The node controller core a library to implement methods that are shared between all device firmware running on a node controller. At this time, these methods are all related to CAN Bus communication.
The payload field contains the data that is being sent or received, up to 8 bytes (64 bit). The format of this data depends on what is required for a given message type. Data is often a 32bit float or a interger.
Since we are representing several pieces of information in the indentifier, we used the extended ID format (CAN 2.0B). The format of the indentifer field is as follows:
(NNNN)(NNNN)(MMMM)(MMMM)(MMMM)(MMMM)(RRRR)(L)
-
N = Node ID: Unique ID of the current node
-
M = Message ID: Unique ID of the message type being sent
-
L = Log Message Flag: 0 = base station will log message, 1 = base station will not log message.