From e796f1c3b5396758c5142bb4280bca8775cacea2 Mon Sep 17 00:00:00 2001 From: Felix Wittwer Date: Wed, 1 Nov 2017 00:16:52 +0100 Subject: [PATCH] Proof-read TVCRESTARTS (#302) * Proof read pages 956, 957, 958 * Finish proof reading --- Comanche055/TVCRESTARTS.agc | 95 ++++++++++++++++--------------------- 1 file changed, 40 insertions(+), 55 deletions(-) diff --git a/Comanche055/TVCRESTARTS.agc b/Comanche055/TVCRESTARTS.agc index e62a4f2..ad841c6 100644 --- a/Comanche055/TVCRESTARTS.agc +++ b/Comanche055/TVCRESTARTS.agc @@ -33,78 +33,64 @@ # Colossus 2A # Page 956 -# NAME....TVCRESTART PACKAGE, CONSISTING OF REDOTVC, ENABL1, 2, CMDSOUT, PHSCHK2, ETC. -# LOG SECTION....TVCRESTARTS SUBROUTINE....DAPCSM +# NAME....TVCRESTART PACKAGE, CONSISTING OF REDOTVC, ENABL1, 2, CMDSOUT, PHSCHK2, ETC. +# LOG SECTION...TVCRESTARTS SUBROUTINE....DAPCSM # MODIFIED BY SCHLUNDT 21 OCTOBER 1968 -# # FUNCTIONAL DESCRIPTION.... # -# *RESTART-PROCESS THE TVC DAPS, INCLUDING PITCHDAP, YAWDAP, -# TVCEXECUTIVE, ROLLDAP, TVCINIT4, TVCDAPON, AND CSM/.M V46 SWTCHOVR. -# +# *RESTART-PROOFS THE TVC DAPS, INCLUDING PITCHDAP, YAWDAP, +# TVCEXECUTIVE, ROLLDAP, TVCINIT4, TVCDAPON, AND CSM/LM V46 SWTCHOVR. # *TVC RESTARTS DESERVE SPECIAL CONSIDERATION IN SEVERAL AREAS. # RESTART DOWN-TIME IS IMPORTANT BECAUSE OF THE TRANSIENTS INTRODUCED # BY THE THRUST VECTOR RETURN TO THE ACTUATOR MECHANICAL NULLS # 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 -# ARE TO BE AVOIDED. COUNTERS ARE INVOLVED FOR ONE-SHOT -# CORRECTIONS AND GAIN UPDATES. THE GIMBAL TRIM ESTIMATORS AND THE +# ARE TO BE AVOIDED. COUNTERS ARE INVOLVED FOR ONE-SHOT +# CORRECTIONS AND GAIN UPDATES. THE GIMBAL TRIM ESTIMATORS AND THE # BODY AXIS ATTITUDE ERROR INTEGRATORS INVOLVE DIGITAL SUMMATION. # DIGITAL DIFFERENTIATORS ARE INVOLVED IN THE BODY AXIS RATE ESTIMA- -# TIONS AND IN THE OUTPUTTING OF ACTUATOR COMMANDS. THERE IS AN -# OFFSET-TRACKER-FILTER TO PROTECT. ETC., ETC. -# +# TIONS AND IN THE OUTPUTTING OF ACTUATOR COMMANDS. THERE IS AN +# OFFSET-TRACKER-FILTER TO PROTECT. ETC., ETC. # *THOSE QUANTITIES WHICH MUST BE PROTECTED ARE STORED IN TEMPORARY # REGISTERS AS THEY ARE COMPUTED, FOR UPDATING THE REAL REGISTERS # DURING COPYCYCLES. -# # *THE SEVERAL COPYCYCLES ARE EACH PROTECTED BY PHASE POINTS AT THEIR -# BEGINNING AND AT THEIR TERMINATION. THE PHASE POINTS ARE SIMPLY -# "INCR" INSTRUCTIONS, EITHER "INCR TVCEXPHS" FOR COPYCYCLES -# IN THE TVCEXECUTIVE, OR "INCR TVCPHASE" FOR THE PITCH AND YAW -# COPYCYCLES. INDEXING ON EACH OF THESE POINTERS THEN PERMITS