Source Code
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These source-code files were transcribed from a printout in Don Eyles's personal
collection, scanned by archive.org, and financially sponsored by Peter McDermott.
A team of volunteers performed the transcription and proof-reading. The scanned
page images are available at
the Virtual AGC Project website, as well as higher-quality (but much larger)
images at
the Virtual AGC Project's collection in the Internet Archive. Report any problems by creating
"issues" at
the Virtual AGC Project's GitHub Repository. Notations on the program listing read, in part:
YUL SYSTEM FOR AGC: NEW PROGRAM SHEPATIN BY EYLES
DEC 13, 1966
THIS PROGRAM WAS ASSEMBLED AS A VERSION OF REVISION 37
OF PROGRAM SUNBURST BY LEM GROUP
Note that the date is the date of the printout, not the date of the program revision.
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024569,000002: ## Copyright: Public domain.
024570,000003: ## Filename: TRIM_GIMBAL_CONTROL_SYSTEM.agc
024571,000004: ## Purpose: A section of Sunburst revision 37, or Shepatin revision 0.
024572,000005: ## It is part of an early development version of the software
024573,000006: ## for Apollo Guidance Computer (AGC) on the unmanned Lunar
024574,000007: ## Module (LM) flight Apollo 5. Sunburst 37 was the program
024575,000008: ## upon which Don Eyles's offline development program Shepatin
024576,000009: ## was based; the listing herein transcribed was actually for
024577,000010: ## the equivalent revision 0 of Shepatin.
024578,000011: ## This file is intended to be a faithful transcription, except
024579,000012: ## that the code format has been changed to conform to the
024580,000013: ## requirements of the yaYUL assembler rather than the
024581,000014: ## original YUL assembler.
024582,000015: ## Reference: pp. 554-568
024583,000016: ## Assembler: yaYUL
024584,000017: ## Contact: Ron Burkey <info@sandroid.org>.
024585,000018: ## Website: www.ibiblio.org/apollo/index.html
024586,000019: ## Mod history: 2017-05-24 MAS Created from Sunburst 120.
024587,000020: ## 2017-06-07 HG Transcribed
024588,000021: ## 2017-06-15 HG Fix operand ACENTRAL -> A2CNTRAL
024589,000022: ## operator CS -> CAE
024590,000023: ## TC -> INDEX
024591,000024: ## 2017-06-22 RSB Proofed comment text with
024592,000025: ## octopus/ProoferComments.
024593,000026:
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Page 554 |
024595,000028: 21,2561 BANK 21
024596,000029: 21,2561 E6,1541 EBANK= DT
024597,000030: # CONTROL REACHES THIS POINT UNDER EITHER OF THE FOLLOWING TWO CONDITIONS ONCE THE DESCENT ENGINE AND THE DIGITAL
024598,000031: # AUTOPILOT ARE BOTH ON:
024599,000032: # A) THE TRIM GIMBAL CONTROL LAW WAS ON DURING THE PREVIOUS Q,R-AXIS TIME5 INTERRUPT (OR THE DAPIDLER
024600,000033: # INITIALIZATION WAS SET FOR TRIM GIMBAL CONTROL AND THIS IS THE FIRST PASS), OR
024601,000034: # B) THE Q,R-AXES RCS JET CONTROL LAW ATTITUDE STEERING MODE REDUCED THE ATTITUDE ERROR TO LESS THAN
024602,000035: # 1DEGREE ON EACH AXIS ON ITS LAST TIME5 INTERRUPT.
024603,000036:
024604,000037: # THE FOLLOWING T5RUPT ENTRY BEGINS THE TRIM GIMBAL CONTROL LAW. SINCE IT IS ASSUMED THAT THE LEM WILL REMAIN
024605,000038: # UNDER TRIM GIMBAL CONTROL, A KALMAN FILTER RUPT IS SET UP TO BEGIN 30 MS FROM THE TRIM GIMBAL RUPT.
024606,000039:
024607,000040: 21,2561 32374 GTS CAF MS30F # RESET TIMER IMMEDIATELY: DT = 30 MS
024608,000041: 21,2562 54030 TS TIME5
024609,000042:
024610,000043: 21,2563 22016 LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED)
024611,000044: 21,2564 00006 EXTEND
024612,000045: 21,2565 22012 QXCH QRUPT
024613,000046:
024614,000047: 21,2566 00006 EXTEND
024615,000048: 21,2567 32403 DCA POSTPFIL
024616,000049: 21,2570 53001 DXCH T5ADR
024617,000050:
024618,000051: 21,2571 12663 TCF GTSTEST # SKIP OVER XFORMS UNTIL REORGANIZATION
024619,000052:
024620,000053: 21,2572 00006 GIMBAL EXTEND # GET D.P. FILTERED CDUY VALUE (ONES COMP)
024621,000054: 21,2573 31553 DCA CDUYFIL # SCALED AT 2PI RADIANS
024622,000055: 21,2574 02303 TC ONETOTWO # FORM S.P. VALUE IN TWOS COMPLEMENT AT PI
024623,000056: 21,2575 00006 EXTEND
024624,000057: 21,2576 20767 MSU CDUYD # FORM Y-AXIS ERROR IN ONES COMPLEMENT
024625,000058: 21,2577 55467 TS QDIFF # (SAVE IN Q-AXIS ERROR LOC: EFFICIENCY)
024626,000059:
024627,000060: 21,2600 00006 EXTEND # GET D.P. FILTERED CDUZ VALUE (ONES COMP)
024628,000061: 21,2601 31555 DCA CDUZFIL # SCALED AT 2PI RADIANS
024629,000062: 21,2602 02303 TC ONETOTWO # FORM S.P. VALUE IN TWOS COMPLEMENT AT PI
024630,000063: 21,2603 00006 EXTEND
024631,000064: 21,2604 20770 MSU CDUZD # FORM Z-AXIS ERROR IN ONES COMPLEMENT
024632,000065: 21,2605 55470 TS RDIFF # (SAVE IN R-AXIS ERROR LOC: EFFICIENCY)
024633,000066:
024634,000067: # TRANSFORM Y,Z CDU ERRORS TO THE Q,R-AXES.
024635,000068:
024636,000069: 21,2606 00006 EXTEND # GET BOTH Y AND Z CDU ERRORS AT PI RAD
024637,000070: 21,2607 31470 DCA QDIFF
024638,000071: 21,2610 03420 TC QTRANSF # FORM Q-ERROR IN A (SCALED AT PI RAD)
024639,000072: 21,2611 53470 DXCH QDIFF # STORE Q-ERROR, GET BOTH Y,Z CDU ERRORS
024640,000073: 21,2612 03430 TC RTRANSF # FORM R-ERROR IN A (SCALED AT PI RAD)
024641,000074: 21,2613 57470 XCH RDIFF # STORE R-ERROR
024642,000075:
024643,000076: # TRANSFORM THE FILTERED Y,Z RATES TO THE Q,R-AXES.
024644,000077: # (THESE MAY BE NEEDED FOR THE RATE DERIVATION FOR THE JETS IF THEY MUST BE USED.)
