Control flow integrity (CFI) checks are used in desktop systems, in order to protect them from various forms of attacks, but they are rarely investigated for embedded systems, due to their introduced overhead. The contribution of this paper is an efficient software implementation of a CFI-check for ARM-and Xtensa processors. Moreover, we propose the combination of this CFI-check with another defense mechanism against return-oriented-programming (ROP). We show that by this combination the security is significantly improved. Moreover, it will also in-crease the safety of the system, since the combination can detect a failed ROP-attack and bring the system in a safe state, which is not possible when using each technique separately. We will also report on the introduced overhead in code size and run time.