首先明确：petalinux启动文件从FLASH启动系统，也就是将启动文件放入FLASH中。
1，vivado配置：
2，导入硬件后配置petalinux
source /opt/Xilinx/Vivado/2017.4/settings64.sh
source /opt/pkg/petalinux/settings.sh
petalinux-create --type project --template zynq --name ax_peta
petalinux-config --get-hw-description ../linux_base.sdk (存放 *.hdf文件的地方)
这里我们仅需要修改两个启动方式选项即可。boot和kernel的存储位置，都选到QSPI Flash即可
Subsystem AUTO Hardware Settings --->
# Advanced bootable images storage Settings --->
# boot image settings --->
# image storage media ---> <*> primary flash
#Subsystem AUTO Hardware Settings --->
# Advanced bootable images storage Settings --->
# kernel image settings --->
# image storage media ---> <*> primary flash
附录：如果板子没有SD卡硬件，就不能通过简单的SD卡烧写boot.bin到flash，必须通过JTAG下载BOOT.bin。
烧录完成BOOT.bin之后，可以通过JTAG或者串口或者网线tftp烧录image.ub文件到flash。
3，内核配置： petalinux-config -c kernel //设置驱动
配置完成后，ESC并保存。
4，编译petalinux启动文件
petalinux-build 时间很慢
petalinux-package --boot --fsbl ./images/linux/zynq_fsbl.elf --fpga --u-boot --force 生成启动文件
fsbl.elf,download.bit,u-boot.elf （三个文件用来在SDK中生成BOOT.mcs文件）；
image.ub(petalinux工具生成的image文件，包含kernel，devicetree和ramdisk)
5，将petalinux启动文件烧写到flash中：
方法一：先用SD卡在板子上启动petalinux系统，系统起来后使用指令烧写
（1）flash_eraseall /dev/mtd0 先擦除
用于存放BOOT.bin ： flashcp BOOT.bin /dev/mtd0
（2）flash_eraseall /dev/mtd2 先擦除
用于存放image.ub：flashcp image.ub /dev/mtd2
（3）将拨码开关设置为flash启动，就能看到petalinux在putty启动起来；
方法二：使用 jtag 烧写BOOT.bin，使用SecureCRT 串口烧写image.ub
（1） Zynq> sf probe 0 0 0
SF: Detected n25q128 with page size 256 Bytes, erase size 64 KiB, total 16 MiB
（2） Zynq> sf erase 0x520000 0xa00000 //擦除
SF: 10485760 bytes @ 0x520000 Erased: OK
（3） Zynq> sf read 10000000 0x520000 0xa00000 //这是清空存放image.ub的flash地址段里面的内容
device 0 offset 0x520000, size 0xa00000
SF: 10485760 bytes @ 0x520000 Read: OK
（4）Zynq> loadx 0x10000000 //xmodem下载image文件到DDR
//等待ScureCRT传递数据；选择Transfer->SendXmodem->目录对话框中选择image.ub文件，串口波特率115200
（5）Zynq> sf write 0x10000000 0x520000 0x00906d5c （image.ub大概16M，需要持续好几分钟）
//将DDR中的image拷贝到QSPI flash中，0x10000000 RAM中暂存image起始地址，
//0x520000 flash中存放image的偏移地址 offset，0x00906d5c image文件大小（size）
（6）将拨码开关设置为flash启动，就能看到petalinux在SecureCRT 8.1上启动起来；
方法三：从裸机SDK下载petalinux启动文件
（1）将拨码开关设置为FLASH启动模式，在Xilinx SDK中选择 Xilinx Tools->Program Flash。
Image File选择刚才生成的BOOT.bin文件，Flash Type选择qspi_single，Offset填写0，点击Program按钮。烧录完成后，我们的FSBL,bit,FSBL就下载到QSPI Flash中去了，已经可以实现u-boot的启动了，但是要烧录完uImage后才能引导kernel。
（2）将拨码开关设置为FLASH启动模式，烧录image.ub文件，因为Image file只能选择.bin或者.mcs文件，
所以需要把image.ub重新命名为image.ub.bin，然后再烧录（ Xilinx Tools->Program Flash）
Offset需要填写偏移地址，这个地址可以通过petalinux-config配置，或者可以通过system-config.dtsi文件查看。内容如下：
&qspi {
#address-cells = <1>;
#size-cells = <0>;
flash0: flash@0 {
compatible = "micron,n25q128";
reg = <0x0>;
#address-cells = <1>;
#size-cells = <1>;
spi-max-frequency = <50000000>;
partition@0x00000000 {
label = "boot";
reg = <0x00000000 0x00500000>;
};
partition@0x00500000 {
label = "bootenv";
reg = <0x00500000 0x00020000>;
};
partition@0x00520000 {
label = "kernel";
reg = <0x00520000 0x00a80000>;
};
partition@0x00fa0000 {
label = "spare";
reg = <0x00fa0000 0x00000000>;
};
};
};
我们kernel的偏移地址是0x00520000，因此Offset就填写这个数值，点击烧录。
由于image.ub.bin总共16M，这个过程有点漫长；
（3）将拨码开关设置为FLASH启动模式，先关闭再打开电源，可以看到有如下启动打印信息
Board: Xilinx Zynq
DRAM: ECC disabled 1 GiB
MMC: Card did not respond to voltage select!
