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This commit is contained in:
James Harris
2016-12-28 16:11:25 +00:00
parent 7c33b5996c
commit 4f3a1d4374
166 changed files with 5357 additions and 5357 deletions
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220
Comanche055/TVCDAPS.agc
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@ -11,7 +11,7 @@
# same name, using Comanche055 page images.
# 2009-05-20 RSB Corrections: Eliminated an extraneous EXTEND,
# added a missing instruction to PFORWARD.
# 2000-05-21 RSB Wrong opcode was used with DELBRTMP and
# 2000-05-21 RSB Wrong opcode was used with DELBRTMP and
# DELBRTMP +1 operands in 4 places. Corrected
# an MP operation in 2CASFLTR.
#
@ -21,13 +21,13 @@
# 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
# 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 055 of AGC program Comanche by NASA
# 2021113-051. 10:28 APR. 1, 1969
# 2021113-051. 10:28 APR. 1, 1969
#
# This AGC program shall also be referred to as
# Colossus 2A
@ -122,33 +122,33 @@
BANK
EBANK= BZERO
COUNT* $$/DAPS
# Page 963
# PITCH TVCDAP STARTS HERE....(INCOPORATES CSM/LEM DAP FILTER, MODOR DESIGN)
PITCHDAP LXCH BANKRUPT # T5 ENTRY, NORMAL OR VIA DAPINIT
EXTEND
QXCH QRUPT
CAF YAWT5 # SET UP T5 CALL FOR YAW AUTOPILOT (LOW-
TS T5LOC # ORDER PART OF 2CADR ALREADY THERE)
CAE T5TVCDT
TS TIME5
PSTROKER CCS STROKER # (STRKFLG) CHECK FOR STROKE TEST
TC HACK # TEST-START OR TEST-IN-PROGRESS
TCF +2 # NO-TEST
TC HACK # TEST-IN-PROGRESS
PCDUDOTS CAE CDUY # COMPUTE CDUYDOT (USED BY PITCH AND YAW)
XCH PCDUYPST
EXTEND
MSU PCDUYPST
TCR RLIMTEST # RATE TEST
TS MCDUYDOT # (MINUS, SC.AT 1/2TVCDT REVS/SEC)
CAE CDUZ # COMPUTE CDUZDOT (USED BY PITCH AND YAW)
XCH PCDUZPST
EXTEND
@ -156,7 +156,7 @@ PCDUDOTS CAE CDUY # COMPUTE CDUYDOT (USED BY PITCH AND YAW)
TCR RLIMTEST # RATE TEST
TS MCDUZDOT # (MINUS, SC.AT 1/2TVCDT REVS/SEC)
TCF PINTEGRL
RLIMTEST TS TTMP1 # TEST FOR EXCESSIVE CDU RATES (GREATER
EXTEND # THAN 2.33 DEG IN ONE SAMPLE PERIOD
MP 1/RTLIM
@ -166,16 +166,16 @@ RLIMTEST TS TTMP1 # TEST FOR EXCESSIVE CDU RATES (GREATER
TS TTMP1
CAE TTMP1
TC Q
PINTEGRL EXTEND # COMPUTE INTEGRAL OF BODY-AXIS PITCH-RATE
DCA PERRB # ERROR, SC.AT B-1 REVS
DXCH ERRBTMP
EXTEND
DCA OMEGAYC
DAS ERRBTMP
