Introduction to Real Time Systems: From Design to Multitasking with C/C++

This book is really a "easy-read" one. The author stablishes a link with the reader that keeps you glued to it like if you were reading a J. R. R. Tolkien book. The theoretical explanations are accompanied by code examples small enough to clear the concepts while maintaining the focus on the concepts and not on the code. But it has a great disavantage: the real time kernel used, Tempo, was designed to run over DOS operational system (the author claims it can be used on Windows NT, but I am not really sure...). Also, you need to download the kernel code, compile it and afterwards link to your programs. Well, I think the author took this way to permit us analyze the kernel code, what is a great ideia. But I don't need to say how it is difficult nowadays to obtain DOS and an old compiler like Borland C++ 3.0, which is used in the book. Besides this, I think it is a good choice for a beginner on the field of real-time systems (that is my case).