Public bug reported:

Booting 20.04 armhf preinstalled-server on Pi3b+ with vc4-kms-v3d
selected [1] causes boot failure with [2] output on UART. Further system
info in [3]

Side note: Booting with the same usercfg.txt but with the 18.04 vc4-kms-
v3d.dtbo file "works": the boot is normal without the errors shown in
[2].

[1]

ubuntu@ubuntu:~$ cat /boot/firmware/usercfg.txt 
# Place "config.txt" changes (dtparam, dtoverlay, disable_overscan, etc.) in
# this file. Please refer to the README file for a description of the various
# configuration files on the boot partition.
dtoverlay=vc4-kms-v3d

[2]

  Starting kernel ...

[    0.039873] cma: CMA area linux,cma could not be activated
[    0.043189] DMA: failed to allocate 1024 KiB pool for atomic coherent
allocation
[    0.308022] kobject_add_internal failed for 3e513000.framebuffer with
-EEXIST, don't try to register things with the s.
[    1.141370] kvm [1]: Error, CPU 0 not supported!
[    1.235565] raspberrypi-exp-gpio soc:firmware:expgpio: Failed to get
GPIO 0 config (-12 80)
[    1.236723] raspberrypi-exp-gpio soc:firmware:expgpio: Failed to get
GPIO 1 config (-12 81)
[    1.237882] raspberrypi-exp-gpio soc:firmware:expgpio: Failed to get
GPIO 2 config (-12 82)
[    1.239014] raspberrypi-exp-gpio soc:firmware:expgpio: Failed to get
GPIO 3 config (-12 83)
[    1.240139] raspberrypi-exp-gpio soc:firmware:expgpio: Failed to get
GPIO 4 config (-12 84)
[    1.241263] raspberrypi-exp-gpio soc:firmware:expgpio: Failed to get
GPIO 5 config (-12 85)
[    1.242412] raspberrypi-exp-gpio soc:firmware:expgpio: Failed to get
GPIO 6 config (-12 86)
[    1.243526] raspberrypi-exp-gpio soc:firmware:expgpio: Failed to get
GPIO 7 config (-12 87)
[    1.831440] spi-bcm2835 3f204000.spi: could not get clk: -517
[    1.849256] raspberrypi-exp-gpio soc:firmware:expgpio: Failed to get
GPIO 2 config (-12 82)
[    1.850523] raspberrypi-exp-gpio soc:firmware:expgpio: Failed to get
GPIO 2 config (-12 82)
[    1.852205] bcm2835_vchiq 3f00b840.mailbox: could not allocate DMA memory
[    2.369653] spi-bcm2835 3f204000.spi: cannot prepare fill_tx_desc -
not using DMA mode
[    2.412710] sdhost: failed to allocate log buf
ext4

[3]

ubuntu@ubuntu:~$ lsb_release -a
No LSB modules are available.
Distributor ID: Ubuntu
Description:    Ubuntu 20.04.1 LTS
Release:        20.04
Codename:       focal

ubuntu@ubuntu:~$ uname -a
Linux ubuntu 5.4.0-1015-raspi #15-Ubuntu SMP Fri Jul 10 05:37:25 UTC 2020 
armv7l armv7l armv7l GNU/Linux

Initial part of lshw:
ubuntu                      
    description: ARMv7 Processor rev 4 (v7l)
    product: Raspberry Pi 3 Model B Plus Rev 1.3
    serial: 0000000092021ecd
    width: 32 bits
    capabilities: smp

** Affects: linux-raspi (Ubuntu)
     Importance: Undecided
         Status: New

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https://bugs.launchpad.net/bugs/1889223

Title:
  vc4-kms-v3d boot failure focal armhf preinstalled server

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