I am working over a Terasic DE10-Nano. It has an Altera Cyclone V SoC which combines FPGA with an ARM-Cortex-A9.
I have installed the official image, wich is a Linux distribution called Angstrom. From this point, I have compiled a RT kernel, now I have my device running a Preempt_RT. I downloaded the kernel patched from Altera source, so I just had to order it to compile.

Now I was thinking about installing Xenomai 3, but I don't know if it's possible nor how, and I'm looking for some help.
My kernel version is Linux socfpga 4.14.73-rt45-ltsi #2 SMP PREEMPT RT.

As I am reading, it seems now I have to compile again the kernel with Xenomai. But the patch of the kernel is another version. I don't know what I have to do now.

Any help. I am a little bit noob about this.

Thanks in advance.