# Latest

**URL:** http://discourse.heig-vd.ch/latest.md?page=1

[Latest](http://discourse.heig-vd.ch/latest.md) · [Categories](http://discourse.heig-vd.ch/categories.md)

**Page:** 2

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## [E2C project, OpenCN 5 axes](http://discourse.heig-vd.ch/t/e2c-project-opencn-5-axes/240)

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**Author:** [@Raoul](http://discourse.heig-vd.ch/u/Raoul)\
**Replies:** 9\
**Last updated:** [May 18, 2022, 12:02pm UTC](http://discourse.heig-vd.ch/t/e2c-project-opencn-5-axes/240 "2022-05-18T12:02:08Z")

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We are happy to announce that our project “E2C” is accepted and that we got an 18 month funding. The project E2C will include 5 axes RTCP support of OpenCN with a kinematic module. Feedrate planning will also be rework…

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## [New EtherCAT salves: EL3202 & Festo CTEU](http://discourse.heig-vd.ch/t/new-ethercat-salves-el3202-festo-cteu/326)

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**Author:** [@jmi](http://discourse.heig-vd.ch/u/jmi)\
**Replies:** 0\
**Last updated:** [May 9, 2022, 6:50am UTC](http://discourse.heig-vd.ch/t/new-ethercat-salves-el3202-festo-cteu/326 "2022-05-09T06:50:09Z")

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Hi OpenCN followers, We added the support for new EtherCAT slaves in the OpenCN framework. Beckhoff El3202: 2-channel analog input to read temperature from PT100 sensor. The current version only supports temperature …

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## [New way how to build ME](http://discourse.heig-vd.ch/t/new-way-how-to-build-me/319)

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**Author:** [@rossierd](http://discourse.heig-vd.ch/u/rossierd)\
**Replies:** 9\
**Last updated:** [April 14, 2022, 2:49pm UTC](http://discourse.heig-vd.ch/t/new-way-how-to-build-me/319 "2022-04-14T14:49:49Z")

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Building a ME (in ME/ directory) should now be facilitated by a build.sh script which is under construction

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## [Cycle time round up at Zero Speed](http://discourse.heig-vd.ch/t/cycle-time-round-up-at-zero-speed/282)

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**Author:** [@yakunix](http://discourse.heig-vd.ch/u/yakunix)\
**Replies:** 3\
**Last updated:** [February 24, 2022, 7:20am UTC](http://discourse.heig-vd.ch/t/cycle-time-round-up-at-zero-speed/282 "2022-02-24T07:20:57Z")

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When the cutting stragety is used, the jerk used for NZ type curve did not consider the round up of the cycle time. That is, the duration of the whole motion is not an integral multiple of the cycle time. Will it cause v…

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## [Acceleration profile at start and end](http://discourse.heig-vd.ch/t/acceleration-profile-at-start-and-end/281)

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**Author:** [@yakunix](http://discourse.heig-vd.ch/u/yakunix)\
**Replies:** 4\
**Last updated:** [February 24, 2022, 6:37am UTC](http://discourse.heig-vd.ch/t/acceleration-profile-at-start-and-end/281 "2022-02-24T06:37:19Z")

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I did a simple test with the ngc file only contains one line segment. Then I plot the pos/vel/acc profile. It was found that the acceleration profile at the start and end of the curve is not a perfect line but a spline…

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## [Upgrading the framework to 5.10](http://discourse.heig-vd.ch/t/upgrading-the-framework-to-5-10/279)

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**Author:** [@rossierd](http://discourse.heig-vd.ch/u/rossierd)\
**Replies:** 0\
**Last updated:** [February 18, 2022, 4:09pm UTC](http://discourse.heig-vd.ch/t/upgrading-the-framework-to-5-10/279 "2022-02-18T16:09:09Z")

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We are pleased to announce that the agency has been upgraded with the Linux kernel 5.10 . This upgrade was actually required to have the support of ZynQ UltraScale+ ZCU106 needed in another framework based on the AVZ hy…

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## [Intergation of Beckhoff drive and in/out slaves](http://discourse.heig-vd.ch/t/intergation-of-beckhoff-drive-and-in-out-slaves/227)

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**Author:** [@jmi](http://discourse.heig-vd.ch/u/jmi)\
**Replies:** 5\
**Last updated:** [February 14, 2022, 8:16am UTC](http://discourse.heig-vd.ch/t/intergation-of-beckhoff-drive-and-in-out-slaves/227 "2022-02-14T08:16:56Z")

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Hi OpenCN followers, We integrated support for the following EtherCAT slaves: Beckhoff AX500 drive serie Beckhoff EL7411 drive Backhoff digital inputs (EL1xxx) / outputs slaves (EL2xxx) Enjoy J-P

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## [Documentation : Update of the chapter 5 - CNC Path Planning Algorithms](http://discourse.heig-vd.ch/t/documentation-update-of-the-chapter-5-cnc-path-planning-algorithms/276)

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**Author:** [@hugoGrallLucas](http://discourse.heig-vd.ch/u/hugoGrallLucas)\
**Replies:** 0\
**Last updated:** [February 4, 2022, 4:19pm UTC](http://discourse.heig-vd.ch/t/documentation-update-of-the-chapter-5-cnc-path-planning-algorithms/276 "2022-02-04T16:19:37Z")

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Hello everybody ! Great news for the developers interested in starting with opencn-matlab : An update of the documentation for chapter 5 - CNC Path planning algorithms is now available Some guidelines are now provide…

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## [New Beckhoff EtherCAT module EL3702 with analog inputs now supported](http://discourse.heig-vd.ch/t/new-beckhoff-ethercat-module-el3702-with-analog-inputs-now-supported/274)

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**Author:** [@boris.rozanov](http://discourse.heig-vd.ch/u/boris.rozanov)\
**Replies:** 0\
**Last updated:** [February 1, 2022, 2:11pm UTC](http://discourse.heig-vd.ch/t/new-beckhoff-ethercat-module-el3702-with-analog-inputs-now-supported/274 "2022-02-01T14:11:54Z")

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Hello everybody. EL3702 Beckhoff module with analog inputs is now supported in OpenCN. Main features: 2 channels +/- 10V input range 16 bit signed analog sample Oversampling factor set to 10x DEBUG mode available (no…

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## [MUSL libc implementation](http://discourse.heig-vd.ch/t/musl-libc-implementation/271)

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**Author:** [@rossierd](http://discourse.heig-vd.ch/u/rossierd)\
**Replies:** 0\
**Last updated:** [January 27, 2022, 9:02am UTC](http://discourse.heig-vd.ch/t/musl-libc-implementation/271 "2022-01-27T09:02:06Z")

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Recently, I’ve been asked to investigate the use of %0 formatter in printf which allows to have padding zeros before the number to display. For example, printf(“%04d”, 34); will display 0034. The MUSL libc does not …

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## [Jerk increasing strategy when LP failed](http://discourse.heig-vd.ch/t/jerk-increasing-strategy-when-lp-failed/270)

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**Author:** [@yakunix](http://discourse.heig-vd.ch/u/yakunix)\
**Replies:** 10\
**Last updated:** [January 27, 2022, 4:05am UTC](http://discourse.heig-vd.ch/t/jerk-increasing-strategy-when-lp-failed/270 "2022-01-27T04:05:18Z")

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I noticed in the second stage of LP solving, if the solver failed to find a solution, the jerk will be doubled and try to solve again. In some cases, the jerk will be increased to a very large value to get a success. Thi…

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## [Function of CutZeroStart and CutZeroEnd](http://discourse.heig-vd.ch/t/function-of-cutzerostart-and-cutzeroend/267)

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**Author:** [@yakunix](http://discourse.heig-vd.ch/u/yakunix)\
**Replies:** 5\
**Last updated:** [January 26, 2022, 7:58am UTC](http://discourse.heig-vd.ch/t/function-of-cutzerostart-and-cutzeroend/267 "2022-01-26T07:58:21Z")

