Source Code
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These source-code files are part of a reconstructed copy of Luminary 97, the
second release of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer
(AGC) software. It was created to fix two incorrect ephemeris constants in
Luminary 96, as described by anomaly report LNY-59.
The reconstruction began with source code of Luminary 99 revision 1 previously
transcribed from a digitized copy of that program. The code was then updated
by undoing changes described in original Luminary memos 83 and 85, using asterisks
indicating changed lines in the listing as a guide. The reconstruction was
verified by matching memory-bank checksums to those listed in drawing 2021152D.
Note that page numbers in the reconstructed code match those on the Luminary 099
revision 001 printout, although the added code would likely have changed page
numbers for a real Luminary 97 listing.
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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062530,000002: ## Copyright: Public domain.
062531,000003: ## Filename: TRIM_GIMBAL_CONTROL_SYSTEM.agc
062532,000004: ## Purpose: A section of Luminary revision 97.
062533,000005: ## It is part of the reconstructed source code for the
062534,000006: ## second release of the flight software for the Lunar
062535,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
062536,000008: ## It was created to fix two incorrect ephemeris constants in
062537,000009: ## Luminary 96, as described by anomaly report LNY-59.
062538,000010: ## The code has been recreated from a copy of Luminary 99
062539,000011: ## revision 001, using asterisks indicating changed lines in
062540,000012: ## the listing and Luminary Memos #83 and #85, which list
062541,000013: ## changes between Luminary 97 and 98, and 98 and 99. The
062542,000014: ## code has been adapted such that the resulting bugger words
062543,000015: ## exactly match those specified for Luminary 97 in NASA drawing
062544,000016: ## 2021152D, which gives relatively high confidence that the
062545,000017: ## reconstruction is correct.
062546,000018: ## Reference: pp. 1472-1484
062547,000019: ## Assembler: yaYUL
062548,000020: ## Contact: Ron Burkey <info@sandroid.org>.
062549,000021: ## Website: www.ibiblio.org/apollo/index.html
062550,000022: ## Mod history: 2019-07-28 MAS Created from Luminary 99.
062551,000023: ## 2021-05-30 ABS GTSGO+DN -> GTSGO+ON
062552,000024:
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Page 1472
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062554,000026: 21,3077 BANK 21
062555,000027: 21,3077 E6,1450 EBANK= QDIFF
062556,000028: 21,2000 SETLOC DAPS4
062557,000029: 21,2000 BANK
062558,000030:
062559,000031: 21,3077 COUNT* $$/DAPGT
062560,000032:
062561,000033: # CONTROL REACHES THIS POINT UNDER EITHER OF THE FOLLOWING TWO CONDITIONS ONCE THE DESCENT ENGINE AND THE DIGITAL
062562,000034: # AUTOPILOT ARE BOTH ON:
062563,000035: # A) THE TRIM GIMBAL CONTROL LAW WAS ON DURING THE PREVIOUS Q,R-AXIS TIME5 INTERRUPT (OR THE DAPIDLER
062564,000036: # INITIALIZATION WAS SET FOR TRIM GIMBAL CONTROL AND THIS IS THE FIRST PASS), OR
062565,000037: # B) THE Q,R-AXES RCS AUTOPILOT DETERMINED THAT THE VEHICLE WAS ENTERING (OR HAD JUST ENTERED) A COAST
062566,000038: # ZONE WITH A SMALL OFFSET ANGULAR ACCELERATION.
062567,000039: # GTS IS THE ENTRY TO THE GIMBAL TRIM SYSTEM FOR CONTROLLING ATTITUDE ERRORS AND RATES AS WELL AS ACCELERATIONS.
062568,000040:
062569,000041: 21,3077 37747 GTS CAF NEGONE # MAKE THE NEXT PASS THROUGH THE DAP BE
062570,000042: 21,3100 55631 TS COTROLER # THROUGH RCS CONTROL,
062571,000043: 21,3101 34751 CAF FOUR # AND ENSURE THAT IT IS NOT A SKIP.
062572,000044: 21,3102 55535 TS SKIPU
062573,000045: 21,3103 55536 TS SKIPV
062574,000046:
062575,000047: 21,3104 34752 CAF TWO
062576,000048: 21,3105 55633 TS INGTS # SET INDICATOR OF GTS CONTROL POSITIVE.
062577,000049: 21,3106 55632 TS QGIMTIMR # SET TIMERS TO 200 MSEC TO AVOID BOTH
062578,000050: 21,3107 55634 TS RGIMTIMR # RUNAWAY AND INTERFERENCE BY NULLING.
062579,000051:
062580,000052: # THE DRIVE SETTING ALGORITHM
062581,000053:
062582,000054: # DEL = SGN(OMEGA + ALPHA*ABS(ALPHA)/(2*K))
062583,000055: # 2 1/2 2 3/2
062584,000056: # NEGUSUM = ERROR*K + ALPHA*(DEL*OMEGA + ALPHA /(3*K)) + DEL*K (DEL*OMEGA + ALPHA /(2*K))
062585,000057:
062586,000058: # DRIVE = -SGN(NEGUSUM)
062587,000059:
062588,000060: 21,3110 30021 CA SR # SAVE THE SR. SHIFT IT LEFT TO CORRECT
062589,000061: 21,3111 60000 AD A # FOR THE RIGHT SHIFT DUE TO EDITING.
062590,000062: 21,3112 55505 TS SAVESR
062591,000063:
062592,000064: 21,3113 34752 GTSGO+ON CAF TWO # SET INDEXER FOR R-AXIS CALCULATIONS.
062593,000065: 21,3114 13116 TCF GOQTRIMG +1
062594,000066:
062595,000067: 21,3115 34755 GOQTRIMG CAF ZERO # SET INDEXER FOR Q-AXIS CALCULATIONS
062596,000068: 21,3116 55750 TS QRCNTR
062597,000069:
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RSB 2016 — Everything between this line and the corresponding
line below was missing in the Luminary 099 print-out from the MIT Museum
(from which the remainder of the source-code was transcribed), presumably
due to some problem with the printer. It has been filled in from
snapshots of page 1472 and 1473 of a different Luminary 99 print-out,
thoughtfully made for us by Don Eyles.
