How to install Xenomai 2.6.4 in Mint 17.2 using dual kernel # Open a terminal sudo su cd /usr/src wget https://www.kernel.org/pub/linux/kernel/v3.x/linux-3.14.17.tar.gz wget http://www.anjo2.com/str/xenomai-2.6.4.tar.bz2 tar zxf linux-3.14.17.tar.gz tar jxf xenomai-2.6.14.tar.bz2 ln -s linux-3.14.17 linux ln -s xenomai-2.6.14 xenomai xenomai/scripts/prepare-kernel.sh --arch=x86_64 --linux=/usr/src/linux --adeos=/usr/src/xenomai/ksrc/arch/x86/patches/ipipe-core-3.14.17-x86-4.patch cd linux # Option 1 - Use my config wget http://www.anjo2.com/str/config-3.14.17-xenomai cp config-3.14.17-xenomai /boot/ cp config-3.14.17-xenomai .config # Option 2 - Do your config cp /boot/config-$(uname -r) .config make oldconfig # Accept all make xconfig # ctrl +f and search for CPU_FREQ, CPU_IDLE, CC_STACKPROTECTOR, KGDB, APM, ACPI_PROCESSOR, INTEL_IDLE, INPUT_PCSPKR, PCI_MSI, and disable all # Some may be greyed because you need to disable another option first, if they are, search them after disabling others # Now search for SATA, AHCI and activate all options for SATA support or you won't be able to mount your own hdd. cp .config /boot/config-3.14.17-xenomai make -j4 && make -j4 modules && make -j4 bzImage && make -j4 modules_install # -j4 is to use 4 threads, if you have 8, change to 8 mkinitramfs -o /boot/initrd.img-3.14.17-xenomai 3.14.17-xenomai cp arch/x86_64/boot/bzImage /boot/vmlinuz-3.14.17-xenomai grub-mkconfig -o /boot/grub/grub.cfg # Now reboot and choose the xenomai kernel (press shift until grub window appear) # Open a terminal sudo su echo "export PATH=$PATH:/usr/xenomai/bin/" >> /root/.bashrc echo "export LD_LIBRARY_PATH=/usr/xenomai/lib/:$LD_LIBRARY_PATH" >> /root/.profile cd /usr/src/xenomai ./configure make install # Congrats - questions or problems to cpatricio@ua.pt # This should work for new versions as well, make sure you download a kernel that have a patch in ksrc/arch/x86/patches/ directory (of that xenomai version) from https://www.kernel.org/ Kernel 3.x download: https://www.kernel.org/pub/linux/kernel/v3.x/ Xenomai patch for kernel 3.x download: https://xenomai.org/downloads/ipipe/v3.x/x86/