Slightly later than I promised, but here we go.
1. I'm using Debian Squeeze
2. I use sudo instead of getting root, omit the sudo if you are running as root
3. My /boot is in the root filesystem, and is NOT the 100MB vfat partition
4. In the examples, /uboot is the 100MB vfat partition where the uimage and uinitrd images are installed
Firstly, install uboot-mkimage, if it isn't installed already:sudo apt-get install uboot-mkimage
Secondly, build the kernel. I've just built 3.0.6 using the patches and .config on my site http://www.solinno.co.uk/public/dreamplug/
. I haven't included instructions on building the kernel, I'm assuming you know how.
Thirdly, from the root of the kernel tree :sudo make modules_install
sudo cp .config /boot/config-3.0.6-dreamplug
sudo cp arch/arm/boot/zImage /boot/vmlinuz-3.0.6-dreamplug
sudo mkinitramfs -o /boot/initrd.img-3.0.6-dreamplug 3.0.6-dreamplug
sudo mkimage -A arm -O linux -T ramdisk -C none -a 0 -e 0 -n uInitrd-3.0.6-dreamplug -d /boot/initrd.img-3.0.6-dreamplug /uboot/uInitrd-3.0.6-dreamplug
sudo mkimage -A arm -O linux -T kernel -C none -a 0x00008000 -e 0x00008000 -n uImage-3.0.6-dreamplug -d /boot/vmlinuz-3.0.6-dreamplug /uboot/uImage-3.0.6-dreamplug
After that reboot, and see how you get on. You probably want to boot manually at first. These are the u-boot commands I use
(because I'm using a Debian initrd I can use the LABEL= syntax):usb start
fatload usb 0 0x6400000 uImage-3.0.6-dreamplug
fatload usb 0 0x7400000 uInitrd-3.0.6-dreamplug
setenv bootargs console=ttyS0,115200 root=LABEL=dp-debian
bootm 0x6400000 0x7400000
Hope that helps.