# Page 964
# Page 964
CS COSCDUZ # PREPARE BODY-AXIS PITCH RATE, OMEGAYB
EXTEND
MP COSCDUX
@ -184,17 +184,17 @@ PINTEGRL EXTEND # COMPUTE INTEGRAL OF BODY-AXIS PITCH-RATE
MP MCDUYDOT
DDOUBL
DXCH OMEGAYB
CS MCDUZDOT
EXTEND
MP SINCDUX
DDOUBL
DAS OMEGAYB # (COMPLETED OMEGAYB, SC.AT 1/2TVCDT REVS)
EXTEND # PICK UP -OMEGAYB (SIGN CHNG, INTEGRATE)
DCS OMEGAYB
DAS ERRBTMP
PERORLIM TCR ERRORLIM # PITCH BODY-AXIS-ERROR INPUT LIMITER
PFORWARD EXTEND # PREPARE THE FILTER STORAGE LOCATIONS
@ -206,25 +206,25 @@ PFORWARD EXTEND # PREPARE THE FILTER STORAGE LOCATIONS
EXTEND
DCA PTMP5
DXCH TMP5
TCR FWDFLTR # GO COMPUTE PRESENT OUTPUT
# (INCLUDES VARIABLE GAIN PACKAGE)
POFFSET EXTEND
DCA PDELOFF
DCA PDELOFF
DAS CMDTMP # NO SCALED AT B+0 ASCREV
PACLIM TCR ACTLIM # ROUND OFF & LIMIT PITCH ACTUATOR COMMAND
POUT CS PCMD # INCREMENTAL PITCH COMMAND
AD CMDTMP
ADS TVCPITCH # UPDATE THE ERROR COUNTER (NO RESTART-
# PROTECT. SINCE ERROR CNTR ZEROED)
CAF BIT11 # BIT FOR TVCPITCH COUNT RELEASE
EXTEND
WOR CHAN14
PPRECOMP EXTEND # PREPARE THE FILTER STORAGE FOR PITCH
# Page 965
DCA PTMP2
@ -235,9 +235,9 @@ PPRECOMP EXTEND # PREPARE THE FILTER STORAGE FOR PITCH
EXTEND
DCA PTMP6
DXCH TMP6
TCR PRECOMP # TO THE FILTER FOR PRECOMPUTATION
DELBARP CAE DELPBAR +1
EXTEND
MP E(-AT)
@ -250,7 +250,7 @@ DELBARP CAE DELPBAR +1
EXTEND
MP 1-E(-AT)
DAS DELBRTMP
PCOPYCYC TCR PCOPY # PITCH COPYCYCLE
PDAPEND TCF RESUME # PITCH DAP COMPLETED
@ -261,9 +261,9 @@ PCOPY INCR TVCPHASE # RESTART-PROTECT THE COPYCYCLE. (1)
# NOTE POSSIBLE RE-ENTRY FROM RESTART
# PACKAGE, SHOULD A RESTART OCCUR
# DURING PITCH COPYCYCLE.
EXTEND
DCA TMP1
EXTEND
DCA TMP1
DXCH PTMP1
EXTEND
DCA TMP2
@ -271,7 +271,7 @@ PCOPY INCR TVCPHASE # RESTART-PROTECT THE COPYCYCLE. (1)
EXTEND
DCA TMP3
DXCH PTMP3
EXTEND
EXTEND
DCA TMP4
DXCH PTMP4
EXTEND
@ -280,21 +280,21 @@ PCOPY INCR TVCPHASE # RESTART-PROTECT THE COPYCYCLE. (1)
EXTEND
DCA TMP6
DXCH PTMP6
PMISC EXTEND # MISC....PITCH-RATE-ERROR INTEGRATOR
DCA ERRBTMP
TS AK1 # FOR PITCH NEEDLES, SC.AT B-1 REVS
DXCH PERRB
CAE CMDTMP # PITCH ACTUATOR COMMAND
TS PCMD
EXTEND # PITCH OFFSET-TRACKER-FILTER
DCA DELBRTMP
DXCH DELPBAR
INCR TVCPHASE # PITCH COPYCYCLE COMPLETED (2)
TC Q
# Page 967
@ -303,27 +303,27 @@ PMISC EXTEND # MISC....PITCH-RATE-ERROR INTEGRATOR
