ESD XMC UltraScale+ Zynq XMC-CPU/Zulu User manual

XMC-CPU/Zulu
Hardware Manual Doc.-Nr.: V.2031.21 /-Rev 1.0
Page 1 of 45
XMC-CPU/Zulu
XMC UltraScale+TM Zynq®MPSoC Board
with integrated FPGA
Hardware Manual
to Product V.2031.01

Page 2 of 45
Hardware Manual Doc.-Nr.: V.2031.21 /Rev. 1.0
XMC-CPU/Zulu
This manual contains important information and instructions on safe and efficient
handling of the XMC-CPU/Zulu. Carefully read this manual before commencing any
work and follow the instructions.
The manual is a product component, please retain it for future use.
Trademark Notices
VITA™ is a trademark of the VMEbus International Trade Association in the United States and other countries.
PCI Express® is a registered trademark of PCI-SIG.
Linux® is the registered trademark of Linus Torvalds in the United States and/or other countries.
VxWorks® is a registered trademark of Wind River Systems, Inc.
Xilinx® and Zynq® are registered trademarks of Xilinx.
UltraScaleTM is trademark of Xilinx, Inc.
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.
All other trademarks, product names, company names or company logos used in this manual are reserved by their
respective owners.
Notes
The information in this document has been carefully checked and is believed to be entirely reliable.
esd electronics makes no warranty of any kind with regard to the material in this document and
assumes no responsibility for any errors that may appear in this document. In particular descriptions
and technical data specified in this document may not be constituted to be guaranteed product
features in any legal sense.
esd electronics reserves the right to make changes without notice to this, or any of its products, to
improve reliability, performance or design.
All rights to this documentation are reserved by esd electronics. Distribution to third parties, and
reproduction of this document in any form, whole or in part, are subject to esd electronics' written
approval.
© 2021 esd electronics gmbh, Hannover
esd electronics gmbh
Vahrenwalder Str. 207
30165 Hannover
Germany
Tel.:
[phone]
Fax:
[phone]
E-Mail:
[email protected]
Internet:
www.esd.eu

XMC-CPU/Zulu
Hardware Manual Doc.-Nr.: V.2031.21/ 1.0
Page 3 of 45
Document Information
Document file:
I:\Texte\Doku\MANUALS\PMC-XMC\XMC-CPU-Zulu\XMC-CPU-Zulu_Hardware-Manual_en_10.docx
Date of print:
2021-03-09
Document-type
number:
DOC0800
Hardware version.:
1.0
Software version:
1.0
Document History
The changes in the document listed below affect changes in the hardware as well as changes in the
description of the facts, only.
Rev.
Chapter
Changes versus previous version
Date
1.0
-
First English manual
2021-03-09
Technical details are subject to change without further notice.

Page 4 of 45
Hardware Manual Doc.-Nr.: V.2031.21 /Rev. 1.0
XMC-CPU/Zulu
Classification of Warning Messages and Safety Instructions
This manual contains noticeable descriptions, warning messages and safety instructions, which you
must follow to avoid personal injuries or death and property damage.
This is the safety alert symbol.
It is used to alert you to potential personal injury hazards. Obey all safety messages
and instructions that follow this symbol to avoid possible injury or death.
DANGER, WARNING, CAUTION
Depending on the hazard level the signal words DANGER, WARNING or CAUTION are used to
highlight safety instructions and warning messages. These messages may also include a warning
relating to property damage.
DANGER
Danger statements indicate a hazardous situation which, if not avoided, will result in
death or serious injury.
WARNING.
Warning statements indicate a hazardous situation that, if not avoided, could result in
death or serious injury.
CAUTION
Caution statements indicate a hazardous situation that, if not avoided, could result in
minor or moderate injury.
NOTICE
Notice statements are used to notify people on hazards that could result in things other than personal
injury, like property damage.
NOTICE
This NOTICE statement indicates that the device contains components sensitive to
electrostatic discharge.
NOTICE
This NOTICE statement contains the general mandatory sign and gives information that
must be heeded and complied with for a safe use.
INFORMATION
INFORMATION
Notes to point out something important or useful.

