Unable to change time in Android emulator: Alarm driver missing
Yes, but some compiling is needed for the driver. Just not the whole custom image.

You need to set-up a cross compiler.

Go to your .config file and set the kernel driver you want to compile to 


  =m


using the menuconfig command

By selecting 'm' for the kernel driver. This means ``module,'' meaning that the system will compile it, but not directly into the kernel, but as a loadable module."

Now you are ready to compile your specific driver using this make command.

make &lt;ARCH= Path to arm-eabi- directory &gt;  &lt;path to the .c file of module&gt;


Once compiled go grab the created .ko file. Copy it to 


  /system/lib/modules/


within your custom rooted system image.

Lastly, from the terminal emulator use the insmod  command to inject it in. So it would look like

su

mount -o rw,remount,rw /system

insmod /system/lib/modules/modulefile.ko


That should do it if you encounter any errors read them carefully incase the module is interdependent. Check the Dmesg logs for success or errors.

References:

https://source.android.com/devices/architecture/kernel/modular-kernels#loadable-kernel-modules

http://linuxdocs.org/HOWTOs/Kernel-HOWTO-4.html