Fixed SPI and SD initialization.

Grbl_Esp32/src/Grbl.cpp

@@ -61,6 +61,16 @@ void grbl_init() {
             // The I2S out must be initialized before it can access the expanded GPIO port. Must be initialized _after_ settings!
             i2s_out_init();
         }
+        if (config->_spi) {
+            info_serial("Initializing SPI...");
+            // The SPI must be initialized before we can use it.
+            config->_spi->init();
+
+            // Initialize SD card after SPI:
+            if (config->_sdCard != nullptr) {
+                config->_sdCard->init();
+            }
+        }
 
         info_serial("Initializing steppers...");
         stepper_init();  // Configure stepper pins and interrupt timers
@@ -74,7 +84,8 @@ void grbl_init() {
         memset(sys_position, 0, sizeof(sys_position));  // Clear machine position.
 
         machine_init();  // user supplied function for special initialization
-                         // Initialize system state.
+
+        // Initialize system state.
         if (sys.state != State::ConfigAlarm) {
 #ifdef FORCE_INITIALIZATION_ALARM
             // Force Grbl into an ALARM state upon a power-cycle or hard reset.

Grbl_Esp32/src/MachineCommon.h

@@ -3,18 +3,9 @@
 // Grbl setting that are common to all machines
 // It should not be necessary to change anything herein
 
-#ifndef GRBL_SPI_FREQ
-// You can override these by defining them in a board file.
-// To override, you must set all of them
-//-1 means use the default board pin
-#    define GRBL_SPI_SS -1
-#    define GRBL_SPI_MOSI -1
-#    define GRBL_SPI_MISO -1
-#    define GRBL_SPI_SCK -1
-#    define GRBL_SPI_FREQ 4000000
-#endif
+const int32_t GRBL_SPI_FREQ = 4000000;
 
-// ESP32 CPU Settings
+    // ESP32 CPU Settings
 const uint32_t fTimers = 80000000;  // a reference to the speed of ESP32 timers
 
 // =============== Don't change or comment these out ======================

Grbl_Esp32/src/MachineConfig.cpp

@@ -362,6 +362,17 @@ void SPIBus::validate() const {
     }
 }
 
+void SPIBus::init() {
+    if (_ss.defined()) { // validation ensures the rest is also defined.
+        auto ssPin   = _ss.getNative(Pin::Capabilities::Output | Pin::Capabilities::Native);
+        auto mosiPin = _mosi.getNative(Pin::Capabilities::Output | Pin::Capabilities::Native);
+        auto sckPin  = _sck.getNative(Pin::Capabilities::Output | Pin::Capabilities::Native);
+        auto misoPin = _miso.getNative(Pin::Capabilities::Input | Pin::Capabilities::Native);
+
+        SPI.begin(sckPin, misoPin, mosiPin, ssPin);
+    }
+}
+
 void SPIBus::group(Configuration::HandlerBase& handler) {
     handler.item("ss", _ss);
     handler.item("miso", _miso);

Grbl_Esp32/src/MachineConfig.h

@@ -203,6 +203,8 @@ public:
     void group(Configuration::HandlerBase& handler) override;
     void afterParse() override;
 
+    void init();
+
     ~SPIBus() = default;
 };
 
@@ -370,7 +372,7 @@ public:
     // before initialization. If it detects a problem and the hard limits setting is enabled, Grbl will
     // simply message the user to check the limits and enter an alarm state, rather than idle. Grbl will
     // not throw an alarm message.
-    bool _checkLimitsAtInit        = true;
+    bool _checkLimitsAtInit = true;
 
     // If your machine has two limits switches wired in parallel to one axis, you will need to enable
     // this feature. Since the two switches are sharing a single pin, there is no way for Grbl to tell

Grbl_Esp32/src/SDCard.cpp

@@ -142,12 +142,7 @@ SDCard::State SDCard::get_state(bool refresh) {
 
     if (spiConfig != nullptr) {
         auto ssPin   = spiConfig->_ss.getNative(Pin::Capabilities::Output | Pin::Capabilities::Native);
-        auto mosiPin = spiConfig->_mosi.getNative(Pin::Capabilities::Output | Pin::Capabilities::Native);
-        auto sckPin  = spiConfig->_sck.getNative(Pin::Capabilities::Output | Pin::Capabilities::Native);
-        auto misoPin = spiConfig->_miso.getNative(Pin::Capabilities::Input | Pin::Capabilities::Native);
-
-        SPI.begin(sckPin, misoPin, mosiPin, ssPin);  // this will get called for each motor, but does not seem to hurt anything
-
+        
         //no need to go further if SD detect is not correct
         if (config->_sdCard->_cardDetect.defined() && !config->_sdCard->_cardDetect.read()) {
             _state = SDCard::State::NotPresent;
@@ -164,10 +159,12 @@ SDCard::State SDCard::get_state(bool refresh) {
 
         //SD is idle or not detected, let see if still the case
         SD.end();
+
         _state = SDCard::State::NotPresent;
+
         //using default value for speed ? should be parameter
         //refresh content if card was removed
-        if (SD.begin((GRBL_SPI_SS == -1) ? SS : GRBL_SPI_SS, SPI, GRBL_SPI_FREQ, "/sd", 2)) {
+        if (SD.begin(ssPin, SPI, GRBL_SPI_FREQ, "/sd", 2)) {
             if (SD.cardSize() > 0) {
                 _state = SDCard::State::Idle;
             }

Grbl_Esp32/src/System.cpp

@@ -69,11 +69,6 @@ void system_reset() {
 }
 
 void init_output_pins() {
-    //customize pin definition if needed
-#if (GRBL_SPI_SS != -1) || (GRBL_SPI_MISO != -1) || (GRBL_SPI_MOSI != -1) || (GRBL_SPI_SCK != -1)
-    SPI.begin(GRBL_SPI_SCK, GRBL_SPI_MISO, GRBL_SPI_MOSI, GRBL_SPI_SS);
-#endif
-
     auto userOutputs = config->_userOutputs;
 
     // Setup M62,M63,M64,M65 pins