Revision 3577d0b1de1ac147c1710524517c563b2bfe231c authored by Ronald Burkey on 30 May 2021, 19:14:00 UTC, committed by GitHub on 30 May 2021, 19:14:00 UTC
Issue 1143: Fix various symbol name and other minor typos
sample-1967.lvdc
# Copyright: Public domain.
# Filename: sample-1967.lvdc
# Purpose: This is an abridged form of LVDC flight program
# AS-206RAM (1967), from which all guidance-related
# code has been removed, in order to insure that
# there are no possible ITAR restrictions against
# its export. It includes only code for mathematical
# utility functions and other generic computer
# operations, and exists for the purpose of
# demonstrating the syntax and the constructs in
# LVDC assembly language.
# Assembler: yaASM.py
# Contact: Ron Burkey <info@sandroid.org>.
# Website: www.ibiblio.org/apollo/LVDC.html
# Mod history: 2019-09-10 RSB Abridged LVDC-AS206RAM.lvdc.
#
# The original program listing from which this code was transcribed
# (and abridged) was an unreleased engineering version. It contained
# assembly-time errors that rendered it non-functional as-is, and some
# such errors have been corrected in this abridged version. Additionally,
# some modern code has been added to facilitate demonstrating operation
# of those portions of the original code that have been retained.
#
# The nature of the "demonstration" is that there is now a "workshop"
# area of the code that is used to call various utility subroutines
# that were provided by the original code, such as trigonometric
# functions and matrix operations. You can modify the workshop area
# and reassemble the code, if desired. Look for the program label
# "WRKSHP".
#
# Beyond what was mentioned above, there are several purely-visual
# ways in which this abridged transcription differs from the original
# printout:
#
# 1. Possible transcription errors in program comments.
# 2. Slight differences in columnar alignment.
# 3. Insertion of addition program comments. These are visually
# distinguished from the original comments in that modern
# comments all occupy a full line, and are marked by the
# character "#" in column 1.
# 4. In the original code, almost all lines have SEQUENCE numbers
# at the ends of lines. Those sequence numbers are not
# preserved here, but the range of sequence numbers for
# individual pages are indicated in the comments.
# What follows are allocations of variables that were spread
# out across various pages of the original program listing. The comments
# associated with these allocations have been retained as-is, and may
# refer to code that has been removed during abridgment.
DOGD 2,14,100
OPTMP1 BSS 1 ORBITAL PROCESSOR TEMPORARY STORAGE
DOGD 2,17,0
HCFDIV HPC UFDIV TO UTILITY DIVIDE ROUTINE
HCPSQR HPC UPSQRT TO UTILITY PARTIAL SQUARE ROOT ROUTINE
KMINUS OCT 400000000
KONES OCT 777777776
KPLUS OCT 200000000
KZERO DEC 0.B0 ZERO
DOGD 2,17,100
MAT
TEMP BSS 1 )
TEMP1 BSS 1 )
TEMP2 BSS 1 )
VEC
TEMP3 BSS 1 )
TEMP4 BSS 1 ) TEMPORARY STORAGE LOCATIONS THAT
TEMP5 BSS 1 ) MAY BE USED BY ANY PROGRAM THAT
VEC
TEMP6 BSS 1 ) IS NOT INITIATED BY AN
TEMP7 BSS 1 ) INTERRUPT
TEMP8 BSS 1 )
TEMP9 BSS 1 )
UTEMP1 BSS 1 )
UTEMP2 BSS 1 )
UTEMP3 BSS 1 )
VEC
UTEMP4 BSS 1 ) TEMPORARY STORAGE LOCATIONS
UTEMP5 BSS 1 ) USED BY UTILITY ROUTINES.
UTEMP6 BSS 1 )
UTEMP7 BSS 1 )
UTDIV1 BSS 1 DENOMINATOR FOR THE FIXED POINT DIVIDE
CMDATA BSS 1 CMDATA
* WORD USED TO SAVE COMPRESSED DATA WORD
* PRIOR TO COMPRESSION
DOGD 2,17,200
UTEXM BSS 1 LOCATION USED BY EXM IN SUBROUTINES
# PAGE 1, SEQUENCE 000060-000100
***************************************
* *
* AS - 206RAM LVDC FLIGHT PROGRAM *
* *
***************************************
# PAGE 2, SEQUENCE 000120-000370, TITLE "TABLE OF CONTENTS"
***********************************************************************
* *
* 1 INITIALIZATION *
* 2 ACCELEROMETER PROCESSING *
* 3 BOOST NAVIGATION *
* 4 GUIDANCE SELECT AND PRE-IGM *
* 5 IGM *
* 6 BACKUP ROUTINES *
* 7 INTERRUPT ROUTINES *
* 8 ORBITAL INITIALIZATION *
* 9 ORBITAL PROCESSOR *
* 10 ORBITAL NAVIGATION *
* 11 C-BAND TRANSPONDER ROUTINE *
* 12 ACCELERATION ROUTINES *
* 13 ORBITAL GUIDANCE *
* 14 INTERRUPT PROCESSING *
* 15 TLC *
* 16 MINOR LOOP SUPPORT *
* 17 MINOR LOOP *
* 18 DISAGREEMENT BIT PROCESSING *
* 19 SWITCH SELECTOR CHECK *
* 20 SWITCH SELECTOR PROCESSING *
* 21 FLIGHT SIMULATION *
* 22 UTILITY ROUTINES *
* *
***********************************************************************
# PAGE 3, SEQUENCE 000390-000920, TITLE "TELEMETRY DESCRIPTION"
**********************************************************************
*
****************************
* 1 3 REAL * TELEMETRY OUTPUT FROM THE LVDC AND THE
* 2 2 TIME * LVDA IS A CONFIGURATION OF FORTY BITS. OF
* 3 1 A1 REGISTER * THESE, BITS 5 THROUGH 10 AND BITS 21
* -------------------* THROUGH 40 CONTAIN TELEMETRY DATA. BITS 1,
* 10 4 P PARITY * 2, 3, 19, AND 20 CONTAIN THE CONTENTS OF
* BIT -------------------* THE REAL TIME REGISTER. IF THE TELEMETRY
* ARRAY 5 6 * IS FROM THE LVDA, THE REAL TIME REGISTER
* 6 5 * CONTAINS THE 5 LOW ORDER BITS OF THE REAL
* 7 4 * TIME CLOCK WHEN THE DATA WORD ENTERS THE
* 8 3 DATA * DOM. HOWEVER, IF THE TELEMETRY IS FROM THE
* 9 2 * LVDC, BIT 19 IS A VALIDITY BIT THAT IS
* 10 1 * ADDED TO THE TELEMETRY WORD IF THE COMPUTER
********-------------------* INFORMATION IS VALID. IT IS CONSIDERED NOT
* 11 8 NA2 * VALID IF THE TAG OR BUFFER REGISTERS ARE
* 12 1 A8 * BEING LOADED WHILE THE PCM IS SAMPLING THE
* 13 2 A9 * BUFFER REGISTER OR IF THE BUFFER REGISTER
* 14 7 A7 TAG * CONTAINS ORBITAL CHECK OUT ADDRESS INFOR-
* 10 15 6 A6 REGISTER * MATION. BITS 20, 1, AND 2 ARE THE 3 LOW
* BIT 16 5 A5 * ORDER BITS OF THE MODE REGISTER. BIT 3 IS
* ARRAY 17 4 A4 * THE A1 BIT OF THE ASSOCIATED LVDC PIO
* 18 3 A3 * TELEMETRY TAG. THE TAG REGISTER CONTENTS,
* -------------------* STORED IN BITS 11 THROUGH 18, ARE USED TO
* 19 5 VAL REAL TIME* IDENTIFY TELEMETRY DATA. THE PIO CODES AND
* 20 4 REGISTER * THE DATA WHICH EACH TELEMETERS ARE LISTED
********-------------------* BELOW. A REAL TIME REGISTER BIT IS ADDED
* 21 16 * TO THESE 8 BITS IF THE DATA IS FROM THE
* 22 15 * LVDC. THESE 9 BITS CORRESPOND TO A UNIQUE
* 23 14 * PIO CODE. THE REMAINING BIT, BIT 4, IS
* 24 13 * USED TO EFFECT ODD PARITY IN THE 40 BIT
* 10 25 12 * WORD.
