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Reorganized files to separate Luminary099 source code from Comanche055 source code

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Clifford Richardson
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# Copyright: Public domain.
# Filename: Q_R-AXIS_RCS_AUTOPILOT.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 <info@sandroid.org>.
# Website: www.ibiblio.org/apollo.
# Pages: 1442-1459
# Mod history: 2009-05-27 RSB Adapted from the corresponding
# Luminary131 file, using page
# images from Luminary 1A.
# 2009-06-07 RSB Corrected "DEC 96.0" to "DEC 96", since
# the former is not compatible with yaYUL.
#
# 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 info@sandroid.org
# 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 1442
BANK 17
SETLOC DAPS2
BANK
EBANK= CDUXD
COUNT* $$/DAPQR
CALLQERR CA BIT13 # CALCULATE Q,R ERRORS UNLESS THESE AXES
EXTEND # ARE IN MANUAL RATE COMMAND.
RAND CHAN31
CCS A
TCF +5 # IN AUTO COMPUTE Q,R ERRORS
CS DAPBOOLS # IN MANUAL RATE COMMAND?
MASK OURRCBIT
EXTEND
BZF Q,RORGTS # IF SO BYPASS CALCULATION OF ERROS.
TC QERRCALC
Q,RORGTS CCS COTROLER # CHOOSE CONTROL SYSTEM FOR THIS DAP PASS:
TCF GOTOGTS # GTS (ALTERNATES WITH RCS WHEN DOCKED)
TCF TRYGTS # GTS IF ALLOWED, OTHERWISE RCS
RCS CAF ZERO # RCS (TRYGTS MAY BRANCH TO HERE)
TS COTROLER
DXCH EDOTQ
TC ROT-TOUV
DXCH OMEGAU
# X - TRANSLATION
#
# INPUT: BITS 7,8 OF CH31 (TRANSLATION CONTROLLER)
# ULLAGER
# APSFLAG, DRIFTBIT
# ACC40R2X, ACRBTRAN
#
# OUTPUT: NEXTU, NEXTV CODES OF TRANSLATION FOR AFTER ROTATION
# SENSETYP TELL ROTATION DIRECTION AND DESIRE
#
# X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR. IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED. A FAILURE
# WILL OVERRIDE THIS SPECIFICATION. AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
SENSEGET CA BIT7 # INPUT BITS OVERRIDE THE INTERNAL BITS
EXTEND # SENSETYP WILL NOT OPPOSE ANYTRANS
RAND CHAN31
EXTEND
BZF +X0RULGE
# Page 1443
CA BIT8
EXTEND
RAND CHAN31
EXTEND
BZF -XTRANS
CA ULLAGER
MASK DAPBOOLS
CCS A
TCF +X0RULGE
TS NEXTU # STORE NULL TRANSLATION POLICIES
TS NEXTV
CS DAPBOOLS # BURNING OR DRIFTING?
MASK DRIFTBIT
EXTEND
BZF TSENSE
CA FLGWRD10 # DPS (INCLUDING DOCKED) OR APS?
MASK APSFLBIT
CCS A
CAF TWO # FAVOR +X JETS DURING AN APS BURN.
TSENSE TS SENSETYP
TCF QRCONTRL
+X0RULGE CAF ONE
-XTRANS AD FOUR
TS ROTINDEX
AD NEG3
TS SENSETYP # FAVOR APPROPRIATE JETS DURING TRANS.
CA DAPBOOLS
MASK ACC4OR2X
CCS A
TCF TRANS4
CA DAPBOOLS
MASK AORBTRAN
CCS A
CA ONE # THREE FOR B
AD TWO # TWO FOR A SYSTEM 2 JET X TRANS
TSNUMBRT TS NUMBERT
TC SELCTSUB
CCS POLYTEMP
TCF +3
TC ALARM
OCT 02002
CA 00314OCT
MASK POLYTEMP
TSNEXTS TS NEXTU
# Page 1444
CS 00314OCT
MASK POLYTEMP
TS NEXTV
# Q,R-AXES RCS CONTROL MODE SELECTION
# SWITCHES INDICATION WHEN SET
# BIT13/CHAN31 AUTO, GO TO ATTSTEER
# PULSES MINIMUM IMPULSE MODE
# (OTHERWISE) RATE COMMAND/ATTITUDE HOLD MODE
QRCONTRL CA BIT13 # CHECK MODE SELECT SWITCH.
