(a) (i) Explain the purpose of a cross-compiler and why it is necessary to use one when developing programs for the KL25Z. (ii) Explain how the complied code for a KL25Z can be transferred from the PC to the target micro-controller. (iii) Explain what is meant by 'run stop' debugging. Your answer should name two capabilities available in this form of debugging. (iv) An embedded system is designed using an RTOS (real-time operating system). Briefly explain what the main program does. (v) What does the scheduler in an RTOS do