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Rising Star
I've been thinking about this question since you posted, because there isn't a really great answer. There's books that cover a certain period in history, but nothing that's complete.
Steve Machett has some good books, and one does talk through some of the technical advancements, such as evolution of the monocoque, as well as some of the significant incidents in history.
Just saw that sky sports / F1 is coming out with a six or seven part documentary series on the history of F1 that will be available on F1 TV. Not a book, but this might be a helpful.