U.S.

DEPARTMENT OF COMMERCE
National Technical Information Service

AD-A027 530

DISPERSION CONTROL SYSTEM FOR SOUNDING ROCKETS

AIR FORCE GEOPHYSICS LABORATORY

4 MARCI' 1976

.I

m Il n Ul n " m3
 At~L4~ -C~ 4 NO, ;46
1C

j t' Dizper.ion Control System for

. Sounding Rockets
JAMES R. PICKELL, Capt, USAF

4 March 1976

Approved , public release; distribution unlimited. ''l "

ulJ
L
I r

D
AEROSPACE INSTRUMENTATION DIVISION PROJECT 7659
AIR FORCE GEOPHYSICS LABORATORY
HA.WOO APO, MASSACHUSETTS 0-731

AIR FORCE GY-TEIS CO4AND, USAF

REPRODUCED
BY
NATIONAL TECHNICAL
INFORMATION SERVK,E
U.S DESMENT OF COMMERCE
Pf,:GFIELD. VA. 22161
This technical report has been reviewed and
is approved for publication.

'FOR THE COMMANDER:

L C ohcf Scientist

Qualified requestors r--,-, obtain additional copies from the Defense

Documentation Center. All others should apply to the National
Technical Information Service.
 Unclassified
SECURITY CLASSIFICATION Or THIS PAGE ("Mn D.i- Efe d)
READ INSTRUCTIONS

REPORT DOCUAMENTATION PAGE BEFORE COMPLETING FORM

2.
I REPORT NUMBER GOVT ACCION NO, 3 RECIPIENT'$ CATALOG NUMBER

AFGL-TR-76-0044 7 0
4. TITLE jandSubtIlllo) S. TYPE b)F REPORT & PERIOD COVERED

DISPERSION CONTROL SYSTEM FOR

SOUNDING ROCKETS Scientific. Interim.
6. PERFORMING ORO. REPORT NUMBER
IP No. 246
7AUTHOR(*) 9I.CONTRACT ON GRANT NUMBERMl

James R. PickeUl, Capt, USAF

9PERFORMING ORGANIZATION NAME AND ADDRESS 10. PROGRAM ELEMENT, PROJECT, TASK
AREA & WORK UNIT NUMBERS
Air Force Geophysics Laboratories LCR) 62101F
Hanscom AFB 76590401
Massachusetts 01731
II. CONTROLLING OFFICE NAME AND ADDRESS 12. REPORT DATE
Air Force Geophysics Laboratories (LCR) 4 March 1976
Hanscom APB
Massachusetts 01731 I. NI,,.BER OF PAGES
79
14. MONITORING AGENCY NAME & ADORESS(If dliferenl fromContollng 0ffice) IS. SICURITY CLASS, (of this repotrJ

Unclassified
IS* OECL ASSI ICATION, OOWN GRAOING
SCHEDULE

l. DISTRIBUTION STATEMENT (ofthl Report)

Approved for public release, distribution unlimited.

17. DISTRIBUtION STATEMENT (of the abetraet entered In Slock 20.If dlfferent
fto Report)

IS. $,PPLEMENTARY NOTES

on fevers*
It. KEY WORDS (Co-tlnu. sideIt noeeo..ry and Idolnilly by block ntmber)

Control sounding rocket dispersion

20. ABSTRACT (Conitnu* on reversesideIf neoea.try nd idsnilly by block number)

High altitude sounding rockets have always presented a problem to small
test ranges such as WSMR because of rocket dispersion. Thia report presents
a strap-on dispersion control system employing a 16-bit m.croprocessor as
Its brains that requires only software changes to accommodate diffe,ent
sounding rocket vehicles. Mostly the report contains a detailed explanation of
the electronic hardware used, and the software developed, for a Paiute-
Tomahawk sounding rocket.

DD IJAN 1A 1473 EDITION OFI NOV iSOBSOLETE Unclassified

SECURITY CLASSIFICATION OF THIS PAGE (when Dale Enlerd)
.... /

..............
....

Contents

1. INTRODUCTION 7

2. DISPERSION CONTROL ELECTRONICS 9

2. 1 Block Diagram 9
2.2 Gyro Resolver 10
2. 3 TDY-52B Microcomputer 14
2.4 Computer Housekeeping 16
2.5 Memory Interface 19

3. DISPERSION COI'CROL SOFTWARE 24

3.1 Auto Pilot Difference Equation 24
3.2 Auto Pilot Flow Chart 25
3.3 Block A 27
3.4 Block B 28
3.5 Block C 28
3.6 Subroutines 32
3.6. 1 Subroutine MUL (ACO, ACI) 32
3.6,2 Subroutine AOUT (ACO, ACI) 33
3.6.3 Subroutine CALC (AC3) 34
3.6.4 Subroutine MPYA (ACO, AC1) 37
3.6.5 Subroutine MPYB (ACO, AC1) 37
3.6.6 Subroutine FDELAY (ACO) 38

4. ROM LOADER 38
4.1 Operation 39
4.2 ROM Loader Electronics 42
4.3 Subroutines 42
4.3.1 Subroutine RECV (ACO. AC1) 42
4.3.2 Subroutine WORD. (AC0. AC1) 48
4.3. 3 Subroutine XMIT (ACO) 49
4.3.4 Subroutine WORDS (ACI) 49
D D C;A
Preceding page blank r f
AUG 2 1976
LU
DU J
 Contents

APPENDIX A: TDY-52B Instruckion Set 53

APPENDIX B: TDY-52B Assembly Lang,:age 57

APPENDIX C: Autopilot Listing 59

APPENDIX D: ROM Loader Listing 71
APPENDIX E: Definition of Terms 77

Illustrations

1. Dispersion Control 9-in. Dia Payload 8

2. Dispersion Control Rack 9
3. Dispersion Control Electronics 10
4. Dispersion Control Simplified Block Diagram 11
5. Basic Gyro Resolver Circuit 12
6. Gyro Encoder Outputs 13
7. Gyro Resolver Truth Table 14
8. TDY-52B Simplified Block Diagram 15
9. TDY-52B CPU Components 16
10. TDY-52B Timing Diagram 17
11. TDY-52B Operation Flowchart 18
12. TDY-52B 19
13. Computer Housekeeping 20
14. TDY-52B Interface Circuit to ROM/RAM Mix 21
15. TDY-52B Timing Interface Circuit 22
16. TDY-52B hiterface Circuit to 4096 CMOS RAM 22
17. TDY-52B Timing for R/W Cycle 23
18. Auto Pilot 26
19. Block A 27
20. Block B 29
21. Input Format of Gyro 0 30
22. Absolute Value of Sin 0 and Cos 0 vs AC2 30
23. Block C 31
24. Input Fcrmat of Gyro Og and 4,g 32
25. Pitch Gravity Tvrn - Paiute Tomahawk 32

4
 Illusirations

26. Subroutine MUL (ACO, ACl) 33

27. Subroutine AOUT (ACOD ACl) 34
28. Subroutine CALC (AC3) 35
29. Subroutine MPYA (ACO, AC1) 37
30. Subroutine FDELAY (ACO) 38
31. Sample ROM Loader Listing 39
32. ROM Loader laper Tape Format 39
33. TTY Interface 40
34. ROM Loader Interface 41
35. ROM Loader Flow Chart 43
36. Subroutine RECV (ACO, AC1) 46
37. TTY Word Format 48

38. Subroutine RECV (ACo, AC1) Look Up Table 48

39. Subroutine WORDR (ACO, AC1) 49
40. Format of ACO, Subroutine WORDR (ACO, ACI) 49
41. Subroutine XMIT (ACO) 50
42. Format of ACO, Subroutine XMIT (ACO) 52
43. Subroutine WORDS (ACI) 52
B1. Assenbly Language Instruction Format 58
B2. Assembly Language Data Format 58

I5
 i

'II

Dispersion Control System for Sounding Rockets

1. INTRODUCTION

High altitude sounding roekets have always presented a problem to small test
ranges such as WSMR because of rocket dispersion. This report presents a strap-on
dispersion control system employing a 16-bit microprocessor as its brains, that
requires only software changes to accommodate different sounding rocket vehicles.
The Paiute-Tomahawk sounding rocket was chosen as the first test vehicle for
this system because It is the most difficult to control. Figure 1 shows the payload
as it was hung by ropes from the launcher during TM checks at WSMR. The
actuator is a pneumatic position, proportional canard control manufactured by
Chandler Evans Inc. A 6000 psi helium gas bottle, visible in the illustration, pro-
vides the energy to move the fins. An exercise port is available on the actuator
for connection of an external helium source, providing a means of exercising the fins
without firing a pyrotechnic which opens the helium gas bottle valve. Figure 2
shows the rack in the control section. A modified MIDAS platform (Gyro) manu-
factured by the Space Vector Corporation provided the error signals for the control
system. Notethatthe removable eyelets at the topof the rack allowed for. e,' inser-
tion and removal from the control housing section. Figure 3 shows the control sys -
tem electronics mounted on four wire wrap boards with the 16-bit microprocessor
mounted on the wall of the electronics box for heat sinking purposes. The wire

MReceived for publication 3 March 1976)

Preceding page blank

wrap boards are manufactured by Mupac Corp. and used because of their unique 108
pin socket connector. The 16-bit microprocessor is the TDY-52B manufactured
by Teledyne Systems Company and discussed in greater detail in Section 2. 3.
Operation of the control system was only during the coast phase of flight, that
is, T+5 sec to T+17 sec with second stage ignition at T+20 sec. The system is
capable of guiding through second stage, however, Range Safety required early shut
down so they could observe the gyro output and determine if it is safe to enable the
second stage. The system was launched 16 October 1975 at WSMR with a radar
impact within a mile of a computer simulated impact.

Figure 1. Dispersion Control 9-in. Dia Payload

8
 ,ACCELEROMETERS

CAPCIIVDSCARGE UiT

DIGITA TIMEAI
(TEST FLIGH-1"1

DISPERSION CONTRO

ELECTRONICS

POWRSLE

281VOLT ATR

Figure 2. Dispersion Control Rack

2. DISPERSION CONTROL ELECTRONICS

A detailed discussion of the important electronic circuitry used by the Disper-

sion Control Electronics is described in the following sections. The complete
circuit diagram is not contained in this report because of its size.

2.1 Block Diagram

F.gure 4 is a simplified block diagram of the dispersion control syste.., .ec-

tronics. The heart of the system is a 16-.bit microprocessor, TDY-52B, requiring
only a 512 word by 16-bit memory to perform all control algorithms.

1 9
 |/ ' ) BOARD NO. 3

Figure 3. Dispersion Control Electronics

At rocket liftoff a G-switch activates the Interrupt Start which delivers a clock
pulse approximately every 10 ms to the TDY-52B interrupt line. Every 10 ms the
TDY-52B will increment a memory location, that is, the TDY-52B will also be the
system clock. Five sec after liftoff the TDY-52B will pulse the Initiate Actuator
signal releasing gas into the chamber of the pneumatic actuator. Until 17 sec after
liftoff when the Lock Fins signal is pulsed the TDY-52B will sample the Gyro out-
puts every 10 ms and provide an output to the canards via the Pitch & Yaw Command
A&B signals. At 20 sec the 2nd State Initiate line will be pulsed and the TDY-52B
will halt.
Those blocks which require detailed explanation are discussed in the following
sections.

2.2 Gyro Resolver

The Gyro Resolver transforms the gyro roll, pitch and yaw encoder outputs
into positional information.
Figure 5 is the basic circuit used to transform the gyro encoder outputs, sig-
nals A and B, into positional information, Up/Down Binary counter outputs.

10

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There are three such circuits used by the Gyro Resolver, one each for Roll, Pitch
and Yaw. Signals A and B. Figure 6, indicate each. 08789 degree change in gyro
position and the direction of change, positive or negative from the previous position.
Thus each change of state between A and B is a change in gyro position of . 08789
degrees and the knowledge of the previous A and B state immediately following a
change of state indicates whether the gyro moved in a positive or negative direction.

- 08789
Positive -
"

AI

02 LV1h
01 LfLE i
'~--- Negative

Figure 6. Gyro Encoder Outputs

The truth table in Figure 7 indicates all possible input states to the 1 of 16 decoder
and the resultant outputs to the binary counters. The truth table is read from top
to bottom for each direw-tion positive or negative. To change direction jump between
identical input stable states and continue to read down.
Ignore for the time being the OR gate and D Flip Plop in Figure 5. The 8 Jlsec
delays allow the trans1tion states to exist long enough to provide a clock pulse, CP,
whose positive going edge will increment or decrement the binary counters as
determined by the Up/down, U/D, signal. The I lsec delay insures the stability
of the U/D signal before the CP signal reaches the counters. oynchroni7ation of
the Gyro resolver with the TDY-52B is accomplished by the D Flip Flop which is
clocked by 045, a clock signal generated by the TDY-52B. Presetting of the
binary counters is accomplished serially through the OR gate using the Bias Input.

13
 C040ITION INPUT OUTPUT
BBAA U/A CP
Stab r 1 0 1 0 0 1
raition 1 0 1 1 0 0
Stgble 1 0 01 0 0
Tr nsition 1 1 a1 0 1 Decrement (Neg ptive)

Stable 0 1 0 1 0 0 Counters
Transition 0 1 0 0 0 1
Stable 0 1 1 0 0 0
Transition 0 0 1 0 0 1
Stable 1 0 1 0 0 0
Tramnsitlo 1 1 1 0 1 1

Stable 0 1 1 0 0 0
Transtio, 0 1 1 1 1 1
Stable 0 1 0 1 0 0 Counters
Transition 0 0 0 1 1 1
Stable 1 0 0 1 0 0
Transition 1 0 0 0 1 1
Stable 1 0 1 0 0 0

Figure 7. Gyro Resolver Truth Table

2.3 TDY-52B Microcomputer

The TDY-52B is a 16-bit parallel processor pau,-aged in a 2 in. x 2 in. x 2 in.

