Model driven development has become state of the art in embedded systems software design. To take the resulting models to the designated hardware platform, automated code generation is sought for. The code obtained thereby must match the semantics of the model as closely as possible. In this paper we show how to map models specified using the Component Language (COLA) to C code in an automated manner. In addition we present our concepts for interfacing the effective hardware platform, which in case of embedded systems means the interaction with sensors and actuators. Using a prototypical implementation of the code generator, we validated our approach on a case study using LEGO Mindstorms, which embody all characteristics of embedded systems. This case study includes benchmarks comparing the automatically generated code to a hand-written version offering the same functionality.
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