EtherCAT（ubuntu18.04，linux4.9.38，xenomai3.1，igh1.52）配置完整流程

所需安装包

#linux4.9.38
wget https://www.kernel.org/pub/linux/kernel/v4.x/linux-4.9.38.tar.gz
#xenomai3.1
wget https://xenomai.org/downloads/xenomai/stable/xenomai-3.1.tar.bz2
#igh1.52
git clone https://github.com/ribalda/ethercat.git

sudo apt install gcc libc6-dev libncurses5-dev libssl-dev build-essential bison flex

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

给ubuntu内核打上xenomai补丁，建立一个x86_64位内核

cd xenomai-3.1
sudo wget https://xenomai.org/downloads/ipipe/v4.x/x86/ipipe-core-4.9.38-x86-4.patch
sudo ./scripts/prepare-kernel.sh --linux=/home/wx/linux-4.9.38 --ipipe=ipipe-core-4.9.38-x86-4.patch --arch=x86_64

配置menuconfig

cd linux-4.9.38
sudo make menuconfig

> Processor type and features
[ ] Linux guest support  ---- 
[ ] Multi-core scheduler support
> Power management and ACPI options
[ ] Suspend to RAM and standby 
[ ] Hibernation (aka 'suspend to disk'