024645,000078:
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Page 555 |
024647,000080: 21,2614 31560 CAE DCDUZFIL # GET FILTERED Y,Z RATES
024648,000081: 21,2615 54001 TS L # SCALED AT PI/4 RADIANS/SECOND
024649,000082: 21,2616 31556 CAE DCDUYFIL
024650,000083: 21,2617 03420 TC QTRANSF # FOR Q-AXIS RATE
024651,000084: 21,2620 55417 TS OMEGAQ # STORED SCALED AT PI/4 RADIANS/SECOND
024652,000085:
024653,000086: 21,2621 31560 CAE DCDUZFIL # GET FILTERED Y,Z RATES
024654,000087: 21,2622 54001 TS L # SCALED AT PI/4 RADIANS/SECOND
024655,000088: 21,2623 31556 CAE DCDUYFIL
024656,000089: 21,2624 03430 TC RTRANSF # FOR R-AXIS RATE
024657,000090: 21,2625 55421 TS OMEGAR # STORED SCALED AT PI/4 RADIANS/SECOND
024658,000091:
024659,000092: # TRANSFORM THE FILTERED Y,Z ACCELERATIONS TO THE Q,R-AXES.
024660,000093: # (THESE MAY BE NEEDED TO CALCULATE TRIM GIMBAL OFF-TIMES IF ATTITUDE ERROR HAS GONE BEYOND TRIM GIMBAL CONTROL.)
024661,000094:
024662,000095: 21,2626 31564 CAE D2CDUZFL # GET FILTERED Y,Z ACCELERATIONS
024663,000096: 21,2627 54001 TS L # SCALED AT PI/8 RADIANS/SECOND(2)
024664,000097: 21,2630 31562 CAE D2CDUYFL
024665,000098: 21,2631 03420 TC QTRANSF # FORM Q-AXIS ACCELERATION
024666,000099:
024667,000100: 21,2632 55420 TS ALPHAQ # STORE AT PI/8 RADIANS/SECOND(2)
024668,000101:
024669,000102: 21,2633 31564 CAE D2CDUZFL # GET FILTERED Y,Z ACCELERATIONS
024670,000103: 21,2634 54001 TS L # SCALED AT PI/8 RADIANS/SECOND(2)
024671,000104: 21,2635 31562 CAE D2CDUYFL
024672,000105: 21,2636 03430 TC RTRANSF # FORM R-AXIS ACCELERATION
024673,000106: 21,2637 55422 TS ALPHAR # STORE AT PI/8 RADIANS/SECOND(2)
024674,000107:
024675,000108: # EXTRAPOLATE THETA AND OMEGA OVER THE 20 MS DELAY BETWEEN THE KALMAN FILTER AND THE TRIM GIMBAL CONTROL.
024676,000109:
024677,000110: 21,2640 31417 CAE OMEGAQ
024678,000111: 21,2641 00006 EXTEND
024679,000112: 21,2642 72661 MP DTW
024680,000113: 21,2643 27467 ADS QDIFF
024681,000114:
024682,000115: 21,2644 31421 CAE OMEGAR
024683,000116: 21,2645 00006 EXTEND
024684,000117: 21,2646 72661 MP DTW
024685,000118: 21,2647 27470 ADS RDIFF
024686,000119:
024687,000120: 21,2650 31420 CAE ALPHAQ
024688,000121: 21,2651 00006 EXTEND
024689,000122: 21,2652 72662 MP DTA
024690,000123:
024691,000124: 21,2653 27417 ADS OMEGAQ
024692,000125:
024693,000126: 21,2654 31422 CAE ALPHAR
024694,000127: 21,2655 00006 EXTEND
024695,000128: 21,2656 72662 MP DTA
024696,000129: 21,2657 27421 ADS OMEGAR
024697,000130:
024698,000131: 21,2660 15751 TCF RESUME
024699,000132:
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Page 556 |
024701,000134:
024702,000135: 21,2661 00122 DTW DEC .005
024703,000136: 21,2662 00051 DTA DEC .0025
024704,000137:
024705,000138: # TEST TO SEE IF TRIM GIMBAL CONTROL LAW HAS KEPT BOTH ATTITUDE ERRORS BELOW THE 1 DEGREE BOUNDARY WITH THE REGION
024706,000139: # OF RCS CONTROL LAW DOMINANCE OR IS STILL REDUCING THE ERROR.
024707,000140:
024708,000141: 21,2663 37754 GTSTEST CAF TRYGIMBL # VERIFY THAT GTS IS STILL OPERATIVE.
024709,000142: 21,2664 70077 MASK DAPBOOLS
024710,000143: 21,2665 10000 CCS A
024711,000144: 21,2666 12720 TCF RCSCNTRL # GTS NOT OPERATIVE
024712,000145: 21,2667 37755 CAF BIT1
024713,000146: 21,2670 54066 LOOPTEST TS QRCNTR
024714,000147: 21,2671 50066 INDEX QRCNTR
024715,000148: 21,2672 11467 CCS QDIFF # SCALED AT PI.
024716,000149: 21,2673 62716 AD -TGBND+1 # -2 DEG SCALED AT PI, + 1 BIT.
024717,000150: 21,2674 12676 TCF +2
024718,000151: 21,2675 62716 AD -TGBND+1
024719,000152: 21,2676 00006 EXTEND
024720,000153: 21,2677 62701 BZMF +2 # IS ERROR MAG LESS,EQUAL 2 DEG.
024721,000154: 21,2700 12720 TCF RCSCNTRL # NO. GO TO JETS.
024722,000155: 21,2701 30066 CA QRCNTR # YES. TRY RATE MAGNITUDE.
024723,000156: 21,2702 60000 DOUBLE
024724,000157: 21,2703 50000 INDEX A
024725,000158: 21,2704 11417 CCS OMEGAQ # SCALED AT PI/4.
024726,000159: 21,2705 62717 AD -RATBD+1 # -.65 DEC/SEC SCALED AT PI/4 + 1 BIT
024727,000160: 21,2706 12710 TCF +2
024728,000161:
024729,000162: 21,2707 62717 AD -RATBD+1
024730,000163: 21,2710 00006 EXTEND
024731,000164: 21,2711 62713 BZMF +2 # IS RATE MAG LESS,EQUAL .65 DEG/SEC.
024732,000165: 21,2712 12720 TCF RCSCNTRL # NO. GO TO JETS.
024733,000166: 21,2713 10066 CCS QRCNTR # YES. THIS AXIS IS FINE. ARE BOTH DONE.
024734,000167: 21,2714 12670 TCF LOOPTEST # TRY THE Q AXIS NOW.
024735,000168: 21,2715 12765 TCF GTSRAXIS # USE TRIM GIMBAL CONTROL.
024736,000169: 21,2716 77512 -TGBND+1 OCT 77512 # -2 DEG SCALED AT PI, + 1 BIT.
024737,000170: 21,2717 77423 -RATBD+1 OCT 77423 # -.65 DEG/SEC SCALED AT PI/4 + 1 BIT
024738,000171: # ATTITUDE ERROR IS BEYOND TRIM GIMBAL CONTROL LAW RANGE. SET UP FOR RCS CONTROL LAW (Q,R-AXIS) AND CALCULATE
024739,000172: # TIMES TO TURN OFF THE GIMBAL DRIVES.
024740,000173:
024741,000174: 21,2720 32743 RCSCNTRL CAF POSTQRFL # CHANGE LOCATION OF NEXT T5RUPT FROM
024742,000175: 21,2721 55000 TS T5ADR # FILTER TO FILDUMMY
024743,000176:
024744,000177: 21,2722 00006 EXTEND # SET UP POST P-AXIS T5RUPT TO GO TO
024745,000178: 21,2723 32745 DCA QRJPFILT # DUMMYFIL INSTEAD OF FILTER. USE 2CADR
024746,000179: 21,2724 53572 DXCH PFILTADR # BECAUSE DUMMYFIL NOW IN BANK 16.
