beampilot!

a openpilot compatiblity layer / bridge / fork that allows it to run on Linux to drive BeamNG.tech cars.

openpilot’s an open source ADAS software by comma.ai that usually runs on a real car’s CAN bus, controlling the EPS/ECU, and on real comma hardware, but I’m making a compatiblity layer that allows openpilot’s models (even the 1B models recently released as chestnut class) to drive beamng.

from my readme, processes changed today:

Processes Changes

Removed

Processes that are incompatible with desktop use or has no use for in desktop simulation have been removed.

• camerad (comma hardware cameras, replaced with beamcamd)
• webcamerad (unused webcam alternative, replaced with beamcamd)
• micd (comma hardware mics, removed as not required)
• dmonitoringmodeld and dmonitoringd (driver monitor, not required for simulation)
  • It is dangerous and against comma requirements to disable driver monitoring in real vehicles.
  • Beampilot is for simulation use ONLY.
• sensord (comma physics data, replaced by beamngd)
• pandad (comma panda CAN data, replaced by beamngd)
• _pandad (pandad backup, replaced by beamngd)
• updated (comma hardware OS updater, removed as not required)
• qcomgpsd (comma hardware GPS, removed as not required)
• ubloxd (comma hardware GPS, removed as not required)
• pigeond (comma hardware GPS, removed as not required)
• modem (comma hardware modem for cellular, removed as not required)

Added

Proccesses that are required because of the removed processes have been added.

• beamngd
  (BeamNG CAN/telemetry updater, uses python BeamNGpy, 100Hz)

• beamcamd
  Updates Cameras (currently just black screen)

Checks, Routing, BoM, and Github complete!

TODO:

• Website (but thats a when i ship thing)

Done This Time:

• BoM
• LCSC Parts
• Shipping
• Tax calculations
• README
• Final routing and silkscreen
• Check one last time with another person for the schematic

Routing 100% Complete, +2 LEDs, +2 Resistors. Removed headers for the crystal as it may cause antenna effect and parasitic capacitance.

Routing Complete - Sanity check of PCB w/ someone else required, but DRC passes for now. 1x4 Header Pins *2 also added for debug, added to BoM.

Routing - General smaller components like inductors and USB done (Schematic shown, this part done on PCB)

Schematic First Revision

Schematic generally has been completed. However it is NOT double checked for mistakes.

Includes RPi Hardware Design with RP2350 Chapters:

• 2.1, 2.2 (Labeled as 2.1.1, will be fixed next rev), 2.2.1
• Chapter 3 NOT included as RP2354B has an integrated 2MB flash. Every pin but QSPI_SS (because of BOOTSEL) is No-Connected
• 4
• 5.1, 5.2, 5.3, 5.4

To do: Check w/ “Appendix B” for RP2350B-based designs, check entire chapters again, check for netmistakes, double check with someone else, PCB design according to the entire design manual, and add LCSC links to blank generic 0603 passives

Parts Selection

Specific Parts Researched and Linked (i.e. MCU, crystal), Passives Listed.

Done based off the RP2350 Hardware Design Guide at https://pip-assets.raspberrypi.com/categories/1214-rp2350/documents/RP-008280-DS-1-hardware-design-with-rp2350.pdf (from RPi)

https://docs.google.com/spreadsheets/d/1VJ5swNQpICA2gBh6UuN4pqoeGnM9Ii7ZICx3vqN7FYg is the current uptodate BoM.