If there is already a significant quantity of legacy C code that will be added to the system then why move to C# and Java?
In response to your latest edit about wanting to take advantage of any improvements in processing speed....then your best bet would be to stick to C as it runs closer to the hardware than C# and Java which have the overhead of a runtime environment to deal with. The closer to the hardware you can get the faster you should be able to run. Higher Level languages such as C# and Java will result in quicker development times...but C...or better yet Assembly will result in quicker processing time...but longer development time.
