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--- guides:falcom_fsa03 [2010/08/30 15:23] – mixio
+++ guides:falcom_fsa03 [2012/06/03 14:42] (current) – upu
@@ Line 4: / Line 4: @@
 The [[http://www.falcom.de/products/gps-modules/fsa03/|Falcom FSA03]] is an inexpensive Ublox 5 ([[http://www.u-blox.com/en/gps-chips/stand-alone-gps-chips/u-blox-5-chipset-ubx-g5010.html|UBX-G5010]]) GPS module with a small footprint which featuring the Sarantel quadrifilar helix antenna.
+Although still available this unit is end of life.
 Ublox modules are capable of operating above 60,000 feet, provided they are configured and placed in airborne mode. The FSA03 does not include any EEPROM or Flash memory, and as such is unable to retain settings unless its RAM is buffered by backup battery. The module should be programmed with UBX whenever power has been lost to place it in airborne mode.
 Some FSA03 modules have been found to have a default baud rate of 9600, whilst others have a default baud rate of 38400, which may be difficult to parse if not using a UART (ie software serial).
@@ Line 20: / Line 23: @@
 The module draws around 40mA typically, though upto 100mA when acquiring lock.
-The antenna on this module appears to be slightly wobbly and this may be one of the causes of the module not getting a lock for long periods of time. Its recommended that you secure it (perhaps with glue) in a position that works.
+The antenna on this module appears to be slightly wobbly and this may be one of the causes of the module not getting a lock for long periods of time. It's recommended that you secure it (perhaps with glue) in a position that works.
 ===== Configuration =====
@@ Line 27: / Line 30: @@
-===== Common UBX commands decoded directly from u-center =====
+==== Common UBX commands decoded directly from u-center ====
 <code>
 ====== CONFIG NAV MODE (Airbone < 1g) + (Auto 2D/3D) ======
-:37:25  SEND  B5 62 06 24 24 00 FF FF 06 03 00 00 00 00 10 27  // Set Navigation Engine Settings
+:37:25  SEND   B5 62 06 24 24 00 FF FF 06 03 00 00 00 00 10 27  // Set Navigation Engine Settings
 	  SEND   00 00 05 00 FA 00 FA 00 64 00 2C 01 00 00 00 00
 	  SEND   00 00 00 00 00 00 00 00 00 00 16 DC
@@ Line 131: / Line 135: @@
 :31:57  RECV  B5 62 05 01 02 00 06 06 14 3D  		// Message Acknowledged
+===== Baud rate to 4800 =====
+:33:45  SEND  B5 62 06 00 14 00 01 00 00 00 D0 08 00 00 C0 12  // Set 4800
+          SEND  00 00 03 00 03 00 00 00 00 00 CB C4
+:33:45  RECV  B5 62 05 01 02 00 06 00 25 8D                    // Message Acknowledged
 </code>
 ==== Sample code ====
@@ Line 140: / Line 150: @@
 #include <NewSoftSerial.h>
-NewSoftSerial nss(3, 2);
+NewSoftSerial nss(2, 3);
+// GPS Tx output is connected to Arduino input on pin 2
+// GPS Rx input is connected to Arduino output on pin 3
+byte navmode = 99;
 void setup() {
@@ Line 215: / Line 230: @@
 	uint8_t ackByteID = 0;
 	uint8_t ackPacket[10];
-	int startTime = millis();
+	unsigned long startTime = millis();
 	Serial.print(" * Reading ACK response: ");
@@ Line 266: / Line 281: @@
 	}
 }
+//Function to poll the NAV5 status of a Ublox GPS module (5/6)
+//Sends a UBX command (requires the function sendUBX()) and waits 3 seconds
+// for a reply from the module. The then isolates the byte which contains
+// the information regarding the NAV5 mode,
+// 0 = Pedestrian mode (default, will not work above 12km)
+// 6 = Airborne 1G (works up to 50km altitude)
+//Adapted by jcoxon from getUBX_ACK() from the example code on UKHAS wiki
+// http://wiki.ukhas.org.uk/guides:falcom_fsa03
+boolean checkNAV(){
+  uint8_t b, bytePos = 0;
+  uint8_t getNAV5[] = { 0xB5, 0x62, 0x06, 0x24, 0x00, 0x00, 0x2A, 0x84 }; //Poll NAV5 status
+  nss.flush();
+  unsigned long startTime = millis();
+  sendUBX(getNAV5, sizeof(getNAV5)/sizeof(uint8_t));
+  while (1) {
+    // Make sure data is available to read
+    if (nss.available()) {
+      b = nss.read();
+      if(bytePos == 8){
+        navmode = b;
+        return true;
+      }
+      bytePos++;
+    }
+    // Timeout if no valid response in 3 seconds
+    if (millis() - startTime > 3000) {
+      navmode = 0;
+      return false;
+    }
+  }
+}
 </code>
 ==== NMEA ====
@@ Line 285: / Line 334: @@
 As the FSA03 doesn't have any RAM or flash memory, its RAM must be buffered by a backup battery to retain settings. So long as the backup battery remains in place, you can can save your settings as per page 99 of the UBX protocol specification "Clear, Save and Load configurations".
 ===== Navigation data =====
@@ Line 299: / Line 345: @@
 To use the sentence firstly disable any GPS sentences which are currently switched on:
 <code c>
+Serial.println("$PUBX,40,GLL,0,0,0,0*5C");
 Serial.println("$PUBX,40,GGA,0,0,0,0*5A");
 Serial.println("$PUBX,40,GSA,0,0,0,0*4E");
@@ Line 317: / Line 364: @@
 |0|$PUBX|string|$PUBX|-|Message ID, UBX protocol header, proprietary sentence|
 |1|00|numeric|ID|-|Propietary message identifier: 00|
-|2|081350.00|hhmmss.sss|hhmmss.ss|-|UTC Time, Current time|
+|2|081350.00|hhmmss.ss|hhmmss.ss|-|UTC Time, Current time|
 |3|4717.113210|ddmm.mmmm|Latitude|-|Latitude, Degrees + minutes, see Format description|
 |4|N|character|N|-|N/S Indicator, N=north or S=south|
@@ Line 323: / Line 370: @@
 |6|E|character|E|-|E/W indicator, E=east or W=west|
 |7|546.589|numeric|AltRef|m|Altitude above user datum ellipsoid.|
-|8|G3|string|NavStat|-|Navigation Status, See Table below|
+|8|G3|string|NavStat|-|Navigation Status - Example: G3 =Stand alone 3D solution, NF =No Fix|
 |9|2.1|numeric|Hacc|m|Horizontal accuracy estimate.|
 |10|2.0|numeric|Vacc|m|Vertical accuracy estimate.|