When CONFIG_INITRAMFS_SOURCE is empty, the Makefile passes the -d
option to gen_initramfs.sh to create the default initramfs, which
contains /dev, /dev/console, and /root.

This commit simplifies the default behavior; remove the -d option,
and add the default cpio list.

Signed-off-by: Masahiro Yamada <masahiroy@kernel.org>