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Revert "fix openpilot board flashing" This reverts commit8ff93ad5da. Revert "Fixed output_enabled led not turning off when mode changed to no output." This reverts commit27a8af1107. Revert "Fixed loopback test for new GMLAN 'can4' behavior." This reverts commit59592f599a. Revert "GMLAN is now always mapped through CAN4 (index 3)" This reverts commit329c091024. Revert "Removed compile time config for CAN loopback, implemented as usb message." This reverts commite1a4c32985. Revert "Change all output safety mode identifier to prevent user mistakes." This reverts commit6b363e2e92. Revert "untabify" This reverts commit191f67b083. Revert "Refactor of safety to support more modular additions of safety policies." This reverts commite5b524eddc. Revert "Split up some more header files into compilation units." This reverts commite2a78912f5. Revert "Enabled emulated control writes over USB." This reverts commit133cfe9703. Revert "Moved CAN and USART code out of main.c and into more appropriate files." This reverts commitdaad2dc062. Revert "Large Panda CAN cleanup. Restrict GMLAN to valid baud rates." This reverts commita0616a2bc2. Revert "Panda library now correctly sends USB direction bit." This reverts commit1712c901d4. Revert "Board makefile now automatically calculates header file dependencies." This reverts commit4a8d4e597b. Revert "Loopback test works over wifi. (Disable trying to send over wifi)" This reverts commitdae636968a. Revert "Fix legacy board build" This reverts commit62bf4e5756. Revert "Style cop" This reverts commitc439f43726. Revert "Untabify" This reverts commit41e5eec621. Revert "Fixed disabling gmlan." This reverts commit5e1e45a4af. Revert "Removed dead code, standardized canid in more commands, better erroring behavior." This reverts commitb59aeb6d87. Revert "loopback test works with new CAN bus ids." This reverts commit75970861cf. Revert "Large reorganization of code and early integration of can bitrate setting." This reverts commita1ed7b62ee.
Welcome to panda
panda is the nicest universal car interface ever.
It supports 3x CAN, 2x LIN, and 1x GMLAN. It also charges a phone. On the computer side, it has both USB and Wi-Fi.
It uses an STM32F413 for low level stuff and an ESP8266 for Wi-Fi. They are connected over high speed SPI, so the panda is actually capable of dumping the full contents of the busses over Wi-Fi, unlike every other dongle on amazon. ELM327 is weak, panda is strong.
It is 2nd gen hardware, reusing code and parts from the NEO interface board.
Usage
To install the library:
# pip install pandacan
See this class for how to interact with the panda.
For example, to receive CAN messages:
>>> from panda import Panda
>>> panda = Panda()
>>> panda.can_recv()
And to send one on bus 0:
>>> panda.can_send(0x1aa, "message", 0)
More examples coming soon
Software interface support
As a universal car interface, it should support every reasonable software interface.
- User space (done)
- socketcan in kernel (alpha)
- ELM327 (planned)
- Windows J2534 (planned)
Directory structure
- board -- Code that runs on the STM32
- boardesp -- Code that runs on the ESP8266
- drivers -- Drivers (not needed for use with python)
- lib -- Python userspace library for interfacing with the panda
- tests -- Tests and helper programs for panda
Programming (over USB)
Programming the STM32
cd board
./get_sdk.sh
make
Programming the ESP
cd boardesp
./get_sdk.sh
make
Debugging
To print out the serial console from the STM32, run tests/debug_console.py
To print out the serial console from the ESP8266, run PORT=1 tests/debug_console.py
Hardware
Check out the hardware guide
Licensing
panda software is released under the MIT license unless otherwise specified.