0、说明

        UG1144文档中描述:PetaLinux 是一种嵌入式 Linux 软件开发套件 (SDK)，主要用于赛灵思 FPGA 片上系统设计。 其主要是帮助搭建嵌入式端整套固件。完成编译后可产生运行于ZYNQ PS端的uboot、内核、文件系统等。

        其实，我并推荐使用这种方式，主要是其编译依赖库太多，编译时间长，磁盘空间要求大、编译中可能由于各种问题导致失败，且调试不方便。或许对于FPGA工程师来说，不太关注PS端的开发者比较适合使用PetaLinux，不过和论坛技术支持聊天说自己单独编译使用可能会遇到ip driver的麻烦。后续章节使用源码独立编译ZYNQ Linux系统专门说明一下如何通过最原始的方法，单独编译uboot、内核、文件系统来构建ZYNQ PS端系统。

1、环境

1.1硬件环境

• Xilinx ZCU104开发板

1.2软件环境

• VM ubuntu 18.04
• windows 10

1.3资源下载准备

• Xilinx 下载站点     

      https://china.xilinx.com/support/download.html

• 下载PetaLinux 安装工具petalinux-v2021.1-final-installer.run

用于安装PetaLinu工具，之后可以使用PetaLinu相关命令。

https://china.xilinx.com/support/download/index.html/content/xilinx/zh/downloadNav/embedded-design-tools.html

• BSP包

• 离线资源包

• 参考文档UG1144

2、安装petalinux

2.1 安装ubuntu基本工具

           一下工具是按照PetaLinux及后续编译阶段依赖的工具，需要确认安装成功。不然后续编译报错缺少工具。此处也可以关注最新版UG1144文档中描述的依赖工具。不同版本可能依赖的工具略有不同。

sudo apt-get install -y gcc git make net-tools libncurses5-dev tftpd zlib1g-dev libssl-dev flex bison libselinux1 gnupg wget diffstat chrpath socat xterm autoconf libtool tar unzip texinfo zlib1g-dev gcc-multilib build-essential zlib1g:i386 screen pax gzip gawk

2.2 安装petalinux

• 将petalinux-v2021.1-final-installer.run上传到ubuntu
• chmod +x petalinux-v2021.1-final-installer.run 增加执行权限
• ./petalinux-v2021.1-final-installer.run  --dir 安装路径
• source <path-to-installed-PetaLinux>/settings.sh 设置环境变量

         petalinux安装相对比较容易，如果执行报错，可以参考UG1144里面，里面根据每一个操作，列出了常见错误及解决方法。比/bin/sh is no tbash需要sudo dpkg-reconfigure dash切换到dash。

        输入petalinux-config 可以正常识别命令，说明安装成功了。      

3、构建系统

通过BSP创建工程

• petalinux-create -t project -s xilinx-zcu104-v2021.1-final.bsp

配置uboot、内核

• petalinux-config -c uboot
• petalinux-config -c kernel

过程中需要联网，下载依赖的工具及源码

编译

• petalinux-build

同样需要联网，下载依赖的源码。或者配置离线资源包

输出

yangf@ubuntu:~/src/xilinx/zcu104/xilinx-zcu104-2021.1/images/linux$ ls
bl31.bin  config     pxelinux.cfg            ramdisk.tar.gz         rootfs.ext4      system.bit      u-boot-dtb.elf   zynqmp-qemu-arm.dtb
bl31.elf  Image      ramdisk.cpio.gz         rootfs.cpio            rootfs.jffs2     system.dtb      u-boot.elf       zynqmp-qemu-multiarch-arm.dtb
BOOT.BIN  image.ub   ramdisk.cpio.gz.u-boot  rootfs.cpio.gz         rootfs.manifest  u-boot.bin      vmlinux          zynqmp-qemu-multiarch-pmu.dtb
boot.scr  pmufw.elf  ramdisk.manifest        rootfs.cpio.gz.u-boot  rootfs.tar.gz    u-boot-dtb.bin  zynqmp_fsbl.elf
yangf@ubuntu:~/src/xilinx/zcu104/xilinx-zcu104-2021.1/images/linux$ 

SD启动

• 格式化SD:可在ubuntu中通过disks格式化分区，第一分区为fat，第二分区为ext4
• BOOT.BIN、image.ub、 boot.scr拷贝到第一分区
• 解压文件系统到第二分区:tar xvf rootfs.tar.gz -C /media/rootfs

启动日志

Xilinx Zynq MP First Stage Boot Loader 
Release 2021.1   Jun  6 2021  -  07:07:32
NOTICE:  ATF running on XCZU7EV/silicon v4/RTL5.1 at 0xfffea000
NOTICE:  BL31: v2.4(release):v1.1-7609-g851523ea2
NOTICE:  BL31: Built : 08:27:07, Apr 28 2021


U-Boot 2021.01 (Jun 01 2021 - 11:54:06 +0000)

Model: ZynqMP ZCU104 RevC
Board: Xilinx ZynqMP
DRAM:  2 GiB
PMUFW:  v1.1
EL Level:       EL2
Chip ID:        zu7ev
NAND:  0 MiB
MMC:   mmc@ff170000: 0
Loading Environment from FAT... *** Warning - bad CRC, using default environment

