Hardware Comparison Guide
Choose the right hardware for your Tesla FSD CAN Mod build.
Quick Comparison
| Feature | M5Stack ATOM Lite | Arduino Nano | ESP32 Dev Board | Flipper Zero | Adafruit Feather M4 |
|---|---|---|---|---|---|
| Price | ~$14 | ~$3 | ~$4 | ~$210 | ~$28 |
| CAN Chip | CA-IS3050G (TWAI) | MCP2515 (SPI) | SN65HVD230 | MCP2515 (SPI) | MCP25625 |
| WiFi | ✅ | ❌ | ✅ | ❌ | ❌ |
| Web UI | Via wjsall fork | ❌ | Via wjsall fork | Flipper screen | ❌ |
| OBD-II Plug & Play | ❌ (needs X179) | ❌ (needs X179) | ❌ (needs X179) | ✅ (OBD port) | ❌ (needs X179) |
| HW3 Support | ✅ | ✅ | ✅ | ✅ | ✅ |
| HW4 Support | ✅ | ❌ | ✅ | ✅ | ✅ |
| Code Changes Needed | None | None | None | None | None |
| Difficulty | Easy | Easy | Medium | Easiest | Medium |
| Best For | 🏆 Recommended | Budget builds | WiFi control | No-disassembly | Original design |
Recommended: M5Stack ATOM Lite + ATOMIC CAN Base
The officially supported combination. Zero code modification needed — the original project has a PlatformIO config ready:
- ATOM Lite (ESP32): ~$7
- ATOMIC CAN Base (CA-IS3050G): ~$7
- Total: ~$14
⚠️ Get ATOM Lite (ESP32 original), NOT AtomS3 (ESP32-S3) — different pinout!
Budget Option: Arduino Nano + MCP2515
The cheapest possible build at ~$3 total. See the linesoft2 fork for Chinese documentation.
- Arduino Nano clone: ~$1
- MCP2515 CAN module: ~$2
- Jumper wires: included or ~$0.50
Convenience Option: Flipper Zero
No interior disassembly needed — plugs into OBD-II port under the dashboard.
- Flipper Zero: ~$170
- Electronic Cats CAN Bus Add-On (MCP2515): ~$30
- OBD-II cable: ~$10
- Total: ~$210
More expensive but easiest installation.
Wiring
X179 Connector (Most hardware options)
- Pin 13: CAN-H
- Pin 14: CAN-L
- Location: Behind the center console, requires interior panel removal
OBD-II Port (Flipper Zero)
- Pin 6: CAN-H
- Pin 14: CAN-L
- Pin 4: GND
- Location: Under dashboard, driver side — no disassembly needed
Alternative: X052 Connector
- Pin 44: CAN-H
- Pin 45: CAN-L
- Confirmed working on 2020 Model 3 without X179/X652
Prerequisites
⚠️ You must have an active FSD package on the vehicle — either purchased or subscribed.
If FSD subscriptions are not available in your region:
- Create a Tesla account in a region with FSD subscriptions (e.g., Canada)
- Transfer the vehicle to that account
- Subscribe to FSD (~$470/month in Canada)
- Wait for FSD model to download to the car
- Cancel subscription, transfer vehicle back
- The FSD model stays on the car — the CAN mod re-enables it
China note: As of March 2026, HW3 vehicles in China have not received FSD model pushes. The mod currently cannot work until Tesla pushes FSD to China HW3 vehicles.
ESP32-S2/S3/C3/PICO Variants (herrfrei)
A multi-target port supporting ESP32-S2, S3, C3, and PICO boards with MCP2515 CAN module.
- Any supported ESP32 variant: ~$3-6
- MCP2515 CAN module: ~$2
- Total: ~$5-8
Ideal if you already have an ESP32-S2/S3/C3 board. Same MCP2515 wiring as the Arduino option.
Raspberry Pi + Picowbell (juamiso)
Raspberry Pi with Adafruit Picowbell CAN adapter. Fork of the deleted niccolodevries multi-board project.
- Raspberry Pi Pico/Zero: ~$4-11
- Adafruit Picowbell CAN: ~$10
- Total: ~$15-21
Also supports Arduino UNO + MCP2515 variant. See the boards/ directory for per-board code.