LinuxCNC/Machinekit on i.MX6 board

In ~Document/linuxcnc-dev/ , I use grep -nR "uspace_xenomai.cc" * ,can't find anything in source code, Linuxcnc did not actually call this document.So I found a problem, git clone source code (Submakefile) did not include xenomai configuration, then I downloaded. Zip source code Submakefile) there are configuration on xenomai, so I use. Zip source code to install.

Use ./autogen -> ./configure --with-realtime-uspace, success, but there has been repeated make ./autogen and ./configure --with-realtime-uspace (checking and checking ... ), Did not stop for a long time, what is the problem?

I tried to replace it with ./configure --with-realtime-xenomai, but when make appeared: Makefile.inc must specify RTPREFIX and other variables.
I google it seems to need a header forum.linuxcnc.org/9-installing-linuxcnc...ust-specify-rtprefix

Hello, can you share your detailed compilation steps?
I followed your steps to compile and encountered a lot of errors that the header file could not be found
> git clone git://github.com/linuxcnc/linuxcnc.git linuxcnc-dev
> cd linuxcnc-dev
> git checkout v2.8.0-pre1
> git checkout -b myv2.8.0 v2.8.0-pre1

cd linuxcnc-dev/src
./autogen.sh
./configure --with-realtime=uspace
make

error is:
rtapi/uspace_rtapi_app.cc:38:10: fatal error: sys/io.h: No such file or directory

thats a standard C header file. Nothing to do with linuxcnc. It should exist.  have you installed build-essentials? Is the include path set for gcc?

Do I need to configure some additional things through configure? For example, the header file directory?
When I just use the default branch, everything compiles without problems~

Hello,
You can see more details in this post
www.forum.linuxcnc.org/9-installing-linu...nuxcnc-with-xenomai3

Kernel is:
>> Linux debian10 5.4.70-xeno3 #3 SMP PREEMPT Sat Oct 16 13:37:44 UTC 2021 aarch64 GNU/Linux

The kernel is compiled manually by myself.

Yes. This kernel is patched by ipipe and xenomai cobalt by myself.
I don't know if it is because I am using xenomai-3.2. Does LinuxCNC support xenomai3?
My purpose is to compile linuxcnc under xenomai3, but no matter how I try, he always tells me "Using POSIX non-realtime".
I just want to compile a real-time linuxcnc under the kernel of xenomai-cobalt, so I try any possible configuration options I find, including switching to the specified branch mentioned in this post.