In:    serial
Out:   serial
Err:   serial
Bootmode: LVL_SHFT_SD_MODE1
Reset reason:   EXTERNAL 
Net:   
ZYNQ GEM: ff0e0000, mdio bus ff0e0000, phyaddr 12, interface rgmii-id
eth0: ethernet@ff0e0000
Hit any key to stop autoboot:  0 
switch to partitions #0, OK
mmc0 is current device
Scanning mmc 0:1...
Found U-Boot script /boot.scr
2594 bytes read in 15 ms (168 KiB/s)
## Executing script at 20000000
Trying to load boot images from mmc0
14527336 bytes read in 967 ms (14.3 MiB/s)
## Loading kernel from FIT Image at 10000000 ...
   Using 'conf-system-top.dtb' configuration
   Trying 'kernel-1' kernel subimage
     Description:  Linux kernel
     Created:      2021-06-04  15:57:16 UTC
     Type:         Kernel Image
     Compression:  gzip compressed
     Data Start:   0x100000f8
     Data Size:    9356113 Bytes = 8.9 MiB
     Architecture: AArch64
     OS:           Linux
     Load Address: 0x00080000
     Entry Point:  0x00080000
     Hash algo:    sha256
     Hash value:   287de5bbc5cd30503aafb8e4ca18d11c0ab014c2a3179466cb92bd30308d1026
   Verifying Hash Integrity ... sha256+ OK
## Loading ramdisk from FIT Image at 10000000 ...
   Using 'conf-system-top.dtb' configuration
   Trying 'ramdisk-1' ramdisk subimage
     Description:  petalinux-initramfs-image
     Created:      2021-06-04  15:57:16 UTC
     Type:         RAMDisk Image
     Compression:  uncompressed
     Data Start:   0x108f8220
     Data Size:    5120976 Bytes = 4.9 MiB
     Architecture: AArch64
     OS:           Linux
     Load Address: unavailable
     Entry Point:  unavailable
     Hash algo:    sha256
     Hash value:   9eee10878a9166c32fa8a2936805d88fb07b5c47321e9bf3aa87dfa87be05d94
   Verifying Hash Integrity ... sha256+ OK
## Loading fdt from FIT Image at 10000000 ...
   Using 'conf-system-top.dtb' configuration
   Trying 'fdt-system-top.dtb' fdt subimage
     Description:  Flattened Device Tree blob
     Created:      2021-06-04  15:57:16 UTC
     Type:         Flat Device Tree
     Compression:  uncompressed
     Data Start:   0x108ec55c
     Data Size:    48111 Bytes = 47 KiB
     Architecture: AArch64
     Hash algo:    sha256
     Hash value:   0c6d9bda884531e6af70a45b8f4d7b51921f615772deed64e14dd2c82000422a
   Verifying Hash Integrity ... sha256+ OK
   Booting using the fdt blob at 0x108ec55c
   Uncompressing Kernel Image
   Loading Ramdisk to 7d82f000, end 7dd113d0 ... OK
   Loading Device Tree to 000000007d820000, end 000000007d82ebee ... OK

Starting kernel ...

