Cross compiling is not for the inexperienced. I suggest you take the top off the cointerror, pull out the usb cables from the beaglebone controller and plug them into any pc running linux. The device works fine from any controller running cgminer.
I have two of these myself and was just thinking the same thing. Mine actually run fine (good actually) so I dont know if there would be anything to gain other than experience by doing this. I am running your CKPool in the same rack as the miners so what do you think about running these with cgminer on the server? Its a virtual environment so I can easily add another server for mining only if that would be better.
Up until my cointerra turned into a blast furnace and tried to weld itself to my shelf, I ran it off a PC instead of the BBB built in and found the USB communications much more reliable where errors were virtually non existent and latency was lower, so I definitely think there's an advantage (provided you have ridiculously cheap electricity, otherwise these make great boat anchors).