RS Canfd

Application Note
RH850/U2A
CAN-FD Frame-Routing Autonomous Gateway
Introduction
The RS-CANFD CAN controller in version V4, as included in the RH850/U2x product series, is able to
support implicit (autonomous) frame-level routing. In combination with its DMA capabilities and the SDMAC
unit within these products, the routing can be expanded even beyond the CAN controller unit borders. In
products with more than one RS-CANFD unit, up to 16 CAN channels can be included in the routing (with
some limitations). This kind of gateway application does not require any support by CPU computing power,
except for error situations. In this application note, a system with 4 channels on each of two RS-CANFD units
is described.
As RS-CANFD V4 also supports gateway and DMA operation with transmit queues, the frame-level routing
of a gateway can be realized including the often demanded “Most Priority First Out” (MPFO) principle.
Note that signal level gateway routing still requires CPU operation and support.
Target Device
RH850/U2A series products or newer, where RS-CANFD V4 is implemented.

Not all products may support all channels.
Please refer to your product documentation for details.
Conventions
Within register descriptions, the prefix “RSCFDnCFD” (as mentioned in the user’s manual) is omitted for
better readability.
References
[1] User’s Manual of RH850/U2A, R01UH0864EJ

[2] RS-CANFD driver set package, available upon request separately
[3] Application Note “CAN Usage”, R01AN2535ED, contains API description of RS-CANFD driver set.
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RH850/U2A CAN Gateway CAN-FD Frame-Routing Autonomous Gateway
Contents
1. Overview and Features............................................................................................................ 3

1.1 Features and Limitations .................................................................................................................... 3
1.2 Resources ......................................................................................................................................... 4
2. The Internal Gateway of RS-CANFD ....................................................................................... 5

2.1 Global Configuration .......................................................................................................................... 5
2.1.1 Register Setting Details .................................................................................................................... 6
2.2 Channel Configuration ....................................................................................................................... 7
2.2.1 Register Setting Details .................................................................................................................... 8
2.3 Reception Rules............................................................................................................................... 12
2.3.1 Register Setting Details .................................................................................................................. 12
2.4 Reception Resource (RX-FIFO) Configuration .................................................................................. 14
2.5 Transmission Resource (TX-Queue) Configuration........................................................................... 15
3. The Unit Gateway of SDMAC ................................................................................................ 17

3.1 SDMAC Configuration and Operation ............................................................................................... 18
3.1.2 Descriptor Initialization ................................................................................................................... 20
3.1.3 Peripheral and RAM Guards in U2A ............................................................................................... 22
4. Using the Application Driver Set of RH850/U2A ..................................................................... 23

4.1 Configuration of RS-CANFD............................................................................................................. 23
4.2 Configuration of SDMAC .................................................................................................................. 23
4.3 Gateway Initialization and Operation ................................................................................................ 24
5. Source Code of Application ................................................................................................... 25

5.1 RS-CANFD Configuration Settings (rscfd_s.h) .................................................................................. 25
5.2 SDMAC Configuration and Global Settings (Multi_Gateway_Test.h) ................................................. 34
5.3 Gateway Application (Multi_Gateway_Test.c) ................................................................................... 36
Revision History ............................................................................................................................ 58
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1. Overview and Features
Within the RH850/U2A product, a frame-level autonomous CAN-FD routing gateway looks like this:
Figure 1: Overview
Within a RS-CANFD unit, the (internal) gateway functionality is used to perform frame-level routing. Among
the units, the SDMAC (DMA) unit is used to transfer CAN-FD frames from a receive FIFO (RX-FIFO) of one
unit one transmit queues of each channel of another RS-CANFD unit.
In our application example configuration, the gateway configuration is such, that all frames arriving at one
channel shall be transferred to all other channels of all units, as shown in figure 1. However, the arriving
frame is not copied to the arrival channel itself.
Also, in the example configuration, only even numbered channels are used. The odd numbered channels are
used to form a CAN bus with the associated even channels (01, 23 etc.). This avoids the necessity to
have acknowledging on all channels, and a monitoring tool can be plugged in randomly.
The application is based on the RS-CANFD V4 application driver, which is described in application note
“CAN Usage”, Renesas document R01AN2535.
1.1 Features and Limitations
The following can be performed by the autonomous CAN-FD gateway application:

• Specific routing of dedicated IDs only (not routing all frames)
• Conversion of bit rate and bit timing (each channel may have its individual setting)
• Conversion of classical CAN of a channel into CAN-FD on another channel
• Conversion of CAN-FD of a channel into classical CAN on another channel with limitations:
o Limitation of frame length to 8 bytes
o Limitation of bus speed
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The following limitations apply for the autonomous CAN-FD gateway application:
• When transferring to a slower bit rate channel, or a channel which has slow transmission due to a full
bus, a transmit queue overflow may occur, which must be managed by software.
• The maximum number of destinations for one message is 8. Therefore, when using more than 8
channels, a set of 8 channels must be chosen for a dedicated ID or all messages to be the
destinations. Nevertheless, destinations may be different for different groups of IDs.
• When transferring messages to the same transmit queue for several source channels, the transmit
queue may overflow, even though the MPFO principle is still maintained.
1.2 Resources
The following resources are going to be used. For the example application, values of the configuration are
given.
• Channels: All channels can be used.
In the example, only even channels are used for the gateway, odd channels are used as
acknowledge generators to allow a flexible attachment of a probing tool with limited number of
channels.
• Reception Rules: Individual rules can be set for up 384 IDs per channel (1536 rules in total for the 8-
channel RS-CANFD V4).
In the example, only one rule is used per channel to perform the frame routing. This rule declares
that all IDs are routed to all even channels (except the local one) and to one dedicated RX-FIFO unit,
which is supporting the DMA transfer to the other RS-CANFD unit.
In addition, in the example one additional rule per channel is reserved for the reception of a special
message into an extra RX-FIFO, which is the “exit” condition of the application.
• Receive FIFO (RX-FIFO) Units: One RX-FIFO is required for each source channel in the receiving
RS-CANFD unit.
In the example, 4 RX-FIFO units are used to serve the even channels of the receiving RS-CANFD
unit. As every RX-FIFO is handled individually by a SDMAC channel, its size can be set to a
minimum, which is 4 entries. After every reception, the assigned SDMAC channel will immediately
fetch the received frame and transfer it.
In addition, in the example one additional RX-FIFO is reserved for the reception of a special
message, which is the “exit” condition of the application.
• Transmit Queues: Every channel has 4 transmit queues. The fourth transmit queue is needed for
DMA usage when transferring frames from the other unit. All other queues (0…2) are used for the
internal gateway of the RS-CANFD unit.
In the example, four channels per unit are used in the gateway, thus three transmit queues are used
for the internal gateway in a one-to-one assignment. This balances best the number of messages
within the queues and prevents best any overflow conditions. The used queue size is set to its
maximum, which is 16, if all queues are used equally. When using more than 4 channels per unit,
the use of the first three transmit queues must be shared among several channels.
• Unused resources:
o Transmit FIFO: Not used, as it does not support the MPFO principle.
o Receive Message Boxes: Not used for the gateway but can be used in addition for any
further software-based routing purposes (like signal routing).
o Transmit Message Boxes: Not used for the gateway.
In case that software-based transmissions are required (like for signal routing), some
transmit message boxes (at least two) should be derived from the transmit queues by
reducing their size.
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2. The Internal Gateway of RS-CANFD
The internal gateway configuration within one RS-CANFD unit is looking like this:
Figure 2: Internal Gateway of RS-CANFD
All incoming messages of a channel are routed to these destinations (4 in total for the example):
• One RX-FIFO unit, for triggering the SDMAC channel to transfer to the other unit
• One of the first three transmit queues of three channels (all channels except the local one).
While the RX-FIFO unit is storing the message with SDMAC triggering for a transfer to another RS-CANFD
unit, the transmit queues are directly triggering the transmission of the corresponding channels. This
forwarding from reception into a transmit queue is the essential part of the internal gateway of RS-CANFD.
Not shown in the figure is the additional rule check for the program exit. If an extended-ID message arrives
on any channel, this message is not forwarded to the internal gateway, but to a separate RX-FIFO in order to
trigger an interrupt. This CPU interrupt then is used to exit the application.
2.1 Global Configuration
For the global settings of the RS-CANFD unit, the following settings are considered:
• Mirror Mode (CFDGCFG.MME)
For internal gateway operation, it is not mandatory to set this flag. MME allows the copying of own
sent messages into a dedicated storage according to special filter rules. Here, it is an option.
• Global Error Signalling (CFDGCTR.QMEIE and CFDGCTR.MEIE)

CPU should be able to recognize lost messages of the internal gateway function, either when using
the RX-FIFO (MEIE) or the transmit queue forwarding (QMEIE). Therefore, these error interrupts
should be enabled and handled accordingly (restarting the affected FIFO units or queues).
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• Activation of global resources (CFDRMDB, RNC, CFDRFCCx, CFDCDTCT, CFDCDTTCT)
The RX-FIFO Units shall be configured to be capable to receive all sizes of messages. Additional
message boxes can be added optionally. A minimum of two reception rules per channel are needed
(internal gateway and exit condition). DMA operation modes of RX-FIFO and transmit queues must
be enabled for the RX-FIFO units and the third transmit queue of each channel.
2.1.1 Register Setting Details
Register Bit Driver Setting Value Comment

TPRI RSCFD_TXPRIO_ID 0 When sending, choose transmit priority by ID.
GCFG
DCE RSCFD_DLCCHECK_DISABLE 0 No DLC check filtering performed.
DRE RSCFD_DLCREPL_DISABLE 0 No DLC replacement enabled.
MME RSCFD_MIRROR_ENABLE 1 Mirror mode active (optional)

DCS RSCFD_CLOCK_SYS 0 Internal clock used (required for CAN-FD operation)
CMPOC RSCFD_PLOVF_TRUNCATE 1 Longer frames are truncated, but accepted

(optional)
TSP 0 → Fastest timestamp clock
TSSS RSCFD_CLOCK_TSBIT 1 Bit time clock of channel 0 used for timestamps
TSBTCS RSCFD_CHANNEL0 0
ITRCP RSCFD_CLOCK_FIFO_OFF 0 No interval time for FIFO transmissions (not

relevant).
GMDC RSCFD_OPMODE_KEEP → Operation mode is set by the driver, and not
GCTR configured beforehand.
GSLPR RSCFD_SLEEP_DISABLE 0 Sleep mode disabled.
… IE RSCFD_GINT_MSGLOST | → Global interrupts selected are:
RSCFD_GINT_GWTXQLOST Loss of messages, transmit queue message loss.
TSRST RSCFD_TIMESTAMP_KEEP 0 Timestamp counter continues / is not cleared.

RPED RSCFD_PROTEXCEVENT_EN 0 Protocol exception event handling is enabled.
GFDCFG
TSCCFG RSCFD_TSCAPTURE_SOF 0 Timestamps are captured at SOF (start of frame).
NRXMB 1 → One standard receive buffer (optional, not used).

