My own experience (with Cubietruck (CT), is A20 too):
Hope this helps in some way... http://www.cubieforums.com/index.php?topic=1973.0
At point 6-
- You should go first to "android-SDK/lichee/linux-3.4/arch/arm/configs/"
- Edit "cubieboard2_config", find the line for your driver (not idea of which one is), set as "=m",
- Save file, then copy "cubieboard2_config" as "android-SDK/lichee/linux-3.4/.config" and replace because default ".config" in SDK is configured for CT.
At point 8-
a- Copy "cubieboard2_config" (instead of "cubietruck_defconfig") as "sun7ismp_android_defconfig"
b- Continue with the whole compiling process to the end, do no stop on "Build Android image" or
c- Try with this image: http://dl.cubieboard.org/software/a20-cubieboard/android/cb2-nand-v1.07_8188eu_1080P.img.tar.gz
and add the driver as explained on point 13-
Unfortunately I dont know if this image for CB2 has same kernel as the driver you may compile with SDK (3.4.39)
If not, insmod will give an error message: "insmod: init_module 'your_driver.ko' failed (Exec format error)", that's why I recommended at b- to go with the whole image compiling process.