A +# BEGINNING AND AT THEIR TERMINATION. THE PHASE POINTS ARE SIMPLY +# ..INCR.. INSTRUCTIONS, EITHER ..INCR TVCEXPHS.. FOR COPYCYCLES +# IN THE TVCEXECUTIVE, OR ..INCR TVCPHASE.. FOR THE PITCH AND YAW +# COPYCYCLES. INDEXING ON EACH OF THESE POINTERS THEN PERMITS A # RETURN TO THE APPROPRIATE RESTART POINTS. -# # *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. -# # *TVC-ENABLE AND OPTICS-ERROR-COUNTER ENABLE MUST BE SET ASAP -# (ALLOWING FOR PROCEDURAL DELAYS). THEN THE ENGINES ARE COMMANDED -# TO THE P,YACTOFF TRIM VALUES. THE DAPS ARE THEN READY TO GO ON THE +# (ALLOWING FOR PROCEDURAL DELAYS). THEN THE ENGINES ARE COMMANDED +# 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 -# 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 # PRE40.6 SECTION OF S40.6 TAKES CARE OF RE-ESTABLISHING TRIMS. -# # *IF A RESTART OCCURS DURING THE TVCEXEC....TVCEXFIN SEQUENCE THE # COMPUTATIONS WILL BE COMPLETED, STARTING AT THE APPROPRIATE RESTART # POINT, AFTER THE DAPS ARE READY TO GO ON THE AIR. -# -# *IF A RESTART OCCURS PRIOR TO TVCINIT4 (TVCPHAS = -1) E.G. DURING +# *IF A RESTART OCCURS PRIOR TO TVCINIT4 (TVCPHASE = -1) E.G. DURING # THE EARLY DAP INITIALIZATION PHASE, THE DAP STARTUP SEQUENCE IS # ENTERED AT MRCLEAN FOR A FULL INITIALIZATION. -# -# *FOR RESTARTS DURING CSM/LM V46 SWITCH-VER, TVCPHASE IS SET TO -2. +# *FOR RESTARTS DURING CSM/LM V46 SWITCH-OVER, TVCPHASE IS SET TO -2, # 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 # ROLL DAP IS MERELY RESTARTED. -# # *RESTARTS DURING A STROKE TEST (STROKER IS NON-ZERO) WILL CAUSE THE # 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). -# # *REDOTVC IS REACHED FOLLOWING ANY RESTART WHICH FINDS THE T5 BITS -# (BITS 15,14 OF FLAGWRD6) SET FOR TVC. DOTVCON TVCPHASE = -1 -# AND TVC EXPHS = 0 JUST BEFORE SETTING THESE BITS, JUST BEFORE -# MAKING THE T5 CALL TO TVCDAPON. ON A NORMAL SHUTDOWN DOTVCRCS -# CALLS RCSDAPON, WHICH RESETS THE T5 BIT FOR RCS -# +# (BITS 15,14 OF FLAGWRD6) SET FOR TVC. DOTVCON SETS TVCPHASE = -1 +# AND TVC EXPHS = 0 JUST BEFORE SETTING THESE BITS, JUST BEFORE +# MAKING THE T5 CALL TO TVCDAPON. ON A NORMAL SHUTDOWN DOTVCRCS +# CALLS RCSDAPON, WHICH RESETS THE T5 BIT FOR RCS. # CALLING SEQUENCE....T5, IN PARTICULAR BY ELRSKIP OF FRESH START/RESTART # # NORMAL EXIT MODES....RESUME, NOQRSM, POSTJUMP (TO TVCINIT4 OR MRCLEAN) @@ -116,12 +102,11 @@ # *PCOPY+1, YCOPY+1 (PITCH AND YAW COPYCYCLES) # *ENABLE1,2, CMDSOUT (RE-ESTABLISH ACTUATOR TRIMS) # *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 # *WAITLIST, IBNKCALL, POSTJUMP, ISWCALL # # OTHER INTERFACES....DOTVCON AND RCSDAPON (T5 BITS), ELRSKIP (CALLS IT) -# # ERASABLE INITIALIZATION REQUIRED.... # # *T5 BITS (1,0), TVCPHASE (-2,-1,0,1,2,3), TVCEXPHS (1 THRU 6) @@ -131,8 +116,8 @@ # # OUTPUT.... # -# *PITCH AND YAW TVC DAP COPYCYCLES COMPLETED IF INTERRUPTED -# *TVCEXECUTIVE COMPLETED IF INTERRUPTED +# *PITCH AND YAW TVC DAP COPYCYCLES COMPLETED IF INTERUPTED +# *TVCEXECUTIVE COMPLETED IF INTERUPTED # *STROKE TEST TERMINATED IF INTERRUPTED # *CSM/LM V46 SWITCH-OVER REPEATED IF INTERRUPTED # *ACTUATOR TRIMS RE-ESTABLISHED (ACTUATORS BACK ON THE AIR) @@ -151,7 +136,7 @@ REDOTVC LXCH BANKRUPT # TVC RESTART PACKAGE EXTEND - QXCH QRUPT # ("TCR" IN "FINCOPY") + QXCH QRUPT # ( ..TCR.. IN ..FINCOPY.. ) EXECPHS CCS TVCEXPHS # CHECK TVCEXECUTIVE PHASE 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 ENABL1 CAF BIT8 # TVC ENABLE, FOLLOWED BY 40 MS (MIN) WAIT - AD BIT11 # SET BIT FOR OPTICS-DAC-ENABLE ALSO - EXTEND # (ENABL1 ENTERED FROM TVCDAPHS / FINCOPY) + AD BIT11 # SET BIT FOR OPTICS-DAC-ENABLE ALSO + EXTEND # (ENABL1 ENTERED FROM TVCDAPHS / FINCOPY) WOR CHAN12 - CAF TVCADDR # WAIT, CALLING ENABL2 (BBCON THERE) + CAF TVCADDR # WAIT. CALLING ENABL2 (BBCON THERE) TS T5LOC CAF TVCADDR +4 # 60 MS (TVCEXADR) TS TIME5 @@ -186,13 +171,13 @@ ENABL1 CAF BIT8 # TVC ENABLE, FOLLOWED BY 40 MS (MIN) WAIT 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 WOR CHAN12 # Page 959 CAF TVCADDR +2 # WAIT, CALLING CMDSOUT (BBCON THERE) TS T5LOC - CAF OCT37776 # 20MS + CAF OCT37776 # 20MS TS TIME5 TCF NOQRSM @@ -216,7 +201,7 @@ PHSCHK2 CCS TVCPHASE # CHECK TVCPHASE AGAIN TCF CHKSTRK TCF CHKSTRK 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 CADR MRCLEAN # (DO NOT RETURN) @@ -239,7 +224,7 @@ FINCOPY INDEX TVCPHASE # PICK UP THE APPROPRIATE COPYCYCLE TRIM/CMD EXTEND # TVCDAPON INITIALIZATION NOT COMPLETED, # Page 960 - DCA PACTOFF # EG. P,YCMD MAY NOT BE SET. SET... + DCA PACTOFF # EG. P,YCMD MAY NOT BE SET. SET... DXCH PCMD TCF ENABL1 # NOW PREPARE THE OUTCOUNTERS @@ -253,19 +238,19 @@ EXRSTRT INDEX TVCEXPHS # TVCEXECUTIVE RESTARTS....GO TO INDEX A 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 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) - +3 CADR YCOPY +1 # YAW COPYCYCLE + +3 CADR YCOPY +1 # YAW COPYCYCLE TVCEXADR OCT 37772 # (UNUSED TABLE LOC, FILL WITH 60MS, T5) +1 GENADR EXECCOPY +1 # TVCEXECUTIVE RESTART POINTS (ORDERED) +2 GENADR 1SHOTCHK +3 GENADR TEMPSET +4 GENADR CORSETUP - +5 GENADR CORCOPY +1 + +5 GENADR CORCOPY +1 +6 GENADR CNTRCOPY