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SystemC is a widely used electronic system-level (ESL) design language that can be used to model both hardware and software at different stages of system design. There has been a lot of research on behavior synthesis of hardware from SystemC, but relatively little work on synthesizing embedded software for SystemC designs. In this letter, we present an approach to automatic software synthesis from SystemC-based on coroutines instead of the traditional approaches based on real-time operating system (RTOS) threads. Performance evaluation results on some realistic applications show that our approach results in impressive reduction of runtime overheads compared to the thread-based approaches.