Source Code
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These source-code files are part of a reconstructed copy of Corona 261, the
final, flown release of the Block I Command Module (CM) Apollo Guidance Computer
(AGC) software for the AS-202 mission.
They have been created via disassembly of binary dumps of the original core rope
memory modules actually flown on the mission, part numbers 1003733-171, 1003733-241,
1003733-191, 1003733-211, 1003733-221, and 1003733-241. The source code for the Apollo
4 and 6 software, Solarium 55, was used as a starting point, since it was directly
derived from Corona and (at least in theory) only minimally modified.
Since only binary dumps (rather than listings) of Corona 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.
|
016494,000002: ## Copyright: Public domain.
016495,000003: ## Filename: RTB_OP_CODES.agc
016496,000004: ## Purpose: A section of Corona revision 261.
016497,000005: ## It is part of the source code for the Apollo Guidance Computer
016498,000006: ## (AGC) for AS-202. No original listings of this software are
016499,000007: ## available; instead, this file was created via disassembly of
016500,000008: ## the core rope modules actually flown on the mission.
016501,000009: ## Assembler: yaYUL
016502,000010: ## Contact: Ron Burkey <info@sandroid.org>.
016503,000011: ## Website: www.ibiblio.org/apollo/index.html
016504,000012: ## Mod history: 2023-05-27 MAS Created from Solarium 55.
016505,000013: ## 2023-06-17 MAS Updated for Corona.
016506,000014:
016507,000015:
016508,000016: 30,6251 BANK 30
016509,000017: # ROUTINE TO LOAD TIME OF DAY INTO MPAC
016510,000018:
016511,000019: 30,6251 02677 LOADTIME TC READTIME
016512,000020: 30,6252 40572 CS RUPTSTOR
016513,000021: 30,6253 50115 TS MPAC
016514,000022: 30,6254 40573 CS RUPTSTOR +1
016515,000023: 30,6255 50116 TS MPAC +1
016516,000024: 30,6256 20016 RELINT
016517,000025: 30,6257 35501 CAF ZERO
016518,000026: 30,6260 50066 TS NEWEQIND
016519,000027: 30,6261 50117 TS MPAC +2
016520,000028: 30,6262 05237 TC DPEXIT
016521,000029:
016522,000030:
016523,000031: # ROUTINE TO RESET THE PUSHDOWN POUNTER
016524,000032:
016525,000033: 30,6263 40067 FRESHPD CS FIXLOC
016526,000034: 30,6264 40000 COM
016527,000035: 30,6265 50123 TS PUSHLOC
016528,000036: 30,6266 04703 TC RE-ENTER
016529,000037:
016530,000038:
016531,000039: # ROUTINE TO ZERO OUT THE FIRST 38 LOCS OF A VAC AREA
016532,000040:
016533,000041: 30,6267 36301 ZEROVAC CAF 37DEC
016534,000042: 30,6270 50102 ZVLOOP TS TEM2
016535,000043: 30,6271 60067 AD FIXLOC
016536,000044: 30,6272 50001 TS Q
016537,000045: 30,6273 35501 CAF ZERO
016538,000046: 30,6274 20001 INDEX Q
016539,000047: 30,6275 50000 TS 0
016540,000048: 30,6276 10102 CCS TEM2
016541,000049: 30,6277 06270 TC ZVLOOP
016542,000050: 30,6300 04703 TC RE-ENTER
016543,000051:
016544,000052: 30,6301 00045 37DEC DEC 37 B-14
016545,000053:
016546,000054:
016547,000055: # ROUTINE TO CONVERT IS COMP. NOS. TO 1S COMP.
