Source Code
|
These source code files are a reconstruction of Sundance, the Apollo 9 LM (Lunar Module) AGC
(Apollo Guidance Computer) flight software, created from binary dumps of original core rope
program modules, as follows:
Since only binary dumps (rather than listings) of Sundance are available as source material, all comments and labels are approximate. They have been taken from other AGC programs where possible, or, in some places, written from scratch to match what we believe would have been in the original listing. |
057639,000002: ## Copyright: Public domain.
057640,000003: ## Filename: TJET_LAW.agc
057641,000004: ## Purpose: A section of a reconstructed, mixed version of Sundance
057642,000005: ## It is part of the reconstructed source code for the Lunar
057643,000006: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 9.
057644,000007: ## No original listings of this program are available;
057645,000008: ## instead, this file was created via disassembly of dumps
057646,000009: ## of various revisions of Sundance core rope modules.
057647,000010: ## Assembler: yaYUL
057648,000011: ## Contact: Ron Burkey <info@sandroid.org>.
057649,000012: ## Website: www.ibiblio.org/apollo/index.html
057650,000013: ## Mod history: 2020-06-17 MAS Created from Luminary 69.
057651,000014:
057652,000015: ## Sundance 302
057653,000016:
057654,000017: # PROGRAM DESCRIPTION
057655,000018: # DESIGNED BY: R. D. GOSS AND P. S. WEISSMAN
057656,000019: # CODED BY: P. S. WEISSMAN 28 FEBRUARY 1968
057657,000020:
057658,000021: # TJETLAW IS CALLED AS A SUBROUTINE WHEN THE LEM IS NOT DOCKED AND THE AUTOPILOT IS IN THE AUTOMATIC OR
057659,000022: # ATTITUDE-HOLD MODE TO CALCULATE THE JET-FIRING-TIME (TJET) REQUIRED FOR THE AXIS INDICATED BY AXISCTR:
057660,000023: # -1 INDICATES THE P-AXIS
057661,000024: # +0 INDICATES THE U-AXIS
057662,000025: # +1 INDICATES THE V-AXIS.
057663,000026: # THE REGISTERS E AND EDOT CONTAIN THE APPROPRIATE ATTITUDE ERROR AND ERROR RATE AND SENSETYP SHOWS WHETHER
057664,000027: # UNBALANCED COUPLES ARE PREFERRED. TJETLAW ALSO USES VARIOUS FUNCTIONS OF ACCELERATION AND DEADBAND WHICH ARE
057665,000028: # COMPUTED IN THE 1/ACCONT SECTION OF 1/ACCS AND ARE STORED IN SUCH AN ORDER THAT THEY CAN BE CONVENIENTLY
057666,000029: # ACCESSED BY INDEXING.
057667,000030:
057668,000031: # THE SIGN OF THE REQUIRED ROTATION IS CARRIED THROUGH TJETLAW AS ROTSENSE AND IS FINALLY APPLIED TO TJET JUST
057669,000032: # PREVIOUS TO ITS STORAGE IN THE LOCATION CORRESPONDING TO THE AXIS (TJP, TJU OR TJV). THE NUMBER OF JETS THAT
057670,000033: # TJETLAW ASSUMES WILL BE USED IS INDICATED BY THE SETTING OF NUMBERT FOR THE U- OR V-AXIS. TWO JETS ARE ALWAYS
057671,000034: # ASSUMED FOR THE P-AXIS ALTHOUGH FOUR JETS WILL BE FIRED WHEN FIREFCT IS MORE NEGATIVE THAN -4.0 DEGREES
057672,000035: # (FIREFCT IS THE DISTANCE TO A SWITCH CURVE IN THE PHASE PLANE) AND A LONG FIRING IS CALLED FOR.
057673,000036:
057674,000037: # IN ORDER TO AVOID SCALING DIFFICULTIES, SIMPLE ALGORITHMS TAGGED RUFLAW1, -2 AND -3 ARE RESORTED TO WHEN THE
057675,000038: # ERROR AND/OR ERROR RATE ARE LARGE.
057676,000039:
057677,000040: # CALLING SEQUENCE:
057678,000041: # TC TJETLAW (MUST BE IN JASK)
057679,000042: # OR
057680,000043: # INHINT (MUST BE IN JASK)
057681,000044: # TC IBNKCALL
057682,000045: # CADR TJETLAW
057683,000046: # RELINT
057684,000047:
057685,000048: # EXIT: RETURN TO Q.
057686,000049:
057687,000050: # INPUT:
057688,000051: # FROM THE CALLER: E, EDOT, AXISCTR, SENSETYP, TJP,-U,-V.
057689,000052: # FROM 1/ACCONT: 48 ERASABLES BEGINNING AT BLOCKTOP (INCLUDING FLAT, ZONE3LIM AND ACCSWU,-V).
057690,000053:
057691,000054: # OUTPUT:
057692,000055: # TJP,-U OR -V, NUMBERT (DAPTEMP5), FIREFCT (DAPTEMP3).
057693,000056:
057694,000057: # DEBRIS:
057695,000058: # A, L, Q, E, EDOT, DAPTEMP1-6, DAPTREG1-4.