024747,000180:
024748,000181: 21,2725 00006 EXTEND # PREPARE FOR SEQUENCED RESUMPTION OF
024749,000182: 21,2726 30034 DCA CDUY # Q,R-AXIS RCS CONTROL RATE DERIVATION
024750,000183: 21,2727 53431 DXCH OLDYFORQ # BY PROVIDING OLD CDU READINGS
024751,000184:
024752,000185: 21,2730 00006 EXTEND # MOVE FILTERED AND TRANSFORMED ATTITUDE
024753,000186:
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Page 557 |
024755,000188: 21,2731 31470 DCA QDIFF # ERRORS INTO ERASABLE FOR Q,R-AXIS RCS
024756,000189: 21,2732 57470 XCH RERROR # CONTROL; NOTE THAT THE AXES SEEM TO BE
024757,000190: 21,2733 23467 LXCH QERROR # INTERCHANGED BUT ARE NOT CONFUSED
024758,000191:
024759,000192: 21,2734 37755 CAF ONE
024760,000193: 21,2735 05701 TC WAITLIST
024761,000194: 21,2736 E6,1541 EBANK= DT
024762,000195: 21,2736 02750 42006 2CADR CHEKDRIV # DO TGOFF CALCULATION IN WAITLIST TASK
024763,000196:
024764,000197: 21,2740 00006 EXTEND # GO TO Q,R-AXES CONTROL IMMEDIATELY
024765,000198: 21,2741 32747 DCA TGENTRY
024766,000199: 21,2742 52006 DTCB
024767,000200:
024768,000201: 21,2743 03011 POSTQRFL GENADR FILDUMMY
024769,000202: 21,2744 E6,1656 EBANK= AOSQTERM
024770,000203: 21,2744 03631 34006 QRJPFILT 2CADR DUMMYFIL # NECESSARY BECAUSE DUMMYFIL IN BANK 16.
024771,000204:
024772,000205: 21,2746 E6,1541 EBANK= DT
024773,000206: 21,2746 02755 36006 TGENTRY 2CADR STILLRCS
024774,000207:
024775,000208:
024776,000209: 21,2750 37761 CHEKDRIV CAF ZERO # CALCULATE Q-AXIS GIMBAL DRIVE SHUTDOWN T
024777,000210: 21,2751 03441 TC TGOFFCAL
024778,000211: 21,2752 05701 TC WAITLIST
024779,000212: 21,2753 E6,1541 EBANK= DT
024780,000213: 21,2753 03367 42006 2CADR OFFGIMQ
024781,000214:
024782,000215: 21,2755 37754 CAF TWO # CALCULATE R-AXIS GIMBAL DRIVE SHUTDOWN T
024783,000216: 21,2756 03441 TC TGOFFCAL
024784,000217: 21,2757 05701 TC WAITLIST
024785,000218:
024786,000219: 21,2760 E6,1541 EBANK= DT
024787,000220: 21,2760 03372 42006 2CADR OFFGIMR
024788,000221:
024789,000222: 21,2762 03377 TC WRCHN12 # SET UP NEW DRIVES AS OF NOW
024790,000223:
024791,000224: 21,2763 15745 TCF TASKOVER
024792,000225:
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024794,000227:
024795,000228: # THE DRIVE SETTING ALGORITHM
024796,000229: # DEL = SGN(OMEGA.K + SGN(ALPHA)ALPHA(2)/2) ONLY +1/-1
024797,000230:
024798,000231: # NEGUSUM = ERROR.K(2) + DEL((OMEGA.K.DEL + ALPHA(2)/2)(3/2) + (OMEGA.K.DEL + ALPHA(2)/3)ALPHA
024799,000232:
024800,000233: # DRIVE = -SGN(NEGUSUM)
024801,000234:
024802,000235: 21,2764 76504 -.04266 DEC -.04266
024803,000236: 21,2765 37754 GTSRAXIS CAF TWO # SET INDEXER FOR R-AXIS CALCULATIONS
024804,000237: 21,2766 54066 TS QRCNTR
024805,000238: 21,2767 12772 TCF GTSQAXIS
024806,000239:
024807,000240: 21,2770 37761 GOQTRIMG CAF ZERO # SET INDEXER FOR Q-AXIS CALCULATIONS
024808,000241: 21,2771 54066 TS QRCNTR
024809,000242:
024810,000243: 21,2772 00006 GTSQAXIS EXTEND
024811,000244: 21,2773 50066 INDEX QRCNTR # PICK UP K AND K(2) FOR THIS AXIS
024812,000245: 21,2774 31526 DCA KQ
024813,000246: 21,2775 52062 DXCH KCENTRAL
024814,000247:
024815,000248: 21,2776 00006 EXTEND
024816,000249: 21,2777 50066 INDEX QRCNTR # PICK UP OMEGA AND ALPHA FOR THIS AXIS
024817,000250: 21,3000 31420 DCA OMEGAQ
024818,000251: 21,3001 52064 DXCH WCENTRAL
024819,000252:
024820,000253: 21,3002 30066 CAE QRCNTR
024821,000254: 21,3003 00006 EXTEND
024822,000255: 21,3004 13007 BZF +3
024823,000256: 21,3005 31470 CAE RDIFF
024824,000257: 21,3006 13010 TCF +2
024825,000258: 21,3007 31467 CAE QDIFF
024826,000259:
024827,000260: 21,3010 00006 EXTEND # RESCALE DIFFERENCE BY MULTIPLYING BY
024828,000261: 21,3011 77747 MP BIT7 # 2(6)
024829,000262: 21,3012 22071 LXCH ETHETA
024830,000263:
024831,000264: 21,3013 30061 CAE KCENTRAL # TEST ON MAGNITUDE OF ACCDOT
024832,000265: 21,3014 62764 AD -.04266
024833,000266:
024834,000267: 21,3015 00006 EXTEND
024835,000268: 21,3016 63032 BZMF ACCDOTSM # BRANCH IF ACCDOT IS SMALL
024836,000269:
024837,000270: 21,3017 37740 ACCDOTLG CAF BIT14 # ACCDOT IS COMPARITIVELY LARGE
024838,000271: 21,3020 54072 TS SF1 # SET UP SCALE FACTORS
024839,000272: 21,3021 37742 CAF BIT12
024840,000273: 21,3022 54073 WSFTEST TS SF2
024841,000274:
024842,000275: 21,3023 10063 CCS WCENTRAL # TEST ON MAGNITUDE OF OMEGA
024843,000276: 21,3024 63055 AD -.04438
024844,000277: 21,3025 13027 TCF +2
024845,000278: 21,3026 63055 AD -.04438
024846,000279:
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024848,000281: 21,3027 00006 EXTEND
024849,000282: 21,3030 63046 BZMF ASFTEST # IF SMALL, GO TO ALPHA TEST
024850,000283:
024851,000284: 21,3031 13070 TCF WLARGE
024852,000285:
024853,000286: 21,3032 30061 ACCDOTSM CAE KCENTRAL # RESCALE IF ACCDOT IS SMALL
024854,000287: 21,3033 00006 EXTEND
024855,000288: 21,3034 77751 MP BIT5 # RESCALE K BY MULTIPLYING BY 2(4)
024856,000289: 21,3035 22061 LXCH KCENTRAL
024857,000290: 21,3036 30061 CAE KCENTRAL
024858,000291: 21,3037 00006 EXTEND
024859,000292: 21,3040 70000 SQUARE
024860,000293: 21,3041 54062 TS K2CNTRAL
024861,000294: 21,3042 37744 CAF BIT10 # SET UP VARIABLE SCALE FACTORS
024862,000295: 21,3043 54072 TS SF1
024863,000296: 21,3044 37752 CAF BIT4
024864,000297: 21,3045 13022 TCF WSFTEST # GO TEST ON MAGNITUDE OF OMEGA
