Arduino supplies a Java class file to do the task, but I got frustrated because the class file needed Java 11 and I didn’t want to put it on every machine I use, so I just rewrote it in C.

If you want to develop a program on Arduino with Raspberry Pi, then this tutorial has all the steps you need to take for it, in detail.

You’ll also need the Arduino IDE (a recent copy) and Intel’s Quartus software. Inside, you’ll find three directories, two of which contain slightly modified copies of original Arduino files.