As others have suggested, dig in! Read all the available documentation you can absorb. Then see if you can find other people who are interested or knowledgeable and learn with/from them. It helps to have people to bounce ideas off of and ask questions.
For C source code, once you get a feel for what areas of the code you'd like to work on, generate ctags and cscope databases for that code. These tools make it a lot easier to jump around and understand the code. Many text editors (one example is gvim) have support for ctags and cscope so you can jump around easily.