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062604,000076: 21,3117 51750 INDEX QRCNTR # AOS SCALED AT PI/2
062605,000077: 21,3120 31537 CA AOSQ
062606,000078: 21,3121 00006 EXTEND
062607,000079: 21,3122 74752 MP BIT2 # RESCALE AOS TO PI/4
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Page 1473
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062609,000081: 21,3123 00006 EXTEND
062610,000082: 21,3124 13130 BZF GTSQAXIS -3 # USE FULL SCALE FOR LARGER AOS ESTIMATES.
062611,000083:
062612,000084: 21,3125 50000 INDEX A
062613,000085: 21,3126 44734 CS LIMITS # LIMITS +1 CONTAINS NEGMAX.
062614,000086: 21,3127 56001 XCH L # LIMITS -1 CONTAINS POSMAX.
062615,000087:
062616,000088: 21,3130 11750 CCS QRCNTR # PICK UP RATE FOR THIS AXIS. RATE CELLS
062617,000089: 21,3131 50000 INDEX A # ARE ADJACENT, NOT SEPARATED. AT PI/4
062618,000090: 21,3132 31436 CA EDOTQ
062619,000091: 21,3133 53744 GTSQAXIS DXCH WCENTRAL
062620,000092:
062621,000093: 21,3134 51750 INDEX QRCNTR # COLLECT K FOR THIS AXIS
062622,000094: 21,3135 31504 CA KQ
062623,000095: 21,3136 55741 TS KCENTRAL
062624,000096:
062625,000097: 21,3137 00006 EXTEND # CONTROL AUTHORITY ZERO. AVOID DRIVING
062626,000098: 21,3140 13576 BZF POSDRIVE +1 # ENGINE BELL TO THE STOPS.
062627,000099:
062628,000100: 21,3141 51750 INDEX QRCNTR # QDIFF, RDIFF ARE STORED IN D.P.
062629,000101: 21,3142 31450 CAE QDIFF
062630,000102:
062631,000103: 21,3143 00006 ALGORTHM EXTEND # Q(R)DIFF IS THETA (ERROR) SCALED AT PI.
062632,000104: 21,3144 71741 MP KCENTRAL # FORM K*ERROR AT PI(2)/2(8), IN D.P.
062633,000105: 21,3145 23737 LXCH K2THETA
062634,000106: 21,3146 00006 EXTEND
062635,000107: 21,3147 74747 MP BIT5 # RESCALE TO 4*PI(2)
062636,000108: 21,3150 53740 DXCH K2THETA
062637,000109: 21,3151 00006 EXTEND
062638,000110: 21,3152 74747 MP BIT5 # FIRST TERM OF NEGUSUM IN K2THETA.
062639,000111: 21,3153 27740 ADS K2THETA +1 # NO CARRY NEEDED D.P. AT 4*PI(2)
062640,000112:
062641,000113: 21,3154 41744 CS ACENTRAL # FORM ALPHA(2)/(2*K) AT 16*PI, IN D.P.,
062642,000114: 21,3155 00006 EXTEND # LIMITING QUOTIENT TO AVOID OVERFLOW.
062643,000115: 21,3156 74736 MP BIT14 # -ALPHA/2 IN A, SCALED AT PI/4
062644,000116: 21,3157 00006 EXTEND
062645,000117: 21,3160 71744 MP ACENTRAL # -ALPHA(2)/2 IN A,L, SCALED AT PI(2)/16
062646,000118: 21,3161 61741 AD KCENTRAL
062647,000119: 21,3162 00006 EXTEND
062648,000120: 21,3163 63200 BZMF HUGEQUOT # K-ALPHA(2)/2 SHOULD BE PNZ FO DIVISION
062649,000121:
062650,000122: 21,3164 00006 EXTEND
062651,000123: 21,3165 40001 DCS A # ALPHA(2)/2 - K
062652,000124: 21,3166 61741 AD KCENTRAL
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RSB 2016 — End of material from Don Eyles's printout. The non-blank portion
of page 1473 continues below:
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062655,000127: 21,3167 00006 EXTEND
062656,000128: 21,3170 11741 DV KCENTRAL # HIGH ORDER OF QUOTIENT.
062657,000129: 21,3171 57746 XCH A2CNTRAL
062658,000130: 21,3172 30001 CA L # SHIFT UP THE REMAINDER.
062659,000131: 21,3173 22007 LXCH 7 # ZERO LOW-ORDER DIVIDEND.
062660,000132: 21,3174 00006 EXTEND
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Page 1474
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062662,000134: 21,3175 11741 DV KCENTRAL
062663,000135: 21,3176 57747 XCH A2CNTRAL +1 # QUOTIENT STORED AT 16*PI, D.P.
062664,000136: 21,3177 13203 TCF HAVEQUOT
062665,000137:
062666,000138: 21,3200 34733 HUGEQUOT CA POSMAX
062667,000139: 21,3201 54001 TS L
062668,000140: 21,3202 53747 DXCH A2CNTRAL # LIMITED QUOTIENT STORED AT 16*PI, D.P.
062669,000141:
062670,000142: 21,3203 31743 HAVEQUOT CA WCENTRAL
062671,000143: 21,3204 00006 EXTEND
062672,000144: 21,3205 74743 MP BIT9 # RESCALE OMEGA AT 16*PI IN D.P.
