diff --git a/Luminary099/POWERED_FLIGHT_SUBROUTINES.agc b/Luminary099/POWERED_FLIGHT_SUBROUTINES.agc index 2ddb517d2..d0de9deee 100644 --- a/Luminary099/POWERED_FLIGHT_SUBROUTINES.agc +++ b/Luminary099/POWERED_FLIGHT_SUBROUTINES.agc @@ -35,22 +35,22 @@ EBANK= DEXDEX COUNT* $$/POWFL -# CDUTRIG, CDUTRIG1, CDUTRIG2, AND CD*TR*GS ALL COMPUTE THE SINES AND +# CDUTRIG, CDUTRIG1, CDUTRIG2, AND CD*TR*GS ALL COMPUTE THE SINES AND # COSINES OF THREE 2'S COMPLEMENT ANGLES AND PLACE THE RESULT, DOUBLE # PRECISION, IN THE SAME ORDER AS THE INPUTS, AT SINCDU AND COSCDU. AN # ADDITIONAL OUTPUT IS THE 1'S COMPLEMENT ANGLES AT CDUSPOT. THESE -# ROUTINES GO OUT OF THEIR WAY TO LEAVE THE MPAC AREA AS THEY FIND IT, +# ROUTINES GO OUT OF THEIR WAY TO LEAVE THE MPAC AREA AS THEY FIND IT. # EXCEPT FOR THE GENERALLY UNIMPORTANT MPAC +2. THEY DIFFER ONLY IN # WHERE THEY GET THE ANGLES, AND IN METHOD OF CALLING. # -# CDUTRIG (AND CDUTRIG1, WHICH CAN BE CALLED IN BASIC) COMPUTE THE +# CDUTRIG (AND CDUTRIG1, WHICH CAN BE CALLED IN BASIC) COMPUTE THE # SINES AND COSINES FROM THE CURRENT CONTENTS OF THE CDU REGISTERS. # THE CONTENTS OF CDUTEMP, ETC., ARE NOT TOUCHED SO THAT THEY MAY # CONTINUE TO FORM A CONSISTENT SET WITH THE LATEST PIPA READINGS. # -# CDUTRIG1 IS LIKE CDUTRIG EXCEPT THAT IT CAN BE CALLED IN BASIC. +# CDUTRIG1 IS LIKE CDUTRIG EXCEPT THAT IT CAN BE CALLED IN BASIC. # -# CD*TR*GS FINDS CDU VALUES IN CDUSPOT RATHER THAN IN CDUTEMP. THIS +# CD*TR*GS FINDS CDU VALUES IN CDUSPOT RATHER THAN IN CDUTEMP. THIS # ALLOWS USERS TO MAKE TRANSFORMATIONS USING ARBITRARY ANGLES, OR REAL # ANGLES IN AN ORDER OTHER THAN X Y Z. A CALL TO THIS ROUTINE IS # NECESSARY IN PREPARATION FOR A CALL TO AX*SR*T IN EITHER OF ITS TWO @@ -61,7 +61,7 @@ # IT CLOBBERS BUF2 (IN THE SINE AND COSINE ROUTINES) CD*TR*GS CANNOT BE # CALLED USING BANKCALL. SORRY. # -# CD*TR*G IS LIKE CD*TR*GS EXCEPT THAT IT CAN BE CALLED IN +# CD*TR*G IS LIKE CD*TR*GS EXCEPT THAT IT CAN BE CALLED IN # INTERPRETIVE. CDUTRIG EXIT @@ -116,7 +116,7 @@ TR*GL**P MASK SIX # MAKE IT EVEN AND SMALLER TC TEM2 # Page 1261 # ******************************************************************************************************* -# QUICTRIG, INTENDED FOR GUIDANCE CYCLE USE WHERE TIME IS CRITICAL, IS A MUCH FASTER VERSION OF CD*TR*GS. +# QUICTRIG, INTENDED FOR QUIDANCE CYCLE USE WHERE TIME IS CRITICAL, IS A MUCH FASTER VERSION OF CD*TR*GS. # QUICTRIG COMPUTES