Source Code
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These source-code files are part of a reconstructed copy of Comanche 67, the
Apollo Guidance Computer (AGC) Command Module (CM) software for Apollo 12.
They have been adapted from sources files for Comanche 55, and updated via
disassembly of binary dumps of original core rope memory modules, part numbers
2003972-1081, 2003972-1091, 2003972-1111, 2003972-1121, 2003972-1131, and 2003972-1141.
Since only binary dumps (rather than listings) of Comanche 67 are available as source material,
all comments and labels are approximate.
They have been taken from other AGC programs where possible, or, in some places, written
from scratch to match what we believe would have been in the original listing.
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042021,000002: ## Copyright: Public domain.
042022,000003: ## Filename: TVCROLLDAP.agc
042023,000004: ## Purpose: A section of Comanche revision 067.
042024,000005: ## It is part of the reconstructed source code for the flight
042025,000006: ## software for the Command Module's (CM) Apollo Guidance Computer
042026,000007: ## (AGC) for Apollo 12. No original listings of this program are
042027,000008: ## available; instead, this file was created via dissassembly of
042028,000009: ## dumps of Comanche 067 core rope modules and comparison with
042029,000010: ## other AGC programs.
042030,000011: ## Assembler: yaYUL
042031,000012: ## Contact: Ron Burkey <info@sandroid.org>.
042032,000013: ## Website: www.ibiblio.org/apollo/index.html
042033,000014: ## Mod history: 2023-08-16 MAS Created from Comanche 055.
042034,000015:
042035,000016: # PROGRAM NAME...TVC ROLL AUTOPILOT
042036,000017: # LOG SECTION...TVCROLLDAP SUBROUTINE...DAPCSM
042037,000018: # MODIFIED BY SCHLUNDT 21 OCTOBER 1968
042038,000019:
042039,000020: # FUNCTIONAL DESCRIPTION....
042040,000021:
042041,000022: # *AN ADAPTATION OF THE LEM P-AXIS CONTROLLER
042042,000023: # *MAINTAIN OGA WITHIN 5 DEG DEADBND OF OGAD, WHERE OGAD = OGA AS SEEN
042043,000024: # BY IGNITION (P40)
042044,000025: # *MAINTAIN OGA RATE LESS THAN 0.1 DEG/SEC LIMIT CYCLE RATE
042045,000026: # *SWITCHING LOGIC IN PHASE PLANE.... SEE GSOP CHAPTER 3
042046,000027: # *USES T6 CLOCK TO TIME JET FIRINGS
042047,000028: # *MAXIMUM JET FIRING TIME = 2.56 SECONDS, LIMITED TO 2.5 IF GREATER
042048,000029: # *MINIMUM JET FIRING TIME = 15 MS
042049,000030: # *JET PAIRS FIRE ALTERNATELY
042050,000031: # *AT LEAST 1/2 SECOND DELAY BEFORE A NEW JET PAIR IS FIRED
042051,000032: # *JET FIRINGS MAY NOT BE EXTENDED, ONLY SHORTENED, WHEN RE-EVALUATION
042052,000033: # OF A JET FIRING TIME IS MADE ON A LATER PASS
042053,000034:
042054,000035: # CALLING SEQUENCE....
042055,000036:
042056,000037: # *ROLLDAP CALL VIA WAITLIST, IN PARTICULAR BY TVCEXEC (EVERY 1/2 SEC)
042057,000038: # WITH A 3CS DELAY TO ALLOW FREE TIME FOR OTHER RUPTS (DWNRPT, ETC.)
042058,000039:
042059,000040: # NORMAL EXIT MODES.... ENDOFJOB
042060,000041:
042061,000042: # ALARM OR ABORT EXIT MODES.... NONE
042062,000043:
042063,000044: # SUBROUTINES CALLED.....NONE
042064,000045:
042065,000046: # OTHER INTERFACES....
042066,000047:
042067,000048: # *TVCEXEC SETS UP ROLLDAP TASK EVERY 1/2 SECOND AND UPDATES 1/CONACC
042068,000049: # EVERY 10 SECONDS (VIA MASSPROP AND S40.15)
042069,000050: # *RESTARTS SUSPEND ROLL DAP COMPUTATIONS UNTIL THE NEXT 1/2 SEC
042070,000051: # SAMPLE PERIOD. (THE PART OF TVCEXECUTIVE THAT CALLS ROLL DAP IS
042071,000052: # NOT RESTARTED.) THE OGAD FROM IGNITION IS MAINTAINED.
042072,000053:
042073,000054: # ERASABLE INITIALIZATION REQUIRED....
042074,000055:
042075,000056: # *1/CONACC (S40.15)
042076,000057: # *OGAD (CDUX AT IGNITION)
042077,000058: # *OGANOW (CDUX AT TVCINIT4 AND TVCEXECUTIVE)
042078,000059: # *OGAPAST (OGANOW AT TVCEXECUTIVE)
042079,000060: # *ROLLFIRE = TEMREG = ROLLWORD = 0 (MRCLEAN LOOP IN TVCDAPON)
042080,000061:
042081,000062: # OUTPUT....
042082,000063:
042083,000064: # *ROLL JET PAIR FIRINGS
042084,000065:
042085,000066: # DEBRIS.... MISCELLANEOUS, SHAREABLE WITH RCS/ENTRY, IN EBANK6 ONLY
042086,000067:
042087,000068: # SOME NOTES ON THE ROLL AUTOPILOT, AND IN PARTICULAR, ON ITS SWITCHING
042088,000069: # LOGIC. SEE SECTION THREE OF THE GSOP (SUNDISK/COLOSSUS) FOR DETAILS.
