The textbook "Embedded System Design: Embedded Systems Foundations of Cyber-Physical Systems" by Prof. Dr. Peter Marwedel gets very good reviews. Embedded System Design starts with an introduction into the area and a survey of specification models and languages for embedded and cyber-physical systems. It provides a brief overview of hardware devices used for such systems and presents the essentials of system software for embedded systems, like real-time operating systems. The book also discusses evaluation and validation techniques for embedded systems. Furthermore, the book presents an overview of techniques for mapping applications to execution platforms. Due to the importance of resource efficiency, the book also contains a selected set of optimization techniques for embedded systems, including special compilation techniques. The book closes with a brief survey on testing.

Here some comments:

"This is a nice book, structured and orgnized very well. It will give you a clear understanding of design of embedded system along the way. This book is far more clear and better than the "Introduction to Embedded Systems: A Cyber-Physical Systems Approach" which is published by a Berkeley professor. I would hope that my graduate school could use this book as the primary textbook in future semesters on teaching embedded system design, instead of the "Introduction to Embedded Systems: A Cyber-Physical Systems Approach". "

"My grad school class used this book to supplement and get a different type of explanation to specifically tricky concepts. We did not use it as the main book so it was not read in it's entirety. But was very different than our primary book (author is a professor from Berkley), so it served its purpose and I am glad I bought it."

http://www.amazon.de/Embedded-System-Design-Foundations-Cyber-Physical/dp/9400702566