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Xilinx Zynq

This page is a collection of notes and how-to guides for the Xilinx Zynq SoC devices.

MPSoC

MPSoC Displayport

MPSoC heterogeneous architecture

MPSoC multiprocessing

See chapter 6 of Xilinx UG1137.

Petalinux on Zybo board

Based on instructions in https://github.com/Digilent/Petalinux-Zybo/blob/v2017.4-1/README.md

Ubuntu 16.04.3 LTS virtual machine

The instructions suggest to use version 16.04.3 of Ubuntu which can be found on https://old-releases.ubuntu.com/releases/16.04.3/ (direct ISO download link). It was installed as a virtual machine using Parallels Desktop 16.1.3 running on macOS 11.2.2.

Install dependencies

sudo apt-get install tofrodos gawk xvfb git libncurses5-dev tftpd \
  zlib1g-dev zlib1g-dev:i386 libssl-dev flex bison chrpath socat \
  autoconf libtool texinfo gcc-multilib libsdl1.2-dev libglib2.0-dev \
  screen pax
sudo reboot

TFTP server: 

sudo apt-get install apt-get install tftpd-hpa
sudo chmod a+w /var/lib/tftpboot/
sudo reboot

Petalinux install

Prepare install location: 

sudo mkdir -p /opt/pkg/petalinux
sudo chown $USER /opt/pkg/
sudo chgrp $USER /opt/pkg/
sudo chgrp $USER /opt/pkg/petalinux/
sudo chown $USER /opt/pkg/petalinux/

Download the installer from Xilinx (requires login): https://www.xilinx.com/member/forms/download/xef.html?filename=petalinux-v2017.4-final-installer.run

# Go to the directory where the install file was downloaded to
cd ~/Downloads
chmod +x ./petalinux-v2017.4-final-installer.run
./petalinux-v2017.4-final-installer.run /opt/pkg/petalinux
# Accept the license agreements

NOTE: Before running any petalinux commands the following file should be sourced 

source /opt/pkg/petalinux/settings.sh

Petalinux BSP file download for Zybo board

NOTE: The .bsp file must be on the virtual machines filesystem. I tried to have it on the Mac and access it through a shared folder on thee virtual machine which did not work with the next step. 

cd ~/Downloads
wget https://github.com/Digilent/Petalinux-Zybo/releases/download/v2017.4-1/Petalinux-Zybo-2017.4-1.bsp

Create a project from the BSP file

cd ~/Downloads
petalinux-create -t project -s Petalinux-Zybo-2017.4-1.bsp

Build the petalinux project

cd Zybo
petalinux-build

Emulate in QEMU

Based on information from https://www.beyond-circuits.com/wordpress/tutorial/tutorial23/ 

petalinux-boot --qemu --kernel
Type control-A x to exit the emulator.

Example output
ubuntu@ubuntu:~/Downloads/Zybo$ petalinux-boot --qemu --kernel
INFO: The image provided is a zImage
INFO: TCP PORT is free 
INFO: Starting arm QEMU
INFO:  qemu-system-aarch64 -M arm-generic-fdt-7series -machine linux=on   -serial /dev/null -serial mon:stdio -display none -kernel /home/ubuntu/Downloads/Zybo/build/qemu_image.elf -gdb tcp::9000 -dtb /home/ubuntu/Downloads/Zybo/images/linux/system.dtb  -net nic,vlan=1 -net user,vlan=1,tftp=/var/lib/tftpboot -net nic -device loader,addr=0xf8000008,data=0xDF0D,data-len=4 -device loader,addr=0xf8000140,data=0x00500801,data-len=4 -device loader,addr=0xf800012c,data=0x1ed044d,data-len=4 -device loader,addr=0xf8000108,data=0x0001e008,data-len=4 -device loader,addr=0xF8000910,data=0xF,data-len=0x4    
Warning: vlan 0 is not connected to host network
rom: requested regions overlap (rom bootloader. free=0x0000000002d6b930, addr=0x0000000000000000)
Uncompressing Linux... done, booting the kernel.
Booting Linux on physical CPU 0x0
Linux version 4.9.0-xilinx-v2017.4 (ubuntu@ubuntu) (gcc version 6.2.1 20161016 (Linaro GCC 6.2-2016.11) ) #3 SMP PREEMPT Sat Apr 24 17:59:37 CEST 2021
CPU: ARMv7 Processor [410fc090] revision 0 (ARMv7), cr=10c5387d
CPU: PIPT / VIPT nonaliasing data cache, VIPT nonaliasing instruction cache
OF: fdt:Machine model: Zynq Zybo Development Board
bootconsole [earlycon0] enabled
cma: Reserved 64 MiB at 0x1c000000
Memory policy: Data cache writealloc
percpu: Embedded 14 pages/cpu @dbbad000 s25932 r8192 d23220 u57344
Built 1 zonelists in Zone order, mobility grouping on.  Total pages: 130048
Kernel command line: console=ttyPS0,115200 earlyprintk uio_pdrv_genirq.of_id=generic-uio
PID hash table entries: 2048 (order: 1, 8192 bytes)
Dentry cache hash table entries: 65536 (order: 6, 262144 bytes)
Inode-cache hash table entries: 32768 (order: 5, 131072 bytes)
Memory: 400692K/524288K available (6144K kernel code, 208K rwdata, 1492K rodata, 44032K init, 231K bss, 58060K reserved, 65536K cma-reserved, 0K highmem)
Virtual kernel memory layout:
    vector  : 0xffff0000 - 0xffff1000   (   4 kB)
    fixmap  : 0xffc00000 - 0xfff00000   (3072 kB)
    vmalloc : 0xe0800000 - 0xff800000   ( 496 MB)
    lowmem  : 0xc0000000 - 0xe0000000   ( 512 MB)
    pkmap   : 0xbfe00000 - 0xc0000000   (   2 MB)
    modules : 0xbf000000 - 0xbfe00000   (  14 MB)
      .text : 0xc0008000 - 0xc0700000   (7136 kB)
      .init : 0xc0900000 - 0xc3400000   (44032 kB)
      .data : 0xc3400000 - 0xc3434380   ( 209 kB)
       .bss : 0xc3434380 - 0xc346e118   ( 232 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 e0800000
slcr mapped to e0802000
L2C: platform modifies aux control register: 0x00000000 -> 0x30400000
L2C: DT/platform modifies aux control register: 0x00000000 -> 0x30400000
L2C-310 errata 588369 769419 enabled
L2C-310 full line of zeros enabled for Cortex-A9
L2C-310 cache controller enabled, 8 ways, 64 kB
L2C-310: CACHE_ID 0x00000000, AUX_CTRL 0x00000000
zynq_clock_init: clkc starts at e0802100
Zynq clock init
global-timer: non support for this cpu version.
Failed to initialize '/amba/timer@f8f00200': -38clocksource: ttc_clocksource: mask: 0xffff max_cycles: 0xffff, max_idle_ns: 551318127 ns
sched_clock: 16 bits at 52kHz, resolution 18904ns, wraps every 619458570ns
timer #0 at e080a000, irq=16
Console: colour dummy device 80x30
Calibrating delay loop... 2459.23 BogoMIPS (lpj=12296192)
pid_max: default: 32768 minimum: 301
Mount-cache hash table entries: 1024 (order: 0, 4096 bytes)
Mountpoint-cache hash table entries: 1024 (order: 0, 4096 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 (4911.92 BogoMIPS).
CPU: WARNING: CPU(s) started in wrong/inconsistent modes (primary CPU mode 0x13)
CPU: This may indicate a broken bootloader or firmware.
devtmpfs: initialized
VFP support v0.3: implementor 41 architecture 3 part 30 variant 9 rev 0
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: debug architecture 0x4 unsupported.
zynq-ocm f800c000.ocmc: ZYNQ OCM pool: 256 KiB @ 0xe0840000
zynq-pinctrl 700.pinctrl: zynq pinctrl initialized
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 <giometti@linux.it>
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 ttc_clocksource
NET: Registered protocol family 2
TCP established hash table entries: 4096 (order: 2, 16384 bytes)
TCP bind hash table entries: 4096 (order: 3, 32768 bytes)
