This site has a useful summary about compiling the kernel for
Android.  This is where things started to make sense for me.
(Google's docs are kinda sparse when it comes to porting.)

http://www.kandroid.org/android_pdk/intro_source_code.html

Your init might be failing because the kernel doesn't have some of the
above functionality its looking for.

I'm having similar problems with 2.6.29 from embinux, which fails on
mounting the SD card.  So I tried a newer kernel, which finds and
mounts the rootfs, but fails on init, since 2.6.32 didn't have any of
the Android kernel  extensions/patches.

Unfortunately, it seems only 2.6.27 is available from Google's Android
repository, and I can't seem to find another recent & reliable Android
kernel.

This site is also useful, the important parts are in English.  And
while beagleboard related, provides some useful hints on the vendor
directory, etc.  (of which I cannot find any docs.)

http://code.google.com/p/android-development-environment/wiki/EclaironBeagleBoard

You might find this 2.6.29 kernel works for you...

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