- B1 — Revision 292
- B2 — Revision 302
- B3 — Revision 302
- B4 — Revision 302
- B5 — Revision 292
- B6 — Revision 306
Source Code
|
|
These source code files are an attempted reconstruction of Sundance revision 306, the Apollo 9
LM (Lunar Module) AGC (Apollo Guidance Computer) flight software, created from binary dumps of
original core rope program modules, as follows:
|
057905,000002: ## Copyright: Public domain.
057906,000003: ## Filename: TJET_LAW.agc
057907,000004: ## Purpose: A section of an attempt to reconstruct Sundance revision 306
057908,000005: ## as closely as possible with available information. Sundance
057909,000006: ## 306 is the source code for the Lunar Module's (LM) Apollo
057910,000007: ## Guidance Computer (AGC) for Apollo 9. This program was created
057911,000008: ## using the mixed-revision SundanceXXX as a starting point, and
057912,000009: ## pulling back features from Luminary 69 believed to have been
057913,000010: ## added based on memos, checklists, observed address changes,
057914,000011: ## or the Sundance GSOPs.
057915,000012: ## Assembler: yaYUL
057916,000013: ## Contact: Ron Burkey <info@sandroid.org>.
057917,000014: ## Website: www.ibiblio.org/apollo/index.html
057918,000015: ## Mod history: 2020-07-24 MAS Created from SundanceXXX.
057919,000016:
057920,000017:
057921,000018:
057922,000019: # PROGRAM DESCRIPTION
057923,000020: # DESIGNED BY: R. D. GOSS AND P. S. WEISSMAN
057924,000021: # CODED BY: P. S. WEISSMAN 28 FEBRUARY 1968
057925,000022:
057926,000023: # TJETLAW IS CALLED AS A SUBROUTINE WHEN THE LEM IS NOT DOCKED AND THE AUTOPILOT IS IN THE AUTOMATIC OR
057927,000024: # ATTITUDE-HOLD MODE TO CALCULATE THE JET-FIRING-TIME (TJET) REQUIRED FOR THE AXIS INDICATED BY AXISCTR:
057928,000025: # -1 INDICATES THE P-AXIS
057929,000026: # +0 INDICATES THE U-AXIS
057930,000027: # +1 INDICATES THE V-AXIS.
057931,000028: # THE REGISTERS E AND EDOT CONTAIN THE APPROPRIATE ATTITUDE ERROR AND ERROR RATE AND SENSETYP SHOWS WHETHER
057932,000029: # UNBALANCED COUPLES ARE PREFERRED. TJETLAW ALSO USES VARIOUS FUNCTIONS OF ACCELERATION AND DEADBAND WHICH ARE
057933,000030: # COMPUTED IN THE 1/ACCONT SECTION OF 1/ACCS AND ARE STORED IN SUCH AN ORDER THAT THEY CAN BE CONVENIENTLY
057934,000031: # ACCESSED BY INDEXING.
057935,000032:
057936,000033: # THE SIGN OF THE REQUIRED ROTATION IS CARRIED THROUGH TJETLAW AS ROTSENSE AND IS FINALLY APPLIED TO TJET JUST
057937,000034: # PREVIOUS TO ITS STORAGE IN THE LOCATION CORRESPONDING TO THE AXIS (TJP, TJU OR TJV). THE NUMBER OF JETS THAT
057938,000035: # TJETLAW ASSUMES WILL BE USED IS INDICATED BY THE SETTING OF NUMBERT FOR THE U- OR V-AXIS. TWO JETS ARE ALWAYS
057939,000036: # ASSUMED FOR THE P-AXIS ALTHOUGH FOUR JETS WILL BE FIRED WHEN FIREFCT IS MORE NEGATIVE THAN -4.0 DEGREES
057940,000037: # (FIREFCT IS THE DISTANCE TO A SWITCH CURVE IN THE PHASE PLANE) AND A LONG FIRING IS CALLED FOR.
057941,000038:
057942,000039: # IN ORDER TO AVOID SCALING DIFFICULTIES, SIMPLE ALGORITHMS TAGGED RUFLAW1, -2 AND -3 ARE RESORTED TO WHEN THE
057943,000040: # ERROR AND/OR ERROR RATE ARE LARGE.
057944,000041:
057945,000042: # CALLING SEQUENCE:
057946,000043: # TC TJETLAW (MUST BE IN JASK)
057947,000044: # OR
057948,000045: # INHINT (MUST BE IN JASK)
057949,000046: # TC IBNKCALL
057950,000047: # CADR TJETLAW
057951,000048: # RELINT
057952,000049:
057953,000050: # EXIT: RETURN TO Q.
057954,000051:
057955,000052: # INPUT:
057956,000053: # FROM THE CALLER: E, EDOT, AXISCTR, SENSETYP, TJP,-U,-V.
057957,000054: # FROM 1/ACCONT: 48 ERASABLES BEGINNING AT BLOCKTOP (INCLUDING FLAT, ZONE3LIM AND ACCSWU,-V).
057958,000055:
057959,000056: # OUTPUT:
057960,000057: # TJP,-U OR -V, NUMBERT (DAPTEMP5), FIREFCT (DAPTEMP3).
057961,000058:
057962,000059: # DEBRIS:
057963,000060: # A, L, Q, E, EDOT, DAPTEMP1-6, DAPTREG1-4.
