forked from chrislgarry/Apollo-11
-
Notifications
You must be signed in to change notification settings - Fork 3
/
AOSTASK_AND_AOSJOB.s
1069 lines (934 loc) · 28 KB
/
AOSTASK_AND_AOSJOB.s
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
# Copyright: Public domain.
# Filename: AOSTASK_AND_AOSJOB.agc
# Purpose: Part of the source code for Luminary 1A build 099.
# It is part of the source code for the Lunar Module's (LM)
# Apollo Guidance Computer (AGC), for Apollo 11.
# Assembler: yaYUL
# Contact: Ron Burkey <[email protected]>.
# Website: www.ibiblio.org/apollo.
# Pages: 1485-1506
# Mod history: 2009-05-27 RSB Adapted from the corresponding
# Luminary131 file, using page
# images from Luminary 1A.
# 2009-06-05 RSB Corrected a memory-bank error type.
# 2009-06-07 RSB Corrected a typo.
#
# This source code has been transcribed or otherwise adapted from
# digitized images of a hardcopy from the MIT Museum. The digitization
# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
# the Museum. Many thanks to both. The images (with suitable reduction
# in storage size and consequent reduction in image quality as well) are
# available online at www.ibiblio.org/apollo. If for some reason you
# find that the images are illegible, contact me at [email protected]
# about getting access to the (much) higher-quality images which Paul
# actually created.
#
# Notations on the hardcopy document read, in part:
#
# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
# 16:27 JULY 14, 1969
# Page 1485
# 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 (FLAGWRDB, BIT8), AND CH5MASK.
#
# 1/ACCS COMPUTES THE JET ACCELERATIONS (1JACC, 1JACCQ, 1JACCR) AS FUNCTIONS OF MASS. 1JACCU AND 1JACCV ARE
# FORMED BY RESOLVING 1JACCQ AND 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.
#
# SUBROUTINES CALLED:
# TIMEGMBL
# MAKECADR
# ROT45DEG
#
# CALLING SEQUENCE:
# TC BANKCALL # (1/ACCS MUST BE CALLED BY BANKCALL)
# CADR 1/ACCS
#
# NORMAL EXIT: VIA BANKJUMP
#
# ALARM AND 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 1486
BANK 20
SETLOC DAPS3
BANK
COUNT* $$/DAPAO
EBANK= AOSQ
# ENTRY IS THROUGH 1/ACCJOB OR 1/ACCSIT 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
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 THE CSM DOCKED
MASK CSMDOCKD
TS DOCKTEMP # STORE RECORD OF STATE IN TEMP (MPAC +3).
CCS A
CS CSMMASS # DOCKED: LEMMAS = 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/2-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
CAE FLGWRD10 # DETERMINE WHETHER STAGED.
MASK APSFLBIT
EXTEND
BZF DPSFLITE
# Page 1487
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 SEPARATE 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.
STCTR1 CAE LEMMASS
INDEX MPAC
AD INERCONC
TS MPAC +2 # MASS + C
# Page 1488
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 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
AD -EPSMAX
EXTEND
BZMF GOODEPS2
CA -EPSMAX
TS -EPSILON # EPSILON IS LIMITED TO A MAX. OF .42265
# Page 1489
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
TS 1JACCV # 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
# IMPLEMENTED IN BOTH THE Y-X PLANE AND THE Z-X PLANE IS -- D(ALPHA)/DT = TL/I*D(DELTA)/DT, WEHRE
# T = ENGINE THRUST FORCE
# L = PIVIT 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
# THAT IS UNCONVERTED. 2.20462 CONVERTS KG. TO LB. NOW T IN IN A SCALED AT 2(14).
EXTEND
MP L,PVT-CG # SCALED AT 8 FEET.
# Page 1490
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 GIMBAL
TS MPAC +1 # 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
STACCDOT INDEX MPAC
TS QACCDOT # STORE Q(R)ACCDOT.
CCS MPAC
TCF LOOP3 -1 # NOW DO QACCDOT.
# Page 1491
CS DAPBOOLS # IS GIMBAL USABLE?
MASK USEQRJTS
EXTEND
BZF DOWNGTS # NO. BE SURE THE GIMBAL SWITCHES ARE DOWN
CS T5ADR # YES. IS THE DAP RUNNINT?
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 1492
# 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
# RESULT 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 # DIVIDENT.
BZMF GOODNEG # GET -ABS(DIVIDEND)
# Page 1493
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 1494
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
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 1495
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 1496
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 1497
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 ASOU 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 LIGHT,
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 1498
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 1499
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(NET) = 1/ABS(AOS)
CA 1/.03
INDEX SIGNAOS
TS 1/ACOSTT # 1/ACOASTNEG(POS) = 1/AIN
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 1500
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 .0125RS # AMIN/2
AD L # L HAS ABS(AOS) - AMIN
EXTEND # RESULT IS ABS(AOS)- AMIN/2
BZMF NOAOS # ABS(AOS) LESS THAN AMIN/2
SOMEAOS CA DBVAL3 # AMIN/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 # CANNOT 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
# Page 1501
AD BIT9 # MAXIMUM POSSIBLE VALUE
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
# Page 1502
CA -UMASK
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
# Page 1503
ADRES 1/ATEM1 # TEMPORARY BUFFER
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
# Page 1504
1/ACCRET INHINT
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
# Page 1505
TCF 1/NETMIN +1 # CONTINUE AS IF NOTHING HAPPENED.
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