Labrosse Jean J. uCOS, The Real-Time Kernel. Second edition + CD

CMPBooks, 2002, 606p.
This book is intended for embedded system programmers, consultants and students interested in real-time operating systems. μC/OS-II is a high performance, deterministic real-time kernel and can be embedded in commercial products (see Appendix F, Licensing). Instead of writing your own kernel, you should consider μC/OS-II. You will find, as I did, that writing a kernel is not as easy as it first looks.