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Building a 32 bits version of iCub LIVE

Since the first versions of the PC-10 boards are ony 32 bits, the prebuilt images for versions above 4.x cannot be used to upgrade the OS. An alternative solution is to build a slightly modified version of the image, using the scripts from this repo.

Here are the steps to follow to build an iCub LIVE image based on Debian Buster (7.10): - Get a Debian environment - Clone the icus-os-files repository - Build the image - Flash the image on a USB stick

The process described here is very similar to the one used to build 64 bits images. Feel free to take a look at the iCub LIVE presentation, installation procedure and details to fully understand what we are doing.

Get a Debian environment

You can use a PC with Debian installed, but using a Virtualbox VM enables you to isolate your build fron everything else running on the computer. To set up your VM:

  • Download and install VirtualBox
  • Download a 32bits Debian ISO, preferably the version that you want to build
  • Launch VirtualBox
  • Create a new Debian 32bits VM. Make sure you give enough cores / RAM for the VM to work properly (e.g. 2 cores and 4-8 GB RAM)
  • Select the VM you just created; click on "Settings > Storage", and mount a new CD/DVD. WHen asked, select the file you just downloaded.
  • Turn the VM on; follow the usual Debian installation steps
  • You will probably need to install the VirtualBox Extension Pack to give the guest VM USB ⅔ access. The pack can be downloaded on the same page as VirtualBox

Once this is done, you have a working Debian environment. We can now build the iCub LIVE image

Clone the icus-os-files repository

The image we want to create is based on Debian LIVE build. However, a number of iCub-specific modifications are then applied. To make the process easier, everything is scripted and the code is available here. To get ready to build the image:

  • Open a terminal in your Debian environment
  • Install git: sudo apt install git
  • Clone the repository: git clone
  • Go to the folder containing our scripts: cd icub-os-files/scripts/icub-live
  • Make the scripts executable: chmod u+x ./*.sh
  • Adapt the files for a 32 bits architecture based on the changes pointed out from within this PR. To this end, you may cherry-pick the commit.

Build and flash the image

From there, you can follow the procedure described at the bottom of the iCub LIVE details page. In short:

  • Run ./ -s all; this will give you a .iso file.
  • Switch to Windows (you can use VirtualBox for that too, but you'll have to install the extension pack again), install Rufus and burn the .iso file on a USB stick. Don't forget to set a persistent partition, use FAT32 and a MBR partition scheme.

You can then boot the PC104 using the USB stick. Please note that:

  • You should not try to boot on the stick with any other hardware than the PC104
  • The default linux boot menu may get stuck if you do not press the enter key. In that case, plug the USB stick in a computer, mount the partitions, open the file /usr/lib/live/mount/persistence/sda1/isolinux/isolinux.cfg, and change timeout 0 to timeout 5 (you can change the number depending on how long you want the boot menu to wait). Unmount the partition, plug the USB stick in PC104, and it should be fixed.
  • You may need to rebuild the cfw002 driver; you can just build it from source