From 1da4c82adf222a4fe62ffffc902cb28bcbf2452e Mon Sep 17 00:00:00 2001
From: Stanley Huang <stanleyhuangyc@gmail.com>
Date: Mon, 10 Jun 2013 13:23:15 +0800
Subject: add MEGA Logger

The OBD/GPS/G-force data logger based on Arduino MEGA
---
 megalogger/README.txt     |  11 +
 megalogger/images.h       |  80 ++++++
 megalogger/megalogger.cbp | 140 ++++++++++
 megalogger/megalogger.ino | 663 ++++++++++++++++++++++++++++++++++++++++++++++
 4 files changed, 894 insertions(+)
 create mode 100644 megalogger/README.txt
 create mode 100644 megalogger/images.h
 create mode 100644 megalogger/megalogger.cbp
 create mode 100644 megalogger/megalogger.ino

diff --git a/megalogger/README.txt b/megalogger/README.txt
new file mode 100644
index 0000000..79e7c67
--- /dev/null
+++ b/megalogger/README.txt
@@ -0,0 +1,11 @@
+This is the source code for the Arduino OBD-II data logger, which displays (on a 128x64 OLED display module) and records (to a SD card) a selected set of OBD-II data. For hardware configuration and wiring guide, please refer to:
+http://obd.arduinodev.com
+
+The recorded data is stored in CSV format and the file can be illustrated into a graphic chart by a free service at:
+http://obd.arduinodev.com/view.html
+
+To compile the code with Arduino IDE, please copy all library files from the libraries directory to Arduino's libraries directory.
+
+To open the project file (obdlogger.cbp), please download CodeBlocks Arduino Edition (http://www.arduinodev.com/codeblocks).
+
+The source code is distributed under GPL license.
diff --git a/megalogger/images.h b/megalogger/images.h
new file mode 100644
index 0000000..4a84691
--- /dev/null
+++ b/megalogger/images.h
@@ -0,0 +1,80 @@
+const unsigned char PROGMEM frame0[78][58 * 2] = {
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+{0x0c,0x63,0x6e,0x73,0xaa,0x52,0x49,0x4a,0x28,0x4a,0xe8,0x41,0xc7,0x39,0x86,0x31,0x65,0x31,0x45,0x29,0x45,0x29,0x45,0x29,0x45,0x29,0x25,0x29,0x45,0x29,0x25,0x29,0x45,0x29,0x45,0x29,0x45,0x29,0x25,0x29,0x45,0x29,0x25,0x29,0x45,0x29,0x25,0x29,0x45,0x29,0x45,0x29,0x45,0x29,0x25,0x29,0x45,0x29,0x45,0x29,0x45,0x29,0x25,0x29,0x45,0x29,0x25,0x29,0x45,0x29,0x25,0x29,0x45,0x29,0x25,0x29,0x45,0x29,0x25,0x29,0x45,0x29,0x25,0x29,0x45,0x29,0x45,0x29,0x45,0x29,0x25,0x29,0x45,0x29,0x45,0x29,0x45,0x29,0x45,0x29,0x65,0x31,0x86,0x31,0xe7,0x39,0xe8,0x41,0x49,0x4a,0x8a,0x52,0x6d,0x73,0xcc,0x5a},
+{0xe4,0x18,0xeb,0x62,0xcb,0x5a,0x69,0x52,0x09,0x42,0xc7,0x39,0x86,0x29,0x44,0x29,0x04,0x19,0xc2,0x18,0xa3,0x10,0xa2,0x18,0xa3,0x10,0xa2,0x18,0xa3,0x10,0xa2,0x18,0xa3,0x10,0xa2,0x18,0xa3,0x10,0xa2,0x18,0xa3,0x10,0xa2,0x18,0xa3,0x10,0xa2,0x18,0xa3,0x10,0xa2,0x18,0xa3,0x10,0xa2,0x18,0xa3,0x10,0xa2,0x18,0xa3,0x10,0xa2,0x18,0xa3,0x10,0xa2,0x18,0xa3,0x10,0xa2,0x18,0xa3,0x10,0xa2,0x18,0xa3,0x10,0xa2,0x18,0xa3,0x10,0xa2,0x18,0xa3,0x10,0xa2,0x18,0xa3,0x10,0xa2,0x18,0xa3,0x10,0xc2,0x18,0xe4,0x18,0x24,0x29,0x45,0x29,0x86,0x31,0xc7,0x39,0x08,0x42,0x49,0x4a,0xaa,0x5a,0xcb,0x52,0xc3,0x18},
+};
diff --git a/megalogger/megalogger.cbp b/megalogger/megalogger.cbp
new file mode 100644
index 0000000..c5815bc
--- /dev/null
+++ b/megalogger/megalogger.cbp
@@ -0,0 +1,140 @@
+<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
+<CodeBlocks_project_file>
