NGIMU User Manual V1.0
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NGIMU User Manual
Version 1.0
Public Release
Copyright © 2016 x-io Technologies Ltd.
www.x-io.co.uk
NGIMU User Manual Version 1.0
23 September 2016
Document updates
This document is continuously being updated to incorporate additional information requested by
users and new features made available in software and firmware updates. Please check the x-io
Technologies website for the latest version of this document and device firmware.
Document version history
Date
Document version
Description
23 Sep 2016
1.0
Indicate that button must be held for half a second to
switch on
Update description of OSC argument overloading
Include percentage in RSSI message
Update plastic housing photo and mechanical drawing
Add AHRS initialise and zero commands
Add altitude message
19 May 2016
0.6
Add echo command
Add RSSI message
Add magnitudes message
29 Mar 2016
0.5
19 Nov 2015
0.4
Update photo and mechanical drawing of latest prototype
plastic housing
Include mechanical drawing of board
30 Jun 2015
0.3
Correct serial pinout tables
Mark pin 1 on annotated photo of board
9 Jun 2015
0.2
Include photo and mechanical drawing of latest prototype
plastic housing
Small tables are not split across pages
12 May 2015
0.1
Update photo of prototype plastic housing
10 May 2015
0.0
Initial release
www.x-io.co.uk
Add communication protocol section
Correct analogue input voltage range to 3.1 V
Update LED section
Update annotated photo of board
Update plastic housing photo
Update mechanical drawing of board
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NGIMU User Manual Version 1.0
23 September 2016
Table of Contents
1. Overview...............................................................................................................................................5
1.1. On-board sensors & data acquisition............................................................................................5
1.2. On-board data processing .............................................................................................................5
1.3. Communication interfaces ............................................................................................................5
1.4. Power management ......................................................................................................................5
1.5. Software features..........................................................................................................................6
2. Hardware ..............................................................................................................................................7
2.1. Power button ................................................................................................................................8
2.2. LEDs ...............................................................................................................................................8
2.3. Auxiliary serial pinout ...................................................................................................................8
2.4. Serial pinout ..................................................................................................................................9
2.5. Analogue input pinout ..................................................................................................................9
2.6. Connector part numbers .............................................................................................................10
2.7. Board dimensions .......................................................................................................................11
3. Plastic housing ....................................................................................................................................12
4. Communication protocol....................................................................................................................14
4.1. Data from device .........................................................................................................................14
4.1.1. Button message ...................................................................................................................14
4.1.2. Sensors .................................................................................................................................14
4.1.3. Magnitudes ..........................................................................................................................15
4.1.4. Quaternion ...........................................................................................................................15
4.1.5. Rotation matrix ....................................................................................................................16
4.1.6. Euler angles..........................................................................................................................16
4.1.7. Linear acceleration ..............................................................................................................16
4.1.8. Earth acceleration................................................................................................................17
4.1.9. Altitude ................................................................................................................................17
4.1.10. Temperature ......................................................................................................................17
4.1.11. Humidity ............................................................................................................................17
4.1.12. Battery ...............................................................................................................................18
4.1.13. Analogue inputs .................................................................................................................18
4.1.14. RSSI ....................................................................................................................................18
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4.1.15. Auxiliary serial data ...........................................................................................................19
4.1.16. Auxiliary serial CTS input ...................................................................................................19
4.1.17. Serial CTS input ..................................................................................................................19
4.2. Data to device .............................................................................................................................20
4.2.1. Auxiliary serial data .............................................................................................................20
4.2.2. Auxiliary serial RTS output ...................................................................................................20
4.2.3. Serial RTS output..................................................................................................................20
4.3. Commands ..................................................................................................................................20
4.3.1. Set time ................................................................................................................................20
4.3.2. Mute ....................................................................................................................................21
4.3.3. Unmute ................................................................................................................................21
4.3.4. Reset ....................................................................................................................................21
4.3.5. Sleep.....................................................................................................................................21
4.3.6. Identify .................................................................................................................................21
4.3.7. Apply ....................................................................................................................................21
4.3.8. Restore default ....................................................................................................................21
4.3.9. AHRS initialise ......................................................................................................................21
4.3.10. AHRS zero yaw ...................................................................................................................21
4.3.11. Echo ...................................................................................................................................22
4.4. Settings........................................................................................................................................22
4.4.1. Read .....................................................................................................................................22
4.4.2. Write ....................................................................................................................................22
4.5. Errors ...........................................................................................................................................22
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1. Overview
The Next Generation IMU (NGIMU) is a compact IMU and data acquisition platform that combines
on-board sensors and data processing algorithms with a broad range of communication interfaces to
create a versatile platform well suited to both real-time and data-logging applications.
