Install Xenomai 2.6.2.1 with Linux kernel 3.5.7 (Ubuntu) step by step

1. Get sources
• Linux kernel: wget https://www.kernel.org/pub/linux/kernel/v3.x/linux-3.5.7.tar.bz2
• Xenomai:  wget https://xenomai.org/downloads/xenomai/stable/xenomai-2.6.2.1.tar.bz2
2. Unzip these sources (notice that these sources are in the same directory)
• tar jxvf linux-3.5.7.tar.bz2
• tar jxvf xenomai-2.6.2.1.tar.bz2
3. Patch Linux kernel with Xenomai
• cd linux-3.5.7
• ../xenomai-2.6.2.1/scripts/prepare-kernel.sh
• choose CPU architecture [x86: i686]
• choose patch kernel: [../xenomai-2.6.2.1/ksrc/arch/x86/patches/ipipe-core-3.5.7-x86-3.patch]
• Notice: Xenomai has to include patch for the expected kernel version.
4. Configure the kernel
• make xconfig  -> GUI
• Required Options
• Real-time sub-system
• Xenomai : Enable
• Necleus: Enable
• Power management and ACPI options
• Run-time PM core functionality : Disable
• ACPI (Advanced Configuration and Power Interface) Support
• Processor: Disable
• CPU Frequency scaling: Disable
• CPU Idle: Disable
• Processor type and features
• Processor famlily
• Core 2/newer Xeon: Check your system with cat /proc/cpuinfo | grep family  if return 6 set as Generic
• Optional options
• General setup
• Local Version: append to kernel resase: -xenomai-2.6.2.1
• Timer subsystem:
• High Resolution Timer Support: ON
• Processor type and features
• Processor famlily
• SMT (Hyperthreading) scheduler support (Disable)
• Preemption Model 
•  Voluntary Kernel Preemption (Desktop)
• Check some flags with search (Ctrl+F)
• CONFIG_XENO_SKIN_NATIVE: ON
• CONFIG _XENO_OPT_PERVASIVE: ON
• CONFIG_STACKPROTECTOR: OFF (NONE)
5. Build the kernel
• sudo make-kpkg --rootcmd fakeroot --initrd kernel_image kernel_headers -j $(nproc)
6. Install Xenomai
• cd ..  && ls   to make sure some header and image debian (.deb) files exist.
•  dpkg -i linux-headers-3.5.7-xenomai-2.6.2.1_3.5.7-xenomai-2.6.2.1-10.00.Custom_i386.deb
• dpkg -i linux-image-3.5.7-xenomai-2.6.2.1_3.5.7-xenomai-2.6.2.1-10.00.Custom_i386.deb
7. Update grub
• sudo update-grub
• check kernel image at /boot directory
8. Boot xenomai
• At Boot menu: Ubuntu * Advanced options for Ubuntu (Enter on it)
• Choose xenomai kernel
9. Test Xenomai Run-time environment
• Check message that contains information about xenomai and 

• dmesg | grep -i xenomai
• 
  

• Run test:  sudo xeno latency   (install apt-get install xenomai-runtime)
10. Install Xenomai library
• Configure library: 
• sudo ./scripts/bootstrap , if there is an error install some dependencies
• sudo apt-get install autoconf
• sudo apt-get install libtool
• ./configure
• Install library: sudo make install
11. Test library with examples
•  cd examples/native
• make
• ./trivial-periodic
• Some results
• Time since last turn: 999.998422 ms
• Time since last turn: 999.999733 ms
• Time since last turn: 1000.000439 ms
• Time since last turn: 999.999425 ms
• Time since last turn: 1000.001085 ms
• Time since last turn: 999.998952 ms
• Time since last turn: 999.999987 ms
• Time since last turn: 999.999915 ms