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Revision as of 21:24, 21 December 2016 by Elias (talk | contribs) (Attributions)

Kamikaze is a complete Linux distribution based on Debian Jessie (8), alternatively Stretch (9) for Kamikaze 2.0. It has all the necessary software for running Replicape to control your 3D printer.

The way this works is you download an image file, extract that onto a mico SD card and place that SD card in your BeagleBone Black. After some 5 minutes of looking at the logo and drinking coffee, the flashing procedure is over, you remove power from the BeagleBone, eject the SD card and re-apply power to the board. If you have Manga Screen, you should see Toggle appear on the LCD. You should also be able to point your browser to [http://kamikaze.local] which will display a welcome screen with some information about how to set up your printer.

Kamikaze 2.1.0

The next version of Kamikaze: Kamikaze 2.1

Kamikaze 2.0.8

The current (stable) version of Kamikaze.
Kamikaze 2.0 is now available for download. With version 2.0, the way the image is created has changed. The image is now made starting from the official IoT Debian distribution for BeagleBone, and altered to be great for 3D-printing. Redeem, Toggle and OctoPrint is now installed by forking the git repository and installing from source. This makes hacking very easy, and also enables updates to be monitored from within OctoPrints own software update system.


Here is the MD5 sum for it: a438f453be3a390b6bf51ad719ad65a9
The size is 1.1GB (1123946180 B) compressed, but expands to a 3.2GB partition, suitable for a 4GB SD card.

Kamikaze 1.0

The previous version of Kamikaze: Kamikaze 1.1


For SSH: debian/temppwd
Also: root/"no password"
Note: Root access with no passord is a big security risk and not for production use. If your printer has an external IP, disable root access.

Burn image

Once you have the BBB-flasher downloaded to your computer, you can transfer it to a microSD card (not included) in the normal manner.
Go to http://www.etcher.io/ and download the app for your OS.


For Linux, make sure you make the app executable and start it as root:

cd ~/Downloads
chmod +x Etcher-linux-x64.AppImage
sudo ./Etcher-linux-x64.AppImage


It's a normal program installer. Install it and run it.


It's a normal installer, just drag the app into the application folder.

Starting up

You should see the app appear, similar to this:

Follow the instructions from the app, briefly:
1) Hit "select image" and find the image you previously downloaded called " BBB-eMMC-flasher-kamikaze-YYYY-MM-DD-4gb.img.xz".
2) Insert a 4GB micro SD card in your SD card reader slot. The card should be detected by the app.
3) Hit flash, and wait for it to finish.

I've also made a quick video on how to do this procedure:

Running Kamikaze from SD card

If you want to run the image from the SD card and not overwrite the on board flash, you need to place the SD card in a computer and edit the file on the SD card with the path /boot/uEnv.txt. from the partition called Kamikaze. Comment out the last line of the file, the line that starts the flasher instead of systemd.

Flashing procedure

Once the SD card is inserted in the SD card slot of the BBB, hold don the "boot" button and apply power. If you have a Manga Screen installed, the Kamikaze splash screen will appear within 3 seconds. After 10-5 seconds, the 4 lights on the BBB will flash in a "Night rider" pattern (also called cylon leds). Once the flashing procedure is done, after about 15 minutes, the board will power down. Remove power, eject the SDcard and re-apply power. The first time the BBB boots up after removing the SD card, it will run a script to compile the device tree overlays into the kernel and then it will reboot.


Make sure:

  1. The microSD card you are using is 4GB.
  2. All the lights light up at the end of the flashing procedure.
  3. You remove the card after the flashing procedure is done.
  4. During the first boot, you leave it powered on for a few minutes. On first boot, some scripts will run, then a reboot will happen.

Getting started

I've made a quick video to show how to get started with this image:

Ways to connect

There are several ways to connect your computer to the BeagleBone Black. If you have a router or switch, simply use a network cable and connect your BeagleBone to that. The BeagleBone should start to answer pings on the [link-local] address right away:

ping kamikaze.local

If you are on a more exotic network, you might have to find your BeagleBones IP address manually. One way is using a USB cable to connect from your computer to the BeagleBone. The BeagleBone has ethernet over USB that has a static IP address of You can then log in with ssh:

ssh root@ 

and check your BBBs assigned IP address with ifconfig.

Note for Windows users: you'll need to install Apple's bonjour service to autodiscover the BBB on the network, if your router/modem doesn't do DNS assignment (or if you're using USB). Furthermore, for ssh on windows, it is recommended to use PuTTY


The first time Kamikaze boots, the index file for the kernel objects is recreated and the necessary permissions for Octoprint are run. Therefore, a reboot is required for the board to boot as expected.

If you have Manga Screen and would like to avoid the blinking cursor screwing up your Toggle, you can disable the cursor from the command line of BeagleBone. Disable console cursor:

 echo 0 > /sys/class/graphics/fbcon/cursor_blink

Upgrading packages

Since this is a Debian system, packages can be upgraded with apt.

apt-get update
apt-get upgrade
apt-get install toggle
apt-get install python-octoprint-toggle

Please note that since this also upgrades the SSH daemon, which will kick the user out during the upgrade process. If that happens, you need to SSH back in, and continue the process:

dpkg --configure -a


Kamikaze uses Connman for handling connections. Typically, you will perform the following actions (taken from the Arch wiki): For protected access points you will need to provide some information to the ConnMan daemon, at the very least a password or a passphrase. The commands in this section show how to run connmanctl in interactive mode, it is required for running the agent command. To start interactive mode simply type:

 $ connmanctl

You then proceed almost as above, first scan for any Wi-Fi technologies:

 connmanctl> scan wifi

To list services:

 connmanctl> services

Now you need to register the agent to handle user requests. The command is:

 connmanctl> agent on

You now need to connect to one of the protected services. To do this easily, just use tab completion for the wifi_ service. If you were connecting to OtherNET in the example above you would type:

 connmanctl> connect wifi_dc85de828967_38303944616e69656c73_managed_psk

The agent will then ask you to provide any information the daemon needs to complete the connection. The information requested will vary depending on the type of network you are connecting to. The agent will also print additional data about the information it needs as shown in the example below.

