I am trying to measure software integrity in the Xenomai dual-core system to 
ensure software security. 
Therefore, I want to have a deep understanding of the Xenomai and I-pipe source 
code, and then I can insert my code to measure the integrity of the software. 
However, I found that the functions in the I-pipe patch do not have 
corresponding comments. 
This makes it difficult for me to understand the function call flow, and I 
cannot understand the details of the I-pipe task scheduling. 
I have tried to use the I-pipe tracer to debug the kernel source but it was not 
So how do I solve my problem, what good advice do you have?
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