[    0.000000] Booting Linux on physical CPU 0x0000000000 [0x410fd034]
[    0.000000] Linux version 5.10.0-xilinx-v2021.1 (oe-user@oe-host) (aarch64-xilinx-linux-gcc (GCC) 10.2.0, GNU ld (GNU Binutils) 2.35.1) #1 SMP Fri Jun 4 15:57:16 UTC 2021
[    0.000000] Machine model: ZynqMP ZCU104 RevC
[    0.000000] earlycon: cdns0 at MMIO 0x00000000ff000000 (options '115200n8')
[    0.000000] printk: bootconsole [cdns0] enabled
[    0.000000] efi: UEFI not found.
[    0.000000] [Firmware Bug]: Kernel image misaligned at boot, please fix your bootloader!
[    0.000000] cma: Reserved 1000 MiB at 0x000000003f000000
[    0.000000] Zone ranges:
[    0.000000]   DMA32    [mem 0x0000000000000000-0x000000007fefffff]
[    0.000000]   Normal   empty
[    0.000000] Movable zone start for each node
[    0.000000] Early memory node ranges
[    0.000000]   node   0: [mem 0x0000000000000000-0x000000007fefffff]
[    0.000000] Zeroed struct page in unavailable ranges: 256 pages
[    0.000000] Initmem setup node 0 [mem 0x0000000000000000-0x000000007fefffff]
[    0.000000] psci: probing for conduit method from DT.
[    0.000000] psci: PSCIv1.1 detected in firmware.
[    0.000000] psci: Using standard PSCI v0.2 function IDs
[    0.000000] psci: MIGRATE_INFO_TYPE not supported.
[    0.000000] psci: SMC Calling Convention v1.2
[    0.000000] percpu: Embedded 22 pages/cpu s50968 r8192 d30952 u90112
[    0.000000] Detected VIPT I-cache on CPU0
[    0.000000] CPU features: detected: ARM erratum 845719
[    0.000000] Built 1 zonelists, mobility grouping on.  Total pages: 515844
[    0.000000] Kernel command line:  earlycon console=ttyPS0,115200 clk_ignore_unused init_fatal_sh=1 cma=1000M
[    0.000000] Dentry cache hash table entries: 262144 (order: 9, 2097152 bytes, linear)
[    0.000000] Inode-cache hash table entries: 131072 (order: 8, 1048576 bytes, linear)
[    0.000000] mem auto-init: stack:off, heap alloc:off, heap free:off
[    0.000000] Memory: 1004876K/2096128K available (13952K kernel code, 980K rwdata, 3916K rodata, 2112K init, 588K bss, 67252K reserved, 1024000K cma-reserved)
[    0.000000] rcu: Hierarchical RCU implementation.
[    0.000000] rcu:     RCU event tracing is enabled.
[    0.000000] rcu: RCU calculated value of scheduler-enlistment delay is 25 jiffies.
[    0.000000] NR_IRQS: 64, nr_irqs: 64, preallocated irqs: 0
[    0.000000] GIC: Adjusting CPU interface base to 0x00000000f902f000
[    0.000000] GIC: Using split EOI/Deactivate mode
[    0.000000] irq-xilinx: mismatch in kind-of-intr param
[    0.000000] irq-xilinx: /amba_pl@0/interrupt-controller@80000000: num_irq=32, sw_irq=0, edge=0x1
[    0.000000] random: get_random_bytes called from start_kernel+0x31c/0x524 with crng_init=0
[    0.000000] arch_timer: cp15 timer(s) running at 100.00MHz (phys).
[    0.000000] clocksource: arch_sys_counter: mask: 0xffffffffffffff max_cycles: 0x171024e7e0, max_idle_ns: 440795205315 ns
[    0.000003] sched_clock: 56 bits at 100MHz, resolution 10ns, wraps every 4398046511100ns
[    0.008364] Console: colour dummy device 80x25
[    0.012479] Calibrating delay loop (skipped), value calculated using timer frequency.. 200.00 BogoMIPS (lpj=400000)
[    0.022841] pid_max: default: 32768 minimum: 301
[    0.027563] Mount-cache hash table entries: 4096 (order: 3, 32768 bytes, linear)
[    0.034785] Mountpoint-cache hash table entries: 4096 (order: 3, 32768 bytes, linear)
[    0.043613] rcu: Hierarchical SRCU implementation.
[    0.047599] EFI services will not be available.
[    0.051964] smp: Bringing up secondary CPUs ...
[    0.056698] Detected VIPT I-cache on CPU1
[    0.056739] CPU1: Booted secondary processor 0x0000000001 [0x410fd034]
[    0.057126] Detected VIPT I-cache on CPU2
[    0.057150] CPU2: Booted secondary processor 0x0000000002 [0x410fd034]
[    0.057515] Detected VIPT I-cache on CPU3
[    0.057537] CPU3: Booted secondary processor 0x0000000003 [0x410fd034]
[    0.057585] smp: Brought up 1 node, 4 CPUs
[    0.091780] SMP: Total of 4 processors activated.
[    0.096453] CPU features: detected: 32-bit EL0 Support
[    0.101556] CPU features: detected: CRC32 instructions
[    0.106695] CPU: All CPU(s) started at EL2
[    0.110736] alternatives: patching kernel code
[    0.116225] devtmpfs: initialized
[    0.123902] clocksource: jiffies: mask: 0xffffffff max_cycles: 0xffffffff, max_idle_ns: 7645041785100000 ns
[    0.128123] futex hash table entries: 1024 (order: 4, 65536 bytes, linear)
[    0.157571] pinctrl core: initialized pinctrl subsystem
[    0.158074] DMI not present or invalid.
[    0.161151] NET: Registered protocol family 16
[    0.166819] DMA: preallocated 256 KiB GFP_KERNEL pool for atomic allocations
[    0.172501] DMA: preallocated 256 KiB GFP_KERNEL|GFP_DMA32 pool for atomic allocations
[    0.180305] audit: initializing netlink subsys (disabled)
[    0.185710] audit: type=2000 audit(0.128:1): state=initialized audit_enabled=0 res=1
[    0.193343] cpuidle: using governor menu
[    0.197285] hw-breakpoint: found 6 breakpoint and 4 watchpoint registers.
[    0.204018] ASID allocator initialised with 65536 entries
[    0.209430] Serial: AMBA PL011 UART driver
[    0.238754] HugeTLB registered 1.00 GiB page size, pre-allocated 0 pages
[    0.239805] HugeTLB registered 32.0 MiB page size, pre-allocated 0 pages
[    0.246479] HugeTLB registered 2.00 MiB page size, pre-allocated 0 pages
[    0.253139] HugeTLB registered 64.0 KiB page size, pre-allocated 0 pages
[    1.304651] cryptd: max_cpu_qlen set to 1000
[    1.329581] DRBG: Continuing without Jitter RNG
[    1.408609] raid6: neonx8   gen()  2143 MB/s
[    1.476662] raid6: neonx8   xor()  1598 MB/s
[    1.544733] raid6: neonx4   gen()  2186 MB/s
[    1.612786] raid6: neonx4   xor()  1565 MB/s
[    1.680865] raid6: neonx2   gen()  2077 MB/s
[    1.748916] raid6: neonx2   xor()  1438 MB/s
[    1.816992] raid6: neonx1   gen()  1775 MB/s
[    1.885052] raid6: neonx1   xor()  1220 MB/s
[    1.953116] raid6: int64x8  gen()  1438 MB/s
[    2.021181] raid6: int64x8  xor()   771 MB/s
[    2.089248] raid6: int64x4  gen()  1602 MB/s
[    2.157321] raid6: int64x4  xor()   819 MB/s
[    2.225399] raid6: int64x2  gen()  1398 MB/s
[    2.293445] raid6: int64x2  xor()   745 MB/s
