Apollo-11/Comanche055/TVCSTROKETEST.agc

# Copyright:	Public domain.
# Filename:	TVCSTROKETEST.agc
# Purpose:	Part of the source code for Colossus 2A, AKA Comanche 055.
#		It is part of the source code for the Command Module's (CM)
#		Apollo Guidance Computer (AGC), for Apollo 11.
# Assembler:	yaYUL
# Contact:	Ron Burkey <info@sandroid.org>.
# Website:	www.ibiblio.org/apollo.
# Pages:	979-983
# Mod history:	2009-05-13 RSB	Adapted from the Colossus249/ file of the
#				same name, using Comanche055 page images.
#
# 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 055 of AGC program Comanche by NASA
#	2021113-051.  10:28 APR. 1, 1969
#
#	This AGC program shall also be referred to as
#			Colossus 2A

# Page 979
# NAME		STROKE TEST PACKAGE		(INCLUDING INITIALIZATION PACKAGE)
# LOG SECTION...TVCSTROKETEST			SUBROUTINE...DAPCSM
# MODIFIED BY SCHLUNDT				21 OCTOBER 1968
#
# FUNCTIONAL DESCRIPTION....
#	STROKE TEST PACKAGE GENERATES A WAVEFORM DESIGNED TO EXCITE BENDING
#	STRKTSTI (STROKE TEST INITIALIZATION) IS CALLED AS A JOB BY VB68.
#		IT INITIALIZES ALL ERASABLES REQD FOR A STROKE TEST, AND
#		THEN TESTS FOR CSM/LM (BIT 13 OF DAPDATR1). IF CSM/LM,
#		IN EITHER HIGH OR LOW-BANDWIDTH MODE, THE TEST IS STARTED
#		IMMEDIATELY.  IF NOT CSM/LM, PROGRAM EXITS WITH NO ACTION.
#	HACK (STROKE TEST) GENERATES THE WAVEFORM BY DUMPING PULSE BURSTS
#		OF PROPER SIGN AND IN PROPER SEQUENCE DIRECTLY INTO
#		TVCPITCH, WORKING IN CONJUNCTION WITH BOTH PITCH AND YAW
#		TVC DAPS, WITH INTERMEDIATE WAITLIST CALLS.  NOTE, HOWEVER
#		THAT THE STROKE TEST IS PERFORMED ONLY IN THE PITCH AXIS.
#		AN EXAMPLE WAVEFORM IS GIVEN BELOW, TO DEMONSTRATE STROKE-
#		TEST PARAMETER SELECTION.
#	RESTARTS CAUSE TEST TO BE TERMINATED.  ANOTHER V68 REQD IF TEST
#		IS TO BE RE-RUN.
#	PULSE BURST SIZE IS PAD-LOADED (ESTROKER) SO THAT AMPLITUDE OF
#		WAVEFORM CAN BE CHANGED.  THERE ARE TEN PULSE BURSTS IN
#		THE HALF-AMPLITUDE OF THE FIRST FREQUENCY SET IN THE
#		STANDARD WAVEFORM.  AMPLITUDE IS 10(ESTROKER)(1/42.15),
#		NOMINALLY 50/42.15 = 1.185 DEG
#
# CALLING SEQUENCE....
#	EXTENDED VERB 68 SETS UP STRKTSTI JOB
#	PITCH AND YAW TVCDAPS, FINDING STROKER NON-ZERO, DO A "TC HACK"
#	AN INTERNALLY-GENERATED WAITLIST CALL ENTERS AT "HACKWLST"
#
# NORMAL EXIT MODES....
#	TC BUNKER ("Q" IF ENTRY FROM DAP, "TCTSKOVR" IF FROM WAITLIST) LIST
#
# SUBROUTINES CALLED....
#	WAITLIST
#
# ALARM OR ABORT EXIT MODES....
#	NONE
#
# ERASABLE INITIALIZATION REQUIRED....
#	ESTROKER (PAD-LOAD)
#	STROKER, CADDY, REVS, CARD, N
#
# OUTPUT....
#	STRKTSTI...INITIALIZATION FOR STROKE TEST
#	HACK, HACKWLST...PULSE BURSTS INTO TVCPITCH VIA "ADS"
#			  RESETS STROKER = +0 WHEN TEST COMPLETED
#
# DEBRIS....
#	N = CADDY = +0, CARD = -0, REVS = -1
#	BUNKER
# Page 980
#
# EXAMPLE STROKE TEST WAVE FORM, DEMONSTRATING PARAMETER SELECTION

