See this: http://www.raspberrypi.org/archives/6561. Broadcom recently released the code, so I think it's now possible to run it without nonfree software.

The Improv is another promising single-board computer that seems dedicated to freedom. The only components which require nonfree software are the Mali GPU (hopefully this will be solved by Lima) and the CedarX VPU (which is being reverse engineered).

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