*******************************************************************************
* *
* X2REG - Control program for X-tal doubler regulator *
* *
*******************************************************************************
* *
* (C) Copyright 1988, 1989 by Rijksuniversiteit Leiden *
* *
* *
* Assembler : X6805 *
* Hardware system : PC *
* Operating system : MS-DOS *
* *
* Version : 0.15 *
* Date : 4 Mar 1996 *
* Disk : X2-REG *
* *
*******************************************************************************
* *
* Description *
* ----------- *
* *
* This is the program for the X-tal doubler regulator *
* *
* The aim is to stabilize the X-tal temperature and to keep *
* the desired temperature changes within a predetermined *
* rate of change ('C/minute). *
* *
* The regulator consists of a MC68705R3 single chip computer *
* with three thumbwheel switches, a Pt100-inputcircuit, a *
* quad 8-bit DAC and three error LED's. The thumbwheels *
* determine the doubler X-tals final temperature. The regu- *
* lator setvalue (temperature) is periodically incre- *
* mented or decremented until it reaches the temperature as *
* indicated by the thumbwheel switches. At RESET, the *
* set-value is made equal to the current Pt100-value *
* (temperature), so regulation starts at the current *
* temperature of the X-tal. *
* *
* Thus a slow change of X-tal temperature is attained. *
* *
* Further the regulator gain and integrationtime are adjustab- *
* le by means of a potentiometer. *
* *
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SUBTITLE [ x2reg.history ] Version's history
PAGE
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* *
* Versions history: *
* *
* X2REG V 0.00 Setup of program *
* X2REG V 0.10 Adaption to actual hardware setup *
* *
* X2REG V 0.11 Problem: when the connector to the heater-mount *
* is inserted while the rack is already on, *
* the regulator starts regulating at the *
* maximum temperature. *
* Solution: after a hardware error occurred and *
* disappeared,the regulator is re-initialized,*
* so the temperature setvalue is set to the *
* current Pt100 temperature again and the *
* regulator starts regulating at the current *
* temperature. *
* *
* X2REG V 0.12 Problem: irregular repeating restarts of regulation *
* Cause : incidently, Error $01 appears during runtime*
* causing a regulator restart. *
* Solution: increase acceptation windows for ADC test *
* *
* X2REG V 0.13 Problem: same as above, *
* Cause : same as above, *
* Solution: same as above: 7E -> 7D, 01 -> 02 *
* *
* X2REG V 0.14 Problem: what is `it' doing?, *
* Cause : no indication, *
* Solution: LED0 blinks while destination temperature *
* not yet reached. *
* *
* X2REG V 0.15 Problem: starting regulating from 20'C, *
* Cause : <= 20'C is handled as shorted sensor, *
* Solution: lower lowest temperature to 10'C *
* *
*******************************************************************************
SUBTITLE [ x2reg.spec ] System specification
PAGE
*******************************************************************************
*
*
* System specification
* ====================
*
*
* Inputs
* ------
*
* o Thumbwheel
* . 4 bit input ( TWX_PRT )
* . 2 bit multiplexer selection signal ( TWS_PRT )
* . Range: 0..999
* . Error: 0..19, 121..999
*
* o Regulator error signal
* . 1 line analog input ( RES_PRT )
* . Range: -128..+127
*
* o Regulator PTC signal
* . 1 line analog input ( PTC_PRT )
* . Range: 0..255 <=> 20..120 'C
*
* o Regulator gain adjust signal
* . 1 line analog input ( RGA_PRT )
* . Range: 0..255 <=> 0..255/GAINMAX times
*
* o Regulator integrationtime adjust signal
* . 1 line analog input ( RIA_PRT )
* . Range: 0..255 <=> TINTMAX/0..255 [s]
*
*
* Outputs
* -------
*
* o LED's
* . ready ( VSET )
* . no lock ( > TALARM )
* . invalid ( < TTMBMIN ) ( > TTMBMAX )
*
* o DAC for reference signal and regulator output signal
* . 8 bit dataport ( DDA_PRT )
* . 2 bit selection signals ( DAD_PRT )
* . 1 bit read/write signal ( DWR_PRT )
*
* o Testpin for foreground program
* . 1 bit output ( TPF_PRT )
*
* o Testpin for background program
* . 1 bit output ( TPB_PRT )
*
* o Serial communication line ( SER_PRT )
* . 1 bit output
*
*******************************************************************************
SUBTITLE [ x2reg.dsgn ] Program design
PAGE
*******************************************************************************
*
*
* Program design
* ==============
*
*
* o User stack
*
* This module creates an user stack for the MC68705 single
* chip microcomputer. It simulates some MC6802-like
* instructions (LDS, STS, TSX, TXS, DECS, INCS, PSHA, PULA)
* and provides a couple of extra instructions like: TSA,
* TAS, PSHX, PULX, PSHAX, PULAX.
