Hi Bill,
Following documents / User Guide can help to understand how BOOT.BIN is generated.
i. In general I use something like following to generat BOOT.BIN:
bootgen -arch <platform name> -image boot.bif -w -o BOOT.BIN
Platform name could be: zynq, zynqmp or versal
We mention all the images’ path in bif file, i.e. fsbl, ATF, u-boot etc.. and bootgen can combine them all in one BOOT.BIN file and we can use that BOOT.BIN to boot to u-boot.
In Yocto this is taken care by Vitis xsct tool. So we don’t have to generate it manually.