* Proof FIXED_FIXED_CONSTANT_POOL (#207) * wip(p550/550: DONE): Proof P11 #230 * Remove patch line for the simulator
This commit is contained in:
Glenn Dwiyatcita
James Harris
parent
16ffeaeb08
commit
bb960aed7d
@ -35,19 +35,19 @@
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# Page 533
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# Page 533
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# EARTH ORBIT INSERTION MONITOR PROGRAM
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# EARTH ORBIT INSERTION MONITOR PROGRAM
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# *************************************
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# *************************************
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#
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# PROGRAM DESCRIPTION -P11-
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# PROGRAM DESCRIPTION -P11-
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#
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# MOD NO. 1
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# MOD NO. 1
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# MOD BY ELIASSEN
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# MOD BY ELIASSEN
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#
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# FUNCTIONAL DESCRIPTION
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# FUNCTIONAL DESCRIPTION
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#
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# P11 IS INITIATED BY
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# P11 IS INITIATED BY
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#
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# A) GYROCOMPASS PRG P02 WHEN LIFTOFF DISCRETE IS RECEIVED OR
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# A) GYROCOMPASS PRG P02 WHEN LIFTOFF DISCRETE IS RECEIVED OR
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# B) BACKUP THRU VERB 75 ENTER
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# B) BACKUP THRU VERB 75 ENTER
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#
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# PROGRAM WILL
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# PROGRAM WILL
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# 1. ZERO CMC CLOCK AT LIFTOFF (OR UPON RECEIPT OF BACKUP)
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# 1. ZERO CMC CLOCK AT LIFTOFF (OR UPON RECEIPT OF BACKUP)
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# 2. UPDATE TEPHEM TO TIME CMC CLOCK WAS ZEROED
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# 2. UPDATE TEPHEM TO TIME CMC CLOCK WAS ZEROED
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@ -55,79 +55,82 @@
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# 4. CHANGE MAJOR MODE TO 11
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# 4. CHANGE MAJOR MODE TO 11
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# 5. CLEAR DSKY IN CASE OF V 75
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# 5. CLEAR DSKY IN CASE OF V 75
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# 6. STORE LIFTOFF IMU-CDU ANGLES FOR ATT. ERROR DISPLAY
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# 6. STORE LIFTOFF IMU-CDU ANGLES FOR ATT. ERROR DISPLAY
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# 7. TERMINATE GYROCOMPASSING __ __
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# 7. TERMINATE GYROCOMPASSING - -
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# 8. COMPUTE INITIAL VECTORS RN, VN _ _ _
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# 8. COMPUTE INITIAL VECTORS RN, VN - - -
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# 9. COMPUTE REFSMMAT FOR PRELAUNCH ALIGNMENT WHERE U ,U ,U ARE
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# 9. COMPUTE REFSMMAT FOR PRELAUNCH ALIGNMENT WHERE U ,U ,U ARE
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# _ _ X Y Z
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# - - X Y Z
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# U =(UNIT(-R) LOCAL VERTICAL AT TIME OF LIFTOFF
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# U =(UNIT(-R) LOCAL VERTICAL AT TIME OF LIFTOFF
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# _Z _ _
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# Z
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# U =UNIT(A), A=HOR VECTOR AT LAUNCH AZIMUTH
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# - - -
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# _X _ _
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# U =UNIT(A), A=HOR VECTOR AT LAUNCH AZIMUTH
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# X
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# - - -
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# U =U * U
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# U =U * U
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# U Z X
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# U Z X
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# 10. SET REFSMMAT KNOWN FLAG
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# 10. SET REFSMMAT KNOWN FLAG
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# 11. SET AVGEXIT IN SERVICER TO VHHDOT TO
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# 11. SET AVGEXIT IN SERVICER TO VHHDOT TO
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# COMPUTE AND DISPLAY NOUN 62 EVERY 2 SECONDS
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# COMPUTE AND DISPLAY NOUN 62 EVERY 2 SECONDS
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#
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# R1 V1 -- INERTIAL VELOCITY MAGNITUDE IN FPS
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# R1 V1 - INERTIAL VELOCITY MAGNITUDE IN FPS
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# R2 HDOT -- RATE OF CHANGE OF VEHICLE VEL IN FPS
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# R2 HDOT - RATE OF CHANGE OF VEHICLE VEL IN FPS
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# R3 H -- VEHICLE ALTITUDE ABOVE PAD IN NM
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# R3 H - VEHICLE ALTITUDE ABOVE PAD IN NM
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#
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# 12. DISPLAY BODY AXES ATT. ERRORS ON FDAI NEEDLES
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# 12. DISPLAY BODY AXES ATT. ERRORS ON FDAI NEEDLES
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#
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#
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# A) FROM L.O. TO RPSTART (APPROX. 0 TO +10SECS AFTER L.O.)
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# A) FROM L.O. TO RPSTART (APPROX. 0 TO +10SECS AFTER L.O.)
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# DESIRED ATTITUDE IS AS STORED AT L.O.
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# DESIRED ATTITUDE IS AS STORED AT L.O.
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# B) FROM RPSTART TO POLYSTOP (APPROX. +10 TO +133SECS AFTER LO)
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# B) FROM RPSTART TO POLYSTOP(APPROX.+10 TO +133SECS AFTER LO)
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# DESIRED ATTITUDE IS SPECIFIED BY CMC PITCH AND ROLL
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# DESIRED ATTITUDE IS SPECIFIED BY CMC PITCH AND ROLL
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# POLYNOMIALS DURING SATURN ROLLOUT AND PITCHOVER
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# POLYNOMIALS DURING SATURN ROLLOUT AND PITCHOVER
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# Page 534
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# Page 534
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# THE DISPLAY IS RUN AS LOW PRIORITY JOB APPROX.