057696,000059:
057697,000060: # ALARM: NONE
057698,000061:
057699,000062: 17,3035 BANK 17
057700,000063: 17,2000 SETLOC DAPS2
057701,000064: 17,2000 BANK
057702,000065: 17,3035 E6,1516 EBANK= TJP
057703,000066: 17,3035 COUNT* $$/DAPTJ
057704,000067:
057705,000068: 17,3035 00006 TJETLAW EXTEND # SAVE Q FOR RETURN.
057706,000069: 17,3036 23742 QXCH HOLDQ
057707,000070:
057708,000071: # SET INDEXERS TO CORRESPOND TO THE AXIS AND TO THE SIGN OF EDOT
057709,000072:
057710,000073: 17,3037 51471 INDEX AXISCTR # AXISDIFF(-1)=NO OF LOCATIONS BER P AND U
057711,000074: 17,3040 33505 CAF AXISDIFF # AXISDIFF(0) = 0
057712,000075: 17,3041 55743 TS ADRSDIF1 # AXISDIFF(+1)=NO OF LOCATIONS BET V AND U
057713,000076:
057714,000077: 17,3042 31543 CAE EDOT # IF EDOT NEGATIVE, PICK UP SET OF VALUES
057715,000078: 17,3043 00006 EXTEND # THAT ALLOW USE OF SAME CODING AS FOR
057716,000079: 17,3044 63051 BZMF NEGEDOT # POSITIVE EDOT.
057717,000080: 17,3045 31743 CAE ADRSDIF1 # SET A SECOND INDEXER WHICH MAY BE
057718,000081: 17,3046 55741 TS ADRSDIF2 # MODIFIED BY A DECISION FOR MAX JETS.
057719,000082: 17,3047 33507 CAF SENSOR # FOR POSITIVE EDOT, ROTSENSE IS
057720,000083: 17,3050 13061 TCF SETSENSE # INITIALIZED POSITIVE.
057721,000084:
057722,000085: 17,3051 41542 NEGEDOT CS E # IN ORDER FOR NEG EDOT CASE TO USE CODING
057723,000086: 17,3052 55542 TS E # OF POS EDOT, MUST MODIFY AS FOLLOWS:
057724,000087: 17,3053 41543 CS EDOT # 1. COMPLEMENT E AND EDOT.
057725,000088: 17,3054 55543 TS EDOT # 2. SET SENSE OF ROTATION TO NEGATIVE
057726,000089: 17,3055 35026 CAF BIT1 # (REVERSED LATER IF NECESSARY).
057727,000090: 17,3056 27743 ADS ADRSDIF1 # 3. INCREMENT INDEXERS BY ONE SO THAT
057728,000091: 17,3057 55741 TS ADRSDIF2 # THE PROPER PARAMETERS ARE ACCESSED.
057729,000092: 17,3060 43507 CS SENSOR
057730,000093: 17,3061 55735 SETSENSE TS ROTSENSE
057731,000094:
057732,000095: # TEST MAGNITUDE OF E (ATTITUDE ERROR, SINGLE-PRECISION, SCALED AT PI RADIANS):
057733,000096: # IF GREATER THAN (OR EQUAL TO) PI/16 RADIANS, GO TO THE SIMPLIFIED TJET ROUTINE.
057734,000097: # IF LESS THAN PI/16 RADIANS, RESCALE TO PI/4.
057735,000098:
057736,000099: 17,3062 31542 CAE E # PICK UP ATTITUDE ERROR FOR THIS AXIS
057737,000100: 17,3063 00006 EXTEND
057738,000101: 17,3064 75022 MP BIT5 # SHIFT RIGHT TEN BITS: IF A-REGISTER IS
057739,000102: 17,3065 10000 CCS A # ZERO, RESCALE AND TEST EDOT.
057740,000103: 17,3066 13447 TCF RUFLAW2
057741,000104: 17,3067 13071 TCF SCALEE
057742,000105: 17,3070 13413 TCF RUFLAW1
057743,000106: 17,3071 35012 SCALEE CAF BIT13 # ERROR IS IN L SCALED AT PI/16. RESCALE
057744,000107: 17,3072 00006 EXTEND # IT TO PI/4 AND SAVE IT.
057745,000108: 17,3073 70001 MP L
057746,000109: 17,3074 55542 TS E
057747,000110:
057748,000111: # TEST MAGNITUDE OF EDOT (ERROR RATE SCALED AT PI/4 RADIANS/SECOND)
057749,000112: # IF GREATER THAN (OR EQUAL TO) PI/32 RADIANS/SECOND, GO TO THE SIMPLIFIED TJET ROUTINE.
057750,000113: # IF LESS THAN PI/32 RADIANS/SECOND, THEN RESCALE TO PI/32 RADIANS/SECOND.
057751,000114:
057752,000115: 17,3075 31543 CAE EDOT # PICK UP SINGLE-PRECISION ERROR-RATE
057753,000116: 17,3076 00006 EXTEND # FOR THIS AXIS=
057754,000117: 17,3077 75023 MP BIT4 # SHIFT RIGHT ELEVEN BITS, IF THE A-REG IS
057755,000118: 17,3100 00006 EXTEND # ZERO, THEN RESCALE AND USE FINELAW.
057756,000119: 17,3101 13103 BZF SCALEDOT
057757,000120: 17,3102 13455 TCF RUFLAW3
057758,000121:
057759,000122: # *** FINELAW STARTS HERE ***
057760,000123:
057761,000124: 17,3103 23543 SCALEDOT LXCH EDOT # EDOT IS SCALED AT PI/32 RADIANS/SECOND.
