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
Q,R-AXES_RCS_AUTOPILOT.agc
### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: Q,R-AXES_RCS_AUTOPILOT.agc
## Purpose: A section of LUM69 revision 2.
## It is part of the reconstructed source code for the flown
## version of the flight software for the Lunar Module's (LM)
## Apollo Guidance Computer (AGC) for Apollo 10. The code has
## been recreated from a copy of Luminary revsion 069, using
## changes present in Luminary 099 which were described in
## Luminary memos 75 and 78. The code has been adapted such
## that the resulting bugger words exactly match those specified
## for LUM69 revision 2 in NASA drawing 2021152B, which gives
## relatively high confidence that the reconstruction is correct.
## Reference: pp. 1436-1453
## Assembler: yaYUL
## Contact: Ron Burkey <info@sandroid.org>.
## Website: www.ibiblio.org/apollo/index.html
## Mod history: 2019-07-27 MAS Created from Luminary 69.
## Page 1436
BANK 17
SETLOC DAPS2
BANK
EBANK= CDUXD
COUNT* $$/DAPQR
CALLQERR CA BIT13 # CALCULATE Q,R ERRORS UNLESS THESE AXES
EXTEND # ARE IN MANUAL RATE COMMAND.
RAND CHAN31
CCS A
TCF +5 # IN AUTO COMPUTE Q,R ERRORS
CS DAPBOOLS # IN MANUAL RATE COMMAND?
MASK OURRCBIT
EXTEND
BZF Q,RORGTS # IF SO BYPASS CALCULATION OF ERRORS.
TC QERRCALC
Q,RORGTS CCS COTROLER # CHOOSE CONTROL SYSTEM FOR THIS DAP PASS:
TCF GOTOGTS # GTS (ALTERNATES WITH RCS WHEN DOCKED)
TCF TRYGTS # GTS IF ALLOWED, OTHERWISE RCS
RCS CAF ZERO # RCS (TRYGTS MAY BRANCH TO HERE)
TS COTROLER
DXCH EDOTQ
TC ROT45DEG
DXCH OMEGAU
# X - TRANSLATION:
#
# INPUT: BITS 7,8 OF CH31 (TRANSLATION CONTROLLER)
# ULLAGER
# APSFLAG, DRIFTBIT
# ACC40R2X, ACRBTRAN
#
# OUTPUT: NEXTU, NEXTV CODES OF TRANSLATION FOR AFTER ROTATION
# SENSETYP TELL ROTATION DIRECTION AND DESIRE
#
# X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR. IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED. A FAILURE
# WILL OVERRIDE THIS SPECIFICATION. AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
SENSEGET CA BIT7 # INPUT BITS OVERRIDE THE INTERNAL BITS
EXTEND # SENSETYP WILL NOT OPPOSE ANYTRANS
RAND CHAN31
EXTEND
BZF +XORULGE
## Page 1437
CA BIT8
EXTEND
RAND CHAN31
EXTEND
BZF -XTRANS
CA ULLAGER
MASK DAPBOOLS
CCS A
TCF +XORULGE
TS NEXTU # STORE NULL TRANSLATION POLICIES
TS NEXTV
CS DAPBOOLS # BURNING OR DRIFTING?
MASK DRIFTBIT
EXTEND
BZF TSENSE
CA FLGWRD10 # DPS (INCLUDING DOCKED) OR APS?
MASK APSFLBIT
CCS A
CAF TWO # FAVOR +X JETS DURING AN APS BURN.
TSENSE TS SENSETYP
TCF QRCONTRL
+XORULGE CAF ONE
-XTRANS AD FOUR
TS ROTINDEX
AD NEG3
TS SENSETYP # FAVOR APPROPRIATE JETS DURING TRANS.
