back together

firmware/motion-head/src/main.cpp

@@ -205,7 +205,6 @@ void setup() {
   // l i g h t s 
   ERRLIGHT_ON;
   CLKLIGHT_ON;
-  /*
   // osap
   osapSetup();
   // ports 
@@ -230,16 +229,18 @@ void setup() {
   // smoothie (and frequency of loop below)
   #warning pls reconsider maximal rates / etc given new loop freq... and how / where to parameterize 
   smoothieRoll->init(20000);
-  */
   // bare serial 
-  Serial.begin(9600);
+  //Serial.begin(9600);
   // barebus 
-  ucBusHead_setup();
+  //ucBusHead_setup();
   // 25kHz base (40us period) or 
   // 20kHz base (50us period)
-  d51ClockBoss->start_ticker_a(100); 
+  d51ClockBoss->start_ticker_a(50); 
 }
 
+//#define TEST_TX
+
+#ifdef TEST_TX 
 unsigned long lastTx = 0;
 uint8_t testTx[33] = { 
                       1, 2, 3, 4, 0, 6, 7, 8, 9, 10, 
@@ -248,20 +249,19 @@ uint8_t testTx[33] = {
                       31, 32, 33 };
 
 uint8_t tstRx[256];
-
-#define TEST_TX
+#endif 
 
 void loop() {
   // write ~ every second, transmit on chb to drop 1 
   // check indices on the way down / up ... was shifting, are not anymore 
-  //osapLoop();
-  //conveyor->on_idle(nullptr);
+  osapLoop();
+  conveyor->on_idle(nullptr);
 
+  #ifdef TEST_TX 
   if(ucBusHead_ctr(1)){
     uint16_t len = ucBusHead_read(1, tstRx);
     logPacket(tstRx, len);
   }
-  #ifdef TEST_TX
   if(millis() > lastTx + 100){
     lastTx = millis();
     if(ucBusHead_ctsB(1)){

osape-d51 @ af5f9a0e

-Subproject commit 7d0be7a5c309aab2a3300116c7e9fd2c425fc6cb
+Subproject commit af5f9a0e004a6134b38f0f1996bebda271f9c655