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Hi Raoul, I’m not quite sure what are the two functions for? I guess they have something to do with the constant jerk strategy. Within the function, the jps (third derivative of s) is computed from: jps = min(cfg.jmax…

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## [How to generate smooth velocity profile?](http://discourse.heig-vd.ch/t/how-to-generate-smooth-velocity-profile/258)

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**Author:** [@gotu0000](http://discourse.heig-vd.ch/u/gotu0000)\
**Replies:** 6\
**Last updated:** [January 12, 2022, 12:48am UTC](http://discourse.heig-vd.ch/t/how-to-generate-smooth-velocity-profile/258 "2022-01-12T00:48:08Z")

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Hi OpenCN developer, I tried to execute trajectory planning using generated c++ files in \<opencn\_home\>/agency/usr/matlab/x86/matlab/generated. I was trying to generate trajectory points by following the approach given i…

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## [Discretization scheme for feedrate planning](http://discourse.heig-vd.ch/t/discretization-scheme-for-feedrate-planning/261)

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**Author:** [@yakunix](http://discourse.heig-vd.ch/u/yakunix)\
**Replies:** 3\
**Last updated:** [January 10, 2022, 5:44am UTC](http://discourse.heig-vd.ch/t/discretization-scheme-for-feedrate-planning/261 "2022-01-10T05:44:41Z")

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In the paper Linear programming feedrate optimization - Adaptive path sampling and feedrate override, it is mentioned that if we use the Greville abscissae as the evaluation sampling points, the optimization will be more…

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## [Feedrate planning at zero speed](http://discourse.heig-vd.ch/t/feedrate-planning-at-zero-speed/260)

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**Author:** [@yakunix](http://discourse.heig-vd.ch/u/yakunix)\
**Replies:** 3\
**Last updated:** [January 10, 2022, 5:41am UTC](http://discourse.heig-vd.ch/t/feedrate-planning-at-zero-speed/260 "2022-01-10T05:41:17Z")

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Hi Raoul, In the HPC paper, the remaining time is approximated by the following equation: I’m wondering if this strategy could also be used for singularity handling. At the start of zero velocity, we can assume the q…

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## [How to run Matlab Trajectory Planning script?](http://discourse.heig-vd.ch/t/how-to-run-matlab-trajectory-planning-script/247)

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**Author:** [@yakunix](http://discourse.heig-vd.ch/u/yakunix)\
**Replies:** 22\
**Last updated:** [January 8, 2022, 12:13pm UTC](http://discourse.heig-vd.ch/t/how-to-run-matlab-trajectory-planning-script/247 "2022-01-08T12:13:41Z")

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Hi OpenCN developer, After reading the documentation I understand that algorithm is implemented with Matlab and then converted to C++ code for real-time computation. But I’m not sure which Matlab script should I start f…

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## [Happy new year!](http://discourse.heig-vd.ch/t/happy-new-year/252)

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**Author:** [@jmi](http://discourse.heig-vd.ch/u/jmi)\
**Replies:** 0\
**Last updated:** [December 23, 2021, 7:58am UTC](http://discourse.heig-vd.ch/t/happy-new-year/252 "2021-12-23T07:58:02Z")

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Hi OpenCN followers, 2021 is about to end. It has been a great year for OpenCN project. Here are some of the improvements added this year: Providing a docker image and a Virtual Machine with OpenCN environment The do…

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## [Porting OpenCN on Ultra-Scale+ / ZCU106](http://discourse.heig-vd.ch/t/porting-opencn-on-ultra-scale-zcu106/248)

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**Author:** [@rossierd](http://discourse.heig-vd.ch/u/rossierd)\
**Replies:** 1\
**Last updated:** [December 8, 2021, 1:20pm UTC](http://discourse.heig-vd.ch/t/porting-opencn-on-ultra-scale-zcu106/248 "2021-12-08T13:20:14Z")

