Loading Device Tree Overlay with U-boot

[pvshvp-oss]

I am trying to read my encoder (below) using my BBB
Encoder part #: (https://www.dfrobot.com/wiki/index.php/12V_DC_Motor_251rpm_w/Encoder_(SKU:_FIT0186))

Connections: Green to ground (P8.2), Blue to VDD5V (P9.5), Yellow to P8.12, and White to P8.11.
The diagram for these colors are at the above link

I have the dtbo files in the right location:

root@arm:/lib/firmware# ls -ltr bone*
-rw-r--r-- 1 root root 1082 Dec  7 01:09 bone_eqep0-00A0.dtbo
-rw-r--r-- 1 root root 1098 Dec  7 01:09 bone_eqep1-00A0.dtbo
-rw-r--r-- 1 root root 1098 Dec  7 01:09 bone_eqep2-00A0.dtbo
-rw-r--r-- 1 root root 1096 Dec  7 18:27 bone_eqep2b-00A0.dtbo

There is no 'slots' file as can be seen below

root@arm:/lib/firmware# uname -r
4.9.54-ti-r68
root@arm:/sys/devices/platform/bone_capemgr# ls -ltr
total 0
-rw-r--r-- 1 root root 4096 Dec  7 18:05 uevent
lrwxrwxrwx 1 root root    0 Dec  7 18:05 subsystem -> ../../../bus/platform
lrwxrwxrwx 1 root root    0 Dec  7 18:42 driver -> ../../../bus/platform/drivers/bone_capemgr
drwxr-xr-x 2 root root    0 Dec  7 18:42 power
lrwxrwxrwx 1 root root    0 Dec  7 18:42 of_node -> ../../../firmware/devicetree/base/bone_capemgr
-r--r--r-- 1 root root 4096 Dec  7 18:42 modalias
-rw-r--r-- 1 root root 4096 Dec  7 18:42 driver_override
root@arm:/sys/devices/platform/bone_capemgr# ls -ltr *slots*
ls: cannot access '*slots*': No such file or directory

How do I load the right overlays with Uboot enabled? (I need Uboot for running a motor through a cape) @pdp7 @teknoman117