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+# Building U-Boot and wolfBoot for Xilinx UltraScale+ MPSoC
+
+## Table of Contents
+- [Prerequisites](#prerequisites)
+- [Quick Start](#quick-start)
+- [Detailed Build Instructions](#detailed-build-instructions)
+  - [Building wolfBoot](#wolfboot-building)
+  - [Building PetaLinux](#building-petalinux)
+  - [Building U-Boot](#building-u-boot)
+- [Flashing Instructions](#flashing-instructions)
+- [Running the System](#running)
+- [Troubleshooting](#troubleshooting)
+- [Advanced Topics](#advanced-topics)
+
+## Prerequisites
+
+### Hardware Requirements
+- Xilinx UltraScale+ MPSoC Development Board
+  - Supported models: ZCU102 or MCNAV (ZCU109)
+- SD Card (optional, for SD boot mode)
+- JTAG programmer (optional, for JTAG programming)
+
+### Software Requirements
+- PetaLinux 2021.2
+- Xilinx Vitis 2021.2
+- Docker (for PetaLinux build environment)
+- Cross-compilation toolchain (aarch64-linux-gnu-)
+
+### Required Files
+- `petalinux-v2021.2-final-installer.run`
+- `system.xsa` (hardware description file)
+- Xilinx U-Boot source (xilinx-v2021.2.tar.gz)
+
+## Quick Start
+
+For experienced users, here are the basic steps to get up and running:
+
+1. Configure wolfBoot:
+```bash
+cp config/examples/zynqmp.config .config
+# Edit .config with required settings (see Configuration section)
+make clean && make
+```
+
+2. Sign the image:
+```bash
+./tools/keytools/sign --rsa4096 --sha3 ../lynx-test-arm.srp ./wolfboot_signing_private_key.der 1
+```
+
+3. Create BOOT.BIN:
+```bash
+bootgen -image bootgen.bif -arch zynqmp -o BOOT.BIN -w
+```
+
+4. Flash the image:
+   - QSPI: Use Vitis -> Program Flash
+   - SD: Copy BOOT.BIN to SD card
+
+## Detailed Build Instructions
+
+### wolfBoot Building
+
+1. Create and customize `.config`:
+```bash
+# Create initial config
+cp config/examples/zynqmp.config .config
+
+# Required .config settings
+OPTIMIZATION_LEVEL=2
+ELF?=0
+WOLFBOOT_PARTITION_SIZE=0xA000000
+WOLFBOOT_PARTITION_UPDATE_ADDRESS?=0xA800000
+WOLFBOOT_PARTITION_SWAP_ADDRESS?=0xFFE0000
+WOLFBOOT_LOAD_DTS_ADDRESS?=0x0FFF2000
+
+# QSPI Configuration
+# For MCNAV: 300MHz reference clock
+CFLAGS_EXTRA+=-DGQSPI_CLK_REF=300000000
+# For ZCU102: 125MHz reference clock
+#CFLAGS_EXTRA+=-DGQSPI_CLK_REF=125000000
+
+# QSPI Bus Divisor (2 << div):
+# 0=div2, 1=div4, 2=div8
+CFLAGS_EXTRA+=-DGQSPI_CLK_DIV=1
+
+# Performance optimization
+CFLAGS_EXTRA+=-DWOLFBOOT_SHA_BLOCK_SIZE=131072
+
+# Hardware acceleration settings
+NO_ARM_ASM?=1
+PKA?=1
+```
+
+2. Build wolfBoot:
+```bash
+make clean && make
+```
+
+Validation: Check that `wolfboot.elf` is created in the build directory.
