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. |
058208,000002: ## Copyright: Public domain.
058209,000003: ## Filename: TRIM_GIMBAL_CONTROL_SYSTEM.agc
058210,000004: ## Purpose: A section of a reconstructed, mixed version of Sundance
058211,000005: ## It is part of the reconstructed source code for the Lunar
058212,000006: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 9.
058213,000007: ## No original listings of this program are available;
058214,000008: ## instead, this file was created via disassembly of dumps
058215,000009: ## of various revisions of Sundance core rope modules.
058216,000010: ## Assembler: yaYUL
058217,000011: ## Contact: Ron Burkey <info@sandroid.org>.
058218,000012: ## Website: www.ibiblio.org/apollo/index.html
058219,000013: ## Mod history: 2020-06-17 MAS Created from Luminary 69.
058220,000014: ## 2021-05-30 ABS GTSGO+DN -> GTSGO+ON
058221,000015: ## MAXISHIFT -> MAXISHFT
058222,000016: ## MINISHIFT -> MINISHFT
058223,000017:
058224,000018: ## Sundance 302
058225,000019:
058226,000020: 21,3055 BANK 21
058227,000021: 21,3055 E6,1451 EBANK= QDIFF
058228,000022: 21,2000 SETLOC DAPS4
058229,000023: 21,2000 BANK
058230,000024:
058231,000025: 21,3055 COUNT* $$/DAPGT
058232,000026:
058233,000027: # CONTROL REACHES THIS POINT UNDER EITHER OF THE FOLLOWING TWO CONDITIONS ONCE THE DESCENT ENGINE AND THE DIGITAL
058234,000028: # AUTOPILOT ARE BOTH ON:
058235,000029: # A) THE TRIM GIMBAL CONTROL LAW WAS ON DURING THE PREVIOUS Q,R-AXIS TIME5 INTERRUPT (OR THE DAPIDLER
058236,000030: # INITIALIZATION WAS SET FOR TRIM GIMBAL CONTROL AND THIS IS THE FIRST PASS), OR
058237,000031: # B) THE Q,R-AXES RCS AUTOPILOT DETERMINED THAT THE VEHICLE WAS ENTERING (OR HAD JUST ENTERED) A COAST
058238,000032: # ZONE WITH A SMALL OFFSET ANGULAR ACCELERATION.
058239,000033: # GTS IS THE ENTRY TO THE GIMBAL TRIM SYSTEM FOR CONTROLLING ATTITUDE ERRORS AND RATES AS WELL AS ACCELERATIONS.
058240,000034:
058241,000035: 21,3055 37721 GTS CAF NEGONE # MAKE THE NEXT PASS THROUGH THE DAP BE
058242,000036: 21,3056 55625 TS COTROLER # THROUGH RCS CONTROL,
058243,000037: 21,3057 35024 CAF FOUR # AND ENSURE THAT IT IS NOT A SKIP.
058244,000038: 21,3060 55530 TS SKIPU
058245,000039: 21,3061 55531 TS SKIPV
058246,000040:
058247,000041: 21,3062 35025 CAF TWO
058248,000042: 21,3063 55627 TS INGTS # SET INDICATOR OF GTS CONTROL POSITIVE.
058249,000043: 21,3064 55626 TS QGIMTIMR # SET TIMERS TO 200 MSEC TO AVOID BOTH
058250,000044: 21,3065 55630 TS RGIMTIMR # RUNAWAY AND INTERFERENCE BY NULLING.
058251,000045:
058252,000046: # THE DRIVE SETTING ALGORITHM
058253,000047:
058254,000048: # DEL = SGN(OMEGA*K + ALPHA*ABS(ALPHA)/2).
058255,000049:
058256,000050: # NEGUSUM = ERROR.K(2) + DEL(OMEGA.K.DEL + ALPHA(2)/2)(3/2) + ALPHA(OMEGA.K.DEL + ALPHA(2)/3)
058257,000051:
058258,000052: # DRIVE = -SGN(NEGUSUM)
058259,000053:
058260,000054: 21,3066 30021 CA SR # SAVE THE SR. SHIFT IT LEFT TO CORRECT
058261,000055: 21,3067 60000 AD A # FOR THE RIGHT SHIFT DUE TO EDITING.
058262,000056: 21,3070 55471 TS SAVESR
058263,000057:
058264,000058: 21,3071 35025 GTSGO+ON CAF TWO # SET INDEXER FOR R-AXIS CALCULATIONS.
058265,000059: 21,3072 55745 TS QRCNTR
058266,000060: 21,3073 31534 CA AOSR
058267,000061: 21,3074 00006 EXTEND
058268,000062: 21,3075 75024 MP BIT3
058269,000063: 21,3076 31435 CA EDOTR
058270,000064: 21,3077 13106 TCF GTSQAXIS
058271,000065:
058272,000066: 21,3100 35030 GOQTRIMG CAF ZERO # SET INDEXER FOR Q-AXIS CALCULATIONS
058273,000067: 21,3101 55745 TS QRCNTR
058274,000068: 21,3102 31532 CA AOSQ
058275,000069: 21,3103 00006 EXTEND
058276,000070: 21,3104 75024 MP BIT3
058277,000071: 21,3105 31434 CA EDOTQ
058278,000072: 21,3106 53743 GTSQAXIS DXCH WCENTRAL
058279,000073: 21,3107 00006 EXTEND
058280,000074: 21,3110 51745 INDEX QRCNTR # PICK UP K AND K(2) FOR THIS AXIS
058281,000075: 21,3111 31504 DCA KQ
058282,000076: 21,3112 53741 DXCH KCENTRAL
058283,000077:
058284,000078: 21,3113 11745 CCS QRCNTR
058285,000079: 21,3114 50000 INDEX A # QDIFF, RDIFF ARE STORED IN D.P.
058286,000080: 21,3115 31451 CAE QDIFF
058287,000081:
058288,000082: 21,3116 00006 ALGORTHM EXTEND # Q(R)DIFF IS THETA (ERROR) SCALED AT PI.
058289,000083: 21,3117 71741 MP K2CNTRAL # FORM K(2)*THETA IN D.P.
058290,000084: 21,3120 23734 LXCH K2THETA
058291,000085: 21,3121 00006 EXTEND # FORM K(2)*THETA*SF2 IN D.P.
058292,000086: 21,3122 75016 MP BIT9
058293,000087: 21,3123 53735 DXCH K2THETA
058294,000088: 21,3124 00006 EXTEND
058295,000089: 21,3125 75016 MP BIT9
058296,000090: 21,3126 27735 ADS K2THETA +1
058297,000091:
058298,000092: 21,3127 31742 CAE WCENTRAL # GET OMEGA
058299,000093: 21,3130 00006 EXTEND
058300,000094: 21,3131 71740 MP KCENTRAL # FORM K*OMEGA IN D.P.
058301,000095: 21,3132 23740 LXCH OMEGA.K
058302,000096: 21,3133 00006 EXTEND # FORM OMEGA*K*SF1 IN D.P.
058303,000097: 21,3134 75013 MP BIT12
058304,000098: 21,3135 53741 DXCH OMEGA.K
058305,000099: 21,3136 00006 EXTEND
058306,000100: 21,3137 75013 MP BIT12
058307,000101: 21,3140 27741 ADS OMEGA.K +1
058308,000102:
058309,000103: 21,3141 31743 CAE ACENTRAL # FORM ALPHA(2)/2 IN D.P.
058310,000104: 21,3142 00006 EXTEND
058311,000105: 21,3143 70000 SQUARE
058312,000106: 21,3144 53737 DXCH A2CNTRAL
058313,000107:
058314,000108: 21,3145 31743 CAE ACENTRAL # GET ALPHA*ABS(ALPHA)/2, IF ALPHA GREATER
058315,000109: # THAN 0. OTHERWISE TAKE NEGATIVE OF ABOVE
058316,000110: 21,3146 00006 EXTEND
058317,000111: 21,3147 63153 BZMF +4
058318,000112: 21,3150 00006 EXTEND
058319,000113: 21,3151 31737 DCA A2CNTRAL
058320,000114: 21,3152 13155 TCF +3
058321,000115: 21,3153 00006 EXTEND
058322,000116: 21,3154 41737 DCS A2CNTRAL
058323,000117: 21,3155 53474 DXCH FUNCTION # SAVE AS SGN(ALPHA)*ALPHA(2)/2
058324,000118: 21,3156 00006 EXTEND
058325,000119: 21,3157 31741 DCA OMEGA.K
058326,000120: 21,3160 21474 DAS FUNCTION # FORM FUNCT1
058327,000121:
058328,000122: 21,3161 11473 CCS FUNCTION # DEL = +1 FOR FUNCT1 GREATER THAN ZERO.
058329,000123: 21,3162 13166 TCF POSFNCT1 # OTHERWISE DEL = -1
058330,000124: 21,3163 13165 TCF +2
058331,000125: 21,3164 13170 TCF NEGFNCT1
058332,000126:
058333,000127: 21,3165 11474 CCS FUNCTION +1 # USE LOW ORDER WORD SINCE HIGH IS ZERO
058334,000128: 21,3166 35026 POSFNCT1 CAF BIT1
058335,000129: 21,3167 13171 TCF +2
058336,000130: 21,3170 45026 NEGFNCT1 CS BIT1
058337,000131: 21,3171 55744 TS DEL
058338,000132:
058339,000133: 21,3172 11744 CCS DEL # MAKE OMEGA*K REALLY DEL*OMEGA*K
058340,000134: 21,3173 13200 TCF FUNCT2 # (NOTHING NEED BE DONE)
058341,000135: 21,3174 13200 TCF FUNCT2
058342,000136: 21,3175 00006 EXTEND
058343,000137: 21,3176 41741 DCS OMEGA.K
058344,000138: 21,3177 53741 DXCH OMEGA.K # CHANGE SIGN OF OMEGA*K
058345,000139:
058346,000140: 21,3200 00006 FUNCT2 EXTEND
058347,000141: 21,3201 31741 DCA OMEGA.K
058348,000142: 21,3202 53474 DXCH FUNCTION # DEL*OMEGA*K
058349,000143: 21,3203 00006 EXTEND
058350,000144: 21,3204 31737 DCA A2CNTRAL
058351,000145: 21,3205 21474 DAS FUNCTION # DEL*OMEGA*K + ALPHA(2)/2
058352,000146: 21,3206 31736 FUNCT3 CAE A2CNTRAL # CALCULATE (2/3)*ALPHA(2)/2 = ALPHA(2)/3
058353,000147: 21,3207 00006 EXTEND
058354,000148: 21,3210 73302 MP .66667
058355,000149: 21,3211 53737 DXCH A2CNTRAL
058356,000150: 21,3212 56001 XCH L
058357,000151: 21,3213 00006 EXTEND
058358,000152: 21,3214 73302 MP .66667
058359,000153: 21,3215 27737 ADS A2CNTRAL +1
058360,000154: 21,3216 54001 TS L
058361,000155: 21,3217 13221 TCF +2
058362,000156: 21,3220 27736 ADS A2CNTRAL
058363,000157: 21,3221 53741 DXCH OMEGA.K # DEL*OMEGA*K + ALPHA(2)/3 = G
058364,000158: 21,3222 21737 DAS A2CNTRAL
058365,000159: 21,3223 31736 CAE A2CNTRAL # G*ALPHA IN D.P.
058366,000160: 21,3224 00006 EXTEND
058367,000161: 21,3225 71743 MP ACENTRAL
058368,000162: 21,3226 53737 DXCH A2CNTRAL
058369,000163: 21,3227 56001 XCH L
058370,000164: 21,3230 00006 EXTEND
058371,000165: 21,3231 71743 MP ACENTRAL
058372,000166: 21,3232 27737 ADS A2CNTRAL +1
058373,000167: 21,3233 54001 TS L
058374,000168: 21,3234 13236 TCF +2
058375,000169: 21,3235 27736 ADS A2CNTRAL
058376,000170:
058377,000171: 21,3236 53737 DXCH A2CNTRAL # FIRST AND THIRD TERMS
058378,000172: 21,3237 21735 DAS K2THETA # SUMMED IN D.P.
058379,000173:
058380,000174: 21,3240 13410 TCF RSTOFGTS
058381,000175:
058382,000176: # THE WRCHN12 SUBROUTINE SETS BITS 9,10,11,12 OF CHANNEL 12 ON THE BASIS OF THE CONTENTS OF NEGUQ,NEGUR WHICH ARE
058383,000177: # THE NEGATIVES OF THE DESIRED ACCELERATION CHANGES. ACDT+C12 SETS Q(R)ACCDOT TO REFLECT THE NEW DRIVES.
058384,000178:
058385,000179: # WARNING: ACDT+C12 AND WRCHN12 MUST BE CALLED WITH INTERRUPT INHIBITED.
058386,000180:
058387,000181: 21,3241 07400 BGIM OCTAL 07400
058388,000182: 21,3242 0066 CHNL12 EQUALS ITEMP6
058389,000183: 21,3242 31102 ACDT+C12 CA DAPBOOLS
058390,000184: 21,3243 75011 MASK USEQRJTS
058391,000185: 21,3244 00006 EXTEND
058392,000186: 21,3245 13251 BZF +4
058393,000187: 21,3246 35030 CAF ZERO
058394,000188: 21,3247 55500 TS NEGUQ
058395,000189: 21,3250 55502 TS NEGUR
058396,000190:
058397,000191: 21,3251 41500 CS NEGUQ
058398,000192: 21,3252 00006 EXTEND # GIMBAL DRIVE REQUESTS.
058399,000193: 21,3253 71507 MP ACCDOTQ
058400,000194: 21,3254 23510 LXCH QACCDOT
058401,000195: 21,3255 41502 CS NEGUR
058402,000196: 21,3256 00006 EXTEND
058403,000197: 21,3257 71511 MP ACCDOTR
058404,000198: 21,3260 23512 LXCH RACCDOT
058405,000199:
058406,000200: 21,3261 11500 CCS NEGUQ
058407,000201: 21,3262 35015 CAF BIT10
058408,000202: 21,3263 13265 TCF +2
058409,000203: 21,3264 35016 CAF BIT9
058410,000204: 21,3265 54066 TS CHNL12
058411,000205:
058412,000206: 21,3266 11502 CCS NEGUR
058413,000207: 21,3267 35013 CAF BIT12
058414,000208: 21,3270 13272 TCF +2
058415,000209: 21,3271 35014 CAF BIT11
058416,000210: 21,3272 26066 ADS CHNL12 # (STORED RESULT NOT USED AT PRESENT)
058417,000211:
058418,000212: 21,3273 43241 CS BGIM
058419,000213: 21,3274 00006 EXTEND
058420,000214: 21,3275 03012 WAND CHAN12
058421,000215: 21,3276 30066 CA CHNL12
058422,000216: 21,3277 00006 EXTEND
058423,000217: 21,3300 05012 WOR CHAN12
058424,000218:
058425,000219: 21,3301 00002 TC Q # RETURN TO CALLER.