EXTEND
RAND CHAN31 # BITS INVERTED
CCS A
TCF ATTSTEER
CHKBIT10 CAF PULSES # PULSES = 1 FOR MIN IMP USE OF RHC
MASK DAPBOOLS
EXTEND
BZF CHEKSTIK # IN ATT-HOLD/RATE-COMMAND IF BIT10=0
# MINIMUM IMPULSE MODE
INHINT
TC IBNKCALL
CADR ZATTEROR
CA ZERO
TS QERROR
TS RERROR # FOR DISPLAYS
RELINT
EXTEND
READ CHAN31
TS TEMP31 # IS EQUAL TO DAPTEMP1
CCS OLDQRMIN
TCF CHECKIN
FIREQR CA TEMP31
MASK BIT1
EXTEND
BZF +QMIN
CA TEMP31
MASK BIT2
EXTEND
BZF -QMIN
CA TEMP31
MASK BIT5
# Page 1445
EXTEND
BZF +RMIN
CA TEMP31
MASK BIT6
EXTEND
BZF -RMIN
TCF XTRANS
CHECKIN CS TEMP31
MASK OCT63
TS OLDQRMIN
TCF XTRANS
+QMIN CA 14MS
TS TJU
CS 14MS
TCF MINQR
-QMIN CS 14MS
TS TJU
CA 14MS
TCF MINQR
+RMIN CA 14MS
TCF +2
-RMIN CS 14MS
TS TJU
MINQR TS TJV
CA MINADR
TS RETJADR
CA ONE
TS OLDQRMIN
MINRTN TS AXISCTR
CA DAPBOOLS
MASK CSMDOCKD
EXTEND
BZF MIMRET
INDEX AXISCTR # IF DOCKED, USE 60MS MINIMUM IMPULSE
CCS TJU
CA 60MS
TCF +2
CS 60MS
INDEX AXISCTR
TS TJU
MIMRET CA DAPBOOLS
MASK AORBTRAN
CCS A
CA ONE
AD TWO
TS NUMBERT
# Page 1446
TCF AFTERTJ
60MS DEC 96 # RSB 2009 -- was 96.0.
MINADR GENADR MINRTN
OCT63 OCT 63
14MS = +TJMINT6
TRANS4 CA FOUR
TCF TSNUMBRT
# RATE COMMAND MODE:
#
# DESCRIPTION (SAME AS P-AXIS)
CHEKSTIK TS INGTS # NOT IN GTS WHEN IN ATT HOLD
CS ONE # 1/ACCS WILL DO THE NULLING DRIVES
TS COTROLER # COME BACK TO RCS NEXT TIME
CA BIT15
MASK CH31TEMP
EXTEND
BZF RHCACTIV # BRANCH IF OUT OF DETENT.
CA OURRCBIT # ***********
MASK DAPBOOLS # *IN DETENT* CHECK FOR MANUAL CONTROL
EXTEND # *********** LAST TIME.
BZF STILLRCS
CS BIT9
MASK RCSFLAGS
TS RCSFLAGS # BIT 9 IS 0.
TCF DAMPING
40CYCL OCT 50
1/10S OCT 1
LINRAT DEC 46
# ===========================================================
DAMPING CA ZERO
TS SAVEHAND
TS SAVEHAND +1
RHCACTIV CCS SAVEHAND # ******************
TCF +3 # Q,R MANUAL CONTROL WC = A*(B+|D|)*D
TCF +2 # ******************
TCF +1
DOUBLE # WHERE
DOUBLE #
AD LINRAT # WC = COMMANDED ROTATIONAL RATE
EXTEND # A = QUADRATIC SENSITIVITY FACTOR
MP SAVEHAND # B = LINEAR/QUADRATIC SENSITIVITY
CA L # |D| = ABS. VALUE OF DEFLECTION
EXTEND # D = HAND CONTROLLER DEFLECTION
MP STIKSENS
XCH QLAST # COMMAND Q RATE, SCALED 45 DEG/SEC
COM
# Page 1447
AD QLAST
TS DAPTEMP3
CCS SAVEHAND +1
TCF +3
TCF +2
TCF +1
DOUBLE
DOUBLE
AD LINRAT
EXTEND
MP SAVEHAND +1
CA L
EXTEND
MP STIKSENS
XCH RLAST
COM
AD RLAST
TS DAPTEMP4
CS QLAST # INTERVAL.