CA DAPBOOLS
MASK ACC4OR2X
CCS A
TCF TRANS4
CA DAPBOOLS
MASK AORBTRAN
CCS A
CA ONE # THREE FOR B
AD TWO # TWO FOR A SYSTEM 2 JET X TRANS
TSNUMBRT TS NUMBERT
TC SELCTSUB
CCS POLYTEMP
TCF +3
TC ALARM
OCT 02002
CA 00314OCT
MASK POLYTEMP
TSNEXTS TS NEXTU
## Page 1438
CS 00314OCT
MASK POLYTEMP
TS NEXTV
# Q,R-AXES RCS CONTROL MODE SELECTION
# SWITCHES INDICATION WHEN SET
# BIT13/CHAN31 AUTO, GO TO ATTSTEER
# PULSES MINIMUM IMPULSE MODE
# (OTHERWISE) RATE COMMAND/ATTITUDE HOLD MODE
QRCONTRL CA BIT13 # CHECK MODE SELECT SWITCH.
EXTEND
RAND CHAN31 # BITS INVERTED
CCS A
TCF ATTSTEER
CHKBIT10 CAF PULSES # PULSES = 1 FOR MIN IMP USE OF RHC
MASK DAPBOOLS
EXTEND
BZF CHEKSTIK # IN ATT-HOLD/RATE-COMMAND IF BIT10=0
# MINIMUM IMPULSE MODE
INHINT
TC IBNKCALL
CADR ZATTEROR
CA ZERO
TS QERROR
TS RERROR # FOR DISPLAYS
RELINT
EXTEND
READ CHAN31
TS TEMP31 # IS EQUAL TO DAPTEMP1
CCS OLDQRMIN
TCF CHECKIN
FIREQR CA TEMP31
MASK BIT1
EXTEND
BZF +QMIN
CA TEMP31
MASK BIT2
EXTEND
BZF -QMIN
CA TEMP31
MASK BIT5
## Page 1439
EXTEND
BZF +RMIN
CA TEMP31
MASK BIT6
EXTEND
BZF -RMIN
TCF XTRANS
CHECKIN CS TEMP31
MASK OCT63
TS OLDQRMIN
TCF XTRANS
+QMIN CA 14MS
TS TJU
CS 14MS
TCF MINQR
-QMIN CS 14MS
TS TJU
CA 14MS
TCF MINQR
+RMIN CA 14MS
TCF +2
-RMIN CS 14MS
TS TJU
MINQR TS TJV
CA MINADR
TS RETJADR
CA ONE
TS OLDQRMIN
MINRTN TS AXISCTR
CA DAPBOOLS
MASK AORBTRAN
CCS A
CA ONE
AD TWO
TS NUMBERT
TCF AFTERTJ
MINADR GENADR MINRTN
OCT63 OCT 63
14MS = +TJMINT6
TRANS4 CA FOUR
TCF TSNUMBRT
# RATE COMMAND MODE:
## Page 1440
# DESCRIPTION (SAME AS P-AXIS)
CHEKSTIK TS INGTS # NOT IN GTS WHEN IN ATT HOLD
CS ONE # 1/ACCS WILL DO THE NULLING DRIVES
TS COTROLER # COME BACK TO RCS NEXT TIME
CA BIT15
MASK CH31TEMP
EXTEND
BZF RHCACTIV # BRANCH IF OUT OF DETENT.
CA OURRCBIT # ***********
MASK DAPBOOLS # *IN DETENT* CHECK FOR MANUAL CONTROL
EXTEND # *********** LAST TIME.
BZF STILLRCS
CS BIT9
MASK RCSFLAGS
TS RCSFLAGS # BIT 9 IS 0.
TCF DAMPING
40CYCL OCT 50
1/10S OCT 1
LINRAT DEC 46
# ================================
DAMPING CA ZERO
TS SAVEHAND
TS SAVEHAND +1
RHCACTIV CCS SAVEHAND # *******************
TCF +3 # Q,R MANUAL CONTROL WC = A*(B+|D|)*D
TCF +2 # *******************
TCF +1
DOUBLE # WHERE
DOUBLE #
AD LINRAT # WC = COMMANDED ROTATIONAL RATE
EXTEND # A = QUADRATIC SENSITIVITY FACTOR
MP SAVEHAND # B = LINEAR/QUADRATIC SENSITIVITY
CA L # |D| = ABS. VALUE OF DEFLECTION
EXTEND # D = HAND CONTROLLER DEFLECTION
MP STIKSENS
XCH QLAST # COMMAND Q RATE SCALED 45 DEG/SEC
COM
AD QLAST
TS DAPTEMP3
CCS SAVEHAND +1
TCF +3
TCF +2
TCF +1
DOUBLE
DOUBLE
AD LINRAT
EXTEND
MP SAVEHAND +1
CA L
## Page 1441
EXTEND
MP STIKSENS
XCH RLAST
COM
AD RLAST
TS DAPTEMP4
CS QLAST # INTERVAL.
