a/panda/board/obj/panda_jungle_h7/main.bin and b/panda/board/obj/panda_jungle_h7/main.bin differ
diff --git a/panda/board/obj/panda_jungle_h7/main.elf b/panda/board/obj/panda_jungle_h7/main.elf
index 36323fa..8b78e31 100755
Binary files a/panda/board/obj/panda_jungle_h7/main.elf and b/panda/board/obj/panda_jungle_h7/main.elf differ
diff --git a/panda/board/obj/version b/panda/board/obj/version
index 230584a..389996d 100755
--- a/panda/board/obj/version
+++ b/panda/board/obj/version
@@ -1 +1 @@
-DEV-unknown-DEBUG
\ No newline at end of file
+DEV-de77c89c-DEBUG
\ No newline at end of file
diff --git a/panda/pandacan.egg-info/SOURCES.txt b/panda/pandacan.egg-info/SOURCES.txt
index 8dda7a8..1f173ed 100644
--- a/panda/pandacan.egg-info/SOURCES.txt
+++ b/panda/pandacan.egg-info/SOURCES.txt
@@ -1,6 +1,7 @@
 LICENSE
 LICENSE.md
 README.md
+__init__.py
 pyproject.toml
 ./__init__.py
 ./board/__init__.py
@@ -22,8 +23,27 @@ pyproject.toml
 ./python/spi.py
 ./python/usb.py
 ./python/utils.py
+board/__init__.py
+board/flash.py
+board/health.h
+board/recover.py
+board/body/__init__.py
+board/body/flash.py
+board/jungle/__init__.py
+board/jungle/flash.py
+board/jungle/jungle_health.h
+board/jungle/recover.py
 pandacan.egg-info/PKG-INFO
 pandacan.egg-info/SOURCES.txt
 pandacan.egg-info/dependency_links.txt
 pandacan.egg-info/requires.txt
-pandacan.egg-info/top_level.txt
\ No newline at end of file
+pandacan.egg-info/top_level.txt
+python/__init__.py
+python/base.py
+python/constants.py
+python/dfu.py
+python/serial.py
+python/socketpanda.py
+python/spi.py
+python/usb.py
+python/utils.py
\ No newline at end of file
diff --git a/panda/tests/libpanda/SConscript b/panda/tests/libpanda/SConscript
new file mode 100644
index 0000000..1b82b0e
--- /dev/null
+++ b/panda/tests/libpanda/SConscript
@@ -0,0 +1,15 @@
+import opendbc
+
+env = Environment(
+  CFLAGS=[
+    '-nostdlib',
+    '-fno-builtin',
+    '-std=gnu11',
+    '-Wfatal-errors',
+    '-Wno-pointer-to-int-cast',
+  ],
+  CPPPATH=[".", "../../", "../../board/", opendbc.INCLUDE_PATH],
+)
+
+panda = env.SharedObject("panda.os", "panda.c")
+libpanda = env.SharedLibrary("libpanda.so", [panda])
diff --git a/panda/tests/libpanda/libpanda.so b/panda/tests/libpanda/libpanda.so
index 20201d8..8807e78 100755
Binary files a/panda/tests/libpanda/libpanda.so and b/panda/tests/libpanda/libpanda.so differ