057964,000061:
057965,000062: # ALARM: NONE
057966,000063:
057967,000064: 17,3035 BANK 17
057968,000065: 17,2000 SETLOC DAPS2
057969,000066: 17,2000 BANK
057970,000067: 17,3035 E6,1516 EBANK= TJP
057971,000068: 17,3035 COUNT* $$/DAPTJ
057972,000069:
057973,000070: 17,3035 00006 TJETLAW EXTEND # SAVE Q FOR RETURN.
057974,000071: 17,3036 23742 QXCH HOLDQ
057975,000072:
057976,000073: # SET INDEXERS TO CORRESPOND TO THE AXIS AND TO THE SIGN OF EDOT
057977,000074:
057978,000075: 17,3037 51471 INDEX AXISCTR # AXISDIFF(-1)=NO OF LOCATIONS BER P AND U
057979,000076: 17,3040 33505 CAF AXISDIFF # AXISDIFF(0) = 0
057980,000077: 17,3041 55743 TS ADRSDIF1 # AXISDIFF(+1)=NO OF LOCATIONS BET V AND U
057981,000078:
057982,000079: 17,3042 31543 CAE EDOT # IF EDOT NEGATIVE, PICK UP SET OF VALUES
057983,000080: 17,3043 00006 EXTEND # THAT ALLOW USE OF SAME CODING AS FOR
057984,000081: 17,3044 63051 BZMF NEGEDOT # POSITIVE EDOT.
057985,000082: 17,3045 31743 CAE ADRSDIF1 # SET A SECOND INDEXER WHICH MAY BE
057986,000083: 17,3046 55741 TS ADRSDIF2 # MODIFIED BY A DECISION FOR MAX JETS.
057987,000084: 17,3047 33507 CAF SENSOR # FOR POSITIVE EDOT, ROTSENSE IS
057988,000085: 17,3050 13061 TCF SETSENSE # INITIALIZED POSITIVE.
057989,000086:
057990,000087: 17,3051 41542 NEGEDOT CS E # IN ORDER FOR NEG EDOT CASE TO USE CODING
057991,000088: 17,3052 55542 TS E # OF POS EDOT, MUST MODIFY AS FOLLOWS:
057992,000089: 17,3053 41543 CS EDOT # 1. COMPLEMENT E AND EDOT.
057993,000090: 17,3054 55543 TS EDOT # 2. SET SENSE OF ROTATION TO NEGATIVE
057994,000091: 17,3055 35026 CAF BIT1 # (REVERSED LATER IF NECESSARY).
057995,000092: 17,3056 27743 ADS ADRSDIF1 # 3. INCREMENT INDEXERS BY ONE SO THAT
057996,000093: 17,3057 55741 TS ADRSDIF2 # THE PROPER PARAMETERS ARE ACCESSED.
057997,000094: 17,3060 43507 CS SENSOR
057998,000095: 17,3061 55735 SETSENSE TS ROTSENSE
057999,000096:
058000,000097: # TEST MAGNITUDE OF E (ATTITUDE ERROR, SINGLE-PRECISION, SCALED AT PI RADIANS):
058001,000098: # IF GREATER THAN (OR EQUAL TO) PI/16 RADIANS, GO TO THE SIMPLIFIED TJET ROUTINE.
058002,000099: # IF LESS THAN PI/16 RADIANS, RESCALE TO PI/4.
058003,000100:
058004,000101: 17,3062 31542 CAE E # PICK UP ATTITUDE ERROR FOR THIS AXIS
058005,000102: 17,3063 00006 EXTEND
058006,000103: 17,3064 75022 MP BIT5 # SHIFT RIGHT TEN BITS: IF A-REGISTER IS
058007,000104: 17,3065 10000 CCS A # ZERO, RESCALE AND TEST EDOT.
058008,000105: 17,3066 13447 TCF RUFLAW2
058009,000106: 17,3067 13071 TCF SCALEE
058010,000107: 17,3070 13413 TCF RUFLAW1
058011,000108: 17,3071 35012 SCALEE CAF BIT13 # ERROR IS IN L SCALED AT PI/16. RESCALE
058012,000109: 17,3072 00006 EXTEND # IT TO PI/4 AND SAVE IT.
058013,000110: 17,3073 70001 MP L
058014,000111: 17,3074 55542 TS E
058015,000112:
058016,000113: # TEST MAGNITUDE OF EDOT (ERROR RATE SCALED AT PI/4 RADIANS/SECOND)
058017,000114: # IF GREATER THAN (OR EQUAL TO) PI/32 RADIANS/SECOND, GO TO THE SIMPLIFIED TJET ROUTINE.
058018,000115: # IF LESS THAN PI/32 RADIANS/SECOND, THEN RESCALE TO PI/32 RADIANS/SECOND.
058019,000116:
058020,000117: 17,3075 31543 CAE EDOT # PICK UP SINGLE-PRECISION ERROR-RATE
058021,000118: 17,3076 00006 EXTEND # FOR THIS AXIS=
058022,000119: 17,3077 75023 MP BIT4 # SHIFT RIGHT ELEVEN BITS, IF THE A-REG IS
058023,000120: 17,3100 00006 EXTEND # ZERO, THEN RESCALE AND USE FINELAW.
058024,000121: 17,3101 13103 BZF SCALEDOT
058025,000122: 17,3102 13455 TCF RUFLAW3
058026,000123:
058027,000124: # *** FINELAW STARTS HERE ***
058028,000125:
058029,000126: 17,3103 23543 SCALEDOT LXCH EDOT # EDOT IS SCALED AT PI/32 RADIANS/SECOND.
