NASA Software Safety Guidebook [pdf]
standards.nasa.gov
standards.nasa.gov
For a rather dense document from 2004, is any of this worth casual study and still relevant?
That said, methods of safety analysis have not changed much, and neither has what-makes-an-RTOS-an-RTOS, for example.
The NASA Software Engineering Handbook [1] is also full of interesting stuff. Unfortunately it's all in an incredibly slow Confluence wiki.