Recently I acquired (md5: ADF639AFE9855EE86C8FAAD216C970D9) the Zynq bootrom, and during the reversing process uncovered some interesting secrets, one of which is an as-of-yet undocumented UART loader. As documented the Zynq bootrom will load from NOR/NAND/SPI flashes, eMMC/SDIO-based storage (unfortunately) not USB, or anything else more complex.
Not sure why Xilinx didn't document this. In my brief testing it is super unreliable if you just spit everything at once - they reset the RX/TX paths during the process, so timing is critical, but that might be the janky meter-long ftdi cable. You can change the baudrate during the process, but I was too lazy to do the math.
Here's the disassembly that made me look twice (that, and checks for the MIO boot_mode[2:0]
that weren't specified in the docs :)):
ROM:0000A220 BL uart_init