If you want to learn more about time-triggered technology, two popular textbooks are available (in both English and Chinese editions).
“Embedded C” provides a gentle introduction to the programming of embedded systems using time-triggered software architectures. Embedded C targets 8051 microcontrollers.
“Patterns for Time-Triggered Embedded Systems” (which also targets 8051 microcontrollers) provides more detailed coverage of the use of time-triggered techniques in reliable embedded systems. Please note that “PTTES” can now be downloaded without charge from this website.
A third textbook — “Rapid Develop of Reliable Embedded Systems”, which targets various ARM processors as well as FPGA-based systems, is currently in progress. Draft chapters are available to download from this website.