The device communicates using OSC and so is immediately compatible with many software
applications and straight forward to integrate with custom applications with libraries available for
most programming languages.
1.1. On-board sensors & data acquisition
Triple-axis gyroscope (±2000°/s, 400 Hz sample rate)
Triple-axis accelerometer (±16g, 400 Hz sample rate)
Triple-axis magnetometer (±1300 µT)
Barometric pressure (300-1100 hPa)
Humidity
Temperature1
Battery voltage, current, percentage, and time remaining
Analogue inputs (8 channels, 0-3.1 V, 10-bit, 1 kHz sample rate)
Auxiliary serial (RS-232 compatible) for GPS or custom electronics/sensors
Real-time clock and calendar
1.2. On-board data processing
All sensors are calibrated
AHRS fusion algorithm provides a measurement of orientation relative to the Earth as a
quaternion, rotation matrix, or Euler angles
AHRS fusion algorithm provides a measurement of linear acceleration
Altimeter fusion algorithm provides a measurement of altitudeError! Bookmark not defined.
All measurements are timestamped
Synchronisation of timestamps for all devices on a Wi-Fi networkError! Bookmark not defined.,2
1.3. Communication interfaces
USB
Serial (RS-232 compatible)
Wi-Fi (802.11n, 5 GHz, built-in or external antennae, AP or client mode)
SD card (accessible as an external drive via USB)
1.4. Power management
Power from USB, external supply or battery
Battery charging via USB or external supply
1
On-board thermometers are used for calibration and are not intended to provide an accurate measurement
of ambient temperature.
2
Synchronisation requires additional hardware (Wi-Fi router and synchronisation master).
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Sleep timer
Motion trigger wake up
Wake up timerError! Bookmark not defined.
3.3 V supply for user electronics (500 mA)
1.5. Software features
www.x-io.co.uk
Open-source GUI and API (C#) for Windows
Configure device settings
Plot real-time data
Log real-time data to file (CSV file format for use with Excel, MATLAB, etc.)
Maintenance and calibration toolsError! Bookmark not defined.
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2. Hardware
Auxiliary serial interface
Serial interface
Barometric pressure and humidity sensor
Magnetometer
Power button
Gyroscope and
accelerometer
USB
Battery connector
Analogue inputs
LEDs
Figure 1: Top view of board
External 5 V input solder pads
External antenna
UF.L connector
SD card socket
Internal antenna
Figure 2: Bottom view of board
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2.1. Power button
The power button is primarily used to turn the device on and off (sleep mode). Pressing and holding
the button for half a second while the device is off will turn it on. Pressing and holding the button for
3 seconds while it is on will turn it off.
The button can also be used as a data source by the user. The device will send a timestamped
‘button’ message (/button) each time the button is pressed. This may provide a convenient user
input for real-time applications or a useful means of marking events when logging data.
2.2. LEDs
The board features 5 LED indicators. Each LED is a different colour and has a dedicated role. Table 1
list the role and associated behaviour of each LED.
Colour
Indicates
Behaviour
White
Wi-Fi status
Off - Wi-Fi disabled
Slow flashing (1 Hz) - Not connected
Fast flashing (5 Hz) - Connected and waiting for IP address
Solid - Connected and IP address obtained
Blue
-
-
Green
Device status
Indicates that the device is switched on. Will also blink
each time the button is pressed or a message is received.
