https://github.com/chrislgarry/Apollo-11
Tip revision: 337bb1c12bae686bdb63d4c4ee9c349f9f1ae4be authored by Chris Garry on 10 March 2024, 03:46:04 UTC
Merge pull request #911 from shvydky/master
Merge pull request #911 from shvydky/master
Tip revision: 337bb1c
JET_SELECTION_LOGIC.agc
# Copyright: Public domain.
# Filename: JET_SELECTION_LOGIC.agc
# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
# It is part of the source code for the Command Module's (CM)
# Apollo Guidance Computer (AGC), for Apollo 11.
# Assembler: yaYUL
# Contact: Ron Burkey <info@sandroid.org>.
# Website: www.ibiblio.org/apollo.
# Pages: 1039-1062
# Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the
# same name, using Comanche055 page images.
#
# This source code has been transcribed or otherwise adapted from digitized
# images of a hardcopy from the MIT Museum. The digitization was performed
# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
# thanks to both. The images (with suitable reduction in storage size and
# consequent reduction in image quality as well) are available online at
# www.ibiblio.org/apollo. If for some reason you find that the images are
# illegible, contact me at info@sandroid.org about getting access to the
# (much) higher-quality images which Paul actually created.
#
# Notations on the hardcopy document read, in part:
#
# Assemble revision 055 of AGC program Comanche by NASA
# 2021113-051. 10:28 APR. 1, 1969
#
# This AGC program shall also be referred to as
# Colossus 2A
# Page 1039
BANK 21
SETLOC DAPS4
BANK
COUNT 17/DAPJS
EBANK= KMPAC
# EXAMINE CHANNEL 31 FOR TRANSLATION COMMANDS
JETSLECT LXCH BANKRUPT
CAF DELTATT3 # = 60 MS RESET TO EXECUTE PHASE1
AD T5TIME
TS TIME5
TCF +3
CAF DELATT20 # = 20 MS TO ASSURE A T5RUPT
TS TIME5
CAF =14MS # RESET T6 TO INITIALIZE THE JET CHANNELS
TS TIME6 # IN 14 MS
CAF NEGMAX
EXTEND
WOR CHAN13
EXTEND
QXCH QRUPT
CAF XLNMASK # = 7700 OCT
EXTEND # EXAMINE THE TRANSLATION
RXOR CHAN31 # HAND CONTROLLER
MASK XLNMASK
EXTEND
BZF NOXLNCMD
TS T5TEMP
EXTEND
MP BIT9
MASK THREE
TS XNDX1 # AC QUAD X-TRANSLATION INDEX
TS XNDX2 # BD QUAD X-TRANSLATION INDEX
CA T5TEMP
EXTEND # 1 = + XLN
MP BIT7 # 2 = - XLN
MASK THREE # 3 = NO XLN
TS YNDX # Y-TRANSLATION INDEX
CA T5TEMP
EXTEND
MP BIT5
MASK THREE
TS ZNDX # Z-TRANSLATION INDEX
CA DAPDATR1 # SET ATTKALMN TO PICK UP FILTER GAINS FOR
MASK BIT14 # TRANSLATIONS.
EXTEND # CHECK DAPDATR1 BIT 14 FOR LEM ATTACHED.
# Page 1040
BZF NOLEM
CS THREE # IF LEM IS ON, SET ATTKALMN = -3
TCF +2
NOLEM CS TWO # IF LEM IS OFF, SET ATTKALMN = -2.
TS ATTKALMN
CCS XTRANS # (+, -1, 0)
