I'm just trying to get you some pointers, as I've not done that myself. Here is my understanding:
First, you need to have serial access to the device and a TFTP server running somewhere offering your initramfs image. Then:
- Break U-Boot using serial console
- Set the TFTP server IP:
setenv serverip xxx.xxx.xxx.yyy
- Set your own device IP:
setenv ipaddr xxx.xxx.xxx.zzz
- Load the kernel in memory:
tftpboot YourKernelName.bin
- Boot the loaded kernel from memory:
bootm
Hope that helps you until someone with more experience on the subject chimes in.