* Some basic differences exist between the MC6802 stack and
* the MC68705 user stack:
* - the user stackpointer is only 8-bits wide
* - the user stackpointer points to the last pushed item
* - the user stackpointer exists in RAM, not in a real
* register
* - the user stackpointer must be initialized (INISTK).
*
*
* o Runtime test facility
*
* Two testpins configured as output are available for test-
* purposes. One pin is used to track execution of the
* foreground program (TPF) and one pin is used to track
* execution of the background program (TPB). There are two
* macro's for each pin to set (SETTPF, SETTPB) or clear
* (CLRTPF, CLRTPB) it. Place these macro's anywhere you
* like to test execution of the program.
*
*
* o Initialize
*
* This module contains all code to initialize the system.
* It executes as follows:
* - clear RAM
* - set input/output lines direction
* - blink LED's three times (600 ms)
* - perform hardware test
* - initialize stack-module
* - initialize interrupt-module
* - initialize error-module
* - wait for PTC-inputcircuit to stabilize (400 ms)
* - initialize regulator-module
* - enables interrupt
*
*
* o Hardware test
*
* Thió modulå testó (parô of© thå interfacå hardware® Iô
* testó thå ADÃ anä voltagå-reference¬ thå PTÃ connection¬
* thå erroò-amplifieò anä referencå DAÃ anä thå threå
* thumbwheels.
*
*
* o Serial interface
*
* This module contains the routines to write a character to
* the terminal and to print a number of 1, 2 or 3 bytes long
* in hexadecimal format. Printing of strings is handled by
* the fstser-routine of the fast process.
*
*
* o Hardware
*
* This module contains the low-level routines to read the
* three thumbwheels and the four ADC-channels and to control
* the quad DAC and the three LED's.
*
*
PAGE
* o Input/output
*
* This module forms the system-level interface to the
* hardware-module.
*
* It contains the following routines to read:
* - triple-thumbwheel setting
* - regulator gain-adjust value
* - regulator integrationtime-adjust value
* - regulator errorsignal
* - PTC-value
*
* and to control:
* - regulator output DAC
* - regulator reference DAC
*
*
* o Miscellaneous
*
* This module contains the start-up code (blink LED's three
* times) and code to control the error-status flag.
*
*
* o Regulate
*
* This module contains a routine to initialize the
* regulator, a routine that forms a P-regulator, a routine
* that forms a PI-regulator and a routine to clamp a value
* on the user-stack to a certain maximum or minimum value.
* The PI-regulator algorithm prevents oveflow of the
* integrator. The P-regulator algorithm is selected if the
* integrationtime-adjust setting is zero volt, otherwise the
* PI-regulator algorithm is selected. This property can be
* used to calibrate the regulator gain parameter.
*
*
* o Main control
*
* The main control module features six processes in a loop.
