at successful ucbus ring test

firmware/stepper-drop/src/main.cpp

@@ -151,6 +151,7 @@ void setup() {
   ERRLIGHT_SETUP;
   CLKLIGHT_SETUP;
   DEBUG1PIN_SETUP;
+  /*
   // limit switch 
   //limitSetup();
   // osap
@@ -175,6 +176,10 @@ void setup() {
   osapAddVertex(homeStateEp);     // 8 
   // stepper init 
   stepper_hw->init(false, c_scale);
+  */
+  // bare serial
+  Serial.begin(9600);
+  ucBusDrop_setup(true, 0);
 }
 
 // have available, 
@@ -185,9 +190,20 @@ void setup() {
 unsigned long lastTx = 0;
 uint8_t tstTx[14] = {1, 2, 3, 4, 5, 0, 7, 8, 9, 10, 11, 12, 13, 14};
 
+uint8_t tstRx[256];
+
 void loop() {
-  osapLoop();
-  stepper_hw->dacRefresh();
+  if(ucBusDrop_ctrB()){
+    ERRLIGHT_TOGGLE;
+    uint16_t len = ucBusDrop_readB(tstRx);
+    logPacket(tstRx, len);
+    if(ucBusDrop_ctsB()){
+      CLKLIGHT_TOGGLE;
+      ucBusDrop_transmitB(tstRx, len);
+    }
+  }
+  //osapLoop();
+  //stepper_hw->dacRefresh();
   #ifdef TEST_TX
   if(millis() > lastTx + 500){
     lastTx = millis();

osape-d51 @ 7d0be7a5

-Subproject commit e926d28ae33499d1bbb96df5933fba47e7d5eec7
+Subproject commit 7d0be7a5c309aab2a3300116c7e9fd2c425fc6cb

firmware/stepper-drop/src/syserror.cpp

@@ -24,37 +24,6 @@ boolean writeLenBytes(unsigned char* dest, uint16_t* dptr, uint16_t len){
 }
 */
 
-#ifdef UCBUS_IS_DROP
-
-//uint8_t escape[512];
-//uint8_t escapeHeader[10] = { PK_BUSF_KEY, 0, 0, 0, 0, PK_PTR, PK_PORTF_KEY, 0, 0, PK_DEST };
-
-// config-your-own-ll-escape-hatch
-void sysError(String msg){
-  //ERRLIGHT_ON;
-  /*
-  uint32_t len = msg.length();
-  errBuf[0] = PK_LLERR; // the ll-errmsg-key
-  errBuf[1] = len & 255;
-  errBuf[2] = (len >> 8) & 255;
-  errBuf[3] = (len >> 16) & 255;
-  errBuf[4] = (len >> 24) & 255;
-  msg.getBytes(&(errBuf[5]), len + 1);
-  // write header, 
-  memcpy(escape, escapeHeader, 10);
-  // write segsize, checksum 
-  uint16_t wptr = 10;
-  ts_writeUint16(128, escape, &wptr);
-  ts_writeUint16(len + 5, escape, &wptr);
-  memcpy(&(escape[wptr]), errBuf, len + 5);
-  // transmit on ucbus 
-  // potential here to hang-up and do while(!(ucBusDrop->cts())) ... I *think* that would clear on an interrupt
-  ucBusDrop->transmit(escape, len + wptr + 5);
-  */
-}
-
-#else 
-
 // config-your-own-ll-escape-hatch
 void sysError(String msg){
   // whatever you want,
@@ -69,17 +38,11 @@ void sysError(String msg){
   errBuf[6] = (len >> 24) & 255;
   msg.getBytes(&(errBuf[7]), len + 1);
   size_t ecl = cobsEncode(errBuf, len + 7, errEncoded);
-  // direct escape 
-  //if(Serial.availableForWrite() > (int64_t)ecl){
-    Serial.write(errEncoded, ecl);
-    Serial.flush();
-  //} else {
-  //  ERRLIGHT_ON;
-  //}
+  errEncoded[ecl] = 0; // add delimiter 
+  // escape: 
+  Serial.write(errEncoded, ecl + 1);
 }
 
-#endif 
-
 void logPacket(uint8_t* pck, uint16_t len){
   String errmsg;
   errmsg.reserve(1024);