XMC-CPU/Zulu
Hardware Manual Doc.-Nr.: V.2031.21/ 1.0
Page 5 of 45
Safety Instructions
●
When working with the XMC-CPU/Zulu follow the instructions below and read the manual
carefully to protect yourself from injury and the XMC-CPU/Zulu from damage.
●
The device is a built-in component. It is essential to ensure that the device is mounted in a way
that cannot lead to endangering or injury of persons or damage to objects.
●
Do not use damaged or defective cables to connect the XMC-CPU/Zulu and follow the CAN
wiring hints in chapter: "Correct Wiring of Electrically Isolated CAN Networks".
●
In case of damages to the device, which might affect safety, appropriate and immediate
measures must be taken, that exclude an endangerment of persons and domestic animals and
property.
●
Current circuits which are connected to the device have to be sufficiently protected against
hazardous voltage (SELV according to EN 60950-1).
●
The XMC-CPU/Zulu may only be driven by power supply current circuits, that are contact
protected. A power supply, that provides a safety extra-low voltage (SELV) according to EN
60950-1, complies with these conditions.
●
The device has to be securely installed in the control cabinet before commissioning.
●
Protect the XMC-CPU/Zulu from dust, moisture and steam.
●
Protect the XMC-CPU/Zulu from shocks and vibrations.
●
The XMC-CPU/Zulu may become warm during normal use. Always allow adequate ventilation
around the XMC-CPU/Zulu and use care when handling.
●
Do not operate the XMC-CPU/Zulu adjacent to heat sources and do not expose it to unnecessary
thermal radiation. Ensure an ambient temperature as specified in the technical data.
DANGER
Hazardous Voltage - Risk of electric shock due to unintentional contact with uninsulated
live parts with high voltages inside of the system into which the XMC-CPU/Zulu is to be
integrated.
→
→
All current circuits which are connected to the device have to be sufficiently
protected against hazardous voltage (SELV according to EN 60950-1) before you
start with the installation.
Ensure the absence of voltage before starting any electrical work
NOTICE
Electrostatic discharges may cause damage to electronic components.
To avoid this, perform the steps described on page 19 before you touch the XMC-
CPU/Zulu, in order to discharge the static electricity from your body
→
→
To avoid this, discharge the static electricity from your body before you touch the
XMC-CPU/Zulu.
Furthermore, you should prevent your clothes from touching the XMC-CPU/Zulu,
because your clothes might be electrostatically charged as well.
Qualified Personnel
This documentation is directed exclusively towards personnel qualified in control and automation
engineering. The installation and commissioning of the product may only be carried out by qualified
personnel, which is authorized to put devices, systems, and electric circuits into operation according
to the applicable national standards of safety engineering.
Conformity
The XMC-CPU/Zulu is an industrial product and meets the demands of the EU regulations and EMC
standards printed in the conformity declaration at the end of this manual.

Page 6 of 45
Hardware Manual Doc.-Nr.: V.2031.21 /Rev. 1.0
XMC-CPU/Zulu
Warning:
In a residential, commercial or light industrial environment the XMC-CPU/Zulu may
cause radio interferences in which case the user may be required to take adequate
measures.
The XMC-CPU/Zulu is a sub-assembly intended for incorporation into an. The manufacturer of the
final system must decide whether additional EMC or EMI protection requirements are necessary.
Data Safety
This device is equipped with an Ethernet or other interface which is suitable to establish a connection
to data networks. Depending on the software used on the device, these interfaces may allow
attackers to compromise normal function, get illegal access or cause damage.
esd does not take responsibility for any damage caused by the device if operated at any networks.
It is the responsibility of the device's user to take care that necessary safety precautions for the
device's network interface are in place.
Intended Use
The intended use of the XMC-CPU/Zulu is the operation as XMC Zynq MPSoC device with FPGA.
The guarantee given by esd does not cover damages which result from improper use, usage not in
accordance with regulations or disregard of safety instructions and warnings.
●
The XMC-CPU/Zulu is intended for installation on a base board according to Vita 42.3 standard.
●
The operation of the XMC-CPU/Zulu in hazardous areas, or areas exposed to potentially explosive
materials is not permitted.
●
The operation of the XMC-CPU/Zulu for medical purposes is prohibited.
Service Note
The XMC-CPU/Zulu does not contain any parts that require maintenance by the user. The XMC-CPU/Zulu
does not require any manual configuration of the hardware. Unauthorized intervention in the device voids
warranty claims
Disposal
Devices which have become defective in the long run have to be disposed in an appropriate way or must
be returned to the manufacturer for proper disposal. Please, make a contribution to environmental
protection.
Typographical Conventions
Throughout this manual the following typographical conventions are used to distinguish technical terms.
Convention
Example
File and path names
/dev/null or <stdio.h>
Function names
open()
Programming constants
NULL
Programming data types
uint32_t
Variable names
Count
Number Representation
All numbers in this document are base 10 unless designated otherwise. Hexadecimal numbers have a prefix
of 0x, and binary numbers have a prefix of 0b. For example, 42 is represented as 0x2A in hexadecimal and
0b101010 in binary.