024865,000298:
024866,000299: 21,3046 10064 ASFTEST CCS ACENTRAL # TEST ON MAGNITUDE OF ALPHA
024867,000300:
024868,000301: 21,3047 63056 AD -.08882
024869,000302: 21,3050 13052 TCF +2
024870,000303: 21,3051 63056 AD -.08882
024871,000304: 21,3052 00006 EXTEND
024872,000305: 21,3053 63057 BZMF WARESCAL # IF SMALL, GO TO W,A RESCALING
024873,000306: 21,3054 13070 TCF WLARGE # IF LARGE, DO SAME AS IF W LARGE
024874,000307:
024875,000308: 21,3055 76450 -.04438 DEC -.04438
024876,000309: 21,3056 75120 -.08882 DEC -.08882
024877,000310:
024878,000311: 21,3057 30063 WARESCAL CAE WCENTRAL # RESCALE OMEGA BY MULTIPLYING BY 2(4)
024879,000312: 21,3060 00006 EXTEND
024880,000313: 21,3061 77751 MP BIT5
024881,000314: 21,3062 22063 LXCH WCENTRAL
024882,000315:
024883,000316: 21,3063 30064 CAE ACENTRAL # RESCALE ALPHA BY MULTIPLYING BY 2(3)
024884,000317: 21,3064 00006 EXTEND
024885,000318: 21,3065 77752 MP BIT4
024886,000319: 21,3066 22064 LXCH ACENTRAL
024887,000320:
024888,000321: 21,3067 13100 TCF ALGORTHM
024889,000322:
024890,000323: 21,3070 30072 WLARGE CAE SF1 # RESCALE VARIABLE SCALE FACTORS
024891,000324:
024892,000325: 21,3071 00006 EXTEND
024893,000326: 21,3072 77741 MP BIT13 # SF1 = SF1*2(-2)
024894,000327: 21,3073 54072 TS SF1
024895,000328: 21,3074 30073 CAE SF2
024896,000329: 21,3075 00006 EXTEND
024897,000330: 21,3076 77750 MP BIT6 # SF2 = SF2*2(-9)
024898,000331: 21,3077 54073 TS SF2
024899,000332:
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Page 560 |
024901,000334: 21,3100 30071 ALGORTHM CAE ETHETA # GET RESCALED ERROR THETA
024902,000335: 21,3101 00006 EXTEND
024903,000336:
024904,000337: 21,3102 70062 MP K2CNTRAL # FORM K(2)*THETA IN D.P.
024905,000338: 21,3103 22070 LXCH K2THETA
024906,000339: 21,3104 00006 EXTEND # FORM K(2)*THETA*SF2 IN D.P.
024907,000340: 21,3105 70073 MP SF2
024908,000341: 21,3106 52071 DXCH K2THETA
024909,000342: 21,3107 00006 EXTEND
024910,000343: 21,3110 70073 MP SF2
024911,000344: 21,3111 26071 ADS K2THETA +1
024912,000345:
024913,000346: 21,3112 30063 CA WCENTRAL # GET OMEGA
024914,000347: 21,3113 00006 EXTEND
024915,000348: 21,3114 70061 MP KCENTRAL # FORM K*OMEGA IN D.P.
024916,000349: 21,3115 22061 LXCH OMEGA.K
024917,000350: 21,3116 00006 EXTEND # FORM OMEGA*K*SF1 IN D.P.
024918,000351: 21,3117 70072 MP SF1
024919,000352: 21,3120 52062 DXCH OMEGA.K
024920,000353: 21,3121 00006 EXTEND
024921,000354: 21,3122 70072 MP SF1
024922,000355: 21,3123 26062 ADS OMEGA.K +1
024923,000356:
024924,000357: 21,3124 30064 CA ACENTRAL # FORM ALPHA(2) IN D.P.
024925,000358: 21,3125 00006 EXTEND
024926,000359: 21,3126 70000 SQUARE
024927,000360:
024928,000361: 21,3127 52073 DXCH A2CNTRAL
024929,000362:
024930,000363: 21,3130 30064 CAE ACENTRAL # GET SGN(ALPHA)
024931,000364: 21,3131 00006 EXTEND
024932,000365: 21,3132 63136 BZMF +4
024933,000366: 21,3133 00006 EXTEND
024934,000367: 21,3134 30073 DCA A2CNTRAL
024935,000368: 21,3135 13140 TCF +3
024936,000369: 21,3136 00006 EXTEND
024937,000370: 21,3137 40073 DCS A2CNTRAL
024938,000371: 21,3140 53521 DXCH FUNCTION # SAVE AS SGN(ALPHA)ALPHA(2)
024939,000372: 21,3141 00006 EXTEND
024940,000373: 21,3142 30062 DCA OMEGA.K
024941,000374: 21,3143 21521 DAS FUNCTION # FORM FUNCT1
024942,000375:
024943,000376: 21,3144 11520 CCS FUNCTION # DEL = SGN(FUNCT1)
024944,000377: 21,3145 13151 TCF POSFNCT1
024945,000378: 21,3146 13150 TCF +2
024946,000379: 21,3147 13153 TCF NEGFNCT1
024947,000380:
024948,000381: 21,3150 11521 CCS FUNCTION +1 # USE LOW ORDER WORD SINCE HIGH IS ZERO
024949,000382: 21,3151 37754 POSFNCT1 CAF TWO
024950,000383: 21,3152 13154 TCF +2
024951,000384:
024952,000385: 21,3153 37761 NEGFNCT1 CAF ZERO
024953,000386: 21,3154 67763 AD NEG1
024954,000387:
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|
Page 561 |
024956,000389: 21,3155 54065 TS DEL
024957,000390:
024958,000391: 21,3156 10065 CCS DEL # MAKE OMEGA*K REALLY DEL*OMEGA*K
024959,000392: 21,3157 13164 TCF FUNCT2 # (NOTHING NEED BE DONE)
024960,000393: 21,3160 25253 .66667 DEC .66667
024961,000394: 21,3161 00006 EXTEND
024962,000395: 21,3162 40062 DCS OMEGA.K
024963,000396: 21,3163 52062 DXCH OMEGA.K # CHANGE SIGN OF OMEGA.K
024964,000397:
024965,000398: 21,3164 00006 FUNCT2 EXTEND
024966,000399: 21,3165 30062 DCA OMEGA.K
024967,000400: 21,3166 53521 DXCH FUNCTION # DEL*OMEGA*K
024968,000401: 21,3167 00006 EXTEND
024969,000402: 21,3170 30073 DCA A2CNTRAL
024970,000403: 21,3171 21521 DAS FUNCTION # DEL*OMEGA*K + SGN(ALPHA)ALPHA(2)
024971,000404:
024972,000405: 21,3172 30072 FUNCT3 CAE A2CNTRAL # CALCULATE (2/3)SGN(ALPHA)ALPHA(2)
024973,000406: 21,3173 00006 EXTEND
024974,000407: 21,3174 73160 MP .66667
024975,000408: 21,3175 52073 DXCH A2CNTRAL
024976,000409: 21,3176 56001 XCH L
024977,000410: 21,3177 00006 EXTEND
024978,000411: 21,3200 73160 MP .66667
024979,000412: 21,3201 26073 ADS A2CNTRAL +1
024980,000413: 21,3202 54001 TS L
024981,000414: 21,3203 13205 TCF +2
024982,000415: 21,3204 60072 AD A2CNTRAL
024983,000416:
024984,000417: 21,3205 52062 DXCH OMEGA.K # DEL*OMEGA*K+
024985,000418: 21,3206 20073 DAS A2CNTRAL # (2/3)SGN(ALPHA)ALPHA(2)=G
024986,000419:
024987,000420: 21,3207 30072 CAE A2CNTRAL # G*ALPHA IN D.P.
