# Copyright: Public domain. # Filename: JET_SELECTION_LOGIC.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey <info@sandroid.org>. # Website: www.ibiblio.org/apollo. # Pages: 1039-1062 # Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the # same name, using Comanche055 page images. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A
# Page 1039 BANK21 SETLOC DAPS4 BANK
COUNT17/DAPJS
EBANK= KMPAC
# EXAMINE CHANNEL 31 FOR TRANSLATION COMMANDS
JETSLECT LXCH BANKRUPT CAF DELTATT3 # = 60 MS RESET TO EXECUTE PHASE1 AD T5TIME TS TIME5 TCF +3 CAF DELATT20 # = 20 MS TO ASSURE A T5RUPT TS TIME5 CAF =14MS # RESET T6 TO INITIALIZE THE JET CHANNELS TS TIME6 # IN 14 MS CAF NEGMAX EXTEND WOR CHAN13 EXTEND QXCH QRUPT CAF XLNMASK # = 7700 OCT EXTEND# EXAMINE THE TRANSLATION
RXOR CHAN31 # HAND CONTROLLER MASK XLNMASK EXTEND BZF NOXLNCMD TS T5TEMP EXTEND MP BIT9 MASK THREE TS XNDX1 # AC QUAD X-TRANSLATION INDEX TS XNDX2 # BD QUAD X-TRANSLATION INDEX CA T5TEMP EXTEND# 1 = + XLN MP BIT7 # 2 = - XLN MASK THREE # 3 = NO XLN TS YNDX # Y-TRANSLATION INDEX
CA T5TEMP EXTEND MP BIT5 MASK THREE TS ZNDX # Z-TRANSLATION INDEX
CA DAPDATR1 # SET ATTKALMN TO PICK UP FILTER GAINS FOR MASK BIT14 # TRANSLATIONS. EXTEND# CHECK DAPDATR1 BIT 14 FOR LEM ATTACHED. # Page 1040 BZF NOLEM CS THREE # IF LEM IS ON, SET ATTKALMN = -3 TCF +2
NOLEM CS TWO # IF LEM IS OFF, SET ATTKALMN = -2. TS ATTKALMN CCS XTRANS # (+, -1, 0) TS XNDX1 # USING BD-X ZERO XNDX1 TCF PWORD TS XNDX2 # USING AC-X ZERO XNDX2 TCF PWORD
XLNMASK OCT7700
DELTATT3 DEC16378# = 60 MS
DELATT20 DEC16382# = 20 MS
NOXLNCMD TS XNDX1 # ZERO ALL REQUESTS FOR TRANSLATION TS XNDX2 TS YNDX TS ZNDX
# PITCH COMMANDS TIMING(NO X-TRANS, NO QUAD FAILS) 32MCT
PWORD CCS TAU1 # CHECK FOR PITCH COMMANDS CAF ONE TCF +2# 0 = NO PITCH CAF TWO # +1 = + PITCH TS PINDEX # +2 = - PITCH
CCS RACFAIL # FLAG FOR REAL AC QUAD FAILURES TCF AFAILP TCF TABPCOM # 0 = NO REAL AC FAILURES TCF CFAILP # + = A QUAD FAILED TCF TABPCOM # - = C QUAD FAILED # IF FAILURES ARE PRESENT IGNORE # X-TRANSLATIONS ON THIS AXIS
AFAILP CAF NINE # IF FAILURE IS PRESENT 1JET OPERATION TCF TABPCOM +2# IS ASSUMED. IGNORE X-TRANSLATION
CFAILP CAF TWELVE TCF TABPCOM +2
XLNNDX DEC0# INDICES FOR TRANSLATION COMMANDS DEC3# FOR USE IN TABLE LOOK UP DEC6 DEC0
