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
AOSTASK_AND_AOSJOB.agc
### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: AOSTASK_AND_AOSJOB.agc
## Purpose: A section of Luminary revision 173.
## It is part of the reconstructed source code for the second
## (unflown) release of the flight software for the Lunar
## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 14.
## The code has been recreated from a reconstructed copy of
## Luminary 178, as well as Luminary memo 167 (revision 1).
## It has been adapted such that the resulting bugger words
## exactly match those specified for Luminary 173 in NASA
## drawing 2021152N, which gives relatively high confidence
## that the reconstruction is correct.
## Reference: pp. 1473-1494
## Assembler: yaYUL
## Contact: Ron Burkey <info@sandroid.org>.
## Website: www.ibiblio.org/apollo/index.html
## Mod history: 2019-09-18 MAS Created from Luminary 178.
## Page 1473
# PROGRAM NAME: 1/ACCS
# PROGRAM WRITTEN BY: BOB COVELLI AND MIKE HOUSTON
# LAST MODIFICATION: FEB.14,1969 BY G.KALAN
# PROGRAM DESCRIPTION:
# 1/ACCS PROVIDES THE INTERFACE BETWEEN THE GUIDANCE PROGRAMS AND THE DIGITAL AUTOPILOT. WHENEVER THERE IS A
# CHANGE IN THE MASS OF THE VEHICLE, IN THE DEADBAND SELECTED, IN THE VEHICLE CONFIGURATION (ASCENT-DESCENT-
# DOCKED), AND DURING A FRESH START OR A RESTART, 1/ACCS IS CALLED TO COMMUNICATE THE DATA CHANGES TO THE DAP.
# THE INPUTS TO 1/ACCS ARE MASS, ACCELERATION (ABDELV), DEADBAND (DB), OFFSET ACCELERATIONS (AOSQ AND AOSR),
# STAGE VERIFY BIT (CHAN30,BIT2), DOCKED BIT (DAPBOOLS,BIT13), DRIFT BIT (DAPBOOLS,BIT8), USEQRJTS (DAPBOOLS,
# BIT14), AND SURFACE FLAG (FLAGWRD8,BIT8), AND CH5MASK.
# 1/ACCS COMPUTES THE JET ACCELERATIONS (1JACC, 1JACCQ, 1JACCR) AS FUNCTIONS OF MASS. 1JACCU AND 1JACCV ARE
# FORMED BY RESOLVING 1JACCQ NAD 1JACCR. IN THE DESCENT CASE, THE DESCENT ENGINE MOMENT ARM (L,PVT-CG) IS ALSO
# COMPUTED AS A FUNCTION OF MASS. THE RATE OF CHANGE OF ACCELERATION DUE TO ROTATION OF THE GIMBAL (ACCDOTQ,
# ACCDOTR) IS ALSO COMPUTED IN THE DESCENT CASE.
# AFTER THE ABOVE COMPUTATIONS, THE PROGRAM 1/ACCONT COMPUTES THE RECIPROCAL NET ACCELERATIONS ABOUT THE P, U,
# AND V AXES (2 JETS FOR P AXIS, BOTH 1 AND 2 JETS FOR U AND V AXES), AND THE RECIPROCAL COAST ACCELERATIONS ABOUT
# THE P, U, AND V AXES. THE ACCELERATION FUNCTIONS (ACCFCTZ1 AND ACCFCTZ5)ARE ALSO COMPUTED FOR THESE AXES. THE
# FIRE AND COAST DEADBANDS AND AXISDIST ARE COMPUTED FOR EACH AXIS. FLAT AND ZONE3LIM, THE WIDTH AND HEIGHT OF THE
# MINIMUM IMPULSE ZONE, ARE COMPUTED. 1/ACCONT ALSO SETS ACCSWU AND ACCSWV, WHICH INDICATE WHEN 1 JET ACCELERATION
# IS NOT SUFFICIENT TO PRODUCE MINIMUM ACCELERATION. AT THE COMPLETION OF 1/ACCS, THE ACCSOKAY BIT IS SET.
# SUBBOUTINES CALLED:
# TIMEGMBL
# MAKECADR
# ROT45DEG
# CALLING SEQUENCE:
# TC BANKCALL (1/ACCS MUST BE CALL BY BANKCALL
# CADR 1/ACCS
# NORMAL EXIT: VIA BANKJUMP ALARM AND ABORT EXIT MODES: NONE.
# INPUT/OUTPUT: SEE PROGRAM DESCRIPTION
# DEBRIS:
# ALL OF THE EXECUTIVE TEMPORARY REGISTERS, EXCEPT FIXLOC AND OVFIND, AND THE CORE SET AREA FROM MPAC TO BANKSET.
# RESTRICTIONS:
# 1/ACCS MUST BE CALLED BY BANKCALL
# EBANK IS SET TO 6, BUT NOT RESTORED.
## Page 1474
BANK 21
SETLOC DAPS4
BANK
COUNT* $$/DAPAO
EBANK= AOSQ
# ENTRY IS THROUGH 1/ACCJOB OR 1/ACCSET WHEN 1/ACCS IS TO BE DONE AS A SEPARATE NOVAC JOB.
# IT IS POSSIBLE FOR MORE THAN ONE OF THESE JOBS TO BE SET UP CONCURRENTLY. HOWEVER, SINCE THERE IS NO CHECK OF
# NEWJOB, A SECOND MANIFESTATION CANNOT BE STARTED UNTIL THE FIRST IS COMPLETED.
1/ACCSET CAF ZERO # ENTRY FROM FRESH START/RESTART CODING.
TS AOSQ # NULL THE OFFSET ESTIMATES FOR 1/ACCS.
TS AOSR
TS ALPHAQ # NULL THE OFFSET ESTIMATES FOR DOWNLIST
TS ALPHAR
1/ACCJOB TC BANKCALL # 1/ACCS ASSUMES ENTRY VIA BANKCALL.
CADR 1/ACCS +2 # SKIP EBANK SETTING.
TC ENDOFJOB
BANK 20
SETLOC DAPS3
BANK
COUNT* $$/DAPAO
1/ACCS CA EBANK6 # ***** EBANK SET BUT NOT RESTORED *****
TS EBANK
TC MAKECADR # SAVE RETURN SO THAT BUF2 MAY BE USED
TS ACCRETRN
# DETERMINE MASS OF THE LEM.
CA DAPBOOLS # IS CSM DOCKED
MASK CSMDOCKD
TS DOCKTEMP # STORE RECORD OF STATE IN TEMP (MPAC +3).
CCS A
CS CSMMASS # DOCKED: LEMMASS = MASS - CSMMASS
AD MASS # LEM ALONE: LEMMASS = MASS
TS LEMMASS
# ON THE BASIS OF APSFLAG:
# SET THE P-AXIS RATE COMMAND LIMIT FOR 2-JET/4-JET CONTROL
# SET MPAC, WHICH INDICATES THE PROPER SET OF COEFFICIENTS FOR THE LEM-ALONE F(MASS) CALCULATIONS
# ENSURE THAT THE LEM MASS VALUE IS WITHIN THE ACCEPTABLE RANGE
INHINT
## Page 1475
CAE FLGWRD10 # DETERMINE WHETHER STAGED.
MASK APSFLBIT
EXTEND
BZF DPSFLITE
CS POSMAX # ASCENT (OR ON LUNAR SURFACE)
TS -2JETLIM # ALWAYS 2 JETS FOR P-AXIS RATE COMMAND
CAF OCT14 # INITIALIZE INDEX AT 12.
TS MPAC
CS LEMMASS # CHECK IF MASS TOO HIGH. CATCH STAGING.
AD HIASCENT
EXTEND
BZMF MASSFIX
CS LEMMASS # CHECK IF MASS TOO LOW. THIS LIMITS THE
AD LOASCENT # DECREMENTING BY MASSMON.
EXTEND
BZMF F(MASS)
MASSFIX ADS LEMMASS # STORE THE VIOLATED LIMIT AS LEMMASS.
ZL # ALSO CORRECT TOTAL MASS, ZEROING THE
CCS DOCKTEMP # LOW-ORDER WORD.
CAE CSMMASS # DOCKED: MASS = LEMMASS + CSMMASS
AD LEMMASS # LEM ALONE: MASS = LEMMASS
DXCH MASS
TCF F(MASS)
DPSFLITE CS BIT10 # FOUR JETS FOR P-AXIS RATE COMMAND ERRORS
TS -2JETLIM # EXCEEDING 1.4 DEG/SEC (SCALED AT 45)
CAF SIX # INITIALIZE INDEX AT 6.
TS MPAC
CS LEMMASS # CHECK IF MASS TOO HIGH. SHOULD NEVER
AD HIDESCNT # OCCUR EXCEPT PERHAPS BEFORE THE PAD
EXTEND # LOAD IS DONE.
BZMF MASSFIX
CS LEMMASS # CHECK IF MASS TOO LOW. THIS LIMITS THE
AD LODESCNT # DECREMENTING BY MASSMON.
AD HIASCENT
EXTEND
BZMF F(MASS)
TCF MASSFIX
# COMPUTATION OF FUNCTIONS OF MASS
F(MASS) RELINT
CCS DOCKTEMP
TCF DOCKED # DOCKED: USE SEPERATE COMPUTATION.
CA TWO
STCTR TS MPAC +1 # J=2,1,0 FOR 1JACCR,1JACCQ,1JACC
CS TWO
ADS MPAC # JX=10,8,6 OR 4,2,0 TO INDEX COEFS.
## Page 1476
STCTR1 CAE LEMMASS
INDEX MPAC
AD INERCONC
TS MPAC +2 # MASS + C
EXTEND
INDEX MPAC
DCA INERCONA
EXTEND
DV MPAC +2
INDEX MPAC
AD INERCONB
INDEX MPAC +1 # 1JACC(J)=A(JX)/(MASS+C(JX) + B(JX)
TS 1JACC # 1JACC(-1)=L,PVT-CG SCALED AT 8 FEET
CCS MPAC +1
TCF STCTR
TCF COMMEQS
TCF LRESC
# COEFFQ AND COEFFR ARE COMPUTED IN THIS SECTION. THEY ARE USED TO RESOLVE Q-R COMPONENTS INTO NON-ORTHOGONAL
# U AND V COMPONENTS (SEE ROT-TOUV SECTION).
COMMEQS ZL
CS 1JACCR
AD 1JACCQ
EXTEND
BZMF BIGIQ
EXTEND # EPSILON IS A MEASURE OF COUPLING AND IS
DV 1JACCQ # DEFINED=1-IQ/IR FOR IR GREATER THAN IQ.
