Software Integration with Hardware

I have a E series Processor, It has Debug trace, UART and JTAG at its top. I have timing clean bitstream for my design for the part FPGA part that is available with me. Now I am looking to generate elf file to Print “hello_world” on minicom through UART. How can I write the code and the required environment such as (Make Makefile, .S files).
Please Help with this