YAWDAP LXCH BANKRUPT # T5 ENTRY, NORMAL
EXTEND
QXCH QRUPT
CAF PITCHT5 # SET UP T5 CALL FOR PITCH AUTOPILOT (LOW-
TS T5LOC # ORDER PART OF 2CADR ALREADY THERE)
CAE T5TVCDT
TS TIME5
YSTROKER CCS STROKER # (STRKFLG) CHECK FOR STROKE TEST
TC HACK # TEST-START OR TEST-IN-PROGRESS
TCF +2 # NO-TEST
TC HACK # TEST-IN-PROGRESS
# USE BODY RATES FROM PITCHDAP (PCDUDOTS)
YINTEGRL EXTEND # COMPUTE INTEGRAL OF BODY-AXIS YAW-RATE
DCA YERRB # ERROR, SC.AT B-1 REVS
DXCH ERRBTMP
EXTEND
DCA OMEGAZC
DAS ERRBTMP
CAE COSCDUZ # PREPARE BODY-AXIS YAW-RATE, OMEGAZB
EXTEND
MP SINCDUX
@ -332,22 +332,22 @@ YINTEGRL EXTEND # COMPUTE INTEGRAL OF BODY-AXIS YAW-RATE
MP MCDUYDOT
DDOUBL
DXCH OMEGAZB
CS MCDUZDOT
EXTEND
MP COSCDUX
DDOUBL
DAS OMEGAZB # (COMPLETED OMEGAZB, SC.AT 1/2TVCDT REVS)
EXTEND # PICK UP -OMEGAZB (SIGN CHNG, INTEGRATE)
DCS OMEGAZB
DAS ERRBTMP
YERORLIM TCR ERRORLIM # YAW BODY-AXIS-ERROR INPUT LIMITER
YFORWARD EXTEND # PREPARE THE FILTER STORAGE LOCATIONS
DCA YTMP1 # FOR THE YAW CHANNEL
# Page 968
# Page 968
DXCH TMP1
EXTEND
DCA YTMP3
@ -355,10 +355,10 @@ YFORWARD EXTEND # PREPARE THE FILTER STORAGE LOCATIONS
EXTEND
DCA YTMP5
DXCH TMP5
TCR FWDFLTR # GO COMPUTE PRESENT OUTPUT
# (INCLUDES VARIABLE GAIN PACKAGE)
YOFFSET EXTEND
DCA YDELOFF
DAS CMDTMP # NOW SCALED AT B+0 ASCREV
@ -373,7 +373,7 @@ YOUT CS YCMD # INCREMENTAL YAW COMMAND
CAF BIT12 # BIT FOR TVCYAW COUNT RELEASE
EXTEND
WOR CHAN14
YPRECOMP EXTEND # PREPARE THE FILTER STORAGE FOR YAW
DCA YTMP2
DXCH TMP2
@ -383,9 +383,9 @@ YPRECOMP EXTEND # PREPARE THE FILTER STORAGE FOR YAW
EXTEND
DCA YTMP6
DXCH TMP6
TCR PRECOMP # TO THE FILTER FOR PRECOMPUTATION
DELBARY CAE DELYBAR +1 # UPDATE YAW OFFSET-TRACKER-FILTER
EXTEND
MP E(-AT)
@ -398,7 +398,7 @@ DELBARY CAE DELYBAR +1 # UPDATE YAW OFFSET-TRACKER-FILTER
EXTEND
MP 1-E(-AT)
DAS DELBRTMP
# Page 969
YCOPYCYC TCR YCOPY # YAW COPYCYCLE
@ -411,17 +411,17 @@ YCOPY INCR TVCPHASE # RESTART-PROTECT THE COPYCYCLE. (3)
# NOTE POSSIBLE RE-ENTRY FROM RESTART
# PACKAGE, SHOULD A RESTART OCCUR
# DURING YAW COPYCYCLE.
EXTEND
DCA TMP1
EXTEND
DCA TMP1
DXCH YTMP1
EXTEND
DCA TMP2
DXCH YTMP2
EXTEND
DCA TMP3
DXCH YTMP3
EXTEND
DXCH YTMP3
EXTEND
DCA TMP4
DXCH YTMP4
EXTEND
@ -430,24 +430,24 @@ YCOPY INCR TVCPHASE # RESTART-PROTECT THE COPYCYCLE. (3)