[    2.361523] raid6: int64x1  gen()  1033 MB/s
[    2.429596] raid6: int64x1  xor()   517 MB/s
[    2.429634] raid6: using algorithm neonx4 gen() 2186 MB/s
[    2.433586] raid6: .... xor() 1565 MB/s, rmw enabled
[    2.438517] raid6: using neon recovery algorithm
[    2.443589] iommu: Default domain type: Translated 
[    2.448171] SCSI subsystem initialized
[    2.451803] usbcore: registered new interface driver usbfs
[    2.457145] usbcore: registered new interface driver hub
[    2.462417] usbcore: registered new device driver usb
[    2.467460] mc: Linux media interface: v0.10
[    2.471664] videodev: Linux video capture interface: v2.00
[    2.477138] EDAC MC: Ver: 3.0.0
[    2.480587] zynqmp-ipi-mbox mailbox@ff990400: Registered ZynqMP IPI mbox with TX/RX channels.
[    2.488880] FPGA manager framework
[    2.492178] Advanced Linux Sound Architecture Driver Initialized.
[    2.498424] Bluetooth: Core ver 2.22
[    2.501673] NET: Registered protocol family 31
[    2.506075] Bluetooth: HCI device and connection manager initialized
[    2.512391] Bluetooth: HCI socket layer initialized
[    2.517234] Bluetooth: L2CAP socket layer initialized
[    2.522257] Bluetooth: SCO socket layer initialized
[    2.527342] clocksource: Switched to clocksource arch_sys_counter
[    2.533289] VFS: Disk quotas dquot_6.6.0
[    2.537082] VFS: Dquot-cache hash table entries: 512 (order 0, 4096 bytes)
[    2.548402] NET: Registered protocol family 2
[    2.548801] tcp_listen_portaddr_hash hash table entries: 1024 (order: 2, 16384 bytes, linear)
[    2.556704] TCP established hash table entries: 16384 (order: 5, 131072 bytes, linear)
[    2.564651] TCP bind hash table entries: 16384 (order: 6, 262144 bytes, linear)
[    2.572009] TCP: Hash tables configured (established 16384 bind 16384)
[    2.578371] UDP hash table entries: 1024 (order: 3, 32768 bytes, linear)
[    2.585002] UDP-Lite hash table entries: 1024 (order: 3, 32768 bytes, linear)
[    2.592177] NET: Registered protocol family 1
[    2.596663] RPC: Registered named UNIX socket transport module.
[    2.602274] RPC: Registered udp transport module.
[    2.606935] RPC: Registered tcp transport module.
[    2.611607] RPC: Registered tcp NFSv4.1 backchannel transport module.
[    2.618591] PCI: CLS 0 bytes, default 64
[    2.622004] Trying to unpack rootfs image as initramfs...
[    2.863902] Freeing initrd memory: 5000K
[    2.886317] Initialise system trusted keyrings
[    2.886449] workingset: timestamp_bits=46 max_order=19 bucket_order=0
[    2.892246] NFS: Registering the id_resolver key type
[    2.896594] Key type id_resolver registered
[    2.900698] Key type id_legacy registered
[    2.904695] nfs4filelayout_init: NFSv4 File Layout Driver Registering...
[    2.911352] jffs2: version 2.2. (NAND) (SUMMARY)  © 2001-2006 Red Hat, Inc.
[    2.953900] NET: Registered protocol family 38
[    2.953944] xor: measuring software checksum speed
[    2.961634]    8regs           :  2363 MB/sec
[    2.965302]    32regs          :  2799 MB/sec
[    2.970245]    arm64_neon      :  2380 MB/sec
[    2.970435] xor: using function: 32regs (2799 MB/sec)
[    2.975460] Key type asymmetric registered
[    2.979522] Asymmetric key parser 'x509' registered
[    2.984386] Block layer SCSI generic (bsg) driver version 0.4 loaded (major 247)
[    2.991720] io scheduler mq-deadline registered
[    2.996216] io scheduler kyber registered
[    3.002208] ps_pcie_dma init()
[    3.003445] xilinx-frmbuf a0000000.v_frmbuf_rd: Probe deferred due to GPIO reset defer
[    3.011146] xilinx-frmbuf a0010000.v_frmbuf_wr: Probe deferred due to GPIO reset defer
[    3.043857] Serial: 8250/16550 driver, 4 ports, IRQ sharing disabled
[    3.045655] Serial: AMBA driver
[    3.049988] cacheinfo: Unable to detect cache hierarchy for CPU 0
[    3.058421] brd: module loaded
[    3.062890] loop: module loaded
[    3.063745] mtdoops: mtd device (mtddev=name/number) must be supplied
[    3.068248] libphy: Fixed MDIO Bus: probed
[    3.072151] tun: Universal TUN/TAP device driver, 1.6
[    3.075968] CAN device driver interface
[    3.080408] usbcore: registered new interface driver asix
[    3.085100] usbcore: registered new interface driver ax88179_178a
[    3.091127] usbcore: registered new interface driver cdc_ether
[    3.096925] usbcore: registered new interface driver net1080
[    3.102546] usbcore: registered new interface driver cdc_subset
[    3.108428] usbcore: registered new interface driver zaurus
[    3.113973] usbcore: registered new interface driver cdc_ncm
[    3.120427] usbcore: registered new interface driver uas
[    3.124880] usbcore: registered new interface driver usb-storage
[    3.131443] rtc_zynqmp ffa60000.rtc: registered as rtc0
[    3.136023] rtc_zynqmp ffa60000.rtc: setting system clock to 2020-12-22T09:30:33 UTC (1608629433)
[    3.144869] i2c /dev entries driver
[    3.149801] usbcore: registered new interface driver uvcvideo
[    3.153995] USB Video Class driver (1.1.1)
[    3.158584] Bluetooth: HCI UART driver ver 2.3
[    3.162474] Bluetooth: HCI UART protocol H4 registered
[    3.167575] Bluetooth: HCI UART protocol BCSP registered
[    3.172867] Bluetooth: HCI UART protocol LL registered
[    3.177959] Bluetooth: HCI UART protocol ATH3K registered
[    3.183330] Bluetooth: HCI UART protocol Three-wire (H5) registered
[    3.189578] Bluetooth: HCI UART protocol Intel registered
[    3.194922] Bluetooth: HCI UART protocol QCA registered
[    3.200122] usbcore: registered new interface driver bcm203x
[    3.205747] usbcore: registered new interface driver bpa10x
[    3.211280] usbcore: registered new interface driver bfusb
[    3.216733] usbcore: registered new interface driver btusb
[    3.222192] usbcore: registered new interface driver ath3k
[    3.227683] EDAC MC: ECC not enabled
[    3.231286] EDAC DEVICE0: Giving out device to module zynqmp-ocm-edac controller zynqmp_ocm: DEV ff960000.memory-controller (INTERRUPT)
[    3.243645] sdhci: Secure Digital Host Controller Interface driver
[    3.249408] sdhci: Copyright(c) Pierre Ossman
[    3.253730] sdhci-pltfm: SDHCI platform and OF driver helper
[    3.259664] ledtrig-cpu: registered to indicate activity on CPUs
