All the steps we have followed is in the website:https://gitlab.denx.de/Xenomai/xenomai/-/wikis/Installing_Xenomai_3
Preparing the Cobalt kernel
First，we would like to prepare the Cobalt kernel using following instruction in Xenomai 3.x file.
We used to meet a common error:prepare-kernel.sh: Unable to patch kernel 4.14.183 with ipipe-core-4.14.134-x86-8.patch because of the different version between Linux kernel and ipipe.The number of the version must be the same.
Then we reinstalled Linux kernel and ipipe and this time we succeeded.Here is our code.
scripts/prepare-kernel.sh --linux=/home/warmtree/下載/linux-4.14.134
--adeos=/home/warmtree/下載/ipipe-core-4.14.134-x86-8.patch
--arch=x86
Configuring and compiling the Cobalt kernel
After we patched Xenomai kernel code in the target Linux kernel,we need to configure the kernel.Using make menuconfig ,we could enter the configuration menu.
make menuconfig
We could see Xenomai/cobalt(real time performance) in the window and there are some warning.
Processor type and feature(enter)
-------->Linux gust support(switch off)[*] to[ ]
Processor family(enter)
We have chosen core 2/new Xeon
Then,we would like to close multi-core scheduler support.(N) 
Power management and ACPI options —> (enter)
We need to configure power management because of the differences between family PC and Industry PC.
suspend to RAM and standby----switch off
Hibernation (aka ‘suspend to disk’)----switch off
CPU Frequency scaling —> CPU Frequency scaling----switch off
ACPI (Advanced Configuration and Power Interface) Support ---->
Processor ----switch off
CPU Idle —> CPU idle PM support —switch off
Now,we came back to the main menu and found that the warning in Xenomai was decreasing.
It was strange that we have not found Memory management option.
If we have memory management options------->
Transparent Hugepage Support (switch off)
Contiguous Memory Allocator (switch off)
Allow for memory compaction (switch off)
Page migration (switch off) 
We still have warning below Xenomai/cobalt(NEW)
Xenomai/cobalt (NEW) --->
│ │ *** WARNING! Page migration (CONFIG_MIGRATION) may increase *
│ │ *** latency. ***
Xenomai 是基於Linux的微內核的實時擴展。卡在內核配置上了（不開心
今日寫文背景音樂《淤泥深處的星星》
“我帶着深藏骨血的仇恨與醞釀多年的陰謀 ，把自己變成一個死而復生的幽靈 ，沉入沼澤，沉入深淵 。我想埋下腐爛的根系，長出見血封喉的荊棘，刺穿這個虛僞的文明。我到了淤泥深處…… 撿到了一顆星星。”
當風吹過銀河城
輕撫過那座無聲的石像
它正身披着朝陽
向陌生世界 好奇地凝望
瀝乾鮮血的土壤
會成爲倖存者新的家鄉
人們曾多麼絕望
就必須多麼 滿懷着希望
他看過
這半朽的人世 那半瘋的人種
身後塌陷的文明眼前亙古的恢弘
卻在淤泥之中 撿到那一顆火種
把他沉靜的灰眸照徹得宛如星空
多少人
信仰科學與愛 只對自由忠誠
同世界擦肩時有漫天星子作穹隆
他曾在初見心動 便一生心動
有十億星辰無垠宇宙在此作見證
不知在千萬年後
當有人從玫瑰之心路過
會否看到那一刻
靈魂與靈魂 抵死的糾葛
在星羣的最深處
遙遠的人們總會被記得
他們曾經存在過
便在那一刻 永遠存在着