Yellow
-
-
Red
Battery charging
Off - Charger not connected
Solid - Charger connected and charging in progress
Flashing (0.3 Hz) - Charger connected and charging
complete
Table 1: LED behaviour
Sending an ‘identify’ message (/identify) to the device will cause all the LEDs to rapidly flash for
5 seconds. This may be of use when trying to identify a specific device within a group of multiple
devices.
The LEDs may be disabled in the device settings. This may be of use in applications where light
from the LEDs is undesirable. The ‘identify’ command may still be used when the LEDs are disabled
and the green LED will still blink each time the button is pressed. This allows the user to check if the
device is switched on while the LEDs are disabled.
2.3. Auxiliary serial pinout
Table 2 lists the auxiliary serial connector pinout. Pin 1 is physically marked on the connector by a
small arrow, see Figure 1.
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Pin
Direction
Name
1
N/A
Ground
2
Output
RTS
3
Output
3.3 V output
4
Input
RX
5
Output
TX
6
Input
CTS
Table 2: Auxiliary serial connector pinout
2.4. Serial pinout
Table 3 lists the serial connector pinout. Pin 1 is physically marked on the connector by a small
arrow, see Figure 1.
Pin
Direction
Name
1
N/A
Ground
2
Output
RTS
3
Input
5 V input
4
Input
RX
5
Output
TX
6
Input
CTS
Table 3: Serial connector pinout
2.5. Analogue input pinout
Table 4 lists the analogue input connector pinout. Pin 1 is physically marked on the connector by a
small arrow, see Figure 1.
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Pin
Direction
Name
1
N/A
Ground
2
Output
3.3 V output
3
Input
Analogue channel 1
4
Input
Analogue channel 2
5
Input
Analogue channel 3
6
Input
Analogue channel 4
7
Input
Analogue channel 5
8
Input
Analogue channel 6
9
Input
Analogue channel 7
10
Input
Analogue channel 8
Table 4: Analogue input connector pinout
2.6. Connector part numbers
All board connectors are 1.25 mm pitch Molex PicoBlade™ Headers. Table 5 lists each part number
used on the board and the recommended part numbers of the corresponding mating connectors.
Each mating connector is created from a plastic housing part and two or more crimped wires.
Board connector
Part number
Mating part number
Battery
Molex PicoBlade™ Header, Surface
Mount, Right-Angle, 2-way, P/N:
53261-0271
Molex PicoBlade™ Housing, Female, 2way, P/N: 51021-0200
Molex PicoBlade™ Header, Surface
Mount, Right-Angle, 6-way, P/N:
53261-0671
Molex PicoBlade™ Housing, Female, 6way, P/N: 51021-0600
Molex PicoBlade™ Header, Surface
Mount, Right-Angle, 10-way, P/N:
53261-1071
Molex PicoBlade™ Housing, Female, 10way, P/N: 51021-1000
Auxiliary serial /
Serial
Analogue inputs
Molex Pre-Crimped Lead Single-Ended
PicoBlade™ Female, 304mm, 28 AWG,
P/N: 06-66-0015 (×2)
Molex Pre-Crimped Lead Single-Ended
PicoBlade™ Female, 304mm, 28 AWG,
P/N: 06-66-0015 (×6)
Molex Pre-Crimped Lead Single-Ended
PicoBlade™ Female, 304mm, 28 AWG,
P/N: 06-66-0015 (×10)
Table 5: Board connector part numbers
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2.7. Board dimensions
Figure 3: Mechanical drawing of the board
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3. Plastic housing
The plastic housing encloses the board with a 1000 mAh battery. The housing provides access to all
board interfaces and is translucent so that the LED indicators may be seen. Figure 4 shows the board
assembled with 1000 mAh battery in plastic housing. Figure 5 is a mechanical drawing of the plastic
housing indicating all dimensions.
Figure 4: Board assembled with 1000 mAh battery in plastic housing
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Figure 5: Mechanical drawing of the plastic housing
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4. Communication protocol
All communication is encoded as OSC. Data sent over UDP uses OSC as per the OSC v1.0
specification. Data set over USB, serial or written to the SD card is OSC encoded as SLIP packets as
per the OSC v1.1 specification. The OSC implementation uses the following simplifications:
OSC messages sent to the device may use numerical argument types (int32, float32, int64,
OSC time tag, 64-bit double, character, boolean, nil, or infinitum) interchangeably, and blob
and string argument types interchangeably.
OSC address patterns sent to the device may not contain any special characters: '?', '*', '[]',
or ‘{}'.
OSC messages sent to the device may be sent within OSC bundles. However, message
scheduling will be ignored.
4.1. Data from device
All data sent from the device is sent as a timestamped OSC bundle containing a single OSC message.
All data messages, with the exception of the button, auxiliary serial and serial messages, are sent
continuously at the send rates specified in the device settings.
The timestamp of an OSC bundle is an OSC time tag. This is a 64-bit fixed-point value describing
the date and time as the number of seconds since 00:00 on January 1st, 1990.
4.1.1. Button message
OSC address: /button
The button message is sent each time the power button is pressed. The message contains no
arguments.
4.1.2. Sensors
OSC address: /sensors
The sensor message contains measurements from the gyroscope, accelerometer, magnetometer,
and barometer. The message arguments are summarised in Table 6.
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Argument
Type
Description
1
float32
Gyroscope x axis in °/s
2
float32
Gyroscope y axis in °/s
3
float32
Gyroscope z axis in °/s
4
float32
Accelerometer x axis in g
5
float32
Accelerometer y axis in g
6
float32
Accelerometer z axis in g
7
float32
Magnetometer x axis in µT
8
float32
Magnetometer y axis in µT
9
float32
Magnetometer z axis in µT
10
float32
Barometer in hPa
Table 6: Sensor message arguments
4.1.3. Magnitudes
OSC address: /magnitudes
The magnitudes message contains measurements of the gyroscope, accelerometer, and
magnetometer magnitudes. The message arguments are summarised in Table 7: Magnitudes
message arguments.
Argument
Type
Description
1
float32
Gyroscope magnitude in °/s
2
float32
Accelerometer magnitude in g
3
float32
Magnetometer magnitude in µT
Table 7: Magnitudes message arguments
4.1.4. Quaternion
OSC address: /quaternion
The quaternion message contains the quaternion output of the on-board AHRS algorithm describing
the orientation of the device relative to the Earth (NWU convention). The message arguments are
summarised in Table 8.
Argument
Type
Description
1
float32
Quaternion w element
2
float32
Quaternion x element
3
float32
Quaternion y element
4
float32
Quaternion z element
Table 8: Quaternion message arguments
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4.1.5. Rotation matrix
OSC address: /matrix
The rotation matrix message contains the rotation matrix output of the on-board AHRS algorithm
describing the orientation of the device relative to the Earth (NWU convention). The message
arguments describe the matrix in row-major order as summarised in Table 9.
Argument
Type
Description
1
float32
Rotation matrix xx element
2
float32
Rotation matrix xy element
3
float32
Rotation matrix xz element
4
float32
Rotation matrix yx element
5
float32
Rotation matrix yy element
6
float32
Rotation matrix yz element
7
float32
Rotation matrix zx element
8
float32
Rotation matrix zy element
9
float32
Rotation matrix zz element
Table 9: Rotation matrix message arguments
4.1.6. Euler angles
OSC address: /euler
The Euler angles message contains the Euler angle output of the on-board AHRS algorithm describing
the orientation of the device relative to the Earth (NWU convention). The message arguments are
summarised in Table 10.
Argument
Type
Description
1
float32
Roll (x) angle in degrees
2
float32
Pitch (y) angle in degrees
3
float32
Yaw/heading (z) angle in degrees
Table 10: Euler angle message arguments
4.1.7. Linear acceleration
OSC address: /linear
The linear acceleration message contains the linear acceleration output of the on-board sensor
fusion algorithm describing gravity-free acceleration in the sensor coordinate frame. The message
arguments are summarised in Table 11.