* BIT 26 11 DATA *
* ARRAY 27 10 * PCM (PULSE CODE MODULATION) IS THE
* 28 9 * MAIN TELEMETRY SYSTEM USED WITH THE DATA
* 29 8 * ADAPTER. THE TELEMETRY OUTPUT IS IN THE
* 30 7 * FORM OF A 10 BIT ARRAY. THUS, FOUR 10 BIT
**************************** TELEMETRY ARRAYS ARE REQUIRED TO TRANSMIT
* 31 26 * ONE 40 BIT DATA ADAPTER WORD. THE BIT
* 32 25 * OUTPUT CONFIGURATION OF THE PCM, LVDC, AND
* 33 24 * THE BUFFER REGISTER DIFFERS AS SHOWN IN
* 34 23 * THE CHART BELOW.
* 10 35 22 *
* BIT 36 21 DATA * TELEMETRY TAG ARRAY
* ARRAY 37 20 *
* 38 19 * L *M3 *M2 *M1 A9 A8 A7 A6 A5 A4 A3 A2 A1
* 39 18 * B *M3 *M2 *M1 *A1 NA2 A7 A6 A5 A4 A3 A9 A8
* 40 17 * P *M2 *M1 *A1 NA2 A8 A9 A7 A6 A5 A4 A3 *M3
**************************** L = LVDC, B = BUFFER, P = PCM
* NA2 = NOT A2
* *XY IS NOT USED IN IDENTIFICATION OF LVDA
* TELEMETRY
************************************************************************
# PAGE 4, SEQUENCE 000940-001480, TITLE "BOOST TELEMETRY"
************************************************************************
*
* TASEC 0000 0200 0400 15 SECONDS
* TIME ELAPSED FROM GRR IN SECONDS
* CHIZ 0001 0600 1400 0 PIRADS
* YAW GUID. COMM. IN SPACE-FIX. SYS
* CHIX 0005 0604 1402 0 PIRADS
* PITCH GUID COMM. IN SPACE-FIX.SYS
* CHIY 0011 0610 1404 0 PIRADS
* ROLL GUID. COMM. IN SPACE-FIX.SYS
* ACCZ 0004 0204 0402 .05 M/SEC
* ACCX 0010 0210 0404 .05 M/SEC
* ACCY 0014 0214 0406 .05 M/SEC
* ACCELEROMETER OPTISYN READINGS
* THETZ 0015 0614 1406 0 PIRADS
* WHOLE YAW GIMBAL ANGLE
* THETX 0021 0620 1410 0 PIRADS
* WHOLE ROLL GIMBAL ANGLE
* THETY 0025 0624 1412 0 PIRADS
* WHOLE PITCH GIMBAL ANGLE
* TB 0031 0630 1414 15 SECONDS
* TIME ELAPSED IN CURRENT TIME BASE
* ZS 0034 0234 0416 23 METERS
* XS 0044 0244 0422 23 METERS
* YS 0050 0250 0424 23 METERS
* COMPONENTS OF SPACE-FIXED POS.
* 1/R 0054 0254 0426 -22 1/METERS
* RECIP. OF TOTAL SPACE-FIXED RAD.
* GZ 0060 0260 0430 4 M/SEC**2
* GX 0064 0264 0432 4 M/SEC**2
* GY 0070 0270 0434 4 M/SEC**2
* COMP. OF GRAVITATIONAL ACCEL.
* SS 0075 0674 1436
* SWITCH SELECTOR INTERRUPT
* ZDS 0110 0310 0444 14 M/SEC
* XDS 0114 0314 0446 14 M/SEC
* YDS 0120 0320 0450 14 M/SEC
* COMP. OF SPACE-FIXED VELOCITY
* V 0124 0324 0452 14 M/SEC
* TOTAL SPACE-FIXED VELOCITY
* ACCT 0174 0374 0476 25 QMS
* REAL TIME CLOCK READING IN QMS
* T1I 0400 0202 0500 10 SECONDS
* FIRST IGM PHASE TIME-TO -GO
* MC24 0415 0616 1506
* MODE CODE 24 STATUS CHANGES
*
* 1 Z ACC 0 NOMINAL 0 B FAILED 1 A FAILED 1 BOTH FAILED
* 2 Z ACC 0 A USED 1 USED A 0 USED B 1 USED (F/M)C
*
* 3 X ACC 0 NOMINAL 0 B FAILED 1 A FAILED 1 BOTH FAILED
* 4 X ACC 0 A USED 1 USED A 0 USED B 1 USED (F/M)C
*
* 5 Y ACC 0 NOMINAL 0 B FAILED 1 A FAILED 1 BOTH FAILED
* 6 Y ACC 0 A USED 1 USED A 0 USED B 1 USED (F/M)C
# PAGE 5, SEQUENCE 001490-00230
*
* 7 Z GIM 0 NOMINAL 0 3 FINE FAILURES 1 BACKUPS FAILING
* 8 Z GIM 0 NOMINAL 1 BACKUP IN USE 1 15/SEC
*
* 9 X GIM 0 NOMINAL 0 3 FINE FAILURES 1 BACKUPS FAILING
* 10 X GIM 0 NOMINAL 1 BACKUP IN USE 1 15/SEC
*
* 11 Y GIM 0 NOMINAL 0 3 FINE FAILURES 1 BACKUPS FAILING
* 12 Y GIM 0 NOMINAL 1 BACKUP IN USE 1 15/SEC
*
* 13 DGCNT 0 DGCNT NEG 0 DGCNT ZERO 1 DGCNT POS
* 14 DGCNT 0 NOMINAL 1 ONE COD BAD 1 BOTH CODS BAD
*
* 15 AFAL A COD BAD
* 16 BFAL B COD BAD
*
* 17 LADAFL 0 NOMINAL 1 PROGRAM CONTINUOUSLY SELECTS
* 18 SS FEEDBACK ERROR WITH 2 OR MORE BITS IN ERROR
*
* 21 DGMAF 0 NOMINAL 1 A COUNTER BAD
* 22 DGMBF 0 NOMINAL 1 B COUNTER BAD
*
* 23 Z ACCELEROMETER ZERO FAILURE
* 24 X ACCELEROMETER ZERO FAILURE
*
*
* MC25 0421 0622 1510
* MODE CODE 25 STATUS CHANGES
*
*
* 1 GUIDANCE REFERENCE RELEASE INTERRUPT TB0
* 2 LIFTOFF TB1
* 3 START PITCH AND ROLL
* 4 STOP ROLL
* 5 TIME BASE 2
* 6 STOP PITCH
* 7 INBOARD ENGINE CUTOFF COMMAND
* 8 TIME BASE 3
* 9 START 1ST PHASE IGM EQUATIONS
* 10 ) ENGINE MIXTURE 0 NOMINAL 1 HIGH 1 LOW
* 11 ) RATIO CHANGE 1 ACCEL 0 ACCEL 1 ACCEL
* 12 STEERING MISALIGNMENT CORRECTION
* 13 IGM CHI TILDA STEERING
* 14 IGM FREEZE
* 15 S-IVB CUTOFF COMMAND
* 16 TIME BASE 4
* 17-20 SPARES
* 21 S-I INBOARD ENGINE OUT
* 22 S-I OUTBOARD ENGINE OUT
* 23-26 SPARES
*
* DORSW 0425 0626 1512
* DISCRETE OUTPUT REGISTER CONTENTS
* DOR STATUS CHANGE=GUIDANCE FAILURE
* ICR 0431 0632 1514
# PAGE 6, SEQUENCE 002040-002580
* LVDA INTERNAL CONT. REG. CONTENTS
* ICR STATUS CHANGE- TO Z BACKUP
* COD ORDER IN DISAGREEMENT BIT
* PROCESSING, FORCE LADDERS TO
* CHANNEL A IN ML, CHANGE CHANNEL A
* TO CHANNEL B OR B TO A IN SWITCH
* SELECTOR
* Z4 0434 0236 0516 23 METERS
* X4 0444 0246 0522 23 METERS
* Y4 0450 0252 0524 23 METERS
* POSITIONS IN TARGET PLANE COORD.
