There are two parts to this: getting the i2c-tools source package into your Android source tree and telling the build process to include that package for your device. Since i2c-tools isn't in the XML manifest for A4B, you'll have to manually grab the i2c-tool source and put it in the correct place. You could also fork the XML manifest for A4B, add an entry for i2c-tools in there, and then point the repo tool to your forked manifest. Whichever way you do it, there is a copy of the i2c-tools source package here:
https://github.com/hendersa/bbbandroid-external-i2c_tools
Assuming that you didn't fork the manifest XML and want to manually add it in, use repo to check out all of the A4B Android code like you normally would. Find the "external" directory in your Android source tree that hosts all of the external source code packages. Git clone the i2c-tools repo into that external directory. rename the "bbbandroid-external-i2c_tools" directory you just checked out to "i2c-tools".
Now build Android as you normally would, and i2c-tools will be in your system. This same process can be used to add in other external source packages into Android.
Andrew