前言
虽可使用Petalinux进行移植，简单方便，但为了更清楚明白的了解整个流程，还是尝试了一波手动移植。
参考资料
ZYNQ Linux 移植：包含petalinux移植和手动移植debian9
ZYNQ #5 - 从vivado工程开始，从emmc启动Linux_里先森-CSDN博客
流程
对于手动移植，所需的文件为：
BOOT.bin(FSBL+fpga_bit文件+u_boot.elf)、uImage、devicetree.dtb、uEnv.txt、文件系统
文件放置位置说明：
FLASH：BOOT.bin(FSBL+fpga_bit文件+u_boot.elf)
EMMC：
第一个分区放置：uImage、devicetree.dtb、uEnv.txt
第二个分区放置：文件系统
启动流程为：板子设置为QSPI启动模式，FSBL执行调u-boot执行，u-boot根据uEnv.txt调EMMC分区1中的内核执行，内核最后跳到分区二中的文件系统。
FSBL、bit文件、uImage、文件系统都可复用SD卡移植模式下的内容：参考参考资料第一个链接。
本文章主要讲述的重点在于：u-boot、设备树、uEnv.txt的更改部分
板子主要信息说明：板子芯片：ZYNQ7035，板子的调试打印串口为PS0，板子上有SD卡(SD0)、EMMC(SD1)，板子上有FLASH。其他外设不赘述。
u-boot移植说明：
1.下载u-boot源码：git clone [https://github.com/Xilinx/u-boot-xlnx.git](https://github.com/Xilinx/u-boot-xlnx.git)
NOTE：u-boot xilinx-v2018.3版本的zynq-common.h跟xilinx-v2018.1版本的不一样，这里检出v2018.1版本使用。
主要是CONFIG_EXTRA_ENV_SETTINGS 环境变量不一致。
默认的如下所示：
/* Default environment */
#ifndef CONFIG_EXTRA_ENV_SETTINGS
#define CONFIG_EXTRA_ENV_SETTINGS
"ethaddr=00:0a:35:00:01:22 "
"kernel_image=uImage "
"kernel_load_address=0x2080000 "
"ramdisk_image=uramdisk.image.gz "
"ramdisk_load_address=0x4000000 "
"devicetree_image=devicetree.dtb "
"devicetree_load_address=0x2000000 "
"bitstream_image=system.bit.bin "
"boot_image=BOOT.bin "
"loadbit_addr=0x100000 "
"loadbootenv_addr=0x2000000 "
"kernel_size=0x500000 "
"devicetree_size=0x20000 "
"ramdisk_size=0x5E0000 "
"boot_size=0xF00000 "
"fdt_high=0x20000000 "
"initrd_high=0x20000000 "
"bootenv=uEnv.txt "
"loadbootenv=load mmc 0 ${loadbootenv_addr} ${bootenv} "
"importbootenv=echo Importing environment from SD ...; "
"env import -t ${loadbootenv_addr} $filesize "
"sd_uEnvtxt_existence_test=test -e mmc 0 /uEnv.txt "
"preboot=if test $modeboot = sdboot && env run sd_uEnvtxt_existence_test; "
"then if env run loadbootenv; "
"then env run importbootenv; "
"fi; "
"fi; "
"mmc_loadbit=echo Loading bitstream from SD/MMC/eMMC to RAM.. && "
"mmcinfo && "
"load mmc 0 ${loadbit_addr} ${bitstream_image} && "
"fpga load 0 ${loadbit_addr} ${filesize} "
"norboot=echo Copying Linux from NOR flash to RAM... && "
"cp.b 0xE2100000 ${kernel_load_address} ${kernel_size} && "
"cp.b 0xE2600000 ${devicetree_load_address} ${devicetree_size} && "
"echo Copying ramdisk... && "
"cp.b 0xE2620000 ${ramdisk_load_address} ${ramdisk_size} && "
"bootm ${kernel_load_address} ${ramdisk_load_address} ${devicetree_load_address} "
"qspiboot=echo Copying Linux from QSPI flash to RAM... && "
"sf probe 0 0 0 && "
"sf read ${kernel_load_address} 0x100000 ${kernel_size} && "
