Abstract System level design is considered a major approach to tackle the complexity of modern System-on-Chip designs. Embedded software within SoCs is gaining importance as it addresses the increasing need for flexible and feature-rich solutions. Therefore, integrating software design and co-simulation into a system level design flow is highly desirable. In this article, we present the software perspective within our systemlevel design flow. We address three major aspects: (1) modeling of a r (from abstract to ISS-based), (2) porting of an RTOS, and (3) the embedded software generation including RTOS targeting. We describe these aspects based on a case study for the ARM7TDMI processor. We show processor models including a cycle-accurate ISSbased model (using SWARM), which executes the RTOS MicroC/OS-II. We demonstrate our flow with an automotive application of anti-lock breaks using one ECU and CAN-connected sensors. Our experimental results show that automatic SW generation is ac...