lib/module: Add GRBL module.

Signed-off-by: icyqwq <[email protected]>

Author: icyqwq

m5stack/libs/module/__init__.py

@@ -9,6 +9,7 @@
     "DisplayModule": "display",
     "DualKmeterModule": "dual_kmeter",
     "Encoder4MotorModule": "encoder4_motor",
+    "GRBLModule": "grbl",
     "HMIModule": "hmi",
     "IotBaseCatmModule": "iot_base_catm",
     "LoraModule": "lora",

m5stack/libs/module/grbl.py

@@ -0,0 +1,275 @@
+# SPDX-FileCopyrightText: 2024 M5Stack Technology CO LTD
+#
+# SPDX-License-Identifier: MIT
+
+from .mbus import i2c1
+from .module_helper import ModuleError
+import struct
+from micropython import const
+import re, math
+import time
+
+
+class GRBLModule:
+    """
+
+    note:
+        cn: GRBL 13.2 是 M5Stack 堆叠模块系列中的三轴步进电机驱动器模块。它采用 ATmega328P-AU 控制器，带有三组 DRV8825PWPR 步进电机驱动芯片控制方式，可以同时驱动三个双极步进电机。
+        en: GRBL 13.2 is a three-axis stepper motor driver module in the M5Stack stacking module series. It uses an ATmega328P-AU controller with three sets of DRV8825PWPR stepper motor driver chip control ways, which can drive three bipolar steppers at the same time.
+
+    details:
+        color: "#0FE6D7"
+        link: https://docs.m5stack.com/en/module/grbl13.2
+        image: https://static-cdn.m5stack.com/resource/docs/products/module/grbl13.2/grbl13.2_01.webp
+        category: Module
+
+    example: |
+        from module import GRBLModule
+        motor = GRBLModule()
+
+
+    """
+
+    """
+    constant: Motor mode
+    """
+    MODE_ABSOLUTE = const(0)
+    MODE_RELATIVE = const(1)
+
+    def __init__(
+        self,
+        address: int = 0x70,
+    ):
+        """
+        note:
+            en: Initialize the GRBLModule.
+            cn: 初始化GRBL模块。
+
+        params:
+            address:
+              note: The I2C address of the device.
+        """
+
+        self.i2c = i2c1
+        self.addr = address
+
+        # Check if the devices are connected and accessible
+        if self.addr not in self.i2c.scan():
+            raise ModuleError("GRBLModule not found at I2C address 0x%02X" % self.addr)
+
+        self.mode = self.MODE_ABSOLUTE
+        self.last_speed = 300
+
+    def g_code(self, command):
+        """
+        note:
+            en: Send the G-code command.
+            cn: 发送G代码命令。
+
+        params:
+            command:
+              note: The G-code command.
+        """
+        self.i2c.writeto(self.addr, command + "\n")
+        return self.get_code_time(command)
+
+    def get_code_time(self, code) -> int:
+        """
+        note:
+            en: Get the time of the code.
+            cn: 获取代码的时间。
+
+        params:
+            code:
+              note: The G-code command
+
+        return:
+                        note: The estimated time of the command.
+
+        """
+        x_value = re.search(r"X-*\d+", code)
+        y_value = re.search(r"Y-*\d+", code)
+        z_value = re.search(r"Z-*\d+", code)
+        speed = re.search(r"F\d+", code)
+        hold = re.search(r"P\d+", code)
+        hold = float(hold.group(0)[1:]) * 1000 if hold else 0
+        x_value = int(x_value.group(0)[1:]) if x_value else 0
+        y_value = int(y_value.group(0)[1:]) if y_value else 0
+        z_value = int(z_value.group(0)[1:]) if z_value else 0
+        self.last_speed = int(speed.group(0)[1:]) if speed else self.last_speed
+        time = (
+            math.sqrt(x_value * x_value + y_value * y_value + z_value * z_value)
+            * 60
+            * 1000
+            / self.last_speed
+        )
+        time += hold
+        return int(time)
+
+    def turn(self, x=None, y=None, z=None, speed=None) -> int:
+        """
+        note:
+            en: Turn the motor to a specific position.
+            cn: 将电机转到特定位置。
+
+        params:
+            x:
+              note: The position of the X motor, 1.6=360°.
+            y:
+              note: The position of the Y motor, 1.6=360°.
+            z:
+              note: The position of the Z motor, 1.6=360°.
+            speed:
+              note: The speed of the motor.
+        """
+        command = "G1"
+        command += " X{}".format(x) if x is not None else ""
+        command += " Y{}".format(y) if y is not None else ""
