diff -Naur u-boot-2024.10.org/include/configs/rpi.h u-boot-2024.10/include/configs/rpi.h
--- u-boot-2024.10.org/include/configs/rpi.h	2024-10-07 14:54:35.000000000 +0000
+++ u-boot-2024.10/include/configs/rpi.h	2025-01-03 14:15:12.450978450 +0000
@@ -31,4 +31,85 @@
  */
 #define CFG_SYS_SDRAM_SIZE		SZ_128M
 
+/* DFU over USB/UDC */
+#ifdef CONFIG_CMD_DFU
+#ifdef CONFIG_ARM64
+#define KERNEL_FILENAME		"Image"
+#else
+#define KERNEL_FILENAME		"zImage"
+#endif
+
+#define ENV_DFU_SETTINGS \
+	"dfu_alt_info=u-boot.bin fat 0 1;uboot.env fat 0 1;" \
+		      "config.txt fat 0 1;" \
+		      KERNEL_FILENAME " fat 0 1\0"
+#else
+#define ENV_DFU_SETTINGS ""
+#endif
+
+/* Environment */
+#define ENV_DEVICE_SETTINGS \
+	"stdin=serial,usbkbd\0" \
+	"stdout=serial,vidconsole\0" \
+	"stderr=serial,vidconsole\0"
+
+#ifdef CONFIG_ARM64
+#define FDT_HIGH "ffffffffffffffff"
+#define INITRD_HIGH "ffffffffffffffff"
+#else
+#define FDT_HIGH "ffffffff"
+#define INITRD_HIGH "ffffffff"
+#endif
+
+#define ENV_MEM_LAYOUT_SETTINGS \
+	"fdt_high=" FDT_HIGH "\0" \
+	"initrd_high=" INITRD_HIGH "\0" \
+	"kernel_addr_r=0x00080000\0" \
+	"scriptaddr=0x02400000\0" \
+	"pxefile_addr_r=0x02500000\0" \
+	"fdt_addr_r=0x02600000\0" \
+	"ramdisk_addr_r=0x02700000\0"
+
+#if CONFIG_IS_ENABLED(CMD_MMC)
+	#define BOOT_TARGET_MMC(func) \
+		func(MMC, mmc, 0) \
+		func(MMC, mmc, 1) \
+		func(MMC, mmc, 2)
+#else
+	#define BOOT_TARGET_MMC(func)
+#endif
+
+#if CONFIG_IS_ENABLED(CMD_USB)
+	#define BOOT_TARGET_USB(func) func(USB, usb, 0)
+#else
+	#define BOOT_TARGET_USB(func)
+#endif
+
+#if CONFIG_IS_ENABLED(CMD_PXE)
+	#define BOOT_TARGET_PXE(func) func(PXE, pxe, na)
+#else
+	#define BOOT_TARGET_PXE(func)
+#endif
+
+#if CONFIG_IS_ENABLED(CMD_DHCP)
+	#define BOOT_TARGET_DHCP(func) func(DHCP, dhcp, na)
+#else
+	#define BOOT_TARGET_DHCP(func)
+#endif
+
+#define BOOT_TARGET_DEVICES(func) \
+	BOOT_TARGET_MMC(func) \
+	BOOT_TARGET_USB(func) \
+	BOOT_TARGET_PXE(func) \
+	BOOT_TARGET_DHCP(func)
+
+#include <config_distro_bootcmd.h>
+
+#define CFG_EXTRA_ENV_SETTINGS \
+	"dhcpuboot=usb start; dhcp u-boot.uimg; bootm\0" \
+	ENV_DEVICE_SETTINGS \
+	ENV_DFU_SETTINGS \
+	ENV_MEM_LAYOUT_SETTINGS \
+	BOOTENV
+
 #endif