sdhci@e0100000 - probe failed: -95
sdhci_transfer_data: Error detected in status(0x208000)!
Card did not respond to voltage select!
SF: Detected n25q128 with page size 256 Bytes, erase size 64 KiB, total 16 MiB
*** Warning - bad CRC, using default environment
In: serial
Out: serial
Err: serial
Net: ZYNQ GEM: e000b000, phyaddr ffffffff, interface rgmii-id
Retry time exceeded
Hit any key to stop autoboot: 0
SF: Detected n25q128 with page size 256 Bytes, erase size 64 KiB, total 16 MiB
device 0 offset 0x520000, size 0xa80000
SF: 11010048 bytes @ 0x520000 Read: OK
## Loading kernel from FIT Image at 10000000 ...
Using 'conf@1' configuration
Verifying Hash Integrity ... OK
Trying 'kernel@0' kernel subimage
Description: Linux Kernel
Type: Kernel Image
Compression: uncompressed
Data Start: 0x100000d4
Data Size: 3750752 Bytes = 3.6 MiB
Architecture: ARM
OS: Linux
Load Address: 0x00008000
Entry Point: 0x00008000
Hash algo: sha1
Hash value: 236f44568b2e728df5febdddb42e33470d433b03
Verifying Hash Integrity ... sha1+ OK
## Loading ramdisk from FIT Image at 10000000 ...
Using 'conf@1' configuration
Trying 'ramdisk@0' ramdisk subimage
Description: ramdisk
Type: RAMDisk Image
Compression: uncompressed
Data Start: 0x103979d8
Data Size: 5719461 Bytes = 5.5 MiB
Architecture: ARM
OS: Linux
Load Address: unavailable
Entry Point: unavailable
Hash algo: sha1
Hash value: b02c0cc32ace50d3465f5c9df5772defc10d61b5
Verifying Hash Integrity ... sha1+ OK
## Loading fdt from FIT Image at 10000000 ...
Using 'conf@1' configuration
Trying 'fdt@0' fdt subimage
Description: Flattened Device Tree blob
Type: Flat Device Tree
Compression: uncompressed
Data Start: 0x10393d28
Data Size: 15360 Bytes = 15 KiB
Architecture: ARM
Hash algo: sha1
Hash value: 6d55ad512906e1349d09df5bf6f396af7b00f262
Verifying Hash Integrity ... sha1+ OK
Booting using the fdt blob at 0x10393d28
Loading Kernel Image ... OK
Loading Ramdisk to 07a8b000, end 07fff5a5 ... OK
Loading Device Tree to 07a84000, end 07a8abff ... OK
Starting kernel ...
Uncompressing Linux... done, booting the kernel.
