No, It cannot be done as of now
SEPM can only Manage SEP 11.0.XXX Only
SEP for XP Embedded is completely different product

Will I be able to use the Symantec Endpoint Protection Manager to manage other Symantec products in the future?
Yes. The ultimate goal is to have the Symantec Endpoint Manager manage all Symantec Endpoint technologies and products, which includes: Data Leakage Protection, Critical System Protection, Symantec AntiVirus for Linux, and Symantec AntiVirus for Macintosh. Refer to the Symantec Endpoint Security Web Portal for updates to the roadmap.
\http://service1.symantec.com/SUPPORT/ent-security.nsf/docid/2007071909500548

No it cannot be managed using SEPM.But you can use policy manager for this purpose
Refer these KBs
About Symantec Endpoint Protection for Windows XP Embedded
Symantec Endpoint Protection for Windows XP Embedded System Requirements
Is Symantec Endpoint Protection supported on embedded operating systems?
Instructions for installing Symantec Endpoint Protection on the XP Embedded Operating System

Endpoint Protection for Windows XP Embedded

This needs to be integrated into the SEPM architecture similar to the MAC and Windows OS's. Why would an Enterprise want different consoles, infrastructers, etc... to manage similar products?

would take some time, but definetly wil be manged by a single console