+	<FileVersion major="1" minor="6" />
+	<Project>
+		<Option title="megalogger" />
+		<Option pch_mode="2" />
+		<Option compiler="gcc" />
+		<Build>
+			<Target title="Simulator - Debug">
+				<Option output="build/megalogger_sim.exe" prefix_auto="1" extension_auto="0" />
+				<Option object_output="obj/Debug/" />
+				<Option type="1" />
+				<Option compiler="GCC" />
+				<Compiler>
+					<Add option="-g" />
+					<Add option="-DF_CPU=16000000L" />
+					<Add option="-DARDUSIM" />
+					<Add option="-D__AVR_ATmega2560__" />
+					<Add option="-x c++" />
+					<Add directory="$(ARDUINO_DIR)/arduino/cores" />
+					<Add directory="$(ARDUINO_DIR)/arduino/variants/standard" />
+					<Add directory="$(ARDUINO_DIR)/include" />
+				</Compiler>
+				<Linker>
+					<Add option="-lardusim" />
+				</Linker>
+				<Environment>
+					<Variable name="ARDUINO_DIR" value="$(APP_PATH)\ardusim" />
+				</Environment>
+			</Target>
+			<Target title="Simulator - Release">
+				<Option output="build/megalogger_sim.exe" prefix_auto="1" extension_auto="0" />
+				<Option object_output="obj/Release/" />
+				<Option type="1" />
+				<Option compiler="GCC" />
+				<Compiler>
+					<Add option="-O2" />
+					<Add option="-DF_CPU=16000000L" />
+					<Add option="-DARDUSIM" />
+					<Add option="-D__AVR_ATmega2560__" />
+					<Add option="-x c++" />
+					<Add directory="$(ARDUINO_DIR)/arduino/cores" />
+					<Add directory="$(ARDUINO_DIR)/arduino/variants/standard" />
+					<Add directory="$(ARDUINO_DIR)/include" />
+				</Compiler>
+				<Linker>
+					<Add option="-s" />
+					<Add option="-lardusim" />
+				</Linker>
+				<Environment>
+					<Variable name="ARDUINO_DIR" value="$(APP_PATH)\ardusim" />
+				</Environment>
+			</Target>
+			<Target title="Arduino Mega 2560/ADK">
+				<Option output="build/megalogger_${BOARD_ID}.elf" prefix_auto="1" extension_auto="0" />
+				<Option object_output="build" />
+				<Option type="1" />
+				<Option compiler="avrgcc" />
+				<Compiler>
+					<Add option="-x c++" />
+					<Add option="-mmcu=$(MCU)" />
+					<Add option="-DF_CPU=16000000L" />
+					<Add option="-D__AVR_ATmega2560__" />
+					<Add option="-O2" />
+					<Add directory="$(ARDUINO_DIR)/hardware/arduino/cores/arduino" />
+					<Add directory="$(ARDUINO_DIR)/libraries" />
+					<Add directory="$(ARDUINO_DIR)/hardware/arduino/variants/mega" />
+				</Compiler>
+				<Linker>
+					<Add option="-mmcu=$(MCU)" />
+					<Add option='&quot;$(PROJECT_DIR)${TARGET_OUTPUT_DIR}/lib_${BOARD_ID}_${MCU_CLOCK}.a&quot;' />
+					<Add option='&quot;$(PROJECT_DIR)${TARGET_OUTPUT_DIR}/core_${BOARD_ID}_${MCU_CLOCK}.a&quot;' />
+					<Add option="-s" />
+				</Linker>
+				<ExtraCommands>
+					<Add before='$(TARGET_COMPILER_DIR)ArduinoUploader &quot;$(PROJECT_DIR).&quot; $(BOARD_ID) - $(MCU_CLOCK) 0 &quot;$(PROJECT_DIR)${TARGET_OUTPUT_DIR}/lib_${BOARD_ID}_${MCU_CLOCK}.a&quot; &quot;$(PROJECT_DIR)${TARGET_OUTPUT_DIR}/core_${BOARD_ID}_${MCU_CLOCK}.a&quot;' />
+					<Add after='avr-objcopy -O ihex -R .eeprom -R .eesafe &quot;$(TARGET_OUTPUT_FILE)&quot; &quot;$(TARGET_OUTPUT_FILE).hex&quot;' />
+					<Add after='avr-objcopy --no-change-warnings -j .eeprom --change-section-lma .eeprom=0 -O ihex &quot;$(TARGET_OUTPUT_FILE)&quot; &quot;$(TARGET_OUTPUT_FILE).eep.hex&quot;' />