042089,000070:
042090,000071: # SWITCHING LOGIC IN THE PHASE PLANE....
042091,000072:
042092,000073: # OGARATE
042093,000074: # *
042094,000075: # *
042095,000076: # * * * * * * * * * * * *
042096,000077: # * (REGION 1, SEE TEXT BELOW)
042097,000078: # * *
042098,000079: # *
042099,000080: # * * * * * * * (COAST) * ...PARABOLA (SWITCHING = CONTROL)
042100,000081: # * * .
042101,000082: # * * *
042102,000083: # * * (FIRE NEG ROLL JETS)
042103,000084: # * * *
042104,000085: # (-DB,+LMCRATE)....* *
042105,000086: # * * *
042106,000087: # * * OGAERROR
042107,000088: # ************************************************************************
042108,000089: # * * (-AK, OGAERR)
042109,000090: # * * * (REGION 6-PRIME)
042110,000091: # * * (SEE TEXT BELOW)
042111,000092: # * * *
042112,000093: # * * ...STRAIGHT LINE
042113,000094: # (FIRE POS ROLL JETS) * * * .
042114,000095: # * (COAST) *
042115,000096: # * * * * * * * * * * *
042116,000097: # * -MINLIM
042117,000098: # * *
042118,000099: # *
042119,000100: # * * * * * * * * * * * * * * * *
042120,000101: # * -MAXLIM
042121,000102: # *
042122,000103: # *
042123,000104:
042124,000105: # SWITCHING PARABOLAS ARE CONTROL PARABOLAS, THUS REQUIRING KNOWLEDGE OF
042125,000106: # CONTROL ACCELERATION CONACC, OR ITS RECIPROCAL, 1/CONACC, THE TVC
042126,000107: # ROLL DAP GAIN (SEE TVCEXECUTIVE VARIABLE GAIN PACKAGE). JET
042127,000108: # FIRING TIME IS SIMPLY THAT REQUIRED TO ACHIEVE THE DESIRED OGARATE,
042128,000109: # SUBJECT TO THE LIMITATIONS DISCUSSED UNDER FUNCTIONAL DESCRIPTION,
042129,000110: # ABOVE.
042130,000111:
042131,000112: # THE THREE CONTROL REGIONS (+, -, AND ZERO TORQUE) ARE COMPRIZED OF
042132,000113: # TWELVE SUBSET REGIONS ( 1...6, AND THE CORRESPONDING 1-PRIME...
042133,000114: # 6-PRIME ) SEE SECTION 3 OF THE GSOP (SUNDISK OR COLOSSUS)
042134,000115:
042135,000116: # GIVEN THE OPERATING POINT NOT IN THE COAST REGION, THE DESIRED OGARATE
042136,000117: # IS AT THE POINT OF PENETRATION OF THE COAST REGION BY THE CONTROL
042137,000118: # PARABOLA WHICH PASSES THROUGH THE OPERATING POINT. FOR REGION 3
042138,000119: # DESIRED OGARATE IS SIMPLY +-MAXLIM. FOR REGIONS 1 OR 6 THE SOLUTION
042139,000120: # TO A QUADRATIC IS REQUIRED (THE PENETRATION IS ALONG THE STRAIGHT
042140,000121: # LINE OR MINLIM BOUNDRY SWITCH LINES). AN APPROXIMATION IS MADE
042141,000122: # INSTEAD. TAKE AN OPERATING POINT IN REGION 6'. PASS A TANGENT TO
042142,000123: # THE CONTROL PARABOLA THROUGH THE OPERATING POINT, AND FIND ITS
042143,000124: # INTERSECTION WITH THE STRAIGHT LINE SECTION OF THE SWITCH CURVE...
042144,000125: # THE INTERSECTION DEFINES DESIRED OGARATE. IF THE OPERATING POINT IS
042145,000126: # CLOSE TO THE SWITCH LINE, THE APPROXIMATION IS QUITE GOOD (INDEED
042146,000127: # THE APPROXIMATE AND QUADRATIC SOLUTIONS CONVERGE IN THE LIMIT AS
042147,000128: # THE SWITCH LINE IS APPROACHED). IF THE OPERATING POINT IS NOT CLOSE
042148,000129: # TO THE SWITCH LINE, THE APPROXIMATE SOLUTION GIVES VALID TREND
042149,000130: # INFORMATION (DIRECTION OF DESIRED OGARATE) AT LEAST. THE
042150,000131: # RE-EVALUATION OF DESIRED OGARATE IN SUBSEQUENT ROLL DAP PASSES (1/2
042151,000132: # SECOND INTERVALS) WILL BENEFIT FROM THE CONVERGENT NATURE OF THE
042152,000133: # APPROXIMATION.
042153,000134:
042154,000135: # FOR LARGE OGAERROR THE TANGENT INTERSECTS +-MINLIM SWITCH BOUNDRY BEFORE
042155,000136: # INTERSECTING THE STRAIGHT LINE SWITCH. HOWEVER THE MINLIM IS
042156,000137: # IGNORED IN COMPUTING THE FIRING TIME, SO THAT THE EXTENSION (INTO
042157,000138: # THE COAST REGION) OF THE STRAIGHT LINE SWITCH IS WHAT IS FIRED TO.