EXTEND
DCA TMP6
DXCH YTMP6
YMISC EXTEND # MISC....YAW-RATE-ERROR INTEGRATOR
DCA ERRBTMP
TS AK2 # FOR YAW NEEDLES, SC.AT B-1 REVS
DXCH YERRB
CAE CMDTMP
CAE CMDTMP
TS YCMD
EXTEND
EXTEND
DCA DELBRTMP
DXCH DELYBAR
CAF ZERO # YAW COPYCYCLE COMPLETED
TS TVCPHASE # RESET TVCPHASE
TC Q
# Page 971
# SUBROUTINES COMMON TO BOTH PITCH AND YAW DAPS....
@ -462,14 +462,14 @@ DAPINIT LXCH BANKRUPT # T5 RUPT ENTRY (CALLED BY TVCINT4)
TS TIME5
CAF PITCHT5 # (BBCON ALREADY THERE)
TS T5LOC
CAE CDUY # READ AND STORE CDUS FOR DIFFERENTIATOR
TS PCDUYPST # PAST-VALUES
CAE CDUZ
TS PCDUZPST
TCF NOQRSM
# BODY-AXIS-ERROR INPUT LIMITER PACKAGE....
ERRORLIM CAE ERRBTMP # CHECK FOR INPUT-ERROR LIMIT
@ -482,9 +482,9 @@ ERRORLIM CAE ERRBTMP # CHECK FOR INPUT-ERROR LIMIT
TCF +2
CS ERRLIM
TS ERRBTMP # LIMIT WRITES OVER UPPER WORD ONLY
TC Q
# ACTUATOR-COMMAND LIMITER PACKAGE....
ACTLIM CAE CMDTMP +1 # ROUND UP FOR OUTPUT
@ -492,7 +492,7 @@ ACTLIM CAE CMDTMP +1 # ROUND UP FOR OUTPUT
TS L
CAF ZERO
AD CMDTMP
EXTEND # CHECK FOR ACTUATOR COMMAND LIMIT
MP 1/ACTSAT
EXTEND
@ -503,9 +503,9 @@ ACTLIM CAE CMDTMP +1 # ROUND UP FOR OUTPUT
TCF +2
CS ACTSAT
TS CMDTMP # LIMITS WRITE OVER CMDTMP
TC Q
# FILTER COMPUTATIONS FOR PRESENT OUTPUT................
FWDFLTR CAF ZERO
@ -513,7 +513,7 @@ FWDFLTR CAF ZERO
TS DAP2
TS DAP3
TS CMDTMP
TS DELBRTMP
1DAPCAS CAE ERRBTMP +1 # FIRST DAP CASCADE
@ -547,7 +547,7 @@ FWDFLTR CAF ZERO
DXCH DAP3
TCF OPTVARK
# Page 973
# Page 973
3DAPCAS CAE DAP2 +1 # THIRD DAP CASCADE
EXTEND
MP N10 +10D # N30
@ -567,14 +567,14 @@ OPTVARK CS DAP3 +1 # VARIABLE GAIN PACKAGE
EXTEND
MP VARK
DAS CMDTMP
DXCH CMDTMP # FIX UP SCALING -- SCALED B+3 ASCREVS
DDOUBL
DDOUBL
DXCH CMDTMP # -- SCALED B+1 ASCREVS
# NOTE -- THERE IS AN INHERENT GAIN OF
# (B+1 ASCREVS) ON THE OUTPUT DACS.
TC Q
# FILTER PRECOMPUTATIONS FOR NEXT PASS................
@ -582,7 +582,7 @@ OPTVARK CS DAP3 +1 # VARIABLE GAIN PACKAGE
PRECOMP CAF ZERO # **** FIRST CASCADE FILTER **********
TS TTMP1
TS TTMP2
CA ERRBTMP +1 # MULTIPLY INPUT BY
EXTEND
MP N10 +1 # N11/2
@ -591,31 +591,31 @@ PRECOMP CAF ZERO # **** FIRST CASCADE FILTER **********
EXTEND
MP N10 +1 # N11/2
DAS TTMP1
CS DAP1 +1 # MULTIPLY OUTPUT BY
EXTEND
MP N10 +3 # D11/2
TS TTMP2 +1
CS DAP1
# Page 974
EXTEND
MP N10 +3 # D11/2
DAS TTMP2
DXCH TTMP2
DAS TTMP1
DXCH TTMP1
DDOUBL
DAS TMP2
DXCH TMP2
DXCH TMP1
CAF ZERO
TS TTMP1
TS TMP2
CA ERRBTMP +1 # MULTIPLY INPUT BY
EXTEND # SECOND-ORDER NUMERATOR COEFF.
