How to Run Xenomai in qemu

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wget https://xenomai.org/downloads/dovetail/patch-5.10.89-dovetail1.patch.bz2
wget https://gitlab.denx.de/Xenomai/xenomai/-/archive/v3.1.1/xenomai-v3.2.1.tar.bz2

cd xenomai-v3.2.1
./prepare-kernel.sh --arch=arm64 --linux=/home/kong/src/kernel/linux-stable --dovetail=~/patch-5.10.89-dovetail1.patch --verbose

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make ARCH=arm64 CROSS_COMPILE=/output/linux-5.10-aarch/aarch64-linux-gnu/aarch64-linux-gnu/bin/aarch64-linux-gnu- Image -j4
make ARCH=arm64 CROSS_COMPILE=/output/linux-5.10-aarch/aarch64-linux-gnu/aarch64-linux-gnu/bin/aarch64-linux-gnu- modules -j4
make ARCH=arm64 INSTALL_MOD_PATH=/output/linux-5.10-aarch/rootfs/rootfs/ modules_install

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~ # dmesg |grep -i xenomai
[    0.308870] [Xenomai] scheduling class idle registered.
[    0.309064] [Xenomai] scheduling class rt registered.
[    0.309591] IRQ pipeline: high-priority Xenomai stage added.
[    0.317918] [Xenomai] Cobalt v3.2.1

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FAILED unresolved symbol udp_sock
make: *** [Makefile:1205: vmlinux] Error 255

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./configure CFLAGS="-march=armv8-a -O2" --enable-smp --with-core=cobalt --host=aarch64-linux-gnu
make
make DESTDIR=`pwd`/kong_install install

#打个包扔到rootfs里就行了

/usr/xenomai/bin # ./latency
== Sampling period: 1000 us
== Test mode: periodic user-mode task
== All results in microseconds
warming up...
RTT|  00:00:01  (periodic user-mode task, 1000 us period, priority 99)
RTH|----lat min|----lat avg|----lat max|-overrun|---msw|---lat best|--lat worst
RTD|     14.928|     27.278|     84.880|       0|     0|     14.928|     84.880
RTD|     17.920|     30.396|    690.320|       0|     0|     14.928|    690.320
RTD|     18.192|     29.107|    100.544|       0|     0|     14.928|    690.320
RTD|     17.728|     29.708|    105.616|       0|     0|     14.928|    690.320
RTD|     18.000|     34.148|   2567.520|       2|     0|     14.928|   2567.520
RTD|     14.656|     29.560|    145.984|       2|     0|     14.656|   2567.520
RTD|     18.144|     31.176|    214.736|       2|     0|     14.656|   2567.520
RTD|     17.904|     33.882|   2596.160|       4|     0|     14.656|   2596.160
RTD|     19.872|     31.771|    102.896|       4|     0|     14.656|   2596.160
RTD|     17.696|     29.522|    151.376|       4|     0|     14.656|   2596.160
^C---|-----------|-----------|-----------|--------|------|-------------------------
RTS|     14.656|     30.654|   2596.160|       4|     0|    00:00:11/00:00:11
/usr/xenomai/bin # exit