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Software synthesis from an initial specification model becomes a critical issue in the ESL design methodology as hardware platforms are often reused and more processors are involved in the target platform. Since embedded software has different requirements from general purpose software, there are extensive researches being performed on devising a novel methodology of software synthesis. In this paper, we first summarize some key requirements of embedded software, and then provide an analysis and comparative overview of the state-of-the-art current approaches. Among all the approaches, our proposed programming platform approach pursues an interesting trade-off between static analyzability and expression capability. Based on the survey result, we anticipate the future directions of research in software synthesis techniques.