I am trying to boot a Zynq 7000 board using petalinux by tftpboot. Do I still need a SD card?
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SD card is not mandatory. But you need a storage device to load FSBL, U-Boot, etc. It can be a QSPI flash, SD card, eMMC chip, ... If your board has QSPI flash, then you can boot from it and use tftpboot without an SD card.