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# THE DISPLAY IS RUN AS LOW PRIORITY JOB APPROX.
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# EVERY 1/2 SEC OR LESS AND IS DISABLED UPON OVFLO OF TIME1
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# EVERY 1/2 SEC OR LESS AND IS DISABLED UPON OVFLO OF TIME1
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#
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# SUBROUTINES CALLED
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# SUBROUTINES CALLED
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#
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# 2PHSCHNG BANKCALL CALCGRA CDUTRIG CLEANDSP DANZIG
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# 2PHSCHNG BANKCALL CALCGRA CDUTRIG CLEANDSP DANZIG
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# DELAYJOB EARTHR ENDOFJOB FINDVAC IBNKCALL
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# DELAYJOB EARTHR ENDOFJOB FINDVAC IBNKCALL
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# INTPRET LALOTORV NEEDLER NEWMODEX PHASCHNG
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# INTPRET LALOTORV NEEDLER NEWMODEX PHASCHNG
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# POSTJUMP POWRSERS PREREAD1 REGODSPR S11.1
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# POSTJUMP POWRSERS PREREAD1 REGODSPR S11.1
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# SERVEXIT TASKOVER TCDANZIG V1STO2S WAITLIST
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# SERVEXIT TASKOVER TCDANZIG V1STO2S WAITLIST
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#
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# ASTRONAUT REQUESTS (IF ALTITUDE ABOVE 300,000 FT)
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# ASTRONAUT REQUESTS (IF ALTITUDE ABOVE 300,000 FT)
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#
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#
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# DSKY --
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# DSKY -
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# MONITOR DISPLAY OF TIME TO PERIGEE R1 HOURS
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# MONITOR DISPLAY OF TIME TO PERIGEE R1 HOURS
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# R2 MINUTES
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# R2 MINUTES
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#
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# DSKY --
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# DSKY -
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# MONITOR DISPLAY OF R1 APOGEE ALTITUDE IN NAUTICAL MILES
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# MONITOR DISPLAY OF R1 APOGEE ALTITUDE IN NAUTICAL MILES
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# R2 PERIGEE ALTITUDE IN NAUTICAL MILES
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# R2 PERIGEE ALTITUDE IN NAUTICAL MILES
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# R3 TFF IN MINUTES/SECS
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# R3 TFF IN MINUTES/SECS
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#
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# IF ASTRONAUT HAS REQUESTED ANY OF THESE DISPLAYS HE MUST
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# IF ASTRONAUT HAS REQUESTED ANY OF THESE DISPLAYS HE MUST
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# HIT PROCEED TO RETURN TO NORMAL NOUN 62 DISPLAY.
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# HIT PROCEED TO RETURN TO NORMAL NOUN 62 DISPLAY.
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# NORMAL EXIT MODE
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# NORMAL EXIT MODE
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#
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# ASTRONAUT VERB 37 ENTER 00 ENTER
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# ASTRONAUT VERB 37 ENTER 00 ENTER
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#
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# ALARM MODES -- NONE
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# ALARM MODES - NONE
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#
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# ABORT EXIT MODES --
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# ABORT EXIT MODES -
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#
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# OUTPUT
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# OUTPUT
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#
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# TLIFTOFF (DP) TEPHEM (TP)
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# TLIFTOFF (DP) TEPHEM (TP)
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# REFSMMAT
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# REFSMMAT
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# DSKY DISPLAY
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# DSKY DISPLAY
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# FDAI DISPLAY
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# FDAI DISPLAY
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#
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# ERASABLE INITIALIZATION
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# ERASABLE INITIALIZATION
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#
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# AZO, AXO, -AYO
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# AZO, AXO, -AYO
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# LATITUDE
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# LATITUDE
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# PADLONG
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# PADLONG
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# TEPHEM
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# TEPHEM
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# PGNCSALT
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# PGNCSALT
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# POLYNUM THRU POLYNUM +14D
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# POLYNUM THRU POLYNUM +14D)
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# RPSTART
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# RPSTART
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# POLYSTOP
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# POLYSTOP
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# FLAGS SET OR RESET
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# FLAGS SET OR RESET
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@ -135,16 +138,15 @@
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# SET REFSMFLG
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# SET REFSMFLG
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# SET DVMON IDLE FLAG
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# SET DVMON IDLE FLAG
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# CLEAR ERADFLAG
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# CLEAR ERADFLAG
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#
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# DEBRIS
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# DEBRIS
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#
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# LIFTTEMP
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# LIFTTEMP
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# POLYNUM THRU POLYNUM +7
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# POLYNUM THRU POLYNUM +7
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# SPOLYARG
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# SPOLYARG
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# BODY1, BODY2, BODY3
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# BODY1, BODY2, BODY3
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# VMAG2, ALTI, HDOT
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# VMAG2, ALTI, HDOT
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# CENTRALS, CORE SET, AND VAC AREAS
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# CENTRALS, CORE SET AND VAC AREAS
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COUNT 34/P11
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COUNT 34/P11
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BITS5-6 = SUPER011
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BITS5-6 = SUPER011
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@ -169,7 +171,7 @@ P11+7 EXTEND
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EXTEND
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EXTEND
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DCA TIME2
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DCA TIME2
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DXCH LIFTTEMP # FORE RESTARTS
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DXCH LIFTTEMP # FOR RESTARTS
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CA ZERO
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CA ZERO
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ZL
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ZL
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@ -177,6 +179,7 @@ P11+7 EXTEND
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REP11A-2 DXCH TLIFTOFF
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REP11A-2 DXCH TLIFTOFF
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REP11A-1 DXCH -PHASE3 # RESET PHASE
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REP11A-1 DXCH -PHASE3 # RESET PHASE
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REP11A INHINT
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REP11A INHINT
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EXTEND
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EXTEND
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DCA TEPHEM +1
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DCA TEPHEM +1
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@ -188,7 +191,7 @@ REP11A INHINT
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EXTEND
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EXTEND
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DCA TLIFTOFF
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DCA TLIFTOFF
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DAS TEPHEM1 +1
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DAS TEPHEM1 +1
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ADS TEPHEM1 # CORRECT FOR OVERFLOW
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ADS TEPHEM1 # CORRECTFOR OVERFLOW
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TC PHASCHNG
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TC PHASCHNG
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OCT 05023
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OCT 05023
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@ -259,7 +262,7 @@ MATRXJOB ZL # STORE DP GIMBAL ANGLES FOR ATTITUDE
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ZL
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ZL
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CA CDUZ
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CA CDUZ
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DXCH MGC
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DXCH MGC
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TC INTPRET # _
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TC INTPRET # -
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VLOAD VSR1 # SCALE OGC B-1
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VLOAD VSR1 # SCALE OGC B-1
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OGC
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OGC
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STORE OGC
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STORE OGC
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@ -275,9 +278,9 @@ MATRXJOB ZL # STORE DP GIMBAL ANGLES FOR ATTITUDE
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HI6ZEROS # TIME = 0
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HI6ZEROS # TIME = 0
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CLEAR CALL
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CLEAR CALL
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ERADFLAG
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ERADFLAG
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LALOTORV # CONVERT TO POSITION VECTOR IN REF. COORDS.
