And after you read all of the documentation, tell yourself that it is just programming.
It is just programming.
I had to write a kernel driver for a client, and I thought, going in, that it was a sort of a black magic - until I actually did it. Linux kernel programming is actually not that hard - and not a black art that requires a master. The Linux kernel has some great people who are more than willing to help with any problems that you have.
kernelnewbies.org, the Linux Documentation Project, and the Linux source are excellent places to start. I actually started my driver with sources to another driver. Most drivers seem to be started with another driver's code.
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