Operating System / Kernel

We have decided to use a realtime kernel with a flexible linux distribution for develoment. Gentoo also has the advantage that all applications are build for the target architecture and provide sources if required.

You can find the latest Beaglebone kernel on following git homepage: https://github.com/beagleboard/kernel. Additionally we used the realtime patch for the beaglebone 3.2 patchset. After patching the compiler might complain that some semicolons are missing in the source. Simply fix the source files with a text editor.

Since we needed 4 additional I2C buses for the communication with the motor controllers, we decided to use the I2C bit banging driver of linux. We also included a dhcp server and hostapd in the Gentoo image to run a access point with the Edimax EW-7811Un usb module.

To install Gentoo distribution on the beaglebone you can follow the instructions from gentoo website: http://dev.gentoo.org/~armin76/arm/beaglebone/install.xml. Or you can use the latest version of our project. Therefore format the sd-card with the mkcard.sh script from gentoo hompage and copy all the files from the tar xz archives below to the corresponding partitions.