Typo corrections and renamed file
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Zach Peters
parent
4220509659
commit
cf78550425
@ -65,7 +65,7 @@ GTS CAF NEGONE # MAKE THE NEXT PASS THROUGH THE DAP BE
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AD A # FOR THE RIGHT SHIFT DUE TO EDITING.
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TS SAVESR
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GTSGO+DN CAF TWO # SET INDEXER FOR R-AXIS CALCULATIONS.
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GTSGO+ON CAF TWO # SET INDEXER FOR R-AXIS CALCULATIONS.
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TCF GOQTRIMG +1
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GOQTRIMG CAF ZERO # SET INDEXER FOR Q-AXIS CALCULATIONS
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@ -133,7 +133,7 @@ ALGORTHM EXTEND # Q(R)DIFF IS THETA (ERROR) SCALED AT PI.
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EXTEND
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# Page 1474
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DV KCENTRAL
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XCH A2CNTRAL +1 # QUOTIENT STORED AT 16*PI, D.P.
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XCH A2CNTRAL +1 # QUOTIENT STORED AT 16*PI , D.P.
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TCF HAVEQUOT
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HUGEQUOT CA POSMAX
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@ -191,7 +191,7 @@ NEGFNCT2 EXTEND
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FUNCT2 EXTEND
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DCA A2CNTRAL
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DAS K2CNTRAL # DEL*OMEGA + ALPHA(2)/(2*K) AT 16*PI, D.P.
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DAS K2CNTRAL # DEL*OMEGA + ALPHA(2)/(2*K) AT 16*PI,D.P.
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FUNCT3 CA A2CNTRAL
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EXTEND
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@ -300,38 +300,38 @@ ACDT+C12 CS NEGUQ
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#
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# TIMEGMBL COMPUTES THE DRIVE TIME NEEDED FOR THE TRIM GIMBAL TO POSITION THE DESCENT ENGINE NOZZLE SO AS TO NULL
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# THE OFFSET ANGULAR ACCELERATION ABOUT THE Q (OR R) AXIS. INSTEAD OF USING AOSQ(R), TIMEGMBL USES .4*AOSQ(R),
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# SCALED AT PI/8. FOR EACH AXIS, THE DRIVE TIME IS COMPUTED AS ABS(ALPHA/ACCDOT). A ZERO
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# SCALED AT PI/8. FOR EACH AXIS, THE DRIVE TIME IS COMPUTED AS ABS(ALPHA/ACCDOT). A ZERO
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# ALPHA OR ACCDOT OR A ZERO QUOTIENT TURNS OFF THE GIMBAL DRIVE IMMEDIATELY. OTHERWISE, THE GIMBAL IS TURNED ON
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# DRIVING IN THE CORRECT DIRECTION. THE Q(R)GIMTIMR IS SET TO TERMINATE THE DRIVE AND Q(R)ACCDOT
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# IS STORED TO REFLECT THE NEW ACCELERATION DERIVATIVE. NEGUQ(R) WILL CONTAIN +1,+0,-1 FOR A Q(R)ACCDOT VALUE
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# WHICH IS NEGATIVE, ZERO, OR POSITIVE.
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#
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# INPUTS: AOSQ,AOSR, SCALED AT P1/2, AND ACCDOTQ, ACCDOTR AT PI/2(7). PI/2(7).
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# INPUTS: AOSQ,AOSR, SCALED AT P1/2, AND ACCDOTQ, ACCDOTR AT PI/2(7). PI/2(7).
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#
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# OUTPUTS: NEW GIMBAL DRIVE BITS IN CHANNEL 12, NEGUQ, NEGUR, QACCDOT, AND RACCDOT, THE LAST SCALED AT PI/2(7).
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# Q(R)GIMTIMR WILL BE SET TO TIME AND TERMINATE GIMBAL DRIVE(S).
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# OUTPUTS: NEW GIMBAL DRIVE BITS IN CHANNEL 12,NEGUQ,NEGUR,QACCDOT AND RACCDOT, THE LAST SCALED AT PI/2(7).
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# Q(R)GIMTIMR WILL BE SET TO TIME AND TERMINATE GIMBAL DRIVE(S)
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#
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# DEBRIS: A, L, Q, ITEMPS 2, 3, 6, AND RUPTREG2 AND ACDT+C12 DEBRIS.
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# DEBRIS: A,L,Q, ITEMPS 2,3,6, RUPTREG2 AND ACDT+C12 DEBRIS.
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#
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# EXITS: VIA TC Q.
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# EXITS: VIA TC Q.
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#
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# ALARMS, ABORTS: NONE.
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# ALARMS, ABORTS, : NONE
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#
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# SUBROUTINES: ACDT+C12, IBNKCALL
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# SUBROUTINES: ACDT+C12, IBNKCALL
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#
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# WARNING: THIS SUBROUTINE WRITES INTO CHANNEL 12 AND USES THE ITEMPS. THEREFORE IT MAY ONLY BE CALLED WITH
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# INTERRUPT INHIBITED.
