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/下载/linux-4.14.134
--adeos=/home/warmtree/下载/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 是基于Linux的微内核的实时扩展。卡在内核配置上了（不开心
今日写文背景音乐《淤泥深处的星星》
“我带着深藏骨血的仇恨与酝酿多年的阴谋 ，把自己变成一个死而复生的幽灵 ，沉入沼泽，沉入深渊 。我想埋下腐烂的根系，长出见血封喉的荆棘，刺穿这个虚伪的文明。我到了淤泥深处…… 捡到了一颗星星。”
当风吹过银河城
轻抚过那座无声的石像
它正身披着朝阳
向陌生世界 好奇地凝望
沥干鲜血的土壤
会成为幸存者新的家乡
人们曾多么绝望
就必须多么 满怀着希望
他看过
这半朽的人世 那半疯的人种
身后塌陷的文明眼前亘古的恢弘
却在淤泥之中 捡到那一颗火种
把他沉静的灰眸照彻得宛如星空
多少人
信仰科学与爱 只对自由忠诚
同世界擦肩时有漫天星子作穹隆
他曾在初见心动 便一生心动
有十亿星辰无垠宇宙在此作见证
不知在千万年后
当有人从玫瑰之心路过
会否看到那一刻
灵魂与灵魂 抵死的纠葛
在星群的最深处
遥远的人们总会被记得
他们曾经存在过
便在那一刻 永远存在着