Read: http://wiki.centos.org/HowTos/Custom_Kernel
Basic, it suports kernel from CentOS source, not from mainline kernel from kernel.org.
But I have been successfully compiled kernel version 2.6.19 based on CentOS 4.5, and version 2.6.24 based on CentOS 5.5.
Steps:
$make menuconfig // need to enable General config-->enable deprecated sysfs
$make -j4
$make modules_install
$make install
Ref:
https://www.centos.org/modules/newbb/viewtopic.php?topic_id=15198&forum=37&post_id=88760#threadbottom
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