GAP: ASSEMBLE REVISION 237 OF AGC PROGRAM COLOSSUS BY NASA 2021111-031 1:17 AUG. 24, 1968Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source-code files were derived from scans of the
Colossus 237 (Apollo 8 Command Module) program listing from the private collection of original
AGC developer Fred Martin. Scanning was by Ron Burkey. Pre-existing Colossus 249
(Apollo 9 CM) source files were used as a template, and changes between Colossus 249
and Colossus 237 were manually transcribed by a team of volunteers. Note
that the page images
presented online are of reduced quality, and that additional images
are available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 237 OF AGC PROGRAM COLOSSUS BY NASA 2021111-031 1:17 AUG. 24, 1968Note that the date is the date of the printout, not the date of the program revision. |
041162,000002: ## Copyright: Public domain.
041163,000003: ## Filename: TVCROLLDAP.agc
041164,000004: ## Purpose: Part of the source code for Colossus build 237.
041165,000005: ## This is for the Command Module's (CM) Apollo Guidance
041166,000006: ## Computer (AGC), for Apollo 8.
041167,000007: ## Assembler: yaYUL
041168,000008: ## Contact: Jim Lawton <jim DOT lawton AT gmail DOT com>
041169,000009: ## Website: www.ibiblio.org/apollo/index.html
041170,000010: ## Page Scans: www.ibiblio.org/apollo/ScansForConversion/Colossus237/
041171,000011: ## Mod history: 2011-03-12 JL Adapted from corresponding Colossus 249 file.
041172,000012: ## 2017-01-01 RSB Proofed comment text using octopus/ProoferComments,
041173,000013: ## and fixed errors found.
041174,000014: ## 2017-01-20 RSB Fixed comment-text errors noted while diff'ing
041175,000015: ## vs Colossus 249.
041176,000016: ## 2017-02-09 RSB Fixed comment-text errors noted while proofing
041177,000017: ## Artemis 72.
041178,000018:
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041180,000020: # PROGRAM NAME....ROLL AUTOPILOT, CONSISTING OF ROLLDAP,DURATION,NOROLL1,E
041181,000021: # ORIGINAL CODING BY F.W.MARTIN, 1965 (SUNDIAL) TC.
041182,000022: # LOG SECTION....ROLL AUTOPILOT SUBROUTINE....DAPCSM
041183,000023: # MOD BY ENGEL DATE 28 DEC, 1967 (SUNDISK TO COLOSSUS)
041184,000024: # FUNCTIONAL DESCRIPTION....
041185,000025:
041186,000026: # *AN ADAPTATION OF THE LEM P-AXIS CONTROLLER
041187,000027: # *MAINTAIN OGA WITHIN 5 DEG DEADBND OF OGAD, WHERE OGAD = OGA AS SEEN
041188,000028: # BY IGNOVER (IGNITION)
041189,000029: # *MAINTAIN OGA RATE LESS THAN 0.1 DEG/SEC LIMIT CYCLE RATE
041190,000030: # *SWITCHING LOGIC IN PHASE PLANE.... SEE GSOP CHAPTER 3
041191,000031: # *USES T6 CLOCK TO TIME JET FIRINGS
041192,000032: # *MAXIMUM JET FIRING TIME = 2.56 SECONDS, LIMITED TO 2.5 IF GREATER
041193,000033: # *MINIMUM JET FIRING TIME = 15 MS
041194,000034: # *JET PAIRS FIRE ALTERNATELY
041195,000035: # *AT LEAST 1/2 SECOND DELAY BEFORE A NEW JET PAIR IS FIRED
041196,000036: # *JET FIRINGS MAY NOT BE EXTENDED, ONLY SHORTENED, WHEN RE-EVALUATION
041197,000037: # OF A JET FIRING TIME IS MADE ON A LATER PASS
041198,000038:
041199,000039: # CALLING SEQUENCE....
041200,000040:
041201,000041: # *ROLLDAP CALL VIA WAITLIST, IN PARTICULAR BY TVCEXEC (EVERY 1/2 SEC)
041202,000042: # WITH A 3CS DELAY TO ALLOW FREE TIME FOR OTHER RUPTS (DWNRPT, ETC.)
041203,000043:
041204,000044: # NORMAL EXIT MODES.... ENDOFJOB
041205,000045:
041206,000046: # ALARM OR ABORT EXIT MODES.... NONE
041207,000047:
041208,000048: # SUBROUTINES CALLED.....NONE
041209,000049:
041210,000050: # OTHER INTERFACES....
041211,000051:
041212,000052: # *TVCEXEC SETS UP ROLLDAP TASK EVERY 1/2 SECOND AND UPDATES 1/CONACC
041213,000053: # EVERY 10 SECONDS (VIA MASSPROP AND S40.15)
041214,000054: # *TVCRESTART PACKAGE WILL RE-START ROLL DAP AFTER A RESTART (PICKING
041215,000055: # UP THE ORIGINAL OGAD)
041216,000056:
041217,000057: # ERASABLE INITIALIZATION REQUIRED....
041218,000058:
041219,000059: # *1/CONACC (S40.15)
041220,000060: # *OGAD (CDUX, AT IGNOVER)
041221,000061: # *OGANOW (CDUX AT TVCINIT4 AND TVCEXECUTIVE)
041222,000062: # *OGAPAST (OGANOW AT TVCEXECUTIVE)
041223,000063: # *ROLLFIRE = TEMREG = ROLLWORD = 0 (MRCLEAN LOOP IN TVCDAPON)
041224,000064: # OUTPUT....
