I. Introduction
Nowadays, many embedded systems involve the synergy of complex software (SW) and hardware (HW) components to achieve their applicative goals. To cope with this ever growing HW and SW complexity, most of SW applications lie upon a Real Time Operating System (RTOS). The use of such RTOS is achieved for two main reasons: (1) abstracting the HW layer in order to simplify the programmer's work through the standardization of the software layer, (2) and providing an executive software platform through a set of services. Those services include multitasking, inter-task communication and synchronization mechanisms, control of HW devices, time and interrupt management.