update can sequence

UML/can.puml

@@ -1,15 +1,29 @@
 @startuml
 
+actor CAN_BUS as bus
 participant interrupt as ISR
-participant ecan as ecan
 queue XF as xf
+participant ecan as ecan
 participant can_interface as can
+control can_message as msg
 
 
-[-\\ ISR ++ : can message
-ISR -> ecan : read
-ecan --> ISR : message
-ISR -> xf --: POST XF
-xf o-> can :
+bus -\\ ISR ++  : can message
+ISR -> can : newMsg
+can -> ecan : read
+ecan --> can : message
+can -> xf : POST XF
+destroy ISR
+    group clock xf [every 10ms]
+xf o-> can : receiveCan
+can -> msg : processIncome
+msg -> can : create message
+can -> xf : POST XF
+    end
+    group clock xf [every 10ms]
+xf o-> can : sendCan
+can -> ecan : write
+ecan -\\ bus : can message
+    end
 
 @enduml