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Argument
Type
Description
1
float32
Acceleration in the sensor x axis
2
float32
Acceleration in the sensor y axis
3
float32
Acceleration in the sensor z axis
Table 11: Linear acceleration message arguments
4.1.8. Earth acceleration
OSC address: /earth
The Earth acceleration message contains the Earth acceleration output of the on-board sensor fusion
algorithm describing gravity-free acceleration in the Earth coordinate frame. The message
arguments are summarised in Table 12.
Argument
Type
Description
1
float32
Acceleration in the Earth x axis
2
float32
Acceleration in the Earth y axis
3
float32
Acceleration in the Earth z axis
Table 12: Earth acceleration message arguments
4.1.9. Altitude
OSC address: /altitude
The altitude message contains the measurement of altitude above sea level. The message argument
is summarised in Table 13.
Argument
Type
Description
1
float32
Altitude above sea level in m
Table 13: Altitude message argument
4.1.10. Temperature
OSC address: /temperature
The temperature message contains the measurements from each of the devices on-board
temperature sensors. The message arguments are summarised in Table 14.
Argument
Type
Description
1
float32
Processor temperature in °C
2
float32
Gyroscope/accelerometer temperature in °C
3
float32
Barometer temperature in °C
Table 14: Temperature message arguments
4.1.11. Humidity
OSC address: /humidity
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The humidity message contains the relative humidity measurement. The message argument is
summarised in Table 15.
Argument
Type
Description
1
float32
Relative humidity in %
Table 15: Humidity message argument
4.1.12. Battery
OSC address: /battery
The battery message contains the battery voltage and current measurements as well as the states of
the fuel gauge algorithm. The message arguments are summarised in Table 16.
Argument
Type
Description
1
float32
Battery level in %
2
float32
Time to empty in minutes
3
float32
Battery voltage in V
4
float32
Battery current in mA
5
string
Charger state
Table 16: Battery message arguments
4.1.13. Analogue inputs
OSC address: /analogue
The analogue inputs message contains measurements of the analogue inputs voltages. The message
arguments are summarised in Table 17.
Argument
Type
Description
1
float32
Channel 1 voltage in V
2
float32
Channel 2 voltage in V
3
float32
Channel 3 voltage in V
4
float32
Channel 4 voltage in V
5
float32
Channel 5 voltage in V
6
float32
Channel 6 voltage in V
7
float32
Channel 7 voltage in V
8
float32
Channel 8 voltage in V
Table 17: Analogue inputs message arguments
4.1.14. RSSI
OSC address: /rssi
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The RSSI message contains the RSSI (Receive Signal Strength Indicator) measurement for the wireless
connection. This measurement is only valid if the Wi-Fi module is operating in client mode. The
message arguments are summarised in Table 18.
Argument
Type
Description
1
float32
RSSI measurement in dBm
2
float32
RSSI measurement as a percentage where 0%
to 100% represents the range -100 dBm to -50
dBm.
Table 18: RSSI message argument
4.1.15. Auxiliary serial data
OSC address: /auxserial
The auxiliary serial message contains the data received through the auxiliary serial interface. The
message argument may be one of two types depending on the device settings as summarised in
Table 19.
Argument
Type
Description
1
blob
Data received through the auxiliary serial
interface.
1
string
Data received through the auxiliary serial
interface with all null bytes replaced with the
character pair “/0”.
Table 19: Auxiliary serial data message argument
4.1.16. Auxiliary serial CTS input
OSC address: /auxserial/cts
The auxiliary serial CTS input message contains the CTS input state of the auxiliary serial interface
when hardware flow control is disabled. This message is sent each time the state of the CTS input
changes. The message argument is summarised in Table 20.
Argument
Type
Description
1
boolean
CTS input state. False = low, True = high.
Table 20: Auxiliary serial CTS input message argument
4.1.17. Serial CTS input
OSC address: /serial/cts
The serial CTS input message contains the CTS input state of the serial interface when hardware flow
control is disabled. This message is sent each time the state of the CTS input changes. The message
argument is summarised in Table 21.
Argument
Type
Description
1
boolean
CTS input state. False = low, True = high.
Table 21: Serial CTS input message argument
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4.2. Data to device
Data is sent to the device as OSC messages. The device will not send an OSC message in response.
