GNU C Library and Driver Development

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I am a Linux newbie and I am trying to understand how some of these libraries and devices all link together. I want to access memory directly. Should I use a DMA driver, should I write a DMA driver and wrap it in a user-space C app, or should I just use a function like mmap? Is there any link between the /usr/include/sys headers and the linux headers that I always see included in drivers? Don’t character drivers work by reading and writing to special files? Are the functions read and write that allows that to happen in the GNU C lib? I would like to get Linux C straightened out in my head, especially as it pertains to embedded Linux. Thanks in advance

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