I am currently designing my custom Lighthouse tracker board based on the Lattice ICE40HX8K-CB132 FPGA and TS4231 Light to Digital Converter. The board is done using KiCad and supports up to 32 sensors. The board also has an RP2040 microcontroller used as a PC interface and an ICM-45686 IMU. The firmware for the RP2040 and gateware for the FPGA have been forked from Bitcraze, on the host PC you will need libsurvive. A possible future wireless extension is based on the nRF52833 used by SlimeVR Butterfly and Tundra trackers.