Just to be clear I am still trying everything in SDK 7.
After doing some searching, I found this thread which suggests I could just need to compile my kernel with a loadaddress header
http://e2e.ti.com/support/dsp/omap_applications_processors/f/42/t/309128.aspx
I used the command
make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- LOADADDR=0x82000000 zImage
with both 82000000 and 80008000 which was the value in the kernel wiki.. but no luck, still the same result