https://github.com/virtualagc/virtualagc
Tip revision: 4e5d304eb7cd5589b924ffb8b423b6f15511b35d authored by Ron Burkey on 20 October 2018, 17:47:00 UTC
The sample Block I AGC program TRIVIUM, found at the very end of one of
The sample Block I AGC program TRIVIUM, found at the very end of one of
Tip revision: 4e5d304
P-AXIS_REACTION_CONTROL_SYSTEM_AUTOPILOT.agc
### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: P-AXIS_REACTION_CONTROL_SYSTEM_AUTOPILOT.agc
## Purpose: A section of Sunburst revision 37, or Shepatin revision 0.
## It is part of an early development version of the software
## for Apollo Guidance Computer (AGC) on the unmanned Lunar
## Module (LM) flight Apollo 5. Sunburst 37 was the program
## upon which Don Eyles's offline development program Shepatin
## was based; the listing herein transcribed was actually for
## the equivalent revision 0 of Shepatin.
## This file is intended to be a faithful transcription, except
## that the code format has been changed to conform to the
## requirements of the yaYUL assembler rather than the
## original YUL assembler.
## Reference: pp. 468-490
## Assembler: yaYUL
## Contact: Ron Burkey <info@sandroid.org>.
## Website: www.ibiblio.org/apollo/index.html
## Mod history: 2017-05-24 MAS Created from Sunburst 120.
## 2017-06-03 HG Transcribed
## 2017-06-15 HG Fix operand EDOTP -> EDOT
## 2017-06-15 MAS Removed a stray 'A' from an EXTEND.
## 2017-06-22 RSB Proofed comment text with
## octopus/ProoferComments.
## Page 468
BANK 16
EBANK= DT
# THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH CONTROLS THE P-AXIS ACTION OF THE LEM USING THE RCS JETS.
# THE NOMINAL TIME BETWEEN THE P-AXIS RUPTS IS 100 MS IN ALL NON-IDLING MODES OF THE DAP.
PAXIS CAF MS30P # RESET TIMER IMMEDIATELY: DT = 30 MS
TS TIME5
LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED)
EXTEND
QXCH QRUPT
# CHECK TO SEE IF DAP IS STILL IN USE:
TC CHEKBITS # RETURN IS TO I+1 IF DAP SHOULD STAY ON.
# WHILE DAP IS ON, SET UP EITHER A KALMAN FILTER RUPT OR A DUMMY FILTER RUPT BY SETTING UP T5ADR FROM ERASABLE.
EXTEND # T5ADR IS SET TO EITHER FILTER OR
DCA PFILTADR # DUMMYFIL IN A BLIND MANNER SINCE
DXCH T5ADR # PFILTADR IS SET UP ELSEWHERE
# DO P AXIS RATE DERIVATION AND CONTROL LAW.
# DERIVE DELTA P.
CA ZERO
TS ITEMP1
CAE TP
AD NEGCSP1
EXTEND
BZMF DOTORQUE
TS ITEMP1
CA CSPAT1P
TCF SCALEDTP
DOTORQUE CA TP
EXTEND
MP BIT5
CAE L
EXTEND
MP 16/25
SCALEDTP TS TP
EXTEND
MP WFORP
AD (1-K)/8
EXTEND
MP TP
EXTEND
MP BIT4
CA 1JACC
## Page 469
EXTEND
MP L
EXTEND
MP NO.PJETS
LXCH JETRATE
CA ITEMP1
TS TP
CAE CDUX
TS L
EXTEND
MSU OLDXFORP # SCALED AT PI
LXCH OLDXFORP
EXTEND
MP BIT7
LXCH DELTAP # SCALE AT PI/2(6)
CA CDUY
TS L
EXTEND
MSU OLDYFORP # SCALED AT PI
LXCH OLDYFORP
EXTEND
MP BIT7 # INTO L SCALED AT PI/2(6)
CA M11 # M11 SCALED AT 1
EXTEND
MP L # INTO A SCALED AT PI/2(6).
AD DELTAP
EXTEND
MP WFORP # SCALED AT 2(4)=16, RESULT IN A AT PI/4.
XCH OMEGAP # W*DELTAP IN OMEGAP LOC. OLD OMEGAP IN A.
EXTEND
MP (1-K) # SCALED AT 1
AD JETRATE # RATE DUE TO JETS TORQUING.
ADS OMEGAP # PRATE= WFORP*DELTAP+ALPHA*LAST-PRATE+TPF
PAXFILT TC PJUMPADR
SKIPPAXS CA VISNORMQ
TS PJUMPADR
TCF RESUME
CHKVISFZ TC T6JOBCHK # CHECK FOR T6 RUPT.
CAF VIZPHASE
MASK DAPBOOLS
EXTEND
BZF +2
TCF PURGENCY # ATTITUDE STEER DURING VISIBILITY PHASE
CAF BIT10 # BIT10=1 FOR RHC MINIMUM IMPULSE MODE
MASK DAPBOOLS
EXTEND
## Page 470
BZF DETENTCK # BRANCH FOR RATE COMMAND
CCS DELAYCTR # DELAYCTR IS SET TO 3 BY RUPTIO
TCF WHICHONE # LOOK FOR JET TO TURN ON
TCF CHEKALL6
CAF BIT12 # PERMIT NEXT RUPT10.DELAYCTR IS NEG
EXTEND # WHEN PREVIOUS READING OF 31 FOUND
WOR 13 # ALL SWITCHES OPEN.
