Notations on the program listing read, in part:
GAP: ASSEMBLE REVISION 116 OF AGC PROGRAM LUMINARY BY NASA 2021112-071 19:09 AUG. 11,1969Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source-code files derive from a printout of Luminary 116 (the Apollo 12
Lunar Module guidance computer program), from the personal library of
original AGC developer Don Eyles, digitally photographed at archive.org,
financially sponsored by Ron Burkey, and transcribed to source code by a
team of volunteers. This colorized, syntax-highlighted form was created
by assembling that transcribed source code. Note that the full page images
are available on the
Virtual AGC project page at archive.org, while reduced-size images
are presented at the VirtualAGC project website. Report or fix any
transcription errors at
the Virtual AGC project code repository. Notations on the program listing read, in part: GAP: ASSEMBLE REVISION 116 OF AGC PROGRAM LUMINARY BY NASA 2021112-071 19:09 AUG. 11,1969Note that the date is the date of the printout, not the date of the program revision. |
062580,000002: ## Copyright: Public domain.
062581,000003: ## Filename: TRIM_GIMBAL_CONTROL_SYSTEM.agc
062582,000004: ## Purpose: A section of Luminary revision 116.
062583,000005: ## It is part of the source code for the Lunar Module's (LM)
062584,000006: ## Apollo Guidance Computer (AGC) for Apollo 12.
062585,000007: ## This file is intended to be a faithful transcription, except
062586,000008: ## that the code format has been changed to conform to the
062587,000009: ## requirements of the yaYUL assembler rather than the
062588,000010: ## original YUL assembler.
062589,000011: ## Reference: pp. 1462-1474
062590,000012: ## Assembler: yaYUL
062591,000013: ## Contact: Ron Burkey <info@sandroid.org>.
062592,000014: ## Website: www.ibiblio.org/apollo/index.html
062593,000015: ## Mod history: 2017-01-22 MAS Created from Luminary 99.
062594,000016: ## 2017-01-30 RRB Updated for Luminary 116.
062595,000017: ## 2017-03-14 RSB Proofed comment text via 3-way diff vs
062596,000018: ## Luminary 99 and 131.
062597,000019: ## 2021-05-30 ABS GTSGO+DN -> GTSGO+ON
062598,000020:
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Page 1462 |
062600,000022: 21,3070 BANK 21
062601,000023: 21,3070 E6,1450 EBANK= QDIFF
062602,000024: 21,2000 SETLOC DAPS4
062603,000025: 21,2000 BANK
062604,000026:
062605,000027: 21,3070 COUNT* $$/DAPGT
062606,000028:
062607,000029: # CONTROL REACHES THIS POINT UNDER EITHER OF THE FOLLOWING TWO CONDITIONS ONCE THE DESCENT ENGINE AND THE DIGITAL
062608,000030: # AUTOPILOT ARE BOTH ON:
062609,000031: # A) THE TRIM GIMBAL CONTROL LAW WAS ON DURING THE PREVIOUS Q,R-AXIS TIME5 INTERRUPT (OR THE DAPIDLER
062610,000032: # INITIALIZATION WAS SET FOR TRIM GIMBAL CONTROL AND THIS IS THE FIRST PASS), OR
062611,000033: # B) THE Q,R-AXES RCS AUTOPILOT DETERMINED THAT THE VEHICLE WAS ENTERING (OR HAD JUST ENTERED) A COAST
062612,000034: # ZONE WITH A SMALL OFFSET ANGULAR ACCELERATION.
062613,000035:
062614,000036: # GTS IS THE ENTRY TO THE GIMBAL TRIM SYSTEM FOR CONTROLLING ATTITUDE ERRORS AND RATES AS WELL AS ACCELERATIONS.
062615,000037:
062616,000038: 21,3070 37752 GTS CAF NEGONE # MAKE THE NEXT PASS THROUGH THE DAP BE
062617,000039: 21,3071 55631 TS COTROLER # THROUGH RCS CONTROL,
062618,000040: 21,3072 34751 CAF FOUR # AND ENSURE THAT IT IS NOT A SKIP.
062619,000041: 21,3073 55535 TS SKIPU
062620,000042: 21,3074 55536 TS SKIPV
062621,000043:
062622,000044: 21,3075 34752 CAF TWO
062623,000045: 21,3076 55633 TS INGTS # SET INDICATOR OF GTS CONTROL POSITIVE.
062624,000046: 21,3077 55632 TS QGIMTIMR # SET TIMERS TO 200 MSEC TO AVOID BOTH
062625,000047: 21,3100 55634 TS RGIMTIMR # RUNAWAY AND INTERFERENCE BY NULLING.
062626,000048:
062627,000049: # THE DRIVE SETTING ALGORITHM
062628,000050:
062629,000051: # DEL = SGN(OMEGA + ALPHA*ABS(ALPHA)/(2*K))
062630,000052: # 2 1/2 2 3/2
062631,000053: # NEGUSUM = ERROR*K + ALPHA*(DEL*OMEGA + ALPHA /(3*K)) + DEL*K (DEL*OMEGA + ALPHA /(2*K))
062632,000054:
062633,000055: # DRIVE = -SGN(NEGUSUM)
062634,000056:
062635,000057: 21,3101 30021 CA SR # SAVE THE SR. SHIFT IT LEFT TO CORRECT
062636,000058: 21,3102 60000 AD A # FOR THE RIGHT SHIFT DUE TO EDITING.
062637,000059: 21,3103 55505 TS SAVESR
062638,000060:
062639,000061: 21,3104 34752 GTSGO+ON CAF TWO # SET INDEXER FOR R-AXIS CALCULATIONS.