(Figure 12) hermetically-sealed module, dimensions are exclusive of its 120 pins.
Teledyne Systems Company is the manufactor of this hybrid computer based on
National Semiconductors IMP-16C micro-cozaputer. The TDY 52B has the follow-
ing features-
Word Length 16 Bits
Instruction Set 60 (implemented by CPU resident microprogram)
Arithmetic Parallel, binary, fixed point, two's complement
Multiply, Divide, Double precision Add and Sub-
tract
Memory Must be provided externally
16 word Lnst-In/First Out Stack Internal
Addressing Page . e of 256 Words. For direct and indirect
modes: "Absolute
Relative to Program Counter
Relative to Accumulator 2 (indexed)
Relative to Accumulator 3 (indexed)
Accumulators 4

1..
 Input/Output and 16 bit data - memory input port
Cozstrol 16 bit data - periphearal input port

16 bit data - output bus

16 bit address bus
6 general-purpose output flags
4 general-purpose jump-condition inputs
1 general interrrpt input
1 control panel interrupt input
Figure 8 shows a simplified block diagram of the 7IDY 52E . The CPU is the
heart of the TDY 52B which is configured around MOS/LSI devices, as shown in
F-igure 9. The MOS/LSI devices consists of two CROPA's (Control Read Only
Memory) and four RALU's (Register and Arithmetic Logic Units). Each RALU
handles 4 bits, and a 16 bit CPU is formed by connecting four RALU'G in parae".
A 4-bit wide control bus is used by the CROM's to communicate most of the con-
trol information to the RALU's

[j#"
---- <: I CONDITIONAL/
LEE _RATOJ JUMP
MODULE MULTIPLEXER
PINS MODULE
PN

MODULE
FINS FLAGS
-- ---
-- I CLOCK >
~GENERATOR

INPUT SSENRA DATA

PROCtESSINGLACE
L._
-- lMULTIPLEXER -------- (CPU) I ACE

. ~ADDRESS 1
LATCHES

Figure 8. TDY-52B Simplified Block Diagram

15
 CROM DATA
INPUT/OUTPUT
(16 BITS)
4 IS RALU 4BT
CONTROL
US 4 BITS) 4BIS4
IT

Figure 9. TDY-52B CPU Components

The Clock Generator in Figure 8 provides the CPU and external circuits to the
TDY 52B with the required timirg sigials. There are eight time phases to each
execution of an instruction resident in the CROM. Coile--tively the eight time phases
are called one microcycle ano" a number of microcycles is required to execute each
instruction resident in the external memory. Figure 10 shows the timing relation-
ships. Time phase 4 (T4) may be extended during reading/writing operations when
external memory requires slower access times than 525 ns. The use of external
circuitry is required to extend T4 greater than two time phases. For more de-
tailed information contact Teledyne Systems Company, Northridge, CA 91324.
Figure 11 is a flowchart of the TDY-52B operation starting with application of
power. When power is firs+ applied all RALU registers, flags and the LIFO stack
are cleared to ilero. The microprogram then enters an initialization sequence,
in which the Progr,,- Counter (PC) is set to a starting value of FFFE 16 ' that is,
the next-to-last location in the memory which is the first executed instruction.

2.4 Comruter HowekeepFng

The Computer Housekeeping circuit as shown in Figure 13 provides the TDY-

52B with an approximate 10 ms interrupt and a system clear signal (SYSCLR).
This circuit also provides the PCM and dehounce clocks.

16

t
 I

1
C23 I
0

G~rator C45
(externally0

I available) i1uI 7
C67

;, Holdout

Fop
1
Dats Input/Output0 rtP-tln

o -- JVaid ' valid1

Jump Condition 1 , 1Vl
Multiplaer Input 0 ,- j .1i

1 Microcycle (1.4 s)

Figure 10. TDY-52B Timinp Diagram

At system power turn on Reset is held momentarily low while Interrupt and
Computer Start are held high. The TDY-52B will execute its first instruction
from location FFFE 16 of the memory when Cornpute.r Start is momentarily
grounded. To reset the TDY-52B while payload power is on momentarily ground
Reset while momentarily turning OFF the TDY-52B minus 12 volt supply.
Interrapt Start is momentarily grounded during rocket liftoff enabling the in-
terrupt clock. C45 in Figure 13 synchronizes the Interrupt Clock with the TDY-
52B. Syrchronization is required to prevent a positive transition during Time
Phase 2 (T2. Figure 10). Interrupt Enable UINTEN) in Figure 13 is set by the TDY-
52B under software control and cleared automatically upon the TDY-52B's recog-
nition of a positive Interrt:pt Clock transition. Upon recognition of a positive In-
terrupt Clock transition the TDY-52B will halt and not execute the instruction from
memory location 000116 until the Interrupt Clock is zero, hence the use of the last
D Flip-Flop in Figure 13.

17
 INITIALIZATION

RALI! REGISTERS, FLAGS, AND

LIFOS CLEARED ITO ZERO) UNTER SET TO FFFE16

LOAD (PC) ONTO DATA BUS F PULSE RIEAD MUMORY FLAG

ENTER (PC) INTO ACTU E READ

ADDRESS REGISTER OPERATION INMEMORY

YES
Y<E ,-' ,ONTROL
'-ONTROL YES
YES GO TO
INTERRUPT PAN E
PANEL CONTROL PANEL
INTERRUPT
INTERR>
SUBRO17INE

t NO . NOLPT
FEEXECCIUTE INSTRUC' ION
INLOCATION

INSTRUCTION RECEIVED
FROM MEMORY

BITS 0-7 OF INSTRUCTION WOR BITS 7-16 OF INSTRUCTION

TO MEMORY DATA REGISTER WORD TO CROM
T

MCMCRY
REFERENCE YES
INSTRUCTION

FCOMPUTE EFFECTIVE ADDRESS

NO TRANSFER DATA FROM MEMORY

ITODESI NATEDRr-Z'STER

EXECUTEI STRUCTION -1- 1

Figure 11. TDY-52B Operation Flowchart

18
 DsILOyIii
JJP co*Ir $tfI |ritit and Inte)wrUpt

I Ch.

JurmpiflogIl

Ohl'

-Address

Figure 12. TDY-52B

2.5 Memory Interface

The Memory Interface circuit provides the necessary timing and control sig-
nals for interfacing of the memory with the TDY-52B. Figures 14 and 15 make up
the Memory Interface Circult while Figure 16 was used in place of Figure 14 during
softwa-e development of the dispersion control system. See Figure 17 for circuit
timing.
The Timing Interface Circuit of Figure 15 extends T4 to allow adequate access
time tothe CMOS RAM's. During a read microcycle, address information is sent out
at T4 and the TDY-54B expects data back at T7 of the same microcycle. During a write
microcycle data is sent to the memory during T4 of the next microcycle. The TDY-52B
employs latches on its address lines eliminating the need to store address informa-
tion externally. TDY-52B output signal Holdout triggers the Holdin signal high
causing T4 to extend for 7.0 time phases. Holdout is generated only during a
read/write (R/W) microcycle.

19
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23
 The circuits of Figures 14 and 15 provide their respective memories with
Chip Enable (CE) and Read/Write (R/W) signals. Because of the large capacitive
loading created by the CMOS RAM's, the TDY-52B address lines take approxi-
mately 500 ns to reach a stable state, the CE signal is delayed for 612.5 ns after
the start of T4. The RAM Enable line in Figures 14 and 16 is used in conjunction
with the ROM Loader, where a logic zero enables access to the memories.

3. DISPERSION CONTRO. SOFTWARE

A detailed description of the Dispersion Control Software is contained in the

following sections and a complete listing in Appendix C. Appendix B describes the
TDY-52B Assembly Language used in Appendix C while Appendix E is a listing of
the terms used by the flowcharts and listings.

3.1 Auto Pilot Difference Equation

Eq. (1) is the autopilot filter 1 chosen to control the Paiute-Tomahawk Rocket.
The dispersion control system uses two of these auto pilots, that is, control in
pitch plane and control in yaw plane. 8c is a positional command in degrees to the
cannards in either the pitch or yaw plane and 0c is the error signal generated in
the pitch or yaw planes.
2
Eq. (2) is written by matching zeros and poles in the z-domain with those of
Eq. (1) in the s-domain. The constant K 1 is determined by equating the final value
of Eq. (1) with Eq. (2) in Eq. (3). Expanding Eq. (2) as shown in Eq. (4), the
autopilot difference equation, Eq. (5) falls out.
Since fixed point arithmetic will be used by the software, Eq. (5) must be
scaled. The maximum absolute allowable error signal is a 22. 50 - .087890 step
where 18cI 210. 11. The scale factor 256 will be used as shown in Eq. (6). The
factor . 8 is absci-bed by K 2 to save a software multiplication step when converting
the autopilot fixed point output for use by the D/A converters.
Eqs. (7) and (8) are the equations used by the software.

8c(s) K(1)
c (s+w)

where K 6 and w =.8,

I. Wilson, George, Martin Marietta Aerospace.
2. Technique from Software Research Corp.

24
 6c(z) K1 (2)
c (z-e

where T = sampling period.

K1 (3)

- _WT as z 1(
w (1-e
ew 12
1
K [
whereK

8c= 2 e-wT Z "1

8c - e 2
wT Z "2
6c + K 1 Z "2 0 c , (4)

8cn = 2e
-
wT 8cn1 - e - 2 wT 8cn-2 + K 1 Ocn-2 , (5)

8cn]
L256]J-r
2 A [6cn - B + K25 [ ,cn-2 (6)

where K 2 = . 8*K 1 * 256 * .087890.

A e
B =B e 2- 2wT
W
[0 cn-2] = Integer quantity of. 087890 steps which is
presently divided by 256. Note that
[(cn-2] 4 Ocn-2.

ADP = 2*A* ADPI BAD2 + THETA2, (7)

K2
ADY = 2 * A * ADY1 -B 4 ADY2 + 256 PSIG2. (8)

3.2 Auto Pilot Flow Cart

Figure 18 is a simplified flow chart of the Dispersion Control Software.
Execution begins with Block A (see Figure 19) where test commands are sent
to the fins and the 32 word by 16 bit RAM is initialized. Upon completion of Block
A the TDY-52B will wait for activation of the Interrupt Start Iine. Every 10 ms
after activation of the Interrupt Start, TN will be incremented and compared against
TL (Launch Time), TI (Initiate Actuator Time), T13 (TI - 100 ms), TF (Lock Fins
Time), TF3 (TF + 100 ms), and T2 (2nd stage Initiate Time), that is, variable TN
will serve as the system clock. Block B will perform roll transformation of

25
?I Initialization

Yes

-T! T"N
- + 001016
lot F8
Set INTEN
U3t N
No COUT- TN
Set

Y~Yes

No NZTLL

Ye
NoaltNo
as

Sot F13 Ya
Pulse F13

YYes Pus

Set F14 IPOUT - 000016 BLOCK 8

~CoordinatesY1-

b Output Pitch and

Yaw Command
TNNo T g
St F12 c. Set F12

Set F15

Halt stet
<6N

~BLOCK C
S Pulse F12 . Read Pitch &Yaw

I- Calculate Pitch & Yaw

It
Difference Equations
I .Pulse F12

Figure 18. Auto Pilot

26
 coordinates while Block C will calculate the difference equations. Note that Flags
F8 and F12 and user jump input condition U3 were used to synchronize the TDY-52B
with the AFCRL EAI 8900 during ground testing.

3.3 lock A

Comments
ACO - FF00 113 +100 Fin Co.nmand
CALL FDELAY (ACO) for 5 Sec
ACO - C000 16 450 Fin command

CALL FDELAY (ACO) for 5 sec

ACO - 400016 -50 Fin command

CALL FDELAY (ACO) for 5sec

ACO - 7F00 16 -100 Fin command
CALL FOELAY (ACO) for 5 Sec
TN - 0000 1 6
ADPH 0000 1 6
ADPL- 0000 16
ADPH1 -000016
AOPL1 " 000016
ADPH2 - 000016

ADPL2 -000016
THETA - 000016
THET.A1 - 000016
THETA2 -000016
ADYH - 000016
ADYL - 000016
ADYH1 000016
ADYL1 -000016
ADYL2 -000016
AOYIL2 " 0000
16
PSIG - 000016
P$1G1 - 000016

PSIG2 - 000016
~SEGADD - 00516
! REFPH - 3EA916

REFPL - C1A6 1 6

POUT - 000016 Zero Fin CommanJ

Your = 000016
SET INTEN Enable TDY-52B Internal Irterrupt
COUT 550016 Output initiation complete
I signal to dock latch

Figure 19. Block A

27
~I.

3.4 Block B
Block B calculates the effect of Gyro roll position phi, 9, on the pitch and yaw
commands (see Figure 20).
Gyro roll position phi is loaded hi ACO using the format of Figure 21. ACO is
right justified by shifting ACO 5 times. AC2 is equated to ACO and shifted twice to
the right. The value in AC2 will be used as an address to select the correct I sino I
and I cos 1I from Figure 22 while bits of 0 and 1 of ACO determine the correct
quadrant. The first If statement of Block B determines which of two pairs of quad-
rants, 1&3 or 2&4, is phi presently located. If phi is located in quadrants &3,
AC2 is the address of I sinol while 002016 - AC2 is the address of I cos 0 1. If phi
is located in quadrants 2&4. 004016 - AC2 is the address of I sin 0 1 while AC2
002016 is the address of Icos 0j. The last two If statements of Block B determine
the signs of I sin 1 and cos 90. Finally the roll transformation equations re
calculated and pitch & yaw commands sent.