TCP: Hash tables configured (established 4096 bind 4096)
UDP hash table entries: 256 (order: 1, 8192 bytes)
UDP-Lite hash table entries: 256 (order: 1, 8192 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.
hw perfevents: enabled with armv7_cortex_a9 PMU driver, 1 counters available
futex hash table entries: 512 (order: 3, 32768 bytes)
workingset: timestamp_bits=30 max_order=17 bucket_order=0
jffs2: version 2.2. (NAND) (SUMMARY)  © 2001-2006 Red Hat, Inc.
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-256x8bytes Num_Chans-8 Num_Peri-4 Num_Events-16
xilinx-vdma 43000000.dma: Xilinx AXI VDMA Engine Driver Probed!!
e0001000.serial: ttyPS0 at MMIO 0xe0001000 (irq = 26, base_baud = 1488095) is a xuartps
console [ttyPS0] enabled
console [ttyPS0] enabled
bootconsole [earlycon0] disabled
bootconsole [earlycon0] disabled
xdevcfg f8007000.devcfg: ioremap 0xf8007000 to e0828000
[drm] Initialized
[drm] load() is defered & will be called again
brd: module loaded
loop: module loaded
m25p80 spi0.0: m25p80 (1024 Kbytes)
4 ofpart partitions found on MTD device spi0.0
Creating 4 MTD partitions on "spi0.0":
0x000000000000-0x000000500000 : "boot"
mtd: partition "boot" extends beyond the end of device "spi0.0" -- size truncated to 0x100000
0x000000500000-0x000000520000 : "bootenv"
mtd: partition "bootenv" is out of reach -- disabled
0x000000520000-0x000000fa0000 : "kernel"
mtd: partition "kernel" is out of reach -- disabled
0x000000fa0000-0x000000100000 : "spare"
mtd: partition "spare" is out of reach -- disabled
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 28 (52:54:00:12:34:56)
Marvell 88E1149R e000b000.etherne:01: attached PHY driver [Marvell 88E1149R] (mii_bus:phy_addr=e000b000.etherne:01, 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
e0002000.usb supply vbus not found, using dummy regulator
ULPI transceiver vendor/product ID 0x0000/0x0000
ULPI integrity check: failed!ci_hdrc ci_hdrc.0: unable to init phy: -19
mousedev: PS/2 mouse device common for all mice
i2c /dev entries driver
cdns-i2c e0004000.i2c: 400 kHz mmio e0004000 irq 22
cdns-i2c e0004000.i2c: timeout waiting on completion
cdns-i2c e0005000.i2c: 400 kHz mmio e0005000 irq 23
uvcvideo: Unable to create debugfs directory
usbcore: registered new interface driver uvcvideo
USB Video Class driver (1.1.1)
cdns-wdt f8005000.watchdog: Xilinx Watchdog Timer at e08ec000 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 64-bit
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
[drm] No max horizontal width in DT, using default 1920
[drm] No max vertical height in DT, using default 1080
OF: graph: no port node found in /amba_pl/xilinx_drm
[drm] Supports vblank timestamp caching Rev 2 (21.10.2013).
[drm] No driver support for vblank timestamp query.
xilinx-drm amba_pl:xilinx_drm: No connectors reported connected with modes
[drm] Cannot find any crtc or sizes - going 1024x768
Console: switching to colour frame buffer device 128x48
xilinx-drm amba_pl:xilinx_drm: fb0:  frame buffer device
[drm] Initialized xilinx_drm 1.0.0 20130509 on minor 0
cdns-i2c e0004000.i2c: timeout waiting on completion
ssm2602 0-001a: Failed to issue reset: -110
ssm2602 0-001a: ASoC: failed to probe component -110
asoc-simple-card amba_pl:sound: ASoC: failed to instantiate card -110
asoc-simple-card: probe of amba_pl:sound failed with error -110
hctosys: unable to open rtc device (rtc0)
of_cfs_init
of_cfs_init: OK
ALSA device list:
  No soundcards found.
Warning: unable to open an initial console.
Freeing unused kernel memory: 44032K (c0900000 - c3400000)    
udevd[776]: 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[777]: starting eudev-3.2
random: udevd: uninitialized urandom read (16 bytes read)
random: dd: uninitialized urandom read (512 bytes read)
IPv6: ADDRCONF(NETDEV_UP): eth0: link is not ready
macb e000b000.ethernet eth0: link up (100/Full)
IPv6: ADDRCONF(NETDEV_CHANGE): eth0: link becomes ready
random: dropbearkey: uninitialized urandom read (32 bytes read)
random: dropbearkey: uninitialized urandom read (32 bytes read)
random: dropbearkey: uninitialized urandom read (32 bytes read)
random: dropbear: uninitialized urandom read (32 bytes read)
random: tcf-agent: uninitialized urandom read (16 bytes read)
/bin/autologin: line 1: -e: command not found
root@Zybo:~#