 Agent RequestInput wifi_dc85de828967_38303944616e69656c73_managed_psk
   Passphrase = [ Type=psk, Requirement=mandatory ]

Provide the information requested, in this example the passphrase, and then type:

 connmanctl> quit

If the information you provided is correct you should now be connected to the protected access point.


Webcam streaming has been tested with Logitech C270. Most of this is from: https://github.com/foosel/OctoPrint/wiki/Setup-on-BeagleBone-Black-running-%C3%85ngstr%C3%B6m#webcam To enable webcam streaming, strting with the latest image, try this:

 apt-get update
 apt-get install cmake libjpeg-dev

Install mjeg streamer:

 cd /usr/src/
 git clone https://github.com/jacksonliam/mjpg-streamer
 cd mjpg-streamer/mjpg-streamer-experimental
 sed -i 's:add_subdirectory(plugins/input_raspicam):#add_subdirectory(plugins/input_raspicam):' CMakeLists.txt
 make install
 ./mjpg_streamer -i "./input_uvc.so" -o "./output_http.so" &

The stream should be available through [http://kamikaze.local:8080/?action=stream] To integrate this in Octoprint:

 nano /home/octo/.octoprint/config.yaml

Add this to the webcam section:

   stream: http://kamikaze.local:8080/?action=stream
   snapshot: http://kamikaze.local:8080/?action=snapshot
   ffmpeg: /usr/bin/avconv

Restart octoprint:

 systemctl restart octoprint

To make a service for this, drop a line in udev:

 echo 'KERNEL=="video0", TAG+="systemd"' > /etc/udev/rules.d/50-video.rules

create mjpg.service

 nano /lib/systemd/system/mjpg.service

Copy/paste this in mjpg.service file:

 # /lib/systemd/system/mjpg.service
 Description=Mjpg streamer
 ExecStart=/usr/local/bin/mjpg_streamer -i "/usr/local/lib/mjpg-streamer/input_uvc.so" -o "/usr/local/lib/mjpg-streamer/output_http.so"

Enable service:

 cd /lib/systemd/system/
 systemctl enable mjpg.service

Install Octoprint plugin

Chose your plugin at this page:


Take a URL source, and clone it on your BBB:

 git clone "URL source"

Install plugin:

 cd "your-plugin-folder"
 python setup.py install

Restart Octoprint:

 systemctl restart octoprint.service

System commands

If you want to be able to shutdown and restart your BBB via the webinterface, you'll first have to add a sudo and systemctl rule for octo user:

 cat > /etc/sudoers.d/octoprint-shutdown
 octo ALL=NOPASSWD: /sbin/shutdown
 cat > /etc/sudoers.d/octoprint-systemctl
 octo ALL=NOPASSWD: /sbin/systemctl

Copy systemctl to /sbin

 cp /bin/systemctl /sbin/

Then add the following lines to your /home/octo/.octoprint/config.yaml: system:

 - action: Restart Redeem
   command: sudo systemctl restart redeem
   name: Restart Redeem
 - action: Restart Octoprint
   command: sudo systemctl restart octoprint
   name: Restart Octoprint
 - action: Shutdown
   command: sudo shutdown -h now
   name: Shutdown
 - action: Reboot
   command: sudo shutdown -r now
   name: Reboot

After restarting and reloading OctoPrint, this should add a System menu to the top right where you'll find the four commands.

Known problems

  • Uploading local.cfg via Octoprint Redeem plugin renders an empty file the first time.
  • Blinking cursor over Toggle
  • The Kamikaze logo does not show up during eMMC flashing. Purely cosmetic.

Manual installation of package feed

To manually add the Debian repository with Replicape and Toggle packages, add this in a shell on your BeagleBone:

 wget -O - http://kamikaze.thing-printer.com/apt/public.gpg | apt-key add -
 echo "deb http://kamikaze.thing-printer.com/apt ./" >> /etc/apt/sources.list
 apt-get update

The Kernel in the current image is 4.1.0, and it has PRU support. There is an effort in moving from UIO based kernel drivers to the newer rproc framework. In order to use Redeem with this newer kernel, you need to install a kernel with PRU support. All kernels from 4.0.0 should have that.

With the new kernel, you can install Redeem (1.0.4 on Jessie):

 apt-get install redeem

Source files

Kamikaze is a fork of Robert C Nelsons wonderful Debian distribution for BeagleBone. It tries to follow his branch closely, but adds some additional packages, specifically Redeem, Octoprint, CuraEngine, Toggle and the necessary Cogl and Clutter packages for making that work. Here are the source files:



OctoPrint is the brainchild of Gina Häußge, license AGPL and hosted here:


CuraEngine is developed and maintained by Ultimaker and has the AGPL V3 license. See the git repo for details: