There are two ways to make your request 1) create yours module as statically compiled along with kernel(your source code should be in the kernel tree), so when building it is static, which is part of the kernel, so when the kernel boots, your module will be loaded. 2) The same as above, but while building build as dynamic loadable module so that wheneever required you can load it.
, helloworld.
http://www.agusbj.staff.ugm.ac.id/abjfile/Chap8.pdf