+					<Add after='avr-size --mcu=$(MCU) --format=avr &quot;$(TARGET_OUTPUT_FILE)&quot;' />
+				</ExtraCommands>
+				<Environment>
+					<Variable name="BOARD" value="Arduino Mega 2560\ADK" />
+					<Variable name="BOARD_ID" value="mega2560" />
+					<Variable name="MCU" value="atmega2560" />
+					<Variable name="MCU_CLOCK" value="16" />
+					<Variable name="UPLOAD_BAUDRATE" value="57600" />
+					<Variable name="UPLOAD_PORT" value="" />
+				</Environment>
+			</Target>
+			<Target title="Arduino Mega 1280">
+				<Option output="build/megalogger_${BOARD_ID}.elf" prefix_auto="1" extension_auto="0" />
+				<Option object_output="build" />
+				<Option type="1" />
+				<Option compiler="avrgcc" />
+				<Compiler>
+					<Add option="-x c++" />
+					<Add option="-mmcu=$(MCU)" />
+					<Add option="-DF_CPU=16000000L" />
+					<Add option="-D__AVR_ATmega1280__" />
+					<Add option="-O2" />
+					<Add directory="$(ARDUINO_DIR)/hardware/arduino/cores/arduino" />
+					<Add directory="$(ARDUINO_DIR)/libraries" />
+					<Add directory="$(ARDUINO_DIR)/hardware/arduino/variants/mega" />
+				</Compiler>
+				<Linker>
+					<Add option="-mmcu=$(MCU)" />
+					<Add option='&quot;$(PROJECT_DIR)${TARGET_OUTPUT_DIR}/lib_${BOARD_ID}_${MCU_CLOCK}.a&quot;' />
+					<Add option='&quot;$(PROJECT_DIR)${TARGET_OUTPUT_DIR}/core_${BOARD_ID}_${MCU_CLOCK}.a&quot;' />
+					<Add option="-s" />
+				</Linker>
+				<ExtraCommands>
+					<Add before='$(TARGET_COMPILER_DIR)ArduinoUploader &quot;$(PROJECT_DIR).&quot; $(BOARD_ID) - $(MCU_CLOCK) 0 &quot;$(PROJECT_DIR)${TARGET_OUTPUT_DIR}/lib_${BOARD_ID}_${MCU_CLOCK}.a&quot; &quot;$(PROJECT_DIR)${TARGET_OUTPUT_DIR}/core_${BOARD_ID}_${MCU_CLOCK}.a&quot;' />
+					<Add after='avr-objcopy -O ihex -R .eeprom -R .eesafe &quot;$(TARGET_OUTPUT_FILE)&quot; &quot;$(TARGET_OUTPUT_FILE).hex&quot;' />
+					<Add after='avr-objcopy --no-change-warnings -j .eeprom --change-section-lma .eeprom=0 -O ihex &quot;$(TARGET_OUTPUT_FILE)&quot; &quot;$(TARGET_OUTPUT_FILE).eep.hex&quot;' />
+					<Add after='avr-size --mcu=$(MCU) --format=avr &quot;$(TARGET_OUTPUT_FILE)&quot;' />
+				</ExtraCommands>
+				<Environment>
+					<Variable name="BOARD" value="Arduino Mega 1280" />
+					<Variable name="BOARD_ID" value="mega1280" />
+					<Variable name="MCU" value="atmega1280" />
+					<Variable name="MCU_CLOCK" value="16" />
+					<Variable name="UPLOAD_BAUDRATE" value="57600" />
+					<Variable name="UPLOAD_PORT" value="" />
+				</Environment>
+			</Target>
+		</Build>
+		<Compiler>
+			<Add directory="." />
+		</Compiler>
+		<Unit filename="images.h" />
+		<Unit filename="megalogger.ino">
+			<Option compile="1" />
+			<Option link="1" />
+		</Unit>
+		<Extensions>
+			<code_completion />
+			<debugger />
+		</Extensions>
+	</Project>
+</CodeBlocks_project_file>
diff --git a/megalogger/megalogger.ino b/megalogger/megalogger.ino
new file mode 100644
index 0000000..1309b93
--- /dev/null
+++ b/megalogger/megalogger.ino
@@ -0,0 +1,663 @@
+/*************************************************************************
+* Arduino GPS/OBD-II/G-Force Data Logger
+* Distributed under GPL v2.0
+* Copyright (c) 2013 Stanley Huang <stanleyhuangyc@gmail.com>
+* All rights reserved.
