Michal 
Hi. I am completely new to all this linux and embedded system development. I am working on my bachelor's thesis, I am running out of time and I need your help. So what I am trying to do is that I need USB slave driver working. I found somewhere utility called USB gadget and read that I have to cross compile it with kernel. Now, I have installed Ubuntu, found some guides how to do it, but as always when I try to work with linux, they are working only partially. I went by this guide mostly: http://billforums.station51.net/viewtopic.php?f=4&t=20 But when I compiled it, the uImage has only about 2 MB and the official one has about 10 MB. So I guess I did something wrong. I tried to load it into my device and it ends up at Kernel panic - not syncing: VFS: unable to mount root fs on unknown-block(31,3) so I guess I need to add some stuff there. But here is the question: how do I influence what to add to kernel and what not? and also, It would be very appreciated if you could give me some more hints how to add this USB support there, it would help me a lot. Thank you :)