Heterogeneous computing is emerging as a mandatory requirement for power-efficient system design. With this aim, modern heterogeneous platforms like Zynq All-Programmable SoC, that integrates ARM-based SMP and programmable logic, have been designed. However, those platforms introduce large design cycles consisting on hardware/software partitioning, decisions on granularity and number of hardware accelerators, hardware/software integration, bitstream generation, etc. This paper presents a performance parallel heterogeneous estimation for systems where hardware/software co-design and run-time heterogeneous task scheduling are key. The results show that the programmer can quickly decide, based only on her/his OmpSs (OpenMP + extensions) application, which is the co-design that achieves nearly optimal heterogeneous parallel performance, based on the methodology presented and considering only synthesis estimation results. The methodology presented reduces the programmer co-design decision from hours to minutes and shows high potential on hardware/software heterogeneous parallel performance estimation on the Zynq All-Programmable SoC.