041225,000065:
041226,000066: # *ROLL JET PAIR FIRINGS
041227,000067:
041228,000068: # DEBRIS.... MISCELLANEOUS, SHAREABLE WITH RCS/ENTRY, IN EBANK6 ONLY
041229,000069:
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041231,000071: # SOME NOTES ON THE ROLL AUTOPILOT, AND IN PARTICULAR, ON ITS SWITCHING
041232,000072: # LOGIC. SEE SECTION THREE OF THE GSOP (SUNDISK/COLOSSUS) FOR DETAILS.
041233,000073:
041234,000074: # SWITCHING LOGIC IN THE PHASE PLANE....
041235,000075:
041236,000076: # OGARATE
041237,000077: # *
041238,000078: # *
041239,000079: # * * * * * * * * * * * *
041240,000080: # * (REGION 1, SEE TEXT BELOW)
041241,000081: # * *
041242,000082: # *
041243,000083: # * * * * * * * (COAST) * ...PARABOLA (SWITCHING = CONTROL)
041244,000084: # * * .
041245,000085: # * * *
041246,000086: # * * (FIRE NEG ROLL JETS)
041247,000087: # * * *
041248,000088: # (-DB,+LMCRATE)....* *
041249,000089: # * * *
041250,000090: # * * OGAERROR
041251,000091: # ************************************************************************
041252,000092: # * * (-AK, OGAERR)
041253,000093: # * * (REGION 6-PRIME)
041254,000094: # * (SEE TEXT BELOW)
041255,000095: # * * *
041256,000096: # * * ...STRAIGHT LINE
041257,000097: # (FIRE POS ROLL JETS) * * * .
041258,000098: # * (COAST) *
041259,000099: # * * * * * * * * * * *
041260,000100: # * -MINLIM
041261,000101: # * *
041262,000102: # *
041263,000103: # * * * * * * * * * * * * * * * *
041264,000104: # * -MAXLIM
041265,000105: # *
041266,000106: # *
041267,000107:
041268,000108: # SWITCHING PARABOLAS ARE CONTROL PARABOLAS, THUS REQUIRING KNOWLEDGE OF
041269,000109: # CONTROL ACCELERATION CONACC, OR ITS RECIPROCAL, 1/CONACC, THE TVC
041270,000110: # ROLL DAP GAIN (SEE TVCEXECUTIVE VARIABLE GAIN PACKAGE). JET
041271,000111: # FIRING TIME IS SIMPLY THAT REQUIRED TO ACHIEVE THE DESIRED OGARATE,
041272,000112: # SUBJECT TO THE LIMITATIONS DISCUSSED UNDER FUNCTIONAL DESCRIPTION,
041273,000113: # ABOVE.
041274,000114:
041275,000115: # THE THREE CONTROL REGIONS (+, -, AND ZERO TORQUE) ARE COMPRIZED OF
041276,000116: # TWELVE SUBSET REGIONS ( 1...6, AND THE CORRESPONDING 1-PRIME...
041277,000117: # 6-PRIME ) SEE SECTION 3 OF THE GSOP (SUNDISK OR COLOSSUS)
041278,000118:
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041280,000120: # GIVEN THE OPERATING POINT NOT IN THE COAST REGION, THE DESIRED OGARATE
041281,000121: # IS AT THE POINT OF PENETRATION OF THE COAST REGION BY THE CONTROL
041282,000122: # PARABOLA WHICH PASSES THROUGH THE OPERATING POINT. FOR REGION 3
041283,000123: # DESIRED OGARATE IS SIMPLY +-MAXLIM. FOR REGIONS 1 OR 6 THE SOLUTION
041284,000124: # TO A QUADRATIC IS REQUIRED (THE PENETRATION IS ALONG THE STRAIGHT
041285,000125: # LINE OR MINLIM BOUNDRY SWITCH LINES). AN APPROXIMATION IS MADE
041286,000126: # INSTEAD. CONSIDER AN OPERATING POINT IN REGION 6. PASS A TANGENT TO
041287,000127: # THE CONTROL PARABOLA THROUGH THE OPERATING POINT, AND FIND ITS
041288,000128: # INTERSECTION WITH THE STRAIGHT LINE SECTION OF THE SWITCH CURVE...
041289,000129: # THE INTERSECTION DEFINES DESIRED OGARATE. IF THE OPERATING POINT IS
041290,000130: # CLOSE TO THE SWITCH LINE, THE APPROXIMATION IS QUITE GOOD (INDEED
041291,000131: # THE APPROXIMATE AND QUADRATIC SOLUTIONS CONVERGE IN THE LIMIT AS
041292,000132: # THE SWITCH LINE IS APPROACHED). IF THE OPERATING POINT IS NOT CLOSE
041293,000133: # TO THE SWITCH LINE, THE APPROXIMATE SOLUTION GIVES VALID TREND
041294,000134: # INFORMATION (DIRECTION OF DESIRED OGARATE) AT LEAST. THE
041295,000135: # RE-EVALUATION OF DESIRED OGARATE IN SUBSEQUENT ROLL DAP PASSES (1/2
041296,000136: # SECOND INTERVALS) WILL BENEFIT FROM THE CONVERGENT NATURE OF THE
041297,000137: # APPROXIMATION.
041298,000138:
041299,000139: # FOR LARGE OGAERROR THE TANGENT INTERSECTS +-MINLIM SWITCH BOUNDRY BEFORE
041300,000140: # INTERSECTING THE STRAIGHT LINE SWITCH. HOWEVER THE MINLIM IS
041301,000141: # IGNORED IN COMPUTING THE FIRING TIME, SO THAT THE EXTENSION (INTO
041302,000142: # THE COAST REGION) OF THE STRAIGHT LINE SWITCH IS WHAT IS FIRED TO.