042158,000139: # IF THE ROLL DAP FINDS ITSELF IN THE COAST REGION BEFORE REACHING
042159,000140: # THE DESIRED INTERSECTION (IE, IN THE REGION BETWEEN THE MINLIM
042160,000141: # AND THE STRAIGHT LINE SWITCH) IT WILL EXIBIT NORMAL COAST-REGION
042161,000142: # BEHAVIOR AND TURN OFF THE JETS. THE PURPOSE OF THIS FIRING POLICY
042162,000143: # IS TO MAINTAIN STATIC ROLL STABILITY IN THE EVENT OF A JET
042163,000144: # FAILED-ON.
042164,000145:
042165,000146: # WHEN THE OPERATING POINT IS IN REGION 1 THE SAME APPROXIMATION IS
042166,000147: # MADE, BUT AT AN ARTIFICIALLY-CREATED OR DUMMY OPERATING POINT,
042167,000148: # DEFINED BY.. OGAERROR = INTERSECTION OF CONTROL PARABOLA AND
042168,000149: # OGAERROR AXIS, OGARATE = +-LMCRATE WHERE SIGN IS OPPOSITE THAT OF
042169,000150: # REAL OPERATING POINT RATE. WHEN THE OPERATING POINT HAS PASSED
042170,000151: # FROM REGION 1 TO REGION 6', THE DUMMY POINT IS NO LONGER REQUIRED,
042171,000152: # AND THE SOLUTION REVERTS TO THAT OF A REGULAR REGION 6' POINT.
042172,000153:
042173,000154: # EQUATION FOR SWITCHING PARABOLA (SEE FIGURE ABOVE)....
042174,000155: # 2
042175,000156: # SOGAERROR = (DB - (SOGARATE) (1/CONACC)/2) SGN(SOGARATE)
042176,000157:
042177,000158: # EQUATION FOR SWITCHING STRAIGHT LINE SEGMENT....
042178,000159:
042179,000160: # SOGARATE = -(-SLOPE)(SOGAERROR) - SGN(SOGARATE) INTERCEP
042180,000161:
042181,000162: # WHERE INTERCEP = DB(-SLOPE) - LMCRATE
042182,000163:
042183,000164: # EQUATION FOR INTERSECTION, CONTROL PARABOLA AND STRAIGHT SWITCH LINE....
042184,000165:
042185,000166: # DOGADOT = NUM/DEN, WHERE
042186,000167: # 2
042187,000168: # NUM = (-SLOPE)(OGARATE) (1/CONACC)
042188,000169: # +SGN(DELOGA)(-SLOPE)(OGAERROR - SGN(DELOGA)(DB))
042189,000170: # +LMCRATE
042190,000171:
042191,000172: # DEN = (-SLOPE)(LMCRATE)(1/CONACC) - SGN(DELOGA)
042192,000173: # 2
042193,000174: # DELOGA = OGAERROR - (DB - OGARATE (1/CONACC)/2)SGN(OGARATE)
042194,000175:
042195,000176: # FOR REGIONS 6 AND 6-PRIME USE ACTUAL OPERATING POINT (OGA, OGARATE)
042196,000177: # FOR OGAERROR AND OGARATE IN THE INTERSECTION EQUATIONS ABOVE.
042197,000178: # FOR REGIONS 1 AND 1-PRIME USE DUMMY OPERATING POINT FOR OGAERROR
042198,000179: # AND OGARATE, WHERE THE DUMMY POINT IS GIVEN BY....
042199,000180:
042200,000181: # OGAERROR = DELOGA + DB SGN(OGARATE)
042201,000182:
042202,000183: # OGARATE = -LMCRATE SGN(OGARATE)
042203,000184:
042204,000185: # NOTE, OGAERROR = OGA - OGAD USES DUMMY REGISTER OGA IN ROLL DAP CODING
042205,000186: # ALSO, AT POINT WHERE DOGARATE IS COMPUTED, REGISTER DELOGA IS USED
042206,000187: # AS A DUMMY REGISTER FOR THE OGAERROR IN THE NUM EQUATION ABOVE
042207,000188:
042208,000189: # ROLLDAP CODING....
042209,000190:
042210,000191: 16,2000 SETLOC DAPROLL
042211,000192: 16,2000 BANK
042212,000193: 16,3344 E6,1664 EBANK= OGANOW
042213,000194: 16,3344 COUNT* $$/ROLL
042214,000195: 16,3344 31664 ROLLDAP CAE OGANOW # OGA RATE ESTIMATOR...SIMPLE FIRST-ORDER
042215,000196: 16,3345 00006 EXTEND # DIFFERENCE (SAMPLE TIME = 1/2 SEC)
042216,000197: 16,3346 21665 MSU OGAPAST
042217,000198: 16,3347 00006 EXTEND
042218,000199: 16,3350 75027 MP BIT5
042219,000200: 16,3351 22000 LXCH A
042220,000201: 16,3352 55533 TS OGARATE # SC.AT B-4 REV/SEC
042221,000202:
042222,000203: # COMPUTATIONS WHICH FOLLOW USE OGA FOR OGAERR (SAME REGISTER)
042223,000204: # EXAMINE DURATION OF LAST JET FIRING IF JETS NOW ON.
042224,000205:
042225,000206: 16,3353 31571 DURATION CA ROLLFIRE # SAME SGN AS PRESENT TORQ,MAGN=POSMAX
042226,000207: 16,3354 00006 EXTEND
042227,000208: 16,3355 13357 BZF +2 # ROLL JETS ARE NOW OFF.
042228,000209: 16,3356 13365 TCF ROLLOGIC # ENTER LOGIC, JETS NOW ON.
