29 lines
542 B
Plaintext
29 lines
542 B
Plaintext
@startuml
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actor CAN_BUS as bus
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participant interrupt as ISR
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queue XF as xf
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participant ecan as ecan
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participant can_interface as can
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control can_message as msg
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bus -\\ ISR ++ : can message
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ISR -> can : newMsg
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can -> ecan : read
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ecan --> can : message
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can -> xf : POST XF
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destroy ISR
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group clock xf [every 10ms]
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xf o-> can : receiveCan
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can -> msg : processIncome
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msg -> can : create message
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can -> xf : POST XF
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end
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group clock xf [every 10ms]
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xf o-> can : sendCan
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can -> ecan : write
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ecan -\\ bus : can message
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end
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@enduml |