diff --git a/Makefile b/Makefile
index c917c7e08..f752a093b 100644
--- a/Makefile
+++ b/Makefile
@@ -2,7 +2,7 @@
 TARGETS = node pipe signal test
 
 # Libraries
-LIBS = libvillas.so
+LIBS = libvillas.so thirdparty/xilinx/libxil.so
 
 DEBUG = 1
 
@@ -18,7 +18,7 @@ LIB_OBJS = sample.o path.o node.o \
 	   timing.o
 
 # Source directories
-VPATH = src lib
+VPATH = src lib lib/kernel lib/nodes lib/hooks lib/fpga
 
 # Default prefix for installation
 PREFIX ?= /usr/local
@@ -29,13 +29,14 @@ V ?= 2
 GIT_REV=$(shell git rev-parse --short HEAD)
 
 # Compiler and linker flags
-CC ?= gcc
 LDLIBS  = -pthread -lrt -lm -lconfig -lvillas
 
-CFLAGS += -std=c11 -Iinclude/ -I. -MMD -mcx16
+LIB_LDFLAGS = -shared
+
+CFLAGS += -std=c11 -Iinclude -Iinclude/villas -I. -MMD -mcx16
 CFLAGS += -Wall -fdiagnostics-color=auto
 CFLAGS += -D_GIT_REV='"$(GIT_REV)"' -D_POSIX_C_SOURCE=200809L -D_GNU_SOURCE=1 -DV=$(V)
-LDFLAGS += -L. -Wl,-rpath,'$$ORIGIN'
+LDFLAGS += -pthread -L. -Wl,-rpath,'$$ORIGIN'
 
 # pkg-config dependencies
 PKGS = libconfig
@@ -52,27 +53,29 @@ endif
 
 ######## Node types ########
 
-# Enable file node type support
-ifndef DISABLE_FILE
-	LIB_OBJS += file.o
-endif
+# file node-type is always supported
+LIB_OBJS += file.o
 
 # Enable Socket node type when libnl3 is available
 ifeq ($(shell pkg-config libnl-route-3.0; echo $$?),0)
-	LIB_OBJS   += socket.o nl.o tc.o if.o msg.o
-	PKGS       += libnl-route-3.0
+	LIB_OBJS    += socket.o nl.o tc.o if.o msg.o
+	PKGS        += libnl-route-3.0
 endif
 
-## Enable GTFPGA support when libpci is available
-#ifeq ($(shell pkg-config libpci; echo $$?),0)
-#	LIB_OBJS   += gtfpga.o
-#	PKGS       += libpci
-#endif
+# Enable VILLASfpga support when libpci is available
+ifeq ($(shell pkg-config libpci; echo $$?),0)
+	LIB_OBJS    += vfpga.o pci.o dma.o model.o fifo.o xsg.o vfio.o switch.o rtds_axis.o
+	LDLIBS      += -lxil
+	LDFLAGS     += -Lthirdparty/xilinx -Wl,-rpath-link,'$$ORIGIN/thirdparty/xilinx'
+	CFLAGS      += -Ithirdparty/xilinx/include
+	PKGS        += libpci
+	TARGETS     += fpga
+endif
 
 # Enable NGSI support
 ifeq ($(shell pkg-config libcurl jansson uuid; echo $$?),0)
-	LIB_OBJS   += ngsi.o
-	PKGS       += libcurl jansson uuid
+	LIB_OBJS    += ngsi.o
+	PKGS        += libcurl jansson uuid
 endif
 
 ## Enable WebSocket support
@@ -82,14 +85,16 @@ endif
 #endif
 
 # Enable OPAL-RT Asynchronous Process support (will result in 32bit binary!!!)
-ifneq (,$(wildcard $(OPALDIR)/include_target/AsyncApi.h))
+ifdef WITH_OPAL
+ifneq (,$(wildcard thirdparty/opal/include/AsyncApi.h))
 	LIB_OBJS    += opal.o
 	CFLAGS      += -m32
 	LDFLAGS     += -m32
-	LIB_CFLAGS  += -m32 -I$(OPALDIR)/include_target
-	LIB_LDFLAGS += -m32 -L/lib/i386-linux-gnu/ -L/usr/lib/i386-linux-gnu/ -L$(OPALDIR)/lib/redhawk/
+	LIB_CFLAGS  += -m32 -I thirdparty/opal/include
+	LIB_LDFLAGS += -m32 -L/lib/i386-linux-gnu/ -L/usr/lib/i386-linux-gnu/ -Lthirdparty/opal/lib/redhawk/
 	LIB_LDLIBS  += -lOpalAsyncApiCore -lOpalCore -lOpalUtils -lirc
 endif
+endif
 
