ASSEMBLE REVISION 249 OF AGC PROGRAM COLOSSUS BY NASA 2021111-041 20'35 OCT. 28,1968Note that the date is the date of the printout, not the date of the program revision.
Source Code
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This is the source-code for the Apollo 9 Command Module's Guidance Computer.
These files were derived originally from the scan from MIT's Dibner Institute's
now-discontinued website titled "History of Recent Science and Technology", which
in turn was originally created by Gary Neff, though his high-quality scans were
unfortunately reduced in legibility when presented online.
The markings on the front of the
printout imply that it was the original AGC developer Norm Brodeur's copy.
A scan by Ron Burkey has superceded it, made from a more-legible copy from the collection of original
AGC developer Fred Martin. The source code was transcribed from
those images by Ron Burkey. Note that the page images
presented online are of reduced quality, and that higher-quality 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:ASSEMBLE REVISION 249 OF AGC PROGRAM COLOSSUS BY NASA 2021111-041 20'35 OCT. 28,1968Note that the date is the date of the printout, not the date of the program revision. |
042374,000002: ## Copyright: Public domain.
042375,000003: ## Filename: TVCROLLDAP.agc
042376,000004: ## Purpose: Part of the source code for Colossus, build 249.
042377,000005: ## It is part of the source code for the Command Module's (CM)
042378,000006: ## Apollo Guidance Computer (AGC), for Apollo 9.
042379,000007: ## Assembler: yaYUL
042380,000008: ## Reference: Starts at p. 948.
042381,000009: ## Contact: Ron Burkey <info@sandroid.org>.
042382,000010: ## Website: www.ibiblio.org/apollo/index.html
042383,000011: ## Mod history: 08/24/04 RSB Began transcribing.
042384,000012: ## 05/14/05 RSB Corrected website reference above.
042385,000013: ## 2010-10-25 JL Fixed page numbers.
042386,000014: ## 2011-05-07 JL Removed workarounds.
042387,000015: ## 2017-01-06 RSB Page numbers now agree with those on the
042388,000016: ## original harcopy, as opposed to the PDF page
042389,000017: ## numbers in 1701.pdf.
042390,000018: ## 2017-01-20 RSB Cross-diff'd comment text (not whitespace)
042391,000019: ## vs the already-proofed corresponding Colossus
042392,000020: ## 237 and Comanche 55 source-code files
042393,000021: ## and corrected errors found.
042394,000022: ## 2017-01-20 RSB Fixed comment-text errors noted while diff'ing
042395,000023: ## vs Colossus 249.
042396,000024: ##
042397,000025: ## The contents of the "Colossus249" files, in general, are transcribed
042398,000026: ## from a scanned copy of the program listing. Notations on this
042399,000027: ## document read, in part:
042400,000028: ##
042401,000029: ## Assemble revision 249 of AGC program Colossus by NASA
042402,000030: ## 2021111-041. October 28, 1968.
042403,000031: ##
042404,000032: ## This AGC program shall also be referred to as
042405,000033: ## Colossus 1A
042406,000034: ##
042407,000035: ## Prepared by
042408,000036: ## Massachusetts Institute of Technology
042409,000037: ## 75 Cambridge Parkway
042410,000038: ## Cambridge, Massachusetts
042411,000039: ## under NASA contract NAS 9-4065.
042412,000040: ##
042413,000041: ## Refer directly to the online document mentioned above for further information.
042414,000042: ## Please report any errors (relative to the scanned pages) to info@sandroid.org.
042415,000043: ##
042416,000044: ## In some cases, where the source code for Luminary 131 overlaps that of
042417,000045: ## Colossus 249, this code is instead copied from the corresponding Luminary 131
042418,000046: ## source file, and then is proofed to incorporate any changes.
042419,000047:
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Page 948 |
042421,000049: # PROGRAM NAME....ROLL AUTOPILOT, CONSISTING OF ROLLDAP, DURATION, NOROLL1, E
042422,000050: # ORIGINAL CODING BY F.W.MARTIN, 1965 (SUNDIAL) TC.
042423,000051: # LOG SECTION....ROLL AUTOPILOT SUBROUTINE....DAPCSM
042424,000052: # MOD BY ENGEL DATE 28 DEC, 1967 (SUNDISK TO COLOSSUS)
042425,000053:
042426,000054: # FUNCTIONAL DESCRIPTION....
042427,000055:
042428,000056: # *AN ADAPTATION OF THE LEM P-AXIS CONTROLLER
042429,000057:
042430,000058: # *MAINTAIN OGA WITHIN 5 DEG DEADBND OF OGAD, WHERE OGAD = OGA AS SEEN
042431,000059: # BY IGNOVER (IGNITION)
042432,000060:
042433,000061: # *MAINTAIN OGA RATE LESS THAN 0.1 DEG/SEC LIMIT CYCLE RATE
042434,000062:
042435,000063: # *SWITCHING LOGIC IN PHASE PLANE.... SEE GSOP CHAPTER 3
042436,000064:
042437,000065: # *USES T6 CLOCK TO TIME JET FIRINGS
042438,000066:
042439,000067: # *MAXIMUM JET FIRING TIME = 2.56 SECONDS, LIMITED TO 2.5 IF GREATER
042440,000068:
042441,000069: # *MINIMUM JET FIRING TIME = 15 MS
042442,000070:
042443,000071: # *JET PAIRS FIRE ALTERNATELY
042444,000072:
042445,000073: # *AT LEAST 1/2 SECOND DELAY BEFORE A NEW JET PAIR IS FIRED
042446,000074:
042447,000075: # *JET FIRINGS MAY NOT BE EXTENDED, ONLY SHORTENED, WHEN RE-EVALUATION
042448,000076: # OF A JET FIRING TIME IS MADE ON A LATER PASS
042449,000077:
042450,000078: # CALLING SEQUENCE....
042451,000079:
042452,000080: # *ROLLDAP CALL VIA WAITLIST, IN PARTICULAR BY TVCEXEC (EVERY 1/2 SEC)
042453,000081: # WITH A 3CS DELAY TO ALLOW FREE TIME FOR OTHER RUPTS (DWNRPT, ETC.)
042454,000082:
042455,000083: # NORMAL EXIT MODES.... ENDOFJOB
042456,000084:
042457,000085: # ALARM OR ABORT EXIT MODES.... NONE
042458,000086:
042459,000087: # SUBROUTINES CALLED.....NONE
042460,000088:
042461,000089: # OTHER INTERFACES....
042462,000090:
042463,000091: # *TVCEXEC SETS UP ROLLDAP TASK EVERY 1/2 SECOND AND UPDATES 1/CONACC
042464,000092: # EVERY 10 SECONDS (VIA MASSPROP AND S40.15)
042465,000093:
042466,000094: # *TVCRESTART PACKAGE WILL RE-START ROLL DAP AFTER A RESTART (PICKING
042467,000095: # UP THE ORIGINAL OGAD)
042468,000096:
042469,000097: # ERASABLE INITIALIZATION REQUIRED....
042470,000098:
042471,000099: # *1/CONACC (S40.15)
042472,000100:
042473,000101: # *OGAD (CDUX, AT IGNOVER)
042474,000102:
042475,000103: # *OGANOW (CDUX AT TVCINIT4 AND TVCEXECUTIVE)
042476,000104:
042477,000105: # *OGAPAST (OGANOW AT TVCEXECUTIVE)
042478,000106:
042479,000107: # *ROLLFIRE = TEMREG = ROLLWORD = 0 (MRCLEAN LOOP IN TVCDAPON)
042480,000108:
042481,000109: # OUTPUT....
042482,000110:
042483,000111: # *ROLL JET PAIR FIRINGS
042484,000112:
042485,000113: # DEBRIS.... MISCELLANEOUS, SHAREABLE WITH RCS/ENTRY, IN EBANK6 ONLY
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Page 949 |
042487,000115:
042488,000116: # SOME NOTES ON THE ROLL AUTOPILOT, AND IN PARTICULAR, ON ITS SWITCHING
042489,000117: # LOGIC. SEE SECTION THREE OF THE GSOP (SUNDISK/COLOSSUS) FOR DETAILS.
042490,000118: # SWITCHING LOGIC IN THE PHASE PLANE....
042491,000119:
042492,000120: # OGARATE
042493,000121: # *
042494,000122: # *
042495,000123: # * * * * * * * * * * * *
042496,000124: # * (REGION 1, SEE TEXT BELOW)
042497,000125: # * *
042498,000126: # *
042499,000127: # * * * * * * * (COAST) * ...PARABOLA (SWITCHING = CONTROL)
042500,000128: # * * .
042501,000129: # * * *
042502,000130: # * * (FIRE NEG ROLL JETS)
042503,000131: # * * *
042504,000132: # (-DB,+LMCRATE)....* *
042505,000133: # * * *
042506,000134: # * * OGAERROR
042507,000135: # ************************************************************************
042508,000136: # * * (-AK, OGAERR)
042509,000137: # * * (REGION 6-PRIME)
042510,000138: # * (SEE TEXT BELOW)
042511,000139: # * * *
042512,000140: # * * ...STRAIGHT LINE
042513,000141: # (FIRE POS ROLL JETS) * * * .
042514,000142: # * (COAST) *
042515,000143: # * * * * * * * * * * *
042516,000144: # * -MINLIM
042517,000145: # * *
042518,000146: # *
042519,000147: # * * * * * * * * * * * * * * * *
042520,000148: # * -MAXLIM
042521,000149: # *
042522,000150: # *
042523,000151:
042524,000152: # SWITCHING PARABOLAS ARE CONTROL PARABOLAS, THUS REQUIRING KNOWLEDGE OF
042525,000153: # CONTROL ACCELERATION CONACC, OR ITS RECIPROCAL, 1/CONACC, THE TVC
042526,000154: # ROLL DAP GAIN (SEE TVCEXECUTIVE VARIABLE GAIN PACKAGE). JET
042527,000155: # FIRING TIME IS SIMPLY THAT REQUIRED TO ACHIEVE THE DESIRED OGARATE,
042528,000156: # SUBJECT TO THE LIMITATIONS DISCUSSED UNDER FUNCTIONAL DESCRIPTION,
042529,000157: # ABOVE.
042530,000158:
042531,000159: # THE THREE CONTROL REGIONS (+, -, AND ZERO TORQUE) ARE COMPRIZED OF
042532,000160: # TWELVE SUBSET REGIONS ( 1...6, AND THE CORRESPONDING 1-PRIME...
042533,000161: # 6-PRIME ) SEE SECTION 3 OF THE GSOP (SUNDISK OR COLOSSUS)
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Page 950 |
042535,000163:
042536,000164: # GIVEN THE OPERATING POINT NOT IN THE COAST REGION, THE DESIRED OGARATE
042537,000165: # IS AT THE POINT OF PENETRATION OF THE COAST REGION BY THE CONTROL
042538,000166: # PARABOLA WHICH PASSES THROUGH THE OPERATING POINT. FOR REGION 3
042539,000167: # DESIRED OGARATE IS SIMPLY +-MAXLIM. FOR REGIONS 1 OR 6 THE SOLUTION
042540,000168: # TO A QUADRATIC IS REQUIRED (THE PENETRATION IS ALONG THE STRAIGHT
042541,000169: # LINE OR MINLIM BOUNDRY SWITCH LINES). AN APPROXIMATION IS MADE
042542,000170: # INSTEAD. CONSIDER AN OPERATING POINT IN REGION 6. PASS A TANGENT TO
042543,000171: # THE CONTROL PARABOLA THROUGH THE OPERATING POINT, AND FIND ITS
042544,000172: # INTERSECTION WITH THE STRAIGHT LINE SECTION OF THE SWITCH CURVE...
