How to write bootloader for multi cores ARM cortex-M0 processor

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The cores are categorized into one IO-control core, one DSP core and two normal cores. I managed to find SWD pins but I'm not sure what software to boot, or do I have to create assembly codes? One thing for sure is I have to know the allocation of memory location, but most likely it starts with 000x000 right?

I used ARM processor as my development board. Similar to the function of an Arduino, just that it has 4 cores.

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