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Code review of #756

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As it was merged before I could review it
This commit is contained in:
James Harris 2020-10-13 17:40:29 +01:00
parent 124275cfaa
commit 0549b538d0
1 changed files with 31 additions and 31 deletions
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22
Luminary099/TRIM_GIMBAL_CONTROL_SYSTEM.agc
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@ -71,11 +71,11 @@ GTSGO+ON CAF TWO # SET INDEXER FOR R-AXIS CALCULATIONS.
GOQTRIMG CAF ZERO # SET INDEXER FOR Q-AXIS CALCULATIONS GOQTRIMG CAF ZERO # SET INDEXER FOR Q-AXIS CALCULATIONS
TS QRCNTR TS QRCNTR
# Page 1473 # Page 1473
# RSB 2009 --------------------------------------------------------------------- # RSB 2009 -----------------------------------------------------------------------
# Everything between this line and the similar line below was simply filled-in # Everything between this line and the similar line below was simply filled-in
# as-is from Luminary 131, and then verified to assemble to the proper binary # as-is from Luminary 131, and then verified to assemble to the proper binary
# values. This area is blank on the Luminary 099 print-out, as if the # values. This area is blank on the Luminary 099 print-out, as if the printer
# printer ribbon had run out. # ribbon had run out.
INDEX QRCNTR # AOS SCALED AT PI/2 INDEX QRCNTR # AOS SCALED AT PI/2
CA AOSQ CA AOSQ
EXTEND EXTEND
@ -124,7 +124,7 @@ ALGORTHM EXTEND # Q(R)DIFF IS THETA (ERROR) SCALED AT PI.
EXTEND EXTEND
DCS A # ALPHA(2)/2 - K DCS A # ALPHA(2)/2 - K
AD KCENTRAL AD KCENTRAL
# RSB 2009 --------------------------------------------------------------------- # RSB 2009 -----------------------------------------------------------------------
EXTEND EXTEND
DV KCENTRAL # HIGH ORDER OF QUOTIENT. DV KCENTRAL # HIGH ORDER OF QUOTIENT.
XCH A2CNTRAL XCH A2CNTRAL
@ -329,7 +329,7 @@ ACDT+C12 CS NEGUQ
# ACCDOTQ ERASE +2 # Q-JERK TERM SCALED AT PI/2(7) RAD/SEC(3) # ACCDOTQ ERASE +2 # Q-JERK TERM SCALED AT PI/2(7) RAD/SEC(3)
# (SPWORD) EQUALS ACCDOTQ +1 # ANY S.P. ERASABLE NUMBER NOW QACCDOT # (SPWORD) EQUALS ACCDOTQ +1 # ANY S.P. ERASABLE NUMBER NOW QACCDOT
# ACCDOTR EQUALS ACCDOTQ +2 # R-JERK TERM SCALED AT PI/2(7) RAD/SEC(3) # ACCDOTR EQUALS ACCDOTQ +2 # R-JERK TERM SCALED AT PI/2(7) RAD/SEC(3)
# # ACCDOTQ, ACCDOTR ARE MAGNITUDES. # # ACCDOTQ,ACCDOTR ARE MAGNITUDES.
# AOSQ ERASE +4 # Q-AXIS ACC., D.P. AT PI/2 R/SEC(2) # AOSQ ERASE +4 # Q-AXIS ACC., D.P. AT PI/2 R/SEC(2)
# AOSR EQUALS AOSQ +2 # R-AXIS ACCELERATION SCALED AT PI/2 R/S2 # AOSR EQUALS AOSQ +2 # R-AXIS ACCELERATION SCALED AT PI/2 R/S2
@ -361,7 +361,7 @@ ALPHATRY INDEX QRNDXER
TS Q # SAVE A COPY OF -AOS. TS Q # SAVE A COPY OF -AOS.
EXTEND # NO. RESCALE FOR TIMEGMBL USE. EXTEND # NO. RESCALE FOR TIMEGMBL USE.
MP OCT23146 # OCTAL 23146 IS DECIMAL .6 MP OCT23146 # OCTAL 23146 IS DECIMAL .6
AD Q # -1.6*AOS AT PI/2 = -.4*AOS AT PI/8 AD Q # -1.6*AOS AT PI/2 = -.4*AOS AT PI/8.
TS L # WAS THERE OVERFLOW? TS L # WAS THERE OVERFLOW?
TCF SETNEGU # NO. COMPUTE DRIVE TIME. TCF SETNEGU # NO. COMPUTE DRIVE TIME.
@ -440,7 +440,7 @@ OCT00240 OCTAL 00240 # DECIMAL 10/1024
# SQUARE ROOT OF THE FOURTEEN MOST SIGNIFICANT BITS OF THE ARGUMENT. ALSO, THE CELL SHFTFLAG CONTAINS A BINARY # 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 # 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. # 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, # 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. # 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. # ZERO OR NEGATIVE ARGUMENTS YIELD ZERO FOR SQUARE ROOTS.
@ -506,7 +506,7 @@ SCALDONE EXTEND
TC ROOTCYCL TC ROOTCYCL
TC ROOTCYCL TC ROOTCYCL
TC FUNCTION +1 TC FUNCTION +1
# *************************************************************************** # ****************************************************************************************************************
RSTOFGTS TC GTSQRT RSTOFGTS TC GTSQRT
PRODUCT XCH K2CNTRAL PRODUCT XCH K2CNTRAL
@ -596,11 +596,11 @@ CLOSEADR 2CADR CLOSEOUT # TERMINATE THE JASK.
TWELVE EQUALS OCT14 TWELVE EQUALS OCT14
ROOTHALF OCTAL 26501 # SQUARE ROOT OF 1/2 ROOTHALF OCTAL 26501 # SQUARE ROOT OF 1/2
GMBLBITA OCTAL 01400 # INDEXED WRT GMBLBITB DO NOT MOVE ******* 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 ******* GMBLBITB OCTAL 06000 # INDEXED WRT GMBLBITA DO NOT MOVE******
# SUBROUTINE ROOTCYCL: BY CRAIG WORK, 3 APRIL 68 # SUBROUTINE ROOTCYCL: BY CRAIG WORK,3 APRIL 68
# ROOTCYCL IS A SUBROUTINE WHICH EXECUTES ONE NEWTON SQUARE ROOT ALGORITHM ITERATION. THE INITIAL GUESS AT THE # 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- # 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 # MATION TO THE SQUARE ROOT IS RETURNED IN THE A REGISTER. DEBRIS: A,L,SR,SCRATCH. ROOTCYCL IS CALLED FROM