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# WARNING: THIS SUBROUTINE WRITES INTO CHANNEL 12 AND USES THE ITEMPS. THEREFORE IT MAY ONLY BE CALLED WITH
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# INTERRUPT INHIBITED.
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#
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# ERASABLE STORAGE CONFIGURATION (NEEDED BY THE INDEXING METHODS):
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# NEGUQ ERASE +2 # NEGATIVE OF Q-AXIS GIMBAL DRIVE
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# (SPWORD) EQUALS NEGUQ +1 # ANY S.P. ERASABLE NUMBER, NOW THRSTCMD
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# NEGUR EQUALS NEGUQ +2 # NEGATIVE OF R-AXIS GIMBAL DRIVE
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# ACCDOTQ ERASE +2 # Q-JERK TERM SCALED AT PI/2(7) RAD/SEC(3)
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# (SPWORD) EQUALS ACCDOTQ +1 # ANY S.P. ERASABLE NUMBER NOW QACCDOT
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# ACCDOTR EQUALS ACCDOTQ +2 # R-JERK TERM SCALED AT PI/2(7) RAD/SEC(3)
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# # ACCDOTQ, ACCDOTR ARE MAGNITUDES.
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# AOSQ ERASE +4 # Q-AXIS ACC., D.P. AT PI/2 R/SEC(2)
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# AOSR EQUALS AOSQ +2 # R-AXIS ACCELERATION SCALED AT PI/2 R/S2
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# NEGUQ ERASE +2 # NEGATIVE OF Q-AXIS GIMBAL DRIVE
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# (SPWORD) EQUALS NEGUQ +1 # ANY S.P. ERASABLE NUMBER, NOW THRSTCMD
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# NEGUR EQUALS NEGUQ +2 # NEGATIVE OF R-AXIS GIMBAL DRIVE
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# ACCDOTQ ERASE +2 # Q-JERK TERM SCALED AT PI/2(7) RAD/SEC(3)
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# (SPWORD) EQUALS ACCDOTQ +1 # ANY S.P. ERASABLE NUMBER NOW QACCDOT
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# ACCDOTR EQUALS ACCDOTQ +2 # R-JERK TERM SCALED AT PI/2(7) RAD/SEC(3)
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# # ACCDOTQ, ACCDOTR ARE MAGNITUDES.
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# AOSQ ERASE +4 # Q-AXIS ACC., D.P. AT PI/2 R/SEC(2)
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# AOSR EQUALS AOSQ +2 # R-AXIS ACCELERATION SCALED AT PI/2 R/S2
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QRNDXER EQUALS ITEMP6
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OCT23146 OCTAL 23146 # DECIMAL .6
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@ -365,7 +365,7 @@ ALPHATRY INDEX QRNDXER
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TS L # WAS THERE OVERFLOW?
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TCF SETNEGU # NO. COMPUTE DRIVE TIME.
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CS A # RECOVER -SGN(AOS) IN THE A REGISTER.
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CS A # RECOVER -SGN(AOS) IN THE A REGISTER.
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INDEX QRNDXER # YES. START DRIVE WITHOUT WAITLIST.
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XCH NEGUQ
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TCF NOTALLOW # KNOCK DOWN THE ALLOWGTS FLAG.
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@ -374,10 +374,10 @@ SETNEGU EXTEND
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BZMF POSALPH
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COM
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TS ITEMP2 # STORE -ABS(.4*AOS) SCALED AT PI/8.
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TS ITEMP2 # STORE -ABS(.4*AOS) SCALED AT PI/8.
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CS BIT1
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TCF POSALPH +2
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POSALPH TS ITEMP2 # STORE -ABS(.4*AOS) SCALED AT PI/8.
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POSALPH TS ITEMP2 # STORE -ABS(.4*AOS) SCALED AT PI/8.
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CA BIT1
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+2 INDEX QRNDXER # SGN(AOS) INTO NEGU
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TS NEGUQ # STORE SGN(ALPHA) AS NEGU
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@ -440,8 +440,8 @@ OCT00240 OCTAL 00240 # DECIMAL 10/1024
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# SQUARE ROOT OF THE FOURTEEN MOST SIGNIFICANT BITS OF THE ARGUMENT. ALSO, THE CELL SHFTFLAG CONTAINS A BINARY
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# EXPONENT S, SUCH THAT THE SQUARE ROOT (RETURNED IN THE A REGISTER) MUST BE SHIFTED RIGHT (MULTIPLIED BY 2 TO THE
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# POWER (-S)) IN ORDER TO BE THE TRUE SQUARE ROOT OF THE FOURTEEN MOST SIGNIFICANT BITS OF FUNCTION, FUNCTION +1.
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# SQUARE ROOT ERROR IS NOT MORE THAN 2 IN THE 14TH SIGNIFICANT BIT. CELLS CLOBBERED ARE A, L, SHFTFLAG, ININDEX,
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# HALFARG, SCRATCH, SR, FUNCTION, FUNCTION +1. GTSQRT IS CALLED BY TC GTSQRT AND RETURNS VIA TC Q OR TC FUNCTION +1.