TCF JETSOFF
WHICHONE TS DELAYCTR # DECREMENT DELAYCTR
CAF BIT3
EXTEND
RAND 31
EXTEND
BZF +MINIMP
CAF BIT4
EXTEND
RAND 31
EXTEND
BZF -MINIMP
TCF JETSOFF
+MINIMP CAF BIT1
TCF +2
-MINIMP CS BIT1
+2 TS TJETSIGN # SAVE SIGN OF P-AXIS ROTATION
CA PTJMINT6
TS DELAYCTR # AGAIN UNTIL NEXT RUPT
CAF NEGMAX # RECORD TWO JETS FOR MINIMUM IMPULSE BE-
TS NJET # FORE SELECTING POLICY
CAF PTJMINT6 # SET UP JET TIMES
TS TP
TS TOFJTCHG
TCF PJETSLEC # AND GO SELECT JET POLICY
CHEKALL6 EXTEND
READ 31
COM
MASK DAPLOW6
EXTEND
## Page 471
BZF +2
TCF JETSOFF
CS BIT1 # PUTTING NEGATIVE NUMBER IN DELAYCTR
TS DELAYCTR # WILL CAUSE RUPT TO BE ENABLED NEXT TIME
TCF JETSOFF
DETENTCK CA BIT15
EXTEND
RAND 31 # CHECK OUT-OF-DETENT BIT.INVERTED.
EXTEND
BZF RHCMOVED # BRANCH IF OUT OF DETENT
#........................................................................
CAF BIT1 # IN DETENT.CHECK THE RATE COMMAND BIT
MASK DAPBOOLS # BIT1 OF DAPBOOLS IS RATE COMMAND BIT
EXTEND
BZF PURGENCY # BRANCH IF NOT IN RATE COMMAND
#........................................................................
CAF BIT13 # CHECK ATTITUDE HOLD BIT
EXTEND
RAND 31
EXTEND
BZF JOEY # BRANCH IF IN ATTITUDE HOLD
#........................................................................
CCS OMEGAP # HERE IF IN X-AXIS OVER-RIDE
TCF +4
TCF RATEDONE
TCF +2
TCF RATEDONE
AD -RATEDB
EXTEND
BZMF RATEDONE
TCF JOEY
RATEDONE CS BIT1
MASK DAPBOOLS
TS DAPBOOLS
# READ CDUS INTO CDU DESIRED REGISTERS
CA CDUX
TS CDUXD
CA CDUY
TS CDUYD
CA CDUZ
TS CDUZD
TCF JETSOFF
RHCMOVED CAF BIT1 # CHECKING THE RATE COMMAND BIT
MASK DAPBOOLS
## Page 472
EXTEND
BZF JUSTOUT
# READ,ZERO, AND ENABLE COUNTERS
# SYSTEM HAS BEEN IN RATE COMMAND FOR AT LEAST THE TIME OF A CAP CHARGE
CAE P-RHCCTR # 1 BIT IN P-RHCCTR WORTH 0.6256 DEG/SEC
EXTEND
MP BIT9
CA L
EXTEND
MP 0.88975
TS PRATECOM # COMMANDED RATE SCALED AT PI/4
CAF ZERO # ZERO COUNTERS
TS P-RHCCTR
TS Q-RHCCTR
TS R-RHCCTR
CA BITS8,9 # ENABALE COUNTERS, START READING
EXTEND
WOR 13
TCF OBEYRATE
#........................................................................
JUSTOUT INCR DAPBOOLS # ALWAYS SETS BIT1 ON RATE COMMAND BIT
CAF BIT2
EXTEND
RAND 30
EXTEND
BZF +5 # BRANCH FOR ASCENT CONSTANTS
CAF -D2JTLIM # -1.4 DEG/SEC SCALED AT PI/4
TS -2JETLIM
CAF -DRATEDB # -0.4 DEG/SEC SCALED AT PI/4
TCF +4
+5 CAF -A2JTLIM # -2.0 DEG/SEC SCALED AT PI/4
TS -2JETLIM
CAF -ARATEDB # -1.0 DEG/SEC SCALED AT PI/4
+4 TS -RATEDB
CAF ZERO # ZERO COUNTERS
TS P-RHCCTR
TS Q-RHCCTR
TS R-RHCCTR
CA BITS8,9
EXTEND
WOR 13
TCF JETSOFF
#........................................................................
JOEY CAF ZERO
## Page 473
TS PRATECOM
# IN THIS SECTION P RATE ERROR IS COMPUTED AND T-JET IS CALCULATED
OBEYRATE CS OMEGAP
AD PRATECOM
CCS A # IF POSITIVE, NON-ZERO, STORE POSITIVE
CAF BIT1 # P-AXIS ROTATION
TCF +2 # WILL NOT COME HERE DIRECTLY
CS BIT1 # NEGATIVE, NON-ZERO, STORE NEGATIVE
TS TJETSIGN # P-AXIS ROTATION. NO NEG ZERO POSSIBLE
OBEYRAPE CCS PERROR # GET ABVAL OF RATE P-ERROR
TCF +4
TCF JETSOFF
TCF +2
TCF JETSOFF
AD BIT1
TS PRATEDIF # ABVAL OF RATE ERROR SCALED AT PI/4
TC T6JOBCHK # T6JOBCHK IS IN FIXED-FIXED
CA -RATEDB
AD PRATEDIF
EXTEND
BZMF JETSOFF # RATE ERROR INSIDE DEADBAND
CAE PRATEDIF # START TJET COMPUTATION
EXTEND
MP 1/2JTSP # 1/2JTACC SCALED AT 2EXP(8)/PI
EXTEND
MP BIT3 # ENOUGH FOR 4 JETS
CAE L
EXTEND
MP 25/32 # A CONTAINS TJFT SCALED AT 2EXP(4)(16/25)
TS TP
TS TOFJTCHG
CAE PRATEDIF # TEST WHETHER 2 OR 4 JETS TO BE USED BY
AD -2JETLIM # COMPARING DELTA RATE WITH 2 JET LIMIT
EXTEND
BZMF +4 # IF NEGATIVE, 2 JETS ARE ENOUGH
CAF POSMAX # POSITIVE, NON-ZERO. PUT POSMAX IN NJET
TS NJET
TCF PJETSLEC # AND GO SELECT GOOD POLICY
CAF NEGMAX # 2 JETS, PUT NEGMAX IN NJET,
TS NJET
CAE TP # DOUBLE TP,
## Page 474
DOUBLE
TS TP # AND GO CHECK MINIMUM IMPULSE
#........................................................................
