编译kernel+xenomai,主要参考https://code.google.com/p/picnc项目中的wiki页面。
编译machinekit，主要参考http://www.machinekit.io/docs/building-from-source/ 。解决编译依赖要费些周折，需要再添加两个源，下载几个包。
搭建 qemu chroot 环境
安装必要的包
sudo apt-get install qemu qemu-user qemu-user-static binfmt-support debootstrap
用debootstrap搭建最小chroot环境
选择速度快点儿的Raspbian镜像：http://www.raspbian.org/RaspbianMirrors
cd <working dir> sudo debootstrap --foreign --no-check-gpg --include=ca-certificates --arch=armhf wheezy rootfs <mirror>
编辑/etc/qemu-binfmt.conf，加入下面这行：
EXTRA_OPTS="-L/usr/lib/arm-linux-gnueabihf"
复制qemu可执行文件然后chroot
sudo cp $(which qemu-arm-static) rootfs/usr/bin sudo chroot rootfs/ /debootstrap/debootstrap --second-stage --verbose
将使用的镜像加入/etc/apt/sources.list
sudo sh -c 'echo deb <mirror> wheezy main > rootfs/etc/apt/sources.list' sudo sh -c 'echo deb-src <mirror> wheezy main >> rootfs/etc/apt/sources.list'
创建/etc/resolv.conf
sudo cp /etc/resolv.conf rootfs/etc
Chroot
sudo chroot rootfs /bin/bash
设定locale，否则会产生一堆警告
LC_ALL=C LANGUAGE=C LANG=C
安装必要的包
apt-get update apt-get install --no-install-recommends git-core kernel-package fakeroot build-essential devscripts lsb-release
编译Linux内核
下载源文件和补丁
进入工作目录
cd /usr/src
下载内核
git clone -b rpi-3.8.y --depth 1 git://github.com/raspberrypi/linux.git linux-rpi-3.8.y
下载Xenomai
git clone git://git.xenomai.org/xenomai-2.6.git xenomai-head
下载最小config文件
wget https://www.dropbox.com/s/dcju74md5sz45at/rpi_xenomai_config
下载USB fiq补丁
wget https://gist.githubusercontent.com/kinsamanka/10256843/raw/4d5d3e02a443e4d17d9b82a1fe027ef17fb14470/usb_fiq.patch
打补丁
打 ipipe core pre-patch
(cd linux-rpi-3.8.y; patch -Np1 < ../xenomai-head/ksrc/arch/arm/patches/raspberry/ipipe-core-3.8.13-raspberry-pre-2.patch)
打Xenomai ipipe核心补丁（先查看补丁编号是否有变化，补丁要与内核版本号一致）
xenomai-head/scripts/prepare-kernel.sh --arch=arm --linux=linux-rpi-3.8.y --adeos=xenomai-head/ksrc/arch/arm/patches/ipipe-core-3.8.13-arm-4.patch
打 ipipe core post-patch
(cd linux-rpi-3.8.y; patch -Np1 < ../xenomai-head/ksrc/arch/arm/patches/raspberry/ipipe-core-3.8.13-raspberry-post-2.patch)
打usb fiq补丁
(cd linux-rpi-3.8.y; patch -Np1 < ../usb_fiq.patch)
编译内核
编辑内核包维护者信息（名字、电邮之类的）
vi /etc/kernel-pkg.conf
安装必备的包
apt-get install --no-install-recommends ncurses-dev bc
配置内核
cd linux-rpi-3.8.y cp ../rpi_xenomai_config .config make oldconfig
编译
make-kpkg clean make-kpkg --append-to-version=-xenomai --revision=1.0 kernel_image kernel_headers
编译Xenomai用户空间包
变更目录
cd /usr/src/xenomai-head
安装必要的依赖包
apt-get build-dep xenomai
编译
debuild -i -us -uc -b
编译Machinekit
变更目录
cd /usr/src
下载源码
git clone -b master -o github-machinekit --depth 1 git://github.com/machinekit/machinekit.git
添加两个源，安装必要的包
sudo sh -c "echo 'deb http://deb.dovetail-automata.com wheezy main' > /etc/apt/sources.list.d/machinekit.list" sudo apt-get update sudo apt-get install dovetail-automata-keyring sudo apt-get update sudo apt-get install libczmq-dev python-zmq libjansson-dev libwebsockets-dev sudo sh -c "echo 'deb http://ftp.us.debian.org/debian wheezy-backports main' > /etc/apt/sources.list.d/wheezy-backports.list" sudo apt-get update sudo apt-get install -t wheezy-backports cython
sudo apt-get install git dpkg-dev
安装内核和xenomai
dpkg -i linux-image-3.8.13-xenomai+_1.0_armhf.deb dpkg -i libxenomai1_2.6.3_armhf.deb dpkg -i libxenomai-dev_2.6.3_armhf.deb
安装依赖包
sudo scripts/apt-installbuilddeps
编辑/etc/fstab，加入
none /dev/shm tmpfs rw,nosuid,nodev,noexec 0 0
Mount shm（否则会报错 error: failed to find required module pyftpdlib.servers）
mount /dev/shm
配置machinekit
cd machinekit
debian/configure -px
编译
debuild -i -us -uc -b