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Fixes #565
This commit is contained in:
HeroicHitesh 2020-11-01 11:53:37 +05:30
parent 3ceecbaf65
commit a16401cb34
1 changed files with 134 additions and 124 deletions
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70
Luminary099/AOSTASK_AND_AOSJOB.agc
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@ -39,40 +39,42 @@
# DOCKED), AND DURING A FRESH START OR A RESTART, 1/ACCS IS CALLED TO COMMUNICATE THE DATA CHANGES TO THE DAP. # 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), # 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, # STAGE VERIFY BIT (CHAN30,BIT2), DOCKED BIT (DAPBOOLS,BIT13), DRIFT BIT (DAPBOOLS,BIT8), USEQRJTS (DAPBOOLS,
# BIT14), AND SURFACE FLAG (FLAGWRDB, BIT8), AND CH5MASK. # 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 # 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 # 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, # 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. # 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, # 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 # 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 # 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 # 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 # 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. # IS NOT SUFFICIENT TO PRODUCE MINIMUM ACCELERATION. AT THE COMPLETION OF 1/ACCS, THE ACCSOKAY BIT IS SET.
# #
#
# SUBROUTINES CALLED: # SUBROUTINES CALLED:
#
# TIMEGMBL # TIMEGMBL
# MAKECADR # MAKECADR
# ROT45DEG # ROT45DEG
# #
# CALLING SEQUENCE: # CALLING SEQUENCE:
# TC BANKCALL # (1/ACCS MUST BE CALLED BY BANKCALL) # TC BANKCALL # (1/ACCS MUST BE CALL BY BANKCALL)
# CADR 1/ACCS # CADR 1/ACCS
# #
# NORMAL EXIT: VIA BANKJUMP # NORMAL EXIT: VIA BANKJUMP ALARM AND EXIT MODES: NONE.
#
# ALARM AND EXIT MODES: NONE
# #
# INPUT/OUTPUT: SEE PROGRAM DESCRIPTION. # INPUT/OUTPUT: SEE PROGRAM DESCRIPTION.
# #
# DEBRIS: # DEBRIS:
#
# ALL OF THE EXECUTIVE TEMPORARY REGISTERS, EXCEPT FIXLOC AND OVFIND, AND THE CORE SET AREA FROM MPAC TO BANKSET. # ALL OF THE EXECUTIVE TEMPORARY REGISTERS, EXCEPT FIXLOC AND OVFIND, AND THE CORE SET AREA FROM MPAC TO BANKSET.
# #
# RESTRICTIONS: # RESTRICTIONS:
#
# 1/ACCS MUST BE CALLED BY BANKCALL # 1/ACCS MUST BE CALLED BY BANKCALL
# EBANK IS SET TO 6, BUT NOT RESTORED. # EBANK IS SET TO 6, BUT NOT RESTORED.
# Page 1486 # Page 1486
@ -85,7 +87,8 @@
EBANK= AOSQ EBANK= AOSQ
# ENTRY IS THROUGH 1/ACCJOB OR 1/ACCSIT WHEN 1/ACCS IS TO BE DONE AS A SEPARATE NOVAC JOB. # ENTRY IS THROUGH 1/ACCJOB OR 1/ACCSET 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 # 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. # NEWJOB, A SECOND MANIFESTATION CANNOT BE STARTED UNTIL THE FIRST IS COMPLETED.
@ -107,8 +110,7 @@
TS ACCRETRN TS ACCRETRN
# DETERMINE MASS OF THE LEM. # DETERMINE MASS OF THE LEM.
CA DAPBOOLS # IS CSM DOCKED
CA DAPBOOLS # IS THE CSM DOCKED
MASK CSMDOCKD MASK CSMDOCKD
TS DOCKTEMP # STORE RECORD OF STATE IN TEMP (MPAC +3). TS DOCKTEMP # STORE RECORD OF STATE IN TEMP (MPAC +3).
CCS A CCS A
@ -117,7 +119,7 @@
TS LEMMASS TS LEMMASS
# ON THE BASIS OF APSFLAG: # ON THE BASIS OF APSFLAG:
# SET THE P-AXIS RATE COMMAND LIMIT FOR 2-JET/2-JET CONTROL # SET THE P-AXIS RATE COMMAND LIMIT FOR 2-JET/4-JET CONTROL
# SET MPAC, WHICH INDICATES THE PROPER SET OF COEFFICIENTS FOR THE LEM-ALONE F(MASS) CALCULATIONS # 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 # ENSURE THAT THE LEM MASS VALUE IS WITHIN THE ACCEPTABLE RANGE
@ -162,7 +164,6 @@ DPSFLITE CS BIT10 # FOUR JETS FOR P-AXIS RATE COMMAND ERRORS
EXTEND EXTEND
BZMF F(MASS) BZMF F(MASS)
TCF MASSFIX TCF MASSFIX
# COMPUTATION OF FUNCTIONS OF MASS # COMPUTATION OF FUNCTIONS OF MASS
F(MASS) RELINT F(MASS) RELINT
@ -262,9 +263,8 @@ JACCUV CS COEFFQ
CS ONE CS ONE
TS MPAC +1 TS MPAC +1
TCF STCTR1 TCF STCTR1
# THIS SECTION COMPUTES THE RATE OF CHANGE OF ACCELERATION DUE TO THE ROTATION OF THE GIMBALS. THE EQUATION IMPLE
# THIS SECTION COMPUTES THE RATE OF CHANGE OF ACCELERATION DUE TO THE ROTATION OF THE GIMBALS. THE EQUATION # MENTED IN BOTH THE Y-X PLANE AND THE Z-X PLANE IS -- D(ALPHA)/DT = TL/I*D(DELTA)/DT, WHERE
# IMPLEMENTED IN BOTH THE Y-X PLANE AND THE Z-X PLANE IS -- D(ALPHA)/DT = TL/I*D(DELTA)/DT, WHERE
# T = ENGINE THRUST FORCE # T = ENGINE THRUST FORCE
# L = PIVOT TO CG DISTANCE OF ENGINE # L = PIVOT TO CG DISTANCE OF ENGINE
# I = MOMENT OF INERTIA # I = MOMENT OF INERTIA
@ -277,7 +277,7 @@ LRESC CAE ABDELV # SCALED AT 2(13) CM/SEC(2)
# MASS IS DIVIDED BY ACCELERATION OF GRAVITY IN ORDER TO MATCH THE UNITS OF IXX,IYY,IZZ, WHICH ARE SLUG-FT(2). # 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 # 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). # THAT IS UNCONVERTED. 2.20462 CONVERTS KG. TO LB. NOW T IS IN A SCALED AT 2(14).
EXTEND EXTEND
MP L,PVT-CG # SCALED AT 8 FEET. MP L,PVT-CG # SCALED AT 8 FEET.
@ -305,8 +305,8 @@ SPSCONT TS ACCDOTQ # SCALED AT PI/2(7)
MP DGBF MP DGBF
TS KRDAP TS KRDAP
EXTEND # NOW COMPUTE QACCDOT, RACCDOT, THE SIGNED EXTEND # NOW COMPUTE QACCDOT, RACCDOT, THE SIGNED
READ CHAN12 # JERK TERMS. STORE CHANNEL 12. WITH GIMBAL READ CHAN12 # JERK TERMS. STORE CHANNEL 12. WITH GIM
TS MPAC +1 # DRIVE BITS 9 THROUGH 12 SET LOOP TS MPAC +1 # BAL DRIVE BITS 9 THROUGH 12. SET LOOP
CAF BIT2 # INDEX TO COMPUTE RACCDOT, THEN QACCDOT. CAF BIT2 # INDEX TO COMPUTE RACCDOT, THEN QACCDOT.
TCF LOOP3 TCF LOOP3
CAF ZERO # ACCDOTQ AND ACCDOTR ARE NOT NEGATIVE, CAF ZERO # ACCDOTQ AND ACCDOTR ARE NOT NEGATIVE,
@ -337,7 +337,7 @@ STACCDOT INDEX MPAC
MASK USEQRJTS MASK USEQRJTS
EXTEND EXTEND
BZF DOWNGTS # NO. BE SURE THE GIMBAL SWITCHES ARE DOWN BZF DOWNGTS # NO. BE SURE THE GIMBAL SWITCHES ARE DOWN
CS T5ADR # YES. IS THE DAP RUNNINT? CS T5ADR # YES. IS THE DAP RUNNING?
AD PAXISADR AD PAXISADR
EXTEND EXTEND
BZF +2 BZF +2
@ -353,24 +353,31 @@ DOCKTEST CCS DOCKTEMP # BYPASS 1/ACCONT WHEN DOCKED.
# Page 1492 # Page 1492
# SUBROUTINE: DVOVSUB # SUBROUTINE: DVOVSUB
# AUTHOR: C. WORK, MOD 0, 12 JUNE 68 # AUTHOR: C. WORK, MOD 0 12 JUNE 68
# PURPOSE: THIS SUBROUTINE PROVIDES A SINGLE-PRECISION MACHINE LANGUAGE DIVISION OPERATION WHICH RETURNS # PURPOSE: THIS SUBROUTINE PROVIDES A SINGLE-PRECISION MACHINE LANGUAGE DIVISION OPERATION WHICH RETURNS
# (1) THE QUOTIENT, IF THE DIVISION WAS NORMAL. # (1) THE QUOTIENT, IF THE DIVISION WAS NORMAL.
# (2) NEGMAX, IF THE QUOTIENT WAS IMPROPER AND NEGATIVE. # (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. # (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 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 # 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 # ASSUMED BETWEEN THE TWO HALVES OF THE DIVIDEND. (THIS IS CERTAIN IF THE A AND L REGISTERS ARE THE RE-