Package the project

petalinux-package --boot --force --fsbl images/linux/zynq_fsbl.elf \
  --fpga images/linux/system_wrapper.bit --u-boot

Prepare SD card

Instructions from: https://reference.digilentinc.com/learn/programmable-logic/tutorials/zybo-zybot-guide/start

Identify the SD card in Ubuntu 

lsblk

Output
ubuntu@ubuntu:~/Downloads/Zybo$ lsblk
NAME   MAJ:MIN RM  SIZE RO TYPE MOUNTPOINT
sr0     11:0    1 1024M  0 rom  
sdd      8:32   1 29.7G  0 disk 
├─sdd2   8:34   1 29.5G  0 part /media/ubuntu/UNTITLED
└─sdd1   8:33   1  200M  0 part 
sda      8:0    0   64G  0 disk 
├─sda2   8:2    0    1K  0 part 
├─sda5   8:5    0    2G  0 part [SWAP]
└─sda1   8:1    0   62G  0 part /
sr1     11:1    1 1024M  0 rom

SD card is at '/dev/sdd' in this example.

The first thing we need to do is to unmount the SD card: 

umount /media/ubuntu/UNTITLED

Open fdisk with the SD card selected 

sudo fdisk /dev/sdd

Delete current partitions, run twice and accept defaults: 

d
<ENTER>
d

Output
Command (m for help): d
Partition number (1,2, default 2): 

Partition 2 has been deleted.

Command (m for help): d
Selected partition 1
Partition 1 has been deleted.

Write partition 1 (BOOT): 

n
<ENTER> # (partition number 1)
<ENTER> # (first sector default)
+1G # (1 GB for this partition)

Output
Command (m for help): n
Partition number (1-128, default 1): 
First sector (34-62333918, default 2048): 
Last sector, +sectors or +size{K,M,G,T,P} (2048-62333918, default 62333918): +1G

Created a new partition 1 of type 'Linux filesystem' and of size 1 GiB.

Write partition 2 (rootfs): 

n
<ENTER> # (partition number 2)
<ENTER> # (first sector default)
<ENTER> # (use the remainder of the card for this partition)

Output
Command (m for help): n
Partition number (2-128, default 2): 
First sector (2099200-62333918, default 2099200): 
Last sector, +sectors or +size{K,M,G,T,P} (2099200-62333918, default 62333918): 

Created a new partition 2 of type 'Linux filesystem' and of size 28.7 GiB.

Write to the SD card: 

w

Output
Command (m for help): w
The partition table has been altered.
Calling ioctl() to re-read partition table.
Syncing disks.

Verify the new partitioning: 

lsblk

Output
ubuntu@ubuntu:~/Downloads/Zybo$ lsblk
NAME   MAJ:MIN RM  SIZE RO TYPE MOUNTPOINT
sr0     11:0    1 1024M  0 rom  
sdd      8:32   1 29.7G  0 disk 
├─sdd2   8:34   1 28.7G  0 part 
└─sdd1   8:33   1    1G  0 part 
sda      8:0    0   64G  0 disk 
├─sda2   8:2    0    1K  0 part 
├─sda5   8:5    0    2G  0 part [SWAP]
└─sda1   8:1    0   62G  0 part /
sr1     11:1    1 1024M  0 rom

Create File Allocation Table on partition 1: 

sudo mkfs -t vfat -n BOOT /dev/sdd1

Output
ubuntu@ubuntu:~/Downloads/Zybo$ sudo mkfs -t vfat -n BOOT /dev/sdd1
mkfs.fat 3.0.28 (2015-05-16)

Create ext4 file system on partition 2: 

sudo mkfs -t ext4 -L rootfs /dev/sdd2

Output
ubuntu@ubuntu:~/Downloads/Zybo$ sudo mkfs -t ext4 -L rootfs /dev/sdd2
mke2fs 1.42.13 (17-May-2015)
Creating filesystem with 7529339 4k blocks and 1884160 inodes
Filesystem UUID: 49004b23-2a3d-4ae4-a9ec-c51f0a2309c2
Superblock backups stored on blocks: 
  32768, 98304, 163840, 229376, 294912, 819200, 884736, 1605632, 2654208, 
  4096000

Allocating group tables: done                            
Writing inode tables: done                            
Creating journal (32768 blocks): done
Writing superblocks and filesystem accounting information: done

Mount the SD card

sudo mkdir -p /media/ubuntu/BOOT
sudo mkdir -p /media/ubuntu/rootfs
sudo mount /dev/sdd1 /media/ubuntu/BOOT
sudo mount /dev/sdd2 /media/ubuntu/rootfs
lsblk
Output
ubuntu@ubuntu:~/Downloads/Zybo$ sudo mkdir -p /media/ubuntu/BOOT
ubuntu@ubuntu:~/Downloads/Zybo$ sudo mkdir -p /media/ubuntu/rootfs
ubuntu@ubuntu:~/Downloads/Zybo$ sudo mount /dev/sdd1 /media/ubuntu/BOOT
ubuntu@ubuntu:~/Downloads/Zybo$ sudo mount /dev/sdd2 /media/ubuntu/rootfs
ubuntu@ubuntu:~/Downloads/Zybo$ lsblk
NAME   MAJ:MIN RM  SIZE RO TYPE MOUNTPOINT
sr0     11:0    1 1024M  0 rom  
sdd      8:32   1 29.7G  0 disk 
├─sdd2   8:34   1 28.7G  0 part /media/ubuntu/rootfs
└─sdd1   8:33   1    1G  0 part /media/ubuntu/BOOT
sda      8:0    0   64G  0 disk 
├─sda2   8:2    0    1K  0 part 
├─sda5   8:5    0    2G  0 part [SWAP]
└─sda1   8:1    0   62G  0 part /
sr1     11:1    1 1024M  0 rom

Configure SD rootfs

From: https://github.com/Digilent/Petalinux-Zybo/blob/v2017.4-1/README.md#configure-sd-rootfs 

petalinux-config
-> Image Packaging Configuration -> Root filesystem type -> SD card
Save
Exit

Output
ubuntu@ubuntu:~/Downloads/Zybo$ petalinux-config
[INFO] generating Kconfig for project

[INFO] menuconfig project
/home/ubuntu/Downloads/Zybo/build/misc/config/Kconfig.syshw:30:warning: defaults for choice values not supported
/home/ubuntu/Downloads/Zybo/build/misc/config/Kconfig:568:warning: config symbol defined without type


*** End of the configuration.
*** Execute 'make' to start the build or try 'make help'.

[INFO] sourcing bitbake
[INFO] generating plnxtool conf
[INFO] generating meta-plnx-generated layer
~/Downloads/Zybo/build/misc/plnx-generated ~/Downloads/Zybo
~/Downloads/Zybo
[INFO] generating machine configuration
[INFO] generating bbappends for project . This may take time ! 
~/Downloads/Zybo/build/misc/plnx-generated ~/Downloads/Zybo
~/Downloads/Zybo
[INFO] generating u-boot configuration files

[INFO] generating kernel configuration files
[INFO] generating kconfig for Rootfs
Generate rootfs kconfig
[INFO] oldconfig rootfs
[INFO] generating petalinux-user-image.bb
[INFO] successfully configured project
webtalk failed:PetaLinux statistics:extra lines detected:notsent_nofile!
webtalk failed:Failed to get PetaLinux usage statistics!

Edit device tree: 

project-spec/meta-user/recipes-bsp/device-tree/files/system-user.dtsi
# Find line with "bootargs" that says:
bootargs = "console=ttyPS0,115200 earlyprintk uio_pdrv_genirq.of_id=generic-uio";
# Replace with the following:
bootargs = "console=ttyPS0,115200 earlyprintk uio_pdrv_genirq.of_id=generic-uio root=/dev/mmcblk0p2 rw rootwait";
# Save and close

Build petalinux again 

petalinux-build

Output
ubuntu@ubuntu:~/Downloads/Zybo$ petalinux-build
[INFO] building project
[INFO] sourcing bitbake
INFO: bitbake petalinux-user-image
Parsing recipes: 100% |###################################################################################| Time: 0:01:54
Parsing of 2473 .bb files complete (0 cached, 2473 parsed). 3266 targets, 226 skipped, 0 masked, 0 errors.
NOTE: Resolving any missing task queue dependencies
Initialising tasks: 100% |################################################################################| Time: 0:00:09
Checking sstate mirror object availability: 100% |########################################################| Time: 0:00:17
NOTE: Executing SetScene Tasks
NOTE: Executing RunQueue Tasks
fsbl-2017.4+gitAUTOINC+77448ae629-r0 do_compile: NOTE: fsbl: compiling from external source tree /opt/pkg/petalinux/tools/hsm/data/embeddedsw
NOTE: Tasks Summary: Attempted 2674 tasks of which 2595 didn't need to be rerun and all succeeded.
INFO: Copying Images from deploy to images
NOTE: Successfully copied built images to tftp dir:  /var/lib/tftpboot
[INFO] successfully built project
webtalk failed:PetaLinux statistics:extra lines detected:notsent_nofile!
webtalk failed:Failed to get PetaLinux usage statistics!

Copy files to SD card

sudo cp images/linux/BOOT.BIN /media/ubuntu/BOOT
sudo cp images/linux/image.ub /media/ubuntu/BOOT

sudo cp images/linux/rootfs.cpio /media/ubuntu/rootfs

Unpack filesystem on SD card

From: https://reference.digilentinc.com/reference/software/petalinux#boot_options 

cd /media/ubuntu/rootfs
sudo pax -rvf rootfs.cpio
cd ~/Downloads/Zybo

Unmount SD card

sudo umount /media/ubuntu/BOOT /media/ubuntu/rootfs

Boot on Zybo board

  • Power off the board
  • Insert SD card
  • Move JP5 to SD position
  • Insert micro USB cable to PROG/UART from host computer
  • Power on the board
  • Open a serial port on host computer with 115200/8/N/1 settings
  • Reset by pressing PS-SRST
Output
U-Boot 2017.01 (Apr 24 2021 - 17:52:44 +0200)

Model: Zynq Zybo Development Board
Board: Xilinx Zynq
I2C:   ready
DRAM:  ECC disabled 512 MiB
MMC:   sdhci@e0100000: 0 (SD)
Using default environment

In:    serial
Out:   serial
Err:   serial
Net:   ZYNQ GEM: e000b000, phyaddr 1, interface rgmii-id

Warning: ethernet@e000b000 using MAC address from ROM
eth0: ethernet@e000b000
U-BOOT for Zybo
ethernet@e000b000 Waiting for PHY auto negotiation to complete......... TIMEOUT !
Hit any key to stop autoboot:  4 ... 3 ... 2 ... 1 ... 0 
Device: sdhci@e0100000
Manufacturer ID: 74
OEM: 4a60
Name: USDU1 
Tran Speed: 50000000
Rd Block Len: 512
SD version 3.0
High Capacity: Yes
Capacity: 29.4 GiB
Bus Width: 4-bit
Erase Group Size: 512 Bytes
reading image.ub
3838864 bytes read in 332 ms (11 MiB/s)
## Loading kernel from FIT Image at 10000000 ...
   Using 'conf@2' configuration
   Verifying Hash Integrity ... OK
   Trying 'kernel@0' kernel subimage
     Description:  Linux Kernel
     Type:         Kernel Image
     Compression:  uncompressed
     Data Start:   0x100000d4
     Data Size:    3812944 Bytes = 3.6 MiB
     Architecture: ARM
     OS:           Linux
     Load Address: 0x00008000
     Entry Point:  0x00008000
     Hash algo:    sha1
     Hash value:   863c170235c173204916a246127eef3e56e6d13d
   Verifying Hash Integrity ... sha1+ OK
## Loading fdt from FIT Image at 10000000 ...
   Using 'conf@2' configuration
   Trying 'fdt@0' fdt subimage
     Description:  Flattened Device Tree blob
     Type:         Flat Device Tree
     Compression:  uncompressed
     Data Start:   0x103a3018
     Data Size:    24625 Bytes = 24 KiB
     Architecture: ARM
     Hash algo:    sha1
     Hash value:   806f3e9f43f0ed59b183c25833618dfa50cffca0
   Verifying Hash Integrity ... sha1+ OK
   Booting using the fdt blob at 0x103a3018
   Loading Kernel Image ... OK
   Loading Device Tree to 07ff6000, end 07fff030 ... OK

Starting kernel ...
Uncompressing Linux... done, booting the kernel.
Booting Linux on physical CPU 0x0
Linux version 4.9.0-xilinx-v2017.4 (ubuntu@ubuntu) (gcc version 6.2.1 20161016 (Linaro GCC 6.2-2016.11) ) #4 SMP PREEMPT Sun Apr 25 13:19:14 CEST 2021
CPU: ARMv7 Processor [413fc090] revision 0 (ARMv7), cr=18c5387d
CPU: PIPT / VIPT nonaliasing data cache, VIPT aliasing instruction cache
OF: fdt:Machine model: Zynq Zybo Development Board
bootconsole [earlycon0] enabled
cma: Reserved 64 MiB at 0x1c000000
Memory policy: Data cache writealloc
percpu: Embedded 14 pages/cpu @dbbad000 s25932 r8192 d23220 u57344
Built 1 zonelists in Zone order, mobility grouping on.  Total pages: 130048
Kernel command line: console=ttyPS0,115200 earlyprintk uio_pdrv_genirq.of_id=generic-uio root=/dev/mmcblk0p2 rw rootwait
PID hash table entries: 2048 (order: 1, 8192 bytes)
Dentry cache hash table entries: 65536 (order: 6, 262144 bytes)
Inode-cache hash table entries: 32768 (order: 5, 131072 bytes)
Memory: 443744K/524288K available (6144K kernel code, 208K rwdata, 1492K rodata, 1024K init, 231K bss, 15008K reserved, 65536K cma-reserved, 0K highmem)
Virtual kernel memory layout:
    vector  : 0xffff0000 - 0xffff1000   (   4 kB)
    fixmap  : 0xffc00000 - 0xfff00000   (3072 kB)
    vmalloc : 0xe0800000 - 0xff800000   ( 496 MB)
    lowmem  : 0xc0000000 - 0xe0000000   ( 512 MB)
    pkmap   : 0xbfe00000 - 0xc0000000   (   2 MB)
    modules : 0xbf000000 - 0xbfe00000   (  14 MB)
      .text : 0xc0008000 - 0xc0700000   (7136 kB)
      .init : 0xc0900000 - 0xc0a00000   (1024 kB)
      .data : 0xc0a00000 - 0xc0a34380   ( 209 kB)
       .bss : 0xc0a34380 - 0xc0a6e118   ( 232 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 e0800000
slcr mapped to e0802000
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 e0802100
Zynq clock init
sched_clock: 64 bits at 325MHz, resolution 3ns, wraps every 4398046511103ns
clocksource: arm_global_timer: mask: 0xffffffffffffffff max_cycles: 0x4af477f6aa, max_idle_ns: 440795207830 ns
Switching to timer-based delay loop, resolution 3ns
clocksource: ttc_clocksource: mask: 0xffff max_cycles: 0xffff, max_idle_ns: 551318127 ns
timer #0 at e080a000, irq=17
Console: colour dummy device 80x30
Calibrating delay loop (skipped), value calculated using timer frequency.. 650.00 BogoMIPS (lpj=3250000)
pid_max: default: 32768 minimum: 301
Mount-cache hash table entries: 1024 (order: 0, 4096 bytes)
Mountpoint-cache hash table entries: 1024 (order: 0, 4096 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 (1300.00 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 @ 0xe0840000
zynq-pinctrl 700.pinctrl: zynq pinctrl initialized
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 <giometti@linux.it>
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: 4096 (order: 2, 16384 bytes)
TCP bind hash table entries: 4096 (order: 3, 32768 bytes)
TCP: Hash tables configured (established 4096 bind 4096)
UDP hash table entries: 256 (order: 1, 8192 bytes)
UDP-Lite hash table entries: 256 (order: 1, 8192 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.
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=17 bucket_order=0
jffs2: version 2.2. (NAND) (SUMMARY)  © 2001-2006 Red Hat, Inc.
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
xilinx-vdma 43000000.dma: Xilinx AXI VDMA Engine Driver Probed!!
e0001000.serial: ttyPS0 at MMIO 0xe0001000 (irq = 27, base_baud = 6250000) is a xuartps
¿console [ttyPS0] enabled
console [ttyPS0] enabled
bootconsole [earlycon0] disabled
bootconsole [earlycon0] disabled
xdevcfg f8007000.devcfg: ioremap 0xf8007000 to e0828000
[drm] Initialized
[drm] load() is defered & will be called again
brd: module loaded
loop: module loaded
m25p80 spi0.0: found s25fl128s, expected m25p80
m25p80 spi0.0: s25fl128s (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 29 (d8:80:39:5c:17:ce)
RTL8211E Gigabit Ethernet e000b000.etherne:01: attached PHY driver [RTL8211E Gigabit Ethernet] (mii_bus:phy_addr=e000b000.etherne:01, 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
e0002000.usb supply vbus not found, using dummy regulator
ULPI transceiver vendor/product ID 0x0424/0x0007
Found SMSC USB3320 ULPI transceiver.
ULPI integrity check: passed.
ci_hdrc ci_hdrc.0: EHCI Host Controller
ci_hdrc ci_hdrc.0: new USB bus registered, assigned bus number 1
ci_hdrc ci_hdrc.0: USB 2.0 started, EHCI 1.00
hub 1-0:1.0: USB hub found
hub 1-0:1.0: 1 port detected
mousedev: PS/2 mouse device common for all mice
i2c /dev entries driver
cdns-i2c e0004000.i2c: 400 kHz mmio e0004000 irq 23
at24 0-0050: 256 byte 24c02 EEPROM, writable, 1 bytes/write
cdns-i2c e0005000.i2c: 400 kHz mmio e0005000 irq 24
uvcvideo: Unable to create debugfs directory
usbcore: registered new interface driver uvcvideo
USB Video Class driver (1.1.1)
cdns-wdt f8005000.watchdog: Xilinx Watchdog Timer at e08ec000 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
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
[drm] No max horizontal width in DT, using default 1920
[drm] No max vertical height in DT, using default 1080
OF: graph: no port node found in /amba_pl/xilinx_drm
[drm] Supports vblank timestamp caching Rev 2 (21.10.2013).
[drm] No driver support for vblank timestamp query.
mmc0: new high speed SDHC card at address 59b4
mmcblk0: mmc0:59b4 USDU1 29.4 GiB 
 mmcblk0: p1 p2
Console: switching to colour frame buffer device 240x67
xilinx-drm amba_pl:xilinx_drm: fb0:  frame buffer device
[drm] Initialized xilinx_drm 1.0.0 20130509 on minor 0
ssm2602 0-001a: simple-card: set_sysclk error
asoc-simple-card amba_pl:sound: ASoC: failed to init 43c20000.axi_i2s_adi-ssm2602-hifi: -22
asoc-simple-card amba_pl:sound: ASoC: failed to instantiate card -22
asoc-simple-card: probe of amba_pl:sound failed with error -22
hctosys: unable to open rtc device (rtc0)
of_cfs_init
of_cfs_init: OK
ALSA device list:
  No soundcards found.
EXT4-fs (mmcblk0p2): couldn't mount as ext3 due to feature incompatibilities
random: fast init done
EXT4-fs (mmcblk0p2): recovery complete
EXT4-fs (mmcblk0p2): mounted filesystem with ordered data mode. Opts: (null)
VFS: Mounted root (ext4 filesystem) on device 179:2.
devtmpfs: mounted
Freeing unused kernel memory: 1024K (c0900000 - c0a00000)
INIT: usb 1-1: new full-speed USB device number 2 using ci_hdrc
version 2.88 booting
input:   mini keyboard as /devices/soc0/amba/e0002000.usb/ci_hdrc.0/usb1/1-1/1-1:1.0/0003:1997:2433.0001/input/input0
hid-generic 0003:1997:2433.0001: input: USB HID v1.01 Keyboard [  mini keyboard] on usb-ci_hdrc.0-1/input0
input:   mini keyboard as /devices/soc0/amba/e0002000.usb/ci_hdrc.0/usb1/1-1/1-1:1.1/0003:1997:2433.0002/input/input1
hid-generic 0003:1997:2433.0002: input: USB HID v1.01 Mouse [  mini keyboard] on usb-ci_hdrc.0-1/input1
Starting udev
input:   mini keyboard as /devices/soc0/amba/e0002000.usb/ci_hdrc.0/usb1/1-1/1-1:1.2/0003:1997:2433.0003/input/input2
hid-generic 0003:1997:2433.0003: input: USB HID v1.01 Device [  mini keyboard] on usb-ci_hdrc.0-1/input2
udevd[797]: starting version 3.2
udevd[798]: starting eudev-3.2
EXT4-fs (mmcblk0p2): re-mounted. Opts: data=ordered
FAT-fs (mmcblk0p1): Volume was not properly unmounted. Some data may be corrupt. Please run fsck.
hwclock: can't open '/dev/misc/rtc': No such file or directory
Sun Apr 25 11:20:35 UTC 2021
hwclock: can't open '/dev/misc/rtc': No such file or directory
Starting internet superserver: inetd.
INIT: Entering runlevel: 5
Configuring network interfaces... IPv6: ADDRCONF(NETDEV_UP): eth0: link is not ready
udhcpc (v1.24.1) started
Sending discover...
Sending discover...
Sending discover...
No lease, forking to background
done.
Starting Dropbear SSH server: dropbear.
hwclock: can't open '/dev/misc/rtc': No such file or directory
Starting syslogd/klogd: done
Starting tcf-agent: OK
/bin/autologin: line 1: -e: command not found
.7.[r.[999;999H.[6nroot@Zybo:~#

Check of disk space: 

root@Zybo:~# df -h
Filesystem                Size      Used Available Use% Mounted on
/dev/root                27.9G    298.9M     26.1G   1% /
devtmpfs                216.7M      4.0K    216.7M   0% /dev
tmpfs                   249.2M    124.0K    249.1M   0% /run
tmpfs                   249.2M     40.0K    249.1M   0% /var/volatile
/dev/mmcblk0p1         1022.0M      6.2M   1015.8M   1% /run/media/mmcblk0p1

Check of memory: 

root@Zybo:~# free -m
             total       used       free     shared    buffers     cached
Mem:           498         36        461          0          4          7
-/+ buffers/cache:         23        474
Swap:            0          0          0

This shows that the second partition on the SD card is mounted properly and contains the root file system. Otherwise the file system would be in RAM and we would have not have as much free RAM as we do now (461 MB out of 498 MB).

Linaro Ubuntu Desktop

Info from: https://reference.digilentinc.com/learn/programmable-logic/tutorials/zybo-zybot-guide/start 

sudo rm -r /media/ubuntu/rootfs/*
mkdir -p linaro
cd linaro
wget https://releases.linaro.org/archive/12.09/ubuntu/precise-images/ubuntu-desktop/linaro-precise-ubuntu-desktop-20120923-436.tar.gz .
sudo tar zxf *.tar.gz
sudo rsync -a ./ /media/ubuntu/rootfs
sudo umount /media/ubuntu/BOOT /media/ubuntu/rootfs

Color issue fix: https://forums.xilinx.com/t5/Video-and-Audio/Zybo-HDMI-output-Wrong-colors-rendering-on-Linux/td-p/950612

Other resources