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<b>To cite this work</b>, please cite
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<a href="http://hal.inria.fr/inria-00638936">this</a>
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or <a href="http://hal.archives-ouvertes.fr/hal-00688490">this</a>.
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<i>Prelude</i> is a high-level language for programming real-time embedded control systems. It is a data-flow synchronous language, similar to <a href="http://en.wikipedia.org/wiki/Lustre_%28programming_language%29">Lustre</a>. It provides real-time primitives for the programming of multi-periodic systems. Compared to other synchronous languages, it considers a higher layer of abstraction. It can be considered as a real-time software architecture language, designed to assemble locally mono-periodic synchronous systems into a globally multi-periodic synchronous ones. <br><br>
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The <i>preludec</i> compiler generates synchronized multi-task C code, that is independent of the target OS. Communication is achieved by a tailor-made buffering communication protocol. The compilation is defined formally and produces code that respects the temporal semantics of the original program (periods,
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