chore: add files of U-Boot experiment

boot/uboot/README.md

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+To build `boot.scr` from `boot.sh`, run:
+
+```sh
+mkimage -A arm -O linux -T script -C none -a 0 -e 0 -n "Rugpi Boot Script" -d .boot.sh boot.scr
+```
+
+To build `u-boot.bin`, run:
+
+```sh
+CROSS_COMPILE=aarch64-linux-gnu- make rpi_3_rugpi_defconfig
+CROSS_COMPILE=aarch64-linux-gnu- make -j$(nproc)
+```

boot/uboot/boot.sh

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+echo Rugpi Boot Script
+echo =================
+
+
+##############################################################################
+# Load Rugpi environment files.
+##############################################################################
+
+if load mmc 0:1 ${loadaddr} default.env; then
+    env import -c ${loadaddr} ${filesize}
+fi
+if load mmc 0:1 ${loadaddr} boot_spare.env; then
+    env import -c ${loadaddr} ${filesize}
+fi
+
+
+##############################################################################
+# Set `bootpart` to the active partition set (default or spare).
+##############################################################################
+
+if test ${bootpart} = ""; then
+    # If `bootpart` is not set, boot from the second partition.
+    setenv bootpart 2
+fi
+
+# If `boot_spare` is set, boot from the spare partition set.
+if test ${boot_spare} = 1; then
+    setexpr bootpart 5 - ${bootpart}
+    # Next time, boot from the default partition set again.
+    setenv boot_spare 0
+    env export -c ${loadaddr} boot_spare
+    save mmc 0:1 ${loadaddr} default.env ${filesize}
+fi
+
+
+##############################################################################
+# Load environment file `boot.env` from active partition set.
+##############################################################################
+
+if load mmc 0:${bootpart} ${loadaddr} boot.env; then
+    env import -c ${loadaddr} ${filesize}
+fi
+
+
+##############################################################################
+# Print information and boot kernel.
+##############################################################################
+
+echo Bootpart: ${bootpart}
+echo Cmdline: ${cmdline}
+
+load mmc 0:${bootpart} ${kernel_addr_r} ${kernel_file}
+setenv kernel_comp_addr_r ${loadaddr}
+setenv kernel_comp_size 0x4000000
+setenv bootargs ${cmdline}
+# Try booting `zImage`.
+booti ${kernel_addr_r} - ${fdt_addr}
+# Try booting `uImage`.
+bootm ${kernel_addr_r} - ${fdt_addr}
+
+echo "Error loading kernel... Rebooting in 10 seconds."
+sleep 10
+reset

boot/uboot/boot_env.py

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+import binascii
+import struct
+
+cmdline = "console=serial0,115200 console=tty1 rootfstype=ext4 fsck.repair=yes rootwait panic=60 root=PARTUUID=2ddb0742-05 init=/usr/bin/rugpi-ctrl"
+environ = [f"cmdline={cmdline}".encode("ascii")]
+
+data = b"\0".join(environ) + b"\n"
+
+crc = binascii.crc32(data)
+
+with open("boot.env", "wb") as env_file:
+    env_file.write(struct.pack("<I", crc))
+    env_file.write(data)

boot/uboot/boot_spare_env.py

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+import binascii
+import struct
+
+environ = [b"boot_spare=1"]
+
+data = b"\0".join(environ) + b"\n"
+
+crc = binascii.crc32(data)
+
+with open("boot_spare.env", "wb") as env_file:
+    env_file.write(struct.pack("<I", crc))
+    env_file.write(data)

boot/uboot/configs/rpi_3_rugpi_defconfig

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+CONFIG_ARM=y
+CONFIG_ARCH_CPU_INIT=y
+CONFIG_ARCH_BCM283X=y
+CONFIG_TEXT_BASE=0x00080000
+CONFIG_TARGET_RPI_3=y
+CONFIG_NR_DRAM_BANKS=1
+CONFIG_HAS_CUSTOM_SYS_INIT_SP_ADDR=y
+CONFIG_CUSTOM_SYS_INIT_SP_ADDR=0x7fffe40
+CONFIG_ENV_SIZE=0x4000
+CONFIG_DEFAULT_DEVICE_TREE="bcm2837-rpi-3-b"
+CONFIG_OF_LIBFDT_OVERLAY=y
+CONFIG_SYS_LOAD_ADDR=0x1000000
+CONFIG_BOOTSTD_DEFAULTS=y
+CONFIG_OF_BOARD_SETUP=y
+CONFIG_USE_PREBOOT=y
+# CONFIG_DISPLAY_CPUINFO is not set
+# CONFIG_DISPLAY_BOARDINFO is not set
+CONFIG_MISC_INIT_R=y
+CONFIG_FDT_SIMPLEFB=y
+CONFIG_SYS_PROMPT="U-Boot> "
+CONFIG_SYS_PBSIZE=1049
+CONFIG_CMD_GPIO=y
+CONFIG_CMD_MMC=y
+CONFIG_CMD_USB=y
+CONFIG_CMD_FS_UUID=y
+# CONFIG_OF_EMBED=y
+CONFIG_ENV_FAT_DEVICE_AND_PART="0:1"
+CONFIG_SYS_RELOC_GD_ENV_ADDR=y
+CONFIG_ENV_VARS_UBOOT_RUNTIME_CONFIG=y
+CONFIG_TFTP_TSIZE=y
+CONFIG_BCM2835_GPIO=y
+CONFIG_MMC_SDHCI=y
+CONFIG_MMC_SDHCI_BCM2835=y
+CONFIG_PHYLIB=y
+CONFIG_PINCTRL=y
+# CONFIG_PINCTRL_GENERIC is not set
+# CONFIG_REQUIRE_SERIAL_CONSOLE is not set
+CONFIG_SYSINFO=y
+CONFIG_SYSINFO_SMBIOS=y
+CONFIG_USB=y
+CONFIG_USB_DWC2=y
+CONFIG_USB_KEYBOARD=y
+CONFIG_USB_HOST_ETHER=y
+CONFIG_USB_ETHER_LAN78XX=y
+CONFIG_USB_ETHER_SMSC95XX=y
+CONFIG_VIDEO=y
+# CONFIG_VIDEO_BPP8 is not set
+# CONFIG_VIDEO_BPP16 is not set
+CONFIG_SYS_WHITE_ON_BLACK=y
+CONFIG_VIDEO_BCM2835=y
+CONFIG_CONSOLE_SCROLL_LINES=10
+CONFIG_PHYS_TO_BUS=y
+
+##############################################################################
+# Rugpi Customization
+##############################################################################
+CONFIG_CMD_BOOTZ=y
+CONFIG_CMD_BOOTI=y
+CONFIG_CMD_FS_GENERIC=y
+CONFIG_USE_BOOTARGS=y
+CONFIG_PREBOOT="setenv kernel_file kernel8.img"

boot/uboot/rpi3_config.txt

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+dtparam=audio=on
+camera_auto_detect=1
+display_auto_detect=1
+dtoverlay=vc4-kms-v3d
+max_framebuffers=2
+
+arm_64bit=1
+
+disable_overscan=1
+
+enable_uart=1
+kernel=u-boot.bin