3.5 Block C
Block C calculates the pitch & yaw error signals and uses subroutine CALC
(AC3) to calculate the pitch & yaw difference equations. Figure 23 is a flow chart
of Block C.
Gyro pitch 0g, and yaw, ip , position is placed in ACO using the format of Fig-
ure 24. Notice that this format has a scale :actor of 512 instead of 256 which is
used by the Auto pilot difference equations. Before subroutinte CALC (AC3) is
called the pitch & yaw error signals are multiplied by 2.
Pitch & yaw error signals are calculated by subtracting the gyro input position
from the desired reference position. Gravity turn affects the pitch reference.
Figure 25, while the yaw reference is a constant 400016. The pitch reference is
calculated by successive summations rather than time consuming multiplications
as shown in Eqs. (9) and (10).

Pitch Ref = at + b (9)

where a = slope
t - time
b = intercept.

Pitch Ref = REFPN + S ATNH (10)

where REFPN = b + a t
nn
tn = time line segment n, Figure 25, begins n = 1. 2, or 3
ANTH = a n * T
a n = slope of line segment n
T = 10 ms sampling rate

28
 comments

ACe-00C01 6

ACO- 0 input roll position

P a Fit Ntw

ComnplimwtBit 6 of ACe SeeFigure 21

Flas SEL
Pulpe Shift 601MACeS p0,10"
AC2- ACOJ
AC2- AC2/4 Shift ritilt AC22 P1-a With
zerosinto0Bit 15

1iS00< 0< 2700

A3- DATA(2 . 006P16 1 AC3- Jwn 01

AC2-AT2 .0Sg ~ oe

006P1 l OATAI - 4 A
Ace~AC

16
-DOATA1+0006F ACI JeotO1
ACI

- OATA(
15) SIC3AC A grw
+
Call MUIAO At AFCc2

AA
00201 OS
- CI IC2c+ AC YIIIOJew
#] CO

~
of ~ ~ ACO.A
Cl AOIJTifNo 36

AM Ace 0 ifII00 . Pitc ,0<W0

Ao AC IIfN I&<t 2

ClULldAI AMFIO

ACI AC

Ac - ADYN
Cll MULACO. ACI ADH o 0
(C2ACOcI AOAi ADHOCDiIS

ACt- SNP
A1.1)
CallMULIACO, Y aw Canas,r

CelAUTACO.ulAtFCcICrwI
Sa P12 toePth m"r

FAgCr 20 Block
29;SIP
 AC0 BITS

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

0 0 0 0 0 0 0 0

Gyro 0 bit weights

Figure 21. Input Format of Gyro

Quadrant I & 3 Quadrant 2 & 4

AC2 IsinG Magnitude
_
ICosol Isin~l Iol _

, 0 0 , 0 0, 0 0 0
0 0 00 Sin 0 Sin 16 Cos 9 0 Cot 270 Sin 180 Sin 360 Cos 90 , Cos 270 0 0 0 0
0001 0647
0002 0 C8 B
0003 12C8
0004 18F8
0005 1 F19
0 00e 2528
0007 281 F
0008 2 r FB
0009 i I 36 BA
000A 3C56
000B 4 1CE
000C 471C
0000 4 C3 F
000E 15133
000 F 55 F5
0,
0 0 1 0 Sin450 , Sin 225 0 Cos450 , Cos 225 0 Sin 135 Sin 315 0 Cos 135 0 Cot 3150 5 A 8 2
0011 5 ED7
0012 T 62F2
0013 66CF
0014 6 A6 D
0015 6 DCA
0016 70E2
0017 7385
0018 7641
0019 7884
001 A. 7ATD
S0010 0 0 16 7 C 2 9
7C29
0 01 DC
0 001 7 E 9 A
70D8 D

S001 E 7 F6 2
001 F 7 FD8
S, 900, Sin 270 Cos 0 , Cos 180 Sin 900 , Sin 270o
0
0 0 2 0 Cos lo . Cos 3600 7 F F F

Figure 22. Absolute Value of Sin 0 and Cos vs AC2

30
 AC3 000016 j Comments

Set F11 Not Used

ACO - tOg Input Yaw Gyro Pouition
Pulse F1 Not Used
PSIG - ACO Input Pitch Gyro poeition
Set Il Not Wad
ACO - 9
PuN FA ~ Not Used
THETA - ACO
AC2-SEGADD
ACO - TUX Time to chtan~e Pitch ref
- AO
ACO- TNslope, where X , Zor 3

YsACO = ACO - T

AC2 - AC+056ACO -REFPH

AC24DD
- AC ACO - ACO - THETA Pitch error signal
SEGAD -AC2ACO -2 *ACO
ACO - DATA (2+0001 161 THETA -ACO
REFPH - ACO AC0- REFPH
ACO -DATA (2 + 0002i16) ACI - REFPL
P'FPL - ACO [ACO+AC1j - [ACO+AC1J obePrcso d
+IAXTH+AXTLI DobePecsoJd
REFPH -ACO
REFPL -ACI

Call CALC (AC3) Calculate Pitch difference equation

ACO - YREPH
ACO - ACO-PSIG Viw error signal
ACO - 2*ACO
PSIG-ACO
AC3 -00121;
Call CAIC (AC3) Calculate Yaw dlifference equation
Pulse F12

Figure 23. Block C

3i
 ACO BITS

15 14 13 12 11 10 9 8 7 6 5 -. 3 2 0

0 *4n0 00 00 0

Gyro o or Ovubit wsI~it

Figure 24. Input Format of Gyro Gg and ipg

225 AjP on 20l alw

N.1No. 2 INo. 3

S22.00

21.6"
6 tgl 10 t52 is 17
t93
Tlme(WC) -

Figure 25. Pitch Gravity Turn - Paiute Tomahawk

3.6 Subroutines
3.6.! SUBROUTINE MUL (ACO, ACI)
Subroutine MUL (ACO. ACi) calculates one-half the signed product of ACCO and
ACI. The 32 bit result is placed in ACO and ACI with the Most Significant Part,
MSP. in ACO (see Figure 26).

32
 No 016
Comments

Y" YH
yes.Ye

! !ed--nAC-32ob-tcesult coc,
A+C I-NE
ACO =m-Ae ACO>00and Aoi

SCP -AC 32 bit result combined in AC0

AC0AC1 s-
1/2SCPtAC1 and AC
Return

F-,
- - %C1
AC- ACO -C

I
tAC0t+C m 1/2SCPAC e
NOTE: O y poit, e 10v-s
mAaiAC1 - -AC0AC1n may I mu!tiplied
Return3
Max Execution time 260.05pwle

Figure 26. Subroutine MUL (AC0, AC1)

3.6.2? SUBROUTINE AOUT (AC0, AC1)

Subroutine AOUT (AC0, ACt) wir, convert the fin command in AC0 to n a.ch
the format of the D/A converter (see Figure 27).
The first IF statement tests the sign bit of AC0 and sets AC3 accordingly. A
test is then made of the fin command magnitude to determine if it exceeds the 10*
~maximum. If greater than 100, AC0 is set to 100 and if less AC0 is multiplied by

33
 128 removing in effect the scale factor used during its calculation. Remember that
the factor. 8 was biried in K2 of the difference equation, Eq. (6), so that only a 7
bit left shift is required at this point saving valuable time. The final IF statement
determines the correct sign bit for ACO.

Comments

AM000016 J ( AM0A -A00 A16]

(ACO+ACI)--4ACO+ACI) AC3 - Sign bit of fin command

y ACO>OOFF 1 6 Test for maximum fin commid

AC 1-7F0 ACO - 128 0 ACO Shift ACO lef t 7 times

NNo

AC30001 16 Test for sign

ACO-ACO"OR" 80016 Set bit 15 for a positir command

Return I77
Max Execution Time 134.82 Isec

Figure 27. Subroutine AOUT (ACO, AC)

3. 6. 3 Subroutine CALC (AC3)

Subroutine CALC (AC3) calculates the Auto Pilot Difference Equation, (see Fig-
ure 28). AC3 is used by the main program to tell the subroutine if the pitch or yaw
difference equation is to be calculated.

34

-i
 Connnts
ACO - DATA (3+000116) ACO-THETA2orPSIG2
ACI - K
Call MUL(ACO. ACI)
AC2 , 00016

SET Flog SEL

AC3- 006wNo. of right rotation$

Stack 2 - AC21
Flag - Stack 2 Link bit L - I for ACO<0000 1 6
ACO -ACOI2 Rotate right, L+ bitl15&bit 0*L
Divide (ACO+AC1) ACI - ACMI Rotate rIit, L~bit 15 & bit 0+ L

jNo AC3 -0000 16

yes
AC3 - Stack 1
Stack 1- ACO
Stack 2 -AC I
}Sawaaboversl

ACO-DATA(3 + 000416) ACO - ADPH2 or ADYH2

ACIIOATA(3 +0005161 ACI - ADPL2 or ADYL2

Can MYB(AOACI
No
ACD>0000I
1/2
BADP2
or
Y.,Set Eqs. (7) and (8)

Figure 28. Subroutine CALC (AC3)

35
 SCP2 - ACO rmet
SCP3 - ACI 'met
ACO Stock 2
I -aA
[ACO+ACIJ - [ACO+AC1]- -1/2*BA0P2 + 1/512*TlETA2rK2

Stock 1 -ACO -112B8ADY2 + 11512*PS102*K2

I
Stck DATA300
- 16 C OH1o D
ACO - DATA(3+0003 16 ) ACO - ADPL1 or ADYH1

AC11-
DTA(+0031
orDL
Cal MYACO.AC)
/AI-ADP1

/2A0

[A[ACO+AC1
-2[ACO+AC1I }e12AADP orDY

[ACO+AC1J ..AC+A1 + A'D1 /2A021/12HTAK2o

SePlogSCP3 A*ADY1.or1ADY2115PSGK
(ACODATA(I3- 207 6 IrPS~ THET+A
DCA3C0O )-A2 HTo SG

[+ACDATA+A 1 + THEA rPSIG**AP+/62TET2K

1 )
ADATA(30007 THETAI or PSIGI

DATA(340005 16 ) - AC2 THEM2 orADYL?

AC2-DATA(3OOO2 16 ) THETA or ADIG

ADATA (3+00316 )C ADPH2 or ADYL1

DATA(3+01)
- AC ADPH. or ADYL2
ADATA(3+0002 16) ~ ADPL1 or ADY1

DAACO+C1 21AC+C1 ADPH or ADYH

DATA(340002 16 ) - ACO ADPHI or ADYH1

DATA(34MO3 1 6 ) - ACII ADPLI or ADYL1
Return
Max Execution Time 28 22.7)Msoc

Figure 28. Subroutine CALO (AC3) (Cont)

36
 3.6.4 SUBROUTINE MPYA (ACO, Aol)

Subroutine MPYA (ACO, Aol) calculates one-half the product of the 32 bit fixed
point number formed by ACO and AMl and the 32 bit fixed point number formed by
A and AL. The 32 bit result is placed in ACO and Ad. MSPis in ACO (see Fig-
ure 29).

3.6.5 SUBROUTINE MPYB (ACO, Aol)

Same as MPYA except the 32 bit fixed point number formed by B and BL is
used.

Comments

Stacki - ACO Store Most Significant Pert (MSP)

Stack2 -ACI Store Least Signifiean Part (LSP)
ACI-A
SCP - ACO
(ACO+AC11 -1/20=03 CP
SCP2-ACO
SCP3-AC1
}Store 1/2 MSP*A
ACO-Stack 2 ACO - LSP
Pulse Flog SELShf Crihbt1-0
ACO- 1/2 AdO ShfAdrgtbt10
ACi -A
SCP- ACO
IAC0+AlJ -1/2AC0SCP
Set FlagSEL
(ACO+A1lJ-2*(AC0.AC1I
}1/2
1/4 LSPOA
LSPOA
ACI - AdO
ACO -0000 1 6
(ACO+Adl I- [AdO+AdI +
ISCP2 +SCP31
AC2- AL
SCP3 - AC
} Store 1/2MSP*A+1/2 LSPOA

Pulse Flog SEL 1 AC 12A

ACO -1/2 ACO AC-IA
ACi - Stack 1 ACI - MSP
SCP- ACO
IACO.AC1 I-1I2*ACI*SCP 1/4 MSP * AL
Set FlogSEL
IAC0+ACfl -2" IACO+AC1I ?1/12MP*A
SP*A
Adi-ACO
ACO-00006
[ACO4AC1I-IACO+AC11I 12SI+/LSI+/MPA
(SCP2+SCP3j .12SA12SA12SA
Return
Max Execution Time S15.51Lsoc

Figure 29. Subroutine MPYA (ACO, ACl)

37
 I1
3.6.6 SUBROUTINE FDELAY (ACO)
Subroutine FDELAY (ACO) will provide an approximate 5 sec command to both
the pitch and yaw fins. ACO is the signed magnitude of the command and must be
in the correct format for the D/A converters (see Figure 30).

POUT - ACO
YOUT - ACO
ACl - 000E 1 6

i AC0= 753C16 Figure 30. Subroutine FDELAY

(ACO)
ACO"- ACO - 000116 i

4. ROM LOADER

i The ROM Loader is designed to edit or debug a program stored in th~e CMOS
RAM. An ASR-33 and Figures 33 and 34 compr'ise the ROM Loaders hardware.
There are three functions which the ROM Loader performs; List memory contents.
Read a paper tape into the memory and Write into the memory from the teletype keyboard.