Booting Linux on physical CPU 0x0
Linux version 4.9.0-xilinx (alinx@ubuntu) (gcc version 6.2.1 20161016 (Linaro GCC 6.2-2016.11) ) #1 SMP PREEMPT Tue Mar 24 11:31:00 PDT 2020
CPU: ARMv7 Processor [413fc090] revision 0 (ARMv7), cr=18c5387d
CPU: PIPT / VIPT nonaliasing data cache, VIPT aliasing instruction cache
OF: fdt:Machine model: xlnx,zynq-7000
bootconsole [earlycon0] enabled
cma: Reserved 16 MiB at 0x3f000000
Memory policy: Data cache writealloc
percpu: Embedded 14 pages/cpu @ef7d1000 s25932 r8192 d23220 u57344
Built 1 zonelists in Zone order, mobility grouping on. Total pages: 260608
Kernel command line: console=ttyPS0,115200 earlyprintk
PID hash table entries: 4096 (order: 2, 16384 bytes)
Dentry cache hash table entries: 131072 (order: 7, 524288 bytes)
Inode-cache hash table entries: 65536 (order: 6, 262144 bytes)
Memory: 1007268K/1048576K available (6144K kernel code, 200K rwdata, 1464K rodata, 1024K init, 233K bss, 24924K reserved, 16384K cma-reserved, 245760K highmem)
Virtual kernel memory layout:
vector : 0xffff0000 - 0xffff1000 ( 4 kB)
fixmap : 0xffc00000 - 0xfff00000 (3072 kB)
vmalloc : 0xf0800000 - 0xff800000 ( 240 MB)
lowmem : 0xc0000000 - 0xf0000000 ( 768 MB)
pkmap : 0xbfe00000 - 0xc0000000 ( 2 MB)
modules : 0xbf000000 - 0xbfe00000 ( 14 MB)
.text : 0xc0008000 - 0xc0700000 (7136 kB)
.init : 0xc0900000 - 0xc0a00000 (1024 kB)
.data : 0xc0a00000 - 0xc0a32100 ( 201 kB)
.bss : 0xc0a32100 - 0xc0a6c8d8 ( 234 kB)
Preemptible hierarchical RCU implementation.
Build-time adjustment of leaf fanout to 32.
RCU restricting CPUs from NR_CPUS=4 to nr_cpu_ids=2.
RCU: Adjusting geometry for rcu_fanout_leaf=32, nr_cpu_ids=2
NR_IRQS:16 nr_irqs:16 16
efuse mapped to f0802000
slcr mapped to f0804000
L2C: platform modifies aux control register: 0x72360000 -> 0x72760000
L2C: DT/platform modifies aux control register: 0x72360000 -> 0x72760000
L2C-310 erratum 769419 enabled
L2C-310 enabling early BRESP for Cortex-A9
L2C-310 full line of zeros enabled for Cortex-A9
L2C-310 ID prefetch enabled, offset 1 lines
L2C-310 dynamic clock gating enabled, standby mode enabled
L2C-310 cache controller enabled, 8 ways, 512 kB
L2C-310: CACHE_ID 0x410000c8, AUX_CTRL 0x76760001
zynq_clock_init: clkc starts at f0804100
Zynq clock init
sched_clock: 64 bits at 333MHz, resolution 3ns, wraps every 4398046511103ns
clocksource: arm_global_timer: mask: 0xffffffffffffffff max_cycles: 0x4ce07af025, max_idle_ns: 440795209040 ns
Switching to timer-based delay loop, resolution 3ns
clocksource: ttc_clocksource: mask: 0xffff max_cycles: 0xffff, max_idle_ns: 537538477 ns
timer #0 at f080c000, irq=17
Console: colour dummy device 80x30
Calibrating delay loop (skipped), value calculated using timer frequency.. 666.66 BogoMIPS (lpj=3333333)
pid_max: default: 32768 minimum: 301
Mount-cache hash table entries: 2048 (order: 1, 8192 bytes)
Mountpoint-cache hash table entries: 2048 (order: 1, 8192 bytes)
CPU: Testing write buffer coherency: ok
CPU0: thread -1, cpu 0, socket 0, mpidr 80000000
Setting up static identity map for 0x100000 - 0x100058
CPU1: thread -1, cpu 1, socket 0, mpidr 80000001
Brought up 2 CPUs
SMP: Total of 2 processors activated (1333.33 BogoMIPS).
CPU: All CPU(s) started in SVC mode.
devtmpfs: initialized
VFP support v0.3: implementor 41 architecture 3 part 30 variant 9 rev 4
clocksource: jiffies: mask: 0xffffffff max_cycles: 0xffffffff, max_idle_ns: 19112604462750000 ns
pinctrl core: initialized pinctrl subsystem
NET: Registered protocol family 16
DMA: preallocated 256 KiB pool for atomic coherent allocations
cpuidle: using governor menu
hw-breakpoint: found 5 (+1 reserved) breakpoint and 1 watchpoint registers.
hw-breakpoint: maximum watchpoint size is 4 bytes.
