Embedded systems play an increasingly central role in modern society, thanks to the spread of the Internet of Things (IoT) and the use of smart control systems in the automotive and aeronautical domains. Their use in mission-critical or safety-critical systems makes them attractive targets for attackers. Nowadays, several of these are mixed-criticality systems, meaning that they run both high-criticality tasks (e.g., a car control system) and low-criticality ones (e.g., infotainment). High-criticality routines often employ Real-Time Operating Systems (RTOS) to enforce hard real-time requirements, while the tasks with lower constraints can be delegated to more generic operating systems. Right now, security solutions for real-time embedded systems are not as mature as the ones for general-purpose systems, which often make assumptions that do not hold in the embedded domain.