Proof R60_62 #247 (#386)

* Proof FIXED_FIXED_CONSTANT_POOL (#207) * wip(p391/398): Proof R60_62 #247 * wip(p398/398: DONE): Proof R60_62 #247
2019-05-08 20:41:36 +02:00 · 2019-05-08 20:41:36 +02:00 · e82746d732
parent 4f83a11ecb
commit e82746d732
1 changed files with 62 additions and 64 deletions
--- a/Comanche055/R60_62.agc
+++ b/Comanche055/R60_62.agc
@ -37,7 +37,7 @@

 		COUNT	27/R60

-# CONFORMS TO GSOP CHAPTER FOUR REVISION LOGIC 09	JAN 18, 1968
+# CONFORMS TO GSOP CHAPTER FOUR REVISION LOGIC 09 JAN 18,1968

 R60CSM		TC	MAKECADR
 		TS	TEMPR60
@ -51,7 +51,7 @@ REDOMANN	CAF	BIT6
 		TC	INTPRET
 		CALL
 			VECPOINT	# TO COMPUTE FINAL ANGLES
-		STORE	CPHI		# STORE FINAL ANGLES -- CPHI, CTHETA, CPSI
+		STORE	CPHI		# STORE FINAL ANGLES - CPHI,CTHETA,CPSI
 		EXIT

 TOBALL		CAF	V06N18
@ -59,7 +59,7 @@ TOBALL		CAF	V06N18
 		CADR	GOPERF2R	# DISPLAY PLEASE PERFORM AUTO MANEUVER
 		TC	R61TEST
 		TC	REDOMANC	# PROCEED
-		TCF	ENDMANU1	# ENTER I.E., FINISHED WITH R60
+		TCF	ENDMANU1	# ENTER I.E. FINISHED WITH R60

 		TC	CHKLINUS	# TO CHECK FOR PRIORITY DISPLAYS
 		TC	ENDOFJOB
@ -83,14 +83,14 @@ TOBALLC		CAF	PRIO30		# IS MODE AUTO AND CTL GNC
 		BZF	+2		# AUTO, NON-FLASH N18
 		TCF	TOBALL		# NOT AUTO

-		CAF	V06N18		# STATIC UP NON-FLASHING V06 N18
+		CAF	V06N18		# SET UP NON-FLASHING V06 N18
 		TC	BANKCALL
 		CADR	GODSPR
 		TC	CHKLINUS

 STARTMNV	TC	BANKCALL
 		CADR	GOMANUR
-ENDMANUV	TCF	TOBALL		# FINISHED MANEUVER.
+ENDMANUV	TCF	TOBALL		# FINISHED MANEUVER

 ENDMANU1	TC	DOWNFLAG	# RESET 3-AXIS FLAG
 		ADRES	3AXISFLG	# BIT 6 FLAG 5
@ -98,13 +98,13 @@ ENDMANU1	TC	DOWNFLAG	# RESET 3-AXIS FLAG
 		TC	BANKJUMP

 CHKLINUS	CS	FLAGWRD4
-		MASK	BIT12		# IS PRIORITY DISPLAY FLAG SET?
+		MASK	BIT12		# IS PRIORITY DISPLAY FLAG SET
 		CCS	A
-		TC	Q		# NO -- EXIT
+		TC	Q		# NO - EXIT
 		CA	Q
 		TS	MPAC +2		# SAVE RETURN
-		CS	THREE		# OBTAIN LOCATION FOR RESTART
-		AD	BUF2		# HOLD Q OF LAST DISPLAY
+		CS	THREE		# OBTAIN LOCATION FOR RESTART.
+		AD	BUF2		# HOLDS Q OF LAST DISPLAY
 		TS	TBASE1

 		TC	PHASCHNG
@ -141,7 +141,7 @@ GOREDO20	TC	PHASCHNG

 R61TEST		CA	MODREG		# ARE WE IN P00.  IF YES THIS MUST BE
 		EXTEND			#	VERB49 OR VERB89 SO DO ENDEXT.
-		BZF	ENDMANU1	# RESET 3-AXIS & RETURN.  USER DOES ENDEXT
+		BZF	ENDMANU1	# RESET 3-AXIS & RUTURN.  USER DOES ENDEXT
 		CA	FLAGWRD4	# ARE WE IN R61 (P20)
 		MASK	BIT12
 		EXTEND
@ -152,53 +152,52 @@ BIT14+7		OCT	20100
 V06N18		VN	0618

