Currently, run-time operating systems are widely used to implement concurrent embedded applications. This run-time approach to multi-tasking and inter-process communication can introduce significant overhead to execution times and memory requirements -- prohibitive in many cases for embedded applications where processor and memory resources are scarce. In this paper, we present a static compilation approach that generates ordinary C programs at compile-time that can be readily retargeted to different processors, without including or generating a run-time scheduler. Our method is based on a novel Petri net theoretic approach.