AD OMEGAQ
TS QRATEDIF
CS RLAST
AD OMEGAR
TS RRATEDIF
ENTERQR DXCH QRATEDIF # TRANSFORM RATES FROM Q,R TO U,V AXES
TC ROT-TOUV
DXCH URATEDIF
CCS DAPTEMP3 # CHECK IF Q COMMAND CHANGE EXCEEDS
TC +3 # BREAKOUT LEVEL. IF NOT, CHECK R.
TC +2
TC +1
AD -RATEDB
EXTEND
BZMF +2
TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
CCS DAPTEMP4 # R COMMAND BREAKOUT CHECK.
TC +3
TC +2
TC +1
AD -RATEDB
EXTEND
BZMF +2
TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
CA RCSFLAGS # BREAKOUT LEVEL NOT EXCEEDED. CHECK FOR
MASK QRBIT # DIRECT RATE CONTROL LAST TIME.
EXTEND
BZF +2
TCF ENTERUV # CONTINUE DIRECT RATE CONTROL.
TCF STILLRCS # PSEUDO-AUTO CONTROL.
CA 40CYCL
# Page 1448
TS TCQR
ENTERUV INHINT # DIRECT RATE CONTROL
TC IBNKCALL
FCADR ZATTEROR
RELINT
CA ZERO
TS DYERROR
TS DYERROR +1
TS DZERROR
TS DZERROR +1
CCS URATEDIF
TCF +3
TCF +2
TCF +1
AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
EXTEND # DIRECT RATE CONTROL.
BZMF VDB
CCS VRATEDIF
TCF +3
TCF +2
TCF +1
AD TARGETDB
EXTEND
BZMF +2
TCF QRTIME
CA ZERO
TS VRATEDIF
TCF QRTIME
VDB CCS VRATEDIF
TC +3
TC +2
TC +1
AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
EXTEND # DIRECT RATE CONTROL. IF NOT, FIRE AND
BZMF TOPSEUDO # SWITCH TO PSEUDO-AUTO CONTROL ON NEXT
CA ZERO # PASS.
TS URATEDIF
QRTIME CA TCQR # DIRECT RATE TIME CHECK.
EXTEND
BZMF +5 # BRANCH IF TIME EXCEEDS 4 SEC.
CS RCSFLAGS
MASK QRBIT
ADS RCSFLAGS # BIT 11 IS 1.
TC +4
TOPSEUDO CS QRBIT
MASK RCSFLAGS
TS RCSFLAGS # BIT 11 IS 0.
CA HANDADR
TS RETJADR
CA ONE
# Page 1449
BACKHAND TS AXISCTR
CA FOUR
TS NUMBERT
INDEX AXISCTR
INDEX SKIPU
TCF +1
CA FOUR
INDEX AXISCTR
TS SKIPU
TCF LOOPER
INDEX AXISCTR
CCS URATEDIF # INDEX AXIS QUANTITY
CA ZERO # 0 -U 1/JETACC-AOSU
TCF +2 # 1 +U 1/JETACC+AOSU
CA ONE # 16 -V 1/JETACC-AOSV
INDEX AXISCTR # 17 +V 1/JETACC+AOSV
AD AXISDIFF # JETACC = 2 JET ACCELERATION (1 FOR FAIL)
INDEX A
CS 1/ANET2 +1
EXTEND
INDEX AXISCTR # UPRATEDIF IS SCALED AT PI/4 RAD/SEC
MP URATEDIF # JET TIME IN A, SCALED 32 SEC
TS Q
DAS A
AD Q
TS A # OVERFLOW SKIP
TCF +2
CA Q # RIGHT SIGN AND BIGGER THAN 150MS
SETTIME INDEX AXISCTR
TS TJU # SCALED AT 10.67 WHICH IS CLOSE TO 10.24
TCF AFTERTJ
ZEROTJ CA ZERO
TCF SETTIME
HANDADR GENADR BACKHAND
# GTS WILL BE TRIED IF
# 1. USEQRJTS = 0,
# 2. ALLOWGTS POS,
# 3. JETS ARE OFF (Q,R-AXES)
TRYGTS CAF USEQRJTS # IS JET USE MANDATORY. (AS LONG AS
MASK DAPBOOLS # USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE.)
