Make: AVR Programming (2014)
Part I. The Basics
Chapter 7. Analog-to-Digital Conversion I
Part II. Intermediate AVR
Chapter 8. Hardware Interrupts
Chapter 9. Introduction to the Timer/Counter Hardware
Chapter 10. Pulse-Width Modulation
Chapter 11. Driving Servo Motors
Chapter 12. Analog-to-Digital Conversion II
Part III. Advanced AVR Topics
Chapter 13. Advanced PWM Tricks
Chapter 18. Using Flash Program Memory
Chapter 20. Conclusion, Parting Words, and Encouragement