They are using FreeRTOS, communicating over a CAN bus using CANopen. Looks like this is a shutdown routine, shutting down various devices. They seem to have sep

They are using FreeRTOS, communicating over a CAN bus using CANopen. Looks like this is a shutdown routine, shutting down various devices. They seem to have separate tasks for propulsion control and GPS. Pretty standard fare for a vehicle controller.