+\subsection{Multiple gateways}
+\label{sec:multiple-gateways}
+
+We will also test properties of multiple gateways. In the first case
+(Figure \ref{fig:multi}) there will be multiple (variable number)
+gateways interconnected by multiple virtual CAN busses. In the second
+case (Figure \ref{fig:multi2}), a single virtual bus will be used and
+multiple gateways will route the messages. The gateways will also
+modify the frames to avoid CAN-ID clashes on vcan0.
+
+
+\begin{figure}
+ \centering
+ \includegraphics[scale=.8]{gw-multi}
+ \caption{Multiple gateways with multiple virtual CAN buses.}
+ \label{fig:multi}
+\end{figure}
+
+\begin{figure}
+ \centering
+ \includegraphics[scale=.8]{gw-multi-mod}
+ \caption{Multiple gateways with a single virtual CAN bus.}
+ \label{fig:multi2}
+\end{figure}
+
+\subsection{Userspace gateway}
+\label{sec:userspace-gateway}
+
+We will also compare kernel-based gateway (considered above) with the
+usespace gateway created by \texttt{candump -s2 -b can1 can0}.
+
+\subsection{Gateway load}
+\label{sec:gateway-load}
+
+The experiments will be repeated for each of the following loads
+imposed on MPC5200:
+\begin{itemize}
+\item No load,
+\item CPU load,
+\item Ethernet load.
+\end{itemize}
+
+