Import upstream snapshot 23eab11927f95ceca0dfa35bf182caeb7db39ea0

Upstream: https://github.com/pollen-robotics/elec_RPI_Robot_HAT
Upstream-Commit: 23eab11927f95ceca0dfa35bf182caeb7db39ea0
Upstream-Branch: main

docs/config.txt

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+# For more options and information see
+# http://rptl.io/configtxt
+# Some settings may impact device functionality. See link above for details
+
+# Uncomment some or all of these to enable the optional hardware interfaces
+dtparam=i2c_arm=on
+dtparam=i2s=on
+dtoverlay=tlv320aic3104
+dtparam=spi=on
+
+# Enable audio (loads snd_bcm2835)
+dtparam=audio=off
+
+# Additional overlays and parameters are documented
+# /boot/firmware/overlays/README
+
+# Automatically load overlays for detected cameras
+camera_auto_detect=1
+
+# Automatically load overlays for detected DSI displays
+display_auto_detect=1
+
+# Automatically load initramfs files, if found
+auto_initramfs=1
+
+# Enable DRM VC4 V3D driver
+dtoverlay=vc4-kms-v3d
+max_framebuffers=2
+
+# Don't have the firmware create an initial video= setting in cmdline.txt.
+# Use the kernel's default instead.
+disable_fw_kms_setup=1
+
+# Run in 64-bit mode
+arm_64bit=1
+
+# Disable compensation for displays with overscan
+disable_overscan=1
+
+# Run as fast as firmware / board allows
+arm_boost=1
+
+[cm4]
+# Enable host mode on the 2711 built-in XHCI USB controller.
+# This line should be removed if the legacy DWC2 controller is required
+# (e.g. for USB device mode) or if USB support is not required.
+otg_mode=1
+
+[cm5]
+dtoverlay=dwc2,dr_mode=host
+
+[pi02]
+dtparam=i2c_arm_baudrate=100000
+
+[all]
+enable_uart=1