* EMRR 0435 0636 1516
* ERROR MONITOR REG. CONTENTS
* EMR STATUS CHANGE = LADDER ERROR
* USING CONVERTER B OR DISAGREEMENT
* IN SELECTOR VOTER CIRCUITS
* INT 0441 0642 1520
* LLS,OBCO,TLC,S4BCO INTERRUPTS
* INT = INT + REALTIME
* INTERRUPT IDENTIFICATION CODES
* GRR = 101010100
* LLS = 202020202
* OBCO = 303030303
* S4BEO= 404040404
* TLC = 357740000
* T3I 0460 0262 0530 10 SECONDS
* TIME-TO-GO IN S4B SECOND BURN
* TLCHPC 0461 0662 1530
* TLC HOP CONSTANT
* DIS.IN 0465 0666 1532
* DISCRETE INPUTS - LO, ENG. OUT
* DI = DI + REALTIME
* LO = 101000000 ) REAL TIME IN
* EO = 000600000 ) LOWER HALF
* S4B= 404040404
* SQ3 0471 0672 1534 1
* SQRT(1-ZSP**2)
* TBBU 0475 0676 1536
* TIME BASE BACKUP
* LIFTOFF BACKUP = 101010100
* LLS BACKUP = 202020202
* OBCO BACKUP = 303030302
* S4BCO BACUP = 404040404
*
* FDBK 0500 0302 0540
* SS FEEDBACK REG.,IN EVENT OF ERR.
* ML ERROR 0570 0372 0574
* MINOR LOOP ERROR CODE
*
*
* GROUP 1 TELEMETRY COMES FROM DISAGREEMENT PROCESSING
*
*
* BIT ASSIGNMENTS FOR ERROR DATA WORD
* 1 2 - 12 13 14 15 16 - 26
# PAGE 7, SEQUENCE 002590-003130
* 1 (A COUNTER) 0 0 1 (B COUNTER) DG BIT ON IN ERROR
*
* 1 (A COUNTER) 0 0 0 (B COUNTER) THIS DATA WORD WITH 000
* ERROR TAG WILL BE PAIRED
* WITH ONE OF THE SPECIAL
* COUNTER DATA WORDS
*
* 1 (A COUNTER) 0 1 0 (B COUNTER) A COUNTER BAD ) A AND B
* 1 (A COUNTER) 0 1 1 (B COUNTER) B COUNTER BAD ) ARE THE
* 1 (A COUNTER) 1 0 0 (B COUNTER) BOTH BAD ) SPECIAL
* 1 (A COUNTER) 1 0 1 (B COUNTER) NONE BAD ) COUNTERS
*
*
* GROUP 2 TELEMETRY COMES FROM ML REASONABLENESS FAILURES
*
*
* 1 2 - 12 13 14 15 16 - 26
* BIT ASSIGNMENTS FOR ERROR DATA WORD
* 0 (OLD GIMBAL) 0 0 0 (CURRENT GIMBAL) PITCH ) GIMBAL
* 0 (OLD GIMBAL) 0 0 1 (CURRENT GIMBAL) ROLL ) FAILED ZERO
* 0 (OLD GIMBAL) 0 1 0 (CURRENT GIMBAL) YAW ) TEST
* 0 (OLD GIMBAL) 0 1 1 (CURRENT GIMBAL) PITCH ) FAILED ON
* 0 (OLD GIMBAL) 1 0 0 (CURRENT GIMBAL) ROLL ) INCREASING
* 0 (OLD GIMBAL) 1 0 1 (CURRENT GIMBAL) YAW ) DECREASING
* 0 (OLD GIMBAL) 1 1 0 (CURRENT GIMBAL) ROLL ) SWITCHED
* 0 (OLD GIMBAL) 1 1 1 (CURRENT GIMBAL) PITCH ) TO
* 0 (OLD GIMBAL) 1 1 1 (CURRENT GIMBAL) YAW ) BACKUPS
*
*
* MLCHIZ 0501 0702 1540 0 PIRADS
* MLCHIX 0505 0706 1542 0 PIRADS
* MLCHIY 0511 0712 1544 0 PIRADS
* MINOR LOOP CHI'S
* TAUD 0544 0346 0562 10 SECONDS
* TIME-TO-GO
* T(I) 0561 0762 1570 15 SECONDS
* TIME FROM GRR OF TIME BASE CHANGE
* ETC 0571 0772 1574
* END OF TELEMETRY CYCLE, 1 PER CC
* BTC 0575 0776 1576
* BEGIN TELEMETRY CYCLE, 1 PER CC
* ZDM 1020 1220 2410 14 M/SEC
* XDM 1024 1224 2412 14 M/SEC
* YDM 1030 1230 2414 14 M/SEC
* COMPONENTS OF MEASURED VELOCITY
* IGZ 1074 1274 2436 14 M/SEC
* IGX 1100 1300 2440 14 M/SEC
* IGY 1104 1304 2442 14 M/SEC
* COMP. OF GRAVITATIONAL VELOCITY
* ZDDM 1130 1330 2454 6 M/SEC**2
* XDDM 1134 1334 2456 6 M/SEC**2
* YDDM 1140 1340 2460 6 M/SEC**2
* COMP. OF MEASURED ACCELERATION
* F/M 1144 1344 2462 6 M/SEC**2
# The following should obviously read TOTAL MEASURED ACCELERATION, but
# the original printout does incorrectly say VELOCITY instead. - RSB 2019
* TOTAL MEASURED VELOCITY
# PAGE 8, SEQUENCE 003140-003680
* DCHIZ 1445 1646 3522 0 PIRADS
* DCHIX 1451 1652 3524 0 PIRADS
* DCHIY 1455 1656 3526 0 PIRADS
* CHANGE IN CHI'S PER MINOR LOOP
* ACZ1 1501 1702 3540
* ACX1 1505 1706 3542
* ACY1 1511 1712 3544
* FIRST ACCELEROMETER READ EXTRA
* RLT1 1515 1716 3546 25
* FIRST -EXTRA- ACCEL. READ
* ACZ2 1521 1722 3550
* ACX2 1525 1726 3552
* ACY2 1531 1732 3554
* SECOND ACCELEROMETER READ EXTRA
* RLT2 1535 1736 3556 25
* SECOND -EXTRA- ACCEL. READ
* (M/F)I 2150 2350 4454 -02 SEC**2/M
* RECIPROCAL OF F/M
* (M/F)S 2154 2354 4456 -02 SEC**2/M
* SMOOTHED VALUE OF (M/F)I
* TAU1 2404 2206 4502 10 SECONDS
* FIRST IGM PHASE TOTAL BURN TIME
* TAU3 2410 2212 4504 10 SECONDS
* SECOND IGM PHASE TOTAL BURN TIME
* PSI(T) 2414 2216 4506 0 PIRADS
* TOTAL RANGE ANGLE
* XV 2424 2226 4512 23 METERS
* YV 2430 2232 4514 23 METERS
* COMP. OF POSITION IN IGM COMP.SYS
* ZDV 2434 2236 4516 14 M/SEC
* XDV 2444 2246 4522 14 M/SEC
* YDV 2450 2252 4524 14 M/SEC
* COMP. OF VEL. IN IGM COMP. SYS.
* DT3IP 2454 2256 4526 10 SECONDS
* CORRECTION TO TIME-TO-GO
* DZDV 2464 2266 4532 14 M/SEC
* DXDV 2470 2272 4534 14 M/SEC
* DYDV 2474 2275 4536 14 M/SEC
* VELOCITIES TO BE GAINED
* CHITZ 2500 2302 4540 0 PIRADS
* VEL. CORRECTION IN IGM YAW, GUID.
* CHITY 2504 2306 4542 0 PIRADS
* VEL. CORRECTION IN IGM PITCH,GUID
* G0 2510 2312 4544 11
* TOTAL Y(V) DISTANCE TO BE GAINED
* N1 2514 2316 4546 0 PIRADS
* ALT. CORRECTION IN IGM YAW, GUID.
* N2 2520 2322 4550 -08 PIRADS/SEC
* IDEAL IGM YAW RATE
* N3 2530 2332 4554 0 PIRADS
* ALT. CORRECTION IN IGM PITCH
* N4 2534 2336 4556 -07 PIRADS/SEC
* IDEAL IGM PITCH RATE
* GOP 2524 2326 4552 11
* TOTAL X(V) DISTANCE TO BE GAINED
# PAGE 9, SEQUENCE 003690-004230
* CHIZP 2550 2352 0564 0 PIRADS
* YAW GUID. COMMAND IN IGM COMP SYS
* CHIYP 2554 2356 0566 0 PIRADS
* PITCH GUID. COMMAND, IGM COMP SYS
* SMCZ 2560 2362 0570 0 PIRADS
* YAW STEERING MISALIGNMENT
* SMCY 2564 2366 0572 0 PIRADS
* PITCH STEERING MISALIGNMENT
*
* CERTAIN QUANTITIES MAY BE TELEMETERED FROM THE DISCRETE OUTPUT
* MULTIPLEXOR (DOM). THE DOM HAS THE CAPACITY TO HOLD FOUR WORDS AT
* ONE TIME. WORDS ARE TELEMETERED FROM THE FIRST POSITION EACH 4.167
* MILLISECONDS IF NO LVDC TELEMETRY IS GIVEN DURING THAT TIME. OTHER
* WORDS IN THE DOM ARE THEN SHIFTED FORWARD. NEWLY PIO-ED WORDS ARE
* PLACED IN THE FIRST AVAILABLE LOCATIONS IN THE DOM. THE WORDS WHICH
* MAY ENTER THE DOM, AND THE CONDITIONS WHICH MUST EXIST BEFORE THE
* DOM IS USED, ARE GIVEN BELOW.