"sf read ${devicetree_load_address} 0x600000 ${devicetree_size} && "
"echo Copying ramdisk... && "
"sf read ${ramdisk_load_address} 0x620000 ${ramdisk_size} && "
"bootm ${kernel_load_address} ${ramdisk_load_address} ${devicetree_load_address} "
"uenvboot="
"if run loadbootenv; then "
"echo Loaded environment from ${bootenv}; "
"run importbootenv; "
"fi; "
"if test -n $uenvcmd; then "
"echo Running uenvcmd ...; "
"run uenvcmd; "
"fi "
"sdboot=if mmcinfo; then "
"run uenvboot; "
"echo Copying Linux from SD to RAM... && "
"load mmc 0 ${kernel_load_address} ${kernel_image} && "
"load mmc 0 ${devicetree_load_address} ${devicetree_image} && "
"load mmc 0 ${ramdisk_load_address} ${ramdisk_image} && "
"bootm ${kernel_load_address} ${ramdisk_load_address} ${devicetree_load_address}; "
"fi "
"usbboot=if usb start; then "
"run uenvboot; "
"echo Copying Linux from USB to RAM... && "
"load usb 0 ${kernel_load_address} ${kernel_image} && "
"load usb 0 ${devicetree_load_address} ${devicetree_image} && "
"load usb 0 ${ramdisk_load_address} ${ramdisk_image} && "
"bootm ${kernel_load_address} ${ramdisk_load_address} ${devicetree_load_address}; "
"fi "
"nandboot=echo Copying Linux from NAND flash to RAM... && "
"nand read ${kernel_load_address} 0x100000 ${kernel_size} && "
"nand read ${devicetree_load_address} 0x600000 ${devicetree_size} && "
"echo Copying ramdisk... && "
"nand read ${ramdisk_load_address} 0x620000 ${ramdisk_size} && "
"bootm ${kernel_load_address} ${ramdisk_load_address} ${devicetree_load_address} "
"jtagboot=echo TFTPing Linux to RAM... && "
"tftpboot ${kernel_load_address} ${kernel_image} && "
"tftpboot ${devicetree_load_address} ${devicetree_image} && "
"tftpboot ${ramdisk_load_address} ${ramdisk_image} && "
"bootm ${kernel_load_address} ${ramdisk_load_address} ${devicetree_load_address} "
"rsa_norboot=echo Copying Image from NOR flash to RAM... && "
"cp.b 0xE2100000 0x100000 ${boot_size} && "
"zynqrsa 0x100000 && "
"bootm ${kernel_load_address} ${ramdisk_load_address} ${devicetree_load_address} "
"rsa_nandboot=echo Copying Image from NAND flash to RAM... && "
"nand read 0x100000 0x0 ${boot_size} && "
"zynqrsa 0x100000 && "
"bootm ${kernel_load_address} ${ramdisk_load_address} ${devicetree_load_address} "
"rsa_qspiboot=echo Copying Image from QSPI flash to RAM... && "
"sf probe 0 0 0 && "
"sf read 0x100000 0x0 ${boot_size} && "
"zynqrsa 0x100000 && "
"bootm ${kernel_load_address} ${ramdisk_load_address} ${devicetree_load_address} "
