diff --git a/build/Makefile b/build/Makefile
index 8259634..968363b 100644
--- a/build/Makefile
+++ b/build/Makefile
@@ -27,16 +27,16 @@ hardware-copy: upsilon-hardware.tar.gz
 hardware-execute:
 	docker exec -ti upsilon-hardware /bin/bash -lc ' \
 		tar -xvf upsilon-hardware.tar.gz && \
-		cd upsilon/firmware && \
+		cd upsilon/gateware && \
 		source ~/conda/xc7/conda/etc/profile.d/conda.sh && \
 		conda activate xc7 && \
 		make clean && make'
 hardware-shell:
 	docker exec -ti upsilon-hardware /bin/bash -l
 hardware-get:
-	docker cp upsilon-hardware:/home/user/upsilon/firmware/build/digilent_arty/gateware/digilent_arty.bit ../boot/
-	docker cp upsilon-hardware:/home/user/upsilon/firmware/arty.dtb ../boot/
-	docker cp upsilon-hardware:/home/user/upsilon/firmware/csr.json ../boot/
+	docker cp upsilon-hardware:/home/user/upsilon/gateware/build/digilent_arty/gateware/digilent_arty.bit ../boot/
+	docker cp upsilon-hardware:/home/user/upsilon/gateware/arty.dtb ../boot/
+	docker cp upsilon-hardware:/home/user/upsilon/gateware/csr.json ../boot/
 hardware-clean:
 	-docker container stop upsilon-hardware
 	-docker container rm upsilon-hardware
@@ -77,7 +77,7 @@ verilator-shell:
 verilator-execute:
 	docker exec -ti upsilon-verilator /bin/bash -c ' \
 		tar -xvf upsilon-hardware.tar.gz && \
-		cd upsilon/firmware && \
+		cd upsilon/gateware && \
 		make clean && \
 		make test \
 		'
@@ -142,7 +142,7 @@ litex:
 		git checkout -B upsilon_stable c6ccb626e88168045edacced3743f6bd98746742
 
 upsilon-hardware.tar.gz:
-	tar -czvf upsilon-hardware.tar.gz ../firmware/
+	tar -czvf upsilon-hardware.tar.gz ../gateware/
 upsilon-buildroot.tar.gz:
 	tar -czvf upsilon-buildroot.tar.gz ../buildroot/
 # This script only works for GNU tar. It renames the extraction directory.
diff --git a/doc/copying/README.md b/doc/copying/README.md
index 1db26bf..2463256 100644
--- a/doc/copying/README.md
+++ b/doc/copying/README.md
@@ -1,7 +1,7 @@
 Upsilon is a copyleft hardware project, which brings its own difficulties.
 Upsilon is dual-licensed in many locations.
 
-The files under `firmware/` are disjunctive dual-licensed under the CERN-OHL-S
+The files under `gateware/` are disjunctive dual-licensed under the CERN-OHL-S
 v2.0 (or any later version), or the GNU GPL v3.0 (or any later version).
 
 The files under `buildroot/` and `opensbi/` are licensed under a BSD
diff --git a/firmware/A7-constraints.xdc b/gateware/A7-constraints.xdc
similarity index 100%
rename from firmware/A7-constraints.xdc
rename to gateware/A7-constraints.xdc
diff --git a/firmware/Makefile b/gateware/Makefile
similarity index 100%
rename from firmware/Makefile
rename to gateware/Makefile
diff --git a/firmware/generate_csr_locations.py b/gateware/generate_csr_locations.py
similarity index 100%
rename from firmware/generate_csr_locations.py
rename to gateware/generate_csr_locations.py
diff --git a/firmware/rtl/Makefile b/gateware/rtl/Makefile
similarity index 100%
rename from firmware/rtl/Makefile
rename to gateware/rtl/Makefile
diff --git a/firmware/rtl/base/Makefile b/gateware/rtl/base/Makefile
similarity index 100%
rename from firmware/rtl/base/Makefile
rename to gateware/rtl/base/Makefile
diff --git a/firmware/rtl/base/base.v.m4 b/gateware/rtl/base/base.v.m4
similarity index 100%
rename from firmware/rtl/base/base.v.m4
rename to gateware/rtl/base/base.v.m4
