Hardware/software co-verification is becoming an indispensable tool for building highly trustworthy embedded systems. A stumbling block to effective co-verification using model checking is the lack of support to unified property specification for hardware, software, and entire embedded systems. In this paper, we develop xPSL, a unified property specification language for co-verification. xPSL extends the IEEE Property Specification Language (PSL) to support specification of temporal assertions

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... ver both hardware and software events. The semantics of hardware and software events and their temporal correlations are formalized based on translation of both hardware and software semantics to a common formal semantic basis. xPSL has been applied in co-verification to specify properties of hardware and software components, and furthermore entire embedded systems. Case studies have shown that xPSL is very effective in enabling co-verification of system-level properties and facilitating compositional reasoning.