Patent ID: 8509257

Claim:
A Controller Area Network (CAN) node, coupled to a CAN bus to which a plurality of CAN nodes are coupled, the CAN node comprising: a register that stores setting information indicating a message is to be retransmitted; and a retransmission unit that transmits a message, and determines, based on the setting information of the register, whether to retransmit the transmit message or not, wherein the retransmission unit does not retransmit the transmit message which the setting information of the register indicates to be retransmitted, when the CAN node receives a message corresponding to the transmit message from another CAN node; wherein the message includes a first message including a first ID code and a first data, and wherein the retransmission unit, when the retransmission unit determines the first message is to be retransmitted based on the setting information of the register, changes the first ID code of the first message to a retransmission-specific ID code to transmit a second message including the retransmission specific ID code and the first data, after transmitting the first message, and does not transmit the second message after transmitting the first message, when the CAN node receives the first message or the second message from another CAN node; an error counter that counts a number of errors caused when the CAN node transmits and receives a message; an error management unit that changes an error state of the CAN node based on a count value of the error counter, the error state of the CAN node including an Error Active state, an Error Passive state, and a Bus Off state; a message buffer that holds a reception message; and a reception unit that controls storing of the reception message in the message buffer based on the count value of the error counter and the setting information of the register, wherein the reception unit, when the reception unit detects the CAN node in the Error Passive state receiving the second message based on the count value of the error counter and the setting information of the register, changes the retransmission-specific ID code of the received second message to the first ID code to store the first message including the first ID code and the first data in the message buffer.