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Proof IMU_COMPENSATION_PACKAGE #587 (#707) 

Co-authored-by: James Harris <wopian@wopian.me>
pull/761/head
Dimitri Belopopsky 2020-10-14 18:55:46 +02:00 committed by GitHub
parent aa4a6741f5
commit 65bef40ca7
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1 changed files with 87 additions and 88 deletions
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175
Luminary099/IMU_COMPENSATION_PACKAGE.agc
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@ -45,34 +45,34 @@
TCF IRIG1 # RETURN
1/PIPA1 CAF FOUR # PIPAZ, PIPAY, PIPAX
TS BUF +2
TS BUF +2
INDEX BUF +2
INDEX BUF +2
CA PIPASCF # (P.P.M.) X 2(-9)
EXTEND
INDEX BUF +2
INDEX BUF +2
MP DELVX # (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
TS Q # SAVE MAJOR PART
CA L # MINOR PART
EXTEND
MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
INDEX BUF +2
TS DELVX +1 # FRACTIONAL PIPA PULSES SCALED 2(+14)
MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
INDEX BUF +2
TS DELVX +1 # FRACTIONAL PIPA PULSES SCALED 2(+14)
CA Q # MAJOR PART
EXTEND
MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
INDEX BUF +2
DAS DELVX # (PIPAI) + (PIPAI)(SF)
INDEX BUF +2
DAS DELVX # (PIPAI) + (PIPAI)(SFE)
INDEX BUF +2
CS PIPABIAS # (PIPA PULSES)/(CS) X 2(-5) * *
INDEX BUF +2
CS PIPABIAS # (PIPA PULSES)/(CS) X 2(-5) *
EXTEND
MP 1/PIPADT # (CS) X 2(+8) NOW (PIPA PULSES) X 2(+5) *
MP 1/PIPADT # (CS) X 2(+8) NOW (PIPA PULSES) X 2(+3)*
EXTEND
MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11 *
INDEX BUF +2
MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11 *
INDEX BUF +2
DAS DELVX # (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
CCS BUF +2 # PIPAZ, PIPAY, PIPAX
@ -83,79 +83,79 @@
# Page 328
IRIGCOMP TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
TS BUF # INDEX COUNTER. IRIGX, IRIGY, IRIGZ.
TS BUF # INDEX COUNTER . IRIGX, IRIGY, IRIGZ.
TC IRIGX # COMPENSATE ACCELERATION TERMS
CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
TC DRIFTSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
TC DRIFTSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
TC IRIGY # COMPENSATE ACCELERATION TERMS
CS NBDY # (GYRO PULSES)/(CS) X 2(-5)
TC DRIFTSUB # +(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
TC DRIFTSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
TC IRIGZ # COMPENSATE ACCELERATION TERMS
CA NBDZ # (GYRO PULSES)/(CS) X 2(-5)
TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
TCF +2 # YES SEND OUT GYRO TORQUING COMMANDS.
TCF IRIG1 # NO RETURN
TCF +2 # YES SEND OUT GYRO TORQUING COMMANDS.
TCF IRIG1 # NO RETURN
CA PRIO21 # PRIO GREATER THAN SERVICER.
CA PRIO21 # PRIO GREATER THAN SERVICER
TC NOVAC # SEND OUT GYRO TORQUING COMMANDS.
