Comma 3x is an excellent hardware to get an ADAS that’s close to FSD for everyone. The hardware and software are developed separately. This is a detailed documentation of every step in porting the BYD Atto3 to work with Comma 3x. The official documentation was a little scattered and outdated. Hence the need for this documentation
Date: 1/September/2024 | Comma Release 0.9.8 | Hardware: Comma 3x
I purchased a Comma 3x with a Developer Harness for this project. This section of the tutorial deals with the technique to make the harness suitable for BYD Atto 3 (RHD) as sold in India.
As per the Comma official documentation. I reviewed the Comma Con 2023 video by Jason
How to Port a Car | Community Speaker: Jason | COMMA_CON 2023
First step was to get the Repair Manuals. Found the manuals in an issue post in Comma Openpilot Github Repo. Keeping a record of the links for anyone.
| cuter-doc0 commented on May 28 Atto 3 RHD and LHD service, engineering, workshop, maintenance, metal bodyshop, paint shop, electrical, diagnostics manuals and documentation.This is a web based manual – to use, extract zip and open index.html765 ATTO3-LHD-FULLPACK.zip (1.13 GB) https://workupload.com/file/43LMbSrbKfJ715 ATT03-RHD-FULLPACK.zip (1.12 GB) https://workupload.com/file/rJ8HpQFL6MGPDF files can be grabbed from here too: https://t.me/atto_3/1/17553 |
Many of the images used in the following section are from this official repair manual
First step in installing Comma is to find the OBU port. On BYD Atto 3, this is located as shown.
Remove the LDW (Lane Departure Warning) Cover holding the ADAS Camera. It can be pried open using a soft plastic pry tool.
The ADAS camera in BYD is from Veoneer and the model is MVS4. Mono Vision System 4.
The wiring diagram of the MVS4 – Multifunction Camera is as below
The connector used in BYD is TE 1-1355211-2
Mating Part is TE 1-1670459-2
The developer Harness that shipped for me was a V1 harness. There is a new V3 harness in the works. We will have to use the V1 harness. Column 2 below is the correct wiring needed
| BYD Connector Pinout | Comma V1 Connector Pinout (In BYD) | Comma 3x Connector Pinout (18pin ) V3 | Ixcess Connector (26pin) V1 Connector |
| 1 – GND | 1,26 | 1,17 | 1,26 |
| 2 – IGN1 | 2,16 | 2,14 | 12,14 |
| 3 – Private CAN_H | 18,8 | 4,16 | 18,8 |
| 4 – Chassis Network CAN_H | 22(Camera),4(Car), | 8,9 | 22,4 |
| 7 – Private CAN_L | 20,10 | 6,18 | 20,10 |
| 8 – Chassis Network CAN_L | 24(camera), 6(Car) | 7,11 | 24,6 |
Active Developer and Discord user iXcess from Malaysia made a connector using the above parts and shipped it to me. As received connector pinout is as shown in Column 4in the table above. I had to change the wires for IGN in order to get the cable working properly.
With these changes; the connection was successful and Comma3x finally began to be recognized and recorded routes albeit in dashboard mode.
That’s it. Now the hardware is connected and will now set the stage for the next part which is the software include the porting process.
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