+
+### Building PetaLinux
+
+1. Setup Docker Environment:
+```bash
+# Clone docker environment
+git clone https://github.com/carlesfernandez/docker-petalinux2.git
+cd docker-petalinux2
+
+# Copy installer
+cp /path/to/petalinux-v2021.2-final-installer.run installers/
+
+# Build docker image
+./docker_build.sh
+
+# Start docker environment
+./etc/petalin2.sh
+```
+
+2. Create and Configure Project:
+```bash
+# Create project
+petalinux-create -t project -n pim --template zynqMP
+
+# Copy hardware description
+cp /path/to/system.xsa pim/hw/
+
+# Configure project
+cd pim
+petalinux-config --get-hw-description=hw/
+```
+
+3. Configure Build Settings:
+   - Linux Components Selection -> u-boot -> ext-local-src
+   - PMU Configuration: Add compiler flags
+     ```
+     -DSECURE_ACCESS_VAL=1
+     -DENABLE_EFUSE_ACCESS=1
+     -DXSK_ACCESS_SECURE_CRITICAL_EFUSE
+     -DXSK_ACCESS_PUF_USER_EFUSE
+     -DXSK_ACCESS_USER_EFUSE
+     ```
+
+4. Configure Memory Partitions:
+   
+   Subsystem AUTO Hardware Settings -> Flash Settings:
+   | Partition | Size      | Offset    |
+   |-----------|-----------|-----------|
+   | boot      | 0x1E00000 | 0x0       |
+   | bootenv   | 0x40000   | 0x1E00000 |
+   | kernel    | 0x2040000 | 0x1E40000 |
+   | bootscr   | 0x180000  | 0x3E80000 |
+   | rootfs    | 0x4000000 | 0x4000000 |
+   | FIT       | 0x6400000 | 0x8000000 |
+
+5. Build System:
+```bash
+petalinux-build
+```
+
+Validation: Check for output files in `pim/images/linux/`
+
+### Building U-Boot (Standalone)
+
+```bash
+wget https://github.com/Xilinx/u-boot-xlnx/archive/refs/tags/xilinx-v2021.2.tar.gz
+tar -xzf xilinx-v2021.2.tar.gz
+cd u-boot-xlnx-xilinx-v2021.2
+
+# Set environment
+export CROSS_COMPILE=aarch64-linux-gnu-
+export ARCH=aarch64
+
+# Build
+make distclean
+make xilinx_zynqmp_virt_defconfig
+make
+```
+
+Validation: Check for `u-boot.elf` in build directory
+
+## Flashing Instructions
+
+### Boot Mode Selection
+
+Set boot mode using jumpers (SW6[4:1]):
+
+| Boot Mode | MODE[3:0] | SW6[4:1]    |
+|-----------|-----------|-------------|
+| JTAG      | 0000      | on,on,on,on |
+| QSPI32    | 0010      | on,on,off,on|
+| SD        | 1110      | off,off,off,on|
+
+### QSPI Flashing Methods
+
+#### Method 1: Using Vitis
+1. Open Xilinx -> Program Flash
+2. Configure settings:
+   ```
+   Flash type: qspi-x8-dual_parallel
+   Offset: 0
+   FSBL: zynqmp_fsbl.elf
+   ```
+3. Click Program
+
+#### Method 2: Using U-Boot
+```bash
+# Load BOOT.BIN from SD to RAM
+fatload mmc 0 0x10000000 BOOT_wolf.BIN
+
+# Initialize QSPI
+sf probe
+
+# Flash image (adjust size as needed)
+sf update 0x10000000 0 0xA275684
+```
+
+#### Method 3: Using Lauterbach
+Use the provided `.cmm` script (see Advanced Topics)
+
+### SD Card Flashing
+1. Format SD card as FAT32
+2. Copy BOOT.BIN to SD card root
+3. Insert card and set boot mode jumpers
+
+## Running the System
+
+1. Power on the board
+2. Check UART output for boot messages
+3. Verify successful boot:
+```
+wolfBoot Secure Boot
+QSPI Init: Ref=300MHz, Div=4, Bus=75000000, IO=DMA
+...
+Successfully selected image in part: 0
+Firmware Valid
+```
+
+## Troubleshooting
+
+### Common Issues
+
+1. QSPI Flash Fails
+   - Verify jumper settings match boot mode table
+   - Check flash partition table alignment
+   - Ensure correct flash clock settings for your board
+   - Verify QSPI initialization messages
+
+2. Boot Fails
+   - Verify image signing was successful
+   - Check partition offsets in bootgen.bif
+   - Validate hardware configuration
+   - Check UART output for error messages
+
+3. Build Errors
+   - Verify toolchain is properly set up
+   - Check PetaLinux version compatibility
+   - Ensure all prerequisites are installed
+   - Check log files in build directories
+
+### Validation Commands
+
+1. Verify QSPI Contents:
+```bash
+# Read partition (adjust offset/size as needed)
+sf read 0x10000000 0x800000 0x400
+
+# Verify SHA3 hash
+zynqmp sha3 0x10000000 0x9A75281
+```
+
+2. Check System Info:
+```bash
+# In U-Boot
+bdinfo
+```
+
+## Advanced Topics
+
+### Debugging
+
+1. Enable FSBL Debug Output:
+   Add compiler option `-DFSBL_DEBUG_DETAILED_VAL`
+   ```bash
+   petalinux-build -c bootloader -x cleanall
+   petalinux-build -c bootloader
+   ```
+
+2. Vitis Debug Attachment:
+   ```bash
+   # Load symbol files
+   memmap -file path/to/u-boot.elf
+   memmap -file path/to/wolfboot.elf
+   memmap -file path/to/fsbl_a53.elf
+   ```
+
+### FIT Image Handling
+
+1. Extract components:
+```bash
+dumpimage -T flat_dt -p 0 zcu102.srp -o lsk.bin
+dumpimage -T flat_dt -p 1 zcu102.srp -o linux.dtb
+```
+
+2. Modify device tree:
+```bash
+dtc -I dtb -O dts linux.dtb -o linux.dts
+# Edit linux.dts as needed
+dtc -I dts -O dtb linux.dts -o linux.dtb
+```
+
+3. Rebuild SRP:
+```bash
+mkimage -f srp.its zcu102_new.srp
+```
+
+## Support
+
+For questions or assistance, please contact:
+- Email: support@wolfssl.com