Very long ago (1999?) I attended a conference where I got a small booklet called "The Concise Handbook of Real-Time Systems" by TimeSys Corporation.
I found the booklet to be a very usefull distillation of the most important concepts when designing real-time software. I even ordered some more copies for interested collegues. I hope more developers will be familliar with the content, it would prevent a number of problems...
I don't think the booklet can be ordered any more from the original company, but a quick googling found a later version in PDF here.
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