@chenghao, installing Xenomai requires the following steps:
1. patch the kernel with the interrupt pipeline.
2. patch the kernel with the Xenomai kernel/drivers.
3. install the Xenomai libraries in the root file system.
All this is explained in this blog entry:
The only difference for the db410c is that the git branches used are different.
Regardless first make sure that you do know how to modify the kernel in the db410c.
I used the 15.07 release so best if you just follow those instructions to learn how to replace a kernel (you could also use the 15.09 release below):
The interrupt pipeline port that I used for the early demo ion the db410c s this one:
So make it your new kernel.
You will then need to patch it kernel with Xenomai (use the prepare-kernel.sh script as explained in the blog)
For the demo I used this Xenomai tree:
but you should be able to use a more recent one like this one
It contains a nice feature for pwm control (receiving duty cycles over the net) that allows you to use a simple program like this one:
to modify pan/tilt using the arrow keys on a remote machine.