+*************************************************************************/
+
+#include <Arduino.h>
+#include <Wire.h>
+#include "OBD.h"
+#include "SD.h"
+#include "MultiLCD.h"
+#include "TinyGPS.h"
+#include "MPU6050.h"
+#include "images.h"
+
+/**************************************
+* Choose SD pin here
+**************************************/
+//#define SD_CS_PIN 4 // ethernet shield
+//#define SD_CS_PIN 7 // microduino
+#define SD_CS_PIN 10 // SD breakout
+
+/**************************************
+* Config GPS here
+**************************************/
+#define USE_GPS
+#define GPS_BAUDRATE 115200 /* bps */
+//#define GPS_OPEN_BAUDRATE 4800 /* bps */
+
+/**************************************
+* Other options
+**************************************/
+//#define USE_MPU6050
+//#define OBD_MIN_INTERVAL 200 /* ms */
+#define GPS_DATA_TIMEOUT 2000 /* ms */
+//#define CONSOLE Serial
+
+// logger states
+#define STATE_SD_READY 0x1
+#define STATE_OBD_READY 0x2
+#define STATE_GPS_CONNECTED 0x4
+#define STATE_GPS_READY 0x8
+#define STATE_ACC_READY 0x10
+#define STATE_DATE_SAVED 0x20
+
+// additional PIDs (non-OBD)
+#define PID_GPS_DATETIME 0xF0
+#define PID_GPS_SPEED 0xF01
+#define PID_GPS_COORDINATE 0xF2
+#define PID_GPS_ALTITUDE 0xF3
+#define PID_ACC 0xF8
+#define PID_GYRO 0xF9
+
+#define FILE_NAME_FORMAT "OBD%05d.CSV"
+
+#ifdef USE_GPS
+// GPS logging can only be enabled when there is additional hardware serial UART
+#if defined(__AVR_ATmega2560__) || defined(__AVR_ATmega1280__)
+#define GPSUART Serial2
+#elif defined(__AVR_ATmega644P__)
+#define GPSUART Serial1
+#endif
+
+#ifdef GPSUART
+
+#define PMTK_SET_NMEA_UPDATE_1HZ "$PMTK220,1000*1F"
+#define PMTK_SET_NMEA_UPDATE_5HZ "$PMTK220,200*2C"
+#define PMTK_SET_NMEA_UPDATE_10HZ "$PMTK220,100*2F"
+#define PMTK_SET_NMEA_OUTPUT_ALLDATA "$PMTK314,1,1,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0*28"
+#define PMTK_SET_BAUDRATE "$PMTK251,115200*1F"
+
+TinyGPS gps;
+
+#endif // GPSUART
+#endif
+
+// SD card
+Sd2Card card;
+SdVolume volume;
+File sdfile;
+
+LCD_ILI9325D lcd; /* for 2.8" TFT shield */
+#define LCD_LINES 24
+#define CHAR_WIDTH 6
+
+static uint32_t fileSize = 0;
+static uint32_t lastFileSize = 0;
+static uint32_t lastDataTime;
+static uint32_t lastGPSDataTime = 0;
+static uint16_t lastSpeed = -1;
+static int startDistance = 0;
+static uint16_t fileIndex = 0;
+static uint32_t startTime = 0;
+
+// cached data to be displayed
+static byte lastPID = 0;
+static int lastData;
+
+class CLogger : public COBD
+{
+public:
+    CLogger():state(0) {}
+    void Setup()
+    {
+        lcd.setLineHeight(10);
+        ShowStates();
+
+#ifdef USE_MPU6050
+        if (MPU6050_init() == 0) state |= STATE_ACC_READY;
+        ShowStates();
+#endif
+
+#ifdef GPSUART
+        unsigned long t = millis();
+        do {
+            if (GPSUART.available()) {
+                state |= STATE_GPS_CONNECTED;
+                break;
+            }
+        } while (millis() - t <= 1000);
+#endif
+
+        do {
+            ShowStates();
+        } while (!Init());
+
+        state |= STATE_OBD_READY;
+
+        ShowStates();
+        ShowPidsInfo();
+        delay(3000);
+
+        ReadSensor(PID_DISTANCE, startDistance);
+
+        // open file for logging
+        if (!(state & STATE_SD_READY)) {
+            if (CheckSD()) {
+                state |= STATE_SD_READY;
+                ShowStates();
+            }
+        }
+
+        fileSize = 0;
+        char filename[13];
+        sprintf(filename, FILE_NAME_FORMAT, fileIndex);
+        sdfile = SD.open(filename, FILE_WRITE);
+        if (!sdfile) {
+        }
+
+        InitScreen();
+        lastDataTime = millis();
+    }
+    void Loop()
+    {
+        static byte loopCount = 0;
+        static uint32_t lastTime = millis();
+        static byte dataCount = 0;
+