057762,000125:
057763,000126: 17,3104 31543 CAE EDOT # COMPUTE (EDOT)(EDOT)
057764,000127: 17,3105 00006 EXTEND
057765,000128: 17,3106 70000 SQUARE # PRODUCT SCALED AT PI(2)/2(10) RAD/SEC.
057766,000129: 17,3107 00006 EXTEND
057767,000130: 17,3110 75012 MP BIT13 # SHIFT RIGHT TWO BITS TO RESCALE EDOTSQ
057768,000131: 17,3111 55734 TS EDOTSQ # TO PI(2)/2(8) RAD(2)/SEC(2).
057769,000132:
057770,000133: 17,3112 11542 ERRTEST CCS E # DOES BIG ERROR (TWO DEGREES BEYOND THE
057771,000134: 17,3113 63510 AD -2DEG # DEADBAND) REQUIRE MAXIMUM JETS?
057772,000135: 17,3114 13116 TCF +2
057773,000136: 17,3115 63510 AD -2DEG
057774,000137: 17,3116 00006 EXTEND
057775,000138: 17,3117 51743 INDEX ADRSDIF1
057776,000139: 17,3120 61576 SU FIREDB
057777,000140: 17,3121 00006 EXTEND
057778,000141: 17,3122 63127 BZMF SENSTEST # IF NOT: ARE UNBALANCED JETS PREFERRED|
057779,000142: 17,3123 35025 MAXJETS CAF TWO # IF YES: INCREMENT ADDRESS LOCATOR AND
057780,000143: 17,3124 27741 ADS ADRSDIF2 # SET SWITCH FOR JET SELECT LOGIC TO 4.
057781,000144: 17,3125 35024 CAF FOUR # (ALWAYS DO THIS FOR P-AXIS)
057782,000145: 17,3126 13132 TCF TJCALC
057783,000146: 17,3127 11472 SENSTEST CCS SENSETYP # DOES TRANSLATION PREFER MIN JETS.
057784,000147: 17,3130 13132 TCF TJCALC # YES. USE MIN-JET PARAMETERS.
057785,000148: 17,3131 13123 TCF MAXJETS # NO. GET MAX-JET PARAMETERS.
057786,000149: 17,3132 55740 TJCALC TS NUMBERT # SET TO +0,1,4 FOR (U,V-AXES) JET SELECT.
057787,000150:
057788,000151: # BEGINNING OF TJET CALCULATIONS:
057789,000152:
057790,000153: 17,3133 41734 CS EDOTSQ # SCALED AT PI(2)/2(8).
057791,000154: 17,3134 00006 EXTEND
057792,000155: 17,3135 51741 INDEX ADRSDIF2
057793,000156: 17,3136 71564 MP 1/ANET1 # .5/ACC SCALED AT 2(6)/PI SEC(2)/RADIAN.
057794,000157: 17,3137 51743 INDEX ADRSDIF1
057795,000158: 17,3140 61576 AD FIREDB # DEADBAND SCALED AT PI/4 RADIAN.
057796,000159: 17,3141 00006 EXTEND
057797,000160: 17,3142 61542 SU E # ATTITUDE ERROR SCALED AT PI/4 RADIAN.
057798,000161: 17,3143 55736 TS FIREFCT # -E-.5(EDOTSQ)/ACC-DB AT PI/4 RADIAN.
057799,000162: 17,3144 00006 EXTEND
057800,000163: 17,3145 63325 BZMF ZON1,2,3
057801,000164:
057802,000165: 17,3146 51743 ZONE4,5 INDEX ADRSDIF1
057803,000166: 17,3147 31570 CAE 1/ACOAST # .5/ACC SCALED AT 2(6)/PI WHERE
057804,000167: 17,3150 00006 EXTEND # ACC = MAX(AMIN, AOS-).
057805,000168: 17,3151 71734 MP EDOTSQ # SCALED AT PI/2(8).
057806,000169: 17,3152 61542 AD E # SCALED AT PI/4
057807,000170: 17,3153 51743 INDEX ADRSDIF1
057808,000171: 17,3154 61600 AD COASTDB # SCALED AT PI/4 POS. FOR NEG. INTERCEPT.
057809,000172: 17,3155 00006 EXTEND # TEST E+.5(EDOTSQ)/ACC+DB AT PI/4 RADIAN.
057810,000173: 17,3156 63211 BZMF ZONE5 # IF FUNCTION NEGATIVE, FIND TJET.
057811,000174: # IF FUNCTION POSITIVE, IN ZONE 4.
057812,000175:
057813,000176: # ZONE 4 IS THE COAST REGION. HOWEVER, IF THE JETS ARE ON AND DRIVING TOWARD
057814,000177: # A. THE AXIS WITHIN + OR - (DB + FLAT) FOR DRIFTING FLIGHT, OR
057815,000178: # B. THE USUAL TARGET PARABOLA FOR POWERED FLIGHT
057816,000179: # THEN THE THRUSTERS ARE KEPT ON.
057817,000180:
057818,000181: 17,3157 51471 ZONE4 INDEX AXISCTR # IS THE CURRENT VALUE IN TJET NON-ZERO
057819,000182: 17,3160 41517 CS TJETU # WITH SENSE OPPOSITE TO EDOT,
057820,000183: 17,3161 00006 EXTEND # (I.E., ARE JETS ON AND FIRING TOWARD
057821,000184: 17,3162 71735 MP ROTSENSE # THE DESIRABLE STATE).
