I'd re-think switching to C++ if you don't have Windows, but if you can't do it, there are ways to hack around it.
http://zone.ni.com/devzone/cda/tut/p/id/5694
^ is the instructions for building vxWorks kernel modules without Wind River. If you name the output file to FRC_UserProgram.out and add the WPILib.a binary to the makefile, it should build for FRC properly. You'll have to run the builder in Wine though.
Once the code is built, just ftp it to /ni-rt/system/
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