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Dynamic fault injection is an efficient technique for reliability evaluation. In this paper, a new fault injection system called DDSFIS (debug-based dynamic software fault injection system) is presented. DDSFIS is designed to be adaptable to real-time embedded systems. Locations of injections and faults are detected and injected automatically without recompiling. The tool is highly portable between different platforms since it relies on the GNU tool chains. The effectiveness and performance of DDSFIS is validated by experiments.