058426,000220:
058427,000221: 21,3302 BANK 21
058428,000222: 21,3302 E6,1451 EBANK= QDIFF
058429,000223: 21,2000 SETLOC DAPS4
058430,000224: 21,2000 BANK
058431,000225:
058432,000226: # SUBROUTINE TIMEGMBL: MOD 0, OCTOBER 1967, CRAIG WORK
058433,000227:
058434,000228: # TIMEGMBL COMPUTES THE DRIVE TIME NEEDED FOR THE TRIM GIMBAL TO POSITION THE DESCENT ENGINE NOZZLE SO AS TO NULL
058435,000229: # THE OFFSET ANGULAR ACCELERATION ABOUT THE Q (OR R) AXIS. INSTEAD OF USING AOSQ(R), TIMEGMBL USES .4*AOSQ(R),
058436,000230: # SCALED AT PI/8. FOR EACH AXIS, THE DRIVE TIME IS COMPUTED AS ABS(ALPHA/ACCDOT). A ZERO
058437,000231: # ALPHA OR ACCDOT OR A ZERO QUOTIENT TURNS OFF THE GIMBAL DRIVE IMMEDIATELY. OTHERWISE, THE GIMBAL IS TURNED ON
058438,000232: # DRIVING IN THE CORRECT DIRECTION. THE Q(R)GIMTIMR IS SET TO TERMINATE THE DRIVE AND Q(R)ACCDOT
058439,000233: # IS STORED TO REFLECT THE NEW ACCELERATION DERIVATIVE. NEGUQ(R) WILL CONTAIN +1,+0,-1 FOR A Q(R)ACCDOT VALUE
058440,000234: # WHICH IS NEGATIVE, ZERO, OR POSITIVE.
058441,000235:
058442,000236: # INPUTS: AOSQ,AOSR, SCALED AT P1/2, AND ACCDOTQ, ACCDOTR AT PI/2(7). PI/2(7).
058443,000237:
058444,000238: # OUTPUTS: NEW GIMBAL DRIVE BITS IN CHANNEL 12,NEGUQ,NEGUR,QACCDOT AND RACCDOT, THE LAST SCALED AT PI/2(7).
058445,000239: # Q(R)GIMTIMR WILL BE SET TO TIME AND TERMINATE GIMBAL DRIVE(S)
058446,000240:
058447,000241: # DEBRIS: A,L,Q, ITEMPS 2,3,6, RUPTREG2 AND ACDT+C12 DEBRIS.
058448,000242:
058449,000243: # EXITS: VIA TC Q.
058450,000244:
058451,000245: # ALARMS, ABORTS, : NONE
058452,000246:
058453,000247: # SUBROUTINES: ACDT+C12, IBNKCALL
058454,000248:
058455,000249: # WARNING: THIS SUBROUTINE WRITES INTO CHANNEL 12 AND USES THE ITEMPS. THEREFORE IT MAY ONLY BE CALLED WITH
058456,000250: # INTERRUPT INHIBITED.
058457,000251:
058458,000252: # ERASABLE STORAGE CONFIGURATION (NEEDED BY THE INDEXING METHODS):
058459,000253: # NEGUQ ERASE +2 NEGATIVE OF Q-AXIS GIMBAL DRIVE
058460,000254: # (SPWORD) EQUALS NEGUQ +1 ANY S.P. ERASABLE NUMBER, NOW THRSTCMD
058461,000255: # NEGUR EQUALS NEGUQ +2 NEGATIVE OF R-AXIS GIMBAL DRIVE
058462,000256:
058463,000257: # ACCDOTQ ERASE +2 Q-JERK TERM SCALED AT PI/2(7) RAD/SEC(3)
058464,000258: # (SPWORD) EQUALS ACCDOTQ +1 ANY S.P. ERASABLE NUMBER NOW QACCDOT
058465,000259: # ACCDOTR EQUALS ACCDOTQ +2 R-JERK TERM SCALED AT PI/2(7) RAD/SEC(3)
058466,000260: # ACCDOTQ, ACCDOTR ARE MAGNITUDES.
058467,000261: # AOSQ ERASE +4 Q-AXIS ACC., D.P. AT PI/2 R/SEC(2)
058468,000262: # AOSR EQUALS AOSQ +2 R-AXIS ACCELERATION SCALED AT PI/2 R/S2
058469,000263:
058470,000264: 21,3302 0066 QRNDXER EQUALS ITEMP6
058471,000265: 21,3302 25253 .66667 DEC .66667
058472,000266: 21,3303 23146 OCT23146 OCTAL 23146 # DECIMAL .6
058473,000267: 21,3304 0063 NZACCDOT EQUALS ITEMP3
058474,000268:
058475,000269: 21,3304 35026 TIMEGMBL CAF ONE # INITIALIZE ALLOWGTS.