TS EPSILON # THE COMPUTED EXPRESSION IS EQUIVALENT
AD -EPSMAX
EXTEND
BZMF GOODEPS1
CS -EPSMAX
TS EPSILON # EPSILON IS LIMITED TO A MAX. OF .42265
GOODEPS1 CA EPSILON
EXTEND
MP 0.35356
AD .7071
TS COEFFR # IN THIS CASE WHERE IR IS GREATER THAN
CS POSMAX # IQ, COEFFQ=-.707(1+.5EPSILON)(1-EPSILON)
AD EPSILON # AND COEFFR=.707(1+.5EPSILON)
EXTEND
MP COEFFR
TS COEFFQ
TCF JACCUV
BIGIQ EXTEND # EPSILON IS DEFINED AS 1-IR/IQ FOR IQ
DV 1JACCR # GREATER THAN IR. -EPSILON IS COMPUTED
TS -EPSILON # RATHER THAN EPSILON FOR CONVENIENCE
CS -EPSILON
## Page 1477
AD -EPSMAX
EXTEND
BZMF GOODEPS2
CA -EPSMAX
TS -EPSILON # EPSILON IS LIMITED TO A MAX. OF .42265
GOODEPS2 CA -EPSILON
EXTEND
MP 0.35356
AD -.7071
TS COEFFQ # IN THIS CASE WHERE IQ IS GREATER THAN
CS -EPSILON # IR, COEFFQ=-.707(1+.5EPSILON) AND
AD NEGMAX # COEFFR=.707(1+.5EPSILON)(1-EPSILON)
EXTEND
MP COEFFQ
TS COEFFR
JACCUV CS COEFFQ
EXTEND
MP 1JACCQ # 1JACCQ IS SCALED AT PI/4
TS 1JACCU # 1JACCU USED AS TEMPORARY STORAGE
CA COEFFR
EXTEND
MP 1JACCR
AD 1JACCU
EXTEND
MP BIT14 # SCALING CHANGED FROM PI/4 TO PI/2
TS 1JACCU # SCALED AT PI/2 RADIANS/SEC(2)
CCS MPAC # COMPUTE L,PVT-CG IF IN DESCENT
CAF ZERO # ZERO SWITCHES AND GO TO 1/ACCONT IN
TS ALLOWGTS # ASCENT
TCF 1/ACCONT -1
CS TWO
TS MPAC
CS ONE
TS MPAC +1
TCF STCTR1
# THIS SECTION COMPUTES THE RATE OF CHANGE OF ACCELERATION DUE TO THE ROTATION OF THE GIMBALS. THE EQUATION IMPLE
# MENTED IN BOTH THE Y-X PLANE AND THE Z-X PLANE IS -- D(ALPHA)/DT = TL/I*D(DELTA)/DT, WHERE
# T = ENGINE THRUST FORCE
# L = PIVOT TO CG DISTANCE OF ENGINE
# I = MOMENT OF INERTIA
LRESC CAE ABDELV # SCALED AT 2(13) CM/SEC(2)
EXTEND
MP MASS # SCALED AT B+16 KGS
TC DVOVSUB # GET QUOTIENT WITH OVERFLOW PROTECTION
ADRES GFACTM
# MASS IS DIVIDED BY ACCELERATION OF GRAVITY IN ORDER TO MATCH THE UNITS OF IXX,IYY,IZZ, WHICH ARE SLUG-FT(2).
# THE RATIO OF ACCELERATION FROM PIPAS TO ACCELERATION OF GRAVITY IS THE SAME IN METRIC OR ENGINEERING UNITS, SO
## Page 1478
# THAT IS UNCONVERTED. 2.20462 CONVERTS KG. TO LB. NOW T IS IN A SCALED AT 2(14).
EXTEND
MP L,PVT-CG # SCALED AT 8 FEET.
INHINT
TS MPAC
EXTEND
MP 1JACCR
TC DVOVSUB # GET QUOTIENT WITH OVERFLOW PROTECTION
ADRES TORKJET1
TS ACCDOTR # SCALED AT PI/2(7)
CA MPAC
EXTEND
MP 1JACCQ
TC DVOVSUB # GET QUOTIENT WITH OVERFLOW PROTECTION
ADRES TORKJET1
SPSCONT TS ACCDOTQ # SCALED AT PI/2(7)
EXTEND
MP DGBF # .3ACCDOTQ SCALED AT PI/2(8)
TS KQ
CAE ACCDOTR # .3ACCDOTR AT PI/2(8)
EXTEND
MP DGBF
TS KRDAP
EXTEND # NOW COMPUTE QACCDOT, RACCDOT, THE SIGNED
READ CHAN12 # JERK TERMS. STORE CHANNEL 12. WITH GIM
TS MPAC +1 # BAL DRIVE BITS 9 THROUGH 12. SET LOOP
CAF BIT2 # INDEX TO COMPUTE RACCDOT, THEN QACCDOT.
TCF LOOP3
CAF ZERO # ACCDOTQ AND ACCDOTR ARE NOT NEGATIVE,
LOOP3 TS MPAC # BECAUSE THEY ARE MAGNITUDES
CA MPAC +1
INDEX MPAC # MASK CHANNEL IMAGE FOR ANY GIMBAL MOTION
MASK GIMBLBTS
EXTEND
BZF ZACCDOT # IF NONE, Q(R)ACCDOT IS ZERO.
CA MPAC +1
INDEX MPAC # GIMBAL IS MOVING. IS ROTATION POSITIVE.
MASK GIMBLBTS +1
EXTEND
BZF FRSTZERO # IF NOT POSITIVE, BRANCH
INDEX MPAC # POSITIVE ROTATION, NEGATIVE Q(R)ACCDOT.
CS ACCDOTQ
TCF STACCDOT
FRSTZERO INDEX MPAC # NEGATIVE ROTATION, POSITIVE Q(R)ACCDOT.
CA ACCDOTQ
TCF STACCDOT
ZACCDOT CAF ZERO
## Page 1479
STACCDOT INDEX MPAC
TS QACCDOT # STORE Q(R)ACCDOT.
CCS MPAC
TCF LOOP3 -1 # NOW DO QACCDOT.
CS DAPBOOLS # IS GIMBAL USABLE?
MASK USEQRJTS
EXTEND
BZF DOWNGTS # NO. BE SURE THE GIMBAL SWITCHES ARE DOWN
CS T5ADR # YES. IS THE DAP RUNNING?
AD PAXISADR
EXTEND
BZF +2
TCF DOWNGTS # NO. BE SURE THE GIMBAL SWITCHES ARE DOWN
CCS INGTS # YES. IS GTS IN CONTROL?
TCF DOCKTEST # YES. PROCEED WITH 1/ACCS.
TC IBNKCALL # NO. NULL OFFSET AND FIND ALLOWGTS
CADR TIMEGMBL
DOCKTEST CCS DOCKTEMP # BYPASS 1/ACCONT WHEN DOCKED.
