Building a Raspian Image with Xenomai

The LinuxCNC wiki has detailed instructions on how to build a Raspian image with the Xenomai development framework / realtime kernel extension. They also link to a ready made image if you don’t want to build it yourself.

If you build yourself and copy and paste the comands into your shell be aware that under item “5. Create SD card image / Populate BOOT” there seems to be a random character in the command: “sudo cp linux-rpi-3.2.27/build/arch/arm/boot/Image mnt/boot/kernel.img” behind the “…/boot/Image” part, remove it otherwise it will not execute.