Not a book or a project, but I can't recommend enough using Xenomai4/EVL. Under the common use case of "some small kernel of code needs bounded latency" plus "I

Not a book or a project, but I can't recommend enough using Xenomai4/EVL. Under the common use case of "some small kernel of code needs bounded latency" plus "I want to use normal Linux and not think about realtime shenanigans damnit," you'll have a substantially easier time developing in that environment than anything else I'm aware of.