 # Add flags by pkg-config
 LIB_CFLAGS += $(addprefix -DWITH_, $(shell echo ${PKGS} | tr a-z- A-Z_ | tr -dc ' A-Z0-9_' ))
@@ -104,20 +109,27 @@ LIB_LDLIBS += $(shell pkg-config --libs ${PKGS})
 all: $(LIBS) $(TARGETS)
 
 # Dependencies for individual binaries
-node:   server.o $(LIBS)
-pipe:   pipe.o   $(LIBS)
-test:   test.o   $(LIBS)
-signal: signal.o $(LIBS)
+fpga: LDLIBS += -lpci -lxil
+
+node:   server.o
+fpga:   fpga.o fpga-tests.o
+pipe:   pipe.o
+test:   test.o
+signal: signal.o
 
 # Libraries
-$(LIBS): CFLAGS += -fPIC $(LIB_CFLAGS)
-$(LIBS): $(LIB_OBJS)
-	$(CC) $(LIB_LDFLAGS) -shared -o $@ $^ $(LIB_LDLIBS)
+$(LIB_OBJS): CFLAGS += -fPIC $(LIB_CFLAGS)
+libvillas.so: $(LIB_OBJS)
+	$(CC) $(LIB_LDFLAGS) -o $@ $^ $(LIB_LDLIBS)
+
+thirdparty/xilinx/libxil.so:
+	$(MAKE) -C thirdparty/xilinx libxil.so
 
 # Common targets
 install: $(TARGETS) $(LIBS)
 	install -m 0644 $(LIBS) $(PREFIX)/lib
 	install -m 0755 node -T $(PREFIX)/bin/villas-node
+	install -m 0755 fpga $(PREFIX)/bin/villas-fpga
 	install -m 0755 signal $(PREFIX)/bin/villas-signal
 	install -m 0755 pipe $(PREFIX)/bin/villas-pipe
 	install -m 0755 test $(PREFIX)/bin/villas-test
diff --git a/include/cfg.h b/include/villas/cfg.h
similarity index 100%
rename from include/cfg.h
rename to include/villas/cfg.h
diff --git a/include/hist.h b/include/villas/hist.h
similarity index 100%
rename from include/hist.h
rename to include/villas/hist.h
diff --git a/include/hooks.h b/include/villas/hooks.h
similarity index 100%
rename from include/hooks.h
rename to include/villas/hooks.h
diff --git a/include/if.h b/include/villas/kernel/if.h
similarity index 100%
rename from include/if.h
rename to include/villas/kernel/if.h
diff --git a/include/kernel.h b/include/villas/kernel/kernel.h
similarity index 100%
rename from include/kernel.h
rename to include/villas/kernel/kernel.h
diff --git a/include/nl.h b/include/villas/kernel/nl.h
similarity index 100%
rename from include/nl.h
rename to include/villas/kernel/nl.h
diff --git a/include/tc.h b/include/villas/kernel/tc.h
similarity index 100%
rename from include/tc.h
rename to include/villas/kernel/tc.h
diff --git a/include/list.h b/include/villas/list.h
similarity index 100%
rename from include/list.h
rename to include/villas/list.h
diff --git a/include/log.h b/include/villas/log.h
similarity index 100%
rename from include/log.h
rename to include/villas/log.h
diff --git a/include/lstack.h b/include/villas/lstack.h
similarity index 100%
rename from include/lstack.h
rename to include/villas/lstack.h
diff --git a/include/msg.h b/include/villas/msg.h
similarity index 100%
rename from include/msg.h
rename to include/villas/msg.h
diff --git a/include/msg_format.h b/include/villas/msg_format.h
similarity index 100%
rename from include/msg_format.h
rename to include/villas/msg_format.h
diff --git a/include/node.h b/include/villas/node.h
similarity index 100%
rename from include/node.h
rename to include/villas/node.h
diff --git a/include/file.h b/include/villas/nodes/file.h
similarity index 100%
rename from include/file.h
rename to include/villas/nodes/file.h
diff --git a/include/ngsi.h b/include/villas/nodes/ngsi.h
similarity index 100%
rename from include/ngsi.h
rename to include/villas/nodes/ngsi.h
diff --git a/include/opal.h b/include/villas/nodes/opal.h
similarity index 92%
rename from include/opal.h
rename to include/villas/nodes/opal.h
index e1b1fb390..9ae48de9d 100644
--- a/include/opal.h
+++ b/include/villas/nodes/opal.h
@@ -35,8 +35,6 @@ struct opal {
 
