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+# Firmware for the Sinara 8462 Fast-Servo
+## Building
+### Reproducible build with Nix
+1. Run `nix build .#packages.armv7l-linux.fast-servo-sd-image` to build the sd card image.
+2. Run `nix develop` to build a dev shell to access the GUI.
+
+### Flashing
+1. Plug in your SD card to your computer and run `lsblk` to locate SD card
+2. If there are any partitions on the SD card, run `umount <mount point>` all the related mount points.
+3. Run `sudo dd if=<path to the SD Card Image> of=/dev/<SD Card Device Name in lsblk> bs=4M status=progress oflag=sync`
+4. Eject the SD Card before removal
+
+### Usage
+1. Make sure the onboard DIP Switch is in the following condition.
+    - EN: OFF
+    - MODE: ON
+2. Install the SD Card, power up the board via the power jack or PoE and plug in the RJ45 Ethernet cable.
+3. Wait for all the front panel LEDs except the termination status LEDs to turn off. It can take a minutes or two for first boot. If it does not boot up, try to flash the SD Card again.
+4. Run `ssh <fast servo ip address> -p 3030` to ssh into fast-servo and run `linien-server run` to start the linien server.
+5. In the dev shell, run `linien` to launch the GUI. Add new device. Username is `root` and it does not take any password to log in. You leave the password field with any text.
+6. Select the newly added device and click connect in the GUI to connect and start the GUI.