Hi,
unfortunately xenomai is not supported in nxp linux bsps, this may be
posted this on meta-fsl-arm mailing list, so that someone familiar with it could try to assist you.
https://lists.yoctoproject.org/listinfo/meta-freescale
You can see the thread Adeneo Embedded - a whitepaper on integrating Xenomai on i.MX6 Linux
Real-time Linux with Xenomai on Freescale i.MX6
Hope this can do help for you
Have a great day,
Rita
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