"rsa_sdboot=echo Copying Image from SD to RAM... && "
"load mmc 0 0x100000 ${boot_image} && "
"zynqrsa 0x100000 && "
"bootm ${kernel_load_address} ${ramdisk_load_address} ${devicetree_load_address} "
"rsa_jtagboot=echo TFTPing Image to RAM... && "
"tftpboot 0x100000 ${boot_image} && "
"zynqrsa 0x100000 && "
"bootm ${kernel_load_address} ${ramdisk_load_address} ${devicetree_load_address} "
DFU_ALT_INFO
BOOTENV
#endif
可以看到其上定义了一堆的东西及不同的启动指令。
不同的启动指令由#define CONFIG_BOOTCOMMAND指定。
这里想FLASH+EMMC启动，则可以选择sdboot，同时因为EMMC是SD1，所以上述的文件需要进行更改：更改uEnv.txt的存储位置为mmc 1；去掉sdboot中的ramdisk，及存储kernel、设备树位置为mmc 1；修改bootm参数。
"loadbootenv=load mmc 1 ${loadbootenv_addr} ${bootenv} "
"importbootenv=echo Importing environment from SD ...; "
"env import -t ${loadbootenv_addr} $filesize "
"sd_uEnvtxt_existence_test=test -e mmc 1 /uEnv.txt "
"sdboot=if mmcinfo; then "
"run uenvboot; "
"echo Copying Linux from hahahah SD to RAM... && "
"load mmc 1 ${kernel_load_address} ${kernel_image} && "
"load mmc 1 ${devicetree_load_address} ${devicetree_image} && "
"bootm ${kernel_load_address} - ${devicetree_load_address}; "
"fi "
上述命令的执行逻辑为：u-boot启动后，执行sdboot指令：
（1）装载uEnv.txt文件并运行；
（2）装载内核、设备树；
（3）运行；
2.由于是自己做的板子，则可以基于类似的板子defconfig进行修改适配u-boot：这里使用zynq_zed_defconfig文件：
（1）增加传统镜像文件支持：CONFIG_IMAGE_FORMAT_LEGACY=y
（2）因为已经知道是从EMMC启动相关文件，则可直接指定：CONFIG_BOOTCOMMAND="mmc dev 1;run sdboot"
mmc dev 1是为了避免u-boot死锁bug(移植petalinux中u-boot存在，为官方bug，这里加上，不知道有没有用)；sdboot会直接调用执行zynq-common.h中的对应选项。
（3）因为板子上串口使用的是PS0，修改：CONFIG_DEBUG_UART_BASE=0xe0000000（地址可在设备树中查看）
文件参考：
CONFIG_ARM=y
CONFIG_ARCH_ZYNQ=y
CONFIG_SYS_TEXT_BASE=0x4000000
CONFIG_SPL_STACK_R_ADDR=0x200000
CONFIG_DEFAULT_DEVICE_TREE="zynq-zed"
CONFIG_DEBUG_UART=y
CONFIG_DISTRO_DEFAULTS=y
CONFIG_IMAGE_FORMAT_LEGACY=y
CONFIG_FIT=y
CONFIG_FIT_SIGNATURE=y
CONFIG_FIT_VERBOSE=y
CONFIG_BOOTCOMMAND="mmc dev 1;run sdboot"
# CONFIG_DISPLAY_CPUINFO is not set
CONFIG_SPL=y
CONFIG_SPL_STACK_R=y
CONFIG_SPL_OS_BOOT=y
CONFIG_SYS_PROMPT="Zynq> "
CONFIG_CMD_THOR_DOWNLOAD=y
CONFIG_CMD_DFU=y
# CONFIG_CMD_FLASH is not set
CONFIG_CMD_FPGA_LOADBP=y
CONFIG_CMD_FPGA_LOADFS=y
CONFIG_CMD_FPGA_LOADMK=y
CONFIG_CMD_FPGA_LOADP=y
CONFIG_CMD_GPIO=y
CONFIG_CMD_MMC=y
CONFIG_CMD_SF=y
CONFIG_CMD_USB=y
# CONFIG_CMD_SETEXPR is not set
CONFIG_CMD_TFTPPUT=y
CONFIG_CMD_CACHE=y
CONFIG_CMD_EXT4_WRITE=y
CONFIG_OF_EMBED=y
CONFIG_ENV_IS_IN_SPI_FLASH=y
CONFIG_NET_RANDOM_ETHADDR=y
CONFIG_SPL_DM_SEQ_ALIAS=y
CONFIG_DFU_MMC=y
