Repository: chrislgarry/Apollo-11 Branch: master Commit: 247dd7d0d1b0 Files: 262 Total size: 3.4 MB Directory structure: gitextract_sw4va6c1/ ├── .editorconfig ├── .github/ │ ├── ISSUE_TEMPLATE/ │ │ ├── Discussion.md │ │ ├── Humour.md │ │ ├── Proof_Comanche.md │ │ └── Proof_Luminary.md │ ├── PULL_REQUEST_TEMPLATE.md │ ├── labeler.yml │ └── workflows/ │ ├── label.yml │ └── markdownlint.yml ├── .gitignore ├── .markdownlint.yml ├── CONTRIBUTING.md ├── Comanche055/ │ ├── AGC_BLOCK_TWO_SELF-CHECK.agc │ ├── ALARM_AND_ABORT.agc │ ├── ANGLFIND.agc │ ├── ASSEMBLY_AND_OPERATION_INFORMATION.agc │ ├── AUTOMATIC_MANEUVERS.agc │ ├── CM_BODY_ATTITUDE.agc │ ├── CM_ENTRY_DIGITAL_AUTOPILOT.agc │ ├── CONIC_SUBROUTINES.agc │ ├── CONTRACT_AND_APPROVALS.agc │ ├── CSM_GEOMETRY.agc │ ├── DISPLAY_INTERFACE_ROUTINES.agc │ ├── DOWN-TELEMETRY_PROGRAM.agc │ ├── DOWNLINK_LISTS.agc │ ├── ENTRY_LEXICON.agc │ ├── ERASABLE_ASSIGNMENTS.agc │ ├── EXECUTIVE.agc │ ├── EXTENDED_VERBS.agc │ ├── FIXED_FIXED_CONSTANT_POOL.agc │ ├── FRESH_START_AND_RESTART.agc │ ├── GIMBAL_LOCK_AVOIDANCE.agc │ ├── GROUND_TRACKING_DETERMINATION_PROGRAM.agc │ ├── IMU_CALIBRATION_AND_ALIGNMENT.agc │ ├── IMU_COMPENSATION_PACKAGE.agc │ ├── IMU_MODE_SWITCHING_ROUTINES.agc │ ├── INFLIGHT_ALIGNMENT_ROUTINES.agc │ ├── INTEGRATION_INITIALIZATION.agc │ ├── INTER-BANK_COMMUNICATION.agc │ ├── INTERPRETER.agc │ ├── INTERPRETIVE_CONSTANTS.agc │ ├── INTERRUPT_LEAD_INS.agc │ ├── JET_SELECTION_LOGIC.agc │ ├── KALCMANU_STEERING.agc │ ├── KEYRUPT_UPRUPT.agc │ ├── LATITUDE_LONGITUDE_SUBROUTINES.agc │ ├── LUNAR_AND_SOLAR_EPHEMERIDES_SUBROUTINES.agc │ ├── LUNAR_LANDMARK_SELECTION_FOR_CM.agc │ ├── MAIN.agc │ ├── MEASUREMENT_INCORPORATION.agc │ ├── MYSUBS.agc │ ├── ORBITAL_INTEGRATION.agc │ ├── P11.agc │ ├── P20-P25.agc │ ├── P30-P37.agc │ ├── P32-P33_P72-P73.agc │ ├── P34-35_P74-75.agc │ ├── P37_P70.agc │ ├── P40-P47.agc │ ├── P51-P53.agc │ ├── P61-P67.agc │ ├── P76.agc │ ├── PHASE_TABLE_MAINTENANCE.agc │ ├── PINBALL_GAME_BUTTONS_AND_LIGHTS.agc │ ├── PINBALL_NOUN_TABLES.agc │ ├── PLANETARY_INERTIAL_ORIENTATION.agc │ ├── POWERED_FLIGHT_SUBROUTINES.agc │ ├── R30.agc │ ├── R31.agc │ ├── R60_62.agc │ ├── RCS-CSM_DAP_EXECUTIVE_PROGRAMS.agc │ ├── RCS-CSM_DIGITAL_AUTOPILOT.agc │ ├── README.md │ ├── REENTRY_CONTROL.agc │ ├── RESTARTS_ROUTINE.agc │ ├── RESTART_TABLES.agc │ ├── RT8_OP_CODES.agc │ ├── S-BAND_ANTENNA_FOR_CM.agc │ ├── SERVICER207.agc │ ├── SERVICE_ROUTINES.agc │ ├── SINGLE_PRECISION_SUBROUTINES.agc │ ├── STABLE_ORBIT.agc │ ├── STAR_TABLES.agc │ ├── SXTMARK.agc │ ├── SYSTEM_TEST_STANDARD_LEAD_INS.agc │ ├── T4RUPT_PROGRAM.agc │ ├── TAGS_FOR_RELATIVE_SETLOC.agc │ ├── TIME_OF_FREE_FALL.agc │ ├── TPI_SEARCH.agc │ ├── TVCDAPS.agc │ ├── TVCEXECUTIVE.agc │ ├── TVCINITIALIZE.agc │ ├── TVCMASSPROP.agc │ ├── TVCRESTARTS.agc │ ├── TVCROLLDAP.agc │ ├── TVCSTROKETEST.agc │ ├── UPDATE_PROGRAM.agc │ └── WAITLIST.agc ├── LICENSE.md ├── Luminary099/ │ ├── AGC_BLOCK_TWO_SELF_CHECK.agc │ ├── AGS_INITIALIZATION.agc │ ├── ALARM_AND_ABORT.agc │ ├── AOSTASK_AND_AOSJOB.agc │ ├── AOTMARK.agc │ ├── ASCENT_GUIDANCE.agc │ ├── ASSEMBLY_AND_OPERATION_INFORMATION.agc │ ├── ATTITUDE_MANEUVER_ROUTINE.agc │ ├── BURN_BABY_BURN--MASTER_IGNITION_ROUTINE.agc │ ├── CONIC_SUBROUTINES.agc │ ├── CONTROLLED_CONSTANTS.agc │ ├── DAPIDLER_PROGRAM.agc │ ├── DAP_INTERFACE_SUBROUTINES.agc │ ├── DISPLAY_INTERFACE_ROUTINES.agc │ ├── DOWNLINK_LISTS.agc │ ├── DOWN_TELEMETRY_PROGRAM.agc │ ├── ERASABLE_ASSIGNMENTS.agc │ ├── EXECUTIVE.agc │ ├── EXTENDED_VERBS.agc │ ├── FINDCDUW--GUIDAP_INTERFACE.agc │ ├── FIXED_FIXED_CONSTANT_POOL.agc │ ├── FLAGWORD_ASSIGNMENTS.agc │ ├── FRESH_START_AND_RESTART.agc │ ├── GENERAL_LAMBERT_AIMPOINT_GUIDANCE.agc │ ├── GIMBAL_LOCK_AVOIDANCE.agc │ ├── GROUND_TRACKING_DETERMINATION_PROGRAM.agc │ ├── IMU_COMPENSATION_PACKAGE.agc │ ├── IMU_MODE_SWITCHING_ROUTINES.agc │ ├── IMU_PERFORMANCE_TESTS_4.agc │ ├── IMU_PERFORMANCE_TEST_2.agc │ ├── INFLIGHT_ALIGNMENT_ROUTINES.agc │ ├── INPUT_OUTPUT_CHANNEL_BIT_DESCRIPTIONS.agc │ ├── INTEGRATION_INITIALIZATION.agc │ ├── INTER-BANK_COMMUNICATION.agc │ ├── INTERPRETER.agc │ ├── INTERPRETIVE_CONSTANT.agc │ ├── INTERRUPT_LEAD_INS.agc │ ├── KALCMANU_STEERING.agc │ ├── KALMAN_FILTER.agc │ ├── KEYRUPT_UPRUPT.agc │ ├── LANDING_ANALOG_DISPLAYS.agc │ ├── LATITUDE_LONGITUDE_SUBROUTINES.agc │ ├── LEM_GEOMETRY.agc │ ├── LUNAR_AND_SOLAR_EPHEMERIDES_SUBROUTINES.agc │ ├── LUNAR_LANDING_GUIDANCE_EQUATIONS.agc │ ├── MAIN.agc │ ├── MEASUREMENT_INCORPORATION.agc │ ├── ORBITAL_INTEGRATION.agc │ ├── P-AXIS_RCS_AUTOPILOT.agc │ ├── P12.agc │ ├── P20-P25.agc │ ├── P30_P37.agc │ ├── P32-P35_P72-P75.agc │ ├── P34-35_P74-75.agc │ ├── P40-P47.agc │ ├── P51-P53.agc │ ├── P70-P71.agc │ ├── P76.agc │ ├── PHASE_TABLE_MAINTENANCE.agc │ ├── PINBALL_GAME_BUTTONS_AND_LIGHTS.agc │ ├── PINBALL_NOUN_TABLES.agc │ ├── PLANETARY_INERTIAL_ORIENTATION.agc │ ├── POWERED_FLIGHT_SUBROUTINES.agc │ ├── Q_R-AXIS_RCS_AUTOPILOT.agc │ ├── R30.agc │ ├── R31.agc │ ├── R60_62.agc │ ├── R63.agc │ ├── RADAR_LEADIN_ROUTINES.agc │ ├── RCS_FAILURE_MONITOR.agc │ ├── README.md │ ├── RESTARTS_ROUTINE.agc │ ├── RESTART_TABLES.agc │ ├── RTB_OP_CODES.agc │ ├── S-BAND_ANTENNA_FOR_LM.agc │ ├── SERVICER.agc │ ├── SERVICE_ROUTINES.agc │ ├── SINGLE_PRECISION_SUBROUTINES.agc │ ├── SPS_BACK-UP_RCS_CONTROL.agc │ ├── STABLE_ORBIT.agc │ ├── SYSTEM_TEST_STANDARD_LEAD_INS.agc │ ├── T4RUPT_PROGRAM.agc │ ├── T6-RUPT_PROGRAMS.agc │ ├── TAGS_FOR_RELATIVE_SETLOC.agc │ ├── THE_LUNAR_LANDING.agc │ ├── THROTTLE_CONTROL_ROUTINES.agc │ ├── TIME_OF_FREE_FALL.agc │ ├── TJET_LAW.agc │ ├── TRIM_GIMBAL_CONTROL_SYSTEM.agc │ ├── UPDATE_PROGRAM.agc │ └── WAITLIST.agc ├── README.md ├── Translations/ │ ├── CONTRIBUTING.ar.md │ ├── CONTRIBUTING.az.md │ ├── CONTRIBUTING.ca.md │ ├── CONTRIBUTING.cz.md │ ├── CONTRIBUTING.da.md │ ├── CONTRIBUTING.de.md │ ├── CONTRIBUTING.es.md │ ├── CONTRIBUTING.fr.md │ ├── CONTRIBUTING.gl.md │ ├── CONTRIBUTING.gr.md │ ├── CONTRIBUTING.hi_in.md │ ├── CONTRIBUTING.id.md │ ├── CONTRIBUTING.it.md │ ├── CONTRIBUTING.ja.md │ ├── CONTRIBUTING.jv.md │ ├── CONTRIBUTING.ko_kr.md │ ├── CONTRIBUTING.ku.md │ ├── CONTRIBUTING.lt.md │ ├── CONTRIBUTING.mn.md │ ├── CONTRIBUTING.nl.md │ ├── CONTRIBUTING.no.md │ ├── CONTRIBUTING.pl.md │ ├── CONTRIBUTING.pt_br.md │ ├── CONTRIBUTING.sv.md │ ├── CONTRIBUTING.tr.md │ ├── CONTRIBUTING.uk.md │ ├── CONTRIBUTING.vi.md │ ├── CONTRIBUTING.zh_cn.md │ ├── CONTRIBUTING.zh_tw.md │ ├── README.ar.md │ ├── README.as_in.md │ ├── README.az.md │ ├── README.bd_bn.md │ ├── README.be.md │ ├── README.ca.md │ ├── README.cz.md │ ├── README.da.md │ ├── README.de.md │ ├── README.es.md │ ├── README.fa.md │ ├── README.fi.md │ ├── README.fr.md │ ├── README.gl.md │ ├── README.gr.md │ ├── README.hi_in.md │ ├── README.id.md │ ├── README.it.md │ ├── README.ja.md │ ├── README.jv.md │ ├── README.ko_kr.md │ ├── README.ku.md │ ├── README.lt.md │ ├── README.ml.md │ ├── README.mm.md │ ├── README.mn.md │ ├── README.ne.md │ ├── README.nl.md │ ├── README.no.md │ ├── README.pl.md │ ├── README.pt_br.md │ ├── README.ro.md │ ├── README.ru.md │ ├── README.si.md │ ├── README.sv.md │ ├── README.tr.md │ ├── README.uk.md │ ├── README.vi.md │ ├── README.zh_cn.md │ └── README.zh_tw.md ├── bun.lockb └── package.json ================================================ FILE CONTENTS ================================================ ================================================ FILE: .editorconfig ================================================ root = true [*] charset = utf-8 end_of_line = lf insert_final_newline = true trim_trailing_whitespace = true [*.agc] indent_style = tab tab_width = 8 [*.md] indent_style = space indent_size = 2 ================================================ FILE: .github/ISSUE_TEMPLATE/Discussion.md ================================================ --- name: Discussion & Questions about: Discussion about the Apollo 11 source code is highly welcomed. labels: "Type: Discussion" --- ================================================ FILE: .github/ISSUE_TEMPLATE/Humour.md ================================================ --- name: Humour / Jokes about: Humourous issues are allowed, but please follow GitHub's Acceptable Use policies labels: "Type: Humour" --- ================================================ FILE: .github/ISSUE_TEMPLATE/Proof_Comanche.md ================================================ --- name: Proof Comanche055 about: Template for Comanche055 Proof issues title: "Proof " --- Proof read transcribed code of [](//github.com/chrislgarry/Apollo-11/blob/master/Comanche055/.agc) against scans **Multiple PRs for a few pages at a time are recommended!** Lines: Page: — () Reduced quality scans can be found [here][1] [1]://ibiblio.org/apollo/ScansForConversion/Comanche055 ================================================ FILE: .github/ISSUE_TEMPLATE/Proof_Luminary.md ================================================ --- name: Proof Luminary099 about: Template for Luminary099 Proof issues title: "Proof " --- Proof read transcribed code of [](//github.com/chrislgarry/Apollo-11/blob/master/Luminary099/.agc) against scans **Multiple PRs for a few pages at a time are recommended!** Lines: Page: — () Reduced quality scans can be found [here][1] [1]://ibiblio.org/apollo/ScansForConversion/Luminary099 ================================================ FILE: .github/PULL_REQUEST_TEMPLATE.md ================================================ ================================================ FILE: .github/labeler.yml ================================================ "Type: Proof": - "**/*.agc" "Type: Meta": - "**/MAIN.agc" - "**/*.md" - "*.md" ================================================ FILE: .github/workflows/label.yml ================================================ name: Pull Request Labeler on: schedule: - cron: '0 */3 * * *' jobs: labeler: runs-on: ubuntu-latest steps: - uses: paulfantom/periodic-labeler@master env: GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} GITHUB_REPOSITORY: ${{ github.repository }} LABEL_MAPPINGS_FILE: .github/labeler.yml ================================================ FILE: .github/workflows/markdownlint.yml ================================================ name: markdownlint on: [push, pull_request] jobs: delivery: runs-on: ubuntu-latest steps: - name: Check out code uses: actions/checkout@v6 - name: Lint markdown uses: DavidAnson/markdownlint-cli2-action@v19 with: config: .markdownlint.yml globs: '*.md,translations/*.md,Comanche055/*.md,Luminary099/*.md' separator: ',' ================================================ FILE: .gitignore ================================================ yaYUL.exe node_modules ================================================ FILE: .markdownlint.yml ================================================ default: true MD007: false MD010: false MD013: false MD026: false MD033: false MD034: false MD036: false MD041: false MD050: false MD053: false ================================================ FILE: CONTRIBUTING.md ================================================ # Contributing 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Basa Jawa][JV], [Català][CA]، [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdi][KU], [Kurdî][KU], [Lietuvių][LT], [Mongolia][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Українська][UK]، [العربية][AR], [हिन्दी][HI_IN], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN], [Basa Jawa][JV] [AR]:Translations/CONTRIBUTING.ar.md [AZ]:Translations/CONTRIBUTING.az.md [CA]:Translations/CONTRIBUTING.ca.md [CZ]:Translations/CONTRIBUTING.cz.md [DA]:Translations/CONTRIBUTING.da.md [DE]:Translations/CONTRIBUTING.de.md [EN]:CONTRIBUTING.md [ES]:Translations/CONTRIBUTING.es.md [FR]:Translations/CONTRIBUTING.fr.md [GL]:Translations/CONTRIBUTING.gl.md [GR]:Translations/CONTRIBUTING.gr.md [HI_IN]:Translations/CONTRIBUTING.hi_in.md [ID]:Translations/CONTRIBUTING.id.md [IT]:Translations/CONTRIBUTING.it.md [JA]:Translations/CONTRIBUTING.ja.md [JV]:Translations/CONTRIBUTING.jv.md [KO_KR]:Translations/CONTRIBUTING.ko_kr.md [KU]:Translations/CONTRIBUTING.ku.md [LT]:Translations/CONTRIBUTING.lt.md [MN]:Translations/CONTRIBUTING.mn.md [NL]:Translations/CONTRIBUTING.nl.md [NO]:Translations/CONTRIBUTING.no.md [PL]:Translations/CONTRIBUTING.pl.md [PT_BR]:Translations/CONTRIBUTING.pt_br.md [SV]:Translations/CONTRIBUTING.sv.md [TR]:Translations/CONTRIBUTING.tr.md [UK]:Translations/CONTRIBUTING.uk.md [VI]:Translations/CONTRIBUTING.vi.md [ZH_CN]:Translations/CONTRIBUTING.zh_cn.md [ZH_TW]:Translations/CONTRIBUTING.zh_tw.md The source code in this repository was digitized manually from paper printouts, so typos and other discrepancies have been introduced accidentally. The code shall be modified to be made consistent with the following scanned printouts: - [AGC printouts for Comanche][8] - [AGC printouts for Luminary][9] The following website can be used to easily navigate around the scanned printouts for both Comanche and Luminary: https://28gpc.csb.app/ ## Useful Extensions GitHub has syntax support for the AGC assembly language built-in. Unfortunately your code editor will not, however there are AGC language extensions that provides syntax highlighting for the following editors: - [Atom][Atom]† - [CodeBlocks][CodeBlocks] - [Eclipse][Eclipse] - [Kate][Kate] - [ProgrammersNotepad][ProgrammersNotepad] - [Sublime Text 3][Sublime Text]† - [TextPad][TextPad] - [Vim][Vim] - [Visual Studio Code][VisualStudioCode]† - [jEdit][jEdit] † Supports automatic formatting [Atom]:https://github.com/Alhadis/language-agc [CodeBlocks]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/CodeBlocks [Eclipse]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Eclipse [Kate]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Kate [ProgrammersNotepad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/ProgrammersNotepad [Sublime Text]:https://github.com/jimlawton/AGC-Assembly [TextPad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/TextPad [Vim]:https://github.com/wsdjeg/vim-assembly [VisualStudioCode]:https://github.com/wopian/agc-assembly [jEdit]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/jEdit ## Formatting **Note:** GitHub and extensions marked above will ensure you're using the correct formatting automatically. - Use tab indentation - Use tab width of 8 - Trim trailing whitespace ## What do I check? Any discrepancies between the scans and the source code in this repository. ### Comments Comments in the transcribed code **MUST** match the scans **exactly**. Common issues you should look out for while proofing include, but not limited to: #### Typographic Errors In some places, the original developers made typographic errors while writing comments. Some of these were mistakenly corrected during the initial digitisation, however the digitisation has also introduced typographic errors that were not present in the scans. For example, if the digitised comments contained `SPACECRAFT`, but `SPAECRAFT` was printed in the scans, then the digitisation **MUST** be corrected to `SPAECRAFT` (missing `C`). Likewise, if a word has a typo in the digitisation but is spelt correctly in the scans then the typo **MUST** be corrected. #### Spaces Spaces between two characters in comments **SHOULD** match the scans. In most cases (see the discussion in [#316][10]), this is: - Single space for new words. - Double space for new sentences. - Triple space for indentations. Not all pages in the scans follow this generalisation, if the scans only have a single space instead of a double space, use a single space. ### Line breaks - Line breaks *with* `R0000` in column 1 should match the scans exactly. - Line breaks *with**__out__* `R0000` in column 1 should contain only 1 or 2 blank lines in a row. - If there are more than 2 blank lines breaks, strip the extra line breaks. - Lines with `R0000` in column 1 do not count towards this. - In the source images, these were created by an unprinted digit in column 8. A 2 there forced a double space (single blank line) and a 3 forced a triple space (double blank line). Values 4-8 were defined but never used. Read more about it in [#159][7] For example the following: ```plain R0819 SUBROUTINE TO SKIP... R0820 0821 LAMPTEST CS IMODES33 ``` Should become: ```plain R0819 SUBROUTINE TO SKIP... R0820 0820 LAMPTEST CS IMODES33 ``` ## Note Before you make a PR, please make sure your changes are consistent with the scans! [0]:https://github.com/chrislgarry/Apollo-11/pull/new/master [1]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [2]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [6]:https://github.com/wopian/agc-assembly#user-settings [7]:https://github.com/chrislgarry/Apollo-11/issues/159 [8]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [9]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [10]:https://github.com/chrislgarry/Apollo-11/pull/316#pullrequestreview-102892741 ================================================ FILE: Comanche055/AGC_BLOCK_TWO_SELF-CHECK.agc ================================================ # Copyright: Public domain. # Filename: AGC_BLOCK_TWO_SELF-CHECK.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1394-1403 # Mod history: 2009-05-10 SN (Sergio Navarro). Started adapting # from the Colossus249/ file of the same # name, using Comanche055 page images. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 1394 # PROGRAM DESCRIPTION DATE 20 DECEMBER 1967 # PROGRAM NAME - SELF-CHECK LOG SECTION AGC BLOCK TWO SELF-CHECK # MOD NO - 1 ASSEMBLY SUBROUTINE UTILITYM REV 25 # MOD BY - GAUNTT # # # FUNCTIONAL DESCRIPTION # # PROGRAM HAS TWO MAIN PARTS. THE FIRST IS SELF-CHECK WHICH RUNS AS A ZERO PRIORITY JOB WITH NO CORE SET, AS # PART OF THE BACK-UP IDLE LOOP. THE SECOND IS SHOW-BANKSUM WHICH RUNS AS A REGULAR EXECUTIVE JOB WITH ITS OWN # STARTING VERB. # THE PURPOSE OF SELF-CHECK IS TO CHECK OUT VARIOUS PARTS OF THE COMPUTER AS OUTLINED BELOW IN THE OPTIONS. # THE PURPOSE OF SHOW-BANKSUM IS TO DISPLAY THE SUM OF EACH BANK , ONE AT A TIME. # IN ALL THERE ARE 7 POSSIBLE OPTIONS IN THIS BLOCK II VERSION OF SELF-CHECK. MORE DETAIL DESCRIPTION MAY BE # FOUND IN E-2065 BLOCK II AGC SELF-CHECK AND SHOW BANKSUM BY EDWIN D. SMALLY DECEMBER 1966, AND ADDENDA 2 AND 3. # THE DIFFERENT OPTIONS ARE CONTROLLED BY PUTTING DIFFERENT NUMBERS IN THE SMODE REGISTER (NOUN 27). BELOW IS # A DESCRIPTION OF WHAT PARTS OF THE COMPUTER THAT ARE CHECKED BY THE OPTIONS, AND THE CORRESPONDING NUMBER, IN # OCTAL, TO LOAD INTO SMODE. # +-4 ERASABLE MEMORY # +-5 FIXED MEMORY # +-1,2,3,6,7,10 EVERYTHING IN OPTIONS 4 AND 5. # -0 SAME AS +-10 UNTIL AN ERROR IS DETECTED. # +0 NO CHECK, PUTS COMPUTER INTO THE BACKUP IDLE LOOP. # # # WARNINGS # USE OF E MEMORY RESERVED FOR SELF-CHECK (EVEN IN IDLE LOOP) AS TEMP STORAGE BY OTHER PROGRAMS IS DANGEROUS. # SMODE SET GREATER THAN OCT 10 PUTS COMPUTER INTO BACKUP IDLE LOOP. # # # CALLING SEQUENCE # # TO CALL SELF-CHECK KEY IN # V 21 N 27 E OPTION NUMBER E # TO CALL SHOW-BANKSUM KEY IN # V 91 E DISPLAYS FIRST BANK # V 33 E PROCEED, DISPLAYS NEXT BANK # # # EXIT MODES, NORMAL AND ALARM # # SELF-CHECK NORMALLY CONTINUES INDEFINITELY UNLESS THERE IS AN ERROR DETECTED. IF SO + OPTION NUMBERS PUT # COMPUTER INTO BACKUP IDLE LOOP, - OPTION NUMBERS RESTART THE OPTION. # THE -0 OPTION PROCEEDS FROM THE LINE FOLLOWING THE LINE WHERE THE ERROR WAS DETECTED. # SHOW-BANKSUM PROCEEDS UNTIL A TERMINATE IS KEYED IN (V 34 E). THE COMPUTER IS PUT INTO THE BACKUP IDLE LOOP # # # # OUTPUT # Page 1395 # SELF-CHECK UPON DETECTING AN ERROR LOADS THE SELF-CHECK ALARM CONSTANT (01102) INTO THE FAILREG SET AND # TURNS ON THE ALARM LIGHT. THE OPERATOR MAY THEN DISPLAY THE THREE FAILREGS BY KEYING IN V 05 N 09 E. FOR FURTHER # INFORMATION HE MAY KEY IN V 05 N 08 E, THE DSKY DISPLAY IN R1 WILL BE ADDRESS+1 OF WHERE THE ERROR WAS DETECTED, # IN R2 THE BBCON OF SELF-CHECK, AND IN R3 THE TOTAL NUMBER OF ERRORS DETECTED BY SELF-CHECK SINCE THE LAST MAN # INITIATED FRESH START (SLAP1). # SHOW-BANKSUM STARTING WITH BANK 0 DISPLAYS IN R1 THE BANK SUM (A +-NUMBER EQUAL TO THE BANK NUMBER), IN R2 # THE BANK NUMBER, AND IN R3 THE BUGGER WORD. # # # ERASABLE INITIALIZATION REQUIRED # ACCOMPLISHED BY FRESH START # SMODE SET TO +0 # # DEBRIS # ALL EXITS FROM THE CHECK OF ERASABLE (ERASCHK) RESTORE ORIGINAL CONTENTS TO REGISTERS UNDER CHECK. # EXCEPTION IS A RESTART. RESTART THAT OCCURS DURING ERASCHK RESTORES ERASABLE, UNLESS THERE IS EVIDENCE TO DOUBT # E MEMORY, IN WHICH CASE PROGRAM THEN DOES A FRESH START (DOFSTART). BANK 25 SETLOC SELFCHEC BANK COUNT 43/SELF SBIT1 EQUALS BIT1 SBIT2 EQUALS BIT2 SBIT3 EQUALS BIT3 SBIT4 EQUALS BIT4 SBIT5 EQUALS BIT5 SBIT6 EQUALS BIT6 SBIT7 EQUALS BIT7 SBIT8 EQUALS BIT8 SBIT9 EQUALS BIT9 SBIT10 EQUALS BIT10 SBIT11 EQUALS BIT11 SBIT12 EQUALS BIT12 SBIT13 EQUALS BIT13 SBIT14 EQUALS BIT14 SBIT15 EQUALS BIT15 S+ZERO EQUALS ZERO S+1 EQUALS BIT1 S+2 EQUALS BIT2 S+3 EQUALS THREE S+4 EQUALS FOUR S+5 EQUALS FIVE # Page 1396 S+6 EQUALS SIX S+7 EQUALS SEVEN S8BITS EQUALS LOW8 # 00377 CNTRCON = OCT50 # USED IN CNTRCHK ERASCON1 OCTAL 00061 # USED IN ERASCHK ERASCON2 OCTAL 01373 # USED IN ERASCHK ERASCON6 = OCT1400 # USED IN ERASCHK ERASCON3 OCTAL 01461 # USED IN ERASCHK ERASCON4 OCTAL 01773 # USED IN ERASCHK S10BITS EQUALS LOW10 # 01777, USED IN ERASCHK SBNK03 EQUALS PRIO6 # 06000, USED IN ROPECHK -MAXADRS = HI5 # FOR ROPECHK SIXTY OCTAL 00060 SUPRCON OCTAL 60017 # USED IN ROPECHK S13BITS OCTAL 17777 CONC+S1 OCTAL 25252 # USED IN CYCLSHFT CONC+S2 OCTAL 52400 # USED IN CYCLSHFT ERASCON5 OCTAL 76777 S-7 = OCT77770 S-4 EQUALS NEG4 S-3 EQUALS NEG3 S-2 EQUALS NEG2 S-1 EQUALS NEGONE S-ZERO EQUALS NEG0 EBANK= LST1 ADRS1 ADRES SKEEP1 SELFADRS ADRES SELFCHK # SELFCHK RETURN ADDRESS. SHOULD BE PUT # IN SELFRET WHEN GOING FROM SELFCHK TO # SHOWSUM AND PUT IN SKEEP1 WHEN GOING # FROM SHOWSUM TO SELF-CHECK. PRERRORS CA ERESTORE # IS IT NECESSARY TO RESTORE ERASABLE EXTEND BZF ERRORS # NO EXTEND DCA SKEEP5 INDEX SKEEP7 DXCH 0000 # RESTORE THE TWO ERASABLE REGISTERS CA S+ZERO TS ERESTORE ERRORS INHINT CA Q TS SFAIL # SAVE Q FOR FAILURE LOCATION TS ALMCADR # FOR DISPLAY WITH BBANK AND ERCOUNT INCR ERCOUNT # KEEP TRACK OF NUMBER OF MALFUNCTIONS. TCALARM2 TC ALARM2 OCT 01102 # SELF-CHECK MALFUNCTION INDICATOR CCS SMODE SIDLOOP CA S+ZERO # Page 1397 TS SMODE TC SELFCHK # GO TO IDLE LOOP TC SFAIL # CONTINUE WITH SELF-CHECK -1CHK CCS A TCF PRERRORS TCF PRERRORS CCS A TCF PRERRORS TC Q SMODECHK EXTEND QXCH SKEEP1 TC CHECKNJ # CHECK FOR NEW JOB CCS SMODE TC SOPTIONS TC SMODECHK +2 # TO BACKUP IDLE LOOP TC SOPTIONS INCR SCOUNT TC SKEEP1 # CONTINUE WITH SELF-CHECK SOPTIONS AD S-7 EXTEND BZMF +2 # FOR OPTIONS BELOW NINE. BNKOPTN TC SIDLOOP # ILLEGAL OPTION. GO TO IDLE LOOP. INCR SCOUNT # FOR OPTIONS BELOW NINE. AD S+7 INDEX A TC SOPTION1 SOPTION1 TC SKEEP1 # WAS TC+TCF SOPTION2 TC SKEEP1 # WAS IN:OUT1 SOPTION3 TC SKEEP1 # WAS COUNTCHK SOPTION4 TC ERASCHK SOPTION5 TC ROPECHK SOPTION6 TC SKEEP1 SOPTION7 TC SKEEP1 SOPTON10 TC SKEEP1 # CONTINUE WITH SELF-CHECK CHECKNJ EXTEND QXCH SELFRET # SAVE RETURN ADDRESS WHILE TESTING NEWJOB TC POSTJUMP # TO SEE IF ANY JOBS HAVE BECOME ACTIVE. CADR ADVAN SELFCHK TC SMODECHK # ** CHARLEY, COME IN HERE # SKEEP7 HOLDS LOWEST OF TWO ADDRESSES BEING CHECKED. # SKEEP6 HOLDS B(X+1). # SKEEP5 HOLDS B(X). # SKEEP4 HOLDS C(EBANK) DURING ERASLOOP AND CHECKNJ. # Page 1398 # SKEEP3 HOLDS LAST ADDRESS BEING CHECKED (HIGHEST ADDRESS). # SKEEP2 CONTROLS CHECKING OF NON-SWITCHABLE ERASABLE MEMORY WITH BANK NUMBERS IN EB. # ERASCHK TAKES APPROXMATELY 7 SECONDS ERASCHK CA S+1 TS SKEEP2 0EBANK CA S+ZERO TS EBANK CA ERASCON3 # 01461 TS SKEEP7 # STARTING ADDRESS CA S10BITS # 01777 TS SKEEP3 # LAST ADDRESS CHECKED TC ERASLOOP E134567B CA ERASCON6 # 01400 TS SKEEP7 # STARTING ADDRESS CA S10BITS # 01777 TS SKEEP3 # LAST ADDRESS CHECKED TC ERASLOOP 2EBANK CA ERASCON6 # 01400 TS SKEEP7 # STARTING ADDRESS CA ERASCON4 # 01773 TS SKEEP3 # LAST ADDRESS CHECKED TC ERASLOOP NOEBANK TS SKEEP2 # +0 CA ERASCON1 # 00061 TS SKEEP7 # STARTING ADDRESS CA ERASCON2 # 01373 TS SKEEP3 # LAST ADDRESS CHECKED ERASLOOP INHINT CA EBANK # STORES C(EBANK) TS SKEEP4 EXTEND NDX SKEEP7 DCA 0000 DXCH SKEEP5 # STORES C(X) AND C(X+1) IN SKEEP6 AND 5. CA SKEEP7 TS ERESTORE # IF RESTART, RESTORE C(X) AND C(X+1) TS L INCR L NDX A DXCH 0000 # PUTS OWN ADDRESS IN X AND X +1 NDX SKEEP7 CS 0001 # CS X+1 NDX SKEEP7 AD 0000 # AD X TC -1CHK CA ERESTORE # HAS ERASABLE BEEN RESTORED # Page 1399 EXTEND BZF ELOOPFIN # YES, EXIT ERASLOOP. EXTEND NDX SKEEP7 DCS 0000 # COMPLEMENT OF ADDRESS OF X AND X+1 NDX SKEEP7 DXCH 0000 # PUT COMPLEMENT OF ADDRESS OF X AND X+1 NDX SKEEP7 CS 0000 # CS X NDX SKEEP7 AD 0001 # AD X+1 TC -1CHK CA ERESTORE # HAS ERASABLE BEEN RESTORED EXTEND BZF ELOOPFIN # YES, EXIT ERASLOOP. EXTEND DCA SKEEP5 NDX SKEEP7 DXCH 0000 # PUT B(X) AND B(X+1) BACK INTO X AND X+1 CA S+ZERO TS ERESTORE # IF RESTART, DO NOT RESTORE C(X), C(X+1) ELOOPFIN RELINT TC CHECKNJ # CHECK FOR NEW JOB CA SKEEP4 # REPLACES B(EBANK) TS EBANK INCR SKEEP7 CS SKEEP7 AD SKEEP3 EXTEND BZF +2 TC ERASLOOP # GO TO NEXT ADDRESS IN SAME BANK CCS SKEEP2 TC NOEBANK INCR SKEEP2 # PUT +1 IN SKEEP2. CA EBANK AD SBIT9 TS EBANK AD ERASCON5 # 76777, CHECK FOR BANK E2 EXTEND BZF 2EBANK CCS EBANK TC E134567B # GO TO EBANKS 1,3,4,5,6, AND 7 CA ERASCON6 # END OF ERASCHK TS EBANK # CNTRCHK PERFORMS A CS OF ALL REGISTERS FROM OCT. 60 THROUGH OCT. 10. # INCLUDED ARE ALL COUNTERS, T6-1, CYCLE AND SHIFT, AND ALL RUPT REGISTERS CNTRCHK CA CNTRCON # 00050 CNTRLOOP TS SKEEP2 AD SBIT4 # +10 OCTAL INDEX A # Page 1400 CS 0000 CCS SKEEP2 TC CNTRLOOP # CYCLSHFT CHECKS THE CYCLE AND SHIFT REGISTERS CYCLSHFT CA CONC+S1 # 25252 TS CYR # C(CYR) = 12525 TS CYL # C(CYL) = 52524 TS SR # C(SR) = 12525 TS EDOP # C(EDOP) = 00125 AD CYR # 37777 C(CYR) = 45252 AD CYL # 00-12524 C(CYL) = 25251 AD SR # 00-25251 C(SR) = 05252 AD EDOP # 00-25376 C(EDOP) = +0 AD CONC+S2 # C(CONC+S2) = 52400 TC -1CHK AD CYR # 45252 AD CYL # 72523 AD SR # 77775 AD EDOP # 77775 AD S+1 # 77776 TC -1CHK INCR SCOUNT +1 TC SMODECHK # SKEEP1 HOLDS SUM # SKEEP2 HOLDS PRESENT CONTENTS OF ADDRESS IN ROPECHK AND SHOWSUM ROUTINES # SKEEP2 HOLDS BANK NUMBER IN LOW ORDER BITS DURING SHOWSUM DISPLAY # SKEEP3 HOLDS PRESENT ADDRESS (00000 TO 01777 IN COMMON FIXED BANKS) # (04000 TO 07777 IN FXFX BANKS) # SKEEP3 HOLDS BUGGER WORD DURING SHOWSUM DISPLAY # SKEEP4 HOLDS BANK NUMBER AND SUPER BANK NUMBER # SKEEP5 COUNTS 2 SUCCESSIVE TC SELF WORDS # SKEEP6 CONTROLS ROPECHK OR SHOWSUM OPTION # SKEEP7 CONTROLS WHEN ROUNTINE IS IN COMMON FIXED OR FIXED FIXED BANKS ROPECHK CA S-ZERO # * TS SKEEP6 # * -0 FOR ROPECHK. STSHOSUM CA S+ZERO # * SHOULD BE ROPECHK TS SKEEP4 # BANK NUMBER CA S+1 COMMFX TS SKEEP7 CA S+ZERO TS SKEEP1 TS SKEEP3 CA S+1 TS SKEEP5 # COUNTS DOWN 2 TC SELF WORDS COMADRS CA SKEEP4 TS L # TO SET SUPER BANK # Page 1401 MASK HI5 AD SKEEP3 TC SUPDACAL # SUPER DATA CALL TC ADSUM AD SBIT11 # 02000 TC ADRSCHK FXFX CS A TS SKEEP7 EXTEND BZF +3 CA SBIT12 # 04000, STARTING ADDRESS OF BANK 02 TC +2 CA SBNK03 # 06000, STARTING ADDRESS OF BANK 03 TS SKEEP3 CA S+ZERO TS SKEEP1 CA S+1 TS SKEEP5 # COUNTS DOWN 2 TC SELF WORDS FXADRS INDEX SKEEP3 CA 0000 TC ADSUM TC ADRSCHK ADSUM TS SKEEP2 AD SKEEP1 TS SKEEP1 CAF S+ZERO AD SKEEP1 TS SKEEP1 CS SKEEP2 AD SKEEP3 TC Q ADRSCHK LXCH A CA SKEEP3 MASK LOW10 # RELATIVE ADDRESS AD -MAXADRS # SUBTRACT MAX RELATIVE ADDRESS = 1777. EXTEND BZF SOPTION # CHECKSUM FINISHED IF LAST ADDRESS. CCS SKEEP5 # IS CHECKSUM FINISHED TC +3 # NO TC +2 # NO TC SOPTION # GO TO ROPECHK SHOWSUM OPTION CCS L # -0 MEANS A TC SELF WORD. TC CONTINU TC CONTINU TC CONTINU CCS SKEEP5 TC CONTINU +1 # Page 1402 CA S-1 TC CONTINU +1 # AD IN THE BUGGER WORD CONTINU CA S+1 # MAKE SURE TWO CONSECUTIVE TC SELF WORDS TS SKEEP5 CCS SKEEP6 # * CCS NEWJOB # * +1, SHOWSUM TC CHANG1 # * TC +2 # * TC CHECKNJ # -0 IN SKEEP6 FOR ROPECHK ADRS+1 INCR SKEEP3 CCS SKEEP7 TC COMADRS TC COMADRS TC FXADRS TC FXADRS NXTBNK CS SKEEP4 AD LSTBNKCH # LAST BANK TO BE CHECKED EXTEND BZF ENDSUMS # END OF SUMMING OF BANKS. CA SKEEP4 AD SBIT11 TS SKEEP4 # 37 TO 40 INCRMTS SKEEP4 BY END RND CARRY TC CHKSUPR 17TO20 CA SBIT15 ADS SKEEP4 # SET FOR BANK 20 TC GONXTBNK CHKSUPR MASK HI5 EXTEND BZF NXTSUPR # INCREMENT SUPER BANK 27TO30 AD S13BITS EXTEND BZF +2 # BANK SET FOR 30 TC GONXTBNK CA SIXTY # FIRST SUPER BANK ADS SKEEP4 TC GONXTBNK NXTSUPR AD SUPRCON # SET BNK 30 + INCR SUPR BNK AND CANCEL ADS SKEEP4 # ERC BIT OF THE 37 TO 40 ADVANCE. GONXTBNK CCS SKEEP7 TC COMMFX CA S+1 TC FXFX CA SBIT7 # HAS TO BE LARGER THAN NO OF FXSW BANKS. TC COMMFX SOPTION CA SKEEP4 MASK HI5 # = BANK BITS TC LEFT5 # Page 1403 TS L # BANK NUMBER BEFORE SUPER BANK CA SKEEP4 MASK S8BITS # = SUPER BANK BITS EXTEND BZF SOPT # BEFORE SUPER BANK TS SR # SUPER BANK NECESSARY CA L MASK SEVEN AD SR TS L # BANK NUMBER WITH SUPER BANK SOPT CA SKEEP6 # * EXTEND # * BZF +2 # * ON -0 CONTINUE WITH ROPE CHECK. TC SDISPLAY # * ON +1 GO TO DISPLAY OF SUM. CCS SKEEP1 # FORCE SUM TO ABSOLUTE VALUE. TC +2 TC +2 AD S+1 TS SKEEP1 BNKCHK CS L # = - BANK NUMBER AD SKEEP1 AD S-1 TC -1CHK # CHECK SUM TC NXTBNK EBANK= NEWJOB LSTBNKCH BBCON* # * CONSTANT, LAST BANK. SBANK= LOWSUPER ================================================ FILE: Comanche055/ALARM_AND_ABORT.agc ================================================ # Copyright: Public domain. # Filename: ALARM_AND_ABORT.agc # Purpose: Part of the source code for Comanche, build 055. It # is part of the source code for the Command Module's # (CM) Apollo Guidance Computer (AGC), Apollo 11. # Assembler: yaYUL # Reference: pp. 1493-1496 # Contact: Ron Burkey # Website: http://www.ibiblio.org/apollo. # Mod history: 2009-05-07 RSB Adapted from Colossus249 file of the same # name, and page images. Corrected various # typos in the transcription of program # comments, and these should be back-ported # to Colossus249. # # The contents of the "Comanche055" files, in general, are transcribed # from scanned documents. # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. April 1, 1969. # # This AGC program shall also be referred to as Colossus 2A # # Prepared by # Massachusetts Institute of Technology # 75 Cambridge Parkway # Cambridge, Massachusetts # # under NASA contract NAS 9-4065. # # Refer directly to the online document mentioned above for further # information. Please report any errors to info@sandroid.org. # Page 1493 # THE FOLLOWING SUBROUTINE MAY BE CALLED TO DISPLAY A NON-ABORTIVE ALARM CONDITION. IT MAY BE CALLED # EITHER IN INTERRUPT OR UNDER EXECUTIVE CONTROL. # # CALLING SEQUENCE IS AS FOLLOWS: # # TC ALARM # OCT NNNNN # # (RETURNS HERE) BLOCK 02 SETLOC FFTAG7 BANK EBANK= FAILREG COUNT 02/ALARM # ALARM TURNS ON THE PROGRAM ALARM LIGHT, BUT DOES NOT DISPLAY. ALARM INHINT CA Q ALARM2 TS ALMCADR INDEX Q CA 0 BORTENT TS L PRIOENT CA BBANK +1 EXTEND ROR SUPERBNK # ADD SUPER BITS. TS ALMCADR +1 LARMENT CA Q # STORE RETURN FOR ALARM TS ITEMP1 CA LOC TS LOCALARM CA BANKSET TS BANKALRM CHKFAIL1 CCS FAILREG # IS ANYTHING IN FAILREG TCF CHKFAIL2 # YES TRY NEXT REG LXCH FAILREG TCF PROGLARM # TURN ALARM LIGHT ON FOR FIRST ALARM CHKFAIL2 CCS FAILREG +1 TCF FAIL3 LXCH FAILREG +1 TCF MULTEXIT FAIL3 CA FAILREG +2 # Page 1494 MASK POSMAX CCS A TCF MULTFAIL LXCH FAILREG +2 TCF MULTEXIT PROGLARM CS DSPTAB +11D MASK OCT40400 ADS DSPTAB +11D MULTEXIT XCH ITEMP1 # OBTAIN RETURN ADDRESS IN A RELINT INDEX A TC 1 MULTFAIL CA L AD BIT15 TS FAILREG +2 TCF MULTEXIT # PRIOLARM DISPLAYS V05N09 VIA PRIODSPR WITH 3 RETURNS TO THE USER FROM THE ASTRONAUT AT CALL LOC +1,+2,+3 AND # AN IMMEDIATE RETURN TO THE USER AT CALL LOC +4. EXAMPLE FOLLOWS, # CAF OCTXX # ALARM CODE # TC BANKCALL # CADR PRIOLARM # # ... ... # ... ... # ... ... # ASTRONAUT RETURN # TC PHASCHNG # IMMEDIATE RETURN TO USER. RESTART # OCT X.1 # PHASE CHANGE FOR PRIO DISPLAY BANK 10 SETLOC DISPLAYS BANK COUNT 10/DSPLA PRIOLARM INHINT # * * * KEEP IN DISPLAY ROUTINES BANK TS L # SAVE ALARM CODE CA BUF2 # 2 CADR OF PRIOLARM USER TS ALMCADR CA BUF2 +1 TC PRIOENT +1 # * LEAVE L ALONE -2SEC DEC -200 # *** DONT MOVE CAF V05N09 TCF PRIODSPR # Page 1495 BLOCK 02 SETLOC FFTAG13 BANK COUNT 02/ALARM BAILOUT INHINT CA Q TS ALMCADR TC BANKCALL CADR VAC5STOR INDEX ALMCADR CAF 0 TC BORTENT OCT40400 OCT 40400 INHINT WHIMPER CA TWO AD Z TS BRUPT RESUME TC POSTJUMP # RESUME SENDS CONTROL HERE CADR ENEMA SETLOC FFTAG7 BANK POODOO INHINT CA Q TS ALMCADR TC BANKCALL CADR VAC5STOR # STORE ERASABLES FOR DEBUGGING PURPOSES. INDEX ALMCADR CAF 0 ABORT2 TC BORTENT OCT77770 OCT 77770 # DONT MOVE CA V37FLBIT # IS AVERAGE G ON MASK FLAGWRD7 CCS A TC WHIMPER -1 # YES. DONT DO POODOO. DO BAILOUT. TC DOWNFLAG ADRES STATEFLG TC DOWNFLAG # Page 1496 ADRES REINTFLG TC DOWNFLAG ADRES NODOFLAG TC BANKCALL CADR MR.KLEAN TC WHIMPER CCSHOLE INHINT CA Q TS ALMCADR TC BANKCALL CADR VAC5STOR CA OCT1103 TC ABORT2 OCT1103 OCT 1103 CURTAINS INHINT CA Q TC ALARM2 OCT217 OCT 00217 TC ALMCADR # RETURN TO USER DOALARM EQUALS ENDOFJOB # CALLING SEQUENCE FOR VARALARM # # CAF (ALARM) # TC VARALARM # # VARALARM TURNS ON PROGRAM ALARM LIGHT BUT DOES NOT DISPLAY VARALARM INHINT TS L # SAVE USERS ALARM CODE CA Q # SAVE USERS Q TS ALMCADR TC PRIOENT OCT14 OCT 14 # DONT MOVE TC ALMCADR # RETURN TO USER ABORT EQUALS BAILOUT # *** TEMPORARY UNTIL ABORT CALLS OUT ================================================ FILE: Comanche055/ANGLFIND.agc ================================================ # Copyright: Public domain. # Filename: ANGLFIND.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 399-411 # Mod history: 2009-05-09 RSB Adapted from the Colossus249/ file # of the same name, using Comanche055 page # images. # 2009-05-22 RSB In NOGOM2, TC ZEROEROR corrected to # CADR ZEROEROR. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 399 BANK 15 SETLOC KALCMON1 BANK EBANK= BCDU COUNT 22/KALC KALCMAN3 TC INTPRET RTB READCDUK # PICK UP CURRENT CDU ANGLES STORE BCDU # STORE THE INITIAL S/C ANGLES AXC,2 TLOAD # COMPUTE THE TRANSFORMATION FROM MIS # INITIAL S/C AXES TO STABLE MEMBER AXES BCDU # (MIS) CALL CDUTODCM AXC,2 TLOAD # COMPUTE THE TRANSFORMATION FROM MFS # FINAL S/C AXES TO STABLE MEMBER AXES CPHI # (MFS) CALL CDUTODCM SECAD AXC,1 CALL # MIS AND MFS ARRAYS CALCULATED $2 MIS TRANSPOS VLOAD STADR STOVL TMIS +12D STADR STOVL TMIS +6 STADR STORE TMIS # TMIS = TRANSPOSE(MIS) SCALED BY 2 AXC,1 AXC,2 TMIS MFS CALL MXM3 VLOAD STADR STOVL MFI +12D STADR STOVL MFI +6 STADR STORE MFI # MFI = TMIS MFS (SCALED BY 4) SETPD CALL # TRANSPOSE MFI IN PD LIST 18D TRNSPSPD VLOAD STADR STOVL TMFI +12D STADR STOVL TMFI +6 # Page 400 STADR STORE TMFI # TMFI = TRANSPOSE (MFI) SCALED BY 4 # CALCULATE COFSKEW AND MFISYM DLOAD DSU TMFI +2 MFI +2 PDDL DSU # CALCULATE COF SCALED BY 2/SIN(AM) MFI +4 TMFI +4 PDDL DSU TMFI +10D MFI +10D VDEF STORE COFSKEW # EQUALS MFISKEW # CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE DLOAD DAD MFI MFI +16D DSU DAD DP1/4TH MFI +8D STORE CAM # CAM = (MFI0+MFI4+MFI8-1)/2 HALF SCALE ARCCOS STORE AM # AM=ARCCOS(CAM) (AM SCALED BY 2) DSU BPL MINANG CHECKMAX EXIT # MANEUVER LESS THAN 0.25 DEG INHINT # GO DIRECTLY INTO ATTITUDE HOLD CS ONE # ABOUT COMMANDED ANGLES TS HOLDFLAG # NOGO WILL STOP ANY RATE AND SET UP FOR A TC LOADCDUD # GOOD RETURN TCF NOGO CHECKMAX DLOAD DSU AM MAXANG BPL VLOAD ALTCALC # UNIT COFSKEW # COFSKEW UNIT STORE COF # COF IS THE MANEUVER AXIS GOTO # SEE IF MANEUVER GOES THRU GIMBAL LOCK LOCSKIRT ALTCALC VLOAD VAD # IF AM GREATER THAN 170 DEGREES MFI # Page 401 TMFI VSR1 STOVL MFISYM MFI +6 VAD VSR1 TMFI +6 STOVL MFISYM +6 MFI +12D VAD VSR1 TMFI +12D STORE MFISYM +12D # MFISYM=(MFI+TMFI)/2 SCALED BY 4 # CALCULATE COF DLOAD SR1 CAM PDDL DSU # PD0 CAM $4 DPHALF CAM BOVB PDDL # PD2 1 - CAM $2 SIGNMPAC MFISYM +16D DSU DDV 0 2 SQRT PDDL # COFZ = SQRT(MFISYM8-CAM)/(1-CAM) MFISYM +8D # $ ROOT 2 DSU DDV 0 2 SQRT PDDL # COFY = SQRT(MFISYM4-CAM)/(1-CAM) $ROOT2 MFISYM DSU DDV 0 2 SQRT VDEF # COFX = SQRT(MFISYM-CAM)/(1-CAM) $ROOT 2 UNIT STORE COF # DETERMINE LARGEST COF AND ADJUST ACCORDINGLY COFMAXGO DLOAD DSU COF COF +2 BMN DLOAD # COFY G COFX COMP12 COF DSU BMN COF +4 # Page 402 METHOD3 # COFZ G COFX OR COFY GOTO METHOD1 # COFX G COFY OR COFZ COMP12 DLOAD DSU COF +2 COF +4 BMN METHOD3 # COFZ G COFY OR COFX METHOD2 DLOAD BPL # COFY MAX COFSKEW +2 # UY U2POS VLOAD VCOMP COF STORE COF U2POS DLOAD BPL MFISYM +2 # UX UY OKU21 DLOAD DCOMP # SIGN OF UX OPPOSITE TO UY COF STORE COF OKU21 DLOAD BPL MFISYM +10D # UY UZ LOCSKIRT DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY COF +4 STORE COF +4 GOTO LOCSKIRT METHOD1 DLOAD BPL # COFX MAX COFSKEW # UX U1POS VLOAD VCOMP COF STORE COF U1POS DLOAD BPL MFISYM +2 # UX UY OKU12 DLOAD DCOMP COF +2 # SIGN OF UY OPPOSITE TO UX STORE COF +2 OKU12 DLOAD BPL MFISYM +4 # UX UZ LOCSKIRT DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY COF +4 STORE COF +4 GOTO LOCSKIRT METHOD3 DLOAD BPL # COFZ MAX # Page 403 COFSKEW +4 # UZ U3POS VLOAD VCOMP COF STORE COF U3POS DLOAD BPL MFISYM +4 # UX UZ OKU31 DLOAD DCOMP COF # SIGN OF UX OPPOSITE TO UZ STORE COF OKU31 DLOAD BPL MFISYM +10D # UY UZ LOCSKIRT DLOAD DCOMP COF +2 # SIGN OF UY OPPOSITE TO UZ STORE COF +2 GOTO LOCSKIRT # Page 404 # MATRIX OPERATIONS MXM3 SETPD # MXM3 MULTIPLIES 2 3X3 MATRICES 0 # AND LEAVES RESULT IN PD LIST DLOAD* PDDL* # ADDRESS OF 1ST MATRIX IN XR1 12D,2 # ADDRESS OF 2ND MATRIX IN XR2 6,2 PDDL* VDEF # DEFINE VECTOR M2(COL 1) 0,2 MXV* PDDL* # M1XM2(COL 1) IN PD 0,1 14D,2 PDDL* PDDL* 8D,2 2,2 VDEF MXV* # DEFINE VECTOR M2(COL 2) 0,1 PDDL* PDDL* # M1XM2(COL 2) IN PD 16D,2 10D,2 PDDL* VDEF # DEFINE VECTOR M2(COL 3) 4,2 MXV* PUSH # M1XM2(COL 3) IN PD 0,1 GOTO TRNSPSPD # REVERSE ROWS AND COLS IN PD AND # RETURN WITH M1XM2 IN PD LIST TRANSPOS SETPD VLOAD* # TRANSPOS TRANSPOSES A 3X3 MATRIX 0 # AND LEAVES RESULT IN PD LIST 0,1 # MATRIX ADDRESS IN XR1 PDVL* PDVL* 6,1 12D,1 PUSH # MATRIX IN PD TRNSPSPD DLOAD PDDL # ENTER WITH MATRIX IN PD LIST 2 6 STODL 2 STADR STODL 6 4 PDDL 12D STODL 4 STADR STODL 12D 10D PDDL # Page 405 14D STODL 10D STADR STORE 14D RVQ # RETURN WITH TRANSPOSED MATRIX IN PD LIST MINANG DEC .00069375 MAXANG DEC .472222 # GIMBAL LOCK CONSTANTS # D = MGA CORRESPONDING TO GIMBAL LOCK = 60 DEGREES # NGL = BUFFER ANGLE (TO AVOID DIVISIONS BY ZERO) = 2 DEGREES SD DEC .433015 # = SIN(D) $2 K3S1 DEC .86603 # = SIN(D) $2 K4 DEC -.25 # = - COS(D) $2 K4SQ DEC .125 # = COS(D)COS(D) $2 SNGLCD DEC .008725 # = SIN(NGL)COS(D) $2 CNGL DEC .499695 # = COS(NGL) $2 READCDUK INHINT # LOAD T(MPAC) WITH THE CURRENT CDU ANGLES CA CDUZ TS MPAC +2 EXTEND DCA CDUX RELINT TCF TLOAD +6 BANK 16 SETLOC KALCMON2 BANK COUNT* $$/KALC CDUTODCM AXT,1 SSP # SUBROUTINE TO COMPUTE DIRECTION COSINE OCT 3 # MATRIX RELATING S/C AXES TO STABLE S1 # MEMBER AXES FROM 3 CDU ANGLES IN T(MPAC) OCT 1 # SET XR1, S1 AND PD FOR LOOP STORE 7 SETPD 0 LOOPSIN SLOAD* RTB 10D,1 CDULOGIC STORE 10D # LOAD PD WITH 0 SIN(PHI) SIN PDDL # 2 COS(PHI) 10D # 4 SIN(THETA) COS PUSH # 6 COS(THETA) TIX,1 DLOAD # 8 SIN(PSI) LOOPSIN # 10 COS(PSI) 6 DMP SL1 10D # Page 406 STORE 0,2 DLOAD 4 DMP PDDL 0 # (PD6 SIN(THETA)SIN(PHI)) 6 DMP DMP 8D 2 SL1 BDSU 12D SL1 STORE 2,2 DLOAD 2 DMP PDDL # (PD7 COS(PHI)SIN(THETA)) SCALED 4 4 6 DMP DMP 8D 0 SL1 DAD SL1 14D STORE 4,2 DLOAD 8D STORE 6,2 DLOAD 10D DMP SL1 2 STORE 8D,2 DLOAD 10D DMP DCOMP 0 SL1 STORE 10D,2 DLOAD 4 DMP DCOMP 10D SL1 STORE 12D,2 DLOAD DMP SL1 # (PUSH UP 7) 8D PDDL DMP # (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE4 6 # Page 407 0 DAD SL1 # (PUSH UP 7) STADR # C7=COS(PHI)SIN(THETA)SIN(PSI) STORE 14D,2 DLOAD DMP SL1 # (PUSH UP 6) 8D PDDL DMP # (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE4 6 2 DSU SL1 # (PUSH UP 6) STADR STORE 16D,2 # C8=-SIN(THETA)SIN(PHI)SIN(PSI) RVQ # +COS(THETA)COS(PHI) ENDOCM EQUALS BANK 15 SETLOC KALCMON1 BANK # CALCULATION OF THE MATRIX DEL...... # # * * --T * # DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A) SCALED 1 # # - # WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION. # A IS THE ANGLE OF ROTATION (DP SCALED 2) # - # UPON ENTRY THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC COUNT 22/KALC DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A 0 SIN PDDL # PD0 = SIN(A) COS PUSH # PD2 = COS(A) SR2 PDDL # PD2 = COS(A) $8 BDSU BOVB # PD4 = 1-COS(A) $2 DPHALF SIGNMPAC # COMPUTE THE DIAGONAL COMPONENTS OF DEL PDDL COF DSQ DMP 4 DAD SL3 # Page 408 2 BOVB SIGNMPAC STODL DEL # UX UX(U-COS(A)) +COS(A) $1 COF +2 DSQ DMP 4 DAD SL3 2 BOVB SIGNMPAC STODL DEL +8D # UY UY(1-COS(A)) +COS(A) $1 COF +4 DSQ DMP 4 DAD SL3 2 BOVB SIGNMPAC STORE DEL +16D # UZ UZ(1-COS(A)) +COS(A) $1 # COMPUTE THE OFF DIAGONAL TERMS OF DEL DLOAD DMP COF COF +2 DMP SL1 4 PDDL DMP # D6 UX UY (1-COS A) $ 4 COF +4 0 PUSH DAD # D8 UZ SIN A $ 4 6 SL2 BOVB SIGNMPAC STODL DEL +6 BDSU SL2 BOVB SIGNMPAC STODL DEL +2 COF DMP DMP COF +4 4 SL1 PDDL # D6 UX UZ (1-COS A ) $ 4 COF +2 DMP PUSH # D8 UY SIN(A) 0 DAD SL2 6 # Page 409 BOVB SIGNMPAC STODL DEL +4 # UX UZ (1-COS(A))+UY SIN(A) BDSU SL2 BOVB SIGNMPAC STODL DEL +12D # UX UZ (U-COS(A))-UY SIN(A) COF +2 DMP DMP COF +4 4 SL1 PDDL # D6 UY UZ (1-COS(A)) $ 4 COF DMP PUSH # D6 UX SIN(A) 0 DAD SL2 6 BOVB SIGNMPAC STODL DEL +14D # UY UZ(1-COS(A)) +UX SIN(A) BDSU SL2 BOVB SIGNMPAC STORE DEL +10D # UY UZ (1-COS(A)) -UX SIN(A) RVQ # DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE # X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2) # LEAVES CDU ANGLES SCALED 2PI IN V(MPAC) # COS(MGA) WILL BE LEFT IN S1 (SCALED 1) # # THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS*** # # C =COS(THETA)COS(PSI) # 0 # C =-COS(THETA)SIN(PSI)COS(PHI)+SI (THETA)SIN(PHI) # 1 # C =COS(THETA)SIN(PSI)SIN(PHI) + S N(THETA)COS(PHI) # 2 # C =SIN(PSI) # 3 # C =COS(PSI)COS(PHI) # 4 # C =-COS(PSI)SIN(PHI) # 5 # C =-SIN(THETA)COS(PSI) # 6 # C =SIN(THETA)SIN(PSI)COS(PHI)+COS THETA)SIN(PHI) # 7 # Page 410 # C =-SIN(THETA)SIN(PSI)SIN(PHI)+COS(THETA)COS(PHI) # 8 # # WHERE PHI = OGA # THETA = IGA # PSI = MGA DCMTOCDU DLOAD* ARCSIN 6,1 PUSH COS # PD +0 PSI SL1 BOVB SIGNMPAC STORE S1 DLOAD* DCOMP 12D,1 DDV ARCSIN S1 PDDL* BPL # PD +2 THETA 0,1 # MUST CHECK THE SIGN OF COS(THETA) OKTHETA # TO DETERMINE THE PROPER QUADRANT DLOAD DCOMP BPL DAD SUHALFA DPHALF GOTO CALCPHI SUHALFA DSU DPHALF CALCPHI PUSH OKTHETA DLOAD* DCOMP 10D,1 DDV ARCSIN S1 PDDL* BPL # PUSH DOWN PHI 8D,1 OKPHI DLOAD DCOMP # PUSH UP PHI BPL DAD SUHALFAP DPHALF GOTO VECOFANG SUHALFAP DSU GOTO DPHALF VECOFANG OKPHI DLOAD # PUSH UP PHI VECOFANG VDEF RVQ # Page 411 # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS NOGOM2 INHINT # THIS LOCATION ACCESSED BY A BZMF NOGO -2 TC BANKCALL CADR ZEROEROR NOGO INHINT TC STOPRATE # TERMINATE MANEUVER CAF TWO # NOTE - ALL RETURNS ARE NOW MADE VIA TC WAITLIST # GOODEND EBANK= BCDU 2CADR ENDMANU TCF ENDOFJOB ================================================ FILE: Comanche055/ASSEMBLY_AND_OPERATION_INFORMATION.agc ================================================ # Copyright: Public domain. # Filename: ASSEMBLY_AND_OPERATION_INFORMATION.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Mod history: 2009-05-05 RSB Adapted from the Colossus249/ file of the # same name, using Comanche055 page images. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 2 # ASSEMBLY AND OPERATIONS INFORMATION # TAGS FOR RELATIVE SETLOC AND BLANK BANK CARDS # SUBROUTINE CALLS # # # COMERASE # ERASABLE ASSIGNMENTS # COMAID # INTERRUPT LEAD INS # T4RUPT PROGRAM # DOWNLINK LISTS # FRESH START AND RESTART # RESTART TABLES # SXTMARK # EXTENDED VERBS # PINBALL NOUN TABLES # CSM GEOMETRY # IMU COMPENSATION PACKAGE # PINBALL GAME BUTTONS AND LIGHTS # R60,R62 # ANGLFIND # GIMBAL LOCK AVOIDANCE # KALCMANU STEERING # SYSTEM TEST STANDARD LEAD INS # IMU CALIBRATION AND ALIGNMENT # COMEKISS # GROUND TRACKING DETERMINATION PROGRAM - P21 # P34-P35, P74-P75 # R31 # P76 # R30 # STABLE ORBIT - P38-P39 # TROUBLE # P11 # TPI SEARCH # P20-P25 # P30,P37 # P32-P33, P72-P73 # P40-P47 # P51-P53 # LUNAR AND SOLAR EPHEMERIDES SUBROUTINES # P61-P67 # SERVICER207 # ENTRY LEXICON # REENTRY CONTROL # CM BODY ATTITUDE # P37,P70 # S-BAND ANTENNA FOR CM # TVCDAPS # TVCINITIALIZE # Page 3 # TVCEXECUTIVE # TVCMASSPROP # TVCRESTARTS # TVCDAPS # TVCSTROKETEST # TVCROLLDAP # MYSUBS # RCS-CSM DIGITAL AUTOPILOT # AUTOMATIC MANEUVERS # RCS-CSM DAP EXECUTIVE PROGRAMS # JET SELECTION LOGIC # CM ENTRY DIGITAL AUTOPILOT # CHIEFTAN # DOWN-TELEMETRY PROGRAM # INTER-BANK COMMUNICATION # INTERPRETER # FIXED-FIXED CONSTANT POOL # INTERPRETIVE CONSTANTS # SINGLE PRECISION SUBROUTINES # EXECUTIVE # WAITLIST # LATITUDE LONGITUDE SUBROUTINES # PLANETARY INERTIAL ORIENTATION # MEASUREMENT INCORPORATION # CONIC SUBROUTINES # INTEGRATION INITIALIZATION # ORBITAL INTEGRATION # INFLIGHT ALIGNMENT ROUTINES # POWERED FLIGHT SUBROUTINES # TIME OF FREE FALL # STAR TABLES # AGC BLOCK TWO SELF-CHECK # PHASE TABLE MAINTENANCE # RESTARTS ROUTINE # IMU MODE SWITCHING ROUTINES # KEYRUPT, UPRUPT # DISPLAY INTERFACE ROUTINES # SERVICE ROUTINES # ALARM AND ABORT # UPDATE PROGRAM # RTB OP CODES # # # SYMBOL TABLE LISTING # UNREFERENCED SYMBOL LISTING # ERASABLE & EQUALS CROSS-REFERENCE TABLE # SUMMARY OF SYMBOL TABLE LISTINGS # MEMORY TYPE & AVAILABILITY DISPLAY # COUNT TABLE # PARAGRAPHS GENERATED FOR THIS ASSEMBLY # Page 4 # OCTAL LISTING # OCCUPIED LOCATIONS TABLE # SUBROS CALLED & PROGRAM STATUS # Page 5 # VERB LIST FOR CSM # REGULAR VERBS # 00 NOT IN USE # 01 DISPLAY OCTAL COMP 1 IN R1 # 02 DISPLAY OCTAL COMP 2 IN R1 # 03 DISPLAY OCTAL COMP 3 IN R1 # 04 DISPLAY OCTAL COMP 1,2 IN R1,R2 # 05 DISPLAY OCTAL COMP 1,2,3 IN R1,R2,R3 # 06 DISPLAY DECIMAL IN R1 OR R1,R2 OR R1,R2,R3 # 07 DISPLAY DP DECIMAL IN R1,R2 (TEST ONLY) # 08 # 09 # 10 # 11 MONITOR OCTAL COMP 1 IN R1 # 12 MONITOR OCTAL COMP 2 IN R1 # 13 MONITOR OCTAL COMP 3 IN R1 # 14 MONITOR OCTAL COMP 1,2, IN R1,R2 # 15 MONITOR OCTAL COMP 1,2,3 IN R1,R2,R3 # 16 MONITOR DECIMAL IN R1 OR R1,R2 OR R1,R2,R3 # 17 MONITOR DP DECIMAL IN R1,R2 (TEST ONLY) # 18 # 19 # 20 # 21 LOAD COMPONENT 1 INTO R1 # 22 LOAD COMPONENT 2 INTO R2 # 23 LOAD COMPONENT 3 INTO R3 # 24 LOAD COMPONENT 1,2 INTO R1,R2 # 25 LOAD COMPONENT 1,2,3 INTO R1,R2,R3 # 26 # 27 DISPLAY FIXED MEMORY # 28 # 29 # 30 REQUEST EXECUTIVE # 31 REQUEST WAITLIST # 32 RECYCLE PROGRAM # 33 PROCEED WITHOUT DSKY INPUTS # 34 TERMINATE FUNCTION # 35 TEST LIGHTS # 36 REQUEST FRESH START # 37 CHANGE PROGRAM (MAJOR MODE) # 38 # 39 # Page 6 # EXTENDED VERBS # 40 ZERO CDU-S # 41 COARSE ALIGN CDU-S # 42 FINE ALIGN IMU-S # 43 LOAD IMU ATT ERROR METERS # 44 SET SURFACE FLAG # 45 RESET SURFACE FLAG # 46 ESTABLISH G+C CONTROL # 47 MOVE LM STATE VECTOR INTO CM STATE VECTOR. # 48 REQUEST DAP DATA LOAD ROUTINE (R03) # 49 REQUEST CREW DEFINED MANEUVER ROUTINE (R62) # 50 PLEASE PERFORM # 51 PLEASE MARK # 52 MARK ON OFFSET LANDING SITE # 53 PLEASE PERFORM ALTERNATE LOS MARK # 54 REQUEST RENDEZVOUS BACKUP SIGHTING MARK ROUTINE (R23) # 55 INCREMENT AGC TIME (DECIMAL) # 56 TERMINATE TRACKING (P20 + P25) # 57 REQUEST RENDEZVOUS SIGHTING MARK ROUTINE (R21) # 58 RESET STICK FLAG # 59 PLEASE CALIBRATE # 60 SET ASTRONAUT TOTAL ATTITUDE (N17) TO PRESENT ATTITUDE # 61 DISPLAY DAP ATTITUDE ERROR # 62 DISPLAY TOTAL ATTITUDE ERROR (WRT N22 (THETAD)) # 63 DISPLAY TOTAL ASTRONAUT ATTITUDE ERROR (WRT N17 (CPHIX)) # 64 REQUEST S-BAND ANTENNA ROUTINE # 65 OPTICAL VERIFICATION OF PRELAUNCH ALIGNMENT # 66 VEHICLES ARE ATTACHED. MOVE THIS VEHICLE STATE TO OTHER VEHICLE. # 67 # 68 CSM STROKE TEST ON # 69 CAUSE RESTART # 70 UPDATE LIFTOFF TIME # 71 UNIVERSAL UPDATE-BLOCK ADR # 72 UNIVERSAL UPDATE-SINGLE ADR # 73 UPDATE AGC TIME (OCTAL) # 74 INITIALIZE ERASABLE DUMP VIA DOWNLINK # 75 BACKUP LIFTOFF # 76 SET PREFERRED ATTITUDE FLAG # 77 RESET PREFERRED ATTITUDE FLAG # 78 UPDATE PRELAUNCH AZIMUTH # 79 REQUEST LUNAR LANDMARK SELECTION ROUTINE (R35) # 80 UPDATE LEM STATE VECTOR # 81 UPDATE CSM STATE VECTOR # 82 REQUEST ORBIT PARAM DISPLAY (R30) # 83 REQUEST REND PARAM DISPLAY (R31) # 84 START TARGET DELTA V (R32) # 85 REQUEST RENDEZVOUS PARAMETER DISPLAY NO. 2 (R34) # 86 REJECT RENDEZVOUS BACKUP SIGHTING MARK # 87 SET VHF RANGE FLAG # Page 7 # 88 RESET VHF RANGE FLAG # 89 REQUEST RENDEZVOUS FINAL ATTITUDE ROUTINE (R63) # 90 REQUEST RENDEZVOUS OUT OF PLANE DISPLAY ROUTINE (R36) # 91 DISPLAY BANK SUM # 92 OPERATE IMU PERFORMANCE TEST (P07) # 93 ENABLE W MATRIX INITIALIZATION # 94 PERFORM CYSLUNAR ATTITUDE MANEUVER (P23) # 95 NO UPDATE OF EITHER STATE VECTOR (P20 OR P22) # 96 TERMINATE INTEGRATION AND GO TO P00 # 97 PERFORM ENGINE FAIL PROCEDURE # 98 ENABLE TRANSLUNAR INJECT # 99 PLEASE ENABLE ENGINE # Page 8 # IN THE FOLLOWING NOUN LIST THE :NO LOAD: RESTRICTION MEANS THE NOUN # CONTAINS AT LEAST ONE COMPONENT WHICH CANNOT BE LOADED, I.E. OF # SCALE TYPE L (MIN/SEC) OR PP (2 INTEGERS). # IN THIS CASE VERBS 24 AND 25 ARE NOT ALLOWED, BUT VERBS 21, 22 OR 23 # MAY BE USED TO LOAD ANY OF THE NOUN:S COMPONENTS WHICH ARE NOT OF THE # ABOVE SCALE TYPES. # THE :DEC ONLY: RESTRICTION MEANS ONLY DECIMAL OPERATION IS ALLOWED ON # EVERY COMPONENT IN THE NOUN. (NOTE THAT :NO LOAD: IMPLIES :DEC ONLY:.) # NORMAL NOUNS COMPONENTS SCALE AND DECIMAL POINT RESTRICTIONS # 00 NOT IN USE # 01 SPECIFY MACHINE ADDRESS (FRACTIONAL) 3COMP .XXXXX FOR EACH # 02 SPECIFY MACHINE ADDRESS (WHOLE) 3COMP XXXXX. FOR EACH # 03 SPECIFY MACHINE ADDRESS (DEGREES) 3COMP XXX.XX DEG FOR EACH # 04 SPARE # 05 ANGULAR ERROR/DIFFERENCE 1COMP XXX.XX DEG # 06 OPTION CODE 2COMP OCTAL ONLY FOR EACH # LOADING NOUN 07 WILL SET OR RESET SELECTED BITS IN ANY ERASABLE REGISTER # 07 ECADR OF WORD TO BE MODIFIED 3COMP OCTAL ONLY FOR EACH # ONES FOR BITS TO BE MODIFIED # 1 TO SET OR 0 TO RESET SELECTED BITS # 08 ALARM DATA 3COMP OCTAL ONLY FOR EACH # 09 ALARM CODES 3COMP OCTAL ONLY FOR EACH # 10 CHANNEL TO BE SPECIFIED 1COMP OCTAL ONLY # 11 TIG OF CSI 3COMP 00XXX. HRS DEC ONLY # 000XX. MIN MUST LOAD 3 COMPS # 0XX.XX SEC # 12 OPTION CODE 2COMP OCTAL ONLY FOR EACH # (USED BY EXTENDED VERBS ONLY) # 13 TIG OF CDH 3COMP 00XXX. HRS DEC ONLY # 000XX. MIN MUST LOAD 3 COMPS # 0XX.XX SEC # 14 SPARE # 15 INCREMENT MACHINE ADDRESS 1COMP OCTAL ONLY # 16 TIME OF EVENT 3COMP 00XXX. HRS DEC ONLY # (USED BY EXTENDED VERBS ONLY) 000XX. MIN MUST LOAD 3 COMPS # 0XX.XX SEC # 17 ASTRONAUT TOTAL ATTITUDE 3COMP XXX.XX DEG FOR EACH # 18 AUTO MANEUVER BALL ANGLES 3COMP XXX.XX DEG FOR EACH # 19 BYPASS ATTITUDE TRIM MANEUVER 3COMP XXX.XX DEG FOR EACH # 20 ICDU ANGLES 3COMP XXX.XX DEG FOR EACH # 21 PIPAS 3COMP XXXXX. PULSES FOR EACH # 22 NEW ICDU ANGLES 3COMP XXX.XX DEG FOR EACH # 23 SPARE # 24 DELTA TIME FOR AGC CLOCK 3COMP 00XXX. HRS. DEC ONLY # 000XX. MIN MUST LOAD 3 COMPS # 0XX.XX SEC # 25 CHECKLIST 3COMP XXXXX. FOR EACH # (USED WITH PLEASE PERFORM ONLY) # Page 9 # 26 PRIORITY/DELAY, ADRES, BBCON 3COMP OCTAL ONLY FOR EACH # 27 SELF TEST ON/OFF SWITCH 1COMP XXXXX. # 28 SPARE # 29 XSM LAUNCH AZIMUTH 1COMP XXX.XX DEG DEC ONLY # Page 10 # 30 TARGET CODES 3COMP XXXXX. FOR EACH # 31 TIME OF LANDING SITE 3COMP 00XXX. HRS DEC ONLY # 000XX. MIN MUST LOAD 3 COMPS # 0XX.XX SEC # 32 TIME FROM PERIGEE 3COMP 00XXX. HRS DEC ONLY # 000XX. MIN MUST LOAD 3 COMPS # 0XX.XX SEC # 33 TIME OF IGNITION 3COMP 00XXX. HRS DEC ONLY # 000XX. MIN MUST LOAD 3 COMPS # 0XX.XX SEC # 34 TIME OF EVENT 3COMP 00XXX. HRS DEC ONLY # 000XX. MIN MUST LOAD 3 COMPS # 0XX.XX SEC # 35 TIME FROM EVENT 3COMP 00XXX. HRS DEC ONLY # 000XX. MIN MUST LOAD 3 COMPS # 0XX.XX SEC # 36 TIME OF AGC CLOCK 3COMP 00XXX. HRS DEC ONLY # 000XX. MIN MUST LOAD 3 COMPS # 0XX.XX SEC # 37 TIG OF TPI 3COMP 00XXX. HRS DEC ONLY # 000XX. MIN MUST LOAD 3 COMPS # 0XX.XX SEC # 38 TIME OF STATE VECTOR 3COMP 00XXX. HRS DEC ONLY # 000XX. MIN MUST LOAD 3 COMPS # 0XX.XX SEC # 39 DELTA TIME FOR TRANSFER 3COMP 00XXX. HRS DEC ONLY # 000XX. MIN MUST LOAD 3 COMPS # 0XX.XX SEC # Page 11 # MIXED NOUNS COMPONENTS SCALE AND DECIMAL POINT RESTRICTIONS # # 40 TIME FROM IGNITION/CUTOFF 3COMP XXBXX MIN/SEC NO LOAD, DEC ONLY # VG, XXXX.X FT/SEC # DELTA V (ACCUMULATED) XXXX.X FT/SEC # 41 TARGET AZIMUTH, 2COMP XXX.XX DEG # ELEVATION XX.XXX DEG # 42 APOGEE, 3COMP XXXX.X NAUT MI DEC ONLY # PERIGEE, XXXX.X NAUT MI # DELTA V (REQUIRED) XXXX.X FT/SEC # 43 LATITUDE, 3COMP XXX.XX DEG DEC ONLY # LONGITUDE, XXX.XX DEG # ALTITUDE XXXX.X NAUT MI # 44 APOGEE, 3COMP XXXX.X NAUT MI NO LOAD, DEC ONLY # PERIGEE, XXXX.X NAUT MI # TFF XXBXX MIN/SEC # 45 MARKS (VHF - OPTICS) 3COMP +XXBXX NO LOAD, DEC ONLY # TFI OF NEXT BURN XXBXX MIN/SEC # MGA XXX.XX DEG # 46 AUTOPILOT CONFIGURATION 2COMP OCTAL ONLY FOR EACH # 47 THIS VEHICLE WEIGHT 2COMP XXXXX. LBS DEC ONLY # OTHER VEHICLE WEIGHT XXXXX. LBS # 48 PITCH TRIM 2COMP XXX.XX DEG DEC ONLY # YAW TRIM, XXX.XX DEG # 49 DELTA R 3COMP XXXX.X NAUT MI DEC ONLY # DELTA V XXXX.X FT/SEC # VHF OR OPTICS CODE XXXXX. # 50 SPLASH ERROR, 3COMP XXXX.X NAUT MI NO LOAD, DEC ONLY # PERIGEE, XXXX.X NAUT MI # TFF XXBXX MIN/SEC # 51 S-BAND ANTENNA ANGLES PITCH 2COMP XXX.XX DEG DEC ONLY # YAW XXX.XX DEG # 52 CENTRAL ANGLE OF ACTIVE VEHICLE 1COMP XXX.XX DEG # 53 RANGE, 3COMP XXX.XX NAUT MI DEC ONLY # RANGE RATE, XXXX.X FT/SEC # PHI XXX.XX DEG # 54 RANGE, 3COMP XXX.XX NAUT MI DEC ONLY # RANGE RATE, XXXX.X FT/SEC # THETA XXX.XX DEG # 55 PERIGEE CODE 3COMP XXXXX. DEC ONLY # ELEVATION ANGLE XXX.XX DEG # CENTRAL ANGLE OF PASSIVE VEHICLE XXX.XX DEG # 56 REENTRY ANGLE, 2COMP XXX.XX DEG DEC ONLY # DELTA V XXXXX. FT/SEC # 57 DELTA R 1COMP XXXX.X NAUT MI DEC ONLY # 58 PERIGEE ALT (POST TPI) 3COMP XXXX.X NAUT MI DEC ONLY # DELTA V TPI XXXX.X FT/SEC # DELTA V TPF XXXX.X FT/SEC # 59 DELTA VELOCITY LOS 3COMP XXXX.X FT/SEC FOR EA. DEC ONLY # 60 GMAX, 3COMP XXX.XX G DEC ONLY # Page 12 # VPRED, XXXXX. FT/SEC # GAMMA EI XXX.XX DEG # 61 IMPACT LATITUDE, 3COMP XXX.XX DEG DEC ONLY # IMPACT LONGITUDE, XXX.XX DEG # HEADS UP/DOWN +/- 00001 # 62 INERTIAL VEL MAG (VI), 3COMP XXXXX. FT/SEC DEC ONLY # ALT RATE CHANGE (HDOT), XXXXX. FT/SEC # ALT ABOVE PAD RADIUS (H) XXXX.X NAUT MI # 63 RANGE 297,431 TO SPLASH (RTGO), 3COMP XXXX.X NAUT MI NO LOAD, DEC ONLY # PREDICTED INERT VEL (VIO), XXXXX. FT/SEC # TIME FROM 297,431 (TFE), XXBXX MIN/SEC # 64 DRAG ACCELERATION, 3COMP XXX.XX G DEC ONLY # INERTIAL VELOCITY (VI), XXXXX. FT/SEC # RANGE TO SPLASH XXXX.X NAUT MI # 65 SAMPLED AGC TIME 3COMP 00XXX. HRS DEC ONLY # (FETCHED IN INTERRUPT) 000XX. MIN MUST LOAD 3 COMPS # 0XX.XX SEC # 66 COMMAND BANK ANGLE (BETA), 3COMP XXX.XX DEG DEC ONLY # CROSS RANGE ERROR, XXXX.X NAUT MI # DOWN RANGE ERROR XXXX.X NAUT MI # 67 RANGE TO TARGET, 3COMP XXXX.X NAUT MI DEC ONLY # PRESENT LATITUDE, XXX.XX DEG # PRESENT LONGITUDE XXX.XX DEG # 68 COMMAND BANK ANGLE (BETA), 3COMP XXX.XX DEG DEC ONLY # INERTIAL VELOCITY (VI), XXXXX. FT/SEC # ALT RATE CHANGE (RDOT) XXXXX. FT/SEC # 69 BETA 3COMP XXX.XX DEG DEC ONLY # DL XXX.XX G # VL XXXXX. FT/SEC # 70 STAR CODE, 3COMP OCTAL ONLY # LANDMARK DATA, OCTAL ONLY # HORIZON DATA OCTAL ONLY # 71 STAR CODE 3COMP OCTAL ONLY # LANDMARK DATA OCTAL ONLY # HORIZON DATA OCTAL ONLY # 72 DELT ANG 3COMP XXX.XX DEG DEC ONLY # 73 ALTITUDE 3COMP XXXXXB. NAUT MI # VELOCITY XXXXX. FT/SEC # FLIGHT PATH ANGLE XXX.XX DEG # 74 COMMAND BANK ANGLE (BETA) 3COMP XXX.XX DEG # INERTIAL VELOCITY (VI) XXXXX. FT/SEC # DRAG ACCELERATION XXX.XX G # 75 DELTA ALTITUDE CDH 3COMP XXXX.X NAUT MI NO LOAD, DEC ONLY # DELTA TIME (CDH-CSI OR TPI-CDH) XXBXX MIN/SEC # DELTA TIME (TPI-CDH OR TPI-NOMTPI) XXBXX MIN/SEC # 76 SPARE # 77 SPARE # 78 SPARE # 79 SPARE # 80 TIME FROM IGNITION/CUTOFF 3COMP XXBXX MIN/SEC NO LOAD, DEC ONLY # Page 13 # VG XXXXX. FT/SEC # DELTA V (ACCUMULATED) XXXXX. FT/SEC # 81 DELTA V (LV) 3COMP XXXX.X FT/SEC FOR EACH DEC ONLY # 82 DELTA V (LV) 3COMP XXXX.X FT/SEC FOR EACH DEC ONLY # 83 DELTA V (BODY) 3COMP XXXX.X FT/SEC FOR EACH DEC ONLY # 84 DELTA V (OTHER VEHICLE) 3COMP XXXX.X FT/SEC FOR EACH DEC ONLY # 85 VG (BODY) 3COMP XXXX.X FT/SEC FOR EACH DEC ONLY # 86 DELTA V(LV) 3COMP XXXXX. FT/SEC FOR EACH DEC ONLY # 87 MARK DATA SHAFT, 2COMP XXX.XX DEG # TRUNION XX.XXX DEG # 88 HALF UNIT SUN OR PLANET VECTOR 3COMP .XXXXX FOR EACH DEC ONLY # 89 LANDMARK LATITUDE, 3COMP XX.XXX DEG DEC ONLY # LONGITUDE/2, XX.XXX DEG # ALTITUDE XXX.XX NAUT MI # 90 Y 3COMP XXX.XX NM DEC ONLY # Y DOT XXXX.X FPS # PSI XXX.XX DEG # 91 OCDU ANGLES SHAFT, 2COMP XXX.XX DEG # TRUNION XX.XXX DEG # 92 NEW OPTICS ANGLES SHAFT, 2COMP XXX.XX DEG # TRUNION XX.XXX DEG # 93 DELTA GYRO ANGLES 3COMP XX.XXX DEG FOR EACH # 94 NEW OPTICS ANGLES SHAFT 2COMP XXX.XX DEG # TRUNNION XX.XXX DEG # 95 PREFERRED ATTITUDE ICDU ANGLES 3COMP XXX.XX FOR FOR EACH # 96 +X-AXIS ATTITUDE ICDU ANGLES 3COMP XXX.XX DEG FOR EACH # 97 SYSTEM TEST INPUTS 3COMP XXXXX. FOR EACH # 98 SYSTEM TEST RESULTS AND INPUTS 3COMP XXXXX. # .XXXXX # XXXXX. # 99 RMS IN POSITION 3COMP XXXXX.FT DEC ONLY # RMS IN VELOCITY XXXX.X FT/SEC # RMS OPTION XXXXX. # Page 14 # REGISTERS AND SCALING FOR NORMAL NOUNS # # NOUN REGISTER SCALE TYPE # # 00 NOT IN USE # 01 SPECIFY ADDRESS B # 02 SPECIFY ADDRESS C # 03 SPECIFY ADDRESS D # 04 SPARE # 05 DSPTEM1 H # 06 OPTION1 A # 07 XREG A # 08 ALMCADR A # 09 FAILREG A # 10 SPECIFY CHANNEL A # 11 TCSI K # 12 OPTIONX A # 13 TCDH K # 14 SPARE # 15 INCREMENT ADDRESS A # 16 DSPTEMX C # 17 CPHIX D # 18 THETAD D # 19 THETAD D # 20 CDUX D # 21 PIPAX C # 22 THETAD D # 23 SPARE # 24 DSPTEM2 +1 K # 25 DSPTEM1 C # 26 DSPTEM1 A # 27 SMODE C # 28 SPARE # 29 DSPTEM1 D # 30 DSPTEM1 C # 31 DSPTEM1 K # 32 -TPER K # 33 TIG K # 34 DSPTEM1 K # 35 TTOGO K # 36 TIME2 K # 37 TTPI K # 38 TET K # 39 T3TOT4 K # Page 15 # REGISTERS AND SCALING FOR MIXED NOUNS # # NOUN COMP REGISTER SCALE TYPE # # 40 1 TTOGO L # 2 VGDISP S # 3 DVTOTAL S # 41 1 DSPTEM1 D # 2 DSPTEM1 +1 E # 42 1 HAPO Q # 2 HPER Q # 3 VGDISP S # 43 1 LAT H # 2 LONG H # 3 ALT Q # 44 1 HAPOX Q # 2 HPERX Q # 3 TFF L # 45 1 VHFCNT PP # 2 TTOGO L # 3 +MGA H # 46 1 DAPDATR1 A # 2 DAPDATR2 A # 47 1 CSMMASS KK # 2 LEMMASS KK # 48 1 PACTOFF FF # 2 YACTOFF FF # 49 1 N49DISP Q # 2 N49DISP +2 S # 3 N49DISP +4 C # 50 1 RSP-RREC LL # 2 HPERX Q # 3 TFF L # 51 1 RHOSB H # 2 GAMMASB H # 52 1 ACTCENT H # 53 1 RANGE JJ # 2 RRATE S # 3 RTHETA H # 54 1 RANGE JJ # 2 RRATE S # 3 RTHETA H # 55 1 NN1 C # 2 ELEV H # 3 CENTANG H # 56 1 RTEGAM2D H # 2 RTEDVD P # 57 1 DELTAR Q # 58 1 POSTTPI Q # 2 DELVTPI S # Page 16 # 3 DELVTPF S # 59 1 DVLOS S # 2 DVLOS +2 S # 3 DVLOS +4 S # 60 1 GMAX T # 2 VPRED P # 3 GAMMAEI H # 61 1 LAT(SPL) H # 2 LNG(SPL) H # 3 HEADSUP C # 62 1 VMAGI P # 2 HDOT P # 3 ALTI Q # 63 1 RTGO LL # 2 VIO P # 3 TTE L # 64 1 D MM # 2 VMAGI P # 3 RTGON64 LL # 65 1 SAMPTIME K # 2 SAMPTIME K # 3 SAMPTIME K # 66 1 ROLLC H # 2 XRNGERR VV # 3 DNRNGERR LL # 67 1 RTGON67 LL # 2 LAT H # 3 LONG H # 68 1 ROLLC H # 2 VMAGI P # 3 RDOT UU # 69 1 ROLLC H # 2 Q7 MM # 3 VL UU # 70 1 STARCODE A # 2 LANDMARK A # 3 HORIZON A # 71 1 STARCODE A # 2 LANDMARK A # 3 HORIZON A # 72 1 THETZERO H # 73 1 P21ALT Q (MEMORY/100 TO DISPLAY TENS N.M.) # 2 P21VEL P # 3 P21GAM H # 74 1 ROLLC H # 2 VMAGI P # 3 D MM # 75 1 DIFFALT Q # 2 T1TOT2 L # 3 T2TOT3 L # Page 17 # 76 SPARE # 77 SPARE # 78 SPARE # 79 SPARE # 80 1 TTOGO L # 2 VGDISP P # 3 DVTOTAL P # 81 1 DELVLVC S # 2 DELVLVC +2 S # 3 DELVLVC +4 S # 82 1 DELVLVC S # 2 DELVLVC +2 S # 3 DELVLVC +4 S # 83 1 DELVIMU S # 2 DELVIMU +2 S # 3 DELVIMU +4 S # 84 1 DELVOV S # 2 DELVOV +2 S # 3 DELVOV +4 S # 85 1 VGBODY S # 2 VGBODY +2 S # 3 VGBODY +4 S # 86 1 DELVLVC P # 2 DELVLVC +2 P # 3 DELVLVC +4 P # 87 1 MRKBUF1 +3 D # 2 MRKBUF1 +5 J # 88 1 STARSAV3 ZZ # 2 STARSAV3 +2 ZZ # 3 STARSAV3 +4 ZZ # 89 1 LANDLAT G # 2 LANDLONG G # 3 LANDALT JJ # 90 1 RANGE JJ # 2 RRATE S # 3 RTHETA H # 91 1 CDUS D # 2 CDUT J # 92 1 SAC D # 2 PAC J # 93 1 OGC G # 2 OGC +2 G # 3 OGC +4 G # 94 1 MRKBUF1 +3 D # 2 MRKBUF1 +5 J # 95 1 PRAXIS D # 2 PRAXIS +1 D # 3 PRAXIS +2 D # 96 1 CPHIX D # 2 CPHIX +1 D # Page 18 # 3 CPHIX +2 D # 97 1 DSPTEM1 C # 2 DSPTEM1 +1 C # 3 DSPTEM1 +2 C # 98 1 DSPTEM2 C # 2 DSPTEM2 +1 B # 3 DSPTEM2 +2 C # 99 1 WWPOS XX # 2 WWVEL YY # 3 WWOPT C # Page 19 # NOUN SCALES AND FORMATS # # -SCALE TYPE- PRECISION # UNITS DECIMAL FORMAT -- AGC FORMAT # ------------ -------------- -- ---------- # # -A- # OCTAL XXXXX SP OCTAL # # -B- -14 # FRACTIONAL .XXXXX SP BIT 1 = 2 UNITS # (MAX .99996) # # -C- # WHOLE XXXXX. SP BIT 1 = 1 UNIT # (MAX 16383.) # # -D- 15 # CDU DEGREES XXX.XX DEGREES SP BIT 1 = 360/2 DEGREES # (MAX 359.99) (USES 15 BITS FOR MAGNI- # TUDE AND 2-S COMP.) # # -E- 14 # ELEVATION DEGREES XX.XXX DEGREES SP BIT 1 = 90/2 DEGREES # (MAX 89.999) # # -F- 14 # DEGREES (180) XXX.XX DEGREES SP BIT 1 = 180/2 DEGREES # (MAX 179.99) # # -G- # DP DEGREES(90) XX.XXX DEGREES DP BIT 1 OF LOW REGISTER = # 28 # 360/2 DEGREES # # -H- # DP DEGREES (360) XXX.XX DEGREES DP BIT 1 OF LOW REGISTER = # 28 # (MAX 359.99) 360/2 DEGREES # # -J- 15 # Y OPTICS DEGREES XX.XXX DEGREES SP BIT 1 = 90/2 DEGREES # (BIAS OF 19.775 (USES 15 BITS FOR MAGNI- # DEGREES ADDED FOR TUDE AND 2-S COMP.) # DISPLAY, SUBTRACTED # FOR LOAD.) # NOTE: NEGATIVE NUM- # BERS CANNOT BE # LOADED. # # -K- # Page 20 # TIME (HR, MIN, SEC) 00XXX. HR DP BIT 1 OF LOW REGISTER = # 000XX. MIN -2 # 0XX.XX SEC 10 SEC # (DECIMAL ONLY. # MAX MIN COMP=59 # MAX SEC COMP=59.99 # MAX CAPACITY=745 HRS # 39 MINS # 14.55 SECS. # WHEN LOADING, ALL 3 # COMPONENTS MUST BE # SUPPLIED.) # # -L- # TIME (MIN/SEC) XXBXX MIN/SEC DP BIT 1 OF LOW REGISTER = # (B IS A BLANK -2 # POSITION, DECIMAL 10 SEC # ONLY, DISPLAY OR # MONITOR ONLY. CANNOT # BE LOADED. # MAX MIN COMP=59 # MAX SEC COMP=59 # VALUES GREATER THAN # 59 MIN 59 SEC # ARE DISPLAYED AS # 59 MIN 59 SEC.) # # -M- -2 # TIME (SEC) XXX.XX SEC SP BIT 1 = 10 SEC # (MAX 163.83) # # -N- # TIME(SEC) DP XXX.XX SEC DP BIT 1 OF LOW REGISTER = # -2 # 10 SEC # # -P- # VELOCITY 2 XXXXX. FEET/SEC DP BIT 1 OF HIGH REGISTER = # (MAX 41994.) -7 # 2 METERS/CENTI-SEC # # -Q- # POSITION 4 XXXX.X NAUTICAL MILES DP BIT 1 OF LOW REGISTER = # 2 METERS # # -S- # VELOCITY 3 XXXX.X FT/SEC DP BIT 1 OF HIGH REGISTER = # -7 # 2 METERS/CENTI-SEC # Page 21 # -T- -2 # G XXX.XX G SP BIT 1 = 10 G # (MAX 163.83) # # -FF- # TRIM DEGREES XXX.XX DEG. SP LOW ORDER BIT = 85.41 SEC # (MAX 388.69) OF ARC # # -GG- # INERTIA XXXXXBB. SLUG FT SQ SP FRACTIONAL PART OF # (MAX 07733BB.) 20 2 # 2 KG M # # -II- 20 # THRUST MOMENT XXXXXBB. FT LBS SP FRACTIONAL PART OF 2 # (MAX 07733BB.) NEWTON METER # # -JJ- # POSITION5 XXX.XX NAUT MI DP BIT 1 OF LOW REGISTER = # 2 METERS # # -KK- 16 # WEIGHT2 XXXXX. LBS SP FRACTIONAL PART OF 2 KG # # -LL- # POSITION6 XXXX.X NAUT MI DP BIT 1 OF LOW REG = # -28 # (6,373,338)(2(PI))X2 # ----------------------- # 1852 # NAUT. MI. # # -MM- # DRAG ACCELERATION XXX.XX G DP BIT 1 OF LOW REGISTER = # MAX (024.99) -28 # 25X2 G # # -PP- # 2 INTEGERS +XXBYY DP BIT 1 OF HIGH REGISTER = # (B IS A BLANK 1 UNIT OF XX # POSITION. DECIMAL BIT 1 OF LOW REGISTER = # ONLY, DISPLAY OR 1 UNIT OF YY # MONITOR ONLY. CANNOT (EACH REGISTER MUST # BE LOADED.) CONTAIN A POSITIVE INTEGER # (MAX 99B99) LESS THAN 100) # # -UU- # VELOCITY/2VS XXXXX. FEET/SEC DP FRACTIONAL PART OF # (MAX 51532.) 2VS FEET/SEC # (VS = 25766.1973) # Page 22 # -VV- # POSITION8 XXXX.X NAUT MI DP BIT 1 OF LOW REGISTER = # -28 # 4 X 6,373,338 X 2 # -------------------- # 1852 # NAUT MI. # # -XX- # POSITION 9 XXXXX. FEET DP BIT 1 OF LOW REGISTER = # -9 # 2 METERS # # -YY- # VELOCITY 4 XXXX.X FEET/SEC DP FRACTIONAL PART OF # (MAX 328.0) METERS/CENTI-SEC # # -ZZ- # DP FRACTIONAL .XXXXX DP BIT 1 OF HIGH REGISTER = # -14 # 2 UNITS # THAT-S ALL ON THE NOUNS. # Page 23 # ALARM CODES FOR 504 # REPORT DEFICIENCIES TO JOHN SUTHERLAND @ MIT 617-864-6900 X1458 # *9 *18 *60 *25 COLUMN # # CODE * TYPE SET BY ALARM ROUTINE # # 00110 NO MARK SINCE LAST MARK REJECT SXTMARK ALARM # 00112 MARK NOT BEING ACCEPTED SXTMARK ALARM # 00113 NO INBITS SXTMARK ALARM # 00114 MARK MADE BUT NOT DESIRED SXTMARK ALARM # 00115 OPTICS TORQUE REQUESTWITH SWITCH NOT AT EXT VERB OPTICS CDU ALARM # CGC # 00116 OPTICS SWITCH ALTERED BEFORE 15 SEC ZERO T4RUPT ALARM # TIME ELAPSED. # 00117 OPTICS TORQUE REQUEST WITH OPTICS NOT EXT VERB OPTICS CDU ALARM # AVAILABLE (OPTIND=-0) # 00120 OPTICS TORQUE REQUEST WITH OPTICS T4RUPT ALARM # NOT ZEROED # 00121 CDUS NO GOOD AT TIME OF MARK SXTMARK ALARM # 00122 MARKING NOT CALLED FOR SXTMARK ALARM # 00124 P17 TPI SEARCH - NO SAFE PERICTR HERE. TPI SEARCH ALARM # 00205 BAD PIPA READING SERVICER ALARM # 00206 ZERO ENCODE NOT ALLOWED WITH COARSE ALIGN IMU MODE SWITCHING ALARM # + GIMBAL LOCK # 00207 ISS TURNON REQUEST NOT PRESENT FOR 90 SEC T4RUPT ALARM # 00210 IMU NOT OPERATING IMU MODE SWITCH, IMU-2, R02, P51 ALARM,VARALARM # 00211 COARSE ALIGN ERROR - DRIVE > 2 DEGREES IMU MODE SWITCH ALARM # 00212 PIPA FAIL BUT PIPA IS NOT BEING USED IMU MODE SWITCH,T4RPT ALARM # 00213 IMU NOT OPERATING WITH TURN-ON REQUEST T4RUPT ALARM # 00214 PROGRAM USING IMU WHEN TURNED OFF T4RUPT ALARM # 00215 PREFERRED ORIENTATION NOT SPECIFIED P52,P54 ALARM # 00217 BAD RETURN FROM STALL ROUTINES. CURTAINS ALARM2 # 00220 IMU NOT ALIGNED - NO REFSMMAT R02,P51 VARALARM # 00401 DESIRED GIMBAL ANGLES YIELD GIMBAL LOCK IMF ALIGN, IMU-2 ALARM # 00404 TARGET OUT OF VIEW - TRUN ANGLE > 90 DEG R52 PRIOLARM # 00405 TWO STARS NOT AVAILABLE P52,P54 ALARM # 00406 REND NAVIGATION NOT OPERATING R21,R23 ALARM # 00407 AUTO OPTICS REQUEST TRUN ANGLE > 50 DEG. R52 ALARM # 00421 W-MATRIX OVERFLOW INTEGRV VARALARM # 00430 * INTEG. ABORT DUE TO SUBSURFACE S. V. ALL CALLS TO INTEG POODOO # 00600 IMAGINARY ROOTS ON FIRST ITERATION P32, P72 VARALARM # 00601 PERIGEE ALTITUDE LT PMIN1 P32,P72, VARALARM # 00602 PERIGEE ALTITUDE LT PMIN2 P32,P72, VARALARM # 00603 CSI TO CDH TIME LT PMIN22 P32,P72,P33,P73 VARALARM # 00604 CDH TO TPI TIME LT PMIN23 P32,P72 VARALARM # 00605 NUMBER OF ITERATIONS EXCEEDS LOOP MAXIMUM P32,P72,P37 VARALARM # 00606 DV EXCEEDS MAXIMUM P32,P72 VARALARM # 00607 * NO SOLN FROM TIME-THETA OR TIME-RADIUS TIMETHET,TIMERAD POODOO # Page 24 # 00610 * LAMBDA LESS THAN UNITY P37 POODOO # 00611 NO TIG FOR GIVEN ELEV ANGLE P34,P74 VARALARM # 00612 STATE VECTOR IN WRONG SPHERE OF INFLUENCE P37 VARALARM # 00613 REENTRY ANGLE OUT OF LIMITS P37 VARALARM # 00777 PIPA FAIL CAUSED ISS WARNING. T4RUPT VARALARM # 01102 CMC SELF TEST ERROR ALARM2 # 01103 * UNUSED CCS BRANCH EXECUTED ABORT POODOO # 01104 * DELAY ROUTINE BUSY EXEC BAILOUT # 01105 DOWNLINK TOO FAST T4RUPT ALARM # 01106 UPLINK TOO FAST T4RUPT ALARM # 01107 PHASE TABLE FAILURE. ASSUME RESATRT ALARM # ERASABLE MEMORY IS DESTROYED # 01201 * EXECUTIVE OVERFLOW-NO VAC AREAS EXEC BAILOUT # 01202 * EXECUTIVE OVERFLOW-NO CORE SETS EXEC BAILOUT # 01203 * WAITLIST OVERFLOW-TOO MANY TASKS WAITLIST BAILOUT # 01204 * NEGATIVE OR ZERO WAITLIST CALL WAITLIST POODOO # 01206 * SECOND JOB ATTEMPTS TO GO TO SLEEP PINBALL POODOO # VIA KEYBOARD AND DISPLAY PROGRAM # 01207 * NO VAC AREA FOR MARKS SXTMARK BAILOUT # 01210 * TWO PROGRAMS USING DEVICE AT SAME TIME IMU MODE SWITCH POODOO # 01211 * ILLEGAL INTERRUPT OF EXTENDED VERB SXTMARK BAILOUT # 01301 ARCSIN-ARCCOS ARGUMENT TOO LARGE INTERPRETER ALARM # 01302 * SQRT CALLED WITH NEGATIVE ARGUMENT.ABORT INTERPRETER POODOO # 01407 VG INCREASING S40.8 ALARM # 01426 IMU UNSATISFACTORY P61, P62 ALARM # 01427 IMU REVERSED P61, P62 ALARM # 01501 * KEYBOARD AND DISPLAY ALARM DURING PINBALL POODOO # INTERNAL USE (NVSUB). ABORT. # 01502 * ILLEGAL FLASHING DISPLAY GOPLAY POODOO # 01520 V37 REQUEST NOT PERMITTED AT THIS TIME V37 ALARM # 01521 * P01 ILLEGALLY SELECTED P01, P07 POODOO # 01600 OVERFLOW IN DRIFT TEST OPT PRE ALIGN CALIB ALARM # 01601 BAD IMU TORQUE OPT PRE ALIGN CALIB ALARM # 01602 BAD OPTICS DURING VERIFICATION OPTALGN CALIB (CSM) ALARM # 01703 INSUF. TIME FOR INTEG., TIG WAS SLIPPED R41 ALARM # 03777 ICDU FAIL CAUSED THE ISS WARNING T4RUPT VARALARM # 04777 ICDU , PIPA FAILS CAUSED THE ISS WARNING T4RUPT VARALARM # 07777 IMU FAIL CAUSED THE ISS WARNING T4RUPT VARALARM # 10777 IMU , PIPA FAILS CAUSED THE ISS WARNING T4RUPT VARALARM # 13777 IMU , ICDU FAILS CAUSED THE ISS WARNING T4RUPT VARALARM # 14777 IMU,ICDU,PIPA FAILS CAUSED THE ISSWNING T4RUPT VARALARM # * INDICATES ABORT TYPE.ALL OTHERS ARE NON-ABORTIVE # Page 25 # CHECKLIST CODES FOR 504 # PLEASE REPORT ANY DEFICIENCIES IN THIS LIST TO JOHN SUTHERLAND # *9 *17 *26 COLUMN # # R1 CODE ACTION TO BE EFFECTED # # 00014 KEY IN FINE ALIGNMENT OPTION # 00015 PERFORM CELESTIAL BODY ACQUISITION # 00016 KEY IN TERMINATE MARK SEQUENCE # 00041 SWITCH CM/SM SEPARATION TO UP # 00062 SWITCH AGC POWER DOWN # 00202 PERFORM GNCS AUTOMATIC MANEUVER # 00203 SWITCH TO CMC-AUTO # 00204 PERFORM SPS GIMBAL TRIM # 00403 SWITCH OPTICS TO MANUAL OR ZERO # SWITCH DENOTES CHANGE POSITION OF A CONSOLE SWITCH # PERFORM DENOTES START OR END OF A TASK # KEY IN DENOTES KEY IN OF DATA THRU THE DSKY # Page 26 # OPTION CODES FOR 504 # PLEASE REPORT ANY DEFICIENCIES IN THIS LIST TO JOHN SUTHERLAND # THE SPECIFIED OPTION CODES WILL BE FLASHED IN COMPONENT R1 IN # CONJUNCTION WITH VERB04NOUN06 TO REQUEST THE ASTRONAUT TO LOAD INTO # COMPONENT R2 THE OPTION HE DESIRES. # *9 *17 *52 *11 *25 COLUMN # # OPTION # CODE PURPOSE INPUT FOR COMPONENT 2 PROGRAM(S) APPLICABILITY # # 00001 SPECIFY IMU ORIENTATION 1=PREF 2=NOM 3=REFSMMAT P50'S ALL # 00002 SPECIFY VEHICLE 1=THIS 2=OTHER P21,R30 ALL # 00003 SPECIFY TRACKING ATTITUDE 1=PREFERRED 2=OTHER R63 ALL # 00004 SPECIFY RADAR 1=RR 2=LR R04 SUNDANCE + LUMINARY # 00005 SPECIFY SOR PHASE 1=FIRST 2=SECOND P38 COLOSSUS + LUMINARY # 00006 SPECIFY RR COARSE ALIGN OPTION 1=LOCKON 2=CONTINUOUS DESIG. V41N72 SUNDANCE + LUMINARY # 00007 SPECIFY PROPULSION SYSTEM 1=SPS 2=RCS P37 COLOSSUS # 00010 SPECIFY ALIGNMENT MODE 0=ANY TIME 1=REFSMMAT +G P57 LUMINARY # 2=TWO BODIES 3=ONE BODY + G # 00011 SPECIFY SEPARATION MONITOR PHASE 1=DELTAV 2=STATE VECTOR UPDATE P46 LUMINARY # 00012 SPECIFY CSM ORBIT OPTION 1=NO ORBIT CHANGE 2=CHANGE P22 LUMINARY # ORBIT TO PASS OVER LM ================================================ FILE: Comanche055/AUTOMATIC_MANEUVERS.agc ================================================ # Copyright: Public domain. # Filename: AUTOMATIC_MANEUVERS.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1025-1036 # Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the # same name, using Comanche055 page images. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 1025 BANK 21 SETLOC DAPS3 BANK COUNT 21/DAPAM EBANK= KMPAC AHFNOROT EXTEND READ CHAN31 MASK BIT14 EXTEND BZMF FREECONT CA RCSFLAGS # SEE IF RATE FILTER HAS BEEN INITIALIZED MASK BIT14 CCS A # IF SO, PROCEED WITH ATTITUDE CONTROL TCF REINIT # IF NOT, RECYCLE TO INITIALIZE FILTER # AUTOMATIC CONTROL YET EXTEND READ CHAN31 MASK BIT13 EXTEND BZMF HOLDFUNC AUTOCONT CA HOLDFLAG # IF HOLDFLAG IS +, GO TO GRABANG. EXTEND # OTHERWISE, GO TO ATTHOLD. BZMF ATTHOLD TCF GRABANG # MINIMUM IMPULSE CONTROL FREECONT CAF ONE TS HOLDFLAG # RESET HOLDFLAG # INHIBIT AUTOMATIC STEERING EXTEND READ CHAN32 TS L COM MASK MANROT MASK CHANTEMP LXCH CHANTEMP TC STICKCHK INDEX RMANNDX CA MINTAU # MINTAU +0 TS TAU # +1 +14MS MINIMUM IMPULSE INDEX PMANNDX # +2 -14MS TIME CA MINTAU # +3 +0 TS TAU1 INDEX YMANNDX CA MINTAU # Page 1026 TS TAU2 TCF T6PROGM MINTAU DEC 0 DEC 23 # = 14MS DEC -23 # = -14MS DEC 0 # Page 1027 # CALCULATION OF ATTITUDE ERRORS- # - * - - - # AK = AMGB (CDUX - THETADX) + BIAS # # IE *AK * * 1 SIN(PSI) 0 ** CDUX - THETADX * *BIAS * # * * * ** * * * # *AK1* = * 0 COS(PSI)COS(PHI) SIN(PHI)** CDUY - THETADY * + *BIAS1* # * * * ** * * * # *AK2* * 0 -COS(PSI)SIN(PHI) COS(PHI)** CDUZ - THETADZ * *BIAS2* # # THE BIASES ARE ADDED ONLY WHILE PERFORMING AUTOMATIC MANEUVERS (ESP KALCMANU) TO PROVIDE ADDITIONAL LEAD # AND PREVENT OVERSHOOT WHEN STARTING AN AUTOMATIC MANEUVER. NORMALLY THE REQUIRED LEAD IS ONLY 1-2 DEGREES. # BUT DURING HIGH RATE MANEUVERS IT CAN BE AS MUCH AS 7 DEGREES. THE BIASES ARE COMPUTED BY KALCMANU AND REMAIN # FIXED UNTIL THE MANEUVER IS COMPLETED AT WHICH TIME THEY ARE RESET TO ZERO. ATTHOLD CA CDUX EXTEND MSU THETADX TS ERRORX CA CDUY EXTEND MSU THETADY TS T5TEMP EXTEND MP AMGB1 ADS ERRORX CA T5TEMP EXTEND MP AMGB4 TS ERRORY CA T5TEMP EXTEND MP AMGB7 TS ERRORZ CA CDUZ EXTEND MSU THETADZ TS T5TEMP EXTEND MP AMGB5 ADS ERRORY CA T5TEMP EXTEND MP AMGB8 ADS ERRORZ CS HOLDFLAG EXTEND # Page 1028 BZMF JETS CA BIAS # AD BIASES ONLY IF PERFORMING AUTOMATIC ADS ERRORX CA BIAS1 ADS ERRORY CA BIAS2 ADS ERRORZ TCF JETS HOLDFUNC CCS HOLDFLAG TCF +3 TCF ATTHOLD TCF +1 GRABANG CAF ZERO # ZERO WBODYS AND BIASES TS WBODY TS WBODY +1 TS WBODY1 TS WBODY1 +1 TS WBODY2 TS WBODY2 +1 TS BIAS TS BIAS1 TS BIAS2 CA RCSFLAGS MASK OCT16000 EXTEND # IS RATE DAMPING COMPLETED BZF ENDDAMP # IF SO, GO TO ENDDAMP CAF ZERO # OTHERWISE, ZERO ERRORS TS ERRORX TS ERRORY TS ERRORZ TCF JETS ENDDAMP TS HOLDFLAG # SET HOLDFLAG +0 EXTEND DCA CDUX # PICK UP CDU ANGLES FOR ATTITUDE HOLD DXCH THETADX # REFERENCES CA CDUZ TS THETADZ TCF ATTHOLD # Page 1029 # JET SWITCHING LOGIC AND CALCULATION OF REQUIRED ROTATION COMMANDS # # DETERMINE THE LOCATION OF THE RATE ERROR AND THE ATTITUDE ERROR RELATIVE TO THE SWITCHING LOGIC IN THE PHASE # PLANE. # COMPUTE THE CHANGE IN RATE CORRESPONDING TO THE ATTITUDE ERROR NECESSARY TO DRIVE THE THE S/C INTO THE # APPROPRIATE DEADZONE. # # . # R22 RATE . ERROR # WL+H . # ********************************* . ***** SWITCH LINES ENCLOSING DEADZONES # R23 WL * . # ----------------------------------* . ----- DESIRED RATE LINES # R23 WL-H - *. # ****************** - . R20, R21, R22, ETC REGIONS IN PHASE # * - .* R18 R20 R21 PLANE FOF COMPUTING DESIRED RESPONSE # * . * # *- . * # R22 R24*- R23 . * # * . * # * . * # + -ADB . * AF ATTITUDE # ........................+--+---------------+--+........................ # AF * . +ADB + ERROR # * . * # * . -* # * . -* # * . -* # * . * # *. - * # . - ***************** # .* - # . * -------------------------------- # . * # . ******************************** # . # FIG. 1 PHASE PLANE SWITCHING LOGIC # CONSTANTS FOR JET SWITCHING LOGIC WLH/SLOP DEC .00463 # = WL+H/SLOPE = .83333 DEG $180 WL-H/SLP DEC .00277 # = WL-H/SLOPE = .5 DEG $180 WLH 2DEC .0011111111 # = WL+H = 0.5 DEG/SEC $450 WLMH 2DEC .0006666666 # = WL-H = 0.3 DEG/SEC $450 WL 2DEC .0008888888 # = WL = 0.4 DEG/SEC $450 # Page 1030 SLOPE2 DEC .32 # = 0.8 DEG/SEC/DEG $450/180 JETS CA ADB AD FOUR # AF = FLAT REGION = .044 DEG TS T5TEMP # ADB+AF CAF TWO JLOOP TS SPNDX DOUBLE TS DPNDX EXTEND INDEX A DCA ADOT DXCH EDOT CA HOLDFLAG # HOLDFLAG = +0 MEANS THAT DAP IS IN EXTEND # ATTITUDE HOLD AND RATE DAMPING IS OVER. BZF INHOLD # IF THIS IS THE CASE, BYPASS ADDITION # OF WBODY AND GO TO INHOLD EXTEND INDEX DPNDX DCS WBODY DAS EDOT # = ADOT-WBODY INHOLD INDEX SPNDX CA ERRORX TS AERR # AERR = BIAS + AK CCS EDOT TCF POSVEL TCF SIGNCK1 TCF NEGVEL SIGNCK1 CCS EDOT +1 TCF POSVEL TCF POSVEL TCF NEGVEL TCF NEGVEL POSVEL EXTEND DCA EDOT DXCH EDOTVEL CA T5TEMP TS ADBVEL # +(ADB+AF) CA AERR TS AERRVEL TC J6. NEGVEL EXTEND DCS EDOT DXCH EDOTVEL CS T5TEMP TS ADBVEL # -(ADB+AF) CS AERR TS AERRVEL J6. EXTEND # Page 1031 SU ADB AD WLH/SLOP EXTEND BZMF J8 CS T5TEMP # (ADB+AF) AD AERRVEL EXTEND BZMF +2 TCF J7 EXTEND DCS EDOTVEL EXTEND DV SLOPE EXTEND SU AERRVEL AD ADB EXTEND BZMF J18 TCF J23 J7 CS WL-H/SLP EXTEND SU T5TEMP # (ADB+AF) AD AERRVEL EXTEND BZMF J20 TCF J21 J8 EXTEND DCS WLH DXCH WTEMP EXTEND DCA EDOTVEL DAS WTEMP CCS WTEMP TCF J22 TCF SIGNCK2 TCF NJ22 SIGNCK2 CCS WTEMP +1 TCF J22 TCF J22 TCF NJ22 NJ22 EXTEND DCA EDOTVEL EXTEND DV SLOPE AD T5TEMP # (ADB+AF) AD AERRVEL # Page 1032 CCS A TCF J23 TCF J23 TCF +2 TCF J23 EXTEND DCS WLMH # WL - H DXCH WTEMP EXTEND DCA EDOTVEL DAS WTEMP CCS WTEMP TCF J23 TCF SIGNCK3 TCF NJ23 SIGNCK3 CCS WTEMP +1 TCF J23 TCF J23 TCF NJ23 NJ23 CA AERRVEL AD T5TEMP # (ADB+AF) AD WL-H/SLP CCS A TCF J24 TCF J24 TCF J22 TCF J22 J18 EXTEND DCS EDOT DXCH KMPAC TCF JTIME J20 CS AERR AD ADBVEL EXTEND MP SLOPE2 # (HYSTERESIS SLOPE) DXCH KMPAC EXTEND DCS EDOT DAS KMPAC TCF JTIME J21 CCS EDOT TCF JP TCF SIGNCK4 TCF JN SIGNCK4 CCS EDOT +1 # Page 1033 TCF JP TCF JP TCF JN JN EXTEND DCS EDOT DXCH KMPAC EXTEND DCA WL DAS KMPAC TCF JTIME JP EXTEND DCS EDOT DXCH KMPAC EXTEND DCS WL DAS KMPAC TCF JTIME J22 CCS EDOT TCF JN TCF SIGNCK5 TCF JP SIGNCK5 CCS EDOT +1 TCF JN TCF JN TCF JP TCF JP J23 INDEX SPNDX CS BIT13 # RESET RATE DAMPING FLAG MASK RCSFLAGS # BIT13 FOR ROLL (SPNDX = 0) TS RCSFLAGS # BIT12 FOR PITCH (SPNDX = 1) # BIT11 FOR YAW (SPNDX = 2) INDEX SPNDX CAF OCT01400 # IS THERE TO BE A FORCED FIRING ON THIS MASK RCSFLAGS # AXIS EXTEND BZF DOJET +2 # NO, GO TO DOJET +2 AND DO NOTHING TCF J18 # YES, GO TO J18 AND FORCE A FIRING J24 CS AERR EXTEND SU ADBVEL EXTEND MP SLOPE2 # (HYSTERESIS SLOPE) DXCH KMPAC EXTEND # Page 1034 DCS EDOT DAS KMPAC # Page 1035 # COMPUTE THE JET ON TIME NECESSARY TO ACCOMPLISH THE DESIRED CHANGE IN RATE, IE # # T = J/M(DELTA W) # J # # DELTA W = DESIRED CHANGE IN S/C ANGULAR RATE AS DETERMINED BY THE # SWITCHING LOGIC, AT THIS POINT STORED IN KMPAC. # # J/M = S/C INERTIA TO TORQUE 9ATIO SCALED BY # (57.3/450)(B24/1600)(1/.8) # FOR 1 JET OPERATION (M = 700 FT-LB). # IE J/M = J(SLUG-FTFT) x 0.00000085601606 # # THE CORRESPONDING COMPUTER VARIABLES ESTABLISHED BY # KEYBOARD ENTRY ARE # J/M (ROLL) # J/M1 (PITCH) # J/M2 (YAW) # # T = JET-ON TIME SCALED 16384/1600 SEC # J # # THE COMPUTER VARIABLES ARE # TAU (ROLL) # TAU1 (PITCH) # TAU2 (YAW) JTIME INDEX SPNDX # PICK UP S/C INERTIA/TORQUE RATIO CA J/M # SCALED (57.3/450)(B24/1600) TC SMALLMP # FOR 1-JET OPERATION CA BIT11 TC SMALLMP CCS KMPAC TCF +4 TCF TAUNORM TCF +4 TCF TAUNORM CA POSMAX TCF DOJET CA NEGMAX TCF DOJET TAUNORM CA KMPAC +1 DOJET INDEX SPNDX TS TAU CCS SPNDX TCF JLOOP TCF T6PROG # Page 1036 ZEROCMDS CAF ZERO TS TAU TS TAU1 TS TAU2 T6PROG EXTEND # WHEN THE ROTATION COMMANDS (TAUS) DCA JETADDR # HAVE BEEN DETERMINED DXCH T5LOC # RESET T5LOC FOR PHASE3 TCF RESUME EBANK= KMPAC JETADDR 2CADR JETSLECT ================================================ FILE: Comanche055/CM_BODY_ATTITUDE.agc ================================================ # Copyright: Public domain. # Filename: CM_BODY_ATTITUDE.agc # Purpose: Part of the source code for Comanche, build 055. It # is part of the source code for the Command Module's # (CM) Apollo Guidance Computer (AGC), Apollo 11. # Assembler: yaYUL # Reference: pp. 883-889 # Contact: Ron Burkey # Website: http://www.ibiblio.org/apollo. # Mod history: 2009-05-12 RSB Adapted from Colossus249 file of the same # name and Comanche 055 page images. # # The contents of the "Comanche055" files, in general, are transcribed # from scanned documents. # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. April 1, 1969. # # This AGC program shall also be referred to as Colossus 2A # # Prepared by # Massachusetts Institute of Technology # 75 Cambridge Parkway # Cambridge, Massachusetts # # under NASA contract NAS 9-4065. # # Refer directly to the online document mentioned above for further # information. Please report any errors to info@sandroid.org. # Page 883 BANK 35 SETLOC BODYATT BANK COUNT 37/CMBAT # PDL 12D - 15D SAFE. # VALUES OF GIMBAL AND BODY ANGLES VALID AT PIP TIME ARE SAVED DURING READACCS. EBANK= RTINIT # LET INTERPRETER SET EB CM/POSE TC INTPRET # COME HERE VIA AVEGEXIT. SETPD VLOAD 0 VN # KVSCALE = (12800/ .3048) /2VS VXSC PDVL -KVSCALE # KVSCALE = .81491944 UNITW # FULL UNIT VECTOR VXV VXSC # VREL = V - WE*R UNITR KWE VAD STADR STORE -VREL # SAVE FOR ENTRY GUIDANCE. REF COORDS UNIT LXA,1 36D # ABVAL( -VREL) TO X1 STORE UXA/2 # -UVREL REF COORDS VXV VCOMP UNITR # .5 UNIT REF COORDS UNIT SSP # THE FOLLOWING IS TO PROVIDE A STABLE S1 # UN FOR THE END OF THE TERMINAL PHASE. SPVQUIT DEC .019405 # 1000/ 2 VS TIX,1 VLOAD # IF V-VQUIT POS, BRANCH. CM/POSE2 # SAVE UYA IN OLDUYA OLDUYA # OTHERWISE CONTINUE TO USE OLDUYA. CM/POSE2 STORE UYA/2 # REF COORDS STORE OLDUYA # RESTORE, OR SAVE AS CASE MAY BE. VXV VCOMP UXA/2 # FINISH OBTAINING TRAJECTORY TRIAD. VSL1 STORE UZA/2 # REF COORDS # Page 884 TLOAD # PICK UP CDUX, CDUY, CDUZ CORRESPONDING AOG/PIP # TO PIPUP TIME IN 2S.C AND SAVE. CM/TRIO STODL 24D 25D # AIG/PIP RTB PUSH # TO PDL0 CDULOGIC COS STODL UBX/2 # CI /2 # AIG/PIP FROM PDL 0 SIN DCOMP STODL UBX/2 +4 # -SI /2 26D # AMG/PIP RTB PUSH # TO PDL 0 CDULOGIC SIN PDDL # XCH PDL 0. SAVE SM /2 COS PDDL # CM /2 TO PDL 2 0 # SM /2 DCOMP VXSC UBX/2 VSL1 # NOISE WONT OVFL. STODL UBY/2 # =(-SMCI, NOISE, SMSI)/2 2 # CM /2 REPLACES NOISE STODL UBY/2 +2 # UBY/2=(-SMCI, CM, SMSI)/2 24D # AOG/PIP RTB PUSH # TO PDL 4 CDULOGIC SIN PDDL # XCH PDL 4. SAVE SO /2 COS VXSC # CO /2 UBY/2 STODL UBY/2 # UBY/2=(-COSMCI, COCM, COSMSI)/4 4D # SO /2 DMP DCOMP UBX/2 +4 # -SI /2 DAD UBY/2 # INCREMENT BY (SOSI /4) STODL UBY/2 # SO /2 FROM PDL 4 DMP DAD UBX/2 # CI /2 UBY/2 +4 STOVL UBY/2 +4 # YB/4 PLATFORM COORDS # YB = (-COSMCI + SOSI , COCM , COSMSI + SOCI ) UBY/2 VXM VSL2 REFSMMAT # .5 UNIT STODL UBY/2 # YB/2 DONE REF COORDS # Page 885 # CM /2 FROM PDL 2 VXSC VSL1 UBX/2 STODL UBX/2 # =( CMCI, NOISE, -CMSI)/2 STADR # SM /2 FROM PDL 0 STOVL UBX/2 +2 # SM /2 REPLACES NOISE UBX/2 # XB/2 PLATFORM COORDS # XB = ( CMCI , SM , -CMSI ) VXM VSL1 REFSMMAT # .5 UNIT STORE UBX/2 # XB/2 DONE REF COORDS VXV VSL1 UBY/2 STOVL UBZ/2 # ZB/2 DONE REF COORDS # EQUIVALENT TO # ZB = ( SOSMCI + COSI , -SOCM , -SOSMSI + COCI) UXA/2 # -UVREL/2 = -UVA/2 VXV UNIT # GET UNIT(-UVREL*UBY)/2 = UL/2 UBY/2 # YB/2 PUSH DOT # UL/2 TO PDL 0,5 UZA/2 # UNA/2 STOVL COSTH # COS(ROLL)/4 0 # UL/2 DOT UYA/2 STCALL SINTH # -SIN(ROLL)/4 ARCTRIG STOVL 6D # -(ROLL/180) /2 UBY/2 DOT SL1 # -UVA.UBY = -SIN(BETA) UXA/2 # -UVREL/2 ARCSIN STOVL 7D # -(BETA/180) /2 UBX/2 # XB/2 DOT # UL.UBX = -SIN(ALFA) 0 # UL/2 STOVL SINTH # -SIN(ALFA)/4 DOT # UL/2 FROM PDL 0 UBZ/2 STCALL COSTH # COS(ALFA)/2 ARCTRIG STOVL 8D # -(ALFA/180) /2 UNITR # UR/2 REF COORDS DOT SL1 # Page 886 UZA/2 # MORE ACCURATE AT LARGE ARG. ARCCOS STORE 10D # (-GAMA/180)/2 TLOAD EXIT # ANGLES IN MPAC IN THE ORDER # -( (ROLL, BETA, ALFA) /180)/2 6D # THESE VALUES CORRECT AT PIPUP TIME. # Page 887 # BASIC SUBROUTINE TO UPDATE ATTITUDE ANGLES EBANK= AOG CM/ATUP CA EBAOG TS EBANK CMTR1 INDEX FIXLOC CS 10D # (GAMA/180)/2 XCH GAMA TS L INHINT # MUST REMAIN INHINTED UNTIL UPDATE OF BODY # ANGLES, SO THAT GAMDIFSW IS VALID FIRST PASS # INDICATOR. CS CM/FLAGS MASK BIT11 # GAMDIFSW=94D BIT11 INITLY=0 EXTEND # DONT CALC GAMA DOT UNTIL HAVE FORMD # ONE DIFFERENCE. BZF DOGAMDOT # IS OK, GO ON. ADS CM/FLAGS # KNOW BIT IS 0 TC NOGAMDOT # SET GAMDOT = 0 DOGAMDOT CS L AD GAMA # DEL GAMA/360= T GAMDOT/360 EXTEND MP TCDU # TCDU = .1 SEC, T = 2 SEC. TS GAMDOT # GAMA DOT TCDU / 180 EXTEND # IGNORE GAMDOT IF LEQ .5 DEG/SEC BZMF +2 COM AD FIVE EXTEND BZMF +3 # SET GAMDOT=+0 AS TAG IF TOO SMALL. NOGAMDOT CA ZERO # COME HERE INHINTED. TS GAMDOT # FOR NOW LEAVE IN 2S.C # UPDATE ANGLES BY CORRECTING EUILER ANG # FOR ACCRUED INCREMENT SINCE PIPUP # R = R EUIL + R(NOW) -R(PIPUP) CS MPAC # GET (R EUL/180) /2 DOUBLE # POSSIBLE OVERFLOW TC CORANGOV # CORRECT FOR OVFL IF ANY EXTEND SU ROLL/PIP # GET INCR SINCE PIPUP AD ROLL/180 # ONLY SINGLE OVFL POSSIBLE. TC CORANGOV # CORRECT FOR OVFL IF ANY # Page 888 TS TEMPROLL CS MPAC +2 # GET (ALFA EUL/180) /2 DOUBLE # SAME AS FOR ROLL. NEEDED FOR EXT ATM DAP TC CORANGOV # CORRECT FOR OVFL IF ANY EXTEND SU ALFA/PIP AD ALFA/180 TC CORANGOV # CORRECT FOR OVFL IF ANY TS TEMPALFA CS MPAC +1 # GET (BETA EUL/180) /2 CMTR2 DOUBLE EXTEND SU BETA/PIP AD BETA/180 XCH TEMPBETA # OVFL NOT EXPECTED. CA EBANK3 TS EBANK EBANK= PHSNAME5 EXTEND DCA REPOSADR # THIS ASSUMES THAT THE TC PHASCHNG DXCH PHSNAME5 # IS NOT CHANGED IN OCT 10035 # SERVICER. CA EBAOG TS EBANK EBANK= AOG REDOPOSE EXTEND # RE-STARTS COME HERE DCA TEMPROLL DXCH ROLL/180 CA TEMPBETA TS BETA/180 RELINT TC INTPRET # CANT TC DANZIG AFTER PHASCHNG. CM/POSE3 VLOAD ABVAL # RETURN FROM CM/ATUP. (RESTART) VN # 2(-7) M/CS STORE VMAGI # FOR DISPLAY ON CALL. GOTO POSEXIT # ENDEXIT, STARTENT, OR SCALEPOP. CORANGOV TS L TC Q INDEX A # Page 889 CA LIMITS ADS L TC Q # COSTS 2 MCT TO USE. SEE ANGOVCOR. -KVSCALE 2DEC -.81491944 # -12800/(2 VS .3048) TCDU DEC .1 # TCDU = .1 SEC. EBANK= AOG REPOSADR 2CADR REDOPOSE ================================================ FILE: Comanche055/CM_ENTRY_DIGITAL_AUTOPILOT.agc ================================================ # Copyright: Public domain. # Filename: CM_ENTRY_DIGITAL_AUTOPILOT.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1063-1092 # Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the # same name, using Comanche055 page images. # 2009-05-20 RSB Corrections: Removed an extraneous label # EXDAPIN, added a missing instruction in # COMPAT. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 1063 # SUBROUTINE TO READ GIMBAL ANGLES AND FORM DIFFERENCES. GIMBAL ANGLES ARE SAVED IN 2S COMPLEMENT, BUT THE # DIFFERENCES ARE IN 1S COMP. ENTER AND READ ANGLES EACH .1 SEC. # # CM/DSTBY = 1 FOR DAP OPERATION # CM/DSTBY = 0 TO TERMINATE DAP OPERATION. BANK 15 SETLOC ETRYDAP BANK COUNT 15/DAPEN EBANK= AOG READGYMB CA TEN # KEEP RESTART DT GOING RELATIVE TO ADS CM/GYMDT # PIPTIME. (GROUP 6) # IF A RESTART OCCURS, SKIP PRESENT CYCLE. THE # PHASCHNG PROTECTION IS IN CM/DAPIC. CA BIT6 # CHECK FOR FINE ALIGN MODE OF CDU. MASK IMODES33 # ( PROTECT AOG/PIP ETC AS WELL AS EXTEND # GIMBAL DIFFERENCES) BZF READGYM1 # OK CS BIT1 # NOT IN FINE ALIGN, SO IDLE. MASK CM/FLAGS # SET GYMDIFSW = 0 TS CM/FLAGS TC FLUSHJET # QUENCH JETS, SINCE MAY BE A WHILE. TC CM/GYMIC +2 READGYM1 CA CDUX XCH AOG EXTEND MSU AOG # -DELAOG=AOG(N-1) - AOG(N) TS -DELAOG CA CDUY XCH AIG EXTEND MSU AIG TS -DELAIG CA CDUZ XCH AMG EXTEND MSU AMG TS -DELAMG # Page 1064 DOBRATE? CS CM/FLAGS # CM/DSTBY=103D BIT2 GYMDIFSW=104D BIT1 MASK THREE INDEX A TC +1 TC DOBRATE # OK, GO ON TC CM/GYMIC # DONT CALC BODYRATE ON FIRST PASS. NOOP TC FLUSHJET # TURN OFF ALL JETS TC PHASCHNG OCT 00006 # DEACTIVATE DAP GROUP 6. TC TASKOVER DOBRATE CA ONE # DO BODYRATE DOBRATE1 TS JETEM # SKIP BODYRATE. CA TEN # KEEP CDU READ GOING. TC WAITLIST EBANK= AOG 2CADR READGYMB # DOES NOT PROTECT TEMK, SQ IN SPSIN/COS CCS JETEM TC BODYRATE TC TASKOVER # SKIP CALC ON INITIAL PASS. (PASSES) CM/GYMIC ADS CM/FLAGS # GYMDIFSW: C(A)=1, KNOW BIT IS 0 CAF ZERO TS JETAG TS OLDELP TS OLDELQ TS OLDELR TS GAMDOT # NO GYM DIF, PROB NO GAM DIF. TC DOBRATE1 # Page 1065 # COME HERE TO CORRECT FOR OVERFLOW IN ANGULAR CALCULATIONS ANGOVCOR TS L # THIS COSTS 2 MCT TO USE. TC Q # NO OVFL INDEX A CAF LIMITS ADS L TC Q BLOCK 3 COUNT 03/DAPEN FLUSHJET CA 7 # COME HERE TO TURN OFF ALL JETS. EXTEND WRITE ROLLJETS # ZERO CHANNEL 6 EXTEND WRITE PYJETS # ZERO CHANNEL 5 TC Q BANK 15 COUNT 15/DAPEN SETLOC ETRYDAP BANK RATEAVG COM # SUBROUTINE TO ESTIMATE RATES IN PRESENCE AD JETEM # OF CONSTANT ACCELERATION. EXTEND MP HALF # DELV (EST) = DELV +(DELV-OLDELV)/2 AD JETEM TC Q # Page 1066 # THESE ARE CALLED FOR THE VARIOUS INITIALIZATIONS NEEDED. BANK 20 SETLOC DAPS1 BANK COUNT 20/DAPEN EBANK= AOG CM/DAPON CA EBAOG TS EBANK TC DOWNFLAG # RESET DAPBIT1. T5 RESTART IDENTIFIER. ADRES DAPBIT1 # BIT 15 FLAG 6 CM FLAGS. TC DOWNFLAG # RESET DAPBIT2 ADRES DAPBIT2 # BIT 14 FLAG 6 EXTEND DCA T5IDLER1 # DISABLE RCS CALCULATION DXCH T5LOC EXTEND DCA T5IDLER1 # DISABLE RCS JET CALLS DXCH T6LOC TC FLUSHJET # JETS DEPARTED ON SM. ZERO JET BITS. CS 13,14,15 MASK DAPDATR1 # SET CONFIG BITS =0 FOR ENTRY TS DAPDATR1 TC +4 NOTYET CA .5SEC TC BANKCALL CADR DELAYJOB # (DELAYJOB DOES INHINT) +4 CA BIT11 # GAMDIFSW = 94D BIT11, INITLY=0 MASK CM/FLAGS # IF ZERO, WAIT UNTIL CM/POSE UPDATE. EXTEND BZF NOTYET CS ONE # ACTIVATE CM/DAP TS RCSFLAGS # USE BIT3 TO INITIALIZE NEEDLER ON # NEXT PASS. TS P63FLAG # SO WAKEP62 WILL NOT BE INITIATED UNTIL # HEADSUP IS SET IN P62. # FLAG TO PREVENT MULTIPLE CALLS TO WAKEP62. CA 7 TS JETAG TS PAXERR1 # KEEP NEEDLES ZERO UNTIL DAP UPDATE # IN CASE CMDAPMOD IS NOT +1. # Page 1067 INHINT EXTEND DCA ALFA/180 # DO ATTITUDE HOLD UNTIL KEYBOARD DXCH ALFACOM # ESTABLISHES HEADSUP. CA ROLL/180 TS ROLLHOLD # FOR ATTITUDE HOLD IN MODE +1. EXTEND MP HALF TS ROLLC # NOT INTERESTED IN LO WORD. CS CM/FLAGS MASK BIT12 # CMDAPARM =93D BIT12 INITLY=0 ADS CM/FLAGS # SET BIT TO 1. CS FLAGWRD2 # SET NODOFLAG TO PREVENT FURTHER MASK BIT1 # V 37 ENTRIES. ADS FLAGWRD2 RELINT TC POSTJUMP CADR P62.1 # Page 1068 # INITIALIZE CM/DAP. WAITLIST CALL FOR READGYMB. SET SWITCH CM/DSTBY =1 # SO READACCS WILL ENTER A WTLST CALL FOR SETJTAG . # CMDAPARM = 0, SO ONLY BODY RATE AND ATTITUDE CALCULATIONS ARE DONE. # SET AVEGEXIT TO CONTINUE AT CM/POSE CM/DAPIC CA EBAOG TS EBANK INHINT CM/DAP2C CS PIPTIME +1 # PRIO OF P62 L PRIO AVG.:PIPTM=PIPTM1 TS JETEM CA POS1/2 AD POS1/2 AD TIME1 # OVFL GUARANTEED ADS JETEM # C(A) = DELTA TIME SINCE PIPUP CS FIVE AD JETEM CCS A AD -CDUT+1 TCF -2 NOOP AD ONE # SEND NO ZERO TO WTLST TS CM/GYMDT # FOR RESTART TC WAITLIST EBANK= AOG 2CADR READGYMB CS CM/SWIC1 # GAMDIFSW, GYMDIFSW, CM/DSTBY MASK CM/FLAGS # DAPARM, .05GSW, LATSW, ENTRYDSP AD CM/SWIC2 # SET CM/DSTBY, LATSW # DISABLE ENTRY DISPLAY, SINCE DES. GIMB. # CALC. (P62.3) GOES TO ENDEXIT. TS CM/FLAGS CA 7 TS BETA/180 # NECESSARY: NO OVFL CORRECTION CA ONE # INITIALIZE THE TM OF BODY RATES VIA TS SW/NDX # UPBUFF. TC 2PHSCHNG # DOES INHINT/RELINT OCT 40116 # SAVE TBASE6 OCT 05024 OCT 13000 TC POSTJUMP # Page 1069 CADR P62.2 CM/SWIC1 OCT 16017 CM/SWIC2 = TEN # 00012 : CM/DSTBY, LATSW -CDUT+1 OCT 77766 EBANK= T5LOC T5IDLER1 2CADR T5IDLOC # Page 1070 # THIS SECTION CALCULATES THE ANGULAR BODY RATES EACH .1 SEC. THE ANGULAR RATES ARE THOSE ALONG THE BODY AXES # XB, YB, ZB, AND ARE NORMALLY DESIGNATED P, Q, R. REQUIREMENT: TEMPORARY ERASE. JETEM, JETEM +1 # # SINCE RESTARTS ZERO THE JET OUTPUT CHANNELS, NO ATTEMPT IS MADE TO RESTART THE ENTRY DAPS. THAT IS, # THE 0.1 SEC DAPS WILL MISS A CYCLE, AND WILL PICK UP AT THE NEXT 0.1 SEC UPDATE. MOST OF THE TIME THE 2 SEC # ROLL SYSTEM WILL MISS ONLY 0.1 SEC OF CONTROL. HOWEVER, IF THE RESTART OCCURS AFTER THE SECTION TIMETST HAS # STARTED, THEN THE ROLL SYSTEM WILL MISS ONE CYCLE. # THIS IS NECESSARY UNDER THE GROUNDRULE THAT NO JET COMMANDS SHALL BE LESS THAN 14 MS. EBANK= AOG BANK 15 SETLOC ETRYDAP BANK COUNT 15/DAPEN BODYRATE CA AMG # THESE ARE 2S COMPL NOS, BUT USE ANYWAY. TC SPCOS TS COSM CA AOG # C(AOG) = AOG/180 TC SPSIN # SINO TS SINO # SINO = SIN(AOG) EXTEND MP COSM TS SINOCOSM # SO CM CA AOG TC SPCOS # COSO TS COSO EXTEND MP COSM TS COSOCOSM # CO CM # PITCHDOT: Q TCDU/180 = IDOT TCDU/180 COSO COSM + MDOT TCDU/180 SINO CS -DELAMG EXTEND MP SINO DXCH JETEM # 2 LOCS CS -DELAIG EXTEND MP COSOCOSM DAS JETEM CA JETEM XCH OLDELQ TC RATEAVG TS QREL # PITCHDOT = Q TCDU/180 # Page 1071 # YAWDOT: R TCDU/180 = -IDOT TCDU/180 COSM SINO + MDOT TCDU/180 COSO CS -DELAMG EXTEND MP COSO DXCH JETEM CA -DELAIG EXTEND MP SINOCOSM DAS JETEM CA JETEM XCH OLDELR TC RATEAVG TS RREL # YAWDOT = R TCDU/180 # ROLLDOT: P TCDU/180 = ODOT TCDU/180 + IDOT TCDU/180 SINM CA AMG TC SPSIN TS SINM EXTEND MP -DELAIG TS JETEM CA ZERO DDOUBL # ROUND L INTO A AD -DELAOG AD JETEM CS A TS JETEM XCH OLDELP TC RATEAVG TS PREL # ROLLDOT = P TCDU/180 # IF GAMDOT < 0.5 DEG/SEC, THEN GAMDOT =0 CCS GAMDOT TC +2 TC NOGAMDUT CS ROLL/180 TC SPSIN EXTEND MP GAMDOT TS JETEM +1 # -SR GAMDOT EXTEND MP SINTRIM # SIN(-20) (FOR NOMINAL L/D = .3) ADS PREL # PREL TCDU/180=(P-SALF SR GAMDOT)TCDU/180 CA ROLL/180 TC SPCOS # Page 1072 COM EXTEND MP GAMDOT ADS QREL # QREL TCDU/180=(Q-CR GAMDOT) TCDU/180 CS JETEM +1 # B( ) = -SR GAMDOT EXTEND MP COSTRIM # COS(-20) (FOR NOMINAL L/D = .3) ADS RREL # RREL TCDU/180=(R+CALF SR GAMDOT)TCDU/180 NOGAMDUT CA BIT12 # CMDAPARM = 93D BIT 12 MASK CM/FLAGS EXTEND STBYDUMP BZF TASKOVER # DAP NOT ARMED. CA POSMAX # PICK UP AT ATTRATES IN 10 MS OR SO. TS TIME5 EXTEND DCA ATDOTCAD DXCH T5LOC # DOES NOT PROTECT TEMK, SQ IN SPSIN/COS TC TASKOVER EBANK= AOG ATDOTCAD 2CADR ATTRATES # Page 1073 # CALCULATE BODY ATTITUDE RATES AND INTEGRATE TO OBTAIN ATTITUDE ANGLES. # # CB PHIDOT TCDU/180 = (CA PREL + SA RREL) TCDU/180 # BETADOT TCDU/180 = (-SA PREL + CA RREL) TCDU/180 # ALFADOT TCDU = (QREL + SB PHIDOT) TCDU/180 ATTRATES LXCH BANKRUPT # CONTINUE HERE VIA T5 EXTEND # TASK MAY BE SKIPPED AT RESTART. QXCH QRUPT CA SR DOUBLE TS CM/SAVE # DOES NOT PROTECT TEMK, SQ IN SPSIN/COS CA QREL AD ALFA/180 TC ANGOVCOR TS ALFA/180 TC SPCOS TS CALFA # CALFA TS PHIDOT EXTEND MP PREL XCH PHIDOT # CA PREL EXTEND MP RREL # CA RREL TS BETADOT CA ALFA/180 TC SPSIN TS SALFA # SIN(ALFA) EXTEND MP RREL # SA RREL ADS PHIDOT # CB PHIDOT, SAVED. CS SALFA EXTEND MP PREL ADS BETADOT # SAVE BETADOT TCDU/180 ADS BETA/180 # BETA DONE. TC SPSIN EXTEND MP PHIDOT # NEGLECT CB IN CB PHIDOT AD ALFA/180 TC ANGOVCOR TS ALFA/180 # ALFA DONE. # Page 1074 COM AD ALFACOM TC ANGOVCOR # JUST IN CASE ... TS AK1 TS QAXERR # FOR PITCH FDAI AND EDIT. CA PHIDOT # PHIDOT TCDU/180, NEGLECTING CB AD ROLL/180 TC ANGOVCOR TS ROLLTM # ROLL/180 FOR TM. TS ROLL/180 # ROLL DONE. # START YAW AUTOPILOT HERE. RATE DAMPING WITH ENFORCED COORDINATED ROLL MANEUVER. CS BETA/180 # IF IN ATM, SAVE 'RAXERR' FOR TM DNLST. AD BETACOM TS RAXERR # IF OUTSIDE ATM, USE TM REGISTER 'RAXERR' # AS A TEMPORARY. (DAP OPERATION IS IN INTERRUPT, SO # IS OK.) FINAL C(RAXERR) AT END OF DAP CYCLE WILL # BE R-AXIS ERROR. CA BIT3 # .05GSW = 102D BIT3 SW=0, LESS .05G MASK CM/FLAGS # SWITCH =1, GREATER THAN .05 G EXTEND BZF EXDAP # IF G LESS THAN .05 CS ONE # IF G GEQ THAN .05 TS CMDAPMOD # SAVE -1 FOR USE IN CM/RCS TS AK1 # TO ZERO PITCH AND YAW FDAI NEEDLES TS AK2 # IN ATM. (MODE =-1) CS PREL # YAW ERROR = RREL - PREL TAN(ALFA) EXTEND MP SINTRIM # LET SIN(-20) BE APPROX FOR TAN(-20) AD RREL TC 2D/SDZ # GO TEST DZ. GET TAG: +0 IF IN DZ INDEX A # +/- 1 IF NOT CAF YJETCODE TS JETEM # START PITCH AUTOPILOT HERE. RATE DAMPING ONLY. CA QREL TC 2D/SDZ EXDAPIN INDEX A # COME HERE FROM EX ATM DAP CAF P/RJCODE ADS JETEM # COMBINE ALL NEW BITS. EXTEND # DOES NOT REQUIRE SAVING OLD CODES. # Page 1075 WRITE PYJETS # SET PYCHAN TO DESIRED BIT CONFIG. CCS JETAG TC CM/RCS TC CM/FDAI TC CM/FDAIR -1 # (JETAG=-1 EQUIVALENT TO CMDAPMOD=+1) # Page 1076 # DEAD ZONE LOGIC USED BY ENTRY DIGITAL AUTOPILOTS. 3DDZ CCS A # YAWLIM=1.0-3/180=16384-273=16111 AD YAWLIM TCF DZCOM AD YAWLIM TCF DZNOCOM # BIASED DZ FOR EXT ATM DAP. BIASEDZ TS JETEM2 # SAVE RATE/180. ERROR/180 IS IN L. CCS A # START ERROR DZ. CS CM/BIAS # = .6/180 TCF +2 CA CM/BIAS AD L # BIAS THE ERROR. LXCH Q # SAVE CALLERS RETURN ADDRESS. TC 3DDZ # GO GENERATE THE ERROR BIT. DXCH L # BIT TO L, RESTORE CALLERS Q. 4D/SDZ CCS JETEM2 # CAME HERE IN EXT ATM. C(L) = ERROR BIT AD 4D/SLIM # IF RATE GEQ 4D/S, SET L=0 AND TAKE TCF +2 # JET BITS ACCORDING TO SGN OF RATE. AD 4D/SLIM TS A TCF +2 # RATE OK. CONTINUE ZL # RATE GEQ 4 D/S. OVER RIDE ERROR BIT XCH JETEM2 # AND CONTINUE TO GET SIGN. 2D/SDZ CCS A # COME HERE TO TEST IF A WITHIN 2DEG/S DZ AD YDOTLIM # 1.0 - YDOT DZ (OR PDOT) TCF +3 AD YDOTLIM # YDOT DZ = 2 DEG/SEC DZCOM COM DZNOCOM TS JETEM +1 # GENERATE TAG, SET C(A)= -+1 OUTSIDE DZ CA ZERO # SET C(A) = +0 INSIDE TC Q # Page 1077 # EXTRA ATMOSPHERIC DIGITAL AUTOPILOT # # 1. IF ABS(CALF) -C(45) POS, USE IF CALFA POS, CMDAPMOD= +0 # BETA: YAW ERROR = SGN(CALF) (BETACOM -BETA) IF CALFA NEG, CMDAPMOD= -0 # RATE = BETADOT IF CMDAPMOD = -0, RATE = RREL # R-AXIS = CONTROL # # ROLL: ROLL ERROR = SGN(CALF) (ROLLC - ROLL) IF CMDAPMOD = -0, RATE DAMP ONLY. # RATE = PREL # P-AXIS = CONTROL # # 2. IF C(45) GEQ CALFA GEQ -C(45), USE CMDAPMOD = +1 # BETA: ROLL ERROR = SGN(-SALF) (BETACOM -BETA) # RATE = BETADOT # P-AXIS = CONTROL # # ROLL: YAW ERROR = SGN(SALF) (ROLLC - ROLL) RATE DAMP ONLY. # RATE = RREL # R-AXIS = CONTROL # # 3. FOR ALL CASES, USE # ALFA: PITCH ERROR = (ALFACOM - ALFA) # RATE = QREL # Q-AXIS = CONTROL EXDAP TS CMDAPMOD # +0 FOR NOW CCS CALFA AD C45LIM # =1.0-COS(45) TCF +2 AD C45LIM TS A TCF EXDAP2 # HERE IF ABS(CALFA) L COS(45) CCS CALFA # |CALFA| > 0.707 TCF +1 # CONTINUE IF POS; GO TO EXDAP4 IF NEG. CCS P63FLAG # VALID VALUES ARE: -1, +1, +0. TC EXDAP4 TC +2 TC EXDAP4 TC PHASCHNG # SINGLE PASS THROUGH HERE. OCT 40334 CS ONE TS P63FLAG # SET FLAG TO ASSURE SINGLE PASS. CA NSEC TC WAITLIST EBANK= AOG 2CADR WAKEP62 # CALL TO TERMINATE P62 IN N SEC. # Page 1078 # 65 DEG/ 3DEG/SEC = 21 SEC NOMINAL # TRANSIT TIME FROM ALFA=45 TO ALFA TRIM. EXDAP4 CCS JETAG # ROLLJET INTERFACE TEST BETWEEN .1 SEC TCF EXDAP3 # DAP AND THE 2 SEC CM/RCS DAP TCF EXDAP3 CA ZERO EXTEND # TURN OFF ROLL JETS IF ON AND WAIT WRITE ROLLJETS # UNTIL START OF 2 SEC CM/RCS CYCLE TS JETAG # RESTORE PROPER VALUE +0 # ROLL FDAI WILL BE IN ERROR UNTIL NEXT CM/RCS CALL. EXDAP3 CCS CALFA # HERE IF ABS(CALFA) GEQ COS(45) CA RAXERR # C()= BETACOM - BETA/180 TCF EXDAP1 CS ZERO TS CMDAPMOD # FOR CM/RCS CS RAXERR # COMPLEMENT OF YAW ERROR. EXDAP1 TS RAXERR # FOR YAW FDAI TS AK2 # WANT RAXERR FOR TM. TS L CCS CMDAPMOD # COORDINATE BETA CONTROL. TC +3 # C(CMDAPMOD) CAN BE +1, +0, OR -0. CA ONE # USE BETADOT TO COORD IN MODE +0 INDEX A # OTHERWISE USE RREL. CA RREL TC BIASEDZ # GO TEST DZ. +0 IF IN DZ, +-1 OTHERWISE # IF GEQ 4D/S, SET ERROR BIT IN L=0 EXTEND ROR LCHAN # L HAS BETA BIT INDEX A CAF YJETCODE TS JETEM CA QAXERR # ALFA ERROR. TS L CA QREL # FOR ALPHADOT USE QREL TC BIASEDZ EXTEND ROR LCHAN TCF EXDAPIN # CONTINUE ON IN DAP EXDAP2 INCR CMDAPMOD # SET CMDAPMOD TO +1 CS ONE # INDICATE CHANGE FROM .1 SEC UPDATE TO TS JETAG # TO 2 SEC FOR ROLL JETS. (IF CMDAPMOD # =0 AND JETAG =-1, QUENCHES JETS IF ON) CCS P63FLAG # IF FLAG WAS +1, SET =0. TS P63FLAG # Page 1079 NOOP CCS SALFA # BETA CONTROL WITH P JETS CS RAXERR # B()= BETACOM - BETA/180 TCF +2 CA RAXERR TS PAXERR1 # TEMP SAVE. ERROR/180 EXTEND MP HALF # CM/FDAI EXPECTS ERROR/360. XCH PAXERR1 # ERROR/360 FOR FDAI, GET ERROR/180. TS L CCS SALFA CS BETADOT # USE BETADOT TO COORD IN MODE +1 TC +2 CA BETADOT TC BIASEDZ EXTEND ROR LCHAN INDEX A CAF P/RJCODE # GET ROLL CODE EXTEND # ROLL CONTROL WITH YAW JETS. WRITE ROLLJETS # WE,LL SKIP REGULAR ROLL SYST CA ROLLHOLD # ROLL/180 AT CM/DAPON TIME. EXTEND MSU ROLL/180 # 1,S COMPL, BUT SO WHATS A BIT.? TS L # FORCE A LIMIT CYCLE IN YAW RATE. CCS SALFA CA L # TO REMOVE ITS BIASING EFFECT ON M DOT. TC EXDAP1 CS L TC EXDAP1 NSEC DEC 2100 # 65 DEG/ 3 DEG/SEC # IF NSEC IS CHANGED, REMEMBER TO CHANGE 4.33SPOT. 4D/SLIM DEC 16348 # 1.0 -4/180 D/S = 4/1800 EXP 14 YDOTLIM DEC 16366 # =1.0 - YDOT DZ= 16384 -18 # YDOT DZ = YDOT TCDU/180 = 2/1800 EXP 14 CM/BIAS DEC 55 # =.6/180 B14 = 55 YAWLIM DEC 16055 # YAWLIM=1.0-3.6/180=16384-329=16055 C45LIM DEC .29289 # =1.0-COS(45) SINTRIM DEC -.34202 # SIN(-20) (FOR NOMINAL L/D = .3) COSTRIM DEC .93969 # COS(-20) (FOR NOMINAL L/D = .3) # TO MAKE DAP INSENSITIVE TO PITCH ERRORS DUE TO ACCUMULATED NAV ERRORS, USE NOMINAL VALUE (-20 DEG) FOR TRIM ALFA # USED DURING ATMOSPHERIC COORDINATION. OUTSIDE ATMOSPHERE, NAV ERRORS WILL BE SLIGHT, BUT ALFA CAN DIFFER GREATLY # FROM TRIM, SO USE ON-BOARD ESTIMATES. # Page 1080 # JET CODE TABLES FOLLOW _ OCTAL 00120 # POS Y YJETCODE OCTAL 00000 # RCS JET BITS OCTAL 00240 # NEG Y OCTAL 00005 # POS R JET BITS ALSO POS P JET BITS P/RJCODE OCTAL 00000 OCTAL 00012 # NEG R ALSO NEG P # Page 1081 # RCS THIS SECTION IS ENTERED EACH 2 SEC BY WAITLIST CALL FOLLOWING A DELAY OF 1.2 SEC AFTER PIPUP. # THE TASK SETJTAG SETS A FLAG IN JETAG TO SIGNIFY THAT ROLL UPDATE IS DUE. IN ROUGHLY 5 CS BPDYRATE WILL BE # EXECUTED AND JETAG WILL CAUSE CM/RCS TO ACT ON ROLLC IMMEDIATELY THEREAFTER. THE # TASK SAVES THE CALL TIME SO THAT CM/RCS CAN DETERMINE HOW MUCH OF THE 2 SEC INTERVAL REMAINS BEFORE THE # NEXT UPDATE. SETJTAG CS TIME1 # SAVE NOMINAL UPDATE TIME FOR SYNCH TS TUSED # THE 5 CS APPEARS IN TIMETST. CA ONE # RATHER THAN INCR, FOR SAFETY TS JETAG # SET JETAG=1 TO CAUSE CM/RCS TO BE TC PHASCHNG OCT 00001 TC TASKOVER # EXECUTED AFTER NEXT BODYRATE UPDATE # PREDICTIVE ROLL SYSTEM ENTRY STEERING PROVIDES ROLL COMMAND IN LOC ROLLC. THE FOLLOWING CALCULATES THE # TRAJECTORY TO THE ORIGIN IN PHASE PLANE (X,V). PROGRAM ENTERS JET ON AND OFF CALLS INTO WTLST TO PRODUCE # THE DESIRED TRAJECTORY. ONLY THOSE CALLS WHICH CAN BE EXECUTED WITHIN THE INTERVAL T (2 SEC) ARE ENTERED IN # WTLST, THE REMAINDER ARE RECONSIDERED AT NEXT UPDATE. HALFPR EQUALS NEG1/2 +1 # CLEAR JETAG BEFORE TIMETST. SET TO +0 TO SHOW # ROLL DAP CALLED. IN EVENT OF RESTART, BODYRATE # MAY MISS A CYCLE. CM/RCS WILL MISS A CYCLE ONLY # IF A RESTART OCCURS AFTER TIMETST COMMENCES. CM/RCS CS ONE TS JNDX # SET NDX FOR POS ROLL, AND CHANGE LATER CS 2T/TCDU # ROLLDOT = DELAOG + DELAIG SINM =DELR EXTEND MP PREL # DELR/180 = RDOT TCDU/180 = RDOT/1800 AD L # -2 RDOT T/180 IN L TS -VT/180 # SAVE -2VT/180 HERE CS ROLL/180 TS SR # SAVE (-R/180) /2 CS CM/FLAGS MASK BIT4 # LATSW = 101D BIT4 EXTEND # ROLL OVER TOP $ BZF GETLCX # NO, TAKE SHORTEST PATH ADS CM/FLAGS # YES, ENFORCE ROLL OVER TOP.. (BIT =0) CA ROLLC # (ROLLC/180) /2 AD SR # -(R/180) /2 XCH LCX/360 # DIFFERENT X REQD HERE. DISCONT AT 180. TCF COMPAT # POSSIBLE OVFL ABOVE. # Page 1082 GETLCX CA POS1/2 # FORM RCOM/360 DOUBLE AD ROLLC XCH LCX/360 # IGNORE POSSIBLE OVFL. CA SR # FORM -R/360 AD NEG1/2 AD NEG1/2 # IGNORE OVFL XCH LCX/360 # -R/360 ADS LCX/360 # LCX/360 = RCOM/360 -R/360 RANGE (-1,1) # DOES SGN(-VT) (VT/180) (VT/180) (180/(4 A1 TT COSALFA)) + X/360 + SGN(X) / 2 OVFL ? CCS -VT/180 # TAKE SHORTEST ANGULAR PATH AD ONE # (BASED ON SINGLE JET ACCELERATION) TCF +2 AD ONE EXTEND MP -VT/180 # C(-VT/180) = -2 VT/180 EXTEND MP 1/16A1 # = 180/(16 A1 TT) EXTEND DV CALFA TS L CCS LCX/360 CAF POS1/2 TCF +2 CS POS1/2 AD LCX/360 # IS LCX/360 LESS THAN 180 DEGS $ AD L TS L TCF COMPAT # YES, GO ON. TRTAGXPI INDEX A # NO, SHIFT X BY - SGN(X) 2 PI CS HALFPR # +A YIELDS -1/2 DOUBLE ADS LCX/360 COMPAT CA LCX/360 # CORRECT FOR ASSUMED COORD TURN. EXTEND MP CALFA # COS ALFA TS LCX/360 # SCALED LCX OK HERE. CCS CMDAPMOD # FOUR POSSIBILITIES HERE TC DZCALL1 # EXIT, SETTING JETAG=0. (C(A)=0) # ALL 3 AXES ALREADY DONE. TC +1 # G LESS THAN .05. CA POS. CONTINUE CA LCX/360 # G GEQ .05. CONTINUE IN CM/RCS TS LCX/360 # CMDAPMOD=-0. DAMPING ONLY. SET LCX=0 TS ERRORZ # INITIAL ROLL ERROR (UNREFLECTED) FOR TM. TS PAXERR1 # SAVE LCX FOR FDAI AND EDIT. (/360) # Page 1083 CA -VT/180 # GET - 2 VT/180 TS SR CA SR # GET -VT/180, LEAVE -VT/360 IN SR FOR DZ TS -VT/180E # DIAGNOSTIC **** XCH -VT/180 # NOW CONTENTS OF -VT/180 AS LABELED EXTEND MP -VT/180 # B(A) = -ZVT/180 EXTEND MP 180/8ATT TS VSQ/4API # IS SGN(VT) ( (180/4A1 TT) VT/180 VT/180 - .5 BUFLIM/360 ) -X/360 - .5 BUFLIM/360 POS? WHICHALF DOUBLE # FOR SECOND BURN, A1 COM AD BUFLIM # =BUFLIM/(2 360) TS L CCS -VT/180 CS L TCF +2 CA L AD LCX/360 AD BUFLIM EXTEND BZMF REFLECT # POINT (X,V) IN LHP. # IS SGN(VT) ( (180/4A1 TT) VT/180 VT/180 - .5 BUFLIM/360 ) -X/360 + .5 BUFLIM/360 NEG? COM AD BUFLIM AD BUFLIM EXTEND BZMF DZ1 # POINT (X,V) IN RHP. # IS POINT WITHIN VELOCITY DZ? CS VSQMIN # IS VSQ/4API - (VSQ/4API) MIN NEG? AD VSQ/4API EXTEND BZMF DZCALL # YES. # POINT IS IN BUFFER ZONE. THRUST TO X AXIS. CS JNDX TS JNDX1 TC OVRLINE1 REFLECT CS -VT/180 # RELFECT LHP INTO RHP REL TO TERM CONTR TS -VT/180 TS SR # -VT/360 SAVED FOR DZ. # Page 1084 CS LCX/360 TS LCX/360 CS JNDX TS JNDX # IS VSQ/4API - (VSQ/4API) MIN NEG? DZ1 CS VSQMIN # IS VSQ/4API - (VSQ/4API) MIN NEG $ AD VSQ/4API EXTEND BZMF DZ2 # YES, GO TEST FURTHER. TCF MAXVTEST # NO # IS X/360 - XMIN/360 -VT/360 NEG? DZ2 CS XMIN/360 # XMIN/360 = 4/360 AD LCX/360 AD SR # C(SR) = -VT/360 EXTEND # IS X/360 - XMIN/360 -VT/360 NEG $ BZMF DZCALL # YES, IN DZ. EXIT SETTING JETAG=0. # IS XD/360 - VM/360K - XS/360 POS? MAXVTEST CS JNDX TS JNDX1 # NOW CAN SET JNDX1 FOR TON2 JETS. CS XS/360 # XS/360 = (XMIN -YMIN/K) /360 AD VSQ/4API AD LCX/360 TS XD/360 # XD/360= X/360 +VSQ/4API X INTERCEPT # BUT C(XD/360) = (XD - XS) /360 AD -VM/360K # X INTERCEPT FOR MAX V (VM) COM EXTEND BZMF MAXVTIM1 # YES, THRUST TO VM CA XD/360 EXTEND MP KTRCS DDOUBL # GO SAVE PREDICTED DRIFTING VELOCITY. TC GETON1 # INSURE THAT Q IS POS AS TAG. MAXVTIM1 EXTEND ZQ # SET +Q AS TAG CS -VMT/180 GETON1 TS VDT/180 # VDT/180 OR VMT/180 AD -VT/180 DOUBLE EXTEND MP 180/8ATT TS TON1 # TON1 / 4T # Page 1085 EXTEND BZMF OVRLINE TC GETON2 # RESET Q POS IF CAME FROM MAXVTIM1 OVRLINE CCS Q TCF OVRLINE1 MAXVTIM2 CA JNDX1 # ABOVE VM, SO THRUST DOWN TS JNDX CS TON1 TCF OVRLINE2 +1 OVRLINE1 CS -VT/180 # DRIFT AT V TS VDT/180 OVRLINE2 CA ZERO TS TON1 GETON2 CA VDT/180 # VDT/180, OR VMT/180 OR VT/180 DOUBLE EXTEND MP 180/8ATT DOUBLE # FOR SECOND BURN, A1 TS TON2 # = TON2 / 4T COM EXTEND BZMF GETOFF TS TON2 CA JNDX TS JNDX1 GETOFF CS TON2 # TON2 / 4T EXTEND MP VDT/180 # VDT/180, OR VT/180, OR VMT/180. TS XD/360 # USE AS TEMP CS VDT/180 EXTEND BZF TOFFOVFL # OMIT THE DIVIDE IF DEN = 0. AD -VT/180 EXTEND MP TON1 # TON1 /4T AD XD/360 # TEMP = -VDT/180 / 2 TON2 AD LCX/360 ZL XCH L # TEST THE DIVIDE EXTEND DV VDT/180 EXTEND BZF GETOFF2 # DIVIDE OK TOFFOVFL CA 2JETT # OVFL, USE 2T FOR CONVENIENCE. TCF TIMSCAL # Page 1086 GETOFF2 XCH L # GET NUMERATOR. EXTEND DV VDT/180 # C(A) = TOFF / 2T EXTEND MP 2JETT TIMSCAL TS TOFF # IN CS CAF 4JETT EXTEND MP TON1 # C(TON1) = TON1 / 4T TS TON1 # IN CS CAF 4JETT EXTEND MP TON2 # C(TON2) = TON2 / 4T TS TON2 # IN CS CA ZERO # CANNOT REDO AFTER TIMETST. TUSED GONE TS JETAG # SET +0 TO SHOW ROLL DAP CALLED. # CAUSE THE TM OF BODY RATES VIA UPBUFF TO BE # INITIALIZED. ALSO CAUSE NEEDLES TO BE DONE ON EXIT # AND ON ALTERNATE PASSES THROUGH CM/DUMPR. CA ONE TS SW/NDX # Page 1087 # TIMETEST SECTION FOR RCS # # ENTER WITH THREE TIME INTERVALS AND THE CORRESPONDING JET CODE INDEXES IN ERASABLE LOCS TON1, TOFF, TON2, JNDX # JNDX1. SECTION PROCESSES TIME INTERVALS FOR WTLST CALLS AND ASSURES THAT WTLST CALLS ARE MADE ONLY # (1) FOR POS INTERVALS GREATER THAN A SPECIFIED MINIMUM (HERE CHOSEN AS 2 CS) AND # (2) FOR THE INTERVALS THAT WILL BE EXECUTED WITHIN THE TIME REMAINING IN THE SAMPLE INTERVAL T (2 SEC). # TIMETST ESTABLISHES 6 LOCS CONTAINING JET CODES AND CORRESPONDING TIME INTERVALS. THUS: TON1, T1BITS, # TOFF, TBITS, TON2, T2BITS. OF THESE THE FIRST 2 LOCS ARE TEMPORARY, FOR IMMEDIATE ACTION, IN GENERAL. # SECTION JETCALL BELOW PROCESSES THIS LIST. TIMETST CA TIME1 # CORRECT FOR POSSIBLE TIME1 OVFL. AD POS1/2 AD POS1/2 # OVFL GUARANTEED. ADS TUSED # B(TUSED) =-TUSED =-OLTIME1 CA -T-3 # =-T +2 -5 (SEE SETJTAG) # THE +2 REQUIRED FOR PROPER BRANCH. ADS TUSED # TUSED = TIME(K)-TIME(K-1)-T+2 CS TWO # USE 2 SINCE TIME3 UNCERTAIN TO 1 AD TON1 EXTEND BZMF TIMETST1 INDEX JNDX CAF P/RJCODE TS T1BITS CA TON1 ADS TUSED EXTEND BZMF TOFFTEST CA ZERO TCF TIMETST3 TIMETST1 CS ONE TS TON1 TOFFTEST CS TWO AD TOFF EXTEND BZMF TIMETST2 CA TOFF ADS TUSED EXTEND BZMF TON2TEST CA ZERO TCF TIMETST4 TIMETST2 CS ONE TS TOFF TON2TEST CS TWO AD TON2 EXTEND BZMF TIMETST5 # Page 1088 INDEX JNDX1 CAF P/RJCODE TS T2BITS CA TON2 ADS TUSED EXTEND BZMF JETCALL1 CA ZERO TCF TIMETST5 +1 TIMETST3 TS TON1 CS ONE TIMETST4 TS TOFF TIMETST5 CS ONE TS TON2 # SECTION JETCALL EXAMINES CONTENTS OF JET TIMES IN LIST, ESTABLISHES WTLST ENTRIES, AND EXECUTES CORRESPONDING # JET CODES. A POSITIVE NZ NUMBER IN A TIME REGISTER INDICATES THAT A WTLST CALL IS TO BE MADE, AND ITS JET BITS # EXECUTED. A +0 INDICATES THAT THE TIME INTERVAL DOES NOT APPLY, BUT THE CORRESPONDING JET BITS ARE TO BE # EXECUTED. A NEG NUMBER INDICATES THAT THE TIME INTERVAL HAS BEEN PROCESSED. IN EVENT OF +0 OR -1, THE # SUBSEQUENT TIME REGISTER IS EXAMINED FOR POSSIBLE ACTION. THUS JET BITS TO BE EXECUTED MAY COME FROM MORE # THAN ONE REGISTER. JETCALL1 CA ZERO TS OUTTAG TS NUJET TS TBITS DXCH TON1 CCS A TCF JETCALL2 # CALL WTLST JETCALL3 LXCH NUJET # WTLST ENTRIES COME HERE FROM JETCALL CS ONE DXCH TOFF CCS A TCF JETCALL2 # CALL WTLST LXCH NUJET CS ONE DXCH TON2 CCS A TCF JETCALL2 # CALL WTLST LXCH NUJET TC JETACTN # C(A) = +0 JETCALL2 XCH L # SAVE JET BITS FOR AFTER WTLST CALL ADS NUJET XCH L AD ONE # RESTORE FOR CCS TC WAITLIST EBANK= AOG 2CADR JETCALL JETACTN CA NUJET # COME HERE WHEN DESIRED JET CODE IS KNOWN # Page 1089 EXTEND # NO NEED TO SAVE OLD CODES WRITE ROLLJETS # SET RCHAN TO NEW BIT CONFIG. CCS OUTTAG TC TASKOVER ROLLDUMP TC CM/FDAIR # EDIT DUMP AT ABOVE LOCATION. # WAITLIST ENTRIES COME HERE. JETCALL CAF BIT2 # CM/DSTBY =103D BIT2 TS OUTTAG # SIGNIFY WTLST ENTRY MASK CM/FLAGS # IS SYSTEM DISABLED $ EXTEND BZF JETACTN +1 # YES, QUENCH ROLL JETS, IF ON AND EXIT. ZL # NO, CONTINUE. TCF JETCALL3 # C(A) POS, C(L) = +0 # DEAD ZONE ENTRIES COME HERE. DZCALL CS CMDAPMOD # POSSIBLE VALUES OF CMDAPMOD: -1, +0, -0. MASK BIT1 TS L # C(L)=0 FOR -0: C(L)=1 FOR -1 OR +0. INDEX A # ERASABLE ORDER: ROLLTM, ROLLC, ROLLC +1. CA ROLLTM # GET ROLL/180 OR ROLLC (/360). INDEX L TS A # IF C(L)=1, STORE 'ROLLC' IN 'L'. AD L # (BOTH MUST BE SCALED DEG/180) TC ANGOVCOR # C(A)=ROLL/180 OR 2 ROLLC. TS ROLLHOLD # IF CMDAPMOD =-0, SAVE ROLL ANGLE. # OTHERWISE, SAVE ROLL COMMAND. CA ZERO # COME HERE IF IN DZ, AND CANCEL JETS. EXTEND # INHINT NOT NEEDED HERE. WRITE ROLLJETS # TURN OFF ALL ROLL JETS. TS VDT/180 # SET =0 TO SHOW IN DEAD ZONE. DZCALL1 TS JETAG # COME HERE WITH C(A)=0. TC ROLLDUMP # Page 1090 # CM ENTRY FDAI DISPLAY # # CALCULATE BY INTEGRATION THE ROLL ERROR BETWEEN THE 2 SEC CM/RCS UPDATES. DISPLAY ATTITUDE ERRORS AS FOLLOWS: # ATM DAP: DISPLAY ONLY ROLL ATTITUDE ERROR. # EXT ATM DAP: PRESENT 3 ATTITUDE ERRORS RELATIVE TO THE APPROPRIATE BODY AXES EACH .1 SEC. # ROLL ROLLC-ROLL # PITCH ALFAC-ALFA # YAW BETAC-BETA # # DURING ENTRY, THE FDAI NEEDLES HAVE FULL SCALE OF 67.5 DEG IN ROLL AND 16.875 DEG IN PITCH AND YAW. # THE SUBROUTINE NEEDLER EXPECTS (ANGLE/180) AND SCALES TO 16.875 DEG FULL SCALE. # COME HERE EACH .1 SEC. (CMDAPMOD=+1 COMES BELOW) CM/FDAI CS PHIDOT # INTEGRATE ROLL ERROR 'TWEEN 2SEC UPDATES EXTEND MP CALFA # FOR ASSUMED COORDINATION. EXTEND MP HALF ADS PAXERR1 # ROLL ERROR/360. OVFL OK. # EDIT DUMP AT ABOVE LOCATION. CM/FDAIR CA HALF EXTEND MP PAXERR1 # FULL SCALE FOR FDAI (ROLL) IS 67.5 D TS PAXERR # .25 (ROLL ERROR/180) FOR FDAI NEEDLE. # PROGRAM TO FILE BODY RATES FOR TM ON ONE PASS AND # TO UPDATE THE NEEDLE DISPLAY ON THE NEXT. # SYNCHRONIZATION WITH CM/RCS IS USED SO THAT THE TM # IS DONE WITH THE ROLL SYSTEM AND NEEDLES START ON # THE SUBSEQUENT PASS. CM/DUMPR CS SW/NDX # COMBINED ALTERNATION SWITCH AND FILE TS SW/NDX EXTEND # INDEX. BZMF CMTMFILE # FILE STARTS WITH SW/NDX +1 AND GOES TO # ENDBUF. # INDEX IS POS FOR NEEDLES. TC IBNKCALL CADR NEEDLER TC CM/END # INDEX IS NEG FOR TM FILE CMTMFILE AD THREE EXTEND BZMF SAVENDX # Page 1091 CA TIME1 # INITIALIZE THE TM LIST IN UPBUFF. TS CMTMTIME CS THIRTEEN # INITIALIZE COUNTER SAVENDX TS SW/NDX # A NEGATIVE NUMBER. EXTEND DCA PREL INDEX SW/NDX DXCH ENDBUF -1 CA RREL INDEX SW/NDX TS ENDBUF +1 CM/END CA CM/SAVE TS SR # DOES NOT PROTECT TEMK, SQ IN SPSIN/COS EXTEND DCA T5IDLER2 DXCH T5LOC TC RESUME EBANK= T5LOC T5IDLER2 2CADR T5IDLOC # DEFINE THE FOLLOWING 17D REGISTERS IN UPBUFF TO BE # USED TO TELEMETER CM VEHICLE BODY RATE INFORMATION. # THE INFORMATION IS FILED EACH 0.2 SEC, GIVING 15D # DATA POINTS EACH 1 SEC. TM LIST IS READ TWICE # EACH 2 SECONDS. # # THE SEQUENCE IS: SP TIME INITIAL TIME # SWITCH ALSO INDEX. # P ROLL RATE # Q PITCH RATE # R YAW RATE # ETC. #CMTMTIME = UPBUFF #SW/NDX = UPBUFF +1 #ENDBUF = UPBUFF +16D # Page 1092 # SPACER # # CONSTANTS USED IN THE ROLL CONTROL SYSTEM: # CONSTANTS ARE THE FOLLOWING: A = 9.1 DEG/SECSQ, VM = 20 DEG/SEC, T = 2 SEC, TCDU = .1 SEC, # XMIN = 4 DEG, VMIN = 2 DEG/SEC, K = .25, A1 = 4.55 DEG/SECSQ, VI = 1 DEG/SEC, INTERCEPT WITH DZ SIDE # XBUF = 4 DEG -T-3 DEC -203 # CS VSQMIN DEC .61050061 E-3 # VSQ MIN/4 A PI = 4/(4 (9.1) 180) 2T/TCDU = OCT50 # T/TCDU EXP-14 TCDU = .1SEC 180/8ATT DEC .61813187 # 180/(8 (9.1) 4)=(180/ATT) EXP -3 -VMT/180 = -VM/360K # = 20 (2) / 180 2JETT = 4SECS # CS 2 (2) 100 INTEGER 4JETT DEC 800 # CS 4 (2) 100 INTEGER XMIN/360 DEC 182 # XMIN/360 = 4/ 360 EXP 14 = 182 INTEGER -VM/360K DEC -.22222222 # =-20/( 360 (.25)) 1/16A1 = 180/8ATT # 1/16A1 = 180/(16 A1 TT) # = 180/(16 4.55 4) XS/360 DEC 91 # =(XMIN +VI (T-1/K))/360 = 2/360 EXP 14 BUFLIM = XS/360 # 4/(2 360) KTRCS = HALF # KT = (.25) 2 = .5 # *** END OF TVCDAPS .011 *** ================================================ FILE: Comanche055/CONIC_SUBROUTINES.agc ================================================ # Copyright: Public domain. # Filename: CONIC_SUBROUTINES.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1262-1308 # Mod history: 2009-05-08 RSB Adapted from the Colossus249/ file of the # same name, using Comanche055 page images. # 2009-05-20 RSB Corrected: Fixed four interpreter # instructions. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 1262 # PROGRAM DESCRIPTION -- ENTIRE CONIC SUBROUTINE LOG SECTION DATE -- 1 SEPTEMBER 1967 # MOD NO. -- 0 LOG SECTION -- CONIC SUBROUTINES # MOD BY KRAUSE ASSEMBLY -- COLOSSUS REVISION 88 # # FUNCTIONAL DESCRIPTION -- # THE FOLLOWING SET OF SUBROUTINES SOLVE VARIOUS PROBLEMS INVOLVING THE TRAJECTORY PRODUCED BY A CENTRAL # INVERSE-SQUARE FORCE ACTING ON A POINT MASS, AS OUTLINED IN THE CMC AND LGC LUNAR LANDING MISSION GSOP, SECTION # 5.5.1.2. A GENERAL USAGE POINT-OF-VIEW WAS TAKEN IN FORMULATING, MECHANIZING, AND SCALING THE SUBROUTINES, # RATHER THAN OPTIMIZING EACH FOR A PARTICULAR USE. THEREFORE, MULTIPLE USAGE CAN BE MADE OF THE SUBROUTINES # INVOLVING ANY REALISTIC SET OF CONSTRAINTS. IT SHOULD BE NOTED THAT ONLY ONE SET OF CODING IS USED, WHETHER THE # EARTH, MOON, OR ANY OTHER CELESTIAL BODY IS SPECIFIED AS THE CENTRAL BODY OF THE PROBLEM, PROVIDED ONE OBSERVES # THE INHERENT SCALE CHANGE REQUIRED IN POSITION, VELOCITY, MU, AND TIME, AS OUTLINED IN MISSION PROGRAMMING # DEFINITION MEMO NO. 10. THIS CAN BE ACCOMPLISHED BY SIMPLY ADDING TO THE MUTABLE AND INITIALIZING THE SUBROUTINES # APPROPRIATELY. # # DUE TO THE UNIFORMITY OF THE EQUATIONS INVOLVED, CODING WAS MINIMIZED BY TREATING INDIVIDUAL EQUATIONS AND # BLOCKS OF EQUATIONS AS SUBROUTINES OF LOWER RANK WHENEVER POSSIBLE. AS A RESULT, THREE BY-PRODUCTS SUBROUTINES, # DIRECTLY USABLE AS INDEPENDENT SUBROUTINES, WERE GENERATED. # # RESTRICTIONS -- # THE ONLY LIMITATION IN THE SCOPE OF THE PROBLEM WHICH CAN BE SOLVED BY A PARTICULAR SUBROUTINE IS THE SCALING # LIMIT OF EACH PARAMETER AS SPECIFIED IN THE GSOP. THESE SCALING LIMITS WERE CHOSEN SO THAT ALL FEASIBLE TRAJECTORIES # COULD BE HANDLED. # # SINCE THE SUBROUTINES (EXCEPT KEPLER) USE COMMON SUBROUTINES OF LOWER RANK WHICH USE ERASABLE OTHER THAN # THE PUSHLIST (DUE TO ITS LIMITED SIZE) AND COMMON INTERPRETIVE SWITCHES, THE CONIC SUBROUTINES CANNOT BE ALLOWED # TO INTERRUPT EACH OTHER. IT IS UP TO THE USER TO GUARANTEE THIS CONDITION. # Page 1263 # PROGRAM DESCRIPTION -- KEPLER SUBROUTINE DATE -- 11 OCTOBER 1967 # MOD NO. -- 1 LOG SECTION -- CONIC SUBROUTINES # MOD BY KRAUSE ASSEMBLY -- COLOSSUS 103 AND SUNDANCE 222 # MOD NO. -- 2 (AUGUST 1968) BY ROBERTSON: TO PERMIT BACKDATING BY MORE THAN ONE ORBITAL PERIOD. # MOD NO. -- 3 (DEC 1968) BY ROBERTSON: SUPPRESSION OF X-MODULO-ING # MOD NO. -- 4 (JAN 1969) BY ROBERTSON: CLEAR OVFIND AT KEPLER ENTRY # # FUNCTIONAL DESCRIPTION -- # THIS SUBROUTINE, GIVEN AN INITIAL STATE VECTOR AND THE DESIRED TRANSFER TIME THROUGH WHICH THE STATE IS TO # BE UPDATED ALONG A CONIC TRAJECTORY, COMPUTES THE NEW, UPDATED STATE VECTOR. THE TRAJECTORY MAY BE ANY CONIC # SECTION -- CIRCULAR, ELLIPTIC, PARABOLIC, HYPERBOLIC, OR RECTILINEAR WITH RESPECT TO THE EARTH OR THE MOON. THE # USE OF THE SUBROUTINE CAN BE EXTENDED USING OTHER PRIMARY BODIES BY SIMPLE ADDITIONS TO THE MUTABLE WITHOUT # INTRODUCING ANY CODING CHANGES, ACCEPTING THE INHERENT SCALE FACTOR CHANGES IN POSITION AND VELOCITY. AN ITERATION # TECHNIQUE IS UTILIZED IN THE COMPUTATION. # # IF A NEGATIVE TIME-OF-FLIGHT IS INPUT, THE PROGRAM WILL SOLVE FOR THE STATE WHICH WOULD BE PRODUCED BY # EXTRAPOLATING THE POSITION BACKWARD IN TIME. # # IF THE ABSOLUTE VALUE OF THE DESIRED TRANSFER TIME EXCEEDS THE ORBITAL PERIOD, THE SUBROUTINE, THROUGH A # MODULAR TECHNIQUE, WILL COMPUTE THE STATE CORRESPONDING TO THE DESIRED TIME (WHETHER POSITIVE OR NEGATIVE). # # THE RESTRICTIONS ARE -- # 1. (PREVIOUS RESTRICTION ON THE NEGATIVE DESIRED TRANSFER TIME IS NOW DELETED.) # 2. THE PARAMETERS IN THE PROBLEM CANNOT EXCEED THEIR SCALING LIMITS AS SPECIFIED IN THE GSOP. IF # ANY OF THESE LIMITS ARE EXCEEDED, THE RESULTING SOLUTION WILL BE MEANINGLESS. # # THE NUMBER OF ITERATIONS AND, THEREFORE, THE COMPUTATION SPEED IS DEPENDENT ON THE ACCURACY OF THE # GUESS, XKEPNEW. THE AGC COMPUTATION TIME IS APPROXIMATELY .061 SECONDS FOR INITIALIZATION, .065 SECONDS FOR THE # FINAL COMPUTATIONS, PLUS .083 SECONDS FOR EACH ITERATION. # # REFERENCES -- # R-479, MISSION PROGRAMMING DEFINITION MEMO NO. 10, LUNAR LANDING MISSION GSOP, SECTION 5.5, SGA # MEMO 67-4. # # INPUT -- ERASABLE INITIALIZATION REQUIRED # SCALE FACTOR # VARIABLE IN POWERS OF 2 DESCRIPTION AND REMARKS # -------- -------------- ----------------------- # RRECT +29 FOR EARTH DP INITIAL POSITION VECTOR IN METERS # +27 FOR MOON # Page 1264 # VRECT +7 FOR EARTH DP INITIAL VELOCITY VECTOR IN METERS/CENTISECOND # +5 FOR MOON # X1 (38D) NONE INDEX REGISTER SET TO -2D OR -10D ACCORDING TO WHETHER THE EARTH OR MOON, # RESPECTIVELY, IS THE CENTRAL BODY # TAU +28 DESIRED TRANSFER TIME IN CENTISECONDS (DP) # MAY BE POS OR NEG AND ABSOLUTE VALUE MAY BE GREATER OR LESS THAN ONE ORBITAL PERIOD. # XKEPNEW +17 FOR EARTH DP GUESS OF ROOT X OF KEPLERS EQN IN SQRT(METERS).SIGN SHOULD AGREE WITH THAT OF TAU. # +16 FOR MOON AND ABS VALUE SHOULD BE LESS THAN THAT CORRESPONDING TO A PERIOD, VIZ, 2PI SQRT(SEMI- # MAJOR AXIS), FOR SPEED OF CONVERGENCE, BUT IF EITHER CONDITION FAILS, XKEPNEW IS RESET # BY KEPLER TO A POOR BUT VALID GUESS. # TC +28 DP PREV. VALUE OF TIME IN CENTISECS. MUST BE LESS THAN ONE ORBITAL PERIOD. # XPREV +17 FOR EARTH DP PREV. VALUE OF X IN SQRT(METERS). MUST BE LESS THAN AN X CORRESPONDING TO ONE # +16 FOR MOON ORBITAL PERIOD, VIZ, 2PI SQRT(SEMI-MAJOR AXIS) # # SUBROUTINES CALLED -- # DELTIME # # CALLING SEQUENCE AND NORMAL EXIT MODES -- # KEPRTN-2 GOTO # MUST BE IN INTERPRETIVE MODE BUT OVFIND ARBITRARY. # KEPRTN-1 KEPLER # RETURNS WITH XPREV IN MPAC. PL IS AT 0. # KEPRTN ... # CONTINUE # # KEPLER MUST NOT BE CALLED DIRECTLY SINCE AN INTERRUPTION OF IT WOULD DESTROY THE ERASABLES IT NEEDS TO COMPLETE # THE INTERRUPTED JOB. THEREFORE THE USER MUST CALL CSMCONIC OR LEMCONIC WHICH GUARANTEES NO INTERRUPTS AND WHICH # ALSO CALLS KEPPREP TO COMPUTE A GUESS OF XKEPNEW. # # ABORT EXIT MODES -- # NONE # # OUTPUT -- # SCALE FACTOR # VARIABLE IN POWERS OF 2 DESCRIPTION AND REMARKS # -------- -------------- ----------------------- # RCV +29 FOR EARTH DP TERMINAL POSITION VECTOR IN METERS # +27 FOR MOON # VCV +7 FOR EARTH DP TERMINAL VELOCITY VECTOR IN METERS/CENTISEC # +5 FOR MOON # TC +28 DP TRANSFER TIME IN CENTISECS TO WHICH KEPLER CONVERGED. ALWAYS LESS THAN ONE PERIOD. # XPREV +17 FOR EARTH DP VALUE OF X IN SQRT(METERS) TO WHICH KEPLER CONVERGED. ALWAYS LESS THAN THE X # +16 FOR MOON CORRESPONDING TO ONE PERIOD. # Page 1265 # FOR OTHER OUTPUT WHICH MAY BE OF USE, SEE DEBRIS. # # DEBRIS -- # PARAMETERS WHICH MAY BE OF USE -- # SCALE FACTOR # VARIABLE IN POWERS OF 2 DESCRIPTION AND REMARKS # -------- -------------- ----------------------- # URRECT +1 DP UNIT VECTOR OF INITIAL POSITION # R1 +29 FOR EARTH DP MAGNITUDE OF INITIAL POSITION IN METERS # +27 FOR MOON # ALPHA -22 FOR EARTH DP INVERSE OF SEMIMAJOR AXIS IN 1/METERS # -20 FOR MOON # TMODULO +28 DP INTEGRAL NUMBER OF PERIODS IN CENTISECS, WHICH WAS SUBTRACTED FROM TAU. TO PRODUCE A # TAU. OF LESS THAN ONE PERIOD. # # PARAMETERS OF NO USE -- # DP PARAMETERS -- EPSILONT, DELX, DELT, RCNORM, XMODULO, PLUS PUSHLIST REGISTERS 0 THROUGH 39D. # Page 1266 # PROGRAM DESCRIPTION -- LAMBERT SUBROUTINE DATE -- 1 SEPTEMBER 1967 # MOD NO. -- 0 LOG SECTION -- CONIC SUBROUTINES # MOD BY KRAUSE ASSEMBLY -- COLOSSUS REVISION 88 # # FUNCTIONAL DESCRIPTION -- # THIS SUBROUTINE CALCULATES THE INITIAL VELOCITY REQUIRED TO TRANSFER A POINT-MASS ALONG A CONIC TRAJECTORY # FROM AN INITIAL POSITION TO A TERMINAL POSITION IN A PRESCRIBED TIME INTERVAL. THE RESULTING TRAJECTORY MAY BE # A SECTION OF A CIRCLE, ELLIPSE, PARABOLA, OR HYPERBOLA WITH RESPECT TO THE EARTH OR THE MOON. THE USE OF THE # SUBROUTINE CAN BE EXTENDED USING OTHER PRIMARY BODIES BY SIMPLE ADDITIONS TO THE MUTABLE WITHOUT INTRODUCING ANY # CODING CHANGES, ACCEPTING THE INHERENT SCALE FACTOR CHANGES IN POSITION AND VELOCITY. AN ITERATION TECHNIQUE IS # UTILIZED IN THE COMPUTATION. # # THE RESTRICTIONS ARE: -- # 1. RECTILINEAR TRAJECTORIES CANNOT BE COMPUTED. # 2. AN ACCURACY DEGRADATION OCCURS AS THE COSINE OF THE TRUE ANOMALY DIFFERENCE APPROACHES +1.0. # 3. THE ANGLE BETWEEN ANY POSITION VECTOR AND ITS VELOCITY VECTOR MUST BE GREATER THAN 1 DEGREE 47.5 MINUTES # AND LESS THAN 178 DEGREES 12.5 MINUTES. # 4. NEGATIVE TRANSFER TIME IS AMBIGUOUS AND WILL RESULT IN NO SOLUTION. # 5. THE PARAMETERS IN THE PROBLEM MUST NOT EXCEED THEIR SCALING LIMITS SPECIFIED IN THE GSOP. IF THE # LIMITS ARE EXCEEDED, THE RESULTING SOLUTION WILL BE MEANINGLESS. # # THE NUMBER OF ITERATIONS AND, THEREFORE, THE COMPUTATIONS SPEED IS DEPENDENT ON THE ACCURACY OF THE FIRST # GUESS OF THE INDEPENDENT VARIABLE, COGA. THE AGC COMPUTATION TIME IS APPROXIMATELY # .105 SECONDS FOR INITIALIZATION, .069 SECONDS FOR FINAL COMPUTATIONS, PLUS .205 SECONDS FOR EACH ITERATION. # # REFERENCES -- # R-479, MISSION PROGRAMMING DEFINITION MEMO NO. 10, LUNAR LANDING MISSION GSOP -- SECTION 5.5, SGA MEMO 67-8, # SGA MEMO 67-4. # # INPUT -- ERASABLE INITIALIZATION REQUIRED # SCALE FACTOR # VARIABLE IN POWERS OF 2 DESCRIPTION AND REMARKS # -------- -------------- ----------------------- # R1VEC +29 FOR EARTH DP INITIAL POSITION VECTOR IN METERS # +27 FOR MOON # R2VEC +29 FOR EARTH DP TARGET OR TERMINAL POSITION VECTOR IN METERS # +27 FOR MOON # TDESIRED +28 DP DESIRED TRANSFER TIME IN CENTISECONDS # X1 (38D) NONE INDEX REGISTER SET TO -2D OR -10D ACCORDING TO WHETHER THE EARTH OR MOON, # RESPECTIVELY, IS THE CENTRAL BODY # GEOMSGN NONE SP +.5 IF DESIRED TRANSFER ANGLE IS LESS THAN 180 DEGREES, -.5 IF GREATER THAN 180 DEG. # GUESSW NONE AN INTERPRETER SWITCH TO BE SET IF NO GUESS OF COGA IS AVAILABLE, CLEAR IF A GUESS OF # Page 1267 # COGA IS TO BE USED BY LAMBERT # COGA +5 DP GUESS OF COTANGNT OF FLIGHT PATH ANGLE (MEASURED FROM VERTICAL). THIS WILL BE # IGNORED IF GUESSW IS SET. # NORMSW NONE AN INTERPRETER SWITCH TO BE SET IF UN IS TO BE AN INPUT TO THE SUBROUTINE, CLEAR IF # LAMBERT IS TO COMPUTE ITS OWN NORMAL (UN). # UN +1 DP UNIT NORMAL TO THE DESIRED ORBIT PLANE IN THE DIRECTION OF THE RESULTING ANGULAR # MOMENTUM VECTOR. THIS WILL BE IGNORED IF NORMSW IS CLEAR. # VTARGTAG NONE A S.P. TAG TO BE SET TO ZERO IF LAMBERT IS TO COMPUTE THE VELOCITY AT R2VEC AS WELL AS # AT R1VEC. # # SUBROUTINES CALLED -- # GEOM, GETX, DELTIME, ITERATOR, LAMENTER (PART OF NEWSTATE) # # CALLING SEQUENCE AND NORMAL EXIT MODES -- # L CALL # MUST BE IN INTERPRETIVE MODE BUT OVFIND ARBITRARY. # L+1 LAMBERT # RETURNS WITH PL AT 0 AND WITH VVEC IN MPAC IF VTARGTAG WAS WAS NON-ZERO OR VTARGET # # IN MPAC IF VTARGTAG WAS ZERO # L+2 BON # CONTINUE IF SOLNSW CLEAR SINCE SOLUTION IS ACCEPTABLE # L+3 SOLNSW # L+4 LAMABORT # # IF A LAMBERT RESULT IS TO BE A FIRST GUESS FOR THE NEXT LAMBERT CALCULATION, COGA MUST BE PRESERVED AND # GUESSW MUST BE CLEAR FOR EACH SUCCEEDING LAMBERT CALL. # # ABORT EXIT MODES -- # IF SOLNSW WAS SET UPON EXITING, EITHER LAMBERT WAS ASKED TO COMPUTE A TRANSFER TOO NEAR 0 OR 360 DEG, OR T # WAS TOO SMALL TO PRODUCE A REALISTIC TRANSFER BETWEEN R1VEC AND R2VEC. IN EITHER CASE THE FIX MUST BE MADE # ACCORDING TO THE NEEDS OF THE PARTICULAR USER. THE ABORT EXIT MODE MAY BE CODED AS ... # LAMBERT DLOAD ABS # A MEASURE OF THE PROXIMITY TO 0 OR # 1-CSTH # 360 DEGREES. # DSU BMN # ONEBIT # CHANGER2 # CHANGE R2VEC DIRECTION SLIGHTLY. # DLOAD DAD # TDESIRED # SOMETIME # STCALL TDESIRED # INCRESE TDESIRED # LAMBERT # # OUTPUT -- # SCALE FACTOR # VARIABLE IN POWERS OF 2 DESCRIPTION AND REMARKS # Page 1268 # -------- -------------- ----------------------- # VVEC +7 FOR EARTH DP INITIAL VELOCITY VECTOR IN METERS/CENTISECOND REQUIRED TO SATISFY THE BOUNDARY VALUE # +5 FOR MOON PROBLEM. # VTARGET +7 FOR EARTH DP RESULTANT VELOCITY VECTOR AT R2VEC IN METERS/CENTISECOND. # +5 FOR MOON # SOLNSW NONE INTERPRETER SWITCH WHICH IS SET IF THE SUBROUTINE CANNOT SOLVE THE PROBLEM, CLEAR IF THE # SOLUTION EXISTS. # # FOR OTHER OUTPUT WHICH MAY BE OF USE, SEE DEBRIS. # # DEBRIS -- # PARAMETERS WHICH MAY BE OF USE -- # SCALE FACTOR # VARIABLE IN POWERS OF 2 DESCRIPTION AND REMARKS # -------- -------------- ----------------------- # SNTH +1 DP SIN OF ANGLE BETWEEN R1VEC AND R2VEC # CSTH +1 DP COSINE OF ANGLE # 1-CSTH +2 DP 1-CSTH # COGA +5 DP COTAN OF INITIAL REQUIRED FLIGHT PATH ANGLE MEASURED FROM VERTICAL # P +4 DP RATIO OF SEMILATUS RECTUM TO INITIAL RADIUS # R1A +6 DP RATIO OF INITIAL RADIUS TO SEMIMAJOR AXIS # R1 (32D) +29 FOR EARTH DP INITIAL RADIUS IN METERS # +27 FOR MOON # UR1 +1 DP UNIT VECTOR OF R1VEC # U2 +1 DP UNIT VECTOR OF R2VEC # # PARAMETERS OF NO USE -- # DP PARAMETERS -- EPSILONL, CSTH-RHO, TPREV, TERRLAMB, R2, RTNLAMB (SP), PLUS PUSHLIST REGISTER 0 THROUGH 41D # ADDITIONAL INTERPRETIVE SWITCHES USED -- INFINFLG, 360SW, SLOPESW, ORDERSW # Page 1269 # PROGRAM DESCRIPTION -- TIME-THETA SUBROUTINE DATE -- 1 SEPTEMBER 1967 # MOD NO. -- 0 LOG SECTION -- CONIC SUBROUTINES # MOD BY KRAUSE ASSEMBLY -- COLOSSUS REVISION 88 # # FUNCTIONAL DESCRIPTION -- # THIS SUBROUTINE, GIVEN AN INITIAL STATE VECTOR AND A DESIRED TRUE-ANOMALY-DIFFERENCE THROUGH WHICH THE # STATE IS TO BE UPDATED ALONG A CONIC TRAJECTORY, CALCULATES THE CORRESPONDING TIME-OF-FLIGHT AND, IN ADDITION, # PROVIDES THE OPTION OF COMPUTING THE NEW UPDATED STATE VECTOR. THE RESULTING TRAJECTORY MAY BE A SECTION OF A # CIRCLE, ELLIPSE, PARABOLA, OR HYPERBOLA WITH RESPECT TO THE EARTH OR THE MOON. THE USE OF THE SUBROUTINE CAN BE # EXTENDED USING OTHER PRIMARY BODIES BY SIMPLE ADDITIONS TO THE MUTABLE WITHOUT INTRODUCING ANY CODING CHANGES, # ACCEPTING THE INHERENT SCALE FACTOR CHANGES IN POSITION AND VELOCITY. # # THE RESTRICTIONS ARE -- # 1. THE ANGLE BETWEEN ANY POSITION VECTOR AND ITS VELOCITY VECTOR MUST BE GREATER THAN 1 DEGREE 47.5 MINUTES # AND LESS THAN 178 DEGREES 12.5 MINUTES. # 2. THE PARAMETERS IN THE PROBLEM MUST NOT EXCEED THEIR SCALING LIMITS SPECIFIED IN THE GSOP. IF THE LIMITS # ARE EXCEEDED, THE RESULTING SOLUTION WILL BE MEANINGLESS. # # THE AGC COMPUTATION TIME IS APPROXIMATELY .292 SECONDS. # # REFERENCES -- # R-479, MISSION PROGRAMMING DEFINITION MEMO NO. 10, LUNAR LANDING MISSION GSOP-SECTION 5.5, SGA MEMO 67-8. # # INPUT -- ERASABLE INITIALIZATION REQUIRED # SCALE FACTOR # VARIABLE IN POWERS OF 2 DESCRIPTION AND REMARKS # -------- -------------- ----------------------- # RVEC +29 FOR EARTH DP INITIAL POSITION VECTOR IN METERS # +27 FOR MOON # VVEC +7 FOR EARTH DP INITIAL VELOCITY VECTOR IN METERS/CENTISECOND # +5 FOR MOON # SNTH +1 DP SINE OF TRUE-ANOMALY-DIFFERENCE THROUGH WHICH THE STATE IS TO BE UPDATED # CSTH +1 DP COSINE OF THE ANGLE # RVSW NONE AN INTERPRETIVE SWITCH TO BE SET IF ONLY TIME IS TO BE AN OUTPUT, CLEAR IF THE NEW STATE # IS TO BE COMPUTED ALSO. # X1 (38D) NONE INDEX REGISTER TO BE SET TO -2D OR -10D ACCORDING TO WHETHER THE EARTH OR MOON, # RESPECTIVELY, IS THE CENTRAL BODY. # # SUBROUTINES CALLED -- # Page 1270 # PARAM, GEOM, GETX, DELTIME, NEWSTATE # # CALLING SEQUENCE AND NORMAL EXIT MODES -- # IF ONLY TIME IS DESIRED AS OUTPUT -- # L SET CALL # MUST BE IN INTERPRETIVE MODE BUT OVFIND ARBITRARY. # L+1 RVSW # L+2 TIMETHET # RETURN WITH PL AT 0 AND T IN MPAC # L+3 ... # CONTINUE # # IF THE UPDATE STATE VECTOR IS DESIRED AS WELL -- # L CLEAR CALL # MUST BE IN INTERPRETIVE MODE BUT OVFIND ARBITRARY. # L+1 RVSW # L+2 TIMETHET # RETURNS WITH PL AT 6. THE INITIAL POSITION VECTOR IS IN 0D OF THE PUSHLIST AND # # THE INITIAL VELOCITY VECTOR IN MPAC. # L+3 STOVL NEWVVEC # L+4 STADR # L+5 STORE NEWRVEC # NEWVVEC AND NEWRVEC ARE SYMBOLIC REPRESENTATIONS OF THE USERS LOCATIONS. # L+6 ... # CONTINUE. # # ABORT EXIT MODES -- # IF COGAFLAG AND/OR INFINFLG IS SET AT THE EXIT TO TIME-THETA, TIME-THETA WILL TRANSFER TO POODOO WITH # AN ALARM CODE (ORIGINALLY 00607), AND NOT RETURN TO THE CALLING PROGRAM. (PCR 692 AND 721). # # OUTPUT -- # SCALE FACTOR # VARIABLE IN POWERS OF 2 DESCRIPTION AND REMARKS # -------- -------------- ----------------------- # T (30D) +28 DP TRANSFER TIME IN CENTISECONDS # INFINFLG NONE AN INTERPRETIVE SWITCH WHICH IS SET IF THE TRANSFER ANGLE REQUIRES CLOSURE THROUGH # INFINITY (NO SOLUTION), CLEAR IF A PHYSICAL SOLUTION IS POSSIBLE. # COGAFLAG NONE AN INTERPRETIVE SWITCH WHICH IS SET IF RESTRICTION 1 HAS BEEN VIOLATED (NO SOLUTION), # CLEAR IF NOT. # # IN ADDITION, IF RVSW IS CLEAR, THE FOLLOWING ARE OUTPUT -- # MPAC - +7 FOR EARTH DP TERMINAL VELOCITY VECTOR IN METERS/CENTISEC. # MPAC+5 +5 FOR MOON # 0D - 5D +29 FOR EARTH DP TERMINAL POSITION VECTOR IN METERS (PL AT 6D) # +27 FOR MOON # # FOR OTHER OUTPUT WHICH MAY BE OF USE, SEE DEBRIS. # Page 1271 # # DEBRIS -- # PARAMETERS WHICH MAY BE OF USE -- # SCALE FACTOR # VARIABLE IN POWERS OF 2 DESCRIPTION AND REMARKS # -------- -------------- ----------------------- # R1 (32D) +29 FOR EARTH DP MAGNITUDE OF INITIAL POSITION VECTOR, RVEC, IN METERS # +27 FOR MOON # R1A +6 DP RATIO OF R1 TO SEMIMAJOR AXIS (NEG. FOR HYPERBOLIC TRAJECTORIES) # P +4 DP RATIO OF SEMILATUS RECTUM TO R1 # COGA +5 DP COTAN OF ANGLE BETWEEN RVEC AND VVEC # UR1 +1 DP UNIT VECTOR OF RVEC # U2 +1 DP UNIT VECTOR OF VVEC # UN +1 DP UNIT VECTOR OF UR1*U2 # # PARAMETERS OF NO USE -- # SP PARAMETERS -- RTNTT, GEOMSGN, RTNPRM, MAGVEC2=R2 (DP), PLUS PUSHLIST LOCATIONS 0-11D, 14D-21D, 24D-39D, 41D # ADDITIONAL INTERPRETIVE SWITCHES USED -- NORMSW, 360SW # Page 1272 # PROGRAM DESCRIPTION -- TIME-RADIUS SUBROUTINE DATE -- 11 OCTOBER 1967 # MOD NO. -1 LOG SECTION -- CONIC SUBROUTINES # MOD BY KRAUSE ASSEMBLY -- COLOSSUS REVISION 88 # # FUNCTIONAL DESCRIPTION -- # THIS SUBROUTINE, GIVEN AN INITIAL STATE VECTOR AND A DESIRED RADIUS TO WHICH THE # STATE IS TO BE UPDATED ALONG A CONIC TRAJECTORY, CALCULATES THE CORRESPONDING TIME-OF-FLIGHT AND, IN ADDITION, # PROVIDES THE OPTION OF COMPUTING THE NEW UPDATED STATE VECTOR. THE RESULTING TRAJECTORY MAY BE A SECTION OF A # CIRCLE, ELLIPSE, PARABOLA, OR HYPERBOLA WITH RESPECT TO THE EARTH OR THE MOON. THE USE OF THE SUBROUTINE CAN BE # EXTENDED USING OTHER PRIMARY BODIES BY SIMPLE ADDITIONS TO THE MUTABLE WITHOUT INTRODUCING ANY CODING CHANGES, # ACCEPTING THE INHERENT SCALE FACTOR CHANGES IN POSITION AND VELOCITY. # # IF THE DESIRED RADIUS IS BEYOND THE RADIUS OF APOCENTER OF THE CONIC OR BELOW THE RADIUS OF PERICENTER, # APSESW WILL BE SET AND THE SUBROUTINE WILL RETURN THE APOCENTER OR PERICENTER SOLUTION, RESPECTIVELY. # # THE RESTRICTIONS ARE -- # 1. THE ANGLE BETWEEN ANY POSITION VECTOR AND ITS VELOCITY VECTOR MUST BE GREATER THAN 1 DEGREE 47.5 MINUTES # AND LESS THAN 178 DEGREES 12.5 MINUTES. # 2. THE PARAMETERS IN THE PROBLEM MUST NOT EXCEED THEIR SCALING LIMITS SPECIFIED IN THE GSOP. IF THE LIMITS # EXCEEDED, THE RESULTING SOLUTION WILL BE MEANINGLESS. # 3. AN ACCURACY DEGRADATION OCCURS AS THE SENSITIVITIES OF TIME AND UPDATED STATE VECTOR TO CHANGES IN # RDESIRED INCREASE. THIS WILL OCCUR NEAR EITHER APSIS OF THE CONIC AND WHEN THE CONIC IS NEARLY CIRCULAR. IN # PARTICULAR, IF THE CONIC IS AN EXACT CIRCLE, THE PROBLEM IS UNDEFINED AND THE SUBROUTINE WILL ABORT. # # THE AGC COMPUTATION TIME IS APPROXIMATELY .363 SECONDS. # # REFERENCES -- # R-479, MISSION PROGRAMMING DEFINITION MEMO NO. 10, LUNAR LANDING MISSION GSOP-SECTION 5.5, SGA MEMO 67-8. # # INPUT -- ERASABLE INITIALIZATION REQUIRED. # SCALE FACTOR # VARIABLE IN POWERS OF 2 DESCRIPTION AND REMARKS # -------- -------------- ----------------------- # RVEC +29 FOR EARTH DP INITIAL POSITION VECTOR IN METERS # +27 FOR MOON # VVEC +7 FOR EARTH DP INITIAL VELOCITY VECTOR IN METERS/CENTISECOND # +5 FOR MOON # RDESIRED +29 FOR EARTH DP TERMINAL RADIAL DISTANCE ON CONIC TRAJECTORY FOR WHICH TRANSFER TIME IS TO BE # +27 FOR MOON COMPUTED # SGNRDOT NONE SP TAG SET TO +.5 OR -.5 ACCORDING TO WHETHER THE RADIAL VELOCITY AT RDESIRED IS TO BE # POSITIVE OR NEGATIVE, RESPECTIVELY. THIS TAG REDUCES THE DOUBLE-VALUED PROBLEM TO A # Page 1273 # SINGLE-VALUED PROBLEM. # X1 (38D) NONE INDEX REGISTER TO BE SET TO -2D OR -10D ACCORDING TO WHETHER THE EARTH OR MOON, # RESPECTIVELY, IS THE CENTRAL BODY. # RVSW NONE AN INTERPRETIVE SWITCH TO BE SET IF ONLY TIME IS TO BE AN OUTPUT, CLEAR IF THE NEW STATE # IS TO BE COMPUTED ALSO. # # SUBROUTINES CALLED -- # PARAM, GEOM, GETX, DELTIME, NEWSTATE # # CALLING SEQUENCE AND NORMAL EXIT MODES -- # IF ONLY TIME IS DESIRED AS OUTPUT -- # L SET CALL # MUST BE IN INTERPRETIVE MODE BUT OVFIND ARBITRARY. # L+1 RVSW # L+2 TIMERAD # RETURN WITH PL AT 0 AND T IN MPAC # L+3 ... # CONTINUE # # IF THE UPDATE STATE VECTOR IS DESIRED AS WELL -- # L CLEAR CALL # MUST BE IN INTERPRETIVE MODE BUT OVFIND ARBITRARY. # L+1 RVSW # L+2 TIMERAD # RETURNS WITH PL AT 6. THE INITIAL POSITION VECTOR IS IN 0D OF THE PUSHLIST AND # # THE INITIAL VELOCITY VECTOR IN MPAC. # L+3 STOVL NEWVVEC # L+4 STADR # L+5 STORE NEWRVEC # NEWVVEC AND NEWRVEC ARE SYMBOLIC REPRESENTATIONS OF THE USERS LOCATIONS. # L+6 ... # CONTINUE # # ABORT EXIT MODES -- # IF SOLNSW AND/OR COGAFLAG AND/OR INFINFLG IS SET AT THE EXIT TO TIME-RADIUS, TIME-RADIUS WILL TRANSFER # TO POODOO WITH AN ALARM CODE (ORIGINALLY 00607), AND NOT RETURN TO THE CALLING PROGRAM. (PCR 692 & 721). # # OUTPUT -- # SCALE FACTOR # VARIABLE IN POWERS OF 2 DESCRIPTION AND REMARKS # -------- -------------- ----------------------- # T (30D) +28 DP TRANSFER TIME IN CENTISECONDS. # INFINFLG NONE AN INTERPRETIVE SWITCH WHICH IS SET IF RDESIRED AND SGNRDOT REQUIRE CLOSURE THROUGH # INFINITY (NO SOLUTION), CLEAR IF A PHYSICAL SOLUTION IS POSSIBLE. # COGAFLAG NONE AN INTERPRETIVE SWITCH WHICH IS SET IF RESTRICTION 1 HAS BEEN VIOLATED (NO SOLUTION), # CLEAR IF NOT. # APSESW NONE AN INTERPRETIVE SWITCH WHICH IS SET IF RDESIRED WAS GREATER THAN RADIUS OF APOCENTER OR # Page 1274 # LESS THAN RADIUS OF PERICENTER. THE APOCENTER OR PERICENTER SOLUTION, RESPECTIVELY, # WILL THEN BE RETURNED. THE SWITCH IS CLEAR IF RDESIRED WAS BETWEEN PERICENTER AND # APOCENTER. # SOLNSW NONE AN INTERPRETIVE SWITCH WHICH IS SET IF THE CONIC IS SO CLOSE TO A CIRCLE THAT THE TERMIN # POINT IS AMBIGUOUS, VIOLATING RESTRICTION 3. IF ECCENTRICITY IS GREATER THAN 2-TO-THE- # MINUS-18, THE SWITCH IS CLEAR. # # IN ADDITION, IF RVSW IS CLEAR, THE FOLLOWING ARE OUTPUT -- # MPAC - +7 FOR EARTH DP TERMINAL VELOCITY VECTOR IN METERS/CENTISEC. # MPAC+5 +5 FOR MOON # 0D - 5D +29 FOR EARTH DP TERMINAL POSITION VECTOR IN METERS (PL AT 6D) # +27 FOR MOON # # FOR OTHER OUTPUT WHICH MAY BE OF USE, SEE DEBRIS. # # DEBRIS -- # PARAMETERS WHICH MAY BE OF USE -- # SCALE FACTOR # VARIABLE IN POWERS OF 2 DESCRIPTION AND REMARKS # -------- -------------- ----------------------- # R1 (32D) +29 FOR EARTH DP MAGNITUDE OF INITIAL POSITION VECTOR, RVEC, IN METERS # +27 FOR MOON # R1A +6 DP RATIO OF R1 TO SEMIMAJOR AXIS (NEG. FOR HYPERBOLIC TRAJECTORIES) # P +4 DP RATIO OF SEMILATUS RECTUM TO R1 # COGA +5 DP COTAN OF ANGLE BETWEEN RVEC AND VVEC # UR1 +1 DP UNIT VECTOR OF RVEC # U2 +1 DP UNIT VECTOR OF VVEC # UN +1 DP UNIT VECTOR OF UR1*U2 # CSTH +1 DP COSINE OF TRUE ANOMALY DIFFERENCE BETWEEN RVEC AND RDESIRED. # SNTH +1 DP SINE OF TRUE ANOMALY DIFFERENCE. # # PARAMETERS OF NO USE -- # SP PARAMETERS -- RTNTT, GEOMSGN, RTNPRM, MAGVEC2=R2 (DP), PLUS PUSHLIST LOCATIONS 0-11D, 14D-21D, 24D-39D, 41D # ADDITIONAL INTERPRETIVE SWITCHES USED -- NORMSW, 360SW # # Page 1275 # PROGRAM DESCRIPTION -- APSIDES SUBROUTINE DATE -- 1 SEPTEMBER 1967 # MOD NO. -- 0 LOG SECTION -- CONIC SUBROUTINES # MOD BY KRAUSE ASSEMBLY -- COLOSSUS REVISION 88 # # FUNCTIONAL DESCRIPTION -- # THIS SUBROUTINE, GIVEN AN INITIAL STATE VECTOR, CALCULATES THE RADIUS OF PERICENTER AND OF APOCENTER AND THE # ECCENTRICITY OF THE RESULTING CONIC TRAJECTORY, WHICH MAY BE A STRAIGHT LINE, # CIRCLE, ELLIPSE, PARABOLA, OR HYPERBOLA WITH RESPECT TO THE EARTH OR THE MOON. THE USE OF THE SUBROUTINE CAN # BE EXTENDED USING OTHER PRIMARY BODIES BY SIMPLE ADDITIONS TO THE MUTABLE WITHOUT INTRODUCING ANY CODING CHANGES, # ACCEPTING THE INHERENT SCALE FACTOR CHANGES IN POSITION AND VELOCITY. # # THE RESTRICTIONS ARE -- # 1. IF APOCENTER IS BEYOND THE SCALING OF POSITION, THE SCALE FACTOR LIMIT (536,870,910 METERS WITH RESPECT # TO THE EARTH OR 134,217,727.5 METERS WITH RESPECT TO THE MOON) WILL BE RETURNED. # 2. THE PARAMETERS IN THE PROBLEM MUST NOT EXCEED THEIR SCALING LIMITS SPECIFIED IN THE GSOP. IF THE LIMITS # ARE EXCEEDED, THE RESULTING SOLUTION WILL BE MEANINGLESS. # # THE AGC COMPUTATION TIME IS APPROXIMATELY .103 SECONDS. # # REFERENCES -- # MISSION PROGRAMMING DEFINITION MEMO NO. 10, LUNAR LANDING MISSION GSOP-SECTION 5.5. # # INPUT -- ERASABLE INITIALIZATION REQUIRED # SCALE FACTOR # VARIABLE IN POWERS OF 2 DESCRIPTION AND REMARKS # -------- -------------- ----------------------- # RVEC +29 FOR EARTH DP INITIAL POSITION VECTOR IN METERS # +27 FOR MOON # VVEC +7 FOR EARTH DP INITIAL VELOCITY VECTOR IN METERS/CENTISECOND # +5 FOR MOON # X1 (38D) NONE INDEX REGISTER TO BE SET TO -2D OR -10D ACCORDING TO WHETHER THE EARTH OR MOON, # RESPECTIVELY, IS THE CENTRAL BODY. # # SUBROUTINES CALLED -- # PARAM, GEOM # # CALLING SEQUENCE AND NORMAL EXIT MODES -- # Page 1276 # IF ONLY TIME IS DESIRED AS OUTPUT -- # L CALL # MUST BE IN INTERPRETIVE MODE BUT OVFIND ARBITRARY. # L+1 APSIDES # RETURNS WITH PL AT 0, RADIUS OF APOCENTER IN MPAC AND RADIUS OF PERICENTER IN 0D # L+2 STODL APOAPSE # L+3 0D # L+4 STORE PERIAPSE # APOAPSE AND PERIAPSE ARE SYMBOLIC REPRESENTATIONS OF THE USERS LOCATIONS # L+5 ... # CONTINUE # # OUTPUT -- # SCALE FACTOR # VARIABLE IN POWERS OF 2 DESCRIPTION AND REMARKS # -------- -------------- ----------------------- # MPAC +29 FOR EARTH DP RADIUS OF APOCENTER IN METERS # +27 FOR MOON # 0D-1D +29 FOR EARTH DP RADIUS OF PERICENTER IN METERS # +27 FOR MOON # ECC +3 DP ECCENTRICITY OF CONIC TRAJECTORY # # FOR OTHER OUTPUT WHICH MAY BE OF USE, SEE DEBRIS. # # DEBRIS -- # PARAMETERS WHICH MAY BE OF USE -- # SCALE FACTOR # VARIABLE IN POWERS OF 2 DESCRIPTION AND REMARKS # -------- -------------- ----------------------- # R1 (32D) +29 FOR EARTH DP MAGNITUDE OF INITIAL POSITION VECTOR, RVEC, IN METERS # +27 FOR MOON # R1A +6 DP RATIO OF R1 TO SEMIMAJOR AXIS (NEG. FOR HYPERBOLIC TRAJECTORIES) # P +4 DP RATIO OF SEMILATUS RECTUM TO R1 # COGA +5 DP COTAN OF ANGLE BETWEEN RVEC AND VVEC # UR1 +1 DP UNIT VECTOR OF RVEC # U2 +1 DP UNIT VECTOR OF VVEC # UN +1 DP UNIT VECTOR OF UR1*U2 # MAGVEC2 +7 FOR EARTH DP MAGNITUDE OF VVEC # +5 FOR MOON # # PARAMETERS OF NO USE -- # SP PARAMETERS -- RTNAPSE, GOMSGN, RTNPRM, PLUS PUSHLIST LOCATIONS 0-5, 10D-11D, 14D-21D, 31D-38D. # ADDITIONAL INTERPRETIVE SWITCHES USED -- NORMSW SETLOC CONICS # Page 1277 BANK COUNT 12/CONIC EBANK= UR1 KEPLERN SETPD BOV 0 +1 VLOAD* MUTABLE,1 STOVL 14D RRECT UNIT SSP ITERCTR 20D STODL URRECT 36D STOVL R1 RRECT DOT SL1R VRECT DMP SL1R 1/ROOTMU # 1/ROOTMU (-17 OR -14) STOVL KEPC1 # C1=R.V/ROOTMU (+17 OR +16) VRECT VSQ DMPR 1/MU # 1/MU (-34 OR -28) DMP SL3 R1 DSU ROUND D1/64 STORE KEPC2 # C2=RV.V/MU -1 (+6) BDSU SR1R D1/64 DDV R1 STORE ALPHA # ALPHA=(1-C2)/R1 (-22 OR -20) BPL DLOAD # MAXIMUM X DEPENDS ON TYPE OF CONIC 1REV -50SC # -50SC (+12) DDV BOV ALPHA STOREMAX SQRT GOTO STOREMAX # Page 1278 1REV SQRT BDDV 2PISC # 2PISC (+6) BOV STOREMAX STOREMAX STORE XMAX DMP PDDL 1/ROOTMU ALPHA NORM PDDL X1 SL* DDV 0 -6,1 BOV BMN MODDONE MODDONE # MPAC=PERIOD PERIODCH PDDL ABS # 0D=PERIOD TAU. DSU BMN 0D MODDONE SIGN TAU. STODL TAU. GOTO PERIODCH MODDONE SETPD DLOAD 0 XKEPNEW STORE X SIGN BZE TAU. BADX BMN ABS BADX DSU BPL XMAX BADX STORBNDS DLOAD BPL TAU. STOREMIN DLOAD DCOMP XMAX STODL XMIN KEPZERO STCALL XMAX DXCOMP STOREMIN DLOAD KEPZERO STORE XMIN DXCOMP DLOAD DMPR # Page 1279 TAU. BEE22 ABS STODL EPSILONT XPREV XDIFF BDSU X STORE DELX KEPLOOP DLOAD DSQ X # X=XKEP NORM PUSH # 0D=XSQ (+34 OR +32 -N1) PL AT 2 X1 DMP SRR* ALPHA 0 -6,1 STCALL XI # XI=ALPHA XSQ (+6) DELTIME BOV BDSU TIMEOVFL # UNLIKELY TAU. STORE DELT # DELT=DELINDEP ABS BDSU EPSILONT BPL DLOAD KEPCONVG T DSU NORM TC X1 PDDL NORM DELX X2 XSU,1 DMP X2 DELT SLR* DDV 1,1 SR1 PUSH # 0D=TRIAL DELX PL AT 2 BPL DLOAD POSDELX X STORE XMAX # MOVE MAX BOUND IN BDSU DSU # PL AT 0 XMIN BOV BPL NDXCHNGE NDXCHNGE DLOAD GOTO # Page 1280 0D NEWDELX NDXCHNGE DLOAD DSU XMIN X DMPR GOTO # TO FORCE MPAC +2 TO ZERO DP9/10 NEWDELX POSDELX DLOAD X STORE XMIN # MOVE MIN BOUND IN BDSU DSU # PL AT 0 XMAX BOV BMN PDXCHNGE PDXCHNGE DLOAD 0D NEWDELX STORE DELX BZE DAD KEPCONVG X STODL X T STORE TC BRNCHCTR RTB BHIZ CHECKCTR KEPCONVG GOTO KEPLOOP # ITERATE PDXCHNGE DLOAD DSU XMAX X DMPR GOTO # TO FORCE MPAC +2 TO ZERO DP9/10 NEWDELX BADX DLOAD SR1 XMAX SIGN TAU. STCALL X STORBNDS # Page 1281 TIMEOVFL DLOAD BMN # X WAS TOO BIG X NEGTOVFL STORE XMAX CMNTOVFL DLOAD SR1 DELX STORE DELX BZE BDSU KEPRTN X STODL X TC STCALL T BRNCHCTR NEGTOVFL STCALL XMIN CMNTOVFL KEPCONVG DLOAD SR4R R1 DSU VXSC XSQC(XI) URRECT VSL1 PDDL # 0D=(R1-XSQC(XI))URRECT (+33 OR +31) X DSQ NORM X1 DMPR DMPR 1/ROOTMU X DMP SRR* S(XI) 0 -7,1 BDSU T SL1 VXSC VRECT VSL1 VAD # PL AT 0 VSL4 STORE RCV # RCV (+29 OR +27) ABVAL NORM X2 STODL RCNORM XI DMPR DSU S(XI) D1/128 DMP SL1R ROOTMU DMP SLR* # Page 1282 X 0 -3,2 DDV VXSC RCNORM URRECT VSL1 PDDL # 0D=URRECT(XI S(XI)-1)X ROOTMU/RCV (+15 XSQC(XI) # OR +13) PL AT 6 SLR* DDV 0 -4,2 RCNORM BDSU VXSC D1/256 VRECT VAD VSL8 STADR # PL AT 0 STODL VCV # VCV (+7 OR +5) T STODL TC X STCALL XPREV KEPRTN # Page 1283 DELTIME EXIT # MPAC=XI (+6), 0D=XSQ (+34 OR +32 -N1) TC POLY DEC 8 2DEC .083333334 2DEC -.266666684 2DEC .406349155 2DEC -.361198675 2DEC .210153242 2DEC -.086221951 2DEC .026268812 2DEC -.006163316 2DEC .001177342 2DEC -.000199055 TC INTPRET STODL S(XI) XI EXIT TC POLY DEC 8 2DEC .031250001 2DEC -.166666719 2DEC .355555413 2DEC -.406347410 2DEC .288962094 2DEC -.140117894 2DEC .049247387 2DEC -.013081923 2DEC .002806389 2DEC -.000529414 TC INTPRET # Page 1284 DMP SRR* # PL AT 0 0D 0 -5,1 STORE XSQC(XI) # XSQC(XI) (+33 OR +31) DMP SL1 KEPC1 RTB PDDL # XCH WITH PL. 0D=C1 XSQ C(XI) (+49 OR +46) TPMODE # PL AT 0,3 DMP SRR* S(XI) 0 -5,1 DMP SL1 KEPC2 RTB PDDL # 3D=C2 XSQ S(XI) (+35 OR +33) PL AT 6 TPMODE R1 SR TAD # PL AT 3 6 NORM DMP # TO PRESERVE SIGNIF. X1 X SR* TAD # X(C2 XSQ S(XI) +R1) (+49 OR +46) PL AT 0 0 -3,1 SL4R DMPR 1/ROOTMU STORE T RVQ # Page 1285 ITERATOR BONCLR DLOAD SLOPESW FIRSTIME DEP DSU NORM DEPREV X1 PDDL NORM DELINDEP X2 XSU,1 DMP X2 DELDEP SLR* DDV # PL UP 2 1,1 SR1 BOFF ORDERSW SGNCHECK ABS SIGN # IN CASE 2ND DERIV. CHANGED SIGN, MUST DELDEP # DISREGARD IT TO FIND MIN. SGNCHECK PUSH BPL # TRIAL DELINDEP PL DOWN 2 POSDEL DLOAD BON INDEP ORDERSW MINCHECK STORE MAX # IF NOT 2ND ORDER, CAN MOVE MAX BOUND IN. MINCHECK BDSU DSU MIN BOV BPL MODNGDEL MODNGDEL GOTO DELOK MODNGDEL DLOAD DSU # TRIAL DELINDEP WOULD EXCEED MIN BOUND MIN INDEP DMP GOTO DP9/10 NEWDEL FIRSTIME DLOAD DMP MIN TWEEKIT # DLOAD TWEEKIT(40D) SENSITIVE TO CHANGE. PDDL DMP # S2(41D) SHOULDNT CONTAIN HI ORDER ONES # Page 1286 MAX TWEEKIT DSU SIGN GOTO DELDEP SGNCHECK POSDEL DLOAD BON INDEP ORDERSW MAXCHECK STORE MIN # IF NOT 2ND ORDER, CAN MOVE MIN BOUND IN. MAXCHECK BDSU DSU MAX BOV BMN MODPSDEL MODPSDEL DELOK DLOAD 0D NEWDEL STORE DELINDEP RVQ MODPSDEL DLOAD DSU MAX INDEP DMP GOTO DP9/10 NEWDEL CHECKCTR CS ONE INDEX FIXLOC AD ITERCTR INDEX FIXLOC TS ITERCTR TS MPAC TC DANZIG # Page 1287 NEWSTATE DLOAD SR4R R1 DSU VXSC XSQC(XI) UR1 VSL1 PDDL # 0D=(R1-XSQC(XI))UR1 (+33 OR 31) PL AT 6 X DSQ NORM X1 DMPR DMPR 1/ROOTMU X DMP SRR* S(XI) 0 -7,1 BDSU T SL1 VXSC VVEC VSL1 VAD # PL AT 0 VSL4 PUSH ABVAL LAMENTER NORM X1 STODL R2 XI DMP DSU S(XI) D1/128 DMP SL1R ROOTMU DMP SLR* X 0 -3,1 DDV VXSC R2 UR1 VSL1 PDDL # 6D=V2VEC PART (+15 OR 13) PL AT 12 XSQC(XI) SLR* DDV 0 -4,1 R2 BDSU D1/256 VXSC VAD # PL AT 6 VVEC VSL8 RVQ # Page 1288 SETLOC CONICS1 BANK COUNT 04/CONIC # DO NOT DISTURB THE ORDER OF THESE CDS, OVERLAYS HAVE BEEN MADE. BEE17 DEC 0 # KEEP WITH D1/8 2DEC 1.0B-17 (0000004000) D1/8 2DEC 1.0 B-3 D1/128 2DEC 1.0 B-7 D1/64 2DEC 1.0 B-6 D1/4 2DEC 1.0 B-2 D1/16 2DEC 1.0 B-4 D1/32 2DEC 1.0 B-5 D1/1024 2DEC 1.0 B-10 D1/256 2DEC 1.0 B-8 DP9/10 2DEC .9 KEPZERO EQUALS LO6ZEROS -50SC 2DEC -50.0 B-12 2PISC 2DEC 6.28318530 B-6 BEE19 EQUALS D1/32 -1 # 2DEC 1.0 B-19 (00000 01000) BEE22 EQUALS D1/256 -1 # 2DEC 1.0 B-22 (00000 00100) ONEBIT 2DEC 1.0 B-28 COGUPLIM 2DEC .999511597 COGLOLIM 2DEC -.999511597 # Page 1289 SETLOC CONICS BANK COUNT 12/CONIC TIMETHET STQ SETPD # PL AT 0 RTNTT 0 BOV +1 VLOAD PDVL # SETUP FOR PARAM CALL PL AT 6 RVEC VVEC CALL PARAM BOV CALL # PL AT 0 COGAOVFL GETX COMMNOUT DLOAD BON XI INFINFLG ABTCONIC CLEAR CALL COGAFLAG DELTIME BON CALL RVSW RTNTT NEWSTATE GOTO RTNTT COGAOVFL SETGO COGAFLAG ABTCONIC BANK 4 SETLOC CONICS1 BANK COUNT* $$/CONIC PARAM STQ CLEAR # MPAC=V1VEC, 0D=R1VEC PL AT 6 RTNPRM NORMSW CLEAR COGAFLAG SSP CALL GEOMSGN 37777 # GAMMA ALWAYS LESS THAN 180DEG GEOM # MPAC=SNGA (+1), 0D=CSGA (+1) PL AT 2 STODL 36D # 36D=SIN GAMMA (+1) PL AT 0 # Page 1290 SR DDV 5 36D STOVL* COGA MUTABLE,1 STODL 1/MU MAGVEC2 DSQ NORM X1 DMPR DMP 1/MU R1 SRR* 0 -3,1 PUSH BDSU # 0D=R1 V1SQ/MU (+6) PL AT 2 D1/32 STODL R1A # R1A (+6) PL AT 0 DMP NORM 36D X1 DMP SR* 36D 0 -4,1 STCALL P # P (+4) RTNPRM # Page 1291 GEOM UNIT # MPAC=V2VEC, 0D=R1VEC PL AT 6 STODL U2 # U2 (+1) 36D STOVL MAGVEC2 # PL AT 0 UNIT STORE UR1 # UR1 (+1) DOT SL1 U2 PDDL # 0D=CSTH (+1) PL AT 2 36D STOVL R1 # R1 (+29 OR +27) UR1 VXV VSL1 U2 BON SIGN NORMSW HAVENORM GEOMSGN UNIT BOV COLINEAR UNITNORM STODL UN # UN (+1) 36D SIGN RVQ # MPAC=SNTH (+1), 34D=SNTH.SNTH (+2) GEOMSGN COLINEAR VSR1 GOTO UNITNORM HAVENORM ABVAL SIGN GEOMSGN RVQ # MPAC=SNTH (+1), 34D=SNTH.SNTH (+2) # Page 1292 BANK 12 SETLOC CONICS BANK COUNT 12/CONIC GETX AXT,2 SSP # ASSUMES P (+4) IN MPAC 3 S2 1 CLEAR 360SW SQRT PDDL # 0D=SQRT(P) PL AT 2 CSTH SR1 BDSU D1/4 PDDL SRR # PL AT 4D SNTH 6 DDV # PL AT 2 BOV 360CHECK DSU DMP COGA # PL AT 0 SL2R BOV 360CHECK WLOOP PUSH DSQ # 0D=W (+5) PL AT 2 TLOAD PDDL # 2D=WSQ (+10) PL AT 5 MPAC R1A SR4 TAD # PL AT 2 BMN SQRT INFINITY ROUND DAD # PL AT 0D BOV TIX,2 RESETX2 WLOOP BDDV BOV D1/128 INFINITY POLYCOEF BMN PUSH # 0D=1/W (+2) OR 16/W (+6) PL AT 2 INFINITY DSQ NORM DMP X1 R1A SRR* EXIT 0 -10D,1 # Page 1293 TC POLY DEC 5 2DEC .5 2DEC -.166666770 2DEC .100000392 2DEC -.071401086 2DEC .055503292 2DEC -.047264098 2DEC .040694204 TC INTPRET DMP SL1R # PL AT 0D PUSH BON 360SW TRUE360X XCOMMON DSQ NORM X1 DMP SRR* R1A 0 -12D,1 STODL XI # XI (+6) R1 SR1 SQRT ROUND DMP SL4R # PL AT 0 STORE X # X (+17 OR +16) DSQ NORM X1 PDDL DMP # 0D=XSQ (+34 OR +32 -N1) PL AT 2 P R1 SL3 SQRT DMP SL3R COGA STODL KEPC1 R1A BDSU CLEAR D1/64 INFINFLG STORE KEPC2 # Page 1294 RVQ RESETX2 AXT,2 3 360CHECK SETPD BPL 0D INVRSEQN SET 360SW INVRSEQN DLOAD SQRT P PDDL DMP # 0D=SQRT(P) (+2) PL AT 2 SNTH COGA SL1 PDDL # 2D=SNTH COGA (+5) PL AT 4 CSTH SR4 DAD D1/32 DSU DMP # PL AT 2,0 NORM BDDV X1 SNTH SLR* ABS # NOTE: NEAR 360 CASE TREATED DIFFERENTLY 0 -5,1 PUSH DSQ # 0D=1/W (-1) PL AT 2 STODL 34D D1/16 1/WLOOP PUSH DSQ # 2D=G (+4) PL AT 4 RTB PDDL # PL AT 7 TPMODE R1A DMP SR4 34D TAD # PL AT 4 BMN SQRT INFINITY DAD # PL AT 2 TIX,2 NORM 1/WLOOP X1 BDDV # PL AT 0 SLR* GOTO 0 -7,1 POLYCOEF # Page 1295 TRUE360X DLOAD BMN R1A INFINITY SQRT NORM X1 BDDV SL* 2PISC 0 -3,1 DSU PUSH # 0D=2PI/SQRT(R1A) -X PL AT 0,2 GOTO XCOMMON INFINITY SETPD BOV # NO SOLUTION EXISTS SINCE CLOSURE THROUGH 0 # INFINITY IS REQUIRED OVFLCLR OVFLCLR SET RVQ INFINFLG # Page 1296 LAMBERT STQ SETPD RTNLAMB 0D BOV +1 SSP VLOAD* ITERCTR 20D MUTABLE,1 STODL 1/MU TDESIRED DMPR BEE19 STORE EPSILONL SET VLOAD SLOPESW R1VEC PDVL CALL # 0D=R1VEC (+29 OR +27) PL AT 6 R2VEC # MPAC=R2VEC (+29 OR +27) GEOM STODL SNTH # 0D=CSTH (+1) PL AT 2 MAGVEC2 NORM PDDL # PL AT 4 X1 R1 SR1 DDV # PL AT 2 SL* PDDL # DXCH WITH 0D, 0D=R1/R2 (+7) PL AT 0,2 0 -6,1 STADR STORE CSTH # CSTH (+1) SR1 BDSU D1/4 STORE 1-CSTH # 1-CSTH (+2) ROUND BZE 360LAMB NORM PDDL # PL AT 4 X1 0D SR1 DDV # PL AT 2 SL* SQRT 0 -3,1 PDDL SR # 2D=SQRT(2R1/R2(1-CSTH)) (+5) PL AT 4 SNTH 6 DDV DAD # PL AT 2 1-CSTH STADR STORE COGAMAX BOV BMN # IF OVFL, COGAMAX=COGUPLIM # Page 1297 UPLIM # IF NEG, USE EVEN IF LT COGLOLIM, SINCE MAXCOGA # THIS WOULD BE RESET IN LAMBLOOP DSU BMN # IF COGAMAX GT COGUPLIM, COGAMAX=COGUPLIM COGUPLIM MAXCOGA # OTHERWISE OK, SO GO TO MAXCOGA UPLIM DLOAD COGUPLIM # COGUPLIM=.999511597 = MAX VALUE OF COGA STORE COGAMAX # NOT CAUSING OVFL IN R1A CALCULATION MAXCOGA DLOAD CSTH SR DSU # PL AT 0 6 STADR STODL CSTH-RHO GEOMSGN BMN DLOAD LOLIM CSTH-RHO SL1 DDV SNTH BOV LOLIM MINCOGA STORE COGAMIN # COGAMIN (+5) BON SSP GUESSW NOGUESS TWEEKIT 00001 DLOAD COGA LAMBLOOP DMP SNTH SR1 DSU CSTH-RHO NORM PDDL # 0D=SNTH COGA-(CSTH-RHO) (+7+C(XI)) PL=2 X1 1-CSTH SL* DDV # 1-CSTH (+2) PL AT 0 0 -9D,1 BMN BZE NEGP NEGP STODL P # P=(1-CSTH)/(SNTH COGA-(CSTH-RHO)) (+4) COGA DSQ DAD D1/1024 NORM DMP X1 # Page 1298 P SR* BDSU 0 -8D,1 D1/32 STODL R1A # R1A=2-P(1+COGA COGA) (+6) P BOV CALL HIENERGY GETX DLOAD T STODL TPREV XI BON CALL INFINFLG NEGP # HAVE EXCEEDED THEORETICAL BOUNDS DELTIME BOV BDSU BIGTIME TDESIRED STORE TERRLAMB ABS BDSU EPSILONL BPL RTB INITV CHECKCTR BHIZ CALL SUFFCHEK ITERATOR DLOAD BZE MPAC SUFFCHEK DAD COGA STCALL COGA LAMBLOOP NEGP DLOAD BPL # IMPOSSIBLE TRAJECTORY DUE TO INACCURATE DCOGA # BOUND CALCULATION. TRY NEW COGA. LOENERGY HIENERGY SETPD DLOAD # HIGH ENERGY TRAJECTORY RESULTED. 