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 make menuconfig CC=/usr/bin/gcc-3.4 CXX=/usr/bin/g++-3.4

set Set the "prompt for development and/or
incomplete code/drivers" option to 'yes'. In the "loadable module support" section,
make sure that the "Enable loadable module support" is set to 'yes', and set the
"Module Versioning support" is to 'no'. In the "processor type and features" section,
set the "Preemptible kernel" and the "Use register arguments" options to 'no',
and make sure to set the "interrupt pipeline" option, (aka IPIPE) to 'yes'.
Finally, make sure that the "/proc file system support", under the
"Pseudo filesystems" subsection of the "File systems" section is set to yes.

With this, the kernel has to compile with the following command:

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apt-get install kernel-package fakeroot

make-kpkg clean

fakeroot make-kpkg --initrd --app\end-to-version=-rtai \kernel_image kernel_headers