The Code Warrior 9 Gold CDs had a few "learn to program " books in PDF format. They did cover the basics. And some of those basics are pretty messy on the classic Mac OS, so it would probably be a good jumping-off point for drivers.

Check out Inside Macintosh. They should cover driver development, and certainly cover DA development. If I recall correctly, DAs are just a special case for device driver programming.

Also look for articles in the MacTech archives.