XMC-CPU/Zulu
Hardware Manual Doc.-Nr.: V.2031.21/ 1.0
Page 7 of 45
Table of Contents
Safety Instructions ..........................................................................................................................5
1Overview....................................................................................................................................9
1.1 Description of XMC-CPU/Zulu............................................................................................9
1.2 Glossary...........................................................................................................................11
2PCB View with Connectors....................................................................................................... 12
3LEDs........................................................................................................................................14
3.1 Position of the LEDs.........................................................................................................14
3.1.1 Position..................................................................................................................14
3.1.2 Indication of Ethernet LEDs ETH0, ETH1 ..............................................................14
3.1.3 Indication of the Tricolor LEDs 0-4.........................................................................14
3.2 LEDs on PCB...................................................................................................................15
3.2.1 Ethernet LEDs .......................................................................................................15
3.2.2 Other LEDs............................................................................................................16
4Hardware Configuration............................................................................................................ 17
4.1 Coding Switch and Reset Buttons....................................................................................17
4.1.1 Mode......................................................................................................................17
4.1.2 PROG, SRST, POR...............................................................................................18
5Hardware Installation................................................................................................................19
6Technical Data .........................................................................................................................21
6.1.1 General Technical Data .........................................................................................21
6.2 CPU Kernel......................................................................................................................22
6.3 Ethernet Interface PS.......................................................................................................23
6.4 Ethernet Interface PL .......................................................................................................23
6.5 USB Console Port (CON)................................................................................................. 24
6.6 PCIe Interfaces ................................................................................................................24
6.7 Digital Inputs/Outputs P4..................................................................................................25
6.8 Digital Inputs/Outputs P6..................................................................................................25
6.9 Control Elements and Display Elements ..........................................................................26
6.10 Health ..............................................................................................................................26
6.11 Mass Storage................................................................................................................... 26
6.12 MicroSD Card Slot ...........................................................................................................27
6.13 Optional Interfaces...........................................................................................................27
6.13.1CAN Interfaces ......................................................................................................27
6.13.2PMC Interface........................................................................................................27
7Connector Assignments ...........................................................................................................28
7.1 PMC/XMC Connectors.....................................................................................................28
7.1.1 PMC P1 Connector................................................................................................28
7.1.2 PMC P2 Connector................................................................................................29
7.1.3 PMC P4 I/O Connector ..........................................................................................30
7.1.4 XMC - P5............................................................................................................... 32
7.1.5 XMC –P6 I/O Connector .......................................................................................33
7.2 Ethernet ETH0, ETH1 ......................................................................................................34
7.3 USB Console Port –CON (X1220)................................................................................... 35
7.4 Adapters...........................................................................................................................36
7.4.1 XMC-CPU-ADAPTER-FPGA .................................................................................36
7.4.2 XMC-JTAG-Adapter...............................................................................................37
8Software...................................................................................................................................39
8.1 Introduction......................................................................................................................39
8.2 Overview of Software Components..................................................................................39
8.3 Licenses...........................................................................................................................40
8.3.1 Bootloader .............................................................................................................40
8.3.2 Operating System..................................................................................................40
8.3.3 VHDL-Code ...........................................................................................................40
8.4 Generating Firmware Image.............................................................................................41

