add GRBL13.2 Example code

Author: Gitshaoxiang

examples/Modules/GRBL13.2/GRBL13.2.ino

@@ -0,0 +1,58 @@
+/*
+    Description: GRBL 13.2 Module TEST Example.
+*/
+#include <M5Stack.h>
+#include "GrblControl.h"
+
+/*
+ * The I2C address of GRBL 13.2  Module is 0x70 by default.
+ * You could use the DIP Switch for modify I2C address to 0x71
+ */
+
+#define STEPMOTOR_I2C_ADDR 0x70
+// #define STEPMOTOR_I2C_ADDR 0x71
+
+GRBL _GRBL = GRBL(STEPMOTOR_I2C_ADDR);
+
+void setup() {
+  // put your setup code here, to run once:
+  M5.begin();
+  M5.Power.begin();
+  _GRBL.Init();
+  Serial.begin(115200);
+  m5.Lcd.setTextColor(WHITE, BLACK);
+  m5.Lcd.setTextSize(3);
+  m5.lcd.setBrightness(100);
+  M5.Lcd.setCursor(80, 40);
+  M5.Lcd.println("GRBL 13.2");
+  M5.Lcd.setCursor(50, 80);
+  M5.Lcd.println("Press Btn A/B");
+  M5.Lcd.setCursor(50, 120);
+  M5.Lcd.println("Control Motor");
+  _GRBL.SetMode("absolute");
+}
+
+void loop() {
+  /*
+      If Button A was pressed,
+      stepmotor will rotate back and forth at a time
+   */
+  if (M5.BtnA.wasPressed())  // A button
+  {
+    Serial.print(_GRBL.ReadStatus());
+    _GRBL.SetMotor(5,5,5,200);
+    _GRBL.SetMotor(0,0,0,200);
+  }
+
+  if (M5.BtnB.wasPressed())
+  {
+       //USE Gcode
+      _GRBL.Gcode("G1 X5Y5Z5 F200");
+      _GRBL.Gcode("G1 X0Y0Z0 F200");
+  }
+
+  if (M5.BtnC.wasReleased()) {
+      _GRBL.UnLock();   
+  }
+  M5.update();
+}

examples/Modules/GRBL13.2/GrblControl.cpp

@@ -0,0 +1,150 @@
+#include "GrblControl.h"
+#include <Wire.h>
+
+GRBL::GRBL(int addr){
+    this->addr = addr;
+}
+
+void GRBL::Init()		
+{
+	Wire.begin();
+}
+
+void GRBL::Init(uint32_t x_step,uint32_t y_step,uint32_t z_step,uint32_t acc)		
+{
+	Wire.begin();
+    if(x_step){
+        char code[256];
+        sprintf(code,"$0=%d",x_step);
+        Gcode(code);
+    }
+    if(x_step){
+        char code[256];
+        sprintf(code,"$1=%d",y_step);
+        Gcode(code);
+    }
+    if(x_step){
+        char code[256];
+        sprintf(code,"$2=%d",z_step);
+        Gcode(code);
+    }
+    if(acc){
+        char code[256];
+        sprintf(code,"$8=%d",acc);
+        Gcode(code);
+    }
+}
+
+void GRBL::Gcode(char *c)
+{
+  Wire.beginTransmission(addr);
+  while ((*c) != 0) {
+    Wire.write(*c);
+    c++;
+  }
+  Wire.write(0x0d);
+  Wire.write(0x0a);
+  Wire.endTransmission();
+}
+
+void GRBL::SendByte(byte b) {
+  Wire.beginTransmission(addr);
+  Wire.write(b);
+  Wire.endTransmission();
+}
+
+void GRBL::SendBytes(uint8_t *data, size_t size) {
+  Wire.beginTransmission(addr);
+  Wire.write(data,size);
+  Wire.endTransmission();
+}
+
+void GRBL::ReadClean(){
+    while(1){
+        uint8_t i = 0;
+        char data[10];
+        Wire.requestFrom(addr, 10);
+        while (Wire.available() > 0) {
+            data[i++] = Wire.read();
+        }
+        if(data[9] == 0xff) break;
+    }
+}
+
+void GRBL::UnLock() {
+  this->SendByte(0x18);
+  delay(5);
+  char bytes[] = "$X\r\n";
+  this->SendBytes((uint8_t *)bytes, 4);
+}
+
+void GRBL::SetMotor(int x, int y, int z, int speed) {
+
+    char code[256];
+    memset(code,0,sizeof(char)*256);
+    sprintf(code,"G1 X%dY%dZ%d F%d",x,y,z,speed);
+    return this->Gcode(code);
+}
+
+void GRBL::SetMode(String mode){
+    if(mode == "distance"){
+        char bytes[] = "G91\n";
+        this->SendBytes((uint8_t *)bytes, 4);
+        this->mode = mode;
+    }else if(mode == "absolute"){
+        char bytes[] = "G90\n";
+        this->SendBytes((uint8_t *)bytes, 4);
+        this->mode = mode;
+    }
+}
+
+void GRBL::WaitIdle(){
+    this->ReadClean();
+    while(1){
+        this->SendByte('@');
+        char state;
+        Wire.requestFrom(addr, 1);
+        if (Wire.available() > 0) {
+            state = Wire.read();
+        }
+        if(state == 'I'){
+            break;
+        }
+        delay(5);
+    }
+}
+
+//read grbl return message
+
+String GRBL::ReadLine() {
+    String Data = ""; 
+    while(1){
+        uint8_t i = 0;
+        char data[10];
+        Wire.requestFrom(addr, 10);
+        while (Wire.available() > 0) {
+            data[i] = Wire.read();
+            i++;
+        }
+        Data += data;
+        if (data[9] == 0xff) {
+            break;
+        }
+    }
+    return Data;
+}
+
+String GRBL::ReadStatus() {
+    this->ReadClean();
+    this->SendByte('@');
+    return this->ReadLine();
+}
+
+    // read grbl state
+bool GRBL::ReadIdle() {
+    return this->ReadStatus()[0] == 'I';
+}
+
+bool GRBL::InLock() {
+    return this->ReadStatus()[0] == 'A';
+}

examples/Modules/GRBL13.2/GrblControl.h

@@ -0,0 +1,26 @@
+#include <M5Stack.h>
+
+class GRBL
+{
+
+    private:
+        void SendByte(byte b);
+        void SendBytes(uint8_t *data, size_t size);
+    public:
+
+        GRBL(int addr=0x70);
+        void Init();
+        void Init(uint32_t x_step, uint32_t y_step,uint32_t z_step,uint32_t acc);
+        int addr;
+        String mode;
+        void Gcode(char *c);
+        void UnLock();
+        void ReadClean();
+        void WaitIdle();
+        void SetMotor(int x=0, int y=0, int z=0, int speed=300);
+        void SetMode(String mode);
+        String ReadLine();
+        String ReadStatus();
+        bool ReadIdle();
+        bool InLock();
+};