Ubuntu18.04+Xenomai3.1详细步骤（附内核deb文件）

xenomai是linux实时改造的重要方案之一，下面给出其具体的安装以及Ubuntu内核编译过程。
原理图如下

1. 下载ubuntu内核以及xenomai3.1软件包

#开局先换源
wget https://www.kernel.org/pub/linux/kernel/v4.x/linux-4.9.38.tar.gz
wget https://xenomai.org/downloads/xenomai/stable/xenomai-3.1.tar.bz2

2. 压缩包解压，并复制到/usr/src

 sudo tar xf linux-4.9.38.tar.gz
 sudo tar xf xenomai-3.1.tar.bz2

 sudo cp -r linux-4.9.38  /usr/src
 sudo cp -r xenomai-3.1  /usr/src

3. 给ubuntu内核打上xenomai补丁，建立一个x86_64位内核

 cd linux-4.9.38
 
 sudo wget https://xenomai.org/downloads/ipipe/v4.x/x86/older/ipipe-core-4.9.38-x86-3.patch
 
 ../xenomai-3.1/scripts/prepare-kernel.sh --arch=x86_64 --ipipe=ipipe-core-4.9.38-x86-3.patch
 #File arch/x86/Kconfig is read-only；trying to patch anyway
 #checking file arch/x86/Kconfig
 #...
 #如出现上述报错，记得加sudo

4. 配置内核

sudo apt install gcc libc6-dev libncurses5-dev libssl-dev build-essential bison flex
#/bin/sh: 1: gcc: not found
#scripts/Makefile.host:107: recipe for target'scripts/basic/fixed' failed
#make[1]: *** [scripts/basic/fixed] Error 127
#Makefile:588: recipe for target 'menuconfig' failed
#make: *** [scripts_basic] Error 2
#如出现上述报错，在安装下面的关键库
#sudo apt install lib32stdc++6
#sudo apt install lib32z1

yes "" | make oldconfig
make menuconfig
#如还提示安装ncurses报错，加sudo

#进入menuconfig界面，会看影响xenomai实时性的警告信息：