Roger Ye Embedded Programming with Android
Bringing Up an Android System from Scratch Inglese · Tascabile

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This book begins with basic embedded programming. Ye demonstrates bare metal programming and debugging. Then, he shifts to applying that knowledge to "bringing up" U-boot and Android. That is, how to start from a generic set of source code that does not run on any hardware (or on any emulator) and then through the needed hardware-specific code to provide a low-level interface to the emulated hardware.