042229,000210:
042230,000211: 16,3357 31573 CAE TEMREG # EXAMINE LAST FIRING INTERVAL
042231,000212: 16,3360 00006 EXTEND # IF POSITIVE, DONT FIRE
042232,000213: 16,3361 13365 BZF ROLLOGIC # ENTER LOGIC, JETS NOW OFF.
042233,000214:
042234,000215: 16,3362 35035 CAF ZERO # JETS HAVE NOT BEEN OFF FOR 1/2 SEC. WAIT
042235,000216: 16,3363 55573 TS TEMREG # RESET TEMREG
042236,000217: 16,3364 15340 WAIT1/2 TCF TASKOVER # EXIT ROLL DAP
042237,000218:
042238,000219: # COMPUTE DB-(1/2 CONACC) (OGARATE)SQ (1/2 IN THE SCALING)
042239,000220:
042240,000221: 16,3365 41533 ROLLOGIC CS OGARATE # SCALED AT 2(-4) REV/SEC
042241,000222: 16,3366 00006 EXTEND
042242,000223: 16,3367 71640 MP 1/CONACC # SCALED AT 2(+9) SEC SQ /REV
042243,000224: 16,3370 00006 EXTEND
042244,000225: 16,3371 71533 MP OGARATE
042245,000226: 16,3372 63760 AD DB # SCALED AT 2(+0) REV
042246,000227: 16,3373 55573 TS TEMREG # QUANTITY SCALED AT 2(+0) REV.
042247,000228:
042248,000229: # GET SIGN OF OGARATE
042249,000230:
042250,000231: 16,3374 31533 CA OGARATE
042251,000232: 16,3375 00006 EXTEND
042252,000233: 16,3376 63401 BZMF +3 # LET SGN(0) BE NEGATIVE
042253,000234: 16,3377 35033 CA BIT1
042254,000235: 16,3400 13402 TCF +2
042255,000236: 16,3401 45033 CS BIT1
042256,000237: 16,3402 55670 TS SGNRT # + OR - 2(-14)
042257,000238:
042258,000239: # CALCULATE DISTANCE FROM SWITCH PARABOLA (DELOGA)
042259,000240: 16,3403 00006 EXTEND
042260,000241: 16,3404 71573 MP TEMREG # SGN(OGARATE) TEMREG NOW IN L
042261,000242: 16,3405 40001 CS L
042262,000243: 16,3406 61666 AD OGA # SCALED AT 2(+0) REV
042263,000244: 16,3407 55671 DELOGAC TS DELOGA # SCALE B+0 REV, PLUS TO RIGHT OF C-PARAB
042264,000245:
042265,000246: # EXAMINE SGN(DELOGA) AND CREATE CA OR CS INSTR. DEPENDING UPON SIGN.
042266,000247:
042267,000248: 16,3410 00006 EXTEND
042268,000249: 16,3411 63414 BZMF +3
042269,000250: 16,3412 34371 CAF PRIO30 # = CA (30000)
042270,000251: 16,3413 13415 TCF +2
042271,000252: 16,3414 35015 CAF BIT15 # = CS (40000)
042272,000253: 16,3415 55672 TS I
042273,000254:
042274,000255: 16,3416 51672 INDEX I # TSET ON I SGN(OGARATE)
042275,000256: 16,3417 01670 0 SGNRT # CA OR CS
042276,000257: 16,3420 40000 COM
042277,000258: 16,3421 00006 EXTEND
042278,000259: 16,3422 63473 REG1TST BZMF ROLLON # IF REGION 1 (DELOGA OGARATE SAME SIGN)
042279,000260:
042280,000261: # NO JET FIRE YET, TEST FOR MAX OGARATE
042281,000262:
042282,000263: 16,3423 51672 INDEX I
042283,000264: 16,3424 01533 0 OGARATE # CA OR CS...BOTH MUST BE NEG. HERE
042284,000265: 16,3425 55673 TS IOGARATE # I.E. I OGARATE
042285,000266: 16,3426 63766 AD MAXLIM # SCALED AT 2(-4) REV/SEC
042286,000267: 16,3427 00006 EXTEND
042287,000268: 16,3430 63552 REG3TST BZMF RATELIM # IF REGION 3 (RATES TOO HIGH, FIRE JETS)
042288,000269:
042289,000270: # COMPUTATION OF I((-SLOPE)OGA + OGARATE) - INTERCEPT..NOTE THAT STR. LINE
042290,000271: # SWITCH SLOPE IS (SLOPE) DEG/SEC/DEG, A NEG QUANTITY
042291,000272:
042292,000273: 16,3431 31533 CA OGARATE
042293,000274: 16,3432 00006 EXTEND
042294,000275: 16,3433 75016 MP BIT14
042295,000276: 16,3434 55573 TS TEMREG
042296,000277: 16,3435 31666 CA OGA
042297,000278: 16,3436 00006 EXTEND
042298,000279: 16,3437 73761 MP -SLOPE
042299,000280: 16,3440 20001 DDOUBL
042300,000281: 16,3441 20001 DDOUBL
042301,000282: 16,3442 20001 DDOUBL # (OGA ERROR MUST BE LESS THAN +-225 DEG)
042302,000283: 16,3443 61573 AD TEMREG
042303,000284:
042304,000285: 16,3444 51672 INDEX I
042305,000286: 16,3445 00000 0 A # I((-SLOPE)OGA+OGARATE) AT 2(-3)REV/SEC
042306,000287: 16,3446 40000 COM
042307,000288: 16,3447 63763 AD INTERCEP # SCALED AT 2(-3) REV.
