BeagleBone and Raspberry Pi FPGA add-ons from ValentFX
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ValentFX is developing two open source FPGA boards that stack with BeagleBone and Raspberry Pi SBCs, and is also working on BBot, a BeagleBone-based drink serving robot built with an earlier FPGA board version. The FPGA add-on boards use Xilinx Spartan 6 LX9 FPGAs, offer Arduino and PMOD expansion, and are supported with open source Linux code for the two ARM SBCs.
The full article on linuxgizmos.com is very comprehensive and includes photos, specifications and schematics.