041303,000143: # IF THE ROLL DAP FINDS ITSELF IN THE COAST REGION BEFORE REACHING
041304,000144: # THE DESIRED INTERSECTION (IE, IN THE REGION BETWEEN THE MINLIM
041305,000145: # AND THE STRAIGHT LINE SWITCH) IT WILL EXIBIT NORMAL COAST-REGION
041306,000146: # BEHAVIOR AND TURN OFF THE JETS. THE PURPOSE OF THIS FIRING POLICY
041307,000147: # IS TO MAINTAIN STATIC ROLL STABILITY IN THE EVENT OF A JET
041308,000148: # FAILED-ON.
041309,000149:
041310,000150: # WHEN THE OPERATING POINT IS IN REGION 1 THE SAME APPROXIMATION IS
041311,000151: # MADE, BUT AT AN ARTIFICIALLY-CREATED OR DUMMY OPERATING POINT,
041312,000152: # DEFINED BY.. OGAERROR = INTERSECTION OF CONTROL PARABOLA AND
041313,000153: # OGAERROR AXIS, OGARATE = +-LMCRATE WHERE SIGN IS OPPOSITE THAT OF
041314,000154: # REAL OPERATING POINT RATE. WHEN THE OPERATING POINT HAS PASSED
041315,000155: # FROM REGION 1 TO REGION 6, THE DUMMY POINT IS NO LONGER REQUIRED,
041316,000156: # AND THE SOLUTION REVERTS TO THAT OF A REGULAR REGION 6 POINT.
041317,000157:
041318,000158:
041319,000159: # EQUATION FOR SWITCHING PARABOLA (SEE FIGURE ABOVE)....
041320,000160: # 2
041321,000161: # SOGAERROR = (DB - (SOGARATE) (1/CONACC)/2) SGN(SOGARATE)
041322,000162:
041323,000163:
041324,000164: # EQUATION FOR SWITCHING STRAIGHT LINE SEGMENT....
041325,000165:
041326,000166: # SOGARATE = -(-SLOPE)(SOGAERROR) - SGN(SOGARATE) INTERCEP
041327,000167:
041328,000168: # WHERE INTERCEP = DB(-SLOPE) - LMCRATE
041329,000169:
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041331,000171: # EQUATION FOR INTERSECTION, CONTROL PARABOLA AND STRAIGHT SWITCH LINE....
041332,000172:
041333,000173: # DOGADOT = NUM/DEN, WHERE
041334,000174: # 2
041335,000175: # NUM = (-SLOPE)(OGARATE) (1/CONACC)
041336,000176: # +SGN(DELOGA)(-SLOPE)(OGAERROR - SGN(DELOGA)(DB))
041337,000177: # +LMCRATE
041338,000178:
041339,000179: # DEN = (-SLOPE)(OGARATE)(1/CONACC) - SGN(DELOGA)
041340,000180: # 2
041341,000181: # DELOGA = OGAERROR - (DB - (OGADOT) (1/CONACC)/2)SGN(OGADOT)
041342,000182:
041343,000183:
041344,000184: # FOR REGIONS 6 AND 6-PRIME USE ACTUAL OPERATING POINT (OGA, OGARATE)
041345,000185: # FOR OGAERROR AND OGARATE IN THE INTERSECTION EQUATIONS ABOVE.
041346,000186: # FOR REGIONS 1 AND 1-PRIME USE DUMMY OPERATING POINT FOR OGAERROR
041347,000187: # AND OGARATE, WHERE THE DUMMY POINT IS GIVEN BY....
041348,000188: # OGAERROR= DELOGA + DB SGN(OGARATE)
041349,000189: # OGARATE= -LMCRATE SGN(OGARATE)
041350,000190:
041351,000191: # NOTE, OGAERROR = OGA - OGAD USES DUMMY REGISTER OGA IN ROLL DAP CODING
041352,000192: # ALSO,AT POINT WHERE DOGADOT IS COMPUTED, REGISTER DELOGA IS USED
041353,000193: # AS A DUMMY REGISTER FOR THE OGAERROR IN THE NUM EQUATION ABOVE
041354,000194:
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041356,000196: # ROLLDAP CODING....
041357,000197:
041358,000198: 16,2000 SETLOC DAPROLL
041359,000199: 16,2000 BANK
041360,000200: 16,3312 E6,1672 EBANK= OGANOW
041361,000201: 16,3312 COUNT* $$/ROLL
041362,000202: 16,3312 31672 ROLLDAP CAE OGANOW # OGA RATE ESTIMATOR...SIMPLE FIRST-ORDER
041363,000203: 16,3313 00006 EXTEND # DIFFERENCE (SAMPLE TIME = 1/2 SEC)
041364,000204: 16,3314 21673 MSU OGAPAST
041365,000205: 16,3315 00006 EXTEND
041366,000206: 16,3316 74706 MP BIT5
041367,000207: 16,3317 22000 LXCH A
041368,000208: 16,3320 55533 TS OGARATE # SC.AT B-4 REV/SEC
041369,000209:
041370,000210: # COMPUTATIONS WHICH FOLLOW USE OGA FOR OGAERR (SAME REGISTER)
041371,000211: # EXAMINE DURATION OF LAST ROLL FIRING IF JETS ARE NOW ON.
