Create WAM PC/104 CF Card Image

These instructions are intended to be used on an external PC running Ubuntu.

* All customers will need a CF to USB adapter for creating/upgrading the CF card:

​ CF -> USB

* WAM Serial Numbers >= 67 are eligible for this OS upgrade without any changes to the current PC/104.

* WAM Serial Numbers >= 37 are eligible for this OS upgrade with PC/104 upgrades to the CF Card and RAM.

The installation requires an 8GB SLC-flash CF Card Barrett Technology uses the following:
​ 8GB SLC-flash CF Card
The installation requires 1GB RAM
Barrett Technology uses the following:
​ PC/104 1GB RAM

Important Note about Flash Memory Types

It can be challenging to find a CF card that is made from SLC-based (Single Layer Cell) flash instead of the much more common (and cheaper) MLC-based (Multi Layer Cell) flash. The cards we use (from SwissBit) are between 100 to 200 dollars each. If you are not paying over $100, you are probably not getting an SLC device. SLC is important because we are using the CF card as a hard disk with an ext4 journaling filesystem. MLC flash is not durable enough to operate for more than a few months in this capacity, but SLC will last many years before it wears out. It is nearly impossible to get most flash manufacturers to divulge which technology they use. You will need to call their engineers directly. We used to use SanDisk Extreme cards (originally marketed as SLC). We had a relationship with a SanDisk engineer who informed us that they "secretly" switched from SLC to MLC in their high-end CF products without even changing the part number. Plus, you need to watch out for fakes - even if you find a product that is based on SLC, you need to make sure you are getting it straight from the manufacturer, not a reseller. Even Amazon, Walmart, and NewEgg have been caught selling fakes... and they still are.

On the other hand, if you are willing to accept the risk of a CF disk failure within a year, and if you make regular backups of your software, then go ahead and buy anything you want!

Install Barrett Provided CF Image

On an External Ubuntu PC
Install fsarchiver

sudo apt-get install fsarchiver

Insert CF Card and adapter into your PC. Close all pop-ups showing contents of CF card.

We have created scripts to automate the creation of the CF Images.

Ubuntu 12.04 - Latest Supported Release

wget http://web.barrett.com/support/WAM_Installer/cf_install_1204.sh

#Run the script
bash cf_install_1204.sh

Follow the on-screen instructions to create the Ubuntu Xenomai 12.04 CF Card.

With the power off, insert the new CF image into the WAM's PC/104. Boot the WAM with the new OS.

You should now be able to SSH into the WAMs PC/104. Note: You may need to remove your ~/.ssh/known_hosts file as the ssh_key will be different.

On the 12.04 CF Image home directory is a file - install_software.sh. This file will install the latest libbarrett and btclient software.

bash install_software.sh

Ubuntu 9.10 - Previous Supported Release

wget http://web.barrett.com/support/WAM_Installer/cf_install_910.sh

#Run the script
bash cf_install_910.sh

Follow the on-screen instructions to create the Ubuntu Xenomai 9.10 CF Card.

With the power off, insert the new CF image into the WAM's PC/104. Boot the WAM with the new OS.

You should now be able to SSH as was done previously. Note: You may need to remove your ~/.ssh/known_hosts file as the ssh_key will be different.