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--- code:work:pi:rtpreempt:start [2017/03/08 20:23] – [Xenomai Pi 3 Compile HOWTO] david
+++ code:work:pi:rtpreempt:start [2017/03/09 01:06] (current) – [Xenomai Pi 3 Compile HOWTO] david
@@ Line 374: / Line 374: @@
 git clone https://github.com/raspberrypi/linux
 cd linux
-git checkout rpi-4.1.y
+git checkout rpi-4.4.y
 </code>
+  - Create a new Xenomai branch <code>
+git checkout -b xenomai-3.0.3
+</code>
+  - Dry run the patch <code>
+patch --dry-run -p1 <../xenomai-3.0.3/kernel/cobalt/arch/arm/patches/ipipe-core-4.4.43-arm-7.patch
+</code>
+  - Patch the kennel assuming you saw no FAILS in the dry run test <code>
+cd ..
+xenomai-3.0.3/scripts/prepare-kernel.sh --linux=linux --arch=arm --ipipe=xenomai-3.0.3/kernel/cobalt/arch/arm/patches/ipipe-core-4.4.43-arm-7.patch
+</code>
+  - Build the default configuration <code>
+KERNEL=kernel7
+cd linux
+make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- bcm2709_defconfig
+make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- bcm2835_defconfig
+</code>
+  - Configure the kernel <code>
+make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- menuconfig
+</code>
+    - Make these changes
+      - Kernel Features  --->
+        - Preemptible Kernel (Low-Latency Desktop)
+        - DISBLE Allow for memory compaction
+        - DISABLE Contiguous Memory Allocator
+      - CPU Power Management  ---> OFF everything
+      - Kernel hacking
+        - DISABLE KGDB: kernel debugger
+  - Compile! <code>
+make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- zImage modules dtbs -j 6
+</code>
+  - Ran this with the 3.1.18 kernel... seems like that might work.