+        dataCount += 3;
+        LogData(PID_RPM);
+#ifdef GPSUART
+        if (millis() - lastGPSDataTime > GPS_DATA_TIMEOUT || gps.satellites() < 3) {
+            // GPS not ready
+            state &= ~STATE_GPS_READY;
+        } else {
+            // GPS ready
+            state |= STATE_GPS_READY;
+        }
+        LogData(PID_SPEED);
+#else
+        LogData(PID_SPEED);
+#endif
+        LogData(PID_THROTTLE);
+        if (state & STATE_ACC_READY) {
+            ProcessAccelerometer();
+        }
+
+        switch (loopCount++) {
+        case 0:
+        case 64:
+        case 128:
+        case 192:
+            LogData(PID_DISTANCE);
+            dataCount++;
+            break;
+        case 4:
+            LogData(PID_COOLANT_TEMP);
+            dataCount++;
+            break;
+        case 20:
+            LogData(PID_INTAKE_TEMP);
+            dataCount++;
+            break;
+        }
+
+        uint32_t t = millis();
+        if (t >> 10 != lastTime >> 10) {
+            char buf[10];
+            unsigned int sec = (t - startTime) / 1000;
+            sprintf(buf, "%02u:%02u", sec / 60, sec % 60);
+            lcd.setCursor(260, 3);
+            lcd.print(buf);
+
+            sprintf(buf, "%ums ", (uint16_t)(t - lastTime) / dataCount);
+            lcd.setCursor(260, 9);
+            lcd.print(buf);
+
+            dataCount = 0;
+            lastTime = t;
+        }
+
+        if (errors >= 5) {
+            Reconnect();
+            loopCount = 0;
+        }
+    }
+    bool CheckSD()
+    {
+        state &= ~STATE_SD_READY;
+        pinMode(SS, OUTPUT);
+        lcd.setCursor(0, 3);
+        if (card.init(SPI_HALF_SPEED, SD_CS_PIN)) {
+            const char* type;
+            char buf[20];
+
+            switch(card.type()) {
+            case SD_CARD_TYPE_SD1:
+                type = "SD1";
+                break;
+            case SD_CARD_TYPE_SD2:
+                type = "SD2";
+                break;
+            case SD_CARD_TYPE_SDHC:
+                type = "SDHC";
+                break;
+            default:
+                type = "SDx";
+            }
+
+            lcd.print(type);
+            lcd.write(' ');
+            if (!volume.init(card)) {
+                lcd.print("No FAT!");
+                return false;
+            }
+
+            uint32_t volumesize = volume.blocksPerCluster();
+            volumesize >>= 1; // 512 bytes per block
+            volumesize *= volume.clusterCount();
+            volumesize >>= 10;
+
+            sprintf(buf, "%dGB", (int)((volumesize + 511) / 1000));
+            lcd.print(buf);
+        } else {
+            lcd.print("No SD Card      ");
+            return false;
+        }
+
+        if (!SD.begin(SD_CS_PIN)) {
+            lcd.setCursor(8 * CHAR_WIDTH, 0);
+            lcd.print("Bad SD");
+            return false;
+        }
+
+        char filename[13];
+        // now determine log file name
+        for (fileIndex = 1; fileIndex; fileIndex++) {
+            sprintf(filename, FILE_NAME_FORMAT, fileIndex);
+            if (!SD.exists(filename)) {
+                break;
+            }
+        }
+        if (!fileIndex) {
+            lcd.setCursor(8 * CHAR_WIDTH, 8);
+            lcd.print("Bad File");
+            return false;
+        }
+
+        lcd.setCursor(10 * CHAR_WIDTH, 3);
+        lcd.print(filename);
+        state |= STATE_SD_READY;
+        return true;
+    }
+private:
+    void InitIdleLoop()
+    {
+        // called while initializing
+        char buf[10];
+        unsigned int t = (millis() - startTime) / 1000;
+        sprintf(buf, "%02u:%02u", t / 60, t % 60);
+        lcd.setCursor(0, 23);
+        lcd.print(buf);
+#ifdef GPSUART
+        // detect GPS signal
+        if (GPSUART.available()) {
+            char c = GPSUART.read();
+            if (gps.encode(c)) {
+                state |= STATE_GPS_READY;
+                lastGPSDataTime = millis();
+
+                unsigned long date, time;
+                gps.get_datetime(&date, &time, 0);
+                long lat, lon;
+                gps.get_position(&lat, &lon, 0);
+                lcd.setCursor(0, 8);
+                lcd.print("Time:");
+                lcd.print(time);
+                lcd.setCursor(0, 9);
+                lcd.print("LAT: ");
+                lcd.print(lat);
+                lcd.setCursor(0, 10);
+                lcd.print("LON: ");
+                lcd.println(lon);
+            }
+        }
+#endif
+#ifdef USE_MPU6050
+        if (state & STATE_ACC_READY) {
+            accel_t_gyro_union data;
+            MPU6050_readout(&data);
+            char buf[8];
+            sprintf(buf, "X:%4d", data.value.x_accel / 190);
+            lcd.setCursor(10 * CHAR_WIDTH, 1);
+            lcd.print(buf);
+            sprintf(buf, "Y:%4d", data.value.y_accel / 190);
+            lcd.setCursor(10 * CHAR_WIDTH, 2);
+            lcd.print(buf);
+            sprintf(buf, "Z:%4d", data.value.z_accel / 190);
+            lcd.setCursor(10 * CHAR_WIDTH, 3);
+            lcd.print(buf);
+            delay(100);
+        }
+#endif
+    }
+#ifdef GPSUART
+    void DataIdleLoop()
+    {
+        if (GPSUART.available())
+            ProcessGPS();
+    }
+    void ProcessGPS()
+    {
+        // process GPS data
+        char c = GPSUART.read();
+        if (!gps.encode(c))
+            return;
+
+        // parsed GPS data is ready
+        uint32_t dataTime = millis();
+        uint16_t elapsed = (uint16_t)(dataTime - lastDataTime);
+        int len;
+        char buf[32];
+        unsigned long date, time;
+        gps.get_datetime(&date, &time, 0);
+        len = sprintf(buf, "%u,F0,%ld %ld\n", elapsed, date, time);
+        sdfile.write((uint8_t*)buf, len);
+
+        unsigned int speed = (unsigned int)(gps.speed() * 1852 / 100 / 1000);
+
+        // no need to log GPS data when vehicle has not been moving
+        // that's when previous speed is zero and current speed is also zero
+        if (!(speed == 0 && lastSpeed == 0) && gps.satellites() >= 3) {
+            // lastSpeed will be updated
+            //ShowSensorData(PID_SPEED, speed);
+            len = sprintf(buf, "%u,F1,%u\n", elapsed, speed);
+            sdfile.write((uint8_t*)buf, len);
+
+            long lat, lon;
+            gps.get_position(&lat, &lon, 0);
+            len = sprintf(buf, "%u,F2,%ld %ld\n", elapsed, lat, lon);
+            sdfile.write((uint8_t*)buf, len);
+
+            if (((unsigned int)dataTime / 1000) & 1)
+                sprintf(buf, "LAT:%d.%ld  ", (int)(lat / 100000), lat % 100000);
+            else
+                sprintf(buf, "LON:%d.%ld  ", (int)(lon / 100000), lon % 100000);
+            lcd.setCursor(0, 7);
+            lcd.print(buf);
+
+            len = sprintf(buf, "%u,F3,%ld\n", elapsed, gps.altitude());
+            sdfile.write((uint8_t*)buf, len);
+        }
+        lastDataTime = dataTime;
+        lastGPSDataTime = dataTime;
+    }
+#endif
+    void ProcessAccelerometer()
+    {
+#ifdef USE_MPU6050
+        accel_t_gyro_union data;
+        MPU6050_readout(&data);
+        uint32_t dataTime = millis();
+
+        ShowGForce(data.value.y_accel);
+
+        int len;
+        uint16_t elapsed = (uint16_t)(dataTime - lastDataTime);
+        char buf[20];
+        // log x/y/z of accelerometer
+        len = sprintf(buf, "%u,F10,%d %d %d\n", data.value.x_accel, data.value.y_accel, data.value.z_accel);
+        sdfile.write((uint8_t*)buf, len);
+        // log x/y/z of gyro meter
+        len = sprintf(buf, "%u,F11,%d %d %d\n", data.value.x_gyro, data.value.y_gyro, data.value.z_gyro);
+        sdfile.write((uint8_t*)buf, len);