[    3.265334] SMCCC: SOC_ID: ARCH_SOC_ID not implemented, skipping ....
[    3.271758] zynqmp_firmware_probe Platform Management API v1.1
[    3.277519] zynqmp_firmware_probe Trustzone version v1.0
[    3.308841] zynqmp-pinctrl firmware:zynqmp-firmware:pinctrl: zynqmp pinctrl initialized
[    3.352014] alg: No test for xilinx-zynqmp-aes (zynqmp-aes)
[    3.352085] zynqmp_aes firmware:zynqmp-firmware:zynqmp-aes: AES Successfully Registered
[    3.360097] alg: No test for xilinx-keccak-384 (zynqmp-keccak-384)
[    3.366231] alg: No test for xilinx-zynqmp-rsa (zynqmp-rsa)
[    3.371744] usbcore: registered new interface driver usbhid
[    3.377122] usbhid: USB HID core driver
[    3.383650] ARM CCI_400_r1 PMU driver probed
[    3.384112] fpga_manager fpga0: Xilinx ZynqMP FPGA Manager registered
[    3.392012] usbcore: registered new interface driver snd-usb-audio
[    3.398540] pktgen: Packet Generator for packet performance testing. Version: 2.75
[    3.405850] Initializing XFRM netlink socket
[    3.409542] NET: Registered protocol family 10
[    3.414302] Segment Routing with IPv6
[    3.417689] sit: IPv6, IPv4 and MPLS over IPv4 tunneling driver
[    3.423747] NET: Registered protocol family 17
[    3.427823] NET: Registered protocol family 15
[    3.432232] can: controller area network core
[    3.436574] NET: Registered protocol family 29
[    3.440960] can: raw protocol
[    3.443900] can: broadcast manager protocol
[    3.448053] can: netlink gateway - max_hops=1
[    3.452453] Bluetooth: RFCOMM TTY layer initialized
[    3.457231] Bluetooth: RFCOMM socket layer initialized
[    3.462339] Bluetooth: RFCOMM ver 1.11
[    3.466047] Bluetooth: BNEP (Ethernet Emulation) ver 1.3
[    3.471319] Bluetooth: BNEP filters: protocol multicast
[    3.476511] Bluetooth: BNEP socket layer initialized
[    3.481438] Bluetooth: HIDP (Human Interface Emulation) ver 1.2
[    3.487324] Bluetooth: HIDP socket layer initialized
[    3.492366] 9pnet: Installing 9P2000 support
[    3.496509] Key type dns_resolver registered
[    3.500926] registered taskstats version 1
[    3.504801] Loading compiled-in X.509 certificates
[    3.510477] Btrfs loaded, crc32c=crc32c-generic
[    3.523211] ff000000.serial: ttyPS0 at MMIO 0xff000000 (irq = 50, base_baud = 6249999) is a xuartps
[    3.532236] printk: console [ttyPS0] enabled
[    3.532236] printk: console [ttyPS0] enabled
[    3.536530] printk: bootconsole [cdns0] disabled
[    3.536530] printk: bootconsole [cdns0] disabled
[    3.546295] ff010000.serial: ttyPS1 at MMIO 0xff010000 (irq = 51, base_baud = 6249999) is a xuartps
[    3.559407] of-fpga-region fpga-full: FPGA Region probed
[    3.565469] xilinx-zynqmp-dma fd500000.dma: ZynqMP DMA driver Probe success
[    3.572662] xilinx-zynqmp-dma fd510000.dma: ZynqMP DMA driver Probe success
[    3.579836] xilinx-zynqmp-dma fd520000.dma: ZynqMP DMA driver Probe success
[    3.587009] xilinx-zynqmp-dma fd530000.dma: ZynqMP DMA driver Probe success
[    3.594179] xilinx-zynqmp-dma fd540000.dma: ZynqMP DMA driver Probe success
[    3.601347] xilinx-zynqmp-dma fd550000.dma: ZynqMP DMA driver Probe success
[    3.608514] xilinx-zynqmp-dma fd560000.dma: ZynqMP DMA driver Probe success
[    3.615692] xilinx-zynqmp-dma fd570000.dma: ZynqMP DMA driver Probe success
[    3.622945] xilinx-zynqmp-dma ffa80000.dma: ZynqMP DMA driver Probe success
[    3.630118] xilinx-zynqmp-dma ffa90000.dma: ZynqMP DMA driver Probe success
[    3.637289] xilinx-zynqmp-dma ffaa0000.dma: ZynqMP DMA driver Probe success
[    3.644458] xilinx-zynqmp-dma ffab0000.dma: ZynqMP DMA driver Probe success
[    3.651627] xilinx-zynqmp-dma ffac0000.dma: ZynqMP DMA driver Probe success
[    3.658804] xilinx-zynqmp-dma ffad0000.dma: ZynqMP DMA driver Probe success
[    3.665978] xilinx-zynqmp-dma ffae0000.dma: ZynqMP DMA driver Probe success
[    3.673148] xilinx-zynqmp-dma ffaf0000.dma: ZynqMP DMA driver Probe success
[    3.680554] xilinx-zynqmp-dpdma fd4c0000.dma-controller: Xilinx DPDMA engine is probed
[    3.688678] xilinx-frmbuf a0000000.v_frmbuf_rd: Xilinx AXI frmbuf DMA_MEM_TO_DEV
[    3.696131] xilinx-frmbuf a0000000.v_frmbuf_rd: Xilinx AXI FrameBuffer Engine Driver Probed!!
[    3.704820] xilinx-frmbuf a0010000.v_frmbuf_wr: Xilinx AXI frmbuf DMA_DEV_TO_MEM
[    3.712268] xilinx-frmbuf a0010000.v_frmbuf_wr: Xilinx AXI FrameBuffer Engine Driver Probed!!
[    3.721700] zynqmp-display fd4a0000.display: vtc bridge property not present
[    3.730636] xilinx-dp-snd-codec fd4a0000.display:zynqmp_dp_snd_codec0: Xilinx DisplayPort Sound Codec probed
[    3.740789] xilinx-dp-snd-pcm zynqmp_dp_snd_pcm0: Xilinx DisplayPort Sound PCM probed
[    3.748923] xilinx-dp-snd-pcm zynqmp_dp_snd_pcm1: Xilinx DisplayPort Sound PCM probed
[    3.758228] xilinx-dp-snd-card fd4a0000.display:zynqmp_dp_snd_card: ASoC: no DMI vendor name!
[    3.767081] xilinx-dp-snd-card fd4a0000.display:zynqmp_dp_snd_card: Xilinx DisplayPort Sound Card probed
[    3.776661] OF: graph: no port node found in /axi/display@fd4a0000
[    3.783118] xlnx-drm xlnx-drm.0: bound fd4a0000.display (ops 0xffff800010efb8e0)
[    4.867359] zynqmp-display fd4a0000.display: [drm] Cannot find any crtc or sizes
[    4.874999] [drm] Initialized xlnx 1.0.0 20130509 for fd4a0000.display on minor 0
[    4.882492] zynqmp-display fd4a0000.display: ZynqMP DisplayPort Subsystem driver probed
[    4.890871] ahci-ceva fd0c0000.ahci: supply ahci not found, using dummy regulator
[    4.898421] ahci-ceva fd0c0000.ahci: supply phy not found, using dummy regulator
[    4.905883] ahci-ceva fd0c0000.ahci: supply target not found, using dummy regulator
[    4.923788] ahci-ceva fd0c0000.ahci: AHCI 0001.0301 32 slots 2 ports 6 Gbps 0x3 impl platform mode
[    4.932744] ahci-ceva fd0c0000.ahci: flags: 64bit ncq sntf pm clo only pmp fbs pio slum part ccc sds apst 
[    4.943578] scsi host0: ahci-ceva
[    4.947196] scsi host1: ahci-ceva
[    4.950633] ata1: SATA max UDMA/133 mmio [mem 0xfd0c0000-0xfd0c1fff] port 0x100 irq 48
[    4.958546] ata2: SATA max UDMA/133 mmio [mem 0xfd0c0000-0xfd0c1fff] port 0x180 irq 48
[    4.967197] spi-nor spi0.0: found mt25qu512a, expected m25p80
[    4.973631] spi-nor spi0.0: trying to lock already unlocked area
[    4.979636] spi-nor spi0.0: mt25qu512a (65536 Kbytes)