# CHECK RATE COMMAND ON TIME AGAINST MINIMUM IMPULSE
TS TOFJTCHG
AD -TJMINT6
EXTEND # AS TP. TEST JFT TIME. IS IT GREATER OR
BZMF JETSOFF # LESS THAN A MINIMUM IMPULSE
#........................................................................
## Page 475
# PROGRAM NAME: PJETSLEC DATE: DECEMBER 9, 1966
# MODIFICATION 0 BY JOHN BLISS(ADAMS ASSOCIATES) ROOM 7-286, X183
# LOG SECTION: P-AXIS REACTION CONTROL SYSTEM AUTOPILOT -- FIRST PUT INTO SUNBURST(III) REVISION 29
# FUNCTIONAL DESCRIPTION:
# THE OBJECT OF PJETSLEC IS TO CHOOSE THE BEST JET POLICY WHOSE NECESSARY JETS HAVE NOT BEEN RECORDED AS
# FAILED IN THE CH6MASK REGISTER. THE CONDITIONS ON SELECTION ARE THE NUMBER OF JETS REQUESTED(2 OR 4), THE
# SENSE OF P-AXIS ROTATION REQUIRED(+/-), AND ALTERNATING USE OF DIAGONAL FORCE-COUPLED PAIRS OF JETS.
# PJETSLEC FIRST READS CHANNEL 6 TO SEE IF THE JETS ARE CURRENTLY FIRING. IF THEY ARE, THE TIME OF JET
# SELECTION COMPUTATION(5 MS.) IS SUBTRACTED FROM TOFJTCHG AND CONTROL GOES DIRECTLY TO TEST THE SENSE OF P-AXIS
# ROTATION. THE DIAGONAL FORCE-COUPLED PAIRS OF JETS ARE NOT SWITCHED, BECAUSE IT WOULD BE INEFFICIENT TO TURN
# ONE OFF AND THE OTHER ON IN RAPID SUCCESSION. IF THE JETS ARE OFF, THE MINIMUM IMPULSE DELAY TIME IS ADDED TO
# TOFJTCHG AND THE DIAGONAL JETS ARE SWITCHED TO COMPLY WITH THE ALTERNATION CONDITION.
# IF THE P-AXIS IS +, REL = 7, IF -, REL = 0,. NJET IS TESTED NEXT; IF POSMAX, 4 JETS DESIRED, REL = REL +6,
# CTR = 6. IF NEGMAX, 2 JETS DESIRED, REL = REL + 5, CTR = 5. IF 4 JETS DESIRED, GO TO POLICY TESTING LOOP
# WITHOUT TESTING TO SEE WHICH DIAGONAL PAIR IS PREFERRED THIS TIME.
# IF 2 JETS ARE DESIRED, SEE WHETHER NO. 2 PAIR IS PREFERRED. IF IT IS, TEST IT FIRST AND USE IT IF IT'S OK.
# IF IT HAS FAILED, GO TO THE TEST LOOP TO TEST THE POLICIES IN ORDER. IF NO. 1 POLICY IS PREFERRED, GO DIRECTLY
# TO THE TEST LOOP.
# THE TEST LOOP USES REL TO PICK UP THE NEXT POLICY IN PPOLTABL AND CTR TO KEEP TRACK OF THE NUMBER OF
# POLICIES(1-7) TESTED. WHEN A GOOD POLICY IS FOUND, IT IS WRITTEN INTO CHANNEL 6, OTHERWISE THE NEXT POLICY IS
# TRIED. IF NO GOOD POLICIES ARE FOUND, CONTROL GOES TO ABORTJET TO TURN OFF THE JETS AND THE DAP.
# WHEN A GOOD POLICY IS FOUND, WRITEP IS CALLED TO WRITE THE POLICY INTO CHANNEL 6, +/-2/4 IS STORED IN
# NO.PJETS, AND BIT9 IS PUT INTO JTSATCHG TO CAUSE THE P-AXIS JETS TO BE TURNED OFF ON THE NEXT T6RUPT. CONTROL
# THEN TRANSFERS TO TORKVEC.
# CALLING SEQUENCES: NONE SUBROUTINES CALLED:
# WRITEP - WRITES C(A). THE
# SELECTED JET POLICY, INTO
# CHANNEL 6
# NORMAL EXIT MODES: ALARM OR ABORT EXIT MODES:
# TCF TORKVEC EXTEND
# DCA ABORTADR
# DTCB
# EBANK= JTSONNOW
## Page 476
# ABORTADR 2CADR ABORTJET
# THIS SEQUENCE IS FOLLOWED
# IF NONE OF THE POLICIES IS
# WITHOUT JET FAILURES
# ERASABLE INITIALIZATION REQUIRED
# TP = ) TIME PERIOD OF JET FIRING
# TOFJTCHG = ) AT T6 SCALING, 625 MICROSECONDS PER BIT
# NJET = 37777, 40000, DEPENDING ON WHETHER 4 OR 2 JETS DESIRED
# TJETSIGN = +/-00001, DEPENDING ON DISIRED SENSE OF P-AXIS ROTATION
# CH6MASK = BITS 1-8 INDICATE WHETHER CORRESPONDING JETS HAVE FAILED - BIT ON IS FAILURE, BIT OFF IS OK.
