“There are lots of books on harvesting your own primal power source, but most people these days make a pact with the demon Linus and simply channel his power”

For linux driver development you can start by reading “Linux Device Drivers, Third Edition” pdf.
It is free and give you an idea about how everything works.
The real learning is by reading and using the linux kernel api doc or directly the source code of the api you want to call.
Source : i did this for a school project where i had to implement multiple kernel modules.