058030,000127:
058031,000128: 17,3104 31543 CAE EDOT # COMPUTE (EDOT)(EDOT)
058032,000129: 17,3105 00006 EXTEND
058033,000130: 17,3106 70000 SQUARE # PRODUCT SCALED AT PI(2)/2(10) RAD/SEC.
058034,000131: 17,3107 00006 EXTEND
058035,000132: 17,3110 75012 MP BIT13 # SHIFT RIGHT TWO BITS TO RESCALE EDOTSQ
058036,000133: 17,3111 55734 TS EDOTSQ # TO PI(2)/2(8) RAD(2)/SEC(2).
058037,000134:
058038,000135: 17,3112 11542 ERRTEST CCS E # DOES BIG ERROR (TWO DEGREES BEYOND THE
058039,000136: 17,3113 63510 AD -2DEG # DEADBAND) REQUIRE MAXIMUM JETS?
058040,000137: 17,3114 13116 TCF +2
058041,000138: 17,3115 63510 AD -2DEG
058042,000139: 17,3116 00006 EXTEND
058043,000140: 17,3117 51743 INDEX ADRSDIF1
058044,000141: 17,3120 61576 SU FIREDB
058045,000142: 17,3121 00006 EXTEND
058046,000143: 17,3122 63127 BZMF SENSTEST # IF NOT: ARE UNBALANCED JETS PREFERRED|
058047,000144: 17,3123 35025 MAXJETS CAF TWO # IF YES: INCREMENT ADDRESS LOCATOR AND
058048,000145: 17,3124 27741 ADS ADRSDIF2 # SET SWITCH FOR JET SELECT LOGIC TO 4.
058049,000146: 17,3125 35024 CAF FOUR # (ALWAYS DO THIS FOR P-AXIS)
058050,000147: 17,3126 13132 TCF TJCALC
058051,000148: 17,3127 11472 SENSTEST CCS SENSETYP # DOES TRANSLATION PREFER MIN JETS.
058052,000149: 17,3130 13132 TCF TJCALC # YES. USE MIN-JET PARAMETERS.
058053,000150: 17,3131 13123 TCF MAXJETS # NO. GET MAX-JET PARAMETERS.
058054,000151: 17,3132 55740 TJCALC TS NUMBERT # SET TO +0,1,4 FOR (U,V-AXES) JET SELECT.
058055,000152:
058056,000153: # BEGINNING OF TJET CALCULATIONS:
058057,000154:
058058,000155: 17,3133 41734 CS EDOTSQ # SCALED AT PI(2)/2(8).
058059,000156: 17,3134 00006 EXTEND
058060,000157: 17,3135 51741 INDEX ADRSDIF2
058061,000158: 17,3136 71564 MP 1/ANET1 # .5/ACC SCALED AT 2(6)/PI SEC(2)/RADIAN.
058062,000159: 17,3137 51743 INDEX ADRSDIF1
058063,000160: 17,3140 61576 AD FIREDB # DEADBAND SCALED AT PI/4 RADIAN.
058064,000161: 17,3141 00006 EXTEND
058065,000162: 17,3142 61542 SU E # ATTITUDE ERROR SCALED AT PI/4 RADIAN.
058066,000163: 17,3143 55736 TS FIREFCT # -E-.5(EDOTSQ)/ACC-DB AT PI/4 RADIAN.
058067,000164: 17,3144 00006 EXTEND
058068,000165: 17,3145 63325 BZMF ZON1,2,3
058069,000166:
058070,000167: 17,3146 51743 ZONE4,5 INDEX ADRSDIF1
058071,000168: 17,3147 31570 CAE 1/ACOAST # .5/ACC SCALED AT 2(6)/PI WHERE
058072,000169: 17,3150 00006 EXTEND # ACC = MAX(AMIN, AOS-).
058073,000170: 17,3151 71734 MP EDOTSQ # SCALED AT PI/2(8).
058074,000171: 17,3152 61542 AD E # SCALED AT PI/4
058075,000172: 17,3153 51743 INDEX ADRSDIF1
058076,000173: 17,3154 61600 AD COASTDB # SCALED AT PI/4 POS. FOR NEG. INTERCEPT.
058077,000174: 17,3155 00006 EXTEND # TEST E+.5(EDOTSQ)/ACC+DB AT PI/4 RADIAN.
058078,000175: 17,3156 63211 BZMF ZONE5 # IF FUNCTION NEGATIVE, FIND TJET.
058079,000176: # IF FUNCTION POSITIVE, IN ZONE 4.
058080,000177:
058081,000178: # ZONE 4 IS THE COAST REGION. HOWEVER, IF THE JETS ARE ON AND DRIVING TOWARD
058082,000179: # A. THE AXIS WITHIN + OR - (DB + FLAT) FOR DRIFTING FLIGHT, OR
058083,000180: # B. THE USUAL TARGET PARABOLA FOR POWERED FLIGHT
058084,000181: # THEN THE THRUSTERS ARE KEPT ON.
058085,000182:
058086,000183: 17,3157 51471 ZONE4 INDEX AXISCTR # IS THE CURRENT VALUE IN TJET NON-ZERO
058087,000184: 17,3160 41517 CS TJETU # WITH SENSE OPPOSITE TO EDOT,
058088,000185: 17,3161 00006 EXTEND # (I.E., ARE JETS ON AND FIRING TOWARD
058089,000186: 17,3162 71735 MP ROTSENSE # THE DESIRABLE STATE).