062673,000145: 21,3206 53743 DXCH K2CNTRAL # LOWER WORD OVERLAYS OMEGA IN WCENTRAL
062674,000146:
062675,000147: 21,3207 00006 EXTEND
062676,000148: 21,3210 31743 DCA K2CNTRAL
062677,000149: 21,3211 53752 DXCH FUNCTION
062678,000150:
062679,000151: 21,3212 31744 CA ACENTRAL # GET ALPHA*ABS(ALPHA)/(2*K)
062680,000152: 21,3213 00006 EXTEND
062681,000153: 21,3214 63220 BZMF +4
062682,000154:
062683,000155: 21,3215 00006 EXTEND
062684,000156: 21,3216 31747 DCA A2CNTRAL
062685,000157: 21,3217 13222 TCF +3
062686,000158:
062687,000159: 21,3220 00006 EXTEND
062688,000160: 21,3221 41747 DCS A2CNTRAL
062689,000161:
062690,000162: 21,3222 21752 DAS FUNCTION # OMEGA + ALPHA*ABS(ALPHA)/2*K) AT 16*PI
062691,000163:
062692,000164: 21,3223 11751 CCS FUNCTION # DEL = +1 FOR FUNCT1 GREATER THAN ZERO.
062693,000165: 21,3224 13230 TCF POSFNCT1 # OTHERWISE DEL = -1
062694,000166: 21,3225 13227 TCF +2
062695,000167: 21,3226 13232 TCF NEGFNCT1
062696,000168:
062697,000169: 21,3227 11752 CCS FUNCTION +1 # USE LOW ORDER WORD SINCE HIGH IS ZERO
062698,000170: 21,3230 34753 POSFNCT1 CAF BIT1
062699,000171: 21,3231 13233 TCF +2
062700,000172: 21,3232 44753 NEGFNCT1 CS BIT1
062701,000173: 21,3233 55745 TS DEL
062702,000174:
062703,000175: 21,3234 11745 CCS DEL # REPLACE OMEGA BY DEL*OMEGA
062704,000176: 21,3235 13247 TCF FUNCT2 # POSITIVE DEL VALUE. PROCEED.
062705,000177: 21,3236 13240 TCF DEFUNCT
062706,000178: 21,3237 13244 TCF NEGFNCT2
062707,000179:
062708,000180: 21,3240 55742 DEFUNCT TS K2CNTRAL
062709,000181: 21,3241 55743 TS K2CNTRAL +1
062710,000182: 21,3242 13247 TCF FUNCT2
062711,000183:
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Page 1475
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062713,000185: 21,3243 65252 NEG1/3 DEC -.33333
062714,000186:
062715,000187: 21,3244 00006 NEGFNCT2 EXTEND
062716,000188: 21,3245 41743 DCS K2CNTRAL
062717,000189: 21,3246 53743 DXCH K2CNTRAL
062718,000190:
062719,000191: 21,3247 00006 FUNCT2 EXTEND
062720,000192: 21,3250 31747 DCA A2CNTRAL
062721,000193: 21,3251 21743 DAS K2CNTRAL # DEL*OMEGA + ALPHA(2)/(2*K) AT 16*PI, D.P.
062722,000194:
062723,000195: 21,3252 31746 FUNCT3 CA A2CNTRAL
062724,000196: 21,3253 00006 EXTEND
062725,000197: 21,3254 73243 MP NEG1/3
062726,000198: 21,3255 53747 DXCH A2CNTRAL
062727,000199: 21,3256 30001 CA L
062728,000200: 21,3257 00006 EXTEND
062729,000201: 21,3260 73243 MP NEG1/3
062730,000202: 21,3261 27747 ADS A2CNTRAL +1
062731,000203: 21,3262 54001 TS L
062732,000204: 21,3263 13265 TCF +2 # A2CNTRAL NOW CONTAINS -ALPHA(2)/(6*K),
062733,000205: 21,3264 27746 ADS A2CNTRAL # SCALED AT 16*PI, IN D.P.
062734,000206:
062735,000207: 21,3265 00006 EXTEND
062736,000208: 21,3266 31743 DCA K2CNTRAL # DEL*OMEGA + ALPHA(2)/(3*K) IN A2CNTRAL,
062737,000209: 21,3267 21747 DAS A2CNTRAL # SCALED AT 16*PI, D.P.
062738,000210:
062739,000211: 21,3270 31746 CA A2CNTRAL
062740,000212: 21,3271 00006 EXTEND
062741,000213: 21,3272 71744 MP ACENTRAL
062742,000214: 21,3273 21740 DAS K2THETA
062743,000215: 21,3274 31747 CA A2CNTRAL +1
062744,000216: 21,3275 00006 EXTEND
062745,000217: 21,3276 71744 MP ACENTRAL # ACENTRAL MAY NOW BE OVERLAID.
062746,000218: 21,3277 27740 ADS K2THETA +1
062747,000219: 21,3300 54001 TS L
062748,000220: 21,3301 13303 TCF +2 # TWO TERMS OF NEGUSUM ACCUMULATED, SO FAR
062749,000221: 21,3302 27737 ADS K2THETA # SCALED AT 4*PI(2), IN D.P.
062750,000222:
062751,000223: 21,3303 31742 GETROOT CA K2CNTRAL # K*(DEL*OMEGA + ALPHA(2)/(2*K)) IS THE
062752,000224: 21,3304 00006 EXTEND # TERM FOR WHICH A SQUARE ROOT IS NEEDED.
062753,000225: 21,3305 71741 MP KCENTRAL # K AT PI/2(8)
062754,000226: 21,3306 53752 DXCH FUNCTION
062755,000227: 21,3307 31743 CA K2CNTRAL +1
062756,000228: 21,3310 00006 EXTEND
062757,000229: 21,3311 71741 MP KCENTRAL
062758,000230: 21,3312 27752 ADS FUNCTION +1
062759,000231: 21,3313 54001 TS L
062760,000232: 21,3314 13316 TCF +2
062761,000233: 21,3315 27751 ADS FUNCTION # DESIRED TERM IN FUNCTION, AT PI(2)/16
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Page 1476
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062763,000235: 21,3316 11745 CCS DEL
062764,000236: 21,3317 13524 TCF RSTOFGTS
062765,000237: 21,3320 13566 TCF NEGUSUM
062766,000238: 21,3321 13323 TCF NEGATE
062767,000239: 21,3322 13566 TCF NEGUSUM
062768,000240:
062769,000241: 21,3323 00006 NEGATE EXTEND
062770,000242: 21,3324 41743 DCS K2CNTRAL
062771,000243: 21,3325 53743 DXCH K2CNTRAL
062772,000244: 21,3326 13524 TCF RSTOFGTS
062773,000245:
062774,000246: 16,3735 BANK 16
062775,000247: 16,3735 E6,1501 EBANK= NEGUQ
062776,000248: 16,2000 SETLOC DAPS1
062777,000249: 16,2000 BANK
062778,000250:
062779,000251: # THE WRCHN12 SUBROUTINE SETS BITS 9,10,11,12 OF CHANNEL 12 ON THE BASIS OF THE CONTENTS OF NEGUQ,NEGUR WHICH ARE
062780,000252: # THE NEGATIVES OF THE DESIRED ACCELERATION CHANGES. ACDT+C12 SETS Q(R)ACCDOT TO REFLECT THE NEW DRIVES.
