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This paper presents an extension of a synchronous data-flow language such as Lustre with imperative features expressed in terms of powerful state machine `a la SyncChart. This extension is fully conservative in the sense that all the programs from the basic language still make sense in the extended language and their semantics is preserved. From a syntactical point of view this extension consists in hierarchical state machines that may carry at each hierarchy level a bunch of equations. This proposition is an alternative to the joint use of Simulink and Stateflow but improves it by allowing a fine grain mix of both styles. The central idea of the paper is to base this extension on the use of clocks, translating imperative constructs into well clocked data-flow programs from the basic language. This clock directed approach is an easy way to define a semantics for the extension, it is light to implement in an existing compiler and experiments show that the generated code compete favorably with ad-hoc techniques. The proposed extension has been implemented in the ReLuC compiler of Scade/Lustre and in the Lucid Synchrone compiler.
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