There is no out-of-box tool flow support for loading Bitstreams/PDI that need PL drivers. The creation of DTO files needed for this approach is not supported in the tool flow (DTG, Petalinux, Yocto).
Users can still achieve their goal of programming the bitstreams that need PL driver support by using hand-written DTSi files.
Copy the Bitstream/PDI ( .pdi ) and pl .dtbo files into lib/firmware folder
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mkdir /configfs
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mount -t configfs configfs /configfs
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cd /configfs/device-tree/overlays/
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mkdir Bitstream
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echo -n "pl.dtbo" > Bitstream/path