TCF 1/ACCRET
TCF 1/ACCONT
## Page 1480
# SUBROUTINE: DVOVSUB
# AUTHOR: C. WORK, MOD 0 12 JUNE 68
# PURPOSE: THIS SUBROUTINE PROVIDES A SINGLE-PRECISION MACHINE LANGUAGE DIVISION OPERATION WHICH RETURNS
# (1) THE QUOTIENT, IF THE DIVISION WAS NORMAL.
# (2) NEGMAX, IF THE QUOTIENT WAS IMPROPER AND NEGATIVE.
# (3) POSMAX, IF THE QUOTIENT WAS IMPROPER AND POSITIVE OR IF THERE WAS A ZERO DIVISOR.
# THE CALLING PROGRAM IS PRESUMED TO BE A JOB IN THE F BANK WHICH CONTAINS DVOVSUB. E BANK MUST BE 6.
# THE DIVISOR FOR THIS ROUTINE MAY BE IN EITHER FIXED OR ERASABLE STORAGE. SIGN AGREEMENT IS
# ASSUMED BETWEEN THE TWO HALVES OF THE DIVIDEND. (THIS IS CERTAIN IF THE A AND L REGISTERS ARE THE RE-
# SULT OF A MULTIPLICATION OPERATION.)
# CALL SEQUENCE:
# L TC DVOVSUB
# L +1 ADRES (DIVISOR)
# L +2 RETURN HERE, WITH RESULT IN A,L
# INPUT: DIVIDEND IN A,L (SIGN AGREEMENT ASSUMED), DIVISOR IN LOCATION DESIGNATED BY "ADRES".
# DIVISOR MAY BE IN THE DVOVSUB FBANK,FIXED-FIXED FBANK,EBANK 6, OR UNSWITCHED ERASABLE.
# OUTPUT: QUOTIENT AND REMAINDER, OR POSMAX (NEGMAX), WHICHEVER IS APPROPRIATE.
# DEBRIS: SCRATCHX,SCRATCHY,SCRATCHZ,A,L (NOTE: SCRATCHX,Y,Z ARE EQUATED TO MPAC +4,+5, AND +6.)
# ABORTS OR ALARMS: NONE
# EXITS: TO THE CALL POINT + 2.
# SUBROUTINES CALLED: NONE.
DVOVSUB TS SCRATCHY # SAVE UPPER HALF OF DIVIDEND
TS SCRATCHX
INDEX Q # OBTAIN ADDRESS OF DIVISOR.
CA 0
INCR Q # STEP Q FOR PROPER RETURN SEQUENCE.
INDEX A
CA 0 # PICK UP THE DIVISOR.
EXTEND # RETURN POSMAX FOR A ZERO DIVISOR.
BZF MAXPLUS
TS SCRATCHZ # STORE DIVISOR.
CCS A # GET ABS(DIVISOR) IN THE A REGISTER.
AD BIT1
TCF ZEROPLUS
AD BIT1
ZEROPLUS XCH SCRATCHY # STORE ABS(DIVISOR). PICK UP TOP HALF OF
EXTEND # DIVIDEND.
BZMF GOODNEG # GET -ABS(DIVIDEND)
## Page 1481
CS A
GOODNEG AD SCRATCHY # ABS(DIVISOR) - ABS(DIVIDEND)
EXTEND
BZMF MAKEMAX # BRANCH IF DIVISION IS NOT PROPER.
CA SCRATCHX # RE-ESTABLISH THE DIVIDEND.
EXTEND
DV SCRATCHZ # QUOTIENT IN THE A, REMAINDER IN L.
TC Q # RETURN TO CALLER.
MAKEMAX CCS SCRATCHX # DETERMINE THE SIGN OF THE QUOTIENT.
CCS SCRATCHZ # SCRATCHX AND SCRATCHZ ARE NON-ZERO.