RMNB
RMPLS RSCFD_BUFDL_64 7 Full CAN-FD payload length to fit in this buffer.
RFDMAE RSCFD_DMA_RXF0 | 15 Four RX-FIFO units are used for DMA transfers of
CDTCT RSCFD_DMA_RXF1 | SMDAC channels (4 channels per unit for the
RSCFD_DMA_RXF2 | internal gateway).
RSCFD_DMA_RXF3
CFDMAE RSCFD_DMA_ALLOFF 0 No DMA association with multi-purpose FIFO units
in receive direction.
TQ0DMAE RSCFD_DMA_ALLOFF 0 No DMA association with transmit queues #0.
CDTTCT
TQ3DMAE ( 1 << RSCFD_CHANNEL0 ) | 85 From each included channel of the internal
( 1 << RSCFD_CHANNEL2 ) | gateway, its fourth transmit queue (#3) is associated
( 1 << RSCFD_CHANNEL4 ) | with the DMA of a SDMAC channel.
( 1 << RSCFD_CHANNEL6 )
CFDMAE RSCFD_DMA_ALLOFF 0 No DMA association with multi-purpose FIFO units

in transmit direction.
FLXC RSCFD_FLEXCAN_OFF 0 FlexCAN functionality not used.
GFCMC
FLXMBx RSCFD_FLEXBUF_NONE 0 No flexible transmit buffer assignment (standard
GFTBAC configuration of each channel).
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2.2 Channel Configuration
As an example configuration in this application note, the four even numbered channels of each RS-CANFD
unit are actively included in the hardware gateway. The other four (uneven numbered) channels are used as
acknowledging channels, so that every bus between an even and an odd channel (i.e., 01, 23 etc.) does
not require an additional node to work. Acknowledging (odd) channels are not receiving any message; they
are simply acknowledging each message on the bus to be valid.
The four even numbered channels are having the following special configuration:
• Channel Error Signalling (CFDCmCTR.TDCVFIE, -.BLIE, -.BOEIE)
These channel errors require special attention for software; in case of transmitter delay
compensation errors, bus-off or bus-lock situations a restart of the channel may be required.
Bus-off recovery is set to its standard (ISO rule compatible), this also means that recovery happens
automatically.
• Transmit Queues (CFDTXQCCxm)
These are all enabled; with queues 0…2 set in gateway operation mode, queue 3 in normal mode.
Overwrite mode is disabled for all queues, so that the gateway must not lose any message, even if it
should get repeated before an old one was sent out. The interrupt of the queues is enabled for every
message (but not used by software). The depth is set equally for all queues to be half of the
maximum size. This setting would take all transmit buffers in use with a queue. Entry windows
(buffers) of the queues are the buffers 0 (queue 0), 31 (queue 1), 32 (queue 2) and 63 (queue 3).
Payload size of the transmit queues does not need to be adjusted; in RS-CANFD V4 it is always
covering the maximum payload size of 64 data bytes.
• Bit rate
In order to show the performance, the CAN-FD bitrate is set to 500 kbit/s (arbitration) and 4 Mbit/s
(data) speed. Transmitter compensation is activated and set such, that the secondary sampling point
has the same position in the transmitted and feedback bit, as in the reception bit.
• Other channel resources

(TX-RX)-FIFOs assigned to channels and the transmit history lists are not used.
• Acknowledging (odd) channels

These channels do not have any resources activated (no transmit queues, no error signalling), as
they are not transmitting frames. Bus-off recovery settings are set to ISO, even though not required
either.
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2.2.1.1 Channels used in the Internal Gateway (even channels)
“m” represents the channel number.

NBRP 0 Setting for 500 kbit/s with sampling point at
CmNCFG 80%,
NSJW 31 communication clock speed of 80 MHz.
NTSEG1 126
NTSEG2 31
DBRP 0 Setting for 4 Mbit/s with sampling point at
CmDCFG 80%,
DTSEG1 14 communication clock speed of 80 MHz.
DTSEG2 3
DSJW 3
CHMDC RSCFD_OPMODE_KEEP → Operation mode is set by the driver, and not
CmCTR configured beforehand.
CSLPR RSCFD_SLEEP_DISABLE 0 Sleep mode disabled.

RTBO 0 → Not for configuration. To be set by driver
during operation, if requested.
… IE RSCFD_CINT_TDCVIOL | → Bus related problems to be reported, which

RSCFD_CINT_BUSLOCK | require CPU intervention: TDC violation, Bus
RSCFD_CINT_BUSOFF Lock, Bus Off. All other errors can be handled
and recovered automatically by the CAN
transfer layer.
BOM RSCFD_BOM_ISO 0 ISO 11898-1 compliant automatic bus-off
recovery.
ERRD 0 → Show only first error code at an incident.

CTME 0 → No test mode used.
CTMS RSCFD_TEST_BASIC 0 Not relevant, as no test mode is used.
CRCT 0 → No CRC error test mode.

ROM RSCFD_RESTRICTED_DIS 0 No restricted operation mode (full transmitting
and acknowledging enabled).
EOCCLR RSCFD_OCC_KEEP 0 Successful occurrence counter not cleared.

CmFDCTR
SOCCLR RSCFD_OCC_KEEP 0 Error occurrence counter not cleared.
EOCCFG RSCFD_EOC_ALLTXRX 0 Error occurrence counter counts all

CmFDCFG transmitter and receiver CAN frames.
TDCOC RSCFD_TDC_MEASOFFSET 0 Enabled the automatic offset measurement of

TDC.
TDCE RSCFD_TDC_ENABLE 1 Transmitter delay compensation active.
ESIC RSCFD_ESI_BYNODE 0 ESI flag of frame is driven by the node only.

TDCO 15 → Transmitter delay compensation offset, to
achieve a 80% secondary sampling point at 4
Mbit/s by counting 16 clocks of the 80 MHz
clock.
GWEN RSCFD_MULTIGW_DISABLE 0 No Multi-Gateway mode (no conversion of

classical to CAN-FD frames or vice versa).
GWFDF RSCFD_FDF_FD 1 Not relevant, as Multi-Gateway mode is

disabled.
GWBRS RSCFD_BRS_SWITCH 1
FDOE RSCFD_FDMIXED 0 Mixed operation of classical and CAN-FD
frames.
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REFE RSCFD_RXEDGEFILTER_ON 1 RX edge filter is enabled (prevents wrong
synchronization).
CLOE RSCFD_FDMIXED 0 Mixed operation of classical and CAN-FD

frames.
TMIE 0 → No interrupts from transmit buffers.

TMIECy
THLE RSCFD_THL_OFF 0 The transmit history list is disabled.
THLCCm Settings apart from THLE are not relevant.
THLIE 0 →
THLIM RSCFD_THL_INT_ONLEVEL 0 By using the THL, software can verify the

gateway activity (beyond this application
THLDTE RSCFD_THL_ENTRY_QUEUED 0 note).
THLDGE RSCFD_THL_GWENTRY_OFF 0
CFE 0 → The multi-purpose FIFO units are disabled.
CFCCk Settings apart from CFE are not relevant and
CFRXIE 0 → are set to their default state.
CFTXIE 0 →
CFPLS RSCFD_FIFODL_8 0
CFM RSCFD_FIFO_MODE_RX 0
CFITSS RSCFD_FIFO_IT_REFCLK 0
CFITR RSCFD_FIFO_IT_REFCLK1 0
CFIM RSCFD_FIFO_INT_ONLEVEL 0
CFIGCV RSCFD_FIFO_ILEVEL_1D8 0
CFTML 0 →
CFDC RSCFD_FIFO_DEPTH_0 0
CFITT 0 →
CFFIE 0 →
CFCCEk
CFOFRXIE 0 →
CFOFTXIE 0 →
CFMOWN RSCFD_COM_FIFO_DSCMODE 0
CFBMIE 0 →
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2.2.1.2 Channels not used in the Internal Gateway (odd channels, bus acknowledging only)
“m” represents the channel number.

NBRP 0 Setting for 500 kbit/s with sampling point at
CmNCFG 80%,
NSJW 31 communication clock speed of 80 MHz.
NTSEG1 126
NTSEG2 31
DBRP 0 Setting for 4 Mbit/s with sampling point at

CmDCFG 80%,
DTSEG1 14 communication clock speed of 80 MHz.
DTSEG2 3
DSJW 3
CHMDC RSCFD_OPMODE_KEEP → Operation mode is set by the driver, and not
CmCTR configured beforehand.
CSLPR RSCFD_SLEEP_DISABLE 0 Sleep mode disabled.

RTBO 0 → Not for configuration. To be set by driver
during operation, if requested.
… IE RSCFD_CINT_OFF 0 No interrupts.
BOM RSCFD_BOM_ISO 0 ISO 11898-1 compliant automatic bus-off
recovery.
ERRD 0 → Show only first error code at an incident.

CTME 0 → No test mode used.
CTMS RSCFD_TEST_BASIC 0 Not relevant, as no test mode is used.
CRCT 0 → No CRC error test mode.
ROM RSCFD_RESTRICTED_DIS 0 No restricted operation mode (full transmitting
and acknowledging enabled).
EOCCLR RSCFD_OCC_KEEP 0 Successful occurrence counter not cleared.

CmFDCTR
SOCCLR RSCFD_OCC_KEEP 0 Error occurrence counter not cleared.
EOCCFG RSCFD_EOC_ALLTXRX 0 Error occurrence counter counts all
CmFDCFG transmitter and receiver CAN frames.
TDCOC RSCFD_TDC_MEASOFFSET 0 Enabled the automatic offset measurement of
TDC.
TDCE RSCFD_TDC_ENABLE 1 Transmitter delay compensation active.
ESIC RSCFD_ESI_BYNODE 0 ESI flag of frame is driven by the node only.
TDCO 15 → Transmitter delay compensation offset, to

achieve a 80% secondary sampling point at 4
Mbit/s by counting 16 clocks of the 80 MHz
clock.
GWEN RSCFD_MULTIGW_DISABLE 0 No Multi-Gateway mode (no conversion of

classical to CAN-FD frames or vice versa).
GWFDF RSCFD_FDF_FD 1 Not relevant, as Multi-Gateway mode is

disabled.
GWBRS RSCFD_BRS_SWITCH 1
FDOE RSCFD_FDMIXED 0 Mixed operation of classical and CAN-FD
frames.
REFE RSCFD_RXEDGEFILTER_ON 1 RX edge filter is enabled (prevents wrong

synchronization).
CLOE RSCFD_FDMIXED 0 Mixed operation of classical and CAN-FD

frames.
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TMIE 0 → No interrupts from transmit buffers.
TMIECy
TXQE RSCFD_TXQ_OFF 0 The transmit queues are disabled.
TXQCC[0:3]m Settings apart from TXQE are not relevant.
TXQGWE RSCFD_TXQ_GW_DISABLE 0
TXQOWE RSCFD_TXQ_OWR_DISABLE 0
TXQTXIE 0 →
TXQIM RSCFD_TXQ_INT_ONLAST 0
TXQDC RSCFD_TXQ_OFF 0
TXQFIE 0 →
TXQOFRXIE 0 →
TXQOFTXIE 0 →
THLE RSCFD_THL_OFF 0 The transmit history list is disabled.

THLCCm Settings apart from THLE are not relevant.
THLIE 0 →
THLIM RSCFD_THL_INT_ONLEVEL 0 By using the THL, software can verify the

gateway activity (beyond this application
THLDTE RSCFD_THL_ENTRY_QUEUED 0 note).
THLDGE RSCFD_THL_GWENTRY_OFF 0
CFE 0 → The multi-purpose FIFO units are disabled.
CFCCk Settings apart from CFE are not relevant and
CFRXIE 0 → are set to their default state.
CFTXIE 0 →
CFPLS RSCFD_FIFODL_8 0
CFM RSCFD_FIFO_MODE_RX 0
CFITSS RSCFD_FIFO_IT_REFCLK 0
CFITR RSCFD_FIFO_IT_REFCLK1 0
CFIM RSCFD_FIFO_INT_ONLEVEL 0
CFIGCV RSCFD_FIFO_ILEVEL_1D8 0
CFTML 0 →
CFDC RSCFD_FIFO_DEPTH_0 0
CFITT 0 →
CFFIE 0 →
CFCCEk
CFOFRXIE 0 →
CFOFTXIE 0 →
CFMOWN RSCFD_COM_FIFO_DSCMODE 0
CFBMIE 0 →
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2.3 Reception Rules
To support the gateway functionality, every included channel (all even channels in the example) gets at least
one reception rule. This reception rule must perform the following actions:
• Filter the messages which must be processed for the gateway.
• Set the gateway target mode to “transmit queue” instead of “transmit FIFO”.
• Define a label for the filtered and processed messages to identify them when monitoring the gateway
operation.
• As destination targets, set the dedicated RX-FIFO unit for the unit gateway (buffer for the SDMAC)
and all transmit queues of the other channels within the internal gateway. In the example, this yields
7 destinations.
• When using more than 4 channels in the gateway per unit, the maximum number of destinations
must be taken into consideration, which is 8. In this case, not all frames can be routed to all
destinations at a time with this approach, if a local reception of the gateway is desired, too. A
selective routing to dedicated destinations, depending on the ID of the frames may be required. The
example with 4 channels already is using 4 destinations, because all received frames shall be copied
to all other channels, except the receiving channel.

RNC { 2, 0, 2, 0, 2, 0, 2, 0 } → The GAFLCFG register set is written in detail by
GAFLCFG the driver set [2]. All even channels get two rules,
the odd channels (not in gateway) get no rules.
GAFLID 0 → The ID value is not relevant, because the
GAFLIDx corresponding mask in GAFLM is fully open.
GAFLLB RSCFD_AFL_RXENTRY 0 Rule for reception (not for mirror mode).

GAFLRTR RSCFD_FRAME_DATA 0 Rule for data frames.
GAFLIDE RSCFD_ID_STD 0 Rule for standard ID frames.
The gateway operates with standard ID frames
only in this example. To allow extended ID frames,
the corresponding mask bit GAFLIDEM in GAFLM
needs to be cleared.
GAFLIDM RSCFD_MASK_IDDONTCARE 0 All ID of frames are accepted.

