+ +-------+
+ | GW | Ethernet
+ |MPC5200|<------------------+
+ +-------+ :
+ ^ | |
+ CAN bus 0 | v CAN bus 1 |
+ -------*---------*--*- -*-*---------*------- |
+ ^ | | | |
+ | v v | |
+ +------+ +------+ +------+ +---+--+ |
+ +--+ can0 +--+ can1 +--+ can2 +--+ can3 +--+ |
+ | | | | | | | | | | |
+ | | | | | | | | | | |
+ | +------+ +------+ +------+ +------+ | |
+ | | |
+ | PC |<--+
+ | |
+ +--------------------------------+---------+