058090,000187: 17,3163 00006 EXTEND
058091,000188: 17,3164 63205 BZMF COASTTJ # NO. COAST.
058092,000189:
058093,000190: 17,3165 11552 JETSON CCS FLAT # YES. IS THIS DRIFTING OR POWERED FLIGHT|
058094,000191: 17,3166 13177 TCF DRIFT/ON # DRIFTING. GO MAKE FURTHER TEST.
058095,000192:
058096,000193: 17,3167 41736 CS FIREFCT # POWERED (OR ULLAGE). CAN TARGET PARABOLA
058097,000194: 17,3170 51743 INDEX ADRSDIF1 # BE REACHED FROM THIS POINT IN THE
058098,000195: 17,3171 61602 AD AXISDIST # PHASE PLANE|
058099,000196: 17,3172 00006 EXTEND
058100,000197: 17,3173 63205 BZMF COASTTJ # NO. SET TJET = 0.
058101,000198: 17,3174 03311 TC Z123COMP # YES. CALCULATE TJET AS THOUGH IN ZONE 1
058102,000199: 17,3175 31736 CAE FIREFCT # AFTER COMPUTING THE REQUIRED
058103,000200: 17,3176 13345 TCF ZONE1 # PARAMETERS.
058104,000201:
058105,000202: 17,3177 51743 DRIFT/ON INDEX ADRSDIF1 # CAN TARGET STRIP OF AXIS BE REACHED FROM
058106,000203: 17,3200 41576 CS FIREDB # THIS POINT IN THE PHASE PLANE|
058107,000204: 17,3201 60000 DOUBLE
058108,000205: 17,3202 61736 AD FIREFCT
058109,000206: 17,3203 00006 EXTEND
058110,000207: 17,3204 63207 BZMF +3
058111,000208: 17,3205 35030 COASTTJ CAF ZERO # NO. SET TJET = 0.
058112,000209: 17,3206 13251 TCF RETURNTJ
058113,000210:
058114,000211: 17,3207 03311 TC Z123COMP # YES. CALCULATE TJET AS THOUGH IN ZONE 2
058115,000212: 17,3210 13332 TCF ZONE2,3 # OR 3 AFTER COMPUTING REQUIRED VALUES.
058116,000213:
058117,000214: 17,3211 54001 ZONE5 TS L # TEMPORARILY STORE FUNCTION IN L.
058118,000215: 17,3212 11735 CCS ROTSENSE # MODIFY ADRSDIF2 FOR ACCESSING 1/ANET2
058119,000216: 17,3213 13217 TCF +4 # AND ACCFCTZ5, WHICH MUST BE PICKED UP
058120,000217: 17,3214 05726 TC CCSHOLE # FROM THE NEXT LOWER REGISTER IF THE
058121,000218: 17,3215 45025 CS TWO # (ACTUAL) ERROR RATE IS NEGATIVE.
058122,000219: 17,3216 27741 ADS ADRSDIF2
058123,000220:
058124,000221: 17,3217 30001 +4 CAE L
058125,000222: 17,3220 00006 EXTEND
058126,000223: 17,3221 51741 INDEX ADRSDIF2 # TTOAXIS AND HH ARE THE PARAMETERS UPON
058127,000224: 17,3222 71573 MP ACCFCTZ5 # WHICH THE APPROXIMATIONS TO TJET ARE
058128,000225: 17,3223 20001 DDOUBL # BASED.
058129,000226: 17,3224 20001 DDOUBL
058130,000227: 17,3225 53745 DXCH HH # DOUBLE PRECISION H SCALED AT 8 SEC(2).
058131,000228: 17,3226 51741 INDEX ADRSDIF2
058132,000229: 17,3227 31565 CAE 1/ANET2 # SCALED AT 2(7)/PI SEC(2)/RAD.
058133,000230: 17,3230 00006 EXTEND
058134,000231: 17,3231 71543 MP EDOT # SCALED AT PI/2(5)
058135,000232: 17,3232 55737 TS TTOAXIS # SCALED AT 4 SEC.
058136,000233:
058137,000234: # TEST WHETHER TJET GREATER THAN 50 MSEC.
058138,000235:
058139,000236: 17,3233 00006 EXTEND
058140,000237: 17,3234 73517 MP -.05AT2 # H - .05 TTOAXIS - .00125 G.T. ZERO
058141,000238: 17,3235 61744 AD HH # (SCALED AT 8 SEC(2) ).
058142,000239: 17,3236 67720 AD NEG2
058143,000240: 17,3237 00006 EXTEND
058144,000241: 17,3240 63266 BZMF FORMULA1
058145,000242:
058146,000243: # TEST WHETHER TJET GREATER THAN 150 MSEC.
058147,000244:
058148,000245: 17,3241 31737 CAE TTOAXIS
058149,000246: 17,3242 00006 EXTEND
058150,000247: 17,3243 73520 MP -.15AT2 # H - .15 TTOAXIS - .01125 G.T. ZERO
058151,000248: 17,3244 61744 AD HH # (SCALED AT 8 SEC(2) )
058152,000249: 17,3245 63511 AD -.0112A8
058153,000250: 17,3246 00006 EXTEND
058154,000251: 17,3247 63276 BZMF FORMULA2
058155,000252:
058156,000253: # IF TJET GREATER THAN 150 MSEC, ASSIGN IT VALUE OF 250 MSEC, SINCE THIS
058157,000254: # IS ENOUGH TO ASSURE NO SKIP NEXT CSP (100 MSEC).
