In this paper, a scheduling method for heterogeneous embedded systems is developed. At first, an internal representation model called FunSrate is presented which enables the explicit representation of nondeterminism and scheduling using a combination of functions and state machines. The new scheduling method is able to deal with mixed data/control Row specifications and takes into account different mechanisms of non-determinism as occurring in the design of embedded systems. Constraints imposed by other already implemented components are respected. Tbe scheduling approach avoids the explicit ennmeration of execution paths by using symbolic techniques and gnarantees to find a deadlock-free and bounded schedule if one exists. The generated schedule consists of statically scheduled basic blocks which are dynamically called at run time.