024988,000421:
024989,000422: 21,3210 00006 EXTEND
024990,000423: 21,3211 70064 MP ACENTRAL
024991,000424: 21,3212 52073 DXCH A2CNTRAL
024992,000425: 21,3213 56001 XCH L
024993,000426: 21,3214 00006 EXTEND
024994,000427: 21,3215 70064 MP ACENTRAL
024995,000428: 21,3216 26073 ADS A2CNTRAL +1
024996,000429: 21,3217 54001 TS L
024997,000430: 21,3220 13222 TCF +2
024998,000431: 21,3221 26072 ADS A2CNTRAL
024999,000432:
025000,000433: 21,3222 52073 DXCH A2CNTRAL # FIRST AND THIRD TERMS
025001,000434: 21,3223 20071 DAS K2THETA # SUMMED IN D.P.
025002,000435:
025003,000436: # THE FOLLOWING SECTION CALCULATES .707*DEL*FUNCTION(3/2) AND ADDS IT TO THE OTHER TWO TERMS OF NEGUSUM.
025004,000437:
025005,000438: 21,3224 11520 CCS FUNCTION # TEST FOR HIGH ORDER WORD NON-ZERO
025006,000439: 21,3225 13272 TCF FMAGTEST # YES, SEE IF RESCALING IS NECESSARY
025007,000440:
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|
Page 562 |
025009,000442: 21,3226 13230 TCF +2 # NO, USE LOW ORDER WORD ONLY
025010,000443: 21,3227 26501 .707GTS DEC .70711 # (CCS HOLE USED FOR DATA)
025011,000444: 21,3230 05041 TC T6JOBCHK
025012,000445:
025013,000446: 21,3231 31521 CAE FUNCTION +1 # USE LOW ORDER WORD ONLY
025014,000447: 21,3232 05435 TC SPROOT # SQUARE ROOT SUBROUTINE CALL
025015,000448: 21,3233 00006 EXTEND # 3/2
025016,000449: 21,3234 71521 MP FUNCTION +1 # FUNCTION
025017,000450: 21,3235 00006 EXTEND # (NEEDS TO BE SHIFTED RIGHT 21 PLACES)
025018,000451: 21,3236 77746 MP BIT8
025019,000452: 21,3237 56001 XCH L
025020,000453: 21,3240 37761 CAF ZERO # 3/2
025021,000454: 21,3241 53521 DXCH FUNCTION # SAVE FUNCTION IN FUNCTION LOCATION
025022,000455: 21,3242 13257 TCF DELTEST
025023,000456:
025024,000457: 21,3243 31520 SQRESCAL CAE FUNCTION # HIGH ORDER WORD OF FUNCTION NEEDS TO BE
025025,000458: 21,3244 00006 EXTEND # RESCALED FOR ACCURACY, SO MULTIPLY D.P.
025026,000459: 21,3245 77747 MP BIT7 # VALUE BY 2(6)
025027,000460: 21,3246 23520 LXCH FUNCTION
025028,000461: 21,3247 37761 CAF ZERO
025029,000462: 21,3250 57521 XCH FUNCTION +1
025030,000463: 21,3251 00006 EXTEND
025031,000464: 21,3252 77747 MP BIT7
025032,000465: 21,3253 21521 DAS FUNCTION
025033,000466:
025034,000467: 21,3254 37761 CAF ZERO # SET FLAG TO GO TO RESCALE, AND GO TO DO
025035,000468: 21,3255 55517 TS MULTFLAG # SQUARE ROOT AND FUNCTION(3/2)
025036,000469: 21,3256 13277 TCF DOSPROOT # CALCULATION
025037,000470:
025038,000471: 21,3257 47735 DELTEST CS POSMAX # SET FLAG TO GO TO NEGUSUM
025039,000472: 21,3260 55517 TS MULTFLAG
025040,000473: 21,3261 10065 CCS DEL # GET DEL*.707
025041,000474: 21,3262 33227 CAF .707GTS
025042,000475: 21,3263 13265 TCF +2
025043,000476: 21,3264 43227 CS .707GTS
025044,000477: 21,3265 13301 TCF SPDMULT # GO TO MULTIPLY ROUTINE
025045,000478:
025046,000479: 21,3266 37735 RESHIFT CAF POSMAX # SET FLAG TO GO TO DELTEST
025047,000480:
025048,000481: 21,3267 55517 TS MULTFLAG
025049,000482: 21,3270 37750 CAF BIT6
025050,000483: 21,3271 13301 TCF SPDMULT # GOTO MULTIPLY ROUTINE
025051,000484:
025052,000485: 21,3272 65522 FMAGTEST AD 63/64+1 # IF MAGNITUDE OF HIGH ORDER WORD IS LESS
025053,000486: 21,3273 54000 OVSK # THAN 1/64 RESCALE WHOLE D.P. WORD
025054,000487: 21,3274 13243 TCF SQRESCAL
025055,000488:
025056,000489: 21,3275 37735 CAF POSMAX
025057,000490: 21,3276 55517 TS MULTFLAG
025058,000491:
025059,000492: 21,3277 31520 DOSPROOT CAE FUNCTION # USE HIGH ORDER WORD ONLY
025060,000493:
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|
Page 563 |
025062,000495: 21,3300 05435 TC SPROOT # SQUARE ROOT SUBROUTINE CALL
025063,000496:
025064,000497: 21,3301 57520 SPDMULT XCH FUNCTION # THIS IS AN OPEN SUBROUTINE WHICH USES
025065,000498: 21,3302 00006 EXTEND # MULTFLAG AS A RETURN SWITCH.
025066,000499: 21,3303 71520 MP FUNCTION # IT MULTIPLIES FUNCTION (D.P.) BY C(A)
025067,000500: 21,3304 53521 DXCH FUNCTION # AND LEAVES THE RESULT IN FUNCTION (D.P.)
