# Welcome to panda

![panda tests](https://github.com/commaai/panda/workflows/tests/badge.svg)
![panda drivers](https://github.com/commaai/panda/workflows/drivers/badge.svg)

[panda](http://github.com/commaai/panda) is the nicest universal car interface ever.

<a href="https://comma.ai/shop/products/panda-obd-ii-dongle"><img src="https://github.com/commaai/panda/blob/master/panda.png?raw=true"></a>

panda speaks CAN, CAN FD, LIN, and GMLAN. panda supports [STM32F205](https://www.st.com/resource/en/reference_manual/rm0033-stm32f205xx-stm32f207xx-stm32f215xx-and-stm32f217xx-advanced-armbased-32bit-mcus-stmicroelectronics.pdf), [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).

## Usage

Setup dependencies:
```bash
# Ubuntu
sudo apt-get install dfu-util gcc-arm-none-eabi python3-pip libffi-dev git
```
```bash
# macOS
brew install --cask gcc-arm-embedded
brew install python3 dfu-util gcc@13
```

Clone panda repository:
``` bash
git clone https://github.com/commaai/panda.git
cd panda
```

Install requirements:
```bash
pip install -r requirements.txt
```

Install library:
``` bash
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.can_send(0x1aa, "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 <<EOF
SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddcc", MODE="0666"
SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddee", MODE="0666"
EOF
sudo udevadm control --reload-rules && sudo udevadm trigger
```

The panda jungle uses different udev rules. See [the repo](https://github.com/commaai/panda_jungle#udev-rules) for instructions. 

## Software interface support

As a universal car interface, it should support every reasonable software interface.

- [Python library](https://github.com/commaai/panda/tree/master/python)
- [C++ library](https://github.com/commaai/openpilot/tree/master/selfdrive/boardd)
- [socketcan in kernel](https://github.com/commaai/panda/tree/master/drivers/linux) (alpha)
- [Windows J2534](https://github.com/commaai/panda/tree/master/drivers/windows)

## 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
```

## Programming

See [`board/README.md`](board/README.md)

## Debugging

To print out the serial console from the STM32, run `tests/debug_console.py`

## Safety Model

When a panda powers up, by default it's in `SAFETY_SILENT` mode. While in `SAFETY_SILENT` mode, the buses are also forced to be silent. In order to send messages, you have to select a safety mode. Currently, setting safety modes is only supported over USB. 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 supports `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 conjuction 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://www.misra.org.uk/MISRAHome/MISRAC2012/tabid/196/Default.aspx) 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.
* A recorded drive for each supported car variant is [replayed through the safety logic](https://github.com/commaai/panda/tree/master/tests/safety_replay)
to ensure that the behavior remains unchanged.
* An internal Hardware-in-the-loop test, which currently only runs on pull requests opened by comma.ai's organization members, verifies the following functionalities:
    * compiling the code and flashing it through USB.
    * receiving, sending, and forwarding CAN messages on all buses, over USB.

In addition, we run the [ruff linter](https://github.com/astral-sh/ruff) on all python files within the panda repo.

## Hardware

Check out the hardware [guide](https://github.com/commaai/panda/blob/master/docs/guide.pdf)

## Licensing

panda software is released under the MIT license unless otherwise specified.