Ask HN: Book recommendation for embedded software development

Hi, I'm a fresh grad from an EE program but with substantial informal, extracurricular experience in embedded software.

Now working in a role which includes a bit of embedded development.

I'm looking for a text which makes recommendations on best practices/design patterns for embedded software, especially in a high reliability/safety critical environment.

Ideally this would be an intermediate level book, nothing to do with Arduino etc.

Any recommendations or pointers to other resources would be appreciated.