Parts of it, sure. Helping architect the entire driver, absolutely. Fixing a bug here or there, not so much. Helping with some of the simpler but very important aspects of the driver software, like the GLSL compiler (which is very cleanly written and well designed) is also not something that requires a tremendous amount of time or any exceptional knowledge of hardware.
Hell, just help triage bugs in the freedesktop or your distribution's bugzilla, to help the more skilled developers focus time on the actual bugs.
You can always help. Even if you have no programming experience at all.



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