[    4.984701] 3 fixed-partitions partitions found on MTD device spi0.0
[    4.991050] Creating 3 MTD partitions on "spi0.0":
[    4.995835] 0x000000000000-0x000001e00000 : "boot"
[    5.001460] 0x000001e00000-0x000001e40000 : "bootenv"
[    5.007193] 0x000001e40000-0x000004000000 : "kernel"
[    5.015589] macb ff0e0000.ethernet: Not enabling partial store and forward
[    5.023113] libphy: MACB_mii_bus: probed
[    5.028559] macb ff0e0000.ethernet eth0: Cadence GEM rev 0x50070106 at 0xff0e0000 irq 39 (00:0a:35:05:5c:96)
[    5.038863] xilinx-axipmon ffa00000.perf-monitor: Probed Xilinx APM
[    5.045458] xilinx-axipmon fd0b0000.perf-monitor: Probed Xilinx APM
[    5.051986] xilinx-axipmon fd490000.perf-monitor: Probed Xilinx APM
[    5.058515] xilinx-axipmon ffa10000.perf-monitor: Probed Xilinx APM
[    5.086135] xhci-hcd xhci-hcd.1.auto: xHCI Host Controller
[    5.091633] xhci-hcd xhci-hcd.1.auto: new USB bus registered, assigned bus number 1
[    5.099388] xhci-hcd xhci-hcd.1.auto: hcc params 0x0238f625 hci version 0x100 quirks 0x0000000002010810
[    5.108807] xhci-hcd xhci-hcd.1.auto: irq 92, io mem 0xfe200000
[    5.114944] usb usb1: New USB device found, idVendor=1d6b, idProduct=0002, bcdDevice= 5.10
[    5.123206] usb usb1: New USB device strings: Mfr=3, Product=2, SerialNumber=1
[    5.130417] usb usb1: Product: xHCI Host Controller
[    5.135285] usb usb1: Manufacturer: Linux 5.10.0-xilinx-v2021.1 xhci-hcd
[    5.141977] usb usb1: SerialNumber: xhci-hcd.1.auto
[    5.147142] hub 1-0:1.0: USB hub found
[    5.150910] hub 1-0:1.0: 1 port detected
[    5.155024] xhci-hcd xhci-hcd.1.auto: xHCI Host Controller
[    5.160513] xhci-hcd xhci-hcd.1.auto: new USB bus registered, assigned bus number 2
[    5.168176] xhci-hcd xhci-hcd.1.auto: Host supports USB 3.0 SuperSpeed
[    5.174904] usb usb2: New USB device found, idVendor=1d6b, idProduct=0003, bcdDevice= 5.10
[    5.183170] usb usb2: New USB device strings: Mfr=3, Product=2, SerialNumber=1
[    5.190386] usb usb2: Product: xHCI Host Controller
[    5.195254] usb usb2: Manufacturer: Linux 5.10.0-xilinx-v2021.1 xhci-hcd
[    5.201952] usb usb2: SerialNumber: xhci-hcd.1.auto
[    5.207076] hub 2-0:1.0: USB hub found
[    5.210840] hub 2-0:1.0: 1 port detected
[    5.216271] pca953x 0-0020: supply vcc not found, using dummy regulator
[    5.222950] pca953x 0-0020: using no AI
[    5.227910] at24 2-0054: supply vcc not found, using dummy regulator
[    5.234776] at24 2-0054: 1024 byte 24c08 EEPROM, writable, 1 bytes/write
[    5.241506] i2c i2c-0: Added multiplexed i2c bus 2
[    5.246543] i2c i2c-0: Added multiplexed i2c bus 3
[    5.267289] random: fast init done
[    5.284512] ata1: SATA link down (SStatus 0 SControl 330)
[    5.289924] ata2: SATA link down (SStatus 0 SControl 330)
[    5.503951] i2c i2c-0: Added multiplexed i2c bus 4
[    5.509685] i2c i2c-0: Added multiplexed i2c bus 5
[    5.514595] i2c i2c-0: Added multiplexed i2c bus 6
[    5.519514] i2c i2c-0: Added multiplexed i2c bus 7
[    5.524430] i2c i2c-0: Added multiplexed i2c bus 8
[    5.529349] i2c i2c-0: Added multiplexed i2c bus 9
[    5.534137] pca954x 0-0074: registered 8 multiplexed busses for I2C switch pca9548
[    5.541731] cdns-i2c ff030000.i2c: 400 kHz mmio ff030000 irq 41
[    5.548400] cdns-wdt fd4d0000.watchdog: Xilinx Watchdog Timer with timeout 60s
[    5.555903] cdns-wdt ff150000.watchdog: Xilinx Watchdog Timer with timeout 10s
[    5.566394] of_cfs_init
[    5.568890] of_cfs_init: OK
[    5.571827] cfg80211: Loading compiled-in X.509 certificates for regulatory database
[    5.595359] mmc0: SDHCI controller on ff170000.mmc [ff170000.mmc] using ADMA 64-bit
[    5.637622] mmc0: Problem switching card into high-speed mode!
[    5.644018] mmc0: new SDHC card at address 0001
[    5.648952] mmcblk0: mmc0:0001 SD16G 14.9 GiB 
[    5.655299]  mmcblk0: p1 p2
[    5.707929] cfg80211: Loaded X.509 cert 'sforshee: 00b28ddf47aef9cea7'
[    5.714456] clk: Not disabling unused clocks
[    5.718968] ALSA device list:
[    5.721932]   #0: DisplayPort monitor
[    5.725864] platform regulatory.0: Direct firmware load for regulatory.db failed with error -2
[    5.734474] cfg80211: failed to load regulatory.db
[    5.739924] Freeing unused kernel memory: 2112K
[    5.759386] Run /init as init process
rootfs: recovering journal
[    5.979379] zynqmp-display fd4a0000.display: [drm] Cannot find any crtc or sizes
rootfs: clean, 14862/731520 files, 156910/2926080 blocks
[    6.434022] EXT4-fs (mmcblk0p2): mounted filesystem with ordered data mode. Opts: (null)
INIT: version 2.97 booting
Starting udev
[    7.501353] udevd[334]: starting version 3.2.9
[    7.534842] random: udevd: uninitialized urandom read (16 bytes read)
[    7.542678] random: udevd: uninitialized urandom read (16 bytes read)
[    7.549147] random: udevd: uninitialized urandom read (16 bytes read)
[    7.631328] udevd[335]: starting eudev-3.2.9
[    7.786236] zocl: loading out-of-tree module taints kernel.
[    7.794227] [drm] Probing for xlnx,zocl
[    7.798439] zocl-drm amba_pl@0:zyxclmm_drm: IRQ index 32 not found
[    7.804773] [drm] FPGA programming device pcap founded.
[    7.809997] [drm] PR Isolation addr 0x0
[    7.810378] [drm] Initialized zocl 0.0.0 00000 for amba_pl@0:zyxclmm_drm on minor 1
[    7.900557] xilinx-vcu a0140000.vcu: could not find xlnx,vcu-settings: trying direct register access
[    8.336520] al5d a0120000.al5d: l2 prefetch size:12451840 (bits), l2 color bitdepth:10
[    8.354350] al5e a0100000.al5e: l2 prefetch size:12451840 (bits), l2 color bitdepth:10
[    8.877963] FAT-fs (mmcblk0p1): Volume was not properly unmounted. Some data may be corrupt. Please run fsck.
[    8.970337] EXT4-fs (mmcblk0p2): re-mounted. Opts: (null)
[    9.272790] macb ff0e0000.ethernet eth0: PHY [ff0e0000.ethernet-ffffffff:0c] driver [TI DP83867] (irq=POLL)
[    9.282573] macb ff0e0000.ethernet eth0: configuring for phy/rgmii-id link mode
[   11.341085] macb ff0e0000.ethernet eth0: Link is Up - 100Mbps/Full - flow control tx
[   11.348863] IPv6: ADDRCONF(NETDEV_CHANGE): eth0: link becomes ready
Starting tcf-agent: 
[   13.673596] random: crng init done
[   13.677013] random: 7 urandom warning(s) missed due to ratelimiting
OK


