Jack Ganssle 
Art of Programming Embedded Systems [PDF ebook] 

Embedded systems are products such as microwave ovens, cars, and toys that rely on an internal microprocessor. This book is oriented toward the design engineer or programmer who writes the computer code for such a system. There are a number of problems specific to the embedded systems designer, and this book addresses them and offers practical solutions. — Offers cookbook routines, algorithms, and design techniques- Includes tips for handling debugging management and testing- Explores the philosophy of tightly coupling software and hardware in programming and developing an embedded system- Provides one of the few coherent references on this subject