* One process for the regulator computations, one process to
* determine the current regulator setvalue, one to service
* all hardware input/output, a process for second-related
* actions, one for minute-related actions and a process for
* hour-related actions. The hardware i/o process also
* handles the error-status. Each process is controlled by
* it's own timer. The timing is provided by the interrupt-
* module. Communication between the interrupt-module and the
* six processes is done via process-bound mailboxes.
*
*
* o Interrupt
*
* The interrupt-module contains a routine to initialize the
* interrupt system, a routine to service the external inter-
* rupt and a routine to service the timer-interrupt. The
* external interrupt is used to select a calibration-routine
* to calibrate the PTC amplifier offset and gain. This
* routine copies the thumbwheel setting after scaling to the
* reference DAC. The timer-interrupt manages the timing for
* the six processes mentioned above.
*
*
* o Math
*
* This module contains routines to add, subtract, multiply
* and devide (div and mod) for both 2-byte integers and 3-
* byte integers. Further it contains routines to convert
* between (un)signed character data and (un)signed 2-byte
* integer data and between 2-byte integer data and 3-byte
* integer data.
*
*
* o PTC-conversiontable
*
* This table contains the PTC temperature to voltage charac-
* teristic in a normalized form:
* - temperature: 0..$ff, 256 entries
* - voltage : 0..$ff, size of entry is one byte.
* The table is used to convert the setvalue temperature to
* setvalue output voltage (function PUTREF).
*
*******************************************************************************
SUBTITLE [ x2reg.sys ] System Guide
* PAGE
*******************************************************************************
*
*
* System guide
* ============
*
*
* o Configuration
*
* In order to adapt the X2reg progam to your hardware the
* following constants can be changed:
*
* - Tsample [100 ms]: sample time *) ( 1..512 )
* - Gainmax [ ]: maximum regulator gain value ( 1..256 )
* - Tintmax [ s ]: maximum regulator integrationtime ( 1..256 )
* - Timset [ s ]: time between 1'C change of ( 1..255 )
* regulator setvalue
* - Talarm [ C ]: alarm if abs(Tptc-Tset) > Talarm 'C ( 0..127 )
* - Ttmbmax [ C ]: maximum allowed thumbwheel setting ( 0..2^16)
* - Ttmbmin [ C ]: minimum allowed thumbwheel setting ( 0..2^16)
*
* - Enable_setprs : 1. regulator setvalue changes slowly
* 0. regulator setvalue = thumbwheel setvalue
*
* *) Tsample,max is ca. 0.2 x Tintmax
*
*
* o Expansion
*
* The process in the main loop for hour-related actions is
* free to use for future expansion.
*
*******************************************************************************
SUBTITLE [ x2reg.usr ] User Guide
PAGE
*******************************************************************************
*
*
* User guide
* ==========
*
*
* o Calibration
*
* PTC-amplifier
* -------------
* To calibrate the PTC-amplifier offset and gain do the
* following:
*
* - apply jumper to IRQ-jumper
* ( this selects the calibration routine )
*
* - apply a known low temperature to PTC
* - set thumbwheels to this temperature
* - measure errorvoltage ( tp5 - tp4 )
* - calibrate PTC-amplifier offset to get zero errorvoltage
*
* - apply a known high temperature to PTC
* - set thumbwheels to this temperature
* - measure errorvoltage ( tp5 - tp4 )
* - calibrate PTC-amplifier gain to get zero errorvoltage
*
* - remove IRQ-jumper
*
*
* Regulator
* ---------
* To calibrate the regulator gain and integrationtime do the
* following:
*
* - set integrationtime-adjust to 0 [V] ( Testpoint tp3 )
* ( this selects the P-regulator algorithm )
