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This paper describes a simulation platform for embedded software named ViPER (Virtual Platform and Environment Runtime). ViPER is oriented toward (but not limited to) systems of the automotive domain. It allows to model and simulate distributed embedded hardware platforms in order to ease the early development stages of the embedded software. Each node of the system is virtualized in a process that runs an ad-hoc port of the real-time operating system Trampoline. ViPER manages global time, hardware interrupt and offers a quick and easy way to model hardware devices. In order to close the loop, relevant parts of the environment can be simulated. Once a platform is modeled, ViPER generates description files for each node that ensure the conformance of the hardware abstraction layer to the virtual hardware. ViPER and Trampoline are available as free software.