I am using this book for an embedded systems course that I am teaching. The book is great because it provides concrete code examples for the 6812 microcontroller that the students use in the class. The organization of the book works well. I mostly enjoy the level of detail presented although the chapter on scheduling and semaphores should include more depth and stronger theory. My big complaint about the book is the number of errors. All textbooks have errors, but this book has WAY too many errors for a second edition. Also, the errata for the second edition does not appear to be updated.