diff --git a/firmware/rtl/common.makefile b/gateware/rtl/common.makefile
similarity index 100%
rename from firmware/rtl/common.makefile
rename to gateware/rtl/common.makefile
diff --git a/firmware/rtl/control_loop/Makefile b/gateware/rtl/control_loop/Makefile
similarity index 100%
rename from firmware/rtl/control_loop/Makefile
rename to gateware/rtl/control_loop/Makefile
diff --git a/firmware/rtl/control_loop/adc_sim.v b/gateware/rtl/control_loop/adc_sim.v
similarity index 100%
rename from firmware/rtl/control_loop/adc_sim.v
rename to gateware/rtl/control_loop/adc_sim.v
diff --git a/firmware/rtl/control_loop/boothmul.v b/gateware/rtl/control_loop/boothmul.v
similarity index 100%
rename from firmware/rtl/control_loop/boothmul.v
rename to gateware/rtl/control_loop/boothmul.v
diff --git a/firmware/rtl/control_loop/boothmul_sim.cpp b/gateware/rtl/control_loop/boothmul_sim.cpp
similarity index 100%
rename from firmware/rtl/control_loop/boothmul_sim.cpp
rename to gateware/rtl/control_loop/boothmul_sim.cpp
diff --git a/firmware/rtl/control_loop/control_loop.v.m4 b/gateware/rtl/control_loop/control_loop.v.m4
similarity index 100%
rename from firmware/rtl/control_loop/control_loop.v.m4
rename to gateware/rtl/control_loop/control_loop.v.m4
diff --git a/firmware/rtl/control_loop/control_loop_cmds.h.m4 b/gateware/rtl/control_loop/control_loop_cmds.h.m4
similarity index 100%
rename from firmware/rtl/control_loop/control_loop_cmds.h.m4
rename to gateware/rtl/control_loop/control_loop_cmds.h.m4
diff --git a/firmware/rtl/control_loop/control_loop_cmds.m4 b/gateware/rtl/control_loop/control_loop_cmds.m4
similarity index 100%
rename from firmware/rtl/control_loop/control_loop_cmds.m4
rename to gateware/rtl/control_loop/control_loop_cmds.m4
diff --git a/firmware/rtl/control_loop/control_loop_cmds.vh.m4 b/gateware/rtl/control_loop/control_loop_cmds.vh.m4
similarity index 100%
rename from firmware/rtl/control_loop/control_loop_cmds.vh.m4
rename to gateware/rtl/control_loop/control_loop_cmds.vh.m4
diff --git a/firmware/rtl/control_loop/control_loop_math.v.m4 b/gateware/rtl/control_loop/control_loop_math.v.m4
similarity index 100%
rename from firmware/rtl/control_loop/control_loop_math.v.m4
rename to gateware/rtl/control_loop/control_loop_math.v.m4
diff --git a/firmware/rtl/control_loop/control_loop_math_implementation.cpp b/gateware/rtl/control_loop/control_loop_math_implementation.cpp
similarity index 100%
rename from firmware/rtl/control_loop/control_loop_math_implementation.cpp
rename to gateware/rtl/control_loop/control_loop_math_implementation.cpp
diff --git a/firmware/rtl/control_loop/control_loop_math_implementation.h b/gateware/rtl/control_loop/control_loop_math_implementation.h
similarity index 100%
rename from firmware/rtl/control_loop/control_loop_math_implementation.h
rename to gateware/rtl/control_loop/control_loop_math_implementation.h
diff --git a/firmware/rtl/control_loop/control_loop_math_sim.cpp b/gateware/rtl/control_loop/control_loop_math_sim.cpp
similarity index 100%
rename from firmware/rtl/control_loop/control_loop_math_sim.cpp
rename to gateware/rtl/control_loop/control_loop_math_sim.cpp
diff --git a/firmware/rtl/control_loop/control_loop_sim.cpp b/gateware/rtl/control_loop/control_loop_sim.cpp
similarity index 100%
rename from firmware/rtl/control_loop/control_loop_sim.cpp
rename to gateware/rtl/control_loop/control_loop_sim.cpp