058158,000255:
058159,000256: 17,3250 35014 FULLTIME CAF BIT11 # 250 MSEC SCALED AT 4 SEC.
058160,000257:
058161,000258: # RETURN TO CALLING PROGRAM WITH JET TIME SCALED AS TIME6 AND SIGNED.
058162,000259:
058163,000260: 17,3251 00006 RETURNTJ EXTEND # ALL BRANCHES TERMINATE HERE WITH TJET
058164,000261: 17,3252 71735 MP ROTSENSE # (SCALED AT 4 SEC) IN THE ACCUMULATOR.
058165,000262: 17,3253 51471 INDEX AXISCTR # ROTSENSE APPLIES SIGN AND CHANGES SCALE.
058166,000263: 17,3254 55517 TS TJETU
058167,000264: 17,3255 00006 EXTEND
058168,000265: 17,3256 51471 INDEX AXISCTR
058169,000266: 17,3257 71544 MP ACCSWU # SET SWITCH FOR JET SELECT IF ROTATION IS
058170,000267: 17,3260 30001 CAE L
058171,000268: 17,3261 00006 EXTEND # IN A SENSE FOR WHICH 1/ACCS HAS FORCED
058172,000269: 17,3262 63265 BZMF +3 # A MAX-JET CALCULATION.
058173,000270: 17,3263 35024 CAF FOUR
058174,000271: 17,3264 55740 TS NUMBERT
058175,000272: 17,3265 01742 TC HOLDQ # RETURN VIA SAVED Q.
058176,000273:
058177,000274: # TJET = H/(.025 + TTOAXIS) FOR TJET LESS THAN 50 MSEC.
058178,000275:
058179,000276: 17,3266 43516 FORMULA1 CS -.025AT4 # .025 SEC SCALED AT 4.
058180,000277: 17,3267 61737 AD TTOAXIS # SCALED AT 4 SECONDS.
058181,000278: 17,3270 53745 DXCH HH # STORE DENOMINATOR IN FIRST WORD OF H,
058182,000279: 17,3271 00006 EXTEND # WHICH NEED NOT BE PRESERVED. PICK UP
058183,000280: 17,3272 11744 DV HH # DP H AND DIVIDE BY DENOMINATOR.
058184,000281: 17,3273 00006 EXTEND
058185,000282: 17,3274 75011 MP BIT14 # RESCALE TJET FROM 2 TO USUAL 4 SEC.
058186,000283: 17,3275 13406 TCF CHKMINTJ # CHECK THAT TJET IS NOT LESS THAN MINIMUM
058187,000284:
058188,000285: # TJET = (H + .00375)/(0.1 + TTOAXIS) FOR TJET GREATER THAN 50 MSEC.
058189,000286:
058190,000287: 17,3276 00006 FORMULA2 EXTEND
058191,000288: 17,3277 33522 DCA .00375A8 # .00375 SEC(2) SCALED AT 8.
058192,000289: 17,3300 21745 DAS HH # STORE NUMERATOR IN DP H, WHICH NEED NOT
058193,000290: # BE PRESERVED.
058194,000291: 17,3301 31737 CAE TTOAXIS # SCALED AT 4 SEC.
058195,000292: 17,3302 63512 AD .1AT4 # 0.1 SEC SCALED AT 4.
058196,000293: 17,3303 53745 DXCH HH # STORE DENOMINATOR IN FIRST WORD OF H,
058197,000294: 17,3304 00006 EXTEND # WHICH NEED NOT BE PRESERVED. PICK UP
058198,000295: 17,3305 11744 DV HH # DP NUMERATOR AND DIVIDE BY DENOMINATOR
058199,000296: 17,3306 00006 EXTEND
058200,000297: 17,3307 75011 MP BIT14 # RESCALE TJET FROM 2 TO USUAL 4 SEC.
058201,000298: 17,3310 13251 TCF RETURNTJ # END SUBROUTINE.
058202,000299:
058203,000300: # SUBROUTINIZED COMPUTATIONS REQUIRED FOR ALL ENTRIES INTO CODING FOR ZONES 1, 2, AND 3.
058204,000301: # REACHED BY TC FROM 3 POINTS IN TJETLAW.
058205,000302:
058206,000303: 17,3311 41735 Z123COMP CS ROTSENSE # USED IN RETURNTJ SECTION TO RESCALE TJET
058207,000304: 17,3312 55735 TS ROTSENSE # AS TIME6 AND GIVE IT PROPER SIGN.
058208,000305: 17,3313 31543 CAE EDOT # SCALED AT PI/2(5) RAD/SEC.
058209,000306: 17,3314 00006 EXTEND
058210,000307: 17,3315 51741 INDEX ADRSDIF2
058211,000308: 17,3316 71564 MP 1/ANET1 # SCALED AT 2(7)/PI SEC(2)/RAD.
058212,000309: 17,3317 55737 TS TTOAXIS # STORE TIME-TO-AXIS SCALED AT 4 SECONDS.
058213,000310: 17,3320 63523 AD -TJMAX
058214,000311: 17,3321 00006 EXTEND # IS TIME TO AXIS LESS THAN 150 MSEC.
