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IoT is going to be an established part of life by extending the communication and networking anytime, anywhere. Security requirements for IoT will certainly underline the importance of properly formulated, implemented, and enforced security policies throughout their life-cycle. This paper gives a detailed survey and analysis of embedded security, especially in the area of IoT. Together with the conventional security solutions, the paper highlights the need to provide in-built security in the device itself to provide a flexible infrastructure for dynamic prevention, detection, diagnosis, isolation, and countermeasures against successful breaches. Based on this survey and analysis, the paper defines the security needs taking into account computational time, energy consumption and memory requirements of the devices. Finally, this paper proposes an embedded security framework as a feature of software/hardware co-design methodology.