# RESULT OF A MULTIPLICATION OPERATION.) # SULT OF A MULTIPLICATION OPERATION.)
# CALL SEQUENCE: L TC DVOVSUB # CALL SEQUENCE:
# L TC DVOVSUB
# L +1 ADRES (DIVISOR) # L +1 ADRES (DIVISOR)
# L +2 RETURN HERE, WITH RESULT IN A,L # L +2 RETURN HERE, WITH RESULT IN A,L
#
# INPUT: DIVIDEND IN A,L (SIGN AGREEMENT ASSUMED), DIVISOR IN LOCATION DESIGNATED BY "ADRES". # 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. # 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. # 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.) #
# DEBRIS: SCRATCHX,SCRATCHY,SCRATCHZ,A,L (NOTE: SCRATCHX,Y,Z ARE EQUATED TO MPAC +4,+5,AND +6.)
#
# ABORTS OR ALARMS: NONE # ABORTS OR ALARMS: NONE
# EXITS: TO THE CALL POINT +2. #
# EXITS: TO THE CALL POINT + 2.
#
# SUBROUTINES CALLED: NONE. # SUBROUTINES CALLED: NONE.
DVOVSUB TS SCRATCHY # SAVE UPPER HALF OF DIVIDEND DVOVSUB TS SCRATCHY # SAVE UPPER HALF OF DIVIDEND
@ -400,7 +407,7 @@ GOODNEG AD SCRATCHY # ABS(DIVISOR) - ABS(DIVIDEND)
EXTEND EXTEND
BZMF MAKEMAX # BRANCH IF DIVISION IS NOT PROPER. BZMF MAKEMAX # BRANCH IF DIVISION IS NOT PROPER.
CA SCRATCHX # RE-ESTABLISH THE DIVIDEND CA SCRATCHX # RE-ESTABLISH THE DIVIDEND.
EXTEND EXTEND
DV SCRATCHZ # QUOTIENT IN THE A, REMAINDER IN L. DV SCRATCHZ # QUOTIENT IN THE A, REMAINDER IN L.
TC Q # RETURN TO CALLER. TC Q # RETURN TO CALLER.
@ -415,7 +422,7 @@ MAXPLUS CAF POSMAX # -,- OR +,+
TC Q TC Q
# COEFFICIENTS FOR THE JET ACCELERATION CURVE FITS # COEFFICIENTS FOR THE JET ACCELERATION CURVE FITS
# THE CURVE FITS ARE OF THE FORM -- # THE CURVE FITS ARE OF THE FORM -
# #
# 1JACC = A/(MASS + C) + B # 1JACC = A/(MASS + C) + B
# #
@ -424,20 +431,24 @@ MAXPLUS CAF POSMAX # -,- OR +,+
# 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, # 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. # AND C IS SCALED AT B+16 KG.
2DEC +.0410511917 # L A DESCENT 2DEC +.0410511917 # L A DESCENT
INERCONA 2DEC +.0059347674 # 1JACCP A DESCENT INERCONA 2DEC +.0059347674 # 1JACCP A DESCENT
2DEC +.0014979264 # 1JACCQ A DESCENT 2DEC +.0014979264 # 1JACCQ A DESCENT
2DEC +.0010451889 # 1JACCR A DESCENT 2DEC +.0010451889 # 1JACCR A DESCENT
2DEC +.0065443852 # 1JACCP A ASCENT 2DEC +.0065443852 # 1JACCP A ASCENT
2DEC +.0035784354 # 1JACCQ A ASCENT 2DEC +.0035784354 # 1JACCQ A ASCENT
2DEC +.0056946631 # 1JACCR A ASCENT 2DEC +.0056946631 # 1JACCR A ASCENT
DEC +.155044 # L B DESCENT DEC +.155044 # L B DESCENT
DEC -.025233 # L C DESCENT DEC -.025233 # L C DESCENT
# Page 1494 # Page 1494
@ -465,10 +476,9 @@ GFACTM OCT 337 # 979.24/2.20462 AT B+15
.7071 DEC .70711 .7071 DEC .70711
-.7071 DEC -.70711 -.7071 DEC -.70711
-EPSMAX DEC -.42265 -EPSMAX DEC -.42265
# CSM-DOCKED INERTIA COMPUTATIONS # CSM-DOCKED INERTIA COMPUTATIONS
DOCKED CA ONE # COEFTR = 1 FOR INERTIA COEFFICIENTS DOCKED CA ONE # COEFTR = 1 FOR INERTIA COEFFICIENTS
SPSLOOP1 TS COEFCTR # = 7 FOR CG COEFFICIENTS SPSLOOP1 TS COEFCTR # = 7 FOR CG COEFFICIENTS
CA ONE # MASSCTR = 1 FOR CSM CA ONE # MASSCTR = 1 FOR CSM
TS MASSCTR # = 0 FOR LEM TS MASSCTR # = 0 FOR LEM