EBANK= NBDX
2CADR 1/GYRO
RELINT
IRIG1 CA MODE # RESTORE CALLER'S EBANK
IRIG1 CA MODE # RESTORE CALLERS EBANK
TS EBANK
TCF SWRETURN
# Page 329
IRIGX EXTEND
QXCH MPAC +2 # SAVE Q
QXCH MPAC +2 # SAVE Q
EXTEND
DCS DELVX # (PIPA PULSES) X 2(+14)
DXCH MPAC
CA ADIAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
TC GCOMPSUB # -(ADIAX)(PIPAX) (GYRO PULSES) X 2(+14)
CA ADIAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
TC GCOMPSUB # -(ADIAX)(PIPAX) (GYRO PULSES) X 2(+14)
EXTEND #
DCS DELVY # (PIPA PULSES) X 2(+14)
DCS DELVY # (PIPA PULSES) X 2(+14)
DXCH MPAC #
CS ADSRAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
TC GCOMPSUB # -(ADSRAX)(PIPAY) (GYRO PULSES) X 2(+14)
CS ADSRAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
TC GCOMPSUB # +(ADSRAX)(PIPAY) (GYRO PULSES) X 2(+14)
# EXTEND # ***
# DCS DELVY # *** (PIPA PULSES) X 2(+14)
# DXCH MPAC # ***
# CA ADOAX # *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
# TC GCOMPSUB # *** -(ADOAX)(PIPAZ) (GYRO PULSES) X 2(+14)
# EXTEND # ***
# DCS DELVZ # *** (PIPA PULSES) X 2(+14)
# DXCH MPAC # ***
# CA ADOAX # *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
# TC GCOMPSUB # *** -(ADOAX)(PIPAZ) (GYRO PULSES) X 2(+14)
TC MPAC +2
TC MPAC +2
IRIGY EXTEND
QXCH MPAC +2 # SAVE Q
QXCH MPAC +2 # SAVE Q
EXTEND
DCS DELVY # (PIPA PULSES) X 2(+14)
DXCH MPAC
CA ADIAY # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
TC GCOMPSUB # -(ADIAY)(PIPAY) (GYRO PULSES) X 2(+14)
CA ADIAY # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
TC GCOMPSUB # -(ADIAY)(PIPAY) (GYRO PULSES) X 2(+14)
EXTEND
DCS DELVZ # (PIPA PULSES) X 2(+14)
DXCH MPAC
CS ADSRAY # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
TC GCOMPSUB # +(ADSRAY)(PIPAZ) (GYRO PULSES) X 2(+14)
CS ADSRAY # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
TC GCOMPSUB # +(ADSRAY)(PIPAZ) (GYRO PULSES) X 2(+14)
# EXTEND # ***
# DCS DELVX # *** (PIPA PULSES) X 2(+14)
# DXCH MPAC # ***
# CA ADOAY # *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
# TC GCOMPSUB # *** -(ADOAY)(/PIPAX) (GYRO PULSES) X 2(+14)
# EXTEND # ***
# DCS DELVX # *** (PIPA PULSES) X 2(+14)
# DXCH MPAC # ***
# CA ADOAY # *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
# TC GCOMPSUB # *** -(ADOAY)(PIPAX) (GYRO PULSES) X 2(+14)
TC MPAC +2
@ -164,46 +164,46 @@ IRIGZ EXTEND
EXTEND
DCS DELVY # (PIPA PULSES) X 2(+14)
DXCH MPAC
CA ADSRAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
CA ADSRAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
# Page 330
TC GCOMPSUB # -(ADSRAZ)(PIPAY) (GYRO PULSES) X 2(+14)
TC GCOMPSUB # -(ADSRAZ)(PIPAY) (GYRO PULSES) X 2(+14)
EXTEND
DCS DELVZ # (PIPA PULSES) X 2(+14)
DXCH MPAC
CA ADIAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
TC GCOMPSUB # -(ADIAZ)(PIPAZ) (GYRO PULSES) X 2(+14)
CA ADIAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
TC GCOMPSUB # -(ADIAZ)(PIPAZ) (GYRO PULSES) X 2(+14)
# EXTEND # ***
# DCS DELVX # *** (PIPA PULSE) X 2(+14)
# DXCH MPAC # ***
# CS ADOAZ # *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
# TC GCOMPSUB # *** +(ADOAZ)(PIPAX) (GYRO PULSES) X 2(+14)
# EXTEND # ***
# DCS DELVX # *** (PIPA PULSE) X 2(+14)
# DXCH MPAC # ***
# CS ADOAZ # *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
# TC GCOMPSUB # *** +(ADOAZ)(PIPAX) (GYRO PULSES) X 2(+14)
TC MPAC +2
