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Merge pull request #756 from zpeters/649-TRIM_GIMBAL_CNTROL_SYSTEM

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Proof TRIM_GIMBAL_CNTROL_SYSTEM #649
This commit is contained in:
Chris Garry
2020-10-13 12:19:36 +09:00
committed by GitHub
parent ba010944a2 cf78550425
commit 5c10b6e1a6
1 changed files with 40 additions and 45 deletions
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33
Luminary099/TRIM_GIMBAL_CNTROL_SYSTEM.agc → Luminary099/TRIM_GIMBAL_CONTROL_SYSTEM.agc
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@@ -65,7 +65,7 @@ GTS CAF NEGONE # MAKE THE NEXT PASS THROUGH THE DAP BE
AD A # FOR THE RIGHT SHIFT DUE TO EDITING.
TS SAVESR
GTSGO+DN CAF TWO # SET INDEXER FOR R-AXIS CALCULATIONS.
GTSGO+ON CAF TWO # SET INDEXER FOR R-AXIS CALCULATIONS.
TCF GOQTRIMG +1
GOQTRIMG CAF ZERO # SET INDEXER FOR Q-AXIS CALCULATIONS
@@ -133,7 +133,7 @@ ALGORTHM EXTEND # Q(R)DIFF IS THETA (ERROR) SCALED AT PI.
EXTEND
# Page 1474
DV KCENTRAL
XCH A2CNTRAL +1 # QUOTIENT STORED AT 16*PI, D.P.
XCH A2CNTRAL +1 # QUOTIENT STORED AT 16*PI , D.P.
TCF HAVEQUOT
HUGEQUOT CA POSMAX
@@ -191,7 +191,7 @@ NEGFNCT2 EXTEND
FUNCT2 EXTEND
DCA A2CNTRAL
DAS K2CNTRAL # DEL*OMEGA + ALPHA(2)/(2*K) AT 16*PI, D.P.
DAS K2CNTRAL # DEL*OMEGA + ALPHA(2)/(2*K) AT 16*PI,D.P.