# DAPBOOLS,BIT5(AORBSYST) =0/1, DEPENDING UPON WHETHER DIAGONAL 1 OR DIAGONAL 2 WAS PREFERRED DURING LAST PASS
# OUTPUT:
# CHANNEL 6 - CONTAINS SELECTED JET POLICY UNLESS NONE IS AVAILABLE
# NO.PJETS - +/-2/4, SENSE OF P-AXIS ROTATION AND NUMBER OF JETS USED
# BY POLICY ACTUALLY SELECTED(MAY NOT = 4 IF 4 JETS RE-
# QUESTED BUT ONE OR MORE JETS FAILED)
# TOFJTCHG - MODIFIED BY MCOMP OR -14TOMIN DEPENDING ON WHETHER THE
# JETS WERE ON WHEN PJETSLEC WAS CALLED
# DAPBOOLS, BIT5(AORBSYST) = 1/0, IF THE INPUT VALUE WAS 0/1, UNLESS JETS WERE ON WHEN PJETSLEC STARTED.
# JTSATCHG - = BIT9, UNLESS NO POLICIES AVAILABLE
# NJET, TP, TJETSIGN, AND CH6MASK NOT CHANGED BY PJETSLEC
# REL AND CTR ARE LEFT AT THEIR LAST VALUES WHEN THE GOOD POLICY WAS
# FOUND
# DEBRIS:
# REL = ITEMP5
# CTR = ITEMP6
# A,L,Q
PJETSLEC EXTEND # BEGIN JET SELECT ROUTINE BY SEEING WHE-
READ 6 # THER THE JETS ARE TURNED ON(CHANNEL 6
EXTEND # NON-ZERO)
BZF +4 # IF THE JETS AREN'T ON, GET MINIMP DELAY
CAF MCOMPT # CONTAINS -TIME OF JET SELECTION
ADS TOFJTCHG # ADD IT TO TOFJTCHG(TO REDUCE JET FIRING)
TCF TESTSIGN # SINCE JETS ALREADY ON, DONT SWITCH DIAGS
CAF 14-TJMIN # PICK UP MINIMUM IMPULSE DELAY TIME
ADS TOFJTCHG # AND ADD TO TOFJTCHG(TO LENGTHEN FIRING)
## Page 477
CAF AORBSYST # IF JETS NOT ON NOW. START BY
LXCH DAPBOOLS # SWITCHING BIT5 IN DAPBOOLS.
EXTEND # BIT5 ON - DIAGONAL JETS 15,7 AND 8, 16
RXOR L
TS DAPBOOLS # BIT5 OFF - DIAGONAL JETS 4,12 AND 3, 11
TESTSIGN CAF ZERO # COME HERE DIRECTLY IF JETS ALREADY ON
TS REL # INITIALIZE ADDRESSING INDEX AT ZERO
CCS TJETSIGN # TEST DIRECTION OF P-AXIS ROTATION(ROLL)
CAF SEVEN # IF POSITIVE, GET POLICY FROM LOWER SEVEN
ADS REL # LOCATIONS OF TABLE
CCS NJET # SET IF 4-JET POLICY IS REQUESTED
CAF SIX # IT IS, PICK UP 6 FOR REL AND CTR
TCF FILCOUNT # AND GO STORE THEM
CAF FIVE # 2 JETS ONLY REQUESTED, PICK UP 5, STORE
ADS REL # IN REL AND CTR
TS CTR
CS DAPBOOLS # CHECK BIT5 IN DAPBOOLS TO SEE WHICH PAIR
MASK AORBSYST # OF DIAGONAL JETS SHOULD BE USED NEXT
CCS A
TCF TESTPOL # FIRST PAIR, SO GO TO TESTING LOOP NOW
EXTEND # SECOND PAIR, DECREMENT REL TO 4 OR 11.
DIM REL
INDEX REL # PICK UP SECOND DIAGONAL PAIR FROM POLICY
CAF PPOLTABL
MASK CH6MASK # TABLE AND COMPARE WITH FAILURE BITS
EXTEND
BZF WRITEPOL # THE JETS ARE GOOD, GO WRITE IN CHANNEL
INCR REL # THE JET(S) HAVE FAILED FOR THIS POLICY,
TCF TESTPOL # RESTORE REL AND DO TEST POLICY LOOP
FILCOUNT ADS REL # COME HERE TO SET REL AND CTR FOR 4-JET
TS CTR # POLICY REQUESTED. ALSO, SET CTR -1 HERE
TESTPOL INDEX REL # PICK UP NEXT POLICY AS LOCATED RELATIVE
CAF PPOLTABL # TO PPOLTABL BY REL.
MASK CH6MASK # COMPARE WITH FAILURE BITS
EXTEND
BZF WRITEPOL # THE JETS ARE GOOD, WRITE IN THE CHANNEL
EXTEND # THE JET(S) HAVE FAILED FOR THIS POLICY
DIM REL # DECREMENT THE INDEX.
CCS CTR # SEE IF ALL POLICIES HAVE BEEN TESTED.
TCF TESTPOL -1 # CTR NOT ZERO, A = CTR -1, DO LOOP AGAIN
EXTEND # CTR ZERO, ALL ALLOWABLE POLICIES FAILED
DCA ABORTADR # PICK UP 2CADR OF ABORTJET
## Page 478
DTCB # AND GO THERE
WRITEPOL INDEX REL # A GOOD POLICY IS FOUND, PICK IT UP AND
CAF PPOLTABL
TC WRITEP # GO WRITE IT IN CHANNEL 6 AND RETURN
CCS A # THE POLICY IS STILL IN A, TEST NUMBER OF
CAF TWO
TCF +2 # JETS(BIT15 ON FOR 4-JET POLICIES) AND
CAF FOUR
EXTEND # MULTIPLY BY TJETSIGN(+/-1) TO GET +/-2,4
MP TJETSIGN
LXCH NO.PJETS # IN L, WHICH IS THEN STORED IN NO.PJETS
CAF BIT9 # TURN OFF P-AXIS JETS AFTER T6RUPT
TS JTSATCHG
TCF TORKVEC # RECONSTRUCT P TORQUE VECTOR, THEN JTLST.
