* Proof FIXED_FIXED_CONSTANT_POOL (#207) * wip(p550/550: DONE): Proof P11 #230 * Remove patch line for the simulatorpull/507/head
Glenn Dwiyatcita
James Harris
parent
16ffeaeb08
commit
bb960aed7d
|
|
@ -35,19 +35,19 @@
|
|||
# Page 533
|
||||
# EARTH ORBIT INSERTION MONITOR PROGRAM
|
||||
# *************************************
|
||||
#
|
||||
|
||||
# PROGRAM DESCRIPTION -P11-
|
||||
#
|
||||
|
||||
# MOD NO. 1
|
||||
# MOD BY ELIASSEN
|
||||
#
|
||||
|
||||
# FUNCTIONAL DESCRIPTION
|
||||
#
|
||||
|
||||
# P11 IS INITIATED BY
|
||||
#
|
||||
|
||||
# A) GYROCOMPASS PRG P02 WHEN LIFTOFF DISCRETE IS RECEIVED OR
|
||||
# B) BACKUP THRU VERB 75 ENTER
|
||||
#
|
||||
|
||||
# PROGRAM WILL
|
||||
# 1. ZERO CMC CLOCK AT LIFTOFF (OR UPON RECEIPT OF BACKUP)
|
||||
# 2. UPDATE TEPHEM TO TIME CMC CLOCK WAS ZEROED
|
||||
|
|
@ -55,24 +55,27 @@
|
|||
# 4. CHANGE MAJOR MODE TO 11
|
||||
# 5. CLEAR DSKY IN CASE OF V 75
|
||||
# 6. STORE LIFTOFF IMU-CDU ANGLES FOR ATT. ERROR DISPLAY
|
||||
# 7. TERMINATE GYROCOMPASSING __ __
|
||||
# 8. COMPUTE INITIAL VECTORS RN, VN _ _ _
|
||||
# 7. TERMINATE GYROCOMPASSING - -
|
||||
# 8. COMPUTE INITIAL VECTORS RN, VN - - -
|
||||
# 9. COMPUTE REFSMMAT FOR PRELAUNCH ALIGNMENT WHERE U ,U ,U ARE
|
||||
# _ _ X Y Z
|
||||
# - - X Y Z
|
||||
# U =(UNIT(-R) LOCAL VERTICAL AT TIME OF LIFTOFF
|
||||
# _Z _ _
|
||||
# Z
|
||||
# - - -
|
||||
# U =UNIT(A), A=HOR VECTOR AT LAUNCH AZIMUTH
|
||||
# _X _ _
|
||||
# X
|
||||
# - - -
|
||||
# U =U * U
|
||||
# U Z X
|
||||
|
||||
# 10. SET REFSMMAT KNOWN FLAG
|
||||
# 11. SET AVGEXIT IN SERVICER TO VHHDOT TO
|
||||
# COMPUTE AND DISPLAY NOUN 62 EVERY 2 SECONDS
|
||||
#
|
||||
# R1 V1 -- INERTIAL VELOCITY MAGNITUDE IN FPS
|
||||
# R2 HDOT -- RATE OF CHANGE OF VEHICLE VEL IN FPS
|
||||
# R3 H -- VEHICLE ALTITUDE ABOVE PAD IN NM
|
||||
#
|
||||
|
||||
# R1 V1 - INERTIAL VELOCITY MAGNITUDE IN FPS
|
||||
# R2 HDOT - RATE OF CHANGE OF VEHICLE VEL IN FPS
|
||||
# R3 H - VEHICLE ALTITUDE ABOVE PAD IN NM
|
||||
|
||||
# 12. DISPLAY BODY AXES ATT. ERRORS ON FDAI NEEDLES
|
||||
#
|
||||
# A) FROM L.O. TO RPSTART (APPROX. 0 TO +10SECS AFTER L.O.)
|
||||
|
|
@ -83,51 +86,51 @@
|
|||
# Page 534
|
||||
# THE DISPLAY IS RUN AS LOW PRIORITY JOB APPROX.
|
||||
# EVERY 1/2 SEC OR LESS AND IS DISABLED UPON OVFLO OF TIME1
|
||||
#
|
||||
|
||||
# SUBROUTINES CALLED
|
||||
#
|
||||
|
||||
# 2PHSCHNG BANKCALL CALCGRA CDUTRIG CLEANDSP DANZIG
|
||||
# DELAYJOB EARTHR ENDOFJOB FINDVAC IBNKCALL
|
||||
# INTPRET LALOTORV NEEDLER NEWMODEX PHASCHNG
|
