I am trying to install the Processing.org(Processing) code on an Arduino Mega 2560 board with A sample program for the MPU5060("MPU5060_DMP6.ino"). Everything seems to be fine, except that I get the message that the port(COM5) is busy. If I clear COM5 and run MPU5060_DMP6.ino, then Processing("MPUTeapot") states that COM5 is busy. If I clear COM5 and run MPUTeapot, then the MPU5060_DPM6.ino states that COM5 is busy. The sample code is altered as instructed and checked. I can not find a problem. The customized sample code for both MPU5060_DMP6.ino and MPUTeapot are included. Can someone please show me what is wrong.
The Arduino sketch(MPU5060_DMP6.ino) executes in "Arduino IDE". The Processing.org sketch("MPUTeapot" is also written in Arduino C++ but executes in a separate IDE specifically for Processing.
"MPU5060_DMP6.ino"
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
#include "Wire.h"
#endif
MPU6050 mpu;
//MPU6050 mpu(0x69); // <-- use for AD0 high
#define OUTPUT_TEAPOT
#define INTERRUPT_PIN 2 // use pin 2 on Arduino Uno & most boards -- and Mega 2560
#define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6)
bool blinkState = false;
// MPU control/status vars
bool dmpReady = false; // set true if DMP init was successful
uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount; // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer
// orientation/motion vars
Quaternion q; // [w, x, y, z] quaternion container
VectorInt16 aa; // [x, y, z] accel sensor measurements
VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements
VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements
VectorFloat gravity; // [x, y, z] gravity vector
float euler[3]; // [psi, theta, phi] Euler angle container
float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
// packet structure for InvenSense teapot demo
uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };
volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
void dmpDataReady() {
mpuInterrupt = true;
}
void setup() {
// join I2C bus (I2Cdev library doesn't do this automatically)
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
Wire.begin();
Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
Fastwire::setup(400, true);
#endif
// initialize serial communication
// (115200 chosen because it is required for Teapot Demo output, but it's
// really up to you depending on your project)
Serial.begin(115200);
while (!Serial); // wait for Leonardo enumeration, others continue immediately
// NOTE: 8MHz or slower host processors, like the Teensy @ 3.3v or Ardunio
// Pro Mini running at 3.3v, cannot handle this baud rate reliably due to
// the baud timing being too misaligned with processor ticks. You must use
// 38400 or slower in these cases, or use some kind of external separate
// crystal solution for the UART timer.
// initialize device
Serial.println(F("Initializing I2C devices..."));
mpu.initialize();
pinMode(INTERRUPT_PIN, INPUT);
// verify connection
Serial.println(F("Testing device connections..."));
Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
// wait for ready
Serial.println(F("\nSend any character to begin DMP programming and demo: "));
while (Serial.available() && Serial.read()); // empty buffer
while (!Serial.available()); // wait for data
while (Serial.available() && Serial.read()); // empty buffer again
// load and configure the DMP
Serial.println(F("Initializing DMP..."));
devStatus = mpu.dmpInitialize();
// supply your own gyro offsets here, scaled for min sensitivity
mpu.setXGyroOffset(220);
mpu.setYGyroOffset(76);
mpu.setZGyroOffset(-85);
mpu.setZAccelOffset(1788); // 1688 factory default for my test chip
// make sure it worked (returns 0 if so)
if (devStatus == 0) {
// turn on the DMP, now that it's ready
Serial.println(F("Enabling DMP..."));
mpu.setDMPEnabled(true);
// enable Arduino interrupt detection
Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING);
mpuIntStatus = mpu.getIntStatus();
// set our DMP Ready flag so the main loop() function knows it's okay to use it
Serial.println(F("DMP ready! Waiting for first interrupt..."));
dmpReady = true;
// get expected DMP packet size for later comparison
packetSize = mpu.dmpGetFIFOPacketSize();
} else {
// ERROR!