AD OMEGAQ
TS QRATEDIF
CS RLAST
AD OMEGAR
TS RRATEDIF
ENTERQR DXCH QRATEDIF # TRANSFORM RATES FROM Q,R TO U,V AXES
TC ROT45DEG
DXCH URATEDIF
CCS DAPTEMP3 # CHECK IF Q COMMAND CHANGE EXCEEDS
TC +3 # BREAKOUT LEVEL. IF NOT, CHECK R.
TC +2
TC +1
AD -RATEDB
EXTEND
BZMF +2
TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
CCS DAPTEMP4 # R COMMAND BREAKOUT CHECK.
TC +3
TC +2
TC +1
AD -RATEDB
EXTEND
BZMF +2
TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
CA RCSFLAGS # BREAKOUT LEVEL NOT EXCEEDED. CHECK FOR
MASK QRBIT # DIRECT RATE CONTROL LAST TIME.
EXTEND
BZF +2
TCF ENTERUV # CONTINUE DIRECT RATE CONTROL.
TCF STILLRCS # PSEUDO-AUTO CONTROL.
CA 40CYCL
TS TCQR
ENTERUV INHINT # DIRECT RATE CONTROL.
TC IBNKCALL
FCADR ZATTEROR
RELINT
CA ZERO
TS DYERROR
TS DYERROR +1
TS DZERROR
TS DZERROR +1
CCS URATEDIF
TCF +3
## Page 1442
TCF +2
TCF +1
AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
EXTEND # DIRECT RATE CONTROL.
BZMF VDB
CCS VRATEDIF
TCF +3
TCF +2
TCF +1
AD TARGETDB
EXTEND
BZMF +2
TCF QRTIME
CA ZERO
TS VRATEDIF
TCF QRTIME
VDB CCS VRATEDIF
TC +3
TC +2
TC +1
AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
EXTEND # DIRECT RATE CONTROL. IF NOT, FIRE AND
BZMF TOPSEUDO # SWITCH TO PSEUDO-AUTO CONTROL ON NEXT
CA ZERO # PASS.
TS URATEDIF
QRTIME CA TCQR # DIRECT RATE TIME CHECK.
EXTEND
BZMF +5 # BRANCH IF TIME EXCEEDS 4 SEC.
CS RCSFLAGS
MASK QRBIT
ADS RCSFLAGS # BIT 11 IS 1.
TC +4
TOPSEUDO CS QRBIT
MASK RCSFLAGS
TS RCSFLAGS # BIT 11 IS 0.
CA HANDADR
TS RETJADR
CA ONE
BACKHAND TS AXISCTR
CA FOUR
TS NUMBERT
INDEX AXISCTR
INDEX SKIPU
TCF +1
CA FOUR
INDEX AXISCTR
TS SKIPU
TCF LOOPER
## Page 1443
INDEX AXISCTR
CCS URATEDIF # INDEX AXIS QUANITY
CA ZERO # 0 -U 1/JETACC-AOSU
TCF +2 # 1 +U 1/JETACC+AOSU
CA ONE # 16 -V 1/JETACC-AOSV
INDEX AXISCTR # 17 +V 1/JETACC+AOSV
AD AXISDIFF # JETACC = 2 JET ACCELERATION (1 FOR FAIL)
INDEX A
CS 1/ANET2 +1
EXTEND
INDEX AXISCTR # URATEDIF IS SCALED AT PI/4 RAD/SEC
MP URATEDIF # JET TIME IN A SCALED 32 SEC
TS Q
DAS A
AD Q
TS A # OVERFLOW SKIP
TCF +2
CA Q # RIGHT SIGN AND BIGGER THAN 150MS
SETTIME INDEX AXISCTR
TS TJU # SCALED AT 10.67 WHICH IS CLOSE TO 10.24
TCF AFTERTJ
ZEROTJ CA ZERO
TCF SETTIME
HANDADR GENADR BACKHAND
# GTS WILL BE TRIED IF
# 1. USEQRJTS= 0,
# 2. ALLOWGTS POS,
# 3. JETS ARE OFF (Q,R-AXES)
TRYGTS CAF USEQRJTS # IS JET USE MANDATORY. (AS LONG AS
MASK DAPBOOLS # USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE)
CCS A
TCF RCS
CCS ALLOWGTS # NO. DOES AOSTASK OK CONTROL FOR GTS?
