panda is the nicest universal car interface ever.

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.

It uses an STM32F413 for low level stuff and an 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.

It is 2nd gen hardware, reusing code and parts from the NEO interface board.

To install the library:

# pip install pandacan

See this 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:

>>> panda.can_send(0x1aa, "message", 0)

Find user made scripts on the wiki

See PandaJS

As a universal car interface, it should support every reasonable software interface.

• User space
• socketcan in kernel (alpha)
• ELM327
• Windows J2534

• board -- Code that runs on the STM32
• boardesp -- Code that runs on the ESP8266
• drivers -- Drivers (not needed for use with python)
• python   -- Python userspace library for interfacing with the panda
• tests -- Tests and helper programs for panda

Programming the Board (STM32)

Programming the ESP

To print out the serial console from the STM32, run tests/debug_console.py

To print out the serial console from the ESP8266, run PORT=1 tests/debug_console.py

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.

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.

Check out the hardware guide

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

uint32_t firmware_len uint8_t code[firmware_len-4] uint8_t signature[RSANUMBYTES-SHA_DIGEST_SIZE] //RSANUMBYTES=128 uint8_t sha_hash_digest[SHA_DIGEST_SIZE] //SHA_DIGEST_SIZE=20

RSA_verify():

digest = sha(code,firmware_len-4)
signature_out = modpow(public_key, signature_in)
for(i= RSANUMBYTES-SHA_DIGEST_SIZE; i<RSANUMBYTES; i++){
	signature_out[i] ^= sha_hash_digest[i]
}

signature_out[] must be is following:

static const uint8_t sha_padding_1024[RSANUMBYTES] = {
    0x00, 0x01, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
    0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
...
    0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
    0xff, 0xff, 0xff, 0x00,

    // 20 bytes of hash go here.
    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
};

因此，firmware生成如下

1. get code[]
2. get code_len
3. get sha(code, code_len) //20byte
4. fill sha_padding_1024 后20个字节
5. modpow(private_key, sha_padding_1024)
6. code[code_len]+sha_padding_1024[] is total firmware

UART1 ESP8266 UART2 Debug Serial UART5 L-Line