Is this PCB fully compatible?

[abrarakram19]

Is this board design final version compatible with latest firmware version? Or there are any changes? And what is usage of CAN interface implemented in hardware?
Have anyone assembled this PCB? Is it working perfectly or have some issues?
I want to make some modifications on this pcb layout, is there any suggestions for me to address any noticed problem on this layout?
One more question, on hoverboard original board it looks buck regulator is controlled by MCU, but on this pcb it is independent buck converter. Is it still possible to copy original buck scheme in my pcb layout? Mean firmware will still support and control that buck from MCU?
And many thanks for everyone who made this hardware and firmware available as open source.