042545,000173: # THE INTERSECTION DEFINES DESIRED OGARATE. IF THE OPERATING POINT IS
042546,000174: # CLOSE TO THE SWITCH LINE, THE APPROXIMATION IS QUITE GOOD (INDEED
042547,000175: # THE APPROXIMATE AND QUADRATIC SOLUTIONS CONVERGE IN THE LIMIT AS
042548,000176: # THE SWITCH LINE IS APPROACHED). IF THE OPERATING POINT IS NOT CLOSE
042549,000177: # TO THE SWITCH LINE, THE APPROXIMATE SOLUTION GIVES VALID TREND
042550,000178: # INFORMATION (DIRECTION OF DESIRED OGARATE) AT LEAST. THE
042551,000179: # RE-EVALUATION OF DESIRED OGARATE IN SUBSEQUENT ROLL DAP PASSES (1/2
042552,000180: # SECOND INTERVALS) WILL BENEFIT FROM THE CONVERGENT NATURE OF THE
042553,000181: # APPROXIMATION.
042554,000182:
042555,000183: # FOR LARGE OGAERROR THE TANGENT INTERSECTS +-MINLIM SWITCH BOUNDRY BEFORE
042556,000184: # INTERSECTING THE STRAIGHT LINE SWITCH. HOWEVER THE MINLIM IS
042557,000185: # IGNORED IN COMPUTING THE FIRING TIME, SO THAT THE EXTENSION (INTO
042558,000186: # THE COAST REGION) OF THE STRAIGHT LINE SWITCH IS WHAT IS FIRED TO.
042559,000187: # IF THE ROLL DAP FINDS ITSELF IN THE COAST REGION BEFORE REACHING
042560,000188: # THE DESIRED INTERSECTION (IE, IN THE REGION BETWEEN THE MINLIM
042561,000189: # AND THE STRAIGHT LINE SWITCH) IT WILL EXIBIT NORMAL COAST-REGION
042562,000190: # BEHAVIOR AND TURN OFF THE JETS. THE PURPOSE OF THIS FIRING POLICY
042563,000191: # IS TO MAINTAIN STATIC ROLL STABILITY IN THE EVENT OF A JET
042564,000192: # FAILED-ON.
042565,000193:
042566,000194: # WHEN THE OPERATING POINT IS IN REGION 1 THE SAME APPROXIMATION IS
042567,000195: # MADE, BUT AT AN ARTIFICIALLY-CREATED OR DUMMY OPERATING POINT,
042568,000196: # DEFINED BY.. OGAERROR = INTERSECTION OF CONTROL PARABOLA AND
042569,000197: # OGAERROR AXIS, OGARATE = +-LMCRATE WHERE SIGN IS OPPOSITE THAT OF
042570,000198: # REAL OPERATING POINT RATE. WHEN THE OPERATING POINT HAS PASSED
042571,000199: # FROM REGION 1 TO REGION 6, THE DUMMY POINT IS NO LONGER REQUIRED,
042572,000200: # AND THE SOLUTION REVERTS TO THAT OF A REGULAR REGION 6 POINT.
042573,000201:
042574,000202: # EQUATION FOR SWITCHING PARABOLA (SEE FIGURE ABOVE)....
042575,000203: # 2
042576,000204: # SOGAERROR = (DB - (SOGARATE) (1/CONACC)/2) SGN(SOGARATE)
042577,000205:
042578,000206: # EQUATION FOR SWITCHING STRAIGHT LINE SEGMENT....
042579,000207:
042580,000208: # SOGARATE = -(-SLOPE)(SOGAERROR) - SGN(SOGARATE) INTERCEP
042581,000209:
042582,000210: # WHERE INTERCEP = DB(-SLOPE) - LMCRATE
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Page 951 |
042584,000212:
042585,000213: # EQUATION FOR INTERSECTION, CONTROL PARABOLA AND STRAIGHT SWITCH LINE....
042586,000214:
042587,000215: # DOGADOT = NUM/DEN, WHERE
042588,000216: # 2
042589,000217: # NUM = (-SLOPE)(OGARATE) (1/CONACC)
042590,000218: # +SGN(DELOGA)(-SLOPE)(OGAERROR - SGN(DELOGA)(DB))
042591,000219: # +LMCRATE
042592,000220:
042593,000221: # DEN = (-SLOPE)(OGARATE)(1/CONACC) - SGN(DELOGA)
042594,000222: # 2
042595,000223: # DELOGA = OGAERROR - (DB - (OGADOT) (1/CONACC)/2)SGN(OGADOT)
042596,000224:
042597,000225: # FOR REGIONS 6 AND 6-PRIME USE ACTUAL OPERATING POINT (OGA, OGARATE)
042598,000226: # FOR OGAERROR AND OGARATE IN THE INTERSECTION EQUATIONS ABOVE.
042599,000227: # FOR REGIONS 1 AND 1-PRIME USE DUMMY OPERATING POINT FOR OGAERROR
042600,000228: # AND OGARATE, WHERE THE DUMMY POINT IS GIVEN BY....
042601,000229:
042602,000230: # OGAERROR = DELOGA + DB SGN(OGARATE)
042603,000231:
042604,000232: # OGARATE = -LMCRATE SGN(OGARATE)
042605,000233:
042606,000234: # NOTE, OGAERROR = OGA - OGAD USES DUMMY REGISTER OGA IN ROLL DAP CODING
042607,000235: # ALSO, AT POINT WHERE DOGADOT IS COMPUTED, REGISTER DELOGA IS USED
042608,000236: # AS A DUMMY REGISTER FOR THE OGAERROR IN THE NUM EQUATION ABOVE
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Page 952 |
042610,000238:
042611,000239: # ROLLDAP CODING....
