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AM5729: bare metal programming : loading program from sd card to sdram during startup in raw boot mode

Part Number: AM5729

Hi TI Community,

I'm trying to do bare-metal programming with an am5729 processor (which is on beagle bone ai). 

I wrote a simple assembly program to turn on an led and then wrote that into the sd card, and it worked great. (plus GP header).

I know that the program was small and could fit in the processor's internal ram (SRAM), but I was wondering how I can load the program into the SDRAM if my image is bigger. In other words, I want to use the 512kb internal ram as a bootloader that loads my image into the larger SDRAM and executes it. I couldn't find any tutorial or document on that but I know that this is doable with this chip. Can you help me in the right direction ?

I think I need to know the follwings:

1. how to write a small bootloader for this purpose

2. how to initialize the SDRAM.

3. how to load the image into the SDRAM from sd card.

I think 2 and 3 are part of 1 lol. I'm new to bare-metal programming and any tip to educate me is appreciated.

Thanks.