Quintine
02f1972e99
The Seal's camera faults (ACC + ADAS + AEB warning lights, 'unable to activate ADAS') because panda neutralizes its intercepted 790 LKAS commands while the camera watches the 508 feedback for execution — seeing its requests ignored, it disables the whole ADAS suite. The Han avoids this by echoing the camera's request back in the 792 feedback; the Seal needs the same on its 508 STEERING_TORQUE_ANGLE: - bydcan.create_steering_torque_angle: mirrors the Han spoof logic on the 508 layout — when camera LKAS is active, echo its 790 torque request into MAIN_TORQUE and its 482 angle request into TARGET_ANGLE with Cruise_Activated=1; prepare -> LKSPrepare=1; passive -> neutral - carcontroller: Seal sends the 508 spoof, Han keeps the 792 spoof - carstate: capture the camera's 482 angle command for the spoof - panda: whitelist 508 TX on bus 2 (absolute-limit check), stock 508 blocked 0->2 via check_relay — one config covers both platforms - firmware rebuilt; spoof decode-verified (camera's exact torque+angle echoed back); 120 safety tests + MISRA clean NOTE: the ADAS fault latches — the car needs a full power cycle (or a few minutes off) after flashing this build for the dash warnings to clear.
Welcome to panda
panda speaks CAN and CAN FD, and it runs on the STM32H725.
Directory structure
.
├── board # Code that runs on the STM32
├── python # Python userspace library for interfacing with the panda
├── tests # Tests for panda
├── scripts # Miscellaneous used for panda development and debugging
├── examples # Example scripts for using a panda in a car
Safety Model
panda is compiled with vehicle-specific safety logic provided by opendbc. See details about the car safety models, safety testing, and code rigor in that repository.
Code Rigor
The panda firmware is written for its use in conjunction with openpilot. The panda firmware, through its safety model, provides and enforces the
openpilot safety. 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 we have in place:
- A generic static code analysis is performed by cppcheck.
- In addition, cppcheck has a specific addon to check for MISRA C:2012 violations. See current coverage.
- Compiler options are strict: the flags
-Wall -Wextra -Wstrict-prototypes -Werrorare enforced. - The safety logic is tested and verified by unit tests 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 SPI
The above tests are themselves tested by:
- a mutation test on the MISRA coverage
- a mutation test on the vehicle-specific safety logic
Usage
git clone https://github.com/commaai/panda.git
cd panda
# setup your environment
./setup.sh
# build fw + run the tests
./test.sh
See the Panda class for how to interact with the panda.
For example, to receive CAN messages:
>>> from panda import Panda
>>> panda = Panda()
>>> panda.can_recv()
And to send one on bus 0:
>>> from opendbc.car.structs import CarParams
>>> panda.set_safety_mode(CarParams.SafetyModel.allOutput)
>>> panda.can_send(0x1aa, b'message', 0)
Note that you may have to setup udev rules for Linux, such as
sudo tee /etc/udev/rules.d/11-panda.rules <<EOF
SUBSYSTEM=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="df11", MODE="0666"
SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddcc", MODE="0666"
SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddee", MODE="0666"
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 for instructions.
Licensing
panda software is released under the MIT license unless otherwise specified.