 # Page 393
-# PROGRAM DESCRIPTION -- VECPOINT
-#
-# THIS INTERPRETIVE SUBROUTINE MAY BE USED TO POINT A SPACECRAFT AXIS IN A DESIRED DIRECTION.  THE AXIS
+# PROGRAM DESCRIPTION - VECPOINT
+
+
+# 	THIS INTERPRETIVE SUBROUTINE MAY BE USED TO POINT A SPACECRAFT AXIS IN A DESIRED DIRECTION.  THE AXIS
 # TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN SUCCESSIVE LOCATIONS OF ERASABLE MEMORY
 # BEGINNING WITH THE LOCATION CALLED SCAXIS.  THE COMPONENTS OF THIS VECTOR ARE GIVEN IN SPACECRAFT COORDINATES.
 # THE DIRECTION IN WHICH THIS AXIS IS TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN
 # SUCCESSIVE LOCATIONS OF ERASABLE MEMORY BEGINNING WITH THE ADDRESS CALLED POINTVSM.  THE COMPONENTS OF THIS
 # VECTOR ARE GIVEN IN STABLE MEMBER COORDINATES.  WITH THIS INFORMATION VECPOINT COMPUTES A SET OF THREE GIMBAL
-# ANGLES (2'S COMPLEMENT) CORRESPONDING TO THE CROSS-PRODUCT ROTATION BETWEEN SCAXIS AND POINTVSM AND STORES THEM
+# ANGLES (2S COMPLEMENT) CORRESPONDING TO THE CROSS-PRODUCT ROTATION BETWEEN SCAXIS AND POINTVSM AND STORES THEM
 # IN T(MPAC) BEFORE RETURNING TO THE CALLER.
-#
-# THIS ROTATION, HOWEVER, MAY BRING THE S/C INTO GIMBAL LOCK.  WHEN POINTING A VECTOR IN THE Y-Z PLANE,
-# THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROGLEM BY ROTATING THE CROSS-
+# 	THIS ROTATION, HOWEVER, MAY BRING THE S/C INTO GIMBAL LOCK.  WHEN POINTING A VECTOR IN THE Y-Z PLANE,
+# THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROBLEM BY ROTATING THE CROSS-
 # PRODUCT ATTITUDE ABOUT POINTVSM BY A FIXED AMOUNT SUFFICIENT TO ROTATE THE DESIRED S/C ATTITUDE OUT OF GIMBAL
-# LOCK.  IF THE AXIS TO BE POINTED IS MORE THAN 40.6 DEGREES BUT LESS THAN 60.5 DEG FROM THE +X (OR -X) AXIS,
+# LOCK.  IF THE AXIS TO BE POINTED IS MORE THAN 40.6 DEGREES BUT LESS THAN 60.5 DEG FROM THE +X (OR-X) AXIS,
 # THE ADDITIONAL ROTATION TO AVOID GIMBAL LOCK IS 35 DEGREES.  IF THE AXIS IS MORE THAN 60.5 DEGREES FROM +X (OR -X)
 # THE ADDITIONAL ROTATION IS 35 DEGREES.  THE GIMBAL ANGLES CORRESPONDING TO THIS ATTITUDE ARE THEN COMPUTED AND
-# STORED AS 2'S COMPLEMENT ANGLES N T(MPAC) BEFORE RETURNING TO THE CALLER.
-#
-# WHEN POINTING THE X-AXIS, OR THE THRUST VECTOR, OR ANY VECTOR WITHIN 40.6 DEG OF THE X-AXIS, VECPOINT
+# STORED AS 2S COMPLIMENT ANGLES IN T(MPAC) BEFORE RETURNING TO THE CALLER.
+#	WHEN POINTING THE X-AXIS, OR THE THRUST VECTOR, OR ANY VECTOR WITHIN 40.6 DEG OF THE X-AXIS, VECPOINT
 # CANNOT CORRECT FOR A CROSS-PRODUCT ROTATION INTO GIMBAL LOCK.  IN THIS CASE A PLATFORM REALIGNMENT WOULD BE
 # REQUIRED TO POINT THE VECTOR IN THE DESIRED DIRECTION.  AT PRESENT NO INDICATION IS GIVEN FOR THIS SITUATION
 # EXCEPT THAT THE FINAL MIDDLE GIMBAL ANGLE IN MPAC +2 IS GREATER THAN 59 DEGREES.
-#
-# CALLING SEQUENCE
-#
-#	1)	LOAD SCAXIS, POINTVSM
-#	2)	CALL
+
+# 	CALLING SEQUENCE -
+#		1) LOAD SCAXIS, POINTVSM
+#		2) CALL
 #			VECPOINT
-#
-# RETURNS WITH
-#
-#	1)	DESIRED OUTER GIMBAL ANGLE IN MPAC
-#	2)	DESIRED INNER GIMBAL ANGLE IN MPAC +1
-#	3)	DESIRED MIDDLE GIMBAL ANGLE IN MPAC +2
-#
-# ERASABLES USED --
-#
-#	1)	SCAXIS		6
-#	2)	POINTVSM	6
-#	3)	MIS		18
-#	4)	DEL		18
-#	5)	COF		6
-#	6)	VECQTEMP	1
-#	7)	ALL OF VAC AREA	43
-#
-#			TOTAL	99
+
+# 	RETURNS WITH
+
+#		1) DESIRED OUTER GIMBAL ANGLE IN MPAC
+#		2) DESIRED INNER GIMBAL ANGLE IN MPAC +1
+#		3) DESIRED MIDDLE GIMBAL ANGLE IN MPAC +2
+
+
+# 	ERASABLES USED -
+
+#		1) SCAXIS		6
+#		2) POINTVSM		6
+#		3) MIS			18
+#		4) DEL			18
+#		5) COF			6
+#		6) VECQTEMP		1
+#		7) ALL OF VAC AREA	43
+
+#				TOTAL	99

