I'm not big Linux expert, but arch/arm/boot/dts/vf610-twr.dts device tree source file for TWR-VF65GS10 is included in mainline Linux, you will find it even in sources for kernel 5.0, no need to stay with old 3.13.
All you need to make your custom *.dtb - kernel sources, editor to create your custom vf610-twr.dts, crosscompiler to build zImage, dtb and kernel modules. Then just put your *.dts to arch/arm/boot/dts and from kerner sources root issue
make your_dts_file.dtb ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf-
to rebuild original TWR-VF65GS10 dtb:
make vw610-twr.dtb ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf-
similarily rebuild image
make zImage ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf-
and modules
make modules ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf-
install modules to where you need
make modules_install INSTALL_MOD_PATH=your_modules_path ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf-