Reference data logger sketch for Freematics OBD-II UART Adapter

2 files changed, 299 insertions, 296 deletions

diff --git a/datalogger/config.h b/datalogger/config.h
index 177f128..9697da2 100644
--- a/datalogger/config.h
+++ b/datalogger/config.h
@@ -14,11 +14,8 @@
 #define ENABLE_DATA_CACHE 0
 #define MAX_CACHE_SIZE 256  /* bytes */
 
-// followings define the format of data streaming, enable one of them only
-// FORMAT_BIN is required by Freematics OBD iOS App
-//#define STREAM_FORMAT FORMAT_BIN
-// FORMAT_TEXT is for readable text output
 #define STREAM_FORMAT FORMAT_TEXT
+//#define STREAM_FORMAT FORMAT_BIN
 
 // serial baudrate for data out streaming
 #define STREAM_BAUDRATE 115200
@@ -33,9 +30,6 @@
 // max allowed time for connecting OBD-II (0 for forever)
 #define OBD_ATTEMPT_TIME 0 /* seconds */
 
-// OBD-II UART baudrate
-#define OBD_UART_BAUDRATE 115200L
-
 // SD pin
 #define SD_CS_PIN 10
 
@@ -46,9 +40,7 @@
 #define COMPASS_DATA_RATIO 8
 
 // enable(1)/disable(0) GPS module
-#define USE_GPS 1
-#define LOG_GPS_NMEA_DATA 0
-#define LOG_GPS_PARSED_DATA 1
+#define USE_GPS 0
 
 // GPS parameters
 #define GPS_SERIAL_BAUDRATE 115200L
diff --git a/datalogger/datalogger.ino b/datalogger/datalogger.ino
index 8bda37d..f348943 100644
--- a/datalogger/datalogger.ino
+++ b/datalogger/datalogger.ino
@@ -1,27 +1,38 @@
 /*************************************************************************
-* OBD-II/MEMS/GPS Data Logging Sketch for Freematics ONE
-* Distributed under BSD license
-* Visit http://freematics.com/products/freematics-one for more information
-* Developed by Stanley Huang <stanleyhuangyc@gmail.com>
-* 
-* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-* THE SOFTWARE.
+  OBD-II/GPS/MEMS Data Logging Sketch
+  Requires an Arduino board with 2 serial UARTs (3 if GPS required)
+
+  Serial: serial monitor
+  Serial1: Freematics OBD-II UART Adapter (V2 required for MEMS data)
+  Serial2: GPS Receiver (default 115200bps)
+  Change parameters in config.h
+
+  Distributed under BSD license
+  Visit http://freematics.com/products for more information
+  Developed by Stanley Huang <support@freematics.com.au>
+
+  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+  THE SOFTWARE.
 *************************************************************************/
 
 #include <Arduino.h>
 #include <Wire.h>
-#include <OBD.h>
 #include <SPI.h>
 #include <SD.h>
+#include <OBD.h>
 #include <TinyGPS.h>
 #include "config.h"
 #include "datalogger.h"
 
+#if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168P__)
+#error This sketch requires at least 2 hardware serial
+#endif
+
 // states
 #define STATE_SD_READY 0x1
 #define STATE_OBD_READY 0x2
@@ -36,7 +47,7 @@ static uint16_t fileIndex = 0;
 uint16_t MMDD = 0;
 uint32_t UTC = 0;
 
-#if USE_MPU6050 || USE_MPU9250
+#if USE_MPU6050
 byte accCount = 0; // count of accelerometer readings
 long accSum[3] = {0}; // sum of accelerometer data
 int accCal[3] = {0}; // calibrated reference accelerometer data
@@ -49,289 +60,289 @@ byte deviceTemp; // device temperature (celcius degree)
 TinyGPS gps;
 
 typedef struct {
-    uint32_t date;
-    uint32_t time;
-    int32_t lat;
-    int32_t lng;
-    int16_t alt;
-    uint8_t speed;
-    uint8_t sat;
-    int16_t heading;
+  uint32_t date;
+  uint32_t time;
+  int32_t lat;
+  int32_t lng;
+  int16_t alt;
+  uint8_t speed;
+  uint8_t sat;
+  int16_t heading;
 } GPS_DATA;
 
 bool getGPSData(GPS_DATA* gd)
 {
-    bool parsed = false;
-    while (!parsed && GPSUART.available()) {
-      char c = GPSUART.read();
-      parsed = gps.encode(c);
-    }
-    if (!parsed) return false;
-	gps.get_datetime((unsigned long*)&gd->date, (unsigned long*)&gd->time, 0);
-	gps.get_position((long*)&gd->lat, (long*)&gd->lng, 0);
-    gd->sat = gps.satellites();
-    gd->speed = gps.speed() * 1852 / 100000; /* km/h */
-    gd->alt = gps.altitude();
-    gd->heading = gps.course() / 100;
-    return true;
+  bool parsed = false;
+  while (!parsed && GPSUART.available()) {
+    char c = GPSUART.read();
+    parsed = gps.encode(c);
+  }
+  if (!parsed) return false;
+  gps.get_datetime((unsigned long*)&gd->date, (unsigned long*)&gd->time, 0);
+  gps.get_position((long*)&gd->lat, (long*)&gd->lng, 0);
+  gd->sat = gps.satellites();
+  gd->speed = gps.speed() * 1852 / 100000; /* km/h */
+  gd->alt = gps.altitude();
+  gd->heading = gps.course() / 100;
+  return true;
 }
 
 bool initGPS(uint32_t baudrate)
 {
-    if (baudrate)
-      GPSUART.begin(baudrate);  
-    else
-      GPSUART.end();
-    return true;
+  if (baudrate)
+    GPSUART.begin(baudrate);
+  else
+    GPSUART.end();
+  return true;
 }
 #endif
 
 class COBDLogger : public COBD, public CDataLogger
 {
-public:
-    COBDLogger():state(0) {}
+  public:
+    COBDLogger(): state(0) {}
     void setup()
     {
-        state = 0;
+      state = 0;
 
-        delay(500);
-        byte ver = begin();
-        Serial.print("Firmware Ver. ");
-        Serial.println(ver);
+      delay(500);
+      byte ver = begin();
+      Serial.print("Firmware Ver. ");
+      Serial.println(ver);
 
-#if USE_MPU6050 || USE_MPU9250
-        Serial.print("MEMS ");
-        if (memsInit()) {
-          state |= STATE_MEMS_READY;
-          Serial.println("OK");
-        } else {
-          Serial.println("NO");
-        }
+#if USE_MPU6050
+      Serial.print("MEMS ");
+      if (memsInit()) {
+        state |= STATE_MEMS_READY;
+        Serial.println("OK");
+      } else {
+        Serial.println("NO");
+      }
 #endif
 
 #if ENABLE_DATA_LOG
-        Serial.print("SD ");
-        uint16_t volsize = initSD();
-        if (volsize) {
-          Serial.print(volsize);
-          Serial.println("MB");
-        } else {
-          Serial.println("NO");
-        }
+      Serial.print("SD ");
+      uint16_t volsize = initSD();
+      if (volsize) {
+        Serial.print(volsize);
+        Serial.println("MB");
+      } else {
+        Serial.println("NO");
+      }
 #endif
 
-        Serial.print("OBD ");
-        if (init()) {
-          Serial.println("OK");
-        } else {
-          Serial.println("NO");
-          reconnect();
-        }
-        state |= STATE_OBD_READY;
+      Serial.print("OBD ");
+      if (init()) {
+        Serial.println("OK");
+      } else {
+        Serial.println("NO");
+        reconnect();
+      }
+      state |= STATE_OBD_READY;
 
 #if 0
-        // retrieve VIN
-        char buffer[128];
-        if ((state & STATE_OBD_READY) && getVIN(buffer, sizeof(buffer))) {
-          Serial.print("VIN:");
-          Serial.println(buffer);
-        }
+      // retrieve VIN
+      char buffer[128];
+      if ((state & STATE_OBD_READY) && getVIN(buffer, sizeof(buffer))) {
+        Serial.print("VIN:");
+        Serial.println(buffer);
+      }
 #endif
 
 #if USE_GPS
-        Serial.print("GPS ");
-        if (initGPS(GPS_SERIAL_BAUDRATE)) {
-          state |= STATE_GPS_FOUND;
-          Serial.println("OK");
-        } else {
-          Serial.println("NO");
-        }
+      Serial.print("GPS ");
+      if (initGPS(GPS_SERIAL_BAUDRATE)) {
+        state |= STATE_GPS_FOUND;
+        Serial.println("OK");
+      } else {
+        Serial.println("NO");
+      }
 #endif
 
-#if USE_MPU6050 || USE_MPU9250
-		// obtain reference MEMS data
-		Serial.print("Calibrating MEMS...");
-		for (uint32_t t = millis(); millis() - t < 1000; ) {
-			readMEMS();
-		}
-		calibrateMEMS();
-		Serial.print(accCal[0]);
-		Serial.print('/');
-		Serial.print(accCal[1]);
-		Serial.print('/');
-		Serial.println(accCal[2]);
+#if USE_MPU6050
+      // obtain reference MEMS data
+      Serial.print("Calibrating MEMS...");
+      for (uint32_t t = millis(); millis() - t < 1000; ) {
+        readMEMS();
+      }
+      calibrateMEMS();
+      Serial.print(accCal[0]);
+      Serial.print('/');
+      Serial.print(accCal[1]);
+      Serial.print('/');
+      Serial.println(accCal[2]);
 #endif
 
-		delay(500);
+      delay(500);
     }
 #if USE_GPS
     void logGPSData()
     {
 #if LOG_GPS_NMEA_DATA
-        // issue the command to get NMEA data (one line per request)
-        char buf[255];
-        byte n = getGPSRawData(buf, sizeof(buf));
-        if (n) {
-            dataTime = millis();
-            // strip heading $GPS and ending \r\n
-            logData(buf + 4, n - 6);
-        }
+      // issue the command to get NMEA data (one line per request)
+      char buf[255];
+      byte n = getGPSRawData(buf, sizeof(buf));
+      if (n) {
+        dataTime = millis();
+        // strip heading $GPS and ending \r\n
+        logData(buf + 4, n - 6);
+      }
 #endif
 #if LOG_GPS_PARSED_DATA
-        // issue the command to get parsed GPS data
-        GPS_DATA gd = {0};
-        
-        if (getGPSData(&gd)) {
-            dataTime = millis();
-            if (gd.time && gd.time != UTC) {
-              byte day = gd.date / 10000;
-              if (MMDD % 100 != day) {
-                logData(PID_GPS_DATE, gd.date);
-              }
-              logData(PID_GPS_TIME, gd.time);
-              logData(PID_GPS_LATITUDE, gd.lat);
-              logData(PID_GPS_LONGITUDE, gd.lng);
-              logData(PID_GPS_ALTITUDE, gd.alt);
-              logData(PID_GPS_SPEED, gd.speed);
-              logData(PID_GPS_SAT_COUNT, gd.sat);
-              // save current date in MMDD format
-              unsigned int DDMM = gd.date / 100;
-              UTC = gd.time;
-              MMDD = (DDMM % 100) * 100 + (DDMM / 100);
-              // set GPS ready flag
-              state |= STATE_GPS_READY;
-            }
+      // issue the command to get parsed GPS data
+      GPS_DATA gd = {0};
+
+      if (getGPSData(&gd)) {
+        dataTime = millis();
+        if (gd.time && gd.time != UTC) {
+          byte day = gd.date / 10000;
+          if (MMDD % 100 != day) {
+            logData(PID_GPS_DATE, gd.date);
+          }
+          logData(PID_GPS_TIME, gd.time);
+          logData(PID_GPS_LATITUDE, gd.lat);
+          logData(PID_GPS_LONGITUDE, gd.lng);
+          logData(PID_GPS_ALTITUDE, gd.alt);
+          logData(PID_GPS_SPEED, gd.speed);
+          logData(PID_GPS_SAT_COUNT, gd.sat);
+          // save current date in MMDD format
+          unsigned int DDMM = gd.date / 100;
+          UTC = gd.time;
+          MMDD = (DDMM % 100) * 100 + (DDMM / 100);
+          // set GPS ready flag
+          state |= STATE_GPS_READY;
         }
+      }
 #endif
     }
 #endif
 #if ENABLE_DATA_LOG
     uint16_t initSD()
     {
-        state &= ~STATE_SD_READY;
-        pinMode(SS, OUTPUT);
+      state &= ~STATE_SD_READY;
+      pinMode(SS, OUTPUT);
 
