2 files changed, 17 insertions, 2 deletions

diff --git a/conf/machine/include/rpi-base.inc b/conf/machine/include/rpi-base.inc
index f29db29..970f4d8 100644
--- a/conf/machine/include/rpi-base.inc
+++ b/conf/machine/include/rpi-base.inc
@@ -41,7 +41,17 @@ KERNEL_DEVICETREE ?= " \
     overlays/pi3-miniuart-bt.dtbo \
     overlays/vc4-kms-v3d.dtbo \
     "
-KERNEL_IMAGETYPE ?= "Image"
+
+# By default:
+#
+# * When u-boot is disabled use the "Image" format which can be directly loaded
+#   by the rpi firmware.
+#
+# * When u-boot is enabled use the "uImage" format and the "bootm" command
+#   within u-boot to load the kernel.
+KERNEL_BOOTCMD ??= "bootm"
+KERNEL_IMAGETYPE_UBOOT ??= "uImage"
+KERNEL_IMAGETYPE ?= "${@bb.utils.contains('RPI_USE_U_BOOT', '1', '${KERNEL_IMAGETYPE_UBOOT}', 'Image', d)}"
 
 MACHINE_FEATURES += "apm usbhost keyboard vfat ext2 screen touchscreen alsa bluetooth wifi sdio"
 
@@ -83,7 +93,7 @@ def make_dtb_boot_files(d):
 
 IMAGE_BOOT_FILES ?= "bcm2835-bootfiles/* \
                  ${@make_dtb_boot_files(d)} \
-                 ${@bb.utils.contains('KERNEL_IMAGETYPE', 'uImage', \
+                 ${@bb.utils.contains('RPI_USE_U_BOOT', '1', \
                     '${KERNEL_IMAGETYPE} u-boot.bin;${SDIMG_KERNELIMAGE} boot.scr', \
                     '${KERNEL_IMAGETYPE};${SDIMG_KERNELIMAGE}', d)} \
                  "
diff --git a/conf/machine/raspberrypi3-64.conf b/conf/machine/raspberrypi3-64.conf
index 237684a..ebc9f38 100644
--- a/conf/machine/raspberrypi3-64.conf
+++ b/conf/machine/raspberrypi3-64.conf
@@ -39,3 +39,8 @@ VC4_CMA_SIZE ?= "cma-256"
 
 UBOOT_MACHINE = "rpi_3_config"
 MACHINE_FEATURES_append = " vc4graphics"
+
+# When u-boot is enabled we need to use the "Image" format and the "booti"
+# command to load the kernel
+KERNEL_IMAGETYPE_UBOOT ?= "Image"
+KERNEL_BOOTCMD ?= "booti"