This book mainly introduces the basic concepts of embedded development, the use of TornadoII development environment and the core technology of VxWorks operating system programming. The author is one of the first users of VxWorks in China and has been engaged in the development and design of embedded real-time systems for many years. This book is written based on relevant literature and the author's engineering development experience, and has strong practical and reference value. This book is suitable for embedded system developers and can also be used as a reference for other enthusiasts.