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Leopard Technical Notes: Hardware & Drivers
Serial devices communicate with a computer through a serial port, which transmits and receives data in a serial bit stream. In Mac OS X, developers can access serial-port devices through the I/O Kit in conjunction with the POSIX termios API. The I/O Kit also supports the development of serial controller drivers.

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Building Universal I/O Kit Drivers (HTML)
TN2163: How to build a universal I/O Kit kernel driver while avoiding common pitfalls.
Understanding and Debugging Kernel Panics (HTML) (日本語 HTML)
TN2063: Addresses kernel panics: what they are and how to debug the code that caused the panic.