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Proof-read TVCRESTARTS (#302)

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* Proof read pages 956, 957, 958

* Finish proof reading
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Felix Wittwer 2017-11-01 00:16:52 +01:00 committed by James Harris
parent 8d61902b44
commit e796f1c3b5
1 changed files with 40 additions and 55 deletions
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Comanche055/TVCRESTARTS.agc
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@ -33,78 +33,64 @@
# Colossus 2A # Colossus 2A
# Page 956 # Page 956
# NAME....TVCRESTART PACKAGE, CONSISTING OF REDOTVC, ENABL1, 2, CMDSOUT, PHSCHK2, ETC. # NAME....TVCRESTART PACKAGE, CONSISTING OF REDOTVC, ENABL1, 2, CMDSOUT, PHSCHK2, ETC.
# LOG SECTION....TVCRESTARTS SUBROUTINE....DAPCSM # LOG SECTION...TVCRESTARTS SUBROUTINE....DAPCSM
# MODIFIED BY SCHLUNDT 21 OCTOBER 1968 # MODIFIED BY SCHLUNDT 21 OCTOBER 1968
#
# FUNCTIONAL DESCRIPTION.... # FUNCTIONAL DESCRIPTION....
# #
# *RESTART-PROCESS THE TVC DAPS, INCLUDING PITCHDAP, YAWDAP, # *RESTART-PROOFS THE TVC DAPS, INCLUDING PITCHDAP, YAWDAP,
# TVCEXECUTIVE, ROLLDAP, TVCINIT4, TVCDAPON, AND CSM/.M V46 SWTCHOVR. # TVCEXECUTIVE, ROLLDAP, TVCINIT4, TVCDAPON, AND CSM/LM V46 SWTCHOVR.
#
# *TVC RESTARTS DESERVE SPECIAL CONSIDERATION IN SEVERAL AREAS. # *TVC RESTARTS DESERVE SPECIAL CONSIDERATION IN SEVERAL AREAS.
# RESTART DOWN-TIME IS IMPORTANT BECAUSE OF THE TRANSIENTS INTRODUCED # RESTART DOWN-TIME IS IMPORTANT BECAUSE OF THE TRANSIENTS INTRODUCED
# BY THE THRUST VECTOR RETURN TO THE ACTUATOR MECHANICAL NULLS # BY THE THRUST VECTOR RETURN TO THE ACTUATOR MECHANICAL NULLS
# FOLLOWING TVC- AND OPTICS-ERROR-COUNTER-DISENABLES (CHANNEL 12). # FOLLOWING TVC- AND OPTICS-ERROR-COUNTER-DISENABLES (CHANNEL 12).
# TVC USES A MIXTURE OF WAITLIST, T5, T6, AND JOB CALLS. THERE IS # TVC USES A MIXTURE OF WAITLIST, T5, T6, AND JOB CALLS. THERE IS
# FILTER MEMORY (UP TO 6TH ORDER) TO BE PROTECTED IF WILD TRANSIENTS # FILTER MEMORY (UP TO 6TH ORDER) TO BE PROTECTED IF WILD TRANSIENTS
# ARE TO BE AVOIDED. COUNTERS ARE INVOLVED FOR ONE-SHOT # ARE TO BE AVOIDED. COUNTERS ARE INVOLVED FOR ONE-SHOT
# CORRECTIONS AND GAIN UPDATES. THE GIMBAL TRIM ESTIMATORS AND THE # CORRECTIONS AND GAIN UPDATES. THE GIMBAL TRIM ESTIMATORS AND THE
# BODY AXIS ATTITUDE ERROR INTEGRATORS INVOLVE DIGITAL SUMMATION. # BODY AXIS ATTITUDE ERROR INTEGRATORS INVOLVE DIGITAL SUMMATION.
# DIGITAL DIFFERENTIATORS ARE INVOLVED IN THE BODY AXIS RATE ESTIMA- # DIGITAL DIFFERENTIATORS ARE INVOLVED IN THE BODY AXIS RATE ESTIMA-
# TIONS AND IN THE OUTPUTTING OF ACTUATOR COMMANDS. THERE IS AN # TIONS AND IN THE OUTPUTTING OF ACTUATOR COMMANDS. THERE IS AN
# OFFSET-TRACKER-FILTER TO PROTECT. ETC., ETC. # OFFSET-TRACKER-FILTER TO PROTECT. ETC., ETC.
#
# *THOSE QUANTITIES WHICH MUST BE PROTECTED ARE STORED IN TEMPORARY # *THOSE QUANTITIES WHICH MUST BE PROTECTED ARE STORED IN TEMPORARY
# REGISTERS AS THEY ARE COMPUTED, FOR UPDATING THE REAL REGISTERS # REGISTERS AS THEY ARE COMPUTED, FOR UPDATING THE REAL REGISTERS
# DURING COPYCYCLES. # DURING COPYCYCLES.
#
# *THE SEVERAL COPYCYCLES ARE EACH PROTECTED BY PHASE POINTS AT THEIR # *THE SEVERAL COPYCYCLES ARE EACH PROTECTED BY PHASE POINTS AT THEIR
# BEGINNING AND AT THEIR TERMINATION. THE PHASE POINTS ARE SIMPLY # BEGINNING AND AT THEIR TERMINATION. THE PHASE POINTS ARE SIMPLY
# "INCR" INSTRUCTIONS, EITHER "INCR TVCEXPHS" FOR COPYCYCLES # ..INCR.. INSTRUCTIONS, EITHER ..INCR TVCEXPHS.. FOR COPYCYCLES
# IN THE TVCEXECUTIVE, OR "INCR TVCPHASE" FOR THE PITCH AND YAW # IN THE TVCEXECUTIVE, OR ..INCR TVCPHASE.. FOR THE PITCH AND YAW
# COPYCYCLES. INDEXING ON EACH OF THESE POINTERS THEN PERMITS A # COPYCYCLES. INDEXING ON EACH OF THESE POINTERS THEN PERMITS A
# RETURN TO THE APPROPRIATE RESTART POINTS. # RETURN TO THE APPROPRIATE RESTART POINTS.
#
# *IF A RESTART OCCURS DURING EITHER COPYCYCLE, THAT COPYCYCLE IS # *IF A RESTART OCCURS DURING EITHER COPYCYCLE, THAT COPYCYCLE IS
# COMPLETED. THEN THE NORMAL TVCINIT4....DAPINIT....PITCHDAP STARTUP # COMPLETED. THEN THE NORMAL TVCINIT4....DAPINIT....PITCHDAP STARTUP
# SEQUENCE IS CALLED UPON TO GET THINGS GOING AGAIN. # SEQUENCE IS CALLED UPON TO GET THINGS GOING AGAIN.
#
# *TVC-ENABLE AND OPTICS-ERROR-COUNTER ENABLE MUST BE SET ASAP # *TVC-ENABLE AND OPTICS-ERROR-COUNTER ENABLE MUST BE SET ASAP
# (ALLOWING FOR PROCEDURAL DELAYS). THEN THE ENGINES ARE COMMANDED # (ALLOWING FOR PROCEDURAL DELAYS). THEN THE ENGINES ARE COMMANDED
# TO THE P,YACTOFF TRIM VALUES. THE DAPS ARE THEN READY TO GO ON THE # TO THE P,YACTOFF TRIM VALUES. THE DAPS ARE THEN READY TO GO ON THE
# AIR, WITH THE REGULAR STARTUP SEQUENCE, EITHER AT MRCLEAN FOR A # AIR, WITH THE REGULAR STARTUP SEQUENCE, EITHER AT MRCLEAN FOR A
# COMPLETE INITIALIZATION OR AT TVCINIT4 FOR A PARTIAL INITIALIZATION. # COMPLETE INITIALIZATION OR AT TVCINIT4 FOR A PARTIAL INITIALIZATION
#
# *FOR RESTARTS PRIOR TO THE SETTING OF THE T5 BITS AT DOTVCON THE # *FOR RESTARTS PRIOR TO THE SETTING OF THE T5 BITS AT DOTVCON THE
# PRE40.6 SECTION OF S40.6 TAKES CARE OF RE-ESTABLISHING TRIMS. # PRE40.6 SECTION OF S40.6 TAKES CARE OF RE-ESTABLISHING TRIMS.