016548,000056:
016549,000057: 30,6302 10115 CDULOGIC CCS MPAC # THIS BASIC ROUTINE TESTS CDU ANGLES FOR
016550,000058: 30,6303 06310 TC CDULOG1 # +OR-SIGN INCLUDING ZERO AND FORMS A DP
016551,000059: 30,6304 06310 TC CDULOG1 # NUMBER CORRESPONDING TO ANGLE
016552,000060: 30,6305 06306 TC +1
016553,000061: 30,6306 44522 CS HALF # USE SMOVE 1
016554,000062: 30,6307 06311 TC +2 # RTB
016555,000063: 30,6310 45501 CDULOG1 CS ZERO # CDUXYZ
016556,000064: 30,6311 30034 XCH OVCTR # CDULOGIC
016557,000065: 30,6312 30115 XCH MPAC
016558,000066: 30,6313 25777 EXTEND
016559,000067: 30,6314 44522 MP HALF
016560,000068: 30,6315 30034 XCH OVCTR
016561,000069: 30,6316 60003 AD LP
016562,000070: 30,6317 30116 XCH MPAC +1
016563,000071: 30,6320 30034 XCH OVCTR
016564,000072: 30,6321 30115 XCH MPAC
016565,000073: 30,6322 05237 TC DPEXIT
016566,000074:
016567,000075:
016568,000076: # ROUTINE TO CONVERT 1S COMP. NOS. TO 2S COMP.
016569,000077:
016570,000078: 30,6323 35501 1STO2S CAF ZERO
016571,000079: 30,6324 30116 XCH MPAC +1
016572,000080: 30,6325 60000 DOUBLE
016573,000081: 30,6326 50034 TS OVCTR
016574,000082: 30,6327 35501 CAF ZERO
016575,000083: 30,6330 60115 AD MPAC
016576,000084: 30,6331 60115 AD MPAC
016577,000085: 30,6332 10000 CCS A
016578,000086: 30,6333 64516 AD ONE
016579,000087: 30,6334 06336 TC +2
016580,000088: 30,6335 40000 COM
016581,000089: 30,6336 50115 ZYXR TS MPAC # AND MAYBE OVERFLOW.
016582,000090: 30,6337 05237 TC DPEXIT
016583,000091:
016584,000092: 30,6340 20000 INDEX A # HANDLE OVERFLOW IN STANDARD ANGULAR WAY.
016585,000093: 30,6341 34477 CAF LIMITS
016586,000094: 30,6342 60115 AD MPAC # GUARANTEED NO OVERFLOW.
016587,000095: 30,6343 06336 TC ZYXR
016588,000096:
016589,000097:
016590,000098: 30,6344 20017 READPIPS INHINT
016591,000099: 30,6345 40044 CS PIPAX
016592,000100: 30,6346 40000 CS A
016593,000101: 30,6347 20067 INDEX FIXLOC
016594,000102: 30,6350 50040 TS VAC
016595,000103: 30,6351 40045 CS PIPAY
016596,000104: 30,6352 40000 CS A
016597,000105: 30,6353 20067 INDEX FIXLOC
016598,000106: 30,6354 50042 TS VAC +2
016599,000107: 30,6355 40046 CS PIPAZ
016600,000108: 30,6356 40000 CS A
016601,000109: 30,6357 20067 INDEX FIXLOC
016602,000110: 30,6360 50044 TS VAC +4
016603,000111: 30,6361 20016 RELINT
016604,000112: 30,6362 35501 CAF ZERO
016605,000113: 30,6363 20067 INDEX FIXLOC
016606,000114: 30,6364 50041 TS VAC +1
016607,000115: 30,6365 20067 INDEX FIXLOC
016608,000116: 30,6366 50043 TS VAC +3
016609,000117: 30,6367 20067 INDEX FIXLOC
016610,000118: 30,6370 50045 TS VAC +5
016611,000119: 30,6371 50066 TS NEWEQIND # LOAD INDICATOR OFF.
016612,000120: 30,6372 45501 VMODE CS ZERO
016613,000121: 30,6373 05240 TC DPEXIT +1
016614,000122:
016615,000123:
016616,000124:
016617,000125: 30,6374 20067 PULSEIMU INDEX FIXLOC # ADDRESS OF GYRO COMMANDS SHOULD BE IN X1
016618,000126: 30,6375 40046 CS X1
016619,000127: 30,6376 40000 COM
016620,000128: 30,6377 05654 TC BANKCALL
016621,000129: 30,6400 31421 CADR GYRODPNT
016622,000130:
016623,000131: 30,6401 04703 TC RE-ENTER
016624,000132:
016625,000133:
016626,000134: 30,6402 05654 SGNAGREE TC BANKCALL
016627,000135: 30,6403 07154 CADR TPAGREE
016628,000136: 30,6404 05237 TC DPEXIT
016629,000137:
016630,000138:
016631,000139: # ROUTINE TO COMPLETE OPTICS TRUNNION ANGLE CONVERSION FROM COUNTER
016632,000140: # READING TO DP REVOLUTIONS. CALLS TO TRUNLOG SHOULD BE IMMEDIATELY
016633,000141: # PRECEDED BY A CALL TO CDULOGIC.