CCS A
TCF RCS
CCS ALLOWGTS # NO. DOES AOSTASK OK CONTROL FOR GTS?
# Page 1450
TCF +2
TCF RCS
EXTEND
READ CHAN5
CCS A
TCF CHKINGTS
GOTOGTS EXTEND
DCA GTSCADR
DTCB
CHKINGTS CCS INGTS # WAS THE TRIM GIMBAL CONTROLLING
TCF +2 # YES. SET UP A DAMPED NULLING DRIVE.
TCF RCS # NO. NULLING WAS SET UP BEFORE. DO RCS.
INHINT
TC IBNKCALL
CADR TIMEGMBL
RELINT
CAF ZERO
TS INGTS
TCF RCS
EBANK= CDUXD
GTSCADR 2CADR GTS
# Page 1451
# SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
QERRCALC CAE CDUY # Q-ERROR CALCULATION
EXTEND
MSU CDUYD # CDU ANGLE -- ANGLE DESIRED (Y-AXIS)
TS DAPTEMP1 # SAVE FOR RERRCALC
EXTEND
MP M21 # (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
TS E
CAE CDUZ # SECOND TERM CALCULATION:
EXTEND
MSU CDUZD # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
TS DAPTEMP2 # SAVE FOR RERRCALC
EXTEND
MP M22 # (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
AD DELQEROR # KALCMANU INERFACE ERROR
AD E
XCH QERROR # SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
RERRCALC CAE DAPTEMP1 # R-ERROR CALCULATION:
EXTEND # CDU ANGLE -ANGLE DESIRED (Y-AXIS)
MP M31 # (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
TS E
CAE DAPTEMP2 # SECOND TERM CALCULATION:
EXTEND # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
MP M32 # (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
AD DELREROR # KALCMANU INERFACE ERROR
AD E
XCH RERROR # SAVE R-ERROR FOR EIGHT-BALL DISPLAY.
TC Q
# Page 1452
# "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
ATTSTEER EQUALS STILLRCS # "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
STILLRCS CA RERROR
LXCH A
CA QERROR
TC ROT-TOUV
DXCH UERROR
# PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED))
# PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
TJLAW CA TJLAWADR
TS RETJADR
CA ONE
TS AXISCTR
INDEX AXISCTR
INDEX SKIPU
TCF +1
CA FOUR
INDEX AXISCTR
TS SKIPU
TCF LOOPER
INDEX AXISCTR
CA UERROR
TS E
INDEX AXISCTR
CA OMEGAU
TS EDOT
CA DAPBOOLS
MASK CSMDOCKD
CCS A
TCF +3
TC TJETLAW
TCF AFTERTJ
+3 CS DAPBOOLS # DOCKED. IF GIMBAL USABLE DO GTS CONTROL
MASK USEQRJTS # ON THE NEXT PASS.
CCS A # USEQRJTS BIT MUST NOT BE BIT 15.
TS COTROLER # GIMBAL USABLE. STORE POSITIVE VALUE.
INHINT
TC IBNKCALL
CADR SPSRCS # DETERMINE RCS CONTROL
RELINT
CAF FOUR # ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V.
TS NUMBERT # FALL THROUGH TO JET SLECTION, ETC.
# Q,R-JET-SELECTION-LOGIC
#
# INPUT: AXISCTR 0,1 FOR U,V
# SNUFFBIT ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN
# Page 1453
# TJU,TJV JET TIME SCALED 10.24 SEC.
# NUMBERT INDICATES NUMBER OF JETS AND TYPE OF POLICY
# RETJADR WHERE TO RETURN TO
#
# OUTPUT: NO.U(V)JETS RATE DERIVATION FEEDBACK
# CHANNEL 5
# SKIPU,SKIPV FOR LESS THAN 150MS FIRING
#
# NOTES: IN CASE OF FAILURE IN DESIRED ROTATION POLICY, "ALL" UNFAILED
# JETS OF THE DESIRED POLICY ARE SELECTED. SINCE THERE ARE ONLY
# TWO JETS, THIS MEANS THE OTHER ONE OR NONE. THE ALARM IS SENT
# IF NONE CAN BE FOUND.
#
# TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET
# MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
AFTERTJ CA FLAGWRD5 # IF SNUFFBIT SET DURING A DPS BURN GO TO
MASK SNUFFBIT # XTRANS; THAT IS, INHIBIT CONTROL.
