BelaPlatform/bela-image-builder

be able to build kernel modules on the board

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Once you have the board up and running:

scp -r downloads/ti-linux-kernel-dev/KERNEL/security/selinux/include bbb:/lib/modules/`cat kernel/kernel_version`/build/security/selinux/include
scp -r downloads/ti-linux-kernel-dev/KERNEL/tools/include/* bbb:/lib/modules/`cat kernel/kernel_version`/build/tools/include

and on the board:

cd /lib/modules/$(uname -r)/build
make headers_check && make headers_install && make scripts

at this point all the build tools will be ARM and you can build kernel modules.