depends how clean your drivers source tarball is. Something along these lines
export BASE=/tmp/foobar
export PATH=/path/to/cross/compilers/bin:$PATH
mkdir -p $BASE/sysroot
cd $BASE/sysroot
tar zxvf sheeva_linux_header.tar.gz
cd $BASE
tar zxvf some_drivers_tarball.tar.gz
cd $BASE/some_driver
./configure --target=arm-elf --with-headers=$SYSROOT/usr/include --with-sysroot=$SYSROOT
make