062640,000062: 21,3105 13107 TCF GOQTRIMG +1
062641,000063:
062642,000064: 21,3106 34755 GOQTRIMG CAF ZERO # SET INDEXER FOR Q-AXIS CALCULATIONS
062643,000065: 21,3107 55750 TS QRCNTR
062644,000066:
062645,000067: 21,3110 51750 INDEX QRCNTR # AOS SCALED AT PI/2
062646,000068: 21,3111 31537 CA AOSQ
062647,000069: 21,3112 00006 EXTEND
062648,000070: 21,3113 74752 MP BIT2 # RESCALE AOS TO PI/4
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Page 1463 |
062650,000072: 21,3114 00006 EXTEND
062651,000073: 21,3115 13121 BZF GTSQAXIS -3 # USE FULL SCALE FOR LARGER AOS ESTIMATES.
062652,000074:
062653,000075: 21,3116 50000 INDEX A
062654,000076: 21,3117 44734 CS LIMITS # LIMITS +1 CONTAINS NEGMAX.
062655,000077: 21,3120 56001 XCH L # LIMITS -1 CONTAINS POSMAX.
062656,000078:
062657,000079: 21,3121 11750 CCS QRCNTR # PICK UP RATE FOR THIS AXIS. RATE CELLS
062658,000080: 21,3122 50000 INDEX A # ARE ADJACENT, NOT SEPARATED. AT PI/4
062659,000081: 21,3123 31436 CA EDOTQ
062660,000082: 21,3124 53744 GTSQAXIS DXCH WCENTRAL
062661,000083:
062662,000084: 21,3125 51750 INDEX QRCNTR # COLLECT K FOR THIS AXIS
062663,000085: 21,3126 31504 CA KQ
062664,000086: 21,3127 55741 TS KCENTRAL
062665,000087:
062666,000088: 21,3130 00006 EXTEND # CONTROL AUTHORITY ZERO. AVOID DRIVING
062667,000089: 21,3131 13567 BZF POSDRIVE +1 # ENGINE BELL TO THE STOPS.
062668,000090:
062669,000091: 21,3132 51750 INDEX QRCNTR # QDIFF, RDIFF ARE STORED IN D.P.
062670,000092: 21,3133 31450 CAE QDIFF
062671,000093:
062672,000094: 21,3134 00006 ALGORTHM EXTEND # Q(R)DIFF IS THETA (ERROR) SCALED AT PI.
062673,000095: 21,3135 71741 MP KCENTRAL # FORM K*ERROR AT PI(2)/2(8), IN D.P.
062674,000096: 21,3136 23737 LXCH K2THETA
062675,000097: 21,3137 00006 EXTEND
062676,000098: 21,3140 74747 MP BIT5 # RESCALE TO 4*PI(2)
062677,000099: 21,3141 53740 DXCH K2THETA
062678,000100: 21,3142 00006 EXTEND
062679,000101: 21,3143 74747 MP BIT5 # FIRST TERM OF NEGUSUM IN K2THETA.
062680,000102: 21,3144 27740 ADS K2THETA +1 # NO CARRY NEEDED D.P. AT 4*PI(2)
062681,000103:
062682,000104: 21,3145 41744 CS ACENTRAL # FORM ALPHA(2)/(2*K) AT 16*PI, IN D.P.,
062683,000105: 21,3146 00006 EXTEND # LIMITING QUOTIENT TO AVOID OVERFLOW.
062684,000106: 21,3147 74736 MP BIT14 # -ALPHA/2 IN A, SCALED AT PI/4
062685,000107: 21,3150 00006 EXTEND
062686,000108: 21,3151 71744 MP ACENTRAL # -ALPHA(2)/2 IN A,L, SCALED AT PI(2)/16
062687,000109: 21,3152 61741 AD KCENTRAL
062688,000110: 21,3153 00006 EXTEND
062689,000111: 21,3154 63171 BZMF HUGEQUOT # K-ALPHA(2)/2 SHOULD BE PNZ FO DIVISION
062690,000112:
062691,000113: 21,3155 00006 EXTEND
062692,000114: 21,3156 40001 DCS A # ALPHA(2)/2 - K
062693,000115: 21,3157 61741 AD KCENTRAL
062694,000116: 21,3160 00006 EXTEND
062695,000117: 21,3161 11741 DV KCENTRAL # HIGH ORDER OF QUOTIENT.
062696,000118: 21,3162 57746 XCH A2CNTRAL
062697,000119: 21,3163 30001 CA L # SHIFT UP THE REMAINDER.
062698,000120: 21,3164 22007 LXCH 7 # ZERO LOW-ORDER DIVIDEND.
062699,000121: 21,3165 00006 EXTEND
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Page 1464 |
062701,000123: 21,3166 11741 DV KCENTRAL
062702,000124: 21,3167 57747 XCH A2CNTRAL +1 # QUOTIENT STORED AT 16*PI, D.P.
062703,000125: 21,3170 13174 TCF HAVEQUOT
062704,000126:
062705,000127: 21,3171 34733 HUGEQUOT CA POSMAX
062706,000128: 21,3172 54001 TS L
062707,000129: 21,3173 53747 DXCH A2CNTRAL # LIMITED QUOTIENT STORED AT 16*PI, D.P.
062708,000130:
062709,000131: 21,3174 31743 HAVEQUOT CA WCENTRAL
062710,000132: 21,3175 00006 EXTEND
062711,000133: 21,3176 74743 MP BIT9 # RESCALE OMEGA AT 16*PI IN D.P.
062712,000134: 21,3177 53743 DXCH K2CNTRAL # LOWER WORD OVERLAYS OMEGA IN WCENTRAL
062713,000135:
062714,000136: 21,3200 00006 EXTEND
062715,000137: 21,3201 31743 DCA K2CNTRAL
062716,000138: 21,3202 53752 DXCH FUNCTION
062717,000139:
062718,000140: 21,3203 31744 CA ACENTRAL # GET ALPHA*ABS(ALPHA)/(2*K)
062719,000141: 21,3204 00006 EXTEND
062720,000142: 21,3205 63211 BZMF +4
062721,000143:
062722,000144: 21,3206 00006 EXTEND
062723,000145: 21,3207 31747 DCA A2CNTRAL
062724,000146: 21,3210 13213 TCF +3
062725,000147:
062726,000148: 21,3211 00006 EXTEND
062727,000149: 21,3212 41747 DCS A2CNTRAL
062728,000150:
062729,000151: 21,3213 21752 DAS FUNCTION # OMEGA + ALPHA*ABS(ALPHA)/2*K) AT 16*PI
062730,000152:
062731,000153: 21,3214 11751 CCS FUNCTION # DEL = +1 FOR FUNCT1 GREATER THAN ZERO.
062732,000154: 21,3215 13221 TCF POSFNCT1 # OTHERWISE DEL = -1
062733,000155: 21,3216 13220 TCF +2
062734,000156: 21,3217 13223 TCF NEGFNCT1
062735,000157:
062736,000158: 21,3220 11752 CCS FUNCTION +1 # USE LOW ORDER WORD SINCE HIGH IS ZERO
062737,000159: 21,3221 34753 POSFNCT1 CAF BIT1
062738,000160: 21,3222 13224 TCF +2
062739,000161: 21,3223 44753 NEGFNCT1 CS BIT1
062740,000162: 21,3224 55745 TS DEL
062741,000163:
062742,000164: 21,3225 11745 CCS DEL # REPLACE OMEGA BY DEL*OMEGA
062743,000165: 21,3226 13240 TCF FUNCT2 # POSITIVE DEL VALUE. PROCEED.
062744,000166: 21,3227 13231 TCF DEFUNCT
062745,000167: 21,3230 13235 TCF NEGFNCT2
062746,000168:
062747,000169: 21,3231 55742 DEFUNCT TS K2CNTRAL
062748,000170: 21,3232 55743 TS K2CNTRAL +1
062749,000171: 21,3233 13240 TCF FUNCT2
062750,000172:
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Page 1465 |
062752,000174: 21,3234 65252 NEG1/3 DEC -.33333
062753,000175:
062754,000176: 21,3235 00006 NEGFNCT2 EXTEND
062755,000177: 21,3236 41743 DCS K2CNTRAL
062756,000178: 21,3237 53743 DXCH K2CNTRAL
062757,000179:
062758,000180: 21,3240 00006 FUNCT2 EXTEND
062759,000181: 21,3241 31747 DCA A2CNTRAL
062760,000182: 21,3242 21743 DAS K2CNTRAL # DEL*OMEGA + ALPHA(2)/(2*K) AT 16*PI, D.P.
062761,000183:
062762,000184: 21,3243 31746 FUNCT3 CA A2CNTRAL
062763,000185: 21,3244 00006 EXTEND
062764,000186: 21,3245 73234 MP NEG1/3
062765,000187: 21,3246 53747 DXCH A2CNTRAL
062766,000188: 21,3247 30001 CA L
062767,000189: 21,3250 00006 EXTEND
062768,000190: 21,3251 73234 MP NEG1/3
062769,000191: 21,3252 27747 ADS A2CNTRAL +1
062770,000192: 21,3253 54001 TS L
062771,000193: 21,3254 13256 TCF +2 # A2CNTRAL NOW CONTAINS -ALPHA(2)/(6*K),
062772,000194: 21,3255 27746 ADS A2CNTRAL # SCALED AT 16*PI, IN D.P.
062773,000195:
062774,000196: 21,3256 00006 EXTEND
062775,000197: 21,3257 31743 DCA K2CNTRAL # DEL*OMEGA + ALPHA(2)/(3*K) IN A2CNTRAL,
062776,000198: 21,3260 21747 DAS A2CNTRAL # SCALED AT 16*PI, D.P.
062777,000199:
062778,000200: 21,3261 31746 CA A2CNTRAL
062779,000201: 21,3262 00006 EXTEND
062780,000202: 21,3263 71744 MP ACENTRAL
062781,000203: 21,3264 21740 DAS K2THETA
062782,000204: 21,3265 31747 CA A2CNTRAL +1
062783,000205: 21,3266 00006 EXTEND
062784,000206: 21,3267 71744 MP ACENTRAL # ACENTRAL MAY NOW BE OVERLAID.
062785,000207: 21,3270 27740 ADS K2THETA +1
062786,000208: 21,3271 54001 TS L
062787,000209: 21,3272 13274 TCF +2 # TWO TERMS OF NEGUSUM ACCUMULATED, SO FAR
062788,000210: 21,3273 27737 ADS K2THETA # SCALED AT 4*PI(2), IN D.P.
062789,000211:
062790,000212: 21,3274 31742 GETROOT CA K2CNTRAL # K*(DEL*OMEGA + ALPHA(2)/(2*K)) IS THE
062791,000213: 21,3275 00006 EXTEND # TERM FOR WHICH A SQUARE ROOT IS NEEDED.
062792,000214: 21,3276 71741 MP KCENTRAL # K AT PI/2(8)
062793,000215: 21,3277 53752 DXCH FUNCTION
062794,000216: 21,3300 31743 CA K2CNTRAL +1
062795,000217: 21,3301 00006 EXTEND
062796,000218: 21,3302 71741 MP KCENTRAL
062797,000219: 21,3303 27752 ADS FUNCTION +1
062798,000220: 21,3304 54001 TS L
062799,000221: 21,3305 13307 TCF +2
062800,000222: 21,3306 27751 ADS FUNCTION # DESIRED TERM IN FUNCTION, AT PI(2)/16
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Page 1466 |
062802,000224: 21,3307 11745 CCS DEL
062803,000225: 21,3310 13515 TCF RSTOFGTS
062804,000226: 21,3311 13557 TCF NEGUSUM
062805,000227: 21,3312 13314 TCF NEGATE
062806,000228: 21,3313 13557 TCF NEGUSUM
062807,000229:
062808,000230: 21,3314 00006 NEGATE EXTEND
062809,000231: 21,3315 41743 DCS K2CNTRAL
062810,000232: 21,3316 53743 DXCH K2CNTRAL
062811,000233: 21,3317 13515 TCF RSTOFGTS
062812,000234:
062813,000235: 16,3741 BANK 16
062814,000236: 16,3741 E6,1501 EBANK= NEGUQ
062815,000237: 16,2000 SETLOC DAPS1
062816,000238: 16,2000 BANK
062817,000239:
062818,000240: # THE WRCHN12 SUBROUTINE SETS BITS 9,10,11,12 OF CHANNEL 12 ON THE BASIS OF THE CONTENTS OF NEGUQ,NEGUR WHICH ARE
062819,000241: # THE NEGATIVES OF THE DESIRED ACCELERATION CHANGES. ACDT+C12 SETS Q(R)ACCDOT TO REFLECT THE NEW DRIVES.