CONFIG_DFU_RAM=y
CONFIG_FPGA_XILINX=y
CONFIG_DM_GPIO=y
CONFIG_MMC_SDHCI=y
CONFIG_MMC_SDHCI_ZYNQ=y
CONFIG_SPI_FLASH=y
CONFIG_SPI_FLASH_BAR=y
CONFIG_SF_DUAL_FLASH=y
CONFIG_SPI_FLASH_SPANSION=y
CONFIG_SPI_FLASH_STMICRO=y
CONFIG_SPI_FLASH_WINBOND=y
CONFIG_PHY_MARVELL=y
CONFIG_PHY_REALTEK=y
CONFIG_PHY_XILINX=y
CONFIG_ZYNQ_GEM=y
CONFIG_DEBUG_UART_ZYNQ=y
CONFIG_DEBUG_UART_BASE=0xe0000000
CONFIG_DEBUG_UART_CLOCK=50000000
CONFIG_ZYNQ_SERIAL=y
CONFIG_ZYNQ_QSPI=y
CONFIG_USB=y
CONFIG_USB_EHCI_HCD=y
CONFIG_USB_ULPI_VIEWPORT=y
CONFIG_USB_ULPI=y
CONFIG_USB_STORAGE=y
CONFIG_USB_GADGET=y
CONFIG_USB_GADGET_MANUFACTURER="Xilinx"
CONFIG_USB_GADGET_VENDOR_NUM=0x03fd
CONFIG_USB_GADGET_PRODUCT_NUM=0x0300
CONFIG_CI_UDC=y
CONFIG_USB_GADGET_DOWNLOAD=y
3.修改u-boot的设备树：实际上u-boot也带了设备树，这里需要进行修改：
（1）修改uart为uart0；
（2）修改SD为mmc1；
（3）去除QSPI中的分区表；
文件参考：
/*
* Xilinx ZED board DTS
*
* Copyright (C) 2011 - 2015 Xilinx
* Copyright (C) 2012 National Instruments Corp.
*
* SPDX-License-Identifier: GPL-2.0+
*/
/dts-v1/;
#include "zynq-7000.dtsi"
/ {
model = "Zynq Zed Development Board";
compatible = "xlnx,zynq-zed", "xlnx,zynq-7000";
aliases {
ethernet0 = &gem0;
serial0 = &uart0;
spi0 = &qspi;
mmc1 = &sdhci1;
};
memory@0 {
device_type = "memory";
reg = <0x0 0x20000000>;
};
chosen {
bootargs = "";
stdout-path = "serial0:115200n8";
};
usb_phy0: phy0@e0002000 {
compatible = "ulpi-phy";
#phy-cells = <0>;
reg = <0xe0002000 0x1000>;
view-port = <0x0170>;
drv-vbus;
};
};
&clkc {
ps-clk-frequency = <33333333>;
};
&gem0 {
status = "okay";
phy-mode = "rgmii-id";
phy-handle = <ðernet_phy>;
ethernet_phy: ethernet-phy@0 {
reg = <0>;
device_type = "ethernet-phy";
};
};
&qspi {
u-boot,dm-pre-reloc;
status = "okay";
is-dual = <0>;
num-cs = <1>;
flash@0 {
compatible = "n25q128a11";
reg = <0x0>;
spi-tx-bus-width = <1>;
spi-rx-bus-width = <4>;
spi-max-frequency = <50000000>;
#address-cells = <1>;
#size-cells = <1>;
};
};
&sdhci1 {
u-boot,dm-pre-reloc;
status = "okay";
};
&uart0 {
u-boot,dm-pre-reloc;
status = "okay";
};
&usb0 {
status = "okay";
dr_mode = "host";
usb-phy = <&usb_phy0>;
};
- 编译u-boot：
清除中间编译：
make distclean
使用配置文件：
make CROSS_COMPILE=arm-linux-gnueabihf- zynq_zed_defconfig
通过下述指令可在界面中uboot进行进一步修改配置：改defconfig文件也可以，暂时默认即可
make CROSS_COMPILE=arm-linux-gnueabihf- menuconfig
工具编译：
make CROSS_COMPILE=arm-linux-gnueabihf- tools
编译u-boot：
make CROSS_COMPILE=arm-linux-gnueabihf-
-
修改总设备树的boottags：console=ttyPS0,115200n8 root=/dev/mmcblk1p2 rw noinitrd rootfstype=ext4 rootwait
-
