This book introduces the principles and applications of embedded systems based on the VxWorks real-time operating system. The book is divided into two parts: theoretical foundation and experimental. The theoretical foundation part includes: an overview of embedded systems, basic theories of real-time systems, hardware foundations of embedded systems, VxWorks operating system and embedded system development environment, a total of 5 chapters. The experimental part includes: basic kernel function experiments, basic application experiments and advanced extensibility experiments, including more than 20 experiments in total. It is hoped that readers can quickly master the basic theories and methods of embedded development through the combination of theory and practice. This book can be used as a textbook for relevant university courses or as a material for technical training.