diff --git a/releasetools/arm_sdimage_omap.sh b/releasetools/arm_sdimage_omap.sh
index 79f974e7c..64983d7ea 100755
--- a/releasetools/arm_sdimage_omap.sh
+++ b/releasetools/arm_sdimage_omap.sh
@@ -64,32 +64,8 @@ then
 	exit 1
 fi
 
-case $(uname -s) in
-Darwin)
-	MKFS_VFAT_CMD=newfs_msdos
-	MKFS_VFAT_OPTS="-h 64 -u 32 -S 512 -s ${FAT_SIZE} -o 0"
-;;
-FreeBSD)
-	MKFS_VFAT_CMD=newfs_msdos
-	MKFS_VFAT_OPTS=
-;;
-*)
-	MKFS_VFAT_CMD=mkfs.vfat
-	MKFS_VFAT_OPTS=
-;;
-esac
-
 export PATH=/bin:/sbin:/usr/bin:/usr/sbin:/usr/local/bin:/usr/local/sbin:${PATH}
 
-for needed in mcopy dd ${MKFS_VFAT_CMD} git
-do
-	if ! which $needed 2>&1 > /dev/null
-	then
-		echo "**Skipping image creation: missing tool '$needed'"
-		exit 1
-	fi
-done
-
 # we create a disk image of about 2 gig's
 # for alignment reasons, prefer sizes which are multiples of 4096 bytes
 : ${IMG_SIZE=$((     2*(2**30) ))}
@@ -130,67 +106,9 @@ echo "Creating specification files..."
 create_input_spec
 create_protos "usr home"
 
-#
-# Create the FAT partition, which contains the bootloader files, kernel and modules
-#
-dd if=/dev/zero of=${WORK_DIR}/fat.img bs=512 count=1 seek=$(($FAT_SIZE -1)) 2>/dev/null
-
-#
-# Format the fat partition and put the bootloaders
-# uEnv and the kernel command line in the FAT partition
-#
-${MKFS_VFAT_CMD} ${MKFS_VFAT_OPTS} ${WORK_DIR}/fat.img
-
-#
 # Download the stage 1 bootloader and u-boot
 #
 ${RELEASETOOLSDIR}/checkout_repo.sh -o ${RELEASETOOLSDIR}/u-boot -b ${U_BOOT_BRANCH} -n ${U_BOOT_REVISION} ${U_BOOT_URL}
-cp ${RELEASETOOLSDIR}/u-boot/${U_BOOT_BIN_DIR}/MLO ${WORK_DIR}/
-cp ${RELEASETOOLSDIR}/u-boot/${U_BOOT_BIN_DIR}/u-boot.img ${WORK_DIR}/
-
-#
-# Create a uEnv.txt file
-# -n default to network boot
-# -p add a prefix to the network booted files (e.g. xm/"
-# -c set console e.g. tty02 or tty00
-# -v set verbosity e.g. 0 to 3
-#${RELEASETOOLSDIR}/gen_uEnv.txt.sh -c ${CONSOLE} -n -p bb/ > ${WORK_DIR}/uEnv.txt
-${RELEASETOOLSDIR}/gen_uEnv.txt.sh -c ${CONSOLE}  > ${WORK_DIR}/uEnv.txt
-
-echo "Copying configuration kernel and boot modules"
-mcopy -bsp -i ${WORK_DIR}/fat.img ${WORK_DIR}/$MLO ::MLO
-mcopy -bsp -i ${WORK_DIR}/fat.img ${WORK_DIR}/$UBOOT ::u-boot.img
-mcopy -bsp -i ${WORK_DIR}/fat.img ${WORK_DIR}/uEnv.txt ::uEnv.txt
-
-#
-# Do some last processing of the kernel and servers and then put them on the FAT
-# partition.
-#
-${CROSS_PREFIX}objcopy ${OBJ}/minix/kernel/kernel -O binary ${OBJ}/kernel.bin
-mcopy -bsp -i ${WORK_DIR}/fat.img ${OBJ}/kernel.bin ::kernel.bin
-
-for f in servers/vm/vm servers/rs/rs servers/pm/pm servers/sched/sched \
-	servers/vfs/vfs servers/ds/ds servers/mib/mib fs/pfs/pfs fs/mfs/mfs \
-	../sbin/init/init
-do
-    fn=`basename $f`.elf
-    cp ${OBJ}/minix/${f} ${OBJ}/${fn}
-    ${CROSS_PREFIX}strip -s ${OBJ}/${fn}
-    mcopy -bsp -i ${WORK_DIR}/fat.img  ${OBJ}/${fn} ::${fn}
-done
-
-for f in tty/tty/tty storage/memory/memory
-do
-    fn=`basename $f`.elf
-    cp ${OBJ}/minix/drivers/${f} ${OBJ}/${fn}
-    ${CROSS_PREFIX}strip -s ${OBJ}/${fn}
-    mcopy -bsp -i ${WORK_DIR}/fat.img  ${OBJ}/${fn} ::${fn}
-done
-
-#
-# For tftp booting
-#
-cp ${WORK_DIR}/uEnv.txt ${OBJ}/
 
