In this paper we propose an ESL synthesis framework which, from the C code of an application and a description of a generic architecture, automatically explores and generates a complete synthesizable version of a H-MPSoC architecture along with the adapted code application. We developed a Design Space Exploration (DSE) algorithm that merges hardware specialization, data-parallelism exploration, processor instantiation and task mapping according to user performance and cost constraints. We also inserted HLS in the DSE loop and get fast exploration of hardware acceleration. A new ESL framework is presented, it combines our contributions with some legacy tools issued from our and another team. We validated our framework with a case study of an MJPEG decoder