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LALOTORV # CONVERT TO POSITION VECTOR IN REF.COORDS
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STCALL RN1 # _
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STCALL RN1 # -
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GETDOWN # RETURN WITH VECTOR FOR DOWN DIRECTION
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GETDOWN # RETURN WITH VECTOR FOR DOWN DIRECTION
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VCOMP UNIT
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VCOMP UNIT
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STOVL REFSMMAT +12D # UNITZ = UNIT(GRAV)
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STOVL REFSMMAT +12D # UNITZ = UNIT(GRAV)
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@ -313,7 +316,7 @@ MATRXJOB ZL # STORE DP GIMBAL ANGLES FOR ATTITUDE
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LAUNCHAZ
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LAUNCHAZ
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DAD PDDL
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DAD PDDL
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AZIMUTH
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AZIMUTH
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SATRLRT # SET SATRLRT = -SATRLRT IF
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SATRLRT # SET SATRLRT = -SATRLRT IF
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SIGN STADR # (1/2REV -LAVNCHAZ +AZIMUTH) IS NEGATIVE
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SIGN STADR # (1/2REV -LAVNCHAZ +AZIMUTH) IS NEGATIVE
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STORE SATRLRT # FOR ROLL CALC IN FDAI ATT. ERROR DISPLAY
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STORE SATRLRT # FOR ROLL CALC IN FDAI ATT. ERROR DISPLAY
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SET EXIT
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SET EXIT
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@ -344,8 +347,8 @@ MATRXJOB ZL # STORE DP GIMBAL ANGLES FOR ATTITUDE
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CCS A # CHECK TO INSURE DT IS POSITIVE
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CCS A # CHECK TO INSURE DT IS POSITIVE
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TCF +3 # TIME POSITIVE
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TCF +3 # TIME POSITIVE
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TCF +2 # CANNOT GET HERE
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TCF +2 # CANNOT GET HERE
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CA ZERO # TIME NEGATIVE -- SET TO 1
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CA ZERO # TIME NEGATIVE - SET TO 1
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AD ONE # RESTORE TIME -- OR MAKE POSITIVE
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AD ONE # RESTORE TIME - OR MAKE POSITIVE
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TC WAITLIST
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TC WAITLIST
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EBANK= AOG
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EBANK= AOG
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@ -374,7 +377,7 @@ REP11 INHINT
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EXTEND
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EXTEND
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BZMF ENDREP11
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BZMF ENDREP11
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CCS TIME2 # ** TIME2 MUST BE NON-ZERO AT LIFTOFF **
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CCS TIME2 # **TIME2 MUST BE NON-ZERO AT LIFTOFF**
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TCF REP11A -5 # T2,T1 NOT YET ZEROED, GO AND DO IT
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TCF REP11A -5 # T2,T1 NOT YET ZEROED, GO AND DO IT
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EXTEND # T2,T1 ZEROED, SET TLIFTOFF
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EXTEND # T2,T1 ZEROED, SET TLIFTOFF
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@ -399,9 +402,9 @@ POWDNCOD EQUALS THREE
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EBANK= BODY3
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EBANK= BODY3
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# VHHDOT IS EXECUTED EVERY 2 SECONDS TO DISPLAY ON DSKY
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# VHHDOT IS EXECUTED EVERY 2 SECONDS TO DISPLAY ON DSKY
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# VI INERTIAL VELOCITY MAGNITUDE
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# VI INERTIAL VELOCITY MAGNITUDE
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# HDOT RATE OF CHANGE OF ALT ABOVE L PAD RADIUS
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# HDOT RATE OF CHANGE OF ALT ABOVE L PAD RADIUS
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# H ALTITUDE ABOVE L PAD RADIUS
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# H ALTITUDE ABOVE L PAD RADIUS
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VHHDOT TC INTPRET
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VHHDOT TC INTPRET
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CALL # LOAD VMAGI, ALTI,
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CALL # LOAD VMAGI, ALTI,
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@ -410,8 +413,8 @@ VHHDOT TC INTPRET
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TC PHASCHNG
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TC PHASCHNG
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OCT 00035
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OCT 00035
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CAF V06N62 # DISPLAY IN R1 R2 R3
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CAF V06N62 # DISPLAY IN R1 R2 R3
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TC BANKCALL # VI HDOT H
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TC BANKCALL # VI HDOT H
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CADR REGODSP
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CADR REGODSP
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ATERTASK CAF PRIO1 # ESTABLISH JOB TO DISPLAY ATT ERRORS
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ATERTASK CAF PRIO1 # ESTABLISH JOB TO DISPLAY ATT ERRORS
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@ -438,53 +441,56 @@ GETDOWN STQ SETPD
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STCALL 8D
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STCALL 8D
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LALOTORV +5
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LALOTORV +5
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# THIS SECTION PROVIDES ATTITUDE ERROR DISPLAYS TO THE FDAI DURING SONE BOOST
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# THIS SECTION PROVIDES ATTITUDE ERROR DISPLAYS TO THE FDAI DURING SONE BOOST
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# COMPUTE DESIRED PITCH W.R.T. PAD LOCAL VERTICAL AT LIFTOFF
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# 2 3 4 5 6
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# PITCH = A0+A1T+A2T +A3T +A4T +A5T +A6T
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# SCALED TO 32 REVS. -14
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# IF TL = TIME IN SECS FROM L.O., THEN T = 100(TL-RPSTART)2
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# WHERE TL GE RPSTART
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# TL LE (-POLYSTOP + RPSTART)
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# COMPUTE DESIRED ROLL WEHRE ROLL EQUALS ANGLE FROM
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# LAUNCHAZ TO -Z(S/C) AS SEEN FROM X(S/C).