||||
# POSTJUMP POWRSERS PREREAD1 REGODSPR S11.1
|
||||
# SERVEXIT TASKOVER TCDANZIG V1STO2S WAITLIST
|
||||
#
|
||||
|
||||
# ASTRONAUT REQUESTS (IF ALTITUDE ABOVE 300,000 FT)
|
||||
#
|
||||
# DSKY --
|
||||
# DSKY -
|
||||
# MONITOR DISPLAY OF TIME TO PERIGEE R1 HOURS
|
||||
# R2 MINUTES
|
||||
#
|
||||
# DSKY --
|
||||
|
||||
# DSKY -
|
||||
# MONITOR DISPLAY OF R1 APOGEE ALTITUDE IN NAUTICAL MILES
|
||||
# R2 PERIGEE ALTITUDE IN NAUTICAL MILES
|
||||
# R3 TFF IN MINUTES/SECS
|
||||
#
|
||||
|
||||
# IF ASTRONAUT HAS REQUESTED ANY OF THESE DISPLAYS HE MUST
|
||||
# HIT PROCEED TO RETURN TO NORMAL NOUN 62 DISPLAY.
|
||||
# NORMAL EXIT MODE
|
||||
#
|
||||
|
||||
# ASTRONAUT VERB 37 ENTER 00 ENTER
|
||||
#
|
||||
# ALARM MODES -- NONE
|
||||
#
|
||||
# ABORT EXIT MODES --
|
||||
#
|
||||
|
||||
# ALARM MODES - NONE
|
||||
|
||||
# ABORT EXIT MODES -
|
||||
|
||||
# OUTPUT
|
||||
#
|
||||
|
||||
# TLIFTOFF (DP) TEPHEM (TP)
|
||||
# REFSMMAT
|
||||
# DSKY DISPLAY
|
||||
# FDAI DISPLAY
|
||||
#
|
||||
|
||||
# ERASABLE INITIALIZATION
|
||||
#
|
||||
|
||||
# AZO, AXO, -AYO
|
||||
# LATITUDE
|
||||
# PADLONG
|
||||
# TEPHEM
|
||||
# PGNCSALT
|
||||
# POLYNUM THRU POLYNUM +14D
|
||||
# POLYNUM THRU POLYNUM +14D)
|
||||
# RPSTART
|
||||
# POLYSTOP
|
||||
# FLAGS SET OR RESET
|
||||
|
|
@ -135,16 +138,15 @@
|
|||
# SET REFSMFLG
|
||||
# SET DVMON IDLE FLAG
|
||||
# CLEAR ERADFLAG
|
||||
#
|
||||
|
||||
# DEBRIS
|
||||
#
|
||||
|
||||
# LIFTTEMP
|
||||
# POLYNUM THRU POLYNUM +7
|
||||
# SPOLYARG
|
||||
# BODY1, BODY2, BODY3
|
||||
# VMAG2, ALTI, HDOT
|
||||
# CENTRALS, CORE SET, AND VAC AREAS
|
||||
|
||||
# CENTRALS, CORE SET AND VAC AREAS
|
||||
COUNT 34/P11
|
||||
|
||||
BITS5-6 = SUPER011
|
||||
|
|
@ -169,7 +171,7 @@ P11+7 EXTEND
|
|||
|
||||
EXTEND
|
||||
DCA TIME2
|
||||
DXCH LIFTTEMP # FORE RESTARTS
|
||||
DXCH LIFTTEMP # FOR RESTARTS
|
||||
|
||||
CA ZERO
|
||||
ZL
|
||||
|
|
@ -177,6 +179,7 @@ P11+7 EXTEND
|
|||
REP11A-2 DXCH TLIFTOFF
|
||||
REP11A-1 DXCH -PHASE3 # RESET PHASE
|
||||
|
||||
|
||||
REP11A INHINT
|
||||
EXTEND
|
||||
DCA TEPHEM +1
|
||||
|
|
@ -259,7 +262,7 @@ MATRXJOB ZL # STORE DP GIMBAL ANGLES FOR ATTITUDE
|
|||
ZL
|
||||
CA CDUZ
|
||||
DXCH MGC
|
||||
TC INTPRET # _
|
||||
TC INTPRET # -
|
||||
VLOAD VSR1 # SCALE OGC B-1
|
||||
OGC
|
||||
STORE OGC
|
||||
|
|
@ -275,9 +278,9 @@ MATRXJOB ZL # STORE DP GIMBAL ANGLES FOR ATTITUDE
|
|||
HI6ZEROS # TIME = 0
|
||||
CLEAR CALL
|
||||
ERADFLAG
|
||||
LALOTORV # CONVERT TO POSITION VECTOR IN REF. COORDS.