+        command += " Z{}".format(z) if z is not None else ""
+        command += " F{}".format(speed) if speed else ""
+        self.last_speed = speed if speed else self.last_speed
+        return self.g_code(command)
+
+    def set_mode(self, mode):
+        """
+        note:
+            en: Set the mode of the motor.
+            cn: 设置电机的模式。
+
+        params:
+            mode:
+              note: The mode of the motor.
+              field: dropdown
+              options:
+                Absolute: GRBLModule.MODE_ABSOLUTE
+                Relative: GRBLModule.MODE_RELATIVE
+        """
+        self.mode = mode
+        if mode == self.MODE_ABSOLUTE:
+            return self.g_code("G90")
+        else:
+            return self.g_code("G91")
+
+    def init(self, x_step=None, y_step=None, z_step=None, acc=None):
+        """
+        note:
+            en: Initialize the motor.
+            cn: 初始化电机。
+
+        params:
+            x_step:
+              note: The step of the X motor.
+            y_step:
+              note: The step of the Y motor.
+            z_step:
+              note: The step of the Z motor.
+            acc:
+              note: The acceleration of the motor.
+        """
+        if x_step:
+            self.i2c.writeto(self.addr, "$0={}\n".format(x_step))
+            time.sleep(0.01)
+        if y_step:
+            self.i2c.writeto(self.addr, "$1={}\n".format(y_step))
+            time.sleep(0.01)
+        if z_step:
+            self.i2c.writeto(self.addr, "$2={}\n".format(z_step))
+            time.sleep(0.01)
+        if acc:
+            self.i2c.writeto(self.addr, "$8={}\n".format(acc))
+
+    def flush(self):
+        """
+        note:
+            en: Flush the buffer.
+            cn: 清空缓冲区。
+        """
+        while True:
+            data = self.i2c.readfrom(self.addr, 10)
+            if data[-1] == 255:
+                break
+
+    def get_message(self) -> str:
+        """
+        note:
+            en: Get the message.
+            cn: 获取消息。
+        return:
+                        note: The message string.
+        """
+        i2c_data = ""
+        while True:
+            data = self.i2c.readfrom(self.addr, 10)
+            if data[-1] == 255:
+                i2c_data += data[: data.find(b"\x00")].decode()
+                break
+            i2c_data += data.decode()
+        return i2c_data
+
+    def get_status(self) -> str:
+        """
+        note:
+            en: Get the status.
+            cn: 获取状态。
+        return:
+                        note: The status string.
+        """
+        self.flush()
+        self.i2c.writeto(self.addr, "@")
+        return self.get_message()
+
+    def get_idle_state(self) -> bool:
+        """
+        note:
+            en: Get the idle state.
+            cn: 获取空闲状态。
+        return:
+                        note: The idle state.
+        """
+        return self.get_status()[0] == "I"
+
+    def get_lock_state(self) -> bool:
+        """
+        note:
+            en: Get the lock state.
+            cn: 获取锁定状态。
+        return:
+                        note: The lock state.
+        """
+        return self.get_status()[0] == "A"
+
+    def wait_idle(self):
+        """
+        note:
+            en: Wait until the motor is idle.
+            cn: 等待电机空闲。
+        """
+        self.flush()
+        while not self.get_idle_state():
+            time.sleep(0.1)
+
+    def unlock_alarm_state(self):
+        """
+        note:
+            en: Unlock the alarm state.
+            cn: 解锁报警状态。
+        """
+        self.i2c.writeto(self.addr, b"\x18")
+        time.sleep(0.01)
+        self.i2c.writeto(self.addr, "$X\r\n")
+
+    def lock(self):
+        """
+        note:
+            en: Lock the motor.
+            cn: 锁定电机。
+        """
+        self.g_code("$7=255")
+
+    def unlock(self):
+        """
+        note:
+            en: Unlock the motor.
+            cn: 解锁电机。
+        """
+        self.g_code("$7=25")

m5stack/libs/module/manifest.py

@@ -10,6 +10,7 @@
         "display.py",
         "dual_kmeter.py",
         "encoder4_motor.py",
+        "grbl.py",
         "hmi.py",
         "iot_base_catm.py",
         "lora.py",