X.Org X Server 1.20.9
X Protocol Version 11, Revision 0
Build Operating System: Linux 
Current Operating System: Linux xilinx-zcu104-2021_1 5.10.0-xilinx-v2021.1 #1 SMP Fri Jun 4 15:57:16 UTC 2021 aarch64
Kernel command line:  earlycon console=ttyPS0,115200 clk_ignore_unused init_fatal_sh=1 cma=1000M
Build Date: 25 August 2020  03:40:19PM
 
Current version of pixman: 0.40.0
        Before reporting problems, check http://wiki.x.org
        to make sure that you have the latest version.
Markers: (--) probed, (**) from config file, (==) default setting,
        (++) from command line, (!!) notice, (II) informational,
        (WW) warning, (EE) error, (NI) not implemented, (??) unknown.
(==) Log file: "/var/log/Xorg.0.log", Time: Tue Dec 22 09:30:42 2020
(==) Using config file: "/etc/X11/xorg.conf"
[   13.999312] zocl-drm amba_pl@0:zyxclmm_drm: zocl_create_client: created KDS client for pid(740), ret: 0

[   14.009883] zocl-drm amba_pl@0:zyxclmm_drm: zocl_destroy_client: client exits pid(740)
root@xilinx-zcu104-2021_1:~# 
root@xilinx-zcu104-2021_1:~# 