GAFLMx
GAFLIFL1 RSCFD_AFL_IFL1_MASK( z1 ) → z1 can be specified to monitor the reception within
the RX-FIFO units by software (optional).
GAFLRTRM RSCFD_MASK_FILTER 1 Only data frames are accepted.
GAFLIDEM RSCFD_MASK_FILTER 1 Only standard ID frames are accepted.
GAFLDLC RSCFD_DLCCHECK_DISABLE 0 All lengths of frames are accepted.

GAFLP0x
GAFLSRD0 RSCFD_AFL_SRD_TOTXQ 1 The routing target is transmit queue 0.
GAFLIFL0 RSCFD_AFL_IFL1_MASK( z2 ) → z2 can be specified to monitor the reception within
the RX-FIFO units by software (optional).
GAFLRMDP 0 → Standard receive buffer 0 is activated as reception

target (optional, for debug or monitoring purposes)
GAFLRMV RSCFD_SET 1
GAFLPTR 0 → Not relevant but can be specified to monitor the
reception within the RX-FIFO units by software
(optional).
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GAFLFDP Depends on channel → See details below.
GAFLP1x
The target setting within GAFLP1x is different for each of the operating channels of the internal gateway (0,
2, 4, 6): in this register, the destinations (RX-FIFO units and transmit queues of other channels) are
specified.
The following scheme is used for the channels of the internal gateway, with IFL = {z1, z2} of the table above:
• Channel 0: receive into RXFIFO0, and into Channel 2,4,6 TX Queues 0, 0, 0; IFL = 00
• Channel 6: receive into RXFIFO3, and into Channel 0,2,4 TX Queues 2, 2, 2 ; IFL = 11
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2.4 Reception Resource (RX-FIFO) Configuration
The RX-FIFO units are the buffers for reception of all messages, which shall be transferred from one unit of
RS-CANFD to another. In this example, for each destination transmit queue of the other RS-CANFD unit,
one RX-FIFO is used on the local unit. That means, the duplication of a frame from reception into several
destinations of another RS-CANFD unit is performed by storing the frame in several RX-FIFO units at a time.
Also, this means that a RX-FIFO is reception destination of all receiving (even) channels of the internal
gateway within a RS-CANFD unit.
The RX-FIFO units shall be configured such, that they can hold the full length of any frame in worst case
(maximum length of CAN-FD). The interrupt trigger of the RX-FIFO shall be set to an interrupt on every
reception, even though this interrupt will not be handled by software but is the SDMAC trigger instead.
The RX-FIFO depth should be two frames per channel at minimum, because the transfer by the SDMAC
takes time, while another frame may arrive.

RFE 0 → The RX-FIFO is enabled by the driver set [2] at a
RFCC[0:3] later state.
RFIE 0 → Interrupt of the RX-FIFO is not required for its
gateway and DMA operation.
RFPLS RSCFD_FIFODL_64 7 Full CAN-FD payload length to fit in this FIFO.

RFDC RSCFD_FIFO_DEPTH_4 1 Maximum size to avoid overflow issues.
RFIM RSCFD_FIFO_INT_ONEVERY 1 As interrupt is disabled, this is not relevant.
RFIGCV RSCFD_FIFO_ILEVEL_1D8 0
RFE 0 → The RX-FIFO is enabled by the driver set [2] at a

RFCC[4] later state.
RFIE 1 → Interrupt used as an exit condition for the

application.
RFPLS RSCFD_FIFODL_64 7 Full CAN-FD payload length to fit in this FIFO.

RFDC RSCFD_FIFO_DEPTH_4 1 Minimum size for this FIFO, it has to hold one
message only, which is the exit condition.
RFIM RSCFD_FIFO_INT_ONEVERY 1 Every received message causes an interrupt.
RFIGCV RSCFD_FIFO_ILEVEL_1D8 0 Not relevant, as the FIFO interrupt is on every

message.
RFE 0 → The RX-FIFO is not used.
RFCC
RFIE 0 → Size is set to its minimum (zero bytes used).
[others]
Interrupt settings are not relevant.
RFPLS RSCFD_FIFODL_8 0
RFDC RSCFD_FIFO_DEPTH_0 0
RFIM RSCFD_FIFO_INT_ONLEVEL 0
RFIGCV RSCFD_FIFO_ILEVEL_1D8 0
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2.5 Transmission Resource (TX-Queue) Configuration
For every channel, four transmit queues are available. When using 4 channels for the internal gateway, three
of the transmit queues are used for the internal gateway, while the 4th queue is left to be used by the unit
gateway transfers of the SDMAC.
If more than 4 channels are used in the internal gateway, then every of the first three queues shall be a
destination for not one, but several channels of the same unit. This is defined in the reception rules, but
beyond this application note.
For a transmit queue which is used in the internal gateway, the following settings shall be applied:
• The gateway function of the transmit queue is enabled.
This means, that this queue will not be available for use with software-based transmission.
• The overwrite function of the transmit queue is disabled.

In order not to lose frames, even if they were repeated or replaced, the overwrite function cannot be
used.
• The interrupt function of the transmit queue is not relevant.
• The size of the queues should be balanced and at a high level. In the example, as all four transmit
queues are used, the size of every queue is set to 16, which is a quarter of all available message
boxes, and no message boxes are left for transmission beyond the gateway.
For the transmit queue used with SDMAC (the unit gateway transfer), the gateway function must be disabled,
because the SDMAC is using them similarly like software, even though the queue is operated in DMA mode,
where an explicit push-in is executed automatically. In this example configuration, the overwrite mode was
enabled for the fourth (SDMAC assigned) transmit queue. This is for demonstration, to show the effect how
the overwrite mode works. For equal treatment of messages and channels, the overwrite mode should be set
off for this queue, too.
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TXQE RSCFD_TXQ_ON 1 The transmit queue is activated.
TXQCC[0:2]m
TXQGWE RSCFD_TXQ_GW_ENABLE 1 Transmit queue used in gateway mode (no
transmission by software write allowed)
TXQOWE RSCFD_TXQ_OWR_DISABLE 0 No overwrite of existing messages with the
same ID (full transparent gateway).
TXQTXIE 0 → No transmit interrupt of the queue.
TXQIM RSCFD_TXQ_INT_ONEVERY 1 Not relevant (interrupt is not activated).

TXQDC RSCFD_TXQ_MAXBUFFERS/2 15 Quarter of all message buffers assigned to the
-1 queue.
TXQFIE 0 → No queue full interrupt enabled.
Optional, enabling this can be an
enhancement to monitor the gateway load.
TXQOFRXIE 0 → No one-frame interrupts activated.

TXQOFTXIE 0 →
TXQE RSCFD_TXQ_ON 1 The transmit queue is activated.

TXQCC3m
TXQGWE RSCFD_TXQ_GW_DISABLE 0 Transmit queue used in normal mode, to be
fed by DMA of SDMAC.
TXQOWE RSCFD_TXQ_OWR_ENABLE 1 Overwrite of existing messages with the same

ID (optimizing gateway), set here to show the
effect.
TXQTXIE 0 → No transmit interrupt of the queue.

TXQIM RSCFD_TXQ_INT_ONEVERY 1 Not relevant (interrupt is not activated).
TXQDC RSCFD_TXQ_MAXBUFFERS/2 15 Quarter of all message buffers assigned to the
-1 queue.
TXQFIE 0 → No queue full interrupt enabled.
Optional, enabling this can be an
enhancement to monitor the gateway load.
TXQOFRXIE 0 → No one-frame interrupts activated.

TXQOFTXIE 0 →
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3. The Unit Gateway of SDMAC
The SDMAC is used to transfer messages between two RS-CANFD units. For every RS-CANFD channel of
a unit, one SDMAC channel is used to transfer the frames. CAN-FD frames are fetched from a dedicated
RX-FIFO of the RS-CANFD source unit and written to the 4th transmit queue of every used channel in the
destination RS-CANFD unit.
The task of SDMAC is to duplicate a frame into several destinations.
Consequently, the functional view of the SDMAC channel operation looks like this:
Figure 3: SDMAC Channel Operation
As soon as the RX-FIFO assigned to a receiving channel of a RS-CANFD unit A triggers it, the SDMAC will
fetch the frame from the RX-FIFO by reading the DMA access memory area of it. The length of the DMA is
set such, that it covers the full RX-FIFO frame length size. This will trigger the RX-FIFO to shift to the next
received message, if available.
The final destination of the SDMAC channel are the 4th transmit queues of all channels of the transmitting
RS-CANFD unit B. Even though not all bits of control and pointer operation of the RX-FIFO are the same as
on the transmit queue, the direct copying works nevertheless, because non-existent bits in the transmit
queue destinations are ignored by the RS-CANFD hardware. The size of the access windows of RX-FIFO
and transmit queues are identical, and the ordering of information is equal.
To achieve this target, the received frame from the RX-FIFO must be copied multiple times, so that each 4th
transmit queue of RS-CANFD unit B will get it. To do this, the SDMAC channel first copies the frame into a
RAM location. From there, the multiple copying steps are performed by the next steps, each one to write the
frame into a 4th transmit queue of used channels in RS-CANFD unit B.
SDMAC supports descriptor chains, which allow several operations in sequence; in our example in five
steps: First to read the RX-FIFO into a RAM location, and subsequent four to copy the frame from the RAM
location into the four used channels’ 4th transmit queues.
Note that in this configuration, the RX-FIFO will never be filled with more than one frame, while it is ready to
receive a second one from the CAN channel. SDMAC must be able to fetch this frame from the RX-FIFO,
until the next frame is reception is completed. Otherwise, the RX-FIFO would trigger another DMA request,
while SDMAC is still working with the previous one; and the same would cause a request overflow condition
on SDMAC.
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3.1 SDMAC Configuration and Operation
The transfer configuration of SDMAC is set to longwords (4 bytes) as access size for source and destination,
with incrementing addresses on both sides, and 19 longwords in total for one block. 19 longwords are the
RX-FIFO and transmit queue DMA window size, when the payload length of CAN-FD is set to 64 bytes
(maximum).
The hardware trigger source is used, its channel depends on the assigned RX-FIFO of the receiving RS-
CANFD unit.
For proper operation, the SDMAC needs to get an assigned SPID, and an opened peripheral guard and
RAM guard window assigned to the same. This configuration is made in the peripheral guard hardware,
which depends on the target device.
The used descriptor is required to allow a restore of source, destination addresses and the transfer count,
after the current transfer was completed. By setting the continuation flag (CF), the descriptor also restores
the enabled state of the channel, so that it is ready for the next trigger.
The channel configuration is set according to the requirements of the gateway functionality, as follows (“n“ is
the channel index of the SDMAC, n = {0…7}):
Register Bit Value Comment
SARn SAR - Not set. Descriptor chain values are used.
DARn DAR - Not set. Descriptor chain values are used.
TSRn TSR 0 This forces the descriptor chain lookup for next
execution steps for this event.
TMRn STS SDMAC_TRANSSIZE_4BYTE 2 Longword access for source and destination.
DTS SDMAC_TRANSSIZE_4BYTE 2
SM SDMAC_ADDRESSMODE_INCREMENT 1 Incrementing source and destination addresses

to read the window completely.
DM SDMAC_ADDRESSMODE_INCREMENT 1
TRS SDMAC_REQUESTSOURCE_HARDWARE 1 Trigger the SDMAC channel upon hardware

request.
PRI 0 → Default priority of the channel for all.
SLM SDMAC_SLOWSPEED_OFF 0 Normal speed of the SDMAC channel.
CHCRn DE SDMAC_CLEAR → Activated by the SDMAC driver by command.
IE SDMAC_CLEAR 0 No interrupts of the SDMAC channel, as no CPU

intervention is desired.
DSIE
CAIE
CAEE
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DPB SDMAC_CLEAR 0 Channel configuration is not immediately pre-

loaded from the descriptor setting, but fetched
from the descriptor after event trigger.
DPE SDMAC_SET 1 Descriptor operation is enabled, so that by this

functionality, the SDMAC channel stays active
and restores its settings after each transfer.
… AIn GIAI 0 Not used.