TCF MAXPLUS
CCS SCRATCHZ
CAF NEGMAX # +,- OR -,+
TC Q
MAXPLUS CAF POSMAX # -,- OR +,+
TC Q
# COEFFICIENTS FOR THE JET ACCELERATION CURVE FITS
# THE CURVE FITS ARE OF THE FORM -
# 1JACC = A/(MASS + C) + B
# A IS SCALED AT PI/4 RAD/SEC**2 B+16KG, B IS SCALED AT PI/4 RAD/SEC**2, AND C IS SCALED AT B +16 KG.
# THE CURVE FIT FOR L,PVT-CG IS OF THE SAME FORM, EXCEPT THAT A IS SCALED AT 8 FT B+16 KG, B IS SCALED AT 8 FT,
# AND C IS SCALED AT B+16 KG.
2DEC +.0410511917 # L A DESCENT
INERCONA 2DEC +.0059347674 # 1JACCP A DESCENT
2DEC +.0014979264 # 1JACCQ A DESCENT
2DEC +.0010451889 # 1JACCR A DESCENT
2DEC +.0065443852 # 1JACCP A ASCENT
2DEC +.0035784354 # 1JACCQ A ASCENT
2DEC +.0056946631 # 1JACCR A ASCENT
DEC +.155044 # L B DESCENT
DEC -.025233 # L C DESCENT
## Page 1482
INERCONB DEC +.002989 # 1JACCP B DESCENT
INERCONC DEC +.008721 # 1JACCP C DESCENT
DEC +.018791 # 1JACCQ B DESCENT
DEC -.068163 # 1JACCQ C DESCENT
DEC +.021345 # 1JACCR B DESCENT
DEC -.066027 # 1JACCR C DESCENT
DEC +.000032 # 1JACCP B ASCENT
DEC -.006923 # 1JACCP C ASCENT
DEC +.162862 # 1JACCQ B ASCENT
DEC +.002588 # 1JACCQ C ASCENT
DEC +.009312 # 1JACCR B ASCENT
DEC -.023608 # 1JACCR C ASCENT
GIMBLBTS OCTAL 01400
OCTAL 01000
OCTAL 06000
OCTAL 04000
DGBF DEC 0.6 # .3 SCALED AT 1/2
0.35356 DEC 0.35356 # .70711 SCALED AT 2
GFACTM OCT 337 # 979.24/2.20462 AT B+15
.7071 DEC .70711
-.7071 DEC -.70711
-EPSMAX DEC -.42265
# CSM-DOCKED INERTIA COMPUTATIONS
## Note: The label DOCKED is indented by one character originally. yaYul does not recognize this as proper label.
DOCKED CA ONE # COEFTR = 1 FOR INERTIA COEFFICIENTS
SPSLOOP1 TS COEFCTR # = 7 FOR CG COEFFICIENTS
CA ONE # MASSCTR = 1 FOR CSM
TS MASSCTR # = 0 FOR LEM
INDEX COEFCTR
CA COEFF -1 # COEFF -1 = C
EXTEND
MP LEMMASS
EXTEND
MP CSMMASS # LET X = CSMMASS AND Y = LEMMASS
INDEX COEFCTR
AD COEFF # COEFF = F
TS MPAC # MPAC = C X Y + F
TCF +4
SPSLOOP2 TS MASSCTR # LOOP TWICE THROUGH HERE TO OBTAIN
EXTEND # MPAC = MPAC + (A X +D)X + (B Y +E)Y
DIM COEFCTR # LOOP #1 LOOP #2
INDEX COEFCTR
CA COEFF +2 # COEFF +2 = A OR B
EXTEND
## Page 1483
INDEX MASSCTR
MP LEMMASS
INDEX COEFCTR
AD COEFF +4 # COEFF +4 = E OR D
EXTEND
INDEX MASSCTR
MP LEMMASS
ADS MPAC
CCS MASSCTR
TCF SPSLOOP2
CCS COEFCTR # IF COEFCTR IS POS , EXIT FROM LOOP WITH
TCF +7 # CG X DELDOT = MPAC X 4 PI RAD-CM/SEC
TORQCONS 2DEC 0.51443 B-14 # CORRESPONDS TO 500 LB-FT
CA MPAC
TS MPAC +1 # INERTIA = (MPAC +1) X 2(38) KG-CM(2)
CA SEVEN
TCF SPSLOOP1
CA 1JACCCON # 1JACC=1JACCCON/MASS
ZL
TC DVOVSUB
ADRES MASS
TS 1JACC # SCALED AT PI/4
CA POSMAX # SET INVERSE JET ACCELERATIONS TO POSMAX,
TS 1/ANETP # WHICH CORRESPONDS TO ACCEL. OF 1.4 D/SS.
TS 1/ANET2 +1
TS 1/ANET2 +2
TS 1/ANET2 +17D
TS 1/ANET2 +18D
EXTEND
DCA TORQCONS
EXTEND
DV MPAC +1
INHINT
TS 1JACCQ # SCALED AT PI/4
TS 1JACCR
CA -.7071
TS COEFFQ # COEFFQ AND COEFFR ARE CHOSEN TO MAKE U-
CA .7071 # AND V-AXES ORTHOGONAL FOR DOCKED CASE
TS COEFFR
CA MASS # SCALED AT 2(16) KG
EXTEND
MP MPAC # SCALED AT 4 PI RAD-CM/SEC
EXTEND
MP ABDELV # SCALED AT 2(13) CM/SEC(2)
TC DVOVSUB # GET QUOTIENT WITH OVERFLOW PROTECTION
## Page 1484
ADRES MPAC +1
TS ACCDOTR
TCF SPSCONT # CONTINUE K, KSQ CALCULATIONS
1JACCCON OCT 00167 # SCALED AT PI/4X2(16) RAD/SEC(2)-KG
# 2 2
# COEFFICIENTS FOR CURVE FIT OF THE FORM Z=A X +B Y +C X Y +D X +E Y +F
COEFF DEC .19518 # C COEFFICIENT OF INERTIA
DEC -.00529 # F ''
DEC -.17670 # B ''
DEC -.03709 # A ''
DEC .06974 # E ''
DEC .02569 # D ''
DEC .20096 # C COEFFICIENT OF CG
DEC .13564 # F ''
DEC .75704 # B ''
DEC -.37142 # A ''
DEC -.63117 # E ''
DEC .41179 # D ''
# ASSIGNMENT OF TEMPORARIES FOR 1/ACCS (EXCLUDING 1/ACCONT)
# MPAC, MPAC +1, MPAC +2 USED EXPLICITLY
COEFCTR EQUALS MPAC +4
MASSCTR EQUALS MPAC +5
SCRATCHX EQUALS MPAC +4 # SCRATCH AREA FOR DVOVSUB ROUTINE.
SCRATCHY EQUALS SCRATCHX +1
SCRATCHZ EQUALS SCRATCHX +2
DOCKTEMP EQUALS MPAC +3 # RECORD OF CSMDOCKED BIT OF DAPBOOLS
EPSILON EQUALS MPAC +1
-EPSILON EQUALS EPSILON
-.1875 DEC -.18750
## Page 1485
BANK 20
SETLOC DAPS3
BANK
EBANK= AOSQ
COUNT* $$/DAPAO
-1 TS INGTS # ZERO INGTS IN ASCENT
1/ACCONT CA DB # INITIALIZE DBVAL1,2,3
EXTEND
MP BIT13
TS L # 0.25 DB
AD A
TS DBVAL3 # 0.50 DB
CS DBVAL1
AD L
TS DBVAL2 # -.75 DB
GETAOSUV INHINT
CAE AOSR # COMPUTE AOSU AND AOSV BY ROTATING
TS L # AOSQ AND AOSR.
CAE AOSQ
TC IBNKCALL
CADR ROT-TOUV
DXCH AOSU
RELINT
CA DAPBOOLS
MASK DRIFTBIT # ZERO DURING ULLAGE AND POWERED FLIGHT.
CCS A # IF DRIFTING FLIGHT,
CA ONE # SET DRIFTER TO 1
TS DRIFTER # SAVE TO TEST FOR DRIFTING FLIGHT LATER
AD ALLOWGTS # NON-ZERO IF DRIFT OR GTS NEAR
CCS A
CA FLATVAL # DRIFTING FLIGHT, STORE .8 IN FLAT
TS FLATEMP # IN POWERED FLIGHT, STORE ZERO IN FLAT
EXTEND
BZF DOPAXIS # IF POWERED AND NO GTS, START P AXIS,
CCS DRIFTER # OTHERWISE SET ZONE3LIM
CA ZONE3MAX # 17.5 MS , SCALED AT 4 SECONDS.