zynq-ocm f800c000.ocmc: ZYNQ OCM pool: 256 KiB @ 0xf0880000
zynq-pinctrl 700.pinctrl: zynq pinctrl initialized
e0001000.serial: ttyPS0 at MMIO 0xe0001000 (irq = 25, base_baud = 6249999) is a xuartps
`ttyPS0] enabled
console [ttyPS0] enabled
bootconsole [earlycon0] disabled
bootconsole [earlycon0] disabled
GPIO IRQ not connected
XGpio: /amba_pl/gpio@41200000: registered, base is 1016
vgaarb: loaded
SCSI subsystem initialized
usbcore: registered new interface driver usbfs
usbcore: registered new interface driver hub
usbcore: registered new device driver usb
media: Linux media interface: v0.10
Linux video capture interface: v2.00
pps_core: LinuxPPS API ver. 1 registered
pps_core: Software ver. 5.3.6 - Copyright 2005-2007 Rodolfo Giometti <[email protected]>
PTP clock support registered
EDAC MC: Ver: 3.0.0
FPGA manager framework
fpga-region fpga-full: FPGA Region probed
Advanced Linux Sound Architecture Driver Initialized.
clocksource: Switched to clocksource arm_global_timer
NET: Registered protocol family 2
TCP established hash table entries: 8192 (order: 3, 32768 bytes)
TCP bind hash table entries: 8192 (order: 4, 65536 bytes)
TCP: Hash tables configured (established 8192 bind 8192)
UDP hash table entries: 512 (order: 2, 16384 bytes)
UDP-Lite hash table entries: 512 (order: 2, 16384 bytes)
NET: Registered protocol family 1
RPC: Registered named UNIX socket transport module.
RPC: Registered udp transport module.
RPC: Registered tcp transport module.
RPC: Registered tcp NFSv4.1 backchannel transport module.
Trying to unpack rootfs image as initramfs...
Freeing initrd memory: 5588K (c7a8b000 - c8000000)
hw perfevents: enabled with armv7_cortex_a9 PMU driver, 7 counters available
futex hash table entries: 512 (order: 3, 32768 bytes)
workingset: timestamp_bits=30 max_order=18 bucket_order=0
jffs2: version 2.2. (NAND) (SUMMARY) © 2001-2006 Red Hat, Inc.
bounce: pool size: 64 pages
io scheduler noop registered
io scheduler deadline registered
io scheduler cfq registered (default)
dma-pl330 f8003000.dmac: Loaded driver for PL330 DMAC-241330
dma-pl330 f8003000.dmac: DBUFF-128x8bytes Num_Chans-8 Num_Peri-4 Num_Events-16
42c00000.serial: ttyUL1 at MMIO 0x42c00000 (irq = 47, base_baud = 0) is a uartlite
42c10000.serial: ttyUL2 at MMIO 0x42c10000 (irq = 48, base_baud = 0) is a uartlite
xdevcfg f8007000.devcfg: ioremap 0xf8007000 to f0908000
[drm] Initialized
brd: module loaded
loop: module loaded
m25p80 spi0.0: found n25q128a13, expected n25q512a
m25p80 spi0.0: n25q128a13 (16384 Kbytes)
4 ofpart partitions found on MTD device spi0.0
Creating 4 MTD partitions on "spi0.0":
0x000000000000-0x000000500000 : "boot"
0x000000500000-0x000000520000 : "bootenv"
0x000000520000-0x000000fa0000 : "kernel"
0x000000fa0000-0x000001000000 : "spare"
libphy: Fixed MDIO Bus: probed
CAN device driver interface
libphy: MACB_mii_bus: probed
macb e000b000.ethernet eth0: Cadence GEM rev 0x00020118 at 0xe000b000 irq 27 (00:0a:35:00:1e:53)
RTL8211F Gigabit Ethernet e000b000.etherne:00: attached PHY driver [RTL8211F Gigabit Ethernet] (mii_bus:phy_addr=e000b000.etherne:00, irq=-1)
e1000e: Intel(R) PRO/1000 Network Driver - 3.2.6-k
e1000e: Copyright(c) 1999 - 2015 Intel Corporation.