062781,000253:
062782,000254: # WARNING: ACDT+C12 AND WRCHN12 MUST BE CALLED WITH INTERRUPT INHIBITED.
062783,000255:
062784,000256: 16,3735 07400 BGIM OCTAL 07400
062785,000257: 16,3736 0066 CHNL12 EQUALS ITEMP6
062786,000258: 16,3736 41501 ACDT+C12 CS NEGUQ
062787,000259: 16,3737 00006 EXTEND # GIMBAL DRIVE REQUESTS.
062788,000260: 16,3740 71507 MP ACCDOTQ
062789,000261: 16,3741 23510 LXCH QACCDOT
062790,000262: 16,3742 41503 CS NEGUR
062791,000263: 16,3743 00006 EXTEND
062792,000264: 16,3744 71511 MP ACCDOTR
062793,000265: 16,3745 23512 LXCH RACCDOT
062794,000266:
062795,000267: 16,3746 11501 CCS NEGUQ
062796,000268: 16,3747 34742 CAF BIT10
062797,000269: 16,3750 13752 TCF +2
062798,000270: 16,3751 34743 CAF BIT9
062799,000271: 16,3752 54066 TS CHNL12
062800,000272:
062801,000273: 16,3753 11503 CCS NEGUR
062802,000274: 16,3754 34740 CAF BIT12
062803,000275: 16,3755 13757 TCF +2
062804,000276: 16,3756 34741 CAF BIT11
062805,000277: 16,3757 26066 ADS CHNL12 # (STORED RESULT NOT USED AT PRESENT)
062806,000278:
062807,000279: 16,3760 43735 CS BGIM
062808,000280: 16,3761 00006 EXTEND
062809,000281: 16,3762 02012 RAND CHAN12
062810,000282: 16,3763 60066 AD CHNL12
062811,000283: 16,3764 00006 EXTEND
062812,000284: 16,3765 01012 WRITE CHAN12
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Page 1477
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062814,000286: 16,3766 44747 CS CALLGMBL # TURN OFF REQUEST FOR ACDT+C12 EXECUTION.
062815,000287: 16,3767 71273 MASK RCSFLAGS
062816,000288: 16,3770 55273 TS RCSFLAGS
062817,000289:
062818,000290: 16,3771 00002 TC Q # RETURN TO CALLER.
062819,000291:
062820,000292: 21,3327 BANK 21
062821,000293: 21,3327 E6,1450 EBANK= QDIFF
062822,000294: 21,2000 SETLOC DAPS4
062823,000295: 21,2000 BANK
062824,000296:
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Page 1478
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062826,000298: # SUBROUTINE TIMEGMBL: MOD 0, OCTOBER 1967, CRAIG WORK
062827,000299:
062828,000300: # TIMEGMBL COMPUTES THE DRIVE TIME NEEDED FOR THE TRIM GIMBAL TO POSITION THE DESCENT ENGINE NOZZLE SO AS TO NULL
062829,000301: # THE OFFSET ANGULAR ACCELERATION ABOUT THE Q (OR R) AXIS. INSTEAD OF USING AOSQ(R), TIMEGMBL USES .4*AOSQ(R),
062830,000302: # SCALED AT PI/8. FOR EACH AXIS, THE DRIVE TIME IS COMPUTED AS ABS(ALPHA/ACCDOT). A ZERO
062831,000303: # ALPHA OR ACCDOT OR A ZERO QUOTIENT TURNS OFF THE GIMBAL DRIVE IMMEDIATELY. OTHERWISE, THE GIMBAL IS TURNED ON
062832,000304: # DRIVING IN THE CORRECT DIRECTION. THE Q(R)GIMTIMR IS SET TO TERMINATE THE DRIVE AND Q(R)ACCDOT
062833,000305: # IS STORED TO REFLECT THE NEW ACCELERATION DERIVATIVE. NEGUQ(R) WILL CONTAIN +1,+0,-1 FOR A Q(R)ACCDOT VALUE
062834,000306: # WHICH IS NEGATIVE, ZERO, OR POSITIVE.
062835,000307:
062836,000308: # INPUTS: AOSQ,AOSR, SCALED AT P1/2, AND ACCDOTQ, ACCDOTR AT PI/2(7). PI/2(7).
062837,000309:
062838,000310: # OUTPUTS: NEW GIMBAL DRIVE BITS IN CHANNEL 12, NEGUQ, NEGUR, QACCDOT AND RACCDOT, THE LAST SCALED AT PI/2(7).
062839,000311: # Q(R)GIMTIMR WILL BE SET TO TIME AND TERMINATE GIMBAL DRIVE(S)
062840,000312:
062841,000313: # DEBRIS: A, L, Q, ITEMPS 2, 3, 6, RUPTREG2 AND ACDT+C12 DEBRIS.
062842,000314:
062843,000315: # EXITS: VIA TC Q.
062844,000316:
062845,000317: # ALARMS, ABORTS, : NONE
062846,000318:
062847,000319: # SUBROUTINES: ACDT+C12, IBNKCALL
062848,000320:
062849,000321: # WARNING: THIS SUBROUTINE WRITES INTO CHANNEL 12 AND USES THE ITEMPS. THEREFORE IT MAY ONLY BE CALLED WITH
062850,000322: # INTERRUPT INHIBITED.
