diff --git a/UML/can.pdf b/UML/can.pdf
new file mode 100644
index 0000000..14c421a
Binary files /dev/null and b/UML/can.pdf differ
diff --git a/UML/can.uxf b/UML/can.uxf
index d40dc6b..ac0abd3 100644
--- a/UML/can.uxf
+++ b/UML/can.uxf
@@ -1,154 +1,54 @@
 <?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<diagram program="umlet" version="15.1">
+<diagram program="umlet" version="15.0.0">
   <zoom_level>15</zoom_level>
-  <element>
-    <id>UMLSpecialState</id>
-    <coordinates>
-      <x>450</x>
-      <y>150</y>
-      <w>30</w>
-      <h>30</h>
-    </coordinates>
-    <panel_attributes>type=initial</panel_attributes>
-    <additional_attributes/>
-  </element>
-  <element>
-    <id>UMLState</id>
-    <coordinates>
-      <x>390</x>
-      <y>240</y>
-      <w>150</w>
-      <h>60</h>
-    </coordinates>
-    <panel_attributes>STCA_WAIT</panel_attributes>
-    <additional_attributes/>
-  </element>
-  <element>
-    <id>Relation</id>
-    <coordinates>
-      <x>450</x>
-      <y>165</y>
-      <w>120</w>
-      <h>105</h>
-    </coordinates>
-    <panel_attributes>lt=-&gt;
-evCAinit
-</panel_attributes>
-    <additional_attributes>10.0;10.0;10.0;50.0</additional_attributes>
-  </element>
-  <element>
-    <id>Relation</id>
-    <coordinates>
-      <x>450</x>
-      <y>285</y>
-      <w>165</w>
-      <h>105</h>
-    </coordinates>
-    <panel_attributes>lt=-&gt;
-evCAnewMsg</panel_attributes>
-    <additional_attributes>10.0;10.0;10.0;50.0</additional_attributes>
-  </element>
-  <element>
-    <id>UMLState</id>
-    <coordinates>
-      <x>315</x>
-      <y>360</y>
-      <w>285</w>
-      <h>105</h>
-    </coordinates>
-    <panel_attributes>STCA_READ
--
--.
-/entry: processCan</panel_attributes>
-    <additional_attributes/>
-  </element>
-  <element>
-    <id>Relation</id>
-    <coordinates>
-      <x>480</x>
-      <y>255</y>
-      <w>225</w>
-      <h>360</h>
-    </coordinates>
-    <panel_attributes>lt=-&gt;
-m1=[queue empty]
-</panel_attributes>
-    <additional_attributes>10.0;210.0;130.0;210.0;130.0;10.0;40.0;10.0</additional_attributes>
-  </element>
-  <element>
-    <id>UMLSpecialState</id>
-    <coordinates>
-      <x>435</x>
-      <y>540</y>
-      <w>60</w>
-      <h>60</h>
-    </coordinates>
-    <panel_attributes>type=decision</panel_attributes>
-    <additional_attributes/>
-  </element>
-  <element>
-    <id>Relation</id>
-    <coordinates>
-      <x>450</x>
-      <y>450</y>
-      <w>135</w>
-      <h>120</h>
-    </coordinates>
-    <panel_attributes>lt=-&gt;
-evCAdone</panel_attributes>
-    <additional_attributes>10.0;10.0;10.0;60.0</additional_attributes>
-  </element>
-  <element>
-    <id>Relation</id>
-    <coordinates>
-      <x>210</x>
-      <y>375</y>
-      <w>255</w>
-      <h>240</h>
-    </coordinates>
-    <panel_attributes>lt=-&gt;
-m1=[else]
-</panel_attributes>
-    <additional_attributes>150.0;130.0;10.0;130.0;10.0;10.0;70.0;10.0</additional_attributes>
-  </element>
   <element>
     <id>UMLNote</id>
     <coordinates>
-      <x>90</x>
-      <y>630</y>
-      <w>615</w>
-      <h>270</h>
+      <x>645</x>
+      <y>255</y>
+      <w>675</w>
+      <h>525</h>
     </coordinates>
-    <panel_attributes>_*How to use*_
+    <panel_attributes>_*How to use CAN interface*_
+
+*In Factory_Init: *
+CAN_init();
 
 *In Factory_build: *
-ECAN_SetRXBnInterruptHandler(CANINTERFACE_newMsg);
-CANINTERFACE_onProcessCan(&amp;processCan);
+ECAN_SetRXBnInterruptHandler(CAN_newMsg);
+CAN_onReceiveCan(&amp;receiveCan);
+CAN_setSender(idSender);
 
-*Somewhere:*
-void processCan(uint32_t canId, uint32_t canData) {
+*In Factory_start:*
+CAN_startBehaviour();
+
+*Somewhere for process input can message:*
+void receiveCan(uint8_t idSender, uint8_t idMsg, uint32_t canData) {
     .....
-}</panel_attributes>
+}
+
+*For send can message: *
+CAN_sendCanMsg(uint8_t idRecipient, uint8_t idMsg, uint32_t data);</panel_attributes>
     <additional_attributes/>
   </element>
   <element>
     <id>Relation</id>
     <coordinates>
-      <x>900</x>
-      <y>225</y>
+      <x>360</x>
+      <y>330</y>
       <w>90</w>
-      <h>105</h>
+      <h>135</h>
     </coordinates>
     <panel_attributes>lt=-&gt;
 evInit
 </panel_attributes>
-    <additional_attributes>10.0;10.0;10.0;50.0</additional_attributes>
+    <additional_attributes>10.0;10.0;10.0;70.0</additional_attributes>
   </element>
   <element>
     <id>UMLSpecialState</id>
     <coordinates>
-      <x>900</x>
-      <y>210</y>
+      <x>360</x>
+      <y>315</y>
       <w>30</w>
       <h>30</h>
     </coordinates>
@@ -158,71 +58,39 @@ evInit
   <element>
     <id>UMLState</id>
     <coordinates>
-      <x>840</x>
-      <y>300</y>
-      <w>150</w>
-      <h>60</h>
-    </coordinates>
-    <panel_attributes>STCS_WAIT</panel_attributes>
-    <additional_attributes/>
-  </element>
-  <element>
-    <id>UMLState</id>
-    <coordinates>
-      <x>810</x>
-      <y>420</y>
-      <w>210</w>
+      <x>240</x>
+      <y>435</y>
+      <w>270</w>
       <h>90</h>
     </coordinates>
-    <panel_attributes>STCS_SEND
---
--.
-/entry sendCan</panel_attributes>
+    <panel_attributes>STCA_PROCESS</panel_attributes>
     <additional_attributes/>
   </element>
   <element>
     <id>Relation</id>
     <coordinates>
-      <x>900</x>
-      <y>345</y>
-      <w>135</w>
-      <h>105</h>
+      <x>450</x>
+      <y>465</y>
+      <w>180</w>
+      <h>180</h>
     </coordinates>
     <panel_attributes>lt=-&gt;
-evCSsend
-</panel_attributes>
-    <additional_attributes>10.0;10.0;10.0;50.0</additional_attributes>
+m1=evCAsend
+m1=\n/sendCan()</panel_attributes>
+    <additional_attributes>10.0;40.0;10.0;100.0;100.0;100.0;100.0;10.0;40.0;10.0</additional_attributes>
   </element>
   <element>
     <id>Relation</id>
     <coordinates>
-      <x>900</x>
-      <y>315</y>
-      <w>270</w>
-      <h>270</h>
+      <x>135</x>
+      <y>465</y>
+      <w>300</w>
+      <h>180</h>
     </coordinates>
     <panel_attributes>lt=-&gt;
-evCSdone
+m1= evCAnewMsg
+m1= \n/receiveCan()
 </panel_attributes>
-    <additional_attributes>10.0;130.0;10.0;160.0;100.0;160.0;100.0;10.0;60.0;10.0</additional_attributes>
-  </element>
-  <element>
-    <id>UMLNote</id>
-    <coordinates>
-      <x>765</x>
-      <y>630</y>
-      <w>705</w>
-      <h>270</h>
-    </coordinates>
-    <panel_attributes>_*How to use*_
-
-*Like a static class:*
-sendCanMsg(uint32_t id, uint32_t data);
-
-*Or like an Object: *
-CANSENDER_seSender(CANSENDER* me, uint8_t s);
-CANSENDER_setRecipient(CANSENDER* me, uint8_t r);
-CANSENDER_sendCanMsg(CANSENDER* me, uint8_t id, uint32_t data);</panel_attributes>
-    <additional_attributes/>
+    <additional_attributes>100.0;40.0;100.0;100.0;10.0;100.0;10.0;10.0;70.0;10.0</additional_attributes>
   </element>
 </diagram>