042308,000289: 16,3450 40000 COM
042309,000290: 16,3451 00006 EXTEND
042310,000291: 16,3452 63663 REG2TST BZMF NOROLL # IF REGION 2 (COAST SIDE OF STRT LINE)
042311,000292:
042312,000293: # CHECK TO SEE IF OGARATE IS ABOVE MINLIM BOUNDARY
042313,000294:
042314,000295: 16,3453 31673 CA IOGARATE # ALWAYS NEGATIVE
042315,000296: 16,3454 63764 AD MINLIM # SCALED AT 2(-4) REV/SEC
042316,000297: 16,3455 00006 EXTEND
042317,000298: 16,3456 63663 REG4TST BZMF NOROLL # IF REGION 4 (COAST SIDE OF MINLIM)
042318,000299:
042319,000300: # ALL AREAS CHECKED EXCEPT LAST AREA...NO FIRE IN THIS SMALL SEGMENT
042320,000301:
042321,000302: 16,3457 51672 INDEX I
042322,000303: 16,3460 01666 0 OGA
042323,000304: 16,3461 40000 COM
042324,000305: 16,3462 63760 AD DB
042325,000306: 16,3463 40000 COM
042326,000307: 16,3464 00006 EXTEND
042327,000308: 16,3465 63663 REG5TST BZMF NOROLL # IF REGION 5 (COAST SIDE OF DB)
042328,000309:
042329,000310: # JETS MUST FIRE NOW. OGARATE IS NEG. (OR VISA VERSA). USE DIRECT STR. LINE.
042330,000311: # DELOGA AND DELOGART ARE USED AS DUMMY VARIABLES IN THE SOLUTION OF A
042331,000312: # STRAIGHT LINE APPROXIMATION TO A QUADRATIC SOLUTION OF THE INTERSECTION
042332,000313: # OF THE CONTROL PARABOLA AND THE STRAIGHT-LINE SWITCH LINE. THE STRAIGHT
042333,000314: # LINE IS THE TANGENT TO THE CONTROL PARABOLA AT THE OPERATING POINT. (FOR
042334,000315: # OPERATING POINTS IN REGIONS 6 OR 6')
042335,000316:
042336,000317: 16,3466 31666 REGION6 CAE OGA # USE ACTUAL OPERATING POINT FOR TANGENT
042337,000318: 16,3467 55671 TS DELOGA # ACTUAL STATE
042338,000319: 16,3470 31533 CA OGARATE
042339,000320: 16,3471 55667 TS DELOGART # ACTUAL STATE, I.E. DEL OGARATE
042340,000321: 16,3472 13502 TCF ONROLL
042341,000322:
042342,000323: # JETS ALSO FIRE FROM HERE EXCEPT OGARATE IS POS (VISA VERSA), USE INDIRECT
042343,000324: # STRAIGHT LINE ESTABLISHED BY TANGENT TO A CONTROL PARABOLA AT ((DELOGA
042344,000325: # + DB SGN(DELOGA) ), -LMCRATE SGN(DELOGA) ) (THIS IS THE DUMMY
042345,000326: # OPERATING POINT FOR OPERATING POINTS IN REGIONS 1 AND 1')
042346,000327:
042347,000328: 16,3473 51672 ROLLON INDEX I
042348,000329: 16,3474 03760 0 DB
042349,000330: 16,3475 27671 ADS DELOGA # DELOGA WAS DIST. FROM SWITCH PARABOLA
042350,000331:
042351,000332: 16,3476 43762 CS LMCRATE # LIMIT CYCLE RATE AT 2(-4) REV/SEC
042352,000333: 16,3477 51672 INDEX I
042353,000334: 16,3500 00000 0 A
042354,000335: 16,3501 55667 TS DELOGART # EVALUATE STATE FOR INDIRECT LINE.
042355,000336:
042356,000337: # SOLVE STRAIGHT LINES SIMULTANEOUSLY TO OBTAIN DESIRED OGARATE.
