That's more about physical formats. You need some level of hardware support if you want to do anything like Greaseweasel without a modern high performance microprocessor. It can be done and in fact it was. The Commodore 128 had a strange dual life as a fancy Commodore 64 and a terribly bad CP/M machine but it was used extensively for disk copying as there was little in normal GCR or FM/MFM formats that the 1571 drive couldn't read or write.
The 1571 is a very clever piece of technology though so it's not a small project to clone.
The standard controllers used in the RCBUS cards will read most physical formats but you do need to know stuff like sector lengths and density and geometry to make it work. Most CP/M systems used standard IBM derived physical formats so the only other trick you then need to know is that 8" disks are clocked differently so 8" DD is equivalent to 3.5" HD. With that and a fast enough CPU there's not a lot you can't read except GCR formats. 3.5" HD will probably need a DMA controller, a faster than RCBUS CPU or some truly insanely ugly trickery.
You should also try to read the physical media once as a disk imaging read anyway. The surface on the old disks is often not stable so you may not get many goes at reading it, especially if it's got any traces of mould. For extremely valuable media (like believed rare one off copies of historically signifcant data) people go as far as imaging the flux patterns on the media without physical contact of any kind!
Alan