To settle this in the most laziest way HAHA =]
@ Makefile
$$(PL_PROJ_$1)/images/linux/system.dtb: $$(PL_CONFIG_$1)
$$(PL_ENV_$1) petalinux-build -c device-tree -p $$(PL_PROJ_$1)
ADD copy kernel driver HERE, add tab remember
$$(PL_PROJ_$1)/images/linux/$$(KERNEL_$$(ARCH_$1)): $$(PL_CONFIG_$1)
$$(PL_ENV_$1) petalinux-config -c kernel -p $$(PL_PROJ_$1)
$$(PL_ENV_$1) petalinux-build -c kernel -p $$(PL_PROJ_$1)
Manually configure the driver to embedded or module now all set =]
ENJOY~