For experimental purposes, it's easy enough to drop enough files from the ipc and syslink release tarballs into a directory in your kernel tree and add appropriate Kconfig/Makefile bits. Here's the Makefile that works for me:
EXTRA_CFLAGS += -Idrivers/video/ti81xx/syslink -DSYSLINK_PLATFORM_TI81XX -DSYSLINK_VARIANT_TI816X -DSYSLINK_BUILDOS_LINUX -DSYSLINK_BUILD_OPTIMIZE -DSYSLINK_LOADER_ELF -DARM_TARGET -DC60_TARGET -DLOADER_DEBUG=1
obj-$(CONFIG_TI81XX_SYSLINK) += syslink.o
syslink-y := \
ArchIpcInt.o \
ArrayList.o \
BuddyPageAllocator.o \
ClientNotifyMgr.o \
ClientNotifyMgrDrv.o \
Dm8168Clock.o \
Dm8168DspHal.o \
Dm8168DspHalBoot.o \
Dm8168DspHalMmu.o \
Dm8168DspHalReset.o \
Dm8168DspPhyShmem.o \
Dm8168DspProc.o \
Dm8168DspPwr.o \
Dm8168DucatiMmu.o \
Dm8168DucatiPwr.o \
Dm8168IpcInt.o \
Dm8168IpcIntDrv.o \
Dm8168M3DssHal.o \
Dm8168M3DssHalBoot.o \
Dm8168M3DssHalMmu.o \
Dm8168M3DssHalReset.o \
Dm8168M3DssPhyShmem.o \
Dm8168M3DssProc.o \
Dm8168M3VideoHal.o \
Dm8168M3VideoHalBoot.o \
Dm8168M3VideoHalMmu.o \
Dm8168M3VideoHalReset.o \
Dm8168M3VideoPhyShmem.o \
Dm8168M3VideoProc.o \
Dm8168NotifySetup.o \
ElfLoader.o \
FrameQ.o \
FrameQBufMgr.o \
FrameQBufMgrDrv.o \
FrameQBufMgr_ShMem.o \
FrameQDrv.o \
FrameQ_ShMem.o \
Gate.o \
GateHWSpinlock.o \
GateHWSpinlockDrv.o \
GateMP.o \
GateMPDrv.o \
GatePeterson.o \
GatePetersonDrv.o \
GateSpinlock.o \
HeapBufMP.o \
HeapBufMPDrv.o \
HeapMemMP.o \
HeapMemMPDrv.o \
HeapSmm.o \
Ipc.o \
IpcDrv.o \
KnlUtilsDrv.o \
ListMP.o \
ListMPDrv.o \
Loader.o \
MemoryOS.o \
MessageQ.o \
MessageQDrv.o \
MultiProc.o \
MultiProcDrv.o \
NameServer.o \
NameServerDrv.o \
NameServerRemote.o \
NameServerRemoteNotify.o \
NameServerRemoteNotifyDrv.o \
Notify.o \
NotifyDriverShm.o \
NotifyDriverShmDrv.o \
NotifyDrv.o \
OsalDelay.o \
OsalDriver.o \
OsalEvent.o \
OsalIsr.o \
OsalKfile.o \
OsalMutex.o \
OsalPrint.o \
OsalSemaphore.o \
OsalSpinlock.o \
OsalThread.o \
Platform.o \
ProcMgr.o \
ProcMgrDrv.o \
Processor.o \
PwrMgr.o \
RingIO.o \
RingIODrv.o \
RingIOTransportShm.o \
RingIOTransportShmDrv.o \
SharedMemoryMgr.o \
SharedRegion.o \
SharedRegionDrv.o \
SyslinkMemMgr.o \
SyslinkMemMgrDrv.o \
TraceDrv.o \
TransportShm.o \
TransportShmDrv.o \
TransportShmSetup.o \
_RingIOTransportShm.o \
arm_dynamic.o \
arm_reloc.o \
c60_dynamic.o \
c60_reloc.o \
dload.o \
dload_endian.o \
elf32.o \
symtab.o \
Cache.o \
ClientNotifyMgr_common.o \
FrameQ_ShMem_common.o \
FrameQ_common.o \
GateMutex.o \
KnlUtilsDrv.o \
List.o \
Memory.o \
MultiProcDrv.o \
NameServerDrv.o \
String.o \
SyslinkMemMgrDrv.o \
Trace.o \
TraceDrv.o \
dlw_dsbt.o \
dlw_client.o