-        Sd2Card card;
-        uint32_t volumesize = 0;
-        if (card.init(SPI_HALF_SPEED, SD_CS_PIN)) {
-            SdVolume volume;
-            if (volume.init(card)) {
-              volumesize = volume.blocksPerCluster();
-              volumesize >>= 1; // 512 bytes per block
-              volumesize *= volume.clusterCount();
-              volumesize /= 1000;
-            }
-        }
-        if (SD.begin(SD_CS_PIN)) {
-          state |= STATE_SD_READY;
-          return volumesize; 
-        } else {
-          return 0;
+      Sd2Card card;
+      uint32_t volumesize = 0;
+      if (card.init(SPI_HALF_SPEED, SD_CS_PIN)) {
+        SdVolume volume;
+        if (volume.init(card)) {
+          volumesize = volume.blocksPerCluster();
+          volumesize >>= 1; // 512 bytes per block
+          volumesize *= volume.clusterCount();
+          volumesize /= 1000;
         }
+      }
+      if (SD.begin(SD_CS_PIN)) {
+        state |= STATE_SD_READY;
+        return volumesize;
+      } else {
+        return 0;
+      }
     }
     void flushData()
     {
       // flush SD data every 1KB
-        byte dataSizeKB = dataSize >> 10;
-        if (dataSizeKB != lastFileSize) {
-            flushFile();
-            lastFileSize = dataSizeKB;
+      byte dataSizeKB = dataSize >> 10;
+      if (dataSizeKB != lastFileSize) {
+        flushFile();
+        lastFileSize = dataSizeKB;
 #if MAX_LOG_FILE_SIZE
-            if (dataSize >= 1024L * MAX_LOG_FILE_SIZE) {
-              closeFile();
-              state &= ~STATE_FILE_READY;
-            }
-#endif
+        if (dataSize >= 1024L * MAX_LOG_FILE_SIZE) {
+          closeFile();
+          state &= ~STATE_FILE_READY;
         }
+#endif
+      }
     }
 #endif
     void reconnect()
     {
-        Serial.println("Reconnecting");
-        // try to re-connect to OBD
-        if (init()) return;
+      Serial.println("Reconnecting");
+      // try to re-connect to OBD
+      if (init()) return;
 #if ENABLE_DATA_LOG
-        closeFile();
+      closeFile();
 #endif
-        // turn off GPS power
+      // turn off GPS power
 #if USE_GPS
-        initGPS(0);
+      initGPS(0);
 #endif
-        state &= ~(STATE_OBD_READY | STATE_GPS_READY);
-        Serial.println("Standby");
-        // put OBD chips into low power mode
-        enterLowPowerMode();
-        
-        // calibrate MEMS for several seconds
-        for (;;) {
-#if USE_MPU6050 || USE_MPU9250
-          accSum[0] = 0;
-          accSum[1] = 0;
-          accSum[2] = 0;
-          for (accCount = 0; accCount < 10; ) {
-            readMEMS();
-            delay(30);
-          }
-          // calculate relative movement
-          unsigned long motion = 0;
-          for (byte i = 0; i < 3; i++) {
-            long n = accSum[i] / accCount - accCal[i];
-            motion += n * n;
-          }
-          // check movement
-          if (motion > START_MOTION_THRESHOLD) {
-            Serial.println(motion);
-            // try OBD reading
+      state &= ~(STATE_OBD_READY | STATE_GPS_READY);
+      Serial.println("Standby");