diff --git a/firmware/rtl/control_loop/control_loop_sim_interactive.cpp b/gateware/rtl/control_loop/control_loop_sim_interactive.cpp
similarity index 100%
rename from firmware/rtl/control_loop/control_loop_sim_interactive.cpp
rename to gateware/rtl/control_loop/control_loop_sim_interactive.cpp
diff --git a/firmware/rtl/control_loop/control_loop_sim_top.v b/gateware/rtl/control_loop/control_loop_sim_top.v
similarity index 100%
rename from firmware/rtl/control_loop/control_loop_sim_top.v
rename to gateware/rtl/control_loop/control_loop_sim_top.v
diff --git a/firmware/rtl/control_loop/dac_sim.v b/gateware/rtl/control_loop/dac_sim.v
similarity index 100%
rename from firmware/rtl/control_loop/dac_sim.v
rename to gateware/rtl/control_loop/dac_sim.v
diff --git a/firmware/rtl/control_loop/intro.md b/gateware/rtl/control_loop/intro.md
similarity index 100%
rename from firmware/rtl/control_loop/intro.md
rename to gateware/rtl/control_loop/intro.md
diff --git a/firmware/rtl/control_loop/intsat.v b/gateware/rtl/control_loop/intsat.v
similarity index 100%
rename from firmware/rtl/control_loop/intsat.v
rename to gateware/rtl/control_loop/intsat.v
diff --git a/firmware/rtl/control_loop/intsat_sim.cpp b/gateware/rtl/control_loop/intsat_sim.cpp
similarity index 100%
rename from firmware/rtl/control_loop/intsat_sim.cpp
rename to gateware/rtl/control_loop/intsat_sim.cpp
diff --git a/firmware/rtl/control_loop/intsat_testbench.v b/gateware/rtl/control_loop/intsat_testbench.v
similarity index 100%
rename from firmware/rtl/control_loop/intsat_testbench.v
rename to gateware/rtl/control_loop/intsat_testbench.v
diff --git a/firmware/rtl/control_loop/sign_extend.v b/gateware/rtl/control_loop/sign_extend.v
similarity index 100%
rename from firmware/rtl/control_loop/sign_extend.v
rename to gateware/rtl/control_loop/sign_extend.v
diff --git a/firmware/rtl/control_loop/yosys_test.sh b/gateware/rtl/control_loop/yosys_test.sh
similarity index 100%
rename from firmware/rtl/control_loop/yosys_test.sh
rename to gateware/rtl/control_loop/yosys_test.sh
diff --git a/firmware/rtl/raster/Makefile b/gateware/rtl/raster/Makefile
similarity index 100%
rename from firmware/rtl/raster/Makefile
rename to gateware/rtl/raster/Makefile
diff --git a/firmware/rtl/raster/arty.xdc b/gateware/rtl/raster/arty.xdc
similarity index 100%
rename from firmware/rtl/raster/arty.xdc
rename to gateware/rtl/raster/arty.xdc
diff --git a/firmware/rtl/raster/flow.json b/gateware/rtl/raster/flow.json
similarity index 100%
rename from firmware/rtl/raster/flow.json
rename to gateware/rtl/raster/flow.json
diff --git a/firmware/rtl/raster/ram_fifo.v b/gateware/rtl/raster/ram_fifo.v
similarity index 100%
rename from firmware/rtl/raster/ram_fifo.v
rename to gateware/rtl/raster/ram_fifo.v
diff --git a/firmware/rtl/raster/ram_fifo_dual_port.v b/gateware/rtl/raster/ram_fifo_dual_port.v
similarity index 100%
rename from firmware/rtl/raster/ram_fifo_dual_port.v
rename to gateware/rtl/raster/ram_fifo_dual_port.v
diff --git a/firmware/rtl/raster/ram_fifo_sim.cpp b/gateware/rtl/raster/ram_fifo_sim.cpp
similarity index 100%
rename from firmware/rtl/raster/ram_fifo_sim.cpp
rename to gateware/rtl/raster/ram_fifo_sim.cpp
diff --git a/firmware/rtl/raster/ram_shim.v b/gateware/rtl/raster/ram_shim.v
similarity index 100%
rename from firmware/rtl/raster/ram_shim.v
rename to gateware/rtl/raster/ram_shim.v