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We are currently porting OpenCN on Ultra-Scale+ ZCU106 board which is endowed with a 4x Cortex-A53 (64-bit). In addtion, a FPGA IP will be developped to acquire digital signals coming from anaog sensors used to detect vi…

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## [Graphics support for SO3](http://discourse.heig-vd.ch/t/graphics-support-for-so3/41)

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**Author:** [@ngaranis](http://discourse.heig-vd.ch/u/ngaranis)\
**Replies:** 21\
**Last updated:** [December 8, 2021, 11:04am UTC](http://discourse.heig-vd.ch/t/graphics-support-for-so3/41 "2021-12-08T11:04:06Z")

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I will be implementing graphics support for SO3 as part of my Bachelor project. This topic is here to regroup all related discussions.

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## [Support of arm32 platforms stopped](http://discourse.heig-vd.ch/t/support-of-arm32-platforms-stopped/239)

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**Author:** [@jmi](http://discourse.heig-vd.ch/u/jmi)\
**Replies:** 0\
**Last updated:** [November 16, 2021, 8:52pm UTC](http://discourse.heig-vd.ch/t/support-of-arm32-platforms-stopped/239 "2021-11-16T20:52:53Z")

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Hi OpenCN followers, We stopped to support the ARM32 platforms, vexpress and rpi4 targets. For ARM platform, please switch our environment to ARM64 targets, virt64 and rpi4\_64. Enjoy J-P

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## [Development flow](http://discourse.heig-vd.ch/t/development-flow/225)

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**Author:** [@jmi](http://discourse.heig-vd.ch/u/jmi)\
**Replies:** 1\
**Last updated:** [October 12, 2021, 7:38am UTC](http://discourse.heig-vd.ch/t/development-flow/225 "2021-10-12T07:38:28Z")

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We made some improvements to our development flow. We added a generic build script (agency/build.sh) which can be used to build the different part of the framework. It usage is described in its help message: (agency/bu…

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## [Issue with the new Raspberry Pi 4 8 GB](http://discourse.heig-vd.ch/t/issue-with-the-new-raspberry-pi-4-8-gb/236)

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**Author:** [@rossierd](http://discourse.heig-vd.ch/u/rossierd)\
**Replies:** 0\
**Last updated:** [September 20, 2021, 10:23am UTC](http://discourse.heig-vd.ch/t/issue-with-the-new-raspberry-pi-4-8-gb/236 "2021-09-20T10:23:29Z")

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When we made some experiments with a newly bought Raspberry Pi 4 with 8 GB DRAM, we faced some troubles during the boot process of U-boot. We had to migrate U-boot from 2019.10 to a recent version (2021.07-rc5) from a br…

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## [New OpenCN Webpage](http://discourse.heig-vd.ch/t/new-opencn-webpage/235)

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**Author:** [@jmi](http://discourse.heig-vd.ch/u/jmi)\
**Replies:** 0\
**Last updated:** [August 31, 2021, 6:17am UTC](http://discourse.heig-vd.ch/t/new-opencn-webpage/235 "2021-08-31T06:17:44Z")

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Hi OpenCN followers, An OpenCN website has just been published here. Currently it has links to different OpenCN resources (gitlab repo, documentation, youtube channel). It also possible to download the Virtual Machine …

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## [Porting SO3 on RISC-V and ARM64](http://discourse.heig-vd.ch/t/porting-so3-on-risc-v-and-arm64/222)

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**Author:** [@rossierd](http://discourse.heig-vd.ch/u/rossierd)\
**Replies:** 1\
**Last updated:** [August 17, 2021, 11:03am UTC](http://discourse.heig-vd.ch/t/porting-so3-on-risc-v-and-arm64/222 "2021-08-17T11:03:15Z")

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SO3 is currently being ported on RISC-V architecture, and it will be ported on ARM64 in a near future. For these reasons, Makefiles and related KBuild files have been slightly adapted in order to support various architec…

