In general, if I wanted to access(read or write) to some hardware device how do the kernel and bsp (board support package) interact to make this possible assuming the device drivers live inside the bsp?
Relationship between kernel and board support package
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BSP comprises support for CPU/peripheral initialization and on-board peripheral specific functions, drivers. BSP shall have routines specific to entities like interrupt controller, rtc, timers, dma, uart/usb/ethernet/other-interfaces, spi/i2c, pci/isa bus, flash/ ROM/ EEPROM/ NVRAM, memory map, bootloader, filesystem etc. The routines shall be related to device selection/identification, registration, initialization/opening, reading/receiving, writing/sending or closing/freeing the device.
Normally, these routines shall be placed in respective processor directory/sub-directories. These functions shall be used/invoked by kernel in the form of device driver or independently as required by kernel. Since BSP is collection of hardware specific routines(or set of library), the BSP is also termed as a kind of interface between kernel/OS and on-board peripherals/hardware.