To make relocation on arm working, the following changes are done:
  
  At arch level: add linker flag -pie
  
  	This causes the linker to generate fixup tables .rel.dyn and .dynsym,
  	which must be applied to the relocated image before transferring
  	control to it.
  
  	These fixups are described in the ARM ELF documentation as type 23
  	(program-base-relative) and 2 (symbol-relative)
  
  At cpu level: modify linker file and add a relocation and fixup loop
  
  	the linker file must be modified to include the .rel.dyn and .dynsym
  	tables in the binary image, and to provide symbols for the relocation
  	code to access these tables
  
  	The relocation and fixup loop must be executed after executing
  	board_init_f at initial location and before executing board_init_r
  	at final location.
  
  At board level:
  
  	dram_init(): bd pointer is now at this point not accessible, so only
  	detect the real dramsize, and store it in gd->ram_size. Bst detected
  	with get_ram_size().
  
  TODO:	move also dram initialization there on boards where it is possible.
  
  	Setup of the the bd_t dram bank info is done in the new function
  	dram_init_banksize() called after bd is accessible.
  
  At lib level:
  
  	Board.c code is adapted from ppc code
  
  * WARNING ** WARNING ** WARNING ** WARNING ** WARNING ** WARNING ** WARNING *
  
  Boards which are not fixed to support relocation will be REMOVED!
  
  -----------------------------------------------------------------------------
  
  For boards which boot from spl, it is possible to save one copy
  if CONFIG_SYS_TEXT_BASE == relocation address! This prevents that uboot code
  is copied again in relocate_code().
  
  example for the tx25 board booting from NAND Flash:
  
  a) cpu starts
  b) it copies the first page in nand to internal ram
     (spl code)
  c) end executes this code
  d) this initialize CPU, RAM, ... and copy itself to RAM
     (this bin must fit in one page, so board_init_f()
      don;t fit in it ... )
  e) there it copy u-boot to CONFIG_SYS_NAND_U_BOOT_DST and
     starts this image @ CONFIG_SYS_NAND_U_BOOT_START
  f) u-boot code steps through board_init_f() and calculates
     the relocation address and copy itself to it
  
  If CONFIG_SYS_TEXT_BASE == relocation address, the copying of u-boot
  in f) could be saved.
  
  -----------------------------------------------------------------------------
  
  TODO
  
  - fill in bd_t infos (check)
  - adapt all boards
  
  - maybe adapt CONFIG_SYS_TEXT_BASE (this must be checked from board maintainers)
    This *must* be done for boards, which boot from NOR flash
  
    on other boards if CONFIG_SYS_TEXT_BASE = relocation baseaddr, this saves
    one copying from u-boot code.
  
  - new function dram_init_banksize() is actual board specific. Maybe
    we make a weak default function in arch/arm/lib/board.c ?
  
  -----------------------------------------------------------------------------
  
  Relocation with SPL (example for the tx25 booting from NAND Flash):
  
  - cpu copies the first page from NAND to 0xbb000000 (IMX_NFC_BASE)
    and start with code execution on this address.
  
  - The First page contains u-boot code from drivers/mtd/nand/mxc_nand_spl.c
    which inits the dram, cpu registers, reloacte itself to CONFIG_SPL_TEXT_BASE	and loads
    the "real" u-boot to CONFIG_SYS_NAND_U_BOOT_DST and starts execution
    @CONFIG_SYS_NAND_U_BOOT_START
  
  - This u-boot does no RAM init, nor CPU register setup. Just look
    where it has to copy and relocate itself to this address. If
    relocate address = CONFIG_SYS_TEXT_BASE (not the same, as the
    CONFIG_SPL_TEXT_BASE from the spl code), then there is no need
    to copy, just go on with bss clear and jump to board_init_r.
  
  -----------------------------------------------------------------------------
  
  How ELF relocations 23 and 2 work.
  
  TBC
  
  -------------------------------------------------------------------------------------
  
  Debugging u-boot in RAM:
  (example on the qong board)
  
  -----------------
  
  a) start debugger
  
  arm-linux-gdb u-boot
  
  [hs@pollux u-boot]$ arm-linux-gdb u-boot
  GNU gdb Red Hat Linux (6.7-2rh)
  Copyright (C) 2007 Free Software Foundation, Inc.
  License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
  This is free software: you are free to change and redistribute it.
  There is NO WARRANTY, to the extent permitted by law.  Type "show copying"
  and "show warranty" for details.
  This GDB was configured as "--host=i686-pc-linux-gnu --target=arm-linux".
  The target architecture is set automatically (currently arm)
  ..
  (gdb)
  
  -----------------
  
  b) connect to target
  
  target remote bdi10:2001
  
  (gdb) target remote bdi10:2001
  Remote debugging using bdi10:2001
  0x8ff17f10 in ?? ()
  (gdb)
  
  -----------------
  
  c) discard symbol-file
  
  (gdb) symbol-file
  Discard symbol table from `/home/hs/celf/u-boot/u-boot'? (y or n) y
  No symbol file now.
  (gdb)
  
  -----------------
  
  d) load new symbol table:
  
  (gdb) add-symbol-file u-boot 0x8ff08000
  add symbol table from file "u-boot" at
  	.text_addr = 0x8ff08000
  (y or n) y
  Reading symbols from /home/hs/celf/u-boot/u-boot...done.
  (gdb) c
  Continuing.
  ^C
  Program received signal SIGSTOP, Stopped (signal).
  0x8ff17f18 in serial_getc () at serial_mxc.c:192
  192		while (__REG(UART_PHYS + UTS) & UTS_RXEMPTY);
  (gdb)
  
  add-symbol-file u-boot 0x8ff08000
  		       ^^^^^^^^^^
  		       get this address from u-boot bdinfo command
  		       or get it from gd->relocaddr in gdb
  
   => bdinfo
  rch_number = XXXXXXXXXX
  boot_params = XXXXXXXXXX
  DRAM bank   = XXXXXXXXXX
  -> start    = XXXXXXXXXX
  -> size     = XXXXXXXXXX
  ethaddr     = XXXXXXXXXX
  ip_addr     = XXXXXXXXXX
  baudrate    = XXXXXXXXXX
  TLB addr    = XXXXXXXXXX
  relocaddr   = 0x8ff08000
  	      ^^^^^^^^^^
  reloc off   = XXXXXXXXXX
  irq_sp	    = XXXXXXXXXX
  sp start    = XXXXXXXXXX
  FB base     = XXXXXXXXXX
  
  or interrupt execution by any means and re-load the symbols at the location
  specified by gd->relocaddr -- this is only valid after board_init_f.
  
  (gdb) set $s = gd->relocaddr
  (gdb) symbol-file
  (gdb) add-symbol-file u-boot $s
  
  Now you can use gdb as usual :-)