parent
9ec69ad78f
commit
bba5c45c0f
@ -75,6 +75,7 @@ READPIPS INHINT
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TS MPAC +1
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TS MPAC +4
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TS MPAC +6
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VECMODE TCF VMODE
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# FORCE TP SIGN AGREEMENT IN MPAC:
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@ -146,7 +147,7 @@ TPMODE CAF ONE # MODE IS TP.
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INCRCDUS CAF LOCTHETA
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TS BUF # PLACE ADRES(THETA) IN BUF.
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CAE MPAC # INCREMENT IN 1'S COMPL.
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CAE MPAC # INCREMENT IN 1S COMPL.
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TC CDUINC
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INCR BUF
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@ -161,32 +162,32 @@ INCRCDUS CAF LOCTHETA
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LOCTHETA ADRES THETAD
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# THE FOLLOWING ROUTINE INCREMENTS IN 2'S COMPLEMENT THE REGISTER WHOSE ADDRESS IS IN BUF BY THE 1'S COMPL.
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# QUANTITY FOUND IN TEM2. THIS MAY BE USED TO INCREMENT DESIRED IMU AND OPTICS CDU ANGLES OR ANY OTHER 2'S COMPL.
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# THE FOLLOWING ROUTINE INCREMENTS IN 2S COMPLEMENT THE REGISTER WHOSE ADDRESS IS IN BUF BY THE 1S COMPL.
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# QUANTITY FOUND IN TEM2. THIS MAY BE USED TO INCREMENT DESIRED IMU AND OPTICS CDU ANGLES OR ANY OTHER 2S COMPL.
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# (+0 UNEQUAL TO -0) QUANTITY. MAY BE CALLED BY BANKCALL/SWCALL.
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CDUINC TS TEM2 # 1'S COMPL. QUANT. ARRIVES IN ACC. STORE IT
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CDUINC TS TEM2 # 1S COMPL.QUANT. ARRIVES IN ACC. STORE IT
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INDEX BUF
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CCS 0 # CHANGE 2'S COMPLE. ANGEL (IN BUF) INTO 1'S
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CCS 0 # CHANGE 2S COMPLE. ANGLE(IN BUF) INTO 1S
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AD ONE
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TCF +4
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AD ONE
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AD ONE # OVEFLOW HERE IF 2'S COMPL. IS 180 DEG.
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AD ONE # OVEFLOW HERE IF 2S COMPL. IS 180 DEG.
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COM
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AD TEM2 # SULT MOVES FROM 2ND TO 3D QUAD. (OR BACK)
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CCS A # BACK TO 2'S COMPL.
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AD TEM2 # SULT MOVES FROM 2ND TO 3D QUAD.(OR BACK)
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CCS A # BACK TO 2S COMPL.
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AD ONE
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TCF +2
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COM
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TS TEM2 # STORE 14-BIT QUANTITY WITH PRESENT SIGN
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TS TEM2 # STORE 14BIT QUANTITY WITH PRESENT SIGN
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TCF +4
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INDEX A # SIGN.
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CAF LIMITS # FIX IT, BY ADDING IN 37777 OR 40000
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CAF LIMITS # FIX IT,BY ADDING IN 37777 OR 40000
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AD TEM2
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INDEX BUF
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TS 0 # STORE NEW ANGLE IN 2'S COMPLEMENT.
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TS 0 # STORE NEW ANGLE IN 2S COMPLEMENT.
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TC Q
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# Page 1512
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@ -200,8 +201,8 @@ PULSEIMU INDEX FIXLOC # ADDRESS OF GYRO COMMANDS SHOULD BE IN X1
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# Page 1513
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# EACH ROUTINE TAKES A 3X3 MATRIX STORED IN DOUBLE PRECISION IN A FIXED AREA OF ERASABLE MEMORY AND REPLACES IT
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# WITH THE TRANSPOSE MATRIX. TRANSP1 USES LOCATIONS XNB+0,+1 THROUGH XNB+16D,+17D AND TRANSP2 USES LOCATIONS
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# XNB1+0,+1 THROUGH XNB1+16D,+17D. EACH MATRIX IS STORED BY ROWS.
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# WITH THE TRANSPOSE MATRIX. TRANSP1 USES LOCATIONS XNB+0,+1 THROUGH XNB+16D, 17D AND TRANSP2 USES LOCATIONS
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# XNB1+0,+1 THROUGH XNB1+16D, 17D. EACH MATRIX IS STORED BY ROWS.
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XNBEB ECADR XNB
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XNB1EB ECADR XNB1
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@ -222,6 +223,8 @@ TRANSP1 CAF XNBEB
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DXCH XNB +14D
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DXCH XNB +10D
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TCF DANZIG
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EBANK= XNB1
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TRANSP2 CAF XNB1EB
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@ -309,7 +312,7 @@ OFFTUNIT TC POSTJUMP
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NOSHIFT CAF ZERO
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TCF OFFTUNIT -2
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# RTB VECSGNAG ... FORCES SIGN AGREEMENT OF VECTOR IN MPAC.
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# RTB VECSGNAG ...FORCES SIGN AGREEMENT OF VECTOR IN MPAC.
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VECSGNAG TC BANKCALL
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CADR VECAGREE
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