https://github.com/hermanhermitage/videocoreiv
(It's a beautiful processor. 32 registers, built in DSP, built in vector processing, some really elegant instruction design, dual core, and enough weirdness that writing good code is satisfying without being frustrating. No double precision float, alas, although it's got single precision, and for some bizarre reason there's no adc or sbc instruction which makes 64 bit arithmetic annoying.)
If you're interested in playing with it, you might also like a look at my half-finished pure-VC4-code boot loader here:
Stick it on an SD card, hook up a serial terminal, and it'll boot directly on the VC4 without even starting up the ARM.
I originally wanted to get Prex (a Minix-like microkernel OS with a Unix interface which doesn't need an MMU) running on the VC4, but I need an actual working compiler for that.