Bridging the gap between algorithm development and hardware realization remains a persistent challenge, particularly in latency- and resource-constrained domains such as wireless communication. While MATLAB provides a mature environment for algorithm prototyping, translating these models into efficient FPGA implementations via High-Level Synthesis (HLS) often requires expert tuning and lengthy iterations. Recent advances in large language models (LLMs) offer new opportunities for automating this process. However, existing approaches suffer from hallucinations, forgetting, limited domain expertise, and often overlook key performance metrics. To address these limitations, we present A2H-MAS, a modular and hierarchical multi-agent system. At the system level, A2H-MAS assigns clearly defined responsibilities to specialized agents and uses standardized interfaces and execution-based validation to ensure correctness and reproducibility. At the algorithmic level, it employs dataflow-oriented modular decomposition and algorithm-hardware co-design, recognizing that the choice of algorithm often has a larger impact on hardware efficiency than pragma-level optimization. Experiments on representative wireless communication algorithms show that A2H-MAS consistently produces functionally correct, resource-efficient, and latency-optimized HLS designs, demonstrating its effectiveness and robustness for complex hardware development workflows.