Page 8 of 45
Hardware Manual Doc.-Nr.: V.2031.21 /Rev. 1.0
XMC-CPU/Zulu
8.5 Software...........................................................................................................................42
8.5.1 Peta Linux.............................................................................................................. 42
8.5.2 U-Boot ...................................................................................................................42
8.5.3 Linux...................................................................................................................... 43
8.5.4 VHDL-Code ...........................................................................................................43
9References...............................................................................................................................43
10Declaration of Conformity.........................................................................................................44
11Order Information.....................................................................................................................45
11.1 Hardware .........................................................................................................................45
11.2 Manuals ...........................................................................................................................45
List of Tables
Table 1: Description of LEDs........................................................................................................14
Table 2: Description of LEDs 0-4..................................................................................................14
Table 3: Ethernet LEDs on the PCB.............................................................................................15
Table 4: LEDs CON, Activity and USB PWR................................................................................16
Table 5: MODE switch..................................................................................................................17
Table 6: MODE switch configuration.............................................................................................17
Table 7: Reset signals..................................................................................................................18
Table 8: General Data of the module............................................................................................21
Table 9: CPU Kernel ....................................................................................................................22
Table 10: Data of the Ethernet interface PS .................................................................................23
Table 11: Data of the Ethernet interface PL..................................................................................23
Table 12: Data of the USB console port .......................................................................................24
Table 13: Data of the PCIe interface.............................................................................................24
Table 14: Data of the Digital I/Os on P4 .......................................................................................25
Table 15: Data of the Digital I/Os on P6 .......................................................................................25
Table 16: Data of the control elements and display elements.......................................................26
Table 17: Health unit....................................................................................................................26
Table 18: Data of the mass storage unit.......................................................................................26
Table 19: Data of the MicroSD card slot.......................................................................................27
Table 20: Data of the optional CAN interfaces..............................................................................27
Table 21: Data of the optional PMC interface...............................................................................27
Table 22: Order information for XMC-CPU/Zulu...........................................................................45
Table 23: Available Manuals ........................................................................................................45
List of Figures
Figure 1: Block circuit diagram........................................................................................................9
Figure 2: PCB top view .................................................................................................................12
Figure 3: PCB bottom view ...........................................................................................................12
Figure 4: Connectors and LEDs....................................................................................................14
Figure 5: Connectors and LEDs....................................................................................................15
Figure 6: Position of the switches (detail)......................................................................................17
Figure 7: XMC-CPU-ADAPTER-FPGA .........................................................................................36
Figure 8:Socket strip.....................................................................................................................37
Figure 9: Header...........................................................................................................................37
Figure 10: XMC-JTAG-Adapter.....................................................................................................37
Figure 11: Connecting diagram of the XMC-JTAG-Adapter...........................................................38

