--- Begin base install ---
--Simple method
wget http://web.barrett.com/support/WAM_Installer/sysroot-precise.tar.bz2
sudo tar xvjf sysroot-precise.tar.bz2

--Full method
wget http://mirrors.us.kernel.org/ubuntu//pool/main/d/debootstrap/debootstrap_1.0.40~precise1_all.deb
sudo dpkg -i debootstrap_1.0.40~precise1_all.deb

mkdir sysroot
sudo debootstrap precise sysroot http://ubuntu.media.mit.edu/ubuntu
sudo chroot sysroot
apt-get clean
exit
sudo tar cvjf sysroot-precise.tar.bz2 sysroot

--- End base install ---

--- Begin kernel build ---

sudo mount --bind /dev sysroot/dev
sudo mount --bind /proc sysroot/proc
sudo mount --bind /sys sysroot/sys
sudo chroot sysroot

echo "deb http://security.ubuntu.com/ubuntu precise-security main" >> /etc/apt/sources.list
echo "deb http://ubuntu.media.mit.edu/ubuntu precise universe" >> /etc/apt/sources.list

apt-get update
apt-get install language-pack-en-base
apt-get install grub man gcc gdb make patch ncurses-dev wget screen openssh-server subversion rsync

apt-get install g++ cmake python-dev libeigen2-dev libgsl0-dev libboost-dev libboost-program-options-dev libboost-python-dev libboost-thread-dev libboost-signals-dev libboost-math-dev libboost-regex-dev libboost-filesystem-dev libboost-date-time-dev

apt-get clean

cd /usr/src
wget http://www.kernel.org/pub/linux/kernel/v2.6/linux-2.6.38.tar.bz2
wget http://download.gna.org/xenomai/stable/xenomai-2.6.1.tar.bz2
wget http://archive.ubuntu.com/ubuntu/pool/main/l/linux/linux_2.6.38-8.42.diff.gz
wget http://kernel.ubuntu.com/~kernel-ppa/configs/natty/i386-config.flavour.generic
wget http://web.barrett.com/support/WAM_Installer/adeos-ipipe-2.6.38.8-x86-2.11-02-barrett.patch 
wget http://web.barrett.com/support/WAM_Installer/menu.lst.2638 -O /boot/grub/menu.lst

tar xjf linux-2.6.38.tar.bz2
tar xjf xenomai-2.6.1.tar.bz2
cd linux-2.6.38
gunzip ../linux_2.6.38-8.42.diff.gz -c |patch -p1
patch -p1 < ../adeos-ipipe-2.6.38.8-x86-2.11-02-barrett.patch 
../xenomai-2.6.1/scripts/prepare-kernel.sh --linux=`pwd` --arch=x86
cp ../i386-config.flavour.generic .config
yes "" |make oldconfig

make ARCH=i386 menuconfig
 General setup: Local version => -ipipe, IRQ subsystem => no Support sparse irq
 (Geode) Processor type/features: no Symmetric multi-processing, Processor family => Pentium-III, no HPET Timer, no Enable -fstack-protector
 (Atom) Processor type/features: Processor family => Core2
 Power management:ACPI:no Processor, no APM, no CPU Frequency scaling, no CPU idle PM
 Device Drivers:Input Device:Misc: no PC speaker
 (Geode) Device Drivers:Graphics support:Support for frame buffer:no Enable firmware EDID
 Real-time sub-system: add Shared interrupts, add Machine:SMI:Enable SMI, add Drivers:Serial:16550A, add Drivers:CAN:Philips:Standard ISA, PEAK PCI Card
 Kernel hacking: no Kernel debugging

time make bzImage modules modules_install
make install (keep existing menu.lst)

make clean
rm ../*.bz2

--- End kernel build ---

--- Begin environment setup ---
adduser robot
  password = WAM
addgroup xenomai
addgroup admin
echo '%admin ALL=(ALL) ALL' >> /etc/sudoers
usermod -G adm,cdrom,audio,video,plugdev,admin,xenomai robot

echo 'WAM' > /etc/hostname

echo '127.0.0.1 localhost WAM' > /etc/hosts

echo 'America/New_York' > /etc/timezone
dpkg-reconfigure -f noninteractive tzdata