041372,000212: 16,3321 31611 DURATION CA ROLLFIRE # SAME SGN AS PRESENT TORQ,MAGN=POSMAX
041373,000213: 16,3322 00006 EXTEND
041374,000214: 16,3323 13325 BZF +2 # ROLL JETS ARE NOW OFF.
041375,000215: 16,3324 13333 TCF ROLLOGIC # ENTER LOGIC, JETS NOW ON.
041376,000216:
041377,000217: 16,3325 31613 CAE TEMREG # EXAMINE LAST FIRING INTERVAL
041378,000218: 16,3326 00006 EXTEND # IF POSITIVE, DONT FIRE
041379,000219: 16,3327 13333 BZF ROLLOGIC # ENTER LOGIC, JETS NOW OFF.
041380,000220:
041381,000221: 16,3330 34714 CAF ZERO # JETS HAVE NOT BEEN OFF FOR 1/2 SEC. WAIT
041382,000222: 16,3331 55613 TS TEMREG # RESET TEMREG
041383,000223: 16,3332 15213 WAIT1/2 TCF TASKOVER # EXIT ROLL DAP
041384,000224:
041385,000225: # COMPUTE DB-(1/2 CONACC) (OGARATE)SQ (1/2 IN THE SCALING)
041386,000226: 16,3333 41533 ROLLOGIC CS OGARATE # SCALED AT 2(-4) REV/SEC
041387,000227: 16,3334 00006 EXTEND
041388,000228: 16,3335 71650 MP 1/CONACC # SCALED AT 2(+9) SEC SQ /REV
041389,000229: 16,3336 00006 EXTEND
041390,000230: 16,3337 71533 MP OGARATE
041391,000231: 16,3340 63722 AD DB # SCALED AT 2(+0) REV
041392,000232: 16,3341 55613 TS TEMREG # QUANTITY SCALED AT 2(+0) REV.
041393,000233:
041394,000234: # GET SIGN OF OGARATE
041395,000235: 16,3342 31533 CA OGARATE
041396,000236: 16,3343 00006 EXTEND
041397,000237: 16,3344 63347 BZMF +3 # LET SGN(0) BE NEGATIVE
041398,000238: 16,3345 34712 CA BIT1
041399,000239: 16,3346 13350 TCF +2
041400,000240: 16,3347 44712 CS BIT1
041401,000241: 16,3350 55676 TS SGNRT # + OR - 2(-14)
041402,000242:
041403,000243: # CALCULATE DISTANCE FROM SWITCH PARABOLA,DELOGA
041404,000244: 16,3351 00006 EXTEND
041405,000245: 16,3352 71613 MP TEMREG # SGN(OGARATE) TEMREG NOW IN L
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041407,000247: 16,3353 40001 CS L
041408,000248: 16,3354 61674 AD OGA # SCALED AT 2(+0) REV
041409,000249: 16,3355 55677 DELOGAC TS DELOGA # SC.AT B+0 REV, PLUS TO RIGHT OF C-PARAB
041410,000250: # EXAMINE SGN(DELOGA) AND CREATE CA OR CS INSTR. DEPENDING UPON SIGN.
041411,000251: 16,3356 00006 EXTEND
041412,000252: 16,3357 63362 BZMF +3
041413,000253: 16,3360 34371 CAF PRIO30 # =CA (30000)
041414,000254: 16,3361 13363 TCF +2
041415,000255: 16,3362 34674 CAF BIT15 # =CS (40000)
041416,000256: 16,3363 55700 TS I
041417,000257:
041418,000258: 16,3364 51700 INDEX I # TSET ON I SGN(OGARATE)
041419,000259: 16,3365 01676 0 SGNRT # CA OR CS
041420,000260: 16,3366 40000 COM
041421,000261: 16,3367 00006 EXTEND
041422,000262: 16,3370 63441 REG1TST BZMF ROLLON # IF REGION 1 (DELOGA OGARATE SAME SIGN)
041423,000263:
041424,000264: # NO JET FIRE YET, TEST FOR MAX OGARATE
041425,000265: 16,3371 51700 INDEX I
041426,000266: 16,3372 01533 0 OGARATE # CA OR CS...BOTH MUST BE NEG. HERE
041427,000267: 16,3373 55701 TS IOGARATE # I.E. I OGARATE
041428,000268: 16,3374 63730 AD MAXLIM # SCALED AT 2(-4) REV/SEC
041429,000269: 16,3375 00006 EXTEND
041430,000270: 16,3376 63520 REG3TST BZMF RATELIM # IF REGION 3 (RATES TOO HIGH, FIRE JETS)
041431,000271:
041432,000272: # COMPUTATION OF I((-SLOPE)OGA + OGARATE) - INTERCEPT..NOTE THAT STR. LINE
041433,000273: # SWITCH SLOPE IS (SLOPE) DEG/SEC/DEG,A NEG. QUANTITY
041434,000274: 16,3377 31533 CA OGARATE
041435,000275: 16,3400 00006 EXTEND
041436,000276: 16,3401 74675 MP BIT14
041437,000277: 16,3402 55613 TS TEMREG
041438,000278: 16,3403 31674 CA OGA
041439,000279: 16,3404 00006 EXTEND
041440,000280: 16,3405 73723 MP -SLOPE
041441,000281: 16,3406 20001 DDOUBL
041442,000282: 16,3407 20001 DDOUBL
041443,000283: 16,3410 20001 DDOUBL # (OGA ERROR MUST BE LESS THAN +-225 DEG)
041444,000284: 16,3411 61613 AD TEMREG
041445,000285:
041446,000286: 16,3412 51700 INDEX I
041447,000287: 16,3413 00000 0 A # I((-SLOPE)OGA+OGARATE) AT 2(-3)REV/SEC
041448,000288: 16,3414 40000 COM
041449,000289: 16,3415 63725 AD INTERCEP # SCALED AT 2(-3) REV.
