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--- guides:ublox6 [2012/06/03 14:28] – Added sample code modified from Jcoxon FSA03 example upu
+++ guides:ublox6 [2016/09/08 14:52] (current) – Up upu
@@ Line 5: / Line 5: @@
 The uBLOX NEO-6Q/MAX-6Q are the sucessor to the uBLOX 5 module used in the Falcom FSA-03. They are 50 channel GPS in a 16 x 12.2 x 2.4mm (NEO) 9.7 x 10.1 x 2.4mm (MAX) package. They are rated up to 50,000 meters (164,000 feet) altitude in flight mode. They are an inexpensive module with good performance. The chip is shielded though normal precautions with regards to ESD should be observed. Data sheet is available [[http://www.u-blox.ch/images/downloads/Product_Docs/NEO-6_ProductSummary_%28GPS.G6-HW-09003%29.pdf|here]].
-**WARNING : uBLOX 6 Chips are rated at 3.3v so you can't just plug this into an Arduino board or a PC serial connection as these run at 5V.**
+**WARNING : uBLOX 6 Chips are rated at 3.3v so you can't just plug this into an 5V Arduino board or a PC serial connection as these run at 5V.**
-You can purchase a seperate level convertor from [[Sparkfun|http://www.sparkfun.com/products/8745]] or use a breakout with the integral level convertor available from [[http://ava.upuaut.net/store|HAB Supplies]].
+You can purchase a seperate level converter from [[http://www.sparkfun.com/products/8745|Sparkfun]] or use a breakout with the integral level converter available from [[https://store.uputronics.com|Uputronics]].
-The MAX-6 Chip, Sarantel antenna and populated breakout boards can be purchased from [[http://ava.upuaut.net/store|HAB Supplies]].
+The MAX-6 Chip, Sarantel antenna and populated breakout boards can be purchased from [[https://store.uputronics.com|Uputronics]].
 ===== Hardware =====
@@ Line 15: / Line 15: @@
 Unlike the Falcom FSA03 these units are just supplied as a standalone surface mount chip without an antenna. To use it you will need to use a breakout board/design your own board.
-There are Eagle breakout boards designed by Upu with assistance from Darkside available on Github :
-NEO-6 :\\
+If you want to integrate the units into your own design both modules and antennas are in [[https://www.dropbox.com/s/qytveix714ocw11/Ava.lbr|Ava.lbr]].
-[[https://github.com/Upuaut/Eagle-Libraries/tree/master/uBLOX%20NEO-6Q%20Breakout|https://github.com/Upuaut/Eagle-Libraries/tree/master/uBLOX%20NEO-6Q%20Breakout]] files :\\
-uBlox_NEO-6Q_Breakout.brd - Board with Sarantel Antenna\\
-uBlox_NEO-6Q_Breakout.sch \\
-The board is designed to be use with the passive Sarantel quadrifilar helix antenna ([[http://www.spkecl.com/style/frame/templates8/product_detail.asp?lang=2&customer_id=617&name_id=18379&content_set=color_5&rid=19996&id=82626|Sarantel SR-1202]]). The chip does support active antennas but does not supply power to them.
-MAX-6 :\\
-[[https://github.com/Upuaut/Eagle-Libraries/tree/master/MAX6%20Breakout|https://github.com/Upuaut/Eagle-Libraries/tree/master/MAX6%20Breakout]] files :\\
-max6_breakout.brd - Board with Sarantel Antenna\\
-max6_breakout.sch\\
-max6_breakout_1575AT43A40.brd - Board with Ceramic Chip Antenna\\
-max6_breakout_1575AT43A40.sch\\
-max6_breakout_lc.brd - As above but with 5v t0 3.3v Level Convertor on board.\\
-max6_breakout_lc.sch\\
-NOTE : These libaries are in Eagle 6.1 Format so won't work with Eagle 5.X. \\
-If you want to integrate the units into your own design both modules and antennas are in [[https://github.com/Upuaut/Eagle-Libraries/blob/master/ava.lbr|Ava.lbr]].
-===== Configuration =====
+===== Software Serial Configuration Example =====
-All commands the same as the uBLOX5 documented by Jcoxon in the [[guides:falcom_fsa03|Falcom FSA03]] guide.The following code has been updated to reflect the changes to Software Serial in Arduino. Tested in Arduino 1.0.1 :
+All commands the same as the uBLOX5 documented by Jcoxon in the [[guides:falcom_fsa03|Falcom FSA03]] guide.The following code has been updated to reflect the changes to Software Serial in Arduino. The uBLOX 6 modules do seem particularly sensitive to timing issues on Software Serial therefore its recommended you use the hardware UARTS on the Arduino for the GPS. Tested in Arduino 1.0.1 :
-<code>
+<code c>
 /*
  GPS Level Convertor Board Test Script
@@ Line 76: / Line 57: @@
   Serial.println("Setting uBlox nav mode: ");
   uint8_t setNav[] = {
-xB5, 0x62, 0x06, 0x24, 0x24, 0x00, 0xFF, 0xFF, 0x06, 0x03, 0x00, 0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00, 0x05, 0x00, 0xFA, 0x00, 0xFA, 0x00, 0x64, 0x00, 0x2C, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x16, 0xDC                        };
+xB5, 0x62, 0x06, 0x24, 0x24, 0x00, 0xFF, 0xFF, 0x06, 0x03, 0x00, 0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00,
+x05, 0x00, 0xFA, 0x00, 0xFA, 0x00, 0x64, 0x00, 0x2C, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x16, 0xDC };
   while(!gps_set_sucess)
   {
@@ Line 208: / Line 191: @@
 }
 </code>
+===== Hardware Serial Configuration Example =====
+You will need :
+x Arduino Board\\
+x ublox MAX6 Breakout (Level Converted if using 5V Arduino)(UB6)\\
+x UM232 Serial UART Development Module or equivalent.\\
+Connect UB6 5V on the board to 5V on the Arduino\\
+Connect UB6 GND on the board to GND on the Arduino\\
+Connect UB6 RX on the board to pin 1 TX\\
+Connect UB6 TX on the board to pin 0 RX\\
+Connect UM232R pin DB0 to pin 4 on the Arduino\\
+Connect UM232R pin DB1 to pin 5 on the Arduino\\
+Connect UM232R pin GND to GND on the Arduino\\
+<code c>
+/*
+  GPS Level Convertor Board Test Script
+/05/2012 2E0UPU
+  Initialise the GPS Module in Flight Mode and then echoes out the NMEA Data to the Software Serial.
+  This example code is in the public domain.
+  Additional Code by J Coxon (http://ukhas.org.uk/guides:falcom_fsa03)
+ */
+#include <SoftwareSerial.h>
+SoftwareSerial mySerial(4, 5);
+byte gps_set_sucess = 0 ;
+void setup()
+{
+  mySerial.begin(9600);
+  Serial.begin(9600);
+  mySerial.println("GPS Level Convertor Board Test Script");
+  mySerial.println("03/06/2012 2E0UPU");
+  mySerial.println("Initialising....");
+ // THIS COMMAND SETS FLIGHT MODE AND CONFIRMS IT
+  mySerial.println("Setting uBlox nav mode: ");
+  uint8_t setNav[] = {
+xB5, 0x62, 0x06, 0x24, 0x24, 0x00, 0xFF, 0xFF, 0x06, 0x03, 0x00, 0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00,
+x05, 0x00, 0xFA, 0x00, 0xFA, 0x00, 0x64, 0x00, 0x2C, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x16, 0xDC };
+  while(!gps_set_sucess)
+  {
+    sendUBX(setNav, sizeof(setNav)/sizeof(uint8_t));
+    gps_set_sucess=getUBX_ACK(setNav);
+  }
+  gps_set_sucess=0;
+  // THE FOLLOWING COMMANDS DO WHAT THE $PUBX ONES DO BUT WITH CONFIRMATION
+  /*
+   debug.println("Switching off NMEA GLL: ");
+   uint8_t setGLL[] = {
+xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x2B                   };
+   while(!gps_set_sucess)
+   {
+   sendUBX(setGLL, sizeof(setGLL)/sizeof(uint8_t));
+   gps_set_sucess=getUBX_ACK(setGLL);
+   }
+   gps_set_sucess=0;
+   debug.println("Switching off NMEA GSA: ");
+   uint8_t setGSA[] = {
+xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x02, 0x32                   };
+   while(!gps_set_sucess)
+   {
+   sendUBX(setGSA, sizeof(setGSA)/sizeof(uint8_t));
+   gps_set_sucess=getUBX_ACK(setGSA);
+   }
+   gps_set_sucess=0;
+   debug.println("Switching off NMEA GSV: ");
+   uint8_t setGSV[] = {
+xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x03, 0x39                   };
+   while(!gps_set_sucess)
+   {
+   sendUBX(setGSV, sizeof(setGSV)/sizeof(uint8_t));
+   gps_set_sucess=getUBX_ACK(setGSV);
+   }
+   gps_set_sucess=0;
+   debug.print("Switching off NMEA RMC: ");
+   uint8_t setRMC[] = {
+xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x04, 0x40                   };
+   while(!gps_set_sucess)
+   {
+   sendUBX(setRMC, sizeof(setRMC)/sizeof(uint8_t));
+   gps_set_sucess=getUBX_ACK(setRMC);
+   }
+   gps_set_sucess=0;
+   debug.print("Switching off NMEA VTG: ");
+   uint8_t setVTG[] = {
+xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0xF0, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x46                   };
+   while(!gps_set_sucess)
+   {
+   sendUBX(setVTG, sizeof(setRMC)/sizeof(uint8_t));
+   gps_set_sucess=getUBX_ACK(setVTG);
+   }
+   */
+}
+void loop()
+{
+  while(1)
+  {
+    if(Serial.available() > 0)
+    {
+      char inByte = Serial.read();
+      mySerial.write(inByte);
+    }
+  }
+}
+// Send a byte array of UBX protocol to the GPS
+void sendUBX(uint8_t *MSG, uint8_t len) {
+  for(int i=0; i<len; i++) {
+    Serial.write(MSG[i]);
+    mySerial.print(MSG[i], HEX);
+  }
+  Serial.println();
+}
+// Calculate expected UBX ACK packet and parse UBX response from GPS
+boolean getUBX_ACK(uint8_t *MSG) {
+  uint8_t b;
+  uint8_t ackByteID = 0;
+  uint8_t ackPacket[10];
+  unsigned long startTime = millis();
+  mySerial.print(" * Reading ACK response: ");
+  // Construct the expected ACK packet
+  ackPacket[0] = 0xB5;	// header
+  ackPacket[1] = 0x62;	// header
+  ackPacket[2] = 0x05;	// class
+  ackPacket[3] = 0x01;	// id
+  ackPacket[4] = 0x02;	// length
+  ackPacket[5] = 0x00;
+  ackPacket[6] = MSG[2];	// ACK class
+  ackPacket[7] = MSG[3];	// ACK id
+  ackPacket[8] = 0;		// CK_A
+  ackPacket[9] = 0;		// CK_B
+  // Calculate the checksums
+  for (uint8_t i=2; i<8; i++) {
+    ackPacket[8] = ackPacket[8] + ackPacket[i];
+    ackPacket[9] = ackPacket[9] + ackPacket[8];
+  }
+  while (1) {
+    // Test for success
+    if (ackByteID > 9) {
+      // All packets in order!
+      mySerial.println(" (SUCCESS!)");
+      return true;
+    }
+    // Timeout if no valid response in 3 seconds
+    if (millis() - startTime > 3000) {
+      mySerial.println(" (FAILED!)");
+      return false;
+    }
+    // Make sure data is available to read
+    if (Serial.available()) {
+      b = Serial.read();
+      // Check that bytes arrive in sequence as per expected ACK packet
+      if (b == ackPacket[ackByteID]) {
+        ackByteID++;
+        mySerial.print(b, HEX);
+      }
+      else {
+        ackByteID = 0;	// Reset and look again, invalid order
+      }
+    }
+  }
+}</code>
 ==== NMEA ====
@@ Line 224: / Line 394: @@
 ==== Saving your settings ====
-As the FSA03 doesn't have any RAM or flash memory, its RAM must be buffered by a backup battery to retain settings or use external 1-Wire Flash. 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".
+As the uBLOX6 modules don't have any RAM or flash memory, its RAM must be buffered by a backup battery to retain settings or use external 1-Wire Flash module(see data sheets). As 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 =====
-By default, FSA03 modules are configured to output several NMEA sentences including GPRMC, GPGGA & GPVTG. Of these, GPGGA is the most useful for high altitute balloon applications as it contains altitude data. Un-necessary sentences can be disabled, see the [[guides:falcom_fsa03:#configuration|configuration]] section for more information.
+By default, uBLOX6 modules are configured to output several NMEA sentences including GPRMC, GPGGA & GPVTG. Of these, GPGGA is the most useful for high altitute balloon applications as it contains altitude data. Un-necessary sentences can be disabled see previous code sample section for more information.
 ==== Polling the module ====
-Ublox 6 based GPS modules implement a proprietary NMEA extension in the form of a polled sentence which reports all navigation parameters of interest (to us at least) in a single sentence when requested. Using this provides advantages in that you can request an update exactly when you need it, and you only need to parse one specific sentence to capture latitude, longitude, altitude, speed, course, etc. For those using a SoftwareSerial library, this method fixes the buffer overrun issues.
+Ublox6 based GPS modules implement a proprietary NMEA extension in the form of a polled sentence which reports all navigation parameters of interest (to us at least) in a single sentence when requested. Using this provides advantages in that you can request an update exactly when you need it, and you only need to parse one specific sentence to capture latitude, longitude, altitude, speed, course, etc. For those using a SoftwareSerial library, this method fixes the buffer overrun issues.
 To use the sentence firstly disable any GPS sentences which are currently switched on:
-<code c>
+<code>
 Serial.println("$PUBX,40,GLL,0,0,0,0*5C");
 Serial.println("$PUBX,40,GGA,0,0,0,0*5A");
@@ Line 279: / Line 449: @@
 For details see page 52 of the UBX protocol specification "Proprietary Messages, UBX00".
+You can use a modified version of the [[http://arduiniana.org/libraries/tinygps/|TinyGPS]] library to parse PUBX sentences – [[https://github.com/x-f/TinyGPS_UBX|TinyGPS_UBX]].
 ===== Images ======
@@ Line 289: / Line 459: @@
 {{:guides:crw_7240-500x500.png?400|}}
+===== Troubleshooting =====
+==== No Response From GPS ====
+  * Check power, measure VCC and GND.
+  * Run above scripts, check that you get SUCCESS on ACKs.
+==== No time updated or GPS fix ====
+  * Hook up the module to a 3.3v FTDI with the corresponding wires (TX,RX,VCC,GND)
+  * Start up uBlox u-center [[http://www.u-blox.com/en/evaluation-tools-a-software/u-center/u-center.html]]