058215,000312: 17,3322 63324 BZMF +2
058216,000313: 17,3323 13250 TCF FULLTIME # NO. FIRE JETS, DO NOT CALCULATE TJET.
058217,000314: 17,3324 00002 RETURN # YES. GO ON TO FIND TJET
058218,000315:
058219,000316: 17,3325 03311 ZON1,2,3 TC Z123COMP # SUBROUTINIZED PREPARATION FOR ZONE1,2,3.
058220,000317:
058221,000318: # IF THE (NEG) DISTANCE BEYOND PARABOLA IS LESS THAN FLAT, USE SPECIAL
058222,000319: # LOGIC TO ACQUIRE MINIMUM IMPULSE LIMIT CYCLE. DURING POWERED FLIGHT
058223,000320: # OR ULLAGE, FLAT = 0
058224,000321:
058225,000322: 17,3326 31736 CAE FIREFCT # SCALED AT PI/4 RAD.
058226,000323: 17,3327 61552 AD FLAT
058227,000324: 17,3330 00006 EXTEND
058228,000325: 17,3331 63345 BZMF ZONE1 # NOT IN SPECIAL ZONES.
058229,000326:
058230,000327: # FIRE FOR AXIS OR, IF CLOSE, FIRE MINIMUM IMPULSE. IF ON AXIS, COAST.
058231,000328:
058232,000329: 17,3332 41553 ZONE2,3 CS ZONE3LIM # HEIGHT OF MIN-IMPULSE ZONE SET BY 1/ACCS
058233,000330: 17,3333 61737 AD TTOAXIS # 35 MSEC IN DRIFTING FLIGHT
058234,000331: 17,3334 00006 EXTEND # ZERO WHEN TRYING TO ENTER GTS CONTROL.
058235,000332: 17,3335 63340 BZMF ZONE3
058236,000333: 17,3336 31737 ZONE2 CAE TTOAXIS # FIRE TO AXIS.
058237,000334: 17,3337 13251 TCF RETURNTJ
058238,000335: 17,3340 11543 ZONE3 CCS EDOT # CHECK IF EDOT IS ZERO.
058239,000336: 17,3341 35021 CAF BIT6 # FIRE A ONE-JET MINIMUM IMPULSE.
058240,000337: 17,3342 13251 TCF RETURNTJ # TJET = +0.
058241,000338: 17,3343 05726 TC CCSHOLE # CANNOT BE BECAUSE NEG EDOT COMPLEMENTED.
058242,000339: 17,3344 13251 TCF RETURNTJ # TJET = +0.
058243,000340:
058244,000341: 17,3345 00006 ZONE1 EXTEND
058245,000342: 17,3346 51743 INDEX ADRSDIF1
058246,000343: 17,3347 61602 SU AXISDIST # SCALED AT PI/4 RAD.
058247,000344: 17,3350 00006 EXTEND
058248,000345: 17,3351 51741 INDEX ADRSDIF2
058249,000346: 17,3352 71572 MP ACCFCTZ1 # SCALED AT 2(7)/PI SEC(2)/RAD.
058250,000347: 17,3353 20001 DDOUBL
058251,000348: 17,3354 20001 DDOUBL
058252,000349: 17,3355 53745 DXCH HH # DOUBLE PRECISION H SCALED AT 8 SEC(2).
058253,000350:
058254,000351: # TEST WHETHER TOTAL TIME REQUIRED GREATER THAN 150 MSEC:
058255,000352: # 2 2
058256,000353: # IS .5(.150 - TTOAXIS) - H NEGATIVE (SCALED AT 8 SECONDS )
058257,000354:
058258,000355: 17,3356 31737 CAE TTOAXIS # TTOAXIS SCALED AT 4 SECONDS.
058259,000356: 17,3357 63523 AD -TJMAX # -.150 SECOND SCALED AT 4.
058260,000357: 17,3360 00006 EXTEND
058261,000358: 17,3361 70000 SQUARE
058262,000359: 17,3362 00006 EXTEND
058263,000360: 17,3363 61744 SU HH # HIGH WORD OF H SCALED AT 8 SEC(2).
058264,000361: 17,3364 00006 EXTEND
058265,000362: 17,3365 63250 BZMF FULLTIME # YES. NEED NOT CALCULATE TJET.
058266,000363:
058267,000364: # TEST WHETHER TIME BEYOND AXIS GREATER THAN 50 MSEC TO DETERMINE WHICH APPROXIMATION TO USE.
058268,000365:
058269,000366: 17,3366 31744 CAE HH
058270,000367: 17,3367 67720 AD NEG2
058271,000368: 17,3370 00006 EXTEND
058272,000369: 17,3371 63401 BZMF FORMULA3
058273,000370:
058274,000371: # TJET = H/0.1 + TTOAXIS + .0375 FOR APPROXIMATION OVER MORE THAN 50 MSEC.
058275,000372:
058276,000373: 17,3372 33513 CAF .1AT2 # STORE .1 SEC SCALED AT 2 FOR DIVISION.
058277,000374: 17,3373 53745 DXCH HH # DP H SCALED AT 8 SEC(2) NEED NOT BE
058278,000375: 17,3374 00006 EXTEND # PRESERVED.
058279,000376: 17,3375 11744 DV HH # QUOTIENT SCALED AT 4 SECONDS.
058280,000377: 17,3376 61737 AD TTOAXIS # SCALED AT 4 SEC.
