Oh, one thing I should mention is that there are a few Haskell DSLs for generating embedded C now: * Atom http://hackage.haskell.org/package/atom * Feldspar http://hackage.haskell.org/package/feldspar-language * cmonad http://hackage.haskell.org/package/cmonad * Copilot http://hackage.haskell.org/package/copilot * Others? Which to use for what? Most of my experience is with Atom and Copilot. Copilot is a minimalist stream (data-flow) language, as it is focused on monitoring properties rather than more "stateful" tasks. Still, for some data-processing, it's quick and simple, pretty much like writing Haskell lists. The best reference for Copilot's constraints is this paper: http://www.cs.indiana.edu/~lepike/pub_pages/rv2010.html. In our flight-test of a pitot (air-pressure) sensor http://picasaweb.google.com/105722675808588603973, we wrote some of the fault-tolerance and sensor computation in Atom + C, and monitors for properties in Copilot. As mentioned, Copilot actually uses Atom as a "backend" for generating C code. Of course, it's perfectly fine to mix-and-match Atom & Copilot. I know less about Feldspar, but I think the language has higher-level data-structures (e.g., vectors and matrices) and is focused more on DSP than periodic, constant-time/constant-space C code generation. Thoughts from others? Regards, Lee