057822,000185: 17,3163 00006 EXTEND
057823,000186: 17,3164 63205 BZMF COASTTJ # NO. COAST.
057824,000187:
057825,000188: 17,3165 11552 JETSON CCS FLAT # YES. IS THIS DRIFTING OR POWERED FLIGHT|
057826,000189: 17,3166 13177 TCF DRIFT/ON # DRIFTING. GO MAKE FURTHER TEST.
057827,000190:
057828,000191: 17,3167 41736 CS FIREFCT # POWERED (OR ULLAGE). CAN TARGET PARABOLA
057829,000192: 17,3170 51743 INDEX ADRSDIF1 # BE REACHED FROM THIS POINT IN THE
057830,000193: 17,3171 61602 AD AXISDIST # PHASE PLANE|
057831,000194: 17,3172 00006 EXTEND
057832,000195: 17,3173 63205 BZMF COASTTJ # NO. SET TJET = 0.
057833,000196: 17,3174 03311 TC Z123COMP # YES. CALCULATE TJET AS THOUGH IN ZONE 1
057834,000197: 17,3175 31736 CAE FIREFCT # AFTER COMPUTING THE REQUIRED
057835,000198: 17,3176 13345 TCF ZONE1 # PARAMETERS.
057836,000199:
057837,000200: 17,3177 51743 DRIFT/ON INDEX ADRSDIF1 # CAN TARGET STRIP OF AXIS BE REACHED FROM
057838,000201: 17,3200 41576 CS FIREDB # THIS POINT IN THE PHASE PLANE|
057839,000202: 17,3201 60000 DOUBLE
057840,000203: 17,3202 61736 AD FIREFCT
057841,000204: 17,3203 00006 EXTEND
057842,000205: 17,3204 63207 BZMF +3
057843,000206: 17,3205 35030 COASTTJ CAF ZERO # NO. SET TJET = 0.
057844,000207: 17,3206 13251 TCF RETURNTJ
057845,000208:
057846,000209: 17,3207 03311 TC Z123COMP # YES. CALCULATE TJET AS THOUGH IN ZONE 2
057847,000210: 17,3210 13332 TCF ZONE2,3 # OR 3 AFTER COMPUTING REQUIRED VALUES.
057848,000211:
057849,000212: 17,3211 54001 ZONE5 TS L # TEMPORARILY STORE FUNCTION IN L.
057850,000213: 17,3212 11735 CCS ROTSENSE # MODIFY ADRSDIF2 FOR ACCESSING 1/ANET2
057851,000214: 17,3213 13217 TCF +4 # AND ACCFCTZ5, WHICH MUST BE PICKED UP
057852,000215: 17,3214 05723 TC CCSHOLE # FROM THE NEXT LOWER REGISTER IF THE
057853,000216: 17,3215 45025 CS TWO # (ACTUAL) ERROR RATE IS NEGATIVE.
057854,000217: 17,3216 27741 ADS ADRSDIF2
057855,000218:
057856,000219: 17,3217 30001 +4 CAE L
057857,000220: 17,3220 00006 EXTEND
057858,000221: 17,3221 51741 INDEX ADRSDIF2 # TTOAXIS AND HH ARE THE PARAMETERS UPON
057859,000222: 17,3222 71573 MP ACCFCTZ5 # WHICH THE APPROXIMATIONS TO TJET ARE
057860,000223: 17,3223 20001 DDOUBL # BASED.
057861,000224: 17,3224 20001 DDOUBL
057862,000225: 17,3225 53745 DXCH HH # DOUBLE PRECISION H SCALED AT 8 SEC(2).
057863,000226: 17,3226 51741 INDEX ADRSDIF2
057864,000227: 17,3227 31565 CAE 1/ANET2 # SCALED AT 2(7)/PI SEC(2)/RAD.
057865,000228: 17,3230 00006 EXTEND
057866,000229: 17,3231 71543 MP EDOT # SCALED AT PI/2(5)
057867,000230: 17,3232 55737 TS TTOAXIS # SCALED AT 4 SEC.
057868,000231:
057869,000232: # TEST WHETHER TJET GREATER THAN 50 MSEC.
057870,000233:
057871,000234: 17,3233 00006 EXTEND
057872,000235: 17,3234 73517 MP -.05AT2 # H - .05 TTOAXIS - .00125 G.T. ZERO
057873,000236: 17,3235 61744 AD HH # (SCALED AT 8 SEC(2) ).
057874,000237: 17,3236 67720 AD NEG2
057875,000238: 17,3237 00006 EXTEND
057876,000239: 17,3240 63266 BZMF FORMULA1
057877,000240:
057878,000241: # TEST WHETHER TJET GREATER THAN 150 MSEC.
057879,000242:
057880,000243: 17,3241 31737 CAE TTOAXIS
057881,000244: 17,3242 00006 EXTEND
057882,000245: 17,3243 73520 MP -.15AT2 # H - .15 TTOAXIS - .01125 G.T. ZERO
057883,000246: 17,3244 61744 AD HH # (SCALED AT 8 SEC(2) )
057884,000247: 17,3245 63511 AD -.0112A8
057885,000248: 17,3246 00006 EXTEND
057886,000249: 17,3247 63276 BZMF FORMULA2
057887,000250:
057888,000251: # IF TJET GREATER THAN 150 MSEC, ASSIGN IT VALUE OF 250 MSEC, SINCE THIS
057889,000252: # IS ENOUGH TO ASSURE NO SKIP NEXT CSP (100 MSEC).
