EmbeddedsoftwarehistoricallyisdevelopedafterthehardwareisavailableandsoftwareisdebuggedusingICEorJTAG.Thisdesignapproachislimitingforcontrol-dominatedSOCdesignswheretheSOCperformanceisdictatednotbyhardwareorsoftwarecomponentsbuttheinterfacesamongthesecomponents.Thismandatesthatboththe