http://www.broadcom.com/support/
if you extract the drivers, you can get a readme.txt file which gives rough steps to compile for aosp 4.0
Experienced programmers can:
Rebuild the BCM21553 Android 4.0 graphics stack from source
Develop fully open drivers for other VideoCore devices, including the Raspberry Pi’s BCM2835 and the BCM21654 (a low-cost 3G integrated baseband for emerging markets).
Gain insight into the internal operation of VideoCore for performance tuning purposes
Write general-purpose code leveraging the GPU compute capability on VideoCore devices