TWELVE = OCT14 # TABLE LOOK UP FOR PITCH COMMANDS WITH AND WITHOUT X-TRANSLATION AND AC QUAD FAILURES PRESENT. # BITS 9, 10 CONTAIN THE NUMBER OF PITCH JETS USED TO PERFORM THE PITCH ROTATION # Page 1041
TABPCOM INDEX XNDX1 CA XLNNDX AD PINDEX INDEX A CA PYTABLE MASK PJETS # =1417 OCT TS PWORD1 EXTEND MP BIT7 TS NPJETS # = NO. OF PITCH JETS
# YAW JET COMMANDS TIMING(NO X-TRANS, NO QUAD FAILURES) 32MCT
YWORD CCS TAU2 # CHECK FOR YAW COMMANDS CAF ONE TCF +2 CAF TWO TS YINDEX # YAW ROTATION INDEX
CCS RBDFAIL # FLAG FOR B OR D QUAD FAILURES TCF BFAILY # 0 = NO BD FAILURE TCF TABYCOM # + = B QUAD FAILED TCF DFAILY # - = D QUAD FAILED TCF TABYCOM
# TABLE LOOK UP FOR YAW COMMANDS WITH AND WITHOUT X-TRANSLATION AND AC QUAD FAILURES PRESENT # BITS 11, 12 CONTAIN THE NUMBER OF YAW JETS USED TO PERFORM THE YAW ROTATION
TABYCOM INDEX XNDX2 CA XLNNDX AD YINDEX INDEX A CA PYTABLE MASK YJETS # = 6360 OCT TS YWORD1 EXTEND MP BIT5 TS NYJETS # NO. OF YAW JETS USED TO PERFORM ROTATION
# Page 1043 # ROLL COMMANDS TIMING(NO Y,Z TRANS, NO QUAD FAILS) 45MCT
RWORD CCS TAU # CHECK FOR ROLL COMMANDS CAF ONE TCF +2 CAF TWO TS RINDEX
CCS ACORBD # FLAG FOR AC OR BD QUAD SELECTION FOR TCF BDROLL # ROLL COMMANDS TCF BDROLL # +, +0 = BD ROLL TCF +1# -, -0 = AC ROLL
ACROLL CCS RACFAIL # CHECK FOR REAL FAILURES TCF RAFAIL # ON AC QUADS TCF RXLNS TCF RCFAIL TCF RXLNS
RAFAIL CAF NINE # QUAD FAILURE WILL GET TCF TABRCOM # 1-JET OPERATION
RCFAIL CAF TWELVE TCF TABRCOM
XLN1NDX DEC0 DEC1# INDECES FOR TRANSLATION DEC2 DEC0
# TABLE LOOK UP FOR AC-ROLL COMMANDS WITH AND WITHOUT Y-TRANSLATION AND ACQUAD FAILURES PRESENT # BITS 9,10,11 CONTAIN THE MAGNITUDE AND DIRECTION OF THE ROLL
RXLNS INDEX YNDX # NO AC QUAD FAILURES CA XLNNDX # INCLUDE +,-,0, Y-TRANSLATION
TABRCOM AD RINDEX INDEX A CA RTABLE MASK ACRJETS # = 3760 OCT TS RWORD1
# CHECK FOR Z-TRANSLATIONS ON BD
BDZCHECK CA ZNDX EXTEND BZMF NOBDZ # NO Z-TRANSLATION
# Page 1044 # TABLE LOOK UP FOR BD Z-TRANSLATION WITH AND WITHOUT REAL BD QUAD FAILURES. Z-TRANSLATION WILL BE POSS- # IBLE AS LONG AS ROLL COMMANDS CAN BE SATISFIED WITH THE AC ROLL JETS. CRITERION.. IF THE RESULTANT NET ROLL # COMMANDS = 0 (WITH Z-TRANSLATION) AND IF TAU = 0, THEN INCLUDE THE BD Z-TRANSLATION COMMANDS. IF THE RESULTANT # ROLL COMMAND = 0, AND IF TAU NZ, THEN IGNORE THE BD Z-TRANSLATION
CCS RBDFAIL CAF THREE TCF +2 CAF SIX INDEX ZNDX AD XLN1NDX INDEX A CA YZTABLE MASK BDZJETS # = 3417 OCT AD RWORD1 # ADD TO ROLL COMMANDS TS T5TEMP # IF POSSIBLE. MUST CHECK TAU FIRST
