https://github.com/virtualagc/virtualagc
Revision 078c79d8734a9ed2860303a7c1662004284fe853 authored by Ron Burkey on 07 August 2022, 15:04:04 UTC, committed by Ron Burkey on 07 August 2022, 15:04:04 UTC
assembly listings from yaASM and yaLEMAP. Added some debugging messages to 'make install'. Tweaked debugging messages that VirtualAGC embeds in 'simulate'. Verified buildability in Mint 21, 20, 19, 17, and verified buildability using clang in Mint 17.
1 parent 6bb1acc
Tip revision: 078c79d8734a9ed2860303a7c1662004284fe853 authored by Ron Burkey on 07 August 2022, 15:04:04 UTC
Fixed a potential string-overflow bug in yaASM. Removed timestamps from
Fixed a potential string-overflow bug in yaASM. Removed timestamps from
Tip revision: 078c79d
KALMAN_FILTER_FOR_LEM_DAP.agc
### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: KALMAN_FILTER_FOR_LEM_DAP.agc
## Purpose: Part of the source code for Aurora (revision 12).
## Assembler: yaYUL
## Contact: Ron Burkey <info@sandroid.org>.
## Website: https://www.ibiblio.org/apollo.
## Pages: 0604-0614
## Mod history: 2016-09-20 JL Created.
## 2016-09-26 OH Initial Transcription
## 2016-10-04 HG Add missed statements on page 607, added missing ## coments for page numbers
## M520F->MS20F, READ +4 -> READ 4
## 2016-10-15 HG Fix operand D2CDU2FL -> D2CDUZFL
## FLTAXIS -> FLTYAXIS
## MS2OF -> MS20F
## fix label FILTSTART -> FILSTART
##
## 2016-12-08 RSB Proofed comments with octopus/ProoferComments
## and fixed the errors found.
## 2021-05-21 ABS Removed space in numeric subfield to match scans.
## This source code has been transcribed or otherwise adapted from
## digitized images of a hardcopy from the private collection of
## Don Eyles. The digitization was performed by archive.org.
## Notations on the hardcopy document read, in part:
## 473423A YUL SYSTEM FOR BLK2: REVISION 12 of PROGRAM AURORA BY DAP GROUP
## NOV 10, 1966
## [Note that this is the date the hardcopy was made, not the
## date of the program revision or the assembly.]
## The scan images (with suitable reduction in storage size and consequent
## reduction in image quality) are available online at
## https://www.ibiblio.org/apollo.
## The original high-quality digital images are available at archive.org:
## https://archive.org/details/aurora00dapg
## Page 0604
# THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH INITIALIZES THE KALMAN FILTER AND SETS UP A P-AXIS RUPT TO
# OCCUR 20 MS FROM ITS BEGINNING.
BANK 26
FILTINIT CAF MS20F # RESET TIMER IMMEDIATELY: DT = 20 MS
TS TIME5
LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED)
EXTEND
QXCH QRUPT
EXTEND # SET UP FOR P-AXIS RUPT
DCA PAX/FILT
DXCH T5ADR
CAF FIRSTADR # SET UP TO AVOID DT CALCULATION DURING
TS STEERADR # KALMAN FILTER INITIALIZATION PASS
TCF FILSTART
FIRSTADR GENADR FILFIRST
# THE FOLLOWING T5RUPT ENTRY BEGINS THE KALMAN FILTER PROGRAM. THIS SECTION ALSO SETS UP A T5RUPT TO OCCUR 20 MS
# FROM ITS BEGINNING AND SETS IT TO GO TO THE LOCATION AT THE TOP OF THE POST FILTER RUPT LIST.
MOSTPASS GENADR DTCALC # WORD IN FILTPASS FOR THESE PASSES
FILTER CAF MS20F # RESET TIMER IMMEDIATELY: DT = 20 MS
TS TIME5
LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED)
EXTEND
QXCH QRUPT
EXTEND # SET RUPT ADDRESS TO TOP OF
DCA PFRPTLST # POST FILTER RUPT LIST
DXCH T5ADR
DXCH PFRPTLST # ROTATE 2CADR'S IN POST FILTER RUPT LIST
DXCH PFRPTLST +6
DXCH PFRPTLST +4
DXCH PFRPTLST +2
DXCH PFRPTLST
# BEGIN THE KALMAN FILTER BY READING CDU ANGLES AND TIME.
FILSTART TC T6JOBCHK # CHECK T6 CLOCK FOR P-AXIS ACTIVITY
## Page 0605
EXTEND
DCA CDUY # STORE CDUY AND CDUZ AT PI AND IN 2.5 COM
DXCH STORCDUY
EXTEND # BEGIN READING THE CLOCK TO GET TIME
READ 4 # INCREMENT.
TS L
EXTEND
RXOR 4 # CHECK TO SEE IF CH 4 WAS IN TRANSITION
EXTEND # WHEN IT WAS FIRST READ.
BZF +4 # BRANCH IF TIME WAS THE SAME IN 2 READS.
EXTEND
READ 4
TS L # THIS TIME READ ALWAYS GIVES GOOD NO.
TC STEERADR # SKIP DTCALC DURING INITIAL PASS
DTCALC CS L
AD DAPTIME # A CONTAINS THE TIME DIFFERENCE (DT)
LXCH DAPTIME # SINCE THE LAST FILTER.
EXTEND
BZMF +3
AD NEG1/2 # THIS IS ADDING -1.0 TO -DT AND ACCOUNTS
AD NEG1/2 # FOR AN OVERFLOW INTO CHANNEL 5
# SCALING OF DELTA T FOR KALMAN FILTER IS 1/8 SECOND.
EXTEND # TIME NOW SCALED AT 5.12 SECONDS
MP BIT7 # FIRST RESCALE TO 5.12/64
CS .64
EXTEND # THEN RESCALE TO 5.12/(64*.64) OR
MP L # 5.12/40.96 WHICH IS THE SAME AS
TS DT # DT SCALED AT 1/8
# SET UP FILTER WEIGHTING VECTOR FOR THIS FILTER PASS.
CCS WPOINTER # TEST FOR WEIGHTING VECTOR STEADY-STATE
TCF MOVEWGTS # POINTER NOT YET ZERO (MULTIPLE OF THREE)
PAX/FILT 2CADR PAXIS # (ROOM FOR 2CADR IN CCS HOLES)
TCF FLTZAXIS # STEADY-STATE ALREADY, NO UPDATING AGAIN
MOVEWGTS CS THREE # SET UP POINTER FOR THIS PASS
ADS WPOINTER # (NEVER GETS BELOW ZERO HERE)
EXTEND # WPOINTER IS INDEX = 87 FIRST TIME HERE
INDEX WPOINTER # AND IS DECREASED BY 3 EVERY FILTER PASS
DCA WVECTOR # UNTIL THE STEADY-STATE IS REACHED.
DXCH W0 # MOVE IN NEW W0,W1
INDEX WPOINTER
CAF WVECTOR +2
TS W2 # MOVE IN NEW W2
## Page 0606
FLTZAXIS CAF TWO # SET UP INDEXER FOR D.P. PICKUP AND TO
TS QRCNTR # INDICATE Z-AXIS FILTER PASS
TCF FLTYAXIS
GOYFILTR CAF ZERO # SET INDEXER FOR Y-AXIS
TS QRCNTR
TC T6JOBCHK # CHECK T6 CLOCK FOR P-AXIS ACTIVITY
FLTYAXIS INDEX QRCNTR
DXCH CDUYFIL # THETA IS D.P. SCALED AT 2 PI RADIANS
DXCH CDU
INDEX QRCNTR # .
DXCH DCDUYFIL # THETA IS D.P. SCALED AT PI/4 RAD/SEC
DXCH CDUDOT
INDEX QRCNTR # .. 2
DXCH D2CDUYFL # THETA IS D.P. SCALED AT PI/8 RAD/SEC
DXCH CDU2DOT
INDEX QRCNTR # ... 7 3
CAE Y3DOT # THETA IS S.P. SCALED AT PI/2 RAD/SEC
XCH CDU3DOT
# NOTE THAT THE FILTERED VARIABLES ARE READ DESTRUCTIVELY FOR SPEED AND EFFICIENCY AND THAT Y3DOT IS NOT UPDATED.
# SO IT MUST BE READ NON-DESTRUCTIVELY BUT NEED NOT BE RESTORED AFTER EACH KALMAN FILTER PASS.
## Page 0607
# INTEGRATION EXTRAPOLATION EQUATIONS:
KLMNFLTR CAE CDU2DOT # A SCALED AT PI/8 (USE S.P.)
EXTEND
MP DT # ADT SCALED AT PI/64 OR .5ADT AT PI/128
EXTEND
MP BIT10 # RESCALE BY RIGHT SHIFT 5
AD CDUDOT # W + .5ADT SCALED AT PI/4
EXTEND
MP DT # (W + .5ADT)DT SCALED AT PI/32
EXTEND
MP BIT9 # RESCALE BY RIGHT SHIFT 6 (KEEP D.P.)
DAS CDU # CDU = CDU + (W + .5ADT)DT SCALED AT 2PI
CAE CDU3DOT # ADOT SCALED AT PI/2(7)
EXTEND
MP DT # .5ADOTDT SCALED AT PI/2(11)
TS ITEMP5 # (SAVE FOR ALPHA INTEGRATION)
EXTEND
MP BIT7 # RESCALE BY RIGHT SHIFT 8
AD CDU2DOT # A + .5ADOTDT SCALED AT PI/8
EXTEND
MP DT # *A + .5ADOTDT)DT SCALED AT PI/64
EXTEND
MP BIT11 # RESCALE BY RIGHT SHIFT 4 (KEEP D.P.)
DAS CDUDOT # W = W + (A + .5ADOTDT)DT SCALED AT PI/4
CAE ITEMP5 # ADOTDT SCALED AT PI/2(10) (FROM ABOVE)
EXTEND
MP BIT8 # RESCALE BY RIGHT SHIFT 7 (KEEP D.P.)
DAS CDU2DOT # A = A + ADOTDT SCALED AT PI/8
## Page 0608
# WEIGHTING VECTOR ADJUSTMENT EQUATIONS:
EXTEND # CONVERT CDU INTEGRATED VALUE FROM DOUBLE
DCA CDU # PRECISION SCALED AT 2PI IN ONES COMPLE-
TC ONETOTWO # MENT TO SINGLE PRECISION SCALED AT PI
CAE STORCDUZ # IN TWOS COMPLEMENT, THEN DIFFERENCE WITH
EXTEND # STORED CDU REGISTER READING TO GET A
MSU ITEMP5 # SINGLE PRECISION ONES COMPLEMENT RESULT
TS DPDIFF # SCALED AT PI RADIANS (UPPER HALF)
CS CDU +1 # CREATE LOW ORDER WORD OF D.P. DIFFERENCE
DOUBLE # ONES COMPLEMENT SCALED AT PI RADIANS AND
XCH DPDIFF +1 # USE S.P. RESULT ABOVE AS HIGH ORDER WORD
EXTEND # RESCALE DPDIFF TO PI
DCA DPDIFF
DDOUBL
LXCH ITEMP5 # SAVE LOW ORDER WORD FOR D.P. MULTIPLY
EXTEND
MP W0 # CDU = CDU + DPDIFF (D.P.) * W0 (S.P.)
DAS CDU
CAE ITEMP5 # W0 IS SCALED AT 2
EXTEND # DPDIFF IS RESCALED TO PI
MP W0 # W0*DPDIFF IS SCALED AT 2PI (AS CDU)
ADS CDU +1
TS L
TCF +2
ADS CDU
CAE DPDIFF # RESCALE DPDIFF TO PI/128
EXTEND
MP BIT9 # DPDIFF (D.P.) * 256
LXCH ITEMP5
CAE DPDIFF +1
EXTEND
MP BIT9
AD ITEMP5
LXCH ITEMP5
EXTEND # . .
MP W1 # CDU = CDU + DPDIFF (D.P.) * W1 (S.P.)
DAS CDUDOT
CAE ITEMP5 # W1 IS SCALED AT 32
EXTEND # DPDIFF IS RESCALED TO PI/128
MP W1 # W1*DPDIFF IS SCALED AT PI/4 (AS CDUDOT)
ADS CDUDOT +1
TS L
TCF +2
ADS CDUDOT
## Page 0609
CAE DPDIFF # RESCALE DPDIFF TO PI/64
EXTEND
MP BIT8 # DPDIFF (D.P.) * 128
LXCH ITEMP5
CAE DPDIFF +1
EXTEND
MP BIT8
AD ITEMP5
LXCH ITEMP5
EXTEND # .. ..
MP W2 # CDU = CDU + DPDIFF (D.P.) * W2 (S.P.)
DAS CDU2DOT
CAE ITEMP5 # W2 IS SCALED AT 8
EXTEND
MP W2 # W2*DPDIFF IS SCALED AT PI/8 (AS CDU2DOT)
ADS CDU2DOT +1
TS L
TCF +2
ADS CDU2DOT
# RESTORE VARIABLES AND TEST FOR COMPLETION OR ADDITIONAL AXIS.
FILTAXIS DXCH CDU
INDEX QRCNTR # THETA IS D.P. SCALED AT 2 PI RADIANS
DXCH CDUYFIL
DXCH CDUDOT # .