# Page 331
GCOMPSUB XCH MPAC # ADIA OR ADSRA COEFFICIENT ARRIVES IN A
EXTEND # C(MPAC) = (PIPA PULSES) X 2(+14)
MP MPAC # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
DXCH VBUF # NOW = (GYRO PULSES) X 2(+8) *
MP MPAC # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
DXCH VBUF # NOW = (GYRO PULSES) X 2(+8) *
CA MPAC +1 # MINOR PART OF PIPA PULSES
EXTEND
MP MPAC # ADIA OR ADSRA
TS L
CAF ZERO
DAS VBUF # NOW = (GYRO PULSES) X 2(+8) *
DAS VBUF # NOW = (GYRO PULSES) X 2(+8) *
CA VBUF # PARTIAL RESULT -- MAJOR
CA VBUF # PARTIAL RESULT - MAJOR
EXTEND
MP BIT9 # SCALE 2(+6) SHIFT RIGHT 6 *
MP BIT9 # SCALE 2(+6) SHIFT RIGHT *
INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
DAS GCOMP # HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI)
DAS GCOMP # HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI)
CA VBUF +1 # PARTIAL RESULT -- MINOR
CA VBUF +1 # PARTIAL RESULT - MINOR
EXTEND
MP BIT9 # SCALE 2(+6) SHIFT RIGHT 6 *
MP BIT9 # SCALE 2(+6) SHIFT RIGHT 6 *
TS L
CAF ZERO
INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
@ -213,23 +213,23 @@ GCOMPSUB XCH MPAC # ADIA OR ADSRA COEFFICIENT ARRIVES IN A
# Page 332
DRIFTSUB EXTEND
QXCH BUF +1
QXCH BUF +1
EXTEND # C(A) = NBD (GYRO PULSES)/(CS) X 2(-5)
MP 1/PIPADT # (CS) X 2(+8) NO (GYRO PULSES) X 2(+3)
LXCH MPAC +1 # SAVE FOR FRACTIONAL COMPENSATION
MP 1/PIPADT # (CS) X 2(+8) NOW (GYRO PULSES) X 2(+3)
LXCH MPAC +1 # SAVE FOR FRACTIONAL COMPENSATION
EXTEND
MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
INDEX BUF
DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
CA MPAC +1 # NO MINOR PART
CA MPAC +1 # NOW MINOR PART
EXTEND
MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
TS L
CAF ZERO
INDEX BUF # ADD IN FRACTIONAL COMPENSATION
DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ
AD BUF
@ -237,23 +237,23 @@ DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ
INDEX A
CCS GCOMP # ARE GYRO COMMANDS 1 PULSE OR GREATER
TCF +2 # YES
TC BUF +1 # NO
TC BUF +1 # NO
MASK COMPCHK # DEC -1
CCS A # ARE GYRO COMMANDS GREATER THAN 2 PULSES
TS GCOMPSW # YES -- SET GCOMPSW POSITIVE
TC BUF +1 # NO
TS GCOMPSW # YES - SET GCOMPSW POSITIVE
TC BUF +1 # NO
# Page 333
1/GYRO CAF FOUR # PIPAZ, PIPAY, PIPAX
TS BUF
INDEX BUF # SCALE GYRO COMMANDS FOR IMUPULSE
CA GCOMP +1 # FRACTIONAL PULSES
CA GCOMP +1 # FRACTIONAL PULSES
EXTEND
MP BIT8 # SHIFT RIGHT 7
INDEX BUF
TS GCOMP +1 # FRACTIONAL PULSES SCALED
TS GCOMP +1 # FRACTIONAL PULSES SCALED
CAF ZERO # SET GCOMP = 0 FOR DAS INSTRUCTION
INDEX BUF
@ -265,7 +265,7 @@ DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ
CCS BUF # PIPAZ, PIPAY, PIPAX
AD NEG1
TCF 1/GYRO +1
TCF 1/GYRO +1
LGCOMP ECADR GCOMP # LESS THAN ZERO IMPOSSIBLE
CAF LGCOMP
@ -281,7 +281,7 @@ GCOMP1 CAF FOUR # PIPAZ, PIPAY, PIPAX
INDEX BUF # RESCALE
CA GCOMP +1
EXTEND
MP BIT8 # SHIFT MINOR PART LEFT 7 -- MAJOR PART = 0
MP BIT8 # SHIFT MINOR PART LEFT 7 - MAJOR PART = 0
INDEX BUF
LXCH GCOMP +1 # BITS 8-14 OF MINOR PART WERE = 0
@ -303,14 +303,14 @@ NBDONLY CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
TCF ENDOFJOB
TCF +1
CA FLAGWRD8 # IF SURFACE FLAG IS SET, SET TEM1
CA FLAGWRD8 # IF SURFACE FLAG IS SET. SET TEM1
MASK BIT8 # POSITIVE SO THAT THE ACCELERATION TERMS
TS TEM1 # WILL BE COMPENSATED.
