Plenty of great sources exist for information on firmware design. Here are some of the best.
Magazines (online and otherwise)
--You're reading it now. It's the most important publication dedicated to embedded systems. Embedded.com
--Yes, this is a hardware publication, but hardware is never far from the software. EDN
--EE Times is the source of information about what technologies are coming, where the jobs are, and what companies are up to. EE Times Click to read the rest of this article on Embedded.com.
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