016634,000142: 30,6405 34502 TRUNLOG CAF BIT13
016635,000143: 30,6406 70730 MASK WASOPSET
016636,000144: 30,6407 10000 CCS A
016637,000145: 30,6410 06414 TC +4
016638,000146:
016639,000147: 30,6411 34522 CAF HALF
016640,000148: 30,6412 05416 TRUNLOG1 TC SHORTMP
016641,000149: 30,6413 04024 TC DANZIG # WITH PD IF AT END W/ NO ADDRESSES.
016642,000150:
016643,000151: 30,6414 36421 CAF 10DEGS # CORRECT FOR 20 DEG OFFSET (CDULOGIC
016644,000152: 30,6415 60115 AD MPAC # ALREADY SHIFTED IT RIGHT ONE) AND SHIFT
016645,000153: 30,6416 50115 TS MPAC # RIGHT TWO ADDITIONAL PLACES.
016646,000154: 30,6417 34502 CAF QUARTER
016647,000155: 30,6420 06412 TC TRUNLOG1
016648,000156:
016649,000157: 30,6421 07020 10DEGS DEC 3600 B-14 # HALF OF SXT TRUNION OFFSET
016650,000158:
016651,000159:
016652,000160: 30,6422 36442 INCRCDUS CAF LOCTHETA
016653,000161: 30,6423 50077 TS BUF
016654,000162: 30,6424 35503 CAF TWO
016655,000163: 30,6425 50100 INCRCDU2 TS BUF +1
016656,000164: 30,6426 60000 DOUBLE
016657,000165: 30,6427 60070 AD VACLOC
016658,000166: 30,6430 20000 INDEX A
016659,000167: 30,6431 40000 CS 0
016660,000168: 30,6432 40000 COM
016661,000169: 30,6433 05654 TC BANKCALL
016662,000170: 30,6434 30361 CADR CDUINC
016663,000171:
016664,000172: 30,6435 10077 CCS BUF
016665,000173: 30,6436 50077 TS BUF
016666,000174: 30,6437 10100 CCS BUF +1
016667,000175: 30,6440 06425 TC INCRCDU2
016668,000176: 30,6441 06372 TC VMODE
016669,000177:
016670,000178: 30,6442 00702 LOCTHETA ADRES THETAD +2
016671,000179:
016672,000180:
016673,000181: # LOG FUNCTION SUBROUTINE
016674,000182:
016675,000183: # INPUT... X (IN IMPAC)
016676,000184: # OUTPUT... -LN(X)/32 ( IN MPAC. SCALED BY 32TO FIT LOG OF 2EXP-28.
016677,000185:
016678,000186: 30,6443 06570 LOG TC SWAPLOC # CALLED BY RTB LOG
016679,000187: 30,6444 04000 TC INTPRET
016680,000188:
016681,000189: 30,6445 47574 NOLOD 2 # GENERATES LOG BY SHIFTING ARG UNTIL
016682,000190: 30,6446 57726 TSLC BDSU # IT LIES BETWEEN .5 AND1. THE LOG OF
016683,000191: 30,6447 77576 EXIT # THIS PART IS FOUND AND THE LOG OF THE
016684,000192: # SHIFTED PART IS COMPUTED AND ADDED IN.
016685,000193: 30,6450 00040 31D # SHIFT COUNT STORED IN LOC 31 OF VAC AREA
016686,000194: 30,6451 21051 NEARONE
016687,000195:
016688,000196: 30,6452 05554 TC POLY # GETS LOG OF PRINCIPLE PART.