|
||||
LALOTORV # CONVERT TO POSITION VECTOR IN REF.COORDS
|
||||
|
||||
STCALL RN1 # _
|
||||
STCALL RN1 # -
|
||||
GETDOWN # RETURN WITH VECTOR FOR DOWN DIRECTION
|
||||
VCOMP UNIT
|
||||
STOVL REFSMMAT +12D # UNITZ = UNIT(GRAV)
|
||||
|
|
@ -344,8 +347,8 @@ MATRXJOB ZL # STORE DP GIMBAL ANGLES FOR ATTITUDE
|
|||
CCS A # CHECK TO INSURE DT IS POSITIVE
|
||||
TCF +3 # TIME POSITIVE
|
||||
TCF +2 # CANNOT GET HERE
|
||||
CA ZERO # TIME NEGATIVE -- SET TO 1
|
||||
AD ONE # RESTORE TIME -- OR MAKE POSITIVE
|
||||
CA ZERO # TIME NEGATIVE - SET TO 1
|
||||
AD ONE # RESTORE TIME - OR MAKE POSITIVE
|
||||
|
||||
TC WAITLIST
|
||||
EBANK= AOG
|
||||
|
|
@ -438,12 +441,12 @@ GETDOWN STQ SETPD
|
|||
STCALL 8D
|
||||
LALOTORV +5
|
||||
# THIS SECTION PROVIDES ATTITUDE ERROR DISPLAYS TO THE FDAI DURING SONE BOOST
|
||||
#
|
||||
|
||||
# COMPUTE DESIRED PITCH W.R.T. PAD LOCAL VERTICAL AT LIFTOFF
|
||||
# 2 3 4 5 6
|
||||
# PITCH = A0+A1T+A2T +A3T +A4T +A5T +A6T
|
||||
# SCALED TO 32 REVS. -14
|
||||
# IF TL = TIME IN SECS FROM L.O., THEN T = 100(TL-RPSTART0)2
|
||||
# IF TL = TIME IN SECS FROM L.O., THEN T = 100(TL-RPSTART)2
|
||||
# WHERE TL GE RPSTART
|
||||
# TL LE (-POLYSTOP + RPSTART)
|
||||
# COMPUTE DESIRED ROLL WEHRE ROLL EQUALS ANGLE FROM
|
||||
|
|
@ -451,40 +454,43 @@ GETDOWN STQ SETPD
|
|||
# ROLL = LAUNCHAZ-AZIMUTH-.5 +SATRLRT*T IN REV
|
||||
# SATRLRT = RATE OF ROLL IN REV/CENTI-SEC
|
||||
# T,IN CENTI-SEC,IS DEFINED AS ABOVE,INCLUSIVE OF TIME RESTRICTIONS
|
||||
#
|
||||
|
||||
# FOR SIMPLICITY, LET P = 2*PI*PITCH
|
||||
# R = 2*PI*ROLL
|
||||
#
|
||||
|
||||
# CONSTRUCT THE TRANSFORMATION MATRIX, TSMV, GIVING DESIRED S/C AXES IN
|
||||
# TERMS OF SM COORDINATES. LET THE RESULTING ROWS EQUAL THE VECTORS XDC,
|
||||
# YDC,AND ZDC.
|
||||
#
|
||||
|
||||
# * ( SIN(P) 0 -COS(P) ) (XDC)
|
||||
# TSMV = (-SIN(R)*COS(P) -COS(R) -SIN(R)*SIN(P)) = (YDC)
|
||||
# (-COS(R)*COS(P) SIN(R) -COS(R)*SIN(P)) (ZDC)
|
||||
#
|
||||
|
||||
# XDC,YDC,ZDC ARE USED AS INPUT TO CALCGTA FOR THE EXTRACTION OF THE
|