057890,000253:
057891,000254: 17,3250 35014 FULLTIME CAF BIT11 # 250 MSEC SCALED AT 4 SEC.
057892,000255:
057893,000256: # RETURN TO CALLING PROGRAM WITH JET TIME SCALED AS TIME6 AND SIGNED.
057894,000257:
057895,000258: 17,3251 00006 RETURNTJ EXTEND # ALL BRANCHES TERMINATE HERE WITH TJET
057896,000259: 17,3252 71735 MP ROTSENSE # (SCALED AT 4 SEC) IN THE ACCUMULATOR.
057897,000260: 17,3253 51471 INDEX AXISCTR # ROTSENSE APPLIES SIGN AND CHANGES SCALE.
057898,000261: 17,3254 55517 TS TJETU
057899,000262: 17,3255 00006 EXTEND
057900,000263: 17,3256 51471 INDEX AXISCTR
057901,000264: 17,3257 71544 MP ACCSWU # SET SWITCH FOR JET SELECT IF ROTATION IS
057902,000265: 17,3260 30001 CAE L
057903,000266: 17,3261 00006 EXTEND # IN A SENSE FOR WHICH 1/ACCS HAS FORCED
057904,000267: 17,3262 63265 BZMF +3 # A MAX-JET CALCULATION.
057905,000268: 17,3263 35024 CAF FOUR
057906,000269: 17,3264 55740 TS NUMBERT
057907,000270: 17,3265 01742 TC HOLDQ # RETURN VIA SAVED Q.
057908,000271:
057909,000272: # TJET = H/(.025 + TTOAXIS) FOR TJET LESS THAN 50 MSEC.
057910,000273:
057911,000274: 17,3266 43516 FORMULA1 CS -.025AT4 # .025 SEC SCALED AT 4.
057912,000275: 17,3267 61737 AD TTOAXIS # SCALED AT 4 SECONDS.
057913,000276: 17,3270 53745 DXCH HH # STORE DENOMINATOR IN FIRST WORD OF H,
057914,000277: 17,3271 00006 EXTEND # WHICH NEED NOT BE PRESERVED. PICK UP
057915,000278: 17,3272 11744 DV HH # DP H AND DIVIDE BY DENOMINATOR.
057916,000279: 17,3273 00006 EXTEND
057917,000280: 17,3274 75011 MP BIT14 # RESCALE TJET FROM 2 TO USUAL 4 SEC.
057918,000281: 17,3275 13406 TCF CHKMINTJ # CHECK THAT TJET IS NOT LESS THAN MINIMUM
057919,000282:
057920,000283: # TJET = (H + .00375)/(0.1 + TTOAXIS) FOR TJET GREATER THAN 50 MSEC.
057921,000284:
057922,000285: 17,3276 00006 FORMULA2 EXTEND
057923,000286: 17,3277 33522 DCA .00375A8 # .00375 SEC(2) SCALED AT 8.
057924,000287: 17,3300 21745 DAS HH # STORE NUMERATOR IN DP H, WHICH NEED NOT
057925,000288: # BE PRESERVED.
057926,000289: 17,3301 31737 CAE TTOAXIS # SCALED AT 4 SEC.
057927,000290: 17,3302 63512 AD .1AT4 # 0.1 SEC SCALED AT 4.
057928,000291: 17,3303 53745 DXCH HH # STORE DENOMINATOR IN FIRST WORD OF H,
057929,000292: 17,3304 00006 EXTEND # WHICH NEED NOT BE PRESERVED. PICK UP
057930,000293: 17,3305 11744 DV HH # DP NUMERATOR AND DIVIDE BY DENOMINATOR
057931,000294: 17,3306 00006 EXTEND
057932,000295: 17,3307 75011 MP BIT14 # RESCALE TJET FROM 2 TO USUAL 4 SEC.
057933,000296: 17,3310 13251 TCF RETURNTJ # END SUBROUTINE.
057934,000297:
057935,000298: # SUBROUTINIZED COMPUTATIONS REQUIRED FOR ALL ENTRIES INTO CODING FOR ZONES 1, 2, AND 3.
057936,000299: # REACHED BY TC FROM 3 POINTS IN TJETLAW.
057937,000300:
057938,000301: 17,3311 41735 Z123COMP CS ROTSENSE # USED IN RETURNTJ SECTION TO RESCALE TJET
057939,000302: 17,3312 55735 TS ROTSENSE # AS TIME6 AND GIVE IT PROPER SIGN.
057940,000303: 17,3313 31543 CAE EDOT # SCALED AT PI/2(5) RAD/SEC.
057941,000304: 17,3314 00006 EXTEND
057942,000305: 17,3315 51741 INDEX ADRSDIF2
057943,000306: 17,3316 71564 MP 1/ANET1 # SCALED AT 2(7)/PI SEC(2)/RAD.
057944,000307: 17,3317 55737 TS TTOAXIS # STORE TIME-TO-AXIS SCALED AT 4 SECONDS.
057945,000308: 17,3320 63523 AD -TJMAX
057946,000309: 17,3321 00006 EXTEND # IS TIME TO AXIS LESS THAN 150 MSEC.
