This book describes an alternative approach to direct mapping loops described in high-level languages onto FPGAs. Different from other approaches, this technique does not inherit from software pipelining techniques. The control is distributed over operations, thus a finite state machine is not necessary to control the order of operations, allowing efficient hardware implementations. The specification of a hardware block is done by means of LALP, a domain specific language specially designed to help the application of the techniques. While the language syntax resembles C, it contains certain constructs that allow programmer interventions to enforce or relax data dependences as needed, and so optimize the performance of the generated hardware.