EBANK= JTSONNOW # WOULD YOU BELIEVE, EBANK = 6
ABORTADR 2CADR ABORTJET # WHERE TO GO WHEN ALL JET POLICIES FAIL
# ................................................................................................................
# TABLE OF P-AXIS JET POLICIES IS ASSEMBLED HERE TO BE ADDRESSED BY RELATIVE INDEX FROM BASE ADDRESS PPOLTABLE
# CHANNEL 6 BITS INDEX JETS ON
PPOLTABL OCTAL 00202 # REL=0 -P NON-FORCE COUPLE 4- 16, 3
OCTAL 00210 # REL=1 -P NON-FORCE COUPLE 3- 11, 16
OCTAL 00050 # REL=2 -P NON-FORCE COUPLE 2- 8, 11
OCTAL 00042 # REL=3 -P NON-FORCE COUPLE 1- 3, 8
OCTAL 00240 # REL=4 NUMBER TWO FORCE COUPLE- 8, 16
OCTAL 00012 # REL=5 -P 2-JET FORCE COUPLE- 3, 11
OCTAL 40252 # REL=6 -P 4-JET POLICY- 3, 8, 11, 16
OCTAL 00101 # REL=7 +P NON-FORCE COUPLE 4- 7, 4
OCTAL 00021 # REL=8D +P NON-FORCE COUPLE 3- 12, 7
OCTAL 00024 # REL=9D +P NON-FORCE COUPLE 2- 15, 12
OCTAL 00104 # REL=10D +P NON-FORCE COUPLE 1- 4, 15
OCTAL 00005 # REL=11D NUMBER TWO FORCE COUPLE- 15, 7
OCTAL 00120 # REL=12D +P 2-JET FORCE COUPLE- 4, 12
OCTAL 40125 # REL=13D +P 4-JET POLICY- 4, 15, 12, 7
# ................................................................................................................
JETSOFF CAF ZERO
TS TP
TS TOFJTCHG
TC WRITEP # TURN ON P JETS USING T6JOB SUBROUTINE
## Page 479
TCF RESUME
# P-AXIS URGENCY FUNCTION CALCULATION
# (NOTE -- M13 = 1 IDENTICALLY IMPLIES NULL MULTIPLICATION.)
PURGENCY CA CDUY # P-ERROR CALCULATION
EXTEND
MSU CDUYD # CDU VALUE - ANGLE DESIRED (Y-AXIS)
EXTEND
MP M11 # (CDUY-CDUYD)M11 SCALED AT PI RADIANS
XCH E # SAVE FIRST TERM (OF TWO)
CA CDUX # THIRD COMPONENT
EXTEND
MSU CDUXD # CDU VALUE - ANGLE DESIRED (X-AXIS)
# EXTEND
# MP M13
ADS E # SAVE SUM OF TERMS, NO OVERFLOW EVR
TS PERROR # SAVE P ERROR FOR DISPLAY
CAE DAPBOOLS # BIT15 = 0 FOR SPS BACK-UP
EXTEND
BZMF NOBACKUP # DAPBOOLS IS NEVER +0.
CS OMEGAPD # THIS IS THE P-AXIS RCS BACK-UP CODING
AD OMEGAP
TS EDOT
CAF SLOPEMP
EXTEND
MP E
AD EDOT
EXTEND
BZMF PLUSDP
CAF NEGDP
GCOMPER TS ITEMP3
CAE EDOT
EXTEND
SQUARE
EXTEND
MP 1/2AP
AD E
AD NEGDP
EXTEND
BZMF UCOAST
CAE ITEMP3
EXTEND
## Page 480
BZMF NEGPJET
CAF POSP
JETPON EXTEND
WRITE 6
TCF RESUME
NEGPJET CAF NEGP
TCF JETPON
PLUSDP CS E
XCH E
CS EDOT
XCH EDOT
CS NEGDP
TCF GCOMPER
UCOAST CAF ZERO
TCF JETPON
NEGP OCT 00120
POSP OCT 00240
NEGDP DEC -0.00555
SLOPEMP EQUALS POSMAX
1/2AP DEC 0.217
NOBACKUP CAF BIT14
TS SIGNTAG # INDICATES EDOT POSITIVE FOR TIME BEING
CS OMEGAPD
AD OMEGAP
CCS A
TCF SCALEDOT
TCF PTJETLAW
TCF REFLECT
TCF PTJETLAW
REFLECT TS EDOT
CS BIT14
TS SIGNTAG # INDICATES EDOT REALLY NEGATIVE
CS PERROR
TS E
CAE EDOT
SCALEDOT AD BIT1
EXTEND
MP BIT3
EXTEND
BZF PTJETLAW -1
CAF POSMAX
TCF PTJETLAW
CAE L
PTJETLAW TS EDOT
EXTEND
MP EDOT
TS EDOT(2)
## Page 481
CAF NEGONE
TS TJETSIGN
CAF NEGMAX
TS NJET # INDICATES 2 JETS ONLY FOR TIME BEING
CAE EDOT(2)
EXTEND
MP 1/2JTSP
EXTEND
MP BIT14
AD E
EXTEND
SU DB
TS FCT1
EXTEND
BZMF 5,6,7,8
CAE EDOT
EXTEND
MP 1/2JTSP
TS TERMA
COM
AD BIT11 # 1SECOND SCALED AT 16 SECONDS
EXTEND
BZMF MULTIJET
CS +1.5CSP
AD TERMA
EXTEND
BZMF +3
MAXPTJET CAF BIT14
TCF FINDSIGN
CS FCT1
AD MINIMPDB
EXTEND
BZMF PMBR
CAE TERMA
AD -35AT16
EXTEND
BZMF ZONE4
AD 38.7AT16
TCF SCALTJET
MULTIJET CAF POSMAX
TS NJET
TCF MAXPTJET
5,6,7,8 CAE EDOT(2)
EXTEND
MP .5ACCMIN
AD E
AD DB
AD DBMINIMP
EXTEND
BZMF +2
## Page 482
ZONE5 TCF JETSOFF
+2 CS RATEMAX
AD EDOT
EXTEND
BZMF ZONES6,7
ZONE8 TCF JETSOFF
ZONES6,7 CAF BIT1
TS TJETSIGN
CS EDOT
EXTEND
MP 1/2JTSP
TS TERMA
CS FCT1
AD E
AD E
AD MINIMPDB
PMBR TS FCT1 # FCT1 NOW HOLDS -FCT5 OR -FCT2
CAE 1/2JTSP
EXTEND
MP BIT14
AD .5ACCMIN
TS DENOM
EXTEND
MP RATEMAX2
AD FCT1
EXTEND
BZMF MISSROOT
CAE FCT1
EXTEND
DV DENOM
EXTEND
MP 1/2JTSP
EXTEND
MP 1/2JTSP
TS TERMB
CS +1.5CSP
AD TERMA
EXTEND
SQUARE
AD TERMB
EXTEND
BZMF MAXPTJET
CS TMINAT16
AD TERMA
EXTEND
BZMF LASTTEST
ROOTNEXT TC T6JOBCHK
CS TERMB
TC SPROOT
SUMTJ AD TERMA
## Page 483
SCALTJET DOUBLE
EXTEND
MP 25/32
TCF FINDSIGN
MISSROOT CAF RATEMAX+ # RATEMAX+ = RATEMAX+0.6DEGREES/SECOND
EXTEND
MP 1/2JTSP
TCF SUMTJ
LASTTEST CS TMINAT16
AD TERMA
EXTEND
SQUARE
AD TERMB
EXTEND
BZMF ROOTNEXT
TCF JETSOFF
ZONE4 CAE SIGNTAG
EXTEND
BZMF +3
CS .1DPS
TCF +2
CA .1DPS
AD OMEGAPD
TS OMEGAP
CAF PTJMINT6
FINDSIGN TS TP
CAE SIGNTAG # NEVER ZERO
EXTEND
BZMF +2 # EQUIVALENT TO BRANCH ON MINUS
TCF +3
CS TJETSIGN
TS TJETSIGN
CAE TP # LOAD TOFJTCHG
TS TOFJTCHG
TCF PJETSLEC # AND GO SELECT GOOD POLICY
# TORQUE VECTOR RECONSTRUCTION FOR THE P-AXIS
TORKVEC CS TOFJTCHG
AD +1.5CSP # USE 150 MS. TO TEST FOR A PAXIS SKIP.
