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This paper presents a new method for compiling the concurrent synchronous language Esterel into sequential C code. The method is optimized for embedded systems with very tight memory and real-time constraints. Source code is sliced into small code sequences called halt points, statically scheduled so as to be compatible with Esterel semantic. Speed reaction is optimized without increasing code size, by executing at each reaction only active code sequences. Performances are compared to other compilation methods with industrial size examples and results show significant performance improvement.

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