EXTEND MP BIT7 # DETERMINE THE NET ROLL COMMAND WITH AD =-4# Z-TRANSLATION ADDED ON TS NRJETS # NET NO. OF +,- ROLL JETS ON EXTEND BZF TAUCHECK
ACRBDZ CA T5TEMP # Z-TRANSLATION ACCEPTED EVEN THO WE MAY TS RWORD1 # HAVE INTRODUCED AN UNDESIREABLE ROLL TCF ROLLTIME # BRANCH TO JET ON-TIME CALCULATIONS
RZXLNS INDEX ZNDX # NO BD FAILURES CA XLNNDX # +,-,0 Z-TRANSLATION PRESENT
TABRZCMD AD RINDEX INDEX A CA RTABLE MASK BDRJETS # = 34017 OCT TS RWORD1
ACYCHECK CA YNDX # ANY Y-TRANSLATION EXTEND BZF NOACY # NO Y-TRANSLATION CCS RACFAIL CAF THREE TCF +2 CAF SIX INDEX YNDX AD XLN1NDX INDEX A CA YZTABLE MASK ACYJETS # = 34360 OCT AD RWORD1 TS T5TEMP EXTEND# FOR EXPLANATION SEE CODING ON RTABLE MP BIT4 AD =-4 TS NRJETS # NO. OF NET ROLL JETS EXTEND BZF TAUCHCK # IF NRJETS = 0
BDRACZ CA T5TEMP # Y-TRANSLATION ACCEPTED TS RWORD1 TCF ROLLTIME # BRANCH TO JET ON-TIME CALCULATIONS
# Page 1046
NOACY CA RWORD1 # Y-TRANSLATION NOT ACCEPTED EXTEND MP BIT4 AD =-2 TS NRJETS TCF ROLLTIME
# Page 1047 # TABLE FOR ROLL, Y AND Z-TRANSLATION COMMANDS
# EITHER AC OR BD ROLL MAY BE SELECTED. IF AC ROLL IS SELECTED, Y-TRANSLATIONS MAY BE SATISFIED SIMULTANEOUSLY # PROVIDED THAT THERE ARE NO AC QUAD FAILURES. IF THERE ARE AC FAILURES, Y-TRANSLATION COMMANDS WILL BE IGNORED, # IN WHICH CASE THE ASTRONAUT SHOULD SWITCH TO BD ROLL. # IF BDROLL IS SELECTED, Z-TRANSLATIONS MAY BE SATISFIED SIMULTANEOUSLY PROVIDED THAT THERE ARE NO BD QUAD # FAILURES. IF THERE ARE BD FAILURES, Z-TRANSLATION COMMANDS WILL BE IGNORED, IN WHICH CASE THE ASTRONAUT SHOULD # SWITCH TO AC ROLL. # NOTE THAT IF ONE QUAD FAILS (E.G. B FAILED), Z-TRANSLATION IS STILL POSSIBLE AND THAT THE UNDESIRABLE ROLL # INTRODUCED BY THIS TRANSLATION WILL BE COMPENSATED BY THE TWO AC ROLL JETS ACTUATED BY THE AUTOPILOT LOGIC.
# WORD MAKE UP....RTABLE
# TWO WORDS, CORRESPONDING TO AC OR BD ROLL SELECTION, HAVE BEEN COMBINED INTO ONE TABLE. THE WORD CORRESPOND- # ING TO AC ROLL HAS THE FOLLOWING INTERPRETATION.. # BITS 9,10,11 ARE CODED TO GIVE THE NET ROLL TORQUE FOR THE WORD SELECTED. THE CODING IS.. # BIT NO. 11 10 9 NO. OF ROLL JETS
# THIS WORD MAY THEN BE ADDED TO THE WORD SELECTED FROM THE YZ-TRANSLATION TABLE, WHICH HAS THE SAME TYPE OF # CODING AS ABOVE, AND THE NET ROLL DETERMINED BY SHIFTING THE RESULTANT WORD RIGHT 8 PLACES AND SUBTRACTING FOUR.
