Algorithm 1: SlotTime.

1:if there is an object associated with the timeslot (cyclic queue) then

2:  Retrieves the ID of the associated object

3:else

4:   if there is at least one object in the acyclic queue? then

5:     Retrieves the ID of the associated object

6:     if the object fits in the free slots then

7:       do noting

8:     else Set the timer for the next slot time

9:       return

10:     endif

11:   else Set the timer for the next slot time

12:     return

13:   end if

14:end if

15:Set the timer for the next slot time

16:Builds the message and send it to CAN

17:Wait for a time-out response

18:Interpret the response and update the buffer memory in the Data Provider

19:return