Hardware/software codesign investigates the concurrent design of hardware and
sof t war e components of complex electronic systems. It tries t o exploit the synergy of hardware and software with the goal to optimize and/or satisfy design constraints such as cost, performance, and power of the final product. At the same time, it targets to reduce the time-to- market frame consideraly. !his paper presents ma"or achievements of two decades of research on methods and tools for hardware/software codesign y starting with a historical survey of its roots, y highlighting its ma"or research directions and achievements until today, and finally, y predicting in which direction research in codesign might evolve in the decades to come. i