* - find gain-adjust setting that gives a response to a
* temperature step without overshoot
* ( Utp2 = gain / GAINMAX * 5 [V] )
* - set integrationtime-adjust setting to the system time-
* constant (tau)
* ( Utp3 = tau / TINTMAX * 5 [s / s * V] = [V] )
*
*
*
* o Normal usage
*
* For normal usage note the following:
*
* - jumper in IRQ-jumper removed
* - thumbwheel setting in accordance with the desired final
* temperature
* - regulator gain-adjust setting (potmeter) in accordance
* with the desired gain
* - regulator integrationtime-adjust (potmeter) in accordance
* with the desired integrationtime
*
*******************************************************************************
*------------------------------------------------------------------------------
* End of X2REG.DES
*------------------------------------------------------------------------------
SUBTITLE [ x2reg.cfg ] Hardware configuration
PAGE
*------------------------------------ M O D U L E hardware configuration ---
*
* Module hardware configuration
*
*
* Version: 0.01
* Date : 22 Mar 1989
*
*------------------------------------------------------------------------------
*
* Routines in this module:
*
* - none
*
*------------------------------------------------------------------------------
*------------------------------------------------------------------------------
*
* Front layout
* ------------
*
*
* +---------------------------+
* | |
* | TEMPERATURE CONTROL |
* | |
* | |
* | ready O | ( green )
* | |
* | no lock O | ( yellow )
* | |
* | invalid O | ( red )
* | |
* | |
* | temperature set |
* | == == == |
* | __ __ __ |
* | | | | | | | |
* | |--| |--| |--| |
* | |__| |__| |__| |
* | |
* | == == == |
* | |
* | |
* | heater |
* | ________ |
* | / \ |
* | | | |
* | | | |
* | | | |
* | \________/ |
* | |
* +---------------------------+
*
*
*------------------------------------------------------------------------------
PAGE
*------------------------------------------------------------------------------
*
* Simplified schematic of the logic controller
* -------------------------------------------
*
*
* TMX_PRT
* +---+ +------+ +----------------+
* | 9 |--/--| |-/--| |-----
* +---+ 4 | | 4 | | : none free
* | | | |-----
* +---+ | PAL | | |
* | 9 |--/--| | | 68705R3 | LED0_PRT
* +---+ 4 | 16L8 | | |---===---|<|---o + ready
* | | | |
* +---+ | | | | LED1_PRT
* | 9 |--/--| |-/--| |---===---|<|---o + no lock
* +---+ 4 +------+ 2 | |
* TWS_PRT | | LED2_PRT
* | |---===---|<|---o + invalid
* | |
* ^ | |
* | RGA_PRT | | TPF_PRT 2
* [ ]<-----------| |-----------/---o testpins
* | | | TPB_PRT
* ^ --- | |
* | RIA_PRT | | SER_PRT 1
* [ ]<----------------| |-----------/---o serial
* | | | interface
* --- | |
* | | +-----+
* | | DDA_PRT | |
* | |----------| DACA|-----o Uout
* Uptc PTC_PRT | | : | |
* |\ +-------------------| |----------| DACB|-----o Uref
* --| \ | | | | |
* | >-+-===-+-|\ | | | DACC|--
* --| / | |-\ RES_PRT | | DAD_PRT | |
* |/ +-===-+ | >--------| |----/-----| DACD|--
* | |+/ Uerr | | DWR_PRT | |
* | +-|/ | | +-----+
* Uref | | +----------------+
* o------+ +---o Ucc/2
*
*
*------------------------------------------------------------------------------
*------------------------------------------------------------------------------
*
* Regulator setup
* ---------------
*
* thumb regin / regout DACout
* wheel
* 2 1 0 +-----+ + +-----+ +-----+
* | 1'C |<--->[Uset]--->|\ | | | | Rheater
* [9][9][9]--->| min | | >---->| Reg |---->| D/A |---===---|
* | D/A | Uptc +->|/ | | | | O
* 20..120'C +-----+ |- +-----+ +-----+ | PTC
* ^ | |
* | Tptc | |
* +---------------+---------------------------------+
*
*------------------------------------------------------------------------------