What is Tesla FSD CAN Mod?

Tesla FSD (Full Self-Driving) CAN Mod is an open-source community project that enables Tesla's FSD features through CAN bus message injection. By sending specific CAN messages to the vehicle's internal network, these devices can activate FSD capabilities that are normally gated behind Tesla's $8,000+ software purchase or $99/month subscription.

How It Works

Every Tesla has an internal CAN (Controller Area Network) bus that carries messages between electronic control units (ECUs). One of these messages contains the FSD enablement flag — a simple bit that tells the vehicle whether FSD is active.

The mod works by:

1. Connecting a small microcontroller (ESP32, Arduino, M5Stack, etc.) to the vehicle's CAN bus
2. Injecting the correct CAN message that sets the FSD enablement bit
3. Maintaining the message at regular intervals to keep FSD active

The physical connection is typically made at the X179 connector (behind the center console) for most Model 3/Y vehicles. Some approaches use the OBD-II port for a non-invasive, plug-and-play experience.

Hardware Options at a Glance

Why This Hub Exists

Open-source Tesla modding projects face a unique challenge: repositories get deleted. Authors face legal pressure, personal risk aversion, or simply lose interest. When niccolodevries deleted their multi-board FSD enabler repository, valuable code and documentation was nearly lost forever.

This Hub serves as:

• 📂 A community mirror — all known projects, always available
• 📦 An archive — including the only surviving copy of deleted repositories
• 📖 A comparison tool — browse code, read documentation, download ZIPs
• 🛠️ A hardware guide — helping you choose the right approach for your vehicle

HW3 vs HW4

• HW3 (Hardware 3.0) — Found in vehicles manufactured roughly 2019-2023. Most projects support HW3. The CAN message format is well-documented.
• HW4 (Hardware 4.0) — Found in newer vehicles from late 2023 onward. Requires different CAN message addresses. Not all projects support HW4 yet — check the project's hardware support before choosing.

⚠️ Important Warnings

1. Tesla can detect and disable modifications remotely. There have been reports of Tesla disabling FSD after detecting CAN bus anomalies during service visits or OTA updates.
2. This may void your warranty. Connecting unauthorized devices to the CAN bus is not covered by Tesla's warranty.
3. Legal status varies by jurisdiction. In some countries, modifying vehicle safety systems may be illegal.
4. Safety risk exists. The CAN bus carries safety-critical messages. Incorrect implementations could theoretically interfere with vehicle operations.
5. For China (中国用户): HW3 vehicles in China currently do not have the FSD model deployed. The mod can set the enablement bit, but FSD functionality may not be available until Tesla pushes FSD to the Chinese fleet.

什么是 Tesla FSD CAN Mod？

Tesla FSD（完全自动驾驶）CAN Mod 是一个开源社区项目，通过 CAN 总线消息注入来启用特斯拉的 FSD 功能。通过向车辆内部网络发送特定的 CAN 消息，这些设备可以激活通常需要花费 8000 美元以上购买或每月 99 美元订阅的 FSD 功能。

工作原理

每辆特斯拉都有一个内部 CAN（控制器局域网络）总线，在电子控制单元（ECU）之间传递消息。其中一条消息包含 FSD 使能标志——一个简单的 bit 位，告诉车辆 FSD 是否激活。

改装流程：

1. 连接 一个小型微控制器（ESP32、Arduino、M5Stack 等）到车辆的 CAN 总线
2. 注入 设置 FSD 使能位的正确 CAN 消息
3. 维持 定期发送消息以保持 FSD 激活

物理连接通常在 Model 3/Y 的 X179 连接器（中控台后方）完成。部分方案使用 OBD-II 端口，实现即插即用、No disassembly。

硬件方案一览

为什么需要这个 Hub？

开源特斯拉改装项目面临一个独特挑战：仓库会被删除。作者面临法律压力、个人风险规避，或者只是失去兴趣。当 niccolodevries 删除了他们的多开发板 FSD 启用器仓库时，宝贵的代码和文档差点永远丢失。

本 Hub 的作用：

• 📂 社区镜像 — 所有已知项目，永远可用
• 📦 代码存档 — 包括已删除仓库的唯一幸存副本
• 📖 对比工具 — 浏览代码、阅读文档、下载 ZIP
• 🛠️ 硬件指南 — 帮你选择适合你车辆的方案

HW3 vs HW4

• HW3（硬件 3.0）— 大约 2019-2023 年生产的车辆。大部分项目都支持 HW3，CAN 消息格式文档齐全。
• HW4（硬件 4.0）— 2023 年底以后的新车。需要不同的 CAN 消息地址。并非所有项目都支持 HW4——选择前请确认项目的硬件支持情况。

⚠️ 重要警告

1. 特斯拉可以远程检测并禁用改装。 有报告称特斯拉在保养或 OTA 更新期间检测到 CAN 总线异常后禁用了 FSD。
2. 可能使质保失效。 连接未授权设备到 CAN 总线不在特斯拉质保范围内。
3. 合法性因地区而异。 在某些国家/地区，修改车辆安全系统可能违法。
4. 存在安全风险。 CAN 总线承载安全关键消息，错误的实现理论上可能干扰车辆运行。
5. 中国用户注意： 国内 HW3 车辆目前没有部署 FSD 模型。改装可以设置使能位，但在特斯拉向国内推送 FSD 之前，FSD 功能可能无法使用。