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Embedded systems are targeted for specific applications under constraints on relative timing of their actions. For such systems, the use of pre-designed reprogrammable components such as microprocessors provides an effective way to reduce system cost by implementing part of the functionality as a program running on the processor. However, dedicated hardware is often necessary to achieve the requisite timing performance. Analysis of timing constraints is, therefore, key to determination of an efficient hardware-software implementation. In this paper, we present a methodology for embedded system design as a co-synthesis of interacting hardware and software components. We present a decomposition of the co-synthesis problem into sub-problems, that is useful in building a framework for embedded system CAD. In particular, we present operation-level timing constraints and develop the notion of …