Driver for peripheral devices in QNX OS ?

We now design a terminal with several peripheral devices which isn’t supported driver . This problem trouble us, so i want to know are there any solution to solve this trouble ? What ( tool kit, library …) can be used to build driver for these devices ( listing below ) ? and how to build ?

Our terminal includes some modules like :

  • CM-i686 Main board ( Compulab )
  • Smart Card Reader ( Gemcore 410 EMV)
  • Optical Mark Reader ()
  • Barcode Reader
  • Printer
  • LCD display

thanks for yr response!!