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This howto is probably incomplete. I also suggest not to directly copy paste anything from here, because I've written this after doing all the work. In case it's important, I used Fedora to do all this stuff.
sudo ./neocon -t 30 /dev/ttyACM0
setenv menu_1 Boot from microSD (FAT+ext3): setenv bootargs ${bootargs_base} rootfstype=ext3 root=/dev/mmcblk0p2 rootdelay=5 ${mtdparts} ro\; mmcinit\; fatload mmc 1 0x32000000 ${sd_image_name}\; bootm 0x32000000
saveenv
This should make the Neo boot from an ext3 partition on the SD card. The kernel can't boot from an ext2 partition currently even though it was the default setting for the bootloader.
Insert the SD card into the phone, boot to NAND u-boot (again, not to NOR), choose Boot from microSD (FAT+ext3) and the phone should start booting Qtopia.