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https://github.com/commaai/panda
code powering the comma.ai panda
https://github.com/commaai/panda
Last synced: 24 days ago
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code powering the comma.ai panda
- Host: GitHub
- URL: https://github.com/commaai/panda
- Owner: commaai
- License: mit
- Created: 2017-04-07T01:11:08.000Z (over 7 years ago)
- Default Branch: master
- Last Pushed: 2024-05-22T00:37:30.000Z (6 months ago)
- Last Synced: 2024-05-22T01:36:03.352Z (6 months ago)
- Language: C
- Homepage:
- Size: 10.6 MB
- Stars: 1,477
- Watchers: 95
- Forks: 731
- Open Issues: 118
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
- awesome - panda - code powering the comma.ai panda (C)
- awesome-canbus - panda - It supports 3x CAN, 2x LIN, and 1x GMLAN (and it has J2534 over USB on host side). It uses an STM32F413 (Using a panda with cabana provides the best RE and development suites for CANBUS). (Hardware / ARM)
README
# Welcome to panda
panda speaks CAN and CAN FD, and it runs on [STM32F413](https://www.st.com/resource/en/reference_manual/rm0430-stm32f413423-advanced-armbased-32bit-mcus-stmicroelectronics.pdf) and [STM32H725](https://www.st.com/resource/en/reference_manual/rm0468-stm32h723733-stm32h725735-and-stm32h730-value-line-advanced-armbased-32bit-mcus-stmicroelectronics.pdf).
## Directory structure
```
.
├── board # Code that runs on the STM32
├── drivers # Drivers (not needed for use with Python)
├── python # Python userspace library for interfacing with the panda
├── tests # Tests and helper programs for panda
```
## Safety Model
When a panda powers up, by default it's in `SAFETY_SILENT` mode. While in `SAFETY_SILENT` mode, the CAN buses are forced to be silent. In order to send messages, you have to select a safety mode. Some of safety modes (for example `SAFETY_ALLOUTPUT`) are disabled in release firmwares. In order to use them, compile and flash your own build.
Safety modes optionally support `controls_allowed`, which allows or blocks a subset of messages based on a customizable state in the board.
## Code Rigor
The panda firmware is written for its use in conjunction with [openpilot](https://github.com/commaai/openpilot). The panda firmware, through its safety model, provides and enforces the
[openpilot safety](https://github.com/commaai/openpilot/blob/master/docs/SAFETY.md). Due to its critical function, it's important that the application code rigor within the `board` folder is held to high standards.
These are the [CI regression tests](https://github.com/commaai/panda/actions) we have in place:
* A generic static code analysis is performed by [cppcheck](https://github.com/danmar/cppcheck/).
* In addition, [cppcheck](https://github.com/danmar/cppcheck/) has a specific addon to check for [MISRA C:2012](https://misra.org.uk/) violations. See [current coverage](https://github.com/commaai/panda/blob/master/tests/misra/coverage_table).
* Compiler options are relatively strict: the flags `-Wall -Wextra -Wstrict-prototypes -Werror` are enforced.
* The [safety logic](https://github.com/commaai/panda/tree/master/board/safety) is tested and verified by [unit tests](https://github.com/commaai/panda/tree/master/tests/safety) for each supported car variant.
to ensure that the behavior remains unchanged.
* A hardware-in-the-loop test verifies panda's functionalities on all active panda variants, including:
* additional safety model checks
* compiling and flashing the bootstub and app code
* receiving, sending, and forwarding CAN messages on all buses
* CAN loopback and latency tests through USB and SPI
The above tests are themselves tested by:
* a [mutation test](tests/misra/test_mutation.py) on the MISRA coverage
* 100% line coverage enforced on the safety unit tests
In addition, we run the [ruff linter](https://github.com/astral-sh/ruff) and [mypy](https://mypy-lang.org/) on panda's Python library.
## Usage
Setup dependencies:
```bash
# Ubuntu
sudo apt-get install dfu-util gcc-arm-none-eabi python3-pip libffi-dev git clang-17
# macOS
brew install --cask gcc-arm-embedded
brew install python3 dfu-util gcc@13
```
Clone panda repository and install:
``` bash
git clone https://github.com/commaai/panda.git
cd panda
# install dependencies
pip install -e .[dev]
# install panda
python setup.py install
```
See [the Panda class](https://github.com/commaai/panda/blob/master/python/__init__.py) for how to interact with the panda.
For example, to receive CAN messages:
``` python
>>> from panda import Panda
>>> panda = Panda()
>>> panda.can_recv()
```
And to send one on bus 0:
``` python
>>> panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
>>> panda.can_send(0x1aa, b'message', 0)
```
Note that you may have to setup [udev rules](https://github.com/commaai/panda/tree/master/drivers/linux) for Linux, such as
``` bash
sudo tee /etc/udev/rules.d/11-panda.rules <