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106 lines
4.8 KiB
106 lines
4.8 KiB
11 months ago
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# Welcome to panda
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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).
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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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## 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 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.
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Safety modes optionally support `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://misra.org.uk/) 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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to ensure that the behavior remains unchanged.
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* A hardware-in-the-loop test verifies panda's functionalities on all active panda variants, including:
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* additional safety model checks
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* compiling and flashing the bootstub and app code
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* receiving, sending, and forwarding CAN messages on all buses
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* CAN loopback and latency tests through USB and SPI
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The above tests are themselves tested by:
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* a [mutation test](tests/misra/test_mutation.py) on the MISRA coverage
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* 100% line coverage enforced on the safety unit tests
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In addition, we run the [ruff linter](https://github.com/astral-sh/ruff) and [mypy](https://mypy-lang.org/) on panda's Python library.
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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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# macOS
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brew install --cask gcc-arm-embedded
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brew install python3 dfu-util gcc@13
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```
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Clone panda repository and install:
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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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# install dependencies
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pip install -r requirements.txt
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# install panda
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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.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
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>>> panda.can_send(0x1aa, b'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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## Licensing
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panda software is released under the MIT license unless otherwise specified.
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