System level design always has a disadvantage of not possessing detailed knowledge of the communication sub-system. This is a crucial issue for System-on-Chip design, where uncertainty in communication by very deep submicron effects cannot be neglected. This paper presents a bus architecture (BA) synthesis algorithm for designing the communication sub-system of an SoC. The algorithm is part of a hardware-software co-design methodology for resource constrained embedded applications. BA synthesis includes finding the bus topology, and routing the individual buses so that various constraints, like bus length, topology complexity, potential for communication conflicts over time, are addressed. The paper presents BA synthesis results for a network processor, and a JPEG SoC.