TS Z3TEM
DOPAXIS CA 1JACC # 1JACC AT PI/4 = 2JACC AT PI/2 =
# ANET AT PI/2 = ANET/ACOAST AT 2(6).
AD BIT9 # 1 + ANET/ACOAST AT 2(6)
TS FUNTEM
CA 1JACC
## Page 1486
TC INVERT
INHINT # P AXIS DATA MUST BE CONSISTENT
TS 1/ANETP # SCALED AT 2(7)/PI.
TS 1/ANETP +1
CS BIT9 # -1 AT 2(6)
EXTEND
MP 1/ANETP # -1/ANET AT 2(13)/PI
EXTEND
DV FUNTEM # -1/(ANET + ANET**2/ACOAST) AT 2(7)/PI
TS PACCFUN
TS PACCFUN +1
CA 1/.03 # NO AOS FOR P AXIS, ACOAST = AMIN
TS 1/ACOSTP
TS 1/ACOSTP +1
RELINT
ZL
CCS DRIFTER
DXCH AOSU # ZERO AOSU,V IF IN DRIFT, JUST TO BE SURE
UAXIS CA ZERO # DO U AXIS COMPUTATIONS
TS UV # ZERO FOR U AXIS, ONE FOR V AXIS.
BOTHAXES TS SIGNAOS # CODING COMMON TO U,V AXES
INDEX UV
CCS AOSU # PICK UP ABS(AOSU OR AOSV)
AD ONE # RESTORE TO PROPER VALUE
TCF +3 # AND LEAVE SIGNAOS AT ZERO
AD ONE # NEGATIVE, RESTORE TO PROPER VALUE
INCR SIGNAOS # AND SET SIGNAOS TO ONE TO SHOW AOS NEG
TS ABSAOS # SAVE ABS(AOS)
CS SIGNAOS
TS -SIGNAOS # USED AS AN INDEX
CA DBVAL1 # SET DB1, DB2 TO DBVAL1 (= DB)
TS DBB1
TS DBB2
CA ABSAOS # TEST MAGNITUDE OF ABS(AOS)
AD -.03R/S2
EXTEND
BZMF NOTMUCH # ABS(AOS) LESS THAN AMIN
BIGAOS CCS FLATEMP # AGS(AOS) GREATER THAN AMIN
TCF SKIPDB1 # I DRIFT OR GTS, DO NOT COMPUTE DB
CA DBVAL1
INDEX -SIGNAOS
## Page 1487
ADS DBB2 # DB2(1) = 2 DB
INDEX SIGNAOS
TS DBB4 # DB4(3) = 1 DB
CA -.1875 # -.1875 PI/2 RAD/SEC(2) SCALED AT PI/2
AD ABSAOS # ABSAOS IS SCALED AT PI/2
EXTEND
BZMF +3
CS DBVAL3 # -.5 DB
TCF DBONE
CS ABSAOS
DOUBLE
DOUBLE
AD BIT14
DOUBLE # 1-8 ABSAOS. (8 IS 16/PI SCALED AT 2/PI)
EXTEND
MP DB
DBONE INDEX SIGNAOS # DB1(2)=(1-8 ABSAOS) DB. IF ABSAOS IS
TS DBB1 # GREATER THAN .1875 THEN DB1(2)=-.5 DB
CA DBVAL2
INDEX -SIGNAOS
TS DBB3 # DB3(4) = -.75 DB
SKIPDB1 CA ABSAOS # ABS(AOS) GREATER THAN AMIN, SO IT IS
EXTEND
MP BIT12
AD ABSAOS # (9/8) ABSAOS.
TC INVERT # ALL RIGHT TO DIVIDE
INDEX -SIGNAOS
TS 1/ACOSTT +1 # 1/ACOASTPOS(NEG) = 1/ABS(AOS)
CA 1/.03
INDEX SIGNAOS
TS 1/ACOSTT # 1/ACOASTNEG(POS) = 1/AMIN
CA ABSAOS
AD 1JACCU
AD 1JACCU # 2 JACC + ABS(AOS)
AD BIT9 # MAXIMUM VALUE IN COMPUTATIONS
TS A # TEST FOR OVERFLOW
TCF SKIPDB2 # NO OVERFLOW, DO NORMAL COMPUTATION
CA ABSAOS # RESCALE TO PI TO PREVENT OVERFLOW
EXTEND
MP BIT14
AD 1JACCU # 1 JACC AT PI/2 = 2JACC AT PI
TS ANET # ANETPOS(NEG) MAX SCALED AT PI =
# ANETPOS(NEG) MAX/ACOASTNEG(POS) AT 2(7)
AD BIT8 # 1 + ANETPOS/ACOASTNEG AT 2(7)
XCH ANET # SAVE IN ANET, WHILE PICKING UP ANET
TC INVERT
EXTEND
## Page 1488
MP BIT14 # SCALE 1/ANET AT 2(7)/PI
TS 1/ANET
CA ACCHERE # SET UP RETURN FROM COMPUTATION ROUTINE
TS ARET
CS BIT8 # -1 AT 2(7)
TCF DOACCFUN # FINISH ACCFUN COMPUTATION
ACCHERE TCF ACCTHERE
NOTMUCH TS L # ABS(AOS) LESS THAN AMIN, SAVE IN L
CA 1/.03 # ACOASTPOS,NEG = AMIN
TS 1/ACOSTT
TS 1/ACOSTT +1
CCS FLATEMP
TCF SKIPDB2 # DO NOT COMPUTE DB IF DRIFT OR GTS
CA .023R/S2 # .0228 RAD/SEC(2)
AD L # L=ABS(AOS)-AMIN=ABS(AOS)-.0245RAD/SEC(2)
EXTEND # RESULT IS ABS(AOS)-.0017 RAD/SEC(2)
BZMF NOAOS # ABS(AOS) LESS THAN .0017 RAD/SEC(2)
SOMEAOS CA DBVAL3 # .0017 RAD/SEC(2) LT ABS(AOS) LT AMIN
INDEX -SIGNAOS
TS DBB3 # DB3(4) = DB/2
AD A
INDEX SIGNAOS
TS DBB4 # DB4(3) = DB
TCF SKIPDB2
NOAOS CA DBVAL1
TS DBB3 # DB3,4 = DB
TS DBB4
SKIPDB2 CA ABSAOS # ANETPOS(NEG) MAX = 2 JACC + ABS(AOS)
