ColorCNC Colorlight 5A-75E/5A-75B as FPGA controller board

I used FT232RL firmware interface converter
 

The jumper for selecting the output supply voltage has been removed, they are powered from contact J33,34
The firmware method is taken from here
openFPGALoader [options] -cft23XXX --pins=TDI:TDO:TCK:TMS /path/to/bitstream.ext

value        |    ID    |    JTAG

---

TXD        |    0    |    J27 TCK
RXD        |    1    |    J32 TDI 
RTS        |    2    |    
CTS        |    3    |    J31 TMS
DTR        |    4    |    J30 TDO
DSR        |    5    |
DCD        |    6    |
RI        |    7    |
Vcc        |        |    J33 (3.3в)
GND        |        |    J34 (GND)

We use the command

To compile the firmware, it is better to use the command with the -a parameter

We will additionally receive the alias.hal file which, when used in LinuxCNC, will give us aliases for the module elements and when changing the firmware, there will be no need to change the hal files.
To use aliases in the ini file, you must first specify the hal file with the litexcnc driver connection, then alias.hal and then the hal file with module processing. Only in this case will everything work!!!

I am attaching all the files of my 5-axis machine with the ability to work only with stepper motors, motors and an ecoder and in ClosedLoop mode. Spindle control via RS485 with a frequency converter. Additionally, the xhc-hb04 remote control is connected.
 

For fun, I did a test, I knew the result in advance.
LinuxCNC 2.9.4
Litex-CNC 1.3.4
The same file was used for the machine operation.

Debian 10 (Buster)
 

Debian 12 (Bookworm)
 

In Debian 12, the jitter is several times higher and this is very noticeable in the operation of the engines in ClosedLoop mode