058476,000270: 21,3305 55624 TS ALLOWGTS
058477,000271:
058478,000272: 21,3306 35025 CAF TWO # SET UP LOOP FOR R AXIS.
058479,000273: 21,3307 22002 LXCH Q # SAVE RETURN ADDRESS.
058480,000274: 21,3310 22071 LXCH RUPTREG2
058481,000275: 21,3311 13313 TCF +2
058482,000276: 21,3312 35030 TIMQGMBL CAF ZERO # NOW DO THE Q-AXIS
058483,000277: 21,3313 54066 TS QRNDXER
058484,000278: 21,3314 50066 INDEX QRNDXER
058485,000279: 21,3315 31507 CA ACCDOTQ # ACCDOT IS PRESUMED TO BE AT PI/2(7).
058486,000280: 21,3316 00006 EXTEND
058487,000281: 21,3317 63367 BZMF TGOFFNOW # IS ACCDOT LESS THAN OR EQUAL TO 0?
058488,000282: 21,3320 54063 TS NZACCDOT # NO. STORE NON-ZERO, POSITIVE ACCDOT.
058489,000283:
058490,000284: 21,3321 50066 ALPHATRY INDEX QRNDXER
058491,000285: 21,3322 41532 CS AOSQ
058492,000286: 21,3323 00006 EXTEND
058493,000287: 21,3324 13367 BZF TGOFFNOW # IS ALPHA ZERO?
058494,000288:
058495,000289: 21,3325 54002 TS Q # SAVE A COPY OF -AOS.
058496,000290: 21,3326 00006 EXTEND # NO. RESCALE FOR TIMEGMBL USE.
058497,000291: 21,3327 73303 MP OCT23146 # OCTAL 23146 IS DECIMAL .6
058498,000292: 21,3330 60002 AD Q # -1.6*AOS AT PI/2 = -.4*AOS AT PI/8.
058499,000293: 21,3331 54001 TS L # WAS THERE OVERFLOW?
058500,000294: 21,3332 13337 TCF SETNEGU # NO. COMPUTE DRIVE TIME.
058501,000295:
058502,000296: 21,3333 40000 CS A # RECOVER -SGN(AOS) IN THE A REGISTER.
058503,000297: 21,3334 50066 INDEX QRNDXER # YES. START DRIVE WITHOUT WAITLIST.
058504,000298: 21,3335 57500 XCH NEGUQ
058505,000299: 21,3336 13373 TCF NOTALLOW # KNOCK DOWN THE ALLOWGTS FLAG.
058506,000300:
058507,000301: 21,3337 00006 SETNEGU EXTEND
058508,000302: 21,3340 63345 BZMF POSALPH
058509,000303:
058510,000304: 21,3341 40000 COM
058511,000305: 21,3342 54062 TS ITEMP2 # STORE -ABS(.4*AOS) SCALED AT PI/8.
058512,000306: 21,3343 45026 CS BIT1
058513,000307: 21,3344 13347 TCF POSALPH +2
058514,000308: 21,3345 54062 POSALPH TS ITEMP2 # STORE -ABS(.4*AOS) SCALED AT PI/8.
058515,000309: 21,3346 35026 CA BIT1
058516,000310: 21,3347 50066 +2 INDEX QRNDXER # SGN(AOS) INTO NEGU
058517,000311: 21,3350 55500 TS NEGUQ # STORE SGN(APLHA) AS NEGU
058518,000312:
058519,000313: 21,3351 30063 CA NZACCDOT
058520,000314: 21,3352 00006 EXTEND
058521,000315: 21,3353 75013 MP BIT12 # 2*ACCDOT, SCALED AT PI/8.
058522,000316: 21,3354 60062 AD ITEMP2 # -ABS(ALPHA) + 2*ACCDOT, AT PI/8.
058523,000317: 21,3355 00006 EXTEND
058524,000318: 21,3356 63373 BZMF NOTALLOW # IS DRIVE TIME MORE THAN TWO SECONDS?
058525,000319: 21,3357 40062 CS ITEMP2 # NO. COMPUTE DRIVE TIME.
058526,000320: 21,3360 00006 EXTEND # ABS(ALPHA) AT PI/8.
058527,000321: 21,3361 73407 MP OCT00240 # DECIMAL 10/1024
058528,000322: 21,3362 00006 EXTEND # QUOTIENT IS DRIVE TIME AT WAITLIST.
058529,000323: 21,3363 10063 DV NZACCDOT # ABS(ALPHA)/ACCDOT AT 2(14)/100
058530,000324: 21,3364 00006 EXTEND
058531,000325: 21,3365 13367 BZF TGOFFNOW # DRIVE TIME MUST BE GREATER THAN ZERO.
058532,000326:
058533,000327: 21,3366 13401 TCF DRIVEON
058534,000328:
058535,000329: 21,3367 35030 TGOFFNOW CAF ZERO # TURN OFF GIMBAL NOW.
