straight forward.

driver tsc2005.ko goes to:
/lib/modules/$(uname -r)/kernel/drivers/input/touchscreen
loading by
echo "tsc2005" >> /etc/modules

and a depmod might be a good idea.

Edit: be sure the driver is compiled for your kernel otherwise it might not work.
Sidenote: now inclusion into linux is again defered for some think it should be merged with the tsc2007 driver. this is an example i really don't understand some linux decisions. if a driver is buggy or adding it would impose some workload i'd understand. but 3 years for that result is regarding a complete submitted driver from the hw manufacturer(ti) is odd.