Linux Device Drivers, Alessandro Rubin
Order (or just read more about) Linux Device Drivers
I doubt that I'll ever need to write a Linux device driver. Just the same, I thoroughly enjoyed this book and learned a lot from it.
There are subjects covered herein that you just aren't going to find anywhere else, but even more importantly, there are references to Linux features that definitely will be useful to anyone who really wants to understand the beast.
There are also very illuminating hardware chapters: I learned a lot about the PCI bus here that I had never encountered elsewhere.
For some of this material, you will need a basic grasp of programming, and an understanding of kernel topics and/or drivers in general doesn't hurt. Still, even without any of that I think you'd find this to be of some value.
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