062820,000242:
062821,000243: # WARNING: ACDT+C12 AND WRCHN12 MUST BE CALLED WITH INTERRUPT INHIBITED.
062822,000244:
062823,000245: 16,3741 07400 BGIM OCTAL 07400
062824,000246: 16,3742 0066 CHNL12 EQUALS ITEMP6
062825,000247: 16,3742 41501 ACDT+C12 CS NEGUQ
062826,000248: 16,3743 00006 EXTEND # GIMBAL DRIVE REQUESTS.
062827,000249: 16,3744 71507 MP ACCDOTQ
062828,000250: 16,3745 23510 LXCH QACCDOT
062829,000251: 16,3746 41503 CS NEGUR
062830,000252: 16,3747 00006 EXTEND
062831,000253: 16,3750 71511 MP ACCDOTR
062832,000254: 16,3751 23512 LXCH RACCDOT
062833,000255:
062834,000256: 16,3752 11501 CCS NEGUQ
062835,000257: 16,3753 34742 CAF BIT10
062836,000258: 16,3754 13756 TCF +2
062837,000259: 16,3755 34743 CAF BIT9
062838,000260: 16,3756 54066 TS CHNL12
062839,000261:
062840,000262: 16,3757 11503 CCS NEGUR
062841,000263: 16,3760 34740 CAF BIT12
062842,000264: 16,3761 13763 TCF +2
062843,000265: 16,3762 34741 CAF BIT11
062844,000266: 16,3763 26066 ADS CHNL12 # (STORED RESULT NOT USED AT PRESENT)
062845,000267:
062846,000268: 16,3764 43741 CS BGIM
062847,000269: 16,3765 00006 EXTEND
062848,000270: 16,3766 02012 RAND CHAN12
062849,000271: 16,3767 60066 AD CHNL12
062850,000272: 16,3770 00006 EXTEND
062851,000273: 16,3771 01012 WRITE CHAN12
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Page 1467 |
062853,000275: 16,3772 44747 CS CALLGMBL # TURN OFF REQUEST FOR ACDT+C12 EXECUTION.
062854,000276: 16,3773 71262 MASK RCSFLAGS
062855,000277: 16,3774 55262 TS RCSFLAGS
062856,000278:
062857,000279: 16,3775 00002 TC Q # RETURN TO CALLER.
062858,000280:
062859,000281: 21,3320 BANK 21
062860,000282: 21,3320 E6,1450 EBANK= QDIFF
062861,000283: 21,2000 SETLOC DAPS4
062862,000284: 21,2000 BANK
062863,000285:
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Page 1468 |
062865,000287: # SUBROUTINE TIMEGMBL: MOD 0, OCTOBER 1967, CRAIG WORK
062866,000288:
062867,000289: # TIMEGMBL COMPUTES THE DRIVE TIME NEEDED FOR THE TRIM GIMBAL TO POSITION THE DESCENT ENGINE NOZZLE SO AS TO NULL
062868,000290: # THE OFFSET ANGULAR ACCELERATION ABOUT THE Q (OR R) AXIS. INSTEAD OF USING AOSQ(R), TIMEGMBL USES .4*AOSQ(R),
062869,000291: # SCALED AT PI/8. FOR EACH AXIS, THE DRIVE TIME IS COMPUTED AS ABS(ALPHA/ACCDOT). A ZERO
062870,000292: # ALPHA OR ACCDOT OR A ZERO QUOTIENT TURNS OFF THE GIMBAL DRIVE IMMEDIATELY. OTHERWISE, THE GIMBAL IS TURNED ON
062871,000293: # DRIVING IN THE CORRECT DIRECTION. THE Q(R)GIMTIMR IS SET TO TERMINATE THE DRIVE AND Q(R)ACCDOT
062872,000294: # IS STORED TO REFLECT THE NEW ACCELERATION DERIVATIVE. NEGUQ(R) WILL CONTAIN +1,+0,-1 FOR A Q(R)ACCDOT VALUE
062873,000295: # WHICH IS NEGATIVE, ZERO, OR POSITIVE.
062874,000296:
062875,000297: # INPUTS: AOSQ,AOSR, SCALED AT P1/2, AND ACCDOTQ, ACCDOTR AT PI/2(7). PI/2(7).
062876,000298:
062877,000299: # OUTPUTS: NEW GIMBAL DRIVE BITS IN CHANNEL 12, NEGUQ, NEGUR, QACCDOT AND RACCDOT, THE LAST SCALED AT PI/2(7).
062878,000300: # Q(R)GIMTIMR WILL BE SET TO TIME AND TERMINATE GIMBAL DRIVE(S)
062879,000301:
062880,000302: # DEBRIS: A, L, Q, ITEMPS 2, 3, 6, RUPTREG2 AND ACDT+C12 DEBRIS.
062881,000303:
062882,000304: # EXITS: VIA TC Q.
062883,000305:
062884,000306: # ALARMS, ABORTS, : NONE
062885,000307:
062886,000308: # SUBROUTINES: ACDT+C12, IBNKCALL
062887,000309:
062888,000310: # WARNING: THIS SUBROUTINE WRITES INTO CHANNEL 12 AND USES THE ITEMPS. THEREFORE IT MAY ONLY BE CALLED WITH
062889,000311: # INTERRUPT INHIBITED.