042612,000240:
042613,000241: 16,2000 SETLOC DAPROLL
042614,000242: 16,2000 BANK
042615,000243: 16,3313 E6,1672 EBANK= OGANOW
042616,000244: 16,3313 COUNT* $$/ROLL
042617,000245:
042618,000246: 16,3313 31672 ROLLDAP CAE OGANOW # OGA RATE ESTIMATOR...SIMPLE FIRST-ORDER
042619,000247: 16,3314 00006 EXTEND # DIFFERENCE (SAMPLE TIME = 1/2 SEC)
042620,000248: 16,3315 21673 MSU OGAPAST
042621,000249: 16,3316 00006 EXTEND
042622,000250: 16,3317 74706 MP BIT5
042623,000251: 16,3320 22000 LXCH A
042624,000252: 16,3321 55533 TS OGARATE # SC.AT B-4 REV/SEC
042625,000253:
042626,000254: # COMPUTATIONS WHICH FOLLOW USE OGA FOR OGAERR (SAME REGISTER)
042627,000255: # EXAMINE DURATION OF LAST ROLL FIRING IF JETS ARE NOW ON.
042628,000256:
042629,000257: 16,3322 31611 DURATION CA ROLLFIRE # SAME SGN AS PRESENT TORQ,MAGN=POSMAX
042630,000258: 16,3323 00006 EXTEND
042631,000259: 16,3324 13326 BZF +2 # ROLL JETS ARE NOW OFF.
042632,000260: 16,3325 13334 TCF ROLLOGIC # ENTER LOGIC, JETS NOW ON.
042633,000261:
042634,000262: 16,3326 31613 CAE TEMREG # EXAMINE LAST FIRING INTERVAL
042635,000263: 16,3327 00006 EXTEND # IF POSITIVE, DONT FIRE
042636,000264: 16,3330 13334 BZF ROLLOGIC # ENTER LOGIC, JETS NOW OFF.
042637,000265:
042638,000266: 16,3331 34714 CAF ZERO # JETS HAVE NOT BEEN OFF FOR 1/2 SEC. WAIT
042639,000267: 16,3332 55613 TS TEMREG # RESET TEMREG
042640,000268: 16,3333 15213 WAIT1/2 TCF TASKOVER # EXIT ROLL DAP
042641,000269:
042642,000270: # COMPUTE DB-(1/2 CONACC) (OGARATE)SQ (1/2 IN THE SCALING)
042643,000271:
042644,000272: 16,3334 41533 ROLLOGIC CS OGARATE # SCALED AT 2(-4) REV/SEC
042645,000273: 16,3335 00006 EXTEND
042646,000274: 16,3336 71650 MP 1/CONACC # SCALED AT 2(+9) SEC SQ /REV
042647,000275: 16,3337 00006 EXTEND
042648,000276: 16,3340 71533 MP OGARATE
042649,000277: 16,3341 63727 AD DB # SCALED AT 2(+0) REV
042650,000278: 16,3342 55613 TS TEMREG # QUANTITY SCALED AT 2(+0) REV.
042651,000279:
042652,000280: # GET SIGN OF OGARATE
042653,000281:
042654,000282: 16,3343 31533 CA OGARATE
042655,000283: 16,3344 00006 EXTEND
042656,000284: 16,3345 63350 BZMF +3 # LET SGN(0) BE NEGATIVE
042657,000285: 16,3346 34712 CA BIT1
042658,000286: 16,3347 13351 TCF +2
042659,000287: 16,3350 44712 CS BIT1
042660,000288: 16,3351 55676 TS SGNRT # + OR - 2(-14)
042661,000289:
042662,000290: # CALCULATE DISTANCE FROM SWITCH PARABOLA,DELOGA
042663,000291: 16,3352 00006 EXTEND
042664,000292: 16,3353 71613 MP TEMREG # SGN(OGARATE) TEMREG NOW IN L
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Page 953 |
042666,000294: 16,3354 40001 CS L
042667,000295: 16,3355 61674 AD OGA # SCALED AT 2(+0) REV
042668,000296: 16,3356 55677 DELOGAC TS DELOGA # SC.AT B+0 REV, PLUS TO RIGHT OF C-PARAB
042669,000297:
042670,000298: # EXAMINE SGN(DELOGA) AND CREATE CA OR CS INSTR. DEPENDING UPON SIGN.
042671,000299:
042672,000300: 16,3357 00006 EXTEND
042673,000301: 16,3360 63363 BZMF +3
042674,000302: 16,3361 34371 CAF PRIO30 # = CA (30000)
042675,000303: 16,3362 13364 TCF +2
042676,000304: 16,3363 34674 CAF BIT15 # = CS (40000)
042677,000305: 16,3364 55700 TS I
042678,000306:
042679,000307: 16,3365 51700 INDEX I # TSET ON I SGN(OGARATE)
042680,000308: 16,3366 01676 0 SGNRT # CA OR CS
042681,000309: 16,3367 40000 COM
042682,000310: 16,3370 00006 EXTEND
042683,000311: 16,3371 63442 REG1TST BZMF ROLLON # IF REGION 1 (DELOGA OGARATE SAME SIGN)
042684,000312:
042685,000313: # NO JET FIRE YET. TEST FOR MAX OGARATE
042686,000314:
042687,000315: 16,3372 51700 INDEX I
042688,000316: 16,3373 01533 0 OGARATE # CA OR CS...BOTH MUST BE NEG. HERE
042689,000317: 16,3374 55701 TS IOGARATE # I.E. I OGARATE
042690,000318: 16,3375 63735 AD MAXLIM # SCALED AT 2(-4) REV/SEC
042691,000319: 16,3376 00006 EXTEND
042692,000320: 16,3377 63521 REG3TST BZMF RATELIM # IF REGION 3 (RATES TOO HIGH, FIRE JETS)
042693,000321:
042694,000322: # COMPUTATION OF I((-SLOPE)OGA + OGARATE) - INTERCEPT..NOTE THAT STR. LINE
042695,000323: # SWITCH SLOPE IS (SLOPE) DEG/SEC/DEG, A NEG. QUANTITY
042696,000324:
042697,000325: 16,3400 31533 CA OGARATE
042698,000326: 16,3401 00006 EXTEND
042699,000327: 16,3402 74675 MP BIT14
042700,000328: 16,3403 55613 TS TEMREG
042701,000329: 16,3404 31674 CA OGA
042702,000330: 16,3405 00006 EXTEND
042703,000331: 16,3406 73730 MP -SLOPE
042704,000332: 16,3407 20001 DDOUBL
042705,000333: 16,3410 20001 DDOUBL
042706,000334: 16,3411 20001 DDOUBL # (OGA ERROR MUST BE LESS THAN +-225 DEG)
042707,000335: 16,3412 61613 AD TEMREG
042708,000336:
042709,000337: 16,3413 51700 INDEX I
042710,000338: 16,3414 00000 0 A # I((-SLOPE)OGA+OGARATE) AT 2(-3)REV/SEC
042711,000339: 16,3415 40000 COM
042712,000340: 16,3416 63732 AD INTERCEP # SCALED AT 2(-3) REV.