062851,000323:
062852,000324: # ERASABLE STORAGE CONFIGURATION (NEEDED BY THE INDEXING METHODS):
062853,000325: # NEGUQ ERASE +2 NEGATIVE OF Q-AXIS GIMBAL DRIVE
062854,000326: # (SPWORD) EQUALS NEGUQ +1 ANY S.P. ERASABLE NUMBER, NOW THRSTCMD
062855,000327: # NEGUR EQUALS NEGUQ +2 NEGATIVE OF R-AXIS GIMBAL DRIVE
062856,000328: # ACCDOTQ ERASE +2 Q-JERK TERM SCALED AT PI/2(7) RAD/SEC(3)
062857,000329: # (SPWORD) EQUALS ACCDOTQ +1 ANY S.P. ERASABLE NUMBER NOW QACCDOT
062858,000330: # ACCDOTR EQUALS ACCDOTQ +2 R-JERK TERM SCALED AT PI/2(7) RAD/SEC(3)
062859,000331: # ACCDOTQ, ACCDOTR ARE MAGNITUDES.
062860,000332: # AOSQ ERASE +4 Q-AXIS ACC., D.P. AT PI/2 R/SEC(2)
062861,000333: # AOSR EQUALS AOSQ +2 R-AXIS ACCELERATION SCALED AT PI/2 R/S2
062862,000334:
062863,000335: 21,3327 0066 QRNDXER EQUALS ITEMP6
062864,000336: 21,3327 23146 OCT23146 OCTAL 23146 # DECIMAL .6
062865,000337: 21,3330 0063 NZACCDOT EQUALS ITEMP3
062866,000338:
062867,000339: 21,3330 34753 TIMEGMBL CAF ONE # INITIALIZE ALLOWGTS.
062868,000340: 21,3331 55502 TS ALLOWGTS
062869,000341:
062870,000342: 21,3332 34752 CAF TWO # SET UP LOOP FOR R AXIS.
062871,000343: 21,3333 22002 LXCH Q # SAVE RETURN ADDRESS.
062872,000344: 21,3334 22071 LXCH RUPTREG2
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Page 1479
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062874,000346: 21,3335 13337 TCF +2
062875,000347: 21,3336 34755 TIMQGMBL CAF ZERO # NOW DO THE Q-AXIS
062876,000348: 21,3337 54066 TS QRNDXER
062877,000349: 21,3340 50066 INDEX QRNDXER
062878,000350: 21,3341 31507 CA ACCDOTQ # ACCDOT IS PRESUMED TO BE AT PI/2(7).
062879,000351: 21,3342 00006 EXTEND
062880,000352: 21,3343 63413 BZMF TGOFFNOW # IS ACCDOT LESS THAN OR EQUAL TO 0?
062881,000353: 21,3344 54063 TS NZACCDOT # NO. STORE NON-ZERO, POSITIVE ACCDOT.
062882,000354:
062883,000355: 21,3345 50066 ALPHATRY INDEX QRNDXER
062884,000356: 21,3346 41537 CS AOSQ
062885,000357: 21,3347 00006 EXTEND
062886,000358: 21,3350 13413 BZF TGOFFNOW # IS ALPHA ZERO?
062887,000359:
062888,000360: 21,3351 54002 TS Q # SAVE A COPY OF -AOS.
062889,000361: 21,3352 00006 EXTEND # NO. RESCALE FOR TIMEGMBL USE.
062890,000362: 21,3353 73327 MP OCT23146 # OCTAL 23146 IS DECIMAL .6
062891,000363: 21,3354 60002 AD Q # -1.6*AOS AT PI/2 = -.4*AOS AT PI/8.
062892,000364: 21,3355 54001 TS L # WAS THERE OVERFLOW?
062893,000365: 21,3356 13363 TCF SETNEGU # NO. COMPUTE DRIVE TIME.
062894,000366:
062895,000367: 21,3357 40000 CS A # RECOVER -SGN(AOS) IN THE A REGISTER.
062896,000368: 21,3360 50066 INDEX QRNDXER # YES. START DRIVE WITHOUT WAITLIST.
062897,000369: 21,3361 57501 XCH NEGUQ
062898,000370: 21,3362 13417 TCF NOTALLOW # KNOCK DOWN THE ALLOWGTS FLAG.
062899,000371:
062900,000372: 21,3363 00006 SETNEGU EXTEND
062901,000373: 21,3364 63371 BZMF POSALPH
062902,000374:
062903,000375: 21,3365 40000 COM
062904,000376: 21,3366 54062 TS ITEMP2 # STORE -ABS(.4*AOS) SCALED AT PI/8.
062905,000377: 21,3367 44753 CS BIT1
062906,000378: 21,3370 13373 TCF POSALPH +2
062907,000379: 21,3371 54062 POSALPH TS ITEMP2 # STORE -ABS(.4*AOS) SCALED AT PI/8.
062908,000380: 21,3372 34753 CA BIT1
062909,000381: 21,3373 50066 +2 INDEX QRNDXER # SGN(AOS) INTO NEGU
062910,000382: 21,3374 55501 TS NEGUQ # STORE SGN(APLHA) AS NEGU
062911,000383:
062912,000384: 21,3375 30063 CA NZACCDOT
062913,000385: 21,3376 00006 EXTEND
062914,000386: 21,3377 74740 MP BIT12 # 2*ACCDOT, SCALED AT PI/8.
062915,000387: 21,3400 60062 AD ITEMP2 # -ABS(ALPHA) + 2*ACCDOT, AT PI/8.
062916,000388: 21,3401 00006 EXTEND
062917,000389: 21,3402 63417 BZMF NOTALLOW # IS DRIVE TIME MORE THAN TWO SECONDS?
062918,000390: 21,3403 40062 CS ITEMP2 # NO. COMPUTE DRIVE TIME.
062919,000391: 21,3404 00006 EXTEND # ABS(ALPHA) AT PI/8.