TCF +2
TCF RCS
EXTEND
READ CHAN5
CCS A
TCF CHKINGTS
GOTOGTS EXTEND
DCA GTSCADR
DTCB
CHKINGTS CCS INGTS # WAS THE TRIM GIMBAL CONTROLLING
TCF +2 # YES. SET UP A DAMPED NULLING DRIVE.
TCF RCS # NO. NULLING WAS SET UP BEFORE. DO RCS
## Page 1444
INHINT
TC IBNKCALL
CADR TIMEGMBL
RELINT
CAF ZERO
TS INGTS
TCF RCS
EBANK= CDUXD
GTSCADR 2CADR GTS
## Page 1445
# SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
QERRCALC CAE CDUY # Q-ERROR CALCULATION
EXTEND
MSU CDUYD # CDU ANGLE - ANGLE DESIRED (Y-AXIS)
TS DAPTEMP1 # SAVE FOR RERRCALC
EXTEND
MP M21 # (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
TS E
CAE CDUZ # SECOND TERM CALCULATION:
EXTEND
MSU CDUZD # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
TS DAPTEMP2 # SAVE FOR RERRCALC
EXTEND
MP M22 # (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
AD DELQEROR # KALCMANU INERFACE ERROR
AD E
XCH QERROR # SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
RERRCALC CAE DAPTEMP1 # R-ERROR CALCULATION:
EXTEND # CDU ANGLE -ANGLE DESIRED (Y-AXIS)
MP M31 # (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
TS E
CAE DAPTEMP2 # SECOND TERM CALCULATION:
EXTEND # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
MP M32 # (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
AD DELREROR # KALCMANU INERFACE ERROR
AD E
XCH RERROR # SAVE R-ERROR FOR EIGHT-BALL DISPLAY.
TC Q
## Page 1446
# "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
ATTSTEER EQUALS STILLRCS # "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
STILLRCS CA RERROR
LXCH A
CA QERROR
TC ROT45DEG
DXCH UERROR
# PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED))
# PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
TJLAW CA TJLAWADR
TS RETJADR
CA ONE
TS AXISCTR
INDEX AXISCTR
INDEX SKIPU
TCF +1
CA FOUR
INDEX AXISCTR
TS SKIPU
TCF LOOPER
INDEX AXISCTR
CA UERROR
TS E
INDEX AXISCTR
CA OMEGAU
TS EDOT
CA DAPBOOLS
MASK CSMDOCKD
CCS A
TCF +3
TC TJETLAW
TCF AFTERTJ
+3 CS DAPBOOLS # DOCKED. IF GIMBAL USABLE DO GTS CONTROL
MASK USEQRJTS # ON THE NEXT PASS.
CCS A # USEQRJTS BIT MUST NOT BE BIT 15.
TS COTROLER # GIMBAL USABLE. STORE POSITIVE VALUE.
TC SPSRCS # DETERMINE RCS CONTROL.
CAF FOUR # ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V.
TS NUMBERT # FALL THROUGH TO JET SELECTION, ETC.
