This master's thesis deals with the support for compilation and execution of programs written using OpenCL framework on embedded systems. OpenCL is a system for programming heterogeneous systems comprising processors, graphic accelerators and other computing devices. But it also finds usage on systems composed of just one computing unit, where it allows to write parallel programs (task and data parallelism) and work with hierarchical system of memories. In this thesis, various available open source OpenCL implementations are compared and one selected is then integrated into LLVM compiler infrastructure. This compiler is generated as a part of toolchain provided by application specific instruction set architecture processor developement environment called Codasip Studio. Designed and implemented are also optimizations for architectures with SIMD instructions and VLIW architectures. The result is tested and demonstrated on a set of testing applications.