Applied Embedded Electronics: Design Essentials for Robust Systems by Jerry Twomey.

There are lots more with varying levels of basics/advanced but the above two are what came to my mind immediately for self study.

Introduction to Embedded Systems: Using Microcontrollers and the MSP430 by Manuel Jimenez et al. An excellent textbook with an emphasis on interfacing to a MCU from a hardware perspective. The chapter titled "The Analog Signal Chain" is by itself worth the price of the book.

Patterns for Time-Triggered Embedded Systems by Michael Pont. Full of C code for 8051 which you can study and then adapt to your specific MCU family. Free book available at https://www.safetty.net/publications/pttes Also checkout all of his other books since they are also full of C code examples.