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A method of scheduling onto multiprocessors for embedded DSP system applications is proposed. This method basing on SDF (Synchronous Data Flow) performs all of the scheduling at compile time by methods of periodic schedules. And it uses a Hierarchical Priority Scheduling algorithm, which first schedules the module of highest priority, to solve the problem, static scheduling of SDF onto Multiprocessors. Compared to other algorithms, it has better Time and Space Complexity because the conversion from SDF to APG (Acyclic Precedence Graphs) is unnecessary. Experimental results prove the validity of the proposed method.