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With the impressive development of embedded systems, it becomes possible and imperative to connect them to the Internet. Meanwhile, because of the IPv4 address exhaustion problem, IPv6 is not only an appropriate but also a preferable choice for this purpose. This paper proposes a light-weight IPv6 protocol stack, EIPv6, for embedded systems. It is efficient and fast enough for time-critical applications, and highly portable and configurable to satisfy resource requirements of various platforms. With some optional features disabled, its size can be limited to 24.3 KBytes and requires 6.5 KBytes of RAM, without significant degradation in performance.