access to FPGA registers using ARM

In my current design i can access to the mapping registers through the PCI-E interface in the board. It is cumbersome interface which force me to compile (2hrs) each time I add even one register or change the smallest thing in this package file.

I heard there's a method of accessing these registers using the embedded ARM of the FPGA, which doesn't force me to compile. I have a file which has all the mapped registers and I add/change registers using this file.

Can anyone point me to a website or help me understand how do I start implementing such thing?