Can module and method therefor

A controller area network, CAN, module comprising a driver component controllable to drive a dominant state on a CAN bus and a receiver component arranged to generate a received data signal corresponding to a voltage signal on the CAN bus;

• wherein the CAN module further comprises a bit duration compensation component arranged to:
• receive a digital transmit command signal comprising dominant bits having a duration Tbit_Tx;
• receive the received data signal;
• generate a compensated transmit command signal for controlling the driver component to drive a dominant state on the CAN bus, the compensated transmit command signal comprising dominant bits of a compensated-bit duration Tbit_cp=Tbit_Tx+tc, wherein tc comprises a compensation offset derived at least partly from a difference between a transmit-bit duration of the digital transmit command and a receive-bit duration of the received data signal.