KTC is a source-to-source compiler that compiles a Timed C file into a target specific C file. The current version of KTC supports translation of Timed C programs to real-time POSIX standard and FreeRTOS API. The KTC compiler has been tested to compile and run Timed C applications on Raspberry Pi running Raspian OS, Intel x86 processor running Ubuntu, and a PIC32 microcontroller running FreeRTOS.

The following steps have been tested on ubuntu 14.04LTS.

(a.) OCaml dependencies

Install the following packages using apt-get.

sudo apt-get install ocaml opam ocaml-findlib liblablgtk2-gl-ocaml libocamlgraph-ocaml-dev mercurial

(a.) Install CIL

Follow instructions below.

opam init
opam config env
opam depext conf-m4.1
opam install cil
eval $(opam config env)

For windows machine we suggest running KTC on WSL. KTC is tested and known to work only on Ubuntu 18.04.3 LTS.

(a.) OCaml dependencies

Install the following packages using apt-get.

sudo apt-get install ocaml opam ocaml-findlib liblablgtk2-gl-ocaml libocamlgraph-ocaml-dev mercurial 

(a.) Install CIL

Follow instructions below.

opam init
opam config env
opam depext conf-m4.1
opam install cil
opam install csv
opam install yojson 
eval $(opam config env)

(a.) Clone or download the source code from https://github.com/timed-c/ktc.git

(b.) Run make from the root directory (in this case, the ktc directory)

(a.) Go to the bin directory

(b.) To view the various options, run ktc with the help command.

./ktc --help

(c.) In Linux OS, to compile a Timed C file use the following command

./ktc --enable-ext0 ../test/demo1.c

(d.) To compile and run a Timed C file use the following command

./run.sh ../test/demo1.c

(e.) In Mac OSX, to compile a Timed C program KTC use the following command

./ktc --enable-ext0 --gcc=x86_64-pc-linux-gcc ../	 test/demo1.c

If the path for the cross compiler has not be exported use the complete path in the --gcc option as shown below.

./ktc --enable-ext0 --gcc=/usr/local/gcc-4.5.2-for-	linux64/bin/i586-pc-linux-gcc ../test/demo1.c

(a.) The folder called example within the ktc directory contains the few example programs (these example program are listed in the paper which is is currently under submission at the RTAS 2018 conference). To compile and execute the program use the following command

./run.sh <name-of-file>

For example the program implementing periodic loop using sdelay statement is compiled and executed using the following command

./run.sh sdelay-overshot.c

(a.) Follow the instructions at https://www.raspberrypi.org/help/quick-start-guide/ to install Raspbian OS on the raspberry pi. For a hassle free setup, make sure you have all the required components as mentioned in the link before you start. Use the official noobs installer to install raspbian. The instructions are available at https://www.raspberrypi.org/help/noobs-setup/

(b.) This is an optional step, one can download and install the Linux RT Prempt patch on the Raspbian OS. The Linux RT Prempt patch guarantees better real-time performance. Follow the instructions for installing the pre-compiled (RT patch Linux) given at http://www.frank-durr.de/?p=203

(c.) For MAC OSX, install the cross compiler for raspberry pi by following the instructions at http://www.welzels.de/blog/en/arm-cross-compiling-with-mac-os-x/comment-page-1/.

(d.) For Linux OS, install the cross compiler for raspberry pi by following the instructions at https://www.raspberrypi.org/documentation/linux/kernel/building.md

(a.) Go to the bin directory

(b.) To cross compile Timed C for raspberry pi use the following command

./ktc --enable-ext0 --rasp --gcc=arm-linux-gnueabihf-gcc ../test/demo1.c

If the path for the cross compiler has not be exported use the complete path in the --gcc option as shown below.

./ktc --enable-ext0 --rasp --gcc=/usr/local/linaro/arm-linux-gnueabihf-raspbian/bin/arm-linux-gnueabihf-gcc ../test/demo1.c -w

(a.) Download the MPLAB XC Compiler from http://www.microchip.com/mplab/compilers.

(b.) Download Microchip's Integrated Development Environment, MPLAB X IDE, from http://www.microchip.com/mplab/mplab-x-ide. Inorder to program your PIC32 microcontroller board using MPLAB you will also need either microchips's chipKIT PGM or PICkit 3 Programmer/Debugger.

(c.)FreeRTOS is downloaded as a part of the KTC environment from the github which contains the FreeRTOS code from https://sourceforge.net/projects/freertos/files/latest/download?source=file

(d.)Open the RTOSDEMO.X project on MPLAB from the FreeRTOS/Demo directory. Connect your PIC32 board and chipKIT PGM or PICkit 3 Programmer/Debugger to the computer and execute the demo application from MPLAB X IDE.

(a.) Compile the Timed C file using the below command

./ktc --enable-ext1 --freertos --save-temps --gcc=/Applications/microchip/xc32/v1.42/bin/xc32-gcc <NAME-OF-C-FILE> -w 

(b.) Copy the .cil.c file to the MPLAB project and build it on the MPLAB IDE using MPLAB XC compiler.