 # Clean image
 if [ -f ${IMG} ]	# IMG might be a block device
@@ -222,12 +140,63 @@ HOME_START=$((${USR_START} + ${_USR_SIZE}))
 echo " * HOME"
 _HOME_SIZE=$(${CROSS_TOOLS}/nbmkfs.mfs -d ${HOMESIZEARG} -I $((${HOME_START}*512)) ${IMG} ${WORK_DIR}/proto.home)
 _HOME_SIZE=$(($_HOME_SIZE / 512))
+echo " * BOOT"
+rm -rf ${ROOT_DIR}/*
+cp ${RELEASETOOLSDIR}/u-boot/${U_BOOT_BIN_DIR}/MLO ${ROOT_DIR}/
+cp ${RELEASETOOLSDIR}/u-boot/${U_BOOT_BIN_DIR}/u-boot.img ${ROOT_DIR}/
+
+# Create a uEnv.txt file
+# -n default to network boot
+# -p add a prefix to the network booted files (e.g. xm/"
+# -c set console e.g. tty02 or tty00
+# -v set verbosity e.g. 0 to 3
+#${RELEASETOOLSDIR}/gen_uEnv.txt.sh -c ${CONSOLE} -n -p bb/ > ${WORK_DIR}/uEnv.txt
+${RELEASETOOLSDIR}/gen_uEnv.txt.sh -c ${CONSOLE}  > ${ROOT_DIR}/uEnv.txt
+
+# Do some last processing of the kernel and servers and then put them on the FAT
+# partition.
+${CROSS_PREFIX}objcopy ${OBJ}/minix/kernel/kernel -O binary ${ROOT_DIR}/kernel.bin
+
+for f in servers/vm/vm servers/rs/rs servers/pm/pm servers/sched/sched \
+	servers/vfs/vfs servers/ds/ds servers/mib/mib fs/pfs/pfs fs/mfs/mfs \
+	../sbin/init/init drivers/tty/tty/tty drivers/storage/memory/memory
+do
+    fn=`basename $f`.elf
+    cp ${OBJ}/minix/${f} ${ROOT_DIR}/${fn}
+    ${CROSS_PREFIX}strip -s ${ROOT_DIR}/${fn}
+done
+cat >${WORK_DIR}/boot.mtree <<EOF
+. type=dir
+./MLO type=file
+./u-boot.img type=file
+./uEnv.txt type=file
+./kernel.bin type=file
+./ds.elf type=file
+./rs.elf type=file
+./pm.elf type=file
+./sched.elf type=file
+./vfs.elf type=file
+./memory.elf type=file
+./tty.elf type=file
+./mib.elf type=file
+./vm.elf type=file
+./pfs.elf type=file
+./mfs.elf type=file
+./init.elf type=file
+EOF
+
+#
+# Create the FAT partition, which contains the bootloader files, kernel and modules
+#
+${CROSS_TOOLS}/nbmakefs -t msdos -s ${FAT_SIZE}b -o F=16,c=1 \
+	-F ${WORK_DIR}/boot.mtree ${WORK_DIR}/fat.img ${ROOT_DIR}
 
 #
 # Write the partition table using the natively compiled
 # minix partition utility
 #
-${CROSS_TOOLS}/nbpartition -f -m ${IMG} ${FAT_START} "c:${FAT_SIZE}*" 81:${_ROOT_SIZE} 81:${_USR_SIZE} 81:${_HOME_SIZE}
+${CROSS_TOOLS}/nbpartition -f -m ${IMG} ${FAT_START} \
+	"c:${FAT_SIZE}*" 81:${_ROOT_SIZE} 81:${_USR_SIZE} 81:${_HOME_SIZE}
 