016689,000197: 30,6453 00006 DEC 6 B-14
016690,000198: 30,6454 00000 00000 2DEC 0 B-28
016691,000199: 30,6456 01001 14636 2DEC .031335467
016692,000200: 30,6460 00325 07310 2DEC .0130145859
016693,000201: 30,6462 00541 16735 2DEC .0215738898
016694,000202: 30,6464 35501 CAF ZERO
016695,000203: 30,6465 50117 TS MPAC +2
016696,000204: 30,6466 36507 CAF CLOG1/2 +1
016697,000205: 30,6467 30116 XCH MPAC +1
016698,000206: 30,6470 50100 TS LOGTEM +1
016699,000207: 30,6471 36506 CAF CLOG1/2
016700,000208: 30,6472 30115 XCH MPAC
016701,000209: 30,6473 30077 XCH LOGTEM
016702,000210: 30,6474 20067 INDEX FIXLOC
016703,000211: 30,6475 40037 CS 31D # LOAD POSITIVE SHIFT COUNT IN A.
016704,000212: 30,6476 05422 TC SHORTMP2 # MULTIPLY BY SHIFT COUNT.
016705,000213:
016706,000214: 30,6477 30117 XCH MPAC +2
016707,000215: 30,6500 30116 XCH MPAC +1
016708,000216: 30,6501 30115 XCH MPAC # RESULT WAS IN MPAC +1 AND MPAC +2.
016709,000217: 30,6502 05171 TC DAD # ADD IN PREVIOUS RESULT. LEFT IN LOGTEM.
016710,000218: 30,6503 00077 ADRES LOGTEM
016711,000219: 30,6504 06570 TC SWAPLOC
016712,000220: 30,6505 05237 TC DPEXIT
016713,000221:
016714,000222: 30,6506 00542 34414 CLOG1/2 2DEC .0216608494
016715,000223:
016716,000224:
016717,000225: # SUBROUTINE TO COMPUTE THE ARCTAN OF THE RATIO OF TWO FUNCTIONS.
016718,000226:
016719,000227: # CALLED AS THOUGH A BASIC SUBR... RTB ARCTAN
016720,000228:
016721,000229: 30,6510 06570 ARCTAN TC SWAPLOC # ARCTAN COMPUTES ARCTAN(VACZ/VACX)
016722,000230: 30,6511 04000 TC INTPRET # ---------
016723,000231: 30,6512 51176 INATAN DSQ 0 # RESULT HAS VALUE BETWEEN + AND - 1/2
016724,000232: 30,6513 00045 VACZ # (180 DEG. SCALED) IS LEFT IN MPAC.
016725,000233:
016726,000234: 30,6514 51172 DSQ 4
016727,000235: 30,6515 70746 DAD BOV
016728,000236: 30,6516 47653 BZE SQRT
016729,000237: 30,6517 61746 BDDV BOV
016730,000238: 30,6520 56713 TSRT ASIN
016731,000239: 30,6521 00041 VACX
016732,000240: 30,6522 77777 -
016733,000241: 30,6523 20554 2BIG
016734,000242: 30,6524 20560 ATAN0/0
016735,000243: 30,6525 00045 VACZ
016736,000244: 30,6526 20564 ATAN=90
016737,000245: 30,6527 00002 1 # AND PUSH IT DOWN
016738,000246:
016739,000247: 30,6530 73774 BMN 2
016740,000248: 30,6531 41423 LODON DMOVE
016741,000249: 30,6532 77576 EXIT
016742,000250: 30,6533 00041 VACX
016743,000251: 30,6534 20541 NEGVX
016744,000252: 30,6535 77777 - # (INACTIVE NEEDED FOR PUSH-UP).
016745,000253:
016746,000254: 30,6536 06570 ATANDUN TC SWAPLOC
016747,000255: 30,6537 05237 TC DPEXIT
016748,000256:
016749,000257:
016750,000258:
016751,000259: 30,6540 47174 NEGVX COMP 2 # IF VACX NEGATIVE, CHNAGE RESULT.
