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There are different options: my preferred one is to use something like this: https://www.aliexpress.com/item/32940620936.html https://www.aliexpress.com/item/32940620936.html If you're willing to forgo the Xilinx special features such as ChipScope, you can also use OpenOCD and pretty much any OpenOCD compatible JTAG cable to upload a bitstream into the FPGA.