EXTEND
BZF DOROTAT
CS FLGWRD10
MASK APSFLBIT
EXTEND
BZF DOROTAT
CA DAPBOOLS
MASK DRIFTBIT
EXTEND
BZF XTRANS
DOROTAT CAF TWO
TS L
INDEX AXISCTR
CCS TJU
TCF +5
TCF NOROTAT
TCF +2
TCF NOROTAT
ZL
AD ONE
TS ABSTJ
CA AXISCTR
AD L
TS ROTINDEX # 0 1 2 3 = -U -V +U +V
CA ABSTJ
AD -150MS
EXTEND
BZMF DOSKIP
# Page 1454
TC SELCTSUB
INDEX AXISCTR
CA INDEXES
TS L
CA POLYTEMP
INHINT
INDEX L
TC WRITEP
RELINT
TCF FEEDBACK
NOROTAT INDEX AXISCTR
CA INDEXES
INHINT
INDEX A
TC WRITEP -1
RELINT
LOOPER CCS AXISCTR
TC RETJADR
TCF CLOSEOUT
DOSKIP CS ABSTJ
AD +TJMINT6 # 14MS
EXTEND
BZMF NOTMIN
ADS ABSTJ
INDEX AXISCTR
CCS TJU
CA +TJMINT6
TCF +2
CS +TJMINT6
INDEX AXISCTR
TS TJU
CCS SENSETYP # ENSURE MIN-IMPULSE NOT AGAINST TRANS
TCF NOTMIN -1
EXTEND
READ LOSCALAR
MASK ONE
TS NUMBERT
NOTMIN TC SELCTSUB
INDEX AXISCTR
CA INDEXES
INHINT
# Page 1455
TS T6FURTHA +1
CA POLYTEMP
INDEX T6FURTHA +1
TC WRITEP
CA ABSTJ
TS T6FURTHA
TC JTLST # IN QR BANK BY NOW
RELINT
CA ZERO
INDEX AXISCTR
TS SKIPU
FEEDBACK CS THREE
AD NUMBERT
EXTEND
BZMF +3
CA TWO
TCF +2
CA ONE
INDEX AXISCTR
TS NO.UJETS
TCF LOOPER
XTRANS CA ZERO
TS TJU
TS TJV
CA FOUR
INHINT
XCH SKIPU
EXTEND
BZF +2
TC WRITEU -1
CA FOUR
XCH SKIPV
RELINT
EXTEND
BZF CLOSEOUT
INHINT
TC WRITEV -1
RELINT
TCF CLOSEOUT
INDEXES DEC 4
DEC 13
+TJMINT6 DEC 22
# Page 1456
-150MS DEC -240
BIT8,9 OCT 00600
SCLNORM OCT 266
TJLAWADR GENADR TJLAW +3 # RETURN ADDRESS FOR RCS ATTITUDE CONTROL
# THE JET LIST:
# THIS IS A WAITLIST FOR T6RUPTS.
#
# CALLED BY:
# CA TJ # TIME WHEN NEXT JETS WILL BE WRITTEN
# TS T6FURTHA
# CA INDEX # AXIS TO BE WRITTEN AT TJ (FROM NOW)
# TS T6FURTHA +1
# TC JTLST
#
# EXAMPLE -- U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF
# JETS INTO CHANNEL 5. IF IT DESIRES TO TURN OFF THIS POLICY WITHIN
# 150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA
# CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX
# OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO.
#
# THE LIST IS EXACTLY 3 LONG. (THIS LEADS UP TO SKIP LOGIC AND 150MS LIMIT)
# THE INPUT IS THE LAST MEMBER OF THE LIST.
#
# RETURNS BY:
# + TC Q
#
# DEFINITIONS: (OUTPUT)
# TIME6 TIME OF NEXT RUPT
# T6NEXT DELTA TIME TO NEXT RUPT
# T6FURTHA DELTA TIME FROM 2ND TO LAST RUPT
# NXT6ADR AXIS INDEX 0 -- P-AXIS
# T6NEXT +1 AXIS INDEX 4 -- U-AXIS
# T6FURTHA +1 AXIS INDEX 13 -- V-AXIS
JTLST CS T6FURTHA
