The way you should go is
1. Understand the Software Interface Driver-System on your operating System. For Unix there is an excellent Book from Pajari (?) Writing Unix Drivers or similar. I'll Try to find out the title.
2. Understand your device. That is in some cases even more difficult.
3. Write the Driver.
Some RT-OS allow drivers to be written as Subprograms which can be called directly. This is the way to get fastest access to the devices, but no standardized Access. To do so it is neccessary to get access to the IO-Page of the System.
If this ist impossible like in Unix or Windows then you have to follow standardized Procedures.
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