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# ROLL = LAUNCHAZ-AZIMUTH-.5 +SATRLRT*T IN REV
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# SATRLRT = RATE OF ROLL IN REV/CENTI-SEC
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# T,IN CENTI-SEC,IS DEFINED AS ABOVE,INCLUSIVE OF TIME RESTRICTIONS
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# FOR SIMPLICITY, LET P = 2*PI*PITCH
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# R = 2*PI*ROLL
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# CONSTRUCT THE TRANSFORMATION MATRIX, TSMV, GIVING DESIRED S/C AXES IN
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# TERMS OF SM COORDINATES. LET THE RESULTING ROWS EQUAL THE VECTORS XDC,
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# YDC,AND ZDC.
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# * ( SIN(P) 0 -COS(P) ) (XDC)
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# TSMV = (-SIN(R)*COS(P) -COS(R) -SIN(R)*SIN(P)) = (YDC)
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# (-COS(R)*COS(P) SIN(R) -COS(R)*SIN(P)) (ZDC)
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# XDC,YDC,ZDC ARE USED AS INPUT TO CALCGTA FOR THE EXTRACTION OF THE
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# EULER SET OF ANGLES WHICH WILL BRING THE SM INTO THE DESIRED
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# ORIENTATION. THIS EULER SET, OGC, IGC, AND MGC, MAY BE IDENTIFIED
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# AS THE DESIRED CDU ANGLES.
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# (XDC) (OGC)
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# (YDC) ---) CALCGTA ---) (IGC)
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# (ZDC) (MGC)
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# -
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# DEFINE THE VECTOR DELTACDU.
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# - (OGC) (CDUX)
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# DELTACDU = (IGC) - (CDUY)
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# (MGC) (CDUZ)
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# - - * -
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# COMPUTE ATTITUDE ERRORS, A, WHERE A = TGSC*DELTACDU
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#
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#
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# COMPUTE DESIRED PITCH W.R.T. PAD LOCAL VERTICAL AT LIFTOFF
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# * (1 SIN(CDUZ) 0 ) THE GIMBAL ANGLES
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# 2 3 4 5 6
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# PITCH = A0+A1T+A2T +A3T +A4T +A5T +A6T
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# SCALED TO 32 REVS. -14
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# IF TL = TIME IN SECS FROM L.O., THEN T = 100(TL-RPSTART0)2
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# WHERE TL GE RPSTART
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# TL LE (-POLYSTOP + RPSTART)
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# COMPUTE DESIRED ROLL WEHRE ROLL EQUALS ANGLE FROM
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|
||||||
# LAUNCHAZ TO -Z(S/C) AS SEEN FROM X(S/C).
|
|
||||||
# ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T IN REV
|
|
||||||
# SATRLRT = RATE OF ROLL IN REV/CENTI-SEC
|
|
||||||
# T, IN CENTI-SEC, IS DEFINED AS ABOVE, INCLUSIVE OF TIME RESTRICTIONS
|
|
||||||
#
|
|
||||||
# FOR SIMPLICITY, LET P = 2*PI*PITCH
|
|
||||||
# R = 2*PI*ROLL
|
|
||||||
#
|
|
||||||
# CONSTRUCT THE TRANSFORMATION MATRIX, TSMV, GIVING DESIRED S/C AXES IN
|
|
||||||
# TERMS OF SM COORDINATES. LET THE RESULTING ROWS EQUAL THE VECTORS XDC,
|
|
||||||
# YDC, AND ZDC.
|
|
||||||
#
|
|
||||||
# * ( SIN(P) 0 -COS(P) ) (XDC)
|
|
||||||
# TSMV = (-SIN(R)*COS(P) -COS(R) -SIN(R)*SIN(P)) = (YDC)
|
|
||||||
# (-COS(R)*COS(P) SIN(R) -COS(R)*SIN(P)) (ZDC)
|
|
||||||
#
|
|
||||||
# XDC,YDC,ZDC ARE USED AS INPUT TO CALCGTA FOR THE EXTRACTION OF THE
|
|
||||||
# EULER SET OF ANGLES WHICH WILL BRING THE SM INTO THE DESIRED
|
|
||||||
# ORIENTATION. THIS EULER SET, OGC, IGC, AND MGC, MAY BE IDENTIFIED
|
|
||||||
# AS THE DESIRED CDU ANGLES.
|
|
||||||
#
|
|
||||||
# (XDC) (OGC)
|
|
||||||
# (YDC) ---) CALCGTA ---) (IGC)
|
|
||||||
# (ZDC) (MGC)
|
|
||||||
# _
|
|
||||||
# DEFINE THE VECTOR DELTACDU.
|
|
||||||
#
|
|
||||||
# _ (OGC) (CDUX)
|
|
||||||
# DELTACDU = (IGC) - (CDUY)
|
|
||||||
# (MGC) (CDUZ)
|
|
||||||
# _ _ * _
|
|
||||||
# COMPUTE ATTITUDE ERRORS, A, WHERE A = TGSC*DELTACDU
|
|
||||||
#
|
|
||||||
# * (1 SIN(CDUZ) 0 ) THE GIMBAL ANGLES
|
|
||||||
# Page 542
|
# Page 542
|
||||||
# TGSC = (0 COS(CDUX)*COS(CDUZ) SIN(CDUX)) = TO SPACECRAFT AXES
|
# TGSC = (0 COS(CDUX)*COS(CDUZ) SIN(CDUX)) = TO SPACECRAFT AXES
|
||||||
# (0 -SIN(CDUX)*COS(CDUZ) COS(CDUX)) CONVERSION MATRIX
|
# (0 -SIN(CDUX)*COS(CDUZ) COS(CDUX)) CONVERSION MATRIX
|
||||||
# _
|
|
||||||
|
# -
|
||||||
# THE ATTITUDE ERRORS, A, ARE STORED ONE HALF SINGLE PRECISION IN
|
# THE ATTITUDE ERRORS, A, ARE STORED ONE HALF SINGLE PRECISION IN
|
||||||
# THE REGISTERS AK, AK1, AK2 AS INPUT TO NEEDLER, THE FDAI ATTITUDE
|
# THE REGISTERS AK, AK1, AK2 AS INPUT TO NEEDLER, THE FDAI ATTITUDE
|
||||||
# ERROR DISPLAY ROUTINE.
|
# ERROR DISPLAY ROUTINE.
|
||||||
@ -492,22 +498,22 @@ GETDOWN STQ SETPD
|
|||||||
ATERJOB CAE FLAGWRD6 # CHECK FLAGWRD6
|
ATERJOB CAE FLAGWRD6 # CHECK FLAGWRD6
|
||||||
MASK OCT60000 # BITS 14, 15
|
MASK OCT60000 # BITS 14, 15
|
||||||
EXTEND
|
EXTEND
|
||||||
BZF +2 # OK -- CONTINUE
|
BZF +2 # OK - CONTINUE
|
||||||
TC ENDOFJOB # STAURN STICK ON -- KILL JOB
|
TC ENDOFJOB # SATURN STICK ON - KILL JOB
|
||||||
CAF BIT10 # CHECK IF S/C CONTROL
|
CAF BIT10 # CHECK IF S/C CONTROL
|
||||||
EXTEND # OF SATURN PANEL
|
EXTEND # OF SATURN PANEL
|
||||||
RAND CHAN30 # SWITCH IS ON
|
RAND CHAN30 # SWITCH IS ON
|
||||||
EXTEND
|
EXTEND
|
||||||
BZF STRSAT # IT IS -- GO STEER
|
BZF STRSAT # IT IS - GO STEER
|
||||||
CCS SATSW # IT IS NOT -- WAS IT ON LAST CYCLE
|
CCS SATSW # IT IS NOT - WAS IT ON LAST CYCLE
|
||||||
TC ATTDISP # NO -- CONTINUE
|
TC ATTDISP # NO - CONTINUE
|
||||||
TC ATRESET # YES -- REINITIALIZE NEEDLER
|
TC ATRESET # YES - REINITIALIZE NEEDLER
|
||||||
TC ATRESET # YES -- REINITIALIZE NEEDLER
|
TC ATRESET # YES - REINITIALIZE NEEDLER
|
||||||
ATTDISP CS RPSTART # PITCH/ROLL START TIME
|
ATTDISP CS RPSTART # PITCH/ROLL START TIME
|
||||||
AD TIME1
|
AD TIME1
|
||||||
EXTEND
|
EXTEND
|
||||||
BZMF NOPOLY # IF MINUS THEN ATTITUDE HOLD
|
BZMF NOPOLY # IF MINUS THEN ATTITUDE HOLD
|
||||||
TS MPAC # MPAC = TIME1 - RPSTART
|
TS MPAC # MPAC=TIME1-RPSTART
|
||||||
TS SPOLYARG # SAVE FOR USE IN ROLL CALCULATION
|
TS SPOLYARG # SAVE FOR USE IN ROLL CALCULATION
|
||||||
AD POLYSTOP # NEG PITCHOVER TIME IN CSECS
|
AD POLYSTOP # NEG PITCHOVER TIME IN CSECS
|
||||||
EXTEND
|
EXTEND
|
||||||
@ -521,13 +527,14 @@ ATTDISP CS RPSTART # PITCH/ROLL START TIME
|
|||||||
TS L
|
TS L
|
||||||
CAF COEFPOLY # EVALUATE PITCH POLYNOMIAL
|
CAF COEFPOLY # EVALUATE PITCH POLYNOMIAL
|
||||||
TC POWRSERS # SCALED TO 32 REVOLUTIONS
|
TC POWRSERS # SCALED TO 32 REVOLUTIONS
|
||||||
|
|
||||||
CA ZERO # RETURN WITH PITCH(32REV)
|
CA ZERO # RETURN WITH PITCH(32REV)
|
||||||
TS MODE # STORED MPAC, MPAC +1
|
TS MODE # STORED MPAC, MPAC +1
|
||||||
TC INTPRET
|
TC INTPRET
|
||||||
SETPD SL # 32(PITCH(32REV)) = PITCH(REV)
|
SETPD SL # 32(PITCH(32REV))=PITCH(REV)
|
||||||
0
|
0
|
||||||
5
|
5
|
||||||
PUSH # LET P(RAD) = 2*PI*PITCH(REV)
|
PUSH # LET P(RAD)=2*PI*PITCH(REV)
|
||||||
GOTO
|
GOTO
|
||||||
ATTDISP1 # AROUND SETLOC
|
ATTDISP1 # AROUND SETLOC
|
||||||
# Page 543
|
# Page 543
|
||||||
@ -548,7 +555,7 @@ ATTDISP1 COS DCOMP
|
|||||||
|
|
||||||
# EVALUATE ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T
|
# EVALUATE ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T
|
||||||
SLOAD DMP
|
SLOAD DMP
|
||||||
SPOLYARG # TIME1 - RSPSTART, CSECS B-14.