042713,000341: 16,3417 40000 COM
042714,000342: 16,3420 00006 EXTEND
042715,000343: 16,3421 63632 REG2TST BZMF NOROLL # IF REGION 2 (COAST SIDE OF STRT LINE)
042716,000344:
042717,000345: # CHECK TO SEE IF OGARATE IS ABOVE MINLIM
042718,000346:
042719,000347: 16,3422 31701 CA IOGARATE # ALWAYS NEGATIVE
042720,000348: 16,3423 63733 AD MINLIM # SCALED AT 2(-4) REV/SEC
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Page 954 |
042722,000350: 16,3424 00006 EXTEND
042723,000351: 16,3425 63632 REG4TST BZMF NOROLL # IF REGION 4 (COAST SIDE OF MINLIM)
042724,000352:
042725,000353: # ALL AREAS CHECKED EXCEPT LAST AREA...NO FIRE IN THIS SMALL SEGMENT
042726,000354:
042727,000355: 16,3426 51700 INDEX I
042728,000356: 16,3427 01674 0 OGA
042729,000357: 16,3430 40000 COM
042730,000358: 16,3431 63727 AD DB
042731,000359: 16,3432 40000 COM
042732,000360: 16,3433 00006 EXTEND
042733,000361: 16,3434 63632 REG5TST BZMF NOROLL # IF REGION 5 (COAST SIDE OF DB)
042734,000362:
042735,000363: # JETS MUST FIRE NOW. OGARATE IS NEG. (OR VISA VERSA). USE DIRECT STR. LINE.
042736,000364: # DELOGA AND DELOGART ARE USED AS DUMMY VARIABLES IN THE SOLUTION OF A
042737,000365: # STRAIGHT LINE APPROXIMATION TO A QUADRATIC SOLUTION OF THE INTERSECTION
042738,000366: # OF THE CONTROL PARABOLA AND THE STRAIGHT-LINE SWITCH LINE. THE STRAIGHT
042739,000367: # LINE IS THE TANGENT TO THE CONTROL PARABOLA AT THE OPERATING POINT. (FOR
042740,000368: # OPERATING POINTS IN REGIONS 6 AND 6-PRIME)
042741,000369:
042742,000370: 16,3435 31674 REGION6 CAE OGA # USE ACTUAL OPERATING POINT FOR TANGENT
042743,000371: 16,3436 55677 TS DELOGA # ACTUAL STATE
042744,000372: 16,3437 31533 CA OGARATE
042745,000373: 16,3440 55675 TS DELOGART # ACTUAL STATE, I.E. DEL OGARATE
042746,000374: 16,3441 13451 TCF ONROLL
042747,000375:
042748,000376: # JETS ALSO FIRE FROM HERE EXCEPT OGARATE IS POS (VISA VERSA), USE INDIRECT
042749,000377: # STRAIGHT LINE ESTABLISHED BY TANGENT TO A CONTROL PARABOLA AT ((DELOGA
042750,000378: # + DB SGN(DELOGA) ), -LMCRATE SGN(DELOGA) ) (THIS IS THE DUMMY
042751,000379: # OPERATING POINT FOR OPERATING POINTS IN REGIONS 1 AND 1-PRIME )
042752,000380:
042753,000381: 16,3442 51700 ROLLON INDEX I
042754,000382: 16,3443 03727 0 DB
042755,000383: 16,3444 27677 ADS DELOGA # DELOGA WAS DIST. FROM SWITCH PARABOLA
042756,000384:
042757,000385: 16,3445 43731 CS LMCRATE # LIMIT CYCLE RATE AT 2(-4) REV/SEC
042758,000386: 16,3446 51700 INDEX I
042759,000387: 16,3447 00000 0 A
042760,000388: 16,3450 55675 TS DELOGART # EVALUATE STATE FOR INDIRECT LINE.
042761,000389:
042762,000390: # SOLVE STRAIGHT LINES SIMULTANEOUSLY TO OBTAIN DESIRED OGARATE.
