d21 d51 bus align

firmware/fab-step/src/config.h

-// head or drop on the bus 
+// compile-time configur8or 
+#ifndef CONFIG_H_
+#define CONFIG_H_
+
+// for the bus: head, or drop? 
 //#define UCBUS_IS_HEAD
+// *genuine* max is 63 ! 
+#define UCBUS_MAX_DROPS 32
 #define UCBUS_IS_DROP
+// and D21 or D51?
+//#define UCBUS_IS_D51
+#define UCBUS_IS_D21 
+
+// 3, 2, or 1 MBaud: 
+#define UCBUS_BAUD 2
+
+// if you're using the 'module board' https://gitlab.cba.mit.edu/jakeread/ucbus-module
+// the first (og) revision has an SMT header, and some of the RS485 pins are varied, 
+// set this flag. otherwise, if you have thru-hole JTAG header, comment it out 
+//#define IS_OG_MODULE 
+
+#endif 
\ No newline at end of file

firmware/fab-step/src/indicators.h

@@ -28,5 +28,14 @@
 #define DEBUG1PIN_TOGGLE DEBUG1PIN_PORT.OUTTGL.reg = DEBUG1PIN_BM
 #define DEBUG1PIN_SETUP DEBUG1PIN_PORT.DIRSET.reg = DEBUG1PIN_BM; DEBUG1PIN_OFF
 
+// the "bus light" : led pts to gnd 
+#define DEBUG2PIN_PIN 22
+#define DEBUG2PIN_PORT PORT->Group[0]
+#define DEBUG2PIN_BM (uint32_t)(1 << DEBUG2PIN_PIN)
+#define DEBUG2PIN_ON DEBUG2PIN_PORT.OUTSET.reg = DEBUG2PIN_BM
+#define DEBUG2PIN_OFF DEBUG2PIN_PORT.OUTCLR.reg = DEBUG2PIN_BM
+#define DEBUG2PIN_TOGGLE DEBUG2PIN_PORT.OUTTGL.reg = DEBUG2PIN_BM
+#define DEBUG2PIN_SETUP DEBUG2PIN_PORT.DIRSET.reg = DEBUG2PIN_BM; DEBUG2PIN_OFF
+
 #define ERRLIGHT_ON 
 #define ERRLIGHT_OFF 

firmware/fab-step/src/main.cpp

 #include <Arduino.h>
 #include "indicators.h"
 #include "config.h"
-//#include "drivers/ucBusHead.h"
+
 //#include "drivers/step_a4950.h"
-//#include "osape-d21/osape/osap/osap.h"
-//#include "osape-d21/vertices/vt_usbSerial.h"
 
-#include "osape-d21/vertices/ucBusDrop.h"
+#include "osape-d21/osape/osap/osap.h"
+#include "osape-d21/vertices/vt_usbSerial.h"
+#include "osape-d21/vertices/ucbus/vt_ucBusDrop.h"
+#include "osape-d21/vertices/ucbus/ucBusDrop.h"
 
-/*
-// -------------------------------------------------------- Dummy
+// bus light on PA22, to flip:
+
+EP_ONDATA_RESPONSES onDemoData(uint8_t* data, uint16_t len){
+  DEBUG2PIN_TOGGLE;
+  return EP_ONDATA_ACCEPT;
+}
+
+vertex_t* demoEP = osapBuildEndpoint("demo", onDemoData, nullptr);
 
-vertex_t* spiBusDummy = osapBuildEndpoint("spiDummy", nullptr, nullptr);
+/*
 
 // -------------------------------------------------------- Axis Pick
 
@@ -42,11 +49,18 @@ vertex_t* cScaleEp = osapBuildEndpoint("currentScale", nullptr, nullptr);
 
 void setup() {
   CLKLIGHT_SETUP;
-  BUSLIGHT_SETUP;
+  //BUSLIGHT_SETUP;
   DEBUG1PIN_SETUP;
+  // setup demo light 
+  DEBUG2PIN_SETUP;
   // osap setup...
-  // osapSetup();
-  ucBusDrop_setup(2);
+  osapSetup();
+  vt_usbSerial_setup();
+  osapAddVertex(vt_usbSerial);
+  vt_ucBusDrop_setup(false, 2);
+  osapAddVertex(vt_ucBusDrop);
+  // demo endpoint (?) 
+  osapAddVertex(demoEP);
   // startup stepper HW 
   // step_a4950_init();
   // step_a4950_set_cscale(0.25F);
@@ -56,8 +70,6 @@ void setup() {
   //osapAddVertex(spiBusDummy);     // 1 
   //osapAddVertex(axisPickEp);      // 2 
   //osapAddVertex(axisInvertEp);    // 3 
-  // pinMode();
-  PORT->Group[0].DIRSET.reg = (uint32_t)(1 << 14);
 }
 
 // -------------------------------------------------------- LOOP 
@@ -66,15 +78,21 @@ void setup() {
 unsigned long last_tick = 0;
 
 void loop() {
-  //  digitalWrite();
-  PORT->Group[0].OUTSET.reg = (uint32_t)(1 << 14);
-  PORT->Group[0].OUTCLR.reg = (uint32_t)(1 << 14);
+  // DEBUG2PIN_TOGGLE;
   // do osap things, 
-  // osapLoop(); 
+  osapLoop(); 
   // blink 
   if(millis() > last_tick + CLK_TICK){
     //step_a4950_step();
-    CLKLIGHT_TOGGLE;
+    //CLKLIGHT_TOGGLE;
     last_tick = millis();
   }
 }
+
+void ucBusDrop_onPacketARx(uint8_t* inBufferA, volatile uint16_t len){
+
+}
+
+void ucBusDrop_onRxISR(void){
+
+}
\ No newline at end of file

osape-d21 @ b8595b13

-Subproject commit d7df297e7039d697def2a1252e34eebfa3981e1d
+Subproject commit b8595b13aff606d9be49ccd251e73281d7111603