041450,000290: 16,3416 40000 COM
041451,000291: 16,3417 00006 EXTEND
041452,000292: 16,3420 63625 REG2TST BZMF NOROLL # IF REGION 2 (COAST SIDE OF STRT LINE)
041453,000293:
041454,000294: # CHECK TO SEE IF OGARATE IS ABOVE MINLIM
041455,000295: 16,3421 31701 CA IOGARATE # ALWAYS NEGATIVE
041456,000296: 16,3422 63726 AD MINLIM # SCALED AT 2(-4) REV/SEC
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041458,000298: 16,3423 00006 EXTEND
041459,000299: 16,3424 63625 REG4TST BZMF NOROLL # IF REGION 4 (COAST SIDE OF MINLIM)
041460,000300:
041461,000301: # ALL AREAS CHECKED EXCEPT LAST AREA...NO FIRE IN THIS SMALL SEGMENT
041462,000302: 16,3425 51700 INDEX I
041463,000303: 16,3426 01674 0 OGA
041464,000304: 16,3427 40000 COM
041465,000305: 16,3430 63722 AD DB
041466,000306: 16,3431 40000 COM
041467,000307: 16,3432 00006 EXTEND
041468,000308: 16,3433 63625 REG5TST BZMF NOROLL # IF REGION 5 (COAST SIDE OF DB)
041469,000309:
041470,000310:
041471,000311: # JETS MUST FIRE NOW.OGARATE IS NEG.(OR VISA VERSA).USE DIRECT STR. LINE.
041472,000312: # DELOGA AND DELOGART ARE USED AS DUMMY VARIABLES IN THE SOLUTION OF A
041473,000313: # STRAIGHT LINE APPROXIMATION TO A QUADRATIC SOLUTION OF THE INTERSECTION
041474,000314: # OF THE CONTROL PARABOLA AND THE STRAIGHT-LINE SWITCH LINE. THE STRAIGHT
041475,000315: # LINE IS THE TANGENT TO THE CONTROL PARABOLA AT THE OPERATING POINT. (FOR
041476,000316: # OPERATING POINTS IN REGIONS 6 AND 6-PRIME)
041477,000317: 16,3434 31674 REGION6 CAE OGA # USE ACTUAL OPERATING POINT FOR TANGENT
041478,000318: 16,3435 55677 TS DELOGA # ACTUAL STATE
041479,000319: 16,3436 31533 CA OGARATE
041480,000320: 16,3437 55675 TS DELOGART # ACTUAL STATE,I.E. DEL OGARATE
041481,000321: 16,3440 13450 TCF ONROLL
041482,000322:
041483,000323: # JETS ALSO FIRE FROM HERE EXCEPT OGARATE IS POS(VISA VERSA),USE INDIRECT
041484,000324: # STRAIGHT LINE ESTABLISHED BY TANGENT TO A CONTROL PARABOLA AT ((DELOGA
041485,000325: # + DB SGN(DELOGA) ), -LMCRATE SGN(DELOGA) ) (THIS IS THE DUMMY
041486,000326: # OPERATING POINT FOR OPERATING POINTS IN REGIONS 1 AND 1-PRIME )
041487,000327: 16,3441 51700 ROLLON INDEX I
041488,000328: 16,3442 03722 0 DB
041489,000329: 16,3443 27677 ADS DELOGA # DELOGA WAS DIST. FROM SWITCH PARABOLA
041490,000330:
041491,000331: 16,3444 43724 CS LMCRATE # LIMIT CYCLE RATE AT 2(-4) REV/SEC
041492,000332: 16,3445 51700 INDEX I
041493,000333: 16,3446 00000 0 A
041494,000334: 16,3447 55675 TS DELOGART # EVALUATE STATE FOR INDIRECT LINE.
041495,000335:
041496,000336: # SOLVE STRAIGHT LINES SIMULTANEOUSLY TO OBTAIN DESIRED OGARATE.
041497,000337: 16,3450 00006 ONROLL EXTEND # DELOGART IN ACC. ON ARRIVAL
041498,000338: 16,3451 71650 MP 1/CONACC
041499,000339: 16,3452 60000 DOUBLE
041500,000340: 16,3453 00006 EXTEND
041501,000341: 16,3454 73723 MP -SLOPE
041502,000342: 16,3455 55613 TS TEMREG # 2(-SLOPE)RATE /CONACC
041503,000343: 16,3456 00006 EXTEND
041504,000344: 16,3457 71675 MP DELOGART
041505,000345: 16,3460 55675 TS DELOGART # 2(-SLOPE)(RATESQ)/CONACC
041506,000346: 16,3461 44700 CS BIT11
041507,000347: 16,3462 51700 INDEX I
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Page 952 |
041509,000349: 16,3463 00000 0 A
041510,000350: 16,3464 27613 RATEDEN ADS TEMREG # DENOMINATOR COMPLETED
041511,000351:
041512,000352: 16,3465 51700 INDEX I
041513,000353: 16,3466 01677 0 DELOGA
041514,000354: 16,3467 40000 COM
041515,000355: 16,3470 63722 AD DB
041516,000356: 16,3471 40000 COM
041517,000357: 16,3472 00006 EXTEND
041518,000358: 16,3473 73723 MP -SLOPE
041519,000359: 16,3474 27675 ADS DELOGART
041520,000360: 16,3475 33724 CA LMCRATE
041521,000361: 16,3476 00006 EXTEND
041522,000362: 16,3477 74700 MP BIT11
041523,000363: 16,3500 61675 RATENUM AD DELOGART # NUMERATOR COMPLETED
041524,000364:
041525,000365: 16,3501 56001 XCH L # PLACE NUMERATOR IN L FOR OVERFL. CHECK
041526,000366: 16,3502 34714 CA ZERO
041527,000367: 16,3503 00006 EXTEND
041528,000368: 16,3504 11613 DV TEMREG # OVERFLOW, IF ANYTHING, NOW APPEARS IN A
041529,000369: 16,3505 00006 EXTEND
041530,000370: 16,3506 13514 BZF DVOK # NO OVERFLOW....(0,L)/TEMREG = 0,L
041531,000371:
041532,000372: 16,3507 10000 MINLIMAP CCS A
041533,000373: 16,3510 34672 CAF POSMAX # POSITIVE OVERFLOW
041534,000374: 16,3511 13523 TCF ROLLSET
041535,000375: 16,3512 44672 CS POSMAX # NEGATIVE OVERFLOW
041536,000376: 16,3513 13523 TCF ROLLSET
041537,000377:
041538,000378: 16,3514 22000 DVOK LXCH A # PUT NUMERATOR BACK INTO A, 0 IN L
041539,000379: 16,3515 00006 EXTEND
041540,000380: 16,3516 11613 DV TEMREG # RESULT OF DIVISION IS DESIRED OGARATE
041541,000381: 16,3517 13523 TCF ROLLSET # ( SCALED AT B-4 REV/SEC )
041542,000382:
041543,000383:
041544,000384: 16,3520 43730 RATELIM CS MAXLIM
041545,000385: 16,3521 51700 INDEX I
041546,000386: 16,3522 00000 0 A # IF I = CA, DESIRED RATE IS -MAXLIM
041547,000387:
041548,000388: # BASED ON DESIRED RATE - PRESENT RATE, COMPUTE JET FIRE TIME
041549,000389: 16,3523 55613 ROLLSET TS TEMREG # STORE DESIRED OGARATE (SCALED B-4)
041550,000390: 16,3524 00006 EXTEND
041551,000391: 16,3525 61533 SU OGARATE # RATE DIFF. SCALED AT 2(-4) REV/SEC
041552,000392: 16,3526 54000 TS A # OVERFLOW PROTECT
041553,000393: 16,3527 55613 TS TEMREG # " "
041554,000394: 16,3530 00006 EXTEND
041555,000395: 16,3531 77665 MP T6SCALE # T6SCALE = 8/10.24
041556,000396: 16,3532 00006 EXTEND
041557,000397: 16,3533 71650 MP 1/CONACC # SCALED AT 2(+9) SECSQ/REV
041558,000398: 16,3534 20001 DDOUBL
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Page 953 |
041560,000400: 16,3535 55613 TS TEMREG # OVERFLOW PROTECT
041561,000401: 16,3536 20001 DDOUBL
041562,000402: 16,3537 54000 TS A # OVERFLOW PROTECT
041563,000403: 16,3540 55613 TS TEMREG # JET FIRE TIME AT 625 MICROSEC/BIT
041564,000404: 16,3541 00006 EXTEND # POS MEANS POSITIVE ROLL TORQUE.
041565,000405: 16,3542 13625 BZF NOROLL
041566,000406:
041567,000407: # JET FIRE TIME IS NZ, ARE JETS ON NOW.
041568,000408: 16,3543 31613 CAE TEMREG # DESIRED CHANGE IN OGARATE
041569,000409: 16,3544 00006 EXTEND
041570,000410: 16,3545 71611 MP ROLLFIRE # (SGN OF TORQUE..ZERO IF JETS NOW OFF)
041571,000411: 16,3546 10000 CCS A
041572,000412: 16,3547 13553 TCF MOREROLL # CONTINUE FIRING WITH PRESENT POLARITY
041573,000413: 16,3550 13556 TCF NEWROLL # START NEW FIRING NOW, PLUS
041574,000414: 16,3551 13625 TCF NOROLL # TERMINATE OLD FIRING, NEW SIGN REQUESTED
041575,000415: 16,3552 13556 TCF NEWROLL # START NEW FIRING NOW, MINUS
041576,000416:
041577,000417: # CONTINUE PRESENT FIRING
041578,000418: 16,3553 34714 MOREROLL CAF ZERO
041579,000419: 16,3554 55700 TS I # USE TEMP. AS MOREROLL SWITCH
041580,000420: 16,3555 13567 TCF MAXTFIRE
041581,000421:
041582,000422: # START NEW FIRING BUT CHECK IF GREATER THAN MINIMUM FIRE TIME.