0 COGA # IN OVFL OF P OR R1A, OR XI EXCEEDING 50. STORE COGAMIN # THIS IS THE NEW BOUND. COMMONLM DLOAD SR1 DCOGA # Page 1299 STORE DCOGA # USE DCOGA/2 AS DECREMENT BZE BDSU SUFFCHEK COGA STCALL COGA LAMBLOOP BIGTIME DLOAD TPREV STORE T LOENERGY SETPD DLOAD # LOW ENERGY TRAJECTORY RESULTED 0 COGA # IN OVERFLOW OF TIME. STCALL COGAMAX # THIS IS THE NEW BOUND. COMMONLM SUFFCHEK DLOAD ABS TERRLAMB PDDL DMP # PL AT 2D TDESIRED D1/4 DAD DSU # PL AT 0D ONEBIT BPL SETGO INITV SOLNSW RTNLAMB 360LAMB SETPD SETGO # LAMBERT CANNOT HANDLE CSTH=1 0 SOLNSW RTNLAMB NOGUESS SSP DLOAD TWEEKIT 20000 COGAMIN SR1 PDDL # PL AT 2 COGAMAX SR1 DAD STADR # PL AT 0 STORE COGA STCALL DCOGA LAMBLOOP # Page 1300 LOLIM DLOAD GOTO COGLOLIM # COGLOLIM=-.999511597 MINCOGA INITV DLOAD NORM R1 X1 PDDL SR1 # PL AT 2 P DDV # PL AT 0 SL* SQRT 0 -4,1 DMP SL1 ROOTMU PUSH DMP # 0D=VTAN (+7) PL AT 2 COGA SL VXSC 5 UR1 PDDL # XCH WITH 0D PL AT 0,6 VXSC VSL1 UN VXV VAD # PL AT 0 UR1 VSL1 CLEAR SOLNSW STORE VVEC SLOAD BZE VTARGTAG TARGETV GOTO RTNLAMB TARGETV DLOAD CALL MAGVEC2 LAMENTER STCALL VTARGET RTNLAMB # Page 1301 TIMERAD STQ SETPD # PL AT 0 RTNTR 0 BOV +1 VLOAD PDVL # PL AT 6 RVEC VVEC CALL PARAM BOV DLOAD # PL AT 0 COGAOVFL D1/32 DSU DMP R1A P SQRT DMP COGA SL4 VXSC U2 PDDL DSU # PL AT 6 D1/64 R1A VXSC VSU # PL AT 0 UR1 VSL4 UNIT BOV CIRCULAR PDDL NORM # 0D=UNIT(ECC) (+3) PL AT 6 RDESIRED # 36D=ECC (+3) X1 PDDL DMP # PL AT 8 R1 P SL* DDV # PL AT 6 0,1 DSU DDV D1/16 36D # 36D=ECC (+3) STORE COSF BOV DSQ BADR2 BDSU BMN D1/4 BADR2 SQRT SIGN SGNRDOT CLEAR APSESW # Page 1302 TERMNVEC VXSC VSL1 UN VXV PDVL # VXCH WITH 0D PL AT 0,6 0D VXSC VAD # PL AT 0 COSF VSL1 PUSH # 0D=U2 PL AT 6 DOT DDV # LIMITS RESULT TO POSMAX OR NEGMAX UR1 DP1/4 SR1 BOV # SCALE BACK DOWN TO NORMAL +1 # CLEAR OVFIND IF SET STOVL CSTH # CSTH (+1) UR1 VXV VSL1 DOT SL1 UN STODL SNTH # SNTH (+1) P CALL GETX CLRGO SOLNSW COMMNOUT CIRCULAR SETPD SETGO 0 SOLNSW ABTCONIC BADR2 DLOAD SIGN LODPHALF COSF STODL COSF KEPZERO SETGO APSESW TERMNVEC # Page 1303 APSIDES STQ SETPD # PL AT 0 RTNAPSE 0D BOV +1 VLOAD PDVL # PL AT 6 RVEC VVEC CALL PARAM BOV # PL AT 0 GETECC GETECC DMP SL4 R1A BDSU SQRT D1/64 STORE ECC DAD PDDL # PL AT 2 D1/8 R1 DMP SL1 P DDV # PL AT 0 PDDL NORM # 0D=RP (+29 OR +27) PL AT 2 R1A X1 PDDL SL* # PL AT 4 R1 0 -5,1 DDV DSU # PL AT 2,0 BOV BMN INFINAPO INFINAPO GOTO RTNAPSE INFINAPO DLOAD GOTO # RETURNS WITH APOAPSIS IN MPAC, PERIAPSIS LDPOSMAX RTNAPSE # THAT PL IS AT 0. # Page 1304 ABTCONIC EXIT TC POODOO OCT 00607 # Page 1305 SETLOC CONICS1 BANK COUNT 04/CONIC MUTABLE 2DEC* 3.986032 E10 B-36* # MUE 2DEC* .25087606 E-10 B+34* # 1/MUE 2DEC* 1.99650495 E5 B-18* # SQRT(MUE) 2DEC* .50087529 E-5 B+17* # 1/SQRT(MUE) 2DEC 4.902778 E8 B-30 # MUM 2DEC .203966 E-8 B+28 # 1/MUM 2DEC* 2.21422176 E4 B-15* # SQRT(MUM) 2DEC* .45162595 E-4 B+14* # 1/SQRT(MUM) LDPOSMAX EQUALS LODPMAX # DPPOSMAX IN LOW MEMORY. # ERASABLE ASSIGNMENTS # KEPLER SUBROUTINE # INPUT -- # RRECT ERASE +5 # VRECT ERASE +5 # TAU. ERASE +1 # XKEP ERASE +1 # TC ERASE +1 # XPREV ERASE +1 1/MU EQUALS 14D ROOTMU EQUALS 16D 1/ROOTMU EQUALS 18D # OUTPUT -- # RCV ERASE +5 # VCV ERASE +5 # RC ERASE +1 # XPREV ERASE +1 # DEBRIS -- ALPHA EQUALS 8D XMAX EQUALS 10D # Page 1306 XMIN EQUALS 12D X EQUALS 20D XI EQUALS 24D S(XI) EQUALS 26D XSQC(XI) EQUALS 28D T EQUALS 30D R1 EQUALS 32D KEPC1 EQUALS 34D KEPC2 EQUALS 36D # DELX ERASE +1 # DELT ERASE +1 # URRECT ERASE +5 # RCNORM ERASE +1 # XPREV EQUALS XKEP # LAMBERT SUBROUTINE # # INPUT -- # R1VEC ERASE +5 # R2VEC ERASE +5 # TDESIRED ERASE +1 # GEOMSGN ERASE +0 # GUESSW # 0 IF COGA GUESS AVAILABLE, 1 IF NOT # COGA ERASE +1 # INPUT ONLY IF GUESSW IS ZERO. # NORMSW # 0 IF UN TO BE COMPUTED, 1 IF UN INPUT # UN ERASE +5 # ONLY USED IF NORMSW IS 1 # VTARGTAG ERASE +0 # TWEEKIT EQUALS 40D # ONLY USED IF GUESSW IS 0 # OUTPUT -- # VTARGET ERASE +5 # AVAILABLE ONLY IF VTARGTAG IS ZERO. # V1VEC EQUALS MPAC # DEBRIS -- # RTNLAMB ERASE +0 # U2 ERASE +5 # MAGVEC2 ERASE +1 # UR1 ERASE +5 # R1 EQUALS 31D # UN ERASE +5 # SNTH ERASE +1 # CSTH ERASE +1 # 1-CSTH ERASE +1 # CSTH-RHO ERASE +1 COGAMAX EQUALS 14D # CLOBBERS 1/MU COGAMIN EQUALS 8D DCOGA EQUALS 12D # TWEEKIT EQUALS 40D # P ERASE +1 # Page 1307 # COGA ERASE +1 # R1A ERASE +1 # X EQUALS 20D # XSQ EQUALS 22D # XI EQUALS 24D # S(XI) EQUALS 26D # XSQC(XI) EQUALS 28D # T EQUALS 30D # KEPC1 EQUALS 34D # KEPC2 EQUALS 36D # SLOPESW # SOLNSW # OTHERS -- # RVEC EQUALS R1VEC # VVEC ERASE +5 # COGAFLAG # RVSW # INFINFLG # APSESW # 360SW # RTNTT EQUALS RTNLAMB # ECC ERASE +1 # RTNTR EQUALS RTNLAMB # RTNAPSE EQUALS RTNLAMB # R2 EQUALS MAGVEC2 COSF EQUALS 24D # RTNPRM ERASE +0 # SGNRDOT ERASE +0 # RDESIRED ERASE +1 # ITERATOR SUBROUTINE # ORDERSW MAX EQUALS 14D # CLOBBERS 1/MU MIN EQUALS 8D # INDEP ERASE +1 DELINDEP EQUALS 12D ITERCTR EQUALS 22D DEP EQUALS 30D # DELDEP ERASE +1 # DEPREV ERASE +1 TWEEKIT EQUALS 40D # MORE KEPLER # EPSILONT ERASE +1 # Page 1308 # MORE LAMBERT # TERRLAMB EQUALS DELDEP # TPREV EQUALS DEPREV # EPSILONL EQUALS EPSILONT +2 # DOUBLE PRECISION WORD ================================================ FILE: Comanche055/CONTRACT_AND_APPROVALS.agc ================================================ # Copyright: Public domain. # Filename: CONTRACT_AND_APPROVALS.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Mod history: 2009-05-06 RSB Transcribed from page images. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # Page 1 # ************************************************************************ # * * # * THIS AGC PROGRAM SHALL ALSO BE REFERRED TO AS: * # * * # * * # * COLOSSUS 2A * # * * # * * # * THIS PROGRAM IS INTENDED FOR USE IN THE CM AS SPECIFIED * # * IN REPORT R-577. THIS PROGRAM WAS PREPARED UNDER DSR * # * PROJECT 55-23870, SPONSORED BY THE MANNED SPACECRAFT * # * CENTER OF THE NATIONAL AERONAUTICS AND SPACE * # * ADMINISTRATION THROUGH CONTRACT NAS 9-4065 WITH THE * # * INSTRUMENTATION LABORATORY, MASSACHUSETTS INSTITUTE OF * # * TECHNOLOGY, CAMBRIDGE, MASS. * # * * # ************************************************************************ # SUBMITTED: MARGARET H. HAMILTON DATE: 28 MAR 69 # M.H.HAMILTON, COLOSSUS PROGRAMMING LEADER # APOLLO GUIDANCE AND NAVIGATION # APPROVED: DANIEL J. LICKLY DATE: 28 MAR 69 # D.J.LICKLY, DIRECTOR, MISSION PROGRAM DEVELOPMENT # APOLLO GUIDANCE AND NAVIGATION PROGRAM # APPROVED: FRED H. MARTIN DATE: 28 MAR 69 # FRED H. MARTIN, COLOSSUS PROJECT MANGER # APOLLO GUIDANCE AND NAVIGATION PROGRAM # APPROVED: NORMAN E.SEARS DATE: 28 MAR 69 # N.E. SEARS, DIRECTOR, MISSION DEVELOPMENT # APOLLO GUIDANCE AND NAVIGATION PROGRAM # APPROVED: RICHARD H. BATTIN DATE: 28 MAR 69 # R.H. BATTIN, DIRECTOR, MISSION DEVELOPMENT # APOLLO GUIDANCE AND NAVIGATION PROGRAM # APPROVED: DAVID G. HOAG DATE: 28 MAR 69 # D.G. HOAG, DIRECTOR # APOLLO GUIDANCE AND NAVIGATION PROGRAM # APPROVED: RALPH R. RAGAN DATE: 28 MAR 69 # R.R. RAGAN, DEPUTY DIRECTOR # INSTRUMENTATION LABORATORY ================================================ FILE: Comanche055/CSM_GEOMETRY.agc ================================================ # Copyright: Public domain. # Filename: CSM_GEOMETRY.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 285-296 # Mod history: 2009-05-08 RSB Adapted from the Colossus249/ file of the # same name, using Comanche055 page images. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 285 BANK 22 SETLOC COMGEOM1 BANK # THIS ROUTINE TAKES THE SHAFT AND TRUNNION ANGLES AS READ BY THE CM OPTICAL SYSTEM AND CONVERTS THEM INTO A UNIT # VECTOR REFERENCED TO THE NAVIGATION BASE COORDINATE SYSTEM AND COINCIDENT WITH THE SEXTANT LINE OF SIGHT. # # THE INPUTS ARE 1) THE SEXTANT SHAFT AND TRUNNION ANGLES ARE STORED SP IN LOCATIONS 3 AND 5 RESPECTIVELY OF THE # MARK VAC AREA. 2) THE COMPLEMENT OF THE BASE ADDRESS OF THE MARK VAC AREA IS STORED SP AT LOCATION X1 OF YOUR # JOB VAC AREA. # # THE OUTPUT IS A HALF-UNIT VECTOR IN NAVIGATION BASE COORDINATES AND STORED AT LOCATION 32D OF THE VAC AREA. THE # OUTPUT IS ALSO AVAILABLE AT MPAC. COUNT 23/GEOM SXTNB SLOAD* RTB # PUSHDOWN 00,02,04,(17D-19D),32D-36D 5,1 # TRUNNION = TA CDULOGIC RTB PUSH SXTLOGIC SIN SL1 PUSH SLOAD* # PD2 = SIN(TA) 3,1 # SHAFT = SA RTB PUSH # PD4 = SA CDULOGIC COS DMP 2 STODL STARM # COS(SA)SIN(TA) SIN DMP STADR STODL STARM +2 # SIN(SA)SIN(TA) COS STOVL STARM +4 STARM # STARM = 32D MXV VSL1 NB1NB2 STORE 32D RVQ SXTLOGIC CAF 10DEGS- # CORRECT FOR 19.775 DEGREE OFFSET ADS MPAC CAF QUARTER TC SHORTMP TC DANZIG # Page 286 # CALCSXA COMPUTES THE SEXTANT SHAFT AND TRUNNION ANGLES REQUIRED TO POSITION THE OPTICS SUCH THAT A STAR LINE- # OF-SIGHT LIES ALONG THE STAR VECTOR. THE ROUTINE TAKES THE GIVEN STAR VECTOR AND EXPRESSES IT AS A VECTOR REF- # ERENCED TO THE OPTICS COORDINATE SYSTEM. IN ADDITION IT SETS UP THREE UNIT VECTORS DEFINING THE X,Y, AND Z AXES # REFERENCED TO THE OPTICS COORDINATE SYSTEM. # # THE INPUTS ARE 1) THE STAR VECTOR REFERRED TO PRESENT STABLE MEMBER COORDINATES STORED AT STAR. 2) SAME ANGLE # INPUT AS *SMNB*, I.E. SINES AND COSINES OF THE CDU ANGLES, IN THE ORDER Y Z X, AT SINCDU AND COSCDU. A CALL # TO CDUTRIG WILL PROVIDE THIS INPUT. # # THE OUTPUTS ARE THE SEXTANT SHAFT AND TRUNNION ANGLES STORED DP AT SAC AND PAC RESPECTIVELY. (LOW ORDER PART # EQUAL TO ZERO). CALCSXA ITA VLOAD # PUSHDOWN 00-26D,28D,30D,32D-36D 28D STAR CALL *SMNB* MXV VSL1 NB2NB1 STOVL STAR HIUNITX STOVL XNB1 HIUNITY STOVL YNB1 HIUNITZ STCALL ZNB1 SXTANG1 # Page 287 # SXTANG COMPUTES THE SEXTANT SHAFT AND TRUNNION ANGLES REQUIRED TO POSITION THE OPTICS SUCH THAT A STAR LINE-OF- # SIGHT LIES ALONG THE STAR VECTOR. # # THE INPUTS ARE 1) THE STAR VECTOR REFERRED TO ANY COORDINATE SYSTEM STORED AT STAR. 2) THE NAVIGATION BASE # COORDINATES REFERRED TO THE SAME COORDINATE SYSTEM. THESE THREE HALF-UNIT VECTORS ARE STORED AT XNB, YNB, AND # ZNB. # # THE OUTPUTS ARE THE SEXTANT SHAFT AND TRUNNION ANGLES STORED DP AT SAC AND PAC RESPECTIVELY. (LOW ORDER PART # EQUAL TO ZERO). SXTANG ITA RTB # PUSHDOWN 16D,18D,22D-26D,28D 28D TRANSP1 # EREF WRT NB2 VLOAD MXV XNB NB2NB1 VSL1 STOVL XNB1 YNB MXV VSL1 NB2NB1 STOVL YNB1 ZNB MXV VSL1 NB2NB1 STORE ZNB1 RTB RTB TRANSP1 TRANSP2 SXTANG1 VLOAD VXV ZNB1 STAR BOV +1 UNIT BOV ZNB=S1 STORE PDA # PDA = UNIT(ZNB X S) DOT DCOMP XNB1 STOVL SINTH # SIN(SA) = PDA . -XNB PDA DOT YNB1 STCALL COSTH # COS(SA) = PDA . YNB ARCTRIG # Page 288 RTB 1STO2S STOVL SAC STAR BOV +1 DOT SL1 ZNB1 ACOS BMN SL2 SXTALARM # TRUNNION ANGLE NEGATIVE BOV DSU SXTALARM # TRUNNION ANGLE GREATER THAN 90 DEGREES 20DEG- RTB 1STO2S STORE PAC # FOR FLIGHT USE, CULTFLAG IS ON IF CLRGO # TRUNION IS GREATER THAN 90 DEG CULTFLAG 28D SXTALARM SETGO # ALARM HAS BEEN REMOVED FROM THIS CULTFLAG 28D # SUBROUTINE,ALARM WILL BE SET BY MPI ZNB=S1 DLOAD 270DEG STODL SAC 20DEGS- STORE PAC CLRGO CULTFLAG 28D # Page 289 # THESE TWO ROUTINES COMPUTE THE ACTUAL STATE VECTOR FOR LM, CSM BY ADDING # THE CONIC R,V AND THE DEVIATIONSR,V. THE STATE VECTORS ARE CONVERTED TO # METERS B-29 AND METERS/CSEC B-7 AND STORED APPROPRIATELY IN RN,VN OR # R-OTHER , V-OTHER FOR DOWNLINK. THE ROUTINES NAMES ARE SWITCHED IN THE # OTHER VEHICLES COMPUTER. # # INPUT # STATE VECTOR IN TEMPORARY STORAGE AREA # IF STATE VECTOR IS SCALED POS B27 AND VEL B5 # SET X2 TO +2 # IF STATE VECTOR IS SCALED POS B29 AND VEL B7 # SET X2 TO 0 # # OUTPUT # R(T) IN RN, V(T) IN VN, T IN PIPTIME # OR # R(T) IN R-OTHER, V(T) IN V-OTHER (T IS DEFINED BY T-OTHER) BANK 23 SETLOC COMGEOM2 BANK COUNT 10/GEOM SVDWN1 BOF RVQ # SW=1=AVETOMID DOING W-MATRIX INTEG AVEMIDSW +1 VLOAD VSL* TDELTAV 0 -7,2 VAD VSL* RCV 0,2 STOVL RN TNUV VSL* VAD 0 -4,2 VCV VSL* 0,2 STODL VN TET STORE PIPTIME RVQ SVDWN2 VLOAD VSL* TDELTAV 0 -7,2 VAD VSL* RCV # Page 290 0,2 STOVL R-OTHER TNUV VSL* VAD 0 -4,2 VCV VSL* 0,2 STORE V-OTHER RVQ # Page 291 # SUBROUTINE TO COMPUTE THE NATURAL LOG OF C(MPAC, MPAC +1). # # ENTRY: CALL # LOG # # SUBROUTINE RETURNS WITH -LOG IN DP MPAC. # # EBANK IS ARBITRARY.. BANK 14 SETLOC POWFLIT2 BANK COUNT 23/GEOM LOG NORM BDSU # GENERATES LOG BY SHIFTING ARG MPAC +3 # UNTIL IT LIES BETWEEN .5 AND 1. NEARLY1 # THE LOG OF THIS PART IS FOUND AND THE EXIT # LOG OF THE SHIFTED PART IS COMPUTED TC POLY # AND ADDED IN. SHIFT COUNT STORED DEC 2 # (N-1, SUPPLIED BY SMERZH) 2DEC 0 # IN MPAC +3. 2DEC .031335467 2DEC .0130145859 2DEC .0215738898 CAF ZERO TS MPAC +2 EXTEND DCA CLOG2/32 DXCH MPAC DXCH MPAC +3 COM # LOAD POSITIVE SHIFT COUNT IN A. TC SHORTMP # MULTIPLY BY SHIFT COUNT. DXCH MPAC +1 DXCH MPAC DXCH MPAC +3 DAS MPAC TC INTPRET # RESULT IN MPAC, MPAC +1 RVQ NEARLY1 2DEC .999999999 # Page 292 CLOG2/32 2DEC .0216608494 # Page 293 # SUBROUTINE NAME: EARTH ROTATOR (EARROT1 OR EARROT2) DATE: 15 FEB 67 # MOD NO: N +1 LOG SECTION: POWERED FLIGHT SUBROS # MOD BY: ENTRY GROUP (BAIRNSFATHER) # FUNCTIONAL DESCRIPTION: THIS ROUTINE PROJECTS THE INITIAL EARTH TARGET VECTOR RTINIT AHEAD THROUGH # THE ESTIMATED TIME OF FLIGHT. INITIAL CALL RESOLVES THE INITIAL TARGET VECTOR RTINIT INTO EASTERLY # AND NORMAL COMPONENTS RTEAST AND RTNORM . INITIAL AND SUBSEQUENT CALLS ROTATE THIS VECTOR # ABOUT THE (FULL) UNIT POLAR AXIS UNITW THROUGH THE ANGLE WIE DTEAROT TO OBTAIN THE ROTATED # TARGET VECTOR RT . ALL VECTORS EXCEPT UNITW ARE HALF UNIT. # THE EQUATIONS ARE # - - - - # RT = RTINIT + RTNORM (COS(WT) - 1) + RTEAST SIN(WT) # WHERE WT = WIE DTEAROT # RTINIT = INITIAL TARGET VECTOR # - - - # RTEAST = UNITW*RTINIT # - - - # RTNORM = RTEAST*UNITW # # FOR CONTINUOUS UPDATING, ONLY ONE ENTRY TO EARROT1 IS REQUIRED, WITH SUBSEQUENT ENTRIES AT EARROT2. # CALLING SEQUENCE: FIRST CALL SUBSEQUENT CALL # STCALL DTEAROT STCALL DTEAROT # EARROT1 EARROT2 # C(MPAC) UNSPECIFIED C(MPAC) = DTEAROT # PUSHLOC = PDL+0, ARBITRARY. 6 LOCATIONS USED. # # SUBROUTINES USED: NONE # NORMAL EXIT MODES: RVQ # ALARMS: NONE # OUTPUT: RTEAST (-1) .5 UNIT VECTOR EAST, COMPNT OF RTINIT LEFT BY FIRST CALL # RTNORM (-1) .5 UNIT VECTOR NORML, COMPNT OF RTINIT LEFT BY FIRST CALL # RT (-1) .5 UNIT TARGET VECTOR, ROTATED LEFT BY ALL CALLS # DTEAROT (-28) CS MAY BE CHANGED BY EARROT2, IF OVER 1 DAY # ERASABLE INITIALIZATION REQUIRED: # UNITW (0) UNIT POLAR VECTOR PAD LOADED # RTINIT (-1) .5 UNIT INITIAL TARGET VECTOR LEFT BY ENTRY # DTEAROT (-28) CS TIME OF FLIGHT LEFT BY CALLER # DEBRIS: QPRET, PDL+0 ... PDL+5 # Page 294 EBANK= RTINIT EARROT1 VLOAD VXV UNITW # FULL UNIT VECTOR RTINIT # .5 UNIT STORE RTEAST # .5 UNIT VXV UNITW # FULL UNIT STODL RTNORM # .5 UNIT DTEAROT # (-28) CS EARROT2 BOVB DDV TCDANZIG # RESET OVFIND, IF ON 1/WIE BOV PUSH OVERADAY COS DSU HIDPHALF VXSC PDDL # XCH W PUSH LIST RTNORM # .5 UNIT SIN VXSC RTEAST # .5 UNIT VAD VSL1 VAD UNIT # INSURE THAT RT IS 'UNIT'. RTINIT # .5 UNIT STORE RT # .5 UNIT TARGET VECTOR RVQ OVERADAY DLOAD SIGN 1/WIE DTEAROT BDSU DTEAROT STORE DTEAROT GOTO EARROT2 #WIE 2DEC .1901487997 1/WIE 2DEC 8616410 NB2NB1 2DEC +.8431756920 B-1 2DEC 0 2DEC -.5376381241 B-1 # Page 295 ZERINFLT 2DEC 0 HALFNFLT 2DEC .5 2DEC 0 2DEC +.5376381241 B-1 2DEC 0 2DEC +.8431756920 B-1 NB1NB2 2DEC +.8431756920 B-1 2DEC 0 2DEC +.5376381241 B-1 2DEC 0 2DEC .5 2DEC 0 2DEC -.5376381241 B-1 2DEC 0 2DEC +.8431756920 B-1 # Page 296 10DEGS- DEC 3600 270DEG OCT 60000 # SHAFT 270 DEGREES 2S COMP. OCT 00000 20DEGS- DEC -07199 DEC -00000 20DEG- DEC 03600 DEC 00000 ================================================ FILE: Comanche055/DISPLAY_INTERFACE_ROUTINES.agc ================================================ # Copyright: Public domain. # Filename: DISPLAY_INTERFACE_ROUTINES.agc # Purpose: Part of the source code for Comanche, build 055. It # is part of the source code for the Command Module's # (CM) Apollo Guidance Computer (AGC), Apollo 11. # Assembler: yaYUL # Reference: pp. 1452-1484 # Contact: Ron Burkey # Website: http://www.ibiblio.org/apollo. # Mod history: 2009-05-07 RSB Adapted from Colossus249 file of the same # name, and page images. Corrected various # typos in the transcription of program # comments, and these should be back-ported # to Colossus249. # # The contents of the "Comanche055" files, in general, are transcribed # from scanned documents. # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. April 1, 1969. # # This AGC program shall also be referred to as Colossus 2A # # Prepared by # Massachusetts Institute of Technology # 75 Cambridge Parkway # Cambridge, Massachusetts # # under NASA contract NAS 9-4065. # # Refer directly to the online document mentioned above for further # information. Please report any errors to info@sandroid.org. # Page 1452 # DISPLAYS CAN BE CLASSIFIED INTO THE FOLLOWING CATEGORIES- # 1. PRIORITY DISPLAYS- DISPLAYS WHICH TAKE PRIORITY OVER ALL OTHER DISPLAYS. USUALLY THESE DISPLAYS ARE SENT # OUT UNDER CRITICAL ALARM CONDITIONS. # 2. EXTENDED VERB DISPLAYS- ALL EXTENDED VERBS AND MARK ROUTINES SHOULD USE EXTENDED VERB (MARK) DISPLAYS. # 3. NORMAL DISPLAYS- ALL MISSION PROGRAM DISPLAYS WHICH INTERFACE WITH THE ASTRONAUT DURING THE NORMAL # SEQUENCE OF EVENTS. # 4. MISC. DISPLAYS- ALL DISPLAYS NOT HANDLED BY THE DISPLAY INTERFACEROUTINES. THESE INCLUDE SUCH DISPLAYS AS # MM DISPLAYS AND SPECIAL PURPOSE DISPLAYS HANDLED BY PINBALL. # 5. ASTRONAUT INITIATED DISPLAYS- ALL DISPLAYS INITIATED EXTERNALLY. # # THE FOLLOWING TERMS ARE USED TO DESCRIBE THE STATUS OF DISPLAYS- # 1. ACTIVE-THE DISPLAY WHICH IS (1) BEING DISPLAYED TO THE ASTRONAUT AND WAITING FOR A RESPONSE OR # (2) WAITING FIRST IN LINE FOR THE ASTRONAUT TO FINISH USING THE DSKY OR (3) BEING DISPLAYED ON THE DSKY # BUT NOT WAITING FOR A RESPONSE. # 2. INACTIVE -A DISPLAY WHICH HAS (1) BEEN ACTIVE BUT WAS INTERRUPTED BY A DISPLAY OF HIGHER PRIORITY, # (2) BEEN PUT INTO THE WAITING LIST AT TIME IT WAS REQUESTED DUE TO THE FACT A HIGHER PRIORITY DISPLAY # WAS ALREADY GOING, (3) BEEN INTERRUPTED BY THE ASTRONAUT (CALLED A PINBRANCH CONDITION, SINCE THIS TYPE # OF INACTIVE DISPLAY IS USUALLY REACTIVATED ONLY BY PINBALL) OR (4) A DISPLAY WHICH HAS FINISHED BUT STILL # HAS INFO SAVED FOR RESTART PURPOSES. # # DISPLAY PRIORITIES WORK AS FOLLOWS- # INTERRUPTS- # 1. THE ASTRONAUT CAN INTERRUPT ANY DISPLAY WITH AN EXTERNAL DISPLAY REQUEST. # 2. INTERNAL DISPLAYS CAN NOT BE SENT OUT WHEN THE ASTRONAUT IS USING THE DSKY. # 3. PRIORITY DISPLAYS INTERRUPT ALL OTHER TYPES OF INTERNAL DISPLAYS. A PRIORITY DISPLAY INTERRUPTING ANOTHER # PRIORITY DISPLAY WILL CAUSE AN ABORT UNLESS BIT14 IS SET FOR THE LINUS ROUTINE. # 4. A MARK DISPLAY INTERRUPTS ANY NORMAL DISPLAY. # 5. A MARK THAT INTERRUPTS A MARK COMPLETELY REPLACES IT. # # ORDER OF WAITING DISPLAYS- # 1. ASTRONAUT EXTERNAL USE # 2. PRIORITY # 3. INTERRUPTED MARK # 4. INTERRUPTED NORMAL # 5. MARK TO BE REQUESTED (SEE DESCRIPTION OF ENDMARK) # 6. MARK WAITING # 7. NORMAL WAITING # # Page 1453 # THE DISPLAY ROUTINES ARE INTENDED TO SERVE AS AN INTERFACE BETWEEN THE USER AND PINBALL. THE # FOLLOWING STATEMENTS CAN BE MADE ABOUT NORMAL DISPLAYS AND PRIORITY DISPLAYS (A DESCRIPTION OF MARK ROUTINES # WILL FOLLOW LATER): # 1. ALL ROUTINES THAT END IN R HAVE AN IMMEDIATE RETURN TO THE USER. FOR ALL FLASHING DISPLAYS THIS RETURN # IS TO THE USERS CALL CADR +4. FOR THE ONLY NON FLASHING IMMEDIATE RETURN DISPLAY (GODSPR) THIS RETURN # IS TO THE USERS CALLING LOC +1. # 2. ALL ROUTINES NOT ENDING IN R DO NOT DO AN IMMEDIATE RETURN TO THE USER. # 3. ALL ROUTINES THAT END IN R START A SEPARATE JOB (MAKEPLAY) WITH USERS JOB PRIORITY. # 4. ALL ROUTINES NOT ENDING IN R BRANCH DIRECTLY TO MAKEPLAY WHICH MAKES THESE DISPLAYS A PART OF THE # USERS JOB. # 5. ALL DISPLAY ROUTINES ARE CALLED VIA BANKCALL. # 6. TO RESTART A DISPLAY THE USER WILL GENERALLY USE A PHASE OF ONE WITH DESIRED RESTART GROUP (SEE # DESCRIPTION OF RESTARTS). # 7. ALL FLASHING DISPLAYS HAVE 3 RETURNS TO THE USER FROM ASTRONAUT RESPONSES. A TERMINATE (V34) BRANCHES # TO THE USERS CALL CADR +1. A PROCEED (V33) BRANCHES TO THE USERS CALL CADR +2. AN ENTER OR RECYCLE # (V32) BRANCHES TO THE USERS CALL CADR +3. # 8. ALL ROUTINES MUST BE USED UNDER EXECUTIVE CONTROL. # # A DESCRIPTION OF EACH ROUTINE WITH AN EXAMPLE FOLLOWS: # GODSP IS USED TO DISPLAY A VERB NOUN ARRIVING IN A. NO RETURN IS MADE TO THE USER. # 1. GODSP IS NOT RESTARTABLE # 2. A VERB PASTE WITH GODSP ALWAYS TURNS ON THE FLASH. # CAF VXXNYY # TC BANKCALL # CADR GODSP # VXXNYY OCT OXXYY # GODSPR IS THE SAME AS GODSP ONLY RETURN IS TO THE USER. # CAF VXXNYY # TC BANKCALL # CADR GODSPR # ... ... # IMMEDIATE RETURN OF GODSPR # GOFLASH DISPLAYS A FLASHING VERB NOUN WITH NO IMMEDIATE RETURN TO THE USER. 3 RETURNS ARE POSSIBLE FORM # THE ASTRONAUT (SEE NO. 7 ABOVE). # CAF VXXNYY # VXX NYY WILL BE A FLASHING VERB NOUN. # TC BANKCALL # CADR GOFLASH # ... ... # TERMINATE RETURN # ... ... # PROCEED RETURN # ... ... # ENTER OR RECYCLE RETURN # GOPERF1 IS ENTERED WITH DESIRED CHECKLIST VALUE IN A. GOPERF1 WILL DISPLAY THIS VALUE IN R1 BY MEANS OF A # Page 1454 # V01 N25.A FLASHING PLEASE PERFORM ON CHECKLIST (V50 N25) IS THEN DISPLAYED. NO IMMEDIATE RETURN IS MADE TO # USER (SEE NO. 7 ABOVE). # GOPERF1 BLANKS REGISTERS R2 AND R3 # CAF OCTXX # CODE FOR CHECKLIST VALUE XX # TC BANKCALL # CADR GOPERF1 # ... ... # TERMINATE RETURN # ... ... # PROCEED RETURN # ... ... # ENTER RETURN # GOPERF2 IS ENTERED WITH A VARIABLE NOUN AND V01 (V00 FOR N10 OR N11) IN A. GOPERF2 WILL FIRST DISPLAY THE # REQUESTED NOUN BY MEANS OF A V01NYY OR A V00NYY. PLEASE PERFORM ON NOUN (V50 NYY) THEN BECOMES A FLASHING # DISPLAY. NO IMMEDIATE RETURN IS MADE TO THE USER (SEE NO. 7 ABOVE). # GOPERF2 DOES NOT BLANK ANY REGISTERS # CAF VXXNYY # VARIABLE NOUN YY. XX=00 OR 01. # TC BANKCALL # CADR GOPERF2 # ... ... # TERMINATE RETURN # ... ... # PROCEED RETURN # ... ... # ENTER RETURN # GOPERF3 IS USED FOR A PLEASE PERFORM ON A PROGRAM NUMBER. THE DESIRED PROGRAM NO. IS ENTERED IN A. GOPERF3 # DISPLAYS THE NO. BY MEANS OF A V06 N07 FOLLOWED BY A FLASHING V50 N07 FOR A PLEASE PERFORM. NO IMMEDIATE RETURN # IS MADE TO THE USER (SEE NO. 7 ABOVE). # GOPERF3 BLANKS REGISTERS R2 AND R3 # CAF DECXX # REQUEST PERFORM ON PXX # TC BANKCALL # CADR GOPERF3 # ... ... # TERMINATE RETURN # ... ... # PROCEED RETURN # ... ... # ENTER RETURN # GOPERF4 IS USED FOR A PLEASE PERFORM ON AN OPTION. THE DESIRED OPTION IS ENTERED IN A AND STORED IN OPTION1. # GOPERF4 DISPLAYS R1 AND R2 BY MEANS OF A V04N06 FOLLOWED BY A FLASHING V50N06 FOR A PLEASE PERFORM. NO # IMMEDIATE RETURN IS MADE TO THE USER (SEE NO. 7 ABOVE). # CAF OCTXX # REQUEST PERFORM ON OPTION XX # TC BANKCALL # CADR GOPERF4 # ... ... # TERMINATE RETURN # ... ... # PROCEED RETURN # ... ... # ENTER RETURN # GOPERF4 BLANKS REGISTER R3 # # Page 1455 # GODSPRET IS USED TO DISPLAY A VERB NOUN ARRIVING IN A WITH A RETURN TO THE USER AFTER THE DISPLAY HAS BEEN SENT # OUT. # CAF VXXXNYY # TC BANKCALL # CADR GODSPRET # ... ... # RETURN TO USER # REGODSP IS USED TO DISPLAY A VERB NOUN ARRIVING IN A. REGODSP IS THE SAME AS GODSP ONLY REGODSP REPLACES ANY # ACTIVE NORMAL DISPLAY IF ONE WAS ACTIVE. # CAF VXXNYY # TC BANKCALL # CADR REGODSP # REFLASH IS THE SAME AS GOFLASH ONLY REFLASH REPLACES ANY ACTIVE NORMAL DISPLAY IF ONE WAS ACTIVE. # CAF VXXNYY # VXX NYY WILL BE A FLASHING VERB NOUN # TC BANKCALL # CADR REFLASH # ... ... # TERMINATE RETURN # ... ... # PROCEED RETURN # ... ... # ENTER RETURN # GOFLASHR IF SAME AS GOFLASH ONLY AN IMMEDIATE RETURN IS MADE TO THE USERS CALL CADR +4. # CAF VXXNYY # TC BANKCALL # CADR GOFLASHR # ... ... # TERMINATE RETURN # ... ... # PROCEED RETURN # ... ... # ENTER OR RECYCLE RETURN # ... ... # IMMEDIATE RETURN FROM GOFLASHR # GOPERF1R IS THE SAME AS GOPERF1 ONLY GOPERF1R HAS AN IMMEDIATE RETURN TO USERS CALL CADR +4. # GOPERF1R BLANKS REGISTERS R2 AND R3 # CAF OCTXX # CODE FOR CHECKLIST VALUE XX. # TC BANKCALL # CADR GOPERF1R # ... ... # TERMINATE RETURN # ... ... # PROCEED RETURN # ... ... # ENTER RETURN # ... ... # IMMEDIATE RETURN FROM GOPERF1R # GOPERF2R IS THE SAME AS GOPERF2 ONLY AN IMMEDIATE RETURN IS MADE TO USERS CALL CADR +4. # Page 1456 # GOPERF2R DOES NOT BLANK ANY REGISTERS # CAF VXXNYY # VARIABLE NOUN YY REQUESTED. XX=00 OR 01 # TC BANKCALL # CADR GOPERF2R # ... ... # TERMINATE RETURN # ... ... # PROCEED RETURN # ... ... # ENTER RETURN # ... ... # IMMEDIATE RETURN HERE FROM GOPERF2R # GOPERF3R IS THE SAME AS GOPERF3 ONLY AN IMMEDIATE RETURN IS MADE TO USERS CALL CADR +4. # GOPERF3R BLANKS REGISTERS R2 AND R3 # CAF PROGXX # PERFORM PROGRAM XX # TC BANKCALL # CADR GOPERF3R # ... ... # TERMINATE RETURN # ... ... # PROCEED RETURN # ... ... # ENTER RETURN # ... ... # GOPERF3R IMMEDIATELY RETURNS HERE # GOPERF4R IS THE SAME AS GOPERF4 ONLY AN IMMEDIATE RETURN IS MADE TO USERS CALL CADR +4. # CAF OCTXX # REQUEST PERFORM ON OPTIONXX # TC BANKCALL # CADR GOPERF4R # ... ... # TERMINATE RETURN # ... ... # PROCEED RETURN # ... ... # ENTER RETURN # ... ... # IMMEDIATE RETURN TO USER # GOPERF4R BLANKS REGISTER R3 # # REFLASHR IS THE SAME AS REFLASH ONLY AN IMMEDIATE RETURN IS MADE TO THE USERS CALL CADR +4. # CAF VXXNYY # VXX NYY WILL BE A FLASHING VERB NOUN # TC BANKCALL # CADR REFLASHR # ... ... # TERMINATE RETURN # ... ... # PROCEED RETURN # ... ... # ENTER RETURN # ... ... # IMMEDIATE RETURN TO USER # REGODSPR IS THE SAME AS REGODSP ONLY A RETURN (IMMEDIATE) IS MADE TO THE USER. # Page 1457 # CAF VXXNYY # TC BANKCALL # CADR REGODSPR # ... ... # IMMEDIATE RETURN TO USER # Page 1458 # GOMARK IS USED TO DISPLAY A MARK VERB NOUN ARRIVING IN A. NO RETURN IS MADE TO THE USER. # GOXDSP = GOMARK # CAF VXXNYY # VXXNYY CONTAINS VERB AND NOUN # TC BANKCALL # CADR GOMARK # OTHER EXTENDED VERBS USE CADR GOXDSP # GOMARKR IS THE SAME AS GOMARK ONLY RETURN IS TO THE USER. # GOXDSPR = GOMARKR # CAF VXXNYY # TC BANKCALL # CADR GOMARKR # OTHER EXTENDED VERBS USE CADR GOXDSPR # ... ... # IMMEDIATE RETURN OF GOMARKR # GOMARKF DISPLAYS A FLASHING MARK VERB NOUN WITH NO IMMEDIATE RETURN TO THE USER. 3 RETURNS ARE POSSIBLE FORM # THE ASTRONAUT (SEE NO. 7 ABOVE). # GOXDSPF = GOMARKF # CAF VXXNYY # VXXNYY WILL BE A FLASHING MARK VERB NOUN # TC BANKCALL # CADR GOMARKFR # OTHER EXTENDED VERBS USE CADR GOXDSPFR # ... ... # TERMINATE RETURN # ... ... # PROCEED RETURN # ... ... # ENTER OR RECYCLE RETURN # GOMARKFR IS THE SAME AS GOMARKF ONLY AN IMMEDIATE RETURN IS MADE TO THE USER CALL CADR +4. # GOXDSPFR = GOMARKFR # CAF VXXNYY # FLASHING MARK VERB NOUN # TCF BANKCALL # CADR GOMARKFR # OTHER EXTENDED VERBS USE CADR GOXDSPFR # ... ... # TERMINATE RETURN # ... ... # PROCEED RETURN # ... ... # ENTER OR RECYCLE RETURN # ... ... # IMMEDIATE RETURN TO THE USER # GOMARK1 IS USED FOR A PLEASE PERFORM ON A MARK REQUEST WITH ONLY 1 ASTRONAUT RETURN TO THE USER. NO IMMEDIATE # RETURN IS MADE. THE DESIRED MARK PLEASE PERFORM VERB AND DESIRED NOUN IS ENTERED IN A. GOMARK1 DISPLAYS R1, R2, R # MEANS OF A V05NYY FOLLOWED BY A FLASHING V5XNYY FOR A PLEASE PERFORM. THE ASTRONAUT WILL RESPOND WITH A MARK # OR MARK REJECT OR AN ENTER. THE ENTER IS THE ONLY ASTRONAUT RESPONSE THAT WILL COME BACK TO THE USER. # CAF V5XNYY # X=1,2,3,4 YY= NOUN # TC BANKCALL # Page 1459 # CADR GOMARK1 # ... ... # ENTER RETURN # *** IF BLANKING DESIRED ON NON R ROUTINES, NOTIFY DISPLAYER. # # GOMARK1R IS THE SAME AS A GOMARK1 ONLY AN IMMEDIATE RETURN IS MADE TO THE USERS CALL CADR +2. # CAF V5XNYY # X=1,2,3,4 YY = NOUN # TC BANKCALL # CADR GOMARK1R # ... ... # ASTRONAUT ENTER RETURN # ... ... # IMMEDIATE RETURN TO USER # GOMARK2 IS THE SAME AS GOMARK1 ONLY 3 RETURNS ARE MADE TO THE USER FROM THE ASTRONAUT. # CAF V5XNYY # X=1,2,3,4 YY=NOUN # TC BANKCALL # CADR GOMARK2 # ... ... # TERMINATE RETURN # ... ... # PROCEED RETURN # ... ... # ENTER RETURN # GOMARK2R IS THE SAME AS GOMARK1R ONLY 3 ASTRONAUT RETURNS ARE MADE TO THE USER. # CAF V5XNYY # X=0,1,2,3,4 YY=NOUN # TCF BANKCALL # CADR GOMARK2R # ... ... # TERMINATE RETURN # ... ... # PROCEED RETURN # ... ... # ENTER RETURN # ... ... # IMMEDIATE RETURN TO THE USER # GOMARK3 IS USED FOR A PLEASE PERFORM ON A MARK REQUEST WITH A 3 COMP. DEC DISPLAY. THE DESIRED MARK PLEASE # PERFORM VERB AND NOUN ARE ENTERED IN A. GOMARK3 DISPLAYS R1, R2, R3 BY MEANS OF A V06NYY FOLLOWED BY A FLASHING # V5XNYY FOR A PLEASE PERFORM. GOMARK3 HAS 3 ASTRONAUT RETURNS TO THE USER WITH NO IMMEDIATE RETURN. # CAF V5XNYY # X=1,2,3,4 YY=NOUN # TC BANKCALL # CADR GOMARK3 # ... ... # TERMINATE RETURN # ... ... # PROCEED RETURN # ... ... # ENTER RETURN # GOMARK4 IS THE SAME AS GOMARK3 ONLY R2 AND R3 ARE BLANKED AND R1 IS DISPLAYED IN OCTAL. # CAF V5XNYY # X=1,2,3,4 YY=NOUN # TC BANKCALL # CADR GOMARK4 # ... ... # TERMINATE RETURN # ... ... # PROCEED RETURN # Page 1460 # ... ... # ENTER RETURN # EXDSPRET IS USED TO DISPLAY A VERB NOUN ARRIVING IN A WITH A RETURN MADE TO THE USER AFTER THE DISPLAY HAS BEEN # SENT OUT. # CAF VXXNYY # TC BANKCALL # CADR EXDSPRET # ... ... # RETURN TO USER # KLEENEX CLEANS OUT ALL MARK DISPLAYS (ACTIVE AND INACTIVE). A RETURN IS MADE TO THE USER AFTER THE MARK DISPLAYS # HAVE BEEN CLEANED OUT. # TC BANKCALL # CADR KLEENEX # ... ... # RETURN TO USER # MARKBRAN IS A SPECIAL PURPOSE ROUTINE USED FOR SAVING JOB VAC AREAS (SEE DESCRIPTION OF MARKBRAN BELOW). # TC BANKCALL # CADR MARKBRAN # ... ... # BAD RETURN IF MARK DISPLAY NOT ACTIVE # # (GOOD RETURN TO IMMEDIATE RETURN LOC OF # # LAST FLASHING MARK R ROUTINE) # PINBRNCH REESTABLISHES THE LAST ACTIVE FLASHING DISPLAY. IF THERE IS NO ACTIVE FLASHING DISPLAY, THE DSKY IS # BLANKED AND CONTROL IS SENT TO ENDOFJOB. # TC POSTJUMP # CADR PINBRNCH # PRIODSP IS USED AS A PRIORITY DISPLAY. IT WILL DISPLAY A GOFLASH TYPE DISPLAY WITH THREE POSSIBLE RETURNS FROM # THE ASTRONAUT(SEE NO.7 ABOVE). # # THE MAIN PURPOSE OF PRIODSP IS TO REPLACE THE PRESENT DISPLAY WITH A DISPLAY OF HIGHER PRIORITY AND TO # PROVIDE A MEANS FOR RESTORING THE OLD DISPLAY WHEN THE PRIORITY DISPLAY # IS RESPONDED TO BY THE ASTRONAUT. # # THE FORMER DISPLAY IS RESTORED BY AN AUTOMATIC BRANCH TO WAKE UP THE DISPLAY THAT WAS INTERRUPTED BY THE # PRIO DISPLAY. # CAF VXXNYY # VXXNYY WILL BE A FLASHING VERB NOUN # TC BANKCALL # CADR PRIODSP # ... ... # TERMINATE RETURN # ... ... # PROCEED RETURN # Page 1461 # ... ... # ENTER OR RECYCLE RETURN # PRIODSPR IS THE SAME AS PRIODSP ONLY AN IMMEDIATE RETURN IS MADE TO THE USERS CALL CADR +4. # CAF VXXNYY # VXXNYY WILL BE A FLASHING VERB NOUN # TC BANKCALL # CADR PRIODSPR # ... ... # TERMINATE ACTION # ... ... # PROCEED RETURN # ... ... # ENTER OR RECYCLE RETURN # ... ... # IMMEDIATE RETURN # PRIOLARM DOES A V05N09 PRIODSPR. # CLEANDSP CLEANS OUT ALL NORMAL DISPLAYS (ACTIVE AND INACTIVE). A RETURN IS MADE TO THE USER AFTER NORMAL # DISPLAYS ARE CLEANED OUT. # TC BANKCALL # CADR CLEANDSP # ... ... # RETURN TO USER # Page 1462 # # GENERAL INFORMATION # ------------------- # # ALARM OR ABORT EXIT MODES-- # PRIOBORT TC ABORT # OCT 1502 # # PRIOBORT IS BRANCED TO WHEN (1) A NORMAL DISPLAY IS REQUESTED AND ANOTHER NORMAL DISPLAY IS ALREADY ACTIVE # (REFLASH AND REGODSP ARE EXCEPTIONS) OR (2) A PRIORITY DISPLAY IS REQUESTED WHEN ANOTHER PRIORITY DISPLAY IS # ALREADY ACTIVE (A PRIORITY WITH LINUS BIT14 IS AN EXCEPTION). # # ERASABLE INITIALIZATION REQUIRED-- # ACCOMPLISHED BY FRESH START- 1. FLAGWRD4 (USED EXCLUSIVELY BY DISPLAY INTERFACE ROUTINES) # 2. NVSAVE = NORMAL VERB AND NOUN REGISTER. # 3. EBANKTEM = NORMAL INACTIVE FLAGWORD (ALSO CONTAINS NORMALS EBANK). # 5. R1SAVE = MARKBRAN CONTROL WORD # 4. RESTREG = PRIORITY 30 AND SUPERBANK 3. # # OUTPUT-- # NVWORD = PRIO VERB AND NOUN # NVWORD +1(MARKNV) = MARK VERB AND NOUN # NVWORD +2(NVSAVE) = NORMAL VERB AND NOUN # DSPFLG(EBANKSAV) = PRIO FLAGWORD (INCLUDING EBANK) # DSPFLG +1 (MARKEBAN) = MARK FLAGWORD (INCLUDING EBANK) # DSPFLG +2 (EBANKTEM) = NORMAL FLAGWORD (INCLUDING EBANK) # CADRFLSH = PRIO USERS CALL CADR +1 LOCATION # CADRFLSH +1 (MARKFLSH) = MARK USERS CALL CADR +1 LOCATION # CADRFLSH +2 (TEMPFLSH) = NORMAL USERS CALL CADR +1 LOCATION # PRIOTIME = TIME EACH PRIO REQUEST FIRST SENT OUT # OPTION1 = DESIRED OPTION FROM GOPERF4 # FLAGWRD4 = BIT INFO FOR CONTROL OF ALL DISPLAY ROUTINES # DSPTEM1 = R1 INFO FOR ASTRONAUT FROM PERFORM DISPLAYS(NORMAL) # # SUBROUTINES USED-- NVSUB, FLAGUP, FLAGDOWN, ENDOFJOB, BLANKSUB, ABORT, JOBWAKE, JOBSLEEP, FINDVAC, PRIOCHNG, # JAMTERM, NVSUBUSY, FLASHON, ENDIDLE, CHANG1, BANKJUMP, MAKECADR, NOVAC, # # DEBRIS-- (STORED INTO) # TEMPORARY TEMPORARIES- A, Q, L, MPAC +2, MPAC +3, MPAC +4, MPAC +5, MPAC +6, RUPTREG2, RUPTREG3, CYL, # EBANK, RUPTREG4, LOC, BANKSET, MODE, MPAC, MPAC +1, FACEREG # ERASABLES(SHARED AND USED WITH OTHER PROGRAMS) CADRSTOR, DSPLIST, LOC, DSPTEM1, OPTION1 # ERASABLES(USED ONLY BY DISPLAY ROUTINES)- NVWORD,+1,+2, DSPFLAG,+1,+2, CADRFLSH,+1,+2, PRIOTIME, FLAGWRD4, # Page 1463 # R1SAVE, MARK2PAC # # DEBRIS-- (USED BUT NOT STORED INTO)- NOUNREG, VERBREG, LOCCTR, MONSAVE1 # # FLAGWORD DESCRIPTIONS-- # FLAGWRD4- SEE DESCRIPTION UNDER LOG SECTION ERASABLE ASSIGNMENTS # # DSPFLG, DSPFLG+1, DSPFLG+2 # -------------------------- # BITS 1 BLANK R1 # 2 BLANK R2 # 3 BLANK R3 # 4 FLASHING DISPLAY REQUESTED # 5 PERFORM DISPLAY REQUESTED # 6 ----- EXDSPRET GODSPRET # 7 PRIO DISPLAY ----- ----- # 8 ----- DEC MARK PERFORM ----- # 9 EBANK # 10 EBANK # 11 EBANK # 12 ----- ----- V99PASTE # 13 2ND PART OF PERFORM # 14 REFLASH OR REDO ----- REFLASH OR REDO # 15 ----- MARK REQUEST ----- # # RESTARTING DISPLAYS-- # # RULES FOR THE DSKY OPERATOR-- # 1. PROCEED AND TERMINATE SERVE AS RESPONSES TO REQUESTS FOR OPERATOR RESPONSE (FLASHING Y/N). AS LONG # AS THERE IS ANY REQUEST AWAITING OPERATOR RESPONSE, ANY USE OF PROCEED OR TERMINATE WILL SERVE AS # RESPONSES TO THAT REQUEST. CARE SHOULD BE EXERCISED IN ATTEMPTING TO KILL AN OPERATOR INITIATED MONITOR # WITH PROCEED AND TERMINATE FOR THIS REASON. # 2. THE ASTRONAUT MUST RESPOND TO A PRIORITY DISPLAY NO SOONER THAN 5 SECS FROM THE TIME THE MISSION # PROGRAM SENT OUT THE REQUEST FOR OPERATOR RESPONSE (THE ASTRONAUT WOULD SEE THIS DISPLAY FOR LESS TIME # DUE TO TIME IT TAKES TO GET DISPLAY SENT OUT.) IF THE ASTRONAUT RESPONDS TOO SOON, THE PRIORITY DISPLAY # IS SENT OUT AGAIN---AND AGAIN UNTIL AN ACCUMULATED 5 SECS FROM TIME THE FIRST PRIORITY DISPLAY WAS SENT # OUT. THE SAME 5 SEC. DELAY WILL OCCUR AT 163.84 SECS OR IN ANY MULTIPLE OF THAT TIME DUE TO PROGRAM # CONSIDERATION. # 3. KEY RELEASE BUTTON- # A) IF THE KEY RELEASE LIGHT IS ON, IT SIMPLY RELEASES THE KEYBOARD AND DISPLAY FOR INTERNAL USE. # B) IF THE KEY RELEASE LIGHT IS OFF, AND IF SOME REQUEST FOR OPERATOR RESPONSE (FLASHING V/N) IS STILL # AWAITING RESPONSE THEN IT RE-ESTABLISHES THE DISPLAYS THAT ORIGINALLY REQUESTED RESPONSE. # IF AN OPERATOR WANTS THEREFORE TO RE-ESTABLISH BUT CONDITION (A) IS ENCOUNTERED, A SECOND DEPRESSION OF # KEY RELEASE BUTTON MAY BE NECESSARY. # 4. IT IS IMPORTANT TO ANSWER ALL REQUESTS FOR OPERATOR RESPONSE. # 5. IT IS ALWAYS GOOD PRACTICE TO TERMINATE AN EXTENDED VERB BEFORE ASKING FOR ANOTHER ONE OR THE SAME ONE # OVER AGAIN. # # SPECIAL CONSIDERATIONS-- # Page 1464 # 1. MPAC +2 SAVED ONLY IN MARK DISPLAYS # 2. GODSP(R),REGODSP(R),GOMARK(R) ALWAYS TURN ON THE FLASH IF ENTERED WITH A PASTE VERB REQUEST. # 3. ALL NORMAL DISPLAYS ARE RESTARTABLE EXCEPT GODSP(R), REGODSP(R) # 4. ALL EXTENDED VERBS WITH DISPLAYS SHOULD START WITH A TC TESTXACT AND FINISH WITH A TC ENDEXT. # 5. GODSP(R) AND REGODSP(R) MUST BE IN THE SAME EBANK AND SUPERBANK AS THE LAST NORMAL DISPLAY RESTARTED # BY A .1 RESTART PHASE CHANGE. # 6. IN ORDER TO SET UP A NON DISPLAY .1 RESTART POINT, THE USER MUST MAKE CERTAIN THAT RESTREG CONTAINS THE # CORRECT PRIORITY AND SUPERBANK AND THAT EBANKTEM CONTAINS THE CO # 7. IF CLEANDSP IS RESTARTED VIA A .1 PHASE CHANGE, CAF ZERO SHOULD BE EXECUTED BEFORE THE TC BANKCALL. # Page 1465 # CALLING SEQUENCE FOR BLANKING # CAF BITX # X=1,2,3 BLANK R1,R2,R3 RESPECTIVELY # TC BLANKET # ... ... # RETURN TO USER HERE # IN ORDER TO USE BLANKET CORRECTLY THE USER MUST USE A DISPLAY ROUTINE THAT ENDS IN R FIRST FOLLOWED BY THE CALL # TO BLANKET AT THE IMMEDIATE RETURN LOC. BLOCK 02 SETLOC FFTAG4 BANK COUNT 02/DSPLA BLANKET TS MPAC +6 CS PLAYTEM4 MASK MPAC +6 INDEX MPAC +5 ADS PLAYTEM4 TC Q ENDMARK TC POSTJUMP CADR MARKEND CLEARMRK CAF ZERO TS EXTVBACT INHINT CS BIT1 MASK FLAGWRD4 TS FLAGWRD4 RELINT TC Q # *** ALL EXTENDED VERB ROUTINES THAT HAVE AT LEAST ONE FLASHING DISPLAY MUST TCF ENDMARK OR TCF ENDEXT WHEN # FINISHED. BANK 10 SETLOC DISPLAYS BANK COUNT 10/DSPLA # NTERONLY IS USED TO DIFFERENTIATE THE MARK ROUTINE WITH ONLY ONE RETURN TO THE USER FROM THE MARKING ROUTINE WITH # 3 RETURNS TO THE USER. THIS ROUTINE IS ONLY USED BY GOMARK1 AND GOMARK1R. MARKEND TC CLEARMRK TCF MARKOVER # Page 1466 GOMARK TS PLAYTEM1 # ENTRANCE FOR MARK GODSP GOMARS CAF BIT15 # BIT15 SET FOR ALL MARK REQUESTS TCF GOFLASH2 KLEENEX CAF ZERO # CLEAN OUT EXTENDED VERBS GOMARKF TS PLAYTEM1 # ENTRANCE FOR MARK GOFLASH CAF MARKFMSK # MARK, FLASH TCF GOFLASH2 GOMARK2 TS PLAYTEM1 # MARK GOPERFS-3 AST. RETURNS MARKFORM CAF MPERFMSK # MARK, PERFORM, FLASH TCF GOFLASH2 GOMARK3 TS PLAYTEM1 # USED FOR 3COMP DECIMAL PERFORM CAF MARK3MSK TCF GOFLASH2 GOMARK4 TS PLAYTEM1 CAF MARK4MSK # MARK,PERFORM,FLASH,BLANK TCF GOFLASH2 GOMARKR TS PLAYTEM1 # ENTRANCE FOR MARK GODSPR CAF BIT15 TCF GODSPR2 GOMARKFR TS PLAYTEM1 # ENTRANCE FOR MARK GOFLASHR CAF MARKFMSK TCF GODSPRS GOMARK2R TS PLAYTEM1 # MARK GOPERFS-3 AST. RETS+ IMMEDIATE RET. CAF MPERFMSK # MARK, PERFORM, FLASH TCF GODSPRS GOMARK3R TS PLAYTEM1 CAF MARK3MSK TCF GODSPRS MAKEMARK CAF ONE TC COPIES CA FLAGWRD4 # IS NORM OR PRIO BUSY OR WAITING MASK OCT34300 CCS A TCF CHKPRIO CA FLAGWRD4 # IS MARK SLEEPING DUE TO ASTRO BUSY # Page 1467 MASK BIT9 EXTEND BZF MARKPLAY # NO TCF ENDOFJOB MARKPLAY INHINT CS FIVE # RESET MARK OVER NORM, SET MARK MASK FLAGWRD4 AD ONE TS FLAGWRD4 RELINT GOGOMARK CS MARKFLAG # PERFORM MASK BIT5 CCS A TCF MARKCOP CS MARKNV TS MARKNV MARKCOP CAF ONE # MARK INDEX TCF PRIOPLAY COPYTOGO CA MPAC2SAV TS MPAC +2 COPYPACS INDEX COPINDEX CAF PRIOOCT TS GENMASK INDEX COPINDEX CAF EBANKSAV TS TEMPOR2 # ACTIVE EBANK AND FLAG TS EBANK TC Q # PINCHEK CHECKS TO SEE IF THE CURRENT MARK REQUEST IS MADE BY THE ASTRONAUT WHILE INTERRUPTING A GOPLAY DISPLAY # (A NORMAL OR A PRIO). IF THE ASTRONAUT TRIES TO MARK DURING A PRIO, THE CHECK FAIL LIGHT GOES ON AND THE MARK # REQUEST IS ENDED. IF HE TRIES TO MARK DURING A NORM, THE MARK IS ALLOWED. IN THIS CASE THE NORM IS PUT TO SLEEP # UNTIL ALL MARKING IS FINISHED. # # IF THE MARK REQUEST COMES FROM THE PROGRAM DURING A TIME THE ASTRONAUT IS NOT INTERRUPTING A NORMAL OR A # PRIO, THE MARK REQUEST IS PUT TO SLEEP UNTIL THE PRESENT ACTIVE DISPLAY IS RESPONDED TO BY THE ASTRONAUT. CHKPRIO CA FLAGWRD4 # MARK ATTEMPT DURING PRIO MASK OCT24100 CCS A TCF MARSLEEP # Page 1468 CS FLAGWRD4 MASK BIT3 # SET MARK OVER NORM INHINT ADS FLAGWRD4 TCF SETNORM MARKPERF CA MARKNV MASK VERBMASK TCF NV50DSP GODSP TS PLAYTEM1 GODSP2 CAF ZERO TCF GOFLASH2 GODSPRET TS PLAYTEM1 # ENTRANCE FOR A GODSP WITH A PASTE CAF BIT6 # SET BIT6 TO GO BACK TO USER AFTER NVSUB TCF GOFLASH2 GODSPR TS PLAYTEM1 GODSPR1 CAF ZERO GODSPR2 TS PLAYTEM4 CAF ZERO # * DONT MOVE TCF GODSPRS1 # CLEANDSP IS USED FOR CLEARING OUT A NORMAL DISPLAY THAT IS PRESENTLY ACTIVE OR A NORMAL DISPLAY THAT IS # SET UP TO BE STARTED OR RESTARTED. # # NORMALLY THE USER WILL NOT NEED TO USE THIS ROUTINE SINCE A NEW NORMAL DISPLAY AUTOMATICALLY CLEARS OUT AN # OLD DISPLAY. # # CALLING SEQUENCE FOR CLEANDSP- # # TC BANKCALL # CADR CLEANDSP CLEANDSP CAF ZERO REFLASH TS PLAYTEM1 CAF REDOMASK # FLASH AND PERMIT TCF GOFLASH2 REGODSP TS PLAYTEM1 CAF BIT14 TCF GOFLASH2 # Page 1469 REGODSPR TS PLAYTEM1 CAF BIT14 TCF GODSPR2 CLOCPLAY TS PLAYTEM1 CAF CLOCKCON TCF GOFLASH2 GOFLASH TS PLAYTEM1 CAF BIT4 # LEAVE ONLY FLASH BIT SET GOFLASH2 TS PLAYTEM4 TC SAVELOCS RELINT TCF MAKEPLAY # BRANCH DIRECT WITH NO SEPARATE JOB CALL PRIODSPR TS PLAYTEM1 CAF BITS7+4 TCF GODSPRS PRIODSP TS PLAYTEM1 SETPRIO CAF BITS7+4 TCF GOFLASH2 MAKEPRIO CAF ZERO TS COPINDEX TC LINUSCHR TCF HIPRIO # LINUS RETURN CA FLAGWRD4 MASK OCT20100 # IS PRIO IN ENDIDLE OR BUSY CCS A TCF PRIOBORT # YES, ABORT HIPRIO CA FLAGWRD4 # MARK ACTIVE MASK OCT40400 EXTEND BZF ASKIFNRM # NO SETMARK CAF ZERO TCF JOBXCHS ASKIFNRM CA FLAGWRD4 # NORMAL ACTIVE MASK OCT10200 # BITS 13+8 EXTEND # Page 1470 BZF OKTOCOPY # NO SETNORM CAF ONE TCF JOBXCHS OKTOCOPY TC COPYNORM TC WITCHONE TC JOBWAKE TC XCHTOEND REDOPRIO CA TIME1 # SAVE TIME PRIODSP SENT OUT TS PRIOTIME KEEPPRIO CAF ZERO # START UP PRIO DISPLAY TCF PRIOPLAY MAKEPLAY CA PRIORITY # SAVE USERS PRIORITY MASK PRIO37 TS USERPRIO CAF PRIO33 # RAISE PRIORITY FOR FAST JOBS AFTER WAKE TC PRIOCHNG CA PLAYTEM4 # IS IT MARK OR PRIO OR NORM MASK BITS15+7 CCS A TCF MAKEPRIO # ITS PRIO TCF IFLEGAL TCF MAKEMARK # ITS MARK IFLEGAL CAF TWO TS COPINDEX TC LINUSCHR TCF OKTOPLAY # LINUS RETURN CS EBANKTEM MASK BIT4 CCS A TCF OKTOPLAY # NO CA FLAGWRD4 # WAS NORM ASLEEP MASK NBUSMASK # ARE ANY NORMS ASLEEP EXTEND BZF OKTOPLAY # NO PRIOBORT TC POODOO OCT 1502 # Page 1471 OKTOPLAY TC COPIES2 CA USERPRIO EXTEND ROR SUPERBNK TS RESTREG CA FLAGWRD4 # PRIO OR MARK GOING MASK PMMASK CCS A TCF GOSLEEPS # YES TCF +2 TCF GOSLEEPS # MARK GOING # COULD PUT NORM BUSY CHECK HERE TO SAVE TIME TC WITCHONE # IS IT NVSUB BUSY, ENDIDLE OR NOONE TC JOBWAKE TC XCHTOEND PLAYJUM1 CAF TWO PRIOPLAY TS COPINDEX TCF GOPLAY EXDSPRET TS PLAYTEM1 CAF BIT15+6 TCF GOFLASH2 GOPERF1 TS NORMTEM1 # STORE DESIRED CHECKLIST VALUE CAF V01N25 # USED TO DISPLAY CHECKLIST VALUE IN R1 GOPERFS TS PLAYTEM1 CAF PERFMASK # LEAVE ONLY FLASH, PERFORM, BLANKING TCF GOFLASH2 GOPERF2 TS PLAYTEM1 # DESIRED VERB-NOUN TO DISPLAY R1,R2,R3 CAF PERF2MSK TCF GOFLASH2 GOPERF4 TC PURRS4 TCF GOFLASH2 GOFLASHR TS PLAYTEM1 # Page 1472 CAF BIT4 # LEAVE ONLY FLASH BIT SET GODSPRS TS PLAYTEM4 CAF THREE GODSPRS1 INHINT # IMMEDIATE RETURN IS CALL CADR +4 TS RUPTREG3 CA PRIORITY # MAKE DISPLAY ONE HIGHER THAN USER MASK PRIO37 TS NEWPRIO CA PLAYTEM4 # IS THIS A FLASHING R DISPLAY MASK BIT4 CCS A TCF VACDSP # YES, MAKE DSPLAY JOB A VAC CA NEWPRIO # NO, MAKE DSPLAY JOB A NOVAC TC NOVAC EBANK= WHOCARES 2CADR MAKEPLAY TCF BOTHJOBS VACDSP CA BBANK EXTEND ROR SUPERBNK TS L CAF MAKEGEN TC SPVAC BOTHJOBS TC SAVELOCS # COPY TEMPS INTO PERMANENT REGISTERS EXTEND # SAVE NVWORD AND USERS MPAC +2 DCA MPAC +1 INDEX LOCCTR DXCH MPAC +1 EXTEND # SAVE USERS CADR, FLAGS AND EBANK DCA MPAC +3 INDEX LOCCTR DXCH MPAC +3 CA LOCCTR TS MPAC +5 TC SAVELOCR RELINT TCF BANKJUMP # CALL CADR +4 # Page 1473 GOPERF1R TS NORMTEM1 # DESIRED CHECKLIST VALUE CAF V01N25 # DISPLAYS CHECKLIST VALUE IN R1 GOPERFRS TS PLAYTEM1 CAF PERFMASK # LEAVE ONLY FLASH, PERFORM, BLANKING TCF GODSPRS GOPERF2R TS PLAYTEM1 # DESIRED VERB-NOUN TO DISPLAY R1,R2,R3 CAF PERF2MSK TCF GODSPRS GOPERF4R TC PURRS4 TCF GODSPRS PURRS4 TS OPTION1 # DESIRED OPTION CODE CAF V04N06 TS PLAYTEM1 CAF PERF4MSK # FLASH, PERFORM AND EBANK R3 TC Q SAVELOCS INHINT CS OCT3400 # EBANK BITS MASK PLAYTEM4 AD EBANK TS PLAYTEM4 SAVELOCR LXCH Q TC MAKECADR TS PLAYTEM3 AD RUPTREG3 # NOT USED FOR NON R ROUTINES TC L COPYNORM CAF ZERO COPIES TS COPINDEX COPIES2 INHINT CA PLAYTEM4 # FLAGWORD INDEX COPINDEX TS EBANKSAV # EQUIV TO DSPFLG MASK CADRMASK # FLASH AND GODSPRET EXTEND # Page 1474 BZF SKIPADD CA PLAYTEM3 INDEX COPINDEX TS CADRFLSH SKIPADD CA PLAYTEM1 # VERB NOUN INDEX COPINDEX TS NVWORD TCF RELINTQ GOSLEEPS INDEX COPINDEX CA PRIOOCT MASK WAITMASK TC UPENT2 WAITMASK OCT 3004 CS ONE AD COPINDEX TS FACEREG XCHSLEEP INDEX FACEREG CAF WAKECADR INHINT TC JOBWAKE # FIND CADR IN JOB AREA TC XCHTOEND # CAUSES AWAKENED JOB TO GO TO ENDOFJOB INDEX FACEREG # REPLACE SAME CADR BUT NEW JOB AREA CAF WAKECADR TCF JOBSLEEP JOBXCHS TS FACEREG # CONTROLS TYPE OF DISPLAY PUT TO SLEEP TC WITCHONE TC JOBWAKE CA FACEREG INDEX LOCCTR TS FACEREG CAF XCHQADD TC XCHNYLOC INDEX FACEREG CA MARKOCT MASK IDLESLEP TC DOWNENT2 IDLEMASK OCT 74004 # * DONT MOVE INDEX FACEREG # BIT SHOWS PRIO INTERRUPTED NORM OR MARK CA BIT5 # BIT5 FOR MARK, BIT4 FOR NORMAL # Page 1475 AD FOUR TC UPENT2 # FLAG ROUTINE DOES RELINT XCHQADD GENADR XCHSLEEP # * DONT MOVE CA FLAGWRD4 MASK BIT3 # IF BIT3 THEN MARK OVER NORM CCS A GENMARK TC MARKPLAY # USED AS GENADR FOR JOBWAKE TCF OKTOCOPY MARKWAKE CAF ZERO WAKEPLAY TS TEMPOR2 INDEX TEMPOR2 CA BITS5+11 AD FOUR TC DOWNENT2 MARKFMSK OCT 40010 # ***DONT MOVE INDEX TEMPOR2 CAF WAKECADR INHINT TC JOBWAKE TCF ENDRET # ALL .1 RESTARTS BRANCH DIRECTLY TO INITDSP. NORMAL DISPLAYS ARE THE ONLY DISPLAYS ALLOWED TO USE .1 RESTARTS # INITDSP FIRST RESTORES THE EBANK AND THE SUPERBANK TO THE MOST RECENT NORMAL EBANK AND SUPERBANK. # IF THE MOST RECENT NORMAL DISPLAY REQUEST WAS NOT FINISHED, CONTROL IS SENT BACK TO THE LAST NORMAL USER. # OTHERWISE THE NORMAL DISPLAY SET UP IN THE NORMAL DISPLAY REGS IS STARTED UP IMMEDIATELY. INITDSP CA EBANKTEM # RESTORE MOST RECENT NORMAL EBANK TS EBANK CA RESTREG # SUPERBANK AND JOB PRIORITY TC SUPERSW # RESTORE SUPERBANK MASK PRIO37 TC PRIOCHNG CS THREE AD TEMPFLSH TCF BANKJUMP PINBRNCH RELINT # FOR GOPIN USERS CA MARK2PAC # NEEDED TO SAVE MPAC +2 FOR MARK USERS TS MPAC +2 # ONLY CA FLAGWRD4 # PINBRANCH CONDITION MASK PINMASK CCS A # Page 1476 TCF +3 TCF ERASER # ** NOTHING IN ENDIDLE TCF MARKPLAY NORMBNCH TC UPFLAG # SET PINBRANCH BIT ADRES PINBRFLG CAF BIT14 # PRIO INTERRUPTED MASK FLAGWRD4 CCS A TCF KEEPPRIO TCF PLAYJUM1 NVDSP TC COPYPACS CA TEMPOR2 # SET UP BLANK BITS FOR NVMONOPT IN CASE MASK SEVEN # USER REQUESTS BLANKING MONITOR TS L CS BIT13 INDEX COPINDEX MASK DSPFLG INDEX COPINDEX TS DSPFLG MASK BIT8 # BIT8 SET IF DEC MARK PERFORM DISPLAY TS TEM1 CA MPAC +2 TS MPAC2SAV TS MARK2PAC # * FOR DISK ONLY * INDEX COPINDEX CCS NVWORD TCF NVDSP1 TCF CLEANEND CS MARKNV TS MARKNV # IN CASE MARKPLAY AWAKENED AFTER SLEEPING MASK LOW7 AD V05N00M1 AD TEM1 NVDSP1 AD ONE NV50DSP TC NVMONOPT TCF REST # IF BUSY TC FLASHOFF # IN CASE OF EXTENDED VERB NON FLASH TC COPYTOGO # MPACS DESTROYED BY NVSUB TC DOWNFLAG # UNSET SLEEPING BITS ADRES MRKNVFLG # Page 1477 TC DOWNFLAG ADRES NRMNVFLG TC DOWNFLAG ADRES PRONVFLG BLANKCHK CA TEMPOR2 # BLANK BITS 1,2,3 IF SET TC BLANKSUB TCF NVDSP PERFCHEK CAF BIT5 # BIT 5 FOR PERFORM MASK TEMPOR2 CCS A # IS THIS A GOPERF DISPLAY TCF 1STOR2ND # YES GOANIDLE CAF BIT4 MASK TEMPOR2 CCS A TCF FLASHSUB # IT IS CS TEMPOR2 # IS THIS A GODSPRET MASK BIT6 CCS A TCF ISITN00 INDEX COPINDEX CA CADRFLSH TS MPAC +3 TCF ENDIT ISITN00 INDEX COPINDEX # IS THIS A PASTE CA NVWORD MASK LOW7 # CHECK MADE FOR PINBRNCH AND PRIO ON MARK EXTEND BZF FLASHSUB # YES, ASSUME PASTE ALWAYS ON FLASH TCF ENDOFJOB # NOT FLASH, NOT GOPERF, THEREFORE EXIT 1STOR2ND CA TEMPOR2 MASK BIT13 CCS A TCF GOANIDLE # SECOND CA BIT13 INDEX COPINDEX ADS DSPFLG ZL EXTEND # IS IT MARK BZMF MARKPERF # YES MASK BIT12 EXTEND # Page 1478 BZF V50PASTE CS NVWORD1 # NVOWRD1= -0 IS V97. NVWORD1= -400 IS V99 AD V97N00 TCF NV50DSP V50PASTE CAF V50N00 TCF NV50DSP # DISPLAY SECOND PART OF GOPERF WITCHONE CS BIT5 # TURN OFF KEY RELEASE LIGHT EXTEND WAND DSALMOUT CA FLAGWRD4 MASK NVBUSMSK # IS IT NVSUB ASLEEP CCS A CAF ONE TS L CAF ZERO INDEX L XCH CADRSTOR INHINT TC Q XCHTOEND CAF ENDINST # TC ENDOFJOB REPLACES GENADR IN LOC FOR XCHNYLOC XCH LOCCTR # WAS THIS ADDRESS SLEEPING EXTEND BZMF RELINTQ # NO XCH LOCCTR # YES INDEX LOCCTR TS LOC RELINTQ RELINT TC Q # BACK TO USER CLEANEND CAF PRIO32 # ONE LOWER THAN DISPLAYS SLEEPING TC FINDVAC EBANK= NVSAVE 2CADR JAMTERM TCF FLASHSUB +1 ISITPRIO CA FLAGWRD4 MASK ITISMASK # IS PINBRFLG, MARKIDFLG SET EXTEND BZF PRIOBORT TCF ENDOFJOB REST CCS CADRSTOR # IS SOMEONE IN ENDIDLE TCF ENDOFJOB # YES # Page 1479 TCF RESTSLEP TCF ENDOFJOB RESTSLEP CA GENMASK # SET NVSLEEP BITS MASK ASTROMSK TC UPENT2 OCT24100 OCT 24100 # *** DONT MOVE INDEX COPINDEX CAF NVCADR TC NVSUBUSY # BUSY OR ABORT IF ILLEGAL FLASHSUB TC FLASHON CA COPINDEX # COPINDEX DESTROYED BY ENDIDLE TS COPMPAC CA GENMASK MASK IDLEMASK TC UPENT2 ITISMASK OCT 40040 # *** ENDIDLE ALLOW *** DONT MOVE CA R1SAVE # IS THIS A REPEAT AND RETURN DISPLAY INDEX COPINDEX MASK BIT3 CCS A TCF UNSETR1 # YES CCS CADRSTOR # SEE IF SOMEONE ALREADY IN ENDIDLE TCF ISITPRIO TCF +2 TCF ISITPRIO TC ENDIDLE IDLERET1 TCF TERMATE TCF PROCEED # ENDIDLE RETURNS HERE ON PROCEED CS LOWLOAD AD MPAC # VERBREG EXTEND DIM A EXTEND BZF LOADITIS # V21 OR V22 OR V23 ON DSKY OKTOENT CAF TWO ENDOUT TS OUTHERE CA FLAGWRD4 # CHECK NATURE OF ENDIDLE RETURN MASK OCT60000 # Page 1480 CCS A TCF TIMECHEK # PRIO ENDIDLE RETURN TCF NORMRET # NORMAL ENDIDLE RETURN TCF MARKRET # MARK ENDIDLE RETURN TIMECHEK CS TIME1 AD PRIOTIME CCS A COM AD OCT37776 AD ONE AD -2SEC EXTEND BZMF KEEPPRIO TCF NORMRET NORMWAKE CAF ONE TCF WAKEPLAY ENDRET CCS OUTHERE AD ONE TCF +2 # NORMAL ENDIDLE EXIT TCF ENDOFJOB INDEX COPMPAC AD CADRFLSH TS MPAC +3 CA GENMASK # REMOVE ENDIDLE AND PINBRANCH BITS MASK PINIDMSK TC DOWNENT2 PINIDMSK OCT 74044 # *** DONT MOVE CS THREE # BLANK EVERYTHING EXCEPT MM TC NVSUB TCF +1 ENDIT CA USERPRIO # RETURN TO USERS PRIORITY MASK PRIO37 TC PRIOCHNG CA MPAC +3 TCF BANKJUMP UNSETR1 INDEX COPINDEX # RESET REPEAT AND RETURN REQUEST CS BIT3 MASK R1SAVE TS R1SAVE CAF ZERO # *** 205 ONLY MARKBRAN USERS IN TC SUPERSW # SUPERBANK 0 # Page 1481 -1 CAF THREE # RETURN TO USERS IMMEDIATE RETURN LOC IMMEDRET INDEX COPINDEX AD CADRFLSH TCF BANKJUMP TERMATE CAF ZERO # ASTRONAUT TERMINATE (V34) RETURNS TO TCF ENDOUT LINUSCHR CS PLAYTEM4 # IS THIS A LINUS MASK BIT14 CCS A TCF Q+1 # NO CS PLAYTEM3 # YES, IS IT ALREADY IN ENDIDLE INDEX COPINDEX AD CADRFLSH EXTEND BZF +2 # YES TC Q # NO CCS DSPLOCK # IS THE ASTRONAUT BUSY TC ENDOFJOB # END THE NEW DISPLAY, ITS ALREADY ACTIVE TC Q # MORE LOGIC COULD BE INCORPORATED HERE TO MAKE SURE A RECYCLE IS A RECYCLE AND CONVERSELY THAT A LOAD IS A LOAD. PROCEED CAF ONE # ASTRONAUT PROCEED (V33) RETURNS TCF ENDOUT # LASTPLAY CHECKS TO SEE IF (1) THE LAST NORMAL DISPLAY WAS EITHER INTERRUPTED BY A PRIO OR A MARK (MARK # COULD ONLY HAPPEN DURING PINBRANCH) OR IF (2) THE LAST NORMAL DISPLAY WAS REQUESTED WHILE A HIGHER PRIORITY # DISPLAY WAS GOING, RESULTING IN THE NORMAL BEING PUT TO SLEEP. # # IF EITHER OF THE ABOVE 2 CONDITIONS EXISTS, THE NORMAL DISPLAY IS AWAKENED TO GO TO PLAYJUM1 WHICH STARTS # UP THE MOST RECENT VALID NORMAL DISPLAY. IF THESE 2 CONDITIONS DO NOT EXIST, CONTROL GOES TO PLAYJUM1 WHICH IS # STARTED IMMEDIATELY WITH THE ASSUMPTION THAT THE MOST RECENT NORMAL DISPLAY IS ALREADY IN-ENDIDLE (DURING A # PINBRNCH) OR THAT A RESTART HAS OCCURRED AND THE DISPLAY CAN BE STARTED AS A .1 RESTART. MARKRET CS SIX MASK FLAGWRD4 INHINT # *** MAY MOVE DISPLAY FLAGWORD OUT OF TS FLAGWRD4 RELINT # INHINT REALM TCF ENDRET MARKOVER CAF MINUS1 # RUPTREG2 IS - MEANS ENDOFJOB TO ENDRET TS OUTHERE CA FLAGWRD4 # IS ENDIDFLG SET MASK PRIO30 # IS NORMAL OR PRIO IN ENDIDLE CCS A # Page 1482 TCF NORMBNCH NORMRET CA FLAGWRD4 # IS MARK SLEEPING MASK BITS5+11 # OR WAITING CCS A TCF MARKWAKE CA FLAGWRD4 # NO MASK BITS4+10 # IS NORMAL INTERRUPTED OR WAITING CCS A TCF NORMWAKE # YES CA EBANKTEM # NO, WAS IT A FLASH REQUEST MASK OCT50 # OR A GODSPRET CCS A TCF ENDRET # YES CA NVSAVE EXTEND BZF ENDRET CAF PRIO15 INHINT TC NOVAC EBANK= NVWORD 2CADR PLAYJUM1 TCF ENDRET MARSLEEP CA FLAGWRD4 # IS MARK ALREADY ON MASK BITS5+11 CCS A TCF ENDOFJOB # YES TCF GOSLEEPS LOADITIS INDEX COPMPAC CA NVWORD MASK LOW7 COM AD MPAC +1 # NOUNREG EXTEND BZF OKTOENT # NO, THEN LOAD IS VALID TCF PINBRNCH # YES, ACCEPT LOAD BUT ASK FOR LAST AGAIN ERASER CS THREE # BLANK EVERYTHING EXCEPT MM TC NVSUB TCF ENDOFJOB TCF ENDOFJOB PERFMASK OCT 0036 # FLASH,PERFORM,BLANK R2 AND R3 # Page 1483 V01N25 VN 00125 V06N07 VN 00607 # GOPERF3 VN DISPLAY BEFORE V50 V50N00 VN 5000 PERF2MSK OCT 00030 # FLASH, PERFORM V04N06 VN 00406 PERF4MSK OCT 14 # FLASH, BLANK R3 GOAGIN EQUALS PINBRNCH REDOMASK OCT 20010 # BITS 4 AND 14 MARK3MSK OCT 40230 # MARK,DECIMAL NOUN, PERFORM,FLASH MARK4MSK OCT 40036 # MARK,PERFORM,FLASH,BLANK 2 AND 3 NVCADR CADR REDOPRIO WAKECADR CADR MARKPLAY CADR PLAYJUM1 OCT3400 OCT 3400 # EBANK MASK NBUSMASK OCT 11210 PMMASK OCT 66521 VERBMASK = MID7 # (OCT 37600) V05N00M1 OCT 1177 # V05 MINUS ONE GOXDSP EQUALS GOMARK GOXDSPR EQUALS GOMARKR GOXDSPF EQUALS GOMARKF GOXDSPFR EQUALS GOMARKFR ENDEXT EQUALS ENDMARK MPAC2SAV EQUALS BANKSET NVBUSMSK OCT 700 ASTROMSK OCT 704 MPERFMSK OCT 40030 # BIT 15,5,4 FOR MARK,PERFORM,FLASH OCT34300 OCT 34300 BITS15+7 OCT 40100 BITS7+4 OCT 110 DSPFLG EQUALS EBANKSAV MARKFLAG EQUALS MARKEBAN SAVEFLAG EQUALS EBANKTEM BITS5+11 OCT 2020 # * DONT MOVE BITS4+10 OCT 1010 # * DONT MOVE LOWLOAD DEC 22 BUSYMASK OCT 77730 CADRMASK OCT 50 PINMASK EQUALS 13,14,15 GOPLAY EQUALS NVDSP PRIOSAVE EQUALS R1SAVE COPMPAC EQUALS MPAC +3 TEMPOR2 EQUALS MPAC +4 OUTHERE EQUALS MPAC +5 COPINDEX EQUALS LOC USERPRIO EQUALS MODE GENMASK EQUALS MPAC +6 PRIOOCT OCT 20144 # PRIO MARKOCT OCT 42424 # MARK # Page 1484 OCT 11254 # NORM IDLESLEP OCT 74704 OCT67777 OCT 67777 LINUS EQUALS BLANKET FACEREG EQUALS MPAC PLAYTEM1 EQUALS MPAC +1 PLAYTEM3 EQUALS MPAC +3 PLAYTEM4 EQUALS MPAC +4 OCT40420 OCT 40420 MAKEGEN GENADR MAKEPLAY OCT10200 OCT 10200 V97N00 VN 09700 # PASTE FOR V97 OR V99 OCT20100 OCT 20100 CLOCKCON OCT 24030 # FLASH, PERFORM, V99 OR V97 PASTE,REFLASH ================================================ FILE: Comanche055/DOWN-TELEMETRY_PROGRAM.agc ================================================ # Copyright: Public domain. # Filename: DOWN-TELEMETRY_PROGRAM.agc # Purpose: Part of the source code for Comanche, build 055. It # is part of the source code for the Command Module's # (CM) Apollo Guidance Computer (AGC), Apollo 11. # Assembler: yaYUL # Reference: pp. 1093-1102 # Contact: Ron Burkey # Website: http://www.ibiblio.org/apollo. # Mod history: 2009-05-08 RSB Adapted from Colossus249/ file of same name # and page images. Corrected various typos # in the transcription of program comments, # and these should be back-ported to # Colossus249. # # The contents of the "Comanche055" files, in general, are transcribed # from scanned documents. # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. April 1, 1969. # # This AGC program shall also be referred to as Colossus 2A # # Prepared by # Massachusetts Institute of Technology # 75 Cambridge Parkway # Cambridge, Massachusetts # # under NASA contract NAS 9-4065. # # Refer directly to the online document mentioned above for further # information. Please report any errors to info@sandroid.org. # Page 1093 # PROGRAM NAME- DOWN TELEMETRY PROGRAM # MOD NO.- 0 TO COMPLETELY REWRITE THE DOWN TELEMETRY PROGRAM AND DOWNLINK ERASABLE DUMP PROGRAM FOR THE # PURPOSE OF SAVING APPROXIMATELY 150 WORDS OF CORE STORAGE. # THIS CHANGE REQUIRES AN ENTIRELY NEW METHOD OF SPECIFYING DOWNLINK LISTS. REFER TO DOWNLINK # LISTS LOG SECTION FOR MORE DETAILS. HOWEVER THIS CHANGES WILL NOT AFFECT THE GROUND PROCESSING # OF DOWN TELEMETRY DATA. # MOD BY- KILROY, SMITH, DEWITT # DATE- 02OCT67 # AUTHORS- KILROY, SMITH, DWWITT, DEWOLF, FAGIN # LOG SECTION- DOWN-TELEMETRY PROGRAM # FUNCTIONAL DESCRIPTION- THIS ROUTINE IS INITIATED BY TELEMETRY END # PULSE FROM THE DOWNLINK TELEMETRY CONVERTER. THIS PULSE OCCURS # AT 50 TIMES PER SEC(EVERY 20 MS) THEREFORE DODOWNTM IS # EXECUTED AT THESE RATES. THIS ROUTINE SELECTS THE APPROPRIATE # AGC DATA TO BE TRANSMITTED DOWNLINK AND LOADS IT INTO OUTPUT # CHANNELS 34 AND 35. THE INFORMATION IS THEN GATED OUT FROM THE # LGC IN SERIAL FASHION. # THIS PROGRAM IS CODED FOR A 2 SECOND DOWNLIST. SINCE DOWNRUPTS # OCCUR EVERY 20MS AND 2 AGC COMPUTER WORDS CAN BE PLACED IN # CHANNELS 34 AND 35 DURING EACH DOWNRUPT THE PROGRAM IS CAPABLE # OF SENDING 200 AGC WORDS EVERY 2 SECONDS. # CALLING SEQUENCE- NONE # PROGRAM IS ENTERED VIA TCF DODOWNTM WHICH IS EXECUTED AS A # RESULT OF A DOWNRUPT. CONTROL IS RETURNED VIA TCF RESUME WHICH # IN EFFECT IS A RESUME. # SUBROUTINES CALLED- NONE # NORMAL EXIT MODE- TCF RESUME # ALARM OR ABORT EXIT MODE- NONE # RESTART PROTECTION: # ON A FRESH START AND RESTART THE 'STARTSUB' SUBROUTINE WILL INITIALIZE THE DOWNLIST POINTER(ACTUALLY # DNTMGOTO) TO THE BEGINNING OF THE CURRENT DOWNLIST(I.E., CURRENT CONTENTS OF DNLSTADR). THIS HAS THE # EFFECT OF IGNORING THE REMAINDER OF THE DOWNLIST WHICH THE DOWN-TELEMETRY PROGRAM WAS WORKING ON WHEN # THE RESTART(OR FRESH START) OCCURRED AND RESUME DOWN TELEMETRY FROM THE BEGINNING OF THE CURRENT # DOWNLIST. # ALSO OF INTEREST IS THE FACT THAT ON A RESTART THE AGC WILL ZERO DOWNLINK CHANNELS 13, 34 AND 35. # DOWNLINK LIST SELECTION: # THE APPROPRIATE DOWNLINK LISTS ARE SELECTED BY THE FOLLOWING: # 1. FRESH START # 2. V37EXXE WHERE XX = THE MAJOR MODE BEING SELECTED. # 3. UPDATE PROGRAM(P27) # 4. NON-V37 SELECTABLE TYPE PROGRAMS(E.G. AGS INITIALIZATION(SUNDANCE,LUMINARY) AND P61-P62 # TRANSITION(COLOSSUS) ETC.). # DOWNLINK LIST RULES AND LIMITATIONS: # READ SECTION(S) WHICH FOLLOW 'DEBRIS' WRITEUP. # OUTPUT- EVERY 2 SECONDS 100 DOUBLE PRECISION WORDS(I.E. 200 LGC # COMPUTER WORDS) ARE TRANSMITTED VIA DOWNLINK. # ERASABLE INITIALIZATION REQUIRED- NONE # 'DNTMGOTO' AND 'DNLSTADR' ARE INITIALIZED BY THE FRESH START PROGRAM. # DEBRIS(ERASABLE LOCATIONS DESTROYED BY THIS PROGRAM)- # LDATALST,DNTMBUFF TO DNTMBUFF +21D,TMINDEX,DNQ. # Page 1094 # (No source on this page of the original assembly listing.) # Page 1095 # DODOWNTM IS ENTERED EVERY 20 MS BY AN INTERRUPT TRIGGERED BY THE # RECEIPT OF AN ENDPULSE FROM THE SPACECRAFT TELEMETRY PROGRAMMER. # # NOTES REGARDING DOWNLINK LISTS ASSOCIATED WITH THIS PROGRAM: # 1. DOWNLISTS. - DOWNLISTS MUST BE COMPILED IN THE SAME BANK AS THE # DOWN-TELEMETRY PROGRAM. THIS IS DONE FOR EASE OF CODING, FASTER # EXECUTION. # 2. EACH DOWNLINK LIST CONSISTS OF A CONTROL LIST AND A NUMBER OF # SUBLISTS. # 3. A SUBLIST REFERS TO A SNAPSHOT OR DATA COMMON TO THE SAME OR OTHER # DOWNLINK LISTS. ANY SUBLIST CONTAINING COMMON DATA NEEDS TO BE # CODED ONLY ONCE FOR THE APPLICABLE DOWNLINK LISTS. # 4. SNAPSHOT SUBLISTS REFER SPECIFICALLY TO HOMOGENOUS DATA WHICH MUST BE # SAVED IN A BUFFER DURING ONE DOWNRUPT. # 5. THE 1DNADR FOR THE 1ST WORD OF SNAPSHOT DATA IS FOUND AT THE END # OF EACH SNAPSHOT SUBLIST, SINCE THE PROGRAM CODING SENDS THIS DP WORD # IMMEDIATELY AFTER STORING THE OTHERS IN THE SNAPSHOT BUFFER. # 6. ALL LISTS ARE COMBINATIONS OF CODED ERASABLE ADDRESS CONSTANTS # CREATED FOR THE DOWNLIST PROGRAM. # A. 1DNADR 1-WORD DOWNLIST ADDRESS. # SAME AS ECADR, BUT USED WHEN THE WORD ADDRESSED IS THE LEFT # HALF OF A DOUBLE-PRECISION WORD FOR DOWN TELEMETRY. # B. 2DNADR - 6DNADR N-WORD DOWNLIST ADDRESS, N = 2 - 6. # SAME AS 1DNADR, BUT WITH THE 4 UNUSED BITS OF THE ECADR FORMAT # FILLED IN WITH 0001-0101. USED TO POINT TO A LIST OF N DOUBLE- # PRECISION WORDS, STORED CONSECUTIVELY, FOR DOWN TELEMETRY. # C. DNCHAN DOWNLIST CHANNEL ADDRESS. # SAME AS 1DNADR, BUT WITH PREFIX BITS 0111. USED TO POINT TO # A PAIR OF CHANNELS FOR DOWN TELEMETRY. # D. DNPTR DOWN TELEMETRY SUBLIST POINTER. # SAME AS CAF BUT TAGGES AS A CONSTANT. USED IN CONTROL LIST TO POINT TO A SUBLIST. # CAUTION--- A DNPTR CANNOT BE USED IN A SUBLIST. # 7. THE WORD ORDER CODE IS SET TO ZERO AT THE BEGINNING OF EACH DOWNLIST (I.E., CONTROL LIST) AND WHEN # A '1DNADR TIME2' IS DETECTED IN THE CONTROL LIST(ONLY). # 8. IN THE SNAPSHOT SUBLIST ONLY, THE DNADR'S CANNOT POINT TO THE FIRST WORD OF ANY EBANK. # # DOWNLINK LIST RESTRICTIONS: # (THE FOLLOWING POINTS MAY BE LISTED ELSEWHERE BUT ARE LISTED HERE SO IT IS CLEAR THAT THESE THINGS CANNOT BE # DONE) # # 1. SNAPSHOT DOWNLIST: # (A) CANNOT CONTAIN THE FOLLOWING ECADRS(I.E. 1DNADR'S): 0, 400, 1000, 1400, 2000, 2400, 3000, 3400. # (B) CAN CONTAIN ONLY 1DNADR'S # # 2. ALL DOWNLINKED DATA(EXCEPT CHANNELS) IS PICKED UP BY A , # Fabrizio Bernardini # Website: http://www.ibiblio.org/apollo. # Mod history: 10/05/09 FB Transcription of Batch FB-1 Assignment. # # The contents of the "Comanche055" files, in general, are transcribed # from scanned documents. # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. April 1, 1969. # # This AGC program shall also be referred to as Colossus 2A # # Prepared by # Massachusetts Institute of Technology # 75 Cambridge Parkway # Cambridge, Massachusetts # # under NASA contract NAS 9-4065. # # Refer directly to the online document mentioned above for further # information. Please report any errors to info@sandroid.org. # Page 170 BANK 22 SETLOC DOWNTELM BANK EBANK= DNTMBUFF # SPECIAL DOWNLINK OP CODES # OP CODE ADDRESS(EXAMPLE) SENDS... BIT 15 BITS 14-12 BITS 11-0 # ------- ---------------- ---------- ------ ---------- --------- # 1DNADR TIME2 (2 AGC WDS) 0 0 ECADR # 2DNADR TEPHEM (4 AGC WDS) 0 1 ECADR # 3DNADR VGBODY (6 AGC WDS) 0 2 ECADR # 4DNADR STATE (8 AGC WDS) 0 3 ECADR # 5DNADR UPBUFF (10AGC WDS) 0 4 ECADR # 6DNADR DSPTAB (12AGC WDS) 0 5 ECADR # DNCHAN 30 CHANNELS 0 7 CHANNEL ADDRESS # DNPTR NEXTLIST POINTS TO NEXT LIST. 0 6 ADRES # # DOWNLIST FORMAT DEFINITIONS AND RULES - # 1. END OF A LIST = -XDNADR (X = 1 TO 6), -DNPTR, OR -DNCHAN. # 2. SNAPSHOT SUBLIST = LIST WHICH STARTS WITH A -1DNADR. # 3. SNAPSHOT SUBLIST CAN ONLY CONTAIN 1DNADRS. # 4. TIME2 1DNADR MUST BE LOCATED IN THE CONTROL LIST OF A DOWNLIST. # 5. ERASABLE DOWN TELEMETRY WORDS SHOULD BE GROUPED IN SEQUENTIAL # LOCATIONS AS MUCH AS POSSIBLE TO SAVE STORAGE USED BY DOWNLINK LISTS. # 6. THE DOWNLINK LISTS (INCLUDING SUBLISTS) ARE ORGANIZED SUCH THAT THE ITEMS LISTED FIRST (IN FRONT OF FBANK) ARE # SENT FIRST. EXCEPTION--- SNAPSHOT SUBLISTS. IN THE SNAPSHOT SUBLISTS THE DATA REPRESENTED BY THE FIRST # 11 1DNADRS IS PRESERVED (IN ORDER) IN DNTMBUFF AND SENT BY THE NEXT 11 DOWNRUPTS. THE DATA REPRESENTED BY THE # LIST IS SENT IMMEDIATELY. COUNT 05/DLIST ERASZERO EQUALS 7 SPARE EQUALS ERASZERO # USE SPARE TO INDICATE AVAILABLE SPACE LOWIDCOD OCT 77340 # LOW ID CODE NOMDNLST EQUALS CMCSTADL # FRESH START AND POST P27 DOWNLIST UPDNLIST EQUALS CMENTRDL # UPDATE PROGRAM (P27) DOWNLIST # Page 171 # CSM POWERED FLIGHT DOWNLIST # # --------------------- CONTROL LIST ------------------------- CMPOWEDL EQUALS DNPTR CMPOWE01 # COLLECT SNAPSHOT 6DNADR DNTMBUFF # SEND SNAPSHOT DNPTR CMPOWE02 # COLLECT SECOND SNAPSHOT 4DNADR DNTMBUFF # SEND SNAPSHOT DNPTR CMPOWE03 # COMMON DATA 1DNADR TIG # TIG,+1 1DNADR DELLT4 # DELLT4,+1 3DNADR RTARG # RTARG,+1,+2,...+5 1DNADR TGO # TGO,+1 1DNADR PIPTIME1 # PIPTIME1,+1 3DNADR DELV # DELV,+1,...+4,+5 1DNADR PACTOFF # PACTOFF,YACTOFF 1DNADR PCMD # PCMD,YCMD 1DNADR CSTEER # CSTEER,+1 3DNADR DELVEET1 # CSI DELTA VELOCITY COMPONENTS (31-33) 6DNADR REFSMMAT # REFSMMAT,+1,...+10,+11 DNPTR CMPOWE04 # COMMON DATA 1DNADR TIME2 # TIME2,TIME1 DNPTR CMPOWE05 # COLLECT SNAPSHOT 6DNADR DNTMBUFF # SEND SNAPSHOT DNPTR CMPOWE02 # COLLECT SNAPSHOT 4DNADR DNTMBUFF # SEND SNAPSHOT DNPTR CMPOWE03 # DNPTR CMPOWE06 # COMMON DATA 1DNADR ELEV # ELEV,+1 1DNADR CENTANG # CENTANG,+1 1DNADR DELTAR # DELTAR,+1 1DNADR STATE +10D # FLAGWRDS 10 AND 11 1DNADR TEVENT # TEVENT,+1 1DNADR PCMD # PCMD,YCMD 1DNADR OPTMODES # OPTMODES,HOLDFLAG DNPTR CMPOWE07 # COMMON DATA 3DNADR VGTIG # VGTIG,+1,...+4,+5 -3DNADR DELVEET2 # CDH DELTA VELOCITY COMPONENTS (98-100) # --------------------- SUB LISTS --------------------------- CMPOWE01 -1DNADR RN +2 # RN+2,+3 SNAPSHOT DATA 1DNADR RN +4 # RN+4,+5 1DNADR VN # VN,+1 1DNADR VN +2 # VN+2,+3 1DNADR VN +4 # VN+4,+5 1DNADR PIPTIME # PIPTIME,+1 -1DNADR RN # RN,+1 CMPOWE02 -1DNADR CDUZ # CDUZ,CDUT SNAPSHOT DATA # Page 172 1DNADR ADOT # ADOT,+1/OGARATE,+1 1DNADR ADOT +2 # ADOT+2,+3/OMEGAB+2,+3 1DNADR ADOT +4 # ADOT+4,+5/OMEGAB+4,+5 -1DNADR CDUX # CDUX,CDUY CMPOWE03 2DNADR AK # AK,AK1,AK2,RCSFLAGS COMMON DATA -2DNADR THETADX # THETADX,THETADY,THETADZ,GARBAGE CMPOWE04 5DNADR STATE # FLAGWRD0 THRU FLAGWRD9 COMMON DATA -6DNADR DSPTAB # DISPLAY TABLES CMPOWE05 -1DNADR R-OTHER +2 # R-OTHER+2,+3 SNAPSHOT DATA 1DNADR R-OTHER +4 # R-OTHER+4,+5 1DNADR V-OTHER # V-OTHER,+1 1DNADR V-OTHER +2 # V-OTHER+2,+3 1DNADR V-OTHER +4 # V-OTHER+4,+5 1DNADR T-OTHER # T-OTHER,+1 -1DNADR R-OTHER # R-OTHER,+1 CMPOWE06 1DNADR RSBBQ # RSBBQ,+1 COMMON DATA 3DNADR CADRFLSH # CADRFLSH,+1,+2,FAILREG,+1,+2 -2DNADR CDUS # CDUS,PIPAX,PIPAY,PIPAZ CMPOWE07 1DNADR LEMMASS # LEMMASS,CSMMASS COMMON DATA 1DNADR DAPDATR1 # DAPDATR1,DAPDATR2 2DNADR ERRORX # ERRORX,ERRORY,ERRORZ,GARBAGE 3DNADR WBODY # WBODY,...+5/OMEGAC,...+5 2DNADR REDOCTR # REDOCTR,THETAD,+1,+2 1DNADR IMODES30 # IMODES30,IMODES33 DNCHAN 11 # CHANNELS 11,12 DNCHAN 13 # CHANNELS 13,14 DNCHAN 30 # CHANNELS 30,31 -DNCHAN 32 # CHANNELS 32,33 # ----------------------------------------------------------- # Page 173 # CSM COAST AND ALIGNMENT DOWNLIST # --------------------- CONTROL LIST ------------------------ CMCSTADL EQUALS # SEND ID BY SPECIAL CODING DNPTR CMCSTA01 # COLLECT SNAPSHOT 6DNADR DNTMBUFF # SEND SNAPSHOT DNPTR CMCSTA02 # COLLECT SECOND SNAPSHOT 4DNADR DNTMBUFF # SEND SNAPSHOT DNPTR CMCSTA03 # COMMON DATA 1DNADR TIG # TIG,+1 1DNADR BESTI # BESTI,BESTJ 4DNADR MARKDOWN # MARKDOWN,+1,...+5,+6,GARBAGE 4DNADR MARK2DWN # MARK2DWN,+1,...+5,+6 2DNADR HAPOX # APOGEE AND PERIGEE FROM R30 (28-29) 1DNADR PACTOFF # PACTOFF, YACTOFF (30) 3DNADR VGTIG # VGTIG,...+5 6DNADR REFSMMAT # REFSMMAT,+1,...+10,+11 DNPTR CMCSTA04 # COMMON DATA 1DNADR TIME2 # TIME2,TIME1 DNPTR CMCSTA05 # COLLECT SNAPSHOT 6DNADR DNTMBUFF # SEND SNAPSHOT DNPTR CMCSTA02 # COLLECT SNAPSHOT 4DNADR DNTMBUFF # SEND SNAPSHOT DNPTR CMCSTA03 # COMMON DATA DNPTR CMCSTA06 # COMMON DATA 3DNADR OGC # OGC,+1,IGC,+1,MGC,+1 1DNADR STATE +10D # FLAGWRDS 10 AND 11 1DNADR TEVENT # TEVENT,+1 1DNADR LAUNCHAZ # LAUNCHAZ,+1 1DNADR OPTMODES # OPTMODES,HOLDFLAG DNPTR CMCSTA07 # COMMON DATA -6DNADR DSPTAB # DISPLAY TABLES # --------------------- SUB LISTS --------------------------- CMCSTA01 EQUALS CMPOWE01 # COMMON DOWNLIST DATA CMCSTA02 EQUALS CMPOWE02 # COMMON DOWNLIST DATA CMCSTA03 EQUALS CMPOWE03 # COMMON DOWNLIST DATA CMCSTA04 EQUALS CMPOWE04 # COMMON DOWNLIST DATA CMCSTA05 EQUALS CMPOWE05 # COMMON DOWNLIST DATA CMCSTA06 EQUALS CMPOWE06 # COMMON DOWNLIST DATA CMCSTA07 EQUALS CMPOWE07 # COMMON DOWNLIST DATA # Page 174 # ----------------------------------------------------------- # Page 175 # CSM RENDEZVOUS AND PRETHRUST LIST # --------------------- CONTROL LIST ------------------------ CMRENDDL EQUALS # SEND ID BY SPECIAL CODING DNPTR CMREND01 # COLLECT SNAPSHOT 6DNADR DNTMBUFF # SEND SNAPSHOT DNPTR CMREND02 # COLLECT SECOND SNAPSHOT 4DNADR DNTMBUFF # SEND SNAPSHOT DNPTR CMREND03 # COMMON DATA 1DNADR TIG # TIG,+1 1DNADR DELLT4 # DELLT4,+1 3DNADR RTARG # RTARG,+1,...+4,+5 1DNADR VHFTIME # VHFTIME,+1 4DNADR MARKDOWN # MARKTIME(DP),YCDU,SCDU,ZCDU,TCDU,XCDU,RM 1DNADR VHFCNT # VHFCNT,+1 1DNADR TTPI # TTPI,+1 1DNADR ECSTEER # ECSTEER,+1 1DNADR DELVTPF # DELVTPF,+1 2DNADR TCDH # CDH AND CSI TIME (32-33) 1DNADR TPASS4 # TPASS4,+1 3DNADR DELVSLV # DELVSLV,+1...+4,+5 2DNADR RANGE # RANGE,+1,RRATE,+1 DNPTR CMREND04 # COMMON DATA 1DNADR TIME2 # TIME2,TIME1 DNPTR CMREND05 # COLLECT SNAPSHOT 6DNADR DNTMBUFF # SEND SNAPSHOT DNPTR CMREND02 # COLLECT SNAPSHOT 4DNADR DNTMBUFF # SEND SNAPSHOT DNPTR CMREND03 # COMMON DATA DNPTR CMREND06 # COMMON DATA 1DNADR DIFFALT # CDH DELTA ALTITUDE 1DNADR CENTANG # CENTANG,+1 1DNADR DELTAR # DELTAR,+1 3DNADR DELVEET3 # DELVEET3,+1,...+4,+5 1DNADR OPTMODES # OPTMODES,HOLDFLAG DNPTR CMREND07 # COMMON DATA 1DNADR RTHETA # RTHETA,+1 2DNADR LAT(SPL) # LAT(SPL),LNG(SPL),+1 2DNADR VPRED # VPRED,+1,GAMMAEI,+1 -1DNADR STATE +10D # FLAGWRDS 10 AND 11 # --------------------- SUB LISTS ---------------------------- CMREND01 EQUALS CMPOWE01 # COMMON DOWNLIST DATA CMREND02 EQUALS CMPOWE02 # COMMON DOWNLIST DATA CMREND03 EQUALS CMPOWE03 # COMMON DOWNLIST DATA CMREND04 EQUALS CMPOWE04 # COMMON DOWNLIST DATA # Page 176 CMREND05 EQUALS CMPOWE05 # COMMON DOWNLIST DATA CMREND06 EQUALS CMPOWE06 # COMMON DOWNLIST DATA CMREND07 EQUALS CMPOWE07 # COMMON DOWNLIST DATA # ------------------------------------------------------------ # Page 177 # CSM ENTRY AND UPDATE DOWNLIST # # --------------------- CONTROL LIST ------------------------- CMENTRDL EQUALS # SEND ID BY SPECIAL CODING DNPTR CMENTR01 # COLLECT SNAPSHOT 6DNADR DNTMBUFF # SEND SNAPSHOT DNPTR CMENTR02 # COLLECT SECOND SNAPSHOT 4DNADR DNTMBUFF # SEND SNAPSHOT DNPTR CMENTR03 # COMMON DATA 2DNADR CMDAPMOD # CMDAPMOD,PREL,QREL,RREL 1DNADR L/D1 # L/D1,+1 6DNADR UPBUFF # UPBUFF,+1,...+10,+11 4DNADR UPBUFF +12D # UPBUFF+12,13,...+18,+19D 2DNADR COMPNUMB # COMPNUMB,UPOLDMOD,UPVERB,UPCOUNT 1DNADR PAXERR1 # PAXERR1,ROLLTM 3DNADR LATANG # LATANG,+1,RDOT,+1,THETAH,+1 2DNADR LAT(SPL) # LAT(SPL),+1,LNG(SPL),+1 1DNADR ALFA/180 # ALFA/180,BETA/180 DNPTR CMENTR04 # COMMON DATA 1DNADR TIME2 # TIME2,TIME1 DNPTR CMENTR05 # COLLECT SNAPSHOT 6DNADR DNTMBUFF # SEND SNAPSHOT DNPTR CMENTR02 # COLLECT SNAPSHOT 4DNADR DNTMBUFF # SEND SNAPSHOT 2DNADR AK # AK,AK1,AK2,RCSFLAGS 3DNADR ERRORX # ERRORX/Y/Z,THETADX/Y/Z 2DNADR CMDAPMOD # CMDAPMOD,PREL,QREL,RREL 6DNADR UPBUFF # UPBUFF+0,+1,...+10,+11D 4DNADR UPBUFF +12D # UPBUFF+12,+13,...+18,+19D 1DNADR LEMMASS # LEMMASS,CSMMASS 1DNADR DAPDATR1 # DAPDATR1,DAPDATR2 1DNADR ROLLTM # ROLLTM,ROLLC 1DNADR OPTMODES # OPTMODES,HOLDFLAG 3DNADR WBODY # WBODY,...+5/OMEGAC,...+5 2DNADR REDOCTR # REDOCTR,THETAD+0,+1,+2 1DNADR IMODES30 # IMODES30,IMODES33 DNCHAN 11 # CHANNELS 11,12 DNCHAN 13 # CHANNELS 13,14 DNCHAN 30 # CHANNELS 30,31 DNCHAN 32 # CHANNELS 32,33 1DNADR RSBBQ # RSBBQ,+1 3DNADR CADRFLSH # CADRFLSH,+1,+2,FAILREG,+1,+2 1DNADR STATE +10D # FLAGWRDS 10 AND 11 -1DNADR GAMMAEI # GAMMAEI,+1 # --------------------- SUB LISTS ---------------------------- CMENTR01 EQUALS CMPOWE01 # COMMON DOWNLIST DATA # Page 178 CMENTR02 EQUALS CMPOWE02 # COMMON DOWNLIST DATA CMENTR03 EQUALS CMPOWE03 # COMMON DOWNLIST DATA CMENTR04 EQUALS CMPOWE04 # COMMON DOWNLIST DATA CMENTR05 -1DNADR DELV # DELV,+1 SNAPSHOT DATA 1DNADR DELV +2 # DELV+2,+3 1DNADR DELV +4 # DELV+4,+5 1DNADR TTE # TTE,+1 1DNADR VIO # VIO,+1 1DNADR VPRED # VPRED,+1 -1DNADR PIPTIME1 # PIPTIME1,+1 CMENTR07 EQUALS CMPOWE07 # COMMON DOWNLIST DATA # ------------------------------------------------------------- # Page 179 # P22 DOWNLISTS # # --------------------- CONTROL LIST -------------------------- CMPG22DL EQUALS # SEND ID BY SPECIAL CODING DNPTR CMPG2201 # COLLECT SNAPSHOT 6DNADR DNTMBUFF # SEND SNAPSHOT DNPTR CMPG2202 # COLLECT SNAPSHOT 4DNADR DNTMBUFF # SEND SNAPSHOT DNPTR CMPG2203 # COMMON DATA 6DNADR SVMRKDAT # LANDING SITE MARK DATA 6DNADR SVMRKDAT +12D # SVMRKDAT+0...+34 6DNADR SVMRKDAT +24D # LANDING SITE MARK DATA 1DNADR LANDMARK # LANDMARK,GARBAGE 1DNADR SPARE 1DNADR SPARE 1DNADR SPARE DNPTR CMPG2204 # COMMON DATA 1DNADR TIME2 # TIME2,TIME1 DNPTR CMPG2205 # COLLECT SNAPSHOT 2DNADR DNTMBUFF # SEND SNAPSHOT 1DNADR SPARE 1DNADR SPARE 1DNADR SPARE 1DNADR SPARE DNPTR CMPG2202 # COLLECT SNAPSHOT 4DNADR DNTMBUFF # SEND SNAPSHOT DNPTR CMPG2203 # COMMON DATA DNPTR CMPG2206 # COMMON DATA 1DNADR 8NN # 8NN,GARBAGE 1DNADR STATE +10D # FLAGWRDS 10 AND 11 3DNADR RLS # RLS,+1,...+4,+5 1DNADR SPARE 1DNADR OPTMODES # OPTMODES,HOLDFLAG DNPTR CMPG2207 # COMMON DATA 1DNADR SPARE 1DNADR SPARE 1DNADR SPARE 1DNADR SPARE 1DNADR SPARE -1DNADR SPARE # --------------------- SUB LISTS -------------------------- CMPG2201 EQUALS CMPOWE01 # COMMON DOWNLIST DATA CMPG2202 EQUALS CMPOWE02 # COMMON DOWNLIST DATA CMPG2203 EQUALS CMPOWE03 # COMMON DOWNLIST DATA # Page 180 CMPG2204 EQUALS CMPOWE04 # COMMON DOWNLIST DATA CMPG2205 -1DNADR LONG # LONG,+1 SNAPSHOT DATA 1DNADR ALT # ALT,+1 -1DNADR LAT # LAT,+1 CMPG2206 EQUALS CMPOWE06 # COMMON DOWNLIST DATA CMPG2207 EQUALS CMPOWE07 # COMMON DOWNLIST DATA # ----------------------------------------------------------- DNTABLE GENADR CMCSTADL GENADR CMENTRDL GENADR CMRENDDL GENADR CMPOWEDL GENADR CMPG22DL # ----------------------------------------------------------- ================================================ FILE: Comanche055/ENTRY_LEXICON.agc ================================================ # Copyright: Public domain. # Filename: ENTRY_LEXICON.agc # Purpose: Part of the source code for Comanche, build 055. It # is part of the source code for the Command Module's # (CM) Apollo Guidance Computer (AGC), Apollo 11. # Assembler: yaYUL # Reference: pp. 837-843 # Contact: Ron Burkey # Website: http://www.ibiblio.org/apollo. # Mod history: 2009-05-12 RSB Adapted from Colossus249 file of the same # name and Comanche 055 page images. # # The contents of the "Comanche055" files, in general, are transcribed # from scanned documents. # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. April 1, 1969. # # This AGC program shall also be referred to as Colossus 2A # # Prepared by # Massachusetts Institute of Technology # 75 Cambridge Parkway # Cambridge, Massachusetts # # under NASA contract NAS 9-4065. # # Refer directly to the online document mentioned above for further # information. Please report any errors to info@sandroid.org. # Page 837 # VARIABLE DESCRIPTION MAXIMUM VALUE * COMPUTER NAME # -------- ----------- ------- ------- -------- ---- # # _ # URT0 INITIAL TARGET VECTOR 2 (UNIT VECTOR) = RTINIT # _ # UZ UNIT VECTOR NORTH 1 = UNITW # _ # V VELOCITY VECTOR 2 VSAT = VEL # _ # R POSITION VECTOR 2 EXP 29 METERS = RN # _ # VI INERTIAL VELOCITY 128 M/CENTISEC = VN # _ # RTE VECTOR EAST AT INITIAL TARGET 2 = RTEAST # _ # UTR NORMAL TO RTE AND UZ 2 = RTNORM # _ # URT TARGET VECTOR 2 = RT # _ # UNI UNIT NORMAL TO TRAJECTORY PLANE 2 # _ # DELV INTEGRATED ACCEL. FROM PIPAS 5.85 16384 CM/S # _ # G GRAVITY VECTOR 128 M/CENTISEC = GDT/2 # # A0 INITIAL DRAG FOR UPCONTRL 805 FPSS FPSS=FT/SEC/SEC # AHOOKDV TERM IN GAMMAL CALC. = AHOOK DVL 16 # A1 DRAG VALUE IN FACTOR CALCULATION 805 FPSS # ALP CONST FOR UPCONTRL 1 # ASKEP KEPLER RANGE 21600 NM NM = NAUTICAL MILE # ASP1 FINAL PHASE RANGE 21600 NM # ASPUP UP-RANGE 21600 NM # ASP3 GAMMA CORRECTION 21600 NM # ASPDWN RANGE DOWN TO PULL-UP 21600 NM # ASP PREDICTED RANGE 21600 NM NOT STORED # COSG COSINE(GAMMAL) 2 = COSG/2 # C/D0 RECIPROCAL DRAG, -4/D0 B-8 64/FPSS # D TOTAL ACCELERATION 805 FPSS # D0 CONTROLLED CONSTANT D 805 FPSS # DHOOK TERM IN GAMMAL COMPUTATION 805 FPSS # DIFF THETNM-ASP (RANGE DIFFERENCE) 21600 NM # DIFFOLD PREVIOUS VALUE OF DIFF 21600 NM # DLEWD CHANGE IN LEWD 1 # DR REFERENCE DRAG FOR DOWNCONTROL 805 FPSS NOT STORED # DREFR REFERENCE DRAG 805 FPSS NOT STORED # DVL VS1-VL 2 VSAT # E ECCENTRICITY 4 NOT STORED # F1 DRANGE/D DRAG (FINAL PHASE) 2700/805 = FX +5 # F2 DRANGE/D RDOT (FINAL PHASE) 2700/2VS NM/FPS = FX +4 # Page 838 # F3 DRANGE/D (L/D) 2700 NM = FX # FACT1 CONST FOR UPCONTRL 805 FPSS # FACT2 CONST FOR UPCONTRL 1/805 FPSS # FACTOR USED IN UPCONTRL 1 * MAXIMUM VALUE DENOTES UNSCALED # GAMMAL FLIGHT PATH ANGLE AT VL 1 RADIAN VARIABLE VALUE WHEN SCALED # GAMMAL1 SIMPLE FORM OF GAMMAL 1 RADIAN VARIABLE HAS MAXIMUM VALUE OF ONE. # Page 839 # # HEADSUP INDICATOR FOR INITIAL ROLL 1 # KA DRAG TO LIFT UP IF DOWN 805 FPSS = KAT # KLAT LATERAL SWITCH GAIN 1 (NOM = .0125) # K2ROLL INDICATOR FOR ROLL SWITCH # LAD MAX L/D (MIN ACTUAL VEHICLE L/D) 1 # LADPAD NOMINAL VEHICLE L/D, SP PAD LOAD 1 (NOM = 0.3) # LATANG LATERAL RANGE 4 RADIANS # LEQ EXCESS C.F. OVER GRAV=(VSQ-1)GS 128.8 FPSS # LEWD UPCONTROL REFERENCE L/D 1 # LOD FINAL PHASE L/D 1 (NOM = 0.18) # LODPAD FINAL PHASE L/D, SP PAD LOAD 1 # L/D DESIRED LIFT TO DRAG RATIO 1 # (VERTICAL PLANE) # L/D1 TEMP STORAGE FOR L/D IN LATERAL 1 # L/DCMINR LAD COS(15DEG) 1 (NOM = 0.2895) # PREDANGL PREDICTED RANGE (FINAL PHASE) 2700 NM = PREDANG # Q2 FINAL PHASE RANGE -23500 Q3 21600 NM # Q2 = FCN(LAD) # Q7 MINIMUM DRAG FOR UPCONTROL 805 FPSS # RDOT ALTITUDE RATE 2 VSAT # RDOTREF REFERENCE RDOT FOR UPCONTROL 2 VSAT # RDTR REFERENCE RDOT FOR DOWNCONT 2 VSAT NOT SAVED # ROLLC ROLL COMMAND 1 REVOLUTION # RTOGO RANGE TO GO (FINAL PHASE) 2700 NM = FX +2 # SL SINE OF LATITUDE 1 NOT SAVED # T TIME B 28 CENTISEC = TIME2,TIME1 # THETA DESIRED RANGE (RADIANS) 2 PI RADIANS = THETAH # THETNM DESIRED RANGE (NM) 21600 NM NON EXISTENT # V VELOCITY MAGNITUDE 2 VSAT # V1 INITIAL VELOCITY FOR UPCONTROL 2 VSAT # VL EXIT VELOCITY FOR UPCONTROL 2 VSAT # VREF REFERENCE VELOCITY FOR UPCONTROL 2 VSAT # VS1 VSAT OR V1, WHICHEVER IS SMALLER 2 VSAT # 2 2 # VBARS VL /VSAT 4 # 2 2 # VSQ NORMALISED VEL. SQUARED = V /VSAT 4 = VSQUARE # WT EARTH RATE TIMES TIME 1 REVOLUTION NOT SAVED # = WIE (DTEAROT) # X INTERMEDIATE VARIABLE IN G-LIMITER 2 VSAT NOT SAVED # Y LATERAL MISS LIMIT 4 RADIANS NOT SAVED # Page 840 # EXTRA COMPUTER ERASABLE LOCATIONS NOT SHOWN ON FLOW CHARTS # ---------------------------------------------------------- # # VARIABLE DESCRIPTION MAXIMUM VALUE # -------- ----------- ------------- # # GOTOADDR ADDRESS SELECTED BY SEQUENCER # XPIPBUF BUFFER TO STORE X PIPA COUNTS # YPIPBUF BUFFER TO STORE Y PIPA COUNTS # ZPIPBUF BUFFER TO STORE Z PIPA COUNTS # PIPCTR COUNTS PASSES THRU PIPA READ ROUTINE # JJ INDEX IN FINAL PHASE TABLE LOOK-UP # MM INDEX IN FINAL PHASE TABLE LOOK-UP # GRAD INTERPOLATION FACTOR IN FINAL PHASE # FX DRANGE/D L/D = F3 2700 NM # FX +1 AREF 805 FPSS # FX +2 RTOGO 2700 NM # FX +3 RDOTREF VSAT/4 # FX +4 DRANGE/D RDOT = F2 21600/2VS NM/FPS # FX +5 DRANGE/D DRAG = F1 2700/805 NM/FPSS # TEM1B TEMPORARY LOCATION # TIME/RTO TIME OF INITIAL TARGET RTINIT B 28 CENTISEC # DTEAROT EST TIME BETWEEN RTINIT AND RT B 28 CENTISEC # # _ # UNITV UNIT V VECTOR 2 # _ # UNITR UNIT R VECTOR 2 # _ # -VREL NEGATIVE VELOCITY REL TO ATMOSP 2 VSAT # # COMPUTER SWITCHES INITIAL STATE CM/FLAGS = STATE +6 # ----------------- ------------- ------------------- # # ENTRYDSP DO ENTRY DISPLAY, IF SET NON-BRANCH (1) 92D, BIT13 # GONEPAST INDICATES OVERSHOOT OF TARGET NON-BRANCH (0) 95D, BIT10 # RELVELSW RELATIVE VELOCITY SWITCH NON-BRANCH (0) 96D, BIT 9 # EGSW FINAL PHASE SWITCH NON-BRANCH (0) 97D, BIT 8 # FIRSTPAS INITIAL PASS THRU HUNTEST NON-BRANCH (0) 98D, BIT 7 # HIND INDICATES ITERATION IN HUNTEST NON-BRANCH (0) 99D, BIT 6 # INRLSW INDICATES INIT ROLL ATTITUDE SET NON-BRANCH (0) 100D, BIT 5 # LATSW INHIBIT DOWNLIFT SWITCH IF NOT SET BRANCH (1) 101D, BIT 4 # .05GSW INDICATES DRAG EXCEEDS .05 GS BRANCH (0) 102D, BIT 3 # # GONEBY INDICATES GONE PAST TARGET (SET) SELF-INITIALIZING 112D, BIT 8 # Page 841 # CONSTANTS AND GAINS VALUE # ------------------- ----- # # C1 FACTOR IN ALP COMPUTATION 1.25 # C16 CONSTD GAIN ON DRAG .01 # C17 CONSTD GAIN ON RDOT .001 # C18 BIAS VEL. FOR FINAL PHASE START 500 FPS # C20 MAX DRAG FOR DOWN-LIFT 175 FPSS # CHOOK FACTOR IN AHOOK COMPUTATION .25 # CH1 FACTOR IN GAMMAL COMPUTATION 1.0 # COS15 COS( 15 DEG) .965 # DLEWD0 INITIAL VARIATION IN LEWD -.05 # D2 DRAG TO CHANGE LEWD 175 FPSS # DT COMPUTATION CYCLE TIME INTERVAL 2 SEC. # GMAX MAXIMUM ACCELERATION 257.6 FPSS (8 G-S) # KA1 FACTOR IN KA CALC 1.3 GS # KA2 FACTOR IN KA CALC .2 GS # KA3 FACTOR IN D0 CALC 90 FPSS # KA4 FACTOR IN D0 CALC 40 FPSS # KB1 OPTIMIZED UPCONTROL GAIN 3.4 # KB2 OPTIMIZED UPCONTROL GAIN .0034 # KDMIN INCREMENT ON Q7 TO DETECT END OF KEPLER PHASE .5 FPSS # KTETA TIME OF FLIGHT CONSTANT 1000 # KLAT1 FACTOR IN KLAT CALC 1/24 # K44 GAIN USED IN INITIAL ROLL SECTION 19749550 FPS # LATBIAS LATERAL SWITCH BIAS TERM .41252961 NM # LEWD1 NOMINAL UPCONTROL L/D .15 # POINT1 FACTOR TO REDUCE UPCONTROL GAIN .1 # Q2 FINAL PHASE RANGE - 23500 Q3 -1002 NM # Q3 FINAL PHASE DRANGE/D V .07 NM/FPS # Q5 FINAL PHASE DRANGE/D GAMMA 7050 NM/RAD # Q6 FINAL PHASE INITIAL FLIGHT PATH ANGLE .0349 RAD # Q7F MIN DRAG FOR UPCONTROL 6 FPSS # Q7MIN MIN VALUE FOR Q7 IN FACTOR CALCULATION 40 FPSS # Q19 FACTOR IN GAMMAL1 CALCULATION .5 # Q21 FACTOR IN Q2 CALCULATION. 1000 NM # Q22 FACTOR IN Q2 CALCULATION. -1302 NM # VFINAL1 VELOCITY TO START FINAL PHASE ON INITIAL ENTRY 27000 FPS # VFINAL FACTOR IN INITIAL UP-DOWN CALC 26600 FPS # VLMIN MINIMUM VL 18000 FPS # VMIN VELOCITY TO SWITCH TO RELATIVE VEL VSAT/2 # VRCONTRL RDOT TO START INTO HUNTEST 700 FPS # VRCONT = COMPUTER NAME # 25NM TOLERANCE TO STOP RANGE ITERATION 25 NM # VQUIT VELOCITY TO STOP STEERING 1000 FPS # Page 842 # CONVERSION FACTORS AND SCALING CONSTANTS # ---------- ------- --- ------- --------- # # ATK ANGLE IN RAD TO NM 3437.7468 NM/RAD # G5 NOMINAL G VALUE FOR SCALING 32.2 FPSS # H5 ATMOSPHERE SCALE HEIGHT 28500 FT # J GRAVITY HARMONIC COEFFICIENT .00162346 # KWE EQUATORIAL EARTH RATE 1546.70168 FPS # MUE EARTH GRAVITATIONAL CONSTANT 3.986032233 E 14 CUBIC M/ SEC SEC # RE EARTH RADIUS 21202900 FT # REQ EARTH EQUATORIAL RADIUS 20925738.2 FT # VSAT SATELLITE VELOCITY AT RE 25766.1973 FPS # WIE EARTH RATE .0000729211505 RAD/SEC # # (END GSOP AS-278, VOL 1, FIG. 5.6-3 CONSTANTS,GAINS, ETC.) # # # DISPLAY QUANTITIES # ------------------ # # (SEE SECTION 4 OF THE GSOP FOR SIGN CONVENTIONS.) # # VARIABLE DESCRIPTION MAXIMUM VALUE # -------- ----------- ------------- # # GMAX PREDICTED MAXIMUM ENTRY ACCEL 163.84 GS N 60 # VPRED PREDICTED VELOCITY AT ALTITUDE 128 M/CENTISEC N 60 # 400K FT ABOVE FISCHER RADIUS. # GAMMAEI PREDICTED GAMMA AT ALTITUDE 1 REVOLUTION N 60 # 400K FT ABOVE FISCHER RADIUS. # D DRAG ACCELERATION 805 FPSS N 64 # VMAGI INERTIAL VELOCITY MAGNITUDE 128 M/CENTISEC N 64, N 68 # THETAH DESIRED RANGE ANGLE NM 1 REVOLUTION N 64, N 67 # LAT PRESENT LATITUDE 1 REVOLUTION N 67 # LONG PRESENT LONGITUDE 1 REVOLUTION N 67 # RTOGO RANGE ANGLE TO SPLASH FROM 1 REVOLUTION N 63 # EMSALT FT ABOVE FISCHER RADIUS. (IN NM) # VIO PREDICTED VELOCITY AT ALTITUDE 128 M/CENTISEC N 63 # EMSALT FT ABOVE FISCHER RADIUS. # TTE TIME OF FREE FALL TO ALT B 28 CENTISEC N 63 # EMSALT FT ABOVE FISCHER RADIUS. # ROLLC ROLL COMMAND 1 REVOLUTION N 66, N 68, N 69 # LATANG CROSS-RANGE ERROR (XRNGERR) 4 RADIANS N 66 # DNRNGERR DOWN RANGE ERROR 1 REVOLUTION N 66 # (PREDANG - THETAH IN NM) # HDOT ALTITUDE RATE 128 M/CENTISEC N 68 # Q7 MINIMUM DRAG FOR UPCONTROL 805 FPSS N 69 # VL EXIT VELOCITY FOR UP-CONTROL 2 VSAT N 69 # Page 843 # BODY ATTITUDE QUANTITIES (CM/POSE) # ---------------------------------- # # VARIABLE DESCRIPTION MAXIMUM VALUE # -------- ---------- ------- ----- # # _ # -VREL NEGATIVE VELOCITY REL TO ATMOS. 2 VSAT # _ # OLDUYA USED FOR UYA BELOW 1000 FPS 2 # _ # UXA/2 UNIT VECTOR TRIAD 2 # _ # UYA/2 BASED ON 2 # _ # UZA/2 THE TRAJECTORY. 2 # _ # UBX/2 UNIT VECTOR 2 # _ # UBY/2 BODY TRIAD 2 # _ # UBZ/2 FOR CM. 2 ================================================ FILE: Comanche055/ERASABLE_ASSIGNMENTS.agc ================================================ # Copyright: Public domain. # Filename: ERASABLE_ASSIGNMENTS.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Mod history: 2009-05-06 RSB Started adapting from the Colossus249/ file # of the same name, using Comanche055 page # images. Only through page 51 so far. # 2009-05-07 RSB Through page 92 so far. # 2009-05-07 RSB (Again!) First draft completed. # 2009-05-20 RSB Fixed some bugs uncovered in trial assemblies: # EMDOT, STATEXIT, VGDISP, DVPREV, POSTCDH, # RETROFLG not defined correctly, changed the # typing of labels 9X9LOC1 and 9X9LOC2, # R32FLBIT -> R31FLBIT. # 2009-05-21 RSB Corrected definition of DELBRTMP, which # chained to quite a lot of off-by-one errors. # Changed a +8 to a +8D. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 37 # CONVENTIONS AND NOTATIONS UTILIZED FOR ERASABLE ASSIGNMENTS. # EQUALS IS USED IN TWO WAYS. IT IS OFTEN USED TO CHAIN A GROUP # OF ASSIGNMENTS SO THAT THE GROUP MAY BE MOVED WITH THE # CHANGING OF ONLY ONE CARD. EXAMPLE: # # X EQUALS START # Y EQUALS X +SIZE.X # Z EQUALS Y +SIZE.Y # # (X, Y, AND Z ARE CONSECUTIVE AND BEGIN AT START. # SIZE.X AND SIZE.Y ARE THE RESPECTIVE SIZES OF X AND Y. # USUALLY NUMERIC, IE. 1, 2, 6, 18D, ETC.) # EQUALS OFTEN IMPLIES THE SHARING OF REGISTERS (DIFFERENT NAMES # AND DIFFERENT DATA). EXAMPLE: # # X EQUALS Y # = MEANS THAT MULTIPLE NAMES HAVE BEEN GIVEN TO THE SAME DATA. # (THIS IS LOGICAL EQUIVALENCE, NOT SHARING.) EXAMPLE: # # X = Y # THE SIE AND UTILIZATION OF AN ERASABLE ARE OFTEN INCLUDED IN # THE COMMENTS IN THE FOLLOWING FORM: M(SIZE)N. # # M REFERS TO THE MOBILITY OF THE ASSIGNMENT. # B MEANS THAT THE SYMBOL IS REFERENCED BY BASIC # INSTRUCTIONS AND THUS IS E-BANK SENSITIVE. # I MEANS THAT THE SYMBOL IS REFERENCED ONLY BY # INTERPRETIVE INSTRUCTIONS, AND IS THUS E-BANK # INSENSITIVE AND MAY APPEAR IN ANY E-BANK. # # SIZE IS THE NUMBER OF REGISTERS INCLUDED BY THE SYMBOL. # # N INDICATES THE NATURE OF PERMANENCE OF THE CONTENTS. # PL MEANS THAT THE CONTENTS ARE PAD LOADED. # DSP MEANS THAT THE REGISTER IS USED FOR A DISPLAY. # PRM MEANS THAT THE REGISTER IS PERMANENT. IE., IT # IS USED DURING THE ENTIRE MISSION FOR ONE # PURPOSE AND CANNOT BE SHARED. # TMP MEANS THAT THE REGISTER IS USED TEMPORARILY OR # IS A SCRATCH REGISTER FOR THE ROUTINE TO WHICH # IT IS ASSIGNED. THAT IS, IT NEED NOT BE SET # PRIOR TO INVOCATION OF THE ROUTINE NOR DOES IT # CONTAIN USEFUL OUTPUT TO ANOTHER ROUTINE. THUS # Page 38 # IT MAY BE SHARED WITH ANY OTHER ROUTINE WHICH # IS NOT ACTIVE IN PARALLEL # IN MEANS INPUT TO THE ROUTINE AND IT IS PROBABLY # TEMPORARY FOR A HIGHER-LEVEL ROUTINE/PROGRAM. # OUT MEANS OUTPUT FROM THE ROUTINE, PROBABLY # TEMPORARY FOR A HIGHER-LEVEL ROUTINE/PROGRAM. # Page 39 # SPECIAL REGISTERS. A EQUALS 0 L EQUALS 1 # L AND Q ARE BOTH CHANNELS AND REGISTERS Q EQUALS 2 EBANK EQUALS 3 FBANK EQUALS 4 Z EQUALS 5 # ADJACENT TO FBANK AND BBANK FOR DXCH Z BBANK EQUALS 6 # (DTCB) AND DXCH FBANK (DTCF). # REGISTER 7 IS A ZERO-SOURCE, USED BY ZL. ARUPT EQUALS 10 # INTERRUPT STORAGE LRUPT EQUALS 11 QRUPT EQUALS 12 SAMPTIME EQUALS 13 # SAMPLED TIME 1 & 2. ZRUPT EQUALS 15 # (13 AND 14 ARE SPARES.) BANKRUPT EQUALS 16 # USUALLY HOLDS FBANK OR BBANK. BRUPT EQUALS 17 # RESUME ADDRESS AS WELL. CYR EQUALS 20 SR EQUALS 21 CYL EQUALS 22 EDOP EQUALS 23 # EDITS INTERPRETIVE OPERATION CODE PAIRS. TIME2 EQUALS 24 TIME1 EQUALS 25 TIME3 EQUALS 26 TIME4 EQUALS 27 TIME5 EQUALS 30 TIME6 EQUALS 31 CDUX EQUALS 32 CDUY EQUALS 33 CDUZ EQUALS 34 CDUT EQUALS 35 # OPTICS TRUNNION CDU (WAS OPTY). OPTY = CDUT CDUS EQUALS 36 # OPTICS SHAFT CDU (WAS OPTX). OPTX = CDUS PIPAX EQUALS 37 PIPAY EQUALS 40 PIPAZ EQUALS 41 BMAGX EQUALS 42 BMAGY EQUALS 43 BMAGZ EQUALS 44 INLINK EQUALS 45 RNRAD EQUALS 46 GYROCTR EQUALS 47 GYROCMD EQUALS 47 CDUXCMD EQUALS 50 CDUYCMD EQUALS 51 # Page 40 CDUZCMD EQUALS 52 CDUTCMD EQUALS 53 # OPTICS TRUNNION COMMAND (WAS OPTYCMD) OPTYCMD = CDUTCMD TVCYAW EQUALS CDUTCMD # SPS YAW COMMAND IN TVC MODE CDUSCMD EQUALS 54 # OPTICS SHAFT COMMAND (WAS OPTXCMD). TVCPITCH EQUALS CDUSCMD # SPS PITCH COMMAND IN TVC MODE OPTXCMD = CDUSCMD EMSD EQUALS 55 THRUST EQUALS 55 LEMONM EQUALS 56 LOCALARM EQUALS 57 BANKALRM EQUALS 60 # INTERPRETIVE REGISTERS ADDRESSED RELATIVE TO VAC AREA. LVSQUARE EQUALS 34D # SQUARE OF VECTOR INPUT TO ABVAL AND UNIT LV EQUALS 36D # LENGTH OF VECTOR INPUT TO UNIT. X1 EQUALS 38D # INTERPRETIVE SPECIAL REGISTER RELATIVE X2 EQUALS 39D # TO THE WORK AREA. S1 EQUALS 40D S2 EQUALS 41D QPRET EQUALS 42D # Page 41 # INPUT/OUTPUT CHANNELS # *** CHANNEL ZERO IS TO BE USED IN AN INDEXED OPERATION ONLY. *** LCHAN EQUALS L QCHAN EQUALS Q HISCALAR EQUALS 3 LOSCALAR EQUALS 4 PYJETS EQUALS 5 ROLLJETS EQUALS 6 SUPERBNK EQUALS 7 OUT0 EQUALS 10 DSALMOUT EQUALS 11 CHAN12 EQUALS 12 CHAN13 EQUALS 13 CHAN14 EQUALS 14 MNKEYIN EQUALS 15 NAVKEYIN EQUALS 16 CHAN30 EQUALS 30 CHAN31 EQUALS 31 CHAN32 EQUALS 32 CHAN33 EQUALS 33 DNTM1 EQUALS 34 DNTM2 EQUALS 35 # END OF CHANNEL ASSIGNMENTS # Page 42 # FLAGWORDS # # FLAGWRD0 STATE +0 (000-014) # FLAGWRD1 STATE +1 (015-029) # FLAGWRD2 STATE +2 (030-044) # FLAGWRD3 STATE +3 (045-059) # FLAGWRD4 STATE +4 (060-074) # FLAGWRD5 STATE +5 (075-089) # FLAGWRD6 STATE +6 (090-104) # FLAGWRD7 STATE +7 (105-119) # FLAGWRD8 STATE +8D (120-134) # FLAGWRD9 STATE +9D (135-149) # SORTED LIST OF # INTERPRETIVE SWITCH BIT ASSIGNMENTS # INTERPRETIVE SWITCH BIT ASSIGNMENTS # # FLAGWORD DEC NUM BIT & FLAG EQUIVALENT FLAGWORDS # # 22DSPFLG 032D BIT 13 FLAG 2 # 360SW 134D BIT 1 FLAG 8 # 3AXISFLG 084D BIT 6 FLAG 5 # ADVTRK 125D BIT 10 FLAG 8 # AMOONFLG 13D BIT 2 FLAG 0 # APSESW 130D BIT 5 FLAG 8 # ASTNFLAG 108D BIT 12 FLAG 7 # ATTCHFLG 118D BIT 2 FLAG 7 # AVEGFLAG 029D BIT 1 FLAG 1 # AVEMIDSW 149D BIT 1 FLAG 9 # AVFLAG 040D BIT 5 FLAG 2 # CALCMAN2 043D BIT 2 FLAG 2 # CMDAPARM 093D BIT 12 FLAG 6 # CMOONFLG 123D BIT 12 FLAG 8 # CM/DSTBY 103D BIT 2 FLAG 6 # COGAFLAG 131D BIT 4 FLAG 8 # COMPUTER 082D BIT 8 FLAG 5 # CPHIFLAG 000D BIT 15 FLAG 0 # CULTFLAG 053D BIT 7 FLAG 3 # D6OR9FLG 058D BIT 2 FLAG 3 # DAPBIT1 090D BIT 15 FLAG 6 # DAPBIT2 091D BIT 14 FLAG 6 # DIM0FLAG 059D BIT 1 FLAG 3 # DMENFLAG 081D BIT 9 FLAG 5 # DRIFTFLG 030D BIT 15 FLAG 2 # DSKYFLAG 075D BIT 15 FLAG 5 # EGSW 097D BIT 8 FLAG 6 KNOTNFLG R57FLAG # Page 43 # ENG1FLAG 018D BIT 12 FLAG 1 # ENG2FLAG 019D BIT 11 FLAG 1 # ENGONFLG 083D BIT 7 FLAG 5 # ERADFLAG 017D BIT 13 FLAG 1 # ETPIFLAG 038D BIT 7 FLAG 2 FIRSTFLG OPTNSW # F2RTE 010D BIT 5 FLAG 0 # FINALFLG 039D BIT 6 FLAG 2 # FIRSTFLG 038D BIT 7 FLAG 2 ETPIFLAG OPTNSW # FREEFLAG 012D BIT 3 FLAG 0 # GAMDIFSW 094D BIT 11 FLAG 6 # GLOKFAIL 046D BIT 14 FLAG 3 # GONEBY 112D BIT 8 FLAG 7 # GONEPAST 095D BIT 10 FLAG 6 # GRRBKFLG 085D BIT 5 FLAG 5 # GUESSW 028D BIT 2 FLAG 1 # GYMDIFSW 104D BIT 1 FLAG 6 # .05GSW 102D BIT 3 FLAG 6 # HIND 099D BIT 6 FLAG 6 # IDLEFAIL 024D BIT 6 FLAG 1 # IDLEFLAG 113D BIT 7 FLAG 7 # IGNFLAG 107D BIT 13 FLAG 7 # IMPULSW 036D BIT 9 FLAG 2 # IMUSE 007D BIT 8 FLAG 0 # INCORFLG 079D BIT 11 FLAG 5 # INFINFLG 128D BIT 7 FLAG 8 # INRLSW 100D BIT 5 FLAG 6 # INTFLAG 151D BIT 14 FLAG 10 # INTYPFLG 056D BIT 4 FLAG 3 # ITSWICH 106D BIT 14 FLAG 7 # KFLAG 014D BIT 1 FLAG 0 # KNOWNFLG 097D BIT 8 FLAG 6 EGSW R57FLAG # LATSW 101D BIT 4 FLAG 6 # LMOONFLG 124D BIT 11 FLAG 8 # LUNAFLAG 048D BIT 12 FLAG 3 # MAXDBFLG 138D BIT 12 FLAG 9 # MGLVFLAG 088D BIT 2 FLAG 5 # MID1FLAG 147D BIT 3 FLAG 9 # MIDAVFLG 148D BIT 2 FLAG 9 # MIDFLAG 002D BIT 13 FLAG 0 # MKOVFLAG 072D BIT 3 FLAG 4 # MOONFLAG 003D BIT 12 FLAG 0 # MRKIDFLG 060D BIT 15 FLAG 4 # MRKNVFLG 066D BIT 9 FLAG 4 # MRUPTFLG 070D BIT 5 FLAG 4 # MWAITFLG 064D BIT 11 FLAG 4 # N22ORN17 144D BIT 6 FLAG 9 # NEEDLFLG 006D BIT 9 FLAG 0 # NEWIFLG 122D BIT 13 FLAG 8 # NJETSFLG 015D BIT 15 FLAG 1 # NODOFLAG 044D BIT 1 FLAG 2 # Page 44 # NODOP01 018D BIT 12 FLAG 1 # NORFHOR 004D BIT 11 FLAG 0 # NORMSW 110D BIT 10 FLAG 7 # NOSWITCH 098D BIT 7 FLAG 6 # NRMIDFLG 062D BIT 13 FLAG 4 # NRMNVFLG 067D BIT 8 FLAG 4 # NRUPTFLG 071D BIT 4 FLAG 4 # NWAITFLG 065D BIT 10 FLAG 4 # OPTNSW 038D BIT 7 FLAG 2 ETPIFLAG FIRSTFLG # ORBWFLAG 054D BIT 6 FLAG 3 # ORDERSW 129D BIT 6 FLAG 8 # P21FLAG 033D BIT 12 FLAG 2 # P22MKFLG 049D BIT 11 FLAG 3 # P39/79SW 126D BIT 9 FLAG 8 # PDSPFLAG 063D BIT 12 FLAG 4 # PFRATFLG 041D BIT 4 FLAG 2 # PINBRFLG 069D BIT 6 FLAG 4 # PRECIFLG 052D BIT 8 FLAG 3 # PRFTRKAT 060D BIT 10 FLAG 5 # PRIODFLG 061D BIT 14 FLAG 4 # PRONVFLG 068D BIT 7 FLAG 4 # QUITFLAG 145D BIT 5 FLAG 9 # R21MARK 031D BIT 14 FLAG 2 # R22CAFLG 143D BIT 7 FLAG 9 # R23FLG 021D BIT 9 FLAG 1 # R31FLAG 146D BIT 4 FLAG 9 # R53FLAG 009D BIT 6 FLAG 0 # R57FLAG 097D BIT 8 FLAG 6 KNOWNFLG EGSW # R60FLAG 086D BIT 4 FLAG 5 # REFSMFLG 047D BIT 13 FLAG 3 # REINTFLG 158D BIT 7 FLAG 10 # RELVELSW 096D BIT 9 FLAG 6 # RENDWFLG 089D BIT 1 FLAG 5 # RNDVZFLG 008D BIT 7 FLAG 0 # RPQFLAG 120D BIT 15 FLAG 6 # RVSW 111D BIT 9 FLAG 7 # SAVECFLG 140D BIT 10 FLAG 9 # SKIPVHF 035D BIT 10 FLAG 2 # SLOPESW 027D BIT 3 FLAG 1 # SOLNSW 087D BIT 3 FLAG 5 # SOURCFLG 142D BIT 8 FLAG 9 # STATEFLG 055D BIT 5 FLAG 3 # STEERSW 034D BIT 11 FLAG 2 # STIKFLAG 016D BIT 14 FLAG 1 # STRULLSW 092D BIT 13 FLAG 6 # SURFFLAG 127D BIT 8 FLAG 8 # SWTOVER 135D BIT 15 FLAG 9 # TARG1FLG 020D BIT 10 FLAG 1 # Page 45 # TARG2FLG 021D BIT 9 FLAG 1 # TERMIFLG 105D BIT 15 FLAG 7 # TFFSW 119D BIT 1 FLAG 7 # TIMRFLAG 109D BIT 11 FLAG 7 # TRACKFLG 025D BIT 5 FLAG 1 # TRM03FLG 026D BIT 4 FLAG 1 # TRUNFLAG 011D BIT 4 FLAG 0 # UPDATFLG 023D BIT 7 FLAG 1 # UPLOCKFL 116D BIT 4 FLAG 7 # V37FLAG 114D BIT 6 FLAG 7 # V59FLAG 078D BIT 12 FLAG 5 # V67FLAG 136D BIT 14 FLAG 9 # V82EMFLG 137D BIT 13 FLAG 9 # V94FLAG 139D BIT 11 FLAG 9 # V96ONFLG 132D BIT 3 FLAG 8 # VEHUPFLG 022D BIT 8 FLAG 1 # VERIFLAG 117D BIT 3 FLAG 7 # VFLAG 050D BIT 10 FLAG 3 # VHFRFLAG 141D BIT 9 FLAG 9 # VINTFLAG 057D BIT 3 FLAG 3 # XDELVFLG 037D BIT 8 FLAG 2 # XDSPFLAG 074D BIT 1 FLAG 4 # Page 46 # INTERPRETIVE SWITCH BIT ASSIGNMENTS FLAGWRD0 = STATE +0 # (000-014) # (SET) (RESET) # BIT 15 FLAG 0 CPHIFLAG = 000D # OUTPUT OF CALCGA IS OUTPUT OF CALCGA IS # CPHIX THETAD CPHIBIT = BIT15 # BIT 14 FLAG 0 JSWITCH = 001D # INTEGRATION OF W INTEGRATION OF STATE # MATRIX VECTOR JSWCHBIT = BIT14 # BIT 13 FLAG 0 MIDFLAG = 002D # INTEGRATION WITH INTEGRATION WITHOUT # SOLAR PERTURBATIONS SOLAR PERTURBATIONS MIDFLBIT = BIT13 # BIT 12 FLAG 0 MOONFLAG = 003D # MOON IS SPHERE OF EARTH IS SPHERE OF # INFLUENCE INFLUENCE MOONBIT = BIT12 # BIT 11 FLAG 0 NORFHOR = 004D # FAR HORIZON NEAR HORIZON NORFBIT = BIT11 # BIT 10 FLAG 0 ZMEASURE = 005D # MEASUREMENT PLANET MEASUREMENT PLANET # AND PRIMARY PLANET AND PRIMARY PLANET # DIFFERENT SAME ZMEASBIT = BIT10 # BIT 9 FLAG 0 NEEDLFLG = 006D # TOTAL ATTITUDE A/P FOLLOWING ERROR # ERROR DISPLAYED DISPLAYED NEEDLBIT = BIT9 # BIT 8 FLAG 0 IMUSE = 007D # IMU IN USE IMU NOT IN USE # Page 47 IMUSEBIT = BIT8 # BIT 7 FLAG 0 RNDVZFLG = 008D # P20 RUNNING P20 NOT RUNNING RNDVZBIT = BIT7 # BIT 6 FLAG 0 R53FLAG = 009D # V51 INITIATED V51 NOT INITIATED R53FLBIT = BIT8 # BIT 5 FLAG 0 F2RTE = 010D # IN TIME CRITICAL NOT IN TIME CRITICAL # MODE MODE F2RTEBIT = BIT5 # BIT 4 FLAG 0 TRUNFLAG = 011D # DRIVING OF TRUNNION DRIVING OF TRUNNION # ALLOWED NOT ALLOWED TRUNBIT = BIT4 # BIT 3 FLAG 0 FREEFLAG = 012D # (TEMPORARY FLAG USED IN MANY ROUTINES) FREEFBIT = BIT3 # BIT 2 FLAG 0 AMOONFLG = 13D # STATE VECTOR IN STATE VECTOR IN AMOONBIT = BIT2 # LUNAR SPHERE AT EARTH SPHERE AT # MIDTOAVE MIDTOAVE # BIT 1 FLAG 0 KFLAG = 014D # SEARCH SECTOR MORE SEARCH SECTOR LESS # THAN 180 DEGREES THAN 180 DEGREES KBIT = BIT1 FLAGWRD1 = STATE +1 # (015-029) # (SET) (RESET) # BIT 15 FLAG 1 NJETSFLG = 015D # TWO JET RCS BURN FOUR JET RCS BURN NJETSBIT = BIT15 # Page 48 # BIT 14 FLAG 1 STIKFLAG = 016D # RHC CONTROL CMC CONTROL STIKBIT = BIT14 # BIT 13 FLAG 1 ERADFLAG = 017D # EARTH, COMPUTE EARTH, USED FIXED # FISCHER ELLIPSOID RADIUS # RADIUS # MOON, USE FIXED MOON, USE RLS FOR # RADIUS LUNAR RADIUS ERADFBIT = BIT13 # BIT 12 FLAG 1 NODOP01 = 018D # P01 NOT ALLOWED P01 ALLOWED NOP01BIT = BIT12 # BIT 11 FLAG 1 ENG2FLAG = 019D # RCS BURN SPS BURN ENG2BIT = BIT11 # BIT 10 FLAG 1 TARG1FLG = 020D # SIGHTING LEM NOT SIGHTING LEM TARG1BIT = BIT10 # BIT 9 FLAG 1 TARG2FLG = 021D # SIGHTING LANDMARK SIGHTING STAR TARG2BIT = BIT9 # BIT 9 FLAG 1 R23FLG = 021D # R23 MARKING R23BIT = BIT9 # BIT 8 FLAG 1 VEHUPFLG = 022D # CSM STATE VECTOR LEM STATE VECTOR # BEING UPDATED BEING UPDATED VEHUPBIT = BIT8 # BIT 7 FLAG 1 UPDATFLG = 023D # UPDATING BY MARKS UPDATING BY MARKS # ALLOWED NOT ALLOWED # Page 49 UPDATBIT = BIT7 # BIT 6 FLAG 1 IDLEFAIL = 024D # INHIBIT R41 ENABLE R41 (ENGFAIL) IDLEBIT = BIT6 # BIT 5 FLAG 1 TRACKFLG = 025D # TRACKING ALLOWED TRACKING NOT ALLOWED TRACKBIT = BIT5 # BIT 4 FLAG 1 TRM03FLG = 026D # REQUEST TO NO REQUEST TO # TERMINATE P03 HAS TERMINATE P03 HAS # BEEN ENTERED BEEN ENTERED TRM03BIT = BIT4 # BIT 3 FLAG 1 SLOPESW = 027D # ITERATE WITH BIAS ITERATE WITH REGULA # METHOD IN ITERATOR FALSI METHOD IN # ITERATOR SLOPEBIT = BIT3 # BIT 2 FLAG 1 GUESSW = 028D # NO STARTING VALUE STARTING VALUE FOR # FOR ITERATION ITERATION EXISTS GUESSBIT = BIT2 # BIT 1 FLAG 1 AVEGFLAG = 029D # AVERAGEG (SERVICER) AVERAGEG (SERVICER) # TO CONTINUE TO CEASE AVEGBIT = BIT1 FLAGWRD2 = STATE +2 # (030-044) # (SET) (RESET) # BIT 15 FLAG 2 DRIFTFLG = 030D # T3RUPT CALLS GYRO T3RUPT DOES NO GYRO # COMPENSATION COMPENSATION DRFTBIT = BIT15 # Page 50 # BIT 14 FLAG 2 R21MARK = 031D # OPTION ONE FOR OPTION TWO FOR # MARKRUPT MARKRUPT R21BIT = BIT14 # BIT 13 FLAG 2 22DSPFLG = 032D # DISPLAY DR,DV DO NOT DISPLAY DR,DV 22DSPBIT = BIT13 # BIT 12 FLAG 2 P21FLAG = 033D # SUCCEEDING PASS 1ST PASS THRU P21, # THRU P21, USE BASE CALCULATE BASE P21BIT = BIT12 # VECTOR FOR CALC. VECTOR STEERSW = 034D # STEERING TO BE DONE STEERING OMITTED STEERBIT = BIT11 # BIT 10 FLAG 2 SKIPVHF = 035D # DISREGARD RADAR RADAR READ TO # READ BECAUSE OF PROCEED NORMALLY SKIPVBIT = BIT10 # SFTWRE OR HDWRE # RESTART # BIT 9 FLAG 2 IMPULSW = 036D # MINIMUM IMPULSE STEERING BURN (NO # BURN (CUTOFF TIME CUTOFF TIME YET # SPECIFIED) AVAILABLE) IMPULBIT = BIT9 # BIT 8 FLAG 2 XDELVFLG = 037D # EXTERNAL DELTAV VG LAMBERT (AIMPOINT) # COMPUTATION VG COMPUTATION XDELVBIT = BIT8 # BIT 7 FLAG 2 ETPIFLAG = 038D # ELEVATION ANGLE TPI TIME SUPPLIED # SUPPLIED FOR P34,74 FOR P34,74 # BIT 7 FLAG 2 FIRSTFLG = ETPIFLAG # FIRST PASS SUCCEEDING PASS THRU # THRU S40.9 S40.9 FIRSTBIT = BIT7 # BIT 7 FLAG 2 # Page 51 OPTNSW = ETPIFLAG # SOI PHASE P38/P78 SOR PHASE OF P38/P78 FINALBIT = BIT6 # BIT 6 FLAG 2 FINALFLG = 039D # LAST PASS THROUGH INTERIM PASS THROUGH # RENDEZVOUS PROGRAM RENDEZVOUS PROGRAM # COMPUTATIONS COMPUTATIONS AVFLBIT = BIT5 # BIT 5 FLAG 2 AVFLAG = 040D # LEM IS ACTIVE CSM IS ACTIVE # VEHICLE VEHICLE # BIT 4 FLAG 2 PFRATFLG = 041D # PREFERRED ATTITUDE PREFERRED ATTITUDE # COMPUTED NOT COMPUTED PFRATBIT = BIT4 # BIT 3 FLAG 2 = 042D # BIT 2 FLAG 2 CALCMAN2 = 043D # PERFORM MANEUVER BYPASS STARTING # STARTING PROCEDURE PROCEDURE CALC2BIT = BIT2 # BIT 1 FLAG 2 NODOFLAG = 044D # V37 NOT PERMITTED V37 PERMITTED NODOBIT = BIT1 FLAGWRD3 = STATE +3 # (045-059) # (SET) (RESET) # BIT 15 FLAG 3 = 045D # BIT 14 FLAG 3 GLOKFAIL = 046D # GIMBAL LOCK HAS NOT IN GIMBAL LOCK # OCCURRED GLOKFBIT = BIT14 # Page 52 # BIT 13 FLAG 3 REFSMFLG = 047D # REFSMMAT GOOD REFSMMAT NO GOOD REFSMBIT = BIT13 # BIT 12 FLAG 3 LUNAFLAG = 048D # LUNAR LAT-LONG EARTH LAT-LONG LUNABIT = BIT12 # BIT 11 FLAG 3 P22MKFLG = 049D # P22 DOWNLINKED MARK P22 DOWNLINK MARK # DATA WAS JUST TAKEN DATA NOT JUST TAKEN P22MKBIT = BIT11 # BIT 10 FLAG 3 VFLAG = 050D # LESS THAN TWO STARS TWO STARS IN FIELD # IN FIELD OF VIEW OF VIEW VFLAGBIT = BIT10 # BIT 9 FLAG 3 = 051D # BIT 8 FLAG 3 PRECIFLG = 052D # CSMPREC OR LEMPREC INTEGRV # OR INTEGRVS CALLED CALLED PRECIBIT = BIT8 # BIT 7 FLAG 3 CULTFLAG = 053D # STAR OCCULTED STAR NOT OCCULTED CULTBIT = BIT7 # BIT 6 FLAG 3 ORBWFLAG = 054D # W MATRIX VALID FOR W MATRIX INVALID FOR # ORBITAL NAVIGATION ORBITAL NAVIGATION ORBWFBIT = BIT6 # BIT 5 FLAG 3 STATEFLG = 055D # PERMANENT STATE PERMANENT STATE # VECTOR UPDATED VECTOR NOT UPDATED STATEBIT = BIT5 # BIT 4 FLAG 3 INTYPFLG = 056D # CONIC INTEGRATION ENCKE INTEGRATION # Page 53 INTYBIT = BIT4 # BIT 3 FLAG 3 VINTFLAG = 057D # CSM STATE VECTOR LEM STATE VECTOR # BEING INTEGRATED BEING INTEGRATED VINTFBIT = BIT3 # BIT 2 FLAG 3 D6OR9FLG = 058D # DIMENSION OF W IS 9 DIMENSION OF W IS 6 # FOR INTEGRATION FOR INTEGRATION D6OR9BIT = BIT2 # BIT 1 FLAG 3 DIM0FLAG = 059D # W MATRIX IS TO BE W MATRIX IS NOT TO # USED BE USED FLAGWRD4 = STATE +4 # (060-074) # (SET) (RESET) DIM0BIT = BIT1 # BIT 15 FLAG 4 MRKIDFLG = 060D # MARK DISPLAY IN NO MARK DISPLAY IN # ENDIDLE ENDIDLE MRKIDBIT = BIT15 # BIT 14 FLAG 4 PRIODFLG = 061D # PRIORITY DISPLAY IN NO PRIORITY DISPLAY # ENDIDLE IN ENDIDLE PRIODBIT = BIT14 # BIT 13 FLAG 4 NRMIDFLG = 062D # NORMAL DISPLAY IN NO NORMAL DISPLAY # ENDIDLE IN ENDIDLE NRMIDBIT = BIT13 # BIT 12 FLAG 4 PDSPFLAG = 063D # CAN'T INTERRUPT SEE M. HAMILTON # PRIORITY DISPLAY PDSPFBIT = BIT12 # BIT 11 FLAG 4 MWAITFLG = 064D # HIGHER PRIORITY NO HIGHER PRIORITY # Page 54 # DISPLAY OPERATING DISPLAY OPERATING # WHEN MARK DISPLAY WHEN MARK DISPLAY # INITIATED INITIATED MWAITBIT = BIT11 # BIT 10 FLAG 4 NWAITFLG = 065D # HIGHER PRIORITY NO HIGHER PRIORITY # DISPLAY OPERATING DISPLAY OPERATING # WHEN NORMAL WHEN NORMAL DISPLAY # DISPLAY INITIATED INITIATED NWAITBIT = BIT10 # BIT 9 FLAG 4 MRKNVFLG = 066D # ASTRONAUT USING ASTRONAUT NOT USING # KEYBOARD WHEN MARK KEYBOARD WHEN MARK # DISPLAY INITIATED DISPLAY INITIATED MRKNVBIT = BIT9 # BIT 8 FLAG 4 NRMNVFLG = 067D # ASTRONAUT USING ASTRONAUT NOT USING # KEYBOARD WHEN KEYBOARD WHEN # NORMAL DISPLAY NORMAL DISPLAY # INITIATED INITIATED NRMNVBIT = BIT8 # BIT 7 FLAG 4 PRONVFLG = 068D # ASTRONAUT USING ASTRONAUT NOT USING # KEYBOARD WHEN KEYBOARD WHEN # PRIORITY DISPLAY PRIORITY DISPLAY # INITIATED INITIATED PRONVBIT = BIT7 # BIT 6 FLAG 4 PINBRFLG = 069D # ASTRONAUT HAS ASTRONAUT HAS NOT # INTERFERED WITH INTERFERED WITH # EXISTING DISPLAY EXISTING DISPLAY PINBRBIT = BIT6 # BIT 5 FLAG 4 MRUPTFLG = 070D # MARK DISPLAY MARK DISPLAY NOT # INTERRUPTED BY INTERRUPTED BY # PRIORITY DISPLAY PRIORITY DISPLAY MRUPTBIT = BIT5 # Page 55 # BIT 4 FLAG 4 NRUPTFLG = 071D # NORMAL DISPLAY NORMAL DISPLAY NOT # INTERRUPTED BY INTERRUPTED BY # PRIORITY OR MARK PRIORITY OR MARK # DISPLAY DISPLAY NRUPTBIT = BIT4 # BIT 3 FLAG 4 MKOVFLAG = 072D # MARK DISPLAY OVER NO MARK DISPLAY OVER # NORMAL NORMAL MKOVBIT = BIT3 # BIT 2 FLAG 4 # DISPLAY BIT = 073D # CLEARED AT INTERVALS # BIT 1 FLAG 4 XDSPFLAG = 074D # MARK DISPLAY NOT TO NO SPECIAL MARK # BE INTERRUPTED INFORMATION XDSPBIT = BIT1 FLAGWRD5 = STATE +5 # (075-099) # (SET) (RESET) # BIT 15 FLAG 5 DSKYFLAG = 075D # DISPLAYS SENT TO NO DISPLAYS TO DSKY # DSKY DSKYBIT = BIT15 # BIT 14 FLAG 5 RETROFLG = 076D # P37 PREMANEUVER ORBIT NOT RETROGRADE RETROBIT = BIT14 # ORBIT IS RETROGRADE # BIT 13 FLAG 5 SLOWFLG = 077D # P37 TRANSEARTH SLOW DOWN IS NOT SLOWBIT = BIT13 # COAST SLOW DOWN DESIRED # IS DESIRED # BIT 12 FLAG 5 V59FLAG = 078D # CALIBRATING FOR NORMAL MARKING FOR # P23 P23 V59FLBIT = BIT12 # BIT 11 FLAG 5 # Page 56 INCORFLG = 079D # FIRST INCORPORATION SECOND INCORPORATION INCORBIT = BIT11 # BIT 10 FLAG 5 RNGSCFLG = 080D # ANOTHER TAG FOR PRFTRKAT # BIT 10 FLAG 5 PRFTRKAT = RNGSCFLG # PREF TRACK ATT +K AXIS TRACK ATT PRFTRBIT = BIT10 # BIT 9 FLAG 5 DMENFLG = 081D # DIMENSION OF W IS 9 DIMENSION OF W IS 6 # FOR INCORPORATION FOR INCORPORATION DMENFBIT = BIT9 # BIT 8 FLAG 5 COMPUTER = 082D # COMPUTER IS CMC COMPUTER IS LGC COMPTBIT = BIT8 # BIT 7 FLAG 5 ENGONFLG = 083D # ENGINE TURNED ON ENGINE TURNED OFF ENGONBIT = BIT7 # BIT 6 FLAG 5 3AXISFLG = 084D # MANEUVER SPECIFIED MANEUVER SPECIFIED # BY THREE AXES BY ONE AXIS 3AXISBIT = BIT6 # BIT 5 FLAG 5 GRRBKFLG = 085D # BACKUP GRR RECEIVED BACKUP GRR NOT # RECEIVED GRRBKBIT = BIT5 # BIT 4 FLAG 5 R60FLAG = 086D # R61 MUST USE R60 NORMAL R61 R60FLBIT = BIT4 # BIT 3 FLAG 5 SOLNSW = 087D # LAMBERT DOES NOT LAMBERT CONVERGES OR # Page 57 # CONVERGE, OR TIME- TIME-RADIUS NON # RADIUS NEARLY CIRC. CIRCULAR. SOLNSBIT = BIT3 # BIT 2 FLAG 5 MGLVFLAG = 088D # LOCAL VERTICAL MIDDLE GIMBAL ANGLE # COORDINATES COMPUTED # COMPUTED MGLVFBIT = BIT2 # BIT 1 FLAG 5 RENDWFLG = 089D # W MATRIX VALID W MATRIX INVALID # FOR RENDEZVOUS FOR RENDEZVOUS # NAVIGATION NAVIGATION RENDWBIT = BIT1 FLAGWRD6 = STATE +6 # (090-104) # (SET) (RESET) # BIT 15 FLAG 6 DAPBIT1 = 090D # 1 SATURN 1 TVC 0 RCS 0 NO DAP1BIT = BIT15 # BIT 14 FLAG 6 DAPBIT2 = 091D # 1 A/P 0 A/P 1 A/P 0 A/P DAP2BIT = BIT14 # BIT 13 FLAG 6 STRULLSW = 092D # DO STEERULL DO ULAGEOFF ONLY STRULBIT = BIT13 # BIT 13 FLAG 6 ENTRYDSP = STRULLSW # DO ENTRY DISPLAY OMIT ENTRY DISPLAY # VIA ENTRYVN. ENDSPBIT = BIT13 # BIT 12 FLAG 6 CMDAPARM = 093D # ALLOW ENTRY FIRINGS INHIBIT ENTRY FIRING # AND CALCULATIONS AND CONTROL FUNCTION # Page 58 CMDARMBIT = BIT12 # BIT 11 FLAG 6 GAMDIFSW = 094D # CALCULATE GAMDOT GAMDOT NOT TO BE # CALCULATED GMDIFBIT = BIT11 # BIT 10 FLAG 6 GONEPAST = 095D # LATERAL CONTROL LATERAL CONTROL # CALCULATIONS TO BE CALCULATIONS TO BE # OMITTED DONE GONEBIT = BIT10 # BIT 9 FLAG 6 RELVELSW = 096D # TARGETING USES TARGETING USES # EARTH-RELATIVE INERTIAL VELOCITY # VELOCITY. RELVBIT = BIT9 # BIT 8 FLAG 6 EGSW = 097D # IN FINAL PHASE NOT IN FINAL PHASE EGFLGBIT = BIT8 # BIT 8 FLAG 6 KNOWNFLG = EGSW # LANDMARK KNOWN LANDMARK UNKNOWN KNOWNBIT = BIT8 # BIT 8 FLAG 6 R57FLAG = KNOWNFLG # DO NOT DO R57 DO R57, TRUNION # TRUNION BIAS HAS BIAS NEEDED # BEEN OBTAINED. R57BIT = BIT8 # BIT 7 FLAG 6 NOSWITCH = 098D # LATERAL ROLL LATERAL ROLL MANEUVER # MANEUVER INHIBITED PERMITTED IN ENTRY # IN ENTRY NOSWBIT = BIT7 # BIT 6 FLAG 6 HIND = 099D # ITERATING HUNTEST ITERATING OF HUNTEST # CALCULATIONS TO BE CALCULATIONS TO BE # DONE AFTER RANGE OMITTED AFTER RANGE # PREDICTION PREDICTION # Page 59 HINDBIT = BIT6 # BIT 5 FLAG 6 INRLSW = 100D # INITIAL ROLL INITIAL ROLL # V(LV) V(LV) INRLBIT = BIT5 # ATTITUDE NOT HELD ATTITUDE HELD # BIT 4 FLAG 6 LATSW = 101D # DOWNLIFT NOT DOWNLIFT INHIBITED # INHIBITED LATSWBIT = BIT4 # BIT 3 FLAG 6 .05GSW = 102D # DRAG OVER .05G DRAG LESS THAN .05G .05GBIT = BIT3 # BIT 3 FLAG 6 = 102D # BIT 2 FLAG 6 CM/DSTBY = 103D # ENTRY DAP ACTIVATED ENTRY DAP NOT # ACTIVATED CM/DSBIT = BIT2 # BIT 1 FLAG 6 GYMDIFSW = 104D # CDU DIFFERENCES AND CDU DIFFERENCES AND # BODY RATES COMPUTED BODY RATES NOT # COMPUTED GYMDIBIT = BIT1 FLAGWRD7 = STATE +7 # (105-119) # (SET) (RESET) # BIT 15 FLAG 7 TERMIFLG = 105D # TERMINATE R52 DO NOT TERMINATE R52 TERMIBIT = BIT15 # BIT 14 FLAG 7 ITSWICH = 106D # ACCEPT NEXT LAMBERT TEST LAMBERT ANSWER # TPI SEARCH SOLUTION AGAINST LIMITS # Page 60 ITSWBIT = BIT14 # BIT 13 FLAG 7 IGNFLAG = 107D # TIG HAS ARRIVED TIG HAS NOT ARRIVED IGNFLBIT = BIT13 # BIT 12 FLAG 7 ASTNFLAG = 108D # ASTRONAUT HAS ASTRONAUT HAS NOT # OKAYED IGNITION OKAYED IGNITION ASTNBIT = BIT12 # BIT 11 FLAG 7 TIMRFLAG = 109D # CLOKTASK OPERATING CLOKTASK INOPERATIVE TIMRBIT = BIT11 # BIT 10 FLAG 7 NORMSW = 110D # UNIT NORMAL INPUT LAMBERT COMPUTE ITS # TO LAMBERT. OWN UNIT NORMAL. NORMSBIT = BIT10 # BIT 9 FLAG 7 RVSW = 111D # DO NOT COMPUTE FINAL COMPUTE FINAL STATE # STATE VECTOR IN VECTOR IN TIME-THETA # TIME-THETA RVSWBIT = BIT9 # BIT 8 FLAG 7 GONEBY = 112D # PASSED TARGET APPROACHING TARGET GONBYBIT = BIT8 # BIT 7 FLAG 7 = 113D # BIT 6 FLAG 7 V37FLAG = 114D # AVERAGEG (SERVICER) AVERAGEG (SERVICER) # RUNNING OFF V37FLBIT = BIT6 # BIT 5 FLAG 7 = 115D # Page 61 = BIT5 # BIT 4 FLAG 7 UPLOCKFL = 116D # K-KBAR-K FAIL NO K-KBAR-K FAIL UPLOCBIT = BIT4 # BIT 3 FLAG 7 VERIFLAG = 117D # CHANGED WHEN V33E OCCURS AT END OF P27 VERIFBIT = BIT3 # BIT 2 FLAG 7 ATTCHFLG = 118D # LM,CM ATTACHED LM,CM NOT ATTACHED ATTCHBIT = BIT2 # BIT 1 FLAG 7 TFFSW = 119D # CALCULATE TPERIGEE CALCULATE TFF TFFSWBIT = BIT1 FLAGWRD8 = STATE +8D # (120-134) # (SET) (RESET) # BIT 15 FLAG 8 RPQFLAG = 120D # RPQ NOT COMPUTED RPQ COMPUTED RPQFLBIT = BIT15 # BIT 14 FLAG 8 = 121D # BIT 13 FLAG 8 NEWIFLG = 122D # FIRST PASS THROUGH SUCCEEDING ITERATION # INTEGRATION OF INTEGRATION NEWIBIT = BIT13 # BIT 12 FLAG 8 CMOONFLG = 123D # PERMANENT CSM STATE PERMANENT CSM STATE # IN LUNAR SPHERE IN EARTH SPHERE CMOONBIT = BIT12 # BIT 11 FLAG 8 LMOONFLG = 124D # PERMANENT LM STATE PERMANENT LM STATE # IN LUNAR SPHERE IN EARTH SPHERE LMOONBIT = BIT11 # Page 62 # BIT 10 FLAG 8 ADVTRK = 125D # ADVANCE GROUND TRACK NOT ADVANCED # SIGHTING WANTED GROUND TRACK ADVTKBIT = BIT10 # BIT 9 FLAG 8 P39/79SW = 126D # P39/79 OPERATING P38/78 OPERATING P39SWBIT = BIT9 # BIT 8 FLAG 8 SURFFLAG = 127D # LM ON LUNAR SURFACE LM NOT ON LUNAR # SURFACE SURFFBIT = BIT8 # BIT 7 FLAG 8 INFINFLG = 128D # NO CONIC SOLUTION CONIC SOLUTION # (CLOSURE THROUGH EXISTS. # INFINITY REQUIRED). INFINBIT = BIT7 # BIT 6 FLAG 8 ORDERSW = 129D # ITERATOR USES 2ND ITERATOR USES 1ST # ORDER MINIMUM MODE ORDER STANDARD MODE ORDERBIT = BIT6 # BIT 5 FLAG 8 APSESW = 130D # RDESIRED OUTSIDE RDESIRED INSIDE # PERICENTER-APOCENTER PERICENTER-APOCENTER # RANGE IN TIME-RAD RANGE IN TIME-RADIUS APSESBIT = BIT5 # BIT 4 FLAG 8 COGAFLAG = 131D # NO CONIC SOLUTION CONIC SOLUTION # TOO CLOSE TO EXISTS (COGA DOES # RECTILINEAR (COGA NOT OVERFLOW). # OVERFLOWS). COGAFBIT = BIT4 # Page 63 # BIT 3 FLAG 8 V96ONFLG = 132D # P00 INTEGRATION HAS P00 INTEGRATION IS # BEEN INHIBITED BY PROCEEDING REGULARLY # V96 # BIT 2 FLAG 8 = 133D # BIT 1 FLAG 8 360SW = 134D # TRANSFER ANGLE NEAR TRANSFER ANGLE NOT # 360 DEGREES NEAR 360 DEGREES 360SWBIT = BIT1 FLAGWRD9 = STATE +9D # (135-149) # (SET) (RESET) # BIT 15 FLAG 9 SWTOVER = 135D # SWITCHOVER HAS NO SWITCHOVER YET # OCCURRED. SWTOVBIT = BIT15 # BIT 14 FLAG 9 = 136D V67FLBIT = BIT14 # BIT 13 FLAG 9 V82EMFLG = 137D # MOON VICINITY EARTH VICINITY V82EMBIT = BIT13 # BIT 12 FLAG 9 MAXDBFLG = 138D # MAX DB SELECTED MIN DB SELECTED MAXDBBIT = BIT12 # BIT 11 FLAG 9 V94FLAG = 139D # V94 ALLOWED DURING V94 NOT ALLOWED # P23 V94FLBIT = BIT11 # BIT 10 FLAG 9 SAVECFLG = 140D # P23 DISPLAY AND P23 DISPLAY AND # DATA STORAGE AFTER DATA STORAGE BEFORE # Page 64 # MARK IS DONE MARK IS DONE SAVECBIT = BIT10 # BIT 9 FLAG 9 VHFRFLAG = 141D # ALLOW R22 TO STOP ACCEPTANCE # ACCEPT RANGE OF RANGE DATA # DATA VHFRBIT = BIT9 # BIT 8 FLAG 9 SOURCFLG = 142D # SOURCE OF INPUT SOURCE OF INPUT # DATA IS FROM DATA IS FROM # VHF RADAR OPTICS MARK SOURCBIT = BIT8 # BIT 7 FLAG 9 R22CAFLG = 143D # R-22 CALCULATIONS R-22 CALCULATIONS # ARE GOING ON ARE NOT GOING ON R22CABIT = BIT7 # BIT 6 FLAG 9 N22ORN17 = 144D # COMPUTE TOTAL COMPUTE TOTAL # ATTITUDE ERRORS ATTITUDE ERRORS # W.R.T. N22 (V62) W.R.T. N17 (V63) N2217BIT = BIT6 # BIT 5 FLAG 9 QUITFLAG = 145D # TERMINATE AND EXIT CONTINUE INTEGRATION QUITBIT = BIT5 # FROM INTEGRATION # BIT 4 FLAG 9 R31FLAG = 146D # R31 SELECTED (V63) R34 SELECTED (V65) R31FLBIT = BIT4 # BIT 3 FLAG 9 MID1FLAG = 147D # INTEGRATE TO TDEC INTEGRATE TO THE # THEN-PRESENT TIME MID1FBIT = BIT3 # BIT 2 FLAG 9 MIDAVFLG = 148D # INTEGRATION ENTERED INTEGRATION WAS # FROM ONE OF MIDTOAV NOT ENTERED VIA # PORTALS MIDTOAV # Page 65 MIDAVBIT = BIT2 # BIT 1 FLAG 9 AVEMIDSW = 149D # AVETOMID CALLING NO AVETOMID W INTEGER # FOR W MATRIX INTEGR ALLOW SET UP RN,VN, # DON'T WRITE OVER RN, PIPTIME # VN,PIPTIME AVEMDBIT = BIT1 FLGWRD10 = STATE +10D # (150-164) # (SET) (RESET) RASFLAG = STATE +10D # BIT 15 FLAG 10 = 150D # BIT 14 FLAG 10 INTFLAG = 151D # INTEGRATION IN INTEGRATION NOT IN # PROGRESS PROGRESS INTFLBIT = BIT14 # BIT 13 FLAG 10 = 152D # BIT 12 FLAG 10 = 153D # BIT 11 FLAG 10 = 154D # BIT 10 FLAG 10 = 155D # BIT 9 FLAG 10 = 156D # BIT 8 FLAG 10 = 157D # Page 66 # BIT 7 FLAG 10 REINTFLG = 158D # INTEGRATION ROUTINE INTEGRATION ROUTINE # TO BE RESTARTED NOT TO BE RESTARTED REINTBIT = BIT7 # BIT 6 FLAG 10 = 159D # BIT 5 FLAG 10 = 160D # BIT 4 FLAG 10 = 161D # BIT 3 FLAG 10 = 162D # BIT 2 FLAG 10 = 163D # BIT 1 FLAG 10 = 164D FLGWRD11 = STATE +11D # (165-179) # (SET) (RESET) # BIT 15 FLAG 11 S32.1F1 = 165D # DELTAN AT CSI TIME DVT1 LESS THAN MAX S32BIT1 = BIT15 # ONE EXCEEDS MAX # BIT 14 FLAG 11 S32.1F2 = 166D # FIRST PASS OF REITERATION OF S32BIT2 = BIT14 # NEWTON INTEGRATION NEWTON # BIT 13 FLAG 11 S32.1F3A = 167D # BIT 13 AND BIT 12 FUNCTION AS AN ORDERED S32BIT3A = BIT13 # PAIR (13,12) INDICATING THE POSSIBLE OC- # CURRENCE OF 2NEWTON ITERATIONS FOR S32.1 # BIT 12 FLAG 11 # IN THE PROGRAM IN THE FOLLOWING ORDER: S32.1F3B = 168D # (0,1) (I.E. BIT 13 RESET, BIT 12 SET) # Page 67 S3229T3B = BIT12 # = FIRST NEWTON ITERATION BEING DONE # (0,0)= FIRST PASS OF 2ND NEWTON ITER. # (1,1)= 50 FPS STAGE OF 2ND NEWT ITER. # (1,0)= REMAINDER OF 2ND NEWT ITER. # BIT 11 FLAG 11 = 169D # BIT 10 FLAG 11 = 170D # BIT 9 FLAG 11 = 171D # BIT 8 FLAG 11 = 172D # BIT 7 FLAG 11 = 173D # BIT 6 FLAG 11 = 174D # BIT 5 FLAG 11 = 175D # BIT 4 FLAG 11 = 176D # BIT 3 FLAG 11 = 177D # BIT 2 FLAG 11 = 178D # BIT 1 FLAG 11 = 179D # Page 68 # GENERAL ERASABLE ASSIGNMENTS SETLOC 61 # INTERRUPT TEMPORARY STORAGE POOL. (11D) # (ITEMP1 THROUGH RUPTREG4) # ANY OF THESE MAY BE USED AS TEMPORARIES DURING INTERRUPT OR WITH INTERRUPT INHIBITED. THE ITEMP SERIES # IS USED DURING CALLS TO THE EXECUTIVE AND WAITLIST -- THE RUPTREGS ARE NOT. ITEMP1 ERASE WAITEXIT EQUALS ITEMP1 EXECTEM1 EQUALS ITEMP1 ITEMP2 ERASE WAITBANK EQUALS ITEMP2 EXECTEM2 EQUALS ITEMP2 ITEMP3 ERASE RUPTSTOR EQUALS ITEMP3 WAITADR EQUALS ITEMP3 NEWPRIO EQUALS ITEMP3 ITEMP4 ERASE LOCCTR EQUALS ITEMP4 WAITTEMP EQUALS ITEMP4 ITEMP5 ERASE NEWLOC EQUALS ITEMP5 ITEMP6 ERASE NEWLOC+1 EQUALS ITEMP6 # DP ADDRESS. SETLOC 67 NEWJOB ERASE # MUST BE AT LOC 67 DUE TO WIRING. RUPTREG1 ERASE RUPTREG2 ERASE RUPTREG3 ERASE RUPTREG4 ERASE KEYTEMP1 EQUALS RUPTREG4 DSRUPTEM EQUALS RUPTREG4 # FLAGWORD RESERVATIONS. (12D) STATE ERASE +11D # PAD LOAD FOR DAPS EMDOT ERASE # I(1)PL (SPS FLOW RATE, SC AT B+3 KG/CS) # Page 69 # EXIT FOR V83 STATEXIT ERASE # I(1) STQ ADDRESS FOR STATEXIT # UNUSED ERASABLES ********(2) ERASFILL ERASE +1 # EXEC TEMPORARIES WHICH MAY BE USED BETWEEN CCS NEWJOBS # (INTB15+ THROUGH RUPTMXTM) (32D) INTB15+ ERASE # REFLECTS 15TH BIT OF INDEXABLE ADDRESSES DSEXIT EQUALS INTB15+ # RETURN FOR DSPIN EXITEM EQUALS INTB15+ # RETURN FOR SCALE FACTOR ROUTINE SELECT BLANKRET EQUALS INTB15+ # RETURN FOR 2BLANK INTBIT15 ERASE # SIMILAR TO ABOVE. WRDRET EQUALS INTBIT15 # RETURN FOR 5BLANK. WDRET EQUALS INTBIT15 # RETURN FOR DSPWD DECRET EQUALS INTBIT15 # RETURN FOR PUTCOM(DEC LOAD) 21/22REG EQUALS INTBIT15 # TEMP FOR CHARIN # THE REGISTERS BETWEEN ADDRWD AND PRIORITY MUST STAY IN THE FOLLOWING ORDER FOR INTERPRETIVE TRACE. ADDRWD ERASE # 12 BIT INTERPRETIVE OPERAND SUB-ADDRESS. POLISH ERASE # HOLDS CADR MADE FROM POLISH ADDRESSE. UPDATRET EQUALS POLISH # RETURN FOR UPDATNN, UPDATVB CHAR EQUALS POLISH # TEMP FOR CHARIN ERCNT EQUALS POLISH # COUNTER FOR ERROR LIGHT RESET DECOUNT EQUALS POLISH # COUNTER FOR SCALING AND DISPLAY (DEC) FIXLOC ERASE # WORK AREA ADDRESS OVFIND ERASE # SET NON-ZERO ON OVERFLOW. VBUF ERASE +5 # TEMPORARY STORAGE USED FOR VECTORS. SGNON EQUALS VBUF # TEMP FOR +,- ON NOUNTEM EQUALS VBUF # COUNTER FOR MIXNOUN FETCH DISTEM EQUALS VBUF # COUNTER FOR OCTAL DISPLAY VERB DECTEM EQUALS VBUF # COUNTER FOR FETCH (DEC DISPLAY VERBS) SGNOFF EQUALS VBUF +1 # TEMP FOR +,- ON NVTEMP EQUALS VBUF +1 # TEMP FOR NVSUB SFTEMP1 EQUALS VBUF +1 # STORAGE FOR SF CONST HI PART (=SFTEMP2-1) HITEMIN EQUALS VBUF +1 # TEMP FOR LOAD OF HRS,MIN,SEC # MUST = LOTEMIN-1. CODE EQUALS VBUF +2 # FOR DSPIN SFTEMP2 EQUALS VBUF +2 # STORAGE FOR SF CONST LO PART (=SFTEMP1+1) LOTEMIN EQUALS VBUF +2 # TEMP FOR LOAD OF HRS,MIN,SEC # Page 70 # MUST = HITEMIN+1 MIXTEMP EQUALS VBUF +3 # FOR MIXNOUN DATA SIGNRET EQUALS VBUF +3 # RETURN FOR +,- ON # ALSO MIXTEMP+1 = VBUF+4, MIXTEMP+2 = VBUF+5 BUF ERASE +2 # TEMPORARY SCALAR STORAGE BUF2 ERASE +1 INDEXLOC EQUALS BUF # CONTAINS ADDRESS OF SPECIFIED INDEX. SWWORD EQUALS BUF # ADDRESS OF SWITCH WORD SWBIT EQUALS BUF +1 # SWITCH BIT WITHIN THE SWITCH WORD MPTEMP ERASE # TEMPORARY USED IN MULTIPLY AND SHIFT DMPNTEMP EQUALS MPTEMP # DMPSUB TEMPORARY DOTINC ERASE # COMPONENT INCREMENT FOR DOT SUBROUTINE DVSIGN EQUALS DOTINC # DETERMINES SIGN OF DDV RESULT ESCAPE EQUALS DOTINC # USED IN ARCSIN/ARCCOS. ENTRET EQUALS DOTINC # EXIT FROM ENTER DOTRET ERASE # RETURN FROM DOT SUBROUTINE DVNORMCT EQUALS DOTRET # DIVIDEND NORMALIZATION COUNT IN DDV. ESCAPE2 EQUALS DOTRET # ALTERNATE ARCSIN/ARCCOS SWITCH WDCNT EQUALS DOTRET # CHAR COUNTER FOR DSPWD INREL EQUALS DOTRET # INPUT BUFFER SELECTOR ( X,Y,Z, REG ) MATINC ERASE # VECTOR INCREMENT IN MXV AND VXM MAXDVSW EQUALS MATINC # +0 IF DP QUOTIENT IS NEAR ONE -- ELSE -1. POLYCNT EQUALS MATINC # POLYNOMIAL LOOP COUNTER DSPMMTEM EQUALS MATINC # DSPCOUNT SAVE FOR DSPMM MIXBR EQUALS MATINC # INDICATOR FOR MIXED OR NORMAL NOUN TEM1 ERASE # EXEC TEMP POLYRET EQUALS TEM1 DSREL EQUALS TEM1 # REL ADDRESS FOR DSPIN TEM2 ERASE # EXEC TEMP DSMAG EQUALS TEM2 # MAGNITUDE STORE FOR DSPIN IDADDTEM EQUALS TEM2 # MIXNOUN INDIRECT ADDRESS STORAGE TEM3 ERASE # EXEC TEMP COUNT EQUALS TEM3 # FOR DSPIN TEM4 ERASE # EXEC TEMP LSTPTR EQUALS TEM4 # LIST POINTER FOR GRABUSY RELRET EQUALS TEM4 # RETURN FOR RELDSP FREERET EQUALS TEM4 # RETURN FOR FREEDSP DSPWDRET EQUALS TEM4 # RETURN FOR DSPSIGN SEPSCRET EQUALS TEM4 # RETURN FOR SEPSEC SEPMNRET EQUALS TEM4 # RETURN FOR SEPMIN TEM5 ERASE # EXEC TEMP # Page 71 NOUNADD EQUALS TEM5 # TEMP STORAGE FOR NOUN ADDRESS NNADTEM ERASE # TEMP FOR NOUN ADDRESS TABLE ENTRY NNTYPTEM ERASE # TEMP FOR NOUN TYPE TABLE ENTRY IDAD1TEM ERASE # TEMP FOR INDIR ADDRESS TABLE ENTRY (MIXNN) # MUST = IDAD2TEM-1, = IDAD3TEM-2 IDAD2TEM ERASE # TEMP FOR INDIR ADDRESS TABLE ENTRY (MIXNN) # MUST = IDAD1TEM+1, IDAD3TEM-1. IDAD3TEM ERASE # TEMP FOR INDIR ADDRESS TABLE ENTRY (MIXNN) # MUST = IDAD1TEM+2, IDAD2TEM+1. RUTMXTEM ERASE # TEMP FOR SF ROUT TABLE ENTRY (MIXNN ONLY) # AX*SR*T STORAGE. (6D) DEXDEX EQUALS TEM2 # B(1)TMP DEX1 EQUALS TEM3 # B(1)TMP DEX2 EQUALS TEM4 # B(1)TMP RTNSAVER EQUALS TEM5 # B(1)TMP TERM1TMP EQUALS BUF2 # B(2)TMP DEXI = DEX1 # Page 72 # DYNAMICALLY ALLOCATED CORE SETS FOR JOBS (84D) MPAC ERASE +6 # MULTI-PURPOSE ACCUMULATOR. MODE ERASE # +1 FOR TP, +0 FOR DP, OR -1 FOR VECTOR. LOC ERASE # LOCATION ASSOCIATED WITH JOB. BANKSET ERASE # USUALLY CONTAINS BBANK SETTING. PUSHLOC ERASE # WORD OF PACKED INTERPRETIVE PARAMETERS. PRIORITY ERASE # PRIORITY OF PRESENT JOB AND WORK AREA. ERASE +71D # SEVEN SETS OF 12 REGISTERS EACH # SPECIAL DOWNLINK BUFFER. -- OVERLAYED BY P27 STORAGE -- # P27 (UPDATE PROGRAM) STORAGE. -- OVERLAYS SPEC DNLNK BUFF -- (24D) COMPNUMB ERASE +23D # B(1)TMP NUMBER OF ITEMS TO BE UPLINKED. UPOLDMOD EQUALS COMPNUMB +1 # B(1)TMP HOLDS INTERRUPTED PROGRAM NUMBER UPVERB EQUALS UPOLDMOD +1 # B(1)TMP VERB NUMBER UPCOUNT EQUALS UPVERB +1 # B(1)TMP UPBUFF INDEX UPBUFF EQUALS UPCOUNT +1 # B(20D) # MORE P27 STORAGE. (2D) UPTEMP ERASE # B(1)TMP SCRATCH UPVERBSV ERASE # B(1)TMP INTWAK1Q EQUALS UPTEMP # (06D) # (20 REGISTERS OF ENTRY DOWNLINK WILL GO HERE.) # THE FOLLOWING ARE INDEXED FOR TM. IN ENTRY DAP. CMTMTIME = UPBUFF # B(1) (VEHICLE BODY RATE INFO IS SW/NDX = CMTMTIME +1 # B(1) TELEMETERED EACH 0.2 SEC. DURING ENDBUF = CMTMTIME +16D # B(1) ENTRY.) V1 = ENDBUF +1 # I(2) REENTRY, P64-P65 A0 = V1 +2 # I(2) REENTRY, P64-P65 # HI-ORDER WORD ONLY ON DNLNK. # ALIGNMENT STORAGE. (5D) # (CANNOT SHARE WITH PRECISION INTEGRATION OR KEPLER STORAGE.) QMAJ EQUALS COMPNUMB # B(1)TMP MARKINDX EQUALS QMAJ +1 # B(1)TMP BESTI EQUALS MARKINDX +1 # I(1)TMP BESTJ EQUALS BESTI +1 # I(1)TMP STARIND EQUALS BESTJ +1 # I(1)TMP # Page 73 # ALIGNMENT/S40.2,3 COMMON STORAGE. (18D) XSMD EQUALS UPBUFF +2 # I(6)TMP YSMD EQUALS XSMD +6 # I(6)TMP ZSMD EQUALS YSMD +6 # I(6)TMP XSCREF = XSMD # SPACE CRAFT AXES IN REF COORDS. YSCREF = YSMD ZSCREF = ZSMD ZPRIME = 22D PDA = 22D COSTH = 16D SINTH = 18D THETA = 20D STARM = 32D # DOWNLINK STORAGE (18D) DNLSTADR EQUALS DNLSTCOD # CONTENTS NO LONGER AN ADDR BUT A CODE DNLSTCOD ERASE # B(1)PRM ID CODE OF DOWNLIST DUMPCNT ERASE # B(1)PRM LDATALST ERASE # B(1) DNTMGOTO ERASE # B(1) TMINDEX ERASE # B(1) DUMPLOC EQUALS TMINDEX # CONTAINS ECADR OF AGC DP WORD BEING DUMPED # AND COUNT OF COMPLETE DUMPS ALREADY # SENT. DNQ ERASE # B(1) DNTMBUFF ERASE +11D # B(12)PRM DOWNLINK SNAPSHOT BUFFER # OPTICS MARKING, UNSHARED. (8D) MKNDX ERASE MKT2T1 ERASE +1 MKCDUY ERASE MKCDUS ERASE MKCDUZ ERASE MKCDUT ERASE MKCDUX ERASE # FOR EXCLUSIVE USE OF SYS TEST STANDARD LEAD INS (2) EBUF2 ERASE +1 # B(2) UNSHARED # Page 74 # UNSWITCHED FOR DISPLAY INTERFACE ROUTINES. (10D) RESTREG ERASE # B(1)PRM FOR DISPLAY RESTARTS. NVWORD ERASE MARKNV ERASE NVSAVE ERASE # (RETAIN THE ORDER OF CADRFLSH TO FAILREG +2 FOR DOWNLINK PURPOSES) CADRFLSH ERASE # B(1)TMP CADRMARK ERASE # B(1)TMP TEMPFLSH ERASE # B(1)TMP FAILREG ERASE +2 # B(3)PRM 3 ALARM CODE REGISTERS SETLOC 400 # VAC AREAS. -- BE CAREFUL OF PLACEMENT -- (220D) VAC1USE ERASE # B(1)PRM VAC1 ERASE +42D # B(43)PRM VAC2USE ERASE # B(1)PRM VAC2 ERASE +42D # B(43)PRM VAC3USE ERASE # B(1)PRM VAC3 ERASE +42D # B(43)PRM VAC4USE ERASE # B(1)PRM VAC4 ERASE +42D # B(43)PRM VAC5USE ERASE # B(1)PRM VAC5 ERASE +42D # B(43)PRM # WAITLIST REPEAT FLAG. (1D) RUPTAGN ERASE # B(1)PRM KEYTEMP2 = RUPTAGN # STARALIGN ERASABLES. (13D) STARCODE ERASE # B(1)DSP NOUN 70 FOR P22,51 AND R52,53 STARALGN ERASE +11D SINCDU = STARALGN COSCDU = STARALGN +6 SINCDUX = SINCDU +4 SINCDUY = SINCDU SINCDUZ = SINCDU +2 COSCDUX = COSCDU +4 COSCDUY = COSCDU COSCDUZ = COSCDU +2 # PHASE TABLE AND RESTART COUNTERS (12D) # Page 75 -PHASE1 ERASE # B(1)PRM PHASE1 ERASE # B(1)PRM -PHASE2 ERASE # B(1)PRM PHASE2 ERASE # B(1)PRM -PHASE3 ERASE # B(1)PRM PHASE3 ERASE # B(1)PRM -PHASE4 ERASE # B(1)PRM PHASE4 ERASE # B(1)PRM -PHASE5 ERASE # B(1)PRM PHASE5 ERASE # B(1)PRM -PHASE6 ERASE # B(1)PRM PHASE6 ERASE # B(1)PRM # A**SR*T STORAGE (6D) CDUSPOT ERASE +5 # B(6) CDUSPOTY = CDUSPOT CDUSPOTZ = CDUSPOT +2 CDUSPOTX = CDUSPOT +4 # VERB 37 STORAGE (2D) MINDEX ERASE # B(1)TMP INDEX FOR MAJOR MODE MMNUMBER ERASE # B(1)TMP MAJOR MODE REQUESTED BY V37 # PINBALL INTERRUPT ACTION (1D) DSPCNT ERASE # B(1)PRM COUNTER FOR DSPOUT # PINBALL EXECUTIVE ACTION (44D) DSPCOUNT ERASE # DISPLAY POSITION INDICATOR DECBRNCH ERASE # +DEC, -DEC, OCT INDICATOR VERBREG ERASE # VERB CODE NOUNREG ERASE # NOUN CODE XREG ERASE # R1 INPUT BUFFER YREG ERASE # R2 INPUT BUFFER ZREG ERASE # R3 INPUT BUFFER XREGLP ERASE # LO PART OF XREG (FOR DEC CONV ONLY) YREGLP ERASE # LO PART OF YREG (FOR DEC CONV ONLY) HITEMOUT = YREGLP # TEMP FOR DISPLAY OF HRS,MIN,SEC # MUST = LOTEMOUT-1. ZREGLP ERASE # LO PART OF ZREG (FOR DEC CONV ONLY) LOTEMOUT = ZREGLP # TEMP FOR DISPLAY OF HRS,MIN,SEC # MUST = HITEMOUT+1 # Page 76 MODREG ERASE # MODE CODE DSPLOCK ERASE # KEYBOARD/SUBROUTINE CALL INTERLOCK REQRET ERASE # RETURN REGISTER FOR LOAD LOADSTAT ERASE # STATUS INDICATOR FOR LOADTST CLPASS ERASE # PASS INDICATOR FOR CLEAR NOUT ERASE # ACTIVITY COUNTER FOR DSPTAB NOUNCADR ERASE # MACHINE CADR FOR NOUN MONSAVE ERASE # N/V CODE FOR MONITOR. (= MONSAVE1-1) MONSAVE1 ERASE # NOUNCADR FOR MONITOR (MATBS) = MONSAVE+1 MONSAVE2 ERASE # B(1)PRM NVMONOPT OPTIONS DSPTAB ERASE +11D # 0-10D, DISPLAY PANEL BUFF. 11D, C/S LTS. NVQTEM ERASE # NVSUB STORAGE FOR CALLING ADDRESS # MUST = NVBNKTEM-1. NVBNKTEM ERASE # NVSUB STORAGE FOR CALLING BANK # MUST = NVQTEM+1 VERBSAVE ERASE # NEEDED FOR RECYCLE CADRSTOR ERASE # ENDIDLE STORAGE DSPLIST ERASE # WAITING REG FOR DSP SYST INTERNAL USE EXTVBACT ERASE # EXTENDED VERB ACTIVITY INTERLOCK DSPTEM1 ERASE +2 # BUFFER STORAGE AREA 1 (MOSTLY FOR TIME) DSPTEM2 ERASE +2 # BUFFER STORAGE AREA 2 (MOSTLY FOR DEG) DSPTEMX EQUALS DSPTEM2 +1 # B(2) S-S DISPLAY BUFFER FOR EXT. VERBS NORMTEM1 EQUALS DSPTEM1 # B(3)DSP NORMAL DISPLAY REGISTERS. # DISPLAY FOR EXTENDED VERBS (2D) OPTIONX EQUALS DSPTEMX # B(2) EXTENDED VERB OPTION CODE N12(V82) # TBASE'S AND PHSPRDT'S. (12D) TBASE1 ERASE # B(1)PRM PHSPRDT1 ERASE # B(1)PRM TBASE2 ERASE # B(1)PRM PHSPRDT2 ERASE # B(1)PRM TBASE3 ERASE # B(1)PRM PHSPRDT3 ERASE # B(1)PRM TBASE4 ERASE # B(1)PRM PHSPRDT4 ERASE # B(1)PRM TBASE5 ERASE # B(1)PRM PHSPRDT5 ERASE # B(1)PRM TBASE6 ERASE # B(1)PRM PHSPRDT6 ERASE # B(1)PRM # UNSWITCHED FOR DISPLAY INTERFACE ROUTINES. (5D) # Page 77 EBANKSAV ERASE MARKEBAN ERASE EBANKTEM ERASE MARK2PAC ERASE R1SAVE ERASE # IMU COMPENSATION UNSWITCHED ERASABLE. (1D) 1/PIPADT ERASE # B(1)PRM OLDBT1 = 1/PIPADT # SINGLE PRECISION SUBROUTINE TEMPORARIES (3D) # SPSIN, SPCOS, SPROOT VARIABLES. # DO NOT SHARE. THESE ARE USED BY DAPS IN INTERRUPT # AND CURRENTLY ARE NOT PROTECTED. IF OTHER USERS # MATERIALIZE, THEN THIS CAN BE CHANGED. HALFY ERASE ROOTRET ERASE SQRARG ERASE TEMK EQUALS HALFY SQ EQUALS ROOTRET # Page 78 # UNSWITCHED FOR ORBIT INTEGRATION (21D) TDEC ERASE +20D # I(2) COLREG EQUALS TDEC +2 # I(1) LAT EQUALS COLREG +1 # I(2)DSP NOUN 43,67 FOR P20,22,51 R52,53. LANDLAT = LAT # NOUN 89 FOR P22. LONG EQUALS LAT +2 # I(2)DSP NOUN 43,67 FOR P20,22,51 R52,53 ALT EQUALS LONG +2 # I(2)DSP NOUN 43 FOR P20,22,51 R52,53. YV EQUALS ALT +2 # I(6) ZV EQUALS YV +6 # I(6) # MARK STORAGE. (2) VHFCNT ERASE # B(1)PRM NO. OF VHF MARKS (P20 (R22)). TRKMKCNT ERASE # B(1)PRM NO. OF VHF MARKS (P20 (R22)). MARKCTR = TRKMKCNT # B(1) MARK COUNTER USED BY R32 # MISCELLANEOUS UNSWITCHED. (16D) IRETURN1 ERASE # B(1) RET ADDR USED BY MIDTOAV1 AND 2 # CALLED BY P40,P41,P42, P61,P62 RATEINDX ERASE # (1) USED BY KALCMANU OPTION1 ERASE # B(1) NOUN 06 USES THIS. OPTION2 ERASE # B(1) NOUN 06 USES THIS. LONGCADR ERASE +1 # B(2) LONGCALL REGISTER. LONGBASE ERASE +1 # B(2) LONGCALL REGISTER. LONGTIME ERASE +1 # B(2) LONGCALL REGISTER. DELAYLOC ERASE +3 NVWORD1 ERASE # B(1) TEMPR60 ERASE # B(1) PRIOTIME ERASE # B(1) P30/RET EQUALS IRETURN1 # MISC. INCLUDING RESTART COUNTER, GIMBAL ANGLE SAVE AND # STANDBY VERB ERASABLES. REDOCTR BEFORE THETAD (DWNLNK) (16D) TIME2SAV ERASE +1 # B(2)TMP SCALSAVE ERASE +1 # B(2)TMP REDOCTR ERASE # B(1)PRM CONTAINS NUMBER OF RESTARTS THETAD ERASE +2 # B(3)PRM DESIRED GIM ANGLES FOR MANEUVER CPHI = THETAD # (OUTER) CTHETA = THETAD +1 # (INNER) CPSI = THETAD +2 # (MIDDLE) # Page 79 # ENTRY VARIABLES SHARED FOR TM. RDOTREF = THETAD # I(2) P65 VREF = RDOTREF +2 # I(2) P65 HI-ORDER WORD ONLY DNLNK'D DESOPTT ERASE # B(1)DSP NOUN 92 FOR P20,22,52, R52. DESOPTS ERASE # B(1)DSP NOUN 92 FOR P20,22,52, R52. DELV ERASE +5 # I(6) DELVX = DELV DELVY = DELV +2 DELVZ = DELV +4 # P20, CONICS (SHARING WITH TIME 2 SAV AND SCAL SAV ONLY) (3D) POINTEX EQUALS TIME2SAV # I(1) POINT AXS EXIT VHFTIME EQUALS POINTEX +1 # I(2) DOWNLINK OF VHF RANGE TIME +1M # PERM STATE VECTORS FOR BOOST AND DOWNLINK -- WHOLE MISSION -- (14D) RN ERASE +5 # B(6)PRM VN ERASE +5 # B(6)PRM PIPTIME ERASE +1 # B(2)PRM (MUST BE FOLLOWED BY GDT/2) # SERVICER STORAGE. (45D) # (SERVICER STORAGE AND P11 STORAGE IN UNSWITCHED SHOULD NOT # OVERLAY EACH OTHER AND THE TOTAL ERASABLE REQUIRED SHOULD NOT # EXCEED THE ERASABLE STORAGE REQUIRED BY RENDEZVOUS GUIDANCE.) GDT/2 EQUALS PIPTIME +2 # B(6)TMP ** MUST FOLLOW PIPTIME ** GOBL/2 EQUALS GDT/2 +6 # B(6)TMP AVEGEXIT EQUALS GOBL/2 +6 # B(2)TMP AVGEXIT = AVEGEXIT TEMX EQUALS AVEGEXIT +2 # B(1)TMP TEMY EQUALS TEMX +1 # B(1)TMP TEMZ EQUALS TEMY +1 # B(1)TMP PIPCTR EQUALS TEMZ +1 # B(1)TMP PIPAGE EQUALS PIPCTR +1 # B(1)TMP RN1 EQUALS PIPAGE +1 # B(6)TMP VN1 EQUALS RN1 +6 # B(6)TMP PIPTIME1 EQUALS VN1 +6 # B(2)TMP GDT1/2 EQUALS PIPTIME1 +2 # B(6)TMP GOBL1/2 EQUALS GDT1/2 +6 # B(6)TMP # Page 80 # ENTRY STORAGE (1D) ENTRYVN EQUALS GOBL1/2 +6 # B(1)TMP VN CODE FOR ENTRY DISPLAYS P60'S. # P11 STORAGE. (9D) PADLONG EQUALS ENTRYVN # (2)PL LONGITUDE OF LAUNCH PAD. LIFTTEMP EQUALS PADLONG +2 # (2)TMP TEPHEM1 EQUALS LIFTTEMP +2 # (3)TMP PGNCSALT EQUALS TEPHEM1 +3 # (2)PL ALTITUDE # RENDEZVOUS NAVIGATION STORAGE. (SEE COMMENT IN SERVICER STORAGE) (58D) CSMPOS ERASE +57D # I(6)TMP LEMPOS EQUALS CSMPOS +6 # I(6)TMP RCL EQUALS LEMPOS +6 # I(2)TMP MARKTIME EQUALS RCL +2 # B(2)TMP VTEMP EQUALS MARKTIME +2 # B(6)TMP UM EQUALS VTEMP +6 # I(6)TMP MARKDATA EQUALS UM +6 # B(2)TMP USTAR EQUALS MARKDATA +2 # I(6)TMP WIXA EQUALS USTAR +6 # B(1)TMP WIXB EQUALS WIXA +1 # B(1)TMP ZIXA EQUALS WIXB +1 # B(1)TMP ZIXB EQUALS ZIXA +1 # B(1)TMP DELTAX EQUALS ZIXB +1 # I(18)TMP VHFRANGE EQUALS DELTAX # (2) UCL EQUALS DELTAX +12D # (6) LM-CSM LINE OF SIGHT 1/2 UNIT V # **** CONICSEX (MEAS INC) **** TRIPA EQUALS DELTAX TEMPVAR EQUALS DELTAX +3 TEMPOR1 ERASE +1 # B(2)TMP # T4RUPT ERASABLE (6D) DSRUPTSW ERASE OPTIND ERASE LGYRO ERASE COMMANDO ERASE +1 # Page 81 ZONE ERASE # B(1)PRM USED IN SHAFT STOP MONITOR LASTYCMD = OPTY # DUMMY TO MAKE RR BENCH TEST ASSEMBLE LASTXCMD = OPTY # DUMMY TO MAKE RR BENCH TEST ASSEMBLE # UNSWITCHED DAP ERASABLE. (4D) T6LOC ERASE T6ADR ERASE T5LOC ERASE +1 # MODE SWITCHING ERASABLE (14D) SWSAMPLE ERASE # B(1)PRM DESOPMOD ERASE # B(1)PRM WTOPTION ERASE # B(1)PRM ZOPTCNT ERASE # B(1)PRM IMODES30 ERASE # B(1)PRM IMODES33 ERASE # B(1)PRM MODECADR ERASE +2 # B(3)TMP IMUCADR = MODECADR OPTCADR = MODECADR +1 RADCADR = MODECADR +2 ATTCADR ERASE +2 # B(3)PRM ATTPRIO = ATTCADR +2 MARKSTAT ERASE # B(1)PRM OPTMODES ERASE # B(1)PRM # RCSDAP ERASABLE (1D) HOLDFLAG ERASE # B(1)PRM # CRS61.1 STORAGE. -- USED IN R63 (VERB 89) -- (5D) CPHIX ERASE +2 # B(3)DSP NOUN 95 CALCULATED BY CRS61.1 TEVENT ERASE +1 # B(2) TIME OF EVENT FOR DOWNLIST TLIFTOFF = TEVENT # Page 82 # P34-P35 STORAGE (1D) NORMEX ERASE # SELF-CHECK ASSIGNMENTS (17D) SELFERAS ERASE 1357 - 1377 # *** MUST NOT BE MOVED *** # SFAIL EQUALS SELFERAS # B(1) ERESTORE EQUALS SFAIL +1 # B(1) SELFRET EQUALS ERESTORE +1 # B(1) RETURN SMODE EQUALS SELFRET +1 # B(1) ALMCADR EQUALS SMODE +1 # B(2) ALARM ABORD USER'S 2CADR ERCOUNT EQUALS ALMCADR +2 # B(1) SCOUNT EQUALS ERCOUNT +1 # B(3) SKEEP1 EQUALS SCOUNT +3 # B(1) SKEEP2 EQUALS SKEEP1 +1 # B(1) SKEEP3 EQUALS SKEEP2 +1 # B(1) SKEEP4 EQUALS SKEEP3 +1 # B(1) SKEEP5 EQUALS SKEEP4 +1 # B(1) SKEEP6 EQUALS SKEEP5 +1 # B(1) SKEEP7 EQUALS SKEEP6 +1 # B(1) # USED BY P30 ROUTINES TO WRITE ONLY NEVER READ IN COLOSSUS DISPDEX EQUALS A # ERASABLE FOR SXTMARK CDU CHECK DELAY. -- PAD LOADED -- (1D) CDUCHKWD ERASE # B(1)PL # R57 STORAGE. -- MUST BE UNSHARED EXCEPT IN BOOST OR ENTRY -- (1D) TRUNBIAS ERASE # B(1)PRM RESULT OF R57 CALIBR OF TRUNION # KEPLER STORAGE (6D) XMODULO ERASE +1 # I(2) GREATER 2PI KEPLER TMODULO ERASE +1 # I(2) GREATER 2 KEPLER EPSILONT ERASE +1 # I(2)TMP # Page 83 # P37 ** RETURN TO EARTH (PAD LOAD **** (2D) RTED1 ERASE +1 # I(2)PL VGAMMA POLY COEF B-3 # P40 *** STEERING ROUTINE *** PAD LOAD (1D) DVTHRESH ERASE # I(1)PL DELTA VTHRESHOLD FOR LOW THRUST # ROUTINE B-2 # P23 *** PAD LOAD **** (2D) HORIZALT ERASE +1 # I(2)PL HORIZON ALTITUDE M B-29 # P20 ALTERNATE LOS VARIANCE PAD LOAD **** (1D) -16 ALTVAR ERASE # I(2)PL MILLARD, SQUARED SCALED 2 END-UE EQUALS SELFERAS +16D # LAST USED UNSWITCHED ERASABLE # Page 84 # EBANK-3 ASSIGNMENTS SETLOC 1400 # WAITLIST TASK LISTS. (26D) LST1 ERASE +7 # B(8D)PRM DELTA T'S. LST2 ERASE +17D # B(18D)PRM TASK 2CADR ADDRESSES. # RESTART STORAGE. (2D) RSBBQ ERASE +1 # B(2)PRM SAVE BB AND Q FOR RESTARTS # MORE LONGCALL STORAGE. (MUST BE IN LST1'S BANK. (2D) LONGEXIT ERASE +1 # B(2)TMP MAY BE SELDOM OVERLAYED # PHASE-CHANGE LISTS PART II. (12D) PHSNAME1 ERASE # B(1)PRM PHSBB1 ERASE # B(1)PRM PHSNAME2 ERASE # B(1)PRM PHSBB2 ERASE # B(1)PRM PHSNAME3 ERASE # B(1)PRM PHSBB3 ERASE # B(1)PRM PHSNAME4 ERASE # B(1)PRM PHSBB4 ERASE # B(1)PRM PHSNAME5 ERASE # B(1)PRM PHSBB5 ERASE # B(1)PRM PHSNAME6 ERASE # B(1)PRM PHSBB6 ERASE # B(1)PRM # IMU COMPENSATION PARAMETERS (22D) PBIASX ERASE # B(1) PIPA BIAS, PIPA SCALE FACTOR TERMS PIPABIAS = PBIASX # INTERMIXED. PIPASCFX ERASE PIPASCF = PIPASCFX PBIASY ERASE PIPASCFY ERASE PBIASZ ERASE PIPASCFZ ERASE NBDX ERASE # GYRO BIAS DRIFT GBIASX = NBDX NBDY ERASE # Page 85 NBDZ ERASE ADIAX ERASE # ACCELERATION SENSITIVE DRIFT ALONG THE ADIAY ERASE # INPUT AXIS ADIAZ ERASE ADSRAX ERASE # ACCELERATION SENSITIVE DRIFT ALONG THE ADSRAY ERASE # SPIN REFERENCE AXIS ADSRAZ ERASE GCOMP ERASE +5 # CONTAINS COMPENSATING TORQUES GCOMPSW ERASE COMMAND EQUALS GCOMP CDUIND EQUALS GCOMP +3 # STATE VECTORS FOR ORBIT INTEGRATION. (44D) # (DIFEQCNT THUR XKEP MUST BE IN THE SAME # EBANK AS RRECTCSM, RRECTLEM ETC # BECAUSE THE COPY CYCLES (ATOPCSM, # PTOACSM ETC) ARE EXECUTED IN BASIC. # ALL OTHER REFERENCES TO THIS GROUP # ARE BY INTERPRETIVE INSTRUCTIONS.) # DIFEQCNT ERASE +43D # B(1)TMP # (UPSVFLAG...XKEP MUST BE KEPT IN ORDER). UPSVFLAG EQUALS DIFEQCNT +1 # B(1)PRM UPDATE FLAG RRECT EQUALS UPSVFLAG +1 # B(6)TMP POS AT RECT KM*2(-14) VRECT EQUALS RRECT +6 # B(6)TMP VEL AT RECT KM(-1/2)*2(6) TET EQUALS VRECT +6 # B(2)TMP TIME OF STATE VECT CSPCS*2(-28) TDELTAV EQUALS TET +2 # B(6)TMP POSITION DEVIATION KM*2(14) TNUV EQUALS TDELTAV +6 # B(6)TMP VEL DEVIATION KM(-1/2)*2(14) RCV EQUALS TNUV +6 # B(6)TMP CONIC POSITION KM*2(-14) VCV EQUALS RCV +6 # B(6)TMP CONIC VELOCITY KM(-1/2)*2(6) TC EQUALS VCV +6 # B(2)TMP TIME SINCE RECTIFICATION XKEP EQUALS TC +2 # B(2)TMP ROOT OF KEPLER EQ KM(1/2)*2(-10) # **** TEMP -- IN VAC AREA **** RRECT1 EQUALS 18D VRECT1 EQUALS 24D TET1 EQUALS 30D # PERMANENT STATE VECTORS AND TIMES. (101D) # (DO NOT OVERLAY WITH ANYTHING AFTER BOOST) # Page 86 # (RRECTCSM...XKEPCSM MUST BE KEPT IN THIS ORDER) RRECTCSM ERASE +5 # B(6)PRM CSM VARIABLES RRECTHIS = RRECTCSM VRECTCSM ERASE +5 # B(6)PRM TETCSM ERASE +1 # B(2)PRM TETTHIS = TETCSM DELTACSM ERASE +5 # B(6)PRM NUVCSM ERASE +5 # B(6)PRM RCVCSM ERASE +5 # B(6)PRM VCVCSM ERASE +5 # B(6)PRM TCCSM ERASE +1 # B(2)PRM XKEPCSM ERASE +1 # B(2)PRM # (RRECTLEM...XKEPLEM MUST BE KEPT IN THIS ORDER) RRECTLEM ERASE +5 # B(6)PRM LEM VARIABLES RRECTOTH = RRECTLEM VRECTLEM ERASE +5 # B(6)PRM TETLEM ERASE +1 # B(2)PRM TETOTHER = TETLEM DELTALEM ERASE +5 # B(6)PRM NUVLEM ERASE +5 # B(6)PRM RCVLEM ERASE +5 # B(6)PRM VCVLEM ERASE +5 # B(6)PRM TCLEM ERASE +1 # B(2)PRM XKEPLEM ERASE +1 # B(2)PRM X789 ERASE +5 TEPHEM ERASE +2 AZO ERASE +1 UNITW ERASE +5 -AYO EQUALS UNITW # (2) AXO EQUALS UNITW +2 # (2) # STATE VECTORS FOR DOWNLINK (12D) R-OTHER ERASE +5 # B(6)PRM POS VECT (OTHER VECH) FOR DNLINK V-OTHER ERASE +5 # B(6)PRM VEL VECT (OTHER VECH) FOR DNLINK T-OTHER = TETLEM # TIME (OTHER VECH) FOR DNLINK # REFSMMAT. (18D) REFSMMAT ERASE +17D # I(18D)PRM # Page 87 # AVERAGEG INTEGRATOR STORAGE. (8D) UNITR ERASE +5 RMAG ERASE +1 # P40 PAD LOADS (6D) EK1VAL ERASE +1 # I(2)PL 1-SEC SPS IMPULSE NEWTSEC/100/B23 EK2VAL ERASE +1 # I(2)PL B+23 NEWTON-SEC/E+2 EK3VAL ERASE # I(1)PL B+09 NEWTONS/E+4 FANG ERASE # I(1)PL SPS THRUST USED BY IMPULSIVE BURN # **********LUNAR MODULE CHANGE *********** E3J22R2M EQUALS FANG +2 E32C31RM EQUALS E3J22R2M +1 # **** CONICSEX (PLANETARY INERT. ORIEN.) **** TIMSUBO EQUALS TEPHEM # CSEC B-14 (TRIPLE PREC) END-E3 EQUALS E32C31RM # NEXT UNUSED E3 ADDRESS # Page 88 # EBANK-4 ASSIGNMENTS SETLOC 2000 # P20 STORAGE. -- PAD LOADED -- (4D) WRENDPOS ERASE # B(1)PL M B-14 WRENDVEL ERASE # B(1)PL M/CSECB0 RMAX ERASE # B(1)PL METERS*2(-19) VMAX ERASE # B(1)PL M/CSEC*2(-7) # P22 STORAGE. -- PAD LOADED -- (5D) WORBPOS ERASE # B(1)PL M B-14 WORBVEL ERASE # B(1)PL M/CSECB0 S22WSUBL ERASE # B(1)PL M B-14 RPVAR ERASE +1 # B(2)PL # CONISEX STORAGE. -- PAD LOADED -- (6D) 504LM ERASE +5 # I(6) MOON LIBRATION VECTOR # ENTRY STORAGE -- PAD LOADED -- (2D) EMSALT ERASE +1 # I(2)PL # P35 CONSTANTS. -- PAD LOADED -- (4D) ATIGINC ERASE +1 # B(2)PL PTIGINC ERASE +1 # B(2)PL # LUNAR LANDING SIGHT DATA. -- PAD LOADED -- (6D) # (USED BY INTEGRATION INITIALIZATION, LAT-LONG SUBROUTINES, P30'S) RLS ERASE +5 # I(6) LANDING SIGHT VECTOR # CONISEX (LUNAR AND SOLAR EPHEM) STORAGE. -- PAD LOADED -- (77D) TIMEMO ERASE +76D VECOEM EQUALS TIMEMO +3 RESO EQUALS VECOEM +60D # Page 89 VESO EQUALS RESO +6 OMEGAES EQUALS VESO +6 # INTEGRATION STORAGE. (95D) PBODY ERASE # I(1) ALPHAV EQUALS PBODY +1 # I(6)TMP BETAV EQUALS ALPHAV +6 # I(6)TMP PHIV EQUALS BETAV +6 # I(6)TMP PSIV EQUALS PHIV +6 # I(6)TMP FV EQUALS PSIV +6 # I(6)TMP BETAM EQUALS FV +6 # I(6)TMP H EQUALS BETAM +2 # I(2)TMP GMODE EQUALS H +2 # I(1)TMP IRETURN EQUALS GMODE +1 # I(1)TMP NORMGAM EQUALS IRETURN +1 # I(1)TMP VECTAB EQUALS NORMGAM +1 # I(36)TMP RPQV EQUALS VECTAB +36D # (6)TMP VECTOR PRIMARY TO SECONDARY BODY ORIGEX EQUALS RPQV +6 # B(1)TMP QSAVE FOR COORD. SWITCH ROUTINE KEPRTN EQUALS ORIGEX # QSAVE FOR KEPLER RQVV EQUALS ORIGEX +1 # (6) SEC. BODY TO VEH.VETOR (USED P23) RPSV EQUALS RQVV +6 # (6)TMP SUN TO PRIMARY BODY VECTOR XKEPNEW EQUALS RPSV +6 # (2)TMP ROOT OF KEPLER'S EQU FOR TIME TAU # THESE PROBABLY CAN SHARE INTEGRATION VARIABLES (9D) VACX EQUALS VECTAB +6 # I(2)TMP VACY EQUALS VACX +2 # I(2)TMP VACZ EQUALS VACY +2 # I(2)TMP ERADM EQUALS VECTAB +18D # I(2)TMP INCORPEX EQUALS ERADM +2 # I(1)TMP # R31 (V83) STORAGE. -- SHARES WITH INTEGRATION STORAGE -- (24D) BASEOTP EQUALS VECTAB +6 # I(6) BASE POS VECTOR OTHER VEH BASEOTV EQUALS VECTAB +18D # I(6) BASE VEL VECTOR OTHER VEH BASETHP EQUALS VECTAB +30D # I(6) BASE POS VECTOR THIS VEH BASETHV EQUALS RPQV # I(6) BASE VEL VECTOR THIS VEH # CONIC INTEGRATION STORAGE. -- MAY NOT SHARE WITH SERVICER -- (6D) ALPHAM EQUALS XKEPNEW +2 # I(2)TMP TAU. EQUALS ALPHAM +2 # I(2)TMP DT/2 EQUALS TAU. +2 # I(2)TMP # Page 90 # P21, R61 STORAGE. (2D) P21TIME EQUALS DT/2 +2 # B(2)TMP # INTEGRATION STORAGE (1D) EGRESS EQUALS P21TIME +2 # I(1)TMP SAVES RETURNS. # VERB 83 STORAGE. (20D) RANGE EQUALS EGRESS +1 # I(2)DSP NOUN 54 DISTANCE TO OPTICAL SUBJ RRATE EQUALS RANGE +2 # I(2)DSP NOUN 54 RATE OF APPROACH RTHETA EQUALS RRATE +2 # I(2)DSP NOUN 54. RONE EQUALS RTHETA +2 # I(6)TMP VECTOR STORAGE. (SCRATCH) VONE EQUALS RONE +6 # I(6)TMP VECTOR STORAGE. (SCRATCH) BASETIME EQUALS VONE +6 # I(2) BASE TIME ASSOC WITH BASE VECS # S-BAND ANTENNA GIMBAL ANGLES. DISPLAYED BY R05 (V64). (4D) # (OPERATES DURING P00 ONLY) RHOSB EQUALS RANGE # B(2)DSP NOUN 51. PITCH ANGLE GAMMASB EQUALS RHOSB +2 # B(2)DSP NOUN 51. YAWANGLE # R36 SCRATCHPAD STORAGE (13D) RPASS36 EQUALS RONE # I(6) S-S UNP36 EQUALS RPASS36 +6 # I(6) S-S OPTIONY EQUALS UNP36 +6 # I(1)TMP VEHICLE CODE # EXTENDED VERB 82 STORAGE. (6D) HPERMIN EQUALS RANGE # I(2) SET TO 300KFT OR 35KFT FOR SR30.1 RPADTEM EQUALS HPERMIN +2 # I(2) PAD OR LANDING RADIUS FOR SR30.1 TSTART82 EQUALS RPADTEM +2 # I(2) TEMP TIME STORAGE VOR V82. # MORE VERB 82 NOT SHARING WITH VERB 83 (9D) V82FLAGS EQUALS VONE +6 # (1) FOR V 82 BITS TFF EQUALS V82FLAGS +1 # I(2)DSP NOUN 50,44 -TPER EQUALS TFF +2 # I(2)DSP NOUN 32 THETA(1) EQUALS -TPER +2 # I(2)TMP SET AT END OF V82 # Page 91 RSP-RREC EQUALS AOPTIME # DSP NOUN 50 FOR V82 DURING P00 AND P11 # REENTRY CONICS (6D) URONE EQUALS V82FLAGS # I(6) SAVE ACTUAL FOR CALCULATIONS # V82 DISPLAY (4D) HAPOX EQUALS THETA(1) +2 # I(2)DSP NOUN 44 HPERX EQUALS HAPOX +2 # I(2)DSP NOUN 44 # P22 DISPLAY REGISTERS (06D) AOPTIME EQUALS HPERX +2 # I(2)TMP FOR SR52.1.ADVTRACK LANDLONG EQUALS AOPTIME +2 # I(2)DSP NOUN 89 FOR P22 LANDALT EQUALS LANDLONG +2 # I(2)DSP NOUN 89 FOR P22 # S34/35.5,P34-P35 STORAGE. (6D) KT EQUALS LANDALT +2 # B(2) VERBNOUN EQUALS KT +2 # B(1)TMP QSAVED EQUALS VERBNOUN +1 # B(1)TMP HOLDS RETURN RTRN EQUALS QSAVED +1 # B(1) RETURN SUBEXIT EQUALS RTRN +1 # B(1)TMP # RGEXIT CAN'T SHARE WITH HPER,HAPO RGEXIT EQUALS SUBEXIT # I(1)TMP Q SAVE MODE 1 AND 2 TO RTRN MAIN # P30 DISPLAY (4D) HAPO EQUALS KT # I(2)DSP NOUN 42, FOR P30. HPER EQUALS HAPO +2 # I(2)DSP NOUN 42, FOR P30. # SOME P34 STORAGE. (OVERLAYS P35.1 STORAGE) (2D) NOMTPI EQUALS KT # I(2)TMP NOMINAL TPI TIME FOR RECYCLE. # THE FOLLOWING ARE ERASABLES USED BY THE SYSTEM TESTS. 