Add Support for Grbl Boards

host-python/chipshover/cs.py

@@ -75,6 +75,12 @@
 import base64
 import datetime
 import binascii
+from enum import Enum
+
+
+class FirmwareType(Enum):
+    Marlin = 0
+    Grbl = 1
 
 
 def firmware_update(comport, fw_path=None):
@@ -155,9 +161,15 @@ class ChipShover:
     #Default ChipShover table/firmware combo
     STEPS_PER_MM = 1600
 
-    def __init__(self, comport):
+    def __init__(self, comport, firmware: FirmwareType = FirmwareType.Marlin):
         """Connect to ChipShover-Controller using given serial port."""
-        self.ser = serial.Serial(comport, rtscts=True)
+        self.firmwaretype = firmware
+        if self.firmwaretype == FirmwareType.Grbl:
+            self.ser = serial.Serial(comport, baudrate=115200, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE)
+            self.ser.write(b"\r\n\r\n")
+            time.sleep(2)
+        else:
+            self.ser = serial.Serial(comport, rtscts=True)
         self._com = comport
 
         #Required for ChipShover-One + Archim2 USB serial
@@ -179,41 +191,69 @@ def __init__(self, comport):
         self.wait_done()
 
         #Check the "steps per unit" is valid
+        self.get_steps_grbl()
+
+
+        if self.firmwaretype == FirmwareType.Marlin:
+            self.set_fan(50)
+
+        self.call_stop_on_ctrlc = True
+
+        #TODO - 
+        #signal.signal(signal.SIGINT, self.stop)
+
+    def get_steps_grbl(self):
+        self.ser.write(b"$$\n")
+        line = None
+        xsteps, ysteps, zsteps = None, None, None
+        while line != b'':
+            line = self.ser.readline()
+            if b'=' in line:
+                param, val = line.split(b'=')
+                val = float(val.split(b' ')[0])
+                if param == b'$100':
+                    xsteps = val
+                elif param == b'$101':
+                    ysteps = val
+                elif param == b'$102':
+                    zsteps = val
+        if xsteps != ysteps != zsteps:
+            raise ValueError("XSTEPS/YSTEPS/ZSTEPS differs. Abort. %f %f %f" % (xsteps, ysteps, zsteps))
+
+        if xsteps < 100 or xsteps > 10E3:
+            raise ValueError("Sanity check in XSTEPS failed. %f" % xsteps)
+
+        self.STEPS_PER_MM = int(xsteps)
+
+
+    def get_steps_marlin(self):
         self.ser.write(b"M503\n")
         results = self.wait_done()
         try:
             splitres = results.split(b"Steps per unit:\necho: M92")[1].split(b"\n")[0]
             splitres = splitres.split(b" ")
             if splitres[1][0] != ord('X') or \
-               splitres[2][0] != ord('Y') or \
-               splitres[3][0] != ord('Z'):
+                    splitres[2][0] != ord('Y') or \
+                    splitres[3][0] != ord('Z'):
                 raise IOError("Communication problem attempting to read" + \
-                               "M503 response. %s was splitres"%splitres)
+                              "M503 response. %s was splitres" % splitres)
             xsteps = float(splitres[1][1:])
             ysteps = float(splitres[2][1:])
             zsteps = float(splitres[3][1:])
 
             if xsteps != ysteps != zsteps:
-                raise ValueError("XSTEPS/YSTEPS/ZSTEPS differs. Abort. %f %f %f"%(xsteps, ysteps, zsteps))
+                raise ValueError("XSTEPS/YSTEPS/ZSTEPS differs. Abort. %f %f %f" % (xsteps, ysteps, zsteps))
 
             if xsteps < 100 or xsteps > 10E3:
-                raise ValueError("Sanity check in XSTEPS failed. %f"%xsteps)
+                raise ValueError("Sanity check in XSTEPS failed. %f" % xsteps)
 
             self.STEPS_PER_MM = int(xsteps)
 
         except:
             print("Failed to read steps/mm, check communication is OK.")
-            print("Response to M503: %s"%results)
+            print("Response to M503: %s" % results)
             raise
 