# THE WORD CORRESPONDING TO THE BD ROLL HAS A SIMILAR INTERPRETATION, EXCEPT THAT BITS 12, 13, 14 ARE CODED # (AS ABOVE) TO GIVE THE NET ROLL TORQUE.
# ONCE AC OR BD ROLL IS SELECTED THE QUAD PAIR WHICH IS NOT BEING USED TO SATISFY THE ROLL COMMANDS MAY BE # USED TO SATISFY THE REMAINING TRANSLATION COMMANDS. HOWEVER, WE MUST MAKE SURE THAT ROLL COMMANDS ARE SATISFIED # WHEN THEY OCCUR. THEREFORE, THE Y-Z TRANSLATIONS FROM THIS TABLE WILL BE IGNORED IF THE NET ROLL TORQUE OF THE # COMBINED WORD IS ZERO AND THE ROLL COMMANDS ARE NON-ZERO. THIS SITUATION WOULD OCCUR, FOR EXAMPLE, IF WE EN- # COUNTER SIMULTANEOUS +R +Y -Z COMMANDS AND A QUAD D FAILURE WHILE USING AC FOR ROLL. # TO FACILITATE THE LOGIC, THE Y-Z TRANSLATION TABLE HAS BEEN CODED IN A MANNER SIMILAR TO THE ROLL TABLE # ABOVE. # BITS 9,10,11 ARE CODED TO GIVE THE NET ROLL TORQUE INCURRED BY Z-TRANSLATIONS. THE WORD SELECTED CAN THEN BE # ADDED TO THE AC-ROLL WORD AND THE RESULTANT ROLL TORQUE DETERMINED FROM THE COMBINED WORD. SIMILIARLY BITS # 12,13,14 ARE CODED TO GIVE THE NET ROLL TORQUE INCURRED BY Y-TRANSLATIONS WHEN BD-ROLL IS SELECTED.
# Page 1050 # CALCULATION OF JET ON-TIMES # # THE ROTATION COMMANDS (TAU:S), WHICH WERE DETERMINED FROM THE JET SWITCHING LOGIC ON THE BASIS OF SINGLE JET # OPERATION, MUST NOW BE UPDATED BY THE ACTUAL NUMBER OF JETS TO BE USED IN SATISFYING THESE COMMANDS. TAU MUST # ALSO BE DECREMENTED ACCORDING TO THE EXPECTED TORQUE GENERATED BY THE NEW COMMANDS ACTING OVER THE NEXT T5 INT- # ERVAL. # IN ORDER TO MAINTAIN ACCURATE KNOWLEDGE OF VEHICLE ANGULAR RATES, WE MUST ALSO PROVIDE EXPECTED FIRING TIMES # (DFT:S, ALSO IN TERMS OF 1-JET OPERATION) FOR THE RATE FILTER. # NOTE THAT TRANSLATIONS CAN PRODUCE ROTATIONS EVEN THOUGH NO ROTATIONS WERE CALLED FOR. NEVERTHELESS, WE MUST # UPDATE DFT. # WHEN THE ROTATIONS HAVE FINISHED, WE MUST PROVIDE CHANNEL INFORMATION TO THE T6 PROGRAM TO CONTINUE ON WITH # THE TRANSLATIONS. THIS WILL BE DONE IN THE NEXT SECTION. HOWEVER, TO INSURE THAT JETS ARE NOT FIRED FOR LESS # THAN A MINIMUM IMPULSE (14MS), ALL JET CHANNEL COMMANDS WILL BE HELD FIXED FROM THE START OF THE T5 PROGRAM FOR # ATLEAST 14MS UNTIL THE INITIALIZATION OF NEW COMMANDS. MOREOVER, A 14MS ON-TIME WILL BE ADDED TO ANY ROTATIONAL # COMMANDS GENERATED BY THE MANUAL CONTROLS OR THE JET SWITCHING LOGIC, AND ALL TRANSLATION COMMANDS WILL BE # ACTIVE FOR ATLEAST ONE CYCLE OF THE T5 PROGRAM (.1SEC)
PTAUNEG CS NPJETS TS NPJETS
PTAUPOS CA TAU1 EXTEND INDEX NPJETS MP NJET TS BLAST1 AD =-.1SEC EXTEND BZMF AD14MSP INDEX NPJETS CA DFTMAX # THE PITCH ON-TIME IS GREATER THAN .1 SEC TS DFT1
COM ADS TAU1 # UPDATE TAU1 CAF =+.1SEC # LIMIT THE LENGTH OF PITCH ROTATION TS BLAST1 # COMMANDS TO 0.1 SEC SO THAT ONLY TCF ASMBLWP # X-TRANSLATIONS WILL CONTINUE ON SWITCH # OVER TO TVC
AD14MSP CS BLAST1 # SEE IF JET ON TIME IS LESS THAN AD =14MS # MINIMUM IMPULSE TIME EXTEND BZMF PBLASTOK # IF SO LIMIT MINIMUM ON TIME TO 14 MS CAF =14MS # Page 1051 TS BLAST1
PBLASTOK CA BLAST1 EXTEND# THE PITCH COMMANDS WILL BE COMPLETED MP NPJETS # WITHIN THE TS-CYCLE TIME LXCH DFT1 # FOR USE IN UPDATING RATE FILTER TS TAU1 # ZERO TAU1 (ACC CONTAINS ZERO) TCF ASMBLWP
YTAUNEG CS NYJETS TS NYJETS
YTAUPOS CA TAU2 EXTEND INDEX NYJETS MP NJET TS BLAST2 AD =-.1SEC EXTEND BZMF AD14MSY INDEX NYJETS CA DFTMAX # YAW COMMANDS WILL LAST LONGER THAN .1SEC TS DFT2
COM ADS TAU2 # DECREMENT TAU2 CAF =+.1SEC # LIMIT THE LENGTH OF YAW ROTATION COMMAND TS BLAST2 # TO 0.1 SEC SO THAT ONLY X-TRANSLATION TCF ASMBLWY # WILL CONTINUE ON SWITCH OVER TO TVC
AD14MSY CS BLAST2 # SEE IF JET ON-TIME LESS THAN AD =14MS # MINIMUM IMPULSE TIME EXTEND BZMF YBLASTOK # IF SO, LIMIT MINIMUM ON-TIME TO 14 MS CAF =14MS TS BLAST2
YBLASTOK CA BLAST2 # YAW COMMANDS WILL BE COMPLETED WITHIN EXTEND# THE T5CYCLE TIME MP NYJETS LXCH DFT2 TS TAU2 # ZERO TAU2 TCF ASMBLWY
# Page 1053 # ROLL ON-TIME CALCULATION-
ROLLTIME CCS TAU TCF RBLAST TCF +2 TCF RBLAST INDEX NRJETS CA DFTMAX # UPDATE DFT EVEN THO NO ROLL COMMANDS ARE TS DFT # PRESENT TCF RBYPASS
DEC -480# = -.3SEC DEC -320# = -.2SEC
=-.1SEC DEC -160# = -.1SEC
DFTMAX DEC0# 0
=+.1SEC DEC160# = +.1SEC DEC320# = +.2SEC DEC480# = +.3SEC
=14MS DEC23# =14MS
RBLAST CA TAU EXTEND INDEX NRJETS MP NJET TS BLAST # BLAST IS AN INTERMEDIATE VARIABLE # USED IN DETERMINING THE JET ON-TIMES AD =-.1SEC EXTEND BZMF AD14MSR INDEX NRJETS # THE ROLL ROTATION WILL LAST LONGER CA DFTMAX # THAN THE T5 CYCLE TIME TS DFT
