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<p>The authors describe a systematic, heterogeneous design methodology using the Ptolemy framework for simulation, prototyping, and software synthesis of systems containing a mixture of hardware and software components. They focus on signal-processing systems in which the hardware typically consists of custom data paths, finite-state machines (FSMs), glue logic and programmable processors. The software is one or more embedded programs running on the programmable components.</p>
Asawaree Kalavade, Edward A. Lee, "A Hardware-Software Codesign Methodology for DSP Applications", IEEE Design & Test of Computers, vol. 10, no. , pp. 16-28, July/September 1993, doi:10.1109/54.232469
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