# NOTE....THIS IS NOT THE OFFICIAL WAVEFORM....
#
#        **              **
#        **              **
#        **              **		EXAMPLE WAVEFORM (EACH * REPRESENTS
#       *  *            *  *		  (85.41 ARCSEC OF ACTUATOR CMD)
#       *  *            *  *
#       *  *            *  *
#      *    *          *    *          **      **      **      **      **
#      *    *          *    *          **      **      **      **      **
#      *    *          *    *          **      **      **      **      **
#     *      *        *      *        *  *    *  *    *  *    *  *    *  *    **  **  **  **  **
#     *      *        *      *        *  *    *  *    *  *    *  *    *  *    **  **  **  **  **
#     *      *        *      *        *  *    *  *    *  *    *  *    *  *    **  **  **  **  **
# ----------------------------------------------------------------------------------------------------
#             *      *        *      *    *  *    *  *    *  *    *  *    *  *  **  **  **  **  **
#             *      *        *      *    *  *    *  *    *  *    *  *    *  *  **  **  **  **  **
#             *      *        *      *    *  *    *  *    *  *    *  *    *  *  **  **  **  **  **
#              *    *          *    *      **      **      **      **      **
#              *    *          *    *      **      **      **      **      **
#              *    *          *    *      **      **      **      **      **
#               *  *            *  *
#               *  *            *  *
#               *  *            *  *
#                **              **
#                **              **
#                **              **
#
# FOR THIS (UNOFFICIAL, EXAMPLE) WAVEFORM, THE REQUIRED PARAMETERS ARE AS FOLLOWS....
#
#	FCARD	 = +3		(NUMBER OF SETS)
#	ESTROKER = +3		(PULSE BURST SIZE, SC.AT 85.41 ARCSEC/BIT)
#
#	SET1:
#		FREVS	= +3	(NUMBER REVERSALS MINUS 1)
#		FCADDY	= +4	(NUMBER OF PULSE BURSTS IN 1/2 AMPLITUDE)
#	SET2:
#		FCARD1	= +9	(NUMBER REVERSALS MINUS 1)
#		FCARD4	= +2	(NUMBER OF PULSE BURSTS IN 1/2 AMPLITUDE)
#	SET3:
#		FCARD2	= +9	(NUMBER REVERSALS MINUS 1)
#		FCARD5	= +1	(NUMBER OF PULSE BURSTS IN 1/2 AMPLITUDE)
#	SET4:
#		FCARD3	= +0	(NUMBER OF REVERSALS MINUS 1)
#		FCARD6	= +0	(NUMBER OF PULSE BURSTS IN 1/2 AMPLUTUDE)

# Page 981
# STROKE TEST INITIALIZATION PACKAGE (AS A JOB, FROM VERB 68)

		BANK	17
		SETLOC	DAPS2
		BANK

		COUNT*	$$/STRK
		EBANK=	CADDY

STRKTSTI	TCR	TSTINIT		# STROKE TEST INITIALIZATION PKG (CALLED
					# AS A JOB BY VERB68)

STRKCHK		INHINT

		CAE	DAPDATR1	# CHECK FOR CSM/LM CONFIGURATION
		MASK	BIT14
		EXTEND
		BZF	+3

		CAE	ESTROKER	# BEGIN ON NEXT DAP PASS (PITCH OR YAW)
		TS	STROKER		# (STROKING DONE IN PITCH ONLY, HOWEVER)

		TCF	ENDOFJOB

TSTINIT		CS	FCADDY		# NORMAL ENTRY FROM STRKTSTI
		TS	CADDY
		TS	N		#	NOTE SGN CHNG FCADDY(+) TO CADDY(-)

		CAF	FREVS
		TS	REVS

		CS	FCARD		# 	NOTE SGN CHNG FCARD(+) TO CARD(-)
		TS	CARD

		TC	Q		# RETURN TO STRKTSTI+1 (OR CHKSTRK+2 OR +4)