042357,000338:
042358,000339: 16,3502 00006 ONROLL EXTEND # DELOGART IN ACC. ON ARRIVAL
042359,000340: 16,3503 71640 MP 1/CONACC
042360,000341: 16,3504 60000 DOUBLE
042361,000342: 16,3505 00006 EXTEND
042362,000343: 16,3506 73761 MP -SLOPE
042363,000344: 16,3507 55573 TS TEMREG # 2(-SLOPE)RATE /CONACC
042364,000345: 16,3510 00006 EXTEND
042365,000346: 16,3511 71667 MP DELOGART
042366,000347: 16,3512 55667 TS DELOGART # 2(-SLOPE)(RATESQ)/CONACC
042367,000348: 16,3513 45021 CS BIT11
042368,000349: 16,3514 51672 INDEX I
042369,000350: 16,3515 00000 0 A
042370,000351: 16,3516 27573 RATEDEN ADS TEMREG # DENOMINATOR COMPLETED
042371,000352:
042372,000353: 16,3517 51672 INDEX I
042373,000354: 16,3520 01671 0 DELOGA
042374,000355: 16,3521 40000 COM
042375,000356: 16,3522 63760 AD DB
042376,000357: 16,3523 40000 COM
042377,000358: 16,3524 00006 EXTEND
042378,000359: 16,3525 73761 MP -SLOPE
042379,000360: 16,3526 27667 ADS DELOGART
042380,000361: 16,3527 33762 CA LMCRATE
042381,000362: 16,3530 00006 EXTEND
042382,000363: 16,3531 75021 MP BIT11
042383,000364: 16,3532 61667 RATENUM AD DELOGART # NUMERATOR COMPLETED
042384,000365:
042385,000366: 16,3533 56001 XCH L # PLACE NUMERATOR IN L FOR OVERFL. CHECK
042386,000367: 16,3534 35035 CA ZERO
042387,000368: 16,3535 00006 EXTEND
042388,000369: 16,3536 11573 DV TEMREG # OVERFLOW, IF ANYTHING, NOW APPEARS IN A
042389,000370: 16,3537 00006 EXTEND
042390,000371: 16,3540 13546 BZF DVOK # NO OVERFLOW....(0,L)/TEMREG = 0,L
042391,000372:
042392,000373: 16,3541 10000 MINLIMAP CCS A
042393,000374: 16,3542 35013 CAF POSMAX # POSITIVE OVERFLOW
042394,000375: 16,3543 13555 TCF ROLLSET
042395,000376: 16,3544 45013 CS POSMAX # NEGATIVE OVERFLOW
042396,000377: 16,3545 13555 TCF ROLLSET
042397,000378:
042398,000379: 16,3546 22000 DVOK LXCH A # PUT NUMERATOR BACK INTO A, 0 IN L
042399,000380: 16,3547 00006 EXTEND
042400,000381: 16,3550 11573 DV TEMREG # RESULT OF DIVISION IS DESIRED OGARATE
042401,000382: 16,3551 13555 TCF ROLLSET # (SCALED AT B-4 REV/SEC)
042402,000383:
042403,000384: 16,3552 43766 RATELIM CS MAXLIM
042404,000385: 16,3553 51672 INDEX I
042405,000386: 16,3554 00000 0 A # IF I = CA, DESIRED RATE IS -MAXLIM
042406,000387:
042407,000388: # COMPUTE JET FIRE TIME, BASED ON DESIRED RATE MINUS PRESENT RATE
042408,000389:
042409,000390: 16,3555 55573 ROLLSET TS TEMREG # STORE DESIRED OGARATE (SCALED B-4)
042410,000391: 16,3556 00006 EXTEND
042411,000392: 16,3557 61533 SU OGARATE # RATE DIFF. SCALED AT 2(-4) REV/SEC
042412,000393: 16,3560 55573 TS TEMREG # OVERFLOW PROTECT
042413,000394: 16,3561 13564 TCF +3 # " "
042414,000395: 16,3562 50000 INDEX A # " "
042415,000396: 16,3563 45014 CS LIMITS # " "
042416,000397: 16,3564 00006 EXTEND
042417,000398: 16,3565 77665 MP T6SCALE # T6SCALE = 8/10.24
042418,000399: 16,3566 00006 EXTEND
042419,000400: 16,3567 71640 MP 1/CONACC # SCALED AT B+9 SECSQ/REV (MAX < .60)
042420,000401: 16,3570 20001 DDOUBL
042421,000402: 16,3571 20001 DDOUBL
042422,000403: 16,3572 55573 TS TEMREG # OVERFLOW PROTECT
042423,000404: 16,3573 13576 TCF +3 # " "
042424,000405: 16,3574 50000 INDEX A # " "
042425,000406: 16,3575 45014 CS LIMITS # " "
042426,000407: 16,3576 55573 TS TEMREG # JET FIRE TIME AT 625 MICROSEC/BIT
042427,000408: 16,3577 00006 EXTEND # POS MEANS POSITIVE ROLL TORQUE.
042428,000409: 16,3600 13663 BZF NOROLL
042429,000410:
042430,000411: # JET FIRE TIME IS NZ, TEST FOR JETS NOW ON.
042431,000412:
042432,000413: 16,3601 31573 CAE TEMREG # DESIRED CHANGE IN OGARATE
042433,000414: 16,3602 00006 EXTEND
042434,000415: 16,3603 71571 MP ROLLFIRE # (SGN OF TORQUE..ZERO IF JETS NOW OFF)
042435,000416: 16,3604 10000 CCS A
042436,000417: 16,3605 13611 TCF MOREROLL # CONTINUE FIRING WITH PRESENT POLARITY
042437,000418: 16,3606 13614 TCF NEWROLL # START NEW FIRING NOW, PLUS
042438,000419: 16,3607 13663 TCF NOROLL # TERMINATE OLD FIRING, NEW SIGN REQUESTED
042439,000420: 16,3610 13614 TCF NEWROLL # START NEW FIRING NOW, MINUS
042440,000421:
042441,000422: # CONTINUE PRESENT FIRING
042442,000423:
042443,000424: 16,3611 35035 MOREROLL CAF ZERO
042444,000425: 16,3612 55672 TS I # USE TEMP. AS MOREROLL SWITCH
042445,000426: 16,3613 13625 TCF MAXTFIRE
042446,000427:
042447,000428: # START NEW FIRING, BUT CHECK IF GREATER THAN MIN FIRE TIME.
042448,000429:
042449,000430: 16,3614 11573 NEWROLL CCS TEMREG # CALL THIS T6FIRE
042450,000431: 16,3615 65033 AD ONE
042451,000432: 16,3616 13620 TCF +2
042452,000433: 16,3617 65033 AD ONE
042453,000434: 16,3620 40000 COM # -MAG(T6FIRE)
042454,000435: 16,3621 63767 AD TMINFIRE # TMINFIRE-MAG(T6FIRE)
042455,000436: 16,3622 40000 COM
042456,000437: 16,3623 00006 EXTEND
042457,000438: 16,3624 63663 MINTST BZMF NOROLL # IF NOT GREATER THAN TMINFIRE (NEW FIRE)
042458,000439:
042459,000440: # PROCEED WITH NEW FIRING, BUT NOT LONGER THAN TMAXFIRE.