diff --git a/firmware/rtl/raster/ram_shim_cmds.vh b/gateware/rtl/raster/ram_shim_cmds.vh
similarity index 100%
rename from firmware/rtl/raster/ram_shim_cmds.vh
rename to gateware/rtl/raster/ram_shim_cmds.vh
diff --git a/firmware/rtl/raster/ram_shim_sim.cpp b/gateware/rtl/raster/ram_shim_sim.cpp
similarity index 100%
rename from firmware/rtl/raster/ram_shim_sim.cpp
rename to gateware/rtl/raster/ram_shim_sim.cpp
diff --git a/firmware/rtl/raster/raster.v b/gateware/rtl/raster/raster.v
similarity index 100%
rename from firmware/rtl/raster/raster.v
rename to gateware/rtl/raster/raster.v
diff --git a/firmware/rtl/raster/raster_cmds.vh b/gateware/rtl/raster/raster_cmds.vh
similarity index 100%
rename from firmware/rtl/raster/raster_cmds.vh
rename to gateware/rtl/raster/raster_cmds.vh
diff --git a/firmware/rtl/raster/raster_sim.cpp b/gateware/rtl/raster/raster_sim.cpp
similarity index 100%
rename from firmware/rtl/raster/raster_sim.cpp
rename to gateware/rtl/raster/raster_sim.cpp
diff --git a/firmware/rtl/raster/raster_sim.v b/gateware/rtl/raster/raster_sim.v
similarity index 100%
rename from firmware/rtl/raster/raster_sim.v
rename to gateware/rtl/raster/raster_sim.v
diff --git a/firmware/rtl/raster/script b/gateware/rtl/raster/script
similarity index 100%
rename from firmware/rtl/raster/script
rename to gateware/rtl/raster/script
diff --git a/firmware/rtl/raster/synth_test_top.v b/gateware/rtl/raster/synth_test_top.v
similarity index 100%
rename from firmware/rtl/raster/synth_test_top.v
rename to gateware/rtl/raster/synth_test_top.v
diff --git a/firmware/rtl/spi/Makefile b/gateware/rtl/spi/Makefile
similarity index 100%
rename from firmware/rtl/spi/Makefile
rename to gateware/rtl/spi/Makefile
diff --git a/firmware/rtl/spi/ramp.v b/gateware/rtl/spi/ramp.v
similarity index 100%
rename from firmware/rtl/spi/ramp.v
rename to gateware/rtl/spi/ramp.v
diff --git a/firmware/rtl/spi/spi_master.v b/gateware/rtl/spi/spi_master.v
similarity index 100%
rename from firmware/rtl/spi/spi_master.v
rename to gateware/rtl/spi/spi_master.v
diff --git a/firmware/rtl/spi/spi_master_no_read.v b/gateware/rtl/spi/spi_master_no_read.v
similarity index 100%
rename from firmware/rtl/spi/spi_master_no_read.v
rename to gateware/rtl/spi/spi_master_no_read.v
diff --git a/firmware/rtl/spi/spi_master_no_write.v b/gateware/rtl/spi/spi_master_no_write.v
similarity index 100%
rename from firmware/rtl/spi/spi_master_no_write.v
rename to gateware/rtl/spi/spi_master_no_write.v
diff --git a/firmware/rtl/spi/spi_master_ss.v b/gateware/rtl/spi/spi_master_ss.v
similarity index 100%
rename from firmware/rtl/spi/spi_master_ss.v
rename to gateware/rtl/spi/spi_master_ss.v
diff --git a/firmware/rtl/spi/spi_master_ss_no_read.v b/gateware/rtl/spi/spi_master_ss_no_read.v
similarity index 100%
rename from firmware/rtl/spi/spi_master_ss_no_read.v
rename to gateware/rtl/spi/spi_master_ss_no_read.v
diff --git a/firmware/rtl/spi/spi_master_ss_no_write.v b/gateware/rtl/spi/spi_master_ss_no_write.v
similarity index 100%
rename from firmware/rtl/spi/spi_master_ss_no_write.v
rename to gateware/rtl/spi/spi_master_ss_no_write.v
diff --git a/firmware/rtl/spi/spi_master_ss_template.v b/gateware/rtl/spi/spi_master_ss_template.v
similarity index 100%
rename from firmware/rtl/spi/spi_master_ss_template.v
rename to gateware/rtl/spi/spi_master_ss_template.v
diff --git a/firmware/rtl/spi/spi_slave.v b/gateware/rtl/spi/spi_slave.v
similarity index 100%
