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In the hardware design, assertion-based verification (ABV) affirmed as an effective methodology for functional verification, i.e., design specification conformance. However, up to now, there were only limited studies concerning the application of simulation-based ABV to embedded-software design and verification flow. We propose an analysis aiming to bridge such a gap. In particular, we illustrate how ABV can integrate and improve the various stages of the verification flow. Moreover, the analysis leads us to develop a comprehensive and practical dynamic ABV environment for micro-controller embedded-software.