057947,000310: 17,3322 63324 BZMF +2
057948,000311: 17,3323 13250 TCF FULLTIME # NO. FIRE JETS, DO NOT CALCULATE TJET.
057949,000312: 17,3324 00002 RETURN # YES. GO ON TO FIND TJET
057950,000313:
057951,000314: 17,3325 03311 ZON1,2,3 TC Z123COMP # SUBROUTINIZED PREPARATION FOR ZONE1,2,3.
057952,000315:
057953,000316: # IF THE (NEG) DISTANCE BEYOND PARABOLA IS LESS THAN FLAT, USE SPECIAL
057954,000317: # LOGIC TO ACQUIRE MINIMUM IMPULSE LIMIT CYCLE. DURING POWERED FLIGHT
057955,000318: # OR ULLAGE, FLAT = 0
057956,000319:
057957,000320: 17,3326 31736 CAE FIREFCT # SCALED AT PI/4 RAD.
057958,000321: 17,3327 61552 AD FLAT
057959,000322: 17,3330 00006 EXTEND
057960,000323: 17,3331 63345 BZMF ZONE1 # NOT IN SPECIAL ZONES.
057961,000324:
057962,000325: # FIRE FOR AXIS OR, IF CLOSE, FIRE MINIMUM IMPULSE. IF ON AXIS, COAST.
057963,000326:
057964,000327: 17,3332 41553 ZONE2,3 CS ZONE3LIM # HEIGHT OF MIN-IMPULSE ZONE SET BY 1/ACCS
057965,000328: 17,3333 61737 AD TTOAXIS # 35 MSEC IN DRIFTING FLIGHT
057966,000329: 17,3334 00006 EXTEND # ZERO WHEN TRYING TO ENTER GTS CONTROL.
057967,000330: 17,3335 63340 BZMF ZONE3
057968,000331: 17,3336 31737 ZONE2 CAE TTOAXIS # FIRE TO AXIS.
057969,000332: 17,3337 13251 TCF RETURNTJ
057970,000333: 17,3340 11543 ZONE3 CCS EDOT # CHECK IF EDOT IS ZERO.
057971,000334: 17,3341 35021 CAF BIT6 # FIRE A ONE-JET MINIMUM IMPULSE.
057972,000335: 17,3342 13251 TCF RETURNTJ # TJET = +0.
057973,000336: 17,3343 05723 TC CCSHOLE # CANNOT BE BECAUSE NEG EDOT COMPLEMENTED.
057974,000337: 17,3344 13251 TCF RETURNTJ # TJET = +0.
057975,000338:
057976,000339: 17,3345 00006 ZONE1 EXTEND
057977,000340: 17,3346 51743 INDEX ADRSDIF1
057978,000341: 17,3347 61602 SU AXISDIST # SCALED AT PI/4 RAD.
057979,000342: 17,3350 00006 EXTEND
057980,000343: 17,3351 51741 INDEX ADRSDIF2
057981,000344: 17,3352 71572 MP ACCFCTZ1 # SCALED AT 2(7)/PI SEC(2)/RAD.
057982,000345: 17,3353 20001 DDOUBL
057983,000346: 17,3354 20001 DDOUBL
057984,000347: 17,3355 53745 DXCH HH # DOUBLE PRECISION H SCALED AT 8 SEC(2).
057985,000348:
057986,000349: # TEST WHETHER TOTAL TIME REQUIRED GREATER THAN 150 MSEC:
057987,000350: # 2 2
057988,000351: # IS .5(.150 - TTOAXIS) - H NEGATIVE (SCALED AT 8 SECONDS )
057989,000352:
057990,000353: 17,3356 31737 CAE TTOAXIS # TTOAXIS SCALED AT 4 SECONDS.
057991,000354: 17,3357 63523 AD -TJMAX # -.150 SECOND SCALED AT 4.
057992,000355: 17,3360 00006 EXTEND
057993,000356: 17,3361 70000 SQUARE
057994,000357: 17,3362 00006 EXTEND
057995,000358: 17,3363 61744 SU HH # HIGH WORD OF H SCALED AT 8 SEC(2).
057996,000359: 17,3364 00006 EXTEND
057997,000360: 17,3365 63250 BZMF FULLTIME # YES. NEED NOT CALCULATE TJET.
057998,000361:
057999,000362: # TEST WHETHER TIME BEYOND AXIS GREATER THAN 50 MSEC TO DETERMINE WHICH APPROXIMATION TO USE.
058000,000363:
058001,000364: 17,3366 31744 CAE HH
058002,000365: 17,3367 67720 AD NEG2
058003,000366: 17,3370 00006 EXTEND
058004,000367: 17,3371 63401 BZMF FORMULA3
058005,000368:
058006,000369: # TJET = H/0.1 + TTOAXIS + .0375 FOR APPROXIMATION OVER MORE THAN 50 MSEC.
058007,000370:
058008,000371: 17,3372 33513 CAF .1AT2 # STORE .1 SEC SCALED AT 2 FOR DIVISION.
058009,000372: 17,3373 53745 DXCH HH # DP H SCALED AT 8 SEC(2) NEED NOT BE
058010,000373: 17,3374 00006 EXTEND # PRESERVED.
058011,000374: 17,3375 11744 DV HH # QUOTIENT SCALED AT 4 SECONDS.
058012,000375: 17,3376 61737 AD TTOAXIS # SCALED AT 4 SEC.
058013,000376: 17,3377 63514 AD .0375AT4 # .0375 SEC SCALED AT 4.