TS XNDX1 # USING BD-X ZERO XNDX1
TCF PWORD
TS XNDX2 # USING AC-X ZERO XNDX2
TCF PWORD
XLNMASK OCT 7700
DELTATT3 DEC 16378 # = 60 MS
DELATT20 DEC 16382 # = 20 MS
NOXLNCMD TS XNDX1 # ZERO ALL REQUESTS FOR TRANSLATION
TS XNDX2
TS YNDX
TS ZNDX
# PITCH COMMANDS TIMING(NO X-TRANS, NO QUAD FAILS) 32MCT
PWORD CCS TAU1 # CHECK FOR PITCH COMMANDS
CAF ONE
TCF +2 # 0 = NO PITCH
CAF TWO # +1 = + PITCH
TS PINDEX # +2 = - PITCH
CCS RACFAIL # FLAG FOR REAL AC QUAD FAILURES
TCF AFAILP
TCF TABPCOM # 0 = NO REAL AC FAILURES
TCF CFAILP # + = A QUAD FAILED
TCF TABPCOM # - = C QUAD FAILED
# IF FAILURES ARE PRESENT IGNORE
# X-TRANSLATIONS ON THIS AXIS
AFAILP CAF NINE # IF FAILURE IS PRESENT 1JET OPERATION
TCF TABPCOM +2 # IS ASSUMED. IGNORE X-TRANSLATION
CFAILP CAF TWELVE
TCF TABPCOM +2
XLNNDX DEC 0 # INDICES FOR TRANSLATION COMMANDS
DEC 3 # FOR USE IN TABLE LOOK UP
DEC 6
DEC 0
TWELVE = OCT14
# TABLE LOOK UP FOR PITCH COMMANDS WITH AND WITHOUT X-TRANSLATION AND AC QUAD FAILURES PRESENT.
# BITS 9, 10 CONTAIN THE NUMBER OF PITCH JETS USED TO PERFORM THE PITCH ROTATION
# Page 1041
TABPCOM INDEX XNDX1
CA XLNNDX
AD PINDEX
INDEX A
CA PYTABLE
MASK PJETS # =1417 OCT
TS PWORD1
EXTEND
MP BIT7
TS NPJETS # = NO. OF PITCH JETS
# YAW JET COMMANDS TIMING(NO X-TRANS, NO QUAD FAILURES) 32MCT
YWORD CCS TAU2 # CHECK FOR YAW COMMANDS
CAF ONE
TCF +2
CAF TWO
TS YINDEX # YAW ROTATION INDEX
CCS RBDFAIL # FLAG FOR B OR D QUAD FAILURES
TCF BFAILY # 0 = NO BD FAILURE
TCF TABYCOM # + = B QUAD FAILED
TCF DFAILY # - = D QUAD FAILED
TCF TABYCOM
BFAILY CAF NINE
TCF TABYCOM +2
DFAILY CAF TWELVE
TCF TABYCOM +2
# Page 1042
# TABLE FOR PITCH(YAW) COMMANDS
# BITS 4,3,2,1 = PITCH, X-TRANSLATION JETS SELECTED
# BITS 10,9 = NO. PITCH JETS USED TO PERFORM ROTATION
# BITS 8,7,6,5 = YAW, X-TRANSLATION JETS SELECTED
# BITS 12,11 : NO. YAW JETS USED TO PERFORM ROTATION
# ROT TRANS QUAD BIAS
PYTABLE OCT 0 # 0 0 0
OCT 5125 # + 0 0
OCT 5252 # - 0 0
OCT 0231 # 0 + 3
OCT 2421 # + + 3
OCT 2610 # - + 3
OCT 0146 # 0 - 6
OCT 2504 # + - 6
OCT 2442 # - - 6
OCT 0 # 0 A(B) 9
OCT 2421 # + A(B) 9
OCT 2442 # - A(B) 9
OCT 0 # 0 C(D) 12
OCT 2504 # + C(D) 12
OCT 2610 # - C(D) 12
# MASKS FOR PITCH AND YAW COMMANDS
PJETS OCT 1417
YJETS OCT 6360
# TABLE LOOK UP FOR YAW COMMANDS WITH AND WITHOUT X-TRANSLATION AND AC QUAD FAILURES PRESENT
# BITS 11, 12 CONTAIN THE NUMBER OF YAW JETS USED TO PERFORM THE YAW ROTATION
TABYCOM INDEX XNDX2
CA XLNNDX
AD YINDEX
INDEX A
CA PYTABLE
MASK YJETS # = 6360 OCT
TS YWORD1
EXTEND
MP BIT5
TS NYJETS # NO. OF YAW JETS USED TO PERFORM ROTATION
