User manual
Table Of Contents
- Zynq-7000 All Programmable SoC
- Table of Contents
- Ch. 1: Introduction
- Ch. 2: Signals, Interfaces, and Pins
- Ch. 3: Application Processing Unit
- Ch. 4: System Addresses
- Ch. 5: Interconnect
- Ch. 6: Boot and Configuration
- Ch. 7: Interrupts
- Ch. 8: Timers
- Ch. 9: DMA Controller
- Introduction
- Functional Description
- DMA Transfers on the AXI Interconnect
- AXI Transaction Considerations
- DMA Manager
- Multi-channel Data FIFO (MFIFO)
- Memory-to-Memory Transfers
- PL Peripheral AXI Transactions
- PL Peripheral Request Interface
- PL Peripheral - Length Managed by PL Peripheral
- PL Peripheral - Length Managed by DMAC
- Events and Interrupts
- Aborts
- Security
- IP Configuration Options
- Programming Guide for DMA Controller
- Programming Guide for DMA Engine
- Programming Restrictions
- System Functions
- I/O Interface
- Ch. 10: DDR Memory Controller
- Introduction
- AXI Memory Port Interface (DDRI)
- DDR Core and Transaction Scheduler (DDRC)
- DDRC Arbitration
- Controller PHY (DDRP)
- Initialization and Calibration
- DDR Clock Initialization
- DDR IOB Impedance Calibration
- DDR IOB Configuration
- DDR Controller Register Programming
- DRAM Reset and Initialization
- DRAM Input Impedance (ODT) Calibration
- DRAM Output Impedance (RON) Calibration
- DRAM Training
- Write Data Eye Adjustment
- Alternatives to Automatic DRAM Training
- DRAM Write Latency Restriction
- Register Overview
- Error Correction Code (ECC)
- Programming Model
- Ch. 11: Static Memory Controller
- Ch. 12: Quad-SPI Flash Controller
- Ch. 13: SD/SDIO Controller
- Ch. 14: General Purpose I/O (GPIO)
- Ch. 15: USB Host, Device, and OTG Controller
- Introduction
- Functional Description
- Programming Overview and Reference
- Device Mode Control
- Device Endpoint Data Structures
- Device Endpoint Packet Operational Model
- Device Endpoint Descriptor Reference
- Programming Guide for Device Controller
- Programming Guide for Device Endpoint Data Structures
- Host Mode Data Structures
- EHCI Implementation
- Host Data Structures Reference
- Programming Guide for Host Controller
- OTG Description and Reference
- System Functions
- I/O Interfaces
- Ch. 16: Gigabit Ethernet Controller
- Ch. 17: SPI Controller
- Ch. 18: CAN Controller
- Ch. 19: UART Controller
- Ch. 20: I2C Controller
- Ch. 21: Programmable Logic Description
- Ch. 22: Programmable Logic Design Guide
- Ch. 23: Programmable Logic Test and Debug
- Ch. 24: Power Management
- Ch. 25: Clocks
- Ch. 26: Reset System
- Ch. 27: JTAG and DAP Subsystem
- Ch. 28: System Test and Debug
- Ch. 29: On-Chip Memory (OCM)
- Ch. 30: XADC Interface
- Ch. 31: PCI Express
- Ch. 32: Device Secure Boot
- Appx. A: Additional Resources
- Appx. B: Register Details
- Overview
- Acronyms
- Module Summary
- AXI_HP Interface (AFI) (axi_hp)
- CAN Controller (can)
- DDR Memory Controller (ddrc)
- CoreSight Cross Trigger Interface (cti)
- Performance Monitor Unit (cortexa9_pmu)
- CoreSight Program Trace Macrocell (ptm)
- Debug Access Port (dap)
- CoreSight Embedded Trace Buffer (etb)
- PL Fabric Trace Monitor (ftm)
- CoreSight Trace Funnel (funnel)
- CoreSight Intstrumentation Trace Macrocell (itm)
- CoreSight Trace Packet Output (tpiu)
- Device Configuration Interface (devcfg)
- DMA Controller (dmac)
- Gigabit Ethernet Controller (GEM)
- General Purpose I/O (gpio)
- Interconnect QoS (qos301)
- NIC301 Address Region Control (nic301_addr_region_ctrl_registers)
- I2C Controller (IIC)
- L2 Cache (L2Cpl310)
- Application Processing Unit (mpcore)
- On-Chip Memory (ocm)
- Quad-SPI Flash Controller (qspi)
- SD Controller (sdio)
- System Level Control Registers (slcr)
- Static Memory Controller (pl353)
- SPI Controller (SPI)
- System Watchdog Timer (swdt)
- Triple Timer Counter (ttc)
- UART Controller (UART)
- USB Controller (usb)
Zynq-7000 AP SoC Technical Reference Manual www.xilinx.com 573
UG585 (v1.11) September 27, 2016
Chapter 18: CAN Controller
Rx/Tx Bit Timing Logic
The primary functions of the bit timing logic (BTL) module include:
• Generate the Rx sampling clock for the bitstream processor (BSP)
• Synchronize the CAN controller to CAN traffic on the bus
• Sample the bus and extracting the data stream from the bus during reception
• Insert the transmit bit stream onto the bus during transmission
The nominal length of the bit time clock period is based on the CAN_REF_CLK clock frequency, the
baud rate generator divider (can.BRPR register) and the segment lengths (can.BTR register).
The bit timing logic module manages the re-synchronization function for CAN using the sync width
parameter in the can.BTR[SJW] bit field. The CAN bit timing is shown in Figure 18-6.
Sync Segment count always equals one time quanta period.
The TS 1 and TS 2 period counts are programmable using the can.BTR[TS1, TS2] bit fields. These
registers are written when the controller is in Configuration mode. The width of the propagation
segment (PROP_SEG) must be less than the actual propagation delay.
Time Quanta Clock
The time quanta clock (TQ_CLK) is derived from the controller reference clock (CAN_REF_CLK) divided
by the baud rate prescaler (BRP).
tTQ_CLK = tCAN_REF_CLK * (can.BRPR[BRP] + 1)
freqTQ_CLK = freqCAN_REF_CLK / (can.BRPR[BRP] + 1)
tSYNC_SEGMENT = 1 * tTQ_CLK
tTIME_SEGMENT1 = tTQ_CLK * (can.BTR[TS1] + 1)
tTIME_SEGMENT2 = tTQ_CLK * (can.BTR[TS2] + 1)
X-Ref Target - Figure 18-6
Figure 18-6: CAN Bit Time
...
...
Nominal Bit Time
Sync
Segment
Propagation
Segment
Phase
Segment 1
Phase
Segment 2
UG585_c18_04_073012
TS1 TS2
Sample
Point
Time Quanta
Clock (TQ_CLK)