*
* WHEN THE MINOR LOOP INTERRUPT BIT IS SET IN THE INTERRUPT
* STORAGE REGISTER, ONLY GIMBAL ANGLE READINGS AND LADDER OUTPUTS
* ARE STORED IN THE DOM. THE GIMBAL ANGLE READINGS OCCUPY THE LEFT
* (HIGH-ORDER) HALF OF THE WORD AND THE LADDER OUTPUT IS PUT IN THE
* RIGHT HALF OF THE WORD. DURING A MINOR LOOP, THE POSSIBLE DOM WORDS
* ARE- Z GIMBAL - YAW LADDER COMMAND (ASSUMED LOST)
* Y GIMBAL - PITCH LADDER COMMAND (TIMING GUARANTEES THAT
* X GIMBAL - YAW LADDER COMMAND EACH OF THESE THREE
* Z GIMBAL - ROLL LADDER COMMAND WILL BE PUT INTO DOM)
*
* NOTICE THAT THE PIO CODES DO NOT CONVERT TO TAGS AS ABOVE.
*
* ZGIMB 223 023 144 FINE GIMBAL NO.1
* XGIMB 363 163 174 FINE GIMBAL NO.2
* YGIMB 353 153 172 FINE GIMBAL NO.3
* YAW LAD 156 TURNS ON DATA BITS 16 AND 17
* ROL LAD 152 TURNS ON DATA BIT 16, BIT 17 OFF
* PIT LAD 146 TURNS ON DATA BIT 17, BIT 16 OFF
*
* DURING EACH MINOR LOOP ONE EXTRA WORD IS PLACED ON THE DOM AFTER THE
* MINOR LOOP INTERRUPT BIT HAS BEEN RESET. THE ACCELEROMETERS ARE READ
* THREE TIMES PER MAJOR LOOP. TIMING GUARANTEES THAT AT LEAST ONE
* READING WILL ENTER THE DOM SO THE ACCELEROMETERS ARE READ IN A
* DIFFERENT ORDER DURING EACH OF THE THREE READINGS. THE OTHER WORDS
* THAT ARE PLACED ON THE DOM ARE THE INTERNAL CONTROL REGISTER, DISCRETE
* INPUT REGISTER, DISCRETE INPUT SPARES REGISTER, ERROR MONITOR REGISTER
* AND THE COD AND POWER SUPPLY WORD. THE BACKUP GIMBALS WILL ALSO BE
* PLACED ON THE DOM ONCE PER MAJOR LOOP.
* 203 BACKUP GIMBAL NO. 1 (Z)
* 303 BACKUP GIMBAL NO. 2 (X)
* 273 BACKUP GIMBAL NO. 3 (Y)
* 107 Z ACCELEROMETER
* 127 X ACCELEROMETER
* 117 Y ACCELEROMETER
* 057 DISCRETE INPUT REGISTER
* 023 ERROR MONITOR REGISTER
* 066 COD AND POWER SUPPLY WORD
# PAGE 10, SEQUENCE 004240-004260
* 053 DISCRETE INPUT SPARES
* 022 INTERNAL CONTROL REGISTER
************************************************************************
# PAGE 11, SEQUENCE 004280-004820, TITLE "ORBITAL TELEM."
************************************************************************
*
*
* **********************************
* * *
* * TELEMETERED ONCE PER SECOND *
* * *
* **********************************
*
*
*
* CHIZ 0001 0600 1400 0 PIRADS
* YAW GUID. COMM. IN SPACE-FIX. SYS
* CHIX 0005 0604 1402 0 PIRADS
* PITCH GUID COMM. IN SPACE-FIX.SYS
* CHIY 0011 0610 1404 0 PIRADS
* ROLL GUID. COMM. IN SPACE-FIX.SYS
* THETZ 0015 0614 1406 0 PIRADS
* WHOLE YAW GIMBAL ANGLE
* THETX 0021 0620 1410 0 PIRADS
* WHOLE ROLL GIMBAL ANGLE
* THETY 0025 0624 1412 0 PIRADS
* WHOLE PITCH GIMBAL ANGLE
* TLTBB 0030 0230 0414 15 SECONDS
* BIASED TIME ELAPSED IN TB
* TB 0031 0630 1414 15 SECONDS
* TIME ELAPSED IN CURRENT TIME BASE
* TBA 0074 0274 0436 15 SECONDS
* SET EQUAL TO TBB AT THE TIME OF
* A STATION GAIN OR OF A STATION
* LOSS
* TASEC 0000 0300 0440 15 SECONDS
* TIME ELAPSED FROM GRR IN SECONDS
* ZS 0134 0334 0456 23 METERS
* XS 0144 0344 0462 23 METERS
* YS 0150 0350 0464 23 METERS
* COMPONENTS OF SPACE-FIXED POS.
* TLPAST 0174 0374 0476 25 QMS
* RTC READING ASSO'D WITH TB
* MC27 0420 0222 0510
* MODE CODE 27 STATUS CHANGE
*
*
* 1 LVDC IS CONFIGURED TO THE ORBITAL NAVIGATION MODE
* 2 ORBITAL MANUEVER NO. 1 IN PROGRESS
* 3 ORBITAL MANUEVER NO. 2 IN PROGRESS
* 4 ORBITAL MANUEVER NO. 3 IN PROGRESS
* 5 ORBITAL MANUEVER NO. 4 IN PROGRESS
* 6 SPARE
* 7 ORBITAL MANUEVER NO. 5 (RETROGRADE MANUEVER) IN PROGRESS
* 8 SPARE
* 9 SECTOR DUMP IN PROGRESS INDICATION
* 10 NAVIGATION UPDATE HAS BEEN RECEIVED
* 11 INERTIAL ATTITUDE HOLD, CONTROL MODE IS IN PROGRESS
* 12 NORMAL ORBITAL PITCH RATE, CONTROL MODE IN PROGRESS
* 13 SPARE
# PAGE 12, SEQUENCE 004830-005370
* 14 TIME SEQUENCE UPDATE HAS BEEN RECEIVED
* (THIS BIT WILL BE RESET TO ZERO AT RECEIPT OF THE COMMAND MODE)
* (WORD INTERRUPT AND A ONE BIT WILL BE SET UPON THE VALIDATION)
# Yes, in the line below, the original printout did say NOMMAND. - RSB 2019
* (OF THE DATA NOMMAND WORD FOR EACH UPDATE.)
* 15 S-IVB CUTOFF COMMAND
* 16 TIME BASE 4
*
* MC28 0414 0216 0506
* MODE CODE 28 STATUS CHANGE
*
*
* 1 Z ACC 0 NOMINAL 0 A BAD 1 BOTH BAD
* 2 Z ACC 0 NOMINAL 0 B USED 1 F/MC USED
*
* 3 X ACC 0 NOMINAL 0 A BAD 1 BOTH BAD
* 4 X ACC 0 NOMINAL 0 B USED 1 F/MC USED
*
* 5 Y ACC 0 NOMINAL 0 A BAD 1 BOTH BAD
* 6 Y ACC 0 NOMINAL 0 B USED 1 F/MC USED
*
* 7 Z GIM 0 NOMINAL 0 3 FINE FAILURES 1 BACKUPS FAILING
* 8 Z GIM 0 NOMINAL 1 BACKUP IN USE 1 15/SEC
*
* 9 X GIM 0 NOMINAL 0 3 FINE FAILURES 1 BACKUPS FAILING
* 10 X GIM 0 NOMINAL 1 BACKUP IN USE 1 15/SEC
*
* 11 Y GIM 0 NOMINAL 0 3 FINE FAILURES 1 BACKUPS FAILING
* 12 Y GIM 0 NOMINAL 1 BACKUP IN USE 1 15/SEC
*
* 13 DGCNT 0 DGBIT NEG 0 DGBIT ZERO 1 DGBIT POS
* 14 DGCNT 0 NOMINAL 1 ONE COD BAD 1 BOTH CODS BAD
*
* 15 AFAL A COD BAD
* 16 BFAL B COD BAD
*
* 17 LADAFL 0 NOMINAL 1 PROGRAM CONTINUOUSLY SELECTS CONVERTER B
*
* 18 SS FEEDBACK ERROR WITH 2 OR MORE BITS IN ERROR
* 19 SELF TEST FAILURE
*
* 21 DGMAF 0 NOMINAL 1 A BAD
* 22 DGMBF 0 NOMINAL 1 B BAD
*
* Z4 0434 0236 0516 23 METERS
* X4 0444 0246 0522 23 METERS
* POSITIONS IN TARGET PLANE COORD.