通过XSA创建ZYNQ-7000工程

xas创建ZYNQ工程的时候，需要一个vivado工程，完成设计，并导出xas文件，这里需要指出的是，一个简单的vivado工程也可以来创建petalinux工程，如vivado仅实现了PL的led闪灯和PS的穿串口打印，但是简单的xas配置，只能保证系统可以起来，很多外设可能无法正常使用。需要配置更多PL、PS资源来支持。

在打包BOOT.BIN的时候，会把xsa中的bin文件打包，可以看到petalinux制作好系统后，pl端的led是在闪烁的。

当我们使用更多资源的时候，需要在vivado中完成更多设计，从而使PL配置出更多裸机，且需要PS端对应的驱动支持。

petalinux-create --type project --template zynq --name linux_prj

配置工程信息:

petalinux-config --get-hw-description ../../led_zdyz/ps_uart_wrapper.xsa

配置系统

petalinux-config -c uboot
petalinux-config -c kernel
petalinux-config -c rootfs

产生bin文件

petalinux-package --boot --u-boot --format BIN

制作SD启动

        BOOT.BIN、image.ub、 boot.scr拷贝到第一分区

备注:

通过BSP构建的工程，完成petalinux-build后，虽然新产生了image目录，但是要里面的image.ub发现内核编译时间并非新编译的时间，但文件确实是新编译产生的，和petalinux的编译机制有关吧。

4、petalinux工程说明

4.1 DTS自动生成路径

components/plnx_workspace/device-tree/device-tree/下

device-tree.mss           include   ps7_init.c      ps7_init_gpl.h  ps7_init.html  ps_uart_wrapper.bit  system-conf.dtsi  zynq-7000.dtsi
hardware_description.xsa  pcw.dtsi  ps7_init_gpl.c  ps7_init.h      ps7_init.tcl   skeleton.dtsi        system-top.dts

其中system-top.dts就是最顶层的dts，同时该目录下也包含了PL的配置文件。

/*
 * CAUTION: This file is automatically generated by Xilinx.
 * Version:  
 * Today is: Sat Aug  7 10:22:07 2021
 */


/dts-v1/;
#include "zynq-7000.dtsi"
#include "pcw.dtsi"
/ {
    chosen {
        bootargs = "earlycon";
        stdout-path = "serial0:115200n8";
    };
    aliases {
        serial0 = &uart1;
        spi0 = &qspi;
    };
    memory {
        device_type = "memory";
        reg = <0x0 0x40000000>;
    };
};
#include "system-user.dtsi"

用户后期可自定义补充的设备树文件：system-user.dtsi

（project-spec/meta-user/recipes-bsp/device-tree/files/system-user.dtsi）

4.2 指定使用本地uboot、内核源码

petalinux-config选择Linux Components Selection  ---> 中修改源码源为本地源码路径。

附件：

vivado2017在ZYNQ-7000的VIVADO工程(HJ)

• 通过vivado工程配置petalinux工程
• vivado工程实现PL端led流水灯和PS端串口打印，工程如下：

链接：https://pan.baidu.com/s/1qAMd11qfo5_H2L8984FqZA   提取码：r1r1 

• petalinux-create --type project --template zynq --name led_peta
• petalinux-config --get-hw-description ../project.sdk
• petalinux-config -c kernel
• petalinux-config -c rootfs
• petalinux-build
• petalinux-package --boot --fsbl ./images/linux/zynq_fsbl.elf --fpga --u-boot --force
•  BOOT.BIN 和 image.ub 复制到 sd 卡

vivado2021在ZYNQ-7000的VIVADO工程(ZDYZ)

• 通过vivado工程配置petalinux工程
• vivado工程实现PL端led流水灯和PS端串口打印，工程如下：

链接：https://pan.baidu.com/s/1rmIehi6ZSjmXxk1mAAPhkA 
提取码：4jdb 

petalinux工程创建参考如上: 通过XSA创建ZYNQ-7000工程 小节