Can controller, can device and method for the can controller

A method for a CAN controller comprising an input interface, a transmit data, TXD, interface, a receive-data, RXD, interface, and a processing unit, wherein the input interface is coupled to the processing unit, wherein the processing unit is coupled to the TXD interface, wherein the processing unit is coupled to the RXD interface, and wherein the method comprising the steps of:

• S1) Receiving a data packet at the processing unit via the input interface, the data packet comprising a packet priority field, a packet payload field;
• S2) Generating a first CAN frame based on the data packet at the processing unit, such that a first payload field of the first CAN frame represents at least the packet payload field and a first identifier field of the first CAN frame comprises a first identifier part and a second identifier part, wherein the first identifier part represents predefined data for identifying the CAN controller, and wherein the second identifier part represents the packet priority field and/or comprises a queue field representing a queue priority for the first CAN frame;
• S3) Sending the first CAN frame via the TXD interface;
• S4) receiving via the RXD interface an RXD signal representing at least a part of a second CAN frame caused by sending the first CAN frame,
• S5) the processing unit detecting based on the RXD signal whether a complete sending of the first CAN frame was either successful or unsuccessful,
• S6) if the sending of the first CAN frame was unsuccessful, the processing unit modifying the first identifier field of the first CAN frame to produce a modified first CAN frame such that the second and/or third identifier part causes a higher priority of the modified first CAN frame, and
• S7) sending the modified first CAN frame via the TXD interface.