* TLEMR1 0435 0636 1516
* ERROR MONITOR REG. CONTENTS
* EMR STATUS CHANGE = LADDER ERROR
* USING CONVERTER B OR DISAGREEMENT
* IN SELECTOR VOTOR CIRCUITS
* MLCHIZ 0501 0602 1500 0 PIRADS
* MLCHIX 0505 0606 1502 0 PIRADS
* MLCHIY 0511 0612 1504 0 PIRADS
* MINOR LOOP CHI'S
# PAGE 13, SEQUENCE 005380-005920
* T(I) 0561 0762 1570 15 SECONDS
* TIME FROM GRR OF TIME BASE CHANGE
* ETC 0571 0772 1574
* END OF TELEMETRY CYCLE, 1 PER CC
* BTC 0575 0776 1576
* BEGIN TELEMETRY CYCLE, 1 PER CC
*
*
* **********************************
* * *
* * TELEMETERED ONCE PER 8 SECONDS *
* * *
* **********************************
*
*
*
* ONTAS 0000 0200 0400 15 SECONDS
* TIME OF LAST ORBIT NAVIGATION
* ACCZ 0004 0204 0402 .05 M/SEC
* ACCX 0010 0210 0404 .05 M/SEC
* ACCY 0014 0214 0406 .05 M/SEC
* ACCELEROMETER OPTISYN READINGS
* ONZN 0034 0234 0416 23 METERS
* ONXN 0044 0244 0422 23 METERS
* ONYN 0050 0250 0424 23 METERS
* COMPONENTS OF S INTERIAL POSITION
* 1/R 0054 0254 0426 -22 1/METERS
* RECIP. OF TOTAL SPACE-FIXED RAD.
* GZ 0060 0260 0430 4 M/SEC**2
* GX 0064 0264 0432 4 M/SEC**2
* GY 0070 0270 0434 4 M/SEC**2
* COMP. OF GRAVITATIONAL ACCEL.