38
4.1 Operation
To use the ROM Loader switch Si of Figure 34 must be in position one before
starting the TDY-52B. When the TDY-52B is started the teletype will respond with
the message "COMMAND:" and wait for one of three commands typed on the key-
board L, R or -W:
L, AAAA, BBBB* typed on the teletype will produce a listing of the memory
contents at the four digit hexadecimal location AAAA through location BBBB. See
Figure 31 for sample output.
R typed on the teletype will start the paper tape reader. Figure 32 is the
required papertape format.

COWMANO: L,0020,0024
LOC DATA

0020 4700 Figure 31. Sample ROM Loader Listing

0021 4C10
0022 C002
0023 AOO?
0024 0600

F --- SPROCKET

00110 000 Starting address of data in

00110 000 ASCII coded hexadecimal
00110 010 for this example 0020 1 6
00110 000
DDDOD DOD
DDDDD DOD DATA In ASCII ooded
DDDDD DOD for each
hexadecimal, that is,
DODDD DOD memory location there will be
four lines of pinched taps.
MSD is first. The ROM Loader
increments the starting address
for the next Mock of data.
Note that all characters n.ot In
Figure 38 will be ignored by
Subroutine RECV (ACO, AC1)

DODDD DOD
00100 001 Exdmation mark trminates reading
of the paper tape.

Figure 32. ROM Loader Paper Tape Format

39

--------------
r

XMIT

1N914B 4
610

112W
1N914B

-12V +5V

7404

F12y

+RECV

+S+

tat Rl1yN9144Rede
Sold

+5V

7440
 10K'

ADOO VC P VBB O1 02DM05DO

A0 D1
AD01 All 02M0

AD02 A M0

AD03 A
ADO3 PROM
~Intel D4M0
0
3

AD04 A 1702A ISM0

ADM AD 050
-As 6
AD06 A6 07 ____MD06

AD07 -A 08 M0

- D9 v

*1V 10K

ADOO VCC P VBB 01 02 MD08

AD01 All T2 MD09

AD02 2 D -MD10

AD03 Intel M1
A3 PROM D04
1702A
M1
A4
AD05 D1

ADO6 6D7M1

70

AD15 044 RMEal

25 S1RAM Enable

Figure 34. ROM Loader Interface

41
. . . .... .. 7 ... .

W, AAAA, BBBB* typed on the teletype will write the four digit hexadecimal
value BBBB in memory location AAAA.
After completing each command the message "COMMAND:" is once again sent
by the ROM Loader indicating it is ready for a new command. *Note commas in
the above commands are not necessary. Figure 35 is the ROM Loader Flow Chart.

4.2 ROM Loader Electronics

The circuit diagrams in Figures 33 and 34 comprise the ROM Loader Elec-
tro v s. The two 256 word by 8 bit PROM's contain the ROM Loader software.
Switch Si of Figure 34 determines which memory the TDY-52B will fetch its first
instruction from, that is, position 1 will enable the ROM Loader while position 2
will enable the Dispersion Control memory. The RAM Enable of Figure 34 is
connected as shown in Figure 14, or when using the 4096 RAM in Figure 16. Ad-
dress lines AD00 through AD07 and AD15 of the TDY-52B are used to address the
ROM Loader memory (see Figure 34). Isolation between the ROM Loader Memory
and the Dispersion Control Memory is accomplished by means of Tri-State outputs,
which must be provided externally for the Intel PROM's, that is, the Hex Tri-State
Buffers DM8095. MDOO through MD15 are the memory data input lines of the TDY-
52B.

4.3 Srbroutines
4.3. 1 SUBROUTINE RECV (ACO, ACI)

Subroutine RECV (ACO, AC1) provides the necessary decoding of the 8 bit data
svords sent serially by the teletypes transmitter, (see Figure 36). The subroutine
will return from where it was chlled with ACO containing the decoded teletype data
and ACI containing the position of the teletype data in the look up table, Figure 38.
Upon recognition of a teletype start bit a 13. 5 ms delay is intiated to wait for
the middle of the first teletype data bit, (see Figure 37). After ACO has been
filled with the first seven data bits and the parity bit, bit 8, ignored, ACO is com-
pared against the look up table in Figure 38 to determine what alphanumeric
character the teletype sent. If there is no match the subroutine will return to its
beginning to wait for another teletype transmission. If ACO contains the alpha-
numeric characters 0-F it is decoded from seven bits to four bits, that is, the
four LSB's of ACO will contain the hexadecimal digits 0-F with all other bits zero.

42

- - ' ' ' ' ' '

: - =, .. . -- '=- i ____
____
 Comments

Pulse F15 Turn off TTY Reader Relay

AC-S8116 Send cerrige return end
Cell XMIT (ACO) Iline feed to TTY
ACO - CFC3 16 Sn iisC&0t T
CallIXMIT (ACO)
ACO - CDCD 16
Cell XMIT (ACO)I
} ndgtC toT
Send digits M&M to TTY
ACO - CECI isSn
1 iisA&Nt r
Cell XMIT (ACC) Sn iisA&Nt T
ACO - BAC4 1 6 Send digit D& Symbol:
Cell XMIT(ACO) to TTY

Cell RECV (ACO, AC1) Wait for Command

r-1>004Check
Yes for legal command
16 ~See Figure 38

Yes C>00 1 Identify command

W received
Call WORDR (ACO, ACi) Wait for 4 digit memnory address in ACO

No A1>00416Check for Htexadeciml digits

Stac I -ACOSave memory address

Call WORDR (ACO. ACi) Wait for 4 digit data In ACO
AC31Place
Stak memory address In AC3

<j >00 16 -.heck for Hexadecimal digits

Store ACO content at memory

DATA (3) - ACO address ir AC3

Figure 35. ROM Loader Flow Chart

43
 Comments
Yes ACi >000216 Identify Command

R received

Turn on TTY Reader Relay

Call D (Wait
Call FWORDR (AC0, ACi)ad for 4 digit initial a,,emory
address
AC3 - ACO Store address in AC3

Stack 1 - AC3
Call WORDR (ACO, AC1 j Wait for 4 digit data in ACO
AC3 - Stack I

No ACI >000416 Check for termination symbol I

DATA(3) - ACO Store 4 digit data at address in AC3

AC3 - AC3 + 000116 Increment AC3 by one

. eeceived

Call WORDR (ACO, AC1) Wait for 4 digit initial memory

address

No
AC1 >000416 Check for Hexadecimal digits

Call WORDR (ACO, AClV Wait for 4 digit final memory

AC3 - Stackk
1 address

A >000416 Check for Hexadecimal digits

Figure 35. ROM Loader Flow Chart (Cont)

44
 Co0mments

Stack 1 - ACO Store final memory addrts

Stack 2 - AC3 store initial memory .ddress
ACO - 8A8D 1 6 Send carriage return and
fCall XMIT (ACO) J line feod to TTY
ACO- CFCC 1 1
CalXMT(A6 Send digits L & 0 to TTY
ACO - A0C3 16 Send digit C and a space
Call XMIT IACO) f Command to TTY
ACO - A0A0 16 Send two space comnmi,:
Call XMIT (ACO) f to TTY
ACO
-ClC4} Send digits D&A to TTY
Call XMIT (ACO)
ACO - C1O4 16 Send digits T-*A to TTY
Call XMIT (ACO)
ACO - 8ABD 1 6 Send carriage return and
Call XMIT (ACO) I line feed to TTY
ACO - 8AUD 1 6 Send carriage return and
Call XMIT (ACO) J line feed to TTY
AC3 - Stack 2 AC3 - initial memory address
AC2 - Stack 1 AC2 - final memory address

AC2 = AC2 + ACII AC2 - No. of locrtions to be listed

Call WORDS (ACI) Send memory address to TTY

ACO - A0A016 Send two space commands
Cal (CO
XMT to TTY

ACi - DATA (3) AC1I - momory content at address

Stack 2 - AC3 stored in AC3
Call WORDS (ACi) Send memory address contents to TTY

ACO - 8ABD 1 6 Send carriage return and

CAll XMIT (ACO) f line feed to TTY

AC3 - AtC3 + 000116 Increment memory Address

AC2 - AC2 - 000? . Decrement No. locations to be
listed

No AC2 - 000016 Retuin if list finished

Yes

Figure 35. ROM Loader Flow Chart (Cont)

45
 Commint

ACI -001 TrY Bit locaton

A2- 0075AC2 - TTY Bit count

U3 -1 >Wait for TTY stabit

Ye.

I13.5
AC3 - 046FIS

me
delay

*~~N AC3-0000%6 1. m ea

yes

ACO - ACO + ACI1 LoeceIn bit oet

TTYse data
o ml t bi )
(U3 i-Inve
No

Fiur
36 Surutn EC(ACOD Ad)ac T itlcto
46-02 1
 El AC3

}
-02F4 16

AM -ACII-
00116 10 m doly to &Now

L3O ~
NO AC
-0
00
W 6
!
1~ parit bit to pe

Yw~
ACIa 0014115 See Figure 38
AC2 wFF061 6 Starting address of Figure 36

Stoc 1
-ACOSave TTY data word

AC2 - AC2 + 000116 address. Figure 38

increment Wa5e

NO AC0,0000 1 6 TTY data word match tolbloieFure 38

AC1AC10001
16 ACO - Stack 1 Restore TTY data word
3
OOF Save orily bits 0 -4
ACO-ACO "AND" 16
Fiura3
Se
AC1*
160A
NNo

Return

Figure 36. Subroutine P.ECV (ACO, ACO) (Cont)

47
 IStrt 1 1 2 1 3 1 4 1 5 1 6 1 7 1 8 I Stq7

Figure 37. TTY Word Format

DATA(2) ASCII ACI

003016 0 001416

003116 1 001316
003216 2 001216
003316 3 001116
003416 4 001016
003516 5 000FII,
003616 6 0001:16
003716 7 00OD 16
003816 8 000C 16 Figure 38. Subroutine RECV (ACO, AC)
00316 9 000B16 Look Up Table

004116 A 000A 16
004216 B 000916
004316 C 000816
004416 D 000716
004516 E 000616
004616 F 000516
002116 I 000416
004C 16 L 000316
006216 R 000216
005716 W 000116

4.3.2 SUBROUTINE WORDR (ACO, AC1)

Subroutine WORDR (ACO, A C) receives four data words from the teletype and
stores them as four hexadecimal digits of four bits each in ACO using subroutine
RECV (ACO, AC1), (see Figure 39 and Figure 40). ACl will contain the position
in the look up table, Figure 38, of the last data word received. If the teletype sends
an !, L. R or W the subroutine terminates early.

48
 Comments
AC0 - 000016
AC2 - 000416 AC2 Digit Count
I
Stack 1 - AC2
ACO - ACO * 16 Shift AC04 bits left
Stack 2 - ACO
Cell RECV (ACO, AC) Wait for digit from TTY
AC3 - Stack 2
ACO - ACO + AC3 Store received digit in ACO
AC2 - Stack 1

No M Check for legal digit

AC2 - AC2 - 000116 Decrement digit count

No TTY sent four digits

Return

Figure 39. Subroutine WORDR (ACO, AC1)

Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Digit No. 1 - Digit No. 2 Digit No. 3 Digit No.4

MSD

Figure 40. Format of ACO, Subroutine WORDR (ACO, ACl)

4.3.3 SUBROUTINE XMIT (ACo)

Subroutine XMIT (ACO) will transmit two 8 bit data words in ACO as two tele-
type data words, (see Figures 41 and 42). If only one data word is to be sent use
data word No. I and set data word No. 2 to zero in Figure 42.

4.3.4 SUBROUTINE WORDS (ACl)

Subroutine WORDS (ACi) in conjunction with subroutine XMIT (ACO) will trans-
mit to the teletype four hexadecimal digits in AMl using the format of Figure 40.
Figure 43 is the flow chart used by Subroutine WORDS (ACl).