||||
# EULER SET OF ANGLES WHICH WILL BRING THE SM INTO THE DESIRED
|
||||
# ORIENTATION. THIS EULER SET, OGC, IGC, AND MGC, MAY BE IDENTIFIED
|
||||
# AS THE DESIRED CDU ANGLES.
|
||||
#
|
||||
|
||||
# (XDC) (OGC)
|
||||
# (YDC) ---) CALCGTA ---) (IGC)
|
||||
# (ZDC) (MGC)
|
||||
# _
|
||||
|
||||
# -
|
||||
# DEFINE THE VECTOR DELTACDU.
|
||||
#
|
||||
# _ (OGC) (CDUX)
|
||||
|
||||
# - (OGC) (CDUX)
|
||||
# DELTACDU = (IGC) - (CDUY)
|
||||
# (MGC) (CDUZ)
|
||||
# _ _ * _
|
||||
|
||||
# - - * -
|
||||
# COMPUTE ATTITUDE ERRORS, A, WHERE A = TGSC*DELTACDU
|
||||
#
|
||||
# * (1 SIN(CDUZ) 0 ) THE GIMBAL ANGLES
|
||||
# Page 542
|
||||
# TGSC = (0 COS(CDUX)*COS(CDUZ) SIN(CDUX)) = TO SPACECRAFT AXES
|
||||
# (0 -SIN(CDUX)*COS(CDUZ) COS(CDUX)) CONVERSION MATRIX
|
||||
# _
|
||||
|
||||
# -
|
||||
# THE ATTITUDE ERRORS, A, ARE STORED ONE HALF SINGLE PRECISION IN
|
||||
# THE REGISTERS AK, AK1, AK2 AS INPUT TO NEEDLER, THE FDAI ATTITUDE
|
||||
# ERROR DISPLAY ROUTINE.
|
||||
|
|
@ -492,17 +498,17 @@ GETDOWN STQ SETPD
|
|||
ATERJOB CAE FLAGWRD6 # CHECK FLAGWRD6
|
||||
MASK OCT60000 # BITS 14, 15
|
||||
EXTEND
|
||||
BZF +2 # OK -- CONTINUE
|
||||
TC ENDOFJOB # STAURN STICK ON -- KILL JOB
|
||||
BZF +2 # OK - CONTINUE
|
||||
TC ENDOFJOB # SATURN STICK ON - KILL JOB
|
||||
CAF BIT10 # CHECK IF S/C CONTROL
|
||||
EXTEND # OF SATURN PANEL
|
||||
RAND CHAN30 # SWITCH IS ON
|
||||
EXTEND
|
||||
BZF STRSAT # IT IS -- GO STEER
|
||||
CCS SATSW # IT IS NOT -- WAS IT ON LAST CYCLE
|
||||
TC ATTDISP # NO -- CONTINUE
|
||||
TC ATRESET # YES -- REINITIALIZE NEEDLER
|
||||
TC ATRESET # YES -- REINITIALIZE NEEDLER
|
||||
BZF STRSAT # IT IS - GO STEER
|
||||
CCS SATSW # IT IS NOT - WAS IT ON LAST CYCLE
|
||||
TC ATTDISP # NO - CONTINUE
|
||||
TC ATRESET # YES - REINITIALIZE NEEDLER
|
||||
TC ATRESET # YES - REINITIALIZE NEEDLER
|
||||
ATTDISP CS RPSTART # PITCH/ROLL START TIME
|
||||
AD TIME1
|
||||
EXTEND
|
||||
|
|
@ -521,6 +527,7 @@ ATTDISP CS RPSTART # PITCH/ROLL START TIME
