The authors present a software-oriented approach to hardware-software
partitioning, which avoids restrictions on the software semantics, and
an iterative partitioning process based on ''hardware extraction'' co
ntrolled by a cost function. This process is used in Cosyma, an experi
mental cosynthesis system for embedded controllers. As an example, the
authors demonstrate the extraction of coprocessors for loops. They pr
esent results for several benchmark designs.