 #
 # Merge the partitions into a single image.
diff --git a/releasetools/arm_sdimage_rpi.sh b/releasetools/arm_sdimage_rpi.sh
index 93283f43e..c9068df30 100755
--- a/releasetools/arm_sdimage_rpi.sh
+++ b/releasetools/arm_sdimage_rpi.sh
@@ -24,13 +24,14 @@ BSP_NAME=rpi
 : ${TOOLCHAIN_TRIPLET=arm-elf32-minix-}
 : ${BUILDSH=build.sh}
 
-: ${SETS="minix-base"}
+: ${SETS="minix-base minix-comp minix-games minix-man minix-tests tests"}
 : ${IMG=minix_arm_sd.img}
 
 # ARM definitions:
 : ${BUILDVARS=-V MKGCCCMDS=yes -V MKLLVM=no}
 # These BUILDVARS are for building with LLVM:
 #: ${BUILDVARS=-V MKLIBCXX=no -V MKKYUA=no -V MKATF=no -V MKLLVMCMDS=no}
+: ${FAT_SIZE=$((    64*(2**20) / 512))} # This is in sectors
 
 if [ ! -f ${BUILDSH} ]
 then
@@ -38,21 +39,23 @@ then
 	exit 1
 fi
 
+export PATH=/bin:/sbin:/usr/bin:/usr/sbin:/usr/local/bin:/usr/local/sbin:${PATH}
+
 # we create a disk image of about 2 gig's
 # for alignment reasons, prefer sizes which are multiples of 4096 bytes
-: ${FAT_START=4096}
-: ${FAT_SIZE=$((    64*(2**20) - ${FAT_START} ))}
+: ${IMG_SIZE=$((     2*(2**30) ))}
 : ${ROOT_SIZE=$((   64*(2**20) ))}
 : ${HOME_SIZE=$((  128*(2**20) ))}
 : ${USR_SIZE=$((  1792*(2**20) ))}
-#: ${IMG_SIZE=$((     2*(2**30) ))} # no need to build an image that big for now
-: ${IMG_SIZE=$((    64*(2**20) ))}
 
 # set up disk creation environment
 . releasetools/image.defaults
 . releasetools/image.functions
 
-${RELEASETOOLSDIR}/checkout_repo.sh -o ${RELEASETOOLSDIR}/rpi-firmware -b ${RPI_FIRMWARE_BRANCH} -n ${RPI_FIRMWARE_REVISION} ${RPI_FIRMWARE_URL}
+# all sizes are written in 512 byte blocks
+ROOTSIZEARG="-b $((${ROOT_SIZE} / 512 / 8))"
+USRSIZEARG="-b $((${USR_SIZE} / 512 / 8))"
+HOMESIZEARG="-b $((${HOME_SIZE} / 512 / 8))"
 
 # where the kernel & boot modules will be
 MODDIR=${DESTDIR}/boot/minix/.temp
@@ -60,52 +63,61 @@ MODDIR=${DESTDIR}/boot/minix/.temp
 echo "Building work directory..."
 build_workdir "$SETS"
 
-# IMG might be a block device
-if [ -f ${IMG} ]
+echo "Adding extra files..."
+
+# create a fstab entry in /etc
+cat >${ROOT_DIR}/etc/fstab <<END_FSTAB
+/dev/c0d0p2	/usr		mfs	rw			0	2
+/dev/c0d0p3	/home		mfs	rw			0	2
+none		/sys		devman	rw,rslabel=devman	0	0
+none		/dev/pts	ptyfs	rw,rslabel=ptyfs	0	0
+END_FSTAB
+add_file_spec "etc/fstab" extra.fstab
+
+echo "Bundling packages..."
+bundle_packages "$BUNDLE_PACKAGES"
+
+echo "Creating specification files..."
+create_input_spec
+create_protos "usr home"
+
+# Download the stage 1 bootloader and u-boot
+#
+${RELEASETOOLSDIR}/checkout_repo.sh -o ${RELEASETOOLSDIR}/rpi-firmware -b ${RPI_FIRMWARE_BRANCH} -n ${RPI_FIRMWARE_REVISION} ${RPI_FIRMWARE_URL}
+
+# Clean image
+if [ -f ${IMG} ]	# IMG might be a block device
 then
 	rm -f ${IMG}
 fi
-dd if=/dev/zero of=${IMG} bs=512 count=1 seek=$((($IMG_SIZE / 512) -1)) 2>/dev/null
+
+#
+# Create the empty image where we later will put the partitions in.
+# Make sure it is at least 2GB, otherwise the SD card will not be detected
+# correctly in qemu / HW.
+#
+dd if=/dev/zero of=${IMG} bs=512 count=1 seek=$((($IMG_SIZE / 512) -1))
 
