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Nowadays, many practitioners express their worries about current software engineering practices. New recommendations should be considered to ground software engineering on two pillars: solid theory and proven principles. We took the second pillar towards software engineering for embedded system applications, focusing on the problem of integrating Security and Dependability (S&D) by design to foster reuse. The framework and the methodology we propose associate the model-driven paradigm and a model-based repository of S&D patterns to support the design of trusted Resource Constrained Embedded System (RCES) applications for multiple domains (e.g., railway, metrology, automotive). The approach has been successfully evaluated by the TERESA project external reviewers as well as internally by the Ikerlan Research Center for the railway domain.