The guys at Toradex have been so kind to port the DCU display driver to u-boot. You only need to add the PCM052 configuration to their u-boot. This can be done by copying the respective files from the vf610twr board. To include the display driver you can copy the respective parts from the colibri-vf board. You can find all necessary changes in the attached patch file.
If you are using yocto, in order to use the toradex u-boot, you need to change the meta-fsl-arm-extra/conf/machine/pcm052.conf:
--- PREFERRED_PROVIDER_u-boot = "u-boot-timesys"
+++ PREFERRED_PROVIDER_u-boot = "u-boot-toradex"
Then just bitbake u-boot.
To add a custom boot logo, add a file pcm052.bmp to git/tools/logos/ in the u-boot work directory.
Of course you can also add the DCU driver to the vf610twr board.