MP N10 +2 # N12
@ -624,7 +624,7 @@ PRECOMP CAF ZERO # **** FIRST CASCADE FILTER **********
EXTEND
MP N10 +2 # N12
DAS TTMP1
CS DAP1 +1 # MULTIPLY OUTPUT BY
EXTEND
MP N10 +4 # D12
@ -633,14 +633,14 @@ PRECOMP CAF ZERO # **** FIRST CASCADE FILTER **********
EXTEND
MP N10 +4 # D12
DAS TMP2
DXCH TTMP1
DAS TMP2
2CASFLTR CAF ZERO # **** SECOND CASCADE FILTER **********
TS TTMP1
TS TTMP2
CA DAP1 +1 # MULTIPLY INPUT BY
EXTEND
MP N10 +6 # N21/2
@ -648,9 +648,9 @@ PRECOMP CAF ZERO # **** FIRST CASCADE FILTER **********
CA DAP1
EXTEND
MP N10 +6 # N21/2
# Page 975
# Page 975
DAS TTMP1
CS DAP2 +1 # MULTIPLY OUTPUT BY
EXTEND
MP N10 +8D # D21/2
@ -659,20 +659,20 @@ PRECOMP CAF ZERO # **** FIRST CASCADE FILTER **********
EXTEND
MP N10 +8D # D21/2
DAS TTMP2
DXCH TTMP2
DAS TTMP1
DXCH TTMP1
DDOUBL
DAS TMP4
DXCH TMP4
DXCH TMP3
CAF ZERO
TS TTMP1
TS TMP4
CA DAP1 +1 # MULTIPLY INPUT BY
EXTEND # SECOND-ORDER NUMERATOR COEFF.
MP N10 +7 # N22
@ -681,7 +681,7 @@ PRECOMP CAF ZERO # **** FIRST CASCADE FILTER **********
EXTEND
MP N10 +7 # N22
DAS TTMP1
CS DAP2 +1 # MULTIPLY OUTPUT BY
EXTEND
MP N10 +9D # D22
@ -690,20 +690,20 @@ PRECOMP CAF ZERO # **** FIRST CASCADE FILTER **********
EXTEND
MP N10 +9D # D22
DAS TMP4
DXCH TTMP1
DAS TMP4
CAE DAPDATR1 # TEST FOR LEM ON OR OFF
MASK BIT13
CCS A
TC Q # EXIT IF LEM OFF
# Page 976
# Page 976
3CASFLTR CAF ZERO # **** THIRD CASCADE FILTER **********
TS TTMP1
TS TTMP2
CA DAP2 +1 # MULTIPLY INPUT BY (1/2)
EXTEND
MP N10 +11D # N31/2
@ -712,7 +712,7 @@ PRECOMP CAF ZERO # **** FIRST CASCADE FILTER **********
EXTEND
MP N10 +11D # N31/2
DAS TTMP1
CS DAP3 +1
EXTEND
MP N10 +13D # D31/2
@ -721,45 +721,45 @@ PRECOMP CAF ZERO # **** FIRST CASCADE FILTER **********
EXTEND
MP N10 +13D # D31/2
DAS TTMP2
DXCH TTMP2
DAS TTMP1
DXCH TTMP1
DDOUBL
DAS TMP6
DXCH TMP6
DXCH TMP5
CAF ZERO
TS TTMP1
TS TMP6
CA DAP2 +1 # MULTIPLY INPUT BY
EXTEND
EXTEND
MP N10 +12D # N32
TS TTMP1 +1
CA DAP2
EXTEND
MP N10 +12D # N32
DAS TTMP1
CS DAP3 +1
EXTEND
MP N10 +14D # D32
TS TMP6 +1
CS DAP3
EXTEND
# Page 977
# Page 977
MP N10 +14D # D32
DAS TMP6
DXCH TTMP1
DAS TMP6
TC Q
# Page 978
# Page 978
# CONSTANTS FOR AUTOPILOTS
# NOTE....1 ASCREV (ACTUATOR CMD SCALING) = 85.41 ARCSEC/BIT OR 1.07975111 REVS (85.41x16384/3600/360)