Hardware-dependent Software (HdS) synthesis is becoming a key aspect in the development of mixed software and hardware computation platforms due to the increasing software content in such systems. Uniform and high-level interface models for both HW and SW are required in order to perform HdS development in parallel with the platform prototyping.In this paper, an optimal hardware and software infrastructure that enables the HW/SW interfacing from an object-oriented perspective is presented. The generation of such infrastructure is performed semi-automatically from UML models. Using this approach, the resulting high-level programming interface enables the reuse of the embedded software.To evaluate the efficiency of our proposal a prototype implementation on the Xilinx-V2 Pro platform has been made.