To write Kernel driver for new device

Rajesh Kumar
Greetings for the Day!!

We bought Tiny6410 with dev kit.
We am trying to develop driver for one particular device which is not
supported in Android.

Can we develop driver in Linux Kernel 2.6.36 and upload with Android 2.3 \
2.2 and use via Android device?

Please share link or knowledge base for such kind of development.

Regards,
RK