 #
 # Generate /root, /usr and /home partition images.
 #
 echo "Writing disk image..."
-
-#
-# Write FAT bootloader partition
-#
+FAT_START=$((4096 / 512)) # those are sectors
+ROOT_START=$(($FAT_START + $FAT_SIZE))
+echo " * ROOT"
+_ROOT_SIZE=$(${CROSS_TOOLS}/nbmkfs.mfs -d ${ROOTSIZEARG} -I $((${ROOT_START}*512)) ${IMG} ${WORK_DIR}/proto.root)
+_ROOT_SIZE=$(($_ROOT_SIZE / 512))
+USR_START=$((${ROOT_START} + ${_ROOT_SIZE}))
+echo " * USR"
+_USR_SIZE=$(${CROSS_TOOLS}/nbmkfs.mfs  -d ${USRSIZEARG}  -I $((${USR_START}*512))  ${IMG} ${WORK_DIR}/proto.usr)
+_USR_SIZE=$(($_USR_SIZE / 512))
+HOME_START=$((${USR_START} + ${_USR_SIZE}))
+echo " * HOME"
+_HOME_SIZE=$(${CROSS_TOOLS}/nbmkfs.mfs -d ${HOMESIZEARG} -I $((${HOME_START}*512)) ${IMG} ${WORK_DIR}/proto.home)
+_HOME_SIZE=$(($_HOME_SIZE / 512))
 echo " * BOOT"
 rm -rf ${ROOT_DIR}/*
-# copy over all modules
-for i in ${MODDIR}/*
-do
-	cp $i ${ROOT_DIR}/$(basename $i).elf
-done
-${CROSS_PREFIX}objcopy ${OBJ}/minix/kernel/kernel -O binary ${ROOT_DIR}/kernel.bin
-# create packer
-${CROSS_PREFIX}as ${RELEASETOOLSDIR}/rpi-bootloader/bootloader.S -o ${RELEASETOOLSDIR}/rpi-bootloader/bootloader.o
-${CROSS_PREFIX}ld ${RELEASETOOLSDIR}/rpi-bootloader/bootloader.o -o ${RELEASETOOLSDIR}/rpi-bootloader/bootloader.elf -Ttext=0x8000 2> /dev/null
-${CROSS_PREFIX}objcopy -O binary ${RELEASETOOLSDIR}/rpi-bootloader/bootloader.elf ${ROOT_DIR}/minix_rpi.bin
 # copy device trees
-cp ${RELEASETOOLSDIR}/rpi-firmware/bcm*.dtb ${ROOT_DIR}
-# pack modules
-(cd ${ROOT_DIR} && cat <<EOF | cpio -o --format=newc >> ${ROOT_DIR}/minix_rpi.bin 2>/dev/null
-kernel.bin
-mod01_ds.elf
-mod02_rs.elf
-mod03_pm.elf
-mod04_sched.elf
-mod05_vfs.elf
-mod06_memory.elf
-mod07_tty.elf
-mod08_mib.elf
-mod09_vm.elf
-mod10_pfs.elf
-mod11_mfs.elf
-mod12_init.elf
-EOF
-)
 cp -r releasetools/rpi-firmware/* ${ROOT_DIR}
 