AND STORES THE SINES AND COSINES OF THE 2'S COMPLEMENT ANGLES AT CDUSPOT, CDUSPOT +2, # AND CDUSPOT +4. UNLIKE CD*TR*GS, QUICTRIG DOES NOT LEAVE THE 1'S COMPLEMENT VERSIONS OF THE ANGLES IN # CDUSPOT. QUICTRIG'S EXECUTION TIME IS 4.1 MS; THIS IS 10 TIMES AS FAST AS CD*TR*GS. QUICTRIG MAY BE @@ -150,23 +150,23 @@ QUICTRIG INHINT # INHINT SINCE DAP USES THE SAME TEMPS # Page 1262 #**************************************************************************** -# THESE INTERFACE ROUTINES MAKE IT POSSIBLE TO CALL AX*SR*T, ETC., IN +# THESE INTERFACE ROUTINES MAKE IT POSSIBLE TO CALL AX*SR*T, ETC., IN # INTERPRETIVE. LATER, WHERE POSSIBLE, THEY WILL BE ELIMINATED. # -# THESE INTERFACE ROUTINES ARE PERMANENT. ALL RESTORE USER'S EBANK -# SETTING. ALL ARE STRICT INTERPRETIVE SUBROUTINES, CALLED USING "CALL", -# RETURNING VIA QPRET. ALL EXPECT AND RETURN THE VECTOR TO BE TRANSFOR- -# MED INTERPRETER-STYLE IN MPAC; COMPONENTS AT MPAC, MPAC +3, AND MPAC +5. +# THESE INTERFACE ROUTINES ARE PERMANENT. ALL RESTORE USER'S EBANK +# SETTING. ALL ARE STRICT INTERPRETIVE SUBROUTINES, CALLED USING "CALL", +# RETURNING VIA QPRET. ALL EXPECT AND RETURN THE VECTOR TO BE TRANSFORMED +# INTERPRETER-STYLE IN MPAC; COMPONENTS AT MPAC, MPAC +3, AND MPAC +5. # -# TRG*SMNB AND TRG*NBSM BOTH EXPECT TO SEE THE 2'S COMPLEMENT ANGLES +# TRG*SMNB AND TRG*NBSM BOTH EXPECT TO SEE THE 2'S COMPLEMENT ANGLES # AT CDUSPOT (ORDER Y Z X, AT CDUSPOT, CDUSPOT +2, AND CDUSPOT +4; ODD -# LOCATIONS NEED NOT BE ZEROED). TRG*NBSM DOES THE NB TO SM TRANSFOR- -# MATION; TRG*SMNB, VICE VERSA. +# LOCATIONS NEED NOT BE ZEROED). TRG*NBSM DOES THE NB TO SM TRANSFORMATION; +# TRG*SMNB, VICE VERSA. # -# CDU*NBSM DOES ITS TRANSFORMATION USING THE PRESENT CONTENTS OF -# THE CDU COUNTERS. OTHERWISE IT IS LIKE TRG*NBSM. +# CDU*NBSM DOES ITS TRANSFORMATION USING THE PRESENT CONTENTS OF +# THE CDL COUNTERS. OTHERWISE IT IS LIKE TRG*NBSM. # -# CDU*SMNB IS THE COMPLEMENT OF CDU*NBSM. +# CDU*SMNB IS THE COMPLEMENT OF CDU*NBSM. CDU*SMNB EXIT TC CDUTRIGS @@ -175,7 +175,7 @@ CDU*SMNB EXIT TRG*SMNB EXIT TC CD*TR*GS C*MM*N1 TC MPACVBUF # AX*SR*T EXPECTS VECTOR IN VBUF - CS THREE # SIGNAL FOR SM TO NB TRANSFORMATION + CS THREE # SIGNAL FOR SM TO NB TRANSFORMATION. C*MM*N2 TC AX*SR*T TC INTPRET VLOAD RVQ @@ -191,11 +191,11 @@ C*MM*N3 TC MPACVBUF # FOR AX*SR*T CA THREE # SIGNAL FOR NB TO SM TRANSFORMATION TCF C*MM*N2 -# *NBSM* AND *SMNB* EXPECT TO SEE