ehci_hcd: USB 2.0 'Enhanced' Host Controller (EHCI) Driver
ehci-pci: EHCI PCI platform driver
usbcore: registered new interface driver usb-storage
mousedev: PS/2 mouse device common for all mice
i2c /dev entries driver
cdns-wdt f8005000.watchdog: Xilinx Watchdog Timer at f099e000 with timeout 10s
EDAC MC: ECC not enabled
Xilinx Zynq CpuIdle Driver started
sdhci: Secure Digital Host Controller Interface driver
sdhci: Copyright(c) Pierre Ossman
sdhci-pltfm: SDHCI platform and OF driver helper
mmc0: SDHCI controller on e0100000.sdhci [e0100000.sdhci] using ADMA
mmc1: SDHCI controller on e0101000.sdhci [e0101000.sdhci] using ADMA
ledtrig-cpu: registered to indicate activity on CPUs
usbcore: registered new interface driver usbhid
usbhid: USB HID core driver
NET: Registered protocol family 10
sit: IPv6, IPv4 and MPLS over IPv4 tunneling driver
NET: Registered protocol family 17
can: controller area network core (rev 20120528 abi 9)
NET: Registered protocol family 29
can: raw protocol (rev 20120528)
can: broadcast manager protocol (rev 20161123 t)
can: netlink gateway (rev 20130117) max_hops=1
Registering SWP/SWPB emulation handler
hctosys: unable to open rtc device (rtc0)
of_cfs_init
of_cfs_init: OK
ALSA device list:
No soundcards found.
mmc1: new high speed MMC card at address 0001
Freeing unused kernel memory: 1024K (c0900000 - c0a00000)
mmcblk1: mmc1:0001 Q2J55L 7.09 GiB
mmcblk1boot0: mmc1:0001 Q2J55L partition 1 16.0 MiB
INIT: mmcblk1boot1: mmc1:0001 Q2J55L partition 2 16.0 MiB
mmcblk1rpmb: mmc1:0001 Q2J55L partition 3 4.00 MiB
version 2.88 booting mmcblk1: p1
Starting udev
udevd[751]: starting version 3.2
random: udevd: uninitialized urandom read (16 bytes read)
random: udevd: uninitialized urandom read (16 bytes read)
random: udevd: uninitialized urandom read (16 bytes read)
udevd[752]: starting eudev-3.2
random: udevd: uninitialized urandom read (16 bytes read)
random: fast init done
FAT-fs (mmcblk1p1): Volume was not properly unmounted. Some data may be corrupt. Please run fsck.
Populating dev cache
hwclock: can't open '/dev/misc/rtc': No such file or directory
Wed Mar 25 13:58:37 UTC 2020
hwclock: can't open '/dev/misc/rtc': No such file or directory
Starting internet superserver: inetd.
Running postinst /etc/rpm-postinsts/100-sysvinit-inittab...
update-rc.d: /etc/init.d/run-postinsts exists during rc.d purge (continuing)
Removing any system startup links for run-postinsts ...
/etc/rcS.d/S99run-postinsts
INIT: Entering runlevel: 5
Configuring network interfaces... IPv6: ADDRCONF(NETDEV_UP): eth0: link is not ready
udhcpc (v1.24.1) started
Sending discover...
macb e000b000.ethernet eth0: link up (100/Full)
IPv6: ADDRCONF(NETDEV_CHANGE): eth0: link becomes ready
Sending discover...
Sending discover...
No lease, forking to background
done.
Starting Dropbear SSH server: Generating key, this may take a while...
Public key portion is:
ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQCaf2BVkHKXM34bTzf8E837A+HgGdHjrpa6UTaW6tUiHfkeI93HNfqe2FutLUcO+ess8Z1P/LrXibAC4Rh1JyN9VNlw8GYBzuHb+wBTFzAcw6/TZni+L//sIgB6pLEjjtCpqTd+KtIDthdIgmmJ21a8UHdHfHX1/OZOqwy5nUU8/GxU4TadpGcs9fw8zGICg9QVi4GJBQFhZfgoUvyDL7JR895naaGT7/uE6WJnGvIxCNwHuAnitqNKKvKvfurfDOnMho6Ih9n/kb5H5ZyXAvWvyTd8vYpbKqwuXw+CTZU8LBbuuEL6/E5i4ioX8DxVl1LwTx9qRSllOm/Pau4+tPzj root@ax_peta
Fingerprint: md5 a8:5e:57:97:62:e8:6b:83:8d:69:2c:1d:ac:40:fc:f9
dropbear.
hwclock: can't open '/dev/misc/rtc': No such file or directory
Starting syslogd/klogd: done
Starting tcf-agent: OK
PetaLinux 2017.4 ax_peta /dev/ttyPS0
ax_peta login: