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# Booting OS Images on Zynq target boards
Booting OS images on Zynq boards can be done using JTAG, SD, eMMC, QSPI and NAND
boot modes.
- [Booting OS Images on Zynq target boards](#booting-os-images-on-zynq-target-boards)
- [Setting Up the Target](#setting-up-the-target)
- [Booting from JTAG](#booting-from-jtag)
- [Sourcing the XSDB tools](#sourcing-the-xsdb-tools)
- [Deploying the images to target](#deploying-the-images-to-target)
- [Using devtool boot-jtag script](#using-devtool-boot-jtag-script)
- [Manually executing xsdb commands](#manually-executing-xsdb-commands)
- [Loading boot components using XSDB](#loading-boot-components-using-xsdb)
- [Loading Kernel, Root Filesystem and U-boot boot script](#loading-kernel-root-filesystem-and-u-boot-boot-script)
- [Using XSDB](#using-xsdb)
- [Using TFTP](#using-tftp)
- [Booting Linux](#booting-linux)
- [Booting from SD](#booting-from-sd)
- [Booting from QSPI](#booting-from-qspi)
- [Limitation](#limitation)
## Setting Up the Target
1. Connect a USB cable between the CP210x USB-to-UART bridge USB Mini-B on
the target and the USB port on the host machine.
2. Connect a micro USB cable from the ZC702 board USB UART port (J17) to the USB
port on the host machine.
3. Default UART terminal(serial port) settings is Speed `115200`, Data `8 bit`,
Parity `None`, Stop bits ` 1 bit` and Flow control `None`.
4. Set the board to JTAG and other boot mode by setting the boot mode switch by
referring to board user guide. For zynq-generic machine configuration
file ZC702 evaluation board is used as reference and below is the
configuration boot mode settings (SW16).
> **Note:** Switch OFF = 0 = Low; ON = 1 = High
| Boot Mode | Mode Pins [0:4] | Mode SW16 [1:5] | Comments |
|-----------|-----------------|-------------------------|------------------------|
| JTAG | 00000 | OFF, OFF, OFF, OFF, OFF | PS JTAG |
| QSPI | 01000 | OFF, ON, OFF, OFF, OFF | QSPI 32-bit addressing |
| SD | 00110 | OFF, OFF, ON, ON, OFF | SD 2.0 |
---
## Booting from JTAG
This boot flow requires the use of the AMD Xilinx tools, specifically XSDB and
the associated JTAG device drivers. This also requires access to the JTAG interface
on the board, a number of AMD Xilinx and third-party boards come with on-board JTAG
modules.
### Sourcing the XSDB tools
Source the Vivado or Vitis tools `settings.sh` scripts.
### Deploying the images to target
Deploying the images can be done in two methods.
#### Using devtool boot-jtag script
1. Run devtool command to generate the boot-jtag.tcl script.
```
$ devtool boot-jtag --help
$ devtool boot-jtag --image core-image-minimal --hw_server TCP:<hostname/ip-addr>:3121
```
2. Script will be generated under ${DEPLOY_DIR_IMAGE}/boot-jtag.tcl
3. Execute this script using xsdb tool as shown below.
```
$ xsdb <absolute-path-to-deploy-dir-image>/boot-jtag.tcl
```
#### Manually executing xsdb commands
1. Power on the board, Launch the XSDB shell from command line as shown below.
```
$ xsdb
```
2. In the XSDB console, connect to the target over JTAG using the connect command.
Optionally user can use `-url` to specify the local/remote hw_server. The
connect command returns the channel ID of the connection.
```
xsdb% connect
```
3. The targets command lists the available targets and allows you to select a
target using its ID. The targets are assigned IDs as they are discovered on
the JTAG chain, so the IDs can change from session to session.
```
xsdb% targets
```
> **Note:** For non-interactive usage such as scripting, you can use the `-filter`
option to select a target instead of selecting the target using its ID.
---
##### Loading boot components using XSDB
1. Download the boot images for the target using XSDB with the `fpga` and `dow`
command. Zynq boot images will be located in the `${DEPLOY_DIR_IMAGE}`
directory.
> **Note:** In yocto by default, ${DEPLOY_DIR_IMAGE}/system.dtb is used for both
> u-boot and kernel.
2. Program the bitstream or skip this step if you are loading from u-boot or linux.
```
xsdb% fpga -no-revision-check ${DEPLOY_DIR_IMAGE}/download.bit
```
3. Select APU Cortex-A9 Core 0 to load and execute FSBL.
```
xsdb% targets -set -nocase -filter {name =~ "arm*#0"}
xsdb% catch {stop}
```
5. Download and run FSBL from APU Cortex-A9 Core 0
```
xsdb% dow ${DEPLOY_DIR_IMAGE}/zynq_fsbl.elf
xsdb% con
```
7. Now download U-boot.elf and Device tree to APU and execute.
```
xsdb% stop
xsdb% dow ${DEPLOY_DIR_IMAGE}/u-boot.elf
xsdb% dow -data ${DEPLOY_DIR_IMAGE}/system.dtb 0x100000
xsdb% con
```
8. In the target Serial Terminal, press any key to stop the U-Boot auto-boot.
```
...
Hit any key to stop autoboot: 0
U-Boot>
```
---
##### Loading Kernel, Root Filesystem and U-boot boot script
Load the images into the target DDR load address i.e.,
`DDR base address + <image_offset>`.
Below example uses base DDR address as 0x0 which matches in vivado address editor.
| Image Type | Base DDR Address | Image Offset | Load Address in DDR |
|--------------------|------------------|---------------|---------------------|
| Kernel | 0x0 | 0x200000 | 0x200000 |
| Device Tree | 0x0 | 0x100000 | 0x100000 |
| Rootfs | 0x0 | 0x4000000 | 0x4000000 |
| U-boot boot script | 0x0 | 0x3000000 | 0x3000000 |
> **Note:**
> 1. `<target-image>` refers to core-image-minimal or petalinux-image-minimal
> 2. For pxeboot boot create a symlink for `<target-image>-${MACHINE}-${DATETIME}.cpio.gz.u-boot`
> as shown `$ ln -sf ${DEPLOY_DIR_IMAGE}/<target-image>-${MACHINE}-${DATETIME}.cpio.gz.u-boot ${DEPLOY_DIR_IMAGE}/rootfs.cpio.gz.u-boot`
> to ensure the INITRD name in pxeboot.cfg matches with image name.
> 3. Whilst it is possible to load the images via JTAG this connection is slow and
this process can take a long time to execute (more than 10 minutes). If your
system has ethernet it is recommended that you use TFTP to load these images
using U-Boot.
> 4. If common ${DEPLOY_DIR_IMAGE}/system.dtb is used by u-boot and kernel, this
> is already part of boot.bin we can skip loading dtb, else load kernel dtb.
---
###### Using XSDB
1. Suspend the execution of active target using `stop` command in XSDB.
```
xsdb% stop
```
2. Using the `dow` command to load the images into the target DDR/PL DDR load
address.
```
xsdb% dow -data ${DEPLOY_DIR_IMAGE}/uImage 0x200000
xsdb% dow -data ${DEPLOY_DIR_IMAGE}/system.dtb 0x100000
xsdb% dow -data ${DEPLOY_DIR_IMAGE}/core-image-minimal-${MACHINE}.cpio.gz.u-boot 0x4000000
xsdb% dow -data ${DEPLOY_DIR_IMAGE}/boot.scr 0x3000000
```
---
###### Using TFTP
1. Setup TFTP directory on host machine and copy the images to your TFTP directory
so that you can load them from U-Boot.
2. Configure the `ipaddr` and `serverip` of the U-Boot environment.
```
Versal> set serverip <server ip>
Versal> set ipaddr <board ip>
```
3. Load the images to DDR address.
```
U-Boot> tftpboot 0x200000 uImage
U-Boot> tftpboot 0x100000 system.dtb
U-Boot> tftpboot 0x4000000 core-image-minimal-${MACHINE}.cpio.gz.u-boot
U-Boot> tftpboot 0x3000000 boot.scr
```
---
##### Booting Linux
Once the images are loaded continue the execution.
1. After loading images resume the execution of active target using the `con`
command in XSDB shell, Skip step 1 for if you have used TFTP to load images.
```
xsdb% con
```
2. Terminate xsdb shell.
```
xsdb% exit
```
3. In the target Serial Terminal, from U-Boot prompt run `boot` command.
```
U-Boot> boot
```
---
## Booting from SD
1. Load the SD card into the ZC702 board in the SD slot.
2. Configure the ZC702 board to boot in SD-Boot mode (1-OFF, 2-OFF, 3-ON, 4-ON, 5-OFF)
by setting the SW6. Refer [Setting Up the Target](#setting-up-the-target).
3. Follow SD boot instructions [README](README.booting.storage.md) for more details.
---
## Booting from QSPI
1. To boot ZC702 board in QSPI boot mode, Power on the ZC702 board and boot
using JTAG or SD boot mode, to ensure that U-Boot is running and also have
boot.bin copied to DDR location using XSDB `dow` or `tftpboot` or `fatload`
command.
2. Follow Flash boot instructions [README](README.booting.flash.md) for more details.
3. After flashing the images, turn off the power switch on the board, and change
the SW16 boot mode pin settings to QSPI boot mode (1-OFF, 2-ON, 3-OFF, 4-OFF, 5-OFF)
by setting the SW16. Refer [Setting Up the Target](#setting-up-the-target).
## Limitation
1. Booting core-image-minimal or other image target excluding
petalinux-image-minimal you can observe below error message.
```
Error: argument "/en*" is wrong: "dev" not a valid ifname
Starting syslogd/klogd: done
Poky (Yocto Project Reference Distro) 5.0.2 zc702-zynq7 ttyPS0
zc702-zynq7 login:
```
This is due to pni-names distro feature is not enabled by default and eudev uses
classic network interface naming scheme. To resolve this issue add pni-names
distro feature from <distro>.conf or local.file.
```
DISTRO_FEATURES:append:zynq = " pni-names"
```
|