042460,000441:
042461,000442: 16,3625 31573 MAXTFIRE CA TEMREG
042462,000443: 16,3626 00006 EXTEND
042463,000444: 16,3627 75031 MP 1/TMXFIR # I.E. 1/TMAXFIRE
042464,000445: 16,3630 00006 EXTEND
042465,000446: 16,3631 13637 MAXTST BZF NOMXFIRE # IF LESS THAN TMAXFIRE
042466,000447:
042467,000448: 16,3632 10000 CCS A
042468,000449: 16,3633 33770 CAF TMAXFIRE # USE MAXIMUM
042469,000450: 16,3634 13636 TCF +2
042470,000451: 16,3635 43770 CS TMAXFIRE # USE MAXIMUM
042471,000452: 16,3636 55573 TS TEMREG
042472,000453:
042473,000454: # SET UP SIGN OF REQUIRED TORQUE.
042474,000455:
042475,000456: 16,3637 11573 NOMXFIRE CCS TEMREG # FOR TORQUE SIGN
042476,000457: 16,3640 35013 CA POSMAX # POSITIVE TORQUE REQUIRED
042477,000458: 16,3641 13643 TCF +2
042478,000459: 16,3642 35015 CA NEGMAX # NEGATIVE TORQUE REQUIRED
042479,000460: 16,3643 55571 TS ROLLFIRE # SET ROLLFIRE FOR + OR - TORQUE
042480,000461:
042481,000462: 16,3644 40000 COM # COMPLEMENT... POS. FOR NEG. TORQUE
042482,000463: 16,3645 00006 EXTEND
042483,000464: 16,3646 63651 BZMF +3 # POSITIVE TORQUE REQUIRED
042484,000465: 16,3647 41573 CS TEMREG
042485,000466: 16,3650 55573 TS TEMREG
042486,000467:
042487,000468: 16,3651 31672 FIRELOOK CA I # IS IT MOREROLL
042488,000469: 16,3652 00006 EXTEND
042489,000470: 16,3653 13655 BZF FIREPLUG # YES
042490,000471: 16,3654 13666 TCF JETROLL # MAG(T6FIRE) NOW IN TEMREG
042491,000472:
042492,000473: 16,3655 30031 FIREPLUG CAE TIME6 # CHECK FOR EXTENDED FIRING
042493,000474: 16,3656 00006 EXTEND
042494,000475: 16,3657 61573 SU TEMREG
042495,000476: 16,3660 00006 EXTEND
042496,000477: 16,3661 65340 EXTENTST BZMF TASKOVER # IF EXTENSION WANTED, DONT, EXIT ROLL DAP
042497,000478: 16,3662 13666 TCF JETROLL
042498,000479:
042499,000480: 16,3663 45035 NOROLL CS ZERO # COAST....(NEG ZERO FOR TIME6)
042500,000481: 16,3664 55571 TS ROLLFIRE # NOTE, JETS CAN FIRE NEXT PASS
042501,000482: 16,3665 55573 TS TEMREG
042502,000483:
042503,000484: 16,3666 00006 JETROLL EXTEND
042504,000485: 16,3667 33757 DCA NOROL1T6
042505,000486: 16,3670 53311 DXCH T6LOC
042506,000487: 16,3671 31573 CA TEMREG # ENTER JET FIRING TIME
042507,000488: 16,3672 54031 TS TIME6
042508,000489:
042509,000490: 16,3673 31672 CA I # I=0 IF MOREROLL, KEEP SAME JETS ON
042510,000491: 16,3674 00006 EXTEND
042511,000492: 16,3675 15340 SAMEJETS BZF TASKOVER # IF JETS ON KEEP SAME JETS. EXIT ROLL DAP
042512,000493:
042513,000494: 16,3676 11571 CCS ROLLFIRE
042514,000495: 16,3677 13703 TCF +TORQUE
042515,000496: 16,3700 13744 TCF T6ENABL
042516,000497: 16,3701 13724 TCF -TORQUE
042517,000498: 16,3702 13744 TCF T6ENABL
042518,000499:
042519,000500: # PROCEED WITH PLUS TORQUE.
