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panda speaks CAN and CAN FD, and it runs onSTM32F413 andSTM32H725.

.├── board           # Code that runs on the STM32├── drivers         # Drivers (not needed for use with Python)├── 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

panda is compiled with safety firmware provided byopendbc. See details about the car safety models, safety testing, and code rigor in that repository.

The panda firmware is written for its use in conjunction withopenpilot. The panda firmware, through its safety model, provides and enforces theopenpilot safety. Due to its critical function, it's important that the application code rigor within theboard folder is held to high standards.

These are theCI regression tests we have in place:

• A generic static code analysis is performed bycppcheck.
• In addition,cppcheck has a specific addon to check forMISRA C:2012 violations. Seecurrent coverage.
• Compiler options are relatively strict: the flags-Wall -Wextra -Wstrict-prototypes -Werror are enforced.
• Thesafety logic is tested and verified byunit 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 USB and SPI

The above tests are themselves tested by:

• amutation test on the MISRA coverage

In addition, we run theruff linter andmypy on panda's Python library.

git clone https://github.com/commaai/panda.gitcd panda# setup your environment./setup.sh# build fw + run the tests./test.sh

Seethe Panda class for how to interact with the panda.

For example, to receive CAN messages:

>>>frompandaimportPanda>>>panda=Panda()>>>panda.can_recv()

And to send one on bus 0:

>>>fromopendbc.car.structsimportCarParams>>>panda.set_safety_mode(CarParams.SafetyModel.allOutput)>>>panda.can_send(0x1aa,b'message',0)

Note that you may have to setupudev rules for Linux, such as

sudo tee /etc/udev/rules.d/11-panda.rules<<EOFSUBSYSTEM=="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"EOFsudo udevadm control --reload-rules&& sudo udevadm trigger

The panda jungle uses different udev rules. Seethe repo for instructions.

• Python library
• C++ library

panda software is released under the MIT license unless otherwise specified.