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This book covers the foundations of hardware / software codesign, on-chip communication, debugging, and verification, for heterogenous SoCs. Its primary objective is to empower designers in making informed decisions, guiding them to strike the perfect balance between flexibility and performance for their SoC designs. Readers will benefit from a detailed exploration of the essential elements of the hardware and software codesign framework, accompanied by a discussion of the driving motivations behind this approach. The author also provides an in-depth review of various hardware design architectures, shedding light on different design possibilities. Furthermore, the book presents key concepts concerning hardware and software communication, unraveling the intricate interactions within an SoC. This book provides a holistic introduction to the methodologies underpinning SoC design and verification, making it an indispensable companion for both novice and experienced designers navigating the ever-evolving landscape of hardware / software codesign.