* ZDS 0110 0310 0444 14 M/SEC
* XDS 0114 0314 0446 14 M/SEC
* YDS 0120 0320 0450 14 M/SEC
* COMP. OF SPACE-FIXED VELOCITY
* V 0124 0324 0452 14 M/SEC
* TOTAL SPACE-FIXED VELOCITY
* ZDDV 0504 0306 0542 4 M/SEC**2
* XDDV 0510 0310 0544 4 M/SEC**2
* YDDV 0514 0314 0546 4 M/SEC**2
* COMPONENTS OF VENT ACCELERATION
* ZDDD 0520 0322 0550 4 M/SEC**2
* XDDD 0524 0326 0552 4 M/SEC**2
* YDDD 0530 0332 0552 4 M/SEC**2
* COMPONENTS OF DRAG ACCELERATION
* ALT 0534 0336 0556 4 METERS
* ALTITUDE
* TLEMR8 0535 0736 1556
* MINOR LOOP ERROR CODE
*
*
*
* *****************************
# PAGE 14, SEQUENCE 005930-006430
* * *
* * TELEMETERED ONLY WHEN *
* * IN VIEW OF GROUND STATION *
* * *
* *****************************
*
*
* ML ERROR 0570 0372 0574
* MINOR LOOP ERROR CODE
*
* GROUP 1 TELEMETRY COMES FROM DISAGREEMENT PROCESSING
*
* BIT ASSIGNMENTS FOR ERROR DATA WORD
* 1 2 - 12 13 14 15 16 - 26
* 1 (A COUNTER) 0 0 1 (B COUNTER) DG BIT ON IN ERROR
*
* 1 (A COUNTER) 0 0 0 (B COUNTER) THIS DATA WORD WITH 000 ERROR
* TAG WILL BE ASSOCIATED WITH
* ONE OF THE FOLLOWING WORDS
*
* 1 (A COUNTER) 0 1 0 (B COUNTER) A COUNTER BAD,SPECIAL COUNTER
* 1 (A COUNTER) 0 1 1 (B COUNTER) B COUNTER BAD,SPECIAL COUNTER
* 1 (A COUNTER) 1 0 0 (B COUNTER) A AND B BOTH BAD, SPECIAL
* COUNTERS
* 1 (A COUNTER) 1 0 1 (B COUNTER) NO COUNTERS BAD, SPECIAL
* COUNTERS
*
*
* GROUP 2 TELEMETRY COMES FROM MINOR LOOP REASONABLENESS FAILURES
*
* BIT ASSIGNMENTS FOR ERROR DATA WORD
* 1 2 - 12 13 14 15 16 - 26
* 0 (OLD GIMBAL) 0 0 0 (CURRENT GIMBAL) PITCH GIMBAL FAILED ZERO
* TEST
* 0 (OLD GIMBAL) 0 0 1 (CURRENT GIMBAL) ROLL GIMBAL FAILED ZERO
* TEST
* 0 (OLD GIMBAL) 0 1 0 (CURRENT GIMBAL) YAW GIMBAL FAILED ZERO
* TEST
* 0 (OLD GIMBAL) 0 1 1 (CURRENT GIMBAL) PITCH GIMBAL FAILED TEST
* INCREASING OR DECREASING
* 0 (OLD GIMBAL) 1 0 0 (CURRENT GIMBAL) ROLL GIMBAL FAILED TEST
* INCREASING OR DECREASING
* 0 (OLD GIMBAL) 1 0 1 (CURRENT GIMBAL) YAW GIMBAL FAILED TEST
* INCREASING OR DECREASING
* 0 (OLD GIMBAL) 1 1 0 (CURRENT GIMBAL) ROLL GIMBAL SWITCHED TO
* BACKUPS
* 0 (OLD GIMBAL) 1 1 1 (CURRENT GIMBAL) PITCH GIMBAL SWITCHED TO
* BACKUPS
* 0 (OLD GIMBAL) 1 1 1 (CURRENT GIMBAL) YAW GIMBAL SWITCHED TO
* BACKUPS
************************************************************************
# PAGE 21, SEQUENCE 009150-009670, TITLE "MACRO DEFINITIONS"
CBSTA MACRO ARG1,ARG2,ARG3
DEC ARG1
DEC ARG2
DEC ARG3
ENDMAC
INHIB MACRO
MPY KPLUS
CLA =O35774
PIO 072
CLA KZERO
PIO 032
ENDMAC
MOVE1 MACRO ARG1,ARG2
CDS ARG1
CLA ARG1
CDS ARG2
STO ARG2
ENDMAC
MOVE2 MACRO ARG1,ARG2,ARG3
CLA ARG1
STO ARG2
STO ARG3
ENDMAC
ORS MACRO ARG1,ARG2
CLA ARG1
AND ARG2
XOR ARG2
XOR ARG1
STO ARG1
ENDMAC
TELEM MACRO ARG1,ARG2,ARG3
HOP ARG1
CLA ARG2
PIO ARG3
ENDMAC
#-----------------------------------------------------------------------
# Workshop area. Stuff in between these lines is totally customizable
# for the purpose of demo'ing the this abridged LVDC program, and does
# not come from the original AS-206RAM LVDC flight program.
# The idea of this demo is to exercise the mathematical functions supplied
# originally as "utility routines". Since in this demo there is no
# ground-control system to either upload commands or to receive download
# data, we can use PIO instructions otherwise used for that purpose to
# receive inputs or to transmit outputs for the demo.
ORGDD 4,1,0,0,2,14,
WRKSHP TRA WRKSHP
# End of workshop area.
#-----------------------------------------------------------------------
# From this point to the end of the program is a portion of the "utilities"
# section of the original program listing.
ORGDD 4,3,0,0,2,14,
# PAGE 261, SEQUENCE 113100-113440, TITLE "22. UTILITY ROUTINES"
************************************************************************
* UTILITY ROUTINES *
* *
************************************************************************
************************************************************************
* *
* FUNCTION PROVIDES FOR CALCULATIONS NEEDED BY VARIOUS ROUTINES. *
* *
* ENTRIES AUATAN - ARC-TANGENT *
* AUSC - SIN-COS *
* UFDIV - FIXED POINT DIVIDE *
* UPSQRT - PARTIAL SQUARE ROOT *
* MATMPY - MATRIX MULTIPLY *
* MATTRA - MATRIX TRANSPOSE *
* UVDOT - VECTOR DOT PRODUCT *
* UVCRS - VECTOR CROSS PRODUCT *
* AULN - NATURAL LOGARITHM *
* AUDIVD - AUTOMATIC DIVIDE *
* WIPER - BSS AREA ZEROING *
* TERMIN - VARIABLE ZEROING FOR REPEATABLE MODE *
* UGCOMP - DATA COMPRESSION *
* UACOMP - DATA COMPRESSION *
* TABST - TABLE STORE *
* *
************************************************************************
# PAGE 273, SEQUENCE 116450-116980
************************************************************************
* *
* ARCTANGENT ROUTINE *
* *
************************************************************************
************************************************************************
* *
* INPUT TWO ARGUMENTS, X IN ACC AND Z IN PQ, SCALED THE SAME *
* *
* OUTPUT ARCTAN (X/Z) IN ACCUMULATOR, IN PIRADS SCALED B0 *
* *
* NOTE X CORRESPONDS TO A SIN AND Z CORRESPONDS TO A COS SINCE *
* TAN = SIN/COS *
* *
************************************************************************
AUATAN STO 777
SHR 1
STO UTEMP1 BN+1 SIN Z
TMI *+2
TRA *+2
RSU KZERO
STO UTEMP3 BN+1 ABS (SIN Z)
CLA 775 BN
SHR 1
STO UTEMP2 BN+1 COS Z
TMI *+2
TRA *+2
RSU KZERO
STO UTEMP4 BN+1 ABS (COS Z)
SUB UTEMP3 BN+1 ABS (SIN Z)
SHR 1
STO UTEMP5 BN+2 ABS (COS Z) - ABS (SIN Z)
CLA UTEMP3 BN+1 ABS (SIN Z)
ADD UTEMP4 BN+1 ABS (COS Z)
STO UTDIV1 BN+1 ABS (COS Z) + ABS (SIN Z)
CLA 777
STO UTEMP3
CLA UTEMP5
HOP HCFDIV
*
* V = (1/2)*(ABS(COS Z) - ABS(SIN Z))/(ABS(COS Z) + ABS(SIN Z))
*
STO UTEMP4 B1 V
MPH UTEMP4 B1
SHL 1
STO UTEMP5 B1 V**2
MPH =-.3730974E-2B-6 C11
ADD =.016760072B-5 C9
MPH UTEMP5 B1 V**2
ADD =-.037061733B-4 C7
MPH UTEMP5 B1 V**2
ADD =.06160680B-3 C5
# PAGE 274, SEQUENCE 116990-117220
MPH UTEMP5 B1 V**2
ADD =-.10587734B-2 C3
MPH UTEMP5 B1 V**2
ADD =.31830264B-1 C1
MPH UTEMP4 B1 V
STO UTEMP4 B0 X
*
* X = V*(C1 + V**2*(C3 + V**2*(C5 + V**2*(C7 + V**2*(C9+V**2*C11)))))
*
CLA UTEMP2 BN+1 COS Z
TMI *+4
CLA =O1 B0 1/4
SUB UTEMP4 B0 X
TRA *+3
CLA =O3 B0 3/4
ADD UTEMP4 B0 X
STO UTEMP4 B0
CLA UTEMP1 BN+1 SIN Z
TMI *+3
CLA UTEMP4
HOP UTEMP3
CLA KZERO
SUB UTEMP4
HOP UTEMP3
# PAGE 275, SEQUENCE 117240-117730
************************************************************************
* *
* SINE AND COSINE ROUTINE *
* *
************************************************************************
************************************************************************
* *
* INPUT ARGUMENT IN ACCUMULATOR, IN PIRADS SCALED B0 *
* *
* OUTPUT SINE IN ACCUMULATOR AND COSINE IN PQ, BOTH SCALED B0 *
* *