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## [SOOlink Winenet datalink protocol](http://discourse.heig-vd.ch/t/soolink-winenet-datalink-protocol/111)

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**Author:** [@rossierd](http://discourse.heig-vd.ch/u/rossierd)\
**Replies:** 4\
**Last updated:** [August 17, 2021, 10:55am UTC](http://discourse.heig-vd.ch/t/soolink-winenet-datalink-protocol/111 "2021-08-17T10:55:55Z")

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I’m currently re-working out the Winenet protocol which is implemented as datalink protocol in SOOlink for wireless connectivity between smart objects. Winenet uses the so-called Unibroad transmission mode which consist…

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## [Major update of path planning documentation](http://discourse.heig-vd.ch/t/major-update-of-path-planning-documentation/231)

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**Author:** [@Raoul](http://discourse.heig-vd.ch/u/Raoul)\
**Replies:** 0\
**Last updated:** [August 12, 2021, 8:30am UTC](http://discourse.heig-vd.ch/t/major-update-of-path-planning-documentation/231 "2021-08-12T08:30:16Z")

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I’m pleased to announce a major update of documentation concerning OpenCN path planning. https://mecatronyx.gitlab.io/opencnc/opencn/ It’s still WIP and some parts will be completed soon. best regards, Raoul

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## [ARM64 support added to the framework](http://discourse.heig-vd.ch/t/arm64-support-added-to-the-framework/221)

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**Author:** [@jmi](http://discourse.heig-vd.ch/u/jmi)\
**Replies:** 0\
**Last updated:** [June 13, 2021, 7:58pm UTC](http://discourse.heig-vd.ch/t/arm64-support-added-to-the-framework/221 "2021-06-13T19:58:30Z")

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We are pleased announce that ARM64 support was added to OpenCN framework. The targets are rpi4\_64 (Raspberry Pi 4) and virt64 (emulation) are available. Enjoy J-P

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## [How modifing RPI4 source for custom EtherCAT driver (AX2006) in lcec](http://discourse.heig-vd.ch/t/how-modifing-rpi4-source-for-custom-ethercat-driver-ax2006-in-lcec/206)

<div class="topic-metadata">

**Author:** [@Marian](http://discourse.heig-vd.ch/u/Marian)\
**Replies:** 2\
**Last updated:** [June 6, 2021, 7:19pm UTC](http://discourse.heig-vd.ch/t/how-modifing-rpi4-source-for-custom-ethercat-driver-ax2006-in-lcec/206 "2021-06-06T19:19:50Z")

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I want add support for different hardware (Beckhoff AX2006 driver) - Wher I can start. I successfully build image for RPI4. I connect EtherCAT network to RPI4 Ethernet port, but how connect GUI computer to RPI4. After …

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## [SOO.domotics demonstrator](http://discourse.heig-vd.ch/t/soo-domotics-demonstrator/220)

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**Author:** [@rossierd](http://discourse.heig-vd.ch/u/rossierd)\
**Replies:** 0\
**Last updated:** [June 2, 2021, 11:32am UTC](http://discourse.heig-vd.ch/t/soo-domotics-demonstrator/220 "2021-06-02T11:32:04Z")

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The SOO.domotics refer to the set of smart objets and ME (Mobile Entities) which are used to build a first demonstrator in the field of home automation. The following smart objects will be considered: SOO.heat : heatin…

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## [LVGL support (features, ideas, etc.)](http://discourse.heig-vd.ch/t/lvgl-support-features-ideas-etc/219)

<div class="topic-metadata">

**Author:** [@rossierd](http://discourse.heig-vd.ch/u/rossierd)\
**Replies:** 0\
**Last updated:** [June 1, 2021, 3:12pm UTC](http://discourse.heig-vd.ch/t/lvgl-support-features-ideas-etc/219 "2021-06-01T15:12:19Z")

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Following today’s official announcement of LVGL Release 8, last changes have been fully integrated to SO3. Furthermore, some bugs related to misbehaviour of mouse buttons have been fixed too (problem of mouse button pr…

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