I got my car kit done a few weeks ago, but still haven't found the time to put together an article on it. Here are the photos I took, though, feel free to ask questions if you like.
This project is not trivial and took a lot of time. It could be easier if you're willing to settle for more simplicity, like only getting sound out. I wanted to have sound, serial, power, the works. It requires the ability to solder small connectors and skill with a Dremel (high speed rotary tool). Basically I took one of the charging adapters apart to get the connector, and duplicated the mounting plate for it inside the cradle using a CD-ROM case cover. Some of the fitment is pretty tight, so you have to have a steady hand with the Dremel. The mount you see on the rear of the cradle is a leftover from a Nokia kit I believe. It is a standard car cell mount which can be purchased in many forms from many sources. There are also flexible pole mounts and others available.
The end result is that I can drop the XDA into the cradle in the car and it is charged, the Pharos GPS is connected (via the PS/2 connector you see), and stereo output is provided via the three-conductor jack on the back of the cradle. I am using the built-in microphone, after some experimentation with other options. It appears the XDA needs a high level microphone input, a straight microphone does not work. This sounds fine to most callers, but it means that I can't put the device into "car" mode which means you also get sound from the speaker on the device.

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