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version: sunnypilot v2026.002.000 (staging) date: 2026-07-21T07:44:02 master commit: 2c334ede443d7391d27575af8c854a095ba702a8
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5.3 KiB
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116 lines
5.3 KiB
Plaintext
Metadata-Version: 2.4
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Name: pandacan
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Version: 0.0.10
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Summary: Code powering the comma.ai panda
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Author: comma.ai
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License: MIT
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Classifier: Natural Language :: English
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Classifier: Programming Language :: Python :: 3
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Classifier: Topic :: System :: Hardware
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Requires-Python: <3.13,>=3.11
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Description-Content-Type: text/markdown
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License-File: LICENSE
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License-File: LICENSE.md
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Requires-Dist: libusb1
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Requires-Dist: libusb-package
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Requires-Dist: opendbc @ git+https://github.com/sunnypilot/opendbc.git@master#egg=opendbc
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Requires-Dist: spidev; platform_system == "Linux"
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Provides-Extra: dev
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Requires-Dist: scons; extra == "dev"
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Requires-Dist: pycryptodome>=3.9.8; extra == "dev"
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Requires-Dist: cffi; extra == "dev"
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Requires-Dist: flaky; extra == "dev"
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Requires-Dist: pytest; extra == "dev"
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Requires-Dist: pytest-xdist; extra == "dev"
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Requires-Dist: pytest-mock; extra == "dev"
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Requires-Dist: pytest-timeout; extra == "dev"
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Requires-Dist: ruff; extra == "dev"
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Requires-Dist: setuptools; extra == "dev"
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Requires-Dist: gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@release-gcc-arm-none-eabi#subdirectory=gcc-arm-none-eabi ; extra == "dev"
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Requires-Dist: cppcheck @ git+https://github.com/commaai/dependencies.git@release-cppcheck#subdirectory=cppcheck ; extra == "dev"
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Dynamic: license-file
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# Welcome to panda
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panda speaks CAN and CAN FD, and it runs on the [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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├── python # Python userspace library for interfacing with the panda
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├── tests # Tests for panda
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├── scripts # Miscellaneous used for panda development and debugging
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├── examples # Example scripts for using a panda in a car
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```
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## Safety Model
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panda is compiled with vehicle-specific safety logic provided by [opendbc](https://github.com/commaai/opendbc). See details about the car safety models, safety testing, and code rigor in that repository.
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## Code Rigor
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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
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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 strict: the flags `-Wall -Wextra -Wstrict-prototypes -Werror` are enforced.
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* The [safety logic](https://github.com/commaai/panda/tree/master/opendbc/safety) is tested and verified by [unit tests](https://github.com/commaai/panda/tree/master/opendbc/safety/tests) for each supported car variant 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 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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* a [mutation test]([tests/misra/test_mutation.py](https://github.com/commaai/opendbc/blob/master/opendbc/safety/tests/mutation.sh)) on the vehicle-specific safety logic
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## Usage
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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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# setup your environment
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./setup.sh
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# build fw + run the tests
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./test.sh
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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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>>> from opendbc.car.structs import CarParams
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>>> panda.set_safety_mode(CarParams.SafetyModel.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}=="0483", ATTRS{idProduct}=="df11", MODE="0666"
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SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddcc", MODE="0666"
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SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddee", MODE="0666"
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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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## Licensing
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panda software is released under the MIT license unless otherwise specified.
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