How to code for xenomai?

See more:

Linux

I have an embedded controller for data acquisition that runs Xenomai RTOS using a Cobalt Kernel. I need to write the necessary code for the data acquisition but am unsure as to how the code would reflect that it has to run in the kernel space using Xenomai rather than in the user space.
How would my application know where to run? Should I include some specific header file? Or are there Xenomai specific function calls that I should be using while writing my code?

What I have tried:

I am reading this link but there is just too much information for me to wade through without some sort of direction.