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adolph
on July 19, 2022
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I Hacked My Car Guides: Creating Custom Firmware
It depends on what you mean by critical I guess. comma.ai and OpenPilot uses CAN to perform steering, acceleration and braking (I think).
https://github.com/commaai/openpilot/blob/master/selfdrive/c...
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Search:
https://github.com/commaai/openpilot/blob/master/selfdrive/c...