Reddit reviews Embedded Firmware Solutions: Development Best Practices for the Internet of Things
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I think the best way would be to pick up an old Thinkpad (eg, x220) or cheap Chromebook, and a cheap USB flasher (ch341a) and chip clip, and build coreboot for your device. After you brick it a few times and figure out how to make it work, then you can start to look at the coreboot architecture and how things work.
also, this book is a decent starting point / reference