Scatter- and gather functionality is not needed for
GOAI this application.
SIAI
SOAI
SGCRn → 0
RSn RS 45, 46, 47, 48 (RS-CANFD unit 0 RX-FIFO triggers) Value depends on the assigned SDMAC channel
53, 54, 55, 56 (RS-CANFD unit 1 RX-FIFO triggers) number.
DRQI SDMAC_CLEAR 0 No DMA request flag initialization at descriptor
PLE SDMAC_CLEAR 0 No reading access before hardware trigger
FPT SDMAC_CLEAR 0 Not relevant, because preload is disabled by PLE
TL SDMAC_TRLIMIT_BY_STS_TC 0 Transaction size is TC * STS (=longwords)
TC 19 * 5 → 19 longwords to transfer per DMA trigger, but 5

descriptor chain steps to be executed, each one
has 19 longword transfers.
BUFCRn ULB SDMAC_BUFFERLIMIT_DEFAULT 128 Default setting.
DPPTRn CF SDMAC_SET 1 Continuous operation.
DIE 0 → No descriptor interrupt.
PTR → Pointer to first descriptor of the assigned chain in

descriptor memory of SDMAC. The SDMAC
driver provides this pointer when using its API to
enter the first descriptor of a new chain.
DPCRn UPF SDMAC_DESCUPDATEFLAG_SAR | Registers SAR, DAR and TSR will get updated
SDMAC_DESCUPDATEFLAG_DAR | by the descriptor execution.
SDMAC_DESCUPDATEFLAG_TSR
CMn UM SDMAC_CLEAR 0 SDMAC shall operate in supervisor mode.
SPID 1C H The SPID for the peripheral access guard is set.
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3.1.2 Descriptor Initialization
According to the settings of the DPCRn registers, each descriptor of the chain of each channel contains the
register values of SARn, DARn and TSRn.
Additionally, each descriptor of SDMAC must contain the DPPTRn register value. The PTR (pointer to
descriptor) value is creating the linked list of the descriptor chain, and for the last element in the descriptor
chain, PTR is set such, that it points to the first descriptor of the chain. This setting achieves that the
descriptor chain is used every time again, as soon as a new trigger from the RX-FIFO of RS-CANFD (the
trigger source) happens. At the same time, by using the last descriptor of the chain, the initial values of
SARn, DARn and TSRn are restored, so that the subsequent transfer is identical with the previous one.
Background of this is, that SARn, DARn and TSRn are changing during the SDMAC channel operation,
according to the processing of the DMA transfer (incrementing SARn, and DARn, decrementing TSRn).
First descriptor of the chain of SDMAC channel n = {0…7} and RS-CANFD unit m = {0…1}, m=n/4
(example with 4 channels per unit):
SARn SAR &( rscfd_rxfifo_p[ m ] Address of the RX-FIFO buffer n of the receiving
->buf[ n%4 ].id ) RS-CANFD unit, which is assigned to channel n
of the SDMAC unit:
rscfd_rxfifo_p[ RSCAN-FD_Unit_RX ]
->buf[ RX-FIFO# ].id
DARn DAR &GW_FrameBuffer[ 0 ][ n ] Address of the RAM buffer used for this channel.
TSRn TSR 19 * 4 The memory window of the RX-FIFO and the

transmit queues is 19 longwords. When using the
maximum size of CAN-FD frames, the full
window must be read and written by DMA, in
order to shift the RX-FIFO and transmit queues
after the DMA access. A longword has 4 bytes.
PTR SDMAC_DESC_CHAIN_NEXTFREE Pointer to next descriptor of the chain in

→ descriptor memory of SDMAC.
Generated by the SDMAC driver.
Second, third and fourth descriptor of the chain of SDMAC channel n (example with 4 channels per unit):
SARn SAR &GW_FrameBuffer[ 0 ][ n ] Address of the RAM buffer used for this channel.
DARn DAR &( rscfd_txmsg_p Address of the transmit queue #3 of channel

[ 1-m ][ 2 * (n%4) ] 2*(n%4) of the transmitting RS-CANFD unit,
->buf[ abs( rscfd_txqentries which is assigned to channel n of the SDMAC
[ 1-m ] unit:
[ 2 * (n%4) ]
[ 3 ] ) ].id ) rscfd_txmsg_p[RSCAN-FD_Unit_TX ]
[ RSCAN-FD_Channel_TX ]
->buf[ abs( rscfd_txqentries
[ RSCAN-FD_Unit_TX ]
[ 3 ] ) ].id
The RS-CANFD driver has a table of the amount
of transmit queue entry windows, which indicates
the direction of the queue by its sign. This table is
used as reference for the transmit queue entry
buffer number.
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after the DMA access.
PTR SDMAC_DESC_CHAIN_LINKPREVIOUS Pointer to next descriptor of the chain in

→ descriptor memory of SDMAC.
Generated by the SDMAC driver.
Last descriptor of chain of SDMAC channel n:
SARn SAR &GW_FrameBuffer[ 0 ][ n ] Address of the RAM buffer used for this channel.
DARn DAR &( rscfd_txmsg_p Address of the transmit queue #3 of channel

[ 1-m ][ 2 * (n%4) ] 2*(n%4) of the transmitting RS-CANFD unit,
->buf[ abs( rscfd_txqentries which is assigned to channel n of the SDMAC
[ 1-m ] unit:
[ 2 * (n%4) ]
[ 3 ] ) ].id ) rscfd_txmsg_p[RSCAN-FD_Unit_TX ]
->buf[ abs( rscfd_txqentries
[ RSCAN-FD_Unit_TX ]
[ 3 ] ) ].id
The RS-CANFD driver has a table of the amount
of transmit queue entry windows, which indicates
the direction of the queue by its sign. This table is
used as reference for the transmit queue entry
buffer number.

after the DMA access.
PTR SDMAC_DESC_CHAIN_LINKPREVIOUS | Pointer to first descriptor of the assigned chain in

SDMAC_DESC_CHAIN_LINKSTART descriptor memory of SDMAC.
→ Generated by the SDMAC driver.
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3.1.3 Peripheral and RAM Guards in U2A
In RH850/U2A, the RS-CANFD peripherals and RAM are protected against the access of the SDMAC
channels. Therefore, the corresponding peripheral and RAM guard instances must be opened for read- and
write accesses of the SDMAC channels by setting their SPID flag.
If the peripheral guard is not opened, the SDMAC cannot transfer the data (neither reading the RX-FIFO, nor
using the RAM, nor writing to the transmit queue) and would stop with addressing errors. Note that even
though the addressing error may be indicated at an address which is not the first one to attempt, the access
of the first address already is blocked. The reason for this is, that the guard and the associated guard error
processing runs on a slower clock than SDMAC and PE units, but nevertheless is effective all time.
See the source code for details on which guard registers settings are required.
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4. Using the Application Driver Set of RH850/U2A
4.1 Configuration of RS-CANFD
By doing the following steps of the RS-CANFD driver set, the CAN controllers are initialized:
1. RSCFD_PortEnable:
Enable the ports for the CAN controller channels.
Both TX and RX ports are set in direction and associated alternate peripheral function.
2. RSCFD_Stop:
Set a global reset to the CAN controller unit.
This is required to perform the global reconfiguration, if the CAN controller might have been in use
before.
3. RSCFD_SetGlobalConfiguration:
Set the global configuration of the CAN controller unit.
Most of all, this defines the shared memory setup and general operation settings like global errors.
4. RSCFD_SetGlobalFIFOConfiguration:
Settings for the RX-FIFO units used.
5. RSCFD_CreateInterrupt:
The RX-FIFO interrupt for application exit and the global error state (like missed messages) are
activated.
6. RSCFD_Start:
Leave the global reset state, ready to initialize the channels.
7. RSCFD_SetGlobalConfiguration:
Second call for the global configuration, while in global operation state.
This initializes the DMA operation options of the CAN controller unit.
8. RSCFD_EnableRXFIFO:
When in global operation state, the RX-FIFO units can be activated.
9. RSCFD_SetAFLEntry:
Specifically for the used even channels, the reception rules for gateway reception and application
exit are entered.
4.2 Configuration of SDMAC
Following the global initialization of the RS-CANFD units, the SDMAC channels are initialized in the following
steps; using some functions of the SDMAC driver package:
1. Open the peripheral guards
The access right for read/write is assigned to the SPID of the SDMAC channels.
2. SDMAC_Reset:
Global operation setting (activation) and round-robin mode are set for the SDMAC unit.
3. SDMAC_SetDescriptor:
Each channel gets its descriptor to allow continuous operation with identical data processing.
4. SDMAC_HWTriggerChannel:
The associated trigger source is selected for the channel, including trigger group selection.
5. SDMAC_ConfigureChannel:
The channel is initialized for the data transfers (source and destination, trigger, transaction mode
and size).
6. SDMAC_EnableChannel:
Activates the SDMAC channel to be ready for a hardware trigger from the RS-CANFD units.
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4.3 Gateway Initialization and Operation
In a final step, the RS-CANFD channels are activated, now that the whole infrastructure of the gateway is
ready to handle the receptions and transmissions:
1. RSCFD_SetChannelConfiguration:
Channel specific settings are made, like bit rate/timing, interrupt sources (for error handling), transmit
queue initialization and CAN-FD specific settings.
Even and odd channels get different settings; for example the odd channels would not make use of
any transmit queues or error interrupts.
2. RSCFD_Start:
The channels are set to operation mode.
At this point, the gateway will start operation with the integration phase on the CAN(-FD) bus of the
even and odd channels.
After these steps, the gateway is active and does not require further CPU support, apart from error
situations. Errors would be reported as interrupts; in this case, the gateway function might require temporary
stopping or re-initialization of RX-FIFO units.
If an extended ID message is detected by the second AFL rule on any channel, the associated RX-FIFO unit
would trigger an interrupt, from where the global “exit” flag is set, which in turn ends the application.
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5. Source Code of Application
5.1 RS-CANFD Configuration Settings (rscfd_s.h)
//============================================================================
// PROJECT = RSCFD Type RSCFDFD_UCIAPRCN_V4
//============================================================================
// C O P Y R I G H T
//============================================================================
// Copyright (c) 2020 by RENESAS Electronics (Europe) GmbH. All rights reserved.
// Arcadiastrasse 10
// D-40472 Duesseldorf
// Germany
//============================================================================
//Purpose: RSCFD Driver Hardware Configuration Sets for Gateway
//
//Warranty Disclaimer
//
//Because the Product(s) is licensed free of charge, there is no warranty
//of any kind whatsoever and expressly disclaimed and excluded by RENESAS,
//either expressed or implied, including but not limited to those for
//non-infringement of intellectual property, merchantability and/or
//fitness for the particular purpose.
//RENESAS shall not have any obligation to maintain, service or provide bug
//fixes for the supplied Product(s) and/or the Application.
//
//Each User is solely responsible for determining the appropriateness of
//using the Product(s) and assumes all risks associated with its exercise
//of rights under this Agreement, including, but not limited to the risks
//and costs of program errors, compliance with applicable laws, damage to
//or loss of data, programs or equipment, and unavailability or
//interruption of operations.
//
//Limitation of Liability
//
//In no event shall RENESAS be liable to the User for any incidental,
//consequential, indirect, or punitive damage (including but not limited
//to lost profits) regardless of whether such liability is based on breach
//of contract, tort, strict liability, breach of warranties, failure of
//essential purpose or otherwise and even if advised of the possibility of
//such damages. RENESAS shall not be liable for any services or products
//provided by third party vendors, developers or consultants identified or
//referred to the User by RENESAS in connection with the Product(s) and/or the
//Application.
//
//
//
//============================================================================
// Environment: Devices: All featuring RSCFDFD_UCIAPRCN_V4
// Assembler: GHS MULTI
// C-Compiler: GHS MULTI
// Linker: GHS MULTI
// Debugger: GHS MULTI
//============================================================================
#ifndef RSCFD_S_H
#define RSCFD_S_H
#define DRIVER_LOCAL
#include <stddef.h>
#include <ree_types.h>
#include <map_rscfd.h>
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/* Default Configuration Macros */
#define RSCFD_A_COMFIFO_OFF { 0, 0, 0, 0, \
RSCFD_FIFODL_8, 0, \
RSCFD_FIFO_MODE_RX, \
RSCFD_FIFO_IT_REFCLK, \
RSCFD_FIFO_IT_REFCLK1, \
RSCFD_FIFO_INT_ONLEVEL, \
RSCFD_FIFO_ILEVEL_1D8, \
0, \
RSCFD_FIFO_DEPTH_0, \
0 } /* COM FIFO disabled */
#define RSCFD_A_COMFIFO_STD { 0, 0, 0, 0, \
RSCFD_COM_FIFO_DSCMODE, 0, \
0, 0 } /* COM FIFO in legacy use mode */
#define RSCFD_A_RXFIFO_OFF { 0, 0, 0, \
RSCFD_FIFO_DEPTH_0, 0, \
RSCFD_FIFO_INT_ONLEVEL, \
0, 0 } /* RX FIFO disabled */
#define RSCFD_A_RXFIFO_SWGW { 0, 0, 0, \
RSCFD_FIFO_INT_ONEVERY, \
0, 0 } /* RX FIFO for DMA enabled with 64-byte*32 */
#define RSCFD_A_RXFIFO_CTRL { 0, 1, 0, \
RSCFD_FIFO_INT_ONEVERY, \
0, 0 } /* RX FIFO enabled with 64-byte*4 */
#define RSCFD_A_TXQ_OFF { { RSCFD_TXQ_OFF, \

