Klagarge/SummerSchool2-Controller
Klagarge/SummerSchool2-Controller
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update can sequence

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This commit is contained in:
Rémi Heredero 2023-08-28 21:27:11 +02:00
parent 792625bab1
commit fbd207c02e
1 changed files with 20 additions and 6 deletions
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26
UML/can.puml
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@ -1,15 +1,29 @@
@startuml @startuml
actor CAN_BUS as bus
participant interrupt as ISR participant interrupt as ISR
participant ecan as ecan
queue XF as xf queue XF as xf
participant ecan as ecan
participant can_interface as can participant can_interface as can
control can_message as msg
[-\\ ISR ++ : can message bus -\\ ISR ++ : can message
ISR -> ecan : read ISR -> can : newMsg
ecan --> ISR : message can -> ecan : read
ISR -> xf --: POST XF ecan --> can : message
xf o-> can : 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 @enduml