A noble model-based programming environment of embedded software for MPSoC is proposed. By defining a common intermediate code (CIC), it separates modeling of the software and implementation optimized for target architecture. It also allows us to use diverse models for initial specification. Another feature is to provide multi-phase debugging capabilities: at the modeling stage, at the code generation stage, and at the simulation stage. Preliminary experiments with a Divx player confirm the feasibility and validity of the proposed technique.