Overview
XMC-CPU/Zulu
Hardware Manual Doc.-Nr.: V.2031.21/ 1.0
Page 9 of 45
1 Overview
Figure 1: Block circuit diagram
64-Bit XMC ARM®Host CPU
The XMC-CPU/Zulu in XMC form factor comes with a XILINX®Zynq®UltraScale+TM CG
multiprocessor system-on-chip with 1.3 GHz core frequency.
The local memory bus has a bus width of 32 bits and an overall capacity of 1 Gbyte.
64 Mbyte SPI Flash for boot loader and 32 Kbit I²C EEPROM for U‑Boot environment.
XMC-CPU/Zulu features a 16-Gbyte eMMCTM memory which is used for operating system, file
system and application software.
The XMC interface comes with quad-lane PCIe®bus and is designed according to VITATM 42.3.
Two Gigabit Ethernet interfaces are accessible via the front panel of the XMC-CPU/Zulu. This gives
an excellent base for EtherCAT®applications.
Two additional rear IO Ethernet interfaces are accessible via the XMC connector P6. The rear IO
Ethernet interfaces come without electrical isolation.
Two of the GB Ethernet interfaces (one front, one rear) are rooted through the FPGA. Therefore,
special Ethernet IP-cores can be implemented.
A serial interface, designed as terminal interface, is accessible via an USB Mini type-B connector on
the front.
The Flash memory carries the standard boot program “Das U-Boot” and enables the XMC-CPU/Zulu
to boot various operating systems from on-board Flash, network or eMMC.
Board support packages are available for Linux®and VxWorks®. The BSPs include an example
source code for the FPGA. Programming of the FPGA is done via XILINX Toolchain.
The esd EtherCAT Master Stack is available for various operating systems.
CPU
Xilinx Zynq Ultrascale+
XCZU2CG
Environment
EEPROM
SPI0 SPI1
8
Dual Quad SPI
1 - 4 GByte Embedded
System Memory
x32
HP-IO
Bank
64 + 65
1/2 HP-IO
Bank
66
VREF
24x LVDS_18
or 48x LVCMOS18
7x LVDS_18
or 14x LVCMOS18
24x LVCMOS18
or 24x LVCMOS33
Bank 504 P4
P6
P5
Bank
505
10/100/1000
Ethernet
Phy
RGMII-PL
PCIe x4
RGMII-PS
CLK
Bank
502
RGMII-PS
Pinnout
according
to VITA 42.0
Table 5-4
(incl. GND
Connections)
4x2
4x2
24x1
19x2
24x2
7x2
I2C0
3 x Temp.
Sensor, one
with ALERT
4x2
EMMC
Bank 500
Bank
503
MODE
Status
Reset
CLK
Bank
0
Sysmon
RS232
to
USB
SER (RX, TX)
Electrical
isolation
uSD
Bank
501
to P4
I2C1
to
CPU
RGMII-PL4x2
1/2 Bank
66
19x LVDS_18
or 38x LVCMOS18
RGMII-PL
RGMII-PS
I/O
Expander I2C
Mux
0R
PMIC
I2C1
MAC ID
EEPROM
(1.8V)
(1.8V)
(1.8V)
(1.2V)
(1.8V)
(1.8V)
(1.8V)
(3.3V)
(1.8V)
(1.8V)
(0,85V + 1.8V)
Physical
Interface
5x Tricolor
LED
LED
Driver
Bank
26
(1.8/3.3V)
VCC
Switch
Physical
Interface
I2C3
I2C1
1,8V
3,3V
0R
FET
Bus
Switch
0R
Fallback
Enable TTL
Physikal Interface to P4
8x
8x
Enable LVDS
74CB3Q3345 o.ä.
TXS0108E o.ä.
10/100/1000
Ethernet
Phy
10/100/1000
Ethernet
Phy
10/100/1000
Ethernet
Phy
VREF
VREF
1x per
8 channels
1x per
8 channels
JTAG
1.1 Description of XMC-CPU/Zulu

Overview
Page 10 of 45
Hardware Manual Doc.-Nr.: V.2031.21 /Rev. 1.0
XMC-CPU/Zulu
Customized options are available for customized series production in reasonable quantities.
Please contact our sales team for detailed information.
For example:
-
CAN
esd offers standard PIM modules for CAN signals.
Furthermore, a CAN IP-core (CAN esdACC), which is configurable(number of CAN nodes, routing
FPGA ↔P4), is available for the on-board FPGA on request.
-
IRIG-B
An IRIG-B IP Core by esd electronics can be implemented in the FPGA.
The physical interface of IRIG-B has to be provided externally via a PIM module.
An esd PIM module is available on request.
-
Other CPU Types
Furthermore, other CPU-types (ZU2EG, ZU3CG and ZU3EG) are applicable.
-
Extended Temperature Range
The temperature range can be extended to -40 °C up to 75 °C.
-
PMC
PMC according to IEEE Std. 1386-2001 instead of XMC interface via connectors P1 and P2.
The PCI bus conforms to PCI Local Bus Specification 3.0, 32-bit 33/66 MHz, 3.3 V (5 V tolerant),
PCI bus master capability. The PMC interface supports 32-bit / 66 MHz PCI bus according to PCI
Local Bus Specification 3.0.
-
Ethernet
The rear IO Ethernet signals are connected via P6. To connect standard Ethernet cabling an esd
PIM module is available on request. The PIM module comes with an RJ45 connector and the
Ethernet transformers on-board.
-
RTC
An additional RTC can be equipped.
A backup battery can be connected via P4 and P6.
-
Software
Please contact our Sales-Team for board support packages for other real-time operating systems
(e.g. QNX).