I have a specific client request where there is a custom carried board 
which is controlled by a iMX8 SOM. On this board there is installed the 
Android system because there are specific Android applications (Java and 
Kotlin) which need to be run. I need to create a background service which 
controls specific IO peripherals (I2C, GPIOs, UART, etc...).

I suppose that in order to make a background (using the board IO 
peripherals) service which runs at the start of the Android OS system is to 
develop a C/C++ application (CMake based project) which will be cross 
compiled using a toolchain for the iMX8 and will be started at system boot 
through the "init.rc" script, right? Have you any available guide/material 
for such purpose so that I can begin with the best-practice solution?

I already tried using Android NDK, but I have "permission denied" errors 
also when installing the app in the "system/priv-app" folder (with the 
correct permissions).

Which is the correct way to approach this kind of project? Thank you.

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