From the sounds of it, you need a driver. If it is a simple IP with only MMIO registers, you could use a mmap userspace driver.
For large data movement, it is more complicated and outside of the scope of this forums. You will need to do contiguous memory allocation among other things. You can try to use the XRT APIs. For questions related to this, you may be better off posting in the Xilinx forums.
For the mmap userspace driver, you can check Shane’s post.
