Kindly refer section Yocto Build Procedure from software user manual, which explains creating binaries with custom XSA (modified FPGA design) in detail.
Also make sure to review the system-user.dtsi according to your FPGA design.
For further product inquiries, please get in touch with our sales team at mktg@iwave-global.com
Please find the detailed product information here:
Zynq™ UltraScale+™ ZU7/ZU5/ZU4 MPSoC System on Module