058014,000377: 17,3400 13251 TCF RETURNTJ # END COMPUTATION.
058015,000378:
058016,000379: # TJET = H/.O25 + TTOAXIS FOR APPROXIMATION OVER LESS THAN 50 MSEC.
058017,000380:
058018,000381: 17,3401 43515 FORMULA3 CS -.025AT2 # STORE +.025 SEC SCALED AT 2 FOR DIVISION
058019,000382: 17,3402 53745 DXCH HH # PICK UP DP H AT 8, WHICH NEED NOT BE
058020,000383: 17,3403 00006 EXTEND # PRESERVED.
058021,000384: 17,3404 11744 DV HH # QUOTIENT SCALED AT 4 SECONDS.
058022,000385: 17,3405 61737 AD TTOAXIS # SCALED AT 4 SEC.
058023,000386:
058024,000387: # IF COMPUTED JET TIME IS LESS THAN TJMIN, TJET IS SET TO ZERO.
058025,000388: # MINIMUM IMPULSES REQUIRED IN ZONE 3 ARE NOT SUBJECT TO THIS CONSTRAINT, NATURALLY.
058026,000389:
058027,000390: 17,3406 63525 CHKMINTJ AD -TJMIN # IS COMPUTED TIME LESS THAN THE MINIMUM.
058028,000391: 17,3407 00006 EXTEND
058029,000392: 17,3410 63205 BZMF COASTTJ # YES, SET TIME TO ZERO.
058030,000393: 17,3411 63524 AD TJMIN # NO, RESTORE COMPUTED TIME.
058031,000394: 17,3412 13251 TCF RETURNTJ # END COMPUTATION.
058032,000395:
058033,000396: # *** ROUGHLAW ***
058034,000397:
058035,000398: # BEFORE ENTRY TO RUFLAW:
058036,000399: # 1. INDEXERS ADRSDIF1 AND ADRSDIF2 ARE SET ON BASIS OF AXIS, AND SIGN OF EDOT.
058037,000400: # 2. IF EDOT WAS NEGATIVE, E AND EDOT ARE ROTATED INTO UPPER HALF-PLANE AND ROTSENSE IS MADE NEGATIVE.
058038,000401: # 3. E IS SCALED AT PI RADIANS AND EDOT AT PI/4 RAD/SEC.
058039,000402: # (EXCEPT THE RUFLAW3 ENTRY WHEN E IS AT PI/4)
058040,000403:
058041,000404: # RUFLAW1: ERROR MORE NEGATIVE THAN PI/16 RAD. FIRE TO A RATE OF PI/32 RAD/SEC (IF JET TIME EXCEEDS 20 MSEC.).
058042,000405: # RUFLAW2: ERROR MORE POSITIVE THAN PI/16 RAD. FIRE TO OPPOSING RATE OF PI/32 RAD/SEC.
058043,000406: # RUFLAW3: ERROR RATE GREATER THAN PI/32 RAD/SEC AND ERROR WITHIN BOUNDS. COAST IF BELOW FIREFCT, FIRE IF ABOVE
058044,000407:
058045,000408: 17,3413 45013 RUFLAW1 CS BIT12 # DECREMENT EDOT BY PI/32 RAD/SEC, WHICH
058046,000409: 17,3414 27543 ADS EDOT # IS THE TARGET RATE.
058047,000410: 17,3415 00006 EXTEND
058048,000411: 17,3416 63437 BZMF SMALRATE # BRANCH IF RATE LESS THAN TARGET.
058049,000412: 17,3417 03475 TC RUFSETUP # REVERSE ROTSENSE AND INDICATE MAX JETS.
058050,000413: 17,3420 31543 CAE EDOT # PICK UP DESIRED RATE CHANGE.
058051,000414:
058052,000415: 17,3421 00006 RUFLAW12 EXTEND # COMPUTE TJET
058053,000416: 17,3422 51741 INDEX ADRSDIF2 # = (DESIRED RATE CHANGE)/(2-JET ACCEL.)
058054,000417: 17,3423 71566 MP 1/ANET1 +2
058055,000418: 17,3424 67712 AD -1/8 # IF TJET, SCALED AT 32 SEC, EXCEEDS
058056,000419: 17,3425 00006 EXTEND # 4 SECONDS, SET TJET TO TJMAX.
058057,000420: 17,3426 63430 BZMF +2
058058,000421: 17,3427 13250 TCF FULLTIME
058059,000422: 17,3430 00006 EXTEND
058060,000423: 17,3431 13250 BZF FULLTIME
058061,000424: 17,3432 65013 AD BIT12 # RESTORE COMPUTED TJET TO ACCUMULATOR.
058062,000425: 17,3433 20001 DAS A
058063,000426: 17,3434 20001 DAS A
058064,000427: 17,3435 20001 DAS A # RESCALED TJET AT 4 SECONDS.
058065,000428: 17,3436 13406 TCF CHKMINTJ # RETURN AS FROM FINELAW.
058066,000429:
058067,000430: 17,3437 03477 SMALRATE TC RUFSETUP +2 # SET NUMBERT AND FIREFCT FOR MAXIMUM JETS
058068,000431: 17,3440 11735 CCS ROTSENSE
058069,000432: 17,3441 35026 CAF ONE # MODIFY INDEXER TO POINT TO 1/ANET
058070,000433: 17,3442 13444 TCF +2 # CORRESPONDING TO THE PROPER SENSE.