RSCFD_TXQ_GW_DISABLE, \
RSCFD_TXQ_OWR_DISABLE, \
0, 0, 0, \
RSCFD_TXQ_INT_ONLAST, \
RSCFD_TXQ_OFF, 0, \
0, 0, 0, 0 }, \
{ RSCFD_TXQ_OFF, \
0, 0, 0, \
RSCFD_TXQ_OFF, 0, \
0, 0, 0, 0 }, \
{ RSCFD_TXQ_OFF, \
0, 0, 0, \
RSCFD_TXQ_OFF, 0, \
0, 0, 0, 0 }, \
{ RSCFD_TXQ_OFF, \
0, 0, 0, \
RSCFD_TXQ_OFF, 0, \
0, 0, 0, 0 } } /* TX Queues all OFF */
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/* Use TX Queues of 16 depth, Queues 0~2 in Gateway Mode,
Overwrite Mode is disabled: The gateway shall work fully transparent, so that
higher level protocols with shared IDs are not disturbed.
Use Queue 3 (16 depth) for DMA Overwrite Mode: if an ID has not yet been sent,
when a new frame with this ID arrives, then the current ID is replaced by the new one
(old message is skipped). */
#define RSCFD_A_TXQ_HWGW { { RSCFD_TXQ_ON, \

RSCFD_TXQ_GW_ENABLE, \
0, 0, 0, \
RSCFD_TXQ_INT_ONEVERY, \
( RSCFD_TXQ_MAXBUFFERS/2 - 1 ), 0, \
0, 0, 0, 0 }, \
{ RSCFD_TXQ_ON, \
0, 0, 0, \
0, 0, 0, 0 }, \
{ RSCFD_TXQ_ON, \
0, 0, 0, \
0, 0, 0, 0 }, \
{ RSCFD_TXQ_ON, \
RSCFD_TXQ_OWR_ENABLE, \
0, 0, 0, \
0, 0, 0, 0 } }
#define RSCFD_A_THL_OFF { RSCFD_THL_OFF, 0, 0, \

RSCFD_THL_INT_ONLEVEL, \
RSCFD_THL_ENTRY_QUEUED, \
RSCFD_THL_GWENTRY_OFF, 0 } /* THL OFF */
#define RSCFD_A_THL_ON { RSCFD_THL_ON, 0, 1, \
RSCFD_THL_INT_ONEVERY, \
RSCFD_THL_ENTRY_QUEUED, \
RSCFD_THL_GWENTRY_OFF, 0 } /* THL ON */
#define RSCFD_A_BT_AUTO { 0, 0, 0, 0 } /* Automatic bit timing */

#define RSCFD_A_BTD_AUTO { 0, 0, 0, 0, 0, 0, 0 }
#define RSCFD_A_FDCFG_DEFAULT { RSCFD_EOC_ALLTXRX, 0, \

RSCFD_TDC_MEASOFFSET, \
RSCFD_TDC_DISABLE, \
RSCFD_ESI_BYNODE, 0, \
0, \
RSCFD_MULTIGW_DISABLE, \
RSCFD_FDF_FD, \
RSCFD_BRS_SWITCH, 0, \
RSCFD_FDMIXED, \
RSCFD_RXEDGEFILTER_ON, \
RSCFD_FDMIXED, 0 }
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/* ---------------------------------------------------------- */
/* 80 MHz on CAN communication clock needs to be set for this */
/* ---------------------------------------------------------- */
/* 500 kbit/s - 4 Mbit/s CAN-FD operation with 80% sampling point position (SP and SSP) */
#define RSCFD_A_BT_500_KBPS { 0, /* BRP */ \

31, /* SJW */ \
126, /* TSEG1 */ \
31 } /* TSEG2 */
#define RSCFD_A_BTD_4000_KBPS { 0, /* BRP */ \

14, 0, /* TSEG1 */ \
3, 0, /* TSEG2 */ \
3, 0 } /* SJW */
#define RSCFD_A_FDCFG_ACTTDC16 { RSCFD_EOC_ALLTXRX, 0, /* FD active, TDC 16, 80% SSP */ \

RSCFD_TDC_ENABLE, \
15, \
RSCFD_FDF_FD, \
RSCFD_FDMIXED, \
RSCFD_FDMIXED, 0 }
#define RSCFD_A_FDCFG_ACTTDC16GW { RSCFD_EOC_ALLTXRX, 0, /* FD active, TDC 16, 80% SSP */ \

RSCFD_TDC_ENABLE, \
15, \
RSCFD_FDF_FD, \
RSCFD_FDMIXED, \
RSCFD_FDMIXED, 0 }
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/* Channel configuration of Channels 0, 2, 4, 6, 8, 10, 12, 14: Hardware Gateway */
const struct rscfd_cfg_channel RSCFD_A_CHHWGW_500_KBPS_4000KBPS = {
0L, 0.0, /* arbitration bitrate manually set */

0L, 0.0, /* data bitrate manually set */
RSCFD_A_BT_500_KBPS, /* arbitration bit timing */

RSCFD_A_BTD_4000_KBPS, /* data bit timing */
{
RSCFD_OPMODE_KEEP, 0, 0, 0, /* No implicit change of Operation Mode */
RSCFD_CINT_TDCVIOL | /* Error Interrupts: Transceiver Compensation */
RSCFD_CINT_BUSLOCK | /* Bus Lock (permanent dominant) */
RSCFD_CINT_BUSOFF, 0, /* Bus Off (recovery ongoing) */
RSCFD_BOM_ISO, 0, /* Standard Bus Off behaviour & Error Signalling */
0, RSCFD_TEST_BASIC, 0, /* Test Mode Off */
0, RSCFD_RESTRICTED_DIS
},
{
RSCFD_OCC_KEEP, /* CAN-FD Occurrence Counter settings */
RSCFD_OCC_KEEP
},
RSCFD_A_FDCFG_ACTTDC16GW, /* CAN-FD with GW Operation Configuration */
{ 0x00000000, 0x00000000 }, /* disable all IRQ of TX Buffers */
RSCFD_A_TXQ_HWGW, /* TX Queues 0~2 in use */

RSCFD_A_THL_OFF, /* THL is off */
{
RSCFD_A_COMFIFO_OFF, /* COMFIFO are all off */
RSCFD_A_COMFIFO_OFF,
RSCFD_A_COMFIFO_OFF
},
{
RSCFD_A_COMFIFO_STD,
RSCFD_A_COMFIFO_STD
}
};
/* Channel configuration of Channels 1, 3, 5, 7, 9, 11, 13, 15: Receiving only */
const struct rscfd_cfg_channel RSCFD_A_CHRECONLY_500_KBPS_4000KBPS = {
0L, 0.0, /* arbitration bitrate manually set */

0L, 0.0, /* data bitrate manually set */
RSCFD_A_BT_500_KBPS, /* arbitration bit timing */

RSCFD_A_BTD_4000_KBPS, /* data bit timing */
{
RSCFD_OPMODE_KEEP, 0, 0, 0, /* No implicit change of Operation Mode */
RSCFD_CINT_OFF, 0, /* No Error Interrupts */
RSCFD_BOM_ISO, 0, /* Standard Bus Off behaviour & Error Signalling */
0, RSCFD_TEST_BASIC, 0, /* Test Mode Off */
0, RSCFD_RESTRICTED_DIS
},
{
RSCFD_OCC_KEEP, /* CAN-FD Occurrence Counter settings */
RSCFD_OCC_KEEP
},
RSCFD_A_FDCFG_ACTTDC16, /* CAN-FD Operation Configuration */
{ 0x00000000, 0x00000000 }, /* disable all IRQ of TX Buffers */
RSCFD_A_TXQ_OFF, /* TX Queue is off */

RSCFD_A_THL_OFF, /* THL is off */
{
RSCFD_A_COMFIFO_OFF, /* COMFIFO are all off */
RSCFD_A_COMFIFO_OFF,
RSCFD_A_COMFIFO_OFF
},
{
RSCFD_A_COMFIFO_STD
}
};
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Jan.22.20
/* Global configuration of unit with 2 RXFIFO, DMA Support */
const struct rscfd_cfg_global RSCFD_A_GCFG_GW = {
{
RSCFD_TXPRIO_ID, /* TX priority by ID (standard) */
RSCFD_DLCCHECK_DISABLE,
RSCFD_DLCREPL_DISABLE, /* no DLC check or replacement */
RSCFD_MIRROR_ENABLE, /* Mirror Mode */
RSCFD_CLOCK_SYS, /* use peripheral clock */
RSCFD_PLOVF_TRUNCATE, 0, /* larger messages than buffer are truncated */
0, RSCFD_CLOCK_TSBIT,
RSCFD_CHANNEL0, /* Use 1TQ Bit-Timing clock 0 for Timestamps */
RSCFD_CLOCK_FIFO_OFF /* interval timer of FIFO disabled */
},
{
RSCFD_OPMODE_KEEP,
RSCFD_SLEEP_DISABLE, 0, /* No implicit change of Operation Mode */
RSCFD_GINT_MSGLOST | /* Error Interrupts: RX FIFO overflow */
RSCFD_GINT_GWTXQLOST, /* TX Queue overflow (too many different ID) */
RSCFD_TIMESTAMP_KEEP, 0 /* Timestamp is not written by software */
},
{
RSCFD_PROTEXCEVENT_EN, 0, /* enable protocol exception event handling */
RSCFD_TSCAPTURE_SOF, 0 /* timestamp capture performed at SOF bit */
},
{
1, /* use 1 classical RX buffer for monitoring */
RSCFD_BUFDL_64, 0 /* full 64-byte size of classical RX buffer */
},
{
2, 0, 2, 0, 2, 0, 2, 0 /* channel AFL entries */
},
{
RSCFD_A_RXFIFO_SWGW, /* enable RX FIFO 0 */
RSCFD_A_RXFIFO_CTRL, /* enable RX FIFO 4 */
RSCFD_A_RXFIFO_OFF,
RSCFD_A_RXFIFO_OFF,
RSCFD_A_RXFIFO_OFF
},
{ /* select DMA functions */
RSCFD_DMA_RXF0 | RSCFD_DMA_RXF1 | /* RX DMA of RXFIFO 0~3 */
RSCFD_DMA_RXF2 | RSCFD_DMA_RXF3,
RSCFD_DMA_ALLOFF, 0 /* No RX DMA of COMFIFO */
},
{
RSCFD_DMA_ALLOFF, /* No TX DMA of TXQ 0 */
( 1 << RSCFD_CHANNEL0 ) | /* TX DMA of CH0/2/4/6 TXQ 3 */
( 1 << RSCFD_CHANNEL2 ) |
( 1 << RSCFD_CHANNEL4 ) |
( 1 << RSCFD_CHANNEL6 ),
RSCFD_DMA_ALLOFF, 0 /* No TX DMA of COMFIFO */
},
{
RSCFD_FLEXCAN_OFF, 0 /* Flexible CAN Mode off */
},
{ /* No movement of TX Boxes */
RSCFD_FLEXBUF_NONE, 0,
RSCFD_FLEXBUF_NONE, 0
}
};
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Jan.22.20
/* Rules to receive all STD ID messages
* into RXFIFO0 for CH0, into CH2,4,6 TX Queues 0, 0, 0; IFL = 00
* into RXFIFO0 for CH6, into CH0,2,4 TX Queues 2, 2, 2 ; IFL = 11
to be handled by the HW Gateway */
struct rscfd_a_afl RSCFD_A_AFL_CH0 = {
{
0x0000000, /* not relevant */
RSCFD_AFL_RXENTRY, /* receive entry type of AFL */
RSCFD_FRAME_DATA, /* RTR data frame configuration */
RSCFD_ID_STD /* standard frame configuration */
},
{
RSCFD_MASK_IDDONTCARE, /* mask is receiving all messages */
RSCFD_AFL_IFL1_MASK( 0L ), /* upper bit of IFL flag */
RSCFD_MASK_FILTER, /* only standard ID data frames */
RSCFD_MASK_FILTER
},
{
RSCFD_DLCCHECK_DISABLE, /* to enable DLC check, enter DLC here */
RSCFD_AFL_SRD_TOTXQ, /* routing to TX-Queues is set */
RSCFD_AFL_SRD_TOTXQ,
RSCFD_AFL_IFL0_MASK( 0L ), /* lower bit of IFL flag */
0, /* RX Box Number - not relevant for FIFO */
RSCFD_SET, /* RX Box 0 is set active */
0x0000 /* Receive HRH pointer - to be replaced with actual value */
},
{
RSCFD_AFL_RXFIF0_EN0, /* assigned RX-FIFO 0 */
RSCFD_AFL_FIFOTXQ_C2E0 | /* TX-QUEUES 0 of channels 2,4,6 */
RSCFD_AFL_FIFOTXQ_C4E0 |
RSCFD_AFL_FIFOTXQ_C6E0
}
};
{
},
{
RSCFD_MASK_FILTER
},
{
RSCFD_CLEAR, /* RX Box is set inactive */
},
{
RSCFD_AFL_FIFOTXQ_C0E0 | /* TX-QUEUES 0/1 of channels 2,4,6 */
}
};
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Jan.22.20
{
},
{
RSCFD_MASK_FILTER
},
{
},
{
RSCFD_AFL_FIFOTXQ_C0E0 | /* TX-QUEUES 0/1/2 of channels 2,4,6 */
}
};
{
},
{
RSCFD_MASK_FILTER
},
{
},
{
RSCFD_AFL_FIFOTXQ_C0E2 | /* TX-QUEUES 2 of channels 2,4,6 */
}
};
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Jan.22.20
/* Receive Rule to get Extended ID 0 to message box 0, this is the exit trigger
of the application */
struct rscfd_a_afl RSCFD_A_AFL_RXBOX_EXTID_GWEXIT = {
{
0x0000000, /* Extended ID 0x00000000 to be received only */
RSCFD_ID_EXT /* extended frame configuration */
},
{
RSCFD_MASK_IDFULLCAN, /* mask is filtering exact match */
RSCFD_MASK_FILTER, /* only extended ID data frames */
RSCFD_MASK_FILTER
},
{
RSCFD_AFL_SRD_TOCF, /* routing to COMFIFO is default */
RSCFD_AFL_SRD_TOCF,
RSCFD_AFL_SRD_TOCF,
0, /* RX Box Number 0 */
RSCFD_CLEAR, /* No RX Box is set */
},
{
RSCFD_AFL_RXFIF0_EN4, /* RX-FIFO 4 is used */
RSCFD_AFL_COMFIFO_NONE /* COM-FIFO is not used */
}
};
#endif
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5.2 SDMAC Configuration and Global Settings (Multi_Gateway_Test.h)
//============================================================================
// PROJECT = Mutli-Gateway for U2A on X2X NETWORK BOARD
//============================================================================
//============================================================================
// Copyright (c) 2020 by Renesas Electronics (Europe) GmbH. All rights reserved.
// Germany
//============================================================================
//
//
//of any kind whatsoever and expressly disclaimed and excluded by Renesas,
//Renesas shall not have any obligation to maintain, service or provide bug
//
//
//
//In no event shall Renesas be liable to the User for any incidental,
//such damages. Renesas shall not be liable for any services or products
//referred to the User by Renesas in connection with the Product(s) and/or the
//Application.
//
//
//
//============================================================================
// Environment: Devices: RH850/U2A on X2X NETWORK BOARD
//============================================================================
/*
+------------------------------------------------------------------------------+
| Includes |
+------------------------------------------------------------------------------+
*/
#include <map_device.h>
#include <map_ports.h>
#include <map_rscfd.h>
#include <map_dma.h>
#include <map_asmn.h>
#include <stdlib.h>
#include "rscfd_s.h"
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Jan.22.20
/*
+------------------------------------------------------------------------------+
| Defines |
+------------------------------------------------------------------------------+
*/
#define CAN_A_MACHINES ( 16 )
#define CAN_A_UNIT( M ) ( ( M>=8 ? 1 : 0 ) )
#define CAN_A_CHANNEL( M ) ( ( M>=8 ? ( M % 8 ) : M ) )
#define CAN_A_MACHINE( U, C ) ( U * 8 + C )
#define SDMA_A_CHANNELS ( CAN_A_MACHINES / 2 )