# Page 1043
# ROLL COMMANDS TIMING(NO Y,Z TRANS, NO QUAD FAILS) 45MCT
RWORD CCS TAU # CHECK FOR ROLL COMMANDS
CAF ONE
TCF +2
CAF TWO
TS RINDEX
CCS ACORBD # FLAG FOR AC OR BD QUAD SELECTION FOR
TCF BDROLL # ROLL COMMANDS
TCF BDROLL # +, +0 = BD ROLL
TCF +1 # -, -0 = AC ROLL
ACROLL CCS RACFAIL # CHECK FOR REAL FAILURES
TCF RAFAIL # ON AC QUADS
TCF RXLNS
TCF RCFAIL
TCF RXLNS
RAFAIL CAF NINE # QUAD FAILURE WILL GET
TCF TABRCOM # 1-JET OPERATION
RCFAIL CAF TWELVE
TCF TABRCOM
XLN1NDX DEC 0
DEC 1 # INDECES FOR TRANSLATION
DEC 2
DEC 0
# TABLE LOOK UP FOR AC-ROLL COMMANDS WITH AND WITHOUT Y-TRANSLATION AND ACQUAD FAILURES PRESENT
# BITS 9,10,11 CONTAIN THE MAGNITUDE AND DIRECTION OF THE ROLL
RXLNS INDEX YNDX # NO AC QUAD FAILURES
CA XLNNDX # INCLUDE +,-,0, Y-TRANSLATION
TABRCOM AD RINDEX
INDEX A
CA RTABLE
MASK ACRJETS # = 3760 OCT
TS RWORD1
# CHECK FOR Z-TRANSLATIONS ON BD
BDZCHECK CA ZNDX
EXTEND
BZMF NOBDZ # NO Z-TRANSLATION
# Page 1044
# TABLE LOOK UP FOR BD Z-TRANSLATION WITH AND WITHOUT REAL BD QUAD FAILURES. Z-TRANSLATION WILL BE POSS-
# IBLE AS LONG AS ROLL COMMANDS CAN BE SATISFIED WITH THE AC ROLL JETS. CRITERION.. IF THE RESULTANT NET ROLL
# COMMANDS = 0 (WITH Z-TRANSLATION) AND IF TAU = 0, THEN INCLUDE THE BD Z-TRANSLATION COMMANDS. IF THE RESULTANT
# ROLL COMMAND = 0, AND IF TAU NZ, THEN IGNORE THE BD Z-TRANSLATION
CCS RBDFAIL
CAF THREE
TCF +2
CAF SIX
INDEX ZNDX
AD XLN1NDX
INDEX A
CA YZTABLE
MASK BDZJETS # = 3417 OCT
AD RWORD1 # ADD TO ROLL COMMANDS
TS T5TEMP # IF POSSIBLE. MUST CHECK TAU FIRST
EXTEND
MP BIT7 # DETERMINE THE NET ROLL COMMAND WITH
AD =-4 # Z-TRANSLATION ADDED ON
TS NRJETS # NET NO. OF +,- ROLL JETS ON
EXTEND
BZF TAUCHECK
ACRBDZ CA T5TEMP # Z-TRANSLATION ACCEPTED EVEN THO WE MAY
TS RWORD1 # HAVE INTRODUCED AN UNDESIREABLE ROLL
TCF ROLLTIME # BRANCH TO JET ON-TIME CALCULATIONS
TAUCHECK CCS TAU
TCF NOBDZ
TCF ACRBDZ
TCF NOBDZ
TCF ACRBDZ
NOBDZ CA RWORD1 # Z-TRANSLATION NOT ACCEPTED
EXTEND
MP BIT7
AD =-2
TS NRJETS
TCF ROLLTIME # BRANCH TO JET ON-TIME CALCULATION
# Page 1045
# BD QUAD SELECTION FOR ROLL COMMANDS
BDROLL CCS RBDFAIL
TCF RBFAIL
TCF RZXLNS
TCF RDFAIL
TCF RZXLNS
RBFAIL CAF NINE
TCF TABRZCMD
RDFAIL CAF TWELVE
TCF TABRZCMD
RZXLNS INDEX ZNDX # NO BD FAILURES
CA XLNNDX # +,-,0 Z-TRANSLATION PRESENT
TABRZCMD AD RINDEX
INDEX A
CA RTABLE
MASK BDRJETS # = 34017 OCT
TS RWORD1
ACYCHECK CA YNDX # ANY Y-TRANSLATION
EXTEND
BZF NOACY # NO Y-TRANSLATION
CCS RACFAIL
CAF THREE
TCF +2
CAF SIX
INDEX YNDX
AD XLN1NDX
INDEX A
CA YZTABLE
MASK ACYJETS # = 34360 OCT
AD RWORD1
TS T5TEMP
EXTEND # FOR EXPLANATION SEE CODING ON RTABLE
MP BIT4
AD =-4
TS NRJETS # NO. OF NET ROLL JETS
