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## repository: https://bosch-ros-pkg.svn.sourceforge.net/svnroot/bosch-ros-pkg
<<PackageHeader(arduino_interface)>>

<<TOC(4)>>

== Install Arduino Firmware ==

Before using this package, the firmware of the Arduino must be updated. The necessary code and a Makefile are included in the `arduino_firmare` directory of the package.

=== Install Arduino Development Environment ===
The Arduino development environment 1.0.1 or greater must be installed before the firmware can be built. The `apt-get` package name is "`arduino`". Note that for Ubuntu 12.04, the 1.0.1 version must be installed from the backports repository.

=== Building the Firmware ===
{{{{#!wiki caution
'''I^2^C with External Pull-up Resistors'''

If you are using the I^2^C interface on the Arduino with external pull-up resistors, you must deactivate the Arduino's internal pull-ups on the SDA and SCL lines. By default, these pullups are enabled. To deactivate them, open the `Wire` library in the Arduino libraries folder (nominally `/usr/share/arduino/libraries`). In the `utilities` sub-folder, open the file `twi.c`, and comment out lines 70 and 71:
{{{
69 // activate internal pullups for twi.
70 // digitalWrite(SDA, 1);
71 // digitalWrite(SCL, 1);
}}}
}}}}

Open a terminal and change to the `arduino_firmware` directory. Set the Arduino board type by setting an environment variable:
{{{
$ export BOARD=uno
}}}
Alternatively, the `Makefile` defualt on line 281 can be changed. To see supported boards type `make boards`.

Build the firmware by typing
{{{
$ make
}}}
There should be a fair number of warnings, but no errors. The warnings are all in the Arduino-supplied code.

=== Uploading the Firmware ===
After the firmware is successfully built, upload it to the Arduino using
{{{
$ make upload
}}}
The Arduino is now ready for use with the `arduino_interface` package.

The Makefile supports additional options, as described in the table below:
||'''Command'''  ||'''Description'''||
||`make`         ||Build the firmware and display the size of the code||
||`make target`  ||Build the firmware||
||`make libs`    ||Build the Arduino libraries||
||`make clean`   ||Remove all build files and libraries||
||`make size`    ||Determine the size of the copiled code||
||`make upload`  ||Upload the firmware (`*.hex`) to the Arduino||
||`make download`||Download the firmware from the Arduino to a `.hex` file||
||`make erase`   ||Erase the firmware on the Arduino||
||`make boards`  ||List the different Arduino boards this makefile supports||
||`make monitor` ||Run the serial monitor for talking to the Arduino||

== Using the Package ==

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