Embedded Systems Ser.: Embedded Systems Design Based on Formal Models of Computation by Zoran Salcic and Ivan Radojevic (2011, Hardcover)
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ISBN-13: 9789400715936, 978-9400715936. It targets heterogeneous systems by combining finite state machines (FSM) with synchronous dataflow graphs (SDFG). In the formal semantics of DFCharts, the operation of an SDFG is represented as an FSM.