# Page 982
# THE OFFICIAL STROKE TEST WAVEFORM (3 JAN, 1967) CONSISTS OF FOUR STROKE SETS, AS FOLLOWS....
#
#	SET 1...10 BURSTS IN 1/2 AMP,   4 REVERSALS
#	SET 2... 6 BURSTS IN 1/2 AMP,	6 REVERSALS
#	SET 3... 5 BURSTS IN 1/2 AMP,  10 REVERSALS
#	SET 4... 4 BURSTS IN 1/2 AMP,  14 REVERSALS
#
# THE PULSE BURST SIZE (ESTROKER) IS PAD-LOADED (5 BITS AS OF 3 JAN, 1967)
# THE REMAINING WAVEFORM-GENERATING PARAMETERS ARE AS FOLLOWS....

FCADDY		DEC	10		# NO. PULSE BURSTS IN 1/2 AMP, SET1..(+10)
FREVS		DEC	3		# NO. REVERSALS MINUS 1, SET1........(  3)

FCARD		DEC	4		# NO. STROKE SETS....................(+ 4)

FCARD1		DEC	5		# NO. REVERSALS MINUS 1, SET2........(  5)

FCARD2		DEC	9		# 			    3........(  9)
FCARD3		DEC	13		#                           4........( 13)

FCARD4		DEC	6		# NO. PULSE BURSTS IN 1/2 AMP, SET2..(+ 6)
FCARD5		DEC	5		#                                 3..(+ 5)
FCARD6		DEC	4		#                                 4..(+ 4)

20MS		=	BIT2

# STROKE TEST PACKAGE PROPER....

		EBANK=	BUNKER

HACK		EXTEND			# ENTRY (IN T5 RUPT) FROM TVCDAPS
		QXCH	BUNKER		# SAVE Q FOR DAP RETURN

		CAF	20MS		# 2DAPSx2(PASSES/DAP)x2(CS/PASS)=8CS=TVCDT
		TC	WAITLIST
		EBANK=	BUNKER
		2CADR	HACKWLST

		TCF	+3

HACKWLST	CAF	TCTSKOVR	# ENTRY FROM WAITLIST
		TS	BUNKER		# BUNKER IS TC TASKOVER

		CA	STROKER		# STROKE
		ADS	TVCPITCH

		CAF	BIT11		# RELEASE THE ERROR COUNTERS
		EXTEND
		WOR	CHAN14
		INCR	CADDY		# COUNT DOWN THE NO. BURSTS, THIS SLOPE
# Page 983
		CS	CADDY
		EXTEND
		BZMF	+2
		TC	BUNKER		# EXIT, WHILE ON A SLOPE

		CCS	REVS
		TCF	REVUP		# POSITIVE REVS
		TCF	REVUP +4	# FINAL REVERSAL, THE SET

		INCR	CARD		# NEGATIVE REVS SET LAST PASS, READY FOR
		CS	CARD		#	THE NEXT SET.  CHECK IF NO MORE SETS
		EXTEND
		BZF	STROKILL	# ALL SETS COMPLETED

		INDEX	CARD
		CAF	FCARD +4	# PICK UP NO. REVERSALS (-), NEXT SET
		TS	REVS		# REINITIALIZE
		INDEX	CARD
		CS	FCARD +7	# PICK UP NO. BURSTS IN 1/2AMP, NEXT SET
		TS	N		# REINITIALIZE
		TS	CADDY
		TC	BUNKER		# EXIT, AT END OF SET

STROKILL	TS	STROKER		# RESET (TO +0) TO END TEST
		TC	BUNKER		# EXIT, STROKE TEST FINIS

REVUP		TS	REVS		# ALL REVERSALS EXCEPT LAST OF SET
		CA	N
		DOUBLE			# 2 x 1/2AMP
		TCF	+4

	+4	CS	ONE		# FINAL REVERSAL, THIS SET
		TS	REVS		# PREPARE TO BRANCH TO NEW BURST
		CA	N		# JUST RETURN TO ZERO, FINAL SLOPE OF SET
		TS	CADDY		# CADUP

		CS	STROKER		# CHANGE SIGN OF SLOPE
		TS	STROKER
		TC	BUNKER		# EXIT AT A REVERSAL (SLOPE CHANGE)