062920,000392: 21,3405 73440 MP OCT00240 # DECIMAL 10/1024
062921,000393: 21,3406 00006 EXTEND # QUOTIENT IS DRIVE TIME AT WAITLIST.
062922,000394: 21,3407 10063 DV NZACCDOT # ABS(ALPHA)/ACCDOT AT 2(14)/100
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Page 1480
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062924,000396: 21,3410 00006 EXTEND
062925,000397: 21,3411 13413 BZF TGOFFNOW # DRIVE TIME MUST BE GREATER THAN ZERO.
062926,000398:
062927,000399: 21,3412 13425 TCF DRIVEON
062928,000400:
062929,000401: 21,3413 34755 TGOFFNOW CAF ZERO # TURN OFF GIMBAL NOW.
062930,000402: 21,3414 50066 INDEX QRNDXER
062931,000403: 21,3415 55501 TS NEGUQ
062932,000404:
062933,000405: 21,3416 13427 TCF DONEYET
062934,000406:
062935,000407: 21,3417 36010 NOTALLOW CAF OCT31
062936,000408: 21,3420 50066 INDEX QRNDXER
062937,000409: 21,3421 55632 TS QGIMTIMR
062938,000410: 21,3422 34755 CAF ZERO # DRIVE TIME IS MORE THAN 2 SECONDS, SO
062939,000411: 21,3423 55502 TS ALLOWGTS # DO NOT PERMIT FURTHER GTS ATTITUDE-RATE
062940,000412: # CONTROL UNTIL AOSTASK APPROVES.
062941,000413: 21,3424 13427 TCF DONEYET # NO WAITLIST CALL IS MADE.
062942,000414:
062943,000415: 21,3425 50066 DRIVEON INDEX QRNDXER
062944,000416: 21,3426 55632 TS QGIMTIMR # CHOOSE Q OR R AXIS.
062945,000417:
062946,000418: 21,3427 10066 DONEYET CCS QRNDXER
062947,000419: 21,3430 13336 TCF TIMQGMBL
062948,000420:
062949,000421: 21,3431 52073 DXCH RUPTREG3 # PROTECT IBNKCALL ERASABLES. ACDT+C12
062950,000422: 21,3432 52063 DXCH ITEMP2 # LEAVES ITEMPS2,3 ALONE.
062951,000423:
062952,000424: 21,3433 04674 TC IBNKCALL # TURN OF CHANNEL BITS, SET Q(R)ACCDOTS.
062953,000425: 21,3434 35736 CADR ACDT+C12
062954,000426:
062955,000427: 21,3435 52063 DXCH ITEMP2 # RESTORE ERASABLES FOR IBNKCALL.
062956,000428: 21,3436 52073 DXCH RUPTREG3
062957,000429:
062958,000430: 21,3437 00071 TC RUPTREG2 # RETURN TO CALLER.
062959,000431:
062960,000432: 21,3440 00240 OCT00240 OCTAL 00240 # DECIMAL 10/1024
062961,000433:
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Page 1481
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062963,000435: # THE FOLLOWING SECTION IS A CONTINUATION OF THE TRIM GIMBAL CONTROL FROM THE LAST GTS ENTRY. THE QUANTITY NEGUSUM
062964,000436: # IS COMPUTED FOR EACH AXIS (Q,R), .707*DEL*FUNCTION(3/2) + K2THETA = NEGUSUM. NEW DRIVES ARE ENTERED TO CH 12.
062965,000437:
062966,000438: # THE SUBROUTINE GTSQRT ACCEPTS A DOUBLE PRECISION VALUE IN FUNCTION, FUNCTION +1 AND RETURNS A SINGLE-PRECISION
062967,000439: # SQUARE ROOT OF THE FOURTEEN MOST SIGNIFICANT BITS OF THE ARGUMENT. ALSO, THE CELL SHFTFLAG CONTAINS A BINARY
062968,000440: # EXPONENT S, SUCH THAT THE SQUARE ROOT (RETURNED IN THE A REGISTER) MUST BE SHIFTED RIGHT (MULTIPLIED BY 2 TO THE
062969,000441: # POWER (-S)) IN ORDER TO BE THE TRUE SQUARE ROOT OF THE FOURTEEN MOST SIGNIFICANT BITS OF FUNCTION, FUNCTION +1.
062970,000442: # SQUARE ROOT ERROR IS NOT MORE THAN 2 IN THE 14TH SIGNIFICANT BIT. CELLS CLOBBERED ARE A, L, SHFTFLAG, ININDEX,
062971,000443: # HALFARG, SCRATCH, SR, FUNCTION, FUNCTION +1. GTSQRT IS CALLED BY TC GTSQRT AND RETURNS VIA TC Q OR TC FUNCTION +1.
062972,000444: # ZERO OR NEGATIVE ARGUMENTS YIELD ZERO FOR SQUARE ROOTS.
062973,000445:
062974,000446: 21,3441 11751 GTSQRT CCS FUNCTION
062975,000447: 21,3442 13460 TCF GOODARG # FUNCTION IS POSITIVE. TAKE SQUARE ROOT.
062976,000448: 21,3443 13445 TCF +2 # HIGH ORDER WORD IS ZERO. TRY THE LOWER.
062977,000449: 21,3444 13451 TCF ZEROOT # NEGATIVE. USE ZERO FOR 1/2 POWER.
062978,000450:
062979,000451: 21,3445 31752 CA FUNCTION +1
062980,000452: 21,3446 00006 EXTEND
062981,000453: 21,3447 63451 BZMF ZEROOT
062982,000454:
062983,000455: 21,3450 13454 TCF ZEROHIGH # PROCEED.
062984,000456: 21,3451 34755 ZEROOT CA ZERO
062985,000457: 21,3452 55741 TS SHFTFLAG
062986,000458: 21,3453 00002 TC Q
062987,000459:
062988,000460: 21,3454 57751 ZEROHIGH XCH FUNCTION # 14 MOST SIGNIFICANT BITS ARE IN THE
062989,000461: 21,3455 57752 XCH FUNCTION +1 # LOWER WORD. EXCHANGE THEM.