058536,000330: 21,3370 50066 INDEX QRNDXER
058537,000331: 21,3371 55500 TS NEGUQ
058538,000332:
058539,000333: 21,3372 13403 TCF DONEYET
058540,000334:
058541,000335: 21,3373 34113 NOTALLOW CAF OCT31
058542,000336: 21,3374 50066 INDEX QRNDXER
058543,000337: 21,3375 55626 TS QGIMTIMR
058544,000338: 21,3376 35030 CAF ZERO # DRIVE TIME IS MORE THAN 2 SECONDS, SO
058545,000339: 21,3377 55624 TS ALLOWGTS # DO NOT PERMIT FURTHER GTS ATTITUDE-RATE
058546,000340: # CONTROL UNTIL AOSTASK APPROVES.
058547,000341: 21,3400 13403 TCF DONEYET # NO WAITLIST CALL IS MADE.
058548,000342:
058549,000343: 21,3401 50066 DRIVEON INDEX QRNDXER
058550,000344: 21,3402 55626 TS QGIMTIMR # CHOOSE Q OR R AXIS.
058551,000345:
058552,000346: 21,3403 10066 DONEYET CCS QRNDXER
058553,000347: 21,3404 13312 TCF TIMQGMBL
058554,000348:
058555,000349: 21,3405 03242 TC ACDT+C12 # TURN OF CHANNEL BITS, SET Q(R)ACCDOTS.
058556,000350:
058557,000351: 21,3406 00071 TC RUPTREG2 # RETURN TO CALLER.
058558,000352:
058559,000353: 21,3407 00240 OCT00240 OCTAL 00240 # DECIMAL 10/1024
058560,000354:
058561,000355: # THE FOLLOWING SECTION IS A CONTINUATION OF THE TRIM GIMBAL CONTROL FROM THE LAST GTS ENTRY. THE QUANTITY NEGUSUM
058562,000356: # IS COMPUTED FOR EACH AXIS (Q,R), .707*DEL*FUNCTION(3/2) + K2THETA = NEGUSUM. NEW DRIVES ARE ENTERED TO CH 12.
058563,000357:
058564,000358: 21,3410 11473 RSTOFGTS CCS FUNCTION
058565,000359: 21,3411 13430 TCF GOODARG # FUNCTION IS POSITIVE. GET 3/2 POWER.
058566,000360: 21,3412 13414 TCF +2 # HIGH ORDER WORD IS ZERO. TRY THE LOWER.
058567,000361: 21,3413 13541 TCF NEGUSUM # NEGATIVE. USE ZERO FOR 3/2 POWER.
058568,000362:
058569,000363: 21,3414 41474 CS FUNCTION +1 # IF ARG IS LESS THAN 2(-18), THEN THE 3/2
058570,000364: 21,3415 65014 AD BIT11 # POWER IS LESS THAN 2(-27). USE ZERO.
058571,000365: 21,3416 00006 EXTEND
058572,000366: 21,3417 63421 BZMF ZEROHIGH # BRANCH IF ARG NOT LESS THAN 2(-18).
058573,000367:
058574,000368: 21,3420 13541 TCF NEGUSUM
058575,000369:
058576,000370: 21,3421 34331 ZEROHIGH CA FOURTEEN # ARG LESS THAN 2(-14) MEANS 3/2 POWER
058577,000371: # WILL BE LESS THAN 2(-21).
058578,000372: 21,3422 55736 TS SHFTFLAG
058579,000373:
058580,000374: 21,3423 35025 CA TWO
058581,000375: 21,3424 55737 TS ININDEX # INITIALIZE THE SHIFT LOOP.
058582,000376:
058583,000377: # COLLECT THE 14 MOST SIGNIFICANT BITS OF
058584,000378: 21,3425 57474 XCH FUNCTION +1 # THE 28 INTO THE HIGH ORDER WORD.
058585,000379: 21,3426 57473 XCH FUNCTION
058586,000380: 21,3427 13443 TCF SCALLOOP
058587,000381: 21,3430 35743 GOODARG CA TWELVE
058588,000382: 21,3431 55737 TS ININDEX # INITIALIZE THE SHIFT LOOP.
058589,000383: 21,3432 35030 CA ZERO # THERE ARE SIGNIFICANT BITS IN THE HIGH
058590,000384: 21,3433 55736 TS SHFTFLAG # ORDER WORD, SO SET SHFTFLAG TO ZERO.
058591,000385:
058592,000386: 21,3434 13443 TCF SCALLOOP
058593,000387:
058594,000388: 21,3435 31473 SCALSTRT CA FUNCTION
058595,000389: 21,3436 13460 TCF SCALDONE
058596,000390:
058597,000391: 21,3437 37720 MULBUSH CA NEG2 # IF ARG IS NOT LESS THAN 1/4, INDEX IS
058598,000392: 21,3440 27737 ADS ININDEX # ZERO, INDICATING NO SHIFT NEEDED.
058599,000393: 21,3441 00006 EXTEND # BRANCH IF ARG IS NOT LESS THAN 1/4.
058600,000394: 21,3442 63435 BZMF SCALSTRT # OTHERWISE COMPARE ARG WITH A REFERENCE
058601,000395: # WHICH IS 4 TIMES LARGER THAN THE LAST.