#define SDMA_A_UNITS ( ( SDMA_A_CHANNELS / SDMAC_MAXCHANNELS ) + 1 )
#define PBGKCPROT30 *( ( volatile unsigned long *)( 0xffc73200+0x00000018 ) )
#define PBG32PROT0_13 *( ( volatile unsigned long *)( 0xffc72d00+0x00000068 ) )/* RS-CANFD1, CAN0 */
#define PBG33PROT0_0 *( ( volatile unsigned long *)( 0xffc72e00+0x00000000 ) )/* RS-CANFD1, CAN3 */
#define PBG33PROT0_5 *( ( volatile unsigned long *)( 0xffc72e00+0x00000028 ) )/* RS-CANFD1, COM */
#define PBG32PROT1_13 *( ( volatile unsigned long *)( 0xffc72d00+0x0000006c ) )/* RS-CANFD1, CAN0 */
#define PBG32PROT1_15 *( ( volatile unsigned long *)( 0xffc72d00+0x0000007c ) )/* RS-CANFD1, CAN2 */
#define PBG33PROT1_1 *( ( volatile unsigned long *)( 0xffc72e00+0x0000000c ) )/* RS-CANFD1, CAN4 */
#define PBG33PROT1_3 *( ( volatile unsigned long *)( 0xffc72e00+0x0000001c ) )/* RS-CANFD1, CAN6 */
#define PBG33PROT1_5 *( ( volatile unsigned long *)( 0xffc72e00+0x0000002c ) )/* RS-CANFD1, COM */
#define PBGKCPROT80 *( ( volatile unsigned long *)( 0xfff2a000+0x00000018 ) )
#define PBG80PROT0_2 *( ( volatile unsigned long *)( 0xfff29300+0x00000010 ) )/* RS-CANFD0, CAN0 */
#define PBG80PROT0_10 *( ( volatile unsigned long *)( 0xfff29300+0x00000050 ) )/* RS-CANFD0, COM */
#define PBG80PROT1_3 *( ( volatile unsigned long *)( 0xfff29300+0x0000001c ) )/* RS-CANFD0, CAN1 */
#define PBG80PROT1_10 *( ( volatile unsigned long *)( 0xfff29300+0x00000054 ) )/* RS-CANFD0, COM */
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Jan.22.20
5.3 Gateway Application (Multi_Gateway_Test.c)
//============================================================================
// PROJECT = Mutli-Gateway for U2A on X2X NETWORK BOARD
//============================================================================
//============================================================================
// Copyright (c) 2020 by Renesas Electronics (Europe) GmbH. All rights reserved.
// Germany
//============================================================================
//
//
//of any kind whatsoever and expressly disclaimed and excluded by Renesas,
//Renesas shall not have any obligation to maintain, service or provide bug
//
//
//
//In no event shall Renesas be liable to the User for any incidental,
//such damages. Renesas shall not be liable for any services or products
//referred to the User by Renesas in connection with the Product(s) and/or the
//Application.
//
//
//
//============================================================================
// Environment: Devices: RH850/U2A on X2X NETWORK BOARD
//============================================================================
#include "Multi_Gateway_Test.h"
/*
+------------------------------------------------------------------------------+
| Globals |
+------------------------------------------------------------------------------+
*/
extern u08 RSCFD_LastErrorCode_Global_u08;

extern u08 RSCFD_InterruptFlag_Unit_u08;
static u32 GW_FrameBuffer[ SDMA_A_CHANNELS ][ sizeof( struct rscfd_r_rfmsg ) / 4 ];
bit ExitFlag_bit = false;
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Jan.22.20
/*
+------------------------------------------------------------------------------+
| Interrupt Vectors |
+------------------------------------------------------------------------------+
*/
/* Global Error of Unit: RX-FIFO Overflow and TXQ Overflow (not handled) */
void HW_Gateway_Error( void )

{
u16 InterruptErrorFlag_u16;
u16 LastErrorFlag_u16;
RSCFD_GetError( RSCFD_InterruptFlag_Unit_u08,
RSCFD_GLOBAL,
&InterruptErrorFlag_u16,
&LastErrorFlag_u16 );
/* On Message Lost in RX-FIFO, restart RX-FIFO0 */
if( ( LastErrorFlag_u16 & RSCFD_GINT_MSGLOST ) != 0 )

{
RSCFD_EnableRXFIFO( RSCFD_InterruptFlag_Unit_u08,
0,
RSCFD_RX_FIFO_DIS );
0,
RSCFD_RX_FIFO_EN );
1,
1,
RSCFD_RX_FIFO_EN );
2,
2,
RSCFD_RX_FIFO_EN );
3,
3,
RSCFD_RX_FIFO_EN );
}
return;
}
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Jan.22.20
void HW_Gateway_Processing_Exit( void )
{
u08 Unit_u08;
u08 StatusValue_u08;
bit Status_bit = RSCFD_OK;
struct rscfd_message InMessage;
Unit_u08 = RSCFD_InterruptFlag_Unit_u08;
/* fetch message from RX FIFO 1 */

/* Exit condition: message has at least a length of 1 */
do
{
InMessage.path = RSCFD_PATH_RXFIFO;
InMessage.pathdetail = 4;
Status_bit &= RSCFD_ReceiveMessage( Unit_u08,

&StatusValue_u08,
&InMessage );
if( StatusValue_u08 == RSCFD_FAULT_NONE )

{
if( InMessage.flag.dlc >= 1 )
{
ExitFlag_bit = true;
}
}
} while( ( StatusValue_u08 == RSCFD_FAULT_NONE ) &&
( Status_bit != RSCFD_ERROR ) );
return;
}
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Jan.22.20
/*
+------------------------------------------------------------------------------+
| GW_AssignRules |
+------------------------------------------------------------------------------+
| |
| Assignment of RS-CANFD AFL Rules |
| |
+------------------------------------------------------------------------------+
*/
bit GW_AssignRules( void )

{
u08 Machine_u08;
u08 Unit_u08;
u08 Channel_u08;
for( Machine_u08 = 0;
Machine_u08 < CAN_A_MACHINES;
Machine_u08++ )
{
Unit_u08 = CAN_A_UNIT( Machine_u08 );
Channel_u08 = CAN_A_CHANNEL( Machine_u08 );
switch( Channel_u08 )
{
case RSCFD_CHANNEL0:
Status_bit &= RSCFD_SetAFLEntry( Unit_u08,
Channel_u08,
0,
&RSCFD_A_AFL_CH0 );
Channel_u08,
1,
&RSCFD_A_AFL_RXBOX_EXTID_GWEXIT );
break;
Channel_u08,
0,
&RSCFD_A_AFL_CH2 );
Channel_u08,
1,
break;
Channel_u08,
0,
&RSCFD_A_AFL_CH4 );
Channel_u08,
1,
break;
Channel_u08,
0,
&RSCFD_A_AFL_CH6 );
Channel_u08,
1,
break;
}
}
return( Status_bit );
}
R01AN5108ED0100 Rev.1.00 Page 39 of 58

Jan.22.20
/*
+------------------------------------------------------------------------------+
| GW_ActivateChannels |
+------------------------------------------------------------------------------+
| |
| Activation of Channels: Queues and Operation Modes |
| |
+------------------------------------------------------------------------------+
*/
bit GW_ActivateChannels( void )

{
u08 Machine_u08;
u08 Unit_u08;
u08 Channel_u08;
Machine_u08++ )
{
switch( Channel_u08 )
{
Status_bit &= RSCFD_SetChannelConfiguration( Unit_u08,
Channel_u08,
&RSCFD_A_CHHWGW_500_KBPS_4000KBPS );
Status_bit &= RSCFD_Start( Unit_u08,
Channel_u08,
RSCFD_OPMODE_OPER, /* operation mode */
RSCFD_CLEAR, /* no error clearing */
RSCFD_SET ); /* timestamp reset */
break;
Status_bit &= RSCFD_SetChannelConfiguration( Unit_u08,
Channel_u08,
&RSCFD_A_CHRECONLY_500_KBPS_4000KBPS );
Status_bit &= RSCFD_Start( Unit_u08,
Channel_u08,
RSCFD_OPMODE_OPER, /* operation mode */
RSCFD_CLEAR, /* no error clearing */
RSCFD_SET ); /* timestamp reset */
break;
}
}
}
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Jan.22.20
/*
+------------------------------------------------------------------------------+
| GW_ActivateSDMA |
+------------------------------------------------------------------------------+
| |
| Activation of SDMA: Ready to transfer messages from unit to unit |
| |
+------------------------------------------------------------------------------+
*/
bit GW_ActivateSDMA( void )

{
u08 Unit_u08;
u08 Channel_u08;
bit Status_bit = SDMAC_OK;
u32 FirstDescriptorPointer_u32[ SDMA_A_CHANNELS ]

