'bitbake virtual/kernel'
should build the correct kernel for your machine.
Then just do
'bitbake cfu1'
Which will build the cfu1 drivers.
Then you'll need to look in the packages/linux/openzaurus-pxa-2.4.18-rmk7-pxa3-embedix20031107/ directory and alter the defconfig-poodle in there.
I would first cd to the kernel build directory in tmp/work/* and run the following to choose the kernel options you want (this has to be done after you build the kernel of course).
export ARCH=arm
make menuconfig
Then select the various usb drivers which you want, and either replace the defconfig file (see above) with the .config file in the kernel source directory, or look in it and add the extra parts to the defconfig file.
Then you need to make bitbake rebuild the kernel - run 'bitbake -c clean virtual/kernel', then run 'bitbake virtual/kernel' again and it should make your usb modules.
Hope that made some sense,
Si