Embedded Systems Architecture: Design and write software for embedded devices to build safe and connected systems, 2nd Edition Paperback – 13 Jan. 2023

This is a good book that presents an almost opposite view to Embedded Software design. Combined they give a good view on Embedded software programming. This book goes for a very low level approach so covers how to write code that will run the moment the processor is reset, so covers setting up interrupt routines, interrupt vectors, memory layout and other low level items. Whilst Embedded Software design goes for a higher level approach and assumes you have an operating system of some form already available for your processor. I believe you need both books