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To achieve a timeliness guaranteed computing in real-time embedded systems, an appropriate task model with timing constraints, environment tools such as an schedulability analyzer and a monitoring tool for verification are required as well as a real-time kernel that supports the task model. In this paper, the functions and implementation techniques of the TMO-eCos2.0 kernel and its enhanced schedulability analysis tool those have been developed by the support of Korean army for real-time distributed embedded computing are introduced. The kernel is a modified eCosTM kernel to support the well-known TMO (Time-triggered Message-triggered Object) as its task model. It provides several TMO-oriented real-time scheduling policies and a distributed IPC scheme while its environment supports a task serializer as an off-line scheduling tool for the design of hard real-time systems. TMO-eCos also supports a TMO-oriented deadline-driven power management scheme for energy saving sensor/actuator systems. Other tools for monitoring, verification and high availability are under development. A new project to develop an unmanned helicopter control system based on the TMO-eCos has been launched this year.