INDEX QRCNTR # THETA IS D.P. SCALED AT PI/4 RAD/SEC
DXCH DCDUYFIL
DXCH CDU2DOT # .. 2
INDEX QRCNTR # THETA IS D.P. SCALED AT PI/8 RAD/SEC
DXCH D2CDUYFL
XCH STORCDUY # INTERCHANGE CDU READINGS
XCH STORCDUZ
XCH STORCDUY
CCS ITEMP6 # ITEMP6 IS AXIS INDEXER
TCF GOYFILTR # IF 2, Y-AXIS STILL TO GO
CS T5ADR # IF THE TRIM GIMBAL CONTROL RUPT IS NEXT,
AD GTS2CADR # DO THE Q,R-AXIS STATE TRANSFORMATIONS
EXTEND # AND THE 20 MS STATE EXTRAPOLATION
BZF GIMBAL
TCF RESUME # OTHERWISE, RESUME
# SUBROUTINE FOR FILTER WHICH TAKES 1 COMPLEMENT NUMBER INTO A 2 COMP.
ONETOTWO DDOUBL # SEE RTB OP CODES IN BANK 15 FOR NOTES ON
CCS A # THIS COMPUTATION.
## Page 0610
AD ONE
TCF +2
COM
TS ITEMP5
TCF +4
INDEX A
CAF LIMITS
ADS ITEMP5
TC Q # RETURN
# THIS PROGRAM INITIALIZES THE KALMAN FILTER PROGRAM.
FILFIRST LXCH DAPTIME # INITIALIZE TIME.