49
 Comments

Pulse SEL Flag Duing right shifts bit '.5 is

Set F12given a0
AC3 -02F4Send Start bit to TTY

AC3 -AM - 0001 16 1j

*
~~
AC3-00001 6
9 ms delay

AC2 00816AC2* bit count

Puls F12Terminate Logic 0 value bit to

F TTY If being sent

SetF12Beoon Logic 0 value bit to TTY

9 ms delay

"No

AC2 - AC2-0001 1 6 Shift ACO One bit right

AC2-000
168 bits sent

Figure 41. Subroutine XMTT (ACO)

50
 Pulse F12 Terminate Logic 0value bit to
AM3 - 02F416 TTY If being sent

9 ms delay

No AC3-0000 16

Yes
J
Yes24
1 Send two stop
AM 0r4,,bits

9 ms delay

AOO 0Test
Yes for 2nd 8 bit data word
in ACO

Figure 41. Subroutine XMITM(CO) (Cont)

51
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Dota Word No. 2 IData Word No. 1

LSB 158

Figure 42. Format of ACO, Subroutine XMIT (ACO)

Comments

A20016 Digit count 4

Rotate AC1 left Digit to be sent occupiez

4 bits ABCD 16 - BCDA 16 bits 0 3

ACO - ACO "AND" 000F 16 All bits zeroed except

0,3
ACO - ACO "OR" 00C0 1 6 Place digit Cin bits
4 -7, Convert digit
to 8 bit TTY word

No ACO>00C9 16 Maeck for letter or

number In Figure 38

ACO ACO +FFF0 16 Ye

ACO - ACO -0009 16

Stack 1 - ACI
Stack 2 - AC2
Call XMIT (ACO) Tasi ii
Ta~ ii
AC2 - Stack 2
ACI - Stack 1
AC2 -AC2 -0001 16

AC2 -000016 N

yes
Rcvirn

Figure 43. Subroutine WORIDS (ACI)

52
 TDY-52B Instruction Set

Execution Time
MNEMONIC INSTRUCTION NAME FUNCTION In Microseconds* Format
LOADPNo STORE_
tO ** LOAD (EA)- (AC,)JF INDIRECT (EA))-(ACr) 9.1,10.15 IF Ind. 2
SI * STORE (ACN)-(EA), IF INDIRECT(AC,)-((-)) 0.15;I4.35,IF Ind. 2
Lo LOAD BYTE (11/EA)-ACO LESSSIGNIFICANT BYTE) Right 21.0,Tef- 32.2 5
STS STOlE BYTE (ACOLESSSIGNIFICANT BYTF -11/2EA)
o-(sEu Right 29.05, Left
3.8 5
ARITHMETIC 38.85
ADD ADD (ACt) * (EA)- (AC,) OV. CY 9.1 2
SUl SUBTRACT (AC,) - (EA)- (ACr) OV. CY 9.1 2
MPY MULTIPLY (EA).(ACI)A(ACO, IAC,) L 0-SEL. 151.55 to 173.95 5
DIV DIVIDE (ACO),(ACI)I-(EA)-(AC0) OUOTIENT 178.15 to 225.75 5
6 -(SEL) OV,L "(ACI) REMAINDER
DADO OOUBLE
PRECISION
ADD IIACO). (ACIi. I(EA),
(EA.I)]I-IACO). (ACt)) 21.0 5
0-SEL) OV,CY
osu DOUBLEPRECISION
SU,,.ACT IACO) ;ACI))/(EA), (EA. ,))-I(Aco. (AC)) 21.0
0- (Sit) OV, Y

LOGICAL
AND AND (RO) AND-(EA)-(ROI) 9.1 3
OR OR (ROI) '0R' (EA)
- (ROIt) 9.1 3
MKP
ISZ INCREMENT
AND SKIPIFZERO (EA - I - (EA) 12.95 If Skip 14.35 4B
IF (EAI -0, (PC) . I -(PC)
DSZ AND SKIPIF ZERO
CECREMENI (A)T - -EA) 14.35 If Skip 15.75 4B
IF (EA)- 0, (PC) I -(PC)
SKG SKIPIF GREATER
THAN IF (AC,) -(EAT, (PC) I-(Pc 13.3 to 16.1 2
SVNE SKIP IF NOT EOUAL IF (AC.) d (EA),
(PCi I - (PCI 10.5 2
SKAZ SKIPIF "AND* IS ZERO IF IROI)
'AND" EA) .0, PC) I-(PC) 10.5 If Skip 11.9 3
SKSTF SKIPIF STATUSFLAGTRUE IF (STATUS
FLAG N) - 1, (PC) 1- (PC) 27.65 to 55.65 9
0 (SEL)
SKIll SKIPIF BITTRUE IF(ACO8IT N) 1,(PC) I - (PC) 27.65 to 55.65 9
0 (SEL)
SINGLE BIT
SETST SETSTATUSIT I-(STATUS FLAG N) 24.85 to 51.45 9
CLIST CLEARSTATUS
lT 0--(STATUS FLAG N) 24.85 to 51.1h5 9
SETSIT SET IT I- (ACO IT N 22.05 to 48.65 9
CtReIt CLEAR IT o--(ACO RIT
N) 22.05 to 148.65 9
CMPAIT COM'EMENT BIT (ACOBit N).-(ACO bT N) 22.05 to 18.65 9
IfANIFER
iMp ** JUMP EA-(PC). IF INDIRECTCIA)- (AC,) 5.25 If Ind. 9.1 14A
JSR JJUMPTO SUBROUTINE (PCI -(STK) 6.65, If Ind. 10.5 4A
1A -(PC). IF INDIRECT,EA)-(PC)
sOC BRANCH ON COIDITION IF CONDITION CC IS TRUE, 6.65, IF Branch 8.05
(PCI 0 -(PC)

RT FROMINTERRUPT
RETURN (SIK)- C,- (PC 8.05 8
I -(IEF)
RTS FROMSURROUTINE
RETURN ISTK)* C -(PCI 6.65 8
JSRI JUMPTO SUBROUTINE
IMPLIED (PC)-(IK) 6,65 8
*F FI16 *C-(PC)

*Times are for T4 Extended 6 Time Phases

"For Ind. add ID to mnemonic, that Is, LDID

Preceding page blank

54
 a . -. ~ i..-- e.

TDY-52B Instruction Set (Cont)

MNEMONIC INSTRUCTION NAME FUNCTION

1Execution Time
In Microseconds* Format
TRANSFER (cont)
JMPP JUMPTHROUGHPOINTER 1o )- (PC) 12.95 9
JSRP JMP TO SUBROUTINE
THRU POINTER rPC)-ISTK) (10016+ C)-'PQ 14 .35 8

JINT JUMPINDIRECTTO LEVEL0 (PC)-(STK), 0-(IEF) 11.9 9

(12016 iN)-PC
ISCAN INTERRUPT
SCAN 1/2 (ACI)-ACI) UNTIL I SHIFTED
OUT 13.65 to 113.05 9
(AC21# NUMBEROF SIIIFTS-(AC2)
SHIFT
ROL ROTATELEFT 2 (ACt)- (AC,)
IF SEL 0, (Oil15)-(B 0) IT
IF SEL- 1, {Cif15)-(t), (L)-($IT 0)J DTIMES 6.65 + 4.2D 4B
Rol ROTATERIGHT 1/2 (ACr) - (AC,)
IF SEL 0, (BIT0)-(ir 15) j OTIMES 6.65 + 4.2D 4B
IF SEL* I, (BIT0)-L), IL)-(BIT 15)l
SHL SHIFTLEFT 2 (ACl) - (AC)
0-(6IT0) OTIMES 6.65 + 4.2D 4B
IF SEL- 1, (Sit 15)-(L)
SHR SHIFTRIGHT 1/2 (ACf)-(ACt)
IF SEL -0. 0-(IT IS)J TIMES 6.65 + 4.2D 4B
IF SEt - I, (L)-(OIT IS), 0-4L)
STACK

PUSH PUSHONTO STACK (ACt)-(SK) 5.25 4B

PULL PULLFROM STACK (STK)- (AC,) 5.25 4B
PUSHF PUSHSTATUS FLAGS (SF)-(STK) 6.65 8
ONtO STArK
PULLF PULLSTAUS FLAGS FRCM (STK)- (AC;) 8.05 8
STACKINEC FLAGREGISTER
XCHES EXCHANGE REGISTER (ACr) -(STK) 8.05 4B
AND STACK (STK)- (AC;)
IMMFDIATE

LI LOAD IMMEDIATE 0- (ACr) 5.25 hB

AISZ ADD IMMEDIATEAND (AC;) ;D-(ACr) OV. CY 6.65,IF Skip 8.05 4B
SKIP IF ZERO IF (AC,) 0, (0C), I- C)
CAI COMPLEMENT AND ADD - (AC;) * D- (AC,) 5.25 4B
IMMEDIATE
z ntcnlnrER
RADD ADD
REGISITR (SR).(OR)-(Cl) "?, CY 5.25 6
RXCH EXCHANGE
REGISTER (SR)-(OR), (D).( R) 12.25 6
00Y REGISTER
COPY (S)-(DR) 10.5 6
RXOR REGIStER
EXCLUSIVE
OR (SR)O(DE) -(DR) 9.45 6
RAND REGISTER
AND (SA)AND" (D)-(DR) 9.*5 6
INUT/OUtPUT
RIN RE('StER INPUT IAC3) ;C- (IO ADDI 10.85 8
(10 DATA)- (ACO)
ROUT REGISTER
OUTPUT (AC3) C -(iOAoDDI
(AC0)- (10 DATA)
10.85 8
SFLG SETFLAG C-IIOADDR), I- (CONTROL FLAG FC) 6.65 7
PFLG PULSE
FLAG C-OOAODR), 1-(CONTOL FLAGFC) 6.65 7
HALT HALT PROCESSOR
HALT- 8

*Times are For T4 Extended 6 Time Pha:e

55
 Appendix B
TDY-5ZB Assembly Language

Each source statement of Appendices C and D contains an instruction found in

Appendix A or a 4 digit hexadecimal data word stored at the indicated memory
location. Figure B1 is the instruction format while Figure B2 is the data word
format:
Instruction Format
a) Optional address field with not more than ten alphanumeric
characters.
b) Instruction mnemonic field. See Appendix A.
c) Working accumulator field or code field with the following formats
referenced to Appendix A. Formats 4A, 4B and 5: Working
accumulator having one of four values
(0, 1, 2,3) except where restricted by
Appendix A in the column labeled function.
Format 6: Source accumulator followed
by destination accumulator in parenthesis.
Each having one of four values (0, 1, 2, 3).
Formats 1, 7, and 9: Condition code
field containing one of sixteen values
(0, 1 .... 15).
Formats 2, 3 and 8: Field not used.

Preceding page blank

 d) Displacement field with either ten or less alphanumeric characters refer-
ring to an address tield, or a 4 digit hexadecimal value whose least significant
digits are used to determine the least significant bits of the instructions object
code. The addressing mode is placed in parenthesis at the end of the displacement
field for those instructions using formats 2, 3, 4A and 5. The addressing mode is
one of four values (0, 1, 2, 3).
0 - direct
1 - relative to Program Counter
2 - relative to Accumulator 2
3 - relative to Accumulator 3
Data Format
a) Optional address field with not more than ten alphanumeric characters.
b) Data field having a 4 digit hexadecimal value.

ADDRES R oU

Figure El. Assembly Language Instruction Format

ADDRESS I DC, DATAa Figure B2. Assembly Language

Data Format

58
 AUTOPILOT L:STING

LOC OBJECT CODE STM1T SOURCE STATE24ENTS

0000 0000 1 ,DC,,0000,

0001 0000 2 INT2,DC,,0000,
0002 0000 3 TN,DC,,000O,
0003 0000 1; SCP?,DC,,0000,
0004 0000 5 COSPH,DC,,0000,
0005 0000 6 SINPH,DC,,0000,
0006 00oo 7 SCP2,DC,,000,
0007 0000 8 SCP3,DC,,0000,
0008 0000 9 scp4,DC,,O00,
0009 0000 10 ADPII,DC,,0000,
OOOA 0000 11 ADPL,DC,,OO0O,
GOOB 0000 12 ADPI11,DC,,0000,
OOOC 0000 13 ADPL1I,DC,,0000,
0000 0000 14 ADPI12,DC,,0000,
o~oI 0000 15 ADPL2,DC,,0000,
0001' 0000 16 TIILA,DC,,0000,
0010 0000 171 THlrA1,DC,,000,
0011 0000 18 THFPA2,DC,,0000,
0012 0000 19 ADYII ,DC ,,0000,
0013 0000 20 ADYL,DC,,O000,
0014 0000 21 ADY111,DC,,0000,
0015 0000 22 ADYL1,DC,,0000,
0016 0000 23 ADY112,DC,,0000,
0017 0000 24 ADY12,DC,,0000,
0018 0000 25 PSIG,DC,,0000,
0019 0000 26 PSIG1,DC,,0000,
OA 0000 27 PSIG2,DC,,0000,
00113 0000 28 S~flAID,DC,,00O0,
001C 0000 29 RE7PH,DC,,000O,
0011) 0000 30 REFPL,DC,,0000,
U01r, 0000 31 ,DC ,,0000,
001F 0000 32 ,DC,,0000,
0020 14700 33 ,PUIL,-A,
0021 4Cl0 314 ,LI,0,0010,
0022 COW2 35 fJ)D,O,TN(O),
0023 A002 36 ,ST,O,T,11(0),
002?, 0800 37 ,SFLG,O,O0O,
0025 0900 38 ,SFLG,3,0000,
OU26 B052 39 ,STID,O,COUJT(0),
G327 DO4C 4o UB,0,TL(O),
0028 1205 ,BOC,2,5,
*0029 lEOI 42 ,Boc,14,1,
002A 2029 113 ,Jmp,2(0;,
002B 0880 4Ih 1,PFLG,0,0000,
002C 202D 45 3,JI4P,,Ii(0),
0OD202C i46JlP,()
8002 I,5,'.D,0,TNl(0),

Prec~ing n.m. Math 60

 AUTOPILOT LISTING (cont'd)

