1) use youtube kernel-related presentations
In this video, Greg introduces how kernel is developing, who have contributed to kernel development, and how to involve contributing to kernel.
This video is google tech talk which looks a lot like an ad hoc discussion, very fun though.
Kernel work-through from SVLUG (Silicon Valley Linux Users Group).
2) read books to see the overall picture of Linux kernel. I don't recommend you to go deep in the first place with books, just brief and overall understanding. (Understanding Linux Kernel, Linux Device Driver of Orelly; also recommending Essential Linux Device Drivers of Prentice Hall)
3) find a target (such as making a simple driver, adding a new system call, etc) and do that. For better using the APIs of kernels, I recommend you to look up documentations folder in the Linux kernel source code. There are pretty good stuffs.
4) ALWAYS TRY TO READ OPEN SOURCE CODE
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