016752,000260: 30,6541 43742 BPL DAD
016753,000261: 30,6542 76576 RTB
016754,000262: 30,6543 77777 -
016755,000263: 30,6544 20550 NEGOUT
016756,000264: 30,6545 21212 HALVE
016757,000265: 30,6546 20537 ATANDUN
016758,000266: 30,6547 47575 NEGOUT NOLOD 1
016759,000267: 30,6550 66771 DSU RTB
016760,000268: 30,6551 21212 HALVE
016761,000269: 30,6552 20537 ATANDUN
016762,000270:
016763,000271: 30,6553 47575 2BIG NOLOD 1
016764,000272: 30,6554 45772 VSRT ITC
016765,000273: 30,6555 00002 1
016766,000274: 30,6556 20513 INATAN
016767,000275:
016768,000276: 30,6557 45175 ATAN0/0 DMOVE 1
016769,000277: 30,6560 76576 RTB
016770,000278: 30,6561 21065 3ZEROS # WHAT SHOULD ARCTAN(0/0) =
016771,000279: 30,6562 20537 ATANDUN
016772,000280:
016773,000281: 30,6563 53775 ATAN=90 SIGN 1
016774,000282: 30,6564 76576 RTB
016775,000283: 30,6565 21063 FOURTH
016776,000284: 30,6566 00045 VACZ
016777,000285: 30,6567 20537 ATANDUN
016778,000286:
016779,000287:
016780,000288: # BASIC SUBROUTINE TO SAVE INTERPRETER REGISTERS (SAME BANK AS RTBS).
016781,000289:
016782,000290: 30,6570 30120 SWAPLOC XCH LOC # SUBROUTINE TO SWAP LOC, ADRLOC, AND
016783,000291: 30,6571 20067 INDEX FIXLOC # ORDER REGISTERS WITH LOCATIONS 28,
016784,000292: 30,6572 30034 XCH 28D # 29, AND 30 IN TEMP AREA.
016785,000293: 30,6573 50120 TS LOC
016786,000294: 30,6574 30121 XCH ADRLOC # USEFUL FOR USING INTERPRETER IN SUBROUT
016787,000295: 30,6575 20067 INDEX FIXLOC # AND THEN ABLE TO CONTINUE IN MIDDLE OF
016788,000296: 30,6576 30035 XCH 29D # CURRENT EQUATIONS.
016789,000297: 30,6577 50121 TS ADRLOC # USE... TC SWAPLOC
016790,000298: 30,6600 40061 CS BANKSET # PACK INTERPRETIVE BANK AND ORDER IN 30D.
016791,000299: 30,6601 60063 AD ORDER
016792,000300: 30,6602 20067 INDEX FIXLOC # .........
016793,000301: 30,6603 30036 XCH 30D # TC SWAPLOC
016794,000302: 30,6604 50063 TS ORDER # TC DANZIG
016795,000303: 30,6605 74720 MASK LOW7
016796,000304: 30,6606 30063 XCH ORDER
016797,000305: 30,6607 72261 MASK BANKMASK
016798,000306: 30,6610 40000 COM
016799,000307: 30,6611 50061 TS BANKSET
016800,000308: 30,6612 00001 TC Q
016801,000309:
016802,000310:
016803,000311: # SUBROUTINE TO SET MPACS TO POS OR NEG MAX DEPENDING ON SIGN MPAC
016804,000312: 30,6613 10115 SIGNMPAC CCS MPAC
016805,000313: 30,6614 06626 TC SETPOS
016806,000314: 30,6615 06626 TC SETPOS
016807,000315: 30,6616 06617 TC +1
016808,000316: 30,6617 34500 CAF NEGSIGN
016809,000317: 30,6620 50115 TS MPAC
016810,000318: 30,6621 50116 TS MPAC +1
016811,000319: 30,6622 50117 TS MPAC +2
016812,000320: 30,6623 35501 CAF ZERO
016813,000321: 30,6624 50066 TS NEWEQIND
016814,000322: 30,6625 05237 TC DPEXIT
016815,000323:
016816,000324: 30,6626 34476 SETPOS CAF POSMAX
016817,000325: 30,6627 06620 TC -7
016818,000326:
016819,000327:
016820,000328: 30,6630 35503 V1STO2S CAF TWO # THIS ROUTINE TAKES GIMBAL ANGLES SCALED
016821,000329: 30,6631 50071 TS VBUF # 2PI IN THE VAC AND LEAVES 2S COMPLIMENT
016822,000330: 30,6632 60000 DOUBLE # ANSWERS IN MPAC.....MPAC +2
