This textbook teaches students techniques for the design of advanced digital systems using System-on-Chip (SoC) Field Programmable Gate Arrays (FPGAs).  The author demonstrates design of custom hardware components for the FPGA fabric using VHDL, with implementation of custom hardware-software interfaces. Readers gain hands-on experience by writing programs and Linux device drivers in C to interact with custom hardware.  This textbook enables laboratory experience in the design of custom digital systems using SoC FPGAs, emphasizing computational tasks such as digital signal processing,...