4.2.1. Auxiliary serial data
OSC address: /auxserial
The auxiliary serial message is used to send data (one or more bytes) from the auxiliary serial
interface. This message may only be sent if ‘OSC passthrough’ mode is not enabled. The message
argument is summarised in Table 22.
Argument
Type
Description
1
OSC-blob / OSC-string
Data to be transmitted from the auxiliary
serial interface
Table 22: Auxiliary serial data message arguments
4.2.2. Auxiliary serial RTS output
OSC address: /auxserial/rts
The auxiliary serial RTS message is used to control the RTS output of the auxiliary serial interface.
This message may only be sent if hardware flow control is disabled. The message argument is
summarised in Table 23.
Argument
Type
Description
1
Int32/float32/boolean
RTS output state. 0 or false = low, nonzero or true = high.
Table 23: Auxiliary serial RTS output message arguments
4.2.3. Serial RTS output
OSC address: /serial/rts
The serial RTS message is used to control the RTS output of the serial interface. This message may
only be sent if hardware flow control is disabled. The message argument is summarised in Table 24.
Argument
Type
Description
1
Int32/float32/boolean
RTS output state. 0 or false = low, nonzero or true = high.
Table 24: Serial RTS output message arguments
4.3. Commands
All commands are sent as OSC messages. The device will confirm reception of a command by
sending an identical OSC message back to the host.
4.3.1. Set time
OSC address: /time
The set time command sets the date and time on the device. The message argument is an OSCtimetag.
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4.3.2. Mute
OSC address: /mute
The mute command inhibits the sending of all data messages listed in section 4.1. Command
confirmation messages and setting read/write response messages will still be sent. The device will
remain muted until an unmute command is sent.
4.3.3. Unmute
OSC address: /unmute
The unmute command will undo the mute state described in section 4.3.2.
4.3.4. Reset
OSC address: /reset
The reset command will perform a software reset. This is equivalent to switching the device off and
then on again. The software reset will be performed 3 seconds after the command is received to
ensure that the host is able to confirm the command before it is executed.
4.3.5. Sleep
OSC address: /sleep
The sleep command will put the device into sleep mode (switched off). The device will not enter
sleep mode until 3 seconds after the command is received to ensure that the host is able to confirm
the command before it is executed.
4.3.6. Identify
OSC address: /identify
The identify command will cause all the LEDs to rapidly flash for 5 seconds. This may be of use when
trying to identify a specific device within a group of multiple devices.
4.3.7. Apply
OSC address: /apply
The apply command will force the device to immediately apply all pending settings that have been
written but not yet applied. The confirmation of this command is sent after all settings have been
applied.
4.3.8. Restore default
OSC address: /default
The restore default command will reset all device settings to their factory default values.
4.3.9. AHRS initialise
OSC address: /ahrs/initialise
The AHRS initialise command will reinitialise the AHRS algorithm.
4.3.10. AHRS zero yaw
OSC address: /ahrs/zero
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The AHRS zero yaw command will zero the yaw component of the current orientation of the AHRS
algorithm. This command may only be issued if the magnetometer is ignored in the AHRS settings.
4.3.11. Echo
OSC address: /echo
The echo command may be sent with any arguments and the device will respond with an identical
OSC message.
4.4. Settings
Device settings are read and written using OSC messages. The settings tab of the device software
provides access to all device settings and includes detailed documentation for each setting.
4.4.1. Read
Settings are read by sending an OSC message with the corresponding setting OSC address and no
arguments. The device will respond with an OSC message with the same OSC address and the
current setting value as an argument.
4.4.2. Write
Settings are written by sending an OSC message with the corresponding setting OSC address and an
argument value. The device will respond with an OSC message with the same OSC address and the
new setting value as an argument.
Some setting writes are not applied immediately because this may result in loss of communication
with the device if a setting affecting the communication channel is modified. These settings are
applied 3 seconds after the last write of any setting.
4.5. Errors
The device will send error messages as an OSC message with the OSC address: /error and a single
string argument.
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