To easily change the drivers which have to be integrated into the kernel or have to be loadable as a module follow the instructions on the 0xdroid kernel wiki page.

The key to an easy kernel configuration is

$ make menuconfig

which gives you a graphical interface to configure the kernel and selected the wanted drivers. Store the custom kernel configuration as .config.

Then build the kernel with the following commands:

$ make ARCH=arm .config
$ make ARCH=arm CROSS_COMPILE=../beagle-donut/prebuilt/linux-x86/toolchain/arm-android-eabi-4.4.1/bin/arm-android-eabi- uImage
$ make ARCH=arm CROSS_COMPILE=../beagle-donut/prebuilt/linux-x86/toolchain/arm-android-eabi-4.4.1/bin/arm-android-eabi- modules

If the build fails, deactivate the support for the faulty driver.

Then copy arch/arm/boot/uImage to 0xkernel-beagle.bin, copy the file on the SD card along with the android-beagle.ubi system image and the installer as uImage (copy the installer uImage as the first file on the SD card, then all the others). Insert the SD card into your board and boot it. The new kernel along with the 0xdroid Android build should be flashed to the NAND of the BeagleBoard. Beware: Your current installation will be wiped!