CAF POINT=90 # INITIALIZE THE WEIGHTING VECTOR POINTER
TS WPOINTER
CAF MOSTPASS # SET UP FOR NEXT PASSES
TS STEERADR
EXTEND # SET UP POST FILTER RUPT LIST
DCA DGTSFADR
DXCH PFRPTLST
EXTEND
DCA PAX/FILT
DXCH PFRPTLST +2
EXTEND
DCA PAX/FILT
DXCH PFRPTLST +6
EXTEND
DCA GTS2CADR
DXCH PFRPTLST +4
EXTEND # CHANGE POST P FILTER TO FILTER
DCA POSTPFIL
DXCH PFILTADR
CAE STORCDUY
EXTEND
MP BIT14
DXCH CDUYFIL # INITIALIZE THE STATE VECTOR TO CDU VALUE
CAE STORCDUZ
EXTEND
MP BIT14
DXCH CDUZFIL
CA ZERO
TS DCDUYFIL # INITIALIZE THE DERIVATIVES OF THE STATE
TS DCDUYFIL +1
TS DCDUZFIL
TS DCDUZFIL +1
TS D2CDUYFL
TS D2CDUYFL +1
TS D2CDUZFL
TS D2CDUZFL +1
## Page 0611
TS Y3DOT
TS Z3DOT
TS NEGUQ
TS NEGUR
TCF RESUME
.64 DEC 0.64000
BIT12-13 OCTAL 14000
POINT=90 DEC 90 # POINTER INITIALIZED ONE GROUP PAST END
MS20F OCTAL 37776
MS30F OCTAL 37775
DGTSFADR 2CADR DGTS
PAXISADR GENADR PAXIS
GTS2CADR 2CADR GTS
POSTPFIL 2CADR FILTER
## Page 0612
# THE KALMAN FILTER WEIGHTINF VECTORS ARE LISTED IN THE FOLLOWING TABLE ALONG WITH THE TIME FROM THE LAST FILTER
# INITIALIZATION FOR WHICH THEY ARE TO BE USED. (THE VECTORS ARE STORED IN ORDERED TRIPLES (W0,W1,W2) IN
# DESCENDING ORDER IN TIME WITH THE STEADY STATE VALUES AT THE TOP.)
#
# THE COMPONENTS ARE SCALED AS FOLLOWS:
# W0 : SCALED AT 2
# W1 : SCALED AT 32
# W2 : SCALED AT 8
WVECTOR DEC 0.18608 # W0 FROM RELATIVE TIME 1.5 SECS OR MORE
DEC 0.02696 # W1 FROM RELATIVE TIME 1.5 SECS OR MORE
DEC 0.17105 # W2 FROM RELATIVE TIME 1.5 SECS OR MORE
DEC 0.14358 # W0 AT RELATIVE TIME = 1.45 SECONDS
DEC 0.02890 # W1 AT RELATIVE TIME = 1.45 SECONDS
DEC 0.17727 # W2 AT RELATIVE TIME = 1.45 SECONDS
DEC 0.14565 # W0 AT RELATIVE TIME = 1.40 SECONDS
DEC 0.02959 # W1 AT RELATIVE TIME = 1.40 SECONDS
DEC 0.18129 # W2 AT RELATIVE TIME = 1.40 SECONDS
DEC 0.14809 # W0 AT RELATIVE TIME = 1.35 SECONDS
DEC 0.30479 # W1 AT RELATIVE TIME = 1.35 SECONDS
DEC 0.18678 # W2 AT RELATIVE TIME = 1.35 SECONDS
DEC 0.15090 # W0 AT RELATIVE TIME = 1.30 SECONDS
DEC 0.03154 # W1 AT RELATIVE TIME = 1.30 SECONDS
DEC 0.19403 # W2 AT RELATIVE TIME = 1.30 SECONDS
DEC 0.15409 # W0 AT RELATIVE TIME = 1.25 SECONDS
DEC 0.03283 # W1 AT RELATIVE TIME = 1.25 SECONDS
DEC 0.20340 # W2 AT RELATIVE TIME = 1.25 SECONDS
DEC 0.15767 # W0 AT RELATIVE TIME = 1.20 SECONDS
DEC 0.03437 # W1 AT RELATIVE TIME = 1.20 SECONDS
DEC 0.21525 # W2 AT RELATIVE TIME = 1.20 SECONDS
DEC 0.16163 # W0 AT RELATIVE TIME = 1.15 SECONDS
DEC 0.03616 # W1 AT RELATIVE TIME = 1.15 SECONDS
DEC 0.23000 # W2 AT RELATIVE TIME = 1.15 SECONDS
DEC 0.16595 # W0 AT RELATIVE TIME = 1.10 SECONDS
DEC 0.03824 # W1 AT RELATIVE TIME = 1.10 SECONDS
DEC 0.24814 # W2 AT RELATIVE TIME = 1.10 SECONDS
DEC 0.17063 # W0 AT RELATIVE TIME = 1.05 SECONDS
DEC 0.04062 # W1 AT RELATIVE TIME = 1.05 SECONDS
DEC 0.27018 # W2 AT RELATIVE TIME = 1.05 SECONDS
DEC 0.17560 # W0 AT RELATIVE TIME = 1.00 SECONDS
DEC 0.04332 # W1 AT RELATIVE TIME = 1.00 SECONDS
DEC 0.29668 # W2 AT RELATIVE TIME = 1.00 SECONDS
DEC 0.18080 # W0 AT RELATIVE TIME = 0.95 SECONDS
DEC 0.04634 # W1 AT RELATIVE TIME = 0.95 SECONDS
DEC 0.32824 # W2 AT RELATIVE TIME = 0.95 SECONDS
DEC 0.18614 # W0 AT RELATIVE TIME = 0.90 SECONDS
DEC 0.04968 # W1 AT RELATIVE TIME = 0.90 SECONDS
DEC 0.36531 # W2 AT RELATIVE TIME = 0.90 SECONDS
