Adding drivers to Android kernel is nothing different than
adding drivers to a linux distribution.
However, if you don't have any experience on kernel hacking,
it's not recommended unless you really want to learn.
But the real question is, are linux drivers available
for all your peripherals? If you really search it,
I am afraid that the answer will let you down.
At a glance your peripherals,
The CPU and GPU is supported;
sensors KXCJ9 is probably supported;
audio is may be a problem;
camera is almost no hope.