FUNCT3 CA A2CNTRAL
EXTEND
@@ -308,14 +308,14 @@ ACDT+C12 CS NEGUQ
#
# INPUTS: AOSQ,AOSR, SCALED AT P1/2, AND ACCDOTQ, ACCDOTR AT PI/2(7). PI/2(7).
#
# OUTPUTS: NEW GIMBAL DRIVE BITS IN CHANNEL 12, NEGUQ, NEGUR, QACCDOT, AND RACCDOT, THE LAST SCALED AT PI/2(7).
# Q(R)GIMTIMR WILL BE SET TO TIME AND TERMINATE GIMBAL DRIVE(S).
# OUTPUTS: NEW GIMBAL DRIVE BITS IN CHANNEL 12,NEGUQ,NEGUR,QACCDOT AND RACCDOT, THE LAST SCALED AT PI/2(7).
# Q(R)GIMTIMR WILL BE SET TO TIME AND TERMINATE GIMBAL DRIVE(S)
#
# DEBRIS: A, L, Q, ITEMPS 2, 3, 6, AND RUPTREG2 AND ACDT+C12 DEBRIS.
# DEBRIS: A,L,Q, ITEMPS 2,3,6, RUPTREG2 AND ACDT+C12 DEBRIS.
#
# EXITS: VIA TC Q.
#
# ALARMS, ABORTS: NONE.
# ALARMS, ABORTS, : NONE
#
# SUBROUTINES: ACDT+C12, IBNKCALL
#
@@ -440,8 +440,8 @@ OCT00240 OCTAL 00240 # DECIMAL 10/1024
# SQUARE ROOT OF THE FOURTEEN MOST SIGNIFICANT BITS OF THE ARGUMENT. ALSO, THE CELL SHFTFLAG CONTAINS A BINARY
# EXPONENT S, SUCH THAT THE SQUARE ROOT (RETURNED IN THE A REGISTER) MUST BE SHIFTED RIGHT (MULTIPLIED BY 2 TO THE
# POWER (-S)) IN ORDER TO BE THE TRUE SQUARE ROOT OF THE FOURTEEN MOST SIGNIFICANT BITS OF FUNCTION, FUNCTION +1.
# SQUARE ROOT ERROR IS NOT MORE THAN 2 IN THE 14TH SIGNIFICANT BIT. CELLS CLOBBERED ARE A, L, SHFTFLAG, ININDEX,
# HALFARG, SCRATCH, SR, FUNCTION, FUNCTION +1. GTSQRT IS CALLED BY TC GTSQRT AND RETURNS VIA TC Q OR TC FUNCTION +1.
# SQUARE ROOT ERROR IS NOT MORE THAN 2 IN THE 14TH SIGNIFICANT BIT. CELLS CLOBBERED ARE A,L,SHFTFLAG.ININDEX,
# HALFARG,SCRATCH,SR,FUNCTION, FUNCTION +1. GTSQRT IS CALLED BY TC GTSQRT AND RETURNS VIA TC Q OR TC FUNCTION +1.
# ZERO OR NEGATIVE ARGUMENTS YIELD ZERO FOR SQUARE ROOTS.
GTSQRT CCS FUNCTION
@@ -506,7 +506,6 @@ SCALDONE EXTEND
TC ROOTCYCL
TC ROOTCYCL
TC FUNCTION +1
# ***************************************************************************
RSTOFGTS TC GTSQRT
@@ -547,7 +546,7 @@ DOSHIFT CA ININDEX
ADDITIN EXTEND
DCA K2CNTRAL
DAS K2THETA # NO ADD IN THE K2THETA TERM.
DAS K2THETA # NOW ADD IN THE K2THETA TERM.
NEGUSUM CCS K2THETA # TEST SIGN OF HIGH ORDER PART.
TCF NEGDRIVE
TCF +2
@@ -598,16 +597,14 @@ CLOSEADR 2CADR CLOSEOUT # TERMINATE THE JASK.
TWELVE EQUALS OCT14
ROOTHALF OCTAL 26501 # SQUARE ROOT OF 1/2
GMBLBITA OCTAL 01400 # INDEXED WRT GMBLBITB DO NOT MOVE *******
OCT11276 OCTAL 11276 # POSMAX -- ROOTHALF
OCT11276 OCTAL 11276 # POSMAX - ROOTHALF
GMBLBITB OCTAL 06000 # INDEXED WRT GMBLBITA DO NOT MOVE *******
# SUBROUTINE ROOTCYCL: BY CRAIG WORK, 3 APRIL 68
#
# ROOTCYCL IS A SUBROUTINE WHICH EXECUTES ONE NEWTON SQUARE ALGORITHM ITERATION. THE INITIAL GUESS AT THE
# SQUARE ROOT IS PRESUMED TO BE IN THE A REGISTER AND ONE-HALF THE SQUARE IS TAKEN FROM HALFARG. THE NEW APPROXIMATION
# TO THE SQUARE ROOT IS RETURNED IN THE A REGISTER. DEBRIS: A, L, SR, SCRATCH. ROOTCYCL IS CALLED FROM
# ROOTCYCL IS A SUBROUTINE WHICH EXECUTES ONE NEWTON SQUARE ROOT ALGORITHM ITERATION. THE INITIAL GUESS AT THE
# SQUARE ROOT IS PRESUMED TO BE IN THE A REGISTER AND ONE-HALF THE SQUARE IS TAKEN FROM HALFARG. THE NEW APPROXI-
# MATION TO THE SQUARE ROOT IS RETURNED IN THE A REGISTER. DEBRIS: A,L,SR,SCRATCH. ROOTCYCL IS CALLED FROM
# LOCATION (LOC) BY A TC ROOTCYCL, AND RETURNS (TC Q) TO LOC +1.
#
# WARNING: IF THE INITIAL GUESS IS NOT GREATER THAN THE SQUARE, DIVIDE OR ADD OVERFLOW IS A REAL POSSIBILITY.
ROOTCYCL TS SCRATCH # STORE X
@@ -618,5 +615,3 @@ ROOTCYCL TS SCRATCH # STORE X
DV SCRATCH # (ARG/X)/2
AD SR # (X + ARG/X)/2 IN THE A REG
TC Q