 # Write GPU config file
@@ -125,16 +137,82 @@ kernel=minix_rpi.bin
 dtparam=i2c_arm=on
 EOF
 
-${CROSS_TOOLS}/nbmakefs -t msdos -s $FAT_SIZE -O $FAT_START -o "F=32,c=1" ${IMG} ${ROOT_DIR} >/dev/null
+#
+# Do some last processing of the kernel and servers and then put them on the FAT
+# partition.
+#
+
+# copy over all modules
+for i in ${MODDIR}/*
+do
+	cp $i ${WORK_DIR}/$(basename $i).elf
+done
+${CROSS_PREFIX}objcopy ${OBJ}/minix/kernel/kernel -O binary ${WORK_DIR}/kernel.bin
+
+(
+	# create packer
+	export CROSS_PREFIX=$PWD/${CROSS_PREFIX}
+	${CROSS_PREFIX}as ${RELEASETOOLSDIR}/rpi-bootloader/bootloader.S -o ${WORK_DIR}/bootloader.o
+
+	cd ${WORK_DIR}
+	${CROSS_PREFIX}ld bootloader.o -o bootloader.elf -Ttext=0x8000
+	${CROSS_PREFIX}objcopy -O binary bootloader.elf ${ROOT_DIR}/minix_rpi.bin
+
+	# pack modules
+	cpio -o --format=newc >> ${ROOT_DIR}/minix_rpi.bin <<EOF
+kernel.bin
+mod01_ds.elf
+mod02_rs.elf
+mod03_pm.elf
+mod04_sched.elf
+mod05_vfs.elf
+mod06_memory.elf
+mod07_tty.elf
+mod08_mib.elf
+mod09_vm.elf
+mod10_pfs.elf
+mod11_mfs.elf
+mod12_init.elf
+EOF
+)
+
+cat >${WORK_DIR}/boot.mtree <<EOF
+. type=dir
+./LICENCE.broadcom type=file
+./bcm2708-rpi-b-plus.dtb type=file
+./bcm2708-rpi-b.dtb type=file
+./bcm2708-rpi-cm.dtb type=file
+./bcm2709-rpi-2-b.dtb type=file
+./bcm2710-rpi-3-b.dtb type=file
+./bootcode.bin type=file
+./config.txt type=file
+./fixup.dat type=file
+./minix_rpi.bin type=file
+./overlays type=dir
+./overlays/pi3-disable-bt.dtbo type=file
+./overlays/pi3-miniuart-bt.dtbo type=file
+./start.elf type=file
+EOF
+
+#
+# Create the FAT partition, which contains the bootloader files, kernel and modules
+#
+${CROSS_TOOLS}/nbmakefs -t msdos -s ${FAT_SIZE}b -o F=32,c=1 \
+	-F ${WORK_DIR}/boot.mtree ${WORK_DIR}/fat.img ${ROOT_DIR}
 
 #
 # Write the partition table using the natively compiled
 # minix partition utility
 #
-${CROSS_TOOLS}/nbpartition -f -m ${IMG} $((${FAT_START}/512)) "c:$((${FAT_SIZE}/512))*"
+${CROSS_TOOLS}/nbpartition -f -m ${IMG} ${FAT_START} \
+	"c:${FAT_SIZE}*" 81:${_ROOT_SIZE} 81:${_USR_SIZE} 81:${_HOME_SIZE}
+
+#
+# Merge the partitions into a single image.
+#
+echo "Merging file systems"
+dd if=${WORK_DIR}/fat.img of=${IMG} seek=$FAT_START conv=notrunc
 
-echo ""
 echo "Disk image at `pwd`/${IMG}"
-echo ""
 echo "To boot this image on kvm:"
 echo "qemu-system-arm -M raspi2 -kernel if=sd,cache=writeback,format=raw,file=/$(pwd)/${IMG} -bios ${ROOT_DIR}/minix_rpi.bin -serial stdio -dtb $(pwd)/releasetools/rpi-firmware/bcm2709-rpi-2-b.dtb "
diff --git a/releasetools/rpi-bootloader/bootloader.S b/releasetools/rpi-bootloader/bootloader.S
index 93faf3d21..226811e2b 100644
--- a/releasetools/rpi-bootloader/bootloader.S
+++ b/releasetools/rpi-bootloader/bootloader.S
@@ -10,7 +10,7 @@ argv:
 argv0:
 	.asciz "0x00200000"
 argv1:
-	.asciz "board_name=RPI_2_B console=tty00"
+	.asciz "board_name=RPI_3_B console=tty00"
 .data
 .align 4
 	.space 256