This paper presents an automated API translator for embedded software development based on a model-driven approach. Since MDA(Model Driven Architecture) provides little support for the development of embedded software, we propose a new approach containing its advantages. First, we define #generic APIs# which do not depend on any RTOS#s but provide most of typical RTOS services. We can describe RTOS-related behaviors of target application using these generic APIs in a CIC(Common Intermediate Code). Then, we propose a transformation tool for translating between a CIC using generic APIs and a C-code for specific RTOS. The proposed API translator converts them using XML transformation rule which is defined outside. It indicates that an API translator extends to other RTOS#s by modifying or adding the transformation rule. From the experiment. we validate the proposed method.