062990,000462: 21,3456 34757 CA SEVEN
062991,000463: 21,3457 13461 TCF GOODARG +1
062992,000464:
062993,000465: 21,3460 34755 GOODARG CA ZERO
062994,000466: 21,3461 55741 TS SHFTFLAG
062995,000467: 21,3462 35751 CA TWELVE # INITIALIZE THE SCALING LOOP.
062996,000468: 21,3463 55744 TS ININDEX
062997,000469: 21,3464 13473 TCF SCALLOOP
062998,000470:
062999,000471: 21,3465 31751 SCALSTRT CA FUNCTION
063000,000472: 21,3466 13507 TCF SCALDONE
063001,000473:
063002,000474: 21,3467 37746 MULBUSH CA NEG2 # IF ARG IS NOT LESS THAN 1/4, INDEX IS
063003,000475: 21,3470 27744 ADS ININDEX # ZERO, INDICATING NO SHIFT NEEDED.
063004,000476: 21,3471 00006 EXTEND # BRANCH IF ARG IS NOT LESS THAN 1/4.
063005,000477: 21,3472 63465 BZMF SCALSTRT # OTHERWISE COMPARE ARG WITH A REFERENCE
063006,000478: # WHICH IS 4 TIMES LARGER THAN THE LAST.
063007,000479: 21,3473 41751 SCALLOOP CS FUNCTION
063008,000480: 21,3474 51744 INDEX ININDEX
063009,000481: 21,3475 64735 AD BIT15 # REFERENCE MAGNITUDE LESS OR EQUAL TO 1/4
063010,000482: 21,3476 00006 EXTEND
063011,000483: 21,3477 63467 BZMF MULBUSH # IF ARG IS NOT LESS THAN REFERENCE, GO
063012,000484: # AROUND THE MULBERRY BUSH ONCE MORE.
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Page 1482
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063014,000486: 21,3500 51744 INDEX ININDEX
063015,000487: 21,3501 34735 CA BIT15 # THIS IS THE SCALE MAGNITUDE
063016,000488: 21,3502 57747 XCH HALFARG # 2**(-ININDEX) IS THE SHIFT DIVISOR.
063017,000489: 21,3503 00006 EXTEND # RESCALE ARGUMENT.
063018,000490: 21,3504 31752 DCA FUNCTION
063019,000491: 21,3505 00006 EXTEND
063020,000492: 21,3506 11747 DV HALFARG
063021,000493: # ININDEX AND SHFTFLAG PRESERVE INFO FOR
063022,000494: # RESCALING AFTER ROOT PROCESS.
063023,000495: 21,3507 00006 SCALDONE EXTEND
063024,000496: 21,3510 23752 QXCH FUNCTION +1 # SAVE Q FOR RETURN
063025,000497: 21,3511 00006 EXTEND
063026,000498: 21,3512 74736 MP BIT14
063027,000499: 21,3513 55747 TS HALFARG
063028,000500: 21,3514 74737 MASK BIT13
063029,000501: 21,3515 10000 CCS A
063030,000502: 21,3516 33634 CA OCT11276
063031,000503: 21,3517 63632 AD ROOTHALF # INITIAL GUESS IS ROOT 1/2 OR POSMAX
063032,000504: 21,3520 03636 TC ROOTCYCL
063033,000505: 21,3521 03636 TC ROOTCYCL
063034,000506: 21,3522 03636 TC ROOTCYCL
063035,000507: 21,3523 01752 TC FUNCTION +1
063036,000508:
063037,000509: # ****************************************************************************************************************
063038,000510:
063039,000511: 21,3524 03441 RSTOFGTS TC GTSQRT
063040,000512: 21,3525 57742 PRODUCT XCH K2CNTRAL
063041,000513: 21,3526 00006 EXTEND
063042,000514: 21,3527 71742 MP K2CNTRAL
063043,000515: 21,3530 53743 DXCH K2CNTRAL
063044,000516: 21,3531 00006 EXTEND # THE PRODUCT OF
063045,000517: 21,3532 70001 MP L # 1/2 2 1/2
063046,000518: 21,3533 27743 ADS K2CNTRAL +1 # K *(DEL*OMEGA + ALPHA /(2*K))
063047,000519: 21,3534 54001 TS L # AND
063048,000520: 21,3535 13537 TCF +2 # 2
063049,000521: 21,3536 27742 ADS K2CNTRAL # DEL*(DEL*OMEGA + ALPHA /(2*K)) NOW IN
063050,000522: # K2CNTRAL
063051,000523:
063052,000524: 21,3537 31744 DOSHIFT CA ININDEX
063053,000525: 21,3540 00006 EXTEND # MULTIPLY IN THE FACTOR 2(-S), RETURNED
063054,000526: 21,3541 74736 MP BIT14 # BY THE GTSQRT SUBROUTINE
063055,000527: 21,3542 27741 ADS SHFTFLAG
063056,000528: 21,3543 00006 EXTEND
063057,000529: 21,3544 13563 BZF ADDITIN
063058,000530: 21,3545 51741 INDEX SHFTFLAG
063059,000531: 21,3546 34735 CA BIT15
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Page 1483
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063061,000533: 21,3547 57742 XCH K2CNTRAL
063062,000534: 21,3550 00006 EXTEND
063063,000535: 21,3551 71742 MP K2CNTRAL
063064,000536: 21,3552 21740 DAS K2THETA
063065,000537: 21,3553 57742 XCH K2CNTRAL
063066,000538: 21,3554 00006 EXTEND
063067,000539: 21,3555 71743 MP K2CNTRAL +1
063068,000540: 21,3556 27740 ADS K2THETA +1
063069,000541: 21,3557 54001 TS L
063070,000542: 21,3560 13562 TCF +2
063071,000543: 21,3561 27737 ADS K2THETA
063072,000544:
063073,000545: 21,3562 13566 TCF NEGUSUM
063074,000546:
063075,000547: 21,3563 00006 ADDITIN EXTEND
063076,000548: 21,3564 31743 DCA K2CNTRAL
063077,000549: 21,3565 21740 DAS K2THETA # NOW ADD IN THE K2THETA TERM.