205 USES TRANSM1. G'S ARE NOT USED IN 205 NOR ARE THEY # WHILE 504 USES TRANSM1 AND ALFDK. # Page 92 # RSB 2009. The definition of TRANSM1 was previously just "TRANSM1 EQUALS 2000", # this messes up the label typing system in yaYUL. SETLOC 2000 TRANSM1 EQUALS # (18) INITIALIZATION FOR IMU TESTS ALFDK = TRANSM1 +18D # (144) ERASABLE LOAD IN 504 # END OF PERF. TEST ERASABLE IN BANK 4 # *-*-* V82 *-*-* (6D) VONE' EQUALS RGEXIT +1 # I(6)TMP NORMAL VELOCITY VONE/ SQ RT MU # PAD LOAD INTEGRATION ERROR INCLUDED IN VARIANCE BY P20 (1D) INTVAR EQUALS VONE' +6 # I(1)PL SQUARE OF EXPECTED INTEGRATION # POSITION EXTRAPOLATION ERROR. # SCALED METERS(2) 2(15) END-E4 EQUALS INTVAR # LAST USED ERASABLE IN E4. # Page 93 # EBANK-5 ASSIGNMENTS SETLOC 2400 # *-*-*-*- OVERLAY 1 IN EBANK 5 -*-*-*-* # W-MATRIX STORAGE. (162D) # RSB 2009. The following 3 lines have been replaced to be consistent with yaYUL's # label-typing system. They *were* "W EQUALS 2400", "9X9LOC1 EQUALS 2444", # "9X9LOC2 EQUALS 2532". W EQUALS # B(162) 9X9LOC1 EQUALS W +44 9X9LOC2 EQUALS 9X9LOC1 +66 EMATRIX = W +120D # B(42) USED TO CONVERT W TO 6X6 END-W EQUALS W +162D # **NEXT AVAILABLE LOC AFTER W MATRIX** # AUTO-OPTICS STORAGE -R52- # DO NOT MOVE FROM E5,1554. A DELICATE BALANCE EXISTS BETWEEN THIS AND P03 XNB1 EQUALS W +108D # B(6D)TMP YNB1 EQUALS XNB1 +6 # B(6)TMP ZNB1 EQUALS YNB1 +6 # B(6)TMP SAVQR52 EQUALS ZNB1 +6 # I(2)TMP PLANVEC EQUALS SAVQR52 +2 # B(6) S-S SIGHTING VECTOR IN REF. COOR. TSIGHT EQUALS PLANVEC +6 # B(2) S-S TIME OF SIGHTING # RENDEZVOUS -P34-35 (26D) DVLOS EQUALS TSIGHT +2 # I(6) S-S DELTA VELOCITY, LOS COORD-DISPLAY DELTAR EQUALS DVLOS # I(2) TINTSOI EQUALS DELTAR # I(2) INTERCEPT TIME FOR SOI MANEUVER DELTTIME EQUALS DVLOS +2 # I(2) TARGTIME EQUALS DVLOS +4 # I(2) UNRM EQUALS DVLOS +6 # I(6) S-S ULOS EQUALS UNRM +6 # I(6) S-S UNIT LINE OF SIGHT VECTOR ACTCENT EQUALS ULOS +6 # I(2) S-S CENTRAL ANGLE BETWEEN ACTIVE # VEH AT TPI IGNITION TIME AND # TARGET VECTOR. DELVTPI EQUALS ACTCENT +2 # I(2) NOUN 58 FOR P34 DELVTPF EQUALS DELVTPI +2 # I(2) NOUN 58,59 FOR P34,35 POSTTPI EQUALS DELVTPF +2 # I(2) NOUN 58 FOR P34. TDEC2 EQUALS DELVTPI # (2) # ALIGNMENT (12D) # Page 94 STARSAV1 EQUALS DVLOS # I(6)TMP RESTART STAR SAVE. STARSAV2 EQUALS STARSAV1 +6 # I(6)TMP RESTART STAR SAVE. US = STARSAV2 # (CISLUNAR TAG FOR STARSAV2). # TPI SEARCH (26D) IT EQUALS DVLOS # (6) THETZERO EQUALS IT +6 # (2) TFI EQUALS THETZERO +2 # (2) DELVEE EQUALS TFI +2 # (2) HP EQUALS DELVEE +2 # (2) TFO EQUALS HP +2 # (2) HPO EQUALS TFO +2 # (2) DELVEO EQUALS HPO +2 # (2) MAGVTPI EQUALS DELVEO +2 # I(2)TMP MAG OF DELTAVTPI OR VMID RELDELV EQUALS MAGVTPI +2 # I(2)TMP MAG OF DELTAVTPF T3TOT4 EQUALS RELDELV +2 # I(2)DSP NOUN 39 FOR P34,35. TPI TO TINT # (CANNOT SHARE WITH RETURN TO EARTH) # Page 95 # ALIGNMENT/SYSTEST/CALCSMSC/CRS61.1 COMMON STORAGE (36D) # (CALCSMSC IS A SUBSET OF S41.1 AT LEAST) # (CRS61.1 IS A SUBSET OF P20) XSM EQUALS END-W +23D # B(6) YSM EQUALS XSM +6 # B(6)TMP ZSM EQUALS YSM +6 # B(6)TMP XDC EQUALS ZSM +6 # B(6)TMP YDC EQUALS XDC +6 # B(6)TMP ZDC EQUALS YDC +6 # B(6)TMP XNB = XDC YNB = YDC ZNB = ZDC # OVERLAYS WITHIN ALIGNMENT/SYSTEST/CALCSMSC COMMON STORAGE -COSB EQUALS XSM +2 # (2)TMP SINB EQUALS -COSB +2 # (2)TMP # ALIGNMENT/SYSTEST COMMON STORAGE (18D) STARAD EQUALS ZDC +6 # I(18D)TMP # ALIGNMENT/SYSTEST/AUTO OPTICS COMMON STORAGE. (17D) OGC EQUALS STARAD +18D # I(2)TMP IGC EQUALS OGC +2 # I(2)TMP MGC EQUALS IGC +2 # I(2)TMP STAR EQUALS MGC +2 # I(6)TMP SAC EQUALS STAR +6 # I(2)TMP PAC EQUALS SAC +2 # I(2)TMP QMIN EQUALS PAC +2 # B(1)TMP # **** COLP50'S **** (1D) CULTRIX EQUALS VEARTH # VEARTH, VSUN, VMOON # OVERLAYS WITHIN ALIGNMENT/SYSTEST COMMON STORAGE (24D) VEARTH EQUALS STARAD # (6)TMP VSUN EQUALS VEARTH +6 # (6)TMP VMOON EQUALS VSUN +6 # (6)TMP SAX EQUALS VMOON +6 # (6)TMP # Page 96 # *-*-*-*- OVERLAY NUMBER 2 IN EBANK 5 -*-*-*-* # CONICS ROUTINE STORAGE. (87D) DELX EQUALS END-W # I(2)TMP DELT EQUALS DELX +2 # I(2)TMP URRECT EQUALS DELT +2 # I(6)TMP RCNORM EQUALS URRECT +6 # I(2)TMP XPREV EQUALS XKEP # I(2)TMP R1VEC EQUALS RCNORM +2 # I(6)TMP R2VEC EQUALS R1VEC +6 # I(6)TMP TDESIRED EQUALS R2VEC +6 # I(2)TMP GEOMSGN EQUALS TDESIRED +2 # I(1)TMP UN EQUALS GEOMSGN +1 # I(6)TMP VTARGTAG EQUALS UN +6 # I(1)TMP VTARGET EQUALS VTARGTAG +1 # I(6)TMP RTNLAMB EQUALS VTARGET +6 # I(1)TMP U2 EQUALS RTNLAMB +1 # I(6)TMP MAGVEC2 EQUALS U2 +6 # I(2)TMP UR1 EQUALS MAGVEC2 +2 # I(6)TMP SNTH EQUALS UR1 +6 # I(2)TMP CSTH EQUALS SNTH +2 # I(2)TMP 1-CSTH EQUALS CSTH +2 # I(2)TMP CSTH-RHO EQUALS 1-CSTH +2 # I(2)TMP P EQUALS CSTH-RHO +2 # I(2)TMP R1A EQUALS P +2 # I(2)TMP RVEC EQUALS R1VEC # I(6)TMP VVEC EQUALS R1A +2 # I(6)TMP RTNTT EQUALS RTNLAMB # I(1)TMP ECC EQUALS VVEC +6 # I(2)TMP RTNTR EQUALS RTNLAMB # I(1)TMP RTNAPSE EQUALS RTNLAMB # I(1)TMP R2 EQUALS MAGVEC2 # I(2)TMP RTNPRM EQUALS ECC +2 # I(1)TMP SGNRDOT EQUALS RTNPRM +1 # I(1)TMP RDESIRED EQUALS SGNRDOT +1 # I(2)TMP DELDEP EQUALS RDESIRED +2 # I(2)TMP DEPREV EQUALS DELDEP +2 # I(2)TMP TERRLAMB EQUALS DELDEP # I(2)TMP TPREV EQUALS DEPREV # I(2)TMP # Page 97 # *-*-*-*- OVERLAY NUMBER 3 IN EBANK 5 -*-*-*-* # MEASUREMENT INCORPORATION STORAGE. (66D) # (CALLED BY P20, P22, P23) OMEGAM1 EQUALS END-W # I(6)TMP OMEGAM2 EQUALS OMEGAM1 +6 # I(6)TMP OMEGAM3 EQUALS OMEGAM2 +6 # I(6)TMP HOLDW EQUALS OMEGAM3 +6 # I(18)TMP TDPOS EQUALS HOLDW +18D # I(6)TMP TDVEL EQUALS TDPOS +6 # I(6)TMP ZI EQUALS TDVEL +6 # I(18) # P22-P23 STORAGE. (8D) 22SUBSCL EQUALS ZI +18D # DE OF ABCDE LANDMARK ID NO. CXOFF EQUALS 22SUBSCL +1 # B OF ABCDE OFFSET INDICATOR 8KK EQUALS CXOFF +1 # B(1)TMP INDEX OF PRESENT MARK 8NN EQUALS 8KK +1 # B(1)TMP S22LOC EQUALS 8NN +1 # I(1)TMP MARK DATA LOC LANDMARK EQUALS S22LOC +1 # B(1)DSP NOUN 70 FOR P22,51, R52,53 HORIZON EQUALS LANDMARK +1 # B(1)DSP NOUN 70 FOR P22,51, R52,53 IDOFLMK EQUALS HORIZON +1 # B(1) # ******P23*** (1D) TRUNION EQUALS IDOFLMK +1 # B(1) # Page 98 # *-*-*-*- OVERLAY NUMBER 0 IN EBANK 5 -*-*-*-* # SYSTEM TEST STORAGE. (174) AZIMUTH ERASE +1 LATITUDE ERASE +1 TRUNA EQUALS DESOPTT SHAFTA EQUALS DESOPTS ERVECTOR ERASE +5 LENGTHOT ERASE LOSVEC ERASE +5 SXTOPTN = LOSVEC NDXCTR ERASE PIPINDEX ERASE POSITON ERASE QPLAC ERASE QPLACE ERASE QPLACES ERASE RUN ERASE STOREPL ERASE SOUTHDR ERASE TARG1/2 = SOUTHDR TAZEL1 ERASE +5 TEMPTIME ERASE +1 TMARK ERASE +1 GENPL ERASE +134D CDUTIMEI = GENPL CDUTIMEF = GENPL +2 IMU/OPT = GENPL +4 CDUREADF = GENPL +5 CDUREADI = GENPL +6 CDULIMIT = GENPL +7 TEMPADD = GENPL +4 TEMP = GENPL +5 NOBITS = GENPL +6 CHAN = GENPL +7 LOS1 = GENPL +8D LOS2 = GENPL +14D CALCDIR EQUALS GENPL +20D CDUFLAG EQUALS GENPL +21D GYTOBETQ EQUALS GENPL +22D OPTNREG EQUALS GENPL +23D SAVE EQUALS GENPL +24D # THREE CONSEC LOC SFCONST1 EQUALS GENPL +27D # Page 99 TIMER EQUALS GENPL +28D DATAPL EQUALS GENPL +30D RDSP EQUALS GENPL # FIX LATER POSSIBLY KEEP1 MASKREG EQUALS GENPL +64D CDUNDX EQUALS GENPL +66D RESULTCT EQUALS GENPL +67D COUNTPL EQUALS GENPL +70D CDUANG EQUALS GENPL +71D AINLA = GENPL # OPTIMUM CALIB. AND ALIGNMENT WANGO EQUALS AINLA WANGI EQUALS AINLA +2D WANGT EQUALS AINLA +4D TORQNDX = WANGT DRIFTT EQUALS AINLA +6D ALX1S EQUALS AINLA +8D CMPX1 EQUALS AINLA +9D ALK EQUALS AINLA +10D VLAUNS EQUALS AINLA +22D THETAX = ALK +2 WPLATO EQUALS AINLA +24D INTY EQUALS AINLA +28D THETAN = THETAX +6 ANGZ EQUALS AINLA +30D INTZ EQUALS AINLA +32D ANGY EQUALS AINLA +34D ANGX EQUALS AINLA +36D DRIFTO EQUALS AINLA +38D DRIFTI EQUALS AINLA +40D VLAUN EQUALS AINLA +44D FILDELV = THETAN +6 ACCWD EQUALS AINLA +46D INTVEC = FILDELV +2 POSNV EQUALS AINLA +52D DPIPAY EQUALS AINLA +54D DPIPAZ EQUALS AINLA +58D ALTIM EQUALS AINLA +60D ALTIMS EQUALS AINLA +61D ALDK EQUALS AINLA +62D DELM EQUALS AINLA +76D WPLATI EQUALS AINLA +84D RESTARPT = AINLA +91D GEOSAVED = AINLA +117D PREMTRXC = AINLA +118D LAUNCHAZ = AINLA +119D NEWAZMTH = AINLA +121D OLDAZMTH = AINLA +123D # Page 100 TOLDAZMT = AINLA +125D GEOCOMPS = AINLA +127D 1SECXT = AINLA +128D GTSXTLST = AINLA +129D ERECTIME = AINLA +130D ERCOMP = AINLA +131D ZERONDX = AINLA +137D GTSOPNDZ = ZERONDX # THE FOLLOWING TAGS ARE USED BY THE 504 IMU CALIBRATION AND ALIGNMENT PROGRAM ONLY. THETAX1 EQUALS ALK +2 THETAN1 EQUALS THETAX1 +6 FILDELV1 EQUALS THETAN1 +6 INTVEC1 EQUALS FILDELV1 +2 GEOSAVE1 EQUALS AINLA +117D PREMTRX1 EQUALS AINLA +118D LUNCHAZ1 EQUALS AINLA +119D NEWAZ1 EQUALS LUNCHAZ1 +2 OLDAZ1 EQUALS LUNCHAZ1 +4 TOLDAZ1 EQUALS LUNCHAZ1 +6 GEOCOMP1 EQUALS AINLA +127D 1SECXT1 EQUALS AINLA +128D GTSWTLT1 EQUALS AINLA +129D ERECTIM1 EQUALS AINLA +130D ERCOMP1 EQUALS AINLA +131D # I(6) ZERONDX1 EQUALS AINLA +137D PERFDLAY EQUALS AINLA +138D # B(2).......... # END OF 504 + ALIGN ERASE. # Page 101 # *-*-*-*- OVERLAY 4 IN EBANK 5 -*-*-*-* # # P32 --- P33 (26D) UP1 EQUALS DVLOS # I(6) VPASS2 EQUALS UP1 +6 # I(6) RPASS2 EQUALS VPASS2 +6 # I(6) DIFFALT EQUALS RPASS2 +6 # I(2) TCDH EQUALS DIFFALT +2 # I(2) TCSI EQUALS TCDH +2 # I(2) TTPIO EQUALS TCSI +2 # I(2) # P32,P33 STORAGE OVERLAYING 9X9 W-MATRIX LOCATIONS (26D) DELVEET1 EQUALS 9X9LOC1 # I(6) DELV FOR CSI RACT2 EQUALS DELVEET1 +6 # I(6) POS. ACTIVE VEH. AT CDH TIME VACT2 EQUALS 9X9LOC2 # I(6) VEL. ACTIVE VEH. AT CDH TIME RACT1 EQUALS VACT2 +6 # I(6) POS. ACTIVE VEH. AT CSI TIME T1TOT2 EQUALS RACT1 +6 # I(2) TCDH - TCSI END-E5 EQUALS QMIN # LAST USED E5 ADDRESS # Page 102 # EBANK-6 ASSIGNMENTS. SETLOC 3000 # P23 PAD LOADS *** (2D). WMIDPOS ERASE # I(1)PL INITIAL VALUES FOR W-MATRIX IN WMIDVEL ERASE # I(1)PL CISLUNAR (P23) NAVIGATION # R22 PAD LOADS (5D). RVAR ERASE +1 # I(2)PL VHF RADAR RVARMIN ERASE +2 # I(3)PL VHF RADAR # ***** PAD LOADED ENTRY DAP STEERING VARIABLES ***** (3D) LADPAD ERASE # I(1)PL FOR ENTRY. HOLDS CM NOMINAL L/D LODPAD ERASE # I(1)PL FOR ENTRY. HOLDS CM NOMINAL LOD ALFAPAD ERASE # B(1)PL ALFA TRIM / 180 # ***** PAD LOADED TVC DAP VARIABLES **************** (26D) ETDECAY ERASE # I(1)PL ESTROKER ERASE # B(1)PL EKPRIME ERASE +1 # B(2)PL EKTLX/I ERASE +2 # B(3)PL EREPFRAC ERASE +1 # B(2)PL PACTOFF ERASE # B(1)PL, DSP N48 R01 = PTRIM, R02 = YTRIM YACTOFF ERASE # B(1)PL, CONSECUTIVE WITH PACTOFF HBN10 ERASE # B(1) HBN11/2 ERASE # B(1) HBN12 ERASE # B(1) HBD11/2 ERASE # B(1) HBD12 ERASE # B(1) HBN20 ERASE # B(1) HBN21/2 ERASE # B(1) HBN22 ERASE # B(1) HBD21/2 ERASE # B(1) HBD22 ERASE # B(1) HBN30 ERASE # B(1) HBN31/2 ERASE # B(1) HBN32 ERASE # B(1) # Page 103 HBD31/2 ERASE # B(1) HBD32 ERASE # B(1) # **** EXCLUSIVE TVC DAP VARIABLES. ***************** (5D) V97VCNTR ERASE # B(1) TEMPDAP ERASE +1 # B(2) MRKRTMP = TEMPDAP # ((B(1))) CNTR ERASE # B(1) OGAD ERASE # B(1) # **** EXCLUSIVE RCS DAP VARIABLES ****************** (13D) RWORD1 ERASE +12D # B(1) RWORD2 EQUALS RWORD1 +1 # B(1) PWORD1 EQUALS RWORD2 +1 # B(1) PWORD2 EQUALS PWORD1 +1 # B(1) YWORD1 EQUALS PWORD2 +1 # B(1) YWORD2 EQUALS YWORD1 +1 # B(1) BLAST EQUALS YWORD2 +1 # B(2) BLAST1 EQUALS BLAST +2 # B(2) BLAST2 EQUALS BLAST1 +2 # B(2) T5PHASE EQUALS BLAST2 +2 # B(1) # **** RCS/TVC DAP COMMON STORAGE. ****************** (16D) DAPDATR1 ERASE # B(1)DSP NOUN 46(R1) DAPDATR2 ERASE # B(1)DSP NOUN 46(R2) IXX ERASE # B(1) CONSECUTIVE WITH IAVG, IAVG/TLX FOR IAVG ERASE # B(1) MASSPROP IAVG/TLX ERASE # B(1) LEMMASS ERASE # B(1)DSP NOUN 47 (R2) CSMMASS ERASE # B(1)DSP NOUN 47 (R1) WEIGHT/G ERASE # B(1) MASS = WEIGHT/G AK ERASE AK1 ERASE AK2 ERASE RCSFLAGS ERASE # B(1) CONSECUTIVE WITH AK2 DOWNLINK T5TEMP ERASE # B(1) EDRIVEX ERASE EDRIVEY ERASE # Page 104 EDRIVEZ ERASE # INTEMP THRU INTEMP+14D ARE RESERVED FOR OVERLAYED TVC/RCS INTERUP TRUE TEMPORARIES INTTEMP ERASE +14D # (15) # TVC/RCS THRU TVCRCS +11D RESERVED FOR DOWNLINKED VARIABLES TVCRCS ERASE +11D # (12) # RCS (WBODYS,ADOTS) # TVC(OMEGACS,OMEGABS) # TVC DAP TEMPORARY VARIABLES********************************* # TVC DAP INTERRUPT TRUE TEMPORARIES************************** PHI333 EQUALS INTTEMP # B(1) TEMPORARY REGISTER PSI333 EQUALS PHI333 +1 # B(1) COUNTING REGISTER TEMP333 EQUALS PSI333 +1 # B(1) COUNTING REGISTER VARST0 EQUALS TEMP333 +1 # B(8) BREAKPOINTS AND SLOPES VARST5 = VARST0 +5 LASTMASP EQUALS VARST0 +9D # LAST VARST0 WORD TVCTMP1 EQUALS LASTMASP +1 # B(1) # *******REGULAR TVC TEMPORARIES************* # TVC ZEROING STARTS HERE OMEGAC EQUALS TVCRCS # I(6) OMEGAXC = OMEGAC OMEGAYC = OMEGAC +2 OMEGAZC = OMEGAC +4 OMEGAB EQUALS TVCRCS +6 # B(6) OMEGAXB = OMEGAB OMEGAYB = OMEGAB +2 OMEGAZB = OMEGAB +4 PTMP1 EQUALS OMEGAC +12D # B(2) PTMP2 EQUALS PTMP1 +2 # B(2) PTMP3 EQUALS PTMP2 +2 # B(2) PTMP4 EQUALS PTMP3 +2 # B(2) PTMP5 EQUALS PTMP4 +2 # B(2) # Page 105 PTMP6 EQUALS PTMP5 +2 # B(2) YTMP1 EQUALS PTMP6 +2 # B(2) YTMP2 EQUALS YTMP1 +2 # B(2) YTMP3 EQUALS YTMP2 +2 # B(2) YTMP4 EQUALS YTMP3 +2 # B(2) YTMP5 EQUALS YTMP4 +2 # B(2) YTMP6 EQUALS YTMP5 +2 # B(2) ROLLFIRE EQUALS YTMP6 +2 # B(1) ROLLWORD EQUALS ROLLFIRE +1 # B(1) TEMREG EQUALS ROLLWORD +1 # B(1) STROKER EQUALS TEMREG +1 # B(1) PERRB EQUALS STROKER +1 # B(2) YERRB EQUALS PERRB +2 # B(2) DELPBAR EQUALS YERRB +2 # B(2) DELYBAR EQUALS DELPBAR +2 # B(2) PDELOFF EQUALS DELYBAR +2 # B(2) YDELOFF EQUALS PDELOFF +2 # B(2) # TVC ZEROING LOOP ENDS HERE TTMP1 EQUALS YDELOFF +2 # B(2) TTMP2 EQUALS TTMP1 +2 # B(2) DAP1 EQUALS TTMP2 +2 # B(2) DAP2 EQUALS DAP1 +2 # B(2) DAP3 EQUALS DAP2 +2 # B(2) PCMD EQUALS DAP3 +2 # B(1) YCMD EQUALS PCMD +1 # B(1), CONSECUTIVE WITH PCMD T5TVCDT EQUALS YCMD +1 # B(1) MDT EQUALS T5TVCDT +1 # I(6) KPRIMEDT EQUALS MDT +6 # I(2) KTLX/I EQUALS KPRIMEDT +2 # B(1) TENMDOT EQUALS KTLX/I +1 # B(1) 1/CONACC EQUALS TENMDOT +1 # B(1) VARK EQUALS 1/CONACC +1 # B(1) REPFRAC EQUALS VARK +1 # B(1) VCNTR EQUALS REPFRAC +1 # B(1) TVCPHASE EQUALS VCNTR +1 # B(1) PCDUYPST EQUALS TVCPHASE +1 # B(1) PCDUZPST EQUALS PCDUYPST +1 # B(1) MCDUYDOT EQUALS PCDUZPST +1 # B(1) MCDUZDOT EQUALS MCDUYDOT +1 # B(1) # Page 106 TVCEXPHS EQUALS MCDUZDOT +1 # B(1) MASSTMP EQUALS TVCEXPHS +1 # B(1) PROTECT VCNTRTMP EQUALS MASSTMP +1 # B(1) *PROTECT*** # STROKE TEST VARIABLES STRKTIME EQUALS VCNTRTMP +1 # B(1) CADDY EQUALS STRKTIME +1 # B(1) N EQUALS CADDY +1 # B(1) BUNKER EQUALS N +1 # B(1) REVS EQUALS BUNKER +1 # B(1) CARD EQUALS REVS +1 # B(1) # TVC ROLL DAP VARIABLES OGANOW EQUALS CARD +1 # B(1) OGAPAST EQUALS OGANOW +1 # B(1) OGA EQUALS OGAPAST +1 # B(1)TMP OGAERR = OGA # (ROLL DAP USES OGA, MEANS OGAERROR) DELOGART EQUALS OGA +1 # B(1)TMP SGNRT EQUALS DELOGART +1 # SIGN OF CGA RATE DELOGA EQUALS SGNRT +1 # USED IN ROLL LOGIC I EQUALS DELOGA +1 # USED IN ROLL LOGIC IOGARATE EQUALS I +1 # USED IN ROLL LOGIC # TVC DAP RESTART TEMPORARIES. PACTTMP EQUALS IOGARATE +1 # B(2) YACTTMP EQUALS PACTTMP +2 # B(2) CNTRTMP EQUALS YACTTMP +2 # B(1) STRKTTMP EQUALS CNTRTMP +1 # B(1) DELBRTMP EQUALS STRKTTMP +1 # B(2) ERRBTMP EQUALS DELBRTMP +2 # B(2) CMDTMP EQUALS ERRBTMP +2 # B(2) TMP1 EQUALS CMDTMP +2 # B(2) TMP2 EQUALS TMP1 +2 # B(2) TMP3 EQUALS TMP2 +2 # B(2) TMP4 EQUALS TMP3 +2 # B(2) TMP5 EQUALS TMP4 +2 # B(2) TMP6 EQUALS TMP5 +2 # B(2) # TVC DAP FILTER COEFFICIENTS TEMPORARIES COEFFADR EQUALS TMP6 +2 # B(1) N10 EQUALS COEFFADR +1 # I(15) # Page 107 # OVERLAYS WITHIN TVC DAP OGARATE = OMEGAB # B(2) PHASETMP = TTMP1 # B(1) RESTART FOR CSM/LM V46 SWITCH-OVER RTRNLOC = TTMP2 # B(1) RESTART FOR CSM/LM V46 SWITCH-OVER BZERO = ERRBTMP CZERO = ERRBTMP JZERO = CMDTMP YZERO = CMDTMP # 540.9 STORAGE ............. NBRCYCLS EQUALS N10 +15D # B(1) COUNTER FOR P40,41 STEERING NBRCYCLP EQUALS NBRCYCLS +1 # B(1) MAINTAIN ORDER DELVSUM EQUALS NBRCYCLP +1 # I(6) P40,P41 DELVSUMP EQUALS DELVSUM +6 # I(6) P40,P41 # Page 108 # **** RCS DAP TEMPORARY VARIABLES. ******************** (95D) # ** RCS INTERRUPT TRUE TEMPS *************** (15D) SPNDX EQUALS INTTEMP # B(1) DPNDX EQUALS SPNDX +1 # B(1)TMP KMPAC EQUALS DPNDX +1 # B(2)TMP KMPTEMP EQUALS KMPAC +2 # B(1)TMP XNDX1 EQUALS KMPTEMP +1 # B(1)TMP XNDX1 THRU NYJETS ARE OVERLAYED XNDX2 EQUALS XNDX1 +1 # B(1)TMP BY OTHER DAP ERASABLES SO YNDX EQUALS XNDX2 +1 # B(1)TMP SHOULD ALWAYS BE DEFINED IN ZNDX EQUALS YNDX +1 # B(1)TMP A BLOCK RINDEX EQUALS ZNDX +1 # B(1)TMP PINDEX EQUALS RINDEX +1 # B(1)TMP YINDEX EQUALS PINDEX +1 # B(1)TMP NRJETS EQUALS YINDEX +1 # B(1)TMP NPJETS EQUALS NRJETS +1 # B(1)TMP NYJETS EQUALS NPJETS +1 # B(1)TMP WTEMP EQUALS XNDX1 # B(2)TMP WTEMP THRU DELTEMPZ OVERLAY DELTEMPX EQUALS WTEMP +2 # B(2)TMP XNDX1 THRU NRJETS AND EDOT THRU DELTEMPY EQUALS DELTEMPX +2 # B(2)TMP ADBVEL DELTEMPZ EQUALS DELTEMPY +2 # B(2)TMP EDOT EQUALS YNDX # B(2)TMP EDOT THRU ADBVEL OVERLAY AERR EQUALS EDOT +2 # B(1)TMP YNDX THRU NPJETS AND DELTEMPX EDOTVEL EQUALS AERR +1 # B(2)TMP THRU DELTEMPZ AERRVEL EQUALS EDOTVEL +2 # B(1)TMP ADBVEL EQUALS AERRVEL +1 # B(1)TMP # *** REGULAR RCS TEMPS ********************* ( ). # *** RCS ZEROING LOOP STARTS HERE ********** (37) WBODY EQUALS TVCRCS # B(2)TMP WBODY1 EQUALS WBODY +2 # B(2)TMP WBODY2 EQUALS WBODY +4 # B(2)TMP ADOT EQUALS WBODY2 +2 # B(2)TMP ADOT1 EQUALS ADOT +2 # B(2)TMP ADOT2 EQUALS ADOT1 +2 # B(2)TMP MERRORX EQUALS ADOT2 +2 # (2) MERRORY EQUALS MERRORX +2 # (2) MERRORZ EQUALS MERRORY +2 # (2) DFT EQUALS MERRORZ +2 # B(1)TMP DFT1 EQUALS DFT +1 # B(1)TMP DFT2 EQUALS DFT1 +1 # B(1)TMP DRHO EQUALS DFT2 +1 # B(2)TMP DRHO1 EQUALS DRHO +2 # B(2)TMP # Page 109 DRHO2 EQUALS DRHO1 +2 # B(2)TMP ATTSEC EQUALS DRHO2 +2 # B(1)TMP TAU EQUALS ATTSEC +1 # B(1)TMP TAU1 EQUALS TAU +1 # B(1)TMP TAU2 EQUALS TAU1 +1 # B(1)TMP BIAS EQUALS TAU2 +1 # B(1)TMP BIAS1 EQUALS BIAS +1 # B(1)TMP BIAS2 EQUALS BIAS1 +1 # B(1)TMP ERRORX EQUALS BIAS2 +1 # B(1)TMP ERRORY EQUALS ERRORX +1 # B(1)TMP ERRORZ EQUALS ERRORY +1 # B(1)TMP # RCS ZERO LOOP ENDS HERE # MORE RCS (69D) THETADX EQUALS ERRORZ +1 # B(1)TMP MUST BE CONSECUTIVE WITH ERRORZ THETADY EQUALS THETADX +1 # B(1)TMP THETADZ EQUALS THETADY +1 # B(1)TMP DELCDUX EQUALS THETADZ +1 # B(2)TMP DELCDUY EQUALS DELCDUX +2 # B(2)TMP DELCDUZ EQUALS DELCDUY +2 # B(2)TMP DCDU EQUALS DELCDUZ +2 # B(6)TMP USED DURING P20 DTHETASM EQUALS DCDU +6 # B(6)TMP STEER LOW OUTPUT. ATTKALMN EQUALS DTHETASM +6 # B(1)TMP KMJ EQUALS ATTKALMN +1 # B(1)TMP KMJ1 EQUALS KMJ +1 # B(1)TMP KMJ2 EQUALS KMJ1 +1 # B(1)TMP J/M EQUALS KMJ2 +1 # B(1)TMP J/M1 EQUALS J/M +1 # B(1)TMP J/M2 EQUALS J/M1 +1 # B(1)TMP RACFAIL EQUALS J/M2 +1 # B(1)TMP RBDFAIL EQUALS RACFAIL +1 # B(1)TMP ACORBD EQUALS RBDFAIL +1 # B(1)TMP XTRANS EQUALS ACORBD +1 # B(1)TMP CH31TEMP EQUALS XTRANS +1 # B(1)TMP CHANTEMP EQUALS CH31TEMP +1 # B(1)TMP T5TIME EQUALS CHANTEMP +1 # B(1)TMP RHO EQUALS T5TIME +1 # B(1)TMP RHO1 EQUALS RHO +1 # B(1)TMP RHO2 EQUALS RHO1 +1 # B(1)TMP AMGB1 EQUALS RHO2 +1 # B(1)TMP AMGB4 EQUALS AMGB1 +1 # B(1)TMP # Page 110 AMGB5 EQUALS AMGB4 +1 # B(1)TMP AMGB7 EQUALS AMGB5 +1 # B(1)TMP AMGB8 EQUALS AMGB7 +1 # B(1)TMP CAPSI EQUALS AMGB8 +1 # B(1)TMP CDUXD EQUALS CAPSI +1 # B(2)TMP CDUYD EQUALS CDUXD +2 # B(2)TMP CDUZD EQUALS CDUYD +2 # B(2)TMP SLOPE EQUALS CDUZD +2 # B(1)TMP ADB EQUALS SLOPE +1 # B(1)TMP RMANNDX EQUALS ADB +1 # B(1)TMP PMANNDX EQUALS RMANNDX +1 # B(1)TMP YMANNDX EQUALS PMANNDX +1 # B(1)TMP MUST BE LAST VARIABLE IN RCS # Page 111 # ********** ENTRY DAP TEMPORARY VARIABLES. ********************* (69D) # ANGLE REGISTERS FOR ENTRY DAPS AOG EQUALS BCDU # 1P AIG EQUALS AOG +1 # 1P AMG EQUALS AIG +1 # 1P ROLL/180 EQUALS AMG +1 # 1P ALFA/180 EQUALS ROLL/180 +1 # 1P BETA/180 EQUALS ALFA/180 +1 # 1P AOG/PIP EQUALS BETA/180 +1 # 1P AIG/PIP EQUALS AOG/PIP +1 # 1P AMG/PIP EQUALS AIG/PIP +1 # 1P ROLL/PIP EQUALS AMG/PIP +1 # 1P ALFA/PIP EQUALS ROLL/PIP +1 # 1P BETA/PIP EQUALS ALFA/PIP +1 # 1P # GYMBAL DIFFERENCES OVER INTERNAL TCDU = .1 SEC. -DELAOG EQUALS BETA/PIP +1 # 1P -DELAIG EQUALS -DELAOG +1 # 1P -DELAMG EQUALS -DELAIG +1 # 1P # ESTIMATED BODY RATES CMDAPMOD EQUALS -DELAMG +1 # 1P GOES BEFORE PREL FOR TM. PREL EQUALS CMDAPMOD +1 # 1P P TCDU/180 (ROLLDOT) QREL EQUALS PREL +1 # 1P Q TCDU/180 (PITCHDOT) RREL EQUALS QREL +1 # 1P R TCDU/180 (YAWDOT) BETADOT EQUALS RREL +1 # 1P MUST FOLLOW RREL. BETADOT TCDU/180 PHIDOT EQUALS BETADOT +1 # 1P # OLD (UNAVERAGED) BODY RATE MEASURE OLDELP EQUALS PHIDOT +1 # 1P OLDELQ EQUALS OLDELP +1 # 1P OLDELR EQUALS OLDELQ +1 # 1P JETAG EQUALS OLDELR +1 # 1P TUSED EQUALS JETAG +1 # 1P ELAPSED TIME SINCE NOMINAL UPDATE. # FOLLOWING 3 SP WORDS IN DOWNLINK. ROLLTM SENT EACH 1 SEC. PAXERR1 EQUALS TUSED +1 # 1P INTEGRATED ROLL ERROR/360. ROLLTM EQUALS PAXERR1 +1 # 1P ROLL/180 FOR TM. ROLLC EQUALS ROLLTM +1 # 2P ROLLCOM/360 FROM ENTRY (FOR TM) # KEEP ROLLC & ROLLHOLD ADJACENT FOR TP # Page 112 ROLLHOLD EQUALS ROLLC +2 # 1P FOR ATTITUDE HOLD IN CMDAPMOD = +1 # ENTRY DAP QUANTITIES THAT SHARE WITH RCS DAP. ALFACOM EQUALS DCDU # 1P KEEP ADJACENT TO BETACOM. << BETACOM EQUALS ALFACOM +1 # 1P # JET LIST. DT, JETBITS IN THIS ORDER. TOFF EQUALS BETACOM +1 # 1P DP PAIR TBITS EQUALS TOFF +1 # 1P TON2 EQUALS TBITS +1 # 1P DP PAIR T2BITS EQUALS TON2 +1 # 1P # MISCELLANEOUS PERMANENT ERASABLE. OUTTAG EQUALS T2BITS +1 # 1P NUJET EQUALS OUTTAG +1 # 1P # MORE ENTRY DAP QUANTITIES THAT DO NOT SHARE WITH RCS DAP. JETEM EQUALS ROLLHOLD +1 # 2P THIS DP USED IN RATEAVG GAMA EQUALS JETEM +2 # 1P GAMDOT EQUALS GAMA +1 # 1P POSEXIT EQUALS GAMDOT +1 # 1P CM/GYMDT EQUALS POSEXIT +1 # 1P HEADSUP EQUALS CM/GYMDT +1 # 1P DSP NOUN 61 FOR P62,63,64,67. P63FLAG EQUALS HEADSUP +1 # 1P INTERLOCK FOR WAKEP62 #>> SHARE BELOW WITH RCS RUPT TEMPS (< 15D) <<< CALFA EQUALS SPNDX # 1P SALFA EQUALS CALFA +1 # 1P SINM EQUALS SALFA +1 # 1P COSM EQUALS SINM +1 # 1P SINO EQUALS COSM +1 # 1P COSO EQUALS SINO +1 # 1P SINOCOSM EQUALS COSO +1 # 1P COSOCOSM EQUALS SINOCOSM +1 # 1P #>> SHARE ABOVE WITH RCS RUPT TEMPS <<< # THE FOLLOWING FEW REGISTERS USED ONCE EACH 2 SEC -VT/180 EQUALS NUJET +1 # 1P LCX/360 EQUALS -VT/180 +1 # 1P XD/360 EQUALS LCX/360 +1 # 1P VSQ/4API EQUALS XD/360 +1 # 1P JNDX EQUALS VSQ/4API +1 # 1P JNDX1 EQUALS JNDX +1 # 1P # Page 113 TON1 EQUALS JNDX1 +1 # 1P DP PAIR T1BITS EQUALS TON1 +1 # 1P # MISCELLANEOUS REGISTERS USED EACH UPDATE. CM/SAVE EQUALS T1BITS +1 # 1P JETEM2 EQUALS CM/SAVE +1 # 1P TEMPORARY STORAGE # DAP QUANTITIES SHARED WITH RCS DAP FOR TM & FLIGHT RECORDER. VDT/180 = ERRORX # 1P (EDIT) -VT/180E = ERRORY # 1P (EDIT) PAXERR EQUALS AK # 1P ROLL ERROR FOR NEEDLES QAXERR = THETADX # 1P SINCE AK1 IS ZEROED IN ATM DAP. RAXERR = QAXERR +1 # 1P SINCE AK2 IS ZEROED IN TM DAP. # *** COLMANU (R60,R62) **** VECQTEMP EQUALS COFSKEW # Page 114 # ******** KALCMANU VARIABLES. (71D) ******************************* BCDU EQUALS YMANNDX +1 # B(3)TMP KSPNDX EQUALS BCDU +3 # B(1)TMP KDPNDX EQUALS KSPNDX +1 # B(1)TMP TMIS EQUALS KDPNDX +1 # I(18) MUST BE IN THE SAME BANK AS RCS DAP COFSKEW EQUALS TMIS +18D # I(6) MUST BE IN THE SAME BANK AS RCS DAP CAM EQUALS COFSKEW +6 # I(2) MUST BE IN THE SAME BANK AS RCS DAP MIS EQUALS CAM +2 # I(18) (THE REST MAY GO ANYWHERE) COF EQUALS MIS +18D # I(6)TMP SCAXIS EQUALS COF +6 # I(6)TMP POINTVSM EQUALS SCAXIS +6 # I(6)TMP AM EQUALS POINTVSM +6 # I(2)TMP RAD EQUALS AM +2 # I(2)TMP # FIRST-ORDER OVERLAYS IN KALCMANU KV1 EQUALS TMIS # I(6)TMP MFISYM EQUALS TMIS # I TMP TMFI EQUALS TMIS # I TMP NCDU EQUALS TMIS # B TMP NEXTIME EQUALS TMIS +3 # B TMP TTEMP EQUALS TMIS +4 # B TMP KV2 EQUALS TMIS +6 # I(6)TMP BIASTEMP EQUALS TMIS +6 # B TMP KV3 EQUALS TMIS +12D # I(6)TMP CGF EQUALS TMIS +12D # I TMP BRATE EQUALS COFSKEW # B TMP TM EQUALS CAM # B TMP # SECOND-ORDER OVERLAYS IN KALCMANU P21 EQUALS KV1 # I(2)TMP D21 EQUALS KV1 +2 # I(2)TMP G21 EQUALS KV1 +4 # I(2)TMP # SATURN BOOST STORAGE. SAVE TILL RCS DAP OPERATION. (17D) POLYNUM EQUALS BCDU # B(15) PAD LOADED POLYLOC = POLYNUM +10D SATRLRT EQUALS POLYNUM +15D # B(2) PAD LOADED # MORE P11 STORAGE --PAD LOADED-- (2D) # Page 115 # (NOTE: THIS PAD LOAD WILL NOT BE PRESERVED THROUGHOUT THE MISSION AS IT SHARES STORAGE WITH KALCMANU, # ENTRY DAP AND TVC DAP) RPSTART EQUALS SATRLRT +2 # B(1) PITCH ROLL START TIME POLYSTOP EQUALS RPSTART +1 # B(1) POLYCUT OFF MINUS RPSTART SEC # STORAGE FOR VHHDOT AND ATTDSP BODY3 EQUALS POLYSTOP +1 # B(1)OUT BODY2 EQUALS BODY3 +1 # B(1)OUT BODY1 EQUALS BODY2 +1 # B(1)OUT SPOLYARG EQUALS BODY1 +1 # B(1)TMP ARGUMENT FOR POLLY OLDBODY1 = EDRIVEX # 1 PULSE = 0.0432 DEGREES OLDBODY2 = EDRIVEY OLDBODY3 = EDRIVEZ # STORAGE FOR S11.1 VDISP EQUALS SPOLYARG +1 # I(2)OUT 2(7) M/CS HDISP EQUALS VDISP +2 # I(2)OUT 2(29) M HDOTDISP EQUALS HDISP +2 # I(2)OUT 2(7) M/CS BOOSTEMP EQUALS HDOTDISP +2 # B(3)TEMP # P11 SATURN I/F (9D) SATRATE EQUALS BOOSTEMP +3 # B(4)PL MANEUVER RATES FOR SATURN STICK SATSW EQUALS SATRATE +4 # B(1)TEM STATUS SW FOR BOOST TAKEOVER BIASAK EQUALS SATSW +1 # B(3)TEM STOR AKBIAS FOR BOOST TAKEOVER SATSCALE EQUALS BIASAK +3 # B(1) SCALE FACTOR FOR SATURN STEERING # P21 STORAGE. (1D) GENRET EQUALS RAD +2 # B(1)TMP # R61CSM STORAGE. (1D) SAVBNK EQUALS GENRET +1 # B(1) S-S SAVE EBANK FOR R61 SUBROUTINE # CRS61.1 STORAGE FOR AUTOPILOT BANK. (3D) SAVEDCDU EQUALS SAVBNK +1 # B(3)TMP # R61 STORAGE. (1D) # Page 116 R61CNTR EQUALS SAVEDCDU +3 # (1)TMP # ENTRY RESTART PROTECTION STORAGE. --KEEP TEMPS IN ORDER-- (12D) TEMPROLL EQUALS GENRET # B(1)TMP COPY CYCLE REGISTER TEMPALFA EQUALS TEMPROLL +1 # B(1)TMP COPY CYCLE REGISTER TEMPBETA EQUALS TEMPALFA +1 # B(1)TMP COPY CYCLE REGISTER 60GENRET EQUALS TEMPBETA +1 # B(1)TMP QSAVE FOR S61.1 AND ENTRY. S61DT EQUALS 60GENRET +1 # B(1)TMP VARIABLE DT FOR S61.1 RESTART. # ENTRY TM SHARING FOR ACCELERATION PROFILE. XPIPBUF EQUALS ADOT # B(1) PIPA BUFFER FOR TM DURING ENTRY. YPIPBUF EQUALS XPIPBUF +1 # B(1) PIPS FILED HERE EACH .5 SEC APPEAR ZPIPBUF EQUALS YPIPBUF +1 # B(1) ON DOWNLIST ONCE PER SECOND DURING XOLDBUF EQUALS ZPIPBUF +1 # B(1) ENTRY AFTER RCS DAP HAS BEEN DIS- YOLDBUF EQUALS XOLDBUF +1 # B(1) ABLED. NEWEST PIP VALUE REPLACES ZOLDBUF EQUALS YOLDBUF +1 # B(1) PIPBUF, WHICH IS MOVED INTO OLDBUF. # REENTRY VARIABLES SHARED WITH RCS DAP FOR TM & FLIGHT RECORDER. Q7 = THETADZ # I(2) HI-WORD ONLY ON DNLIST. ASPS(TM) = WBODY # I(6)DWN # ASKEP, ASP1, ASPUP, ASPDN, ASP3, ASP3+1 # P37 PAD LOADS (1) P37RANGE EQUALS R61CNTR +1 # I(1)PL ***** END-E6 = P37RANGE +1 # FIRST UNUSED ERASABLE LOCATION IN E6 # Page 117 # EBANK-7 ASSIGNMENTS SETLOC 3400 # *-*-*-*- OVERLAY NUMBER 0 IN EBANK 7 -*-*-*-* # EXTERNAL DELTA-V UPDATE. (21D) # (MUST BE IN ORDER FOR UPDATE PROGRAM. ALSO ENTRY PROGRAM PICK UP 'LAT(SPL' WITH A VLOAD.) LAT(SPL) ERASE +20D # I(2)DSP NOUN 61 FOR P62,63,64,67 LNG(SPL) EQUALS LAT(SPL) +2 # I(2)DSP NOUN 61 FOR P62,63,64,67 DELVSLV EQUALS LNG(SPL) +2 # I(6)TMP DELTA VEL VECT, LOC VER COORDS TIG EQUALS DELVSLV +6 # B(2)DSP NOUN 33 FOR X-V84(R32),P30,40. RTARG EQUALS TIG +2 # I(6)IN DESIRED VEHICLE RADIUS VECTOR DELLT4 EQUALS RTARG +6 # I(2)IN TIME DIFFERENCE FOR INITVEL ECSTEER EQUALS DELLT4 +2 # I(1)PL FOR P40'S DELVLVC = DELVSLV END-DELV ERASE # *NEXT AVAIL LOC AFTER UNSHARED E7* # SERVICER STORAGE. (13D) DVTOTAL EQUALS END-DELV # B(2)DSP NOUN 40,99 FOR P30,34,35,40 TGO EQUALS DVTOTAL +2 # B(2) DVCNTR EQUALS TGO +2 # B(1)TMP DELVREF EQUALS DVCNTR +1 # I(6)TMP NOMTIG EQUALS END-KALC # I(2) (CANNOT SHARE WITH KALCMANU # OR DELVREF) END-SVCR EQUALS NOMTIG +2 # ***NEXT AVAILABLE AFTER SERVICER # ALIGNMENT STORAGE. (25D) XSCD EQUALS END-SVCR # I(6)TMP YSCD EQUALS XSCD +6 # I(6)TMP ZSCD EQUALS YSCD +6 # I(6)TMP VEL/C EQUALS ZSCD +6 # I(6)TMP R53EXIT EQUALS VEL/C +6 # I(1)TMP # ALIGNMENT MARKDATA (DOWNLINK) ******* (7D) MARK2DWN EQUALS R53EXIT +1 # (7) USED BY ALIGNMENT P50'S # Page 118 # *-*-*-*- OVERLAY NUMBER 1 IN EBANK 7 -*-*-*-* # REENTRY ERASABLES. (206D) RTINIT EQUALS END-SVCR # 6P RTEAST EQUALS RTINIT +6 # 6P RTNORM EQUALS RTEAST +6 # 6P RT EQUALS RTNORM +6 # 6P UNI EQUALS RT +6 # 6P UNITV EQUALS UNI +6 # 6P VEL EQUALS UNITV +6 # 6P TIME/RTO EQUALS VEL +6 # 2P TIME OF INITIAL TARGET, RTO. -VREL EQUALS TIME/RTO +2 # 6P OLDUYA EQUALS -VREL +6 # 6P USED BY CM/POSE (ENTRY DAP) UXA/2 EQUALS OLDUYA +6 # 6P USED BY CM/POSE (ENTRY DAP) -UVA URH = UXA/2 # P67 DISPLAY NOUN UYA/2 EQUALS UXA/2 +6 # 6P USED BY CM/POSE (ENTRY DAP) UYA UZA/2 EQUALS UYA/2 +6 # 6P USED BY CM/POSE (ENTRY DAP) UNA UBX/2 EQUALS UZA/2 +6 # 6P USED BY CM/POSE (ENTRY DAP) UBY/2 EQUALS UBX/2 +6 # 6P USED BY CM/POSE (ENTRY DAP) UBZ/2 EQUALS UBY/2 +6 # 6P USED BY CM/POSE (ENTRY DAP) DTEAROT EQUALS UBZ/2 +6 # 2P DIFF EQUALS DTEAROT +2 # 2P DIFFOLD EQUALS DIFF +2 # 2P FACTOR EQUALS DIFFOLD +2 # 2P FACT1 EQUALS FACTOR +2 # 2P FACT2 EQUALS FACT1 +2 # 2P #Q7 = THETAD2 # 2P SHARED FOR TM. P64-P66 VSQUARE EQUALS FACT2 +2 # 2P LAD EQUALS VSQUARE +2 # 2P LOD EQUALS LAD +2 # 2P L/DCMINR EQUALS LOD +2 # 2P KLAT EQUALS L/DCMINR +2 # 2P L/D EQUALS KLAT +2 # 2P L/D1 EQUALS L/D +2 # 2P LEWD = VIO # 2P SHARED FOR TM. P64-P65 D EQUALS L/D1 +2 # 2P DSP NOUN 64,66,68 FOR P63,64,67 #V1 = ENDBUF +1 # 2P SHARED FOR TM. P64-P65 DLEWD EQUALS D +2 # 2P K2ROLL EQUALS DLEWD +2 # 2P GOTOADDR EQUALS K2ROLL +2 # 1P TEM1B EQUALS GOTOADDR +1 # 2P MM EQUALS TEM1B +2 # 2P GRAD EQUALS MM +1 # 2P FX EQUALS GRAD +1 # 1P OVERWRITES NEXT 5 LOCS IN P67 LEQ EQUALS FX +1 # 2P DHOOK EQUALS LEQ +2 # 2P AHOOKDV EQUALS DHOOK +2 # 2P # Page 119 DVL EQUALS AHOOKDV +2 # 2P #A0 = ENDBUF +3 # 2P SHARED FOR TM. (HI-WD) P84-P85 A1 EQUALS DVL +2 # 2P VBARS EQUALS A1 +2 # 2P COSG/2 EQUALS VBARS +2 # 2P #GAMMAL = GAMMAEI # 2P SHARED FOR TM. P64 GAMMAL1 = 22D # 2P VS1 EQUALS COSG/2 +2 # 2P VL = VPRED # 2P SHARED FOR TM. P64-P65 V EQUALS VS1 +2 # 2P #VREF = THETAD +2 # 2P SHARED FOR TM. P65 LATANG EQUALS V +2 # 2P ADJACENT FOR TM. RDOT EQUALS LATANG +2 # 2P ADJACENT FOR TM. THETAH EQUALS RDOT +2 # 2P DSP NOUN 64,67 FOR P63,64,67 #RDOTREF = THETAD # 2P SHARED FOR TM. P65 ALP EQUALS THETAH +2 # 2P ASKEP = ASPS # 2P) THESE ARE STORED IN ASP1 = ASPS +1 # 2P) SEQUENCE, OVERLAPPING ASPUP = ASPS +2 # 2P)>HI-WD OF EACH< HI-WORD ONLY APPEARING ASPDWN = ASPS +3 # 2P) ON DOWNLIST, EXCEPT ASP3 = ASPS +4 # 2P) ASP3 IS COMPLETE. C/D0 EQUALS ALP +2 # 2P -1/D0 D0 EQUALS C/D0 +2 # I(2) CONSTANT DRAG Q2 EQUALS D0 +2 # 2P # ROLLC IS LOCATED IN EBANK= AOG TO AID ENTRY DAP. RTGO EQUALS Q2 +2 # 2P DSP NOUN 66 FOR P64,P67 DNRNGERR EQUALS RTGO +2 # 2P DSP NOUN 66 FOR P64,67 XRNGERR = LATANG # FOR DISKY DISPLAY KAT EQUALS DNRNGERR +2 # 2P GMAX EQUALS KAT +2 # 1P DSP NOUN 60 FOR P61,62,63 # GMAX IS LOADED IN DOUBLE PRECISION. L/DCALC = TTE # 2P CALCULATED L/D FOR TM: P64-P67. GAMMAL = GAMMAEI # 2P SHARED FOR TM. P64. PREDANG = GAMMAEI # FOR TM IN P67. JJ = PREDANG +1 # FOR TM IN P67. VMAGI EQUALS GMAX +1 # 2P DSP NOUN 62,64,66 FOR P11,63,64. VIO EQUALS VMAGI +2 # 2P DSP NOUN 63 FOR P61. TTE EQUALS VIO +2 # 2P DSP NOUN 63 FOR P61. ASPS EQUALS TTE +2 # I(2) HI-WORD ONLY ON DNLIST FOR TEMP TTE1 EQUALS ASPS +2 # I(2)TMP HOLDS UNDECREMENTED TTE VALUE # **** P6O'S **** RTGON64 EQUALS RTGO # RANGE ERRORS NEGATIVE IF FALLS SHORT # Page 120 RTGON67 EQUALS RTGO # DSP NOUN 67 # REENTRY, RETURN TO EARTH COMMON DISPLAY (4D) VPRED EQUALS BETA12 +2 # DSP NOUN 60 FOR P61,62,63 GAMMAEI EQUALS VPRED +2 # DSP NOUN 60 FOR P61,62,63 # DISPLAY REGISTER FOR VG (2D) VGDISP EQUALS GAMMAEI +2 # B(2)DSP N.40,42,99 FOR P30,34,35,37,40, # 41 VG DISPLAY # SOME P11 DISPLAY REGISTERS (6D) ALTI EQUALS TTE1 +2 # 2P DSP NOUN 62 FOR P11. HDOT EQUALS ALTI +2 # 2P DSP NOUN 62 FOR P11. # Page 121 # *-*-*-*- OVERLAY NUMBER 2 IN EBANK 7 -*-*-*-* # KALCMANU STORAGE. (18D) MFS EQUALS END-DELV # I(18) MFI EQUALS MFS # I TMP DEL EQUALS MFS # I TMP END-KALC EQUALS MFS +18D # **NEXT AVAIL LOC AFTER KALCMANU** # MEASUREMENT INCORPORATION STORAGE (R22) STORAGE. (56D) TX789 EQUALS END-KALC # I(6)TMP GAMMA EQUALS TX789 +6 # I(3)TMP OMEGA EQUALS GAMMA +2 # I(18)TMP BVECTOR EQUALS OMEGA +18D # I(18)TMP DELTAQ EQUALS BVECTOR +18D # I(2)TMP VARIANCE EQUALS DELTAQ +2 # I(3)TMP RCLP EQUALS VARIANCE +3 # I(6)TMP GRP2SVQ EQUALS RCLP +6 # I(1)TMP QSAVE FOR RESTARTS # P20, P22, P23 DSP NOUN (5D) N49DISP EQUALS BVECTOR # B(5)TMP # S22.1 STORAGE. (36D) SVMRKDAT EQUALS GRP2SVQ +1 # I(36)TMP 5 SETS OF MARK DATA +PAD OF ONE # **** CISLUNAR NAV. ERAS. (P20'S) **** (45D) TRUNX EQUALS SVMRKDAT +36D DATATEST EQUALS TRUNX # (1) UBAR0 EQUALS TRUNX +1 UBAR1 EQUALS UBAR0 +6 UBAR2 EQUALS UBAR1 +6 RZC EQUALS UBAR2 +6 VZC EQUALS RZC +6 UCLSTAR EQUALS VZC +6 USSTAR EQUALS UCLSTAR +6 SRRETURN EQUALS USSTAR +6 # Page 122 # *-*-*-*- OVERLAY NUMBER 3 IN EBANK 7 -*-*-*-* # RENDEZVOUS GUIDANCE STORAGE. -- P32 ... P35 -- (8D) DELTEEO EQUALS END-KALC # I(2) S-S BACK VALUES OF DELTA TIME DELEL EQUALS DELTEEO +2 # I(2) S-S SECMAX EQUALS DELEL +2 # I(2) S-S MAX STOP SIZE FOR ROUTINE XXXALT EQUALS SECMAX +2 # I(2) # S40.9 STORAGE (16D) VG EQUALS XXXALT +2 # I(6)TMP VRPREV EQUALS VG +6 # I(6) TNIT EQUALS VRPREV +6 # I(2) TNITPREV EQUALS TNIT +2 # I(2) # S40.2,3 STORAGE. (1D) AXISCODE EQUALS TNITPREV +2 # I(1)IN # P30'S-P17 COMMON STORAGE. (24D) RACT3 EQUALS GRP2SVQ +1 # I(6)TMP POSITION OF ACTIVE AT TPI TIME. VACT3 EQUALS RACT3 +6 # I(6)TMP VELOCITY OF ACTIVE AT TPI TIME. RPASS3 EQUALS VACT3 +6 # I(6)TMP POSITION OF PASSIVE AT TPI TIME. VPASS3 EQUALS RPASS3 +6 # I(6)TMP VELOCITY OF PASSIVE AT TPI TIME. # P76, N84 DISPLAY (6D) DELVOV EQUALS RACT3 # I(6)DSP NOUN 84 FOR X-V84, P34-35 # INITVEL/MIDGIM STORAGE. (34D) # (CALLED BY S34.1,2, S35.1,2, AND S40.9) # (CALLS LAMBERT, CONIC SUBROUTINES) RINIT EQUALS VPASS3 +6 # I(6)IN ACTIVE VEHICLE RADIUS VECTOR VINIT EQUALS RINIT +6 # I(6)IN ACTIVE VEHICLE VELOCITY VECTOR RTARG1 EQUALS VINIT +6 # I(6)TMP SHIFTED RTARG VIPRIME EQUALS RTARG1 +6 # I(6)OUT NEW VEL REQ AT INITIAL RADIUS VTPRIME EQUALS VIPRIME +6 # I(6)OUT TOTAL VELOCITY AT DESIRED RADIUS +MGA EQUALS VTPRIME +6 # I(2)DSP NOUN 45 FOR P30,34,35. +MID GIM. COZY4 EQUALS +MGA +2 # I(2)TMP COSINE OF ANGLE WHEN ROT STARTS # THE FOLLOWING OVERLAYS MEASUREMENT INCORP AND CANNOT SHARE WITH TPI # Page 123 INTIME EQUALS AXISCODE +3 ITCTR EQUALS INTIME +2 # I(1)TMP ITERATION COUNTER END-IN/M EQUALS COZY4 +2 # ** NEXT AVAIL LOC AFTER INITVEL/MIDGIM ** # P34 AND P33 STORAGE. (OVERLAYS INITVEL/MIDGIM) (24D) VAPREC EQUALS RINIT # I(6) S-S PREC VEC FOR NOM TPI TIME (ACT V) RAPREC EQUALS VINIT # I(6) S-S PREC VEC FOR NOM TPI TIME (ACT V) VPPREC EQUALS VIPRIME # I(6) S-S PREC VEC FOR NOM TPI TIME (PASS) RPPREC EQUALS VTPRIME # I(6) S-S PREC VEC FOR NOM TPI TIME (PASS) # P30, P40 INTERFACE. (20D) RTIG EQUALS END-IN/M # I(6)TMP VTIG EQUALS RTIG +6 # I(6)TMP DELVSIN EQUALS VTIG +6 # I(6)TMP DELVEET3 EQUALS DELVSIN # TMP DELTA VEL VECT INERTIAL COORDS. VGTEMP EQUALS DELVEET3 DELVSAB EQUALS DELVSIN +6 # I(2)TMP # P35-P40 INTERFACE STORAGE. (OVERLAYS P30-P40 I/F STORAGE) (12D) RPASS4 EQUALS RTIG # I(6)TMP POSITION OF PASSIVE AT INTERCEPT VPASS4 EQUALS RPASS4 +6 # I(6)TMP VELOCITY OF PASSIVE AT INTERCEPT # TPI SEARCH (P17) (6D) E2 EQUALS VPASS4 +6 # I(6)TMP # P30-P40 COMMON STORAGE. (3D) TPASS4 EQUALS DELVSAB +2 # I(2)TMP TINT = TPASS4 # I(2) QTEMP EQUALS TPASS4 +2 # I(1)TMP # P30-P40 STORAGE. (4D) TTOGO EQUALS QTEMP +1 # B(2)DSP NOUN 35,40,45,59,99 # FOR P30,34,35,40,41,47, R30. TTPI EQUALS TTOGO +2 # B(2)DSP NOUN 37 FOR P34 TPI TIME, CSECS. # Page 124 END-P30S EQUALS TTPI +2 # ** NEXT AVAIL LOC AFTER P30-40 STORAGE. ** # P40 STORAGE. (8D) VGBODY EQUALS END-P30S # B(6)DSP NOUN 85 FOR P40,41,42 VG-SC COOR DELVCTL = VGBODY P40TMP EQUALS VGBODY +6 # B(2)TMP # P47 STORAGE. DV47TEMP EQUALS VG DELVIMU EQUALS P40TMP +2 # I(6)DSP NOUN 83 FOR P47 DELTAV(IMU). # S40.1 STORAGE. (23D) CSTEER EQUALS DELVIMU +6 # I(2)IN BDT EQUALS CSTEER +2 # I(6)IN UT EQUALS BDT +6 # I(6)OUT THRUST DIRECTION VGTIG EQUALS UT +6 # I(6)OUT VGPREV = VGTIG F EQUALS VGTIG +6 # I(2)OUT S40.3 NEEDS THIS QTEMP1 EQUALS F +2 # I(1)TMP HOLDS RETURN # R41 (2D) T-TO-ADD EQUALS QTEMP1 +1 # I(1D) FOR MIDTOAVE # Page 125 # *-*-*-*- OVERLAY NUMBER 4 IN EBANK 7 -*-*-*-* # S35.1 STORAGE. (2D) TSTRT EQUALS END-P30S # I(2)IN MIDCOURSE START TIME # S34.1 STORAGE. (OVERLAYS S35.1 STORAGE) (1) TITER EQUALS TSTRT # I(1)TMP ITERATION COUNTER # (P30-31 Q-SAVES) (1) P30/31RT EQUALS TITER # B(1) RETURN POINT # P22 STORAGE. (6D) S22WUNL EQUALS TSTRT +2 # 1 WUNL W8 UNKNOWN INIT VALUE. S22TOFF EQUALS S22WUNL +1 # 2 T SUB OFF S22TPRIM EQUALS S22TOFF +2 # 2 SAVE TF S22EORM EQUALS S22TPRIM +2 # 0 = EARTH -- NON-ZERO = MOON # DOWNLINK ERASABLES FOR P22, P20 MARK DATA. (8D) MARKDOWN EQUALS S22EORM +1 # B(1) RM EQUALS S22RTNEX # DOWNLINK OF VHF RANGE # S22.1 (1D) S22RTNEX EQUALS MARKDOWN +7 # B(1) # P22 STORAGE (6D) STARSAV3 EQUALS S22RTNEX +1 # I(6)TMP # CRS61.1 STORAGE. --A SUBSET OF P20-- (14D) Q611 EQUALS RM +1 # I(1)TMP QSAVE Q6111 EQUALS Q611 +1 # I(1)TMP QSAVE SAVEPOS EQUALS Q6111 +1 # I(6)TMP LEM POSITION VECTOR # Page 126 SAVEVEL EQUALS SAVEPOS +6 # I(6)TMP LEM VELOCITY VECTOR # ATTITUDE MANEUVER -- CALLED BY P20,R61,R63,CRS61.1 (3D) PRAXIS EQUALS SAVEVEL +6 # B(3) S-S DISP RES FOR PREF AXIS N95. # MARK ROUTINE (R21) STORAGE. -- IS SUBSET OF R22 -- (14D) MRKBUF1 EQUALS PRAXIS +3 # B(7)TMP R21 MARK BUFFER. MRKBUF2 EQUALS MRKBUF1 +7 # B(7)TMP R21 MARK BUFFER. # MORE CONICS STORAGE. (4) COGA EQUALS 3774 # I(2) COTAN OF INITIAL FLIGHT PATH ANGLE INDEP EQUALS COGA # I(1) USED BY SUBROUTINE 'ITERATOR' EPSILONL EQUALS COGA +2 # I(2)TMP # RENDEZVOUS GUIDANCE STORAGE. -- P32...P35 -- (10D) ELEV EQUALS MRKBUF2 +7 # I(2)TMP RTX1 EQUALS ELEV +2 # (1) RTX2 EQUALS RTX1 +1 # (1) RTMU EQUALS RTX2 +1 # (2) RTSR1/MU EQUALS RTMU +2 # (2) CENTANG EQUALS RTSR1/MU +2 # I(2) S-S CENTRAL ANGLE COVERED (TPI-TFF) # TPI SEARCH (S17.1, S17.2) P17 STORAGE.(10D) DELTEE EQUALS MRKBUF2 +7 # I(2) XRS EQUALS DELTEE +2 # I(2) THETL EQUALS XRS +2 # I(2) TF EQUALS THETL +2 # I(2) DELHITE EQUALS TF +2 # (2) # Page 127 # *-*-*-*- OVERLAY NUMBER 5 IN EBANK 7 -*-*-*-* # P17,P34 (2D) NN1 = NN # I(2)DSP NOUN 55,R1 # ********* THE FOLLOWING ARE FOR FLIGHT 504 ONLY ************* # RETURN-TO-EARTH STORAGE. (93D) RTEDVD EQUALS END-IN/M # I(2)IN DELTA VELOCITY DESIRED M/CS B7 RTEGAM2D EQUALS RTEDVD +2 # I(2)IN REENTRY ANGLE DESIRED REVS B0 RCON EQUALS RTEGAM2D +2 # I(2)TMP CONIC R2 RADIUS M B29 R(T1)/ EQUALS RCON +2 # I(6)TMP POSITION VECTOR AT TIG M B29/B27 R(T1) EQUALS R(T1)/ +6 # I(2)TMP MAGNITUDE OF R(T1)/ M B29/B27 DT21PR EQUALS R(T1) +2 # I(2)TMP PREVIOUS DT21 CS B30 MAMAX1 EQUALS DT21PR +2 # I(2)TMP MAJ AXIS LOW BOUND LMT M B30 MAMAX2 EQUALS MAMAX1 +2 # I(2)TMP MAJ AXIS UP BOUND LMT M B30 R(T2)/ EQUALS MAMAX2 +2 # I(6)TMP FINAL POSITION VECTOR M B29/B27 RD EQUALS R(T2)/ +6 # I(2)TMP FINAL R DESIRED M B29/B27 DRCON EQUALS RD +2 # I(2)TMP RCON SLOPE ITERATOR M B29/B27 RPRE' EQUALS DRCON +2 # I(2)TMP PREVIOUS RPRE M B29/B27 V(T1)/ EQUALS RPRE' +2 # I(6)TMP VEL VECTOR AT TIG M/CS B7/B5 V2(T1)/ EQUALS V(T1)/ +6 # I(6)TMP POST IMP VEL AT TIG M/CS B7/B5 DV EQUALS V2(T1)/ +6 # I(2)TMP DELTA VELOCITY AT TIG M/CS B7/B5 V(T2)/ EQUALS DV +2 # I(6)TMP FINAL VELOCITY VECTOR M/CS B7/B5 T1 EQUALS V(T2)/ +6 # I(2)TMP INITIAL VECTOR TIME CS B28 PCON EQUALS T1 +2 # I(2)TMP SEMI-LATUS RECTUM M B29 X(T1) EQUALS PCON +2 # I(2)TMP COTANGENT GAMMA1 B5 T12 EQUALS X(T1) +2 # I(2)TMP INIT TO FINAL POSIT TIME CS B28 DELTAT EQUALS T12 +2 # I(2)TMP DELTA T IN SAVE PERILUNE CS B28 NN1A EQUALS DELTAT +2 # I(2)TMP ITERATION COUNTER 1 NN2 EQUALS NN1A +2 # I(2)TMP ITERATION COUNTER 2 RTENCKEX EQUALS NN2 +2 # I(1)TMP RTENCK RETURN ADDRESS CONICX1 EQUALS RTENCKEX +1 # I(1)TMP CONICS MU TABLE INDEX T2 EQUALS CONICX1 +1 # I(2)TMP FINAL TIME CS B28 UR1/ EQUALS T2 +2 # I(6)TMP UNIT R(T1)/ B1 UV1/ EQUALS UR1/ +6 # I(6)TMP UNIT V(T1)/ B1 BETA1 EQUALS UV1/ +6 # I(2)TMP 1+X(T2)**2 B1 P(T1) EQUALS BETA1 +2 # I(1)TMP PRIMARY BODY STATE TIME 1 B14 CFPA EQUALS P(T1) +1 # I(2)TMP COSINE FLIGHT PATH ANGLE B1 PHI2 EQUALS CFPA +2 # I(2)TMP PERI OR APO INDICATOR B2 SPRTEX EQUALS PHI2 +2 # I(1)TMP ROUTINE RETURN ADDRESS VNSTORE EQUALS SPRTEX +1 # I(1)TMP VERBNOUN STORAGE BETA12 EQUALS VNSTORE +1 # I(2)TMP SIGN FOR TIMERAD # OVERLAYS WITHIN RETURN-TO-EARTH STORAGE. # Page 128 RPRE EQUALS 24D # I(2)TMP COMPUTED PREC RADIUS M B29/B27 P/RPRE EQUALS 26D # I(2)TMP P/R B4 R/APRE EQUALS 28D # I(2)TMP R/A B6 X(T2)PRE EQUALS T12 # I(2)TMP PREC COTAN GAMMA2 B0 X(T2) EQUALS DELTAT # I(2)TMP COTAN GAMMA2 B0 UH/ EQUALS UV1/ # I(2)TMP UNIT HORIZONTAL VECTOR. B1 SPRTETIG EQUALS TIG # I(2)IN TIME OF IGNITION CS B28 # Page 129 # *-*-*-*- OVERLAY 6 IN EBANK 7 -*-*-*-* # P32,P33 # THE FOLLOWING OVERLAY MEAS. INCORP. ARE AND IN USE ONLY WHEN (32D) POSTCSI EQUALS VG # I(2) DELVCSI EQUALS POSTCSI +2 # I(2) DELDV EQUALS DELVCSI +2 # I(2) GAMPREV EQUALS DELDV +2 # I(2) DVPREV EQUALS GAMPREV +2 # I(2) POSTCDH EQUALS DVPREV +2 # I(2) HAFPA1 EQUALS POSTCDH VACT4 EQUALS POSTCDH +2 # I(6) RDOTV EQUALS VACT4 +6 # I(2) VACT1 EQUALS RDOTV +2 # I(6) VPASS1 EQUALS VACT1 +6 # I(6) VEL. PASSIVE VEH. AT CSI TIME UNVEC EQUALS VACT3 T2TOT3 EQUALS TPASS4 # I(2) TPI - TCDH CSIALRM EQUALS TITER # I(2) ALARM INDEX DELVEET2 EQUALS S22WUNL # I(6) VACT3 - VACT2 = DVCDH REF. COORD. # ADDITIONAL CSI - CDH STORAGE. (10D) RPASS1 EQUALS CENTANG +2 # I(6) POS. PASSIVE VEH. AT CSI TIME. LOOPCT EQUALS RPASS1 +6 # I(2) ITERATION COUNTER NN EQUALS LOOPCT +2 # I(2) # P21 STORAGE (19D) P21ORIG EQUALS TRUNX # I(1) P21BASER EQUALS P21ORIG +1 # I(6) P21BASEV EQUALS P21BASER +6 # I(6) P21ALT EQUALS P21BASEV +6 # I(2) NOUN 73 R1 ALTITUDE P21VEL EQUALS P21ALT +2 # I(2) NOUN 73 R2 VELOCITY P21GAM EQUALS P21VEL +2 # I(2) NOUN 73 R3 FLIGHT PATH ANGLE # The following two statements had been just "WHOCARES = 3777".---RSB 2009 SETLOC 3777 WHOCARES EQUALS # A DUMMY FOR E-BANK INSENSITIVE 2CADRS. END-E7 EQUALS WHOCARES # ***** LAST LOCATION IN E7 # Page 130 ... is empty. ================================================ FILE: Comanche055/EXECUTIVE.agc ================================================ # Copyright: Public domain. # Filename: EXECUTIVE.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1208-1220 # Mod history: 2009-05-14 RSB Adapted from the Colossus249/ file of the # same name, using Comanche055 page images. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 1208 BLOCK 02 # TO ENTER A JOB REQUEST REQUIRING NO VAC AREA: COUNT 02/EXEC NOVAC INHINT AD FAKEPRET # LOC(MPAC +6) - LOC(QPRET) TS NEWPRIO # PRIORITY OF NEW JOB + NOVAC C(FIXLOC) EXTEND INDEX Q # Q WILL BE UNDISTURBED THROUGHOUT. DCA 0 # 2CADR OF JOB ENTERED. DXCH NEWLOC CAF EXECBANK XCH FBANK TS EXECTEM1 TCF NOVAC2 # ENTER EXECUTIVE BANK. # TO ENTER A JOB REQUEST REQUIRING A VAC AREA - E.G., ALL (PARTIALLY) INTERPRETIVE JOBS. FINDVAC INHINT TS NEWPRIO EXTEND INDEX Q DCA 0 SPVACIN DXCH NEWLOC CAF EXECBANK XCH FBANK TCF FINDVAC2 # OFF TO EXECUTIVE SWITCHED-BANK. # TO ENTER A FINDVAC WITH THE PRIORITY IN NEWPRIO TO THE 2CADR ARRIVING IN A AND L: # USERS OF SPVAC MUST INHINT BEFORE STORING IN NEWPRIO. SPVAC XCH Q AD NEG2 XCH Q TCF SPVACIN # TO SUSPEND A BASIC JOB SO A HIGHER PRIORITY JOB MAY BE SERVICED: CHANG1 LXCH Q CAF EXECBANK XCH BBANK TCF CHANJOB # TO SUSPEND AN INTERPRETIVE JOB: CHANG2 CS LOC # NEGATIVE LOC SHOWS JOB = INTERPRETIVE. # ITRACE (4) REFERS TO "CHANG2". # Page 1209 TS L +2 CAF EXECBANK TS BBANK TCF CHANJOB -1 # Page 1210 # TO VOLUNTARILY SUSPEND A JOB UNTIL THE COMPLETION OF SOME ANTICIPATED EVENT (I/O EVENT ETC.): JOBSLEEP TS LOC CAF EXECBANK TS FBANK TCF JOBSLP1 # TO AWAKEN A JOB PUT TO SLEEP IN THE ABOVE FASHION: JOBWAKE INHINT TS NEWLOC CS TWO # EXIT IS VIA FINDVAC/NOVAC PROCEDURES. ADS Q CAF EXECBANK XCH FBANK TCF JOBWAKE2 # TO CHANGE THE PRIORITY OF A JOB CURRENTLY UNDER EXECUTION: PRIOCHNG INHINT # NEW PRIORITY ARRIVES IN A. RETURNS TO TS NEWPRIO # CALLER AS SOON AS NEW JOB PRIORITY IS CAF EXECBANK # HIGHEST. PREPARE FOR POSSIBLE BASIC- XCH BBANK # STYLE CHANGE-JOB. TS BANKSET CA Q TCF PRIOCH2 # TO REMOVE A JOB FROM EXECUTIVE CONSIDERATIONS: ENDOFJOB CAF EXECBANK TS FBANK TCF ENDJOB1 ENDFIND CA EXECTEM1 # RETURN TO CALLER AFTER JOB ENTRY TS FBANK # COMPLETE. TCF Q+2 EXECBANK CADR FINDVAC2 FAKEPRET ADRES MPAC -36D # LOC(MPAC +6) - LOC(QPRET) # Page 1211 # LOCATE AN AVAILABLE VAC AREA. BANK 01 COUNT 01/EXEC FINDVAC2 TS EXECTEM1 # (SAVE CALLER'S BANK FIRST.) CCS VAC1USE TCF VACFOUND CCS VAC2USE TCF VACFOUND CCS VAC3USE TCF VACFOUND CCS VAC4USE TCF VACFOUND CCS VAC5USE TCF VACFOUND TC BAILOUT OCT 1201 # NO VAC AREAS. VACFOUND AD TWO # RESERVE THIS VAC AREA BY STORING A ZERO ZL # IN ITS VAC USE REGISTER AND STORE THE INDEX A # ADDRESS OF THE FIRST WORD OF IT IN THE LXCH 0 -1 # LOW NINE BITS OF THE PRIORITY WORD. ADS NEWPRIO NOVAC2 CAF ZERO # NOVAC ENTERS HERE. FIND A CORE SET. TS LOCCTR CAF NO.CORES # SEVEN SETS OF ELEVEN REGISTERS EACH. NOVAC3 TS EXECTEM2 INDEX LOCCTR CCS PRIORITY # EACH PRIORITY REGISTER CONTAINS -0 IF TCF NEXTCORE # THE CORRESPONDING CORE SET IS AVAILABLE. NO.CORES DEC 6 TCF NEXTCORE # AN ACTIVE JOB HAS A POSITIVE PRIORITY # BUT A DORMANT JOB'S PRIORITY IS NEGATIVE # Page 1212 CORFOUND CA NEWPRIO # SET THE PRIORITY OF THIS JOB IN THE CORE INDEX LOCCTR # SET'S PRIORITY REGISTER AND SET THE TS PRIORITY # JOB'S PUSH-DOWN POINTER AT THE BEGINNING MASK LOW9 # OF THE WORK AREA AND OVERFLOW INDICATOR INDEX LOCCTR TS PUSHLOC # OFF TO PREPARE FOR INTERPRETIVE PROGRAMS CCS LOCCTR # IF CORE SET ZERO IS BEING LOADED, SET UP TCF SETLOC # OVFIND AND FIXLOC IMMEDIATELY. TS OVFIND CA PUSHLOC TS FIXLOC SPECTEST CCS NEWJOB # SEE IF ANY ACTIVE JOBS WAITING (RARE). TCF SETLOC # MUST BE AWAKENED BUT UNCHANGED JOB. TC CCSHOLE TC CCSHOLE TS NEWJOB # +0 SHOWS ACTIVE JOB ALREADY SET. DXCH NEWLOC DXCH LOC TCF ENDFIND SETLOC DXCH NEWLOC # SET UP THE LOCATION REGISTERS FOR THIS INDEX LOCCTR DXCH LOC INDEX NEWJOB # THIS INDEX INSTRUCTION INSURES THAT THE CS PRIORITY # HIGHEST ACTIVE PRIORITY WILL BE COMPARED AD NEWPRIO # WITH THE NEW PRIORITY TO SEE IF NEWJOB EXTEND # SHOULD BE SET TO SIGNAL A SWITCH. BZMF ENDFIND CA LOCCTR # LOCCTR IS LEFT SET AT THIS CORE SET IF TS NEWJOB # THE CALLER WANTS TO LOAD ANY MPAC TCF ENDFIND # REGISTERS, ETC. NEXTCORE CAF COREINC ADS LOCCTR CCS EXECTEM2 TCF NOVAC3 TC BAILOUT # NO CORE SETS. OCT 1202 # Page 1213 # THE FOLLOWING ROUTINE SWAPS CORE SET 0 WITH THAT WHOSE RELATIVE ADDRESS IS IN NEWJOB. -2 LXCH LOC -1 CAE BANKSET # BANKSET, NOT BBANK, HAS RIGHT CONTENTS. CHANJOB INHINT EXTEND ROR SUPERBNK # PICK UP CURRENT SBANK FOR BBCON XCH L # LOC IN A AND BBCON IN L. +4 INDEX NEWJOB # SWAP LOC AND BANKSET. DXCH LOC DXCH LOC CAE BANKSET EXTEND WRITE SUPERBNK # SET SBANK FOR NEW JOB. DXCH MPAC # SWAP MULTI-PURPOSE ACCUMULATOR AREAS. INDEX NEWJOB DXCH MPAC DXCH MPAC DXCH MPAC +2 INDEX NEWJOB DXCH MPAC +2 DXCH MPAC +2 DXCH MPAC +4 INDEX NEWJOB DXCH MPAC +4 DXCH MPAC +4 DXCH MPAC +6 INDEX NEWJOB DXCH MPAC +6 DXCH MPAC +6 CAF ZERO XCH OVFIND # MAKE PUSHLOC NEGATIVE IF OVFIND NZ. EXTEND BZF +3 CS PUSHLOC TS PUSHLOC DXCH PUSHLOC INDEX NEWJOB DXCH PUSHLOC DXCH PUSHLOC # SWAPS PUSHLOC AND PRIORITY. CAF LOW9 # SET FIXLOC TO BASE OF VAC AREA. MASK PRIORITY TS FIXLOC CCS PUSHLOC # SET OVERFLOW INDICATOR ACCORDING TO CAF ZERO TCF ENDPRCHG -1 # Page 1214 CS PUSHLOC TS PUSHLOC CAF ONE XCH OVFIND TS NEWJOB ENDPRCHG RELINT DXCH LOC # BASIC JOBS HAVE POSITIVE ADDRESSES, SO EXTEND # DISPATCH WITH A DTCB. BZMF +2 # IF INTERPRETIVE, SET UP EBANK, ETC. DTCB # Page 1215 COM # EPILOGUE TO JOB CHANGE FOR INTERPRETIVE AD ONE TS LOC # RESUME. TCF INTRSM # COMPLETE JOBSLEEP PREPARATIONS. JOBSLP1 INHINT CS PRIORITY # NNZ PRIORITY SHOWS JOB ASLEEP. TS PRIORITY CAF LOW7 MASK BBANK EXTEND ROR SUPERBNK # SAVE OLD SUPERBANK VALUE. TS BANKSET CS ZERO JOBSLP2 TS BUF +1 # HOLDS - HIGHEST PRIORITY. TCF EJSCAN # SCAN FOR HIGHEST PRIORITY ALA ENDOFJOB. NUCHANG2 INHINT # QUICK... DONT LET NEWJOB CHANGE TO +0 . CCS NEWJOB TCF +3 # NEWJOB STILL PNZ RELINT # NEWJOB HAS CHANGED TO +0. WAKE UP JOB TCF ADVAN +2 # VIA NUDIRECT. (VERY RARE CASE.) CAF TWO EXTEND WOR DSALMOUT # TURN ON ACTIVITY LIGHT DXCH LOC # AND SAVE ADDRESS INFO FOR BENEFIT OF TCF CHANJOB + 4 # POSSIBLE SLEEPING JOB. # Page 1216 # TO WAKE UP A JOB, EACH CORE SET IS FOUND TO LOCATE ALL JOBS WHICH ARE ASLEEP. IF THE FCADR IN THE # LOC REGISTER OF ANY SUCH JOB MATCHES THAT SUPPLIED BY THE CALLER, THAT JOB IS AWAKENED. IF NO JOB IS FOUND, # LOCCTR IS SET TO -1 AND NO FURTHER ACTION TAKES PLACE. JOBWAKE2 TS EXECTEM1 CAF ZERO # BEGIN CORE SET SCAN. TS LOCCTR CAF NO.CORES JOBWAKE4 TS EXECTEM2 INDEX LOCCTR CCS PRIORITY TCF JOBWAKE3 # ACTIVE JOB - CHECK NEXT CORE SET. COREINC DEC 12 # 12 REGISTERS PER CORE SET. TCF WAKETEST # SLEEPING JOB - SEE IF CADR MATCHES. JOBWAKE3 CAF COREINC ADS LOCCTR CCS EXECTEM2 TCF JOBWAKE4 CS ONE # EXIT IF SLEEPING JOB NOT FOUND. TS LOCCTR TCF ENDFIND WAKETEST CS NEWLOC INDEX LOCCTR AD LOC EXTEND BZF +2 # IF MATCH. TCF JOBWAKE3 # EXAMINE NEXT CORE SET IF NO MATCH. INDEX LOCCTR # RE-COMPLEMENT PRIORITY TO SHOW JOB AWAKE CS PRIORITY TS NEWPRIO INDEX LOCCTR TS PRIORITY CS FBANKMSK # MAKE UP THE 2CADR OF THE WAKE ADDRESS MASK NEWLOC # USING THE CADR IN NEWLOC AND THE EBANK AD 2K # HALF OF BBANK SAVED IN BANKSET. XCH NEWLOC MASK FBANKMSK INDEX LOCCTR AD BANKSET TS NEWLOC +1 CCS LOCCTR # SPECIAL TREATMENT IF THIS JOB WAS TCF SETLOC # ALREADY IN THE RUN (0) POSITION. TCF SPECTEST # Page 1217 # PRIORITY CHANGE. CHANGE THE CONTENTS OF PRIORITY AND SCAN FOR THE JOB OF HIGHEST PRIORITY. PRIOCH2 TS LOC CAF ZERO # SET FLAG TO TELL ENDJOB SCANNER IF THIS TS BUF # JOB IS STILL HIGHEST PRIORITY. CAF LOW9 MASK PRIORITY AD NEWPRIO TS PRIORITY COM TCF JOBSLP2 # AND TO EJSCAN. # Page 1218 # RELEASE THIS CORE SET AND VAC AREA AND SCAN FOR THE JOB OF HIGHEST ACTIVE PRIORITY. ENDJOB1 INHINT CS ZERO TS BUF +1 XCH PRIORITY MASK LOW9 TS L CS FAKEPRET AD L EXTEND BZMF EJSCAN # NOVAC ENDOFJOB CCS L INDEX A TS 0 EJSCAN CCS PRIORITY +12D TC EJ1 TC CCSHOLE TCF +1 CCS PRIORITY +24D # EXAMINE EACH PRIORITY REGISTER TO FIND TC EJ1 # THE JOB OF HIGHEST ACTIVE PRIORITY. TC CCSHOLE TCF +1 CCS PRIORITY +36D TC EJ1 -CCSPR -CCS PRIORITY TCF +1 CCS PRIORITY +48D TC EJ1 TC CCSHOLE TCF +1 CCS PRIORITY +60D TC EJ1 TC CCSHOLE TCF +1 CCS PRIORITY +72D TC EJ1 TC CCSHOLE TCF +1 # Page 1219 # EVALUATE THE RESULTS OF THE SCAN. CCS BUF +1 # SEE IF THERE ARE ANY ACTIVE JOBS WAITING TC CCSHOLE TC CCSHOLE TCF +2 TCF DUMMYJOB CCS BUF # BUF IS ZERO IF THIS IS A PRIOCHNG AND TCF +2 # CHANGED PRIORITY IS STILL HIGHEST. TCF ENDPRCHG -1 INDEX A # OTHERWISE, SET NEWJOB TO THE RELATIVE CAF 0 -1 # ADDRESS OF THE NEW JOB'S CORE SET. AD -CCSPR TS NEWJOB TCF CHANJOB -2 EJ1 TS BUF +2 AD BUF +1 # - OLD HIGH PRIORITY. CCS A CS BUF +2 TCF EJ2 # NEW HIGH PRIORITY. NOOP INDEX Q TC 2 # PROCEED WITH SEARCH. EJ2 TS BUF +1 EXTEND QXCH BUF # FOR LOCATING CCS PRIORITY + X INSTR. INDEX BUF TC 2 # Page 1220 # IDLING AND COMPUTER ACTIVITY (GREEN) LIGHT MAINTENANCE. THE IDLING ROUTINE IS NOT A JOB IN ITSELF, # BUT RATHER A SUBROUTINE OF THE EXECUTIVE. EBANK= SELFRET # SELF-CHECK STORAGE IN EBANK. DUMMYJOB CS ZERO # SET NEWJOB TO -0 FOR IDLING. TS NEWJOB RELINT CS TWO # TURN OFF THE ACTIVITY LIGHT. EXTEND WAND DSALMOUT ADVAN CCS NEWJOB # IS A NEWJOB ACTIVE ? TCF NUCHANG2 # YES... ONE REQUIRING A CHANGE JOB. CAF TWO # NEW JOB ALREADY IN POSITION FOR TCF NUDIRECT # EXECUTION. CA SELFRET TS L # PUT RETURN ADDRESS IN L. CAF SELFBANK TCF SUPDXCHZ + 1 # AND DISPATCH JOB. EBANK= SELFRET SELFBANK BBCON SELFCHK NUDIRECT EXTEND # TURN THE GREEN LIGHT BACK ON. WOR DSALMOUT DXCH LOC # JOBS STARTED IN THIS FASHION MUST BE TCF SUPDXCHZ BLOCK 2 # IN FIXED-FIXED SO OTHERS MAY USE. COUNT 02/EXEC # SUPDXCHZ - ROUTINE TO TRANSFER TO SUPERBANK. # CALLING SEQUENCE # TCF SUPDXCHZ # WITH 2CADR OF DESIRED LOCATION IN A + L. SUPDXCHZ XCH L # BASIC. +1 EXTEND WRITE SUPERBNK TS BBANK TC L NEG100 OCT 77677 ================================================ FILE: Comanche055/EXTENDED_VERBS.agc ================================================ # Copyright: Public domain. # Filename: EXTENDED_VERBS.agc # Purpose: Part of the source code for Comanche, build 055. It # is part of the source code for the Command Module's # (CM) Apollo Guidance Computer (AGC), Apollo 11. # Assembler: yaYUL # Reference: pp. 236-267 # Contact: Ron Burkey , # Fabrizio Bernardini # Website: http://www.ibiblio.org/apollo. # Mod history: 2009-05-18 FB Transcription Batch 3 Assignment. # 2009-05-20 RSB Corrections: POODOO -> P00DOO, # GOTOPOOH -> GOTOPOOH, added a couple of # missing instructions in Verb 96. # 2009-05-23 RSB In SYSTEST, corrected TC FLAGWRD1 to # CA FLAGWRD1. Added a variety of SBANK= # statements prior to 2CADRs. One day I'll # have to figure out what yaYUL is doing # wrong with those .... # # The contents of the "Comanche055" files, in general, are transcribed # from scanned documents. # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. April 1, 1969. # # This AGC program shall also be referred to as Colossus 2A # # Prepared by # Massachusetts Institute of Technology # 75 Cambridge Parkway # Cambridge, Massachusetts # # under NASA contract NAS 9-4065. # # Refer directly to the online document mentioned above for further # information. Please report any errors to info@sandroid.org. # Page 236 BANK 7 SETLOC EXTVERBS BANK EBANK= OGC COUNT* $$/EXTVB # FAN-OUT GOEXTVB INDEX MPAC # VERB-40 IS IN MPAC TC LST2FAN # FAN AS BEFORE. LST2FAN TC VBZERO # VB40 ZERO (USED WITH NOUN 20 ONLY). TC VBCOARK # VB41 COARSE ALIGN (USED WITH NOUN 20 OR # 91 ONLY) TC IMUFINEK # VB42 FINE ALIGN IMU TC IMUATTCK # VB43 LOAD IMU ATTITUDE ERROR METERS. TC SETSURF # VB44 SET SURFACE FLAG TC RESTSRF # VB45 RESET SURFACE FLAG TC STABLISH # VB46 ESTABLISH G+C CONTROL. TC LMTOCMSV # VB47 MOVE LM STATE VECTOR INTO CM TC DAPDISP # VB48 LOAD A/P DATA. TCF CREWMANU # VB 49 START AUTOMATIC ATTITUDE MANEUVER TC GOLOADLV # VB50 PLEASE PERFORM TC GOLOADLV # VB51 PLEASE MARK TC V52 # VB52 SET OFFSET NO. FOR P22 TC GOLOADLV # VB 53 PLEASE PERFORM COAS MARK TC GOTOR23 # VB54 PLEASE MARK (R-21-BACKUP) TC ALINTIME # VB55 ALIGN TIME TC TRACKTRM # VB56 TERMINATE TRACKING (P20 +P25) TC GOTOR21 # V57 START R21 REND TRACK SIGHT MARK ROUT TC ENATMA # VB58 ENABLE AUTOMATIC ATTITUDE MANEUVER TC GOLOADLV # VB59 PLEASE CALIBRATE TC V60 # VB60 SET CPHIX (N17) EQUAL TO CDU TC V61 # VB61 SELECT MODE I TC V62 # VB62 SELECT MODE II, ERROR WRT N22 TC V63 # VB63 SELECT MODE III, ERROR WRT N17 TC VB64 # VB64 CALCULATE,DISPLAY S-BAND ANT ANGLES TC CKOPTVB # V 65 E OPTICAL VERIFICATION FOR PRELAUNC TC ATTACHED # VB 66 ATTACHED. MOVE THIS TO OTHER STATE TC V67 # VB67 WMATRIX MONITOR TC STROKON # VB68 CSM STROKE TEST ON. VERB69 TC VERB69 # VB 69 CAUSE RESTART TC V70UPDAT # VB70 UPDATE LIFTOFF TIME. TC V71UPDAT # VB71 UNIVERSAL UPDATE - BLOCK ADDRESS. TC V72UPDAT # VB72 UNIVERSAL UPDATE - SINGLE ADDRESS. TC V73UPDAT # VB73 UPDATE AGC TIME (OCTAL). TC DNEDUMP # VB74 INITIALIZE DOWN-TELEMETRY PROGRAM # FOR ERASABLE DUMP. TC LFTFLGON # VB75 SET LIFTOFF FLAG. # Page 237 TC SETPRFLG # VB76 SET PREFERRED ATTITUDE FLAG TC RESETPRF # VB77 RESET PREFERRED ATT. FLAG TC CHAZFOGC # CHANGE GYROCOMPASS LAUNCH AZIMUTH V78 TC ALM/END # V79 SPARE TC LEMVEC # VB80 UPDATE LEM STATE VECTOR TC CSMVEC # VB81 UPDATE CSM STATE VECTOR TC V82PERF # VB82 REQUEST ORBIT PARAM DISPLAY (R30) TC V83PERF # VB83 RANGE, RANGE RATE, +X AXIS (R31) TC ALM/END # V84 SPARE TC V85PERF # VB85 RANGE, RANGE RATE, SLOS (R32) TC V86PERF # VB86 BACKUP MARK REJECT TC SETVHFLG # VB87 SET VHF RANGE FLAG TC RESETVHF # VB88 RESET VHF RANGE FLAG TC V89PERF # V89-ALIGN X OR PRF CSM AXIS TO LOS (R63) TC V90PERF # VB90-OUT OF PLAN PARAMETERS %R36" TC GOSHOSUM # VB91 TEMP FOR HYBRID AND STG. TC SYSTEST # VB92 OPERATE IMU PERFORMANCE TEST TC WMATRXNG # VB93 CLEAR RENDWFLG TC VERB94 # VB94 DO R64 TC ALM/END # VB95 SPARE TCF VERB96 # VB96 SET QUITFLAG TO STOP INTEGRATION TC GOLOADLV # VB97 PLEASE PERFORM ENGINE-FAIL (R41) TC ALM/END # VB98 SPARE TC GOLOADLV # VB99 PLEASE ENABLE ENGINE # END OF EXTENDED VERB FAN TESTXACT CCS EXTVBACT TC ALM/END # YES, TURN ON OPERATOR ERROR LIGHT CA FLAGWRD4 # ARE PRIOS USING DSKY MASK OC24100 CCS A TC ALM/END CAF OCT24 # SET BITS 3 AND 5 SETXTACT TS EXTVBACT # NO. SET FLAG TO SHOW EXT VERB DISPLAY # SYSTEM BUSY CA Q TS MPAC +1 CS TWO # BLANK EVERYTHING EXCEPT MM AND VERB TC NVSUB TC +1 TC MPAC +1 XACTALM TC FALTON # TURN ON OPERATOR ERROR LIGHT. TC ENDEXT # RELEASE MARK AND EXT. VERB DISPLAY SYS. # Page 238 TERMEXTV EQUALS ENDEXT ENDEXTVB EQUALS ENDEXT XACT0 CAF ZERO # RELEASE MARK AND EXT. VERB DISPLAY SYS. TC SETXTACT ALM/END TC FALTON # TURN ON OPERATOR ERROR LIGHT GOPIN TC POSTJUMP CADR PINBRNCH OC24100 OCT 24100 # Page 239 # VBZERO VERB 40 DESCRIPTION # ZERO # 1. REQUIRE NOUN 20 (ICDU ANGLES) # 2. REQUIRE AVAILABILITY OF EXT VERB DISPLAY SYSTEM # 3. IF EITHER OF ABOVE CONDITIONS NOT PRESENT, TURN ON OPERATOR ERROR LIGHT AND GO TO PINBRNCH. # 4. SET EXT VERB DISPLAY ACTIVE FLAG. # 5. EXECUTE IMUZERO (ZERO IMU CDU ANGLES). # 6. EXECUTE IMUSTALL (ALLOW TIME FOR DATA TRANSFER). # 7. RELEASE EXT. VERB DISPLAY SYSTEM. VBZERO TC OP/INERT TC IMUZEROK # RETURN HERE IF NOUN = ICDU(20) TC ALM/END # RETURN HERE IF NOUN = OCDU(91) # (NOT IN USE YET) IMUZEROK TC CKMODCAD # KEYBOARD REQUEST FOR ISS CDUZERO TC BANKCALL CADR IMUZERO TC BANKCALL # STALL CADR IMUSTALL TC +1 TC GOPIN OP/INERT CS OCT24 AD NOUNREG EXTEND BZF XACT0Q # IF = 20. INCR Q AD OPIMDIFF # -71 EXTEND BZF XACT0Q TC ALM/END # ILLEGAL. OPIMDIFF DEC -71 # Page 240 # VBCOARK VERB 41 DESCRIPTION # COARSE ALIGN IMU OR RADAR # 1. REQUIRE NOUN 20 OR NOUN 91 OR TURN ON OPERATOR ERROR # 2. REQUIRE EXT VERB DISPLAY SYS AVAILABLE OR TURN ON OPERATOR ERROR LIGHT AND GO TO PINBRNCH. # CASE 1 NOUN 20 (ICDU ANGLES) # 3. SET EXT VERB DISPLAY ACTIVE FLAG. # 4. DISPLAY FLASHING V25,N22 (LOAD NEW ICDU ANGLES). # RESPONSES # A. TERMINATE # 1. RELEASE EXT VERB DISPLAY SYSTEM # B. PROCEED # 1. DISPLAY FLASHING V25,N23 (LOAD DELTA ICDU ANGLES). # RESPONSES # A. TERMINATE # 1. RELEASE EXT VERB DISPLAY SYSTEM. # B. PROCEED # 1. EXECUTE ICORK2. # C. ENTER # 1. INCREMENT CDU ANGLES # 2. EXECUTE ICORK2. # C. ENTER # 1. EXECUTE ICORK2. # ICORK2 # 1. RE-DISPLAY VERB 41. # 2. EXECUTE IMUCCARS (IMU COARSE ALIGN). # 3. EXECUTE IMUSTALL (ALLOW TIME FOR DATA TRANSFER). # 4. RELEASE EXT VERB DISPLAY SYSTEM. # CASE 2 NOUN 91 (OCDU ANGLES) # 5. (REQUIRE OPTICS SWITCH TO BE AT COMPUTER OR TURN ON OPERATOR ERROR AND ALARM 115) AND (REQUIRE # OPTICS AVAILABLE AND DISPLAY FLASHING V24,N92....LOAD NEW OPTICS ANGLES....OR TURN ON ALARM 117 # AND RELEASE EXT VERB DISPLAY SYSTEM). # 6. RESPONSES TO V29,N92. # A. TERMINATE # RELEASE EXT VERB DISPLAY SYSTEM # B. PROCEED OR ENTER # RE-DISPLAY V41, SET SWITCH TO INDICATE COURSE ALIGN OPTICS WORKING. # RELEASE EXT VERB DISPLAY SYSTEM. VBCOARK TC OP/INERT TC IMUCOARK # RETURN HERE IF NOUN = ICDU(20) TC OPTCOARK # RETURN HERE IF NOUN = OCDU(91) # RETURNS TO L+1 IF NOUN 20 - TO L+2 IF NOUN 91. IMUCOARK TC CKMODCAD # COARSE ALIGN FROM KEYBOARD TC TESTXACT CAF VNLODCDU # CALL FOR THETAD LOAD TC BANKCALL CADR GOXDSPF TC TERMEXTV TCF +1 # Page 241 ICORK2 CAF IMUCOARV # RE-DISPLAY COARSE ALIGN VERB. TC BANKCALL CADR EXDSPRET TC BANKCALL # CALL MODE SWITCHING PROG CADR IMUCOARS TC BANKCALL # STALL CADR IMUSTALL TC ENDEXTVB TC ENDEXTVB VNLODCDU VN 2522 IMUCOARV VN 4100 # Page 242 # TEMPORARY ROUTINE TO RUN THE OPTICS CDUS FROM THE KEYBOARD OPTCOARK CA OPTCADR TC CKMODCAD +1 TC TESTXACT CAF EBANK5 TS EBANK CCS SWSAMPLE # SEE IF SWITCH AT COMPUTER TC +5 # SWITCH AT COMPUTER TC +1 # NOT ON COMPUTER TC FALTON # TURN ON OPERATOR ERR TC ALARM # AND ALARM OCT 00115 CCS OPTIND # SEE IF OPTICS AVAILABLE TC OPTC1 # IN USE TC OPTC1 # IN USE TC OPTC1 # IN USE TC ALARM # OPTICS RESERVED (OPTIND=-0) OCT 00117 TC ENDEXT OPTC1 CAF VNLD0CDU # VERB-NOUN TO LOAD OPTICS CDUS TC BANKCALL CADR GOXDSPF TC TERMEXTV TC +1 # PROCEED CA SAC TS DESOPTS CA PAC TS DESOPTT CAF OPTCOARV # RE-DISPLAY OUR OWN VERB TC BANKCALL CADR EXDSPRET CAF ONE TS OPTIND # SET COARS WORKING TC ENDEXTVB TC ENDEXTVB VNLD0CDU VN 2492 OPTCOARV EQUALS IMUCOARV # DIFFERENT NOUNS. # Page 243 # IMUFINEK VERB 42 DESCRIPTION # FINE ALIGN IMU # 1. REQUIRE EXT VERB DISPLAY AVAILABLE AND SET BUSY FLAG OR TURN ON OPER ERROR AND GO TO PINBRNCH. # 2. DISPLAY FLASHING V25,N93....LOAD DELTA GYRO ANGLES.... # RESPONSES # A. TERMINATE # 1. RELEASE EXT VERB DISPLAY SYSTEM. # B. PROCEED OR ENTER # 1. RE-DISPLAY VERB 42 # 2. EXECUTE IMUFINE (IMU FIVE ALIGN MODE SWITCHING). # 3. EXECUTE IMUSTALL (ALLOW FOR DATA TRANSFER) # A. FAILED # 1. RELEASE EXT VERB DISPLAY SYSTEM. # B. GOOD # 1. EXECUTE IMUPULSE (TORQUE IRIGS). # 2. EXECUTE IMUSTALL AND RELEASE EXT VERB DISPLAY SYSTEM. IMUFINEK TC CKMODCAD # FINE ALIGN WITH GYRO TORQUING TC TESTXACT CAF VNLODGYR # CALL FOR LOAD OF GYRO COMMANDS TC BANKCALL CADR GOXDSPF TC TERMEXTV TC +1 # PROCEED WITHOUT A LOAD CAF IMUFINEV # RE-DISPLAY OUR OWN VERB TC BANKCALL CADR EXDSPRET TC BANKCALL # CALL MODE SWITCH PROG CADR IMUFINE TC BANKCALL # HIBERNATION CADR IMUSTALL TC ENDEXTVB FINEK2 CAF LGYROBIN # PINBALL LEFT COMMANDS IN OGC REGIST5RS TC BANKCALL CADR IMUPULSE TC BANKCALL # WAIT FOR PULSES TO GET OUT. CADR IMUSTALL TC ENDEXTVB TC ENDEXTVB LGYROBIN ECADR OGC VNLODGYR VN 2593 IMUFINEV VN 4200 # FINE ALIGN VERB CKMODCAD CA MODECADR # Page 244 EXTEND BZF TCQ TC ALM/END # SOMEBODY IS USING MODECADR SO EXIT # GOLOADLV VERB 50 DESCRIPTION # AND OTHER PLEASE # DO SOMETHING VERBS # PLEASE PERFORM, MARK, CALIBRATE, ETC. # 1. PRESSING ENTER ON DSKY INDICATES REQUESTED ACTION HAS BEEN PERFORMED, AND THE PROGRAM DOES THE # SAME RECALL AS A COMPLETED LOAD. # 2. THE EXECUTION OF A VERB 33 (PROCEED WITHOUT DATA) INDICATES THE REQUESTED ACTION IS NOT DESIRED. GOLOADLV TC FLASHOFF CAF PINSUPBT EXTEND WRITE SUPERBNK # TURN ON FE7 TC POSTJUMP SBANK= PINSUPER CADR LOADLV1 # V60 VERB 60 V60 EXTEND # SET ASTRONAUT TOTAL ATTITUDE (N17) EQUAL DCA CDUX # TO PRESENT ATTITUDE DXCH CPHIX CA CDUZ TS CPHIX +2 TC GOPIN # V61 VERB 61 V61 TC DOWNFLAG # SET NEEDLFLG TO 0 (FLAGWRD0,BIT9), PHASE ADRES NEEDLFLG # PLANE A/P FOLLOWING ERROR DISPLAYED TC GOPIN # V62 VERB 62 V62 TC UPFLAG # SET NEEDLFLG TO 1 (FLAGWRD0,BIT9), ADRES NEEDLFLG # TOTAL ATTITUDE ERROR DISPLAYED TC UPFLAG # SET N22ORN17 TO 1 (FLAGWRD9,BIT6), ADRES N22ORN17 # COMPUTE TOTAL ATTITUDE ERROR WRT N22 TC GOPIN # V63 VERB 63 V63 TC UPFLAG # SET NEEDLFLG TO 1 (FLAGWRD0,BIT9), ADRES NEEDLFLG # TOTAL ATTITUDE ERROR DISPLAYED TC DOWNFLAG # SET N22ORN17 TO 0 (FLAGWRD9,BIT6, # Page 245 ADRES N22ORN17 # COMPUTE TOTAL ASTRONAUT ATTITUDE ERROR TC GOPIN # Page 246 # ALINTIME VERB 55 DESCRIPTION # 1. SET EXT VERB DISPLAY BUSY FLAG. # 2. DISPLAY FLASHING V25,N24 (LOAD DELTA TIME FOR AGC CLOCK. # 3. REQUIRE EXECUTION OF VERB 23. # 4. ADD DELTA TIME, RECEIVED FROM INPUT REGISTER, TO THE COMPUTER TIME. # 5. RELEASE EXT VERB DISPLAY SYSTEM COUNT 04/R33 ALINTIME TC TESTXACT CAF VNLODDT TC BANKCALL CADR GOMARKF TC ENDEXT # TERMINATE TC ENDEXT # PROCEED CS DEC23 # DATA IN OR RESEQUENCE(UNLIKELY) AD MPAC # RECALL LEFT VERB IN MPAC EXTEND BZF UPDATIME # GO AHEAD WITH UPDATE ONLY IF RECALL TC ENDEXT # WITH V23 (DATA IN). UPDATIME INHINT # DELTA TIME IS IN DSPTEM1, +1. CAF ZERO TS MPAC +2 # NEEDED FOR TP AGREE TS L # ZERO T1 & 2 WHILE ALIGNING. DXCH TIME2 DXCH MPAC DXCH DSPTEM2 +1 # INCREMENT DAS MPAC TC TPAGREE # FORCE SIGN AGREEMENT. DXCH MPAC # NEW CLOCK. DAS TIME2 RELINT UPDTMEND TC ENDEXT DEC23 DEC 23 # V 23 VNLODDT VN 2524 # V25N24 FOR LOAD DELTA TIME # Page 247 # SYSTEST VERB 92 DESCRIPTION # OPERATE SELECTED SYSTEM TEST # 1. REQUIRE P00 OR P00- OR TURN ON OPERATOR ERROR. # 2. TURN OFF DAP IF IT IS ON. # 3. DISPLAY FLASHING V21,N01 (LOAD TEST NUMBER 1 THRU 17). # 4. UPON ENTRY OF TEST NUMBER, SCHEDULE TSELECT WITH PRIORITY 20. # TSELECT # 1. IF LOADED TEST NUMBER IS VALID, GO TO THAT TEST ROUTINE, OTHERWISE TURN ON OPERATOR ERROR AND # REPEAT LOAD REQUEST DISPLAY. (NO. 3 ABOVE) EBANK= QPLACE COUNT 04/EXTVB SYSTEST TC CHKPOOH CA FLAGWRD1 # IS NODOP01 FLAGBIT ON? (SET BY P11) MASK NOP01BIT EXTEND BZF V92CONT # IF IT'S NOT YET SET, CONTINUE TC POODOO # IT'S ON. SEND NODO ALARM FOR P07 OCT 1521 V92CONT TC EXDAPOFF # TURN DAP OFF IF IT'S ON CAF PRIO20 TC FINDVAC EBANK= QPLACE SBANK= IMUSUPER 2CADR REDO TC GOPIN # REDO AND TSELECT ARE NOW IN SYSTEM TEST. COUNT* $$/EXTVB # CKOPTVB VERB 65 DESCRIPTION # OPTICAL VERIFICATION FOR PRELAUNCH. # 1. SCHEDULE GCOMPVER, OPTICAL VERIFICATION SUBPROGRAM, WITH PRIORITY 17. CKOPTVB TC CHECKMM MM 02 # I WONDER IF PRELAUNCH IS RUNNING TC ALM/END # NOT RUNNING OPERATOR ERROR INHINT CAF PRIO16 # PRELAUNCH OPTICAL VERIFICATION TC FINDVAC EBANK= QPLACE 2CADR COMPVER # STANDARD LEADIN TO GCOMPVER. TC GOPIN # Page 248 # V 78.... TO CHANGE GYROCOMPASS AZIMUTH CHAZFOGC TC CHECKMM # IS IT PRELAUNCH MM 02 TC ALM/END # NO - OPERA TOR ERROR CAF PRIO16 # PRELAUNCH AZIMUTH CHANGE TC FINDVAC EBANK= XSM 2CADR AZMTHCG1 TC PHASCHNG OCT 00174 TC GOPIN # Page 249 # IMUATTCK VERB 43 DESCRIPTION # LOAD IMU ATTITUDE ERROR METERS # 1. REQUIRE PROGRAM 00 ACTIVE, COARSE ALIGN ENABLE BIT OFF AND ZERO ICDU BIT OFF. # 2. IF GUID REF RELEASE OR LIFTOFF HAS OCCURRED REQUIRE EXT VERB DISPLAY AVAILABLE AND SET BUSY # FLAG, OTHERWISE ALLOW CURRENT EXT VERB DISPLAY TO BE OVER-RIDDEN. # 3. REMOVE COARSE ALIGN ENABLE AND IMU ERROR COUNTER ENABLE # 4. DISPLAY FLASHING V25,N22 (LOAD NEW ICDU ANGLES). # 5. UPON PROCEED OR ENTER RESPONSE, INITIALIZE CURRENT DAC AND COMMAND VALUES, ENABLE ERROR COUNTERS # TRANSFER LOADED VALUES TO REGISTERS, AND SEND COMMANDS. # 6. IF BUSY FLAG SET, RESET IT TO RELEASE EXT VERB DISPLAY. IMUATTCK TC CHKPOOH CAF OCTAL30 # CHECK IF IMU ZERO AND IMU COARSE ARE ON EXTEND RAND CHAN12 CCS A TCF ALM/END # NOT ALLOWED IF IMU COARSE OR IMU ZERO ON TC CKLFTBTS # IS IT BEFORE OR AFTER LIFTOFF TC TESTXACT # AFTER CS OCT50 # REMOVE COARSE AND ECTR ENABLE. EXTEND WAND CHAN12 CAF VNLODCDU TC BANKCALL CADR GOXDSPF TCF TRMATTCK TC +1 CAF EBANK6 TS EBANK # SET E6 FOR NEEDLES. EBANK= AK TC BANKCALL # INITIALIZE CURRENT DAC AND CADR NEEDLE11 # COMMAND VALUES TC BANKCALL # ENABLE ERROR COUNTERS. CADR NEEDLER2 CAF TWO # 4 MS MIN. TC WAITLIST EBANK= AK 2CADR ATTCK1 TRMATTCK TC CKLFTBTS # IS IT BEFORE OR AFRER LIFTOFF TCF ENDEXT # AFTER TC GOPIN # Page 250 ATTCK1 EXTEND # TRANSFER LOADED VALUES TO DESIRED REGS. DCA THETAD DXCH AK CAE THETAD +2 TS AK +2 TC IBNKCALL # SENDS COMMANDS LIMITED TO +,- 384 PULSES CADR NEEDLES # AND LEAVES ERROR COUNTERS ENABLED. TC TASKOVER CKLFTBTS CAF GRRBKBIT # HAS LIFTOFF OCCURRED MASK FLAGWRD5 CCS A TC Q # YES CAF BIT5 EXTEND RAND CHAN30 CCS A TCF Q+1 XACT0Q TC Q # YES OCTAL30 OCT 30 VB64 TC CHKPOOH # DEMAND PROGRAM 00. TC TESTXACT # IF DISPLAY SYS. NOT BUSY,MAKE IT BUSY. INHINT CAF PRIO4 TC FINDVAC EBANK= RHOSB 2CADR SBANDANT # CALC.,DISPLAY S-BAND ANTENNA ANGLES. TC ENDOFJOB # ENATMA VERB 58 DESCRIPTION # ENABLE AUTOMATIC ATTITUDE MANEUVER # VERB58 RESETS STIKFLAG TO ENABLE R61 TO PERFORM AUTOMATIC TRACKING MANEUVERS, AFTER INTERRUPTS BY THE RHC ACT- # IVITY. ENATMA TC DOWNFLAG # RESET STIKFLAG. ADRES STIKFLAG # BIT 14 FLAG 1 TC GOPIN # Page 251 # STROKON VERB 68 DESCRIPTION # STROKE TEST SETUP/ENABLE # 1. SET EXT VERB DISPLAY BUSY FLAG # 2. SCHEDULE STRKTST1 WITH PRIORITY 30. # 3. RELEASE EXT VERB DISPLAY. EBANK= T5TVCDT STROKON CS FLAGWRD6 # V68 PERMITTED ONLY DURING TVC MASK OCT60000 EXTEND BZMF ALM/END # NOT TVC....FLASH OP ERROR LIGHT CAF PRIO30 # JOB REQUEST, TO SET UP STROKE TEST, TC NOVAC # INCLUDING INITIALIZATIONS EBANK= STROKER 2CADR STRKTSTI TC GOPIN # STABLISH VERB 46 DESCRIPTION # ESTABLISH G & N AUTOPILOT CONTROL # 1. SETS UP EITHER RCS, ENTRY, OR SATURN # 2. IF TVC IS ON, SETS UP CSM/LM SWITCH-OVER # FROM HIGH BW TO LOW BW STABLISH CAF EBANK6 # V46 - SET EBANK TO E6 TS EBANK CS FLAGWRD6 # TEST FOR TVC MASK OCT60000 EXTEND BZMF +8 CAE DAPDATR1 # TEST FOR CSM/LM MASK BIT14 EXTEND BZMF +3 TC POSTJUMP # CSM/LM, SO PERFORM HB TO LB SWITCH-OVER CADR PRESWTCH +3 TC ALM/END # CSM, SO ALARM AND EXIT +8 TC POSTJUMP # SET UP RCS, ENTRY, OR SATURN-STICK DAP CADR DAPFIG # Page 252 # CREMANU VERB 49 DESCRIPTION # START AUTOMATIC ATTITUDE MANEUVER # 1. REQUIRE PROGRAM 00 ACTIVE. # 2. SET EXT VERB DISPLAY BUSY FLAG. # 3. SCHEDULE R62DISP WITH PRIORITY 10. # 4. RELEASE EXT VERB DISPLAY. # R62DISP # 1. DISPLAY FLASHING V06,N22 (DECIMAL DISPLAY NEW ICDU ANGLES). UPON IMMEDIATE RETURN, SET-UP GROUP # 4 FOR RESTART OF DISPLAY SEQUENCE. # RESPONSES # A. TERMINATE # 1. GO TO GOTOPOOH. # B. PROCEED # 1. SET 3AXISFLG TO INDICATE MANEUVER IS SPECIFIED BY 3 AXIS. # 2. EXECUTE R60CSM (ATTITUDE MANEUVER). # 3. ZERO GROUP 4 (END R62). # C. ENTER # 1. REPEAT FLASHING V06,N22. CREWMANU TC CHKPOOH # DEMAND P00 TC TESTXACT CAF PRIO10 TC FINDVAC EBANK= CPHI 2CADR R62DISP TC ENDOFJOB # Page 253 # DAPDISP VERB 48 DESCRIPTION # LOAD AUTOPILOT DATA (ROUTINE R03) # 0. CHECKFAIL AND RETURN IF TVC. # 1. REQUIRE EXT VERB DISPLAY AVAILABLE AND SET BUSY FLAG. # 2. LOWER PRIORITY TO 10. # 3. DISPLAY FLASHING V04,N46 (DISPLAY AUTOPILOT CONFIGURATION) # 4. UPON PROCEED RESPONSE, EXECUTE S41.2. # 5. DISPLAY FLASHING V06,N47 (DISPLAY CSM WGT.. LEM WGT.) # 6. UPON PROCEED RESPONSE EXECUTE S40.14. # 7. DISPLAY FLASHING V06,N48 (DISPLAY PITCH TRIM, YAW TRIM) # 8. UPON PROCEED RESPONSE, RELEASE EXTENDED VERB DESPLAY SYSTEM COUNT* $$/EXTVB DAPDISP CS FLAGWRD6 MASK OCT60000 EXTEND BZMF +2 # TVC = 10, CS YIELDS 01, BZMF TO CONTINUE TC ALM/END # RETURN IF TVC TC TESTXACT TC BANKCALL CADR DAPDISP1 BANK 42 SETLOC EXTVBS BANK COUNT 24/R03 DAPDISP1 CAF EBANK6 TS EBANK CAF PRIO10 TC PRIOCHNG DONOUN46 CAF V04N46 # R1 R2 TC BANKCALL # DAPDATR1 DAPDATR2 CADR GOXDSPF # GOXDSP ROUTINES USED FOR EXTENDED VERBS. TC ENDEXT # EXT. VBS GO TO ENDEXT, NOT ENDOFJOB. TC +2 TC DONOUN46 CA DAPDATR1 MASK BIT4 CCS A TCF MAXIN TC DOWNFLAG ADRES MAXDBFLG MAXOUT TC BANKCALL CADR S41.2 DONOUN47 CAF V06N47 # R1 R2 R3 # Page 254 TC BANKCALL # CSM WGT. LEM WGT. BLANK CADR GOXDSPF TC ENDEXT TC +2 TC DONOUN47 CAE DAPDATR1 # DO MASS PROPERTIES CALCULATION ONLY IF MASK PRIO30 # CONFIG = 1(CSM), 2(CSM/LM), 6(CSM/LMA) EXTEND BZF DONOUN48 # SKIP IF 0, 4 COM MASK PRIO30 EXTEND BZF DONOUN48 # SKIP IF 3, 7 INHINT TC IBNKCALL CADR MASSPROP # UPDATE IXX, IAVG, IAVG/TLX RELINT TC BANKCALL CADR S40.14 # COMPUTE RCS DAP STUFF DONOUN48 CAF V0648 # R1 R2 R3 TC BANKCALL # PTRIM YTRIM BLANK CADR GOXDSPF TC ENDEXT TC ENDEXT TC DONOUN48 MAXIN TC UPFLAG ADRES MAXDBFLG TC MAXOUT V0648 VN 0648 V06N47 VN 0647 V04N46 VN 0446 BANK 43 SETLOC EXTVERBS BANK COUNT* $$/EXTVB # V82PERF VERB82 DESCRIPTION # REQUEST ORBIT PARAMETERS DISPLAY (R30) # 1. IF AVERAGE G IS OFF: # FLASH DISPLAY V04N06. R2 INDICATES WHICH SHIP'S STATE VECTOR IS # TO BE UPDATED. INITIAL CHOICE IS THIS SHIP (R2=1). ASTRONAUT # CAN CHANGE TO OTHER SHIP BY V22EXE, WHERE X NOT EQ 1. # SELECTED STATE VECTOR UPDATED BY THISPREC (OTHPREC). # CALLS SR30.1 (WHICH CALLS TFFCONMU + TFFRP/RA) TO CALCULATE # Page 255 # RPER (PERIGEE RADIUS), RAP0 (APOGEE RADIUS), HPER (PERIGEE # HEIGHT ABOVE LAUNCH PAD OR LUNAR LANDING SITE), HAPO (APOGEE # HEIGHT AS ABOVE), TPER (TIME TO PERIGEE), TFF (TIME TO # INTERSECT 300 KFT ABOVE PAD OR 35KFT ABOVE LANDING SITE). # FLASH MONITOR V16N44 (HAPO, HPER, TFF). TFF IS -59M59S IF IT WAS # NOT COMPUTABLE, OTHERWISE IT INCREMENTS ONCE PER SECOND. # ASTRONAUT HAS OPTION TO MONITOR TPER BY KEYING IN N 32 E. # DISPLAY IS IN HMS, IS NEGATIVE (AS WAS TFF), AND INCREMENTS # ONCE PER SECOND ONLY IF TFF DISPLAY WAS -59M59S. # # 2. IF AVERAGE G IS ON: # CALLS SR30.1 APPROX EVERY TWO SECS. STATE VECTOR IS ALWAYS # FOR THIS VEHICLE. V82 DOES NOT DISTURB STATE VECTOR. RESULTS # OF SR30.1 ARE RAPO, RPER, HAPO, HPER, TPER, TFF. # FLASH MONITOR V16N44 (HAPO, HPER, TFF). # IF MODE IS P11, THEN CALL DELRSPL SO ASTRONAUT CAN MONITOR # RESULTS BY N50E. SPLASH COMPUTATION DONE ONCE PER TWO SECS. # ADDENDUM: HAPO AND HPER SHOULD BE CHANGED TO READ HAPOX AND HPERX IN THE # ABOVE REMARKS. V82PERF TC TESTXACT CAF PRIO7 TC PRIOCHNG TC POSTJUMP CADR V82CALL # ***** V82CALL MUST NOT BE A FINDVAC JOB. # VB83PERF VERB 83 DESCRIPTION # REQUEST RENDEZVOUS PARAMETER DISPLAY (R31) # 1. SET EXT VERB DISPLAY BUSY FLAG. # 2. SCHEDULE V83CALL WITH PRIORITY 10. # A. DISPLAY # R1 RANGE # R2 RANGE RATE # R3 THETA V83PERF TC TESTXACT INHINT CS FLAGWRD9 # SET R31 FLAG-BIT 4 FLAGWRD9 MASK R31FLBIT ADS FLAGWRD9 CAF PRIO5 TC NOVAC EBANK= SUBEXIT 2CADR R31CALL TC ENDOFJOB # Page 256 V85PERF TC TESTXACT INHINT CS R31FLBIT # RESET R31 FLAG TO INDICATE R34 MASK FLAGWRD9 TS FLAGWRD9 TC V83PERF +5 # Page 257 # GOTOR21 VERB 57 # GOTOR23- VERB 54 DESCRIPTION # SET UP MARKING FOR R22(REND TRACK DATA PROC) # 1. SET EXT VERB DISPLAY BUSY FLAG # 2. IF REND (P20 RUNNING) + TRACK (TRACKING ALLOWED) FLAGS ARE SET, # SCHEDULE R21 OR R23 WITH PRIORITY 16, OTHERWISE TURN ON ALARM 406 # 3. RELEASE EXT VERB DISPLAY SYSTEM GOTOR21 TC DOWNFLAG # CLEAR R23FLG ADRES R23FLG # BIT 9 FLAG 1 TC +3 GOTOR23 TC UPFLAG # SET R23FLG ADRES R23FLG # BIT 9 FLAG 1 TC TESTXACT CA FLAGWRD0 # VB 57 UNACCEPTABLE UNLESS BOTH MASK RNDVZBIT # RENDEZVOUS AND TRACK FLAGS ON EXTEND BZF R22ALARM CA FLAGWRD1 MASK TRACKBIT EXTEND BZF R22ALARM CA FLAGWRD1 # TEST R23FLG MASK R23BIT EXTEND BZF REGR21 # R21 CAF PRIO16 TC NOVAC EBANK= MRKBUF1 2CADR R23CSM TC ENDOFJOB REGR21 CAF PRIO16 TC NOVAC EBANK= MRKBUF1 2CADR R21CSM TC ENDOFJOB R22ALARM TC ALARM # VERB 57 WAS SELECTED AND NEITHER REND OCT 00406 # NOR TRACK FLAG WERE ON. TC ENDEXT # Page 258 # VERB 86 DESCRIPTION # V86 IS TO R23 AS MARK REJECT IS TO R21 # V86 IS THE MARK REJECT FOR R23(THE BACKUP MARKING ROUTINE) EBANK= MRKBUF1 V86PERF CAF EBANK7 # BACKUP MARK REJECT (R23) XCH EBANK CA NEGONE TS MRKBUF1 TC GOPIN # Page 259 # TRACKTRM VERB 56 DESCRIPTION # TERMINATE TRACKING (P20) # 1. KNOCK DOWN RENDEZVOUS, TRACK, AND UPDATE FLAGS. # 2. REQUIRE P20 NOT RUNNING ALONE OR GO TO GOTOPOOH (REQUEST PROGRAM 00). # 3. REQUIRE R22 RUNNING OR GO TO PINBRNCH. # 4. IF INTEGRATION RUNNING, STALL UNTIL IT IS COMPLETED, THEN ZERO GROUPS 2 AND 3 TO KILL R21 + R22. # 3. KNOCK DOWN RENDEZFOUS, R22, R21, TRACK, UPDATE, AND TARG1 FLAGS. # 4. GO TO ENEMA (SOFTWARE RESTART). # REFERENCE # P20 RENDEZVOUS NAVIGATION. # R21 RENDEZVOUS TRACKING SIGHTING MARK. # R22 RENDEZVOUS TRACKING DATA PROCESSING. TRACKTRM CA RNDVZBIT # IS REND FLAG ON MASK FLAGWRD0 EXTEND BZF GOPIN # NO TC DOWNFLAG ADRES RNDVZFLG CA TRACKBIT # IS TRACK FLAG ON MASK FLAGWRD1 EXTEND BZF GOPIN # NO TC DOWNFLAG ADRES TRACKFLG TC DOWNFLAG ADRES UPDATFLG TC DOWNFLAG ADRES IMUSE CAF EBANK6 TS EBANK INHINT TC STOPRATE CAF NEGONE TS OPTIND TC INTPRET CALL INTSTALL # DONT INTERRUPT INTEGRATION EXIT TC 2PHSCHNG # Page 260 OCT 2 # KILL GROUP 2 TO HALT P20 ACTIVITY OCT 1 # ALSO KILL GROUP 1 CLEANOUT INHINT TC POSTJUMP CADR ENEMA # CAUSE RESTART # LEMVEC VERB 80 DESCRIPTION # UPDATE LEM STATE VECTOR # RESET VEHUPFLG TO 0 LEMVEC TC DOWNFLAG ADRES VEHUPFLG # VEHUPFLG DOWN INDICATES LEM TCF GOPIN # CSMVEC VERB 81 DESCRIPTION # UPDATE CSM STATE VECTOR # SET VEHUPFLG TO 1 CSMVEC TC UPFLAG ADRES VEHUPFLG # VEHUPFLG UP INDICATES CM. TCF GOPIN # DNEDUMP VERB 74 DESCRIPTION # INITIALIZE DOWN-TELEMETRY PROGRAM FOR ERASABLE MEMORY DUMP. # 1. SET EXT VERB DISPLAY BUSY FLAG. # 2. REPLACE CURRENT DOWNLIST WITH ERASABLE MEMORY. # 3. RELEASE EXT VERB DISPLAY. EBANK= 10 DNEDUMP CAF LDNDUMPI TS DNTMGOTO TC GOPIN V74 EQUALS DNEDUMP LDNDUMPI REMADR DNDUMPI # LFTFLGON VERB 75 DESCRIPTION # SET LIFT-OFF FLAG # 1. SETUP GGRBKFLG, GUIDANCE REFERENCE RELEASE BACK-UP FLAG. # 2. RETURN VIA PINBRNCH LFTFLGON TC UPFLAG # VB 75 - SET LIFTOFF FLAG BIT ADRES GRRBKFLG # BIT 5 FLAG 5 TC GOPIN # Page 261 CHKPOOH CA MODREG EXTEND BZF TCQ TCF ALM/END EXDAPOFF EXTEND DCA IDLECADR # SET T5 TO IDLE. DXCH T5LOC CS OCT60000 MASK FLAGWRD6 # RESET DAPBITS 1 AND 2. TS FLAGWRD6 TC Q EBANK= PACTOFF IDLECADR 2CADR T5IDLOC # Page 262 # VERB 89 DESCRIPTION RENDEZVOUS FINAL ATTITUDE ROUTINE (R63) # CALLED BY VERB 89 ENTER DURING P00. PRIO 10 IS USED. CALCULATES AND # DISPLAYS FINAL GIMBAL ANGLES TO POINT CSM +X AXIS OR PREFERRED AXIS # (UNIT(Z)COS55 DEG + UNIT(X)SIN55 DEG) AT LM. # 1. KEY IN V 89 E ONLY IF IN PROG 00. IF NOT IN P00, OPERATOR ERROR AND # EXIT R63, OTHERWISE CONTINUE. # 2. IF IN P00, DO IMU STATUS CHECK ROUTINE (R02BOTH). IF IMU ON AND ITS # ORIENTATION KNOWN TO CGC, CONTINUE. # 3. FLASH DISPLAY V 04 N 06. R2 INDICATES WHICH SPACECRAFT AXIS IS TO # BE POINTED AT LM. INITIAL CHOICE IS PREFERRED AXIS. (R2=1). # ASTRONAUT CAN CHANGE TO (+X) AXIS (R2 NOT= 1) BY V 22 E 2 E. CONTINUE # AFTER KEYING IN PROCEED. # 4. SET PREFERRED ATTITUDE FLAG ACCORDING TO OPTION DESIRED. SET FLAG # FOR PREFERRED AXIS. RESET FLAG FOR X AXIS. # 5. CURRENT TIME IS STORED AND R63COMP IS CALLED # R63COMP JOB: # UPDATES CSM AND LM STATE VECTORS USING CONIC EQUATIONS # CALCULATES BOTH PREFERRED AND X AXIS TRACKING ATT FROM CSM TO LM. # DESIRED GIMBAL ANGLES AS INDICATED BY PREFERRED ATTITUDE FLAG # ARE STORED FOR LATER R60CSM CALL. # 6. FLASH DISPLAY V 06 N18 AND AWAIT RESPONSE. # 7. RECYCLE- RETURN TO STEP 5. # TERMINATE- EXIT R63 ROUTINE # PROCEED- RESET 3AXISFLG AND CALL R60CSM FOR ATTITUDE MANEUVER. V89PERF TC CHKPOOH # DEMAND P00 TC TESTXACT INHINT CAF PRIO10 TC FINDVAC EBANK= P21TIME 2CADR V89CALL TCF ENDOFJOB WMATRXNG TC DOWNFLAG # RESET RENDWFLG ADRES RENDWFLG # Page 263 TC DOWNFLAG # RESET ORBWFLAG ADRES ORBWFLAG TC GOPIN GOSHOSUM EQUALS SHOWSUM SHOWSUM TC CHKPOOH TC TESTXACT # * CAF S+1 # * TS SKEEP6 # * SHOWSUM OPTION CAF S+ZERO # * TS SMODE # * TURN OFF SELF-CHECK CA SELFADRS # * TS SELFRET # * TC STSHOSUM # * ENTER ROPECHK SDISPLAY LXCH SKEEP2 # * BNK NO FOR DSP LXCH SKEEP3 # * BUGGER WORD FOR DSP NOKILL CA ADRS1 # * TS MPAC +2 # * CA VNCON # * 0501 TC BANKCALL # * CADR GOXDSPF # * TC +3 # * TC NXTBNK # * TC NOKILL # * CA SELFADRS TS SKEEP1 TC ENDEXT # * VNCON VN 501 # * ENDSUMS CA SKEEP6 # * EXTEND # * BZF SELFCHK # * ROPECHK, START SELFCHK AGAIN. TC STSHOSUM # * START SHOWSUM AGAIN. # VB 76 SET PREFERRED ATTITUDE FLAG - DRIVE TO PREFERRED. SETPRFLG TC UPFLAG ADRES PRFTRKAT # BIT 10 FLAG 5 TC GOPIN # VB 77 RESET PREFERRED ATTITUDE FLAG - DRIVE TO +X-AXIS ATT. RESETPRF TC DOWNFLAG ADRES PRFTRKAT # BIT 10 FLAG 5 TC GOPIN # Page 264 # VB 87 SET VHF RANGE FLAG - ALLOWS R22 TO ACCEPT RANGE DATA. SETVHFLG TC INTPRET SET EXIT VHFRFLAG TC GOPIN # VB 88 RESET VHF RANGE FLAG - STOPS ACCEPTANCE OF RANGE DATA. RESETVHF TC INTPRET CLEAR EXIT VHFRFLAG TC TRFAILOF # TRACKER FAIL LIGHT TC GOPIN # VERB 66. VEHICLES ARE ATTACHED.- MOVE THIS VEHICLE STATE VECTOR TO # OTHER VEHICLE STATE VECTOR. # USE SUBROUTINE GENTRAN. EBANK= RRECTHIS ATTACHED CAF PRIO10 TC FINDVAC EBANK= RRECTHIS 2CADR ATTACHIT TC ENDOFJOB ATTACHIT TC INTPRET CALL INTSTALL SET BON MOONOTH MOONTHIS +3 CLEAR MOONOTH EXIT CAF OCT51 TC GENTRAN ADRES RRECTHIS # OUR STATE VECTOR INTO OTHER VIA GENTRAN ADRES RRECTOTH TACHEXIT RELINT TC INTPRET CALL # UPDATE RN, VN, R-OTHER, V-OTHER PTOACSM # Page 265 LXA,2 CALL PBODY SVDWN1 CALL SVDWN2 EXIT CAF TCPINAD INDEX FIXLOC TS QPRET TC POSTJUMP CADR INTWAKE TCPIN RTB PINBRNCH OCT51 OCT 51 TCPINAD CADR TCPIN # VERB 47 MOVE LM STATE VECTOR INTO CSM STATE VECTOR. LMTOCMSV CAF PRIO10 TC FINDVAC EBANK= RRECTHIS 2CADR LMTOCM TC ENDOFJOB LMTOCM TC INTPRET CALL INTSTALL SET BON MOONTHIS MOONOTH +3 CLEAR MOONTHIS EXIT CAF OCT51 TC GENTRAN ADRES RRECTOTH # LM STATE VECTOR INTO CM VIA GENTRAN ADRES RRECTHIS TCF TACHEXIT # VERB 94 DO R64 VIA ENEMA TO PICK UP IN P23. VERB94 CAF V94FLBIT MASK FLAGWRD9 # IS V94FLAG SET # Page 266 EXTEND BZF ALM/END # NO - OPERATOR ERROR TC DOWNFLAG ADRES V94FLAG TC CHECKMM # IS IT P23 MM 23 TC ALM/END # NO - OPERATOR ERROR TC PHASCHNG OCT 112 # SET GROUP 2 TO DO R64 TC CLEANOUT # CAUSE RESTART # V90PERF VERB 90 DESCRIPTION # REQUEST RENDEZVOUS OUT-OF-PLANE DISPLAY (R36) # 1. SET EXT VERB DISPLAY BUSY FLAG. # 2. SCHEDULE R36 CALL WITH PRIORITY 10 # A. DISPLAY # TIME OF EVENT - HOURS , MINUTES , SECONDS # Y OUT-OF-PLANE POSITION - NAUTICAL MILES # YDOT OUT-OF-PLANE VELOCITY - FEET/SECOND # PSI ANGLE BTW LINE OF SIGHT AND FORWARD # DIRECTION VECTOR IN HORIZONTAL PLANE - DEGREES V90PERF TC TESTXACT CAF PRIO7 # R36,V90 TC FINDVAC EBANK= RPASS36 2CADR R36 TCF ENDOFJOB # VERB 96 SET QUITFLAG TO STOP INTEGRATION. VERB96 TC UPFLAG # QUITFLAG WILL CAUSE INTEGRATION TO EXIT ADRES QUITFLAG # AT NEXT TIMESTEP TC UPFLAG ADRES V96ONFLG CAF ZERO TC POSTJUMP CADR V37 # GO TO P00 EBANK= LANDMARK V52 TC CHECKMM # IS P22 OPERATING MM 22 TC ALM/END # NO CAF LANDBANK TS EBANK # Page 267 CS PRIO7 # YES SET BITS 12,11,10 OF LANDMARK = MASK LANDMARK # BITS 14,13,12 OF MARKSTAT AFTER TS LANDMARK # SUBT. THEM FROM 5 TO GET OFFSET CA MARKSTAT # MARK NO. TS SR CA SR CA SR MASK PRIO7 CS A AD PRIO5 ADS LANDMARK TC GOPIN LANDBANK ECADR LANDMARK # # VERB 67 ASTRONAUT DISPLAY OF W MATRIX V67 TC TESTXACT CAF PRIO5 TC FINDVAC EBANK= W 2CADR V67CALL TC ENDOFJOB # VB 44. SET SURFACE FLAG. SETSURF TC UPFLAG ADRES SURFFLAG TCF GOPIN # VB 45. RESET SURFACE FLAG. RESTSRF TC DOWNFLAG ADRES SURFFLAG TCF GOPIN ================================================ FILE: Comanche055/FIXED_FIXED_CONSTANT_POOL.agc ================================================ # Copyright: Public domain. # Filename: FIXED_FIXED_CONSTANT_POOL.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1200-1204 # Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the # same name, using Comanche055 page images. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 1200 BLOCK 02 COUNT 02/FCONS # THE FOLLOWING TABLE OF 18 VALUES IS INDEXED. DO NOT INSERT OR REMOVE ANY QUANTITIES. DPOSMAX OCT 37777 # MUST PRECEDE POSMAX POSMAX OCT 37777 LIMITS = NEG1/2 NEG1/2 OCT -20000 # USED BY SIN ROUTINE (MUST BE TWO # LOCATIONS IN FRONT OF BIT14) # BIT TABLE BIT15 OCT 40000 BIT14 OCT 20000 BIT13 OCT 10000 BIT12 OCT 04000 BIT11 OCT 02000 BIT10 OCT 01000 BIT9 OCT 00400 BIT8 OCT 00200 BIT7 OCT 00100 BIT6 OCT 00040 BIT5 OCT 00020 BIT4 OCT 00010 BIT3 OCT 00004 BIT2 OCT 00002 BIT1 OCT 00001 # DO NOT DESTROY THIS COMBINATION, SINCE IT IS USED IN DOUBLE PRECISION INSTRUCTIONS. NEG0 OCT -0 # MUST PRECEDE ZERO ZERO OCT 0 # MUST FOLLOW NEG0 # BIT1 OCT 00001 # NO.WDS OCT 2 # INTERPRETER # OCTAL3 OCT 3 # INTERPRETER # R3D1 OCT 4 # PINBALL FIVE OCT 5 # REVCNT OCT 6 # INTERPRETER SEVEN OCT 7 # BIT4 OCT 00010 # R2D1 OCT 11 # PINBALL OCT11 = R2D1 # P20S # BINCON DEC 10 # PINBALL (OCTAL 12) ELEVEN DEC 11 # OCT14 OCT 14 # ALARM AND ABORT (FILLER) OCT15 OCT 15 # R1D1 OCT 16 # PINBALL # Page 1201 LOW4 OCT 17 # BIT5 OCT 00020 # ND1 OCT 21 # PINBALL # VD1 OCT 23 # PINBALL # OCT24 OCT 24 # SERVICE ROUTINES # MD1 OCT 25 # PINBALL BITS4&5 OCT 30 # OCT31 OCT 31 # SERVICE ROUTINES CALLCODE OCT 00032 # LOW5 OCT 37 # PINBALL # 33DEC DEC 33 # PINBALL (OCTAL 41) # 34DEC DEC 34 # PINBALL (OCTAL 42) TBUILDFX DEC 37 # BUILDUP FOR CONVIENCE IN DAPTESTING TDECAYFX DEC 38 # CONVENIENCE FOR DAPTESTING # BIT6 OCT 00040 OCT50 OCT 50 DEC45 DEC 45 SUPER011 OCT 60 # BITS FOR SUPERBNK SETTING 011. .5SEC DEC 50 # BIT7 OCT 00100 SUPER100 = BIT7 # BITS FOR SUPERBNK SETTING 100 # (LAST 4K OF ROPE) SUPER101 OCT 120 # BITS FOR SUPERBNK SETTING 101 # OCT121 OCT 121 # SERVICE ROUTINES # (FIRST 8K OF ACM) SUPER110 OCT 140 # BITS FOR SUPERBNK SETTING 110. # (LAST 8K OF ACM) 1SEC DEC 100 # LOW7 OCT 177 # INTERPRETER # BIT8 OCT 00200 # OT215 OCT 215 # ALARM AND ABORT # 8,5 OCT 00220 # P20-P25 SUNDANCE 2SECS DEC 200 # LOW8 OCT 377 # PINBALL # BIT9 OCT 00400 GN/CCODE OCT 00401 # SET S/C CONTROL SWITCH TO G/N 3SECS DEC 300 4SECS DEC 400 LOW9 OCT 777 # BIT10 OCT 01000 # 5.5DEGS DEC .03056 # P20-P25 SUNDANCE (OCTAL 00765) # OCT1103 OCT 1103 # ALARM AND ABORT C5/2 DEC .0363551 # (OCTAL 01124) V05N09 VN 0509 # (SAME AS OCTAL 1211) OCT1400 OCT 01400 V06N22 VN 0622 # MID5 OCT 1740 # PINBALL BITS2-10 OCT 1776 LOW10 OCT 1777 # Page 1202 # BIT11 OCT 02000 # 2K+3 OCT 2003 # PINBALL LOW7+2K OCT 2177 # OP CODE MASK + BANK 1 FBANK SETTING. EBANK5 OCT 02400 PRIO3 OCT 03000 EBANK7 OCT 03400 # LOW11 OCT 3777 # PINBALL # BIT12 OCT 04000 # RELTAB OCT 04025 # T4RUPT PRIO5 OCT 05000 PRIO6 OCT 06000 PRIO7 OCT 07000 # BIT13 OCT 10000 # OCT 10003 # T4RUPT RELTAB +1D # 13,7,2 OCT 10102 # P20-P25 SUNDANCE PRIO11 OCT 11000 # PRIO12 OCT 12000 # BANKCALL PRIO13 OCT 13000 PRIO14 OCT 14000 # OCT 14031 # T4RUPT RELTAB +2D PRIO15 OCT 15000 PRIO16 OCT 16000 # 85DEGS DEC .45556 # P20-P25 SUNDANCE (OCTAL 16450) PRIO17 OCT 17000 OCT17770 OCT 17770 # BIT14 OCT 20000 # OCT 20033 # T4RUPT RELTAB +3D PRIO21 OCT 21000 BLOCK 03 COUNT 03/FCONS PRIO22 OCT 22000 # SERVICE ROUTINES PRIO23 OCT 23000 PRIO24 OCT 24000 # 5/8+1 OCT 24001 # SINGLE PRECISION SUBROUTINES # OCT 24017 # T4RUPT RELTAB +4D PRIO25 OCT 25000 PRIO26 OCT 26000 PRIO27 OCT 27000 # CHRPRIO OCT 30000 # PINBALL # OCT 30036 # T4RUPT RELTAB +5D PRIO31 OCT 31000 C1/2 DEC .7853134 # (OCTAL 31103) PRIO32 OCT 32000 PRIO33 OCT 33000 PRIO34 OCT 34000 # OCT 34034 # T4RUPT RELTAB +6D PRIO35 OCT 35000 PRIO36 OCT 36000 # Page 1203 PRIO37 OCT 37000 63/64+1 OCT 37401 # MID7 OCT 37600 # PINBALL OCT37766 OCT 37766 OCT37774 OCT 37774 OCT37776 OCT 37776 # DPOSMAX OCT 37777 # BIT15 OCT 40000 # OCT40001 OCT 40001 # INTERPRETER (CS 1 INSTRUCTION) DLOADCOD OCT 40014 DLOAD* OCT 40015 # OCT 40023 # T4RUPT RELTAB +7D BIT15+6 OCT 40040 OCT40200 OCT 40200 # OCT 44035 # T4RUPT RELTAB +8D # OCT 50037 # T4RUPT RELTAB +9D # OCT 54000 # T4RUPT RELTAB +10D -BIT14 OCT 57777 # RELTAB11 OCT 60000 # T4RUPT C3/2 DEC -.3216147 # (OCTAL 65552) 13,14,15 OCT 70000 -1/8 OCT 73777 HIGH4 OCT 74000 -ENDERAS DEC -2001 # (OCTAL 74056) # HI5 OCT 76000 # PINBALL HIGH9 OCT 77700 # -ENDVAC DEC -45 # INTERPRETER (OCTAL 77722) # -OCT10 OCT -10 # (OCT 77767) # NEG4 DEC -4 # (OCTAL 77773) NEG3 DEC -3 NEG2 OCT 77775 NEGONE DEC -1 # Page 1204 # DEFINED BY EQUALS # IT WOULD BE TO THE USERS ADVANTAGE TO OCCASIONALLY CHECK ANY OF THESE SYMBOLS IN ORDER TO PREVENT ANY # ACCIDENTAL DEFINITION CHANGES. MINUS1 = NEG1 NEG1 = NEGONE ONE = BIT1 TWO = BIT2 THREE = OCTAL3 LOW2 = THREE FOUR = BIT3 SIX = REVCNT LOW3 = SEVEN EIGHT = BIT4 NINE = R2D1 TEN = BINCON NOUTCON = ELEVEN OCT23 = VD1 OCT25 = MD1 PRIO1 = BIT10 EBANK3 = OCT1400 PRIO2 = BIT11 OCT120 = SUPER101 OCT140 = SUPER110 2K = BIT11 EBANK4 = BIT11 PRIO4 = BIT12 EBANK6 = PRIO3 QUARTER = BIT13 PRIO10 = BIT13 OCT10001 = CCSL POS1/2 = HALF PRIO20 = BIT14 HALF = BIT14 PRIO30 = CHRPRIO BIT13-14 = PRIO30 # INTERPRETER USES IN PROCESSING STORECODE OCT30002 = TLOAD +1 B12T14 = PRIO34 NEGMAX = BIT15 VLOADCOD = BIT15 VLOAD* = OCT40001 OCT60000 = RELTAB11 BANKMASK = HI5 ================================================ FILE: Comanche055/FRESH_START_AND_RESTART.agc ================================================ # Copyright: Public domain. # Filename: FRESH_START_AND_RESTART.agc # Purpose: Part of the source code for Comanche, build 055. It # is part of the source code for the Command Module's # (CM) Apollo Guidance Computer (AGC), Apollo 11. # Assembler: yaYUL # Reference: pp. 181-210 # Contact: Ron Burkey , # Fabrizio Bernardini # Website: http://www.ibiblio.org/apollo. # Mod history: 2009-05-16 FB Transcription Batch 2 Assignment. # 2009-05-20 RSB Removed an extraneous "TC STARTSUB". # 2009-05-21 RSB Changed a "TC BANKCALL" to "TC STOPRATE" # in INITSUB. # # The contents of the "Comanche055" files, in general, are transcribed # from scanned documents. # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. April 1, 1969. # # This AGC program shall also be referred to as Colossus 2A # # Prepared by # Massachusetts Institute of Technology # 75 Cambridge Parkway # Cambridge, Massachusetts # # under NASA contract NAS 9-4065. # # Refer directly to the online document mentioned above for further # information. Please report any errors to info@sandroid.org. # Page 181 # PROGRAM DESCRIPTION 8 APRIL, 1967 # SUNDISK REV 120 # FUNCTIONAL DESCRIPTION # SLAP1 MAN INITIATED FRESH START # 1. EXECUTE STARTSUB # 2. TURN OFF DSKY DISCRETE-LAMPS # 3. CLEAR FAIL REGISTERS,SELF-CHECK ERROR COUNTER AND RESTART # COUNTER # 4. EXECUTE DOFSTART # DOFSTART MACHINE INITIATED FRESH START # 1. CLEAR SELF-CHECK REGISTERS, MODE REGISTER AND CDUZ REGISTER # 2. CLEAR PHASE TABLE # 3. INITIALIZE IMU FLAGS # 4. INITIALIZE FLAGWORDS # 5. TRANSFER CONTROL TO IDLE LOOP IN DUMMYJOB # GOPROG HARDWARE RESTART # 0. EXECUTE STARTSUB # 1. TRANSFER CONTROL TO DOFSTART IF ANY OF THE FOLLOWING CONDITIONS # EXIST. # A. RESTART OCCURED DURING EXECUTION OF ERASCHK # B. BOTH OSCILLATOR FAIL AND AGC WARNING ARE ON # C. MARK REJECT AND EITHER NAV OR MAIN DSKY ERROR LIGHT RESET # ARE ON. # 2. SCHEDULE A T5RUPT PROGRAM FOR THE DAP # 3. SET FLAGWRD5 BITS FOR INTWAKE ROUTINE # 4. EXTINGUISH ALL DSKY LAMPS, EXCEPT FOR PROGRAM ALARM,GIMBAL LOCK AND # NO ATT # 5. INITIALIZE IMU FLAGS # 6. IF ENGINE COMMAND IS ON (FLAGWRD5,BIT 7), SET ENGINE ON (CHAN- # NEL 11, BIT 13) # 7. TRANSFER CONTROL TO GOPROG3 # ENEMA SOFTWARE RESTART INITIATED BY MAJOR MODE CHANGE # 1. EXECUTE STARTSB2 # 2. KILL PROGRAMS THAT WERE INTEGRATING OR WAITING FOR INTEGRATION # ROUTINE # 3. TRANSFER CONTROL TO GOPROG3 # GOPROG3 SUBROUTINE COMMON TO GOPROG AND ENEMA # 1. TEST PHASE TABLES - IF INCORRECT, DISPLAY ALARM 1107 AND # TRANSFER CONTROL TO DOFSTART # 2. DISPLAY MAJOR MODE # 3. IF ANY GROUPS WERE ACTIVE UPON RESTART,TRANSFER CONTROL TO THE # Page 182 # RESTARTS SUBROUTINE TO RESCHEDULE PENDING TASKS, LONGCALLS, AND # JOBS (P20 IS RESTARTED VIA FINDVAC) # 4. IF NO GROUPS WERE ACTIVE UPON RESTART, DISPLAY ALARM CODE # 1110 (RESTART WITH NO ACTIVE GROUPS). # 5. TRANSFER CONTROL TO IDLE LOOP IN DUMMYJOB # STARTSUB SUBROUTINE COMMON TO SLAP1 AND GOPROG # 1. CLEAR OUTBIT CHANNELS 5 AND 6 # 2. INITIALIZE TIME5,TIME4,TIME3 # 3. TRANSFER CONTROL TO STARTSB2 # STARTSB2 SUBROUTINE COMMON TO STARTSUB AND ENEMA # 1. INTIALIZE OUTBIT CHANNELS 11,12,13, AND 14 # 2. REPLACE ALL TASKS ON WAITLIST WITH ENDTASK # 3. MAKE ALL EXECUTIVE REGISTERS AVAILABLE # 4. MAKE ALL VAC AREAS AVAILABLE # 5. CLEAR DSKY REGISTERS # 6. ZERO NUMEROUS SWITCHES # 7. INITIALIZE OPTICS FLAGS # 8. INITIALIZE PIPA AND TELEMETRY FAIL FLAGS # 9. INITIALIZE DOWN TELEMETRY # INPUT/OUTPUT INITIALIZATION # A. CALLING SEQUENCE # SLAP1 - TC POSTJUMP OR VERB 36,ENTER # CADR SLAP1 # ENEMA - TC POSTJUMP *** DO NOT CALL ENEMA WITHOUT *** # CADR ENEMA *** CONSULTING POOH PEOPLE *** # B. OUTPUT # ERASABLE MEMORY INITIALIZATION # PROGRAM ANALYSIS # A. SUBROUTINES CALLED # MR.KLEAN,WAITLIST,DSPMM,ALARM,RESTARTS,FINDVAC # B. ALARMS # 1107 PHASE TABLE ERROR # 1110 RESTART WITH NO ACTIVE GROUPS # Page 183 BANK 10 SETLOC FRANDRES BANK EBANK= LST1 COUNT 05/START SLAP1 INHINT # FRESH START. COMES HERE FROM PINBALL. TC STARTSUB # SUBROUTINE DOES MOST OF THE WORK. STARTSW TCF SKIPSIM # PATCH....TCF STARTSIM...FOR SIMULATION STARTSIM CAF BIT14 TC FINDVAC SIM2CADR OCT 77777 # PATCH 2CADR (AND EBANK DESIGNATION) OF OCT 77777 # SIMULATION START ADDRESS. SKIPSIM CA DSPTAB +11D MASK BITS4&6 AD BIT15 TS DSPTAB +11D # REQUESTED FRESH START. CA ZERO # SAME STORY ON ZEROING FAILREG. TS ERCOUNT TS FAILREG TS FAILREG +1 TS FAILREG +2 TS REDOCTR CS PRIO12 TS DSRUPTSW DOFSTART CAF ZERO # DO A FRESH START. TS ERESTORE # ***** MUST NOT BE REMOVED FROM DOFSTART TS SMODE # ***** MUST NOT BE REMOVED FROM DOFSTART TS UPSVFLAG # UPDATE STATE VECTOR REQUEST FLAGWORD EXTEND WRITE CHAN5 # TURN OFF RCS JETS EXTEND WRITE CHAN6 # TURN OFF RCS JETS EXTEND WRITE DSALMOUT # ZERO CHANNEL 11 EXTEND WRITE CHAN12 # ZERO CHANNEL 12 EXTEND WRITE CHAN13 # ZERO CHANNEL 13 EXTEND WRITE CHAN14 # ZERO CHANNEL 14 TS WTOPTION TS DNLSTCOD # Page 184 TS NVSAVE TS EBANKTEM TS RATEINDX TS TRKMKCNT TS VHFCNT TS EXTVBACT CS DSPTAB +11D MASK BITS4&6 CCS A TC +4 CA BITS4&6 EXTEND # THE IMU WAS IN COARSE ALIGN IN GIMBAL WOR CHAN12 # LOCK, SO PUT IT BACK INTO COARSE ALIGN. TC MR.KLEAN CS ZERO TS MODREG CAF PRIO30 TS RESTREG CAF IM30INIF # FRESH START IMU INITIALIZATION. TS IMODES30 CAF NEGONE TS OPTIND # KILL COARSE OPTICS CAF OPTINITF TS OPTMODES CAF IM33INIT TS IMODES33 EXTEND # LET T5 IDLE. DCA T5IDLER DXCH T5LOC CA SWINIT TS STATE CA FLAGWRD1 MASK NOP01BIT # LEAVE NODOP01 FLAG UNTOUCHED AD SWINIT +1 TS FLAGWRD1 CA SWINIT +2 TS STATE +2 CA FLAGWRD3 # Page 185 MASK BIT13 # REFSMMAT FLAG AD SWINIT +3 TS FLAGWRD3 EXTEND DCA SWINIT +4 DXCH STATE +4 EXTEND DCA SWINIT +6 DXCH STATE +6 CA FLAGWRD8 MASK OCT6200 # CMOONFLG, LMOONFLG, AND SUFFLAG AD SWINIT +8D TS FLAGWRD8 CA SWINIT +9D TS STATE +9D EXTEND DCA SWINIT +10D DXCH STATE +10D ENDRSTRT TC POSTJUMP CADR DUMMYJOB +2 # DOES A RELINT. (IN A SWITCHED BANK.) MR.KLEAN INHINT EXTEND DCA NEG0 DXCH -PHASE2 P00KLEAN EXTEND DCA NEG0 DXCH -PHASE4 EXTEND DCA NEG0 DXCH -PHASE1 V37KLEAN EXTEND DCA NEG0 DXCH -PHASE3 EXTEND DCA NEG0 DXCH -PHASE5 EXTEND DCA NEG0 DXCH -PHASE6 TC Q OCT6200 OCT 6200 # Page 186 # COMES HERE FROM LOCATION 4000, GOJAM, RESTART ANY PROGRAMS WHICH MAY HAVE BEEN RUNNING AT THE TIME. GOPROG INCR REDOCTR # ADVANCE RESTART COUNTER. LXCH Q EXTEND ROR SUPERBNK DXCH RSBBQ TC BANKCALL # STORE ERASABLES FOR DEBUGGING PURPOSES. CADR VAC5STOR CA BIT15 # TEST OSC FAIL BIT TO SEE IF WE HAVE EXTEND # HAD A POWER TRANSIENT. IF SO, ATTEMPT WAND CHAN33 # A RESTART. IF NOT, CHECK THE PRESENT EXTEND # STATE OF AGC WARNING BIT. BZF BUTTONS CA BIT14 # IF AGC WARNING ON (BIT = 0), DO A EXTEND # FRESH START ON THE ASSUMPTION THAT RAND CHAN33 # WE ARE IN A RESTART LOOP. EXTEND BZF NONAVKEY +1 BUTTONS TC LIGHTSET # MAKE FRESH START CHECKS BEFORE ERESTORE. # ERASCHK TEMPORARILY STORES THE CONTENTS OF TWO ERASABLE LOCATIONS, X # AND X+1 INTO SKEEP5 AND SKEEP6. IT ALSO STORES X INTO SKEEP7 AND # ERESTORE. IF ERASCHK IS INTERRUPTED BY A RESTART, C(ERESTORE) SHOULD # EQUAL C(SKEEP7),AND SHOULD BE A + NUMBER LESS THAN 2000 OCT. OTHERWISE # C(ERESTORE) SHOULD EQUAL +0. CAF HI5 MASK ERESTORE EXTEND BZF +2 # IF ERESTORE NOT = +0 OR +N LESS THAN 2K, TCF NONAVKEY +1 # DOUBT E MEMORY AND DO A FRESH START. CS ERESTORE EXTEND BZF ELRSKIP -1 AD SKEEP7 EXTEND BZF +2 # = SKEEP7, RESTORE E MEMORY. TCF NONAVKEY +1 # NOT=SKEEP7, DOUBT EMEM, DO FRESH START CA SKEEP4 TS EBANK # EBANK OF E MEMORY THAT WAS UNDER TEST. EXTEND # (NOT DXCH SINCE THIS MIGHT HAPPEN AGAIN) DCA SKEEP5 INDEX SKEEP7 DXCH 0000 # E MEMORY RESTORED. CA ZERO TS ERESTORE # Page 187 TC STARTSUB # DO INITIALIZATION AFTER ERASE RESTORE. ELRSKIP CA FLAGWRD6 # RESTART AUTOPILOTS EXTEND MP BIT3 # BITS 15,14 00 T5IDLOC MASK SIX # 01 REDORCS EXTEND # 10 REDOTVC INDEX A # 11 REDOSAT DCA T5IDLER DXCH T5LOC CS INTFLBIT MASK RASFLAG TS RASFLAG CA OPTMODES MASK OPTINITR AD BIT7 TS OPTMODES CAF BIT6 MASK IMODES33 AD IM33INIT TS IMODES33 CA 9,6,4 # LEAVE PROG ALARM,GIMBAL LOCK, NO ATT MASK DSPTAB +11D # LAMPS INTACT ON HARDWARE RESTART AD BIT15 XCH DSPTAB +11D MASK BIT4 # IF NO ATT LAMP WAS ON, LEAVE ISS IN EXTEND # COURSE ALIGN BZF NOCOARSE TC IBNKCALL # IF NO ATT LAMP ON, RETURN ISS TO CADR SETCOARS # COARSE ALIGN. CAF SIX TC WAITLIST EBANK= CDUIND 2CADR CA+ECE NOCOARSE CAF IFAILINH # LEAVE FAILURE INHIBITS INTACT ON MASK IMODES30 # HARDWARE RESTART. RESET ALL AD IM30INIR # FAILURE CODES. TS IMODES30 CS FLAGWRD5 MASK ENGONBIT CCS A TCF GOPROG3 CAF BIT13 EXTEND # Page 188 WOR DSALMOUT # TURN ENGINE ON TCF GOPROG3 ENEMA INHINT TC LIGHTSET # EXIT TO DOFSTART IF ERROR RESET AND TC STARTSB2 # MARK REJECT DEPRESSED SIMULTANEOUSLY CS INTMASK # RESET INTEGRATION BITS MASK RASFLAG TS RASFLAG CS FLAGWRD6 # IS TVC ON MASK OCT60000 EXTEND BZMF GOPROG3 # NO CAF .5SEC # YES, CALL TVCEXEC TASK WHICH WAS KILLED TC WAITLIST # IN STARTSB2. EBANK= BZERO 2CADR TVCEXEC GOPROG3 CAF NUMGRPS # VERIFY PHASE TABLE AGREEMENTS PCLOOP TS MPAC +5 DOUBLE EXTEND INDEX A DCA -PHASE1 # COMPLEMENT INTO A, DIRECT INTO L. EXTEND RXOR LCHAN # RESULT MUST BE -0 FOR AGREEMENT. CCS A TCF PTBAD # RESTART FAILURE. TCF PTBAD TCF PTBAD CCS MPAC +5 # PROCESS ALL RESTART GROUPS. TCF PCLOOP TS MPAC +6 # SET TO +0. TC MMDSPLAY # DISPLAY MAJOR MODE INHINT # RELINT DONE IN MMDSPLAY CAE FLAGWRD6 # IS RCS DAP RUNNING (BITS 15 14 OF MASK OCT60000 # FLAGWORD6 = 01) EXTEND # YES, DO STOPRATE BZMF NXTRST -1 # NO, SKIP TO NXTRST -1 CAF EBANK6 # STOPRATE IS DONE IN EBANK 6 TS EBANK TC STOPRATE # ZERO DELCDUS, WBODYS, AND BIASES THUS # STOPPING AUTOMATIC MANEUVERING CAF EBANK3 TS EBANK # Page 189 CAF NUMGRPS # SEE IF ANY GROUPS RUNNING. NXTRST TS MPAC +5 DOUBLE INDEX A CCS PHASE1 TCF PACTIVE # PNZ - GROUP ACTIVE. TCF PINACT # +0 - GROUP NOT RUNNING. PACTIVE TS MPAC INCR MPAC # ABS OF PHASE. INCR MPAC +6 # INDICATE GROUP DEMANDS PRESENT. CA RACTCADR TC SWCALL # MUST RETURN TO SWRETURN. PINACT CCS MPAC +5 # PROCESS ALL RESTART GROUPS. TCF NXTRST CCS MPAC +6 # NO, CHECK PHASE ACTIVITY FLAG TCF ENDRSTRT # PHASE ACTIVE CAF BIT15 # IS MODE -0 MASK MODREG EXTEND BZF GOTOPOOH # NO TCF ENDRSTRT # YES PTBAD TC ALARM # SET ALARM TO SHOW PHASE TABLE FAILURE. OCT 1107 TCF DOFSTART # IN R2). # ******** ****** ****** # # DO NOT USE GOPROG2 OR ENEMA WITHOUT CONSULTING POOH PEOPLE # GOPROG2 EQUALS ENEMA OCT10000 = BIT13 OCT30000 = PRIO30 OCT7777 OCT 7777 RACTCADR CADR RESTARTS LIGHTSET CAF BIT7 # DOFSTART IF MARK REJECT AND EITHER EXTEND # ERROR LIGHT RESET BUTTONS ARE DEPRESSED RAND NAVKEYIN EXTEND BZF NONAVKEY # NO MARK REJECT CAF OCT37 EXTEND RAND NAVKEYIN # NAV DSKY KEYCODES,MARK,MARK REJECT AD -ELR EXTEND BZF NONAVKEY +1 EXTEND # Page 190 READ MNKEYIN # MAIN DSKY KEYCODES AD -ELR EXTEND BZF +2 NONAVKEY TC Q TC STARTSUB TCF DOFSTART STARTSUB CAF LDNPHAS1 # SET POINTER SO NEXT 20MS DOWNRUPT WILL TS DNTMGOTO # CAUSE THE CURRENT DOWNLIST TO BE # INTERRUPTED AND START SENDING FROM THE # BEGINNING OF THE CURRENT DOWNLIST. CAF POSMAX TS TIME3 # 37777 TO TIME3. AD MINUS2 TS TIME4 # 37775 TO TIME4. AD NEGONE TS TIME5 # 37774 TO TIME5. STARTSB2 CAF OCT77603 # TURN OFF UPLINK ACTY, TEMP CAUTION, KR, EXTEND # FLASH, OP. ERROR, LEAVE OTHERS UNCHANGED WAND DSALMOUT CAF OCT74777 # TURN OFF TEST ALARMS, STANDBY ENABLE. EXTEND WAND CHAN13 CS PRIO25 # CLEAR R21MARK, P21FLAG, AND SKIPVHF BIT. MASK FLAGWRD2 AD SKIPVBIT # NOW SET SKIPVHF FLAG. TS FLAGWRD2 EBANK= LST1 CAF STARTEB TS EBANK # SET FOR E3 CAF NEG1/2 # INITIALIZE WAITLIST DELTA-TS. TS LST1 +7 TS LST1 +6 TS LST1 +5 TS LST1 +4 TS LST1 +3 TS LST1 +2 TS LST1 +1 TS LST1 CS ENDTASK TS LST2 TS LST2 +2 TS LST2 +4 # Page 191 TS LST2 +6 TS LST2 +8D TS LST2 +10D TS LST2 +12D TS LST2 +14D TS LST2 +16D CS ENDTASK +1 TS LST2 +1 TS LST2 +3 TS LST2 +5 TS LST2 +7 TS LST2 +9D TS LST2 +11D TS LST2 +13D TS LST2 +15D TS LST2 +17D CS ZERO # MAKE ALL EXECUTIVE REGISTER SETS TS PRIORITY # AVAILABLE. TS PRIORITY +12D TS PRIORITY +24D TS PRIORITY +36D TS PRIORITY +48D TS PRIORITY +60D TS PRIORITY +72D TS DSRUPTSW TS NEWJOB # SHOWS NO ACTIVE JOBS. CAF VAC1ADRC # MAKE ALL VAC AREAS AVAILABLE. TS VAC1USE AD LTHVACA TS VAC2USE AD LTHVACA TS VAC3USE AD LTHVACA TS VAC4USE AD LTHVACA TS VAC5USE CAF TEN # BLANK DSKY REGISTERS (PROGRAM,VERB,NOUN, # R1,R2,R3) DSPOFF TS MPAC CS BIT12 INDEX MPAC TS DSPTAB CCS MPAC TCF DSPOFF TS DELAYLOC # Page 192 TS DELAYLOC +1 TS DELAYLOC +2 TS DELAYLOC +3 TS R1SAVE TS INLINK TS DSPCNT TS CADRSTOR TS REQRET TS CLPASS TS DSPLOCK TS MONSAVE # KILL MONITOR TS MONSAVE1 TS VERBREG TS NOUNREG TS DSPLIST TS MARKSTAT TS IMUCADR TS OPTCADR TS RADCADR TS ATTCADR TS LGYRO TS FLAGWRD4 # KILL INTERFACE DISPLAYS CAF NOUTCON TS NOUT CAF BIT14 MASK EXTVBACT TS EXTVBACT CAF LESCHK # SELF CHECK GO-TO REGISTER. TS SELFRET CS VD1 TS DSPCOUNT TC Q T5IDLOC CA L # T5RUPT COMES HERE EVERY 163.84 SECS TCF NOQRSM +1 # WHEN NOBODY IS USING IT. EBANK= OGANOW T5IDLER 2CADR T5IDLOC EBANK= OGANOW 2CADR REDORCS EBANK= OGANOW 2CADR REDOTVC EBANK= OGANOW 2CADR REDOSAT # Page 193 IFAILINH OCT 435 LDNPHAS1 GENADR DNPHASE1 LESCHK GENADR SELFCHK VAC1ADRC ADRES VAC1USE LTHVACA DEC 44 INTMASK OCT 20100 OCT77603 OCT 77603 OCT74777 OCT 74777 STARTEB ECADR LST1 NUMGRPS EQUALS FIVE -ELR OCT -22 # -ERROR LIGHT RESET KEY CODE. IM30INIF OCT 37411 # INHIBITS IMU FAIL FOR 5 SEC AND PIP ISSW IM30INIR OCT 37000 IM33INIT = PRIO16 # NO PIP OR TM FAIL SIGNALS. 9,6,4 OCT 450 OPTINITF OCT 130 OPTINITR OCT 430 SWINIT OCT 0 OCT 0 OCT 0 OCT 0 OCT 0 OCT 00200 OCT 0 OCT 0 OCT 0 OCT 0 OCT 0 OCT 0 # Page 194 # PROGRAM NAME GOTOPOOH ASSEMBLY SUNDISK # LOG SECTION FRESH START AND RESTART # FUNCTIONAL DESCRIPTION # 1. DISPLAY MAJOR MODE NUMBER 00 IN DSKY REGISTER R1 AND R3. FLASH V50 N07 ON DSKY. (M M CHANGE REQUEST) # 2. PERMIT A CURRENT PENDING REQUEST (FLASH ON DSKY) TO BE REPLACED (WITHOUT AN ABORT) BY THE MAJOR MODE # CHANGE REQUEST. # INPUT/OUTPUT INFORMATION # A. CALLING SEQUENCE TC GOTOPOOH # B. ERASABLE INITIALIZATION NONE # C. OUTPUT FLASH VERB 50 NOUN 07 ON DSKY # D. DEBRIS L # PROGRAM ANALYSIS # A. SUBROUTINES CALLED GOPERF3, LINUS # B. NORMAL EXIT TCF ENDOFJOB # C. ALARM AND ABORT EXITS NONE BLOCK 02 SETLOC FFTAG10 BANK COUNT 02/P00 GOTOPOOH TC PHASCHNG # RESTART GOTOPOOH OCT 14 TC POSTJUMP CADR GOP00FIX BANK 10 SETLOC VERB37 BANK COUNT 04/P00 GOP00FIX TC INITSUB TC CLEARMRK +2 CAF V37N99 TC BANKCALL CADR GOFLASH TCF -3 # Page 195 TCF -4 TCF -5 V37N99 VN 3799 # Page 196 # PROGRAM NAME V37 ASSEMBLY SUNDISK # LOG SECTION FRESH START AND RESTART # FUNCTIONAL DESCRIPTION # 1. CHECK IF NEW PROGRAM ALLOWED. IF BIT 1 OF FLAGWRD2(NODOFLAG) ISSET, AN ALARM 1520 IS CALLED. # 2. CHECK FOR VALIDITY OF PROGRAM SELECTED. IF AN INVALID PROGRAM IS SELECTED, THE OPERATOR ERROR LIGHT IS # SET AND CURRENT ACTIVITY, IF ANY, CONTINUES. # 3. SERVICER IS TERMINATED IF IT HAS BEEN RUNNING. # 4. INSTALL IS EXECUTED TO AVOID INTERRUPTING INTEGRATION. # 5. THE ENGINE IS TURNED OFF AND THE DAP IS INITIALIZED FOR COAST. # 6. TRACK, UPDATE AND TARG1 FLAGS ARE SET TO ZERO. # 7. DISPLAY SYSTEM IS RELEASED. # 8. THE FOLLOWING ARE PERFORMED FOR EACH OF THE THREE CASES. # A. PROGRAM SELECTED IS P00. # 1. RENDEZVOUS FLAG IS RESET (KILL P20). # 2. STATINT1 IS SCHEDULED BY SETTING RESTART GROUP 2. # 3. MAJOR MODE 00 IS STORED IN THE MODE REGISTER(MODREG). # 4. SUPERBANK 3 IS SELECTED. # 5. NODOFLAG IS RESET. # 6. ALL RESTART GROUPS EXCEPT GROUP 2 ARE CLEARED. CONTROL ISTRANSFERRED TO RESTART PROGRAM (GOPROG2) # WHICH CAUSES ALL CURRENT ACTIVITY TO BE DISCONTINUED AND A 9 MINUTE INTEGRATION CYCLE TO BE # INITIATED. # B. PROGRAM SELECTES IS P20. # 1. IF THE CURRENT MAJOR MODE IS THE SAME AS THE SELECTED NEWPROGRAM. THE PROGRAM IS RE-INITIALIZED # VIA V37XEQ, ALL RESTART GROUPS, EXCEPT GROUP 4 ARE CLEARED. # 2. IF THE CURRENT MAJOR MODE IS NOT EQUAL TO THE NEW REQUEST, A CHECK IS MADE TO SEE IF THE REQUEST- # ED MAJOR MODE HAS BEEN RUNNING THE BACKGROUND, # AND IF IT HAS, NO NEW PROGRAM IS SCHEDULED, THE EXISTING # P20 IS RESTARTED TO CONTINUE, AND ITS MAJOR MODE IS SET. # 3. CONTROL IS TRANSFERRED TO GOPROG2. # C. PROGRAM SELECTED IS NEITHER P00 NOR P20 # 1. V37XEQ IS SCHEDULED (AS A JOB) BY SETTING RESTART GROUP 4 # 2. ALL CURRENT ACTIVITY EXCEPT RENDEZVOUS AND TRACKING IS DISCONTINUED BY CLEARING ALL RESTART # GROUPS. GROUP 2 IS CLEARED. IF THE RENDEZVOUS FLAG IS ON P20 IS RESTARTED IN GOPROG2 VIA REDOP20, # TO CONTINUE. # INPUT/OUTPUT INFORMATION # A. CALLING SEQUENCE # CONTROL IS DIRECTED TO V37 BY THE VERBFAN ROUTINE. # VERBFAN GOES TO C(VERBTAB+C(VERBREG)). VERB 37 = MMCHANG. # MMCHANG EXECUTES A TC POSTJUMP, CADR V37. # B. ERASABLE INITIALIZATION NONE # C. OUTPUT # MAJOR MODE CHANGE # Page 197 # # D. DEBRIS # MMNUMBER, MPAC +1, MINDEX, BASETEMP +C(MINDEX), FLAGWRD0, FLAGWRD1, FLAGWRD2, MODREG, GOLOC -1, # GOLOC, GOLOC +1, GOLOC +2, BASETEMP, -PHASE2, PHASE2, -PHASE4 # PROGRAM ANALYSIS # A. SUBROUTINES CALLED # ALARM, RELDSP, PINBRNCH, INTSTALL, ENGINOF2, ALLCOAST, V37KLEAN, GOPROG2, FALTON, FINDVAC, SUPERSW, # DSPMM # B. NORMAL EXIT TC ENDOFJOB # C. ALARMS 1520 (MAJOR MODE CHANGE NOT PERMITTED) BLOCK 02 SETLOC FFTAG10 BANK COUNT 02/V37 OCT24 MM 20 OCT31 MM 25 BANK 27 SETLOC VERB37 BANK COUNT 04/V37 V37 TS MMNUMBER # SAVE MAJOR MODE CAF PRIO30 # RESTART AT PINBALL PRIORITY TS RESTREG CA IMODES30 # IS IMU BEING INITIALIZED MASK BIT6 CCS A TCF CANTR00 CAF BIT13 # IS ENGINE ON EXTEND RAND DSALMOUT CCS A TCF R00TOP00 # YES, SET UP FOR P00 CS FLAGWRD6 # NO, IS TVC DAP ON MASK OCT60000 EXTEND BZMF ISITP00 # NO, CONTINUE WITH R00 R00TOP00 INHINT CAF EBANK6 # Page 198 TS EBANK EBANK= DAPDATR1 CAE CSMMASS TS MASSTMP TC IBNKCALL CADR SPSOFF TC IBNKCALL CADR MASSPROP CAF 3.1SEC TC IBNKCALL CADR RCSDAPON +1 TC IBNKCALL CADR TVCZAP # DISABLE TVC CAF ZERO TS MMNUMBER RELINT CAF FIVE TC BANKCALL CADR DELAYJOB CAF ZERO EXTEND WRITE 5 EXTEND WRITE 6 ISITP00 CA MMNUMBER EXTEND BZF ISSERVON # YES, CHECK SERVICER STATUS CS FLAGWRD2 # NO, IS NODO V37 FLAG SET MASK NODOBIT CCS A TCF CHECKTAB # NO CANTR00 TC ALARM OCT 1520 V37BAD TC RELDSP # RELEASES DISPLAY FROM ASTRONAUT TC POSTJUMP # BRING BACK LAST NORMAL DISPLAY IF THERE CADR PINBRNCH # WAS ONE. OY CHECKTAB CA NOV37MM # THE NO. OF MM AGAINMM TS MPAC +1 NDX MPAC +1 CA PREMM1 # OBTAIN WHICH MM THIS IS FOR MASK LOW7 COM AD MMNUMBER CCS A CCS MPAC +1 # IF GR, SEE IF ANY MORE IN LIST # Page 199 TCF AGAINMM # YES, GET NEXT ONE TCF V37NONO # LAST TIME OR PASSED MM CA MPAC +1 TS MINDEX # SAVE INDEX FOR LATER ISSERVON CS FLAGWRD7 # V37 FLAG SET - I.E. IS SERVICER GOING MASK V37FLBIT CCS A TCF CANV37 # NO INHINT CS AVEGBIT # YES TURN OFF AVERAGE G FLAG AND WAIT MASK FLAGWRD1 # FOR SERVICER TO RETURN TO CANV37 TS FLAGWRD1 TCF ENDOFJOB CANV37 CAF R00AD TS TEMPFLSH TC PHASCHNG OCT 14 ROC TC INTPRET CALL # WAIT FOR INTEGRATION TO FINISH INTSTALL DUMMYAD EXIT CS OCT1400 # CLEAR CAUTION RESET EXTEND # AND TEST CONNECTOR OUTBIT WAND 11 CAF OCT44571 # CLEAR ENABLE OPTICS ERROR COUNTER, STAR EXTEND # TRAKERS ON BIT, TVC ENABLE, ZERO OPTICS, WAND 12 # DISENGAGE OPTICS DAP, SIVB IN J SEQUENCE # START, AND SIVB CUTOFF BIT. CS OCT600 # CLEAR UNUSED BITS EXTEND WAND 13 TC INITSUB TC CLEARMRK TC DOWNFLAG ADRES STIKFLAG # Page 200 TC BANKCALL CADR UPACTOFF # TURN OFF UPLINK ACTIV LIGHT TC DOWNFLAG ADRES VHFRFLAG TC DOWNFLAG ADRES R21MARK CCS MMNUMBER # IS THIS A POOH REQUEST TCF NOUVEAU # NO, PICK UP NEW PROGRAM COUNT 04/P00 POOH TC RELDSP # RELEASE DISPLAY SYSTEM CAF PRIO5 # SET VARIABLE RESTART REGISTER FOR P00. TS PHSPRDT2 INHINT CS NODOBIT # TURN OFF NODOFLAG MASK FLAGWRD2 TS FLAGWRD2 CA FIVE # SET 2.5 RESTART FOR STATEINT1 TS L COM DXCH -PHASE2 CS BIT7-8 # RESET IMUSE + KILL P20 BY TURNING OFF MASK FLAGWRD0 TS FLAGWRD0 # RENDFLG CAF DNLADP00 COUNT 04/V37 SEUDOP00 TS DNLSTCOD # SET UP APPROPRIATE DOWNLIST. # (OLD ONE WILL BE FINISHED FIRST) CS OCT01120 # TURN OFF TRACK, TARG1, UPDATE FLAGS TS EBANKTEM MASK FLAGWRD1 TS FLAGWRD1 GROUPKIL TC IBNKCALL # KILL GROUPS 3(5,6 CADR V37KLEAN CCS MMNUMBER # IS IT POOH TCF RENDV00 # NO # Page 201 TC IBNKCALL CADR P00KLEAN # REDUNDANT EXCEPT FOR GROUP 4. GOMOD CA MMNUMBER TS MODREG GOGOPROG TC POSTJUMP CADR GOPROG2 RENDV00 CS MMNUMBER # IS NEW PROG = 20 AD OCT24 # 20 EXTEND BZF RENDN00 # YES TCF P00FIZZ RENDN00 CS MMNUMBER AD MODREG EXTEND BZF KILL20 CA FLAGWRD0 # IS RENDEZVOO FLAG SET MASK RNDVZBIT CCS A TCF STATQUO P00FIZZ CAF RNDVZBIT MASK FLAGWRD0 CCS A TCF REV37 KILL20 EXTEND # NO, KILL GROUPS 1 + 2 DCA NEG0 DXCH -PHASE1 EXTEND DCA NEG0 DXCH -PHASE2 REV37 CAF V37QCAD # SET RESTART POINT TS TEMPFLSH TCF GOGOPROG STATQUO CS FLAGWRD1 # SET TRACKFLAG AND UPDATE FLAG MASK OCT120 ADS FLAGWRD1 EXTEND # KILL GROUP 4 DCA NEG0 DXCH -PHASE4 # Page 202 TCF GOMOD NOUVEAU CAF RNDVZBIT MASK FLAGWRD0 CCS A TCF +3 TC DOWNFLAG # NO, RESET IMUSE FLAG. ADRES IMUSE # BIT 8 FLAG 0 +3 INDEX MINDEX CAF DNLADMM1 # OBTAIN NEW DOWNLIST ADDRESS INHINT TCF SEUDOP00 V37NONO TC FALTON # COME HERE IF MM REQUESTED DOESNT EXIST TCF V37BAD OCT00010 EQUALS BIT4 V37XEQ INHINT INDEX MINDEX CAF PREMM1 TS MMTEMP # OBTAIN PRIORITY BITS 15 - 11 TS CYR # SHIFT RIGHT TO BITS 14 - 10 CA CYR MASK PRIO37 TS PHSPRDT4 # PRESET GROUP4 RESTART PRIORITY TS NEWPRIO # STORE PRIO FOR SPVAC CA MMTEMP # OBTAIN EBANK - BITS 8, 9, 10 OF MMTEMP. EXTEND MP BIT8 MASK LOW3 TS L INDEX MINDEX CAF FCADRMM1 TS BASETEMP MASK HI5 ADS L CA BASETEMP # OBTAIN GENADR PORTION OF 2CADR. MASK LOW10 AD BIT11 TC SPVAC V37XEQC CA MMTEMP # UPON RETURN FROM FINDVAC PLACE THE MASK LOW7 # NEW MM IN MODREG (THE LOW 7 BITS OF TC NEWMODEA # PHSBRDT1) # Page 203 # FOR SUNDISK ONLY TC RELDSP # RELEASE DISPLAY TC ENDOFJOB # AND EXIT INITSUB EXTEND QXCH MPAC +1 CAF EBANK6 # SET E6 FOR DEADBAND CODING TS EBANK # WILL BE RESET IN STARTSB2. INHINT TC STOPRATE CA FLAGWRD9 # RESTORE DEADBAND MASK MAXDBBIT CCS A TCF SETMAXER # MAX DB SELECTED TC BANKCALL # MIN DB SELECTED CADR SETMINDB TCF RAKE SETMAXER TC BANKCALL CADR SETMAXDB RAKE CAF ELEVEN # THIS PART CLEARS FLAGWORD BITS. +1 TS MPAC # LOOP COMES HERE. INDEX MPAC CS FLAGTABL INDEX MPAC MASK FLAGWRD0 INDEX MPAC # PUT REVISED FLAGWORD BACK. TS FLAGWRD0 CCS MPAC TCF RAKE +1 # GET THE NEXT FLAGWORD. RELINT TC UPFLAG # NOW SET IMPULSW ADRES IMPULSW CA NEGONE TS OPTIND TC MPAC +1 # RETURN FROM INITSUB FLAGTABL OCT 0 OCT 00040 # IDLEFAIL OCT 06000 # P21FLAG, STEERSW OCT 0 OCT 0 OCT 04140 # V59FLAG, ENGONFLG, 3AXISFLG OCT 10000 # STRULLSW OCT 16000 OCT 0 # Page 204 OCT 42000 # SWTOVER, V94FLAG OCT 0 OCT 0 SETLOC VAC5LOC BANK VAC5STOR CA ZERO # INITIALIZE INDEX REGISTERS TS ITEMP1 TS ITEMP2 V5LOOP1 EXTEND # LOOP TO STORE LOCS, BANKSETS, AND PRIOS. INDEX ITEMP1 DCA LOC INDEX ITEMP2 DXCH VAC5 INDEX ITEMP1 CA PRIORITY INDEX ITEMP2 TS VAC5 +2 CS ITEMP2 # HAVE WE STORED THEM ALL? AD EIGHTEEN EXTEND BZF V5OUT1 # YES, GET PHASE INFORMATION. CA TWELVE # NO, INCREMENT INDEXES AND LOOP. ADS ITEMP1 CA THREE ADS ITEMP2 TCF V5LOOP1 EBANK= PHSNAME1 V5OUT1 CA EBANK3 # PHSNAME REGISTERS ARE IN EBANK3. TS EBANK CA ELEVEN # GET PHASE 2CADRS. TC GENTRAN ADRES PHSNAME1 ADRES VAC5 +21D CA ZERO # NOW INITIALIZE INDEXES AGAIN. TS ITEMP1 TS ITEMP2 V5LOOP2 INDEX ITEMP1 # LOOP TO GET PHASE TABLES. CA PHASE1 INDEX ITEMP2 TS VAC5 +33D # Page 205 CS ITEMP2 # DO WE HAVE THEM ALL? AD FIVE EXTEND BZF V5OUT2 # YES, GO FINISH UP. CA TWO # NO, INCREMENT INDEXES AND LOOP. ADS ITEMP1 INCR ITEMP2 TCF V5LOOP2 V5OUT2 CA MPAC +3 TS VAC5 +39D EXTEND DCA NEWLOC DXCH VAC5 +40D CA NEWJOB TS VAC5 +22D CA NEWPRIO TS VAC5 +26D TC SWRETURN EIGHTEEN OCT 22 SETLOC VERB37 BANK NEG7 EQUALS OCT77770 OCT44571 OCT 44571 # CONSTANTS TO CLEAR CHANNEL BITS IN V37 OCT600 OCT 600 EBANK= PACTOFF P00DAPAD 2CADR T5IDLOC MMTEMP EQUALS PHSPRDT3 BASETEMP EQUALS TBASE4 BIT7-8 OCT 300 OCT01120 OCT 01120 V37QCAD CADR V37XEQ +3 R00AD CADR DUMMYAD EBANK= DAPDATR1 RCSADDR4 2CADR RCSATT 3.1SEC OCT 37312 # 2.5 + 0.6 SEC # FOR VERB 37 TWO TABLES ARE MAINTAINED. EACH TABLE HAS AN ENTRY FOR EACH # MAJOR MODE THAT CAN BE STARTED FROM THE KEYBOARD. THE ENTRIES ARE PUT # INTO THE TABLE WITH THE ENTRY FOR THE HIGHEST MAJOR MODE COMING FIRST, # Page 206 # TO THE LOWEST MAJOR MODE WHICH IS THE LAST ENTRY IN EACH TABLE. # THE FCADRMM TABLE CONTAINS THE FCADR OF THE STARTING JOB OF # THE MAJOR MODE. FOR EXAMPLE, # FCADRMM1 FCADR P79 # START OF P 79 # FCADR PROG18 # START OF P 18 # FCADR P01 # START OF P 01 FCADRMM1 EQUALS FCADR P79 FCADR P78 FCADR P77 FCADR P76 FCADR P75 FCADR P74 FCADR P73 FCADR P72 FCADR P62 FCADR P61 FCADR P54 FCADR P53 FCADR PROG52 FCADR P51 FCADR P47CSM FCADR P41CSM FCADR P40CSM FCADR P39 FCADR P38 FCADR P37 FCADR P35 FCADR P34 FCADR P33 FCADR P32 FCADR P31 FCADR P30 FCADR P23 FCADR PROG22 FCADR PROG21 FCADR PROG20 FCADR P17 FCADR P06 FCADR GTSCPSS1 # GYROCOMPASS STANDARD LEAD IN. # THE PREMM TABLE CONTAINS THE E-BANK,MAJOR MODE, AND PRIORITY # INFORMATION, IT IS IN THE FOLLOWING FORM, # PPP PPE EEM MMM MMM # # Page 207 # WHERE THE 7 M BITS CONTAIN THE MAJOR MODE NUMBER # 3 E BITS CONTAIN THE E-BANK NUMBER # 5 P BITS CONTAIN THE PRIORITY AT WHICH THE JOB IS # TO BE STARTED # FOR EXAMPLE, # PREMM1 OCT 67213 # PRIORITY 33 # # E-BANK 5 # # MAJOR MODE 11 # OCT 25437 # PRIORITY 12 # # E-BANK 6 # # MAJOR MODE 31 PREMM1 EQUALS OCT 27117 # MM 79 EBANK 4 PRIO 13 OCT 27116 # MM 78 EBANK 4 PR23 13 OCT 27115 # MM 77 EBANK 4 PRIO 13 OCT 27714 # MM 76 EBANK 4 PRIO 13 OCT 27113 # MM 75 EBANK 4 PRIO 13 OCT 27112 # MM 74 EBANK 4 PRIO 13 OCT 27111 # MM 73 EBANK 4 PRIO 13 OCT 27110 # MM 72 EBANK 4 PRIO 13 OCT 27476 # MM 62 EBANK 6 PRIO 13 OCT 27475 # MM 61 EBANK 6 PRIO 13 OCT 27266 # MM 54 EBANK 5 PRIO 13 OCT 27265 # MM 53 EBANK 5 PRIO 13 OCT 27264 # MM 52 EBANK 5 PRIO 13 OCT 27263 # MM 51 EBANK 5 PRIO 13 OCT 27657 # MM 47 EBANK 7 PRIO 13 OCT 27451 # MM 41 EBANK 6 PRIO 13 OCT 27450 # MM 40 EBANK 6 PRIO 13 OCT 27047 # MM 39 EBANK 4 PRIO 13 OCT 27046 # MM 38 EBANK 4 PRIO 13 OCT 27645 # MM 37 EBANK 7 PRIO 13 OCT 27043 # MM 35 EBANK 4 PRIO 13 OCT 27042 # MM 34 EBANK 4 PRIO 13 OCT 27041 # MM 33 EBANK 4 PRIO 13 OCT 27040 # MM 32 EBANK 4 PRIO 13 OCT 27637 # MM 31 EBANK 7 PRIO 13 OCT 27636 # MM 30 EBANK 7 PRIO 13 OCT 27227 # MM 23 EBANK 5 PRIO 13 OCT 27226 # MM 22 EBANK 5 PRIO 13 OCT 27025 # MM 21 EBANK 4 PRIO 13 OCT 27424 # MM 20 EBANK 6 PRIO 13 OCT 27021 # MM 17 EBANK 6 PRIO 13 OCT 27006 # MM 06 EBANK 4 PRIO 13 OCT 41201 # MM 01 EBANK 5 PRIO 20 # Page 208 # THE FOLLOWING LIST IS FOR THE PURPOSE OF VERIFYING THAT THE EBA EBANK= TIG # EBANK SETTING REQUIRED BY MM 76 EBANK= KT # EBANK SETTING REQUIRED BY MM 75 EBANK= SUBEXIT # EBANK SETTING REQUIRED BY MM 74 EBANK= SUBEXIT # EBANK SETTING REQUIRED BY MM 73 EBANK= SUBEXIT # EBANK SETTING REQUIRED BY MM 72 EBANK= AOG # EBANK SETTING REQUIRED BY MM 62 EBANK= AOG # EBANK SETTING REQUIRED BY MM 61 EBANK= BESTI # EBANK SETTING REQUIRED BY MM 54 EBANK= STARIND # EBANK SETTING REQUIRED BY MM 53 EBANK= BESTI # EBANK SETTING REQUIRED BY MM 52 EBANK= STARIND # EBANK SETTING REQUIRED BY MM 51 EBANK= P40TMP # EBANK SETTING REQUIRED BY MM 47 EBANK= DAPDATR1 # EBANK SETTING REQUIRED BY MM 41 EBANK= KMPAC # EBANK SETTING REQUIRED BY MM 40 EBANK= KT # EBANK SETTING REQUIRED BY MM 35 EBANK= SUBEXIT # EBANK SETTING REQUIRED BY MM 34 EBANK= SUBEXIT # EBANK SETTING REQUIRED BY MM 33 EBANK= SUBEXIT # EBANK SETTING REQUIRED BY MM 32 EBANK= +MGA # EBANK SETTING REQUIRED BY MM 30 EBANK= LANDMARK # EBANK SETTING REQUIRED BY MM 23 EBANK= MARKINDX # EBANK SETTING REQUIRED BY MM 22 EBANK= WHOCARES # EBANK SETTING REQUIRED BY MM 21 EBANK= ESTROKER # EBANK SETTING REQUIRED BY MM 20 EBANK= TIME2SAV # EBANK SETTING REQUIRED BY MM 06 EBANK= QPLACE # EBANK SETTING REQUIRED BY MM 01 # NOTE, THE FOLLOWING CONSTANT IS THE NUMBER OF ENTRIES IN EACH OF # ---- THE ABOVE LISTS-1(IE, THE NUMBER OF MAJOR MODES(EXCEPT P00) # THAT CAN BE CALLED FROM THE KEYBOARD MINUS ONE) EPREMM1 EQUALS # END OF PREMM1 TABLE SETLOC PREMM1 # THIS CODING WILL AUTOMATICALLY CHANGE NO.MMS =MINUS EPREMM1 # THE "NOV37MM" CONSTANT AS ENTRIES ARE SETLOC VERB37 # INSERTED(IN) OR DELETED(FROM) THE BANK # "PREMM1" TABLE. NOV37MM ADRES NO.MMS -1 # ITEMS IN "PREMM1"TABLE - 1. *DON'T MOVE* DNLADMM1 EQUALS ADRES RENDEZVU # P79 ADRES RENDEZVU # P78 ADRES RENDEZVU # P77 ADRES RENDEZVU # P76 ADRES RENDEZVU # P75 ADRES RENDEZVU # P74 ADRES RENDEZVU # P73 # Page 209 ADRES RENDEZVU # P72 ADRES ENTRYUPD # P62 ADRES POWERED # P61 ADRES COSTALIN ADRES COSTALIN ADRES COSTALIN # P52 ADRES COSTALIN # P51 ADRES POWERED # P47 ADRES POWERED # P41 ADRES POWERED # P40 ADRES RENDEZVU # P39 ADRES RENDEZVU # P38 ADRES RENDEZVU # P37 ADRES RENDEZVU # P35 ADRES RENDEZVU # P34 ADRES RENDEZVU # P33 ADRES RENDEZVU # P32 ADRES RENDEZVU ADRES RENDEZVU # P30 ADRES RENDEZVU # P23 ADRES P22DNLST # P22 ADRES RENDEZVU # P21 ADRES RENDEZVU # P20 ADRES RENDEZVU # P17 ADRES COSTALIN # P06 ADRES COSTALIN # P01 DNLADP00 = ZERO COSTALIN = 0 ENTRYUPD = 1 RENDEZVU = 2 POWERED = 3 P22DNLST = 4 # ORBITAL INTEGRATION CONSTANTS # THESE CONSTANTS ARE USED IN COMPUTING THE SETTING OF MIDFLAG. RMM 2DEC 2538.09 E3 B-27 # 800 KM ABOVE LUNAR SURFACE RME 2DEC 7178165 B-29 # 800 KM ABOVE EQ. RADIUS BANK 13 SETLOC INTINIT BANK COUNT* $$/INTIN EBANK= RRECTCSM STATEUP SET BOF # EXTRAPOLATE CM STATE VECTOR VINTFLAG # Page 210 ORBWFLAG # ALSO 6X6 W-MATRIX IF VALID +3 # FOR ORBITAL NAVIGATION SET DIM0FLAG CLEAR CALL PRECIFLG INTEGRV BON DLOAD SURFFLAG STATEND TETCSM STCALL TDEC1 INTSTALL CLEAR CALL # EXTRAPOLATE LM STATE VECTOR VINTFLAG SETIFLGS # AND 6X6 W-MATRIX IF VALID BOF SET RENDWFLG # FOR RENDEZVOUS NAVIGATION +2 DIM0FLAG SET CALL PRECIFLG INTEGRV STATEND CLRGO NODOFLAG ENDINT # THISVINT IS CALLED BY MIDTOAV1 AND2 THISVINT SET RVQ VINTFLAG ================================================ FILE: Comanche055/GIMBAL_LOCK_AVOIDANCE.agc ================================================ # Copyright: Public domain. # Filename: GIMBAL_LOCK_AVOIDANCE.agc # Purpose: Part of the source code for Comanche, build 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), Apollo 11. # Assembler: yaYUL # Reference: pp. 412-413 # Contact: Onno Hommes . # Website: www.ibiblio.org/apollo. # Mod history: 05/07/09 OH Transcription Batch 1 Assignment # # The contents of the "Comanche055" files, in general, are transcribed # from scanned documents. # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. April 1, 1969. # # This AGC program shall also be referred to as Colossus 2A # # Prepared by # Massachusetts Institute of Technology # 75 Cambridge Parkway # Cambridge, Massachusetts # # under NASA contract NAS 9-4065. # # Refer directly to the online document mentioned above for further information. # Please report any errors to info@sandroid.org. # Page 412 BANK 15 SETLOC KALCMON1 BANK EBANK= BCDU # DETECTING GIMBAL LOCK LOCSKIRT EQUALS WCALC WCALC LXC,1 DLOAD* RATEINDX ARATE,1 SR4 CALL # COMPUTE THE INCREMENTAL ROTATION MATRIX DELCOMP # DEL CORRESPONDING TO A 1 SEC ROTATION # ABOUT COF DLOAD* VXSC ARATE,1 COF MXV QUADROT STODL BRATE AM DMP DDV* ANGLTIME ARATE,1 SR 5 STOVL TM BRATE VXSC BIASCALE STORE BIASTEMP # ATTITUDE ERROR BIAS TO PREVENT OVERSHOOT # IN SYSTEM SETGO # STATE SWITCH CALCMAN2 (43D) CALCMAN2 # 0(OFF) = BYPASS STARTING PROCEDURE NEWANGL +1 # 1(ON) = START MANEUVER ARATE 2DEC .0022222222 # = .05 DEG/SEC 2DEC .0088888889 # = .2 DEG/SEC 2DEC .0222222222 # = .5 DEG/SEC 2DEC .0888888889 # = 2 DEG/SEC $22.5 DEG/SEC ANGLTIME 2DEC .000190735 # = 100B - 19 # MANEUVER ANGLE TO MANEUVER TIME QUADROT 2DEC .1 # ROTATION MATRIX FROM S/C AXES TO CONTROL # Page 413 2DEC 0 # AXES (X ROT = -7.25 DEG) 2DEC 0 2DEC 0 2DEC .099200 # =(.1)COS7.25 2DEC -.012620 # =-(.1)SIN7.25 2DEC 0 2DEC .012620 # (.1)SIN7.25 2DEC .099200 # (.1)COS7.25 BIASCALE 2DEC .0002543132 # = (450/180)(1/0.6)(1/16384) ================================================ FILE: Comanche055/GROUND_TRACKING_DETERMINATION_PROGRAM.agc ================================================ # Copyright: Public domain. # Filename: GROUND_TRACKING_DETERMINATION_PROGRAM.agc # Purpose: Part of the source code for Comanche, build 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), Apollo 11. # Assembler: yaYUL # Reference: pp. 456-459 # Contact: Onno Hommes . # Website: www.ibiblio.org/apollo. # Mod history: 2009-05-07 OH Transcription Batch 1 Assignment # 2009-05-20 RSB Corrected a couple of DIMOFLAG to DIM0FLAG. # # The contents of the "Comanche055" files, in general, are transcribed # from scanned documents. # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. April 1, 1969. # # This AGC program shall also be referred to as Colossus 2A # # Prepared by # Massachusetts Institute of Technology # 75 Cambridge Parkway # Cambridge, Massachusetts # # under NASA contract NAS 9-4065. # # Refer directly to the online document mentioned above for further information. # Please report any errors to info@sandroid.org. # Page 456 # GROUND TRACKING DETERMINATION PROGRAM P21 # PROGRAM DESCRIPTION # MOD NO - 1 # MOD BY - N.M.NEVILLE # FUNCTIONAL DECRIPTION- # # TO PROVIDE THE ASTRONAUT DETAILS OF THE LM OR CSM GROUND TRACK WITHOUT # THE NEED FOR GROUND COMMUNICATION (REQUESTED BY DSKY). # CALLING SEQUENCE - # # ASTRONAUT REQUEST THROUGH DSKY V37E21E # SUBROUTINES CALLED- # # GOPERF4 # GOFLASH # THISPREC # OTHPREC # LAT-LONG # NORMAL EXIT MODES- # # ASTRONAUT REQUEST THROUGH DSKY TO TERMINATE PROGRAM V34E # ALARM OR ABORT EXIT MODES- # # NONE # OUTPUT - # # OCTAL DISPLAY OF OPTION CODE AND VEHICLE WHOSE GROUND TRACK IS TO BE # COMPUTED # OPTION CODE 00002 # THIS 00001 # OTHER 00002 # DECIMAL DISPLAY OF TIME TO BE INTEGRATED TO HOURS , MINUTES , SECONDS # DECIMAL DISPLAY OF LAT,LONG,ALT # ERASABLE INITIALIZATION REQUIRED # # AX0 2DEC 4.652459653 E-5 RADIANS "68-69 CONSTANTS" # # -AY0 2DEC 2.147535898 E-5 RADIANS # # AZ0 2DEC .7753206164 REVOLUTIONS # FOR LUNAR ORBITS 504LM VECTOR IS NEEDED # # 504LM 2DEC -2.700340600 E-5 RADIANS # # 504LM _2 2DEC -7.514128400 E-4 RADIANS # # 504LM _4 2DEC _2.553198641 E-4 RADIANS # # NONE # DEBRIS # Page 457 # CENTRALS-A,Q,L # OTHER-THOSE USED BY THE ABOVE LISTED SUBROUTINES # SEE LEMPREC,LAT-LONG SBANK= LOWSUPER # FOR LOW 2CADR'S. BANK 33 SETLOC P20S BANK EBANK= P21TIME COUNT 24/P21 PROG21 CAF ONE TS OPTION2 # ASSUMED VEHICLE IS LM , R2 = 00001 CAF BIT2 # OPTION 2 TC BANKCALL CADR GOPERF4 TC GOTOPOOH # TERMINATE TC +2 # PROCEED VALUE OF ASSUMED VEHICLE OK TC -5 # R2 LOADED THROUGH DSKY P21PROG1 CAF V6N34 # LOAD DESIRED TIME OF LAT-LONG. TC BANKCALL CADR GOFLASH TC GOTOPOOH # TERM TC +2 # PROCEED VALUES OK TC -5 # TIME LOADED THROUGH DSKY TC INTPRET DLOAD DSPTEM1 STCALL TDEC1 # INTEG TO TIME SPECIFIED IN TDEC INTSTALL BON SET P21FLAG P21CONT # ON...RECYCLE USING BASE VECTOR VINTFLAG # OFF..1ST PASS CALC BASE VECTOR SLOAD SR1 OPTION2 BHIZ CLEAR +2 # ZERO..THIS VEHICLE (CM) VINTFLAG # ONE...OTHER VEHICLE(LM) CLEAR CLEAR DIM0FLAG INTYPFLG # PRECISION CALL INTEGRV # CALCULATE GOTO # .AND P21VSAVE # ..SAVE BASE VECTOR P21CONT VLOAD # RECYCLE..INTEG FROM BASE VECTOR P21BASER # Page 458 STOVL RCV # ..POS P21BASEV STODL VCV # ..VEL P21TIME STORE TET # ..TIME CLEAR CLEAR DIM0FLAG MOONFLAG SLOAD BZE P21ORIG +3 # ZERO = EARTH SET # ...2 = MOON MOONFLAG CALL INTEGRVS P21VSAVE DLOAD # SAVE CURRENT BASE VECTOR TAT STOVL P21TIME # ..TIME RATT1 STOVL P21BASER # ..POS B-29 OR B-27 VATT1 STORE P21BASEV # ..VEL B-7 OR B-5 ABVAL SL* 0,2 STOVL P21VEL # /VEL/ FOR N73 DSP RATT UNIT DOT VATT # U(R).(V) DDV ASIN # U(R).U(V) P21VEL STORE P21GAM # SIN-1 U(R).U(V), -90 TO +90 SXA,2 SET P21ORIG # 0 = EARTH 2 = MOON P21FLAG P21DSP CLEAR SLOAD # GENERATE DISPLAY DATA LUNAFLAG X2 BZE SET +2 # 0 = EARTH LUNAFLAG VLOAD RATT STODL ALPHAV TAT CLEAR CALL ERADFLAG LAT-LONG DMP # MPAC = ALT, METERS B-29 K.01 STORE P21ALT # ALT/100 FOR N73 DSP # Page 459 EXIT CAF V06N43 # DISPLAY LAT,LONG,ALT TC BANKCALL # LAT,LONG = REVS B0 BOTH EARTH/MOON CADR GOFLASH # ALT = METERS B-29 BOTH EARTH/MOON TC GOTOPOOH # TERM TC GOTOPOOH TC INTPRET # V32E RECYCLE DLOAD DAD P21TIME 600SEC # 600 SECONDS OR 10 MIN STORE DSPTEM1 RTB P21PROG1 600SEC 2DEC 60000 # 10 MIN P21ONENN OCT 00001 # NEEDED TO DETERMINE VEHICLE OCT 00000 # TO BE INTEGRATED V06N43 VN 00643 V6N34 VN 00634 K.01 2DEC .01 ================================================ FILE: Comanche055/IMU_CALIBRATION_AND_ALIGNMENT.agc ================================================ # Copyright: Public domain. # Filename: IMU_CALIBRATION_AND_ALIGNMENT.agc # Purpose: Part of the source code for Comanche, build 055. It # is part of the source code for the Command Module's # (CM) Apollo Guidance Computer (AGC), Apollo 11. # Assembler: yaYUL # Reference: pp. 423-455 # Contact: Onno Hommes # Website: http://www.ibiblio.org/apollo. # Mod history: 2009-05-10 OH Batch 1 Assignment Comanche Transcription # 2009-05-20 RSB Corrections: P00D00H -> P00DOOH, definition # of 25DECML fixed. # 2009-05-23 RSB At SPECSTS, corrected to PRIO22. # # The contents of the "Comanche055" files, in general, are transcribed # from scanned documents. # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. April 1, 1969. # # This AGC program shall also be referred to as Colossus 2A # # Prepared by # Massachusetts Institute of Technology # 75 Cambridge Parkway # Cambridge, Massachusetts # # under NASA contract NAS 9-4065. # # Refer directly to the online document mentioned above for further # information. Please report any errors to info@sandroid.org. # Page 423 # NAME- IMU PERFORMANCE TESTS 2 # DATE- MARCH 20,1967 # # BY- SYSTEM TEST GROUP 864-6900 EXT. 1274 # MODNO.- ZERO # FUNCTIONAL DESCRIPTION # POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF # THE TESTS THEMSELVES. FOR A DESCRIPTION OF THESE SUBROUTINES AND THE # OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685.THEORETICAL REF.E-1973 BANK 33 SETLOC IMUCAL BANK EBANK= POSITON IMUTEST CA ZERO TS DRIFTT TS GEOCOMP1 CAF TESTTIME TS LENGTHOT TC COAALIGN # TAKE CARE OF DRIFT FLAG CAF 1SECX TS 1SECXT1 CA OC14400 TS 1/PIPADT GUESS TC INTPRET # CALCULATE -COS LATITUDE AND SIN LATITUDE CALL LATAZCHK COS DCOMP SL1 STODL WANGI LATITUDE SIN SL1 STORE WANGO EXIT GEOIMUTT TC BANKCALL # GYROCOMPASS COMES IN HERE CADR IMUZERO TC IMUSTLLG IMUBACK CA ZERO TS NDXCTR TS TORQNDX TS TORQNDX +1 NBPOSPL CA DEC17 TS ZERONDX1 CA XNBADR # Page 424 TC ZEROING CA HALF TS XNB TC INTPRET DLOAD SIN AZIMUTH STORE YNB +2 STODL ZNB +4 AZIMUTH COS STORE YNB +4 DCOMP STORE ZNB +2 EXIT TC CHECKMM MM 03 # SEE IF IN OPTICAL VERIFICATION TCF +2 # NO TCF SETNBPOS +1 # YES TC INTPRET CALL CALCGA EXIT TC BANKCALL CADR IMUCOARS CAF GLOKFBIT # IF GLOKFAIL SET, GIMBAL LOCK MASK FLAGWRD3 EXTEND BZF +2 INCR NDXCTR # +1 IF IN GIMBAL LOCK,OTHERWISE 0 TC DOWNFLAG # RESET GIMBAL LOCK FLAG ADRES GLOKFAIL # BIT 14 FLAG 3 TC IMUSTLLG CCS NDXCTR # IF ONE GO AND DO A PIPA TEST ONLY TC PIPACHK # ALIGN AND MEASURE VERTICAL PIPA RATE TC BANKCALL CADR IMUFINE TC IMUSTLLG EXTEND DCA PERFDLAY TC LONGCALL EBANK= POSITON 2CADR GOESTIMS CA ESTICADR TC JOBSLEEP GOESTIMS CA ESTICADR TC JOBWAKE TC TASKOVER ESTICADR CADR ESTIMS # Page 425 TORQUE CA ZERO TS DSPTEM2 CA DRIFTI TS DSPTEM2 +1 INDEX POSITON TS SOUTHDR -1 TC SHOW PIPACHK INDEX NDXCTR # PIPA TEST TC +1 TC EARTHR* CA DEC57 TS LENGTHOT CA ONE TS RESULTCT CA ZERO INDEX PIPINDEX TS PIPAX TS DATAPL TS DATAPL +4 TC CHECKG # PIP PULSE CATCHING ROUTINE INHINT CAF TWO TC TWIDDLE EBANK= XSM ADRES PIPATASK TC ENDOFJOB PIPATASK EXTEND DIM LENGTHOT CA LENGTHOT EXTEND BZMF STARTPIP CAF BIT10 TC TWIDDLE EBANK= XSM ADRES PIPATASK STARTPIP CAF PRIO20 TC FINDVAC EBANK= XSM 2CADR PIPJOBB TC TASKOVER PIPJOBB INDEX NDXCTR TC +1 TC EARTHR* CA LENGTHOT EXTEND BZMF +2 TC ENDOFJOB CA FIVE # Page 426 TS RESULTCT TC CHECKG EXTEND DCS DATAPL DAS DATAPL +4 TC INTPRET DLOAD DSU DATAPL +6 DATAPL +2 BPL CALL AINGOTN OVERFFIX AINGOTN PDDL DDV DATAPL +4 SL4 DMPR DEC585 # DEC585 HAS BEEN REDEFINED FOR LEM RTB SGNAGREE STORE DSPTEM2 EXIT CCS NDXCTR TC COAALIGN # TAKE PLATFORM OUT OF GIMBAL LOCK TC SHOW VERTDRFT CA 3990DEC # ABOUT 1 HOUR VERTICAL DRIFT TEST TS LENGTHOT INDEX POSITON CS SOUTHDR -2 TS DRIFTT CA XSM +4 # 0 IF POSN 4 EXTEND BZF PON2 PON4 CS BIT5 # OFFSET PLATFORM ADS ERCOMP1 +2 CA BIT5 ADS ERCOMP1 TCF PONG PON2 CS BIT5 ADS ERCOMP1 +2 CA BIT5 ADS ERCOMP1 +4 PONG TC EARTHR* CA ZERO # ALLOW ONLY SOUTH GYRO EARTH RATE COMPENS TS ERVECTOR TS ERVECTOR +1 GUESS1 CAF POSMAX TS TORQNDX TS TORQNDX +1 CA CDUX TS LOSVEC # Page 427 TC ESTIMS VALMIS CA DRIFTO TS DSPTEM2 +1 CA ZERO TS DSPTEM2 TC SHOW ENDTEST1 TC DOWNFLAG # IMU NOT IN USE ADRES IMUSE # BIT 8 FLAG 0 CS ZERO TC NEWMODEX +3 TC BANKCALL CADR MKRELEAS TC ENDEXT # Page 428 OVERFFIX DAD DAD DPPOSMAX ONEDPP RVQ COAALIGN EXTEND # COARSE ALIGN SUBROUTINE QXCH QPLACE CA ZERO TS THETAD TS THETAD +1 TS THETAD +2 TC BANKCALL CADR IMUCOARS TC BANKCALL CADR IMUSTALL TC SOMERR2 TC QPLACE IMUSTLLG EXTEND QXCH QPLACE TC COAALIGN +10 CHECKG EXTEND # PIP PULSE CATCHING ROUTINE QXCH QPLACE TC +6 CHECKG1 RELINT CA NEWJOB EXTEND BZMF +6 TC CHANG1 INHINT INDEX PIPINDEX CS PIPAX TS ZERONDX INHINT INDEX PIPINDEX CA PIPAX AD ZERONDX EXTEND BZF CHECKG1 INDEX PIPINDEX CA PIPAX INDEX RESULTCT TS DATAPL TC FINETIME INDEX RESULTCT TS DATAPL +1 # Page 429 INDEX RESULTCT LXCH DATAPL +2 RELINT ENDCHKG TC QPLACE ZEROING TS L TCF +2 ZEROING1 TS ZERONDX1 CAF ZERO INDEX L TS 0 INCR L CCS ZERONDX1 TCF ZEROING1 TC Q # Page 430 SETLOC IMUCAL3 BANK ERTHRVSE DLOAD PDDL SCHZEROS # PD24 = (SIN -COS 0)(OMEG/MS) LATITUDE COS DCOMP PDDL SIN LATITUDE VDEF VXSC OMEG/MS STORE ERVECTOR RTB LOADTIME STOVL TMARK SCHZEROS STORE ERCOMP1 RVQ SETLOC IMUCAL BANK EARTHR ITA RTB # CALCULATES AND COMPENSATES EARTH RATE S2 LOADTIME STORE TEMPTIME DSU BPL TMARK ERTHR CALL OVERFFIX ERTHR SL VXSC 9D ERVECTOR MXV VAD XSM ERCOMP1 STODL ERCOMP1 TEMPTIME STORE TMARK AXT,1 RTB ECADR ERCOMP1 PULSEIMU GOTO S2 EARTHR* EXTEND QXCH QPLACES TC INTPRET CALL EARTHR PROUT EXIT TC IMUSTLLG TC QPLACES # Page 431 SHOW EXTEND QXCH QPLACE SHOW1 CA POSITON TS DSPTEM2 +2 CA VB06N98 TC BANKCALL CADR GOFLASH TC ENDTEST1 # V 34 TC QPLACE # V33 TCF SHOW1 OC14400 OCT 14400 3990DEC = OMEG/MS VB06N98 VN 0698 TESTTIME OCT 01602 DEC17 = ND1 OGCPL ECADR OGC 1SECX = 1SEC DEC57 = VD1 XNBADR GENADR XNB XSMADR GENADR XSM OMEG/MS 2DEC .24339048 P11OUT TC BANKCALL CADR MATRXJOB # RETURN TO P11 COUNT 02/COMST BLOCK 2 FINETIME INHINT # RETURNS WITH INTERRUPT INHIBITED EXTEND READ LOSCALAR TS L EXTEND RXOR LOSCALAR EXTEND BZF +4 EXTEND READ LOSCALAR TS L +4 CS POSMAX AD L EXTEND BZF FINETIME +1 EXTEND READ HISCALAR TC Q # Page 432 # PROGRAM NAME-OPTIMUM PRELAUNCH ALIGNMENT CALIBRATION # DATE- NOVEMBER 2 1966 # BY- GEORGE SCHMIDT IL 7-146 EXT. 126 # MOD NO 3 # FUNCTIONAL DESCRIPTION # THIS SECTION CONSISTS OF PRELAUNCH ALIGNMENT AND GYRO DRIFT TESTS # INTEGRATED TOGETHER TO SAVE WORDS. COMPASS IS COMPLETELY RESTART # PROOFED EXCEPT FOR THE FIRST 30 SECONDS OR SO. PERFORMANCE TESTS OF # THE IRIGS IS RESTART PROOFED ENOUGH TO GIVE 75 PERCENT CONFIDENCE THAT # IF A RESTART OCCURS THE DATA WILL STILL BE GOOD. GOOD PRACTICE TO RECYCL # WHEN A RESTART OCCURS UNLESS IT HAPPENS NEAR THE END OF A TEST-THEN WAIT # FOR THE DATA TO FLASH. # A RESTART IN GYROCOMPASS DURING GYRO TORQUING CAUSES PULSES TO BE LOST # THE PRELAUNCH ALIGNMENT TECHNIQUE IS BASICALLY THE SAME AS IN BLOCK 1 # EXCEPT THAT IT HAS BEEN SIMPLIFIED IN THE SENSE THAT SMALL ANGLE APPROX. # HAVE BEEN USED. THE DRIFT TESTS USE A UNIQUE IMPLEMENTATION OF THE # OPTIMUM STATISTICAL FILTER. FOR A DESCRIPTION SEE E-1973.BOTH OF THESE # ROUTINES USE STANDARD SYSTEM TEST LEADIN PROCEDURES. THE INITIALIZATION # PROCEDURE THE DRIFT TESTS IS IN THE JDC S. THE INITIALIZATION METHOD # FOR GYROCOMPASS IS AN ERAS LOAD THEN A MISSION PHASE CALL. # THE COMPASS ALIGNS TO Z DOWN,X DOWNRANGE, HAS THE CAPABILITY # CHANGE AZIMUTH WHILE RUNNING , IS COMPENSATED FOR # COMPONENT ERRORS,IS CAPABLE OF OPTICAL VERIFICATION( CSM ONLY). # COMPASS ERASABLE LOAD REQUIRED # 1-LAUNCHAZ -DP AZIMUTH IN REV FROM NORTH OF XSM DESIRED (NOM=.2) # 2- LATITUDE -DP-OF LAUNCH PAD # 3- AZIMUTH-DP-OF ZNB OF VEHICLE # 4- IMU COMPENSATION PARAMETERS # 5-AZ AND ELEVATION OF TARGETS 1,2 ****OPTIONAL**** # TO PERFORM AS PART OF COMPASS # 1-OPTICAL VERIFICATION- V 65 E # 2-AZIMUTH CHANGE-V 78 E # SUBROUTINES CALLED # DURING OPTICAL VERIFICATION (CSM ONLY) ESSENTIALLY ALL OF INFLIGHT ALIGN # IS CALLED IN ONE WAY OR ANOTHER. SEE THE LISTING. # NORMAL EXIT # DRIFT TESTS- LENGTHOT GOES TO ZERO-RETURN TO IMU PERF TEST2 CONTROL # GYROCOMPASS-MANY, SEE THE LISTING # ALARMS # 1600 OVERFLOW IN DRIFT TEST # Page 433 # 1601 BAD IMU TORQUE ABORT # 1602 BAD OPTICS DURING VERIFICATION-RETURN TO COMPASS CSM ONLY # OUTPUT # DRIFT TESTS- FLASHING DISPLAYS OF RESULTS-CONTROLLED IN IMU PERF TESTS 2 # COMPASS-PROGRAM MODE LIGHTS TELL YOU WHAT PHAS OF PROGRAM YOU ARE IN # 01 INITIALIZING THE PLATFORM POSITION AND ERASABLE # 02 GYROCOMPASSING # 03 DOING OPTICAL VERIFICATION (CSM) # # # DEBRIS # ALL CENTRALS,ALL OF EBANK XSM # Page 434 # MOST OF THE ROUTINES COMMON TO ALIGNMENT AND CALIBRATION APPEAR # ON THE NEXT FEW PAGES. COUNT 33/P02 EBANK= XSM BANK 33 SETLOC IMUCAL BANK ESTIMS TC 2PHSCHNG # COMES HERE FROM IMU2 OCT 00075 OCT 00004 # TURN OFF GROUP 4 IF ON RSTGTS1 INHINT # COMES HERE PHASE1 RESTART CA TIME1 TS GTSWTLT1 CAF ZERO # ZERO THE PIPAS TS PIPAX TS PIPAY TS PIPAZ RELINT CA 77DECML # ZERO ALL NECESSARY LOCATIONS TS ZERONDX1 CA ALXXXZ TC ZEROING TC INTPRET SLOAD SCHZEROS STOVL GCOMPSW -1 INTVAL +2 # LOAD SOME INITIAL DRIFT GAINS STOVL ALX1S SCHZEROS STORE GCOMP STORE DELVX # GCOMPZER SUBROUTINE NO LONGER NEEDED EXIT CCS GEOCOMP1 # NON ZERO IF COMPASS. TC +2 TC SLEEPIE +1 TC INTPRET CALL ERTHRVSE EXIT CA LENGTHOT # TIMES FIVE IS THE NUM OF SEC ERECTING TS ERECTIME TC NEWMODEX MM 02 TC BANKCALL # SET UP PIPA FAIL TO CAUSE ISS ALARM # Page 435 CADR PIPUSE # COMPASS NEVER TURNS THIS OFF TC ANNNNNN # END OF FIRST TIME THROUGH # Page 436 # COMES HERE AT THE END OF EVERY ITERATION THROUGH DRIFT TEST OR COMPASS # SET UP WAITLIST SECTION SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGTHOT TC PHASCHNG # CHANGE PHASE OCT 00135 CCS TORQNDX # ARE WE DOING VERTDRIFT TC EARTHR* # TRUE TORQUE SOUTH GYRO WTLISTNT TC CHKCOMED # SEE IF COMPASS OVER TC SETGWLST TC ENDOFJOB SETGWLST EXTEND QXCH MPAC # CALLED EVERY WAITLIST OR AZIMUTH CHANGE INHINT CS TIME1 AD GTSWTLT1 EXTEND BZMF +2 AD NEGMAX # 10 MS ERROR OK AD 1SECXT1 # 1 SEC FOR CALIBRATION, .5 SEC IN COMPASS EXTEND BZMF RIGHTGTS WTGTSMPL TC TWIDDLE EBANK= ALTIM ADRES ALLOOP TC MPAC RIGHTGTS CAF FOUR # SET UP NEXT WAITLIST-ALLOW SOME TIME TC WTGTSMPL # END OF WAITLIST SECTION # STORE AND LOAD DATA SECTIONS FOR RESTART PROOFING 25DECML EQUALS OCT31 STOREDTA CAF 25DECML TS MPAC INDEX MPAC CAE THETAX1 INDEX MPAC TS RESTARPT CCS MPAC TCF STOREDTA +1 TC Q LOADSTDT CAF 25DECML TS MPAC INDEX MPAC CA RESTARPT INDEX MPAC # Page 437 TS THETAX1 CCS MPAC TCF LOADSTDT +1 TC Q # COMES HERE EVERY ITERATION BY A WAITLIST CALL SET IN SLEEPIE ALLOOP CA TIME1 TS GTSWTLT1 # STORE TIME TO SET UP NEXT WAITLIST. ALLOOP3 CA ALTIM TS GEOSAVE1 TC PHASCHNG OCT 00115 ALLOOP1 CAE GEOSAVE1 TS ALTIM CCS A CA A # SHOULD NEVER HIT THIS LOCATION TS ALTIMS CS A TS ALTIM CAF ZERO XCH PIPAX TS DELVX CAF ZERO XCH PIPAY TS DELVY CAF ZERO XCH PIPAZ TS DELVZ CAF 19DECML # 23 OCT TC NEWPHASE OCT 00005 SPECSTS CAF PRIO22 TC FINDVAC EBANK= GEOSAVE1 2CADR ALFLT # START THE JOB TC TASKOVER # Page 438 # THIS IS PART OF THE JOB DONE EVERY ITERATION ALFLT TC STOREDTA # STORE DATA IN CASE OF RESTART IN JOB TC PHASCHNG # THIS IS THE JOB DONE EVERY ITERATION OCT 00215 TCF +2 ALFLT1 TC LOADSTDT # COMES HERE ON RESTART CCS GEOCOMP1 TC +2 TC NORMLOP TC CHKCOMED # SEE IF PRELAUNCH OVER TC BANKCALL # COMPENSATION IF IN COMPASS CADR 1/PIPA NORMLOP TC INTPRET DLOAD INTVAL STOVL S1 DELVX VXM VSL1 XSM DLOAD DCOMP MPAC +3 STODL DPIPAY MPAC +5 STORE DPIPAZ SETPD AXT,1 0 8D SLOAD DCOMP GEOCOMP1 BMN ALWAYSG # DO A QUICK COMPASS # Page 439 # NOW WE HAVE JUST THE CALIBRATION PARTS OF THE PROGRAM-NEXT PAGES COUNT 33/COMST ALCGKK SLOAD BMN ALTIMS ALFLT3 # NO NEW GAINS NEEDED ALKCG AXT,2 LXA,1 # LOADS SLOPES AND TIME CONSTANTS AT RQST 12D ALX1S ALKCG2 DLOAD* INCR,1 ALFDK +144D,1 DEC -2 STORE ALDK +10D,2 TIX,2 SXA,1 ALKCG2 ALX1S ALFLT3 AXT,1 # MEASUREMENT INCORPORATION ROUTINES 8D # AND GAIN UPDATES DELMLP DLOAD* DMP DPIPAY +8D,1 PIPASC SLR BDSU* 9D INTY +8D,1 STORE INTY +8D,1 PDDL DMP* VELSC VLAUN +8D,1 SL2R DSU STADR STORE DELM +8D,1 STORE DELM +10D,1 TIX,1 AXT,2 DELMLP 4 ALILP DLOAD* DMPR* ALK +4,2 ALDK +4,2 STORE ALK +4,2 TIX,2 AXT,2 ALILP 8D ALKLP LXC,1 SXA,1 CMPX1 CMPX1 DLOAD* DMPR* ALK +1,1 DELM +8D,2 # Page 440 DAD* INTY +8D,2 STORE INTY +8D,2 DLOAD* DAD* ALK +12D,2 ALDK +12D,2 STORE ALK +12D,2 DMPR* DAD* DELM +8D,2 INTY +16D,2 STORE INTY +16D,2 DLOAD* DMP* ALSK +1,1 DELM +8D,2 SL1R DAD* VLAUN +8D,2 STORE VLAUN +8D,2 TIX,2 AXT,1 ALKLP 8D LOOSE DLOAD* PDDL* # EXTRAPOLATE SWAY VARIABLES ACCWD +8D,1 VLAUN +8D,1 PDDL* VDEF POSNV +8D,1 MXV VSL1 TRANSM1 DLOAD MPAC STORE POSNV +8D,1 DLOAD MPAC +3 STORE VLAUN +8D,1 DLOAD MPAC +5 STORE ACCWD +8D,1 TIX,1 LOOSE AXT,2 AXT,1 # EVALUATE SINES AND COSINES 6 2 BOOP DLOAD* DMPR ANGX +2,1 GEORGEJ SR2R PUSH SIN # Page 441 SL3R XAD,1 X1 STORE 16D,2 DLOAD COS STORE 22D,2 # COSINES TIX,2 BOOP PERFERAS EXIT CA EBANK7 EBANK= LAT(SPL) TS EBANK TC LAT(SPL) # GO TO ERASABLE ONLY TO RETURN # CAUTION # THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED # BEFORE ANY ATTEMPT IS MADE TO RUN THE IMU PERFORMANCE TEST EBANK= LENGTHOT ONCEMORE CCS LENGTHOT TC SLEEPIE # TEST NOT OVER SET UP NEXT WAITLIST CCS TORQNDX TCF +2 TC SETUPER1 CA CDUX TS LOSVEC +1 # FOR TROUBLESHOOTING POSNS 2$4 VD SETUPER1 TC INTPRET # DRIFT TEST OVER DLOAD PDDL # ANGLES FROM DRIFT TEST ONLY ANGZ ANGY PDDL VDEF ANGX VCOMP VXSC GEORGEJ MXV VSR1 XSM STORE OGC EXIT TORQINCH TC PHASCHNG OCT 00005 CA OGCPL TC BANKCALL CADR IMUPULSE TC IMUSTLLG CCS TORQNDX # + IF IN VERTICAL DRIFT TEST TC VALMIS # VERT DRIFT TEST OVER TC INTPRET # Page 442 CALL # SET UP ERATE FOR PIP TEST OR COMPASS ERTHRVSE EXIT TC TORQUE # GO TO IMU2 FOR A PIPA TEST AND DISPLAY SOMEERRR TC ALARM OCT 1600 TC +3 SOMERR2 TC ALARM OCT 1601 TC PHASCHNG OCT 00005 TC ENDTEST1 # THE FAMOUS MAGIC NUMBERS OF SCHMIDT ARE NOW PART OF AN ERASABLE LOAD. DEC585 OCT 02222 # 1170 B+14 ORDER IS NOW IMPORTANT SCHZEROS 2DEC .00000000 2DEC .00000000 OCT 00000 ONEDPP OCT 00000 OCT 00001 # ABOVE ORDER IS IMPORTANT INTVAL OCT 4 OCT 2 DEC 144 DEC -1 SOUPLY 2DEC .93505870 # INITIAL GAINS FOR PIP OUTPUTS 2DEC .26266423 # INITIAL GAINS/4 FOR ERECTION ANGLES 77DECML DEC 77 ALXXXZ GENADR ALX1S -1 # GYROCOMPASS PORTIONS FINISH THIS LOG SECTION COUNT 33/P01 # INITIALIZATION SECTION GTSCPSS CA FLAGWRD1 # CALLED BY V37 MASK NOP01BIT # Page 443 EXTEND BZF GTSCPSSA TC POODOO OCT 1521 # NODO ALARM FOR P01 - P11 ALREADY DONE GTSCPSSA CAF ONE TS GEOCOMP1 # THIS IS THE LEAD IN FOR COMPASS. CA 1/PIPAGT TS 1/PIPADT NXXTENN CA BIT8 TS LENGTHOT CAF 1/2SECX # COMPASS IS A .5 SEC LOOP TS 1SECXT1 CAF ONE TS PREMTRX1 TS PERFDLAY +1 CAF ZERO TS PERFDLAY EXTEND DCA LUNCHAZ1 DXCH NEWAZ1 EXTEND DCA LUNCHAZ1 DXCH OLDAZMTH SETUPGC CA DEC17 TS ZERONDX1 CA XSMADR TC ZEROING TC POSN17C TC GEOIMUTT # GO TO IMU2 FOR FURTHER INITIALIZATION POSN17C EXTEND # COMPASS POSITION Z DOWN,X DOWNRANGE QXCH QPLACE # FROM NORTH IN REVOLUTIONS + CLOCKWISE CS HALF # ALL THIS TO INITIALIZE MATRIX TS ZSM TC INTPRET DLOAD PUSH NEWAZ1 SIN STORE XSM +4 STODL YSM +2 COS STORE YSM +4 DCOMP STORE XSM +2 EXIT TC QPLACE # Page 444 # JOB DONE EVERY ITERATION THROUGH COMPASS PROGRAM.SET BY TASK ALLOOP COUNT 33/P02 ALWAYSG DLOAD* DSU* # COMPASS AND ERECT DPIPAY +8D,1 FILDELV1 +8D,1 DMPR DAD* GEOCONS1 FILDELV1 +8D,1 STORE FILDELV1 +8D,1 DAD* INTVEC1 +8D,1 STORE INTVEC1 +8D,1 DMPR DAD* GEOCONS2 FILDELV1 +8D,1 DMPR PUSH GEOCONS5 TIX,1 SLOAD ALWAYSG ERECTIM1 BZE DLOAD COMPGS THETAN1 +2 DSU STADR STODL THETAN1 +2 # ERECTION ONLY. BDSU THETAN1 +4 STORE THETAN1 +4 GOTO ADDINDRF COMPGS DLOAD DAD # COMPASS THETAN1 FILDELV1 STODL THETAN1 FILDELV1 DMPR BDSU GEOCONS3 THETAN1 +4 STODL THETAN1 +4 FILDELV1 +4 DMPR BDSU GEOCONS3 THETAN1 +2 PDDL DMPR INTVEC1 +4 GEOCONS4 BDSU STADR STORE THETAN1 +2 # Page 445 ADDINDRF EXIT ENDGTSAL CCS LENGTHOT # IS 5 SEC OVER-THE TIME TO TORQ PLATFORM TC SLEEPIE # NO-SET UP NEXT WAITLIST CALL FOR .5 SEC TC CHKCOMED CCS LGYRO # YES BUT ARE GYROS BUSY TCF SLEEPIE +1 # BUSY-GET THEM .5 SECONDS FROM NOW LASTGTS TC INTPRET VLOAD ERCOMP1 STODL THETAX1 TMARK STORE ALK EXIT # PREVIOUS SECTION WAS FOR RESTARTS RESTAIER TC PHASCHNG OCT 00275 TC INTPRET # ADD COMPASS COMMANDS INTO ERATE VLOAD MXV THETAN1 XSM VSL1 VAD THETAX1 STODL ERCOMP1 ALK STORE TMARK EXIT TC EARTHR* # TORQUE IT ALL IN CAE ERECTIM1 TS GEOSAVE1 TC PHASCHNG OCT 00155 RESTEST1 TC INTPRET VLOAD SCHZEROS STORE THETAN1 EXIT CCS PREMTRXC TC NOCHORLD TC PHASCHNG OCT 00255 RESTEST3 TC INTPRET DLOAD LAUNCHAZ DSU BZE OLDAZMTH NOAZCHGE STORE 0D # Page 446 SLOAD DAD ONEDPP +1 PREMTRXC # DOES NOT CHANGE LAUNCHAZ STODL PREMTRXC LAUNCHAZ STODL NEWAZMTH 0D ADERCOMP STORE ERCOMP +4 EXIT TC POSN17C TC PHASCHNG OCT 00335 RESCHNG EXTEND DCA NEWAZMTH DXCH OLDAZMTH CA BIT7 # SPEND 320 SEC ERECTING TS LENGTHOT TC PHASCHNG OCT 00075 SPITGYRO CA ERCOMPPL TC BANKCALL CADR IMUPULSE TC BANKCALL CADR IMUSTALL TC SOMERR2 TC ESTIMS # RE-INITIALIZE NOAZCHGE EXIT CA ONE TS PREMTRXC NOCHORLD CCS GEOSAVE1 TS ERECTIM1 # COUNTS DOWN FOR ERECTION. ANNNNNN CAF NINE TS LENGTHOT TC SLEEPIE +1 CHKCOMED INHINT CS MODREG # CHECK FOR MM 07 FIRST AD SEVEN EXTEND BZF GOBKCALB # IF MM 07 RETURN TO PERF TEST CS ZERO EXTEND RXOR CHAN30 # READ AND INVERT BITS IN CHANNEL 30 MASK BIT5 # LIFTOFF BIT CCS A TCF PRELTERM # LIFTOFF HAS OCCURRED # Page 447 CA GRRBKBIT # CHECK FOR BACKUP LIFTOFF MASK FLAGWRD5 # BIT5 FLAGWRD5 CCS A TCF PRELTERM # BACKUP RECEIVED RELINT GOBKCALB TC Q PRELTERM CA PRIO22 # PRELAUNCH DONE - SET UP P11 TC PRIOCHNG # INCREASE PRIORITY HIGHER THAN SERVICER INHINT TC POSTJUMP CADR P11 ERCOMPPL ECADR ERCOMP GEOCONS5 EQUALS HIDPHALF 1/PIPAGT OCT 06200 17DECML = ND1 # OCT 21 19DECML = VD1 # OCT 23 1/2SECX = .5SEC # Page 448 GEOSTRT4 EQUALS ENDOFJOB # Page 449 # OPTICAL VERIFICATION ROUTINES FOR GYROCOMPASS COUNT 33/P03 GCOMPVER TC PHASCHNG # OPTICAL VERIFICATION ROUTINE OCT 00154 TC NEWMODEX # ENTERED BY VERB 65 ENTER MM 03 SETNBPOS TC NBPOSPL TC BANKCALL CADR MKRELEAS OPTDATA CAF BIT1 # CALLS FOR AZIMUTH AND ELEVATION OF TARGE ZL # T 1,THEN TARGET 2 LXCH RUN # AZIMUTH CLOCKWSE FROM NORTH TO TARGET TS DSPTEM1 +2 # ELEVATION MEASURED FROM HORIZONTAL EXTEND INDEX RUN DCA TAZEL1 DXCH DSPTEM1 CAF V05N30E TC BANKCALL CADR GODSPRET CAF VN0641 TC BANKCALL CADR GOFLASH TC GCOMP5 TC +3 TC -8D VN0641 VN 0641 DXCH DSPTEM1 # TAZEL1 TARGET 1 AZIMUTH INDEX RUN DXCH TAZEL1 # TAZEL1 +2 TARGET 2 AZIMUTH CCS RUN TCF +4 CAF TWO TS L TCF OPTDATA +2 # MPAC 1ST PASS=0 2ND PASS=2 TC CONTIN33 V05N30E VN 0530 TC INTPRET # UNDYNAMIC ASSEMBLER TAR/EREF AXT,1 AXT,2 # TARGET VECTOR 2 # SIN(EL) -COS(AZ)COS(EL) SIN(AZ)COS(EL 12D SSP SETPD S2 6 # Page 450 0 TAR1 SLOAD* SR2 # X1=2 X2=12 S2=6 X1=0 X2=6 S2=6 TAZEL1 +3,1 STORE 0 # PD00 ELEVATION PD00 SIN STORE 18D,2 # PD06 *** SIN(EL) ***PD12 DLOAD 0 COS PUSH # PD00 COS(EL) PD00 SLOAD* RTB TAZEL1 +2,1 CDULOGIC STORE 2 # PD02 AZIMUTH PD02 SIN DMP 0 SL1 STORE 22D,2 # PD10 *** SIN(AZ)COS(EL) ***PD16 DLOAD COS 2 DMP SL1 DCOMP AXT,1 0 STORE 20D,2 # PD08 *** -COS(AZ)COS(EL) ***PD14 TIX,2 RVQ TAR1 BANK 33 SETLOC IMUCAL BANK COUNT* $$/P03 CONTIN33 CA ONE TS STARCODE CA ZERO TC TARGDRVE TC INTPRET CALL TAR/EREF NEXTBNKS VLOAD MXV 6D XSM VSL1 STOVL STARAD 12D MXV VSL1 XSM STCALL STARAD +6 LITTLSUB STORE LOSVEC # Page 451 EXIT TC BANKCALL CADR MKRELEAS NEXBNKSS CAF TWO TS STARCODE CAF SIX TC TARGDRVE TC INTPRET CALL LITTLSUB STOVL 12D LOSVEC STCALL 06D AXISGEN CALL CALCGTA EXIT GCOMP4 CAF V06N93S TC BANKCALL CADR GOFLASH TC GCOMP5 TCF +2 TCF GCOMP4 TC INTPRET VLOAD VAD OGC ERCOMP1 STORE ERCOMP1 EXIT GCOMP5 TC BANKCALL CADR MKRELEAS TC DOWNFLAG ADRES TRM03FLG TC NEWMODEX MM 02 TC PHASCHNG OCT 00004 TC ENDOFJOB V06N93S VN 0693 GTSOPTCS TC ALARM GTSOPTSS OCT 01602 TC GCOMP5 BANK 34 SETLOC IMUCAL1 BANK # Page 452 COUNT 34/COMST LATAZCHK DLOAD SL2 # CALLS FOR AZIMUTH AND LATITUDE LATITUDE STODL DSPTEM1 +1 AZIMUTH RTB EXIT 1STO2S XCH MPAC TS DSPTEM1 TC BANKCALL CADR CLEANDSP CAF VNG0641 TC BANKCALL CADR GOFLASH TC +2 # NOT ALLOWED TC +2 TC -5 TC INTPRET SLOAD RTB DSPTEM1 CDULOGIC STORE AZIMUTH SLOAD SR2 DSPTEM1 +1 STORE LATITUDE RVQ VNG0641 VN 0641 BANK 33 SETLOC IMUCAL BANK COUNT* $$/P03 TARGDRVE EXTEND QXCH QPLAC TS TARG1/2 TC INTPRET CALL TAR/EREF LXC,1 VLOAD* TARG1/2 6D,1 STCALL STAR SXTANG EXIT CA SAC TS DESOPTS # Page 453 CA PAC TS DESOPTT RETARG CAF ZERO TS OPTIND CAF ONE TC BANKCALL CADR SXTMARK TC BANKCALL CADR OPTSTALL TC GTSOPTCS CAE FLAGWRD1 MASK TRM03BIT CCS A TC GCOMP5 INDEX MARKSTAT CA QPRET EXTEND BZF RETARG1 TC QPLAC RETARG1 CA ZERO # RELEASE PREVIOUSLY GRABBED VAC AREA XCH MARKSTAT CCS A INDEX A TS A TCF RETARG # GO DO SXTMARK AGAIN BANK 33 SETLOC IMUCAL BANK COUNT* $$/P03 PIPASC 2DEC .76376833 VELSC 2DEC -.52223476 ALSK 2DEC .17329931 2DEC -.00835370 GEORGEJ 2DEC .63661977 GEOCONS1 2DEC .1 GEOCONS2 2DEC .005 GEOCONS3 2DEC .062 GEOCONS4 2DEC .0003 # Page 454 COUNT 33/P02 LITTLSUB STQ QPLAC LXC,1 VLOAD* MARKSTAT 2,1 STCALL CDUSPOT SXTNB CALL TRG*NBSM GOTO QPLAC EXIT AZMTHCG1 TC INTPRET DLOAD RTB NEWAZMTH 1STO2S EXIT XCH MPAC TS DSPTEM1 TC BANKCALL CADR CLEANDSP CAF VN0629 TC BANKCALL CADR GOFLASH TCF +2 TCF +2 TCF -5 TC INTPRET SLOAD RTB DSPTEM1 CDULOGIC STORE LAUNCHAZ EXIT CA ZERO TS PREMTRXC TC PHASCHNG OCT 00004 TC POSTJUMP CADR PINBRNCH VN0629 VN 0629 # Page 455 # *** END OF COMAID .029 *** ================================================ FILE: Comanche055/IMU_COMPENSATION_PACKAGE.agc ================================================ # Copyright: Public domain. # Filename: IMU_COMPENSATION_PACKAGE.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 297-306 # Mod history: 2009-05-08 RSB Adapted from the Colossus249/ file of the # same name, using Comanche055 page images/ # 2009-05-21 RSB In IRIGZ, PRIO17 corrected to PRIO21. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 297 BANK 7 SETLOC IMUCOMP BANK EBANK= NBDX COUNT 06/ICOMP 1/PIPA CAF LGCOMP # SAVE EBANK OF CALLING PROGRAM XCH EBANK TS MODE CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE TCF +3 TCF +2 TCF IRIG1 # RETURN INHINT # ASSURE COMPLETE COMPENSATION OF DELV'S # FOR DOWNLINK. 1/PIPA1 CAF FOUR # PIPAZ, PIPAY, PIPAX TS BUF +2 INDEX BUF +2 CA PIPASCF # (P.P.M.) X 2(-9) EXTEND INDEX BUF +2 MP DELVX # (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5) TS Q # SAVE MAJOR PART CA L # MINOR PART EXTEND MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9 INDEX BUF +2 TS DELVX +1 # FRACTIONAL PIPA PULSES SCALED 2(+14) CA Q # MAJOR PART EXTEND MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9 INDEX BUF +2 DAS DELVX # (PIPAI) + (PIPAI)(SFE) INDEX BUF +2 CS PIPABIAS # (PIPA PULSES)/(CS) X 2(-8) * EXTEND MP 1/PIPADT # (CS) X 2(+8) NOW (PIPA PULSES) X 2(+0) * EXTEND MP BIT1 # SCALE 2(+14) SHIFT RIGHT 14 * INDEX BUF +2 DAS DELVX # (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT) CCS BUF +2 # PIPAZ, PIPAY, PIPAX # Page 298 AD NEG1 TCF 1/PIPA1 +1 NOOP # LESS THAN ZERO IMPOSSIBLE. RELINT # Page 299 IRIGCOMP TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS. TS BUF # INDEX COUNTER - IRIGX, IRIGY, IRIGZ. IRIGX EXTEND DCS DELVX # (PIPA PULSES) X 2(+14) DXCH MPAC CA ADIAX # (GYRO PULSES)/(PIPA PULSE) X 2(-3) * TC GCOMPSUB # -(ADIAX)(PIPAX) (GYRO PULSES) X 2(+14) EXTEND # DCS DELVY # (PIPA PULSES) X 2(+14) DXCH MPAC # CS ADSRAX # (GYRO PULSES)/(PIPA PULSE) X 2(-3) * TC GCOMPSUB # +(ADSRAX)(PIPAY) (GYRO PULSES) X 2(+14) # EXTEND # *** # DCS DELVY # *** (PIPA PULSES) X 2(+14) # DXCH MPAC # *** # CA ADOAX # *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) * # TC GCOMPSUB # *** -(ADOAX)(PIPAZ) (GYRO PULSES) X 2(+14) CS NBDX # (GYRO PULSES)/(CS) X 2(-5) TC DRIFTSUB # -(NBDX)(DELTAT) (GYRO PULSES) X 2(+14) IRIGY EXTEND DCS DELVY # (PIPA PULSES) X 2(+14) DXCH MPAC CA ADIAY # (GYRO PULSES)/(PIPA PULSE) X 2(-3) * TC GCOMPSUB # -(ADIAY)(PIPAY) (GYRO PULSES) X 2(+14) EXTEND DCS DELVZ # (PIPA PULSES) X 2(+14) DXCH MPAC CS ADSRAY # (GYRO PULSES)/(PIPA PULSE) X 2(-3) * TC GCOMPSUB # +(ADSRAY)(PIPAZ) (GYRO PULSES) X 2(+14) # EXTEND # *** # DCS DELVX # *** (PIPA PULSES) X 2(+14) # DXCH MPAC # *** # CA ADOAY # *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) * # TC GCOMPSUB # *** -(ADOAY)(PIPAZ) (GYRO PULSES) X 2(+14) CS NBDY # (GYRO PULSES)/(CS) X 2(-5) TC DRIFTSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14) IRIGZ EXTEND DCS DELVY # (PIPA PULSES) X 2(+14) DXCH MPAC CA ADSRAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-3) * # Page 300 TC GCOMPSUB # -(ADSRAZ)(PIPAY) (GYRO PULSES) X 2(+14) EXTEND DCS DELVZ # (PIPA PULSES) X 2(+14) DXCH MPAC CA ADIAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-3) * TC GCOMPSUB # -(ADIAZ)(PIPAZ) (GYRO PULSES) X 2(+14) # EXTEND # *** # DCS DELVX # *** (PIPA PULSE) X 2(+14) # DXCH MPAC # *** # CS ADOAZ # *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) * # TC GCOMPSUB # *** +(ADOAZ)(PIPAX) (GYRO PULSES) X 2(+14) CA NBDZ # (GYRO PULSES)/(CS) X 2(-5) TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14) # Page 301 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES TCF +2 # YES TCF IRIG1 # NO CAF PRIO21 # HIGHER THAN SERVICER-LESS THAN PRELAUNCH TC NOVAC EBANK= NBDX 2CADR 1/GYRO RELINT IRIG1 CA MODE # SET EBANK FOR RETURN TS EBANK TCF SWRETURN GCOMPSUB XCH MPAC # ADIA OR ADSRA COEFFICIENT ARRIVES IN A EXTEND # C(MPAC) = (PIPA PULSES) X 2(+14) MP MPAC # (GYRO PULSES)/(PIPA PULSE) X 2(-3) * DXCH VBUF # NOW = (GYRO PULSES) X 2(+11) * CA MPAC +1 # MINOR PART OF PIPA PULSES EXTEND MP MPAC # ADIA OR ADSRA TS L CAF ZERO DAS VBUF # NOW = (GYRO PULSES) X 2(+11) * CA VBUF # PARTIAL RESULT - MAJOR EXTEND MP BIT12 # SCALE 2(+3) SHIFT RIGHT 3 * INDEX BUF # RESULT = (GYRO PULSES) X 2(+14) DAS GCOMP # HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI) CA VBUF +1 # PARTIAL RESULT - MINOR EXTEND MP BIT12 # SCALE 2(+3) SHIFT RIGHT 3 * TS L CAF ZERO INDEX BUF # RESULT = (GYRO PULSES) X 2(+14) DAS GCOMP # (ADIA)(PIPAI) OR (ADSRA)(PIPAI) TC Q # Page 302 DRIFTSUB EXTEND QXCH BUF +1 EXTEND # C(A) = NBD (GYRO PULSES)/(CS) X 2(-5) MP 1/PIPADT # (CS) X 2(+8) NO (GYRO PULSES) X 2(+3) LXCH MPAC +1 # SAVE FOR FRACTIONAL COMPENSATION EXTEND MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11 INDEX BUF DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14) CA MPAC +1 # NOW MINOR PART EXTEND MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11 TS L CAF ZERO INDEX BUF # ADD IN FRACTIONAL COMPENSATION DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14) DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ AD BUF XCH BUF INDEX A CCS GCOMP # ARE GYRO COMMANDS 1 PULSE OR GREATER TCF +2 # YES TC BUF +1 # NO MASK NEGONE CCS A # ARE GYRO COMMANDS GREATER THAN 2 PULSES TS GCOMPSW # YES - SET GCOMPSW POSITIVE TC BUF +1 # NO # Page 303 1/GYRO CAF FOUR # PIPAZ, PIPAY, PIPAX TS BUF INDEX BUF # SCALE GYRO COMMANDS FOR IMUPULSE CA GCOMP +1 # FRACTIONAL PULSES EXTEND MP BIT8 # SHIFT RIGHT 7 INDEX BUF TS GCOMP +1 # FRACTIONAL PULSES SCALED CAF ZERO # SET GCOMP = 0 FOR DAS INSTRUCTION INDEX BUF XCH GCOMP # GYRO PULSES EXTEND MP BIT8 # SHIFT RIGHT 7 INDEX BUF DAS GCOMP # ADD THESE TO FRACTIONAL PULSES ABOVE CCS BUF # PIPAZ, PIPAY, PIPAX AD NEG1 TCF 1/GYRO +1 LGCOMP ECADR GCOMP # LESS THAN ZERO IMPOSSIBLE CAF LGCOMP TC BANKCALL CADR IMUPULSE # CALL GYRO TORQUING ROUTINE TC BANKCALL CADR IMUSTALL # WAIT FOR PULSES TO GET OUT TCF ENDOFJOB # TEMPORARY GCOMP1 CAF FOUR # PIPAZ, PIPAY, PIPAX TS BUF INDEX BUF # RESCALE CA GCOMP +1 EXTEND MP BIT8 # SHIFT MINOR PART LEFT 7 - MAJOR PART = 0 INDEX BUF LXCH GCOMP +1 # BITS 8-14 OF MINOR PART WERE = 0 CCS BUF # PIPAZ, PIPAY, PIPAX AD NEG1 TCF GCOMP1 +1 V06N30S VN 0630 TCF ENDOFJOB # Page 304 NBDONLY CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE TCF +3 TCF +2 TCF ENDOFJOB INHINT CCS FLAGWRD2 # PREREAD T3RUPT MAY COINCIDE TCF ENDOFJOB TCF ENDOFJOB TCF +1 CA TIME1 # (CS) X 2(+14) XCH 1/PIPADT # PREVIOUS TIME RELINT COM AD 1/PIPADT NBD2 CCS A # CALCULATE ELAPSED TIME AD ONE # NO TIME1 OVERFLOW TCF NBD3 # RESTORE TIME DIFFERENCE AND JUMP TCF +2 # TIME1 OVERFLOW TCF ENDOFJOB # IF ELAPSED TIME = 0 (DIFFERENCE = -0) COM # CALCULATE ABSOLUTE DIFFERENCE AD POSMAX NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14) MP BIT10 # SHIFT RIGHT 5 DXCH VBUF EXTEND DCA VBUF DXCH MPAC # DELTAT NOW SCALED (CS) X 2(+19) CAF ZERO TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS TS BUF # PIPAX, PIPAY, PIPAZ CS NBDX # (GYRO PULSES)/(CS) X 2(-5) TC FBIASSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14) EXTEND DCS VBUF DXCH MPAC # DELTAT SCALED (CS) X 2(+19) CA NBDY # (GYRO PULSES)/(CS) X 2(-5) TC FBIASSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14) EXTEND DCS VBUF DXCH MPAC # DELTAT SCALED (CS) X 2(+19) CS NBDZ # (GYRO PULSES)/(CS) X 2(-5) TC FBIASSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14) # Page 305 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES TCF 1/GYRO # YES TCF ENDOFJOB # NO # Page 306 FBIASSUB XCH Q TS BUF +1 CA Q # NBD SCALED (GYRO PULSES)/(CS) X 2(-5) EXTEND MP MPAC # DELTAT SCALED (CS) X 2(+19) INDEX BUF DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14) CA Q # NO FRACTIONAL PART EXTEND MP MPAC +1 TS L CAF ZERO INDEX BUF DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14) TCF DRFTSUB2 # CHECK MAGNITUDE OF COMPENSATION LASTBIAS TC BANKCALL CADR PIPUSE CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE TCF +3 TCF +2 TCF ENDOFJOB CAF PRIO31 # 2 SECONDS SCALED (CS) X 2(+8) XCH 1/PIPADT COM AD PIPTIME1 +1 # TIME AT PIPA1 =0 TCF NBD2 ================================================ FILE: Comanche055/IMU_MODE_SWITCHING_ROUTINES.agc ================================================ # Copyright: Public domain. # Filename: IMU_MODE_SWITCHING_ROUTINES.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1420-1448 # Mod history: 2009-05-10 SN (Sergio Navarro). Started adapting from # the Colossus249/ file of the same name, # using Comanche055 page images. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 1420 BLOCK 02 SETLOC FFTAG3 BANK EBANK= COMMAND # FIXED-FIXED ROUTINES. COUNT 02/IMODE ZEROICDU CAF ZERO # ZERO ICDU COUNTERS. TS CDUX TS CDUY TS CDUZ TC Q SPSCODE = BIT9 # Page 1421 # IMU ZEROING ROUTINE. BANK 11 SETLOC MODESW BANK COUNT 07/IMODE IMUZERO INHINT # ROUTINE TO ZERO ICDUS. CS DSPTAB +11D # DONT ZERO CDUS IS IMU IN GIMBAL LOCK AND MASK BITS4&6 # COARSE ALIGN (GIMBAL RUNAWAY PROTECTION) CCS A TCF IMUZEROA TC ALARM # IF SO. OCT 00206 TCF CAGETSTJ +4 # IMMEDIATE FAILURE. IMUZEROA TC CAGETSTJ # DO ALL THE WORK. CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES MASK SUPER011 # BIT5 FOR GROUND ADS IMODES33 CS IMODES30 # INHIBIT ICDUFAIL AND IMUFAIL (IN CASE WE MASK BITS3&4 # JUST CAME OUT OF COARSE ALIGN). ADS IMODES30 CS BITS4&6 # SEND ZERO ENCODE WITH COARSE AND ERROR EXTEND # COUNTER DISABLED. WAND CHAN12 TC NOATTOFF # TURN OFF NO ATT LAMP. CAF BIT5 EXTEND WOR CHAN12 TC ZEROICDU CAF BIT6 # WAIT 320 MS TO GIVE AGS ADEQUATE TIME TO TC WAITLIST # RECEIVE ITS PULSE TRAIN. EBANK= CDUIND 2CADR IMUZERO2 CS IMODES30 # SEE IF IMU OPERATING AND ALARM IF NOT. MASK BIT9 CCS A TCF MODEEXIT # Page 1422 TC ALARM OCT 210 MODEEXIT RELINT # GENERAL MODE-SWITCHING EXIT. TCF SWRETURN IMUZERO2 TC CAGETEST TC ZEROICDU # ZERO CDUX, CDUY, CDUZ CS BIT5 # REMOVE ZERO DISCRETE. EXTEND WAND CHAN12 CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS TC VARDELAY IMUZERO3 TC CAGETEST CS BITS3&4 # REMOVE IMUFAIL AND ICDUFAIL INHIBIT. MASK IMODES30 TS IMODES30 CS SUPER011 # ENABLE DAP AUTO AND HOLD MODES MASK IMODES33 # BIT5 FOR GROUND TS IMODES33 TC IBNKCALL # SET ISS WARNING IF EITHER OF ABOVE ARE CADR SETISSW # PRESENT. TCF ENDIMU # Page 1423 # IMU COARSE ALIGN MODE. IMUCOARS INHINT TC CAGETSTJ TC SETCOARS CAF SIX TC WAITLIST EBANK= CDUIND 2CADR COARS TCF MODEEXIT COARS TC CAGETEST CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS EXTEND WOR CHAN12 CAF TWO # SET CDU INDICATOR COARS1 TS CDUIND INDEX CDUIND # COMPUTE THETAD - THETAA IN 1:S CA THETAD # COMPLEMENT FORM EXTEND INDEX CDUIND MSU CDUX EXTEND MP BIT13 # SHIFT RIGHT 2 XCH L # ROUND DOUBLE TS ITEMP1 TCF +2 ADS L INDEX CDUIND # DIFFERENCE TO BE COMPUTED LXCH COMMAND CCS CDUIND TC COARS1 CAF TWO # MINIMUM OF 4 MS WAIT TC VARDELAY # Page 1424 COARS2 TC CAGETEST # DONT CONTINUE IF CAGED. TS ITEMP1 # SET TO +0. CAF TWO # SET CDU INDICATOR +3 TS CDUIND INDEX CDUIND CCS COMMAND # NUMBER OF PULSES REQUIRED TC COMPOS # GREATER THAN MAX ALLOWED TC NEXTCDU +1 TC COMNEG TC NEXTCDU +1 COMPOS AD -COMMAX # COMMAX = MAX NUMBER OF PULSES ALLOWED EXTEND # MINUS ONE BZMF COMZERO INDEX CDUIND TS COMMAND # REDUCE COMMAND BY MAX NUMBER OF PULSES CS -COMMAX- # ALLOWED NEXTCDU INCR ITEMP1 AD NEG0 INDEX CDUIND TS CDUXCMD # SET UP COMMAND REGISTER. CCS CDUIND TC COARS2 +3 CCS ITEMP1 # SEE IF ANY PULSES TO GO OUT. TCF SENDPULS TC FIXDELAY # WAIT FOR GIMBALS TO SETTLE. DEC 150 CAF TWO # AT END OF COMMAND, CHECK TO SEE THAT CHKCORS TS ITEMP1 # GIMBALS ARE WITHIN 2 DEGREES OF THETAD. INDEX A CA CDUX EXTEND INDEX ITEMP1 MSU THETAD CCS A TCF COARSERR TCF CORSCHK2 TCF COARSERR # Page 1425 CORSCHK2 CCS ITEMP1 TCF CHKCORS TCF ENDIMU # END OF COARSE ALIGNMENT. COARSERR AD COARSTOL # 2 DEGREES. EXTEND BZMF CORSCHK2 TC ALARM # COARSE ALIGN ERROR. OCT 211 TCF IMUBAD COARSTOL DEC -.01111 # 2 DEGREES SCALED AT HALF-REVOLUTIONS COMNEG AD -COMMAX EXTEND BZMF COMZERO COM INDEX CDUIND TS COMMAND CA -COMMAX- TC NEXTCDU COMZERO CAF ZERO INDEX CDUIND XCH COMMAND TC NEXTCDU SENDPULS CAF 13,14,15 EXTEND WOR CHAN14 CAF 600MS TCF COARS2 -1 # THEN TO VARDELAY CA+ECE CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS EXTEND WOR CHAN12 TC TASKOVER # Page 1426 SETCOARS CAF BIT4 # BYPASS IF ALREADY IN COARSE ALIGN EXTEND RAND CHAN12 CCS A TC Q CS BIT6 # CLEAR ISS ERROR COUNTERS EXTEND WAND CHAN12 CS BIT10 # KNOCK DOWN GYRO ACTIVITY EXTEND WAND CHAN14 CS ZERO TS GYROCMD CAF BIT4 # PUT ISS IN COARSE ALIGN EXTEND WOR CHAN12 CS DSPTAB +11D # TURN ON NO ATT LAMP MASK OCT40010 ADS DSPTAB +11D CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES MASK BIT6 ADS IMODES33 CS IMODES30 # DISABLE IMUFAIL MASK BIT4 ADS IMODES30 RNDREFDR CS BIT5 # KNOCK DOWN TRACK FLAG MASK FLAGWRD1 TS FLAGWRD1 CS BIT15 # KNOCK DOWN DRIFT FLAG MASK FLAGWRD2 TS FLAGWRD2 CS BIT13 # KNOCK DOWN REFSMMAT FLAG MASK FLAGWRD3 TS FLAGWRD3 TC Q OCT40010 OCT 40010 # Page 1427 # IMU FINE ALIGN MODE SWITCH. IMUFINE INHINT TC CAGETSTJ # SEE IF IMU BEING CAGED. CS BITS4-5 # RESET ZERO AND COARSE EXTEND WAND CHAN12 CS BIT6 # INSURE DAP AUTO AND HOLD MODES ENABLED MASK IMODES33 TS IMODES33 TC NOATTOFF CAF BIT10 # IMU FAIL WAS INHIBITED DURING THE TC WAITLIST # PRESUMABLY PRECEDING COARSE ALIGN. LEAVE EBANK= CDUIND 2CADR IFAILOK # IT ON FOR THE FIRST 5 SECS OF FINE ALIGN CAF 2SECS TC WAITLIST EBANK= CDUIND 2CADR IMUFINED TCF MODEEXIT IMUFINED TC CAGETEST # SEE THAT NO ONE HAS CAGED THE IMU. TCF ENDIMU # Page 1428 IFAILOK TC CAGETSTQ # ENABLE IMU FIAL UNLESS IMU BEING CAGED. TCF TASKOVER # IT IS. CAF BIT4 # DONT RESET IMU FAIL INHIBIT IF SOMEONE EXTEND # HAS GONE INTO COARSE ALIGN. RAND CHAN12 CCS A TCF TASKOVER CS IMODES30 # RESET IMUFAIL. MASK BIT13 ADS IMODES30 CS BIT4 PFAILOK2 MASK IMODES30 TS IMODES30 TC IBNKCALL # THE ISS WARNING LIGHT MAY COME ON NOW CADR SETISSW # THAT THE INHIBIT WAS BEEN REMOVED. TCF TASKOVER PFAILOK TC CAGETSTQ # ENABLE PIP FAIL PROG ALARM. TCF TASKOVER CS IMODES30 # RESET IMU AND PIPA FAIL BITS. MASK BIT10 ADS IMODES30 CS IMODES33 MASK BIT13 ADS IMODES33 CS BIT5 TCF PFAILOK2 NOATTOFF CS OCT40010 # SUBROUTINE TO TURN OFF NO ATT LAMP. MASK DSPTAB +11D AD BIT15 TS DSPTAB +11D TC Q # Page 1429 # ROUTINES TO INITIATE AND TERMINATE PROGRAM USE OF THE PIPAS. NO IMUSTALL REQUIRED IN EITHER CASE. PIPUSE CS ZERO TS PIPAX TS PIPAY TS PIPAZ PIPUSE1 TC CAGETSTQ # DO NOT ENABLE PIPA FAIL IF IMU IS CAGED TCF SWRETURN INHINT CS BIT1 # IF PIPA FAILS FROM NOW ON (UNTIL MASK IMODES30 # PIPFREE), LIGHT ISS WARNING. TS IMODES30 PIPFREE2 TC IBNKCALL # ISS WARNING MIGHT COME ON NOW. CADR SETISSW # (OR GO OFF ON PIPFREE). TCF MODEEXIT PIPFREE INHINT # PROGRAM DONE WITH PIPAS. DONT LIGHT CS IMODES30 # ISS WARNING. MASK BIT1 ADS IMODES30 MASK BIT10 # IF PIP FAIL ON, DO PROG ALSRM AND RESET CCS A # ISS WARNING. TCF MODEEXIT TC ALARM OCT 212 INHINT TCF PIPFREE2 # Page 1430 # THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIX REGISTERS # BEGINNING AT THE ECADR ARRIVING IN A. THE MINIMUM SIZE OF ANY PULSE TRAIN IS 16 PULSES (.25 CDU COUNTS). THE # UNSENT PORTION OF THE COMMAND IS LEFT INTACT IN THE INPUT COMMAND REGISTERS. EBANK= 1400 # VARIABLE, ACTUALLY. IMUPULSE TS MPAC +5 # SAVE ARRIVING ECADR. TC CAGETSTJ # DONT PROCEED IF IMU BEING CAGED. CCS LGYRO # SEE IF GYROS BUSY. TC GYROBUSY # SLEEP. TS MPAC +2 CAF BIT6 # ENABLE THE POWER SUPPLY. EXTEND WOR CHAN14 CAF FOUR GWAKE2 TC WAITLIST # (IF A JOB WAS PUT TO SLEEP, THE POWER EBANK= CDUIND # SUPPLY IS LEFT ON BY THE WAKING JOB). 2CADR STRTGYRO CA MPAC +5 # SET UP EBANK, SAVING CALLER'S EBANK FOR XCH EBANK # RESTORATION ON RETURN. XCH MPAC +5 TS LGYRO # RESERVES GYROS. MASK LOW8 TS ITEMP1 CAF TWO # FORCE SIGN AGREEMENT ON INPUTS. GYROAGRE TS MPAC +3 DOUBLE AD ITEMP1 TS MPAC +4 EXTEND INDEX A DCA 1400 DXCH MPAC TC TPAGREE DXCH MPAC INDEX MPAC +4 DXCH 1400 CCS MPAC +3 TCF GYROAGRE CA MPAC +5 # RESTORE CALLER'S EBANK. TS EBANK TCF MODEEXIT # Page 1431 # ROUTINES TO ALLOW TORQUING BY ONLY ONE JOB AT A TIME. GYROBUSY EXTEND # SAVE RETURN 2FCADR. DCA BUF2 DXCH MPAC REGSLEEP CAF LGWAKE TCF JOBSLEEP GWAKE CCS LGYRO # WHEN AWAKENED, SEE IF GYROS STILL BUSY. TCF REGSLEEP # IF SO, SLEEP SOME MORE. TS MPAC +2 EXTEND DCA MPAC DXCH BUF2 # RESTORE SWRETURN INFO. CAF ONE TCF GWAKE2 LGWAKE CADR GWAKE # Page 1432 # GYRO-TORQUING WAITLIST TASKS. STRTGYRO CS GDESELCT # DE-SELECT LAST GYRO. EXTEND WAND CHAN14 TC CAGETEST STRTGYR2 CA LGYRO # JUMP ON PHASE COUNTER IN BITS 13-14. EXTEND MP BIT4 INDEX A TCF +1 TC GSELECT # =0. DO Y GYRO. OCT 00202 TC GSELECT # =1. DO Z GYRO. OCT 00302 TC GSELECT -2 # =2. DO X GYRO. OCT 00100 CAF ZERO # =3. DONE TS LGYRO CAF LGWAKE # WAKE A POSSIBLE SLEEPING JOB. TC JOBWAKE NORESET TCF IMUFINED # DO NOT RESET POWER SUPPLY # Page 1433 -2 CS FOUR # SPECIAL ENTRY TO REGRESS LGYRO FOR X. ADS LGYRO GSELECT INDEX Q # SELECT GYRO. CAF 0 # PACKED WORD CONTAINS GYRO SELECT BITS TS ITEMP4 # AND INCREMENT TO LGYRO. MASK SEVEN AD BIT13 ADS LGYRO TS EBANK MASK LOW8 TS ITEMP1 CS SEVEN MASK ITEMP4 TS ITEMP4 EXTEND # MOVE DP COMMAND TO RUPTREGS FOR TESTING. INDEX ITEMP1 DCA 1400 DXCH RUPTREG1 CCS RUPTREG1 TCF MAJ+ TCF +2 TCF MAJ- CCS RUPTREG2 TCF MIN+ TCF STRTGYR2 TCF MIN- TCF STRTGYR2 # Page 1434 MIN+ AD -GYROMIN # SMALL POSITIVE COMMAND. SEE IF AT LEAST EXTEND # 16 GYRO PULSES. BZMF STRTGYR2 MAJ+ EXTEND # DEFINITE POSITIVE OUTPUT. DCA GYROFRAC DAS RUPTREG1 CA ITEMP4 # SELECT POSITIVE TORQUING FOR THIS GYRO. EXTEND WOR CHAN14 CAF LOW7 # LEAVE NUMBER OF POSSIBLE 8192 AUGMENTS MASK RUPTREG2 # TO INITIAL COMMAND IN MAJOR PART OF LONG XCH RUPTREG2 # TERM STORAGE AND TRUNCATED FRACTION GMERGE EXTEND # IN MINOR PART. THE MAJOR PART WILL BE MP BIT8 # COUNTED DOWN TO ZERO IN THE COURSE OF TS ITEMP2 # PUTTING OUT THE ENTIRE COMMAND. CA RUPTREG1 EXTEND MP BIT9 TS RUPTREG1 CA L EXTEND MP BIT14 ADS ITEMP2 # INITIAL COMMAND. EXTEND # SEE IF MORE THAN ONE PULSE TRAIN NEEDED DCA RUPTREG1 # (MORE THAN 16383 PULSES). AD MINUS1 CCS A TCF LONGGYRO -GYROMIN OCT -176 # MAY BE ADJUSTED TO SPECIFY MINIMUM CMD TCF +4 CAF BIT14 ADS ITEMP2 CAF ZERO +4 INDEX ITEMP1 DXCH 1400 # Page 1435 CA ITEMP2 # ENTIRE COMMAND. LASTSEG TS GYROCMD EXTEND MP BIT10 # WAITLIST DT AD THREE # TRUNCATION AND PHASE UNCERTAINTIES. TC WAITLIST EBANK= CDUIND 2CADR STRTGYRO GYROEXIT CAF BIT10 EXTEND WOR CHAN14 TCF TASKOVER LONGGYRO INDEX ITEMP1 DXCH 1400 # INITIAL COMMAND OUT PLUS N AUGMENTS OF CAF BIT14 # 8192. INITIAL COMMAND IS AT LEAST 8192. AD ITEMP2 TS GYROCMD AUG3 EXTEND # GET WAITLIST DT TO TIME WHEN TRAIN IS MP BIT10 # ALMOST OUT. AD NEG3 TC WAITLIST EBANK= CDUIND 2CADR 8192AUG TCF GYROEXIT 8192AUG TC CAGETEST CAF BIT4 EXTEND RAND CHAN12 CCS A TCF IMUBAD CA LGYRO # ADD 8192 PULSES TO GYROCMD TS EBANK MASK LOW8 TS ITEMP1 INDEX ITEMP1 # SEE IF THIS IS THE LAST AUG. CCS 1400 TCF AUG2 # MORE TO COME. CAF BIT14 ADS GYROCMD TCF LASTSEG +1 # Page 1436 AUG2 INDEX ITEMP1 TS 1400 CAF BIT14 ADS GYROCMD TCF AUG3 # COMPUTE DT. # Page 1437 MIN- AD -GYROMIN # POSSIBLE NEGATIVE OUTPUT. EXTEND BZMF STRTGYR2 MAJ- EXTEND # DEFINITE NEGATIVE OUTPUT. DCS GYROFRAC DAS RUPTREG1 CA ITEMP4 # SELECT NEGATIVE TORQUING FOR THIS GYRO. AD BIT9 EXTEND WOR CHAN14 CS RUPTREG1 # SET UP RUPTREGS TO FALL INTO GMERGE. TS RUPTREG1 # ALL NUMBERS PUT INTO GYROCMD ARE CS RUPTREG2 # POSITIVE - BIT9 OF CHAN 14 DETERMINES MASK LOW7 # THE SIGN OF THE COMMAND. COM XCH RUPTREG2 COM TCF GMERGE GDESELCT OCT 1700 # TURN OFF SELECT AND ACTIVITY BITS. GYROFRAC 2DEC .215 B-21 # Page 1438 # IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE. ENDIMU EXTEND # MODE IS BAD IF CAGE HAS OCCURRED OR IF READ DSALMOUT # ISS WARNING IS ON. MASK BIT1 CCS A TCF IMUBAD IMUGOOD TCF GOODEND # WITH C(A) = 0. IMUBAD CAF ZERO TCF BADEND CAGETEST CAF BIT6 # SUBROUTINE TO TERMINATE IMU MODE MASK IMODES30 # SWITCH IF IMU HAS BEEN CAGED. CCS A TCF IMUBAD # DIRECTLY. TC Q # WITH C(A) = +0. CAGETSTQ CS IMODES30 # SKIP IF IMU NOT BEING CAGED. MASK BIT6 CCS A INCR Q TC Q CAGETSTJ CS IMODES30 # IF DURING MODE SWITCH INITIALIZATION. MASK BIT6 # IT IS FOUND THAT THE IMU IS BEING CAGED. CCS A # SET IMUCADR TO -0 TO INDICATE OPERATION TC Q # COMPLETE BUT FAILED. RETURN IMMEDIATELY CS ZERO # TO SWRETURN. TS IMUCADR TCF MODEEXIT # Page 1439 # GENERALIZED MODE SWITCHING TERMINATION. ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION # OR AT BADEND FOR AN UNSUCCESSFUL ONE. C(A) OR ARRIVAL =0 FOR IMU, 1 FOR OPTICS. BADEND TS RUPTREG2 # DEVICE INDEX. CS ZERO # FOR FAILURE. TCF GOODEND +2 GOODEND TS RUPTREG2 CS ONE # FOR SUCCESS. TS RUPTREG3 INDEX RUPTREG2 # SEE IF USING PROGRAM ASLEEP. CCS MODECADR TCF +2 # YES - WAKE IT UP. TCF ENDMODE # IF 0, PROGRAM NOT IN YET. CAF ZERO # WAKE SLEEPING PROGRAM. INDEX RUPTREG2 XCH MODECADR TC JOBWAKE CS RUPTREG3 # ADVANCE LOC IF SUCCESSFUL. INDEX LOCCTR ADS LOC TCF TASKOVER ENDMODE CA RUPTREG3 # -0 INDICATES OPERATION COMPLETE BUT INDEX RUPTREG2 # UNSUCCESSFUL - -1 INDICATES COMPLETE AND TS MODECADR # SUCCESSFUL. TCF TASKOVER # Page 1440 # GENERAL STALLING ROUTINE. USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION. # PROGRAM DESCRIPTION DATE- 21 FEB 1967 # LOG SECTION IMU MODE SWITCHING # MOD BY- R.MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 82 # FUNCTIONAL DESCRIPTION- # TO DELAY FURTHER EXECUTION OF THE CALLING ROUTINE UNTIL ITS SELECTED # I/O FUNCTION IS COMPLETE. THE FOLLOWING CHECKS ON THE CALLING ROUTINES # MODECADR ARE MADE AND ACTED UPON. # 1) +0 INDICATES INCOMPLETE I/O OPERATION.CALLING ROUTINE IS PUT TO # SLEEP. # 2) -1 INDICATES COMPLETED I/O OPERATION. STALL BYPASSES JOBSLEEP # CALL AND RETURNS TO CALLING ROUTINE AT L+3 # 3) -0 INDICATES COMPLETED I/O WITH FAILURE. STALL CLEARS MODECADR # AND RETURNS TO CALLING ROUTINE AT L+2. # 4) VALUE GREATER THAN 0 INDICATES TWO ROUTINES CALLING FOR USE OF # SAME DEVICE. STALL EXITS TO ABORT WHICH EXECUTES A PROGRAM # RESTART WHICH IN TURN CLEARS ALL MODECADR REGISTERS. # CALLING SEQUENCE- # L TC BANKCALL # L+1 CADR (ONE OF 5 STALL ADDRESSES I.E. IMUSTALL,OPTSTALL,RADSTALL, # AOTSTALL,OR ATTSTALL) # NORMAL-EXIT MODE- # TCF JOBSLEEP OR TCF MODEXIT # ALARM OR ABORT EXIT MODE- # TC ABORT # OUTPUT- # MODECADR= CADR IF JOBSLEEP # MODECADR=+0 IF I/O COMPLETE # BUF2=L+3 IF I/O COMPLETE AND GOOD. # BUF2=L+2 IF I/O COMPLETE BUT FAILED. # ERASABLE INITIALIZATION- # BUF2 CONTAINS RETURN ADDRESS PLUS 1,(L+2) # BUF2+1 CONTAINS FBANK VALUE OF CALLING ROUTINE. # MODECADR OF CALLING ROUTINE CONTAINS +0,-1,-0 OR CADR RETURN ADDRESS. # # DEBRIS- # RUPTREG2 AND CALLING ROUTINE MODECADR. AOTSTALL CAF ONE # AOT. TC STALL RADSTALL CAF TWO TCF STALL # Page 1441 OPTSTALL EQUALS AOTSTALL IMUSTALL CAF ZERO # IMU. STALL INHINT TS RUPTREG2 # SAVE DEVICE INDEX. INDEX A # SEE IF OPERATION COMPLETE. CCS MODECADR TCF MODABORT # ALLOWABLE STATES ARE +0, -1, AND -0. TCF MODESLP # OPERATION INCOMPLETE. TCF MODEGOOD # COMPLETE AND GOOD IF = -1. MG2 INDEX RUPTREG2 # COMPLETE FAILED IF -0. RESET TO +0. TS MODECADR # RETURN TO CALLER. TCF MODEEXIT MODEGOOD CCS A # MAKE SURE INITIAL STATE -1. TCF MODABORT INCR BUF2 # IF SO, INCREMENT RETURN ADDRESS AND TCF MG2 # RETURN IMMEDIATELY, SETTIN CADR = +0. MODESLP TC MAKECADR # CALL FROM SWITCHABLE FIXED ONLY. INDEX RUPTREG2 TS MODECADR TCF JOBSLEEP MODABORT TC POODOO # TWO PROGRAMS USING THE SAME DEVICE. OCT 1210 # Page 1442 # CONSTANTS FOR MODE SWITCHING ROUTINES BITS3&4 = OCT14 BITS4&6 = OCT50 BITS4-5 EQUALS BITS4&5 IMUSEFLG EQUALS BIT8 # INTERPRETER SWITCH 7. -COMMAX DEC -191 -COMMAX- DEC -192 600MS DEC 60 IMUFIN20 = IMUFINE GOMANUR CA ATTCADR # IS KALCMANU FREE EXTEND BZF +3 TC POODOO # NO OCT 1210 # 2 TRYING TO USE SAME DEVICE +3 EXTEND DCA BUF2 DXCH ATTCADR # SAVE FINAL RETURN FOR KALCMAN3 CA BBANK MASK SEVEN ADS ATTCADR +1 CA PRIORITY MASK PRIO37 TS ATTPRIO # SAVE USERS PRIO CAF KALEBCON # SET EBANK FOR KALCMAN3 TS EBANK TC POSTJUMP CADR KALCMAN3 KALEBCON ECADR BCDU # Page 1443 # PROGRAM DESCRIPTION # IMU STATUS CHECK ROUTINE R02 (SUBROUTINE UTILITY) # MOD NO - 1 # MOD BY - N.BRODEUR # FUNCTIONAL DESCRIPTION # # TO CHECK WHETHER IMU IS ON AND IF ON WHETHER IT IS ALIGNED TO AN # ORIENTATION KNOWN BY THE CMC. TO REQUEST SELECTION OF THE APPROPRIATE # PROGRAM IF THE IMU IS OFF OR NOT ALIGNED TO AN ORIENTATION KNOWN BY THE # CMC. CALLED THROUGH BANKCALL # CALLING SEQUENCE- # # L TC BANKCALL # L+1 CADR R02BOTH # SUBROUTINES CALLED # # VARALARM # FLAGUP # NORMAL EXIT MODES # # AT L+2 OF CALLING SEQUENCE # ALARM OR ABORT EXIT MODES # GOTOPOOH, WITH ALARM # ERASABLE INITIALIZATION REQUIRED # # NONE # DEBRIS # # CENTRALS-A,Q,L BANK 34 SETLOC R02 BANK COUNT 04/R02 # COUNT* DEC51 DEC 51 R02BOTH CAF BIT13 MASK STATE +3 # REFSMFLG CCS A TC R02ZERO # ZERO IMUS CA IMODES30 MASK BIT9 # IS ISS INITIALIZED EXTEND BZF +2 CS BIT4 # SEND IMU ALARM CODE 210 AD OCT220 # SEND REFSMM ALARM TC VARALARM TC GOTOPOOH # Page 1444 R02ZERO TC UPFLAG ADRES IMUSE TCF SWRETURN OCT220 OCT 220 # Page 1445 # PROGRAM DESCRIPTION P06 10FEB67 # TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION. # THE NORMAL CONDITION OF READINESS OF THE GNCS WHEN NOT IN USE IS STANDBY. IN THIS CONDITION THE IMU # HEATER POWER IS ON. THE IMU OPERATE POWER IS OFF. THE COMPUTER POWER IS ON. THE OPTICS POWER IS OFF. THE # CMC STANDBY ON THE MAIN AND LEB DISKYS IS ON. # CALLING SEQUENCE: # ASTRONAUT REQUEST THROUGH DSKY V37E 06E. # SUBROUTINES CALLED: # GOPERF1 # BANKCALL # FLAGDOWN # Page 1446 # PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2 # THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATABILITY # BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING. SETLOC P05P06 BANK EBANK= TIME2SAV COUNT* $$/P06 P06 TC UPFLAG # SET NODOV37 BIT ADRES NODOFLAG PRESTAND INHINT EXTEND DCA TIME2 # SNAPSHOT TIME1TIME2 DXCH TIME2SAV TC SCALPREP TC PRESTAND # T1,T2,SCALER NOT COMPATIBLE DXCH MPAC # T1,T2 AND SCALER OK DXCH SCALSAVE # STORE SCALER INHINT TC BANKCALL CADR RNDREFDR # REFSMM, DRIFT, TRACK FLAGS DOWN TC DOWNFLAG ADRES IMUSE # IMUSE DOWN TC DOWNFLAG ADRES RNDVZFLG # RNDVZFLG DOWN CAF BIT11 EXTEND WOR CHAN13 # SET STANDBY ENABLE BIT TC PHASCHNG # SET RESTART TO POSTAND WHEN STANDBY OCT 07024 # RECOVERS OCT 20000 EBANK= SCALSAVE 2CADR POSTAND CAF OCT62 TC BANKCALL CADR GOPERF1 TCF -3 TCF -4 TCF -5 OCT62 EQUALS .5SEC # DEC 50 = OCT 62 # THE LOW 5 BITS OF THE SCALER READS 10000 FOR THE FIRST INTERVAL AFTER A # Page 1447. # T1 INCREMENT. IF SCALPREP DETECTS THIS INTERVAL THE T1,T2 AND SCALER # DATA ARE NOT COMPATABLE AND RETURN IS TO L+1 FOR ANOTHER READING OF THE # DATA. OTHERWISE, THE RETURN IS TO L+2 TO PROCEED. ROUTINE ALSO PREPARES # THE SCALER READING FOR COMPUTATION OF THE INCREMENT TO UPDATE T1T2. (THE # 10 MS BIT (BIT 6) OF THE SCALER IS INCREMENTED 5 MS OUT OF PHASE FROM # T1.) ADDITION OF 5 MS (BIT 5) TO THE SCALER READING HAS THE EFFECT OF # ADJUSTING BIT 6 IN THE SCALER TO BE IN PHASE WITH BIT 1 OF T1. THE LOW 5 # BITS OF THE SCALER READING ARE THEN SET TO ZERO, TO TRUNCATE THE SCALER # DATA TO 10 MS. RESULTS ARE STORED IN MPAC, +1. SCALPREP EXTEND QXCH MPAC +2 TC FINETIME +1 RELINT DXCH MPAC CA BIT5 # ADD 5 MS TO THE SCALER READING. TS L CA ZERO DAS MPAC CS LOW5 # SET LOW 5 BITS OF (SCALER+5MS) TO ZERO MASK MPAC +1 # AND STORE RESULTS IN MPAC,+1. XCH MPAC +1 MASK LOW5 # TEST LOW 5 BITS OF SCALER FOR THE FIRST # INTERVAL AFTER THE T1 INCREMENT # (NOW = 00000, SINCE BIT 5 ADDED). CCS A # IS IT 1ST INTERVAL AFTER T1 INCREMENT INCR MPAC +2 # NO TC MPAC +2 # YES # POSTAND RECOVERS TIME AFTER STANDBY.THE SCALER IS SNAPSHOTTED AND THE # TIME1 TIME2 COUNTER IS SET TO ZERO. THE LOW 5 BITS OF THE SCALER ARE # INSPECTED TO INSURE COMPATABILITY BETWEEN THE SCALER READING AND THE # CLEARING OF THE TIME COUNTER. IT THEN COMPUTES THE DIFFERENCE IN SCALER # VALUES (IN DP) AND ADDS THIS TO THE PREVIOUSLY SNAPSHOTTED VALUES OF # TIME1 TIME2 AND PLACES THIS NEW TIME INTO THE TIME1 TIME2 COUNTER. COUNT* $$/P05 POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY. EXTEND WAND CHAN13 # CLEAR STANDBY ENABLE BIT INHINT CA ZERO TS L DXCH TIME2 # CLEAR TIME1 TIME2 TC SCALPREP # STORE SCALER IN MPAC, MPAC+1 TC POSTAND +3 # T1,T2,SCALER NOT COMPATIBLE EXTEND # T1,T2 AND SCALER OK DCS SCALSAVE DAS MPAC # FORM DP DIFFERENCE OF POSTSTANDBY SCALER # Page 1448 CAF BIT10 # MINUS PRESTANDBY SCALER AND SHIFT RIGHT TC SHORTMP # 5 TO ALIGN BITS WITH TIME1TIME2. CAF ZERO TS MPAC +2 # NEEDED FOR TP AGREE TC TPAGREE # MAKE DP DIFF AGREE CCS MPAC TC POSTCOM # IF DP DIFF NET +, NO SCALER OVERFLOW TC POSTCOM # BETWEEN PRE AND POST STANDBY. TC +1 # IF DP DIFF NET -, SCALER OVERFLOWED. ADD CAF BIT10 # BIT 10 TO HIGH DIFF TO CORRECT. ADS MPAC POSTCOM EXTEND # C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER. DCA TIME2SAV # PRE-STANDBY TIME1TIME2 DAS MPAC TC TPAGREE # FORCE SIGN AGREEMENT DXCH MPAC # UPDATED VALUE FOR T1,T2. DAS TIME2 # LOAD UPDATED VALUE INTO T1,T2, WITH TC DOWNFLAG # CLEAR NODOFLAG ADRES NODOFLAG TC GOTOPOOH ================================================ FILE: Comanche055/INFLIGHT_ALIGNMENT_ROUTINES.agc ================================================ # Copyright: Public domain. # Filename: INFLIGHT_ALIGNMENT_ROUTINES.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1355-1364 # Mod history: 2009-05-14 RSB Adapted from the Colossus249/ file of the # same name, using Comanche055 page images. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 1355 BANK 22 SETLOC INFLIGHT BANK EBANK= XSM # CALCGTA COMPUTES THE GYRO TORQUE ANGLES REQUIRED TO BRING THE STABLE MEMBER INTO THE DESIRED ORIENTATION. # # THE INPUT IS THE DESIRED STABLE MEMBER COORDINATES REFERRED TO PRESENT STABLE MEMBER COORDINATES. THE THREE # HALF-UNIT VECTORS ARE STORED AT XDC, YDC, AND ZDC. # # THE OUTPUTS ARE THE THREE GYRO TORQUING ANGLES TO BE APPLIED TO THE Y, Z, AND X GYROS AND ARE STORED DP AT IGC, # MGC, AND OGC RESPECTIVELY. COUNT 23/INFLT CALCGTA ITA DLOAD # PUSHDOWN 00-03,16D-27D,34D-37D S2 # XDC = (XD1 XD2 XD3) XDC # YDC = (YD1 YD2 YD3) PDDL PDDL # ZDC = (ZD1 ZD2 ZD3) HI6ZEROS XDC +4 DCOMP VDEF UNIT STODL ZPRIME # ZP = UNIT(-XD3 0 XD1) = (ZP1 ZP2 ZP3) ZPRIME SR1 STODL SINTH # SIN(IGC) = ZP1 ZPRIME +4 SR1 STCALL COSTH # COS(IGC) = ZP3 ARCTRIG STODL IGC # Y GYRO TORQUING ANGLE FRACTION OF REV. XDC +2 SR1 STODL SINTH # SIN(MGC) = XD2 ZPRIME DMP PDDL XDC +4 # PD00 = (ZP1)(XD3) ZPRIME +4 DMP DSU XDC # MPAC = (ZP3)(XD1) STADR STCALL COSTH # COS(MGC) = MPAC - PD00 ARCTRIG # Page 1356 STOVL MGC # Z GYRO TORQUING ANGLE FRACTION OF REV. ZPRIME DOT ZDC STOVL COSTH # COS(OGC) = ZP . ZDC ZPRIME DOT YDC STCALL SINTH # SIN(OGC) = ZP . YDC ARCTRIG STCALL OGC # X GYRO TORQUING ANGLE FRACTION OF REV. S2 # Page 1357 # ARCTRIG COMPUTES AN ANGLE GIVEN THE SINE AND COSINE OF THIS ANGLE. # # THE INPUTS ARE SIN/4 AND COS/4 STORED DP AT SINTH AND COSTH. # # THE OUTPUT IS THE CALCULATED ANGLE BETWEEN +.5 AND -.5 REVOLUTIONS AND STORED AT THETA. THE OUTPUT IS ALSO # AVAILABLE AT MPAC. ARCTRIG DLOAD ABS # PUSHDOWN 16D-21D SINTH DSU BMN QTSN45 # ABS(SIN/4) - SIN(45)/4 TRIG1 # IF (-45,45) OR (135,-135) DLOAD SL1 # (45,135) OR (-135,-45) COSTH ACOS SIGN SINTH STORE THETA # X = ARCCOS(COS) WITH SIGN(SIN) RVQ TRIG1 DLOAD SL1 # (-45,45) OR (135,-135) SINTH ASIN STODL THETA # X = ARCSIN(SIN) WITH SIGN(SIN) COSTH BMN TRIG2 # IF (135,-135) DLOAD RVQ THETA # X = ARCSIN(SIN) (-45,45) TRIG2 DLOAD SIGN # (135,-135) HIDPHALF SINTH DSU THETA STORE THETA # X = .5 WITH SIGN(SIN) - ARCSIN(SIN) RVQ # (+) - (+) OR (-) - (-) # Page 1358 # SMNB, NBSM, AND AXISROT, WHICH USED TO APPEAR HERE, HAVE BEEN # COMBINED IN A ROUTINE CALLED AX*SR*T, WHICH APPEARS AMONG THE POWERED # FLIGHT SUBROUTINES. # Page 1359 # CALCGA COMPUTES THE CDU DRIVING ANGLES REQUIRED TO BRING THE STABLE MEMBER INTO THE DESIRED ORIENTATION. # # THE INPUTS ARE 1) THE NAVIGATION BASE COORDINATES REFERRED TO ANY COORDINATE SYSTEM. THE THREE HALF-UNIT # VECTORS ARE STORED AT XNB, YNB, AND ZNB. 2) THE DESIRED STABLE MEMBER COORDINATES REFERRED TO THE SAME # COORDINATE SYSTEM ARE STORED AT XSM, YSM, AND ZSM. # # THE OUTPUTS ARE THE THREE CDU DRIVING ANGLES AND ARE STORED SP AT THETAD, THETAD +1, AND THETAD +2. CALCGA SETPD # PUSHDOWN 00-05, 16D-21D, 34D-37D 0 VLOAD VXV XNB # XNB = OGA (OUTER GIMBAL AXIS) YSM # YSM = IGA (INNER GIMBAL AXIS) UNIT PUSH # PD0 = UNIT(OGA X IGA) = MGA DOT ITA ZNB S2 STOVL COSTH # COS(OG) = MGA . ZNB 0 DOT YNB STCALL SINTH # SIN(OG) = MGA . YNB ARCTRIG STOVL OGC 0 VXV DOT # PROVISION FOR MG ANGLE OF 90 DEGREES XNB YSM SL1 STOVL COSTH # COS(MG) = IGA . (MGA X OGA) YSM DOT XNB STCALL SINTH # SIN(MG) = IGA . OGA ARCTRIG STORE MGC ABS DSU .166... BPL GIMLOCK1 # IF ANGLE GREATER THAN 60 DEGREES CALCGA1 VLOAD DOT ZSM 0 STOVL COSTH # COS(IG) = ZSM . MGA XSM # Page 1360 DOT STADR STCALL SINTH # SIN(IG) = XSM . MGA ARCTRIG STOVL IGC OGC RTB BONCLR V1STO2S CPHIFLAG S2 STCALL THETAD S2 GIMLOCK1 EXIT TC ALARM OCT 00401 TC UPFLAG # GIMBAL LOCK HAS OCCURRED ADRES GLOKFAIL TC INTPRET GOTO CALCGA1 # Page 1361 # AXISGEN COMPUTES THE COORDINATES OF ONE COORDINATE SYSTEM REFERRED TO ANOTHER COORDINATE SYSTEM. # # THE INPUTS ARE 1) THE STAR1 VECTOR REFERRED TO COORDINATE SYSTEM A STORED AT STARAD. 2) THE STAR2 VECTOR # REFERRED TO COORDINATE SYSTEM A STORED AT STARAD +6. 3) THE STAR1 VECTOR REFERRED TO COORDINATE SYSTEM B STORED # AT LOCATION 6 OF THE VAC AREA. 4) THE STAR2 VECTOR REFERRED TO COORDINATE SYSTEM B STORED AT LOCATION 12D OF # THE VAC AREA. # # THE OUTPUT DEFINES COORDINATE SYSTEM A REFERRED TO COORDINATE SYSTEM B. THE THREE HALF-UNIT VECTORS ARE STORED # AT LOCATIONS XDC, XDC +6, XDC +12D, AND STARAD, STARAD +6, STARAD +12D. AXISGEN AXT,1 SSP # PUSHDOWN 00-30D, 34D-37D STARAD +6 S1 STARAD -6 SETPD 0 AXISGEN1 VLOAD* VXV* # 06D UA = S1 STARAD +12D,1 # STARAD +00D UB = S1 STARAD +18D,1 UNIT # 12D VA = UNIT(S1 X S2) STORE STARAD +18D,1 # STARAD +06D VB = UNIT(S1 X S2) VLOAD* STARAD +12D,1 VXV* VSL1 STARAD +18D,1 # 18D WA = UA X VA STORE STARAD +24D,1 # STARAD +12D WB = UB X VB TIX,1 AXISGEN1 AXC,1 SXA,1 6 30D AXT,1 SSP 18D S1 6 AXT,2 SSP 6 S2 2 AXISGEN2 XCHX,1 VLOAD* 30D # X1=-6 X2=+6 X1=-6 X2=+4 X1=-6 X2=+2 0,1 # Page 1362 VXSC* PDVL* # J=(UA)(UB1) J=(UA)(UB2) J=(UA)(UB3) STARAD +6,2 6,1 VXSC* STARAD +12D,2 STOVL* 24D # K=(VA)(VB1) J=(VA)(VB2) J=(VA)(VB3) 12D,1 VXSC* VAD STARAD +18D,2 # L=(WA)(WB1) J=(WA)(WB2) J=(WA)(WB3) VAD VSL1 24D XCHX,1 UNIT 30D STORE XDC +18D,1 # XDC = L+J+K YDC = L+J+K ZDC = L+J+K TIX,1 AXISGEN3 AXISGEN3 TIX,2 AXISGEN2 VLOAD XDC STOVL STARAD YDC STOVL STARAD +6 ZDC STORE STARAD +12D RVQ # Page 1363 QTSN45 2DEC .1768 .166... 2DEC .1666666667 # Page 1364 (empty page) ================================================ FILE: Comanche055/INTEGRATION_INITIALIZATION.agc ================================================ # Copyright: Public domain. # Filename: INTEGRATION_INITIALIZATION.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1309-1333 # Mod history: 2009-05-15 RSB Adapted from the Colossus249/ file of the # same name, using Comanche055 page images. # 2009-05-20 RSB Corrections: fixed an interpreter instruction, # fixed a SETLOC. # 2009-05-23 RSB In SETCOAST, corrected MOONTHIS to AMOONFLG. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 1309 # 1.0 INTRODUCTION # ---------------- # # FROM A USER'S POINT OF VIEW, ORBITAL INTEGRATION IS ESSENTIALLY THE SAME AS THE 278 INTEGRATION # PROGRAM. THE SAME ENTRANCES TO THE PROGRAM WILL BE MAINTAINED, THE SAME STALLING ROUTINE WILL BE USED AND # OUTPUT WILL STILL BE VIA THE PUSHLIST. THE PRIMARY DIFFERENCES TO A USER INVOLVE THE ADDED CAPABILITY OF # TERMINATING INTEGRATION AT A SPECIFIC FINAL RADIUS AND THE DIFFERENCE IN STATE VECTOR SCALING INSIDE AND OUT- # SIDE THE LUNAR SPHERE OF INFLUENCE. # # IN ORDER TO MAKE THE CSM(LEM)PREC AND CSM(LEM)CONIC ENTRANCES SIMILAR TO FLIGHT 278, THE INTEGRATION PROGRAM # WILL ITSELF SET THE FINAL RADIUS (RFINAL) TO 0 SO THAT REACHING THE DESIRED TIME ONLY WILL TERMINATE # INTEGRATION. THE DP REGISTER RFINAL MUST BE SET BY USERS OF INTEGRVS AND INTEGRV, AND MUST BE DONE AFTER THE # CALL TO INTSTALL. # # WHEN THE LM IS ON THE LUNAR SURFACE (INDICATED BY LUNAR SURFACE FLAG SET) CALLS TO LEMCONIC, LEMPREC, AND # INTEGRV WITH VINFLAG = 0 WILL RESULT IN THE USE OF THE PLANETARY INERTIAL ORIENTATION SUBROUTINES TO PROVIDE # BOTH THE LMS POSITION AND VELOCITY IN THE REFERENCE COORDINATE SYSTEM. # THE PROGRAM WILL PROVIDE OUTPUT AS IF INTEGRATION WAS USED. THAT IS, THE PUSHLIST WILL BE SET AS NOTED BELOW AND # THE PERMANENT STATE VECTOR UPDATED WHEN SPECIFIED BY AN INTEGRV CALL. # # USERS OF INTEGRVS DESIRING INTEGRATION (INTYPFLG = 0) SHOULD NOTE THAT THE OBLATENESS PERTURBATION COMPUTATION # IN LUNAR ORBIT IS TIME DEPENDENT. THEREFORE, THE USER SHOULD SUPPLY AN INITIAL STATE VECTOR VALID AT SOME REAL # TIME AND THE DESIRED TIME (TDEC1) ALSO AT SOME REAL TIME. FOR CONIC ,,INTEGRATION,, THE USER MAY STILL USE ZERO # AS THE INITIAL TIME AND DELTA TIME AS THE DESIRED TIME. # # 2.0 CENTRAL DESCRIPTION # ----------------------- # # THE INTEGRATION PROGRAM OPERATES AS A CLOSED INTERPRETIVE SUBROUTINE AND PERFORMS THESE FUNCTIONS--- # 1) INTEGRATES (PRECISION OR CONIC) EITHER CSM OR LM STATE VECTOR # 2) INTEGRATES THE W-MATRIX # 3) PERMANENT OR TEMPORARY UPDATE OF THE STATE VECTOR # # THERE ARE SIX ENTRANCES TO THE INTEGRATION PROGRAM. FOUR OF THESE (CSMPREC, LEMPREC, CSMCONIC, LEMCONIC) SET # ALL THE FLAGS REQUIRED IN THE INTEGRATION PROGRAM ITSELF TO CAUSE THE PRECISION OR CONIC INTEGRATION (KEPLER) OF # THE LM OR CSM STATE VECTOR, AS THE NAMES SUGGEST. ONE ENTRANCE (INTEGRVS) PERMITS THE CALLING PROGRAM TO # PROVIDE A STATE VECTOR TO BE INTEGRATED. THE CALLING PROGRAM MUST SET THE FLAGS INDICATING (1) PRECISION OR # CONIC INTEGRATION, (2) IN OR OUT OF LUNAR SPHERE, (3) MIDCOURSE OR NOT, AND THE INTEGRATION PROGRAM COMPLETES # THE FLAG SETTING TO BYPASS W-MATRIX INTEGRATION. THE LAST ENTRANCE (INTEGRV, USED IN GENERAL BY THE # NAVIGATION PROGRAMS) PERMITS THE CALLER TO SET FIVE FLAGS (NOT MOONFLAG OR MIDFLAG) BUT NOT TO INPUT A STATE # VECTOR. ANY PROGRAM WHICH CALLS INTEGRVS OR INTEGRV MUST CALL INTSTALL BEFORE IT SETS THE INTEGRATION FLAGS # AND/OR STATE VECTOR. # # THREE SETS OF 42 REGISTERS AND 2 FLAGS ARE USED FOR THE STATE VECTORS. TWO SETS, WHICH MAY NOT BE OVERLAYED, ARE # USED FOR THE PERMANENT STATE VECTORS FOR THE CSM AND LM. THE THIRD SET, WHICH MAY BE OVERLAYED WHEN INTEGRATION # IS NOT BEING DONE, IS USED IN THE COMPUTATIONS. # # THE PERMANENT STATE VECTORS WILL BE PERIODICALLY UPDATED SO THAT THE VECTORS WILL NOT BE OLDER THAN 4 TIMESTEPS. # THE PERMANENT STATE VECTORS WILL ALSO BE UPDATED WHENEVER THE W-MATRIX IS INTEGRATED OR WHEN A CALLER OF INTEGRV # SETS STATEFLG (THE NAVIGATION PROGRAMS P20, P22.) # # Page 1310 # APPENDIX B OF THE USERS GUIDE LISTS THE STATE VECTOR QUANTITIES. # # 2.1 RESTARTS # # PHASE CHANGES WILL BE MADE IN THE INTEGRATION PROGRAM ONLY FOR THE INTEGRV ENTRANCE (I.E., WHEN THE W-MATRIX IS # INTEGRATED OR PERMANENT STATE VECTOR IS UPDATED.) THE GROUP NUMBER USED WILL BE THAT FOR THE P20-25 PROGRAMS # (I.E., GROUP2) SINCE THE INTEGRV ENTRANCE WILL ONLY BE USED BY THESE PROGRAMS. IF A RESTART OCCURS DURING AN # INTEGRATION OF THE STATE VECTOR ONLY, THE RECOVERY WILL BE TO THE LAST PHASE IN THE CALLING PROGRAM. CALLING # PROGRAMS WHICH USE THE INTEGRV OR INTEGRVS ENTRANCE OF INTEGRATION SHOULD ENSURE THAT IF PHASE CHANGING IS DONE # THAT IT IS PRIOR TO SETTING THE INTEGRATION INPUTS IN THE PUSHLIST. # THIS IS BECAUSE THE PUSHLIST IS LOST DURING A RESTART. # # 2.2 SCALING # # THE INTEGRATION ROUTINE WILL MAINTAIN THE PERMANENT MEMORY STATE VECTORS IN THE SCALING AND UNITS DEFINED IN # APPENDIX B OF THE USERS GUIDE. THE SCALING OF THE OUTPUT POSITION VECTORDEPENDS ON THE ORIGIN OF THE COORDINATE # SYSTEM AT THE DESIRED INTEGRATION TIME. THE COORDINATE SYSTEM TRANSFORMATION WILL BE DONE AUTOMATICALLY ON # MULTIPLE TIMESTEP ENCKE INTEGRATION ONLY. THUS IT IS POSSIBLE TO HAVE OUTPUT FROM SUCCESSIVE INTEGRATIONS IN # DIFFERENT SCALING. # HOWEVER, RATT, VATT WILL ALWAYS BE SCALED THE SAME. # # 3.0 INPUT/OUTPUT # ---------------- # # PROGRAM INPUTS ARE THE FLAGS DESCRIBED IN APPENDIX A AND THE PERMANENT STATE VECTOR QUANTITIES DESCRIBED IN AP- # PENDIX B OF THE USERS GUIDE, PLUS THE DESIRED TIME TO INTEGRATE TO IN TDEC1 (A PUSH LIST LOCATION). # FOR INTEGRVS, THE RCV,VCV, TET OR THE TEMPORARY STATE VECTOR MUST BE SET, PLUS MOONFLAG AND MIDFLAG # # FOR SIMULATION THE FOLLOWING QUANTITIES MUST BE PRESET --- # # EARTH MOON # 29 27 # RRECTCSM(LEM) - RECTIFIED POSITION VECTOR METERS 2 2 # # 7 5 # VRECTCSM(LEM) - RECTIFIED VELOCITY VECTOR M/CSEC 2 2 # # 28 28 # TETCSM(LEM) - TIME STATE VECTOR IS VALID CSEC 2 2 # CUSTOMARILY 0, BUT NOTE LUNAR # ORBIT DEPENDENCE ON REAL TIME. # # 22 18 # DELTAVCSM(LEM) - POSITION DEVIATION METERS 2 2 # 0 IF TCCSM(LEM) = 0 # # 3 -1 # NUVCSM(LEM) - VELOCITY DEVIATION M/CSEC 2 2 # 0 IF TCCSM(LEM) = 0 # Page 1311 # 29 27 # RCVCSM(LEM) - CONIC POSITION METERS 2 2 # EQUALS RRECTCSM(LEM) IF # TCCSM(LEM) = 0 # # 7 5 # VCVCSM(LEM) - CONIC VELOCITY M/CSEC 2 2 # EQUALS VRECTCSM(LEM) IF # TCCSM(LEM) = 0 # # 28 28 # TCCSM(LEM) - TIME SINCE RECTIFICATION CSECS 2 2 # CUSTOMARILY 0 # # 1/2 17 16 # XKEPCSM(LEM) - RDOT OF KEPLER'S EQUATION M 2 2 # 0 IF TCCSM(LEM) = 0 # # CMOONFLG - PERMANENT FLAGS CORRESPONDING 0 0 # CMIDFLAG TO MOONFLAG AND MIDFLAG 0,1 0,1 # LMOONFLG C = CSM, L = LM 0 0 # LMIDFLG 0,1 0,1 # # SURFFLAG - LUNAR SURFACE FLAG 0,1 0,1 # # IN ADDITION, IF (L)CMIDFLAG IS SET, THE INITIAL INPUT VALUES FOR LUNAR # SOLAR EPHEMERIDES SUBROUTINE AND PLANETARY INERTIAL ORIENTATION SUB- # ROUTINE MUST BE PRESET. # # OUTPUT # AFTER EVERY CALL TO INTEGRATION # EARTH MOON # 29 29 # 0D RATT POSITION METERS 2 2 # 7 7 # 6D VATT VELOCITY M/CSEC 2 2 # 28 28 # 12D TAT TIME 2 2 # 29 27 # 14D RATT1 POSITION METERS 2 2 # 7 5 # 20D VATT1 VELOCITY M/CSEC 2 2 # 3 2 36 30 # 26D MU(P) MU M /CS 2 2 # # X1 MUTABLE ENTRY -2 -10D # # X2 COORDINT # X2 COORDINATE SYSTEM ORIGEN 0 2 # (THIS, NOT MOONFLAG, SHOULD BE # Page 1312 # USED TO DETERMINE ORIGIN.) # # IN ADDITION TO THE ABOVE, THE PERMANENT STATE VECTOR IS UPDATED WHENEVER # STATEFLG WAS SET AND WHENEVER A W-MATRIX IS TO BE INTEGRATED. THE PUSH # COUNTER IS SET TO 0 AND OVERFLOW IS CLEARED BEFORE RETURNING TO THE # CALLING PROGRAM. # # 4.0 CALLING SEQUENCES AND SAMPLE CODE # ------------------------------------- # # A) PRECISION ORBITAL INTEGRATION. CSMPREC,LEMPREC ENTRANCES # L-X STORE TIME TO 96T5791T5 T 95 PUS L9ST (T4531) # L CALL # L+1 CSMPREC (OR LEMPREC) # L+2 RETURN # INPUT 28 # TDEC1 (PD 32D) TIME TO INTEGRATE TO...CENTISECONDS SCALED 2 # OUTPUT # THE DATA LISTED IN SECTION 3.0 PLUS # RQVV POSITION VECTOR OF VEHICLE WITH RESPECT TO SECONDARY # BODY... METERS B-29 ONLY IF MIDFLAG = DIMOFLAG = 1 # B) CONIC INTEGRATION. CSMCONIC, LEMCONIC ENTRANCES # L-X STORE TIME IN PUSH LIST (TDEC1) # L CALL # L+1 CSMCONIC (OR LEMCONIC) # INPUT/OUTPUT # SAME AS PRECISION INTEGRATION, EXCEPT RQVV NOT SET # C) INTEGRATE GIVEN STATE VECTOR. INTEGRVS ENTRANCE # CALL # INTSTALL # VLOAD # POSITION VECTOR # STOVL RCV # VELOCITY VECTOR # STODL VCV # TIME STATE VECTOR VALID # STODL TET # FINAL RADIUS # STORE RFINAL # SET(CLEAR) SET(CLEAR) # INTYPFLAG # MOONFLAG # SET(CLEAR) DLOAD # DESIRED TIME # STCALL TDEC1 # INTEGRVS # INPUT # RCV POSITION VECTOR METERS # VCV VELOCITY VECTOR M/CSEC # TET TIME OF STATE VECTOR(MAY = 0) CSEC B-28 # Page 1313 # TDEC1 TIME TO INTEGRATE TO CSEC B-28 (PD 32D) # (MAY BE INCREMENT IF TET=0) # OUTPUT # SAME AS FOR PRECISION OR CONIC INTEGRATION, # DEPENDING ON INTYPFLG. # D) INTEGRATE STATE VECTOR.INTGRV ENTRANCE # L-X STORE TIME IN PUSH LIST (TDEC1)(MAY BE DONE AFTER CALL TO INTSTALL) # L-8 CALL # L-7 # L-6 SET(CLEAR) SET(CLEAR) # L-5 VINTFLAG 1=CSM, 0=LM # L-4 INTYPFLAG 1=CONIC, 0=PRECISION # L-3 SET(CLEAR) SET(CLEAR) # L-2 DIMOFLAG 1=W-MATRIX, 0=NO W-MATRIX # L-1 D6OR9FLG 1=9X9, 0=6X6 # L SET DLOAD # L+1 STATEFLG DESIRE PERMANENT UPDATE # L+2 FINAL RAD. OF STATE VECTOR # L+3 STCALL RFINAL # L+4 INTEGRV # L CALL NORMAL USE-- WILL UPDATE STATE # L+1 INTEGRV VECTOR IF DIMOFLAG=1.(STATEFLG IS # L+2 RETURN ALWAYS RESET IN INTEGRATION AFTER # IT IS USED.) # INPUT # TDEC1 (PD 32D) TIME TO INTEGRATE TO CSEC B-28 # OUTPUT # SAME AS FOR PRECISION OR CONIC INTEGRATION # THE PROGRAM WILL SET MOONFLAG, MIDFLAG DEPENDING ON # THE PERMANENT STATE VECTOR REPRESENTATION. BANK 11 SETLOC INTINIT BANK EBANK= RRECTCSM COUNT 13/INTIN STATEINT TC PHASCHNG OCT 00052 CAF PRIO5 TC FINDVAC EBANK= RRECTCSM 2CADR STATINT1 TC TASKOVER STATINT1 TC INTPRET BON RTB QUITFLAG NOINT # NO STATEINT IF V96 LOADTIME # Page 1314 STORE TDEC1 CLEAR CALL V96ONFLG INTSTALL SET CALL NODOFLAG SETIFLGS GOTO STATEUP 600SECS 2DEC 60000 ENDINT CLEAR EXIT STATEFLG TC PHASCHNG OCT 20032 EXTEND DCA 600SECS TC LONGCALL EBANK= RRECTHIS 2CADR STATEINT TC ENDOFJOB SETIFLGS SET CLEAR STATEFLG INTYPFLG CLEAR CLEAR DIM0FLAG D6OR9FLG RVQ NOINT EXIT TC PHASCHNG OCT 2 TC DOWNFLAG ADRES QUITFLAG TC ENDOFJOB # ATOPCSM TRANSFERS RRECT TO RRECT +41 TO RRECTCSM TO RRECTCSM +41 # # CALLING SEQUENCE # L CALL # L+1 ATOPCSM # # NORMAL EXIT AT L+2 ATOPCSM STQ RTB S2 MOVEACSM SET CALL # Page 1315 CMOONFLG SVDWN1 BON CLRGO MOONFLAG S2 CMOONFLG S2 MOVEACSM TC SETBANK TS DIFEQCNT # INITIALIZE INDEX INDEX DIFEQCNT CA RRECT INDEX DIFEQCNT TS RRECTCSM CCS DIFEQCNT # IS TRANSFER COMPLETE TCF MOVEACSM +1 # NO-LOOP TC DANZIG # COMPLETE- RETURN # PTOACSM TRANSFERS RRECTCSM TO RRECTCSM +41 TO RRECT TO RRECT +41 # # CALLING SEQUENCE # L CALL # PTOACSM # # NORMAL EXIT AT L+2 PTOACSM RTB BON MOVEPCSM CMOONFLG SETMOON CLRMOON CLEAR SSP MOONFLAG PBODY 0 RVQ SETMOON SET SSP MOONFLAG PBODY 2 RVQ MOVEPCSM TC SETBANK TS DIFEQCNT INDEX DIFEQCNT CA RRECTCSM INDEX DIFEQCNT TS RRECT CCS DIFEQCNT TCF MOVEPCSM +1 TC DANZIG # Page 1316 # ATOPLEM TRANSFERS RRECT TO RRECT +41 TO RRECTLEM TO RRECTLEM +41 ATOPLEM STQ RTB S2 MOVEALEM SET CALL LMOONFLG SVDWN2 BON CLRGO MOONFLAG S2 LMOONFLG S2 MOVEALEM TC SETBANK TS DIFEQCNT INDEX DIFEQCNT CA RRECT INDEX DIFEQCNT TS RRECTLEM CCS DIFEQCNT TCF MOVEALEM +1 TC DANZIG # PTOALEM TRANSFERS RRECTLEM TO RRECTLEM +41 TO RRECT TO RRECT +41 PTOALEM BON RTB SURFFLAG USEPIOS MOVEPLEM BON GOTO LMOONFLG SETMOON CLRMOON MOVEPLEM TC SETBANK TS DIFEQCNT INDEX DIFEQCNT CA RRECTLEM INDEX DIFEQCNT TS RRECT CCS DIFEQCNT TCF MOVEPLEM +1 TC DANZIG USEPIOS SETPD VLOAD 0 RLS PDDL PUSH TDEC1 # Page 1317 STODL TET 5/8 CALL RP-TO-R STOVL RCV ZUNIT STODL 0D TET STODL 6D 5/8 SET CALL # NEEDED FOR SETTING X1 ON EXIT MOONFLAG RP-TO-R VXV VXSC RCV OMEGMOON STOVL VCV ZEROVEC STORE TDELTAV AXT,2 SXA,2 2 PBODY STCALL TNUV A-PCHK OMEGMOON 2DEC* 2.66169947 E-8 B+23* SETBANK CAF INTBANK TS BBANK CAF FORTYONE TC Q EBANK= RRECTCSM INTBANK BBCON INTEGRV # SPECIAL PURPOSE ENTRIES TO ORBITAL INTEGRATION. THESE ROUTINES PROVIDE ENTRANCES TO INTEGRATION WITH # APPROPRIATE SWITCHES SET OR CLEARED FOR THE DESIRED INTEGRATION. # # CSMPREC AND LEMPREC PERFORM ORBIT INTEGRATION BY THE ENCKE METHOD TO THE TIME INDICATED IN TDEC1 # ACCELERATIONS DUE TO OBLATENESS ARE INCLUDED. NO W-MATRIX INT. IS DONE. # THE PERMANENT STATE VECTOR IS NOT UPDATED. # CSMCONIC AND LEMCONIC PERFORM ORBIT INTEG. BY KEPLERS METHOD TO THE TIME INDICATED IN TDEC1 # NO DISTURBING ACCELERATIONS ARE INCLUDED. IN THE PROGRAM FLOW THE GIVEN # STATE VECTOR IS RECTIFIED BEFORE SOLUTION OF KEPLERS EQUATION # # THE ROUTINES ASSUME THAT THE CSM (LEM) STATE VECTOR IN P-MEM IS VALID. # SWITCHES SET PRIOR TO ENTRY TO THE MAIN INTEG. PROG ARE AS FOLLOWS # CSMPREC CSMCONIC LEMPREC LEMCONIC # VINTFLAG SET SET CLEAR CLEAR # INTYPFLG CLEAR SET CLEAR SET # DIM0FLAG CLEAR CLEAR CLEAR CLEAR # Page 1318 # # CALLING SEQUENCE # L-X STORE TDEC1 # L CALL (STCALL TDEC1) # L+1 CSMPREC (CSMCONIC, LEMPREC, LEMCONIC) # # NORMAL EXIT TO L+2 # # # SUBROUTINES CALLED # INTEGRV1 # PRECOUT FOR CSMPREC AND LEMPREC # CONICOUT FOR CSMCONIC AND LEMCONIC # # OUTPUT - SEE PAGE 2 OF THIS LOG SECTION # # INPUT # TDEC1 TIME TO INTEGRATE TO . CSECS B-28 CSMPREC STQ CALL X1 INTSTALL SXA,1 SET IRETURN VINTFLAG IFLAGP SET CLEAR PRECIFLG DIM0FLAG CLRGO INTYPFLG INTEGRV1 LEMPREC STQ CALL X1 INTSTALL SXA,1 CLRGO IRETURN VINTFLAG IFLAGP CSMCONIC STQ CALL X1 INTSTALL SXA,1 SET IRETURN VINTFLAG IFLAGC CLEAR SETGO DIM0FLAG INTYPFLG INTEGRV1 LEMCONIC STQ CALL X1 # Page 1319 INTSTALL SXA,1 CLRGO IRETURN VINTFLAG IFLAGC INTEGRVS SET SSP PRECIFLG PBODY 0 BOF SSP MOONFLAG +3 PBODY 2 STQ VLOAD IRETURN ZEROVEC STORE TDELTAV STCALL TNUV RECTIFY CLEAR SET DIM0FLAG NEWIFLG SETGO RPQFLAG ALOADED # INTEGRV IS AN ENTRY TO ORBIT INTEGRATION WHICH PERMITS THE CALLER , # NORMALLY THE NAVIGATION PROGRAM ,TO SET THE INTEG. FLAGS. THE ROUTINE # IS ENTERED AT INTEGRV1 BY CSMPREC ET.AL. AND AT ALOADED BY INTEGRVS. # THE ROUTINE SETS UP A-MEMORY IF ENTERED AT INTEGRV,1 AND SETS THE INTEG. # PROGRAM FOR PRECISION OR CONIC. # # THE CALLER MUST FIRST CALL INTSTALL TO CHECK IF INTEG. IS IN USE BEFORE # SETTING ANY FLAGS. # THE FLAGS WHICH SHOULD BE SET OR CLEARED ARE # VINTFLAG (IGNORED WHEN ENTERED FROM INTEGRVS) # INTYPFLG # DIM0FLAG # D6OR9FLG # CALLING SEQUENCE # L-X CALL # L-Y INTSTALL # L-1 SET OR CLEAR ALL FOUR FLAGS. ALSO CAN SET STATEFLG IF DESIRED # AND DIM0FLAG IS CLEAR. # L CALL # L+1 INTEGRV # INITIALIZATION # FLAGS AS ABOVE # STORE TIME TO INTEGRATE TO IN TDEC1 # # Page 1320 # OUTPUT # RATT AS # VATT DEFINED # TAT BEFORE INTEGRV STQ IRETURN INTEGRV1 SET SET RPQFLAG NEWIFLG INTEGRV2 SSP QPRET ALOADED BON GOTO VINTFLAG PTOACSM PTOALEM SETLOC INTINIT1 BANK ALOADED DLOAD TDEC1 STORE TDEC BOFF GOTO INTYPFLG TESTLOOP RVCON SETLOC INTINIT BANK A-PCHK BOF CALL MIDFLAG ANDOUT # DONT MAKE ORIGIN CHANGE CHECK CHKSWTCH BPL CALL ANDOUT # NO ORIGIN CHANGE ORIGCHNG # MAKE THE SWITCH ANDOUT BOFCLR EXIT STATEFLG RECTOUT TC PHASCHNG OCT 04022 TC UPFLAG # PHASE CHANGE HAS OCCURRED BETWEEN ADRES REINTFLG # INTSTALL AND INTWAKE TC INTPRET SSP QPRET PHEXIT BON GOTO VINTFLAG ATOPCSM # Page 1321 ATOPLEM PHEXIT CALL GRP2PC RECTOUT SETPD CALL 0 RECTIFY VLOAD VSL* RRECT 0,2 PDVL VSL* # RATT TO PD0 VRECT 0,2 PDDL PDVL # VATT TO PD6 TAT TO PD12 TET RRECT PDVL PDDL* VRECT MUEARTH,2 PUSH AXT,1 DEC -10 BON AXT,1 MOONFLAG +2 DEC -2 INTEXIT SETPD BOV 0 +1 CLEAR MIDAVFLG CLEAR CLEAR AVEMIDSW # ALLOW UPDATE OF DOWNLINK STATE VECTOR PRECIFLG SLOAD EXIT IRETURN CA MPAC INDEX FIXLOC TS QPRET TC INTWAKE # RVCON SETS UP ORBIT INTEGRATION TO DO A CONIC SOLUTION FOR POSITION AND # VELOCITY FOR THE INTERVAL (TET-TDEC) RVCON DLOAD DSU TDEC TET STCALL TAU. RECTIFY CALL KEPPREP DLOAD DAD TC # Page 1322 TET STCALL TET RECTOUT # Page 1323 TESTLOOP BOF CLRGO QUITFLAG +3 STATEFLG INTEXIT # STOP INTEGRATION +3 SETPD LXA,2 10D PBODY VLOAD ABVAL RCV PUSH CLEAR # RC TO 10D MIDFLAG DSU* BMN # MIDFLAG=0 IF R G.T. RMP RME,2 +3 SET MIDFLAG NORFINAL DLOAD DMP 10D 34D SR1R DDV* MUEARTH,2 SQRT DMP .3D SR3 SR4 # DT IS TRUNCATED TO A MULTIPLE DLOAD SL MPAC 15D # OF 128 CSECS. PUSH BOV MAXDT BDSU BMN DT/2MAX MAXDT DT/2COMP DLOAD DSU TDEC TET RTB SL SGNAGREE 8D STORE DT/2 # B-19 BOV ABS GETMAXDT DSU BMN # IS TIME TO INTEG. TO GR THAN MAXTIME 12D POOHCHK USEMAXDT DLOAD SIGN 12D DT/2 # Page 1324 STCALL DT/2 POOHCHK MAXDT DLOAD PDDL # EXCHANGE DT/2MAX WITH COMPUTED MAX. DT/2MAX GOTO DT/2COMP GETMAXDT RTB SIGNMPAC STCALL DT/2 USEMAXDT POOHCHK DLOAD ABS DT/2 DSU BMN DT/2MIN A-PCHK SLOAD BHIZ MODREG +3 GOTO TIMESTEP BON # WAS THIS CALL VIA CSM(LEM)PREC PRECIFLG TIMESTEP # YES DLOAD DSU DT/2 12D BMN BOFCLR A-PCHK NEWIFLG TIMESTEP DLOAD DSU TDEC TET BMN # NO BACKWARD INTEGRATION INTEXIT PDDL SR4 DT/2 # IS 4(DT) LS(TDEC - TET) SR2R BDSU # NO BMN GOTO INTEXIT TIMESTEP DT/2MIN 2DEC 3 B-20 DT/2MAX 2DEC 4000 E2 B-20 INTSTALL EXIT CAF ZERO ALLSTALL TS L CA RASFLAG INDEX L # Page 1325 MASK INTBITAB # IS THIS STALL AREA FREE EXTEND BZF OKTOGRAB # YES INDEX L CAF WAKESTAL TC JOBSLEEP INTWAKE0 EXIT TCF INTWAKE1 INTWAKE CS RASFLAG # IS THIS INTSTALLED ROUTINE TO BE MASK REINTBIT # RESTARTED CCS A TC INTWAKE1 # NO INDEX FIXLOC CA QPRET TS TBASE2 # YES, DONT RESTART WITH SOMEONE ELSES Q TC PHASCHNG OCT 04022 CA TBASE2 INDEX FIXLOC TS QPRET CAF REINTBIT MASK RASFLAG EXTEND BZF GOBAC # DONT INTWAKE IF WE CAME HERE VIA RESTART INTWAKE1 CAF ZERO WAKE TS STALTEM # INDEX OF ANY STALL USER WAKE1 INDEX STALTEM CAF WAKESTAL INHINT TC JOBWAKE CCS LOCCTR TCF WAKE1 # MAY BE MORE TO WAKE UP FORTYONE DEC 41 INDEX STALTEM CS INTBITAB MASK RASFLAG TS RASFLAG # RELEASE STALL AREA RELINT TCF GOBAC OKTOGRAB INDEX L # NO, WAIT UNTIL AVAILABLE CAF INTFLBIT ADS RASFLAG GOBAC TC INTPRET RVQ # Page 1326 ERASTAL1 EXIT CAF ONE TCF ALLSTALL ERASTAL2 EXIT CAF TWO TCF ALLSTALL ERASWAK1 CAF ONE TCF WAKE ERASWAK2 CAF TWO TCF WAKE WAKESTAL CADR INTSTALL +1 CADR ERASTAL1 +1 CADR ERASTAL2 +1 STALTEM EQUALS MPAC INTBITAB OCT 20100 OCT 10040 OCT 04020 # Page 1327 # AVETOMID # # THIS ROUTINE PERFORMS THE TRANSITION FROM A THRUSTING PHASE TO THE COAST # PHASE BY INITIALIZING THIS VEHICLES PERMANENT STATE VECTOR WITH THE # VALUES LEFT BY THE AVERAGEG ROUTINE IN RN,VN,PIPTIME. # # BEFORE THIS IS DONE THE W-MATRIX, IF ITS VALID (ORWFLAG OR RENDWFLT IS # SET) IS INTEGRATED FORWARD TO PIPTIME WITH THE PRE-THRUST STATE VECTOR. # # IN ADDITION, THE OTHER VEHICLE IS INTEGRATED (PERMANENT) TO PIPTIME. # # FINALLY TRKMKCNT IS ZEROED. SETLOC INTINIT2 BANK COUNT* $$/INTIN AVETOMID STQ BON EGRESS RENDWFLG INT/W # W-MATRIX VALID ,GO INTEGRATE IT BON ORBWFLAG INT/W # W-MATRIX VALID ,GO INTEGRATE IT SETCOAST AXT,2 CALL # NOW MOVE PROPERLY SCALED RN,VN AND 2 # PIPTIME TO INTEGRATION ERASABLES. INTSTALL BON AXT,2 AMOONFLG +2 0 VLOAD VSR* RN 0,2 STORE RRECT STODL RCV PIPTIME STOVL TET VN VSR* CALL 0,2 MINIRECT # FINISH SETTING UP STATE VECTOR RTB SSP MOVATHIS # PUT TEMP STATE VECTOR INTO PERMANENT TRKMKCNT 0 SET BON CMOONFLG # Page 1328 AMOONFLG +3 CLEAR CMOONFLG BON DLOAD # NOW DO LM SURFFLAG FAZAB5 # NO COASTING LM PIPTIME STCALL TDEC1 SETIFLGS CLEAR CALL VINTFLAG INTEGRV GOTO EGRESS INT/W DLOAD CALL PIPTIME # INTEGRATE W THRU BURN INTSTALL SET SET DIM0FLAG # DO W-MATRIX AVEMIDSW # SO WONT CLOBBER RN,VN,PIPTIME CLEAR SET D6OR9FLG VINTFLAG STCALL TDEC1 INTEGRV GOTO SETCOAST # Page 1329 # MIDTOAV1 # # THIS ROUTINE INTEGRATES (PRECISION) TO THE TIME SPECIFIED IN TDEC1. # IF, AT THE END OF AN INTEGRATION TIME STEP, CURRENT TIME PLUS A DELTA # TIME (SEE TIMEDELT.....BASED ON THE COMPUTATUON TIME FOR ONE TIME STEP) # IS GREATER THAN THE DESIRED TIME, ALARM 1703 IS SET AND THE INTEGRATION # IS DONE AS IT IS FOR MIDTOAV2. # RETURN IS IN BASIC TO THE RETURN ADDRESS PLUS ONE. # # IF THE INTEGRATION IS FINISHED TO THE DESIRED TIME, RETURN IS IN BASIC # TO THE RETURN ADDRESS. # # IN EITHER CASE , BEFORE RETURNING, THE EXTRAPOLATED STATE VECTOR IS TRAN # FERRED FROM R,VATT TO R,VN1-PIPTIME1 IS SET TO THE FINISHING INTEGRA- # TION TIME AND MPAC IS SET TO THE DELTA TIME--- # TAT MINUS CURRENT TIME. # MIDTOAV2 # # THIS ROUTINE INTEGRATES THE CSM STATE VECTOR TO CURRENT TIME PLUS # INCREMENTS OF TIMEDELT SUCH THAT THE DIFFERENCE BETWEEN CURRENT TIME # AND THE STATE VECTOR TIME AT THE END OF THE LAST STEP IS AT LEAST 5.6 # SECS. # NO INPUTS ARE REQUIRED OF THE CALLER. RETURN IS IN BASIC TO THE RETURN # ADDRESS WITH THE ABOVE TRANSFERS TO R,VN1-PIPTIME1-AND MPAC DONE SETLOC INTINIT BANK EBANK= IRETURN1 MIDTOAV2 STQ CALL IRETURN1 INTSTALL DLOAD CLEAR TIMEDELT MID1FLAG STCALL T-TO-ADD ENTMID2 MIDTOAV1 STQ CALL IRETURN1 INTSTALL SET RTB MID1FLAG LOADTIME DAD BDSU # INITIAL CHECK.IS TDEC1 IN THE FUTURE. TIMEDELT TDEC1 BPL CALL ENTMID1 # Page 1330 NOTIME # NO SET ALARM.SWITCH TO MIDTOAV2 ENTMID2 RTB DAD LOADTIME T-TO-ADD STORE TDEC1 ENTMID1 CLEAR CALL DIM0FLAG # NO W-MATRIX THISVINT CLEAR SET INTYPFLG MIDAVFLG # LET INTEG. KNOW THE CALL IS FOR MIDTOAV. CALL INTEGRV # GO INTEGRATE SXA,2 SXA,1 RTX2 RTX1 CLEAR SLOAD AMOONFLG RTX2 BZE SET +2 AMOONFLG VLOAD RATT STOVL RN1 VATT STODL VN1 TAT STORE PIPTIME1 EXIT INHINT EXTEND DCS TIME2 DAS MPAC TC TPAGREE CA IRETURN1 TC BANKJUMP CKMID2 BOF RTB MID1FLAG MID2 LOADTIME DAD BDSU TIMEDELT TDEC BPL CALL TESTLOOP # YES # Page 1331 NOTIME TIMEINC RTB DAD LOADTIME T-TO-ADD STCALL TDEC TESTLOOP MID2 DLOAD DSU TDEC TET ABS DSU 3CSECS BPL TIMEINC RTB BDSU # SEE IF 5.6 SECS. AVAILABLE TO CALLER LOADTIME TET DSU BPL 5.6SECS A-PCHK # YES,GET OUT. DLOAD DAD # NO,ADD TIMEDELT TO T-TO-ADD AND TRY T-TO-ADD # AGAIN. TIMEDELT STCALL T-TO-ADD TIMEINC NOTIME CLEAR EXIT # TOO LATE MID1FLAG INCR IRETURN1 # SET ERROR EXIT (CALLOC +2) TC ALARM # INSUFFICIENT TIME FOR INTEGRATION -- OCT 1703 # TIG WILL BE SLIPPED... TC INTPRET DLOAD TIMEDELT STORE T-TO-ADD RVQ 3CSECS 2DEC 3 TIMEDELT 2DEC 1250 5.6SECS 2DEC 560 BANK 27 SETLOC UPDATE2 BANK EBANK= INTWAKUQ # Page 1332 COUNT* $$/INTIN INTWAKUQ = INTWAK1Q # TEMPORARY UNTIL NAME OF INTWAK1Q IS CHNG INTWAKEU RELINT EXTEND QXCH INTWAKUQ # SAVE Q FOR RETURN TC INTPRET SLOAD BZE # IS THIS A CSM/LEM STATE VECTOR UPDATE UPSVFLAG # REQUEST. IF NOT GO TO INTWAKUP. INTWAKUP VLOAD # MOVE RRECT(6) AND VRECT(6) INTO RRECT # RCV(6) AND VCV(6) RESPECTIVELY. STOVL RCV VRECT # NOW GO TO 'RECTIFY +13D' TO CALL # STORE VRECT INTO VCV AND ZERO OUT RECTIFY +13D # TDELTAV(6),TNUV(6),TC(2) AND XKEP(2) SLOAD ABS # COMPARE ABSOLUTE VALUE OF 'UPSVFLAG' UPSVFLAG # TO 'UPDATE MOON STATE VECTOR CODE' DSU BZE # TO DETERMINE WHETHER THE STATE VECTOR TO UPMNSVCD # BE UPDATED IS IN THE EARTH OR LUNAR INTWAKEM # SPHERE OF INFLUENCE......... AXT,2 CLRGO # EARTH SPHERE OF INFLUENCE. DEC 0 MOONFLAG INTWAKEC INTWAKEM AXT,2 SET # LUNAR SPHERE OF INFLUENCE. DEC 2 MOONFLAG INTWAKEC SLOAD BMN # COMMON CODING AFTER X2 INITIALIZED AND # MOONFLAG SET (OR CLEARED). UPSVFLAG # IS THIS A REQUEST FOR A LEM OR CSM INTWAKLM # STATE VECTOR UPDATE...... CALL # UPDATE CSM STATE VECTOR ATOPCSM CLEAR GOTO ORBWFLAG INTWAKEX INTWAKLM CALL # UPDATE LM STATE VECTOR ATOPLEM INTWAKEX CLEAR RENDWFLG INTWAKUP SSP CALL # REMOVE :UPDATE STATE VECTOR INDICATOR: # Page 1333 UPSVFLAG 0 INTWAKE0 # RELEASE :GRAB: OF ORBIT INTEG EXIT TC PHASCHNG OCT 04026 TC INTWAKUQ UPMNSVCD OCT 2 OCT 0 GRP2PC STQ EXIT GRP2SVQ TC PHASCHNG OCT 04022 TC INTPRET GOTO GRP2SVQ ================================================ FILE: Comanche055/INTER-BANK_COMMUNICATION.agc ================================================ # Copyright: Public domain. # Filename: INTER-BANK_COMMUNICATION.agc # Purpose: Part of the source code for Comanche, build 055. It # is part of the source code for the Command Module's # (CM) Apollo Guidance Computer (AGC), Apollo 11. # Assembler: yaYUL # Reference: pp. 1103-1106 # Contact: Ron Burkey # Website: http://www.ibiblio.org/apollo. # Mod history: 2009-05-08 RSB Adapted from Colossus249/ file of same name # and page images. Corrected various typos # in the transcription of program comments, # and these should be back-ported to # Colossus249. # # The contents of the "Comanche055" files, in general, are transcribed # from scanned documents. # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. April 1, 1969. # # This AGC program shall also be referred to as Colossus 2A # # Prepared by # Massachusetts Institute of Technology # 75 Cambridge Parkway # Cambridge, Massachusetts # # under NASA contract NAS 9-4065. # # Refer directly to the online document mentioned above for further # information. Please report any errors to info@sandroid.org. # Page 1103 # THE FOLLOWING ROUTINE CAN BE USED TO CALL A SUBROUTINE IN ANOTHER BANK. IN THE BANKCALL VERSION, THE # CADR OF THE SUBROUTINE IMMEDIATELY FOLLOWS THE TC BANKCALL INSTRUCTION, WITH C(A) AND C(L) PRESERVED. BLOCK 02 COUNT 02/BANK BANKCALL DXCH BUF2 # SAVE INCOMING A,L. INDEX Q # PICK UP CADR. CA 0 INCR Q # SO WE RETURN TO THE LOC. AFTER THE CADR. # SWCALL IS IDENTICAL TO BANKCALL, EXCEPT THAT THE CADR ARRIVES IN A. SWCALL TS L LXCH FBANK # SWITCH BANKS, SAVING RETURN. MASK LOW10 # GET SUB-ADDRESS OF CADR. XCH Q # A,L NOW CONTAINS DP RETURN. DXCH BUF2 # RESTORING INPUTS IF THIS IS A BANKCALL. INDEX Q TC 10000 # SETTING Q TO SWRETURN SWRETURN XCH BUF2 +1 # COMES HERE TO RETURN TO CALLER. C(A,L) XCH FBANK # ARE PRESERVED FOR RETURN. XCH BUF2 +1 TC BUF2 # THE FOLLOWING ROUTINE CAN BE USED AS A UNILATERAL JUMP WITH C(A,L) PRESERVED AND THE CADR IMMEDIATELY # FOLLOWING THE TC POSTJUMP INSTRUCTION. POSTJUMP XCH Q # SAVE INCOMING C(A). INDEX A # GET CADR. CA 0 # BANKJUMP IS THE SAME AS POSTJUMP, EXCEPT THAT THE CADR ARRIVES IN A. BANKJUMP TS FBANK MASK LOW10 XCH Q # RESTORING INPUT C(A) IF THIS WAS A Q+10000 INDEX Q # POSTJUMP. PRIO12 TCF 10000 # PRIO12 = TCF 10000 = 12000 # Page 1104 # THE FOLLOWING ROUTINE GETS THE RETURN CADR SAVED BY SWCALL OR BANKCALL AND LEAVES IT IN A. MAKECADR CAF LOW10 MASK BUF2 AD BUF2 +1 TC Q SUPDACAL TS MPTEMP XCH FBANK # SET FBANK FOR DATA. EXTEND ROR SUPERBNK # SAVE FBANK IN BITS 15-11, AND XCH MPTEMP # SUPERBANK IN BITS 7-5. MASK LOW10 XCH L # SAVE REL. ADR. IN BANK, FETCH SUPERBITS. INHINT # BECAUSE RUPT DOES NOT SAVE SUPERBANK. EXTEND WRITE SUPERBNK # SET SUPERBANK FOR DATA. INDEX L CA 10000 # PINBALL (FIX MEM DISP) PREVENTS DCA HERE XCH MPTEMP # SAVE 1ST WD, FETCH OLD FBANK AND SBANK. EXTEND WRITE SUPERBNK # RESTORE SUPERBANK. RELINT TS FBANK # RESTORE FBANK. CA MPTEMP # RECOVER FIRST WORD OF DATA. RETURN # 24 WDS. DATACALL 516 MU, SUPDACAL 432 MU # Page 1105 # THE FOLLOWING ROUTINES ARE IDENTICAL TO BANKCALL AND SWCALL EXCEPT THAT THEY ARE USED IN INTERRUPT. IBNKCALL DXCH RUPTREG3 # USES RUPTREG3,4 FOR DP RETURN ADDRESS. INDEX Q # Was CAF --- RSB 2009 CA 0 INCR Q ISWCALL TS L LXCH FBANK MASK LOW10 XCH Q DXCH RUPTREG3 INDEX Q TC 10000 ISWRETRN XCH RUPTREG4 XCH FBANK XCH RUPTREG4 TC RUPTREG3 # 2. USPRCADR ACCESSES INTERPRETIVE CODING IN OTHER THAN THE USER'S FBANK. THE CALLING SEQUENCE IS AS FOLLOWS: # L TC USPRCADR # L+1 CADR INTPRETX # INTPRETX IS THE INTERPRETIVE CODING # # RETURN IS TO L+2 USPRCADR TS LOC # SAVE A CA BIT8 TS EDOP # EXIT INSTRUCTION TO EDOP CA BBANK TS BANKSET # USER'S BBANK TO BANKSET INDEX Q CA 0 TS FBANK # INTERPRETIVE BANK TO FBANK MASK LOW10 # YIELDS INTERPRETIVE RELATIVE ADDRESS XCH Q # INTERPRETIVE ADDRESS TO Q, FETCHING L+1 XCH LOC # L+1 TO LOC, RETRIEVING ORIGINAL A TCF Q+10000 # Page 1106 # THERE ARE FOUR POSSIBLE SETTINGS FOR CHANNEL 07. (CHANNEL 07 CONTAINS SUPERBANK SETTING.) # # PSEUDO-FIXED OCTAL PSEUDO # SUPERBANK SETTING S-REG. VALUE BANK NUMBERS ADDRESSES # ---------- ------- ------------ ------------ ------------ # SUPERBANK 3 0XX 2000 - 3777 30 - 37 70000 - 107777 (WHERE XX CAN BE ANYTHING AND # WILL USUALLY BE SEEN AS 11) # SUPERBANK 4 100 2000 - 3777 40 - 47 110000 - 127777 (AS FAR AS IT CAN BE SEEN, # ONLY BANKS 40-43 WILL EVER BE # AND ARE PRESENTLY AVAILABLE) # SUPERBANK 5 101 2000 - 3777 50 - 57 130000 - 147777 (PRESENTLY NOT AVAILABLE TO # THE USER) # SUPERBANK 6 110 2000 - 3777 60 - 67 150000 - 167777 (PRESENTLY NOT AVAILABLE TO # THE USER) # *** THIS ROUTINE MAYBE CALLED BY ANY PROGRAM LOCATED IN BANKS 00 - 27. I.E., NO PROGRAM LIVING IN ANY # SUPERBANK SHOULD USE SUPERSW. *** # # SUPERSW MAYBE CALLED IN THIS FASHION: # CAF ABBCON WHERE -- ABBCON BBCON SOMETHIN -- # TCR SUPERSW (THE SUPERBNK BITS ARE IN THE BBCON) # ... ... # . . # . . # OR IN THIS FASHION : # CAF SUPERSET WHERE SUPERSET IS ONE OF THE FOUR AVAILABLE # TCR SUPERSW SUPERBANK BIT CONSTANTS: # ... ... SUPER011 OCTAL 60 # . . SUPER100 OCTAL 100 # . . SUPER101 OCTAL 120 # SUPER110 OCTAL 140 SUPERSW EXTEND WRITE SUPERBNK # WRITE BITS 7-6-5 OF THE ACCUMULATOR INTO # CHANNEL 07 TC Q # TC TO INSTRUCTION FOLLOWING # TC SUPERSW ================================================ FILE: Comanche055/INTERPRETER.agc ================================================ # Copyright: Public domain. # Filename: INTERPRETER.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1107-1199 # Mod history: 2009-05-08 RSB Adapted from the Luminary131/ file of the # same name, using Comanche055 page images. # 2009-05-20 RSB Corrections: P00D00 -> P00DOO, fixed a # "Page N" reference. # 2009-05-21 RSB Corrected definition of 5B10, which overflowed # integer arithmetic. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 1107 # SECTION 1: DISPATCHER # # ENTRY TO THE INTERPRETER. INTPRET SETS LOC TO THE FIRST INSTRUCTION, BANKSET TO THE BBANK OF THE # OBJECT INTERPRETIVE PROGRAM, AND INTBIT15 TO THE BIT15 CONTENTS OF FBANK. INTERPRETIVE PROGRAMS MAY BE IN # VIRTUALLY ALL BANKS PRESENT UNDER ANY SUPER-BANK SETTING, WITH THE RESTRICTION THAT PROGRAMS IN HIGH BANKS # (BIT15 OF FBANK = 1) DO NOT REFER TO LOWBANKS, AND VICE-VERSA. THE INTERPRETER DOES NOT SWITCH SUPERBANKS. # E-BANK SWITCHING OCCURS WHENEVER GENERAL ERASABLE (100-3777) IS ADDRESSED. BLOCK 03 COUNT 03/INTER INTPRET RELINT EXTEND # SET LOC TO THE WORD FOLLOWING THE TC. QXCH LOC +2 CA BBANK # INTERPRETIVE BRANCHES FINISH HERE. TS BANKSET MASK BIT15 # GET 15TH BIT FOR INDEXABLE ADDRESSES. TS INTBIT15 TS EDOP # MAKE SURE NO INSTRUCTIONS LEFT OVER TCF NEWOPS # PICK UP OP CODE PAIR AND BEGIN. INTRSM LXCH BBANK # RESUME SUSPENDED INTERPRETIVE JOB TCF INTPRET +3 # DLOAD LOADS MPAC, MPAC +1, LEAVING ZERO IN MPAC +2. DLOAD EXTEND INDEX ADDRWD DCA 0 # LOAD DP C(C(ADDRWD)) INTO MPAC,MPAX +1 SLOAD2 DXCH MPAC CAF ZERO # ZERO MPAC +2 # Page 1108 # AT THE END OF MOST INSTRUCTIONS, CONTROL IS GIVEN TO DANZIG TO DISPATCH THE NEXT OPERATION. TS MPAC +2 # AND DECLARE DP MODE NEWMODE TS MODE # PROLOGUE FOR MODE-CHANGING INSTRUCTIONS. DANZIG CA BANKSET # SET BBANK BEFORE TESTING NEWJOB SO THAT TS BBANK # IT MAY BE SAVED DIRECTLY BY CHANJOB. NOIBNKSW CCS EDOP # SEE IF AN ORDER CODE IS LEFT OVER FROM TCF OPJUMP # THE LAST PAIR RETRIEVED. IF SO, EXECUTE. # EDOP IS SET TO ZERO ON ITS RE-EDITING. CCS NEWJOB # SEE IF A JOB OF HIGHER PRIORITY IS TCF CHANG2 # PRESENT, AND IF SO, CHANGE JOBS. INCR LOC # ADVANCE THE LOCATION COUNTER. # ITRACE (1) REFERS TO "NEWOPS". NEWOPS INDEX LOC # ENTRY TO BEGIN BY PICKING OP CODE PAIR. CA 0 # MAY BE AN OPCODE PAIR OR A STORE CODE. CCS A # TEST SIGN AND GET DABS(A). TCF DOSTORE # PROCESS STORE CODE. LOW7 OCT 177 TS EDOP # OP CODE PAIR. LEAVE THE OTHER IN EDOP MASK LOW7 # WHERE CCS EDOP WILL HONOR IT NEXT. OPJUMP TS CYR # LOWWD ENTERS HERE IF A RIGHT-HAND OP CCS CYR # CODE IS TO BE PROCESSED. TEST PREFICES. TCF OPJUMP2 # TEST SECOND PREFIX BIT. TCF EXIT # +0 OP CODE IS EXIT # Page 1109 # PROCESS ADDRESSES WHICH MAY BE DIRECT, INDEXED, OR REFERENCE THE PUSHDOWN LIST. ADDRESS MASK BIT1 # SEE IF ADDRESS IS INDEXED. CYR CONTAINED CCS A # 400XX, SO BIT 1 IS NOW AS IT WAS IN CYR. TCF INDEX # FORM INDEXED ADDRESS. DIRADRES INDEX LOC # LOOK AHEAD TO NEXT WORD TO SEE IF OCT40001 CS 1 # ADDRESS IS GIVEN. CCS A TCF PUSHUP # IF NOT. NEG4 DEC -4 INCR LOC # IF SO, TO SHOW WE PICKED UP A WORD. TS ADDRWD # Page 1110 # FINAL DIGESTION OF DIRECT ADDRESSES OF OP CODES WITH 01 PREFIX IS DONE HERE. IN EACH CASE, THE # REQUIRED 12-BIT SUB-ADDRESS IS LEFT IN ADDRWD, WITH ANY REQUIRED E OR F BANK SWITCHING DONE. ADDRESSES LESS # THAN 45D ARE TAKEN TO BE RELATIVE TO THE WORK AREA. THE OP CODE IS NOW IN BITS 1-5 OF CYR WITH BIT 14 = 1. AD -ENDVAC # SEE IF ADDRESS RELATIVE TO WORK AREA. CCS A AD -ENDERAS # IF NOT, SEE IF IN GENERAL ERASABLE. TCF IERASTST NETZERO CA FIXLOC # IF SO, LEAVE THE MODIFIED ADDRESS IN ADS ADDRWD # ADDRWD AND DISPATCH. ITR15 INDEX CYR # THIS INDEX MAKES THE NEXT INSTRUCTION 7 INDJUMP -1 # TCF INDJUMP + OP, EDITING CYR. IERASTST EXTEND BZMF GEADDR # GO PROCESS GENERAL-ERASABLE ADDRESS. MASK LOW10 # FIXED BANK ADDRESS. RESTORE AND ADD B15. AD LOW10 # SWITCH BANKS AND LEAVE SUBADDRESS IN XCH ADDRWD # ADDRWD FOR OPERAND RETRIEVAL. (THIS AD INTBIT15 # METHOD PRECLUDES USE OF THE LAST TS FBANK # LOCATION IN EACH FBANK.) ITR12 INDEX CYR 7 INDJUMP -1 GEADDR MASK LOW8 AD OCT1400 XCH ADDRWD TS EBANK ITR10 INDEX CYR 7 INDJUMP -1 # Page 1111 # THE FOLLOWING ROUTINE PROCESSES INTERPRETIVE INDEXED ADDRESSES. AN INTERPRETER INDEX REGISTER MAY # CONTAIN THE ADDRESS OF ANY ERASABLE REGISTER (0-42 BEING RELATIVE TO THE VAC AREA) OR ANY INTERPRETIVE PROGRAM # BANK, OR ANY INTEGER IN THAT RANGE. DODLOAD* CAF DLOAD* # STODL* COMES HERE TO PROCESS LOAD ADR. TS CYR # (STOVL* ENTERS HERE). INDEX CA FIXLOC # SET UP INDEX LOCATION. TS INDEXLOC INCR LOC # (ADDRESS ALWAYS GIVEN). INDEX LOC CS 0 CCS A # INDEX 2 IF ADDRESS STORED COMPLEMENTED. INCR INDEXLOC NOOP TS ADDRWD # 14 BIT ADDRESS TO ADDRWD. MASK HIGH4 # IF ADDRESS GREATER THAN 2K, ADD INTBIT15 EXTEND BZF INDEX2 CA INTBIT15 ADS ADDRWD INDEX2 INDEX INDEXLOC CS X1 ADS ADDRWD # DO AUGMENT, IGNORING AND CORRECTING OVF. MASK HIGH9 # SEE IF ADDRESS IS IN WORK AREA. EXTEND BZF INDWORK MASK HIGH4 # SEE IF IN FIXED BANK. EXTEND BZF INDERASE CA ADDRWD # IN FIXED -- SWITCH BANKS AND CREATE TS FBANK # SUB-ADDRESS MASK LOW10 AD 2K TS ADDRWD ITR11 INDEX CYR 3 INDJUMP -1 INDWORK CA FIXLOC # MAKE ADDRWD RELATIVE TO WORK AREA. TCF ITR13 -1 INDERASE CA OCT1400 XCH ADDRWD TS EBANK MASK LOW8 -1 ADS ADDRWD # Page 1112 ITR13 INDEX CYR 3 INDJUMP -1 # Page 1113 # PUSH-UP ROUTINES. WHEN NO OPERAND ADDRESS IS GIVEN, THE APPROPRIATE OPERAND IS TAKEN FROM THE PUSH-DOWN # LIST. IN MOST CASES THE MODE OF THE RESULT (VECTOR OR SCALAR) OF THE LAST ARITHMETIC OPERATION PERFORMED # IS THE SAME AS THE TYPE OF OPERAND DESIRED (ALL ADD/SUBTRACT ETC.). EXCEPTIONS TO THIS GENERAL RULE ARE LISTED # BELOW (NOTE THAT IN EVERY CASE THE MODE REGISTER IS LEFT INTACT): # # 1. VXSC AND V/SC WANT THE OPPOSITE TYPE OF OPERAND, E.G., IF THE LAST OPERATION YIELDED A VECTOR # RESULT, VXSC WANTS A SCALAR. # # 2. THE LOAD CODES SHOULD LOAD THE ACCUMULATOR INDEPENDENT OF THE RESULT OF THE LAST OPERATION. THIS # INCLUDES VLOAD, DLOAD, TLOAD, PDDL, AND PDVL (NO PUSHUP WITH SLOAD). # # 3. SOME ARITHMETIC OPERATIONS REQUIRE A STANDARD TYPE OF OPERAND REGARDLESS OF THE PREVIOUS OPERATION. # THIS INCLUDES SIGN WANTING DP AND TAD REQUIRING TP. PUSHUP CAF OCT23 # IF THE LOW 5 BITS OF CYR ARE LESS THAN MASK CYR # 20, THIS OP REQUIRES SPECIAL ATTENTION. AD -OCT10 # (NO -0). CCS A TCF REGUP # FOR ALL CODES GREATER THAN OCT 7. -OCT10 OCT -10 AD NEG4 # WE NOW HAVE 7 -- OP CODE (MOD4). SEE IF CCS A # THE OP CODE (MOD4) IS THREE (REVERSE). INDEX A # NO -- THE MODE IS DEFINITE. PICK UP THE CS NO.WDS TCF REGUP +2 INDEX MODE # FOR VXSC AND V/SC WE WANT THE REQUIRED CS REVCNT # PUSHLOC DECREMENT WITHOUT CHANGING THE TCF REGUP +2 # MODE AT THIS TIME. REGUP INDEX MODE # MOST ALL OP CODES PUSHUP HERE. CS NO.WDS +2 ADS PUSHLOC TS ADDRWD ITR14 INDEX CYR 7 INDJUMP -1 # (THE INDEX MAKES THIS A TCF.) OCT 2 # REVERSE PUSHUP DECREMENT. VECTOR TAKES 2 REVCNT OCT 6 # WORDS, SCALAR TAKES 6. OCT 6 NO.WDS OCT 2 # CONVENTIONAL DECREMENT IS 6 WORDS VECTOR OCTAL3 OCT 3 # 2 IN DP, AND 3 IN TP. OCT 6 # Page 1114 # TEST THE SECOND PREFIX BIT TO SEE IF THIS IS A MISCELLANEOUS OR A UNARY/SHORT SHIFT OPERATION. OPJUMP2 CCS CYR # TEST SECOND PREFIX BIT. TCF OPJUMP3 # TEST THIRD BIT TO SEE IF UNARY OR SHIFT. -ENDVAC DEC -45 # THE FOLLOWING ROUTINE PROCESSES ADDRESSES OF SUFFIX CLASS 10. THEY ARE BASICALLY WORK AREA ADDRESSES # IN THE RANGE 0-52, ERASABLE ECADR CONSTANTS FROM 100-3777, AND FCADRS ABOVE THAT. ALL 15 BITS ARE AVAILABLE # IN CONTRAST TO SUFFIX 1, IN WHICH ONLY THE LOW ORDER 14 ARE AVAILABLE. 15BITADR INCR LOC # (ENTRY HERE FROM STCALL). INDEX LOC # PICK UP ADDRESS WORD. CA 0 TS POLISH # WE MAY NEED A SUBADDRESS LATER. CAF LOW7+2K # THESE INSTRUCTIONS ARE IN BANK 1. TS FBANK MASK CYR ITR7 INDEX A TCF MISCJUMP # Page 1115 # COMPLETE THE DISPATCHING OF UNARY AND SHORT SHIFT OPERATIONS. OPJUMP3 TS FBANK # CALL IN BANK 0 (BITS 11-15 OF A ARE 0.) # ITRACE (6) REFERS TO "OPJUMP3". CCS CYR # TEST THIRD PREFIX BIT. INDEX A # THE DECREMENTED UNARY CODE IS IN BITS TCF UNAJUMP # 1-4 OF A (ZERO, EXIT, HAS BEEN DETECTED) CCS MODE # IT'S A SHORT SHIFT CODE. SEE IF PRESENT TCF SHORTT # SCALAR OR VECTOR. TCF SHORTT TCF SHORTV # CALLS THE APPROPRIATE ROUTINE. FBANKMSK EQUALS BANKMASK LVBUF ADRES VBUF # Page 1116 # THE FOLLOWING IS THE JUMP TABLE FOR OP CODES WHICH MAY HAVE INDEXABLE ADDRESSES OR MAY PUSH UP. INDJUMP TCF VLOAD # 00 -- LOAD MPAC WITH A VECTOR. TCF TAD # 01 -- TRIPLE PRECISION ADD TO MPAC. TCF SIGN # 02 -- COMPLEMENT MPAC (V OR SC) IF X NEG. TCF VXSC # 03 -- VECTOR TIMES SCALAR. TCF CGOTO # 04 -- COMPUTED GO TO. TCF TLOAD # 05 -- LOAD MPAC WITH TRIPLE PRECISION. TCF DLOAD # 06 -- LOAD MPAC WITH A DP SCALAR. TCF V/SC # 07 -- VECTOR DIVIDED BY SCALAR. TCF SLOAD # 10 -- LOAD MPAC IN SINGLE PRECISION. TCF SSP # 11 -- SET SINGLE PRECISION INTO X. TCF PDDL # 12 -- PUSH DOWN MPAC AND RE-LOAD IN DP. TCF MXV # 13 -- MATRIX POST-MULTIPLIED BY VECTOR. TCF PDVL # 14 -- PUSH DOWN AND VECTORLOAD. TCF CCALL # 15 -- COMPUTED CALL. TCF VXM # 16 -- MATRIX PRE-MULTIPLIED BY VECTOR. TCF TSLC # 17 -- NORMALIZE MPAC (SCALAR ONLY). TCF DMPR # 20 -- DP MULTIPLY AND ROUND. TCF DDV # 21 -- DP DIVIDE BY. TCF BDDV # 22 -- DP DIVIDE INTO. TCF GSHIFT # 23 -- GENERAL SHIFT INSTRUCTION TCF VAD # 24 -- VECTOR ADD. TCF VSU # 25 -- VECTOR SUBTRACT. TCF BVSU # 26 -- VECTOR SUBTRACT FROM. TCF DOT # 27 -- VECTOR DOT PRODUCT. TCF VXV # 30 -- VECTOR CROSS PRODUCT. TCF VPROJ # 31 -- VECTOR PROJECTION. TCF DSU # 32 -- DP SUBTRACT. TCF BDSU # 33 -- DP SUBTRACT FROM. TCF DAD # 34 -- DP ADD. TCF # 35 -- AVAILABLE TCF DMP1 # 36 -- DP MULTIPLY. TCF SETPD # 37 -- SET PUSH DOWN POINTER (DIRECT ONLY) # CODES 10 AND 14 MUST NOT PUSH UP. CODE 04 MAY BE USED FOR VECTOR DECLARE BEFORE PUSHUP IF DESIRED. # Page 1117 # THE FOLLOWING JUMP TABLE APPLIES TO INDEX, BRANCH, AND MISCELLANEOUS INSTRUCTIONS. MISCJUMP TCF AXT # 00 -- ADDRESS TO INDEX TRUE. TCF AXC # 01 -- ADDRESS TO INDEX COMPLEMENTED. TCF LXA # 02 -- LOAD INDEX FROM ERASABLE. TCF LXC # 03 -- LOAD INDEX FROM COMPLEMENT OF ERAS. TCF SXA # 04 -- STORE INDEX IN ERASABLE. TCF XCHX # 05 -- EXCHANGE INDEX WITH ERASABLE. TCF INCR # 06 -- INCREMENT INDEX REGISTER. TCF TIX # 07 -- TRANSFER ON INDEX. TCF XAD # 10 -- INDEX REGISTER ADD FROM ERASABLE. TCF XSU # 11 -- INDEX SUBTRACT FROM ERASABLE. TCF BZE/GOTO # 12 -- BRANCH ZERO AND GOTO. TCF BPL/BMN # 13 -- BRANCH PLUS AND BRANCH MINUS. TCF RTB/BHIZ # 14 -- RETURN TO BASIC AND BRANCH HI ZERO. TCF CALL/ITA # 15 -- CALL AND STORE QPRET. TCF SW/ # 16 -- SWITCH INSTRUCTIONS AND AVAILABLE. TCF BOV(B) # 17 -- BRANCH ON OVERFLOW TO BASIC OR INT. # Page 1118 # THE FOLLOWING JUMP TABLE APPLIES TO UNARY INSTRUCTIONS COUNT 00/INTER BANK 0 # 00 -- EXIT -- DETECTED EARLIER. UNAJUMP TCF SQRT # 01 -- SQUARE ROOT. TCF SINE # 02 -- SIN. TCF COSINE # 03 -- COS. TCF ARCSIN # 04 -- ARC SIN. TCF ARCCOS # 05 -- ARC COS. TCF DSQ # 06 -- DP SQUARE. TCF ROUND # 07 -- ROUND TO DP. TCF COMP # 10 -- COMPLEMENT VECTOR OR SCALAR TCF VDEF # 11 -- VECTOR DEFINE. TCF UNIT # 12 -- UNIT VECTOR. TCF ABVALABS # 13 -- LENGTH OF VECTOR OR MAG OF SCALAR. TCF VSQ # 14 -- SQUARE OF LENGTH OF VECTOR. TCF STADR # 15 -- PUSH UP ON STORE CODE. TCF RVQ # 16 -- RETURN VIA QPRET. TCF PUSH # 17 -- PUSH MPAC DOWN. # Page 1119 # SECTION 2 LOAD AND STORE PACKAGE. # # A SET OF EIGHT STORE CODES IS PROVIDED AS THE PRIMARY METHOD OF STORING THE MULTI-PURPOSE # ACCUMULATOR (MPAC). IF IN THE DANZIG SECTION LOC REFERS TO AN ALGEBRAICALLY POSITIVE WORD, IT IS TAKEN AS A # STORE CODE WITH A CORRESPONDING ERASABLE ADDRESS. MOST OF THESE CODES ARE TWO ADDRESS, SPECIFYING THAT THE WORD # FOLLOWING THE STORE CODE IS TO BE USED AS AN ADDRESS FROM WHICH TO RE-LOAD MPAC. FOUR OPTIONS ARE AVAILABLE: # # 1. STORE STORE MPAC. THE E ADDRESS MAY BE INDEXED. # 2. STODL STORE MPAC AND RE-LOAD IT IN DP WITH THE NEXT ADDRESS (THE LOAD MAY BE INDEXED). # 3. STOVL STORE MPAC AND RE-LOAD A VECTOR (AS ABOVE). # 4. STCALL STORE AND DO A CALL (BOTH ADDRESSES MUST BE DIRECT HERE). # # STODL AND STOVL WILL TAKE FROM THE PUSH-DOWN LIST IF NO LOAD ADDRESS IS GIVEN. BLOCK 3 COUNT 03/INTER STADR CA BANKSET # THE STADR CODE (PUSHUP UP ON STORE TS FBANK # ADDRESS) ENTERS HERE. INCR LOC ITR1 INDEX LOC # THE STORECODE WAS STORED COMPLEMENTED TO CS 0 # MAKE IT LOOK LIKE AN OPCODE PAIR. AD NEGONE # (YUL CANT REMOVE 1 BECAUSE OF EARLY CCS) DOSTORE TS ADDRWD MASK LOW11 # ENTRY FROM DISPATCHER. SAVE THE ERASABLE XCH ADDRWD # ADDRESS AND JUMP ON THE STORE CODE NO. MASK B12T14 EXTEND MP BIT5 # EACH TRANSFER VECTOR ENTRY IS TWO WORDS. ITR0 INDEX A TCF STORJUMP # Page 1120 # STORE CODE JUMP TABLE. CALLS THE APPROPRIATE STORING ROUTINE AND EXITS TO DANZIG OR TO ADDRESS WITH # A SUPPLIED OPERATION CODE. # # STORE STORE,1 AND STORE,2 RETURN TO DANZIG, THUS RESETTING THE EBANK TO ITS STATE AT INTPRET. STORJUMP TC STORE # STORE. TCF DANZIG # PICK UP NEW OP CODE(S). TC STORE,1 TCF DANZIG TC STORE,2 TCF DANZIG TC STORE # STODL. TCF DODLOAD TC STORE # STODL WITH INDEXED LOAD ADDRESS. TCF DODLOAD* TC STORE # STOVL. TCF DOVLOAD TC STORE # STOVL WITH INDEXED LOAD ADDRESS. TCF DOVLOAD* TC STORE # STOTC. CAF CALLCODE TS CYR TCF 15BITADR # GET A 15 BIT ADDRESS. # Page 1121 # STORE CODE ADDRESS PROCESSOR. STORE,1 INDEX FIXLOC CS X1 TCF PRESTORE STORE,2 INDEX FIXLOC CS X2 PRESTORE ADS ADDRWD # RESULTANT ADDRESS IS IN ERASABLE. STORE CS ADDRWD AD DEC45 CCS A # DOES THE ADDRESS POINT TO THE WORK AREA? CA FIXLOC # YES. TCF AHEAD5 CA OCT1400 # NO. SET EBANK & MAKE UP SUBADDRESS. XCH ADDRWD TS EBANK MASK LOW8 AHEAD5 ADS ADDRWD # Page 1122 # STORING ROUTINES. STORE DP, TP, OR VECTOR AS INDICATED BY MODE. STARTSTO EXTEND # MPAC,+1 MUST BE STORED IN ANY EVENT. # ITRACE (5) REFERS TO "STARTSTO". DCA MPAC INDEX ADDRWD DXCH 0 CCS MODE TCF TSTORE TC Q VSTORE EXTEND DCA MPAC +3 INDEX ADDRWD DXCH 2 EXTEND DCA MPAC +5 INDEX ADDRWD DXCH 4 TC Q TSTORE CA MPAC +2 INDEX ADDRWD TS 2 TC Q # Page 1123 # ROUTINES TO BEGIN PROCESSING OF THE SECOND ADDRESS ASSOCIATED WITH ALL STORE-TYPE CODES EXCEPT STORE # ITSELF. DODLOAD CAF DLOADCOD TS CYR TCF DIRADRES # GO GET A DIRECT ADDRESS. DOVLOAD CAF VLOADCOD TS CYR TCF DIRADRES DOVLOAD* CAF VLOAD* TCF DODLOAD* +1 # PROLOGUE TO INDEX ROUTINE. # Page 1124 # THE FOLLOWING LOAD INSTRUCTIONS ARE PROVIDED FOR LOADING THE MULTI-PURPOSE ACCUMULATOR MPAC. TLOAD INDEX ADDRWD CA 2 # LOAD A TRIPLE PRECISION ARGUMENT INTO TS MPAC +2 # THE FIRST THREE MPAC REGISTERS, WITH THE EXTEND # CONTENTS OF THE OTHER FOUR IRRELEVANT. INDEX ADDRWD DCA 0 DXCH MPAC TMODE CAF ONE TCF NEWMODE # DECLARE TRIPLE PRECISION MODE. SLOAD ZL # LOAD A SINGLE PRECISION NUMBER INTO INDEX ADDRWD # MPAC, SETTING MPAC+1,2 TO ZERO. THE CA 0 # CONTENTS OF THE REMAINING MPAC REGISTERS TCF SLOAD2 # ARE IRRELEVANT. VLOAD EXTEND # LOAD A DOUBLE PRECISION VECTOR INTO INDEX ADDRWD # MPAC,+1, MPAC+3,4, AND MPAC+5,6. THE DCA 0 # CONTENTS OF MPAC +2 ARE IRRELEVANT. DXCH MPAC ENDVLOAD EXTEND # PDVL COMES HERE TO FINISH UP FOR DP, TP. INDEX ADDRWD DCA 2 DXCH MPAC +3 +4 EXTEND # TPDVL FINISHES HERE. INDEX ADDRWD DCA 4 DXCH MPAC +5 VMODE CS ONE # DECLARE VECTOR MODE. TCF NEWMODE # Page 1125 # THE FOLLOWING INSTRUCTIONS ARE PROVIDED FOR STORING OPERANDS IN THE PUSHDOWN LIST: # 1. PUSH PUSHDOWN AND NO LOAD. # 2. PDDL PUSHDOWN AND DOUBLE PRECISION LOAD. # 3. PDVL PUSHDOWN AND VECTOR LOAD. PDDL EXTEND INDEX ADDRWD # LOAD MPAC,+1, PUSHING THE FORMER DCA 0 # CONTENTS DOWN. DXCH MPAC INDEX PUSHLOC DXCH 0 INDEX MODE # ADVANCE THE PUSHDOWN POINTER APPRO- CAF NO.WDS # PRIATELY. ADS PUSHLOC CCS MODE TCF ENDTPUSH TCF ENDDPUSH TS MODE # NOW DP. ENDVPUSH TS MPAC +2 DXCH MPAC +3 # PUSH DOWN THE REST OF THE VECTOR HERE. INDEX PUSHLOC DXCH 0 -4 DXCH MPAC +5 INDEX PUSHLOC DXCH 0 -2 TCF DANZIG ENDDPUSH TS MPAC +2 # SET MPAC +2 TO ZERO AND EXIT ON DP. TCF DANZIG ENDTPUSH TS MODE XCH MPAC +2 # ON TRIPLE, SET MPAC +2 TO ZERO, PUSHING +2 INDEX PUSHLOC # DOWN THE OLD CONTENTS TS 0 -1 TCF DANZIG # Page 1126 # PDVL -- PUSHDOWN AND VECTOR LOAD PDVL EXTEND # RELOAD MPAC AND PUSH DOWN ITS CONTENTS. INDEX ADDRWD DCA 0 DXCH MPAC INDEX PUSHLOC DXCH 0 INDEX MODE # ADVANCE THE PUSHDOWN POINTER. CAF NO.WDS ADS PUSHLOC CCS MODE # TEST PAST MODE. TCF TPDVL TCF ENDVLOAD # JUST LOAD LAST FOUR REGISTERS ON DP. VPDVL EXTEND # PUSHDOWN AND RE-LOAD LAST TWO COMPONENTS INDEX ADDRWD DCA 2 DXCH MPAC +3 INDEX PUSHLOC DXCH 0 -4 EXTEND INDEX ADDRWD DCA 4 DXCH MPAC +5 INDEX PUSHLOC DXCH 0 -2 TCF DANZIG TPDVL EXTEND # ON TP, WE MUST LOAD THE Y COMPONENT INDEX ADDRWD # BEFORE STORING MPAC +2 IN CASE THIS IS A DCA 2 # PUSHUP. DXCH MPAC +3 CA MPAC +2 INDEX PUSHLOC # IN DP. TS 0 -1 TCF ENDVLOAD +4 # SSP (STORE SINGLE PRECISION) IS EXECUTED HERE. SSP INCR LOC # PICK UP THE WORD FOLLOWING THE GIVEN INDEX LOC # ADDRESS AND STORE IT AT X. CA 0 STORE1 INDEX ADDRWD # SOME INDEX AND MISCELLANEOUS OPS END TS 0 # HERE. # Page 1127 TCF DANZIG # Page 1128 # SEQUENCE CHANGING AND SUBROUTINE CALLING OPTIONS. # # THE FOLLOWING OPERATIONS ARE AVAILABLE FOR SEQUENCING CHANGING, BRANCHING, AND CALLING SUBROUTINES: # 1. GOTO GO TO. # 2. CALL CALL SUBROUTINE SETTING QPRET. # 3. CGOTO COMPUTED GO TO. # 4. CCALL COMPUTED CALL. # 7. BPL BRANCH IF MPAC POSITIVE OR ZERO. # 8. BZE BRANCH IF MPAC ZERO. # 9. BMN BRANCH IF MPAC NEGATIVE NON-ZERO. CCALL INCR LOC # MAINTAIN LOC FOR QPRET COMPUTATION INDEX LOC # Was CAF --- RSB 2009. CA 0 # GET BASE ADDRESS OF CADR LIST. INDEX ADDRWD AD 0 # ADD INCREMENT. TS FBANK # SELECT DESIRED CADR. MASK LOW10 INDEX A CAF 10000 TS POLISH CALL CA BANKSET # FOR ANY OF THE CALL OPTIONS, MAKE UP THE MASK BANKMASK # ADDRESS OF THE NEXT OP-CODE PAIR/STORE AD BANKMASK # CODE AND LEAVE IT IN QPRET. NOTE THAT AD LOC # BANKMASK = -(2000 - 1). INDEX FIXLOC TS QPRET GOTO CA POLISH # BASIC BRANCHING SEQUENCE. +1 MASK HIGH4 EXTEND BZF GOTOERS # SEE IF ADDRESS POINTS TO FIXED OR ERAS. +4 CA BANKSET # SET EBANK PART OF BBANK. NEXT, SET UP TS BBANK # FBANK. THE COMBINATION IS PICKED UP & CA POLISH # PUT INTO BANKSET AT INTPRET +2. TS FBANK MASK LOW10 AD 2K TS LOC TCF INTPRET +3 EBANK= 1400 # SO YUL DOESN'T CUSS THE "CA 1400" BELOW. GOTOERS CA POLISH # THE GIVEN ADDRESS IS IN ERASABLE -- SEE AD -ENDVAC # IF RELATIVE TO THE WORK ARA. CCS A CA POLISH # GENERAL ERASABLE. TCF GOTOGE # Page 1129 CA FIXLOC # WORK AREA. AD POLISH INDEX A # USE THE GIVEN ADDRESS AS THE ADDRESS OF CA 0 # THE BRANCH ADDRESS. TS POLISH TCF GOTO +1 # ALLOWS ARBITRARY INDIRECTNESS LEVELS. GOTOGE TS EBANK MASK LOW8 INDEX A # USE THE GIVEN ADDRESS AS THE ADDRESS OF CA 1400 # THE BRANCH ADDRESS. TS POLISH TCF GOTO +1 CGOTO INDEX LOC # COMPUTED GO TO. PICK UP ADDRESS OF CADR CA 1 # LIST INDEX ADDRWD # ADD MODIFIER. AD 0 TS FBANK # SELECT GOTO ADDRESS MASK LOW10 INDEX A CA 10000 TS POLISH TCF GOTO +1 # WITH ADDRESS IN A. SWBRANCH CA BANKSET # SWITCH INSTRUCTIONS WHICH ELECT TO TS FBANK # BRANCH COME HERE TO DO SO. INDEX LOC CA 1 TS POLISH TCF GOTO +1 # Page 1130 # TRIPLE PRECISION BRANCHING ROUTINE. IF CALLING TC IS AT L, RETURN IS AS FOLLOWS: # L+1 IF MPAC IS GREATER THAN ZERO. # L+2 IF MPAC IS EQUAL TO +0 OR -0. # L+3 IF MPAC IS LESS THAN ZERO. BRANCH CCS MPAC TC Q TCF +2 # ON ZERO. TCF NEG CCS MPAC +1 TC Q TCF +2 TCF NEG CCS MPAC +2 TC Q TCF +2 TCF NEG Q+1 INDEX Q TC 1 NEG INDEX Q # IF FIRST NON-ZERO REGISTER WAS NEGATIVE. TC 2 Q+2 = NEG # ITRACE (3) REFERS TO "EXIT". EXIT CA BANKSET # RESTORE USER'S BANK SETTING, AND LEAVE TS BBANK # INTERPRETIVE MODE. INDEX LOC TC 1 # Page 1131 # SECTION 3 -- ADD/SUBTRACT PACKAGE. # # THE FOLLOWING OPERATIONS ARE PROVIDED FOR ADDING TO AND SUBTRACTING FROM THE MULTI-PURPOSE ACCUMULATOR # MPAC: # 1. DAD DOUBLE PRECISION ADD. # 2. DSU DOUBLE PRECISION SUBTRACT. # 3. BDSU DOUBLE PRECISION SUBTRACT FROM. # 4. TAD TRIPLE PRECISION ADD. # 5. VAD VECTOR ADD. # 6. VSU VECTOR SUBTRACT. # 7. BVSU VECTOR SUBTRACT FROM. # THE INTERPRETIVE OVERFLOW INDICATOR OVFIND IS SET NON-ZERO IF OVERFLOW OCCURS IN ANY OF THE ABOVE. VSU CAF BIT15 # CHANGES 0 TO DCS. TCF +2 VAD CAF PRIO30 # CHANGES 0 TO DCA. ADS ADDRWD EXTEND INDEX ADDRWD READ HISCALAR # DCA 2 OR DCS 2 DAS MPAC +3 EXTEND # CHECK OVERFLOW. BZF +2 TC OVERFLWY EXTEND INDEX ADDRWD READ CHAN5 # DCA 4 OR DCS 4 DAS MPAC +5 EXTEND BZF +2 TC OVERFLWZ EXTEND INDEX ADDRWD READ LCHAN # DCA 0 OR DCS 0 TCF ENDVXV DAD EXTEND INDEX ADDRWD DCA 0 ENDVXV DAS MPAC # VXV FINISHES HERE. EXTEND BZF DANZIG # Page 1132 SETOVF TC OVERFLOW TCF DANZIG # Page 1133 DSU EXTEND INDEX ADDRWD DCS 0 TCF ENDVXV OVERFLWZ TS L # ENTRY FOR THIRD COMPONENT. CAF FIVE TCF +3 OVERFLWY TS L # ENTRY FOR SECOND COMPONENT. CAF THREE XCH L OVERFLOW INDEX A # ENTRY FOR 1ST COMP OR DP (L=0). CS LIMITS # PICK UP POSMAX OR NEGMAX. TS BUF EXTEND AUG A INDEX L ADS MPAC +1 TS 7 CAF ZERO AD BUF INDEX L ADS MPAC TS 7 TC Q # NO OVERFLOW EXIT. TCF SETOVF2 # SET OVFIND AND EXIT. BVSU EXTEND INDEX ADDRWD DCA 2 DXCH MPAC +3 EXTEND DCOM DAS MPAC +3 EXTEND BZF +2 TC OVERFLWY EXTEND INDEX ADDRWD DCA 4 DXCH MPAC +5 EXTEND DCOM DAS MPAC +5 EXTEND BZF +2 TC OVERFLWZ # Page 1134 BDSU EXTEND INDEX ADDRWD DCA 0 DXCH MPAC EXTEND DCOM TCF ENDVXV # Page 1135 # TRIPLE PRECISION ADD ROUTINE. TAD EXTEND INDEX ADDRWD DCA 1 # ADD MINOR PARTS FIRST. DAS MPAC +1 INDEX ADDRWD AD 0 AD MPAC TS MPAC TCF DANZIG TCF SETOVF # SET OVFIND IF SUCH OCCURS. # Page 1136 # ARITHMETIC SUBROUTINES REQUIRED IN FIXED-FIXED. # 1. DMPSUB DOUBLE PRECISION MULTIPLY, MULTIPLY THE CONTENTS OF MPAC,+1 BY THE DP WORD WHOSE ADDRESS # IS IN ADDRWD AND LEAVE A TRIPLE-PRECISION RESULT IN MPAC. # 2. ROUNDSUB ROUND THE TRIPLE PRECISION CONTENTS OF MPAC TO DOUBLE PRECISION. # 3. DOTSUB TAKE THE DOT PRODUCT OF THE VECTOR IN MPAC AND THE VECTOR WHOSE ADDRESS IS IN ADDRWD # AND LEAVE THE TRIPLE PRECISION RESULT IN MPAC. # 4. POLY USING THE CONTENTS OF MPAC AS A DP ARGUMENT, EVALUATE THE POLYNOMIAL WHOSE DEGREE AND # COEFFICIENTS IMMEDIATELY FOLLOW THE TC POLY INSTRUCTION (SEE ROUTINE FOR DETAILS). DMP INDEX Q # BASIC SUBROUTINE FOR USE BY PINBALL, ETC # Was CAF --- RSB 2009. CA 0 INCR Q -1 TS ADDRWD # (PROLOGUE FOR SETTING ADDRWD.) DMPSUB INDEX ADDRWD # GET MINOR PART OF OPERAND AT C(ADDRWD). CA 1 TS MPAC +2 # THIS WORKS FOR SQUARING MPAC AS WELL. CAF ZERO # SET MPAC +1 TO ZERO SO WE CAN ACCUMULATE XCH MPAC +1 # THE PARTIAL PRODUCTS WITH DAS TS MPTEMP # INSTRUCTIONS. EXTEND MP MPAC +2 # MINOR OF MPAC X MINOR OF C(ADDRWD). XCH MPAC +2 # DISCARD MINOR PART OF ABOVE RESULT AND EXTEND # FORM MAJOR OF MPAC X MINOR OF C(ADDRWD). MP MPAC DAS MPAC +1 # GUARANTEED NO OVERFLOW. INDEX ADDRWD # GET MAJOR PART OF ARGUMENT AT C(ADDRWD). CA 0 XCH MPTEMP # SAVE AND BRING OUT MINOR OF MPAC. DMPSUB2 EXTEND MP MPTEMP # MAJOR OF C(ADDRWD) X MINOR OF MPAC. DAS MPAC +1 # ACCUMULATE, SETTING A TO NET OVERFLOW. XCH MPAC # SETTING MPAC TO 0 OR +-1. EXTEND MP MPTEMP # MAJOR OF MPAC X MAJOR OF C(ADDRWD). DAS MPAC # GUARANTEED NO OVERFLOW. TC Q # 49 MCT = .573 MS. INCLUDING RETURN. # Page 1137 # ROUND MPAC TO DOUBLE PRECISION, SETTING OVFIND ON THE RARE EVENT OF OVERFLOW. ROUNDSUB CAF ZERO # SET MPAC +2 = 0 FOR SCALARS AND CHANGE +1 TS MODE # MODE TO DP. VROUND XCH MPAC +2 # BUT WE NEEDN'T TAKE THE TIME FOR VECTORS. DOUBLE TS L TC Q AD MPAC +1 # ADD ROUDING BIT IF MPAC +2 WAS GREATER TS MPAC +1 # THAN .5 IN MAGNITUDE. TC Q AD MPAC # PROPAGATE INTERFLOW. TS MPAC TC Q SETOVF2 TS OVFIND # (RARE). TC Q # Page 1138 # THE DOT PRODUCT SUBROUTINE USUALLY FORMS THE DOT PRODUCT OF THE VECTOR IN MPAC WITH A STANDARD SIX # REGISTER VECTOR WHOSE ADDRESS IS IN ADDRWD. IN THIS CASE C(DOTINC) ARE SET TO 2. VXM, HOWEVER, SETS C(DOTINC) TO # 6 SO THAT DOTSUB DOTS MPAC WITH A COLUMN VECTOR OF THE MATRIX IN QUESTION IN THIS CASE. PREDOT CAF TWO # PROLOGUE TO SET DOTINC TO 2. TS DOTINC DOTSUB EXTEND QXCH DOTRET # SAVE RETURN TC DMPSUB # DOT X COMPONENTS. DXCH MPAC +3 # POSITION Y COMPONENT OF MPAC FOR DXCH MPAC # MULTIPLICATION WHILE SAVING RESULT IN DXCH BUF # THREE WORD BUFFER, BUF. CA MPAC +2 TS BUF +2 CA DOTINC # ADVANCE ADDRWD TO Y COMPONENT OF ADS ADDRWD # OTHER ARGUMENT. TC DMPSUB DXCH MPAC +1 # ACCUMULATE PARTIAL PRODUCTS. DAS BUF +1 AD MPAC AD BUF TS BUF TCF +2 TS OVFIND # IF OVERFLOW OCCURS. DXCH MPAC +5 # MULTIPLY Z COMPONENTS. DXCH MPAC CA DOTINC ADS ADDRWD TC DMPSUB ENDDOT DXCH BUF +1 # LEAVE FINAL ACCUMULATION IN MPAC. DAS MPAC +1 AD MPAC AD BUF TS MPAC TC DOTRET TC OVERFLOW # ON OVERFLOW HERE. TC DOTRET # Page 1139 # DOUBLE PRECISION POLYNOMIAL EVALUATOR # N N-1 # THIS ROUTINE EVALUATES A X + A X + ... + A X + A LEAVING THE DP RESULT IN MPAC ON EXIT. # N N-1 1 0 # # THE ROUTINE HAS TWO ENTRIES # # 1 ENTRY THRU POWRSERS. THE COEFFICIENTS MAY BE EITHER IN FIXED OR ERASABLE E. THE CALL IS BY # TC POWRSERS, AND THE RETURN IS TO LOC(TC POWRSERS)+1. THE ENTERING DATA MUST BE AS FOLLOWS: # A SP LOC-3 ADDRESS FOR REFERENCING COEF TABLE # L SP N-1 N IS THE DEGREE OF THE POWER SERIES # MPAC DP X ARGUMENT # LOC-2N DP A(0) # ... # LOC DP A(N) # # 2. ENTRY THRU POLY. THE CALL TO POLY AND THE ENTERING DATA MUST BE AS FOLLOWS # MPAC DP X ARGUMENT # LOC TC POLY # LOC+1 DP A(0) # ... # LOC+2N+2 DP A(N) RETURN IS TO LOC+2N+4 POWRSERS EXTEND QXCH POLYRET # RETURN ADDRESS TS POLISH # POWER SERIES ADDRESS LXCH POLYCNT # N-1 TO COUNTER TCF POLYCOM # SKIP SET UP BY POLY POLY INDEX Q # Was CAF --- RSB 2009. CA 0 TS POLYCNT # N-1 TO COUNTER DOUBLE AD Q TS POLISH # L(A(N))-3 TO POLISH AD FIVE TS POLYRET # STORE RETURN ADDRESS POLYCOM CAF LVBUF # INCOMING X WILL BE MOVED TO VBUF, SO TS ADDRWD # SET ADDRWD SO DMPSUB WILL MPY BY VBUF. EXTEND INDEX POLISH DCA 3 # Page 1140 DXCH MPAC # LOAD A(N) INTO MPAC DXCH VBUF # SAVING X IN VBUF TCF POLY2 POLYLOOP TS POLYCNT # SAVE DECREMENTED LOOP COUNTER CS TWO ADS POLISH # REGRESS COEFFICIENT POINTER POLY2 TC DMPSUB # MULTIPLY BY X EXTEND INDEX POLISH DCA 1 # ADD IN NEXT COEFFICIENT DAS MPAC # USER'S RESPONSIBILITY TO ASSURE NO OVFLOW CCS POLYCNT TCF POLYLOOP TC POLYRET # RETURN CALLER # Page 1141 # MISCELLANEOUS MULTI-PRECISION ROUTINES REQUIRED IN FIXED-FIXED BUT NOT USED BY THE INTERPRETER. DPAGREE CAF ZERO # DOUBLE PRECISION ENTRY -- TS MPAC +2 # ZERO LOW-ORDER WORD TPAGREE LXCH Q # FORCE SIGN AGREEMENT AMONG THE TRIPLE TC BRANCH # PRECISION CONTENTS OF MPAC. RETURNING TCF ARG+ # WITH SIGNUM OF THE INPUT IN A. TCF ARGZERO CS POSMAX # IF NEGATIVE. TCF +2 ARG+ CAF POSMAX TS Q EXTEND AUG A # FORMS +-1.0. AD MPAC +2 TS MPAC +2 CAF ZERO AD Q AD MPAC +1 TS MPAC +1 CAF ZERO AD Q # Q STILL HAS POSMAX OR NEGMAX IN IT. AD MPAC ARGZERO2 TS MPAC # ALWAYS SKIPPING UNLESS ARGZERO. TS MPAC +1 TC L # RETURN VIA L. ARGZERO TS MPAC +2 # SET ALL THREE MPAC REGISTERS TO ZERO. TCF ARGZERO2 # SHORTMP MULTIPLIES THE TP CONTENTS OF MPAC BY THE SINGLE PRECISION NUMBER ARRIVING IN A. SHORTMP TS MPTEMP EXTEND MP MPAC +2 TS MPAC +2 SHORTMP2 CAF ZERO # SO SUBSEQUENT DAS WILL WORK. XCH MPAC +1 TCF DMPSUB2 # Page 1142 # DMPNSUB MULTIPLIES THE DP FRACTION ARRIVING IN MPAC BY THE SP # INTEGER ARRIVING IN A. THE DP PRODUCT DEPARTS BOTH IN MPAC AND IN # A AND L. NOTE THAT DMPNSUB NORMALLY INCREASES THE MAGNITUDE OF THE # CONTENTS OF MPAC. THE CUSTOMER MUST INSURE THAT B(A) X B(MPAC,MPAC+1) # AND B(A) X B(MPAC) ARE LESS THAN 1 IN MAGNITUDE, WHERE B, AS IS OBVIOUS, # INDICATES THE ARRIVING CONTENTS. DMPNSUB TS DMPNTEMP EXTEND MP MPAC +1 DXCH MPAC # LOW PRODUCT TO MPAC, HIGH FACTOR TO A EXTEND MP DMPNTEMP CA L ADS MPAC # COMPLETING THE PRODUCT IN MPAC EXTEND DCA MPAC # BRINGING THE PRODUCT INTO A AND L TC Q # Page 1143 # MISCELLANEOUS VECTOR OPERATIONS. INCLUDED HERE ARE THE FOLLOWING. # 1. DOT DP VECTOR DOT PRODUCT. # 2. VXV DP VECTOR CROSS PRODUCT. # 3. VXSC DP VECTOR TIMES SCALAR. # 4. V/SC DP VECTOR DIVIDED BY SCALAR. # 5. VPROJ DP VECTOR PROJECTION. ( (MPAC.X)MPAC ). # 6. VXM DP VECTOR POST-MULTIPLIED BY MATRIX. # 7. MXV DP VECTOR PRE-MULTIPLIED BY MATRIX. DOT TC PREDOT # DO THE DOT PRODUCT AND EXIT, CHANGING DMODE CAF ZERO # THE MODE TO DP SCALAR. TCF NEWMODE MXV CAF TWO # SET UP MATINC AND DOTINC FOR ROW TS MATINC # VECTORS. TCF VXM/MXV # GO TO COMMON PORTION. VXM CS TEN # SET MATINC AND DOTINC TO REFER TO MATRIX TS MATINC # AS THREE COLUMN VECTORS. CAF SIX # Page 1144 # COMMON PORTION OF MXV AND VXM. VXM/MXV TS DOTINC # ITRACE (2) REFERS TO "VXM/MXV". TC MPACVBUF # SAVE VECTOR IN MPAC FOR FURTHER USE. TC DOTSUB # GO DOT TO GET X COMPONENT OF ANSWER. EXTEND DCA VBUF # MOVE MPAC VECTOR BACK INTO MPAC, SAVING DXCH MPAC # NEW X COMPONENT IN BUF2. DXCH BUF2 EXTEND DCA VBUF +2 DXCH MPAC +3 EXTEND DCA VBUF +4 DXCH MPAC +5 CA MATINC # INITIALIZE ADDRWD FOR NEXT DOT PRODUCT. ADS ADDRWD # FORMS HAS ADDRESS OF NEXT COLUMN(ROW). TC DOTSUB DXCH VBUF # MORE GIVEN VECTOR BACK TO MPAC, SAVING Y DXCH MPAC # COMPONENT OF ANSWER IN VBUF +2. DXCH VBUF +2 DXCH MPAC +3 DXCH VBUF +4 DXCH MPAC +5 CA MATINC # FORM ADDRESS OF LAST COLUMN OR ROW. ADS ADDRWD TC DOTSUB DXCH BUF2 # ANSWER NOW COMPLETE. PUT COMPONENTS INTO DXCH MPAC # PROPER MPAC REGISTERS. DXCH MPAC +5 DXCH VBUF +2 DXCH MPAC +3 TCF DANZIG # EXIT. # Page 1145 # VXSC -- VECTOR TIMES SCALAR. VXSC CCS MODE # TEST PRESENT MODE. TCF DVXSC # SEPARATE ROUTINE WHEN SCALAR IS IN MPAC. TCF DVXSC VVXSC TC DMPSUB # COMPUTE X COMPONENT TC VROUND # AND ROUND IT. DXCH MPAC +3 # PUT Y COMPONENT INTO MPAC SAVING MPAC IN DXCH MPAC # MPAC +3. DXCH MPAC +3 TC DMPSUB # DO SAME FOR Y AND Z COMPONENTS. TC VROUND DXCH MPAC +5 DXCH MPAC DXCH MPAC +5 TC DMPSUB TC VROUND VROTATEX DXCH MPAC # EXIT USED TO RESTORE MPAC AFTER THIS DXCH MPAC +5 # TYPE OF ROTATION. CALLED BY VECTOR SHIFT DXCH MPAC +3 # RIGHT, V/SC, ETC. DXCH MPAC TCF DANZIG # Page 1146 # DP VECTOR PROJECTION ROUTINE. VPROJ TC PREDOT # (MPAC.X)MPAC IS COMPUTED AND LEFT IN CS FOUR # MPAC. DO DOT AND FALL INTO DVXSC. ADS ADDRWD # VXSC WHEN SCALAR ARRIVES IN MPAC AND VECTOR IS AT X. DVXSC EXTEND # SAVE SCALAR IN MPAC +3 AND GET X DCA MPAC # COMPONENT OF ANWER. DXCH MPAC +3 TC DMPSUB TC VROUND CAF TWO # ADVANCE ADDRWD TO Y COMPONENT OF X. ADS ADDRWD EXTEND DCA MPAC +3 # PUT SCALAR BACK INTO MPAC AND SAVE DXCH MPAC # X RESULT IN MPAC +5. DXCH MPAC +5 TC DMPSUB TC VROUND CAF TWO ADS ADDRWD # TO Z COMPONENT. DXCH MPAC +3 # BRING SCALAR BACK, PUTTING Y RESULT IN DXCH MPAC # THE PROPER PLACE. DXCH MPAC +3 TC DMPSUB TC VROUND DXCH MPAC # PUT Z COMPONENT IN PROPER PLACE, ALSO DXCH MPAC +5 # POSITIONING X. DXCH MPAC TCF VMODE # MODE HAS CHANGED TO VECTOR. # Page 1147 # VECTOR CROSS PRODUCT ROUTINE CALCULATES (X M -X M ,X M -X M ,X M -X M ) WHERE M IS THE VECTOR IN # 3 2 2 3 1 3 3 1 2 1 1 2 # MPAC AND X THE VECTOR AT THE GIVEN ADDRESS. VXV EXTEND DCA MPAC +5 # FORM UP M3X1, LEAVING M1 IN VBUF. DXCH MPAC DXCH VBUF TC DMPSUB # BY X1. EXTEND DCS MPAC +3 # CALCULATE -X1M2, SAVING X1M3 IN VBUF +2. DXCH MPAC DXCH VBUF +2 TC DMPSUB CAF TWO # ADVANCE ADDRWD TO X2. ADS ADDRWD EXTEND DCS MPAC +5 # PREPARE TO GET -X2M3, SAVING -X1M2 IN DXCH MPAC # MPAC +5. DXCH MPAC +5 TC DMPSUB EXTEND DCA VBUF # GET X2M1, SAVING -X2M3 IN VBUF +4. DXCH MPAC DXCH VBUF +4 TC DMPSUB CAF TWO # ADVANCE ADDRWD TO X3. ADS ADDRWD EXTEND DCS VBUF # GET -X3M1, ADDING X2M1 TO MPAC +5 TO DXCH MPAC # COMPLETE THE Z COMPONENT OF THE ANSWER. DAS MPAC +5 EXTEND BZF +2 TC OVERFLWZ TC DMPSUB DXCH VBUF +2 # MOVE X1M3 TO MPAC +3 SETTING UP FOR X3M2 DXCH MPAC +3 # AND ADD -X3M1 TO MPAC +3 TO COMPLETE THE DXCH MPAC # Y COMPONENT OF THE RESULT. DAS MPAC +3 EXTEND BZF +2 # Page 1148 TC OVERFLWY TC DMPSUB DXCH VBUF +4 # GO ADD -X2M3 TO X3M2 TO COMPLETE THE X TCF ENDVXV # COMPONENT (TAIL END OF DAD). # THE MPACVBUF SUBROUTINE SAVES THE VECTOR IN MPAC IN VBUF WITHOUT CLOBBERING MPAC. MPACVBUF EXTEND # CALLED BY MXV, VXM, AND UNIT. DCA MPAC DXCH VBUF EXTEND DCA MPAC +3 DXCH VBUF +2 EXTEND DCA MPAC +5 DXCH VBUF +4 TC Q # RETURN TO CALLER. # DOUBLE PRECISION SIGN AGREE ROUTINE. ARRIVE WITH INPUT IN A+L. OUTPUT IS IN A + L. ALSIGNAG CCS A # TEST UPPER PART. TCF UPPOS # IT IS POSITIVE TC Q # ZERO TCF UPNEG # NEGATIVE TC Q # ZERO UPPOS XCH L # SAVE DECREMENTED UPPER PART. AD HALF AD HALF TS A # SKIPS ON OVERFLOW TCF +2 INCR L # RESTORE UPPER TO ROIGINAL VALUE XCH L # SWAP A + L BACK. TC Q UPNEG XCH L # SAVE COMPLEMENTED + DECREMENTED UPPER PT AD NEGMAX AD NEGONE TS A TCF +2 # DON'T INCREMENT IF NO OVERFLOW. INCR L XCH L COM # MAKE NEGATIVE AGAIN. TC Q # Page 1149 # INTERPRETIVE INSTRUCTIONS WHOSE EXECUTION CONSISTS OF PRINCIPALLY CALLING SUBROUTINES. DMP1 TC DMPSUB # DMP INSTRUCTIONS TCF DANZIG DMPR TC DMPSUB TC ROUNDSUB +1 # (C(A) = +0). TCF DANZIG DDV EXTEND INDEX ADDRWD # MOVE DIVIDEND INTO BUF. DCA 0 TCF BDDV +4 BDDV EXTEND # MOVE DIVISOR INTO MPAC SAVING MPAC, THE INDEX ADDRWD # DIVIDEND, IN BUF. DCA 0 DXCH MPAC +4 DXCH BUF CAF ZERO # DIVIDE ROUTINES IN BANK 0. TS FBANK TCF DDV/BDDV SETPD CA ADDRWD # MUST SET TO WORK AREA, OR EBANK TROUBLE. TS PUSHLOC TCF NOIBNKSW # NO FBANK SWITCH REQUIRED. TSLC CAF ZERO # SHIFTING ROUTINES LOCATED IN BANK 00. TS FBANK TCF TSLC2 GSHIFT CAF LOW7 # USED AS MASK AT GENSHIFT. THIS PROCESSES TS FBANK # ANY SHIFT INSTRUCTION (EXCEPT TSLC) WITH TCF GENSHIFT # AN ADDRESS (ROUTINES IN BANK 0). # Page 1150 # THE FOLLOWING IS THE PROLOGUE TO V/SC. IF THE PRESENT MODE IS VECTOR, IT SAVES THE SCALAR AT X IN BUF # AND CALLS THE V/SC ROUTINE IN BANK 0. IF THE PRESENT MODE IS SCALAR, IT MOVES THE VECTOR AT X INTO MPAC, SAVING # THE SCALAR IN MPAC IN BUF BEFORE CALLING THE V/SC ROUTINE IN BANK 0. V/SC CCS MODE TCF DV/SC # MOVE VECTOR INTO MPAC. TCF DV/SC VV/SC EXTEND INDEX ADDRWD DCA 0 V/SC1 DXCH BUF # IN BOTH CASES, VECTOR IS NOW IN MPAC AND CAF ZERO # SCALAR IN BUF. TS FBANK TCF V/SC2 DV/SC EXTEND INDEX ADDRWD DCA 2 DXCH MPAC +3 EXTEND INDEX ADDRWD DCA 4 DXCH MPAC +5 CS ONE # CHANGE MODE TO VECTOR. TS MODE EXTEND INDEX ADDRWD DCA 0 DXCH MPAC TCF V/SC1 # Page 1151 # SIGN AND COMPLEMENT INSTRUCTIONS. SIGN INDEX ADDRWD # CALL COMP INSTRUCTION IF WORD AT X IS CCS 0 # NEGATIVE NON-ZERO. TCF DANZIG TCF +2 TCF COMP # DO THE COMPLEMENT. INDEX ADDRWD CCSL CCS 1 TCF DANZIG TCF DANZIG TCF COMP TCF DANZIG COMP EXTEND # COMPLEMENT DP MPAC IN EVERY CASE. DCS MPAC DXCH MPAC CCS MODE # EITHER COMPLEMENT MPAC +3 OR THE REST OF TCF DCOMP # THE VECTOR ACCUMULATOR. TCF DCOMP EXTEND # VECTOR COMPLEMENT. DCS MPAC +3 DXCH MPAC +3 EXTEND DCS MPAC +5 DXCH MPAC +5 TCF DANZIG DCOMP CS MPAC +2 TS MPAC +2 TCF DANZIG # Page 1152 # THE FOLLOWING SHORT SHIFT CODES REQUIRE NO ADDRESS WORD: # 1. SR1 TO SR4 SCALAR SHIFT RIGHT. # 2. SR1R TO SR4R SCALAR SHIFT RIGHT AND ROUND. # 3. SL1 TO SL4 SCALAR SHIFT LEFT. # 4. SL1R TO SL4R SCALAR SHIFT LEFT AND ROUND. # 5. VSR1 TO VSR8 VECTOR SHIFT RIGHT (ALWAYS ROUNDS). # 6. VSL1 TO VSL8 VECTOR SHIFT LEFT (NEVER ROUNDS). # THE FOLLOWING CODES REQUIRE AN ADDRESS WHICH MAY BE INDEXED:* # 1. SR SCALAR SHIFT RIGHT. # 2. SRR SCALAR SHIFT RIGHT AND ROUND. # 3. SL SCALAR SHIFT LEFT. # 4. SLR SCALAR SHIFT LEFT AND ROUND. # 5. VSR VECTOR SHIFT RIGHT. # 6. VSL VECTOR SHIFT LEFT. # * IF THE ADDRESS IS INDEXED, AND THE INDEX MODIFICATION RESULTS IN A NEGATIVE SHIFT COUNT, A SHIFT OF THE # ABSOLUTE VALUE OF THE COUNT IS DONE IN THE OPPOSITE DIRECTION. BANK 00 COUNT 00/INTER SHORTT CAF SIX # SCALAR SHORT SHIFTS COME HERE. THE SHIFT MASK CYR # COUNT-1 IS NOW IN BITS 2-3 OF CYR. THE TS SR # ROUNDING BIT IS IN BIT1 AT THIS POINT. CCS CYR # SEE IF RIGHT OR LEFT SHIFT DESIRED. TCF TSSL # SHIFT LEFT. SRDDV DEC 20 # MPTEMP SETTING FOR SR BEFORE DDV. TSSR INDEX SR # GET SHIFTING BIT. CAF BIT14 TS MPTEMP CCS CYR # SEE IF A ROUND IS DESIRED. RIGHTR TC MPACSRND # YES -- SHIFT RIGHT AND ROUND. TCF NEWMODE # SET MODE TO DP (C(A) = 0). MPACSHR CA MPTEMP # DO A TRIPLE PRECISION SHIFT RIGHT. EXTEND MP MPAC +2 +3 TS MPAC +2 # (EXIT FROM SQRT AND ABVAL). CA MPTEMP EXTEND # Page 1153 MP MPAC # SHIFT MAJOR PART INTO A,L AND PLACE IN DXCH MPAC # MPAC,+1. CA MPTEMP EXTEND MP L # ORIGINAL C(MPAC +1). DAS MPAC +1 # GUARANTEED NO OVERFLOW. TCF DANZIG # MPAC SHIFT RIGHT AND ROUND SUBROUTINES MPACSRND CA MPAC +2 # WE HAVE TO DO ALL THREE MULTIPLIES SINCE EXTEND # MPAC +1 AND MPAC +2 MIGHT HAVE SIGN MP MPTEMP # DISAGREEMENT WITH A SHIFT RIGHT OF L. XCH MPAC +1 EXTEND MP MPTEMP XCH MPAC +1 # TRIAL MINOR PART. AD L VSHR2 DOUBLE # (FINISH VECTOR COMPONENT SHIFT RIGHT TS MPAC +2 # AND ROUND.) TCF +2 ADS MPAC +1 # GUARANTEED NO OVERFLOW. CAF ZERO TS MPAC +2 XCH MPAC # SETTING TO ZERO SO FOLLOWING DAS WORKS. EXTEND MP MPTEMP DAS MPAC # AGAIN NO OVERFLOW. TC Q VSHRRND CA MPTEMP # ENTRY TO SHIFT RIGHT AND ROUND MPAC WHEN EXTEND # MPAC CONTAINS A VECTOR COMPONENT. MP MPAC +1 TS MPAC +1 XCH L TCF VSHR2 # GO ADD ONE IF NECESSARY AND FINISH. # Page 1154 # ROUTINE FOR SHORT SCALAR SHIFT LEFT (AND MAYBE ROUND). TSSL CA SR # GET SHIFT COUNT FOR SR. +1 TS MPTEMP +2 EXTEND # ENTRY HERE FROM SL FOR SCALARS. DCA MPAC +1 # SHIFTING LEFT ONE PLACE AT A TIME IS DAS MPAC +1 # FASTER THAN DOING THE WHOLE SHIFT WITH AD MPAC # MULTIPLIES ASSUMING THAT FREQUENCY OF AD MPAC # SHIFT COUNTS GOES DOWN RAPIDLY AS A TS MPAC # FUNCTION OF THEIR MAGNITUDE. TCF +2 TS OVFIND # OVERFLOW. (LEAVES OVERFLOW-CORRECTED # RESULT ANYWAY). CCS MPTEMP # LOOP ON DECREMENTED SHIFT COUNT. TCF TSSL +1 CCS CYR # SEE IF ROUND WANTED. ROUND TC ROUNDSUB # YES -- ROUND AND EXIT. TCF DANZIG # SL LEAVES A ZERO IN CYR FOR NO ROUND. TCF DANZIG # NO -- EXIT IMMEDIATELY # Page 1155 # VECTOR SHIFTING ROUTINES. SHORTV CAF LOW3 # SAVE 3 BIT SHIFT COUNT -- 1 WITHOUT MASK CYR # EDITING CYR. TS MPTEMP CCS CYR # SEE IF LEFT OR RIGHT SHIFT. TCF VSSL # VECTOR SHIFT LEFT. OCT176 OCT 176 # USED IN PROCESSED SHIFTS WITH - COUNT. VSSR INDEX MPTEMP # (ENTRY FROM SR). PICK UP SHIFTING BIT. CAF BIT14 # MPTEMP CONTAINS THE SHIFT COUNT - 1. TS MPTEMP TC VSHRRND # SHIFT X COMPONENT. DXCH MPAC # SWAP X AND Y COMPONENTS. DXCH MPAC +3 DXCH MPAC TC VSHRRND # SHIFT Y COMPONENT. DXCH MPAC # SWAP Y AND Z COMPONENTS. DXCH MPAC +5 DXCH MPAC TC VSHRRND # SHIFT Z COMPONENT. TCF VROTATEX # RESTORE COMPONENTS TO PROPER PLACES. # Page 1156 # VECTOR SHIFT LEFT -- DONE ONE PLACE AT A TIME. -1 TS MPTEMP # SHIFTING LOOP. VSSL EXTEND DCA MPAC DAS MPAC EXTEND BZF +2 TC OVERFLOW EXTEND DCA MPAC +3 DAS MPAC +3 EXTEND BZF +2 TC OVERFLWY EXTEND DCA MPAC +5 DAS MPAC +5 EXTEND BZF +2 TC OVERFLWZ CCS MPTEMP # LOOP ON DECREMENTED SHIFT COUNTER. TCF VSSL -1 TCF DANZIG # EXIT. # Page 1157 # TSLC -- TRIPLE SHIFT LEFT AND COUNT. SHIFTS MPAC LEFT UNTIL GREATER THAN .5 IN MAGNITUDE, LEAVING # THE COMPLEMENT OF THE NUMBER OF SHIFTS REQUIRED IN X. TSLC2 TS MPTEMP # START BY ZEROING SHIFT COUNT (IN A NOW). TC BRANCH # EXIT WITH NO SHIFTING IF ARGUMENT ZERO. TCF +2 TCF ENDTSLC # STORES ZERO SHIFT COUNT IN THIS CASE. TC TPAGREE # MAY CAUSE UPSHIFT OF ONE EXTRA PLACE. CA MPAC # BEGIN NORMALIZATION LOOP. TCF TSLCTEST TSLCLOOP INCR MPTEMP # INCREMENT SHIFT COUNTER. EXTEND DCA MPAC +1 DAS MPAC +1 AD MPAC ADS MPAC TSLCTEST DOUBLE # SEE IF (ANOTHER) SHIFT IS REQUIRED OVSK TCF TSLCLOOP # YES -- INCREMENT COUNT AND SHIFT AGAIN. ENDTSLC CS MPTEMP TCF STORE1 # STORE SHIFT COUNT AND RETURN TO DANZIG. # Page 1158 # THE FOLLOWING ROUTINE PROCESSES THE GENERAL SHIFT INSTRUCTIONS SR, SRR, SL, AND SLR. # THE GIVEN ADDRESS IS DECODED AS FOLLOWS: # BITS 1-7 SHIFT COUNT (SUBADDRESS) LESS THAN 125 DECIMAL. # BIT 8 PSEUDO SIGN BIT (DETECTS CHANGE IN SIGN IN INDEXED SHIFTS). # BIT 9 0 FOR LEFT SHIFT, AND 1 FOR RIGHT SHIFT. # BIT 10 1 FOR TERMINAL ROUND ON SCALAR SHIFTS, 0 OTHERWISE # BITS 11-13 0. # BIT 14 1. # BIT 15 0. # THE ABOVE ENCODING IS DONE BY THE YUL SYSTEM. GENSHIFT MASK ADDRWD # GET SHIFT COUNT, TESTING FOR ZERO. CCS A # (ARRIVES WITH C(A) = LOW7). TCF GENSHFT2 # IF NON-ZERO, PROCEED WITH DECREMENTED CT CAF BIT10 # ZERO SHIFT COUNT. NO SHIFTS NEEDED BUT MASK ADDRWD # WE MIGHT HAVE TO ROUND MPAC ON SLR AND CCS A # SRR (SCALAR ONLY). TC ROUNDSUB TCF DANZIG GENSHFT2 TS MPTEMP # DECREMENTED SHIFT COUNT TO MPTEMP. CAF BIT8 # TEST MEANING OF LOW SEVEN BIT COUNT IN EXTEND # MPTEMP NOW. MP ADDRWD MASK LOW2 # JUMPS ON SHIFT DIRECTION (BIT8) AND INDEX A TCF +1 # ORIGINAL SHIFT DIRECTION (BIT 9) TCF RIGHT- # NEGATIVE SHIFT COUNT FOR SL OR SLR. TCF LEFT # SL OR SLR. TCF LEFT- # NEGATIVE SHIFT COUNT WITH SR OR SRR. # Page 1159 # GENERAL SHIFT RIGHT RIGHT CCS MODE # SET IF VECTOR OR SCALAR. TCF GENSCR TCF GENSCR CA MPTEMP # SEE IF SHIFT COUNT LESS THAN 14D. VRIGHT2 AD NEG12 EXTEND BZMF VSSR # IF SO, BRANCH AND SHIFT IMMEDIATELY. AD NEGONE # IF NOT, REDUCE MPTEMP BY A TOTAL OF 14. TS MPTEMP # AND DO A SHIFT RIGHT AND ROUND BY 14. CAF ZERO # THE ROUND AT THIS STAGE MAY INTRODUCE A TS L # ONE BIT ERROR IN A SHIFT RIGHT 15D. XCH MPAC XCH MPAC +1 TC SETROUND # X COMPONENT NOW SHIFTED, SO MAKE UP THE DAS MPAC # ROUNDING QUANTITY (0 IN A AND 0 OR +-1 # IN L). XCH MPAC +3 # REPEAT THE ABOVE PROCESS FOR Y AND Z/ XCH MPAC +4 TC SETROUND DAS MPAC +3 # NO OVERFLOW ON THESE ADDS. XCH MPAC +5 XCH MPAC +6 TC SETROUND DAS MPAC +5 CCS MPTEMP # SEE IF DONE, DOING FINAL DECREMENT. TS MPTEMP TCF VRIGHT2 BIASLO DEC .2974 B-1 # SQRT CONSTANT TCF DANZIG SETROUND DOUBLE # MAKES UP ROUNDING QUANTITY FROM ARRIVING TS MPAC +2 # C(A). L IS ZERO INITIALLY. CAF ZERO XCH L TC Q # RETURN AND DO THE DAS, RESETTING L TO 0. # Page 1160 # PROCESS SR AND SRR FOR SCALARS. GENSCR CA MPTEMP # SEE IF THE ORIGINAL SHIFT COUNT WAS LESS +1 AD NEG12 # THAN 14D. EXTEND BZMF DOSSHFT # DO THE SHIFT IMMEDIATELY IF SO. +4 AD NEGONE # IF NOT, DECREMENT SHIFT COUNT BY 14D AND TS MPTEMP # SHIFT MPAC RIGHT 14 PLACES. CAF ZERO XCH MPAC XCH MPAC +1 TS MPAC +2 CCS MPTEMP # SEE IF FINISHED, DO FINAL DECREMENT. TS MPTEMP TC GENSCR +1 SLOPEHI DEC .5884 # SQRT CONSTANT. CAF BIT10 # FINISHED WITH SHIFT. SEE IF ROUND MASK ADDRWD # WANTED. CCS A TC ROUNDSUB TCF DANZIG # DO SO AND/OR EXIT. DOSSHFT INDEX MPTEMP # PICK UP SHIFTING BIT. CAF BIT14 TS MPTEMP CAF BIT10 # SEE IF TERMINAL ROUND DESIRED. MASK ADDRWD CCS A TCF RIGHTR # YES. TCF MPACSHR # JUST SHIFT RIGHT. # Page 1161 # PROCESS THE RIGHT- (SL(R) WITH A NEGATIVE COUNT), LEFT-, AND LEFT OPTIONS. RIGHT- CS MPTEMP # GET ABSOLUTE VALUE - 1 OF SHIFT COUNT AD OCT176 # UNDERSTANDING THAT BIT8 (PSEUDO-SIGN) TS MPTEMP # WAS 1 INITIALLY. TCF RIGHT # DO NORMAL SHIFT RIGHT. LEFT- CS OCT176 # SAME PROLOGUE TO LEFT FOR INDEXED RIGHT AD MPTEMP # SHIFT WHOSE NET SHIFT COUNT IS NEGATIVE COM TS MPTEMP LEFT CCS MODE # SINCE LEFT SHIFTING IS DONE ONE PLACE AT TCF GENSCL # A TIME, NO COMPARISON WITH 14 NEED BE TCF GENSCL # DONE. FOR SCALARS, SEE IF TERMINAL ROUND TCF VSSL # DESIRED. FOR VECTORS, SHIFT IMMEDIATELY. GENSCL CS ADDRWD # PUT ROUNDING BIT (BIT 10 OF ADDRWD) INTO EXTEND # BIT 15 OF CYR WHERE THE ROUNDING BIT OF MP BIT6 # A SHORT SHIFT LEFT WOULD BE TS CYR TCF TSSL +2 # DO THE SHIFT. # Page 1162 # SCALAR DIVISION INSTRUCTIONS, DDV AND BDDV, ARE EXECUTED HERE. AT THIS POINT, THE DIVIDEND IS IN MPAC # AND THE DIVISOR IS IN BUF. DDV/BDDV CS ONE # INITIALIZATION TS DVSIGN # +-1 FOR POSITIVE QUOTIENT -- -0 FOR NEG. TS DVNORMCT # DIVIDEND NORMALIZATION COUNT. TS MAXDVSW # NEAR-ONE DIVIDE FLAG. CCS BUF # FORCE BUF POSITIVE WITH THE MAJOR PART TCF BUFPOS # NON-ZERO. TCF +2 TCF BUFNEG BUFZERO TS MPAC +2 # ZERO THIS. TC TPAGREE # FORCE SIGN AGREEMENT BEFORE OVERFLOW CCS MPAC # TEST TO SEE IF MPAC NON-ZERO. (TOO BIG) TCF OVF+ # MAJOR PART OF DIVIDEND IS POSITIVE NON-0 TCF +2 TCF OVF+ -1 # MAJOR PART OF DIVIDEND IS NEG. NON-ZERO XCH BUF +1 # SHIFT DIVIDEND AND DIVISOR LEFT 14 XCH BUF XCH MPAC +1 XCH MPAC CCS BUF # TRY AGAIN ON FORMER MINOR PART. TCF BUF+ TCF +2 # OVERFLOW ON ZERO DIVISOR. TCF BUF- CS MPAC # SIGN OF MPAC DETERMINES SIGN OF RESULT. SGNDVOVF EXTEND BZMF +2 INCR DVSIGN # NEGMAX IN MPAC PERHAPS. DVOVF CAF POSMAX # ON DIVISION OVERFLOW OF ANY SORT, SET TS MPAC # SET DP MPAC TO +-POSMAX. TC FINALDV +3 CAF ONE # SET OVERFLOW INDICATOR AND EXIT. TS OVFIND TC DANZIG -1 INCR DVSIGN OVF+ CS BUF +1 # LOAD LOWER ORDER PART OF DIVISOR. TCF SGNDVOVF # GET SIGN OF RESULT. BUF- EXTEND # IF BUF IS NEGATIVE, COMPLEMENT IT AND DCS BUF # MAINTAIN DVSIGN FOR FINAL QUOTIENT SIGN. DXCH BUF INCR DVSIGN # NOW -0. # Page 1163 BUF+ CCS MPAC # FORCE MPAC POSITIVE, CHECKING FOR ZERO TCF MPAC+ # DIVIDEND IN THE PROCESS. TCF +2 TCF MPAC- CCS MPAC +1 TCF MPAC+ TCF DANZIG # EXIT IMMEDIATELY ON ZERO DIVIDEND. TCF MPAC- TCF DANZIG MPAC- EXTEND # FORCE MPAC POSITIVE AS BUF IN BUF-. DCS MPAC DXCH MPAC INCR DVSIGN # NOW +1 OR -0. # Page 1164 MPAC+ CS MPAC # CHECK FOR DIVISION OVERFLOW. IF THE AD NEGONE # MAJOR PART OF THE DIVIDEND IS LESS THAN AD BUF # THE MAJOR PART OF THE DIVISOR BY AT CCS A # LEAST TWO, WE CAN PROCEED IMMEDIATELY TCF DVNORM # WITHOUT NORMALIZATION PRODUCING A DVMAX. -1/2+2 OCT 60001 # USED IN SQRTSUB. TCF +1 # IF THE ABOVE DOES NOT HOLD, FORCE SIGN CAF HALF # AGREEMENT IN NUMERATOR AND DENOMINATOR DOUBLE # TO FACILITATE OVERFLOW AND NEAR-ONE AD MPAC +1 # CHECKING. TS MPAC +1 CAF ZERO AD POSMAX ADS MPAC CAF HALF # SAME FOR BUF. DOUBLE AD BUF +1 TS BUF +1 CAF ZERO AD POSMAX ADS BUF CS MPAC # CHECK MAGNITUDE OF SIGN-CORRECTED AD BUF # OPERANDS. CCS A TCF DVNORM # DIVIDE OK -- WILL NOT BECOME MAXOV CASE. LBUF2 ADRES BUF2 TCF DVOVF # DIVISOR NOT LESS THAN DIVIDEND -- OVF. TS MAXDVSW # IF THE MAJOR PARTS OF THE DIVIDEND AND CS MPAC +1 # DIVISOR ARE EQUAL, A SPECIAL APPROXIMA- AD BUF +1 # TION IS USED (PROVIDED THE DIVISION IS EXTEND # POSSIBLE, OF COURSE). BZMF DVOVF TCF DVNORM # IF NO OVERFLOW. # Page 1165 BUFNORM EXTEND # ADD -1 TO AUGMENT SHIFT COUNT AND SHIFT AUG DVNORMCT # LEFT ONE PLACE. EXTEND DCA BUF DAS BUF DVNORM CA BUF # SEE IF DIVISOR NORMALIZED YET. DOUBLE OVSK TCF BUFNORM # NO -- SHIFT LEFT ONE AND TRY AGAIN. DXCH MPAC # CALL DIVIDEND NORMALIZATION SEQUENCE INDEX DVNORMCT # PRIOR TO DOING THE DIVIDE. TC MAXTEST TS MPAC +2 # RETURNS WITH DIVISION DONE AND C(A) = 0. TCF DANZIG BUFPOS CCS A TCF BUF+ # TO BUF+ IF BUF IS GREATER THAN +1. CS BUF +1 # IF BUF IS +1, FORCING SIGN AGREEMENT EXTEND # MAY CAUSE BUF TO BECOME ZERO. BZMF BUF+ # BRANCH IF SIGNS AGREE. CA HALF # SIGNS DISAGREE. FORCE AGREEMENT. +6 DOUBLE ADS BUF +1 CA ZERO TS BUF TCF BUFZERO BUFNEG CCS A TCF BUF- # TO BUF- IF BUF IS LESS THAN -1. CA BUF +1 # IF BUF IS -1, FORCING SIGN AGREEMENT EXTEND # MAY CAUSE BUF TO BECOME ZERO. BZMF BUF- # BRANCH IF SIGNS AGREE. CS HALF # SIGNS DISAGREE. FORCE AGREEMENT. TCF BUFPOS +6 # Page 1166 # THE FOLLOWING ARE PROLOGUES TO SHIFT THE DIVIDEND ARRIVING IN A AND L BEFORE THE DIVIDE. -21D LXCH SR # SPECIAL PROLOGUE FOR UNIT WHEN THE EXTEND # LENGTH OF THE ARGUMENT WAS NOT LESS THAN MP HALF # .5. IN THIS CASE, EACH COMPONENT MUST BE XCH L # SHIFTED RIGHT ONE TO PRODUCE A HALF-UNIT AD SR # VECTOR. XCH L TCF GENDDV +1 # WITH DP DIVIDEND IN A,L. DDOUBL # PROLOGUE WHICH NORMALIZES THE DIVIDEND DDOUBL # WHEN IT IS KNOWN THAT NO DIVISION DDOUBL # OVERFLOW WILL OCCUR. DDOUBL DDOUBL DDOUBL DDOUBL DDOUBL DDOUBL DDOUBL DDOUBL DDOUBL DDOUBL DXCH MPAC MAXTEST CCS MAXDVSW # 0 IF MAJORS MIGHT BE =, -1 OTHERWISE. BIASHI DEC .4192 B-1 # SQRT CONSTANTS. TCF MAXDV # CHECK TO SEE IF THEY ARE NOW EQUAL. # Page 1167 # THE FOLLOWING IS A GENERAL PURPOSE DOUBLE PRECISION DIVISION ROUTINE. IT DIVIDES MPAC BY BUF AND LEAVES # THE RESULT IN MPAC. THE FOLLOWING CONDITIONS MUST BE SATISFIED: # # 1. THE DIVISOR (BUF) MUST BE POSITIVE AND NOT LESS THAN .5. # # 2. THE DIVIDEND (MPAC) MUST BE POSITIVE WITH THE MAJOR PART OF MPAC STRICTLY LESS THAN THAT OF BUF # (A SPECIAL APPROXIMATION, MAXDV, IS USED WHEN THE MAJOR PARTS ARE EQUAL). # # UNDERSTANDING THAT A/B = Q + S(R/B) WHERE S = 2(-14) AND Q AND R ARE QUOTIENT AND REMAINDER, RESPEC- # TIVELY, THE FOLLOWING APPROXIMATION IS OBTAINED BY MULTIPLYING ABOVE AND BELOW BY C - SD AND NEGLECTING TERMS OF # ORDER S-SQUARED (POSSIBLY INTRODUCING ERROR INTO THE LOW TWO BITS OF THE RESULT). SIGN AGREEMENT IS UNNECESSARY. # # A + SB . (R - CD) A + SB # ------ = Q + S(------) WHERE Q AND R ARE QUOTIENT AND REMAINDER OF ------ RESPECTIVELY. # C + SD ( C } C GENDDV DXCH MPAC # WE NEED A AND B ONLY FOR FIRST DV. +1 EXTEND # (SPECIAL UNIT PROLOGUE ENTERS HERE). DV BUF # A NOW CONTAINS Q AND L, R. DXCH MPAC CS MPAC # FORM DIVIDEND FOR MINOR PART OF RESULT. EXTEND MP BUF +1 AD MPAC +1 # OVERFLOW AT THIS POINT IS POSITIVE SINCE OVSK # R IS POSITIVE IN EVERY CASE. TCF +5 EXTEND # OVERFLOW CAN BE REMOVED BY SUBTRACTING C SU BUF # (BUF) ONCE SINCE R IS ALWAYS LESS THAN C INCR MPAC # IN THIS CASE. INCR COMPENSATES SUBTRACT. TCF +DOWN # (SINCE C(A) IS STILL POSITIVE). +5 EXTEND # C(A) CAN BE MADE LESS THAN C IN MAGNI- BZMF -UP # TUDE BY DIMINISHING IT BY C (SINCE C IS # NOT LESS THAN .5) UNLESS C(A) = 0. # Page 1168 +DOWN EXTEND SU BUF # IF POSITIVE, REDUCE ONLY IF NECESSARY EXTEND # SINCE THE COMPENSATING INCR MIGHT CAUSE BZF +3 # OVERFLOW. EXTEND # DON'T SUBTRACT UNLESS RESULT IS POSITIVE BZMF ENDMAXDV # OR ZERO. +3 INCR MPAC # KEEP SUBTRACT HERE AND COMPENSATE. TCF FINALDV -UP EXTEND # IF ZERO, SET MINOR PART OF RESULT TO BZF FINALDV +3 # ZERO. EXTEND # IF NEGATIVE, ADD C TO A, SUBTRACTING ONE DIM MPAC # TO COMPENSATE. DIM IS OK HERE SINCE THE ENDMAXDV AD BUF # MAJOR PART NEVER GOES NEGATIVE. # Page 1169 FINALDV ZL # DO DV TO OBTAIN MINOR PART OF RESULT. EXTEND DV BUF +3 TS MPAC +1 CCS DVSIGN # LEAVE RESULT POSITIVE UNLESS C(DVSIGN). TC Q TC Q TC Q EXTEND DCS MPAC DXCH MPAC CAF ZERO # SO WE ALWAYS RETURN WITH C(A) = 0. TC Q # Page 1170 # IF THE MAJOR PARTS OF THE DIVISOR AND DIVIDEND ARE EQUAL, BUT THE MINOR PARTS ARE SUCH THAT THE # DIVIDEND IS STRICTLY LESS THAN THE DIVISOR IN MAGNITUDE, THE FOLLOWING APPROXIMATION IS USED. THE ASSUMPTIONS # ARE THE SAME AS THE GENERAL ROUTINE WITH THE ADDITION THAT SIGN AGREEMENT IS NECESSARY (B, C, & D POSITIVE). # # C + SB . (C + B - D) # ------ = 37777 + S(---------) # C + SD ( C ) # # THE DIVISION MAY BE PERFORMED IMMEDIATELY SINCE B IS STRICTLY LESS THAN D AND C IS NOT LESS THAN .5. MAXDV CS MPAC # SEE IF MAXDV CASE STILL HOLDS AFTER AD BUF # NORMALIZATION. EXTEND BZF +2 TCF GENDDV # MPAC NOW LESS THAN BUFF -- DIVIDE AS USUAL. +2 CAF POSMAX # SET MAJOR PART OF RESULT. TS MPAC CS BUF +1 # FORM DIVIDEND OF MINOR PART OF RESULT. AD MPAC +1 TCF ENDMAXDV # GO ADD C AND DO DIVIDE, ATTACHING SIGN # BEFORE EXITING. # Page 1171 # VECTOR DIVIDED BY SCALAR, V/SC, IS EXECUTED HERE. THE VECTOR IS NOW IN MPAC WITH SCALAR IN BUF. V/SC2 CS ONE # INITIALIZE DIVIDEND NORMALIZATION COUNT TS DVNORMCT # AND DIVISION SIGN REGISTER. TS VBUF +5 TC VECAGREE # FORCE SIGN AGREEMENT IN VECTOR DXCH BUF TC ALSIGNAG # SIGN AGREE BUF DXCH BUF CCS BUF # FORCE DIVISOR POSITIVE WITH MAJOR PART TCF /BUF+ # NON-ZERO (IF POSSIBLE). TCF +2 TCF /BUF- XCH BUF +1 # SHIFT VECTOR AND SCALAR LEFT 14. XCH BUF XCH MPAC +1 XCH MPAC EXTEND # CHECK FOR OVERFLOW IN EACH CASE. BZF +2 TCF DVOVF XCH MPAC +4 XCH MPAC +3 EXTEND BZF +2 TCF DVOVF XCH MPAC +6 XCH MPAC +5 EXTEND BZF +2 TCF DVOVF CCS BUF TCF /BUF+ TCF DVOVF # ZERO DIVISOR - OVERFLOW. TCF /BUF- TCF DVOVF /BUF- EXTEND # ON NEGATIVE, COMPLEMENT BUF AND MAINTAIN DCS BUF # DVSIGN IN VBUF +5. DXCH BUF INCR VBUF +5 # Page 1172 /BUF+ EXTEND DCA BUF # LEAVE ABS(ORIG DIVISOR) IN BUF2 DXCH BUF2 # FOR OVERFLOW TESTING TCF /NORM # NORMALIZE DIVISOR IN BUF. /NORM2 EXTEND # IF LESS THAN .5, AUGMENT DVNORMCT AND AUG DVNORMCT # DOUBLE DIVISOR. EXTEND DCA BUF DAS BUF /NORM CA BUF # SEE IF DIVISOR NORMALIZED. DOUBLE OVSK TCF /NORM2 # DOUBLE AND TRY AGAIN IF NOT. TC V/SCDV # DO X COMPONENT DIVIDE. DXCH MPAC +3 # SUPPLY ARGUMENTS IN USUAL SEQUENCE. DXCH MPAC DXCH MPAC +3 TC V/SCDV # Y COMPONENT. DXCH MPAC +5 DXCH MPAC DXCH MPAC +5 TC V/SCDV # Z COMPONENT. TCF VROTATEX # GO RE-ARRANGE COMPONENTS BEFORE EXIT. # Page 1173 # SUBROUTINE USED BY V/SC TO DIVIDE VECTOR COMPONENT IN MPAC,+1 BY THE SCALAR GIVEN IN BUF. V/SCDV CA VBUF +5 # REFLECTS SIGN OF SCALAR. TS DVSIGN CCS MPAC # FORCE MPAC POSITIVE, EXITING ON ZERO. TCF /MPAC+ TCF +2 TCF /MPAC- CCS MPAC +1 TCF /MPAC+ TC Q TCF /MPAC- TC Q /MPAC- EXTEND # USUAL COMPLEMENTING AND SETTING OF SIGN. DCS MPAC DXCH MPAC INCR DVSIGN /MPAC+ CS ONE # INITIALIZE NEAR-ONE SWITCH. TS MAXDVSW CS MPAC # CHECK POSSIBLE OVERFLOW. AD BUF2 # UNNORMALIZED INPUT DIVISOR. CCS A TCF DDVCALL # NOT NEAR-ONE TCF +2 # +0 IS JUST POSSIBLE TCF DVOVF # NO HOPE TS MAXDVSW # SIGNAL POSSIBLE NEAR-ONE CASE CS MPAC +1 # SEE IF DIVISION CAN BE DONE AD BUF2 +1 EXTEND BZMF DVOVF DDVCALL DXCH MPAC # CALL PRE-DIVIDE NORMALIZATION. INDEX DVNORMCT TCF MAXTEST # Page 1174 SLOPELO DEC .8324 VECAGREE XCH Q # SAVE Q IN A DXCH MPAC TC ALSIGNAG # SIGNAGREE MPAC DXCH MPAC DXCH MPAC +3 TC ALSIGNAG # SIGN AGREE MPAC +3 DXCH MPAC +3 DXCH MPAC +5 TC ALSIGNAG # SIGNAGREE MPAC +5 DXCH MPAC +5 TC A # Page 1175 # THE FOLLOWING ROUTINE EXECUTES THE UNIT INSTRUCTION, WHICH TAKES THE UNIT OF THE VECTOR IN MPAC. UNIT TC VECAGREE # FORCE SIGN AGREEMENT IN VECTOR TC MPACVBUF # SAVE ARGUMENT IN VBUF CAF ZERO # MUST SENSE OVERFLOW IN FOLLOWING DOT. XCH OVFIND TS TEM1 TC VSQSUB # DOT MPAC WITH ITSELF. CA TEM1 XCH OVFIND EXTEND BZF +2 TCF DVOVF EXTEND DCA MPAC # LEAVE THE SQUARE OF THE LENGTH OF THE INDEX FIXLOC # ARGUMENT IN LVSQUARE. DXCH LVSQUARE TC SQRTSUB # GO TAKE THE NORMALIZED SQUARE ROOT. CCS MPAC # CHECK FOR UNIT OVERFLOW. TCF +5 # MPAC IS NOT LESS THAN .5 UNLESS TS L INDEX FIXLOC DXCH LV TCF DVOVF # INPUT TO SQRTSUB WAS 0. CS FOURTEEN # SEE IF THE INPUT WAS SO SMALL THAT THE AD MPTEMP # FIRST TWO REGISTERS OF THE SQUARE WERE 0 CCS A COM # IF SO, SAVE THE NEGATIVE OF THE SHIFT TCF SMALL # COUNT -15D. TCF LARGE # (THIS IS USUALLY THE CASE.) CS THIRTEEN # IF THE SHIFT COUNT WAS EXACTLY 14, SET TS MPTEMP # THE PRE-DIVIDE NORM COUNT TO -13D. CA MPAC # SHIFT THE LENGTH RIGHT 14 BEFORE STORING SMALL2 TS L # (SMALL EXITS TO THIS POINT). CAF ZERO TCF LARGE2 # GO TO STORE LENGTH AND PROCEED. LARGE CCS MPTEMP # MOST ALL CASES COME HERE. TCF LARGE3 # SEE IF NO NORMALIZATION WAS REQUIRED BY CS SRDDV # SQRT, AND IF SO, SET UP FOR A SHIFT TS MPTEMP # RIGHT 1 BEFORE DIVIDING TO PRODUCE EXTEND # THE DESIRED HALF UNIT VECTOR. DCA MPAC # Page 1176 TCF LARGE2 # Page 1177 LARGE3 COM # LEAVE NEGATIVE OF SHIFT COUNT-1 FOR TS MPTEMP # PREDIVIDE LEFT SHIFT. COM # PICK UP REQUIRED SHIFTING BIT TO UNNORM- INDEX A # ALIZE THE SQRT RESULT. CAF BIT14 TS BUF EXTEND MP MPAC +1 XCH BUF EXTEND # (UNNORMALIZE THE SQRT FOR LV). MP MPAC XCH L AD BUF XCH L LARGE2 INDEX FIXLOC DXCH LV # LENGTH NOW STORED IN WORK AREA. CS ONE TS MAXDVSW # NO MAXDV CASES IN UNIT. DXCH VBUF # PREPARE X COMPONENT FOR DIVIDE, SETTING DXCH MPAC # LENGTH OF VECTOR AS DIVISOR IN BUF. DXCH BUF TC UNITDV DXCH VBUF +2 # DO Y AND Z IN USUAL FASHION SO WE CAN DXCH MPAC # EXIT THROUGH VROTATEX. DXCH MPAC +3 TC UNITDV DXCH VBUF +4 DXCH MPAC DXCH MPAC +5 TC UNITDV TCF VROTATEX # AND EXIT. # Page 1178 # IF THE LENGTH OF THE ARGUMENT VECTOR WAS LESS THAN 2(-28), EACH COMPONENT MUST BE SHIFTED LEFT AT LEAST # 14 PLACES BEFORE THE DIVIDE, NOTE THAT IN THIS CASE, THE MAJOR PART OF EACH COMPONENT IS ZERO. SMALL TS MPTEMP # NEGATIVE OF PRE-DIVIDE SHIFT COUNT. CAF ZERO # SHIFT EACH COMPONENT LEFT 14. XCH VBUF +1 XCH VBUF XCH VBUF +3 XCH VBUF +2 XCH VBUF +5 XCH VBUF +4 CS MPTEMP INDEX A CAF BIT14 EXTEND MP MPAC TCF SMALL2 THIRTEEN = OCT15 FOURTEEN = OCT16 OCT16 = R1D1 # Page 1179 # THE FOLLOWING ROUTINE SETS UP THE CALL TO THE DIVIDE ROUTINES. UNITDV CCS MPAC # FORCE MPAC POSITIVE IF POSSIBLE, SETTING TCF UMPAC+ # DVSIGN ACCORDING TO THE SIGN OF MPAC TCF +2 # SINCE THE DIVISOR IS ALWAYS POSITIVE TCF UMPAC- # HERE. CCS MPAC +1 TCF UMPAC+ TC Q # EXIT IMMEDIATELY ON ZERO. TCF UMPAC- TC Q UMPAC- CS ZERO # IF NEGATIVE, SET -0 IN DVSIGN FOR FINAL TS DVSIGN # COMPLEMENT. EXTEND DCS MPAC # PICK UP ABSOLUTE VALUE OF ARG AND JUMP. INDEX MPTEMP TCF MAXTEST -1 UMPAC+ TS DVSIGN # SET DVSIGN FOR POSITIVE QUOTIENT. DXCH MPAC INDEX MPTEMP TCF MAXTEST -1 # Page 1180 # MISCELLANEOUS UNARY OPERATIONS. DSQ TC DSQSUB # SQUARE THE DP CONTENTS OF MPAC. TCF DANZIG ABVALABS CCS MODE # ABVAL OR ABS INSTRUCTION. TCF ABS # DO ABS ON SCALAR. TCF ABS ABVAL TC VSQSUB # DOT MPAC WITH ITSELF. LXCH MODE # MODE IS NOW DP (L ZERO AFTER DAS). EXTEND # STORE SQUARE OF LENGTH IN WORK AREA. DCA MPAC INDEX FIXLOC DXCH LVSQUARE # Page 1181 # PROGRAM DESCRIPTION -- SUBROUTINE SQRT # # FUNCTIONAL DESCRIPTION -- DOUBLE PRECISION SQUARE ROOT ROUTINE # THIS PROGRAM TAKES THE SQUARE ROOT OF THE 27 OR 28 MOST SIGNIFICANT BITS IN THE TRIPLE PRECISION SET OF # NUMBERS -- MPAC, MPAC+1, AND MPAC+2. THE ROOT IS RETURNED DOUBLE PRECISION IN MPAC AND MPAC+1. # # WARNING -- THIS SUBROUTINE USES A TRIPLE PRECISION INPUT. THE PROGRAMMER MUST ASSURE THE CONTENTS OF MPAC+2 # ESPECIALLY IF THE CONTENTS OF MPAC IS SMALL OR ZERO. FOR DETAILS SEE STG MEMO NO.949. # # CALLING SEQUENCE -- IN INTERPRETIVE MODE, I.E., FOLLOWING `TC INTPRET', `SQRT', NO ADDRESS IS ALLOWED. # INPUT SCALING: THE BINARY POINT IS ASSUMED TO THE RIGHT OF BIT 15. THE ANSWER IS RETURNED WITH THE SAME SCALING. # # SUBROUTINES -- GENSCR, MPACSHR, SQRTSUB, ABORT # # ABORT EXIT MODE -- ABORTS ON NEGATIVE INPUT -1.2X10E-4 (77775 OCTAL) OR LESS. # DISPLAYS ERROR CODE 1302 # TC ABORT # OCT 1302 # # DEBRIS -- LOCATIONS BUF, MPTEMP, ADDRWD ARE USED SQRT TC SQRTSUB # TAKE THE SQUARE ROOT OF MPAC. CCS MPTEMP # RETURNED NORMALIZED SQUARE ROOT. SEE IF TCF +2 # ANY UN-NORMALIZATION REQUIRED AND EXIT TCF DANZIG # IF NOT. AD NEG12 # A RIGHT SHIFT OF MORE THAN 13 COULD BE EXTEND # REQUIRED IF INPUT WAS ZERO IN MPAC,+1. BZMF SQRTSHFT # GOES HERE IN MOST CASES. ZL # IF A LONG SHIFT IS REQUIRED, GO TO LXCH ADDRWD # GENERAL RIGHT SHIFT ROUTINES. TCF GENSCR +4 # ADDRWD WAS ZERO TO PREVENT ROUND. SQRTSHFT INDEX MPTEMP # SELECT SHIFTING BIT AND EXIT THROUGH CAF BIT15 # SHIFT ROUTINES. TS MPTEMP CAF ZERO # TO ZERO MPAC +2 IN THE PROCESS. TCF MPACSHR +3 ABS TC BRANCH # TEST SIGN OF MPAC AND COMPLEMENT IF TCF DANZIG TCF DANZIG TCF COMP # Page 1182 VDEF CS FOUR # VECTOR DEFINE -- ESSENTIALLY TREATS ADS PUSHLOC # SCALAR IN MPAC AS X COMPONENT, PUSHES UP EXTEND # FOR Y AND THEN AGAIN FOR Z. INDEX A DCA 2 DXCH MPAC +3 EXTEND INDEX PUSHLOC DCA 0 DXCH MPAC +5 TCF VMODE # MODE IS NON VECTOR. VSQ TC VSQSUB # DOT MPAC WITH ITSELF. TCF DMODE # MODE IS NOW DP. PUSH EXTEND # PUSH DOWN MPAC LEAVING IT LOADED. DCA MPAC INDEX PUSHLOC # PUSH DOWN FIRST TWO REGISTERS IN EACH DXCH 0 INDEX MODE # INCREMENT PUSHDOWN POINTER. CAF NO.WDS ADS PUSHLOC CCS MODE TCF TPUSH # PUSH DOWN MPAC +2. TCF DANZIG # DONE FOR DP. EXTEND # ON VECTOR, PUSH DOWN Y AND Z COMPONENTS. DCA MPAC +3 INDEX PUSHLOC DXCH 0 -4 EXTEND DCA MPAC +5 INDEX PUSHLOC DXCH 0 -2 TCF DANZIG TPUSH CA MPAC +2 TCF ENDTPUSH +2 RVQ INDEX FIXLOC # RVQ -- RETURN IVA QPRET. CA QPRET TS POLISH TCF GOTO +4 # (ASSUME QPRET POINTS TO FIXED ONLY.) # Page 1183 # THE FOLLOWING SUBROUTINES ARE USED IN SQUARING MPAC, IN BOTH THE SCALAR AND VECTOR SENSE. THEY ARE # SPECIAL CASES OF DMPSUB AND DOTSUB, PUT IN TO SAVE SOME TIME. DSQSUB CA MPAC +1 # SQUARES THE SCALAR CONTENTS OF MPAC. EXTEND SQUARE TS MPAC +2 CAF ZERO # FORM 2(CROSS TERM). XCH MPAC +1 EXTEND MP MPAC DDOUBL # AND MAYBE OVEFLOW. DAS MPAC +1 # AND SET A TO NET OVERFLOW. XCH MPAC EXTEND SQUARE DAS MPAC TC Q VSQSUB EXTEND # DOTS THE VECTOR IN MPAC WITH ITSELF. QXCH DOTRET TC DSQSUB # SQUARE THE X COMPONENT. DXCH MPAC +3 DXCH MPAC DXCH BUF # SO WE CAN END IN DOTSUB. CA MPAC +2 TS BUF +2 TC DSQSUB # SQUARE Y COMPONENT. DXCH MPAC +1 DAS BUF +1 AD MPAC AD BUF TS BUF TCF +2 TS OVFIND # IF OVERFLOW. DXCH MPAC +5 DXCH MPAC TC DSQSUB # SQUARE Z COMPONENT. TCF ENDDOT # END AS IN DOTSUB. # Page 1184 # DOUBLE PRECISION SQUARE ROOT ROUTINE. TAKE THE SQUARE ROOT OF THE TRIPLE PRECISION (MPAC +2 USED ONLY # IN NORMALIZATION) CONTENTS OF MPAC AND LEAVE THE NORMALIZED RESULT IN MPAC (C(MPAC) GREATER THAN OR EQUAL TO # .5). THE RIGHT SHIFT COUNT (TC UNNORMALIZE) IS LEFT IN MPTEMP. SQRTSUB CAF ZERO # START BY ZEROING RIGHT SHIFT COUNT. TS MPTEMP CCS MPAC # CHECK FOR POSITIVE ARGUMENT, SHIFTING TCF SMPAC+ # FIRST SIGNIFICANT MPAC REGISTER INTO TCF +2 # MPAC ITSELF. TCF SQRTNEG # SEE IF MAG OF ARGUMENT LESS THAN 10(-4). XCH MPAC +2 # MPAC IS ZERO -- SHIFT LEFT 14. XCH MPAC +1 TS MPAC CAF SEVEN # AUGMENT RIGHT SHIFT COUNTER. TS MPTEMP CCS MPAC # SEE IF MPAC NOW PNZ. TCF SMPAC+ TCF +2 TCF ZEROANS # NEGATIVE BUT LESS THAN 10(-4) IN MAG. XCH MPAC +1 # XERO -- SHIFT LEFT 14 AGAIN. TS MPAC CAF SEVEN # AUGMENT RIGHT SHIFT COUNTER. ADS MPTEMP CCS MPAC TCF SMPAC+ TC Q # SQRT(0) = 0. TCF ZEROANS TCF FIXROOT # DO NOT LEAVE SQRTSUB WITH -0 IN MPAC. SQRTNEG CCS A # ARGUMENT IS NEGATIVE, BUT SEE IF SIGN- TCF SQRTABRT # CORRECTED ARGUMENT IS LESS THAN 10(-4) CCS MPAC +1 # IN MAGNITUDE. IF SO, CALL ANSWER ZERO. ZEROANS CAF ZERO # FORCE ANSWER TO ZERO HERE. TCF FIXROOT TCF SQRTABRT TCF FIXROOT SQRTABRT TC POODOO OCT 1302 # Page 1185 SMPAC+ AD -1/2+2 # SEE IF ARGUMENT GREATER THAN OR EQUAL TO EXTEND # .5. BZMF SRTEST # IF SO, SEE IF LESS THAN .25. DXCH MPAC # WE WILL TAKE THE SQUARE ROOT OF MPAC/2. LXCH SR # SHIFT RIGHT 1 AND GO TO THE SQRT ROUTINE EXTEND MP HALF DXCH MPAC XCH SR ADS MPAC +1 # GUARANTEED NO OVERFLOW. ARGHI CAF SLOPEHI # ARGUMENT BETWEEN .25 AND .5, GET A EXTEND # LINEAR APPROXIMATION FOR THIS RANGE. MP MPAC AD BIASHI # X0/2 = (MPAC/2)(SLOPHI) + BIASHI/2. +4 TS BUF # X0/2 (ARGLO ENTERS HERE). CA MPAC # SINGLE-PRECISION THROUGHOUT. ZL EXTEND DV BUF # (MPAC/2)/(X0/2) EXTEND MP HALF ADS BUF # X1 = X0/2 + .5(MPAX/2)/(X0/2) EXTEND MP HALF # FORM UP X1/2. DXCH MPAC # SAVE AND BRING OUT ARGUMENT. EXTEND # TAKE DP QUOTIENT WITH X1. DV BUF TS BUF +1 # SAVE MAJOR PART OF QUOTIENT. CAF ZERO # FORM MINOR PART OF QUOTIENT USING XCH L # (REMAINDER,0). EXTEND DV BUF TS L # IN PREPARATION FOR DAS. CA BUF +1 DAS MPAC # X2 = X1/2 + (MPAC/2)X1 EXTEND # OVERFLOWS IF ARG. NEAR POSMAX. BZF TCQBNK00 CAF POSMAX FIXROOT TS MPAC TS MPAC +1 TCQBNK00 TC Q # RETURN TO CALLER TO UNNORMALIZE, ETC. # Page 1186 SRTEST AD QUARTER # ARGUMENT WAS LESS THAN .5, SEE IF LESS EXTEND # THAN .25. BZMF SQRTNORM # IF SO, BEGIN NORMALIZATION. DXCH MPAC # IF BETWEEN .5 AND .25, SHIFT RIGHT 1 AND LXCH SR # START AT ARGLO. EXTEND MP HALF DXCH MPAC XCH SR ADS MPAC +1 # NO OVERFLOW. ARGLO CAF SLOPELO # (NORMALIZED) ARGUMENT BETWEEN .125 AND EXTEND # .25 MP MPAC AD BIASLO TCF ARGHI +4 # BEGIN SQUARE ROOT. SQRTNM2 EXTEND # SHIFT LEFT 2 AND INCREMENT RIGHT SHIFT DCA MPAC +1 # COUNT (FOR TERMINAL UNNORMALIZATION). DAS MPAC +1 AD MPAC ADS MPAC # (NO OVERFLOW). SQRTNORM INCR MPTEMP # FIRST TIME THROUGH, JUST SHIFT LEFT 1 EXTEND # (PUTS IN EFFECTIVE RIGHT SHIFT SINCE DCA MPAC +1 # WE WANT MPAC/2). DAS MPAC +1 AD MPAC ADS MPAC # (AGAIN NO OVERFLOW). DOUBLE TS CYL NORMTEST CCS CYL # SEE IF ARGUMENT NOW NORMALIZED AT CCS CYL # GREATER THAN .125. TCF SQRTNM2 # NO -- SHIFT LEFT 2 MORE AND TRY AGAIN. TCF ARGHI # YES -- NOW BETWEEN .5 AND .25. TCF ARGLO # ARGUMENT NOW BETWEEN .25 AND .125. # Page 1187 # TRIGONOMETRIC FUNCTION PACKAGE. # THE FOLLOWING TRIGONOMETRIC FUNCTIONS ARE AVAILABLE AS INTERPRETIVE OPERATIONS: # 1. SIN COMPUTES (1/2)SINE(2 PI MPAC). # 2. COS COMPUTES (1/2)COSINE(2 PI MPAC). # 3. ASIN COMPUTES (1/2PI)ARCSINE(2 MPAC). # 4. ACOS COMPUTES (1/2PI)ARCCOSINE(2 MPAC). # # SIN-ASIN AND COS-ACOS ARE MUTUALLY INVERSE, I.E., SIN(ASIN(X)) = X. COSINE TC BRANCH # FINDS COSINE USING THE IDENTITY TCF +3 # COS(X) = SIN(PI/2 - ABS(X)). TCF PRESINE TCF PRESINE +3 EXTEND DCS MPAC DXCH MPAC PRESINE CAF QUARTER # PI/2 SCALED. ADS MPAC SINE DXCH MPAC # DOUBLE ARGUMENT. DDOUBL OVSK # SEE IF OVERFLOW PRESENT. TCF +3 # IF NOT, ARGUMENT OK AS IS. EXTEND # IF SO, WE LOST (OR GAINED) PI, SO DCOM # COMPLEMENT MPAC USING THE IDENTITY # SIN(X-(+)PI) = SIN(-X). +3 DXCH MPAC CA MPAC # SEE IF ARGUMENT GREATER THAN .5 IN DOUBLE # MAGNITUDE. IF SO, REDUCE IT TO LESS THAN TS L # .5 (+-PI/2 SCALED) AS FOLLOWS: TCF SN1 INDEX A # IF POSITIVE, FORM PI - X, IF NEGATIVE CAF NEG1/2 +1 # USE -PI -X. DOUBLE EXTEND SU MPAC # GUARANTEED NO OVERFLOW. TS MPAC CS MPAC +1 TS MPAC +1 # Page 1188 SN1 EXTEND # SET UP TO EVALUATE HASTINGS POLYNOMIAL DCA MPAC DXCH BUF2 TC DSQSUB # SQUARE MPAC. TC POLY # EVALUATE FOURTH ORDER POLYNOMIAL. DEC 3 2DEC +.3926990796 2DEC -.6459637111 2DEC +.318758717 2DEC -.074780249 2DEC +.009694988 CAF LBUF2 # MULTIPLY BY ARGUMENT AND SHIFT LEFT 2. TC DMPSUB -1 EXTEND DCA MPAC +1 DAS MPAC +1 AD MPAC ADS MPAC # NEITHER SHIFT OVERFLOWS. EXTEND DCA MPAC +1 DAS MPAC +1 AD MPAC ADS MPAC TCF DANZIG # Page 1189 # ARCSIN/ARCCOS ROUTINE. ARCSIN CAF LASINEX # COMPUTE ARCSIN BY USING THE IDENTITY TCF +2 # ARCSIN(X) = PI/2 - ARCCOS(X). ARCCOS CAF LDANZIG # (EXITS IMMEDIATELY). TS ESCAPE TC BRANCH # TEST SIGN OF INPUT. TCF ACOSST # START IMMEDIATELY IF POSITIVE. TCF ACOSZERO # ARCCOS(0) = PI/2 = .25. EXTEND # IF NEGATIVE, USE THE IDENTITY DCS MPAC # ARCCOS(X) = PI - ARCCOS(-X), FORCING DXCH MPAC # ARGUMENT POSITIVE. CAF TCSUBTR # SET EXIT TO DO ABOVE BEFROE XCH ESCAPE # ARCSIN/ARCCOS CONSIDERATIONS. TS ESCAPE2 ACOSST CS HALF # TEST MAGNITUDE OF INPUT. AD MPAC CCS A TCF ACOSOVF # THIS IS PROBABLY AN OVERFLOW CASE. LASINEX TCF ASINEX TCF ACOSST2 # NO OVERFLOW -- PROCEED. CCS MPAC +1 # IF MAJOR PART IS .5, CALL ANSWER 0 CAF ZERO # UNLESS MINOR PART NEGATIVE. TCF ACOS=0 TCF ACOSST2 ACOS=0 TS MPAC +1 TS MPAC TC ESCAPE ACOSST2 EXTEND # NOW THAT ARGUMENT IS IN PROPER RANGE, DCS MPAC # BEGIN COMPUTATION. USE HASTINGS AD HALF # APPROXIMATION ARCCOS(X) = SQRT(1-X)P(X) DXCH MPAC # IN A SCALED VERSION WHERE P(X) IS A DXCH BUF2 # SEVENTH ORDER POLYNOMIAL. TC SQRTSUB # RETURNS WITH NORMALIZED SQUARE ROOT. CCS MPTEMP # SEE IF UN-NORMALIZATION REQUIRED. TCF ACOSSHR # Page 1190 ACOS3 DXCH MPAC # SET UP FOR POLYNOMIAL EVALUATION. DXCH BUF2 DXCH MPAC TC POLY DEC 6 2DEC +.353553385 # COEFFICIENTS ARE C 2(+I)/PISQRT(2) WHERE 2DEC* -.0483017006 B+1* # I 2DEC* +.0200273085 B+2* # WEHRE C STANDS FOR ORIGINAL COEFFS. 2DEC* -.0112931863 B+3* 2DEC* +.00695311612 B+4* 2DEC* -.00384617957 B+5* 2DEC* +.001501297736 B+6* 2DEC* -.000284160334 B+7* CAF LBUF2 # DO FINAL MULTIPLY AND GO TO ANY TC DMPSUB -1 # EPILOGUE SEQUENCES. TC ESCAPE SUBTR EXTEND # EPILOGUE FOR NEGATIVE INPUTS TO ARCCOS. DCS MPAC AD HALF # FORMS PI - ARCCOS(-X) = ARCCOS(X). DXCH MPAC TC ESCAPE2 # GO TO POSSIBLE ARCSIN EPILOGUE. ASINEX EXTEND DCS MPAC # ARCSIN EPILOGUE -- GET ARCSIN(X) AD QUARTER # = PI/2 - ARCCOS(X). DXCH MPAC LDANZIG TCF DANZIG # Page 1191 ACOSSHR INDEX A # THE SHIFT RIGHT IS LESS THAN 14 SINCE CAF BIT14 # THE INPUT WAS NON-ZERO DP. TS MPTEMP TC VSHRRND # DP SHIFT RIGHT AND ROUND. TCF ACOS3 # PROCEED. ACOSOVF EXTEND # IF MAJOR PART WAS ONLY 1 MORE THAN .5, BZF ACOS=0 # CALL ANSWER ZERO. ACOSABRT TC ALARM # IF OVERFLOW, CALL ANSWER ZERO BUT OCT 1301 # SOUND AN ALARM. CAF ZERO TCF ACOS=0 ACOSZERO CAF QUARTER # ACOS(0) = PI/2. TCF ACOS=0 +1 # SET MPAC AND EXIT VIA ESCAPE. NEG12 DEC -12 TCSUBTR TCF SUBTR # Page 1192 # THE FOLLOWING INSTRUCTIONS ARE AVAILABLE FOR SETTING, MODIFYING, AND BRANCHING ON INDEX REGISTERS: # 1. AXT ADDRESS TO INDEX TRUE. # 2. AXC ADDRESS TO INDEX COMPLEMENTED. # 3. LXA LOAD INDEX FROM ERASABLE. # 4. LXC LOAD INDEX COMPLEMENTED FROM ERASABLE. # 5. SXA STORE INDEX IN ERASABLE. # 6. XCHX EXCHANGE INDEX REGISTER WITH ERASABLE. # 7. INCR INCREMENT INDEX REGISTER. # 8. XAD ERASABLE ERASABLE ADD TO INDEX REGISTER. # 9. XSU ERASABLE SUBTRACT FROM INDEX REGISTER. # 10. TIX BRANCH ON INDEX REGISTER AND DECREMENT. BANK 01 COUNT 01/INTER AXT TC TAGSUB # SELECT APPROPRIATE INDEX REGISTER. CA POLISH XSTORE INDEX INDEXLOC # CONTAINS C(FIXLOC) OR C(FIXLOC)+1 TS X1 TCF DANZIG AXC TC TAGSUB CS POLISH TC XSTORE LXA TC 15ADRERS # LOAD INDEX REGISTER FROM ERASABLE. INDEX POLISH CA 0 TCF XSTORE LXC TC 15ADRERS # LOAD NDX REG FROM ERASABLE COMPLEMENTED. INDEX POLISH CS 0 TCF XSTORE SXA TC 15ADRERS # STORE INDEX REGISTER IN ERASABLE. INDEX INDEXLOC CA X1 MSTORE1 INDEX POLISH TS 0 TCF DANZIG # Page 1193 XCHX TC 15ADRERS # EXCHANGE INDEX REGISTER WITH ERASABLE. INDEX POLISH CA 0 INDEX INDEXLOC XCH X1 TCF MSTORE1 XAD TC 15ADRERS # ADD ERASABLE TO INDEX REGISTER. INDEX POLISH CA 0 XAD2 INDEX INDEXLOC ADS X1 # IGNORING OVERFLOWS. TCF DANZIG INCR TC TAGSUB # INCREMENT INDEX REGISTER. CA POLISH TCF XAD2 XSU TC 15ADRERS # SUBTRACT ERASABLE FROM INDEX REGISTER. INDEX POLISH CS 0 TCF XAD2 TIX TC TAGSUB # BRANCH AND DECREMENT ON INDEX. INDEX INDEXLOC CS S1 INDEX INDEXLOC AD X1 EXTEND # NO OPERATION IF DECREMENTED INDEX IS BZMF DANZIG # NEGATIVE OR ZERO. DOTIXBR INDEX INDEXLOC XCH X1 # IGNORING OVERFLOWS. TCF GOTO # DO THE BRANCH USING THE CADR IN POLISH. # Page 1194 # SUBROUTINE TO CONVERT AN ERASABLE ADDRESS (11 BITS) TO AN EBANK SETTING AND SUBADDRESS. 15ADRERS CS POLISH AD DEC45 CCS A # DOES THE ADDRESS POINT TO THE WORK AREA? CA FIXLOC # YES. ADD FIXLOC. EBANK OK AS IS. TCF +5 CA OCT1400 # NO. SET EBANK & MAKE UP SUBADDRESS. XCH POLISH TS EBANK MASK LOW8 +5 ADS POLISH # FALL INTO TAGSUB, AND RETURN VIA Q. # SUBROUTINE WHICH SETS THE ADDRESS OF THE SPECIFIED INDEX IN INDEXLOC. (ACTUALLY, THE ADDRESS -38D.) TAGSUB CA FIXLOC TS INDEXLOC CCS CYR # BIT 15 SPECIFIES INDEX. INCR INDEXLOC # 0 MEANS USE X2. TC Q TC Q # 1 FOR X1. # Page 1195 # MISCELLANEOUS OPERATION CODES WITH DIRECT ADDRESSES. INCLUDED HERE ARE: # 1. ITA STORE CPRET (RETURN ADDRESS) IN ERASABLE. # 2. CALL CALL A SUBROUTINE, LEAVING RETURN IN QPRET. # 3. RTB RETURN TO BASIC LANGUAGE AT THE GIVEN ADDRESS. # 4. BHIZ BRANCH IF THE HIGHORDER OF MPAC IS ZERO (SINGLE PRECISION). # 5. BOV BRANCH ON OVERFLOW. # 6. GOTO SIMPLE SEQUENCE CHANGE. RTB/BHIZ CCS CYR RTB CA POLISH TC SWCALL -1 # SO A "TC Q" FROM ROUTINE LEADS TO DANZIG BHIZ CCS MPAC TCF DANZIG TCF GOTO TCF DANZIG TCF GOTO BOV(B) CCS OVFIND # BRANCH ON OVERFLOW TO BASIC OR INTERP. TCF +2 TCF DANZIG TS OVFIND CCS CYR TCF RTB # IF BASIC. B5TOBB OCT 360 TCF GOTO # Page 1196 BZE/GOTO CCS CYR # SEE WHICH OP-CODE IS DESIRED. TC BRANCH # DO BZE. TCF DANZIG TCF GOTO # DO GOTO. TCF DANZIG BPL/BMN CCS CYR TCF BPL 5B10 #DEC 5 B+10 # SHIFTS OP CODE IN SWITCH INSTRUCTION ADR DEC 5 B-4 # RSB 2009 TC BRANCH # DO BMN TCF DANZIG TCF DANZIG TCF GOTO # ONLY IF NNZ. BPL TC BRANCH TCF GOTO # IF POSITIVE OR ZERO. TCF GOTO TCF DANZIG CALL/ITA CCS CYR TCF CALL TC CCSHOLE TC 15ADRERS # STORE QPRET. (TAGSUB AFTER 15ADRERS IS INDEX FIXLOC # SLOW IN THIS CASE, BUT SAVES STORAGE.) CA QPRET TCF MSTORE1 # Page 1197 # THE FOLLOWING OPERATIONS ARE AVAILABLE FOR ALTERING AND TESTING INTERPRETATIVE SWITCHES: # 00 BONSET SET A SWITCH AND DO A GOTO IF IT WAS ON. # 01 SETGO SET A SWITCH AND DO A GOTO. # 02 BOFSET SET A SWITCH AND DOA GOTO IF IT WAS OFF # 03 SET SET A SWITCH. # 04 BONINV INVERT A SWITCH AND BRANCH IF IT WAS ON. # 05 INVGO INVERT A SWITCH AND DO A GOTO. # 06 BOFINV INVERT A SWITCH AND BRANCH IF IT WAS OFF # 07 INVERT INVERT A SWITCH. # 10 BONCLR CLEAR A SWITCH AND BRANCH IF IT WAS ON. # 11 CLRGO CLEAR A SWITCH AND DO A GOTO. # 12 BOFCLR CLEAR A SWITCH AND BRANCH IF IT WAS OFF. # 13 CLEAR CLEAR A SWITCH. # 14 BON BRANCH IF A SWITCH WAS ON. # 16 BOFF BRANCH IF A SWITCH WAS OFF. # THE ADDRESS SUPPLIED WITH THE SWITCH INSTRUCTION IS INTERPRETED AS FOLLOWS: # BITS 1-4 SWITCH BIT NUMBER (1-15). # BITS 5-8 SWITCH OPERATION NUMBER # BITS 9- SWITCH WORD NUMBER (UP TO 64 SWITCH WORDS). # THE ADDRESS ITSELF IS MADE UP BY THE YUL SYSTEM ASSEMBLER. THE BRANCH INSTRUCTIONS REQUIRE TWO # ADDRESSES, THE SECOND TAKEN AS THE DIRECT (OR INDIRECT IF IN ERASABLE) ADDRESS OF THE BRANCH. SWITCHES CAF LOW4 # LEAVE THE SWITCH BIT IN SWBIT. MASK POLISH INDEX A CAF BIT15 # (NUMBER FROM LEFT TO RIGHT.) TS SWBIT CAF BIT7 # LEAVE THE SWITCH NUMBER IN SWWORD. EXTEND MP POLISH TS SWWORD INHINT # DURING SWITCH CHANGE SO RUPT CAN USE TOO INDEX A # LEAVE THE SWITCH WORD ITSELF IN L. CA STATE TS Q # Q WILL BE USED AS A CHANNEL. # Page 1198 CAF BIT11 EXTEND # DISPATCH SWITCH BIT OPERATION AS IN BITS MP POLISH # 7-8 OF POLISH. MASK B3TOB4 # GETS 4X2-BIT CODE. INDEX A TCF +1 +1 CA SWBIT # 00 -- SET SWITCH IN QUESTION. EXTEND ROR QCHAN TCF SWSTORE +5 CA SWBIT # 01 -- INVERT SWITCH. EXTEND RXOR QCHAN TCF SWSTORE +9D CS SWBIT # 10 -- CLEAR. MASK Q SWSTORE INDEX SWWORD TS STATE # NEW SWITCH WORD. # Page 1199 +13D RELINT # 11 -- NOOP. CAF BIT13 EXTEND # DISPATCH SEQUENCE CHANGING OR BRANCING MP POLISH # CODE. MASK B3TOB4 INDEX A TCF +1 # ORIGINALLY STORED IN BITS 5-6 +1 CS Q # 00 -- BRANCH IF ON. TEST MASK SWBIT CCS A TCF SWSKIP +5 TCF SWBRANCH # 01 -- GO TO. TCF SWSKIP # HERE ONLY ON BIT 15. TC CCSHOLE TC CCSHOLE +9D CA Q # 10 -- BRANCH IF OFF. TCF TEST B3TOB4 OCT 0014 SWSKIP INCR LOC SW/ EQUALS SWITCHES +13D TCF DANZIG # 11 -- NOOP. ================================================ FILE: Comanche055/INTERPRETIVE_CONSTANTS.agc ================================================ # Copyright: Public domain. # Filename: INTERPRETIVE_CONSTANTS.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1205-1206 # Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the # same name, using Comanche055 page images. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 1205 SETLOC INTPRET1 BANK COUNT 23/ICONS DP1/4TH 2DEC .25 UNITZ 2DEC 0 UNITY 2DEC 0 UNITX 2DEC .5 ZEROVECS 2DEC 0 2DEC 0 2DEC 0 DPHALF = UNITX DPPOSMAX OCT 37777 OCT 37777 # Page 1206 # INTERPRETIVE CONSTANTS IN THE OTHER HALF-MEMORY SETLOC INTPRET2 BANK COUNT 14/ICONS ZUNIT 2DEC 0 YUNIT 2DEC 0 XUNIT 2DEC .5 ZEROVEC 2DEC 0 2DEC 0 2DEC 0 OCT 77777 # -0,-6,-12 MUST REMAIN IN THIS ORDER DEC-6 DEC -6 DEC-12 DEC -12 LODPMAX 2OCT 3777737777 # THESE TWO CONSTANTS MUST REMAIN LODPMAX1 2OCT 3777737777 # ADJACENT AND THE SAME FOR INTEGRATION ZERODP = ZEROVEC HALFDP = XUNIT ================================================ FILE: Comanche055/INTERRUPT_LEAD_INS.agc ================================================ # Copyright: Public domain. # Filename: INTERRUPT_LEAD_INS.agc # Purpose: Part of the source code for Comanche, build 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), Apollo 11. # Assembler: yaYUL # Reference: pp. 131-132 # Contact: Ron Burkey , # Fabrizio Bernardini # Website: http://www.ibiblio.org/apollo. # Mod history: 09/05/09 FB Transcription of Batch FB-1 Assignment. # # The contents of the "Comanche055" files, in general, are transcribed # from scanned documents. # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. April 1, 1969. # # This AGC program shall also be referred to as Colossus 2A # # Prepared by # Massachusetts Institute of Technology # 75 Cambridge Parkway # Cambridge, Massachusetts # # under NASA contract NAS 9-4065. # # Refer directly to the online document mentioned above for further # information. Please report any errors to info@sandroid.org. # Page 131 SETLOC 4000 COUNT 02/RUPTS INHINT # GO CAF GOBB XCH BBANK TCF GOPROG DXCH ARUPT # T6RUPT EXTEND DCA T6LOC DTCB DXCH ARUPT # T5RUPT CS TIME5 AD .5SEC TCF T5RUPT DXCH ARUPT # T3RUPT CAF T3RPTBB XCH BBANK TCF T3RUPT DXCH ARUPT # T4RUPT CAF T4RPTBB XCH BBANK TCF T4RUPT DXCH ARUPT # KEYRUPT1 CAF KEYRPTBB XCH BBANK TCF KEYRUPT1 DXCH ARUPT # KEYRUPT2 CAF MKRUPTBB XCH BBANK TCF MARKRUPT DXCH ARUPT # UPRUPT CAF UPRPTBB XCH BBANK TCF UPRUPT DXCH ARUPT # DOWNRUPT CAF DWNRPTBB XCH BBANK TCF DODOWNTM DXCH ARUPT # RADAR RUPT # Page 132 CAF RDRPTBB XCH BBANK TCF VHFREAD DXCH ARUPT # HAND CONTROL RUPT CAF HCRUPTBB XCH BBANK TCF RESUME +3 # NOT USED EBANK= LST1 # RESTART USES E0,E3 GOBB BBCON GOPROG EBANK= LST1 T3RPTBB BBCON T3RUPT EBANK= KEYTEMP1 KEYRPTBB BBCON KEYRUPT1 EBANK= MRKBUF1 MKRUPTBB BBCON MARKRUPT UPRPTBB = KEYRPTBB EBANK= DNTMBUFF DWNRPTBB BBCON DODOWNTM EBANK= DATATEST RDRPTBB BBCON VHFREAD EBANK= TIME1 HCRUPTBB BBCON RESUME # NOT USED EBANK= DSRUPTSW T4RPTBB BBCON T4RUPT EBANK= TIME1 T5RPTBB BBCON T5RUPT T5RUPT EXTEND BZMF NOQBRSM EXTEND DCA T5LOC DTCB ================================================ FILE: Comanche055/JET_SELECTION_LOGIC.agc ================================================ # Copyright: Public domain. # Filename: JET_SELECTION_LOGIC.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1039-1062 # Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the # same name, using Comanche055 page images. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 1039 BANK 21 SETLOC DAPS4 BANK COUNT 17/DAPJS EBANK= KMPAC # EXAMINE CHANNEL 31 FOR TRANSLATION COMMANDS JETSLECT LXCH BANKRUPT CAF DELTATT3 # = 60 MS RESET TO EXECUTE PHASE1 AD T5TIME TS TIME5 TCF +3 CAF DELATT20 # = 20 MS TO ASSURE A T5RUPT TS TIME5 CAF =14MS # RESET T6 TO INITIALIZE THE JET CHANNELS TS TIME6 # IN 14 MS CAF NEGMAX EXTEND WOR CHAN13 EXTEND QXCH QRUPT CAF XLNMASK # = 7700 OCT EXTEND # EXAMINE THE TRANSLATION RXOR CHAN31 # HAND CONTROLLER MASK XLNMASK EXTEND BZF NOXLNCMD TS T5TEMP EXTEND MP BIT9 MASK THREE TS XNDX1 # AC QUAD X-TRANSLATION INDEX TS XNDX2 # BD QUAD X-TRANSLATION INDEX CA T5TEMP EXTEND # 1 = + XLN MP BIT7 # 2 = - XLN MASK THREE # 3 = NO XLN TS YNDX # Y-TRANSLATION INDEX CA T5TEMP EXTEND MP BIT5 MASK THREE TS ZNDX # Z-TRANSLATION INDEX CA DAPDATR1 # SET ATTKALMN TO PICK UP FILTER GAINS FOR MASK BIT14 # TRANSLATIONS. EXTEND # CHECK DAPDATR1 BIT 14 FOR LEM ATTACHED. # Page 1040 BZF NOLEM CS THREE # IF LEM IS ON, SET ATTKALMN = -3 TCF +2 NOLEM CS TWO # IF LEM IS OFF, SET ATTKALMN = -2. TS ATTKALMN CCS XTRANS # (+, -1, 0) TS XNDX1 # USING BD-X ZERO XNDX1 TCF PWORD TS XNDX2 # USING AC-X ZERO XNDX2 TCF PWORD XLNMASK OCT 7700 DELTATT3 DEC 16378 # = 60 MS DELATT20 DEC 16382 # = 20 MS NOXLNCMD TS XNDX1 # ZERO ALL REQUESTS FOR TRANSLATION TS XNDX2 TS YNDX TS ZNDX # PITCH COMMANDS TIMING(NO X-TRANS, NO QUAD FAILS) 32MCT PWORD CCS TAU1 # CHECK FOR PITCH COMMANDS CAF ONE TCF +2 # 0 = NO PITCH CAF TWO # +1 = + PITCH TS PINDEX # +2 = - PITCH CCS RACFAIL # FLAG FOR REAL AC QUAD FAILURES TCF AFAILP TCF TABPCOM # 0 = NO REAL AC FAILURES TCF CFAILP # + = A QUAD FAILED TCF TABPCOM # - = C QUAD FAILED # IF FAILURES ARE PRESENT IGNORE # X-TRANSLATIONS ON THIS AXIS AFAILP CAF NINE # IF FAILURE IS PRESENT 1JET OPERATION TCF TABPCOM +2 # IS ASSUMED. IGNORE X-TRANSLATION CFAILP CAF TWELVE TCF TABPCOM +2 XLNNDX DEC 0 # INDICES FOR TRANSLATION COMMANDS DEC 3 # FOR USE IN TABLE LOOK UP DEC 6 DEC 0 TWELVE = OCT14 # TABLE LOOK UP FOR PITCH COMMANDS WITH AND WITHOUT X-TRANSLATION AND AC QUAD FAILURES PRESENT. # BITS 9, 10 CONTAIN THE NUMBER OF PITCH JETS USED TO PERFORM THE PITCH ROTATION # Page 1041 TABPCOM INDEX XNDX1 CA XLNNDX AD PINDEX INDEX A CA PYTABLE MASK PJETS # =1417 OCT TS PWORD1 EXTEND MP BIT7 TS NPJETS # = NO. OF PITCH JETS # YAW JET COMMANDS TIMING(NO X-TRANS, NO QUAD FAILURES) 32MCT YWORD CCS TAU2 # CHECK FOR YAW COMMANDS CAF ONE TCF +2 CAF TWO TS YINDEX # YAW ROTATION INDEX CCS RBDFAIL # FLAG FOR B OR D QUAD FAILURES TCF BFAILY # 0 = NO BD FAILURE TCF TABYCOM # + = B QUAD FAILED TCF DFAILY # - = D QUAD FAILED TCF TABYCOM BFAILY CAF NINE TCF TABYCOM +2 DFAILY CAF TWELVE TCF TABYCOM +2 # Page 1042 # TABLE FOR PITCH(YAW) COMMANDS # BITS 4,3,2,1 = PITCH, X-TRANSLATION JETS SELECTED # BITS 10,9 = NO. PITCH JETS USED TO PERFORM ROTATION # BITS 8,7,6,5 = YAW, X-TRANSLATION JETS SELECTED # BITS 12,11 : NO. YAW JETS USED TO PERFORM ROTATION # ROT TRANS QUAD BIAS PYTABLE OCT 0 # 0 0 0 OCT 5125 # + 0 0 OCT 5252 # - 0 0 OCT 0231 # 0 + 3 OCT 2421 # + + 3 OCT 2610 # - + 3 OCT 0146 # 0 - 6 OCT 2504 # + - 6 OCT 2442 # - - 6 OCT 0 # 0 A(B) 9 OCT 2421 # + A(B) 9 OCT 2442 # - A(B) 9 OCT 0 # 0 C(D) 12 OCT 2504 # + C(D) 12 OCT 2610 # - C(D) 12 # MASKS FOR PITCH AND YAW COMMANDS PJETS OCT 1417 YJETS OCT 6360 # TABLE LOOK UP FOR YAW COMMANDS WITH AND WITHOUT X-TRANSLATION AND AC QUAD FAILURES PRESENT # BITS 11, 12 CONTAIN THE NUMBER OF YAW JETS USED TO PERFORM THE YAW ROTATION TABYCOM INDEX XNDX2 CA XLNNDX AD YINDEX INDEX A CA PYTABLE MASK YJETS # = 6360 OCT TS YWORD1 EXTEND MP BIT5 TS NYJETS # NO. OF YAW JETS USED TO PERFORM ROTATION # Page 1043 # ROLL COMMANDS TIMING(NO Y,Z TRANS, NO QUAD FAILS) 45MCT RWORD CCS TAU # CHECK FOR ROLL COMMANDS CAF ONE TCF +2 CAF TWO TS RINDEX CCS ACORBD # FLAG FOR AC OR BD QUAD SELECTION FOR TCF BDROLL # ROLL COMMANDS TCF BDROLL # +, +0 = BD ROLL TCF +1 # -, -0 = AC ROLL ACROLL CCS RACFAIL # CHECK FOR REAL FAILURES TCF RAFAIL # ON AC QUADS TCF RXLNS TCF RCFAIL TCF RXLNS RAFAIL CAF NINE # QUAD FAILURE WILL GET TCF TABRCOM # 1-JET OPERATION RCFAIL CAF TWELVE TCF TABRCOM XLN1NDX DEC 0 DEC 1 # INDECES FOR TRANSLATION DEC 2 DEC 0 # TABLE LOOK UP FOR AC-ROLL COMMANDS WITH AND WITHOUT Y-TRANSLATION AND ACQUAD FAILURES PRESENT # BITS 9,10,11 CONTAIN THE MAGNITUDE AND DIRECTION OF THE ROLL RXLNS INDEX YNDX # NO AC QUAD FAILURES CA XLNNDX # INCLUDE +,-,0, Y-TRANSLATION TABRCOM AD RINDEX INDEX A CA RTABLE MASK ACRJETS # = 3760 OCT TS RWORD1 # CHECK FOR Z-TRANSLATIONS ON BD BDZCHECK CA ZNDX EXTEND BZMF NOBDZ # NO Z-TRANSLATION # Page 1044 # TABLE LOOK UP FOR BD Z-TRANSLATION WITH AND WITHOUT REAL BD QUAD FAILURES. Z-TRANSLATION WILL BE POSS- # IBLE AS LONG AS ROLL COMMANDS CAN BE SATISFIED WITH THE AC ROLL JETS. CRITERION.. IF THE RESULTANT NET ROLL # COMMANDS = 0 (WITH Z-TRANSLATION) AND IF TAU = 0, THEN INCLUDE THE BD Z-TRANSLATION COMMANDS. IF THE RESULTANT # ROLL COMMAND = 0, AND IF TAU NZ, THEN IGNORE THE BD Z-TRANSLATION CCS RBDFAIL CAF THREE TCF +2 CAF SIX INDEX ZNDX AD XLN1NDX INDEX A CA YZTABLE MASK BDZJETS # = 3417 OCT AD RWORD1 # ADD TO ROLL COMMANDS TS T5TEMP # IF POSSIBLE. MUST CHECK TAU FIRST EXTEND MP BIT7 # DETERMINE THE NET ROLL COMMAND WITH AD =-4 # Z-TRANSLATION ADDED ON TS NRJETS # NET NO. OF +,- ROLL JETS ON EXTEND BZF TAUCHECK ACRBDZ CA T5TEMP # Z-TRANSLATION ACCEPTED EVEN THO WE MAY TS RWORD1 # HAVE INTRODUCED AN UNDESIREABLE ROLL TCF ROLLTIME # BRANCH TO JET ON-TIME CALCULATIONS TAUCHECK CCS TAU TCF NOBDZ TCF ACRBDZ TCF NOBDZ TCF ACRBDZ NOBDZ CA RWORD1 # Z-TRANSLATION NOT ACCEPTED EXTEND MP BIT7 AD =-2 TS NRJETS TCF ROLLTIME # BRANCH TO JET ON-TIME CALCULATION # Page 1045 # BD QUAD SELECTION FOR ROLL COMMANDS BDROLL CCS RBDFAIL TCF RBFAIL TCF RZXLNS TCF RDFAIL TCF RZXLNS RBFAIL CAF NINE TCF TABRZCMD RDFAIL CAF TWELVE TCF TABRZCMD RZXLNS INDEX ZNDX # NO BD FAILURES CA XLNNDX # +,-,0 Z-TRANSLATION PRESENT TABRZCMD AD RINDEX INDEX A CA RTABLE MASK BDRJETS # = 34017 OCT TS RWORD1 ACYCHECK CA YNDX # ANY Y-TRANSLATION EXTEND BZF NOACY # NO Y-TRANSLATION CCS RACFAIL CAF THREE TCF +2 CAF SIX INDEX YNDX AD XLN1NDX INDEX A CA YZTABLE MASK ACYJETS # = 34360 OCT AD RWORD1 TS T5TEMP EXTEND # FOR EXPLANATION SEE CODING ON RTABLE MP BIT4 AD =-4 TS NRJETS # NO. OF NET ROLL JETS EXTEND BZF TAUCHCK # IF NRJETS = 0 BDRACZ CA T5TEMP # Y-TRANSLATION ACCEPTED TS RWORD1 TCF ROLLTIME # BRANCH TO JET ON-TIME CALCULATIONS TAUCHCK CCS TAU TCF NOACY TCF BDRACZ TCF NOACY TCF BDRACZ # Page 1046 NOACY CA RWORD1 # Y-TRANSLATION NOT ACCEPTED EXTEND MP BIT4 AD =-2 TS NRJETS TCF ROLLTIME # Page 1047 # TABLE FOR ROLL, Y AND Z-TRANSLATION COMMANDS # EITHER AC OR BD ROLL MAY BE SELECTED. IF AC ROLL IS SELECTED, Y-TRANSLATIONS MAY BE SATISFIED SIMULTANEOUSLY # PROVIDED THAT THERE ARE NO AC QUAD FAILURES. IF THERE ARE AC FAILURES, Y-TRANSLATION COMMANDS WILL BE IGNORED, # IN WHICH CASE THE ASTRONAUT SHOULD SWITCH TO BD ROLL. # IF BDROLL IS SELECTED, Z-TRANSLATIONS MAY BE SATISFIED SIMULTANEOUSLY PROVIDED THAT THERE ARE NO BD QUAD # FAILURES. IF THERE ARE BD FAILURES, Z-TRANSLATION COMMANDS WILL BE IGNORED, IN WHICH CASE THE ASTRONAUT SHOULD # SWITCH TO AC ROLL. # NOTE THAT IF ONE QUAD FAILS (E.G. B FAILED), Z-TRANSLATION IS STILL POSSIBLE AND THAT THE UNDESIRABLE ROLL # INTRODUCED BY THIS TRANSLATION WILL BE COMPENSATED BY THE TWO AC ROLL JETS ACTUATED BY THE AUTOPILOT LOGIC. # WORD MAKE UP....RTABLE # TWO WORDS, CORRESPONDING TO AC OR BD ROLL SELECTION, HAVE BEEN COMBINED INTO ONE TABLE. THE WORD CORRESPOND- # ING TO AC ROLL HAS THE FOLLOWING INTERPRETATION.. # BITS 9,10,11 ARE CODED TO GIVE THE NET ROLL TORQUE FOR THE WORD SELECTED. THE CODING IS.. # BIT NO. 11 10 9 NO. OF ROLL JETS # 0 0 0 -2 # 0 0 1 -1 # 0 1 0 0 # 0 1 1 +1 # 1 0 0 +2 # THIS WORD MAY THEN BE ADDED TO THE WORD SELECTED FROM THE YZ-TRANSLATION TABLE, WHICH HAS THE SAME TYPE OF # CODING AS ABOVE, AND THE NET ROLL DETERMINED BY SHIFTING THE RESULTANT WORD RIGHT 8 PLACES AND SUBTRACTING FOUR. # THE WORD CORRESPONDING TO THE BD ROLL HAS A SIMILAR INTERPRETATION, EXCEPT THAT BITS 12, 13, 14 ARE CODED # (AS ABOVE) TO GIVE THE NET ROLL TORQUE. # ROLL TRANS QUADFAIL BIAS RTABLE OCT 11000 # 0 0 OCT 22125 # + 0 OCT 00252 # - 0 OCT 11231 # 0 +Y(+Z) 3 OCT 15421 # + +Y(+Z) 3 OCT 04610 # - +Y(+Z) 3 OCT 11146 # 0 -Y(-Z) 6 OCT 15504 # + -Y(-Z) 6 OCT 04442 # - -Y(-Z) 6 OCT 11000 # 0 A(B) 9 OCT 15504 # + A(B) 9 OCT 04610 # - A(B) 9 OCT 11000 # 0 C(D) 12 OCT 15421 # + C(D) 12 OCT 04442 # - C(D) 12 # Page 1048 # RTABLE MASKS - ACRJETS OCT 03760 BDRJETS OCT 34017 # Page 1049 # Y, Z TRANSLATION TABLE # ONCE AC OR BD ROLL IS SELECTED THE QUAD PAIR WHICH IS NOT BEING USED TO SATISFY THE ROLL COMMANDS MAY BE # USED TO SATISFY THE REMAINING TRANSLATION COMMANDS. HOWEVER, WE MUST MAKE SURE THAT ROLL COMMANDS ARE SATISFIED # WHEN THEY OCCUR. THEREFORE, THE Y-Z TRANSLATIONS FROM THIS TABLE WILL BE IGNORED IF THE NET ROLL TORQUE OF THE # COMBINED WORD IS ZERO AND THE ROLL COMMANDS ARE NON-ZERO. THIS SITUATION WOULD OCCUR, FOR EXAMPLE, IF WE EN- # COUNTER SIMULTANEOUS +R +Y -Z COMMANDS AND A QUAD D FAILURE WHILE USING AC FOR ROLL. # TO FACILITATE THE LOGIC, THE Y-Z TRANSLATION TABLE HAS BEEN CODED IN A MANNER SIMILAR TO THE ROLL TABLE # ABOVE. # BITS 9,10,11 ARE CODED TO GIVE THE NET ROLL TORQUE INCURRED BY Z-TRANSLATIONS. THE WORD SELECTED CAN THEN BE # ADDED TO THE AC-ROLL WORD AND THE RESULTANT ROLL TORQUE DETERMINED FROM THE COMBINED WORD. SIMILIARLY BITS # 12,13,14 ARE CODED TO GIVE THE NET ROLL TORQUE INCURRED BY Y-TRANSLATIONS WHEN BD-ROLL IS SELECTED. # TRANSLATION QUADFAIL BIAS # YZTABLE OCT 11000 # 0 0 OCT 11231 # +Z(+Y) 0 OCT 11146 # -Z(-Y) 0 OCT 11000 # 0 B(A) 3 OCT 04610 # +Z(+Y) B(A) 3 OCT 15504 # -Z(-Y) B(A) 3 OCT 11000 # 0 D(C) 6 OCT 15421 # +Z(+Y) D(C) 6 OCT 04442 # -Z(-Y) D(C) 6 # YZ-TABLE MASKS- BDZJETS OCT 03417 ACYJETS OCT 34360 # ADDITIONAL CONSTANTS =-2 = NEG2 =-4 = NEG4 # Page 1050 # CALCULATION OF JET ON-TIMES # # THE ROTATION COMMANDS (TAU:S), WHICH WERE DETERMINED FROM THE JET SWITCHING LOGIC ON THE BASIS OF SINGLE JET # OPERATION, MUST NOW BE UPDATED BY THE ACTUAL NUMBER OF JETS TO BE USED IN SATISFYING THESE COMMANDS. TAU MUST # ALSO BE DECREMENTED ACCORDING TO THE EXPECTED TORQUE GENERATED BY THE NEW COMMANDS ACTING OVER THE NEXT T5 INT- # ERVAL. # IN ORDER TO MAINTAIN ACCURATE KNOWLEDGE OF VEHICLE ANGULAR RATES, WE MUST ALSO PROVIDE EXPECTED FIRING TIMES # (DFT:S, ALSO IN TERMS OF 1-JET OPERATION) FOR THE RATE FILTER. # NOTE THAT TRANSLATIONS CAN PRODUCE ROTATIONS EVEN THOUGH NO ROTATIONS WERE CALLED FOR. NEVERTHELESS, WE MUST # UPDATE DFT. # WHEN THE ROTATIONS HAVE FINISHED, WE MUST PROVIDE CHANNEL INFORMATION TO THE T6 PROGRAM TO CONTINUE ON WITH # THE TRANSLATIONS. THIS WILL BE DONE IN THE NEXT SECTION. HOWEVER, TO INSURE THAT JETS ARE NOT FIRED FOR LESS # THAN A MINIMUM IMPULSE (14MS), ALL JET CHANNEL COMMANDS WILL BE HELD FIXED FROM THE START OF THE T5 PROGRAM FOR # ATLEAST 14MS UNTIL THE INITIALIZATION OF NEW COMMANDS. MOREOVER, A 14MS ON-TIME WILL BE ADDED TO ANY ROTATIONAL # COMMANDS GENERATED BY THE MANUAL CONTROLS OR THE JET SWITCHING LOGIC, AND ALL TRANSLATION COMMANDS WILL BE # ACTIVE FOR ATLEAST ONE CYCLE OF THE T5 PROGRAM (.1SEC) # PITCH JET ON-TIME CALCULATION PITCHTIM CCS TAU1 TCF PTAUPOS TCF +2 TCF PTAUNEG TS DFT1 # NO PITCH ROTATION TCF PBYPASS # COMMANDS PTAUNEG CS NPJETS TS NPJETS PTAUPOS CA TAU1 EXTEND INDEX NPJETS MP NJET TS BLAST1 AD =-.1SEC EXTEND BZMF AD14MSP INDEX NPJETS CA DFTMAX # THE PITCH ON-TIME IS GREATER THAN .1 SEC TS DFT1 COM ADS TAU1 # UPDATE TAU1 CAF =+.1SEC # LIMIT THE LENGTH OF PITCH ROTATION TS BLAST1 # COMMANDS TO 0.1 SEC SO THAT ONLY TCF ASMBLWP # X-TRANSLATIONS WILL CONTINUE ON SWITCH # OVER TO TVC AD14MSP CS BLAST1 # SEE IF JET ON TIME IS LESS THAN AD =14MS # MINIMUM IMPULSE TIME EXTEND BZMF PBLASTOK # IF SO LIMIT MINIMUM ON TIME TO 14 MS CAF =14MS # Page 1051 TS BLAST1 PBLASTOK CA BLAST1 EXTEND # THE PITCH COMMANDS WILL BE COMPLETED MP NPJETS # WITHIN THE TS-CYCLE TIME LXCH DFT1 # FOR USE IN UPDATING RATE FILTER TS TAU1 # ZERO TAU1 (ACC CONTAINS ZERO) TCF ASMBLWP # Page 1052 # YAW JET ON-TIME CALCULATION YAWTIME CCS TAU2 TCF YTAUPOS TCF +2 TCF YTAUNEG TS DFT2 # NO YAW ROTATION COMMANDS TCF YBYPASS YTAUNEG CS NYJETS TS NYJETS YTAUPOS CA TAU2 EXTEND INDEX NYJETS MP NJET TS BLAST2 AD =-.1SEC EXTEND BZMF AD14MSY INDEX NYJETS CA DFTMAX # YAW COMMANDS WILL LAST LONGER THAN .1SEC TS DFT2 COM ADS TAU2 # DECREMENT TAU2 CAF =+.1SEC # LIMIT THE LENGTH OF YAW ROTATION COMMAND TS BLAST2 # TO 0.1 SEC SO THAT ONLY X-TRANSLATION TCF ASMBLWY # WILL CONTINUE ON SWITCH OVER TO TVC AD14MSY CS BLAST2 # SEE IF JET ON-TIME LESS THAN AD =14MS # MINIMUM IMPULSE TIME EXTEND BZMF YBLASTOK # IF SO, LIMIT MINIMUM ON-TIME TO 14 MS CAF =14MS TS BLAST2 YBLASTOK CA BLAST2 # YAW COMMANDS WILL BE COMPLETED WITHIN EXTEND # THE T5CYCLE TIME MP NYJETS LXCH DFT2 TS TAU2 # ZERO TAU2 TCF ASMBLWY # Page 1053 # ROLL ON-TIME CALCULATION- ROLLTIME CCS TAU TCF RBLAST TCF +2 TCF RBLAST INDEX NRJETS CA DFTMAX # UPDATE DFT EVEN THO NO ROLL COMMANDS ARE TS DFT # PRESENT TCF RBYPASS DEC -480 # = -.3SEC DEC -320 # = -.2SEC =-.1SEC DEC -160 # = -.1SEC DFTMAX DEC 0 # 0 =+.1SEC DEC 160 # = +.1SEC DEC 320 # = +.2SEC DEC 480 # = +.3SEC =14MS DEC 23 # =14MS RBLAST CA TAU EXTEND INDEX NRJETS MP NJET TS BLAST # BLAST IS AN INTERMEDIATE VARIABLE # USED IN DETERMINING THE JET ON-TIMES AD =-.1SEC EXTEND BZMF AD14MSR INDEX NRJETS # THE ROLL ROTATION WILL LAST LONGER CA DFTMAX # THAN THE T5 CYCLE TIME TS DFT COM ADS TAU CAF =+.1SEC # LIMIT THE LENGTH OF ROLL ROTATION TS BLAST # COMMANDS TO 0.1 SEC SO THAT ONLY Y-Z TCF ASMBLWR # TRANSLATION COMMANDS CONTINUE AD14MSR CS BLAST # SEE IF THE JET ON-TIME LESS THAN AD =14MS # MINIMUM IMPULSE TIME EXTEND BZMF RBLASTOK CAF =14MS # IF SO, LIMIT MINIMUM ON-TIME TO 14 MS TS BLAST RBLASTOK CA BLAST EXTEND MP NRJETS LXCH DFT TS TAU # ZERO TAU TCF ASMBLWR # Page 1054 DEC -.333333 # = -1/3 DEC -.500000 # = -1/2 DEC -.999999 # = -1 (NEGMAX) NJET DEC 0 DEC .999999 # = +1 (POSMAX) DEC .500000 # = +1/2 DEC .333333 # = +1/3 # Page 1055 # WHEN THE ROTATION COMMANDS ARE COMPLETED, IT IS NECESSARY TO REPLACE THESE COMMANDS BY NEW COMMANDS WHICH # CONTINUE ON WITH THE TRANSLATIONS IF ANY ARE PRESENT. # IN THIS SECTION THESE NEW COMMANDS ARE GENERATED AND STORED FOR REPLACEMENT OF THE CHANNEL COMMANDS WHEN THE # CORRESPONDING ROTATIONS ARE COMPLETED. # GENERATION OF THE SECOND PITCH(X-TRANS) WORD...PWORD2 ASMBLWP CCS RACFAIL TCF FPX2 # IF FAILURE ON AC IGNORE X-TRANSLATION TCF +2 TCF FPX2 INDEX XNDX1 CA XLNNDX INDEX A FPX2 CA PYTABLE MASK PJETS TS PWORD2 TCF YAWTIME PBYPASS CA PWORD1 # THE T6 PROGRAM WILL LOAD PWORD2 TS PWORD2 # UPON ENTRY CAF ZERO TS BLAST1 # THERE IS NO PWORD2 TCF YAWTIME # Page 1056 # GENERATION OF THE SECOND ROLL (Y,Z) WORD (RWORD2) ASMBLWR CCS YNDX # CHECK FOR Y-TRANS TCF ACBD2Y NO2Y CAF ZERO TS RWORD2 CCS ZNDX # CHECK FOR Z-TRANS TCF ACBD2Z NO2Z CAF ZERO ADS RWORD2 TCF PITCHTIM # RWORD2 ASSEMBLED ACBD2Y CCS ACORBD TCF AC2Y # CAN DO Y-TRANS TCF AC2Y TCF +1 # USING AC FOR ROLL CCS RACFAIL TCF NO2Y # USING AC AND AC HAS FAILED TCF +2 TCF NO2Y # DITTO INDEX YNDX # NO FAILURES, CAN DO Y CA XLNNDX INDEX A CA RTABLE MASK ACRJETS TCF NO2Y +1 AC2Y CCS RACFAIL CAF THREE TCF +2 CAF SIX INDEX YNDX AD XLN1NDX INDEX A CA YZTABLE MASK ACYJETS TS RWORD2 EXTEND MP BIT4 AD =-2 TS NRJETS CS BLAST AD =+.1SEC EXTEND MP NRJETS CA L ADS DFT TCF NO2Y +2 # Page 1057 ACBD2Z CCS ACORBD TCF BDF2Z # USING BD-ROLL TCF BDF2Z # MUST CHECK FOR BD FAILURES TCF +1 CCS RBDFAIL # USING AC FOR ROLL, CAN DO Z-TRANS CAF THREE TCF +2 CAF SIX INDEX ZNDX AD XLN1NDX INDEX A CA YZTABLE MASK BDZJETS ADS RWORD2 EXTEND MP BIT7 AD =-2 TS NRJETS CS BLAST AD =+.1SEC EXTEND MP NRJETS CA L ADS DFT TCF PITCHTIM BDF2Z CCS RBDFAIL TCF NO2Z # USING BD-ROLL AND BD HAS FAILED TCF +2 TCF NO2Z # DITTO INDEX ZNDX CA XLNNDX INDEX A CA RTABLE MASK BDRJETS TCF NO2Z +1 RBYPASS CA RWORD1 TS RWORD2 CAF ZERO TS BLAST TCF PITCHTIM # Page 1058 # GENERATION OF THE SECOND YAW (X-TRANS) WORD...YWORD2 ASMBLWY CCS RBDFAIL TCF FYX2 # IF FAILURE ON BD IGNORE X-TRANSLATION TCF +2 TCF FYX2 INDEX XNDX2 CA XLNNDX INDEX A FYX2 CA PYTABLE MASK YJETS TS YWORD2 TCF T6SETUP YBYPASS CA YWORD1 TS YWORD2 CAF ZERO TS BLAST2 # Page 1059 # SORT THE JET ON-TIMES # AT THIS POINT ALL THE CHANNEL COMMANDS AND JET ON-TIMES HAVE BEEN DETERMINED. IN SUMMARY THESE ARE- # RWORD1 # RWORD2 BLAST # PWORD1 # PWORD2 BLAST1 # YWORD1 # YWORD2 BLAST2 # IN THIS SECTION THE JET ON-TIMES ARE SORTED AND THE SEQUENCE OF T6 INTERRUPTS IS DETERMINED. TO FACILITATE # THE SORTING PROCESS AND THE T6 PROGRAM, THE VARIABLES BLAST, BLAST1, BLAST2, ARE RESERVED AS DOUBLE PRECISION # WORDS. THE LOWER PART OF THESE WORDS CONTAIN A BRANCH INDEX ASSOCIATED WITH THE ROTATION AXIS OF THE HIGHER # ORDER WORD. T6SETUP CAF ZERO # BRANCH INDEX FOR ROLL TS BLAST +1 CAF FOUR # BRANCH INDEX FOR PITCH TS BLAST1 +1 CAF ELEVEN # BRANCH INDEX FOR YAW TS BLAST2 +1 CS BLAST AD BLAST1 EXTEND BZMF DXCHT12 # T1 GR T2 CHECKT23 CS BLAST1 AD BLAST2 EXTEND BZMF DXCHT23 CALCDT6 CS BLAST1 ADS BLAST2 CS BLAST ADS BLAST1 # END OF SORTING PROCEDURE EXTEND # RESET T5LOC TO BEGIN PHASE1 DCA RCS2CADR DXCH T5LOC ENDJETS CS BIT1 # RESET BIT1 FOR INITIALIZATION OF MASK RCSFLAGS # T6 PROGRAM TS RCSFLAGS CS ZERO # RESET T5PHASE FOR PHASE1 TS T5PHASE TCF RESUME # RESUME INTERRUPTED PROGRAM EBANK= KMPAC RCS2CADR 2CADR RCSATT # Page 1060 DXCHT12 DXCH BLAST DXCH BLAST1 DXCH BLAST TCF CHECKT23 DXCHT23 DXCH BLAST1 DXCH BLAST2 DXCH BLAST1 CS BLAST AD BLAST1 EXTEND BZMF +2 TCF CALCDT6 DXCH BLAST DXCH BLAST1 DXCH BLAST TCF CALCDT6 # Page 1061 # T6 PROGRAM AND CHANNEL SETUP BANK 21 SETLOC DAPS5 BANK T6START LXCH BANKRUPT EXTEND QXCH QRUPT CCS TIME6 # CHECK TO SEE IF TIME6 WAS RESET TCF RESUME # AFTER T6RUPT OCCURED(IN T5RUPT) TCF +2 # IF SO WAIT FOR NEXT T6RUPT BEFORE TCF RESUME # TAKING ACTION CS RCSFLAGS MASK BIT1 # IF BIT1 IS 0 RESET TO 1 EXTEND # AND INITIALIZE CHANNEL BZF T6RUPTOR ADS RCSFLAGS CA RWORD1 EXTEND # INITIALIZE CHANNELS 5,6 WITH WORD1 WRITE CHAN6 CA PWORD1 AD YWORD1 EXTEND WRITE CHAN5 T6RUPTOR CCS BLAST TCF ZBLAST # ZERO BLAST1 TCF REPLACE # REPLACE WORD1 TCF +2 TCF REPLACE T6L1 CCS BLAST1 TCF ZBLAST1 TCF REPLACE1 TCF +2 TCF REPLACE1 T6L2 CCS BLAST2 TCF ZBLAST2 TCF REPLACE2 TCF RESUME TCF REPLACE2 REPLACE INDEX BLAST +1 TC REPLACER CS ONE TS BLAST TCF T6L1 REPLACE1 INDEX BLAST1 +1 # Page 1062 TC REPLACER CS ONE TS BLAST1 TCF T6L2 REPLACE2 INDEX BLAST2 +1 TC REPLACER CS ONE TS BLAST2 TCF RESUME REPLACER CA RWORD2 EXTEND # INITIALIZE CHANNELS 5,6 WITH WORD2 WRITE CHAN6 TC Q REPLACEP CA YJETS EXTEND RAND CHAN5 AD PWORD2 EXTEND WRITE CHAN5 TC Q REPLACEY CA PJETS EXTEND RAND CHAN5 AD YWORD2 EXTEND WRITE CHAN5 TC Q ZBLAST CAF ZERO XCH BLAST TCF ENABT6 ZBLAST1 CAF ZERO XCH BLAST1 TCF ENABT6 ZBLAST2 CAF ZERO XCH BLAST2 ENABT6 TS TIME6 CAF NEGMAX EXTEND WOR CHAN13 # ENABLE T6RUPT TCF RESUME # END OF T6 INTERRUPT ENDSLECT EQUALS ================================================ FILE: Comanche055/KALCMANU_STEERING.agc ================================================ # Copyright: Public domain. # Filename: KALCMANU_STEERING.agc # Purpose: Part of the source code for Comanche, build 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), Apollo 11. # Assembler: yaYUL # Reference: pp. 414-419 # Contact: Onno Hommes . # Website: www.ibiblio.org/apollo. # Mod history: 05/07/09 OH Transcription Batch 1 Assignment # # The contents of the "Comanche055" files, in general, are transcribed # from scanned documents. # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. April 1, 1969. # # This AGC program shall also be referred to as Colossus 2A # # Prepared by # Massachusetts Institute of Technology # 75 Cambridge Parkway # Cambridge, Massachusetts # # under NASA contract NAS 9-4065. # # Refer directly to the online document mentioned above for further information. # Please report any errors to info@sandroid.org. # Page 414 # GENERATION OF STEERING COMMANDS FOR DIGITAL AUTOPILOT FREE FALL MANEUVERS # # NEW COMMANDS WILL BE GENERATED EVERY ONE SECOND DURING THE MANEUVER BANK 15 SETLOC KALCMON1 BANK EBANK= BCDU COUNT 22/KALC NEWDELHI CS HOLDFLAG # SEE IF MANEUVER HAS BEEN INTERRUPTED EXTEND # BY ASTRONAUT BZMF NOGO -2 # IF SO, TERMINATE KALCMANU NEWANGL TC INTPRET AXC,1 AXC,2 MIS # COMPUTE THE NEW MATRIX FROM S/C TO DEL # STABLE MEMBER AXES CALL MXM3 VLOAD STADR STOVL MIS +12D # CALCULATE NEW DESIRED CDU ANGLES STADR STOVL MIS +6D STADR STORE MIS AXC,1 CALL MIS DCMTOCDU # PICK UP THE NEW CDU ANGLES FROM MATRIX RTB V1STO2S STORE NCDU # NEW CDU ANGLES BONCLR EXIT CALCMAN2 MANUSTAT # TO START MANEUVER CAF TWO # +0 OTHERWISE INCRDCDU TS KSPNDX DOUBLE TS KDPNDX INDEX KSPNDX CA NCDU # NEW DESIRED CDU ANGLES EXTEND INDEX KSPNDX MSU BCDU # INITIAL S/C ANGLE OR PREVIOUS DESIRED EXTEND # CDU ANGLES MP QUADROT INDEX KDPNDX DXCH DELCDUX # ANGEL INCREMENTS TO BE ADDED TO # Page 415 INDEX KSPNDX # DCDU EVERY TENTH SEC CA NCDU # BY LEM DAP INDEX KSPNDX XCH BCDU INDEX KDPNDX TS CDUXD CCS KSPNDX TCF INCRDCDU # LOOP FOR THREE AXES RELINT # COMPARE PRESENT TIME WITH TIME TO TERMINATE MANEUVER TMANUCHK TC TIMECHK TC POSTJUMP CADR CONTMANU CAF ONE MANUSTAL TC WAITLIST EBANK= BCDU 2CADR MANUSTOP RELINT TCF ENDOFJOB TIMECHK EXTEND DCS TIME2 DXCH TTEMP EXTEND DCA TM DAS TTEMP CCS TTEMP TC Q TCF +2 TCF 2NDRETRN CCS TTEMP +1 TC Q TCF MANUOFF COM MANUOFF AD 1SEC EXTEND BZMF 2NDRETRN INCR Q 2NDRETRN INCR Q INCR Q TC Q SETLOC MANUSTUF BANK # Page 416 MANUSTAT EXIT # INITIALIZATION ROUTINE EXTEND # FOR AUTOMATIC MANEUVERS DCA TIME2 DAS TM # TM+T0 MANEUVER COMPLETION TIME CS 1SEC TS L CS ZERO DAS TM # (TM+T0)-1 INHINT CS ONE # ENABLE AUTOPILOT TO PERFORM TS HOLDFLAG # AUTOMATIC MANEUVERS CS RATEINDX # SEE IF MANEUVERING AT HIGH RATE AD SIX EXTEND BZMF HIGHGAIN TCF +4 HIGHGAIN CS RCSFLAGS # IF SO, SET HIGH RATE FLAG (BIT 15 OF MASK BIT15 # RCSFLAGS) ADS RCSFLAGS DXCH BRATE # X-AXIS MANEUVER RATE DXCH WBODY DXCH BRATE +2 # Y-AXIS MANEUVER RATE DXCH WBODY1 DXCH BRATE +4 # Z-AXIS MANEUVER RATE DXCH WBODY2 CA BIASTEMP +1 # INSERT ATTITUDE ERROR BIASES TS BIAS # INTO AUTOPILOT CA BIASTEMP +3 TS BIAS1 CA BIASTEMP +5 TS BIAS2 CA TIME1 AD 1SEC XCH NEXTIME TC POSTJUMP CADR INCRDCDU -1 CONTMANU INHINT # CONTINUE WITH UPDATE PROCESS CS TIME1 AD NEXTIME CCS A AD ONE TCF MANUCALL AD NEGMAX COM MANUCALL TC WAITLIST EBANK= BCDU 2CADR UPDTCALL RELINT # Page 417 CAF 1SEC # INCREMENT TIME FOR NEXT UPDATE ADS NEXTIME TCF ENDOFJOB UPDTCALL CAF PRIO26 # CALL FOR UPDATE TC FINDVAC # OF STEERING COMMANDS EBANK= BCDU 2CADR NEWDELHI TC TASKOVER # Page 418 # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS SETLOC KALCMON3 BANK MANUSTOP TC STOPYZ TC IBNKCALL CADR LOADYZ ENDROLL CA CPHI TS CDUXD # SET CDUXD TO THE COMMANDED OUTER GIMBAL TC STOPRATE ENDMANU CA ATTPRIO # RESTORE USERS PRIORITY TS NEWPRIO CA ZERO # ZERO ATTCADR DXCH ATTCADR TC SPVAC # RETURN TO USER OF GOMANUR TC TASKOVER SETLOC STOPRAT BANK STOPRATE CAF ZERO TS DELCDUX TS DELCDUX +1 # ZERO ROLL INCREMENTAL ANGLES TS WBODY # RATE TS WBODY +1 TS BIAS # BIAS CS BIT15 # MAKE SURE HIGH RATE FLAG (BIT 15 OF MASK RCSFLAGS # RCSFLAGS) IS RESET. TS RCSFLAGS STOPYZ CAF ZERO TS DELCDUY # ZERO PITCH, YAW TS DELCDUY +1 # INCREMENTAL ANGLES TS DELCDUZ TS DELCDUZ +1 TS WBODY1 # RATES TS WBODY1 +1 TS WBODY2 TS WBODY2 +1 TS BIAS1 # BIASES TS BIAS2 TC Q SETLOC MANUSTUF BANK # Page 419 ZEROERROR CA CDUX # PICK UP CDU ANGLES AND STORE IN TS CDUXD # CDU DESIRED CA CDUY TS CDUYD CA CDUZ TS CDUZD TC Q SETLOC KALCMON1 BANK LOADCDUD CA CPHI # STORE TERMINAL ANGLES INTO TS CDUXD # COMMAND ANGLES LOADYZ CA CTHETA TS CDUYD CA CPSI TS CDUZD TC Q ================================================ FILE: Comanche055/KEYRUPT_UPRUPT.agc ================================================ # Copyright: Public domain. # Filename: KEYRUPT_UPRUPT.agc # Purpose: Part of the source code for Comanche, build 055. It # is part of the source code for the Command Module's # (CM) Apollo Guidance Computer (AGC), Apollo 11. # Assembler: yaYUL # Reference: pp. 1449-1451 # Contact: Ron Burkey # Website: http://www.ibiblio.org/apollo. # Mod history: 2009-05-07 RSB Adapted from Colossus249 file of the same # name, and page images. Corrected various # typos in the transcription of program # comments, and these should be back-ported # to Colossus249. # # The contents of the "Comanche055" files, in general, are transcribed # from scanned documents. # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. April 1, 1969. # # This AGC program shall also be referred to as Colossus 2A # # Prepared by # Massachusetts Institute of Technology # 75 Cambridge Parkway # Cambridge, Massachusetts # # under NASA contract NAS 9-4065. # # Refer directly to the online document mentioned above for further # information. Please report any errors to info@sandroid.org. # Page 1449 BANK 14 SETLOC KEYRUPT BANK COUNT* $$/KEYUP KEYRUPT1 TS BANKRUPT XCH Q TS QRUPT TC LODSAMPT # TIME IS SNATCHED IN RUPT FOR NOUN 65. CAF LOW5 EXTEND RAND MNKEYIN # CHECK IF KEYS 5M-1M ON KEYCOM TS RUPTREG4 CS FLAGWRD5 MASK BIT15 ADS FLAGWRD5 ACCEPTUP CAF CHRPRIO # (NOTE: RUPTREG4 = KEYTEMP1) TC NOVAC EBANK= DSPCOUNT 2CADR CHARIN CA RUPTREG4 INDEX LOCCTR TS MPAC # LEAVE 5 BIT KEY CDE IN MPAC FOR CHARIN TC RESUME # Page 1450 # UPRUPT PROGRAM UPRUPT TS BANKRUPT XCH Q TS QRUPT TC LODSAMPT # TIME IS SNATCHED IN RUPT FOR NOUN 65. CAF ZERO XCH INLINK TS KEYTEMP1 CAF BIT3 # TURN ON UPACT LIGHT EXTEND # (BIT 3 OF CHANNEL 11) WOR DSALMOUT UPRPT1 CAF LOW5 # TEST FOR TRIPLE CHAR REDUNDANCY MASK KEYTEMP1 # LOW5 OF WORD XCH KEYTEMP1 # LOW5 INTO KEYTEMP1 EXTEND MP BIT10 # SHIFT RIGHT 5 TS KEYTEMP2 MASK LOW5 # MID 5 AD HI10 TC UPTEST CAF BIT10 EXTEND MP KEYTEMP2 # SHIFT RIGHT 5 MASK LOW5 # HIGH 5 COM TC UPTEST UPOK CS ELRCODE # CODE IS GOOD. IF CODE = 'ERROR RESET', AD KEYTEMP1 # CLEAR UPLOCKFL(SET BIT4 OF FLAGWRD7 = 0) EXTEND # IF CODE DOES NOT = 'ERROR RESET', ACCEPT BZF CLUPLOCK # CODE ONLY IF UPLOCKFL IS CLEAR (=0). CAF BIT4 # TEST UPLOCKFL FOR 0 OR 1. MASK FLAGWRD7 CCS A TC RESUME # UPLOCKFL = 1 TC ACCEPTUP # UPLOCKFL = 0 CLUPLOCK CS BIT4 # CLEAR UPLOCKFL (I.E., SET BIT 4 OF MASK FLAGWRD7 # FLAGWRD7 = 0) TS FLAGWRD7 TC ACCEPTUP # CODE IS BAD TMFAIL2 CS FLAGWRD7 # LOCK OUT FURTHER UPLINK ACTIVITY MASK BIT4 # (BY SETTING UPLOCKFL = 1) UNTIL ADS FLAGWRD7 # 'ERROR RESET' IS SENT VIA UPLINK. TC RESUME UPTEST AD KEYTEMP1 # Page 1451 CCS A TC TMFAIL2 HI10 OCT 77740 TC TMFAIL2 TC Q ELRCODE OCT 22 # 'UPLINK ACTIVITY LIGHT' IS TURNED OFF BY ..... # 1. VBRELDSP # 2. ERROR RESET # 3. UPDATE PROGRAM(P27) ENTERED BY V70,V71,V72,AND V73. # # # - # THE RECEPTION OF A BAD CODE(I.E. CCC FAILURE) LOCKS OUT FURTHER UPLINK ACTIVITY BY SETTING BIT4 OF FLAGWRD7 = 1. # THIS INDICATION WILL BE TRANSFERRED TO THE GROUND BY THE DOWNLINK WHICH DOWNLINKS ALL FLAGWORDS. # WHEN UPLINK ACTIVITY IS LOCKED OUT ,IT CAN BE ALLOWED WHEN THE GROUND UPLINKS AND 'ERROR RESET' CODE. # (IT IS RECOMMENDED THAT THE 'ERROR LIGHT RESET' CODE IS PRECEEDED BY 16 BITS THE FIRST OF WHICH IS 1 FOLLOWED # BY 15 ZEROS. THIS WILL ELIMINATE EXTRANEOUS BITS FROM INLINK WHICH MAY HAVE BEEN LEFT OVER FROM THE ORIGINAL # FAILURE). # UPLINK ACTIVITY IS ALSO ALLOWED(UNLOCKED) DURING FRESH START WHEN FRESH START SETS BIT4 OF FLAGWRD7 = 0. ================================================ FILE: Comanche055/LATITUDE_LONGITUDE_SUBROUTINES.agc ================================================ # Copyright: Public domain. # Filename: LATITUDE_LONGITUDE_SUBROUTINES.