There are two nearly-identical driveline nodes on the vehicle. Front and rear.

Driveline nodes are reponsible for interfacing with sensors, performing unit conversions, and publishing the telemetry to the CAN bus.

main.c implements the main logic, while any configuration/harnessing differences are specified in config.h.

The front and rear nodes are built from the same source code, with CMake using different preprocessor definitions at compile time to generate two separate binaries