EXTEND
BZMF RESUME # TP GREATER THAN 150MS THEN DO NORMAL P.
CA PSKIPADR # SET UP A P AXIS SKIP.
TS PJUMPADR # GOES TO JTLST FROM HERE
## Page 484
# PROGRAM NAME JTLST
# WRITTEN BY DICK GRAN ( GAEC - CALL LR-5-1331 AREA CODE 516 )
# THIS PROGRAM IN CONJUNCTION WITH T6-RUPT PROGRAMS ALLOWS JETS TO BE
# TURNED OFF AT THE COMPUTED OFF TIME. THIS TASK IS ACCOMPLISHED BY USING
# A JET LIST WHICH IS SET UP AS FOLLOWS ....
# JET OFF TIMES DESIRED JETS AT THIS TIME
# TIME6 T6NEXTJT
# T6NEXT T6NEXTJT +1
# T6NEXT +1 T6NEXTJT +2
# THESE LOCATIONS RECEIVE THE JET ON TIMES SCALED AS T6 (.625 MS/BIT). AS
# AN EXAMPLE OF HOW THE PROGRAM WORKS, CONSIDER THE FOLLOWING PROBLEM...
# 50 MS AGO A P AXIS JET COMPUTATION DECIDED JETS 12 AND 15 SHOULD BE
# ON FOR 120 MS. AFTER 120 MS IT WAS FURTHER DECIDED THAT JETS 12,15
# 16 AND 3 SHOULD BE ON UNTIL THE NEXT P AXIS COMPUTATION (WHICH
# OCCURS IN 200 MS AFTER THE LAST P AXIS JET COMPUTATION). AT THE
# CURRENT TIME THE QR AXES COMPUTES THAT JET 2 SHOULD BE ON FOR 65 MS
# AND JET 9 SHOULD BE ON FOR 72.5 MS. AFTER 72.5 MS NO FURTHER QR JETS
# SHOULD BE ON. THIS SEQUENCE OF JETS CORRESPONDS TO A +P ROTATION
# WITH A SIMULTANEOUS +Y AND -Z TRANSLATION AND ALSO A -V (DIAGONAL)
# ROTATION ABOUT THE Y AND Z AXES . NOTE JET 9 IS ON LONGER THAN JET 2
# WHICH WOULD BE THE CASE IF THE Q-R JETS HAD BEEN ON BEFORE. IN THIS
# CASE, THE FOLLOWING SEQUENCE OF EVENTS OCCURRED AT THE P AXIS
# COMPUTATION .....
# 1) CHANNEL 6 WAS LOADED WITH OCTAL 24 TO TURN ON JETS 12 AND 15
# 2) TIME 6 WAS LOADED WITH 120 MS
# 3) T6NEXT WAS LOADED WITH +0 ( THIS INDICATES THE CONTENTS OF
# T6NEXT ARE NOT TO BE USED IN THE T6JOB PROGRAM)
# 4) T6NEXTJT WAS LOADED WITH OCTAL 226 TO CAUSE JETS 3,12,15
# AND 16 TO GO ON WHEN T6 HAS BEEN DECREMENTED TO -0.
# 5) THE T6 CLOCK WAS TURNED ON TO BEGIN COUNTING DOWN TIME 6
# AT THE QR AXES JET LIST COMPUTATION, THE T6 CLOCK HAS BEEN REDUCED
# TO 70 MS (120-50) THEREFORE THE FOLLOWING OCCURS ....
# 1) CHANNEL 5 IS LOADED WITH OCTAL 40022 TO TURN ON JETS 2 AND
# 9. ( THIS IS PERFORMED IN THE SECTION CALLED RATE)
# 2) THE BANK IS SWITCHED FROM THE QR BANK TO THE P BANK (WHERE
# THE JET LIST IS STORED) AS FOLLOWS ....
# DCA JTLSTADR
## Page 485
# DTCB ( IN THE QR AXES ONLY)
# 3) THE DESIRED JET ON TIME FOR JET 2 IS COMPARED WITH T6.
# 4) SINCE T6 IS GREATER THAN THE DESIRED JET ON TIME FOR JET 2,
# T6 IS CHANGED TO 65 MS AND T6NEXT IS LOADED WITH 5 MS.
# ( THE DIFFERENCE BETWEEN JET ON TIME AND T6)
# 5) T6NEXTJT IS CHANGED TO OCTAL 40020 , AND THE FORMER CONTENTS
# OF T6NEXTJT IS PLACED IN T6NEXTJT +1. THIS CAUSES JET 9 TO
# REMAIN ON AND JET 2 TO BE TURNED OFF WHEN T6 IS DECREMENTED
# TO ZERO. IT ALSO ASSIGNS THE P AXIS JET CODE TO THE
# TIME IN T6NEXT.
