mirror of https://github.com/commaai/panda.git
124 lines
5.3 KiB
Markdown
124 lines
5.3 KiB
Markdown
# Welcome to panda
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[panda](http://github.com/commaai/panda) is the nicest universal car interface ever.
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<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>
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It supports 3x CAN, 2x LIN, and 1x GMLAN. It also charges a phone. On the computer side, it has USB.
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It uses an [STM32F413](http://www.st.com/en/microcontrollers/stm32f413-423.html?querycriteria=productId=LN2004).
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## Usage
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Setup dependencies:
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```bash
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# Ubuntu
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sudo apt-get install dfu-util gcc-arm-none-eabi python3-pip libffi-dev git
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```
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```bash
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# macOS
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brew install --cask gcc-arm-embedded
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brew install python3 dfu-util gcc@12
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```
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Clone panda repository:
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``` bash
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git clone https://github.com/commaai/panda.git
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cd panda
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```
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Install requirements:
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```bash
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pip install -r requirements.txt
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```
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Install library:
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``` bash
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python setup.py install
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```
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See [the Panda class](https://github.com/commaai/panda/blob/master/python/__init__.py) for how to interact with the panda.
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For example, to receive CAN messages:
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``` python
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>>> from panda import Panda
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>>> panda = Panda()
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>>> panda.can_recv()
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```
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And to send one on bus 0:
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``` python
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>>> panda.can_send(0x1aa, "message", 0)
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```
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Note that you may have to setup [udev rules](https://github.com/commaai/panda/tree/master/drivers/linux) for Linux, such as
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``` bash
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sudo tee /etc/udev/rules.d/11-panda.rules <<EOF
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SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddcc", MODE="0666"
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SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddee", MODE="0666"
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EOF
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sudo udevadm control --reload-rules && sudo udevadm trigger
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```
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The panda jungle uses different udev rules. See [the repo](https://github.com/commaai/panda_jungle#udev-rules) for instructions.
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## Software interface support
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As a universal car interface, it should support every reasonable software interface.
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- [Python library](https://github.com/commaai/panda/tree/master/python)
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- [C++ library](https://github.com/commaai/openpilot/tree/master/selfdrive/boardd)
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- [socketcan in kernel](https://github.com/commaai/panda/tree/master/drivers/linux) (alpha)
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- [Windows J2534](https://github.com/commaai/panda/tree/master/drivers/windows)
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## Directory structure
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```
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.
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├── board # Code that runs on the STM32
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├── drivers # Drivers (not needed for use with python)
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├── python # Python userspace library for interfacing with the panda
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├── tests # Tests and helper programs for panda
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```
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## Programming
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See `board/README.md`
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## Debugging
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To print out the serial console from the STM32, run `tests/debug_console.py`
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## Safety Model
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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.
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Safety modes optionally supports `controls_allowed`, which allows or blocks a subset of messages based on a customizable state in the board.
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## Code Rigor
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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
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[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.
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These are the [CI regression tests](https://github.com/commaai/panda/actions) we have in place:
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* A generic static code analysis is performed by [cppcheck](https://github.com/danmar/cppcheck/).
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* 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).
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* Compiler options are relatively strict: the flags `-Wall -Wextra -Wstrict-prototypes -Werror` are enforced.
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* 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.
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* A recorded drive for each supported car variant is [replayed through the safety logic](https://github.com/commaai/panda/tree/master/tests/safety_replay)
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to ensure that the behavior remains unchanged.
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* 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:
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* compiling the code and flashing it through USB.
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* receiving, sending, and forwarding CAN messages on all buses, over USB.
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In addition, we run the [ruff linter](https://github.com/astral-sh/ruff) on all python files within the panda repo.
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## Hardware
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Check out the hardware [guide](https://github.com/commaai/panda/blob/master/docs/guide.pdf)
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## Licensing
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panda software is released under the MIT license unless otherwise specified.
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