058602,000396: 21,3443 41473 SCALLOOP CS FUNCTION
058603,000397: 21,3444 51737 INDEX ININDEX
058604,000398: 21,3445 65010 AD BIT15 # REFERENCE MAGNITUDE LESS OR EQUAL TO 1/4
058605,000399: 21,3446 00006 EXTEND
058606,000400: 21,3447 63437 BZMF MULBUSH # IF ARG IS NOT LESS THAN REFERENCE, GO
058607,000401: # AROUND THE MULBERRY BUSH ONCE MORE.
058608,000402: 21,3450 51737 INDEX ININDEX
058609,000403: 21,3451 35010 CA BIT15 # THIS IS THE SCALE MAGNITUDE
058610,000404: 21,3452 56002 XCH Q # 2**(-ININDEX) IS THE SHIFT DIVISOR.
058611,000405: 21,3453 00006 EXTEND # RESCALE ARGUMENT.
058612,000406: 21,3454 31474 DCA FUNCTION
058613,000407: 21,3455 00006 EXTEND
058614,000408: 21,3456 10002 DV Q
058615,000409: 21,3457 55473 TS FUNCTION # ININDEX AND SHFTFLAG PRESERVE INFO FOR
058616,000410: # RESCALING AFTER ROOT PROCESS.
058617,000411: 21,3460 00006 SCALDONE EXTEND # AFTER 3/2 POWER IS TAKEN, SCALE FACTOR
058618,000412: 21,3461 75012 MP BIT13 # OF SQRT(1/2) WILL BE NEEDED, SO FACTOR
058619,000413: 21,3462 55742 TS HALFARG # OF 1/2 IS INCLUDED NOW, BEFORE SQRT.
058620,000414:
058621,000415: 21,3463 33567 CA STARTER # INITIAL GUESS FOR SQRT ALGORITHM.
058622,000416: 21,3464 03570 TC ROOTCYCL
058623,000417: 21,3465 03570 TC ROOTCYCL
058624,000418: 21,3466 03570 TC ROOTCYCL
058625,000419:
058626,000420: 21,3467 00006 EXTEND # SQRT(1/2)*SQRT(ARG) IN A.
058627,000421: 21,3470 71473 MP FUNCTION # SQRT(1/2)*ARG*SQRT(ARG) IN A,L.
058628,000422: 21,3471 53474 DXCH FUNCTION
058629,000423:
058630,000424: 21,3472 31736 DOSHIFT CA SHFTFLAG # HOW MANY SHIFT BITS ARE THERE?
058631,000425: 21,3473 61737 AD ININDEX # 2**(-ININDEX) WAS SHIFT DIVISOR.
058632,000426: 21,3474 54021 TS SR
058633,000427: 21,3475 60021 AD SR # THIS MANY SHIFTS ARE REQUIRED.
058634,000428: 21,3476 54002 SAVESHFT TS Q # Q BOUNDS ARE ZERO AND 24 (DECIMAL).
058635,000429: 21,3477 00006 EXTEND
058636,000430: 21,3500 63526 BZMF SUMNEGU # BRANCH IF SHIFTING IS UNNECESSARY.
058637,000431:
058638,000432: 21,3501 44331 CS FOURTEEN
058639,000433: 21,3502 60002 AD Q
058640,000434: 21,3503 00006 EXTEND # Q = 0(MOD 3), SO A REG IS NON-ZERO.
058641,000435: 21,3504 63511 BZMF MINISHFT # BRANCH IF SMALL SHIFT SUFFICES.
058642,000436:
058643,000437: 21,3505 54002 MAXISHFT TS Q # 14 BIT SHIFT RIGHT NOW.
058644,000438: 21,3506 35030 CA ZERO
058645,000439: 21,3507 57473 XCH FUNCTION
058646,000440: 21,3510 55474 TS FUNCTION +1
058647,000441:
058648,000442: 21,3511 50002 MINISHFT INDEX Q # C(Q) ARE GREATER THAN ZERO.
058649,000443: 21,3512 35010 CA BIT15
058650,000444: 21,3513 54002 TS Q # 2**(-Q) WILL BE SHIFT MULTIPLIER.
058651,000445: 21,3514 00006 EXTEND
058652,000446: 21,3515 71474 MP FUNCTION +1
058653,000447: 21,3516 56001 XCH L
058654,000448: 21,3517 35030 CA ZERO
058655,000449: 21,3520 53474 DXCH FUNCTION # LOWER WORD SHIFTED NOW.
058656,000450: 21,3521 00006 EXTEND
058657,000451: 21,3522 63526 BZMF SUMNEGU # BRANCH IF UPPER WORD WAS ZERO.
058658,000452: 21,3523 00006 EXTEND # SHIFT UPPER WORD.
058659,000453: 21,3524 70002 MP Q
058660,000454: 21,3525 21474 DAS FUNCTION # NO OVERFLOW POSSIBLE.