LOC OBJECT CODE SIM SOURCE STATE2IENTS

002F D04D 148 ,SUB,O,TI(O),
0030 1205 49 BOC,2,8,
0031 OCOO 5
0032 0E00 50 BC28
0033 9,SFLG,4,Oooo,
2E2 51 6,BOC,14,7,
0033
0034 2032 52
0C80 53 ,JMP,,6(o),
0035 7,PFLG,),0000,
202D 54
0036 ,JMP,,14(0),
8002 55
0037 8,LD,O,TN (O),
D04E 56
0038 ,SUB,O,I3(O),
1202 57
0039 ,BOC,2,10,
ODOO 58 ,SFLG,5,0000,
003A 2031 59
003B 0D80 60
003C 10,PFLG,5,0000,
8002 61
003D DO4F 62
003E IB54 ,SUB,O,TF(O),
63 ,SOC,0,TRANS,
003F 8002 64 80C,1,TN,
0010 D050 65 ,SUB,O,TF3O),
0041 1204 66
00142 14c0 ,BOC,2,11,
67 ,L1,0,0000,
0043 B053 68 ,STID,O,PU(O),
oo44 B054 69 ,STID,O,YOUT(O),
0045 2031 70 ,JTP,,9(O0),
0046 OEO0 71
047 11,SFLG,6,oooo,
8002 72
0048 D051 ,LD,O,T:;(0),
73 ,SUBO,T2(O),
0049 IBE. 74
O04A ,BOC,11,3,
OFOO 75 ,!;FW,7,OO00,
004B 0000
004C 76
0000 77
O04D TL,DC,,0000,
1F20 78 TT,DC,,IF20,
O04E 1FCO 79
004F T13,DC,,jFCO,
69Fo 80
0050 TF,DC,,69E0,
6A8o 81 TF3,DC,,6A80,
0051 7C90 82
0052 T2,DC,,7C00,
OFFC 83 COUT,DC,,OFFC,
0053 OBFC 84
0054 POUT,DC,,O3FC,
07FC 85 YOUT,DC,,O7FC,
0055 0000 86
0056 SCpl,DC,0000,
0001 87 SCP5,DC,0001,
0057 0020 88
0058 TIIE?,DC,,00O,
7EF9 89
0059 A,IC,,7EF9,
7DF6 90
O05A Bl)C,,7DF6,
0161 91 K2,DC,,0161,
005B 3810 92
005C TGI,D,,3810,
3EA9 93 REFPLH,DC,, EAO,
005D ClA6 911 REFPlL,Dc, ,C]A6,

61
 AUTOPILOT LISTING (cont'd)

LOC OBJECT CODE STMT SOURCE STATE24ETS

005E FFFF 95
005F AITII,DC,,FFFF,
9DC9 96 AITL,DC,,9DC9,
0060 50FO 97
0061 'I2,DC,,50FO,
3EIO 98 REFP2H,DC,,3E1O,
0062 D6CF 99
0063 REFP2L,DC,,D6CF,
FFFF 3.00 A2TI,DC,,FFFF,
0064 8B14 3.01
0065 A2TL,DC,,8B14,
7FFF :.02 TG3,DC,,7FFF,
0066 3D5A :'03
0067 REFP311,DC,,3D5A,
CB6F 104 RPFP3L,DC,,CB6F,
0068 FFFF 135
0069 A3T,DC,,FFFF,
6F04 IC6 A3TL,DC,,6F4,
oo6A 7FFF
oo6B
107 TG1I,DC,,7FFF,
0000 IC8 ,DC,,O000,
oo6C 0000 l09
o6D ,DC,,O000,
0000 110 ,DC,,O000,
006E 0000 ill ,DC,,O000,
)06F 0000 11? ,DC,,O000,
007n 06117 113 ,DC,,O6O,
0071 OC8B 114 ,DC,,OC8B,
0072 !2C8 115
0073 ,DC,,12C8,
18F8 116 ,DC,,18F8,
0074 1F19
~~0075 2528
117
1.186C,58 ,DC,,IF19,

0076 2B1F 119 ,DC,,2BF,

0077 30FB 120 ,DC,,3OFB,
0078 36BA 121 ,DC,,36BA,
0079 3C56 122 ,DC,,3C56,
007A 41CE 123
007B 1471C ,DC,,bICE,
1214 ,DC,,h;71C,
007C 1
C3F 125 ,DC,,4C3F,
007D 5133 126
007E 55F5 127 ,DC,,5133,
,DC,,55F5,
007F 5A82 128 ,DC,,5A82,
0080 5ED7 129 ,DC,,5ED7,
0081 62F2 130
0082 ,DC,,62F2,
66CF 131 ,DC,,66CF,
0083 6A6D 132
00814 ,DC,,6A6D,
6DCA 133 ,DC,,6DCA,
0085 70E2 1314
0086 ,DC,,70F2',
73B5 135 ,DC,,73B5,
0087 136',i DC,761i
0088 7884 137
0089 ,DC,,7884,
7A,' 138 ,DC,,AD,
O08A
0088 7C29 139
7D8A 1,1 Dr,,7C29,
,0DC,7DSA,
008C 7E9 11
008D ,DX,,7E9D,
7F62 11:2 ,P, ,7F6-,
67FD8
i .,T=---- - - - - - - - * " --L . " t

AUTOPILOT LISTING (Cont'd)

LOC OBJECT CODE STMT SOURCE STATE?4ENTS

008F 7FFF ] ,14 ,DC,,7FFF,
0090 5500 1115 CIIECK,DC,,5500,
0091 o1000 1146 YRIEPII,DC, ,100O,
0092 7FO0 147 FIN,DC,,7FO0,
0093 1F00 1148 TRANS,LI,3,000u,
0094 OBO0 1119 ,SFLG,3,0000,
0095 04o0 150 ,RIN, ,00140,
0096 OB80 151 PFLG,3,0000,
0097 0765 152 ,CMPBIT,5,,
0098 OA80 153 ,PFLG,2,0000,
0099 5CFB 151, SHR,0.0005,
009A 3281 155 ,RCPY,0(2),,
009B 5EFE 156 ,SHR,2,0002,
009C
009D i8c08 157
8E6F 158 ,BOC,4,12
,LD,3,006F (2),
009E 5201 159 ,CAI,2,0001,
O09F C857 160 ,ADD,2,TIE2(0),
OOAO 866F 161 LD,I,oo6F(2),
OOA1 130A 162 ,LD,1, ] ,
00A2
OOA2 530 16393 1s
5301 163 ,CAI,3,0001,
OOA3 5101 16hI
OOA4 20AC 165 13,CAI,1,000],
OOA5 ,J.P,,114(O),
52111 166 12,CAI,2,001#1,
0OA6 8x6F 167 ,D,3,006F(2),
OOA7 5201 168 ,CAT,2,0001,
0OA8 C857 169
OOA9 866F )70 ,LD,1,006F(?),
OOAA 13F8 171 , oC, 3,13,
OOAB 5301 172 ,CAJ,3,0001,
OOAC A1404 17 3 114'sT, I co".1II (O),
OOAD AC05 171 , ST, 3,SII'II(O),
OOAE 8009 175 LD,OApH(O),
OO/F 8hO4 176 ,ll),0,cosP;'(O),
OOd 28CB 177 ,JSR,,MUL(O),
OOBI A006 178 ,ST,O,SCP2(O),
OOB2 A1O7 179 ,ST, ,;CP'3(0),
0OB3 8012 180 ,LD,O,ADYII(O),
OIB) 81405 181 ,LD,1 ,SINPll(0),
OOB5 28CB 182
0B6 ,JSR,,MUI(O),
014AO 183 ,DADI),,SCP2(O),
OOB7 0006
OOB8
OOB9 28EI
A008 1814 JR,,AOUT(O),
185 ,ST ,0,scpll(O),
OOBA 8009 186 ,bD,O,ADPH(O),
OOBB 81105 187 ,L[),i,STNPII(O),
OOBC 28CB 188
OOBD A006 189 ,ST,,NCP2(O),

63
 AUTOPILOT LISTING (Cont'd)

LOC OBJECT CODE STMT SOURCE STATE4ENTS

OOBE A407 190 ,ST,1,SCP3(O),

OOBF 8012 191 ,LD,O,ADYII(O),
00CO 8o4 192 ,LD,1,COSPII(O),
ooC1 28CB 193 ,JSR,,MUL(O),
00C2 o4B0 194 ,DSUB,,SCP2(0),
00C3 0006
oC4 28E1 195 ,JSR,,AOUT(O),
00C5 84o8 196 ,LD,1,SCPi(O),
00C6 E054 197 ,STID,O,YOUT(O),
00C7 B453 19b ,STID,1,POUT(O),
00C8 OCOO 199 ,SFLG,4,oooo,
00C9 1E2A 200 16,BOC,14,15,
OOCA 20C9 201 ,j4P,,16(o),
OOCB 1211 202 MUL,BOC,2.100,
0OCC 3180 203 ,RXCH,O(1),,
OOCD 1206 201 ,BOC,2,101,
OOCE 5101 205 ,CAI,1,O001,
OOCF 5001 206 ,CAI,O,O001,
OODO A003 207 102,ST,O,SCP(O),
OOD1 o8o 208 ,MPY,,SCP(O),
OOD2 0003
OOD3 0200 209 ,RTS,,O000,
OOD4 5101 210 1O1,CAI,1,O001,
OOD5 A003 211 103,ST,O,SCP(O),
OOD6 0480 232 ,MPY,,SCP(O),
00D7 0003
00D8 5000 213 ,CAI,O,O000,
OOD9 5100 214 ,CAI,1,O000,
OODA OWAO 215 ,DADD,,SCP1(O),
OODB 0055
OODC 0200 216 ,RTS,,0000,
OODD 3180 217 100,RXCH,O(1),,
OODE 12FI 218 ,BOC,2,102,
OODF 5001 219 ,CAI,O,O001,
OOEO 20D5 220 .,J4P,,103(0),
OOE1 120E 221 AOUT,BOC,2,iL,
00E2 5000 222 ,CAI,O,O00,
OOE3 5100 223 ,CAI,1,COOO,
OEli OhAO 22h Diwo,,6CPI(O),
OOE5 0055
OOE6 isFOl 225 ,I,I,3,0001,
00E7 EOF2 226 19,SKG,O,DSA(O),
00E8 20E 227 ,JP,,17(O),
OOE9 8092 228 ,LD,O,FIN(O),
OOEA FC56 229 20,Sl0E,3,SCP5(O),
OOEB 0200 230 ,mTS
OOEC 68F3 231 ,OR,O,PFIN(O),
OOED 0200 232 RTS,,
OOEE 5C07 233 17,SIII,,0,0007,
0017 20EA 2314 ,JMP,,20(0),
OOFO 4FO0 235 18,LI,3,0000,

64
 AUTOPILOT LISTING (Cont'd)

LOC OBJECT CODE STMT SOURCE STAT1MENTS

0OF1 20E7 23( ,JiP,,19(0),

00F2 OOFF 237 DSA,1)C,,OOFF,
0OF3 8000 238 PFIN,DC,,8000,
00F4 IFOO 239 15,LI,3,0000,
0OF5 OBOO 24o ,SFLG,3,0000,
0OF6 0400 2141 ,HIN,,000O,
OOF7 OB80 242 ,PFIG,3,0000,
0OF8 A018 2143 ,S'r,o,PsIr,(o),
0OF9 OBOO 241, ,SFI,,3,0000,
OOFA 0420 2145 ,RIN , 0020,
OOFB OB80 246 ,i';, ,0000,
OOFC AOOF 2147 ,ST,0,TIITA(O),
0OFD 881B 248 ,ID,2,S.MADD(O),
OOFE 8200 249 I,D,0,00u,)(2),
00FF D002 250 ,SUB,O,TN(O),
0100 iBl4 251 ,BOC,11,500,
0101 8OlC 252 501,1,)0, REFPI(0),
0102 DOOF 253 ,SUB,O,TIETA(O),
0103 5C01 251, ,SI,,O,0001,
0101, AOOF 255 ,ST,O,TIE'A(O),
0105 8oic 256 LD,O,RrFPII(O),
0106 81411 257 ,FJ,] ,]MFP1,(O),
0107 o6AO 258 ,DADD,,0003(2),
0108 0003
0109 AO1C 259 ,STOREFPII(O),
010A A41D 260 ,5T,1L,R,.YPL(0),
O10B hF09 261 ,fI,3,0009,
OlOC 290F 26? ,JSR,,CALC(1),
OIOD 8091 263 ,hD,O,YIEPII(O),
O1OE D018 2614 ,SUB,O,PSTG(0),
OIOF 5C01 265 ,SIIL,O,0001,
0110 AO18 266 ST,O,PSTG(0),
0111 hF12 267 ,I,,3,00]2,
0112 2909 268 ,JSR,,CALC(1),
0113 0C80 269 ,PFLG,)4,0000,
01 202C 270 ,JMP,,3(0),
0115 4AO5 271 500,AISZ,2,0005,
016 A8111 272 ,ST,2,SEGADD(0),
0117 8201 273 I,D,0,0001(2),
o118 AO]C 271, ,ST,O,REFPI(O),
0119 8202 275 ,LD,O,OOOP(2),
01A A0ID 276 ,ST,0,1EFPL(O),
OIIB 21E5 277 ,JMP,,501(1),
o1c 8308 278 CAiC,1,D,0,0008(3),
OIID 8145A 279 I,D,1,K2(0),
011E 28CB 280 ,JSR,,MUL(O),
OIF 4EOO P81 ,I1,2,0000,
0120 1201 282 ,BOC,2,200,
0121 4E80 283 ,I,2,0080,
0122 14300 281 P00, PUSII,3,,

65
 AUTOPILOT LISTING (Cont'd)

LOC OIJECT CODE STMT SOURCE STATI24ENTS

0123 CAO0 285 ,SFIB,2,0000,

012h liFO8 286 ,LI,3,0008,
0125 h200 287 201,PUSI1,2,,
0126 0280 288 ,PULIY,,,,
0127 58FF 289 ,ROR ,O ,0001,
0128 59FF 290 1111,1 ,0001,
0129 I1BFF 29. ,AISZ,3,OOFF,
012A 21FA pg2 ,JMP,,201(),
O12B 11700 293 ,PULl.,3,,
012C 1100 :19h U:I, ,
012D 1100 P95 ,PUIII ,1,,
OIPE 830, P96 ,LD,O,O0001 (3),
012F 8705 )'. ,[D,34,0005(3),
0130 1]OA 298 ,BOC,2,600,
0131 5000 299 ,CAI,O,0000,
0132 5100 300 ,CAI,1 ,0000,
0133 OiAO 301 ,DADD,,SCP1,
0131, 0055
0135 2935 302 ,JSR, ,4PYB(O ),
0136 5000 303 ,CAI,0,0000,
013"7 5100 301, ,CAT,] ,O000,
1
0138 Oh A0 305 ,ADD, ,8CP1,
0139 0055
O3A 2101 306 ,Jmp,,6o.i(),
013B 2921" 307 600,JSI, ,MPYB(1(),
013C Aoo6 108 601, eiOo] cp,,(o),
013D AIlT7 309 ,',I ,s(P3(O),
01 31 14500 310 ,IUITl,,
O.3F 11,00 31] ,PI,,,,
01,o O1190 312 ,DSUB, ,iscf'; (0),
01,i 0006
0 1h2 ,00) 31 3 ,PtsfO,,
Oil3 O0 3111 ,PUSII, , ,
O0 8302 3.1 O,0001 ( 3 ),
,[.()
o1,5 8'03 316 ,1,,1,0003(3),
011,6 I'OA MIl , BO
", ,'(00,
Oli'r 5000 318 ,CAI,0,0000,
0118 5100 319 ,CAI,1,0000,
01,19 O1AO 3po ,DAD, I',
OJIIA 0055
011111 291,6 2] ,J.r;, ,MI'YA( l),
OIliC 5000 322 ,(A1,0,0000,
OPiD 5100 3'3 ,CA 1,1,0000,
o0I.E 011AO 3Ph, ,DADl),,SCl,
01i F 0055

66
 * -- ---- h - -.... .'

