I have compiled XNU 3789.31.2 from source successfully but don't know how to boot it and get it run. Is there any detailed instruction for that?
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This is an interesting question. Have you looked into a book called Linux From Scratch? I know, I know, this is for linux. *But*, as far as booting is concerned, some aspects of the book may give you a few hints on how to make almost any kernel bootable. I apologize if my comment is not helpful at all. – Sal Rahman Mar 31 '17 at 17:54
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Here's how to create a partition: http://www.linuxfromscratch.org/lfs/view/stable/chapter02/creatingpartition.html – Sal Rahman Mar 31 '17 at 17:54
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Here's the compilation steps for compiling Linux from inside the new partition: http://www.linuxfromscratch.org/lfs/view/stable/chapter08/kernel.html – Sal Rahman Mar 31 '17 at 17:55
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Although, probably, you're using something other than grub, but, it should give you an idea about how to work with a bootloader: http://www.linuxfromscratch.org/lfs/view/stable/chapter08/grub.html – Sal Rahman Mar 31 '17 at 17:56
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I'm not aware of an up to date standalone Darwin OS build; the main way to run a recent xnu build is therefore to use it to boot regular OS X/macOS.

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