062890,000312:
062891,000313: # ERASABLE STORAGE CONFIGURATION (NEEDED BY THE INDEXING METHODS):
062892,000314: # NEGUQ ERASE +2 NEGATIVE OF Q-AXIS GIMBAL DRIVE
062893,000315: # (SPWORD) EQUALS NEGUQ +1 ANY S.P. ERASABLE NUMBER, NOW THRSTCMD
062894,000316: # NEGUR EQUALS NEGUQ +2 NEGATIVE OF R-AXIS GIMBAL DRIVE
062895,000317: # ACCDOTQ ERASE +2 Q-JERK TERM SCALED AT PI/2(7) RAD/SEC(3)
062896,000318: # (SPWORD) EQUALS ACCDOTQ +1 ANY S.P. ERASABLE NUMBER NOW QACCDOT
062897,000319: # ACCDOTR EQUALS ACCDOTQ +2 R-JERK TERM SCALED AT PI/2(7) RAD/SEC(3)
062898,000320: # ACCDOTQ, ACCDOTR ARE MAGNITUDES.
062899,000321: # AOSQ ERASE +4 Q-AXIS ACC., D.P. AT PI/2 R/SEC(2)
062900,000322: # AOSR EQUALS AOSQ +2 R-AXIS ACCELERATION SCALED AT PI/2 R/S2
062901,000323:
062902,000324: 21,3320 0066 QRNDXER EQUALS ITEMP6
062903,000325: 21,3320 23146 OCT23146 OCTAL 23146 # DECIMAL .6
062904,000326: 21,3321 0063 NZACCDOT EQUALS ITEMP3
062905,000327:
062906,000328: 21,3321 34753 TIMEGMBL CAF ONE # INITIALIZE ALLOWGTS.
062907,000329: 21,3322 55502 TS ALLOWGTS
062908,000330:
062909,000331: 21,3323 34752 CAF TWO # SET UP LOOP FOR R AXIS.
062910,000332: 21,3324 22002 LXCH Q # SAVE RETURN ADDRESS.
062911,000333: 21,3325 22071 LXCH RUPTREG2
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Page 1469 |
062913,000335: 21,3326 13330 TCF +2
062914,000336: 21,3327 34755 TIMQGMBL CAF ZERO # NOW DO THE Q-AXIS
062915,000337: 21,3330 54066 TS QRNDXER
062916,000338: 21,3331 50066 INDEX QRNDXER
062917,000339: 21,3332 31507 CA ACCDOTQ # ACCDOT IS PRESUMED TO BE AT PI/2(7).
062918,000340: 21,3333 00006 EXTEND
062919,000341: 21,3334 63404 BZMF TGOFFNOW # IS ACCDOT LESS THAN OR EQUAL TO 0?
062920,000342: 21,3335 54063 TS NZACCDOT # NO. STORE NON-ZERO, POSITIVE ACCDOT.
062921,000343:
062922,000344: 21,3336 50066 ALPHATRY INDEX QRNDXER
062923,000345: 21,3337 41537 CS AOSQ
062924,000346: 21,3340 00006 EXTEND
062925,000347: 21,3341 13404 BZF TGOFFNOW # IS ALPHA ZERO?
062926,000348:
062927,000349: 21,3342 54002 TS Q # SAVE A COPY OF -AOS.
062928,000350: 21,3343 00006 EXTEND # NO. RESCALE FOR TIMEGMBL USE.
062929,000351: 21,3344 73320 MP OCT23146 # OCTAL 23146 IS DECIMAL .6
062930,000352: 21,3345 60002 AD Q # -1.6*AOS AT PI/2 = -.4*AOS AT PI/8.
062931,000353: 21,3346 54001 TS L # WAS THERE OVERFLOW?
062932,000354: 21,3347 13354 TCF SETNEGU # NO. COMPUTE DRIVE TIME.
062933,000355:
062934,000356: 21,3350 40000 CS A # RECOVER -SGN(AOS) IN THE A REGISTER.
062935,000357: 21,3351 50066 INDEX QRNDXER # YES. START DRIVE WITHOUT WAITLIST.
062936,000358: 21,3352 57501 XCH NEGUQ
062937,000359: 21,3353 13410 TCF NOTALLOW # KNOCK DOWN THE ALLOWGTS FLAG.
062938,000360:
062939,000361: 21,3354 00006 SETNEGU EXTEND
062940,000362: 21,3355 63362 BZMF POSALPH
062941,000363:
062942,000364: 21,3356 40000 COM
062943,000365: 21,3357 54062 TS ITEMP2 # STORE -ABS(.4*AOS) SCALED AT PI/8.
062944,000366: 21,3360 44753 CS BIT1
062945,000367: 21,3361 13364 TCF POSALPH +2
062946,000368: 21,3362 54062 POSALPH TS ITEMP2 # STORE -ABS(.4*AOS) SCALED AT PI/8.
062947,000369: 21,3363 34753 CA BIT1
062948,000370: 21,3364 50066 +2 INDEX QRNDXER # SGN(AOS) INTO NEGU
062949,000371: 21,3365 55501 TS NEGUQ # STORE SGN(APLHA) AS NEGU
062950,000372:
062951,000373: 21,3366 30063 CA NZACCDOT
062952,000374: 21,3367 00006 EXTEND
062953,000375: 21,3370 74740 MP BIT12 # 2*ACCDOT, SCALED AT PI/8.
062954,000376: 21,3371 60062 AD ITEMP2 # -ABS(ALPHA) + 2*ACCDOT, AT PI/8.
062955,000377: 21,3372 00006 EXTEND
062956,000378: 21,3373 63410 BZMF NOTALLOW # IS DRIVE TIME MORE THAN TWO SECONDS?
062957,000379: 21,3374 40062 CS ITEMP2 # NO. COMPUTE DRIVE TIME.
062958,000380: 21,3375 00006 EXTEND # ABS(ALPHA) AT PI/8.
062959,000381: 21,3376 73431 MP OCT00240 # DECIMAL 10/1024
062960,000382: 21,3377 00006 EXTEND # QUOTIENT IS DRIVE TIME AT WAITLIST.