042763,000391:
042764,000392: 16,3451 00006 ONROLL EXTEND # DELOGART IN ACC. ON ARRIVAL
042765,000393: 16,3452 71650 MP 1/CONACC
042766,000394: 16,3453 60000 DOUBLE
042767,000395: 16,3454 00006 EXTEND
042768,000396: 16,3455 73730 MP -SLOPE
042769,000397: 16,3456 55613 TS TEMREG # 2(-SLOPE)RATE /CONACC
042770,000398: 16,3457 00006 EXTEND
042771,000399: 16,3460 71675 MP DELOGART
042772,000400: 16,3461 55675 TS DELOGART # 2(-SLOPE)(RATESQ)/CONACC
042773,000401: 16,3462 44700 CS BIT11
042774,000402: 16,3463 51700 INDEX I
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|
Page 955 |
042776,000404: 16,3464 00000 0 A
042777,000405: 16,3465 27613 RATEDEN ADS TEMREG # DENOMINATOR COMPLETED
042778,000406:
042779,000407: 16,3466 51700 INDEX I
042780,000408: 16,3467 01677 0 DELOGA
042781,000409: 16,3470 40000 COM
042782,000410: 16,3471 63727 AD DB
042783,000411: 16,3472 40000 COM
042784,000412: 16,3473 00006 EXTEND
042785,000413: 16,3474 73730 MP -SLOPE
042786,000414: 16,3475 27675 ADS DELOGART
042787,000415: 16,3476 33731 CA LMCRATE
042788,000416: 16,3477 00006 EXTEND
042789,000417: 16,3500 74700 MP BIT11
042790,000418: 16,3501 61675 RATENUM AD DELOGART # NUMERATOR COMPLETED
042791,000419:
042792,000420: 16,3502 56001 XCH L # PLACE NUMERATOR IN L FOR OVERFL. CHECK
042793,000421: 16,3503 34714 CA ZERO
042794,000422: 16,3504 00006 EXTEND
042795,000423: 16,3505 11613 DV TEMREG # OVERFLOW, IF ANYTHING, NOW APPEARS IN A
042796,000424: 16,3506 00006 EXTEND
042797,000425: 16,3507 13515 BZF DVOK # NO OVERFLOW....(0,L)/TEMREG = 0,L
042798,000426:
042799,000427: 16,3510 10000 MINLIMAP CCS A
042800,000428: 16,3511 34672 CAF POSMAX # POSITIVE OVERFLOW
042801,000429: 16,3512 13524 TCF ROLLSET
042802,000430: 16,3513 44672 CS POSMAX # NEGATIVE OVERFLOW
042803,000431: 16,3514 13524 TCF ROLLSET
042804,000432:
042805,000433: 16,3515 22000 DVOK LXCH A # PUT NUMERATOR BACK INTO A, 0 IN L
042806,000434: 16,3516 00006 EXTEND
042807,000435: 16,3517 11613 DV TEMREG # RESULT OF DIVISIONIS DESIRED OGARATE
042808,000436: 16,3520 13524 TCF ROLLSET # (SCALED AT B-4 REV/SEC)
042809,000437: 16,3521 43735 RATELIM CS MAXLIM
042810,000438: 16,3522 51700 INDEX I
042811,000439: 16,3523 00000 0 A # IF I = CA, DESIRED RATE IS -MAXLIM
042812,000440:
042813,000441: # BASED ON DESIRED RATE - PRESENT RATE, COMPUTE JET FIRE TIME
042814,000442:
042815,000443: 16,3524 55613 ROLLSET TS TEMREG # STORE DESIRED OGARATE (SCALED B-4)
042816,000444: 16,3525 00006 EXTEND
042817,000445: 16,3526 61533 SU OGARATE # RATE DIFF. SCALED AT 2(-4) REV/SEC
042818,000446: 16,3527 55613 TS TEMREG # OVERFLOW PROTECT
042819,000447: 16,3530 13533 TCF +3 # " "
042820,000448: 16,3531 50000 INDEX A # " "
042821,000449: 16,3532 44673 CS LIMITS # " "
042822,000450: 16,3533 00006 EXTEND
042823,000451: 16,3534 77665 MP T6SCALE # T6SCALE = 8/10.24
042824,000452: 16,3535 00006 EXTEND
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Page 956 |
042826,000454: 16,3536 71650 MP 1/CONACC # SCALED AT 2(+9) SECSQ/REV
042827,000455: 16,3537 20001 DDOUBL
042828,000456: 16,3540 20001 DDOUBL
042829,000457: 16,3541 55613 TS TEMREG # OVERFLOW PROTECT
042830,000458: 16,3542 13545 TCF +3 # " "
042831,000459: 16,3543 50000 INDEX A # " "
042832,000460: 16,3544 44673 CS LIMITS # " "
042833,000461: 16,3545 55613 TS TEMREG # JET FIRE TIME AT 625 MICROSEC/BIT
042834,000462: 16,3546 00006 EXTEND # POS MEANS POSITIVE ROLL TORQUE.
042835,000463: 16,3547 13632 BZF NOROLL
042836,000464:
042837,000465: # JET FIRE TIME IS NZ, ARE JETS ON NOW.
042838,000466:
042839,000467: 16,3550 31613 CAE TEMREG # DESIRED CHANGE IN OGARATE
042840,000468: 16,3551 00006 EXTEND
042841,000469: 16,3552 71611 MP ROLLFIRE # (SGN OF TORQUE..ZERO IF JETS NOW OFF)
042842,000470: 16,3553 10000 CCS A
042843,000471: 16,3554 13560 TCF MOREROLL # CONTINUE FIRING WITH PRESENT POLARITY
042844,000472: 16,3555 13563 TCF NEWROLL # START NEW FIRING NOW, PLUS
042845,000473: 16,3556 13632 TCF NOROLL # TERMINATE OLD FIRING, NEW SIGN REQUESTED
042846,000474: 16,3557 13563 TCF NEWROLL # START NEW FIRING NOW, MINUS
042847,000475:
042848,000476: # CONTINUE PRESENT FIRING
042849,000477:
042850,000478: 16,3560 34714 MOREROLL CAF ZERO
042851,000479: 16,3561 55700 TS I # USE TEMP. AS MOREROLL SWITCH
042852,000480: 16,3562 13574 TCF MAXTFIRE
042853,000481:
042854,000482: # START NEW FIRING BUT CHECK IF GREATER THAN MINIMUM FIRE TIME.