016823,000331: 30,6633 60070 AD VACLOC # BASE ADDRESS OF VECTOR ACCUMULATOR
016824,000332: 30,6634 50072 TS VBUF +1
016825,000333: 30,6635 20072 INDEX VBUF +1
016826,000334: 30,6636 40001 CS Q
016827,000335: 30,6637 40000 COM
016828,000336: 30,6640 60000 DOUBLE
016829,000337: 30,6641 50034 TS OVCTR # SKIPS ON OVERFLOW
016830,000338: 30,6642 35501 CAF ZERO
016831,000339: 30,6643 20072 INDEX VBUF +1
016832,000340: 30,6644 60000 AD A
016833,000341: 30,6645 20072 INDEX VBUF +1
016834,000342: 30,6646 60000 AD A
016835,000343: 30,6647 10000 CCS A # TEZT FOR NEGATIVE MAJOR PART
016836,000344: 30,6650 64516 AD ONE
016837,000345: 30,6651 06653 TC +2
016838,000346: 30,6652 40000 COM
016839,000347: 30,6653 20071 ZYXW INDEX VBUF
016840,000348: 30,6654 50115 TS MPAC
016841,000349: 30,6655 06663 TC ZYXWV
016842,000350: 30,6656 20000 INDEX A
016843,000351: 30,6657 34477 CAF LIMITS # NORMAL PROCEDURE FOR ANGLE OVERFLOW
016844,000352: 30,6660 20071 INDEX VBUF
016845,000353: 30,6661 60115 AD MPAC
016846,000354: 30,6662 06653 TC ZYXW
016847,000355:
016848,000356: 30,6663 10071 ZYXWV CCS VBUF
016849,000357: 30,6664 06631 TC V1STO2S +1
016850,000358: 30,6665 50066 TS NEWEQIND
016851,000359: 30,6666 45503 CS TWO
016852,000360: 30,6667 05240 TC DPEXIT +1
016853,000361: 30,6670 35503 V2STOD1S CAF TWO # THIS ROUTINE TAKES CDU ANGLES IN MPAC...
016854,000362: 30,6671 50071 TS VBUF # MPAC +2 AND CONVERTS TO ANGLES SCALED
016855,000363: 30,6672 60000 DOUBLE # 2PI IN THE VAC LOCATIONS
016856,000364: 30,6673 60070 AD VACLOC
016857,000365: 30,6674 50072 TS VBUF +1
016858,000366:
016859,000367:
016860,000368:
016861,000369: 30,6675 20071 INDEX VBUF
016862,000370: 30,6676 40115 CS MPAC
016863,000371: 30,6677 25777 EXTEND
016864,000372: 30,6700 44520 MP NEG1/2
016865,000373: 30,6701 50073 TS VBUF +2 # UNCORRECTED UPPER PARTS
016866,000374: 30,6702 10003 CCS LP # TEST SIGN OF LOWER WORD
016867,000375: 30,6703 35501 CAF ZERO
016868,000376: 30,6704 06707 TC +3 # POSITIVE CASE OK
016869,000377: 30,6705 06706 TC +1
016870,000378: 30,6706 44522 CS HALF # NEGATIVE CASE
016871,000379: 30,6707 60003 AD LP # CORRECT LOWER WORD
016872,000380: 30,6710 20072 INDEX VBUF +1
016873,000381: 30,6711 50001 TS Q # STORE LOWER WORD
016874,000382: 30,6712 35501 CAF ZERO # DEAL WITH OVERFLOW STANDARD WAY
016875,000383: 30,6713 60073 AD VBUF +2
016876,000384: 30,6714 20072 INDEX VBUF +1
016877,000385: 30,6715 50000 TS A # STORE UPPER WORD
016878,000386:
016879,000387: 30,6716 10071 CCS VBUF
016880,000388: 30,6717 06670 TC V2STOD1S
016881,000389:
016882,000390: 30,6720 45501 CS ZERO
016883,000391: 30,6721 50065 TS MODE
016884,000392: 30,6722 04024 TC DANZIG
016885,000393:
016886,000394:
016887,000395: # ROUTINE TO FREE DSKY
016888,000396:
016889,000397:
016890,000398:
016891,000399: 30,6723 03370 DSPFREE TC FREEDSP
016892,000400: 30,6724 04703 TC RE-ENTER
016893,000401:
016894,000402:
016895,000403: # FINAGLE TO GET OGC CORRECTED TO NEAREST POINT ON 16 SPEED.