THE SINES AND COSINES (AT SINCDU +# *NBSM* AND *SMNB* EXPECT TO SEE THE SINES AND COSINES (AT SINCDU # AND COSCDU) RATHER THAN THE ANGLES THEMSELVES. OTHERWISE THEY ARE # LIKE TRG*NBSM AND TRG*SMNB. # -# NOTE THAT JUST AS CD*TR*GS NEED BE CALLED ONLY ONCE FOR EACH SERIES +# NOTE THAT JUST AS CD*TR*GS NEED BE CALLED ONLY ONCE FOR EACH SERIES # OF TRANSFORMATIONS USING THE SAME ANGLES, SO TOO ONLY ONE OF TRG*NBSM # Page 1263 # AND TRG*SMNB NEED BE CALLED FOR EACH SERIES. FOR SUBSEQUENT TRANFOR- @@ -207,25 +207,25 @@ C*MM*N3 TC MPACVBUF # FOR AX*SR*T *NBSM* EXIT TCF C*MM*N3 -# AX*SR*T COMBINES THE OLD SMNB AND NBSM. FOR THE NB TO SM +# AX*SR*T COMBINES THE OLD SMNB AND NBSM. FOR THE NB TO SM # TRANSFORMATION, ENTER WITH +3 IN A. FOR SM TO NB, ENTER WITH -3. # THE VECTOR TO BE TRANSFORMED ARRIVES, AND IS RETURNED, IN VBUF. # AX*SR*T EXPECTS TO FIND THE SINES AND COSINES OF THE ANGLES OF ROTATION # AT SINCDU AND COSCDU, IN THE ORDER Y Z X. A CALL TO CD*TR*GS, WITH # THE 2'S COMPLEMENT ANGLES (ORDER Y Z X) AT CDUSPOT, WILL TAKE CARE OF -# THIS. HERE IS A SAMPLE CALLING SEQUENCE:- +# THIS. HERE IS A SAMPLE CALLING SEQUENCE:-- # TC CDUTRIGS # CS THREE # ("CA THREE" FOR NBSM) # TC AX*SR*T # THE CALL TO CD*TR*GS NEED NOT BE REPEATED, WHEN AX*SR*T IS CALLED MORE # THAN ONCE, UNLESS THE ANGLES HAVE CHANGED. # -# AX*SR*T IS GUARANTEED SAFE ONLY FOR VECTORS OF MAGNITUDE LESS THAN +# AX*SR*T IS GUARANTEED SAFE ONLY FOR VECTORS OF MAGNITUDE LESS THAN # UNITY. A LOOK AT THE CASE IN WHICH A VECTOR OF GREATER MAGNITUDE # HAPPENS TO LIE ALONG AN AXIS OF THE SYSTEM TO WHICH IT IS TO BE TRANS- # FORMED CONVINCES ONE THAT THIS IS A RESTRICTION WHICH MUST BE ACCEPTED. -AX*SR*T TS DEXDEX # WHERE IT BECOMES THE INDEX OF INDEXES +AX*SR*T TS DEXDEX # WHERE IT BECOMES THE INDEX OF INDEXES. EXTEND QXCH RTNSAVER @@ -304,7 +304,7 @@ INDEXI DEC 4 # ********** DON'T *********** BANK COUNT* $$/POWFL -# ROUTINE FLESHPOT COMPUTES THE BODY-STABLE MEMBER TRANSFORMATION MATRIX (COMMONLY CALLED XNB) AND STORES +# ROUTINE FLESHPOT COMPUTES THE BODY-STABLE MEMBER TRANSFORMATION MATRIX (COMMONLY CALLED XNB) AND STORES # IT IN THE LOCATIONS SPECIFIED BY THE ECADR ENTERING IN A. CALCSMSC EXIT @@ -405,7 +405,7 @@ FLESHPOT TS TEM2 EXTEND DCA MPAC INDEX TEM1 - DXCH 14 # = SINY COSX + SINX SINZ COSY + DXCH 14 # = - SINY COSX + SINX SINZ COSY EXTEND DCA MPAC +3 @@ -444,3 +444,4 @@ FLESHPOT TS TEM2 CA TEM2 TS EBANK TCF SWRETURN +