EXTEND
BZF +3 # ARE WE ON THE SURFACE
TC IBNKCALL # ON THE SURFACE
CADR PIPASR +3 # READ PIPAS, BUT DO NOT SCALE THEM
CADR PIPASR +3 # READ PIPAS. BUT DO NOT SCALE THEM
CA TIME1 # (CS) X 2(+14)
XCH 1/PIPADT # PREVIOUS TIME
@ -319,18 +319,18 @@ NBDONLY CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
AD 1/PIPADT # PRESENT TIME - PREVIOUS TIME
NBD2 AD HALF # CORRECT FOR POSSIBLE TIME1 TICK
AD HALF
XCH L # IF TIME1 DID NOT DICK, REMOVE RESULTING
XCH L # IF TIME1 DID NOT TICK. REMOVE RESULTING
XCH L # OVERFLOW.
NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14)
NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14)
MP BIT10 # SHIFT RIGHT 5
DXCH VBUF +2
CA ZERO
TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
TS BUF # INDEX X, Y, Z.
TS BUF # INDEX X. Y, Z.
CCS TEM1 # IF SURFACE FLAG IS SET,
CCS TEM1 # IF SURFACE FLAG IS SET.
TC IRIGX # COMPENSATE ACCELERATION TERMS.
EXTEND
@ -338,7 +338,7 @@ NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14)
DXCH MPAC # DELTAT NOW SCALED (CS) X 2(+19)
CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
TC FBIASSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
TC FBIASSUB # -(NBDX)(DELTAT) (GYRO PULSES) X 2(+14)
CCS TEM1 # IF SURFACE FLAG IS SET,
TC IRIGY # COMPENSATE ACCELERATION TERMS.
@ -347,16 +347,16 @@ NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14)
DCS VBUF +2
DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
CA NBDY # (GYRO PULSES)/(CS) X 2(-5)
TC FBIASSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
TC FBIASSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
CCS TEM1 # IF SURFACE FLAG IS SET,
CCS TEM1 # IF SURFACE FLAG IS SET.
TC IRIGZ # COMPENSATE ACCELERATION TERMS
EXTEND
DCS VBUF +2
DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
CS NBDZ # (GYRO PULSES)/(CS) X 2(-5)
TC FBIASSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
TC FBIASSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
TCF 1/GYRO # YES
@ -370,7 +370,7 @@ FBIASSUB XCH Q
EXTEND
MP MPAC # DELTAT SCALED (CS) X 2(+19)
INDEX BUF
DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
CA Q # NOW FRACTIONAL PART
EXTEND
@ -378,7 +378,7 @@ FBIASSUB XCH Q
TS L
CAF ZERO
INDEX BUF
DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
TCF DRFTSUB2 # CHECK MAGNITUDE OF COMPENSATION
@ -415,4 +415,3 @@ GCOMPZER CAF LGCOMP # ROUTINE TO ZERO GCOMP BEFORE FIRST
TS GCOMP +5
TCF IRIG1 # RESTORE EBANK AND RETURN