This class does not use any textbook. That said, there are some good books out there that cover some interesting ways of looking at the topic area. One of them that I like has the wonderful advantage of being free: E. A. Lee and S. A. Seshia, Introduction to Embedded Systems - A Cyber-Physical Systems Approach, LeeSeshia.org, 2017. It can be found at http://leeseshia.org/. The text is, on the whole, at a higher-level than we'll generally work at. But parts are useful to us and the rest is worth scanning just to get an idea about what "embedded systems" means to others.