 	int send_id;
 	int recv_id;
-
-	int seq_no;
 	
 	Opal_SendAsyncParam send_params;
 	Opal_RecvAsyncParam recv_params;
@@ -70,9 +68,9 @@ int opal_open(struct node *n);
 int opal_close(struct node *n);
 
 /** @see node_vtable::read */
-int opal_read(struct node *n, struct pool *pool, int cnt);
+int opal_read(struct node *n, struct sample *smps[], unsigned cnt);
 
 /** @see node_vtable::write */
-int opal_write(struct node *n, struct pool *pool, int cnt);
+int opal_write(struct node *n, struct sample *smps[], unsigned cnt);
 
 #endif /** _OPAL_H_ @} */
diff --git a/include/socket.h b/include/villas/nodes/socket.h
similarity index 100%
rename from include/socket.h
rename to include/villas/nodes/socket.h
diff --git a/include/websocket.h b/include/villas/nodes/websocket.h
similarity index 100%
rename from include/websocket.h
rename to include/villas/nodes/websocket.h
diff --git a/include/path.h b/include/villas/path.h
similarity index 100%
rename from include/path.h
rename to include/villas/path.h
diff --git a/include/pool.h b/include/villas/pool.h
similarity index 100%
rename from include/pool.h
rename to include/villas/pool.h
diff --git a/include/queue.h b/include/villas/queue.h
similarity index 100%
rename from include/queue.h
rename to include/villas/queue.h
diff --git a/include/sample.h b/include/villas/sample.h
similarity index 100%
rename from include/sample.h
rename to include/villas/sample.h
diff --git a/include/timing.h b/include/villas/timing.h
similarity index 100%
rename from include/timing.h
rename to include/villas/timing.h
diff --git a/include/utils.h b/include/villas/utils.h
similarity index 85%
rename from include/utils.h
rename to include/villas/utils.h
index 6c5b8e91c..6ce417ba0 100644
--- a/include/utils.h
+++ b/include/villas/utils.h
@@ -14,6 +14,7 @@
 #include <stdint.h>
 #include <sched.h>
 #include <assert.h>
+#include <sys/types.h>
 
 #include "log.h"
 
@@ -75,6 +76,12 @@
 					})
 #endif
 
+#define BITS_PER_LONGLONG	(sizeof(long long) * 8)
+
+/* Some helper macros */
+#define BITMASK(h, l)		(((~0ULL) << (l)) & (~0ULL >> (BITS_PER_LONGLONG - 1 - (h))))
+#define BIT(nr)			(1UL << (nr))
+
 /* Forward declarations */
 struct settings;
 struct timespec;
@@ -162,5 +169,34 @@ int version_parse(const char *s, struct version *v);
 	} while (0)
 #endif
 
-#endif /* _UTILS_H_ */
+/** Wait on eventfd */
+uint64_t wait_irq(int irq);
 
+/** Fill buffer with random data */
+int read_random(char *buf, size_t len);
+
+/** Hexdump bytes */
+void printb(void *mem, size_t len);
+
+/** Hexdump 32-bit dwords */
+void printdw(void *mem, size_t len);
+
+/** Get CPU timestep counter */
+__attribute__((always_inline)) static inline uint64_t rdtscp()
+{
+	uint64_t tsc;
+
+	__asm__ ("rdtscp;"
+		 "shl $32, %%rdx;"
+		 "or %%rdx,%%rax"
+		: "=a" (tsc)
+		:
+		: "%rcx", "%rdx", "memory");
+
+	return tsc;
+}
+
+/** Sleep with rdtsc */
+void rdtsc_sleep(uint64_t nanosecs, uint64_t start);
+
+#endif /* _UTILS_H_ */
\ No newline at end of file
diff --git a/lib/cfg.c b/lib/cfg.c
index 8498f71c2..53798f96d 100644
--- a/lib/cfg.c
+++ b/lib/cfg.c
@@ -12,7 +12,6 @@
 