AD 1JACCU
AD 1JACCU
TS ANET # CONNOT OVERFLOW HERE
CL1/NET+ TC DO1/NET+ # COMPUTE 1/ANET, ACCFUN
ACCTHERE INDEX -SIGNAOS
TS Z5TEM +2 # STORE ACCFUN IN TEMPORARY BUFFER
CA 1/ANET
INDEX -SIGNAOS
TS 1/ATEM2 +2 # STORE 1/ANET IN TEMPORARY BUFFER
CA ABSAOS # SEE IF OVERFLOW IN MIN CASE
AD 1JACCU
AD BIT9 # MAXIMUM POSSIBLE VALUE
## Page 1489
TS A # OVERFLOW POSSIBLE BUT REMOTE
TCF +2
CA POSMAX # IF OVERFLOW, TRUNCATE TO PI/2
AD -.03R/S2 # RESTORE TO CORRECT VALUE
TS ANET
TC DO1/NET+ # COMPUTE 1/ANET, ACCFUN
INDEX -SIGNAOS # STORE MIN VALUES JUST AS MAX VALUES
TS Z5TEM
CA 1/ANET
INDEX -SIGNAOS
TS 1/ATEM2
CS ABSAOS # NOW DO NEG(POS) CASES
AD 1JACCU
AD 1JACCU # ANETNEG(POS) MAX
TC 1/ANET- # COMPUTE 1/ANET, ACCFUN, AND ACCSW
INDEX SIGNAOS # STORE NEG(POS) VALUES JUST AS POS(NEG)
TS Z1TEM +2
TS L # SAVE IN L FOR POSSIBLE FUTURE USE
CA 1/ANET
INDEX SIGNAOS
TS 1/ATEM1 +2
CS ABSAOS
AD 1JACCU # 1/ANETNEG(POS) MIN
TS ANET
AD -.03R/S2 # TEST FOR AMIN
EXTEND # IF ANET LESS THAN AMIN, STORE MAX JET
BZMF FIXMIN # VALUES FOR MIN JETS AND SET ACCSW
TC 1/NETMIN # OTHERWISE DO MIN JET COMPUTATIONS
STMIN- INDEX SIGNAOS # STORE VALUES
TS Z1TEM
CA 1/ANET
INDEX SIGNAOS
TS 1/ATEM1
INDEX UV
CA +UMASK
MASK CH5MASK # TEST FOR +U (+V) JET FAILURES
EXTEND
BZF FAIL-
CA 1/ATEM2 # REPLACE FUNCTION VALUES DEPENDING ON THE
TS 1/ATEM2 +2 # FAILED JET PAIR WITH CORRESPONDING ONE-
CA Z5TEM # JET (OR AMIN) FUNCTION VALUES
TS Z5TEM +2
FAIL- INDEX UV
CA -UMASK
## Page 1490
MASK CH5MASK # TEST FOR -U (-V) JET FAILURES
EXTEND
BZF DBFUN
CA 1/ATEM1 # REPLACE FUNCTION VALUES DEPENDING ON THE
TS 1/ATEM1 +2 # FAILED JET PAIR WITH CORRESPONDING ONE-
CA Z1TEM # JET (OR AMIN) FUNCTION VALUES
TS Z1TEM +2
DBFUN CS DBB3 # COMPUTE AXISDIST
AD DBB1
AD FLATEMP
TS AXDSTEM
CS DBB4
AD DBB2
AD FLATEMP
TS AXDSTEM +1
INHINT
CCS UV # TEST FOR U OR V AXIS
TCF STORV # V AXIS STORE V VALUES
CA ACCSW # U AXIS STORE U VALUES
TS ACCSWU
CA NINE # TRANSFER 10 WORDS VIA GENTRAN
TC GENTRAN +1
ADRES 1/ATEM1 # TEMPORARY BUFFER
ADRES 1/ANET1 # THE REAL PLACE
RELINT
DXCH DBB1 # SAVE U DBS FOR LATER STORING
DXCH UDB1
DXCH DBB4
DXCH UDB4
DXCH AXDSTEM
DXCH UAXDIST
CA ONE # NOW DO V AXIS
TS UV
CA ZERO
TCF BOTHAXES # AND DO IT AGAIN
STORV CA ACCSW # STORE V AXIS VALUES
TS ACCSWV
CA NINE
TC GENTRAN +1
ADRES 1/ATEM1 # TEMPORARY BUFFER
## Page 1491
ADRES 1/ANET1 +16D # THE REAL PLACE
# NOW STORE DEADBANDS FOR ALL AXES
DXCH FLATEMP # FLAT AND ZONE3LIM
DXCH FLAT
CA DBVAL1 # COMPUTE P AXIS DEADBANDS
TS PDB1
TS PDB2
AD FLAT
TS PDB3
TS PDB4
CA ZERO
TS PAXDIST
TS PAXDIST +1
CCS FLAT
TCF DRFDB # DRIFT OR GTS - COMPUTE DBS
DXCH UDB1 # STORE U DEADBANDS
DXCH FIREDB # CANNOT USE GENTRAN BECAUSE OF RELINT
DXCH UDB4
DXCH COASTDB
DXCH UAXDIST
DXCH AXISDIST
DXCH DBB1 # STORE V AXIS DEADBANDS
DXCH FIREDB +16D # COULD USE GENTRAN IF DESIRED
DXCH DBB4
DXCH COASTDB +16D
DXCH AXDSTEM
DXCH AXISDIST +16D
TCF 1/ACCRET +1 # ALL DONE
DRFDB CA DBVAL1 # DRIFT DEADBANDS
TS FIREDB
TS FIREDB +1
TS FIREDB +16D
TS FIREDB +17D
AD FLAT
TS COASTDB
TS COASTDB +1
TS COASTDB +16D
TS COASTDB +17D
CA ZERO
TS AXISDIST
TS AXISDIST +1
TS AXISDIST +16D
TS AXISDIST +17D
1/ACCRET INHINT
## Page 1492
CS DAPBOOLS # SET BIT TO INDICATE DATA GOOD.