EXTEND
BZF TAUCHCK # IF NRJETS = 0
BDRACZ CA T5TEMP # Y-TRANSLATION ACCEPTED
TS RWORD1
TCF ROLLTIME # BRANCH TO JET ON-TIME CALCULATIONS
TAUCHCK CCS TAU
TCF NOACY
TCF BDRACZ
TCF NOACY
TCF BDRACZ
# Page 1046
NOACY CA RWORD1 # Y-TRANSLATION NOT ACCEPTED
EXTEND
MP BIT4
AD =-2
TS NRJETS
TCF ROLLTIME
# Page 1047
# TABLE FOR ROLL, Y AND Z-TRANSLATION COMMANDS
# EITHER AC OR BD ROLL MAY BE SELECTED. IF AC ROLL IS SELECTED, Y-TRANSLATIONS MAY BE SATISFIED SIMULTANEOUSLY
# PROVIDED THAT THERE ARE NO AC QUAD FAILURES. IF THERE ARE AC FAILURES, Y-TRANSLATION COMMANDS WILL BE IGNORED,
# IN WHICH CASE THE ASTRONAUT SHOULD SWITCH TO BD ROLL.
# IF BDROLL IS SELECTED, Z-TRANSLATIONS MAY BE SATISFIED SIMULTANEOUSLY PROVIDED THAT THERE ARE NO BD QUAD
# FAILURES. IF THERE ARE BD FAILURES, Z-TRANSLATION COMMANDS WILL BE IGNORED, IN WHICH CASE THE ASTRONAUT SHOULD
# SWITCH TO AC ROLL.
# NOTE THAT IF ONE QUAD FAILS (E.G. B FAILED), Z-TRANSLATION IS STILL POSSIBLE AND THAT THE UNDESIRABLE ROLL
# INTRODUCED BY THIS TRANSLATION WILL BE COMPENSATED BY THE TWO AC ROLL JETS ACTUATED BY THE AUTOPILOT LOGIC.
# WORD MAKE UP....RTABLE
# TWO WORDS, CORRESPONDING TO AC OR BD ROLL SELECTION, HAVE BEEN COMBINED INTO ONE TABLE. THE WORD CORRESPOND-
# ING TO AC ROLL HAS THE FOLLOWING INTERPRETATION..
# BITS 9,10,11 ARE CODED TO GIVE THE NET ROLL TORQUE FOR THE WORD SELECTED. THE CODING IS..
# BIT NO. 11 10 9 NO. OF ROLL JETS
# 0 0 0 -2
# 0 0 1 -1
# 0 1 0 0
# 0 1 1 +1
# 1 0 0 +2
# THIS WORD MAY THEN BE ADDED TO THE WORD SELECTED FROM THE YZ-TRANSLATION TABLE, WHICH HAS THE SAME TYPE OF
# CODING AS ABOVE, AND THE NET ROLL DETERMINED BY SHIFTING THE RESULTANT WORD RIGHT 8 PLACES AND SUBTRACTING FOUR.
# THE WORD CORRESPONDING TO THE BD ROLL HAS A SIMILAR INTERPRETATION, EXCEPT THAT BITS 12, 13, 14 ARE CODED
# (AS ABOVE) TO GIVE THE NET ROLL TORQUE.
# ROLL TRANS QUADFAIL BIAS
RTABLE OCT 11000 # 0 0
OCT 22125 # + 0
OCT 00252 # - 0
OCT 11231 # 0 +Y(+Z) 3
OCT 15421 # + +Y(+Z) 3
OCT 04610 # - +Y(+Z) 3
OCT 11146 # 0 -Y(-Z) 6
OCT 15504 # + -Y(-Z) 6
OCT 04442 # - -Y(-Z) 6
OCT 11000 # 0 A(B) 9
OCT 15504 # + A(B) 9
OCT 04610 # - A(B) 9
OCT 11000 # 0 C(D) 12
OCT 15421 # + C(D) 12
OCT 04442 # - C(D) 12
# Page 1048
# RTABLE MASKS -
ACRJETS OCT 03760
BDRJETS OCT 34017
