21 can be caused by other things but the heater circuit should be checked first.
http://www.cygnusx1.net/Supra/Library/TEWD/MK3/manual.aspx?S=Main&P=48
There are 3 wires on the O2 sensor. Two will be the same color, usually black. They're for the heater. Since the O2 sensor doesn't work unless it's hot the heater is used to get the engine into closed loop quickly and prevent it from falling out of closed loop when exhaust stream temperature is low. During idle for example.
One heater wire has 12 volts, the other is a ground controlled by the ECU. You can:
1) Check for 12 volts across the wires. If none, check which side (power or ground) is missing.
2) Measure current through them.
3) Disconnect the sensor and measure heater resistance.
4) Remove the sensor and connect it directly to the battery. It should very quickly become hot.
Bottom line: there needs to be appx 1 amp flowing through the heater to keep the ECU happy. If there is the O2 sensor itself should be checked:
http://www.cygnusx1.net/Supra/Library/TEWD/MK3/manual.aspx?S=Main&P=48
Course, in either case the sensor itself may be good but the wiring bad...