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Hi all! I'm currently thinking of purchasing the pynq-z1 board and hoping to set up CAN communication on it. I've read the documents regarding the PYNQ board (http://pynq.readthedocs.io) but I wasn't able to conclude on whether I would need to purchase a PMOD with it to access a CAN peripheral. From what I understood, many of the peripherals are available through the PL via PMODs or an arduino. There was also a comment stating that peripherals such as Ethernet, USB and UART, are connected externally, while all other peripherals are connected internally or routed to PL pins. This confused me so my questions are: What do you mean by "connecting peripherals internally"? and would I need to purchase a PMOD and route my CAN controller to PMOD pins, in order to interface with CAN? (via overlays, I believe?). Just need some confirmation! I'm sorry if I'm asking something so basic, I'm fairly new to embedded development, especially with zynq chips but I'm keen to learn as I go! -Vin