058281,000378: 17,3377 63514 AD .0375AT4 # .0375 SEC SCALED AT 4.
058282,000379: 17,3400 13251 TCF RETURNTJ # END COMPUTATION.
058283,000380:
058284,000381: # TJET = H/.O25 + TTOAXIS FOR APPROXIMATION OVER LESS THAN 50 MSEC.
058285,000382:
058286,000383: 17,3401 43515 FORMULA3 CS -.025AT2 # STORE +.025 SEC SCALED AT 2 FOR DIVISION
058287,000384: 17,3402 53745 DXCH HH # PICK UP DP H AT 8, WHICH NEED NOT BE
058288,000385: 17,3403 00006 EXTEND # PRESERVED.
058289,000386: 17,3404 11744 DV HH # QUOTIENT SCALED AT 4 SECONDS.
058290,000387: 17,3405 61737 AD TTOAXIS # SCALED AT 4 SEC.
058291,000388:
058292,000389: # IF COMPUTED JET TIME IS LESS THAN TJMIN, TJET IS SET TO ZERO.
058293,000390: # MINIMUM IMPULSES REQUIRED IN ZONE 3 ARE NOT SUBJECT TO THIS CONSTRAINT, NATURALLY.
058294,000391:
058295,000392: 17,3406 63525 CHKMINTJ AD -TJMIN # IS COMPUTED TIME LESS THAN THE MINIMUM.
058296,000393: 17,3407 00006 EXTEND
058297,000394: 17,3410 63205 BZMF COASTTJ # YES, SET TIME TO ZERO.
058298,000395: 17,3411 63524 AD TJMIN # NO, RESTORE COMPUTED TIME.
058299,000396: 17,3412 13251 TCF RETURNTJ # END COMPUTATION.
058300,000397:
058301,000398: # *** ROUGHLAW ***
058302,000399:
058303,000400: # BEFORE ENTRY TO RUFLAW:
058304,000401: # 1. INDEXERS ADRSDIF1 AND ADRSDIF2 ARE SET ON BASIS OF AXIS, AND SIGN OF EDOT.
058305,000402: # 2. IF EDOT WAS NEGATIVE, E AND EDOT ARE ROTATED INTO UPPER HALF-PLANE AND ROTSENSE IS MADE NEGATIVE.
058306,000403: # 3. E IS SCALED AT PI RADIANS AND EDOT AT PI/4 RAD/SEC.
058307,000404: # (EXCEPT THE RUFLAW3 ENTRY WHEN E IS AT PI/4)
058308,000405:
058309,000406: # RUFLAW1: ERROR MORE NEGATIVE THAN PI/16 RAD. FIRE TO A RATE OF PI/32 RAD/SEC (IF JET TIME EXCEEDS 20 MSEC.).
058310,000407: # RUFLAW2: ERROR MORE POSITIVE THAN PI/16 RAD. FIRE TO OPPOSING RATE OF PI/32 RAD/SEC.
058311,000408: # RUFLAW3: ERROR RATE GREATER THAN PI/32 RAD/SEC AND ERROR WITHIN BOUNDS. COAST IF BELOW FIREFCT, FIRE IF ABOVE
058312,000409:
058313,000410: 17,3413 45013 RUFLAW1 CS BIT12 # DECREMENT EDOT BY PI/32 RAD/SEC, WHICH
058314,000411: 17,3414 27543 ADS EDOT # IS THE TARGET RATE.
058315,000412: 17,3415 00006 EXTEND
058316,000413: 17,3416 63437 BZMF SMALRATE # BRANCH IF RATE LESS THAN TARGET.
058317,000414: 17,3417 03475 TC RUFSETUP # REVERSE ROTSENSE AND INDICATE MAX JETS.
058318,000415: 17,3420 31543 CAE EDOT # PICK UP DESIRED RATE CHANGE.
058319,000416:
058320,000417: 17,3421 00006 RUFLAW12 EXTEND # COMPUTE TJET
058321,000418: 17,3422 51741 INDEX ADRSDIF2 # = (DESIRED RATE CHANGE)/(2-JET ACCEL.)
058322,000419: 17,3423 71566 MP 1/ANET1 +2
058323,000420: 17,3424 67712 AD -1/8 # IF TJET, SCALED AT 32 SEC, EXCEEDS
058324,000421: 17,3425 00006 EXTEND # 4 SECONDS, SET TJET TO TJMAX.
058325,000422: 17,3426 63430 BZMF +2
058326,000423: 17,3427 13250 TCF FULLTIME
058327,000424: 17,3430 00006 EXTEND
058328,000425: 17,3431 13250 BZF FULLTIME
058329,000426: 17,3432 65013 AD BIT12 # RESTORE COMPUTED TJET TO ACCUMULATOR.
058330,000427: 17,3433 20001 DAS A
058331,000428: 17,3434 20001 DAS A
058332,000429: 17,3435 20001 DAS A # RESCALED TJET AT 4 SECONDS.
058333,000430: 17,3436 13406 TCF CHKMINTJ # RETURN AS FROM FINELAW.
058334,000431:
058335,000432: 17,3437 03477 SMALRATE TC RUFSETUP +2 # SET NUMBERT AND FIREFCT FOR MAXIMUM JETS
058336,000433: 17,3440 11735 CCS ROTSENSE
058337,000434: 17,3441 35026 CAF ONE # MODIFY INDEXER TO POINT TO 1/ANET
058338,000435: 17,3442 13444 TCF +2 # CORRESPONDING TO THE PROPER SENSE.
