sunnypilot-byd

13 Commits 1 Branch 0 Tags

2 Commits

Include renames

Author	SHA1	Message	Date
Quintine	1abd13736b	byd: fix SEAL bus topology from live dump — ADAS on bus 0, PCM_BUTTONS confirmed Live bus dump from the Seal showed a different topology than the Han: - ACC_HUD_ADAS (813) + ACC_CMD (814) are broadcast on the vehicle CAN (bus 0), not the camera CAN. Panda rx check expected 813 on bus 2 and never saw it -> safety config invalid -> controls blocked forever. - PCM_BUTTONS (944) confirmed on bus 0 at 20Hz (MADS button placement OK) - 482 MPC_LKAS_CMD_ANGLE present on bus 2 (angle LKAS cmd; for future use) Changes: - carstate: ADAS messages (ACC_HUD_ADAS/ACC_CMD) read from bus 0 on SEAL, bus 2 on HAN (cp_adas accessor); parsers built per platform/bus - panda byd.h: 813 cruise check is bus-independent; rx checks accept 813 on bus 0 or 2, 944 on bus 0 or 2 (first-seen-wins) - interface: disable openpilot longitudinal for SEAL — stock ACC_CMD originates on bus 0 where the panda cannot intercept it. Stock ACC + MADS lateral it is (which is the point of MADS anyway). - panda firmware rebuilt Verified: SEAL (cruise+lkas button via bus 0, alphaLong=False) and HAN (bus 2 topology, alphaLong=True) both canValid; 120 safety tests + MISRA clean.	2026-07-25 18:57:17 +10:00
Quintine	c8903e592c	byd: add BYD car port (HAN EV 23 / Seal Performance 2025) with MADS support Car port adapted from HotIce0/openpilot develop_byd_comma4 to sunnypilot's opendbc API (CP_SP signatures, (ret, ret_sp) carstate returns): - opendbc/car/byd/: interface, carstate, carcontroller, bydcan, values, fingerprints (BYD_SEAL_PERFORMANCE_25 with full 91-msg fingerprint) - opendbc/dbc/byd_common.dbc - Brand registration: car/values.py, car/fingerprints.py (+MIGRATION), car.capnp SafetyModel byd @35, torque_data/params.toml - safety/modes/byd.h: SAFETY_BYD 35U with real TX checks (steer torque cmd checks, longitudinal accel checks), MADS LKAS button from PCM_BUTTONS (944), pcm_cruise_check, ESC vehicle_moving. MISRA clean. - safety/tests/test_byd.py: 120 tests (stock + longitudinal variants) - opendbc/sunnypilot/car/byd/mads.py: MadsCarState tracking the dedicated LKAS steering wheel button - sunnypilot/mads/mads.py: allow_always for byd (dedicated LKAS button) - panda: restore SConstruct/SConscript build system, rebuild panda_h7.bin.signed (TIZI) with SAFETY_BYD + MADS lateral gating Known limitation: BYD_HAN_EV_23 fingerprint is a subset of the Seal's, so HAN requires FINGERPRINT=BYD_HAN_EV_23 env var (live fingerprint cannot distinguish it; Seal fingerprints natively).	2026-07-25 15:09:00 +10:00

Author

SHA1

Message

Date

Quintine

1abd13736b

byd: fix SEAL bus topology from live dump — ADAS on bus 0, PCM_BUTTONS confirmed

Live bus dump from the Seal showed a different topology than the Han:
- ACC_HUD_ADAS (813) + ACC_CMD (814) are broadcast on the vehicle CAN
  (bus 0), not the camera CAN. Panda rx check expected 813 on bus 2 and
  never saw it -> safety config invalid -> controls blocked forever.
- PCM_BUTTONS (944) confirmed on bus 0 at 20Hz (MADS button placement OK)
- 482 MPC_LKAS_CMD_ANGLE present on bus 2 (angle LKAS cmd; for future use)

Changes:
- carstate: ADAS messages (ACC_HUD_ADAS/ACC_CMD) read from bus 0 on SEAL,
  bus 2 on HAN (cp_adas accessor); parsers built per platform/bus
- panda byd.h: 813 cruise check is bus-independent; rx checks accept
  813 on bus 0 or 2, 944 on bus 0 or 2 (first-seen-wins)
- interface: disable openpilot longitudinal for SEAL — stock ACC_CMD
  originates on bus 0 where the panda cannot intercept it. Stock ACC +
  MADS lateral it is (which is the point of MADS anyway).
- panda firmware rebuilt

Verified: SEAL (cruise+lkas button via bus 0, alphaLong=False) and
HAN (bus 2 topology, alphaLong=True) both canValid; 120 safety tests +
MISRA clean.

2026-07-25 18:57:17 +10:00

Quintine

c8903e592c

byd: add BYD car port (HAN EV 23 / Seal Performance 2025) with MADS support

Car port adapted from HotIce0/openpilot develop_byd_comma4 to sunnypilot's
opendbc API (CP_SP signatures, (ret, ret_sp) carstate returns):

- opendbc/car/byd/: interface, carstate, carcontroller, bydcan, values,
  fingerprints (BYD_SEAL_PERFORMANCE_25 with full 91-msg fingerprint)
- opendbc/dbc/byd_common.dbc
- Brand registration: car/values.py, car/fingerprints.py (+MIGRATION),
  car.capnp SafetyModel byd @35, torque_data/params.toml
- safety/modes/byd.h: SAFETY_BYD 35U with real TX checks (steer torque
  cmd checks, longitudinal accel checks), MADS LKAS button from
  PCM_BUTTONS (944), pcm_cruise_check, ESC vehicle_moving. MISRA clean.
- safety/tests/test_byd.py: 120 tests (stock + longitudinal variants)
- opendbc/sunnypilot/car/byd/mads.py: MadsCarState tracking the
  dedicated LKAS steering wheel button
- sunnypilot/mads/mads.py: allow_always for byd (dedicated LKAS button)
- panda: restore SConstruct/SConscript build system, rebuild
  panda_h7.bin.signed (TIZI) with SAFETY_BYD + MADS lateral gating

Known limitation: BYD_HAN_EV_23 fingerprint is a subset of the Seal's,
so HAN requires FINGERPRINT=BYD_HAN_EV_23 env var (live fingerprint
cannot distinguish it; Seal fingerprints natively).

2026-07-25 15:09:00 +10:00