# 6) THE CONTENTS OF T6NEXT (5MS) IS COMPARED WITH THE
# DIFFERENCE BETWEEN THE TWO QR AXIS JET ON TIMES. SINCE HERE
# THE DIFFERENCE IS 7.5 MS WHICH IS GREATER THAN THE CONTENTS
# OF T6NEXT (5MS), THE ADDITIONAL QR AXIS RUPT OCCURS AFTER
# THE RUPT STORED IN T6NEXT. THUS 2.5 MS (7.5 - 5) IS STORED
# IN T6NEXT +1
# 7) T6NEXTJT +2 IS MADE EQUAL TO THE JETS WHICH ARE TO BE ON
# AFTER THE 75 MS HAS ELAPSED (IN THE CASE HERE IT IS ZERO)
# THUS FOR THE EXAMPLE CONSIDERED THE JET LIST IS ....
# JET TIMES JET CODES
# TIME6 = 65MS. T6NEXTJT = 40020 SIGN IS NEGATIVE TO
# T6NEXT = 5 MS. T6NEXTJT +1 = 00226 INDICATES Q-R AXIS
# T6NEXT +1 =2.5 MS. T6NEXTJT +2=, 40000 JETS,POSITIVE TO
# INDICATE P JETS.
# CHANNEL 6 = 00024
# CHANNEL 5 = 00022 SIGN IS LOST ONCE THE JET CODE IS LOADED
# THIS EXAMPLE AND THE CODING SHOULD ALLOW ONE TO UNDERSTAND THE JET LIST.
# ONE FURTHER COMMENT IS IN ORDER - IF THE JET ON TIMES EXCEED 150 MS,
# THE JETS ARE TURNED ON AND THE JET LIST IS NOT ENTERED. IN 100 MS
# A NEW JET ON TIME IS COMPUTED WHICH WILL RESET THE JETS IF NEEDED.
# WHEN THE JET ON TIME IS LESS THAN 150MS, THE JET LIST IS LOADED AS
# DISCUSSED ABOVE AND THE TJET COMPUTATION IS SKIPPED NEXT TIME, THAT IS
# THE AXIS IS NOT REPEATED AGAIN UNTIL 200 MS HAS ELAPSED. THIS INSURES
# THAT WHEN A NEW JET TIME IS COMPUTED THE JET LIST WILL NOT HAVE
# A TIME STORED WHICH CORRESPONDS TO THE AXIS JUST COMPLETED.
JTLST CCS TIME6 # TEST CURRENT STATE OF T6.
TCF T6ONNOW # IF T6 IS + THEN CLOCK IS ON.
TCF T6OFFNOW # IF T6 IS + ZERO THEN T6 MUST BE OFF
TCF T6ONNOW # SINCE ALL DINC S LEAD TO MINUS ZERO.
TC T6JOB # WE ARE IN THE UNIQUE STATE WHICH SAYS
TCF JTLST # A T6 INTERRUPT IS WAITING.DO T6 JOB.
## Page 486
T6OFFNOW CA TOFJTCHG
TS TIME6 # WE ARE HERE IF T6 CLOCK IS OFF.
CA BIT15
EXTEND # TURN CLOCK PULSE FOR T6 ON AND LOAD T6.
WOR 13
CA JTSATCHG
TS T6NEXTJT
CA ZERO
XCH ADDTLT6 # SET UP NEXT T6 INTERRUPT AFTER THE
TS T6NEXT # CURRENT ONE IS COMPLETE. ADDTLT6 MAY
CA ZERO # BE ZERO IN WHICH CASE NO MORE T6.
XCH ADDT6JTS
TS T6NEXTJT +1
TCF RESUME
T6ONNOW CCS T6NEXT # HERE IF T6 IS NOW ON. SEE IF T6NEXT IS
TCF T6NXT=+ # ZERO OR NOT.
CS TOFJTCHG # T6NEXT IS NEVER NEGATIVE.
AD TIME6 # A CONTAINS T6 - TJET.
CCS A # TEST SIGN OF A (SAVING THE DIFFERENCE).
AD ONE
TCF JTSFIRST # TJET IS LESS THAN T6.
NOOP # IF DIFFERENCE I SNEGATIVE OR ZERO
AD ONE # WE ADD 1 SO ZERO CAN NEVER BE IN LIST.
TS T6NEXT
CA JTSATCHG
TS T6NEXTJT +1 # BEGIN SETTING UP JETS IN THE JET LIST.
CA ZERO
XCH ADDTLT6
TS T6NEXT +1
CA ZERO
XCH ADDT6JTS
TS T6NEXTJT +2
TCF RESUME
JTSFIRST TS T6NEXT # HERE IF TJET IS LESS THAN T6.
CA TOFJTCHG
TS TIME6 # SWITCH T6 AND TJET)
CA JTSATCHG
XCH T6NEXTJT # BEGIN SWITCHING JET WORDS IN JET LIST.
TS T6NEXTJT +1
CS ADDTLT6
EXTEND
BZF RESUME # SEE IF AN ADDITIONAL (QR) JET TIME IS
AD T6NEXT # REQUIRED.
CCS A # IF AN ADDITIONAL T6 IS NEEDEN, COMPARE
AD ONE # IT WITH THE CONTENTS OF T6NEXT.
