I have been using Rhapsody on ARM9 processors. There where no (hard) real-time requirements so far. But this will change now. The processing power and available memory may not be the problem.
Coming from a more desktop-like environment 10ms now seem to be like eternity. As for now one simple could do a tm(1000) [aka 1sec timeout] in a statechart. It wasn't really important if the timer expired 1000ms plus/minus something.
But now there will be really tough timing constraints. I wonder if Rhapsody still is an option (given a decent RTOS underneath it)?