058071,000434: 17,3443 37721 CAF NEGONE
058072,000435: 17,3444 27741 ADS ADRSDIF2
058073,000436:
058074,000437: 17,3445 41543 CS EDOT # PICK UP (PI/32-EDOT)=DESIRED CHANGE.
058075,000438: 17,3446 13421 TCF RUFLAW12
058076,000439:
058077,000440: 17,3447 03475 RUFLAW2 TC RUFSETUP # REVERSE ROTSENSE AND INDICATE MAX JETS.
058078,000441: 17,3450 35013 CAF BIT12
058079,000442: 17,3451 61543 AD EDOT # PICK UP(PI/32+EDOT) = DESIRED RATE CHANGE
058080,000443: 17,3452 54000 TS A # IF OVERFLOW SKIP, FIRE FOR FULL TIME.
058081,000444:
058082,000445: 17,3453 13421 TCF RUFLAW12 # OTHERWISE, COMPUTE JET TIME.
058083,000446: 17,3454 13250 TCF FULLTIME
058084,000447:
058085,000448: 17,3455 03475 RUFLAW3 TC RUFSETUP # EXECUTE COMMON RUFLAW SUBROUTINE.
058086,000449: 17,3456 51743 INDEX ADRSDIF1
058087,000450: 17,3457 41576 CS FIREDB # CALCULATE DISTANCE FROM SWITCH CURVE
058088,000451: 17,3460 61542 AD E # 1/ANET1*EDOT*EDOT +E - FIREDB = 0
058089,000452: 17,3461 00006 EXTEND # SCALED AT 4 PI RADIANS
058090,000453: 17,3462 75014 MP BIT11
058091,000454: 17,3463 57543 XCH EDOT
058092,000455: 17,3464 00006 EXTEND
058093,000456: 17,3465 70000 SQUARE
058094,000457: 17,3466 00006 EXTEND
058095,000458: 17,3467 51743 INDEX ADRSDIF1
058096,000459: 17,3470 71566 MP 1/ANET1 +2
058097,000460: 17,3471 61543 AD EDOT
058098,000461: 17,3472 00006 EXTEND
058099,000462: 17,3473 63205 BZMF COASTTJ # COAST IF BELOW IT.
058100,000463: 17,3474 13250 TCF FULLTIME # FIRE FOR FULL PERIOD IF ABOVE IT.
058101,000464:
058102,000465: # SUBROUTINE USED IN ALL ENTRIES TO ROUGHLAW.
058103,000466:
058104,000467: 17,3475 41735 RUFSETUP CS ROTSENSE # REVERSE ROTSENSE WHEN ENTER HERE.
058105,000468: 17,3476 55735 TS ROTSENSE
058106,000469: 17,3477 35024 +2 CAF FOUR # REQUIRE MAXIMUM (2) JETS IN U,V-AXES.
058107,000470: 17,3500 55740 TS NUMBERT
058108,000471: 17,3501 35010 CAF NEGMAX # SUGGEST MAXIMUM (4) JETS IN P-AXIS.
058109,000472: 17,3502 55736 TS FIREFCT
058110,000473: 17,3503 00002 TC Q
058111,000474:
058112,000475: # CONSTANTS FOR TJETLAW
058113,000476:
058114,000477: 17,3504 77757 DEC -16 B-14 # AXISDIFF(INDEX) = NUMBER OF REGISTERS
058115,000478: 17,3505 00000 AXISDIFF DEC +0 B-14 # BETWEEN STORED 1/ACCS PARAMETERS FOR
058116,000479: 17,3506 00020 DEC 16 B-14 # THE INDEXED AXIS AND THE U-AXIS.
058117,000480: 17,3507 14400 SENSOR OCT 14400 # RATIO OF TJET SCALING WITHIN TJETLAW
058118,000481: # (4 SEC) TO SCALING FOR T6 (10.24 SEC).
058119,000482: 17,3510 76447 -2DEG DEC -.04444 # -2.0 DEGREES SCALED AT 45.
058120,000483: 17,3511 77750 -.0112A8 DEC -.00141 # -.01125 SEC(2) SCALED AT 8.
058121,000484: 17,3512 00632 .1AT4 DEC .025 # 0.1 SECOND SCALED AT 4.
058122,000485: 17,3513 01463 .1AT2 DEC .05 # 0.1 SEC SCALED AT 2.
058123,000486: 17,3514 00232 .0375AT4 DEC .00938 # .0375 SEC SCALED AT 4.
058124,000487: 17,3515 77462 -.025AT2 DEC -.0125 # -.025 SEC SCALED AT 2.
058125,000488: 17,3516 77631 -.025AT4 DEC -.00625
058126,000489: 17,3517 77145 -.05AT2 DEC -.025
058127,000490: 17,3520 75462 -.15AT2 DEC -.075
058128,000491: 17,3521 00007 25605 .00375A8 2DEC .00375 B-3
058129,000492:
058130,000493: 17,3523 76631 -TJMAX DEC -.0375 # LARGEST CALCULATED TIME. .150 SEC AT 4.
058131,000494: 17,3524 00122 TJMIN DEC .005 # SMALLEST ALLOWABLE TIME. .020 SEC AT 4.
058132,000495: 17,3525 77655 -TJMIN DEC -.005
End of include-file TJET_LAW.agc. Parent file is MAIN.agc