Xenomai patching to inbuilt Angstrom Kernel of BeagleBone Black.

Can anyone explain me how to patch Xenomai to inbuilt Angstrom kernel of BeagleBone Black ??
On beagleboard,org I only found eMMC and SD card bootable image but where is configured
Angstrom Kernel for BBB ??And What is procedure after Xenomai patching to integrate everything
into single image ??

this should get you started.

You should do a search, there is a ton of info with just a basic query
of beaglebone xenomai patch