MASK ACCSOKAY
ADS DAPBOOLS
RELINT
CA ACCRETRN
TC BANKJUMP # RETURN TO CALLER
INVERT TS HOLD # ROUTINE TO INVERT -INPUT AT PI/2
CA BIT9 # 1 AT 2(6)
ZL # ZERO L FOR ACCURACY AND TO PREVENT OVFLO
EXTEND
DV HOLD
TC Q # RESULT AT 2(7)/PI
DOWNGTS CAF ZERO # ZERO SWITCHES WHEN USEQRJTS BIT IS UP
TS ALLOWGTS # OR DAP IS OFF.
TS INGTS
TCF DOCKTEST
1/ANET- ZL
LXCH ACCSW # ZERO ACCSW
TS ANET # SAVE ANET
AD -.03R/S2 # TEST FOR MIN VALUE
EXTEND
BZMF NETNEG # ANET LESS THAN AMIN, SO FAKE IT
1/NETMIN CA ANET
EXTEND
INDEX -SIGNAOS
MP 1/ACOSTT +1 # ANETNEG(POS)/ACOASTPOS(NEG) AT 2(6)
# THE FOLLOWING CODING IS VALID FOR BOTH POS OR NEG
# VALUES OF AOS
DO1/NET+ AD BIT9 # 1 + ANET/ACOAST AT 2(6)
XCH ANET # SAVE AND PICK UP ANET
EXTEND
QXCH ARET # SAVE RETURN
TC INVERT
TS 1/ANET # 1/ANET AT 2(7)/PI
CS BIT9 # -1 AT 2(6)
DOACCFUN EXTEND
MP 1/ANET # -1/ANET AT 2(13)/PI
EXTEND
DV ANET # ACCFUN AT 2(7)/PI
TC ARET # RETURN
NETNEG CS -.03R/S2 # ANET LESS THAN AMIN - SET EQUAL TO AMIN
TS ANET
TCF 1/NETMIN +1 # CONTINUE AS IF NOTHING HAPPENED
## Page 1493
FIXMIN CCS SIGNAOS
CA TWO # IF AOS NEG, ACCSW = +1
AD NEGONE # IF AOS POS, ACCSW = -1
TS ACCSW
AD UV # IF ACCSW = +1, TEST FOR +U (+V) JET FAIL
INDEX A # IF ACCSW = -1, TEST FOR -U (-V) JET FAIL
CA -UMASK +1
MASK CH5MASK
EXTEND
BZF +4
CS -.03R/S2 # JET FAILURE - CANNOT USE 2-JET VALUES
TS ANET # ANET = AMIN
TCF STMIN- -1 # CALCULATE FUNCTIONS USING AMIN
CA L # L HAS ACCFUN
TCF STMIN- # STORE MAX VALUES FOR MIN JETS
# ERASABLE ASSIGNMENTS FOR 1/ACCONT
1/ANETP EQUALS BLOCKTOP +2
1/ACOSTP EQUALS BLOCKTOP +4
PACCFUN EQUALS BLOCKTOP +8D
PDB1 EQUALS BLOCKTOP +10D
PDB2 EQUALS BLOCKTOP +11D
PDB4 EQUALS BLOCKTOP +12D
PDB3 EQUALS BLOCKTOP +13D
PAXDIST EQUALS BLOCKTOP +14D
ACCSW EQUALS VBUF # EXECUTIVE TEMPORARIES
# CANNOT DO CCS NEWJOB DURING 1/ACCS
1/ATEM1 EQUALS ACCSW +1 # TEMP BUFFER FOR U AND V AXES
1/ATEM2 EQUALS 1/ATEM1 +1
1/ACOSTT EQUALS 1/ATEM1 +4
Z1TEM EQUALS 1/ATEM1 +6
Z5TEM EQUALS 1/ATEM1 +7
UDB1 EQUALS 1/ATEM1 +10D # UAXIS DEADBAND BUFFER
UDB2 EQUALS 1/ATEM1 +11D
UDB4 EQUALS 1/ATEM1 +12D
UDB3 EQUALS 1/ATEM1 +13D
UAXDIST EQUALS 1/ATEM1 +14D
DBB1 EQUALS 1/ATEM1 +16D # TEMP DEADBAND BUFFER, ALSO V AXIS
DBB2 EQUALS 1/ATEM1 +17D
DBB4 EQUALS 1/ATEM1 +18D
DBB3 EQUALS 1/ATEM1 +19D
AXDSTEM EQUALS 1/ATEM1 +20D
FLATEMP EQUALS 1/ATEM1 +22D
Z3TEM EQUALS 1/ATEM1 +23D # MUST FOLLOW FLATEMP
## Page 1494
DBVAL1 EQUALS DB
DBVAL2 EQUALS INTB15+
DBVAL3 EQUALS INTB15+ +1
DRIFTER EQUALS INTB15+ +2
UV EQUALS MPAC
ANET EQUALS MPAC +3
FUNTEM EQUALS MPAC +3
1/ANET EQUALS MPAC +4
ARET EQUALS MPAC +5
ABSAOS EQUALS MPAC +6
SIGNAOS EQUALS MPAC +7
-SIGNAOS EQUALS MPAC +8D
HOLD EQUALS MPAC +9D
ACCRETRN EQUALS FIXLOC -1
ZONE3MAX DEC .004375 # 17.5 MS (35 MS FOR 1 JET) AT 4 SECONDS
FLATVAL DEC .01778 # .8 AT PI/4 RAD
-.03R/S2 OCT 77377 # -PI/2(7) AT PI/2
.023R/S2 OCT 00356 # .0228 RAD/SEC(2) AT PI/2
1/.03 EQUALS POSMAX # 2(7)/PI AT 2(7)/PI
PAXISADR GENADR PAXIS
# THE FOLLOWING 4 CONSTANTS ARE JET
# FAILURE MASKS AND ARE INDEXED
-UMASK OCT 00110 # -U
OCT 00022 # -V
+UMASK OCT 00204 # +U
OCT 00041 # +V
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