BBB Full Image

  • A full image of the BBB with sit stand state machine running is available here.
  • This image can be flashed to the BBB as per instructions here. The image is by default set on the non-RT kernel and the instruction to flash on the uEnv.txt file is commented out.
  • The behaviour of this image is as follows:
  • /etc/rc.local starts the /usr/bin/X2_startCAN.sh and /home/debian/Sit_stand/canopend/./ALEX programs.
  • This starts CAN interface and sets BBB GPIO pins 8.7, 8.8, 8.9, 8.11 to input for the handheld control buttons. Then it starts the sit stand program located at /home/debian/Sit_stand/canopend/./ALEX.
  • The sit stand programs starts PDOs, does home calibration and then waits in idle state for user input. Press yellow button on hand controller to enter sit stand mode. Then hold green button to cycle through sit stand.

Creating Your Own Image

  • Live boot with a fresh image of the BBB OS.
  • Set it up with required programs and startup scripts. These can be executed during startup by adding them to rc.local. Refer to this for currently used startup scripts.
  • Now shutdown BBB, take the SD card with the liveboot image and insert into a PC. Follow either Windows or Linux instructions stated below.

For Windows

  • Download and install Win32 Disk Imager. Also available here
  • Run the program. On the right side, select the drive letter corresponding to the SD card.
  • Enter a name for the image in the "Image File" box.
  • Select "Read Only Allocated Partitions".
  • Click Read. This will create the image file.

For Linux