I have a raspberry mini computer and I am wondering how that thing does whole the boot process. I can compile my own kernel and init ramdisk with my own scripts and build my own minimal linux system on PC, but for that I need to use some bootloader. Raspberry doesn't seem to support bootloaders at all.
It seems to somehow boot up using its GPU which reads some partition on SD card (probably that one with bootable flag) that needs to be formatted in FAT32, then it reads some files from there, which are provided, for example by raspbian.
But how would I boot up my own kernel, with my own customizations that I compiled myself? Where should I copy the kernel image / initrd (ram disk) so that raspberry find it and boot from it? I am basically looking for some very detailed technical documentation that describes the boot process on raspberry or just some explanation of this.