************************************************************************
AUSC STO 777
STO UTEMP1 B0 Z
TMI AUSC1
RSU KPLUS B0 1/2
STO UTEMP2 B0 1/2 - Z
TMI *+2
TRA AUSC3
ADD KPLUS B0 1/2
TRA AUSC2 AC = 1 - Z, B0
AUSC1 ADD KPLUS B0 1/2
STO UTEMP2 B0 1/2 + Z
TMI *+2
TRA AUSC3
RSU =O6 B0 - 1/2
AUSC2 STO UTEMP1 B0 - (1 + Z)
AUSC3 CLA 777
STO UTEMP3
CALL SCPOLY,UTEMP1 COMPUTE SIN
STO UTEMP1
CALL SCPOLY,UTEMP2 COMPUTE COS
STO 775
CLA UTEMP1
HOP UTEMP3
SCPOLY STO 777
STO UTEMP4 B0 ANGLE
MPH UTEMP4 B0
SHL 1
STO UTEMP5 B-1 SQUARE OF ANGLE
MPH =-.558396947B3 C7
ADD =2.54360520B2 C5
MPH UTEMP5 B-1
SHR 2
ADD =-5.16736782B3 C3
MPH UTEMP5 B-1
ADD =3.14158970B2 C1
# PAGE 276, SEQUENCE 117740-117760
MPH UTEMP4 B0
SHL 2 RESCALE TO B0
HOP 777
# PAGE 277, SEQUENCE 117780-117980
************************************************************************
* *
* FIXED POINT DIVIDE ROUTINE *
* *
************************************************************************
************************************************************************
* *
* INPUT NUMERATOR IN ACCUMULATOR, DENOMINATOR IN UTDIV1 *
* *
* OUTPUT QUOTIENT IN THE AC AND IN THE PQ AT RETURN HOP *
* *
* NOTE BY TRANSFERRING TO PARTIAL SQUARE ROOT ROUTINE *
* A 7 INSTRUCTION DELAY IS PRODUCED. *
* *
************************************************************************
UFDIV STO 777 LINKAGE
DIV UTDIV1 ISSUE DIVIDE
CLA KZERO DELAY ONE CYCLE
TRA UD1 DELAY 6 MORE CYCLES BEFORE AC # QUOTIENT
# PAGE 278, SEQUENCE 118000-118250
************************************************************************
* *
* PARTIAL SQUARE ROOT ROUTINE *
* *
************************************************************************
************************************************************************
* *
* INPUT ARGUMENT IN ACCUMULATOR, ITS PREVIOUS SQUARE ROOT VALUE *
* IN UTDIV1. ARGUMENT SCALED B%2N<, SQ RT SCALED B%N<. *
* *
* OUTPUT AC CONTAINS NEW VALUE FOR SQ RT OF ARGUMENT. *
* PQ CONTAINS HALF OF %ARGUENT<%PREVIOUS SQ RT<. *
* *
************************************************************************
UPSQRT STO 777 LINKAGE
SHR 1 DIVIDE BY 2
DIV UTDIV1 ISSUE DIVIDE
CLA UTDIV1
SHR 1 DIVIDE BY 2
UD1 EXM 2,1,0 DELAY 2 CYCLES
EXM 2,1,0 DELAY TWO CYCLES
ADD KZERO DELAY 1 CYCLE
ADD 775 RESULT OF DIVISION
HOP 777 RETURN
# PAGE 279, SEQUENCE 118270-118800
************************************************************************
* *
* MATRIX MULTIPLY ROUTINE *
* *
************************************************************************
************************************************************************
* *
* INPUT IN THE ACCUMULATOR, A DFW OF THE FORM CLA,A,MPY,B *
* WHERE A AND B ARE THE INITIAL LOCATIONS OF THE *
* MATRICES TO BE MULTIPLIED. *
* IN THE PQ, A WORD CONTAINING A DFW IN SYLLABLE 1 *
* OF THE FORM STO, C AND A COUNTER (SCALED 25) IN *
* SYLLABLE 0. C IS THE INITIAL LOCATION OF THE PRODUCT *
* MATRIX. *
* *
* OUTPUT A PRODUCT MATRIX C = AXB (NOT BXA). *
* IF COUNTER = 1, C(3X1) = A(3X3) X B(3X1). *
* IF COUNTER = 3, C(3X3) = A(3X3) X B(3X3). *
* *
* NOTES ALL MATRICES WILL BE GROUPED IN VECTOR FORM. *
* EACH COLUMN OR ROW WILL BE STORED AS A VECTOR USING *
* THE VEC PSEUDO OPERATION. IN ADDITION, THE 3 *
* VECTORS REQUIRED TO REPRESENT A 3X3 MATRIX *
* MUST BE STORED CONSECUTIVELY. *
* THE A MATRIX MUST BE STORED BY ROWS AND THE *
* B MATRIX BY COLUMNS. THE OUTPUT MATRIX WILL *
* BE STORED BY COLUMNS. *
* *
************************************************************************
MATMPY STO 777
SUB =O01 ADJUST DFW
STO UTEMP4 SAVE DFW USED TO FORM PRODUCT
CLA 775
STO UTEMP7 SAVE DFW USED TO STORE PRODUCT
AND =3
STO UTEMP5 SAVE COUNTER
CLA 777
STO UTEMP6 SAVE RETURN HOP CONSTANT
MM1 HOP MMSET
EXM 0,1,0 STORE FIRST ELEMENT
HOP MMSET
EXM 0,1,1 STORE SECOND ELEMENT
HOP MMSET
EXM 0,1,2 STORE THIRD ELEMENT
CLA UTEMP5 COUNTER = 1 OR 3 ORIGINALLY
SUB =1 DECREMENT COUNTER
TNZ *+2
HOP UTEMP6 EXIT WHEN COUNTER = 0
STO UTEMP5 SAVE COUNTER
CLA UTEMP4 )
ADD =O7500004 )RESET A ADDRESS, INCREMENT B ADDRESS
STO UTEMP4 ) IN PRODUCT DFW
# PAGE 280, SEQUENCE 118810-118890
CLA UTEMP7 )
ADD =O01 )INCREMENT A ADDRESS IN STORE DFW
STO UTEMP7 )
TRA MM1
MMSET STO 777
CLA UTEMP4 )
ADD =O01 )INCREMENT A ADDRESS IN PRODUCT DFW
STO UTEMP4 )
TRA UVDOT1 GO FORM DOT PRODUCT
# PAGE 281, SEQUENCE 118910-119370
************************************************************************
* *
* MATRIX TRANSPOSE ROUTINE *
* *
************************************************************************
************************************************************************
* *
* INPUT IN THE ACCUMULATOR, A DFW OF THE FORM STO,B,CLA,A WHERE *
* A AND B ARE THE INITIAL LOCATIONS OF THE MATRIX TO BE *
* TRANSPOSED AND OF THE MATRIX WHERE THE TRANSPOSE IS TO *
* BE STORED. *
* *
* OUTPUT TRANSPOSE OF MATRIX A *
* *
* NOTES IF A = B, THEN THE MATRIX A WILL BE TRANSPOSED AND *
* STORED IN THE MATRIX LOCATION A. *
* *
************************************************************************
MATTRA STO 777
STO UTEXM SET UP DFW FOR USE BY EXM
EXM 0,0,0 )
EXM 0,1,0 )
EXM 0,0,5 ) MOVE DIAGONAL ELEMENTS
EXM 0,1,5 )
EXM 0,0,12 )
EXM 0,1,12 )
EXM 0,0,1 )
STO UTEMP1 )
EXM 0,0,2 ) SAVE ONE SET OF OFF DIAGONAL
STO UTEMP2 ) ELEMENTS
EXM 0,0,6 )
STO UTEMP3 )
EXM 0,0,4 )
EXM 0,1,1 )
EXM 0,0,10 ) MOVE OPPOSITE ELEMENTS ACROSS
EXM 0,1,2 )
EXM 0,0,11 )
EXM 0,1,6 )
CLA UTEMP1 )
EXM 0,1,4 )
CLA UTEMP2 ) SET DIAGONAL ELEMENTS
EXM 0,1,10 )
CLA UTEMP3 )
EXM 0,1,11 )
HOP 777
# PAGE 282, SEQUENCE 119390-119790
************************************************************************
* *
* MATRIX TRANSPOSE ROUTINE *
* *
************************************************************************
************************************************************************
* *
* INPUT IN THE ACCUMULATOR, A WORD DEFINED BY THE DFW MACRO *
* OPERATION. SYLLABLE 1 OF THIS WORD MUST CONTAIN THE *
* INSTRUCTION- CLA P, WHERE P IS THE FIRST OF THREE *
* CONSECUTIVE LOCATIONS CONTAINING MULTIPLICANDS. *
* SYLLABLE 2 CONTAINS THE INSTRUCTION- MPY Q, WHERE Q IS *
* THE FIRST OF THREE CONSECUTIVELY LOCATED MULTIPLIERS. *
* *
* OUTPUT THE SUM OF PRODUCTS- P(1)*Q(1) + P(2)*Q(2) + P(3)*Q(3) *
* *
************************************************************************
UVDOT STO 777 LINKAGE
UVDOT1 STO UTEXM EXM LOCATION USED BY UTILITY ROUTINE
EXM 0,1,0 CLA A(1)
EXM 0,0,0 MPY B(1)
EXM 0,1,1 CLA A(2)
STO UTEMP1
CLA 775 FIRST PRODUCT
STO UTEMP2
CLA UTEMP1
EXM 0,0,1 MPY B(2)
EXM 0,1,2 CLA A(3)
STO UTEMP1
CLA 775 SECOND PRODUCT
STO UTEMP3
CLA UTEMP1
EXM 0,0,2 MPY B(3)
CLA UTEMP7
STO UTEXM SET UP DFW USED BY MATMPY TO STORE
CLA UTEMP2
ADD UTEMP3
ADD 775 THIRD PRODUCT
HOP 777