 #include "utils.h"
 #include "list.h"
-#include "if.h"
 #include "cfg.h"
 #include "node.h"
 #include "path.h"
diff --git a/lib/hooks-internal.c b/lib/hooks/hooks-internal.c
similarity index 100%
rename from lib/hooks-internal.c
rename to lib/hooks/hooks-internal.c
diff --git a/lib/hooks-other.c b/lib/hooks/hooks-other.c
similarity index 100%
rename from lib/hooks-other.c
rename to lib/hooks/hooks-other.c
diff --git a/lib/hooks-stats.c b/lib/hooks/hooks-stats.c
similarity index 100%
rename from lib/hooks-stats.c
rename to lib/hooks/hooks-stats.c
diff --git a/lib/if.c b/lib/kernel/if.c
similarity index 97%
rename from lib/if.c
rename to lib/kernel/if.c
index ccde603bd..3a859304c 100644
--- a/lib/if.c
+++ b/lib/kernel/if.c
@@ -16,12 +16,14 @@
 #include <netlink/route/link.h>
 #include <netlink/route/route.h>
 
-#include "if.h"
-#include "tc.h"
-#include "nl.h"
-#include "socket.h"
+#include "kernel/if.h"
+#include "kernel/tc.h"
+#include "kernel/nl.h"
+#include "kernel/kernel.h"
+
+#include "nodes/socket.h"
+
 #include "utils.h"
-#include "kernel.h"
 
 struct interface * if_create(struct rtnl_link *link)
 {
diff --git a/lib/kernel.c b/lib/kernel/kernel.c
similarity index 99%
rename from lib/kernel.c
rename to lib/kernel/kernel.c
index 385fb743b..022c3281c 100644
--- a/lib/kernel.c
+++ b/lib/kernel/kernel.c
@@ -20,7 +20,7 @@
 
 #include "utils.h"
 #include "config.h"
-#include "kernel.h"
+#include "kernel/kernel.h"
 
 int kernel_module_set_param(const char *module, const char *param, const char *value)
 {
diff --git a/lib/nl.c b/lib/kernel/nl.c
similarity index 99%
rename from lib/nl.c
rename to lib/kernel/nl.c
index a7d3ed8c7..bc7a57b12 100644
--- a/lib/nl.c
+++ b/lib/kernel/nl.c
@@ -13,8 +13,9 @@
 #include <netlink/route/route.h>
 #include <netlink/route/link.h>
 
+#include "kernel/nl.h"
+
 #include "utils.h"
-#include "nl.h"
 
 /** Singleton for global netlink socket */
 static struct nl_sock *sock = NULL;
diff --git a/lib/tc.c b/lib/kernel/tc.c
similarity index 98%
rename from lib/tc.c
rename to lib/kernel/tc.c
index 6be3ce0b8..39f2c509e 100644
--- a/lib/tc.c
+++ b/lib/kernel/tc.c
@@ -14,10 +14,11 @@
 
 #include <linux/if_ether.h>
 
+#include "kernel/if.h"
+#include "kernel/tc.h"
+#include "kernel/nl.h"
+
 #include "utils.h"
-#include "if.h"
-#include "tc.h"
-#include "nl.h"
 
 int tc_parse(config_setting_t *cfg, struct rtnl_qdisc **netem)
 {
diff --git a/lib/file.c b/lib/nodes/file.c
similarity index 99%
rename from lib/file.c
rename to lib/nodes/file.c
index 51459401e..8ccd2fbdb 100644
--- a/lib/file.c
+++ b/lib/nodes/file.c
@@ -9,8 +9,7 @@
 #include <unistd.h>
 #include <string.h>
 