= { 0L, 0L, 0L, 0L, 0L, 0L, 0L, 0L };
u32 OtherDescriptorPointer_u32 = 0L;
struct sdmac_descriptor SDMA_FetchDescriptor;
struct sdmac_descriptor SDMA_PushDescriptor[ 4 ];
struct sdmac_chancfg SDMA_ChannelCfg[ SDMA_A_CHANNELS ];
/* open a PBG channel per CAN channel for the SDMAC controller */
PBGKCPROT30 = 0xA5A5A501L;
PBG32PROT0_13 = 0x00000153L; /* r/w RS-CANFD1, CAN0 */
PBG32PROT1_13 |= ( 1 << 0x1C ); /* Default SPID of SDMAC0 */
PBG33PROT0_5 = 0x00000153L; /* r/w RS-CANFD1, COMMON (RX-FIFO) */
PBGKCPROT80 = 0xA5A5A501L;
PBG80PROT0_10 = 0x00000153L; /* r/w RS-CANFD0, COMMON (RX-FIFO) */
/* open the local RAM of PE0 for the SDMAC controller */
GUARD_PE0CL0PEGKCPROT = 0xA5A5A501L;
GUARD_PE0CL0PEGSPID0 = ( 1 << 0x1C ); /* Default SPID of SDMAC0 */
GUARD_PE0CL0PEGBAD0 = 0xFDC00000L; /* local RAM base address */
GUARD_PE0CL0PEGADV0 = 0x03FF0000L; /* 64K local RAM is open */
GUARD_PE0CL0PEGPROT0 = 0x00000150L; /* enable guard */
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Jan.22.20
/* Set the RX-FIFO 0 of RSCFD0 read descriptor of channel 0 */
SDMA_FetchDescriptor.sar = ( u32 )( &( rscfd_rxfifo_p[ 0 ]->buf[ 0 ].id ) );

SDMA_FetchDescriptor.dar = ( u32 )( &GW_FrameBuffer[ 0 ][ 0 ] );
SDMA_FetchDescriptor.tsr = 19L * 4;
SDMA_FetchDescriptor.dpcr.upf = ( SDMAC_DESCUPDATEFLAG_SAR |
SDMAC_DESCUPDATEFLAG_DAR |
SDMAC_DESCUPDATEFLAG_TSR );
Status_bit &= SDMAC_SetDescriptor( 0, /* SDMAC Unit 0 */

0, /* Channel 0 */
0 | /* Set Index 0 */
SDMAC_DESC_CHAIN_NUMBER,
&SDMA_FetchDescriptor,
&FirstDescriptorPointer_u32[ 0 ] );
/* Set the TX-Queue write descriptors of SDMAC channel 0 */
SDMA_PushDescriptor[ 0 ].sar = ( u32 )( &GW_FrameBuffer[ 0 ][ 0 ] );

SDMA_PushDescriptor[ 0 ].dar = ( u32 )( &( rscfd_txmsg_p[ 1 ][ 0 ]->buf
[ abs( rscfd_txqentries[ 1 ][ 0 ][ 3 ] ) ].id ) );
SDMA_PushDescriptor[ 0 ].tsr = 19L * 4;
SDMA_PushDescriptor[ 0 ].dpcr.upf = ( SDMAC_DESCUPDATEFLAG_SAR |




0, /* Channel 0 */
SDMAC_DESC_CHAIN_LINKPREVIOUS, /* Add to list */
&SDMA_PushDescriptor[ 0 ],
&OtherDescriptorPointer_u32 );

0, /* Channel 0 */

0, /* Channel 0 */

0, /* Channel 0 */
SDMAC_DESC_CHAIN_LINKPREVIOUS |
SDMAC_DESC_CHAIN_LINKSTART, /* Add to list */
R01AN5108ED0100 Rev.1.00 Page 42 of 58

Jan.22.20


1, /* Channel 1 */
/* At next free place */
SDMAC_DESC_CHAIN_NEXTFREE,





1, /* Channel 1 */

1, /* Channel 1 */

1, /* Channel 1 */

1, /* Channel 1 */
R01AN5108ED0100 Rev.1.00 Page 43 of 58

Jan.22.20


2, /* Channel 2 */





2, /* Channel 2 */

2, /* Channel 2 */

2, /* Channel 2 */

2, /* Channel 2 */
R01AN5108ED0100 Rev.1.00 Page 44 of 58

Jan.22.20


3, /* Channel 3 */





3, /* Channel 3 */

3, /* Channel 3 */

3, /* Channel 3 */

3, /* Channel 3 */
R01AN5108ED0100 Rev.1.00 Page 45 of 58

Jan.22.20
/* Set the RX-FIFO 0 of RSCFD 1 read descriptor of SDMAC channel 4 */


4, /* Channel 4 */
/* Set the TX-Queue write descriptors of channel 4 */





4, /* Channel 4 */

4, /* Channel 4 */

4, /* Channel 4 */

4, /* Channel 4 */
R01AN5108ED0100 Rev.1.00 Page 46 of 58

Jan.22.20


5, /* Channel 5 */



SDMA_PushDescriptor[ 2 ].dar = ( u32 )( &( rscfd_txmsg_p[ 0 ][ 4 ]-
>buf[ abs( rscfd_txqentries[ 0 ][ 4 ][ 3 ] ) ].id ) );


5, /* Channel 5 */

5, /* Channel 5 */

5, /* Channel 5 */

5, /* Channel 5 */
R01AN5108ED0100 Rev.1.00 Page 47 of 58

Jan.22.20


6, /* Channel 6 */





6, /* Channel 6 */

6, /* Channel 6 */

6, /* Channel 6 */

6, /* Channel 6 */
R01AN5108ED0100 Rev.1.00 Page 48 of 58

Jan.22.20


7, /* Channel 7 */





7, /* Channel 7 */

7, /* Channel 7 */

7, /* Channel 7 */

7, /* Channel 7 */
R01AN5108ED0100 Rev.1.00 Page 49 of 58

Jan.22.20
/* Set the channel configurations */
/* assign trigger factor 45 (RX-FIFO0 of CAN unit 0) to SDMAC0.0 factor 45 */

SDMA_ChannelCfg[ 0 ].rs.b.rs = 45L; /* Trigger Factor */
/* Master settings */
SDMA_ChannelCfg[ 0 ].cm.um = SDMAC_CLEAR; /* Supervisor Mode */
SDMA_ChannelCfg[ 0 ].cm.spid = 0x1C; /* Default SPID */
/* Transfer settings */
SDMA_ChannelCfg[ 0 ].tsr = 0L; /* Force the descriptor usage */
SDMA_ChannelCfg[ 0 ].tmr.b.sts = SDMAC_TRANSSIZE_4BYTE;
SDMA_ChannelCfg[ 0 ].tmr.b.dts = SDMAC_TRANSSIZE_4BYTE;
SDMA_ChannelCfg[ 0 ].tmr.b.sm = SDMAC_ADDRESSMODE_INCREMENT;
SDMA_ChannelCfg[ 0 ].tmr.b.dm = SDMAC_ADDRESSMODE_INCREMENT;
SDMA_ChannelCfg[ 0 ].tmr.b.trs = SDMAC_REQUESTSOURCE_HARDWARE;
SDMA_ChannelCfg[ 0 ].tmr.b.pri = 0L;
SDMA_ChannelCfg[ 0 ].tmr.b.prien = 0L;
SDMA_ChannelCfg[ 0 ].tmr.b.slm = SDMAC_SLOWSPEED_OFF;
SDMA_ChannelCfg[ 0 ].sgcr.b.gen = SDMAC_CLEAR;
SDMA_ChannelCfg[ 0 ].sgcr.b.sen = SDMAC_CLEAR;
SDMA_ChannelCfg[ 0 ].rs.b.drqi = SDMAC_CLEAR;
SDMA_ChannelCfg[ 0 ].rs.b.ple = SDMAC_CLEAR;
SDMA_ChannelCfg[ 0 ].rs.b.fpt = SDMAC_CLEAR;
SDMA_ChannelCfg[ 0 ].rs.b.tl = SDMAC_TRLIMIT_BY_STS_TC;
SDMA_ChannelCfg[ 0 ].rs.b.tc = 19L * 5;
SDMA_ChannelCfg[ 0 ].chcr.dpb = SDMAC_CLEAR;
SDMA_ChannelCfg[ 0 ].chcr.dpe = SDMAC_SET;
SDMA_ChannelCfg[ 0 ].bufcr.b.ulb = SDMAC_BUFFERLIMIT_DEFAULT;
SDMA_ChannelCfg[ 0 ].dpptr.cf = SDMAC_SET;
SDMA_ChannelCfg[ 0 ].dpptr.ptr = ( FirstDescriptorPointer_u32[ 0 ] ) >> 2;
SDMA_ChannelCfg[ 0 ].dpcr.upf = ( SDMAC_DESCUPDATEFLAG_SAR |

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for( Unit_u08 = 0;
Unit_u08 < SDMA_A_UNITS;
Unit_u08++ )
{
Status_bit &= SDMAC_Reset( Unit_u08,
SDMAC_GLOBAL,
SDMAC_PRIOMODE_RNDROBIN );
for( Channel_u08 = 0;
Channel_u08 < SDMA_A_CHANNELS;
Channel_u08++ )
{
/* assign trigger group 0 (RX-FIFO of CAN units) to SDMAC0 channels */
Status_bit &= SDMAC_HWTriggerChannel( Unit_u08,

Channel_u08,
0, /* Trigger Group 0 */
SDMA_ChannelCfg[ Channel_u08 ].rs.b.rs );
/* Configure and Enable the SDMAC Channels */
Status_bit &= SDMAC_ConfigureChannel( Unit_u08,

Channel_u08,
&SDMA_ChannelCfg[ Channel_u08 ] );
Status_bit &= SDMAC_EnableChannel( Unit_u08,
Channel_u08 );
}
}
}
R01AN5108ED0100 Rev.1.00 Page 54 of 58

Jan.22.20
/*
+------------------------------------------------------------------------------+
| GW_Startup |
+------------------------------------------------------------------------------+
| |
| Startup of Gateway: Initializations and Modes |
| |
+------------------------------------------------------------------------------+
*/
bit GW_Startup( void )

{
u08 Machine_u08;
u08 Unit_u08;
u08 Channel_u08;
u08 PreviousUnit_u08 = RSCFD_GLOBAL;
Machine_u08++ )
{
Status_bit &= RSCFD_PortEnable( Unit_u08,

Channel_u08 );
if( PreviousUnit_u08 != Unit_u08 )

{
PreviousUnit_u08 = Unit_u08;
Status_bit &= RSCFD_Stop( Unit_u08,

RSCFD_GLOBAL,
RSCFD_OPMODE_RESET );
Status_bit &= RSCFD_SetGlobalConfiguration( Unit_u08,

&RSCFD_A_GCFG_GW );
Status_bit &= RSCFD_SetGlobalFIFOConfiguration( Unit_u08,

&RSCFD_A_GCFG_GW );
Status_bit &= RSCFD_CreateInterrupt( Unit_u08,

RSCFD_GLOBAL,
RSCFD_INT_RXF1,
RSCFD_INTENABLEDEFAULT,
HW_Gateway_Processing_Exit );
Status_bit &= RSCFD_CreateInterrupt( Unit_u08,

RSCFD_GLOBAL,
RSCFD_INT_GERR,
RSCFD_INTENABLEDEFAULT,
HW_Gateway_Error );
}
}
R01AN5108ED0100 Rev.1.00 Page 55 of 58

Jan.22.20
PreviousUnit_u08 = RSCFD_GLOBAL;
Machine_u08++ )
{
Status_bit &= RSCFD_Start( Unit_u08, /* Perform global activation */

Channel_u08,
RSCFD_OPMODE_RESET, /* Channel Reset */
RSCFD_CLEAR,
RSCFD_CLEAR );
if( PreviousUnit_u08 != Unit_u08 )

{
PreviousUnit_u08 = Unit_u08;
Status_bit &= RSCFD_SetGlobalConfiguration( Unit_u08,

&RSCFD_A_GCFG_GW );
Status_bit &= RSCFD_EnableRXFIFO( Unit_u08,

0,
RSCFD_SET );
1,
RSCFD_SET );
2,
RSCFD_SET );
3,
RSCFD_SET );
4,
RSCFD_SET );
}
}
}
R01AN5108ED0100 Rev.1.00 Page 56 of 58

Jan.22.20
/*
+------------------------------------------------------------------------------+
| main |
+------------------------------------------------------------------------------+
| |
| Main Entry of Gateway after RESET |
| |
+------------------------------------------------------------------------------+
*/
void main( void )

{
bit Status_bit;
Status_bit = GW_Startup( );
Status_bit &= GW_AssignRules( );
ASMN_EICOMMAND;
Status_bit &= GW_ActivateSDMA( );

Status_bit &= GW_ActivateChannels( );
while( ( !ExitFlag_bit ) && ( Status_bit ) )

