Get the Whitepaper called Digging Inside VxWorks OS and Firmware – Holistic Security. VxWorks is one of the most widely accepted embedded OSes. In this paper, they have conducted a detailed study of the VxWorks OS security model and firmware in order to understand the potential impact of security vulnerabilities and weaknesses.
You can download it from the following link: https://packetstormsecurity.com/files/download/103128/vxworks_os_holistic_security_adityaks.pdf
Source: https://packetstormsecurity.com/files/103128/Digging-Inside-VxWorks-OS-And-Firmware-Holistic-Security.html