How to use both HPS cores on DE1-SoC using DS-5

I'm looking for a way to use both cores on the DE1-SoC board from Terasic using baremetal. I understand how to accomplish the same task using linux and the pthread command, but I want to write programs that uses and debugs both cores. Is there any examples online? I can release cpu1 from reset right after the preloader stage, but I'm lost as to where to go to assign cpu1 to execute certain code fragments.