修改uEnv.txt为：mmc 0修改为mmc 1；root=/dev/mmcblk1p2
bootargs=console=ttyPS0,115200 root=/dev/mmcblk1p2 rw earlyprintk rootfstype=ext4 rootwait
load_image=fatload mmc 1 ${kernel_load_address} ${kernel_image} && fatload mmc 1 ${devicetree_load_address} ${devicetree_image}
uenvcmd=echo Copying Linux from SD to RAM... && mmcinfo && run load_image && bootm ${kernel_load_address} - ${devicetree_load_address}
- 组装BOOT.bin，不赘述。
- 烧录BOOT.bin到FLASH，对EMMC进行分区，EMMC分区一中放置uImage、devicetree.dtb、uEnv.txt,EMMC分区二中放置文件系统即可。
- 启动。
U-Boot 2018.01-dirty (Jul 26 2021 - 20:05:00 +0800)
Model: Zynq Zed Development Board
Board: Xilinx Zynq
Silicon: v3.1
DRAM: ECC disabled 512 MiB
MMC: sdhci_transfer_data: Error detected in status(0x208000)!
sdhci@e0101000: 1 (eMMC)
SF: Detected s25fl128s_64k with page size 256 Bytes, erase size 64 KiB, total 16 MiB
*** Warning - bad CRC, using default environment
In: serial@e0000000
Out: serial@e0000000
Err: serial@e0000000
Net: ZYNQ GEM: e000b000, phyaddr 0, interface rgmii-id
eth0: ethernet@e000b000
Hit any key to stop autoboot: 0
sdhci_transfer_data: Error detected in status(0x208000)!
switch to partitions #0, OK
mmc1(part 0) is current device
Device: sdhci@e0101000
Manufacturer ID: 13
OEM: 14e
Name: Q2J55
Tran Speed: 25000000
Rd Block Len: 512
MMC version 5.0
High Capacity: Yes
Capacity: 7.1 GiB
Bus Width: 4-bit
Erase Group Size: 512 KiB
HC WP Group Size: 8 MiB
User Capacity: 7.1 GiB WRREL
Boot Capacity: 16 MiB ENH
RPMB Capacity: 4 MiB ENH
reading uEnv.txt
356 bytes read in 11 ms (31.3 KiB/s)
Loaded environment from uEnv.txt
Importing environment from SD ...
Running uenvcmd ...
Copying Linux from SD to RAM...
Device: sdhci@e0101000
Manufacturer ID: 13
OEM: 14e
Name: Q2J55
Tran Speed: 25000000
Rd Block Len: 512
MMC version 5.0
High Capacity: Yes
Capacity: 7.1 GiB
Bus Width: 4-bit
Erase Group Size: 512 KiB
HC WP Group Size: 8 MiB
User Capacity: 7.1 GiB WRREL
Boot Capacity: 16 MiB ENH
RPMB Capacity: 4 MiB ENH
reading uImage
4001616 bytes read in 377 ms (10.1 MiB/s)
reading devicetree.dtb
17052 bytes read in 18 ms (924.8 KiB/s)
## Booting kernel from Legacy Image at 02080000 ...
Image Name: Linux-4.14.0-xilinx
Image Type: ARM Linux Kernel Image (uncompressed)
Data Size: 4001552 Bytes = 3.8 MiB
Load Address: 00008000
Entry Point: 00008000
Verifying Checksum ... OK
## Flattened Device Tree blob at 02000000
Booting using the fdt blob at 0x2000000
Loading Kernel Image ... OK
Loading Device Tree to 1eb12000, end 1eb1929b ... OK
以上。