If you still want to use the (old) x11zaurus version 0.8 for the framebuffer X11-Server to run on Sharp ROMs the following info might be helpful:
ztsd (Zaurus Touchscreen Daemon) translates the Zaurus touchscreen events into a format that the X11 server (Xfbdev) understands. It was not running at all on the C860 (but Xfbdev works!).
So I have googled and found some source code for a ztsd have added some hacks to make it really work on the SL5500G and the C860. And to fix auto-calibration. So, if anybody wants to use it as well - source is attached.