|
SPOLYARG # TIME1 - RSPSTART ,CSECS B-14.
|
||||||
SATRLRT
|
SATRLRT
|
||||||
SL DSU
|
SL DSU
|
||||||
14D
|
14D
|
||||||
@ -559,7 +566,7 @@ ATTDISP1 COS DCOMP
|
|||||||
RTB # DETERMINE IF ROLLOUT
|
RTB # DETERMINE IF ROLLOUT
|
||||||
RLTST # IS COMPLETED
|
RLTST # IS COMPLETED
|
||||||
ATTDISPR PUSH COS # CONTINUE COMPUTING TSMV
|
ATTDISPR PUSH COS # CONTINUE COMPUTING TSMV
|
||||||
PUSH # LET R(RAD) = 2*PI*ROLL(REV)
|
PUSH # LET R(RAD) = 2*PI*ROLL(REV)
|
||||||
DMP SL1
|
DMP SL1
|
||||||
14D
|
14D
|
||||||
STODL 22D # -.5*COS(R)*COS(P)
|
STODL 22D # -.5*COS(R)*COS(P)
|
||||||
@ -591,19 +598,19 @@ ATTDISPR PUSH COS # CONTINUE COMPUTING TSMV
|
|||||||
STCALL ZDC # ZDC = .5*UNIT(-COS(R)*COS(P),SIN(R),
|
STCALL ZDC # ZDC = .5*UNIT(-COS(R)*COS(P),SIN(R),
|
||||||
CALCGTA # -COS(R)*SIN(P))
|
CALCGTA # -COS(R)*SIN(P))
|
||||||
|
|
||||||
# CALL CALCGTA TO COMPUTE DESIRED SM ORIENTATION OGC,IGC, AND MGC
|
# CALL CALCGTA TO COMPUTE DESIRED SM ORIENTATION OGC,IGC,AND MGC
|
||||||
# _ _ _
|
# - - -
|
||||||
# FIND DIFFERENCE VECTOR DELTACDU = OGC-CDUX
|
# FIND DIFFERENCE VECTOR DELTACDU = OGC-CDUX
|
||||||
#
|
|
||||||
# ENTER HERE IF ATTITUDE HOLD
|
# ENTER HERE IF ATTITUDE HOLD
|
||||||
|
|
||||||
NOPOLYM VLOAD PUSH # OGC IGC
|
NOPOLYM VLOAD PUSH # OGC IGC
|
||||||
OGC # CHANGE IGC TO MGC FOR COMPATIBILITY
|
OGC # CHANGE IGC TO MGC FOR COMPATIBILITY
|
||||||
PUSH CALL # MGC OGC
|
PUSH CALL # MGC OGC
|
||||||
CDUTRIG # WITH Y,Z,X ORDER OF CDUSPOT
|
CDUTRIG # WITH Y,Z,X ORDER OF CDUSPOT
|
||||||
VLOAD RTB # _ DPHI OGC-CDUX , PD4
|
VLOAD RTB # - DPHI OGC-CDUX ,PD4
|
||||||
2 # DELTACDU = DTHETA = IGC-CDUY , 0
|
2 # DELTACDU = DTHETA = IGC-CDUY , 0
|
||||||
V1STO2S # DPSI MGC-CDUZ , 2
|
V1STO2S # DPSI MGC-CDUZ , 2
|
||||||
STOVL BOOSTEMP
|
STOVL BOOSTEMP
|
||||||
ZEROVECS
|
ZEROVECS
|
||||||
STOVL 0
|
STOVL 0
|
||||||
@ -652,9 +659,9 @@ ATTDISP2 STODL 16D # 16D, .5(DPHI + DTHETA*SIN(CDUZ))
|
|||||||
|
|
||||||
CA SATSW
|
CA SATSW
|
||||||
CCS A # CHK TAKEOVER STATUS
|
CCS A # CHK TAKEOVER STATUS
|
||||||
TC SATOUT # POS -- DISPLAY ONLY
|
TC SATOUT # POS - DISPLAY ONLY
|
||||||
TC AKLOAD # 0 STORE BIAS
|
TC AKLOAD # 0 STORE BIAS
|
||||||
STEERSAT TC INTPRET # NEG STEER L/V
|
STEERSAT TC INTPRET # NEG STEER L/V
|
||||||
TLOAD TAD
|
TLOAD TAD
|
||||||
BIASAK
|
BIASAK
|
||||||
AK
|
AK
|
||||||
@ -669,12 +676,12 @@ STEERSAT TC INTPRET # NEG STEER L/V
|
|||||||
CA AK2
|
CA AK2
|
||||||
TC RESCALES
|
TC RESCALES
|
||||||
TS AK2
|
TS AK2
|
||||||
# DISPLAY ATTITUDE ERRORS ON FDAI VIA NEEDLER
|
# DISPLAY ATTITUDE ERRORS ON FDAI VIA NEEDLER
|
||||||
|
|
||||||
SATOUT TC BANKCALL
|
SATOUT TC BANKCALL
|
||||||
CADR NEEDLER
|
CADR NEEDLER
|
||||||
ATERSET CAF OCT31 # DELAY .25 SEC
|
ATERSET CAF OCT31 # DELAY .25 SEC
|
||||||
TC BANKCALL # EXECUTION + DELAY = .56SEC APPROX
|
TC BANKCALL # EXECUTION + DELAY =.56SEC APPROX
|
||||||
CADR DELAYJOB
|
CADR DELAYJOB
|
||||||
TC ATERJOB # END OF ATT ERROR DISPLAY CYCLE
|
TC ATERJOB # END OF ATT ERROR DISPLAY CYCLE
|
||||||
|
|
||||||
@ -688,17 +695,17 @@ AKLOAD CS AK # STORE AKS
|
|||||||
CS BIT1 # SET SW
|
CS BIT1 # SET SW
|
||||||
TS SATSW # TO STEER
|
TS SATSW # TO STEER
|
||||||
TC STEERSAT # GO STEER
|
TC STEERSAT # GO STEER
|
||||||
STRSAT CA SATSW # CHECK IF NEDLER
|
STRSAT CA SATSW # CHECK IF NEEDLER
|
||||||
EXTEND # HAS BEEN INITIALIZED
|
EXTEND # HAS BEEN INITIALIZED
|
||||||
BZMF ATTDISP # YES -- CONTINUE
|
BZMF ATTDISP # YES - CONTINUE
|
||||||
ATRESET CS RCSFLAGS # NO -- SET
|
ATRESET CS RCSFLAGS # NO - SET
|
||||||
MASK BIT3 # INITIALIZATION SW
|
MASK BIT3 # INITIALIZATION SW
|
||||||
ADS RCSFLAGS # FOR NEDLER
|
ADS RCSFLAGS # FOR NEEDLER
|
||||||
TC BANKCALL # AND GO
|
TC BANKCALL # AND GO
|
||||||
CADR NEEDLER # DO IT
|
CADR NEEDLER # DO IT
|
||||||
CAF REVCNT # OCT 6
|
CAF REVCNT # OCT 6
|
||||||
TC BANKCALL # DELAY JOB
|
TC BANKCALL # DELAY JOB
|
||||||
CADR DELAYJOB # 60 MS --WAIT TILL IMUERRCNTR ZEROED
|
CADR DELAYJOB # 60 MS -WAIT TILL IMUERRCNTR ZEROED
|
||||||
CCS SATSW # CHECK SW STATUS
|
CCS SATSW # CHECK SW STATUS
|
||||||
TC TAKEON # POS STEER INIT.
|
TC TAKEON # POS STEER INIT.
|
||||||
TC +1 # 0 RETURN TO DISPLAY
|
TC +1 # 0 RETURN TO DISPLAY
|
||||||
@ -769,17 +776,16 @@ RESCALES EXTEND # RESCALE AK S FOR
|
|||||||
DDOUBL # SCALING FOR
|
DDOUBL # SCALING FOR
|
||||||
DDOUBL # STEERING
|
DDOUBL # STEERING
|
||||||
TC Q # SATURN
|
TC Q # SATURN
|
||||||
|
|
||||||
# SATURN TAKEOVER FUNCTION
|
# SATURN TAKEOVER FUNCTION
|
||||||
# ************************
|
# ************************
|
||||||
#
|
|
||||||
# PROGRAM DESCRIPTION
|
# PROGRAM DESCRIPTION
|
||||||
#
|
|
||||||
# MOD NUMBER 1
|
# MOD NUMBER 1
|
||||||
# MOD BY ELIASSEN
|
# MOD BY ELIASSEN
|
||||||
#
|
|
||||||
# FUNCTIONAL DESCRIPTION
|
# FUNCTIONAL DESCRIPTION
|
||||||
#
|
|
||||||
# DURING THE COASTING PHASE OF SIVB ATTACHED, THE
|
# DURING THE COASTING PHASE OF SIVB ATTACHED, THE
|
||||||
# ASTRONAUT MAY REQUEST SATURN TAKEOVER THROUGH
|
# ASTRONAUT MAY REQUEST SATURN TAKEOVER THROUGH
|
||||||
# EXTENDED VERB 46 (BITS 13,14 OF DAPDATR1 SET ).
|
# EXTENDED VERB 46 (BITS 13,14 OF DAPDATR1 SET ).
|
||||||
@ -789,52 +795,52 @@ RESCALES EXTEND # RESCALE AK S FOR
|
|||||||
# VOLTAGES. THE VALUE OF THE CONSTANT RATE COMMAND
|
# VOLTAGES. THE VALUE OF THE CONSTANT RATE COMMAND
|
||||||
# IS 0.5 DEG/SEC. AN ABSENCE OF RHC ACTIVITY RE-
|
# IS 0.5 DEG/SEC. AN ABSENCE OF RHC ACTIVITY RE-
|
||||||
# SULTS IN A ZERO RATE COMMAND.
|
# SULTS IN A ZERO RATE COMMAND.
|
||||||
#
|
|
||||||
# THE FDAI ERROR NEEDLES WILL INDICATE THE VALUE
|
# THE FDAI ERROR NEEDLES WILL INDICATE THE VALUE
|
||||||
# OF THE RATE COMMAND.
|
# OF THE RATE COMMAND.
|
||||||
#
|
|
||||||
# CALLING SEQUENCE
|
# CALLING SEQUENCE
|
||||||
#
|
#
|
||||||
# DAPFIG +9D TC POSTJUMP
|
# DAPFIG +9D TC POSTJUMP
|
||||||
# CADR SATSTKON
|
# CADR SATSTKON
|
||||||
#
|
|
||||||
# SUBROUTINES CALLED
|
# SUBROUTINES CALLED
|
||||||
#
|
|
||||||
# ENDEXT
|
# ENDEXT
|
||||||
# IBNKCALL
|
# IBNKCALL
|
||||||
# STICKCHK
|
# STICKCHK
|
||||||
# NEEDLER
|
# NEEDLER
|
||||||
# T5RUPT
|
# T5RUPT
|
||||||
# RESUME
|
# RESUME
|
||||||
#
|
|
||||||
# ASTRONAUT REQUESTS
|
# ASTRONAUT REQUESTS
|
||||||
|
|
||||||
|
# ENTRY - VERB 46 ENTER
|
||||||
|
# (CONDITION - BITS 13, 14 OF DAPDATR1 SET)
|
||||||
#
|
#
|
||||||
# ENTRY -- VERB 46 ENTER
|
# EXIT - VERB 48 ENTER (FLASH V06N46)
|
||||||
# (CONDITION -- BITS 13, 14 OF DAPDATR1 SET)
|
|
||||||
#
|
|
||||||
# EXIT -- VERB 48 ENTER (FLASH V06N46)
|
|
||||||
# VERB 21 ENTER AXXXX ENTER WHERE A=0 OR 1
|
# VERB 21 ENTER AXXXX ENTER WHERE A=0 OR 1
|
||||||
# VERB 34 ENTER
|
# VERB 34 ENTER
|
||||||
# VERB 46 ENTER
|
# VERB 46 ENTER
|
||||||
#
|
|
||||||
# NORMAL EXIT MODE
|
# NORMAL EXIT MODE
|
||||||
#
|
|
||||||
# VERB 46 ENTER (SEE ASTRONAUT ABOVE)
|
# VERB 46 ENTER (SEE ASTRONAUT ABOVE)
|
||||||
#
|
|
||||||
# ALARM OR ABORT EXIT MODES
|
# ALARM OR ABORT EXIT MODES
|
||||||
#
|
|
||||||
# NONE
|
# NONE
|
||||||
#
|
|
||||||
# OUTPUT
|
# OUTPUT
|
||||||
#
|
|
||||||
# SATURN RATES IN CDUXCMD, CDUYCMD, CDUZCMD
|
# SATURN RATES IN CDUXCMD, CDUYCMD, CDUZCMD
|
||||||
#
|
|
||||||
# ERASABLE INITIALIZATION
|
# ERASABLE INITIALIZATION
|
||||||
#
|
|
||||||
# DAPDATR1 (BITS 13, 14 MUST BE SET)
|
# DAPDATR1 (BITS 13,14 MUST BE SET)
|
||||||
#
|
|
||||||
# DEBRIS
|
# DEBRIS
|
||||||
#
|
|
||||||
# CENTRALS
|
# CENTRALS
|
||||||
# Page 549
|
# Page 549
|
||||||
# CDUXCMD, CDUYCMD, CDUZCMD
|
# CDUXCMD, CDUYCMD, CDUZCMD
|
||||||
@ -858,7 +864,6 @@ SATSTKON EXTEND
|
|||||||
RELINT
|
RELINT
|
||||||
TC GOPIN # EXIT THUS BECAUSE WE CAME VIA V46
|
TC GOPIN # EXIT THUS BECAUSE WE CAME VIA V46
|
||||||
|
|
||||||
SBANK= PINSUPER # Added RSB 2009
|
|
||||||
EBANK= BODY3
|
EBANK= BODY3
|
||||||
2REDOSAT 2CADR REDOSAT
|
2REDOSAT 2CADR REDOSAT
|
||||||
|
|
||||||
@ -886,7 +891,7 @@ REDOSAT LXCH BANKRUPT # ALSO COMES HERE FOR RESTARTS
|
|||||||
TS TIME5
|
TS TIME5
|
||||||
TCF RESUME # END OF SATURN STICK INITIALIZATION
|
TCF RESUME # END OF SATURN STICK INITIALIZATION
|
||||||
|
|
||||||
# THIS SECTION IS EXECUTED EVERY 100 MSECS.
|
# THIS SECTION IS EXECUTED EVERY 100 MSECS
|
||||||
# Page 550
|
# Page 550
|
||||||
SATSTICK LXCH BANKRUPT
|
SATSTICK LXCH BANKRUPT
|
||||||
EXTEND
|
EXTEND
|
||||||
@ -905,13 +910,13 @@ SATSTICK LXCH BANKRUPT
|
|||||||
|
|
||||||
INDEX RMANNDX # SET SATURN RATES
|
INDEX RMANNDX # SET SATURN RATES
|
||||||
CA SATRATE
|
CA SATRATE
|
||||||
TS AK # ROLL
|
TS AK # ROLL
|
||||||
INDEX PMANNDX
|
INDEX PMANNDX
|
||||||
CA SATRATE
|
CA SATRATE
|
||||||
TS AK1 # PITCH
|
TS AK1 # PITCH
|
||||||
INDEX YMANNDX
|
INDEX YMANNDX
|
||||||
CA SATRATE
|
CA SATRATE
|
||||||
TS AK2 # YAW
|
TS AK2 # YAW
|
||||||
|
|
||||||
TC IBNKCALL # FOR SATURN INTERFACE AND FDAI DISPLAY
|
TC IBNKCALL # FOR SATURN INTERFACE AND FDAI DISPLAY
|
||||||
CADR NEEDLER
|
CADR NEEDLER
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user