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Is it possible to develop a board driver in secure state?

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tgnull  
I may have to develop a driver in secure world to protect some hardware resources on Hikey, but I don't know how, espescially that I'm not sure whether the hw resources can be accessed when in secure world. Because I'm not familiar with embeded system development.

Could someone please show me an example, provide me with some documentation or just some suggestions?

Many thanks.
Use the OP-TEE will be a better choice. You need de a research of OP-TEE.
https://github.com/96boards/arm-trusted-firmware

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