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This paper presents a new global MDA design methodology capable to bridge the gap between an abstract specification level and a heterogeneous architecture level while assisting real-time implementation. The P2I contribution is the result of a joint study on abstraction refinement methods and optimized mapping on architecture within a UML based design tools suite including SCADE™ Suite for formal verifications and SynDEx for optimized distributed realtime implementation. The original points of this work are: i) a specification methodology that handles the control flow and the data flow representation, including efficient verifications, ii) a method for parallelism exploration based on abstract resources/performance estimation, iii) a HW/SW mapping approach that refines the specification into explicit HW configurations and the associated SW until executable distributed real-time code. The P2I framework shows how a cooperation of complementary methodologies and CAD tools associated with a relevant architecture can significantly improve the designer productivity, especially in the context of co-modelling for embedded design.