Probably the easiest way to start kernel programming is to write a module – a piece of code that can be dynamically loaded into the kernel and removed from it. There are limits to what modules can do – for example, they can’t add or remove fields to common data structures like process descriptors. But in all other ways they are full-fledged kernel-level code, and they can always be compiled into the kernel (thus removing all the restrictions) if needed. It is fully possible to develop and compile a module outside the Linux source tree (this is unsurprisingly called an out-of-tree build), which is very convenient if you just want to play a bit and do not wish to submit your changes for inclusion into the mainline kernel.
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