# Q,R-JET-SELECTION-LOGIC
#
# INPUT: AXISCTR 0,1 FOR U,V
# SNUFFBIT ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN
# TJU,TJV JET TIME SCALED 10.24 SEC.
# NUMBERT INDICATES NUMBER OF JETS AND TYPE OF POLICY
# RETJADR WHERE TO RETURN TO
## Page 1447
# OUTPUT: NO.U(V)JETS RATE DERIVATION FEEDBACK
# CHANNEL 5
# SKIPU,SKIRV FOR LESS THAN 150MS FIRING
#
# NOTES: IN CASE OF FAILURE IN DESIRED ROTATION POLICY, "ALL" UNFAILED
# JETS OF THE DESIRED POLICY ARE SELECTED. SINCE THERE ARE ONLY
# TWO JETS, THIS MEANS THE OTHER ONE OR NONE. THE ALARM IS SENT
# IF NONE CAN BE FOUND.
#
# TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET
# MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
AFTERTJ CA FLAGWRD5 # IF SNUFFBIT SET DURING A DPS BURN GO TO
MASK SNUFFBIT # XTRANS; THAT IS, INHIBIT CONTROL.
EXTEND
BZF DOROTAT
CS FLGWRD10
MASK APSFLBIT
EXTEND
BZF DOROTAT
CA DAPBOOLS
MASK DRIFTBIT
EXTEND
BZF XTRANS
DOROTAT CAF TWO
TS L
INDEX AXISCTR
CCS TJU
TCF +5
TCF NOROTAT
TCF +2
TCF NOROTAT
ZL
AD ONE
TS ABSTJ
CA AXISCTR
AD L
TS ROTINDEX # 0 1 2 3 = -U -V -+U +V
CA ABSTJ
AD -150MS
EXTEND
BZMF DOSKIP
TC SELCTSUB
INDEX AXISCTR
CA INDEXES
## Page 1448
TS L
CA POLYTEMP
INHINT
INDEX L
TC WRITEP
RELINT
TCF FEEDBACK
NOROTAT INDEX AXISCTR
CA INDEXES
INHINT
INDEX A
TC WRITEP -1
RELINT
LOOPER CCS AXISCTR
TC RETJADR
TCF CLOSEOUT
DOSKIP CS ABSTJ
AD +TJMINT6 # 14MS
EXTEND
BZMF NOTMIN
ADS ABSTJ
INDEX AXISCTR
CCS TJU
CA +TJMINT6
TCF +2
CS +TJMINT6
INDEX AXISCTR
TS TJU
CCS SENSETYP # ENSURE MIN-IMPULSE NOT AGAINST TRANS
TCF NOTMIN -1
EXTEND
READ LOSCALAR
MASK ONE
TS NUMBERT
NOTMIN TC SELCTSUB
INDEX AXISCTR
CA INDEXES
INHINT
TS T6FURTHA +1
CA POLYTEMP
INDEX T6FURTHA +1
TC WRITEP
## Page 1449
CA ABSTJ
TS T6FURTHA
TC JTLST # IN QR BANK BY NOW
RELINT
CA ZERO
INDEX AXISCTR
TS SKIPU
FEEDBACK CS THREE
AD NUMBERT
EXTEND
BZMF +3
CA TWO
TCF +2
CA ONE
INDEX AXISCTR
TS NO.UJETS
TCF LOOPER
XTRANS CA ZERO
TS TJU
TS TJV
CA FOUR
INHINT
XCH SKIPU
EXTEND
BZF +2
TC WRITEU -1
CA FOUR
XCH SKIPV
RELINT
EXTEND
BZF CLOSEOUT
INHINT
TC WRITEV -1
RELINT
TCF CLOSEOUT
INDEXES DEC 4
DEC 13
+TJMINT6 DEC 22
-150MS DEC -240
BIT8,9 OCT 00600
SCLNORM OCT 266
TJLAWADR GENADR TJLAW +3 # RETURN ADDRESS FOR RCS ATTITUDE CONTROL
