I think I did several things wrong. Finally I looked at Google’s Android
kernel building [guide][1], which I just discovered.

To install the ARM cross compiler, I proceeded as follows:

    $ git clone https://android.googlesource.com/platform/prebuilts/gcc/
      linux-x86/arm/arm-eabi-4.6
    $ export PATH="$(pwd)/arm-eabi-4.6/bin:$PATH"

Finally, I checked the kernel on the device:

    $ adb -s a1a143 shell cat /proc/version
    Linux version 3.4.0-g033889a (android-bld@Moon) (gcc version 4.7
    (GCC) ) #1 SMP PREEMPT Tue Jul 8 20:33:01 CST 2014

That matches the one provided:

    $ cd OT_4019X/kernel
    $ make kernelversion
    3.4.0

Processor on device:

    $ adb shell cat /proc/cpuinfo
    […]
    Hardware        : Qualcomm MSM8210
    […]

As there is no MSM8210 config in `arch/arm/configs`, I checked the
Qualcomm site, and it’s in the same series as the MSM8610. Also, the
shell prompt when using `adb` is `shell@msm8610`. This information I
used to build the kernel:

    $ make msm8610_defconfig
    $ make -j4

The build process finished without errors.

[1]: http://source.android.com/source/building-kernels.html
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