A B S T R A C T Due to rapidly increasing system complexity, shortening time-tomarket, and growing demand for hard real-time systems, formal methods are becoming indispensable in the synthesis of embedded systems, which must satisfy stringent temporal, memory, and environment constraints. There is a general lack of practical formal methods that can synthesize complex embedded real-time software (ERTS). In this work, a formal method based on TJrne Free-Choice Petri Nets (TFCPN) is proposed for

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... TS synthesis. The synthesis method employs quasi-static data scheduling for satisfying limited embedded memory requirements and uses dynamic realtime scheduling for satisfying hard real-time constraints. Software code is then generated from a set of quasi-statically and dynamically scheduled TFCPNs. Finally, an application example is given to illustrate the feasibility of the proposed TFCPN-based formal method for ERTS synthesis. K e y w o r d s