058339,000436: 17,3443 37721 CAF NEGONE
058340,000437: 17,3444 27741 ADS ADRSDIF2
058341,000438:
058342,000439: 17,3445 41543 CS EDOT # PICK UP (PI/32-EDOT)=DESIRED CHANGE.
058343,000440: 17,3446 13421 TCF RUFLAW12
058344,000441:
058345,000442: 17,3447 03475 RUFLAW2 TC RUFSETUP # REVERSE ROTSENSE AND INDICATE MAX JETS.
058346,000443: 17,3450 35013 CAF BIT12
058347,000444: 17,3451 61543 AD EDOT # PICK UP(PI/32+EDOT) = DESIRED RATE CHANGE
058348,000445: 17,3452 54000 TS A # IF OVERFLOW SKIP, FIRE FOR FULL TIME.
058349,000446:
058350,000447: 17,3453 13421 TCF RUFLAW12 # OTHERWISE, COMPUTE JET TIME.
058351,000448: 17,3454 13250 TCF FULLTIME
058352,000449:
058353,000450: 17,3455 03475 RUFLAW3 TC RUFSETUP # EXECUTE COMMON RUFLAW SUBROUTINE.
058354,000451: 17,3456 51743 INDEX ADRSDIF1
058355,000452: 17,3457 41576 CS FIREDB # CALCULATE DISTANCE FROM SWITCH CURVE
058356,000453: 17,3460 61542 AD E # 1/ANET1*EDOT*EDOT +E - FIREDB = 0
058357,000454: 17,3461 00006 EXTEND # SCALED AT 4 PI RADIANS
058358,000455: 17,3462 75014 MP BIT11
058359,000456: 17,3463 57543 XCH EDOT
058360,000457: 17,3464 00006 EXTEND
058361,000458: 17,3465 70000 SQUARE
058362,000459: 17,3466 00006 EXTEND
058363,000460: 17,3467 51743 INDEX ADRSDIF1
058364,000461: 17,3470 71566 MP 1/ANET1 +2
058365,000462: 17,3471 61543 AD EDOT
058366,000463: 17,3472 00006 EXTEND
058367,000464: 17,3473 63205 BZMF COASTTJ # COAST IF BELOW IT.
058368,000465: 17,3474 13250 TCF FULLTIME # FIRE FOR FULL PERIOD IF ABOVE IT.
058369,000466:
058370,000467: # SUBROUTINE USED IN ALL ENTRIES TO ROUGHLAW.
058371,000468:
058372,000469: 17,3475 41735 RUFSETUP CS ROTSENSE # REVERSE ROTSENSE WHEN ENTER HERE.
058373,000470: 17,3476 55735 TS ROTSENSE
058374,000471: 17,3477 35024 +2 CAF FOUR # REQUIRE MAXIMUM (2) JETS IN U,V-AXES.
058375,000472: 17,3500 55740 TS NUMBERT
058376,000473: 17,3501 35010 CAF NEGMAX # SUGGEST MAXIMUM (4) JETS IN P-AXIS.
058377,000474: 17,3502 55736 TS FIREFCT
058378,000475: 17,3503 00002 TC Q
058379,000476:
058380,000477: # CONSTANTS FOR TJETLAW
058381,000478:
058382,000479: 17,3504 77757 DEC -16 B-14 # AXISDIFF(INDEX) = NUMBER OF REGISTERS
058383,000480: 17,3505 00000 AXISDIFF DEC +0 B-14 # BETWEEN STORED 1/ACCS PARAMETERS FOR
058384,000481: 17,3506 00020 DEC 16 B-14 # THE INDEXED AXIS AND THE U-AXIS.
058385,000482: 17,3507 14400 SENSOR OCT 14400 # RATIO OF TJET SCALING WITHIN TJETLAW
058386,000483: # (4 SEC) TO SCALING FOR T6 (10.24 SEC).
058387,000484: 17,3510 76447 -2DEG DEC -.04444 # -2.0 DEGREES SCALED AT 45.
058388,000485: 17,3511 77750 -.0112A8 DEC -.00141 # -.01125 SEC(2) SCALED AT 8.
058389,000486: 17,3512 00632 .1AT4 DEC .025 # 0.1 SECOND SCALED AT 4.
058390,000487: 17,3513 01463 .1AT2 DEC .05 # 0.1 SEC SCALED AT 2.
058391,000488: 17,3514 00232 .0375AT4 DEC .00938 # .0375 SEC SCALED AT 4.
058392,000489: 17,3515 77462 -.025AT2 DEC -.0125 # -.025 SEC SCALED AT 2.
058393,000490: 17,3516 77631 -.025AT4 DEC -.00625
058394,000491: 17,3517 77145 -.05AT2 DEC -.025
058395,000492: 17,3520 75462 -.15AT2 DEC -.075
058396,000493: 17,3521 00007 25605 .00375A8 2DEC .00375 B-3
058397,000494:
058398,000495: 17,3523 76631 -TJMAX DEC -.0375 # LARGEST CALCULATED TIME. .150 SEC AT 4.
058399,000496: 17,3524 00122 TJMIN DEC .005 # SMALLEST ALLOWABLE TIME. .020 SEC AT 4.
058400,000497: 17,3525 77655 -TJMIN DEC -.005
End of include-file TJET_LAW.agc. Parent file is MAIN.agc