cd ~/
wget http://download.gna.org/xenomai/stable/xenomai-2.6.1.tar.bz2
tar -xvf xenomai-2.6.1.tar.bz2

export xenomai_root=~/xenomai-2.6.1
rm xenomai-2.6.1.tar.bz2

wget http://web.barrett.com/support/WAM_Installer/ipipe-core-3.2.0-x86-barrett.patch
wget http://kernel.ubuntu.com/~kernel-ppa/configs/precise/amd64-config.flavour.generic

sudo apt-get install fakeroot build-essential crash kexec-tools makedumpfile kernel-wedge kernel-package

sudo apt-get build-dep linux

sudo apt-get install git-core libncurses5 libncurses5-dev libelf-dev asciidoc binutils-dev

sudo apt-get build-dep --no-install-recommends linux-image-3.2.0-26-generic-pae
apt-get source linux-image-3.2.0-26-generic-pae
# or 64-bit
sudo apt-get build-dep --no-install-recommends linux-image-3.2.0-23-generic
apt-get source linux-image-3.2.0-23-generic

mkdir new_kernel
cd ~/new_kernel

tar xvf ../linux_3.2.0.orig.tar.gz
cd linux-3.2
export linux_tree=~/new_kernel/linux-3.2/

gunzip /home/robot/linux_3.2.0-27.43.diff.gz -c | patch -p1
$xenomai_root/scripts/prepare-kernel.sh --linux=$linux_tree --arch=i386 or amd64 --adeos=~/ipipe-core-3.2.0-x86-barrett.patch

cp ../../i386-config.flavour.generic-pae .config 
# or 64-bit
cp ../../amd64-config.flavour.generic .config

make menuconfig
#Enable / Disable like so:
Processor type/features:
                                 * Processor family => Core2
				 * 64 - gerneic-x86-64
                                 * no Enable -fstack-protector buffer overflow detection (EXPERIMENTAL)

Power management:                * no APM - 32 bit
				 * no ACPI
                                 * no CPU Frequency scaling -
				 * no CPU idle PM Support

Device Drivers:                  * Input Device Support: Miscellaneous devices: no PC speaker support


Real-time sub-system:            * add Shared interrupts
                                 * add Machine:SMI:Enable SMI Workaround
                                 * add Drivers:Serial:16550A UART driver
                                 * add Drivers:CAN:RT-Socket-CAN, CAN raw socket

Next we must edit the following options by hand in our .config

vim .config

disable the following
ie. # ... is not set
CONFIG_PROFILING
CONFIG_KGDB
CONFIG_AUDITSYSCALL
CONFIG_HAVE_SPARSE_IRQ
CONFIG_SPARSE_IRQ
CONFIG_DEBUG_KERNEL

// FOR 64-BIT additionally
CONFIG_CPU_IDLE

#save and quit

export CONCURRENCY_LEVEL=5
fakeroot make-kpkg --initrd --append-to-version=-xenomai-2.6.1 kernel-image kernel-headers

Answer *no* to two questions asked.

Debians should now be in ~/new_kernel