025068,000501: 21,3305 00006 EXTEND # IT IS USED FOR-
025069,000502: 21,3306 70001 MP L # 1) F(1/2)*F
025070,000503: 21,3307 27521 ADS FUNCTION +1 # 2) (.707*DEL)*F
025071,000504: 21,3310 54001 TS L # 3) 2(-9)*F
025072,000505: 21,3311 13313 TCF +2
025073,000506: 21,3312 27520 ADS FUNCTION
025074,000507:
025075,000508: 21,3313 11517 CCS MULTFLAG # POSMAX MEANS GO TO DELTEST
025076,000509: 21,3314 13257 TCF DELTEST # ZERO MEANS GO TO RESHIFT
025077,000510: 21,3315 13266 TCF RESHIFT # NEGMAX MEANS GO TO NEGUSUM
025078,000511:
025079,000512: 21,3316 00006 NEGUSUM EXTEND # FORM FINAL SUM FOR NEGUSUM
025080,000513: 21,3317 31521 DCA FUNCTION
025081,000514:
025082,000515: 21,3320 20071 DAS K2THETA
025083,000516:
025084,000517: 21,3321 10070 CCS K2THETA # TEST FOR ZERO HIGH ORDER PART
025085,000518: 21,3322 13326 TCF NEGDRIVE
025086,000519: 21,3323 13325 TCF +2
025087,000520: 21,3324 13330 TCF POSDRIVE
025088,000521:
025089,000522: 21,3325 10071 CCS K2THETA +1 # SIGN TEST ON LOW ORDER PART
025090,000523: 21,3326 37754 NEGDRIVE CAF TWO
025091,000524: 21,3327 13331 TCF +2
025092,000525: 21,3330 37761 POSDRIVE CAF ZERO
025093,000526: 21,3331 67763 AD NEG1
025094,000527: 21,3332 50066 INDEX ITEMP6 # SET NEGUQ,R TO NEG DRIVE
025095,000528: 21,3333 55522 TS NEGUQ
025096,000529:
025097,000530: 21,3334 40000 COM
025098,000531: 21,3335 00006 EXTEND # SEND BACK JERK TERM
025099,000532: 21,3336 50066 INDEX ITEMP6
025100,000533: 21,3337 71531 MP ACCDOTQ
025101,000534: 21,3340 50066 INDEX ITEMP6
025102,000535: 21,3341 23532 LXCH QACCDOT
025103,000536:
025104,000537: 21,3342 10066 CCS QRCNTR # LOOP COUNTER
025105,000538:
025106,000539: 21,3343 12770 TCF GOQTRIMG
025107,000540:
025108,000541: # TRANSFORM JERKS BACK TO GIMBAL AXES.
025109,000542:
025110,000543: 21,3344 31532 CAE QACCDOT # SCALED AT PI/2(7)
025111,000544: 21,3345 00006 EXTEND
025112,000545: 21,3346 71400 MP MR12 # SCALED AT 2
025113,000546: 21,3347 55566 TS Y3DOT
025114,000547:
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|
Page 564 |
025116,000549: 21,3350 31534 CAE RACCDOT # SCALED AT PI/2(7)
025117,000550: 21,3351 00006 EXTEND
025118,000551:
025119,000552: 21,3352 71402 MP MR13 # SCALED AT 2
025120,000553: 21,3353 27566 ADS Y3DOT
025121,000554: 21,3354 27566 ADS Y3DOT # SCALED AT PI/2(7)
025122,000555:
025123,000556: 21,3355 31532 CAE QACCDOT # SCALED AT PI/2(7)
025124,000557: 21,3356 00006 EXTEND
025125,000558: 21,3357 71401 MP MR22 # SCALED AT 1
025126,000559: 21,3360 55570 TS Z3DOT
025127,000560: 21,3361 31534 CAE RACCDOT # SCALED AT PI/2(7)
025128,000561: 21,3362 00006 EXTEND
025129,000562: 21,3363 71403 MP MR23 # SCALED AT 1
025130,000563: 21,3364 27570 ADS Z3DOT # SCALED AT PI/2(7)
025131,000564:
025132,000565: 21,3365 03377 TC WRCHN12 # SEND GIMBAL DRIVES TO SERVOS
025133,000566: 21,3366 15751 TCF RESUME # WAIT UNTIL NEXT TRIM GIMBAL RUPT
025134,000567:
025135,000568: # WAITLIST TASKS TO SET TRIM GIMBAL TURN OFF BITS.
025136,000569:
025137,000570: 21,3367 37761 OFFGIMQ CAF ZERO # SET Q-AXIS FLAG TO ZERO
025138,000571: 21,3370 55522 TS NEGUQ
025139,000572: 21,3371 13374 TCF +3
025140,000573: 21,3372 37761 OFFGIMR CAF ZERO # SET R-AXIS FLAG TO ZERO
025141,000574: 21,3373 55524 TS NEGUR
025142,000575:
025143,000576: 21,3374 03377 TC WRCHN12 # FLAGS TO CHANNEL BITS
025144,000577: 21,3375 15745 TCF TASKOVER
025145,000578:
025146,000579: # THE WRCHN12 SUBROUTINE SETS BITS 9,10,11,12 OF CHANNEL 12 ON THE BASIS OF THE CONTENTS OF NEGUQ,NEGUR WHICH ARE
025147,000580: # THE NEGATIVES OF THE TRIM GIMBAL DESIRED DRIVES.
025148,000581:
025149,000582: 21,3376 07400 BGIM OCTAL 07400
025150,000583: 21,3377 0066 CHNL12 EQUALS ITEMP6
025151,000584:
025152,000585: 21,3377 43376 WRCHN12 CS BGIM # SAVE THE REST OF CHANNEL 12 DURING TESTS
025153,000586: 21,3400 00006 EXTEND
025154,000587: 21,3401 02012 RAND 12
025155,000588: 21,3402 54066 TS CHNL12 # (TEMPORARY STORAGE)
025156,000589:
025157,000590: 21,3403 11522 CCS NEGUQ
025158,000591: 21,3404 37745 CAF BIT9
025159,000592: 21,3405 13407 TCF +2
025160,000593: 21,3406 37744 CAF BIT10
025161,000594: 21,3407 26066 ADS CHNL12
025162,000595:
025163,000596: 21,3410 11524 CCS NEGUR
025164,000597: 21,3411 37743 CAF BIT11
025165,000598: 21,3412 13414 TCF +2
025166,000599:
025167,000600: 21,3413 37742 CAF BIT12
025168,000601: 21,3414 26066 ADS CHNL12 # (STORED RESULT NOT USED AT PRESENT)
025169,000602:
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|
Page 565 |
025171,000604: 21,3415 00006 EXTEND
025172,000605: 21,3416 01012 WRITE 12
025173,000606:
025174,000607: 21,3417 00002 TC Q # SIMPLE RETURN ALWAYS
025175,000608:
025176,000609: # Q,R-TRANSF TRANSFORMS A Y,Z GIMBAL COORDINATE VARIABLE PAIR (IN A,L) TO PILOT COORDINATES (Q/R), RETURNED IN A.
025177,000610: # (THE MATRIX M FROM GIMBAL TO PILOT AXES IS ASSUMED TO BE DONE BY T4RUPT AND SCALED AT +1.)
