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Install icestorm for your computer once:

sudo apt-get install build-essential clang bison flex libreadline-dev \
                     gawk tcl-dev libffi-dev git mercurial graphviz   \
                     xdot pkg-config python python3 libftdi-dev

mkdir icestorm-build
cd icestorm-build

git clone icestorm
cd icestorm
make -j$(nproc)
sudo make install
cd ..

git clone arachne-pnr
cd arachne-pnr
make -j$(nproc)
sudo make install
cd ..

git clone yosys
cd yosys
make -j$(nproc)
sudo make install
cd ..

pip install --user tinyprog

Copy the icestorm_template directory to a new project directory with a name of your choosing:

cp icestorm_template ~/my_tinyfpga_project

Build the project:

cd ~/my_tinyfpga_project

Program the TinyFPGA B-series board with the bitstream:

make prog