#
# *IF A RESTART OCCURS DURING THE TVCEXEC....TVCEXFIN SEQUENCE THE # *IF A RESTART OCCURS DURING THE TVCEXEC....TVCEXFIN SEQUENCE THE
# COMPUTATIONS WILL BE COMPLETED, STARTING AT THE APPROPRIATE RESTART # COMPUTATIONS WILL BE COMPLETED, STARTING AT THE APPROPRIATE RESTART
# POINT, AFTER THE DAPS ARE READY TO GO ON THE AIR. # POINT, AFTER THE DAPS ARE READY TO GO ON THE AIR.
# # *IF A RESTART OCCURS PRIOR TO TVCINIT4 (TVCPHASE = -1) E.G. DURING
# *IF A RESTART OCCURS PRIOR TO TVCINIT4 (TVCPHAS = -1) E.G. DURING
# THE EARLY DAP INITIALIZATION PHASE, THE DAP STARTUP SEQUENCE IS # THE EARLY DAP INITIALIZATION PHASE, THE DAP STARTUP SEQUENCE IS
# ENTERED AT MRCLEAN FOR A FULL INITIALIZATION. # ENTERED AT MRCLEAN FOR A FULL INITIALIZATION.
# # *FOR RESTARTS DURING CSM/LM V46 SWITCH-OVER, TVCPHASE IS SET TO -2,
# *FOR RESTARTS DURING CSM/LM V46 SWITCH-VER, TVCPHASE IS SET TO -2.
# AND THE RESTART LOGIC GOES BACK TO REDO SWITCH-OVER (AFTER THE # AND THE RESTART LOGIC GOES BACK TO REDO SWITCH-OVER (AFTER THE
# NORMAL DAP RESTART SEQUENCE IS FOLLOWED.) # NORMAL DAP RESTART SEQUENCE IS FOLLOWED).
#
# *RESTARTS ARE NOT CRITICAL TO THE ROLL DAP PERFORMANCES HENCE THE # *RESTARTS ARE NOT CRITICAL TO THE ROLL DAP PERFORMANCES HENCE THE
# ROLL DAP IS MERELY RESTARTED. # ROLL DAP IS MERELY RESTARTED.
#
# *RESTARTS DURING A STROKE TEST (STROKER IS NON-ZERO) WILL CAUSE THE # *RESTARTS DURING A STROKE TEST (STROKER IS NON-ZERO) WILL CAUSE THE
# Page 957 # Page 957
# STROKE TEST TO BE TERMINATED. A NEW V68 ENTRY WILL BE REQUIRED # STROKE TEST TO BE TERMINATED. A NEW V68 ENTRY WILL BE REQUIRED
# TO GET IT GOING AGAIN (NO AUTOMATIC RESTART). # TO GET IT GOING AGAIN (NO AUTOMATIC RESTART).
#
# *REDOTVC IS REACHED FOLLOWING ANY RESTART WHICH FINDS THE T5 BITS # *REDOTVC IS REACHED FOLLOWING ANY RESTART WHICH FINDS THE T5 BITS
# (BITS 15,14 OF FLAGWRD6) SET FOR TVC. DOTVCON TVCPHASE = -1 # (BITS 15,14 OF FLAGWRD6) SET FOR TVC. DOTVCON SETS TVCPHASE = -1
# AND TVC EXPHS = 0 JUST BEFORE SETTING THESE BITS, JUST BEFORE # AND TVC EXPHS = 0 JUST BEFORE SETTING THESE BITS, JUST BEFORE
# MAKING THE T5 CALL TO TVCDAPON. ON A NORMAL SHUTDOWN DOTVCRCS # MAKING THE T5 CALL TO TVCDAPON. ON A NORMAL SHUTDOWN DOTVCRCS
# CALLS RCSDAPON, WHICH RESETS THE T5 BIT FOR RCS # CALLS RCSDAPON, WHICH RESETS THE T5 BIT FOR RCS.
#
# CALLING SEQUENCE....T5, IN PARTICULAR BY ELRSKIP OF FRESH START/RESTART # CALLING SEQUENCE....T5, IN PARTICULAR BY ELRSKIP OF FRESH START/RESTART
# #
# NORMAL EXIT MODES....RESUME, NOQRSM, POSTJUMP (TO TVCINIT4 OR MRCLEAN) # NORMAL EXIT MODES....RESUME, NOQRSM, POSTJUMP (TO TVCINIT4 OR MRCLEAN)
@ -116,12 +102,11 @@
# *PCOPY+1, YCOPY+1 (PITCH AND YAW COPYCYCLES) # *PCOPY+1, YCOPY+1 (PITCH AND YAW COPYCYCLES)
# *ENABLE1,2, CMDSOUT (RE-ESTABLISH ACTUATOR TRIMS) # *ENABLE1,2, CMDSOUT (RE-ESTABLISH ACTUATOR TRIMS)
# *MRCLEAN OR TVCINIT4 (TVCDAP INITIALIZATIONS) # *MRCLEAN OR TVCINIT4 (TVCDAP INITIALIZATIONS)
# *SWITCHOVR +5 (CSM/LM V46 SWITCH-OVER) # *SWICHOVR +5 (CSM/LM V46 SWITCH-OVER)
# *EXRSTRT AND TVCEXECUTIVE PHASE POINTS 1 THRU 6 # *EXRSTRT AND TVCEXECUTIVE PHASE POINTS 1 THRU 6
# *WAITLIST, IBNKCALL, POSTJUMP, ISWCALL # *WAITLIST, IBNKCALL, POSTJUMP, ISWCALL
# #
# OTHER INTERFACES....DOTVCON AND RCSDAPON (T5 BITS), ELRSKIP (CALLS IT) # OTHER INTERFACES....DOTVCON AND RCSDAPON (T5 BITS), ELRSKIP (CALLS IT)
