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