Linuxcnc on Raspberry

Download Raspian from
        https://downloads.raspberrypi.org/raspbian_latest
Use Etcher under Windows to flash image to SD Card
create empty file ssh on SD Card boot
create file wpa_supplicant.conf on SD Card boot
write to wpa_supplicant.conf
        ctrl_interface=/var/run/wpa_supplicant GROUP=netdev
        update_config=1
        country=DE
        network={
                ssid = "myNewtwork"
                psk = "myPassword"
        }
power RPI, find his IP Adress and login with
        ssh -X pi@192.168.188.21
for cross compiling the RT Kernel I followed mainly
        https://autostatic.com/2017/06/27/rpi-3-and-the-real-time-kernel/
        https://www.raspberrypi.org/documentation/linux/kernel/building.md
crosscompiled on my local Ubuntu machine:
        mkdir ~/RT-CrossCompile
        cd ~/RT-CrossCompile
        uname -a > oldKernel.txt
        sudo apt-get install bc libncurses5-dev
        git clone https://github.com/raspberrypi/tools.git
        git clone --depth=1 https://github.com/raspberrypi/linux
        echo PATH=\$PATH:~/RT-CrossCompile/tools/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian-x64/bin >> ~/.bashrc
        source ~/.bashrc
        cd linux
        export KERNEL=kernel7
        export ARCH=arm
        export CROSS_COMPILE=arm-linux-gnueabihf-
        export CONCURRENCY_LEVEL=$(nproc)
        make bcm2709_defconfig
        cd ..
        wget https://www.kernel.org/pub/linux/kernel/projects/rt/4.9/patch-4.9.68-rt60.patch.xz
        cd linux
        xzcat ../patch-4.9.68-rt60.patch.xz | patch -p1
        cd ..
        wget https://www.osadl.org/monitoring/patches/rbs3s/usb-dwc_otg-fix-system-lockup-when-interrupts-are-threaded.patch
        cd linux
        patch -i ../usb-dwc_otg-fix-system-lockup-when-interrupts-are-threaded.patch -p1 --dry-run -l
        patch -i ../usb-dwc_otg-fix-system-lockup-when-interrupts-are-threaded.patch -p1 -l
        make menuconfig
                Kernel Features -> Preemption Model -> Fully Preemptible Kernel (RT)
        scripts/config --disable DEBUG_INFO
        make -j$(nproc) deb-pkg
you will find several *.deb packages under ~/RT-CrossCompile, try to move them to your RPI and install them there
        sudo dpkg -i *.deb
        sudo nano /boot/config.txt -> kernel=vmlinuz-4.9.70-rt60-v7+
        sudo shutdown -r now

#LinuxCNC from source under ~/
sudo apt-git install git dpkg-dev
git clone git://github.com/linuxcnc/linuxcnc.git
cd linuxcnc/src
sudo apt-get install autoconf
./autogen.sh
./configure --with-realtime=uspace
cd ../debian
./configure uspace
cd ..
dpkg-checkbuilddeps
sudo apt -get install [all the packages]
sudo apt-get install bwidget libtk-img tclx python-gtk2
cd src
grep "\ install\ " /var/log/apt/history.log > ~/linuxcnc/installedPackages.log
./configure --with-realtime=uspace | tee ~/linuxcnc/config.log
make | tee ~/linuxcnc/make.log
sudo make setuid
source ~/linuxcnc/scripts/rip-environment
runtests | tee ~/linuxcnc/runtests.log

#inlude <stdio.h>
#include <pigpio.h>

int main(int argc, char **argv)
{
	if (gpioInitialise()<0)
	{
		fprintf(stderr, "Initialise() failed\n");
	}
	else
	{
		gpioSetMode(25,PI_OUTPUT);
		gpioWrite(25,1);
		time_sleep(0.5);
		gpioWrite(25,0);
	}
	gpioTerminate();
	return 0;
}