#
# ERASABLE INITIALIZATION REQUIRED.... # ERASABLE INITIALIZATION REQUIRED....
# #
# *T5 BITS (1,0), TVCPHASE (-2,-1,0,1,2,3), TVCEXPHS (1 THRU 6) # *T5 BITS (1,0), TVCPHASE (-2,-1,0,1,2,3), TVCEXPHS (1 THRU 6)
@ -131,8 +116,8 @@
# #
# OUTPUT.... # OUTPUT....
# #
# *PITCH AND YAW TVC DAP COPYCYCLES COMPLETED IF INTERRUPTED # *PITCH AND YAW TVC DAP COPYCYCLES COMPLETED IF INTERUPTED
# *TVCEXECUTIVE COMPLETED IF INTERRUPTED # *TVCEXECUTIVE COMPLETED IF INTERUPTED
# *STROKE TEST TERMINATED IF INTERRUPTED # *STROKE TEST TERMINATED IF INTERRUPTED
# *CSM/LM V46 SWITCH-OVER REPEATED IF INTERRUPTED # *CSM/LM V46 SWITCH-OVER REPEATED IF INTERRUPTED
# *ACTUATOR TRIMS RE-ESTABLISHED (ACTUATORS BACK ON THE AIR) # *ACTUATOR TRIMS RE-ESTABLISHED (ACTUATORS BACK ON THE AIR)
@ -151,7 +136,7 @@
REDOTVC LXCH BANKRUPT # TVC RESTART PACKAGE REDOTVC LXCH BANKRUPT # TVC RESTART PACKAGE
EXTEND EXTEND
QXCH QRUPT # ("TCR" IN "FINCOPY") QXCH QRUPT # ( ..TCR.. IN ..FINCOPY.. )
EXECPHS CCS TVCEXPHS # CHECK TVCEXECUTIVE PHASE EXECPHS CCS TVCEXPHS # CHECK TVCEXECUTIVE PHASE
TCF +2 # MUST RESTART TVCEXECUTIVE TCF +2 # MUST RESTART TVCEXECUTIVE
@ -174,10 +159,10 @@ TVCDAPHS CS OCT37776 # CHECK BITS 15 AND 1 OF TVCPHASE TO SEE
BZF TRIM/CMD # NO. TVCPHASE = -1. RSTRT WAS IN TVCINIT BZF TRIM/CMD # NO. TVCPHASE = -1. RSTRT WAS IN TVCINIT
ENABL1 CAF BIT8 # TVC ENABLE, FOLLOWED BY 40 MS (MIN) WAIT ENABL1 CAF BIT8 # TVC ENABLE, FOLLOWED BY 40 MS (MIN) WAIT
AD BIT11 # SET BIT FOR OPTICS-DAC-ENABLE ALSO AD BIT11 # SET BIT FOR OPTICS-DAC-ENABLE ALSO
EXTEND # (ENABL1 ENTERED FROM TVCDAPHS / FINCOPY) EXTEND # (ENABL1 ENTERED FROM TVCDAPHS / FINCOPY)
WOR CHAN12 WOR CHAN12
CAF TVCADDR # WAIT, CALLING ENABL2 (BBCON THERE) CAF TVCADDR # WAIT. CALLING ENABL2 (BBCON THERE)
TS T5LOC TS T5LOC
CAF TVCADDR +4 # 60 MS (TVCEXADR) CAF TVCADDR +4 # 60 MS (TVCEXADR)
TS TIME5 TS TIME5
@ -186,13 +171,13 @@ ENABL1 CAF BIT8 # TVC ENABLE, FOLLOWED BY 40 MS (MIN) WAIT
ENABL2 LXCH BANKRUPT # CONTINUE PREPARATION OF OUTCOUNTERS ENABL2 LXCH BANKRUPT # CONTINUE PREPARATION OF OUTCOUNTERS
CAF BIT2 # OPTICS ERROR CNTR ENABLE, 4MS MIN WAIT CAF BIT2 # OPTICS ERROR CNTR ENABLE. 4MS MIN WAIT
EXTEND EXTEND
WOR CHAN12 WOR CHAN12