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# SQUARE ROOT ERROR IS NOT MORE THAN 2 IN THE 14TH SIGNIFICANT BIT. CELLS CLOBBERED ARE A,L,SHFTFLAG.ININDEX,
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# HALFARG,SCRATCH,SR,FUNCTION, FUNCTION +1. GTSQRT IS CALLED BY TC GTSQRT AND RETURNS VIA TC Q OR TC FUNCTION +1.
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# ZERO OR NEGATIVE ARGUMENTS YIELD ZERO FOR SQUARE ROOTS.
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GTSQRT CCS FUNCTION
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@ -506,7 +506,6 @@ SCALDONE EXTEND
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TC ROOTCYCL
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TC ROOTCYCL
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TC FUNCTION +1
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# ***************************************************************************
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RSTOFGTS TC GTSQRT
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@ -514,12 +513,12 @@ PRODUCT XCH K2CNTRAL
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EXTEND
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MP K2CNTRAL
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DXCH K2CNTRAL
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EXTEND # THE PRODUCT OF
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EXTEND # THE PRODUCT OF
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MP L # 1/2 2 1/2
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ADS K2CNTRAL +1 # K *(DEL*OMEGA + ALPHA /(2*K))
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TS L # AND
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TCF +2 # 2
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ADS K2CNTRAL # DEL*(DEL*OMEGA + ALPHA /(2*K)) NOW IN
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TS L # AND
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TCF +2 # 2
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ADS K2CNTRAL # DEL*(DEL*OMEGA + ALPHA /(2*K)) NOW IN
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# K2CNTRAL
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DOSHIFT CA ININDEX
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@ -538,22 +537,22 @@ DOSHIFT CA ININDEX
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XCH K2CNTRAL
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EXTEND
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MP K2CNTRAL +1
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ADS K2THETA +1
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ADS K2THETA +1
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TS L
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TCF +2
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TCF +2
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ADS K2THETA
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TCF NEGUSUM
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ADDITIN EXTEND
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DCA K2CNTRAL
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DAS K2THETA # NO ADD IN THE K2THETA TERM.
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DAS K2THETA # NOW ADD IN THE K2THETA TERM.
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NEGUSUM CCS K2THETA # TEST SIGN OF HIGH ORDER PART.
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TCF NEGDRIVE
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TCF +2
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TCF +2
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TCF POSDRIVE
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CCS K2THETA +1 # SIGN TEST FOR LOW ORDER PART.
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CCS K2THETA +1 # SIGN TEST FOR LOW ORDER PART.
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NEGDRIVE CA BIT1
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TCF +2 # STOP GIMBAL DRIVE FOR A ZERO NEGUSUM.
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POSDRIVE CS BIT1
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@ -598,16 +597,14 @@ CLOSEADR 2CADR CLOSEOUT # TERMINATE THE JASK.
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TWELVE EQUALS OCT14
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ROOTHALF OCTAL 26501 # SQUARE ROOT OF 1/2
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GMBLBITA OCTAL 01400 # INDEXED WRT GMBLBITB DO NOT MOVE *******
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OCT11276 OCTAL 11276 # POSMAX -- ROOTHALF
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OCT11276 OCTAL 11276 # POSMAX - ROOTHALF
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GMBLBITB OCTAL 06000 # INDEXED WRT GMBLBITA DO NOT MOVE *******
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# SUBROUTINE ROOTCYCL: BY CRAIG WORK, 3 APRIL 68
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#
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# ROOTCYCL IS A SUBROUTINE WHICH EXECUTES ONE NEWTON SQUARE ALGORITHM ITERATION. THE INITIAL GUESS AT THE
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# SQUARE ROOT IS PRESUMED TO BE IN THE A REGISTER AND ONE-HALF THE SQUARE IS TAKEN FROM HALFARG. THE NEW APPROXIMATION
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# TO THE SQUARE ROOT IS RETURNED IN THE A REGISTER. DEBRIS: A, L, SR, SCRATCH. ROOTCYCL IS CALLED FROM
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# ROOTCYCL IS A SUBROUTINE WHICH EXECUTES ONE NEWTON SQUARE ROOT ALGORITHM ITERATION. THE INITIAL GUESS AT THE
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# SQUARE ROOT IS PRESUMED TO BE IN THE A REGISTER AND ONE-HALF THE SQUARE IS TAKEN FROM HALFARG. THE NEW APPROXI-
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# MATION TO THE SQUARE ROOT IS RETURNED IN THE A REGISTER. DEBRIS: A,L,SR,SCRATCH. ROOTCYCL IS CALLED FROM
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# LOCATION (LOC) BY A TC ROOTCYCL, AND RETURNS (TC Q) TO LOC +1.
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#
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# WARNING: IF THE INITIAL GUESS IS NOT GREATER THAN THE SQUARE, DIVIDE OR ADD OVERFLOW IS A REAL POSSIBILITY.
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ROOTCYCL TS SCRATCH # STORE X
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@ -618,5 +615,3 @@ ROOTCYCL TS SCRATCH # STORE X
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DV SCRATCH # (ARG/X)/2
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AD SR # (X + ARG/X)/2 IN THE A REG
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TC Q
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