android on a general purpose 6410 board

We are using a 6410 board with android 2.3 . The application should communicate with peripherial devices via serial port, USB, Ethernet or wifi. You can start development on a simulator or a phone. Later we need to run the application on the 6410 board. The peripherial devices may be some kind of printer, or sensor, or smart card reader etc. Help will be provided in this regard. If you know how to modify the kernel it would be greate but if you don't know how to do it, someone else in the team will take care of that part.