042855,000483:
042856,000484: 16,3563 11613 NEWROLL CCS TEMREG # CALL THIS T6FIRE
042857,000485: 16,3564 64712 AD ONE
042858,000486: 16,3565 13567 TCF +2
042859,000487: 16,3566 64712 AD ONE
042860,000488: 16,3567 40000 COM # -MAG(T6FIRE)
042861,000489: 16,3570 63736 AD TMINFIRE # TMINFIRE-MAG(T6FIRE)
042862,000490: 16,3571 40000 COM
042863,000491: 16,3572 00006 EXTEND
042864,000492: 16,3573 63632 MINTST BZMF NOROLL # IF NOT GREATER THAN TMINFIRE (NEW FIRE)
042865,000493:
042866,000494: # PROCEED WITH NEW FIRING BUT NOT LONGER THAN TMAXFIRE
042867,000495:
042868,000496: 16,3574 31613 MAXTFIRE CA TEMREG
042869,000497: 16,3575 00006 EXTEND
042870,000498: 16,3576 74710 MP 1/TMXFIR # I.E. 1/TMAXFIRE
042871,000499: 16,3577 00006 EXTEND
042872,000500: 16,3600 13606 MAXTST BZF NOMXFIRE # IF LESS THAN TMAXFIRE
042873,000501:
042874,000502: 16,3601 10000 CCS A
042875,000503: 16,3602 33737 CAF TMAXFIRE # USE MAXIMUM
042876,000504: 16,3603 13605 TCF +2
042877,000505: 16,3604 43737 CS TMAXFIRE # USE MAXIMUM
042878,000506: 16,3605 55613 TS TEMREG
042879,000507:
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Page 957 |
042881,000509: # SET UP SIGN OF REQUIRED TORQUE
042882,000510:
042883,000511: 16,3606 11613 NOMXFIRE CCS TEMREG # FOR TORQUE SIGN
042884,000512: 16,3607 34672 CA POSMAX # POSITIVE TORQUE REQUIRED
042885,000513: 16,3610 13612 TCF +2
042886,000514: 16,3611 34674 CA NEGMAX # NEGATIVE TORQUE REQUIRED
042887,000515: 16,3612 55611 TS ROLLFIRE # SET ROLLFIRE FOR + OR - TORQUE
042888,000516:
042889,000517: 16,3613 40000 COM # COMPLEMENT... POS. FOR NEG. TORQUE
042890,000518: 16,3614 00006 EXTEND
042891,000519: 16,3615 63620 BZMF +3 # POSITIVE TORQUE REQUIRED
042892,000520: 16,3616 41613 CS TEMREG
042893,000521: 16,3617 55613 TS TEMREG
042894,000522:
042895,000523: 16,3620 31700 FIRELOOK CA I # IS IT MOREROLL
042896,000524: 16,3621 00006 EXTEND
042897,000525: 16,3622 13624 BZF FIREPLUG # YES
042898,000526: 16,3623 13635 TCF JETROLL # MAG(T6FIRE) NOW IN TEMREG
042899,000527:
042900,000528: 16,3624 30031 FIREPLUG CAE TIME6 # CHECK FOR EXTENDED FIRING
042901,000529: 16,3625 00006 EXTEND
042902,000530: 16,3626 61613 SU TEMREG
042903,000531: 16,3627 00006 EXTEND
042904,000532: 16,3630 65213 EXTENTST BZMF TASKOVER # IF EXTENSION WANTED, DONT, EXIT ROLL DAP
042905,000533: 16,3631 13635 TCF JETROLL
042906,000534:
042907,000535: 16,3632 44714 NOROLL CS ZERO # COAST....(NEG ZERO FOR TIME6)
042908,000536: 16,3633 55611 TS ROLLFIRE # NOTE, JETS CAN FIRE NEXT PASS
042909,000537: 16,3634 55613 TS TEMREG
042910,000538:
042911,000539: 16,3635 00006 JETROLL EXTEND
042912,000540: 16,3636 33726 DCA NOROL1T6
042913,000541: 16,3637 53311 DXCH T6LOC
042914,000542: 16,3640 31613 CA TEMREG # ENTER JET FIRING TIME
042915,000543: 16,3641 54031 TS TIME6
042916,000544:
042917,000545: 16,3642 31700 CA I # I=0 IF MOREROLL, KEEP SAME JETS ON
042918,000546: 16,3643 00006 EXTEND
042919,000547: 16,3644 15213 SAMEJETS BZF TASKOVER # IF JETS ON KEEP SAME JETS. EXIT ROLL DAP
042920,000548:
042921,000549: 16,3645 11611 CCS ROLLFIRE
042922,000550: 16,3646 13652 TCF +TORQUE
042923,000551: 16,3647 13713 TCF T6ENABL
042924,000552: 16,3650 13673 TCF -TORQUE
042925,000553: 16,3651 13713 TCF T6ENABL
042926,000554:
042927,000555: # PROCEED WITH + TORQUE
042928,000556:
042929,000557: 16,3652 31612 +TORQUE CA ROLLWORD # WHAT WAS THE LAST +TORQUE COMBINATION
042930,000558: 16,3653 74712 MASK BIT1 # WAS IT NO.9-11
042931,000559: 16,3654 00006 EXTEND
042932,000560: 16,3655 13665 BZF NO.9-11 # NOT 9-11, SO USE IT THIS TIME
042933,000561:
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Page 958 |
042935,000563: 16,3656 44712 NO.13-15 CS BIT1
042936,000564: 16,3657 71612 MASK ROLLWORD
042937,000565: 16,3660 55612 TS ROLLWORD # CHANGE BIT 1 TO ZERO
042938,000566: 16,3661 34732 CAF +ROLL2