AUTOPIIOT LISTING (Cont'd)

hOc OBJECT CODE ST4T SOUIRCE STA'MENTS

0150 2101 325 ,-MP,,701(.1),

0151 2940 326 700 ,JSR,,MIYA(1),
0152 OAOO 327 701,SFVG,2,0000,
0153 5D01 328 ,SIIL,],0001,
01511 5801 329 ,ROL,0,0001,
0155 AOo6 330 ,ST,O,SCPP(O),
0156 A1407 331 ,ST,'L,SCP3(0),
0157 h500 332 ,PUI,,,],,
0158 1s1400 333 ,PUL,O,,
0159 OIIAO 3311 ,DA)D,,SCP2(0),
015A ooo6
015B 8EO'f 335 ,L),2,0007(3),
015c AB08 336 ,ST,2,0008(3),
015D 8B06 337 ,LD,2,0006(3),
OSE AB07 338 ,ST,2,000y(3),
01SF 8B03 339 ,ID,2,0003(3),
0160 AB05 3140 ,;i,P,0005 (3),
0161 8B02 3111 ,LD,2,0002(3),
0162 ABOII 3142 ,ST,2,00011(3),
0L63 A300 31m3
31,1 ,S,O,000(3),
,ST,1l,0001 (3),
o16h A701
0165 OAOO 315 ,SFL,2,0000,
0166 5DOI 3h 6 ,SiI,,1,0001,
0167 5601 3h17 ,IRO{,O,0001,
0168 A302 3)18 ,S1,O,0002(3),
0169 A703 3119 ,ST,1,0003(3),
o16A 0200 350 ,IrPS,,,
O161 1400 351 MPYB,PU.1;,0,,
ol6c 10LO0 352 ,IUSll I,,
OW6D 81159 353 ,IIj,B(O),
o16E A003 3514 ,ST,O,SCP(O),
O6F 01480 355 ,MPY,,SCP(O),
0170 0003
0171 AO06 356 ,ST,O,SCP2(O),
017P A1107 357 ,ST,I,SCP3(0),
0 lf3 141400 358 ,PII,,0,,
0o l[ OA8O 359 ,PFW,2,000,
0175 5c 360 ,silO,o001,
OJ(6 81159 361
0177 A003 362 , o(,OWP(O),
0178 0);80 363 ,Bmpy, 6("P(O),
0179 0003

67

|'
 AUTOPILOT LISTING (Cont'd)

LOC OBJECT CODE STMT SOURCE STATEMENTS

017A OAOO 364 ,SFLG,2,0000,

OI1B 5DO1 365 ,SHL,1,0001,
017C 5801 366 ,ROL,O,0001,
017D 3181 367 ,RCPY,0(1),,
017E 4C0o 368 ,LI,0,0000,
017F OhAO 369 ,DADD,,SCP2,
0180 ooo6
0181 AO06 370 ,ST,O,SCP2(0),
0182 A407 371 ,ST,I,SCP3(O),
0183 8136 372 ,LD,O,BL(1),
0184 OA80 373 ,PFLG,2,0000,
0185 5CFF 374 ,SHR,O,O001,
0186 4500 375 ,PULL,l,,
0187 A003 376 -,ST,O,SCP(O),
0188 A48o 377 ,IfpY,,SCp(o),
0189 0003
018A OAOO 378 ,SFLG,2,0000,
018B 5DO1 379 ,SHL,1,O001,
018C 5801 380 ,ROL,0,O001,
018D 3181 381 ,RCPY,0(1),,
018E 4Coo 382 ,LI,0,0000,
018F OAO 383 ,DADD,,SCP2(0),
0190 0006
0191 0200 384 ,RTS,,,
0192 4oOO 385 MPYA,PUSli,O,,
0193 lO0 386 ,PUSII,1,,
0194 8458 387 ,LD,I,A(O),
0195 A003 388 ,ST,O,SCP(O),
0196 0l;80 389 ,4PY,,SCP(O),
0197 0003
0198 AO06 390 ,ST,O,SCP2(0),
0199 A407 391 ,ST,1,SCP3(0),
019A h400 392 ,PULL,O,,
019B OA80 393 ,PFLG,2,0000,
019C 5CFF 394 ,SIIR,0,0001,
019D 8h58 395 ,LD,I,A(0),
019E A003 396 ,ST,O,SCP(O),
019F Oh8o 397 ,MPY,,SCP(O),
OIAO 0003
OlAl OAOO 398 ,SFLG,2,0000,
OIA2 5DO1 399 ,SIIL,1,0001,
OA3 5801 h00 ,ROL,O,Ofnni,
O1A4 3181 401 ,RCPY,0(1),,
OIA5 4Coo )102 ,LI,0,O000,
OIA6 OAO 403 ,DADD,,SCP2,
OlA7 0006

68
 )I

AUTOPILOT LISTING (Cont'd)

LOC OBJECT CODE STMT SOURCE STATEMENTS

OIA8 A06 ol ,ST,0,SCP2(0),
OA9 A407 405 ,ST,],SCP3(0),
O1AA 810E h06 ,LD,O,AL(1),
01AB OA80 407 ,PFLG,2,0000,
OIAC 5CFF 408 ,SIIROO001,
OAD 4500 1409 ,PULL,1,,
OIAE A003 10 ,ST,O,SCP(O),
OlAF 0480 411 ,MPY,,SCP(O),
OIB0 0003
01BI OAOO 412 ,SFLG,2,0000,
OIB2 5D01 413 ,SHL,1,000I,
OB3 5801 4lt ,ROL,0,0001,
OBl 3181 1115 ,RCPY,0(1),,
OIB5 4coo h16 ,LI,O,0000,
OB6 04AO h17 ,DADD,,SCP2(0),
O0B7 0006
OIB8 0200 418 ,RTS,,,
OIB9 F902 1419 AL,DC,,F902,
OIBA 0A68 h20 BL,DC,,0A68,
OIBB 8120 421 INTT, I.I),
0,PTEN (I),
O1BC 292h h22 ,.VR,, FVDLAY (1),
OIBD 811F h23 ,LD,O,PFIVE(1),
OlBE 2922 h|2h ,JSR,,FDEl.AY(1),
OIBF 811F 425 ,LD,O,NFTVE(1),
oCO 2920 )426 ,JSR,,FDEI,AY(1),
oiCi 811C 1;27 ,LD,O,NTEN(]),
01C2 291E h28 ,JSR,,FDELAY(l),
01C3 8117 4,29 ,D,O,1N'P(1),
o1c)4 AOO1 130 ,ST,O,iNr2(o),
01C5 1co0 131 ,LI,0.0000,
oic6 A002 h3P ,ST,O,TN(0),
OIC7 F12 )133 ,L1,3,0012,
OIC8 4E09 h34 ,I,2,0009,
OICO A200 h35 605,ST,O,0000(2),
Oil.. hA01 436 ,AISZ,2,0001,
OICB ItBFF 1437 ,AISZ,3,00FF,
o0cc 21FC 138 ,JP,,6o5(),
OICD 4C5B I439 ,LI,0,005B,
OICE AOIB 4110 ,ST,O,SPX;ADD(O),
OICF 8050 41I , LD,0, REFPI 1I(0),
OIDO AOIC 1012 ,ST,O0,REFI'Pi(O),
OIDI 805D 1013 ,LD,O,REFP1L(O),
01D2 AOID 111 ,ST,O,REFPl,(O),
0103 hC00 415 ,L1,0,0000,

69
 AUTOPILOT LISTING (Cont'd)

LOC OBJECT CODE SIT SOURCE STATF24ENlTS

01D4 B053 IA16 ,STID,O,POUT(O),

01D5 B30514 1147 ,STID,O,YOUT(O),
01D6 B052 1418 ,STID,O,COUT(0),
OlD7 8090 1119 ,LD,')C1EC~c,
01.D8 0900 1450 ,SFWA,1,u0OO,
01D9 B3052 1451 ,STID,O,COUT(O),
*OlDA 202C 1152 JP,()
01DB 2020 1153 INT1,IDC,,2020,
O1DC FF00 1451, PTEI1,DC,,FFOO,
OIDD COQO h455 IPI1ViT,,C OOO,
01DE 7F00 1156 NITF.,',DC,,7F00,
O1DF Is000 h,57 'lWIVEDC, o,l0
*OlEO 753C 1458 DF.AY,1C,,7(53C,
OIEl B3053 h459 FDELAY,STLD,0,POtJT(O),
01E2 B30514 ,60 ,STIl),O,YOUTr(O),

01Els 81FB3 1,62 900,LD,O,D1'i.AY(1),

01E5 1.8FF 463 901,AISZ,O,OOFF,
01E6 21FE 1,61 ,P,90]1)M,
01F7 49FF 1165 AL3Z,1,O0FF,
01E8 21FB h,66 'im4p,,900(j)
01E9 0200 1,67 $RTS,,,
OIEA 21D0 468JMIl(,
OIEB 21CF 469 XJMP,, rNTT (1),

01FE 2500 470 ,JMPID,,INT11(l),

01FF O1EA 471 INTI1,DC,,O1EA

70
 ROM LOADER LISTING

LOC OBJECT CODE STMT SOURCE STATE74EIlTS

FF13 0F80 20 TTY,PFDr ,7,0000,
FFI4 8182 21 ,LD,O,LFCR(l),
FF15 295A 22 ,JSR,,XMIT(I),
FF16 8181 23 ,LD,0,OC(1),
FF17 2958 24 ,JSR,,XMIT(l),
FF18 8180 25 ,LD,0,MM(1),
FF19 2956 26 ,JSR,,XMIT(l),
FFA 817F 27 ,LD,0,IA(l),
FF1B 2955 28 ,JSR,,XMIT(l),
FFIC 817E 29 ,LD,O,SICD(l),
I2952
0 ,JSR,,XMIT(l),
FFIE 2D50 31 ,JSRID,,50(l),
FFIF E562 32 ,SKG,1,FOUR(1),
FF20 2101 33 ,JMP,,ii(i),
FF21 21F1 3,JP,,TY(1 ),
FF22 E55D 35 11,SKG,1,ONE(1),
FF23 2140 36 ,JMP,,WRITR(1),
FF24 E55C 37 ,SKG,1,TWO(l),
FF25 2131 38 ,JIP,,READ(l),
FF26 2962 39 LIST,JSR,,WORDR(1),
FF27 E55A 0 ,SKGi,FOUR(l),
FF28 21EA III ,JMP,,.T.Y(I),
FF29 4000 42 ,PUSI{,0 ,
Fr2A 295E 113 ,JSR,,WORDf:(I),
FF2B 4700 fill 'ULL,3,,
FF2C E555 55 ,SKG,1,FOUR(1),
FFD 21E5 46 ,JIP,, TI Y(I),
FF2E 4#000 57 ,PUSII,O,,
FF2F 15300 48 ,PUSII,3,,
FF30 8166 49 ,LD,O,LFCR(l),
FF31 293E 50 ,JSR,,XMIT(]),
FF32 8169 51 ,LD,O,OL(1),
FF33 293C 52 ,JSR,,XIT(1),
FF35 8168 53 ,LD,O,SPC(1),
FF35 293A 5h ,JSR,,XHIT(1),
FF36 8167 55 ,LD,O,SPSP(1),
FF37 2938 56 ,JSR,,XNIT(),
FF38 8166 57 ,LD,O,AD(1',
19 2936 58 ,JSR,,XMT',t),
)A 8165 59 ,LD,0,Ai(l),
r "iB 2931, 60 ,JSR,,XMIT(l),
FF3C 815A 61 ,LD,O,LFCR (1),
FF3D 2932 62 ,JSR,,XMIT(1),
FF3E 3158 63 ,I.D,O,LFCR(1),
FF3F 2930 6 ,JSR,,XMIT(l),

Preceding pact blank 72

 ROM LOADER LISTING (Cont)

