Yes, I have a Samsung Infuse (Android Froyo) connected to ASA5510 and ASA5505. Because of the way our L2TP RA are set up I had to edit init.rc located in the root of the filesystem, and then added routes to the remote network.
For the Android settings I simply set the VPN name, ASA Address, and then PSK and connected (prompted for log in of course).
I should add that if you need to add static routes to your device, you will need to root it. I had to root my device, then copy init.rc to SD card and edit it, then copied it back overwriting the old. Once that was done I could access the remote side.
Actually I was looking for a sample config for a Pix 501. I've found some for the ASA and tried modifying them for the 501 with little success (changing IKE and IPSEC parameters). It's funny, but Sonicwall has a tech article specifically dealing with the Android OS with all of the steps necessary to make a connection.
Table of ContentsIntroductionVersion HistoryPossible Future
UpdatesDocuments PurposeNAT Operation in ASA 8.3+ SectionsRule Types
Network Object NATTwice NAT / Manual NATRule Types used per SectionNAT
Types used with Twice NAT / Manual NAT and Network Obje...
Table of Contents Introduction:This document describes details on how
NAT-T works. Background: ESP encrypts all critical information,
encapsulating the entire inner TCP/UDP datagram within an ESP header.
ESP is an IP protocol in the same sense that TCP an...