-#include "msg.h"
-#include "file.h"
+#include "nodes/file.h"
 #include "utils.h"
 #include "timing.h"
 #include "queue.h"
diff --git a/lib/ngsi.c b/lib/nodes/ngsi.c
similarity index 99%
rename from lib/ngsi.c
rename to lib/nodes/ngsi.c
index 6b6d1ed20..cfaaf872e 100644
--- a/lib/ngsi.c
+++ b/lib/nodes/ngsi.c
@@ -16,10 +16,10 @@
 #include <pthread.h>
 #include <unistd.h>
 
-#include "ngsi.h"
+#include "nodes/ngsi.h"
+
 #include "utils.h"
 #include "timing.h"
-#include "pool.h"
 
 /* Some global settings */
 static char *name = NULL;
diff --git a/lib/opal.c b/lib/nodes/opal.c
similarity index 98%
rename from lib/opal.c
rename to lib/nodes/opal.c
index d6a268384..42849065f 100644
--- a/lib/opal.c
+++ b/lib/nodes/opal.c
@@ -179,7 +179,7 @@ int opal_close(struct node *n)
 	return 0;
 }
 
-int opal_read(struct node *n, struct pool *pool, int cnt)
+int opal_read(struct node *n, struct pool *pool, unsigned cnt)
 {
 	struct opal *o = n->_vd;
 
@@ -244,7 +244,7 @@ int opal_read(struct node *n, struct pool *pool, int cnt)
 	return 1;
 }
 
-int opal_write(struct node *n, struct pool *pool, int cnt)
+int opal_write(struct node *n, struct pool *pool, unsigned cnt)
 {
 	struct opal *o = n->_vd;
 
diff --git a/lib/socket.c b/lib/nodes/socket.c
similarity index 99%
rename from lib/socket.c
rename to lib/nodes/socket.c
index db84f136d..786a27c2a 100644
--- a/lib/socket.c
+++ b/lib/nodes/socket.c
@@ -19,13 +19,14 @@
 #include <linux/if_packet.h>
 #include <arpa/inet.h>
 
-#include "socket.h"
+#include "nodes/socket.h"
+
+#include "kernel/if.h"
+#include "kernel/nl.h"
+#include "kernel/tc.h"
+
 #include "config.h"
 #include "utils.h"
-
-#include "if.h"
-#include "nl.h"
-#include "tc.h"
 #include "msg.h"
 #include "sample.h"
 #include "queue.h"
diff --git a/lib/websocket-http.c b/lib/nodes/websocket-http.c
similarity index 100%
rename from lib/websocket-http.c
rename to lib/nodes/websocket-http.c
diff --git a/lib/websocket-live.c b/lib/nodes/websocket-live.c
similarity index 100%
rename from lib/websocket-live.c
rename to lib/nodes/websocket-live.c
diff --git a/lib/websocket.c b/lib/nodes/websocket.c
similarity index 99%
rename from lib/websocket.c
rename to lib/nodes/websocket.c
index c00c7e8bd..728a9be28 100644
--- a/lib/websocket.c
+++ b/lib/nodes/websocket.c
@@ -323,7 +323,7 @@ shutdown:
 	warn("Dropping connection: node is currently shutting down");
 
 #if LWS_LIBRARY_VERSION_NUMBER > 1006002
-	char *bye = "S2SS is shutting down. Bye";
+	char *bye = "VILLASnode is shutting down. Bye";
 	lws_close_reason(wsi, LWS_CLOSE_STATUS_GOINGAWAY, (unsigned char *) bye, strlen(bye));
 #endif
 	
@@ -377,7 +377,7 @@ int websocket_init(int argc, char * argv[], config_setting_t *cfg)
 	if (!port)
 		port = 80;
 	if (!htdocs)
-		htdocs = "/s2ss/contrib/websocket";
+		htdocs = "/villas/contrib/websocket";
 	
 	/* Start server */
 	struct lws_context_creation_info info = {
diff --git a/lib/pool.c b/lib/pool.c
index 28af00428..94a382435 100644
--- a/lib/pool.c
+++ b/lib/pool.c
@@ -11,7 +11,7 @@
 #include "utils.h"
 
 #include "pool.h"
-#include "kernel.h"
+#include "kernel/kernel.h"
 
 int pool_init_mmap(struct pool *p, size_t blocksz, size_t cnt)
 {