+      // put OBD chips into low power mode
+      enterLowPowerMode();
+
+      // calibrate MEMS for several seconds
+      for (;;) {
+#if USE_MPU6050
+        accSum[0] = 0;
+        accSum[1] = 0;
+        accSum[2] = 0;
+        for (accCount = 0; accCount < 10; ) {
+          readMEMS();
+          delay(30);
+        }
+        // calculate relative movement
+        unsigned long motion = 0;
+        for (byte i = 0; i < 3; i++) {
+          long n = accSum[i] / accCount - accCal[i];
+          motion += n * n;
+        }
+        // check movement
+        if (motion > START_MOTION_THRESHOLD) {
+          Serial.println(motion);
+          // try OBD reading
 #endif
-            leaveLowPowerMode();
-            if (init()) {
-              // OBD is accessible
-              break;
-            }
-            enterLowPowerMode();
-#if USE_MPU6050 || USE_MPU9250
-            // calibrate MEMS again in case the device posture changed
-            calibrateMEMS();
+          leaveLowPowerMode();
+          if (init()) {
+            // OBD is accessible
+            break;
           }
-#endif
+          enterLowPowerMode();
+#if USE_MPU6050
+          // calibrate MEMS again in case the device posture changed
+          calibrateMEMS();
         }
+#endif
+      }
 #ifdef ARDUINO_ARCH_AVR
-        // reset device
-        void(* resetFunc) (void) = 0; //declare reset function at address 0
-        resetFunc();
+      // reset device
+      void(* resetFunc) (void) = 0; //declare reset function at address 0
+      resetFunc();
 #else
-        setup();
+      setup();
 #endif
     }
-#if USE_MPU6050 || USE_MPU9250
+#if USE_MPU6050
     void calibrateMEMS()
     {
-		// get accelerometer calibration reference data
-		if (accCount) {
-			accCal[0] = accSum[0] / accCount;
-			accCal[1] = accSum[1] / accCount;
-			accCal[2] = accSum[2] / accCount;
-		}
-	}
+      // get accelerometer calibration reference data
+      if (accCount) {
+        accCal[0] = accSum[0] / accCount;
+        accCal[1] = accSum[1] / accCount;
+        accCal[2] = accSum[2] / accCount;
+      }
+    }
     void readMEMS()
     {
-        // load accelerometer and temperature data
-        int16_t acc[3] = {0};
-        int16_t temp; // device temperature (in 0.1 celcius degree)
-        memsRead(acc, 0, 0, &temp);
-        if (accCount >= 250) {
-          accSum[0] >>= 1;
-          accSum[1] >>= 1;
-          accSum[2] >>= 1;
-          accCount >>= 1;
-        }
-        accSum[0] += acc[0];
-        accSum[1] += acc[1];
-        accSum[2] += acc[2];
-        accCount++;
-        deviceTemp = temp / 10;
+      // load accelerometer and temperature data
+      int16_t acc[3] = {0};
+      int16_t temp; // device temperature (in 0.1 celcius degree)
+      memsRead(acc, 0, 0, &temp);
+      if (accCount >= 250) {
+        accSum[0] >>= 1;
+        accSum[1] >>= 1;
+        accSum[2] >>= 1;
+        accCount >>= 1;
+      }
+      accSum[0] += acc[0];
+      accSum[1] += acc[1];
+      accSum[2] += acc[2];
+      accCount++;
+      deviceTemp = temp / 10;
     }
- #endif
+#endif
     byte state;
 };
 
