+\Glspl{EDSL} have often been used to generate \gls{C} code for microcontroller
+environments. For starters, this work is built upon the \gls{mTask}-\gls{EDSL}
+that generates \gls{C} code to run a \gls{TOP}-like system on microcontrollers%
+\cite{plasmeijer_shallow_2016}\cite{koopman_type-safe_nodate}.
+Again, this requires a reprogramming cycle every time the
+\gls{Task}-specification is changed.
+
+Another \gls{EDSL} designed to generate low-level high-assurance programs is
+called \gls{Ivory} and uses \gls{Haskell} as a host language%
+\cite{elliott_guilt_2015}. The language uses the \gls{Haskell} type-system to
+make unsafe languages type safe. For example, \gls{Ivory} has been used in the
+automotive industry to program parts of an autopilot%
+\cite{pike_programming_2014}\cite{hickey_building_2014}. \Gls{Ivory}'s syntax
+is deeply embedded but the type system is shallowly embedded. This requires
+several \gls{Haskell} extensions that offer dependent type constructions. The
+process of compiling an \gls{Ivory} program happens in stages. The embedded
+code is transformed into an \gls{AST} that is sent to a backend. The
+\gls{mTask} \gls{EDSL} transforms the embedded code during compile-time
+directly into the backend which is often a state transformer that will execute
+on runtime.