diff --git a/patch.sh b/patch.sh
index 8785b2d..bcc56eb 100644
--- a/patch.sh
+++ b/patch.sh
@@ -866,12 +866,40 @@ saucy () {
 
 machinekit () {
 	echo "dir: machinekit"
-	#${git} "${DIR}/patches/machinekit/0001-ADS1115.patch"
+	${git} "${DIR}/patches/machinekit/0002-ADS1115.patch"
 	# Fix now applied by upstream (see dir: fixes, above)
 	#${git} "${DIR}/patches/machinekit/0002-omap_hsmmc-clear-status-flags-before-starting-a-new-command.patch"
 	${git} "${DIR}/patches/machinekit/0001-Add-dir-changeable-property-to-gpio-of-helper.patch"
 }
 
+xenomai () {
+	echo "dir: xenomai - ipipe"
+	KDIR="$(pwd)"
+
+# Not needed now that working ipipe patch is in official xenomai 2.6.3 release
+#	# Build ipipe patch from git source
+#	cd ${DIR}/ignore/ipipe/
+#	./scripts/ipipe/genpatches.sh
+
+	cd ${KDIR}
+
+	# Apply pre patch so xenomai ipipe patch applies cleanly
+	git apply "${DIR}/ignore/xenomai/ksrc/arch/arm/patches/beaglebone/ipipe-core-3.8.13-beaglebone-pre.patch"
+
+	# Apply ipipe patch
+	git apply "${DIR}/ignore/xenomai/ksrc/arch/arm/patches/ipipe-core-3.8.13-arm-3.patch"
+
+	# Apply post patch
+	git apply "${DIR}/ignore/xenomai/ksrc/arch/arm/patches/beaglebone/ipipe-core-3.8.13-beaglebone-post.patch"
+
+	# Apply THUMB2 fix
+	git apply "${DIR}/patches/xenomai/0001-Fix-relocation-truncated-to-fit-R_ARM_THM_JUMP19-err.patch"
+
+	echo "dir: xenomai - prepare_kernel"
+	# Add the rest of xenomai to the kernel
+	${DIR}/ignore/xenomai/scripts/prepare-kernel.sh --linux=./ --arch=arm
+}
+
 sgx () {
 	echo "dir: sgx"
 	${git} "${DIR}/patches/sgx/0001-OpenGl-added-SGX-device-to-device-tree.patch"
@@ -885,6 +913,7 @@ omap
 am33x_after
 saucy
 machinekit
+xenomai
 sgx
 
 echo "patch.sh ran successful"
diff --git a/scripts/git.sh b/scripts/git.sh
index bf99272..a7fb9fa 100755
--- a/scripts/git.sh
+++ b/scripts/git.sh
@@ -158,6 +158,81 @@ git_kernel () {
 	cd ${DIR}/
 }
 
+git_xenomai () {
+	IPIPE_GIT="${DIR}/ignore/ipipe"
+	XENO_GIT="${DIR}/ignore/xenomai"
+
+# xenomai 2.6.3 now includes ipipe patches for arm 3.8.13, it is no longer
+# necessary to pull them in from the ipipe repository
+#	echo "-----------------------------"
+#	echo "scripts/git: Xenomai ipipe repository"
+#
+#	# Check/clone/update local ipipe repository
+#	if [ ! -f "${IPIPE_GIT}/.git/config" ] ; then
+#		rm -rf ${IPIPE_GIT} || true
+#		echo "scripts/git: Cloning ${xenomai_ipipe} into ${IPIPE_GIT}"
+#		git clone ${xenomai_ipipe} ${IPIPE_GIT}
+#	fi
+#
+#	#Automaticly, just recover the git repo from a git crash
+#	if [ -f "${IPIPE_GIT}/.git/index.lock" ] ; then
+#		rm -rf ${IPIPE_GIT} || true
+#		echo "scripts/git: ipipe repository ${IPIPE_GIT} wedged"
+#		echo "Recloning..."
+#		git clone ${xenomai_ipipe} ${IPIPE_GIT}
+#	fi
+#
+#	cd "${IPIPE_GIT}"
+#	git am --abort || echo "git tree is clean..."
+#	git add --all
+#	git commit --allow-empty -a -m 'empty cleanup commit'
+#
+#	git reset --hard HEAD
+#	git clean -dXf
+#	git checkout master
+#
+#	test_for_branch=$(git branch --list ipipe-3.8)
+#	if [ "x${test_for_branch}" != "x" ] ; then
+#		git branch ipipe-3.8 -D
+#	fi
+#	git checkout --track origin/ipipe-3.8 -f
+#
+#	git pull ${GIT_OPTS} || true
+
+
+	echo "-----------------------------"
+	echo "scripts/git: Xenomai 2.6 repository"
+
+	# Check/clone/update local xenomai repository
+	if [ ! -f "${XENO_GIT}/.git/config" ] ; then
+		rm -rf ${XENO_GIT} || true
+		echo "scripts/git: Cloning ${xenomai_2_6} into ${XENO_GIT}"
+		git clone ${xenomai_2_6} ${XENO_GIT}
+	fi
+
+	#Automaticly, just recover the git repo from a git crash
+	if [ -f "${XENO_GIT}/ignore/xenomai/.git/index.lock" ] ; then
+		rm -rf ${XENO_GIT}/ignore/xenomai/ || true
+		echo "scripts/git: xenomai repository ${XENO_GIT} wedged"
+		echo "Recloning..."
+		git clone ${xenomai_2_6} ${XENO_GIT}
+	fi
+
+	cd "${XENO_GIT}"
+	git am --abort || echo "git tree is clean..."
+	git add --all
+	git commit --allow-empty -a -m 'empty cleanup commit'
+
+	git reset --hard HEAD
+	git checkout v2.6.3 -f
+
+	# No need to pull latest git now that the officially released and tagged
+	# version of xenomai works with the BeagleBone
+	#git pull ${GIT_OPTS} || true
+
+}
+
+
 . ${DIR}/version.sh
 . ${DIR}/system.sh
 
@@ -187,9 +262,14 @@ fi
 if [ "${GIT_OVER_HTTP}" ] ; then
 	torvalds_linux="http://git.kernel.org/pub/scm/linux/kernel/git/torvalds/linux.git"
 	linux_stable="http://git.kernel.org/pub/scm/linux/kernel/git/stable/linux-stable.git"
+	xenomai_ipipe="http://git.xenomai.org/ipipe.git"
+	xenomai_2_6="http://git.xenomai.org/xenomai-2.6.git"
 else
 	torvalds_linux="git://git.kernel.org/pub/scm/linux/kernel/git/torvalds/linux.git"
 	linux_stable="git://git.kernel.org/pub/scm/linux/kernel/git/stable/linux-stable.git"
+	xenomai_ipipe="git://git.xenomai.org/ipipe.git"
+	xenomai_2_6="git://git.xenomai.org/xenomai-2.6.git"
 fi
 
 git_kernel
+git_xenomai