@@ -339,87 +350,87 @@ static COBDLogger one;
 
 void setup()
 {
-	Serial.begin(115200);
-    one.initSender();
-    one.setup();
+  Serial.begin(115200);
+  one.initSender();
+  one.setup();
 }
 
 void loop()
 {
 #if ENABLE_DATA_LOG
-    if (!(one.state & STATE_FILE_READY) && (one.state & STATE_SD_READY)) {
-      if (one.state & STATE_GPS_FOUND) {
-        // GPS connected
-        Serial.print("File ");
-        if (one.state & STATE_GPS_READY) {
-          uint32_t dateTime = (uint32_t)MMDD * 10000 + UTC / 10000;
-          if (one.openFile(dateTime) != 0) {
-            Serial.println(dateTime);
-            MMDD = 0;
-            one.state |= STATE_FILE_READY;
-          } else {
-            Serial.println("File error");
-          }
-        }
-      } else {
-        // no GPS connected 
-        int index = one.openFile(0);
-        if (index != 0) {
+  if (!(one.state & STATE_FILE_READY) && (one.state & STATE_SD_READY)) {
+    if (one.state & STATE_GPS_FOUND) {
+      // GPS connected
+      Serial.print("File ");
+      if (one.state & STATE_GPS_READY) {
+        uint32_t dateTime = (uint32_t)MMDD * 10000 + UTC / 10000;
+        if (one.openFile(dateTime) != 0) {
+          Serial.println(dateTime);
+          MMDD = 0;
           one.state |= STATE_FILE_READY;
-          Serial.println(index);
         } else {
           Serial.println("File error");
         }
       }
+    } else {
+      // no GPS connected
+      int index = one.openFile(0);
+      if (index != 0) {
+        one.state |= STATE_FILE_READY;
+        Serial.println(index);
+      } else {
+        Serial.println("File error");
+      }
     }
+  }
 #endif
-    if (one.state & STATE_OBD_READY) {
-        byte pids[]= {0, PID_RPM, PID_SPEED, PID_THROTTLE, PID_ENGINE_LOAD};
-        byte pids2[] = {PID_COOLANT_TEMP, PID_INTAKE_TEMP, PID_DISTANCE};
-        int values[sizeof(pids)];
-        static byte index2 = 0;
-        pids[0] = pids2[index2 = (index2 + 1) % sizeof(pids2)];
-        // read multiple OBD-II PIDs
-        if (one.readPID(pids, sizeof(pids), values) == sizeof(pids)) {
-          one.dataTime = millis();
-          for (byte n = 0; n < sizeof(pids); n++) {
-            one.logData((uint16_t)pids[n] | 0x100, values[n]);
-          }
-        }
-        if (one.errors >= 10) {
-            one.reconnect();
-        }
-    } else {
-      if (!OBD_ATTEMPT_TIME || millis() < OBD_ATTEMPT_TIME * 1000) {
-        if (one.init()) {
-            one.state |= STATE_OBD_READY;
-        }
+  if (one.state & STATE_OBD_READY) {
+    byte pids[] = {0, PID_RPM, PID_SPEED, PID_THROTTLE, PID_ENGINE_LOAD};
+    byte pids2[] = {PID_COOLANT_TEMP, PID_INTAKE_TEMP, PID_DISTANCE};
+    int values[sizeof(pids)];
+    static byte index2 = 0;
+    pids[0] = pids2[index2 = (index2 + 1) % sizeof(pids2)];
+    // read multiple OBD-II PIDs
+    if (one.readPID(pids, sizeof(pids), values) == sizeof(pids)) {
+      one.dataTime = millis();
+      for (byte n = 0; n < sizeof(pids); n++) {
+        one.logData((uint16_t)pids[n] | 0x100, values[n]);
       }
     }
-    
-    // log battery voltage (from voltmeter), data in 0.01v
-    int v = one.getVoltage() * 100;
-    one.dataTime = millis();
-    one.logData(PID_BATTERY_VOLTAGE, v);
-
-#if USE_MPU6050 || USE_MPU9250
-    if ((one.state & STATE_MEMS_READY) && accCount) {
-       // log the loaded MEMS data
-      one.logData(PID_ACC, accSum[0] / accCount / ACC_DATA_RATIO, accSum[1] / accCount / ACC_DATA_RATIO, accSum[2] / accCount / ACC_DATA_RATIO);
+    if (one.errors >= 10) {
+      one.reconnect();
     }
+  } else {
+    if (!OBD_ATTEMPT_TIME || millis() < OBD_ATTEMPT_TIME * 1000) {
+      if (one.init()) {
+        one.state |= STATE_OBD_READY;
+      }
+    }
+  }
+
+  // log battery voltage (from voltmeter), data in 0.01v
+  int v = one.getVoltage() * 100;
+  one.dataTime = millis();
+  one.logData(PID_BATTERY_VOLTAGE, v);
+
+#if USE_MPU6050
+  if ((one.state & STATE_MEMS_READY) && accCount) {
+    // log the loaded MEMS data
+    one.logData(PID_ACC, accSum[0] / accCount / ACC_DATA_RATIO, accSum[1] / accCount / ACC_DATA_RATIO, accSum[2] / accCount / ACC_DATA_RATIO);
+  }
 #endif
 #if USE_GPS
-    if (one.state & STATE_GPS_FOUND) {
-      one.logGPSData();
-    }
+  if (one.state & STATE_GPS_FOUND) {
+    one.logGPSData();
+  }
 #endif
 
 #if ENABLE_DATA_LOG
-    uint32_t logsize = sdfile.size();
-    if (logsize > 0) {
-      one.flushData();
-      Serial.print(sdfile.size());
-      Serial.println(" bytes");
-    }
+  uint32_t logsize = sdfile.size();
+  if (logsize > 0) {
+    one.flushData();
+    Serial.print(sdfile.size());
+    Serial.println(" bytes");
+  }
 #endif
 }