Direct-mode

This section describes the configuration of direct-mode.

In direct-mode, the CANmod.router (generally) forwards messages directly between CAN-P and CAN-S.

Note

See Direct-mode use cases for practical use-case examples.

The configuration is separated into the following sections:

Direct-mode configuration checklist

Consider the following checklist to successfully configure the CANmod.router in direct-mode.

  • Ensure that the bit-rate of CAN-P is set correctly (CAN-P physical).

  • Ensure that the bit-rates of all CAN-S are set correctly (CAN-S1 physical).

  • Ensure that CAN-S filters only receive (and thereby forward to CAN-P) wanted messages (CAN-S1 filters).

  • Ensure that CAN-P to CAN-S filters only forward wanted messages (CAN-P filters).

  • Optionally configure CAN-S to CAN-P ID re-mapping (ID mapping).

Warning

Ensure that CAN-FD messages are never forwarded to a non-FD compatible bus. Use filters in both directions to filter out CAN-FD messages if needed. Forwarding CAN-FD messages to a non-FD compatible bus generates bus errors.

Warning

Ensure that maximum bus loads are not exceeded. Particularly, ensure that the combined load from the four CAN-S does not exceed the capability of the CAN-P bus. Use CAN-S filters and pre-scalers to reduce number of forwarded messages. Additionally, care should be taken when messages are routed from a high to a low bit-rate bus (e.g. from 1 mbps to 250 kbps).