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Proof POWERED_FLIGHT_SUBROUTINES #624 #754

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Proof POWERED_FLIGHT_SUBROUTINES #624 #754

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55 changes: 27 additions & 28 deletions Luminary099/POWERED_FLIGHT_SUBROUTINES.agc
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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
Expand Down Expand Up @@ -116,7 +116,7 @@ TR*GL**P MASK SIX # MAKE IT EVEN AND SMALLER
TC TEM2
# Page 1261
# *******************************************************************************************************
# QUICTRIG, INTENDED FOR QUIDANCE CYCLE USE WHERE TIME IS CRITICAL, IS A MUCH FASTER VERSION OF CD*TR*GS.
# QUICTRIG, INTENDED FOR GUIDANCE 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
Expand Down Expand Up @@ -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 TRANSFORMED
# 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 TRANSFOR-
# MED 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 TRANSFORMATION;
# TRG*SMNB, VICE VERSA.
# LOCATIONS NEED NOT BE ZEROED). TRG*NBSM DOES THE NB TO SM TRANSFOR-
# MATION; TRG*SMNB, VICE VERSA.
#
# CDU*NBSM DOES ITS TRANSFORMATION USING THE PRESENT CONTENTS OF
# THE CDL COUNTERS. OTHERWISE IT IS LIKE TRG*NBSM.
# CDU*NBSM DOES ITS TRANSFORMATION USING THE PRESENT CONTENTS OF
# THE CDU 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
Expand All @@ -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
Expand All @@ -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-
Expand All @@ -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

Expand Down Expand Up @@ -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
Expand Down Expand Up @@ -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
Expand Down Expand Up @@ -444,4 +444,3 @@ FLESHPOT TS TEM2
CA TEM2
TS EBANK
TCF SWRETURN