+        lastDataTime = dataTime;
+#endif
+    }
+    void LogData(byte pid)
+    {
+        char buffer[OBD_RECV_BUF_SIZE];
+        int value;
+        uint32_t start = millis();
+
+        // send a query to OBD adapter for specified OBD-II pid
+        Query(pid);
+        // wait for reponse
+        bool hasData;
+        do {
+            DataIdleLoop();
+        } while (!(hasData = available()) && millis() - start < OBD_TIMEOUT_SHORT);
+        // no need to continue if no data available
+        if (!hasData) {
+            errors++;
+            return;
+        }
+
+        // display data while waiting for OBD response
+        ShowSensorData(lastPID, lastData);
+
+        // get response from OBD adapter
+        pid = 0;
+        char* data = GetResponse(pid, buffer);
+        if (!data) {
+            // try recover next time
+            write('\r');
+            return;
+        }
+        // keep data timestamp of returned data as soon as possible
+        uint32_t dataTime = millis();
+
+        // convert raw data to normal value
+        value = GetConvertedValue(pid, data);
+
+        lastPID = pid;
+        lastData = value;
+
+        // log data to SD card
+        char buf[32];
+        uint16_t elapsed = (uint16_t)(dataTime - lastDataTime);
+        byte len = sprintf(buf, "%u,%X,%d\n", elapsed, pid, value);
+        // log OBD data
+        sdfile.write((uint8_t*)buf, len);
+        fileSize += len;
+        lastDataTime = dataTime;
+
+        // flush SD data every 1KB
+        if (fileSize - lastFileSize >= 1024) {
+            sdfile.flush();
+            // display logged data size
+            char buf[7];
+            sprintf(buf, "%uKB", (int)(fileSize >> 10));
+            lcd.setCursor(260, 7);
+            lcd.print(buf);
+            lastFileSize = fileSize;
+        }
+
+        // if OBD response is very fast, go on processing other data for a while
+#ifdef OBD_MIN_INTERVAL
+        while (millis() - start < OBD_MIN_INTERVAL) {
+            DataIdleLoop();
+        }
+#endif
+    }
+    void ShowPidsInfo()
+    {
+        char buffer[24];
+        byte pidlist[] = {PID_RPM, PID_SPEED, PID_THROTTLE, PID_ENGINE_LOAD, PID_MAF_FLOW, PID_INTAKE_MAP, PID_FUEL_LEVEL, PID_FUEL_PRESSURE, PID_COOLANT_TEMP, PID_INTAKE_TEMP, PID_AMBIENT_TEMP, PID_TIMING_ADVANCE, PID_BAROMETRIC};
+        const char* namelist[] = {"ENGINE RPM", "SPEED", "THROTTLE", "ENGINE LOAD", "MAF", "MAP", "FUEL LEVEL", "FUEL PRESSURE", "COOLANT TEMP", "INTAKE TEMP","AMBIENT TEMP", "IGNITION TIMING", "BAROMETER"};
+
+        for (byte i = 0; i < sizeof(pidlist) / sizeof(pidlist[0]); i++) {
+            lcd.setCursor(30 * CHAR_WIDTH, i + 4);
+            sprintf(buffer, "%s: %s", namelist[i], IsValidPID(PID_RPM) ? "Yes" : "No");
+            lcd.print(buffer);
+        }
+    }
+    void Reconnect()
+    {
+        sdfile.close();
+        lcd.clear();
+        lcd.print("Reconnecting...");
+        state &= ~(STATE_OBD_READY | STATE_ACC_READY | STATE_DATE_SAVED);
+        //digitalWrite(SD_CS_PIN, LOW);
+        for (int i = 0; !Init(); i++) {
+            if (i == 10) lcd.clear();
+        }
+        fileIndex++;
+        Setup();
+    }
+    byte state;
+
+    // screen layout related stuff
+    void ShowStates()
+    {
+        lcd.setCursor(0, 4);
+        lcd.print("GPS:");
+        if (state & STATE_GPS_READY)
+            lcd.print("Yes");
+        else if (state & STATE_GPS_CONNECTED)
+            lcd.print("--");
+        else
+            lcd.print("No");
+
+        lcd.setCursor(0, 5);
+        lcd.print("ACC:");
+        lcd.print((state & STATE_ACC_READY) ? "Yes" : "No");
+        lcd.setCursor(0, 6);
+        lcd.print("OBD:");
+        lcd.print((state & STATE_OBD_READY) ? "Yes" : "No");
+    }
+    virtual void ShowSensorData(byte pid, int value)
+    {