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1236-1242 # Mod history: 2009-05-14 RSB Adapted from the Colossus249/ file of the # same name, using Comanche055 page images. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 1236 # SUBROUTINE TO CONVERT RAD VECTOR AT GIVEN TIME TO LAT,LONG AND ALT # # CALLING SEQUENCE # # L-1 CALL # L LAT-LONG # SUBROUTINES USED # # R-TO-RP,ARCTAN,SETGAMMA,SETRE # ERASABLE INIT. REQ. # # AXO,-AYO,AZO,TEPHEM (SET AT LAUNCH TIME) # ALPHAV = POSITION VECTOR METERS B-29 # MPAC-- TIME (CSECS B-28) # ERADFLAG =1, TO COMPUTE EARTH RADIUS, =0 FOR FIXED EARTH RADIUS # LUNAFLAG=0 FOR EARTH,1 FOR MOON # OUTPUT # # LATITUDE IN LAT (REVS. B-0) # LONGITUDE IN LONG (REVS. B-0) # ALTITUDE IN ALT METERS B-29 BANK 30 SETLOC LATLONG BANK COUNT 13/LT-LG EBANK= ALPHAV LAT-LONG STQ SETPD INCORPEX 0D STOVL 6D # SAVE TIME IN 6-7D FOR R-TO-RP ALPHAV PUSH ABVAL # 0-5D= R FOR R-TO-RP STODL ALPHAM # ABS. VALUE OF R FOR ALT FORMULA BELOW ZEROVEC # SET MPAC=0 FOR EARTH,NON-ZERO FOR MOON BOFF COS # USE COS(0) TO GET NON-ZERO IN MPAC LUNAFLAG # 0=EARTH,1=MOON CALLRTRP CALLRTRP CALL R-TO-RP # RP VECTOR CONVERTED FROM R B-29 UNIT # UNIT RP B-1 STCALL ALPHAV # U2= 1/2 SINL FOR SETRE SUBR BELOW SETGAMMA # SET GAMMA=B2/A2 FOR EARTH,=1 FOR MOON CALL # SCALED B-1 SETRE # CALC RE METERS B-29 DLOAD DSQ ALPHAV PDDL DSQ ALPHAV +2 # Page 1237 DAD SQRT DMP SL1R GAMRP STODL COSTH # COS(LAT) B-1 ALPHAV +4 STCALL SINTH # SIN(LAT) B-1 ARCTAN STODL LAT # LAT B0 ALPHAV STODL COSTH # COS(LONG) B-1 ALPHAV +2 STCALL SINTH # SIN(LONG) B-1 ARCTAN STODL LONG # LONG. REVS B-0 IN RANGE -1/2 TO 1/2 ALPHAM DSU # ALT= R-RE METERS B-29 ERADM STCALL ALT # EXIT WITH ALT METERS B-29 INCORPEX # Page 1238 # SUBROUTINE TO CONVERT LAT,LONG.ALT AT GIVEN TIME TO RADIUS VECTOR # CALLING SEQUENCE # L-1 CALL # L LALOTORV # SUBROUTINES USED # SETGAMMA,SETRE,RP-TO-R # ERASABLE INIT. REQ. # AXO,AYO,AZO,TEPHEM SET AT LAUNCH TIME # LAT-- LATITUDE (REVS B0) # LONG-- LONGITUDE (REVS B0) # ALT--ALTITUDE (METERS) B-29 # MPAC-- TIME (CSECS B-28) # ERADFLAG =1 TO COMPUTE EARTH RADIUS, =0 FOR FIXED EARTH RADIUS # LUNAFLAG=0 FOR EARTH,1 FOR MOON # OUTPUT # R-VECTOR IN ALPHAV (METERS B-29) LALOTORV STQ SETPD # LAT,LONG,ALT TO R VECTOR INCORPEX 0D STCALL 6D # 6-7D= TIME FOR RP-TO-R SETGAMMA # GAMMA=B2/A2 FOR EARTH,1 FOR MOON B-1 DLOAD SIN # COS(LONG)COS(LAT) IN MPAC LAT # UNIT RP= SIN(LONG)COS(LAT) 2-3D DMPR PDDL # PD 2 GAMMA*SIN(LAT) 0-1D GAMRP LAT # 0-1D = GAMMA*SIN(LAT) B-2 COS PDDL # PD4 2-3D=COS(LAT) B-1 TEMPORARILY LONG SIN DMPR # PD 2 PDDL COS # PD 4 2-3D=SIN(LONG)COS(LAT) B-2 LAT PDDL COS # PD 6 4-5D=COS(LAT) B-1 TEMPORARILY LONG DMPR VDEF # PD4 MPAC= COS(LONG)COS(LAT) B-2 UNIT PUSH # 0-5D= UNIT RP FOR RP-TO-R SUBR. STCALL ALPHAV # ALPHAV +4= SINL FOR SETRE SUBR. SETRE # RE METERS B-29 DLOAD BOFF # SET MPAC=0 FOR EARTH,NON-ZERO FOR MOON ZEROVEC LUNAFLAG CALLRPRT COS # USE COS(0) TO GET NON-ZERO IN MPAC CALLRPRT CALL RP-TO-R # EXIT WITH UNIT R VECTOR IN MPAC STODL ALPHAV ERADM # Page 1239 DAD VXSC # (RE + ALT)(UNIT R) METERS B-30 ALT ALPHAV VSL1 # R METERS B-29 STCALL ALPHAV # EXIT WITH R IN METERS B-29 INCORPEX # SUBROUTINE TO COMPUTE EARTH RADIUS # INPUT # 1/2 SIN LAT IN ALPHAV +4 # OUTPUT # EARTH RADIUS IN ERADM AND MPAC (METERS B-29) GETERAD DLOAD DSQ ALPHAV +4 # SIN**2(L) SL1 BDSU DP1/2 # COS**2(L) DMPR BDSU EE DP1/2 BDDV SQRT B2XSC SR4R STORE ERADM RVQ # THE FOLLOWING CONSTANTS WERE COMPUTED WITH A=6378166,B=6356784 METERS # B2XSC= B**2 SCALED B-51 # B2/A2= B**2/A**2 SCALED B-1 # EE=(1-B**2/A**2) SCALED B-0 B2XSC 2DEC .0179450689 # B**2 SCALED B-51 DP1/2 = XUNIT B2/A2 2DEC .9933064884 B-1 # GAMMA= B**2/A**2 B-1 EE 2DEC 6.6935116 E-3 # (1-B**2/A**2) B-0 ERAD 2DEC 6373338 B-29 # PAD RADIUS # Page 1240 # ARCTAN SUBROUTINE # CALLING SEQUENCE # SIN THETA IN SINTH B-1 # COS THETA IN COSTH B-1 # CALL ARCTAN # OUTPUT # ARCTAN THETA IN MPAC AND THETA B-0 IN RANGE -1/2 TO +1/2 ARCTAN BOV CLROVFLW CLROVFLW DLOAD DSQ SINTH PDDL DSQ COSTH DAD BZE SQRT ARCTANXX # ATAN=0/0 SET THETA=0 BDDV BOV SINTH ATAN=90 SR1 ASIN STORE THETA PDDL BMN COSTH NEGCOS DLOAD RVQ NEGCOS DLOAD DCOMP BPL DAD NEGOUT DP1/2 ARCTANXX STORE THETA RVQ NEGOUT DSU GOTO DP1/2 ARCTANXX ATAN=90 DLOAD SIGN LODP1/4 SINTH STORE THETA RVQ 2DZERO = DPZERO # Page 1241 # ***** SETGAMMA SUBROUTINE ***** # SUBROUTINE TO SET GAMMA FOR THE LAT-LONG AND LALOTORV SUBROUTINES # GAMMA = B**2/A**2 FOR EARTH (B-1) # GAMMA = 1 FOR MOON (B-1) # CALLING SEQUENCE # L CALL # L+1 SETGAMMA # INPUT # LUNAFLAG=0 FOR EARTH,=1 FOR MOON # OUTPUT # GAMMA IN GAMRP (B-1) SETGAMMA DLOAD BOFF # BRANCH FOR EARTH B2/A2 # EARTH GAMMA LUNAFLAG SETGMEX SLOAD 1B1 # MOON GAMMA SETGMEX STORE GAMRP RVQ GAMRP = 8D # Page 1242 # ***** SETRE SUBROUTINE ***** # SUBROUTINE TO SET RE (EARTH OR MOON RADIUS) # RE= RM FOR MOON # RE= RREF FOR FIXED EARTH RADIUS OR COMPUTED RF FOR FISCHER ELLIPSOID # CALLING SEQUENCE # L CALL # L+1 SETRE # SUBROUTINES USED # GETERAD # INPUT # ERADFLAG=0 FOR FIXED RE, 1 FOR COMPUTED RE # ALPHAV +4= 1/2 SINL IF GETERAD IS CALLED # LUNAFLAG=0 FOR EARTH,=1 FOR MOON # OUTPUT # ERADM= 504RM FOR MOON (METERS B-29) # ERADM= ERAD OR COMPUTED RF FOR EARTH (METERS B-29) SETRE STQ DLOAD SETREX 504RM BON DLOAD # BRANCH FOR MOON LUNAFLAG TSTRLSRM ERAD BOFF CALL # ERADFLAG=0 FOR FIXED RE,1 FOR COMPUTED ERADFLAG SETRXX GETERAD SETRXX STCALL ERADM # EXIT WITH RE OR RM METERS B-29 SETREX TSTRLSRM BON VLOAD # ERADFLAG=0,SET R0=RLS ERADFLAG # =1 R0=RM SETRXX RLS ABVAL SR2R # SCALE FROM B-27 TO B-29 GOTO SETRXX SETREX = S2 504RM 2DEC 1738090 B-29 # METERS B-29 (MOON RADIUS) ================================================ FILE: Comanche055/LUNAR_AND_SOLAR_EPHEMERIDES_SUBROUTINES.agc ================================================ # Copyright: Public domain. # Filename: LUNAR_AND_SOLAR_EPHEMERIDES_SUBROUTINES.agc # Purpose: Part of the source code for Comanche, build 055. It # is part of the source code for the Command Module's # (CM) Apollo Guidance Computer (AGC), Apollo 11. # Assembler: yaYUL # Reference: pp. 785-788 # Contact: Ron Burkey # Website: http://www.ibiblio.org/apollo. # Mod history: 2009-05-12 RSB Adapted from Colossus249 file of the same # name and Comanche 055 page images. # 2009-07-26 RSB Added annotations related to computation # of the ephemeral(?) polynomials. # # The contents of the "Comanche055" files, in general, are transcribed # from scanned documents. # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. April 1, 1969. # # This AGC program shall also be referred to as Colossus 2A # # Prepared by # Massachusetts Institute of Technology # 75 Cambridge Parkway # Cambridge, Massachusetts # # under NASA contract NAS 9-4065. # # Refer directly to the online document mentioned above for further # information. Please report any errors to info@sandroid.org. # Page 785 # LUNAR AND SOLAR EPHEMERIDES SUBROUTINES # # FUNCTIONAL DESCRIPTION # # THESE SUBROUTINES ARE USED TO DETERMINE THE POSITION AND VELOCITY # VECTORS OF THE SUN AND THE MOON RELATIVE TO THE EARTH AT THE # SPECIFIED GROUND ELAPSED TIME INPUT BY THE USER. # # THE POSITION OF THE MOON IS STORED IN THE COMPUTER IN THE FORM OF # A NINTH DEGREE POLYNOMIAL APPROXIMATION WHICH IS VALID OVER A 15 # DAY INTERVAL BEGINNING SHORTLY BEFORE LAUNCH. THEREFORE THE TIME # INPUT BY THE USER SHOULD FALL WITHIN THIS 15 DAY INTERVAL. # # LSPOS COMPUTES THE POSITION VECTORS OF THE SUN AND THE MOON. # # LUNPOS COMPUTES THE POSITION VECTOR OF THE MOON. # # LUNVEL COMPUTES THE VELOCITY VECTOR OF THE MOON. # # SOLPOS COMPUTES THE POSITION VECTOR OF THE SUN. # # CALLING SEQUENCE # # DLOAD CALL # TIME GROUND ELAPSED TIME # SUBROUTINE LSPOS OR LUNPOS OR LUNVEL OR SOLPOS # # INPUT # # 1) SPECIFIED GROUND ELAPSED TIME IN CS x B-28 LOADED IN MPAC. # # 2) TIMEMO - TIME AT THE CENTER OF THE RANGE OVER WHICH THE LUNAR # POSITION POLYNOMIAL IS VALID IN CS x B-42. # # 3) VECOEM - VECTOR COEFFICIENTS OF THE LUNAR POSITION POLYNOMIAL # LOADED IN DESCENDING SEQUENCE IN METERS/CS**N x B-2 # # 4) RESO - POSITION VECTOR OF THE SUN RELATIVE TO THE EARTH AT # TIMEMO IN METERS x B-38. # # 5) VESO - VELOCITY VECTOR OF THE SUN RELATIVE TO THE EARTH AT # TIMEMO IN METERS/CS x B-9. # # 6) OMEGAES - ANGULAR VELOCITY OF THE VECTOR RESO AT TIMEMO IN # REV/CS x B+26. # # ALL EXCEPT THE FIRST INPUT ARE INCLUDED IN THE PRE-LAUNCH # ERASABLE DATA LOAD. # # OUTPUT - LSPOS # Page 786 # 1) 2D OF VAC AREA CONTAINS THE POSITION VECTOR OF THE SUN RELATIVE # TO THE EARTH AT TIME INPUT BY THE USER IN METERS x B-38. # # 2) MPAC CONTAINS THE POSITION VECTOR OF THE MOON RELATIVE TO THE # EARTH AT TIME INPUT BY THE USER IN METERS x B-29. # # OUTPUT - LUNPOS # # MPAC CONTAINS THE POSITION VECTOR OF THE MOON RELATIVE TO THE # EARTH AT THE TIME INPUT BY USER IN METERS x B-29. # # OUTPUT - LUNVEL # # MPAC CONTAINS THE VELOCITY VECTOR OF THE MOON RELATIVE TO THE # EARTH AT THE TIME INPUT BY THE USER IN METERS/CS x B-7. # # OUTPUT - SOLPOS # # MPAC CONTAINS THE POSITION VECTOR OF THE SUN RELATIVE TO THE EARTH # AT TIME INPUT BY THE USER IN METERS x B-38. # # SUBROUTINES USED # # NONE # # REMARKS # # THE VAC AREA IS USED FOR STORAGE OF INTERMEDIATE AND FINAL RESULTS # OF COMPUTATIONS. # # S1, X1 AND X2 ARE USED BY THESE SUBROUTINES. # PRELAUNCH ERASABLE DATA LOAD ARE ONLY ERASABLE STORAGE USED BY # THESE SUBROUTINES. # RESTARTS DURING OPERATION OF THESE SUBROUTINES MUST BE HANDLED BY # THE USER. BANK 36 SETLOC EPHEM BANK COUNT* $$/EPHEM EBANK= END-E7 LSPOS AXT,2 # COMPUTES POSITION VECTORS OF BOTH THE RESA # SUN AND THE MOON. THE POSITION VECTOR AXT,1 GOTO # OF THE SUN IS STORED IN 2D OF THE VAC RES # AREA. THE POSITION VECTOR OF THE MOON LSTIME # IS STORED IN MPAC. LUNPOS AXT,1 GOTO # COMPUTES THE POSITION VECTOR OF THE MOON REM # AND STORES IT IN MPAC. LSTIME # Page 787 LUNVEL AXT,1 GOTO # COMPUTES THE VELOCITY VECTOR OF THE MOON VEM # AND STORES IT IN MPAC. LSTIME SOLPOS STQ AXT,1 # COMPUTES THE POSITION VECTOR OF THE SUN X2 # AND STORES IT IN MPAC. RES LSTIME SETPD SR 0D 14D TAD DCOMP TEPHEM TAD DCOMP TIMEMO SL SSP 16D S1 6D GOTO X1 RES PUSH DMP # PD- 2 OMEGAES PUSH COS # PD- 4 VXSC PDDL # PD- 8 RESO SIN PDVL # PD-10 RESO PUSH UNIT # PD-16 VXV UNIT VESO VXV VSL1 # PD-10 VXSC VAD # PD-02 VSL1 GOTO # RES IN METERS x B-38 IN MPAC. X2 RESA STODL 2D # RES IN METERS x B-38 IN 2D OF VAC. PD- 0 REM AXT,1 PDVL # PD- 2 54D VECOEM REMA VXSC VAD* 0D VECOEM +60D,1 TIX,1 VSL2 # REM IN METERS x B-29 IN MPAC. REMA RVQ VEM AXT,1 PDDL # PD- 2 48D NINEB4 PUSH VXSC # PD- 4 VECOEM VEMA VXSC 0D # Page 788 STODL 4D # PD- 2 DSU PUSH # PD- 4 ONEB4 VXSC* VAD VECOEM +54D,1 4D TIX,1 VSL2 # VEM IN METERS/CS x B-7 IN MPAC. VEMA RVQ NINEB4 2DEC 9.0 B-4 ONEB4 2DEC 1.0 B-4 ================================================ FILE: Comanche055/LUNAR_LANDMARK_SELECTION_FOR_CM.agc ================================================ # Copyright: Public domain. # Filename: LUNAR_LANDMARK_SELECTION_FOR_CM.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Jim Lawton . # Website: www.ibiblio.org/apollo. # Pages: 936 # Mod history: 2009-05-11 JVL Adapted from the Colossus249/ file # of the same name, using Comanche055 page # images. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 936 # *** END OF TROUBLE .043 *** ================================================ FILE: Comanche055/MAIN.agc ================================================ $CONTRACT_AND_APPROVALS.agc # p. 1 $ASSEMBLY_AND_OPERATION_INFORMATION.agc # pp. 2-26 $TAGS_FOR_RELATIVE_SETLOC.agc # pp. 27-35 # p. 36 contains no code. # COMERASE $ERASABLE_ASSIGNMENTS.agc # pp. 37-130 # COMAID $INTERRUPT_LEAD_INS.agc # pp. 131-132 $T4RUPT_PROGRAM.agc # pp. 133-169 $DOWNLINK_LISTS.agc # pp. 170-180 $FRESH_START_AND_RESTART.agc # pp. 181-210 $RESTART_TABLES.agc # pp. 211-221 $SXTMARK.agc # pp. 222-235 $EXTENDED_VERBS.agc # pp. 236-267 $PINBALL_NOUN_TABLES.agc # pp. 268-284 $CSM_GEOMETRY.agc # pp. 285-296 $IMU_COMPENSATION_PACKAGE.agc # pp. 297-306 $PINBALL_GAME_BUTTONS_AND_LIGHTS.agc # pp. 307-389 $R60_62.agc # pp. 390-398 $ANGLFIND.agc # pp. 399-411 $GIMBAL_LOCK_AVOIDANCE.agc # pp. 412-413 $KALCMANU_STEERING.agc # pp. 414-419 $SYSTEM_TEST_STANDARD_LEAD_INS.agc # pp. 420-422 $IMU_CALIBRATION_AND_ALIGNMENT.agc # pp. 423-455 # COMEKISS $GROUND_TRACKING_DETERMINATION_PROGRAM.agc # pp. 456-459 $P34-35_P74-75.agc # pp. 460-504 $R31.agc # pp. 505-510 $P76.agc # pp. 511-513 $R30.agc # pp. 514-524 $STABLE_ORBIT.agc # pp. 525-532 # TROUBLE $P11.agc # pp. 533-550 $TPI_SEARCH.agc # pp. 551-561 $P20-P25.agc # pp. 562-634 $P30-P37.agc # pp. 635-648 $P32-P33_P72-P73.agc # pp. 649-683 $P40-P47.agc # pp. 684-736 $P51-P53.agc # pp. 737-784 $LUNAR_AND_SOLAR_EPHEMERIDES_SUBROUTINES.agc # pp. 785-788 $P61-P67.agc # pp. 789-818 $SERVICER207.agc # pp. 819-836 $ENTRY_LEXICON.agc # pp. 837-843 $REENTRY_CONTROL.agc # pp. 844-882 $CM_BODY_ATTITUDE.agc # pp. 883-889 $P37_P70.agc # pp. 890-933 $S-BAND_ANTENNA_FOR_CM.agc # pp. 934-935 $LUNAR_LANDMARK_SELECTION_FOR_CM.agc # pp. 936 # TVCDAPS $TVCINITIALIZE.agc # pp. 937-944 $TVCEXECUTIVE.agc # pp. 945-950 $TVCMASSPROP.agc # pp. 951-955 $TVCRESTARTS.agc # pp. 956-960 $TVCDAPS.agc # pp. 961-978 $TVCSTROKETEST.agc # pp. 979-983 $TVCROLLDAP.agc # pp. 984-998 $MYSUBS.agc # pp. 999-1001 $RCS-CSM_DIGITAL_AUTOPILOT.agc # pp. 1002-1024 $AUTOMATIC_MANEUVERS.agc # pp. 1025-1036 $RCS-CSM_DAP_EXECUTIVE_PROGRAMS.agc # pp. 1037-1038 $JET_SELECTION_LOGIC.agc # pp. 1039-1062 $CM_ENTRY_DIGITAL_AUTOPILOT.agc # pp. 1063-1092 # CHIEFTAN $DOWN-TELEMETRY_PROGRAM.agc # pp. 1093-1102 $INTER-BANK_COMMUNICATION.agc # pp. 1103-1106 $INTERPRETER.agc # pp. 1107-1199 $FIXED_FIXED_CONSTANT_POOL.agc # pp. 1200-1204 $INTERPRETIVE_CONSTANTS.agc # pp. 1205-1206 $SINGLE_PRECISION_SUBROUTINES.agc # p. 1207 $EXECUTIVE.agc # pp. 1208-1220 $WAITLIST.agc # pp. 1221-1235 $LATITUDE_LONGITUDE_SUBROUTINES.agc # pp. 1236-1242 $PLANETARY_INERTIAL_ORIENTATION.agc # pp. 1243-1251 $MEASUREMENT_INCORPORATION.agc # pp. 1252-1261 $CONIC_SUBROUTINES.agc # pp. 1262-1308 $INTEGRATION_INITIALIZATION.agc # pp. 1309-1333 $ORBITAL_INTEGRATION.agc # pp. 1334-1354 $INFLIGHT_ALIGNMENT_ROUTINES.agc # pp. 1355-1364 $POWERED_FLIGHT_SUBROUTINES.agc # pp. 1365-1372 $TIME_OF_FREE_FALL.agc # pp. 1373-1388 $STAR_TABLES.agc # pp. 1389-1393 $AGC_BLOCK_TWO_SELF-CHECK.agc # pp. 1394-1403 $PHASE_TABLE_MAINTENANCE.agc # pp. 1404-1413 $RESTARTS_ROUTINE.agc # pp. 1414-1419 $IMU_MODE_SWITCHING_ROUTINES.agc # pp. 1420-1448 $KEYRUPT_UPRUPT.agc # pp. 1449-1451 $DISPLAY_INTERFACE_ROUTINES.agc # pp. 1452-1484 $SERVICE_ROUTINES.agc # pp. 1485-1492 $ALARM_AND_ABORT.agc # pp. 1493-1496 $UPDATE_PROGRAM.agc # pp. 1497-1507 $RT8_OP_CODES.agc # pp. 1508-1516 # pp. 1517-1751: GAP-generated tables. ================================================ FILE: Comanche055/MEASUREMENT_INCORPORATION.agc ================================================ # Copyright: Public domain. # Filename: MEASUREMENT_INCORPORATION.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1252-1261 # Mod history: 2009-05-14 RSB Adapted from the Colossus249/ file of the # same name, using Comanche055 page images. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 1252 # INCORP1--PERFORMS THE SIX DIMENSIONAL STATE VECTOR DEVIATION FOR POSITI # ON AND VELOCITY OR THE NINE DIMENSIONAL DEVIATION OF POSITION,VELOCITY,A # ND RADAR OR LANDMARK BIAS.THE OUTPUT OF THE BVECTOR ROUTINE ALONG WITH T # HE ERROR TRANSITION MATRIX(W) ARE USED AS INPUT TO THE ROUTINE.THE DEVIA # TION IS OBTAINED BY COMPUTING AN ESTIMATED TRACKING MEASUREMENT FROM THE # CURRENT STATE VECTOR AND COMPARING IT WITH AN ACTUAL TRACKING MEASUREMEN # T AND APPLYING A STATISTICAL WEIGHTING VECTOR. # INPUT # DMENFLG = 0 6DIMENSIONAL BVECTOR 1= 9DIMENSIONAL # W = ERROR TRANSITION MATRIX 6X6 OR 9X9 # VARIANCE = VARIANCE (SCALAR) # DELTAQ = MEASURED DEVIATION(SCALAR) # BVECTOR = 6 OR 9 DIMENSIONAL BVECTOR # # OUTPUT # DELTAX = STATE VECTOR DEVIATIONS 6 OR 9 DIMENSIONAL # ZI = VECTOR USED FOR THE INCORPORATION 6 OR 9 DIMENSIONAL # GAMMA = SCALAR # OMEGA = OMEGA WEIGHTING VECTOR 6 OR 9 DIMENSIONAL # # CALLING SEQUENCE # L CALL INCORP1 # # NORMAL EXIT # L+1 OF CALLING SEQUENCE BANK 37 SETLOC MEASINC BANK COUNT* $$/INCOR EBANK= W INCORP1 STQ EGRESS AXT,1 SSP 54D S1 18D # IX1 = 54 S1= 18 AXT,2 SSP 18D S2 6 # IX2 = 18 S2=6 Z123 VLOAD MXV* BVECTOR # BVECTOR (0) W +54D,1 STORE ZI +18D,2 VLOAD BVECTOR +6 # BVECTOR (1) # Page 1253 MXV* VAD* W +108D,1 ZI +18D,2 STORE ZI +18D,2 VLOAD BVECTOR +12D # BVECTOR (2) MXV* VAD* W +162D,1 ZI +18D,2 # B(0)*W+B(1)*(W+54)+B(2)*(W+108)FIRST PAS STORE ZI +18D,2 # ZI THEN Z2 THEN Z3 TIX,1 INCOR1 INCOR1 TIX,2 BON Z123 # LOOP FOR Z1,Z2,Z3 DMENFLG INCOR1A VLOAD ZEROVECS STORE ZI +12D INCOR1A SETPD VLOAD 0 ZI VSQ RTB TPMODE PDVL VSQ ZI +6 RTB TAD TPMODE PDVL VSQ ZI +12D RTB TAD TPMODE TAD AXT,2 VARIANCE 0 STORE TRIPA # ZI*2 + Z2*2 + Z3*2 + VARIANCE TLOAD BOV VARIANCE # CLEAR OVFIND +1 STORE TEMPVAR # TEMP STORAGE FOR VARIANCE BZE INCOR1C INCOR1B SL2 BOV INCOR1C STORE TEMPVAR INCR,2 GOTO DEC 1 INCOR1B INCOR1C TLOAD ROUND TRIPA # Page 1254 DMP SQRT TEMPVAR SL* TAD 0,2 TRIPA NORM INCR,2 X2 DEC -2 SXA,2 AXT,2 NORMGAM # NORMALIZATION COUNT -2 FOR GAMMA 162D BDDV SETPD DP1/4TH 0 STORE GAMMA TLOAD NORM TRIPA X1 DLOAD PDDL # PD 0-1 = NORM (A) MPAC DELTAQ NORM S1 XSU,1 SR1 S1 DDV PUSH # PD 0-1 = DELTAQ/A GOTO NEWZCOMP -3 SSP S2 54D INCOR2 VLOAD VXM* # COMPUT OMEGA1,2,3 ZI W +162D,2 PUSH VLOAD ZI +6 VXM* VAD W +180D,2 PUSH VLOAD ZI +12D VXM* VAD W +198D,2 PUSH TIX,2 # PD 2-7=OMEGA1,8-13=OMEGA2,14-19=OMEGA3 INCOR2 VLOAD STADR STORE OMEGA +12D VLOAD STADR STORE OMEGA +6 VLOAD STADR STORE OMEGA # Page 1255 BON VLOAD DMENFLG INCOR2AB ZEROVECS STORE OMEGA +12D INCOR2AB AXT,2 SSP 18D S2 6 INCOR3 VLOAD* OMEGA +18D,2 VXSC VSL* 0 # DELTAQ/A 0,1 STORE DELTAX +18D,2 TIX,2 VLOAD INCOR3 DELTAX +6 VSL3 STORE DELTAX +6 GOTO EGRESS # Page 1256 # INCORP2 -INCORPORATES THE COMPUTED STATE VECTOR DEVIATIONS INTO THE # ESTIMATED STATE VECTOR. THE STATE VECTOR UPDATED MAY BE FOR EITHER THE # LEM OR THE CSM.DETERMINED BY FLAG VEHUPFLG.(ZERO = LEM) (1 = CSM) # INPUT # PERMANENT STATE VECTOR FOR EITHER THE LEM OR CSM # VEHUPFLG = UPDATE VEHICLE C=LEM 1=CSM # W = ERROR TRANSITION MATRIX # DELTAX = COMPUTED STATE VECTOR DEVIATIONS # DMENFLG = SIZE OF W MATRIX (ZERO=6X6) (1=9X9) # GAMMA = SCALAR FOR INCORPORATION # ZI = VECTOR USED IN INCORPORATION # OMEGA = WEIGHTING VECTOR # # OUTPUT # UPDATED PERMANENT STATE VECTOR # # CALLING SEQUENCE # L CALL INCORP2 # # NORMAL EXIT # L+1 OF CALLING SEQUENCE # SETLOC MEASINC1 BANK COUNT* $$/INCOR INCORP2 STQ CALL EGRESS INTSTALL VLOAD VXSC # CALC. GAMMA * OMEGA1,2,3 OMEGA GAMMA STOVL OMEGAM1 OMEGA +6 VXSC GAMMA STOVL OMEGAM2 OMEGA +12D VXSC GAMMA STORE OMEGAM3 EXIT CAF 54DD # INITIAL IX 1 SETTING FOR W MATRIX TS WIXA TS WIXB CAF ZERO TS ZIXA # INITIAL IX 2 SETTING FOR Z COMPONENT TS ZIXB FAZA TC PHASCHNG # Page 1257 OCT 04022 TC UPFLAG ADRES REINTFLG FAZA1 CA WIXB # START FIRST PHASE OF INCORP2 TS WIXA # TO UPDATE 6 OR 9 DIM. W MATRIX IN TEMP CA ZIXB TS ZIXA TC INTPRET LXA,1 LXA,2 WIXA ZIXA SSP DLOAD* S1 6 ZI,2 DCOMP NORM # CALC UPPER 3X9 PARTITION OF W MATRIX S2 VXSC XCHX,2 OMEGAM1 S2 LXC,2 XAD,2 X2 NORMGAM VSL* XCHX,2 0,2 S2 VAD* W +54D,1 STORE HOLDW DLOAD* DCOMP # CALC MIDDLE 3X9 PARTITION OF W MATRIX ZI,2 NORM VXSC S2 OMEGAM2 XCHX,2 LXC,2 S2 X2 XAD,2 VSL* NORMGAM 0,2 XCHX,2 VAD* S2 W +108D,1 STORE HOLDW +6 BOFF DMENFLG # BRANCH IF 6 DIMENSIONAL FAZB DLOAD* DCOMP # CALC LOWER 3X9 PARTITION OF W MATRIX ZI,2 NORM VXSC # Page 1258 S2 OMEGAM3 XCHX,2 LXC,2 S2 X2 XAD,2 VSL* NORMGAM 0,2 XCHX,2 VAD* S2 W +162D,1 STORE HOLDW +12D FAZB CALL GRP2PC EXIT FAZB1 CA WIXA # START 2ND PHASE OF INCORP2 TO TRANSFER AD 6DD # TEMP REG TO PERM W MATRIX TS WIXB CA ZIXA AD MINUS2 TS ZIXB TC INTPRET LXA,1 SSP WIXA S1 6 VLOAD HOLDW STORE W +54D,1 VLOAD HOLDW +6 STORE W +108D,1 BOFF VLOAD DMENFLG FAZB5 HOLDW +12D STORE W +162D,1 FAZB2 TIX,1 GOTO +2 FAZC # DONE WITH W MATRIX. UPDATE STATE VECTOR RTB FAZA FAZB5 SLOAD DAD ZIXB 12DD BHIZ GOTO FAZC FAZB2 FAZC CALL GRP2PC # Page 1259 VLOAD VAD # START 3RD PHASE OF INCORP2 X789 # 7TH,8TH,9TH,COMPONENT OF STATE VECTOR DELTAX +12D # INCORPORATION FOR X789 STORE TX789 BON RTB VEHUPFLG DOCSM MOVEPLEM FAZAB BOVB AXT,2 TCDANZIG 0 BOFF AXT,2 MOONTHIS +2 2 VLOAD VSR* DELTAX # B27 IF MOON ORBIT, B29 IF EARTH 0 -7,2 VAD BOV TDELTAV FAZAB1 STOVL TDELTAV DELTAX +6 # B5 IF MOON ORBIT, B7 IF EARTH VSR* VAD 0 -4,2 TNUV BOV FAZAB2 STCALL TNUV FAZAB3 FAZAB1 VLOAD VAD RCV DELTAX STORE RCV FAZAB2 VLOAD VAD VCV DELTAX +6 STORE VCV SXA,2 CALL PBODY RECTIFY FAZAB3 CALL GRP2PC BON RTB VEHUPFLG DOCSM1 MOVEALEM CALL SVDWN2 # STORE DOWNLINK STATE VECTOR FAZAB4 CALL # Page 1260 GRP2PC # PHASE CHANGE BOFF VLOAD DMENFLG FAZAB5 # 6 DIMENSIONAL TX789 # 9 DIMENSIONAL STORE X789 FAZAB5 LXA,1 SXA,1 EGRESS QPRET EXIT TC POSTJUMP # EXIT CADR INTWAKE DOCSM RTB GOTO MOVEPCSM FAZAB DOCSM1 RTB CALL MOVEACSM SVDWN1 # STORE DOWNLINK STATE VECTOR GOTO FAZAB4 ZEROD = ZEROVECS 54DD DEC 54 6DD DEC -6 12DD DEC 12 SETLOC MEASINC2 BANK COUNT* $$/INCOR NEWZCOMP VLOAD ABVAL ZI STOVL NORMZI ZI +6 ABVAL PUSH DSU BMN NORMZI +3 DLOAD STADR STORE NORMZI VLOAD ABVAL ZI +12D PUSH DSU NORMZI BMN DLOAD NEWZCMP1 STADR STCALL NORMZI # LARGEST ABVAL NEWZCMP1 SETLOC MEASINC3 BANK # Page 1261 NEWZCMP1 DLOAD SXA,1 NORMZI NORMZI # SAVE X1 NORM INCR,1 X1 DEC 2 VLOAD VSL* ZI 0,1 STOVL ZI ZI +6 VSL* 0,1 STOVL ZI +6 ZI +12D VSL* SXA,1 0,1 NORMZI +1 # SAVE SHIFT STORE ZI +12D LXA,1 XSU,1 NORMGAM NORMZI +1 XSU,1 NORMZI +1 SXA,1 LXC,1 NORMGAM NORMZI +1 XAD,1 SETPD NORMZI 2D GOTO INCOR2 -3 NORMZI = 36D ================================================ FILE: Comanche055/MYSUBS.agc ================================================ # Copyright: Public domain. # Filename: MYSUBS.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 999-1001 # Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the # same name, using Comanche055 page images. # 2009-05-20 RSB Corrections: EBANK= changed from MPAC to KMPAC. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 999 BANK 20 SETLOC MYSUBS BANK EBANK= KMPAC SPCOS1 EQUALS SPCOS SPSIN1 EQUALS SPSIN SPCOS2 EQUALS SPCOS SPSIN2 EQUALS SPSIN COUNT 21/DAPMS # ONE AND ONE HALF PRECISION MULTIPLICATION ROUTINE SMALLMP TS KMPTEMP # A(X+Y) EXTEND MP KMPAC +1 TS KMPAC +1 # AY CAF ZERO XCH KMPAC EXTEND MP KMPTEMP # AX DAS KMPAC # AX+AY TC Q # SUBROUTINE FOR DOUBLE PRECISION ADDITIONS OF ANGLES # A AND L CONTAIN A DP(1S) ANGLE SCALED BY 180 DEGS TO BE ADDED TO KMPAC. # RESULT IS PLACED IN KMPAC. TIMING = 6 MCT (22 MCT ON OVERFLOW) DPADD DAS KMPAC EXTEND BZF TSK +1 # NO OVERFLOW CCS KMPAC TCF DPADD+ # + OVERFLOW TCF +2 TCF DPADD- # - OVERFLOW CCS KMPAC +1 TCF DPADD2+ # UPPER = 0, LOWER + TCF +2 COM # UPPER = 0, LOWER - AD POSMAX # LOWER = 0, A=0 TS KMPAC +1 # CAN NOT OVERFLOW CA POSMAX # UPPER WAS = 0 TSK TS KMPAC TC Q DPADD+ AD NEGMAX # KMPAC GREATER THAN 0 TCF TSK # Page 1000 DPADD- COM AD POSMAX # KMPAC LESS THAN 0 TCF TSK DPADD2+ AD NEGMAX # CAN NOT OVERFLOW TS KMPAC +1 CA NEGMAX # UPPER WAS = 0 TCF TSK # Page 1001 (empty page) ================================================ FILE: Comanche055/ORBITAL_INTEGRATION.agc ================================================ # Copyright: Public domain. # Filename: ORBITAL_INTEGRATION.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1334-1354 # Mod history: 2009-05-14 RSB Adapted from the Colossus249/ file of the # same name, using Comanche055 page images. # 2009-05-20 RSB Corrections: DAT -> DAD in one place, # BWM -> BMN, DEFEQCNT -> DIFEQCNT. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 1334 # ORBITAL INTEGRATION # DELETE BANK 13 SETLOC ORBITAL BANK COUNT 11/ORBIT # DELETE KEPPREP LXA,2 SETPD PBODY 0 DLOAD* SQRT # SQRT(MU) (+18 OR +15) 0D PL 2D MUEARTH,2 PDVL UNIT # PL 8D RCV PDDL NORM # NORM R (+29 OR +27 - N1) 2D PL 4D 36D X1 PDVL DOT PDDL # F*SQRT(MU)(+7 OR +5) 4D PL 6D VCV TAU. # (+28) DSU NORM TC S1 SR1 DDV PDDL 2D DMP PUSH # FS(+6 +N1-N2) 6D PL 8D 4D DSQ PDDL # (FS)SQ(+12 +2(N1-N2)) 8D PL 10D 4D DSQ PDDL* # SSQ/MU(-2OR +2(N1-N2)) 10D PL 12D MUEARTH,2 SR3 SR4 PDVL VSQ # PREALIGN MU (+43 OR +37) 12D PL 14D VCV DMP BDSU # PL 12D 36D DDV DMP # PL 10D 2D # -(1/R-ALPHA)(+12 +3N1-2N2) DMP SL* DP2/3 0 -3,1 # 10L(1/R-ALPHA)(+13 +2(N1-N2)) XSU,1 DAD # 2(FS)SQ - ETCETERA PL 8D S1 # X1 = N2-N1 SL* DSU # -FS+2(FS)SQ ETC (+6 +N1-N2) PL 6D 8D,1 DMP DMP 0D 4D SL* SL* # Page 1335 8D,1 0,1 # S(-FS(1-2FS)-1/6...)(+17 OR +16) DAD PDDL # PL 6D XKEP DMP SL* # S(+17 OR +16) 0D 1,1 BOVB DAD TCDANZIG STADR STORE XKEPNEW STQ AXC,1 KEPRTN DEC 10 BON AXC,1 MOONFLAG KEPLERN DEC 2 GOTO KEPLERN # Page 1336 FBR3 LXA,1 SSP DIFEQCNT S1 DEC -13 DLOAD SR DT/2 9D TIX,1 ROUND +1 PUSH DAD TC STODL TAU. DAD TET STCALL TET KEPPREP # Page 1337 # AGC ROUTINE TO COMPUTE ACCELERATION COMPONENTS. ACCOMP LXA,1 LXA,2 PBODY PBODY VLOAD ZEROVEC STOVL FV ALPHAV VSL* VAD 0 -7,2 RCV STORE BETAV BOF XCHX,2 DIM0FLAG +5 DIFEQCNT STORE VECTAB,2 XCHX,2 DIFEQCNT VLOAD UNIT ALPHAV STODL ALPHAV 36D STORE ALPHAM CALL GAMCOMP VLOAD SXA,1 BETAV S2 STODL ALPHAV BETAM STORE ALPHAM BOF DLOAD MIDFLAG OBLATE TET CALL LSPOS AXT,2 LXA,1 2 S2 BOF MOONFLAG +3 VCOMP AXT,2 0 STORE BETAV STOVL RPQV # Page 1338 2D STORE RPSV BOF VLOAD DIM0FLAG GETRPSV ALPHAV VXSC VSR* ALPHAM 1,2 VSU XCHX,2 BETAV DIFEQCNT STORE VECTAB +6,2 XCHX,2 DIFEQCNT GETRPSV VLOAD INCR,1 RPQV 4 CLEAR BOF RPQFLAG MOONFLAG +5 VSR VAD 9D RPSV STORE RPSV CALL GAMCOMP AXT,2 INCR,1 4 4 VLOAD RPSV STCALL BETAV GAMCOMP GOTO OBLATE GAMCOMP VLOAD VSR1 BETAV VSQ SETPD 0 NORM ROUND 31D PDDL NORM # NORMED B SQUARED TO PD LIST ALPHAM # NORMALIZE (LESS ONE) LENGTH OF ALPHA 32D # SAVING NORM SCALE FACTOR IN X1 SR1 PDVL BETAV # C(PDL+2) = ALMOST NORMED ALPHA UNIT STODL BETAV # Page 1339 36D STORE BETAM NORM BDDV # FORM NORMALIZED QUOTIENT ALPHAM/BETAM 33D SR1R PUSH # C(PDL+2) = ALMOST NORMALIZED RHO. DLOAD* ASCALE,1 STORE S1 XCHX,2 XAD,2 S1 32D XSU,2 DLOAD 33D 2D SR* XCHX,2 0 -1,2 S1 PUSH SR1R # RHO/4 TO 4D PDVL DOT ALPHAV BETAV SL1R BDSU # (RHO/4) - 2(ALPHAV/2.BETAV/2) PUSH DMPR # TO PDL+6 4 SL1 PUSH DAD DQUARTER PUSH SQRT DMPR PUSH 10D SL1 DAD DQUARTER PDDL DAD # (1/4)+2((Q+1)/4) TO PD+14D 10D HALFDP DMPR SL1 8D DAD DDV THREE/8 14D DMPR VXSC 6 BETAV PDVL VSR3 # (G/2)(C(PD+4))B/2 TO PD+16D ALPHAV VAD PUSH # A12 + C(PD+16D) TO PD+16D DLOAD DMP 0 12D NORM ROUND # Page 1340 30D BDDV DMP* 2 MUEARTH,2 DCOMP VXSC XCHX,2 XAD,2 S1 S2 XSU,2 XSU,2 30D 31D BOV # CLEAR OVIND +1 VSR* XCHX,2 0 -1,2 S1 VAD FV STORE FV BOV RVQ # RETURN IF NO OVERFLOW +1 GOBAQUE VLOAD ABVAL TDELTAV BZE INT-ABRT DLOAD SR H 9D PUSH BDSU TC STODL TAU. TET DSU STADR STCALL TET KEPPREP CALL RECTIFY SETGO RPQFLAG TESTLOOP INT-ABRT EXIT TC POODOO OCT 00430 # Page 1341 # THE OBLATE ROUTINE COMPUTES THE ACCELERATION DUE TO OBLATENESS. IT USES THE UNIT OF THE VEHICLE # POSITION VECTOR FOUND IN ALPHAV AND THE DISTANCE TO THE CENTER IN ALPHAM. THIS IS ADDED TO THE SUM OF THE # DISTURBING ACCELERATIONS IN FV AND THE PROPER DIFEQ STAGE IS CALLED VIA X1. OBLATE LXA,2 DLOAD PBODY ALPHAM SETPD DSU* 0 RDE,2 BPL BOF # GET URPV NBRANCH MOONFLAG COSPHIE VLOAD PDDL ALPHAV TET PDDL CALL 3/5 R-TO-RP STORE URPV VLOAD VXV 504LM ZUNIT VAD VXM ZUNIT MMATRIX UNIT # POSSIBLY UNNECESSARY COMTERM STORE UZ DLOAD DMPR COSPHI/2 3/32 PDDL DSQ # P2/64 TO PD0 COSPHI/2 DMPR DSU 15/16 3/64 PUSH DMPR # P3/32 TO PD2 COSPHI/2 DMP SL1R 7/12 PDDL DMPR 0 2/3 BDSU PUSH # P4/128 TO PD4 DMPR DMPR COSPHI/2 # BEGIN COMPUTING P5/1024 9/16 PDDL DMPR 2 5/128 # Page 1342 BDSU DMP* J4REQ/J3,2 DDV DAD # -3 ALPHAM # (((P5/256)B 2 /R+P4/32) /R+P3/8)ALPHAV 4 # 4 3 DMPR* DDV 2J3RE/J2,2 ALPHAM DAD VXSC 2 ALPHAV STODL TVEC DMP* SR1 J4REQ/J3,2 DDV DAD ALPHAM # -3 DMPR* SR3 2J3RE/J2,2 # 3 4 DDV DAD ALPHAM VXSC VSL1 UZ BVSU TVEC STODL TVEC ALPHAM NORM DSQ X1 DSQ NORM S1 # 4 PUSH BDDV* # NORMED R TO 0D J2REQSQ,2 VXSC BOV TVEC +1 # (RESET OVERFLOW INDICATOR) XAD,1 XAD,1 X1 X1 XAD,1 VSL* S1 0 -22D,1 VAD BOV FV GOBAQUE STCALL FV QUALITY1 QUALITY3 DSQ # J22 TERM X R**4 IN 2D. SCALED B61 # AS VECTOR. PUSH DMP # STORE COSPHI**2 SCALED B2 IN 8D # Page 1343 5/8 # 5 SCALED B3 PDDL SR2 # PUT 5 COSPHI**2, D5, IN 8D. GET # COSPHI**2 D2 FROM 8D DAD BDSU # END UP WITH (1-7 COSPHI**2), B5 8D # ADDING COSPHI**2 B4 SAME AS COSPHI**2 # X 2 D5 D1/32 # 1 SCALED B5 DMP DMP URPV # X COMPONENT 5/8 # 5 SCALED B3 VXSC VSL5 # AFTER SHIFT, SCALED B5 URPV # VECTOR, B1. PDDL # VECTOR INTO 8D, 10D, 12D, SCALED B5. # GET 5 COSPHI**2 OUT OF 8D DSU DAD D1/32 # 1 B5 8D # X COMPONENT (SAME AS MULTIPLYING # BY UNITX) STODL 8D URPV # X COMPONENT DMP DMP URPV +4 # Z COMPONENT 5/8 # 5 B3 ANSWER B5 SL1 DAD # FROM 12D FOR Z COMPONENT (SL1 GIVES 10 # INSTEAD OF 5 FOR COEFFICIENT) PDDL NORM # BACK INTO 12D FOR Z COMPONENT. ALPHAM # SCALED B27 FOR MOON X2 PUSH SLOAD # STORE IN 14D, DESTROYING URPV # X COMPONENT E32C31RM DDV VXSC # IF X2 = 0, DIVISION GIVES B53, VXSC # OUT OF 8D B5 GIVES B58 VSL* VAD # SHIFT MAKES B61, FOR ADDITION OF # VECTOR IN 2D 0 -3,2 VSL* V/SC # OPERAND FROM 0D, B108 FOR X1 = 0 0 -27D,1 # FOR X1 = 0, MAKES B88, GIVING B-20 # FOR RESULT. PDDL PDDL TET 5/8 # ANY NON-ZERO CONSTANT LXA,2 CALL # POSITION IN 0D, TIME IN 6D. X2 LEFT # ALONE. PBODY RP-TO-R VAD BOV # OVERFLOW INDICATOR RESET IN "RP-TO-R" FV GOBAQUE STORE FV # Page 1344 NBRANCH SLOAD LXA,1 DIFEQCNT MPAC DMP CGOTO -1/12 MPAC DIFEQTAB COSPHIE DLOAD ALPHAV +4 STOVL COSPHI/2 ZUNIT GOTO COMTERM DIFEQTAB CADR DIFEQ+0 CADR DIFEQ+1 CADR DIFEQ+2 TIMESTEP BOF CALL MIDFLAG RECTEST # SKIP ORIGIN CHANGE LOGIC CHKSWTCH BMN DOSWITCH RECTEST VLOAD ABVAL # RECTIFY IF TDELTAV BOV CALLRECT DSU BPL # 1) EITHER TDELTAV OR TNUV EQUALS OR 3/4 # EXCEEDS 3/4 IN MAGNITUDE CALLRECT # DAD SL* # OR 3/4 # 0 -7,2 # 2) ABVAL(TDELTAV) EQUALS OR EXCEEDS DDV DSU # .01(ABVAL(RCV)) 10D RECRATIO BPL VLOAD CALLRECT TNUV ABVAL DSU 3/4 BOV CALLRECT BMN INTGRATE CALLRECT CALL RECTIFY INTGRATE VLOAD TNUV # Page 1345 STOVL ZV TDELTAV STORE YV CLEAR JSWITCH DIFEQ0 VLOAD SSP YV DIFEQCNT 0 STODL ALPHAV DPZERO STORE H # START H AT ZERO. GOES 0(DELT/2)DELT. BON GOTO JSWITCH DOW.. ACCOMP CHKSWTCH STQ BOF ORIGEX RPQFLAG RPQOK # MOON POSITION IS AVAILABLE DLOAD CALL TET LUNPOS # GET MOON POSITION BOF VCOMP MOONFLAG +1 STORE RPQV RPQOK LXA,2 VLOAD # RESTORE X2 AFTER USING LUNPOS PBODY TDELTAV # _ VSL* VAD # |RQC|-RSPHERE WHEN OUTSIDE THE SPHERE. 0 -7,2 # _ _ _ RCV # R = RDEVIATION + RCONIC BOF ABVAL MOONFLAG EARSPH SR2 BDSU # INSIDE RSPHERE GOTO ORIGEX EARSPH VSU ABVAL # OUTSIDE RPQV DSU GOTO RSPHERE ORIGEX DOSWITCH CALL ORIGCHNG GOTO INTGRATE # Page 1346 ORIGCHNG STQ CALL ORIGEX RECTIFY VLOAD VSL* RCV 0,2 VSU VSL* RPQV 2,2 STORE RRECT STODL RCV TET CALL LUNVEL BOF VCOMP MOONFLAG +1 PDVL VSL* VCV 0,2 VSU VSL* 0 +2,2 STORE VRECT STORE VCV LXA,2 SXA,2 ORIGEX QPRET BON GOTO MOONFLAG CLRMOON SETMOON # Page 1347 # THE RECTIFY SUBROUTINE IS CALLED BY THE INTEGRATION PROGRAM AND OCCASIONALLY BY THE MEASUREMENT INCORPORATION # ROUTINES TO ESTABLISH A NEW CONIC. RECTIFY LXA,2 VLOAD PBODY TDELTAV VSL* VAD 0 -7,2 RCV STORE RRECT STOVL RCV TNUV VSL* VAD 0 -4,2 VCV MINIRECT STORE VRECT STOVL VCV ZEROVEC STORE TDELTAV STODL TNUV ZEROVEC STORE TC STORE XKEP RVQ # Page 1348 # THE THREE DIFEQ ROUTINES - DIFEQ+0, DIFEQ+12, DIFEQ+24 - ARE ENTEREDTO PROCESS THE CONTRIBUTIONS AT THE # BEGINNING, MIDDLE, AND END OF THE TIMESTEP, RESPECTIVELY. THE UPDATING IS DONE BY THE NYSTROM METHOD. DIFEQ+0 VLOAD VSR3 FV STCALL PHIV DIFEQCOM DIFEQ+1 VLOAD VSR1 FV PUSH VAD PHIV STOVL PSIV VSR1 VAD PHIV STCALL PHIV DIFEQCOM DIFEQ+2 DLOAD DMPR H DP2/3 PUSH VXSC PHIV VSL1 VAD ZV VXSC VAD H YV STOVL YV FV VSR3 VAD PSIV VXSC VSL1 VAD ZV STORE ZV BOFF CALL JSWITCH ENDSTATE GRP2PC LXA,2 VLOAD COLREG ZV VSL3 # ADJUST W-POSITION FOR STORAGE STORE W +54D,2 VLOAD YV VSL3 BOV WMATEND STORE W,2 CALL GRP2PC # Page 1349 LXA,2 SSP COLREG S2 0 INCR,2 SXA,2 6 YV TIX,2 CALL RELOADSV GRP2PC LXA,2 SXA,2 YV COLREG NEXTCOL CALL GRP2PC LXA,2 VLOAD* COLREG W,2 VSR3 # ADJUST W-POSITION FOR INTEGRATION STORE YV VLOAD* AXT,1 W +54D,2 0 VSR3 # ADJUST W-VELOCITY FOR INTEGRATION STCALL ZV DIFEQ0 ENDSTATE BOV VLOAD GOBAQUE ZV STOVL TNUV YV STORE TDELTAV BON BOFF MIDAVFLG CKMID2 # CHECK FOR MID2 BEFORE GOING TO TIMEINC DIM0FLAG TESTLOOP EXIT TC PHASCHNG OCT 04022 # PHASE 1 TC UPFLAG # PHASE CHANGE HAS OCCURRED BETWEEN ADRES REINTFLG # INTSTALL AND INTWAKE TC INTPRET SSP QPRET AMOVED BON GOTO VINTFLAG # Page 1350 ATOPCSM ATOPLEM AMOVED SET SSP JSWITCH COLREG DEC -30 BOFF SSP D6OR9FLG NEXTCOL COLREG DEC -48 GOTO NEXTCOL RELOADSV DLOAD # RELOAD TEMPORARY STATE VECTOR TDEC # FROM PERMANENT IN CASE OF STCALL TDEC1 INTEGRV2 # BY STARTING AT INTEGRV2. DIFEQCOM DLOAD DAD # INCREMENT H AND DIFEQCNT. DT/2 H INCR,1 SXA,1 DEC -12 DIFEQCNT # DIFEQCNT SET FOR NEXT ENTRY. STORE H VXSC VSR1 FV VAD VXSC ZV H VAD YV STORE ALPHAV BON GOTO JSWITCH DOW.. FBR3 WMATEND CLEAR CLEAR DIM0FLAG # DONT INTEGRATE W THIS TIME ORBWFLAG # INVALIDATE W CLEAR RENDWFLG SET EXIT STATEFLG # PICK UP STATE VECTOR UPDATE TC ALARM OCT 421 TC INTPRET # Page 1351 GOTO TESTLOOP # FINISH INTEGRATING STATE VECTOR # Page 1352 # ORBITAL ROUTINE FOR EXTRAPOLATION OF THE W MATRIX. IT COMPUTES THE SECOND DERIVATIVE OF EACH COLUMN POSITION # VECTOR OF THE MATRIX AND CALLS THE NYSTROM INTEGRATION ROUTINES TO SOLVETHE DIFFERENTIAL EQUATIONS. THE PROGRAM # USES A TABLE OF VEHICLE POSITION VECTORS COMPUTED DURING THE INTEGRATION OF THE VEHICLES POSITION AND VELOCITY. DOW.. LXA,2 DLOAD* PBODY MUEARTH,2 STCALL BETAM DOW..1 STORE FV BOF INCR,1 MIDFLAG NBRANCH DEC -6 LXC,2 DLOAD* PBODY MUEARTH -2,2 STCALL BETAM DOW..1 BON VSR6 MOONFLAG +1 VAD FV STCALL FV NBRANCH DOW..1 VLOAD VSR4 ALPHAV PDVL* UNIT VECTAB,1 PDVL VPROJ ALPHAV VXSC VSU 3/4 PDDL NORM 36D S2 PUSH DSQ DMP NORM PDDL 34D BETAM SR1 DDV VXSC LXA,2 XAD,2 S2 S2 XAD,2 XAD,2 S2 34D VSL* RVQ # Page 1353 0 -8D,2 SETLOC ORBITAL1 BANK 3/5 2DEC .6 B-2 THREE/8 2DEC .375 .3D 2DEC .3 B-2 3/64 2DEC 3 B-6 DP1/4 2DEC .25 DQUARTER EQUALS DP1/4 POS1/4 EQUALS DP1/4 3/32 2DEC 3 B-5 15/16 2DEC 15. B-4 3/4 2DEC 3.0 B-2 7/12 2DEC .5833333333 9/16 2DEC 9 B-4 5/128 2DEC 5 B-7 DPZERO EQUALS ZEROVEC DP2/3 2DEC .6666666667 2/3 EQUALS DP2/3 OCT27 OCT 27 BANK 13 SETLOC ORBITAL2 BANK # IT IS VITAL THAT THE FOLLOWING CONSTANTS NOT BE SHUFFLED DEC -11 DEC -2 DEC -9 DEC -6 DEC -2 DEC -2 DEC 0 DEC -12 DEC -9 DEC -4 ASCALE DEC -7 DEC -6 # Page 1354 2DEC* 1.32715445 E16 B-54* # S 2DEC* 4.9027780 E8 B-30* # M MUEARTH 2DEC* 3.986032 E10 B-36* 2DEC 0 J4REQ/J3 2DEC* .4991607391 E7 B-26* 2DEC -176236.02 B-25 2J3RE/J2 2DEC* -.1355426363 E5 B-27* 2DEC* .3067493316 E18 B-60* J2REQSQ 2DEC* 1.75501139 E21 B-72* 3J22R2MU 2DEC* 9.20479048 E16 B-58* 5/8 2DEC 5 B-3 -1/12 2DEC -.1 MUM = MUEARTH -2 RECRATIO 2DEC .01 RSPHERE 2DEC 64373.76 E3 B-29 RDM 2DEC 16093.44 E3 B-27 RDE 2DEC 80467.20 E3 B-29 RATT EQUALS 00 VATT EQUALS 6D TAT EQUALS 12D RATT1 EQUALS 14D VATT1 EQUALS 20D MU(P) EQUALS 26D TDEC1 EQUALS 32D URPV EQUALS 14D COSPHI/2 EQUALS URPV +4 UZ EQUALS 20D TVEC EQUALS 26D ================================================ FILE: Comanche055/P11.agc ================================================ # Copyright: Public domain. # Filename: P11.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Hartmuth Gutsche . # Website: www.ibiblio.org/apollo. # Pages: 533-550 # Mod history: 2009-05-13 HG Started adapting from the Colossus249/ file # of the same name, using Comanche055 page # images 0533.jpg - 0550.jpg. # 2009-05-20 RSB Corrections: ERTHALT -> EARTHALT, # STATSW -> SATSW. # 2009-05-23 RSB At end of RESCALES, corrected TC 0 to TC Q. # Added an SBANK= prior to a 2CADR. # 2010-08-24 JL Fixed page numbers. Added missing comment character on p537. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 533 # EARTH ORBIT INSERTION MONITOR PROGRAM # ************************************* # PROGRAM DESCRIPTION -P11- # MOD NO. 1 # MOD BY ELIASSEN # FUNCTIONAL DESCRIPTION # P11 IS INITIATED BY # A) GYROCOMPASS PRG P02 WHEN LIFTOFF DISCRETE IS RECEIVED OR # B) BACKUP THRU VERB 75 ENTER # PROGRAM WILL # 1. ZERO CMC CLOCK AT LIFTOFF (OR UPON RECEIPT OF BACKUP) # 2. UPDATE TEPHEM TO TIME CMC CLOCK WAS ZEROED # 3. INITIATE SERVICER AT PREREAD1 # 4. CHANGE MAJOR MODE TO 11 # 5. CLEAR DSKY IN CASE OF V 75 # 6. STORE LIFTOFF IMU-CDU ANGLES FOR ATT. ERROR DISPLAY # 7. TERMINATE GYROCOMPASSING - - # 8. COMPUTE INITIAL VECTORS RN, VN - - - # 9. COMPUTE REFSMMAT FOR PRELAUNCH ALIGNMENT WHERE U ,U ,U ARE # - - X Y Z # U =(UNIT(-R) LOCAL VERTICAL AT TIME OF LIFTOFF # Z # - - - # U =UNIT(A), A=HOR VECTOR AT LAUNCH AZIMUTH # X # - - - # U =U * U # U Z X # 10. SET REFSMMAT KNOWN FLAG # 11. SET AVGEXIT IN SERVICER TO VHHDOT TO # COMPUTE AND DISPLAY NOUN 62 EVERY 2 SECONDS # R1 V1 - INERTIAL VELOCITY MAGNITUDE IN FPS # R2 HDOT - RATE OF CHANGE OF VEHICLE VEL IN FPS # R3 H - VEHICLE ALTITUDE ABOVE PAD IN NM # 12. DISPLAY BODY AXES ATT. ERRORS ON FDAI NEEDLES # # A) FROM L.O. TO RPSTART (APPROX. 0 TO +10SECS AFTER L.O.) # DESIRED ATTITUDE IS AS STORED AT L.O. # B) FROM RPSTART TO POLYSTOP(APPROX.+10 TO +133SECS AFTER LO) # DESIRED ATTITUDE IS SPECIFIED BY CMC PITCH AND ROLL # POLYNOMIALS DURING SATURN ROLLOUT AND PITCHOVER # Page 534 # THE DISPLAY IS RUN AS LOW PRIORITY JOB APPROX. # EVERY 1/2 SEC OR LESS AND IS DISABLED UPON OVFLO OF TIME1 # SUBROUTINES CALLED # 2PHSCHNG BANKCALL CALCGRA CDUTRIG CLEANDSP DANZIG # DELAYJOB EARTHR ENDOFJOB FINDVAC IBNKCALL # INTPRET LALOTORV NEEDLER NEWMODEX PHASCHNG # POSTJUMP POWRSERS PREREAD1 REGODSPR S11.1 # SERVEXIT TASKOVER TCDANZIG V1STO2S WAITLIST # ASTRONAUT REQUESTS (IF ALTITUDE ABOVE 300,000 FT) # # DSKY - # MONITOR DISPLAY OF TIME TO PERIGEE R1 HOURS # R2 MINUTES # DSKY - # MONITOR DISPLAY OF R1 APOGEE ALTITUDE IN NAUTICAL MILES # R2 PERIGEE ALTITUDE IN NAUTICAL MILES # R3 TFF IN MINUTES/SECS # IF ASTRONAUT HAS REQUESTED ANY OF THESE DISPLAYS HE MUST # HIT PROCEED TO RETURN TO NORMAL NOUN 62 DISPLAY. # NORMAL EXIT MODE # ASTRONAUT VERB 37 ENTER 00 ENTER # ALARM MODES - NONE # ABORT EXIT MODES - # OUTPUT # TLIFTOFF (DP) TEPHEM (TP) # REFSMMAT # DSKY DISPLAY # FDAI DISPLAY # ERASABLE INITIALIZATION # AZO, AXO, -AYO # LATITUDE # PADLONG # TEPHEM # PGNCSALT # POLYNUM THRU POLYNUM +14D) # RPSTART # POLYSTOP # FLAGS SET OR RESET # Page 535 # SET REFSMFLG # SET DVMON IDLE FLAG # CLEAR ERADFLAG # DEBRIS # LIFTTEMP # POLYNUM THRU POLYNUM +7 # SPOLYARG # BODY1, BODY2, BODY3 # VMAG2, ALTI, HDOT # CENTRALS, CORE SET AND VAC AREAS COUNT 34/P11 BITS5-6 = SUPER011 BANK 42 SETLOC P11ONE BANK EBANK= TEPHEM P11 CA EBANK3 TS EBANK EXTEND DCA REP11S # DIRECT RESTARTS TO REP11 DXCH -PHASE3 CS ZERO ZL TS LIFTTEMP DXCH -PHASE5 # INACTIVE GROUP 5, PRELAUNCH PROTECTION P11+7 EXTEND DCA REP11SA DXCH TLIFTOFF EXTEND DCA TIME2 DXCH LIFTTEMP # FOR RESTARTS CA ZERO ZL DXCH TIME2 REP11A-2 DXCH TLIFTOFF REP11A-1 DXCH -PHASE3 # RESET PHASE REP11A INHINT EXTEND DCA TEPHEM +1 DXCH TEPHEM1 +1 CA TEPHEM # Page 536 XCH TEPHEM1 EXTEND DCA TLIFTOFF DAS TEPHEM1 +1 ADS TEPHEM1 # CORRECTFOR OVERFLOW TC PHASCHNG OCT 05023 OCT 22000 INHINT EXTEND DCA TEPHEM1 DXCH TEPHEM CA TEPHEM1 +2 XCH TEPHEM +2 CAF EBDVCNT TS EBANK EBANK= DVCNTR TC IBNKCALL CADR PREREAD1 # ZERO PIPS AND INITIALIZE AVERAGEG TC PHASCHNG OCT 05023 # CONTINUE HERE ON RESTART OCT 22000 CAF .5SEC # START ATT ERROR DISPLAY TC WAITLIST # IN .5 SEC EBANK= BODY3 2CADR ATERTASK TC NEWMODEX # DISPLAY MM 11 MM 11 TC UPFLAG ADRES NODOP01 CA POWDNCOD # SWITCH TO POWERED FLIGHT DOWNLIST TS DNLSTCOD TC BANKCALL CADR CLEANDSP # CLEAR DSKY IN CASE OF V75 TC 2PHSCHNG OCT 40514 # PROTECT ATERTASK OCT 00073 CAF EBQPLACE # Page 537 TS EBANK EBANK= QPLACES CA P11XIT # SET EXIT FROM PROUT IN EARTHR TS QPLACES TC INTPRET VLOAD MXV THETAN XSM VSL1 VAD ERCOMP STODL ERCOMP TLIFTOFF SSP GOTO S2 CADR PROUT # RETURN FROM EARTHR EARTHR +3 MATRXJOB ZL # STORE DP GIMBAL ANGLES FOR ATTITUDE CA CDUX # ERROR DISPLAY AFTER LIFTOFF DXCH OGC ZL CA CDUY DXCH IGC ZL CA CDUZ DXCH MGC TC INTPRET # - VLOAD VSR1 # SCALE OGC B-1 OGC STORE OGC SSP # ZERO RTX2 RTX2 # FOR 0 # EARTH DLOAD PDDL PGNCSALT # ALTITUDE OF PGNCS PADLONG # LONGITUDE PDDL VDEF LATITUDE # GEODETIC LATITUDE STODL LAT # LAT,LONG,ALT ARE CONSECUTIVE HI6ZEROS # TIME = 0 CLEAR CALL ERADFLAG LALOTORV # CONVERT TO POSITION VECTOR IN REF.COORDS STCALL RN1 # - GETDOWN # RETURN WITH VECTOR FOR DOWN DIRECTION VCOMP UNIT STOVL REFSMMAT +12D # UNITZ = UNIT(GRAV) RN1 VXV VXSC # Page 538 UNITW # SCALED AT 1 -ERTHRAT # V = EARTHRATE X R VSL4 # SCALE TO 2(7) M/CS STOVL VN1 REFSMMAT +12D VXV UNIT UNITW # (REF3 X UNITW) = EAST PUSH VXV REFSMMAT +12D # (EAST X REF3) = -SOUTH UNIT PDDL LAUNCHAZ # COS(AZ)*SOUTH COS VXSC STADR STODL REFSMMAT # TEMPORARY STORAGE LAUNCHAZ SIN VXSC # SIN(AZ)*EAST VAD UNIT # SIN(AZ)*EAST - COS(AZ)*SOUTH = REF1 REFSMMAT STORE REFSMMAT VXV UNIT # (REF1 X REF3) = -REF3 REFSMMAT +12D VCOMP STORE REFSMMAT +6 DLOAD DSU DPHALF # 1/2 REV LAUNCHAZ DAD PDDL AZIMUTH SATRLRT # SET SATRLRT = -SATRLRT IF SIGN STADR # (1/2REV -LAVNCHAZ +AZIMUTH) IS NEGATIVE STORE SATRLRT # FOR ROLL CALC IN FDAI ATT. ERROR DISPLAY SET EXIT REFSMFLG # SET REFSMMAT KNOWN FLAG TC PHASCHNG OCT 04023 EXTEND DCA P11SCADR DXCH AVGEXIT # SET AVGEXIT CA PRIO31 # 2 SECONDS AT 2(+8) TS 1/PIPADT EBANK= RCSFLAGS CA EBANK6 TS EBANK INHINT # Page 539 CS ZERO TS TBASE5 # RESTART READACCS 2 SECONDS AFTER LIFTOFF CS TIME1 AD 2SECS # DO READACCS 2 SECONDS AFTER LIFTOFF CCS A # CHECK TO INSURE DT IS POSITIVE TCF +3 # TIME POSITIVE TCF +2 # CANNOT GET HERE CA ZERO # TIME NEGATIVE - SET TO 1 AD ONE # RESTORE TIME - OR MAKE POSITIVE TC WAITLIST EBANK= AOG 2CADR READACCS TC 2PHSCHNG OCT 00003 # TURN OFF GROUP 3 OCT 00025 # PROTECT NORMLIZE AND READACCS TC POSTJUMP CADR NORMLIZE # DO NORMLIZE AND ENDOFJOB EBANK= TEPHEM REP11 INHINT CCS PHASE5 TC ENDOFJOB CCS LIFTTEMP TCF +4 TCF +3 TCF +2 TCF P11+7 CS TLIFTOFF EXTEND BZMF ENDREP11 CCS TIME2 # **TIME2 MUST BE NON-ZERO AT LIFTOFF** TCF REP11A -5 # T2,T1 NOT YET ZEROED, GO AND DO IT EXTEND # T2,T1 ZEROED, SET TLIFTOFF DCA LIFTTEMP TCF REP11A-2 ENDREP11 EXTEND DCA REP11SA TCF REP11A-1 # Page 540 REP11S 2OCT 7776600011 REP11SA 2OCT 7776400013 P11XIT GENADR P11OUT -ERTHRAT 2DEC* -7.292115138 E-7 B18* # - EARTH RATE AT 2(18) EBANK= BODY3 P11SCADR 2CADR VHHDOT POWDNCOD EQUALS THREE EBANK= BODY3 # VHHDOT IS EXECUTED EVERY 2 SECONDS TO DISPLAY ON DSKY # VI INERTIAL VELOCITY MAGNITUDE # HDOT RATE OF CHANGE OF ALT ABOVE L PAD RADIUS # H ALTITUDE ABOVE L PAD RADIUS VHHDOT TC INTPRET CALL # LOAD VMAGI, ALTI, S11.1 # HDOT FOR DISPLAY EXIT TC PHASCHNG OCT 00035 CAF V06N62 # DISPLAY IN R1 R2 R3 TC BANKCALL # VI HDOT H CADR REGODSP ATERTASK CAF PRIO1 # ESTABLISH JOB TO DISPLAY ATT ERRORS TC FINDVAC # COMES HERE AT L.O. + .33 SEC EBANK= BODY3 2CADR ATERJOB CS RCSFLAGS # SET BIT3 FOR MASK BIT3 # NEEDLER ADS RCSFLAGS # INITIALIZATION PASS TC IBNKCALL # AND GO CADR NEEDLER # DO IT CA BIT1 # SET SW TS SATSW # FOR DISPLAY TC TASKOVER GETDOWN STQ SETPD INCORPEX 0D DLOAD HI6ZEROS # Page 541 STODL 6D DPHALF STCALL 8D LALOTORV +5 # THIS SECTION PROVIDES ATTITUDE ERROR DISPLAYS TO THE FDAI DURING SONE BOOST # COMPUTE DESIRED PITCH W.R.T. PAD LOCAL VERTICAL AT LIFTOFF # 2 3 4 5 6 # PITCH = A0+A1T+A2T +A3T +A4T +A5T +A6T # SCALED TO 32 REVS. -14 # IF TL = TIME IN SECS FROM L.O., THEN T = 100(TL-RPSTART)2 # WHERE TL GE RPSTART # TL LE (-POLYSTOP + RPSTART) # COMPUTE DESIRED ROLL WHERE ROLL EQUALS ANGLE FROM # LAUNCHAZ TO -Z(S/C) AS SEEN FROM X(S/C). # ROLL = LAUNCHAZ-AZIMUTH-.5 +SATRLRT*T IN REV # SATRLRT = RATE OF ROLL IN REV/CENTI-SEC # T,IN CENTI-SEC,IS DEFINED AS ABOVE,INCLUSIVE OF TIME RESTRICTIONS # FOR SIMPLICITY, LET P = 2*PI*PITCH # R = 2*PI*ROLL # CONSTRUCT THE TRANSFORMATION MATRIX, TSMV, GIVING DESIRED S/C AXES IN # TERMS OF SM COORDINATES. LET THE RESULTING ROWS EQUAL THE VECTORS XDC, # YDC,AND ZDC. # * ( SIN(P) 0 -COS(P) ) (XDC) # TSMV = (-SIN(R)*COS(P) -COS(R) -SIN(R)*SIN(P)) = (YDC) # (-COS(R)*COS(P) SIN(R) -COS(R)*SIN(P)) (ZDC) # XDC,YDC,ZDC ARE USED AS INPUT TO CALCGTA FOR THE EXTRACTION OF THE # EULER SET OF ANGLES WHICH WILL BRING THE SM INTO THE DESIRED # ORIENTATION. THIS EULER SET, OGC, IGC, AND MGC, MAY BE IDENTIFIED # AS THE DESIRED CDU ANGLES. # (XDC) (OGC) # (YDC) ---) CALCGTA ---) (IGC) # (ZDC) (MGC) # - # DEFINE THE VECTOR DELTACDU. # - (OGC) (CDUX) # DELTACDU = (IGC) - (CDUY) # (MGC) (CDUZ) # - - * - # COMPUTE ATTITUDE ERRORS, A, WHERE A = TGSC*DELTACDU # # * (1 SIN(CDUZ) 0 ) THE GIMBAL ANGLES # Page 542 # TGSC = (0 COS(CDUX)*COS(CDUZ) SIN(CDUX)) = TO SPACECRAFT AXES # (0 -SIN(CDUX)*COS(CDUZ) COS(CDUX)) CONVERSION MATRIX # - # THE ATTITUDE ERRORS, A, ARE STORED ONE HALF SINGLE PRECISION IN # THE REGISTERS AK, AK1, AK2 AS INPUT TO NEEDLER, THE FDAI ATTITUDE # ERROR DISPLAY ROUTINE. ATERJOB CAE FLAGWRD6 # CHECK FLAGWRD6 MASK OCT60000 # BITS 14, 15 EXTEND BZF +2 # OK - CONTINUE TC ENDOFJOB # SATURN STICK ON - KILL JOB CAF BIT10 # CHECK IF S/C CONTROL EXTEND # OF SATURN PANEL RAND CHAN30 # SWITCH IS ON EXTEND BZF STRSAT # IT IS - GO STEER CCS SATSW # IT IS NOT - WAS IT ON LAST CYCLE TC ATTDISP # NO - CONTINUE TC ATRESET # YES - REINITIALIZE NEEDLER TC ATRESET # YES - REINITIALIZE NEEDLER ATTDISP CS RPSTART # PITCH/ROLL START TIME AD TIME1 EXTEND BZMF NOPOLY # IF MINUS THEN ATTITUDE HOLD TS MPAC # MPAC=TIME1-RPSTART TS SPOLYARG # SAVE FOR USE IN ROLL CALCULATION AD POLYSTOP # NEG PITCHOVER TIME IN CSECS EXTEND BZMF +2 TC NOPOLY # GO TO ATTITUDE HOLD CA TIME2 EXTEND BZMF +2 TC NOPOLY # GO TO ATTITUDE HOLD CAE POLYNUM TS L CAF COEFPOLY # EVALUATE PITCH POLYNOMIAL TC POWRSERS # SCALED TO 32 REVOLUTIONS CA ZERO # RETURN WITH PITCH(32REV) TS MODE # STORED MPAC, MPAC +1 TC INTPRET SETPD SL # 32(PITCH(32REV))=PITCH(REV) 0 5 PUSH # LET P(RAD)=2*PI*PITCH(REV) GOTO ATTDISP1 # AROUND SETLOC # Page 543 # * # CONSTRUCT SM TO S/C MATRIX, TSMV SETLOC P11TWO BANK # 36 IN COL., 34 IN DISK COUNT 36/P11 ATTDISP1 COS DCOMP STODL 14D # -.5*COS(P) SIN STODL 10D # .5*SIN(P) ZEROVECS STORE 12D # 0 # EVALUATE ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T SLOAD DMP SPOLYARG # TIME1 - RSPSTART ,CSECS B-14. SATRLRT SL DSU 14D DPHALF DAD DSU # ASSUMING X(SM) ALONG LAUNCH AZIMUTH, LAUNCHAZ # LAUNCHAZ = ANGLE FROM NORTH TO X(SM). AZIMUTH # AZIMUTH = -ANGLE FROM NORTH TO Z(S/C) RTB # DETERMINE IF ROLLOUT RLTST # IS COMPLETED ATTDISPR PUSH COS # CONTINUE COMPUTING TSMV PUSH # LET R(RAD) = 2*PI*ROLL(REV) DMP SL1 14D STODL 22D # -.5*COS(R)*COS(P) DCOMP STORE 18D # -.5*COS(R) DMP SL1 10D STODL 26D # -.5*COS(R)*SIN(P) SIN PUSH STORE 24D # .5*SIN(R) DMP SL1 14D STODL 16D # -.5*SIN(R)*COS(P) DCOMP DMP SL1 10D STOVL 20D # -.5*SIN(R)*SIN(P) 10D # FROM TSMV FIND THE HALF UNIT VECTORS XDC,YDC,ZDC = INPUT TO CALCGTA # Page 544 UNIT STOVL XDC # XDC = .5*UNIT(SIN(P),0,-COS(P)) 16D UNIT STOVL YDC # YDC = .5*UNIT(-SIN(R)*COS(P),-COS(R), 22D # -SIN(R)*SIN(P)) UNIT STCALL ZDC # ZDC = .5*UNIT(-COS(R)*COS(P),SIN(R), CALCGTA # -COS(R)*SIN(P)) # CALL CALCGTA TO COMPUTE DESIRED SM ORIENTATION OGC,IGC,AND MGC # - - - # FIND DIFFERENCE VECTOR DELTACDU = OGC-CDUX # ENTER HERE IF ATTITUDE HOLD NOPOLYM VLOAD PUSH # OGC IGC OGC # CHANGE IGC TO MGC FOR COMPATIBILITY PUSH CALL # MGC OGC CDUTRIG # WITH Y,Z,X ORDER OF CDUSPOT VLOAD RTB # - DPHI OGC-CDUX ,PD4 2 # DELTACDU = DTHETA = IGC-CDUY , 0 V1STO2S # DPSI MGC-CDUZ , 2 STOVL BOOSTEMP ZEROVECS STOVL 0 CDUSPOT RTB RTB V1STO2S DELSTOR STODL 10D SINCDUZ DMP SL1 0 DAD SR2 # CHANGE SCALE OF AK TO 2REVS 4 GOTO ATTDISP2 SETLOC P11ONE BANK COUNT 34/P11 ATTDISP2 STODL 16D # 16D, .5(DPHI + DTHETA*SIN(CDUZ)) COSCDUZ DMP PUSH 0 DMP SL1 COSCDUX PDDL DMP # Page 545 SINCDUX 2 DAD SL1 STADR STODL 17D # 17D, .5(DTHETA*COS(CDUX)*COS(CDUZ) DMP SL1 # +DPSI*SIN(CDUX)) SINCDUX PDDL DMP COSCDUX 2 DSU SL1 STADR STORE 18D # 18D, .5(-DTHETA*SIN(CDUX)*COS(CDUZ) TLOAD # +DPSI*COS(CDUX)) 16D STORE AK # STORE ATTITUDE ERRORS IN AK,AK1,AK2 EXIT CA SATSW CCS A # CHK TAKEOVER STATUS TC SATOUT # POS - DISPLAY ONLY TC AKLOAD # 0 STORE BIAS STEERSAT TC INTPRET # NEG STEER L/V TLOAD TAD BIASAK AK STORE AK # AKS = AKS - STORED BIAS EXIT CA AK TC RESCALES TS AK CA AK1 TC RESCALES TS AK1 CA AK2 TC RESCALES TS AK2 # DISPLAY ATTITUDE ERRORS ON FDAI VIA NEEDLER SATOUT TC BANKCALL CADR NEEDLER ATERSET CAF OCT31 # DELAY .25 SEC TC BANKCALL # EXECUTION + DELAY =.56SEC APPROX CADR DELAYJOB TC ATERJOB # END OF ATT ERROR DISPLAY CYCLE AKLOAD CS AK # STORE AKS TS BIASAK # INTO BIAS CS AK1 # COMPLEMENTED TS BIASAK +1 # Page 546 CS AK2 TS BIASAK +2 CS BIT1 # SET SW TS SATSW # TO STEER TC STEERSAT # GO STEER STRSAT CA SATSW # CHECK IF NEEDLER EXTEND # HAS BEEN INITIALIZED BZMF ATTDISP # YES - CONTINUE ATRESET CS RCSFLAGS # NO - SET MASK BIT3 # INITIALIZATION SW ADS RCSFLAGS # FOR NEEDLER TC BANKCALL # AND GO CADR NEEDLER # DO IT CAF REVCNT # OCT 6 TC BANKCALL # DELAY JOB CADR DELAYJOB # 60 MS -WAIT TILL IMUERRCNTR ZEROED CCS SATSW # CHECK SW STATUS TC TAKEON # POS STEER INIT. TC +1 # 0 RETURN TO DISPLAY CA BIT1 # NEG RETURN TO DISPLAY TS SATSW # SW = DISPLAY ON CS BIT9 # DISABLE EXTEND # SIVB WAND CHAN12 # TAKEOVER TC SATOUT # DISPLAY TAKEON CAF BIT9 # ENABLE EXTEND # SIVB WOR CHAN12 # TAKEOVER CA ZERO # INDICATE NEEDLER TS SATSW # WAS INITIALIZED TC SATOUT S11.1 VLOAD ABVAL VN STOVL VMAGI # VI SCALED 2(7) IN METERS/CSEC RN UNIT DOT VN SL1 STODL HDOT RPAD BOF VLOAD AMOONFLG EARTHALT RLS ABVAL SR2 EARTHALT BDSU 36D STORE ALTI RVQ DELSTOR CA BOOSTEMP # Page 547 EXTEND # STORE DELTACDU INTO PDL 0,2,4 MSU MPAC INDEX FIXLOC TS 0 CA BOOSTEMP +1 EXTEND MSU MPAC +1 INDEX FIXLOC TS 2 CA BOOSTEMP +2 EXTEND MSU MPAC +2 INDEX FIXLOC TS 4 TCF DANZIG RLTST CA MPAC # DETERMINE IF ROLLOUT EXTEND # IS COMPLETED MP SATRLRT +1 EXTEND BZMF DANZIG # UNLIKE SIGNS STILL ROLLING EXTEND # ROLLOUT COMPLETED DCA MBDYTCTL +2 # ZERO OUT ROLL CONTRIBUTION DXCH MPAC TC DANZIG NOPOLY TC INTPRET # COMES HERE IF SETPD GOTO # ATTITUDE HOLD 0 NOPOLYM COEFPOLY ADRES POLYLOC V06N62 VN 0662 RESCALES EXTEND # RESCALE AK S FOR MP SATSCALE # NEW HARDWARE DDOUBL # SCALING FOR DDOUBL # STEERING TC Q # SATURN # SATURN TAKEOVER FUNCTION # ************************ # PROGRAM DESCRIPTION # MOD NUMBER 1 # MOD BY ELIASSEN # FUNCTIONAL DESCRIPTION # DURING THE COASTING PHASE OF SIVB ATTACHED, THE # ASTRONAUT MAY REQUEST SATURN TAKEOVER THROUGH # EXTENDED VERB 46 (BITS 13,14 OF DAPDATR1 SET ). # THE CMC REGARDS RHC COMMANDS AS BODY-AXES RATE # COMMANDS AND IT TRANSMITS THESE TO SATURN AS DC # Page 548 # VOLTAGES. THE VALUE OF THE CONSTANT RATE COMMAND # IS 0.5 DEG/SEC. AN ABSENCE OF RHC ACTIVITY RE- # SULTS IN A ZERO RATE COMMAND. # THE FDAI ERROR NEEDLES WILL INDICATE THE VALUE # OF THE RATE COMMAND. # CALLING SEQUENCE # # DAPFIG +9D TC POSTJUMP # CADR SATSTKON # SUBROUTINES CALLED # ENDEXT # IBNKCALL # STICKCHK # NEEDLER # T5RUPT # RESUME # ASTRONAUT REQUESTS # ENTRY - VERB 46 ENTER # (CONDITION - BITS 13, 14 OF DAPDATR1 SET) # # EXIT - VERB 48 ENTER (FLASH V06N46) # VERB 21 ENTER AXXXX ENTER WHERE A=0 OR 1 # VERB 34 ENTER # VERB 46 ENTER # NORMAL EXIT MODE # VERB 46 ENTER (SEE ASTRONAUT ABOVE) # ALARM OR ABORT EXIT MODES # NONE # OUTPUT # SATURN RATES IN CDUXCMD, CDUYCMD, CDUZCMD # ERASABLE INITIALIZATION # DAPDATR1 (BITS 13,14 MUST BE SET) # DEBRIS # CENTRALS # Page 549 # CDUXCMD, CDUYCMD, CDUZCMD BANK 43 SETLOC EXTVERBS BANK COUNT 23/STTKE SATSTKON EXTEND DCA 2REDOSAT INHINT DXCH T5LOC CAF POSMAX TS TIME5 CS FLAGWRD6 # TURN ON BITS 15,14 OF MASK RELTAB11 # FLAGWRD6 ADS FLAGWRD6 # SATSTICK CONTROL OF T5 TC IBNKCALL # ZERO JET CHANNELS IN 14 MS AND THEN CADR ZEROJET # LEAVE THE T6 CLOCK DISABLED RELINT TC GOPIN # EXIT THUS BECAUSE WE CAME VIA V46 EBANK= BODY3 2REDOSAT 2CADR REDOSAT SBANK= LOWSUPER BANK 32 SETLOC P11FOUR BANK REDOSAT LXCH BANKRUPT # ALSO COMES HERE FOR RESTARTS EXTEND QXCH QRUPT CS RCSFLAGS # TURN ON BIT3 OF RCSFLAGX MASK BIT3 # FOR ADS RCSFLAGS # NEEDLER INITIALIZATION TC IBNKCALL CADR NEEDLER # DISABLE IMU ERR COUNTERS ETC. CAF BIT9 # SIVB EXTEND # TAKEOVER WOR CHAN12 # ENABLE EXTEND # SET UP T5 CYCLE DCA 2SATSTCK DXCH T5LOC CAF 100MST5 # IN 100 MSECS TS TIME5 TCF RESUME # END OF SATURN STICK INITIALIZATION # THIS SECTION IS EXECUTED EVERY 100 MSECS # Page 550 SATSTICK LXCH BANKRUPT EXTEND QXCH QRUPT CAF 2SATSTCK # SET UP RUPT TS T5LOC # LO ORDER LOC SET CAF 100MST5 # 100 MSECS TS TIME5 CAF STIKBITS EXTEND RXOR CHAN31 # CHECK IF MAN ROT BITS SAME MASK STIKBITS TC IBNKCALL # SET RATE INDICES CADR STICKCHK # FOR PITCH YAW AND ROLL INDEX RMANNDX # SET SATURN RATES CA SATRATE TS AK # ROLL INDEX PMANNDX CA SATRATE TS AK1 # PITCH INDEX YMANNDX CA SATRATE TS AK2 # YAW TC IBNKCALL # FOR SATURN INTERFACE AND FDAI DISPLAY CADR NEEDLER TCF RESUME # END OF SATURN STICK CONTROL STIKBITS OCT 00077 100MST5 DEC 16374 EBANK= BODY3 2SATSTCK 2CADR SATSTICK ================================================ FILE: Comanche055/P20-P25.agc ================================================ # Copyright: Public domain. # Filename: P20-P25.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 562-534 # Mod history: 2009-05-10 RSB Adapted from the Colossus249/ file # of the same name, using Comanche055 page # images. # 2009-05-20 RSB Corrections: P2OS -> P20S, STO -> STQ, # GOTOPOOH -> GOTOPOOH, a duplicated EXTEND # was fixed, P23.10 -> R23.10, # S22B0X44 -> S22BOX44, S22SUBSCL -> 22SUBSCL, # S22DPP -> S22DSPP, changed some instructions in # P23.152. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 562 # RENDEZVOUS NAVIGATION PROGRAM 20 # # PROGRAM DESCRIPTION # # MOD NO -- 1 # MOD BY -- N. BRODEUR # # FUNCTIONAL DESCRIPTION # # TO CONTROL THE CSM ATTITUDE AND OPTICS TO ACQUIRE THE LEM IN THE S+T # FIELD AND TO POINT THE CSM TRANSPONDER AT THE LEM. TO UPDATE EITHER THE # LEM OR CSM STATE VECTOR (AS SPECIFIED BY THE ASTRONAUT BY THE DSKY # ENTRY) ON THE BASIS OF OPTICAL TRACKING DATA (REQUESTED BY DSKY) # # CALLING SEQUENCE -- # # ASTRONAUT REQUEST THROUGH DSKY V37E20E # # SUBROUTINES CALLED # # R02BOTH (IMU STATUS CHECK) BANKCALL # FLAGUP 2PHCHNG LOADTIME # R61CSM (PREFERRED TRACKING ATTITUDE) FLAGDOWN # R52 (AUTO OPTICS POSITIONING ROUT) SETINTG # R22 (REND TRACK DATA PROC ROUT) PRIOCHNG # ENDOFJOB INTEGRV GRP2PC # INTPRET MKRLEES FINDVAC # # NORMAL EXIT MODES -- # # P20 MAY BE TERMINATED IN TWO WAYS -- ASTRONAUT SELECTION OF IDLING # PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E # # ALARM OR ABORT EXIT MODES -- # # NONE DIRECTLY FROM P20 # # OUTPUT # # TRKMKCNT = NO OF RENDEZVOUS TRACKING MARKS TAKEN (COUNTER) # VHFCNT = NO OF VHF RANGING MARKS INCORPORATED (COUNTER) # # FLAGS SET + RESET # # RNDVZFLG,VEHUPFLG,UPDATFLG,TRACKFLG,TARG1FLG # HOLDFLAG,WBODY,WBODY1,WBODY2,DELCDUX,DELCDUY,DELCDUZ # STIKFLAG,PRFTRKAT,VINTFLAG,DIM0FLAG,R60FLAG,R61CNTR BANK 33 SETLOC P20S BANK EBANK= ESTROKER COUNT* $$/P20 PROG20 TC BANKCALL CADR R02BOTH # IMU STATUS CHECK # BLOCKING OF UPLINK IS DONE BY UPLINK PRG CAF ZERO TS TRKMKCNT # ZERO REND TRACKING MARK COUNTER TS VHFCNT # ZERO REND VHF RNG MRK COUNTER TC UPFLAG # SET PREF TRACK ATT FLAG ADRES PRFTRKAT # BIT 10 FLAG 5 TC DOWNFLAG # LEM TO BE UPDATED. VEHUPFLG RESET. ADRES VEHUPFLG # BIT 8 FLAG 1 # Page 563 TC UPFLAG # SET TRACKFLAG ADRES TRACKFLG # BIT 5 FLAG 1 TC UPFLAG # SET UPDATFLG ADRES UPDATFLG # BIT 7 FLAG 1 TC UPFLAG # SET RNDVZFLG ADRES RNDVZFLG # BIT 7 FLAG 0 TC 2PHSCHNG OCT 4 OCT 05022 OCT 26000 TC INTPRET RTB LOADTIME STCALL MARKTIME SETINTG # SET INTEGRATION FLAGS BOFF SET RENDWFLG P20.1 DIM0FLAG # SET TO INTEGRATE THE W MATRIX P20.1 BON CLEAR VEHUPFLG P20.2 VINTFLAG # SET FOR LM INTEGRATION P20.2 CALL INTEGRV CALL GRP2PC # GROUP 2 PHASE CHANGE CALL SETINTG # SET INTEGRATION FLAGS BOFF CLEAR VEHUPFLG P20.3 VINTFLAG # SET FOR LM INTEGRATION P20.3 CALL INTEGRV EXIT CAF PRIO26 TC FINDVAC EBANK= MRKBUF2 2CADR R22 TC 2PHSCHNG OCT 00072 OCT 00111 PIKUP20 CAF PRIO14 # ALLOW HIGHER PRIO THAN LAMBERT TC PRIOCHNG CAF BIT5 # IS TRACK FLAG SET MASK STATE +1 EXTEND BZF ENDOFJOB # NO # Page 564 CAF BIT13 MASK STATE +3 # IS REFSMFLG SET EXTEND BZF ENDOFJOB CAF ZERO TS R61CNTR # INITIALIZE R61 COUNTER TC BANKCALL CADR R61CSM EBANK= QMIN CAF EBANK5 TS EBANK TC UPFLAG # SET TARGET FLAG TO LEM ADRES TARG1FLG # BIT 10 FLAG 1 P20R52JB TC INTPRET CALL R52 # SET UP AUTO OPTICS JOB EXIT TC BANKCALL CADR MKRLEES CAF ONE # HOLD PRESENT ATTITUDE TS HOLDFLAG TC ENDOFJOB OCT203 OCT 00203 FIRST3 EQUALS FURST3 # Page 565 # ORBITAL NAVIGATION PROGRAM 22 BANK 31 SETLOC P20S1 BANK EBANK= LANDMARK COUNT* $$/P22 PROG22 TC DOWNFLAG # RESET RNDVZFLG BIT 7 FLAG 0 ADRES RNDVZFLG TC BANKCALL CADR R02BOTH # IMU STATUS CHECK TC INTPRET # COMPUTE ANGLE BETWEEN Y AND VXR SM RTB LOADTIME STCALL TDEC1 CSMCONIC # INTEGRATE TO PRESENT TIME VLOAD VXV # CROSS PRODUCT BETWEEN V AND R VATT RATT UNIT DOT REFSMMAT +6 ABS SL1 ARCCOS STORE +MGA CLEAR EXIT RENDWFLG CAF V06N45B TC BANKCALL CADR GOFLASHR TC GOTOPOOH # TERM P22 TC PROG22A # PROC TC -5 # ENTER CAF THREE TC BLANKET # BLANK OUT R1 + R2 TC ENDOFJOB PROG22A CS PRIO7 # RESULT=70777 SET OFFSET NO.=0 MASK LANDMARK TS LANDMARK TC INTPRET CLEAR P22MKFLG SET BOFF ERADFLAG CMOONFLG PROG22B # EARTH SET # MOON LUNAFLAG DLOAD CALL # MPAC=V05N70,MPAC+1=NONZERO FOR N70 V05N7022 # Page 566 S22N7071 GOTO CALLR52 PROG22B CLEAR SET # EARTH ORBIT LUNAFLAG KNOWNFLG CALL # GET LAT/LONG/ALT FROM ASTRO P22SUBRB CALLR52 EXIT TC 2PHSCHNG OCT 00004 OCT 05022 OCT 13000 CAF FIVE TS MARKINDX # SET MARK INDEX=5 FOR R52 TC UPFLAG ADRES TARG2FLG # SET FOR SIGHTING LMK TC DOWNFLAG ADRES TARG1FLG # CLEAR FOR NON-LEM TC INTPRET CALL R52 DOV5N71 SLOAD CALL # MPAC=V05N71,MPAC+1=0 FOR N71 V05N7122 S22N7071 PROG22C LXC,2 SLOAD* MARKSTAT QPRET,2 STCALL 8NN S22.1 # ESTABLISH LANDMARK -- COMPUTE ORBITAL P22OVER EXIT TC PHASCHNG OCT 04022 TC PROG22A # POINT A ON GSOP V06N45B VN 0645 V05N7022 VN 00570 V05N7122 VN 00571 SETLOC P20S BANK SETLOC P20S1 BANK S22LSITE RTB # CONVERT RLS FROM MOON-FIXED TO BASIC REF LOADTIME STOVL 6D # 6-7D= TIME RLS STODL 0D # 0-5D= LANDING SITE VECTOR HIDPHALF # MPAC= ANY NON-ZERO FOR MOON CALL # Page 567 RP-TO-R # RLS IN BASIC REF B-27 IN MPAC VSR2 # LUNAFLAG AND ERADFLAG SET ABOVE STORE ALPHAV # SCALE RLS B-29 FOR LAT-LONG RTB LOADTIME # SET PRESENT TIME IN MPAC FOR LAT-LONG CALL LAT-LONG GOTO S22TOFF # EXIT OBTAINLL CALL # GET LAT/LONG/ALT FROM ASTRO P22SUBRB GOTO S22TOFF # EXIT P22SUBRB STQ EXIT # GET LAT/LONG/ALT FROM ASTRO S22TOFF +1 CAF V06N89B TC BANKCALL CADR GOFLASH TC GOTOPOOH # TERMINATE TC +2 # PROCEED TC -5 # ENTER OR RECYCLE TC INTPRET DLOAD ABS # TEST LAT/LONG GREATER THAN 90 LANDLAT BDSU BMN # 1/4 REV - LAT DP1/4TH N89ERRX DLOAD ABS LANDLONG BDSU BPL DP1/4TH +4 N89ERRX EXIT TC FALTON TC P22SUBRB +2 # LONG GR. THAN 90 REDISPLAY CALL LLASRDA GOTO S22TOFF +1 # EXIT S22N7071 STORE 8KK # 8KK=V05N71,V05N70 8KK+1=0 N71, NOT 0 N70 STQ EXIT S22TOFF S22DSPPA CA 8KK # V05N70 OR V05N71 TC BANKCALL CADR GOFLASHR TC GOTOPOOH # V34E TERMINATE TC +5 # V33E PROCEED TC -5 # V32E RECYCLE CAF FIVE # IMMEDIATE RETURN BLANK OUT R1,R3 TC BLANKET # Page 568 TC ENDOFJOB CA LANDMARK MASK PRIO7 # 07000 TS CXOFF # 08000 = OFFSET INDICATOR CS PRIO5 # 5 8-5 AD CXOFF EXTEND BZMF +2 # OFF=0 THRU 5 OK TC S22DSPP # OFF=6.7 ILLEGAL REDISPLAY TC DOWNFLAG ADRES KNOWNFLG # CLEAR KNOWNFLG CA LANDMARK # MASK A FROM ABCDE MASK 13,14,15 EXTEND BZMF S22DSPP # A=0,4,5,6,7 ILLEGAL REDISPLAY TS 22SUBSCL # TEMP CS BIT14 AD 22SUBSCL CCS A S22DSPP TC FALTON # + A=3 ILLEGAL REDISPLAY TC S22DSPPA # COMMON ERROR EXIT BACK TO DISPLAY TC +2 # - A=1 KNOWN LMK CHECK DE TC S22ABDE # -0 A=2 UNKNOWN LMK, DE MEANINGLESS TC UPFLAG ADRES KNOWNFLG # SET KNOWNFLG CS HIGH9 # RESULT= 00077 MASK LANDMARK TS 22SUBSCL # 000DE CS BIT1 AD 22SUBSCL EXTEND BZMF S22ABDE # DE=0,1 OK FOR BOTH N70,N71 CA 8KK +1 # =0 FOR N71, NOT =0 FOR N70 EXTEND BZF S22DSPP # N71 REDISPLAY DE MUST= 0 OR 1 CA BIT5 # N70 TEST DE= 50-57 OCTAL FOR ADV. ORBIT AD OCT50 # SUM=00070 MASK 22SUBSCL # 00D0 CS A AD OCT50 EXTEND BZF DE-GR-50 # D=5 OR DE=50-57, OK FOR N70 TC S22DSPP # DE NOT 50-57 ILLEGAL, REDISPLAY S22ABDE TC INTPRET BOFF SLOAD KNOWNFLG # UNKNOWN LMK, DE MEANINGLESS S22TOFF 22SUBSCL # =0 GET LLA FROM ASTRO, NOT=0 USE RLS BHIZ GOTO OBTAINLL # GET LAT/LONG/ALT FROM ASTRO N89 # Page 569 S22LSITE # GET LAT/LONG/ALT FROM RLS DE-GR-50 TC 2PHSCHNG OCT 00004 OCT 05022 OCT 13000 CA FIVE TS MARKINDX TC UPFLAG ADRES TARG2FLG TC DOWNFLAG ADRES TARG1FLG TC INTPRET CALL ADVORB GOTO DOV5N71 # Page 570 # PROGRAM NAME: OPTICS CALIBRATION ROUTINE # MOD NO: 1 # MOD BY: TOM KNATT # # FUNCTIONAL DESCRIPTION: TO MEASURE THE EFFECT OF SOLAR RADIATION ON # THE SXT TRUNNON ANGLE AND STORE THE MEASURED TRUNNION BIAS FOR P23 # # CALLING SEQUENCE: CALL # R57 # # SUBROUTINES CALLED: DISPLAY ROUTINES # # NORMAL EXIT MODES: VIA EGRESS # # ALARMS: NONE # # ABORT MODES: P23 ABORT IF MARKING SYSTEM OR EXTENDED VERB ACTIVE # # INPUT: NONE REQUIRED, NORMALLY CALLED BY P23 # # OUTPUT: TRUNNION BIAS ANGLE: ANGLE DETERMINED WHEN SHAFT LINE OF SIGHT # (SLOS) AND LANDMARK LINE OF SIGHT (LLOS) ARE SUPERIMPOSED. THIS ANGLE # MAY NOT BE EXACTLY ZERO BECAUSE OF UNEVEN HEATING OF THE OPTICS, FOR # EXAMPLE. # # ERASABLE INITIALIZATION REQUIRED: MRKBUF1, EXTVBACT # # DEBRIS: RUPTREGS USED BY MARKRUPT AND ERASABLES USED BY DISPLAYS. BANK 33 SETLOC P20S BANK COUNT* $$/R57 EBANK= MRKBUF1 R57 STQ EXIT EGRESS CAF EBANK7 TS EBANK CAF SIX # BIT2 = MARKING SYSTEM IN USE MASK EXTVBACT # BIT3 = EXTENDED VERB IN PROGRESS CCS A TC P23ABRT # SET, THEREFORE ABORT CAF BIT2 # NOT SET ADS EXTVBACT # SET IT R57A TC UPFLAG # SET V59FLAG (BIT 12 FLAG 5 TO INDICATE ADRES V59FLAG # CALIBRATION MARK CAF V59NB TC BANKCALL CADR GOMARKFR TC GOTOPOOH # TERMINATE TC ENDR57 TC ENDR57 CAF SEVEN # Page 571 TC BLANKET # BLANK OUT R1,R2,R3 TC ENDOFJOB # STORE TRUNNION ANGLE (OCDU) MARKDISP CAF V06N87NB TC BANKCALL CADR GOMARKFR TC GOTOPOOH # TERMINATE TC R57B # PROCEED TC R57A # ENTER (RECYCLE) CAF FIVE TC BLANKET # BLANK OUT R1,R3 TC ENDOFJOB R57B CA 19.77DEG # PUT FIXED INTO ERASABLE FOR MSU TS L # INSTRUCTION COMING UP CA MRKBUF1 +5 # CONTAINS TRUNNION EXTEND MSU L # CONNECTS TRUNBIAS FROM 2'S TO 1'S TS TRUNBIAS ENDR57 TC DOWNFLAG # RESET V59FLAG ADRES V59FLAG # BIT 12 FLAG 5 CAF EBANK5 TS EBANK CAF PRIO14 TC NOVAC # THIS JOB CLEARS BIT IN EBANK= MARKSTAT 2CADR ENDMARK # MARKING IN R57 SO R53 CAN TAKE OVER TC INTPRET GOTO EGRESS P23ABRT TC BAILOUT OCT 01211 V06N87NB VN 0687 V59NB VN 5900 V51NB VN 5100 19.77DEG OCT 61740 # Page 572 # PROGRAM DESCRIPTION # MOD NO: 1 # MOD BY: N. BRODEUR # # FUNCTIONAL DESCRIPTION # # TO PERFORM SIGHTING MARKS IN CONJUNCTION WITH THE RENDEZVOUS NAVIG- # ATION PROGRAM. CALLED BY ASTRONAUT VIA EXTENDED VERB. # # CALLING SEQUENCE: # # R21 VIA V57 # R23 VIA V 54 # # SUBROUTINES CALLED: # # FLAGUP FLAGDOWN BANKCALL # ENDOFJOB GOMARK2 GOMARKF # INTPRET GENTRAN KLEENEX # ENDMARK # # NORMAL EXIT MODES: # # MARKRUPT USED BY SXTMARK HAS BEEN MODIFIED TO STORE MARK IN MRKBUF2 # FOR USE BY R22. WHEN ASTRONAUT IS FINISHED TAKING MARKS, HE HITS AN # PROCEED, R21 IS TERMINATED THUS CAUSING THE FINAL MARK TO BE TRANSFRD # TO MRKBUF2 FOR PROCESSING BY R22 # # ALARM OR ABORT EXIT MODES: # # NONE # # OUTPUT: # # 7 REGISTER MRKBUF2 CONTAINING TIME2,TIME1,CDUY,OPTICS X,CDUZ, OPTICS Y, # CDUX. # # ERASABLE INITIALIZATION REQUIRED # # FLAGS SET AND RESET # R21MARK (COMMUNICATION TO MARKRUPT TO STORE MARKS IN MRKBUF1 +2) # R23FLG INDICATES COAS MARKING # # DEBRIS EBANK= MRKBUF1 SETLOC RENDEZ BANK COUNT* $$/R21 R21CSM TC UPFLAG # SET R21MARK ADRES R21MARK # BIT 14 FLAG 2 R23CSM CA NEGONE TS MRKBUF1 TS MRKBUF2 CA FLAGWRD1 MASK R23BIT # TEST R23FLG EXTEND BZF R21C1 # NOT SET REGULAR R21 MARKING CAF V0694 # R23 BACKUP MARKING TC BANKCALL # DISPLAY SHAFT + TRUNNION CADR GOMARKF TC R21END # TERM TC +2 # PROC # Page 573 TC -5 # ENTER R23CSM1 CAF V53 # PERFORM ALT LOST SIGHT MARK TC BANKCALL CADR GOMARK2 TC R21END # V34: TERMINATE R23 TCF R21CSMA # PROCEED: END BACK UP MARKING (R23) CAF SIX # TRANSFER MRKBUF1 TO MRKBUF2 TC GENTRAN ADRES MRKBUF1 ADRES MRKBUF2 EXTEND DCA TIME2 DXCH MRKBUF1 # READ TIME CA CDUY # READ CDU ANGLES TS MRKBUF1 +2 CA CDUZ TS MRKBUF1 +4 CA CDUX TS MRKBUF1 +6 RELINT TC R23CSM1 R21C1 CAF V51NB TC BANKCALL CADR GOMARK2 TC R21END # V34: TERMINATE R21 TCF R21CSMA # PROCEED: END R21 TCF R21C1 # RECYCLE R21CSMA CA MRKBUF1 # IF -1 NO MARK AD ONE EXTEND BZF R21END # ZERO = NO MARK CAF SIX # MARK THEREFORE TRANSFER IT TO MRKBUF2 R21CSM1 TC GENTRAN # TRANSFER MRKBUF1 TO MRKBUF2 ADRES MRKBUF1 ADRES MRKBUF2 RELINT R21END TC BANKCALL CADR KLEENEX TC DOWNFLAG # RESET R21MARK ADRES R21MARK # BIT 14 FLAG 2 TC ENDMARK # END MARKING AND ENDJOB V53 VN 5300 V0694 VN 0694 # Page 574 # PREFERRED TRACKING ATTITUDE ROUTINE R61CSM # # PROGRAM DESCRIPTION # MOD NO: 2 # MOD BY: N. BRODEUR # # FUNCTIONAL DESCRIPTION: # # TO COMPUTE THE PREFERRED TRACKING ATTITUDE OF THE CSM TO ENABLE OPTICS # TRACKING OF THE LM AND TO PERFORM THE MANEUVER TO THE PREFERRED # OR X-AXIS TRACKING ATTITUDE. # # CALLING SEQUENCE: # # TC BANKCALL # CADR R61CSM # # SUBROUTINE CALLED # # MAKECADR BANKCALL # INTPRET FLAGUP FLAGDOWN # BANKJUMP CRS61.1 R60CSM # PHASCHNG # # NORMAL EXIT MODES: # # NORMAL RETURN TO CALLER + 1 # # OUTPUT: # # SEE OUTPUT FOR CRS61.1 & ATTITUDE MANEUVER ROUTINE (R60CSM) # # ERASABLE INITIALIZATION REQUIRED # # GENRET USED TO SAVE Q FOR RETURN # R61CNTR MUST BE PRESET TO ZERO # # FLAGS SET + RESET # # 3-AXIS FLAG # # DEBRIS # # SEE SUBROUTINES EBANK= GENRET COUNT* $$/R61 # ROUTINES -- NAVIGATION -- PREF. TR. 9TT= R61CSM CAF EBANK6 # SWITCH TO EBANK 6 XCH EBANK TS SAVBNK # SAVE EBANK TC MAKECADR TS GENRET CCS R61CNTR # TEST R61DNTR TC DECRM61 # NOT READY TO DO R61 TC +2 # DO R61 TC DECRM61 +1 TC INTPRET CALL CRS61.1 # LOS DETERMINATION + VEH ATTITUDE EXIT INDEX MPAC TC +1 TC R61END # SUBROUTINE DRIVING DAP (EXIT R61) # OR AUTO MODE NOT SET (EXIT R61) # OR SKIKFLAG SET (EXIT R61) R61C1 TC DOWNFLAG # RESET 3-AXIS FLAG ADRES 3AXISFLG # BIT 6 FLAG 5 # Page 575 CS ONE # SET R61CNTR NEG. TO INDICATE KALCMANU TS R61CNTR TC UPFLAG # SET FLAG FOR PRIORITY DISPLAYS FOR R60 ADRES PDSPFLAG # BIT 12 FLAG 4 TC BANKCALL CADR R60CSM TC DOWNFLAG # RESET FLAG FOR PRIORITY DISPLAYS IN R60 ADRES PDSPFLAG # BIT 12 FLAG 4 TC PHASCHNG OCT 00111 CAF ZERO TC DECRM61 R61END CAF THREE DECRM61 TS R61CNTR CAE GENRET LXCH A # RETURN IS IN L CA SAVBNK # RESTORE EBANK XCH EBANK LXCH A # RETURN IS NOW BACK IN A TC BANKJUMP # EXIT R61 BANK 13 SETLOC P20S2 BANK EBANK= MRKBUF1 # Page 576 # BVECTOR PERFORMS COMPUTATIONS FOR # # DELTAQ, THE MEASURED DEVIATION BASED ON THE DIFFERENCE BETWEEN THE CSM-LEM # STATE VECTOR ESTIMATES AND THE ACTUAL TRACKING MEASUREMENT. # # US, THE MODIFIED FICTITIOUS STAR DIRECTION VECTOR # GEOMETRY VECTORY B ASSOCIATED WITH EACH TRACKING MEASUREMENT. # # INPUT # # UM,1/2 UNIT VECTOR ALONG THE CSM-LM LINE-OF-SIGHT (BASIC REF. SYSTEM) # # USTAR,FICTITIOUS STAR DIRECTION (1/2 UNIT VECTOR) # # RCLP,RELATIVE CSM TO LM POSITION VECTOR # # OUTPUT # # USTAR,MODIFIED FICTITIOUS STAR DIRECTION (1/2 UNIT VECTOR) # # BVECTOR = 9 DIMENSIONAL BVECTOR (1/2 UNIT VEC.) # # DELTAQ = MEASURED DEVIATION # # CALLING SEQUENCE # # L CALL BVECTORS # # NORMAL EXIT # # L+1 OF CALLING SEQUENCE COUNT 23/20SUB BVECTORS STQ EGRESS VLOAD UNIT RCLP # RELATIVE POSITION VECTOR STODL 26D # RCLP UNIT VEC 36D # RCLP ABS VALUE STOVL TEMPOR1 # MOVE TO SAFE LOCATION USTAR VXV UNIT 26D # USTAR = UNIT(US X UCL) STCALL BVECTOR GRP2PC # PHASE CHANGE VLOAD BVECTOR STORE USTAR DOT SL1 UM # USTAR DOT UM ACOS DSU DP1/4TH NORM DMP X1 PI/4.0 DMP SRR* TEMPOR1 # RCLP ABS VALUE 0 -3,1 # ADJUST SCALING STOVL DELTAQ ZEROVECS STORE BVECTOR +6 STORE BVECTOR +12D GOTO # Page 577 EGRESS PI/4.0 2DEC .785398164 # Page 578 # GETUM: DETERMINES THE LINE OF SIGHT UNIT VECTOR UM IN THE BASIC REFERENCE # COORDINATE SYSTEM FROM THE OPTICS SHAFT AND TRUNNION ANGLES AND THE IMU # GIMBAL ANGLES. # # INPUT # # MARKDATA, BASE ADDRESS OF MARK DATA # REFSMMAT, ROTATION MATRIX FROM STABLE MEMBER TO BASIC REF. COORD. SYSTEM # # SUBROUTINES CALLED- # # SXTNB -- SEXT. ANGULAR READINGS TO NAV. BASE COOR. # NBSM -- TRANSFORM FROM NAV. BASE TO STABLE MEMBER # # OUTPUT # # MPAC = LINE OF SIGHT 1/2 UNIT VECTOR IN BASIC REFERENCE SYSTEM # # CALLING SEQUENCE # # L CALL GETUM # # NORMAL EXIT # # L+1 OF CALLING SEQUENCE GETUM STQ SETPD EGRESS 0 LXC,1 VLOAD* MARKDATA # CONTAINS ADDRESS OF MARK DATA 1,1 STODL* MARKDOWN +1 # TRANSFER DATA FROM WORKING STORAGE 0,1 # TO MARKDOWN ARRAY FOR DOWNLINK STORE MARKDOWN AXT,2 2 XSU,2 SXA,2 X1 # X1 = MARKDATA S1 # S1 = MARKDATA(ADR) +2 CALL SXTNB # SEXT. ANGULAR READINGS TO NAV. BASE COOR. CALL NBSM # TRANSFORM FROM NAV. BASE TO STABLE MEM. VXM VSL1 REFSMMAT GOTO # MPAC = (UM) LINE OF SIGHT VECTOR EGRESS # EXIT # Page 579 # RENDEZVOUS TRACKING DATA PROCESSING ROUTINE (R22) # # PURPOSE (1) TO PROCESS RENDEZVOUS SIGHTING MARK DATA TO UPDATE THE STATE VECTOR OF EITHER THE CSM OR LM AS # DEFINED BY THE RENDEZVOUS NAVIGATION PROGRAM (P20). # # ASSUMPTIONS (1) THIS ROUTINE IS MANUALLY SELECTED BY THE ASTRONAUT BY V55E WHENEVER RENDEZVOUS SIGHTING MARKS # ARE DESIRED. ITS SELECTION, HOWEVER, IS LIMITED TO PERIODS WHEN THE CMC IS HOLDING FOR A V/N FLASHING # DATA DISPLAY. THIS ROUTINE RETURNS TO THE ORIGINAL PROGRAM AT THE INTERRUPTED DISPLAY. BANK 34 SETLOC P20S3 BANK COUNT 34/R22 R22 CAF PRIO26 TS PHSPRDT2 TC PRIOCHNG CA NEG3 TS MRKBUF2 TC INTPRET RTB LOADTIME STORE VHFTIME # PRESENT TIME REND1 CALL GRP2PC CALL WAITONE REND1A EXIT CA MRKBUF2 EXTEND BZF REND2 EXTEND BZMF REND3A REND2 CAF SIX TC GENTRAN ADRES MRKBUF2 ADRES MARKTIME # MARKTIME MUST BE CONTIGUOUS WITH VTEMP CAF NEG3 # NEG VALUE TO INDICATE VALUES USED TS MRKBUF2 RELINT TC INTPRET CLEAR CALL SOURCFLG # 0 = OPTICS DATA GRP2PC SSP GOTO MARKDATA ECADR VTEMP -2 REND4 REND3A TC INTPRET REND3 CALL # Page 580 GRP2PC CALL WAITONE BOFF VHFRFLAG REND1A RTB LOADTIME # PRESENT TIME DSU DSU 60SECDP # 1 MIN VHFTIME # LAST READING OF RADAR BMN CALL REND1A RANGERD # READ RADAR RANGE DLOAD MARKTIME STORE VHFTIME # FOR DOWNLINK REND4 CALL SETINTG # SET INTEGRV FLAGS BON CALL VEHUPFLG CSMUPP # BRANCH IF CSM UPDATE INTEGRV CALL GRP2PC # PHASE CHANGE CALL SETINTG # SET INTEGRV FLAGS CLEAR VINTFLAG # SET INTEGRATION VEHICLE TO LM REND5 BOFF SET RENDWFLG REND5A # DO NOT INTEGRATE W IF FLAG = 0 DIM0FLAG REND5A CALL INTEGRV CALL SHIFTNDX # SET EARTH MOON SCALING INDEX CALL CMPOS # SET CSM POSITION SET CALL INCORFLG # SET FOR 1ST PASS LMPOS # SET LM POSITION CLEAR BON ORBWFLAG # CLEAR FOR ORBITAL AND CISLUNAR RENDWFLG REND6 DLOAD WRENDPOS STCALL 0 # 0 = WRENDPOS 1 = WRENDVEL INITIALW # INTIIALIZE W MATRIX # Page 581 DLOAD ZEROVECS STORE VHFCNT # ZERO OUT VHFCNT AND TRKMKCNT REND6 SET RENDWFLG VLOAD VSU LEMPOS CSMPOS STORE RCLP # LM - CSM REND7 UNIT BON SOURCFLG REND14 # BRANCH IF DATA IS RADAR STORE UCL BOFF CALL INCORFLG REND9 GETUM # CALCULATE UM LINE OF SIGHT STOVL UM UCL VXV BOV UM # UCL X UM REND8 REND8 UNIT BOV REND3 # BRANCH IF OVERFLOW IGNORE MARK STORE USTAR REND9 CALL BVECTORS BON VLOAD VEHUPFLG REND9A BVECTOR VCOMP STORE BVECTOR REND9A CALL GRP2PC BON R23FLG REND15 # BRANCH IF BACKUP OPTICS (R23 WORKING) DLOAD DAD SXTVAR IMUVAR REND10 STOVL VARIANCE # TEMP STORAGE FOR VARIANCE CALC. RCLP ABVAL NORM X1 DSQ DMP VARIANCE XAD,1 CALL X1 SHIFTNDX # GET EARTH MOON SCALING INDEX # Page 582 XAD,1 XAD,1 X2 X2 SR* TLOAD 0 -2,1 # ADJUST SCALING TO B-40 MPAC STORE VARIANCE SLOAD SR INTVAR # INTEGRATION VARIANCE SCALED B-15 25D # SCALE IT B-40 TAD RTB VARIANCE TPMODE STORE VARIANCE BOFF TAD SOURCFLG # BRANCH IF NOT VHF RADAR REND10A RVARMIN # VHF RADAR MIN. VARIANCE BPL TLOAD REND10A RVARMIN ABS # MIN. VALUE WAS STORED AS NEG. STORE VARIANCE # STORE MIN. VALUE REND10A CLEAR CALL DMENFLG # CLEAR FOR 6 X 6 W MATRIX INCORP1 # CALCULATE UPDATE CALL GRP2PC BOFF CALL INCORFLG REND12 SHIFTNDX # GET EARTH MOON SCALING INDEX VLOAD ABVAL DELTAX +6 SR* 0,2 STOVL N49DISP +2 DELTAX ABVAL SR* 0,2 STORE N49DISP SLOAD RMAX SR DSU 10D N49DISP BMN SLOAD RENDISP # BRANCH IF POS UP. GREATER THAN MAX. VMAX DSU BMN # Page 583 N49DISP +2 RENDISP # BRANCH IF VEL. UPDATE GREATER THAN MAX. REND12 CALL INCORP2 # INCORPORATE UPDATE VALUES INTO STATE VEC BON BOFF SOURCFLG REND16 # BRANCH IF DATA IS RADAR INCORFLG REND17 CALL SHIFTNDX # GET EARTH MOON SCALING INDEX BON CALL VEHUPFLG REND18 # BRANCH IF CSM UPDATE LMPOS # GET LM POSITION REND13 CALL GRP2PC # PHASE CHANGE VLOAD VSU LEMPOS CSMPOS STORE RCLP # LM - CSM CLRGO INCORFLG REND7 # BRANCH FOR 2ND PASS THIS OPTICS MARK CSMUPP CLEAR CALL VINTFLAG # SET INTEGRATION VEHICLE EQ LM INTEGRV CALL GRP2PC # PHASE CHANGE CALL SETINTG # SET FLAGS FOR INTEGRATION GOTO REND5 REND14 STOVL BVECTOR # VHF RADAR BVECTOR ZEROVECS STORE BVECTOR +6 STOVL BVECTOR +12D RCLP UNIT DLOAD VHFRANGE # VHFRANGE SCALED B-27 BON SR2 MOONTHIS +1 DSU SET 36D # ABVAL (RCLP) INCORFLG STORE DELTAQ BOFF VLOAD VEHUPFLG REND14A # Page 584 BVECTOR VCOMP STORE BVECTOR REND14A CALL GRP2PC DLOAD GOTO RVAR REND10 REND15 SLOAD DAD # GET ALT LOS VARIANCE ALTVAR # BACKUP OPTICS IMUVAR # IMU VARIANCE GOTO REND10 REND16 LXA,1 INCR,1 VHFCNT # VHF RADAR UPDATE COUNT DEC 1 SXA,1 GOTO VHFCNT # UPDATE COUNT REND1 REND17 LXA,1 INCR,1 TRKMKCNT # OPTICS MARK COUNT DEC 1 SXA,1 GOTO TRKMKCNT # UPDATE COUNT REND3 REND18 CALL CMPOS # GET CSM POSITION GOTO REND13 CMPOS VLOAD VSR* DELTACSM 7,2 VAD RCVCSM STORE CSMPOS # CSM POSITION SCALED B-27 OR B-29 RVQ LMPOS VLOAD VSR* DELTALEM 7,2 VAD RCVLEM STORE LEMPOS # LM POSITION SCALED B-27 OR B-29 RVQ RENDISP EXIT CA FLAGWRD9 MASK SOURCBIT EXTEND BZF +3 CA BIT2 TC +2 # Page 585 CA BIT1 TS N49DISP +4 CAF ZERO # SET TEMPOR1 > ZERO TO INDICATE TS TEMPOR1 # V06 N49 DISPLAY HASN'T BEEN ANSWERED TC PHASCHNG OCT 04022 CAF PRIO27 # SET UP DISPLAY JOB WITH HIGHER PRIORITY TC NOVAC EBANK= MRKBUF1 # THAN PRESENT JOB 2CADR RENDISP2 RENDISP7 TC INTPRET STORE MPAC SLOAD BZE TEMPOR1 RENDISP7 +1 # DISPLAY HAS NOT BEEN ANSWERED YET BMN GOTO REND12 # NEG INDICATES PROCEED RENDISP3 # POS INDICATES RECYCLE RENDISP2 CAF V06N49 TC BANKCALL CADR PRIODSP TC GOTOV56 # TERM EXIT P20 VIA V56 CS ONE # NEG INDICATES PROCEED RENDISP7 JOB TS TEMPOR1 # POS INDICATES RECYCLE RENDISP7 JOB TC ENDOFJOB # GO COMPLETE ABOVE JOB RENDISP3 BON SOURCFLG REND1 # DATA WAS RADAR GO LOOK FOR OPTICS NEXT EXIT EBANK= MRKBUF1 INHINT CAF BUFBANK TS BBANK CA NEGONE TS MRKBUF1 # ERASE MARK ONE BUFFER TS MRKBUF2 # ERASE MARK TWO BUFFER RELINT RENDISP4 TC INTPRET GOTO REND3 SXTVAR 2DEC 0.04 E-6 B+16 # SXT ERROR VARIANCE = .04 (MR)SQ IMUVAR 2DEC 0.04 E-6 B+16 # IMU ERROR VARIANCE = .04 (MR)SQ V06N49 VN 0649 EBANK= MRKBUF1 BUFBANK BBCON RENDISP3 BANK 31 SETLOC R22S1 # Page 586 BANK SETINTG STQ CALL EGRESS INTSTALL # RESERVE INTEGRATION DLOAD SET MARKTIME STATEFLG STORE TDEC1 # MARKTIME CLEAR CLEAR INTYPFLG # PRECISION INTEGRATION DIM0FLAG SET CLRGO VINTFLAG # SET VEHICLE EQ. CSM D6OR9FLG # SET W MATRIX DIM. EQ 6 EGRESS # EXIT CNTCHK STQ POINTEX CONTCHK BOFF REFSMFLG # BRANCH TO END OF JOB IF REFSMMAT NO GOOD ENDPLAC SLOAD BMN R61CNTR WAITONE1 BON BOFF # IS TRACK FLAG SET UPDATFLG POINTEX TRACKFLG ENDPLAC EXIT REDOR22 TC PHASCHNG OCT 00132 CAF PRIO26 TC PRIOCHNG TC WAITONE +3 WAITONE STQ POINTEX WAITONE1 EXIT CAF 4SECS # WAIT 4 SECS. TC BANKCALL CADR DELAYJOB TC INTPRET GOTO CONTCHK # CHECK AGAIN NOW RANGERD EXIT INHINT CS OCT17 EXTEND WAND CHAN13 # ZERO OUT BITS 1-4 OF CHANNEL 13 CAF OCT11 EXTEND # Page 587 WOR CHAN13 # GENERAGE SHIFT PULSES TO RADR, SET R. BIT RELINT EXTEND DCA TIME2 DXCH MARKTIME # READ PRESENT TIME TC DOWNFLAG ADRES SKIPVHF TC BANKCALL CADR RADSTALL # WAIT FOR RANGE COMPLETE TC LIGHTON # BAD DATA GOOD BIT TC TRFAILOF # TURN TRACKER LIGHT OFF RANGERD1 CCS RM # 15 BIT UNSIGNED RANGE TC RANGERD4 # GR + 0 TC LIGHTON +4 # = + 0 TC RANGERD3 # L - 0 TC RANGERD3 # = - 0 RANGERD4 TC INTPRET SLOAD DMP RM CONVRNGE # CONVERT RANGE TO METERS B-27 RANGERD2 STORE VHFRANGE SET RVQ SOURCFLG # SOURCE OF DATA TO VHF RADAR RANGERD3 CA RM MASK POSMAX TS MPAC # MASK OUT NEG. SIGN BIT TC INTPRET DMP CONVRNGE # CONVERT FROM NM TO METERS AND SCALE B-27 DAD GOTO RANGEB14 # VALUE IN METERS OF SIGN BIT SCALED B-27 RANGERD2 LIGHTON CA VHFRANGE EXTEND BZF +2 TC TRFAILON TC INTPRET DLOAD MARKTIME STORE VHFTIME GOTO REND1 RANGEB14 2DEC 303431.7 B-27 # 16384 X 18.52 SCALED B-27 OCT17 OCT 00017 OC40200 OCT 40200 CONVRNGE 2DEC 18.52 B-13 # VHF INPUT RANGE CONV. FROM .01 NM TO M VHFREAD EXTEND ROR SUPERBNK # MUST SAVE SBANK BECAUSE OF RUPT # Page 588 TS BANKRUPT # EXITS VIA TASKOVER BADEND OR GOODEND CS ZERO TS RUPTAGN EXTEND QXCH QRUPT CS STATE +2 MASK SKIPVBIT # SKIPVHF FLAG EXTEND BZF TASKOVER # BRANCH IF VHF RESTART BIT SET CAF UPDATBIT MASK STATE +1 # UPDATEFLG EXTEND BZF BYPASS1 CS STATE +4 MASK PDSPFBIT # PDSPFLAG EXTEND BZF BYPASS1 CA RNRAD TS RM # SAVE RANGE CAF BIT2 EXTEND RAND CHAN33 # READ DATA GOOD BIT EXTEND BZF VHFGOOD # BRANCH IF DATA GOOD BIT EQUALS GOOD BYPASS TS VHFRANGE # STORE NON ZERO VALUE CAF TWO TC POSTJUMP CADR BADEND BYPASS1 CAF ZERO TC BYPASS VHFGOOD CAF TWO TC POSTJUMP CADR GOODEND SHIFTNDX AXT,2 BON 0 VEHUPFLG SHIFTA # VEHICLE IS CSM BON RVQ LMOONFLG +1 INCR,2 RVQ DEC -2 SHIFTA BON RVQ CMOONFLG +1 # MOON ORB. INCR,2 RVQ DEC -2 INITIALW AXT,1 SSP 36D S1 # Page 589 6 VLOAD ZEROVECS INITA STORE W +36D,1 # CLEAR 0 - 35 TIX,1 AXT,1 INITA 36D INITB STORE W +90D,1 # CLEAR 54 - 89 TIX,1 SLOAD INITB 0 # POSITION VALUE STORE W # INITIALIZE DIAGONAL W POSITION STORE W +8D STORE W +16D SLOAD 1 # VELOCITY VALUE STORE W +72D # INITIALIZE DIAGONAL W VELOCITY STORE W +80D STORE W +88D RVQ # Page 590 # CRS61.1 R/10/68 # # TO COMPUTE THE PREFERRED TRACKING ATTITUDE OF THE CSM WHICH ENABLES # OPTICS TRACKING OF THE LEM AND LM TRACKING OF THE CSM RADAR TRANSPONDER # AND TO COMPUTE THE X-AXIS TRACKING ATTITUDE OF THE CSM WHICH ENABLES # COAS TRACKING OF THE LM. # # TO PERFORM THE MANEUVER TO THE SELECTED TRACKING ATTITUDE IF THE # MANEUVER IS LESS THAN 10 DEGREES BUT TO CALL R60 IF THE MANEUVER IS # GREATER THAN 10 DEGREES BUT TO CALL R60 IF THE MANEUVER IS # GREATER THAN 10 DEGREES OR IF THE R60 FLAG IS SET. # # (1) EXTRAPOLATE LM AND CSM STATE VECTORS TO PRESENT TIME USING # CONIC EQUATIONS. # # (2) CALCULATE LOS FROM CSM TO LM = RL - RC. # # (3) THE PRERFERRED TRACKING ATTITUDE IS DEFINED AS FOLLOWS: # THE TRACK AXIS (I) IS ALIGNED ALONG THE LOS TO THE LM. THE # TRACK AXIS (I) IS DEFINED AS: # # UNIT(I)=UNIT(Z )COS55 & UNIT(X )SIN55 # - -SC -SC # # (4) COMPUTE DESIRED CDU ANGLES, USING VECPOINT. # # (Sorry, I don't know where (5) and (6) are. --- RSB 2009.) # (7) FORM DIFFERENCE BETWEEN DESIRED AND ACTUAL CDUS. # IF ANY OF THE THREE ANGLE DIFFERENCES EXCEEDS 10 DEGREES, # GROSS MANEUVER IS REQUIRED. SIGNAL R61 (SET MPAC=1) TO # OPERATE KALCMANU AND EXIT CRS61.1. # IF ALL DIFFERENCES ARE LESS THAN 10 DEGREES, CONTINUE. # # (8) CALCULATE ORTHOGONAL LOS RATE IN REF COORDS AS # # OMEGATH = (UNITLOS(B1) X UNITDV(B1))(ABSDV(B7)/ABSLOS(B29)) # # CONVERSION FACTOR OF 100/2PI (B4) REV CSEC PER RAD SEC IS # APPLIED TO YIELD UNITS OF REVS/SEC. SCALE IS CARRIED AS # B+1+1+7-29+4+1 PLUS RESULTS OF NORMALIZING ABSDV, ABSLOS. # THE EXTRA B+1 RESULTS FROM RESCALING ABSDV B8 AFTER NORM # TO AVOID OVFLOW ON DIVIDE. # # UNITLOS = UNIT( RL - RC ) B1. # UNITDY = UNIT( VL - VC ) B1. # ABSLOS = LENGTH OF LOS, METERS B29. # ABSDV = LENGTH OF DV, METERS/CSEC B7. # # (9) OBTAIN RATE IN SM COORDS. # # OMETATHSM = (REFSMMAT)(OMEGATH). # # (10) OBTAIN GIMBAL ANGLE INCREMENTS FOR 0.1 SECOND. # # DTHETASM = (0.1)(OMEGATHSM) # # (11) OBTAIN DELCDUX,Y,Z USING SUBR SMCDURES. # Page 591 # INPUT CONSISTS OF # # (A) VECTOR OF ANGULAR INCREMENTS, DTHETASM, STORED # IN V(DTHETASM). # (B) SIN,COS CDUX,Y,Z FROM SUBR CDUTRIG. # # TRANSFER OUTPUT OF SMCDURES FROM V(DCDU) TO VAC14D. # # (12) CALCULATE ANG LOS RATE IN BODY(NB) COORDS USING SUBR SMNB. # # OMEGANB = (SMNB)(OMETATHSM) # # SUBR SMNB REQUIRES OMEGATHSM IN V(VAC32D) AND ACTUAL CDUS # (Y,X,Z ORDER) IN V(VAC20D) WITH S1 OF VAC = BASE ADDRESS # OF CDUS (FIXLOC + 20D). # # (13) CALCULATE ANG LOS RATE IN CONTROL COORDS AS FOLLOWS # # WBODY = (MBDYTCTL)(OMEGANB) UNITS=REVS/SEC(B0) (?). # # ( 0.5 0 0 ) BODY TO # MBDYTCTL(B1) = ( 0 COS(7.25)B1 -SIN(7.25)B1 ) = CONTROL # ( 0 SIN(7.25)B1 COS(7.25)B1 ) AXES # CONVERSION # MATRIX # # (14) RESCALE WBODY TO UNITS OF 460 DEG/SEC BY APPLYING FACTOR # OF 0.8 TO REVS/SEC. # # (15) ADDRESS LIVE AUTOPILOT REGISTERS IN BASIC (UNDER INHINT). # # TRANSFER DESIRED CDUS, SCALED 180 DEGREES, FROM T(SAVEDCDU) # TO V(CDUXD). # # TRANSFER DELCDUS, SCALED 180 DEG, FROM V(VAC14D) # TO V(DELCDUX). # # TRANSFER OMEGA CONTROL, SCALED 450 DEG/SEC, FROM V(MPAC) # TO V(WBODY). # # RELINT, SET MPAC=0, EXIT CRS61.1. # # CALL: L CALL CRS61.1 # # RETURNS: ALL TO L+1. # # (1) S(MPAC)=0. NORMAL EXIT. 3 SETS OF INPUTS FED TO DAP. # (2) S(MPAC)=1. CALCULATED DESIRED CDUS,SP, SET IN T(CPHI) # FOR KALCMANU. ABS(ACDU - DCDU) EXCEEDS 10 DEGREES. # (3) S(MPAC)=2. GNCS AUTO MODE NOT SELECTED (BIT10=1). # (4) S(MPAC)=3. DAP HOLD FLAG (HOLDFLAG) NOT EQUAL -1. # Page 592 # # INPUT: (1) TIME2,TIME1. COMPUTER CLOCK TIME,DP, CENTISEC B28. # (2) CDUX,Y,Z. PRESENT CDU ANGLES,SP,2S COMPL HALF-REVS B0. # (3) M(REFSMMAT), STABLE MEMBER COORDS B1. # # OUTPUT: NORMAL. EXIT WITH S(MPAC) = 0. # # (1) CDUXD,CDUYD,CDUZD, DESIRED OUTER, INNER, MIDDLE CDU ANGLES, # DP, IS COMPL, SCALED 180 DEGREES (HALF-REVS B0). # (2) DELCDUX,DELCDUY,DELCDUZ. 0.1 SEC DCU ANGULAR INCREMENTS, # DP, IS COMPL, SCALED 180 DEG. # (3) WBODY,WBODY1,WBODY2. LOS ANGULAR RATE IN CONTROL COORDS, # DP, IS COMPL, SCALED 450 DEG/SEC. # # SPECIAL. EXIT WITH S(MPAC) = 1. # # (1) CPHI,CTHETA,CPSI. DESIRED OUTER, INNER, MIDDLE CDU ANGLES, # SP, 2'S COMPL, SCALED 180 DEGREES. # # EXTERNAL SUBROUTINES USED (B)=BASIC # # (1) CALCGA (5) LOADTIME(B) (9) SMNB # (2) CDUTRIG (6) MATMOVE # (3) CSMCONIC (7) RCDUS(B) # (4) LEMCONIC (8) SMCDURES # # ERASABLE # # (1) S(Q611),EBANK7 CRS61.1 EXIT. # (2) S(Q6111),EBANK7 CALCDCDU EXIT. # (3) T(SAVEDCDU),E6 SP VECTOR OF CDUDS. # (4) V(SAVEPOS),E7 CSM POS VEC AND D(SAVEPOS)= LENGTH OF LOS. # (5) V(SAVEVEL),E7 CSM VEL VEC. # # FLAGWDS: HOLDFLAG. USED, NOT SET. # # MISC: (1) ERASABLE ITEMP1 USED TO TEMP STORE EBANK UNDER INHINT. # (2) ERASABLE P21TIME USED AS TEMP STORE DURING CRS61.1 # (3) ERAS DTHETASM USED AS TEMP STORE DURING EARLY CRS61.1 # # DEBRIS -- CURRENT VAC AREA, CRS61.1 ERASABLES, ITEMP1, P21TIME BANK 24 SETLOC P20S4 BANK EBANK= CDUXD COUNT* $/CRS61 CRS61.1 STQ SETPD Q611 0 RTB # Page 593 LOADTIME # LOAD CLOCK TIME2,1 INTO MPAC. STORT STCALL P21TIME # STORE CLOCK TIME FOR SUBR R63 R63 # SUBR TO CALC DCDU (T=PRESENT,PASS1) TLOAD THETAD # SAVE DCDU(T) FROM CALCDCDU FOR STEP4. STORE SAVEDCDU EXIT TC STEP2CK AUTOCK CAF PRIO30 EXTEND RXOR CHAN31 MASK FURST3 EXTEND # AUTO MODE SELECTED (BITS 15-13=011) BZF DAPCK # YES -- CONTINUE. TC ASET DAPCK CS FLAGWRD1 # IS STIKFLAG SET (I.E., IS SOMEONE ON RHC) MASK STIKBIT CCS A TC STEP3CK ASET CAF ZERO TS MPAC TC INTPRET # EXIT CRS61.1 GOTO Q611 STEP2CK TC BANKCALL CADR UPACTOFF CAF TWO # SET TEMPORARY INDEX DTHETASM = 2 CDULOOP TS DTHETASM INDEX DTHETASM CA CDUX # SET A = ACTUAL CDU (ACDU). EXTEND INDEX DTHETASM # SET INDEX TO ACCESS DESIRED CDU (DCDU). MSU THETAD # A = DIFF = ACDU - DCDU. TS MPAC # RETURN TO INTERPRETER FOR 10 DEGREE CK. TC INTPRET # (DP APPROX SP OK FOR ROUGH CHECK) ABS DSU DEGREE10 # IS (ACDU - DCDU) MORE THAN 10 DEGREES. BPL EXIT # NO -- OK, CONTINUE CHECKING OTHER ANGLES. STKTEST # TEST STICK FLAG CCS DTHETASM # HAVE ALL 3 ANGLE DIFFS BEEN CHECKED. TC CDULOOP # NO -- DIM COUNT, CHECK NEXT ANGLE DIFF. TC AUTOCK STKTEST EXIT CS FLAGWRD1 MASK STIKBIT # Page 594 CCS A TC MANUEXIS # STIKFLAG IS NOT SET (DO R63) CAF BIT3 EXTEND # STIKFLG IS SET WOR DSALMOUT # TURN ON UPACTY LIGHT TC ASET # EXIT AND SET R61CNTR STEP3CK TC INTPRET SETPD 0 # * # NOW HAVE DCDUS STORED IN T(SAVEDCDU). # GO CALC OTHER DAP INPUTS (DELCDU,WBODY) CRS61.2 VLOAD VSU DCDU SAVEVEL # DV = VL - VC UNIT VCOMP # V(MPAC)=-UNITDV. VAC36D=ABSDV. VXV VXSC # (-UNITDV)CROSS(UNITLOS). SAVEPOS RVCS/RDS # (UNITLOS B1)(UNITDV B1)(CONST B4)=CROSS. PUSH # HOLD CROSS IN PUSHLIST0. SCALED B6. DLOAD NORM # OBTAIN ABS VALUE OF LOS. P21TIME # P21TIME IS TEMP STORE FOR ABSLOS. X1 PUSH # NORM ABSLOS(DENOM) AND HOLD IN PUSH1. DLOAD NORM 36D # NORM ABS VALUE OF DV(NUM). S1 XSU,1 SR1 # X1 = X1(N DENOM)-S1(N NUM). S1 # SR1 TO AVOID OFLOW ON DOV. DDV VXSC # ABSDV(MPAC)/ABSLOS(PUSH1) = QUOT. SXA,1 # QUOT(MPAC) X CROSS(PUSH0) Q6111 # SAVE SCALE OF RESULT (R-15,1X). # X1= NORM OF QUOT. QTUOT SCALE B7-B29=B-22 # CROSS IS SCALED B6. NEED SL1 TO RECOVER # SR1 SO THAT -22+6+1=-15. MPAC NOW HOLDS # ORTHO LOS RATE (OMEGA TH, B-15,X1). MXV VSL1 # OBTAIN RATE IN SM COORDS (OMEGTHSM) AND REFSMMAT # ADJUST FOR REFSMMAT SCALE OF B1. STORE 20D # OMEGTHSM = VAC20D # DELTA THETA SM = OMEGTHSM * .1B-3. VXSC TENTH STORE DTHETASM # STORE SM INCREM ANGLES FOR SMCDURES. CALL CDUTRIG # OBTAIN SIN,COSCDUS FOR SMCDURES. SETPD CALL # SMCDURES USES PUSH 0 SMCDURES # OBTAIN DELCDU IN V(DCDU). # Page 595 LXA,1 # RELOAD X1 Q6111 VLOAD VSL* # RECOVER SCALE. DCDU # (B-15,X1) + TENTH(B-3) + HALFREVS(B1) 0 -17D,1 # EQUALS B-17D,1 TO OBTAIN HALFREVS B0. STORE 14D # HOLD DELS IN V(VAC14D) FOR AUTOPILOT. CALL # COMPUTES SINES AND COSINES FOR *SMNB* CDUTRIG VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION 20D # VECTOR FOR TRG*SMNB INTO MPAC *SMNB* # OBTAIN ANG. RATE REFERRED TO NB (BODY) MXV MBDYTCTL # CONVERT RATE(OMEGA) TO CONTROL COORDS. VXSC # MULT. BY 0.8 TO RESCALE REVS TO 450 DEG. POINT8 # RECOVER SCALE. LXA,1 VSL* # RELOAD X1 TO RECOVER NORMALIZ. Q6111 # (B-15,X1) + MBDYTCTL(B1) = B-14D,1 TO 0 -14D,1 # OBTAIN REVS SCALED AT 450 DEGREES. CRS61.2A EXIT INHINT CAF ZERO # TRANSFER DESIRED GIMBAL ANGLES TS CDUXD +1 # FROM T(SAVEDCDU) TO V(CDUXD). TS CDUYD +1 TS CDUZD +1 CA SAVEDCDU TS CDUXD CA SAVEDCDU +1 TS CDUYD CA SAVEDCDU +2 TS CDUZD EXTEND # TRANSFER OMEGA CONTROL (ANG. LOS RATE) DCA MPAC # FROM V(MPAC) TO V(WBODY) DXCH WBODY EXTEND DCA MPAC +3 DXCH WBODY1 EXTEND DCA MPAC +5 DXCH WBODY2 EXTEND # TRANSFER CDU INCREMENTS INDEX FIXLOC # FROM V(VAC14D) TO V(DELCDUX) DCA 14D DXCH DELCDUX EXTEND INDEX FIXLOC DCA 16D # Page 596 DXCH DELCDUY EXTEND INDEX FIXLOC DCA 18D DXCH DELCDUZ CS ONE # NOW DAP VARIABLES LOADED. SET HOLDFLAG. TS HOLDFLAG # TO -1. RELINT TC ASET MANUEXIS TC INTPRET MANUEXIT TLOAD # ENTER FROM STEP2. ACDU-DCDU EXCEEDS SAVEDCDU # 10 DEG. STORE DCDU(T) IN CPHI,CTHETA, STORE CPHI # CPSI FOR KALCMANU. SLOAD GOTO # SPECIAL RETURN (MPAC+0 = 1) LOONE # OCTAL 00001 Q611 R63 STQ DLOAD # SUBR TO CALC DCDUS(T) Q6111 P21TIME STCALL TDEC1 CSMCONIC HOLDATT VLOAD # HOLD EXTRAPOLATED CSM POSITION AND RATT # VELOCITY STOVL SAVEPOS VATT STORE SAVEVEL CALCLEM DLOAD # EXTRAPOLATE LEM STATE VECTOR TO SAVE P21TIME # TIME AS CSM USING LEMCONIC STCALL TDEC1 LEMCONIC VLOAD VATT STOVL DCDU # STORE VATT IN DCDU TEMPORARILY RATT # LOS = RL RC VSU UNIT SAVEPOS STORE SAVEPOS # SAVE UNITLOS FOR CRS61.2 RATE CALC. MXV VSL1 REFSMMAT # CONVERT TO STABLE MEMBER STODL POINTVSM 36D # HOLD ABS VAL OF LOS (VAC 36D) STORE P21TIME # IN D(P21TIME) FOR CRS61.2 RATE CALC. VLOAD UNITX STCALL SCAXIS # TRACK AXIS UNIT VECTOR VECPOINT # FOR +X-AXIS TRACKING ATTITUDE STORE CPHIX # STORE ANGLES FOR N96 DISPLAY VLOAD PRFUNIT # Page 597 STCALL SCAXIS VECPOINT STORE PRAXIS # STORE ANGLES FOR N95 DISPLAY BOFF PRFTRKAT CRSTOR1 CRSTOR STORE THETAD # STORE ANGLES FOR N18 DISPLAY GOTO Q6111 CRSTOR1 VLOAD UNITX STORE SCAXIS TLOAD GOTO CPHIX CRSTOR PRFUNIT 2DEC .40957602 # 55 DEG TRACK AXIS UNIT VECTOR 2DEC 0.0 # FOR USE WITH VECPOINT 2DEC .28678822 DEGREE10 DEC .05556 # 10 DEG IN REVS STEP2 RVCS/RDS 2DEC 15.915494 B-4 # 100/2PI REV-CSEC/RAD-SEC. TENTH 2DEC .1 B+3 # .1 B-3 (TO SCALE ANG. RATE TO .1 INREMS) MAT1B1 2DEC 1.0 B-1 MBDYTCTL 2DEC .5 # 7.25 DEG NEGATIVE 2DEC 0 # X-AXIS ROTATION MATRIX 2DEC 0 # CONVERTS BODY TO CTL 2DEC 0 # AXES. CAME AS QUADROT 2DEC .99200495 B-1 # COS7.25 B1 BUT SCALED B 2DEC -.12619897 B-1 # -SIN7.25 B1 2DEC 0 2DEC .12619897 B-1 # SIN7.25 B1 2DEC .99200495 B-1 # COS7.25 B1 LOONE OCT 00001 # TO SET MPAC = 00001 FOR SPECIAL EXIT. FURST3 EQUALS 13,14,15 # CONSTANT FOR AUTOCK (OCT 70000). # Page 598 # ..... S22.1 ORBITAL NAVIGATION ROUTINE # MOD 1 # # FUNCTIONAL DESCRIPTION # 1. UPDATE CSM STATE VECTOR # 2. UPDATE LANDMARK POSITION # 3. CONVERT W MATRIX FROM 9 TO 6 DIMENSIONS # # SUBROUTINES CALLED # INTSTALL,INTEGRV,GETNUM,SETRE,R-TO-TP,RP-TO-R,BVECTORS,INCORP1,INCORP2 # LALOTORV,S22F2410,LAT-LONG,ROWDOT # # ERASABLE INITIALIZATION # W=9X9 MATRIX # ORBWFLAG=0 FOR INVALID W MATRIX, =1 FOR VALID W MATRIX # ASTRONAUT ENTRY OF KNOWN,L,OFF # 8NN= NUMBER OF MARKS, DECIMAL INTEGER B-14 # REFSMMAT= TRANSFORMATION MATRIX # MARKSTAT= ADDRESS OF START OF MARK DATA (MARK DATA OF EACH MARK IS # STORED AS FOLLOWS: TIME,AIG,SA,AMG,PA,AOG) TIME IS IN DOUBLE # PRECISION, ALL OTHERS ARE IN SINGLE PRECISION # CSM STATE VECTOR # # OUTPUT # UPDATED CSM STATE VECTOR # UPDATED LANDMARK POSITION # NEW 6 DIMENSIONAL W MATRIX # # DEBRIS # PUSH LIST,CSMPOS,ALPHAV,ERADM,UM,RCLP,USTAR,VARIANCE,X789,BVECTOR,8KK, # S22LOC,SVMRKDAT TABLE,22SUBSCL,LANDMARK,CXOFF,S22C,LAT,LOG,ALT, # TEMPOR1,S22TOFF,S221OFF,DSPTEM1,S22EORM,S22TPRIM BANK 13 SETLOC P20S6 BANK EBANK= LANDMARK COUNT 35/LUORB S22.1 STQ SSP S22RTNEX S1 DEC 6 SSP SSP # SET I=1 ITEM 8KK IS I 8KK DEC 1 S22LOC ECADR SVMRKDAT # SET MARK DATA ADDRESS INTO S22LOC # Page 599 LXC,2 AXT,1 MARKSTAT DEC 36 S22.111 VLOAD* # MOVE MARK DATA (5 SETS FROM ADDR. IN 0,2 # MARKSTAT TO SVMRKDAT TABLE TO AVOID LOSS STORE SVMRKDAT +36D,1 # IF RESTART OCCURS INCR,2 TIX,1 DEC -6 S22.111 SET EXIT P22MKFLG # DOWNLINKED SVMRKDAT HOLDS PRESENT MARKS TC BANKCALL # RELEASE VAC AREA WHERE MARK DATA WAS CADR MKRELEAS TC 2PHSCHNG OCT 00004 OCT 05022 OCT 13000 TC INTPRET AXT,1 BOFF 0D CMOONFLG # =0 EARTH, =1 MOON S22SHIFT INCR,1 DEC -2 S22SHIFT SXA,1 SETPD S22EORM # SET =0 EARTH, =-2 MOON FOR SHIFTING 0D FIG2EXIT CALL INTSTALL CALL S22FLGS # FLOWCHART D=0 THEN DIM0FLAG=0, D6O9FLG NOT TESTED # FLOWCHART D=6 THEN DIM0FLAG=1, D60R9FLG=0 # FLOWCHART D=9 THEN DIM0FLAG=1, D6OR9FLG=1 BOFF CLRGO ORBWFLAG SETWW5D # BRANCH TO SET W0-W5,ORBWFLAG,D D6OR9FLG # FLOWCHART D=6 PATH SETVANDI SETWW5D CLEAR DIM0FLAG # FLOWCHART D=0 PATH AXT,1 SSP DEC 108 S1 DEC 6 CLEAR VLOAD RENDWFLG # GSOP CHANGE 8/18/67 ZEROVECS CLEARWW5 STORE W +108D,1 # Page 600 TIX,1 SLOAD CLEARWW5 WORBPOS STORE W # SET DIAGONALS OF W0 STORE W +8D STORE W +16D SLOAD WORBVEL STORE W +72D # SET DIAGONALS OF W4 STORE W +80D STORE W +88D SETVANDI CLEAR DMENFLG # 0=6X6W, 1=9X9W S22NXTIN CALL GETTF STCALL TDEC1 INTEGRV CALL S22CALRC # CALC. RC B-29 OR B-27 (CSMPOS) LXA,1 SXA,1 S22LOC # SETUP ADDR. OF MARK DATA FOR GETUM SUBR. MARKDATA CALL # COMPUTE UM S2GETUM GETUM STORE UM DMPINTEG SLOAD PUSH # TEST OFF=I 8KK SLOAD SR3 # CXOFF SCALED B-5, MUST MOVE TO B-14 CXOFF # BEFORE SUBT. SR3 SR3 DSU BHIZ BON S22OFF=I # BRANCH HERE IF OFF=I DMENFLG # 0=6X6W, 1=9X9W S22D=9 CALL GRP2PC SET ORBWFLAG SET SET DMENFLG # =0 ON FIRST PASS THRU HERE FOR D=0, OR 6 22DSPFLG # =1 TO DISPLAY DR,DV ON FIRST PASS SET BON ERADFLAG # =1 TO COMPUTE FISCHER RADIUS KNOWNFLG S22BOX22 VLOAD UNIT # UNIT ALSO PUTS ABVAL(RC) IN 36D CSMPOS STORE ALPHAV # ALPHAV +4=SINL FOR SETRE CLEAR BOFF # Page 601 LUNAFLAG CMOONFLG S22C=I SET LUNAFLAG S22C=I CALL # ERADM= R0 METERS B-29 BOTH EARTH/MOON SETRE CALL # COMPUTE RL FROM EQUATION 2.4.10 S22F2410 # STORED IN X789,MPAC B-27,B-29 BOFF VSR2 # SCALE RL B-29 FOR BOTH EARTH/MOON CMOONFLG +1 STORE S22RL DOT SL1 UM STOVL S22D # D=UM RL B-29 ZEROVECS SETPD PUSH 0D PUSH PDDL # SET 0-18D = I BACKWARDS HIDPHALF # PD 18 SR2 # B-3 STORE 4D STORE 8D STOVL 12D UM # B-1 STOVL S223X1 S22RL # B-29 CALL # (UM)(RL T) B-30 STORED IN S22UMRL THRU S2231X13 # S22UMRL +17D AXT,1 SSP DEC 18 S1 DEC 6 S22NXTU VLOAD* VSR2 # (UM)(RL T) B-32 S22UMRL +18D,1 V/SC S22D # D B-29 BVSU STADR # SUBTRACT FROM I B-3 STORE S22UMRL +18D,1 # U MATRIX B-3 TIX,1 AXT,1 # PD 0 AFTER TIX S22NXTU DEC 36 # S1 STILL 6 FROM ABOVE S22NXTWI VLOAD* MXV W +36D,1 # B-19 S22UMRL # B-3 VSL3 STORE W +144D,1 # W(I+18)= UW(I) B-19 TIX,1 DLOAD S22NXTWI # Page 602 S22RHO # B-28,B-30 BOFF SR2 # MAKE RHO B-30 CMOONFLG +1 NORM XAD,2 X2 X2 DSQ DMP SCTVAR # B+16 SR1 # ACCOUNTS FOR 1/2 IN NEXT FORMULA STORE S22RHO # 1/2(RHO SQ)(VARSCT) AXT,1 DEC 18 # S1 STILL 6 FROM ABOVE S22NXXA VLOAD* MXV S22UMRL +18D,1 # B-3 S22UMRL # B-3 VXSC VSR* S22RHO 0 -12D,2 # WITH VARRP SCALED B-28 STORE S22UUT +18D,1 # 1/2(RHO SQ)(VARSCT)(U)(U T) TIX,1 VLOAD S22NXXA UM STCALL S223X1 # UM ALSO IN MPAC FOR S2231X13 SUBR. S2231X13 # (UM)(UM T) B-2 IN S22UMRL,P17D DLOAD SR3 ERADM # B0 B-29 DDV DSQ S22D # B-29 DMP RPVAR # ***** METERS SQ STORE S22RHO # TEMP (VARRP)(R0/D) AXT,1 DEC 18 # S1 STILL 6 FROM ABOVE S22NXXB VLOAD* VXSC S22UMRL +18D,1 # (UM)(UM T) B-2 S22RHO VAD* S22UUT +18D,1 STORE S22UUT +18D,1 # SMALL E MATRIX VLOAD ZEROVECS STORE W +162D,1 # CLEAR W8 TIX,1 BOV S22NXXB +1 DLOAD BMN S22UUT +16D # E5 S22W76X SQRT BZE # Page 603 S22W76X STODL W +148D # W74= SQ ROOT E5 S22UUT +14D # E4 DDV BOV W +148D S22W72X STORE W +146D # W73= E4/W74 S22W72X DLOAD DDV S22UUT +12D # E3 W +148D BOV S22W76X STORE W +144D # W72= E4/W74 S22W76X DLOAD DSQ W +146D # W73 BDSU BMN S22UUT +8D # E2 S22W78X SQRT BZE S22W78X STODL W +152D # W76= SQ ROOT (E2-W73 SQ) W +144D # W72 DMP BDSU W +146D # W73 S22UUT +6D # E1 DDV BOV W +152D # W76 S22W78X STORE W +150D # W75= (E1-W72W73)/W76 S22W78X DLOAD DSQ W +150D PDDL DSQ W +144D # W72 DAD BDSU BMN S22UUT # E0 S22SCLW SQRT STORE W +156D # W78= SQ RT(E0-W72 SQ-W75 SQ) S22SCLW VLOAD VSR1 # SCALE W6 METERS B-19 W +144D STOVL W +144D W +150D VSR1 STOVL W +150D W +156D VSR1 STORE W +156D S22SAVET CALL GETTF # Page 604 STORE S22TPRIM # SAVE PRESENT TIME FOR PIOS S22I=N EXIT # TEST I=N TC PHASCHNG OCT 04022 CS 8KK AD 8NN EXTEND BZMF S22F244X # EXIT TO FIGURE 2.4-4 CA 8KK # I=I+1 AD ONE TS TEMPOR1 CA S22LOC # ADD 7 TO LOC TO GET ADDR. OF NEXT MARK AD SEVEN TS TEMPOR1 +1 TC PHASCHNG OCT 04022 CA TEMPOR1 TS 8KK CA TEMPOR1 +1 TS S22LOC TC INTPRET CALL # FOR ALL INTEGRATIONS OTHER THAN FIRST S2INTS1 INTSTALL CALL S22FLGS BON CLEAR DMENFLG S22NXTIN # RETURN ALWAYS EXCEPT OFFSET POINT MARK 1 DIM0FLAG BOFF SET ORBWFLAG S22NXTIN # OFFSET POINT MARK 1, NO W INTEGRATION DIM0FLAG CLRGO D6OR9FLG S22NXTIN # OFFSET POINT MARK 1, INTEGRATE W 6X6 S22OFF=I CALL GETTF STOVL S22TOFF # TIME SUB OFF UM STCALL S22UOFF # U SUB OFF S22I=N # TEST I=N S22D=9 VLOAD # D=9 PATH X789 STODL 0D # CALL PIOS TWICE TO TRANSFORM RL TO TIME S22TPRIM # T(SUB F) FROM TIME T PRIME STORE 6D SLOAD CALL S22EORM # 0=EARTH, NON-ZERO=MOON S2RTRP R-TO-RP # Page 605 PUSH CALL # R-TO-RP LEAVES PUSHLOC AT 0 GETTF STORE 6D SLOAD CALL S22EORM S2RPTR RP-TO-R S22BOX32 STORE X789 SET BOV INCORFLG # FLAG=1 +1 # CLEAR OVERFLOW VSU CSMPOS STORE RCLP # RCL=RL-RC UNIT VXV # USTAR=UNIT(UNIT(RCL)XUM) UM UNIT BOV S22SAVET # COMPUTATION OVERFLOW, SAVE TF STORE USTAR S22BOX12 SET SET DMENFLG # =1 FOR 9X9 W VEHUPFLG # =1 FOR CSM DLOAD DAD SCTVAR # B+18 IMUVARR # B+18 STOVL VARIANCE RCLP # B-29 OR B-27 ABVAL NORM X1 DSQ DMP VARIANCE XAD,1 XAD,1 X1 # DOUBLE NORM SHIFT SINCE RCLP WAS SQUARED S22EORM # DOUBLE EARTH OR MOON SHIFT, SAME REASON XAD,1 SR* S22EORM 0,1 # SCALE VARIANCE B-40 FOR BOTH EARTH, MOON TLOAD # CHANGE MODE TO TRIPLE MPAC STCALL VARIANCE # CALC B0,B1,DELTAQ, NEW USTAR S2BVTRS BVECTORS VLOAD VCOMP BVECTOR STCALL BVECTOR +12D # B2=-B0 S2INCP1 INCORP1 CALL GRP2PC BOFF CLEAR 22DSPFLG # =1 DISPLAY DELTA R,V =0 DO NOT S22BOX42 22DSPFLG # Page 606 CALL GRP2PC VLOAD ABVAL DELTAX # DELTA R LXA,1 SR* S22EORM # SCALE DELTA R ALWAYS METERS B-29 0,1 STOVL N49DISP DELTAX +6 # DELTA V ABVAL SR* # DELTA V=METERS/CSEC B-7 ALWAYS 0,1 STORE N49DISP +2 EXIT CAF V06N49EE TC BANKCALL CADR GOFLASHR TC GOTOPOOH # V34E TERMINATE TC +5 # INCORPORATE CHANGES TC S22EXEX # V32E RECYCLE CAF BIT3 TC BLANKET TC ENDOFJOB TC INTPRET S22BOX42 CALL INCORP2 CALL # CSMPOS=RC B-29 OR B-27 S22CALRC DMPINCP2 BOFF CALL INCORFLG S22SAVET # SAVE TF AND TEST I=N GRP2PC CLEAR VLOAD INCORFLG # FLAG=0 X789 VSU CSMPOS STCALL RCLP # RCL=RL-RC S22BOX12 S22BOX22 AXT,1 SSP # CLEAR W6,W7,W8. (27 ELEMENTS 54 REGS) DEC 54 S1 DEC 6 VLOAD ZEROVECS CLRW678 STORE W +162D,1 TIX,1 SLOAD CLRW678 S22WSUBL STORE W +144D STORE W +152D # Page 607 STORE W +160D CLEAR BOFF # SET LUNAFLAG, TIME FOR LALOTORV LUNAFLAG # ERADFLAG,LAT,LONG,ALT SET PREVIOUSLY CMOONFLG # CHECK SCALING OF ITEMS,ALT INPUT AND S22BX22A # RL OUTPUT IN ALPHAV BOTH B-29 SET LUNAFLAG S22BX22A CALL GETTF CALL # COMPUTE RL LALOTORV VLOAD BOFF ALPHAV # RL B-29 CMOONFLG S22BX22B VSL2 # SCALE RL B-27 FOR MOON S22BX22B GOTO S22BOX32 S22F244X TC INTPRET S22F244 SLOAD BHIZ # FIG 2.4-4 TEST OFF=0 CXOFF S22BOX44 SR # SCALE OFFSET B-14 THEN GET GR. 8NN 9D STORE ALPHAV # TEMP SLOAD DSU 8NN ALPHAV BMN CALL # OFFSET GR. NO. MARKS. FORGET IT S22BOX44 GRP2PC # GROUP 2 PHASE CHANGE DLOAD S22TOFF STCALL TDEC1 # CALC RC AT OFFSET TIME CSMPREC VLOAD RATT1 # RC METERS B-29 OR B-27 STOVL CSMPOS S22UOFF STOVL UM # U=UOFF X789 ABVAL BOFF CMOONFLG +2 SR2 # SCALE MOON R0 B-29 FOR S22F2410 SUBR STCALL ERADM S22F2410 GOTO S22BX44A S22BOX44 CALL # Page 608 GETTF STORE S22TOFF # PRESENT TIME FOR LAT-LONG SETUP S22BX44A CLEAR VLOAD LUNAFLAG X789 BOFF SET CMOONFLG S22BX44B LUNAFLAG # SET = 1 FOR LAT-LONG VSR2 # SCALE RL MOON B-29 FOR LAT-LONG S22BX44B STODL ALPHAV # RL SCALED B-29 FOR LAT-LONG S22TOFF # EITHER PRESENT OR OFFSET TIME CALL LAT-LONG # **** ALT OUTPUT ALWAYS B-29 CALL # DISPLAY LAT/LONG/ALT LLASRD EXIT CAF V06N89B TC BANKCALL CADR GOFLASH TC S22GTP # V34E TERMINATE TC +2 # PROCEED SAVE LANDING SITE COORD TC S22.981X # RECYCLE POINT A IN GSOP TC INTPRET DLOAD S22TOFF # EITHER PRESENT OR OFFSET TIME STOVL 6D # 6-7D= LANDING SITE TIME FOR R-TO-RP X789 STORE 0D # 0-5D= LANDING SITE VEC FOR R-TO-RP SLOAD CALL HIDPHALF # ANY NON-ZERO FOR MOON R-TO-RP # CONVERT RLS TO MOON-FIXED COORD STORE RLS # LANDING SITE VECTOR EXIT S22.981X TC INTPRET CALL 9DWTO6DW EXIT # GO TO POINT A IN CHAPTER 5 S22EXEX TC INTPRET # WITHOUT CONVERTING W GOTO S22RTNEX S22GTP TC INTPRET # CONVERT W BEFORE TC GOTOPOOH CALL 9DWTO6DW EXIT TC GOTOPOOH S22F2410 SETPD VLOAD # COMPUTE FORMULA 2.4.10 0D CSMPOS # RC B-29 EARTH, B-27 MOON # Page 609 UNIT DOT # UNIT ALSO SETS 36D=ABVAL(RC) USED BELOW UM SL1 DCOMP # GSOP CHANGE 8/18/67 PUSH # PD 2D 8D=COSA=-(UM.RC)/ABVAL(RC) B-1 DSQ BDSU DEC1B2 PDDL BOFF # PD 4D 2D=1-COSA SQ=SINA SQ B-2 ERADM # R0 ALWAYS B-29 FROM SETRE CMOONFLG +2 SL2 # SCALE R0 B-27 FOR MOON SR1R DDV # (R0/RC) B-1 36D DSQ DSU # PD 2D (RP/RC) SQ - SINA SQ B-2 SQRT BDSU # PD 0D COSA-SQRT((R0/RC)SQ-SINA SQ) B-1 DMP # DMP RESULT B-28 MOON, B-30 EARTH 36D # VXSC RESULT B-29 MOON, B-31 EARTH STORE S22RHO # RHO FOR W INIT. OF UNKNOWN LMK B-28,B-30 VXSC UM VSL2 VAD # SCALE B-27 MOON, B-29 EARTH AND ADD RC CSMPOS STORE X789 RVQ # B-27 FOR EARTH OR B-29 FOR MOON S22CALRC LXA,1 VLOAD # COMPUTE RC B-29 OR B-27 S22EORM # =0 FOR EARTH, -2 FOR MOON DELTACSM VSR* VAD 7,1 RCVCSM STORE CSMPOS RVQ SETLOC P22S BANK S2231X13 STORE S221X3 # MULT 3X1 BY 1X3, STORE RESULTING 3X3 IN SSP AXT,2 # S22UMRL - S22UMRL+17D S2 DEC 2 DEC 6 AXT,1 DEC 18 S2231NXT VLOAD VXSC* S221X3 S223X1 +6,2 STORE S22UMRL +18D,1 INCR,1 TIX,2 DEC -6 S2231NXT RVQ # Page 610 GETTF LXC,1 DLOAD* # SET MPAC= TF S22LOC 0,1 RVQ S22FLGS SET SET # INTEGRATION FLAGS DIM0FLAG D6OR9FLG SET SET VINTFLAG STATEFLG CLEAR RVQ INTYPFLG # SUBROUTINE TO MODIFY ALT AND STORE LAT TO LAT+5 IN LANDLAT TO LANDLAT+5 # PRIOR TO DISPLAY. LLASRD DLOAD # ALT, LANDALT METERS B-29 ALT STODL LANDALT LONG SR1 STORE LANDLONG RVQ # SUBROUTINE TO MODIFY LANDALT AND STORE LANDALT TO LANDALT+5 IN LAT TO # LAT+5 AFTER LMK DATA LOADED BY ASTRONAUT. LLASRDA DLOAD # ALT, LANDALT METERS B-29 LANDALT STODL ALT LANDLONG SL1 STORE LONG RVQ SETLOC P20S6 BANK 9DWTO6DW STQ SETPD 9DWXX 0D VLOAD PUSH # CLEAR WORKING AREA OF PUSHLIST HI6ZEROS # INCLUDING P PUSH PUSH # PD 18D SSP 9DWJ # J=29 USE 2*29 FOR DP WORDS DEC 58 9DWI=J LXA,1 SXA,1 # SET I=J 9DWJ 9DWI 9DWEPCAL CALL # Page 611 ROWDOT LXA,1 # P VARIES 0-20 INSTEAD OF 20-0 9DWP STORE EMATRIX +40D,1 INCR,1 SXA,1 DEC 2 9DWP SLOAD BHIZ # TEST I=0 9DWI 9DWTESTJ DSU # I=I-1 9DWID STORE 9DWI DSU BHIZ # TEST I=26 9DW26D 9DWSETI2 GOTO # NEXT E SUB P 9DWEPCAL 9DWSETI2 SSP GOTO # I=2 9DWI DEC 4 9DWEPCAL 9DWTESTJ SLOAD BHIZ # TEST J=0 9DWJ 9DWFIG6 DSU 9DWID STORE 9DWJ # J=J-1 DSU BHIZ # TEST J=26 9DW26D 9DWSETJ2 GOTO 9DWI=J 9DWSETJ2 SSP GOTO # SET J=2 9DWJ DEC 4 9DWI=J 9DWFIG6 CALL GRP2PC SSP VLOAD # START OF FIGURE 2.4-6 9DWJ # J=29 DEC 58 HI6ZEROS STORE 9DWP # P,N,I=0 AXT,1 SSP DEC 108 # CLEAR W0 TO W54 S1 6 CLEARW54 STORE W +108D,1 TIX,1 # Page 612 CLEARW54 9DWI=JA LXA,1 SXA,1 # I=J 9DWJ 9DWI CALL ROWDOT LXA,1 BDSU* 9DWP EMATRIX +40D,1 INCR,1 SXA,1 # -(P+1) 2 9DWP LXC,1 XSU,1 # -(I+N) 9DWI 9DWN BPL DLOAD # TEST WSQ LTE 0 9DWAAA HI6ZEROS # W=0 GOTO 9DWAAB 9DWAAA SQRT # W= SQRT(WSQ) 9DWAAB STORE W,1 STODL WORKW 9DWJ # TEST J=0 BHIZ 9DWEXITX # EXIT TST2I=0 SLOAD BHIZ # TEST I=0 9DWI 9DWN=N+3 DSU 9DWID STORE 9DWI # I=I-1 DSU BHIZ # TEST I=26 9DW26D 9DWAAC GOTO 9DWNEXEP 9DWAAC SSP # I=2 9DWI 4 9DWNEXEP CALL ROWDOT LXA,1 BDSU* # (EP-ROWI*ROWJ)/W 9DWP EMATRIX +40D,1 DDV INCR,1 # P=P+1 WORKW 2 SXA,1 LXC,1 9DWP # Page 613 9DWI XSU,1 BOV # -(I+N) 9DWN SETWIN=0 GOTO 9DWSETWX SETWIN=0 DLOAD # W(I+N)=0 HI6ZEROS 9DWSETWX STORE W,1 GOTO TST2I=0 9DWN=N+3 LXA,1 INCR,1 # N=N+3 9DWN 6 SXA,1 SLOAD # J=J-1 9DWN 9DWJ DSU 9DWID STORE 9DWJ DSU BHIZ # TEST J=26 9DW26D SETJ=2A GOTO 9DWI=JA SETJ=2A SSP GOTO # J=2 9DWJ 4 9DWI=JA 9DWEXITX CALL GRP2PC AXT,1 SSP # CLEAR W6,W7,W8 USED TEMP FOR EMATRIX DEC 54 S1 6 VLOAD HI6ZEROS 9DWEXXXA STORE W +162D,1 TIX,1 GOTO 9DWEXXXA 9DWXX ROWDOT SSP BOV XTMP1 OCT 377 +1 LXC,1 LXC,2 9DWI 9DWJ DLOAD PUSH HI6ZEROS # Page 614 ROWDOT1 DLOAD* DMPR* W,1 W,2 DAD PUSH BOV INCR,1 ROWDOT3 DEC -6 INCR,2 SLOAD DEC -6 XTMP1 BHIZ SR1 ROWDOT2 STORE XTMP1 GOTO ROWDOT1 ROWDOT2 DLOAD RVQ ROWDOT3 CLRGO ORBWFLAG ROWDOT2 WORKW = 0D XTMP1 = 6D 9DWP = 8D # P 9DWI = 10D # I 9DWN = 12D # N 9DWJ = 14D # J 9DWXX = S22UOFF S22UMRL = BVECTOR # 18 S22UUT = DELTAX # 18 S223X1 = 18D # 6 S221X3 = 24D # 6 S22D = 30D # 2 S22RHO = 32D # 2 S22RL = W +156D # 6 9DW26D 2DEC 52 B-14 9DWID 2DEC 2 B-14 SCTVAR 2DEC 1.0 E-6 B+18 IMUVARR 2DEC 0.04 E-6 B+18 DEC1B2 2DEC 1 B-2 V06N49EE VN 00649 V06N89B VN 00689 S22UOFF = LEMPOS # 6 U SUB OFF SETLOC P20S2 BANK # Page 615 # Nothing on this page. --- RSB 2009. # Page 616 # SUBROUTINE NAME: V89CALL # MOD NO: 0 DATE: 8 FEB 1968 # MOD BY: DIGITAL DEVEL GROUP LOG SECTION: P20-P25 # # FUNCTIONAL DESCRIPTION: # # CALLED BY VERB 89 ENTER DURING P00. PRIO 10 USED. CALCULATES AND # DISPLAYS FINAL GIMBAL ANGLES TO POINT CSM +X AXIS OR PREFERRED AXIS # (UNIT(Z)COS55 DEG + UNIT(X)SIN55 DEG) AT LM. # # 1. KEY IN V89 E ONLY IF IN PROG 00. IF NOT IN P00, OPERATOR ERROR AND # EXIT R63, OTHERWISE CONTINUE. # # 2. IF IN P00, DO IMU STATUS CHECK (R02BOTH). IF IMU ON AND ITS # ORIENTATION KNOWN TO CGC, CONTINUE. # # 3. FLASH DISPLAY V 04 N 06. R2 INDICATES WHICH SPACECRAFT AXIS IS TO # BE POINTED AT LM. INITIAL CHOICE IS PREFERRED AXIS. (R2=1). # ASTRONAUT CAN CHANGE TO (+X) AXIS (R2 NOT= 1) BY V22 E 2 E. CONTINUE # AFTER KEYING IN PROCEED. # # 4. SET PREFERRED ATTITUDE FLAG ACCORDING TO OPTION DESIRED. SET FLAG # FOR PREFERRED AXIS. RESET FLAG FOR X AXIS. # # 5. CURRENT TIME IS STORED AND R63COMP IS CALLED # # R63COMP JOB: # # UPDATE CSM AND LM STATE VECTORS USING CONIC EQUATIONS # # CALCULATES BOTH PREFERRED AND X AXIS TRACKING ATT FROM CSM TO LM. # # DESIRED GIMBAL ANGLES AS INDICATED BY PREFERRED ATTITUDE FLAG # ARE STORED FOR LATER R60CSM CALL. # # 6. FLASH DISPLAY V 06 N18 AND AWAIT RESPONSE. # # 7. RECYCLE: RETURN TO STEP 5. # TERMINATE: EXIT R63 ROUTINE # PROCEED: RESET 3AXISFLG AND CALL R60CSM FOR ATTITUDE MANEUVER. # # CALLING SEQUENCE: V 89 E # # SUBROUTINES CALLED: CHKPOOH, R02BOTH, GOXDSPF, R63COMP, R60CSM # # ALARMS 1. OPERATOR ERROR IF NOT IN P00 # 2. PROGRAM ALARM IF IMU IS OFF # 3. PROGRAM ALARM IF IMU ORIENTATION IS UNKNOWN # Page 617 # # ERASABLE INITIALIZATION REQUIRED: NONE # # DEBRIS: OPTION1, OPTION1+1, PRFTEXAT(PREF ATT FLAG), P21TIME, 3AXISFLG DP1MIN 2DEC 6000 EBANK= P21TIME BANK 34 SETLOC P20S4 BANK COUNT* $$/R63 V89CALL TC BANKCALL # IMU STATUS CHECK. RETURNS IF ORIENTATION CADR R02BOTH # KNOWN. ALARMS IF NOT. CAF THREE # ALLOW ASTRONAUT TO SELECT DESIRED TS OPTION1 # TRACKING ATTITUDE AXIS. CAF ONE TS OPTION1 +1 CAF VB04N06 # V 04 N 06 TC BANKCALL CADR GOFLASH TC ENDEXT # TERMINATE TC +2 # PROCEED TC -5 # DATA IN. OPTION1 +1 = 1 FOR PREF AXIS # = 2 FOR X AXIS CS OPTION1 +1 # 1 FOR PREF AXIS. 2 FOR X AXIS. AD ONE EXTEND BZF SETPAF RSTPAF TC DOWNFLAG # RESET PREF ATT FLAG FOR R63COMP ADRES RNGSCFLG # TO DO X AXIS. RESET BIT 10 FLAG 5 V89RECL TC INTPRET RTB DAD LOADTIME # READ PRESENT TIME DP1MIN # INTEGRATE TO 1 MIN FROM NOW STCALL P21TIME # STORE TIME FOR CALL TO R63COMP. R63COMP R63COMP # LEAVES DESIRED GIM ANGS IN THETAD, LOS IN EXIT # POINTVSM, AND SELECTED AXIS IN SCAXIS. CAF VB06N18 # V 06 N 18 TC BANKCALL # NOUN 18 REFERS TO THE DESIRED GIMBAL CADR GOFLASH TC ENDEXT # TERMINATE TC +2 # PROCEED TC V89RECL # RECYCLE TC DOWNFLAG # RESET 3 AXIS FLAG ADRES 3AXISFLG # RESET BIT 6 FLAG 5 # Page 618 TC BANKCALL # PERFORMS CSM MANEUVER TO ALIGN SELECTED CADR R60CSM # SPACECRAFT AXIS TO LOS. TCF ENDEXT SETPAF TC UPFLAG # SET PREFERRED ATT FLAG FOR R63COMP ADRES RNGSCFLG # TO DO PREF AXIS. SET BIT 10 FLAG 5. TC V89RECL VB04N06 VN 0406 VB06N18 VN 0618 R63COMP EQUALS R63 # Page 619 # PROGRAM NAME: P23 CISLUNAR MIDCOURSE NAVIGATION # MOD NO: # MOD BY: TOM KNATT # # FUNCTIONAL DESCRIPTION: DO MIDCOURSE NAVIGATION BY INCORPORATION OF # STAR/EARTH AND STAR/MOON OPTICAL MEASUREMENTS. # # CALLING SEQUENCE: ASTRONAUT OPERATED # # SUBROUTINES CALLED: R52,R53,R57,R60,ORBITAL INTEGRATION (INTEGRV) # INCORP1,INCORP2,LALOTORV,LUNLMKLD, AND DISPLAY INTERFACE ROuTINES. # # N0RMAL EXIT MODES: VIA R00 # # ALARMS: NONE # # ABORT MODES: NONE # # ERASABLE INITIALIZATION REQUIRED: PAD-LOADED ERASABLES, ORBWFLAG RESET, # REFSMFLG=0 IF IMU OFF AND REFSMFLG=1 IF IMU ONE # # INPUTS BY USER REQUIRED: STAR NUMBER, LANDMARK LAT, LONG/2, ALT OR ID NUMB. # IF LANDMARK IS USED, NEAR OR FAR HORIzON IF HORIZON IS USED, AND # BODY TO BE MARKED ON (EARTH OR MOON). SEE GSOP CHAPT 4. # # OUTPUT: UPDATED CMC STATE VECTOR. VECTOR FROM S/C TO HORIZON OR LANDMARK # IN POINTAXS. POINTAXS CAN BE USED TO GENERATE THIS VECTOR APART FROM # P23 IF DESIRED. # # DEBRIS: NO USABLE DEBRIS IS GENERATED. RENDWFLG IS RESET FOR P20 UPON # COMPLETION OF P23. RUPTREGS AND ERASABLES USED BY DISPLAYS ARE DEBRIS. BANK 31 SETLOC RT23 BANK COUNT 31/S23 EBANK= W P23 TC DOWNFLAG ADRES RNDVZFLG TC 2PHSCHNG OCT 00004 # LEAVE GROUP 4 OCT 00012 # ENTER GROUP 2 CAF PRIO13 TS PHSPRDT2 TC INTPRET SSP CLEAR MARKINDX 1 TARG2FLG # TARGET FLAG USED R52 AND R53 CLEAR SSP TARG1FLG STARIND 0 SSP CLEAR BESTI 0 R57FLAG # SET = DO NOT REPERFORM R57 CLEAR EXIT V94FLAG # SET = ALLOW V94 P23.00 TC INTPRET # Page 620 BON CALL REFSMFLG # SET NOW AS INPUT, NORMALLY EXTERNAL CONT P23.05 # WHEN ALIGNED, PERFORM MEASUREMENT R57 # DO OPTICS CALIBRATION IF IMU NOT ALIGNED. CALL R53 GOTO P23.60 P23.05 CLEAR EXIT SAVECFLG # USED TO SAVE SPACE IN P23.65 P23.06 CAF V05N70 TC BANKCALL # IDENTIFICATION: STAR, HOR IDENT. CADR GOFLASH TC GOTOPOOH # TERMINATE TC P23.15 TC -5 # REDISPLAY P23.15 CA LANDMARK # IF C=2, LUNAFLAG=1. IF C=1, LUNAFLAG=0 EXTEND BZF P23.151 CA HORIZON EXTEND BZF +2 TC R23.10 # OPERATOR DSKY ERROR CA LANDMARK TC P23.152 P23.151 CA HORIZON EXTEND BZF R23.10 P23.152 MASK BITS7-9 # IS C EQUAL TO 1 OR 2 AD NEG100 EXTEND BZF P23.16 AD NEG100 EXTEND BZF +2 TC R23.10 TC UPFLAG ADRES LUNAFLAG TCF +3 P23.16 TC DOWNFLAG ADRES LUNAFLAG CA STARCODE # IS STARCODE GREATER THAN OR EXTEND # EQUAL TO 0 AND LESS THAN 37 BZF P23.176 EXTEND BZMF R23.10 AD NEG37 EXTEND BZMF +2 TC R23.10 # Page 621 TC INTPRET P23.17 SLOAD BZE STARCODE P23.175 PUSH SLOAD DMP SPSIX LXA,1 SXA,1 MPAC +1 BESTI # BESTI = 6 X STAR NUMBER CALL LOWMEMRY # NEEDED TO RETRIEVE STAR VECTOR FROM LOW STORE STARSAV2 # STORE FOR R53,P23. US(IN P23)=STARSAV2 P23.175 EXIT P23.176 CA HORIZON EXTEND BZF P23.20 MASK BITS4-6 AD -OCT10 EXTEND BZF P23.18 AD -OCT10 EXTEND BZF +2 TC R23.10 TC UPFLAG ADRES NORFHOR TC P23.30 P23.18 TC DOWNFLAG ADRES NORFHOR TC P23.30 P23.20 TC INTPRET CALL P22SUBRB EXIT P23.30 TC INTPRET SLOAD BZE STARCODE LDPLANET P23.31 BON EXIT SAVECFLG P23.85 CAF V50N25P TC BANKCALL CADR GOPERF1 # GOPERF1 BLANKS OUT R2 AND R3 TC GOTOPOOH TC V94ENTER # PROCEED. AUTOCONTROL CMC P23.55 TC INTPRET GOTO P23.56 # Page 622 # VERB 94 BEGINS HERE V94ENTER TC INTPRET RTB LOADTIME # READ CLOCK STCALL MARKTIME POINTAXS # RETURN LOS IN RCLL AND MPAC MXV UNIT REFSMMAT STOVL POINTVSM JCAXIS STORE SCAXIS EXIT TC DOWNFLAG # CLEAR AND GO TO VECPOINT IN R60 ADRES 3AXISFLG # BIT 6 FLAG 5 CAF R60ADRS TS TEMPFLSH TC PHASCHNG OCT 00012 R60CALL TC BANKCALL CADR R60CSM TC PHASCHNG OCT 04022 TC INTPRET BON R57FLAG P23.57 # DO NOT REPERFORM R57 P23.56 CALL R57 P23.57 SET SET V94FLAG R57FLAG CALL R52 CLEAR CLEAR V94FLAG R57FLAG P23.60 EXIT INHINT CA MARKSTAT MASK LOW10 TS MARKDATA EXTEND INDEX MARKDATA DCA 0 DXCH MARKTIME INDEX MARKDATA CA 5 XCH TRUNION RELINT TC INTPRET # Page 623 LXC,1 VLOAD* MARKDATA 1,1 STODL* MARKDOWN +1 0,1 STORE MARKDOWN EXIT CAF V05N71 TC BANKCALL CADR GOFLASH TC GOTOPOOH # TERMINATE TC P23.65 # STORE DATA TC -5 # REDISPLAY P23.65 TC INTPRET SET EXIT SAVECFLG TC P23.15 P23.85 CLEAR CALL RENDWFLG POINTAXS GOTO R23.55 # WE BEGIN CALCULATIONS HERE # POINTAXIS SUBROUTINE POINTAXS STQ POINTEX R23.05 BON DLOAD ORBWFLAG R23.1 WMIDPOS STCALL 0 INITIALW # INITIALIZE W-MATRIX FIRST PASS IN P23 R23.1 CALL SETINTG # SETUP FOR CSM INTEGRATION BOF SET ORBWFLAG R23.2 DIM0FLAG R23.2 SET CALL ORBWFLAG INTEGRV # INTEGRATE CSM STATE VEC. TO MARKTIME EXIT TC PHASCHNG OCT 04022 TC INTPRET CALL RECT.1 # PICKUP CSM STATE VECTOR FROM PERM BOFF ZMEASURE # IN SPHERE OF INFLUENCE OF PRIMARY BODY R23.3 # Page 624 DLOAD CALL MARKTIME LUNPOS BON VCOMP CMOONFLG +1 VAD RZC STORE RZC R23.3 SLOAD BHIZ LANDMARK # IF LANDMARK = 0, USE HORIZ SUBR R23.4 SET ERADFLAG DLOAD CALL MARKTIME LALOTORV GOTO R23.5 R23.4 CALL HORIZ R23.5 VSU SETPD RZC 0 GOTO POINTEX # Page 625 R23.55 UNIT PUSH # RCLL IS IN MPAC VLOAD 34D # RCLL * RCLL STOVL 30D # PUSH 30-31 =RCLL*RCLL 32-33=ABVAL RCLL VZC VXSC VSR ONE/C 15D VAD # PUSH UP RCLL(UNIT) UNIT STOVL UCLSTAR VZC VSR2 VSU VESO VXSC VSR ONE/C 13D VAD UNIT US STORE USSTAR DOT SL1 UCLSTAR PUSH VLOAD # PD 0,1 = USSTAR(DOT)UCLSTAR UCLSTAR VXSC VCOMP VSL1 VAD USSTAR UNIT STOVL BVECTOR # USSTAR - COSQ(UCLSTAR) ZEROVECS STORE BVECTOR +6 STODL BVECTOR +12D 0 ACOS DCOMP PUSH DLOAD ZEROVECS EXIT CA VARSUBL # PUT FIXED INTO ERASABLE FOR MSU TS L # INSTRUCTION COMING UP CA TRUNION # REQUIRED TO CHANGE 2'S COMPLEMENT EXTEND # TRUNION TO 1'S COMPLEMENT MSU L # TRUNION (2'S)-00000 CONVERTS TRUNION TO TS MPAC # 1'S. VARSUBL=00000. TC INTPRET PUSH SLOAD # PUSH IS DP. WHEN BDSU IS EXECUTED, 2ND TRUNBIAS # HALF OF PUSHLIST IS GUARANTEED ZERO FROM BDSU # DLOAD ZEROVECS ABOVE SR3 DAD DAD DMP # Page 626 TRUN19 32D DMP SL3 PI/4.0 BOFF SL2 CMOONFLG R23.51 R23.51 STODL DELTAQ 30D # RCLL * RCLL DMP RTB TRUNVAR TPMODE TAD VARSUBL STORE VARIANCE CLEAR CALL DMENFLG INCORP1 CALL GRP2PC VLOAD ABVAL DELTAX +6 BOF SR2 # DISPLAY IS 2-27 IF IN LUNAR SPHERE. CMOONFLG R23.52 R23.52 STOVL N49DISP +2 DELTAX ABVAL BOF SR2 CMOONFLG R23.53 R23.53 STORE N49DISP EXIT R23.6 CAF V6N49 TC BANKCALL CADR GOFLASHR TC GOTOPOOH TC R23.7 # INCORPORATE DATA TC GOTOPOOH CAF BIT3 # BLAN OUT R3 TC BLANKET TC PHASCHNG OCT 00012 TC ENDOFJOB R23.7 TC INTPRET R23.8 SET CALL VEHUPFLG INCORP2 EXIT R23.END TC GOTOPOOH # Page 627 R23.10 TC FALTON TC P23.06 HORIZ STQ SETPD SRRETURN 0 DLOAD PDDL # PUSH 0-1 = -AYO SCALED B0 -AYO AXO PDDL PDVL # PUSH 2-3 = +AX SCALED B0 DPPOSMAX US VXV UNIT RZC STOVL UBAR2 VXV UNIT # PUSH UP UBAR2 STOVL UBAR0 UBAR2 VXV UNIT UBAR0 STORE UBAR1 BON DOT LUNAFLAG HORIZ.6 0 # UBAR1 DOT UZ STCALL ALPHAV +4 GETERAD DAD PDDL # MPAC HAS RADIUS OF FISCHER ELLIPSOID HORIZALT # PUSH 0-1 = BH SCALED B29 AEARTH DAD PUSH # PUSH 2-3 = AH B29 HORIZALT HORIZ.1 VLOAD MXV RZC # B29 UBAR0 # B1 VSL1 PDVL # PUSH 4-9 = RH(XH,YH,ZH) B29 US MXV VSL1 UBAR0 PDDL # PUSH 10-15 = USH B1 2 # AH STODL 34D 4 # XH CALL DIVIDE SR* DMP 8D,1 # NOW SCALED B9 MPAC STODL 30D 0 # Page 628 STODL 34D 6 # YH CALL DIVIDE SR* DMP 8D,1 # B9 MPAC # B18 DAD PUSH # PUSH 16-17 =A SCALED B18 30D DSU SQRT 1.0B18 PDDL # PUSH 18-19 SQRT(A-1) B9 16D STODL 34D 4 # XH CALL DIVIDE SR* PDDL 17D,1 # PUSH 20-21 = XH/A B29 6 # YH CALL DIVIDE SR* PDDL 17D,1 # PUSH 22-23 = YH/A B29 16D # A STODL 34D 18D # SQRT(A-1) CALL DIVIDE SR* 8D,1 STODL 28D 0 # BH STODL 34D 2 # AH CALL DIVIDE SR* DMP # AH/BH SCALED B1 0,1 28D # SQRT(A-1)/A DMP SL1 6 # YH PDDL 2 # AH STODL 34D 0 CALL DIVIDE SR* DMP # BH/AH SCALED B1 0,1 # Page 629 28D # SQRT (A-1)/A DMP SL1 4 # XH PDDL DAD 20D # XH/A 24D # ALPHA PDDL DSU 22D # YH/A 26D # BETA PUSH SETPD 16D DLOAD DSU 20D # XH/A 24D # ALPHA PDDL DAD 22D # YH/A 26D # BETA PDDL PUSH ZEROVECS STOVL 32D # ZERO THIRD COMP. OF T-0 VECTOR 28D VSU UNIT 4 # RH VECTOR DOT PDVL # PUSH 22-23 A-SUB-ZERO 10D # USH VECTOR 16D # T1 VECTOR VSU UNIT 4 # RH VECTOR DOT PUSH # PUSH 24-25 A-SUB-ONE 10D BDSU BMN 22D # A-SUB-ZERO HORIZ.3 BON NORFHOR HORIZ.4 HORIZ.2 VLOAD GOTO 28D # T-0 VECTOR HORIZ.5 HORIZ.3 BON GOTO NORFHOR HORIZ.2 HORIZ.4 HORIZ.4 VLOAD 16D # T1 VECTOR HORIZ.5 VXM VSL1 UBAR0 GOTO SRRETURN HORIZ.6 DLOAD PUSH # Page 630 RADMOON PUSH GOTO HORIZ.1 DIVIDE NORM SR1 X1 STODL 36D 34D NORM BDDV S1 36D XSU,1 RVQ S1 RECT.1 BOFF AXT,2 # SR TO SET ZMEASURE = 0 IF MEASUREMENT CMOONFLG # PLANET AND PRIMARY PLANET ARE THE SAME. RECT.3 # OTHERWISE = 1 DEC -2 BOFF # VEC. AND SCALE B29 AND B7 LUNAFLAG RECT.4 RECT.2 CLEAR GOTO ZMEASURE RECT.5 RECT.3 AXT,2 BOFF 0 LUNAFLAG RECT.2 RECT.4 SET ZMEASURE RECT.5 VLOAD VSR7 DELTACSM # SCALED B22 OR B18 VSR* VAD 0,2 RCVCSM # SCALED B29 OR B27 VSR* 0,2 STOVL RZC # NOW SCALED B29 NUVCSM # SCALED B3 OR B-1 VSR4 VSR* 0,2 VAD VSR* VCVCSM # SCALED B7 OR B5 0,2 STORE VZC # NOW SCALED B7 RVQ ONE/C 2DEC* .333564049 E-6 B+21* AEARTH 2DEC 6378166 B-29 # A AXIS OF EARTH (METERS B-29) RADMOON 2DEC 1738090 B-29 # RADIUS MOON IN METERS # Page 631 TRUN19 OCT 01604 TRUN19A OCT 00000 1.0B18 2DEC 1.0 B-18 VARSUBL DEC 0 VARSUBL3 2DEC* 3.4299040 E+6 B-26* TRUNVAR 2DEC 2.5 E-9 B+18 V6N49 VN 0649 V05N70 VN 0570 V05N71 VN 0571 OCT00077 OCT 00077 V50N25P OCT 00202 SPSIX OCT 00006 JCAXIS 2DEC .2688190620 # 1/2(SIN 32.523 DEG) TRACK AXIS 2DEC 0 2DEC .4215878460 # 1/2(COS 32.523 DEG) R60ADRS CADR R60CALL +3 NEG37 DEC -37 BITS7-9 OCT 700 BITS4-6 OCT 70 SETLOC RT53 BANK LOWMEMRY VLOAD* RVQ CATLOG,1 BANK 37 SETLOC P23S1 BANK LDPLANET EXIT # KEEP THIS OPEN SUBROUTINE IN EBANK=5 CAF VNPLAN23 # BECAUSE STAR IS EBANK=5 TC BANKCALL # LDPLANET ALLOWS VECTOR TO PLANET TO BE CADR GOFLASH # STORED IN STARSAV2 IF STORED STARS ARE TC GOTOPOOH # NOT VISIBLE TC +2 TC -5 TC INTPRET VLOAD STARSAV3 VXSC UNIT 1/SQR3 STORE STARSAV2 GOTO P23.31 VNPLAN23 VN 0688 BLOCK 02 GOTOV56 EXTEND # P20 TERMINATES BY GOTOV56 INSTEAD OF # Page 632 DCA VB56CADR # GOTOPOOH TCF SUPDXCHZ EBANK= WHOCARES VB56CADR 2CADR TRACKTRM SETLOC FFTAG2 BANK COUNT* $$/P20 BANK 40 SETLOC ENDPINS1 BANK COUNT* $$/EXTVB V67CALL TC INTPRET CALL V67WW EXIT V06N99DS CAF V06N99A TC BANKCALL CADR GOXDSPF TCF ENDEXT TC V06N9933 TC V06N99DS V06N9933 TC INTPRET SLOAD BHIZ # IF R3 OF V67 = 0 EXIT WWOPT +3 GOTO V6N99INP EXIT TCF ENDEXT V6N99INP LXA,1 LXA,2 WWPOS WWVEL SLOAD DSU WWOPT V67DEC2 BHIZ BPL V67WORB V67WMID SXA,1 SXA,2 WRENDPOS WRENDVEL GOTO V67EXITX V67WORB SXA,1 SXA,2 WORBPOS WORBVEL GOTO V67EXITX V67WMID SXA,1 SXA,2 # Page 633 WMIDPOS WMIDVEL V67EXITX CLEAR CLEAR ORBWFLAG RENDWFLG EXIT TCF ENDEXT V67WW STQ BOV S2 +1 CALL INTSTALL SSP DLOAD S1 DEC 6 ZEROVECS STORE WWPOS STORE WWVEL STORE WWOPT AXT,1 DEC 36 NXPOSVEL VLOAD* VSQ W +36D,1 DAD WWPOS STORE WWPOS VLOAD* VSQ W +90D,1 DAD WWVEL STORE WWVEL TIX,1 SQRT NXPOSVEL STODL WWVEL WWPOS SQRT STORE WWPOS BOV GOTO +2 V67XXX DLOAD DPPOSMAX STORE WWPOS STORE WWVEL V67XXX DLOAD DSU WWPOS FT99999 BMN DLOAD +3 FT99999 # Page 634 STORE WWPOS LXA,1 SXA,1 S2 QPRET EXIT TC POSTJUMP CADR INTWAKE WWPOS = RANGE WWVEL = RRATE WWOPT = RTHETA V06N99A VN 0699 FT99999 2DEC 30479 B-19 V67DEC2 2DEC 2 B-14 SBANK= LOWSUPER ================================================ FILE: Comanche055/P30-P37.agc ================================================ # Copyright: Public domain. # Filename: P30-P37.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 635-648 # Mod history: 2009-05-10 RSB Adapted from the Colossus249/ file # of the same name, using Comanche055 page # images. # 2009-05-20 RSB Corrected BDV -> BOV. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 635 BANK 32 SETLOC P30S1 BANK EBANK= +MGA COUNT 35/P34 DISPMGA STQ EXIT # USED IN P30 RGEXIT TC COMPTGO DISP45 CAF V16N45 TC BANKCALL CADR GOFLASHR TC GOTOPOOH TC END45 TC DISP45 P30PHSI TC PHASCHNG OCT 14 TCR ENDOFJOB END45 TC INTPRET CLEAR GOTO TIMRFLAG RGEXIT COMPTGO EXTEND # USED TO COMPUTE TTOGO QXCH PHSPRDT6 # ** GROUP 6 TEMPORARY USED .. BEWARE ** TC UPFLAG # SET TIMRFLAG ADRES TIMRFLAG # BIT 11 FLAG 7 CAF ZERO TS NVWORD1 CAF ONE TC WAITLIST EBANK= TIG 2CADR CLOKTASK TC 2PHSCHNG OCT 40036 # 6.3SPOT FOR CLOKTASK OCT 05024 # GROUP 4 CONTINUES HERE OCT 13000 TC PHSPRDT6 # Page 636 # PROGRAM DESCRIPTION P30 DATE 3-6-67 # MOD.I BY S. ZELDIN- TO ADD P31 AND AD APT P30 FOR P31 USE. 22DEC67 # FUNCTIONAL DESCRIPTION # +30(EXTERNAL DELTA-V TARGETTING PROGRAM) # ACCEPTS ASTRONAUT INPUTS OF TIG,DELV(LV) AND COMPUTES,FOR DISPLAY, # APOGEE,PERIGEE,DELV(MAG),MGA ASSOCIATED WITH DESIRED MANEUVER # P31(GENERAL LAMBERT AIMPOINT GUIDANCE) # A GROUND RULE FOR P31 IS THE ANGLE BETWEEN THE TARGET VECTOR AND # POSITION VECTOR AT TIG IS NOT 165-195 DEGREES APART # BASED ON STORED INPUT OF OFFSET TARGET(B+29) AND DELTA T TRANS,AND # ASTRONAUT ENTRY OF TIG,P31 COMPUTES REQUIRED VELOCITY FOR MANEUVER # AND,FOR DISPLAY,APOGEE,PERIGEE,DELV(7AG),+MGA ASSOCIATED WITH # DESIRED MANEUVER # THE FOLLOWING SUBROUTINES ARE USED IN P30 AND P31 # S30.1 (P30 ONLY) # S31.1 (P31 ONLY) # P30/P31 - DISPLAYS TIG # CNTUP30 - DISPLAYS DELV(LV) # PARAM30 - DISPLAYS APOGEE,PERIGEE,DELV(MAG),MGA,TIME FROM TIG, # MARKS SINCE LAST THRUSTING MANEUVER # CALLING SEQUENCE VIA JOB FROM V37 # EXIT VIA V37 OR GOTOPOOH # OUTPUT FOR POWERED FLIGHT # VTIG X # RTIG XSEE S30.1 # DELVSIN X # VGDISP # RTARG X # TPASS4 X SEE S31.1 # X COUNT 35/P30 P30 TC P30/P31 TC CNTNUP30 TC DOWNFLAG # RESET UPDATFLG ADRES UPDATFLG # BIT 7 FLAG 1 TC INTPRET CALL S30.1 EXIT TC PARAM30 TC UPFLAG # Page 637 ADRES XDELVFLG # SET XDELVFLG BIT 8 FLAG 2 TCF GOTOPOOH P31 TC P30/P31 TC DOWNFLAG ADRES UPDATFLG # RESET UPDATFLG BIT 7 FLAG 1 TC DOWNFLAG ADRES NORMSW # RESET NORMSW BIT 10 FLAG 7 TC INTPRET CALL S31.1 EXIT TC CNTNUP30 TC PARAM30 TC DOWNFLAG ADRES XDELVFLG # BIT 8 FLAG 2 TCF GOTOPOOH P30/P31 XCH Q TS P30/31RT TC UPFLAG ADRES UPDATFLG # SET UPDATFLG BIT 7 FLAG 1 TC UPFLAG ADRES TRACKFLG # SET TRACKFLG BIT 5 FLAG 1 CAF V06N33 # T OF IGN TC BANKCALL CADR GOFLASHR TCF GOTOPOOH TC P30/31RT TCF P30/P31 +4 TC PHASCHNG OCT 00014 TC ENDOFJOB CNTNUP30 XCH Q TS P30/RET CAF V06N81 TC BANKCALL CADR GOFLASH TCF GOTOPOOH TC P30/RET TCF CNTNUP30 +2 PARAM30 XCH Q TS P30/31RT CAF V06N42 TC BANKCALL CADR GOFLASH TC GOTOPOOH # ON TERMINATION GOTOPOOH TCF REFTEST # ON PROCEED GO DO REFTEST # Page 638 TCF PARAM30 +2 REFTEST CAF BIT13 MASK STATE +3 # REFSMFLAG EXTEND BZF NOTSET # REFSMFLAG =0 , THEN BRANCH TO NOTSET TC INTPRET VLOAD PUSH DELVSIN CALL GET+MGA GOTO FLASHMGA NOTSET EXTEND DCS MARSDP DXCH +MGA # +MGA, +MGA+1 CONTAINS (-00001) TC INTPRET FLASHMGA CALL DISPMGA EXIT TC P30/31RT MARSDP OCT 00000 # (00000) (16440) = (+00001) OCT 35100 # ( .01 ) DEGREES IN THE LOW ORDER REGISTE V06N33 VN 0633 V06N42 VN 0642 V16N35 VN 1635 V06N45 VN 0645 # Page 639 # PROGRAM DESCRIPTION S30.1 DATE 9NOV66 # MOD NO 1 LOG SECTION P30,P37 # MOD BY RAMA AIYAWAR ** # MOD.2 BY S.ZELDIN - TO CORRECT MOD.1 FOR COLOSSUS 29DEC67 # FUNCTIONAL DESCRIPTION # BASED ON STORED TARGET PARAMETERS(R OF IGNITION(RTIG),V OF # IGNITION(VTIG),TIME OF IGNITION(TIG),DELV(LV),COMPUTE PERIGEE ALTITUDE # A+OGEE ALTITUDE AND DELTA-V REQUIRED IN REF. COORDS.(DELVSIN) # CALLING SEQUENCE # L CALL # L+1 S30.1 # NORMAL EXIT MODE # AT L+2 OR CALLING SEQUENCE (GOTO L+2) # SUBROUTINES CALLED # THISPREC # PERIAPO # ALARM OR ABORT EXIT MODES # NONE # ERASABLE INITIALIZATION REQUIRED # TIG TIME OF IGNITION DP B28CS # DELVSLV SPECIFIED DELTA-V IN LOCAL VERT. # COORDS. OF ACTIVE VEHICLE AT # TIME OF IGNITION VCT. B+7M/CS # # OUTPUT # RTIG POSITION AT TIG VCT. B+29M # VTIG VELOCITY AT TIG VCT. B+7M # HAPO APOGEE ALT. DP B+29M # HPER PERIGEE ALT. DP B+29M # DELVSIN DELVSLV IN REF COORDS VCT. B+7M/CS # VGDISP MAG. OF DELVSIN DP B+7M/CS # DEBRIS QTEMP TEMP. ERASABLE # QPRET,MPAC # PUSHLIST SETLOC P30S1A BANK COUNT 35/S30S S30.1 STQ DLOAD QTEMP TIG # TIME IGNITION SCALED AT 2(+28)CS STCALL TDEC1 THISPREC # ENCKE ROUTINE FOR VLOAD SXA,2 VATT RTX2 STOVL VTIG # Page 640 RATT STORE RTIG STORE RACT3 VXV UNIT VTIG STCALL UNRM LOMAT VLOAD VXM DELVSLV 0 VSL1 SXA,1 RTX1 STORE DELVSIN ABVAL STOVL VGDISP # MAG DELV RTIG PDVL VAD DELVSIN VTIG CALL PERIAPO1 CALL SHIFTR1 CALL MAXCHK STODL HPER # PERIGEE ALT B+29 4D CALL SHIFTR1 CALL MAXCHK STCALL HAPO # APOGEE ALT B+29 QTEMP # Page 641 # S31.1 PROGRAM DESCRIPTION 28DEC67 # MOD.1 BY S.ZELDIN # S31.1 COMPUTES DELV IN REF AND LV COORDS,MAG OF DELV,INTERCEPT TIME, # APOGEE AND PERIGEE ALT FOR REQUIRED MANEUVER # CALLING SEQUENCE # L CALL # L+1 S31.1 # NORMAL EXIT MODE # AT L +2 OF CALLING SEQUENCE(GOTO L+2) # SUBROUTINES CALLED # AGAIN # PERIAPO1 # SHIFTR1 # MIDGIM # NO ALARM OR ABORT MODES # INPUT # DELLT4 DP +28 # TIG DP +28 # RTARG VCT +29 # OUTPUT # DELVLVC VCT +7 # VGDISP DP +7 # HAPO DP +29 # HPER DP +29 # TPASS4 DP +28 # DEBRIS - QTEMP S31.1 STQ DLOAD QTEMP TIG STCALL TDEC1 AGAIN # RETURNS RTX2,RTX1,RATT,VATT,VIPRIME VLOAD PDVL # DELUEET3 RTIG VIPRIME CALL PERIAPO1 CALL SHIFTR1 CALL MAXCHK STODL HPER # B29 4D CALL SHIFTR1 CALL MAXCHK STOVL HAPO # B29 # Page 642 DELVEET3 STORE 0 SET CALL AVFLAG MIDGIM # GET DELVLVC B7 FORDISPLAY ABVAL STODL VGDISP # B+7 FOR DISPLAY DELLT4 DAD TIG STCALL TPASS4 # FOR S40.1 QTEMP # Page 643 # SUBROUTINE NAME: DELRSPL (CONTINUATION OF V 82 IN CSM IF P11 ACTI # TRANSFERRED COMPLETELY FROM SUNDISK, P30S REV 33. 9 SEPT 67. # MOD NO: 0 MOD BY: ZELDIN DATE: # MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 11 APR 67 # MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 12 MAY 67 ADD UR.RT CALC WHEN BELOW 300K FT # MOD NO: 2.1 MOD BY: RR BAIRNSFATHER DATE: 5 JULY 67 FIX ERROR ON MOD. 2. # MOD NO: 3 MOD BY: RR BAIRNSFATHER DATE: 12 JUL 67 CHANGE SIGN OF DISPLAYED ERROR. # MOD 4 MOD BY S.ZELDIN DATE 3 APRIL 68 CHANGE EQUATIONS FOR L/D=.18 WHICH REPLA # FUNCTION: CALCULATE (FOR DISPLAY ON CALL) AN APPROXIMATE MEASURE OF IN-PLANE SPLASH DOWN # ERROR. IF THE FREE-FALL TRANSFER ANGLE TO 300K FT ABOVE PAD RADIUS IS POSITIVE: # SPLASH ERROR= -RANGE TO TARGET + FREE-FALL TRANSFER ANGLE + ESTIMATED ENTRY ANGLE. # THE TARGET LOCATION AT ESTIMATED TIME OF IMPACT IS USED. IF THE FREE-FALL TRANSFER # ANGLE IS NEGATIVE: SPASH ERROR= -RANGE TO TARGET # THE PRESENT TARGET LOCATION IS USED. # CALLING SEQUENCE CALLED AFTER SR30.1 IF IN CSM AND IF P11 OPERATING (UNDER CONTROL OF V82) # SUBROUTINES CALLED: VGAMCALC, TFF/TRIG, LALOTORV. # EXIT: RETURN DIRECTLY TO V 82 PROG. AT SPLRET # ERASABLE INITIALIZATION LEFT BY SR30.1 AND V82GON1 # OUTPUT: RSP-RREC RANGE IN REVOLUTIONS. DSKY DISPLAY IN N. MI. # DEBRIS: QPRET, PDL0 ...PDL7 ,PDL10 # THETA(1) BANK 32 SETLOC DELRSPL1 BANK COUNT* $$/P30 # PROGRAMS: P30 EXTERNAL DELTA V DELRSPL STORE 8D BPL DSU CANTDO # GONE PAST 300K FT ALT 1BITDP BOV CALL CANTDO # POSMAX INDICATES NO 300K FT SOLUTION. VGAMCALC # +GAMMA(REV) IN PMAC,V300 MAG(B-7)=PDL 0 PUSH CALL TFF/TRIG CALL AUGEKUGL PDDL ACOS # T ENTRY PDL 6 CDELF/2 DAD 4 GETARG STOVL THETA(1) LAT(SPL) STODL LAT HI6ZEROS STODL ALT # ALT=0 = LAT +4 PIPTIME # Page 644 BON DLOAD V37FLAG +2 TSTART82 DSU DAD 8D CLEAR CALL ERADFLAG LALOTORV # R RECOV. IN ALPHAV AND MPAC UNIT PDVL RONE UNIT DOT SL1 ARCCOS BDSU # ERROR = THETA EST - THETA TARG # NEGATIVE NUMBER SIGNIFIES THAT WILL FALL SHORT. # POSITIVE NUMBER SIGNIFIES THAT WILL OVERSHOOT. THETA(1) DELRDONE STCALL RSP-RREC # DOWNRANGE RECOVERY RANGE ERROR /360 INTWAKE0 CALL SPLRET CANTDO DLOAD PDDL # INITIALIZE ERASE TO DOT TARGET AND UR # FOR RANGE ANGLE. HIDPHALF # TO PDL 0 FOR DEN IN DDV. HI6ZEROS PUSH # ZERO TO PDL 2 FOR PHI ENTRY STCALL 8D GETARG # GO SET RSP-RREC =0 AUGEKUGL VLOAD X1CON -2 STODL X1 -2 0 DSU BMN V(21K) LOOPSET XSU,1 XCHX,2 S1 X1 XCHX,2 DSU S1 V(3K) BMN XCHX,2 LOOPSET S1 DSU BMN V(4K) LOOPSET XCHX,2 XCHX,2 # Page 645 S1 X1 DSU BMN V(400) LOOPSET SXA,1 S1 LOOPSET INCR,1 GOTO DEC 1 K1K2LOOP K2CALC SXA,1 S1 K1K2LOOP DLOAD DSU* 0 V(32K) +1,1 DMP* DAD* YK1K2 +1,1 CK1K2 +1,1 PDDL TIX,1 2 K2CALC DSU BDDV PUSH BOV MAXPHI BMN DSU MAXPHI MAXPHIC BPL MAXPHI PHICALC DLOAD DSU # PHI ENTRY PDL 4D 0 V(26K) BPL DLOAD TGR26 TLESS26 DDV 0 TENT DMP RVQ 4D TGR26 DLOAD GOTO TGR26CON TENT MAXPHI DLOAD PDDL MAXPHIC GOTO PHICALC MAXPHIC 2DEC .09259298 # 2000 NM FOR MAXIMUM PHI ENTRY # Page 646 COUNT* $$/P30 # BELOW # <<<< TABLE IS INDEXED. KEEP IN ORDER >>>> 2DEC 7.07304526 E-4 # 5500 2DEC 3.08641975 E-4 # 2400 2DEC 3.08641975 E-4 # 2400 2DEC -8.8888888 E-3 # -3.2 2DEC 2.7777777 E-3 # 1 CK1K2 2DEC 6.6666666 E-3 # 2.4 2DEC 0 # 0 2DEC* -1.86909989 E-5 B7* # -.443 2DEC 0 2DEC* 1.11639691 E-3 B7* # .001225 2DEC* 9.56911636 E-4 B7* # .00105 YK1K2 2DEC* 2.59733157 E-4 B7* # .000285 V(400) 2DEC 1.2192 B-7 V(28K) 2DEC 85.344 B-7 V(3K) 2DEC 9.144 B-7 V(24K) 2DEC 73.152 B-7 2DEC 85.344 B-7 V(32K) 2DEC 97.536 B-7 V(4K) 2DEC 12.192 B-7 V(21K) 2DEC 64.000 B-7 TLESS26 2DEC* 5.70146688 E7 B-35* # 8660PHI/V TGR26CON 2DEC 7.2 E5 B-28 # PHI/3 V(26K) 2DEC 79.248 B-7 # 26000 # Page 647 X1CON DEC 10 DEC 8 DEC 6 # <<<< TABLE IS INDEXED. KEEP IN ORDER >>>> # ABOVE # Page 648 # ***** AVFLAGA/P ***** # SUBROUTINES USED # UPFLAG # DOWNFLAG SETLOC P30SUBS BANK EBANK= SUBEXIT AVFLAGA EXTEND # AVFLAG = CSM QXCH SUBEXIT TC DOWNFLAG ADRES AVFLAG # BIT 5 FLAG 2 CAF EBANK7 TS EBANK EBANK= ECSTEER CAF BIT13 TS ECSTEER # SET ECSTEER = 1 CAF EBANK4 TS EBANK EBANK= SUBEXIT TC SUBEXIT AVFLAGP EXTEND # AVFLAG = LEM QXCH SUBEXIT TC UPFLAG ADRES AVFLAG # BIT 5 FLAG 2 TC SUBEXIT P20FLGON EXTEND QXCH SUBEXIT TC UPFLAG ADRES TRACKFLG TC UPFLAG ADRES UPDATFLG TC SUBEXIT # DP B4 ================================================ FILE: Comanche055/P32-P33_P72-P73.agc ================================================ # Copyright: Public domain. # Filename: P32-P33_P72-P73.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 649-683 # Mod history: 2009-05-09 RSB Adapted from the Luminary131/ file # P32-P35_P72-P75.agc and Comanche055 page # images. # 2009-05-20 RSB Corrected CSI/COM3 -> CSI/CDH3, # CSI/CDHI -> CSI/CDH1, CDHTAB -> CDHTAG, # changed a SETLOC from CSI/CDH to CSI/CDH1, # a SETLOC CSI/CDH1 to CSIPROG. # 2009-05-21 RSB Changed a P32/P72D to P32/P72E in # P32/P72D. DP1/4TH changed to DP1/4 in # CDHMVR. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 649 # COELLIPTIC SEQUENCE INITIATION (CSI) PROGRAMS (P32 AND P72) # MOD NO -1 LOG SECTION - P32-P35, P72-P75 # MOD BY WHITE.P DATE 1JUNE67 # PURPOSE # (1) TO CALCULATE PARAMETERS ASSOCIATED WITH THE FOLLOWING # CONCENTRIC FLIGHT PLAN MANEUVERS - THE CO-ELLIPTIC SEQUENCE # INITIATION (CSI) MANEUVER AND THE CONSTANT DELTA ALTITUDE # (CDH) MANEUVER. # (2) TO CALCULATE THESE PARAMETERS BASED UPON MANEUVER DATA # APPROVED AND KEYED INTO THE DSKY BY THE ASTRONAUT. # (3) TO DISPLAY TO THE ASTRONAUT AND THE GROUND DEPENDENT VARIABLES # ASSOCIATED WITH THE CONCENTRIC FLIGHT PLAN MANEUVERS FOR # APPROVAL BY THE ASTRONAUT/GROUND. # (4) TO STORE THE CSI TARGET PARAMETERS FOR USE BY THE DESIRED # THRUSTING PROGRAM. # ASSUMPTIONS # (1) AT A SELECTED TPI TIME THE LINE OF SIGHT BETWEEN THE ACTIVE # AND PASSIVE VEHICLES IS SELECTED TO BE A PRESCRIBED ANGLE (E) # FROM THE HORIZONTAL PLANE DEFINED BY THE ACTIVE VEHICLE # POSITION. # (2) THE TIME BETWEEN CSI IGNITION AND CDH IGNITION MUST BE # COMPUTED TO BE GREATER THAN 10 MINUTES FOR SUCCESSFUL # COMPLETION OF THE PROGRAM. # (3) THE TIME BETWEEN CDH IGNITION AND TPI IGNITION MUST BE # COMPUTED TO BE GREATER THAN 10 MINUTES FOR SUCCESSFUL # COMPLETION OF THE PROGRAM. # (4) CDH DELTA V IS SELECTED TO MINIMIZE THE VARIATION OF THE # ALTITUDE DIFFERENCE BETWEEN THE ORBITS. # (5) CSI BURN IS DEFINED SUCH THAT THE IMPULSIVE DELTA V IS IN THE # HORIZONTAL PLANE DEFINED BY THE ACTIVE VEHICLE POSITION AT CSI # IGNITION. # (6) THE PERICENTER ALTITUDE OF THE ORBIT FOLLOWING CSI AND CDH # MUST BE GREATER THAN 35,000 FT (LUNAR ORBIT) OR 85 NM (EARTH # ORBIT) FOR SUCCESSFUL COMPLETION OF THIS PROGRAM. # (7) THE CSI AND CDH MANEUVERS ARE ORIGINALLY ASSUMED TO BE # PARALLEL TO THE PLANE OF THE CSM ORBIT. HOWEVER, CREW # Page 650 # MODIFICATION OF DELTA V (LV) COMPONENTS MAY RESULT IN AN # OUT-OF-PLANE CSI MANEUVER. # (8) STATE VECTOR UPDATES BY P27 ARE DISALLOWED DURING AUTOMATIC # STATE VECTOR UPDATING INITIATED BY P20 (SEE ASSUMPTION 10). # (9) COMPUTED VARIABLES MAY BE STORED FOR LATER VERIFICATION BY # THE GROUND. THESE STORAGE CAPABILITIES ARE NORMALLY LIMITED # ONLY TO THE PARAMETERS FOR ONE THRUSTING MANEUVER AT A TIME # EXCEPT FOR CONCENTRIC FLIGHT PLAN MANEUVER SEQUENCES. # (10) THE RENDEZVOUS RADAR MAY OR MAY NOT BE USED TO UPDATE THE LM # OR CSM STATE VECTORS FOR THIS PROGRAM. IF RADAR USE IS # DESIRED THE RADAR WAS TURNED ON AND LOCKED BY THE CSM BY # PREVIOUS SELECTION OF P20. RADAR SIGHTING MARKS WILL BE MADE # AUTOMATICALLY APPROXIMATELY ONCE A MINUTE WHEN ENABLED BY THE # TRACK AND UPDATE FLAGS (SEE P20). THE RENDEZVOUS TRACKING # MARK COUNTER IS ZEROED BY THE SELECTION OF P20 AND AFTER EACH # THRUSTING MANEUVER. # (11) THE ISS NEED NOT BE ON TO COMPLETE THIS PROGRAM. # (12) THE OPERATION OF THE PROGRAM UTILIZES THE FOLLOWING FLAGS - # ACTIVE VEHICLE FLAG - DESIGNATES THE VEHICLE WHICH IS # DOING RENDEZVOUS THRUSTING MANEUVERS TO THE PROGRAM WHICH # CALCULATES THE MANEUVER PARAMETERS. SET AT THE START OF # EACH RENDEZVOUS PRE-THRUSTING PROGRAM. # FINAL FLAG - SELECTS FINAL PROGRAM DISPLAYS AFTER CREW HAS # COMPLETED THE FINAL MANEUVER COMPUTATION AND DISPLAY # CYCLE. # EXTERNAL DELTA V STEERING FLAG - DESIGNATES THE TYPE OF # STEERING REQUIRED FOR EXECUTION OF THIS MANEUVER BY THE # THRUSTING PROGRAM SELECTED AFTER COMPLETION OF THIS # PROGRAM. # (13) IT IS NORMALLY REQUIRED THAT THE ISS BE ON FOR 1 HOUR PRIOR TO # A THRUSTING MANEUVER. # (14) THIS PROGRAM IS SELECTED BY THE ASTRONAUT BY DSKY ENTRY - # P32 IF THIS VEHICLE IS ACTIVE VEHICLE. # P72 IF THIS VEHICLE IS PASSIVE VEHICLE. # INPUT # (1) TCSI TIME OF THE CSI MANEUVER # Page 651 # (2) NN NUMBER OF APSIDAL CROSSINGS THRU WHICH THE ACTIVE # VEHICLE ORBIT CAN BE ADVANCED TO OBTAIN THE CDH # MANEUVER POINT # (3) ELEV DESIRED LOS ANGLE AT TPI # (4) TTPI TIME OF THE TPI MANEUVER # OUTPUT # (1) TRKMKCNT NUMBER OF MARKS # (2) TTOGO TIME TO GO # (3) +MGA MIDDLE GIMBAL ANGLE # (4) DIFFALT DELTA ALTITUDE AT CDH # (5) T1TOT2 DELTA TIME FROM CSI TO CDH # (6) T2TOT3 DELTA TIME FROM CDH TO TPI # (7) DELVLVC DELTA VELOCITY AT CSI - LOCAL VERTICAL COORDINATES # (8) DELVLVC DELTA VELOCITY AT CDH - LOCAL VERTICAL COORDINATES # DOWNLINK # (1) TCSI TIME OF THE CSI MANEUVER # (2) TCDH TIME OF THE CDH MANEUVER # (3) TTPI TIME OF THE TPI MANEUVER # (4) TIG TIME OF THE CSI MANEUVER # (5) DELVEET1 DELTA VELOCITY AT CSI - REFERENCE COORDINATES # (6) DELVEET2 DELTA VELOCITY AT CDH - REFERENCE COORDINATES # (7) DIFFALT DELTA ALTITUDE AT CDH # (8) NN NUMBER OF APSIDAL CROSSINGS THRU WHICH THE ACTIVE # VEHICLE ORBIT CAN BE ADVANCED TO OBTAIN THE CDH # MANEUVER POINT # (9) ELEV DESIRED LOS ANGLE AT TPI # COMMUNICATION TO THRUSTING PROGRAMS # (1) TIG TIME OF THE CSI MANEUVER # (2) RTIG POSITION OF ACTIVE VEHICLE AT CSI - BEFORE ROTATION # INTO PLANE OF PASSIVE VEHICLE # (3) VTIG VELOCITY OF ACTIVE VEHICLE AT CSE - BEFORE ROTATION # INTO PLANE OF PASSIVE VEHICLE # (4) DELVSIN DELTA VELOCITY AT CSI - REFERENCE COORDINATES # (5) DELVSAB MAGNITUDE OF DELTA VELOCITY AT CSI # (6) XDELVFLG SET TO INDICATE EXTERNAL DELTA V VG COMPUTATION # SUBROUTINES USED # AVFLAGA # AVFLAGP # P20FLGON # VARALARM # BANKCALL # GOFLASH # GOTOPOOH # Page 652 # VNPOOH # GOFLASHR # BLANKET # ENDOFJOB # SELECTMU # ADVANCE # INTINT # PASSIVE # CSI/A # S32/33.1 # DISDVLVC # VN1645 BANK 35 SETLOC CSI/CDH1 BANK EBANK= SUBEXIT COUNT 35/P3272 P32 TC AVFLAGA TC P32STRT P72 TC AVFLAGP P32STRT TC INTPRET DLOAD ZEROVEC STORE CENTANG EXIT TC P32/P72A ALMXITA SXA,2 CSIALRM ALMXIT LXC,1 CSIALRM SLOAD* EXIT ALARM/TB -1,1 CA MPAC TC VARALARM CAF V05N09 TC BANKCALL CADR GOFLASH TC GOTOPOOH TC -4 P32/P72A TC P20FLGON TC INTPRET DLOAD ZEROVEC STORE NN EXIT CAF V06N11 # TCSI TC VNPOOH CAF V06N55 # NN. ELEV(RGL05) # Page 653 TC BANKCALL CADR GOFLASH TC GOTOPOOH TC +2 TC -5 CAF V06N37 # TTPI TC VNPOOH TC INTPRET DLOAD TCSI STCALL TIG SELECTMU P32/P72B CALL ADVANCE SETPD VLOAD 0D VPASS1 PDVL PDDL RPASS1 TCSI PDDL PDDL TTPI 2PISC SL2 PUSH CALL INTINT CALL PASSIVE CALL CSI/A P32/P72C BON SET FINALFLG P32/P72D UPDATFLG P32/P72D DLOAD GOTO T1TOT2 P32/P72E SETLOC CSI/CDH3 BANK P32/P72E STORE T1TOT2 DSU BPL 60MIN P32/P72E DLOAD GOTO T2TOT3 P32/P72F SETLOC CSI/CDH1 BANK P32/P72F STORE T2TOT3 DSU BPL # Page 654 60MIN P32/P72F EXIT CAF V06N75 TC VNPOOH TC INTPRET VLOAD CALL DELVEET1 S32/33.1 STOVL DELVEET1 RACT2 STOVL RACT1 DELVEET2 AXT,1 CALL VN 0682 DISDVLVC DLOAD TTPI STCALL TTPIO VN1645 GOTO P32/P72B # Page 655 # CONSTANT DELTA HEIGHT (CDH) PROGRAMS (P33 AND P73) # MOD NO -1 LOC SECTION - P32-P35, P72-P75 # MOD BY WHITE.P DATE 1JUNE67 # PURPOSE # (1) TO CALCULATE PARAMETERS ASSOCIATED WITH THE CONSTANT DELTA # ALTITUDE MANEUVER (CDH). # (2) TO CALCULATE THESE PARAMETERS BASED UPON MANEUVER DATA # APPROVED AND KEYED INTO THE DSKY BY THE ASTRONAUT. # (3) TO DISPLAY TO THE ASTRONAUT AND THE GROUND DEPENDENT VARIABLES # ASSOCIATED WITH THE CDH MANEUVER FOR APPROVAL BY THE # ASTRONAUT/GROUND. # (4) TO STORE THE CDH TARGET PARAMETERS FOR USE BY THE DESIRED # THRUSTING PROGRAM. # ASSUMPTIONS # (1) THIS PROGRAM IS BASED UPON PREVIOUS COMPLETION OF THE # CO-ELLIPTIC SEQUENCE INITIATION (CSI) PROGRAM (P32/P72). # THERFORE - # (A) AT A SELECTED TPI TIME (NOW IN STORAGE) THE LINE OF SIGHT # BETWEEN THE ACTIVE AND PASSIVE VEHICLES WAS SELECTED TO BE # A PRESCRIBED ANGLE (E) (NOW IN STORAGE) FROM THE # HORIZONTAL PLANE DEFINED BY THE ACTIVE VEHICLE POSITION. # (B) THE TIME BETWEEN CSI IGNITION AND CDH IGNITION WAS # COMPUTED TO BE GREATER THAN 10 MINUTES. # (C) THE TIME BETWEEN CDH IGNITION AND TPI IGNITION WAS # COMPUTED TO BE GREATER THAN 10 MINUTES. # (D) THE VARIATION OF THE ALTITUDE DIFFERENCE BETWEEN THE # ORBITS WAS MINIMIZED. # (E) CSI BURN WAS DEFINED SUCH THAT THE IMPULSIVE DELTA V WAS # IN THE HORIZONTAL PLANE DEFINED BY ACTIVE VEHICLE # POSITION AT CSI IGNITION. # (F) THE PERICENTER ALTITUDES OF THE ORBITS FOLLOWING CSI AND # CDH WERE COMPUTED TO BE GREATER THAN 35,000 FT FOR LUNAR # ORBIT OR 85 NM FOR EARTH ORBIT. # (G) THE CSI AND CDH MANEUVERS WERE ASSUMED TO BE PARALLEL TO # THE PLANE OF THE PASSIVE VEHICLE ORBIT. HOWEVER, CREW # Page 656 # MODIFICATION OF DELTA V (LV) COMPONENTS MAY HAVE RESULTED # IN AN OUT-OF-PLANE MANEUVER. # (2) STATE VECTOR UPDATES BY P27 ARE DISALLOWED DURING AUTOMATIC # STATE VECTOR UPDATING INITIATED BY P20 (SEE ASSUMPTION 4). # (3) COMPUTED VARIABLES MAY BE STORED FOR LATER VERIFICATION BY # THE GROUND. THESE STORAGE CAPABILITIES ARE NORMALLY LIMITED # ONLY TO THE PARAMETERS FOR ONE THRUSTING MANEUVER AT A TIME # EXCEPT FOR CONCENTRIC FLIGHT PLAN MANEUVER SEQUENCES. # (4) THE RENDEZVOUS RADAR MAY OR MAY NOT BE USED TO UPDATE THE LM # OR CSM STATE VECTORS FOR THIS PROGRAM. IF RADAR USE IS # DESIRED THE RADAR WAS TURNED ON AND LOCKED ON THE CSM BY # PREVIOUS SELECTION OF P20. RADAR SIGHTING MARKS WILL BE MADE # AUTOMATICALLY APPROXIMATELY ONCE A MINUTE WHEN ENABLED BY THE # TRACK AND UPDATE FLAGS (SEE P20). THE RENDEZVOUS TRACKING # MARK COUNTER IS ZEROED BY THE SELECTION OF P20 AND AFTER EACH # THRUSTING MANEUVER. # (5) THE ISS NEED NOT BE ON TO COMPLETE THIS PROGRAM. # (6) THE OPERATION OF THE PROGRAM UTILIZES THE FOLLOWING FLAGS - # ACTIVE VEHICLE FLAG - DESIGNATES THE VEHICLE WHICH IS # DOING RENDEZVOUS THRUSTING MANEUVERS TO THE PROGRAM WHICH # CALCULATES THE MANEUVER PARAMETERS. SET AT THE START OF # EACH RENDEZVOUS PRE-THRUSTING PROGRAM. # FINAL FLAG - SELECTS FINAL PROGRAM DISPLAYS AFTER CREW HAS # COMPLETED THE FINAL MANEUVER COMPUTATION AND DISPLAY # CYCLE. # EXTERNAL DELTA V STEERING FLAG - DESIGNATES THE TYPE OF # STEERING REQUIRED FOR EXECUTION OF THIS MANEUVER BY THE # THRUSTING PROGRAM SELECTED AFTER COMPLETION OF THIS # PROGRAM. # (7) IT IS NORMALLY REQUIRED THAT THE ISS BE ON FOR 1 HOUR PRIOR TO # A THRUSTING MANEUVER. # (8) THIS PROGRAM IS SELECTED BY THE ASTRONAUT BY DSKY ENTRY - # P33 IF THIS VEHICLE IS ACTIVE VEHICLE. # P73 IF THIS VEHICLE IS PASSIVE VEHICLE. # INPUT # (1) TTPIO TIME OF THE TPI MANEUVER - SAVED FROM P32/P72 # Page 657 # (2) ELEV DESIRED LOS ANGLE AT TPI - SAVED FROM P32/P72 # (3) TCDH TIME OF THE CDH MANEUVER # OUTPUT # (1) TRKMKCNT NUMBER OF MARKS # (2) TTOGO TIME TO GO # (3) +MGA MIDDLE GIMBAL ANGLE # (4) DIFFALT DELTA ALTITUDE AT CDH # (5) T2TOT3 DELTA TIME FROM CDH TO COMPUTED TPI # (6) NOMTPI DELTA TIME FROM NOMINAL TPI TO COMPUTED TPI # (7) DELVLVC DELTA VELOCITY AT CDH - LOCAL VERTICAL COORDINATES # DOWNLINK # (1) TCDH TIME OF THE CDH MANEUVER # (2) TTPI TIME OF THE TPI MANEUVER # (3) TIG TIME OF THE CDH MANEUVER # (4) DELLVEET2 DELTA VELOCITY AT CDH - REFERENCE COORDINATES # (5) DIFFALT DELTA ALTITUDE AT CDH # (6) ELEV DESIRED LOS ANGLE AT TPI # COMMUNICATION TO THRUSTING PROGRAMS # (1) TIG TIME OF THE CDH MANEUVER # (2) RTIG POSITION OF ACTIVE VEHICLE AT CDH - BEFORE ROTATION # INTO PLANE OF PASSIVE VEHICLE # (3) VTIG VELOCITY OF ACTIVE VEHICLE AT CDH - BEFORE ROTATION # INTO PLANE OF PASSIVE VEHICLE # (4) DELVSIN DELTA VELOCITY AT CDH - REFERENCE COORDINATES # (5) DELVSAB MAGNITUDE OF DELTA VELOCITY AT CDH # (6) XDELVFLG SET TO INDICATE EXTERNAL DELTA V VG COMPUTATION # SUBROUTINES USED # AVFLAGA # AVFLAGP # P20FLGON # VNPOOH # SELECTMU # ADVANCE # CDHMVR # INTINT3P # ACTIVE # PASSIVE # S33/S34.1 # ALARM # BANKCALL # GOFLASH # GOTOPOOH # S32/33.1 # Page 658 # VN1645 COUNT 35/P3373 P33 TC AVFLAGA TC P33/P73A P73 TC AVFLAGP P33/P73A TC P20FLGON CAF V06N13 # TCDH TC VNPOOH TC INTPRET DLOAD TTPIO STODL TTPI TCDH STCALL TIG SELECTMU P33/P73B CALL ADVANCE CALL CDHMVR SETPD VLOAD 0D VACT3 PDVL CALL RACT2 INTINT3P CALL ACTIVE SETPD VLOAD 0D VPASS2 PDVL CALL RPASS2 INTINT3P CALL PASSIVE DLOAD SET ZEROVEC ITSWICH STCALL NOMTPI S33/34.1 BZE EXIT P33/P73C TC ALARM OCT 611 CAF V05N09 TC BANKCALL CADR GOFLASH TC GOTOPOOH # Page 659 TC +2 TC P33/P73A TC INTPRET DLOAD ZEROVEC STCALL NOMTPI P33/P73C SETLOC CSI/CDH2 BANK P33/P73C BON SET FINALFLG P33/P73D UPDATFLG P33/P73D DLOAD DAD NOMTPI TTPI STORE TTPI DSU GOTO TCDH P33/P73E SETLOC CSI/CDH1 BANK P33/P73E DSU BPL 60MIN P33/P73E DAD 60MIN STODL T1TOT2 TTPI DSU PUSH TTPIO P33/P73F ABS DSU 60MIN BPL DAD P33/P73F 60MIN SIGN STADR STORE T2TOT3 EXIT CAF V06N75 TC VNPOOH TC INTPRET VLOAD CALL DELVEET2 S32/33.1 STCALL DELVEET2 VN1645 GOTO # Page 660 P33/P73B # Page 661 # ..... AVFLAGA/P ..... # Page 662 # ..... DISDVLVC ..... # SUBROUTINES USED # S32/33.X # VNPOOH SETLOC CDHTAG3 BANK DISDVLVC STORE DELVLVC STQ CALL NORMEX S32/33.X VLOAD MXV DELVLVC 0D VSL1 SXA,1 VERBNOUN STORE DELVLVC EXIT CA VERBNOUN TC VNPOOH TC INTPRET GOTO NORMEX SETLOC FFTAG12 BANK V06N11 VN 0611 V06N13 VN 0613 V06N75 VN 0675 V06N50 VN 0650 # Page 663 # ..... CSI/A ..... # SUBROUTINES USED # VECSHIFT # TIMETHET # PERIAPO # SHIFTR1 # INTINT2C # CDHMVR # PERIAPO1 # INTINT # ACTIVE BANK 34 SETLOC CSIPROG BANK EBANK= SUBEXIT COUNT 34/CSI 60MIN 2DEC 360000 ALARM/TB OCT 00600 # NO 1 OCT 00601 # 2 OCT 00602 # 3 OCT 00603 # 4 OCT 00604 # 5 OCT 00605 # 6 OCT 00606 # 7 LOOPMX 2DEC 16 INITST 2DEC .03048 B-7 # INITIAL DELDV = 10 FPS DVMAX1 2DEC 3.0480 B-7 # MAXIMUM DV1 = 1000 FPS DVMAX2 2DEC 3.014472 B-7 # 989 FPS 1DPB2 2DEC 1.08-2 1DPB28 2DEC 1 EPSILN1 2DEC .0003048 B-7 # .1 FPS FIFPSDP 2DEC -.152400 B-7 # 50 FPS DELMAX1 2DEC .6096000 B-7 # 200 FPS SETLOC CSI/CDH BANK PMINE 2DEC 157420 B-29 # 84 NM. - MUST BE 8 WORDS BEFORE PMINM # Page 664 NICKELDP 2DEC .021336 B-7 # 7 FPS INITST1 2DEC .03048 B-7 # INITIAL DELDV = 10 FPS ONETHTH 2DEC .0001 B-3 PMINM 2DEC 10668 B-29 # 35000 FT - MUST BE 8 WORDS AFTER PMINE. SETLOC CSIPROG BANK CSI/A CLEAR SET # INITIALIZE INDICATORS S32.1F1 # DVT1 HAS EXCEEDED MAX INDICATOR S32.1F2 # FIRST PASS FOR NEWTON ITERATION INDICATR CLEAR SET S32.1F3A # 00=1ST 2 PASSES 2ND CYCLE 01=FIRST CYCLE S32.1F3B # 10=2ND CYCLE, 11=50 FPS STAGE 2ND CYCLE DLOAD ZEROVEC STORE LOOPCT STORE CSIALRM CSI/B SETPD VLOAD 0D RACT1 ABVAL PUSH # RA1 B29 PL02D NORM SR1 X2 # B29-N2+ B1 PL04D PDVL ABVAL RPASS3 NORM BDDV # RA1/RP3 B1 PL02D X1 XSU,2 SR* # B2 X1 1,2 DAD DMP # (1+(RA1/RP3))RA1 B29+B2=B31 PL00D 1DPB2 NORM PDDL # PL02D X1 RTMU SR1 DDV # B38-B31= B7 PL00D SL* SQRT # B7 0 -7,1 PDVL UNIT # PL02D RACT1 PDVL VXV UP1 UNIT # UNIT(URP1 X UVP1 X URA1) = UH1 DOT SL1 # VA1 . UH1 B7 VACT1 BDSU STADR # PL00D # Page 665 STODL DELVCSI INITST # 10 FPS STORE DELDV CSI/B1 DLOAD DAD # IF LOOPCT = 16 LOOPCT 1DPB28 STORE LOOPCT DSU AXT,2 LOOPMX 6 BPL GOTO SCNDSOL CSI/B2 SETLOC CSIPROG2 BANK CSI/B2 SETPD 0D DLOAD ABS DELVCSI DSU BMN DVMAX1 CSI/B23 AXT,2 BON 7 S32.1F1 SCNDSOL BOFF BON S32.1F3A CSI/B22 # FLAG 3 NEQ 3 S32.1F3B SCNDSOL CSI/B22 SET DLOAD S32.1F1 DVMAX2 SIGN DELVCSI STCALL DELVCSI CSI/B23 SETLOC CSIPROG3 BANK CSI/B23 VLOAD PUSH RACT1 UNIT PDVL UP1 VXV UNIT # UNIT(URP1 X UVP1 X URA1) = UH1 VXSC VSL1 # Page 666 DELVCSI STORE DELVEET1 VAD BOV VACT1 CSI/B23D CSI/B23D STCALL VACT4 VECSHIFT STOVL VVEC SET RVSW STOVL RVEC SN359+ STCALL SNTH # ALSO CSTH TIMETHET SR1 LXA,1 RTX1 STCALL HAFPA1 PERIAPO CALL SHIFTR1 STODL POSTCSI CENTANG BZE GOTO +2 CIRCL DLOAD ECC DSU BMN ONETHTH CIRCL DLOAD CALL R1 SHIFTR1 SETPD NORM 2D X1 PDVL DOT # PL04D RACT1 VACT4 ABS DDV 02D # (/RDOTV/)/R1 B36-B29= B7 SL* DSU 0,1 NICKELDP BMN DLOAD CIRCL P SL2 DSU 1RTEB2 # 1.B.2 STODL 14D # Page 667 RTSR1/MU SR1 DDV # (1/ROOTMU)/R1 B-16-B29 = B-45 PL02D PDDL DMP P R1 CALL SHIFTR1 SL4 SL1 SQRT DMP # ((P/MU)**.5)/R1 B14+B-45 = B-31 PL02D BOFF SL3 CMOONFLG CSI/B3 CSI/B3 PDVL DOT RACT1 VACT4 STORE RDOTV ABS NORM DMP # ((P/MU)**.5)RDOTV/R1 PL02D X2 XSU,1 SL* # B-31+B36-B3 = B2 X2 3,1 STODL 12D ZEROVECS STORE 16D VLOAD UNIT 12D STOVL SNTH # ALSO STORES CSTH AND 0 RACT1 PDVL SIGN VACT4 RDOTV VCOMP CALL VECSHIFT STOVL VVEC SETGO RVSW CSINEXT SN359+ 2DEC -.000086601 CS359+ 2DEC +.499999992 SETLOC CSIPROG4 BANK CSINEXT STCALL RVEC TIMETHET PDDL BPL RDOTV # Page 668 NTP/2 DLOAD DSU HAFPA1 PUSH GOTO NTP/2 CIRCL SETPD DLOAD 00D ZEROVECS PUSH NTP/2 DLOAD DMP NN HAFPA1 SL DSU 14D DAD TCSI STORE TCDH BDSU AXT,2 TTPI 5D BMN SETPD SCNDSOL 0D VLOAD PDVL VACT4 RACT1 CALL INTINT2C STOVL RACT2 VATT STOVL VACT2 VPASS1 SETPD PDVL 0D RPASS1 GOTO CSINEXT1 SETLOC CSIPROG5 BANK CSINEXT1 CALL INTINT2C STOVL RPASS2 VATT STCALL VPASS2 CDHMVR VLOAD SETPD RACT2 0D # Page 669 PDVL CALL VACT3 PERIAPO1 CALL SHIFTR1 STOVL POSTCDH VACT3 SETPD PDVL 0D RACT2 PDDL PDDL TCDH TTPI PDDL SL2 2PISC PUSH CALL INTINT CALL ACTIVE DLOAD ELEV SETPD SINE 6D PDVL UNIT RACT3 STORE 00D # URA3 AT 00D PDVL VXV # PL14D,PL08D UP1 UNIT PDDL COSINE # UNIT(URA3XUVA3XURA3) = UH3 B1 PL14D ELEV VXSC STADR # (COSLOS)(UH3) B2 PL08D STCALL 18D # PLUS CSINEXT2 SETLOC CSIPROG6 BANK CSINEXT2 DLOAD VXSC # (SINLOS)(URA3) = U B2 PL00D VAD VSL1 18D # B1 PUSH DOT # PL06D RACT3 # (U . RA3) = TEMP1 B1 +B29=B30 SL1 PUSH # B29 PL08D DSQ TLOAD # TEMP1**2 B58 MPAC PDVL DOT # PL11D RACT3 RACT3 TLOAD DCOMP # RA3.RA3 # Page 670 MPAC PDVL DOT # RP3.RP3 B58 PL14D RPASS3 RPASS3 # PL11D TAD TAD # TEMP1**2+RA3.RA3+RP3.RP3=TEMP2 PL08D BPL DLOAD K10RK2 LOOPCT DSU AXT,2 1DPB28 1D BZE ALMXITA DLOAD SR1 DELDV STORE DELDV BDSU DVPREV STCALL DELVCSI CSI/B1 K10RK2 SQRT PUSH # TEMP3 = TEMP2**.5 B29 PL10D DCOMP DSU 06D # -TEMP1-TEMP3 =K2 AT 10D STODL 10D # PL08D DSU STADR # PL06D STORE 12D # -TEMP1+TEMP3 =K1 AT 12D ABS STODL 14D 10D ABS DSU 14D BMN DLOAD K2. 12D STCALL 10D # K EQUALS K1 K2. SETLOC CSIPROG7 BANK K2. DLOAD 10D VXSC VSL1 VAD UNIT # V=RA3+KU UNIT B1 RACT3 PDVL UNIT # PL06D RPASS3 PDVL UNIT # PL12D VPASS3 VXV PDVL # UVP3 X URP3 PL18D # Page 671 06D 06D VXV DOT 00D STADR # PL12D STOVL 12D # (URP3XV).(UVP3XURP3)=TEMP PL06D DOT SL1 # PL00D ARCCOS SIGN 12D # B0 SR1 PUSH # GAMMA=SIGN(TEMP)ARCOS(UNITV.URP3) PL02D BON DLOAD S32.1F2 FRSTPAS 00D # NOT THE FIRST PASS OF A CYCLE DSU PDDL # GAMMA-GAMPREV B1 PL04D GAMPREV DELVCSI DSU NORM # B7 DVPREV X1 BDDV PDDL # (GAM-GAMPREV)/(DV-DVPREV) B-6+N1 PL06D 02D # = SLOPE DELVCSI STORE DVPREV BOFF BOFF S32.1F3A THRDCHK S32.1F3B THRDCHK DLOAD DMP 02D GAMPREV BPL DLOAD FIFTYFPS INITST1 SIGN DELDV STORE DELDV SET CLEAR S32.1F3A S32.1F3B FRSTPAS DLOAD 00D STODL GAMPREV DELVCSI STCALL DVPREV CSINEXT3 SETLOC CSIPROG8 BANK # Page 672 CSINEXT3 DSU CLEAR DELDV S32.1F2 STCALL DELVCSI CSI/B1 THRDCHK BON BON S32.1F3A NEWTN S32.1F3B NEWTN FIFTYFPS DLOAD SIGN FIFPSDP 04D SIGN GAMPREV STORE DELDV DCOMP DAD DELVCSI STODL DELVCSI 00D SET SET S32.1F3B S32.1F3A STCALL GAMPREV CSI/B2 NEWTN DLOAD NORM 04D X2 BDDV XSU,1 00D X2 SR* 0,1 STODL DELDV 00D STORE GAMPREV DLOAD ABS DELDV PUSH DSU # PL08D EPSILN1 BMN DLOAD CSI/SOL DSU BMN DELMAX1 CSISTEP DLOAD SIGN DELMAX1 DELDV STORE DELDV CSISTEP DLOAD DSU # Page 673 DELVCSI DELDV STCALL DELVCSI CSI/B1 CSI/SOL DLOAD AXT,2 POSTCSI 2 LXA,1 GOTO RTX1 CSINEXT4 SETLOC CSIPROG9 BANK CSINEXT4 DSU* BMN PMINE -2,1 SCNDSOL AXT,2 DLOAD 3 POSTCDH DSU* BMN PMINE -2,1 SCNDSOL DLOAD DSU TCDH TCSI STORE T1TOT2 AXT,2 DSU 4 600SEC BMN AXT,2 SCNDSOL 5 DLOAD DSU TTPI TCDH STORE T2TOT3 DSU BPL 600SEC P32/P72C SCNDSOL BON BOFF S32.1F3A ALMXIT S32.1F3B ALMXIT SXA,2 DLOAD CSIALRM ZEROVECS CLEAR SET S32.1F1 # Page 674 S32.1F2 CLEAR CLEAR S32.1F3A S32.1F3B STCALL LOOPCT CSI/B # Page 675 # ..... ADVANCE ..... # SUBROUTINES USED # PRECSET # ROTATE SETLOC CDHTAG3 BANK ADVANCE STQ DLOAD SUBEXIT TIG STCALL TDEC1 PRECSET SET VLOAD XDELVFLG VPASS3 STORE VPASS2 STOVL VPASS1 RPASS3 STORE RPASS2 STORE RPASS1 UNIT VXV VPASS1 UNIT STOVL UP1 RACT3 STCALL RTIG ROTATE STORE RACT2 STOVL RACT1 VACT3 STCALL VTIG ROTATE STORE VACT2 STCALL VACT1 SUBEXIT # Page 676 # ..... ROTATE ..... SETLOC CDHTAG BANK ROTATE PUSH PUSH DOT VXSC UP1 UP1 VSL2 BVSU UNIT PDVL ABVAL VXSC VSL1 RVQ # Page 677 # ..... INTINTNA ..... SETLOC CDHTAG2 BANK INTINT2C PDDL PDDL TCSI TCDH PDDL PUSH TWOPI GOTO INTINT INTINT3P PDDL PDDL TCDH TTPI PDDL PUSH ZEROVECS GOTO INTINT # Page 678 # ..... S32/33.1 ..... # SUBROUTINES USED # S32/33.X SETLOC CSI/CDH BANK S32/33.1 STQ AXT,1 SUBEXIT VN 0681 CALL DISDVLVC CALL S32/33.X VLOAD VXM DELVLVC 0D VSL1 STORE DELVSIN PUSH ABVAL STOVL DELVSAB GOTO SUBEXIT # Page 679 # ..... S32/33.X ..... SETLOC CDHTAGS BANK S32/33.X SETPD VLOAD 6D UP1 VCOMP PDVL RACT1 UNIT VCOMP PUSH VXV UP1 VSL1 STORE 0D RVQ # Page 680 # ..... CDHMVR ..... # SUBROUTINES USED # VECSHIFT # TIMETHET # SHIFTR1 SETLOC CDHTAG BANK CDHMVR STQ VLOAD SUBEXIT RACT2 PUSH UNIT STOVL UNVEC # UR SUB A RPASS2 UNIT DOT UNVEC PUSH SL1 STODL CSTH DSQ PDDL DP1/4 SR2 DSU SQRT SL1 PDVL VCOMP VXV RPASS2 DOT PDDL UP1 SIGN STADR STOVL SNTH RPASS2 PDVL CALL VPASS2 VECSHIFT STOVL VVEC CLEAR RVSW STCALL RVEC TIMETHET LXA,2 VSL* RTX2 0,2 STORE 18D DOT SL1R UNVEC PDVL ABVAL # 0D = V SUB PV SL* PDVL 0,2 # Page 681 RACT2 ABVAL PDDL # 2D = LENGTH OF R SUB A DSU 02D STODL DIFFALT # DELTA H IN METERS B+29 R1A NORM PDDL # 2 - R V**/MU 04D X1 R1 CALL SHIFTR1 SR1R DDV SL* PUSH 0 -5,1 DSU PDDL # A SUB A B+29 04D DIFFALT SR2 DDV # A SUB P B+31 04D # B+2 PUSH SQRT # A SUB P/A SUB A 06D DMPR DMP 06D 00D SL3R PDDL # V SUB A V METERS/CS B+7 08D 02D # R SUB A MAGNITUDE B+29 NORM PDDL X1 RTMU SR1 DDV # 2MU B+38 SL* PDDL # 2 MU/R SUBAA B+14 10D 0 -5,1 04D # ASUBA B+29 NORM PDDL X2 RTMU SR1 DDV SL* BDSU 0 -6,2 # 2U/R - U/A B+14 (METERS/CS)SQ PDDL DSQ # 10D 08D BDSU SQRT PDVL VXV # SQRT(MU(2/R SUB A-1/A SUB A)-VSUBA2) 10D UP1 UNVEC UNIT VXSC 10D PDVL VXSC UNVEC 08D VAD VSL1 STADR # Page 682 STORE VACT3 VSU VACT2 STCALL DELVEET2 # DELTA VCDH - REFERENCE COORDINATES SUBEXIT # Page 683 # ..... COMPTGO ..... # SUBROUTINES USED # CLOKTASK # 2PHSCHNG BANK 35 SETLOC CSI/CDH BANK EBANK= RTRN COUNT* $$/P3575 ================================================ FILE: Comanche055/P34-35_P74-75.agc ================================================ # Copyright: Public domain. # Filename: P34-35_P74-75.agc # Purpose: Part of the source code for Comanche, build 055. It # is part of the source code for the Command Module's # (CM) Apollo Guidance Computer (AGC), Apollo 11. # Assembler: yaYUL # Reference: pp. 460-504 # Contact: Onno Hommes # Website: http://www.ibiblio.org/apollo. # Mod history: 2009-05-10 OH Batch 2 Assignment Comanche Transcription # 2009-05-23 RSB In DISPLAYE, corrected a CADR GOFLASHR # to CADR GOFLASH. # # The contents of the "Comanche055" files, in general, are transcribed # from scanned documents. # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. April 1, 1969. # # This AGC program shall also be referred to as Colossus 2A # # Prepared by # Massachusetts Institute of Technology # 75 Cambridge Parkway # Cambridge, Massachusetts # # under NASA contract NAS 9-4065. # # Refer directly to the online document mentioned above for further # information. Please report any errors to info@sandroid.org. # Page 460 # TRANSFER PHASE INITIATION (TPI) PROGRAMS (P34 AND P74) # MOD NO -1 LOG SECTION -- P32-P35, P72-P75 # MOD BY WHITE, P. DATE: 1 JUNE 67 # # PURPOSE # (1) TO CALCULATE THE REQUIRED DELTA V AND OTHER INITIAL CONDITIONS # REQUIRED BY THE ACTIVE VEHICLE FOR EXECUTION OF THE TRANSFER # PHASE INITIATION (TPI) MANEUVER, GIVEN -- # (A) TIME OF IGNITION TIG (TPI) OR THE ELEVATION ANGLE (E) OF # THE ACTIVE/PASSIVE VEHICLE LOS AT TIG (TPI). # (B) CENTRAL ANGLE OF TRANSFER (CENTANG) FROM TIG (TPI) TO # INTERCEPT TIME (TIG (TPF)). # (2) TO CALCULATE TIG (TPI) GIVEN E OR E GIVEN TIG (TPI). # (3) TO CALCULATE THESE PARAMETERS BASED UPON MANEUVER DATA # APPROVED AND KEYED INTO THE DSKY BY THE ASTRONAUT. # (4) TO DISPLAY TO THE ASTRONAUT AND THE GROUND CERTAIN DEPENDENT # VARIABLES ASSOCIATED WITH THE MANEUVER FOR APPROVAL BY THE # ASTRONAUT/GROUND. # (5) TO STORE THE TPI TARGET PARAMETERS FOR USE BY THE DESIRED # THRUSTING PROGRAM. # # ASSUMPTIONS # (1) LM ONLY -- THIS PROGRAM IS BASED UPON PREVIOUS COMPLETION OF # THE CONSTANT DELTA ALTITUDE (CDH) PROGRAM (P33/P73). # THEREFORE -- # (A) AT A SELECTED TPI TIME (NOW IN STORAGE) THE LINE OF SIGHT # BETWEEN THE ACTIVE AND PASSIVE VEHICLES WAS SELECTED TO BE # A PRESCRIBED ANGLE (E) (NOW IN STORAGE) FROM THE # HORIZONTAL PLANE DEFINED BY THE ACTIVE VEHICLE POSITION. # (B) THE TIME BETWEEN CDH IGNITION AND TPI IGNITION WAS # COMPUTED TO BE GREATER THAN 10 MINUTES. # (C) THE VARIATION OF THE ALTITUDE DIFFERENCE BETWEEN THE # ORBITS WAS MINIMIZED. # (D) THE PERICENTER ALTITUDES OF ORBITS FOLLOWING CSI AND # CDH WERE COMPUTED TO BE GREATER THAN 35,000 FT FOR LUNAR # Page 461 # ORBIT OR 85 NM FOR EARTH ORBIT. # (E) THE CSI AND CDH MANEUVERS WERE ASSUMED TO BE PARALLEL TO # THE PLANE OF THE PASSIVE VEHICLE ORBIT. HOWEVER, CREW # MODIFICATION OF DELTA V (LV) COMPONENTS MAY HAVE RESULTED # IN AN OUT-OF-PLANE MANEUVER. # (2) STATE VECTOR UPDATED BY P27 ARE DISALLOWED DURING AUTOMATIC # STATE VECTOR UPDATING INITIATED BY P20 (SEE ASSUMPTION (4)). # (3) THIS PROGRAM MUST BE DONE OVER A TRACKING STATION FOR REAL # TIME GROUND PARTICIPATION IN DATA INPUT AND OUTPUT. COMPUTED # VARIABLES MAY BE STORED FOR LATER VERIFICATION BY THE GROUND. # THESE STORAGE CAPABILITIES ARE LIMITED ONLY TO THE PARAMETERS # FOR ONE THRUSTING MANEUVER AT A TIME EXCEPT FOR CONCENTRIC # FLIGHT PLAN MANEUVER SEQUENCES. # (4) THE RENDEZVOUS RADAR MAY OR MAY NOT BE USED TO UPDATE THE LM # OR CSM STATE VECTORS FOR THIS PROGRAM. IF RADAR USE IS # DESIRED THE RADAR WAS TURNED ON AND LOCKED ON THE CSM BY # PREVIOUS SELECTION OF P20. RADAR SIGHTING MARKS WILL BE MADE # AUTOMATICALLY APPROXIMATELY ONCE A MINUTE WHEN ENABLED BY THE # TRACK AND UPDATE FLAGS (SEE P20). THE RENDEZVOUS TRACKING # MARK COUNTER IS ZEROED BY THE SELECTION OF P20 AND AFTER EACH # THRUSTING MANEUVER. # (5) THE ISS NEED NOT BE ON TO COMPLETE THIS PROGRAM. # (6) THE OPERATION OF THE PROGRAM UTILIZES THE FOLLOWING FLAGS -- # # ACTIVE VEHICLE FLAG -- DESIGNATES THE VEHICLE WHICH IS # DOING RENDEZVOUS THRUSTING MANEUVERS TO THE PROGRAM WHICH # CALCULATES THE MANEUVER PARAMETERS. SET AT THE START OF # EACH RENDEZVOUS PRE-THRUSTING PROGRAM. # # FINAL FLAG -- SELECTS FINAL PROGRAM DISPLAYS AFTER CREW HAS # SELECTED THE FINAL MANEUVER COMPUTATION CYCLE. # # EXTERNAL DELTA V FLAG -- DESIGNATES THE TYPE OF STEERING # REQUIRED FOR EXECUTION OF THIS MANEUVER BY THE THRUSTING # PROGRAM SELECTED AFTER COMPLETION OF THIS PROGRAM. # # (7) ONCE THE PARAMETERS REQUIRED FOR COMPUTATION OF THE MANEUVER # HAVE BEEN COMPLETELY SPECIFIED, THE VALUE OF THE ACTIVE # VEHICLE CENTRAL ANGLE OF TRANSFER IS COMPUTED AND STORED. # THIS NUMBER WILL BE AVAILABLE FOR DISPLAY TO THE ASTRONAUT # THROUGH THE USE OF V06N52. # # THE ASTRONAUT WILL CALL THIS DISPLAY TO VERIFY THAT THE # CENTRAL ANGLE OF TRANSFER OF THE ACTIVE VEHICLE IS NOT WITHIN # Page 462 # 170 TO 190 DEGREES. IF THE ANGLE IS WITHIN THIS ZONE THE # ASTRONAUT SHOULD REASSES THE INPUT TARGETING PARAMETERS BASED # UPON DELTA V AND EXPECTED MANEUVER TIME. # (8) THIS PROGRAM IS SELECTED BY THE ASTRONAUT BY DSKY ENTRY -- # # P34 IF THIS VEHICLE IS ACTIVE VEHICLE. # # P74 IF THIS VEHICLE IS PASSIVE VEHICLE. # # INPUT # (1) TTPI TIME OF THE TPI MANEUVER. # (2) ELEV DESIRED LOS ANGLE AT TPI # (3) CENTANG ORBITAL CENTRAL ANGLE OF THE PASSIVE VEHICLE DURING # TRANSFER FROM TPI TO TIME OF INTERCEPT # # OUTPUT # (1) TRKMKCNT NUMBER OF MARKS # (2) TTOGO TIME TO GO # (3) +MGA MIDDLE GIMBAL ANGLE # (4) TTPI COMPUTED TIME OF TPI MANEUVER # OR # ELEV COMPUTED LOS ANGLE AT TPI # (5) POSTTPI PERIGEE ALTITUDE AFTER THE TPI MANEUVER # (6) DELVTPI MAGNITUDE OF DELTA V AT TPI # (7) DELVTPF MAGNITUDE OF DELTA V AT INTERCEPT # (8) DVLOS DELTA VELOCITY AT TPI -- LINE OF SIGHT # (9) DELVLVC DELTA VELOCITY AT TPI -- LOCAL VERTICAL COORDINATES # # DOWNLINK # (1) TTPI TIME OF TPI MANEUVER # (2) TIG TIME OF TPI MANEUVER # (3) ELEV DESIRED LOS ANGLE AT TPI # (4) CENTANG ORBITAL CENTRAL ANGLE OF THE PASSIVE VEHICLE DURING # TRANSFER FROM TPI TO TIME OF INTERCEPT # (5) DELVEET3 DELTA VELOCITY AT TPI -- REFERENCE COORDINATES # (6) TPASS4 TIME OF INTERCEPT # # COMMUNICATION TO THRUSTING PROGRAMS # (1) TIG TIME OF THE TPI MANEUVER # (2) RTARG OFFSET TARGET POSITION # (3) TPASS4 TIME OF INTERCEPT # (4) XDELVFLG RESET TO INDICATE LAMBERT (AIMPOINT) VG COMPUTATION # # SUBROUTINES USED # AVFLAGA # Page 463 # AVFLAGP # VNPOOH # DISPLAYE # SELECTMU # PRECSET # S33/34.1 # ALARM # BANKCALL # GOFLASH # GOTOPOOH # TIMETHET # S34/35.2 # PERIAPO1 # SHIFTR1 # S34/35.5 # VN1645 SETLOC CSI/CDH BANK EBANK= SUBEXIT COUNT 35/P3474 P34 TC AVFLAGA TC P34/P74A P74 TC AVFLAGP P34/P74A TC P20FLGON # SET UPDATFLG, TRACKFLG CAF V06N37 # TTPI TC VNPOOH # Onno: The scans look like O not zero TC INTPRET SSP EXIT NN 0 TC DISPLAYE # ELEV AND CENTANG TC INTPRET CLEAR DLOAD ETPIFLAG TTPI STODL TIG ELEV BZE SET P34/P74B ETPIFLAG P34/P74B CALL SELECTMU DELELO EQUALS 26D P34/P74C DLOAD SET ZEROVECS ITSWICH BON CLEAR ETPIFLAG # Page 464 SWCHSET ITSWICH SWCHSET STORE NOMTPI INTLOOP DLOAD DAD TTPI NOMTPI STCALL TDEC1 PRECSET CALL S33/34.1 BZE EXIT SWCHCLR TC ALARM OCT 611 CAF V05N09 TC BANKCALL CADR GOFLASH TC GOTOPOOH TC P34/P74A # PROCEED TC -7 # V32 SWCHCLR BONCLR BON ITSWICH INTLOOP ETPIFLAG P34/P74D # DISPLAY TTPI EXIT TC DISPLAYE # DISPLAY ELEV AND CENTANG TC P34/P74E P34/P74D EXIT CAF V06N37 # TTPI TC VNPOOH P34/P74E TC INTPRET SETPD DLOAD 0D RTX1 STODL X1 CENTANG PUSH COS STODL CSTH SIN STOVL SNTH RPASS3 VSR* 0,2 STOVL RVEC VPASS3 VSR* SET 0,2 RVSW # Page 465 STCALL VVEC TIMETHET DLOAD TTPI STORE INTIME # FOR INITVEL DAD T # RENDEZVOUS TIME STCALL TPASS4 # FOR INITVEL S34/35.2 VLOAD ABVAL DELVEET3 STOVL DELVTPI VPASS4 VSU ABVAL VTPRIME STOVL DELVTPF RACT3 PDVL CALL VIPRIME PERIAPO1 CALL SHIFTR1 STODL POSTTPI TTPI STORE TIG EXIT CAF V06N58 TC VNPOOH TC INTPRET CALL S34/35.5 CALL VN1645 GOTO P34/P74C # Page 466 # RENDEZVOUS MID-COURSE MANEUVER PROGRAMS (P35 AND P75) # MOD NO -1 LOG SECTION -- P32-P35, P72-P75 # MOD BY WHITE, P. DATE: 1 JUNE 67 # # PURPOSE # (1) TO CALCULATE THE REQUIRED DELTA V AND OTHER INITIAL CONDITIONS # REQUIRED BY THE ACTIVE VEHICLE FOR EXECUTION OF THE NEXT # MID-COURSE CORRECTION OF THE TRANSFER PHASE OF AN ACTIVE # VEHICLE RENDEZVOUS. # (2) TO DISPLAY TO THE ASTRONAUT AND THE GROUND CERTAIN DEPENDENT # VARIABLES ASSOCIATED WITH THE MANEUVER FOR APPROVAL BY THE # ASTRONAUT/GROUND. # (3) TO STORE THE TPM TARGET PARAMETERS FOR USE BY THE DESIRED # THRUSTING PROGRAM. # # ASSUMPTIONS # (1) THE ISS NEED NOT BE ON TO COMPLETE THIS PROGRAM. # (2) STATE VECTOR UPDATES BY P27 ARE DISALLOWED DURING AUTOMATIC # STATE VECTOR UPDATING INITIATED BY P20 (SEE ASSUMPTION (3)). # (3) THE RENDEZVOUS RADAR IS ON AND IS LOCKED ON THE CSM. THIS WAS # DONE DURING PREVIOUS SELECTION OF P20. RADAR SIGHTING MARKS # WILL BE MADE AUTOMATICALLY APPROXIMATELY ONCE A MINUTE WHEN # ENABLED BY THE TRACK AND UPDATE FLAGS (SEE P20). THE # RENDEZVOUS TRACKING MARK COUNTER IS ZEROED BY THE SELECTION OF # P20 AND AFTER EACH THRUSTING MANEUVER. # (4) THE OPERATION OF THE PROGRAM UTILIZES THE FOLLOWING FLAGS -- # # ACTIVE VEHICLE FLAG -- DESIGNATES THE VEHICLE WHICH IS # DOING RENDEZVOUS THRUSTING MANEUVERS TO THE PROGRAM WHICH # CALCULATES THE MANEUVER PARAMETERS. SET AT THE START OF # EACH RENDEZVOUS PRE-THRUSTING PROGRAM. # # FINAL FLAG -- SELECTS FINAL PROGRAM DISPLAYS AFTER CREW HAS # SELECTED THE FINAL MANEUVER COMPUTATION CYCLE. # # EXTERNAL DELTA V FLAG -- DESIGNATES THE TYPE OF STEERING # REQUIRED FOR EXECUTION OF THIS MANEUVER BY THE THRUSTING # PROGRAM SELECTED AFTER COMPLETION OF THIS PROGRAM. # # (5) THE TIME OF INTERCEPT (T(INT)) WAS DEFINED BY PREVIOUS # COMPLETION OF THE TRANSFER PHASE INITIATION (TPI) PROGRAM # (P34/P74) AND IS PRESENTLY AVAILABLE IN STORAGE. # Page 467 # (6) ONCE THE PARAMETERS REQUIRED FOR COMPUTATION OF THE MANEUVER # HAVE BEEN COMPLETELY SPECIFIED, THE VALUE OF THE ACTIVE # VEHICLE CENTRAL ANGLE OF TRANSFER IS COMPUTED AND STORED. # THIS NUMBER WILL BE AVAILABLE FOR DISPLAY TO THE ASTRONAUT # THROUGH THE USE OF V06N52 # # THE ASTRONAUT WILL CALL THIS DISPLAY TO VERIFY THAT THE # CENTRAL ANGLE OF TRANSFER OF THE ACTIVE VEHICLE IS NOT WITHIN # 170 TO 190 DEGREES. IF THE ANGLE IS WITHIN THIS ZONE THE # ASTRONAUT SHOULD REASSESS THE INPUT TARGETING PARAMETERS BASED # UPON DELTA V AND EXPECTED MANEUVER TIME. # (7) THIS PROGRAM IS SELECTED BY THE ASTRONAUT BY DSKY ENTRY -- # # P35 IF THIS VEHICLE IS ACTIVE VEHICLE. # # P75 IF THIS VEHICLE IS PASSIVE VEHICLE. # # INPUT # (1) TPASS4 TIME OF INTERCEPT -- SAVED FROM P34/P74 # # OUTPUT # (1) TRKMKCNT NUMBER OF MARKS # (2) TTOGO TIME TO GO # (3) +MGA MIDDLE GIMBAL ANGLE # (4) DVLOS DELTA VELOCITY AT MID -- LINE OF SIGHT # (5) DELVLVC DELTA VELOCITY AT MID -- LOCAL VERTICAL COORDINATES # # DOWNLINK # (1) TIG TIME OF THE TPM MANEUVER # (2) DELVEET3 DELTA VELOCITY AT TPM -- REFERENCE COORDINATES # (3) TPASS4 TIME OF INTERCEPT # # COMMUNICATION TO THRUSTING PROGRAMS # (1) TIG TIME OF THE TPM MANEUVER # (2) RTARG OFFSET TARGET POSITION # (3) TPASS4 TIME OF INTERCEPT # (4) XDELVFLG RESET TO INDICATE LAMBERT (AIMPOINT) VG COMPUTATION. # # SUBROUTINES USED # AVFLAGA # AVFLAGP # LOADTIME # SELECTMU # PRECSET # S34/35.1 # S34/35.2 # Page 468 # S34/35.5 # VN1645 COUNT 35/P3575 EBANK= KT P35 TC AVFLAGA EXTEND DCA ATIGINC TC P35/P75A P75 TC AVFLAGP EXTEND DCA PTIGINC P35/P75A DXCH KT TC P20FLGON # SET UPDATFLG, TRACKFLG TC INTPRET CALL SELECTMU P35/P75B RTB LOADTIME STORE TSTRT DAD KT STORE TIG STORE INTIME # FOR INITVEL STCALL TDEC1 PRECSET # ADVANCE BOTH VEHICLES CALL S34/35.1 # GET NORM AND LOS FOR TRANSFORM CALL S34/35.2 # GET DELTA V(LV) CALL S34/35.5 CALL VN1645 GOTO P35/P75B # Page 469 # ***** S33/34.1 ***** S33/34.1 STQ SSP NORMEX TITER OCT 40000 DLOAD SETPD MAX250 0D STOVL SECMAX RACT3 STOVL RAPREC VACT3 STOVL VAPREC RPASS3 STOVL RPPREC VPASS3 STORE VPPREC ELCALC CALL S34/35.1 # NORMAL AND LOS VXV PDVL RACT3 # (RA*VA)*RA 0D PDVL UNIT # ULOS AT 6D RACT3 PDVL VPROJ # XCHNJ AND UP VSL2 BVSU ULOS UNIT PDVL # UP AT 0D DOT PDVL # UP.UN*RA AT 0D 0D # UP IN MPAC DOT SIGN ULOS SL1 ACOS PDVL DOT # EA AT 0D ULOS RACT3 BPL DLOAD TESTY DPPOSMAX DSU PUSH TESTY BOFF DLOAD ITSWICH ELEX DELEL STODL DELELO DSU ELEV STORE DELEL ABS DSU ELEPS # Page 470 BMN TIMEX # COMMERCIALS EVERYWHERE FIGTIME SLOAD SR1 TITER BHIZ LXA,1 NORMEX # TOO MANY ITERATIONS MPAC SXA,1 VLOAD TITER RPASS3 UNIT PDDL 36D PDVL UNIT RACT3 PDDL PDDL PUSH 36D BDSU 12D STODL 30D # RP-RA MAGNITUDES DPHALF DSU PUSH ELEV SIGN BMN 30D NORMEX DLOAD COS DMP DDV 14D 12D DCOMP # SINCE COS(180-A)=-COS A STORE 28D ABS BDSU DPHALF BMN VLOAD NORMEX UNRM VXV UNIT 6D # UN*RA DOT DMP VACT3 12D PDVL VXV 0D VPASS3 VXV UNIT 0D # (RP*VP)*RP DOT DMP VPASS3 14D # Page 471 BDSU NORM PDVL # NORMALIZED WA-WP 12D X1 6D VXV DOT 0D UNRM # RA*RP.UN 14D PDVL DOT 0D 6D SL1 ACOS SIGN DSU DAD # ALPHA PI DPHALF ELEV PDDL ACOS 28D BDSU SIGN DPHALF 30D # CONTAINS RP-RA DAD DMP DDV TWOPI DMP SL* DMP 0 -3,1 PUSH ABS DSU BMN SECMAX OKMAX DLOAD SIGN # REPLACE TIME WITH MAX TIME SIGNED SECMAX PUSH OKMAX SLOAD BPL # TEST FIRST ITERATION TITER REPETE SSP DLOAD TITER OCT 37777 GOTO STORDELT REPETE DLOAD DMP DELEL DELELO BPL DLOAD NEXTES SECMAX DMP THIRD STODL SECMAX # Page 472 ABS SR1 # CROSSED OVER SOLUTION DCOMP GOTO # DT=(-SIGN(DTO)//DT//)/2 RESIGN NEXTES DLOAD ABS DELEL PDDL ABS DELELO DSU BMN DLOAD REVERS # WRONG DIRECTION ABS RESIGN SIGN GOTO DELTEEO STORDELT REVERS DLOAD DCOMP DELTEEO PUSH SR1 STORE DELTEEO DAD GOTO ADTIME STORDELT STORE DELTEEO ADTIME DAD NOMTPI # SUM OF DELTA T:S STORE NOMTPI VLOAD PDVL VAPREC RAPREC CALL GOINT CALL ACTIVE # STORE NEW RACT3 VACT3 VLOAD PDVL VPPREC RPPREC CALL GOINT CALL PASSIVE # STORE NEW RPASS3 VPASS3 GOTO ELCALC ELEX DLOAD DAD TTPI NOMTPI STODL TTPI BON ETPIFLAG TIMEX STORE ELEV TIMEX DLOAD GOTO # Page 473 ZEROVECS NORMEX # Page 474 # ***** S34/35.1 ***** # COMPUTE UNIT NORMAL AND LINE OF SIGHT VECTORS GIVEN THE ACTIVE AND # PASSIVE POS AND VEL AT TIME T3 SETLOC S3435LOC BANK S34/35.1 VLOAD VSU RPASS3 RACT3 UNIT PUSH STOVL ULOS RACT3 VXV UNIT VACT3 STORE UNRM RVQ # Page 475 # ***** S34/35.2 ***** # ADVANCE PASSIVE VEH TO RENDEZVOUS TIME AND GET REQ VEL FROM LAMBERT SETLOC CSI/CDH BANK S34/35.2 STQ VLOAD SUBEXIT VPASS3 PDVL PDDL RPASS3 INTIME PDDL PDDL TPASS4 TWOPI # CONIC PDDL BHIZ NN S3435.23 DLOAD PDDL ZEROVECS # PRECISION S3435.23 CALL INTINT # GET TARGET VECTOR S3435.25 STOVL RTARG VATT STOVL VPASS4 RTARG # COMPUTE PHI = PI + (ACOS(UNIT RA.UNIT RP) - PI) SIGN(RA*RP.U) UNIT PDVL # UNIT RP RACT3 UNIT PUSH # UNIT RA VXV DOT 0D UNRM # RA*RP.U PDVL DOT SL1 # UNIT RA.UNIT RP 0D ACOS SIGN BPL DAD NOPIE DPPOSMAX # REASONABLE TWO PI NOPIE STODL ACTCENT TPASS4 DSU INTIME STORE DELLT4 SLOAD SETPD NN # NUMBER OF OFFSETS 0D PDDL PDVL EPSFOUR # Page 476 RACT3 STOVL RINIT VACT3 STCALL VINIT INITVEL CALL LOMAT VLOAD MXV DELVEET3 0D VSL1 STCALL DELVLVC SUBEXIT # Page 477 # ***** S34/35.3 ***** S34/35.3 STQ CALL NORMEX LOMAT # GET MATRIX IN PUSH LIST VLOAD VXM DELVLVC # NEW DEL V TPI 0D VSL1 STORE DELVEET3 # SAVE FOR TRANSFORM VAD PDVL VACT3 # NEW V REQ RACT3 PDDL PDDL TIG TPASS4 PDDL PUSH DPPOSMAX CALL # INTEG. FOR NEW TARGET VEC INTINT VLOAD RATT STORE RTARG NOVRWRT VLOAD PUSH ULOS VXV VCOMP UNRM UNIT PUSH VXV VSL1 ULOS PDVL PDVL MXV DELVEET3 0D VSL1 STCALL DVLOS NORMEX # Page 478 # ***** S34/35.4 ***** S34/35.4 STQ SETPD # NO ASTRONAUT OVERWRITE NORMEX 0D GOTO NOVRWRT # Page 479 # ***** LOMAT ***** LOMAT VLOAD VCOMP UNRM STOVL 6D # Y RACT3 UNIT VCOMP STORE 12D VXV VSL1 UNRM # Z*-Y STORE 0D SETPD RVQ 18D GOINT PDDL PDDL # DO ZEROVECS # NOT NOMTPI # PUSH PUSH # ORDER OR INSERT BEFORE INTINT INTINT STQ CALL RTRN INTSTALL CLEAR DLOAD INTYPFLG BZE SET +2 INTYPFLG DLOAD STADR STODL TDEC1 SET LXA,2 MOONFLAG RTX2 BON CLEAR CMOONFLG ALLSET MOONFLAG ALLSET STOVL TET VSR* 0,2 STOVL RCV VSR* 0,2 STCALL VCV INTEGRVS VLOAD GOTO RATT RTRN # Page 480 # ***** S34/35.5 ***** # # SUBROUTINES USED # BANKCALL # GOFLASH # GOTOPOOH # S34/35.3 # S34.35.4 # VNPOOH S34/35.5 STQ BON SUBEXIT FINALFLG FLAGON SET GOTO UPDATFLG FLAGOFF FLAGON VLOAD DELVLVC STORE DVLOS # SAVE DELTA V BEFORE DISPLAY EXIT CAF V06N81 TC VNPOOH TC INTPRET VLOAD VSU # TEST FOR OVERWRITE OF COMPUTED DELVLVC # DELTA V DVLOS ABVAL BZE NOCHG # NO OVERWRITE CALL S34/35.3 NOCHG CLEAR VLOAD XDELVFLG DELVEET3 STORE DELVSIN FLAGOFF CALL S34/35.4 EXIT CAF V06N59 TC VNPOOH TC INTPRET GOTO SUBEXIT # Page 481 # ***** VN1645 ***** # # SUBROUTINES USED # P3XORP7X # GET+MGA # BANKCALL # DELAYJOB # COMPTGO # GOFLASHR # GOTOPOOH # FLAGUP VN1645 STQ DLOAD SUBEXIT DP-.01 STORE +MGA # MGA = -.01 BOFF DLOAD FINALFLG GET45 DP-.01 DAD DP-.01 STORE +MGA # MGA = -.02 BOFF EXIT REFSMFLG GET45 TC P3XORP7X TC +2 # P3X TC GET45 +1 # P7X TC INTPRET VLOAD PUSH DELVSIN CALL # COMPUTE MGA GET+MGA GET45 EXIT TC COMPTGO # INITIATE TASK TO UPDATE TTOGO CA SUBEXIT TS QSAVED CAF 1SEC TC BANKCALL CADR DELAYJOB CAF V16N45 # TRKMKCNT, TTOGO, +MGA TC BANKCALL CADR GOFLASH TC KILCLOCK # TERMINATE TC N45PROC # PROCEED TC CLUPDATE # RECYCLE -- RETURN FOR INITIAL COMPUTATION KILCLOCK CA Z TS DISPDEX # Page 482 TC GOTOPOOH N45PROC CS FLAGWRD2 MASK BIT6 EXTEND BZF KILCLOCK # FINALFLG IS SET -- FLASH V37 -- AWAIT NEW PGM TC PHASCHNG OCT 04024 TC UPFLAG # SET ADRES FINALFLG # FINALFLG CLUPDATE CA Z TS DISPDEX TC PHASCHNG OCT 04024 TC INTPRET CLEAR GOTO UPDATFLG QSAVED # Page 483 # ***** DISPLAYE ***** # # SUBROUTINES USED # BANKCALL # GOFLASHR # GOTOPOOH # BLANKET # ENDOFJOB DISPLAYE EXTEND QXCH NORMEX CAF V06N55 TCR BANKCALL CADR GOFLASH TCF GOTOPOOH TC NORMEX TCF -5 # Page 484 # ***** P3XORP7X ***** P3XORP7X CAF HIGH9 MASK MODREG EXTEND BZF +2 INCR Q RETURN # ***** VNPOOH ***** # # SUBROUTINES USED # BANKCALL # GOFLASH # GOTOPOOH SETLOC P30SUBS BANK VNPOOH EXTEND QXCH RTRN TS VERBNOUN CAF VNBANK # ***** THIS ROUTINE MUST REMAIN IN XCH FBANK # FIXED-FIXED ***** TS TBASE5 # * WATCH OUT * CA VERBNOUN TCR BANKCALL CADR GOFLASH TCF GOTOPOOH TCF +2 VNBANK TC -5 CA TBASE5 TS FBANK TC RTRN # Page 485 # ***** CONSTANTS ***** V06N37 VN 0637 V06N55 VN 0655 V06N58 VN 0658 V06N59 VN 0659 V06N81 VN 0681 V16N45 VN 1645 SETLOC CSI/CDH BANK TWOPI 2DEC 6.283185307 B-4 MAX250 2DEC 25 E3 B-28 # RSB 2004 added the B-28. OH 2009 leave? THIRD 2DEC .333333333 ELEPS 2DEC .27777777 E-3 DECTWO OCT 2 DP-.01 OCT 77777 # CONSTANTS OCT 61337 # ADJACENT -.01 FOR MGA DSP EPSFOUR 2DEC .0416666666 # Page 486 # ***** INITVEL ***** # MOD NO -1 LOG SECTION -- P34-P35, P74-P75 # MOD BY WHITE, P. DATE: 21 NOV 67 # # FUNCTIONAL DESCRIPTION # THIS SUBROUTINE COMPUTES THE REQUIRED INITIAL VELOCITY VECTOR FOR # A TRAJECTORY OF SPECIFIC TRANSFER TIME BETWEEN SPECIFIED INITIAL # AND TARGET POSITIONS. THE TRAJECTORY MAY BE EITHER CONIC OR # PRECISION DEPENDING ON AN INPUT PARAMETER (NAMELY, NUMBER OF # OFFSETS). IN ADDITION, IN THE PRECISION TRAJECTORY CASE, THE # SUBROUTINE ALSO COMPUTES AN OFFSET TARGET VECTOR, TO BE USED # DURING PURE-CONIC CROSS-PRODUCT STEERING. THE OFFSET TARGET # VECTOR IS THE TERMINAL POSITION VECTOR OF A CONIC TRAJECTORY WHICH # HAS THE SAME INITIAL STATE AS A PRECISION TRAJECTORY WHOSE # TERMINAL POSITION VECTOR IS THE SPECIFIED TARGET VECTOR. # # IN ORDER TO AVOID THE INHERENT SINGULARITIES IN THE 180 DEGREE # TRANSFER CASE WHEN THE (TRUE OR OFFSET) TARGET VECTOR MAY BE # SLIGHTLY OUT OF THE ORBITAL PLANE, THIS SUBROUTINE ROTATES THIS # VECTOR INTO A PLANE DEFINED BY THE INPUT INITIAL POSITION VECTOR # AND ANOTHER INPUT VECTOR (USUALLY THE INITIAL VELOCITY VECTOR), # WHENEVER THE INPUT TARGET VECTOR LIES INSIDE A CONE WHOSE VERTEX # IS THE ORIGIN OF COORDINATES, WHOSE AXIS IS THE 180 DEGREE # TRANSFER DIRECTION, AND WHOSE CONE ANGLE IS SPECIFIED BY THE USER. # # THE LAMBERT SUBROUTINE IS UTILIZED FOR THE CONIC COMPUTATIONS AND # THE COASTING INTEGRATION SUBROUTINE IS UTILIZED FOR THE PRECISION # TRAJECTORY COMPUTATIONS. # # CALLING SEQUENCE # L CALL # L+1 INITVEL # L+2 (RETURN -- ALWAYS) # # INPUT # (1) RINIT INITIAL POSITION RADIUS VECTOR # (2) VINIT INITIAL POSITION VELOCITY VECTOR # (3) RTARG TARGET POSITION RADIUS VECTOR # (4) DELLT4 DESIRED TIME OF FLIGHT FROM RINIT TO RTARG # (5) INTIME TIME OF RINIT # (6) 0D NUMBER OF ITERATIONS OF LAMBERT/INTEGRVS # (7) 2D ANGLE TO 180 DEGREES WHEN ROTATION STARTS # (8) RTX1 -2 FOR EARTH, -10D FOR LUNAR # (9) RTX2 COORDINATE SYSTEM ORIGIN -- 0 FOR EARTH, 2 FOR LUNAR # PUSHLOC SET AT 4D # # Page 487 # OUTPUT # (1) RTARG OFFSET TARGET POSITION VECTOR # (2) VIPRIME MANEUVER VELOCITY REQUIRED # (3) VTPRIME VELOCITY AT TARGET AFTER MANEUVER # (4) DELVEET3 DELTA VELOCITY REQUIRED FOR MANEUVER # # SUBROUTINES USED # LAMBERT # INTSTALL # INTEGRVS SETLOC INTVEL BANK COUNT 11/INITV INITVEL SET # COGA GUESS NOT AVAILABLE GUESSW HAVEGUES VLOAD STQ RTARG NORMEX STORE RTARG1 SLOAD BHIZ RTX2 INITVEL1 VLOAD VSL2 RINIT # B29 STOVL RINIT # B27 VINIT # B7 VSL2 STOVL VINIT # B5 RTARG1 VSL2 STORE RTARG1 # INITIALIZATION INITVEL1 SSP DLOAD # SET ITCTR TO -1,LOAD MPAC WITH E4 (PL 2D) ITCTR 0 -1 COSINE SR1 # CALCULATE COSINE (E4) (+2) STODL COZY4 # SET COZY4 TO COSINE (E4) (PL 0D) LXA,2 SXA,2 MPAC VTARGTAG # SET VTARGTAG TO 0D (SP) VLOAD RINIT STOVL R1VEC # R1VEC EQ RINIT RTARG1 # Page 488 STODL R2VEC # R2VEC EQ RTARG DELLT4 STORE TDESIRED # TDESIRED EQ DELLT4 SETPD VLOAD 0D # INITIALIZE PL TO 0D RINIT # MPAC EQ RINIT (+29) UNIT PUSH # UNIT(RI) (+1) (PL 6D) VXV UNIT VINIT # MPAC EQ UNIT(RI) X VI (+8) STOVL UN RTARG1 UNIT DOT # TEMP=URT.URI (+2) (PL 0D) DAD CLEAR COZY4 NORMSW STORE COZY4 INITVEL2 BPL SET INITVEL3 # UN CALCULATED IN LAMBERT NORMSW # ROTATE RC INTO YC PLANE -- SET UNIT NORMAL TO YC VLOAD PUSH # (PL 6D) R2VEC # RC TO 6D (+29) ABVAL PDVL # RC TO MPAC, ABVAL(RC) (+29) TO OD(PL 2D) PUSH VPROJ # (PL 8D) UN VSL2 BVSU UNIT VXSC # (PL 0D) VSL1 STORE R2VEC TLOAD SLOAD ZEROVEC ITCTR BPL VLOAD INITVEL3 R2VEC STORE RTARG1 INITVEL3 DLOAD PDVL # (PL 2D) MUEARTH # POSITIVE VALUE R2VEC UNIT PDVL # 2D = UNIT(R2VEC) (PL 8D) R1VEC UNIT PUSH # 8D = UNIT(R1VEC) (PL 14D) VXV VCOMP # -N = UNIT(R2VEC) X UNIT(R1VEC) 2D PUSH # (PL 20D) LXA,1 DLOAD RTX1 18D BMN INCR,1 # Page 489 +2 DEC -8 INCR,1 SLOAD 10D X1 BHIZ VLOAD # (PL 14D) +2 VCOMP PUSH # (PL 20 D) VLOAD # (PL 14D) VXV DOT # (PL 2D) BPL DLOAD # (PL 0D) INITVEL4 DCOMP PUSH # (PL 2D) INITVEL4 LXA,2 SXA,2 0D GEOMSGN # SET INPUTS UP FOR LAMBERT LXA,1 CALL RTX1 # OPERATE THE LAMBERT CONIC ROUTINE (COASTFLT SUBROUTINE) LAMBERT # ARRIVED AT SOLUTION IS GOOD ENOUGH ACCORDING TO SLIGHTLY WIDER BOUNDS. CLEAR VLOAD GUESSW VVEC # STORE CALCULATED INITIAL VELOCITY REQUIRED IN VIPRIME STODL VIPRIME # INITIAL VELOCITY REQUIRED (+7) # IF NUMIT IS ZERO, CONTINUE AT INITVELB, OTHERWISE # SET UP INPUTS FOR ENCKE INTEGRATION (INTEGRVS). VTARGTAG BHIZ CALL INITVEL7 INTSTALL SLOAD CLEAR RTX2 MOONFLAG BHIZ SET INITVEL5 MOONFLAG INITVEL5 VLOAD RINIT STORE R1VEC # Page 490 STOVL RCV VIPRIME STODL VCV INTIME STORE TET DAD CLEAR DELLT4 INTYPFLG STCALL TDEC1 INTEGRVS VLOAD VATT1 STORE VTARGET # IF ITERATION COUNTER (ITCTR) EQ NO. ITERATIONS (NUMIT), CONTINUE AT # INITVELC, OTHERWISE REITERATE LAMBERT AND ENCKE LXA,2 INCR,2 ITCTR 1D # INCREMENT ITCTR SXA,2 XSU,2 ITCTR VTARGTAG SLOAD BHIZ # IF SP(MPAC) EQ 0, CONTINUE AT INITVELC X2 INITVEL6 # OFFSET CONIC TARGET VECTGOR VLOAD VSU RTARG1 RATT1 VAD R2VEC STODL R2VEC COZY4 GOTO INITVEL2 # CONTINUE ITERATING AT INITVEL2 # COMPUTE THE DELTA VELOCITY INITVEL6 VLOAD R2VEC STORE RTARG1 INITVEL7 VLOAD VSU VIPRIME VINIT STOVL DELVEET3 # DELVEET3 = VIPRIME-VINIT (+7) VTARGET STORE VTPRIME SLOAD BHIZ RTX2 # Page 491 INITVELX VLOAD VSR2 VTPRIME STOVL VTPRIME VIPRIME VSR2 STOVL VIPRIME RTARG1 VSR2 STOVL RTARG1 DELVEET3 VSR2 STORE DELVEET3 INITVELX SETPD VLOAD 0D RTARG1 STCALL RTARG NORMEX # ***** END OF INITVEL ROUTINE ***** # Page 492 # ***** MIDGIM ***** # MOD NO. 0, BY WILLMAN, SUBROUTINE RENDGUID, LOG P34-P35, P74-P75 # REVISION 03, 17 FEB 67 # # IF THE ACTIVE VEHICLE IS DOING THE COMPUTATION, MIDGIM COMPUTES # THE POSITIVE MIDDLE GIMBAL ANGLE OF THE ACTIVE VEHICLE TO THE INPUT # DELTA VELOCITY VECTOR (0D IN PUSY LIST), OTHERWISE # MIDGIM CONVERTS THE INPUT DELTA VELOCITY VECTOR FROM INERTIAL COORDIN- # ATES TO LOCAL VERTICAL COORDINATES OF THE ACTIVE VEHICLE. # # ** INPUTS ** # NAME MEANING UNITS/SCALING/MODE # AVFLAG INT FLAG -- 0 IS CSM ACTIVE, 1 IS LEM ACTIVE BIT # COMPUTER INT FLAG -- 0 IS LEM COMPUTER, 1 IS CSM COMPUTER BIT # RINIT ACTIVE VEHICLE RADIUS VECTOR METERS/CSEC (+7) VT # VINIT ACTIVE VEHICLE VELOCITY VECTOR METERS/CSEC (+7) VT # 0D(PL) ACTIVE VEHICLE DELTA VELOCITY VECTOR METERS/CSEC (+7) VT # # ** OUTPUTS ** # NAME MEANING UNITS/SCALING/MODE # +MGA + MIDDLE GIMBAL ANGLE REVOLUTIONS (+0) DP # DELVLVC DELTA VELOCITY VECTOR IN LV COORD. METERS/CSEC (+7) VT # MGLVFLAG INT FLAG: 0 IS +MGA COMUTED, 1 IS DELVLVC COMP. BIT # # ** CALLING SEQUENCE ** # L CALL # L+1 MIDGIM # L+2 (RETURN -- ALWAYS) # # ** NO SUBROUTINES CALLED ** # # ** DEBRIS -- ERASABLE TEMPORARY USAGE ** # A,Q,L, PUSH LIST, MPAC. # # ** ALARMS -- NONE ** # Page 493 # MIDDLE GIMBAL ANGLE COMPUTATION SETLOC MIDDGIM BANK COUNT* $$/MIDG HALFREV 2DEC 1 B-1 MIDGIM BON BOFF AVFLAG MIDGIM1 COMPUTER GET.LVC # COMPUTE +MGA IF AVFLAG AND COMPUTER HAVE OPPOSITE VALUES. GET+MGA VLOAD UNIT # (PL 0D) V (+7) TO MPAC UNITIZE UV (+1) DOT SL1 # DOT UV WITH Y(STABLE MEMBER) AND RESCALE REFSMMAT +6 # FROM +2 TO +1 FOR ASIN ROUTINE ARCSIN BPL SETMGA DAD DAD # CONVERT -MGA TO +MGA BY HALFREV # ADDING ONE REVOLUTION HALFREV SETMGA STORE +MGA CLR RVQ # CLEAR MGLVFLAG TO INDICATE +MGA CALC MGLVFLAG # AND EXIT MIDGIM1 BOFF COMPUTER GET+MGA # COMPUTE DELVLVC IF AVFLAG AND COMPUTER HAVE SAME VALUES GET.LVC VLOAD UNIT # (PL 6D) R (+29) IN MPAC UNITZE UR RINIT VCOMP # U(-R) STORE 18D # U(-R) TO 18D VXV UNIT # U(-R)*V EQ V*U(R), U(V*R) VINIT STORE 12D # U(V*R) TO 12D VXV UNIT # U(V*R)*U(-R), U((V*R)*(-R)) 18D STOVL 6D # TRANSFORMATION MATRIX IS IN 6D (+1) 0D # DELTA V (+7) IN 0D MXV VSL1 # CONVERT FROM INER COOR TO LV COOR (+8) 6D # AND SCALE +7 IN MPAC STORE DELVLVC # STORE IN DELVLVC (+7( SET RVQ # SET MGLVFLAG TO INDICATE LVC CALC MGLVFLAG # AND EXIT # ***** END OF MIDGIM ROUTINE ***** # Page 494 SELECTMU AXC,1 AXT,2 2D 0D BOFF CMOONFLG SETMUER AXC,1 AXT,2 10D 2D SETMUER DLOAD* SXA,1 MUTABLE +4,1 RTX1 STODL* RTSR1/MU MUTABLE -2,1 BOFF SR CMOONFLG RTRNMU 6D RTRNMU STORE RTMU SXA,2 CLEAR RTX2 FINALFLG GOTO VN1645 # Page 495 # ***** PERIAPO ***** # MOD NO -1 LOG SECTION - P34-P35, P74-P75 # MOD BY WHITE.P DATE 18JAN68 # # FUNCTIONAL DESCRIPTION # THIS SUBROUTINE COMPUTES THE TWO BODY APOCENTER AND PERICENTER # ALTITUDES GIVEN THE POSITION AND VELOCITY VECTORS FOR A POINT ON # THE TRAJECTORY AND THE PRIMARY BODY. # # SETRAD IS CALLED TO DETERMINE THE RADIUS OF THE PRIMARY BODY. # # APSIDES IS CALLED TO SOVE FOR THE TWO BODY RADII OF APOCENTER AND # PERICENTER AND THE ECCENTRICITY OF THE TRAJECTORY. # # CALLING SEQUENCE # L CALL # L+1 PERIAPO # L+2 (RETURN -- ALWAYS) # # INPUT # (1) RVEC POSITION VECTOR IN METERS # SCALE FACTOR -- EARTH +29, MOON +27 # (2) VVEC VELOCITY VECTOR IN METERS/CENTISECOND # SCALE FACTOR -- EARTH +7, MOON +5 # (3) X1 PRIMARY BODY INDICATOR # EARTH -2, MOON -10 # # OUTPUT # (1) 2D APOCENTER RADIUS IN METERS # SCALE FACTOR -- EARTH +29, MOON +27 # (2) 4D APOCENTER ALTITUDE IN METERS # SCALE FACTOR -- EARTH +29, MOON +27 # (3) 6D PERICENTER RADIUS IN METERS # SCALE FACTOR -- EARTH +29, MOON +27 # (4) 8D PERICENTER ALTITUDE IN METERS # SCALE FACTOR -- EARTH +29, MOON +27 # (5) ECC ECCENTRICITY OF CONIC TRAJECTORY # SCALE FACTOR -- +3 # (6) XXXALT RADIUS OF THE PRIMARY BODY IN METERS # SCALE FACTOR -- EARTH +29, MOON +27 # (7) PUSHLOC EQUALS 10D # # SUBROUTINES USED # SETRAD # Page 496 # APSIDES SETLOC APOPERI BANK COUNT* $$/PERAP RPAD 2DEC 6373338 B-29 # STANDARD RADIUS OF PAD 37-B. # = 20 909 901.57 FT PERIAPO1 LXA,2 VSR* RTX2 0,2 STOVL VVEC LXA,1 VSR* RTX1 0,2 STORE RVEC PERIAPO STQ CALL NORMEX SETRAD STCALL XXXALT APSIDES SETPD PUSH # 2D = APOCENTER RADIUS B29 OR B27 2D DSU PDDL # 4D = APOGEE ALTITUDE B29 OR B27 XXXALT 0D PUSH DSU # 6D = PERICENTER RADIUS B29 OR B27 XXXALT PUSH GOTO # 8D = PERIGEE ALTITUDE B29 OR B27 NORMEX # Page 497 # SETRAD SETRAD DLOAD PUSH RPAD SXA,1 INCR,2 X2 2D SLOAD BHIZ X2 SETRADX VLOAD ABVAL RLS PDDL SETRADX DLOAD RVQ # Page 498 # PRECSET PRECSET STQ NORMEX STCALL TDEC2 LEMPREC CALL LEMSTORE DLOAD TDEC2 STCALL TDEC1 CSMPREC CALL CSMSTORE GOTO NORMEX LEMSTORE VLOAD BOFF RATT AVFLAG PASSIVE ACTIVE STOVL RACT3 VATT STORE VACT3 RVQ CSMSTORE VLOAD BOFF RATT AVFLAG ACTIVE PASSIVE STOVL RPASS3 VATT STORE VPASS3 RVQ # Page 499 # VECSHIFT VECSHIFT LXA,2 VSR* RTX2 0,2 LXA,1 PDVL RTX1 VSR* PDVL 0,2 RVQ # Page 500 # SHIFTR1 SHIFTR1 LXA,2 SL* RTX2 0,2 RVQ # Page 501 # PROGRAM DESCRIPTION # # SUBROUTINE NAME R36 OUT-OF-PLANE RENDEZVOUS ROUTINE # MOD NO. 2 DATE 2 JANUARY 1969 # MOD BY A.W.BANCROFT LOG SECTION EXTENDED VERBS # # FUNCTIONAL DESCRIPTION # # TO DISPLAY AT ASTRONAUT REQUEST LGC CALCULATED RENDEZVOUS # OUT-OF-PLANE PARAMETERS (Y, YDOT, PSI). (REQUESTED BY DSKY). # # CALLING SEQUENCE # ASTRONAUT REQUEST THROUGH DSKY V 90 E # # SUBROUTINES CALLED # EXDSPRET # GOMARKF # CSMPREC # LEMPREC # SGNAGREE # LOADTIME # # NORMAL EXIT MODES # ASTRONAUT REQUEST THROUGH DSKY TO TERMINATE PROGRAM V 34 E # # ALARM OR ABORT EXIT MODES # NONE # # OUTPUT # DECIMAL DISPLAY OF TIME, Y, YDOT AND PSI # # DISPLAYED VALUES Y, YDOT, AND PSI, ARE STORED IN ERASABLE # REGISTERS RANGE, RRATE, AND RTHETA RESPECTIVELY. # # ERASABLE INITIALIZATION REQUIRED # CSM AND LEM STATE VECTORS # # DEBRIS # CENTRALS A,Q,L # OTHER: THOSE USED BY THE ABOVE LISTED SUBROUTINES BANK 20 SETLOC R36CM BANK # Page 502 EBANK= RPASS36 SBANK= R36A COUNT* $$/R36 R36 CAF TWO TS OPTIONX CAF ONE TS OPTIONX +1 CAF OPTION36 # V 04 N 12 TC BANKCALL CADR GOXDSPF TC ENDEXT # TERMINATE TC +2 # PROCEED TC -5 # R2 LOADED VIA DSKY TC POSTJUMP CADR R36A OPTION36 VN 0412 SETLOC R36LM BANK R36A ZL CAF ZERO # SET TIME OF EVENT TO ZERO FOR FIRST DXCH DSPTEMX # DISPLAY LXCH OPTIONY # SAVE VEH. OPTION R36P3 CAF V06N16N TC BANKCALL CADR GOMARKF TCF ENDEXT # TERMINATE TCF +2 # PROCEED TCF -5 # RECYCLE FOR ASTRONAUT INPUT TIME DXCH DSPTEMX EXTEND BZF LREGCHK # A-REG ZERO GOTO CHECK L-REG FOR ZERO ASTROTIM DXCH MPAC # A-REG NON-ZERO, TIME = ASTRO INPUT TIME TC INTPRET RTB GOTO DPMODE R36INT SETLOC R36LM1 BANK R36INT STORE TDEC1 SLOAD SR1 OPTIONY BHIZ CALL R36PROG2 # FOR CSM DISPLAY # Page 503 THISPREC # FOR LEM DISPLAY GOTO R36PROG3 R36PROG2 CALL OTHPREC R36PROG3 VLOAD PDVL VATT RATT # _ STORE RPASS36 # R UNIT PDVL # P VXV UNIT # - STADR STODL UNP36 # U TAT STORE TDEC1 SLOAD SR1 OPTIONY BHIZ CALL R36PROG4 # FOR CSM DISPLAY OTHPREC # FOR LEM DISPLAY GOTO R36PROG5 R36PROG4 CALL THISPREC R36PROG5 VLOAD PDVL # _ VATT # VELOCITY VECTOR V 00D RATT # A PDDL TAT # SAVE TIME IN LOCATION 30D FOR REDISPLAY STOVL 30D # _ PUSH PUSH # POSITION VECTOR R IN 06D AND 12D BVSU PDVL # _A _ RPASS36 # LINE OF SIGHT VECTOR R - R 12D DOT SL1 # P A UNP36 # _ _ STOVL RANGE # Y = U . R 00D # A DOT SL1 UNP36 # . _ _ STOVL RRATE # Y = U . V 06D # _ A UNIT PUSH # U = UNIT ( R ) 18D VXV VXV # RA A 00D # _ _ _ _ 18D # (U X V ) X U = U VSL2 UNIT # RA A RA A UNIT GOTO R36B SETLOC R36CM1 # Page 504 BANK R36B STOVL 00D # UNIT HORIZONTAL IN FORWARD DIR. 00D 18D DOT VXSC # _ 12D # U VSL2 # L BVSU UNIT UNIT PUSH DOT # LOS PROJECTED INTO HORIZONTAL 12D 00D # PLANE SL1 ARCCOS # _ _ STOVL RTHETA # PSI = ARCCOS(U . U ) VXV DOT # A L 00D BPL DLOAD R36TAG2 DPPOSMAX DSU RTHETA STCALL RTHETA R36TAG2 SETLOC R36LM BANK R36TAG2 DLOAD RTB 30D SGNAGREE STORE DSPTEMX EXIT CAF V06N90N # DISPLAY Y, YDOT, AND PSI. TC BANKCALL CADR GOMARKF TCF ENDEXT # TERMINATE TCF ENDEXT # PROCEED, END OF PROGRAM TCF R36P3 # REDISPLAY OUTPUT LREGCHK XCH L EXTEND BZF ENTTIM2 # L-REG ZERO, SET TIME = PRESENT TIME XCH L # L-REG NON ZERO, TIME = ASTRO INPUT TIME TCF ASTROTIM ENTTIM2 TC INTPRET RTB GOTO LOADTIME R36INT V06N16N VN 00616 V06N90N VN 00690 SBANK= LOWSUPER ================================================ FILE: Comanche055/P37_P70.agc ================================================ # Copyright: Public domain. # Filename: P37_P70.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Jim Lawton . # Website: www.ibiblio.org/apollo. # Pages: 890-933 # Mod history: 2009-05-11 JVL Adapted from the Colossus249/ file # of the same name, using Comanche055 page # images. # 2009-05-20 RSB Added missing label V2T179. Fixed POODOO -> POODOO. # 2009-05-23 RSB In RTD18, corrected a STOVL DELVLVC to # STODL DELVLVC and a STODL 02D to STORE 02D. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 890 BANK 31 SETLOC RTE1 BANK EBANK= RTEDVD COUNT 31/P37 # PROGRAM DESCRIPTION: P37, RETURN TO EARTH # # DESCRIPTION # A RETURN TO EARTH TRAJECTORY IS COMPUTED PROVIDED THE CSM IS OUTSIDE THE LUNAR SPHERE OF INFLUENCE AT THE # TIME OF IGNITION. INITIALLY A CONIC TRAJECTORY IS DETERMINED AND RESULTING IGNITION AND REENTRY PARAMETERS ARE # DISPLAYED TO THE ASTRONAUT. THEN IF THE ASTRONAUT SO DESIRES, A PRECISION TRAJECTORY IS DETERMINED WITH THE # RESULTING IGNITION AND REENTRY PARAMETERS DISPLAYED. UPON FINAL ACCEPTANCE BY THE ASTRONAUT, THE PROGRAM # COMPUTES AND STORES THE TARGET PARAMETERS FOR RETURN TO EARTH FOR USE BY SPS PROGRAM (P40) OR RCS PROGRAM (P41). # # CALLING SEQUENCE # L TC P37 # # SUBROUTINES CALLED # PREC100 # V2T100 # RTENCK2 # RTENCK3 # TIMERAD # PARAM # V2T100 # GAMDV10 # XT1LIM # DVCALC # RTENCK1 # INTSTALL # INTEGRVS # RTEVN # RTEDISP # TMRAD100 # AUGEKUGL # LAT-LONG # TMRAD100 # TIMERAD # INVC100 # CSMPREC # GETERAD # TIMETHET # P370ALRM # VN1645 # POLY # # ERASABLE INITIALIZATION REQUIRED # CSM STATE VECTOR # Page 891 # NJETSFLG NUMBER OF JETS IF THE RCS PROPULSION SYSTEM SELECTED STATE FLAG 0=4 JETS 1=2 JETS # # ASTRONAUT INPUT # SPRTETIG TIME OF IGNITION (OVERLAYS TIG) DP B28 CS # VPRED DESIRED CHANGE IN VELOCITY AT TIG(PROGRM COMPUTED IF 0) DP B7 METERS/CS # GAMMAEI DESIRED FLIGHT PATH ANGLE AT REENTRY (COMPUTED IF 0) DP B0 REVS + ABOVE HORIZ. # OPTION2 PROPULSION SYSTEM OPTION SP B14 1=SPS, 2=RCS # # OUTPUT # CONIC OR PRECISION TRAJECTORY DISPLAY # VPRED VELOCITY MAGNITUDE AT 400,000 FT. ENTRY ALTITUDE DP B7 METERS/CS # T3TOT4 TRANSIT TIME TO 400,000 FT. ENTRY ALTITUDE DP B28 CS # GAMMAEI FLIGHT PATH ANGLE AT 400,00 FT. ENTRY ALTITUDE DP B0 REVS + ABOVE HORIZON # DELVLVC INITIAL VELOCITY CHANGE VECTOR IN LOCAL VERTICAL COORD. VECTOR B7 METERS/CS # LAT(SPL) LATITUDE OF THE LANDING SITE DP B0 REVS # LNG(SPL) LONGITUDE OF THE LANDING SITE DP B0 REVS # TARGETING COMPUTATION DISPLAY # TIG RECOMPUTED TIG BASED ON THRUST OPTION DP B28 CS # TTOGO TIME FROM TIG DP B28 CS # +MGA POSITIVE MIDDLE GIMBAL ANGLE DP B0 REVS -.02 IF REFSMFLG=0 # THRUST PROGRAM COMMUNICATION # XDELVFLG EXTERNAL DELTA V FLAG STATE FLAG SET 0 FOR LAMBERT AIMPT # NORMSW LAMBERT AIMPT ROTATION SWITCH STATE FLAG SET 0 FOR NO ROTATION # ECSTEER CROSS PRODUCT STEERING CONSTANT SP B2 SET 1 # RTARG CONICALLY INTEGRATED REENTRY POSITION VECTOR VECTOR B29 METERS # TPASS4 REENTRY TIME DP B28 CS P37 TC PHASCHNG # P37 IS NOT RESTARTABLE OCT 4 TC INTPRET AXT,1 SXA,1 OCT 04000 ECSTEER DLOAD ZEROVECS STORE VPRED STORE GAMMAEI EXIT CAF V6N33RTE # INPUT TIG STORED IN SPRTETIG TCR P370GOF # OVERLAYED WITH TIG TCF -2 # DISPLAY NEW DATA CAF V6N60RTE # INPUT REENTRY ANGLE IN GAMMAEI TCR P37GFRB1 # AND DESIRED DELTA V IN RTEDVD TCF -2 # DISPLAY NEW DATA RTE299 TC INTPRET SSP DLOAD OVFIND 0 VPRED # Page 892 STODL RTEDVD GAMMAEI STODL RTEGAM2D 1RTEB13 STODL CONICX1 C4RTE STCALL MAMAX1 INVC100 # GET R(T1)/,V(T1)/,UR1/,UH/ CLEAR DLOAD SLOWFLG RTEDVD BPL ABS RTE317 STORE RTEDVD DLOAD DSU R(T1) K1RTE BMN SET RTE317 SLOWFLG RTE317 DLOAD EXIT R(T1) TC POLY DEC 2 2DEC 181000434. B-31 2DEC 1.50785145 B-2 2DEC* -6.49993057 E-9 B27* 2DEC* 9.76938926 E-18 B56* TC INTPRET SL1 STODL MAMAX2 # C0+C1*R+C2*R**2+C3*R**3=MAMAX2 B30 M9RTEB28 STODL NN1A K2RTE RTE320 STODL RCON # RCON=K2 RTEGAM2D BZE BDSU RTE340 # GOTORTE340 IF REENTRY ANGLE NOT INPUT 1RTEB2 PUSH COS # PL02D PDDL SIN BDDV STADR # PL00D STCALL X(T2) # X(T2)=COT(GAM2D) B0 RTE360 RTE340 DLOAD DSU R(T1) # Page 893 K1RTE BMN DLOAD RTE350 K4RTE STCALL X(T2) # X(T2)=K4 RTE360 RTE350 DLOAD K3RTE STORE X(T2) # X(T2)=K3 RTE360 CALL V2T100 BZE GOTO RTE367 RTEALRM RTE367 VLOAD R(T1)/ STODL RVEC RCON STOVL RDESIRED V2(T1)/ STCALL VVEC TMRAD100 DAD T1 STODL T2 RTEGAM2D BZE GOTO RTE369 RTE372 RTE369 VLOAD ABVAL V(T2)/ EXIT TC POLY DEC 2 2DEC 0 2DEC -4.8760771 E-2 B4 2DEC 4.5419476 E-4 B11 2DEC -1.4317675 E-6 B18 TC INTPRET DAD RTED1 SL3 GOTO # X(T2),=D1+D2V2+D3V2**2+D4V2**3 RTE373 RTE372 DLOAD # X(T2),=X(T2) X(T2) RTE373 DSU PUSH # X(T2)ERR B0 PL02D # Page 894 X(T2) VLOAD UNIT R(T2)/ # B58 STCALL ALPHAV GETERAD DAD E3RTE PUSH DSU # RCON,=(E1/1+E2BETA11)**.5)+E3 B29 PL04D RCON ABS DSU EPC2RTE BMN GOTO RTE374 RTE375 RTE374 DLOAD ABS 00D DSU BMN EPC3RTE P37E RTE375 DLOAD DAD NN1A 1RTEB28 BMN SLOAD RTE380 OCT605 GOTO RTEALRM # TOO MANY ITERATIONS RTE380 STORE NN1A DSU BZE M8RTEB28 RTE385 DLOAD DSU 00D DRCON NORM PDDL # X(T2)ERR-X(T2)ERR,=Z1 PL06D X1 RPRE' DSU DDV # X(T2)PRI-X(T2)=Z2 PL04D X(T2) DMP SL* # DX(T2)=X(T2)ERR(Z2/Z1) 00D 0,1 GOTO RTE390 RTE385 DLOAD # DX(T2)=X(T2)ERR 00D RTE390 STODL 16D # DX(T2) PL02D STADR STODL RCON # RCON=RCON, BOV # Page 895 RTE360 STODL DRCON # X(T2)ERR,=X(T2)ERR X(T2) STODL RPRE' # X(T2)PRI=X(T2) 16D DAD X(T2) STCALL X(T2) # X(T2)=X(T2)+DX(T2) RTE360 # REITERATE P37E CALL # DISPLAY CONIC SOLUTION RTEVN RTE505 DLOAD DMP PCON BETA1 BDSU BZE RCON RTE510 BMN DLOAD RTE510 1RTEB2 GOTO # ENTRY NEAR APOGEE RTE515 RTE510 DLOAD DCOMP # ENTRY NEAR PERIGEE 1RTEB2 RTE515 STCALL PHI2 PREC100 # PRECISION TRAJECTORY COMPUTATION RTE625 BZE P37G RTEALRM CALL P370ALRM EXIT TCF P37 # RECYCLE AFTER ALARM DISPLAY # RETURN TO EARTH DISPLAY SUBROUTINE RTEVN STQ CALL VNSTORE RTEDISP # DISPLAY PREPARATION EXIT CAF V6N61RTE # LATITUDE,LONGITUDE,BLANK TCR P370GOFR # IN LAT(SPL),LNG(SPL),- CAF FOUR TCR 37BLANK +1 TCF +5 TCF P37 # RECYCLE CAF V6N39RTE # T21 HRS,MIN,SEC IN T3TOT4 TCR P370GOF TCF P37 # RECYCLE CAF V6N60RTE # DISPLAY BLANK,V(T2),FPA2 TCR P37GFRB1 # IN -,VPRED,GAMMAEI # Page 896 TCF P37 # RECYCLE CAF V6N81RTE # DISPLAY DELTA V (LV) IN DELVLVC TCR P370GOF TCF P37 # RECYCLE TCR INTPRET GOTO VNSTORE # PRECISION DISPLAY, TARGETING COMPUTATION AND RTE END PROCESSING P37G CALL RTEVN EXIT P37N CAF SEVEN TS OPTION1 CAF ONE TS OPTION2 CAF V4N06RTE # DISPLAY RCS OR SPS OPTION SPS ASSUMED TCR P370GOF TCF -2 # RECYCLE TC INTPRET # PROCEED SETPD SLOAD 00D OPTION2 DSU BZE 1RTEB13 P37Q SLOAD NORM # SPS EMDOT X1 PDDL GOTO VCSPS P37T P37Q DLOAD BON # RCS MDOTRCS NJETSFLG P37R SL1 P37R SL1 NORM PDDL X1 VCRCS P37T PDDL DDV # DV/VC B7 -B5 = B2 PL02D DV EXIT TC POLY DEC 1 2DEC 5.66240507 E-4 B-3 2DEC 9.79487897 E-1 B-1 # Page 897 2DEC -.388281955 B1 TC INTPRET PUSH SLOAD # (1-E)**(-DV/VC)=A B3 PL04D WEIGHT/G DMP DDV # DTB=(M0/MDOT)A B16+B3-B3=B16 PL00D SL* DMP 0 -12D,1 CSUBT BDSU T1 STORE TIG # TIG=T1-CT*DTB B28 EXIT CAF V6N33RTE # DISPLAY BIASED TIG TCR P370GOF TCF -2 CAF ZERO TS VHFCNT TS TRKMKCNT TC INTPRET CALL # CONICALLY INTEGRATE FROM R1,V1 OVER T12 RTENCK1 VLOAD UNIT # PL00D R(T2)/ PDVL VXSC # UR2 B1 PL06D UR1/ MCOS7.5 PDVL VXSC # -UR1(COS7.5) B1 PL12D UH/ MSIN7.5 VAD DOT # K/=-UR1(COS7.5)-UH(SIN7.5) B2 PL00D DAD BMN MCOS22.5 P37W VLOAD DOT # K/ . UR2 GR COS22.5 UH/ R(T2)/ BMN DLOAD P37U THETA165 PUSH GOTO P37V P37U DLOAD PUSH THETA210 P37V SIN STODL SNTH COS CLEAR RVSW STOVL CSTH R(T1)/ # Page 898 STOVL RVEC V2(T1)/ STCALL VVEC TIMETHET P37W CLEAR CLEAR XDELVFLG NORMSW SET VLOAD FINALFLG STADR STODL RTARG T DAD T1 STOVL TPASS4 V2(T1)/ VSU V(T1)/ STCALL DELVSIN VN1645 GOTO P37W # SUBROUTINE TO GO TO GOFLASHR AND BLANK R1 P37GFRB1 EXTEND QXCH SPRTEX TCR P370GOFR 37BLANK CAF ONE TCR BLANKET TCF ENDOFJOB TC SPRTEX # RECYCLE TCF P37PROC # PROCEED # SUBROUTINE TO GO TO GOFLASHR P370GOFR EXTEND QXCH RTENCKEX TCR BANKCALL CADR GOFLASHR TCF GOTOPOOH # TERMINATE TCF +3 TCF +4 TC RTENCKEX # IMMEDIATE RETURN INDEX RTENCKEX # PROCEED TCF 0 +4 INDEX RTENCKEX # RECYCLE TCF 0 +3 # SUBROUTINE TO GO TO GOFLASH # Page 899 P370GOF EXTEND QXCH SPRTEX TCR BANKCALL CADR GOFLASH TCF GOTOPOOH TCF +2 TC SPRTEX P37PROC INDEX SPRTEX TCF 0 +1 V6N33RTE VN 0633 V4N06RTE VN 0406 V6N61RTE VN 0661 V6N39RTE VN 0639 V6N60RTE VN 0660 V6N81RTE VN 0681 BANK 32 SETLOC RTE BANK COUNT 32/RTE # Page 900 # ALARM DISPLAY SUBROUTINE P370ALRM STQ EXIT SPRTEX CA MPAC TC VARALARM CAF V5N09RTE TC BANKCALL CADR GOFLASH TCF GOTOPOOH TCF -4 TC INTPRET GOTO SPRTEX V5N09RTE VN 0509 # Page 901 # TIME RADIUS CALLING SUBROUTINE # # INPUT # RVEC INITIAL POSITION VECTOR VECTOR B29 METERS # VVEC INITIAL VELOCITY VECTOR VECTOR B7 METERS/CS # RDESIRED FINAL RADIUS FOR WHICH TRANSFER TIME IS TO BE COMPUTED DP B29 METERS # CONICX1 X1 SETTING FOR CONIC SUBROUTINES -2=EARTH SP B14 # # OUTPUT # R(T2)/ FINAL POSITION VECTOR VECTOR B29 METERS # V(T2)/ FINAL VELOCITY VECTOR VECTOR B7 METERS/CS # T12 TRANSFER TIME TO FINAL RADIUS DP B28 CS TMRAD100 STQ CLEAR RTENCKEX RVSW AXC,2 SXA,2 OCT 20000 SGNRDOT LXC,1 CALL CONICX1 TIMERAD STOVL V(T2)/ PL00D STADR STODL R(T2)/ T STCALL T12 RTENCKEX # Page 902 # DISPLAY CALCULATION SUBROUTINE # # DESCRIPTION # OUTPUT FOR DISPLAY IS CONVERTED TO PROPER UNITS AND PLACED IN OUTPUT STORAGE REGISTERS. LANDING SITE # COMPUTATION FOR DETERMINING LANDING SITE LATITUDE AND LONGITUDE IS INCLUDED IN THE ROUTINE. # # CALLING SEQUENCE # L CALL # L+1 RTEDISP # # SUBROUTINES CALLED # TMRAD100 # AUGEKUGL # LAT-LONG # # ERASABLE INITIALIZATION REQUIRED # PUSHLIST # NONE # MPAC # NONE # OTHER # R(T2)/ FINAL POSITION VECTOR VECTOR B29 METERS # V(T2)/ FINAL VELOCITY VECTOR VECTOR B7 METERS/CS # T2 FINAL TIME DP B28 CS # V2(T1)/ POST IMPULSE INITIAL VELOCITY VECTOR VECTOR B7 METERS/CS # V(T1)/ INITIAL VELOCITY VECTOR VECTOR B7 # UR1/ UNIT INITIAL VECTOR VECTOR B1 # UH/ UNIT HORIZONTAL VECTOR VECTOR B1 # # OUTPUT # VPRED VELOCITY MAGNITUDE AT 400,000 FT. ENTRY ALTITUDE DP B7 METERS/CS # T3TOT4 TRANSIT TIME TO 400,000 FT. ENTRY ALTITUDE DP B28 CS # GAMMAEI FLIGHT PATH ANGLE AT 400,000 FT. ENTRY ALTITUDE DP B0 REVS + ABOVE HORIZ # DELVLVC INITIAL VELOCITY CHANGE VECTOR IN LOCAL VERTICAL COORD. VECTOR B7 METERS/CS # LAT(SPL) LATITUDE OF THE LANDING SITE DP B0 REVS # LNG(SPL) LONGITUDE OF THE LANDING SITE DP B0 REVS RTEDISP STQ VLOAD # DISPLAY SPRTEX V(T2)/ UNIT PDDL 36D STODL VPRED # V(T2) T2 DSU SPRTETIG STOVL T3TOT4 # T21 R(T2)/ UNIT DOT SL1 # Page 903 ARCCOS BDSU 1RTEB2 STOVL GAMMAEI # FLIGHT PATH ANGLE T2 V2(T1)/ VSU PUSH V(T1)/ DOT DCOMP UR1/ PDVL PUSH DLOAD PDVL ZERORTE DOT VDEF UH/ VSL1 STODL DELVLVC DELVLVC BOFF DCOMP RETROFLG RTD18 STORE DELVLVC # NEGATE X COMPONENT, RETROGRADE RTD18 VLOAD ABVAL DELVLVC STOVL VGDISP R(T2)/ STORE RVEC # ***** LANDING SITE COMPUTATION ***** ABVAL DSU 30480RTE STOVL RDESIRED V(T2)/ STCALL VVEC TMRAD100 # R3,V3,T23 FROM TIMERAD VLOAD UNIT R(T2)/ PDVL UNIT # UR3 PL06D V(T2)/ DOT SL1 # GAMMAE=ARCSIN(UR3 . UV3) PL00D ARCSIN PDDL # V(T3) PL02D 36D PDDL ABS PUSH CALL # /GAMMAE/ PL04D AUGEKUGL # PHIE PL06D DAD DAD T12 # T23 T2 STORE 02D # T(LS)=T2&T23&TE SLOAD BZE P37RANGE RTD22 STORE 04D # OVERRIDE RANGE (PCR 261) RTD22 DLOAD SIN # Page 904 04D STODL LNG(SPL) # LNG(SPL)=SIN(PHIE) PL04D COS STORE LAT(SPL) # LAT(SPL)=COS(PHIE) VLOAD UNIT R(T2)/ PUSH PUSH PDVL UNIT # PL22D V(T2)/ PDVL VXV VXV UNIT # UH3=UNIT(UR3 X UV3 X UR3) PL10D VXSC PDVL LNG(SPL) VXSC VAD # PL04D LAT(SPL) CLEAR CLEAR # T(LS) IN MPAC ERADFLAG LUNAFLAG STODL ALPHAV # ALPHAV=UR3(COSPHIE)+UH3(SINPHIE) PL02D CALL LAT-LONG DLOAD LAT STODL LAT(SPL) # LATITUDE LANDING SITE ***** LONG STCALL LNG(SPL) # LONGITUDE LANDING SITE ***** SPRTEX COUNT* $$/RTE # Page 905 # INITIAL VECTOR SUBROUTINE # # DESCRIPTION # A PRECISION INTEGRATION OF THE STATE VECTOR TO THE TIME OF IGNITION IS PERFORMED. PRECOMPUTATIONS OCCUR. # # CALLING SEQUENCE # L CALL # L+1 INVC100 # # NORMAL EXIT MODE # AT L+2 OF CALLING SEQUENCE WITH MPAC = 0 # # ALARM EXIT MODE # AT L+2 OF CALLING SEQUENCE WITH MPAC = OCTAL 612 FOR STATE VECTOR IN MOONS SPHERE OF INFLUENCE # # SUBROUTINES CALLED # CSMPREC # # ERASABLE INITIALIZATION REQUIRED # PUSHLIST # NONE # MPAC # NONE # OTHER # SPRTETIG TIME OF IGNITION DP B28 CS # CSM STATE VECTOR # # OUTPUT # R(T1)/ INITIAL POSITION VECTOR AT TIG VECTOR B29 METERS # V(T1)/ INITIAL VELOCITY VECTOR AT TIG VECTOR B7 METERS/CS # T1 INITIAL VECTOR TIME (TIG) DP B28 CS # UR1/ UNIT INITIAL VECTOR VECTOR B1 # UH/ UNIT HORIZONTAL VECTOR VECTOR B1 # CFPA COSINE OF INITIAL FLIGHT PATH ANGLE DP B1 INVC100 STQ DLOAD SPRTEX SPRTETIG STCALL TDEC1 CSMPREC # PRECISION INTEGRATION R0,V0 TO R1,V1 VLOAD SXA,2 RATT P(T1) STOVL R(T1)/ VATT STODL V(T1)/ TAT STORE T1 SLOAD BZE P(T1) # Page 906 INVC109 INVC107 SLOAD GOTO OCT612 RTEALRM # R1,V1 NOT IN PROPER SPHERE OF INFLUENCE INVC109 VLOAD UNIT R(T1)/ STODL UR1/ # UR1/ B1 36D STOVL R(T1) # R(T1) B29 V(T1)/ UNIT STORE UV1/ DOT SL1 UR1/ STORE CFPA # CFPA B1 ABS DSU EPC1RTE BMN DLOAD INVC115 # NOT NEAR RECTILINEAR 1RTEB2 PDDL PUSH ZERORTE VDEF PUSH # N/ = (0,0,1) GOTO INVC120 INVC115 VLOAD VXV UR1/ UV1/ PUSH # N/ = UR X UV B2 INVC120 CLEAR DLOAD RETROFLG PUSH BPL INVC125 VLOAD VCOMP # RETROGRADE ORBIT PUSH SET RETROFLG INVC125 VLOAD VXV UNIT UR1/ STORE UH/ # UH/ B1 GOTO SPRTEX # Page 907 # PRECISION TRAJECTORY COMPUTATION SUBROUTINE # # DESCRIPTION # A NUMERICALLY INTEGRATED TRAJECTORY IS GENERATED WHICH FOR THE RETURN TO EARTH PROBLEM SATISFIES THE REENTRY # CONSTRAINTS (RCON AND X(T2)) ACHIEVED BY THE INITIAL CONIC TRAJECTORY AND MEETS THE DVD REQUIREMENT AS CLOSELY # AS POSSIBLE. # # CALLING SEQUENCE # L CALL # L+1 PREC100 # # NORMAL EXIT MODE # AT L+2 OF CALLING SEQUENCE WITH MPAC = 0 # # ALARM EXIT MODE # AT L+2 OF CALLING SEQUENCE WITH MPAC = # OCTAL 605 FOR EXCESS ITERATIONS # OCTAL 613 FOR REENTRY ANGLE OUT OF LIMITS # # SUBROUTINES CALLED # INTSTALL # RTENCK2 # RTENCK3 # TIMERAD # PARAM # V2T100 # # ERASABLE INITIALIZATION REQUIRED # PUSHLIST # NONE # MPAC # NONE # OTHER # R(T1)/ INITIAL POSITION VECTOR VECTOR B29/B27 METERS # V2(T1)/ POST IMPULSE INITIAL VELOCITY VECTOR VECTOR B7/B5 METERS/CS # V(T1)/ INITIAL VELOCITY VECTOR VECTOR B7/B5 METERS/CS # T1 INITIAL VECTOR TIME DP B28 CS # T12 INITIAL TO FINAL POSITION TIME DP B28 CS # RCON CONIC FINAL RADIUS DP B29/B27 METERS # R(T1) MAGNITUDE OF INITIAL POSITION VECTOR DP B29/B27 METERS # X(T2) COTANGENT OF FINAL FLIGHT PATH ANGLE DP B0 # X(T1) COTANGENT OF INITIAL FLIGHT PATH ANGLE DP B5 # RTEDVD DELTA VELOCITY DESIRED DP B7/B5 METERS/CS # MAMAX1 MAJOR AXIS LIMIT FOR LOWER BOUND ON GAMDV ITERATOR DP B30/B28 METERS # MAMAX2 MAJOR AXIS LIMIT FOR UPPER BOUND ON GAMDV ITERATOR DP B30/B28 METERS # UR1/ UNIT INITIAL VECTOR VECTOR B1 # UH/ UNIT HORIZONTAL VECTOR VECTOR B1 # BETA1 1+X(T2)**2 DP B1 # PHI2 PERIGEE OR APOGEE INDICATOR DP B2 -1 PERIGEE, +1 APOGEE # # Page 908 # # OUTPUT # V2(T1)/ POST IMPULSE INITIAL VELOCITY VECTOR VECTOR B7 METERS/CS # R(T2)/ FINAL POSITION VECTOR VECTOR B29 METERS # V(T2)/ FINAL VELOCITY VECTOR VECTOR B7 METERS/CS # T2 FINAL TIME DP B28 CENTISECONDS # # DEBRIS # RD FINAL R DESIRED DP B29/B27 METERS # R/APRE R/A DP B6 # P/RPRE P/R DP B4 # RPRE MAGNITUDE OF R(T2)/ DP B29/B27 METERS # X(T2)PRE COTANGENT OF GAMMA2 DP B0 # DT12 CORRECTION TO FINAL TIME T2 DP B28 CENTISECONDS # RCON FINAL RADIUS DP B29/B27 METERS # DRCON DELTA RCON DP B29/B27 METERS PREC100 STQ DLOAD SPRTEX 10RTE STODL NN1A RCON STORE RD PREC120 DLOAD 2RTEB1 STODL DT21PR # DT21PR = POSMAX M15RTE STCALL NN2 RTENCK3 PREC125 CALL PARAM DLOAD P STODL P/RPRE R1A STODL R/APRE R1 STODL RPRE COGA SL 5 STORE X(T2)PRE DCOMP DAD X(T2) ABS DSU EPC4RTE BOV BMN PREC130 PREC175 # DESIRED REENTRY ANGLE NOT ACHIEVED # Page 909 PREC130 DLOAD BMN NN2 PREC140 PREC132 SLOAD GOTO # TOO MANY ITERATIONS OCT605 # EXIT WITH ALARM PRECX # DETERMINE RADIUS AT WHICH THE DESIRED REENTRY ANGLE WILL BE ACHIEVED PREC140 DLOAD BZE NN1A PREC162 PREC150 DLOAD SL2 B2 P/RPRE DMP SL1 # BETA2=BETA1*P/R B2 PL02 BETA1 PUSH DLOAD R/APRE SL4 DMP 00D BDSU BMN # BETA3=1-BETA2*R/A 1RTEB4 PREC160 PREC155 SL2 SQRT DMP BDSU PHI2 1RTEB3 NORM PDDL X1 SR1 DDV # BETA4=BETA2/(1-PHI2*SQRT(BETA3)) SL* GOTO B1 0 -1,1 PREC165 PREC160 DLOAD NORM R/APRE X1 BDDV SL* B1 1RTEB1 0 -6,1 GOTO PREC165 PREC162 DLOAD NORM RPRE X1 BDDV SL* # BETA4=RD/RPRE B1 RD 0 -1,1 PREC165 SETPD PUSH 0 DSU DCOMP # Page 910 1RTEB1 STORE BETA12 BMN DLOAD PREC168 X(T2)PRE BMN DLOAD PREC167 BETA12 DCOMP STORE BETA12 PREC167 DLOAD BETA12 PREC168 ABS DSU EPC6RTE BMN DLOAD PREC175 DMP SL1 RPRE PUSH # RF = NEW RADIUS PREC170 DLOAD DAD NN2 1RTEB28 STORE NN2 VLOAD SET R(T2)/ RVSW STOVL RVEC V(T2)/ SIGN BETA12 STODL VVEC 1RTEB1 SIGN DCOMP BETA12 LXA,2 DLOAD MPAC LXC,1 SXA,2 CONICX1 SGNRDOT STCALL RDESIRED # COMPUTED DT12 (CORRECTION TO TIME OF TIMERAD # NEW RADIUS) DLOAD SIGN T BETA12 PDDL NORM # DT21=(PHI4)DT21 PL02D DT21PR X1 BDDV SL* 00D 0 -3,1 # Page 911 PUSH BMN # BETA13=(DT21)/(DT21PR) R3 PL04D PREC172 DLOAD PDDL # BETA14=1 B0 PL04D 2RTEB1 GOTO PREC173 PREC172 DLOAD PDDL # BETA14=.6 B0 PL04D M.6RTE PREC173 DDV DSU 02D 1RTEB3 BMN DLOAD PREC174 DMP DT21PR STORE 00D # DT21=(BETA14)DT21PR B28 PREC174 DLOAD PUSH 00D STCALL DT21PR RTENCK2 GOTO PREC125 PREC175 DLOAD DSU RPRE RD PUSH ABS # RPRE-RD = RERR DSU BMN EPC7RTE PREC220 # DESIRED RADIUS HAS NOT BEEN ACHIEVED DLOAD BZE NN1A PREC132 # TOO MANY ITERATIONS DSU BZE 10RTE PREC207 PREC205 DLOAD DSU # NOT FIRST PASS OF ITERATION RPRE' RPRE # RPRE'-RPRE B29/B27 NORM BDDV X2 DRCON SL* PUSH # DRCON/(RPRE'-RPRE)=S B2 0 -2,2 DAD BOV # S GR +4 OR LS -4 1RTEB1 PREC205M ABS DSU # Page 912 1RTEB1 BMN PREC206 PREC205M DLOAD DCOMP # S GR 0 OR LS -4 2RTEB1 PDDL # S=-4 B2 PREC206 DLOAD DMP SL2 STORE DRCON # DRCON=S(RERR) B29 DAD RCON STORE RCON # RCON+DRCON=RCON GOTO PREC210 PREC207 DLOAD DSQ # FIRST PASS OF ITERATION RD NORM SR1 X1 PDDL NORM RPRE X2 XSU,1 BDDV X2 SR* 0 -1,1 STORE RCON # RD**2/RPRE=RCON DSU RD STORE DRCON # RCON-RD=DRCON PREC210 DLOAD # PREPARE FOR NEXT ITERATION RPRE STODL RPRE' NN1A DSU 1RTEB28 STCALL NN1A V2T100 BHIZ GOTO PREC120 PRECX # DESIRED RADIUS ACHIEVED SETLOC RTE2 BANK PREC220 DLOAD DSU X(T2) X(T2)PRE ABS DSU EPC8RTE # Page 913 BMN SLOAD PREC225 OCT613 GOTO PRECX # IF REENTRY ANGLE OUT OF LIMITS EPC8RTE 2DEC .002 OCT613 OCT 613 # DESIRED FINAL ANGLE HAS BEEN REACHED. SETLOC RTE BANK PREC225 DLOAD ZERORTE PRECX GOTO SPRTEX # Page 914 # INTEGRATION CALLING SUBROUTINE # # DESCRIPTION # PERFORMS CONIC AND PRECISION INTEGRATIONS USING SUBROUTINE INTEGRVS. THERE ARE THREE ENTRANCES (RTENCK1, # RTENCK2, AND RTENCK3) FOR DIFFERENT SOURCES OF INPUT AND DIFFERENT OPTIONS. THERE IS A COMMON SET OF OUTPUT # WHICH INCLUDES SET UP OF INPUT FOR THE PARAM SUBROUTINE. # # RTENCK1 (CONIC INTEGRATION) # # CALLING SEQUENCE # L CALL # L+1 RTENCK1 # # ERASABLE INITIALIZATION REQUIRED # SAME AS FOR THE RTENCK3 ENTRANCE # # RTENCK2 (PRECISION INTEGRATION) # # CALLING SEQUENCE # L CALL # L+1 RTENCK2 # # ERASABLE INITIALIZATION REQUIRED # PUSHLIST # PUSHLOC-2 INTEGRATION TIME DT12 (CORRECTION TO T2) DP B28 CS # OTHER # R(T2)/ FINAL POSITION VECTOR VECTOR B29 METERS # V(T2)/ FINAL VELOCITY VECTOR VECTOR B7 METERS/CS # T2 FINAL TIME DP B28 CS # # RTENCK3 (PRECISION INTEGRATION) # # CALLING SEQUENCE # L CALL # L+1 RTENCK3 # # ERASABLE INITIALIZATION REQUIRED # R(T1)/ INITIAL POSITION VECTOR VECTOR B29 METERS # V2(T1)/ POST IMPULSE INITIAL VELOCITY VECTOR VECTOR B7 M/CS # T1 INITIAL VECTOR TIME DP B28 CS # T2 FINAL TIME DP B28 CS # # EXIT MODE # AT L+2 OF CALLING SEQUENCE # # SUBROUTINES CALLED # INTSTALL # INTEGRVS # # OUTPUT # PUSHLIST # Page 915 # PUSHLOC-6 FINAL POSITION VECTOR R(T2)/ VECTOR B29 METERS # X1 CONICS MUTABLE ENTRY FOR EARTH (-2) SP B14 # MPAC # FINAL VELOCITY VECTOR V(T2)/ VECTOR B7 M/CS # OTHER # R(T2)/ AS IN PUSHLIST # V(T2)/ AS IN MPAC # T2 FINAL TIME DP B28 CS SETLOC RTE3 BANK RTENCK1 STQ CALL RTENCKEX INTSTALL VLOAD SET R(T1)/ INTYPFLG GOTO RTENCK3B RTENCK2 STQ CALL RTENCKEX INTSTALL CLEAR VLOAD INTYPFLG R(T2)/ STOVL RCV V(T2)/ STODL VCV T2 STORE TET DAD GOTO RTENCK3D RTENCK3 STQ CALL RTENCKEX INTSTALL RTENCK3A VLOAD CLEAR R(T1)/ INTYPFLG RTENCK3B STOVL RCV V2(T1)/ STODL VCV T1 STODL TET T2 # Page 916 RTENCK3D STORE TDEC1 CLEAR CALL MOONFLAG INTEGRVS VLOAD RATT STORE R(T2)/ PDDL LXC,1 TAT CONICX1 STOVL T2 VATT STORE V(T2)/ GOTO RTENCKEX SETLOC RTE BANK # Page 917 # V2(T1) COMPUTATION SUBROUTINE # # DESCRIPTION # A POST IMPULSE VELOCITY VECTOR (V2(T1)) IS COMPUTED WHICH EITHER # (1) MEETS THE INPUT VELOCITY CHANGE DESIRED (RTEDVD) IN A MINIMUM TIME OR # (2) IF A VELOCITY CHANGE ISN'T SPECIFIED (RTEDVD = 0), A V2(T1) IS COMPUTED WHICH MINIMIZES THE IMPULSE (DV) # AND CONSEQUENTLY FUEL. # # CALLING SEQUENCE # L CALL # L+1 V2T100 # # NORMAL EXIT MODE # AT L+2 OF CALLING SEQUENCE WITH MPAC = 0 # # ALARM EXIT MODE # AT L+2 OF CALLING SEQUENCE WITH MPAC = OCTAL 605 FOR EXCESS ITERATIONS. # # SUBROUTINES CALLED # GAMDV10 # XT1LIM # DVCALC # # ERASABLE INITIALIZATION REQUIRED # PUSHLIST # NONE # MPAC # NONE # OTHER # R(T1) MAGNITUDE OF INITIAL POSITION VECTOR DP B29/B27 METERS # RCON MAGNITUDE OF FINAL POSITION VECTOR DP B29/B27 METERS # V(T1)/ INITIAL VELOCITY VECTOR VECTOR B7/B5 METERS/CS # RTEDVD DELTA VELOCITY DESIRED DP B7/B5 METERS/CS # UR1/ UNIT INITIAL VECTOR VECTOR B1 # UH/ UNIT HORIZONTAL VECTOR VECTOR B1 # X(T2) COTANGENT OF FINAL FLIGHT PATH ANGLE DP B0 # X(T1) COTANGENT OF INITIAL FLIGHT PATH ANGLE (INPUT FOR PREC) DP B5 # CFPA COSINE OF INITIAL FLIGHT PATH ANGLE DP B1 # MAMAX1 MAJOR AXIS LIMIT FOR LOWER BOUND ON GAMDV ITERATOR DP B30/B28 METERS # MAMAX2 MAJOR AXIS LIMIT FOR UPPER BOUND ON GAMDV ITERATOR DP B30/B28 METERS # PHI2 REENTRY NEAR PERIGEE OR APOGEE INDICATE (RTE ONLY) DP B2 -1 PERIGEE, +1 APOGEE # N1 CONIC OR PRECISION ITERATION OPERATOR DP B28 NEGATIVE CONIC, PLUS PREC # # OUTPUT # V2(T1)/ POST IMPULSE INITIAL VELOCITY VECTOR VECTOR B7/B5 METERS/CS # DV INITIAL VELOCITY CHANGE DP B7/B5 METERS/CS # X(T1) COTANGENT OF INITIAL FLIGHT PATH ANGLE (POST IMPULSE) DP B5 # PCON SEMI-LATUS RECTUM DP B28/B26 METERS # BETA1 1+X(T2)**2 DP B1 # # Page 918 # # DEBRIS # PUSHLIST # 00D X(T1),,=PREVIOUS PRECISION X(T1) DP B5 # 02D THETA1=BETA5*LAMBDA-1 TP B17 # 05D THETA2=2*R(T1)*(LAMBDA-1) TP B38/B36 # 08D THETA3=MU**.5/R(T1) DP B-4/B-5 # 10D X(T1)MIN=LOWER BOUND ON X(T1) IN GAMDV ITERATOR DP B5 # 12D DX(T1)MAX=MAXIMUM DELTA X(T1) DP B5 # 14D X(T1)MAX=UPPER BOUND ON X(T1) IN GAMDV ITERATOR DP B5 # 16D DX(T1)=ITERATOR INCREMENT DP B5 # 31D GAMDV10 SUBROUTINE RETURN ADDRESS # 32D DVCALC SUBROUTINE RETURN ADDRESS # 33D V2T100 SUBROUTINE RETURN ADDRESS V2T100 STQ DLOAD 33D RCON BMN DSU # ABORT IF RCON NEGATIVE V2TERROR R(T1) BMN V2T101 V2TERROR EXIT # OR IF LAMBDA LESS THAN ONE TC POODOO # NO SOLUTION IF LAMBDA LESS THAN 1 OCT 00610 V2T101 SETPD CLEAR 0 # PL00D F2RTE DLOAD NORM RCON X1 PDDL NORM R(T1) S1 STORE 10D SR1 DDV # R1/RCON = LAMBDA B1 XSU,1 PDDL # PL02D S1 X(T2) DSQ SR1 DAD 1RTEB1 STORE BETA1 # 1+X(T2)**2 = BETA1 B1 DMP 00D STORE 28D # BETAI*LAMBDA = BETA5 DMP SL* 00D 0 -7,1 SL* DSU # Page 919 0 -7,1 1RTEB17 RTB PDDL # BETA5*LAMBDA-1 = THETA1 B17 PL05D TPMODE 1RTEB1 SR* DCOMP 0,1 DAD DMP 00D R(T1) SL* RTB 0 -7D,1 TPMODE PDDL # 2*R(T1)*(LAMBDA-1)=THETA2 B38/B36 PL08D RTMURTE NORM SR1 X2 XSU,2 DDV S1 10D SR* PDDL # MU**.5/R(T1)=THETA3 B-4/B-5 PL10D 6,2 MAMAX1 PUSH PUSH # MAMAX1=MA CALL XT1LIM DCOMP PUSH # X(T1)MIN B5 PL12D DCOMP SR4 PDDL PUSH # DX(T1)MAX B5 PL14D MAMAX2 PUSH CALL XT1LIM PDDL BMN # X(T1)MAX B5 PL16D NN1A V2T102 GOTO V2T110 # PROCEED HERE IF NOT PRECISION COMPUTATION V2T102 DLOAD RTEDVD BZE GOTO V2T105 V2T140 V2T105 DLOAD BMN CFPA V2T140 GOTO V2T145 # Page 920 # DURING A PRECISION TRAJECTORY ITERATION CONSTRAIN THE INDEPENDENT # VARIABLE TO INSURE THAT ALL CONICS PASS THROUGH RCON ON THE SAME PASS # THROUGH X(T2) V2T110 DLOAD RTB 1RTEB17 TPMODE DCOMP PDDL # -1 B17 PL19D 2RTEB1 SR* DSU 0,1 00D DMP SL* 28D 0 -7,1 SL* TAD 0 -7,1 RTB PDDL # BETA5(2-LAMBDA)-1=BETA6 B17 PL19D TPMODE X(T1) STORE 00D # X(T1),, B5 TLOAD # PL16D BMN BZE V2T115 V2T115 SL GOTO 7 V2T120 V2T115 DLOAD BMN PHI2 V2T125 DCOMP STODL PHI2 10RTE STORE NN1A GOTO V2T125 V2T120 SQRT RTB DPMODE PDDL BMN # BETA6**.5=X(T1)LIM B5 PL18D PHI2 V2T130 DLOAD STADR STORE 14D # X(T1)LIM = X(T1)MAX DCOMP STORE 10D # -X(T1)LIM = X(T1)MIN V2T125 DLOAD BZE X(T1) V2T140 BMN GOTO # Page 921 V2T140 V2T145 V2T130 DLOAD BZE X(T1) V2T135 BMN DLOAD # PL16D V2T135 STADR STORE 10D # X(T1)LIM = X(T1)MIN GOTO V2T145 V2T135 DLOAD DCOMP # PL16D STADR STORE 14D # -X(T1)LIM = X(T1)MAX V2T140 DLOAD 10D STODL X(T1) # X(T1)MIN = X(T1) 12D PUSH GOTO # DX(T1)MAX = DX(T1) PL18D V2T150 V2T145 DLOAD 14D STODL X(T1) # X(T1)MAX = X(T1) 12D DCOMP PUSH # -DX(T1)MAX = DX(T1) PL18D V2T150 CALL # GOTO X(T1)-DV ITERATOR GAMDV10 DLOAD BZE # EXIT IF MINIMUM FUEL MODE RTEDVD V2T1X # CONTINUE IF TIME CRITICAL MODE DSU BMN DV V2T155 GOTO V2T175 V2T155 DLOAD BMN NN1A V2T160 GOTO V2T185 # CONIC TRAJECTORY COMPUTATION V2T160 DLOAD BZE X(T1) V2T165 BMN GOTO # Page 922 V2T165 V2T300 V2T165 DLOAD BZE CFPA V2T300 BMN DLOAD V2T300 14D STODL X(T1) # X(T1)MAX=X(T1) 12D DCOMP STCALL 16D # -DX(T1)MAX=DX(T1) GAMDV10 DLOAD DSU RTEDVD DV BMN V2T300 V2T175 SET DLOAD F2RTE X(T1) BOFF SLOWFLG V2T177 STODL 10D # X(T1)MIN 12D # DX(T1)MAX GOTO V2T179 V2T177 STODL 14D 12D DCOMP V2T179 STCALL 16D # DX(T1) GAMDV10 DLOAD BMN NN1A V2T300 # PREVENT A LARGE CHANGE IN INDEPENDENT VARIABLE DURING AN ITERATION FOR A # PRECISION TRAJECTORY V2T185 DLOAD DSU X(T1) 00D ABS PDDL # /X(T1)-X(T1),,/ = BETA7 12D SL1 BDSU BMN DLOAD V2T300 00D # CONTINUE IF BETA7 LARGER THAN 2DX(T1)MAX STORE X(T1) # X(T1),, = X(T1) # Page 923 DSU BMN 14D V2T195 DLOAD 14D STORE X(T1) # X(T1)MAX = X(T1) GOTO V2T205 V2T195 DLOAD DSU X(T1) 10D BMN GOTO V2T200 V2T205 V2T200 DLOAD 10D STORE X(T1) # X(T1)MIN = X(T1) V2T205 CALL DVCALC V2T300 DLOAD ZERORTE V2T1X GOTO 33D # Page 924 # X(T1)-DV ITERATOR SUBROUTINE # # DESCRIPTION # COMPUTES A POST IMPULSE VELOCITY VECTOR (V2(T1)) WHICH REQUIRES A MINIMUM DV. # # CALLING SEQUENCE # L CALL # L+1 GAMDV10 # # NORMAL EXIT MODE # AT L+2 OF CALLING SEQUENCE # # ALARM EXIT MODE # AT V2T1X WITH MPAC = OCTAL 605 FOR EXCESS ITERATIONS # # SUBROUTINES CALLED # DVCALC # # ERASABLE INITIALIZATION REQUIRED # PUSHLIST # 02D THETA1=BETA5*LAMBDA-1 TP B17 # 05D THETA2=2*R(T1)*(LAMBDA-1) TP B38/B36 # 08D THETA3=MU**.5/R(T1) DP B-4/B-5 # 10D X(T1)MIN=LOWER BOUND ON INDEPENDENT VARIABLE X(T1) DP B5 # 12D DX(T1)MAX=MAXIMUM DX(T1) DP B5 # 14D X(T1)MAX=UPPER BOUND ON INDEPENDENT VARIABLE X(T1) DP B5 # 16D DX(T1)=ITERATOR INCREMENT DP B5 # MPAC # NONE # OTHER # V(T1)/ INITIAL VELOCITY VECTOR VECTOR B7/B5 METERS/CS # RTEDVD DELTA VELOCITY DESIRED DP B7/B5 METERS/CS # UR1/ UNIT INITIAL VECTOR VECTOR B1 # UH/ UNIT HORIZONTAL VECTOR VECTOR B1 # X(T1) COTANGENT OF INITIAL FLIGHT PATH ANGLE (FROM VERTICAL) DP B5 # F2RTE TIME CRITICAL OR MINIMUM FUEL MODE INDICATOR STATE AREA 0 MIN. FUEL, 1 MIN. TIME # # OUTPUT # V2(T1)/ POST IMPULSE INITIAL VELOCITY VECTOR VECTOR B7/B5 METERS/CS # DV INITIAL VELOCITY CHANGE DP B7/B5 METERS/CS # X(T1) COTANGENT OF INITIAL FPA MEASURED FROM VERTICAL DP B5 # PCON SEMI-LATUS RECTUM DP B28/B26 METERS # # DEBRIS # PUSHLIST # 00D X(T1),, # 02D THETA1 # 05D THETA2 # 08D THETA3 # 10D X(T1)MIN # 12D DX(T1)MAX # Page 925 # 14D X(T1)MAX # 16D DX(T1) # 22D DV,=PREVIOUS DV DP B7/B5 # 24D BETA9=X(T1)+1.1DX(T1) DP B5 # 31D GAMDV10 SUBROUTINE RETURN ADDRESS # 32D DVCALC SUBROUTINE RETURN ADDRESS # 33D V2T100 SUBROUTINE RETURN ADDRESS GAMDV10 STQ 31D SETPD CALL 18D # PL18D DVCALC DLOAD DSU 14D 10D BOV GAMDV20 PUSH DSU # X(T1)MAX-X(T1)MIN=BETA8 B5 PL20D EPC9RTE BMN DLOAD GAMDVX # BOUNDS CLOSE TOGETHER 18D DSU BMN # BETA8-DX(T1)MAX 12D GAMDV15 SETPD GOTO # PL18D 18D GAMDV20 GAMDV15 DLOAD # PL18D SIGN SR1 16D STORE 16D # BETA8(SIGNDX(T1))/2=DX(T1) GAMDV20 DLOAD M144RTE STORE NN2 GAMDV25 DLOAD DAD NN2 1RTEB28 BMN SLOAD GAMDV30 OCT605 GOTO V2T1X GAMDV30 STORE NN2 # NN2=NN2+1 DLOAD PDDL # X(T1)=X(T1), B5 PL20D X(T1) DV PDDL DAD # DV=DV, B7/B5 PL22D X(T1) 16D # Page 926 STCALL X(T1) # X(T1)+DX(T1)=X(T1) B5 DVCALC BON DLOAD F2RTE GAMDV35 DV DSU BMN # CONTINUE IF FUEL CRITICAL MODE 20D GAMDV33 GAMDV32 DLOAD DCOMP 16D SR1 STORE 16D GAMDV33 SETPD GOTO 18D # PL18D GAMDV50 # TIME CRITICAL MODE GAMDV35 DLOAD DSU RTEDVD DV PDDL PUSH # DVD-DV=DVERR B7/B5 PL22D GAMDV40 DLOAD ABS # DV, PL24D 20D DSU BMN EPC10RTE GAMDVX GAMDV45 BOVB DLOAD TCDANZIG # ASSURE OVFIND IS 0 BDSU NORM DV X2 PDDL # DV-DV, B7/B5-N2 PL22D NORM SR1 # DVERR B8/B6-N1 X1 DDV PDDL # DVERR/ DV - DV BDSU DMP # PL18D X(T1) XSU,1 X2 STORE 16D # PRESERVE SIGN IF OVERFLOW SR* BOV 0 -1,1 GAMDV47 STORE 16D # (X(T1)-X(T1),)DVERR/(DV-DV,)=DX(T1) ABS DSU 12D BMN GAMDV50 # Page 927 GAMDV47 DLOAD SIGN 12D 16D STORE 16D # DX(T1)MAX(SIGNDX(T1))=DX(T1) # CHECK TO KEEP INDEPENDENT VARIABLE IN BOUNDS GAMDV50 DLOAD DMP 16D 1.1RTEB1 SL1 DAD X(T1) STORE 24D # X(T1)+1.1DX(T1)=BETA9 B5 DSU BMN 14D GAMDV55 DLOAD DSU 14D X(T1) SR1 STCALL 16D # (X(T1)MAX-X(T1))/2=DX(T1) B5 GAMDV65 GAMDV55 DLOAD DSU 24D 10D BMN GOTO GAMDV60 GAMDV65 GAMDV60 DLOAD DSU 10D X(T1) SR1 STORE 16D # (X(T1)MIN-X(T1))/2=DX(T1) B5 GAMDV65 DLOAD ABS 16D DSU BMN EPC9RTE GAMDVX GOTO GAMDV25 GAMDVX GOTO 31D # Page 928 # DV CALCULATION SUBROUTINE # # INPUT # PUSHLIST # 02D THETA1=BETA5*LAMBDA-1 TP B17 # 05D THETA2=2*R(T1)*(LAMBDA-1) TP B38/B36 # 08D THETA3=MU**.5/R(T1) DP B-4/B-5 # OTHER # X(T1) COTANGENT OF POST IMPULSE INITIAL FLIGHT PATH ANGLE DP B5 # V(T1)/ INITIAL VELOCITY VECTOR (PRE IMPULSE) VECTOR B7/B5 METERS/CS # UR1/ UNIT INITIAL VECTOR VECTOR B1 # UH/ UNIT HORIZONTAL VECTOR VECTOR B1 # # OUTPUT # V2(T1)/ POST IMPULSE INITIAL VELOCITY VECTOR VECTOR B7/B5 METERS/CS # DV INITIAL VELOCITY CHANGE DP B7/B5 METERS/CS # PCON SEMI-LATUS RECTUM DP B28/B26 METERS # # DEBRIS # 28D THETA3*PCON**.5 DP B10/B8-N1 # C(PUSHLOC) THETA3(PCON**.5)*X(T1)*UR1/ VECTOR B7/B5 # 32D DVCALC SUBROUTINE RETURN ADDRESS # X1 NORMALIZATION FACTOR FOR VALUE IN 28D # # PUSHLOC IS RESTORED TO ITS ENTRANCE VALUE UPON EXITING DVCALC DVCALC STQ DLOAD 32D X(T1) DSQ SR 7 DCOMP TAD 02D NORM PUSH X1 TLOAD NORM 05D X2 RTB SR1 DPMODE XSU,2 DDV X1 SR* 6,2 STORE PCON # THETA2/(THETA1-X(T1)**2)=PCON B28/26 SQRT DMP 08D NORM X1 STODL 28D # THETA3*PCON**.5 B10/B8 -N1 # Page 929 X(T1) NORM VXSC X2 UR1/ # X(T1)*UR1/ B5+B1 -N2 XAD,2 VXSC X1 28D VSR* PDVL # THETA3(PCON**.5)X(T1)*UR1/ B7/B5 0 -9D,2 # + UH/ VXSC VSR* # THETA3(PCON**.5)UH/ B7/B5 28D 0 -4,1 # = VAD STADR STORE V2(T1)/ # V2(T1)/ B7/B5 VSU ABVAL V(T1)/ STORE DV # ABVAL(V2(T1)/-V1(T)/)=DV B7/B5 GOTO 32D # Page 930 # SUBROUTINE TO COMPUTE BOUNDS ON INDEPENDENT VARIABLE X(T1) # # INPUT # PUSHLIST # PUSHLOC -4 MAJOR AXIS (MA) DP B30/B28 # PUSHLOC -2 MAJOR AXIS (MA) AGAIN DP B30/B28 # 28D BETA5=LAMBDA*BETA1 DP B9 # OTHER # RCON DP B29/B27 # R(T1) DP B29/B27 # # OUTPUT # MPAC # X(T1)LIM LIMIT ON INDEPENDENT VARIABLE X(T1) DP B5 # # DEBRIS # PUSHLIST # C(PUSHLOC) MA-RCON DP (B30/28)-N1 # C(PUSHLOC) +2 MA DP B30/B28 # X1 NORMALIZATION FACTOR FOR MA-RCON # 20D XT1LIM SUBROUTINE RETURN ADDRESS # # PUSHLOC IS RESTORED TO ITS ENTRANCE VALUE UPON EXITING XT1LIM XT1LIM STQ DLOAD 20D RCON SR1 BDSU NORM PDDL # MA-RCON B30-N1 X2 PDDL SR1 R(T1) BDSU DDV SL* DMP 0 -3,2 28D SL* DSU # BETA10=BETA5(MA-RT)/(MA-RC)-1 B11 0 -6,1 1RTEB25 +1 # 1.0 B-11 SL1 BOV XT1LIM2 BMN GOTO XT1LIM5 XT1LIM3 XT1LIM2 DLOAD # BETA10=POSMAX IF OVERFLOW 2RTEB1 XT1LIM3 SQRT GOTO # X(T1)=SQRT(BETA10) XT1LIMX XT1LIM5 DLOAD ZERORTE XT1LIMX GOTO 20D # Page 931 # CONSTANTS FOR THE P37 AND P70 PROGRAMS AND SUBROUTINES BANK 36 SETLOC RTECON1 BANK 1RTEB1 2DEC 1. B-1 1RTEB2 2DEC 1. B-2 1RTEB3 2DEC 1. B-3 1RTEB4 2DEC 1. B-4 1RTEB10 2DEC 1. B-10 1RTEB12 2DEC 1. B-12 1RTEB13 2DEC 1. B-13 1RTEB17 2DEC 1. B-17 1RTEB25 2DEC 1. B-25 # * * B25 AND B28 MUST BE CONSECUTIVE * * 1RTEB28 2DEC 1. B-28 ZERORTE 2DEC 0 M144RTE 2DEC -144. B-28 M15RTE 2DEC -15 10RTE 2DEC 10 M.6RTE 2DEC -.6 1.1RTEB1 2DEC 1.1 B-1 M6RTEB28 2DEC -6 2RTEB1 2OCT 3777737777 M9RTEB28 2DEC -9 M8RTEB28 2DEC -8 30480RTE 2DEC 30480. B-29 VCSPS 2DEC 31.510396 B-5 # (SEE 2VEXHUST) # Page 932 VCRCS 2DEC 27.0664 B-5 MDOTRCS 2DEC .0016375 B-3 CSUBT 2DEC .5 OCT605 OCT 00605 OCT612 OCT 00612 MCOS7.5 2DEC -.99144486 MSIN7.5 2DEC -.13052619 MCOS22.5 2DEC -.92387953 B-2 THETA165 2DEC .4583333333 THETA210 2DEC .5833333333 EPC1RTE 2DEC .99966 B-1 EPC2RTE 2DEC 100. B-29 EPC3RTE 2DEC .001 EPC4RTE 2DEC .00001 EPC5RTE 2DEC .01 B-6 EPC6RTE 2DEC .000007 B-1 EPC7RTE 2DEC 1000. B-29 EPC9RTE 2DEC 1. B-25 EPC10RTE 2DEC .0001 B-7 BANK 35 SETLOC RTECON1 BANK C4RTE 2DEC -6.986643 E7 B-30 K1RTE 2DEC 7. E6 B-29 K2RTE 2DEC 6495000. B-29 K3RTE 2DEC -.06105 K4RTE 2DEC -.10453 RTMURTE 2DEC 199650.501 B-18 # Page 933 E3RTE 2DEC 121920. B-29 ================================================ FILE: Comanche055/P40-P47.agc ================================================ # Copyright: Public domain. # Filename: P40-P47.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 684-736 # Mod history: 2009-05-11 RSB Adapted from the Colossus249/ file # of the same name, using Comanche055 page # images. # 2009-05-20 RSB In S20.1, a DMP DDV was corrected to DMPR DDV. # 2009-05-22 RSB In BESTTRIM, TC PACTOFF corrected to # TS PACTOFF. # 2009-05-23 RSB Prior to the 2CADR at T5IDLDAP, added an # SBANK. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 684 # PROGRAM DESCRIPTION ** P40CSM ** EBANK= DAPDATR1 BANK 31 SETLOC P40S BANK COUNT 24/P40 P40CSM TC DOWNFLAG ADRES ENG2FLAG TC INTPRET SLOAD BOFF ECSTEER # IS THIS AN EXTERNAL DELTA V BURN XDELVFLG P40S/C # NO CSTEER = ECSTEER DLOAD # YES CSTEER = ZERO HI6ZEROS P40S/C STODL CSTEER FENG # SET UP THRUST FOR P40 20,000 LBS P40S/F STODL F # P41 ENTERS HERE TIG # ORIGINAL TIG MAY BE SLIPPED BY P40S/SV STORE NOMTIG # SET ORIGINAL TIME OF IGNITION FOR S40.9 EXIT TC BANKCALL CADR R02BOTH # IMU STATUS CHECK P40PVA TC INTPRET CALL S40.1 # COMPUTE VGTIG,UT CALL S40.2,3 # COMPUTE PREFERRED ATTITUDE SET EXIT PFRATFLG P40SXTY TCR SETMINDB -1 # NARROW DEADBAND FOR MANEUVER (EBANK6) RELINT TC BANKCALL CADR R60CSM # ATTITUDE MANEUVER CS ONE # FOR UPDATEVG TS NBRCYCLS TC UPFLAG ADRES TIMRFLAG # ALLOW CLOCKTASK TC P41/P40 TC P41/DSP # P41 P40TTOG CAF V06N40 # INITIALIZE FOR CLOCKTASK WHICH IS CALLED # Page 685 TS NVWORD1 # BELOW TC INTPRET VLOAD ABVAL # FOR R2 VGTIG STODL VGDISP HI6ZEROS STORE DVTOTAL EXIT EXTEND DCA STEERADS # SET FOR UPDATEVG AND TEST FOR STEERING DXCH AVEGEXIT # AFTER AVERAGE G P40GMB CAF P40CKLS2 # (4.1 PROTECTION) TC BANKCALL CADR GOPERF1 TCF POST41 # V34 TCF TST,TRIM # V33 TRIMONLY CS BIT1 # SET MRKRTEMP FOR GIMBAL TRIM (-1) +1 TS MRKRTMP # ENTRY FROM TST,TRIM CAF ZERO # SET CNTR +0 FOR RESTART LOGIC IN S40.6 TS CNTR # +0 SAYS NORMAL ENTRY # +1 (PRE40.6) SAYS RESTART ENTRY CAF ONE TC WAITLIST EBANK= DAPDATR1 2CADR S40.6 CCS MRKRTMP # TEST TO FIND TIME TO WAIT FOR GIMBAL TEST CAF 18SEC # PLUS, DELAY FOR 18 SECONDS TCF +2 # HOLE CAF 5SEC # DELAY FOR TRIM ONLY TASK TC BANKCALL CADR DELAYJOB TC 2PHSCHNG OCT 40026 # 6.2 = PRE40.6(-0CS), CLOKTASK(100CS) OCT 00234 # 4.23 = P40S/SV (PRIO12) P40S/RS CAF ONE TC WAITLIST # P41/SDP EBANK= TIG 2CADR CLOKTASK RELINT P40S/SV TCR E7SETTER # JOB, 4.23 PRETECTS, PREO12 EBANK= TIG # Page 686 TC INTPRET DLOAD DSU TIG SEC29.96 STORE TDEC1 CALRB # RETURN IN BASIC MIDTOAV1 TCF +2 TC P40SNEWM # INTEGRATION TIME GREATER THAN ALLOWED P40SET EXTEND DCA MPAC # DELTA TIME TO PREREAD (INT.INIT.) DXCH P40TMP EXTEND DCS 5SECDP # FOR TIGBLNK DAS P40TMP EXTEND DCA P40TMP TC LONGCALL EBANK= TIG 2CADR TIGBLNK TC PHASCHNG OCT 20214 # 4.21 = TIGBLNK (P40TMP CS) TCF ENDOFJOB P40BLNKR TC BANKCALL CADR CLEANDSP # REMOVE RESIDUE TCF ENDOFJOB EBANK= TIG P40SNEWM EXTEND DCA PIPTIME1 DXCH TIG # SET NEW TIG FOR 06 40 EXTEND DCA SEC29.96 DAS TIG TCF P40SET # FOR LONGCALL OF TIG-30 (OR -35) EBANK= DAPDATR1 POSTBURN CAF V16N40 TC BANKCALL CADR REFLASH TCF POST41 # V34 GO FINISH TCF P40RCS # PROCEED TCF POSTBURN # RECYCLE P40RCS EXTEND # V99N40 ENTERS HERE ON A P40 BYPASS SPS DCA ACADN85 DXCH AVEGEXIT CAF 2SECS # WAIT FOR CALCN85 VIA AVEGEXIT TC BANKCALL # Page 687 CADR DELAYJOB P40MINDB TCR SETMINDB -1 RELINT TIGNOW TC PHASCHNG OCT 05024 # TYPE C GROUP 4 BELOW FOR NOUN 85 OCT 20000 # PRIO 20 CAF V16N85B TC BANKCALL CADR REFLASH TCF POST41 # FINISH P40/P41 TCF POST41 # V03 PROCEED WITH REST OF THE CLEAN-UP TCF TIGNOW # V32 NOT GSOP RESPONSE BUT REDISPLAY N85 POST41 EXTEND DCA SERVCADR DXCH AVEGEXIT TCF GOTOPOOH MINDB DEC 46 MAXDB DEC 455 EBANK= DAPDATR1 -1 INHINT SETMINDB CA CDUX # ROUTINE FOR SETTING TS THETADX # THE MINIMUM DEADBAND EXTEND # IN AUTOPILOT DCA CDUY DXCH THETADY CA MINDB # SHOULD BE CALLED UNDER TS ADB # INTERRUPT INHIBITED CS BIT4 # EBANK = E6 MASK DAPDATR1 TS DAPDATR1 TC Q EBANK= DAPDATR1 -1 INHINT SETMAXDB CA MAXDB # ROUTINE FOR SETTING TS ADB # THE MAXIMUM DEADBAND IN AUTOPILOT CS DAPDATR1 MASK BIT4 # SHOULD BE CALLED UNDER ADS DAPDATR1 # INTERRUPT INHIBITED TC Q # EBANK = E6 # Page 688 # PROGRAM DESCRIPTION ** P41CSM ** SETLOC P40S2 BANK EBANK= DAPDATR1 COUNT 24/P41 P41CSM TC UPFLAG ADRES ENG2FLAG # SET FOR RCS TC INTPRET DLOAD HI6ZEROS # FOR P41 CSTEER =0 STORE CSTEER DLOAD BON FRCS2 # 2JET THRUST FOR S40.1 NJETSFLG P40S/F # NJETS = 1 2-JET DAD GOTO # NJETS = 0 4-JET FRCS2 P40S/F SETLOC P40S BANK P41/P40 CS MODREG MASK ONE # P41EXITS AT CALL LOC +1 EXTEND BZF +2 # P41 INCR Q # P40 EXITS AT CALL LOC +2 TC Q TTG/0 CAF PRIO20 # TASK (4.4 PROTECTS IN P41) TC NOVAC EBANK= DAPDATR1 2CADR TIGNOW P40CLK TC DOWNFLAG ADRES TIMRFLAG TCF TASKOVER P41/DSP CAF V06N85B # SET UP FOR NONFLASH V 06 N85 BY CLOCKJOB TS NVWORD1 TC INTPRET # Page 689 CALL # COMPUTE P40CNV85 # VGTIG IN CTRL COORDS EXIT EXTEND # DO CONTROL COORD CALCULATION AFTER AVEG DCA ACADN85 DXCH AVEGEXIT TC 2PHSCHNG OCT 40036 # 6.3=CLOKTASK(100CS) OCT 234 # 4.23=P40S/SV(PRIO12) TCF P40S/RS P41REDSP CAF V16N85B # ENTER FROM P41 SIDE OF TIGAVEG TS NVWORD1 # REDISPLAY NONFLASHING CAF SEC29.96 +1 TC WAITLIST EBANK= DAPDATR1 2CADR TTG/0 CS BIT3 TCF TTGPHS P40CNV85 STQ SETPD QTEMP1 0 VLOAD PUSH VGPREV # EQUALS VGTIG (TARGETTING INPUT) CALL S41.1 STCALL VGBODY QTEMP1 EBANK= DAPDATR1 CALCN85 TC INTPRET CALL UPDATEVG # NEW VG, S40.8 (+MAYBE S40.9) CALL P40CNV85 # COMPUTE VGBODY EXIT TC SERVXT FENG 2DEC 9.1188544 B-7 # SPS THRUST (20500LBS), SC.AT B+7 NEWT/E4 FRCS2 2DEC .087437837 B-7 # RCS ULLAGE (199.6COS10 LBS), SC.AT # B+7 NEWTONS/E+4 SEC24.96 DEC 2496 SEC29.96 2DEC 2996 18SEC DEC 1800 P40CKLS2 OCT 204 40CST5 OCT 37730 # 40 CS FOR THE T5 CLOCK OCT12 = TEN # Page 690 V1683 VN 1683 V06N85B VN 0685 V16N85B VN 1685 V06N40 VN 0640 V16N40 VN 1640 OCT27/24 OCT 27 OCT53 OCT 53 OCT35 OCT 35 EBANK= DAPDATR1 T5IDL24 2CADR T5IDLOC 3MDOT DEC 86.6175796 B-16 # 3SEC MASS LOSS (63.8 LBS/SEC), SC.AT # B+16 KB/SEC (NOT, EMDOT IS PAD-LOADED, # BUT 3MDOT IS NOT A CRITICAL QUANTITY, SO # IT CAN REMAIN IN FIXED MEMORY) TST,TRIM CAF BIT1 # SET UP FOR GIMB DRIVE TEST AND TRIM (+1) TCF TRIMONLY +1 TIGBLNK CAF 5SEC # CALL TIGAVEG IN FIVE SEC AT TIG-30 TC WAITLIST EBANK= TIG 2CADR TIGAVEG CAF ZERO # DISABLE HERE, NOT IN P40BLNKR TS NVWORD1 CAF PRIO14 TC NOVAC EBANK= TIG 2CADR P40BLNKR # DON'T PROTECT -- RESTARTS BLANK DSKY CS OCT37 # 4.37 = TIGAVEG (500CS) P40TSK TC NEWPHASE OCT 4 TC TASKOVER EBANK= TIG ACADN83 2CADR CALCN83 EBANK= TIG SERVCADR 2CADR SERVEXIT EBANK= DAPDATR1 ACADN85 2CADR CALCN85 # Page 691 # PROGRAM DESCRIPTION ** P47CSM ** COUNT 24/P47 EBANK= TIG P47CSM TC BANKCALL # IMU STATUS CHECK CADR R02BOTH TC INTPRET CALRB MIDTOAV2 CA MPAC +1 # DELTA TIME TO RPEREAD (LESS THAN 100 TS P40TMP # CS, WITH A TPAGREE, INT.INIT.) TC WAITLIST EBANK= TIG 2CADR TIGON # TIGON IS REQUIRED TO MATHCHTAT AND AVEG TC PHASCHNG OCT 40574 # A, 4.57 = TIGON (P40TMP CS) TCF ENDOFJOB EBANK= P40TMP TIGON EXTEND DCA ACADN83 DXCH AVEGEXIT CAF PRIO30 # FORCE ZEROING OF N83 BEFORE SERVICER TC NOVAC EBANK= TIG 2CADR P47BODY CS BIT2 # 4.2 = PRECHECK (-0CS), P47BODY (PRIO30) TCF TTGPHS EBANK= TIG CALCN83 TC INTPRET SETPD # SET UP PUSHLIST FOR S41.1 0 VLOAD VAD DELVCTL DELVREF STORE DV47TEMP # FOR COPYCYCLE BELOW PUSH CALL S41.1 STCALL DELVIMU S11.1 # CALC. VI, H, HDOT FOR NOUN 62 EXIT TC PHASCHNG OCT 10035 # Page 692 CAF FIVE TC GENTRAN ADRES DV47TEMP ADRES DELVCTL TC SERVXT P47BODY TC INTPRET VLOAD HI6ZEROS STORE DELVIMU # CLEAR DISPLAY AND ACCUMULATOR STORAGE STORE DELVCTL # UPON INITIATION OR ENTER RESPONSE EXIT P47BOD CAF PRIO15 # LOWER PRIO THAN CALCN83 (20) TC PRIOCHNG # TO PREVENT INTERRUPTION OF CALCN83 TC PHASCHNG OCT 05024 # TYPE C GROUP 4 BELOW FOR NOUN 83 OCT 15000 # PRIO 15 P47/DSP CAF V1683 TC BANKCALL CADR GOFLASH TC GOTOPOOH TC GOTOPOOH TCF P47BODY # RECYCLE -- CLEAR ACCUMULATED VELOCITY # Page 693 # ROUTINE ** TIG-30 ** DESCRIPTION EBANK= TIG COUNT 24/P40 TIGAVEG TC P41/P40 # TASK (4.37 PROTECTS) TCF P41REDSP CAF V06N40 # UNBLANK DISPLAY TS NVWORD1 CAF SEC24.96 TC WAITLIST EBANK= TIG 2CADR TIG-5 CS SIX # 4.6 = TIG-5 (2496CS), PRECHECK (-0CS) TTGPHS TC NEWPHASE # ENTRY FROM P41REDSP (P41) WITH A=-4, OR OCT 4 # FROM TIGON (P47) WITH A=-1 PRECHECK CCS PHASE5 # HAS SERVICER BEEN RESTARTED TCF TASKOVER # YES, DON'T START ANOTHER ONE TC POSTJUMP CADR PREREAD # Page 694 # ROUTINE ** TIG-5 ** DESCRIPTION EBANK= TIG TIG-5 CAF 5SEC TC WAITLIST EBANK= DAPDATR1 2CADR TIG-0 CS BIT9 # WILL CAUSE V99 FLASH TS NVWORD1 TC 2PHSCHNG OCT 40074 # A, 4.7 = TIG-0 (500CS) OCT 00033 # A, 3.3 = S40.13 (PRIO20) CAF PRIO20 TC FINDVAC EBANK= TGO 2CADR S40.13 TCF TASKOVER # Page 695 # ROUTINES ** TIG-0 ** AND ** IGNITION ** DESCRIPTION EBANK= DAPDATR1 # TASK, 4.7 PHASE, OR 4.77 (-0CS) IN R40 TIG-0 CS FLAGWRD7 # SET IGN FLAG MASK BIT13 ADS FLAGWRD7 CAE FLAGWRD7 # CHECK ASTN FLAG FOR V99 RESPONSE MASK BIT12 EXTEND BZF TASKOVER # WAIT FOR V99P CAF V06N40 # CLEAR THE V99 (IN CASE OF A RESTART TS NVWORD1 # DURING THE V99 SEQUENCE) TC PHASCHNG # V99P HAS COME ALREADY, DO IGNITION NOW OCT 00614 # A, 4.61 = IGNITION (-0CS) TBASE OLD IGNITION CAE CDUX # SAVE FOR ROLL DAP REFERENCE OGAD TS OGAD # V99PJOB (CLOCKJOB) SETS UP IGNITION EXTEND # TASK (4.61 PROTECTION) DCA TIME2 # FOR RESTARTS DXCH TEVENT CS FLAGWRD5 # SET ENGONFLG MASK BIT7 ADS FLAGWRD5 SPSON CAF BIT13 # TURN ON SPS ENGINE EXTEND WOR DSALMOUT IMPULCHK CAF BIT9 # CHECK FOR IMPULSIVE BURN MASK FLAGWRD2 CCS A TCF IMPLBURN # IMPULSIVE CS FLAGWRD6 # NON-IMPULSIVE, SET STRULLSW FOR STEERULL MASK BIT13 ADS FLAGWRD6 PREPTVC CS OCT60000 # RESET T5 BITS MASK FLAGWRD6 TS FLAGWRD6 EXTEND # KILL RCS DCA T5IDL24 DXCH T5LOC CS THREE # 4.3 = DOTVCON (40CS) TC NEWPHASE OCT 4 # Page 696 TC FIXDELAY DEC 40 # 0.4 SECOND DELAY FOR THRUST BUILDUP DOTVCON CS BIT1 # SET TVCPHASE = TVCDAPON CALL (FRESHDAP) TS TVCPHASE CAF ZERO # SET TVCEXECUTIVE PHASE TS TVCEXPHS CS OCT60000 # SET T5 BITS TO INDICATE TVC TAKEOVER .... MASK FLAGWRD6 # BITS 15,14 = 10 AD BIT15 TS FLAGWRD6 CAF THREE # 6.3 = CLOKTASK (100CS), DROPPING PRE40.6 TS L # WHICH IS HANDLED NOW BY REDOTVC COM DXCH -PHASE6 EXTEND # STORE RCS ATTITUDE ERRORS FOR USE IN DCS ERRORY # INITIALIZING TVC ATTITUDE ERRORS DXCH ERRBTMP CS FIVE # 4.5 = DOSTRULL (160 CS) TC NEWPHASE OCT 4 CAF POSMAX # SET TIME5 FOR STARTING RIGHT AWAY TS TIME5 EXTEND DCA TVCON2C # (TVCDAPON) DXCH T5LOC # (KILLS RCS DAP) TC FIXDELAY # 0.4 + 1.6 = 2.0 SEC FOR ULLAGE-OFF AND DEC 160 # STEERING (IF NON-IMPULSIVE) DOSTRULL CAF BIT13 # CHECK STRULLSW FOR IMPULSIVE BURN MASK FLAGWRD6 CCS A TCR STEERULL # NON-IMPULSIVE, STEERING AND ULLAGE OFF TCR ULAGEOFF # ULLAGE OFF (ONLY, OR AGAIN) EXTEND DCA NEG0 # KILL GROUP 4 (DP NEG0 = -0,+0) DXCH -PHASE4 ENDIGN TCF TASKOVER STEERULL CS FLAGWRD2 # SET STEERSW MASK BIT11 ADS FLAGWRD2 # Page 697 ULAGEOFF CAF ZERO EXTEND WRITE CHAN5 # ZERO CHANNEL 5 TC Q IMPLBURN CS BIT13 # RESET STRULLSW (COULD BE AN IMPULSIVE MASK FLAGWRD6 # ENGINE FAIL) TS FLAGWRD6 TCR E7SETTER EBANK= TIG EXTEND # PREPARE FOR R1 OF V06N40 (CLOCKTASK) DCA TGO DXCH TIG EXTEND DCA TIME2 DAS TIG TC 2PHSCHNG OCT 40153 # A, 3.15 = ENGINOFF (TGO+1) .... NOT GROUP OCT 07014 # C, DELTAT NEXT, TASK BELOW, IN DEC -0 # -0 CS EBANK= DAPDATR1 2CADR IMPLCONT CAE TGO +1 # (TPAGREE IN S40.13, LESS THAN 600CS) TC WAITLIST EBANK= TGO 2CADR ENGINOFF IMPLCONT CS BIT9 # RESET IMPULSW, ENGINOFF IS NOW SET UP MASK FLAGWRD2 TS FLAGWRD2 TCR E6SETTER EBANK= DAPDATR1 CAF ZERO # SET UP V97VCNTR IN CASE ENGINOFF (MASS-= TS V97VCNTR # BACK) ARRIVES BEFORE TVCDAPON TCF PREPTVC EBANK= TGO # E7 FORCED BY 3.15SPOT VARIABLE DELTA-T ENGINOFF TCR E6SETTER # TASK, 3.15 PHASE (TGO+1 CS) GET E6 EBANK= DAPDATR1 CAE CSMMASS TS MASSTMP # COPYCYCLE FOR MASSBACK # Page 698 TC 2PHSCHNG OCT 00003 # KILL GROUP 3 PROTECTION OF ENGINOFF, DO OCT 40634 # A, 4.63 = DOSPSOFF (-0CS) DOSPSOFF TCR SPSOFF # SHUTDOWN SPS, MASS UPDATES, ETC. CS OCT27/24 # (OCTAL 27) TC NEWPHASE OCT 4 # 4.27 = DOTVCRCS (250 CS) TC FIXDELAY # 2.5 SECOND DELAY FOR SPS TAILOFF DEC 250 DOTVCRCS TCR SETMAXDB # WIDE DEADBAND FOR CUTOFF TRANSIENT TC IBNKCALL # SET UP RCS DAP (KILLS TVCDAPS, SETS T5 CADR RCSDAPON # BITS, WAITS 0.6SEC FOR TVCEXEC DIE) TC IBNKCALL # UPDATE WEIGHT/G AND MASS-PROPERTIES FOR CADR MASSPROP # RCS DAP STARTUP IN 0.6 SECONDS TCR TVCZAP # WIPE OUT TVC, TURN OFF CLOKTASK TC PHASCHNG OCT 00354 # A, 4.35 = POSTBURN (NOVAC, PRIO12) CAF PRIO12 # SET UP POSTBURN V16N40 JOB TC NOVAC EBANK= DAPDATR1 # (SET MAXDB IN POST41) 2CADR POSTBURN TCF TASKOVER EBANK= DAPDATR1 SPSOFF EXTEND # ESTABLISH SPSOFF TEVENT DCA TIME2 DXCH TEVENT CS BIT7 # RESET ENGONFLG MASK FLAGWRD5 TS FLAGWRD5 # (RESTARTS WILL SHUT DOWN SPS NOW) CS BIT13 # SHUT DOWN SPS ENGINE EXTEND WAND DSALMOUT CAF BIT14 # ISSUE SIV CUTOFF COMMAND EXTEND # FOR POSSIBLE BACK-UP USE WOR CHAN12 MASSBACK CAE V97VCNTR # RESTORE PART OF PRE-DECREMENTED MASS # V97CNTR = VCNTR UNLESS V97 IS # ACTIVE. ONLY V97CNTR IS THEN RIGHT. EXTEND # VCNTR COUNTS 1/2-SECONDS IN TVC EXEC MP EMDOT # MDOT, SC.AT B+3 KG/CS LXCH A # Page 699 EXTEND MP 1SEC # DEC 100 AD MASSTMP # CORRECTION IS ACCURATE TO 5 CS OF FLOW TS CSMMASS # (1.44 KG OR 0.4 BITS) CA TVCPHASE # CHECK IF OK FOR TRIM UPDATE AD ONE # THESE CHECKS ARE ONLY NEEDED EXTEND # FOR A LESS THAN 0.4 SEC BURN BZF BTRIMR # NO. INITIALIZATION NOT COMPLETE CS FLAGWRD6 # YES, CHECK IF TVC MASK OCT60000 EXTEND BZMF BTRIMR # NO, NOT TVC YET BESTTRIM CAE DELPBAR # UPDATE TRIMS WITH DELFILTER VALUES TS PACTOFF CAE DELYBAR TS YACTOFF BTRIMR TC Q EBANK= DAPDATR1 STEERADS 2CADR STEERING .6SECT5 OCT 37703 5SECDP DEC 0 # MAKE DP 5SEC 5SEC DEC 500 OCT02202 OCT 02202 # BITS 2, 8, 11 FOR CHANNEL 12 TVC/OPTICS EBANK= DAPDATR1 TVCON2C 2CADR TVCDAPON -1 INHINT TVCZAP CS OCT02202 # DISABLE TVC AND OPT ERR CNTRLS, REENGAGE EXTEND # OPTICS DAC WAND CHAN12 CS BIT1 # ENABLE T4RUPT OPTICS MONITOR .... PERMIT TS OPTIND # OPTICS-ZERO BUT NOT OPTICS-DRIVE CAF ZERO # CLEAR NVWORD1 IN CASE CLOCKJOB WAITING TS NVWORD1 CS BIT11 # CLEAR TIMRFLAG TO STOP CLOKTASK MASK FLAGWRD7 TS FLAGWRD7 TC Q EBANK= DAPDATR1 UPDATEVG STQ BON QTEMP1 XDELVFLG CALL40.8 SLOAD BMN NBRCYCLS SETUP.9 # Page 700 VLOAD VAD DELVSUM DELVREF STORE DELVSUMP EXIT CA ONE AD NBRCYCLS TS NBRCYCLP TC PHASCHNG # TYPE B RESTART RESTART BELOW AND 5.3 REREADACCS OCT 10035 CA NBRCYCLP TS NBRCYCLS TC INTPRET VLOAD DELVSUMP STORE DELVSUM CALL40.8 CALL S40.8 GOTO QTEMP1 SETUP.9 BON SLOAD FIRSTFLG SURELY.9 NBRCYCLP NORM VXSC # (NORM HANDLES ZERO PROPERLY) X1 BDT VSR* VAD 0 -14D,1 VGTEMP VSU DELVSUM STORE VGPREV SURELY.9 EXIT CAF PRIO10 TC FINDVAC EBANK= DAPDATR1 2CADR S40.9 TC 2PHSCHNG OCT 00051 # A, 1.5 = REDO40.9, PRIO 10 OCT 10035 TC INTPRET VLOAD RN # ACTIVE VEHICLE RADIUS VECTOR AT T1 STOVL RINIT # Page 701 VN # ACTIVE VEHICLE VELOCITY VECTOR AT T1 STODL VINIT PIPTIME STORE TNIT BDSU TPASS4 STOVL DELLT4 HI6ZEROS STODL DELVSUM HI6ZEROS STORE NBRCYCLS GOTO CALL40.8 EBANK= DAPDATR1 STEERING TC INTPRET CALL UPDATEVG EXIT CAF BIT9 # CHECK IMPULSW MASK FLAGWRD2 CCS A TCF +3 # PRE-IGNITE, REQUEST ENG-OFF, OR POST-OFF SERVXT TC POSTJUMP CADR SERVEXIT CAF BIT13 # CHECK ENGINE-ON/-OFF EXTEND RAND DSALMOUT EXTEND BZF SERVXT # ENGINE-OFF, SO PRE-IGNITE OR POST-OFF TCR E7SETTER EBANK= TIG INHINT EXTEND DCA TIG DXCH MPAC EXTEND DCS TIME2 DAS MPAC TCR DPAGREE CAE MPAC +1 # (LESS THAN 6 (OR 4) SECONDS TO GO) CCS A # PROTECT AGAINST NEG/ZRO W.L. CALL TCF +3 TCF +2 CAF ZERO AD ONE XCH L CA ZERO DXCH TGO CA TGO +1 TC WAITLIST # Page 702 EBANK= TGO 2CADR ENGINOFF TC 2PHSCHNG OCT 40153 # A, 3.15 = ENGINOFF (TGO+1) .... NOTE GROUP OCT 10035 # B, 5.3 = REREADAC, AND START BELOW TC DOWNFLAG # CLEAR IMPULSW, ENGINOFF IS NOW SET UP ADRES IMPULSW # RESTARTS OK TCF SERVXT # Page 703 # ROUTINE ** CLOKTASK ** DESCRIPTION EBANK= TIG CLOKTASK CAF BIT11 # IS TIMRFLAG SET MASK FLAGWRD7 CCS A TCF CLOCKON TC PHASCHNG OCT 00006 # KILL RESTART TC TASKOVER CLOCKON EXTEND DCA TIME2 DXCH TTOGO EXTEND DCS TIG DAS TTOGO SETCLOCK CAF 1SEC TC WAITLIST EBANK= TIG 2CADR CLOKTASK CCS NVWORD1 TCF +3 TCF SETTB6 TCF +1 CS V06N85B # CHECK FOR V06N85B (P41) AD NVWORD1 EXTEND BZF SETUPDYN # V06N85, SO UPDATE N85 FOR DYNAMIC DISP CAF PRIO27 TC NOVAC EBANK= DAPDATR1 2CADR CLOCKJOB SETTB6 CS TIME1 # SET GROUP6 TIMEBASE TS TBASE6 TCF TASKOVER SETUPDYN CAF PRIO27 # SET UP A JOB TO UPDATE N85 (FOR P41=V06) TC FINDVAC EBANK= DAPDATR1 2CADR DYNDISP TCF SETTB6 # CLOSE OUT CLOCKTASK # Page 704 DYNDISP TC INTPRET # UPDATE N85 FOR A DYNAMIC V06N85 IN P41. CALL # PRIOR TO BLANKING AND AVEG (V16N85) P40CNV85 EXIT TCF CKNVWRD1 # Page 705 # ROUTINE ** CLOCKJOB ** DESCRIPTION EBANK= DAPDATR1 CLOCKJOB CA CDUX TS CDUSPOTX CA CDUY TS CDUSPOTY CA CDUZ TS CDUSPOTZ TC BANKCALL CADR QUICTRIG CKNVWRD1 INHINT CCS NVWORD1 # DETERMINE FUNCTION, INDICATED BY NVWORD1 TCF NOFLASH TCF ENDOFJOB TCF ENGREQST # SPS ENGINE-ON-ENABLE V99 FLASH FAILDSP CAF V06N40 # SPS ENGINE-FAILED V97 FLASH TC BANKCALL CADR CLOCPLAY TCF V97T # TERMINATE TCF V97P # PROCEED TCF V97E # ENTER ENGREQST CAF V06N40 TC BANKCALL CADR CLOCPLAY # LINUS MAKES IT A REDO, INHINT OK TCF V99T # TERMINATE TCF V99P # PROCEED TCF V99E # ENTER NOFLASH CAE NVWORD1 # DISPLAY NVWORD1 NORMALLY TC BANKCALL CADR REGODSP E7SETTER CAF EBANK7 TS EBANK EBANK= TIG TC Q E6SETTER CAF EBANK6 # SET UP EBANK6 TS EBANK EBANK= DAPDATR1 TC Q EBANK= DAPDATR1 V99E TC 2PHSCHNG OCT 00006 # KILL PRE40.6/CLOKTASK PROTECTION OCT 05024 # C, PRIORITY NEXT, JOB BELOW # Page 706 OCT 27000 V99EJOB TCR TVCZAP -1 # WIPE OUT TVC, CLOKTASK TCF P40RCS # V16N85 POST-BURN OPERATIONS EBANK= DAPDATR1 V99T TC 2PHSCHNG # (ENTRY FROM V97T FLOW TOO) OCT 00006 # KILL PRE40.6/CLOKTASK PROTECTION OCT 05024 # C, PRIORITY NEXT, JOB BELOW OCT 27000 V99TJOB TCR TVCZAP -1 # WIPE OUT TVC, CLOKTASK TCF POST41 # AVEGEXIT, SETMAXDB, GOTOPOOH V99P INHINT CAE FLAGWRD7 # CHECK ASTN FLAG FOR PRIOR V99P MASK BIT12 CCS A TCF V99P/TIG # YES, THIS MUST BE A RESTART ENTRY ASTNV99P CAF BIT12 # SET ASTN FLAG ADS FLAGWRD7 CAE FLAGWRD7 # CHECK IGN FLAG FOR TIG-0 ARRIVAL MASK BIT13 EXTEND BZF V99P/TIG # NO, CLEAR THE V99 AND WAIT FOR TIG-0 ENDV99PI CAF BIT1 # TIG-0 HAS COME ALREADY TC WAITLIST # SET UP IGNITION HERE EBANK= DAPDATR1 2CADR IGNITION V99P/TIG CAF V06N40 # CLEAR THE V99 FLASH AND WAIT FOR TIG-0 TS NVWORD1 ENDV99P TCF ENDOFJOB EBANK= CSMMASS V97T TC 2PHSCHNG OCT 00006 # KILL GROUP 6 (CLOKTASK) OCT 40674 # A, 4.67 = V97TTASK (-0 CS), TBASE NOW CAF BIT1 TC TWIDDLE ADRES V97TTASK # KEEP EBANK6 FOR MASSES, SPSOFF, ETC. TCF ENDOFJOB EBANK= CSMMASS V97TTASK CAF ZERO # DISABLE CLOCKJOB TS NVWORD1 CAF 3MDOT # 3 SECONDS OF MDOT (2-4 SEC ENGFAIL AD CSMMASS # DETECTION) NOT LOST BECAUSE THRUST TS MASSTMP # FAILED. COPYCYCLE FOR MASSBACK # Page 707 TC PHASCHNG OCT 05014 # C, DELTAT NEXT, TASK BELOW, IN DEC -0 # -0 CS TCR SPSOFF # SHUTDOWN SPS ENGINE, MASS UPDATE, ETC. TC PHASCHNG OCT 00714 # A, 4.71 = V97TRCS (250 CS), TBASE OLD TC FIXDELAY # DELAY 2.5 SECONDS FOR (POSSIBLE) TAIL- DEC 250 # OFF (FALSE THRUST-LOSS) EBANK= DAPDATR1 V97TRCS TC IBNKCALL # RCS DAP IN 0.6SEC, SETTING T5 BITS TO CADR RCSDAPON # KILL TVCEXEC/TVCROLLDAP STARTS CAF PRIO27 # SET UP V99T FOR TVCZAP AND POST41 (SET- TC NOVAC # MAXDB AND GOTOPOOH) EBANK= DAPDATR1 # EBANK6 FOR SETMAXDB IN POST41 2CADR V99T ENDV97T TCF TASKOVER EBANK= V97VCNTR V97P TC PHASCHNG OCT 40734 # A, 4.73 = V97PTASK (-0 CS), TBASE NOW CAF BIT1 TC TWIDDLE ADRES V97PTASK TCF ENDOFJOB EBANK= V97VCNTR V97PTASK CAE V97VCNTR # GET MASS UPDATES (TVCEXEC) GOING AGAIN TS VCNTR # (ERRORS IF FLASE THRUST-LOSS AND/OR # POOR SYNC OF MANUAL ENGINE-ON AND # THE VERB 97 PROCEED) CAF V06N40 # REDISPLAY V06N40 TS NVWORD1 TC UPFLAG # SET IDLEFAIL TO ALLOW R41-BYPASS, IN ADRES IDLEFAIL # CASE OF UNFAVORABLE S40.8 SYNCH TC UPFLAG # SET STEERSW TO RE-ENABLE STEERING ADRES STEERSW TC PHASCHNG OCT 00134 # A, 4.13 = R40ENABL (200 CS), TBASE OLD TC FIXDELAY # WAIT 2 SECONDS, THEN DEC 200 EBANK= WHOCARES R40ENABL TC DOWNFLAG # RE-ENABLE R40 BY CLEARING IDLEFAIL ADRES IDLEFAIL TC PHASCHNG OCT 00004 # KILL GROUP 4 # Page 708 ENDV97P TCF TASKOVER EBANK= WHOCARES V97E TC PHASCHNG OCT 40534 # A, 4.53 = V97ETASK (-0 CS), TBASE NOW CAF BIT1 TC WAITLIST EBANK= TIG 2CADR V97ETASK TCF ENDOFJOB EBANK= TIG V97ETASK CS OCT24 # FORCE R1 OF V06N40 TO READ 59X59 TS TIG CAF V06N40 # REDISPLAY V06N40 TS NVWORD1 TCR E6SETTER # RETURN TO EBANK6 FOR REST OF V97ETASK EBANK= CSMMASS CAF 3MDOT # 3 SECONDS OF MDOT (2-4 SEC ENGFAIL AD CSMMASS # DETECTION) NOT LOST BECAUSE THRUST TS MASSTMP # FAILED....COPYCYCLE FOR MASSBACK TC PHASCHNG OCT 00754 # A, 4.75 = SPSOFF97 (-0 CS), TBASE OLD SPSOFF97 TCR SPSOFF TC PHASCHNG OCT 00114 # A, 4.11 = V97E40.6 (250 CS), TBASE OLD TC FIXDELAY # DELAY 2.5 SECONDS FOR (POSSIBLE) TAIL- DEC 250 # OFF (FALSE THRUST-LOSS) EBANK= DAPDATR1 V97E40.6 CAF BIT1 TC WAITLIST EBANK= CNTR 2CADR PRE40.6 # USE S40.6 RESTART ENTRY TO TRIM ENGINE TC IBNKCALL # RCS DAP IN 0.6SEC, SETTING T5 BITS TO CADR RCSDAPON # KILL TVCEXEC/TVCROLLDAP STARTS. # LEAVE NARROW DEADBAND FOR REIGNITE. TC 2PHSCHNG OCT 00026 # A, 6.2 = PRE40.6 (-0 CS), CLOKTASK (1 SEC) OCT 05014 # C, DELTAT NEXT, TASK BELOW, IN DEC -0 # -0 CS. QUICKIGN CS PRIO14 # CLEAR ASTNFLAG AND SET IGNFLAG FOR MASK FLAGWRD7 # IMMEDIATE V99 RESPONSE. AD BIT13 TS FLAGWRD7 TC FIXDELAY # DELAY TO ALLOW TIME FOR PRE40.6 # Page 709 DEC 30 V99FLASH CS BIT9 # CAUSE V99 TO FLASH TS NVWORD1 TC 2PHSCHNG OCT 40774 # A, 4.77 = TIG-0 (-0 CS) TBASE FOR PREPTVC OCT 00033 # A, 3.3 = S40.13 (PRIO 20) CAF PRIO20 # SET UP TIMEBURN TC FINDVAC EBANK= TGO 2CADR S40.13 ENDV97E TCF TASKOVER # WAIT FOR CLOCKJOB (IMMEDIATE) REACTION # TO FLASHING V99 RESPONSE. # MOD N02 LOG SECTION P40-P47 # MOD BY ZELDIN # # FUNCTIONAL DESCRIPTION # COMPUTE INITIAL THRUST DIRECTION(UT) AND INITIAL VALUE OF VG # VECTOR(VGTIG). # # CALLING SEQUENCE # L CALL # L+1 S40.1 # # NORMAL EXIT MODE # AT L+2 OF CALLING SEQUENCE (GOTO L+2) NORMAL RETURN OR # ERROR RETURN IF NOSOFLAG =1 # # SUBROUTINES CALLED # CSMPREC # INITVEL # CALCGRAV # MIDGIM # # ALARM OR ABORT EXIT MODES # L+2 OF CALLING SEQUENCE, UNSOLVABLE CONIC IF NOSOFLAG=1 # # ERASABLE INITIALIZATION REQUIRED # WEIGHT/G ANTICIPATED VEHICLE MASS SP B16 KGM # XDELVFLG 1=DELTA-V MANEUVER, 0=AIMPT STEER # IF DELTA-V MANEUVER: # DELVSIN SPECIFIED DELTA-V REQUIRED IN # INERTIAL COORDS. OF ACTIVE VEHICLE # AT TIME OF IGNITION VECTOR B7 M/CS # DELVSAB MAG. OF DELVSIN DP B7 M/CS # RTIG POSITION AT TIME OF IGNITION VECTOR B29 M # VTIG VELOCITY AT TIME OF IGNITION VECTOR B7 M/CS. # CSTEER = 0 DP # IF AIMPOINT STEERING: # IF AIMPT STEER # TIG TIME OF IGNITION DP B28 CS # RTARG POSITION TARGET TIME VECTOR B29 M # CSTEER = ECSTEER (GR 0) DP B1 # Page 710 # TPASS4 -- TIME OF ARRIVAL AT AIMPOINT # # OUTPUT # UT 1/2 UNIT VECTOR ALIGNED WITH THRUST DIRETION IN REF COOR # VGTIG INITIAL VALUE OF VELOCITY # TO BE GAINED (INERT. COORD.) VECTOR B7 M/CS # DELVLVC VGTIG IN LOC. VERT. COORDS. B7 M/CS # F NOMINAL THRUST FOR ENG USED FOR S40.13 DP B7 M-NEWT # BDT V REQUIRED AT TIG -V REQUIRED AT (TIG-2SEC) # -GDT FOR S40.13 VECT B7 M/CS # RTIG CALC IN S40.1B (AIMPT) FOR S40.2,3 VECTOR B29M # POSITION AT TIME OF IGNITION # # DEBRIS QTEMP1 # MPAC, QPRET # PUSHLIST # RTX2,RTX1 BANK 14 SETLOC P40S1 BANK COUNT 16/S40.1 S40.1 SET VLOAD FIRSTFLG LO6ZEROS STORE BDT STQ BOF QTEMP XDELVFLG S40.1B # LAMBERT VLOAD ABVAL # EXTERNAL DELTA-V DELVSIN STORE DELVSAB # COMPUTE FOR P30/P40 INTERFACE # THUS PERMITTING MODULE-ONLY CHANGE SETPD VLOAD 0 VTIG STORE VINIT VXV UNIT RTIG STOVL UT # UP IN UT RTIG STORE RINIT VSQ PDDL 36D DMPR DDV THETACON DMP DMP DELVSAB WEIGHT/G DDV # Page 711 F STOVL 14D DELVSIN DOT VXSC UT UT VSL2 PUSH # (DELTAV.UP)UP SCALED AT 2(+7) P.D.L. 0 BVSU PDDL # DELTA VP SCALED AT 2(+7) P.D.L. 6 DELVSIN 14D SIN PDVL 6D VXV UNIT UT VXSC STADR STOVL VGTIG # UNIT(VP X UP)SIN(THETAT/2) IN VGTIG. UNIT PDDL # UNIT(DELTA VP) IN P.D.L. 6 14D COS VXSC VAD VXSC VGTIG 36D VSL2 VAD STADR STORE VGTIG # VG IGNITION SCALED AT 2(+7) M/CS UNIT STOVL UT # THRUST DIRECTION SCALED AT 2(+1) VGTIG PUSH SET AVFLAG CALL MIDGIM # VGTIG IN LV COOR AT 2(+7)M/CS IN DELVLVC GOTO QTEMP S40.1B DLOAD DSU # LAMBERT TIG TWODT STODL TDEC1 TPASS4 DSU TDEC1 STCALL DELLT4 AGAIN VLOAD VIPRIME STODL UT TIG STORE TDEC1 # Page 712 BDSU TPASS4 STCALL DELLT4 AGAIN VLOAD PUSH DELVEET3 STORE VGTIG SET CALL AVFLAG MIDGIM SETPD GOTO 0 CALCUT THETACON 2DEC .31830989 B-8 SETLOC P40S3 BANK COUNT 24/S40.1 EP4(45)H 2DEC .125 EP4(10)H 2DEC .027777777 AGAIN STQ CALL QTEMP1 THISPREC SXA,2 SXA,1 RTX2 RTX1 VLOAD RATT STORE RTIG STOVL RINIT VATT STORE VTIG STORE VINIT SETPD SLOAD 0 HI6ZEROS PDDL BON EP4(45)H NORMSW +3 DLOAD EP4(10)H PUSH CALL INITVEL SETPD GOTO # Page 713 0 QTEMP1 CALCUT VLOAD CALL RTIG CALCGRAV # GDELTAT IN MPAC AT 2(+7) M/CS VSL1 V/SC 200CS # G AT 2(-5) M/CS. CS PDVL VSU VIPRIME UT V/SC VSU 200CS VXSC VSL2 CSTEER STOVL 12D # B.C SCALED AT 2(-15) PDL 12D VGTIG UNIT PUSH # UG PDL 0 SCALED AT 2(+1) DOT VXSC 12D 0 VSL2 BVSU 12D STODL 12D # Q PDL SCALED AT 2(-5) F SRR DDV 4 WEIGHT/G DSQ PDVL # F/MASS SQUARED PDL 6 AT 2(-10M/(CS.CS) 12D VSQ BDSU SQRT VXSC VSL1 VAD UNIT 12D STCALL UT QTEMP 200CS 2DEC 200 B-12 # Page 714 # PROGRAM DESCRIPTION S40.2,3 DATE 15 NOV 66 # MOD NO 2 LOG SECTIONS P40-P47 # MOD BY ZELDIN # # FUNCTIONAL DESCRIPTION # # COMPUTE GIMBAL ANGLES IF THRUSTING OCCURRED WITH PRESENT IMU # ORIENTATION, WINGS LEVEL SPACECRAFT, HEADS UP # COMPUTE X AXIS OF ENGINE BELL # COMPUTE PREFERRED IMU ORIENTATION (XSCREF) # FOR THIS CALCULATION, ASSUME X AXIS OF SC ALONG UT INITIALLY, # YSC=UNIT(XXR), ZSC=UNIT(XX(XXR)) AND ROTATE ENGINE BELL ALONG UT. # NEW SC AXES WILL BE APPROX. WINGS LEVEL AND NEW SC AXES IN REF. # COORDS. WILL BE PREFERRED IMU ORIENTATION. # COMPUTE DESIRED THRUST DIRECTION IN SM COORDS. # # CALLING SEQUENCE # L CALL # L+1 S40.2,3 # # NORMAL EXIT MODE # AT L+2 OF CALLING SEQUENCE (GOTO L+2) # # SUBROUTINES CALLED # CALCGA # # ALARM OR ABORT MODES # NONE # # ERASABLE INITIALIZATION REQUIRED # PACTOFF TOTAL PITCH TRIM ANGLE SP AT 1.0795111 REV. # YACTOFF TOTAL YAW TRIM ANGLE SP AT 1.0795111 REV. # UT DESIRED THRUST DIRECTION VECT. B2 M/(CS.CS) # RTIG POSITION AT TIME OF IGNITION VECT. B29 M # ENG2FLAG ON=RCS OFF=SPS # # OUTPUT # SCAXIS UNIT VECT. ALIGNED WITH ENG BELL IN SC COOR. B1 # XSCREF UNIT VECTORS ALIGNED WTH PREFERRED IMU B1 # YSCREF # ZSCREF # GIMBAL ANGLES IN THETAD # POINTVSM UNIT VECT ALONG DESIRED THRUST DIRECTION IN SM B1 # # DEBRIS # PUSHLIST, QPRET, MPAC # QTEMP TEMP. ERASABLE BANK 24 SETLOC P40S BANK COUNT* $$/S40.2 S40.2,3 VLOAD MXV UT REFSMMAT VSL1 STQ QTEMP STORE POINTVSM # THRUST IN SM AT 2 SETPD BON 0 # Page 715 ENG2FLAG S40.2,3B DLOAD HI6ZEROS PUSH SLOAD # ZERO PDL 0 YACTOFF DMP SL1 TRIMSCAL DAD PUSH YBIAS COS PDDL # COS(Y +Y0) PDL 2 SIN PUSH # SIN(Y +Y0) PDL 4 SLOAD PACTOFF DMP SL1 TRIMSCAL DAD PUSH PBIAS COS PDDL # COS(P +P0) PDL 6 SIN PUSH # SIN(P +P0) PDL 8D STODL ZSCREF # SIN(P +P0) 6 DMP SL1 4 DCOMP PDDL # -SIN(Y+Y0)COS(P+P0) PDL 10 6 DMP SL1 2 VDEF STODL XSCREF # PD POINTER AT 6 NEW SC X AXIS SCALED AT ZSCREF DMP SL1 4 PDDL DMP ZSCREF 2 SL1 DCOMP VDEF STODL ZSCREF # PD POINTER AT 4 NEW SC Z AXIS SCALED AT 2 VDEF STODL YSCREF # PD POINTER AT 0 NEW SC Y AXIS SCALED AT 2 ZSCREF PDDL PDDL YSCREF XSCREF VDEF # Page 716 STOVL SCAXIS # ENGINE BELL SCALED AT 2 UT PDVL UNIT RTIG VXV VCOMP 0 UNIT PUSH CALL TSTRXUT VXV VCOMP 0 VSL1 PDVL # 2 RF/SC IN PDL 12D XSCREF VXM VSL1 0 STOVL XSCREF # X OF PREF. IMU,X OF SC IN REF COOR. AT 2 YSCREF VXM VSL1 0 STOVL YSCREF # Y OF PREF. IMU,Y OF SC IN REF COOR. AT 2 ZSCREF VXM VSL1 0 STORE ZSCREF # Z OF PREF. IMU,Z OF SC IN REF COOR. AT 2 SETPD GOTO 0 QTEMP S40.2,3B VLOAD UNITX STOVL SCAXIS UT STORE XSCREF VXV UNIT RTIG STCALL 6D TSTRXUT STORE YSCREF VXV VCOMP XSCREF VSL1 STCALL ZSCREF # ZNB AXIS IN REF COOR QTEMP TSTRXUT DLOAD BHIZ 36D BADVCTOR VLOAD RVQ 6D BADVCTOR VLOAD UNIT RTIG PDVL UNIT # Page 717 VTIG VSR3 VAD VXV UNIT UT VCOMP STORE 6D RVQ TRIMSCAL 2DEC 1.07975111 B-1 YBIAS 2DEC +.00263888889 # YAW MECH BIAS (+0.95 DEG, THRUST ON) PBIAS 2DEC -.00597222222 # PITCH MECH BIAS (-2.15 DEG, THRUST ON) # REFERENCE, TRW 68.6520.3.3-40 27 FEB, 1968 # PROGRAM DESCRIPTION S41.1 DATE 8 DEC 66 # MOD NO 1 LOG SECTION P40-P47 # MOD BY ZELDIN # # FUNCTIONAL DESCRIPTION # # COMPUTE VELOCITY TO BE GAINED INITIALLY IN REF COORDS. # TO CONTROL COORDS. # # CALLING SEQUENCE # # L CALL # L+1 S41.1 # # NORMAL EXIT MODE # # AT L +2 OF CALLING SEQUENCE # # SUBROUTINES CALLED: # # CALCSMSC # CDUTRIG # # ALARM OR ABORT MODES # # NONE # # ERASABLE INITIALIZATION REQUIRED # # VG IN REF. COORD. PDL L POINTER AT L+5. S41.1 WILL RETURN WITH # POINTER AT L (L MUST BE LESS THAN OR = TO 14D) # # OUTPUT # # MPAC CONTAINS VG IN CONTROL COORDS VECT. B7 M/CS # # DEBRIS: # # QTEMP TEMP ERASABLE # QPRET COUNT 22/S41.1 SETLOC P40S5 BANK S41.1 STQ CALL QTEMP CDUTRIG VLOAD MXV CALL REFSMMAT *SMNB* # Page 718 MXV VXSC QUADROT TENBNK14 # VG IN CONTROL COORD IN MPAC SCALED AT VSL5 GOTO # VG IN CONTROL COORDS. IN MPAC AT 2(+7) QTEMP TENBNK14 2DEC 10. B-4 # Page 719 # NAME S40.8 -- CROSS PRODUCT STEERING # FUNCTION (1) UPDATES THE VELOCITY-TO-BE-GAINED VECTOR. # (2) GENERATES ANGULAR RATE STEERING COMMANDS FOR AUTOPILOT. # (3) ESTABLISHES ENGINE CUT-OFF SIGNALS AT APPROPRIATE TIMES. # (4) INITIATES THRUST-FAIL ROUTINE, R40 # CALLING SEQ CALL S40.6 # INPUT VGPREV LAST VALUE OF THE VELOCITY-TO-BE-GAINED VECTOR # PRIOR TO UPDATING IN METERS/CS AT +7. # DELVREF CHANGE IN VEHICLE VELOCITY SINCE LAST MEASUREMENT # IN METERS/CS AT +7. # BDT EFFECT OF RATE OF CHANGE OF REQUIRED VELOCITY AND # GRAVITY DURING DT UPON VELOCITY-TO-BE-GAINED IN # METERS/CS AT +7. # CSTEER A SCALAR OF THE STEERING LAW, SC.AT B+1, USED FOR # SPS AIMPOINT STEERING MANEUVERS. # IDLEFAIL A FLAG TO INHIBIT (IDLE) THE THRUST-FAIL ROUTINE. # STEERSW A SWITCH TO PRECLUDE NEEDLESS CONDUCT OF STEERING. # REFSMMAT, DAPDATR1, PIPTIME # EREPFRAC, ETDECAY, KPRIMEDT FOR TVC. # OUTPUT TTOGO TIME REMAINING FOR ENGINE BURN IN CS AT +28. # OMEGAC DP VECTOR RATE COMMAND, SC.AT 1/(2TVCDT) REVS/SEC. # VG, VGPREV, VGDISP, TGO, TIG, SCALED AS NOTED IN CODING # STEERSW, IMPULSW, NVWORD1 # REPFRAC, CNTR, VCNTR, VCNTRTMP FOR TVC (R40 INTERFACING) # DEBRIS OMEGAXC, +1 # SUBROUTINES USED: *SMNB*, ALARM SETLOC P40S1 BANK EBANK= DAPDATR1 COUNT 16/S40.8 S40.8 SETPD STQ SPBIT1 00D QTEMP VLOAD BVSU # CONSTRUCT DELVG, SC.AT B+7 M/CS DELVREF BDT VAD VGPREV STORE VG # VELOCITY-TO-BE-GAINED, SC.AT B+7 M/CS ABVAL STORE VGDISP # FOR DISPLAY PURPOSES EXIT TC PHASCHNG OCT 10035 # TYPE B RESTART RESTART BELOW AND 5.3 REREADAC TC INTPRET VLOAD # Page 720 VG STORE VGPREV BOFF VLOAD STEERSW # SKIP TGO AND CROSS-PRODUCT QTEMP DELVREF ABVAL PUSH # CHECK FOR LOTHRUST SLOAD DMP DVTHRESH # SC.AT B-2 M/CS DPB-9 BDSU BMN EXIT LOTHRUST CAE DAPDATR1 # ENABLE TVCDAP CG TRACKING MASK BIT14 CCS A CAF BIT1 INDEX A # LM-OFF, LM-ON VALUE CAE EREPFRAC TS REPFRAC TC INTPRET TGOCALC VLOAD BVSU # GET DELVG DELVREF BDT UNIT DOT PUSH # (00D) VG BPL DDV # ANGLE SHOULD BE GREATER THAN PI/2 INCRSVG # DISPLAY ALARM IF NOT 2VEXHUST DAD DMP # (DOT PRODUCT UP FROM 00D) LODPHALF NORM SR1 X1 PDDL NORM 36D # (MAG DELVG) X2 BDDV XSU,2 SL* X1 0 -9D,2 DMP PUSH # (00D) -FOURDT SLOAD SR ETDECAY # ETDECAY SC.AT B+14 CS 14D BDSU STADR STORE TGO # TIME TO GO IN CS. AT +28 DAD # Page 721 PIPTIME STODL TIG TGO DSU BMN FOURSEC S40.81 XPRODUCT VLOAD VXSC BDT CSTEER VSL2 VSU DELVREF UNIT PDVL VG UNIT VXV MXV CALL REFSMMAT # (REFSMMAT/2) *SMNB* VXSC KPRIMEDT # (KPRIMEDT SCIAT PI/8 RAD) OMEGACLC STORE OMEGAC GOTO QTEMP SETLOC DAPS7 BANK COUNT 17/S40.8 TWODT 2DEC 200.0 B-28 # 2 SEC -FOURDT 2DEC -800 B-18 # -4(200CS), SC.AT B+18CS (-4 FOR SCALING) 2VEXHUST 2DEC 63.020792 B-7 # 2(10338.0564 FPS), SC.AT B+7 M/CS FOURSEC 2DEC 400.0 B-28 # 4 SEC DPB-9 2DEC 1 B-9 SETLOC DAPS6 BANK COUNT 20/S40.8 S40.81 SET VLOAD # TGO LESS THAN 4 SECONDS IMPULSW # FOR ENGINE-OFF CALL HI6ZEROS RATEZRO STORE OMEGAC # TVC TO ATTITUDE HOLD EXIT CAF POSMAX # INHIBIT SWITCHOVER/TVC EG TRACKING TS CNTR # Page 722 TC INTPRET CLEAR GOTO STEERSW # RESTARTS OK QTEMP INCRSVG EXIT # ALARM INDICATING THAT THRUST IS POINTING TC ALARM # IN WRONG DIRECTION. OCT 01407 TC INTPRET GOTO QTEMP LOTHRUST BON VLOAD # THRUST FAILURE (LO-OR-NO) INDICATED IDLEFAIL # SET BY V97P. ALLOWS 1 BYPASS IN CASE OF QTEMP # UNFAVORABLE S40.8 SYNCH. HI6ZEROS # START OF ENGINE-FAIL (R40) OPERATIONS STORE OMEGAC # PUT TVC IN ATTITUDE HOLD EXIT CS ZERO TS VCNTR # KILL CSMMASS UPDATING TS VCNTRTMP # (TVCEXEC LOGIC REQUIRES THIS TOO) TS REPFRAC # KILL TVCDAP CG TRIM TRACKING TS NVWORD1 # SET UP ENGINE-FAIL V97FLASH (CLOCKJOB) TC INTPRET CLEAR GOTO # INHIBIT STEERING AND TGO CALC (MANUAL STEERSW # SHUTDOWN IF NOT SET UP AGAIN) QTEMP # RESTARTS OK # Page 723 # NAME S40.9 -- VTOGAIN (AIMPOINT MANEUVERS ONLY) # FUNCTION (1) GENERATES REQUIRED VELOCITY AND VELOCITY-TO-BE-GAINED # VECTORS FOR USE DURING AIMPOINT MANEUVERS. # (2) UPDATES THE B VECTOR WHICH IS USED IN THE FINAL # CALCULATION OF EXTRAPOLATING THE VELOCITY-TO-BE-GAINED. # CALLING SEQ VIA FINDVEC AS NEW JOB. # INPUT RNIT ACTIVE VEHICLE RADIUS VECTOR IN METERS AT +29. # VNIT ACTIVE VEHICLE VELOCITY VECTOR IN METERS/CS AT +7. # VRPREV LAST COMPUTED VELOCITY REQUIRED VECTOR IN # METERS/CS AT +7. # NONTIG TIME OF IGN. USED IN TARGETTING ROUTINES B+28 # DELLT4 TRANSFER TIME FROM PIPTIME TO TARGET B+28 # TNIT TIME OF RNIT AND VNIT IN CS AT +28 # GDT/2 HALF OF VELOCITY GAINED IN DELTA T TIME DUE TO # ACCELERATION OF GRAVITY IN METERS/CS AT +7. # DELVREF CHANGE IN VELOCITY DURING LAST 2 SEC IN # METERS/CS AT +7. # NORMSW SET=CENTRAL ANGLE BETWEEN RTARG AND RTIG IS BETWEEN # 165 TO 195 DEGREES. # RESET=CENTRAL ANGLE OUTSIDE CONE DESCRIBED ABOVE. # OUTPUT VGTEMP VELOCITY TO BE GAINED VECTOR IN METERS/CS AT +7. # COGA INPUT OF INITIAL GUESS FOR LAMBERT FROM S40.1 # OR PREVIOUS PASS THRU S40.9. # GOBL/2 OBLATENESS TERM IN AVG GRAV CALC: GOBL*RSQ/MU # VRPREV/ VELOCITY REQUIRED VECTOR IN METERS/CS AT +7. # BDT B VECTOR IN METERS/CS AT +7. # SUBROUTINES USED -- INITVEL SETLOC P40S1 BANK EBANK= NBRCYCLS COUNT 16/S40.9 S40.9 TC INTPRET SETPD DLOAD 00D LO6ZEROS PDDL EP4(45)L BON DLOAD NORMSW +2 EP4(10)L PUSH CLEAR CALL GUESSW HAVEGUES EXIT TC PHASCHNG # SAVE TIME BY NOT REDOING LAMBERT CALCS OCT 05021 # C, PRIORITY NEXT, JOB BELOW # Page 724 OCT 10000 TC INTPRET ENDLAMB BON FIRSTFLG FIRSTTME VLOAD VSU VIPRIME VRPREV PDDL DSU TNIT TNITPREV SL BDDV 17D 200CSHI VXSC VSU VSL1 GDT/2 STORE BDT FIRSTTME SLOAD DCOMP RTX2 BMN MOONCASE VLOAD UNIT RN DLOAD DSU PIPTIME NOMTIG DMP DDV EARTHMU 34D VXSC VAD GOBL/2 VGTEMP # NOTE: NO TEST IS MADE TO SUBTRACT GOBL STORE VGTEMP # INSIDE 165-195 DEGREE CONE AREA. MOONCASE EXIT TC PHASCHNG OCT 04021 # C, JOB BELOW COPY40.9 TC INTPRET DLOAD TNIT STOVL TNITPREV VIPRIME STORE VRPREV CLEAR EXIT FIRSTFLG -2 CS ONE # REDO40.9 (RESTART) ENTRY TO END S40.9 TS NBRCYCLS ENDS40.9 TC PHASCHNG OCT 00001 # Page 725 TCF ENDOFJOB REDO40.9 TC INTPRET # S40.9 RESTARTS COME HERE TO GRACEFULLY VLOAD # TERMINATE S40.9 SO THAT IT CAN BE LO6ZEROS # SET UP WITH LATEST R,V,T NEXT PASS STODL DELVSUM # (TYPE C PHASE POINTS '04021' WILL LO6ZEROS # FORCE NORMAL S40.9 TERMINATIONS, STOVL NBRCYCLS # RATHER THAN LOSE TIME OF BRAND NEW VGPREV # PASS -- QUICK OLD DATA BETTER THAN STORE VGTEMP # NONE) NOW CAN GO THRU SETUP.9 EXIT # WITHOUT DISTURBING VGPREV. TCF ENDS40.9 -2 # STORE 0,0 COVERED NBRCYCLS,P -- FIX UP S 200CSHI 2DEC 200 B-12 EARTHMU 2DEC* -3.986032 E10 B-36* EP4(45)L 2DEC .125 EP4(10)L 2DEC .027777777 # Page 726 # NAME: S40.13 -- TIMEBURN # # FUNCTION (1) DETERMINE WHETHER A GIVEN COMBINATION OF VELOCITY-TO- # BE-GAINED AND ENGINE CHOICE RESULT IN A BURN TIME SUFFICIENT # TO ALLOW STEERING AT THE VEHICLE DURING THE BURN, AND # (2) THE MAGNITUDE OF THE RESULTING BURN TIME -- IF IT IS SHORT -- # AND THE ASSOCIATED TIME OF THE ENGINE OFF SIGNAL. # # CALLING SEQUENCE VIA FINDVAC AS A NEW JOB # # INPUT VGTIG -- VELOCITY TO BE GAINED VECTOR (METERS/CS) AT +7 # WEIGHT/G -- MASS OF VEHICLE IN KGM AT TIG # F -- ENGINE THRUST IN M.NEWTONS AT +7 # MDOT -- RATE OF DECREASE OF VEHICLE MASS DURING ENGINE BURN # IN KILOGRAMS/CENTISECOND AT +3. THIS SCALING MAY # REQUIRE MODIFICATION FOR SATURN BURNS. # # OUTPUT IMPULSW ZERO FOR STEERING # ONE FOR ATTITUDE HOLD # TGO TIME TO BURN IN CENTISECONDS AT +14 # THE QUANTITY M.NEWTON SHALL BE USED TO EXPRESS WEIGHT IN TERMS OF # (KILOGRAM*METER)/(CENTISECOND*CENTISECOND) # (1) M.NEWTON = (10000) NEWTONS. EBANK= TGO COUNT 16/40.13 S40.13 TC INTPRET SETPD SET 00D IMPULSW # ASSUME NO STEERING UNTIL FOUND OTHERWISE VLOAD ABVAL VGTIG # VELOCITY TO BE GAINED AT +7 EXIT CAF BIT7 # TEST +X TRANSLATION EXTEND RXOR CHAN31 MASK BIT7 EXTEND BZF NOTADDUL TC INTPRET PDDL DDV # 00D = MAG OF VGTIG AT +7 S40.135 # COMPENSATION FOR 2 JET ULLAGE AT +24 WEIGHT/G # MASS IN KGMS AT +16 BON SL1 # DOUBLE CORRECTION IF FOUR JETS NJETSFLG S40.130 S40.130 BDSU PDDL DDV # 00D = MAG OF VGTIG CORRECTED FOR ULLAGE K1VAL # M.NEWTON-CS AT +24 WEIGHT/G BDSU BMN 00D S40.131 # TGO LESS THAN 100 CS PDDL DMP # 02D = TEMP1 AT +7 # Page 727 EMDOT # SPS FLOW RATE SC.AT B+3 KG/CS (SP, NOTE) 3.5SEC # 350 CS AT +14 BDSU PDDL WEIGHT/G FANG DMP SR2 5SECOND # 500 CS AT +14 DDV PUSH # 04D = TEMP2 BDSU BPL 02D S40.133 # TGO GREATER THAN 600 CS DLOAD BDDV DMP DAD 5SECOND # 500 CS AT +14 1SEC2D # 100 CS AT +14 GOTO S40.132 S40.131 DLOAD DMP # TGO LESS THAN 100 CS WEIGHT/G DAD DDV K2VAL # M.NEWTON CS AT +24 K3VAL # M.NEWTON AT +10 S40.132 EXIT EBANK= TGO TC TPAGREE CA MPAC XCH L CA ZERO DXCH TGO # TGO IN CS AT +28 TC S40.134 S40.133 CLEAR EXIT # WILL STEER VEHICLE IMPULSW S40.134 TC PHASCHNG # KILL GROUP 3 OCT 3 TCF ENDOFJOB NOTADDUL TC INTPRET GOTO S40.130 +1 # DO NOT COMPENSATE FOR 7 SEC OF ULLAGE SETLOC DAPS7 BANK COUNT 17/40.13 K1VAL = EK1VAL # DP PAD LOAD B+23 NEWTON-SEC/E+2 K2VAL = EK2VAL # DP PAD LOAD B+23 NEWTON-SEC/E+2 K3VAL = EK3VAL # DP PAD LOAD B+09 NEWTONS/E+4 1SEC2D 2DEC 100.0 B-14 # 100.0 CS AT +14 # Page 728 3.5SEC 2DEC 350.0 B-13 # 350 CS AT +13 5SECOND 2DEC 500.0 B-14 # 500.0 CS AT +14 S40.135 2DEC 69.6005183 B-23 # IMPULSE FROM 7.96 SECS OF 2-JET FIRING # 7.96 (199.6)COS(10) LB-SEC, SC.AT # B+23 NEWTON-SEC/E+2 (7 SEC ULLAGE # TO GO, PLUS 0.96 SEC FROM PIPTIME) # Page 729 # NAME S40.6 GIMBAL DRIVE TEST AND/OR GIMBAL TRIM # MOD NO 5 DATE 9 MARCH, 1967 # MOD BY ENGEL LOG SECTION P40-P47 # # FUNCTIONAL DESCRIPTION # GIMBAL DRIVE TEST....0,+2,-2,0 DEGREE ENGINE COMMANDS, AT 2 SECOND # INTERVALS, FIRST IN PITCH, THEN IN YAW. ASTRONAUT VERIFICATION # OF GIMBAL MOTION ON GPI # GIMBAL TRIM....AFTER A 4 SECOND DELAY, ENGINE COMMANDED TO # PRE-COMPUTED TRIM POSITION. ASTRONAUT VERIFICATION ON GPI. # PRE40.6....RESTART ENTRY TO RE-DO S40.6, ONLY IF RCS IS ON --- IF TVC # IS NOT ON --- PRIMARILY TO GET ACTUATORS TRIMMED FOR IGNITION. # BYPASS 4 SEC DELAY. SPEED IS CRITICAL NEAR IGNITION. # IF TVC IS ON (TVCDAPON OR LATER) THEN REDOTVC WILL TAKE CARE # OF RESTARTING ACTUATORS. # # CALLING SEQUENCE.... # WAITLIST, WITH 2CADR FOR S40.6 (OR PRE40.6), WITH EBANK= CNTR # # NORMAL EXIT MODE -- FIXDELAY, TASKOVER # # SUBROUTINES CALLED.... # OUTPUT (INTERNAL) # FIXDELAY # # ALARM OR ABORT EXIT MODES --- NONE # # ERASABLE INITIALIZATION REQUIRED # CNTR = +0, NORMALLY SET BY THE P40 CALL AT TST,TRIM. # MRKRTMP....POSITIVE FOR GIMBAL DRIVE TEST AND GIMBAL TRIM (BOTH) # NEGATIVE FOR GIMBAL TRIM ONLY # PACTOFF, YACTOFF SC.AT 85.41 ARCSEC/BIT (V48N48 P, YTRIM) # "SC CONT" SWITCH AT "CMC" (A/P CONTROL SWITCH AT "GNC") # ACTIVE SPS GIMBAL MOTOR POWER(S), PITCH, YAW # # OUTPUT # TVCYAW, TVCPITCH (BITS RELEASED) # TVC ENABLE AND OPTICS ERROR COUNTER ENABLE # # DEBRIS # TBMPR60, CNTR BANK 17 SETLOC DAPS6 BANK EBANK= CNTR COUNT 20/S40.6 PRE40.6 CS FLAGWRD6 # RESTART ENTRY TO S40.6 (DO NOT PERMIT MASK OCT60000 # IF TVC, BITS 15,14 = 1,0) EXTEND BZMF +2 TCF TASKOVER # TVC, REDOTVC WILL REESTABLISH INTERFACE CS BIT1 # RCS, SO DO S40.6, GIMTRIM ONLY # Page 730 TS MRKRTMP CAF BIT1 # FOR REVISED S40.6 TIMING FOR RESTARTS... TS CNTR # TO INDICATE A RESTART ENTRY (CNTR 1S # NORMALLY +0, BY S40.6) EBANK= CNTR S40.6 CS ZERO # INHIBIT OPTICS ACTIVITY TS OPTIND CS BIT2 # DISENABLE OPTICS ERROR COUNTERS (ZERO, EXTEND # AND INHIBIT PULSE TRANSMISSION -- WAND CHAN12 # NORMAL STATE) CAF OCT02200 # TVC ENABLE (SPS SERVO AMPS SEE DAC EXTEND # VOLTAGES) AND DISENGAGE OPTICS/DAC WOR CHAN12 TC FIXDELAY # 60MS PROCEDURAL DELAY (40MS MINIMUM) FOR DEC 6 # RELAY LATCHING CAF BIT2 # ENABLE OPTICS ERROR COUNTERS EXTEND WOR CHAN12 TC FIXDELAY # 20MS PROCEDURAL DELAY (4MS MINIMUM) FOR DEC 2 # RELAY LATCHING RSTRTST CCS CNTR # CHECK FOR RESTART ENTRY (PRE40.6) TCF GIMTRIM +2 # RESTART ENTRY....BYPASS 4 SECOND DELAY # TST,TRIM SETS +0 ON NORMAL ENTRY CAE MRKRTMP # CHECK FOR TEST/TRIM OR TRIM ONLY TS CNTR # MRKRTMP SAVES CNTR FOR RESTARTS EXTEND BZMF GIMTRIM # (TRIM ONLY) GDTSETUP CS ZERO # GIMBAL DRIVE TEST SETUP, FOR PITCH TS CNTR GIMDTEST CAF +2ACTDEG # GIMBAL DRIVE TEST, 1ST INCREMENT TC OUTPUT # (LEAVES GIMBAL AT +2 DEG) CAF -4ACTDEG # 2ND INCREMENT (LEAVES GIMBAL AT -2) TC OUTPUT CAF +2ACTDEG # 3RD INCREMENT (LEAVES GIMBAL AT -0) TC OUTPUT CS CNTR # CHECK FOR COMPLETION OF YAW TEST. # Page 731 CCS A TCF GIMTRIM # COMPLETED, GO TO GIMBAL TRIM ROUTINE CS BIT1 # SET UP YAW TEST TS CNTR TCF GIMDTEST # FOR YAW TEST OUTPUT EXTEND # OUTPUT THE INCREMENT....SAVE Q QXCH TEMPR60 INDEX CNTR TS TVCPITCH INDEX CNTR CAF BIT11 EXTEND WOR CHAN14 TC FIXDELAY # WAIT 2SEC, WHILE ASTRONAUT VERIFIES DEC 200 # GIMBAL MOTION ON GPI TC TEMPR60 GIMTRIM TC FIXDELAY # WAIT 4 SECONDS BEFORE GIMBAL TRIM DEC 400 +2 CS ZERO # PICK UP TRIM VALUES AND OUTPUT THEM AD PACTOFF # (AVOID +0) ENTRY POINT FROM RSTRTST TS TVCPITCH # ON A RESTART, TO AVOID 4SEC DELAY CS ZERO AD YACTOFF TS TVCYAW CAF PRIO6 # RELEASE THE COUNTERS, BITS 11,12 EXTEND WOR CHAN14 ENDS40.6 TCF TASKOVER OCT02200 OCT 02200 # BITS 8,11 FOR CHANNEL 12 TVC/OPTICS -4ACTDEG DEC -168 # -2(+2ACTDEG), WHOLE BITS, NO ROUNDUP +2ACTDEG DEC +84 # +2 DEG, SC.AT 85.41 ARCSEC/BIT (+84D) # CALLED BY "DONOUN46" (VERB 48), OR DIRECTLY BY "FRESHDAP" (RCS DAP) VIA IBNKCALL COUNT 20/S41.2 S41.2 CA DAPDATR1 # Page 732 MASK THREE AD A TS RATEINDX INHINT CAE DAPDATR1 # IS LEM ATTACHED (BITS 14,13 OF DAPDATR1 MASK PRIO30 # =10) AD -BIT14 # (OCT57777) EXTEND BZF TOGETHER # YES CS BIT2 # NO, UNSET FLAG MASK FLAGWRD7 TS FLAGWRD7 TCF +4 TOGETHER CS FLAGWRD7 # ATTACHED, SET FLAG FOR INTEGRATION MASK BIT2 ADS FLAGWRD7 RELINT CA DAPDATR1 MASK BIT4 EXTEND BZMF +2 # DEC 46 MEANS NARROW DB CA DEC409 AD DEC46 # DEC 455 MEANS WIDE DB TS ADB CA DAPDATR1 MASK BIT7 # QUAD BD EXTEND BZMF +2 CA ONE TS XTRANS CA DAPDATR1 MASK BIT10 # QUAD AC EXTEND BZMF +2 CS ONE ADS XTRANS INHINT EXTEND BZF +5 # CLEAR NJETSFLG (4 JETS, OR NO JETS) CS FLAGWRD1 # SET NJETSFLG (2 JETS, AC OR BD QUADS) MASK BIT15 # NJETSFLG = 1 FOR 2 JET ULLAGE (AC OR BD) ADS FLAGWRD1 # Page 733 TCF +4 CS BIT15 # KJETSFLG = 0 FOR 4 JET (OR 0 JET) ULLAGE MASK FLAGWRD1 TS FLAGWRD1 RELINT CA DAPDATR2 MASK BIT13 EXTEND BZMF +2 TCF +2 CS ONE COM TS ACORBD # MINUS FOR A-C, PLUS FOR B-D CA DAPDATR2 MASK BIT10 CCS A TCF +4 CA ONE TS RACFAIL TCF BDFAIL CA ZERO TS RACFAIL CA DAPDATR2 MASK BIT4 CCS A TCF BDFAIL CS ONE TS RACFAIL BDFAIL CA DAPDATR2 MASK BIT7 CCS A TCF +4 CA ONE TS RBDFAIL TC Q CA ZERO TS RBDFAIL CA DAPDATR2 MASK BIT1 CCS A TC Q CS ONE TS RBDFAIL TC Q # DAPFIG ENTRY VIA TC POSTJUMP AS JOB FROM "STABLISH" (VERB 46) BANK 42 SETLOC EXTVBS # Page 734 BANK DAPFIG CS BIT9 # TURN OFF SIVB TAKEOVER EXTEND WAND CHAN12 CAE DAPDATR1 # DETERMINE VEHICLE CONFIGURATION EXTEND MP BIT3 # RIGHT SHIFT 4 OCTAL DIGITS MASK THREE # (IN CASE BIT 15 IS USED) INDEX A TCF +1 # BRANCH BASED ON CONFIG.... TCF NODAPUP # CM.......ACTIVATE NODAP TCF RCSDAPUP # CSM......ACTIVATE RCSDAP TCF RCSDAPUP # CSM/LEM..ACTIVATE RCSDAP TC POSTJUMP CADR SATSTKON RCSDAPUP INHINT # CALL TO ACTIVATE RCSDAP, AND RETURN TCR IBNKCALL CADR RCSDAPON RELINT TCF ENDFIG # CAME IN VIA V46, GO OUT VIA GOPIN NODAPUP EXTEND # T5 IDLE FOR NODAP (DON'T WORRY ABOUT T) DCA T5IDLDAP DXCH T5LOC TC DOWNFLAG # RESET T5-USAGE FLAGS FOR NODAP ADRES DAPBIT1 # BIT 15 FLAG 6 = 0 TC DOWNFLAG ADRES DAPBIT2 # BIT 14 FLAG 6 = 0 INHINT TC IBNKCALL # ZERO JET CHANNELS IN 14 MS AND THEN CADR ZEROJET # LEAVE THE T6 CLOCK DISABLED. RELINT CAF BIT1 # KILL KALCMANU JOB TS HOLDFLAG ENDFIG TC POSTJUMP # CAME IN VIA V46, GO OUT VIA GOPIN CADR GOPIN SBANK= PINSUPER # Added by RSB 2009 EBANK= PACTOFF T5IDLDAP 2CADR T5IDLOC SBANK= LOWSUPER BANK 17 SETLOC DAPS6 BANK DEC409 DEC 409 DEC46 DEC 46 # Page 735 # CALLED BY "DONOUN47" (VERB 48), OR DIRECTLY BY "FRESHDAP" (RCS DAP) S40.14 CAE IXX # RCS ENTRY EXTEND MP CONTONE TS J/M CA IAVG EXTEND MP CONTONE TS J/M1 TS J/M2 EXTEND DCA CONTTWO EXTEND DV IXX TS KMJ EXTEND DCA CONTTWO EXTEND DV IAVG TS KMJ1 TS KMJ2 TC Q CONTONE DEC .662034 # 2PI/M CONTTWO 2DEC .00118 COUNT 24/TVNG BANK 31 SETLOC P40S BANK POS-2.5 OCT 37405 EBANK= DAPDATR1 RCSCADR 2CADR RCSUP 6SECT5 OCT 37704 COUNT 21/RCSUP BANK 20 SETLOC DAPS3 BANK # Page 736 RCSUP LXCH BANKRUPT EXTEND QXCH QRUPT TCR RCSDAPON # ACTIVATE RCS DAP TCF RESUME EBANK= DAPDATR1 RCSADDR 2CADR RCSATT 0.6SECT5 OCT 37704 # RCSDAPON ENTRY MUST BE UNDER INT-INHIBIT RCSDAPON CAF 0.6SECT5 # 0.6 SEC ALLOWS TVCEXEC/ROLLDAP TO DIE +1 TS TIME5 # ENTRY FROM R00TOP00 TS T5PHASE # WILL CAUSE FRESHDAP (+1) CS RCSFLAGS # SET BIT3 TO REINITIALIZE FDAI ERROR MASK BIT3 # DISPLAY, IN CASE SC CONT SWITCH ADS RCSFLAGS # IN SCS NOT GNC (GUIDEMODE PRIMARY) EXTEND DCA RCSADDR # (RCSATT) DXCH T5LOC CS OCT60000 # SEE BITS 15,14 TO 01 TO INDICATE MASK FLAGWRD6 # T5 TAKEOVER BY RCSDAP AD BIT14 TS FLAGWRD6 # KILLS TVCEXEC AND ROLLDAP STARTS TC Q # RETURN TO CALLER (TVCDAPOF OR RCSDAPUP) ================================================ FILE: Comanche055/P51-P53.agc ================================================ # Copyright: Public domain. # Filename: P51-P53.agc # Purpose: Part of the source code for Comanche, build 055. It # is part of the source code for the Command Module's # (CM) Apollo Guidance Computer (AGC), Apollo 11. # Assembler: yaYUL # Reference: pp. 737-784 # Contact: Ron Burkey # Website: http://www.ibiblio.org/apollo. # Mod history: 2009-05-12 RSB Adapted from Colossus249 file of the same # name, and Comanche 055 page images. # 2009-05-20 RSB Corrections: SETI/PDT -> SET1/PDT, # GOTOPOOH -> GOTOPOOH, R33EXIT -> R53EXIT, # V853 -> VB53, R56A -> R56A1 (some places # only), added missing R56A1 label, added a # missing CAF in COARSTYP, corrected a SETLOC # from P50S to P50S3. # 2009-05-21 RSB In COARFINE, a TC BANKCALL was corrected to # TC PHASCHNG. In R53C, a CADR GOFLASHR was # corrected to CADR GOFLASH. # # The contents of the "Comanche055" files, in general, are transcribed # from scanned documents. # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. April 1, 1969. # # This AGC program shall also be referred to as Colossus 2A # # Prepared by # Massachusetts Institute of Technology # 75 Cambridge Parkway # Cambridge, Massachusetts # # under NASA contract NAS 9-4065. # # Refer directly to the online document mentioned above for further # information. Please report any errors to info@sandroid.org. # Page 737 # PROGRAM NAME -- PROG52 DATE -- NOV 30, 1966 # MOD NO -- 2 LOG SECTION -- P51-P53 # MODIFICATION BY -- LONSKE ASSEMBLY -- SUNDISK REV 30 # # FUNCTIONAL DESCRIPTION -- # # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE: # # (A) PREFERRED ORIENTATION # # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANEUVER. THIS ORIENTATION MUST BE CALCULATED AND # STORED BY A PREVIOUSLY SELECTED PROGRAM. # # (B) NOMINAL ORIENTATION # # X = UNIT ( Y x Z ) # -SM -SM -SM # # Y = UNIT (V X R) # -SM - - # # Z = UNIT ( -R ) # -SM - # # WHERE: # # R = THE GEOMETRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT # - # # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT # - # # (C) RERSMMAT ORIENTATION # # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT # WAS LAST ALIGNED ONLY DUE TO GYRO DRIVE (I.E., NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPT HAS OCCURRED # SINCE THE LAST ALIGNMENT). # # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO # COARSE ALIGN THE IMU. THE STARS SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANEUVER THE VEHICLE AND SELECT 2 STARS # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING (INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS # REQUESTED. # # CALLING SEQUENCE -- # # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY. # Page 738 # # SUBROUTINES CALLED -- # # 1. FLAGDOWN 7. S52.2 13. NEWMODEX # 2. R02BOTH 8. CAL53A 14. PRIOLARM # 3. GOPERF4 9. FLAGUP # 4. MATMOVE 10. R56 # 5. GOFLASH 11. R51 # 6. S52.3 12. GOPERF3 # # NORMAL EXIT MODES -- # # EXITS TO ENDOFJOB # # ALARM OR ABORT EXIT MODES -- # # NONE # # OUTPUT -- # # THE FOLLOWING MAY BE FLASHED ON THE DSKY # 1. IMU ORIENTATION CODE # 2. ALARM CODE 215 -- PREFERRED IMU ORIENTATION NOT SPECIFIED # 3. TIME OF NEXT IGNITION # 4. GIMBAL ANGLES # 5. ALARM CODE 405 -- TWO STARS NOT AVAILABLE # 6. PLEASE PERFORM P00 # THE MODE DISPLAY MAY BE CHANGED TO 20 # # ERASABLE INITIALIZATION REQUIRED -- # # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED. IF IT HAS BEEN COMPUTED IT IS STORED IN # XSMD, YSMD, ZSMD. # # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING. # # DEBRIS -- # # WORK AREA P54 = PROG52 BANK 33 SETLOC P50S BANK SBANK= LOWSUPER EBANK= SAC COUNT 15/P52 PROG52 TC PHASCHNG OCT 00254 TC DOWNFLAG ADRES UPDATFLG # BIT 7 FLAG 1 # Page 739 TC DOWNFLAG ADRES TRACKFLG # BIT 5 FLAG 1 TC BANKCALL CADR R02BOTH # IMU STATUS CHECK CAF BIT4 MASK STATE +2 # IS PFRATFLG SET? CCS A TC P52A # YES CAF BIT2 # NO TC P52A +1 P52A CAF BIT1 TS OPTION2 P52B CAF BIT1 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE CADR GOPERF4R TC GOTOPOOH TC +5 TC P52B # NEW CODE -- NEW ORIENTATION CODE INPUT TC PHASCHNG OCT 00014 TC ENDOFJOB CA OPTION2 MASK THREE INDEX A TC +1 TC P52T # L.S. TC P52J # PREF TC P52T # NORM TCF P52C # REF P52T EXTEND DCA NEG0 DXCH DSPTEM1 CAF V06N34 TC BANKCALL CADR GOFLASH TC GOTOPOOH TC +2 TC -5 EXTEND DCA DSPTEM1 EXTEND BZF +2 TCF +4 EXTEND DCA TIME2 DXCH DSPTEM1 CA OPTION2 MASK BIT2 CCS A # Page 740 TCF +6 # NOM TC INTPRET # LS CALL P52LS GOTO P52D TC INTPRET DLOAD DSPTEM1 CALL # COMPUTE NOMINAL IMU S52.3 # ORIENTATION P52D CALL # READ VEHICLE ATTITUDE AND S52.2 # COMPUTE GIMBAL ANGLES EXIT CAF VB06N22 TC BANKCALL # DISPLAY GIMBAL ANGLES CADR GOFLASH TC GOTOPOOH TC COARSTYP P52J TC INTPRET # RECYCLE: VEHICLE HAS BEEN MANEUVERED GOTO P52D TC INTPRET CALL # DO COARSE ALIGN CAL53A # ROUTINE CAL53RET SET EXIT REFSMFLG P52C TC PHASCHNG OCT 04024 CAF ALRM15 TC BANKCALL CADR GOPERF1 TC GOTOPOOH TC +2 # V33 TC P52F # E TC INTPRET RTB DAD LOADTIME TSIGHT1 CALL LOCSAM EXIT P52E TC BANKCALL # DO STAR SELECTION CADR PICAPAR TC P52I # 2 STARS NOT AVAILABLE P52F TC INTPRET # 2 STARS AVAILABLE CALL R51 ENDP50S EXIT TC GOTOPOOH # Page 741 P52I TC ALARM OCT 405 CAF V05N09 TC BANKCALL CADR GOFLASH TC GOTOPOOH TC P52F # PROCEED: DO FINE ALIGN-R51 TC P52C # RECYCLE: VEHICLE HAS BEEN MANEUVERED V06N34 VN 0634 VB06N22 VN 00622 COARSTYP CAF OCT13 TC BANKCALL CADR GOPERF1 TCF GOTOPOOH # V34 TCF P52J +3 # NORMAL TC INTPRET # GYRO COARSE GYCRS VLOAD MXV XSMD REFSMMAT UNIT STOVL XDC YSMD MXV UNIT REFSMMAT STOVL YDC ZSMD MXV UNIT REFSMMAT STCALL ZDC CALCGTA CLEAR CLEAR DRIFTFLG REFSMFLG EXIT CAF V16N20 TC BANKCALL CADR GODSPR CA R55CDR TC BANKCALL CADR IMUPULSE TC BANKCALL CADR IMUSTALL TC CURTAINS TC PHASCHNG OCT 04024 TC INTPRET AXC,1 AXC,2 XSMD REFSMMAT CALL # Page 742 MATMOVE CLEAR SET PFRATFLG REFSMFLG RTB VLOAD SET1/PDT ZEROVEC STORE GCOMP SET GOTO DRIFTFLG R51K V16N20 VN 1620 ALRM15 EQUALS OCT15 SETLOC P50S2 BANK V06N89* VN 0689 # NAME -- P52LS # # FUNCTION -- TO DISPLAY THE LANDING SITE LATITUDE, # LONGITUDE AND ALTITUDE. TO ACCEPT NEW DATA VIA # THE KEYBOARD. TO COMPUTE THE LANDING SITE # ORIENTATION FOR P52 OR P54 # # LET: # RLS = LANDING SITE VECTOR IN REF COORDINATES # R = CSM POSITION VECTOR IN REF COORDINATES # V = CSM VELOCITY VECTOR IN REF COORDINATES # THEN THE LANDING SITE ORIENTATION IS: # XSMD = UNIT(RLS) # YSMD = UNIT(ZSMD*XSMD) # ZSMD = UNIT((R*V)*RLS) # # CALL: CALL # P52LS # # INPUTS: DSPTEM1 = TIME OF ALIGNMENT # RLS = LANDING SITE VECTOR IN MOON FIXED COORDINATES # # OUTPUTS: XSMD, YSMD, ZSMD # # SUBROUTINES: RP-TO-R, LAT-LONG, LLASRD, LLASRDA, CSMPREC # # DEBRIS: VAC, SEE SUBROUTINES P52LS STQ SET QMAJ LUNAFLAG DLOAD DSPTEM1 STORE TSIGHT VLOAD SET RLS ERADFLAG STODL 0D TSIGHT STCALL 6D # Page 743 RP-TO-R VSR2 STODL ALPHAV TSIGHT CALL LAT-LONG CALL LLASRD EXIT LSDISP CAF V06N89* TC BANKCALL CADR GOFLASH TC GOTOPOOH TC +2 TC LSDISP TC INTPRET CALL LLASRDA DLOAD CALL TSIGHT LALOTORV VLOAD UNIT ALPHAV STODL XSMD TSIGHT STCALL TDEC1 CSMPREC VLOAD VXV RATT VATT VXV UNIT XSMD STORE ZSMD VXV UNIT XSMD STCALL YSMD QMAJ SETLOC P50S1 BANK # NAME: AUTOMATIC OPTICS POSITIONING ROUTINE # # FUNCTION: (1) TO POINT THE STAR LOS OF THE OPTICS AT A STAR OR LANDMARK DEFINED BY THE PROGRAM OR BY DSKY INPUT. # (2) TO POINT THE STAR LOS OF THE OPTICS AT THE LEM DURING RENDEZVOUS TRACKING OPERATIONS. # # CALLING: CALL R52 # # INPUT: 1. TARG1FLG AND TARG2FLG: PRESET BY CALLER # 2. RNDVZFLG AND TRACKFLG: PRESET BY CALLER # 3. STAR CODE: PRESET BY CALLER. ALSO INPUT THROUGH DSKY # 4. LAT, LONG, AND ALT OF LANDMARK: INPUT THROUGH DSKY # Page 744 # 5. NO. OF MARKS (MARKINDX): PRESET BY CALLER # # OUTPUT: DRIVE SHAFT AND TRUNNION CDUS. # # SUBROUTINES: 1. FIXDELAY 7. CLEANDSP # 2. GOPERF1 8. GODSPR # 3. GOFLASH 9. REFLASHR # 4. R53 10. R52.2 # 5. ALARM 11. R52.3 # 6. SR52.1 COUNT 15/R52 R52 STQ CLEAR SAVQR52 ADVTRK R52VRB EXIT EXTEND DCA CDUT DXCH DESOPTT TC INTPRET SSP CLEAR OPTIND 0 R53FLAG EXIT R52A TC INTPRET SET BON TRUNFLAG TARG1FLG R52H CLEAR EXIT TERMIFLG R52C CA SWSAMPLE # IS OPTICS MODE IN AGC EXTEND BZMF R52M # MANUAL R52D TC BANKCALL # AGC CADR SR52.1 TCF R52L # GR 90 DEGREES TCF R52J # GR 50 DEGREES TC UPFLAG # LS 50 DEGREES ADRES TRUNFLAG # SET TRUNFLAG BIT 4 FLAG 0 R52JA CAF BIT10 # IS THIS A LEM MASK STATE +1 CCS A TC R52E # YES CAF BIT6 # NO, IS R53FLAG SET MASK STATE CCS A TCF R52E # YES # Page 745 CAF V06N92 # NO TC BANKCALL CADR GODSPR R52E CA SWSAMPLE # IS OSS IN CMC MODE EXTEND BZMF R52F # NO CS STATE # YES: IS TRUNFLAG SET MASK BIT4 CCS A TC +3 # NO CA PAC # YES TS DESOPTT CA SAC TS DESOPTS R52F CAF .5SEC # WAIT 1/2 SEC TC BANKCALL CADR DELAYJOB CAF BIT10 MASK STATE +1 CCS A TCF R52HA # YES, LEM CAF BIT15 # NO MASK STATE +7 # IS TERMIFLG SET EXTEND BZF R52C # NO R52Q TC INTPRET # YES GOTO SAVQR52 R52H EXIT # LEM R52HA TC BANKCALL CADR R61CSM CA STATE +1 MASK BIT5 EXTEND # TRACKFLG BZF R52Q CS STATE +1 MASK BIT7 # UPDATFLG CCS A TCF R52SYNC R52I CA STATE +5 MASK BIT10 CCS A TC R52D # PRFTRKAT = 1 R52SYNC CAF 1.8SEC # MAKE UP FOR LOST TIME TCF R52F +1 R52J TC DOWNFLAG # CLEAR TRUNFLAG ADRES TRUNFLAG # BIT 4 FLAG 0 # Page 746 TC ALARM # SET 407 ALARM OCT 407 TC R52JA R52M CAF BIT6 # IS R53FLAG SET MASK STATE CCS A TC R52F # YES INHINT # NO CAF PRIO24 TC FINDVAC EBANK= SAC 2CADR R53JOB RELINT TCF R52F R53JOB TC INTPRET CALL R53 ENDPLAC EXIT # INTERPRETER RETURN TO ENDOFJOB (R22 USES) TC ENDOFJOB V06N92 VN 00692 V06N89A VN 0689 SHAXIS 2DEC .5376381241 B-1 2DEC 0 2DEC .8431766920 B-1 R52L CAF BIT10 # IS THIS A LEM MASK STATE +1 CCS A TC R52J # YES CAF OCT404 TC BANKCALL CADR PRIOLARM TCF TERM52 # TERMINATE TCF R52F # PROCEED TCF R52F # NO PROVISION FOR NEW DATA TCF ENDOFJOB OCT404 OCT 404 1.8SEC DEC 180 TERM52 TC CLEARMRK TC BANKCALL # KILL MARK SYSTEM CADR MKRELEAS # Page 747 CAF ZERO TS OPTCADR TC BANKCALL # CLEAR OUT EXTENDED VERBS CADR KLEENEX TC GOTOPOOH # NO GO TO P00 ADVORB STQ SET # SETS UP ADVANCED ORBIT TRACKING SAVQR52 ADVTRK SET SET LUNAFLAG ERADFLAG GOTO R52VRB # Page 748 # NAME -- S50 ALIAS LOCSAM # NAME: LOCSAM # # FUNCTION -- TO COMPUTE QUATITIGS LISTED BELOW, USED IN THE # IMU ALIGNMENT PROGRAMS. # # DEFINE: # # RATT = POSITION VECTOR OF CM WRT PRIMARY BODY # # VATT = VELOCITY VECTOR OF CM WRT PRIMARY BODY # # RE = RADIUS OF EARTH # # RM = RADIUS OF MOON # # ECLIPOL = POLE OF ECLIPTIC SCALED BY TANGENTIAL VELOCITY OF EARTH # WRT TO SUN OVER THE VELOCITY OF LIGHT # # REM = POSITION OF MOON WRT EARTH # # RES = POSITION OF SUN WRT EARTH # # C = VELOCITY OF LIGHT # # EARTH IS PRIMARY MOON IS PRIMARY # _ _ # VEARTH=-1(RATT) VEARTH=-1(REM+RATT) # _ _ # VMOON = 1(REM-RATT) VMOON =-1(RATT) # _ _ # VSUN = 1(RES) VSUN = 1(RES-REM) # -1 # CEARTH=COS(SIN (RE/RATT)+5) CEARTH=COS 5 # -1 # CMOON =COS 5 CMOON =COS(SIN CRM/RATT)+5) # # CSUN =COS 15 CSUN =COS 15 # # VEL/C = VSUN x ECLIPOL + VATT/C # # CALL: DLOAD CALL # DESIRED TIME # LOCSAM # # INPUTS: MPAC = TIME # # OUTPUTS: VEARTH, VMOON, VSUN, CEARTH, CMOON, CSUN, VEL/C # # SUBROUTINES: LSPOS, CSMCONIC # # DEBRIS: VAC AREA, SEE SUBROUTINES. # Page 749 SETLOC P50S1 BANK COUNT* $$/S50 LOCSAM = S50 S50 STQ QMAJ STCALL TSIGHT LSPOS STOVL VMOON 2D STODL VSUN TSIGHT STCALL TDEC1 CSMCONIC SSP TIX,2 S2 0 MOONCNTR EARTCNTR VLOAD VSU VMOON RATT UNIT STOVL VMOON RATT UNIT VCOMP STODL VEARTH RSUBE CALL OCCOS STODL CEARTH CSS5 STOVL CMOON VSUN UNIT STCALL VSUN ENDSAM MOONCNTR VLOAD VSR8 VMOON VSR1 BVSU VSUN UNIT STOVL VSUN VMOON VAD UNIT RATT VCOMP STOVL VEARTH # Page 750 RATT UNIT VCOMP STODL VMOON RSUBM CALL OCCOS STODL CMOON CSS5 STOVL CEARTH VSUN ENDSAM VXV ECLIPOL STOVL VEL/C VATT VXSC VAD 1/C VEL/C STODL VEL/C CSSUN STCALL CSUN QMAJ OCCOS DDV SR1 36D ASIN DAD 5DEGREES COS SR1 RVQ SETLOC P50S BANK RSUBM 2DEC 1738090 B-29 # MOON RADIUS IN METERS RSUBE 2DEC 6378166 B-29 5DEGREES 2DEC .013888889 # SCALED IN REVS 1/C 2DEC .000042699 B-1 # * ECLIPOL 2DEC 0 # * 2DEC -.00007896 B-1 # * 2DEC .00018209 B-1 # * * FOR USE BY CSM ONLY TSIGHT1 2DEC 24000 CEARTH = 14D CSUN = 16D CMOON = 18D CSS5 2DEC .2490475 # (COS 5)/4 # Page 751 CSSUN 2DEC .24148 # (COS 15)/4 # Page 752 # PROGRAM NAME -- PICAPAR DATE: DEC 20 66 # MOD 1 LOG SECTION: P51-P53 # ASSEMBLY: SUNDISK REV40 # BY KEN VINCENT # # FUNCTION # THIS PROGRAM READS THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX) # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED # TO DETERMINE IF IT IS OCCULTED BY EITHER EARTH, SUN OR MOON. IF A # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STARS OF LOWER INDEX. # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION. A PAIR OF STARS # HAVE GOOD SEPARATION IF THE ANGLE BETWEEN THEM IS LESS THAN 66 DEGREES # AND MORE THAN 40 DEGREES. THOSE PAIRS WITH GOOD SEPARATION # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW. (WITHIN # 33 DEGREES OF SAX). THE PAIR WITH MAX SEPARATION IS CHOSEN FROM # THOSE WITH GOOD SEPARATION, AND IN FIELD OF VIEW. # # CALLING SEQUENCE # L TC BANKCALL # L+1 CADR PICAPAR # L+2 ERROR RETURN -- NO STARS IN FIELD OF VIEW # L+3 NORMAL RETURN # # OUTPUT # BESTI, BESTJ -- SINGLE PREC, INTEGERS, STAR NUMBERS TIMES 6 # VFLAG -- FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW # # INITIALIZATION # 1) A CALL TO LOCSAM MUST BE MADE # 2) VEARTH = -UNIT(R) WHERE R HAS BEEN UPDATED TO APPROXIMATE TIME OF # SIGHTINGS. # # DEBRIS # WORK AREA # X,Y,ZNB # SINCDU, COSCDU # STARAD -- STAR +5 COUNT 14/PICAP SETLOC P50S1 BANK PICAPAR TC MAKECADR TS QMIN TC INTPRET CALL CDUTRIG CALL CALCSMSC # Page 753 SETPD 0 SET DLOAD # VFLAG = 1 VFLAG DPZERO STOVL BESTI XNB VXSC PDVL SIN33 ZNB AXT,1 VXSC 228D # X1 = 37 X 6 + 6 COS33 VAD VXM UNIT REFSMMAT STORE SAX # SAX = SHAFT AXIS SSP SSP # S1 = S2 = 6 S1 6 S2 6 PIC1 TIX,1 GOTO # MAJOR STAR PIC2 PICEND PIC2 VLOAD* CALL CATLOG,1 OCCULT BON LXA,2 CULTFLAG PIC1 X1 PIC3 TIX,2 GOTO PIC4 PIC1 PIC4 VLOAD* CALL CATLOG,2 OCCULT BON VLOAD* CULTFLAG PIC3 CATLOG,1 DOT* DSU CATLOG,2 CSS66 # SEPARATION LESS THAN 66 DEG. BMN DAD PIC3 CSS6640 # SEPARATION MORE THAN 40 DEG. BPL PIC3 # Page 754 VLOAD* DOT CATLOG,1 SAX DSU BMN # MAJOR STAR IN CONE CSS33 PIC1 VLOAD* DOT CATLOG,2 SAX DSU BPL CSS33 STRATGY GOTO PIC3 STRATGY BONCLR VFLAG NEWPAR XCHX,1 XCHX,2 BESTI BESTJ STRAT VLOAD* DOT* CATLOG,1 CATLOG,2 PUSH BOFINV VFLAG STRAT -3 DLOAD DSU BPL PIC3 NEWPAR SXA,1 SXA,2 BESTI BESTJ GOTO PIC3 OCCULT MXV BVSU CULTRIX CSS BZE CULTED BMN SIGN CULTED MPAC +3 BMN SIGN CULTED MPAC +5 BMN CLRGO CULTED CULTFLAG QPRET CULTED SETGO # Page 755 CULTFLAG QPRET CSS = CEARTH SIN33 2DEC .5376381241 COS33 2DEC .8431756920 CSS66 2DEC .060480472 # (COS76)/4 CSS6640 2DEC -.15602587 # (COS76 - COS30)/4 CSS33 2DEC .197002688 # (COS(1/2(76))/4 PICEND BOFF EXIT VFLAG PICGXT TC PICBXT PICGXT EXIT INCR QMIN PICBXT CA QMIN TC SWCALL #V1 = 12D # Page 756 # NAME -- R51 FINE ALIGN # FUNCTION -- TO ALIGN THE STABLE MEMBER TO REFSSMAT # CALLING SEQ -- CALL R51 # INPUT -- BESTI, BESTJ (PAIR OF STAR NO) # OUTPUT -- GYRO TORQUE PULSES # SUBROUTINES -- R52, R54, R55 (SXTNB, NBSM, AXISGEN) COUNT 14/R51 R51 EXIT CAF BIT1 TS STARIND TS MARKINDX R51.2 TC INTPRET R51.3 CLEAR CLEAR TARG2FLG TARG1FLG EXIT TC PHASCHNG OCT 05024 # RESTART GR 4 FOR R52-R53 OCT 13000 INDEX STARIND CA BESTI EXTEND MP 1/6TH TS STARCODE R51DSP CAF V01N70 TC BANKCALL CADR GOFLASHR TC GOTOPOOH TC +5 TC -5 CAF SIX TC BLANKET TCF ENDOFJOB TC CHKSCODE TC FALTON TC R51DSP TC INTPRET RTB CALL LOADTIME PLANET SSP LXA,1 S1 0 STARIND TIX,1 R51ST STCALL STARSAV2 # 2ND STAR R51ST +1 R51ST STORE STARSAV1 # 1ST STAR # Page 757 EXIT CS MODREG # IS THIS P54 AD OCT66 EXTEND BZF R51B # YES TC INTPRET CALL R52 # AOP WILL MAKE CALLS TO SIGHTING R51A CALL # COMPUTE LOS IN SM FROM MARK DATA SXTSM STORE STARSAV2 EXIT TC BANKCALL CADR MKRELEAS TC INTPRET DLOAD CALL TSIGHT PLANET EXIT CCS STARIND TC R51.4 TC INTPRET MXV UNIT REFSMMAT STORE STARAD VLOAD STARSAV2 STOVL 6D STARSAV1 STOVL 12D PLANVEC STCALL STARAD +6 R54 # STAR DATA TEST BOFF CALL FREEFLAG R51K AXISGEN CALL R55 # GYRO TORQUE CLEAR PFRATFLG R51K EXIT CAF OCT14 TC BANKCALL CADR GOPERF1 TC GOTOPOOH TC +2 # V33 TC +3 TC BANKCALL CADR P52C # Page 758 TC INTPRET GOTO ENDP50S R51.4 TC INTPRET MXV UNIT REFSMMAT STOVL PLANVEC STARSAV2 STORE STARSAV1 SSP STARIND 0 GOTO R51.3 R51B TC INTPRET CALL R56 GOTO R51A OCT66 OCT 00066 V01N70 VN 0170 1/6TH DEC .1666667 # Page 759 # NAME: R55 GYRO TORQUE # FUNCTION -- COMPUTE AND SEND GYRO PULSES # CALLING SEQ -- CALL R55 # INPUT -- X,Y,ZDC -- REFSMMAT WRT PRESENT STABLE MEMBER # OUTPUT -- GYRO PULSES # SUBROUTINES -- CALCGTA, GOFLASH, GODSPR, IMUFINE, IMUPULSE, GOPERF1 SETLOC P50S BANK COUNT* $$/R55 R55 STQ QMIN CALL CALCGTA PULSEM EXIT R55.1 CAF V06N93 TC BANKCALL CADR GOFLASH TC GOTOPOOH TC R55.2 TC R55RET R55.2 TC PHASCHNG OCT 00314 CA R55CDR TC BANKCALL CADR IMUPULSE TC BANKCALL CADR IMUSTALL TC CURTAINS TC PHASCHNG OCT 05024 OCT 13000 R55RET TC INTPRET GOTO QMIN V06N93 VN 0693 R55CDR ECADR OGC R54 = CHKSDATA # ROUTINE NAME -- CHKSDATA DATE -- JAN 9, 1967 # MOD NO -- 0 LOG SECTION -- P51-P53 # MODIFICATION BY -- LONSKE ASSEMBLY -- # # FUNCTIONAL DESCRIPTION -- CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED -- # OS1 = OBSERVED STAR 1 VECTOR # OS2 = OBSERVED STAR 2 VECTOR # SS1 = STORED STAR 1 VECTOR # SS2 = STORED STAR 2 VECTOR # A1 = ARCCOS(OS1 - OS2) # Page 760 # A2 = ARCCOS(SS1 - SS2) # A = ABS(2(A1 - A2)) # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTANCE. # # EXIT MODE -- 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE # # OUTPUT -- 1. VERB 6,NOUN 3 -- DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS. # 2. STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D. # # ERASABLE INITIALIZATION REQUIRED -- # 1. MARK VECTORS ARE STORED IN STARAD AND STARAD +6. # 2. CATALOG VECTORS ARE STORED IN 6D AND 12D. # # DEBRIS -- SETLOC P50S1 BANK COUNT* $$/R50 CHKSDATA STQ SET QMIN FREEFLAG CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA STARAD CHKSB VLOAD* DOT* # CAL. ANGLE THETA 0,1 6,1 SL1 ACOS STORE THETA BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS FREEFLAG CHKSD FREEFLAG # CLEAR FREEFLAG AXC,1 DLOAD # SET X1 TO MARK ANGLES 6D THETA STORE 18D GOTO CHKSB # RETURN TO CAL. 2ND ANGLE CHKSD DLOAD DSU THETA # COMPUTE POS DIFF 18D ABS RTB SGNAGREE STORE NORMTEM1 SET EXIT FREEFLAG CAF ZERO TC BANKCALL CADR CLEANDSP CAF VB6N5 # Page 761 TC BANKCALL CADR GOFLASH TCF GOTOPOOH TC CHKSDA # PROCEED TC INTPRET CLEAR GOTO FREEFLAG QMIN CHKSDA TC INTPRET GOTO QMIN VB6N5 VN 605 # NAME -- CAL53A # FUNCTION -- COARSE ALIGN THE IMU, IF NECESSARY # CALLING SEQUENCE -- CALL CAL53A # INPUT -- PRESENT GIMBAL ANGLES -- CDUX, CDUY, CDUZ # DESIRED GIMBAL ANGLES -- THETAD,+1,+2 # OUTPUT -- THE IMU COORDINATES AT STORED IN REFSMMAT # SUBROUTINES -- 1.IMUCOARS, 2.IMUSTALL, 3CURTAINS COUNT 14/R50 CAL53A CALL S52.2 # MAKE FINAL COMP OF GIMBAL ANGLES RTB SSP RDCDUS # READ CDUS S1 1 AXT,1 SETPD 3 4 CALOOP DLOAD* SR1 THETAD +3D,1 PDDL* SR1 4,1 DSU ABS PUSH DSU DEGREE1 BMN DLOAD CALOOP1 DSU BPL DEG359 CALOOP1 COARFINE EXIT TC PHASCHNG OCT 04024 TC BANKCALL CADR IMUCOARS # PERFORM COARSE ALIGNMENT TC BANKCALL CADR IMUSTALL # REQUEST MODE SWITCH # Page 762 TC CURTAINS TC BANKCALL CADR IMUFIN20 TC BANKCALL CADR IMUSTALL TC CURTAINS # TEST FOR MALFUNCTION TC INTPRET RTB VLOAD SET1/PDT ZEROVEC STORE GCOMP SET GOTO DRIFTFLG FINEONLY CALOOP1 TIX,1 CALOOP FINEONLY AXC,1 AXC,2 XSM REFSMMAT CALL MATMOVE GOTO CAL53RET MATMOVE VLOAD* # TRANSFER MATRIX 0,1 STORE 0,2 VLOAD* 6D,1 STORE 6D,2 VLOAD* 12D,1 STORE 12D,2 RVQ DEGREE1 DEC 46 DEG359 DEC 16338 SETLOC P50S BANK RDCDUS INHINT # READ CDUS CA CDUX INDEX FIXLOC TS 1 CA CDUY INDEX FIXLOC TS 2 CA CDUZ INDEX FIXLOC TS 3 RELINT TC DANZIG # Page 763 # NAME: GIMB # # FUNCTION: DETERMINE AND COMPUTE THE DESIRED GIMBAL ANGLES TO BE USED FOR COARSE ALIGNMENT. # # CALLING SEQUENCE: CALL GIMB # # INPUT: DESIRED IMU INERTIAL ORIENTATION VECTORS: XSMD, YSMD, ZSMD # # OUTPUT: GIMBAL ANGLES LEFT IN THETAD, +1, +2 # # SUBROUTINES USED: 1.CDUTRIG 2.CALCSMSC 3.CALCGA SETLOC P50S2 BANK COUNT 14/INFLT CALCSMSC DLOAD DMP SINCDUY COSCDUZ DCOMP PDDL SR1 SINCDUZ PDDL DMP COSCDUY COSCDUZ VDEF VSL1 STORE XNB DLOAD DMP SINCDUX SINCDUZ SL1 STORE 26D DMP SINCDUY PDDL DMP COSCDUX COSCDUY DSU PDDL DMP SINCDUX COSCDUZ DCOMP PDDL DMP COSCDUX SINCDUY PDDL DMP COSCDUY 26D DAD VDEF VSL1 STORE ZNB VXV VSL1 XNB STORE YNB RVQ # NAME -- P51 -- IMU ORIENTATION DETERMINATION # MOD. NO. 2 21 DEC 66 LOG SECTION -- P51-P53 # Page 764 # MOD BY STURLAUGSON ASSEMBLY SUNDISK REV15 # # FUNCTIONAL DESCRIPTION # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING # ROUTINE IS CALLED TO COLLECT THE CDU COUNTERS AND SHAFT AND TRUNNION ANGLES FOR A SIGHTED STAR. THE DATA IS # THEN PROCESSED AS FOLLOWS. # # 1. SEXTANT ANGLES ARE COMPUTED IN TERMS OF NAVIGATIONAL BASE COORDINATES. LET SA AND TA BE THE SHAFT AND # TRUNNION ANGLES, RESPECTIVELY. THEN, # _ # V = (SIN(TA)*COS(SA), SIN(TA)*SIN(SA), COS(TA)) (A COLUMN VECTOR) # NB # THE OUTPUT IS A HALF-UNIT VECTOR STORED IN STARM. # # 2. THIS VECTOR IN NAV. BASE COORDS. IS THEN TRANSFORMED TO ONE IN STABLE MEMBER COORDINATES. # _ T T T _ # V = Q *Q *Q *V , WHERE # 1 2 3 NB # # ( COS(IG) 0 -SIN(IG) ) # ( ) THE GIMBAL ANGLES ARE COMPUTED FROM # Q = ( 0 1 0 ), IG= INNER GIMBAL ANGLE THE CDU COUNTERS AT NBSM (USING AXIS- # 1 ( ) ROT AND CDULOGIC) # ( SIN(IG) 0 COS(IG) ) # # ( COS(MG) SIN(MG) 0 ) # ( ) # Q = (-SIN(MG) COS(MG) 0 ), MG= MIDDLE GIMBAL ANGLE # 2 ( ) # ( 0 0 1 ) # # ( 1 0 0 ) # ( ) # Q = ( 0 COS(OG) SIN(OG) ), OG= OUTER GIMBAL ANGLE # 3 ( ) # ( 0 -SIN(OG) COS(OG) ) # # 3. THE STAR NUMBER IS SAVED AND THE SECOND STAR IS THEN SIMILARLY PROCESSED. # # 4. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT CKSDATA. # # 5. REFSMMAT IS THEN COMPUTED AT AXISGEN AS FOLLOWS. # _ _ # LET S AND S BE TWO STAR VECTORS EXPRESSED IN TWO COORDINATE SYSTEMS, A AND B (BASIC AND STABLE MEMBER). # 1 2 # Page 765 # DEFINE, # _ _ # U = S # A A1 # _ _ _ # V = UNIT(S x S ) # A A1 A2 # _ _ _ # W = U x V # A A A # # AND, # _ _ # U = S # B B1 # _ _ _ # V = UNIT(S x S ) # B B1 B2 # _ _ _ # W = U x V # B B B # # THEN # _ _ _ _ # X = U *U + V *V + W *W # B1 A B1 A B1 A # _ _ _ _ # Y = U *U + V *V + W *W (REFSMMAT) # B2 A B2 A B2 A # _ _ _ _ # Z = U *U + V *V + W *W # B3 A B3 A B3 A # # THE INPUTS CONSIST OF THE FOUR HALF-UNIT VECTORS STORED AS FOLLOWS # _ # S IN 6-11 OF THE VAC AREA # A1 # _ # S IN 12-17 OF THE VAC AREA # A2 # _ # S IN STARAD # B1 # Page 766 _ # S IN STARAD +6 # B2 # # CALLING SEQUENCE: # # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY. # # SUBROUTINES CALLED: # # GOPERF3 # GOPERF1R # GODSPR # IMUCOARS # IMUFIN20 # R53 # SXTNB # NBSM # MKRELEAS # CHKSDATA # MATMOVE # # ALARMS # # NONE # # ERASABLE INITIALIZATION: # # IMU ZERO FLAG SHOULD BE SET. # # OUTPUT # # REFSMMAT # REFSMFLG # # DEBRIS # # WORK AREA # STARAD # STARIND # BESTI # BESTJ SETLOC P50S1 BANK COUNT 14/P5153 P53 EQUALS P51 P51 CS IMODES30 MASK BIT9 CCS A # Page 767 TC P51A TC ALARM OCT 210 TC GOTOPOOH P51A TC BANKCALL CADR R02ZERO P51AA CAF PRFMSTAQ TC BANKCALL CADR GOPERF1 TC GOTOPOOH # TERM. TC P51B # V33 TC PHASCHNG OCT 05024 OCT 13000 CAF P51ZERO TS THETAD # ZERO THE GIMBALS TS THETAD +1 TS THETAD +2 CAF V6N22 TC BANKCALL CADR GODSPRET CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41 TC BANKCALL CADR GODSPRET TC BANKCALL CADR IMUCOARS TC BANKCALL CADR IMUSTALL TC CURTAINS # CAGING OR BAD END TC BANKCALL # SCHEDULE IFAILOK AND IMUFINED TASKS, IN 5 CADR IMUFIN20 # AND 20 SECS. DIRECT RETURN AND NO STALL, TC BANKCALL # IF CAGING, BUT T4 WILL ZERO C/A ENABLE. CADR IMUSTALL # IF PUT TO SLEEP, IMUFINED WILL WAKE US TC CURTAINS # UP. TC PHASCHNG OCT 05024 OCT 13000 TCF P51AA # COARSE ALIGN DONE: RECYCLE FOR FINE # Page 768 # DO STAR SIGHTING AND COMPUTE NEW REFSMMAT P51B TC PHASCHNG OCT 00014 TC INTPRET SSP SETPD STARIND # INDEX -- STAR 1 OR 2 0 0 RTB VLOAD SET1/PDT ZEROVEC STORE GCOMP SET CLEAR DRIFTFLG # ENABLE T4 COMPENSATION TARG2FLG # SHOW MARK IS STAR --- NOT LANDMARK EXIT CAF BIT1 TS MARKINDX # INITIALIZE FOR ONE MARK P51C TC PHASCHNG OCT 05024 OCT 13000 TC CHECKMM MM 53 # BACKUP PROGRAM TCF P51C.1 # NOT P53 TC INTPRET CALL R56 GOTO P51C.2 P51C.1 TC INTPRET CALL R53 # SIGHTING ROUTINE P51C.2 CALL # COMPUTE LOS IN SM FROM MARK DATA SXTSM PUSH SLOAD BZE STARIND P51D VLOAD STADR STORE STARSAV2 # DOWNLINK GOTO P51E P51D VLOAD STADR STODL STARSAV1 TSIGHT CALL PLANET STORE PLANVEC # Page 769 P51E EXIT TC PHASCHNG OCT 05024 OCT 13000 TC BANKCALL CADR MKRELEAS # ZERO MARKSTAT CCS STARIND TCF P51F # STAR 2 TC PHASCHNG OCT 05024 OCT 13000 CAF BIT1 TS STARIND TCF P51C # GO DO SECOND STAR P51F TC PHASCHNG OCT 05024 OCT 13000 TC INTPRET DLOAD CALL TSIGHT PLANET STOVL 12D PLANVEC STOVL 6D STARSAV1 STOVL STARAD STARSAV2 STCALL STARAD +6 CHKSDATA # CHECK STAR ANGLES IN STARAD AND BON EXIT FREEFLAG P51G TC P51AA P51G CALL AXISGEN # COME BACK WITH REFSMMAT IN XDC AXC,1 AXC,2 XDC REFSMMAT CLEAR CALL REFSMFLG MATMOVE SET GOTO REFSMFLG ENDP50S PRFMSTAQ = OCT15 P51ZERO = ZERO P51FIVE = FIVE V6N22 VN 0622 V41K VN 4100 SET1/PDT CA TIME1 # Page 770 TS 1/PIPADT TCF DANZIG # Page 771 # SXTSM COMPUTES AN LOS VECTOR IN SM COORD FROM OCDU AND ICDU MARK DATA SETLOC P50S3 BANK SXTSM STQ QMAJ LXC,1 DLOAD* MARKSTAT 0D,1 STORE TSIGHT LXC,2 SLOAD* STARIND MKDNCDR,2 LXC,2 VLOAD* MPAC 0,1 STORE 0,2 DLOAD* 5,1 STORE 5,2 CALL SXTNB # COMPUTE LOS VECTOR FROM OCDU IN MKVAC LXA,1 INCR,1 MARKSTAT 2 # INCREMENT TO BASE ADR OF ICDU SXA,1 CALL S1 NBSM # TRANSFORM LOS TO SM GOTO QMAJ MKDNCDR ECADR MARKDOWN ECADR MARK2DWN # Page 772 # PROGRAM DESCRIPTION: R53 -- SIGHTING MARK ROUTINE # MOD. NO. 2 21 DEC 66 # MOD. BY STURLAUGSON # # FUNCTIONAL DESCRIPTION: # # TO PERFORM A SATISFACTORY NUMBER OF SIGHTING MARKS FOR THE REQUESTING PROGRAM (OR ROUTINE). SIGHTINGS # CAN BE MADE ON A STAR OR LANDMARK. WHEN THE CMC ACCEPTS A MARK IT RECORDS AND STORES 5 ANGLES (3 ICDUS AND 2 # OCDUS) AND THE TIME OF THE MARK. # # CALLING SEQUENCE: # # R53 IS CALLED AND RETURNS IN INTERPRETIVE CODE. RETURN IS VIA QPRET. # THERE IS NO ERROR EXIT IN THIS ROUTINE ITSELF. # # SUBROUTINES CALLED # # SXTMARK # OPTSTALL # GOFLASH # # ERASABLE INITIALIZATION: # # TARGET FLAG -- STAR OR LANDMARK # MARKINDX -- NUMBER OF MARKS WANTED # STARIND -- INDEX TO BESTI OR BESTJ (STAR NUMBER) # # OUTPUT # # MARKSTAT CONTAINS INDEX TO VACANT AREA WEHRE MARK DATA IS STORED # BESTI (INDEXED BY STARIND) CONTAINS STAR NUMBER SIGHTED. # # DEBRIS # # MARKINDX CONTAINS NUMBER OF MARKS DESIRED SETLOC RT53 BANK COUNT 14/R53 R53 STQ SET # SET SIGHTING MARK FLAG R53EXIT R53FLAG EXIT R53A CA MARKINDX # NUMBER OF MARKS MASK LOW3 TC BANKCALL CADR SXTMARK TC BANKCALL CADR OPTSTALL TC CURTAINS INDEX MARKSTAT CCS QPRET # NUMBER OF MARKS ACTUALLY DONE TCF R53B TCF +2 # ZERO TCF +1 # CCS HOLE CAF ZERO # HOUSEKEEP VAC AREA SAVE XCH MARKSTAT # AND MARKSTAT # Page 773 CCS A INDEX A TS 0 TCF R53A R53B TC CHECKMM MM 22 TCF +2 TCF R53D TC CHECKMM MM 23 TCF R53C1 TCF R53D R53C1 CAF ZERO TC BANKCALL CADR CLEANDSP R53C CAF V01N71 TC BANKCALL CADR GOFLASH TC GOTOPOOH # TERM. TCF R53Z TC R53C # RECYCLE R53Z TC CHKSCODE TC FALTON TC R53C CS HIGH9 MASK STARCODE EXTEND MP SIGHTSIX XCH L INDEX STARIND TS BESTI R53D TC INTPRET R53OUT SETGO TERMIFLG # SET TERMINATE FOR R52 R53EXIT SIGHTSIX = SIX V01N71 VN 0171 # ****** KEEP IN SAME BANK AS R51 AND R53 ******** CHKSCODE CCS STARCODE AD NEG47 CCS A TC Q # SC < 0 OR SC > 50 TCF +2 # SC = + OR - 0 TCF +1 # 0 <= SC< 50 INDEX Q # SC = 50 TC 00002 NEG47 OCT 77730 # Page 774 # NAME -- S52.2 # FUNCTION -- COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE # CALL -- CALL S52.2 # INPUT -- X,Y,ZSMD # OUTPUT -- OGC,IGC,MGC,THETAD,+1,+2 # SUBROUTINES -- CDUTRIG, CALCSMSC, MATMOVE, CALCGA SETLOC S52/2 BANK COUNT 13/S52.2 S52.2 STQ QMAJ CALL CDUTRIG CALL CALCSMSC AXT,1 SSP 18D S1 6D S52.2A VLOAD* VXM XNB +18D,1 REFSMMAT UNIT STORE XNB +18D,1 TIX,1 S52.2A S52.2.1 AXC,1 AXC,2 XSMD XSM CALL MATMOVE CALL CALCGA GOTO QMAJ # Page 775 # PROGRAM NAME: SR52.1 DATE: DEC 20 1968 # MOD 1 LOG SEC: P51-P53 # BY KEN VINCENT ASSEMBLY: SUNDISK REV 40 # # FUNCTION # # TARG1 AND TARG2 FLAGS ARE LOOKED AT TO DETERMINE IF THE TARGET IS THE # LEM, STAR, OR LANDMARK. IN CASE OF LEM OR LMK, THE PRESENT TIME PLUS # 2 SECONDS IS SAVED IN AOPTIME (ALIAS STARAD, +1). IF THE LEM IS # THE TARGET THEN CONIC UPDATES OF THE CSM AND LEM ARE MADE TO # THE TIME IN AOPTIME. THE UNIT OF THE DIFFERENCE OF LEM AND CSM # POSITION VECTORS BECOMES THE REFERENCE SIGHTING VECTOR USED IN THE # COMMON PART OF THE THIS PROGRAM. # # IN THE CASE OF LANDMARK, THE CSM IS UPDATED CONICALLY. THE RADIUS # VECTOR FOR THE LANDMARK IS OBTAINED FROM LALOTORV. BOTH OF THESE ARE # FOUND FOR THE TIME IN AOPTIME. THE UNIT OF THE DIFFERENCE BETWEEN # THE LANDMARK AND CSM RADIUS VECTORS BECOMES THE REFERENCE SIGHTING # VECTOR FOR THE COMMON PART OF THIS ROUTINE. # # IF A STAR IS THE TARGET, THE PROPER STAR IS OBTAINED FROM THE CATALOG # AND THIS VECTOR BECOMES THE REFERENCE SIGHTING VECTOR. # # THE COMMON PART OF THIS PROGRAM TRANSFORMS THE REFERENCE SIGHTING # VECTOR INTO STABLE MEMBER COORDINATES. IT READS THE IMU-CDUS AND USES # THIS DATA IN A CALL TO CALCSXA. ON RETURN FROM CALCSXA A TEST IS # MADE TO SEE IF THE TRUNNION ANGLE IS GREATER THAN 90DEG OR 38DEG. # MADE TO SEE IF THE TRUNNION ANGLE IS GREATER THAN 90DEG. OR 50DEG. # # CALLING SEQUENCE # # L+4 RETURN WHEN SHAFT OR TRUNION NOT WITHIN 5 DEG OF DESIRED # L TC BANKCALL # L+1 CADR SR52.1 # L+2 ERROR RETURN TRUNNION GREATER THAN 90 DEG. # L+3 ERROR RETURN TRUNNION GREATER THAN 50 DEG # L+4 NORMAL RETURN # # OUTPUT # # SAC: SINGLE PREC, 2'S COMP, SCALED AT HALF REVS -- SHAFT ANGLE DESIRED. # PAC: SINGLE PREC, 2'S COMP, SCALED AT EIGHTH REVS -- TRUNNION ANGLE DESIRED. # # INITIALIZATION # # IF TARG1FLG =1 THEN TARGET IS LEM -- NO OTHER INPUT REQUIRED. # # IF TARG1FLG =0 AND TARG2FLG =0 THE TARGET IS STAR, STARIND SHOULD # 0 OR 1 DENOTING BESTI OR BESTJ RESPECTIVELY AS STAR CODE. STAR CODES # ARE 6 TIMES STAR NUMBER. # # IF TARG1FLG =0 AND TARG2FLG =1 THEN TARGET IS LANDMARK. SETT ROUTINE # LALOTORV FOR INPUT REQUIREMENTS. HERE FIXERAD=1 FOR CONSTANT EARTH # RADIUS # # DEBRIS # # WORK AREA # STARAD -- STAR+5 (STAR IS DESIRED LOS IN STABLE MEMBER COORDINATES) COUNT* $$/SR521 # Page 776 SETLOC SR52/1 BANK SR52.1 TC MAKECADR TS QMIN TC INTPRET RTB DAD LOADTIME 1.3SECDP STORE AOPTIME BON BON TARG1FLG LEM52 TARG2FLG LMK52 GOTO STAR52 LEM52 DLOAD AOPTIME STCALL TDEC1 LEMCONIC VLOAD RATT GOTO LMKLMCOM LMK52 BON DLOAD ADVTRK ADVTRACK AOPTIME CALL LALOTORV VLOAD ALPHAV LMKLMCOM STODL STAR AOPTIME STCALL TDEC1 CSMCONIC VLOAD VSU STAR RATT UNIT GOTO COM52 STAR52 SSP LXA,1 S1 0 STARIND TIX,1 ST52ST VLOAD GOTO STARSAV2 # Page 777 COM52 ST52ST VLOAD STARSAV1 COM52 MXV UNIT REFSMMAT STORE STAR SETPD CALL 0 CDUTRIG # COMPUTES SINES AND COSINES FOR CALCSXA CALL # NOW EXPECT TO SEE THE CDU ANGLES. CALCSXA BOFF EXIT CULTFLAG TRUN38 TC SR52E1 TRUN38 DLOAD DSU PAC 38TRDEG BPL DLOAD SR52E22 PAC DSU BPL 20DEGSMN SR52E3 SR52E22 EXIT TC SR52E2 SR52E3 EXIT INCR QMIN SR52E2 INCR QMIN SR52E1 CA QMIN TC SWCALL 38TRDEG 2DEC .66666667 # CORRESPONDS TO 50 DEGS IN TRUNION 1.3SECDP 2DEC 130 20DEGSMN DEC -07199 DEC -0 # Page 778 # THE ADVTRACK ROUTINE IS USED TO COMPUTE AN OPTICS LOS VECTOR TO # A POINT ON THE GROUND TRACK 60 DEGREES FORWARD OF THE LOCAL VERTICAL # OF AN ADVANCED ORBIT A SPECIFIED NUMBER OF REVOLUTIONS FROM NOW. SETLOC 26P50S BANK ADVTRACK SETPD 0 VLOAD PUSH # INITIALIZE FOR RP-TO-R UNITZ # UZ VEC IN PD 0-5 RTB PUSH # TIME IN PD 6-7 LOADTIME STCALL AOPTIME # TIME ALSO IN AOPTIME FOR CSMCONIC RP-TO-R # GET MOON ROTATION VEC IN REF STODL STAR AOPTIME # PICK UP TIME STCALL TDEC1 # UPDATE STATE TO TIME CSMCONIC VLOAD VXV VATT RATT UNIT STOVL 24D # SAVE -UNIT(VxR) FOR 2ND ROTATION RATT UNIT VCOMP SETPD PUSH # PUSH LOS=-UNIT(RVEC) PD 0-5 0 EXIT CA LANDMARK MASK SEVEN # GET NUMBER OF ADVANCE PERIODS EXTEND MP BIT11 # GET N/16 XCH L INDEX FIXLOC TS 30D # TEMP STORE N/16 TC INTPRET SLOAD DMP 30D MPERIOD STCALL AOPTIME # ROTATE ANG ABOUT UR ROTA VLOAD 24D # PICK UP 2ND ROTATION AXIS STODL STAR DP1/6 DSU AOPTIME # 2ND RAT ANGLE = 60 - A STCALL AOPTIME ROTA # GO ROTATE 2ND TIME VLOAD # Page 779 0 STCALL STAR # STORE FINAL LOS IN STAR COM52 # RETURN TO SR52.1 ROTA DLOAD SIN AOPTIME PDVL VXV # PUSH 1/2SIN(A) PD 6-7 STAR # UR VEC 0 # LOS VXSC VSL2 # 1/2SIN(A)(URXLOS) PD 6-11 PDVL DOT STAR 0 VXSC VSL2 STAR PDDL COS # 1/2(UR . LOS)UR 12-17 AOPTIME PDVL BVSU # PUSH 1/2COS(A) 18-19 12D 0 VXSC VSL1 # UP 18-19 VAD VAD # UP 12-17 UP 6011 UNIT SETPD 0 PUSH RVQ DP1/6 2DEC .16666666 MPERIOD 2DEC .047619 # APPROX LUNAR ROT ANG IN 2HRS x 16 # Page 780 # NAME -- S52.3 # FUNCTION -- XSMD= UNIT(YSMD x ZSMD) # YSMD= UNIT(V X R) # ZSMD= UNIT(-R) # CALL -- DLOAD CALL # TALIGN # S52.3 # INPUT -- TIME OF ALIGNMENT IN MPAC # OUTPUT -- X,Y,ZSMD # SUBROUTINES -- CSMCONIC SETLOC P50S2 BANK COUNT 15/S52.3 S52.3 STQ QMAJ STCALL TDEC1 CSMPREC SETPD 0 VLOAD VCOMP RATT UNIT STOVL ZSMD VATT VXV UNIT RATT STORE YSMD VXV UNIT ZSMD STCALL XSMD QMAJ # Page 781 # PROGRAM DESCRIPTION: R56 -- ALTERNATE LOS SIGHTING MARK ROUTINE # # FUNCTIONAL DESCRIPTION # # TO PERFORM SIGHTING MARKS FOR THE BACK-UP ALIGNMENT PROGRAMS (P53,P54). THE ASTRONAUT KNOWS THE # COORDINATES (OPTICS) OF THE ALTERNATE LINE OF SIGHT HE MUST USE FOR THIS ROUTINE. WHEN THE ASTRONAUT KEYS IN # ENTER IN RESPONSE TO THE FLASHING V50 N25 R1-XXXXX THE CMC STORES THE THREE ICDU ANGLES AND TWO ANGLES DISPLAYED # IN N92. # # CALLING SEQUENCE # # CALL # R56 # # SUBROUTINES CALLED # # A PORTION OF SXTMARK (VAC.AREA SEARCH) # GOFLASH # GOPERF1 # # ERASABLE INITIALIZATION # # STARIND: INDEX TO STAR NUMBER # # OUTPUT # # MARKSTAT: INDEX TO VAC.AREA WHERE OUTPUT IS STORED. # BESTI (INDEXED BY STARIND) CONTAINS STAR NUMBER. # ICDU AND OCDU ANGLES IN VAC. AREA AS FOLLOWS: # VAC +2 CDUY # VAC +3 CDUS # VAC +4 CDUZ # VAC +5 CDUT # VAC +6 CDUX COUNT* $$/R56 SETLOC P50S3 BANK R56 STQ EXIT R53EXIT CAF V06N94B TC BANKCALL CADR GOFLASH TC GOTOPOOH # TERM. TC R56A # PROCEED: ANGLES OK TC -5 # ENTER: NEW ANGLES R56A TC BANKCALL CADR SXTMARK +2 # INHIBIR EXT VB ACT AND FIND VAC AREA CAF ZERO TC BANKCALL CADR CLEANDSP R56A1 CAF VB53 # DISPLAY V53 REQUESTING ALTERNATE MARK TC BANKCALL # Page 782 CADR GOMARK2 TCF GOTOPOOH # V34: TERMINATE TCF R56A1 # V33: DON'T PROCEED -- JUST ENTER TO MARK TC INTPRET DLOAD MRKBUF1 +3 STODL SAC MRKBUF1 +5 STORE PAC EXIT INHINT EXTEND DCA TIME2 INDEX MARKSTAT DXCH 0 CA CDUY # ENTER: THIS IS A BACKUP SYSTEM MARK INDEX MARKSTAT TS 2 CA SAC INDEX MARKSTAT TS 3 CA CDUZ INDEX MARKSTAT TS 4 CA PAC INDEX MARKSTAT TS 5 CA CDUX INDEX MARKSTAT TS 6 RELINT TC CLEARMRK # ENABLE EXTENDED VERBS CAF OCT16 TC BANKCALL CADR GOPERF1 TC GOTOPOOH # TERM. TCF R56B # PROCEED: MARK COMPLETED TCF R56A +2 # RECYCLE: DO ANOTHER MARK -- LIKE REJECT. R56B TC BANKCALL CADR R53C1 VB53 VN 05300 # ALTERNATE MARK VERB V06N94B VN 00694 SETLOC P50S BANK PLANET STORE TSIGHT STQ CALL QMIN LOCSAM VLOAD # Page 783 VEARTH STOVL 0D VSUN STOVL VEARTH 0D STORE VSUN NOSAM EXIT CS HIGH9 MASK STARCODE EXTEND MP SIGHTSIX XCH L INDEX STARIND TS BESTI CCS A TCF NOTPLAN CAF VNPLANV TC BANKCALL CADR GOFLASH TC GOTOPOOH TC +2 TC -5 TC INTPRET VLOAD VXSC STARSAV3 1/SQR3 UNIT GOTO CORPLAN NOTPLAN CS A AD DEC227 EXTEND BZMF CALSAM1 INDEX STARIND CA BESTI INDEX FIXLOC TS X1 TC INTPRET VLOAD* GOTO CATLOG,1 CORPLAN CALSAM1 TC INTPRET LXC,1 DLOAD* STARIND BESTI,1 LXC,1 VLOAD* MPAC STARAD -228D,1 CORPLAN VAD UNIT VEL/C GOTO # Page 784 QMIN DEC227 DEC 227 VNPLANV VN 0688 1/SQR3 2DEC .57735021 ================================================ FILE: Comanche055/P61-P67.agc ================================================ # Copyright: Public domain. # Filename: P61-P67.agc # Purpose: Part of the source code for Comanche, build 055. It # is part of the source code for the Command Module's # (CM) Apollo Guidance Computer (AGC), Apollo 11. # Assembler: yaYUL # Reference: pp. 789-818 # Contact: Ron Burkey # Website: http://www.ibiblio.org/apollo. # Mod history: 2009-05-12 RSB Adapted from Colossus249 file of the same # name and Comanche 055 page images. # 2009-05-20 RSB Corrections: V06N68 -> V06N74, added missing # definition of V06N74, in several # interpreter operands fixed stuff like # N-M,1 to N -M,1 # # The contents of the "Comanche055" files, in general, are transcribed # from scanned documents. # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. April 1, 1969. # # This AGC program shall also be referred to as Colossus 2A # # Prepared by # Massachusetts Institute of Technology # 75 Cambridge Parkway # Cambridge, Massachusetts # # under NASA contract NAS 9-4065. # # Refer directly to the online document mentioned above for further # information. Please report any errors to info@sandroid.org. # Page 789 # PROGRAM: P61 # MOD NO.: 0 MAR. 13, 1967 # MOD BY: R. HIRSCHKOP # MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 22 JUN 67 RESTARTS # MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 17 JAN 68 COLOSSUS GSOP CHANGES # MOD NO: 3 MOD BY: RR BAIRNSFATHER DATE: 8 MAY 68 DELETE CMSM MANEUVER (PCR 50) # FUNCTION: TO CALCULATE AND DISPLAY EMS INITIALIZATION DATA # CALLING SEQUENCE: BY V37 # EXIT: TO P62 # SUBROUTINE CALLS: S61.1, S61.3, GOFLASH, FLAGUP, R02BOTH # ERASABLE INITIALIZATION: # EMSALT (-29) M .05G ALTITUDE ABOVE FISCHER ELLIPSOID PAD LOADED. # ALFAPAD /180 HYPERSONIC CM TRIM ANGLE OF ATTACK PAD LOADED # OUTPUT: THE FOLLOWING REGISTERS ARE WRITTEN IN FOR USE BY DISPLAYS # GMAX 100 GMAX (-14) G,S MAXIMUM ACCELERATION # VPRED (-7) M/CS PREDICTED VELOCITY AT 400K FT # GAMMAEI (GAMMA/360 PREDICTED GAMMA AT 400K FT # RTGO THETAH/360 RANGE ANGLE TO SPLASH FROM EMSALT EMSALT IS PAD LOADED # VIO (-7) M/CS INERTIAL VELOCITY AT EMSALT EMSALT IS PAD LOADED # TTE (-28) CS TIME TO EMSALT EMSALT IS PAD LOADED # LAT(SPL) /360 TARGET LOCATION LEFT BY DSKY # LNG(SPL) /360 TARGET LOCATION LEFT BY DSKY # HEADSUP (0) +1 = LIFT DOWN, -1 = LIFT UP LEFT BY DSKY # DEBRIS: SEE SUBROUTINES. BANK 26 SETLOC P60S BANK EBANK= AOG COUNT* $$/P61 P61 CA BIT14 # EXTENDED VERB SHOULD BE FREE THIS CLOSE TS EXTVBACT # TO V37 # LOCK OUT EXTENDED VERBS SO CAN USE TFF # ROUTINES. EXT VERB ERASE IS USED CS ONE # REMOVE IF HEADSUP EVER ON UPLINK DATA TS HEADSUP # PRELOAD TC S61.1 # CHECK STATE VECTOR AND IMU ORIENTATION # RV 60GENRET. DOES PHASCHNG, GROUP 4. CA V06N61 # LAT(SPL) LNG(SPL) HEADSUP # XXX.XX DEG XXX.XX DEG XXXXX. TC BANKCALL CADR GOFLASHR TC GOTOPOOH # Page 790 TC P61.4 TC -5 P61.3 TC PHASCHNG OCT 00014 TC ENDOFJOB P61.4 ZL CCS HEADSUP # C(HEADSUP)= +1/-1 CA BIT14 # IF HEADSUP POS,ROLLC =180 DEG.(LIFT DWN) NOOP # IF HEADSUP NEG,ROLLC =0 (LIFT UP) DXCH ROLLC # ROLLC IS USED BY S62.3: GIM ANG AT .05G TC INTPRET NEWRNVN DLOAD PIPTIME # SAVE TIME OF RN,VN TO DETERMINE IF AN STCALL MM # UPDATE HAS OCCURRED. STARTEN1 # INITIALIZE VLOAD RN STORE RONE UNIT STOVL URONE VN STORE VONE VXV UNIT URONE STORE UNI DUMPP61 DLOAD DSU MM # INITIAL VALUE OF PIPTIME PIPTIME BMN CALRB NEWRNVN # UPDATED... GO TRY AGAIN S61.2 # GET DISPLAY DATA FOR N60 AND N63 # AND RETURN IN BASIC, BELOW. P61.1 TC CLEARMRK CA V06N60 # GMAX VPRED GAMMAEI # XXX.XX G XXXXX. FPS XXX.XX DEG TC BANKCALL CADR GOFLASH TC GOTOPOOH TC P61.2 # PROCEED TC -5 P61.2 TC INTPRET # CORRECT TTE FOR TIME LAPSE DURING # ABOVE DISPLAY. RTB DSU LOADTIME # CURRENT TIME. # Page 791 MM # PIPTIME FOR RONE & VONE. DAD TTE1 # NEGATIVE OF FREE FALL TIME. STORE TTE # DECREMENTED EXIT CA V06N63 # RTGO VIO TTE # XXXX.X NM XXXXX. FPS XXBXX M,S TC BANKCALL CADR GOFLASH TC GOTOPOOH TC +2 TC P61.2 # REDO # .... THEN FALL INTO P62 # Page 792 # PROGRAM: P62 # MOD NO.: 0 MAR. 13, 1967 # MOD BY: R. HIRSCHKOP # MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 21 MAR 67 # MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 22 JUN 67 RESTARTS. # MOD NO: 3 MOD BY: RR BAIRNSFATHER DATE: 17 JAN 68 COLOSSUS GSOP CHANGES. # MOD NO: 4 MOD BY: RR BAIRNSFATHER DATE: 8 MAY 68 MOVE START OF DESIRED GIMBAL CALC. # FUNCTION: 1) TO NOTIFY CREW WHEN GNC SYSTEM IS PREPARED FOR CM/SM SEPARATION. # 2) TO ORIENT THE CM TO THE CORRECT ATTITUDE FOR ATMOSPHERIC ENTRY. # CALLING SEQUENCE: BY V37 OR DIRECTLY FROM P61 # EXIT: TO P63 # ERASABLE INITIALIZATION: # ALFAPAD LEFT BY PAD LOAD # LADPAD LEFT BY PAD LOAD # LODPAD LEFT BY PAD LOAD # LAT(SPL) (MAY BE CHANGED BELOW) LEFT BY DSKY, VIA P61 # LNG(SPL) (MAY BE CHANGED BELOW) LEFT BY DSKY, VIA P61 # HEADSUP (MAY BE CHANGED BELOW) LEFT BY DSKY, VIA P61 # SUBROUTINE CALLS: NEWMODEX, S61.1, CM/DAPIC, CM/DAPON, R02BOTH, GOPERF1, GOFLASH, GODSPR. COUNT* $$/P62 TC NEWMODEX # MODE CHANGE IF CAME FROM P61. MM 62 # MODE CHANGE AUTOMATIC VIA V 37. CA ONE TS DNLSTCOD P62 TC S61.1 # CHECK STATE VECTOR AND IMU ORIENTATION. TC INTPRET SSP RTB POSEXIT P62.3 # CALCULATE DESIRED .05G GIMBAL ANGLES. # WITHOUT DISPLAY. CM/DAPIC # START CM/POSE AND BODY RATE CALC # DOES 2PHSCHNG, OCT 40116, OCT 05024, OCT 13000. # CM/DAPIC SETS EBANK = EBAOG # AND RETURNS IN BASIC TO P62.2. P62.2 EXTEND DCA POSECADR # CONTINUE WITH CM/POSE AFTER AV G. DXCH AVEGEXIT CAF OCT41 # REQUEST SEPARATION TC BANKCALL CADR GOPERF1R TC GOTOPOOH TC +3 # PROCEED # Page 793 # NOTE: NODOFLAG WILL BE SET IN CM/DAPON. *** TC -5 # ENTER TC P61.3 # FOR PHASCHNG AND ENDOFJOB +3 TC POSTJUMP CADR CM/DAPON # DISABLE RCS DAP, ENABLE ENTRY DAP AND # DO ATTITUDE HOLD. # WILL IDLE UNTIL CM/POSE DOES ONE UPDATE. # CM/DAPON DOES NO PHASCHNG. P62.1 CA V06N61 # LAT(SPL) LNG(SPL) HEADSUP # XXX.XX DEG XXX.XX DEG 0000X. # TERMINATE ATTITUDE HOLD. SET UP COMMANDS: # ROLLC, ALFACOM, BETACOM. BEGIN MANEUVER TO # ENTRY ATTITUDE. TC BANKCALL CADR GOFLASH TC -3 TC +2 TC -5 TC PHASCHNG OCT 04024 # USE ENTRYVN FOR DISPLAY BELOW. # EBANK WAS SET IN CM/DAPON TO EBAOG CCS HEADSUP # C(HEADSUP) = +/- 1 CA BIT14 # IF HEADSUP POS, ROLLC=180 DEG (LIFT DWN) NOOP # IF HEADSUP NEG, ROLLC=0 DEG (LIFT UP) TS ROLLC CA ALFAPAD # NOMINAL ALFATRIM PAD LOADED, NEG. NO. ZL DXCH ALFACOM # SET ALFACOM = ALFA TRIM, BETACOM=0 CA ONE # PERMITS EXDAP2 TO CHANGE FLAG TO +0 TS P63FLAG # AS INDICATOR. STARTS UP P63. CA V06N22 # SET UP DISPLAY FOR CDU DESIRED VALUES TS ENTRYVN # FROM ENTRY ATTITUDE CALC, THAT IS # ALREADY GOING. TC UPFLAG # TURN ON ENTRY DISPLAY ADRES ENTRYDSP # ENTRYDSP = 92D BIT 13 FLAG 6 SKIP # Page 794 CS CMDAPMOD # GO DIRECTLY TO P63 IF BODY ATTITUDE MASK ONE # IS SUCH THAT THE DELAY TASK: WAKEP62 EXTEND # WILL BE OMITTED. BZF P63.1 # DISABLE GRP 4, GO TO ENDOFJOB. # (I.E., CONTINUE IF CMDAPMOD = -1, OR +0) TC P63 # PUT JOB TO SLEEP UNTIL VEHICLE MANEUVER HAS # REDUCED ALFA TO +/-45 DEG. CONSIDER REMAINING # 65 DEG (25 DEG IF ALFA NEG) TO ALFA TRIM TO # OCCUR AT 3 DEG/SEC, AND TERMINATE P62 AT THAT # TIME. # TASK WAKEP62 IS CALLED FROM ENTRY DAP. WAKEP62 CA PRIO13 TC NOVAC EBANK= AOG 2CADR P63 TC TASKOVER # EACH 2 SEC, CALCULATE GIMBAL ANGLES FOR ENTRY CON- # DITIONS THAT WILL HOLD IF REORIENTATION WERE MADE # AT PRESENT RN, VN. COME HERE FROM CM/POSE AND ALSO # IN KEPLER PHASE OF ENTRY. P62.3 SSP GOTO # SET RETURN ADDRESS SO THAT ROUTINE QPRET # GOES DIRECTLY TO ENTRY GUIDANCE EXIT ENDEXIT # THAT DOES ENTRY DISPLAY, GRP 5. S62.3 # PUT DESIRED CDU VALUES IN CPHI'S FOR # N22 DISPLAY. # Page 795 # P63 # PROGRAM: P63 # MOD NO: 0 MAR. 13, 1967 # MOD BY: R. HIRSCHKOP # MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 22 JUN 67 RESTARTS # MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 14 JUL 67 REVISED RESTARTS # FUNCTION: 1) TO INITIALIZE THE ENTRY EQUATIONS. # 2) TO CONTINUE TO HOLD THE CM TO THE CORRECT ATTITUDE WITH RESPECT TO THE ATMOSPHERE FOR # THE ONSET OF ENTRY DECELERATION. ROLL ANGLE IS LIFT UP/DOWN AS SPECIFIED BY HEADSUP. # 3) TO SENSE .05G. # CALLING SEQUENCE: DIRECTLY FROM P62 # EXIT: TO ENDOFJOB # SUBROUTINE CALLS: NEWMODEX, GODSPR COUNT* $$/P63 P63 TC NEWMODEX MM 63 # ARRIVE WITH EBANK = AOG. CA ENTCADR # CONTINUE AT STARTENT AFTER CM/POSE. # AT END OF STATEMENT, CHANGE ADDRESS IN GOTOADDR # TO CONTINUE AT SCALEPOP THEREAFTER. TS POSEXIT CA V06N64 # G VI R TO SPLSH # XXX.XX G XXXX. FPS XXXX.X NM TS ENTRYVN # FOR DISPLAY CALL IN OVERNOUT CS ONE # IN CASE FLAG IS LEFT AT +1 BY DAP. THE TS P63FLAG # -1 ASSURES THAT EXO-ATM DAP WILL NOT # CALL P63 OUT OF SEQUENCE IN P66. TC PHASCHNG # THIS IS REQUIRED TO PRESERVE CLEANDSP OCT 00004 # RETURN IN EVENT OF AN EXTENDED VERB TC BANKCALL # FLUSH 'N22' DISPLAY, IF ON, (OMIT CADR CLEANDSP # DISPLAY DURING 'STARTENT' PASS.) P63.1 TC PHASCHNG OCT 00004 # DISABLE. DISPLAY RESTARTED VIA ENTRY. TC ENDOFJOB V06N60 VN 0660 V06N61 VN 0661 V06N63 VN 0663 # Page 796 V06N64 VN 0664 ENTCADR CADR STARTENT EBANK= RTINIT # TO CARRY OVER INTO ENTRY STEERING. POSECADR 2CADR CM/POSE # Page 797 # PROGRAM: P64 # MOD NO: 1 SEPT. 19, 1967 # MOD BY: R. HIRSCHKOP # MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 8 MAY 68 REVISED COMMENTS FOR COLOSSUS # FUNCTION: 1. TO START ENTRY GUIDANCE AT .05G SELECTING ROLL ATTITUDE, CONSTANT DRAG LEVEL, AND # DRAG THRESHOLD, KA, WHICH ARE KEYED TO THE .05G POINT. # 2. SELECT FINAL PHASE P67 IF V < 27000 FPS WHEN .2G OCCURS. # 3. ITERATE FOR UP-CONTROL SOLUTION P65 IF V > 27000 FPS AND IF ALTITUDE RATE AND DRAG # LEVEL CONDITIONS ARE SATISFIED. ENTER P65 WHEN CONSTANT DRAG CONTROLLER HAS BROUGHT RANGE # AS PREDICTED TO WITHIN 25 NM OF DESIRED RANGE. # 4. SELECT FINAL PHASE P67 IF NO UP-CONTROL SOLUTION EXISTS WITH VL > 18000 FPS. # CALLING SEQUENCE: BY RTB FROM REENTRY CONTROL # EXIT: BACK TO REENTRY CONTROL. # SUBROUTINE CALLS: NEWMODEX BANK 25 SETLOC P60S1 BANK # THIS DISPLAY IS CALLED EACH PASS THROUGH STEERING. RESTART PROTECTION IS VIA STEERING. COUNT* $$/P64 P64 TC NEWMODEX # ENTER VIA RTB WHEN .05G IS EXCEEDED. MM 64 CA V06N74 # ROLLC VI D # XXX.XX DEG XXXXX. FPS XXX.XX G TS ENTRYVN # DISPLAY VIA OVERNOUT. TC DANZIG # ... AND CONTINUE IN INITROLL ... V06N74 VN 0674 # Page 798 # PROGRAM: P65 # MOD NO: 0 MOD BY: RR BAIRNSFATHER DATE: 17 JAN 68 COLOSSUS GSOP ADDITION. # FUNCTION: TO CONTINUE ENTRY GUIDANCE, USING THE UP-CONTROL PHASE TO STEER TO A CONTROLLED EXIT # CONDITION. THIS PHASE TERMINATES A) IF D < Q7 FPSS, GOTO TO P66. # B) IF RDOT NEG, AND IF V < VL +500 FPS, GO TO P67. # CALLING SEQUENCE: BY RTB FROM REENTRY CONTROL # EXIT: BACK TO REENTRY CONTROL, OR TO ENDOFJOB. # SUBROUTINE CALLS: NEWMODEX COUNT* $$/P65 P65 TC NEWMODEX # ENTER VIA RTB WHEN RANGE < 25 N M OF MM 65 # TARGET. CA PRIO13 TC NOVAC EBANK= ENTRYVN 2CADR P65.1 TC 2PHSCHNG # 2 PHASE CHG REQUIRED TO PREVENT RE- OCT 00554 # STARTING FLASHING DISPLAY TWICE. OCT 10035 # 4.55 SPOT AND SERVICER, HERE. TC INTPRET SSP RTB GOTOADDR # CHANGE ENTRY MODE TO UPCONTRL. UPCONTRL REFAZE10 # GO HERE TO REESTABLISH ENTRY SEQUENCER. # AND CONTINUE AT UPCONTRL... P65.1 TC DOWNFLAG ADRES ENTRYDSP # ENTRYDSP = 92D BIT 13 FLAG 6 CA V16N69 # ROLLC DL (Q7) VL TC BANKCALL # XXX.XX DEG XXX.XX G XXXXX. FPS CADR GOFLASHR TC -3 # NODOFLAG IS SET ... TC +3 TC -5 TC P61.3 # EST. GRP 4 FOR DISPLAY AND DO ENDOFJOB # IF PROCEED, CONTINUE TC UPFLAG ADRES ENTRYDSP # ENTRYDSP = 92D BIT 13 FLAG 6 TC P63.1 # DISABLE GRP 4, START UP ENTRY DISPLAY # N06V68 VIA OVERNOUT, AS USED IN P64 V16N69 VN 1669 # Page 799 # PROGRAM: P66 # MOD NO: 0 MOD BY: RR BAIRNSFATHER DATE: 17 JAN 68 COLOSSUS GSOP ADDITIONS # FUNCTION: KEEP CM ATTITUDE IN TRIM TO THE RELATIVE VELOCITY VECTOR. ENTRY GUIDANCE STOPS GENERATING # ROLL COMMANDS UNTIL DRAG BUILDS UP TO Q7+0.5 FPSS. # CALLING SEQUENCE: VIA RTB FROM REENTRY CONTROL. # EXIT: BACK TO REENTRY CONTROL. # SUBROUTINE CALLS: NEWMODEX COUNT* $$/P66 P66 TC NEWMODEX # ENTER VIA RTB WHEN D < Q7 FPSS MM 66 CA V06N22 # OGA IGA MGA # XXX.XX DEG XXX.XX DEG XXX.XX DEG TC P66END # IN CASE CAME FROM P65, GO TO DISABLE GRP 4, # AND SET ENTRYDSP TO DO DISPLAY VIA # OVERNOUT. # ... AND CONTINUE AT KEP2 # Page 800 # PROGRAM: P67 # MOD NO: 0 MAR. 16, 1967 # MOD BY: R. HIRSCHKOP # FUNCTION: TO TERMINATE STEERING WHEN THE CM VELOCITY WRT EARTH = 1000 FT/SEC # CALLING SEQUENCE: # EXIT: TO POOH # SUBROUTINE CALLS: GOFLASH # THIS DISPLAY IS CALLED EACH PASS THROUGH STEERING. RESTART PROTECTION IS VIA STEERING. COUNT* $$/P67 P67 TC NEWMODEX # ENTER VIA RTB MM 67 CA V06N66 # ROLLC XRNGERR DNRNGERR # XXX.XX DEG XXXX.X NM XXXX.X NM P66END TS ENTRYVN # DISPLAY VIA OVERNOUT. TC UPFLAG # (IN CASE CAME FROM P65. ENTRY DISPLAY ADRES ENTRYDSP # WILL FLUSH FLASHING DISP. IF STILL ON) # BIT 13 FLAG 6 KILLGRP4 TC PHASCHNG # DISABLE GRP4, IN CASE CAME FROM HUNTEST. OCT 00004 # (COME TO KILLGRP4 VIA RTB, RET TO CALLER) TC DANZIG # ... AND CONTINUE AT PREDICT3 ... V06N66 VN 0666 BANK 26 SETLOC P60S2 BANK P67.1 CA V16N67 # RTOGO LAT LONG # XXXX.X NM XXX.XX DEG XXX.XX DEG TC BANKCALL CADR GOFLASH TC +3 # EFFECTIVE GOTOPOOH TC +2 TC P67.1 # REDO CS THREE # TURN OFF ENTRY DAP INHINT MASK CM/FLAGS # CM/DSTBY, GAMDIFSW TS CM/FLAGS RELINT EXTEND DCA SERVCAD2 # Page 801 DXCH AVEGEXIT TCF GOTOPOOH # Page 802 P67.2 VLOAD CLEAR # CALC PRESENT LAT, LONG, ALT. RN ERADFLAG # USE PAD RAD FOR ALT. (NOT SEEN ANYWAY) STODL ALPHAV PIPTIME # USE TIME OF RN CLEAR CALL LUNAFLAG LAT-LONG P67.3 RTB # ENTRY EXIT THAT OMITS DISPLAY. SERVNOUT V16N67 VN 1667 OCT41 = 33DEC SERVCAD2 = SERVCAD1 # Page 803 # SUBROUTINE NAME: S61.1 # MOD NO: 0 DATE: 21 FEB 67 # MOD BY: RR BAIRNSFATHER LOG SECTION: P61-P67 # MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 22 JUN 67 RESTARTS. # FUNCTIONAL DESCRIPTION: CALLED BY BOTH P61 AND P62 # FIRST, TEST TO SEE IF AVERAGEG IS ON. IF NOT, UPDATE THE STATE VECTOR TO PRESENT TIME + TOLERANCE # AND TURN ON AVERAGEG AT THAT TIME, AND CONTINUE. OTHERWISE CONTINUE: SEE IF IMU Y AXIS IS # WITHIN 30 DEG OF VAR. IF YES, EXIT SUBROUTINE S61.1. IF SO, SEE IF -Y AXIS OF IMU IS WITHIN # 30 DEG OF VAR. IF YES, DISPLAY ALARM: 01427 IMU REVERSED. # IF NO, DISPLAY ALARM: 01426 IMU UNSATISFACTORY. # IN EITHER OF THESE LAST 2 CASES, WAIT 10 SEC AND THEN EXIT SUBROUTINE S61.1. # # REMARK: THERE WILL BE A SHORT 10 SEC DELAY IF AN ALARM EXIT IS TAKEN. THE DELAY FOR INTEGRATION IS # AS SHORT AS CAN BE MADE, BUT IS ARBITRARY SINCE IT DEPENDS ON THE AGE OF THE STATE VECTOR. # # CALLING SEQUENCE: CALL # S61.1 # # C(MPAC) UNSPECIFIED # PUSHLOC UNSPECIFIED # # SUBROUTINES CALLED: LOADTIME, CSMPREC, TPAGTREE, # WAITLIST, JOBSLEEP, JOBWAKE, PREREAD, ALARM, GODSPR, BANKCALL, DELAYJOB # # NORMAL EXIT MODES: RVQ # # ALARMS: 01426 IMU UNSATISFACTORY # 01427 IMU REVERSED # # OUTPUT: POSSIBLE ALARMS # POSSIBLY TDEC1, RATT, VATT, RN, VN # # ERASABLE INITIALIZATION REQUIRED: # AVEGFLAG AVERAGEG ON OR OFF LEFT BY SERVICER # PIPTIME (-28) CS TIME OF PIPA UPDATE LEFT BY READACCS # RN (-29) M STATE VECTOR LEFT BY AVERAGEG # VN (-7) M/CS STATE VECTOR LEFT BY AVERAGEG # REFSMMAT (-1) .5 REF TO SM MATRIX LEFT BY LAST IMU ALIGNMENT # # DEBRIS: QPRET # POSSIBLY PIPTIME1, RATT, VATT, TDEC1, RN1, VN1, QTEMP, X1 IF UPDATED # PUSH LIST LOCS USED BY CSMPREC EBANK= AOG # FOR 60GENRET, S61DT BANK 26 SETLOC P60S3 BANK COUNT* $$/S61.1 S61.1 EXTEND QXCH 60GENRET # SAVE RET ADDR IN EB 6 TC BANKCALL CADR R02BOTH TC INTPRET # Page 804 BON CALRB AVEGFLAG # IS AVERAGEG ON S61.1A # YES MIDTOAV2 # GET FUTURE STATE VECTOR SOON AS CAN CA MPAC +1 # RETURN INHINTED *** TS S61DT # FOR RESTART. TC WAITLIST EBANK= DVCNTR 2CADR S61.1C TC PHASCHNG OCT 40434 TC ENDOFJOB S61.1C CA PRIO13 TC FINDVAC EBANK= AOG 2CADR S61.1A -1 EXTEND DCA SERVCAD1 # HE WHO START AVERAGEG MUST SERVICE DXCH AVEGEXIT # THE EXIT. TC 2PHSCHNG OCT 00454 OCT 00415 CA EBENTRY # SET EB= 7 FOR PREREAD. TS EBANK TC POSTJUMP CADR PREREAD # PREREAD DOES TC TASKOVER. TC INTPRET S61.1A BOVB VLOAD TCDANZIG # TURN OFF OVFIND, IF ON VN # VN (-7) M/CS VXV MXV RN # RN (-29) M REFSMMAT # .5 UNIT MATRIX UNIT DLOAD MPAC +3 # GET COS(THETA)/2 BMN DAD S61.1B # DO TEST ON -YSM C(30)LIM # = 1.0 -.5 COS(30) BOVB RTB RETRN1 RETRN3 # Page 805 S61.1B DCOMP DAD C(30)LIM # = 1.0 - .5 COS(30) BOVB EXIT RETRN2 RETRN3 TC ALARM OCT 01426 # IMU UNSATISFACTORY TC RETRN2 +2 RETRN2 TC ALARM OCT 01427 # IMU REVERSED +2 CAF V05N09 TC BANKCALL CADR GODSPR # DO DISPLAY CA 10SECS TC BANKCALL CADR DELAYJOB RETRN1 TC 60GENRET EBANK= DVCNTR SERVCAD1 2CADR SERVEXIT C(30)LIM 2DEC .566985 # = 1.0 - .5 COS(30) 10SECS DEC 1000 # 1000 CS 60SECDP 2DEC 6000 B-28 # 6000 CS # Page 806 # PROGRAM NAME: S61.2 DATE: 14 FEB 67 # MOD NO: 1 LOG SECTION: P61-P67 # MOD BY: NORTH / BAIRNSFATHER # MOD NO: 2 MOD BY: NORTH/BAIRNSFATHER DATE: 11 MAY 67 ADD 2ND ITER FOR ERAD AT 400K FT. # MOD NO: 3 MOD BY: RR BAIRNSFATHER DATE: 21 NOV 67 VARIABLE MU ADDED. # MOD NO: 4 MOD BY: RR BAIRNSFATHER DATE: 21 MAR 68 DIFFERENT EARTH/MOON SCALES IN TFF'S # # FUNCTIONAL DESCRIPTION: CALLED IN P61. PROVIDES DISPLAYS FOR NOUNS N60 AND N63 . # PROGRAM CALCULATES ENTRY DISPLAY OF MAXIMUM ACCELERATION EXPECTED (GMAX) AND ALSO THE EXPECTED # INERTIAL VELOCITY (VPRED) AND ENTRY ANGLE (GAMMAEI) THAT WILL OBTAIN AT 400K FT ABOVE THE FISCHER # ELLIPSOID. PROGRAM ALSO CALCULATES A SECOND DISPLAY RELATIVE TO THE EMSALT ABOVE FISCHER ELLIPSOID # AND CONSISTS OF RANGE TO SPLASH FROM NOW (RTGO) , PREDICTED INERTIAL VELOCITY (VIO) , AND THE TIME TO # GO FROM NOW (TTE) . # # CALLING SEQUENCE: CALL # S61.2 # C(MPAC) UNSPECIFIED # PUSHLOC WILL BE SET TO ZERO. # # SUBROUTINES CALLED: TFFCONIC, CALCTFF, TFF/TRIG, FISHCALC, GETERAD, VGAMCALC # # NORMAL EXIT MODES: RTB, P61.1 # # ALARMS: NONE # # OUTPUT: THE FOLLOWING REGISTERS ARE WRITTEN IN FOR USE BY DISPLAYS # GMAX 100 GMAX (-14) G,S MAXIMUM ACCELERATION # VPRED (-7) M/CS PREDICTED VELOCITY AT 400K FT # GAMMAEI GAMMA/360 PREDICTED GAMMA AT 400K FT # FOR TM, DP(GAMMAEI) = (GAMMAEI, RTGO) / 360 # RTGO THETAH/360 RANGE ANGLE TO SPLASH FROM EMSALT EMSALT IS PAD LOADED. # VIO (-7) M/CS INTERTIAL VELOCITY AT EMSALT EMSALT IS PAD LOADED. # TTE (-28) CS TIME TO EMSALT EMSALT IS PAD LOADED. # PUSHLOC = 0 # CONIC PARAMETERS STORED IN VAC AREA (SEE TFF SUBROUTINES) # # ERASABLE INITIALIZATION REQUIRED: # RONE (-29) M STATE VECTOR LEFT BY USER # VONE (-7) M/CS STATE VECTOR LEFT BY USER # URONE UR/2 LEFT BY USER # UNI (-1) UNIT NORMAL V*R LEFT BY ENTRY / P61 # THETAH THETAH/360 RANGE ANGLE LEFT BY ENTRY / P61 # UNITW (0) UNIT POLAR VECTOR LEFT BY PAD LOAD # EMSALT (-29) M EMS INTERFACE ALTITUDE LEFT BY PAD LOAD # ORBITAL REENTRY: 284843 FT., LUNAR REENTRY: 297431 FT. # # DEBRIS: QPRET, # ALL PDL LOCATIONS ABOVE 12D, INCLUDING X1,X2,S1,S2 # ALSO PDL+0 ... PDL+5, WHERE INITIAL PUSHLOC = PDL # Page 807 # THE FOLLOWING PUSH LIST LOCATIONS HAVE BEEN RESERVED FOR TFF ROUTINES AND ARE REPEATED HERE FOR CONVENIENCE. # OF COURSE FOR S61.2 USAGE, EARTH ORIGIN SCALING IS USED. # # BELOW E: IS USED FOR EARTH ORIGIN SCALE # M: IS USED FOR MOON ORIGIN SCALE # # RTERM = 18D TERMINAL RADIUS M E: (-29) M: (-27) # NRTERM = 16D TERMINAL RADIUS M E: (-29+NR) # M: (-27+NR) # RMAG1 = 12D PRESENT RADIUS M E: (-29) M: (-27) # NRMAG = 32D PRESENT RADIUS M E: (-29+NR) # M: (-27+NR) # SDELF/2 SIN(THETA) / 2 # CDELF/2 = 14D COS(THETA) / 2 # TFFX = 34D X, ARGUMENT OF SERIES T(X) # TFFTEM = 36D ARG FOR TRANSFER ANGLE CALCULATION # TFFNP = 28D LC P M E: (-38+2NR) M: (-36+2NR) # TFF/RTMU= 30D 1/SQRT(MU) E: (17) M: (14) # TFFVSQ = 20D -(VN.VN/MU) 1/M E: (20) M: (18) # Page 808 BANK 34 SETLOC P60S2 BANK COUNT* $$/S61.2 # PDL LEFT AT ZERO BY TARGETING S61.2 DLOAD DSU EMSALT 290KFT BPL DLOAD LUNENT 1/RTMU # ESTABLISH MU FOR ORBITAL ENTRIES CALLCON CALL TFFCONIC # FILL VAC AREA WITH CONIC PARAMETERS DLOAD CALL RTRIAL # 1ST GUESS AT TERMINAL RADIUS (-29) CALCTFF # SAVES MPAC IN RTERM (18D) CALL # CALC SDELF/2, CDELF/2 TFF/TRIG # RETURN WITH S(THETA) IN MPAC CALL # GET FISCHER RADIUS (-29) M FISHCALC # ANS IN MPAC AND IN ERADM DAD CALL EMSALT CALCTFF # SAVES MPAC IN RTERM (18D) DCOMP # NEGATIVE AS IN COUNTDOWN STORE TTE1 # DECR TTE FROM BASB TTE1. (RESTART) # DNLIST AND DSKY WILL USE TTE. STCALL TTE # LET MISS CONTRL DECR BY ELAPSED TIME # TTE= TIME FROM NOW TO EMSALT +FISCHER TFF/TRIG # S(THETA) IN MPAC ON RETURNING # AND THETA= RANGE FROM NOW TO EMSALT CALL FISHCALC CALL VRCALC CALL DISPTARG CALL DISPTARG STCALL RTGO # Page 809 VGAMCALC DMP # MPAC = GAMMA # PDL0 HAS VGAM. BDDV DAD VEMSCON # -HS D 180/PI (-14) 0 # VGAM FROM PDL0 STODL VIO # PREDICTED VELOCITY AT EMSALT. # GAMMA AND VGAM AT 300K FT ARE REQUIRED BY GMAX # ALGORITHM. ERADM # EARTH RADIUS FROM GETERAD (-29) M # = FISCHER RADIUS (-29) DAD 300KFT # M (-29) STCALL RTERM # TERMINAL RADIUS M (-29) PREVGAM # VGAMCALC WITH NEW RTERM # VBAR = (V(FPS) - 36KF/S) / 20 F/S # GMAX = (4/(1 + 4.8 VBARSQ))(GAM - 6.05 - 2.4 VBARSQ) - 10(L/D - .3) + 10 ASSUME L/D = 0.3, BANK =0. # GMAXCALC PDDL DSU # GAM TO PDL2 0 # VGAM IS IN PDL0 (-7) 36KFT/S # (-7) M/CS DDV DSQ 20KFT/S # (-6) M/CS STORE 0 # VBARSQ (-2) TO PDL0 DMP DAD KR1 # GAM, POS DOWN, FROM PDL2 DAD DMP -6.05DEG KR2 PDDL # XCH PDL+0 FOR VBARSQ (-2) DDV DAD KR4 DP2(-4) BDDV # NUM FROM PDL+0 DAD BPL KR3 +3 DLOAD HI6ZEROS STODL GMAX # 100 GMAX (-14) # Page 810 # DISPLAY USES GMAX AS SP, SO LO WORD IS WRITTEN OVER BY VPRED. ERADM # = FISCHER RADIUS (-29) M DAD CALL # 2 ND ITERATION FOR FISCHER RADIUS 400KFT CALCTFF # ESTABLISH TRANSFER ANGLE DATA. CALL TFF/TRIG # GET SIN, COS DELF CALL FISHCALC # GET CORRESPONDING FISCHER RADIUS. DAD LXA,2 # SAVE HI-WORD FOR DOWNLIST. 400KFT # M (-29) RTGO # (RANGE ANGLE FROM EMSALT) / 360 STCALL RTERM PREVGAM # VGAMCALC WITH NEW RTERM DCOMP SXA,2 # HI-WORD OF EACH ON DOWNLIST. MPAC +1 STODL GAMMAEI # CONIC GAMMA/360 AT 400K FT. (HI-WORD) # CONIC RTGO/360 FROM EMSALT (LOW-WORD) # FOR TM, DP(GAMMAEI) = (GAMMA, RTGO) / 360 # VGAM FROM PDL+0 (-7) STADR STORE VPRED # CONIC VELOCITY AT 400K FT RTB P61.1 # PDL BACK TO ZERO. LUNENT DLOAD GOTO 1/RTMUE # ESTABLISH MU FOR LUNAR TYPE ENTRIES CALLCON 290KFT 2DEC 88392.0 B-29 KTETA1 2DEC* .421844723 E2 B-14* # 110 2PI/16384(163.84) 36KFT/S 2DEC 109.728 B-7 # (-7) M/CS = 36 KFT/S (-7) 20KFT/S 2DEC 121.92 B-7 # (-6) M/CS = 2 20KFT/S (-7) KR1 2DEC -.026666667 # = -2.4 4 / 360 -6.05DEG 2DEC -.016805556 # = -6.05 / 360 KR2 2DEC .54931641 # = (360/4) 100 (-14) = 9000 B-14 KR3 2DEC 1000 B-14 # = 100 (10.0) (-14) G,S # Page 811 # ASSUMES L/D = 0.3, BANK =0. RTRIAL 2DEC 6460097.18 B-29 # RPAD +264643 FT =21 194 545 FT # RPAD DEFINED AS 20 909 901.57 FT =6 373 336 M 400KFT 2DEC 121920 B-29 # METERS # 300KFT 2DEC 91440 B-29 # (-29) M # EMSALT 2DEC 86759.2 B-29 # 284643 FT (-29) M (ORBITAL REENTRY) # EMSALT 2DEC 90657 B-29 # 297431 FT (-29) M (LUNAR REENTRY) KR4 2DEC .833333333 300KFT EQUALS MINPERE VEMSCON 2DEC -.0389676 B-14 # = -HS D / 2 PI (-14) M SQ / CS SQ # = -16369 .05G 32.2 .3048 .3048/2 PI (-14) # Page 812 # SUBROUTINE NAME: FISHCALC (USED BY S61.2) DATE: 01.21.67 # MOD NO: 0 LOG SECTION: P61-P67 # MOD BY: MORTH / BAIRNSFATHER # MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 11 MAY 67 INCLUDE GETERAD CALL # # FUNCTIONAL DESCRIPTION: GIVEN THE PRESENT POSITION, UNITR, CALCULATE A NEW UNITR THAT IS ROTATED THROUGH # TRANSFER ANGLE, THETA, ALONG THE TRAJECTORY. THEN CALCULATE SIN(LAT) AND USE TO OBTAIN FISCHER RADIUS. # SINCE FISHCALC USED UNI (LEFT BY ENTRY) EARTH SCALING IS ASSUMED. (WILL IMPROVE FOR SUITABLE TENNANT) # # CALLING SEQUENCE: CALL # FISHCALC # ENTER WITH .5 SIN(THETA) IN MPAC. # PUSHLOC IS AT PDL+0, AN ARBITRARY BASE VALUE IF LEQ 8D # # SUBROUTINES CALLED: GET ERAD # # NORMAL EXIT MODE: RVQ # # EXIT MODES: NONE # # OUTPUT: ERADM (-29) M IN MPAC ON RETURNING # NEW UNIT VECTOR NOT SAVED. # SIN(LAT) NOT SAVED. # PUSHLOC AT PDL+0 # # ERASABLE INITIALIZATION REQUIRED: # SDELF/2 =SIN(THETA) / 2, IN MPAC LEFT BY TFF/TRIG # CDELF/2 =COS(THETA) / 2, STORED IN PDL 14D LEFT BY TFF/TRIG # RONE (-29) M LEFT BY USER # VONE (-7) M/CS LEFT BY USER # URONE UR/2 LEFT BY USER # UNI .5 UNIT(V*R) LEFT BY ENTRY / P61 # UNITW UNIT NORTH POLE LEFT BY PAD LOAD # # DEBRIS: QPRET, PDL+0 ... PDL+5 # _ _ _ FISHCALC PDVL VXV # URPR = UR CDELF + UHOR SDELF URONE UNI VXSC VSL1 # SIN(THETA) / 2 FROM PDL+0 PDVL VXSC # TO PDL+0, +5 URONE CDELF/2 # COS(THETA) / 2 VAD STADR STORE URH # FOR USE IN RTGO FROM EMS DISPLAY DOT SL1 UNITW # PULL UNIT VECTOR UNIT NORTH STORE ALPHAV +4 # = .5 SIN(LAT) DUMPFISH GOTO GETERAD # SAVES FISCHER RAD (-29) M IN ERADM AND # IN MPAC. RETURNS TO CALLER VIO QPRET. # Page 813 # SUBROUTINE NAME: VGAMCALC (USED BY S61.2) DATE: 01.21.67 # MOD NO: 0 LOG SECTION: P61-P67 # MOD BY: MORTH / BAIRNSFATHER # MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 11 APR 67 # MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 21 NOV 67 VARIABLE MU ADDED. # MOD NO: 3 MOD BY: RR BAIRNSFATHER DATE: 21 MAR 68 ACCEPT DIFFERENT EARTH/MOON SCALE # # FUNCTIONAL DESCRIPTION: EARTH CENTERED VIS VIVA CALCULATION OF TERMINAL VELOCITY AND GAMMA (REL TO # HORIZONTAL) GIVEN THE SCALAR QUANTITIES: PRESENT RADIUS AND VELOCITY AND THE TERMINAL RADIUS. # THE USER MUST APPEND PROPER SIGN TO GAMMA, SINCE IT IS CALCULATED AS A POSITIVE NUMBER. # THE EQUATIONS ARE # # VGAM = SQRT(VN VN/MU + 2(RN-RTERM)/(RN RTERM) ) RTMU # # COSGAM = H / RTERM VGAM = SQRT (LCP) / (RTERM VGAM/RTMU) # # VGAMCALC ASSUMES THAT THE TERMINAL RADIUS IS LESS THAN THE PRESENT RADIUS. BOTH CALCTFF AND CALCTPER # MAKE THIS ASSUMPTION. # # CALLING SEQUENCE: CALL STCALL RTERM # VGAMCALC PREVGAM # PUSHLOC AT PDL+0, ARBITRARY IF LEQ 12D # C(MPAC) UNSPECIFIED C(MPAC)=NEW RTERM # # SUBROUTINES CALLED: NONE # # NORMAL EXIT MODE: RVQ # # ALARMS: NONE # # OUTPUT: GAMMA / 360 IN MPAC, POSITIVE NUMBER # VGAM E: (-7) M: (-5) M/CS IN PDL+0 # PUSHLOC AT PDL+2 # # ERASABLE INITIALIZATION REQD: # TFF/RTMU E: (17) M: (14) 1/SQRT(MU) LEFT BY TFFCONIC # RMAG1 E: (-29) M: (-27) M PRESENT RADIUS LENGTH LEFT BY TFFCONIC # NRMAG E: (-29+NR) M NORM LENGTH OF PRESENT POSITION LEFT BY TFFCONIC # M: (-27+NR) # RTERM E: (-29) M: (-27) M TERMINAL RADIUS LENGTH LEFT BY CALCTFF # NRTERM E: (-29+NR) M NORM LENGTH OF TERMINAL RADIUS LEFT BY CALCTFF # M: (-27+NR) # TFFVSQ E: (20) M: (18) 1/M -(V SQ/MU): PRESENT VELOCITY, NORM LEFT BY TFFCONIC # TFFNP E: (-38+2NR) M LCP, SEMI-LATUS RECTUM, WEIGHT NR LEFT BY TFFCONIC # M: (-36+2NR) # # DEBRIS: QPRET, PDL+0 ... PDL+3 # RTERM, NRTERM IF PREVGAM ENTERED. # Page 814 PREVGAM SL* # ENTER WITH NEW RTERM IN MPAC # E: (-29) M: (-27) 0,1 # X1 = -NR STORE NRTERM # RTERM M E: (-29+NR) M: (-27+NR) VGAMCALC DLOAD DMP NRMAG # RMAG M E: (-29+NR) M: (-27+NR) NRTERM # RTERM M E: (-29+NR) M: (-27+NR) PDDL DSU # RMAG RTERM M E: (-58+2NR) M: (-54+2NR) NRMAG # RMAG M E: (-29+NR) M: (-27+NR) NRTERM # RTERM M E: (-29+NR) M: (-27+NR) SL* DDV # 2(RN-RTERM) E: (-30+NR) M: (-28+NR) 0 -8D,1 # (-8+NR) # PUSH UP PRODUCT. DSU TFFVSQ # -(V SQ/MU) E: (20) M: (18) SQRT PUSH # SAVE VGAM/RT(MU) FOR NOW. E: (10) M: (9) DDV PDDL # XCH PDL+0, LEAVING VGAM FOR OUTPUT. # VGAM TO PDL M/CS E: (-7) M: (-2) TFF/RTMU # E: (17) M: (14) DMP PDDL # RTERM VGAM/RTMU E: (-19+NR) M: (-18+NR) NRTERM # RTERM M E: (-29+NR) M: (-27+NR) TFFNP # LC P =H.H/MU M E: (-38+2NR) M: (-36+2NR) SQRT DDV # E: (-19+NR) M: (-18+NR) # PUSH UP DEN E: (-19+NR) M: (-18+NR) # USE DDV OVFL AS LIMITER (|COS| <1.0) SR1 ACOS DUMPVGAM RVQ # CALLER MUST SUPPLY OWN SIGN ... # 22W 27MS # Page 815 # SUBROUTINE NAME: TFF/TRIG (USED BY S61.2) DATE: 01.17.67 # MOD NO: 0 LOG SECTION: P61-P67 # MOD BY: RR BAIRNSFATHER # MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 14 APR 67 # MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 21 MAR 68 ACCEPT DIFFERENT EARTH/MOON SCALE # # FUNCTIONAL DESCRIPTION: USED BY ENTRY DISPLAY TO CALCULATE SIN(THETA), COS(THETA) FROM DATA LEFT IN # PDL BY TFF SUBROUTINES. THE EQNS ARE # # COS(THETA) = 1-2 ABS(ARG) / (RN RTERM (1+X) ) # 2 # SIN(THETA) = SGN(ARG) SQRT(1-COS (THETA) ) # # WHERE THETA = TRANSFER ANGLE # AND ARG = P Z ABS(Z) IF ALFA ZZ LEQ 1 # ARG = (P / ALFA) SGN(Q1 + R 1/Z) IF ALFA Z Z G 1 # AND ARG HAS BEEN AFFIXED WITH THE SIGN OF SIN(THETA) # # CALLING SEQUENCE: CALL # TFF/TRIG # PUSHLOC AT PDL+0, ARBITRARY IF NOT EQ 14D # C(MPAC) UNSPECIFIED # # SUBROUTINES CALLED: NONE # # NORMAL EXIT MODES: RVQ # # ALARMS: NONE # # OUTPUT: C(MPAC) = .5 SIN(THETA) # CDELF/2 = .5 COS(THETA) (IN PDL 14D) # PUSHLOC AT PDL+0 # # ERASABLE INITIALIZATION REQUIRED: # TFFX X LEFT BY CALCTFF OR CALCTPER # TFFTEM E: (-59+2NR) ARG LEFT BY CALCTFF OR CALCTPER # M: (-55+2NR) WHERE ARG = LCF ZZ SGN(DELF) OR ARG = LCP/ALFA SGN(DELF) # NRTERM E: (-29+NR) M NORM LENGTH OF TERMINAL RADIUS LEFT BY CALCTFF OR CALCTPER # M: (-27+NR) # NRMAG E: (-29+NR) M NORM LENGTH OF PRESENT POSITION LEFT BY TFFCONIC # M: (-27+NR) # # DEBRIS: QPRET, CDELF/2 BANK 27 SETLOC P60S5 BANK TFF/TRIG DLOAD SR1 TFFX DAD DMP HIDPHALF NRMAG # RMAG M E: (-29+NR) M: (-27+NR) DMP BDDV NRTERM # RTERM M E: (-29+NR) M: (-27+NR) TFFTEM # P ZSQ OR P/ALFA E: (-59+2NR) M: (-55+2NR) ABS BDSU # THE SIGN IS FOR SDELF. HIDPHALF STORE CDELF/2 # .5 COS(THETA) DSQ DCOMP # KEEP HONEST FOR SQRT. # Page 816 DAD SQRT HIDP1/4 DUMPTRIG SIGN RVQ TFFTEM # AFFIX SIGN(DELE/2) # RETURN WITH .5 SIN(THETA) IN MPAC # 16W 15MS DISPTARG STQ # C(MPAC = TRGO ESTIMATE 60GENRET DMP DSU KTETA1 TTE1 STCALL DTEAROT EARROT2 CALL VRCALC GOTO 60GENRET VRCALC VLOAD DOT URH RT SL2 ACOS RVQ # END OF PROGRAM S61.2 # Page 817 # PROGRAM DESCRIPTION S62.3 DATE 10JAN67 # MOD NO 1: LOG SECTION P60-P67 # MOD BY ZELDIN # MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 15 MAY 67 CHANGED TO REF COORDS. # MOD NO: 3 MOD BY: RR BAIRNSFATHER DATE: 17 JAN 68 ALFAPAD CHANGES MADE. # # FUNCTIONAL DESCRIPTION # # COMPUTE DESIRED GIMBAL ANGLES FOR ENTRY ATTITUDE # THE FOLLOWING TRAJECTORY TRIAD IS AVAILABLE IN MEMORY AND IS COMPUTED EACH 2 SECONDS BY CM/POSE IN # REFERENCE COORDINATES (V = VELOCITY RELATIVE TO EARTH): # # UXA = -UNIT(V) # UYA = UNIT(V*R) # UZA = UXA*UYA # # GENERATE A DESIRED BODY TRIAD FOR TRIMMED FLIGHT WITH RESPECT TO THE RELATIVE VELOCITY VECTOR, USING # ROLL COMMAND AND TRIM ANGLE OF ATTACK: # # UXD = UNIT(UYD*UXA) SIN(ALFATRIM) + UXA COS(ALFATRIM) # UYD = UYA COS(ROLLC) + UZA SIN(ROLLC) # UZD = UXD * UYD # # USE THE DESIRED SET (IN REFERENCE COORDS) AND REFSMMAT TO CALL CALCGA AND OBTAIN GIMBAL ANGLES # IN 2S, C IN MPAC, +2 AND THETAD, +2. # # CALLING SEQUENCE # # L CALL # L+1 S62.3 # # NORMAL EXIT MODE # # RETURN VIA QPRET DIRECTLY FROM CALCGA. # # SUBROUTINES CALLED # # CALCGA # # ALARM OR ABORT MODES # # NONE # # ERASABLE INITIALIZATION REQUIRED # # ROLLC ROLL COMMAND DP 1'S COMP AT 1REV # ALFAPAD SP 1'S C / 180 LEFT BY PAD LOAD ALFATRIM IS NEGATIVE. # UXA/2 REF COORDS LEFT BY CM/POSE # UYA/2 REF COORDS LEFT BY CM/POSE # UZA/2 REF COORDS LEFT BY CM/POSE # # OUTPUT # # CPHI GIMBAL ANGLES (O,I,M) 2'S COMP TP (O,I,M)/180 # # DEBRIS # # QTEMP, QPRET, PUSHLIST BANK 10 SETLOC P60S4 BANK # Page 818 COUNT* $$/S62.3 S62.3 SETPD SLOAD 0 ALFAPAD # ALFATRIM / 180, ALFA IS NEG. SR1 PUSH COS PDDL # XCH PDL, COS TO PDL0 SIN PDDL # SIN TO PDL2 ROLLC COS VXSC UYA/2 # REF COORDS PDDL SIN # PUSH VECTOR INTO PDL4...9 ROLLC VXSC VAD UZA/2 # REF COORDS # VECTOR FROM PDL4...9 VSL1 STORE YNB # = UYD REF COORDS VXV VSL1 UXA/2 # REF COORDS VXSC PDDL # SIN TRIM FROM PDL2 # XCH PDL0 FOR COS TRIM VXSC VAD UXA/2 # REF COORDS # FROM PDL0 VSL1 STORE XNB # X SC AXIS (.5 UNIT) REF COORDS VXV VSL1 YNB STOVL ZNB # Z SC IN REF COOR. SCALED AT 2 REFSMMAT STOVL XSM REFSMMAT +6 STOVL YSM REFSMMAT +12D STORE ZSM CLEAR GOTO CPHIFLAG # CAUSE CALCGA TO STORE ANS IN TP CPHI CALCGA # CALCGA WILL RETURN TO ORIGINAL CALLER # VIA QPRET WITH 2'S COMP. ANGLES IN CPHI ================================================ FILE: Comanche055/P76.agc ================================================ # Copyright: Public domain. # Filename: P76.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Hartmuth Gutsche . # Website: www.ibiblio.org/apollo. # Pages: pp 511-513 # Mod history: 2009-05-08 HG Adapting from the Luminary131/ file # of the same name, using Comanche055 page # images 0511.jpg - 0513.jpg. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 511 # 1) PROGRAM NAME - TARGET DELTA V PROGRAM (P76). # 2) FUNCTIONAL DESCRIPTION - UPON ENTRY BY ASTRONAUT ACTION, P76 FLASHES DSKY REQUESTS TO THE ASTRONAUT # TO PROVIDE VIA DSKY (1) THE DELTA V TO BE APPLIED TO THE OTHER VEHICLE STATE VECTOR AND (2) THE # TIME (TIG) AT WHICH THE OTHER VEHICLE VELOCITY WAS CHANGED BY EXECUTION OF A THRUSTING MANEUVER. THE # OTHER VEHICLE STATE VECTOR IS INTEGRATED TO TIG AND UPDATED BY THE ADDITION OF DELTA V (DELTA V HAVING # BEEN TRANSFORMED FROM LV TO REF COSYS). USING INTEGRVS, THE PROGRAM THEN INTEGRATES THE OTHER # VEHICLE STATE VECTOR TO THE STATE VECTOR OF THIS VEHICLE, THUS INSURING THAT THE W-MATRIX AND BOTH VEHICLE # STATES CORRESPOND TO THE SAME TIME. # 3) ERASABLE INITIALIZATION REQUIRED - NONE. # 4) CALLING SEQUENCES AND EXIT MODES - CALLED BY ASTRONAUT REQUEST THRU DSKY V 37 E 76 E. # EXITS BY TCF ENDOFJOB. # 5) OUTPUT - OTHER VEHICLE STATE VECTOR INTEGRATED TO TIG AND INCREMENTED BY DELTA V IN REF COSYS. # THE PUSHLIST CONTAINS THE MATRIX BY WHICH THE INPUT DELTA V MUST BE POST-MULTIPLIED TO CONVERT FROM LV # TO REF COSYS. # 6) DEBRIS - OTHER VEHICLE STATE VECTOR. # 7) SUBROUTINES CALLED - BANKCALL,GOXDSPF,CSMPREC (OR LEMPREC),ATOPCSM (OR ATOPLEM),INTSTALL,INTWAKE, PHASCHNG # INTPRET, INTEGRVS, AND MINIRECT. # 8) FLAG USE - MOONFLAG,CMOONFLG,INTYPFLG,RASFLAG, AND MARKCTR. BANK 30 SETLOC P76LOC BANK COUNT* $$/P76 EBANK= TIG P76 TC UPFLAG ADRES TRACKFLG CAF V06N84 # FLASH LAST DELTA V. TC BANKCALL # AND WAIT FOR KEYBOARD ACTION. CADR GOFLASH TCF ENDP76 TC +2 # PROCEED TC -5 # STORE DATA AND REPEAT FLASHING CAF V06N84 +1 # FLASH VERB 06 NOUN 33, DISPLAY LAST TIG, TC BANKCALL # AND WAIT FOR KEYBOARD ACTION. CADR GOFLASH TCF ENDP76 TC +2 TC -5 TC INTPRET # RETURN TO INTERPRETIVE CODE DLOAD # SET D(MPAC)=TIG IN CSEC B28 TIG STCALL TDEC1 # SET TDEC1=TIG FOR ORBITAL INTEGRATION OTHPREC COMPMAT VLOAD UNIT RATT # Page 512 VCOMP # U(-R) STORE 24D # U(-R) TO 24D VXV UNIT # U(-R) X V = U(V X R) VATT STORE 18D VXV UNIT # U(V X R) X U(-R) = U((R X V) X R) 24D STOVL 12D DELVOV VXM VSL1 # V(MPAC)=DELTA V IN REFCOSYS 12D VAD VATT STORE 6 # V(PD6)=VATT + DELTA V CALL # PREVENT WOULD-BE USER OF ORBITAL INTSTALL # INTEG FROM INTERFERING WITH UPDATING CALL P76SUB1 VLOAD VSR* 6 0,2 STOVL VCV RATT VSR* 0,2 STODL RCV TIG STORE TET CLEAR DLOAD INTYPFLG TETTHIS INTOTHIS STCALL TDEC1 INTEGRVS CALL INTSTALL CALL P76SUB1 # SET/CLEAR MOONFLAG VLOAD RATT1 STORE RRECT STODL RCV TAT STOVL TET VATT1 CALL MINIRECT EXIT TC PHASCHNG OCT 04024 # Page 513 TC UPFLAG ADRES REINTFLG TC INTPRET CALL ATOPOTH SSP EXIT QPRET OUT TC BANKCALL # PERMIT USE OF ORBITAL INTEGRATION CADR INTWAKE1 OUT EXIT ENDP76 CAF ZERO TS MARKCTR # CLEAR RR TRACKING MARK COUNTER TS VHFCNT CAF NEGONE TS MRKBUF2 # INVALIDATE MARK BUFFER TCF GOTOPOOH V06N84 NV 0684 NV 0633 P76SUB1 CLEAR SLOAD MOONFLAG X2 BHIZ SET # X2=0...CLEAR MOONFLAG +2 # =2.....SET MOONFLAG MOONFLAG RVQ ================================================ FILE: Comanche055/PHASE_TABLE_MAINTENANCE.agc ================================================ # Copyright: Public domain. # Filename: PHASE_TABLE_MAINTENANCE.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1404-1413 # Mod history: 2009-05-10 SN (Sergio Navarro). Started adapting # from the Colossus249/ file of the same # name, using Comanche055 page images. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 1404 # SUBROUTINE TO UPDATE THE PROGRAM NUMBER DISPLAY ON THE DSKY. COUNT 02/PHASE BLOCK 02 SETLOC FFTAG1 BANK NEWMODEX INDEX Q # UPDATE MODREG. ENTRY FOR MODE IN FIXED. CAF 0 INCR Q NEWMODEA TS MODREG # ENTRY FOR MODE IN A. MMDSPLAY CAF +3 # DISPLAY MAJOR MODE. PREBJUMP LXCH BBANK # PUTS BBANK IN L TCF BANKJUMP # PUTS Q INTO A CADR SETUPDSP # RETURN TO CALLER +3 IF MODE = THAT AT CALLER +1. OTHERWISE RETURN TO CALLER +2. CHECKMM INDEX Q CS 0 AD MODREG EXTEND BZF Q+2 TCF Q+1 # NO MATCH TCQ = Q+2 +1 BANK 14 SETLOC PHASETAB BANK COUNT 10/PHASE SETUPDSP INHINT DXCH RUPTREG1 # SAVE CALLER-S RETURN 2CADR CAF PRIO30 # EITHER A TASK OR JOB CAN COME TO TC NOVAC # NEWMODEX EBANK= MODREG 2CADR DSPMMJOB DXCH RUPTREG1 RELINT DXCH Z # RETURN DSPMMJOB EQUALS DSPMMJB BLOCK 02 # Page 1405 SETLOC FFTAG1 BANK # Page 1406 # PHASCHNG IS THE MAIN WAY OF MAKING PHASE CHANGES FOR RESTARTS. THERE ARE THREE FORMS OF PHASCHNG, KNOWN AS TYPE # A, TYPE B, AND TYPE C. THEY ARE ALL CALLED AS FOLLOWS, WHERE OCT XXXXX CONTAINS THE PHASE INFORMATION, # # TC PHASCHNG # OCT XXXXX # # TYPE A IS CONCERNED WITH FIXED PHASE CHANGES, THAT IS, PHASE INFORMATION THAT IS STORED PERMANENTLY. THESE # OPTIONS ARE, WHERE G STANDS FOR A GROUP AND .X FOR THE PHASE, # # G.0 INACTIVE, WILL NOT PERMIT A GROUP G RESTART # G.1 WILL CAUSE THE LAST DISPLAY TO BE REACTIVATED, USED MAINLY IN MANNED FLIGHTS # G.EVEN A DOUBLE TABLE RESTART, CAN CAUSE ANY COMBINATION OF TWO JOBS, TASKS, AND/OR # LONGCALL TO BE RESTARTED. # G.ODD NOT .1 A SINGLE TABLE RESTART, CAN CAUSE EITHER A JOB, TASK, OR LONGCALL RESTART. # # THIS INFORMATION IS PUT INTO THE OCTAL WORD AFTER TC PHASCHNG AS FOLLOWS # # TL0 00P PPP PPP GGG # # WHERE EACH LETTER OR NUMBER STANDS FOR A BIT. THE G:S STAND FOR THE GROUP, OCTAL 1-7, THE P:S FOR THE PHASE, # OCTAL 0 - 127. 0:S MUST BE 0. IF ONE WISHES TO HAVE THE TBASE OF GROUP G TO BE SET AT THIS TIME, # T IS SET TO 1, OTHERWISE IT IS SET TO 0. SIMILARLY IF ONE WISHES TO SET LONGBASE, THEN L IS SET TO 1, OTHERWISE # IT IS SET TO 0. SOME EXAMPLES, # # TC PHASCHNG # THIS WILL CAUSE GROUP 3 TO BE SET TO 0, # OCT 00003 # MAKING GROUP 3 INACTIVE # # TC PHASCHNG # IF A RESTART OCCURS THIS WOULD CAUSE # OCT 00012 # GROUP 2 TO RESTART THE LAST DISPLAY # # TC PHASCHNG # THIS SETS THE TBASE OF GROUP 4 AND IN # OCT 40064 # CASE OF A RESTART WOULD START UP THE TWO # # THINGS LOCATED IN THE DOUBLE 4.6 RESTART # # LOCATION. # TC PHASCHNG # THIS SETS LONGBASE AND UPON A RESTART # OCT 20135 # CAUSES 5.13 TO BE RESTARTED (SINCE # # LONGBASE WAS SET THIS SINGLE ENTRY # # SHOULD BE A LONGCALL) # TC PHASCHNG # SINCE BOTH TBASE4 AND LONGBASE ARE SET, # OCT 60124 # 4.12 SHOULD CONTAIN BOTH A TASK AND A # # LONGCALL TO BE RESTARTED # # TYPE C PHASCHNG CONTAINS THE VARIABLE TYPE OF PHASCHNG INFORMATION. INSTEAD OF THE INFORMATION BEING IN A # PERMANENT FORM, ONE STORES THE DESIRED RESTART INFORMATION IN A VARIABKE LOCATION. THE BITS ARE AS FOLLOWS, # # TL0 1AD XXX CJW GGG # # WHERE EACH LETTER OR NUMBER STANDS FOR A BIT. THE G:S STAND FOR THE GROUP, OCTAL 1 - 7. IF THE RESTART IS TO # BE BY WAITLIST, W IS SET TO 1, IF IT IS A JOB, J IS SET TO 1, IF IT IS A LONGCALL, C IS SET TO 1. ONLY ONE OF # THESE THREE BITS MAY BE SET. X:S ARE IGNORED 1 MUST BE 1, AND 0 MUST BE 0. AGAIN T STANDS FOR THE TBASE, # Page 1407 # AND L FOR LONGBASE. THE BITS A AND D ARE CONCERNED WITH THE VARIABLE INFORMATION. IF D IS SET TO 1, A PRIORITY # OR DELTA TIME WILL BE READ FROM THE NEXT LOCATION AFTER THE OCTAL INFORMATION, IF THIS IS TO BE INDIRECT, THAT # IS, THE NAME OF A LOCATION COMT+INING THE INFORMATION (DELTA TIME ONLY), THEN THIS IS GIVEN AS THE -GENADR OF # THAT LOCATION WHICH CONTAINS THE DELTA TIME. IF THE OLD PRIORITY OR DELTA TIME IS TO BE USED, THAT WHICH IS # ALREADY IN THE VARIABLE STORAGE, THEN D IS SET TO 0. NEXT THE A BIT IS USED. IF IT IS SET TO 0, THE ADDRESS # THAT WOULD BE RESTARTED DURING A RESTART IS THE NEXT LOCATION AFTER THE PHASE INFORMATION, THAT IS, EITHER # (TC PHASCHNG) +2 OR +3, DEPENDING ON WHETHER D HAD BEEN SET OR NOT. IF A IS SET TO 1, THEN THE ADDRESS THAT # WOULD BE RESTARTED IS THE 2CADR THAT IS READ FROM THE NEXT TWO LOCATIONS. EXAMPLES, # # AD TC PHASCHNG # THIS WOULD CAUSE LOCATION AD +3 TO BE # AD+1 OCT 05023 # RESTARTED BY GROUP THREE WITHA PRIORITY # AD+2 OCT 23000 # OF 23. NOTE UPON RETURNING IT WOULD # AD+3 # ALSO GO TO AD+3 # # AD TC PHASCHNG # GROUP 1 WOULD CAUSE CALLCALL TO BE # AD+1 OCT 27441 # BE STARTED AS A LONGCALL FROM THE TIME # AD+2 -GENADR DELTIME # STORED IN LONGBASE (LONGBASE WAS SET) BY # AD+3 2CADR CALLCALL # A DELTATIME STORED IN DELTIME. THE # AD+4 # BBCON OF THE 2CADR SHOULD CONTAIN THE E # AD+5 # BANK OF DELTIME. PHASCHNG RETURNS TO # # LOCATION AD+5 # # NOTE THAT IF A VARIABLE PRIORITY IS GIVEN FOR A JOB, THE JOB WILL BE RESTARTED AS A NOVAC IF THE PRIORITY IS # NEGATIVE, AS A FINDVAC IF THE PRIORITY IS POSITIVE. # # TYPE B PHASCHNG IS A COMBINATION OF VARIABLE AND FIXED PHASE CHANGES. IT WILL START UP A JOB AS INDICATED # BELOW AND ALSO START UP ONE FIXED RESTART, THAT IS EITHER AN G.1 OR A G.ODD OR THE FIRST ENTRY OF G.EVEN # DOUBLE ENTRY. THE BIT INFORMATION IS AS FOLLOWS, # # TL1 DAP PPP PPP GGG # # WHERE EACH LETTER OR NUMBER STANDS FOR A BIT. THE G:S STAND FOR THE GROUP, OCTAL 1 - 7. THE P:S FOR THE FIXED # PHASE INFORMATION, OCTAL 0 - 127. 1 MUST BE 1. AND AGAIN T STANDS FOR THE TBASE AND L FOR LONGBASE. D THIS # TIME STANDS ONLY FOR PRIORITY SINCE THIS WILL BE CONSIDERED A JOB, AND IT MUST BE GIVEN DIRECTLY IF GIVEN. # AGAIN A STANDS FOR THE ADDRESS OF THE LOCATION TO BE RESTARTED, 1 IF THE 2CADR IS GIVEN, OR 0 IF IT IS TO BE # THE NEXT LOCATION.(THE RETURN LOCATION OF PHASCHNG) EXAMPLES, # AD TC PHASCHNG # TBASE IS SET AND A RESTART CAUSE GROUP 3 # AD+1 OCT 56043 # TO START THE JOB AJOBAJOB WITH PRIORITY # AD+2 OCT 31000 # 31 AND THE FIRST ENTRY OF 3.4SPOT (WE CAN # AD+3 2CADR AJOBAJOB # ASSUME IT IS A TASK SINCE WE SET TBASE3) # AD+4 # UPON RETURN FROM PHASCHNG CONTROL WOULD # AD+5 # GO TO AD+5 # # AD TC PHASCHNG # UPON A RESTART THE LAST DISPLAY WOULD BE # AD+1 OCT 10015 # RESTARTED AND A JOB WITH THE PREVIOUSLY # AD+2 # STORED PRIORITY WOULD BE BEGUN AT AD+2 # # BY MEANS OF GROUP 5 # Page 1408 # THE NOVAC-FINDVAC CHOICE FOR JOBS HOLDS HERE ALSO - NEGATIVE PRIORITY CAUSES A NOVAC CALL, POSITIVE A FINDVAC. # SUMMARY OF BITS: # TYPE A TL0 00P PPP PPP GGG # TYPE B TL1 DAP PPP PPP GGG # TYPE C TL0 1AD XXX CJW GGG # Page 1409 # 2PHSCHNG IS USED WHEN ONE WISHES TO START UP A GROUP OR CHANGE A GROUP WHILE UNDER THE CONTROL OF A DIFFERENT # GROUP. FOR EXAMPLE, CHANGE THE PHASE OF GROUP 3 WHILE THE PORTION OF THE PROGRAM IS UNDER GROUP 5. ALL 2PHSCHNG # CALLS ARE MADE IN THE FOLLOWING MANNER, # TC 2PHSCHNG # OCT XXXXX # OCT YYYYY # WHERE OCT XXXXX MUST BE OF TYPE A AND OCT YYYYY MAY BE OF EITHER TYPE A OR TYPE B OR TYPEC. THERE IS ONE # DIFFERENCE --- NOTE- IF LONGBASE IS TO BE SET THIS INFORMATION IS GIVEN IN THE OCT YYYYY INFORMATION, IT WILL # BE DISREGARDED IF GIVEN WITH THE OCT XXXXX INFORMATION. A COUPLE OF EXAMPLES MAY HELP. # AD TC 2PHACHNG # SET TBASE3 AND IF A RESTART OCCURS START # AD+1 OCT 40083 # THE TWO ENTRIES IN 3.8 TABLE LOCATION # AD+2 OCT 05025 # THIS IS OF TYPE C. SET THE JOB TO BE # AD+3 OCT 18000 # TO BE LOCATION AD+4, WITH A PRIORITY 18, # AD+4 # FOR GROUP 5 PHASE INFORMATION. COUNT 02/PHASE 2PHSCHNG INHINT # THE ENTRY FOR A DOUBLE PHASE CHANGE NDX Q CA 0 INCR Q TS TEMPP2 MASK OCT7 DOUBLE TS TEMPG2 CA TEMPP2 MASK OCT17770 # NEED ONLY 1770, BUT WHY GET A NEW CONST. EXTEND MP BIT12 XCH TEMPP2 MASK BIT15 TS TEMPSW2 # INDICATES WHETHER TO SET TBASE OR NOT TCF PHASCHNG +3 PHASCHNG INHINT CA ONE # INDICATESWE CAME FROM A PHASCHNG ENTRY TS TEMPSW2 NDX Q CA 0 INCR Q TS TEMPSW # Page 1410 EXTEND DCA ADRPCHN2 # OFF TO SWITCHED BANK DTCB EBANK= LST1 ADRPCHN2 2CADR PHSCHNG2 ONEORTWO LXCH TEMPBBCN LXCH BBANK LXCH TEMPBBCN MASK OCT14000 # SEE WHAT KIND OF PHASE CHANGE IT IS CCS A TCF CHECKB # IT IS OF TYPE :B: CA TEMPP MASK BIT7 CCS A # SHALL WE USE THE OLD PRIORITY TCF GETPRIO # NO GET A NEW PRIORITY (OR DELTA T) OLDPRIO NDX TEMPG # USE THE OLD PRIORITY (OR DELTA T) CA PHSPRDT1 -2 TS TEMPPR CON1 CA TEMPP # SEE IF A 2CADR IS GIVEN MASK BIT8 CCS A TCF GETNEWNM CA Q TS TEMPNM CA BB EXTEND # PICK UP USERS SUPERBANK ROR SUPERBNK TS TEMPBB TOCON2 CA CON2ADR # BACK TO SWITCHED BANK LXCH TEMPBBCN DTCB CON2ADR GENADR CON2 GETPRIO NDX Q # DON:T CARE IF DIRECT OR INDIRECT CA 0 # LEAVE THAT DECISION TO RESTARTS INCR Q # OBTAIN RETURN ADDRESS TCF CON1 -1 GETNEWNM EXTEND # Page 1411 INDEX Q DCA 0 DXCH TEMPNM CA TWO ADS Q # OBTAIN RETURN ADDRESS TCF TOCON2 OCT14000 EQUALS PRIO14 TEMPG EQUALS ITEMP1 TEMPP EQUALS ITEMP2 TEMPNM EQUALS ITEMP3 TEMPBB EQUALS ITEMP4 TEMPSW EQUALS ITEMP5 TEMPSW2 EQUALS ITEMP6 TEMPPR EQUALS RUPTREG1 TEMPG2 EQUALS RUPTREG2 TEMPP2 EQUALS RUPTREG3 TEMPBBCN EQUALS RUPTREG4 BB EQUALS BBANK BANK 14 SETLOC PHASETAB BANK EBANK= PHSNAME1 COUNT 10/PHASE PHSCHNG2 LXCH TEMPBBCN CA TEMPSW MASK OCT7 DOUBLE TS TEMPG CA TEMPSW MASK OCT17770 EXTEND MP BIT12 TS TEMPP CA TEMPSW MASK OCT60000 XCH TEMPSW MASK OCT14000 CCS A TCF ONEORTWO # Page 1412 CA TEMPP # START STORING THE PHASE INFORMATION NDX TEMPG TS PHASE1 -2 BELOW1 CCS TEMPSW2 # IS IT A PHASCHNG OR A 2PHSCHNG TCF BELOW2 # IT:S A PHASCHNG TCF +1 # IT:S A 2PHSCHNG CS TEMPP2 LXCH TEMPP2 NDX TEMPG2 DXCH -PHASE1 -2 CCS TEMPSW2 NOOP # CAN:T GET HERE TCF BELOW2 CS TIME1 NDX TEMPG2 TS TBASE1 -2 BELOW2 CCS TEMPSW # SEE IF WE SHOULD SET TBASE OR LONGBASE TCF BELOW3 # SET LONGBASE ONLY TCF BELOW4 # SET NEITHER CS TIME1 # SET TBASE TO BEGIN WITH NDX TEMPG TS TBASE1 -2 CA TEMPSW # SHALL WE NOW SET LONGBASE AD BIT14COM CCS A NOOP # ***** CAN'T GET HERE ***** BIT14COM OCT 17777 # ***** CAN'T GET HERE ***** TCF BELOW4 # NO WE NEED ONLY SET TBASE BELOW3 EXTEND # SET LONGBASE DCA TIME2 DXCH LONGBASE BELOW4 CS TEMPP # AND STORE THE FINAL PART OF THE PHASE NDX TEMPG TS -PHASE1 -2 CA Q LXCH TEMPBBCN RELINT DTCB CON2 LXCH TEMPBBCN # Page 1413 CA TEMPP NDX TEMPG TS PHASE1 -2 CA TEMPPR NDX TEMPG TS PHSPRDT1 -2 EXTEND DCA TEMPNM NDX TEMPG DXCH PHSNAME1 -2 TCF BELOW1 BLOCK 02 SETLOC FFTAG1 BANK COUNT 02/PHASE CHECKB MASK BIT12 # SINCE THIS IS OF TYPE B, THIS BIT SHOULD CCS A # BE HERE IF WE ARE TO GET A NEW PRIORITY TCF GETPRIO # IT IS, SO GET NEW PRIORITY TCF OLDPRIO # IT ISN:T, USE THE OLD PRIORITY ================================================ FILE: Comanche055/PINBALL_GAME_BUTTONS_AND_LIGHTS.agc ================================================ # Copyright: Public domain. # Filename: PINBALL_GAME_BUTTONS_AND_LIGHTS.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 307-389 # Mod history: 2009-05-08 RSB Started adapting from the Colossus249/ file # of the same name, using Comanche055 page # images. Finished through page 329. # 2009-05-09 RSB Finished first draft. # 2009-05-20 RSB Corrected a CHKPOOH to CHKPOOH. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 307 # PROGRAM NAME -- KEYBOARD AND DISPLAY PROGRAM # MOD NO -- 4 DATE -- 27 APRIL 1967 ASSEMBLY -- PINDISK REV 17 # MOD BY -- FILENE # LOG SECTION -- PINBALL GAME BUTTONS AND LIGHTS # # FUNCTIONAL DESCRIPTION # # THE KEYBOARD AND DISPLAY SYSTEM PROGRAM OPERATES UNDER EXECUTIVE # CONTROL AND PROCESSES INFORMATION EXCHANGED BETWEEN THE AGC AND THE # COMPUTER OPERATOR. THE INPUTS TO THE PROGRAM ARE FROM THE KEYBOARD, # FROM INTERNAL PROGRAM, AND FROM THE UPLINK. # # THE LANGUAGE OF COMMUNICATION WITH THE PROGRAM IS A PAIR OF WORDS # KNOWN AS VERB AND NOUN. EACH OF THESE IS REPRESENTED BY A 2 CHARACTER # DECIMAL NUMBER. THE VERB CODE INDICATES WHAT ACTION IS TO BE TAKEN, THE # NOUN CODE INDICATES TO WHAT THIS ACTION IS APPLIED. NOUNS USUALLY # REFER TO A GROUP OF ERASABLE REGISTERS. # # VERBS ARE GROUPED INTO DISPLAYS, LOADS, MONITORS (DISPLAYS THAT ARE # UPDATED ONCE PER SECOND), SPECIAL FUNCTIONS, AND EXTENDED VERBS (THESE # ARE OUTSIDE OF THE DOMAIN OF PINBALL AND CAN BE FOUND UNDER LOG SECTION # `EXTENDED VERBS'). # # A LIST OF VERBS AND NOUNS IS GIVEN IN LOG SECTION `ASSEMBLY AND # OPERATION INFORMATION'. # # CALLING SEQUENCES -- # # KEYBOARD: # EACH DEPRESSION OF A MAIN (NAVIGATION) KEYBOARD BUTTON ACTIVATES # INTERRUPT KEYRUPT1 (KEYRUPT2) AND PLACES THE 5 BIT KEY CODE INTO # CHANNEL 15 (CHANNEL 16). KEYRUPT1 (KEYRUPT2) PLACES THE KEY # CODE INTO MPAC, ENTERS AN EXECUTIVE REQUEST FOR THE KEYBOARD AND DISPLAY # PROGRAM (AT `CHARIN'), AND EXECUTES A RESUME. # # UPLINK: # EACH WORD RECEIVED BY THE UPLINK ACTIVATES INTERRUPT UPRUPT, WHICH # PLACES THE 5 BIT KEY CODE INTO MPAC, ENTERS AN EXECUTIVE REQUEST FOR THE # KEYBOARD AND DISPLAY PROGRAM (AT `CHARIN') AND EXECUTES A RESUME. # # INTERNAL PROGRAMS: # INTERNAL PROGRAMS CALL PINBALL AT `NVSUB' WITH THE DESIRED VERB/NOUN # CODE IN A (LOW 7 BITS FOR NOUN, NEXT 7 BITS FOR VERB). DETAILS # DESCRIBED ON REMARKS CARDS JUST BEFORE `NVSUB' AND `NVSBWAIT' (SEE # SYMBOL TABLE FOR PAGE NUMBERS). # # NORMAL EXIT MODES -- # # IF PINBALL WAS CALLED BY EXTERNAL ACTION, THERE ARE FOUR EXITS: # 1) ALL BUT (2), (3), AND (4) EXIT DIRECTLY TO ENDOFJOB. # Page 308 # 2) EXTENDED VERBS TO TO THE EXTENDED VERB FAN AS PART OF THE # PINBALL EXECUTIVE JOB WITH PRIORITY 30000. IT IS THE # RESPONSIBILITY OF THE EXTENDED VERB CALLED TO EVENTUALLY # CHANGE PRIORITY (IF NECESSARY) AD DO AN ENDOFJOB. # ALSO PINBALL IS A NOVAC JOB. EBANK SET FOR COMMON. # 3) VERB 37. CHANGE OF PROGRAM (MAJOR MODE) CALLS `V37' IN THE # SERVICE ROUTINES AS PART OF THE PINBALL EXEC JOB WITH PRIO # 30000. THE NEW PROGRAM CODE (MAJOR MODE) IS LEFT IN A. # 4) KEY RELEASE BUTTON CALLS `PINBRNCH' IN THE DISPLAY INTERFACE # ROUTINES AS PART OF THE PINBALL EXEC JOB WITH PRIO 30000 IF # THE KEY RELEASE LIGHT IS OFF AND `CADRSTOR' IS NOT 40. # # IF PINBALL WAS CALLED BY INTERNAL PROGRAMS, EXIT FROM PINBALL IS BACK # TO CALLING ROUTINE. DETAILS DESCRIBED IN REMARKS CARDS JUST BEFORE # `NVSUB' AND `NVSBWAIT' (SEE SYMBOL TABLE FOR PAGE NUMBERS). # # ALARM OR ABORT EXIT MODES -- # # EXTERNAL INITIATION: # IF SOME IMPROPER SEQUENCE OF KEY CODES IS DETECTED, THE OPERATOR # ERROR LIGHT IS TURNED ON AND EXIT IS TO `ENDOFJOB'. # # INTERNAL PROGRAM INITIATION: # IF AN ILLEGAL V/N COMBINATION IS ATTEMPTED, AN ABORT IS CAUSED # (WITH OCTAL 01501). # IF A SECOND ATTEMPT IS MADE TO GO TO SLEEP IN PINBALL, AN ABORT IS # CAUSED (WITH OCTAL 01206). THERE ARE TWO WAYS TO GO TO SLEEP IN PINBALL: # 1) ENDIDLE OR DATAWAIT. # 2) NVSBWAIT, PRENVBSY, OR NVSUBUSY. # # CONDITIONS LEADING TO THE ABOVE ARE DESCRIBED IN FORTHCOMING MIT/IL # E-REPORT DESCRIBING KEYBOARD AND DISPLAY OPERATION FOR 278. # # OUTPUT -- # # INFORMATION TO BE SENT TO THE DISPLAY PANEL IS LEFT IN THE `DSPTAB' # BUFFERS REGISTERS (UNDER EXEC CONTROL). `DSPOUT' (A PART OF T4RUPT) # HANDLES THE PLACING OF THE `DSPTAB' INFORMATION INTO OUTPUT CHANNEL 10 # IN INTERRUPT. # # ERASABLE INITIALIZATION -- # # FRESH START AND RESTART INITIALIZE THE NECESSARY E REGISTERS FOR # PINBALL IN `STARTSUB'. REGISTERS ARE: DSPTAB BUFFER, CADRSTOR, # REQRET, CLPASS, DSPLOCK, MONSAVE, MONSAVE1, VERBREG, NOUNREG, DSPLIST, # DSPCOUNT, NOUT. # # Page 309 # A COMPLETE LIST OF ALL THE ERASABLES (BOTH RESERVED AND TEMPORARIES) FOR # PINBALL IS GIVEN BELOW. # # THE FOLLOWING ARE OF GENERAL INTEREST -- # # REMARKS CARDS PRECEDE THE REFERENCED SYMBOL DEFINITION. SEE SYMBOL # TABLE TO FIND APPROPRIATE PAGE NUMBERS. # # NVSUB CALLING POINT FOR INTERNAL USE OF PINBALL. # OF RELATED INTEREST NVSBWAIT # NVSUBUSY # PRENVBSY # # ENDIDLE ROUTINE FOR INTERNAL PROGRAMS WISHING TO TO SLEEP WHILE # AWAITING OPERATOR'S RESPONSE. # # DSPMM ROUTINE BY WHICH AN INTERNAL PROGRAM MAY DISPLAY A DECIMAL # PROGRAM CODE (MAJOR MODE) IN THE PROGRAM (MAJOR MODE) LIGHT # (DSPMM DOES NOT DISPLAY DIRECTLY BUT ENTERS EXEC REQUEST # FOR DSPMMJB WITH PRIO 30000 AND RETURNS TO CALLER.) # # BLANKSUB ROUTINE BY WHICH AN INTERNAL PROGRAM MAY BLANK ANY # COMBINATION OF THE DISPLAY REGISTERS R1, R2, R3. # # JAMTERM ROUTINE BY WHICH AN INTERNAL PROGRAM MAY PERFORM THE # JAMPROC TERMINATE (V 34) OR PROCEED (V33) FUNCTION. # # MONITOR VERBS FOR PERIODIC (1 PER SEC) DISPLAY. # # PLEASE PERFORM, PLEASE MARK SITUATIONS # REMARKS DESCRIBING HOW AN INTERNAL ROUTINE SHOULD HANDLE # THESE SITUATIONS CAN BE FOUND JUST BEFORE `NVSUB' (SEE # SYMBOL TABLE FOR PAGE NUMBER). # # THE NOUN TABLE FORMAT IS DESCRIBED ON A PAGE OF REMARKS CARDS JUST # BEFORE `DSPABC' (SEE SYMBOL TABLE FOR PAGE NUMBER). # # THE NOUN TABLES THEMSELVES ARE FOUND IN LOG SECTION `PINBALL NOUN # TABLES'. # # FOR FURTHER DETAILS ABOUT OPERATION OF THE KEYBOARD AND DISPLAY SYSTEM # PROGRAM, SEE THE MISSION PLAN AND/OR MIT/IL E-2129 # DESCRIBING KEYBOARD AND DISPLAY OPERATION FOR 278. # (Note that this doc by Green and Filene is/was available online at # http://hrst.mit.edu/hrs/apollo/public/archive/1706.pdf --- RSB 6/2004.) # # THE FOLLOWING QUOTATION IS PROVIDED THROUGH THE COURTESY OF THE AUTHORS. # # "IT WILL BE PROVED TO THY FACE THAT THOU HAST MEN ABOUT THEE THAT # Page 310 # USUALLY TALK OF A NOUN AND A VERB, AND SUCH ABOMINABLE WORDS AS NO # CHRISTIAN EAR CAN ENDURE TO HEAR." # HENRY 6, ACT 2, SCENE 4 # THE FOLLOWING ASSIGNMENTS FOR PINBALL ARE MADE ELSEWHERE # RESERVED FOR PINBALL EXECUTIVE ACTION # #DSPCOUNT ERASE # DISPLAY POSITION INDICATOR #DECBRNCH ERASE # +DEC, -DEC, OCT INDICATOR #VERBREG ERASE # VERB CODE #NOUNREG ERASE # NOUN CODE #XREG ERASE # R1 INPUT BUFFER #YREG ERASE # R2 INPUT BUFFER #ZREG ERASE # R3 INPUT BUFFER #XREGLP ERASE # LO PART OF XREG (FOR DEC CONV ONLY) #YREGLP ERASE # LO PART OF YREG (FOR DEC CONV ONLY) #HITEMOUT = YREGLP # TEMP FOR DISPLAY OF HRS,MIN,SEC # # MUST = LOTEMOUT-1. #ZREGLP ERASE # LO PART OF ZREG (FOR DEC CONV ONLY) #LOTEMOUT = ZREGLP # TEMP FOR DISPLAY OF HRS,MIN,SEC # # MUST = HITEMOUT+1 #MODREG ERASE # MODE CODE #DSPLOCK ERASE # KEYBOARD/SUBROUTINE CALL INTERLOCK #REQRET ERASE # RETURN REGISTER FOR LOAD #LOADSTAT ERASE # STATUS INDICATOR FOR LOADTST #CLPASS ERASE # PASS INDICATOR FOR CLEAR #NOUT ERASE # ACTIVITY COUNTER FOR DSPTAB #NOUNCADR ERASE # MACHINE CADR FOR NOUN #MONSAVE ERASE # N/V CODE FOR MONITOR. (= MONSAVE1-1) #MONSAVE1 ERASE # NOUNCADR FOR MONITOR (MATBS1) = MONSAVE+1 #MONSAVE2 ERASE # NVMONOPT OPTIONS #DSPTAB ERASE +13D # 0-10, DISPLAY PANEL BUFFER 11-13, C RELAYS. #CADRSTOR ERASE # ENDIDLE STORAGE #NVQTEM ERASE # NVSUB STORAGE FOR CALLING ADDRESS # # MUST = NVBNKTEM-1. #NVBNKTEM ERASE # NVSUB STORAGE FOR CALLING BANK # # MUST = NVQTEM+1 #VERBSAVE ERASE # NEEDED FOR RECYCLE #DSPLIST ERASE # WAITING REG FOR DSP SYST INTERNAL USE #EXTVBACT ERASE # EXTENDED VERB ACTIVITY INTERLOCK #DSPTEM1 ERASE +2 # BUFFER STORAGE AREA 1 (MOSTLY FOR TIME) #DSPTEM2 ERASE +2 # BUFFER STORAGE AREA 2 (MOSTLY FOR DEG) # # END OF ERASABLES RESERVED FOR PINBALL EXECUTIVE ACTION. # # TEMPORARIES FOR PINBALL EXECUTIVE ACTION # Page 311 #DSEXIT = INTB15+ # RETURN FOR DSPIN #EXITEM = INTB15+ # RETURN FOR SCALE FACTOR ROUTINE SELECT #BLANKRET = INTB15+ # RETURN FOR 2BLANK #WRDRET = INTBIT15 # RETURN FOR 5BLANK. #WDRET = INTBIT15 # RETURN FOR DSPWD #DECRET = INTBIT15 # RETURN FOR PUTCOM(DEC LOAD) #21/22REG = INTBIT15 # TEMP FOR CHARIN #UPDATRET = POLISH # RETURN FOR UPDATNN, UPDATVB #CHAR = POLISH # TEMP FOR CHARIN #ERCNT = POLISH # COUNTER FOR ERROR LIGHT RESET #DECOUNT = POLISH # COUNTER FOR SCALING AND DISPLAY (DEC) #SGNON = VBUF # TEMP FOR +,- ON #NOUNTEM = VBUF # COUNTER FOR MIXNOUN FETCH #DISTEM = VBUF # COUNTER FOR OCTAL DISPLAY VERB #DECTEM = VBUF # COUNTER FOR FETCH (DEC DISPLAY VERBS) #SGNOFF = VBUF +1 # TEMP FOR +,- ON #NVTEMP = VBUF +1 # TEMP FOR NVSUB #SFTEMP1 = VBUF +1 # STORAGE FOR SF CONST HI PART (=SFTEMP2-1) #HITEMIN = VBUF +1 # TEMP FOR LOAD OF HRS,MIN,SEC # # MUST = LOTEMIN-1. #CODE = VBUF +2 # FOR DSPIN #SFTEMP2 = VBUF +2 # STORAGE FOR SF CONST LO PART (=SFTEMP1+1) #LOTEMIN = VBUF +2 # TEMP FOR LOAD OF HRS,MIN,SEC # # MUST = HITEMIN+1 #MIXTEMP = VBUF +3 # FOR MIXNOUN DATA #SIGNRET = VBUF +3 # RETURN FOR +,- ON # ALSO MIXTEMP+1 = VBUF+4, MIXTEMP+2 = VBUF+5 #ENTRET = DOTINC # EXIT FROM ENTER #WDONT = DOTRET # CHAR COUNTER FOR DSPWD #INREL = DOTRET # INPUT BUFFER SELECTOR (X,Y,Z, REG ) #DSPMMTEM = MATINC # DSPCOUNT SAVE FOR DSPMM #MIXBR = MATINC # INDICATOR FOR MIXED OR NORMAL NOUN #TEM1 ERASE # EXEC TEMP #DSREL = TEM1 # REL ADDRESS FOR DSPIN #TEM2 ERASE # EXEC TEMP #DSMAG = TEM2 # MAGNITUDE STORE FOR DSPIN #IDADDTEM = TEM2 # MIXNOUN INDIRECT ADDRESS STORAGE #TEM3 ERASE # EXEC TEMP #COUNT = TEM3 # FOR DSPIN # Page 312 #TEM4 ERASE # EXEC TEMP #LSTPTR = TEM4 # LIST POINTER FOR GRABUSY #RELRET = TEM4 # RETURN FOR RELDSP #FREERET = TEM4 # RETURN FOR FREEDSP #DSPWDRET = TEM4 # RETURN FOR DSPSIGN #SEPSCRET = TEM4 # RETURN FOR SEPSEC #SEPMNRET = TEM4 # RETURN FOR SEPMIN #TEM5 ERASE # EXEC TEMP #NOUNADD = TEM5 # TEMP STORAGE FOR NOUN ADDRESS #NNADTEM ERASE # TEMP FOR NOUN ADDRESS TABLE ENTRY #NNTYPTEM ERASE # TEMP FOR NOUN TYPE TABLE ENTRY #IDAD1TEM ERASE # TEMP FOR INDIR ADDRESS TABLE ENTRY (MIXNN) # # MUST = IDAD2TEM-1, = IDAD3TEM-2 #IDAD2TEM ERASE # TEMP FOR INDIR ADDRESS TABLE ENTRY (MIXNN) # # MUST = IDAD1TEM+1, IDAD3TEM-1. #IDAD3TEM ERASE # TEMP FOR INDIR ADDRESS TABLE ENTRY (MIXNN) # # MUST = IDAD1TEM+2, IDAD2TEM+1. #RUTMXTEM ERASE # TEMP FOR SF ROUT TABLE ENTRY (MIXNN ONLY) # # END OF TEMPORARIES FOR PINBALL EXECUTIVE ACTION. # # ADDITIONAL TEMPORARIES FOR PINBALL EXECUTIVE ACTION # # MPAC, THRU MPAC +6 # BUF, +1, +2 # BUF2, +1, +2 # MPTEMP # ADDRWD # # END OF ADDITIONAL TEMPS FOR PINBALL EXEC ACTION # # RESERVED FOR PINBALL INTERRUPT ACTION # #DSPCNT ERASE # COUNTER FOR DSPOUT #UPLOCK ERASE # BIT1 = UPLINK INTERLOCK (ACTIVATED BY # # RECEPTION OF A BAD MESSAGE IN UPLINK) # # END OF ERASABLES RESERVED FOR PINBALL INTERRUPT ACTION # # TEMPORARIES FOR PINBALL INTERRUPT ACTION # #KEYTEMP1 = WAITEXIT # TEMP FOR KEYRUPT, UPRUPT #DSRUPTEM = WAITEXIT # TEMP FOR DSPOUT #KEYTEMP2 = RUPTAGN # TEMP FOR KEYRUPT, UPRUPT # # END OF TEMPORARIES FOR PINBALL INTERRUPT ACTION # Page 313 # THE INPUT CODES ASSUMED FOR THE KEYBOARD ARE, # 0 10000 # 1 00001 # 9 01001 # VERB 10001 # ERROR RES 10010 # KEY RLSE 11001 # + 11010 # - 11011 # ENTER 11100 # CLEAR 11110 # NOUN 11111 # # OUTPUT FORMAT FOR DISPLAY PANEL. SET OUT0 TO AAAABCCCCCDDDDD. # A'S SELECTS A RELAYWORD. THIS DETERMINES WHICH PAIR OF CHARACTERS ARE # ENERGIZED. # B FOR SPECIAL RELAYS SUCH AS SIGNS ETC. # C'S 5 BIT RELAY CODE FOR LEFT CHAR OF PAIR SELECTED BY RELAYWORD. # D'S 5 BIT RELAY CODE FOR RIGHT CHAR OF PAIR SELECTED BY RELAYWORD. # # THE PANEL APPEARS AS FOLLOWS, # MD1 MD2 (MAJOR MODE) # VD1 VD2 (VERB) ND1 ND2 (NOUN) # R1D1 R1D2 R1D3 R1D4 R1D5 (R1) # R2D1 R2D2 R2D3 R2D4 R2D5 (R2) # R3D1 R3D2 R3D3 R3D4 R3D5 (R3) # # EACH OF THESE IS GIVEN A DSPCOUNT NUMBER FOR USE WITHIN COMPUTATION ONLY # # MD1 25 R2D1 11 ALL ARE OCTAL # MD2 24 R2D2 10 # VD1 23 R2D3 7 # VD2 22 R2D4 6 # ND1 21 R2D5 5 # ND2 20 R3D1 4 # R1D1 16 R3D2 3 # R1D2 15 R3D3 2 # R1D3 14 R3D4 1 # R1D4 13 R3D5 0 # R1D5 12 # # THERE IS AN 11-REGISTER TABLE (DSPTAB) FOR THE DISPLAY PANEL. # # DSPTAB RELAYWD BIT11 BITS 10-6 BITS 5-1 # RELADD # 10 1011 MD1 (25) MD2 (24) # 9 1010 VD1 (23) VD2 (22) # 8 1001 ND1 (21) ND2 (20) # 7 1000 R1D1 (16) # Page 314 # 6 0111 +R1 R1D2 (15) R1D3 (14) # 5 0110 -R1 R1D4 (13) R1D5 (12) # 4 0101 +R2 R2D1 (11) R2D2 (10) # 3 0100 -R2 R2D3 (7) R2D4 (6) # 2 0011 R2D5 (5) R3D1 (4) # 1 0010 +R3 R3D2 (3) R3D3 (2) # 0 0001 -R3 R3D4 (1) R3D5 (0) # 0000 NO RELAYWORD # # THE 5-BIT OUTOUT RELAY CODES ARE: # # BLANK 00000 # 0 10101 # 1 00011 # 2 11001 # 3 11011 # 4 01111 # 5 11110 # 6 11100 # 7 10011 # 8 11101 # 9 11111 # # OUTPUT BITS USED BY PINBALL: # # KEY RELEASE LIGHT -- BIT 5 OF CHANNEL 11 # VERB/NOUN FLASH -- BIT 6 OF CHANNEL 11 # OPERATOR ERROR LIGHT -- BIT 7 OF CHANNEL 11 # Page 315 # START OF EXECUTIVE SECTION OF PINBALL BANK 40 SETLOC PINBALL1 BANK COUNT 40/PIN CHARIN CAF ONE # BLOCK DISPLAY SYST XCH DSPLOCK # MAKE DSP SYST BUSY, BUT SAVE OLD TS 21/22REG # C(DSPLOCK) FOR ERROR LIGHT RESET. CCS CADRSTOR # ALL KEYS EXCEPT ER TURN ON KR LITE IF TC +2 # CADRSTOR IS FULL. THIS REMINDS OPERATOR TC CHARIN2 # TO RE-ESTABLISH A FLASHING DISPLAY CS ELRCODE1 # WHICH HE HAS OBSCURED WITH DISPLAYS OF AD MPAC # HIS OWN (SEE REMARKS PRECEDING ROUTINE EXTEND # VBRELDSP). BZF CHARIN2 TC RELDSPON CHARIN2 XCH MPAC TS CHAR INDEX A TC +1 # INPUT CODE FUNCTION TC CHARALRM # 0 TC NUM # 1 TC NUM # 2 TC NUM # 3 TC NUM # 4 TC NUM # 5 TC NUM # 6 TC NUM # 7 TC 89TEST # 10 8 TC 89TEST # 11 9 TC CHARALRM # 12 TC CHARALRM # 13 TC CHARALRM # 14 TC CHARALRM # 15 TC CHARALRM # 16 TC CHARALRM # 17 TC NUM -2 # 20 0 TC VERB # 21 VERB TC ERROR # 22 ERROR LIGHT RESET TC CHARALRM # 23 TC CHARALRM # 24 TC CHARALRM # 25 TC CHARALRM # 26 TC CHARALRM # 27 TC CHARALRM # 30 TC VBRELDSP # 31 KEY RELEASE # Page 316 TC POSGN # 32 + TC NEGSGN # 33 - TC ENTERJMP # 34 ENTER TC CHARALRM # 35 TC CLEAR # 36 CLEAR TC NOUN # 37 NOUN ELRCODE1 OCT 22 ENTERJMP TC POSTJUMP CADR ENTER 89TEST CCS DSPCOUNT TC +4 # + TC +3 # +0 TC ENDOFJOB # - BLOCK DATA IN IF DSPCOUNT IS - OR -0 TC ENDOFJOB # -0 CAF THREE MASK DECBRNCH CCS A TC NUM # IF DECBRNCH IS +, 8 OR 9 OK TC CHARALRM # IF DECBRNCH IS +0, REJECT 8 OR 9 # NUM ASSEMBLES OCTAL 3 BITS AT A TIME. FOR DECIMAL IT CONVERTS INCOMING # WORD AS A FRACTION, KEEPING RESULTS TO DP. # OCTAL RESULTS ARE LEFT IN XREG, YREG, OR ZREG. HI PART OF DEC IN XREG, # YREG, ZREG. THE LOW PARTS IN XREGLP, YREGLP, OR ZREGLP. # DECBRNCH IS LEFT AT +0 FOR OCT, +1 FOR + DEC, +2 FOR - DEC. # IF DSPCOUNT WAS LEFT -, NO MORE DATA IS ACCEPTED. CAF ZERO TS CHAR NUM CCS DSPCOUNT TC +4 # + TC +3 # +0 TC +1 # -BLOCK DATA IN IF DSPCOUNT IS - TC ENDOFJOB # -0 TC GETINREL CCS CLPASS # IF CLPASS IS + OR +0, MAKE IT +0. CAF ZERO TS CLPASS TC +1 INDEX CHAR CAF RELTAB MASK LOW5 TS CODE CA DSPCOUNT TS COUNT TC DSPIN # Page 317 CAF THREE MASK DECBRNCH CCS A # +0, OCTAL. +1, + DEC. +2, - DEC. TC DECTOBIN # + INDEX INREL # +0 OCTAL XCH VERBREG TS CYL CS CYL CS CYL XCH CYL AD CHAR TC ENDNMTST DECTOBIN INDEX INREL XCH VERBREG TS MPAC # SUM X 2EXP-14 IN MPAC CAF ZERO TS MPAC +1 CAF TEN # 10 X 2EXP-14 TC SHORTMP # 10SUM X 2EXP-28 IN MPAC, MPAC+1 XCH MPAC +1 AD CHAR TS MPAC +1 TC ENDNMTST # NO OF ADS MPAC # OF MUST BE 5TH CHAR TC DECEND ENDNMTST INDEX INREL TS VERBREG CS DSPCOUNT INDEX INREL AD CRITCON EXTEND BZF ENDNUM # -0, DSPCOUNT = CRITCON TC MORNUM # -, DSPCOUNT G/ CRITCON ENDNUM CAF THREE MASK DECBRNCH CCS A TC DECEND ENDALL CS DSPCOUNT # BLOCK NUMIN BY PLACING DSPCOUNT TC MORNUM +1 # NEGATIVELY DECEND CS ONE AD INREL EXTEND BZMF ENDALL # IF INREL=0,1 (VBREG,NNREG) LEAVE WHOLE TC DMP # IF INREL=2,3,4 (R1,R2,R3), CONVERT TO FRAC # MULT SUM X 2EXP-28 IN MPAC, MPAC+1 BY ADRES DECON # 2EXP14/10EXP5, GIVES (SUM/10EXP5)X2EXP-14 CAF THREE # IN MPAC, +1, +2. MASK DECBRNCH INDEX A TC +0 # Page 318 TC +DECSGN EXTEND # - CASE DCS MPAC +1 DXCH MPAC +1 +DECSGN XCH MPAC +2 INDEX INREL TS XREGLP -2 XCH MPAC +1 INDEX INREL TS VERBREG TC ENDALL MORNUM CCS DSPCOUNT # DECREMENT DSPCOUNT TS DSPCOUNT TC ENDOFJOB CRITCON OCT 22 # (DEC 18) OCT 20 # (DEC 16) OCT 12 # (DEC 10) OCT 5 OCT 0 DECON 2DEC E-5 B14 # 2EXP14/10EXP5 = .16384 DEC # GETINREL GETS PROPER DATA REG REL ADDRESS FOR CURRENT C(DSPCOUNT) AND # PUTS IN INTO INREL. +0 VERBREG, 1 NOUNREG, 2 XREG, 3 YREG, 4 ZREG. GETINREL INDEX DSPCOUNT CAF INRELTAB TS INREL # (A TEMP, REG) TC Q INRELTAB OCT 4 # R3D5 (DSPCOUNT = 0) OCT 4 # R3D4 =(1) OCT 4 # R3D3 =(2) OCT 4 # R3D2 =(3) OCT 4 # R3D1 =(4) OCT 3 # R2D5 =(5) OCT 3 # R2D4 =(6) OCT 3 # R2D3 =(7) OCT 3 # R2D2 =(8D) OCT 3 # R2D1 =(9D) OCT 2 # R1D5 =(10D) OCT 2 # R1D4 =(11D) OCT 2 # R1D3 =(12D) OCT 2 # R1D2 =(13D) OCT 2 # R1D1 =(14D) TC CCSHOLE # NO DISCOUNT NUMBER = 15D OCT 1 # ND2 =(16D) # Page 319 OCT 1 # ND1 =(17D) OCT 0 # VD2 =(18D) OCT 0 # VD1 =(19D) VERB CAF ZERO TS VERBREG CAF VD1 NVCOM TS DSPCOUNT TC 2BLANK CAF ONE TS DECBRNCH # SET FOR DEC V/N CODE CAF ZERO TS REQRET # SET FOR ENTPAS0 CAF ENDINST # IF DSPALARM OCCURS BEFORE FIRST ENTPAS0 TS ENTRET # OR NVSUB, ENTRET MUST ALREADY BE SET # TO TC ENDOFJOB TC ENDOFJOB NOUN CAF ZERO TS NOUNREG CAF ND1 # ND1, OCT 21 (DEC 17) TC NVCOM NEGSGN TC SIGNTEST TC -ON CAF TWO BOTHSGN INDEX INREL # SET DEC COMP BIT TO 1 (IN DECBRNCH) AD BIT7 # BIT 5 FOR R1. BIT 4 FOR R2. ADS DECBRNCH # BIT 3 FOR R3. FIXCLPAS CCS CLPASS # IF CLPASS IS + OR +0, MAKE IT +0. CAF ZERO TS CLPASS TC +1 TC ENDOFJOB POSGN TC SIGNTEST TC +ON CAF ONE TC BOTHSGN +ON LXCH Q TC GETINREL INDEX INREL CAF SGNTAB -2 TS SGNOFF AD ONE TS SGNON SGNCOM CAF ZERO TS CODE # Page 320 XCH SGNOFF TC 11DSPIN CAF BIT11 TS CODE XCH SGNON TC 11DSPIN TC L -ON LXCH Q TC GETINREL INDEX INREL CAF SGNTAB -2 TS SGNON AD ONE TS SGNOFF TC SGNCOM SGNTAB OCT 5 # -R1 OCT 3 # -R2 OCT 0 # -R3 SIGNTEST LXCH Q # ALLOWS +,- ONLY WHEN DSPCOUNT=R1D1, CAF THREE # R2D1, OR R3D1. ALLOWS ONLY FIRST OF MASK DECBRNCH # CONSECUTIVE +/- CHARACTERS. CCS A # IF LOW2 BITS OF DECBRNCH NOT 0, SIGN TC ENDOFJOB # FOR THIS WORD ALREADY IN. REJECT. CS R1D1 TC SGNTST1 CS R2D1 TC SGNTST1 CS R3D1 TC SGNTST1 TC ENDOFJOB # NO MATCH FOUND. SIGN ILLEGAL SGNTST1 AD DSPCOUNT EXTEND BZF +2 # MATCH FOUND TC Q TC L # SIGN LEGAL # CLEAR BLANKS WHICH R1, R2, R3 IS CURRENT OR LAST TO BE DISPLAYED(PERTINE # NT XREG,YREG,ZREG IS CLEARED). SUCCESSIVE CLEARS TAKE CARE OF EACH RX # L/ RC UNTIL R1 IS DONE. THEN NO FURTHER ACTION # # THE SINGLE COMPONENT LOAD VERBS ALLOW ONLY THE SINGLE RC THAT IS # APPROPRIATE TO BE CLEARED. # # CLPASS +0 PASS0, CAN BE BACKED UP # +NZ HIPASS, CAN BE BACKED UP # -NZ PASS0, CANNOT BE BACKED UP # Page 321 CLEAR CCS DSPCOUNT AD ONE TC +2 AD ONE INDEX A # DO NOT CHANGE DSPCOUNT BECAUSE MAY LATER CAF INRELTAB # FAIL LEGALTST. TS INREL # MUST SET INREL, EVEN FOR HIPASS. CCS CLPASS TC CLPASHI # + TC +2 # +0 IF CLPASS IS +0 OR -, IT IS PASS0 TC +1 # - CA INREL TC LEGALTST TC CLEAR1 CLPASHI CCS INREL TS INREL TC LEGALTST CAF DOUBLK +2 # +3 TO - NUMBER. BACKS DATA REQUESTS. ADS REQRET CA INREL TS MIXTEMP # TEMP STORAGE FOR INREL EXTEND DIM VERBREG # DECREMENT VERB AND RE-DISPLAY TC BANKCALL CADR UPDATVB CA MIXTEMP TS INREL # RESTORE INREL CLEAR1 TC CLR5 INCR CLPASS # ONLY IF CLPASS IS + OR +0 TC ENDOFJOB # SET FOR HIGHER PASS. CLR5 LXCH Q # USED 5BLANK BUT AVOIDS ITS TC GETINREL TC 5BLANK +2 LEGALTST AD NEG2 CCS A TC Q # LEGAL INREL G/ 2 TC CCSHOLE TC ENDOFJOB # ILLEGAL INREL= 0,1 TC Q # LEGAL INREL = 2 # 5BLANK BLANKS 5 CHAR DISPLAY WORD IN R1, R2, OR R3. IT ALSO ZEROES XREG, # YREG, OR ZREG.PLACE ANY + DSPCOUNT NUMBER FOR PERTINENT RC INTO DSPCOUNT # DSPCOUNT IS LEFT SET TO LEFT MOST DSP NUMB FOR RC JUST BLANKED. TS DSPCOUNT # NEEDED FOR BLANKSUB 5BLANK LXCH Q TC GETINREL CAF ZERO INDEX INREL TS VERBREG # ZERO X, Y, Z, REG. # Page 322 INDEX INREL TS XREGLP -2 TS CODE INDEX INREL # ZERO PERTINENT DEC COMP BIT. CS BIT7 # PROTECT OTHERS MASK DECBRNCH MASK BRNCHCON # ZERO LOW 2 BITS. TS DECBRNCH INDEX INREL CAF SINBLANK -2 # BLANK ISOLATED CHAR SEPARATELY TS COUNT TC DSPIN 5BLANK1 INDEX INREL CAF DOUBLK -2 TS DSPCOUNT TC 2BLANK CS TWO ADS DSPCOUNT TC 2BLANK INDEX INREL CAF R1D1 -2 TS DSPCOUNT # SET DSPCOUNT TO LEFT MOST DSP NUMBER TC L # OF REG. JUST BLANKED SINBLANK OCT 16 # DEC 14 OCT 5 OCT 4 DOUBLK OCT 15 # DEC 13 OCT 11 # DEC 9 OCT 3 BRNCHCON OCT 77774 # 2BLANK BLANKS TWO CHAR. PLACE DSP NUMBER OF LEFT CHAR OF THE PAIR INTO # DSPCOUNT. THIS NUMBER IS LEFT IN DSPCOUNT 2BLANK CA DSPCOUNT TS SR CS BLANKCON INHINT INDEX SR XCH DSPTAB EXTEND BZMF +2 # IF OLD CONTENTS -, NOUT OK INCR NOUT # IF OLD CONTENTS +, +1 TO NOUT RELINT # IF -,NOUT OK TC Q BLANKCON OCT 4000 # Page 323 # ENTER PASS 0 IS THE EXECUTE FUNCTION. HIGHER ORDER ENTERS ARE TO LOAD # DATA. THE SIGN OF REQRET DETERMINES THE PASS, + FOR PASS 0,- FOR HIGHER # PASSES. # # # MACHINE CADR TO BE SPECIFIED (MCTBS) NOUNS DESIRE AN ECADR TO BE LOADED # WHEN USED WITH LOAD VERBS, MONITOR VERBS, OR DISPLAY VERBS (EXCEPT # VERB = FIXED MEMORY DISPLAY, WHICH REQUIRES AN FCADR). BANK 41 SETLOC PINBALL2 BANK COUNT 41/PIN NVSUBB TC NVSUB1 # STANDARD LEAD INS. DONT MOVE. LOADLV1 TC LOADLV # END OF STANDARD LEAD INS. ENTER CAF ZERO TS CLPASS CAF ENDINST TS ENTRET CCS REQRET TC ENTPAS0 # IF +, PASS 0 TC ENTPAS0 # IF +, PASS 0 TC +1 # IF -, NOT PASS 0 ENTPASHI CAF MMADREF AD REQRET # IF L/ 2 CHAR IN FOR MM CODE, ALARM EXTEND # AND RECYCLE(DECIDE AT MMCHANG+1). BZF ACCEPTWD CAF THREE # IF DEC, ALARM IF L/ 5 CHAR IN FOR DATA, MASK DECBRNCH # BUT LEAVE REQRET - AND FLASH ON, SO CCS A # OPERATOR CAN SUPPLY MISSING NUMERICAL TC +2 # CHARACTERS AND CONTINUE. TC ACCEPTWD # OCTAL. ANY NUMBER OF CHAR OK. CCS DSPCOUNT TC GODSPALM # LESS THAN 5 CHAR DEC(DSPCOUNT IS +) TC GODSPALM # LESS THAN 5 CHAR DEC(DSPCOUNT IS +) TC +1 # 5 CHAR IN (DSPCOUNT IS -) ACCEPTWD CS REQRET # 5 CHAR IN (DSPCOUNT IS -) TS REQRET # SET REQRET +. TC FLASHOFF TC REQRET ENTEXIT = ENTRET MMADREF ADRES MMCHANG +1 # ASSUMES TC REQMM AT MMCHANG. # Page 324 LOWVERB DEC 28 # LOWER VERB THAT AVOIDS NOUN TEST. ENTPAS0 CAF ZERO # NOUN VERB SUB ENTERS HERE TS DECBRNCH CS VD1 # BLOCK FURTHER NUM CHAR, SO THAT STRAY TS DSPCOUNT # CHAR DO NOT GET INTO VERB OR NOUN LTS. TESTVB CS VERBREG # IF VERB IS G/E LOWVB, SKIP NOUN TEST. TS VERBSAVE # SAVE VERB FOR POSSIBLE RECYCLE. AD LOWVERB # LOWVERB - VB EXTEND BZMF VERBFAN # VERB G/E LOWVERB TESTNN EXTEND # VERB L/ LOWVERB DCA LODNNLOC # SWITCH BANKS TO NOUN TABLE READING DXCH Z # ROUTINE. INDEX MIXBR TC +0 TC +2 # NORMAL TC MIXNOUN # MIXED CCS NNADTEM # NORMAL TC VERBFAN -2 # NORMAL IF + TC GODSPALM # NOT IN USE IF +0 TC REQADD # SPECIFY MACHINE CADR IF - INCR NOUNCADR # AUGMENT MACHINE CADR IF -0 TC SETNADD # ECADR FROM NOUNCADR. SETS EB, NOUNADD. TC INTMCTBS +2 REQADD CAF BIT15 # SET CLPASS FOR PASS0 ONLY TS CLPASS CS ENDINST # TEST IF REACHED HERE FROM INTERNAL OR AD ENTEXIT # FROM EXTERNAL EXTEND BZF +2 # EXTERNAL MACH CADR TO BE SPECIFIED TC INTMCTBS TC REQDATZ # EXTERNAL MACH CADR TO BE SPECIFIED CCS DECBRNCH # ALARM AND RECYCLE IF DECIMAL USED TC ALMCYCLE # FOR MCTBS. CS VD1 # OCTAL USED OK TS DSPCOUNT # BLOCK NUM CHAR IN CCS CADRSTOR TC +3 # EXTERNAL MCTBS DISPLAY WILL LEAVE FLASH TC USEADD # ON IF ENDIDLE NOT = +0. TC +1 TC FLASHON USEADD XCH ZREG TC SETNCADR # ECADR INTO NOUNCADR. SET EB, NOUNADD. EXTEND DCA LODNNLOC # SWITCH BANKS TO NOUN TAB E READING DXCH Z # ROUTINE. TC VERBFAN EBANK= DSPCOUNT # Page 325 LODNNLOC 2CADR LODNNTAB NEG5 OCT 77772 INTMCTBS CA MPAC +2 # INTERNAL MACH CADR TO BE SPECIFIED. TC SETNCADR # ECADR INTO NOUNCADR. SET EB, NOUNADD. CS FIVE # NVSUB CALL LEFT CADR IN MPAC+2 FOR MACH AD VERBREG # CADR TO BE SPECIFIED. EXTEND BZF VERBFAN # DONT DISPLAY CADR IF VB = 05. CAF R3D1 # VB NOT = 05. DISPLAY CADR. TS DSPCOUNT CA NOUNCADR TC DSPOCTWO TC VERBFAN AD ONE TC SETNCADR # ECADR INTO NOUNCADR. SETS EB, NOUNADD. VERBFAN CS LST2CON AD VERBREG # VERB-LST2CON CCS A AD ONE # VERB G/ LST2CON TC +2 TC VBFANDIR # VERB L/ LST2CON TS MPAC TC RELDSP # RELEASE DISPLAY SYST TC POSTJUMP # GO TO GOEXTVB WITH VB-40 IN MPAC. CADR GOEXTVB LST2CON DEC 40 # FIRST LIST2 VERB (EXTENDED VERB) VBFANDIR INDEX VERBREG CAF VERBTAB TC BANKJUMP VERBTAB CADR GODSPALM # VB00 ILLEGAL CADR DSPA # VB01 DISPLAY OCT COMP 1 (R1) CADR DSPB # VB02 DISPLAY OCT COMP 2 (R1) CADR DSPC # VB03 DISPLAY OCT COMP 3 (R1) CADR DSPAB # VB04 DISPLAY OCT COMP 1,2 (R1,R2) CADR DSPABC # VB05 DISPLAY OCT COMP 1,2,3 (R1,R2,R3) CADR DECDSP # VB06 DECIMAL DISPLAY CADR DSPDPDEC # VB07 DP DECIMAL DISPLAY (R1,R2) CADR GODSPALM # VB08 SPARE CADR GODSPALM # VB09 SPARE CADR DSPALARM # VB10 SPARE CADR MONITOR # VB11 MONITOR OCT COMP 1 (R1) CADR MONITOR # VB12 MONITOR OCT COMP 2 (R1) CADR MONITOR # VB13 MONITOR OCT COMP 3 (R1) CADR MONITOR # VB14 MONITOR OCT COMP 1,2 (R1,R2) # Page 326 CADR MONITOR # VB15 MONITOR OCT COMP 1,2,3 (R1,R2,R3) CADR MONITOR # VB16 MONITOR DECIMAL CADR MONITOR # VB17 MONITOR DP DEC (R1,R2) CADR GODSPALM # VB18 SPARE CADR GODSPALM # VB19 SPARE CADR GODSPALM # VB20 SPARE CADR ALOAD # VB21 LOAD COMP 1 (R1) CADR BLOAD # VB22 LOAD COMP 2 (R2) CADR CLOAD # VB23 LOAD COMP 3 (R3) CADR ABLOAD # VB24 LOAD COMP 1,2 (R1,R2) CADR ABCLOAD # VB25 LOAD COMP 1,2,3 (R1,R2,R3) CADR GODSPALM # VB26 SPARE CADR DSPFMEM # VB27 FIXED MEMORY DISPLAY # THE FOLLOWING VERBS MAKE NO NOUN TEST CADR GODSPALM # VB28 SPARE CADR GODSPALM # VB29 SPARE REQEXLQC CADR VBRQEXEC # VB30 REQUEST EXECUTIVE CADR VBRQWAIT # VB31 REQUEST WAITLIST CADR VBRESEQ # VB32 RESEQUENCE CADR VBPROC # VB33 PROCEED WITHOUT DATA CADR VBTERM # VB34 TERMINATE CURRENT TEST OR LOAD REQ CADR VBTSTLTS # VB35 TEST LIGHTS CADR SLAP1 # VB36 FRESH START CADR MMCHANG # VB37 CHANGE MAJOR MODE CADR GODSPALM # VB38 SPARE CADR GODSPALM # VB39 SPARE # THE LIST2 VERBFAN IS LOCATED IN THE EXTENDED VERB BANK. # Page 327 # NNADTAB CONTAINS A RELATIVE ADDRESS, IDADDREL(IN LOW 10 BITS), REFERRING # TO WHERE 3 CONSECUTIVE ADDRESSES ARE STORED (IN IDADDTAB). # MIXNOUN GETS DATA AND STORES IN MIXTEMP,+1,+2. IT SETS NOUNADD FOR # MIXTEMP. MIXNOUN CCS NNADTEM TC +4 # + IN USE TC GODSPALM # +0 NOT IN USE TC +2 # - IN USE TC +1 # -0 IN USE CS SIX AD VERBREG EXTEND BZMF +2 # VERB L/E 6 TC VERBFAN # AVOID MIXNOUN SWAP IF VB NOT = DISPLAY CAF TWO MIXNN1 TS DECOUNT AD MIXAD TS NOUNADD # SET NOUNADD TO MIXTEMP + K INDEX DECOUNT # GET IDADDTAB ENTRY FOR COMPONENT K CA IDAD1TEM # OF NOUN. TS NOUNTEM # TEST FOR DP(FOR OCT DISPLAY). IF SO, GET # MINOR PART ONLY. TC SFRUTMIX # GET SF ROUT NUMBER IN A TC DPTEST TC MIXNN2 # NO DP INCR NOUNTEM # DP GET MINOR PART MIXNN2 CA NOUNTEM MASK LOW11 # ESUBK (NO DP) OR (ESUBK)+1 FOR DP TC SETEBANK # SET EBANK, LEAVE EADRES IN A. INDEX A # PICK UP C(ESUBK) NOT DP CA 0 # OR C((ESUBK)+1) FOR DP MINOR PART INDEX NOUNADD XCH 0 # STORE IN MIXTEM + K CCS DECOUNT TC MIXNN1 TC VERBFAN MIXAD TC MIXTEMP # DPTEST ENTER WITH SF ROUT NUMBER IN A. # RETURNS TO L+1 IF NO DP. # RETURNS TO L+2 IF DP. DPTEST INDEX A TCF +1 TC Q # OCTAL ONLY NO DP TC Q # FRACT NO DP # Page 328 TC Q # DEG NO DP TC Q # ARITH NO DP TCF DPTEST1 # DP1OUT TCF DPTEST1 # DP2OUT TC Q # OPDEG NO DP TCF DPTEST1 # DP3OUT TC Q # HMS NO DP TC Q # M/S NO DP TCF DPTEST1 # DP4OUT TC Q # ARITH1 NO DP TC Q # 2INTOUT NO DP TO GET HI PART IN MPAC TCF DPTEST1 # DPFRACOT DPTEST1 INDEX Q TC 1 # RETURN TO L+2 REQDATX CAF R1D1 TCF REQCOM REQDATY CAF R2D1 TCF REQCOM REQDATZ CAF R3D1 REQCOM TS DSPCOUNT CS Q TS REQRET TC BANKCALL CADR 5BLANK TC FLASHON ENDRQDAT TC ENTEXIT TS NOUNREG UPDATNN XCH Q TS UPDATRET EXTEND DCA LODNNLOC # SWITCH BANKS TO NOUN TABLE READING DXCH Z # ROUTINE. CCS NNADTEM AD ONE # NORMAL TCF PUTADD TCF PUTADD +1 # MCTBS DONT CHANGE NOUNADD TCF PUTADD +1 # MCTBI DONT CHANGE NOUNADD PUTADD TC SETNCADR # ECADR INTO NOUNCADR. SETS EB, NOUNADD. CAF ND1 TS DSPCOUNT CA NOUNREG TCF UPDAT1 TS VERBREG UPDATVB XCH Q TS UPDATRET CAF VD1 # Page 329 TS DSPCOUNT CA VERBREG UPDAT1 TC POSTJUMP # CANT USE SWCALL TO GO TC DSPDECVN.SINCE CADR GOVNUPDT # UPDATVB CAN ITSELF BE CALLED BY SWCALL. TC UPDATRET GOALMCYC TC ALMCYCLE # NEEDED BECAUSE BANKJUMP CANT HANDLE F/F. GODSPALM TC POSTJUMP CADR DSPALARM # Page 330 # NOUN TABLES # NOUN CODE L/40, NORMAL NOUN CASE. NOUN CODE G/E 40, MIXED NOUN CASE. # FOR NORMAL CASE, NNADTAB CONTAINS ONE ECADR FOR EACH NOUN. # +0 INDICATES NOUN NOT USED. - ENTRY INDICATES MACHINE CADR(E OR F) TO # BE SPECIFIED. -1 INDICATES CHANNEL TO BE SPECIFIED. -0 INDICATES AUGMENT # OF LAST MACHINE CADR SUPPLIED. # # FOR MIXED CASE, NNADTAB CONTAINS ONE INDIRECT ADDRESS(IDADDREL) IN LOW # 10 BITS, AND THE COMPONENT CODE NUMBER IN THE HIGH 5 BITS. # # NNTYPTAB IS A PACKED TABLE OF THE FORM MMMMMNNNNNPPPPP. # # FOR THE NORMAL CASE, M-S ARE THE COMPONENT CODE NUMBER. # N-S ARE THE SF ROUTINE CODE NUMBER. # P-S ARE THE SF CONSTANT CODE NUMBER. # # MIXED-CASE,M-S ARE THE SF CONSTANT3 CODE NUMBER 3 COMPONENT CASE # N-S ARE THE SF CONSTANT2 CODE NUMBER # P-S ARE THE SF CONSTANT1 CODE NUMBER # N-S ARE THE SF CONSTANT2 CODE NUMBER 2 COMPONENT CASE # P-S ARE THE SF CONSTANT1 CODE NUMBER # P-S ARE THE SF CONSTANT1 CODE NUMBER 1 COMPONENT CASE # # THERE IS ALSO AN INDIRECT ADDRESS TABLE(IDADDTAB) FOR MIXED CASE ONLY # EACH ENTRY CONTAINS ONE ECADR. IDADDREL IS THE RELATIVE ADDRESS OF # THE FIRST OF THESE ENTRIES. # THERE IS ONE ENTRY IN THIS TABEL FOR EACH COMPONENT OF A MIXED NOUN # THEY ARE LISTED IN ORDER OF ASCENDING K. # # THERE IS ALSO A SCALE FACTOR ROUTINE NUMBER TABLE( RUTMXTAB ) FOR MIXED # CASE ONLY. THERE IS ONE ENTRY PER MIXED NOUN. THE FORM IS, # QQQQQRRRRRSSSSS # Q-S ARE THE SF ROUTINE 3 CODE NUMBER 3 COMPONENT CASE # R-S ARE THE SF ROUTINE 2 CODE NUMBER # S-S ARE THE SF ROUTINE 1 CODE NUMBER # R-S ARE THE SF ROUTINE 2 CODE NUMBER 2 COMPONENT CASE # S-S ARE THE SF ROUTINE 1 CODE NUMBER # # # IN OCTAL DISPLAY AND LOAD (OCT OR DEC) VERBS, EXCLUDE USE OF VERBS WHOSE # COMPONENT NUMBER IS GREATER THAN THE NUMBER OF COMPONENTS IN NOUN. # (ALL MACHINE ADDRESS TO BE SPECIFIED NOUNS ARE 3 COMPONENT.) # # # IN MULTI-COMPONENT LOAD VERBS, NO MIXING OF OCTAL AND DECIMAL DATA # COMPONENT WORDS IS ALLOWED. ALARM IF VIOLATION. # # IN DECIMAL LOADS OF DATA, 5 NUMERICAL CHARACTERS MUST BE KEYED IN # BEFORE EACH ENTER. IF NOT, ALARM. # Page 331 # DISPLAY VERBS DSPABC CS TWO TC COMPTEST INDEX NOUNADD CS 2 XCH BUF +2 DSPAB CS ONE TC COMPTEST INDEX NOUNADD CS 1 XCH BUF +1 DSPA TC DECTEST TC TSTFORDP INDEX NOUNADD CS 0 DSPCOM1 XCH BUF TC DSPCOM2 DSPB CS ONE TC DCOMPTST INDEX NOUNADD CS 1 TC DSPCOM1 DSPC CS TWO TC DCOMPTST INDEX NOUNADD CS 2 TC DSPCOM1 DSPCOM2 CS TWO # A B C AB ABC AD VERBREG # -1 -0 +1 +2 +3 IN A CCS A # +0 +0 +0 +1 +2 IN A AFTER CCS TC DSPCOM3 TC ENTEXIT TC +1 DSPCOM3 TS DISTEM # +0 +1 +2 INTO DISTEM INDEX A CAF R1D1 TS DSPCOUNT INDEX DISTEM CS BUF TC DSPOCTWO XCH DISTEM TC DSPCOM2 +2 # COMPTEST ALARMS IF COMPONENT NUMBER OF VERB(LOAD OR OCT DISPLAY) IS # GREATER THAN THE HIGHEST COMPONENT NUMBER OF NOUN. COMPTEST TS SFTEMP1 # - VERB COMP LXCH Q COMPTST1 TC GETCOMP TC LEFT5 MASK THREE # NOUN COMP # Page 332 AD SFTEMP1 # NOUN COMP - VERB COMP CCS A TC L # NOUN COMP G/ VERB COMP TC CCSHOLE TC GODSPALM # NOUN COMP L/ VERB COMP NDCMPTST TC L # NOUN COMP = VERB COMP # DCOMPTST ALARMS IF DECIMAL ONLY BIT (BIT4 OF COMP CODE NUMBER) = 1. # IF NOT, IT PERFORMS REGULAR COMPTEST. DCOMPTST TS SFTEMP1 # - VERB COMP LXCH Q TC DECTEST TC COMPTST1 DECTEST EXTEND # ALARMS IF DEC ONLY BIT = 1 (BIT4 OF COMP QXCH MPAC +2 # CODE NUMBER). RETURNS IF NOT. TC GETCOMP MASK BIT14 CCS A TC GODSPALM TC MPAC +2 DCTSTCYC LXCH Q # ALARMS AND RECYCLES IF DEC ONLY BIT = 1 TC GETCOMP # ( BIT4 OF COMP CODE NUMBER). RETURNS MASK BIT14 # IF NOT. USED BY LOAD VERBS. CCS A TC ALMCYCLE TC L # NOUNTEST ALARMS IF NO-LOAD BIT (BIT5 OF COMP CODE NUMBER) = 1. # IF NOT, IT RETURNS. NOUNTEST LXCH Q TC GETCOMP CCS A TC L TC L TC GODSPALM TSTFORDP LXCH Q # TEST FOR DP. IF SO, GET MINOR PART ONLY. CA NNADTEM AD ONE # IF NNADTEM = -1, CHANNEL TO BE SPECIFIED EXTEND BZF CHANDSP INDEX MIXBR TC +0 TC +2 # NORMAL # Page 333 TC L # MIXED CASE ALREADY HANDLED IN MIXNOUN TC SFRUTNOR TC DPTEST TC L # NO DP INCR NOUNADD # DP E+1 INTO NOUNADD FOR MINOR PART. TC L CHANDSP CA NOUNCADR MASK LOW9 EXTEND INDEX A READ 0 CS A TCF DSPCOM1 COMPICK ADRES NNTYPTEM ADRES NNADTEM GETCOMP INDEX MIXBR # NORMAL MIXED CAF COMPICK -1 # ADRES NNTYPTEM ADRES NNADTEM INDEX A CA 0 # C(NNTYPTEM) C(NNADTEM) MASK HI5 # GET HI5 OF NNTYPTAB(NORM)OF NNADTAB(MIX) TC Q DECDSP TC GETCOMP TC LEFT5 MASK THREE TS DECOUNT # COMP NUMBER INTO DECOUNT DSPDCGET TS DECTEM # PICKS UP DATA AD NOUNADD # DECTEM 1COMP +0, 2COMP +1, 3COMP +2 INDEX A CS 0 INDEX DECTEM XCH XREG # CANT USE BUF SINCE DMP USES IT. CCS DECTEM TC DSPDCGET # MORE TO GET DSPDCPUT CAF ZERO # DISPLAYS DATA TS MPAC +1 # DECOUNT 1COMP +0, 2COMP +1, 3COMP +2 TS MPAC +2 INDEX DECOUNT CAF R1D1 TS DSPCOUNT INDEX DECOUNT CS XREG TS MPAC TC SFCONUM # 2X( SF CON NUMB ) IN A # Page 334 TS SFTEMP1 EXTEND # SWITCH BANKS TO SF CONSTANT TABLE DCA GTSFOUTL # READING ROUTINE. DXCH Z # LOADS SFTEMP1, SFTEMP2 INDEX MIXBR TC +0 TC DSPSFNOR TC SFRUTMIX TC DECDSP3 DSPSFNOR TC SFRUTNOR TC DECDSP3 EBANK= DSPCOUNT GTSFOUTL 2CADR GTSFOUT DSPDCEND TC BANKCALL # ALL SFOUT ROUTINES END HERE CADR DSPDECWD CCS DECOUNT TC +2 TC ENTEXIT TS DECOUNT TC DSPDCPUT # MORE TO DISPLAY DECDSP3 INDEX A CAF SFOUTABR TC BANKJUMP SFOUTABR CADR PREDSPAL # ALARM IF DEC DISP WITH OCTAL ONLY NOUN CADR DSPDCEND CADR DEGOUTSF CADR ARTOUTSF CADR DP1OUTSF CADR DP2OUTSF CADR OPDEGOUT CADR DP3OUTSF CADR HMSOUT CADR M/SOUT CADR DP2OUTSF CADR AROUT1SF CADR 2INTOUT CADR DPFRACOT ENDRTOUT EQUALS # THE FOLLOWING IS ATYPICAL SF ROUTINE . IT USES MPAC. LEAVES RESU # LTS IN MPAC, MPAC+1. ENDS WITH TC DSPDCEND # Page 335 SETLOC BLANKCON +1 COUNT 40/PIN # DEGOUTSF SCALES BY .18 THE LOW 14 BITS OF ANGLE , ADDING .18 FOR # NUMBERS IN THE NEGATIVE (AGC) RANGE. DEGOUTSF CAF ZERO TS MPAC +2 # SET INDEX FOR FULL SCALE TC FIXRANGE TC +2 # NO AUGMENT NEEDED (SFTEMP1 AND 2 ARE 0) TC SETAUG # SET AUGMENTER ACCORDING TO C(MPAC +2) TC DEGCOM # OPDEGOUT SCALES BY .45 (THE RANGE IS 90 DEGREES) AND ADDS A 20 DEG BIAS. OPDEGOUT CCS MPAC # RANGE IS 90 DEG XCH MPAC # IF POS OR POS 0 THEN ADD BIAS AND TC +3 # CORRECT FOR POSSIBLE OVERFLOW TC NEGOPT # IF NEG NON ZERO AD NEG1 # IF NEG ZERO SUBTRACT 1 AD 20BIAS BIASCOM TS MPAC # TEST FOR OVEFLOW TC +3 # NO OVFLOW CAF BIT15 # IF OVFLOW ADS MPAC CAF TWO # SET MULTIPLIER TO .45 TC DEGOUTSF +1 NEGOPT XCH MPAC # NEGATIVE CASE AD 20BIAS CCS A TC BIASCOM # IF POS THEN SUBTRACT 1 BECASUE OF 2SCOM TC CCSHOLE AD ONE # IF NEG RESTORE SUM COM # IF NEG 0 LEAVE NEG 0 TC BIASCOM SETAUG EXTEND # LOADS SFTEMP1 AND SFTEMP2 WITH THE INDEX MPAC +2 # DP AUGMENTER CONSTANT DCA DEGTAB DXCH SFTEMP1 TC Q FIXRANGE CCS MPAC # IF MPAC IS + RETURN TO L+1 TC Q # IF MPAC IS - RETURN TO L+2 AFTER TC Q # MASKING OUT THE SIGN BIT TCF +1 CS BIT15 MASK MPAC # Page 336 TS MPAC INDEX Q TC 1 DEGCOM EXTEND # LOADS MULTIPLIER , DOES SHORTMP, AND INDEX MPAC +2 # ADDS AUTMENTER. DCA DEGTAB DXCH MPAC # ADJUSTED ANGLE IN A TC SHORTMP DXCH SFTEMP1 DAS MPAC TC SCOUTEND DEGTAB OCT 05605 # HI PART OF .18 OCT 03656 # LOW PART OF .18 OCT 16314 # HI PART OF .45 OCT 31463 # LO PART OF .45 20BIAS OCT 16040 # 20 DEG BIAS FOR OPTICS ARTOUTSF DXCH SFTEMP1 # ASSUMES POINT AT LEFT OF DP SFCON DXCH MPAC TC PRSHRTMP # IF C(A) = -0, SHORTMP FAILS TO GIVE -0. SCOUTEND TC POSTJUMP CADR DSPDCEND AROUT1SF DXCH SFTEMP1 # ASSUMES POINT BETWEEN HI AND LO PARTS OF DXCH MPAC # DP SFCON. SHIFTS RESULTS LEFT 14, BY TC PRSHRTMP # TAKING RESULTS FROM MPAC+1, MPAC+2. TC L14/OUT DP1OUTSF TC DPOUT # SCALES MPAC, MPAC +1 BY DP SCALE FACTOR L14/OUT XCH MPAC +2 # IN SFTEMP1, SFTEMP2. THEN SCALE RESULT XCH MPAC +1 # BY B14 TS MPAC TC SCOUTEND DP2OUTSF TC DPOUT # SCALES MPAC , MPAC +1 BY DP SCALE FACTOR TC SCOUTEND DP3OUTSF TC DPOUT # ASSUMES POINT BETWEEN BITS 7-8 OF HIGH CAF SIX # LEFT BY 7, ROUNDS MPAC+2 INTO MPAC+1. TC TPLEFTN # SHIFT LEFT 7. TC SCOUTEND # Page 337 MPAC+6 = MPAC +6 # USE MPAC +6 INSTEAD OF OVFIND DPOUT XCH Q TS MPAC+6 TC READLO # GET FRESH DATA FOR BOTH HI AND LO. TC TPAGREE # MAKE DP DATA AGREE TC DMP ADRES SFTEMP1 TC MPAC+6 # THE FOLLOWING ROUTINE DISPLAYS TWO CONTIGUOUS SP POSITIVE INTEGERS # AS TWO POSITIVE DECIMAL INTEGERS IN RXD1-RXD2 AND RXD4-RXD5 (RXD3 IS # BLANKED). THE INTEGER IN THE LOWER NUMBERED ADDRESS IS DISPLAYED IN # RXD1-RXD2. 2INTOUT TC 5BLANK # TO BLANK RXD3 TC +ON # TURN ON + SIGN CA MPAC TC DSPDECVN # DISPLAY 1ST INTEGER (LIKE VERB AND NOUN) CS THREE INDEX DECOUNT AD R1D1 # RXD4 TS DSPCOUNT TC READLO # GET 2ND INTEGER CA MPAC +1 TC DSPDECVN # DISPLAY 2ND INTEGER (LIKE VERB AND NOUN) TC POSTJUMP CADR DSPDCEND +2 DPFRACOT TC READLO # DP FRACTION TO MPAC,+1 TC SCOUTEND # READLO PICKS UP FRESH DATA FOR BOTH HI AND LO AND LEAVES IT IN # MPAC, MPAC+1. THIS IS NEEDED FOR TIME DISPLAY. IT ZEROES MPAC+2, BUT # DOES NOT FORCE TPAGREE. READLO XCH Q TS TEM4 INDEX MIXBR TC +0 TC RDLONOR INDEX DECOUNT CA IDAD1TEM # GET IDADDTAB ENTRY FOR COMP K OF NOUN. MASK LOW11 # E SUBK TC SETEBANK # SET EB, LEAVE EADRES IN A. READLO1 EXTEND # MIXED NORMAL INDEX A # C(ESUBK) C(E) DCA 0 # C((E SUBK)+1) C(E+1) DXCH MPAC # Page 338 CAF ZERO TS MPAC +2 TC TEM4 RDLONOR CA NOUNADD # E ENDRDLO TC READLO1 BANK 42 SETLOC PINBALL3 BANK COUNT 42/PIN HMSOUT TC BANKCALL # READ FRESH DATA FOR HI AND LO INTO MPAC, CADR READLO # MPAC+1. TC TPAGREE # MAKE DP DATA AGREE TC SEPSECNR # LEAVE FRACT SEC/60 IN MPAC, MPAC+1.LEAVE # WHOLE MIN IN BIT13 OF LOTEMOUT AND ABOVE TC DMP # USE ONLY FRACT SEC/60 MOD 60 ADRES SECON2 # MULT BY .06 CAF R3D1 # GIVES CENTI-SEC/10EXP5 MOD 60 TS DSPCOUNT TC BANKCALL # DISPLAY SEC MOD 60 CADR DSPDECWD TC SEPMIN # REMOVE REST OF SECONDS CAF MINCON2 # LEAVE FRACT MIN/60 IN MPAC+1. LEAVE XCH MPAC # WHOLE HOURS IN MPAC. TS HITEMOUT # SAVE WHOLE HOURS. CAF MINCON2 +1 XCH MPAC +1 # USE ONLY FRACT MIN/60 MOD 60 TC PRSHRTMP # IF C(A) = -0, SHORTMP FAILS TO GIVE -0. # MULT BY .0006 CAF R2D1 # GIVES MIN/10EXP5 MOD 60 TS DSPCOUNT TC BANKCALL # DISPLAY MIN MOD 60 CADR DSPDECWD EXTEND # MINUTES, SECONDS HAVE BEEN REMOVED DCA HRCON1 DXCH MPAC CA HITEMOUT # USE WHOLE HOURS TC PRSHRTMP # IF C(A) = -0, SHORTMP FAILS TO GIVE -0. # MULT BY .16384 CAF R1D1 # GIVES HOURS/10EXP5 TS DSPCOUNT TC BANKCALL # USE REGULAR DSPDECWD, WITH ROUND OFF. CADR DSPDECWD TC ENTEXIT SECON1 2DEC* 1.666666666 E-4 B12* # 2EXP12/6000 # Page 339 SECON2 OCT 01727 # .06 FOR SECONDS DISPLAY OCT 01217 MINCON2 OCT 00011 # .0006 FOR MINUTES DISLPAY OCT 32445 MINCON1 OCT 02104 # .066..66 UPPED BY 2EXP-28 OCT 10422 HRCON1 2DEC .16384 OCT 00000 RNDCON OCT 00062 # .5 SEC M/SOUT TC BANKCALL # READ FRESH DATA FOR HI AND LO INTO MPAC. CADR READLO # MPAC+1. TC TPAGREE # MAKE DP DATA AGREE CCS MPAC # IF MAG OF (MPAC, MPAC+1) G/ 59 M 59 S, TC +2 # DISPLAY 59B59, WITH PROPER SIGN. TC M/SNORM # MPAC = +0. L/ 59M58.5S AD M/SCON1 # - HI PART OF (59M58.5S) +1 FOR CCS CCS A # MAG OF MPAC - HI PART OF (59M58.5S) TC M/SLIMIT # G/ 59M58.5S TC M/SNORM # ORIGINAL MPAC = -0. L/ 59M58.5S TC M/SNORM # L/ 59M58.5S CCS MPAC +1 # MAG OF MPAC = HI PART OF 59M58.5S TC +2 TC M/SNORM # MPAC+1 = +0. L/ 59M58.5S AD M/SCON2 # - LO PART OF (59M58.5S) +1 FOR CCS CCS A # MAG OF MPAC+1 - LO PART OF (59M58.5S) TC M/SLIMIT # G/ 59M58.5S TC M/SNORM # ORIGINAL MPAC+1 = -0. L/ 59M58.5S TC M/SNORM # L/ 59M58.5S M/SLIMIT CCS MPAC # = 59M58.5S LIMIT CAF M/SCON3 # MPAC CANNOT BE +/- 0 AT THIS POINT. TC +LIMIT # FORCE MPAC, MPAC+1 TO +/- 59M58.5S CS M/SCON3 TS MPAC # WILL DISPLAY 59M59S IN DSPDECNR CS M/SCON3 +1 LIMITCOM TS MPAC +1 CAF NORMADR # SET RETURN TO M/SNORM+1. TC SEPSECNR +1 +LIMIT TS MPAC CAF M/SCON3 +1 TC LIMITCOM M/SNORM TC SEPSEC # LEAVE FRACT SEC/60 IN MPAC,MPAC+1. LEAVE # WHOLE MIN IN BIT13 OF LOTEMOUT AND ABOVE CAF HISECON # USE ONLY FRACT SEC/60 MOD 60 TC SHORTMP # MULT BY .6 + 2EXP-14 CS THREE # GIVES SEC/100 MOD 60 ADS DSPCOUNT # DSPCOUNT ALREADY SET TO RXD1 TC BANKCALL # DISPLAY SEC MOD 60 IN D4D5. # Page 340 CADR DSPDC2NR CAF ZERO TS CODE CS TWO INDEX DECOUNT AD R1D1 # RXD3 TS COUNT TC BANKCALL # BLANK MIDDLE CHAR CADR DSPIN TC SEPMIN # REMOVE REST OF SECONDS XCH MPAC +1 # LEAVE FRACT MIN/60 IN MPAC+1 EXTEND # USE ONLY FRACT MIN/60 MOD 60 MP HIMINCON # MULT BY .6 + 2EXP-7 DXCH MPAC # GIVES MIN/100 MOD 60 INDEX DECOUNT CAF R1D1 # RXD1 TS DSPCOUNT TC BANKCALL # DISPLAY MIN MOD 60 IN D1D2. CADR DSPDC2NR TC POSTJUMP CADR DSPDCEND +2 HISECON OCT 23147 # .6 + 2EXP-14 HIMINCON OCT 23346 # .6 + 2EXP-7 M/SCON1 OCT 77753 # - HI PART OF (59M58.5S) M/SCON2 OCT 41126 # - LO PART OF (59M58.5S) NORMADR ADRES M/SNORM +1 M/SCON3 OCT 00025 # 59M 59.5S OCT 37016 SEPSEC CCS MPAC +1 # IF +, ROUND BY ADDING .5 SEC TCF POSEC # IF -, ROUND BY SUBTRACTING .5 SEC TCF POSEC # FINDS TIME IN MPAC, MPAC+1 TCF +1 # ROUNDS OFF BY +/- .5 SEC EXTEND # LEAVES WHOLE MIN IN BIT13 OF DCS RNDCON -1 # LOTEMOUT AND ABOVE. SEPSEC1 DAS MPAC # LEAVES FRACT SEC/60 IN MPAC, MPAC+1. TCF SEPSECNR POSEC EXTEND DCA RNDCON -1 TCF SEPSEC1 SEPSECNR XCH Q # THIS ENTRY AVOIDS ROUNDING BY .5 SEC TS SEPSCRET TC DMP # MULT BY 2EXP12/6000 ADRES SECON1 # GIVES FRACT SEC/60 IN BIT12 OF MPAC+1 EXTEND # AND BELOW. DCA MPAC # SAVE MINUTES AND HOURS DXCH HITEMOUT # Page 341 TC TPSL1 TC TPSL1 # GIVES FRACT SEC/60 IN MPAC+1, MPAC+2. CAF ZERO XCH MPAC +2 # LEAVE FRACT SEC/60 IN MPAC, MPAC+1. XCH MPAC +1 XCH MPAC TC SEPSCRET SEPMIN XCH Q # FINDS WHOLE MINUTES IN BIT13 TS SEPMNRET # OF LOTEMOUT AND ABOVE. CA LOTEMOUT # REMOVES REST OF SECONDS. EXTEND # LEAVES FRACT MIN/60 IN MPAC+1. MP BIT3 # LEAVES WHOLE HOURS IN MPAC. EXTEND # SR 12, THROW AWAY LP. MP BIT13 # SR 2, TAKE FROM LP. = SL 12. LXCH MPAC +1 # THIS FORCES BITS 12-1 TO 0 IF +. # FORCES BITS 12-1 TO 1 IF -. CA HITEMOUT TS MPAC TC DMP # MULT BY 1/15 ADRES MINCON1 # GIVES FRACT MIN/60 IN MPAC+1. ENDSPMIN TC SEPMNRET # GIVES WHOLE HOURS IN MPAC. # THIS IS A SPECIAL PURPOSE VERB FOR DISPLAYING A DOUBLE PRECISION AGC # WORD AS 10 DECIMAL DIGITS ON THE AGC DISPLAY PANEL. IT CAN BE USED WITH # ANY NOUN, EXCEPT MIXED NOUNS. IT DISPLAYS THE CONTENTS # OF THE REGISTER NOUNADD IS POINTING TO . IF USED WITH NOUNS WHICH ARE # INHERENTLY NOT DP SUCH AS THE CDU COUNTERS THE DISPLAY WILL BE GARBAGE. # DISPLAY IS IN R1 AND R2 ONLY WITH THE SIGN IN R1. SETLOC ENDRDLO +1 COUNT 40/PIN DSPDPDEC INDEX MIXBR TC +0 TC +2 # NORMAL NOUN TC DSPALARM EXTEND INDEX NOUNADD DCA 0 DXCH MPAC CAF R1D1 TS DSPCOUNT CAF ZERO TS MPAC +2 TC TPAGREE # Page 342 TC DSP2DEC ENDDPDEC TC ENTEXIT # Page 343 # LOAD VERBS IF ALARM CONDITION IS DETECTED DURING EXECUTE, # CHECK FAIL LIGHT IS TURNED ON AND ENDOFJOB. IF ALARM CONDITION IS # DETECTED DURING ENTER OF DATA, CHECK FAIL IS TURNED ON AND IT RECYCLES # TO EXECUTE OF ORIGINAL LOAD VERB. RECYCLE CAUSED BY 1) DECIMAL MACHINE # CADR 2) MIXTURE OF OCTAL/DECIMAL DATA 3) OCTAL DATA INTO DECIMAL # ONLY NOUN 4) DEC DATA INTO OCT ONLY NOUN 5) DATA TOO LARGE FOR SCALE # 6) FEWER THAN 3 DATA WORDS LOADED FOR HRS, MIN, SEC NOUN.8(2)-(6) ALARM # AND RECYCLE OCCUR AT FINAL ENTER OF SET. (1) ALARM AND RECYCLE OCCUR AT # ENTER OF CADR. SETLOC ENDRTOUT COUNT 41/PIN ABCLOAD CS TWO TC COMPTEST TC NOUNTEST # TEST IF NOUN CAN BE LOADED. CAF VBSP1LD TC UPDATVB -1 TC REQDATX CAF VBSP2LD TC UPDATVB -1 TC REQDATY CAF VBSP3LD TC UPDATVB -1 TC REQDATZ PUTXYZ CS SIX # TEST THAT THE 3 DATA WORDS LOADED ARE TC ALLDC/OC # ALL DEC OR ALL OCT. EXTEND DCA LODNNLOC # SWITCH BANKS TO NOUN TABLE READING DXCH Z # ROUTINE. CAF ZERO # X COMP TC PUTCOM INDEX NOUNADD TS 0 CAF ONE # Y COMP TC PUTCOM INDEX NOUNADD TS 1 CAF TWO # Z COMP TC PUTCOM INDEX NOUNADD TS 2 CS SEVEN # IF NOUN 7 HAS JUST BEEN LOADED, SET AD NOUNREG # FLAG BITS AS SPECIFIED. EXTEND BZF +2 # Page 344 TC LOADLV CA XREG # ECADR OF FLAG WORD. TC SETNCADR +1 # SET EBANK, NOUNADD. CA ZREG # ZERO TO RESET BITS. NON-ZERO TO SET BITS INHINT EXTEND BZF BITSOFF INDEX NOUNADD CS 0 MASK YREG # BITS TO BE PROCESSED. INDEX NOUNADD ADS 0 # SET BITS. TC BITSOFF1 BITSOFF CS YREG # BITS TO BE PROCESSED. INDEX NOUNADD MASK 0 INDEX NOUNADD TS 0 # RESET BITS. BITSOFF1 RELINT TC LOADLV ABLOAD CS ONE TC COMPTEST TC NOUNTEST # TEST IF NOUN CAN BE LOADED. CAF VBSP1LD TC UPDATVB -1 TC REQDATX CAF VBSP2LD TC UPDATVB -1 TC REQDATY PUTXY CS FIVE # TEST THAT THE 2 DATA WORDS LOADED ARE TC ALLDC/OC # ALL DEC OR ALL OCT. EXTEND DCA LODNNLOC # SWITCH BANKS TO NOUN TABLE READING DXCH Z # ROUTINE. CAF ZERO # X COMP TC PUTCOM INDEX NOUNADD TS 0 CAF ONE # Y COMP TC PUTCOM INDEX NOUNADD TS 1 TC LOADLV ALOAD TC REQDATX EXTEND DCA LODNNLOC # SWITCH BANKS TO NOUN TABLE READING DXCH Z # ROUTINE. CAF ZERO # X COMP # Page 345 TC PUTCOM INDEX NOUNADD TS 0 TC LOADLV BLOAD CS ONE TC COMPTEST CAF BIT15 # SET CLPASS FOR PASS0 ONLY TS CLPASS TC REQDATY EXTEND DCA LODNNLOC # SWITCH BANKS TO NOUN TABLE READING DXCH Z # ROUTINE. CAF ONE TC PUTCOM INDEX NOUNADD TS 1 TC LOADLV CLOAD CS TWO TC COMPTEST CAF BIT15 # SET CLPASS FOR PASS0 ONLY TS CLPASS TC REQDATZ EXTEND DCA LODNNLOC # SWITCH BANKS TO NOUN TABLE READING DXCH Z # ROUTINE. CAF TWO TC PUTCOM INDEX NOUNADD TS 2 TC LOADLV LOADLV CAF ZERO TS DECBRNCH CS ZERO TS LOADSTAT TC RELDSP # RELEASE FOR PRIORITY DISPLAY PROBLEM. CS VD1 # TO BLOCK NUMERICAL CHARACTERS AND TS DSPCOUNT # CLEARS AFTER A COMPLETED LOAD TC POSTJUMP # AFTER COMPLETED LOAD, GO TO RECALTST CADR RECALTST # TO SEE IF THERE IS RECALL FROM ENDIDLE. VBSP1LD DEC 21 # VB21 = ALOAD VBSP2LD DEC 22 # VB22 = BLOAD VBSP3LD DEC 23 # VB23 = CLOAD ALLDC/OC TS DECOUNT # TESTS THAT DATA WORDS LOADED ARE EITHER CS DECBRNCH # ALL DEC OR ALL OCT. ALARMS IF NOT. # Page 346 TS SR CS SR CS SR # SHIFTED RIGHT 2 CCS A # DEC COMP BITS IN LOW 3 TCF +2 # SOME ONES IN LOW 3 TC Q # ALL ZEROS. ALL OCTAL. OK AD DECOUNT # DEC COMP = 7 FOR 3COMP, =6 FOR 2COMP EXTEND # (BUT IT HAS BEEN DECREMENTED BY CCS) BZF +2 # MUST MATCH 6 FOR 3COMP, 5 FOR 2COMP. TC ALMCYCLE # ALARM AND RECYCLE. GOQ TC Q # ALL REQUIRED ARE DEC. OK SFRUTNOR XCH Q # GETS SF ROUTINE NUMBER FOR NORMAL CASE TS EXITEM # CANT USE L FOR RETURN. TSTFORDP USES L. CAF MID5 MASK NNTYPTEM TC RIGHT5 TC EXITEM # SF ROUTINE NUMBER IN A SFRUTMIX XCH Q # GETS SF ROUTINE NUMBER FOR MIXED CASE TS EXITEM INDEX DECOUNT CAF DISPLACE # PUT TC GOQ, TC RIGHT5, OR TC LEFT5 IN L TS L INDEX DECOUNT CAF LOW5 # LOW5, MID5, OR HI5 IN A MASK RUTMXTEM # GET HI5, MID5, OR LOW5 OF RUTMXTAB ENTRY INDEX L TC 0 # DO TC GOQ(DECOUNT=0), DO TC RIGHT5(DECOUNT=1). DO TC LEFT5(DECOUNT=2). SFRET1 TC EXITEM # SF ROUTINE NUMBER IN A SFCONUM XCH Q # GETS 2X( SF CONSTANT NUMBER) TS EXITEM INDEX MIXBR TC +0 TC CONUMNOR # NORMAL NOUN INDEX DECOUNT # MIXED NOUN CAF DISPLACE TS L # PUT TC GOQ, TC RIGHT5, OR TC LEFT5 IN L INDEX DECOUNT CAF LOW5 MASK NNTYPTEM INDEX L TC 0 # DO TC GOQ(DECOUNT=0), DO TC RIGHT5(DECOUNT=1), DO TC LEFT5(DECOUNT=2). SFRET DOUBLE # 2X(SF CONSTANT NUMBER) IN A TC EXITEM # Page 347 DISPLACE TC GOQ TC RIGHT5 TC LEFT5 CONUMNOR CAF LOW5 # NORMAL NOUN ALWAYS GETS LOW 5 OF MASK NNTYPTEM # NNTYPTAB FOR SF CONUM. DOUBLE TC EXITEM # 2X( SF CONSTANT NUMBER) IN A PUTCOM TS DECOUNT XCH Q TS DECRET CAF ZERO TS MPAC+6 INDEX DECOUNT XCH XREGLP TS MPAC +1 INDEX DECOUNT XCH XREG TS MPAC INDEX MIXBR TC +0 TC PUTNORM # NORMAL NOUN # IF MIXNOUN, PLACE ADDRESS FOR COMPONENT K INTO NOUNADD, SET EBANK BITS. INDEX DECOUNT # GET IDADDTAB ENTRY FOR COMPONENT K CA IDAD1TEM # OF NOUN. MASK LOW11 # (ECADR)SUBK FOR CURRENT COMP OF NOUN TC SETNCADR # ECADR INTO NOUNCADR. SETS EB. NOUNADD. EXTEND # C(NOUNADD) IN A UPON RETURN SU DECOUNT # PLACE (ESUBK)-K INTO NOUNADD TS NOUNADD CCS DECBRNCH TC PUTDECSF # + DEC TC DCTSTCYC # +0 OCTAL TC SFRUTMIX # TEST IF DEC ONLY BIT = 1. IF SO, TC DPTEST # ALARM AND RECYCLE. IF NOT, CONTINUE. TC PUTCOM2 # NO DP # TEST FOR DP SCALE FOR OCT LOAD. IF SO, # +0 INTO MAJOR PART. SET NOUNADD FOR # LOADING OCTAL WORD INTO MINOR PART. PUTDPCOM INCR NOUNADD # DP (ESUBK)-K+1 OR E+1 CA NOUNADD # NOUNADD NOW SET FOR MINOR PART ADS DECOUNT # (ESUBK)+1 OR E+1 INTO DECOUNT CAF ZERO # NOUNADD SET FOR MINOR PART INDEX DECOUNT TS 0 -1 # ZERO MAJOR PART(ESUBK OR E) TC PUTCOM2 PUTNORM TC SETNADD # ECADR FROM NOUNCADR. SETS EB, NOUNADD. # Page 348 CCS DECBRNCH TC PUTDECSF # + DEC TC DCTSTCYC # +0 OCTAL TC SFRUTNOR # TEST IF DEC ONLY BIT = 1. IF SO, TC DPTEST # ALARM AND RECYCLE. IF NOT, CONTINUE. TC PUTCOM2 -4 # NO DP CAF ZERO # DP TS DECOUNT TC PUTDPCOM CA NNADTEM AD ONE # IF NNADTEM = -1. CHANNEL TO BE SPECIFIED EXTEND BZF CHANLOAD PUTCOM2 XCH MPAC TC DECRET EBANK= DSPCOUNT GTSFINLC 2CADR GTSFIN CHANLOAD CS SEVEN # DONT LOAD CHAN 7. (IT = SUPERBANK). AD NOUNCADR EXTEND BZF LOADLV CA NOUNCADR MASK LOW9 XCH MPAC EXTEND INDEX MPAC WRITE 0 TC LOADLV # PUTDECSF FINDS MIXBR AND DECOUNT STILL SET FROM PUTCOM PUTDECSF TC SFCONUM # 2X(SF CON NUMB) IN A TS SFTEMP1 EXTEND # SWITCH BANKS TO SF CONSTANT TABLE DCA GTSFINLC # READING ROUTINE. DXCH Z # LOADS SFTEMP1. SFTEMP2. INDEX MIXBR TC +0 TC PUTSFNOR TC SFRUTMIX TC PUTDCSF2 PUTSFNOR TC SFRUTNOR PUTDCSF2 INDEX A # Page 349 CAF SFINTABR TC BANKJUMP # SWITCH BANKS FOR EXPANSHION ROOM SFINTABR CADR GOALMCYC # ALARM AND RECYCLE IF DEC LOAD # WITH OCTAL ONLY NOUN. CADR BINROUND CADR DEGINSF CADR ARTHINSF CADR DPINSF CADR DPINSF2 CADR OPTDEGIN CADR DPINSF # SAME AS ARITHDP1 CADR HMSIN CADR DSPALARM # MIN/SEC CANT BE LOADED. CADR DPINSF4 CADR ARTIN1SF CADR DSPALARM # 2INTOUT CANT BE LOADED. CADR DPFRACIN ENDRUTIN EQUALS # SCALE FACTORS FOR THOSE ROUTINES NEEDING THEM ARE AVAILABLE IN SFTEMP1. # ALL SFIN ROUTINES USE MPAC MPAC+1. LEAVE RESULT IN A. END WITH TC DECRET. SETLOC ENDDPDEC +1 COUNT 40/PIN # DEGINSF APPLIES 1000/180 * 5.55555(10) = 5.43434(8) DEGINSF TC DMP # SF ROUTINE FOR DEC DEGREES ADRES DEGCON1 # MULT BY 5.5 5(10)X2EXP-3 CCS MPAC +1 # THIS ROUNDS OFF MPAC+1 BEFORE SHIFT CAF BIT11 # LEFT 3, AND CAUSES 360.00 TO OF/UF TC +2 # WHEN SHIFTED LEFT AND ALARM. CS BIT11 AD MPAC +1 TC 2ROUND +2 TC TPSL1 # LEFT 1 DEGINSF2 TC TPSL1 # LEFT 2 TC TESTOFUF TC TPSL1 # RETURNS IF NO OF/UF (LEFT3) CCS MPAC TC SIGNFIX # IF+, GO TO SIGNFIX TC SIGNFIX # IF +0, GO TO SIGNFIX COM # IF - , USE -MAGNITUDE +1 TS MPAC # IF -0, USE +0 SIGNFIX CCS MPAC+6 TC SGNTO1 # IF OVERFLOW TC ENDSCALE # NO OVERFLOW/UNDERFLOW # Page 350 CCS MPAC # IF UF FORCE SIGN TO 0 EXCEPT -180 TC CCSHOLE TC NEG180 TC +1 XCH MPAC MASK POSMAX TS MPAC ENDSCALE TC POSTJUMP CADR PUTCOM2 NEG180 CS POSMAX TC ENDSCALE -1 SGNTO1 CS MPAC # IF OF FORCE SIGN TO 1 MASK POSMAX CS A TC ENDSCALE -1 DEGCON1 2DEC 5.555555555 B-3 DEGCON2 2DEC 2.222222222 B-2 NEG.2 OCT -06250 # = .197753906 I.E., THE BIAS SCALED ARTHINSF TC DMP # SCALES MPAC, +1 BY SFTEMP1, SFTEMP2. ADRES SFTEMP1 # ASSUMES POINT BETWEEN HI AND LO PARTS XCH MPAC +2 # OF SFCON. SHIFTS RESULTS LEFT BY 14. XCH MPAC +1 # (BY TAKING RESULTS FROM MPAC+1, MPAC+2) XCH MPAC EXTEND BZF BINROUND TC ALMCYCLE # TOO LARGE A LOAD. ALARM AND RECYCLE. BINROUND TC 2ROUND TC TESTOFUF TC ENDSCALE # RETURNS IF NO OF/UF ARTIN1SF TC DMP # SCALES MPAC, +1 BY SFTEMP1, SFTEMP2. ADRES SFTEMP1 # ROUNDS MPAC+1 INTO MPAC. TC BINROUND OPTDEGIN CCS MPAC # OPTICS SCALING ROUTINE TC +4 TC +3 TC ALMCYCLE # REJECT -- INPUT. ALARM AND RECYCLE. TC ALMCYCLE # REJECT -- INPUT. ALARM AND RECYCLE. OPDEGIN2 CAF NEG.2 # RANGE IS 90 DEG ADS MPAC # SUBTRACT BIAS # Page 351 TC DMP # MULT BY 100 / 45 B-2 ADRES DEGCON2 CAF BIT12 # ROUND AS IN DEGINSF AD MPAC +1 TC 2ROUND +2 TC DEGINSF2 DPINSF TC DMP # SCALES MPAC, MPAC +1 BY SFTEMP1, ADRES SFTEMP1 # SFTEMP. STORES LOW PART OF RESULT XCH MPAC +2 # IN (E SUBK) +1 OR E+1 DOUBLE TS MPAC +2 CAF ZERO AD MPAC +1 TC 2ROUND +2 TC TESTOFUF DPFRACIN INDEX MIXBR # RETURNS IF NO OF/UF TC +0 TC DPINORM CA DECOUNT # MIXED NOUN DPINCOM AD NOUNADD # MIXED NORMAL TS Q # E SUBK E XCH MPAC +1 INDEX Q TS 1 # PLACE LOW PART IN TC ENDSCALE # (E SUBK) +1 MIXED DPINORM CAF ZERO # E +1 NORMAL TC DPINCOM DPINSF2 TC DMP # ASSUMES POINT BETWEEN BITS 7-8 OF HIGH ADRES SFTEMP1 # PART OF SF CONST. DPINSF2 SHIFTS RESULTS CAF SIX # LEFT BY 7, ROUNDS MPAC+2 INTO MPAC+1 TC TPLEFTN # SHIFT LEFT 7. TC DPINSF +2 DPINSF4 TC DMP # ASSUMES POINT BETWEEN BITS 11-12 OF HIGH ADRES SFTEMP1 # PART OF SF CONST. DPINSF2 SHIFTS RESULTS CAF TWO # LEFT BY 3, ROUNDS MPAC+2 INTO MPAC+1. TC TPLEFTN # SHIFT LEFT 3. TC DPINSF +2 TPLEFTN XCH Q # SHIFTS MPAC, +1, +2 LEFT N. SETS OVFIND TS SFTEMP2 # TO +1 FOR OF, -1 FOR UF. XCH Q # CALL WITH N-1 IN A. LEFTNCOM TS SFTEMP1 # LOOP TIME .37 MSEC. TC TPSL1 CCS SFTEMP1 # Page 352 TC LEFTNCOM TC SFTEMP2 2ROUND XCH MPAC +1 DOUBLE TS MPAC +1 TC Q # IF MPAC+1 DOES NOT OF/UF AD MPAC TS MPAC TC Q # IF MPAC DOES NOT OF/UF TS MPAC+6 2RNDEND TC Q TESTOFUF CCS MPAC+6 # RETURNS IF NO OF/UF TC ALMCYCLE # OF ALARM AND RECYCLE. TC Q TC ALMCYCLE # UF ALARM AND RECYCLE. SETLOC ENDSPMIN +1 COUNT 42/PIN HMSIN TC ALL3DEC # IF ALL 3 WORDS WERE NOT LOADED, ALARM. TC DMP # XREG, XREGLP (=HOURS) WERE ALREADY PUT ADRES WHOLECON # INTO MPAC, MPAC+1. TC RND/TST # ROUND OFF TO WHOLE HRS IN MPAC+1. CAF ZERO # ALARM IF MPAC NON ZERO (G/ 16383). TS MPAC +2 CAF HRCON TS MPAC CAF HRCON +1 XCH MPAC +1 TC SHORTMP TC MPACTST # ALARM IF MPAC NON ZERO (G/ 745) DXCH MPAC +1 # STORE HOURS CONTRIBUTION DXCH HITEMIN CA YREG # PUT YREG, YREGLP INTO MPAC, +1. LXCH YREGLP DXCH MPAC TC DMP ADRES WHOLECON TC RND/TST # ROUND OFF TO WHOLE MIN IN MPAC+1 CS 59MIN # ALARM IF MPAC NON ZERO (G/16383) TC SIZETST # ALARM IF MPAC+1 G/ 59MIN XCH MPAC +1 EXTEND MP MINCON # LEAVES MINUTES CONTRIBUTION IN A,L # Page 353 DAS HITEMIN # ADD IN MINUTES CONTRIBUTION EXTEND # IF THIS DAS OVERFLOWS, G/ 745 HR,39MIN BZF +2 TC ALMCYCLE CA ZREG # PUT ZREG, ZREGLP INTO MPAC +1. LXCH ZREGLP DXCH MPAC TC DMP ADRES WHOLECON TC RND/TST # ROUND OFF TO WHOLE CENTI-SEC IN MPAC+1 CS 59.99SEC # ALARM IF MPAC NON ZERO (G/163.83 SEC) TC SIZETST # ALARM IF MPAC+1 G/59.99 SEC DXCH HITEMIN # ADD IN SECONDS CONTRIBUTION DAS MPAC # IF THIS DAS OVERFLOWS, EXTEND # G/ 745 HR, 39 MIN, 14.59 SEC. BZF +2 TC ALMCYCLE # ALARM AND RECYCLE CAF ZERO TS MPAC +2 TC TPAGREE DXCH MPAC INDEX NOUNADD DXCH 0 TC POSTJUMP CADR LOADLV WHOLECON OCT 00006 # (10EXP5/2EXP14)2EXP14 OCT 03240 HRCON OCT 00025 # 1 HOUR IN CENTI-SEC OCT 37100 MINCON OCT 13560 # 1 MINUTE IN CENTI-SEC 59MIN OCT 00073 # 59 AS WHOLE 59.99SEC OCT 13557 # 5999 SENTI-SEC RND/TST XCH MPAC +2 # ROUNDS MPAC+2 INTO MPAC+1. DOUBLE # ALARMS IF MPAC NOT 0 TS MPAC +2 CAF ZERO AD MPAC +1 TS MPAC +1 CAF ZERO AD MPAC # CAN'T OVFLOW XCH MPAC MPACTST CCS MPAC # ALARM IF MPAC NON ZERO TC ALMCYCLE # ALARM AND RECYCLE TC Q TC ALMCYCLE # ALARM AND RECYCLE TC Q # Page 354 SIZETST TS MPAC +2 # CALLED WITH - CON IN A CCS MPAC +1 # GET MAG OF MPAC+1 AD ONE TCF +2 AD ONE AD MPAC +2 EXTEND # MAG OF MPAC+1 - CON BZMF +2 TC ALMCYCLE # MAG OF MPAC+1 G/ CON. ALARM AND RECYCLE. TC Q # MAG OF MPAC+1 L/= CON # ALL3DEC TESTS THAT ALL 3 WORDS ARE LOADED IN DEC (FOR HMSIN). # ALARM IF NOT. (TEST THAT BITS 3,4,5 OF DECBRNCH ARE ALL = 1). ALL3DEC CS OCT34BAR # GET BITS 3,4,5 IN A MASK DECBRNCH # GET BITS 3,4,5 OF DECBRNCH IN A AD OCT34BAR # BITS 3,4,5 OF DECBRNCH MUST ALL = 1 CCS A TC FORCEV25 OCT34BAR OCT 77743 TC FORCEV25 TC Q FORCEV25 CS OCT31 # FORCE VERB 25 TO BE EXECUTED BY RECYCLE TS VERBSAVE # IN CASE OPERATOR EXECUTED A LOWER LOAD TC ALMCYCLE # VERB. ALARM AND RECYCLE. ENDHMSS EQUALS # Page 355 # MONITOR ALLOWS OTHER KEYBOARD ACTIVITY. IT IS ENDED BY VERB TERMINATE, # VERB PROCEED WITHOUT DATA, VERB RESEQUENCE, # ANOTHER MONITOR, OR ANY NVSUB CALL THAT PASSES THE DSPLOCK (PROVIDED # THAT THE OPERATOR HAS SOMEHOW ALLOWED THE ENDING OF A MONITOR WHICH # HE HAS INITIATED THROUGH THE KEYBOARD). # # MONITOR ACTION IS SUSPENDED, BUT NOT ENDED, BY ANY KEYBOARD ACTION. # EXCEPT ERROR LIGHT RESET. IT BEGINS AGAIN WHEN KEY RELEASE IS PERFORMED. # MONITOR SAVES THE NOUN AND APPROPRIATE DISPLAY VERB IN MONSAVE. IT SAVES # NOUNCADR IN MONSAVE1, IF NOUN = MACHINE CADR TO BE SPECIFIED. BIT 15 OF # MONSAVE1 IS THE KILL MONITOR SIGNAL (KILLER BIT). BIT 14 OF MONSAVE1 # INDICATES THE CURRENT MONITOR WAS EXTERNALLY INITIATED (EXTERNAL # MONITOR BIT). IT IS TURNED OFF BY RELDSP AND KILMONON. # # MONSAVE INDICATES IF MONITOR IS ON (+=ON, +0=OFF) # IF MONSAVE IS +, MONITOR ENTERS NO REQUEST, BUT TURNS KILLER BIT OFF. # IF MONSAVE IS +0, MONITOR ENTERS REQUEST AND TURNS KILLER BIT OFF. # # NVSUB (IF EXTERNAL MONITOR BIT IS OFF), VB=PROCEED WITHOUT DATA, # VB=RESEQUENCE, AND VB=TERMINATE TURN KILL MONITOR BIT ON. # # IF KILLER BIT IS ON, MONREQ ENTERS NO FURTHER REQUESTS, ZEROS MONSAVE # AND MONSAVE1 (TURNING OFF KILLER BIT AND EXTERNAL MONITOR BIT). # # MONITOR DOESN'T TEST FOR MATBS SINCE NVSUB CAN HANDLE INTERNAL MATBS NOW. SETLOC ENDRUTIN COUNT 41/PIN MONITOR CS BIT15/14 MASK NOUNCADR MONIT1 TS MPAC +1 # TEMP STORAGE CS ENTEXIT AD ENDINST CCS A TC MONIT2 BIT15/14 OCT 60000 TC MONIT2 CAF BIT14 # EXTERNALLY INITIATED MONITOR. ADS MPAC +1 # SET BIT 14 FOR MONSAVE1. CAF ZERO TS MONSAVE2 # ZERO NVMONOPT OPTIONS MONIT2 CAF LOW7 MASK VERBREG TC LEFT5 TS CYL CS CYL XCH CYL AD NOUNREG TS MPAC # TEMP STORAGE # Page 356 CAF ZERO TS DSPLOCK # +0 INTO DSPLOCK SO MONITOR CAN RUN. CCS CADRSTOR # TURN OFF KR LITE IF CADRSTOR AND DSPLIST TC +2 # ARE BOTH EMPTY. (LITE COMES ON IF NEW TC RELDSP1 # MONITOR IS KEYED IN OVER OLD MONITOR.) INHINT CCS MONSAVE TC +5 # IF MONSAVE WAS +, NO REQUEST CAF ONE # IF MONSAVE WAS 0, REQUEST MONREQ TC WAITLIST EBANK= DSPCOUNT 2CADR MONREQ DXCH MPAC # PLACE MONITOR VERB AND NOUN INTO MONSAVE DXCH MONSAVE # ZERO THE KILL MONITOR BIT RELINT # SET UP EXTERNAL MONITOR BIT TC ENTRET MONREQ TC LODSAMPT # CALLED BY WAITLIST CCS MONSAVE1 # TIME IS SNATCHED N RUPT FOR NOUN 65 TC +4 # IF KILLER BIT = 0, ENTER REQUESTS TC +3 # IF KILLER BIT = 0, ENTER REQUESTS TC KILLMON # IF KILLER BIT = 1, NO REQUESTS. TC KILLMON # IF KILLER BIT = 1, NO REQUESTS. CAF MONDEL TC WAITLIST # ENTER WAITLIST REQUEST FOR MONREQ EBANK= DSPCOUNT 2CADR MONREQ CAF CHRPRIO TC NOVAC # ENTER EXEC REQUEST FOR MONDO EBANK= DSPCOUNT 2CADR MONDO TC TASKOVER KILLMON CAF ZERO # ZERO MONSAVE AND TURN KILLER BIT OFF TS MONSAVE TS MONSAVE1 # TURN OFF KILL MONITOR BIT. TC TASKOVER # TURN OFF EXTERNAL MONITOR BIT. MONDEL OCT 144 # FOR 1 SEC MONITOR INTERVALS. MONDO CCS MONSAVE1 # CALLED BY EXEC TC +4 # IF KILLER BIT = 0, CONTINUE TC +3 # IF KILLER BIT = 0, CONTINUE TC ENDOFJOB # IN CASE TERMINATE CAME SINCE LAST MONREQ TC ENDOFJOB # IN CASE TERMINATE CAME SINCE LAST MONREQ CCS DSPLOCK # Page 357 TC MONBUSY # NVSUB IS BUSY CAF LOW7 MASK MONSAVE TC UPDATNN -1 # PLACE NOUN INTO NOUNREG AND DISPLAY IT CAF MID7 MASK MONSAVE # CHANGE MONITOR VERB TO DISPLAY VERB AD MONREF # -DEC10, STARTING IN BIT8 TS EDOP # RIGHT 7 CA EDOP TS VERBREG CAF MONBACK # SET RETURN TO PASTEVB AFTER DATA DISPLAY TS ENTRET CS BIT15/14 MASK MONSAVE1 # PUT ECADR INTO MPAC +2. INTMCTBS WILL TS MPAC +2 # DISPLAY IT AND SET NOUNCADR, NOUNADD, ENDMONDO TC TESTNN # EBANK. BLOCK 2 SETLOC FFTAG8 BANK COUNT 02/PIN PASTEVB CAF MID7 MASK MONSAVE2 # NVMONOPT PASTE OPTION EXTEND BZF +2 TC PASTEOPT # PASTE PLEASE VERB FOR NVMONOPT CA MONSAVE # PASTE MONITOR VERB -- PASTE OPTION IS 0 PASTEOPT TS EDOP # RIGHT 7 CA EDOP # PLACE MONITOR VERB OR PLEASE VERB INTO TC BANKCALL # VERBREG AND DISPLAY IT. CADR UPDATVB -1 CAF ZERO # ZERO REQRET SO THAT PASTED VERBS CAN TS REQRET # BE EXECUTED BY OPERATOR. CA MONSAVE2 TC BLANKSUB # PROCESS NVMONOPT BLANK OPTION IF ANY TC +1 ENDPASTE TC ENDOFJOB MID7 OCT 37600 SETLOC ENDMONDO +1 COUNT 41/PIN MONREF OCT 75377 # -DEC10, STARTING IN BIT8 MONBACK ADRES PASTEVB # Page 358 MONBUSY TC RELDSPON # TURN KEY RELEASE LIGHT TC ENDOFJOB # DSPFMEM IS USED TO DISPLAY (IN OCTAL) ANY FIXED REGISTER. # IT IS USED WITH NOUN = MACHINE CADR TO BE SPECIFIED. THE FCADR OF THE # DESIRED LOCATION IS THEN PUNCHED IN. IT HANDLES F/F (FCADR 4000-7777) # # FOR BANKS L/E 27, THIS IS ENOUGH. # # FOR BANKS G/E 30, THE THIRD COMPONENT OF NOUN 26 (PRIO, ADRES, BBCON) # MUST BE PRELOADED WITH THE DESIRED SUPERBANK BITS (BITS 5,6,7). # V23N26 SHOULD BE USED. # # SUMMARY # FOR BANKS L/E 27, V27N01E(FCADR)E # FOR BANKS G/E 30, V23N26E(SUPERBITS)E V27N01E(FCADR)E DSPFMEM CAF R1D1 # IF F/F, DATACALL USES BANK 02 OR 03. TS DSPCOUNT CA DSPTEM1 +2 # SUPERBANK BITS WERE PRELOADED INTO TS L # 3RD COMPONENT OF NOUN 26. CA NOUNCADR # ORIGINAL FCADR LOADED STILL IN NOUNCADR. TC SUPDACAL # CALL WITH FCADR IN A, SUPERBITS IN L. TC DSPOCTWO ENDSPF TC ENDOFJOB # Page 359 # WORD DISPLAY ROUTINES SETLOC TESTOFUF +4 COUNT 40/PIN DSPSIGN XCH Q TS DSPWDRET CCS MPAC TC +8D TC +7 AD ONE TS MPAC TC -ON CS MPAC +1 TS MPAC +1 TC DSPWDRET TC +ON TC DSPWDRET DSPRND EXTEND # ROUND BY 5 EXP-6 DCA DECROUND -1 DAS MPAC EXTEND BZF +4 EXTEND DCA DPOSMAX DXCH MPAC TC Q # DSPDECWD CONVERTS C(MPAC,MPAC+1) INTO A SIGN AND 5 CHAR DECIMAL # STARTING IN LOC SPECIFIED IN DSPCOUNT. IT ROUNDS BY 5 EXP-6. DSPDECWD XCH Q TS WDRET TC DSPSIGN TC DSPRND CAF FOUR DSPDCWD1 TS WDCNT CAF BINCON TC SHORTMP TRACE1 INDEX MPAC CAF RELTAB MASK LOW5 TS CODE CAF ZERO XCH MPAC +2 XCH MPAC +1 TS MPAC XCH DSPCOUNT TRACE1S TS COUNT # Page 360 CCS A # DECREMENT DSPCOUNT EXCEPT AT +0 TS DSPCOUNT TC DSPIN CCS WDCNT TC DSPDCWD1 CS VD1 TS DSPCOUNT TC WDRET OCT 00000 DECROUND OCT 02476 # DSPDECNR CONVERTS C(MPAC,MPAC+1) INTO A SIGN AND 5 CHAR DECIMAL # STARTING IN LOC SPECIFIED IN DSPCOUNT. IT DOES NOT ROUND DSPDECNR XCH Q TS WDRET TC DSPSIGN TC DSPDCWD1 -1 # DSPDC2NR CONVERTS C(MPAC,MPAC+1) INTO A SIGN AND 2 CHAR DECIMAL # STARTING IN LOC SPECIFIED IN DSPCOUNT. IT DOES NOT ROUND DSPDC2NR XCH Q TS WDRET TC DSPSIGN CAF ONE TC DSPDCWD1 # DSP2DEC CONVERTS C(MPAC) AND C(MPAC+1) INTO A SIGN AND 10 CHAR DECIMAL # STARTING IN THE LOC SPECIFIED IN DSPCOUNT. DSP2DEC XCH Q TS WDRET CAF ZERO TS CODE CAF THREE TC 11DSPIN # -R2 OFF CAF FOUR TC 11DSPIN # +R2 OFF TC DSPSIGN CAF R2D1 END2DEC TC DSPDCWD1 # DSPDECVN DISPLAYS C(A) UPON ENTRY AS A 2 CHAR DECIMAL BEGINNING IN THE # DSP LOC SPECIFIED IN DSPCOUNT. # # C(A) SHOULD BE IN FORM N X 2EXP-14. THIS IS SCALED TO FORM N/100 BEFORE # DISPLAY CONVERSION. # Page 361 DSPDECVN EXTEND MP VNDSPCON # MULT BY .01 LXCH MPAC # TAKE RESULTS FROM L. (MULT BY 2EXP14). CAF ZERO TS MPAC +1 XCH Q TS WDRET TC DSPDC2NR +3 # NO SIGN, NO ROUND, 2 CHAR VNDSPCON OCT 00244 # .01 ROUNDED UP GOVNUPDT TC DSPDECVN # THIS IS NOT FOR GENERAL USE. REALLY PART TC POSTJUMP # OF UPDATVB. CADR UPDAT1 +2 ENDECVN EQUALS SETLOC ENDSPF +1 COUNT 41/PIN # DSPOCTWD DISPLAYS C(A) UPON ENTRY AS A 5 CHAR OCT STARTING IN THE DSP # CHAR SPECIFIED IN DSPCOUNT. IT STOPS AFTER 5 CHAR HAVE BEEN DISPLAYED. DSPOCTWO TS CYL XCH Q TS WDRET # MUST USE SAME RETURN AS DSP2BIT. CAF BIT14 # TO BLANK SIGNS ADS DSPCOUNT CAF FOUR WDAGAIN TS WDCNT CS CYL CS CYL CS CYL CS A MASK DSPMSK INDEX A CAF RELTAB MASK LOW5 TS CODE XCH DSPCOUNT TS COUNT CCS A # DECREMENT DSPCOUNT EXCEPT AT +0 TS DSPCOUNT TC POSTJUMP CADR DSPOCTIN OCTBACK CCS WDCNT TC WDAGAIN # + DSPLV CS VD1 # TO BLOCK NUMERICAL CHARACTERS, CLEARS, # Page 362 TS DSPCOUNT # AND SIGNS AFTER A COMPLETED DISPLAY. TC WDRET DSPMSK = SEVEN # DSP2BIT DISPLAYS C(A) UPON ENTRY AS A 2 CHAR OCT BEGINNING IN THE DSP # LOC SPECIFIED IN DSPCOUNT BY PRE CYCLING RIGHT C(A) AND USING THE LOGIC # OF THE 5 CHAR OCTAL DISPLAY DSP2BIT TS CYR XCH Q TS WDRET CAF ONE TS WDCNT CS CYR CS CYR XCH CYR TS CYL TC WDAGAIN +5 # FOR DSPIN PLACE 0/25 OCT INTO COUNT, 5 BIT RELAY CODE INTO CODE. BOTH # ARE DESTROYED. IF BIT14 OF COUNT IS 1, SIGN IS BLANKED WITH LEFT CHAR. # FOR DSPIN1 PLACE 0,1 INTO BIT11 OF CODE, 2 INTO COUNT, REL ADDRESS OF # DSPTAB ENTRY INTO DSREL. SETLOC ENDECVN COUNT 40/PIN DSPIN XCH Q # CAN'T USE L FOR RETURN, SINCE MANY OF THE TS DSEXIT # ROUTINES CALLING DSPIN USE L AS RETURN. CAF LOW5 MASK COUNT TS SR XCH SR TS DSREL CAF BIT1 MASK COUNT CCS A TC +2 # LEFT IF COUNT IS ODD TC DSPIN1 -1 # RIGHT IF COUNT IS EVEN XCH CODE TC SLEFT5 # DOES NOT USE CYL TS CODE CAF BIT14 MASK COUNT CCS A CAF TWO # BIT14 = 1, BLANK SIGN # Page 363 AD ONE # BIT14 = 0, LEAVE SIGN ALONE TS COUNT # +0 INTO COUNT FOR RIGHT # +1 INTO COUNT FOR LEFT (SIGN LEFT ALONE) # +3 INTO COUNT FOR LEFT (TO BLANK SIGN) DSPIN1 INHINT INDEX DSREL CCS DSPTAB TC +2 # IF + TC CCSHOLE AD ONE # IF - TS DSMAG INDEX COUNT MASK DSMSK EXTEND SU CODE EXTEND BZF DSLV # SAME DFRNT INDEX COUNT CS DSMSK # MASK WITH 77740, 76037, 76777, OR 74037 MASK DSMAG AD CODE CS A INDEX DSREL XCH DSPTAB EXTEND BZMF DSLV # DSPTAB ENTRY WAS - INCR NOUT # DSPTAB ENTRY WAS + DSLV RELINT TC DSEXIT DSMSK OCT 37 OCT 1740 OCT 2000 OCT 3740 # FOR 11DSPIN, PUT REL ADDRESS OF DSPTAB ENTRY INTO A, 1 IN BIT11 OR 0 IN # BIT11 OF CODE. 11DSPIN TS DSREL CAF TWO TS COUNT XCH Q # MUST USE SAME RETURN AS DSPIN TS DSEXIT TC DSPIN1 DSPOCTIN TC DSPIN # SO DSPOCTWD DOESN'T USE SWCALL CAF +2 TC BANKJUMP # Page 364 ENDSPOCT CADR OCTBACK # DSPALARM FINDS TC NVSUBEND IN ENTRET FOR NVSUB INITIATED ROUTINES # ABORT WITH 01501. # # DSPALARM FINDS TC ENDOFJOB IN ENTRET FOR KEYBOARD INITIATED ROUTINES. # DC TC ENTRET. PREDSPAL CS VD1 TS DSPCOUNT DSPALARM CS NVSBENDL AD ENTEXIT EXTEND BZF CHARALRM +2 CS MONADR # IF THIS IS A MONITOR, KILL IT AD ENTEXIT EXTEND BZF +2 TC CHARALRM TC KILMONON TC FALTON TC PASTEVB # PUT MONITOR VERB BACK IN VERBREG CHARALRM TC FALTON # NOT NVSUB INITATED TURN ON OPR ERROR TC ENDOFJOB TC POODOO OCT 01501 MONADR GENADR PASTEVB NVSBENDL TC NVSUBEND # ALMCYCLE TURNS ON CHECK FAIL LIGHT, REDISPLAYS THE ORIGINAL VERB THAT # WAS EXECUTED, AND RECYCLES TO EXECUTE THE ORIGINAL VERB/NOUN COMBINATION # THAT WAS LAST EXECUTED. USED FOR BAD DATA DURING LOAD VERBS AND BY # MCTBS. ALSO BY MMCHANG IF 2 NUMERICAL CHARACTERS WERE NOT PUNCHED IN # FOR MM CODE SETLOC MID7 +1 COUNT 02/PIN ALMCYCLE TC FALTON # TURN ON CHECK FAIL LIGHT. CS VERBSAVE # GET ORIGINAL VERB THAT WAS EXECUTED TS REQRET # SET FOR ENTPAS0 TC BANKCALL # PUTS ORIGINAL VERB INTO VERBREG AND CADR UPDATVB -1 # DISPLAYS IT IN VERB LIGHTS. TC POSTJUMP ENDALM CADR ENTER # MMCHANG USES NOUN DISPLAY UNTIL ENTER. THEN IT USES MODE DISP. # IT GOES TO MODROUT WITH THE NEW M M CODE IN A, BUT NOT DISPLAYED IN # Page 365 # MM LIGHTS. # # IT DEMANDS 2 NUMERICAL CHARACTERS BE PUNCHED IN FOR NEW MM CODE. # IF NOT, IT RECYCLES. SETLOC DSP2BIT +10D COUNT 41/PIN MMCHANG TC REQMM # ENTPASHI ASSUMES THE TC REQMM AT MMCHANG # IF THIS MOVES AT ALL, MUST CHANGE # MMADREF AT ENTPASHI. CAF BIT5 # OCT20 = ND2. AD DSPCOUNT # DSPCOUNT MUST = -ND2. EXTEND # DEMAND THAT 2 NUM CHAR WERE PUNCHED IN. BZF +2 TC ALMCYCLE # DSPCOUNT NOT= -ND2. ALARM AND RECYCLE. CAF ZERO # DSPCOUNT = -ND2. XCH NOUNREG TS MPAC CAF ND1 TS DSPCOUNT TC BANKCALL CADR 2BLANK CS VD1 # BLOCK NUM CHAR IN TS DSPCOUNT CA MPAC TC POSTJUMP CADR MODROUTB # GO THRU STANDARD LOC. MODROUTB = V37 REQMM CS Q TS REQRET CAF ND1 TS DSPCOUNT CAF ZERO TS NOUNREG TC BANKCALL CADR 2BLANK TC FLASHON CAF ONE TS DECBRNCH # SET FOR DEC TC ENTEXIT # VBRQEXEC ENTERS REQUEST TO EXEC FOR ANY ADDRESS WITH ANY PRIORITY. # IT DOES ENDOFJOB AFTER ENTERING REQUEST. DISPLAY SYST IS RELEASED. # IT ASSUMES NOUN 26 HAS BEEN PRELOADED WITH # COMPONENT 1 PRIORITY (BITS 10-14) BIT1=0 FOR NOVAC, BIT1=1 FOR FINDVAC. # COMPONENT 2 JOB ADRES (12 BIT) # Page 366 # COMPONENT 3 BBCON VBRQEXEC CAF BIT1 MASK DSPTEM1 CCS A TC SETVAC # IF BIT1 = 1, FINDVAC CAF TCNOVAC # IF BIT1 = 0, NOVAC REQEX1 TS MPAC # TC NOVAC OR TC FINDVAC INTO MPAC CS BIT1 MASK DSPTEM1 TS MPAC +4 # PRIO INTO MPAC+4 AS A TEMP REQUESTC TC RELDSP CA ENDINST TS MPAC +3 # TC ENDOFJOB INTO MPAC+3 EXTEND DCA DSPTEM1 +1 # JOB ADRES INTO MPAC+1 DXCH MPAC +1 # BBCON INTO MPAC+2 CA MPAC +4 # PRIO IN A INHINT TC MPAC SETVAC CAF TCFINDVC TC REQEX1 # VBRQWAIT ENTERS REQUEST TO WAITLIST FOR ANY ADDRESS WITH ANY DELAY. # IT DOES ENDOFJOB AFTER ENTERING REQUEST. DISPLAY SYST IS RELEASED. # IT ASSUMES NOUN 26 HAS BEEN PRELOADED WITH # COMPONENT 1 DELAY (LOW BITS) # COMPONENT 2 TASK ADRES (12 BIT) # COMPONENT 3 BBCON VBRQWAIT CAF TCWAIT TS MPAC # TC WAITLIST INTO MPAC CA DSPTEM1 # TIME DELAY ENDRQWT TC REQUESTC -1 # REQUESTC WILL PUT TASK ADRES INTO MPAC+1, BBCON INTO MPAC+2, # TC ENDOFJOB INTO MPAC+3. IT WILL TAKE TIME DELAY OUT OF MPAC+4 AND # LEAVE IT IN A, INHINT AND TC MPAC. SETLOC NVSBENDL +1 COUNT 40/PIN VBPROC CAF ONE # PROCEED WITHOUT DATA TS LOADSTAT TC KILMONON # TURN ON KILL MONITOR BIT TC RELDSP TC FLASHOFF TC RECALTST # SEE IF THERE IS ANY RECALL FROM ENDIDLE # Page 367 VBTERM CS ONE TC VBPROC +1 # TERM VERB SETS LOADSTAT NEG # PROCKEY PERFORMS THE SAME FUNCTION AS VBPROC. IT MUST BE CALLED UNDER # EXECUTIVE CONTROL, WITH CHRPRIO. PROCKEY CAF ZERO # SET REQRET FOR ENTER PASS 0. TS REQRET CS VD1 # BLOCK NUMERICAL CHARACTERS, SIGNS, CLEAR TS DSPCOUNT TC VBPROC # VBRESEQ WAKES ENDIDLE AT SAME LINE AS FINAL ENTER OF LOAD (L+3). # (MAIN USE IS INTENDED AS RESPONSE TO INTERNALLY INITIATED FLASHING # DISPLAYS IN ENDIDLE. SHOULD NOT BE USED WITH LOAD VERBS, PLEASE PERFORM, # OR PLEASE MARK VERBS BECAUSE THEY ALREADY USE L+3 IN ANOTHER CONTEXT.) VBRESEQ CS ZERO # MAKE IT LOOK LIKE DATA IN. TC VBPROC +1 # FLASH IS TURNED OFF BY PROCEED WITHOUT DATA, TERMINATE, RESEQUENCE, # END OF LOAD. # Page 368 # KEY RELEASE ROUTINE # # THIS ROUTINE ALWAYS TURNS OFF THE UPACT LIGHT AND ALWAYS CLEARS DSPLOCK. # # THE HIGHEST PRIORITY FUNCTION OF THE KEY RELEASE BUTTON IS THE # UNSUSPENDING OF A SUSPENDED MONITOR WHICH WAS EXTERNALLY INITIATED. # THIS FUNCTION IS ACCOMPLISHED BY CLEARING DSPLOCK AND TURNING OFF # THE KEY RELEASE LIGHT IF BOTH DSPLIST AND CADRSTOR ARE EMPTY. # # IF NO SUCH MONITOR EXISTS, THEN RELDSP IS EXECUTED TO CLEAR DSPLOCK # AND THE EXTERNAL MONITOR BIT (FREEING THE DISPLAY SYSTEM FOR INTERNAL # USE), TURN OFF THE KEY RELEASE LIGHT, AND WAKE UP ANY JOB IN DSPLIST. # # IN ADDITION IF THERE IS A JOB IN ENDIDLE, THEN CONTROL IS TRANSFERRED # TO PINBRNCH (IN DISPLAY INTERFACE ROUTINE) TO RE-EXECUTE THE SERIES OF # NVSUB CALLS ETC. THAT PRECEDED THE ENDIDLE CALL STILL AWAITING RESPONSE. # THIS FEATURE IS INTENDED FOR USE WHEN THE OPERATOR HAS BEEN REQUESTED TO # RESPOND TO SOME INTERNAL ACTION THAT USED ENDIDLE, BUT HE HAS WRITTEN # OVER THE INFORMATION ON THE DISPLAY PANEL BY SOME DISPLAYS OF HIS OWN # INITIATION WHICH DO NOT SERVE AS RESPONSES. HITTING KEYRLSE WILL # RE-ESTABLISH THE DISPLAYS TO THE STATE THEY WERE IN BEOFRE HE OBSCURED # THEM, SO THAT HE CAN SEE THE WAITING REQUEST. THIS WORKS ONLY FOR # INTERNAL PROGRAMS THAT USED ENDIDLE THROUGH MARGARET'S DISPLAY # SUBROUTINES. VBRELDSP CS BIT3 EXTEND WAND DSALMOUT # TURN OF UPACT LITE CCS 21/22REG # OLD DSPLOCK CAF BIT14 MASK MONSAVE1 # EXTERNAL MONITOR BIT (EMB) CCS A TC UNSUSPEN # OLD DSPLOCK AND EMB BOTH 1, UNSUSPEND, TSTLTS4 TC RELDSP # NOT UNSUSPENDING EXTERNAL MONITOR CCS CADRSTOR # RELEASE DISPLAY SYSTEM AND TC +2 # DO RE-ESTABLISH IF CADRSTOR IS FULL. TC ENDOFJOB TC POSTJUMP CADR PINBRNCH UNSUSPEN CAF ZERO # EXTERNAL MONITOR IS SUSPENDED, TS DSPLOCK # JUST UNSUSPEND IT BY CLEARING DSPLOCK. CCS CADRSTOR # TURN KEY RELEASE LIGHT OFF IF BOTH TC ENDOFJOB # CADRSTOR AND DSPLIST ARE EMPTY. TC RELDSP1 TC ENDOFJOB ENDRELDS EQUALS # Page 369 # NVSUB IS USED FOR SUBROUTINE CALLS FROM WITHIN COMPUTER. IT CAN BE # USED TO CALL THE COMBINATION OF ANY DISPLAY, LOAD, OR MONITOR VERB # TOGETHER WITH ANY NOUN AVAILABLE TO THE KEYBOARD. # PLACE 0VVVVVVVNNNNNNN INTO A. # V'S ARE THE 7-BIT VERB CODE. N'S ARE THE 7-BIT NOUN CODE. # # IF NVSUB IS CALLED WITH THE FOLLOWING NEGATIVE NUMBERS (RATHER THAN THE # VERB-NOUN CODE) IN A, THEN THE DISPLAY IS BLANKED AS FOLLOWS --- # -4 FULL BLANK, -3 LEAVE MODE, -2 LEAVE MODE AND VERB, -1 BLANK R'S ONLY. # # NVSUB CAN BE USED WITH MACHINE CADR TO BE SPECIFIED BY PLACING THE CADR INTO # MPAC+2 BEFORE THE STANDARD NVSUB CALL. # # NVSUB RETURNS TO 2+ CALLING LOC AFTER PERFORMING TASK, IF DISPLAY # SYSTEM IS AVAILABLE. THE NEW NOUN AND VERB CODES ARE DISPLAYED. # IF V'S =0, THE NEW NOUN CODE IS DISPLAYED ONLY (RETURN WITH NO FURTHER # ACTION). IF N'S =0, THE NEW VERB CODE IS DISPLAYED ONLY (RETURN WITH NO # FURTHER ACTION). # # IT RETURNS TO 1+ CALLING LOC WITHOUT PERFORMING TASK, IF DISPLAY # SYSTEM IS BLOCKED (NOTHING IS DISPLAYED IN THIS CASE). # IT DOES TC ABORT (WITH OCT 01501) IF IT ENCOUNTERS A DISPLAY PROGRAM # ALARM CONDITION BEFORE RETURN TO CALLER. # # THE DISPLAY SYSTEM IS BLOCKED BY THE DEPRESSION OF ANY # KEY, EXCEPT ERROR LIGHT RESET. # IT IS RELEASED BY THE KEY RELEASE BUTTON, ALL EXTENDED VERBS, # PROCEED WITHOUT DATA, TERMINATE, RESEQUENCE, INITIALIZE EXECUTIVE, # RECALL PART OF RECALTST IF ENDIDLE WAS USED, # VB = REQUEST EXECUTIVE, VB = REQUEST WAITLIST, # MONITOR SET UP. # # THE DISPLAY SYSTEM IS ALSO BLOCKED BY THE EXTERNAL MONITOR BIT, WHICH # INDICATES AND EXTERNALLY INITIATED MONITOR IS RUNNING (SEE MONITOR). # # A NVSUB CALL THAT PASSES DSPLOCK AND THE EXTERNAL MONITOR BIT ENDS OLD # MONITOR. # # DSPLOCK IS THE INTERLOCK FOR USE OF KEYBOARD AND DISPLAY SYSTEM WHICH # LOCKS OUT INTERNAL USE WHENEVER THERE IS EXTERNAL KEYBOARD ACTION. # # NVSUB SHOULD BE USED TWICE IN SUCCESSION FOR `PLEASE PERFORM' SITUATIONS # (SIMILARLY FOR PLEASE MARK). FIRST PLACE THE CODED NUMBER FOR WHAT # ACTION IS DESIRED OF OPERATOR INTO THEREGISTERS REFERRED TO BY THE # `CHECKLIST' NOUN. GO TO NVSUB WITH A DISPLAY VERB AND THE `CHECKLIST' # NOUN. GO TO NVSUB AGAIN WITH THE `PLEASE PERFORM' VERB AND ZEROS IN THE # LOW 7 BITS. THIS `PASTES UP' THE `PLEASE PERFORM' VERB INTO THE VERB # LIGHTS. # # NVMONOPT IS AN ENTRY SIMILAR TO NVSUB, BUT REQUIRING AN ADDITIONAL # Page 370 # PARAMETER IN L. IT SHOULD BE USED ONLY WITH A MONITOR VERB-NOUN CODE IN # A. AFTER EACH MONITOR DISPLAY A *PLEASE* VERB WILL BE PASTED IN THE VERB # LIGHTS OR DATA WILL BE BLANKED (OR BOTH) ACCORDING TO THE OPTIONS # SPECIFIED IN L. IF BITS 8-14 OF L ARE OTHER THAN ZERO, THEN THEY WILL # BE INTERPRETED AS A VERB CODE AND PASTED IN THE VERB LIGHTS. (THIS VERB # CODE SHOULD DESIGNATE ONE OF THE *PLEASE* VERBS.) IF BITS 1-3 OF L ARE # OTHER THAN ZERO, THEN THEY WILL BE USED BO BLANK DATA BY BEING FED TO # BLANKSUB. IF NVMONOPT IS USED WITH A VERB OTHER THAN A MONITOR VERB, # THE PARAMETER IN L HAS NO EFFECT. # # NVSUB IN FIXED-FIXED PLACES 2+CALLING LOC INTO NVQTEM, TC NVSUBEND INTO # ENTRET. (THIS WILL RESTORE OLD CALLING BANK BITS) SETLOC ENDALM +1 COUNT 02/PIN NVSUB LXCH 7 # ZERO NVMONOPT OPTIONS NVMONOPT TS NVTEMP CAF BIT14 MASK MONSAVE1 # EXTERNAL MONITOR BIT AD DSPLOCK CCS A TC Q # DSP SYST BLOCKED. RET TO 1. CALLING LOC CAF ONE # DSP SYST AVAILABLE. NVSBCOM AD Q TS NVQTEM # 2+ CALLING LOC INTO NVQTEM LXCH MONSAVE2 # STORE NVMONOPT OPTIONS TC KILMONON # TURN ON KILL MONITOR BIT NVSUBCOM CAF NVSBBBNK XCH BBANK EXTEND # SAVE OLD SUPERBITS ROR SUPERBNK TS NVBNKTEM CAF PINSUPBT EXTEND WRITE SUPERBNK TC NVSUBB # GO TO NVSUB1 THRU STANDARD LOC EBANK= DSPCOUNT NVSBBBNK BBCON NVSUB1 PINSUPBT = NVSBBBNK # CONTAINS THE PINBALL SUPERBIT. NVSUBEND DXCH NVQTEM # NVBNKTEM MUST = NVQTEM+1 TC SUPDXCHZ # DTCB WITH SUPERBIT SWITCHING SETLOC ENDRQWT +1 COUNT 41/PIN # Page 371 # BLANKDSP BLANKS DISPLAY ACCORDING TO OPTION NUMBER IN NVTEMP AS FOLLOWS: # -4 FULL BLANK, -3 LEAVE MODE, -2 LEAVE MODE AND VERB, -1 BLANK R'S ONLY. BLANKDSP AD SEVEN # 7,8,9, OR 10 (A HAD 0,1,2,OR 3) INHINT TS CODE # BLANK SPECIFIED DSPTABS CS BIT12 INDEX CODE XCH DSPTAB CCS A INCR NOUT TC +1 CCS CODE TC BLANKDSP +2 RELINT INDEX NVTEMP TC +5 TC +1 # NVTEMP HAS -4 (NEVER TOUCH MODREG) TS VERBREG # -3 TS NOUNREG # -2 TS CLPASS # -1 CS VD1 TS DSPCOUNT TC FLASHOFF # PROTECT AGAINST INVISIBLE FLASH TC ENTSET -2 # ZEROS REQRET NVSUB1 CAF ENTSET # IN BANK TS ENTRET # SET RETURN TO NVSUBEND CCS NVTEMP # WHAT NOW TC +4 # NORMAL NVSUB CALL (EXECUTE VN OR PASTE) TC GODSPALM TC BLANKDSP # BLANK DISPLAY AS SPECIFIED TC GODSPALM CAF LOW7 MASK NVTEMP TS MPAC +3 # TEMP FOR NOUN (CAN'T USE MPAC. DSPDECVN CA NVTEMP # USES MPAC, +1, +2). TS EDOP # RIGHT 7 CA EDOP TS MPAC +4 # TEMP FOR VERB (CAN'T USE MPAC+1. DSPDECVN # USES MPAC, +1, +2) CCS MPAC +3 # TEST NOUN TC NVSUB2 # IF NOUN NOT +0, GO ON CA MPAC +4 TC UPDATVB -1 # IF NOUN = +0, DISPLAY VERB. THEN RETURN CAF ZERO # ZERO REQRET SO THAT PASTED VERBS CAN TS REQRET # BE EXECUTED BY OPERATOR. ENTSET TC NVSUBEND NVSUB2 CCS MPAC +4 # TEST VERB TC +4 # IF VERB NOT +0, GO ON # Page 372 CA MPAC +3 TC UPDATNN -1 # IF VERB = +0, DISPLAY NOUN. THEN RETURN TC NVSUBEND CA MPAC +2 # TEMP FOR MACH CADR TO BE SPEC. (DSPDECVN TS MPAC +5 # USES MPAC, +1, +2) CA MPAC +4 TC UPDATVB -1 # IF BOTH NOUN AND VERB NOT +0, DISPLAY CA MPAC +3 # BOTH AND GO TO ENTPAS0. TC UPDATNN -1 CAF ZERO TS LOADSTAT # SET FOR WAITING FOR DATA CONDITION TS CLPASS TS REQRET # SET REQRET FOR PASS 0. CA MPAC +5 # RESTORES MACH CADR TO BE SPEC TO MPAC+2 TS MPAC +2 # FOR USE IN INTMCTBS (IN ENTPAS0). ENDNVSB1 TC ENTPAS0 # IF INTERNAL MACH CADR TO BE SPECIFIED, MPAC+2 WILL BE PLACED INTO # NOUNCADR IN ENTPAS0 (INTMCTBS). SETLOC NVSUBEND +2 COUNT 02/PIN # FORCE BIT 15 OF MONSAVE1 TO . KILMONON CAF BIT15 # THIS IS THE KILL MONITOR BIT. TS MONSAVE1 # TURN OFF BIT 14, THE EXTERNAL # MONITOR BIT. TC Q # LOADSTAT +0 INACTIVE (WAITING FOR DATA). SET BY NVSUB # +1 PROCEED NO DATA. SET BY SPECIAL VERB # -1 TERMINATE. SET BY SPECIAL VERB. # -0 DATA IN. SET BY END OF LOAD ROUTINE. # OR RESEQUENCE. SET BY VERB 32 # # L TO ENDIDLE (FIXED FIXED). # ROUTINES THAT REQUEST LOADS THROUGH NVSUB SHOULD USE ENDIDLE WHILE # WAITING FOR THE DATA TO BE LOADED. ENDIDLE PUTS CURRENT JOB TO SLEEP. # ENDIDLE CANNOT BE CALLED FROM ERASABLE OR F/F MEMORY, # SINCE JOB SLEEP AND JOBWAKE CAN HANDLE ONLY FIXED BANKS. # RECALTST TESTS LOADSTAT AND WAKES JOB UP TO, # L+1 FOR TERMINATE # L+2 FOR PROCEED WITHOUT DATA # L+3 FOR DATA IN, OR RESEQUENCE # IT DOES NOTHING IF LOADSTAT INDICATES WAITING FOR DTA. # Page 373 # # ENDIDLE ABORTS (WITH CODE 1206) IF A SECOND JOB ATTEMPTS TO GO TO SLEEP # IN PINBALL. IN PARTICULAR, IF AN ATTEMPT IS MADE TO GO TO ENDIDLE WHEN # 1) CADRSTOR NOT= +0. THIS IS THE CASE WHERE THE CAPACITY OF ENDIDLE IS # EXCEEDED. (+-NZ INDICATES A JOB IS ALREADY ASLEEP DUE TO ENDIDDLE.) # 2) DSPLIST NOT= +0. THIS INDICATES A JOB IS ALREADY ASLEEP DUE TO # NVSUBUSY. ENDIDLE LXCH Q # RETURN ADDRESS INTO L. TC ISCADR+0 # ABORT IF CADRSTOR NOT= +0. TC ISLIST+0 # ABORT IF DSPLIST NOT= +0 CA L # DON'T SET DSPLOC TO 1 SO CAN USE MASK LOW10 # ENDIDLE WITH NVSUB INITIATE MONITOR. AD FBANK # SAME STRATEGY FOR CADR AS MAKECADR. TS CADRSTOR TC JOBSLEEP ENDINST TC ENDOFJOB ISCADR+0 CCS CADRSTOR # ABORTS (CODE 01206) IF CADRSTOR NOT= +0. TC DSPABORT # RETURNS IF CADRSTOR = +0. TC Q TC DSPABORT ISLIST+0 CCS DSPLIST # ABORTS (CODE 01206) IF DSPLIST NOT= +0. TC DSPABORT # RETURNS IF DSPLIST = +0. TC Q DSPABORT TC POODOO OCT 01206 # JAMTERM ALLOWS PROGRAMS TO PERFORM THE TERMINATE FUNCTION. # IT DOES ENDOFJOB. JAMTERM CAF PINSUPBT EXTEND WRITE SUPERBNK CAF 34DEC TS REQRET # LEAVE ENTER SET FOR ENTPASS0. CS VD1 TS DSPCOUNT TC POSTJUMP CADR VBTERM 34DEC DEC 34 # JAMPROC ALLOWS PROGRAMS TO PERFORM THE PROCEED/PROCEED WITHOUT DATA # FUNCTION. IT DOES ENDOFJOB. # Page 374 JAMPROC CAF PINSUPBT EXTEND WRITE SUPERBNK CAF 33DEC TS REQRET # LEAVE ENTER SET FOR ENTPASS0. CS VD1 TS DSPCOUNT TC POSTJUMP CADR VBPROC 33DEC DEC 33 # BLANKSUB BLANKS ANY COMBINATION OF R1, R2, R3. # CALL WITH BLANKING CODE IN A. # BIT1=1 BLANKS R1, BIT2=1 BLANKS R2, BIT3=1 BLANKS R3. # ANY COMBINATION OF THESE BITS IS ACCEPTED. # # DSPCOUNT IS RESTORED TO STATE IT WAS IN BEFORE BLANKSUB WAS EXECUTED. BLANKSUB MASK SEVEN TS NVTEMP # STORE BLANKING CODE IN NVTEMP. CAF BIT14 MASK MONSAVE1 # EXTERNAL MONITOR BIT AD DSPLOCK CCS A TC Q # DSP SYST BLOCKED. RET TO 1+ CALLING LOC INCR Q # DSP SYST AVAILABLE # SET RETURN FOR 2+ CALLING LOC CCS NVTEMP TCF +2 TC Q # NOTHING TO BLANK. RET TO 2+ CALLING LOC LXCH Q # SET RETURN FOR 2 + CALLING LOC CAF BLNKBBNK XCH BBANK EXTEND ROR SUPERBNK # SAVE OLD SUPERBITS. DXCH BUF CAF PINSUPBT EXTEND WRITE SUPERBNK TC BLNKSUB1 EBANK= DSPCOUNT BLNKBBNK BBCON BLNKSUB1 ENDBLFF EQUALS SETLOC ENDRELDS COUNT 40/PIN # Page 375 BLNKSUB1 CA DSPCOUNT # SAVE OLD DSPCOUNT FOR LATER RESTORATION TS BUF +2 CAF BIT1 # TEST BIT1. SEE IF R1 TO BE BLANKED. TC TESTBIT CAF R1D1 TC 5BLANK -1 CAF BIT2 # TEST BIT2. SEE IF R2 TO BE BLANKED. TC TESTBIT CAF R2D1 TC 5BLANK -1 CAF BIT3 # TEST BIT3. SEE IF R3 TO BE BLANKED. TC TESTBIT CAF R3D1 TC 5BLANK -1 CA BUF +2 # RESTORE DSPCOUNT TO STATE IT HAD TS DSPCOUNT # BEFORE BLANKSUB. DXCH BUF # CALL L+2 DIRECTORY. TC SUPDXCHZ +1 # DTCB WITH SUPERBIT SWITCHING TESTBIT MASK NVTEMP # NVTEMP CONTAINS BLANKING CODE CCS A TC Q # IF CURRENT BIT = 1, RETURN TO L+1. INDEX Q # IF CURRENT BIT = 0, RETURN TO L+3. TC 2 ENDBSUB1 EQUALS # DSPMM DOES NOT DISPLAY MODREG DIRECTLY. IT PUTS IN EXEC REQUEST WITH # PRIO 30000 FOR DSPMMJB AND RETURNS TO CALLER. # # IF MODREG CONTAINS -0, DSPMMJB BLANKS THE MODE LIGHTS. # # DSPMM MUST BE IN BANK 27 OR LOWER, SO IT CAN BE CALLED VIA BANKCALL. BANK 7 SETLOC PINBALL4 BANK COUNT 07/PIN DSPMM XCH Q TS MPAC INHINT CAF CHRPRIO TC NOVAC EBANK= DSPCOUNT 2CADR DSPMMJB RELINT # Page 376 ENDSPMM TC MPAC # DSPMM PLACE MAJOR MODE CODE INTO MODREG SETLOC ENDBSUB1 COUNT 40/PIN DSPMMJB CAF MD1 # GETS HERE THRU DSPMM XCH DSPCOUNT TS DSPMMTEM # SAVE DSPCOUNT CCS MODREG AD ONE TC DSPDECVN # IF MODREG IS + OR +0, DISPLAY MODREG TC +2 # IF MODREG IS -NZ, DO NOTHING TC 2BLANK # IF MODREG IS -0, BLANK MM XCH DSPMMTEM # RESTORE DSPCOUNT TS DSPCOUNT TC ENDOFJOB # RECALTST IS ENTERED DIRECTLY AFTER DATA IS LOADED (OR RESEQUENCE VERB IS # EXECUTED), TERMINATE VERB IS EXECUTED, OR PROCEED WITHOUT DATA VERB IS # EXECUTED. IT WAKES UP JOB THAT DID TC ENDIDLE. # # IF CADRSTOR NOT= +0, IT PUTS +0 INTO DSPLOCK, AND TURNS OFF KEY RLSE # LIGHT IF DSPLIST IS EMPTY (LEAVES KEY RLSE LIGHT ALONE IF NOT EMPTY). RECALTST CCS CADRSTOR TC RECAL1 TC ENDOFJOB # NORMAL EXIT IF KEYBOARD INITIATED RECAL1 CAF ZERO XCH CADRSTOR INHINT TC JOBWAKE CCS LOADSTAT TC DOPROC # + PROCEED WITHOUT DATA TC ENDOFJOB # PATHOLOGICAL CASE EXIT TC DOTERM # - TERMINATE CAF TWO # -0 DATA IN OR RESEQUENCE RECAL2 INDEX LOCCTR AD LOC # LOC IS + FOR BASIC JOBS INDEX LOCCTR TS LOC CA NOUNREG # SAVE VERB IN MPAC, NOUN IN MPAC+1 AT TS L # TIME OF RESPONSE TO ENDIDLE FOR CA VERBREG # POSSIBLE LATER TESTING BY JOB THAT HAS INDEX LOCCTR # BEEN WAKED UP. DXCH MPAC RELINT # Page 377 RECAL3 TC RELDSP TC ENDOFJOB DOTERM CAF ZERO TC RECAL2 DOPROC CAF ONE TC RECAL2 SBANK= LOWSUPER # Page 378 # MISCELLANEOUS SERVICE ROUTINES IN FIXED/FIXED SETLOC ENDBLFF COUNT 02/PIN # SETNCADR E CADR ARRIVES IN A. IT IS STORED IN NOUNCADR. EBANK BITS # ARE SET. E ADRES IS DERIVED AND PUT INTO NOUNADD. SETNCADR TS NOUNCADR # STORE ECADR TS EBANK # SET EBANK BITS MASK LOW8 AD OCT1400 TS NOUNADD # PUT E ADRES INTO NOUNADD TC Q # SETNADD GETS E CADR FROM NOUNCADR, SETS EBANK BITS, DERIVES # E ADRES AND PUTS IT INTO NOUNADD. SETNADD CA NOUNCADR TCF SETNCADR +1 # SETEBANK E CADR ARRIVES IN A. EBANK BITS ARE SET. E ADRES IS # DERIVED AND LEFT IN A. SETEBANK TS EBANK # SET EBANK BITS MASK LOW8 AD OCT1400 # E ADRES LEFT IN A TC Q R1D1 OCT 16 # THESE 3 CONSTANTS FORM A PACKED TABLE. R2D1 OCT 11 # DON'T SEPARATE. R3D1 OCT 4 RIGHT5 TS CYR CS CYR CS CYR CS CYR CS CYR XCH CYR TC Q LEFT5 TS CYL CS CYL CS CYL CS CYL # Page 379 CS CYL XCH CYL TC Q SLEFT5 DOUBLE DOUBLE DOUBLE DOUBLE DOUBLE TC Q LOW5 OCT 37 # THESE 3 CONSTANTS FORM A PACKED TABLE. MID5 OCT 1740 # DON'T SEPARATE. HI5 OCT 76000 # MUST STAY HERE TCNOVAC TC NOVAC TCWAIT TC WAITLIST TCTSKOVR TC TASKOVER TCFINDVC TC FINDVAC CHRPRIO OCT 30000 # EXEC PRIORITY OF CHARIN LOW11 OCT 3777 B12-1 EQUALS LOW11 LOW8 OCT 377 VD1 OCT 23 # THESE 3 CONSTANTS FORM A PACKED TABLE. ND1 OCT 21 # DON'T SEPARATE. MD1 OCT 25 BINCON DEC 10 FALTON CA BIT7 # TURN ON OPERATOR ERROR LIGHT. EXTEND WOR DSALMOUT # BIT 7 OF CHANNEL 11 TC Q FALTOF CS BIT7 # TURN OFF OPERATOR ERROR LIGHT EXTEND WAND DSALMOUT # BIT 7 OF CHANNEL 11 TC Q RELDSPON CAF BIT5 # TURN ON KEY RELEASE LIGHT EXTEND WOR DSALMOUT # BIT 5 OF CHANNEL 11 TC Q # Page 380 LODSAMPT EXTEND DCA TIME2 DXCH SAMPTIME TC Q TPSL1 EXTEND # SHIFTS MPAC, +1, +2 LEFT 1 DCA MPAC +1 # LEAVES OVFIND SET TO +/- 1 FOR OF/UF DAS MPAC +1 AD MPAC ADS MPAC TS 7 # TS A DOES NOT CHANGE A ON OF/UF. TC Q # NO NET OF/UF TS MPAC+6 # MPAC +6 SET TO +/- 1 FOR OF/UF TC Q # IF MPAC, +1 ARE EACH +NZ OR +0 AND C(A)=-0, SHORTMP WRONGLY GIVES +0. # IF MPAC, +1 ARE EACH -NZ OR -0 AND C(A)=+0, SHORTMP WRONGLY GIVES +0. # PRSHRTMP FIXES FIRST CASE ONLY, BY MERELY TESTING C(A) AND IF IT = -0, # SETTING RESULT TO -0. # # (DO NOT USE PRSHRTMP UNLESS MPAC, +1 ARE EACH +NZ OR +0, AS THEY ARE # WHEN THEY CONTAIN THE SF CONSTANTS.) PRSHRTMP TS MPTEMP CCS A CA MPTEMP # C(A) +, DO REGULAR SHORTMP TCF SHORTMP +1 # C(A) +0, DO REGULAR SHORTMP TCF -2 # C(A) -, DO REGULAR SHORTMP CS ZERO # C(A) -0, FORCE RESULT TO -0 AND RETURN. TS MPAC TS MPAC +1 TS MPAC +2 TC Q FLASHON CAF BIT6 # TURN ON V/N FLASH EXTEND # BIT 6 OF CHANNEL 11 WOR DSALMOUT TC Q FLASHOFF CS BIT6 # TURN OFF V/N FLASH EXTEND WAND DSALMOUT # BIT 6 OF CHANNEL 11 TC Q # Page 381 # INTERNAL USE OF KEYBOARD AND DISPLAY PROGRAM. # # USER MUST SCHEDULE CALLS TO NVSUB SO THAT THERE IS NO CONFLICT OF USE OR # CONFUSION TO OPERATOR. THE OLD CRABLOCK (INTERNAL/INTERNAL INTERLOCK) # HAS BEEN REMOVED AND THE INTERNAL USER NO LONGER HAS THE PROTECTION THIS # OFFERED. # # THERE ARE TWO WAYS A JOB CAN BE PUT TO SLEEP BY THE KEYBOARD + DISPLAY # PROGRAM. 