TCF +11
NOOP
AD ONE
TS T6NEXT +1
CA ZERO
## Page 487
TS ADDTLT6
XCH ADDT6JTS
TS T6NEXTJT +2
TCF RESUME
+11 TS T6NEXT +1
CA ZERO
XCH ADDTLT6
TS T6NEXT
CA ZERO
XCH ADDT6JTS
XCH T6NEXTJT +1
TS T6NEXTJT +2
TCF RESUME
T6NXT=+ CS TOFJTCHG
AD TIME6
AD T6NEXT
CCS A
AD ONE
TCF +7
NOOP
AD ONE
TS T6NEXT +1
CA JTSATCHG
TS T6NEXTJT +2
TCF RESUME
+7 TS L
CS TOFJTCHG
AD TIME6
CCS A
AD ONE
TCF JTSB4T6
NOOP
AD ONE
TS T6NEXT
CA L
TS T6NEXT +1
CA JTSATCHG
TCF +7
JTSB4T6 XCH T6NEXT
TS T6NEXT +1
CA TOFJTCHG
TS TIME6
CA JTSATCHG
XCH T6NEXTJT
+7 XCH T6NEXTJT +1
XCH T6NEXTJT +2
TCF RESUME
# T-JET LAW FIXED CONSTANTS
RATEMAX+ DEC 0.94222
## Page 488
RATEMAX DEC 0.88889
RATEMAX2 DEC 0.79012
-35AT16 DEC -0.00219
-5DEG+1 DEC -.02772 # -5 DEGREES + CCSBIT SCALED AT PI RADIANS
38.7AT16 DEC 0.00242
TMINAT16 DEC 0.00047
PTJMINT6 DEC 0.00073
.1DPS DEC 0.00222
+1.5CSP DEC +0.01465
MCOMPT DEC -0.00049 # -5MS. SCALED AS T6 (P-AXIS COMP TIME).
14-TJMIN DEC 11
NEGCSP1 DEC -.00977
MS30P OCTAL 37775
0.88975 DEC 0.88975
16/25 DEC 0.64000
-DRATEDB OCTAL 77555 # -0.4 DEG/SEC SCALED AT PI/4 RADIANS/SEC
-D2JTLIM OCTAL 77001 # -1.4 DEG/SEC SCALED AT PI/4
-A2JTLIM OCTAL 76447 # -2.0 DEG/SEC SCALED AT PI/4
-ARATEDB OCTAL 77223 # -1.0 DEG/SEC SCALED AT PI/4
25/32 DEC .78125
-TJMINT6 OCTAL 77762 # -(7.5 MS + 1 BIT) SCALED AS TIME6 CLOCK
DAPLOW6 OCT 00077
BITS8,9 OCTAL 00600
UPM DEC -.2 # TEMPORARY ESTIMATE
CSPAT1P DEC 0.10000 # 100 MS AT 1.
PSKIPADR GENADR SKIPPAXS
JETLWADR CADR TJETLAW
SETIDLE LXCH BANKRUPT # FIRST T5RUPT AFTER FRESH START COMES
CAF IDLERADR # HERE, DAPIDLER IS STARTED IN 1 SECOND.
TS T5ADR
CAF 1SECRUPT
TS TIME5
CAF WIDEDB
TS DB
TCF NOQRSM
1SECRUPT OCTAL 37634 # 1 SECOND SCALED AS TIME5 (100 PULSES)
# DUMMY FILTER RUPT AFTER P-AXIS RUPT.
EBANK= AOSQTERM
DUMMYFIL CAF TWENTYMS # RESET TIMER IMEDIATELY. DT=20 MS
TS TIME5
LXCH BANKRUPT # INTERRUPT LEAD-IN (CONTINUED).
EXTEND # SET UP QRAXIS RUPT.
DCA DFQRAXIS
DXCH T5ADR
## Page 489
# INCREMENT AOSTERM IN DESCENT MODE TO IMPROVE RATE DERIVATION DURING QRAXIS CONTROL.
CAF BIT2 # STAGE BIT IS ONE FOR DESCENT.
EXTEND
RAND 30 # READ STAGE BIT
EXTEND
BZF NOQRSM # NOT IN DESCENT MODE. RESUME.
CAF BIT14 # IS THE ENGINE OFF BIT SET.
EXTEND
RAND 11 # READ ENGINE OFF BIT.
EXTEND
BZF DLOOPBGN # ZERO WHEN ENGINE IS NOT OFF.
CAF ZERO # YES. ENGINE IS OFF.
TS AOSQTERM
TS AOSRTERM
TCF NOQRSM # RESUME.
DLOOPBGN CAF BIT1 # FIRST THE R-AXIS, THEN THE Q-AXIS.
DLOOP TS ITEMP1
DOUBLE
TS ITEMP2
INDEX ITEMP1
CA PITCHBTS
EXTEND
RAND 12 # IS PITCH(ROLL) GIMBAL MOVING.
EXTEND
BZF DLOOPCHK # ZERO WHEN GIMBAL IS NOT MOVING.
# FORM ACCDOT*CSP(2)*(1-.5*K) SCALED AT PI/4. THIS IS THE INCREMENT TO BE ADDED TO THE OFFSET ACCELERATION TERM.
CAE (1-K) # (1-K) IS SCALED AT 1.
EXTEND
MP BIT9 # .5*(1-K) , SCALED AT 2(5).
AD BIT9 # (1.-.5*K) SCALED AT 2(5).
EXTEND
MP CSPSQ # CSP(2)*(1.-.5*K) AT 2(5)
EXTEND
INDEX ITEMP2 # SELECT THE AXIS .
MP QACCDOT # QACCDOT AT PI/2(7).
INDEX ITEMP1
ADS AOSQTERM # ADD INCREMENT SCALED AT PI/4.
DLOOPCHK CCS ITEMP1
TCF DLOOP # R-AXIS DONE. NOW DO THE Q-AXIS.
TCF NOQRSM # RESUME.
PITCHBTS OCT 01400 # PITCH GIMBAL BITS (9,10).
OCT 06000 # ROLL GIMBAL BITS, (11,12).
CSPSQ OCT 00243 # .01 SCALED AT 1, FOR CSP(2).
TWENTYMS OCT 37776 # 20 MS FOR T5.
EBANK= QERROR
## Page 490
DFQRAXIS 2CADR QRAXIS
