Apps Access to low level drivers

[Garuda]

I want to build a custom device, which I want to plug into an Android phone. (Hoping, most of the phones will have a standard connector like mini USB).

Can I get access to low level drivers like USB driver for example, so I can write my own device driver for my custom HW?

I don't know if the question is clear, I hope it is.

Thanks in advance.

Garuda.