# 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.