Hi,
It depends on which you're using SoC Chip or driver frkm which vendor. Normally' ARM processor is adopted by SoC chip vendor, and they add many peripherals in their SoC Chip. It's same to PC's motherboard+many peripheral cards. So normally SoC vendor provides kernel+drivers. And generally they provide whole android stack+prebuilt kernel.
And android normally does not care about kernel version. In my experience, lowest version was 2.6.x.
So I sugesst
1. Contact SoC vendor what you have.
2. Search open community that handles your HW.
3. Download latest or stable mainline kernel, get SoC datasheet if possible, then implement all SoC HW feature driver by yourself.
Kernel driver requirement is described in source.android.com a little. I think it's minimal requirement.
Thank you
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