Where is there an understandable documentation for the wdm.h c header

I was wondering if there was a possible way to embed regular c/c++ inside a windows kernel mode driver. I've been doing some research and it seems pretty impossible, considering that the print function already looks likeKdPrintEx((DPFLTR_IHVDRIVER_ID, DPFLTR_INFO_LEVEL, "KmdfHelloWorld: KmdfHelloWorldEvtDeviceAdd\n"));.Also, the docs look really really confusing and I can't understand them, eg the syntax for making a file is ....
Note stack overflow though I was spamming so I have to give a link instead
https://pastebin.com/0tAz4YSEBasically I'm just wondering where a comprehensive way to learn the syntax for drivers is.