025178,000611:
025179,000612: 21,3420 0066 QRERAS EQUALS ITEMP6
025180,000613:
025181,000614: 21,3420 22066 QTRANSF LXCH QRERAS # SAVE Z-AXIS VARIABLE
025182,000615: 21,3421 00006 EXTEND
025183,000616: 21,3422 71405 MP M21 # (Y-AXIS)*M21
025184,000617: 21,3423 56066 XCH QRERAS # SAVE, GET Z-AXIS VARIABLE
025185,000618: 21,3424 00006 EXTEND
025186,000619: 21,3425 71401 MP M22 # (Z-AXIS)*M22
025187,000620: 21,3426 60066 AD QRERAS # SUM = (Y-AXIS)*M21 + (Z-AXIS)*M22
025188,000621: 21,3427 00002 TC Q # RETURN WITH SUM IN A
025189,000622:
025190,000623: 21,3430 22066 RTRANSF LXCH QRERAS # SAVE Z-AXIS VARIABLE
025191,000624: 21,3431 00006 EXTEND
025192,000625: 21,3432 71406 MP M31 # (Y-AXIS)*M31
025193,000626: 21,3433 56066 XCH QRERAS # SAVE, GET Z-AXIS VARIABLE
025194,000627: 21,3434 00006 EXTEND
025195,000628: 21,3435 71403 MP M32 # (Z-AXIS)*M32
025196,000629: 21,3436 60066 AD QRERAS # SUM = (Y-AXIS)*M31 + (Z-AXIS)*M32
025197,000630: 21,3437 00002 TC Q # RETURN WITH SUM IN A
025198,000631:
025199,000632: 21,3440 25253 (2/3) DEC 0.66667
025200,000633:
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|
Page 566 |
025202,000635: # SUBROUTINE: TGOFFCAL MOD. NO. 1 DATE: AUGUST 22, 1966
025203,000636:
025204,000637: # PROGRAM DESIGN BY: RICHARD D. GOSS (MIT/IL)
025205,000638:
025206,000639: # PROGRAM IMPLEMENTATION BY: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
025207,000640:
025208,000641: # MODIFIED 30 NOV 66, TO USE ACCDOTQ AND ACCDOTR. CRAIG WORK
025209,000642: # THIS SUBROUTINE CALCULATES THE TRIM GIMBAL SHUTDOWN TIME FOR EITHER THE Q OR THE R AXIS (DEPENDING ON THE
025210,000643: # CALLING SEQUENCE). THIS TIME IS SCALED FOR IMMEDIATE USE BY A WAITLIST CALL AS SHOWN IN THE CALLING SEQUENCES.
025211,000644: # IF THE TIME-TO-GO IS MORE THAN TWO MINUTES, IT IS LIMITED TO TWO MINUTES DUE TO THE WAITLIST SPECIFICATION. IF
025212,000645: # THE TIME-TO-GO IS LESS THAN TEN MILLISECONDS, THE SHUTDOWN IS PERFORMED IMMEDIATELY AND THE WAITLIST CALL IS
025213,000646: # BY-PASSED.
025214,000647:
025215,000648: # THESE TIME-TO-GO CALCULATIONS ARE DESIGNED TO DRIVE THE TRIM GIMBAL TO A POSITION WHERE THE DESCENT ENGINE WILL
025216,000649:
025217,000650: # CAUSE NO ANGULAR ACCELERATION. THIS SUBROUTINE IS CALLED ONLY FROM THE WAITLIST TASK CHEKDRIV WHICH IS
025218,000651: # INITIATED ONLY WHEN THE TRIM GIMBAL CONTROL LAW HAS LOST CONTROL OF THE LEM VEHICLE ATTITUDE AND MUST RETURN TO
025219,000652: # THE USE OF REACTION CONTROL SYSTEM JETS.
025220,000653:
025221,000654: # CALLING SEQUENCES:
025222,000655:
025223,000656: # 26,1000 3 7657 1 CAF ZERO Q-AXIS INDEXER
025224,000657: # 26,1001 0 $$$$ $ TC TGOFFCAL CALL TGOFFCAL (*** REPLACE $$ ***)
025225,000658: # 26,1002 0 4511 0 TC WAITLIST CALL WAITLIST WITH CALCULATED TIME
025226,000659: # 26,1003 0$$$$ $ 2CADR OFFGIMQ 2CADR OF Q-AXIS SHUTDOWN PROGRAM
025227,000660: # 26,1004 54006 1
025228,000661:
025229,000662: # 26,1005 3 7657 1 CAF TWO R-AXIS INDEXER
025230,000663: # 26,1006 0 $$$$ $ TC TGOFFCAL CALL TGOFFCAL (*** REPLACE $$ ***)
025231,000664: # 26,1007 0 4511 0 TC WAITLIST CALL WAITLIST WITH CALCULATED TIME
025232,000665: # 26,1010 0$$$$ $ 2CADR OFFGIMR 2CADR OF R-AXIS SHUTDOWN PROGRAM
025233,000666: # 26,1011 54006 1
025234,000667:
025235,000668: # SUBROUTINES CALLED: NONE, BUT WRCHNL12 IS CALLED AFTER BOTH TGOFFCALL CALLS.
025236,000669:
025237,000670: # NORMAL EXITS: TO WAITLIST CALL OR BEYOND 2CADR IN CALLING SEQUENCE AS SPECIFIED ABOVE.
025238,000671:
025239,000672: # ALARM OR ABORT EXIT MODES: NONE
025240,000673:
025241,000674: # INPUT: 1. THE AXIS INDEXER: 0 FOR Q, 2 FOR R (SEE CALLING SEQUENCES)
025242,000675: # 2. THE SIGNED TIME DERIVATIVE OF ACCELERATION (QACCDOT OR RACCDOT) SCALED AT PI/2(7) RAD/SEC(3).
025243,000676: # 3. THE ACCELERATION APPROXIMATION FROM THE DESCENT KALMAN FILTER TRANSFORMED TO PILOT AXES (ALPHAQ OR
025244,000677: # ALPHAR) SCALED AT PI/8 RAD/SEC(2).
025245,000678:
025246,000679: # 4. CHANNEL 12 CONTAINS THE GIMBAL DRIVES AND OTHER BITS.
025247,000680: # OUTPUT 5. THE NEGATIVE GIMBAL DRIVE FLAG (NEGUQ AND NEGUR) WHERE A +1 BIT REQUESTS POSITIVE GIMBAL DRIVE
025248,000681: # (ANGULAR ACCELERATION DECREASING), A -1 BIT REQUESTS NEGATIVE GIMBAL DRIVE (ANG. ACC. INCREASING).
025249,000682: # A ZERO INDICATES NO DRIVE.
025250,000683: # 6. TIME REQUIRED TO ZERO ACCELERATION, SCALED FOR WAITLIST.
025251,000684:
025252,000685: # ERASABLE STORAGE CONFIGURATION (NEEDED BY THE INDEXING METHODS):
025253,000686:
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Page 567 |
025255,000688:
025256,000689: # NEGUQ ERASE +2 NEGATIVE OF Q-AXIS GIMBAL DRIVE
025257,000690: # (SPWORD) EQUALS NEGUQ +1 ANY S.P. ERASABLE NUMBER, NOW THRSTCMD
025258,000691: # NEGUR EQUALS NEGUQ +2 NEGATIVE OF R-AXIS GIMBAL DRIVE
025259,000692:
025260,000693: # ACCDOTQ ERASE +2 Q-JERK TERM SCALED AT PI/2(7) RAD/SEC(3)
025261,000694: # (SPWORD) EQUALS ACCDOTQ +1 ANY S.P. ERASABLE NUMBER NOW QACCDOT
025262,000695: # ACCDOTR EQUALS ACCDOTQ +2 R-JERK TERM SCALED AT PI/2(7) RAD/SEC(3)
025263,000696: # ACCDOTQ,ACCDOTR ARE MAGNITUDES.
025264,000697: # ALPHAQ ERASE +2 Q-AXIS ACCELERATION SCALED AT PI/8 R/S2
025265,000698: # (SPWORD) EQUALS ALPHAQ +1 ANY S.P. ERASABLE NUMBER, NOW OMEGAR
025266,000699: # ALPHAR EQUALS ALPHAQ +2 R-AXIS ACCELERATION SCALED AT PI/8 R/S2
025267,000700: # NOTE: NOW OMEGAP,OMEGAQ PRECEDE ALPHAQ
025268,000701:
025269,000702: # DEBRIS: L, Q, ITEMP1, ITEMP2, ITEMP6
025270,000703:
025271,000704:
025272,000705: 21,3441 54061 TGOFFCAL TS QRNDXER # Q OR R AXIS INDEXER
025273,000706: 21,3442 50061 INDEX QRNDXER # GET JERK TERM MAGNITUDE SCALED AT
025274,000707:
025275,000708: 21,3443 31531 CAE ACCDOTQ # PI/2(7) IN RADIANS/SEC(3).