041583,000423: 16,3556 11613 NEWROLL CCS TEMREG # CALL THIS T6FIRE
041584,000424: 16,3557 64712 AD ONE
041585,000425: 16,3560 13562 TCF +2
041586,000426: 16,3561 64712 AD ONE
041587,000427: 16,3562 40000 COM # -MAG(T6FIRE)
041588,000428: 16,3563 63731 AD TMINFIRE # TMINFIRE-MAG(T6FIRE)
041589,000429: 16,3564 40000 COM
041590,000430: 16,3565 00006 EXTEND
041591,000431: 16,3566 63625 MINTST BZMF NOROLL # IF NOT GREATER THAN TMINFIRE (NEW FIRE)
041592,000432:
041593,000433: # PROCEED WITH NEW FIRING BUT NOT LONGER THAN TMAXFIRE
041594,000434: 16,3567 31613 MAXTFIRE CA TEMREG
041595,000435: 16,3570 00006 EXTEND
041596,000436: 16,3571 74710 MP 1/TMXFIR # I.E. 1/TMAXFIRE
041597,000437: 16,3572 00006 EXTEND
041598,000438: 16,3573 13601 MAXTST BZF NOMXFIRE # IF LESS THAN TMAXFIRE
041599,000439:
041600,000440: 16,3574 10000 CCS A
041601,000441: 16,3575 33732 CAF TMAXFIRE # USE MAXIMUM
041602,000442: 16,3576 13600 TCF +2
041603,000443: 16,3577 43732 CS TMAXFIRE # USE MAXIMUM
041604,000444: 16,3600 55613 TS TEMREG
041605,000445:
041606,000446: # SET UP SIGN OF REQUIRED TORQUE
041607,000447: 16,3601 11613 NOMXFIRE CCS TEMREG # FOR TORQUE SIGN
041608,000448: 16,3602 34672 CA POSMAX # POSITIVE TORQUE REQUIRED
041609,000449: 16,3603 13605 TCF +2
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Page 954 |
041611,000451: 16,3604 34674 CA NEGMAX # NEGATIVE TORQUE REQUIRED
041612,000452: 16,3605 55611 TS ROLLFIRE # SET ROLLFIRE FOR + OR - TORQUE
041613,000453:
041614,000454: 16,3606 40000 COM # COMPLEMENT... POS. FOR NEG. TORQUE
041615,000455: 16,3607 00006 EXTEND
041616,000456: 16,3610 63613 BZMF +3 # POSITIVE TORQUE REQUIRED
041617,000457: 16,3611 41613 CS TEMREG
041618,000458: 16,3612 55613 TS TEMREG
041619,000459:
041620,000460: 16,3613 31700 FIRELOOK CA I # IS IT MOREROLL
041621,000461: 16,3614 00006 EXTEND
041622,000462: 16,3615 13617 BZF FIREPLUG # YES
041623,000463: 16,3616 13630 TCF JETROLL # MAG(T6FIRE) NOW IN TEMREG
041624,000464:
041625,000465: 16,3617 30031 FIREPLUG CAE TIME6 # CHECK FOR EXTENDED FIRING
041626,000466: 16,3620 00006 EXTEND
041627,000467: 16,3621 61613 SU TEMREG
041628,000468: 16,3622 00006 EXTEND
041629,000469: 16,3623 65213 EXTENTST BZMF TASKOVER # IF EXTENSION WANTED, DONT, EXIT ROLL DAP
041630,000470: 16,3624 13630 TCF JETROLL
041631,000471:
041632,000472: 16,3625 44714 NOROLL CS ZERO # COAST....(NEG ZERO FOR TIME6)
041633,000473: 16,3626 55611 TS ROLLFIRE # NOTE, JETS CAN FIRE NEXT PASS
041634,000474: 16,3627 55613 TS TEMREG
041635,000475:
041636,000476: 16,3630 00006 JETROLL EXTEND
041637,000477: 16,3631 33721 DCA NOROL1T6
041638,000478: 16,3632 53311 DXCH T6LOC
041639,000479: 16,3633 31613 CA TEMREG # ENTER JET FIRING TIME
041640,000480: 16,3634 54031 TS TIME6
041641,000481:
041642,000482: 16,3635 31700 CA I # I=0 IF MOREROLL,KEEP SAME JETS ON
041643,000483: 16,3636 00006 EXTEND
041644,000484: 16,3637 15213 SAMEJETS BZF TASKOVER # IF JETS ON KEEP SAME JETS. EXIT ROLL DAP
041645,000485:
041646,000486: 16,3640 11611 CCS ROLLFIRE
041647,000487: 16,3641 13645 TCF +TORQUE
041648,000488: 16,3642 13706 TCF T6ENABL
041649,000489: 16,3643 13666 TCF -TORQUE
041650,000490: 16,3644 13706 TCF T6ENABL
041651,000491:
041652,000492: # PROCEED WITH + TORQUE
041653,000493: 16,3645 31612 +TORQUE CA ROLLWORD # WHAT WAS THE LAST +TORQUE COMBINATION
041654,000494: 16,3646 74712 MASK BIT1 # WAS IT NO.9-11
041655,000495: 16,3647 00006 EXTEND
041656,000496: 16,3650 13660 BZF NO.9-11 # NOT 9-11, SO USE IT THIS TIME
041657,000497:
041658,000498: 16,3651 44712 NO.13-15 CS BIT1
041659,000499: 16,3652 71612 MASK ROLLWORD
041660,000500: 16,3653 55612 TS ROLLWORD # CHANGE BIT 1 TO ZERO
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Page 955 |
041662,000502: 16,3654 34732 CAF +ROLL2
041663,000503: 16,3655 00006 EXTEND
041664,000504: 16,3656 01006 WRITE CHAN6
