mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
22a8575199
Keep official openpilot ancestry and dependency licenses. Store resources directly in Git, remove LFS setup requirements, and leave the downloadable big model outside the source tree.
82 lines
3.9 KiB
Markdown
82 lines
3.9 KiB
Markdown
# 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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## Licensing
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panda software is released under the MIT license unless otherwise specified.
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