In this work, we are proposing a hardware-in-the-loop model-driven method to develop real-time and embedded applications based on DEVS (Discrete Event Systems Specification) formalism. This approach combines the advantages of a simulation-based approach with the rigor of a formal methodology. This framework can be used to develop embedded applications incrementally, and integrate simulation models with hardware components seamlessly. We have defined structural modifications to the current DEVS

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... bstract simulator, allowing for integration with hardware devices, using external ports of the model and adding hardware control mechanisms. The use of this methodology provides model continuity from the early stages of model design to embedding it on the target. We have discussed the details of implementation of the proposed technique on E-CD++ (a DEVS based toolkit).