AD TIME6
EXTEND
BZMF MIDORLST # TIME6 -- TI IS IN A
LXCH NXT6ADR
DXCH T6NEXT
DXCH T6FURTHA
TS TIME6
LXCH NXT6ADR
TURNON CA BIT15
EXTEND
WOR CHAN13
TC Q
# Page 1457
MIDORLST AD T6NEXT
EXTEND
BZMF LASTCHG # TIME6 + T6NEXT - T IS IN A
LXCH T6NEXT +1
DXCH T6FURTHA
EXTEND
SU TIME6
DXCH T6NEXT
TC Q
LASTCHG CS A
AD NEG0
TS T6FURTHA
TC Q
# ROT-TOUV IS ENTERED WITH THE Q-COMPONENT OF THE QUANTITY TO BE TRANSFORMED IN A AND THE R-COMPONENT IN L.
# ROT-TOUV TRANSFORMS THE QUANTITY INTO THE NON-ORTHOGONAL U-V AXIS SYSTEM. IN THE U-V SYSTEM NO CROSS-COUPLING IS
# PRODUCED FROM RCS JET FIRINGS. AT THE COMPLETION OF ROT-TOUV, THE U-COMPONENT OF THE TRANSFORMED QUANTITY IS IN
# A AND THE V-COMPONENT IS IN L.
ROT-TOUV LXCH ROTEMP2 # (R) IS PUT INTO ROTEMP2
EXTEND
MP COEFFQ
XCH ROTEMP2 # (R) GOES TO A AND COEFFQ.(Q) TO ROTEMP2
EXTEND
MP COEFFR
TS L # COEFFR.(R) IS PUT INTO L
AD ROTEMP2
TS ROTEMP1 # COEFFQ.(Q)+COEFFR.(R) IS PUT IN ROTEMP1
TCF +4
INDEX A # COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
TS ROTEMP1
CS ROTEMP2
AD L # -COEFFQ.(Q) + COEFFR.(R) IS NOW IN A
TS 7
TCF +3
INDEX A # -COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
LXCH ROTEMP1 # COEFFQ.(Q) + COEFFR.(R) IS PUT INTO L
TC Q
SELCTSUB INDEX ROTINDEX
CA ALLJETS
INDEX NUMBERT
MASK TYPEPOLY
TS POLYTEMP
# Page 1458
MASK CH5MASK
CCS A
TCF +2
TC Q
CA THREE
FAILOOP TS NUMBERT
INDEX ROTINDEX
CA ALLJETS
INDEX NUMBERT
MASK TYPEPOLY
TS POLYTEMP
MASK CH5MASK
EXTEND
BZF FAILOOP -2
CCS NUMBERT
TCF FAILOOP
INDEX AXISCTR
TS TJU
TC ALARM
OCT 02004
TCF NOROTAT
ALLJETS OCT 00110 # -U 6 13
OCT 00022 # -V 2 9
OCT 00204 # +U 5 14
OCT 00041 # +V 1 10
TYPEPOLY OCT 00125 # -X 1 5 9 13
OCT 00252 # +X 2 6 10 14
OCT 00146 # A 2 5 10 13
OCT 00231 # B 1 6 9 14
OCT 00377 # ALL 1 2 5 6 9 10 13 14
# THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
CLOSEOUT CA ADRRUPT
TC MAKERUPT
ADRRUPT ADRES ENDJASK
ENDJASK DXCH DAPARUPT
DXCH ARUPT
DXCH DAPBQRPT
XCH BRUPT
LXCH Q
CAF NEGMAX # NEGATIVE DAPZRUPT SIGNALS JASK IS OVER.
DXCH DAPZRUPT
DXCH ZRUPT
TCF NOQRSM
# Page 1459
BLOCK 3
SETLOC FFTAG6
BANK
COUNT* $$/DAP
MAKERUPT EXTEND
EDRUPT MAKERUPT