+        char buf[8];
+        switch (pid) {
+        case PID_RPM:
+            lcd.setCursor(34, 9);
+            lcd.printInt((unsigned int)value % 10000, FONT_SIZE_XLARGE, 4);
+            break;
+        case PID_SPEED:
+            if (lastSpeed != value) {
+                lcd.setCursor(50, 3);
+                lcd.printInt((unsigned int)value % 1000, FONT_SIZE_XLARGE, 3);
+                lastSpeed = value;
+            }
+            break;
+/*
+        case PID_THROTTLE:
+            lcd.setCursor(66, 8);
+            lcd.printInt(value % 100, FONT_SIZE_XLARGE, 2);
+            break;
+        case PID_INTAKE_TEMP:
+            lcd.setCursor(64, 3);
+            lcd.printInt(value, FONT_SIZE_LARGE, 3);
+            break;
+*/
+        case PID_DISTANCE:
+            if ((unsigned int)value >= startDistance) {
+                sprintf(buf, "%ukm", ((unsigned int)value - startDistance) % 1000);
+                lcd.setCursor(260, 5);
+                lcd.print(buf);
+            }
+            break;
+        }
+    }
+    virtual void ShowGForce(int g)
+    {
+        byte n;
+        /* 0~1.5g -> 0~8 */
+        g /= 85 * 25;
+        lcd.setCursor(0, 1);
+        if (g == 0) {
+            lcd.clearLine(1);
+        } else if (g < 0 && g >= -8) {
+            for (n = 0; n < 8 + g; n++) {
+                lcd.write(' ');
+            }
+            for (; n < 8; n++) {
+                lcd.write('<');
+            }
+            lcd.print("        ");
+        } else if (g > 0 && g < 8) {
+            lcd.print("        ");
+            for (n = 0; n < g; n++) {
+                lcd.write('>');
+            }
+            for (; n < 8; n++) {
+                lcd.write(' ');
+            }
+        }
+    }
+    virtual void InitScreen()
+    {
+        //lcd.clear();
+        lcd.setLineHeight(8);
+        lcd.backlight(true);
+
+        lcd.clear(156, 0, 8, 240);
+        lcd.clear(0, 116, 320, 8);
+
+        lcd.draw2x(frame0[0], 0, 0, 78, 58);
+        lcd.draw2x(frame0[0], 164, 0, 78, 58);
+        lcd.draw2x(frame0[0], 0, 124, 78, 58);
+        lcd.draw2x(frame0[0], 164, 124, 78, 58);
+
+        lcd.setCursor(63, 2);
+        lcd.print("SPEED");
+        lcd.setCursor(110, 5);
+        lcd.print("km/h");
+        lcd.setCursor(60, 8);
+        lcd.print("ENGINE");
+        lcd.setCursor(110, 11);
+        lcd.print("rpm");
+
+        lcd.setCursor(190, 3);
+        lcd.print("Elapsed:");
+        lcd.setCursor(190, 5);
+        lcd.print("Distance:");
+        lcd.setCursor(190, 7);
+        lcd.print("Data Size:");
+        lcd.setCursor(190, 9);
+        lcd.print("OBD Time:");
+        /*
+        lcd.setCursor(32, 4);
+        lcd.print("%");
+        lcd.setCursor(68, 5);
+        lcd.print("Intake Air");
+        lcd.setCursor(112, 4);
+        lcd.print("C");
+        */
+    }
+};
+
+static CLogger logger;
+
+void setup()
+{
+    lcd.begin();
+    //lcd.clear();
+    lcd.backlight(true);
+    lcd.print("MEGA LOGGER - OBD-II/GPS/G-FORCE DATA LOGGER");
+    lcd.setCursor(0, 1);
+    lcd.print("Initializing...");
+
+#ifdef CONSOLE
+    CONSOLE.begin(115200);
+#endif
+    // start serial communication at the adapter defined baudrate
+    OBDUART.begin(OBD_SERIAL_BAUDRATE);
+#ifdef GPSUART
+#ifdef GPS_OPEN_BAUDRATE
+    GPSUART.begin(GPS_OPEN_BAUDRATE);
+    delay(10);
+    GPSUART.println(PMTK_SET_BAUDRATE);
+    GPSUART.end();
+#endif
+    GPSUART.begin(GPS_BAUDRATE);
+    // switching to 10Hz mode, effective only for MTK3329
+    //GPSUART.println(PMTK_SET_NMEA_OUTPUT_ALLDATA);
+    //GPSUART.println(PMTK_SET_NMEA_UPDATE_5HZ);
+#endif
+
+    delay(500);
+
+    //lcd.setColor(0x7FF);
+    lcd.print("OK");
+    logger.CheckSD();
+    logger.Setup();
+}
+
+void loop()
+{
+    logger.Loop();
+}
-- 
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