Package: raspi3-firmware
Version: 1.20170317-4

the raspi3-firmware kernel postinstall hook should take care of uncompressing kernel moved to /boot/firmware. raspberry firmware can only handle uncompressed images (otherwise the board will hang and only show the rainbow screen).

debians official arm64 kernel packages utilize uncompressed kernel images, but cross compiled custom kernels (e.g. by using 'make ARCH=arm64 CROSS_COMPILE=aarch64-linux-gnu- deb-pkg') will pack compressed ones in the linux-image*_arm64.debs by default.

'scripts/extract-vmlinux', provided by the linux kernel source code, could be used to decompress all kinds of kernel images.

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