062961,000383: 21,3400 10063 DV NZACCDOT # ABS(ALPHA)/ACCDOT AT 2(14)/100
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Page 1470 |
062963,000385: 21,3401 00006 EXTEND
062964,000386: 21,3402 13404 BZF TGOFFNOW # DRIVE TIME MUST BE GREATER THAN ZERO.
062965,000387:
062966,000388: 21,3403 13416 TCF DRIVEON
062967,000389:
062968,000390: 21,3404 34755 TGOFFNOW CAF ZERO # TURN OFF GIMBAL NOW.
062969,000391: 21,3405 50066 INDEX QRNDXER
062970,000392: 21,3406 55501 TS NEGUQ
062971,000393:
062972,000394: 21,3407 13420 TCF DONEYET
062973,000395:
062974,000396: 21,3410 36010 NOTALLOW CAF OCT31
062975,000397: 21,3411 50066 INDEX QRNDXER
062976,000398: 21,3412 55632 TS QGIMTIMR
062977,000399: 21,3413 34755 CAF ZERO # DRIVE TIME IS MORE THAN 2 SECONDS, SO
062978,000400: 21,3414 55502 TS ALLOWGTS # DO NOT PERMIT FURTHER GTS ATTITUDE-RATE
062979,000401: # CONTROL UNTIL AOSTASK APPROVES.
062980,000402: 21,3415 13420 TCF DONEYET # NO WAITLIST CALL IS MADE.
062981,000403:
062982,000404: 21,3416 50066 DRIVEON INDEX QRNDXER
062983,000405: 21,3417 55632 TS QGIMTIMR # CHOOSE Q OR R AXIS.
062984,000406:
062985,000407: 21,3420 10066 DONEYET CCS QRNDXER
062986,000408: 21,3421 13327 TCF TIMQGMBL
062987,000409:
062988,000410: 21,3422 52073 DXCH RUPTREG3 # PROTECT IBNKCALL ERASABLES. ACDT+C12
062989,000411: 21,3423 52063 DXCH ITEMP2 # LEAVES ITEMPS2,3 ALONE.
062990,000412:
062991,000413: 21,3424 04674 TC IBNKCALL # TURN OF CHANNEL BITS, SET Q(R)ACCDOTS.
062992,000414: 21,3425 35742 CADR ACDT+C12
062993,000415:
062994,000416: 21,3426 52063 DXCH ITEMP2 # RESTORE ERASABLES FOR IBNKCALL.
062995,000417: 21,3427 52073 DXCH RUPTREG3
062996,000418:
062997,000419: 21,3430 00071 TC RUPTREG2 # RETURN TO CALLER.
062998,000420:
062999,000421: 21,3431 00240 OCT00240 OCTAL 00240 # DECIMAL 10/1024
063000,000422:
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Page 1471 |
063002,000424: # THE FOLLOWING SECTION IS A CONTINUATION OF THE TRIM GIMBAL CONTROL FROM THE LAST GTS ENTRY. THE QUANTITY NEGUSUM
063003,000425: # IS COMPUTED FOR EACH AXIS (Q,R), .707*DEL*FUNCTION(3/2) + K2THETA = NEGUSUM. NEW DRIVES ARE ENTERED TO CH 12.
063004,000426:
063005,000427: # THE SUBROUTINE GTSQRT ACCEPTS A DOUBLE PRECISION VALUE IN FUNCTION, FUNCTION +1 AND RETURNS A SINGLE-PRECISION
063006,000428: # SQUARE ROOT OF THE FOURTEEN MOST SIGNIFICANT BITS OF THE ARGUMENT. ALSO, THE CELL SHFTFLAG CONTAINS A BINARY
063007,000429: # EXPONENT S, SUCH THAT THE SQUARE ROOT (RETURNED IN THE A REGISTER) MUST BE SHIFTED RIGHT (MULTIPLIED BY 2 TO THE
063008,000430: # POWER (-S)) IN ORDER TO BE THE TRUE SQUARE ROOT OF THE FOURTEEN MOST SIGNIFICANT BITS OF FUNCTION, FUNCTION +1.
063009,000431: # SQUARE ROOT ERROR IS NOT MORE THAN 2 IN THE 14TH SIGNIFICANT BIT. CELLS CLOBBERED ARE A, L, SHFTFLAG, ININDEX,
063010,000432: # HALFARG, SCRATCH, SR, FUNCTION, FUNCTION +1. GTSQRT IS CALLED BY TC GTSQRT AND RETURNS VIA TC Q OR TC FUNCTION +1.
063011,000433: # ZERO OR NEGATIVE ARGUMENTS YIELD ZERO FOR SQUARE ROOTS.
063012,000434:
063013,000435: 21,3432 11751 GTSQRT CCS FUNCTION
063014,000436: 21,3433 13451 TCF GOODARG # FUNCTION IS POSITIVE. TAKE SQUARE ROOT.
063015,000437: 21,3434 13436 TCF +2 # HIGH ORDER WORD IS ZERO. TRY THE LOWER.
063016,000438: 21,3435 13442 TCF ZEROOT # NEGATIVE. USE ZERO FOR 1/2 POWER.
063017,000439:
063018,000440: 21,3436 31752 CA FUNCTION +1
063019,000441: 21,3437 00006 EXTEND
063020,000442: 21,3440 63442 BZMF ZEROOT
063021,000443:
063022,000444: 21,3441 13445 TCF ZEROHIGH # PROCEED.
063023,000445: 21,3442 34755 ZEROOT CA ZERO
063024,000446: 21,3443 55741 TS SHFTFLAG
063025,000447: 21,3444 00002 TC Q
063026,000448:
063027,000449: 21,3445 57751 ZEROHIGH XCH FUNCTION # 14 MOST SIGNIFICANT BITS ARE IN THE
063028,000450: 21,3446 57752 XCH FUNCTION +1 # LOWER WORD. EXCHANGE THEM.