042939,000567: 16,3662 00006 EXTEND
042940,000568: 16,3663 01006 WRITE CHAN6
042941,000569: 16,3664 13713 TCF T6ENABL
042942,000570:
042943,000571: 16,3665 34712 NO.9-11 CAF BIT1 # 1ST + JETS TO FIRE (MRCLEAN OS ROLLWORD)
042944,000572: 16,3666 27612 ADS ROLLWORD # CHANGE BIT 1 TO ONE
042945,000573: 16,3667 34715 CAF +ROLL1
042946,000574: 16,3670 00006 EXTEND
042947,000575: 16,3671 01006 WRITE CHAN6
042948,000576: 16,3672 13713 TCF T6ENABL
042949,000577:
042950,000578: 16,3673 31612 -TORQUE CA ROLLWORD # WHAT WAS LAST -TORQUE COMBINATION
042951,000579: 16,3674 74711 MASK BIT2 # WAS IT NO.12-10
042952,000580: 16,3675 00006 EXTEND
042953,000581: 16,3676 13706 BZF NO.12-10 # NOT 12-10, SO USE IT THIS TIME
042954,000582:
042955,000583: 16,3677 44711 NO.16-14 CS BIT2
042956,000584: 16,3700 71612 MASK ROLLWORD
042957,000585: 16,3701 55612 TS ROLLWORD # CHANGE BIT 2 TO ZERO
042958,000586: 16,3702 33740 CAF -ROLL2
042959,000587: 16,3703 00006 EXTEND
042960,000588: 16,3704 01006 WRITE CHAN6
042961,000589: 16,3705 13713 TCF T6ENABL
042962,000590:
042963,000591: 16,3706 34711 NO.12-10 CAF BIT2 # 1ST -JETS TO FIRE (MRCLEAN OS ROLLWORD)
042964,000592: 16,3707 27612 ADS ROLLWORD # CHANGE BIT 2 TO ONE
042965,000593: 16,3710 34377 CAF -ROLL1
042966,000594: 16,3711 00006 EXTEND
042967,000595: 16,3712 01006 WRITE CHAN6
042968,000596:
042969,000597: 16,3713 34674 T6ENABL CAF BIT15
042970,000598: 16,3714 00006 EXTEND
042971,000599: 16,3715 05013 WOR CHAN13
042972,000600: 16,3716 15213 RDAPEND TCF TASKOVER # EXIT ROLL DAP
042973,000601:
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Page 959 |
042975,000603: # THIS T6 TASK SHUTS OFF ALL ROLL JETS
042976,000604:
042977,000605: 16,3717 22016 NOROLL1 LXCH BANKRUPT # SHUT OFF ALL (ROLL) JETS, (A T6 TASK
042978,000606: 16,3720 34714 CAF ZERO # CALLED BY ..JETROLL..)
042979,000607: 16,3721 55611 TS ROLLFIRE # ZERO INDICATES JETS NOW OFF
042980,000608: 16,3722 00006 EXTEND
042981,000609: 16,3723 01006 KILLJETS WRITE CHAN6
042982,000610: 16,3724 15224 TCF NOQRSM
042983,000611:
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Page 960 |
042985,000613: # CONSTANTS FOR ROLL AUTOPILOT....
042986,000614:
042987,000615: 16,3725 E6,1742 EBANK= BZERO
042988,000616: 16,3725 03717 34066 NOROL1T6 2CADR NOROLL1
042989,000617:
042990,000618: 16,3727 00344 DB DEC .01388889 # DEAD BAND (5 DEG), SC.AT B+0 REV
042991,000619: 16,3730 06315 -SLOPE DEC 0.2 # -SWITCHLINE SLOPE(0.2 PER SEC) SC.AT B+0
042992,000620: # PER SEC
042993,000621: 16,3731 00111 LMCRATE DEC .00027778 B+4 # LIMIT CYCLE RATE (0.1 DEG/SEC) SC.AT
042994,000622: # B-4 REV/SEC
042995,000623: 16,3732 00510 INTERCEP DEC .0025 B+3 # DB(-SLOPE) - LMCRATE, SC.AT B-3 REV/SC
042996,000624: 16,3733 01330 MINLIM DEC .00277778 B+4 # RATELIM,MIN (1DEG/SEC), SC.AT B-4 REV/SC
042997,000625: 16,3734 00027 1/MINLIM DEC 360 B-18 # RECIPROCAL THEREOF, SHIFTED 14 RIGHT
042998,000626: 16,3735 07071 MAXLIM DEC .01388889 B+4 # RATELIM,MAX (5DEG/SEC), SC.AT B-4 REV/SC
042999,000627: 16,3736 00030 TMINFIRE DEC 1.5 B+4 # 15 MS (14MIN), SC.AT 16 BITS/CS
043000,000628: 16,3737 07640 TMAXFIRE DEC 250 B+4 # 2.5 SEC, SC.AT 16 BITS/CS
043001,000629:
043002,000630: 16,3740 4710 1/TMXFIR = BIT3 # RECIPROCAL THEREOF, SHIFTED 14 RIGHT,
043003,000631: # ROUNDS TO OCT00004, SO ALLOWS 2.56
043004,000632: # SEC FIRINGS BEFORE APPLYING LIMIT
043005,000633: 16,3740 7665 T6SCALE = PRIO31 # (B+3) (16 BITS/CS) (100CS/SEC)
043006,000634: 16,3740 4715 +ROLL1 = FIVE # ONBITS FOR JETS 9 AND 11
043007,000635: 16,3740 4732 +ROLL2 = OCT120 # ONBITS FOR JETS 13 AND 15
043008,000636: 16,3740 4377 -ROLL1 = TEN # ONBITS FOR JETS 12 NAD 10
043009,000637: 16,3740 00240 -ROLL2 OCT 240 # ONBITS FOR JETS 16 AND 14
043010,000638:
End of include-file TVCROLLDAP.agc. Parent file is MAIN.agc