38.3.2.5 Error State Indicator (ESI) in Gateway Mode

Normally, the ESI bit in a transmitted message reflects the error status of the CAN FD Protocol module. ESI is transmitted recessive when the module is error passive. In case the module is used in a gateway application, there will be situations where the ESI bit in the message needs to be transmitted recessive, even though the gateway module is error active. This can be configured by setting the ESIGM bit.