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The Firmware Engineer tool is often a generic or one supplied by the IC manufacturer such as Altera or Xilinx as well as others. The firmware is designed in a programming language that is can be schematic entry or a Hardware Definition Language (HDL). All use their own system of commands but the art is virtually identical between them all. A tool is usually chosen because of:  compatibility with previous designs,
familiarity by current FW Engineer,
using an existing tool versus buying a new tool,
corporate policies.
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