I have been searching everywhere but failed to find a ready image of xenomai for the Pi3. I need hard real-time for my application (control a 6ax robot with servo drives via fieldbus) and thought that xenomai is the only option I have. I tried with the simple RT preempt patch but got too much jitter out of the ethernet port and was not able to reliably connect to the drives.
Does anybody know where to get a ready xenomai image? I am not confident in building one myself.