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Welcome to panda
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======
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[panda](http://github.com/commaai/panda) is the nicest universal car interface ever.
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<a href="https://panda.comma.ai"><img src="https://github.com/commaai/panda/blob/master/panda.png">
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<img src="https://github.com/commaai/panda/blob/master/buy.png"></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 both USB and Wi-Fi.
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It uses an [STM32F413](http://www.st.com/en/microcontrollers/stm32f413-423.html?querycriteria=productId=LN2004) for low level stuff and an [ESP8266](https://en.wikipedia.org/wiki/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.
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It is 2nd gen hardware, reusing code and parts from the [NEO](https://github.com/commaai/neo) interface board.
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[](https://circleci.com/gh/commaai/panda)
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Usage
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------
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To install the library:
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```
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# pip install pandacan
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```
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See [this class](https://github.com/commaai/panda/blob/master/python/__init__.py#L80) for how to interact with the panda.
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For example, to receive CAN messages:
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```
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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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```
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>>> panda.can_send(0x1aa, "message", 0)
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```
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Find user made scripts on the [wiki](https://community.comma.ai/wiki/index.php/Panda_scripts)
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Software interface support
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------
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As a universal car interface, it should support every reasonable software interface.
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- User space ([done](https://github.com/commaai/panda/tree/master/python))
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- socketcan in kernel ([alpha](https://github.com/commaai/panda/tree/master/drivers/linux))
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- ELM327 ([done](https://github.com/commaai/panda/blob/master/boardesp/elm327.c))
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- Windows J2534 ([done](https://github.com/commaai/panda/tree/master/drivers/windows))
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Directory structure
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------
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- board -- Code that runs on the STM32
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- boardesp -- Code that runs on the ESP8266
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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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Programming (over USB)
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------
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[Programming the Board (STM32)](board/README.md)
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[Programming the ESP](boardesp/README.md)
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Debugging
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------
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To print out the serial console from the STM32, run tests/debug_console.py
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To print out the serial console from the ESP8266, run PORT=1 tests/debug_console.py
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Safety Model
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------
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When a panda powers up, by default it's in "SAFETY_NOOUTPUT" mode. While in no output 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.
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Safety modes can also optionally support "controls_allowed", which allows or blocks a subset of messages based on a piece of state in the board.
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Hardware
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------
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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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------
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panda software is released under the MIT license unless otherwise specified.
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