15 UMLNote 645 255 675 525 _*How to use CAN interface*_ *In Factory_Init: * CAN_init(); *In Factory_build: * ECAN_SetRXBnInterruptHandler(CAN_newMsg); CAN_onReceiveCan(&receiveCan); CAN_setSender(idSender); *In Factory_start:* CAN_startBehaviour(); *Somewhere for process input can message:* void receiveCan(uint8_t idSender, uint8_t idMsg, uint32_t canData) { ..... } *For send can message: * CAN_sendCanMsg(uint8_t idRecipient, uint8_t idMsg, uint32_t data); Relation 360 330 90 135 lt=-> evInit 10.0;10.0;10.0;70.0 UMLSpecialState 360 315 30 30 type=initial UMLState 240 435 270 90 STCA_PROCESS Relation 450 465 180 180 lt=-> m1=evCAsend m1=\n/sendCan() 10.0;40.0;10.0;100.0;100.0;100.0;100.0;10.0;40.0;10.0 Relation 135 465 300 180 lt=-> m1= evCAnewMsg m1= \n/receiveCan() 100.0;40.0;100.0;100.0;10.0;100.0;10.0;10.0;70.0;10.0