# PAGE 283, SEQUENCE 119810-120340
************************************************************************
* *
* VECTOR CROSS PRODUCT ROUTINE *
* *
************************************************************************
************************************************************************
* *
* INPUT IN THE ACCUMULATOR, A WORD DEFINED BY THE DFW MACRO *
* OPERATION. SYLLABLE 1 OF THIS WORD MUST CONTAIN THE *
* INSTRUCTION- CLA A, WHERE A IS THE FIRST OF THREE *
* CONSECUTIVE LOCATIONS CONTAINING THE FIRST VECTOR. *
* SYLLABLE 2 CONTAINS THE INSTRUCTION- MPY B, WHERE B IS *
* THE FIRST OF THREE CONSECUTIVE LOCATIONS CONTAINING *
* THE SECOND VECTOR. *
* *
* OUTPUT UTEMP1 CONTAINS AXB(1) = A(2)*B(3) - A(3)*B(2) *
* UTEMP2 CONTAINS AXB(2) = A(3)*B(1) - A(1)*B(2) *
* UTEMP3 CONTAINS AXB(3) = A(1)*B(2) - A(2)*B(1) *
* *
************************************************************************
UVCRS STO 777
STO UTEXM STORE INTO LOCATION FOR EXM
EXM 0,1,1 CLA A2
EXM 0,0,2 MPY B3
EXM 0,1,2 CLA A3
STO UTEMP4 A3
CLA 775
STO UTEMP1 A2*B3
CLA UTEMP4 A3
EXM 0,0,1 MPY B2
EXM 0,1,0 CLA A1 (DELAY)
CLA UTEMP1 A2*B3
SUB 775 A3*B2
STO UTEMP1 AXB(1) = A2*B3 - A3*B2
CLA UTEMP4 A3
EXM 0,0,0 MPY B1
EXM 0,1,0 CLA A1
STO UTEMP4 A1
CLA 775
STO UTEMP2 A3*B1
CLA UTEMP4 A1
EXM 0,0,2 MPY B3
EXM 0,1,0 CLA A1 (DELAY)
CLA UTEMP2 A3*B1
SUB 775 A1*B3
STO UTEMP2 AXB(2) = A3*B1 - A1*B3
CLA UTEMP4 A1
EXM 0,0,1 MPY B2
EXM 0,1,1 CLA A2
STO UTEMP4 A2
CLA 775
STO UTEMP3 A1*B2
# PAGE 284, SEQUENCE 120250-120410
CLA UTEMP4 A2
EXM 0,0,0 MPY B1
EXM 0,1,0 CLA A1 (DELAY)
CLA UTEMP3 A1*B2
SUB 775 A2*B1
STO UTEMP3 AXB(3) = A1*B2 - A2*B1
HOP 777
# PAGE 285, SEQUENCE 120430-120950
************************************************************************
* *
* NATURAL LOG *
* *
************************************************************************
************************************************************************
* *
* INPUT TWO ARGUMENTS, X IN ACC AND Z IN PQ, SCALED THE SAME *
* *
* OUTPUT LN (X/Z) IN ACCUMULATOR, SCALED B2 *
* *
************************************************************************
DOGD 2,6,
AULN STO 777 ENTER SCALED B0
STO UTEMP1
CLA 775
STO UTEMP3
RSU UTEMP1
TMI AUL5
TNZ AUL4
HOP 777
AUL4 CLA UTEMP3
DIV UTEMP1
CLA =-.69314718B2
TRA *+5
AUL5 CLA UTEMP1
DIV UTEMP3
SHL 0
TRA *+1
STO UTEMP4
EXM 2,1,0 DELAY 2 INSTRUCTIONS
CLA =-1.3862944B2 INITIALIZE L = -2LN2
STO UTEMP2
CLA 775
SHR 1 SCALE B1
STO UTEMP1
SUB =.25B1
TMI AUL1
SUB =.25B1 IS IT LESS THAN 1/2
TMI AUL2 YES
CLA UTEMP2
SUB =-.69314718B2 LET L = -LN2
STO UTEMP2
CLA UTEMP1
SHL 1
TRA AUL3
AUL1 CLA UTEMP2
ADD =-.69314718B2
STO UTEMP2
CLA UTEMP1
SHL 1
# PAGE 286, SEQUENCE 120960-121210
TRA *+2
AUL2 CLA UTEMP1
SHL 2
AUL3 SUB KPLUS SUB 1 AND SCALE B0
SHL 1
STO UTEMP1
MPH =-.01833831B2
ADD =.08556927B2
MPH UTEMP1
ADD =-.19376149B2
MPH UTEMP1
ADD =.31765005B2
MPH UTEMP1
ADD =-.49787544B2
MPH UTEMP1
ADD =.99990167B2
MPH UTEMP1
ADD UTEMP2
STO UTEMP1
CLA UTEMP4
TNZ *+3
CLA UTEMP1
HOP 777
SHL 0
SUB UTEMP1
HOP 777
# PAGE 287, SEQUENCE 121230-121760
************************************************************************
* *
* SCALED DIVIDE ROUTINE *
* *
************************************************************************
************************************************************************
* *
* INPUT NUMERATOR IN ACCUMULATOR, ITS SCALING IN TEMP *
* DENOMINATOR IN PQ, ITS SCALING IN TEMP1 *
* SCALING OF ANSWER IN TEMP2, ALL SCALINGS SCALED B25 *
* *
* OUTPUT QUOTIENT IN ACCUMULATOR *
* *
************************************************************************
AUDIVD STO 777 SAVE HOP CONSTANT FOR RETURN.
STO UTEMP1 SAVE NUMERATOR.
CLA 775
STO UTEMP2 SAVE
XOR UTEMP1
STO UTEMP3 PLUS IF SIGNS SAME, MINUS IF DIFFERENT.
CLA UTEMP1
RSU KZERO
TMI AUDV10
STO UTEMP1 IF NUMER WAS MINUS, SAVE COMPLEMENT.
AUDV10 CLA UTEMP2
RSU KZERO
TMI AUDV20
STO UTEMP2 IF DENOM WAS MINUS, SAVE COMPLEMENT.
AUDV20 CLA UTEMP2
TNZ *+2 ***
TRA AUDV85 ZERO DENOM.
SHL 1 SHIFT DENOM LEFT 1.
TMI AUDV30 TRANSFER IF SHIFTED TOO FAR.
STO UTEMP2 IF NOT YET SHIFTED TOO FAR,
CLA TEMP1
SUB =1B25 UPDATE (DECREMENT) SCALING
STO TEMP1
TRA AUDV20 AND GO SHIFT AGAIN.
AUDV30 SHR 1 IF SHIFTED TOO FAR,
AND =O377777776 REPAIR DAMAGE
STO UTEMP2 AND SAVE DESIRED DENOM.
AUDV40 CLA UTEMP1
TNZ *+2 ***
HOP 777 ***
SHL 1 SHIFT NUMBER LEFT 1.
TMI AUDV50 TRANSFER IF SHIFTED TOO FAR.
STO UTEMP1 IF NOT YET SHIFTED TOO FAR,
CLA TEMP
SUB =1B25 UPDATE (DECREMENT) SCALING
STO TEMP
TRA AUDV40 AND GO SHIFT AGAIN.
AUDV50 SHR 1 IF SHIFTED TOO FAR,
# PAGE 288, SEQUENCE 121770-122240
AND =O377777776 REPAIR DAMAGE
STO UTEMP1 AND SAVE DESIRED NUMER.
SUB UTEMP2
TMI AUDV60 TRANSFER IF NUMER LT DENOM.
CLA UTEMP1 IF NUMER GE DENOM,
SHR 1 SHIFT NUMER RIGHT 1,
STO UTEMP1 SAVE,
CLA TEMP AND UPDATE (INCREMENT) SCALING.
ADD =1B25
STO TEMP
AUDV60 CLA UTEMP1 BEGIN DIVISION N/D.
DIV UTEMP2
CLA TEMP FIND NUMER SCALING
SUB TEMP1 - DENOM SCALING
SUB TEMP2 - ANSWER SCALING.
STO UTEMP4
TMI AUDV70 TRANSFER TO SHIFT RIGHT.
TNZ AUDV80 TRANSFER TO SHIFT LEFT.
TRA AUDV90 NO SHIFT NEEDED.
AUDV70 CLA UTEMP4
ADD =1B25 UPDATE SCALING.
STO UTEMP4
TMI *+2
TNZ AUDV90 TRANSFER IF SHIFTER IS GOING PLUS.
CLA 775
SHR 1 AS LONG AS SHIFTER IS MINUS OR ZERO,
STO 775 SHIFT.
TRA AUDV70 GO TRY FOR ANOTHER RIGHT SHIFT.
AUDV80 CLA UTEMP4
SUB =1B25 UPDATE SCALING.
STO UTEMP4
TMI AUDV90 TRANSFER IF SHIFTER IS GOING PLUS.
CLA 775
SHL 1 SHIFT AS LONG AS SHIFTER IS ZERO OR MINUS.
TMI *+3 TRANSFER IF OVERFLOW.
STO 775
TRA AUDV80 GO TRY FOR ANOTEHR LEFT SHIFT.
AUDV85 CLA =O377777770 IF OVERFLOW, REPLACE WITH
STO 775 ALL BITS (LARGETS POSSIBLE NUMBER).
TRA *+1 REPLACE THIS WITH TELE. PIO **************
AUDV90 CLA UTEMP3
TMI *+2 SIGN OF ANSWER MUST BE MADE MINUS.
TRA *+4 SKIP COMPLEMENTING IF PLUS.
CLA 775
RSU KZERO
STO 775
CLA 775 ANSWER IN ACCUMULATOR.
HOP 777
# PAGE 294, SEQUENCE 124180-124490
************************************************************************
* *
* DATA COMPRESSION POSITION SUBROUTINE *
* *
************************************************************************
************************************************************************
* *
* INPUT ARGUMENT IN ACCUMULATOR *
* *
* OUTPUT ACCUMULATOR WILL CONTAIN ARGUMENT PROPERLY MASKED AND *
* POSITIONED FOR DATA COMPRESSION *
* *
************************************************************************
DOGD 2,14,
UGCOMP STO 776 SAVE RETURN HOP
AND =O777707776 MASK OUT BITS 12,13,14
STO OPTMP1
SHR 3
AND =O07777
TRA *+6
UACOMP STO 776 SAVE RETURN HOP
AND =O777717776 MASK OUT BITS 12,13
STO OPTMP1
SHR 2
AND =O17776 POSITION AND MASK OFF 1ST TWO BITS
STO 775
CLA OPTMP1
AND =O000017776
ADD 775
HOP 776
END
Computing file changes ...