## Page 1450
# THE JET LIST:
# THIS IS A WAITLIST FOR T6RUPTS.
#
# CALLED BY:
# CA TJ TIME WHEN NEXT JETS WILL BE WRITTEN
# TS T6FURTHA
# CA INDEX AXIS TO BE WIRTTEN AT TJ (FROM NOW)
# TS T6FURTHA +1
# TC JTLST
#
# EXAMPLE - U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF
# JETS INTO CHANNEL 5. IF IT DESIRES TO TURN OFF THIS POLICY WITHIN
# 150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA
# CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX
# OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO.
#
# THE LIST IS EXACTLY 3 LONG. (THIS LEADS TO SKIP LOGIC AND 150MS LIMIT)
# THE INPUT IS THE LAST MEMBER OF THE LIST
#
# RETURNS BY:
# + TC Q
#
# DEFINITIONS: (OUTPUT)
# TIME6 TIME OF NEXT RUPT
# T6NEXT DELTA TIME TO NEXT RUPT
# T6FURTHA DELTA TIME FROM 2ND TO LAST RUPT
# NXT6ADR AXIS INDEX Q - P-AXIS
# T6NEXT +1 AXIS INDEX 4 - U-AXIS
# T6FURTHA +1 AXIS INDEX 13 - V-AXIS
JTLST CS T6FURTHA
AD TIME6
EXTEND
BZMF MIDORLST # TIME6 - T IS IN A
LXCH NXT6ADR
DXCH T6NEXT
DXCH T6FURTHA
TS TIME6
LXCH NXT6ADR
TURNON CA BIT15
EXTEND
WOR CHAN13
TC Q
MIDORLST AD T6NEXT
EXTEND
BZMF LASTCHG # TIME6 + T6NEXT - T IS IN A
LXCH T6NEXT +1
## Page 1451
DXCH T6FURTHA
EXTEND
SU TIME6
DXCH T6NEXT
TC Q
LASTCHG CS A
AD NEG0
TS T6FURTHA
TC Q
ROT45DEG TS ROTEMP1
AD L
TS ROTEMP2
TCF +6
CCS A
CA POSMAX
TCF +2
CA NEGMAX
TS ROTEMP2 # Q+R
CS ROTEMP1
AD L
TS ROTEMP1 # R-Q
TCF +4
EXTEND
MP POSMAX
CA L
EXTEND
MP .707
XCH ROTEMP2
EXTEND
MP .707
LXCH ROTEMP2
TC Q
.707 DEC .70711
SELCTSUB INDEX ROTINDEX
CA ALLJETS
INDEX NUMBERT
MASK TYPEPOLY
TS POLYTEMP
MASK CH5MASK
CCS A
TCF +2
## Page 1452
TC Q
CA THREE
FAILOOP TS NUMBERT
INDEX ROTINDEX
CA ALLJETS
INDEX NUMBERT
MASK TYPEPOLY
TS POLYTEMP
MASK CH5MASK
EXTEND
BZF FAILOOP -2
CCS NUMBERT
TCF FAILOOP
INDEX AXISCTR
TS TJU
TC ALARM
OCT 02004
TCF NOROTAT
ALLJETS OCT 00110 # -U 6 13
OCT 00022 # -V 2 9
OCT 00204 # +U 5 14
OCT 00041 # +V 1 10
TYPEPOLY OCT 00125 # -X 1 5 9 13
OCT 00252 # +X 2 6 10 14
OCT 00146 # A 2 5 10 13
OCT 00231 # B 1 6 9 14
OCT 00377 # ALL 1 2 5 6 9 10 13 14
# THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
CLOSEOUT CA ADRRUPT
TC MAKERUPT
ADRRUPT ADRES ENDJASK
ENDJASK DXCH DAPARUPT
DXCH ARUPT
DXCH DAPBQRPT
XCH BRUPT
LXCH Q
CAF NEGMAX # NEGATIVE DAPZRUPT SIGNALS JASK IS OVER.
DXCH DAPZRUPT
DXCH ZRUPT
TCF NOQRSM
BLOCK 3
SETLOC FFTAG6
BANK
## Page 1453
COUNT* $$/DAP
MAKERUPT EXTEND
EDRUPT MAKERUPT
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