Hello André Pagliaro Thomaz,
Since the i.MX515 is a bit old there is indeed no much information that’s current on how to create a bootloader.
The procedure looks correct in general, although you do not mention which Kernel you are using I would assume 2.6 from the document you are following. On the 2.6.5 BSP for the i.MX51 the steps are:
make ARCH=arm CROSS_COMPILE=/opt/freescale/usr/local/gcc-4.4.4-glibc-2.11.1-multilib-1.0/arm-fsl-linux-gnueabi/bin/arm-none-linux-gnueabidistclean
make ARCH=arm CROSS_COMPILE=/opt/freescale/usr/local/gcc-4.4.4-glibc-2.11.1-multilib-1.0/arm-fsl-linux-gnueabi/bin/arm-none-linux-gnueabimx51_bbg_config
make ARCH=arm CROSS_COMPILE=/opt/freescale/usr/local/gcc-4.4.4-glibc-2.11.1-multilib-1.0/arm-fsl-linux-gnueabi/bin/arm-none-linux-gnueabi-
So very similar but with a different toolchain. You mention that you already have compiled the bootloader. How have you tested them? The bootloader may be padded or not. If it’s not padded, you would need to write it to the 0x400 or 1024 decimal address of the SD card so that the ROM will find it.
I have attached the documentation I could find from the 2.6.35 BSP, which is no longer supported.
You have made some progress already so you probably won’t want to switch to Yocto, but the Community BSP does support the i.MX51 EVK, which may help. You can find more information on the link below.
http://freescale.github.io/
I hope this information helps!
Regards,