@startuml

actor CAN_BUS as bus
participant interrupt as ISR
queue XF as xf
participant ecan as ecan
participant can_interface as can
control can_message as msg


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