# Page 1049
# Y, Z TRANSLATION TABLE
# ONCE AC OR BD ROLL IS SELECTED THE QUAD PAIR WHICH IS NOT BEING USED TO SATISFY THE ROLL COMMANDS MAY BE
# USED TO SATISFY THE REMAINING TRANSLATION COMMANDS. HOWEVER, WE MUST MAKE SURE THAT ROLL COMMANDS ARE SATISFIED
# WHEN THEY OCCUR. THEREFORE, THE Y-Z TRANSLATIONS FROM THIS TABLE WILL BE IGNORED IF THE NET ROLL TORQUE OF THE
# COMBINED WORD IS ZERO AND THE ROLL COMMANDS ARE NON-ZERO. THIS SITUATION WOULD OCCUR, FOR EXAMPLE, IF WE EN-
# COUNTER SIMULTANEOUS +R +Y -Z COMMANDS AND A QUAD D FAILURE WHILE USING AC FOR ROLL.
# TO FACILITATE THE LOGIC, THE Y-Z TRANSLATION TABLE HAS BEEN CODED IN A MANNER SIMILAR TO THE ROLL TABLE
# ABOVE.
# BITS 9,10,11 ARE CODED TO GIVE THE NET ROLL TORQUE INCURRED BY Z-TRANSLATIONS. THE WORD SELECTED CAN THEN BE
# ADDED TO THE AC-ROLL WORD AND THE RESULTANT ROLL TORQUE DETERMINED FROM THE COMBINED WORD. SIMILIARLY BITS
# 12,13,14 ARE CODED TO GIVE THE NET ROLL TORQUE INCURRED BY Y-TRANSLATIONS WHEN BD-ROLL IS SELECTED.
# TRANSLATION QUADFAIL BIAS
#
YZTABLE OCT 11000 # 0 0
OCT 11231 # +Z(+Y) 0
OCT 11146 # -Z(-Y) 0
OCT 11000 # 0 B(A) 3
OCT 04610 # +Z(+Y) B(A) 3
OCT 15504 # -Z(-Y) B(A) 3
OCT 11000 # 0 D(C) 6
OCT 15421 # +Z(+Y) D(C) 6
OCT 04442 # -Z(-Y) D(C) 6
# YZ-TABLE MASKS-
BDZJETS OCT 03417
ACYJETS OCT 34360
# ADDITIONAL CONSTANTS
=-2 = NEG2
=-4 = NEG4
# Page 1050
# CALCULATION OF JET ON-TIMES
#
# THE ROTATION COMMANDS (TAU:S), WHICH WERE DETERMINED FROM THE JET SWITCHING LOGIC ON THE BASIS OF SINGLE JET
# OPERATION, MUST NOW BE UPDATED BY THE ACTUAL NUMBER OF JETS TO BE USED IN SATISFYING THESE COMMANDS. TAU MUST
# ALSO BE DECREMENTED ACCORDING TO THE EXPECTED TORQUE GENERATED BY THE NEW COMMANDS ACTING OVER THE NEXT T5 INT-
# ERVAL.
# IN ORDER TO MAINTAIN ACCURATE KNOWLEDGE OF VEHICLE ANGULAR RATES, WE MUST ALSO PROVIDE EXPECTED FIRING TIMES
# (DFT:S, ALSO IN TERMS OF 1-JET OPERATION) FOR THE RATE FILTER.
# NOTE THAT TRANSLATIONS CAN PRODUCE ROTATIONS EVEN THOUGH NO ROTATIONS WERE CALLED FOR. NEVERTHELESS, WE MUST
# UPDATE DFT.
# WHEN THE ROTATIONS HAVE FINISHED, WE MUST PROVIDE CHANNEL INFORMATION TO THE T6 PROGRAM TO CONTINUE ON WITH
# THE TRANSLATIONS. THIS WILL BE DONE IN THE NEXT SECTION. HOWEVER, TO INSURE THAT JETS ARE NOT FIRED FOR LESS
# THAN A MINIMUM IMPULSE (14MS), ALL JET CHANNEL COMMANDS WILL BE HELD FIXED FROM THE START OF THE T5 PROGRAM FOR
# ATLEAST 14MS UNTIL THE INITIALIZATION OF NEW COMMANDS. MOREOVER, A 14MS ON-TIME WILL BE ADDED TO ANY ROTATIONAL
# COMMANDS GENERATED BY THE MANUAL CONTROLS OR THE JET SWITCHING LOGIC, AND ALL TRANSLATION COMMANDS WILL BE
# ACTIVE FOR ATLEAST ONE CYCLE OF THE T5 PROGRAM (.1SEC)
# PITCH JET ON-TIME CALCULATION
PITCHTIM CCS TAU1
TCF PTAUPOS
TCF +2
TCF PTAUNEG
TS DFT1 # NO PITCH ROTATION
TCF PBYPASS # COMMANDS
PTAUNEG CS NPJETS
TS NPJETS
PTAUPOS CA TAU1
EXTEND
INDEX NPJETS
MP NJET
TS BLAST1
AD =-.1SEC
EXTEND