{
__asm( "halt" );
}
}
R01AN5108ED0100 Rev.1.00 Page 57 of 58

Jan.22.20
Revision History
Description
Rev. Date Page Summary
01.00 22-JAN-2020 all Initial creation.
R01AN5108ED0100 Rev.1.00 Page 58 of 58

Jan.22.20
General Precautions in the Handling of Microprocessing Unit and Microcontroller Unit Products
The following usage notes are applicable to all Microprocessing unit and Microcontroller unit products from Renesas. For detailed usage notes on the
products covered by this document, refer to the relevant sections of the document as well as any technical updates that have been issued for the products.
1. Precaution against Electrostatic Discharge (ESD)

A strong electrical field, when exposed to a CMOS device, can cause destruction of the gate oxide and ultimately degrade the device operation. Steps
must be taken to stop the generation of static electricity as much as possible, and quickly dissipate it when it occurs. Environmental control must be
adequate. When it is dry, a humidifier should be used. This is recommended to avoid using insulators that can easily build up static electricity.
Semiconductor devices must be stored and transported in an anti-static container, static shielding bag or conductive material. All test and
measurement tools including work benches and floors must be grounded. The operator must also be grounded using a wrist strap. Semiconductor
devices must not be touched with bare hands. Similar precautions must be taken for printed circuit boards with mounted semiconductor devices.
2. Processing at power-on
The state of the product is undefined at the time when power is supplied. The states of internal circuits in the LSI are indeterminate and the states of
register settings and pins are undefined at the time when power is supplied. In a finished product where the reset signal is applied to the external reset
pin, the states of pins are not guaranteed from the time when power is supplied until the reset process is completed. In a similar way, the states of pins
in a product that is reset by an on-chip power-on reset function are not guaranteed from the time when power is supplied until the power reaches the
level at which resetting is specified.
3. Input of signal during power-off state
Do not input signals or an I/O pull-up power supply while the device is powered off. The current injection that results from input of such a signal or I/O
pull-up power supply may cause malfunction and the abnormal current that passes in the device at this time may cause degradation of internal
elements. Follow the guideline for input signal during power-off state as described in your product documentation.
4. Handling of unused pins
Handle unused pins in accordance with the directions given under handling of unused pins in the manual. The input pins of CMOS products are
generally in the high-impedance state. In operation with an unused pin in the open-circuit state, extra electromagnetic noise is induced in the vicinity of
the LSI, an associated shoot-through current flows internally, and malfunctions occur due to the false recognition of the pin state as an input signal
become possible.
5. Clock signals
After applying a reset, only release the reset line after the operating clock signal becomes stable. When switching the clock signal during program
execution, wait until the target clock signal is stabilized. When the clock signal is generated with an external resonator or from an external oscillator
during a reset, ensure that the reset line is only released after full stabilization of the clock signal. Additionally, when switching to a clock signal
produced with an external resonator or by an external oscillator while program execution is in progress, wait until the target clock signal is stable.
6. Voltage application waveform at input pin
Waveform distortion due to input noise or a reflected wave may cause malfunction. If the input of the CMOS device stays in the area between VIL
(Max.) and VIH (Min.) due to noise, for example, the device may malfunction. Take care to prevent chattering noise from entering the device when the
input level is fixed, and also in the transition period when the input level passes through the area between VIL (Max.) and VIH (Min.).
7. Prohibition of access to reserved addresses
Access to reserved addresses is prohibited. The reserved addresses are provided for possible future expansion of functions. Do not access these
addresses as the correct operation of the LSI is not guaranteed.
8. Differences between products
Before changing from one product to another, for example to a product with a different part number, confirm that the change will not lead to problems.
The characteristics of a microprocessing unit or microcontroller unit products in the same group but having a different part number might differ in terms
of internal memory capacity, layout pattern, and other factors, which can affect the ranges of electrical characteristics, such as characteristic values,
operating margins, immunity to noise, and amount of radiated noise. When changing to a product with a different part number, implement a system-
evaluation test for the given product.
Notice
1. Descriptions of circuits, software and other related information in this document are provided only to illustrate the operation of semiconductor products
and application examples. You are fully responsible for the incorporation or any other use of the circuits, software, and information in the design of your
product or system. Renesas Electronics disclaims any and all liability for any losses and damages incurred by you or third parties arising from the use
of these circuits, software, or information.
2. Renesas Electronics hereby expressly disclaims any warranties against and liability for infringement or any other claims involving patents, copyrights,
or other intellectual property rights of third parties, by or arising from the use of Renesas Electronics products or technical information described in this
document, including but not limited to, the product data, drawings, charts, programs, algorithms, and application examples.
3. No license, express, implied or otherwise, is granted hereby under any patents, copyrights or other intellectual property rights of Renesas Electronics
or others.
4. You shall not alter, modify, copy, or reverse engineer any Renesas Electronics product, whether in whole or in part. Renesas Electronics disclaims any
and all liability for any losses or damages incurred by you or third parties arising from such alteration, modification, copying or reverse engineering.
5. Renesas Electronics products are classified according to the following two quality grades: “Standard” and “High Quality”. The intended applications for
each Renesas Electronics product depends on the product’s quality grade, as indicated below.
"Standard": Computers; office equipment; communications equipment; test and measurement equipment; audio and visual equipment; home
electronic appliances; machine tools; personal electronic equipment; industrial robots; etc.
"High Quality": Transportation equipment (automobiles, trains, ships, etc.); traffic control (traffic lights); large-scale communication equipment; key
financial terminal systems; safety control equipment; etc.
Unless expressly designated as a high reliability product or a product for harsh environments in a Renesas Electronics data sheet or other Renesas
Electronics document, Renesas Electronics products are not intended or authorized for use in products or systems that may pose a direct threat to
human life or bodily injury (artificial life support devices or systems; surgical implantations; etc.), or may cause serious property damage (space
system; undersea repeaters; nuclear power control systems; aircraft control systems; key plant systems; military equipment; etc.). Renesas Electronics
disclaims any and all liability for any damages or losses incurred by you or any third parties arising from the use of any Renesas Electronics product
that is inconsistent with any Renesas Electronics data sheet, user’s manual or other Renesas Electronics document.
6. When using Renesas Electronics products, refer to the latest product information (data sheets, user’s manuals, application notes, “General Notes for
Handling and Using Semiconductor Devices” in the reliability handbook, etc.), and ensure that usage conditions are within the ranges specified by
Renesas Electronics with respect to maximum ratings, operating power supply voltage range, heat dissipation characteristics, installation, etc. Renesas
Electronics disclaims any and all liability for any malfunctions, failure or accident arising out of the use of Renesas Electronics products outside of such
specified ranges.
7. Although Renesas Electronics endeavors to improve the quality and reliability of Renesas Electronics products, semiconductor products have specific
characteristics, such as the occurrence of failure at a certain rate and malfunctions under certain use conditions. Unless designated as a high reliability
product or a product for harsh environments in a Renesas Electronics data sheet or other Renesas Electronics document, Renesas Electronics
products are not subject to radiation resistance design. You are responsible for implementing safety measures to guard against the possibility of bodily
injury, injury or damage caused by fire, and/or danger to the public in the event of a failure or malfunction of Renesas Electronics products, such as
safety design for hardware and software, including but not limited to redundancy, fire control and malfunction prevention, appropriate treatment for
aging degradation or any other appropriate measures. Because the evaluation of microcomputer software alone is very difficult and impractical, you are
responsible for evaluating the safety of the final products or systems manufactured by you.
8. Please contact a Renesas Electronics sales office for details as to environmental matters such as the environmental compatibility of each Renesas
Electronics product. You are responsible for carefully and sufficiently investigating applicable laws and regulations that regulate the inclusion or use of
controlled substances, including without limitation, the EU RoHS Directive, and using Renesas Electronics products in compliance with all these
applicable laws and regulations. Renesas Electronics disclaims any and all liability for damages or losses occurring as a result of your noncompliance
with applicable laws and regulations.
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prohibited under any applicable domestic or foreign laws or regulations. You shall comply with any applicable export control laws and regulations
promulgated and administered by the governments of any countries asserting jurisdiction over the parties or transactions.
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transfers the product to a third party, to notify such third party in advance of the contents and conditions set forth in this document.
11. This document shall not be reprinted, reproduced or duplicated in any form, in whole or in part, without prior written consent of Renesas Electronics.
12. Please contact a Renesas Electronics sales office if you have any questions regarding the information contained in this document or Renesas
Electronics products.
(Note1) “Renesas Electronics” as used in this document means Renesas Electronics Corporation and also includes its directly or indirectly controlled
subsidiaries.
(Note2) “Renesas Electronics product(s)” means any product developed or manufactured by or for Renesas Electronics.
(Rev.4.0-1 November 2017)
Corporate Headquarters Contact information

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Application Note

RH850/U2A series products or newer, where RS-CANFD V4 is implemented.

[1] User’s Manual of RH850/U2A, R01UH0864EJ

R01AN5108ED0100 Rev.1.00 Page 1 of 58

1. Overview and Features............................................................................................................ 3

2. The Internal Gateway of RS-CANFD ....................................................................................... 5

3. The Unit Gateway of SDMAC ................................................................................................ 17

4. Using the Application Driver Set of RH850/U2A ..................................................................... 23

5. Source Code of Application ................................................................................................... 25

Revision History ............................................................................................................................ 58

R01AN5108ED0100 Rev.1.00 Page 2 of 58

1.1 Features and Limitations

The following can be performed by the autonomous CAN-FD gateway application:

R01AN5108ED0100 Rev.1.00 Page 3 of 58

R01AN5108ED0100 Rev.1.00 Page 4 of 58

Figure 2: Internal Gateway of RS-CANFD

2.1 Global Configuration

• Global Error Signalling (CFDGCTR.QMEIE and CFDGCTR.MEIE)

R01AN5108ED0100 Rev.1.00 Page 5 of 58

2.1.1 Register Setting Details

Register Bit Driver Setting Value Comment

MME RSCFD_MIRROR_ENABLE 1 Mirror mode active (optional)

CMPOC RSCFD_PLOVF_TRUNCATE 1 Longer frames are truncated, but accepted

ITRCP RSCFD_CLOCK_FIFO_OFF 0 No interval time for FIFO transmissions (not

TSRST RSCFD_TIMESTAMP_KEEP 0 Timestamp counter continues / is not cleared.

NRXMB 1 → One standard receive buffer (optional, not used).

CFDMAE RSCFD_DMA_ALLOFF 0 No DMA association with multi-purpose FIFO units

R01AN5108ED0100 Rev.1.00 Page 6 of 58

• Other channel resources

• Acknowledging (odd) channels

R01AN5108ED0100 Rev.1.00 Page 7 of 58

“m” represents the channel number.

Register Bit Driver Setting Value Comment

CSLPR RSCFD_SLEEP_DISABLE 0 Sleep mode disabled.

… IE RSCFD_CINT_TDCVIOL | → Bus related problems to be reported, which

ERRD 0 → Show only first error code at an incident.

CRCT 0 → No CRC error test mode.

EOCCLR RSCFD_OCC_KEEP 0 Successful occurrence counter not cleared.

EOCCFG RSCFD_EOC_ALLTXRX 0 Error occurrence counter counts all

TDCOC RSCFD_TDC_MEASOFFSET 0 Enabled the automatic offset measurement of

TDCE RSCFD_TDC_ENABLE 1 Transmitter delay compensation active.

ESIC RSCFD_ESI_BYNODE 0 ESI flag of frame is driven by the node only.

GWEN RSCFD_MULTIGW_DISABLE 0 No Multi-Gateway mode (no conversion of

GWFDF RSCFD_FDF_FD 1 Not relevant, as Multi-Gateway mode is

R01AN5108ED0100 Rev.1.00 Page 8 of 58

CLOE RSCFD_FDMIXED 0 Mixed operation of classical and CAN-FD

TMIE 0 → No interrupts from transmit buffers.

THLIM RSCFD_THL_INT_ONLEVEL 0 By using the THL, software can verify the

R01AN5108ED0100 Rev.1.00 Page 9 of 58

“m” represents the channel number.

Register Bit Driver Setting Value Comment

DBRP 0 Setting for 4 Mbit/s with sampling point at

CSLPR RSCFD_SLEEP_DISABLE 0 Sleep mode disabled.

ERRD 0 → Show only first error code at an incident.

EOCCLR RSCFD_OCC_KEEP 0 Successful occurrence counter not cleared.

TDCO 15 → Transmitter delay compensation offset, to

GWEN RSCFD_MULTIGW_DISABLE 0 No Multi-Gateway mode (no conversion of

GWFDF RSCFD_FDF_FD 1 Not relevant, as Multi-Gateway mode is

REFE RSCFD_RXEDGEFILTER_ON 1 RX edge filter is enabled (prevents wrong