Communication Overview

Communication covers everything that moves data on or off the board over a bus or a wire: the CAN bus and the Ethernet links.

• CAN: how the node ingests the whole vehicle bus into telemetry_data, and re-broadcasts a few derived values back onto it.
• Networking: the NetXDuo UDP stream to the pit, and the NTRIP client that pulls RTK corrections.

Both are decoupled from the rest of the firmware through the shared telemetry snapshot: producers write into telemetry_data, and the transmitters read a consistent copy out. See Telemetry Model for that mechanism.