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  1. Vivado/SDK/PetaLinux 2015.4 installed (important do not mix versions!)
  2. Create Vivado Project, configure PS, Export HDF
  3. Ceate new PetaLinux project
  4. Import HDF into project
  5. petalinux-build
  6. copy boot.bin and image.ub to SD Card (only 2 files no more)

This is generic how-to, everything is setup for your by the Vivado->PetaLinux flow. Note, the boot.bin generated by PetaLinux may not always work, in such case it is recommended to make the boot.bin with SDK-GUI or command line tools manually.

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