COM ADS TAU CAF =+.1SEC # LIMIT THE LENGTH OF ROLL ROTATION TS BLAST # COMMANDS TO 0.1 SEC SO THAT ONLY Y-Z TCF ASMBLWR # TRANSLATION COMMANDS CONTINUE
AD14MSR CS BLAST # SEE IF THE JET ON-TIME LESS THAN AD =14MS # MINIMUM IMPULSE TIME EXTEND BZMF RBLASTOK CAF =14MS # IF SO, LIMIT MINIMUM ON-TIME TO 14 MS TS BLAST
RBLASTOK CA BLAST EXTEND MP NRJETS LXCH DFT TS TAU # ZERO TAU TCF ASMBLWR
# Page 1054 DEC -.333333# = -1/3 DEC -.500000# = -1/2 DEC -.999999# = -1 (NEGMAX)
NJET DEC0 DEC .999999# = +1 (POSMAX) DEC .500000# = +1/2 DEC .333333# = +1/3
# Page 1055 # WHEN THE ROTATION COMMANDS ARE COMPLETED, IT IS NECESSARY TO REPLACE THESE COMMANDS BY NEW COMMANDS WHICH # CONTINUE ON WITH THE TRANSLATIONS IF ANY ARE PRESENT. # IN THIS SECTION THESE NEW COMMANDS ARE GENERATED AND STORED FOR REPLACEMENT OF THE CHANNEL COMMANDS WHEN THE # CORRESPONDING ROTATIONS ARE COMPLETED.
# GENERATION OF THE SECOND PITCH(X-TRANS) WORD...PWORD2
ASMBLWP CCS RACFAIL TCF FPX2 # IF FAILURE ON AC IGNORE X-TRANSLATION TCF +2 TCF FPX2 INDEX XNDX1 CA XLNNDX INDEX A
FPX2 CA PYTABLE MASK PJETS TS PWORD2 TCF YAWTIME
PBYPASS CA PWORD1 # THE T6 PROGRAM WILL LOAD PWORD2 TS PWORD2 # UPON ENTRY CAF ZERO TS BLAST1 # THERE IS NO PWORD2 TCF YAWTIME
# Page 1056 # GENERATION OF THE SECOND ROLL (Y,Z) WORD (RWORD2)
ASMBLWR CCS YNDX # CHECK FOR Y-TRANS TCF ACBD2Y
NO2Y CAF ZERO TS RWORD2 CCS ZNDX # CHECK FOR Z-TRANS TCF ACBD2Z
NO2Z CAF ZERO ADS RWORD2 TCF PITCHTIM # RWORD2 ASSEMBLED
ACBD2Y CCS ACORBD TCF AC2Y # CAN DO Y-TRANS TCF AC2Y TCF +1# USING AC FOR ROLL CCS RACFAIL TCF NO2Y # USING AC AND AC HAS FAILED TCF +2 TCF NO2Y # DITTO
INDEX YNDX # NO FAILURES, CAN DO Y CA XLNNDX INDEX A CA RTABLE MASK ACRJETS TCF NO2Y +1
AC2Y CCS RACFAIL CAF THREE TCF +2 CAF SIX INDEX YNDX AD XLN1NDX INDEX A CA YZTABLE MASK ACYJETS TS RWORD2 EXTEND MP BIT4 AD =-2 TS NRJETS CS BLAST AD =+.1SEC EXTEND MP NRJETS CA L ADS DFT TCF NO2Y +2 # Page 1057
ACBD2Z CCS ACORBD TCF BDF2Z # USING BD-ROLL TCF BDF2Z # MUST CHECK FOR BD FAILURES TCF +1 CCS RBDFAIL # USING AC FOR ROLL, CAN DO Z-TRANS CAF THREE TCF +2 CAF SIX INDEX ZNDX AD XLN1NDX INDEX A CA YZTABLE MASK BDZJETS ADS RWORD2 EXTEND MP BIT7 AD =-2 TS NRJETS CS BLAST AD =+.1SEC EXTEND MP NRJETS CA L ADS DFT TCF PITCHTIM
BDF2Z CCS RBDFAIL TCF NO2Z # USING BD-ROLL AND BD HAS FAILED TCF +2 TCF NO2Z # DITTO INDEX ZNDX CA XLNNDX INDEX A CA RTABLE MASK BDRJETS TCF NO2Z +1
RBYPASS CA RWORD1 TS RWORD2 CAF ZERO TS BLAST TCF PITCHTIM
# Page 1058 # GENERATION OF THE SECOND YAW (X-TRANS) WORD...YWORD2
ASMBLWY CCS RBDFAIL TCF FYX2 # IF FAILURE ON BD IGNORE X-TRANSLATION TCF +2 TCF FYX2 INDEX XNDX2 CA XLNNDX INDEX A
FYX2 CA PYTABLE MASK YJETS TS YWORD2 TCF T6SETUP
YBYPASS CA YWORD1 TS YWORD2 CAF ZERO TS BLAST2
# Page 1059 # SORT THE JET ON-TIMES
# AT THIS POINT ALL THE CHANNEL COMMANDS AND JET ON-TIMES HAVE BEEN DETERMINED. IN SUMMARY THESE ARE-
# RWORD1 # RWORD2 BLAST
# PWORD1 # PWORD2 BLAST1
# YWORD1 # YWORD2 BLAST2
# IN THIS SECTION THE JET ON-TIMES ARE SORTED AND THE SEQUENCE OF T6 INTERRUPTS IS DETERMINED. TO FACILITATE # THE SORTING PROCESS AND THE T6 PROGRAM, THE VARIABLES BLAST, BLAST1, BLAST2, ARE RESERVED AS DOUBLE PRECISION # WORDS. THE LOWER PART OF THESE WORDS CONTAIN A BRANCH INDEX ASSOCIATED WITH THE ROTATION AXIS OF THE HIGHER # ORDER WORD.
T6SETUP CAF ZERO # BRANCH INDEX FOR ROLL TS BLAST +1 CAF FOUR # BRANCH INDEX FOR PITCH TS BLAST1 +1 CAF ELEVEN # BRANCH INDEX FOR YAW TS BLAST2 +1
CS BLAST AD BLAST1 EXTEND BZMF DXCHT12 # T1 GR T2
CHECKT23 CS BLAST1 AD BLAST2 EXTEND BZMF DXCHT23
CALCDT6 CS BLAST1 ADS BLAST2 CS BLAST ADS BLAST1 # END OF SORTING PROCEDURE EXTEND# RESET T5LOC TO BEGIN PHASE1 DCA RCS2CADR DXCH T5LOC
ENDJETS CS BIT1 # RESET BIT1 FOR INITIALIZATION OF MASK RCSFLAGS # T6 PROGRAM TS RCSFLAGS CS ZERO # RESET T5PHASE FOR PHASE1 TS T5PHASE TCF RESUME # RESUME INTERRUPTED PROGRAM
T6START LXCH BANKRUPT EXTEND QXCH QRUPT CCS TIME6 # CHECK TO SEE IF TIME6 WAS RESET TCF RESUME # AFTER T6RUPT OCCURED(IN T5RUPT) TCF +2# IF SO WAIT FOR NEXT T6RUPT BEFORE TCF RESUME # TAKING ACTION
CS RCSFLAGS MASK BIT1 # IF BIT1 IS 0 RESET TO 1 EXTEND# AND INITIALIZE CHANNEL BZF T6RUPTOR ADS RCSFLAGS CA RWORD1 EXTEND# INITIALIZE CHANNELS 5,6 WITH WORD1 WRITE CHAN6 CA PWORD1 AD YWORD1 EXTEND WRITE CHAN5
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