apt-get clean

wget http://web.barrett.com/support/WAM_Installer/fstabAtom -O /etc/fstab
wget http://web.barrett.com/support/WAM_Installer/interfacesAtom -O /etc/network/interfaces
wget http://web.barrett.com/support/WAM_Installer/rc.isa -O /etc/rc.local

exit
sudo umount sysroot/dev
sudo umount sysroot/proc
sudo umount sysroot/sys

--- End environment setup ---

--- Format new disk ---

umount /media/*
sudo parted /dev/sdb (or wherever the new disk is)
 print (make sure this is the device you want to use)
 mklabel
  msdos
 mkpart primary ext2 1 64
 mkpart primary ext4 64 8000
 set 1 boot on
 quit
sudo mkfs.ext2 /dev/sdb1 (or wherever the first new partition is)
sudo mkfs.ext4 /dev/sdb2 (or wherever the second new partition is)

--- Copy to CF and install bootloader ---
sudo mkdir /media/cf
sudo mount /dev/sdb2 /media/cf
sudo mkdir /media/cf/boot
sudo mount /dev/sdb1 /media/cf/boot
sudo cp -av sysroot/* /media/cf

sudo mount --bind /dev /media/cf/dev
sudo mount --bind /proc /media/cf/proc
sudo mount --bind /sys /media/cf/sys
sudo chroot /media/cf

cp /usr/lib/grub/i386-pc/* /boot/grub
grub
 find /grub/grubenv <--look for the proper boot partition, probably 'hd1,0')
 root (hd1,0) <--use your boot partition here
 setup (hd1) <--use your boot device here (normally the part before the ',0')
 quit

# Exit the chroot environment and unmount everything
exit
sudo umount /media/cf/dev
sudo umount /media/cf/proc
sudo umount /media/cf/sys
sudo umount /media/cf/boot
sudo umount /media/cf

--- Install Xenomai user-space ---
Remove disk from host PC
Install disk in target PC
Boot target PC

--- (Geode BIOS setup)
Enter the BIOS setup (press DEL during startup)
Standard CMOS Features: Drive A = None
Advanced Chipset Features: Video Memory Size = 8M
PnP/PCI Configurations: IRQ Resources: IRQ-10 assigned to = Reserved
Save & Exit Setup
--- (End Geode BIOS setup)

User: robot
Pass: WAM

sudo bash
cd /usr/src/xenomai-2.6.1
./configure && make && make install
echo /usr/xenomai/lib/ | cat > /etc/ld.so.conf.d/xenomai.conf
ldconfig
exit

--- Reboot required ---
sudo shutdown -r now
bash /usr/xenomai/bin/xeno-test (look for any errors, ctrl-c to exit)

--- Install Barrett Technology Software ---
cd

# Get the Barrett-patched libconfig which supports simultaneous C/C++ bindings
wget http://web.barrett.com/support/WAM_Installer/libconfig-1.4.5-PATCHED.tar.gz
tar xzf libconfig-1.4.5-PATCHED.tar.gz
cd libconfig-1.4.5
./configure && make && sudo make install
cd ..
rm -Rf libconfig-1.4.5/ libconfig-1.4.5-PATCHED.tar.gz

# Get the latest version of libbarrett
wget http://web.barrett.com/support/WAM_Installer/libbarrett-1.1.0.tar.gz
tar xzvf libbarrett-1.1.0.tar.gz
cd libbarrett-1.1.0/
cmake .
time make
sudo make install
cd ..
rm -Rf libbarrett-1.1.0/ libbarrett-1.1.0.tar.gz

# Get the WAM UDP daemon (for wamdiscover)
sudo wget http://web.barrett.com/support/WAM_Installer/wamudpd -O /usr/local/sbin/wamudpd
sudo chmod 744 /usr/local/sbin/wamudpd
echo "Unnamed WAM" > /etc/barrett/serial

sudo shutdown -h now
--- Done! ---

# Make images of the CF card partitions (boot/root)
# 
sudo umount /media/*
time sudo fsarchiver -v -z 7 -L "Kernel 2.6.38.2-ipipe, P3, no EDID" savefs wamBootGeode1204.fsa /dev/sdb1
time sudo fsarchiver -v -z 7 -L "Ubuntu 12.04, Xenomai 2.6.1, SocketCAN" savefs wamRootGeode1204.fsa /dev/sdb2