LOC OBJECT CODE STMT SOURCE STATITXENTS

FF40 4700 65 ,PULL,3,,

FF41 16oo 66 ,PULL,2,,
FF42 3D31 67 ,RCPY,3,(1),
FF43 5102 68 ,CAI,1,0002,
FF44 3600 69 ,RADD,1(2),,
FF45 3D81 70 16,RCPY,3(1),,
FF6 4200 71 ,PUSH,2,,
-F47 4300 72 ,PUSH,3,,
FF48 2958 73 ,JSR,,WORDS(1),
FF49 8151. 74 ,LD,O,SPSP(1),
FFA 2925 75 ,JSR,,XMIT(1),
FFB 4700 76 ,PULL,3,,
FF4C 8700 77 ,LD,1,0000(3),
FFAD 4300 78 ,PUSH,3,,
FFAE 2952 79 ,JSR,,WORDS(1),
FFF 8147 80 ,LD,O,LFCR(1),
FF50 291F 81 ,JSR,,XMIT(1),
FF51 4700 82 ,PULL,3,,
FF52 4600 83 ,PULL,2,,
FF53 CD2C 84 ,ADD,3,ONE(1),
FF54 4AFF 85 ,AISZ,2,OOFF,
FF55 21EF 86 ,JP,,16(1),
FF56 21BC 87 ,JrP,,TTY(1),
FF57 OFOO 88 READ,SFLG,7,O000,
FF58 2930 89 ,JSR,,WORDR(1),
FF59 3381 90 ,RCPY,0(3),,
FF5A 4300 91 30,PUSII,3,,
FF5B 292D 92 ,JSR,,WORDR(1),
FF5C 11700 93 ,PULL,3,,
FF5D E524 9 ,SKG,1,FOUR(1),
FF5E 2103 95 ,JMP,,31(1),
FF5F A300 96 ,ST,O,0000(3),
FF60 CD1F 97 ,ADD,3,ONE(1),
FF61 21F8 98 ,J4P,,30(l),
FF62 OF80 99 31,PFIG,7,0000,
FF63 21AF 100 ,JmP,,"TY (I),
FF6 2921; 101 WITE,JSR, ,WORDH (1),
FF65 E51C 102 ,SKG,1,FOUR(1),
FF66 21AC 103 ,JMP,,TTY(i),
FF67 ,O00 l1l ,PUSII,O,,
FF68 2920 105 ,JSR,,WORDR(1),
FF69 4700 106 ,PULL,3,,
FF6A E517 107 ,SKG,I,FOUR(1),
FF6B 21A7 108 ,JMP,,TTY(1),
FF6C A300 109 ,ST,O,0000(3),
FF6D 21A5 110 ,alP,,TTY(1),
FF6E 0000 ill .DC,,O000,

73
 ROM LOADER LISTING (Cont)

LOC OBJECT CODE STMT SOURCE STATEMENTS

FF6F FFB8
FF70 112 50,DC,,FFB8,
OA8O 113
FF71 0000 XMIT,PFLG,2,0000,
FF72 114 ,SLFG,4,0000,
2910 115
FF73 OE08 ,JSR,,DELIY(l),
FF75 116 ,LI,2,0008,
FF75 0C80 117
1301 118,BO,3, 4, PFLG,4,0000,
FF76 OCOO 119
FF77 ,BOC,3,3,
290B 120
FF78 5CFF 3,JSR,,DELAY(i),
FF79 121 ,SII,0,0001,
4AFF 122
FF7A 2F9 ,AISZ,2,OOFF,
FF7B 123 , J4P,,14(i),
0C80 12
FF70 2906 ,PFLG,l4,oooo,
FF7D 125 ,JSR,,DELAY(j),
F 126
FF7E 15F ,JSR,,DELAY(i),
FF7F 127 ,BOC,5,XMIT,
0200 128
FF80 0001 ,RTS,,,
FF81 129 ONIE,DC,,0001,
0002 130
FF82 0004 TWO,DC,,0002,
FF83 131 FOUR,DC,,0004,
8DO14 132
FF84 IBFF DELAY,LD,3,V2(I),
133 2,AISZ,3,OOFF,
FF85 21F.
FF86 0200 13,
135 ,J-P,,2(,
FF87 0116F 136 Vl,DC,,046F,
FF88 02A4 137 V2,DC,,02Fs,
FF8A
FF89 ICO0
hEO 138 IORDR,LI,0,0000,
FF8B 139 ,LI,2,00o4,
t200 O110
FF80 5C04 20,PUSH ,P,,
FF8D 14] ,SIIL,0,0004,
200 1142
FF8E 2929 ,PUSII,O,,
FF8F i13 ,JSR,,RFCV(i),
4700 ]44
FF90 3CO0 ,PULL,3,,
145 ,RADD,3(6),,
FF91 4600
FF92 116 ,FJLL,P,,
ESEF 1147
FF93 ,SKG,1,FOUR(i),
0200 V48
FF94 4AFF SKT-,,,
)119 ,RTS,,,
FF95 21F5 150 ,JIP,,20(O),
FF96 020015
FF97 0200 151 J~i,2(
FF98 WD
CFC3 152
153 1LFCR,DC, ,8A8D,
FF99 CDCD
OC,DC,,CFC3,
FF9A 151h t4,DC,,CDCD,
CECi 155
FF9B BAC4 156 NA,DC,,CI ,
SICD,D',,BACh,
FF9C CFCC 157 OL,D,,,Ci,
FF9D AOC3 158 OL,DC,,CFCC,
FF9E AOAO 159 f,'SP),D,,AOAO,

74
 ROM LOADER LISTING (Cont)

LOC OBJECT CODE STMT SOURCE STATEMENTS

FF9F CiCh 160 AD,DC,,C1CI,

FFAO CID4 161 AT,DC,,CIDt,
FFA1 hEOhi 162 WORDS,LI,2,OOhb,
FFA2 OA80 163 ]7,PFJG,2,O00,
FFA3 5904 16li ,ROL,1I,O0004,
FFA4 31,81 165 ,RCPY,1(0),,
FFA5 61OE 166 ,AND,0,BAK (1),
FFA6 690E 167 ,OROC(1),
FFA7 EIOE 168 ,SKG,0,C9(1),
FFA8 2109 169 ,JM',,300(l),
FFA9 D142 170 SUB,O,NINE(1),
FFAA 1i1O0 171 301,PUSII,1,,
FFAB 1200 172 ,PUSII,2,,
FFAC 29C3 173 ,JSR,,XMIT(l),
FFAD 6o 171, ,PULL,2,,
FFAE )1,O0 175 ,PULL,1,,
FFAF bAFF 176 ,AISZ,2,OOFF,
FFBO 21FI 177 ,JNP,,17(i),
FFBI 0200 178 ,RTS,
FFB2 Clol 179 300,ADD,O,B(l),
FFB3 21F6 180 ,JMP,,301(l),
FFB4 OOF 181 BIANK,DC,,OOOF,
FFB5 OCO 182 C,DC,,OOCO,
FFB6 00C9 183 C9,DC,,00C9,
FFB7 FFFO 1811 B,DC,,FFFO,
FFB8 hIDO1 185 RECV,LI,1,0001,
FFB9 hCOO 186 ,LI,0,O000,
FFBA hEO7 187 ,LI,2,0007,
FFBB IEOI 188 6,BOC,11,5,
FFBC 21FE 189 ,JMP,,6(),
FFBD bDC9 ]90 5,LD, 3,Vl (1),
FFBE 29C5 i91 ,JSR,,2(1),
FFBF 1EOI 192 8, BOC,]1h,7.
FFCO 3400 193 ,RADD,I(O),,
FFCi 5DOI 191, 7,S1IL,1,0001,
FFC2 29C0 195 ,JSR,,DELAY(1),
FFC3 IAFF 196 AISZ,2,OOFF,
FFCi 21FA 197
FFC5 29BD 198 ,JSR,,DELAY(l),
FFC6 h.Di'i 199 ,LI,1,O01s,
FFC7 890D 200 ,iD,?,DATA(1),
FFC8 4000 201 9,PUSHi,0,,
FFC9 D200 202 ,SUB,0,0000(2),
FFCA C9B5 203 ,AI)D,2,0NE(1),
FFCB 110; 2011 ,BOC,1 ,10,

75
 OBJECT CODE STMT SOURCE STATEM4ENTS
LOC

4400 205 ,PULL,O,,

FFCC
49FF 206 ,AISZ,1,OOFF,
FFCD
FFCE 21F9 207 ,JMP,,9(I),
21E8 208 ,JP,,RECV(1),
FFCF
4400 209 10,PIULL,O,,
FFD0
6118 210 ,A'D ,0,TR(1),
FFD1
E518 211 ,SKG,1,TEN(l),
FFD2
C18 212 ,ADD,O,IIIE(1),
FFD3
FFD4 0200 213 ,S,,,
FFD6 214 DATA,DC,,FFD6,
FFD5
0030 215 ,DC,,0030,
FFD6
0031 216 ,DC,,001,
FFD7
0032 217 DC,,W 2,
FFD8
0033 218 ,DC,,0033,
FFD9
00311 219 ,DC, ,00314,
FFDA
0035 220 ,DC,,0035,
FFDB
0036 221 ,DC,,0036,
FFDC
FFDD 0037 222 ,DC,,0037,
0038 223 ,DC,,0038,
FFDE
0039 224 ,DC,,0039,
FFDF
00,41 225 ,DC,,0041,
FFEO
00142 226 ,DC, ,00142,
FFEI
0043 227 ,DC,,00)43,
FFE2
0041 228 DC,,00111,
FFE3
FrE4 0045 229 ,DC,,00145,
0046 230 ,0046,
ohC,
FFE5
0021 231 ,DC,,0021,
FFE6
004C 232 ,DC,,004C,
FFE7
0052 233 ,DC,,0052,
FFE8
0057 234 ,DC,,0057,
FFE9
OOF 235 TR ,DC,,000F,
FFEA
OOOA 236 TEN,DC,,OOOA,
FFEB
0009 237 NINE,DC, ,0009,
FFEC
FFED 0003 238 TIIRFE,DC,,0003,
0900 239 ,SFLr,,1,0000,
FFEE
2500 240 ,JMPID,,TTYB(1)
FFEF
FF13 241 TTYB,DC,,FF13,
FFFO

2500 242 ,JMPID,,TTYB1(1)

FFFE TTYBI,DC,,FF13,
FFF FF13 243

76

5/
 Appendix E

Definition of Terms

A : ASP of A Ez~c. (7) and %8)

AL :LSP of A Eq8. (7) and (8)
ACO :Accumulator 0 of the TDY-52B
ACI1 Accumulator 1 of the TDY52-B
AC2 :Accumulator 2 of the 'I*DY-52B
AC3 :Accumulator 3 of the TDY-52B
ADPH :MSP of ADP Eq. (7)
ADPL :LSP of ADP Eq. (7)
ADPH1: MSP of ADPI Eq. (7)
ADPLI: LSP of ADPI Eq. (7)
ADPH2: MSP of ADP2 Eq. (7)
ADPL2: LSP of ADP2 Eq. (7)
ADYH :MSP of ADY Eq. (8)
ADYL :LSP of AD'! Eq. (8)
ADYHl: MSP of ADY I Eq. (8)
ADYLl: LSP of ADYl Eq. (8)
ADYH2: MSP of ADY2 Eq. (8)
ADYL2: LSP of ADY2 Eq. (8)
B : ASP of B Eqs. (7) and (8)
BL : LSP of B Eqs. (7) and (8)
COUT :Address of clock latch, a store instruction to this address will cause
bits 8 through 15 to lue loaded in the clock latch (see Figure 4).

77
DATA (2+OOOF : Used by the flow charts to reference the memory contents at
16 the ,rnpmry locp.:ion computed by adding AC2 to 000F 1 6 .
F8 : TDY-52B general purpose output flag 8 which may be set at T2 or reset
at T6 under software control. There are 6 flags available.
INTEN : Interrupt Enable Flag when set under software control enables TDY-52B
internal interrupt structure.
INTRA : TDY-52B interrupt signal input which is sampled under hardware control
during T3 to detect an interrupt. If set the next instruction executed is
from memory location 000116.
K2 : K 2 of Eq. (6)
LIFO : Refers to the TDY-52B 16 word by 16 bit Last In/First Out Shift
register, that is, stack.
LSD : Least Significant Digit
LSP : Least Significant Part
MSD : Most Significant Digit
MSP : Most Significant Part
POUT : Address of Pitch Latch, a store instruction to this address will cause
bits 8 through 15 to be loaded in the Pitch Latch (see Figure 4).
0 : Gyro Roll position angle.
*g : Gyro Yaw position angle.
PSIG : Pg
PSIGI : PSIG one sampling period removed.
PSIG2 : PSIG two sampling periods removed, Eq. (8).
PULSE: Refers to the setting and resetting of a TDY-52B Flag during the same
microcycle.
REFPH: MSP of current Pitch Reference (see Figure 23).
REFPL: LSP of current Pitch Reference (see Figure 23).
REFPHI : MSP of starting value of Pitch Reference for line segment ending
at time tg I (see Figure 25).
REFPL1 LSP of starting value of Pitch Reference for line segment ending at
time tg I (see Figure 25).
SEGADD Address of TG1, TG2 or TG3 (see Figure 23).
SEL : TDY-52B Select Flag.
STACK I : Reference to location one of the LIFO.
0g : Gyro Pitch position Angle.
THETA: Og
THETA 1: THETA one samp'Aing period removed.
THETA2: THETA two sampling periods removed, Eq. (7).
TTY : Mnemonic for ASR-33 Teletype.
TF : Time to zero fins.
TF3 : TF + 100 ms, time to initiate lock fins pyrotechnic
TI Time to initiate actuator pyrotechnic
TI3 : TI+ 100 ms

78
TL Launch time - not used
T2 Second Stage ignition time
[ACO+ACl] Refers to 32 bit word formed by ACO, MSP, and AC1, LSP.

79