 		SETLOC	VECPT
 		BANK
@ -217,7 +216,7 @@ VECLEAR		AXC,2	RTB
 			CDUTODCM	# S/C AXES TO STABLE MEMBER AXES (MIS)
 		VLOAD	VXM
 			POINTVSM	# RESOLVE THE POINTING DIRECTION VF INTO
-			MIS		# INITIAL S/C AXES (VF = POINTVSM)
+			MIS		# INITIAL S/C AXES ( VF = POINTVSM)
 		UNIT
 		STORE	28D
 					# PD 28 29 30 31 32 33
@ -230,11 +229,11 @@ VECLEAR		AXC,2	RTB
 		DSU	BMN		# VECTOR, IF LESS
 			DPB-14		# THAN B-14 ASSUME
 			PICKAXIS	# UNIT OPERATION
-		VLOAD	DOT		# INVALID.
+		VLOAD	DOT		# 	INVALID.
 			SCAXIS
 			28D
 		SL1	ARCCOS
-COMPMATX	CALL			# NO COMPUTE THE TRANSFORMATION FROM
+COMPMATX	CALL			# NOW COMPUTE THE TRANSFORMATION FROM
 			DELCOMP		# FINAL S/C AXES TO INITIAL S/C AXES MFI
 		AXC,1	AXC,2
 			MIS		# COMPUTE THE TRANSFORMATION FROM FINAL
@ -246,8 +245,8 @@ COMPMATX	CALL			# NO COMPUTE THE TRANSFORMATION FROM
 			6		# MFS6 = SIN(CPSI)			$2
 		DSU	BMN
 			SINGIMLC	# = SIN(59 DEGS)			$2
-			FINDGIMB	# /CPSI/ LESS THAN 59 DEGS.
-					# I.E., DESIRED ATTITUDE NOT IN GIMBAL LOCK
+			FINDGIMB	# /CPSI/ LESS THAN 59 DEGS
+					# I.E. DESIRED ATTITUDE NOT IN GIMBAL LOCK

 		DLOAD	ABS		# CHECK TO SEE IF WE ARE POINTING
 			SCAXIS		# THE THRUST AXIS
@ -268,8 +267,8 @@ COMPMATX	CALL			# NO COMPUTE THE TRANSFORMATION FROM

 IGSAMEX		VXV	BMN		# FIND THE SHORTEST WAY OF ROTATING THE
 			SCAXIS		# S/C OUT OF GIMBAL LOCK BY A ROTATION
-			U=SCAXIS	# ABOUT +- SCAXIS, I.E., IF  (IG (SGN MFS3)
-					# X SCAXIS . XF) LESS THAN Q, U = SCAXIS
+			U=SCAXIS	# ABOUT +- SCAXIS, I.E. IF (IG (SGN MFS3)
+					# X SCAXIS . XF) LESS THAN 0, U = SCAXIS
 					# OTHERWISE U = -SCAXIS.