|
|||
TS L
|
||||
CAF COEFPOLY # EVALUATE PITCH POLYNOMIAL
|
||||
TC POWRSERS # SCALED TO 32 REVOLUTIONS
|
||||
|
||||
CA ZERO # RETURN WITH PITCH(32REV)
|
||||
TS MODE # STORED MPAC, MPAC +1
|
||||
TC INTPRET
|
||||
|
|
@ -592,16 +599,16 @@ ATTDISPR PUSH COS # CONTINUE COMPUTING TSMV
|
|||
CALCGTA # -COS(R)*SIN(P))
|
||||
|
||||
# CALL CALCGTA TO COMPUTE DESIRED SM ORIENTATION OGC,IGC,AND MGC
|
||||
# _ _ _
|
||||
# - - -
|
||||
# FIND DIFFERENCE VECTOR DELTACDU = OGC-CDUX
|
||||
#
|
||||
|
||||
# ENTER HERE IF ATTITUDE HOLD
|
||||
|
||||
NOPOLYM VLOAD PUSH # OGC IGC
|
||||
OGC # CHANGE IGC TO MGC FOR COMPATIBILITY
|
||||
PUSH CALL # MGC OGC
|
||||
CDUTRIG # WITH Y,Z,X ORDER OF CDUSPOT
|
||||
VLOAD RTB # _ DPHI OGC-CDUX , PD4
|
||||
VLOAD RTB # - DPHI OGC-CDUX ,PD4
|
||||
2 # DELTACDU = DTHETA = IGC-CDUY , 0
|
||||
V1STO2S # DPSI MGC-CDUZ , 2
|
||||
STOVL BOOSTEMP
|
||||
|
|
@ -652,7 +659,7 @@ ATTDISP2 STODL 16D # 16D, .5(DPHI + DTHETA*SIN(CDUZ))
|
|||
|
||||
CA SATSW
|
||||
CCS A # CHK TAKEOVER STATUS
|
||||
TC SATOUT # POS -- DISPLAY ONLY
|
||||
TC SATOUT # POS - DISPLAY ONLY
|
||||
TC AKLOAD # 0 STORE BIAS
|
||||
STEERSAT TC INTPRET # NEG STEER L/V
|
||||
TLOAD TAD
|
||||
|
|
@ -688,17 +695,17 @@ AKLOAD CS AK # STORE AKS
|
|||
CS BIT1 # SET SW
|
||||
TS SATSW # TO STEER
|
||||
TC STEERSAT # GO STEER
|
||||
STRSAT CA SATSW # CHECK IF NEDLER
|
||||
STRSAT CA SATSW # CHECK IF NEEDLER
|
||||
EXTEND # HAS BEEN INITIALIZED
|
||||
BZMF ATTDISP # YES -- CONTINUE
|
||||
ATRESET CS RCSFLAGS # NO -- SET
|
||||
BZMF ATTDISP # YES - CONTINUE
|
||||
ATRESET CS RCSFLAGS # NO - SET
|
||||
MASK BIT3 # INITIALIZATION SW
|
||||
ADS RCSFLAGS # FOR NEDLER
|
||||
ADS RCSFLAGS # FOR NEEDLER
|
||||
TC BANKCALL # AND GO
|
||||
CADR NEEDLER # DO IT
|
||||
CAF REVCNT # OCT 6
|
||||
TC BANKCALL # DELAY JOB
|
||||
CADR DELAYJOB # 60 MS --WAIT TILL IMUERRCNTR ZEROED
|
||||
CADR DELAYJOB # 60 MS -WAIT TILL IMUERRCNTR ZEROED
|
||||
CCS SATSW # CHECK SW STATUS
|
||||
TC TAKEON # POS STEER INIT.