063029,000451: 21,3447 34757 CA SEVEN
063030,000452: 21,3450 13452 TCF GOODARG +1
063031,000453:
063032,000454: 21,3451 34755 GOODARG CA ZERO
063033,000455: 21,3452 55741 TS SHFTFLAG
063034,000456: 21,3453 35741 CA TWELVE # INITIALIZE THE SCALING LOOP.
063035,000457: 21,3454 55744 TS ININDEX
063036,000458: 21,3455 13464 TCF SCALLOOP
063037,000459:
063038,000460: 21,3456 31751 SCALSTRT CA FUNCTION
063039,000461: 21,3457 13500 TCF SCALDONE
063040,000462:
063041,000463: 21,3460 37751 MULBUSH CA NEG2 # IF ARG IS NOT LESS THAN 1/4, INDEX IS
063042,000464: 21,3461 27744 ADS ININDEX # ZERO, INDICATING NO SHIFT NEEDED.
063043,000465: 21,3462 00006 EXTEND # BRANCH IF ARG IS NOT LESS THAN 1/4.
063044,000466: 21,3463 63456 BZMF SCALSTRT # OTHERWISE COMPARE ARG WITH A REFERENCE
063045,000467: # WHICH IS 4 TIMES LARGER THAN THE LAST.
063046,000468: 21,3464 41751 SCALLOOP CS FUNCTION
063047,000469: 21,3465 51744 INDEX ININDEX
063048,000470: 21,3466 64735 AD BIT15 # REFERENCE MAGNITUDE LESS OR EQUAL TO 1/4
063049,000471: 21,3467 00006 EXTEND
063050,000472: 21,3470 63460 BZMF MULBUSH # IF ARG IS NOT LESS THAN REFERENCE, GO
063051,000473: # AROUND THE MULBERRY BUSH ONCE MORE.
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Page 1472 |
063053,000475: 21,3471 51744 INDEX ININDEX
063054,000476: 21,3472 34735 CA BIT15 # THIS IS THE SCALE MAGNITUDE
063055,000477: 21,3473 57747 XCH HALFARG # 2**(-ININDEX) IS THE SHIFT DIVISOR.
063056,000478: 21,3474 00006 EXTEND # RESCALE ARGUMENT.
063057,000479: 21,3475 31752 DCA FUNCTION
063058,000480: 21,3476 00006 EXTEND
063059,000481: 21,3477 11747 DV HALFARG
063060,000482: # ININDEX AND SHFTFLAG PRESERVE INFO FOR
063061,000483:
063062,000484: # RESCALING AFTER ROOT PROCESS.
063063,000485: 21,3500 00006 SCALDONE EXTEND
063064,000486: 21,3501 23752 QXCH FUNCTION +1 # SAVE Q FOR RETURN
063065,000487: 21,3502 00006 EXTEND
063066,000488: 21,3503 74736 MP BIT14
063067,000489: 21,3504 55747 TS HALFARG
063068,000490: 21,3505 74737 MASK BIT13
063069,000491: 21,3506 10000 CCS A
063070,000492: 21,3507 33625 CA OCT11276
063071,000493: 21,3510 63623 AD ROOTHALF # INITIAL GUESS IS ROOT 1/2 OR POSMAX
063072,000494: 21,3511 03627 TC ROOTCYCL
063073,000495: 21,3512 03627 TC ROOTCYCL
063074,000496: 21,3513 03627 TC ROOTCYCL
063075,000497: 21,3514 01752 TC FUNCTION +1
063076,000498:
063077,000499: # ****************************************************************************************************************
063078,000500:
063079,000501: 21,3515 03432 RSTOFGTS TC GTSQRT
063080,000502: 21,3516 57742 PRODUCT XCH K2CNTRAL
063081,000503: 21,3517 00006 EXTEND
063082,000504: 21,3520 71742 MP K2CNTRAL
063083,000505: 21,3521 53743 DXCH K2CNTRAL
063084,000506: 21,3522 00006 EXTEND # THE PRODUCT OF
063085,000507: 21,3523 70001 MP L # 1/2 2 1/2
063086,000508: 21,3524 27743 ADS K2CNTRAL +1 # K *(DEL*OMEGA + ALPHA /(2*K))
063087,000509: 21,3525 54001 TS L # AND
063088,000510: 21,3526 13530 TCF +2 # 2
063089,000511: 21,3527 27742 ADS K2CNTRAL # DEL*(DEL*OMEGA + ALPHA /(2*K)) NOW IN
063090,000512: # K2CNTRAL
063091,000513:
063092,000514: 21,3530 31744 DOSHIFT CA ININDEX
063093,000515: 21,3531 00006 EXTEND # MULTIPLY IN THE FACTOR 2(-S), RETURNED
063094,000516: 21,3532 74736 MP BIT14 # BY THE GTSQRT SUBROUTINE
063095,000517: 21,3533 27741 ADS SHFTFLAG
063096,000518: 21,3534 00006 EXTEND
063097,000519: 21,3535 13554 BZF ADDITIN
063098,000520: 21,3536 51741 INDEX SHFTFLAG
063099,000521: 21,3537 34735 CA BIT15
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Page 1473 |
063101,000523: 21,3540 57742 XCH K2CNTRAL
063102,000524: 21,3541 00006 EXTEND
063103,000525: 21,3542 71742 MP K2CNTRAL
063104,000526: 21,3543 21740 DAS K2THETA
063105,000527: 21,3544 57742 XCH K2CNTRAL
063106,000528: 21,3545 00006 EXTEND
063107,000529: 21,3546 71743 MP K2CNTRAL +1
063108,000530: 21,3547 27740 ADS K2THETA +1
063109,000531: 21,3550 54001 TS L
063110,000532: 21,3551 13553 TCF +2
063111,000533: 21,3552 27737 ADS K2THETA
063112,000534:
063113,000535: 21,3553 13557 TCF NEGUSUM
063114,000536:
063115,000537: 21,3554 00006 ADDITIN EXTEND
063116,000538: 21,3555 31743 DCA K2CNTRAL
063117,000539: 21,3556 21740 DAS K2THETA # NOW ADD IN THE K2THETA TERM.
