The ESXi VMKernel driver toolchain is only for gcc version 4.2-4.8, aka CentOS 5 to 7 or Ubuntu 12 to 14.
This repo is to help you build environment on CentOS 7:
git clone https://github.com/realganfan/compile-vmkdriver-env-builder
cd compile-vmkdriver-env-builder
bash build--esxi-driver-env-centos7.sh