How should I manage memory in my mission critical embedded application?

I found some articles with google, but couldn't pinpoint a really useful practical guide.

The DO-178b forbids dynamic memory allocations, but how will you manage the memory than? preallocate everything in advance and send a pointer to each function that needs allocation? Allocate it on the stack? Use a global static allocator (but then it's very similar to dynamic allocation)?

Answers can be of the form of regular answer, reference to a resource, or reference to good opensource embedded system for example.

clarification: The issue here is not whether or not memory management is availible for the embedded system. But what is a good design for an embedded system, to maximize reliability.