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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 a beta RISC OS ROM image for the Pandaboard and Pandaboard ES. To get started with one of these boards, you need the OMAP4 firmware as well. This is how to get started?This is how to get started – a full explanation of what to do to create an SD card that will let you start up with RISC OS on the Pandaboard.
There is, as yet, no stable ROM release for the Pandaboard but it might be helpful to indicate some of the milestones that have been reached in recent development:
07-Apr-2013: Audio interface: removed sample rates which are not supported by hardware [88200 and 96000 are directly supported by hardware]
13-Apr-2013: added GPIO device
01-Sep-2013: added support for all 4 I2C interfaces
02-Sep-2013: added SmartReflex driver
12-Nov-2013: added support for external RTC and power control hardware
16-Nov-2013: Audio module changed to use API 2.0 (for stereo reversal)