mirror of https://github.com/commaai/panda.git
106 lines
4.8 KiB
Markdown
106 lines
4.8 KiB
Markdown
# 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 <<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/pandad)
|
|
- [socketcan in kernel](https://github.com/commaai/panda/tree/master/drivers/linux) (alpha)
|
|
|
|
## Licensing
|
|
|
|
panda software is released under the MIT license unless otherwise specified.
|