# Page 959 # Page 959
CAF TVCADDR +2 # WAIT, CALLING CMDSOUT (BBCON THERE) CAF TVCADDR +2 # WAIT, CALLING CMDSOUT (BBCON THERE)
TS T5LOC TS T5LOC
CAF OCT37776 # 20MS CAF OCT37776 # 20MS
TS TIME5 TS TIME5
TCF NOQRSM TCF NOQRSM
@ -216,7 +201,7 @@ PHSCHK2 CCS TVCPHASE # CHECK TVCPHASE AGAIN
TCF CHKSTRK TCF CHKSTRK
TCF CHKSTRK TCF CHKSTRK
CCS A # A CONTAINS THE DIMINISHED ABSOLUTE OF CCS A # A CONTAINS THE DIMINISHED ABSOLUTE OF
TC +3 # TVCPHASE (-2 BECOMES +1. -1 BECOMES +0) TC +3 # TVCPHASE (-2 BECOMES +1, -1 BECOMES +0)
TC POSTJUMP # REPEAT TVC INITIALIZATION TC POSTJUMP # REPEAT TVC INITIALIZATION
CADR MRCLEAN # (DO NOT RETURN) CADR MRCLEAN # (DO NOT RETURN)
@ -239,7 +224,7 @@ FINCOPY INDEX TVCPHASE # PICK UP THE APPROPRIATE COPYCYCLE
TRIM/CMD EXTEND # TVCDAPON INITIALIZATION NOT COMPLETED, TRIM/CMD EXTEND # TVCDAPON INITIALIZATION NOT COMPLETED,
# Page 960 # Page 960
DCA PACTOFF # EG. P,YCMD MAY NOT BE SET. SET... DCA PACTOFF # EG. P,YCMD MAY NOT BE SET. SET...
DXCH PCMD DXCH PCMD
TCF ENABL1 # NOW PREPARE THE OUTCOUNTERS TCF ENABL1 # NOW PREPARE THE OUTCOUNTERS
@ -253,19 +238,19 @@ EXRSTRT INDEX TVCEXPHS # TVCEXECUTIVE RESTARTS....GO TO
INDEX A INDEX A
TCF 0 TCF 0
# TVC RESTART TABLES.... ORDER IS REQUIRED. HI-ORDER WORDS ONLY, OF 2CADRS, SINCE BBCON IS ALREADY THERE. # TVC RESTART TABLES.... ORDER IS REQUIRED. HI-ORDER WORDS ONLY, OF 2CADRS, SINCE BBCON IS ALREADY THERE.
TVCADDR = TVCCADR # TABLE OF CADRS, UNUSED LOCS FOR GENADRS TVCADDR = TVCCADR # TABLE OF CADRS, UNUSED LOCS FOR GENADRS
TVCCADR GENADR ENABL2 # (FOR T5 CALL, UNUSED TABLE LOC) TVCCADR GENADR ENABL2 # (FOR T5 CALL, UNUSED TABLE LOC)
+1 CADR PCOPY +1 # PITCH COPYCYCLE +1 CADR PCOPY +1 # PITCH COPYCYCLE
+2 GENADR CMDSOUT # (FOR T5 CALL, UNUSED TABLE LOC) +2 GENADR CMDSOUT # (FOR T5 CALL, UNUSED TABLE LOC)
+3 CADR YCOPY +1 # YAW COPYCYCLE +3 CADR YCOPY +1 # YAW COPYCYCLE
TVCEXADR OCT 37772 # (UNUSED TABLE LOC, FILL WITH 60MS, T5) TVCEXADR OCT 37772 # (UNUSED TABLE LOC, FILL WITH 60MS, T5)
+1 GENADR EXECCOPY +1 # TVCEXECUTIVE RESTART POINTS (ORDERED) +1 GENADR EXECCOPY +1 # TVCEXECUTIVE RESTART POINTS (ORDERED)
+2 GENADR 1SHOTCHK +2 GENADR 1SHOTCHK
+3 GENADR TEMPSET +3 GENADR TEMPSET
+4 GENADR CORSETUP +4 GENADR CORSETUP
+5 GENADR CORCOPY +1 +5 GENADR CORCOPY +1
+6 GENADR CNTRCOPY +6 GENADR CNTRCOPY