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I've been using SpinalHDL for a while and learned it from modifying the murax soc and VexRiscV core. The Murax Demo has Jtag and the debug plugin in it by default. I havent used Murax on an arty a7 yet as I don't have one, but when I do use Xilinx fpgas I usually just point jtag to physical pins and connect in a less than ideal hacky fashion, same way I do with the orangecrab fpga board to keep my base designs as portable as possible
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