It rather depends on what you want to do; "kernel programming" is a big area.

Since you're familiar with Linux, have you done Linux kernel programming?

If so, you might be able to pick up the information you need simply by 
rummaging through the kernel with the OpenSolaris source browser.

If not, I'd recommend picking up Richard McDougall and Jim Mauro's Solaris 
Internals book (Second Edition) and reading that.
 
 
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