Embedded Microcomputer Systems: Real Time Interfacing  by Jonathan Valvano (University of Texas, Austin).

Developing Embedded Software in C Using ICC11/ICC12/Metrowerks (online textbook) by Jonathan Valvano (University of Texas, Austin).

Designing With Microcontrollers by Tom Almy (Oregon Institute of Technology, Portland).  Includes simulator.

HCS12 Microcontrollers and Embedded Systems by Muhammad Ali Mazidi, Danny Causey, Janice Mazidi (DeVry University).