// 1 = initial memory load failed
// 2 = DMP configuration updates failed
// (if it's going to break, usually the code will be 1)
Serial.print(F("DMP Initialization failed (code "));
Serial.print(devStatus);
Serial.println(F(")"));
}
// configure LED for output
pinMode(LED_PIN, OUTPUT);
}
// ================================================================
// === MAIN PROGRAM LOOP ===
// ================================================================
void loop() {
// if programming failed, don't try to do anything
if (!dmpReady) return;
}
// reset interrupt flag and get INT_STATUS byte
mpuInterrupt = false;
mpuIntStatus = mpu.getIntStatus();
// get current FIFO count
fifoCount = mpu.getFIFOCount();
// check for overflow (this should never happen unless our code is too inefficient)
if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
// reset so we can continue cleanly
mpu.resetFIFO();
Serial.println(F("FIFO overflow!"));
// otherwise, check for DMP data ready interrupt (this should happen frequently)
} else if (mpuIntStatus & 0x02) {
// wait for correct available data length, should be a VERY short wait
while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
// read a packet from FIFO
mpu.getFIFOBytes(fifoBuffer, packetSize);
// track FIFO count here in case there is > 1 packet available
// (this lets us immediately read more without waiting for an interrupt)
fifoCount -= packetSize;
#ifdef OUTPUT_READABLE_EULER
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetEuler(euler, &q);
Serial.print("euler\t");
Serial.print(euler[0] * 180/M_PI);
Serial.print("\t");
Serial.print(euler[1] * 180/M_PI);
Serial.print("\t");
Serial.println(euler[2] * 180/M_PI);
#endif
#ifdef OUTPUT_TEAPOT
// display quaternion values in InvenSense Teapot demo format:
teapotPacket[2] = fifoBuffer[0];
teapotPacket[3] = fifoBuffer[1];
teapotPacket[4] = fifoBuffer[4];
teapotPacket[5] = fifoBuffer[5];
teapotPacket[6] = fifoBuffer[8];
teapotPacket[7] = fifoBuffer[9];
teapotPacket[8] = fifoBuffer[12];
teapotPacket[9] = fifoBuffer[13];
Serial.write(teapotPacket, 14);
teapotPacket[11]++; // packetCount, loops at 0xFF on purpose
#endif
// blink LED to indicate activity
blinkState = !blinkState;
digitalWrite(LED_PIN, blinkState);
}
}
Following is the code for MPUTeapot
"MPUTeapot"
import processing.serial.*;
import processing.opengl.*;
import toxi.geom.*;
import toxi.processing.*;
// NOTE: requires ToxicLibs to be installed in order to run properly.
// 1. Download from http://toxiclibs.org/downloads
// 2. Extract into [userdir]/Processing/libraries
// (location may be different on Mac/Linux)
// 3. Run and bask in awesomeness
ToxiclibsSupport gfx;
Serial port; // The serial port
char[] teapotPacket = new char[14]; // InvenSense Teapot packet
int serialCount = 0; // current packet byte position
int synced = 0;
int interval = 0;
float[] q = new float[4];
Quaternion quat = new Quaternion(1, 0, 0, 0);
float[] gravity = new float[3];
float[] euler = new float[3];
float[] ypr = new float[3];
void setup() {
// 300px square viewport using OpenGL rendering
size(300, 300, OPENGL);
gfx = new ToxiclibsSupport(this);
// setup lights and antialiasing
lights();
smooth();
// display serial port list for debugging/clarity
println(Serial.list());
// get the first available port (use EITHER this OR the specific port code below)
// String portName = Serial.list()[0];
// get a specific serial port (use EITHER this OR the first-available code above)
String portName = "COM5";
// open the serial port
port = new Serial(this, portName, 115200);
// send single character to trigger DMP init/start
// (expected by MPU6050_DMP6 example Arduino sketch)
port.write('r');
}
void draw() {
if (millis() - interval > 1000) {
// resend single character to trigger DMP init/start
// in case the MPU is halted/reset while applet is running
port.write('r');
interval = millis();
}
// black background
background(0);
// translate everything to the middle of the viewport
pushMatrix();
translate(width / 2, height / 2);
float[] axis = quat.toAxisAngle();
rotate(axis[0], -axis[1], axis[3], axis[2]);
// draw main body in red
fill(255, 0, 0, 200);
box(10, 10, 200);
// draw front-facing tip in blue
fill(0, 0, 255, 200);