-
-        self.set_fan(50)
-
-        self.call_stop_on_ctrlc = True
-
-        #TODO - 
-        #signal.signal(signal.SIGINT, self.stop)
-
     def set_fan(self, fan_speed=100):
         """Sets cooling fan speed, range of 0 - 100"""
 
@@ -289,14 +329,31 @@ def move(self, x=None, y=None, z=None, debug=False):
 
         if debug:
             print(cmdstr)
-
-
-        self.ser.write(cmdstr)        
+
+        self.ser.write(cmdstr)
         self.wait_done()
 
-        self.wait_for_move()
-
-    def wait_for_move(self):
+        if self.firmwaretype == FirmwareType.Marlin:
+            self.wait_for_move_marlin()
+        elif self.firmwaretype == FirmwareType.Grbl:
+            self.wait_for_move_grbl()
+
+    def wait_for_move_grbl(self):
+        self.ser.flush()
+        self.ser.reset_input_buffer()
+        # wait for move to finish
+        self.ser.write(b"?\n")
+        while True:
+            line = self.ser.readline()
+            self.wait_done()
+            if line.startswith(b'<Idle'):
+                break
+            self.ser.write(b"?\n")
+
+        self.ser.flush()
+        self.ser.reset_input_buffer()
+
+    def wait_for_move_marlin(self):
         """Wait for current movement to be done"""
 
         self.ser.flush()
@@ -305,8 +362,21 @@ def wait_for_move(self):
         self.ser.write(b"M400\n")
         self.wait_done()
 
+    def get_position_grbl(self, forcefinish=True):
+        if forcefinish:
+            self.wait_for_move_grbl()
+
+        self.ser.write(b'?\n')
+        status = self.ser.readline()
+        work_pos = status.split(b'WPos:')[1][:-3]
+        x_pos, y_pos, z_pos = work_pos.split(b',')
+        x_pos = float(x_pos)
+        y_pos = float(y_pos)
+        z_pos = float(z_pos)
+        self.wait_done()
+        return x_pos, y_pos, z_pos
 
-    def get_position(self, forcefinish=True):
+    def get_position_marlin(self, forcefinish=True):
         """Gets the X/Y/Z position of the table.
 
         By default will wait for any movement to
@@ -317,7 +387,7 @@ def get_position(self, forcefinish=True):
 
         if forcefinish:
             #wait for move to finish
-            self.wait_for_move()
+            self.wait_for_move_marlin()
 
         self.ser.write(b"M114\n")
 
@@ -389,8 +459,12 @@ def home(self, x=True, y=True, z=True):
         self.ser.write(b"\n")
 
         home_resp = self.wait_done()
-
-        self.z_home = self.get_position()[2]
+
+        if self.firmwaretype == FirmwareType.Marlin:
+            self.z_home = self.get_position_marlin()[2]
+
+        elif self.firmwaretype == FirmwareType.Grbl:
+            self.z_home = self.get_position_grbl()[2]
 
         return home_resp
 
@@ -434,7 +508,10 @@ def sweep_x_y(self, x_start, x_end, y_start, y_end, step=0.1, x_step=None, y_ste
                 self.move(y=y)         
 
                 if z_plunge:
-                    old_z = self.get_position()[2]
+                    if self.firmwaretype == FirmwareType.Marlin:
+                        old_z = self.get_position_marlin()[2]
+                    elif self.firmwaretype == FirmwareType.Grbl:
+                        old_z = self.get_position_grbl()[2]
                     self.move(z = (old_z-z_plunge))
 
                 yield (x, y)
@@ -479,7 +556,7 @@ def wait_done(self, timeout=5, debug=False):
                     timeout_cnt = 0
 
                 #Done deal I guess
-                if resp == b'ok\n':
+                if resp == b'ok\r\n' or resp == b'ok\n':
                     break
 
                 time.sleep(0.25)