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1. Follow the instructions at http://gumstix.org/basic-cross-compilation.html to make uImage and kernel modules.  Use the attached defconfig file instead of the one mentioned in the instructions.
2. Download x-loader and u-boot from http://feeds.sakoman.com/feeds/gnome-r13/images/ 
3. Follow the instructions at http://gobysoft.com/wiki/InstallOnGumstixOvero to build the root filesystem.  Use the attached emdebian.conf file.
   1. If you've prepared the rootfs before then all you need to change for a new kayak is the hostname in /etc/hostname and /etc/hosts as well as the ip configuration settings.  
4. Use the instructions at http://gumstix.org/create-a-bootable-microsd-card.html to prepare the SD card and copy the MLO and u-boot.  The kernel image we built can be found in linux/arch/arm/boot.  
5. Copy the rootfs, sync, install kernel modules, and sync again.  Finally unmount the sd card.  

cd ~/gumstix/rootfs
sudo rsync -aP . /media/rootfs/
sync
cd ~/gumstix/linux
sudo INSTALL_MOD_PATH=/media/rootfs make ARCH=arm CROSS_COMPILE=arm-linux-gnueabi- modules_install
sync
sudo umount /media/boot
sudo umount /media/rootfs

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Return to the goby wiki and follow the instructions to setup distcc on the gumstix.  Next install software according to the instructions on the software installation page.  

usermod -a -G dialout josh

add /sbin/ to path in .basrhc

emdebian.conf:

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Duovero:

git clone git://www.sakoman.com/git/linux linux
cd linux
git checkout omap-3.6

defconfig saved as omap4_defconfig and pulled from:

http://www.sakoman.com/cgi-bin/gitweb.cgi?p=meta-sakoman.git;a=blob_plain;f=recipes-kernel/linux/linux-sakoman-3.6/omap4-multi/defconfig;h=968d3053f32a504afdf7b0eacf1d41eb730a5f80;hb=master

no changes to defconfig

MLO and u-boot from script found at:

http://feeds.sakoman.com/feeds/yocto-1.3/images/omap4-multi/current/

will need package g++-4.6-arm-linux-gnueabi=4.6.3-15, add emdebian wheezy and sid to apt sources similar to squeeze as described on goby wiki.

NTP:

http://ubuntuforums.org/showthread.php?t=862620

Compiler information: vehicles should use g++-4.4
distcc host must have g++-4.4-arm-linux-gnueabi=4.4.5-8
apt-pin:

Package: *-4.4-arm-linux-gnueabi* *-4.4-dev-armel-cross
Pin: version 4.4.5-8
Pin-Priority: 1100emdebian.org/grip
keyring=emdebian-archive-keyring
components=main dev
suite=stable

[Misc]
packages=wget aptitude psmisc screen
source=http://www.emdebian.org/grip
keyring=emdebian-archive-keyring
components=main dev
suite=stable

[Networking]
packages=netbase ifupdown iproute net-tools iputils-ping ntp isc-dhcp-client
source=http://www.emdebian.org/grip
keyring=emdebian-archive-keyring
suite=stable

[Debian]
packages=
source=http://mv.ezproxy.com.ezproxyberklee.flo.org/debian
keyring=debian-archive-keyring
suite=stable

#openssh-server after first boot#libncurses5-dev python-dev cmake-curses-gui libboost-all-dev minicom subversion bzr 
#moos & moos-ivp
#goby <- zmq
#moos-ivp-anrp
#modify path