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Yep, here some very good books about it, specially relevant given the main subject.

"Building High Integrity Applications with SPARK"

https://www.amazon.com/Building-High-Integrity-Applications-...

"Building Parallel, Embedded, and Real-Time Applications with Ada"

https://www.amazon.com/Building-Parallel-Embedded-Real-Time-...

"Embedded Software Development for Safety-Critical Systems"

https://www.amazon.com/Embedded-Software-Development-Safety-...




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