BZMF AD14MSP
INDEX NPJETS
CA DFTMAX # THE PITCH ON-TIME IS GREATER THAN .1 SEC
TS DFT1
COM
ADS TAU1 # UPDATE TAU1
CAF =+.1SEC # LIMIT THE LENGTH OF PITCH ROTATION
TS BLAST1 # COMMANDS TO 0.1 SEC SO THAT ONLY
TCF ASMBLWP # X-TRANSLATIONS WILL CONTINUE ON SWITCH
# OVER TO TVC
AD14MSP CS BLAST1 # SEE IF JET ON TIME IS LESS THAN
AD =14MS # MINIMUM IMPULSE TIME
EXTEND
BZMF PBLASTOK # IF SO LIMIT MINIMUM ON TIME TO 14 MS
CAF =14MS
# Page 1051
TS BLAST1
PBLASTOK CA BLAST1
EXTEND # THE PITCH COMMANDS WILL BE COMPLETED
MP NPJETS # WITHIN THE TS-CYCLE TIME
LXCH DFT1 # FOR USE IN UPDATING RATE FILTER
TS TAU1 # ZERO TAU1 (ACC CONTAINS ZERO)
TCF ASMBLWP
# Page 1052
# YAW JET ON-TIME CALCULATION
YAWTIME CCS TAU2
TCF YTAUPOS
TCF +2
TCF YTAUNEG
TS DFT2 # NO YAW ROTATION COMMANDS
TCF YBYPASS
YTAUNEG CS NYJETS
TS NYJETS
YTAUPOS CA TAU2
EXTEND
INDEX NYJETS
MP NJET
TS BLAST2
AD =-.1SEC
EXTEND
BZMF AD14MSY
INDEX NYJETS
CA DFTMAX # YAW COMMANDS WILL LAST LONGER THAN .1SEC
TS DFT2
COM
ADS TAU2 # DECREMENT TAU2
CAF =+.1SEC # LIMIT THE LENGTH OF YAW ROTATION COMMAND
TS BLAST2 # TO 0.1 SEC SO THAT ONLY X-TRANSLATION
TCF ASMBLWY # WILL CONTINUE ON SWITCH OVER TO TVC
AD14MSY CS BLAST2 # SEE IF JET ON-TIME LESS THAN
AD =14MS # MINIMUM IMPULSE TIME
EXTEND
BZMF YBLASTOK # IF SO, LIMIT MINIMUM ON-TIME TO 14 MS
CAF =14MS
TS BLAST2
YBLASTOK CA BLAST2 # YAW COMMANDS WILL BE COMPLETED WITHIN
EXTEND # THE T5CYCLE TIME
MP NYJETS
LXCH DFT2
TS TAU2 # ZERO TAU2
TCF ASMBLWY
# Page 1053
# ROLL ON-TIME CALCULATION-
ROLLTIME CCS TAU
TCF RBLAST
TCF +2
TCF RBLAST
INDEX NRJETS
CA DFTMAX # UPDATE DFT EVEN THO NO ROLL COMMANDS ARE
TS DFT # PRESENT
TCF RBYPASS
DEC -480 # = -.3SEC
DEC -320 # = -.2SEC
=-.1SEC DEC -160 # = -.1SEC
DFTMAX DEC 0 # 0
=+.1SEC DEC 160 # = +.1SEC
DEC 320 # = +.2SEC
DEC 480 # = +.3SEC
=14MS DEC 23 # =14MS
RBLAST CA TAU
EXTEND
INDEX NRJETS
MP NJET
TS BLAST # BLAST IS AN INTERMEDIATE VARIABLE
# USED IN DETERMINING THE JET ON-TIMES
AD =-.1SEC
EXTEND
BZMF AD14MSR
INDEX NRJETS # THE ROLL ROTATION WILL LAST LONGER
CA DFTMAX # THAN THE T5 CYCLE TIME
TS DFT
COM
ADS TAU
CAF =+.1SEC # LIMIT THE LENGTH OF ROLL ROTATION
TS BLAST # COMMANDS TO 0.1 SEC SO THAT ONLY Y-Z
TCF ASMBLWR # TRANSLATION COMMANDS CONTINUE
AD14MSR CS BLAST # SEE IF THE JET ON-TIME LESS THAN
AD =14MS # MINIMUM IMPULSE TIME
EXTEND
BZMF RBLASTOK
CAF =14MS # IF SO, LIMIT MINIMUM ON-TIME TO 14 MS
TS BLAST
RBLASTOK CA BLAST
EXTEND
MP NRJETS
LXCH DFT
TS TAU # ZERO TAU
TCF ASMBLWR
# Page 1054
DEC -.333333 # = -1/3
DEC -.500000 # = -1/2
DEC -.999999 # = -1 (NEGMAX)
NJET DEC 0
DEC .999999 # = +1 (POSMAX)
