If you want to enable drivers exists in kernel
1) bitbake virtual/kernel -c cleansstate
2) bitbake virtual/kernel -c patch
4) bitbake virtual/kernel -c menuconfig
5) (Enable/Disable drivers you want)
6) save menuconfig with name '.config' and some other different name.
6) bitbake virtual/kernel
If you want to build out-of-tree kernel module into kernel
Take a look hello-mod recipe in poky/meta-skeleton. It includes a sample out-of-tree kernel module.