This course is designed for Junior and Senior of undergraduate students. It will acquaint students with the working principles of embedded systems with Mbed OS (RTOS), Linux operating systems, and embedded system programming with C/C++ Language. The outcomes of the course will let students know how to integrate embedded hardware, software, and middleware (such as OS libraries) to meet the functional requirements of embedded applications. The course will start with an introduction to embedded systems, processors, input/output systems, hardware/software tools, concepts of operating systems. Laboratories are provided to guide students to be familiar with programming and debugging tools for embedded systems. STM32L4 IoT node and Raspberry Pi 3/4 (also optional Nvidia Nano), will be used as development board.