063078,000550: 21,3566 11737 NEGUSUM CCS K2THETA # TEST SIGN OF HIGH ORDER PART.
063079,000551: 21,3567 13573 TCF NEGDRIVE
063080,000552: 21,3570 13572 TCF +2
063081,000553: 21,3571 13575 TCF POSDRIVE
063082,000554:
063083,000555: 21,3572 11740 CCS K2THETA +1 # SIGN TEST FOR LOW ORDER PART.
063084,000556: 21,3573 34753 NEGDRIVE CA BIT1
063085,000557: 21,3574 13576 TCF +2 # STOP GIMBAL DRIVE FOR A ZERO NEGUSUM.
063086,000558: 21,3575 44753 POSDRIVE CS BIT1
063087,000559: 21,3576 54001 TS L # SAVE FOR DRIVE REVERSAL TEST.
063088,000560: 21,3577 51750 INDEX QRCNTR
063089,000561: 21,3600 57501 XCH NEGUQ
063090,000562:
063091,000563: 21,3601 00006 EXTEND
063092,000564: 21,3602 70001 MP L # MULTIPLY OLD NEGU AND NEW NEGU.
063093,000565: 21,3603 10001 CCS L
063094,000566: 21,3604 13621 TCF LOUPE # NON-ZERO GIMBAL DRIVE BEING CONTINUED.
063095,000567:
063096,000568: 21,3605 13616 TCF ZEROLOUP # NO REVERSAL PROBLEM HERE.
063097,000569:
063098,000570: 21,3606 13610 TCF REVERSAL # NON-ZERO GIMBAL DRIVE BEING REVERSED.
063099,000571: 21,3607 13616 TCF ZEROLOUP # NO REVERSAL PROBLEM HERE.
063100,000572:
063101,000573: 21,3610 51750 REVERSAL INDEX QRCNTR # A ZERO-DRIVE PAUSE IS NEEDED HERE. ZERO
063102,000574: 21,3611 55510 TS QACCDOT # IS IN A REGISTER FROM CCS ON (-1).
063103,000575: 21,3612 51750 INDEX QRCNTR
063104,000576: 21,3613 43633 CS GMBLBITA
063105,000577: 21,3614 00006 EXTEND
063106,000578: 21,3615 03012 WAND CHAN12
063107,000579:
063108,000580: 21,3616 41273 ZEROLOUP CS RCSFLAGS # SET UP REQUEST FOR ACDT+C12 CALL.
063109,000581: 21,3617 74747 MASK CALLGMBL
063110,000582: 21,3620 27273 ADS RCSFLAGS
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Page 1484
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063112,000584: 21,3621 11750 LOUPE CCS QRCNTR # HAVE BOTH AXES BEEN PROCESSED?
063113,000585: 21,3622 13115 TCF GOQTRIMG # NO. DO Q AXIS NEXT.
063114,000586:
063115,000587: 21,3623 31505 CA SAVESR # RESTORE THE SR
063116,000588: 21,3624 54021 TS SR
063117,000589:
063118,000590: 21,3625 00006 GOCLOSE EXTEND # TERMINATE THE JASK.
063119,000591: 21,3626 33631 DCA CLOSEADR
063120,000592: 21,3627 52006 DTCB
063121,000593:
063122,000594: 21,3630 E6,1537 EBANK= AOSQ
063123,000595: 21,3630 03236 36106 CLOSEADR 2CADR CLOSEOUT # TERMINATE THE JASK.
063124,000596:
063125,000597: 21,3632 5751 TWELVE EQUALS OCT14
063126,000598: 21,3632 26501 ROOTHALF OCTAL 26501 # SQUARE ROOT OF 1/2
063127,000599: 21,3633 01400 GMBLBITA OCTAL 01400 # INDEXED WRT GMBLBITB DO NOT MOVE ******
063128,000600: 21,3634 11276 OCT11276 OCTAL 11276 # POSMAX - ROOTHALF
063129,000601: 21,3635 06000 GMBLBITB OCTAL 06000 # INDEXED WRT GMBLBITA DO NOT MOVE ******
063130,000602:
063131,000603: # SUBROUTINE ROOTCYCL: BY CRAIG WORK, 3 APRIL 68
063132,000604:
063133,000605: # ROOTCYCL IS A SUBROUTINE WHICH EXECUTES ONE NEWTON SQUARE ROOT ALGORITHM ITERATION. THE INITIAL GUESS AT THE
063134,000606: # SQUARE ROOT IS PRESUMED TO BE IN THE A REGISTER AND ONE-HALF THE SQUARE IS TAKEN FROM HALFARG. THE NEW APPROXI-
063135,000607: # MATION TO THE SQUARE ROOT IS RETURNED IN THE A REGISTER. DEBRIS: A, L, SR, SCRATCH. ROOTCYCL IS CALLED FROM
063136,000608: # LOCATION (LOC) BY A TC ROOTCYCL, AND RETURNS (TC Q) TO LOC +1.
063137,000609:
063138,000610: # WARNING: IF THE INITIAL GUESS IS NOT GREATER THAN THE SQUARE, DIVIDE OR ADD OVERFLOW IS A REAL POSSIBILITY.
063139,000611:
063140,000612: 21,3636 55746 ROOTCYCL TS SCRATCH # STORE X
063141,000613: 21,3637 54021 TS SR # X/2 NOW IN SR
063142,000614: 21,3640 31747 CA HALFARG # ARG/2 IN THE A REG
063143,000615: 21,3641 22007 ZL # PREPARE FOR DIVISION
063144,000616: 21,3642 00006 EXTEND
063145,000617: 21,3643 11746 DV SCRATCH # (ARG/X)/2
063146,000618: 21,3644 60021 AD SR # (X + ARG/X)/2 IN THE A REG
063147,000619: 21,3645 00002 TC Q
063148,000620:
063149,000621:
End of include-file TRIM_GIMBAL_CONTROL_SYSTEM.agc. Parent file is MAIN.agc