rename from firmware/rtl/spi/spi_slave.v
rename to gateware/rtl/spi/spi_slave.v
diff --git a/firmware/rtl/spi/spi_slave_no_read.v b/gateware/rtl/spi/spi_slave_no_read.v
similarity index 100%
rename from firmware/rtl/spi/spi_slave_no_read.v
rename to gateware/rtl/spi/spi_slave_no_read.v
diff --git a/firmware/rtl/spi/spi_slave_no_write.v b/gateware/rtl/spi/spi_slave_no_write.v
similarity index 100%
rename from firmware/rtl/spi/spi_slave_no_write.v
rename to gateware/rtl/spi/spi_slave_no_write.v
diff --git a/firmware/rtl/spi/spi_switch.v b/gateware/rtl/spi/spi_switch.v
similarity index 100%
rename from firmware/rtl/spi/spi_switch.v
rename to gateware/rtl/spi/spi_switch.v
diff --git a/firmware/rtl/spi/spi_switch_sim.cpp b/gateware/rtl/spi/spi_switch_sim.cpp
similarity index 100%
rename from firmware/rtl/spi/spi_switch_sim.cpp
rename to gateware/rtl/spi/spi_switch_sim.cpp
diff --git a/firmware/rtl/testbench.hpp b/gateware/rtl/testbench.hpp
similarity index 100%
rename from firmware/rtl/testbench.hpp
rename to gateware/rtl/testbench.hpp
diff --git a/firmware/rtl/util.hpp b/gateware/rtl/util.hpp
similarity index 100%
rename from firmware/rtl/util.hpp
rename to gateware/rtl/util.hpp
diff --git a/firmware/rtl/waveform/Makefile b/gateware/rtl/waveform/Makefile
similarity index 100%
rename from firmware/rtl/waveform/Makefile
rename to gateware/rtl/waveform/Makefile
diff --git a/firmware/rtl/waveform/bram_dma.cpp b/gateware/rtl/waveform/bram_dma.cpp
similarity index 100%
rename from firmware/rtl/waveform/bram_dma.cpp
rename to gateware/rtl/waveform/bram_dma.cpp
diff --git a/firmware/rtl/waveform/bram_dma.hpp b/gateware/rtl/waveform/bram_dma.hpp
similarity index 100%
rename from firmware/rtl/waveform/bram_dma.hpp
rename to gateware/rtl/waveform/bram_dma.hpp
diff --git a/firmware/rtl/waveform/bram_interface.v b/gateware/rtl/waveform/bram_interface.v
similarity index 100%
rename from firmware/rtl/waveform/bram_interface.v
rename to gateware/rtl/waveform/bram_interface.v
diff --git a/firmware/rtl/waveform/bram_interface_sim.cpp b/gateware/rtl/waveform/bram_interface_sim.cpp
similarity index 100%
rename from firmware/rtl/waveform/bram_interface_sim.cpp
rename to gateware/rtl/waveform/bram_interface_sim.cpp
diff --git a/firmware/rtl/waveform/bram_interface_sim.v b/gateware/rtl/waveform/bram_interface_sim.v
similarity index 100%
rename from firmware/rtl/waveform/bram_interface_sim.v
rename to gateware/rtl/waveform/bram_interface_sim.v
diff --git a/firmware/rtl/waveform/dma_sim.v b/gateware/rtl/waveform/dma_sim.v
similarity index 100%
rename from firmware/rtl/waveform/dma_sim.v
rename to gateware/rtl/waveform/dma_sim.v
diff --git a/firmware/rtl/waveform/waveform.v b/gateware/rtl/waveform/waveform.v
similarity index 100%
rename from firmware/rtl/waveform/waveform.v
rename to gateware/rtl/waveform/waveform.v
diff --git a/firmware/rtl/waveform/waveform_sim.cpp b/gateware/rtl/waveform/waveform_sim.cpp
similarity index 100%
rename from firmware/rtl/waveform/waveform_sim.cpp
rename to gateware/rtl/waveform/waveform_sim.cpp
diff --git a/firmware/rtl/waveform/waveform_sim.v b/gateware/rtl/waveform/waveform_sim.v
similarity index 100%
rename from firmware/rtl/waveform/waveform_sim.v
rename to gateware/rtl/waveform/waveform_sim.v
diff --git a/firmware/soc.py b/gateware/soc.py
similarity index 100%
rename from firmware/soc.py
rename to gateware/soc.py