pushMatrix();
translate(0, 0, -120);
rotateX(PI/2);
drawCylinder(0, 20, 20, 8);
popMatrix();
// draw wings and tail fin in green
fill(0, 255, 0, 200);
beginShape(TRIANGLES);
vertex(-100, 2, 30); vertex(0, 2, -80); vertex(100, 2, 30); // wing top layer
vertex(-100, -2, 30); vertex(0, -2, -80); vertex(100, -2, 30); // wing bottom layer
vertex(-2, 0, 98); vertex(-2, -30, 98); vertex(-2, 0, 70); // tail left layer
vertex( 2, 0, 98); vertex( 2, -30, 98); vertex( 2, 0, 70); // tail right layer
endShape();
beginShape(QUADS);
vertex(-100, 2, 30); vertex(-100, -2, 30); vertex( 0, -2, -80); vertex( 0, 2, -80);
vertex( 100, 2, 30); vertex( 100, -2, 30); vertex( 0, -2, -80); vertex( 0, 2, -80);
vertex(-100, 2, 30); vertex(-100, -2, 30); vertex(100, -2, 30); vertex(100, 2, 30);
vertex(-2, 0, 98); vertex(2, 0, 98); vertex(2, -30, 98); vertex(-2, -30, 98);
vertex(-2, 0, 98); vertex(2, 0, 98); vertex(2, 0, 70); vertex(-2, 0, 70);
vertex(-2, -30, 98); vertex(2, -30, 98); vertex(2, 0, 70); vertex(-2, 0, 70);
endShape();
popMatrix();
}
void serialEvent(Serial port) {
interval = millis();
while (port.available() > 0) {
int ch = port.read();
if (synced == 0 && ch != '$') return; // initial synchronization - also used to resync/realign if needed
synced = 1;
print ((char)ch);
if ((serialCount == 1 && ch != 2)
|| (serialCount == 12 && ch != '\r')
|| (serialCount == 13 && ch != '\n')) {
serialCount = 0;
synced = 0;
return;
}
if (serialCount > 0 || ch == '$') {
teapotPacket[serialCount++] = (char)ch;
if (serialCount == 14) {
serialCount = 0; // restart packet byte position
// get quaternion from data packet
q[0] = ((teapotPacket[2] << 8) | teapotPacket[3]) / 16384.0f;
q[1] = ((teapotPacket[4] << 8) | teapotPacket[5]) / 16384.0f;
q[2] = ((teapotPacket[6] << 8) | teapotPacket[7]) / 16384.0f;
q[3] = ((teapotPacket[8] << 8) | teapotPacket[9]) / 16384.0f;
for (int i = 0; i < 4; i++) if (q[i] >= 2) q[i] = -4 + q[i];
// set our toxilibs quaternion to new data
quat.set(q[0], q[1], q[2], q[3]);
/*
// below calculations unnecessary for orientation only using toxilibs
// calculate gravity vector
gravity[0] = 2 * (q[1]*q[3] - q[0]*q[2]);
gravity[1] = 2 * (q[0]*q[1] + q[2]*q[3]);
gravity[2] = q[0]*q[0] - q[1]*q[1] - q[2]*q[2] + q[3]*q[3];
// calculate Euler angles
euler[0] = atan2(2*q[1]*q[2] - 2*q[0]*q[3], 2*q[0]*q[0] + 2*q[1]*q[1] - 1);
euler[1] = -asin(2*q[1]*q[3] + 2*q[0]*q[2]);
euler[2] = atan2(2*q[2]*q[3] - 2*q[0]*q[1], 2*q[0]*q[0] + 2*q[3]*q[3] - 1);
// calculate yaw/pitch/roll angles
ypr[0] = atan2(2*q[1]*q[2] - 2*q[0]*q[3], 2*q[0]*q[0] + 2*q[1]*q[1] - 1);
ypr[1] = atan(gravity[0] / sqrt(gravity[1]*gravity[1] + gravity[2]*gravity[2]));
ypr[2] = atan(gravity[1] / sqrt(gravity[0]*gravity[0] + gravity[2]*gravity[2]));
// output various components for debugging
//println("q:\t" + round(q[0]*100.0f)/100.0f + "\t" + round(q[1]*100.0f)/100.0f + "\t" + round(q[2]*100.0f)/100.0f + "\t" + round(q[3]*100.0f)/100.0f);
//println("euler:\t" + euler[0]*180.0f/PI + "\t" + euler[1]*180.0f/PI + "\t" + euler[2]*180.0f/PI);
//println("ypr:\t" + ypr[0]*180.0f/PI + "\t" + ypr[1]*180.0f/PI + "\t" + ypr[2]*180.0f/PI);
*/
}
}
}
}
void drawCylinder(float topRadius, float bottomRadius, float tall, int sides) {
float angle = 0;
float angleIncrement = TWO_PI / sides;
beginShape(QUAD_STRIP);
for (int i = 0; i < sides + 1; ++i) {
vertex(topRadius*cos(angle), 0, topRadius*sin(angle));
vertex(bottomRadius*cos(angle), tall, bottomRadius*sin(angle));
angle += angleIncrement;
}
endShape();
// If it is not a cone, draw the circular top cap
if (topRadius != 0) {
angle = 0;
beginShape(TRIANGLE_FAN);
// Center point
vertex(0, 0, 0);
for (int i = 0; i < sides + 1; i++) {
vertex(topRadius * cos(angle), 0, topRadius * sin(angle));
angle += angleIncrement;
}
endShape();
}
// If it is not a cone, draw the circular bottom cap
if (bottomRadius != 0) {
angle = 0;
beginShape(TRIANGLE_FAN);
// Center point
vertex(0, tall, 0);
for (int i = 0; i < sides + 1; i++) {
vertex(bottomRadius * cos(angle), tall, bottomRadius * sin(angle));
angle += angleIncrement;
}
endShape();
}
}
Please and Thank You for solving such a "First Grade"(beginner) problem
Thank You for the input. This Post has been edited for readability.