058661,000455:
058662,000456: 21,3526 41744 SUMNEGU CS DEL # INCLUDE DEL FACTOR IN PRODUCT TERM.
058663,000457: 21,3527 00006 EXTEND
058664,000458: 21,3530 63534 BZMF SUMTERMS
058665,000459:
058666,000460: 21,3531 00006 EXTEND # DEL FACTOR IS MINUS ONE.
058667,000461: 21,3532 41474 DCS FUNCTION
058668,000462: 21,3533 13540 TCF NEGUSUM -1 # NOW ADD IN THE K2THETA TERM.
058669,000463:
058670,000464: 21,3534 00006 SUMTERMS EXTEND
058671,000465: 21,3535 13541 BZF NEGUSUM # BRANCH IF DEL IS ZERO.
058672,000466:
058673,000467: 21,3536 00006 EXTEND # DEL FACTOR IS +1.
058674,000468: 21,3537 31474 DCA FUNCTION
058675,000469: 21,3540 21735 DAS K2THETA # NOW ADD IN THE K2THETA TERM.
058676,000470: 21,3541 11734 NEGUSUM CCS K2THETA # TEST SIGN OF HIGH ORDER PART.
058677,000471: 21,3542 13546 TCF NEGDRIVE
058678,000472: 21,3543 13545 TCF +2
058679,000473: 21,3544 13550 TCF POSDRIVE
058680,000474:
058681,000475: 21,3545 11735 CCS K2THETA +1 # SIGN TEST FOR LOW ORDER PART.
058682,000476: 21,3546 35026 NEGDRIVE CA BIT1
058683,000477: 21,3547 13551 TCF +2 # STOP GIMBAL DRIVE FOR A ZERO NEGUSUM.
058684,000478: 21,3550 45026 POSDRIVE CS BIT1
058685,000479: 21,3551 51745 INDEX QRCNTR
058686,000480: 21,3552 55500 TS NEGUQ
058687,000481:
058688,000482: 21,3553 11745 CCS QRCNTR # HAVE BOTH AXES BEEN PROCESSED?
058689,000483: 21,3554 13100 TCF GOQTRIMG # NO. DO Q AXIS NEXT.
058690,000484:
058691,000485: 21,3555 00004 INHINT
058692,000486: 21,3556 03242 TC ACDT+C12
058693,000487: 21,3557 00003 RELINT
058694,000488:
058695,000489: 21,3560 31471 CA SAVESR # RESTORE THE SR
058696,000490: 21,3561 54021 TS SR
058697,000491:
058698,000492: 21,3562 00006 GOCLOSE EXTEND # TERMINATE THE JASK.
058699,000493: 21,3563 33566 DCA CLOSEADR
058700,000494: 21,3564 52006 DTCB
058701,000495:
058702,000496: 21,3565 E6,1532 EBANK= AOSQ
058703,000497: 21,3565 03021 36106 CLOSEADR 2CADR CLOSEOUT # TERMINATE THE JASK.
058704,000498:
058705,000499: 21,3567 5743 TWELVE EQUALS OCT14
058706,000500: 21,3567 20761 STARTER DEC .53033 # INITIAL VALUE FOR SQRT ALGORITHM.
058707,000501:
058708,000502: # SUBROUTINE ROOTCYCL: BY CRAIG WORK,3 APRIL 68
058709,000503:
058710,000504: # ROOTCYCL IS A SUBROUTINE WHICH EXECUTES ONE NEWTON SQUARE ROOT ALGORITHM ITERATION. THE INITIAL GUESS AT THE
058711,000505: # SQUARE ROOT IS PRESUMED TO BE IN THE A REGISTER AND ONE-HALF THE SQUARE IS TAKEN FROM HALFARG. THE NEW APPROXI-
058712,000506: # MATION TO THE SQUARE ROOT IS RETURNED IN THE A REGISTER. DEBRIS: A,L,SR,SCRATCH. ROOTCYCL IS CALLED FROM
058713,000507: # LOCATION (LOC) BY A TC ROOTCYCL, AND RETURNS (TC Q) TO LOC +1.
058714,000508:
058715,000509: # WARNING: IF THE INITIAL GUESS IS NOT GREATER THAN THE SQUARE, DIVIDE OR ADD OVERFLOW IS A REAL POSSIBILITY.
058716,000510:
058717,000511: 21,3570 55741 ROOTCYCL TS SCRATCH # STORE X
058718,000512: 21,3571 54021 TS SR # X/2 NOW IN SR
058719,000513: 21,3572 31742 CA HALFARG # ARG/2 IN THE A REG
058720,000514: 21,3573 22007 ZL # PREPARE FOR DIVISION
058721,000515: 21,3574 00006 EXTEND
058722,000516: 21,3575 11741 DV SCRATCH # (ARG/X)/2
058723,000517: 21,3576 60021 AD SR # (X + ARG/X)/2 IN THE A REG
058724,000518: 21,3577 00002 TC Q
058725,000519:
058726,000520:
End of include-file TRIM_GIMBAL_CONTROL_SYSTEM.agc. Parent file is MAIN.agc