|
||||
TC +1 # 0 RETURN TO DISPLAY
|
||||
|
|
@ -769,17 +776,16 @@ RESCALES EXTEND # RESCALE AK S FOR
|
|||
DDOUBL # SCALING FOR
|
||||
DDOUBL # STEERING
|
||||
TC Q # SATURN
|
||||
|
||||
# SATURN TAKEOVER FUNCTION
|
||||
# ************************
|
||||
#
|
||||
|
||||
# PROGRAM DESCRIPTION
|
||||
#
|
||||
|
||||
# MOD NUMBER 1
|
||||
# MOD BY ELIASSEN
|
||||
#
|
||||
|
||||
# FUNCTIONAL DESCRIPTION
|
||||
#
|
||||
|
||||
# DURING THE COASTING PHASE OF SIVB ATTACHED, THE
|
||||
# ASTRONAUT MAY REQUEST SATURN TAKEOVER THROUGH
|
||||
# EXTENDED VERB 46 (BITS 13,14 OF DAPDATR1 SET ).
|
||||
|
|
@ -789,52 +795,52 @@ RESCALES EXTEND # RESCALE AK S FOR
|
|||
# VOLTAGES. THE VALUE OF THE CONSTANT RATE COMMAND
|
||||
# IS 0.5 DEG/SEC. AN ABSENCE OF RHC ACTIVITY RE-
|
||||
# SULTS IN A ZERO RATE COMMAND.
|
||||
#
|
||||
|
||||
# THE FDAI ERROR NEEDLES WILL INDICATE THE VALUE
|
||||
# OF THE RATE COMMAND.
|
||||
#
|
||||
|
||||
# CALLING SEQUENCE
|
||||
#
|
||||
# DAPFIG +9D TC POSTJUMP
|
||||
# CADR SATSTKON
|
||||
#
|
||||
|
||||
# SUBROUTINES CALLED
|
||||
#
|
||||
|
||||
# ENDEXT
|
||||
# IBNKCALL
|
||||
# STICKCHK
|
||||
# NEEDLER
|
||||
# T5RUPT
|
||||
# RESUME
|
||||
#
|
||||
|
||||
# ASTRONAUT REQUESTS
|
||||
|
||||
# ENTRY - VERB 46 ENTER
|
||||
# (CONDITION - BITS 13, 14 OF DAPDATR1 SET)
|
||||
#
|
||||
# ENTRY -- VERB 46 ENTER
|
||||
# (CONDITION -- BITS 13, 14 OF DAPDATR1 SET)
|
||||
#
|
||||
# EXIT -- VERB 48 ENTER (FLASH V06N46)
|
||||
# EXIT - VERB 48 ENTER (FLASH V06N46)
|
||||
# VERB 21 ENTER AXXXX ENTER WHERE A=0 OR 1
|
||||
# VERB 34 ENTER
|
||||
# VERB 46 ENTER
|
||||
#
|
||||
|
||||
# NORMAL EXIT MODE
|
||||
#
|
||||
|
||||
# VERB 46 ENTER (SEE ASTRONAUT ABOVE)
|
||||
#
|
||||
|
||||
# ALARM OR ABORT EXIT MODES
|
||||
#
|
||||
|
||||
# NONE
|
||||
#
|
||||
|
||||
# OUTPUT
|
||||
#
|
||||
|
||||
# SATURN RATES IN CDUXCMD, CDUYCMD, CDUZCMD
|
||||
#
|
||||
|
||||
# ERASABLE INITIALIZATION
|
||||
#
|
||||
|
||||
# DAPDATR1 (BITS 13,14 MUST BE SET)
|
||||
#
|
||||
|
||||
# DEBRIS
|
||||
#
|
||||
|
||||
# CENTRALS
|
||||
# Page 549
|
||||
# CDUXCMD, CDUYCMD, CDUZCMD
|
||||
|
|
@ -858,7 +864,6 @@ SATSTKON EXTEND
|
|||
RELINT
|
||||
TC GOPIN # EXIT THUS BECAUSE WE CAME VIA V46
|
||||
|
||||
SBANK= PINSUPER # Added RSB 2009
|
||||
EBANK= BODY3
|
||||
2REDOSAT 2CADR REDOSAT
|
||||
|
||||
|
|
@ -886,7 +891,7 @@ REDOSAT LXCH BANKRUPT # ALSO COMES HERE FOR RESTARTS
|
|||
TS TIME5
|
||||
TCF RESUME # END OF SATURN STICK INITIALIZATION
|
||||
|
||||
# THIS SECTION IS EXECUTED EVERY 100 MSECS.
|
||||
# THIS SECTION IS EXECUTED EVERY 100 MSECS
|
||||
# Page 550
|
||||
SATSTICK LXCH BANKRUPT
|
||||
EXTEND
|
||||
|
|
|
|||
Loading…
Reference in New Issue