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If you are new to RISC OS you should read Introduction to RISC OS.
The download link provides a copy of the stable RISC OS ROM image suitable for the following devices:
To get started with one of these boards, you will also need the OMAP5 firmware and the stable HardDisc4 image.
For an explanation of what to do to create an SD card that will let you start up with RISC OS on an OMAP5 board, see Generic OMAP port setup information1. If you are upgrading from an older version of RISC OS, see RISC OS Upgrade instead.
1 The page only mentions OMAP3 and OMAP4, but the general principles should hold true for OMAP5 as well.