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System call is the method user space applications use to request for OS kernel services. This is because user space apps cannot directly access resources in OS kernel due to their privileage difference.
System call Layer diagram:

User space process request for OS service:

https://www.slideshare.net/VandanaSalve/introduction-to-char-device-driver
https://www.slideshare.net/garyyeh165/linux-char-device-driver
https://www.ptt.cc/bbs/b97902HW/M.1268953601.A.BA9.html
https://www.ptt.cc/bbs/b97902HW/M.1268932130.A.0CF.html
http://gityuan.com/2016/05/21/syscall/
http://hwchiu.logdown.com/posts/1733-c-pipe
http://wiki.csie.ncku.edu.tw/embedded/ARMv8
http://linux.vbird.org/linux_basic/0440processcontrol.php
Advanced Programming in the UNIX Environment 3rd Edition