Is it possible to be agile and do modeling, state-machine design and code generation? You bet!
Modern event-driven approach with asynchronous active objects, hierarchical state machine and visual modeling will let you go faster and avoid many bugs by design. Please listen and comment!
NOTE: The Agile Embedded Podcast is run by Luca Ingianni and Jeff Gable, who are both passionate about agile embedded systems development, with a particular focus on safety-critical industries such as medical devices.