063118,000540: 21,3557 11737 NEGUSUM CCS K2THETA # TEST SIGN OF HIGH ORDER PART.
063119,000541: 21,3560 13564 TCF NEGDRIVE
063120,000542: 21,3561 13563 TCF +2
063121,000543: 21,3562 13566 TCF POSDRIVE
063122,000544:
063123,000545: 21,3563 11740 CCS K2THETA +1 # SIGN TEST FOR LOW ORDER PART.
063124,000546: 21,3564 34753 NEGDRIVE CA BIT1
063125,000547: 21,3565 13567 TCF +2 # STOP GIMBAL DRIVE FOR A ZERO NEGUSUM.
063126,000548: 21,3566 44753 POSDRIVE CS BIT1
063127,000549: 21,3567 54001 TS L # SAVE FOR DRIVE REVERSAL TEST.
063128,000550: 21,3570 51750 INDEX QRCNTR
063129,000551: 21,3571 57501 XCH NEGUQ
063130,000552:
063131,000553: 21,3572 00006 EXTEND
063132,000554: 21,3573 70001 MP L # MULTIPLY OLD NEGU AND NEW NEGU.
063133,000555: 21,3574 10001 CCS L
063134,000556: 21,3575 13612 TCF LOUPE # NON-ZERO GIMBAL DRIVE BEING CONTINUED.
063135,000557:
063136,000558: 21,3576 13607 TCF ZEROLOUP # NO REVERSAL PROBLEM HERE.
063137,000559:
063138,000560: 21,3577 13601 TCF REVERSAL # NON-ZERO GIMBAL DRIVE BEING REVERSED.
063139,000561: 21,3600 13607 TCF ZEROLOUP # NO REVERSAL PROBLEM HERE.
063140,000562:
063141,000563: 21,3601 51750 REVERSAL INDEX QRCNTR # A ZERO-DRIVE PAUSE IS NEEDED HERE. ZERO
063142,000564: 21,3602 55510 TS QACCDOT # IS IN A REGISTER FROM CCS ON (-1).
063143,000565: 21,3603 51750 INDEX QRCNTR
063144,000566: 21,3604 43624 CS GMBLBITA
063145,000567: 21,3605 00006 EXTEND
063146,000568: 21,3606 03012 WAND CHAN12
063147,000569:
063148,000570: 21,3607 41262 ZEROLOUP CS RCSFLAGS # SET UP REQUEST FOR ACDT+C12 CALL.
063149,000571: 21,3610 74747 MASK CALLGMBL
063150,000572: 21,3611 27262 ADS RCSFLAGS
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Page 1474 |
063152,000574: 21,3612 11750 LOUPE CCS QRCNTR # HAVE BOTH AXES BEEN PROCESSED?
063153,000575: 21,3613 13106 TCF GOQTRIMG # NO. DO Q AXIS NEXT.
063154,000576:
063155,000577: 21,3614 31505 CA SAVESR # RESTORE THE SR
063156,000578: 21,3615 54021 TS SR
063157,000579:
063158,000580: 21,3616 00006 GOCLOSE EXTEND # TERMINATE THE JASK.
063159,000581: 21,3617 33622 DCA CLOSEADR
063160,000582: 21,3620 52006 DTCB
063161,000583:
063162,000584: 21,3621 E6,1537 EBANK= AOSQ
063163,000585: 21,3621 03270 36106 CLOSEADR 2CADR CLOSEOUT # TERMINATE THE JASK.
063164,000586:
063165,000587: 21,3623 5741 TWELVE EQUALS OCT14
063166,000588: 21,3623 26501 ROOTHALF OCTAL 26501 # SQUARE ROOT OF 1/2
063167,000589: 21,3624 01400 GMBLBITA OCTAL 01400 # INDEXED WRT GMBLBITB DO NOT MOVE ******
063168,000590: 21,3625 11276 OCT11276 OCTAL 11276 # POSMAX - ROOTHALF
063169,000591: 21,3626 06000 GMBLBITB OCTAL 06000 # INDEXED WRT GMBLBITA DO NOT MOVE ******
063170,000592:
063171,000593: # SUBROUTINE ROOTCYCL: BY CRAIG WORK, 3 APRIL 68
063172,000594: # ROOTCYCL IS A SUBROUTINE WHICH EXECUTES ONE NEWTON SQUARE ROOT ALGORITHM ITERATION. THE INITIAL GUESS AT THE
063173,000595: # SQUARE ROOT IS PRESUMED TO BE IN THE A REGISTER AND ONE-HALF THE SQUARE IS TAKEN FROM HALFARG. THE NEW APPROXI-
063174,000596: # MATION TO THE SQUARE ROOT IS RETURNED IN THE A REGISTER. DEBRIS: A, L, SR, SCRATCH. ROOTCYCL IS CALLED FROM
063175,000597: # LOCATION (LOC) BY A TC ROOTCYCL, AND RETURNS (TC Q) TO LOC +1.
063176,000598:
063177,000599: # WARNING: IF THE INITIAL GUESS IS NOT GREATER THAN THE SQUARE, DIVIDE OR ADD OVERFLOW IS A REAL POSSIBILITY.
063178,000600:
063179,000601: 21,3627 55746 ROOTCYCL TS SCRATCH # STORE X
063180,000602: 21,3630 54021 TS SR # X/2 NOW IN SR
063181,000603: 21,3631 31747 CA HALFARG # ARG/2 IN THE A REG
063182,000604: 21,3632 22007 ZL # PREPARE FOR DIVISION
063183,000605: 21,3633 00006 EXTEND
063184,000606: 21,3634 11746 DV SCRATCH # (ARG/X)/2
063185,000607: 21,3635 60021 AD SR # (X + ARG/X)/2 IN THE A REG
063186,000608: 21,3636 00002 TC Q
063187,000609:
063188,000610:
End of include-file TRIM_GIMBAL_CONTROL_SYSTEM.agc. Parent file is MAIN.agc