025276,000709: 21,3444 00006 EXTEND # UNLESS THETA TRIPLE-DOT MAGNITUDE IS NON
025277,000710: 21,3445 63525 BZMF TGOFFNOW # -ZERO, SET DRIVE TO ZERO NOW.
025278,000711: 21,3446 54062 TS NZACCDOT # SAVE NON-ZERO DENOMINATOR.
025279,000712: 21,3447 50061 INDEX QRNDXER # INITIALIZE THE AOSTERM WHICH WILL BE UP-
025280,000713: 21,3450 31420 CAE ALPHAQ # DATED IN THE DUMMYFIL CALCULATION FOR
025281,000714: 21,3451 00006 EXTEND # USE IN THE QRAXIS RATE DERIVATION. SET
025282,000715: 21,3452 73535 MP .1-.05K) # AOSTERM TO ALPHA*CSP*(1-.5*K), WHERE CSP
025283,000716: 21,3453 56001 XCH L # IS .1 SEC, K IS .5 THEN AOSTERM IS SET
025284,000717: 21,3454 10061 CCS QRNDXER # TO .075*ALPHA, SCALED AT PI/4,WHILE
025285,000718: 21,3455 50000 INDEX A # ALPHA IS SCALED AT PI/8( THE CONSTANT IS
025286,000719: 21,3456 23656 LXCH AOSQTERM # SCALED AT 2.
025287,000720: 21,3457 50061 INDEX QRNDXER # GET ACCELERATION SCALED AT PI/8
025288,000721: 21,3460 31420 CAE ALPHAQ # RAD/SEC(2).
025289,000722: 21,3461 00006 EXTEND # IF ACCELERATION IS ALREADY ZERO, EXIT.
025290,000723: 21,3462 13525 BZF TGOFFNOW # OTHERWISE, PROCEED WITH NON-ZERO ALPHA.
025291,000724: 21,3463 00006 EXTEND # SET NEGUQ TO THE SIGN OF ALPHA. THEN USE
025292,000725: 21,3464 63470 BZMF NEGALPH # THE MAGNITUDE OF ALPHA TO COMPUTE TIME
025293,000726: 21,3465 54066 TS ITEMP6
025294,000727: 21,3466 37755 CAF BIT1
025295,000728: 21,3467 13473 TCF +4
025296,000729: 21,3470 40000 NEGALPH CS A
025297,000730: 21,3471 54066 TS ITEMP6
025298,000731:
025299,000732: 21,3472 47755 CS BIT1
025300,000733: 21,3473 50061 INDEX QRNDXER # STORE THE DRIVE DIRECTION FLAG
025301,000734: 21,3474 55522 TS NEGUQ # TIME = MAGNITUDE OF (ALPHA/ACCDOT),
025302,000735: 21,3475 40000 COM # LEAVES THE SIGN OF Q(R)ACCDOT IN A.
025303,000736: 21,3476 00006 EXTEND # STORE ACCDOT TO REFLECT THE CHANGE IN
025304,000737: 21,3477 50061 INDEX QRNDXER # GIMBAL DRIVE DIRECTION (POSSIBLE). THIS
025305,000738: 21,3500 71531 MP ACCDOTQ # CAN BE ESSENTIAL FOR DUMMYFIL, IN CASE
025306,000739: 21,3501 50061 INDEX QRNDXER # Q(R)ACCDOT IS NOT INITIALIZED BEFORE
025307,000740:
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025309,000742: 21,3502 23532 LXCH QACCDOT # EXECUTING DUMMYFIL.
025310,000743: 21,3503 30066 CAE ITEMP6
025311,000744:
025312,000745: 21,3504 00006 EXTEND # MULTIPLY BY 1/16
025313,000746: 21,3505 77743 MP BIT11 # TO CHANGE SCALING TO 2PI RAD/SEC(2)
025314,000747: 21,3506 00006 EXTEND # ACCDOT SCALED AT PI/2(7) IN DENOMINATOR
025315,000748: 21,3507 10062 DV NZACCDOT # YIELDS TIME SCALED AT 256 SECONDS
025316,000749: 21,3510 63533 AD -2MIN256 # COMPARE WITH MAXIMUM 2 MINUTE DELAY OF
025317,000750: 21,3511 10000 CCS A # WAITLIST ACTION (TIMES AT 256 SECONDS)
025318,000751: 21,3512 43532 CS -2MINWL # MORE THAN TWO MINUTES, USE 2MINUTES
025319,000752: 21,3513 00002 TC Q # RETURN WL CALL WITH 2 MIN AT 1BIT=10MS
025320,000753:
025321,000754: 21,3514 67755 AD ONE # (CORRECT FOR CCS BIT)
025322,000755: 21,3515 00006 EXTEND # CALCULATE DT = ABS(T-2MIN)
025323,000756: 21,3516 73534 MP 128/164 # AND RESCALE DT TO WAITLIST SCALING
025324,000757: 21,3517 20001 DDOUBL
025325,000758: 21,3520 63532 AD -2MINWL # -T = DT + 2MIN (IN WAITLIST SCALING)
025326,000759: 21,3521 40000 COM # MAKE T POSITIVE FOR WAITLIST
025327,000760: 21,3522 00006 EXTEND # MAKE FINAL CHECK TO INSURE T .G. 10 MS
025328,000761: 21,3523 63525 BZMF TGOFFNOW # DO SHUTDOWN NOW (COULD USE BZF)
025329,000762: 21,3524 00002 TC Q # RETURN TO WAITLIST CALL WITH WL TIME
025330,000763:
025331,000764: 21,3525 37761 TGOFFNOW CAF ZERO # MAKE SURE PLUS ZERO FOR DRIVE FLAG
025332,000765: 21,3526 50061 INDEX QRNDXER # TURN OFF DRIVE FLAG NOW
025333,000766: 21,3527 55522 TS NEGUQ
025334,000767: 21,3530 50002 INDEX Q
025335,000768:
025336,000769: 21,3531 00003 TC 3 # SKIP WAITLIST CALL AND 2CADR
025337,000770:
025338,000771:
025339,000772:
025340,000773: 21,3532 0061 QRNDXER EQUALS ITEMP1 # INDEXER FOR Q OR R AXIS
025341,000774: 21,3532 0062 NZACCDOT EQUALS ITEMP2 # TEMPORARY STORAGE FOR NON-ZERO ACCDOT
025342,000775: 21,3532 50437 -2MINWL DEC -12000 B-14 # - 2 MINUTES SCALED FOR WAITLIST
025343,000776: 21,3533 60777 -2MIN256 DEC -.46875 # - 2 MINUTES SCALED AT 256
025344,000777: 21,3534 31000 128/164 OCTAL 31000 # 128/163.84 CONVERTING 256 TO WAITLIST/2
025345,000778: 21,3535 01146 .1-.05K) OCTAL 01146 # .0375=.075 SCALED AT 2
End of include-file TRIM_GIMBAL_CONTROL_SYSTEM.agc. Parent file is MAIN.agc