I occasionally fill in as a guest lecturer for EECS 373: Design of Microprocessor-Based Systems. I have taught on embedded systems toochains, ARM Application Binary Interface, Memory-Mapped I/O, and the AMBA Advanced Peripheral Bus. Example code from class is available on my github.
I was a Graduate Student Instructor for EECS 370: Computer Organization. My job included teaching discussion sessions, holding office hours, and grading homework. I discovered that teaching is both a considerable amount of work and something I really enjoy. I won an Outstanding GSI Award for my efforts in EECS 370. Below are the discussion lecture slides that I created.