esp-fipsy library allows programming a Fipsy FPGA breakout board from an ESP32 microcontroller. This library can only program the fuse table; it does not write the Feature Row or FEABITS. TcpFipsyLoader demonstrates how to use this library.
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Fipsy FPGA Programmer for ESP32
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yoursunny/esp-fipsy
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Fipsy FPGA Programmer for ESP32