042520,000501:
042521,000502: 16,3703 31572 +TORQUE CA ROLLWORD # WHAT WAS THE LAST +TORQUE COMBINATION
042522,000503: 16,3704 75033 MASK BIT1 # WAS IT NO.9-11
042523,000504: 16,3705 00006 EXTEND
042524,000505: 16,3706 13716 BZF NO.9-11 # NOT 9-11, SO USE IT THIS TIME
042525,000506:
042526,000507: 16,3707 45033 NO.13-15 CS BIT1
042527,000508: 16,3710 71572 MASK ROLLWORD
042528,000509: 16,3711 55572 TS ROLLWORD # CHANGE BIT 1 TO ZERO
042529,000510: 16,3712 35053 CAF +ROLL2
042530,000511: 16,3713 00006 EXTEND
042531,000512: 16,3714 01006 WRITE CHAN6
042532,000513: 16,3715 13744 TCF T6ENABL
042533,000514:
042534,000515: 16,3716 35033 NO.9-11 CAF BIT1 # 1ST + JETS TO FIRE (MRCLEAN OS ROLLWORD)
042535,000516: 16,3717 27572 ADS ROLLWORD # CHANGE BIT 1 TO ONE
042536,000517: 16,3720 35036 CAF +ROLL1
042537,000518: 16,3721 00006 EXTEND
042538,000519: 16,3722 01006 WRITE CHAN6
042539,000520: 16,3723 13744 TCF T6ENABL
042540,000521:
042541,000522: 16,3724 31572 -TORQUE CA ROLLWORD # WHAT WAS LAST -TORQUE COMBINATION
042542,000523: 16,3725 75032 MASK BIT2 # WAS IT NO.12-10
042543,000524: 16,3726 00006 EXTEND
042544,000525: 16,3727 13737 BZF NO.12-10 # NOT 12-10, SO USE IT THIS TIME
042545,000526:
042546,000527: 16,3730 45032 NO.16-14 CS BIT2
042547,000528: 16,3731 71572 MASK ROLLWORD
042548,000529: 16,3732 55572 TS ROLLWORD # CHANGE BIT 2 TO ZERO
042549,000530: 16,3733 33771 CAF -ROLL2
042550,000531: 16,3734 00006 EXTEND
042551,000532: 16,3735 01006 WRITE CHAN6
042552,000533: 16,3736 13744 TCF T6ENABL
042553,000534:
042554,000535: 16,3737 35032 NO.12-10 CAF BIT2 # 1ST -JETS TO FIRE (MRCLEAN OS ROLLWORD)
042555,000536: 16,3740 27572 ADS ROLLWORD # CHANGE BIT 2 TO ONE
042556,000537: 16,3741 34377 CAF -ROLL1
042557,000538: 16,3742 00006 EXTEND
042558,000539: 16,3743 01006 WRITE CHAN6
042559,000540:
042560,000541: 16,3744 35015 T6ENABL CAF BIT15
042561,000542: 16,3745 00006 EXTEND
042562,000543: 16,3746 05013 WOR CHAN13
042563,000544: 16,3747 15340 RDAPEND TCF TASKOVER # EXIT ROLL DAP
042564,000545:
042565,000546: # THIS T6 TASK SHUTS OFF ALL ROLL JETS
042566,000547:
042567,000548: 16,3750 22016 NOROLL1 LXCH BANKRUPT # SHUT OFF ALL (ROLL) JETS, (A T6 TASK
042568,000549: 16,3751 35035 CAF ZERO # CALLED BY ..JETROLL..)
042569,000550: 16,3752 55571 TS ROLLFIRE # ZERO INDICATES JETS NOW OFF
042570,000551: 16,3753 00006 EXTEND
042571,000552: 16,3754 01006 KILLJETS WRITE CHAN6
042572,000553: 16,3755 15351 TCF NOQRSM
042573,000554:
042574,000555: # CONSTANTS FOR ROLL AUTOPILOT....
042575,000556:
042576,000557: 16,3756 E6,1704 EBANK= BZERO
042577,000558: 16,3756 03750 34066 NOROL1T6 2CADR NOROLL1
042578,000559:
042579,000560: 16,3760 00344 DB DEC .01388889 # DEAD BAND (5 DEG), SC.AT B+0 REV
042580,000561:
042581,000562: 16,3761 06315 -SLOPE DEC 0.2 # -SWITCHLINE SLOPE(0.2 PER SEC) SC.AT B+0
042582,000563: # PER SEC
042583,000564: 16,3762 00111 LMCRATE DEC .00027778 B+4 # LIMIT CYCLE RATE (0.1 DEG/SEC) SC.AT
042584,000565: # B-4 REV/SEC
042585,000566: 16,3763 00510 INTERCEP DEC .0025 B+3 # DB(-SLOPE) - LMCRATE, SC.AT B-3 REV/SC
042586,000567:
042587,000568: 16,3764 01330 MINLIM DEC .00277778 B+4 # RATELIM,MIN (1DEG/SEC), SC.AT B-4 REV/SC
042588,000569:
042589,000570: 16,3765 00027 1/MINLIM DEC 360 B-18 # RECIPROCAL THEREOF, SHIFTED 14 RIGHT
042590,000571:
042591,000572: 16,3766 07071 MAXLIM DEC .01388889 B+4 # RATELIM,MAX (5DEG/SEC), SC.AT B-4 REV/SC
042592,000573:
042593,000574: 16,3767 00030 TMINFIRE DEC 1.5 B+4 # 15 MS (14MIN), SC.AT 16 BITS/CS
042594,000575:
042595,000576: 16,3770 07640 TMAXFIRE DEC 250 B+4 # 2.5 SEC, SC.AT 16 BITS/CS
042596,000577:
042597,000578: 16,3771 5031 1/TMXFIR = BIT3 # RECIPROCAL THEREOF, SHIFTED 14 RIGHT,
042598,000579: # ROUNDS TO OCT00004, SO ALLOWS 2.56
042599,000580: # SEC FIRINGS BEFORE APPLYING LIMIT
042600,000581: 16,3771 7665 T6SCALE = PRIO31 # (B+3) (16 BITS/CS) (100CS/SEC)
042601,000582:
042602,000583: 16,3771 5036 +ROLL1 = FIVE # ONBITS FOR JETS 9 AND 11
042603,000584: 16,3771 5053 +ROLL2 = OCT120 # ONBITS FOR JETS 13 AND 15
042604,000585: 16,3771 4377 -ROLL1 = TEN # ONBITS FOR JETS 12 NAD 10
042605,000586: 16,3771 00240 -ROLL2 OCT 240 # ONBITS FOR JETS 16 AND 14
042606,000587:
End of include-file TVCROLLDAP.agc. Parent file is MAIN.agc