DEC .500000 # = +1/2
DEC .333333 # = +1/3
# Page 1055
# WHEN THE ROTATION COMMANDS ARE COMPLETED, IT IS NECESSARY TO REPLACE THESE COMMANDS BY NEW COMMANDS WHICH
# CONTINUE ON WITH THE TRANSLATIONS IF ANY ARE PRESENT.
# IN THIS SECTION THESE NEW COMMANDS ARE GENERATED AND STORED FOR REPLACEMENT OF THE CHANNEL COMMANDS WHEN THE
# CORRESPONDING ROTATIONS ARE COMPLETED.
# GENERATION OF THE SECOND PITCH(X-TRANS) WORD...PWORD2
ASMBLWP CCS RACFAIL
TCF FPX2 # IF FAILURE ON AC IGNORE X-TRANSLATION
TCF +2
TCF FPX2
INDEX XNDX1
CA XLNNDX
INDEX A
FPX2 CA PYTABLE
MASK PJETS
TS PWORD2
TCF YAWTIME
PBYPASS CA PWORD1 # THE T6 PROGRAM WILL LOAD PWORD2
TS PWORD2 # UPON ENTRY
CAF ZERO
TS BLAST1 # THERE IS NO PWORD2
TCF YAWTIME
# Page 1056
# GENERATION OF THE SECOND ROLL (Y,Z) WORD (RWORD2)
ASMBLWR CCS YNDX # CHECK FOR Y-TRANS
TCF ACBD2Y
NO2Y CAF ZERO
TS RWORD2
CCS ZNDX # CHECK FOR Z-TRANS
TCF ACBD2Z
NO2Z CAF ZERO
ADS RWORD2
TCF PITCHTIM # RWORD2 ASSEMBLED
ACBD2Y CCS ACORBD
TCF AC2Y # CAN DO Y-TRANS
TCF AC2Y
TCF +1 # USING AC FOR ROLL
CCS RACFAIL
TCF NO2Y # USING AC AND AC HAS FAILED
TCF +2
TCF NO2Y # DITTO
INDEX YNDX # NO FAILURES, CAN DO Y
CA XLNNDX
INDEX A
CA RTABLE
MASK ACRJETS
TCF NO2Y +1
AC2Y CCS RACFAIL
CAF THREE
TCF +2
CAF SIX
INDEX YNDX
AD XLN1NDX
INDEX A
CA YZTABLE
MASK ACYJETS
TS RWORD2
EXTEND
MP BIT4
AD =-2
TS NRJETS
CS BLAST
AD =+.1SEC
EXTEND
MP NRJETS
CA L
ADS DFT
TCF NO2Y +2
# Page 1057
ACBD2Z CCS ACORBD
TCF BDF2Z # USING BD-ROLL
TCF BDF2Z # MUST CHECK FOR BD FAILURES
TCF +1
CCS RBDFAIL # USING AC FOR ROLL, CAN DO Z-TRANS
CAF THREE
TCF +2
CAF SIX
INDEX ZNDX
AD XLN1NDX
INDEX A
CA YZTABLE
MASK BDZJETS
ADS RWORD2
EXTEND
MP BIT7
AD =-2
TS NRJETS
CS BLAST
AD =+.1SEC
EXTEND
MP NRJETS
CA L
ADS DFT
TCF PITCHTIM
BDF2Z CCS RBDFAIL
TCF NO2Z # USING BD-ROLL AND BD HAS FAILED
TCF +2
TCF NO2Z # DITTO
INDEX ZNDX
CA XLNNDX
INDEX A
CA RTABLE
MASK BDRJETS
TCF NO2Z +1
RBYPASS CA RWORD1
TS RWORD2
CAF ZERO
TS BLAST
TCF PITCHTIM
# Page 1058
# GENERATION OF THE SECOND YAW (X-TRANS) WORD...YWORD2
ASMBLWY CCS RBDFAIL
TCF FYX2 # IF FAILURE ON BD IGNORE X-TRANSLATION
TCF +2
TCF FYX2
INDEX XNDX2
CA XLNNDX
INDEX A
FYX2 CA PYTABLE
MASK YJETS
TS YWORD2
TCF T6SETUP
YBYPASS CA YWORD1
TS YWORD2
CAF ZERO
TS BLAST2