 		VLOAD	VCOMP
@ -289,7 +288,7 @@ CHEKAXIS	DLOAD	ABS
 			COMPMFSN	# IN THIS CASE ROTATE 35 DEGS TO GET OUT
 					# OF GIMBAL LOCK (VECANG2 $360)
 PICKANG1	DLOAD
-			VECANG1		# = 50 DEGS.			      $360
+			VECANG1		# = 50 DEGS			      $360
 COMPMFSN	CALL
 			DELCOMP		# COMPUTE THE ROTATION ABOUT SCAXIS TO
 		AXC,1	AXC,2		# BRING MFS OUT OF GIMBAL LOCK
@ -303,13 +302,13 @@ FINDGIMB	AXC,1	CALL
 			0		# EXTRACT THE COMMANDED CDU ANGLES FROM
 			DCMTOCDU	# THIS MATRIX
 		RTB	SETPD
-			V1STO2S		# CONVERT TO 2'S COMPLEMENT
+			V1STO2S		# CONVERT TO 2:S COMPLEMENT
 # Page 396
 			0
 		GOTO
 			VECQTEMP	# RETURN TO CALLER

-PICKAXIS	VLOAD	DOT		# IF VF X VI = 0, FIND VF, VI
+PICKAXIS	VLOAD	DOT		# IF VF X VI = 0, FIND VF . VI
 			28D
 			SCAXIS
 		BMN	TLOAD
@ -320,10 +319,10 @@ PICKAXIS	VLOAD	DOT		# IF VF X VI = 0, FIND VF, VI

 ROT180		VLOAD	VXV		# IF VF, VI ANTI-PARALLEL, 180 DEG ROTATION
 			MIS +6		# IS REQUIRED.  Y STABLE MEMBER AXIS IN
-			HIUNITX		# INITIAL S/C AXES.
+			HIUNITX		# INITIAL S/C AXIS.
 		UNIT	VXV		# FIND Y(SM) X X(I)
 			SCAXIS		# FIND UNIT(VI X UNIT(Y(SM) X X(I)))
-		UNIT	BOV		# I.E., PICK A VECTOR IN THE PLANE OF X(I),
+		UNIT	BOV		# I.E. PICK A VECTOR IN THE PLANE OF X(I),
 			PICKX		# Y(SM) PERPENDICULAR TO VI
 		STODL	COF
 			36D		# CHECK MAGNITUDE
@ -343,18 +342,18 @@ PICKX		VLOAD	GOTO		# PICK THE XAXIS IN THIS CASE
 		SETLOC	MANUVER1
 		BANK

-SINGIMLC	2DEC	.4285836003	# = SIN(59)				$2
+SINGIMLC	2DEC	.4285836003	# =SIN(59)			$2

-SINVEC1		2DEC	.3796356537	# = SIN(49.4)				$2
+SINVEC1		2DEC	.3796356537	# =SIN(49.4)			$2

-SINVEC2		2DEC	.2462117800	# = SIN(29.5)				$2
+SINVEC2		2DEC	.2462117800	# =SIN(29.5)			$2

 VECANG1		2DEC	.1388888889	# = 50 DEGREES			      $360

 VECANG2		2DEC	.09722222222	# = 35 DEGREES			      $360


-1BITDP		OCT	0		# KEEP THIS BEFORE DPB(-14)	  ********
+1BITDP		OCT	0		# KEEP THIS BEFORE DPB(-14)	  *********
 DPB-14		OCT	00001
 # Page 397
 		OCT	00000
@ -377,11 +376,10 @@ R62DISP		CAF	V06N22		# DISPLAY COMMAND ICDUS CPHI, CTHETA, CPHI
 		TCF	R62DISP		# ENTER

 					# ASTRONAUT MAY LOAD NEW ICDUS AT THIS
-					# POINT.
-GOMOVE		TC	UPFLAG		# SET FOR 3-AXIS MANEUVER
-		ADRES	3AXISFLG
+					# POINT
+GOMOVE		TC	UPFLAG		# SET 3-AXIS FLAG
+		ADRES	3AXISFLG	# BIT 6	FLAG 5

 		TC	BANKCALL
 		CADR	R60CSM
 		TCF	ENDEXT
-