In this thesis, we are concerned with the development of concurrent software for embedded systems. The emphasis is on the development of control software. Embedded systems are concurrent systems whereby hardware and software communicate with the concurrent world. Concurrency is essential, which cannot be ignored. It requires a proper handling to avoid pathological problems (e.g. deadlock and livelock) and performance penalties (e.g. starvation and priority conflicts). Multithreading, as such, leads to sources of complexity in concurrent software. This complexity is considered frightening, because it complicates the software designs and the resulting code. Moreover, this paradigm complicates the understanding of the behaviour of concurrent software. A paradigm with a precise understanding of concurrency is essential. In this thesis, a methodology is proposed that comprises a paradigm of fundamental aspects of concurrency
