FOREWORD, PREFACE, CHAPTER 1: INTRODUCTION, CHAPTER 2: BASICS OF DEVELOPING FOR EMBEDDED SYSTEMS, CHAPTER 3: EMBEDDED SYSTEM INITIALIZATION, CHAPTER 4: INTRODUCTION TO REAL-TIME OPERATING SYSTEMS, CHAPTER 5: TASKS, CHAPTER 6: SEMAPHORES, CHAPTER 7: MESSAGE QUEUES, CHAPTER 8: OTHER KERNEL OBJECTS, CHAPTER 9: OTHER RTOS SERVICES, CHAPTER 10: EXCEPTIONS AND INTERRUPTS, CHAPTER 11: TIMER AND TIMER SERVICES, CHAPTER 12: I/O SUBSYSTEM, CHAPTER 13: MEMORY MANAGEMENT, CHAPTER 14: MODELARIZING AN APPLICATION FOR CONCURRENCY, CHAPTER 15: SYNCHRONIZATION AND COMMUNICATION, CHAPTER 16: COMMON DESIGN PROBLEMS, APPENDIX A: REFERENCES, ABOUT THE AUTHORS, Index