# Page 1059
# SORT THE JET ON-TIMES
# AT THIS POINT ALL THE CHANNEL COMMANDS AND JET ON-TIMES HAVE BEEN DETERMINED. IN SUMMARY THESE ARE-
# RWORD1
# RWORD2 BLAST
# PWORD1
# PWORD2 BLAST1
# YWORD1
# YWORD2 BLAST2
# IN THIS SECTION THE JET ON-TIMES ARE SORTED AND THE SEQUENCE OF T6 INTERRUPTS IS DETERMINED. TO FACILITATE
# THE SORTING PROCESS AND THE T6 PROGRAM, THE VARIABLES BLAST, BLAST1, BLAST2, ARE RESERVED AS DOUBLE PRECISION
# WORDS. THE LOWER PART OF THESE WORDS CONTAIN A BRANCH INDEX ASSOCIATED WITH THE ROTATION AXIS OF THE HIGHER
# ORDER WORD.
T6SETUP CAF ZERO # BRANCH INDEX FOR ROLL
TS BLAST +1
CAF FOUR # BRANCH INDEX FOR PITCH
TS BLAST1 +1
CAF ELEVEN # BRANCH INDEX FOR YAW
TS BLAST2 +1
CS BLAST
AD BLAST1
EXTEND
BZMF DXCHT12 # T1 GR T2
CHECKT23 CS BLAST1
AD BLAST2
EXTEND
BZMF DXCHT23
CALCDT6 CS BLAST1
ADS BLAST2
CS BLAST
ADS BLAST1 # END OF SORTING PROCEDURE
EXTEND # RESET T5LOC TO BEGIN PHASE1
DCA RCS2CADR
DXCH T5LOC
ENDJETS CS BIT1 # RESET BIT1 FOR INITIALIZATION OF
MASK RCSFLAGS # T6 PROGRAM
TS RCSFLAGS
CS ZERO # RESET T5PHASE FOR PHASE1
TS T5PHASE
TCF RESUME # RESUME INTERRUPTED PROGRAM
EBANK= KMPAC
RCS2CADR 2CADR RCSATT
# Page 1060
DXCHT12 DXCH BLAST
DXCH BLAST1
DXCH BLAST
TCF CHECKT23
DXCHT23 DXCH BLAST1
DXCH BLAST2
DXCH BLAST1
CS BLAST
AD BLAST1
EXTEND
BZMF +2
TCF CALCDT6
DXCH BLAST
DXCH BLAST1
DXCH BLAST
TCF CALCDT6
# Page 1061
# T6 PROGRAM AND CHANNEL SETUP
BANK 21
SETLOC DAPS5
BANK
T6START LXCH BANKRUPT
EXTEND
QXCH QRUPT
CCS TIME6 # CHECK TO SEE IF TIME6 WAS RESET
TCF RESUME # AFTER T6RUPT OCCURED(IN T5RUPT)
TCF +2 # IF SO WAIT FOR NEXT T6RUPT BEFORE
TCF RESUME # TAKING ACTION
CS RCSFLAGS
MASK BIT1 # IF BIT1 IS 0 RESET TO 1
EXTEND # AND INITIALIZE CHANNEL
BZF T6RUPTOR
ADS RCSFLAGS
CA RWORD1
EXTEND # INITIALIZE CHANNELS 5,6 WITH WORD1
WRITE CHAN6
CA PWORD1
AD YWORD1
EXTEND
WRITE CHAN5
T6RUPTOR CCS BLAST
TCF ZBLAST # ZERO BLAST1
TCF REPLACE # REPLACE WORD1
TCF +2
TCF REPLACE
T6L1 CCS BLAST1
TCF ZBLAST1
TCF REPLACE1
TCF +2
TCF REPLACE1
T6L2 CCS BLAST2
TCF ZBLAST2
TCF REPLACE2
TCF RESUME
TCF REPLACE2
REPLACE INDEX BLAST +1
TC REPLACER
CS ONE
TS BLAST
TCF T6L1
REPLACE1 INDEX BLAST1 +1
# Page 1062
TC REPLACER
CS ONE
TS BLAST1
TCF T6L2
REPLACE2 INDEX BLAST2 +1
TC REPLACER
CS ONE
TS BLAST2
TCF RESUME
REPLACER CA RWORD2
EXTEND # INITIALIZE CHANNELS 5,6 WITH WORD2
WRITE CHAN6
TC Q
REPLACEP CA YJETS
EXTEND
RAND CHAN5
AD PWORD2
EXTEND
WRITE CHAN5
TC Q
REPLACEY CA PJETS
EXTEND
RAND CHAN5
AD YWORD2
EXTEND
WRITE CHAN5
TC Q
ZBLAST CAF ZERO
XCH BLAST
TCF ENABT6
ZBLAST1 CAF ZERO
XCH BLAST1
TCF ENABT6
ZBLAST2 CAF ZERO
XCH BLAST2
ENABT6 TS TIME6
CAF NEGMAX
EXTEND
WOR CHAN13 # ENABLE T6RUPT
TCF RESUME
# END OF T6 INTERRUPT
ENDSLECT EQUALS