016896,000404:
016897,000405: 30,6725 41520 CDUXFIX CS OGC # INTERPRETIVE SCALING. (REVS)
016898,000406: 30,6726 25777 EXTEND
016899,000407: 30,6727 44503 MP BIT12 # MULTIPLY BY 1/8 TH.
016900,000408: 30,6730 50116 TS MPAC +1 # SAVE RESULT.
016901,000409:
016902,000410: 30,6731 34504 CAF BIT11 # 1/16 TH.
016903,000411: 30,6732 60700 AD THETAD # TO FIND NEAREST ZERO POINT.
016904,000412: 30,6733 76777 MASK HI4 # DROPS BACK TO LOWER (MORE NEG) 1/8TH.
016905,000413: 30,6734 51450 TS K1ROLL
016906,000414: 30,6735 06740 TC +3 # SKIPS THIS IF ADDITION OVERFLEW.
016907,000415: 30,6736 34476 CAF POSMAX # IN THAT CASE, USE POSMAX.
016908,000416: 30,6737 51450 TS K1ROLL
016909,000417:
016910,000418: 30,6740 41450 CS K1ROLL # THE CURRENT NEAREST ZERO POINT ON 16 SPD
016911,000419: 30,6741 60700 AD THETAD # DELTA FROM ZERO POINT.
016912,000420: 30,6742 60116 AD MPAC +1 # MINUS NEW COMMAND
016913,000421: # A = DELTHETAD -DELNEWCOMMAND
016914,000422: 30,6743 64504 AD BIT11 # PLUS 1/16 TH. (180 DEG SCALED.)
016915,000423: 30,6744 10000 CCS A # IF NEG, CHANGE IS MORE THAN + 180 DEG.
016916,000424: 30,6745 06756 TC CHECKNEG # OK, CHECK OTHER WAY.
016917,000425: 30,6746 74000 NEG1/8+1 OCT 74000
016918,000426: 30,6747 44503 CS BIT12 # CHANGE TOO BIG, MOVE TO NEXT LOWER 0-PT.
016919,000427: 30,6750 61450 NEWBIAS AD K1ROLL # (NEG ZERO OF CCS COMES HERE ALSO, SO..)
016920,000428: 30,6751 51450 TS K1ROLL
016921,000429: 30,6752 06763 TC GETNUOGC # SKIPPING ON OVERFLOW.
016922,000430:
016923,000431: 30,6753 20000 INDEX A
016924,000432: 30,6754 44477 CS LIMITS
016925,000433: 30,6755 06751 TC NEWBIAS +1 # AND SET PROPER LIMIT VALUE.
016926,000434:
016927,000435: 30,6756 66746 CHECKNEG AD NEG1/8+1
016928,000436: 30,6757 10000 CCS A # CHECK OTHER SIDE.
016929,000437: 30,6760 34503 CAF BIT12 # ADD 108 TH TO K1ROLL.
016930,000438: 30,6761 06750 TC NEWBIAS # (+ 0 IMPOSSIBLE.)
016931,000439: 30,6762 06763 TC +1 # NO NEED TO CHANGE BIAS.
016932,000440:
016933,000441: 30,6763 40116 GETNUOGC CS MPAC +1 # NEW DELTA.
016934,000442: 30,6764 51372 TS K2ROLL
016935,000443: 30,6765 61450 AD K1ROLL # AS MODIFIES IF IT WAS NEC.
016936,000444: 30,6766 50115 TS MPAC
016937,000445: 30,6767 06773 TC +4 # DETECT OVERFLOW.
016938,000446:
016939,000447: 30,6770 20000 INDEX A
016940,000448: 30,6771 34477 CAF LIMITS # GO TO POSMAX FROM NEGMAX. (AND VICEVERSA
016941,000449: 30,6772 60115 AD MPAC # AND GET NEW ANGLE.
016942,000450:
016943,000451: 30,6773 25777 EXTEND
016944,000452: 30,6774 44501 MP BIT14 # RESCALE TO REVS.
016945,000453: 30,6775 51520 TS OGC
016946,000454: 30,6776 04703 TC RE-ENTER # TO NEXT EQUATION WITHOUT PUSHING DOWN.
016947,000455:
016948,000456:
016949,000457:
016950,000458: 30,6777 74000 HI4 OCT 74000
End of include-file RTB_OP_CODES.agc. Parent file is MAIN.agc