041665,000505: 16,3657 13706 TCF T6ENABL
041666,000506:
041667,000507: 16,3660 34712 NO.9-11 CAF BIT1 # 1ST + JETS TO FIRE (MRCLEAN OS ROLLWORD)
041668,000508: 16,3661 27612 ADS ROLLWORD # CHANGE BIT 1 TO ONE
041669,000509: 16,3662 34715 CAF +ROLL1
041670,000510: 16,3663 00006 EXTEND
041671,000511: 16,3664 01006 WRITE CHAN6
041672,000512: 16,3665 13706 TCF T6ENABL
041673,000513:
041674,000514: 16,3666 31612 -TORQUE CA ROLLWORD # WHAT WAS LAST -TORQUE COMBINATION
041675,000515: 16,3667 74711 MASK BIT2 # WAS IT NO.12-10
041676,000516: 16,3670 00006 EXTEND
041677,000517: 16,3671 13701 BZF NO.12-10 # NOT 12-10, SO USE IT THIS TIME
041678,000518:
041679,000519: 16,3672 44711 NO.16-14 CS BIT2
041680,000520: 16,3673 71612 MASK ROLLWORD
041681,000521: 16,3674 55612 TS ROLLWORD # CHANGE BIT 2 TO ZERO
041682,000522: 16,3675 33733 CAF -ROLL2
041683,000523: 16,3676 00006 EXTEND
041684,000524: 16,3677 01006 WRITE CHAN6
041685,000525: 16,3700 13706 TCF T6ENABL
041686,000526:
041687,000527: 16,3701 34711 NO.12-10 CAF BIT2 # 1ST -JETS TO FIRE (MRCLEAN OS ROLLWORD)
041688,000528: 16,3702 27612 ADS ROLLWORD # CHANGE BIT 2 TO ONE
041689,000529: 16,3703 34377 CAF -ROLL1
041690,000530: 16,3704 00006 EXTEND
041691,000531: 16,3705 01006 WRITE CHAN6
041692,000532:
041693,000533: 16,3706 34674 T6ENABL CAF BIT15
041694,000534: 16,3707 00006 EXTEND
041695,000535: 16,3710 05013 WOR CHAN13
041696,000536: 16,3711 15213 RDAPEND TCF TASKOVER # EXIT ROLL DAP
041697,000537:
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Page 956 |
041699,000539: # THIS T6 TASK SHUTS OFF ALL ROLL JETS
041700,000540:
041701,000541:
041702,000542: 16,3712 22016 NOROLL1 LXCH BANKRUPT # SHUT OFF ALL (ROLL) JETS, (A T6 TASK
041703,000543: 16,3713 34714 CAF ZERO # CALLED BY ..JETROLL..)
041704,000544: 16,3714 55611 TS ROLLFIRE # ZERO INDICATES JETS NOW OFF
041705,000545: 16,3715 00006 EXTEND
041706,000546: 16,3716 01006 KILLJETS WRITE CHAN6
041707,000547: 16,3717 15224 TCF NOQRSM
041708,000548:
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Page 957 |
041710,000550: # CONSTANTS FOR ROLL AUTOPILOT....
041711,000551:
041712,000552: 16,3720 E6,1742 EBANK= BZERO
041713,000553: 16,3720 03712 34066 NOROL1T6 2CADR NOROLL1
041714,000554:
041715,000555: 16,3722 00344 DB DEC .01388889 # DEAD BAND (5 DEG), SC.AT B+0 REV
041716,000556: 16,3723 06315 -SLOPE DEC 0.2 # -SWITCHLINE SLOPE(0.2 PER SEC) SC.AT B+0
041717,000557: # PER SEC
041718,000558: 16,3724 00111 LMCRATE DEC .00027778 B+4 # LIMIT CYCLE RATE (0.1 DEG/SEC) SC.AT
041719,000559: # B-4 REV/SEC
041720,000560: 16,3725 00510 INTERCEP DEC .0025 B+3 # DB(-SLOPE) - LMCRATE, SC.AT B-3 REV/SC
041721,000561:
041722,000562: 16,3726 01330 MINLIM DEC .00277778 B+4 # RATELIM,MIN (1DEG/SEC), SC.AT B-4 REV/SC
041723,000563:
041724,000564: 16,3727 00027 1/MINLIM DEC 360 B-18 # RECIPROCAL THEREOF, SHIFTED 14 RIGHT
041725,000565:
041726,000566: 16,3730 07071 MAXLIM DEC .01388889 B+4 # RATELIM,MAX (5DEG/SEC), SC.AT B-4 REV/SC
041727,000567:
041728,000568: 16,3731 00030 TMINFIRE DEC 1.5 B+4 # 15 MS (14MIN), SC.AT 16 BITS/CS
041729,000569:
041730,000570: 16,3732 07640 TMAXFIRE DEC 250 B+4 # 2.5 SEC, SC.AT 16 BITS/CS
041731,000571:
041732,000572: 16,3733 4710 1/TMXFIR = BIT3 # RECIPROCAL THEREOF, SHIFTED 14 RIGHT,
041733,000573: # ROUNDS TO OCT00004, SO ALLOWS 2.56
041734,000574: # SEC FIRINGS BEFORE APPLYING LIMIT
041735,000575: 16,3733 7665 T6SCALE = PRIO31 # (B+3) (16 BITS/CS) (100CS/SEC)
041736,000576:
041737,000577: 16,3733 4715 +ROLL1 = FIVE # ONBITS FOR JETS 9 AND 11
041738,000578: 16,3733 4732 +ROLL2 = OCT120 # ONBITS FOR JETS 13 AND 15
041739,000579: 16,3733 4377 -ROLL1 = TEN # ONBITS FOR JETS 12 NAD 10
041740,000580: 16,3733 00240 -ROLL2 OCT 240 # ONBITS FOR JETS 16 AND 14
End of include-file TVCROLLDAP.agc. Parent file is MAIN.agc