DEC 0.19147 # W0 AT RELATIVE TIME = 0.85 SECONDS
DEC 0.05328 # W1 AT RELATIVE TIME = 0.85 SECONDS
## Page 0613
DEC 0.40821 # W2 AT RELATIVE TIME = 0.85 SECONDS
DEC 0.19659 # W0 AT RELATIVE TIME = 0.80 SECONDS
DEC 0.05707 # W1 AT RELATIVE TIME = 0.80 SECONDS
DEC 0.45721 # W2 AT RELATIVE TIME = 0.80 SECONDS
DEC 0.20122 # W0 AT RELATIVE TIME = 0.75 SECONDS
DEC 0.06089 # W1 AT RELATIVE TIME = 0.75 SECONDS
DEC 0.50999 # W2 AT RELATIVE TIME = 0.75 SECONDS
DEC 0.20505 # W0 AT RELATIVE TIME = 0.70 SECONDS
DEC 0.06451 # W1 AT RELATIVE TIME = 0.70 SECONDS
DEC 0.56522 # W2 AT RELATIVE TIME = 0.70 SECONDS
DEC 0.20775 # W0 AT RELATIVE TIME = 0.65 SECONDS
DEC 0.06759 # W1 AT RELATIVE TIME = 0.65 SECONDS
DEC 0.61768 # W2 AT RELATIVE TIME = 0.65 SECONDS
DEC 0.20912 # W0 AT RELATIVE TIME = 0.60 SECONDS
DEC 0.06972 # W1 AT RELATIVE TIME = 0.60 SECONDS
DEC 0.65979 # W2 AT RELATIVE TIME = 0.60 SECONDS
DEC 0.20934 # W0 AT RELATIVE TIME = 0.55 SECONDS
DEC 0.07062 # W1 AT RELATIVE TIME = 0.55 SECONDS
DEC 0.68165 # W2 AT RELATIVE TIME = 0.55 SECONDS
DEC 0.20919 # W0 AT RELATIVE TIME = 0.50 SECONDS
DEC 0.07028 # W1 AT RELATIVE TIME = 0.50 SECONDS
DEC 0.67330 # W2 AT RELATIVE TIME = 0.50 SECONDS
DEC 0.21020 # W0 AT RELATIVE TIME = 0.45 SECONDS
DEC 0.06931 # W1 AT RELATIVE TIME = 0.45 SECONDS
DEC 0.62883 # W2 AT RELATIVE TIME = 0.45 SECONDS
DEC 0.21441 # W0 AT RELATIVE TIME = 0.40 SECONDS
DEC 0.06908 # W1 AT RELATIVE TIME = 0.40 SECONDS
DEC 0.55030 # W2 AT RELATIVE TIME = 0.40 SECONDS
DEC 0.22391 # W0 AT RELATIVE TIME = 0.35 SECONDS
DEC 0.07162 # W1 AT RELATIVE TIME = 0.35 SECONDS
DEC 0.44810 # W2 AT RELATIVE TIME = 0.35 SECONDS
DEC 0.24049 # W0 AT RELATIVE TIME = 0.30 SECONDS
DEC 0.07956 # W1 AT RELATIVE TIME = 0.30 SECONDS
DEC 0.33713 # W2 AT RELATIVE TIME = 0.30 SECONDS
DEC 0.26566 # W0 AT RELATIVE TIME = 0.25 SECONDS
DEC 0.09646 # W1 AT RELATIVE TIME = 0.25 SECONDS
DEC 0.23140 # W2 AT RELATIVE TIME = 0.25 SECONDS
DEC 0.30123 # W0 AT RELATIVE TIME = 0.20 SECONDS
DEC 0.12841 # W1 AT RELATIVE TIME = 0.20 SECONDS
DEC 0.14087 # W2 AT RELATIVE TIME = 0.20 SECONDS
DEC 0.34996 # W0 AT RELATIVE TIME = 0.15 SECONDS
DEC 0.18850 # W1 AT RELATIVE TIME = 0.15 SECONDS
DEC 0.07101 # W2 AT RELATIVE TIME = 0.15 SECONDS
DEC 0.41554 # W0 AT RELATIVE TIME = 0.10 SECONDS
DEC 0.31141 # W1 AT RELATIVE TIME = 0.10 SECONDS
DEC 0.02408 # W2 AT RELATIVE TIME = 0.10 SECONDS
DEC 0.49561 # W0 AT RELATIVE TIME = 0.05 SECONDS
DEC 0.61404 # W1 AT RELATIVE TIME = 0.05 SECONDS
DEC 0.00006 # W2 AT RELATIVE TIME = 0.05 SECONDS
## Page 0614
# DUMMY TRIM GIMBAL RUPT:
DGTS CAF MS30F # RESET TIMER IMMEDIATELY: DT = 30 MS
TS TIME5
LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED)
EXTEND # SET UP FILTER RUPT
DCA POSTPFIL
DXCH T5ADR
TCF NOQRSM
# DUMMY FILTER RUPT AFTER P-AXIS RUPT:
DUMMYFIL CAF MS20F # RESET TIMER IMMEDIATELY: DT = 20 MS
TS TIME5
LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED)
EXTEND # SET UP QRAXIS RUPT
DCA DFQRAXIS
DXCH T5ADR
TCF NOQRSM
DFQRAXIS 2CADR QRAXIS
# DUMMY FILTER RUPT AFTER Q,R=AXES RUPT:
FILDUMMY CAF MS20F # RESET TIMER IMMEDIATELY: DT = 20 MS
TS TIME5
LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED)
EXTEND # SET UP PAXIS RUPT
DCA PAX/FILT
DXCH T5ADR
TCF RESUME
Computing file changes ...
