I found the following worked well on the first try just tonight for 
programming BBB rev C through JTAG. I too am still looking for instructions 
on how to get StaterWare to build though. 
http://blog.parr.us/2014/11/14/beaglebone-black-debugging-via-ti-usb100v2-jtag-emulator/

On Saturday, May 18, 2013 at 3:51:13 PM UTC-4, Larry Hilley wrote:
>
> Any word on when we'll get information on using Starterware on the BBB?
>
> As someone who has started worked with computers since 1960 for UNIVAC 
> military with the 1st computers to go on Navy ships for the CIC function 
> let me compliment you o a GREAT product.
>
>  
>
> Larry
>  
>  
>

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