Mapping of software onto hardware elements under platform resource constraints is a crucial step in the design of embedded systems. As embedded systems are increasingly integrating both safety-critical and non-safety critical software functionalities onto a shared hardware platform, a dependability driven integration is desirable. Such an integration approach faces new challenges of mapping software components onto shared hardware resources while considering extra-functional (dependability, timing, power consumption, etc.) requirements of the system. Considering dependability and real-time as primary drivers, we present a systematic resource allocation approach for the consolidated mapping of safety critical and non-safety critical applications onto a distributed platform such that their operational delineation is maintained over integration. The objective of our allocation technique is to come up with a feasible solution satisfying multiple concurrent constraints. Ensuring criticality partitioning, avoiding error propagation and reducing interactions across components are addressed in our approach. In order to demonstrate the usefulness and effectiveness of the mapping, the developed approach is applied to an actual automotive system.