Buildroot with Linux Kernel 4.9.51 patched with I-Pipe and Xenomai v3.1-devel libraries.

To build:

make raspberrypi3_xenomai_defconfig

make

To test GPIO and PWM using RTDM drivers:

/usr/xenomai/bin/xen-gpio pwm <gpiopwm [0..7]> <duty %>

Example: /usr/xenomai/bin/xen-gpio pwm 0 988 50 0 10000 10000000

/usr/xenomai/bin/xen-gpio gpio

Example: /usr/xenomai/bin/xen-gpio gpio 988