1) BY ENDIDLE # 2) BY NVSUBUSY # THE BASIC CONVENTION IS THAT ONLY ONE JOB WILL BE PERITTED ASLEEP VIA # THE KEYBOARD + DISPLAY PROGRAM AT A TIME. IF A JOB ATTEMPTS TO GO TO # SLEEP BY MEANS OF (1) OR (2) AND THERE IS ALREADY AJOB ASLEEP THAT WAS # PUT TO SLEEP BY (1) OR (2), THEN AN ABORT IS CAUSED. # # THE CALLING SEQUENCE FOR NVSUB IS # CAF V/N # L TC NVSUB # L+1 RETURN HERE IF OPERATOR HAS INTERVENED # L+2 RETURN HERE AFTER EXECUTION # # A ROUTINE CALLED NVSUBUSY IS PROVIDED (USE IS OPTIONAL) TO PUT # YOUR JOB TO SLEEP UNTIL THE OPERATOR RELEASES THE KEYBOARD + DISPLAY # SYSTEM. NVSUBUSY ALSO TURNS ON THE KEY RELEASE LIGHT. # NVSUBUSY CANNOT BE CALLED FROM ERASABLE OR F/F MEMORY, # SINCE JOBSLEEP AND JOBWAKE CAN HANDLE ONLY FIXED BANKS. # # THE CALLING SEQUENCE IS # CAF WAKEFCADR # TC NVSUBUSY # . # # NVSUBUSY IS INTENDED FOR USE WHEN AN INTERNAL PROGRAM FINDS THE OPERATOR # IS NOT USING THE KEYBOARD + DISPLAY PROGRAM (BY HIS OWN INITIATION). IT IS # NOT INTENDED FOR USE WHEN ONE INTERNAL PROGRAM FINDS ANOTHER INTERNAL # PROGRAM USING THE KEYBOARD + DISPLAY PROGRAM. # # NVSUBUSY ABORTS (WITH CODE 01206) IF A SECOND JOB ATTEMPTS TO GO TO # SLEEP IN PINBALL. IN PARTICULAR, IF AN ATTEMPT IS MAKE TO GO TO NVSUBUSY # WHEN # # 1) DSPLIST NOT= +0. THIS IS THE CASE WHERE THE CAPACITY FO THE DSPLIST # IS EXCEEDED. # 2) CADRSTOR NOT= +0. THIS INDICATES THAT A JOB IS ALREADY USING # Page 382 # ENDIDLE. (+-NZ INDICATES A JOB IS ALREADY ASLEEP DUE TO ENDIDLE.) PRENVBSY CS 2K+3 # SPECIAL ENTRANCE FOR ROUTINES IN FIXED AD Q # BANKS ONLY DESIRING THE FCADR OF (LOC AD FBANK # FROM WHICH THE TC PRENVBSY WAS DONE) -2 NVSUBUSY TC POSTJUMP # TO BE ENTERED. CADR NVSUBSY1 2K+3 OCT 2003 # NVSUBSY1 MUST BE IN BANK 27 OR LOWER, SO IT WILL PUT CALLER TO SLEEP # WITH HIS PROPER SUPERBITS. SETLOC ENDSPMM +1 COUNT 07/PIN NVSUBSY1 TS L TC ISCADR+0 # ABORT IF CADRSTOR NOT= +0. TC ISLIST+0 # ABORT IF DSPLIST NOT= +0. TC RELDSPON CA L TS DSPLIST ENDNVBSY TC JOBSLEEP # NVSBWAIT IS A SPECIAL ENTRANCE FOR ROUTINES IN FIXED BANKS ONLY. IF # SYSTEM IS NOT BUSY, IT EXECUTES V/N AND RETURNS TO L+1 (L= LOC FROM # WHICH THE TC NVSBWAIT WAS DONE). IF SYSTEM IS BUSY, IT PUTS CALLING JOB # TO SLEEP WITH L-1 GOING INTO LIST FOR EVENTUAL WAKING UP WHEN SYSTEM # IS NOT BUSY. SETLOC NVSUBUSY +3 COUNT 02/PIN NVSBWAIT LXCH 7 # ZERO NVMONOPT OPTIONS TS NVTEMP CAF BIT14 MASK MONSAVE1 # EXTERNAL MONITOR BIT AD DSPLOCK CCS A TCF NVSBWT1 # BUSY TCF NVSBCOM # FREE. NVSUB WILL SAVE L+1 FOR RETURN # AFTER EXECUTION. NVSBWT1 INCR Q # L+2. PRENVBSY WILL PUT L-1 INTO LIST AND TCF PRENVBSY # GO TO SLEEP. # RELDSP IS USED BY VBPROC, VBTERM, VBRQEXEC, VBRQWAIT, VBRELDSP, EXTENDED # VERB DISPATCHER, VBRESEQ, RECALTST. # # RELDSP1 IS USED BY MONITOR SET UP, VBRELDSP. RELDSP XCH Q # SET DSPLOCK TO +0, TURN RELDSP LIGHT # Page 383 TS RELRET # OFF, SEARCH DSPLIST CS BIT14 INHINT MASK MONSAVE1 TS MONSAVE1 # TURN OFF EXTERNAL MONITOR BIT CCS DSPLIST TC +2 TC RELDSP2 # LIST EMPTY CAF ZERO XCH DSPLIST TC JOBWAKE RELDSP2 RELINT CS BIT5 # TURN OFF KEY RELEASE LIGHT EXTEND # (BIT 5 OF CHANNEL 11) WAND DSALMOUT CAF ZERO TS DSPLOCK TC RELRET RELDSP1 XCH Q # SET DSPLOCK TO +0. NO DSPLIST SEARCH. TS RELRET # TURN KEY RLSE LIGHT OFF IF DSPLIST IS # EMPTY. LEAVE KEY RLSE LIGHT ALONE IF # DSPLIST IS NOT EMPTY. CCS DSPLIST TC +2 # + NOT EMPTY. LEAVE KEY RLSE LIGHT ALONE. TC RELDSP2 # +0 EMPTY. TURN OFF KEY RLSE LIGHT CAF ZERO # - NOT EMPTY. LEAVE KEY RLSE LIGHT ALONE TS DSPLOCK TC RELRET ENDPINBF EQUALS # Page 384 # PINTEST IS NEEDED FOR AUTO CHECK OF PINBALL. PINTEST EQUALS LST2FAN # Page 385 # VBTSTLTS TURNS ON ALL DISPLAY PANEL LIGHTS. AFTER 5 SEC, IT TURNS # OFF THE CAUTION AND STATUS LIGHTS. SETLOC ENDNVSB1 +1 COUNT 41/PIN VBTSTLTS TC BANKCALL CADR CHKPOOH INHINT CS BIT1 # SET BIT 1 OF IMODES33 SO IMUMON WON'T MASK IMODES33 # TURN OUT ANY LAMPS. AD BIT1 TS IMODES33 CAF TSTCON1 # TURN ON UPLINK ACTIVITY, TEMP, KEY RLSE, EXTEND # V/N FLASH, OPERATOR ERROR. WOR DSALMOUT CAF TSTCON2 # TURN ON NO ATT, GIMBAL LOCK, TRACKER, TS DSPTAB +11D # PROG ALM. CAF BIT10 # TURN ON TEST ALARM OUTBIT EXTEND WOR CHAN13 CAF TEN TSTLTS1 TS ERCNT CS FULLDSP INDEX ERCNT TS DSPTAB CCS ERCNT TC TSTLTS1 CS FULLDSP1 TS DSPTAB +1 # TURN ON 3 PLUS SIGNS TS DSPTAB +4 TS DSPTAB +6 CAF ELEVEN TS NOUT CAF SHOLTS TC WAITLIST EBANK= DSPTAB 2CADR TSTLTS2 TC ENDOFJOB # DSPLOCK IS LEFT BUSY (FROM KEYBOARD # ACTION) UNTIL TSTLTS3 TO INSURE THAT # LIGHTS TEST WILL BE SEEN. FULLDSP OCT 05675 # DISPLAY ALL 8'S FULLDSP1 OCT 07675 # DISPLAY ALL 8'S AND + TSTCON1 OCT 00175 # Page 386 # UPLINK ACTIVITY, TEMP, KEY RLSE, # V/N FLASH, OPERATOR ERROR. TSTCON2 OCT 40650 # DSPTAB+11D BITS 4,6,8,9, # NO ATT, GIMBAL LOCK, TRACKER, PROG ALM. TSTCON3 OCT 00115 # CHAN 11 BITS 1, 3, 4, 7. # UPLINK ACITIVY, TEMP, OPERATOR ERROR. SHOLTS OCT 764 # 5 SEC TSTLTS2 CAF CHRPRIO # CALLED BY WAITLIST TC NOVAC EBANK= DSPTAB 2CADR TSTLTS3 TC TASKOVER TSTLTS3 CS TSTCON3 # CALLED BY EXECUTIVE INHINT EXTEND # TURN OFF UPLINK ACTIVITY, TEMP, WAND DSALMOUT # OPERATOR ERROR. CS BIT10 # TURN OFF TEST ALARM OUTBIT EXTEND WAND CHAN13 CAF BIT4 # MAKE NO ATT FOLLOW BIT 4 OF CHANNEL 12 EXTEND # (NO TT LIGHT ON IF IN COARSE ALIGN) RAND CHAN12 AD BIT15 # TURN OFF AUTO, HOLD, FREE, SPARE, TS DSPTAB +11D # GIMBAL LOCK, SPARE, TRACKER, PROG ALM CS 13-11,1 # SET BITS TO INDICATE ALL LAMPS OUT. TEST MASK IMODES33 # LIGHTS COMPLETE. AD PRIO16 TS IMODES33 CS OCT55000 MASK IMODES30 AD PRIO15 # 15000. TS IMODES30 CS OPTMODES MASK BIT7 ADS OPTMODES RELINT TC BANKCALL # REDISPLAY C(MODREG) CADR DSPMM TC KILMONON # TURN ON KILL MONITOR BIT. TC FLASHOFF # TURN OFF V/N FLASH. TC POSTJUMP # DOES RELDSP AND GOES TO PINBRNCH IF CADR TSTLTS4 # ENDIDLE IS AWAITING OPERATOR RESPONSE. # Page 387 13-11,1 OCT 16001 OCT55000 OCT 55000 ENDPINS2 EQUALS # Page 388 # ERROR LIGHT RESET (RSET) TURNS OFF: # UPLINK ACTIVITY, AUTO, HOLD, FREE, OPERATOR ERROR, # PROG ALM, TRACKER FAIL. # # LEAVES GIMBAL LOCK AND NO ATT ALONE. # # IT ALSO ZEROS THE `TEST ALARM' OUT BIT, WHICH TURNS OFF STBY, RESTART. # IT ALSO SETS `CAUTION RESET' TO 1. # IT ALSO FORCES BIT 12 OF ALL DSPTAB ENTRIES TO 1. SETLOC DOPROC +2 COUNT 40/PIN ERROR XCH 21/22REG # RESTORE ORIGINAL C(DSPLOCK). THUS ERROR TS DSPLOCK # LIGHT RESET LEAVES DSPLOCK CHANGED. INHINT CAF BIT10 # TURN ON `CAUTION RESET' OUTBIT EXTEND WOR DSALMOUT # BIT10 CHAN 11 CAF GL+NOATT # LEAVE GIMBAL LOCK AND NO ATT INTACT, MASK DSPTAB +11D # TURNING OFF AUTO, HOLD, FREE, AD BIT15 # PROG ALARM, AND TRACKER. TS DSPTAB +11D CS PRIO16 # RESET FAIL BITS WHICH GENERATE PROG MASK IMODES33 # ALARM SO THAT IF THE FAILURE STILL AD PRIO16 # EXISTS, THE ALARM WILL COME BACK. TS IMODES33 CS BIT10 MASK IMODES30 AD BIT10 TS IMODES30 CS OPTMODES MASK BIT7 ADS OPTMODES CS BIT10 # TURN OFF 'TEST ALARM' OUTBIT EXTEND WAND CHAN13 CS ERCON # TURN OFF UPLINK ACTIVITY, EXTEND # OPERATOR ERROR. WAND DSALMOUT TSTAB CAF BINCON # (DEC 10) TS ERCNT # ERCNT = COUNT INHINT INDEX ERCNT CCS DSPTAB AD ONE TC ERPLUS AD ONE ERMINUS CS A MASK NOTBIT12 TC ERCOM # Page 389 ERPLUS CS A MASK NOTBIT12 CS A # MIGHT WANT TO RESET CLPASS, DECBRNCH, ERCOM INDEX ERCNT # ETC. TS DSPTAB RELINT CCS ERCNT TC TSTAB +1 CAF ZERO TS FAILREG TS FAILREG +1 TS FAILREG +2 TS SFAIL TC ENDOFJOB ERCON OCT 104 # CHAN 11 BITS 3,7. # UPLINK ACTIVITY, AND OPERATOR ERROR. BITS6,8 OCT 240 GL+NOATT OCT 00050 # NO ATT AND GIMBAL LOCK LAMPS NOTBIT12 OCT 73777 ENDPINS1 EQUALS SBANK= LOWSUPER ================================================ FILE: Comanche055/PINBALL_NOUN_TABLES.agc ================================================ # Copyright: Public domain. # Filename: PINBALL_NOUN_TABLES.agc # Purpose: Part of the source code for Comanche, build 055. It # is part of the source code for the Command Module's # (CM) Apollo Guidance Computer (AGC), Apollo 11. # Assembler: yaYUL # Reference: pp. 268-284 # Contact: Ron Burkey , # Fabrizio Bernardini # Website: http://www.ibiblio.org/apollo. # Mod history: 2009-05-18 FB Transcription Batch 3 Assignment. # 2009-05-23 RSB In NNTYPTAB, corrected former 13 SPARE. # # The contents of the "Comanche055" files, in general, are transcribed # from scanned documents. # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. April 1, 1969. # # This AGC program shall also be referred to as Colossus 2A # # Prepared by # Massachusetts Institute of Technology # 75 Cambridge Parkway # Cambridge, Massachusetts # # under NASA contract NAS 9-4065. # # Refer directly to the online document mentioned above for further # information. Please report any errors to info@sandroid.org. # Page 268 # THE FOLLOWING REFERS TO THE NOUN TABLES # COMPONENT CODE NUMBER INTERPRETATION # 00000 1 COMPONENT # 00001 2 COMPONENT # 00010 3 COMPONENT # X1XXX BIT 4 = 1. DECIMAL ONLY # 1XXXX BIT 5 = 1. NO LOAD # END OF COMPONENT CODE NUMBERS # SF ROUTINE CODE NUMBER INTERPRETATION # 00000 OCTAL ONLY # 00001 STRAIGHT FRACTIONAL # 00010 CDU DEGREES (XXX.XX) # 00011 ARITHMETIC SF # 00100 ARITH DP1 OUT(MULT BY 2EXP14 AT END) IN(STRAIGHT) # 00101 ARITH DP2 OUT(STRAIGHT) IN(SL 7 AT END) # 00110 Y OPTICS DEGREES (XX.XXX MAX 89.999) # 00111 ARITH DP3 OUT ( SL 7 AT END) IN ( STRAIGHT) # 01000 WHOLE HOURS IN R1, WHOLE MINUTES (MOD 60) IN R2, # SECONDS (MOD 60) 0XX.XX IN R3. *** ALARMS IF USED WITH OCTAL # 01001 MINUTES (MOD 60) IN D1D2, D3 BLANK, SECONDS (MOD 60) IN D4D5 # LIMITS TO 59B59 IF MAG EXCEEDS THIS VALUE. # ALARMS IF USED WITH OCTAL ******** IN (ALARM) # 01010 ARITH DP4 OUT (STRAIGHT) IN (SL 3 AT END) # 01011 ARITH1 SF OUT(MULT BY 2EXP14 AT END) IN(STRAIGHT) # 01100 2 INTEGERS IN D1D2, D4D5, D3 BLANK. # ALARMS IF USED WITH OCTAL ******** IN (ALARM) # 01101 DP STRAIGHT FRACTIONAL # END OF SF ROUTINE CODE NUMBERS # SF CONSTANT CODE NUMBER INTERPRETATION # 00000 WHOLE USE ARITH # 00000 DP TIME SEC (XXX.XX SEC) USE ARITHDP1 # 00001 SPARE # 00010 CDU DEGREES USE CDU DEGREES # 00010 Y OPTICS DEGREES USE Y OPTICS DEGREES # 00011 DP DEGREES (90) XX.XXX DEG USE ARITHDP3 # 00100 DP DEGREES (360) XXX.XX DEG USE ARITHDP4 # 00101 DEGREES (180) XXX.XX DEG USE ARITH # 00110 WEIGHT2 (XXXXX. LBS) USE ARITH1 # 00111 POSITION5 (XXX.XX NAUTICAL MILES) # USE ARITHDP3 # 01000 POSITION4 (XXXX.X NAUTICAL MILES) # Page 269 # USE ARITHDP3 # 01001 VELOCITY2 (XXXXX. FT/SEC) USE ARITHDP4 # 01010 VELOCITY3 (XXXX.X FT/SEC) USE ARITHDP3 # 01011 ELEVATION DEGREES (89.999MAX) USE ARITH # 01100 TRIM DEGREES (XXX.XX DEG) USE ARITH # 01101 INERTIA (XXXXXBB. SLUG FT FT) USE ARITH # 01101 THRUST MOMENT (XXXXXBB.FT LBS) USE ARITH # 01110 VELOCITY/2VS (XXXXX. FT/SEC)USE ARITHDP4 # 01111 POSITION6 (XXXX.X NAUT MI) USE ARITHDP3 # 10000 DRAG ACCELERATION (XXX.XX G)USE ARITHDP2 # 10001 POSITION8 (XXXX.X NAUT MI) USE ARITHDP3 # 10010 POSITION9 (XXXXX. FT) USE ARITHDP3 # 10011 VELOCITY4 (XXXX.X FT/SEC) USE ARITHDP2 # END OF SF CONSTANT CODE NUMBERS # FOR GREATER THAN SINGLE PRECISION SCALES, PUT ADDRESS IN MAJOR PART INTO # NOUN TABLES. # OCTAL LOADS PLACE +0 INTO MAJOR PART, DATA INTO MINOR PART. # OCTAL DISPLAYS SHOW MINOR PART ONLY. # TO GET AT BOTH MAJOR AND MINOR PARTS(IN OCTAL), USE NOUN 01. # A NOUN MAY BE DECLARED :DECIMAL ONLY: BY MAKING BIT4=1 OF ITS COMPONENT # CODE NUMBER. IF THIS NOUN IS USED WITH ANY OCTAL DISPLAY VERB, OR IF # DATA IS LOADED IN OCTAL, IT ALARMS. # IN LOADING AN :HOURS, MINUTES, SECONDS: NOUN, ALL 3 WORDS MUST BE # LOADED, OR ALARM. # ALARM IF AN ATTEMPT IS MADE TO LOAD :SPLIT MINUTES/SECONDS: (MMBSS). # THIS IS USED FOR DISPLAY ONLY. # Page 270 # THE FOLLOWING ROUTINES ARE FOR READING THE NOUN TABLES AND THE SF TABLES # (WHICH ARE IN A SEPARATE BANK FROM THE REST OF PINBALL). THESE READING # ROUTINES ARE IN THE SAME BANK AS THE TABLES. THEY ARE CALLED BY DXCH Z. # LODNNTAB LOADS NNADTEM WITH THE NNADTAB ENTRY, NNTYPTEM WITH THE # NNTYPTAB ENTRY. IF THE NOUN IS MIXED, IDADITEM IS LOADED WITH THE FIRST # IDADDTAB ENTRY, IDAD2TEM THE SECOND IDADDTAB ENTRY, IDAD3TEM THE THIRD # IDADDTAB ENTRY, RUTMXTEM WITH THE RUTMXTAB ENTRY. MIXBR IS SET FOR # MIXED OR NORMAL NOUN. BANK 06 SETLOC PINBALL3 BANK COUNT 42/NOUNS LODNNTAB DXCH IDAD2TEM # SAVE RETURN INFO IN IDAD2TEM, IDAD3TEM. INDEX NOUNREG CAF NNADTAB TS NNADTEM INDEX NOUNREG CAF NNTYPTAB TS NNTYPTEM CS NOUNREG AD MIXCON EXTEND BZMF LODMIXNN # NOUN NUMBER G/E FIRST MIXED NOUN CAF ONE # NOUN NUMBER L/ FIRST MIXED NOUN TS MIXBR # NORMAL. +1 INTO MIXBR. TC LODNLV LODMIXNN CAF TWO # MIXED. +2 INTO MIXBR. TS MIXBR INDEX NOUNREG CAF RUTMXTAB -40D # FIRST MIXED NOUN = 40. TS RUTMXTEM CAF LOW10 MASK NNADTEM TS Q # TEMP INDEX A CAF IDADDTAB TS IDAD1TEM # LOAD IDAD1TEM WITH FIRST IDADDTAB ENTRY EXTEND INDEX Q # LOAD IDAD2TEM WITH 2ND IDADDTAB ENTRY DCA IDADDTAB +1 # LOAD IDAD3TEM WITH 3RD IDADDTAB ENTRY. LODNLV DXCH IDAD2TEM # PUT RETURN INFO INTO A, L. DXCH Z MIXCON = OCT50 # FIRST MIXED NOUN =40. (DEC 40) # GTSFOUT LOADS SFTEMP1, SFTEMP2 WITH THE DP SFOUTAB ENTRIES. # Page 271 GTSFOUT DXCH SFTEMP1 # 2X(SFCONUM) ARRIVES IN SFTEMP1. EXTEND INDEX A DCA SFOUTAB SFCOM DXCH SFTEMP1 DXCH Z # GTSFIN LOADS SFTEMP1, SFTEMP2 WITH THE DP SFINTAB ENTRIES. GTSFIN DXCH SFTEMP1 # 2X(SFCONUM) ARIVES IN SFTEMP1. EXTEND INDEX A DCA SFINTAB TCF SFCOM # NN NORMAL NOUNS NNADTAB OCT 00000 # 00 NOT IN USE OCT 40000 # 01 SPECIFY MACHINE ADDRESS (FRACTIONAL) OCT 40000 # 02 SPECIFY MACHINE ADDRESS (WHOLE) OCT 40000 # 03 SPECIFY MACHINE ADDRESS (DEGREES) OCT 0 # 04 SPARE ECADR DSPTEM1 # 05 ANGULAR ERROR/DIFFERENCE ECADR OPTION1 # 06 OPTION CODE ECADR XREG # 07 ECADR OF WORD TO BE MODIFIED # ONES FOR BITS TO BE MODIFIED # 1 TO SET OR 0 TO RESET SELECTED BITS ECADR ALMCADR # 08 ALARM DATA ECADR FAILREG # 09 ALARM CODES OCT 77776 # 10 CHANNEL TO BE SPECIFIED ECADR TCSI # 11 TIG OF CSI (HRS,MIN,SEC) ECADR OPTIONX # 12 OPTION CODE # (USED BY EXTENDED VERBS ONLY) ECADR TCDH # 13 TIG OF CDH (HRS,MIN,SEC) OCT 0 # 14 SPARE OCT 77777 # 15 INCREMENT MACHINE ADDRESS ECADR DSPTEMX # 16 TIME OF EVENT (HRS,MIN,SEC) ECADR CPHIX # 17 ASTRONAUT TOTAL ATTITUDE ECADR THETAD # 18 AUTO MANEUVER BALL ANGLES ECADR THETAD # 19 BYPASS ATTITUDE TRIM MANEUVER ECADR CDUX # 20 ICDU ANGLES ECADR PIPAX # 21 PIPAS ECADR THETAD # 22 NEW ICDU ANGLES OCT 00000 # 23 SPARE ECADR DSPTEM2 +1 # 24 DELTA TIME FOR AGC CLOCK(HRS,MIN,SEC) ECADR DSPTEM1 # 25 CHECKLIST # (USED WITH PLEASE PERFORM ONLY) ECADR DSPTEM1 # 26 PRIO/DELAY, ADRES, BBCON ECADR SMODE # 27 SELF TEST ON/OFF SWITCH # Page 272 OCT 0 # 28 SPARE ECADR DSPTEM1 # 29 XSM LAUNCH AZIMUTH ECADR DSPTEM1 # 30 TARGET CODES ECADR DSPTEM1 # 31 TIME OF LANDING SITE (HRS,MIN,SEC) ECADR -TPER # 32 TIME TO PERIGEE (HRS,MIN,SEC) ECADR TIG # 33 TIME OF IGNITION (HRS,MIN,SEC) ECADR DSPTEM1 # 34 TIME OF EVENT (HRS,MIN,SEC) ECADR TTOGO # 35 TIME TO GO TO EVENT (HRS,MIN,SEC) ECADR TIME2 # 36 TIME OF AGC CLOCK (HRS,MIN,SEC) ECADR TTPI # 37 TIG OF TPI (HRS,MIN,SEC) ECADR TET # 38 TIME OF STATE VECTOR ECADR T3TOT4 # 39 DELTA TIME TO TRANSFER (HRS,MIN,SEC) # END OF NNADTAB FOR NORMAL NOUNS # NN MIXED NOUNS OCT 64000 # 40 TIME TO IGNITION/CUTOFF # VG # DELTA V (ACCUMULATED) OCT 02003 # 41 TARGET AZIMUTH # ELEVATION OCT 24006 # 42 APOGEE # PERIGEE # DELTA V (REQUIRED) OCT 24011 # 43 LATITUDE # LONGITUDE # ALTITUDE OCT 64014 # 44 APOGEE # PERIGEE # TFF OCT 64017 # 45 MARKS (VHF - OPTICS) # TTI OF NEXT BURN # MGA OCT 02022 # 46 AUTOPILOT CONFIGURATION OCT 22025 # 47 THIS VEHICLE WEIGHT # OTHER VEHICLE WEIGHT OCT 22030 # 48 PITCH TRIM # YAW TRIM OCT 24033 # 49 DELTA R # DELTA V # VHF OR OPTICS CODE OCT 64036 # 50 SPLASH ERROR # PERIGEE # TFF OCT 22041 # 51 S-BAND ANTENNA PITCH # YAW OCT 00044 # 52 CENTRAL ANGLE OF ACTIVE VEHICLE OCT 24047 # 53 RANGE # RANGE RATE # PHI # Page 273 OCT 24052 # 54 RANGE # RANGE RATE # THETA OCT 24055 # 55 PERIGEE CODE # ELEVATION ANGLE # CENTRAL ANGLE OCT 22060 # 56 REENTRY ANGLE, # DELTA V OCT 20063 # 57 DELTA R OCT 24066 # 58 PERIGEE ALT # DELTA V TPI # DELTA V TPF OCT 24071 # 59 DELTA VELOCITY LOS OCT 24074 # 60 GMAX # VPRED # GAMMA EI OCT 24077 # 61 IMPACT LATITUDE # IMPACT LONGITUDE # HEADS UP/DOWN OCT 24102 # 62 INERTIAL VEL MAG (V1) # ALT RATE CHANGE (HDOT) # ALT ABOVE PAD RADIUS (H) OCT 64105 # 63 RANGE 297,431 TO SPLASH (RTGO) # PREDICTED INERT VEL (VIO) # TIME TO GO TO 297,431 (TTE) OCT 24110 # 64 DRAG ACCELERATION # INERTIAL VELOCITY (VI) # RANGE TO SPLASH OCT 24113 # 65 SAMPLED AGC TIME (HRS,MIN,SEC) # (FETCHED IN INTERRUPT) OCT 24116 # 66 COMMAND BANK ANGLE (BETA) # CROSS RANGE ERROR # DOWN RANGE ERROR OCT 24121 # 67 RANGE TO TARGET # PRESENT LATITUDE # PRESENT LONGITUDE OCT 24124 # 68 COMMAND BANK ANGLE (BETA) # INERTIAL VELOCITY (VI) # ALT RATE CHANGE (RDOT) OCT 24127 # 69 BETA # DL # VL OCT 04132 # 70 STAR CODE # LANDMARK DATA # HORIZON DATA OCT 04135 # 71 STAR CODE # LANDMARK # HORIZON OCT 24140 # 72 DELT ANG # DELT ALT # Page 274 # SEARCH OPTION OCT 04143 # 73 ALTITUDE # VELOCITY # FLIGHT PATH ANGLE OCT 04146 # 74 COMMAND BANK ANGLE (BETA) # INERTIAL VELOCITY (VI) # DRAG ACCELERATION OCT 64151 # 75 DELTA ALTITUDE CDH # DELTA TIME (CDH-CSI OR TPI-CDH) # DELTA TIME (TPI-CDH OR TPI-NOMTPI) OCT 0 # 76 SPARE OCT 0 # 77 SPARE OCT 0 # 78 SPARE OCT 0 # 79 SPARE OCT 64170 # 80 TIME TO IGNITION/CUTOFF # VG # DELTA V (ACCUMULATED) OCT 24173 # 81 DELTA V (LV) OCT 24176 # 82 DELTA V (LV) OCT 24201 # 83 DELTA V (BODY) OCT 24204 # 84 DELTA V (OTHER VEHICLE) OCT 24207 # 85 VG (BODY) OCT 24212 # 86 DELTA V (LV) OCT 02215 # 87 MARK DATA SHAFT # TRUNION OCT 24220 # 88 HALF UNIT SUN OR PLANET VECTOR OCT 24223 # 89 LANDMARK LATITUDE # LONGITUDE/2 # ALTITUDE OCT 24226 # 90 Y # Y DOT # PSI OCT 02231 # 91 OCDU ANGLES SHAFT # TRUNION OCT 02234 # 92 NEW OPTICS ANGLES SHAFT # TRUNION OCT 04237 # 93 DELTA GYRO ANGLES OCT 02242 # 94 NEW OPTICS ANGLES SHAFT # TRUNNION OCT 04245 # 95 PREFERRED ATTITUDE ICDU ANGLES OCT 04250 # 96 +X-AXIS ATTITUDE ICDU ANGLES OCT 04253 # 97 SYSTEM TEST INPUTS OCT 04256 # 98 SYSTEM TEST RESULTS OCT 24261 # 99 RMS IN POSITION # RMS IN VELOCITY # RMS OPTION # END OF NNADTAB FOR MIXED NOUNS # NN NORMAL NOUNS # Page 275 NNTYPTAB OCT 00000 # 00 NOT IN USE OCT 04040 # 01 3COMP FRACTIONAL OCT 04140 # 02 3COMP WHOLE OCT 04102 # 03 3COMP CDU DEGREES OCT 0 # 04 SPARE OCT 00504 # 05 1COMP DPDEG(360) OCT 02000 # 06 2COMP OCTAL ONLY OCT 04000 # 07 3COMP OCTAL ONLY OCT 04000 # 08 3COMP OCTAL ONLY OCT 04000 # 09 3COMP OCTAL ONLY OCT 00000 # 10 1COMP OCTAL ONLY OCT 24400 # 11 3COMP HMS (DEC ONLY) OCT 02000 # 12 2COMP OCTAL ONLY OCT 24400 # 13 3COMP HMS (DEC ONLY) OCT 0 # 14 SPARE OCT 00000 # 15 1COMP OCTAL ONLY OCT 24400 # 16 3COMP HMS (DEC ONLY) OCT 04102 # 17 3COMP CDU DEG OCT 04102 # 18 3COMP CDU DEG OCT 04102 # 19 3COMP CDU DEG OCT 04102 # 20 3COMP CDU DEGREES OCT 04140 # 21 3COMP WHOLE OCT 04102 # 22 3COMP CDU DEGREES OCT 00000 # 23 SPARE OCT 24400 # 24 3COMP HMS (DEC ONLY) OCT 04140 # 25 3COMP WHOLE OCT 04000 # 26 3COMP OCTAL ONLY OCT 00140 # 27 1COMP WHOLE OCT 00000 # 28 SPARE OCT 20102 # 29 1COMP CDU DEG (DEC ONLY) OCT 04140 # 30 3COMP WHOLE OCT 24400 # 31 3COMP HMS (DEC ONLY) OCT 24400 # 32 3COMP HMS (DEC ONLY) OCT 24400 # 33 3COMP HMS (DEC ONLY) OCT 24400 # 34 3COMP HMS (DEC ONLY) OCT 24400 # 35 3COMP HMS (DEC ONLY) OCT 24400 # 36 3COMP HMS (DEC ONLY) OCT 24400 # 37 3COMP HMS (DEC ONLY) OCT 24400 # 38 3COMP HMS (DEC ONLY) OCT 24400 # 39 3COMP HMS (DEC ONLY) # END OF NNTYPTAB FOR NORMAL NOUNS # NN MIXED NOUNS OCT 24500 # 40 3COMP MIN/SEC, VEL3, VEL3 # (NO LOAD, DEC ONLY) OCT 00542 # 41 2COMP CDU DEG, ELEV DEG OCT 24410 # 42 3COMP POS4, POS4, VEL3 # (DEC ONLY) OCT 20204 # 43 3COMP DPDEG(360), DPDEG(360), POS4 # Page 276 # (DEC ONLY) OCT 00410 # 44 3COMP POS4, POS4, MIN/SEC # (NO LOAD, DEC ONLY) OCT 10000 # 45 3COMP 2INT, MIN/SEC, DPDEG(360) # (NO LOAD, DEC ONLY) OCT 00000 # 46 2COMP OCTAL ONLY FOR EACH OCT 00306 # 47 2COMP WEIGHT2 FOR EACH # (DEC ONLY) OCT 00614 # 48 2COMP TRIM DEG, TRIM DEG # (DEC ONLY) OCT 00510 # 49 3COMP POS4, VEL3, WHOLE # (DEC ONLY) OCT 00417 # 50 3COMP POS6, POS4, MIN/SEC # (NO LOAD, DEC ONLY) OCT 00204 # 51 2COMP DPDEG(360), DPDEG(360) # (DEC ONLY) OCT 00004 # 52 1COMP DPDEG(360) OCT 10507 # 53 3COMP POS5, VEL3, DPDEG(360) # (DEC ONLY) OCT 10507 # 54 3COMP POS5, VEL3, DPDEG(360) # (DEC ONLY) OCT 10200 # 55 3COMP WHOLE, DPDEG(360), DPDEG(360) # (DEC ONLY) OCT 00444 # 56 2COMP DPDEG(360), VEL2 # (DEC ONLY) OCT 00010 # 57 1COMP POS4 # (DEC ONLY) OCT 24510 # 58 3COMP POS4, VEL3, VEL3 # (DEC ONLY) OCT 24512 # 59 3COMP VEL3 FOR EACH # (DEC ONLY) OCT 10440 # 60 3COMP WHOLE, VEL2, DPDEG(360) # (DEC ONLY) OCT 00204 # 61 3COMP DPDEG(360), DPDEG(360), WHOLE # (DEC ONLY) OCT 20451 # 62 3COMP VEL2, VEL2, POS4 # (DEC ONLY) OCT 00457 # 63 3COMP POS6, VEL2, MIN/SEC # (NO LOAD, DEC ONLY) OCT 36460 # 64 3COMP DRAG ACCEL, VEL2, POS6 # (DEC ONLY) OCT 00000 # 65 3COMP HMS (DEC ONLY) OCT 37044 # 66 3COMP DPDEG(360), POS8, POS6 # (DEC ONLY) OCT 10217 # 67 3COMP POS6, DPDEG(360), DPDEG(360) # (DEC ONLY) OCT 34444 # 68 3COMP DPDEG(360), VEL2, VEL/2VS # (DEC ONLY) OCT 35004 # 69 3COMP DPDEG(360), DRAG ACCEL,VEL/2VS # (DEC ONLY) # Page 277 OCT 00000 # 70 3COMP OCTAL ONLY FOR EACH OCT 0 # 71 3COMP OCTAL ONLY FOR EACH OCT 00404 # 72 3COMP DPDEG(360), POS4, WHOLE # (DEC ONLY) OCT 10450 # 73 3COMP POS4, VEL2, DPDEG(360) OCT 40444 # 74 3COMP DPDEG(360), VEL2, DRAG ACCEL OCT 00010 # 75 3COMP POS4, MIN/SEC, MIN/SEC # # (NO LOAD, DEC ONLY) OCT 0 # 76 SPARE OCT 0 # 77 SPARE OCT 0 # 78 SPARE OCT 0 # 79 SPARE OCT 22440 # 80 3COMP MIN/SEC, VEL2, VEL2 # (NO LOAD, DEC ONLY) OCT 24512 # 81 3COMP VEL3 FOR EACH # (DEC ONLY) OCT 24512 # 82 3COMP VEL3 FOR EACH # (DEC ONLY) OCT 24512 # 83 3COMP VEL3 FOR EACH # (DEC ONLY) OCT 24512 # 84 3COMP VEL3 FOR EACH # (DEC ONLY) OCT 24512 # 85 3COMP VEL3 FOR EACH # (DEC ONLY) OCT 22451 # 86 3COMP VEL2 FOR EACH # (DEC ONLY) OCT 00102 # 87 2COMP CDU DEG, Y OPTICS DEG OCT 0 # 88 3COMP FRAC FOR EACH # (DEC ONLY) OCT 16143 # 89 3COMP DPDEG(90), DPDEG(90), POS5 # (DEC ONLY) OCT 10507 # 90 3COMP POS5, VEL3, DEPDEG(360) # (DEC ONLY) OCT 00102 # 91 2COMP CDUDEG, YOPTICS DEG OCT 00102 # 92 2COMP CDUDEG, YOPTICS DEG OCT 06143 # 93 3COMP DPDEG(90) FOR EACH OCT 00102 # 94 2COMP CDUDEG, YOPTICS DEG OCT 04102 # 95 3COMP CDU DEG FOR EACH OCT 04102 # 96 3COMP CDU DEG FOR EACH OCT 00000 # 97 3COMP WHOLE FOR EACH OCT 00000 # 98 3COMP WHOLE, FRAC, WHOLE OCT 01162 # 99 3COMP POS9, VEL4, WHOLE # (DEC ONLY) # END OF NNTYPTAB FOR MIXED NOUNS SFINTAB OCT 00006 # WHOLE, DP TIME (SEC) OCT 03240 OCT 00000 # SPARE OCT 00000 # Page 278 OCT 00000 # CDU DEGREES, Y OPTICS DEGREES OCT 00000 # (SFCONS IN DEGINSF, OPTDEGIN) OCT 10707 # DP DEGREES (90) OCT 03435 # UPPED BY 1 OCT 13070 # DP DEGREES (360)(POINT BETWN BITS 11-12) OCT 34345 # UPPED BY 1 OCT 00005 # DEGREES (180) OCT 21616 OCT 26113 # WEIGHT2 OCT 31713 OCT 00070 # POSITION5 OCT 20460 OCT 01065 # POSITION4 OCT 05740 OCT 11414 # VELOCITY2 (POINT BETWN BITS 11-12) OCT 31463 OCT 07475 # VELOCITY3 OCT 16051 OCT 00001 # ELEVATION DEGREES OCT 03434 OCT 00002 # TRIM DEGREES OCT 22245 OCT 00014 # INERTIA, THRUST MOMENT OCT 35607 OCT 07606 # VELOCITY/2VS OCT 06300 OCT 16631 # POSITION 6 OCT 11307 OCT 12000 # DRAG ACCELERATION (POINT BETWN BITS 7-8) OCT 00000 OCT 27176 # POSITION 8 OCT 14235 2DEC 30480 B-19 # POSITION 9 2DEC 30.48 B-7 # VELOCITY4 # END OF SFINTAB SFOUTAB OCT 05174 # WHOLE, DP TIME (SEC) OCT 13261 OCT 00000 # SPARE OCT 00000 OCT 00000 # CDU DEGREES, Y OPTICS DEGREES OCT 00000 # (SFCONS IN DEGOUTSF, OPTDEGOUT) OCT 00714 # DP DEGREES (90) (POINT BETWN BITS 7-8) OCT 31463 OCT 13412 # DP DEGREES (360) OCT 07534 OCT 05605 # DEGREES (180) # Page 279 OCT 03656 OCT 00001 # WEIGHT2 OCT 16170 OCT 00441 # POSITION5 OCT 34306 OCT 07176 # POSITION4 OCT 21603 OCT 15340 # VELOCITY2 OCT 15340 OCT 01031 # VELOCITY3 (POINT BETWN BITS 7-8) OCT 21032 OCT 34631 # ELEVATION DEGREES OCT 23146 OCT 14340 # TRIM DEGREES OCT 24145 OCT 02363 # INERTIA, THRUST MOMENT OCT 03721 OCT 20373 # VELOCITY/ZVS OCT 02122 OCT 00424 # POSITION 6 (POINT BETWN BITS 7-8) OCT 30446 OCT 00631 # DRAG ACCELERATION OCT 23146 OCT 00260 # POSITION 8 OCT 06213 2DEC 17.2010499 B-7 # POSITION 9 2DEC .032808399 # VELOCITY4 # END OF SFOUTAB # NN SF CONSTANT SF ROUTINE IDADDTAB ECADR TTOGO # 40 MIN/SEC M/S ECADR VGDISP # 40 VEL3 DP3 ECADR DVTOTAL # 40 VEL3 DP3 ECADR DSPTEM1 # 41 CDU DEG CDU ECADR DSPTEM1 +1 # 41 ELEV DEG ARTH OCT 0 # 41 SPARE COMPONENT ECADR HAPO # 42 POS4 DP3 ECADR HPER # 42 POS4 DP3 ECADR VGDISP # 42 VEL3 DP3 ECADR LAT # 43 DPDEG(360) DP4 ECADR LONG # 43 DPDEG(360) DP4 ECADR ALT # 43 POS4 DP3 ECADR HAPOX # 44 POS4 DP3 ECADR HPERX # 44 POS4 DP3 ECADR TFF # 44 MIN/SEC M/S ECADR VHFCNT # 45 2INT 2INT # Page 280 ECADR TTOGO # 45 MIN/SEC M/S ECADR +MGA # 45 DPDEG(360) DP4 ECADR DAPDATR1 # 46 OCTAL ONLY OCT ECADR DAPDATR2 # 46 OCATAL ONLY OCT OCT 0 # 46 SPARE COMPONENT ECADR CSMMASS # 47 WEIGHT2 ARTH1 ECADR LEMMASS # 47 WEIGHT2 ARTH1 OCT 00000 # 47 SPARE COMPONENT ECADR PACTOFF # 48 TRIM DEG ARTH ECADR YACTOFF # 48 TRIM DEG ARTH OCT 00000 # 48 SPARE COMPONENT ECADR N49DISP # 49 POS4 DP3 ECADR N49DISP +2 # 49 VEL3 DP3 ECADR N49DISP +4 # 49 WHOLE ARTH ECADR RSP-RREC # 50 POS6 DP3 ECADR HPERX # 50 POS4 DP3 ECADR TFF # 50 MIN/SEC M/S ECADR RHOSB # 51 DPDEG(360) ECADR GAMMASB # 51 DPDEG(360) DP4 OCT 0 # 51 SPARE COMPONENT ECADR ACTCENT # 52 DPDEG(360) DP4 OCT 00000 # 52 SPARE COMPONENT OCT 00000 # 52 SPARE COMPONENT ECADR RANGE # 53 POS5 DP1 ECADR RRATE # 53 VEL3 DP3 ECADR RTHETA # 53 DPDEG(360) DP4 ECADR RANGE # 54 POS5 DP1 ECADR RRATE # 54 VEL3 DP3 ECADR RTHETA # 54 DPDEG(360) DP4 ECADR NN1 # 55 WHOLE ARTH ECADR ELEV # 55 DPDEG(360) DP4 ECADR CENTANG # 55 DPDEG(360) DP4 ECADR RTEGAM2D # 56 DPDEG(360) DP4 ECADR RTEDVD # 56 VEL2 DP4 OCT 0 # 56 SPARE COMPONENT ECADR DELTAR # 57 POS4 DP3 OCT 0 # 57 SPARE COMPONENT OCT 0 # 57 SPARE COMPONENT ECADR POSTTPI # 58 POS4 DP3 ECADR DELVTPI # 58 VEL3 DP3 ECADR DELVTPF # 58 VEL3 DP3 ECADR DVLOS # 59 VEL3 DP3 ECADR DVLOS +2 # 59 VEL3 DP3 ECADR DVLOS +4 # 59 VEL3 DP3 ECADR GMAX # 60 WHOLE ARTH ECADR VPRED # 60 VEL2 DP4 ECADR GAMMAEI # 60 DPDEG(360) DP4 ECADR LAT(SPL) # 61 DPDEG(360) DP4 ECADR LNG(SPL) # 61 DPDEG(360) DP4 ECADR HEADSUP # 61 WHOLE ARTH # Page 281 ECADR VMAGI # 62 VEL2 DP4 ECADR HDOT # 62 VEL2 DP4 ECADR ALTI # 62 POS4 DP3 ECADR RTGO # 63 POS6 DP3 ECADR VIO # 63 VEL2 DP4 ECADR TTE # 63 MIN/SEC M/S ECADR D # 64 DRAG ACCEL DP2 ECADR VMAGI # 64 VEL2 DP4 ECADR RTGON64 # 64 POS6 DP3 ECADR SAMPTIME # 65 HMS (MIXED ONLY TO KEEP CODE 65) HMS ECADR SAMPTIME # 65 HMS HMS ECADR SAMPTIME # 65 HMS HMS ECADR ROLLC # 66 DPDEG(360) DP4 ECADR XRNGERR # 66 POS8 DP3 ECADR DNRNGERR # 66 POS6 DP3 ECADR RTGON67 # 67 POS6 DP3 ECADR LAT # 67 DPDEG(360) DP4 ECADR LONG # 67 DPDEG(360) DP4 ECADR ROLLC # 68 DPDEG(360) DP4 ECADR VMAGI # 68 VEL2 DP4 ECADR RDOT # 68 VEL/2VS DP4 ECADR ROLLC # 69 DPDEG(360) DP4 ECADR Q7 # 69 DRAG ACCEL DP2 ECADR VL # 69 VEL/2VS DP4 ECADR STARCODE # 70 OCTAL ONLY OCT ECADR LANDMARK # 70 OCTAL ONLY OCT ECADR HORIZON # 70 OCTAL ONLY OCT ECADR STARCODE # 71 OCTAL ONLY OCT ECADR LANDMARK # 71 OCTAL ONLY OCT ECADR HORIZON # 71 OCTAL ONLY OCT ECADR THETZERO # 72 DPDEG(360) DP4 ECADR DELHITE # 72 POS4 DP3 ECADR OPTION2 # 72 WHOLE ARTH ECADR P21ALT # 73 POS4 DP3 ECADR P21VEL # 73 VEL2 DP4 ECADR P21GAM # 73 DPDEG(360) DP4 ECADR ROLLC # 74 DPDEG(360) DP4 ECADR VMAGI # 74 VEL2 DP4 ECADR D # 74 DRAG ACCEL DP2 ECADR DIFFALT # 75 POS4 DP3 ECADR T1TOT2 # 75 MIN/SEC M/S ECADR T2TOT3 # 75 MIN/SEC M/S OCT 0 # 76 SPARE OCT 0 # 76 SPARE OCT 0 # 76 SPARE OCT 0 # 77 SPARE OCT 0 # 77 SPARE OCT 0 # 77 SPARE OCT 0 # 78 SPARE OCT 0 # 78 SPARE # Page 282 OCT 0 # 78 SPARE OCT 0 # 79 SPARE OCT 0 # 79 SPARE OCT 0 # 79 SPARE ECADR TTOGO # 80 MIN/SEC M/S ECADR VGDISP # 80 VEL2 DP4 ECADR DVTOTAL # 80 VEL2 DP4 ECADR DELVLVC # 81 VEL3 DP3 ECADR DELVLVC +2 # 81 VEL3 DP3 ECADR DELVLVC +4 # 81 VEL3 DP3 ECADR DELVLVC # 82 VEL3 DP3 ECADR DELVLVC +2 # 82 VEL3 DP3 ECADR DELVLVC +4 # 82 VEL3 DP3 ECADR DELVIMU # 83 VEL3 DP3 ECADR DELVIMU +2 # 83 VEL3 DP3 ECADR DELVIMU +4 # 83 VEL3 DP3 ECADR DELVOV # 84 VEL3 DP3 ECADR DELVOV +2 # 84 VEL3 DP3 ECADR DELVOV +4 # 84 VEL3 DP3 ECADR VGBODY # 85 VEL3 DP3 ECADR VGBODY +2 # 85 VEL3 DP3 ECADR VGBODY +4 # 85 VEL3 DP3 ECADR DELVLVC # 86 VEL2 DP4 ECADR DELVLVC +2 # 86 VEL2 DP4 ECADR DELVLVC +4 # 86 VEL2 DP4 ECADR MRKBUF1 +3 # 87 CDU DEG CDU ECADR MRKBUF1 +5 # 87 Y OPTICS DEG YOPT OCT 0 # 87 SPARE COMPONENT ECADR STARSAV3 # 88 DPFRAC DPFRAC ECADR STARSAV3 +2 # 88 DPFRAC DPFRAC ECADR STARSAV3 +4 # 88 DPFRAC DPFRAC ECADR LANDLAT # 89 DPDEG(90) DP3 ECADR LANDLONG # 89 DPDEG(90) DP3 ECADR LANDALT # 89 POS5 DP1 ECADR RANGE # 90 POS5 DP1 ECADR RRATE # 90 VEL3 DP3 ECADR RTHETA # 90 DPDEG(360) DP4 ECADR CDUS # 91 CDU DEG CDU ECADR CDUT # 91 Y OPTICS DEG YOPT OCT 0 # 91 SPARE COMPONENT ECADR SAC # 92 CDU DEG CDU ECADR PAC # 92 Y OPTICS DEG YOPT OCT 0 # 92 SPARE COMPONENT ECADR OGC # 93 DPDEG(90) DP3 ECADR OGC +2 # 93 DPDEG(90) DP3 ECADR OGC +4 # 93 DPDEG(90) DP3 ECADR MRKBUF1 +3 # 94 CDU DEG CDU ECADR MRKBUF1 +5 # 94 Y OPTICS DEG YOPT OCT 00000 # 94 SPARE ECADR PRAXIS # 95 CDU DEG CDU # Page 283 ECADR PRAXIS +1 # 95 CDU DEG CDU ECADR PRAXIS +2 # 95 CDU DEG CDU ECADR CPHIX # 96 CDU DEG CDU ECADR CPHIX +1 # 96 CDU DEG CDU ECADR CPHIX +2 # 96 CDU DEG CDU ECADR DSPTEM1 # 97 WHOLE ARTH ECADR DSPTEM1 +1 # 97 WHOLE ARTH ECADR DSPTEM1 +2 # 97 WHOLE ARTH ECADR DSPTEM2 # 98 WHOLE ARTH ECADR DSPTEM2 +1 # 98 FRAC FRAC ECADR DSPTEM2 +2 # 98 WHOLE ARTH ECADR WWPOS # 99 POS9 DP3 ECADR WWVEL # 99 VEL4 DP2 ECADR WWOPT # 99 WHOLE ARTH # END OF IDADDTAB # NN SF ROUTINES RUTMXTAB OCT 16351 # 40 M/S, DP3, DP3 OCT 00142 # 41 CDU, ARTH OCT 16347 # 42 DP3, DP3, DP3 OCT 16512 # 43 DP4, DP4, DP3 OCT 22347 # 44 DP3, DP3, M/S OCT 24454 # 45 2INT, M/S, DP4 OCT 00000 # 46 OCT, OCT OCT 00553 # 47 ARITH1, ARITH1 OCT 00143 # 48 ARTH, ARTH OCT 06347 # 49 DP3, DP3, ARTH OCT 22347 # 50 DP3, DP3, M/S OCT 00512 # 51 DP4, DP4 OCT 00012 # 52 DP4 OCT 24344 # 53 DP1, DP3, DP4 OCT 24344 # 54 DP1, DP3, DP4 OCT 24503 # 55 ARTH, DP4 , DP4 OCT 00512 # 56 DP4, DP4 OCT 00007 # 57 DP3 OCT 16347 # 58 DP3, DP3, DP3 OCT 16347 # 59 DP3, DP3, DP3 OCT 24503 # 60 ARTH, DP4, DP4 OCT 06512 # 61 DP4, DP4, ARTH OCT 16512 # 62 DP4, DP4, DP3 OCT 22507 # 63 DP3, DP4, M/S OCT 16505 # 64 DP2, DP4, DP3 OCT 20410 # 65 HMS, HMS, HMS OCT 16352 # 66 DP4, DP3, DP3 OCT 24507 # 67 DP3, DP4, DP4 OCT 24512 # 68 DP4, DP4, DP4 OCT 24252 # 69 DP4, DP2, DP4 OCT 00000 # 70 OCT, OCT, OCT # Page 284 OCT 0 # 71 OCT, OCT, OCT OCT 06352 # 72 DP4, DP3, ARTH OCT 24507 # 73 DPR, DP4, DP4 OCT 12512 # 74 DP4, DP4, DP2 OCT 22447 # 75 DP3, M/S, M/S OCT 0 # 76 SPARE OCT 0 # 77 SPARE OCT 0 # 78 SPARE OCT 0 # 79 SPARE OCT 24511 # 80 M/S, DP4, DP4 OCT 16347 # 81 DP3, DP3, DP3 OCT 16347 # 82 DP3, DP3, DP3 OCT 16347 # 83 DP3, DP3, DP3 OCT 16347 # 84 DP3, DP3, DP3 OCT 16347 # 85 DP3, DP3, DP3 OCT 24512 # 86 DP4, DP4, DP4 OCT 00302 # 87 CDU, YOPT OCT 32655 # 88 DPFRAC FOR EACH OCT 10347 # 89 DP3, DP3, DP1 OCT 24344 # 90 DP1, DP3, DP4 OCT 00302 # 91 CDU, YOPT OCT 00302 # 92 CDU, YOPT OCT 16347 # 93 DP3, DP3, DP3 OCT 00302 # 94 CDU, YOPT OCT 04102 # 95 CDU, CDU, CDU OCT 04102 # 96 CDU, CDU, CDU OCT 06143 # 97 ARTH, ARTH, ARTH OCT 06043 # 98 ARTH, FRAC, ARTH OCT 06247 # 99 DP3, DP2, ARTH # END OF RUTMXTAB SBANK= LOWSUPER ================================================ FILE: Comanche055/PLANETARY_INERTIAL_ORIENTATION.agc ================================================ # Copyright: Public domain. # Filename: PLANETARY_INERTIAL_ORIENTATION.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1243-1251 # Mod history: 2009-05-14 RSB Adapted from the Colossus249/ file of the # same name, using Comanche055 page images. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 1243 # PLANETARY INERTIAL ORIENTATION # ..... RP-TO-R SUBROUTINE ..... # SUBROUTINE TO CONVERT RP (VECTOR IN PLANETARY COORDINATE SYSTEM,EITHER # EARTH-FIXED OR MOON-FIXED) TO R (SAME VECTOR IN BASIC REF. SYSTEM) # R=MT(T)*(RP+LPXRP) MT= M MATRIX TRANSPOSE # CALLING SEQUENCE # L CALL # L+1 RP-TO-R # SUBROUTINES USED # EARTHMX,MOONMX,EARTHL # ITEMS AVAILABLE FROM LAUNCH DATA # 504LM= THE LIBRATION VECTOR L OF THE MOON AT TIME TIMSUBL,EXPRESSED # IN THE MOON-FIXED COORD. SYSTEM RADIANS B0 # ITEMS NECESSARY FOR SUBR. USED (SEE DESCRIPTION OF SUBR.) # INPUT # MPAC= 0 FOR EARTH,NON-ZERO FOR MOON # 0-5D= RP VECTOR # 6-7D= TIME # OUTPUT # MPAC= R VECTOR METERS B-29 FOR EARTH, B-27 FOR MOON SETLOC PLANTIN BANK COUNT* $$/LUROT RP-TO-R STQ BHIZ RPREXIT RPTORA CALL # COMPUTE M MATRIX FOR MOON MOONMX # LP=LM FOR MOON RADIANS B0 VLOAD 504LM RPTORB VXV VAD 504RPR 504RPR VXM GOTO MMATRIX # MPAC=R=MT(T)*(RP+LPXRP) RPRPXXXX # RESET PUSHLOC TO 0 BEFORE EXITING RPTORA CALL # EARTH COMPUTATIONS EARTHMX # M MATRIX B-1 CALL EARTHL # L VECTOR RADIANS B0 MXV VSL1 # LP=M(T)*L RAD B-0 MMATRIX # Page 1244 GOTO RPTORB # Page 1245 # ..... R-TO-RP SUBROUTINE ..... # SUBROUTINE TO CONVERT R (VECTOR IN REFERENCE COORD. SYSTEM) TO RP # (VECTOR IN PLANETARY COORD SYSTEM) EITHER EARTH-FIXED OR MOON-FIXED # RP = M(T) * (R - L X R) # CALLING SEQUENCE # L CALL # L+1 R-TO-RP # SUBROUTINES USED # EARTHMX,MOONMX,EARTHL # INPUT # MPAC= 0 FOR EARTH,NON-ZERO FOR MOON # 0-5D= R VECTOR # 6-7D= TIME # ITEMS AVAILABLE FROM LAUNCH DATA # 504LM= THE LIBRATION VECTOR L OF THE MOON AT TIME TIMSUBL,EXPRESSED # IN THE MOON-FIXED COORD. SYSTEM RADIANS B0 # ITEMS NECESSARY FOR SUBROUTINES USED (SEE DESCRIPTION OF SUBR.) # OUTPUT # MPAC=RP VECTOR METERS B-29 FOR EARTH, B-27 FOR MOON R-TO-RP STQ BHIZ RPREXIT RTORPA CALL MOONMX VLOAD VXM 504LM # LP=LM MMATRIX VSL1 # L=MT(T)*LP RADIANS B0 RTORPB VXV BVSU 504RPR 504RPR MXV # M(T)*(R-LXR) B-2 MMATRIX RPRPXXXX VSL1 SETPD 0D GOTO RPREXIT RTORPA CALL # EARTH COMPUTATIONS EARTHMX CALL EARTHL GOTO # MPAC=L=(-AX,-AY,0) RAD B-0 RTORPB # Page 1246 # ..... MOONMX SUBROUTINE ..... # SUBROUTINE TO COMPUTE THE TRANSFORMATION MATRIX M FOR THE MOON # CALLING SEQUENCE # L CALL # L+1 MOONMX # SUBROUTINES USED # NEWANGLE # INPUT # 6-7D= TIME # ITEMS AVAILABLE FROM LAUNCH DATA # BSUBO,BDOT # TIMSUBO,NODIO,NODDOT,FSUBO,FDOT # COSI= COS(I) B-1 # SINI= SIN(I) B-1 # I IS THE ANGLE BETWEEN THE MEAN LUNAR EQUATORIAL PLANE AND THE # PLANE OF THE ECLIPTIC (1 DEGREE 32.1 MINUTES) # OUTPUT # MMATRIX= 3X3 M MATRIX B-1 (STORED IN VAC AREA) MOONMX STQ SETPD EARTHMXX 8D AXT,1 # B REQUIRES SL 0, SL 5 IN NEWANGLE 5 DLOAD PDDL # PD 10D 8-9D=BSUBO BSUBO # 10-11D= BDOT BDOT PUSH CALL # PD 12D NEWANGLE # EXIT WITH PD 8D AND MPAC= B REVS B0 PUSH COS # PD 10D STODL COB # PD 8D COS(B) B-1 SIN # SIN(B) B-1 STODL SOB # SETUP INPUT FOR NEWANGLE FSUBO # 8-9D=FSUBO PDDL PUSH # PD 10D THEN 12D 10-11D=FDOT FDOT AXT,1 CALL # F REQUIRES SL 1, SL 6 IN NEWANGLE 4 NEWANGLE # EXIT WITH PD 8D AND MPAC= F REVS B0 STODL AVECTR +2 # SAVE F TEMP NODIO # 8-9D=NODIO PDDL PUSH # PD 10D THEN 12D 10-11D=NODDOT NODDOT # MPAC=T AXT,1 CALL # NODE REQUIRES SL 0, SL 5 IN NEWANGLE 5 NEWANGLE # EXIT WITH PD 8D AND MPAC= NODI REVS B0 # Page 1247 PUSH COS # PD 10D 8-9D= NODI REVS B0 PUSH # PD 12D 10-11D= COS(NODI) B-1 STORE AVECTR DMP SL1R COB # COS(NODI) B-1 STODL BVECTR +2 # PD 10D 20-25D=AVECTR=COB*SIN(NODI) DMP SL1R # SOB*SIN(NODI) SOB STODL BVECTR +4 # PD 8D SIN PUSH # PD 10D -SIN(NODI) B-1 DCOMP # 26-31D=BVECTR= COB*COS(NODI) STODL BVECTR # PD 8D SOB*COS(NODI) AVECTR +2 # MOVE F FROM TEMP LOC. TO 504F STODL 504F DMP SL1R COB STODL AVECTR +2 SINNODI # 8-9D=SIN(NODI) B-1 DMP SL1R SOB STODL AVECTR +4 # 0 HI6ZEROS # 8-13D= CVECTR= -SOB B-1 PDDL DCOMP # PD 10D COB SOB PDDL PDVL # PD 12D THEN PD 14D COB BVECTR VXSC PDVL # PD 20D BVECTR*SINI B-2 SINI CVECTR VXSC VAD # PD 14D CVECTR*COSI B-2 COSI VSL1 STOVL MMATRIX +12D # PD 8D M2=BVECTR*SINI+CVECTR*COSI B-1 VXSC PDVL # PD 14D SINI # CVECTR*SINI B-2 BVECTR VXSC VSU # PD 8D BVECTR*COSI B-2 COSI VSL1 PDDL # PD 14D 504F # 8-13D=DVECTR=BVECTR*COSI-CVECTR*SINI B-1 COS VXSC DVECTR PDDL SIN # PD 20D 14-19D= DVECTR*COSF B-2 504F VXSC VSU # PD 14D AVECTR*SINF B-2 AVECTR VSL1 STODL MMATRIX +6 # M1= AVECTR*SINF-DVECTR*COSF B-1 504F # Page 1248 SIN VXSC # PD 8D PDDL COS # PD 14D 8-13D=DVECTR*SINF B-2 504F VXSC VAD # PD 8D AVECTR*COSF B-2 AVECTR VSL1 VCOMP STCALL MMATRIX # M0= -(AVECTR*COSF+DVECTR*SINF) B-1 EARTHMXX # COMPUTE X=X0+(XDOT)(T+T0) # 8-9D= X0 (REVS B-0),PUSHLOC SET AT 12D # 10-11D=XDOT (REVS/CSEC) SCALED B+23 FOR WEARTH,B+28 FOR NODDOT AND BDOT # AND B+27 FOR FDOT # X1=DIFFERENCE IN 23 AND SCALING OF XDOT,=0 FOR WEARTH,5 FOR NDDOT AND # BDOT AND 4 FOR FDOT # 6-7D=T (CSEC B-28), TIMSUBO= (CSEC B-42 TRIPLE PREC.) NEWANGLE DLOAD SR # ENTER PD 12D 6D 14D TAD TLOAD # CHANGE MODE TO TP TIMSUBO MPAC STODL TIMSUBM # T+T0 CSEC B-42 TIMSUBM +1 DMP # PD 10D MULT BY XDOT IN 10-11D SL* DAD # PD 8D ADD X0 IN 8-9D AFTER SHIFTING 5,1 # SUCH THAT SCALING IS B-0 PUSH SLOAD # PD 10D SAVE PARTIAL (X0+XDOT*T) IN 8-9D TIMSUBM SL DMP 9D 10D # XDOT SL* DAD # PD 8D SHIFT SUCH THAT THIS PART OF X 10D,1 # IS SCALED REVS/CSEC B-0 BOV # TURN OFF OVERFLOW IF SET BY SHIFT +1 # INSTRUCTION BEFORE EXITING RVQ # MPAC=X= X0+(XDOT)(T+T0) REVS B0 # Page 1249 # ..... EARTHMX SUBROUTINE ..... # SUBROUTINE TO COMPUTE THE TRANSFORMATION MATRIX M FOR THE EARTH # CALLING SEQUENCE # L CALL # L+1 EARTHMX # SUBROUTINE USED # NEWANGLE # INPUT # INPUT AVAILABLE FROM LAUNCH DATA AZO REVS B-0 # TEPHEM CSEC B-42 # 6-7D= TIME CSEC B-28 # OUTPUT # MMATRIX= 3X3 M MATRIX B-1 (STORED IN VAC AREA) EARTHMX STQ SETPD # SET 8-9D=AZO EARTHMXX 8D # 10-11D=WEARTH AXT,1 # FOR SL 5, AND SL 10 IN NEWANGLE 0 DLOAD PDDL # LEAVING PD SET AT 12D FOR NEWANGLE AZO WEARTH PUSH CALL NEWANGLE SETPD PUSH # 18-19D=504AZ 18D # COS(AZ) SIN(AZ) 0 COS PDDL # 20-37D= MMATRIX= -SIN(AZ) COS(AZ) 0 B-1 504AZ # 0 0 1 SIN PDDL HI6ZEROS PDDL SIN 504AZ DCOMP PDDL 504AZ COS PDVL HI6ZEROS PDDL PUSH HIDPHALF GOTO EARTHMXX # Page 1250 # ..... EARTHL SUBROUTINE ..... # SUBROUTINE TO COMPUTE L VECTOR FOR EARTH # CALLING SEQUENCE # L CALL # L+1 EARTHL # INPUT # AXO,AYO SET AT LAUNCH TIME WITH AYO IMMEDIATELY FOLLOWING AXO IN CORE # OUTPUT # -AX # MPAC= -AY RADIANS B-0 # 0 EARTHL DLOAD DCOMP AXO STODL 504LPL -AYO STODL 504LPL +2 HI6ZEROS STOVL 504LPL +4 504LPL RVQ # Page 1251 # CONSTANTS AND ERASABLE ASSIGNMENTS 1B1 = DP1/2 # 1 SCALED B-1 COSI 2DEC .99964173 B-1 # COS(5521.5 SEC) B-1 SINI 2DEC .02676579 B-1 # SIN(5521.5 SEC) B-1 RPREXIT = S1 # R-TO-RP AND RP-TO-R SUBR EXIT EARTHMXX = S2 # EARTHMX,MOONMX SUBR. EXITS 504RPR = 0D # 6 REGS R OR RP VECTOR SINNODI = 8D # 2 SIN(NODI) DVECTR = 8D # 6 D VECTOR MOON CVECTR = 8D # 6 C VECTR MOON 504AZ = 18D # 2 AZ TIMSUBM = 14D # 3 TIME SUB M (MOON) T+10 IN GETAZ 504LPL = 14D # 6 L OR LP VECTOR AVECTR = 20D # 6 A VECTOR (MOON) BVECTR = 26D # 6 B VECTOR (MOON) MMATRIX = 20D # 18 M MATRIX COB = 32D # 2 COS(B) B-1 SOB = 34D # 2 SIN(B) B-1 504F = 6D # 2 F(MOON) NODDOT 2DEC -.457335121 E-2 # REVS/CSEC B+28=-1.07047011 E-8 RAD/SEC FDOT 2DEC .570863327 # REVS/CSEC B+27= 2.67240410 E-6 RAD/SEC BDOT 2DEC -3.07500686 E-8 # REVS/CSEC B+28=-7.19757301 E-14 RAD/SEC NODIO 2DEC .986209434 # REVS B-0 = 6.19653663041 RAD FSUBO 2DEC .829090536 # REVS B-0 = 5.20932947829 RAD BSUBO 2DEC .0651201393 # REVS B=0 = 0.40916190299 RAD WEARTH 2DEC .973561595 # REVS/CSEC B+23= 7.29211494 E-5 RAD/SEC ================================================ FILE: Comanche055/POWERED_FLIGHT_SUBROUTINES.agc ================================================ # Copyright: Public domain. # Filename: POWERED_FLIGHT_SUBROUTINES.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1365-1372 # Mod history: 2009-05-10 SN (Sergio Navarro). Started adapting # from the Colossus249/ file of the same # name, using Comanche055 page images. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 1365 BANK 14 # SAME FBANK AS THE FINDCDUD SUB-PROGRAM SETLOC POWFLITE BANK EBANK= DEXDEX COUNT* $$/POWFL # CDUTRIG, CDUTRIG1, CDUTRIG2, AND CD*GR*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, # 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 # 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. # 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 # MODES (SMNB OR NBSM). SINCE AX*SR*T EXPECTS TO FIND THE SINES AND # COSINES IN THE ORDER Y Z X THE ANGLES MUST HAVE BEEN PLACED IN CDUSPOT # IN THIS ORDER. CD*TR*GS NEED NOT BE REPEATED WHEN AX*SR*T IS CALLED # MORE THAN ONCE, PROVIDED THE ANGLES HAVE NOT CHANGED. NOTE THAT SINCE # 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 # INTERPRETIVE. CDUTRIG EXIT TC CDUTRIGS TC INTPRET RVQ CD*TR*G EXIT TC CD*TR*GS TC INTPRET RVQ CDUTRIGS CA CDUX TS CDUSPOT +4 CA CDUY TS CDUSPOT # Page 1366 CA CDUZ TS CDUSPOT +2 CD*TR*GS EXTEND QXCH TEM2 CAF FOUR TR*GL**P MASK SIX # MAKE IT EVEN AND SMALLER TS TEM3 INDEX TEM3 CA CDUSPOT DXCH MPAC # STORING 2'S COMP ANGLE, LOADING MPAC DXCH VBUF +4 # STORING MPAC FOR LATER RESTORATION TC USPRCADR CADR CDULOGIC EXTEND DCA MPAC INDEX TEM3 DXCH CDUSPOT # STORING 1'S COMPLEMENT ANGLE TC USPRCADR CADR COSINE DXCH MPAC INDEX TEM3 DXCH COSCDU # STORING COSINE EXTEND INDEX TEM3 DCA CDUSPOT # LOADING 1'S COMPLEMENT ANGLE TC USPRCADR CADR SINE +1 # SINE +1 EXPECTS ARGUMENT IN A AND L DXCH VBUF +4 # BRINGING UP PRIOR MPAC TO BE RESTORED DXCH MPAC INDEX TEM3 DXCH SINCDU CCS TEM3 TCF TR*GL**P TC TEM2 # Page 1367 # ******************************************************************************************************* # 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 # CALLED FROM INTERPRETIVE AS AN RTB OP-CODE, OR FROM BASIC VIA BANKCALL OR IBNKCALL. QUICTRIG INHINT # INHINT SINCE DAP USES THE SAME TEMPS EXTEND QXCH ITEMP1 CAF FOUR +4 MASK SIX TS ITEMP2 INDEX ITEMP2 CA CDUSPOT TC SPSIN EXTEND MP BIT14 # SCALE DOWN TO MATCH INTERPRETER OUTPUTS INDEX ITEMP2 DXCH SINCDU INDEX ITEMP2 CA CDUSPOT TC SPCOS EXTEND MP BIT14 INDEX ITEMP2 DXCH COSCDU CCS ITEMP2 TCF QUICTRIG +4 CA ITEMP1 RELINT TC A # Page 1368 #**************************************************************************** # THESE INTERFACE ROUTINES MAKE IT POSSIBLE TO CALL AX*SR*T, ETC., IN # INTERPRETIVE. LATER, WHERE POSSIBLE, THEY WILL BE ELIMINATED. # # NBSM WILL BE THE FIRST TO GO. IT SHOULD NOT BE USED. NBSM STQ X2 LXC,1 VLOAD* S1 # BASE ADDRESS OF THE CDU ANGLES IS IN S1 0,1 STOVL CDUSPOT 32D # VECTOR TO BE TRANSFORMED IS IN 32D CALL TRG*NBSM STCALL 32D # SINCE THERE'S NO STGOTO X2 # 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 # 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. # 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 EXIT TC CDUTRIGS TCF C*MM*N1 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. C*MM*N2 TC AX*SR*T TC INTPRET VLOAD RVQ VBUF CDU*NBSM EXIT TC CDUTRIGS # Page 1369 TCF C*MM*N3 TRG*NBSM EXIT TC CD*TR*GS 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 # 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 # OF TRANSFORMATIONS USING THE SAME ANGLES, SO TOO ONLY ONE OF TRG*NBSM # AND TRG*SMNB NEED BE CALLED FOR EACH SERIES. FOR SUBSEQUENT TRANFOR- # MATIONS USE *NBSM* AND *SMNB*. *SMNB* EXIT TCF C*MM*N1 *NBSM* EXIT TCF C*MM*N3 # 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:- # 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 # 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 EXTEND QXCH RTNSAVER R*TL**P CCS DEXDEX # +3 --> 0 -3 --> 2 CS DEXDEX # THUS: +2 --> 1 -2 --> 1 AD THREE # +1 --> 2 -1 --> 0 # Page 1370 EXTEND INDEX A DCA INDEXI DXCH DEXI CA ONE TS BUF EXTEND INDEX DEX1 DCS VBUF TCF LOOP1 # REALLY BE A SUBTRACT, AND VICE VERSA LOOP2 DXCH BUF # LOADING VECTOR COMPONENT, STORING INDEX LOOP1 DXCH MPAC CA SINESLOC AD DEX1 TS ADDRWD TC DMPSUB # MULTIPLY BY SIN(CDUANGLE) CCS DEXDEX DXCH MPAC # NBSM CASE TCF +3 EXTEND # SMNB CASE DCS MPAC DXCH TERM1TMP CA SIX # SINCDU AND COSCDU (EACH 6 WORDS) MUST ADS ADDRWD # BE CONSECUTIVE AND IN THAT ORDER EXTEND INDEX BUF INDEX DEX1 DCA VBUF DXCH MPAC TC DMPSUB # MULTIPLY BY COS(CDUANGLE) DXCH MPAC DAS TERM1TMP DXCH TERM1TMP DDOUBL INDEX BUF INDEX DEX1 DXCH VBUF DXCH BUF # LOADING INDEX, STORING VECTOR COMPONENT CCS A # 'CAUSE THAT'S WHERE THE INDEX NOW IS TCF LOOP2 EXTEND DIM DEXDEX # DECREMENT MAGNITUDE PRESERVING SIGN # Page 1371 TSTPOINT CCS DEXDEX # ONLY THE BRANCHING FUNCTION IS USED TCF R*TL**P TC RTNSAVER TCF R*TL**P TC RTNSAVER SINESLOC ADRES SINCDU # FOR USE IN SETTING ADDRWD INDEXI DEC 4 # ********** DON'T *********** DEC 2 # ********** TOUCH *********** DEC 0 # ********** THESE *********** DEC 4 # ********** CONSTANTS *********** # ****************************************************************************** # Page 1372 # THIS SUBROUTINE COMPUTES INCREMENTAL CHANGES IN CDU(GIMBAL) ANGLES FROM INCREMENTAL CHANGES ABOUT SM AXES. IT # REQUIRES SM INCREMENTS AS A DP VECTOR SCALED AT ONE REVOLUTION(DTHETASM,+2,+4). SIN,COS(CDUY,Z,X) ARE IN # SINCDU,+2,+4 AND COSCDU,+2,+4 RESPECTIVELY,SCALED TO ONE HALF. CDU INCREENTS ARE PLACED IN DCDU,+2,+4 SCALED TO # ONE REVOLUTION. # * COS(IGA)SEC(MGA) 0 -SIN(IGA)SEC(MGA) * # * * # * -COS(IGA)TAN(MGA) 1 SIN(IGA)TAN(MGA) * # * * # * SIN(IGA) 0 COS(IGA) * BANK 14 SETLOC POWFLIT1 BANK SMCDURES DLOAD DMP DTHETASM COSCDUY PDDL DMP DTHETASM +4 SINCDUY BDSU DDV COSCDUZ STORE DCDU DMP SL1 # SCALE SINCDUZ BDSU DTHETASM +2 STODL DCDU +2 DTHETASM DMP PDDL SINCDUY DTHETASM +4 DMP DAD COSCDUY SL1 STORE DCDU +4 RVQ ================================================ FILE: Comanche055/R30.agc ================================================ # Copyright: Public domain. # Filename: R30.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Hartmuth Gutsche . # Website: www.ibiblio.org/apollo. # Pages: 514-524 # Mod history: 2009-05-09 HG Started adapting from the Colossus249/ file # of the same name, using Comanche055 page # images 0514.jpg - 0524.jpg. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 514 # SUBROUTINE NAME: V82CALL # MOD NO: 0 DATE: 16 FEB 67 # MOD BY: R. R. BAIRNSFATHER LOG SECTION: R30 # MOD NO: 1 MOD BY: R. R. BAIRNSFATHER DATE: 11 APR 67 SR30.1 CHANGED TO ALLOW MONITOR OPERN # MOD NO: 2 MOD BY: ALONSO DATE: 11 DEC 67 VB82 PROGRAM REWRITTEN # MOD NO: 3 MOD BY: ALONSO DATE: 26 MAR 68 PROG MOD TO HANDLE DIF EARTH/MOON SCALE # # NEW FUNCTIONAL DESCRIPTION: CALLED BY VERB 82 ENTER. PRIORITY 10. # USED THROUGHOUT. CALCULATE AND DISPLAY ORBITAL PARAMETERS # # 1. IF AVERAGE G IS OFF: # FLASH DISPLAY V04N06. R2 INDICATES WHICH SHIP'S STATE VECTOR IS # TO BE UPDATED. INITIAL CHOICE IS THIS SHIP (R2=1). ASTRONAUT # CAN CHANGE TO OTHER SHIP BY V22EXE. WHERE X IS NOT EQ 1. # SELECTED STATE VECTOR UPDATED BY THISPREC (OTHPREC). # CALLS SR30.1 (WHICH CALLS TFFCONMU + TFFRP/RA) TO CALCULATE # RPER (PERIGEE RADIUS), RAPO (APOGEE RADIUS), HPER (PERIGEE # HEIGHT ABOVE LAUNCH PAD OR LAUNAR LANDING SITE), HARD (APOGEE # HEIGHT AS ABOVE), TPER (TIME TO PERIGEE), TFF (TIME TO # INTERSECT 300 KFT ABOVE PAD OR 35KFT ABOVE LANDING SITE). # FLASH MONITOR V16N44 (HAPO, HPER, TFF). TFF IS -59MS59S IF IT WAS # NOT COMPUTABLE, OTHERWISE IT INCREMENTS ONCE PER SECOND. # ASTRONAUT HAS OPTION TO MONITOR TPER BY KEYING IN N 32 E. # DISPLAY IS IN HMS, IS NEGATIVE (AS WAS TFF), AND INCREMENTS # ONCE PER SECOND ONLY IF TFF DISPLAY WAS -59M59S. # 2. IF AVERAGE G IS ON: # CALLS SR30.1 APPROX EVERY TWO SECS. STATE VECTOR IS ALWAYS # FOR THIS VEHICLE. V82 DOES NOT DISTURB STATE VECTOR. RESULTS # OF SR30.1 ARE RAPO, RPER, HAPO, HPER, TPER, TFF. # FLASH MONITOR V16N44 (HAPO, HPER, TFF). # IF MODE IS P11, THEN CALL DELRSPL SO ASTRONAUT CAN MONITOR # RESULTS BY N50E. SPLASH COMPUTATION DONE ONCE PER TWO SECS. # ADDENDUM: HAPO AND HPER SHOULD BE CHANGED TO READ HAPOX AND HPERX IN THE # ABOVE REMARKS. # # CALLING SEQUENCE: VERB 82 ENTER. # # SUBROUTINES CALLED: SR30.1, GOXDSPF # MAYBE -- THISPREC, OTHPREC, LOADTIME, DELRSPL # # NORMAL EXIT MODES: TC ENDEXT # # ALARMS: NONE # # OUTPUT: HAPOX (-29) M # HPERX (-29) M # RAPO (-29) M EARTH # (-27) M MOON # Page 515 # RPER (-29) M EARTH # (-27) M MOON # TFF (-28) CS CONTAINS NEGATIVE QUANTITY # -TPER (-28) CS CONTAINS NEGATIVE QUANTITY # RSP-RREC(-29) M IF DELRSPL CALLED # # ERASABLE INITIALIZATION REQUIRED: STATE VECTOR. # # DEBRIS: QPRET, RONE, VONE,TFF/RTMU, HPERMIN, RPADTEM, V82EMFLG. # MAYBE: TSTART82, V82FLAGS, TDEC1. EBANK= HAPOX BANK 31 SETLOC R30LOC BANK COUNT* $$/R30 V82CALL TC INTPRET BON GOTO AVEGFLAG V82GON # IF AVERAGE G ON V82GOFF # IF AVERAGE G OFF V82GOFF EXIT # ALLOW ASTRONAUT TO SELECT VEHICLE CAF TWO # DESIRED FOR ORBITAL PARAMETERS TS OPTIONX CAF ONE TS OPTIONX +1 CAF OPTIONVN # V 04 N 06 TC BANKCALL CADR GOXDSPF TC ENDEXT # TERMINATE TC +2 # PROCEED TC -5 # DATA IN. OPTIONX +1 = 1 FOR THIS VEHIC. # UNEQ 1 FOR OTHER VEHICLE. CAF BIT4 # 80 MS TC WAITLIST EBANK= TFF 2CADR TICKTEST RELINT V82GOFLP CAF TFFBANK # MAJOR RECYCLE LOOP ENTRY TS EBANK CAF ZERO TS V82FLAGS # ZERO FLAGS FOR TICKTEST, INHIBITS # DECREMENTING OF TFF AND -TPER. CAF PRIO7 TC FINDVAC # V82GOFF1 WILL EXECUTE STATE VECTOR # Page 516 EBANK= TFF # UPDATE AND ORBIT CALCULATIONS FOR 2CADR V82GOFF1 # SELECTED VEHICLE ABOUT PROPER BODY. RELINT V82STALL CAF THREE # STALL IN THIS LOOP AND WITHOLD V 16 N 44 MASK V82FLAGS # UNTIL STATE VECTOR UPDATE SETS ONE OF CCS A # OUR FLAG BITS. TC FLAGGON # EXIT FROM STALL LOOP. CAF 1SEC TC BANKCALL CADR DELAYJOB TC V82STALL FLAGGON CAF V16N44 # MONITOR HAPO,HPER,TFF. TC BANKCALL CADR GOXDSPF TC B5OFF # TERM THIS TELLS TICKTEST TO KILL ITSELF TC B5OFF # PROCEED DITTO TC V82GOFLP # RECYCLE RECOMPUTE STATE VECT + DISPLAY OPTIONVN VN 0412 V16N44 VN 1644 TFFBANK ECADR TFF V82GOFF1 TC INTPRET RTB LOADTIME STORE TDEC1 # TIME FOR STATE VECTOR UPDATE. STORE TSTART82 # TIME FOR INTERNAL USE. EXIT CS OPTIONX +1 # 1 FOR THIS VEHICLE, NOT 1 FOR OTHER AD ONE EXTEND BZF THISSHIP OTHSHIP TC INTPRET CALL # CALL STATE VECTOR UPDATE FOR OTHER SHIP. OTHPREC BOTHSHIP VLOAD # MOVE RESULTS INTO TFFCONIC STORAGE AREAS RATT # TO BE CALLED BY SR30.1. STOVL RONE # RATT AT (-29)M FOR EARTH OR MOON VATT STORE VONE # VATT AT (-7)M/CS FOR EARTH OR MOON DLOAD* 1/RTMUE,2 # X2 IS 0 FOR EARTH CENTERED STATE VEC STORE TFF/RTMU # X2 IS 2 FOR MOON DLOAD* # AS LEFT BY THISPREC OR OTHPREC. MINPERE,2 STORE HPERMIN # TFFRTMU, HPERMIN, AND RPADTEM ARE ALL SLOAD BHIZ # EARTH/MOON PARAMETERS AS SET HERE. # Page 517 X2 EARTHPAD GOTO MOONPAD THISSHIP TC INTPRET CALL # CALL STATE VECTOR UPDATE FOR THIS SHIP. THISPREC GOTO BOTHSHIP # THE FOLLOWING CONSTANTS ARE PAIRWISE INDEXED. DO NOT SEPARATE PAIRS. 1/RTMUM 2DEC* .45162595 E-4 B14* 1/RTMUE 2DEC* .50087529 E-5 B17* MINPERM 2DEC 10668 B-27 # 35 KFT MIN PERIGEE HEIGHT FOR MOON(-27)M MINPERE 2DEC 91440 B-29 # 300 KFT (-29)M FOR EARTH EARTHPAD DLOAD CLRGO # PAD 37-B RADIUS. SCALED AT (-29)M. RPAD V82EMFLG # INDICATE EARTH SCALING FOR SR30.1 BOTHPAD MOONPAD VLOAD ABVAL # COMPUTE MOON PAD RADIUS FROM RLS VECTOR. RLS # SCALED AT (-27)M. SET V82EMFLG # INDICATE MOON SCALING FOR SR30.1 BOTHPAD STCALL RPADTEM SR30.1 # CALCULATE ORBITAL PARAMETERS EXIT CA MODREG # ARE WE IN P00 EXTEND BZF CANDEL # YES, DO DELRSPL SPLRET1 TC INTPRET RTB DSU LOADTIME TSTART82 # PRESENT TIME - TIME V82GOFF1 BEGAN STORE TSTART82 # SAVE IT DLOAD BZE # SR30.1 SETS -TPER=0 IF HPER L/ -TPER # HPERMIN (300 OR 35) KFT. TICKTFF # (-TPER = 0) TICKTPER DLOAD DAD # (-TPER NON ZERO) TFF WAS NOT COMPUTED, -TPER # BUT WAS SET TO 59M59S.DON'T DICK TFF, DO TSTART82 # TICK -TPER. DISPLAY BOTH. STORE -TPER # -TPER CORRECTED FOR TIME SINCE V82GOFF1 EXIT # BEGAN. # Page 518 CAF BIT1 TS V82FLAGS # INFORMS TICKTEST TO INCREMENT ONLY -TPER TC ENDOFJOB TICKTFF DLOAD DAD # (-TPER=0) TFF WAS COMPUTED.TICK TFF. TFF # DO NOT TICK -TPER.DISPLAY TFF, BUT NOT TSTART82 # -TPER. STORE TFF # TFF CORRECTED FOR TIME SINCE V82GOFF1 EXIT # BEGAN. CAF BIT2 TS V82FLAGS # INFORMS TICKTEST TO INCREMENT ONLY TFF. TC ENDOFJOB TICKTEST CAF BIT5 # THIS WAITLIST PROGRAM PERPETUATES ITSELF MASK EXTVBACT # ONCE A SEC UNTIL BIT 5 OF EXTVBACT =0. CCS A TC DOTICK CAF PRIO25 TC NOVAC # TERMINATE V 82.CAN'T CALL ENDEXT IN RUPT. EBANK= EXTVBACT 2CADR ENDEXT TC TASKOVER DOTICK CAF 1SEC # RE-REQUEST TICKTEST. TC WAITLIST EBANK= TFF 2CADR TICKTEST CAF THREE MASK V82FLAGS INDEX A TC +1 TC TASKOVER # IF NO FLAGBITS SET DONT CHANGE TFF OR # -TPER, BUT CONTINUE LOOP. TC TPERTICK # ONLY BIT 1 SET. INCR -TPER BY 1 SEC. TFFTICK CAF 1SEC # ONLY BIT 2 SET. INCR TFF BY 1 SEC. TS L CAF ZERO DAS TFF TC TASKOVER TPERTICK CAF 1SEC TS L CAF ZERO DAS -TPER TC TASKOVER # Page 519 V82GON EXIT # AVERAGE G ON. USE CURRENT STATE VECTOR # FOR ORBITAL PARAMETER CALCULATIONS. CAF PRIO7 # LESS THAN LAMBERT TC FINDVAC # V82GON1 WILL PERFORM ORBIT CALCULATIONS EBANK= TFF # ABOUT PROPER BODY APPROX ONCE PER SEC. 2CADR V82GON1 RELINT CCS NEWJOB # WITHOLD V16 N44 UNTIL FIRST ORBIT CALC TC CHANG1 # IS DONE. NOTE: V82GON1 (PRIO7, FINDVAC # JOB) IS COMPLETED BEFORE V82GON (PRIO7, # NOVAC JOB). V82REDSP CAF V16N44 # MONITOR HAPO, HPER, TFF TC BANKCALL CADR GOXDSPF TC B5OFF # TERM THIS TELLS V82GON1 TO KILL ITSELF. TC B5OFF # PROC DITTO. TC V82REDSP # RECYCLE V82GON1 TC INTPRET # THIS EXEC PROGRAM PERPETUATES ITSELF # ONCE A SEC UNTIL BIT 5 OF EXTVBACT =0. VLOAD GOTO # HOLDS OFF CCS NEWJOB BETWEEN RN AND RN # VN FETCH SO RN , VN ARE FROM SAME NEXTLINE # STATE VECTOR UPDATE. NEXTLINE STOVL RONE # RN AT (-29)M FOR EARTH OR MOON VN STORE VONE # VN AT (-7)M/CS FOR EARTH OR MOON BON GOTO AMOONFLG # FLAG INDICATES BODY ABOUT WHICH ORBITAL MOONGON # CALCULATIONS ARE TO BE PERFORMED. EARTHGON # IF SET - MOON , IF RESET - EARTH. MOONGON SET DLOAD V82EMFLG # INDICATE MOON SCALING FOR SR30.1 1/RTMUM # LUNAR PARAMETERS LOADED HERE FOR SR30.1 STODL TFF/RTMU MINPERM STOVL HPERMIN RLS # SCALED AT (-27)M ABVAL GOTO V82GON2 EARTHGON CLEAR DLOAD V82EMFLG # INDICATE EARTH SCALING FOR SR30.1 1/RTMUE # EARTH PARAMETERS LOADED HERE FOR SR30.1 STODL TFF/RTMU MINPERE STODL HPERMIN RPAD V82GON2 STCALL RPADTEM # COMMON CODE FOR EARTH & MOON. SR30.1 # Page 520 EXIT TC CHECKMM DEC 11 TC V82GON3 # NOT IN MODE 11. CANDEL TC INTPRET # IN MODE 11 OR 00 CALL INTSTALL # DELRSPL DOES INTWAKE DLOAD CALL TFF DELRSPL # RETURN IS TO NEXT LINE ( SPLRET ). SPLRET EXIT CA MODREG EXTEND BZF SPLRET1 V82GON3 CAF BIT5 MASK EXTVBACT # SEE IF ASTRONAUT HAS SIGNALLED TERMINATE EXTEND BZF ENDEXT # YES, TERMINATE VB 82 LOOP CAF 1SEC TC BANKCALL # WAIT ONE SECOND BEFORE REPEATING CADR DELAYJOB # ORBITAL PARAMETER COMPUTATION. TC V82GON1 # Page 521 # SUBROUTINE NAME: SR30.1 # MOD NO: 0 DATE: 16 FEB 67 # MOD BY: R. R. BAIRNSFATHER LOG SECTION: R32 # MOD NO: 1 MOD BY: R. R. BAIRNSFATHER DATE: 11 APR 67 SR30.1 CHANGED TO ALLOW MONITOR OPERN # MOD NO: 2 MOD BY: R. R. BAIRNSFATHER DATE: 14 APR 67 ADD OVFL CK FOR RAPO # MOD NO: 3 MOD BY ALONSO DATE: 11 DEC 67 SUBROUTINE REWRITTEN # MOD NO: 4 MOD BY ALONSO DATE: 26 MAR 68 PROG MOD TO HANDLE DIF EARTH/MOON SCALE # MOD NO: 5 MOD BY: RR BAIRNSFATHER DATE: 6 AUG 68 OVFL CK FOR HAPO & HPER. VOIDS MOD #2. # # NEW FUNCTIONAL DESCRIPTION: ORBITAL PARAMETERS DISPLAY FOR NOUNS 32 AND 44. # SR30.1 CALLS TFFCONMU AND TFFRP/RA TO CALCULATE RPER (PERIGEE RADIUS), # RAPO (APOGEE RADIUS), HPER (PERIGEE HEIGHT ABOVE LAUNCH PAD OR LUNAR # LANDING SITE), HAPO (APOGEE HEIGHT AS ABOVE), TPER (TIME TO PERIGEE), # TFF (TIME TO INTERSECT 300 KFT ABOVE PAD OR 35KFT ABOVE LANDING SITE). # IF HPER IS GREATER THAN OR EQUAL TO HPERMIN, CALCULATES TPER AND STORES # NEGATIVE IN -TPER. OTHERWISE STORES +0 IN -TPER. WHENEVER TPER IS # CALCULATED, TFF IS NOT COMPUTABLE AND DEFAULTS TO -59MIN 59SEC. IF HAPO # WOULD EXCEED 9999.9 NM, IT IS LIMITED TO THAT VALUE FOR DISPLAY. # # ADDENDUM: HAPO AND HPER SHOULD BE CHANGED TO READ HAPOX AND HPERX IN THE # ABOVE REMARKS. # # CALLING SEQUENCE: CALL # SR30.1 # # SUBROUTINES CALLED: TFFCONMU, TFFRP/RA, CALCTPER, CALCTFF # NORMAL EXIT MODE: CALLING LINE +1 (STILL IN INTERPRETIVE MODE) # ALARMS: NONE # OUTPUT: RAPO (-29) M EARTH APOGEE RADIUS EARTH CENTERED COORD. # (-27) M MOON MOON CENTERED COORD. # RPER (-29) M EARTH PERIGEE RADIUS EARTH CENTERED COORD. # (-27) M MOON MOON CENTERED COORD. # HAPOX (-29) M APOGEE ALTITUDE ABOVE PAD OR LAND. SITE MAX VALUE LIMITED TO 9999.9 NM. # HPERX (-29) M PERIGEE ALT. ABOVE PAD OR LAND. SITE MAX VALUE LIMITED TO 9999.9 NM. # TFF (-28) CS TIME TO 300KFT OR 35KFT ALTITUDE # -TPER (-28) CS TIME TO PERIGEE # ERASABLE INITIALIZATION REQUIRED - # TFF/RTMU (+17) EARTH RECIPROCAL OF PROPER GRAV CONSTANT FOR # (+14) MOON EARTH OR MOON = 1/SQRT(MU). # RONE (-29) M STATE VECTOR # VONE (-7) M/CS STATE VECTOR # RPADTEM (-29) M EARTH RADIUS OF LAUNCH PAD OR LUNAR LANDING # (-27) M MOON SITE. # HPERMIN (-29) M EARTH (300 OR 35) KFT MINIMUM PERIGEE ALTITUDE # (-27) M MOON ABOVE LAUNCH PAD OR LUNAR LANDING SITE. # V82EMFLG (INT SW BIT) RESET FOR EARTH, SET FOR MOON. # # DEBRIS: QPRET, PDL, S2 # Page 522 COUNT* $$/SR30S SR30.1 SETPD STQ # INITIALIZE PUSHDOWN LIST. 0 S2 # SR30.1 INPUT: RONE AT (-29)M EARTH/MOON # VONE AT (-7)M/CS # TFFCONMU,TFFRP/RA,CALCTPER,AND CALCTFF # CALLS REQUIRE: # EARTH CENTERED (NO RESCALING REQUIRED) # RONE SCALED TO B-29 M # VONE SCALED TO B-7 M/CS # MOON CENTERED (RESCALING REQUIRED) # RONE SCALED TO B-27 M # VONE SCALED TO B-5 M/CS BOFF VLOAD V82EMFLG # OFF FOR EARTH , ON FOR MOON. TFFCALLS RONE VSL2 STOVL RONE VONE VSL2 STORE VONE TFFCALLS CALL TFFCONMU CALL # TFFRP/RA COMPUTES RAPO,RPER. TFFRP/RA # RETURNS WITH RAPO IN D(MPAC). DSU RPADTEM BOFF SR2R # NEED HAPO AT (-29)M FOR DISPLAY. # IF MOON CENTERED, RESCALE FROM (-27)M. # IF EARTH CENTERED ALREADY AT (-29)M. V82EMFLG # OFF FOR EARTH , ON FOR MOON. +1 CALL # IF HAPO > MAXNM, SET HAPO =9999.9 NM. MAXCHK # OTHERWISE STORE (RAPO-RPADTEM) IN HAPO. STORHAPO STODL HAPOX RPER DSU RPADTEM # GIVES HPER AT (-29)M EARTH, (-27)M MOON. STORE MPAC +4 # SAVE THIS FOR COMPARISON TO HPERMIN. BOFF SR2R # NEED HPER AT (-29)M FOR DISPLAY. # IF MOON CENTERED, RESCALE FROM (-27)M. # IF EARTH CENTERED ALREADY AT (-29)M. V82EMFLG # OFF FOR EARTH, ON FOR MOON. +1 CALL # IF HPER > MAXNM, SET HPER = 9999.9 NM. MAXCHK # Page 523 STORHPER STODL HPERX # STORE (RPER - RPADTEM) INTO HPERX. MPAC +4 DSU BPL # HPERMIN AT (-29)M FOR EARTH, (-27)M MOON HPERMIN # IF HPER L/ HPERMIN (300 OR 35) KFT, DOTPER # THEN ZERO INTO -TPER. DLOAD GOTO # OTHERWISE CALCULATE TPER. HI6ZEROS SKIPTPER DOTPER DLOAD CALL RPER CALCTPER DCOMP # TPER IS PUT NEG INTO -TPER. SKIPTPER STODL -TPER HPERMIN # HPERMIN AT (-29)M FOR EARTH, (-27)M MOON DAD CALL RPADTEM # RPADTEM AT (-29)M FOR EARTH, (-27)M MOON CALCTFF # GIVES 59M59S FOR TFF IF RPER G/ DCOMP # HPERMIN + RPADTEM. (TPER WAS NON ZERO) STCALL TFF # OTHERWISE COMPUTES TFF. (GOTO) S2 MAXCHK DSU BPL # IF C(MPAC) > 9999.9 NM. MPAC = 9999.9 NM. MAXNM +3 # OTHERWISE C(MPAC) = B(MPAC). DAD RVQ MAXNM +3 DLOAD RVQ # (USED BY P30 - P37 ALSO) MAXNM MAXNM 2OCT 0106505603 # Page 524 # There is no source code on this page --- HG 2009 ================================================ FILE: Comanche055/R31.agc ================================================ # Copyright: Public domain. # Filename: R31.agc # Purpose: Part of the source code for Comanche, build 055. It # is part of the source code for the Command Module's # (CM) Apollo Guidance Computer (AGC), Apollo 11. # Assembler: yaYUL # Reference: pp. 505-510 # Contact: Onno Hommes # Website: http://www.ibiblio.org/apollo. # Mod history: 2009-05-11 OH Batch 2 Assignment Comanche Transcription # 2009-05-20 RSB Corrected INSTALL -> INTSTALL # # The contents of the "Comanche055" files, in general, are transcribed # from scanned documents. # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. April 1, 1969. # # This AGC program shall also be referred to as Colossus 2A # # Prepared by # Massachusetts Institute of Technology # 75 Cambridge Parkway # Cambridge, Massachusetts # # under NASA contract NAS 9-4065. # # Refer directly to the online document mentioned above for further # information. Please report any errors to info@sandroid.org. # Page 505 BANK 34 SETLOC R31 BANK COUNT* $$/R31 R31CALL CAF PRIO3 TC FINDVAC EBANK= SUBEXIT 2CADR V83CALL DSPDELAY CAF 1SEC TC BANKCALL CADR DELAYJOB CA EXTVBACT MASK BIT12 EXTEND BZF DSPDELAY DISPN5X CA FLAGWRD9 # TEST R31FLAG (IN SUNDANCE R31FLAG WILL MASK BIT4 # ALWAYS BE SET AS R34 DOES NOT EXIST) EXTEND BZF +3 CAF V16N54 # R31 USE NOUN 54 TC +2 CAF V16N53 # R34 USE NOUN 53 TC BANKCALL CADR GOMARKF TC B5OFF TC B5OFF TCF DISPN5X V83 TC INTPRET GOTO HAVEBASE # INTEG STATE VECTORS V83CALL TC INTPRET GOTO STATEXTP # EXTRAPOLATE STATE VECTORS COMPDISP VLOAD VSU RATT RONE PUSH ABVAL # RATT-RONE TO 0D PD= 6 STORE RANGE # METERS B-29 NORM VLOAD X1 # RATT-RONE PD= 0 VSR1 VSL* UNIT 0,1 PDVL VSU # UNIT(LOS) TO 0D PD= 6 # Page 506 VATT VONE DOT # (VATT-VONE).UNIT(LOS) PD= 0 SL1 STCALL RRATE # RANGE RATE M/CS B-7 CDUTRIG # TO INITIALIZE FOR *NBSM* CALL R34LOS # NOTE. PDL MUST = 0. R34ANG VLOAD UNIT RONE PDVL # UR TO 0D PD= 6 THISAXIS # UNITX FOR CM, UNITZ FOR LM BON VLOAD # CHK R31FLAG. ON=R31 THETA, OFF=R34 PHI R31FLAG +2 # R31-THETA 12D CALL *NBSM* VXM PUSH # UXORZ TO 6D PD=12D REFSMMAT VPROJ VSL2 0D BVSU UNIT 6D PDVL VXV # UP/2 TO 12D PD=18D RONE VONE UNIT VXV RONE DOT PDVL # SIGN TO 12D, UP/2 TO MPAC PD=18D 12D VSL1 DOT # UP.UXORZ 6D SIGN SL1 12D ACOS STOVL RTHETA RONE DOT BPL 6D +5 DLOAD BDSU # IF UXORZ.R NEG, RTHETA = 1 - RTHETA RTHETA DPPOSMAX STORE RTHETA # RTHETA BETWEEN 0 AND 1 REV. EXIT CAF BIT5 # HAVE WE BEEN ANSWERED MASK EXTVBACT EXTEND BZF ENDEXT # YES, DIE # Page 507 CS EXTVBACT MASK BIT12 ADS EXTVBACT TCF V83 V16N54 VN 1654 V16N53 VN 1653 # Page 508 # STATEXTP DOES AN INITIAL PRECISION EXTRAPOLATION OF THE # LEM STATE VECTOR TO PRESENT TIME OR TO PIPTIME IF AV G # IS ON AND SAVES AS BASE VECTOR. IF AV G IS ON RN + VN # ARE USED AS THE CM STATE VECTOR AND THE INITIAL R RDOT # RTHETA ARE COMPUTED WITH NO FURTHER INTEGRATION. IF AV # G IS OFF A PRECISION EXTRAPOLATION IS MADE OF THE CM # STATE VECTOR TO PRESENT TIME AND..... # # THE CM + LM STATE VECTORS ARE INTEGRATED TO PRES TIME # USING PRECISION OR CONIC AS SURFFLAG IS SET OR CLEAR. # # IF AV G IS ON THEN # SUBSEQUENT PASSES WILL PROVIDE # USE OF RN + VN AS CM STATE VECTOR AND THE LM STATE # VECTOR WILL BE PRECISION INTEGRATED USING LEMPREC # # IF SURFFLAG IS SET. # CM STATE VECTOR RONE VONE + LM STATE VECTOR RATT # VATT ARE USED IN COMPUTING R RDOT RTHETA. # STATEXTP RTB BOF # INITIAL INTEGRATION LOADTIME V37FLAG +3 # AV G OFF, USE PRES TIME CALL GETRVN # ON, USE RN VN PIPTIME STORE BASETIME # PRES TIME OR PIPTIME STCALL TDEC1 LEMPREC VLOAD # BASE VECTOR, LM RATT1 STOVL BASEOTP # POS. VATT1 STORE BASEOTV # VEL. BON DLOAD V37FLAG COMPDISP # COMPUTE R RDOT RTHETA FROM # RONE(RN) VONE(VN) RATT+VATT(LEMPREC) TAT STCALL TDEC1 CSMPREC VLOAD # BASE VECTOR, CM RATT1 STOVL BASETHP # POS. VATT1 STORE BASETHV # VEL. HAVEBASE BON RTB # SUBSEQUENT INTEGRATIONS V37FLAG GETRVN5 LOADTIME STCALL TDEC1 # AV G OFF. SET INTEG. OF CM INTSTALL VLOAD CLEAR BASETHP # Page 509 MOONFLAG STOVL RCV BASETHV STODL VCV BASETIME BOF SET # GET APPROPRIATE MOONFLAG SETTING MOONTHIS +2 MOONFLAG CLEAR INTYPFLG BON SET SURFFLAG +2 # PREC. IF LM DOWN INTYPFLG # CONIC IF LM NOT DOWN STCALL TET INTEGRVS # INTEGRATION --- AT LAST--- VLOAD RATT STOVL RONE VATT STODL VONE # GET SET FOR CONIC EXTRAP.,OTHER TAT BON CALL SURFFLAG GETRVN6 # LEMPREC IF LM DOWN INTSTALL # ..CONIC IF NOT DOWN SET INTYPFLG OTHINT STORE TDEC1 # ENTERED IF AV G ON TO INTEG LM VLOAD CLEAR BASEOTP MOONFLAG STOVL RCV BASEOTV STODL VCV BASETIME BOF SET MOONTHIS +2 MOONFLAG STCALL TET INTEGRVS GOTO COMPDISP # COMPUTE R RDOT RTHETA GETRVN5 CALL # AV G ON GETRVN BON CALL SURFFLAG GETRVN6 # LM DOWN, LMPREC # Page 510 INTSTALL CLEAR GOTO INTYPFLG OTHINT GETRVN6 STCALL TDEC1 LEMPREC GOTO COMPDISP # COMPUTE R RDOT RTHETA GETRVN STQ 0D VLOAD GOTO # AV G ON, RONE = RN VONE = VN RN # AND USE PIPTIME +1 STCALL RONE +1 VLOAD GOTO VN +1 STODL VONE PIPTIME GOTO 0D SETLOC R34 BANK R34LOS EXIT CA CDUS INDEX FIXLOC TS 9D CA CDUT INDEX FIXLOC TS 11D CA FIXLOC AD SIX COM INDEX FIXLOC TS X1 TC INTPRET CALL SXTNB STCALL 12D R34ANG ================================================ FILE: Comanche055/R60_62.agc ================================================ # Copyright: Public domain. # Filename: R60_62.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 390-398 # Mod history: 2009-05-09 RSB Adapted from the Colossus249/ file # of the same name, using Comanche055 page # images. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 390 BANK 34 SETLOC MANUVER BANK EBANK= TEMPR60 COUNT 27/R60 # CONFORMS TO GSOP CHAPTER FOUR REVISION LOGIC 09 JAN 18,1968 R60CSM TC MAKECADR TS TEMPR60 # INSERT PRIODSP CHECK WITH R22 (V06N49) WITH JENNINGS BRODEUR REDOMANN CAF BIT6 MASK FLAGWRD5 # IS 3-AXIS FLAG SET CCS A TCF TOBALL # YES TC INTPRET CALL VECPOINT # TO COMPUTE FINAL ANGLES STORE CPHI # STORE FINAL ANGLES - CPHI,CTHETA,CPSI EXIT TOBALL CAF V06N18 TC BANKCALL CADR GOPERF2R # DISPLAY PLEASE PERFORM AUTO MANEUVER TC R61TEST TC REDOMANC # PROCEED TCF ENDMANU1 # ENTER I.E. FINISHED WITH R60 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS TC ENDOFJOB REDOMANC CAF BIT6 MASK FLAGWRD5 # IS 3-AXIS FLAG SET CCS A TCF TOBALLC # YES TC INTPRET CALL VECPOINT # TO COMPUTE FINAL ANGLES STORE CPHI # STORE ANGLES EXIT TOBALLC CAF PRIO30 # IS MODE AUTO AND CTL GNC # Page 391 EXTEND RXOR CHAN31 MASK 13,14,15 EXTEND BZF +2 # AUTO, NON-FLASH N18 TCF TOBALL # NOT AUTO CAF V06N18 # SET UP NON-FLASHING V06 N18 TC BANKCALL CADR GODSPR TC CHKLINUS STARTMNV TC BANKCALL CADR GOMANUR ENDMANUV TCF TOBALL # FINISHED MANEUVER ENDMANU1 TC DOWNFLAG # RESET 3-AXIS FLAG ADRES 3AXISFLG # BIT 6 FLAG 5 CAE TEMPR60 TC BANKJUMP CHKLINUS CS FLAGWRD4 MASK BIT12 # IS PRIORITY DISPLAY FLAG SET CCS A TC Q # NO - EXIT CA Q TS MPAC +2 # SAVE RETURN CS THREE # OBTAIN LOCATION FOR RESTART. AD BUF2 # HOLDS Q OF LAST DISPLAY TS TBASE1 TC PHASCHNG OCT 71 # 1.7SPOT FOR RELINUS CAF BIT7 TC LINUS # GO SET BITS FOR PRIORITY DISPLAY TC MPAC +2 RELINUS CAF BIT5 # IS TRACK FLAG ON MASK FLAGWRD1 EXTEND BZF GOREDO20 # NO TC UPFLAG ADRES PDSPFLAG # R60 PRIODSP FLAG TC UPFLAG ADRES TARG1FLG # FOR R52 CAF ZERO # RESET TO ZERO, SINCE # Page 392 TS OPTIND # OPTIND WAS SET TO -1 BY V379 CAF PRIO14 # RESTORE ORIGINAL PRIORITY TC PRIOCHNG TC TBASE1 GOREDO20 TC PHASCHNG OCT 111 # 1.11 FOR PIKUP20 TC ENDOFJOB R61TEST CA MODREG # ARE WE IN P00. IF YES THIS MUST BE EXTEND # VERB49 OR VERB89 SO DO ENDEXT. BZF ENDMANU1 # RESET 3-AXIS & RUTURN. USER DOES ENDEXT CA FLAGWRD4 # ARE WE IN R61 (P20) MASK BIT12 EXTEND BZF GOTOPOOH # NO TC GOTOV56 # YES 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 # 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 (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 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, # 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 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 # 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 SETLOC VECPT BANK # Page 394 EBANK= BCDU COUNT 27/VECPT VECPOINT STQ BOV # SAVE RETURN ADDRESS VECQTEMP VECLEAR # AND CLEAR OVFIND VECLEAR AXC,2 RTB MIS # READ THE PRESENT CDU ANGLES AND READCDUK # STORE THEM IN PD25, 26, 27 STCALL 25D 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) UNIT STORE 28D # PD 28 29 30 31 32 33 VXV UNIT # TAKE THE CROSS PRODUCT VF X VI SCAXIS # WHERE VI = SCAXIS BOV VCOMP PICKAXIS STODL COF # CHECK MAGNITUDE 36D # OF CROSS PRODUCT DSU BMN # VECTOR, IF LESS DPB-14 # THAN B-14 ASSUME PICKAXIS # UNIT OPERATION VLOAD DOT # INVALID. SCAXIS 28D SL1 ARCCOS 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 DEL # S/C AXES TO STABLE MEMBER AXES CALL # MFS = MIS MFI MXM3 # (IN PD LIST) DLOAD ABS 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 DLOAD ABS # CHECK TO SEE IF WE ARE POINTING SCAXIS # THE THRUST AXIS DSU BPL SINVEC1 # SIN 49.4 DEGS $2 # Page 395 FINDGIMB # IF SO, WE ARE TRYING TO POINT IT INTO VLOAD # GIMBAL LOCK, ABORT COULD GO HERE STADR STOVL MIS +12D STADR # STORE MFS (IN PD LIST) IN MIS STOVL MIS +6 STADR STOVL MIS MIS +6 # INNER GIMBAL AXIS IN FINAL S/C AXES BPL VCOMP # LOCATE THE IG AXIS DIRECTION CLOSEST TO IGSAMEX # FINAL X S/C AXIS 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 0, U = SCAXIS # OTHERWISE U = -SCAXIS. VLOAD VCOMP SCAXIS STCALL COF # ROTATE ABOUT -SCAXIS CHEKAXIS U=SCAXIS VLOAD SCAXIS STORE COF # ROTATE ABOUT + SCAXIS CHEKAXIS DLOAD ABS SCAXIS # SEE IF WE ARE POINTING THE AOT DSU BPL SINVEC2 # SIN 29.5 DEGS $2 PICKANG1 # IF SO, ROTATE 50 DEGS ABOUT +- SCAXIS DLOAD GOTO # IF NOT, MUST BE POINTING THE TRANSPONDER VECANG2 # OR SOME VECTOR IN THE Y, OR Z PLANE COMPMFSN # IN THIS CASE ROTATE 35 DEGS TO GET OUT # OF GIMBAL LOCK (VECANG2 $360) PICKANG1 DLOAD VECANG1 # = 50 DEGS $360 COMPMFSN CALL DELCOMP # COMPUTE THE ROTATION ABOUT SCAXIS TO AXC,1 AXC,2 # BRING MFS OUT OF GIMBAL LOCK MIS DEL CALL # COMPUTE THE NEW TRANSFORMATION FROM MXM3 # DESIRED S/C AXES TO STABLE MEMBER AXES # WHICH WILL ALIGN VI WITH VF AND AVOID # GIMBAL LOCK FINDGIMB AXC,1 CALL 0 # EXTRACT THE COMMANDED CDU ANGLES FROM DCMTOCDU # THIS MATRIX RTB SETPD 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 28D SCAXIS BMN TLOAD ROT180 25D GOTO # IF VF = VI, CDU DESIRED = PRESENT CDU VECQTEMP # PRESENT CDU ANGLES ROT180 VLOAD VXV # IF VF, VI ANTI-PARALLEL, 180 DEG ROTATION MIS +6 # IS REQUIRED. Y STABLE MEMBER AXIS IN 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), PICKX # Y(SM) PERPENDICULAR TO VI STODL COF 36D # CHECK MAGNITUDE DSU BMN # OF THIS VECTOR. DPB-14 # IF LESS THAN B-14, PICKX # PICK X-AXIS. VLOAD COF XROT STODL COF HIDPHALF GOTO COMPMATX PICKX VLOAD GOTO # PICK THE XAXIS IN THIS CASE HIUNITX XROT BANK 35 SETLOC MANUVER1 BANK SINGIMLC 2DEC .4285836003 # =SIN(59) $2 SINVEC1 2DEC .3796356537 # =SIN(49.4) $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) ********* DPB-14 OCT 00001 # Page 397 OCT 00000 BANK 34 SETLOC MANUVER BANK # Page 398 # ROUTINE FOR INITIATING AUTOMATIC MANEUVER VIA KEYBOARD (V49) EBANK= CPHI COUNT 27/R62 R62DISP CAF V06N22 # DISPLAY COMMAND ICDUS CPHI, CTHETA, CPHI TC BANKCALL CADR GOFLASH TCF ENDEXT TCF GOMOVE # PROCEED TCF R62DISP # ENTER # ASTRONAUT MAY LOAD NEW ICDUS AT THIS # POINT GOMOVE TC UPFLAG # SET 3-AXIS FLAG ADRES 3AXISFLG # BIT 6 FLAG 5 TC BANKCALL CADR R60CSM TCF ENDEXT ================================================ FILE: Comanche055/RCS-CSM_DAP_EXECUTIVE_PROGRAMS.agc ================================================ # Copyright: Public domain. # Filename: RCS-CSM_DAP_EXECUTIVE_PROGRAMS.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1037-1038 # Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the # same name, using Comanche055 page images. # 2009-05-20 RSB A "Page N" comment was corrected. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 1037 # CALCULATION OF AMGB, AMBG ONCE EVERY SECOND # # AMGB = 1 SIN(PSI) 0 # 0 COS(PSI)COS(PHI) SIN(PHI) # 0 -COS(PSI)SIN(PHI) COS(PHI) # # AMBG = 1 -TAN(PSI)COS(PHI) TAN(PSI)SIN(PHI) # 0 COS(PHI)/COS(PSI) -SIN(PHI)/COS(PSI) # 0 SIN(PHI) COS(PHI) # # WHERE PHI AND PSI ARE CDU ANGLES BANK 20 SETLOC DAPS8 BANK COUNT* $$/DAPEX EBANK= KMPAC AMBGUPDT CA FLAGWRD6 # CHECK FOR RCS AUTOPILOT EXTEND BZMF ENDOFJOB # BIT15 = 0, BIT14 = 1 MASK BIT14 # IF NOT RCS, EXIT EXTEND BZF ENDOFJOB # TO PROTECT TVC DAP ON SWITCHOVER CA CDUZ TC SPSIN2 TS AMGB1 # CALCULATE AMGB CA CDUZ TC SPCOS2 TS CAPSI # MUST CHECK FOR GIMBAL LOCK CAF QUADANGL # = 7.25 DEGREES JET QUAD ANGULAR OFFSET EXTEND MSU CDUX COM # CDUX - 7.25 DEG TC SPCOS1 TS AMGB8 EXTEND MP CAPSI TS AMGB4 CAF QUADANGL EXTEND MSU CDUX COM # CDUX - 7.25 DEG TC SPSIN1 TS AMGB5 EXTEND MP CAPSI COM # Page 1038 TS AMGB7 TCF ENDOFJOB QUADANGL DEC 660 # = 7.25 DEGREES ================================================ FILE: Comanche055/RCS-CSM_DIGITAL_AUTOPILOT.agc ================================================ # Copyright: Public domain. # Filename: RCS-CSM_DIGITAL_AUTOPILOT.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1002-1024 # Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the # same name, using Comanche055 page images. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 1002 # T5 INTERRUPT PROGRAM FOR THE RCS-CSM AUTOPILOT # START OF T5 INTERRUPT PROGRAM BANK 20 SETLOC DAPS3 BANK COUNT 21/DAPRC EBANK= KMPAC REDORCS LXCH BANKRUPT # RESTART OF AUTOPILOT COMES HERE CA T5PHASE # ON A T5 RUPT. EXTEND BZMF +2 # IF T5PHASE +0, -0, OR -, RESET TO - TCF +3 # IF T5PHASE +, LEAVE IT +. DO A FRESHDAP CS ONE TS T5PHASE EXTEND DCA RCSLOC DXCH T5LOC # HOOK UP T5RUPT TO AUTOPILOT TCF RCSATT +1 EBANK= KMPAC RCSLOC 2CADR RCSATT RCSATT LXCH BANKRUPT # SAVE BB EXTEND # SAVE Q QXCH QRUPT CAF BIT15 # BIT15 CHAN31 = 0 IF IMU POWER IS ON AND EXTEND # S/C CONT SW IS IN CMC (I.E. IF G/C AUTO RAND CHAN31 # PILOT IS FULLY ENABLED) EXTEND BZF SETT5 # IF G/C AUTOPILOT IS FULLY ENABLED, # GO TO SETT5 CS RCSFLAGS # IF G/C AUTOPILOT IS NOT FULLY ENABLED, MASK BIT14 ADS RCSFLAGS # SET NORATE FLAG, CAF POSMAX TS HOLDFLAG # SET HOLDFLAG +, CAF ZERO # ZERO ERRORX, ERRORY, AND ERRORZ, TS ERRORX TS ERRORY TS ERRORZ CAF BIT14 EXTEND RAND CHAN31 # AND CHECK FREE FUNCTION (BIT14 CHAN31). EXTEND # Page 1003 BZF SETT5 # IF IN FREE MODE, GO TO SETT5. TS T5PHASE # IF NOT IN FREE MODE, CAF OCT37766 # SCHEDULE REINITIALIZATION (FRESHDAP) TS TIME5 # IN 100 MS VIA T5RUPT TCR ZEROJET # ZERO JET CHANNELS IN 14 MS VIA ZEROJET TCF KMATRIX DELTATT OCT 37770 # 80MS (TIME5) DELTATT2 OCT 37776 # 20MS (TIME5) ONESEK DEC 16284 # 1 SEC(TIME5) CHAN5 EQUALS 5 CHAN6 EQUALS 6 PRIO34A = PRIO34 # CHECK PHASE OF T5 PROGRAM # BECAUSE OF THE LENGTH OF THE T5 PROGRAM, IT HAS BEEN DIVIDED INTO # THREE PARTS, T5PHASE1, T5PHASE2, AND THE JET SELECTION LOGIC, # TO ALLOW FOR THE EXECUTION OF OTHER # INTERRUPTS. T5PHASE IS ALSO USED IN THE INITIALIZATION OF THE AUTOPILOT # VARIABLES AT TURN ON. # THE CODING OF T5PHASE IS... # + = INITIALIZE T5 RCS-CSM AUTOPILOT # T5PHASE = +0 = PHASE2 OF THE T5 PROGRAM # - = RESTART DAP # -0 = PHASE1 OF THE T5 PROGRAM SETT5 CCS T5PHASE TCF FRESHDAP # TURN ON AUTOPILOT TCF T5PHASE2 # BRANCH TO PHASE2 OF PROGRAM TCF REDAP # RESTART AUTOPILOT TS T5PHASE # PHASE 1 RESET FOR PHASE 2 CA TIME5 TS T5TIME # USED IN COMPENSATING FOR DELAYS IN T5 CAF DELTATT2 # RESET FOR T5RUPT IN 20MS FOR PHASE2 TS TIME5 # OF PROGRAM # Page 1004 # IMU STATUS CHECK CS IMODES33 # CHECK IMU STATUS MASK BIT6 # BIT6 = 0 IMU OK CCS A # BIT6 = 1 NO IMU TCF RATEFILT FREECHK CS RCSFLAGS # BIT14 INDICATES THAT RATES HAVE NOT BEEN MASK BIT14 # INITIALIZED ADS RCSFLAGS CAF BIT14 # NO ATTITUDE REFERENCE TS HOLDFLAG # STOP ANY AUTOMATIC STEERING AND PREPARE # TO PICK UP CDU ANGLES UPON RESUMPTION OF # ATTITUDE HOLD EXTEND RAND CHAN31 # CHECK FOR FREE MODE EXTEND BZF KRESUME1 # IN FREE MODE PROVIDE FREE CONTROL ONLY TCF REINIT # .....TILT............................... BITS4,5 OCT 30 RATEFILT CA RCSFLAGS # SEE IF RATEFILTER HAS BEEN INITIALIZED MASK BIT14 EXTEND # IF SO, PROCEED WITH RATE DERIVATION BZF +2 TCF KMATRIX # IF NOT, SKIP RATE DERIVATION # RATE FILTER TIMING = 7.72 MS # RATE FILTER EQUATIONS # DRHO = DELRHO - (.1)ADOT + (1 = GAIN1)DRHO # -1 # ADOT = ADOT + GAIN2 DRHO + KMJ DFT # -1 # - * - - # WHERE DELRHO = AMGB (CDU - CDU ) # -1 CAF TWO DRHOLOOP TS SPNDX DOUBLE TS DPNDX INDEX DPNDX CS DRHO # DRHO SCALED 180 DEGS EXTEND INDEX ATTKALMN # PICK UP DESIRED FILTER GAIN MP GAIN1 INDEX DPNDX DAS DRHO # (1 -.064)DRHO EXTEND # Page 1005 INDEX DPNDX DCS ADOT DXCH KMPAC # -(.1)ADOT CA QUARTER TC SMALLMP DXCH KMPAC INDEX DPNDX DAS DRHO CCS SPNDX TCF DRHOLOOP CA CDUX # MEASURED BODY RATES-- XCH RHO EXTEND MSU RHO # - * - - COM # DELRHO = AMGB (CDU - CDU ) # -1 ZL DXCH DELTEMPX CA CDUY XCH RHO1 EXTEND MSU RHO1 COM TS T5TEMP # (CDUY - RHO1) SCALED 90 DEGS EXTEND MP AMGB1 DAS DELTEMPX # DELTEMPX = (CDUX-RHO) + AMGB1(CDUY-RHO1) # MUST BE DOUBLE PRECISION OR WILL LOSE # PULSES CA AMGB4 EXTEND MP T5TEMP DXCH DELTEMPY CA AMGB7 EXTEND MP T5TEMP DXCH DELTEMPZ CA CDUZ XCH RHO2 EXTEND MSU RHO2 COM TS T5TEMP # (CDUZ - RHO2) SCALED 90 DEGS EXTEND MP AMGB5 DAS DELTEMPY # DELTEMPY =AMGB4(CDUY-RHO1) # + AMGB5(CDUZ-RHO2) CA AMGB8 EXTEND # Page 1006 MP T5TEMP DAS DELTEMPZ # DELTEMPZ = AMBG7(CDUY-RHO1) # + AMGB8(CDUZ-RHO2) CAF TWO ADOTLOOP TS SPNDX DOUBLE TS DPNDX EXTEND INDEX DPNDX DCA DELTEMPX INDEX DPNDX DAS DRHO EXTEND INDEX DPNDX DCA DELTEMPX INDEX DPNDX DAS MERRORX INDEX DPNDX CA DRHO DOUBLE # N.B. DOUBLE # N.B. EXTEND INDEX ATTKALMN # PICK UP DESIRED FILTER GAINS MP GAIN2 INDEX DPNDX # ADOT + (.16)(.1)DRHO DAS ADOT # -1 INDEX SPNDX # S/C TORQUE TO INERTIA RATIO CA KMJ # SCALED (450)(1600)/(57.3)(16384)=1/1.3 EXTEND INDEX SPNDX MP DFT INDEX DPNDX DAS ADOT # KMJ(DFT) CCS SPNDX TCF ADOTLOOP # END CALCULATION OF VEHICLE RATES KMATRIX CA ATTSEC MASK LOW4 CCS A TCF TENTHSEK CAF PRIO34 # CALL FOR 1 SEC UPDATE OF TRANSFORMATION TC NOVAC # MATRIX FROM GIMBAL AXES TO BODY AXES EBANK= KMPAC 2CADR AMBGUPDT CAF NINE TENTHSEK TS ATTSEC # Page 1007 # WHEN AUTOMATIC MANEUVERS ARE BEING PERFORMED, THE FOLLOWING ANGLE ADDITION MUST BE MADE TO PROVIDE A SMOOTH # SEQUENCE OF ANGULAR COMMANDS TO THE AUTOPILOT-- # CDUXD = CDUXD + DELCDUX (DOUBLE PRECISION) # CDUYD = CDUYD + DELCDUY (DOUBLE PRECISION) # CDUZD = CDUZD + DELCDUZ (DOUBLE PRECISION) # THE STEERING PROGRAMS- # 1) ATTITUDE MANEUVER ROUTINE # 2) LEM TRACKING # SHOULD GENERATE THE DESIRED ANGLES (CDUXD, CDUYD, CDUZD) AS WELL AS THE INCREMENTAL ANGLES (DELCDUX, DELCDUY, # DELCDUZ) SO THAT THE GIMBAL ANGLE COMMANDS CAN BE INTERPOLATED BETWEEN UPDATES. # HOLDFLAG CODING- # + = GRAB PRESENT CDU ANGLES AND STORE IN THETADX, THETADY, THETADZ # AND PERFORM ATTITUDE HOLD ABOUT THESE ANGLES # ALSO IGNORE AUTOMATIC STEERING # SET = + BY # 1) INITIALIZATION PHASE OF AUTOPILOT # 2) OCCURANCE OF RHC COMMANDS # 3) FREE MODE # 4) SWITCH OVER TO ATTITUDE HOLD FROM AUTO # WHILE DOING AUTOMATIC STEERING (IN THIS CASE # HOLDFLAG IS NOT ACTUALLY SET TO +, BUT THE LOGIC # FUNCTIONS AS IF IT WERE.) # 5) S/C CONTROL SWITCH IS SCS # 6) IMU POWER OFF # +0 = IN ATTITUDE HOLD ABOUT A PREVIOUSLY ESTABLISHED REFERENCE # - = PERFORMING AUTOMATIC MANEUVER # -0 = NOT USED AT PRESENT # NOTE THAT THIS FLAG MUST BE SET = - BY THE STEERING PROGRAM IF IT IS TO COMMAND THE AUTOPILOT. # SINCE ASTRONAUT ACTION MAY CHANGE THE HOLDFLAG SETTING, IT SHOULD BE MONITORED BY THE STEERING PROGRAM TO # DETERMINE IF THE AUTOMATIC SEQUENCE HAS BEEN INTERRUPTED AND IF SO, TAKE THE APPROPRIATE ACTION. CS HOLDFLAG EXTEND BZMF DACNDLS # IF HOLDFLAG +0,-0,+, BYPASS AUTOMATIC # COMMANDS DCDUINCR CAF TWO DELOOP TS SPNDX DOUBLE TS DPNDX EXTEND INDEX A DCA CDUXD # Page 1008 DXCH KMPAC EXTEND INDEX DPNDX DCA DELCDUX TC DPADD EXTEND DCA KMPAC INDEX SPNDX TS THETADX INDEX DPNDX DXCH CDUXD CCS SPNDX TCF DELOOP # Page 1009 # RCS-CSM AUTOPILOT ATTITUDE ERROR DISPLAY # THREE TYPES OF ATTITUDE ERRORS MAY BE DISPLAYED ON THE FDAI- # MODE 1) AUTOPILOT FOLLOWING ERRORS SELECTED BY V61E # GENERATED INTERNALLY BY THE AUTOPILOT # MODE 2) TOTAL ATTITUDE ERRORS SELECTED BY V62E # WITH RESPECT TO THE CONTENTS OF N22 # MODE 3) TOTAL ASTRONAUT ATTITUDE ERRORS SELECTED BY V63E # WITH RESPECT TO THE CONTENTS OF N17 # MODE 1 IS PROVIDED AS A MONITOR OF THE RCS DAP AND ITS ABILITY TO TRACK AUTOMATIC STEERING COMMANDS. IN THIS # MODE THE ATTITUDE ERRORS WILL BE ZEROED WHEN THE CMC MODE SWITCH IS IN FREE # MODE 2 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED # IN N22. THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES # AS A FLY-TO INDICATOR. # MODE 3 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED # IN N17. THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES # AS A FLY-TO INDICATOR. # V60 IS PROVIDED TO LOAD N17 WITH A SNAPSHOT OF THE CURRENT CDU ANGLES, THUS SYNCHRONIZING THE MODE 3 DISPLAY # WITH THE CURRENT S/C ATTITUDE. THIS VERB MAY BE USED AT ANY TIME. # THESE DISPLAYS WILL BE AVAILABLE IN ANY MODE (AUTO, HOLD, FREE, G+N, OR SCS) ONCE THE RCS DAP HAS BEEN # INITIATED VIA V46E. MODE 1, HOWEVER, WILL BE MEANINGFUL ONLY IN G+N AUTO OR HOLD. THE CREW MAY PRESET (VIA # V25N17) AN ATTITUDE REFERENCE (DESIRED GIMBAL ANGLES) INTO N17 AT ANY TIME. DACNDLS CS RCSFLAGS # ALTERNATE BETWEEN FDAIDSP1 AND FDAIDSP2 MASK BIT4 EXTEND BZF FDAIDSP2 FDAIDSP1 ADS RCSFLAGS TC NEEDLER KRESUME1 TCF RESUME # END PHASE 1 # Page 1010 # FDAI ATTITUDE ERROR DISPLAY SUBROUTINE # PROGRAM DESCRIPTION: D. KEENE 5/24/67 # THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS) # IN THE CDUS. CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT # OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES # THE DACS. # CALLING SEQUENCE: # DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE # TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM: # CS RCSFLAGS # IN EBANK6 # MASK BIT3 # ADS RCSFLAGS # THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANSFERED TO THE FOLLOWING LOCATIONS IN EBANK6: # AK SCALED 180 DEGREES NOTE: THESE LOCATIONS ARE SUBJECT # AK1 SCALED 180 DEGREES TO CHANGE # AK2 SCALED 180 DEGREES # FULL SCALED DEFLECTION CORRESPONDS TO 16 7/8 DEGREES OF ATTITUDE ERROR # (= 384 BITS IN IMU ERROR COUNTER) # A CALL TO NEEDLER WILL THEN UPDATE THE DISPLAY: # INHINT # TC IBNKCALL # NOTE: EBANK SHOULD BE SET TO E6 # CADR NEEDLER # RELINT # THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED. AT LEAST 3 PASSES THRU THE PROGRAM ARE # REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS. # NOTE: EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50MS TO ASSURE PROPER RELAY SEQUENCING. # ERASABLE USED: # AK CDUXCMD # AK1 CDUYCMD # AK2 CDUZCMD # EDRIVEX A,L,Q # EDRIVEY T5TEMP # EDRIVEZ SPNDX # SWITCHES: RCSFLAGS BITS 3,2 # I/O CHANNELS: CHAN12 BIT 4 (COARSE ALIGN - READ ONLY) # Page 1011 # CHAN12 BIT 6 (IMU ERROR COUNTER ENABLE) # CHAN14 BIT 13,14,15 (DAC ACTIVITY) # SIGN CONVENTION< AK = THETAC - THETA # WHERE THETAC = COMMAND ANGLE # THETA = PRESENT ANGLE NEEDLER CAF BIT4 # CHECK FOR COARSE ALIGN ENABLE EXTEND # IF IN COARSE ALIGN DO NOT USE IMU RAND CHAN12 # ERROR COUNTERS. DONT USE NEEDLES EXTEND BZF NEEDLER1 CS RCSFLAGS # SET BIT3 FOR INITIALIZATION PASS MASK BIT3 ADS RCSFLAGS TC Q NEEDLER1 CA RCSFLAGS MASK SIX EXTEND BZF NEEDLES3 MASK BIT3 EXTEND BZF NEEDLER2 # BIT3 = 0, BIT2 = 1 CS BIT6 # FIRST PASS BIT3 = 1 EXTEND # DISABLE IMU ERROR COUNTER TO ZERO DACS WAND CHAN12 # MUST WAIT AT LEAST 60 MS BEFORE NEEDLE11 CS ZERO # ENABLING COUNTERS. TS AK # ZERO THE INPUTS ON FIRST PASS TS AK1 TS AK2 TS EDRIVEX # ZERO THE DISPLAY REGISTERS TS EDRIVEY TS EDRIVEZ TS CDUXCMD # ZERO THE OUT COUNTERS TS CDUYCMD TS CDUZCMD CS SIX # RESET RCSFLAGS FOR PASS2 MASK RCSFLAGS AD BIT2 TS RCSFLAGS TC Q # END PASS1 NEEDLER2 CAF BIT6 # ENABLE IMU ERROR COUNTERS EXTEND WOR CHAN12 CS SIX # RESET RCSFLAGS TO DISPLAY ATTITUDE # Page 1012 MASK RCSFLAGS # ERRORS WAIT AT LEAST 4 MS FOR TS RCSFLAGS # RELAY CLOSURE TC Q NEEDLES3 CAF BIT6 # CHECK TO SEE IF IMU ERROR COUNTER EXTEND # IS ENABLED RAND CHAN12 EXTEND # IF NOT RECYCLE NEEDLES BZF NEEDLER +5 NEEDLES CAF TWO DACLOOP TS SPNDX CS QUARTER EXTEND INDEX SPNDX MP AK TS L CCS A CA DACLIMIT TCF +2 CS DACLIMIT AD L TS T5TEMP # OVFLO CHK TCF +4 INDEX A # ON OVERFLOW LIMIT OUTPUT TO +-384 CAF DACLIMIT TS L INDEX SPNDX CS EDRIVEX # CURRENT VALUE OF DAC AD L INDEX SPNDX ADS CDUXCMD INDEX SPNDX LXCH EDRIVEX CCS SPNDX TCF DACLOOP CAF 13,14,15 EXTEND WOR CHAN14 # SET DAC ACTIVITY BITS TC Q REINIT CAF DELAY200 # ........TILT LOGIC TS TIME5 # REINITIALIZE DAP IN 200MS TS T5PHASE TCF RESUME DELAY200 DEC 16364 # 200MS DEC -384 # Page 1013 DACLIMIT DEC 16000 DEC 384 # Page 1014 # INITIALIZATION PROGRAM FOR RCS-CSM AUTOPILOT # THE FOLLOWING QUANTITIES WILL BE ZEROED AND SHOULD APPEAR IN CONSECUTIVE LOCATIONS IN MEMORY AFTER WBODY # WBODY (+1) DFT TAU2 # WBODY1 (+1) DFT1 BIAS # WBODY2 (+1) DFT2 BIAS1 # ADOT (+1) DRHO (+1) BIAS2 # ADOT1 (+1) DRHO1 (+1) ERRORX # ADOT2 (+1) DRHO2 (+1) ERRORY # MERRORX (+1) ATTSEC ERRORZ # MERRORY (+1) TAU # MERRORZ (+1) TAU1 FRESHDAP CAF ONE # RESET HOLDFLAG TO STOP AUTOMATIC TS HOLDFLAG # STEERING AND PREPARE TO PICK UP AN # ATTITUDE HOLD REFERENCE REDAP TC IBNKCALL # DECODE DAPDATR1, DAPDATR2 FOR DEADBANDS CADR S41.2 # RATES, QUADFAILS, QUAD MANAGEMENT TC IBNKCALL # DECODE IXX, IAVG, AND CONVERT CADR S40.14 # TO AUTOPILOT GAINS CAF NO.T5VAR # NO. LOCATIONS TO BE ZEROED MINUS ONE ZEROT5 TS SPNDX # ZERO ALL NECESSARY ERASABLE REGISTERS CAF ZERO INDEX SPNDX TS WBODY CCS SPNDX TCF ZEROT5 TCR ZEROJET CS ZERO TS CHANTEMP # INITIALIZE MINIMUM IMPULSE CONTROL TS CH31TEMP # INITIALIZE RHC POSITION MEMORY FOR # MANUAL RATE MODES CAF =.24 TS SLOPE # INITIALIZE SWITCHING LOGIC SLOPE CAF FOUR TS T5TIME # PHASE 0 RESETS FOR PHASE 2 INTERRUPT IN # 60 MS. PHASE 2 RESETS FOR PHASE 1 RUPT # IN (80MS - T5TIME(40MS)). THEREFORE # PHASE 1 (RATEFILTER) BEGINS CYCLING 100 # MS FROM NOW AND EVERY 100MS THEREAFTER. CAF ELEVEN TS ATTKALMN # RESET TO PICK UP KALMAN FILTER GAINS # TO INITIALIZE THE S/C ANGULAR RATES # Page 1015 CA CDUX TS RHO CA CDUY TS RHO1 CA CDUZ TS RHO2 CAF ZERO # RESET AUTOPILOT TO BEGIN EXECUTING TS T5PHASE # PHASE2 OF PROGRAM CS IMODES33 # CHECK IMU STATUS MASK BIT6 # IF BIT6 = 0 IMU IN FINE ALIGN CCS A # IF BIT6 = 1 IMU NOT READY TCF IMUAOK TS ATTKALMN # CANNOT USE IMU CAF RCSINITB # PROVIDE FREE CONTROL ONLY TCF RCSSWIT # DONT START UP RATE FILTER # SIGNAL NO RATE FILTER IMUAOK CAF PRIO34 # START MATRIX INITIALIZATION TC NOVAC # BYPASS IF IMU NOT IN FINE ALIGN EBANK= KMPAC 2CADR AMBGUPDT CAF RCSINIT # CLEAR BIT14 -ASSUME WE HAVE A GOOD IMU RCSSWIT TS RCSFLAGS # CLEAR BIT1 -INITIALIZE T6 PROGRAM # SET BIT3 -INITIALIZE NEEDLES # CLEAR BIT4 -RESET FOR FDAIDSP1 CAF T5WAIT60 # NEXT T5RUPT 60 MS FROM NOW TO ALLOW IMU # ERROR COUNTER TO ZERO. # (MINIMUM DELAY = 15 MS) TS TIME5 # SINCE ATTKALMN IS +11, PROGRAM WILL THEN TC RESUME # PICK UP THE KALMAN FILTER GAINS. RATE # FILTER WILL BEGIN OPERATING ZOOMS FROM # NOW # CONSTANTS USED IN INITIALIZATION PROGRAM NO.T5VAR DEC 36 =.24 DEC .24 # = SLOPE OF 0.6/SEC RCSINIT OCT 00004 RCSINITB OCT 20004 T5WAIT60 DEC 16378 # = 6 CS EBANK= KMPAC T6ADDR 2CADR T6START ZEROJET CAF ELEVEN # ZERO BLAST2, BLAST1, BLAST, YWORD2, TS SPNDX # YWORD1, PWORD2, PWORD1, RWORD2, CAF ZERO # AND RWORD1. # Page 1016 INDEX SPNDX TS RWORD1 CCS SPNDX TCF ZEROJET +1 CAF FOUR TS BLAST1 +1 CAF ELEVEN TS BLAST2 +1 CS BIT1 MASK RCSFLAGS TS RCSFLAGS # RESET BIT1 OF RCSFLAGS TO 0 EXTEND DCA T6ADDR DXCH T6LOC CAF =+14MS # ENABLE T6RUPT TO SHUT OFF JETS IN 14 MS. TS TIME6 CAF BIT15 EXTEND WOR CHAN13 TC Q T5PHASE2 CCS ATTKALMN # IF (+) INITIALIZE RATE ESTIMATE TCF KALUPDT TCF +2 # ONLY IF ATTKALMN POSITIVE TCF +1 CA DELTATT2 # RESET FOR PHASE3 IN 20 MS XCH TIME5 # (JET SELECTION LOGIC) ADS T5TIME # TO COMPENSATE FOR DELAYS IN T5RUPT CA RCSFLAGS # IF A HIGH RATE AUTO MANEUVER IS IN MASK BIT15 # PROGRESS (BIT 15 OF RCSFLAGS SET), SET EXTEND # ATTKALMN TO -1 BZF NOHIAUTO # OTHERWISE SET ATTKALMN TO 0. CS ONE NOHIAUTO TS ATTKALMN # Page 1017 # MANUAL ROTATION COMMANDS CS OCT01760 # RESET FORCED FIRING BITS (BITS 10 TO 5 MASK RCSFLAGS # OF RCSFLAGS) TO ZERO TS RCSFLAGS EXTEND READ CHAN31 TS L CA CH31TEMP EXTEND RXOR LCHAN MASK MANROT # = OCT00077 EXTEND BZMF NOCHANGE LXCH A TS CH31TEMP # SAVE CONTENTS OF CHANNEL 31 IN CH31TEMP CA L EXTEND MP BIT5 # PUT BITS 6-1 OF A IN BITS 10-5 OF L CA L ADS RCSFLAGS # SET FORCED FIRING BITS FOR AXES WITH # CHANGES IN COMMAND. BITS 10,9 FOR # ROLL, BITS 8,7 FOR YAW, BITS 6,5 FOR # PITCH CS RCSFLAGS # SET RATE DAMPING FLAGS (BITS 13,12,AND MASK OCT16000 # 11 OF RCSFLAGS) ADS RCSFLAGS NOCHANGE CS CH31TEMP MASK MANROT EXTEND BZMF AHFNOROT # IF NO MANUAL COMMANDS, GO TO AHFNOROT TS HOLDFLAG # SET HOLDFLAG + TC STICKCHK # WHEN THE RHC IS OUT OF DETENT, PMANNDX, # YMANNDX, AND RMANNDX ARE ALL SET, BY # MEANS OF STICKCHK, TO 0, 1, OR 2 FOR NO, # +, OR - ROTATION RESPECTIVELY AS # COMMANDED BY THE RHC. # HOWEVER, IT IS WELL TO NOTE THAT AFTER # THE RHC IS RETURNED TO DETENT, THE # PROGRAM BRANCHES TO AHFNOROT AND AVOIDS # STICKCHK SO PMANNDX, YMANNDX, AND # RMANNDX ARE NOT RESET TO ZERO BUT RATHER # LEFT SET TO THEIR LAST OUT OF DETENT # Page 1018 # VALUES. CS FLAGWRD1 # SET STIKFLAG TO INFORM STEERING MASK BIT14 # PROGRAMS (P20) THAT ASTRONAUT HAS ADS FLAGWRD1 # ASSUMED ROTATIONAL CONTROL OF SPACECRAFT CAF BIT14 EXTEND RAND CHAN31 EXTEND BZMF FREEFUNC CA RCSFLAGS # EXAMINE RCSFLAGS TO SEE IF RATE FILTER MASK BIT14 # HAS BEEN INITIALIZED CCS A # IF SO, PROCEED WITH MANUAL RATE COMMANDS TCF REINIT # .....TILT, RECYCLE TO INITIALIZE FILTER CS FIVE # IF MANUAL MANEUVER IS AT HIGH RTE, SET AD RATEINDX # ATTKALMN TO -1. EXTEND # OTHERWISE, LEAVE ATTKALMN ALONE. BZMF +3 CS ONE TS ATTKALMN CAF TWO # AUTO-HOLD MANUAL ROTATION SETWBODY TS SPNDX DOUBLE TS DPNDX INDEX SPNDX # RMANNDX = 0 NO ROTATION CA RMANNDX # = 1 + ROTATION EXTEND # = 2 - ROTATION BZF NORATE # IF NO ROTATION COMMAND ON THIS AXIS, # GO TO NORATE. AD RATEINDX # RATEINDX = 0 0.05 DEG/SEC TS Q # = 2 0.2 DEG/SEC INDEX Q # = 4 0.5 DEG/SEC CA MANTABLE -1 # = 6 2.0 DEG/SEC EXTEND MP BIT9 # MULTIPLY MANTABLE BY 2 TO THE -6 INDEX DPNDX # TO GET COMMANDED RATE. DXCH WBODY # SET WBODY TO COMMANDED RATE. CA RCSFLAGS MASK OCT16000 # IS RATE DAMPING COMPLETED (BITS 13,12 AND EXTEND # 11 OF RCSFLAGS ALL ZERO.) IF SO, GO TO BZF MERUPDAT # MERUPDAT TO UPDATE CUMULATIVE ATTITUDE # ERROR. # Page 1019 ZEROER CA ZERO # ZEROER ZEROS MERRORS ZL INDEX DPNDX DXCH MERRORX TCF SPNDXCHK NORATE ZL INDEX DPNDX DXCH WBODY # ZERO WBODY FOR THIS AXIS CA RCSFLAGS MASK OCT16000 EXTEND # IS RATE DAMPING COMPLETED BZF SPNDXCHK # YES, KEEP CURRENT MERRORX GO TO SPNDXCHK TCF ZEROER # NO,GO TO ZEROER MERUPDAT INDEX Q # MERRORX=MERRORX+MEASURED CHANGE IN ANGLE CS MANTABLE -1 # -COMMANDED CHANGE IN ANGLE EXTEND # THE ADDITION OF MEASURED CHANGE IN ANGLE MP BIT7 # HAS ALREADY BEEN DONE IN THE RATE FILTER INDEX DPNDX # COMMANDED CHANGE IN ANGLE = WBODY TIMES DAS MERRORX # .1SEC = MANTABLE ENTRY TIMES 2 TO THE -8 SPNDXCHK INDEX DPNDX CA MERRORX INDEX SPNDX TS ERRORX # ERRORX = HIGH ORDER WORD OF MERRORX CCS SPNDX TCF SETWBODY TCF JETS OCT01760 OCT 01760 # FORCED FIRING BITS MASK OCT01400 OCT 01400 # ROLL FORCED FIRING MASK ORDER OF OCT00060 OCT 00060 # PITCH FORCED FIRING MASK DEFINITION OCT00300 OCT 00300 # YAW FORCED FIRING MASK MUST BE # PRESERVED # FOR INDEXING MANROT OCT 77 OCT16000 OCT 16000 # RATE DAMPING FLAGS MASK MANTABLE DEC .0071111 DEC -.0071111 DEC .028444 DEC -0.028444 DEC .071111 DEC -.071111 DEC .284444 DEC -.284444 =+14MS DEC 23 FREEFUNC INDEX RMANNDX # ACCELERATION # Page 1020 CA FREETAU # COMMANDS TS TAU INDEX PMANNDX CA FREETAU # FREETAU 0 SEC TS TAU1 # +1 +0.10 SEC INDEX YMANNDX # +2 -0.10 SEC CA FREETAU # (+3) 0 SEC TS TAU2 TCF T6PROGM FREETAU DEC 0 DEC 480 DEC -480 DEC 0 T6PROGM CAF ZERO # FOR MANUAL ROTATIONS TS ERRORX TS ERRORY TS ERRORZ TCF T6PROG # Page 1021 DEC .2112 # FILTER GAIN FOR TRANSLATION, LEM ON DEC .8400 # FILTER GAIN FOR TRANSLATION 2(ZETA)WN DT DEC .2112 # FILTER GAIN FOR 2 DEGREES/SEC MANEUVERS GAIN1 DEC .0640 # KALMAN FILTER GAINS FOR INITIALIZATION DEC .3180 # OF ATTITUDE RATES DEC .3452 DEC .3774 DEC .4161 DEC .4634 DEC .5223 DEC .5970 DEC .6933 DEC .8151 DEC .9342 DEC .0174 # FILTER GAIN FOR TRANSLATION, LEM ON DEC .3600 # FILTER GAIN FOR TRANSLATION (WN)(WN)DT DEC .0174 # FILTER GAIN FOR 2 DEGREES/SEC MANEUVERS GAIN2 DEC .0016 # SCALED 10 DEC .0454 DEC .0545 DEC .0666 DEC .0832 DEC .1069 DEC .1422 DEC .1985 DEC .2955 DEC .4817 DEC .8683 STICKCHK TS T5TEMP MASK THREE # INDICES FOR MANUAL ROTATION TS PMANNDX CA T5TEMP EXTEND # MAN RATE 0 0 RATE (DP) MP QUARTER # +1 +RATE (DP) TS T5TEMP # +2 -RATE (DP) MASK THREE # (+3) 0 RATE (DP) TS YMANNDX CA T5TEMP EXTEND MP QUARTER TS RMANNDX TC Q KALUPDT TS ATTKALMN # INITIALIZATION OF ATTITUDE RATES USING # KALMAN FILTER TAKES 1.1 SEC CA DELTATT # =1SEC - 80MS AD T5TIME # + DELAYS # Page 1022 TS TIME5 TCF +3 CAF DELTATT2 # SAFETY PLAY TO ASSURE TS TIME5 # A T5RUPT KRESUME2 CS ZERO # RESET FOR PHASE1 TS T5PHASE # RESUME INTERRUPTED PROGRAM TCF RESUME FDAIDSP2 CS BIT4 # RESET FOR FDAIDSP1 MASK RCSFLAGS TS RCSFLAGS CS FLAGWRD0 # ON - DISPLAY ONE OF THE TOTAL ATTITUDE MASK BIT9 # ERRORS EXTEND BZF FDAITOTL EXTEND DCS ERRORX # OFF -DISPLAY AUTOPILOT FOLLOWING ERROR DXCH AK CS ERRORZ TS AK2 TCF RESUME # END PHASE 1 FDAITOTL CA FLAGWRD9 MASK BIT6 EXTEND BZF WRTN17 # IS N22ORN17 (BIT6 OF FLAGWRD9) = 0 # IF SO, GO TO WRTN17 WRTN22 EXTEND # OTHERWISE, CONTINUE ON TO WRTN22 AND DCA CTHETA # GET SET TO COMPUTE TOTAL ATTITUDE DXCH WTEMP # ERROR WRT N22 BY PICKING UP THE THREE CA CPHI # COMPONENTS OF N22 GETAKS EXTEND # COMPUTE TOTAL ATTITUDE ERROR FOR MSU CDUX # DISPLAY ON FDAI ERROR NEEDLES TS AK CA WTEMP EXTEND MSU CDUY TS T5TEMP EXTEND MP AMGB1 ADS AK CA T5TEMP EXTEND MP AMGB4 # Page 1023 TS AK1 CA T5TEMP EXTEND MP AMGB7 TS AK2 CA WTEMP +1 EXTEND MSU CDUZ TS T5TEMP EXTEND MP AMGB5 ADS AK1 CA T5TEMP EXTEND MP AMGB8 ADS AK2 TCF RESUME # END PHASE1 OF RCS DAP WRTN17 EXTEND # GET SET TO COMPUTE TOTAL ASTRONAUT DCA CPHIX +1 # ATTITUDE ERROR WRT N17 BY PICKING UP DXCH WTEMP # THE THREE COMPONENTS OF N17 CA CPHIX TCF GETAKS # Page 1024 (empty page) ================================================ FILE: Comanche055/README.md ================================================ # Comanche055 The images (with suitable reduction in storage size and consequent reduction in image quality as well) are available online at www.ibiblio.org/apollo. If for some reason you find that the images are illegible, contact me at info@sandroid.org about getting access to the (much) higher-quality images which Paul actually created. ## Background For organizatinal purposes RSB split the huge monolithic source code into smaller, more manageable chunks--i.e., into individual source files. Those files are rejoined as "includes". The code chunks correspond to natural divisions into sub-programs. In fact, these divisions are more-or-less specified by the source code itself. Refer to the `"SUBROUTINE CALLS"` at the very beginning of `ASSEMBLY_AND_OPERATION_INFORMATION.agc`. It may be reasonably asked why tens of thousands of lines of source are joined by means of inclusion, rather than simply assembling the source files individually and then linking them to form the executable. The answer is that the original development team had no linker. The builds were monolithic just like this. There was a big emphasis on reusability of the code in the original project, apparently, but this reusability took the form of inserting your deck of punch-cards at the appropriate position in somebody else's deck of punch-cards. (Actually, I think the card-decks were turned into tape libraries, and the modules were mixed-and-matched from the tape libraries, but the principle is the same.) So, indeed, the method of file-inclusion is a very fair representation of the methods used in the original development...with the improvement, of course, that you no longer have to worry about dropping the card deck. On the other hand, I (RSB) wasn't there at the time, so I may have no idea what I'm talking about. Finally, note that the original Apollo AGC assembler (called `YUL`) is no longer available (as far as I can tell). Actually, it had already been replaced by another assembler (called `GAP`) by the time of Apollo 11, but GAP isn't available either. The replacement assembler yaYUL accepts a slightly different format for the source code from what YUL or GAP accepted, so the source code has been targeted for assembly with yaYUL. What follows is simply a bunch of file-includes for the individual code chunks. The page numbers have been marked to make proof-reading easier. The page images also contain a lot of interesting tables (cross-referenced to page numbers) created by GAP, but not duplicated by yaYUL, so it's still valuable even if the source-files listed below are in hand. ## Source Code Index ### INFORMATION Source File | Page Number :--------------------------------------- | :---------- [CONTRACT_AND_APPROVALS.agc] | 1 [ASSEMBLY_AND_OPERATION_INFORMATION.agc] | 2-26 [TAGS_FOR_RELATIVE_SETLOC.agc] | 27-35 ### COMERASE Source File | Page Number :------------------------- | :---------- [ERASABLE_ASSIGNMENTS.agc] | 37-130 ### COMAID Source File | Page Number :------------------------------------ | :---------- [INTERRUPT_LEAD_INS.agc] | 131-132 [T4RUPT_PROGRAM.agc] | 133-169 [DOWNLINK_LISTS.agc] | 170-180 [FRESH_START_AND_RESTART.agc] | 181-210 [RESTART_TABLES.agc] | 211-221 [SXTMARK.agc] | 222-235 [EXTENDED_VERBS.agc] | 236-267 [PINBALL_NOUN_TABLES.agc] | 268-284 [CSM_GEOMETRY.agc] | 285-296 [IMU_COMPENSATION_PACKAGE.agc] | 297-306 [PINBALL_GAME_BUTTONS_AND_LIGHTS.agc] | 307-389 [R60_62.agc] | 390-398 [ANGLFIND.agc] | 399-411 [GIMBAL_LOCK_AVOIDANCE.agc] | 412-413 [KALCMANU_STEERING.agc] | 414-419 [SYSTEM_TEST_STANDARD_LEAD_INS.agc] | 420-422 [IMU_CALIBRATION_AND_ALIGNMENT.agc] | 423-455 ### COMEKISS Source File | Page Number :------------------------------------------ | :---------- [GROUND_TRACKING_DETERMINATION_PROGRAM.agc] | 456-459 [P34-35_P74-75.agc] | 460-504 [R31.agc] | 505-510 [P76.agc] | 511-513 [R30.agc] | 514-524 [STABLE_ORBIT.agc] | 525-532 ### TROUBLE Source File | Page Number :-------------------------------------------- | :---------- [P11.agc] | 533-550 [TPI_SEARCH.agc] | 551-561 [P20-P25.agc] | 562-634 [P30-P37.agc] | 635-648 [P32-P33_P72-P73.agc] | 649-683 [P40-P47.agc] | 684-736 [P51-P53.agc] | 737-784 [LUNAR_AND_SOLAR_EPHEMERIDES_SUBROUTINES.agc] | 785-788 [P61-P67.agc] | 789-818 [SERVICER207.agc] | 819-836 [ENTRY_LEXICON.agc] | 837-843 [REENTRY_CONTROL.agc] | 844-882 [CM_BODY_ATTITUDE.agc] | 883-889 [P37_P70.agc] | 890-933 [S-BAND_ANTENNA_FOR_CM.agc] | 934-935 [LUNAR_LANDMARK_SELECTION_FOR_CM.agc] | 936 ### TVCDAPS Source File | Page Number :----------------------------------- | :---------- [TVCINITIALIZE.agc] | 937-944 [TVCEXECUTIVE.agc] | 945-950 [TVCMASSPROP.agc] | 951-955 [TVCRESTARTS.agc] | 956-960 [TVCDAPS.agc] | 961-978 [TVCSTROKETEST.agc] | 979-983 [TVCROLLDAP.agc] | 984-998 [MYSUBS.agc] | 999-1001 [RCS-CSM_DIGITAL_AUTOPILOT.agc] | 1002-1024 [AUTOMATIC_MANEUVERS.agc] | 1025-1036 [RCS-CSM_DAP_EXECUTIVE_PROGRAMS.agc] | 1037-1038 [JET_SELECTION_LOGIC.agc] | 1039-1062 [CM_ENTRY_DIGITAL_AUTOPILOT.agc] | 1063-1092 ### CHIEFTAN Source File | Page Number :----------------------------------- | :---------- [DOWN-TELEMETRY_PROGRAM.agc] | 1093-1102 [INTER-BANK_COMMUNICATION.agc] | 1103-1106 [INTERPRETER.agc] | 1107-1199 [FIXED_FIXED_CONSTANT_POOL.agc] | 1200-1204 [INTERPRETIVE_CONSTANTS.agc] | 1205-1206 [SINGLE_PRECISION_SUBROUTINES.agc] | 1207 [EXECUTIVE.agc] | 1208-1220 [WAITLIST.agc] | 1221-1235 [LATITUDE_LONGITUDE_SUBROUTINES.agc] | 1236-1242 [PLANETARY_INERTIAL_ORIENTATION.agc] | 1243-1251 [MEASUREMENT_INCORPORATION.agc] | 1252-1261 [CONIC_SUBROUTINES.agc] | 1262-1308 [INTEGRATION_INITIALIZATION.agc] | 1309-1333 [ORBITAL_INTEGRATION.agc] | 1334-1354 [INFLIGHT_ALIGNMENT_ROUTINES.agc] | 1355-1364 [POWERED_FLIGHT_SUBROUTINES.agc] | 1365-1372 [TIME_OF_FREE_FALL.agc] | 1373-1388 [STAR_TABLES.agc] | 1389-1393 [AGC_BLOCK_TWO_SELF-CHECK.agc] | 1394-1403 [PHASE_TABLE_MAINTENANCE.agc] | 1404-1413 [RESTARTS_ROUTINE.agc] | 1414-1419 [IMU_MODE_SWITCHING_ROUTINES.agc] | 1420-1448 [KEYRUPT_UPRUPT.agc] | 1449-1451 [DISPLAY_INTERFACE_ROUTINES.agc] | 1452-1484 [SERVICE_ROUTINES.agc] | 1485-1492 [ALARM_AND_ABORT.agc] | 1493-1496 [UPDATE_PROGRAM.agc] | 1497-1507 [RT8_OP_CODES.agc] | 1508-1516 ### MISCELLANEOUS Source File | Page Number :------------------- | :---------- GAP-generated tables | 1517-1751 [CONTRACT_AND_APPROVALS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CONTRACT_AND_APPROVALS.agc [ASSEMBLY_AND_OPERATION_INFORMATION.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/ASSEMBLY_AND_OPERATION_INFORMATION.agc [TAGS_FOR_RELATIVE_SETLOC.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/TAGS_FOR_RELATIVE_SETLOC.agc [ERASABLE_ASSIGNMENTS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/ERASABLE_ASSIGNMENTS.agc [INTERRUPT_LEAD_INS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/INTERRUPT_LEAD_INS.agc [T4RUPT_PROGRAM.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/T4RUPT_PROGRAM.agc [DOWNLINK_LISTS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/DOWNLINK_LISTS.agc [FRESH_START_AND_RESTART.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/FRESH_START_AND_RESTART.agc [RESTART_TABLES.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/RESTART_TABLES.agc [SXTMARK.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/SXTMARK.agc [EXTENDED_VERBS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/EXTENDED_VERBS.agc [PINBALL_NOUN_TABLES.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/PINBALL_NOUN_TABLES.agc [CSM_GEOMETRY.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CSM_GEOMETRY.agc [IMU_COMPENSATION_PACKAGE.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/IMU_COMPENSATION_PACKAGE.agc [PINBALL_GAME_BUTTONS_AND_LIGHTS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/PINBALL_GAME_BUTTONS_AND_LIGHTS.agc [R60_62.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/R60_62.agc [ANGLFIND.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/ANGLFIND.agc [GIMBAL_LOCK_AVOIDANCE.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/GIMBAL_LOCK_AVOIDANCE.agc [KALCMANU_STEERING.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/KALCMANU_STEERING.agc [SYSTEM_TEST_STANDARD_LEAD_INS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/SYSTEM_TEST_STANDARD_LEAD_INS.agc [IMU_CALIBRATION_AND_ALIGNMENT.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/IMU_CALIBRATION_AND_ALIGNMENT.agc [GROUND_TRACKING_DETERMINATION_PROGRAM.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/GROUND_TRACKING_DETERMINATION_PROGRAM.agc [P34-35_P74-75.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/P34-35_P74-75.agc [R31.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/R31.agc [P76.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/P76.agc [R30.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/R30.agc [STABLE_ORBIT.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/STABLE_ORBIT.agc [P11.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/P11.agc [TPI_SEARCH.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/TPI_SEARCH.agc [P20-P25.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/P20-P25.agc [P30-P37.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/P30-P37.agc [P32-P33_P72-P73.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/P32-P33_P72-P73.agc [P40-P47.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/P40-P47.agc [P51-P53.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/P51-P53.agc [LUNAR_AND_SOLAR_EPHEMERIDES_SUBROUTINES.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/LUNAR_AND_SOLAR_EPHEMERIDES_SUBROUTINES.agc [P61-P67.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/P61-P67.agc [SERVICER207.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/SERVICER207.agc [ENTRY_LEXICON.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/ENTRY_LEXICON.agc [REENTRY_CONTROL.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/REENTRY_CONTROL.agc [CM_BODY_ATTITUDE.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CM_BODY_ATTITUDE.agc [P37_P70.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/P37_P70.agc [S-BAND_ANTENNA_FOR_CM.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/S-BAND_ANTENNA_FOR_CM.agc [LUNAR_LANDMARK_SELECTION_FOR_CM.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/LUNAR_LANDMARK_SELECTION_FOR_CM.agc [TVCINITIALIZE.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/TVCINITIALIZE.agc [TVCEXECUTIVE.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/TVCEXECUTIVE.agc [TVCMASSPROP.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/TVCMASSPROP.agc [TVCRESTARTS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/TVCRESTARTS.agc [TVCDAPS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/TVCDAPS.agc [TVCSTROKETEST.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/TVCSTROKETEST.agc [TVCROLLDAP.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/TVCROLLDAP.agc [MYSUBS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/MYSUBS.agc [RCS-CSM_DIGITAL_AUTOPILOT.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/RCS-CSM_DIGITAL_AUTOPILOT.agc [AUTOMATIC_MANEUVERS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/AUTOMATIC_MANEUVERS.agc [RCS-CSM_DAP_EXECUTIVE_PROGRAMS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/RCS-CSM_DAP_EXECUTIVE_PROGRAMS.agc [JET_SELECTION_LOGIC.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/JET_SELECTION_LOGIC.agc [CM_ENTRY_DIGITAL_AUTOPILOT.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CM_ENTRY_DIGITAL_AUTOPILOT.agc [DOWN-TELEMETRY_PROGRAM.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/DOWN-TELEMETRY_PROGRAM.agc [INTER-BANK_COMMUNICATION.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/INTER-BANK_COMMUNICATION.agc [INTERPRETER.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/INTERPRETER.agc [FIXED_FIXED_CONSTANT_POOL.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/FIXED_FIXED_CONSTANT_POOL.agc [INTERPRETIVE_CONSTANTS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/INTERPRETIVE_CONSTANTS.agc [SINGLE_PRECISION_SUBROUTINES.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/SINGLE_PRECISION_SUBROUTINES.agc [EXECUTIVE.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/EXECUTIVE.agc [WAITLIST.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/WAITLIST.agc [LATITUDE_LONGITUDE_SUBROUTINES.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/LATITUDE_LONGITUDE_SUBROUTINES.agc [PLANETARY_INERTIAL_ORIENTATION.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/PLANETARY_INERTIAL_ORIENTATION.agc [MEASUREMENT_INCORPORATION.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/MEASUREMENT_INCORPORATION.agc [CONIC_SUBROUTINES.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CONIC_SUBROUTINES.agc [INTEGRATION_INITIALIZATION.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/INTEGRATION_INITIALIZATION.agc [ORBITAL_INTEGRATION.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/ORBITAL_INTEGRATION.agc [INFLIGHT_ALIGNMENT_ROUTINES.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/INFLIGHT_ALIGNMENT_ROUTINES.agc [POWERED_FLIGHT_SUBROUTINES.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/POWERED_FLIGHT_SUBROUTINES.agc [TIME_OF_FREE_FALL.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/TIME_OF_FREE_FALL.agc [STAR_TABLES.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/STAR_TABLES.agc [AGC_BLOCK_TWO_SELF-CHECK.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/AGC_BLOCK_TWO_SELF-CHECK.agc [PHASE_TABLE_MAINTENANCE.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/PHASE_TABLE_MAINTENANCE.agc [RESTARTS_ROUTINE.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/RESTARTS_ROUTINE.agc [IMU_MODE_SWITCHING_ROUTINES.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/IMU_MODE_SWITCHING_ROUTINES.agc [KEYRUPT_UPRUPT.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/KEYRUPT_UPRUPT.agc [DISPLAY_INTERFACE_ROUTINES.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/DISPLAY_INTERFACE_ROUTINES.agc [SERVICE_ROUTINES.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/SERVICE_ROUTINES.agc [ALARM_AND_ABORT.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/ALARM_AND_ABORT.agc [UPDATE_PROGRAM.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/UPDATE_PROGRAM.agc [RT8_OP_CODES.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/RT8_OP_CODES.agc ================================================ FILE: Comanche055/REENTRY_CONTROL.agc ================================================ # Copyright: Public domain. # Filename: REENTRY_CONTROL.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 844-882 # Mod history: 2009-05-08 RSB Adapted from the Colossus249/ file of the # same name, using Comanche055 page images. # 2009-05-23 RSB In a couple of 2OCT statements, removed the # space between the first and second octal words. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 844 # ENTRY INITIALIZATION ROUTINE # ---------------------------- BANK 25 SETLOC REENTRY BANK COUNT* $$/ENTRY EBANK= RTINIT EBENTRY = EBANK7 EBAOG EQUALS EBANK6 NTRYPRIO EQUALS PRIO20 # (SERVICER) CM/FLAGS EQUALS STATE +6 STARTENT EXIT # MM = 63 # COME HERE FROM CM/POSE. RESTARTED IN CM/POSE. CS ENTMASK # INITIALIZE ALL SWITCHES TO ZERO # EXCEPT LATSW, ENTRYDSP, AND GONEPAST. # GONEBY 112D BIT8 FLAG7, SELF-INITIALIZING. INHINT MASK CM/FLAGS # ENTRYDSP = 92D B13 # GONEPAST=95D B10. RELVELSW=96D B9 # EGSW = 97D B8 NOSWITCH = 98D B7 # HIND=99D B6 INRLSW=100D B5 # LATSW=101D B4 .05GSW=102D B3 AD ENTRYSW # SET ENTRYDSP, LATSW, GONEPAST. TS CM/FLAGS RELINT TC INTPRET SLOAD LODPAD STORE LOD SLOAD LADPAD STORE LAD DMP # L/DCMINR = LAD COS(15) COS15 STODL L/DCMINR LATSLOPE DMP SR1 # KLAT = LAD/24 LAD # Page 845 STODL KLAT Q7F STODL Q7 # Q7 = Q7F NEARONE # 1.0 -1BIT STODL FACTOR LAD SIGN DCOMP HEADSUP # MAY BE NOISE FOR DISPLAY P61 STCALL L/D # L/D = - LAD SGN(HEADSUP) STARTEN1 # RETURN VIA GOTOADDR VLOAD VXV VN # (-7) M/CS UNITR # .5 UNIT REF COORDS UNIT DOT RT # RT/2 TARGET VECTOR REF COORDS STORE LATANG # LATANG = UNI.RT /4 DCOMP RTB SIGNMPAC STODL K2ROLL # K2ROLL = -SGN(LATANG) LAD DMP DAD Q21 Q22 STORE Q2 # Q2 = -1152 + 500 LAD SSP SSP GOTOADDR # SET SELECTOR FOR INITIAL PASS INITROLL POSEXIT SCALEPOP # SET CM/POSE TO CONTINUE AT SCALEPOP RTB SERVNOUT # OMIT INITIAL DISPLAY, SINCE 1ST GUESSBAD # CALCULATE THE INITIAL TARGET VECTOR: RTINIT, ALSO RTEAST, RTNORM AND RT. ALL ARE .5 UNIT AND IN # REFERENCE COORDINATES. STARTEN1 STQ VLOAD GOTOADDR LAT(SPL) # TARGET COORDINATES CLEAR CLEAR # DO CALL USING PAD RADIUS. WILL UNIT IT. ERADFLAG # ANYWAY. LUNAFLAG STODL LAT 3ZEROS STODL LAT +4 # SET ALT=0. PIPTIME # ESTABLISH RTINIT AT TIME OF PRESENT # Page 846 # RN AND VN. STCALL TIME/RTO # SAVE TIME BASE OF RTINIT. LALOTORV # C(MPAC) =TIME (PIPTIME) UNIT # ANSWER IN ALPHAV ALSO STODL RTINIT # .5 UNIT TARGET REF COORDS 500SEC # NOMINAL ENTRY TIME FOR P63 # TIME/RTO = PIPTIME, STILL. STCALL DTEAROT # INITIALIZE EARROT EARROT1 # GET RT DOT SL1 UNITR # RT/2 IN MPAC ACOS STCALL THETAH # RANGE ANGLE /360 GOTOADDR # RETURN TO CALLER 500SEC 2DEC 50000 B-28 # CS ENTMASK OCT 11774 ENTRYSW OCT 11010 # ENTRYDSP B13, GONEPAST B10, LATSW B4 # Page 847 SCALEPOP CALL TARGETNG EXIT REFAZE10 TC PHASCHNG OCT 10035 # SERVICER 5.3 RESTART AT REFAZE10 TC INTPRET # JUMP TO PARTICULAR RE-ENTRY PHASE: #SEQUENCE GOTO GOTOADDR # GOTOADDR CONTAINS THE ADDRESS OF THE ROLL COMMAND EQUATIONS TO THE CURRENT PHASE OF # RE-ENTRY. SEQUENCING IS AS FOLLOWS: # # INITROLL ADDRESS IS SET HERE INITIALLY. HOLDS INITIAL ROLL ATTITUDE UNTIL KAT IS EXCEEDED. THEN HOLDS NEW ROLL # ATTITUDE UNTIL VRTHRESH IS EXCEEDED. THEN BRANCHES TO # # HUNTEST THIS SECTION CHECKS TO SEE IF THE PREDICTED RANGE AT NOMINAL L/D FROM PRESENT CONDITIONS IS LESS # THAN THE DESIRED RANGE. # IF NOT --- A ROLL COMMAND IS GENERATED BY THE CONSTANT DRAG CONTROLLER. # IF SO --- CONTROL AND GOTOADDR ARE SET TO UPCONTRL. # USUALLY NO ITERATION IS INVOLVED EXCEPT IF THE RANGE DESIRED IS TOO LONG ON THE FIRST PASS THROUGH # HUNTEST. # # UPCONTRL CONTROLS ROLL DURING THE SUPER-CIRCULAR PHASE. UPCONTRL IS TERMINATED EITHER # (A) WHEN THE DRAG (AS MEASURED BY THE PIPAS) FALLS BELOW Q7, OR # (B) IF RDOT IS NEGATIVE AND REFERENCE VL EXCEEDS V. # IN CASE (A), GOTOADDR IS SET TO KEP2 AND IN CASE (B), TO PREDICT3 SKIPPING THE KEPLER PHASE OF # ENTRY. # # KEP2 GOTOADDR IS SET HERE DURING THE KEPLER PHASE TO MONITOR DRAG. THE SPACECRAFT IS INSTANTANEOUSLY # TRIMMED IN PITCH AND YAW TO THE COMPUTED RELATIVE VELOCITY. THE LAST COMPUTED ROLL ANGLE IS MAINTAINED. # WHEN THE MEASURED DRAG EXCEEDS Q7 +0.5, GOTOADDR IS SET TO # # PREDICT3 THIS CONTROLS THE FINAL SUB-ORBITAL PHASE. ROLL COMMANDS CEASE # WHEN V IS LESS THAN VQUIT . AN EXIT IS MADE TO # # P67.1 THE LAST COMPUTED ROLL ANGLE IS MAINTAINED. RATE DAMPING IS DONE IN PITCH AND YAW. PRESENT LATITUDE # AND LONGITUDE ARE COMPUTED FOR DISPLAY. # ENTRY IS TERMINATED WHEN DISKY RESPONSE IS MADE TO TO THIS FINAL FLASHING DISPLAY. # Page 848 # PROCESS AVERAGE G OUTPUT...SCALE IT AND GET INPUT DATA # * START TARGETING ... EBANK= RTINIT # TARGETNG IS CALLED BY P61, FROM GROUP 4. # TARGETNG IS CALLED BY ENTRY, FROM GROUP 5. # ALL MM COME HERE. TARGETNG BOFF VLOAD # ENTER WITH PROPER EB FROM CM/POSE(TEST) RELVELSW # RELVELSW = 96D BIT9 GETVEL # WANT INERTIAL VEL. GO GET IT. -VREL # NEW V IS RELATIVE, CONTINUE VCOMP GOTO # (VREL) = (V) + KWE UNITR*UNITW GETUNITV -1 # - VREL WAS LEFT BY CM/POSE GETVEL VLOAD VXSC # INERTIAL V WANTED VN # KVSCALE = (12800 / .3048) / 2VS KVSCALE # KVSCALE = .81491944 STORE VEL # V/2 VS GETUNITV UNIT STQ 60GENRET STODL UNITV 34D STORE VSQUARE # VSQ/4 DSU # LEQ = VSQUARE - 1 FOURTH # 4 G-S FULL SCALE STODL LEQ # LEQ/4 36D STOVL V # V/2 VS = VEL/2 VS VEL DOT SL1 # RDOT= V.UNITR UNITR STOVL RDOT # RDOT /2 VS DELV # PIPA COUNTS IN PLATFORM COORDS. ABVAL DMP KASCALE SL1 BZE SETMIND DSTORE STOVL D # ACCELERATION USED TO APPROX DRAG VEL VXV UNIT # UNI = UNIT(V*R) # Page 849 UNITR STORE UNI # .5 UNI REF COORDS. BOFF DLOAD RELVELSW GETETA 3ZEROS UPDATERT DSU DAD # PIPTIME-TIME/RTO =ELAPSED TIME SINCE # RTINIT WAS ESTABLISHED. TIME/RTO PIPTIME STCALL DTEAROT # GET PREDICTED TARGET VECTOR RT EARROT2 DOT SETPD # SINCE (RT) UNIT VECT, THIS IS 1/4 MAX UNI # LATANG = RT.UNI 0 STOVL LATANG # LATANG = MAC LATANG / 4 RT CLEAR GONEBY # SHOW HAVE NOT GONE PAST TARGET. VXV DOT # IF RT*UNITR.UNI NEG, GONEBY=1 UNITR # GONEPAST IS CONDITIONAL SW SET IN UNI # FINAL PHASE. BPL SET +2 GONEBY # SHOW HAVE GONE PAST TARGET. VLOAD RT GETANGLE DOT DSU # THETA = ARCCOS(RT.UNITR) UNITR NEAR1/4 # TO IMPROVE ACCURACY, CALC RANGE BY BPL DAD # TINYTHET IF HIGH ORDER PART OF TINYTHET # ARCCOS ARGUMENT IS ZERO NEAR1/4 SL1 ACOS THETDONE STORE THETAH # THETAH/360 # HI WORD, LO BIT =1.32 NM=360 60/16384 BON DCOMP GONEBY # =1 IF HAVE GONE PAST TARGET. # (SIGN MAY BECOME ERRATIC VERY NEAR # TARGET DUE TO LOSS OF PRECISION.) +1 STODL RTGON67 # RANGE ERROR: NEG IF WILL FALL SHORT. D DSU BMN # Page 850 .05G NO.05G SET VLOAD .05GSW DELVREF PUSH DOT UXA/2 SL1 DSQ PDVL VSQ # EXCHANGE WITH PDL. DSU DDV 0 BOV SQRT NOLDCALC # OVFL LAST CLEARED IN EARROT2 ABOVE. STORE L/DCALC NOLDCALC GOTO 60GENRET NO.05G CLEAR GOTO # THIS WAY FOR DAP. (MAY INTERRUPT) .05GSW # .05GSW = 102D B3 NOLDCALC # KEEP SINGLE EXIT FOR TARGETNG # Page 851 # SUBROUTINES CALLED BY SCALEPOP (TARGETING): BANK 26 SETLOC REENTRY1 BANK COUNT* $$/ENTRY GETETA DLOAD DDV # D = D +D(-RDOT/HS -2D/V) DT/2 # DT/2 = 2/2 =1 RDOT -HSCALED PDDL DMP D -KSCALE DDV DAD V # -RDOT/HS FROM PDL. DMP DAD D D STORE D BON DLOAD # EGSW INDICATES FINAL PHASE. EGSW SUBETA THETAH DMP GOTO KTETA # = 1000X2PI/(2)E14 163.84 UPDATERT SUBETA DLOAD DSU # SWITCH FROM INERTIAL TO RELATIVE VEL. V VMIN BPL SET SUBETA2 RELVELSW SUBETA2 DLOAD DMP THETAH KT1 # KT1 = KT DDV GOTO V # KT = RE(2 PI)/2 VS 16384 163.84/ 2 VSAT UPDATERT SETMIND DLOAD GOTO 1BITDP DSTORE # Page 852 TINYTHET DSU ABS # ENTER WITH X-.249 1BITDP +1 # GET 1/4 - MPAC SL SQRT # SCALE UP BEFORE SQRT 13D # HAS FACTOR FOR UP SCALING DMP GOTO KACOS THETDONE # Page 853 # * START INITIAL ROLL ... BANK 25 SETLOC REENTRY BANK COUNT* $$/ENTRY # MM = 63 , 64 .. INITROLL BON BOFF # IF D- .05G NEG, GO TO LIMITL/D INRLSW INITRL1 .05GSW LIMITL/D # MM = 64, NOW # 3 # KA = KA1 LEQ + KA2 DLOAD DSQ LEQ DMP DDV LEQ 1/KA1 # = 25 /(64 1.8) DAD RTB KA2 # = .2 P64 # ROLLC VI RDOT # XXX.XX DEG XXXXX. FPS XXXXX. FPS STORE KAT DSU BMN KALIM +4 DLOAD KALIM STORE KAT DLOAD DSU # IF V-VFINAL1 NEG, GO TO FINAL PHASE. V VFINAL1 CLEAR BPL # (CAN'T CLEAR INRLSW AFTER HERE: RESTARTS) GONEPAST # GONEPAST WAS INITIALLY SET=1 TO FORCE # ROLLC TO REMAIN AS DEFINED BY HEADSUP # UNTIL START OF P64. (UNTIL D > .05G) D0EQ SSP GOTO GOTOADDR KEP2 # AND IDLE UNTIL D > 0.2 G. (NO P66 HERE) INROLOUT # GO TO LIMITL/D AFTER SETTING INRLSW. D0EQ DLOAD DMP # D0 = KA3 LEQ + KA4 # Page 854 LEQ KA3 DAD KA4 STORE D0 # D0/805 BDDV BOV C001 # (-4/25 G) B-8 +1 # CLEAR OVFIND, IF ON. STODL C/D0 # (-4/D0) B-8 LAD # IF V-VFINAL +K(RDOT/V)CUBED POS,L/D=-LAD STODL L/D RDOT DDV PUSH V DSQ DMP DDV DSU 1/K44 VFINAL # 3 # V-VFINAL +(RDOT/V) / K44 OVFL $ DAD BOV V INROLOUT # GO TO LIMITL/D AFTER SETTING INRLSW. BMN DLOAD INROLOUT # GO TO LIMITL/D AFTER SETTING INRLSW. LAD DCOMP STORE L/D # SET INRLSW AT END FOR RESTART PROTECTION INROLOUT BOFSET # END OF PRE .05G PATH OF INITROLL. INRLSW # SWITCH IS ZERO INITIALLY. LIMITL/D # (GO TO) KATEST DLOAD DSU # IF KAT - D POS, GO TO CONSTD KAT D # IF POS, OUT WITH COMMAND VIA LIMITL/D BPL GOTO LIMITL/D CONSTD INITRL1 DLOAD DAD # IF RDOT + VRCONT POS, GO TO HUNTEST RDOT VRCONT BMN CALL # IF POSITIVE, FALL INTO HUNTEST. KATEST FOREHUNT # INITIALIZE HUNTEST. # Page 855 # * START HUNT TEST .. # MM = 64 SSP # INITIALIZE HUNTEST ON FIRST PASS GOTOADDR HUNTEST # MUST GO AFTER FOREHUNT FOR RESTARTS. HUNTEST DLOAD D STODL A1 # A1/805 = A1/25G LAD STODL TEM1B RDOT BMN DLOAD # IF RDOT NEG,TEM1B=LAD, OTHERWISE = LEWD A0CALC LEWD STODL TEM1B RDOT A0CALC DDV DAD # V1 = V + RDOT/TEM1B TEM1B V STODL V1 # V1/2 VS RDOT DSQ DDV # A0=(V1/V)SQ(D+RDOT SQ/(TEM1B 2 C1 HS) TEM1B DDV DAD 2C1HS D DMP DMP V1 V1 DDV VSQUARE STODL A0 # A0/805 = A0/25G RDOT BPL DLOAD V1LEAD A0 STORE A1 # A1/25G V1LEAD DLOAD BPL # IF L/D NEG, V1=V1 - 1000 L/D HUNTEST1 DLOAD DSU V1 # Page 856 VQUIT STORE V1 HUNTEST1 DLOAD DMP # ALP = 2 C1 HS A0/LEWD V1 V1 A0 2C1HS DDV SETPD V1 0 DDV DDV V1 LEWD STORE ALP BDSU BDDV # FACT1 = V1 / (1 - ALP) BARELY1 V1 STODL FACT1 # FACT1 / 2VS ALP DSU DMP # FACT2 = ALP(ALP - 1) / A0 BARELY1 ALP DDV A0 STORE FACT2 # FACT2 (25G) DMP DAD Q7 # Q7 / 805 = Q7 / 25G ALP # VL=FACT1 (1-SQRT(Q7 FACT2 +ALP) ) SQRT BDSU BARELY1 DMP FACT1 STORE VL # VL / 2 VS BDSU DMP # GAMMAL1 = LEWD (V1-VL)/VL V1 LEWD DDV VL STODL GAMMAL1 # GAMMAL1 USED IN UPCONTROL # GAMMAL1 = PDL 22D. VL DSU BMN # IF VL-VLMIN NEG, GO TO PREFINAL VLMIN PREFINAL DLOAD DSQ # Page 857 VL STODL VBARS # VBARS / 4 VS VS HALVE # IF VSAT-VL NEG, GO TO CONSTD DSU BMN VL BECONSTD # SET MODE=HUNTEST, CONTINUE IN CONSTD STODL DVL # DVL / 2VS HALVE STORE VS1 # VS1 = VSAT DSU BMN # IF V1 GREATER THAN VSAT, GO ON V1 GETDHOOK BDSU DVL STODL DVL # DVL = DVL - (VSAT-V1) = V1 - VL V1 STORE VS1 # VS1 = V1, IN THIS CASE GETDHOOK DLOAD CALL # DHOOK=((1-VS1/FACT1) SQ -ALP)/FACT2 VS1 # VS1 / 2 VS DHOOKYQ7 # GO CALC DHOOK STORE DHOOK # DHOOK / 25G SR DDV 6 # CHOOK Q7 DSU CHOOK # = .25/16 = (-6) STORE AHOOKDV DAD DMP # GAMMAL= GAMMAL1-CH1 DVL SQ(1+AHOOK DVL) 1/16TH CH1 DMP DMP DVL DVL DDV DDV DHOOK VBARS BDSU BMN GAMMAL1 NEGAMA HUNTEST3 STORE GAMMAL DSU # GAMMAL1=GAMMAL1 +Q19 (GAMMAL-GAMMAL1) GAMMAL1 DMP DAD # Page 858 Q19 GAMMAL1 STODL GAMMAL1 GAMMAL # Page 859 # *START RANGE PREDICTION ... # C(MPAC) = GAMMAL RANGER DSQ SR2 # COSG = 1-GAMMAL SQ/2, TRUNCATED SERIES BDSU HALVE STODL COSG/2 VBARS # E=SQRT(1+VBARS........ DSU DMP HALVE VBARS DMP DMP COSG/2 COSG/2 SL2 DAD C1/16 # C1/16 = 1/16 SQRT PDDL # E/4 INTO PDL VBARS DMP DMP # ASKEP/2 = ARCSIN(VBARS COSG SING/E) COSG/2 GAMMAL DDV ASIN SL1 PUSH # ASKEP TO PDL 0. STODL ASKEP # BALLISTIC RANGE ASKEP/2PI # FOR TM, STORE RANGE COMPONENTS OVERLAPPING (SP) VL DMP DAD # ASP1 = Q2 + Q3 VL Q3 Q2 STORE ASP1 # FINAL PHASE RANGE ASP1/2 PI PDDL DSQ # ASP1 TO PDL 2. V1 # 2 # ASPUP= -C12 LOG(V1 Q7/VBARS A0)/GAMMAL1 DMP DDV Q7 VBARS DDV CALL A0 LOG # RETURN WITH -LOG IN MPAC DMP DDV C12 GAMMAL1 STORE ASPUP # UP PHASE RANGE ASPUP / 2 PI # Page 860 PDDL DMP # ASPUP TO PDL 4. KC3 # KC3 = -4 VS VS / 2 PI 805 RE # ASPDWN = KC3 RDOT V / A0 RDOT DMP DDV V A0 DDV PUSH # ASPDWN TO PDL 6. LAD STODL ASPDWN # RANGE TO PULL OUT ASPDWN /2 PI Q6 DSU DMP # ASP3 = Q5(Q6-GAMMAL) GAMMAL Q5 STOVL ASP3 # GAMMA CORRECTION ASP3/2PI ASKEP # GET HI-WD AND STODL ASPS(TM) # SAVE HI-WORD OF ASP'S FOR TM. ASP3 DAD DAD # ASPDWN FROM PDL 6. # ASPUP FROM PDL 4. DAD DAD # ASP1 FROM PDL 2. # ASKEP FROM PDL 0. DSU BOVB # CLEAR OVFIND. THETAH TCDANZIG STORE DIFF # DIFF = (ASP-THETAH) / 2 PI # ASP=ASKEP+ASP1+ASPUP+ASP3+ASPDWN = TOTAL RANGE ABS DSU # IF ABS(THETAH-ASP) -25NM NEG, GO TO UPSY 25NM BMN BON GOTOUPSY HIND GETLEWD DLOAD BPL DIFF DCONSTD # EVENTUALLY SETS MODE = HUNTEST. GETDLEWD DLOAD DMP # DLEWD = DLEWD (DIFF/(DIFFOLD-DIFF)) DLEWD DIFF PDDL DSU DIFFOLD DIFF # Page 861 BDDV LWDSTORE STADR STORE DLEWD DAD BMN # IF LEWD+DLEWD NEG, DLEWD=-LEWD/2 LEWD LEWDPTR BOV LEWDOVFL STORE LEWD SIDETRAK EXIT CA EBENTRY TS EBANK CA PRIO16 # DROP GRP 5 RESTART PRIO TO 1 LESS THAN TS PHSPRDT5 # GRP 4. TC PHASCHNG OCT 00474 # RESTART GRP 4 AT PRE-HUNT. # FORCE RESTART TO PICK UP IN GRP 4: # USE PRIO 17 FOR GRP 4 (< SERVICER PRIO) CA PRIO16 # CONTINUE GRP 5 AT LOWER PRIO THAN EITHER # GRP 4 OR SERVICER. TC PRIOCHNG CAF ADENDEXT # SIDETRACK NEXT PASS UNTIL THIS ONE DONE. TS GOTOADDR # ONLY AFTER RESTART IS LEFT AFTER DETOUR. TC INTPRET DLOAD SET DIFF HIND STODL DIFFOLD # DIFFOLD / 2 PI Q7F STCALL Q7 # Q7 / 805 FPSS HUNTEST # (GO TO) LEWDOVFL DLOAD NEARONE STCALL LEWD DCONSTD # (GO TO) ALSO WILL SET MODE = HUNTEST LEWDPTR DLOAD SR1 LEWD DCOMP GOTO LWDSTORE # Page 862 # NEGAMA IS PART OF HUNTEST ... NEGAMA DMP DMP # ENTER WITH GAMMAL IN MPAC VL 1/3RD PDDL DMP # PUSH GAMMAL VL/3 LEWD 1/3RD PDDL DAD # PUSH LEWD/3 AHOOKDV 1/24TH DMP DMP # DEL VL = (GAMMAL VL/3)/(LEWD/3-DVL DVL # (2/3 + AHOOKDV)(CH1 GS/DHOOK VL)) CH1 DDV DDV DHOOK VL BDSU BDDV # LEWD/3 # GAMMAL VL /3 DAD VL STCALL VL # VL/2 VS DHOOKYQ7 # GO CALC Q7 # Q7=((1-VL/FACT1)SQ - ALP)/FACT2 STODL Q7 # Q7 / 25G VL DSQ STODL VBARS # VBARS / 4 VS VS 3ZEROS GOTO # SET GAMMAL = 0 HUNTEST3 DHOOKYQ7 SR1 DDV # SUBROUTINE TO CALC DHOOK OR Q7) FACT1 BDSU SL1 HALVE DSQ DSU ALP DDV RVQ FACT2 # Page 863 # COME TO PRE-HUNT WHEN RESTART OCCURS AFTER # HUNTEST IS SIDE-TRACKED AT SIDETRAK. # PICK UP IN GROUP 4. PRE-HUNT TC INTPRET CLEAR CALL HIND # HIND 99D BIT 6 FLAG 6 FOREHUNT # RE-INITIALIZE HUNTEST AFTER RE-START. GOTO HUNTEST FOREHUNT DLOAD # INITIALIZE HUNTEST. 3ZEROS STODL DIFFOLD DLEWD0 STODL DLEWD LEWD1 STORE LEWD RVQ ADENDEXT CADR ENDEXIT # Page 864 # * START UP CONTROL ... # MM = 65 GOTOUPSY RTB # END OF HUNTEST P65 # HUNTEST USE OF GRP4 IS DISABLED BY P65 # USE FOR DISPLAY. # SET MODE = UPCONTRL. # RETURN FROM P65 DIRECTLY TO UPCONTRL # VIA THE GOTOADDR AT REFAZE10. UPCONTRL DLOAD DSU # IF D-140 POS, NOSWITCH =1 D # (SUPPRESS LATERAL SWITCH) C21 BMN SET +2 NOSWITCH DLOAD DSU # IF V-V1 POS, GO TO DOWN CONTROL. V V1 BPL DLOAD DOWNCNTL D DSU BMN # IF D- Q7 NEG, GO TO KEP Q7 KEP DLOAD BPL # IF RDOT NEG, DO VLTEST RDOT CONT1 VLTEST DLOAD DSU # IF V-VL-C18 NEG,EGSW=1,MODE=PREDICT3 V VL DSU BMN C18 PREFINAL CONT1 DLOAD # IF D-A0 POS, L/D = LAD, GO TO LIMITL/D D DSU BMN A0 CONT3 DLOAD GOTO LAD STOREL/D CONT3 DLOAD DMP # VREF=FACT1(1-SQRT(FACT2 D + ALP)) D FACT2 # Page 865 DAD SQRT ALP BDSU DMP BARELY1 FACT1 STORE VREF # VREF / 2VS BDSU DMP # RDOTREF = LEWD(V1-VREF) V1 LEWD STODL RDOTREF # RDOTREF / 2VS VS1 DSU BMN # IF VSAT-VREF NEG, GO TO CONTINU2 VREF CONTINU2 PUSH PUSH # VS1-VREF TO PDL TWICE DMP DDV # RDHOOK=CHI(1+DV AHOOKDV/DVL) DV DV AHOOKDV # /DHOOK VREF DVL # WHERE DV = (VS1-VREF) DAD DMP 1/16TH CH1 DMP DMP # VS1-VREF FROM PDL TWICE. DDV DHOOK DDV BDSU VREF RDOTREF # C(RDOTREF)= LEWD (V1-VREF) STORE RDOTREF # RDOTREF = RDOTREF - RDHOOK CONTINU2 DLOAD DSU D Q7MIN BOVB BMN TCDANZIG # CLEAR OVFL IND, IF ON. UPCNTRL3 DLOAD DSU A1 Q7 PDDL DSU D Q7 DDV STADR STORE FACTOR # FACTOR / 25G # Page 866 # SKIPPER # DELTA L/D=-((RDOT-RDOTREF)F1 KB1+V-VREF)F1 KB2 # WHERE F1 = FACTOR UPCNTRL3 DLOAD RDOT DSU DMP # L/D = LEWD RDOTREF # -((RDOT-RDOTREF)F1/KB1+V-VREF)F1/KB2 FACTOR DDV DAD 1/KB1 V DSU DMP VREF FACTOR DDV PUSH -1/KB2 # DELTA L/D INTO PDL BOV ABS # NONLINEAR CIRCUIT FOR REDUCING HIGH GAIN GOMAXL/D DSU BMN PT1/16 NEXT1 DMP DAD POINT1 PT1/16 SIGN PUSH # ATTACH SIGN OF PUSH TO MPAC THEN PUSH NEXT1 DLOAD SL4 # DELTA L/D FROM PDL. DAD LEWD NEGTESTS BOV PUSH # L/D TO PDL FOR USE IN NEGTESTS. GOMAXL/D STODL L/D # IF D-C20 POS, LATSW =0 # AND IF L/D NEG, L/D = 0. D DSU BMN C20 LIMITL/D CLEAR DLOAD LATSW # =21D. ROLL OVER TOP, REGARDLESS. # L/D FROM PDL. BPL DLOAD LIMITL/D 3ZEROS STCALL L/D LIMITL/D # (GO TO) # Page 867 DCONSTD DLOAD # TWO RANGER ENTRIES TO CONSTD HERE DIFF # SAVE OLD VALUE OF DIFF FOR NEXT PASS. STODL DIFFOLD # DIFFOLD / 2 PI Q7F STORE Q7 BECONSTD SSP RTB # A HUNTEST ENTRY INTO CONSTD. GOTOADDR # RESET MODE TO HUNTEST HUNTEST KILLGRP4 # DEACTIVATE GRP4 FROM HUNTEST. CONSTD BOVB TCDANZIG # CLEAR OVF IND IF ON. DLOAD DMP LEQ C/D0 # C/D0 = -4/D0 B-8 PDDL DMP # LEQ C/D0 INTO PDL 2HS # 2HS / 4 VS VS D0 DDV DAD # RDOTREF = -2 HS D0/V V RDOT DMP DAD K2D # C/D0 LEQ + K2D(RDOT-RDOTREF) INTO PD PDDL D0 # D0 /805 CONSTD1 BDSU # ENTER WITH DREF IN MPAC D DMP DAD K1D # K2D TERM FROM PUSH SL GOTO 8D NEGTESTS # (GO TO) DOWNCNTL BOVB # INITIAL PART OF UPCONTROL. TCDANZIG # CLEAR OVFIND, IF ON. DLOAD SR LAD 8D PDDL DSU # RDTR = LAD(V1-V) V V1 DMP DAD LAD # Page 868 RDOT DMP DAD K2D # PUSH UP LAD. PDDL DSU # LAD + K2D(RDOT-RDTR) INTO PD V1 V DSQ DMP LAD DDV PDDL # (V1-V)SQ LAD/(2 C1 HS) INTO PD 2C1HS V1 DSQ DDV VSQUARE BDDV DSU # DREF = (V/V1)SQ A0 - PD A0 # PUSH UP HERE GOTO # C(MPAC) = DREF CONSTD1 # 2 2 # DREF = (V/V1) A0 -(V-V1) LAD/2 C1 HS # Page 869 # * START BALLISTIC PHASE ... # MM = 66 UPCONTRL ENTRY INTO KEP2. KEP RTB SSP P66 # DISPLAY TRIM GIMBAL ANGLE VALUES. GOTOADDR # SET GOTOADDR TO KEPLER PHASE. KEP2 # KEP2 CAN ALSO BE STARTED UP DIRECTLY FROM INITROLL # IN P64. PROGRAM WILL IDLE IN P64 UNTIL D EXCEEDS # .2 G BEFORE GOING ON TO P67. KEP2 DLOAD DSU # IF Q7F+KDMIN -D NEG, GO TO FINAL PHASE. Q7FKDMIN # (Q7F + KDMIN)/805 D BMN TLOAD PREFINAL # SET ROLLHOLD = ROLLC, IN CASE CMDAPMOD ROLLC # = +1 EVER ENTERED. BON TLOAD # IF D > .05G, KEEP PRESENT ROLL COMMAND. .05GSW # IF D < .05G, SET ROLL COMMAND = 0. +2 3ZEROS # SET ROLLC & ROLLHOLD =0. +2 STCALL ROLLC # (SP ROLLHOLD FOLLOWS DP ROLLC) P62.3 # CALC DESIRED GIMBAL ANGLES AT PRESENT # RN, VN TO YIELD TRIM ATTITUDE. # AVAILABLE IN CPHI'S FOR N22. # Page 870 # START FINAL PHASE ... # MM = 67 PREFINAL SSP RTB GOTOADDR # RESTART PROTECT: RESET GOTOADDR IF CAME PREFINAL # FROM HUNTEST. P67 # DISABLES GRP4. FINE IF FROM HUNTEST.BUT # MAY ALSO REMOVE RESTART PROTECTION OF # N69 (P65). # ROLLC XRNGERR DNRNGERR # XXX.XX DEG XXXX.X NM XXXX.X NM SET SSP EGSW GOTOADDR PREDICT3 PREDICT3 DLOAD DSU # IF V-VQUIT NEG, STOP STEERING V VQUIT BMN EXIT STEEROFF CA EBENTRY # PRECAUTIONARY. TS EBANK CA TWELVE BACK TS JJ CS V INDEX JJ AD VREFER # VREF - V, HIGHEST VREF AT END OF TABLE. CCS A # IF VREF-V POS LOOP BACK CCS JJ # DECREMENT JJ, JJ CANNOT BE ZERO TCF BACK AD ONE TS TEM1B # V-VREF IN TEM1B (MUST BE POSITIVE NUM) INDEX JJ CS VREFER INDEX JJ AD VREFER +1 # V(K+1) - V(K) (POS NUM) XCH TEM1B ZL EXTEND DV TEM1B TS GRAD # GRAD = (V-VREF)/(VK+1 - VK) (POS NUM CAF FIVE # Page 871 BACK2 TS MM CAF THIRTEEN ADS JJ INDEX A CS VREFER INDEX JJ AD VREFER +1 # X(K+1) - X(K) EXTEND MP GRAD INDEX JJ AD VREFER INDEX MM TS FX # FX = AK + GRAD (AK+1 - AK) CCS MM TCF BACK2 XCH FX +1 # ZERO FX +1 AND GET DREFR AD D EXTEND MP FX +5 # F1 DXCH MPAC # MPAC = F1(D-DREF) EXTEND DCS RDOT # FORM RDOTREF - RDOT DDOUBL DDOUBL DDOUBL # SCALE UP BY 8 FOR THIS PHASE. AD FX +3 # RDOTREF EXTEND MP FX +4 # F2 AD FX +2 # RTOGO DAS MPAC # ADD F2(DADV1-DADVR) CA MPAC TS PREDANG # L/D = LOD + (THETA- PREDANG)/ Y TC INTPRET SR3 DSU THETAH BON BOFF GONEPAST GONEGLAD GONEBY HAVDNRNG DLOAD SET # SET GONEPAST IF GONEBY SET & LATCH IN-PLACE MAXRNG # DISPLAY = 9999.9 IF GONEBY GONEPAST STCALL DNRNGERR GONEGLAD HAVDNRNG STORE DNRNGERR # = (PREDANG - THETA) /360 # Page 872 DCOMP # FALL SHORT IF NEG, OVERSHOOT IF POS BOVB DDV TCDANZIG # CLEAR OVFIND IF ON. FX # FX= DRANGE/D L/D = Y SL BOV 5 GOMAXL/D DAD BOV LOD GOMAXL/D STCALL L/D GLIMITER # (GO TO) # GONEGLAD AND GOPOSMAX ENTRY POINTS FOR GLIMITER ... GONEGLAD DLOAD # SET L/D = -LAD GONEGLAD # (ANY NEGATIVE NUMBER WILL DO) GOMAXL/D RTB DMP # L/D = LAD SIGN(MPAC) SIGNMPAC LAD STORE L/D # AND FALL INTO GLIMITER SECTION GLIMITER DLOAD DSU # IF GMAX/2-D POS, GO TO LIMITL/D GMAX/2 D BPL DAD # IF GMAX -D NEG, GO TO GOPOSLAD LIMITL/D GMAX/2 BMN DMP GOPOSLAD 2HS PDDL DMP # 2HS(GMAX-D) INTO PD LEQ 1/GMAX DAD DMP LAD PDDL DDV # 2HS(GMAX-D) (LEQ/GMAX+LAD) INTO PD 2HSGMXSQ VSQUARE DAD SQRT # XLIM = SQRT(PD+(2HSGMAX/V)SQ) DAD BPL # IF RDOT+XLIM POS, GO TO LIMITL/D RDOT LIMITL/D GOPOSLAD DLOAD LAD STOREL/D STORE L/D # Page 873 LIMITL/D DLOAD L/D STODL L/D1 VSQUARE BON # NO LATERAL CONTROL IF PAST TARGET GONEPAST L355 DMP DAD # Y= KLAT VSQUARE + LATBIAS KLAT LATBIAS # Y INTO PD L350 PDDL ABS # IF ABS(L/D)-L/DCMINR NEG, GO TO L353 L/D DSU BMN L/DCMINR L353 DLOAD SIGN # IF K2ROLL LATANG NEG, GO TO L357 LATANG K2ROLL BMN DLOAD L357 SR1 PUSH # Y = Y/2 L353 DLOAD SIGN # IF LATANG SIGN(K2ROLL)-Y POS, SWITCH LATANG K2ROLL DSU BMN DLOAD L355 K2ROLL BONCLR DCOMP # IF NOSWITCH =1, K2ROLL= K2ROLL NOSWITCH L355 STORE K2ROLL # K2ROLL = -K2ROLL L355 DLOAD DDV # ROLLC = ACOS( (L/D1) / LAD) L/D1 LAD # MPAC SET TO +-1 IF OVERFLOW*** SR1 ACOS SIGN CLEAR K2ROLL NOSWITCH STORE ROLLC ENDEXIT EXIT OVERNOUT CA BIT13 # ENTRYDSP =92D B13 MASK CM/FLAGS EXTEND BZF NODISKY # OMIT DISPLAY. # Page 874 CA ENTRYVN # ALL ENTRY DISPLAYS ARE DONE HERE. TC BANKCALL CADR REGODSPR # NO ABORT IF DISKY IN USE NODISKY INHINT CCS NEWJOB # PROTECT READACCS GRP 5, IF SIDETRACKED. TC CHANG1 SERVNOUT TC POSTJUMP # ( COME HERE FROM P67.3 ) CADR SERVEXIT # AND END AVERAGEG JOB VIA ENDOFJOB. # Page 875 # DISPLAY WHEN V IS LESS THAN VQUIT. STEEROFF EXIT CA EBENTRY # PRECAUTIONARY. TS EBANK CA PRIO16 # 2 LESS THAN NTRYPRIO. TC NOVAC EBANK= AOG # ANY EB HERE 2CADR P67.1 # START UP REMAINDER OF P67 # RTOGO LAT LONG # XXXX.X NM XXX.XX DEG XXX.XX DEG TC 2PHSCHNG # INHINT/RELINT DONE. OCT 00414 # 4.41 RESTART FOR P67.1 DISPLAY JOB. OCT 10035 # SERVICER 5.3 RESTART. CA P67.2CAD # HEREAFTER, DO LAT, LONG. TS GOTOADDR TC INTPRET GOTO P67.2CAD P67.2 # CONTINUE FOR LAT, LONG THIS TIME. L357 DLOAD SIGN # L/D = L/DCMINR SIGN(L/D) L/DCMINR L/D STCALL L/D1 L355 # (GO TO) # Page 876 # TABLE USED FOR SUB-ORBITAL REFERENCE TRAJECTORY CONTROL. VREFER DEC .019288 # REFERENCE VELOCITY SCALED V/51532.3946 DEC .040809 # 13 POINTS ARE STORED AS THE INDEPENDENT DEC .076107 # VARIABLE AND THEN SIX 13 POINT FUNCTIONS DEC .122156 # OF V ARE STORED CONSECUTIVELY DEC .165546 DEC .196012 DEC .271945 DEC .309533 DEC .356222 DEC .404192 DEC .448067 DEC .456023 DEC .67918 # HIGHVELOCITY FOR SAFETY. DEC -.010337 # DRANGE/DA SCALED DRDA/(2700/805) DEC -.016550 DEC -.026935 DEC -.042039 DEC -.058974 DEC -.070721 DEC -.098538 DEC -.107482 DEC -.147762 DEC -.193289 DEC -.602557 DEC -.99999 DEC -.99999 DEC -.0478599 B-3 # -DRANGE/DRDOT DEC -.0683663 B-3 # SCALED ((2VS/8 2700) DR/DRDOT) DEC -.1343468 B-3 DEC -.2759846 B-3 DEC -.4731437 B-3 DEC -.6472087 B-3 DEC -1.171693 B-3 DEC -1.466382 B-3 DEC -1.905171 B-3 DEC -2.547990 B-3 DEC -4.151220 B-3 DEC -5.813617 B-3 DEC -5.813617 B-3 # Page 877 DEC -.0134001 B3 # RDOTREF SCALED (8 RDT/2VS) DEC -.013947 B3 DEC -.013462 B3 DEC -.011813 B3 DEC -.0095631 B3 DEC -.00806946 B3 DEC -.006828 B3 DEC -.00806946 B3 DEC -.0109791 B3 DEC -.0151498 B3 DEC -.0179817 B3 DEC -.0159061 B3 DEC -.0159061 B3 DEC .0008067 # RANGE TO GO SCALED RTOGO/2700 DEC .0032963 # 8.9 DEC .0081852 # 22.1 DEC .017148 DEC .027926 DEC .037 DEC .063296 DEC .077889 DEC .098815 DEC .127519 DEC .186963 DEC .238148 DEC .294185185 DEC -.051099 # -AREF/805 DEC -.074534 DEC -.101242 DEC -.116646 DEC -.122360 DEC -.127081 DEC -.147453 DEC -.155528 DEC -.149565 DEC -.118509 DEC -.034907 DEC -.007950 DEC -.007950 # Page 878 DEC .004491 # DRANGE/D L/D SCALED Y/2700 DEC .008081 DEC .016030 DEC .035815 DEC .069422 DEC .104519 DEC .122 DEC .172407 DEC .252852 DEC .363148 DEC .512963 DEC .558519 DEC .558519 # END OF STORED REFERENCE # Page 879 # REENTRY CONSTANTS. # DEFINED BY EQUALS DEC15 = LOW4 #GAMMAL1 = 22D MAXRNG 2OCT 1663106755 # DNRNGERR = 9999.9 IF GONEPAST=1 BANK 26 SETLOC REENTRY1 BANK COUNT* $$/ENTRY BARELY1 = NEARONE # COMMON TO BOTH DISK,DANCE.DEFND IN TFF #1BITDP # COMMON TO BOTH DISK AND DANCE. DEFND IN VECPOINT. 1/12TH DEC .083333 # DP 1/12 USES HI WORD IN 1/3 BELOW 1/3RD 2DEC .3333333333 # DP 1/3 1/16TH = DP2(-4) # BELOW: VS = VSAT = 25766.1973 FT/SEC # RE = 21,202,900 FEET LEWD1 2DEC .15 POINT1 2DEC .1 POINT2 2DEC .2 # .2 DLEWD0 2DEC -.05 # -.05 GMAX/2 2DEC .16 # 8 GS / 2 3ZEROS EQUALS HI6ZEROS NEAR1/4 2OCT 0777700000 # 1/4 LESS 1 BIT IN UPPER PART. C18 2DEC .0097026346 # 500/2VS Q7FKDMIN 2DEC .0080745342 # 6.5/805 (Q7F +KDMIN) = 6 + .5) C1/16 = DP2(-4) Q3 2DEC .167003132 # .07 2VS/21600 # Page 880 Q5 2DEC .326388889 # .3 23500/21600 Q6 2DEC .0349 # 2 DEG. APPROX 820/23500 Q7F 2DEC .0074534161 # 6/805 (VALUE OF Q7 IN FIXED MEM.) Q19 = HALVE # Q19 = .5 Q21 2DEC .0231481481 # 500/21600 Q22 2DEC -.053333333 # -1152/21600 VLMIN 2DEC .34929485 # 18000/2 VS VMIN = FOURTH # (VS/2) / 2VS C12 2DEC .00684572901 # 32 28500/(21202900 2 PI) 1/KB1 2DEC .29411765 # 1 / 3.4 -1/KB2 2DEC -.0057074322 B4 # = -1/(.0034 2 VS) EXP +4 VQUIT 2DEC .019405269 # 1000 /2VS C20 2DEC .21739130 # (175 FPSS) LIFT UP IF ABOVE C20 C21 2DEC .17391304 # 140/805 25NM 2DEC .0011574074 # 25/21600 (25 NAUT MILES) K1D 2DEC .0314453125 # =C16 805/256 = .01 805/256 K2D 2DEC -.201298418 # -C17 2VS/256 = -.001 2VS/256 KVSCALE 2DEC .81491944 # 12800/(2 VS .3048) KASCALE 2DEC .97657358 # 5.85 16384/(4 .3048 100 805) KTETA 2DEC* .383495203 E2 B-14* # 1000 2PI/16384(163.84) KT1 2DEC* .157788327 E 2 B-14* # RE(2PI)/2 VS(16384) 163.84 .05G 2DEC .002 # .05/25 LATBIAS 2DEC .00003 # APPRX .5 NM/ 4(21600/2 PI) KWE 2DEC .120056652 B-1 KACOS 2DEC .004973592 # 1/32(2PI) CHOOK 2DEC 1 B-6 # .25/16 # Page 881 1/24TH 2DEC .0833333333 B-1 CH1 2DEC .32 B1 # 16 CH1/25 = 16 (1) /25 KC3 2DEC -.0247622232 # -(4 VS VS/ 2 PI 805 RE) VRCONT 2DEC .0135836886 # 700/2 VSAT HALVE EQUALS HIDPHALF FOURTH EQUALS HIDP1/4 1/GMAX EQUALS HALVE # 4/GMAX = 4 / 8 2HS 2DEC .0172786611 # 2 28500 25 32.2/(4 VS VS) 2HSGMXSQ 2DEC .0000305717 # (2 28500 8 32.2/ 4 VS VS)SQ C001 2DEC -.000625 # -(4/25)/256 LEQ/D0 CONST POINT8 2DEC .8 2C1HS 2DEC .0215983264 # 2 1.25 28500 805/(2 VS)SQ PT1/16 2DEC .1 B-4 1/K44 2DEC .00260929464 # 2 VS/19749550 VFINAL 2DEC .51618016 # 26600/2 VS VFINAL1 2DEC .523942273 # = 27000 / 2 VS 1/KA1 2DEC .30048077 # 25/(1.3 64) KA2 2DEC .008 # .2/25 KA3 2DEC .44720497 # = 90 4/805 KA4 2DEC .049689441 # 40/805 KALIM 2DEC .06 # 1.5/25 Q7MIN = KA4 # = 40/805 = .049689441 -HSCALED 2DEC -.55305018 # -28500/2 VS -KSCALE 2DEC -.0312424837 # -805/VS COS15 2DEC .965 LATSLOPE EQUALS 1/12TH # ... END OF RE-ENTRY CONSTANTS ... ================================================ FILE: Comanche055/RESTARTS_ROUTINE.agc ================================================ # Copyright: Public domain. # Filename: RESTARTS_ROUTINE.agc # Purpose: Part of the source code for Comanche, build 055. It # is part of the source code for the Command Module's # (CM) Apollo Guidance Computer (AGC), Apollo 11. # Assembler: yaYUL # Reference: pp. 1414-1419 # Contact: Ron Burkey # Website: http://www.ibiblio.org/apollo. # Mod history: 2009-05-07 RSB Adapted from Colossus249 file of the same # name, and page images. Corrected various # typos in the transcription of program # comments, and these should be back-ported # to Colossus249. # # The contents of the "Comanche055" files, in general, are transcribed # from scanned documents. # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. April 1, 1969. # # This AGC program shall also be referred to as Colossus 2A # # Prepared by # Massachusetts Institute of Technology # 75 Cambridge Parkway # Cambridge, Massachusetts # # under NASA contract NAS 9-4065. # # Refer directly to the online document mentioned above for further # information. Please report any errors to info@sandroid.org. # Page 1414 BANK 01 SETLOC RESTART BANK EBANK= PHSNAME1 # GOPROG MUST SWITCH TO THIS EBANK COUNT 01/RSROU RESTARTS CA MPAC +5 # GET GROUP NUMBER -1 DOUBLE # SAVE FOR INDEXING TS TEMP2G CA PHS2CADR # SET UP EXIT IN CASE IT IS AN EVEN TS TEMPSWCH # TABLE PHASE CA RTRNCADR # TO SAVE TIME ASSUME IT WILL GET NEXT TS GOLOC +2 # GROUP AFTER THIS CA TEMPPHS MASK OCT1400 CCS A # IS IT A VARIABLE OR TABLE RESTART TCF ITSAVAR # IT:S A VARIABLE RESTART GETPART2 CCS TEMPPHS # IS IT AN X.1 RESTART CCS A TCF ITSATBL # NO, ITS A TABLE RESTART CA PRIO14 # IT IS AN X.1 RESTART, THEREFORE START TC FINDVAC # THE DISPLAY RESTART JOB EBANK= LST1 2CADR INITDSP TC RTRNCADR # FINISHED WITH THIS GROUP, GET NEXT ONE ITSAVAR MASK OCT1400 # IS IT TYPE B ? CCS A TCF ITSLIKEB # YES,IT IS TYPE B EXTEND # STORE THE JOB (OR TASK) 2CADR FOR EXIT NDX TEMP2G DCA PHSNAME1 DXCH GOLOC CA TEMPPHS # SEE IF THIS IS A JOB, TASK, OR A LONGCALL MASK OCT7 AD MINUS2 CCS A TCF ITSLNGCL # ITS A LONGCALL # Page 1415 RTRNCADR TC SWRETURN # CANT GET HERE TCF ITSAWAIT TCF ITSAJOB # ITS A JOB ITSAWAIT CA WTLTCADR # SET UP WAITLIST CALL TS GOLOC -1 NDX TEMP2G # DIRECTLY STORED CA PHSPRDT1 TIMETEST CCS A # IS IT AN IMMEDIATE RESTART INCR A # NO. TCF FINDTIME # FIND OUT WHEN IT SHOULD BEGIN TCF ITSINDIR # STORED INDIRECTLY TCF IMEDIATE # IT WANTS AN IMMEDIATE RESTART # ***** THIS MUST BE IN FIXED FIXED ***** BLOCK 02 SETLOC FFTAG2 BANK COUNT 02/RSROU ITSINDIR LXCH GOLOC +1 # GET THE CORRECT E BANK IN CASE THIS IS LXCH BB # SWITCHED ERRASIBLE NDX A # GET THE TIME INDIRECTLY CA 1 LXCH BB # RESTORE THE BB AND GOLOC LXCH GOLOC +1 TCF FINDTIME # FIND OUT WHEN IT SHOULD BEGIN # ***** YOU MAY RETURN TO SWITCHED FIXED ***** BANK 01 SETLOC RESTART BANK COUNT 01/RSROU FINDTIME COM # MAKE NEGATIVE SINCE IT WILL BE SUBTRACTED TS L # AND SAVE NDX TEMP2G CS TBASE1 EXTEND # Page 1416 SU TIME1 CCS A COM AD OCT37776 AD ONE AD L CCS A CA ZERO TCF +2 TCF +1 IMEDIATE AD ONE TC GOLOC -1 ITSLIKEB CA RTRNCADR # TYPE B, SO STORE RETURN IN TS TEMPSWCH # TEMPSWCH IN CASE OF AN EVEN PHASE CA PRT2CADR # SET UP EXIT TO GET TABLE PART OF THIS TS GOLOC +2 # VARIABLE TYPE OF PHASE CA TEMPPHS # MAKE THE PHASE LOOK RIGHT FOR THE TABLE MASK OCT177 # PART OF THIS VARIABLE PHASE TS TEMPPHS EXTEND NDX TEMP2G # OBTAIN THE JOB:S 2CADR DCA PHSNAME1 DXCH GOLOC ITSAJOB NDX TEMP2G # NOW ADD THE PRIORITY AND LET:S GO CA PHSPRDT1 CHKNOVAC TS GOLOC -1 # SAVE PRIO UNTIL WE SEE IF ITS EXTEND # A FINDVAC OR A NOVAC BZMF ITSNOVAC CAF FVACCADR # POSITIVE, SET UP FINDVAC CALL. XCH GOLOC -1 # PICK UP PRIO, TC GOLOC -1 # AND GO ITSNOVAC CAF NOVACADR # NEGATIVE, XCH GOLOC -1 # SET UP NOVAC CALL, COM # CORRECT PRIO, TC GOLOC -1 # AND GO ITSATBL TS CYR # FIND OUT IF THE PHASE IS ODD OR EVEN CCS CYR TCF +1 # IT:S EVEN TCF ITSEVEN CA RTRNCADR # IN CASE THIS IS THE SECOND PART OF A TS GOLOC +2 # TYPE B RESTART, WE NEED PROPER EXIT # Page 1417 CA TEMPPHS # SET UP POINTER FOR FINDING OUR PLACE IN TS SR # THE RESTART TABLES AD SR NDX TEMP2G AD SIZETAB +1 TS POINTER CONTBL2 EXTEND # FIND OUT WHAT'S IN THE TABLE NDX POINTER DCA CADRTAB # GET THE 2CADR LXCH GOLOC +1 # STORE THE BB INFORMATION CCS A # IS IT A JOB OR IT IT TIMED INCR A # POSITIVE, MUST BE A JOB TCF ITSAJOB2 INCR A # MUST BE EITHER A WAITLIST OR LONGCALL TS GOLOC # LET-S STORE THE CORRECT CADR CA WTLTCADR # SET UP OUR EXIT TO WAITLIST TS GOLOC -1 CA GOLOC +1 # NOW FIND OUT IF IT IS A WAITLIST CALL MASK BIT10 # THIS SHOULD BE ONE IF WE HAVE -BB CCS A # FOR THAT MATTER SO SHOULD BE BITS 9,8,7, # 6,5, AND LAST BUT NOT LEAST (PERHAPS NOT # IN IMPORTANCE ANYWAY. BIT 4 TCF ITSWTLST # IT IS A WAITLIST CALL NDX POINTER # OBTAIN THE ORIGINAL DELTA T CA PRDTTAB # ADDRESS FOR THIS LONGCALL TCF ITSLGCL1 # NOW GO GET THE DELTA TIME # ***** THIS MUST BE IN FIXED FIXED ***** BLOCK 02 SETLOC FFTAG2 BANK COUNT 02/RSROU ITSLGCL1 LXCH GOLOC +1 # OBTAIN THE CORRECT E BANK LXCH BB LXCH GOLOC +1 # AND PRESERVE OUR E AND F BANKS EXTEND # GET THE DELTA TIME NDX A DCA 0 # Page 1418 LXCH GOLOC +1 # RESTORE OUR E AND F BANK LXCH BB # RESTORE THE TASKS E AND F BANKS LXCH GOLOC +1 # AND PRESERVE OUR L TCF ITSLGCL2 # NOW LET:S PROCESS THIS LONGCALL # ***** YOU MAY RETURN TO SWITCHED FIXED ***** BANK 01 SETLOC RESTART BANK COUNT 01/RSROU ITSLGCL2 DXCH LONGTIME EXTEND # CALCULATE TIME LEFT DCS TIME2 DAS LONGTIME EXTEND DCA LONGBASE DAS LONGTIME CCS LONGTIME # FIND OUT HOW THIS SHOULD BE RESTARTED TCF LONGCLCL TCF +2 TCF IMEDIATE -3 CCS LONGTIME +1 TCF LONGCLCL NOOP # CAN:T GET HERE ********* TCF IMEDIATE -3 TCF IMEDIATE LONGCLCL CA LGCLCADR # WE WILL GO TO LONGCALL TS GOLOC -1 EXTEND # PREPARE OUR ENTRY TO LONGCALL DCA LONGTIME TC GOLOC -1 ITSLNGCL CA WTLTCADR # ASSUME IT WILL GO TO WAITLIST TS GOLOC -1 NDX TEMP2G CS PHSPRDT1 # GET THE DELTA T ADDRESS TCF ITSLGCL1 # NOW GET THE DELTA TIME ITSWTLST CS GOLOC +1 # CORRECT THE BBCON INFORMATION TS GOLOC +1 # Page 1419 NDX POINTER # GET THE DT AND FIND OUT IF IT WAS STORED CA PRDTTAB # DIRECTLY OR INDIRECTLY TCF TIMETEST # FIND OUT HOW THE TIME IS STORED ITSAJOB2 XCH GOLOC # STORE THE CADR NDX POINTER # ADD THE PRIORITY AND LET:S GO CA PRDTTAB TCF CHKNOVAC ITSEVEN CA TEMPSWCH # SET UP FOR EITHER THE SECOND PART OF THE TS GOLOC +2 # TABLE, OR A RETURN FOR THE NEXT GROUP NDX TEMP2G # SET UP POINTER FOR OUR LOCATION WITHIN CA SIZETAB # THE TABLE AD TEMPPHS # THIS MAY LOOK BAD BUT LET:S SEE YOU DO AD TEMPPHS # BETTER IN TIME OR NUMBER OF LOCATIONS AD TEMPPHS TS POINTER TCF CONTBL2 # NOW PROCESS WHAT IS IN THE TABLE PHSPART2 CA THREE # SET THE POINTER FOR THE SECOND HALF OF ADS POINTER # THE TABLE CA RTRNCADR # THIS WILL BE OUR LAST TIME THROUGH THE TS GOLOC +2 # EVEN TABLE , SO AFTER IT GET THE NEXT # GROUP TCF CONTBL2 # SO LET:S GET THE SECOND ENTRY IN THE TBL TEMPPHS EQUALS MPAC TEMP2G EQUALS MPAC +1 POINTER EQUALS MPAC +2 TEMPSWCH EQUALS MPAC +3 GOLOC EQUALS VAC5 +20D MINUS2 EQUALS NEG2 OCT177 EQUALS LOW7 PHS2CADR GENADR PHSPART2 PRT2CADR GENADR GETPART2 LGCLCADR GENADR LONGCALL FVACCADR GENADR FINDVAC WTLTCADR GENADR WAITLIST NOVACADR GENADR NOVAC ================================================ FILE: Comanche055/RESTART_TABLES.agc ================================================ # Copyright: Public domain. # Filename: RESTART_TABLES.agc # Purpose: Part of the source code for Comanche, build 055. It # is part of the source code for the Command Module's # (CM) Apollo Guidance Computer (AGC), Apollo 11. # Assembler: yaYUL # Reference: pp. 211-221 # Contact: Ron Burkey , # Fabrizio Bernardini # Website: http://www.ibiblio.org/apollo. # Mod history: 2009-05-16 FB Transcription Batch 2 Assignment. # 2009-05-20 RSB Added a missing comment mark. Corrected mismarked # Page 217 -> 220. # 2009-05-21 RSB Fixed value of 5.21SPOT. # # The contents of the "Comanche055" files, in general, are transcribed # from scanned documents. # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. April 1, 1969. # # This AGC program shall also be referred to as Colossus 2A # # Prepared by # Massachusetts Institute of Technology # 75 Cambridge Parkway # Cambridge, Massachusetts # # under NASA contract NAS 9-4065. # # Refer directly to the online document mentioned above for further # information. Please report any errors to info@sandroid.org. # Page 211 # RESTART TABLES # -------------- # # THERE ARE TWO FORMS OF RESTART TABLES FOR EACH GROUP. THEY ARE KNOWN AS THE EVEN RESTART TABLES AND THE ODD # RESTART TABLES. THE ODD TABLES HAVE ONLY ONE ENTRY OF THREE LOCATIONS WHILE THE EVEN TABLES HAVE TWO ENTRIES # EACH USING THREE LOCATIONS. THE INFORMATION AS TO WHETHER IT IS A JOB, WAITLIST, OR A LONGCALL IS GIVEN BY THE # WAY THINGS ARE PUT INTO THE TABLES. # # A JOB HAS ITS PRIORITY STORED IN PRDTTAB OF THE CORRECT PHASE SPOT - A POSITIVE PRIORITY INDICATES A # FINDVAC JOB, A NEGATIVE PRIORITY A NOVAC. THE 2CADR OF THE JOB IS STORED IN THE CADRTAB. # FOR EXAMPLE, # # 5.7SPOT OCT 23000 # 2CADR SOMEJOB # # A RESTART OF GROUP 5 WITH PHASE SEVEN WOULD THEN CAUSE SOMEJOB TO BE RESTARTED AS A FINDVAC WITH PRIORITY 23. # # 5.5SPOT OCT -23000 # 2CADR ANYJOB # # HERE A RESTART OF GROUP 5 WITH PHASE 7 WOULD CAUSE ANYJOB TO BE RESTARTED AS A NOVAC WITH PRIORITY 23. # A LONGCALL HAS ITS GENADR OF ITS 2CADR STORED NEGATIVELY AND ITS BBCON STORED POSITIVELY. IN ITS PRDTTAB IS # PLACED THE LOCATION OF A DP REGISTER THAT CONTAINS THE DELTA TIME THAT LONGCALL HAD BEEN ORIGINALLY STARTED # WITH. EXAMPLE, # # 3.6SPOT GENADR DELTAT # -GENADR LONGTASK # BBCON LONGTASK # OCT 31000 # 2CADR JOBAGAIN # # THIS WOULD START UP LONGTASK AT THE APPROPRIATE TIME, OR IMMEDIATELY IF THE TIME HAD ALREADY PASSED. IT SHOULD # BE NOTED THAT IF DELTAT IS IN A SWITCHED E BANK, THIS INFORMATION SHOULD BE IN THE BBCON OF THE 2CADR OF THE # TASK. FROM ABOVE, WE SEE THAT THE SECOND PART OF THIS PHASE WOULD BE STARTED AS A JOB WITH A PRIORITY OF 31. # # WAITLIST CALLS ARE IDENTIFIED BY THE FACT THAT THEIR 2CADR IS STORED NEGATIVELY. IF PRDTTAB OF THE PHASE SPOT # IS POSITIVE, THEN IT CONTAINS THE DELTA TIME, IF PRDTTAB IS NEGATIVE THEN IT IS THE -GENADR OF AN ERASABLE # LOCATION CONTAINING THE DELTA TIME, THAT IS, THE TIME IS STORED INDIRECTLY. IT SHOULD BE NOTED AS ABOVE, THAT # IF THE TIME IS STORED INDIRECTLY, THE BBCON MUST CONTAIN THE NECESSARY E BANK INFORMATION IF APPLICABLE. WITH # WAITLIST WE HAVE ONE FURTHER OPTION, IF -0 IS STORED IN PRDTTAB, IT WILL CAUSE AN IMMEDIATE RESTART OF THE # TASK. EXAMPLES, # # OCT 77777 # THIS WILL CAUSE AN IMMEDIATE RESTART # -2CADR ATASK # OF THE TASK :ATASK: # # DEC 200 # IF THE TIME OF THE 2 SECONDS SINCE DUMMY # -2CADR DUMMY # WAS PUT ON THE WAITLIST IS UP, IT WILL BEGIN # # IN 10 MS, OTHERWISE IT WILL BEGIN WHEN # # IT NORMALLY WOULD HAVE BEGUN. # Page 212 # -GENADR DTIME # WHERE DTIME CONTAINS THE DELTA TIME # -2CADR TASKTASK # OTHERWISE THIS IS AS ABOVE # # ***** NOW THE TABLES THEMSELVES ***** BANK 01 SETLOC RESTART BANK COUNT 01/RSTAB PRDTTAB EQUALS 12000 # USED TO FIND THE PRIORITY OR DELTATIME CADRTAB EQUALS 12001 # THIS AND THE NEXT RELATIVE LOC CONTAIN # RESTART 2CADR SIZETAB TC 1.2SPOT -12006 TC 1.3SPOT -12004 TC 2.2SPOT -12006 TC 2.3SPOT -12004 TC 3.2SPOT -12006 TC 3.3SPOT -12004 TC 4.2SPOT -12006 TC 4.3SPOT -12004 TC 5.2SPOT -12006 TC 5.3SPOT -12004 TC 6.2SPOT -12006 TC 6.3SPOT -12004 1.2SPOT EQUALS 3.2SPOT # ANY MORE GROUP 1.EVEN RESTART VALUES SHOULD GO HERE 1.3SPOT DEC 120 # THIS NUMBER MUST BE EQUAL C(JTAGTIME) EBANK= AOG -2CADR SETJTAG 1.5SPOT OCT 10000 EBANK= DAPDATR1 2CADR REDO40.9 1.7SPOT OCT 10000 EBANK= ESTROKER 2CADR RELINUS 1.11SPOT OCT 10000 EBANK= ESTROKER 2CADR PIKUP20 # ANY MORE GROUP 1.ODD RESTART VALUES SHOULD GO HERE 2.2SPOT EQUALS 1.2SPOT # ANY MORE GROUP 2.EVEN RESTART VALUES SHOULD GO HERE # Page 213 2.3SPOT GENADR 600SECS -GENADR STATEINT EBANK= RRECTCSM BBCON STATEINT 2.5SPOT OCT 05000 EBANK= RRECTCSM 2CADR STATINT1 2.7SPOT OCT 10000 EBANK= MRKBUF2 2CADR R22 2.11SPOT OCT 14000 EBANK= LANDMARK 2CADR V94ENTER 2.13SPOT OCT 10000 EBANK= MRKBUF2 2CADR REDOR22 # ANY MORE GROUP 2.ODD RESTART VALUES SHOULD GO HERE 3.2SPOT EQUALS 4.2SPOT # ANY MORE GROUP 3.EVEN RESTART VALUES SHOULD GO HERE 3.3SPOT OCT 20000 EBANK= TGO 2CADR S40.13 3.5SPOT DEC 0 DEC 0 DEC 0 3.7SPOT OCT 22000 EBANK= TEPHEM 2CADR MATRXJOB 3.11SPOT OCT 22000 EBANK= TEPHEM 2CADR REP11 3.13SPOT OCT 22000 EBANK= TEPHEM 2CADR REP11A 3.15SPOT -GENADR TGO +1 EBANK= TGO -2CADR ENGINOFF # Page 214 # ANY MORE GROUP 3.ODD RESTART VALUES SHOULD GO HERE 4.2SPOT OCT 77777 EBANK= TIG -2CADR PRECHECK OCT 30000 EBANK= DELVIMU 2CADR P47BODY 4.4SPOT OCT 77777 EBANK= TIG -2CADR PRECHECK DEC 2996 EBANK= DAPDATR1 -2CADR TTG/0 4.6SPOT OCT 77777 EBANK= TIG -2CADR PRECHECK DEC 2496 EBANK= TIG -2CADR TIG-5 # ANY MORE GROUP 4.EVEN RESTART VALUES SHOULD GO HERE 4.3SPOT DEC 40 EBANK= PACTOFF -2CADR DOTVCON 4.5SPOT DEC 160 EBANK= PACTOFF -2CADR DOSTRULL 4.7SPOT DEC 500 EBANK= PACTOFF -2CADR TIG-0 4.11SPOT DEC 250 EBANK= DAPDATR1 -2CADR V97E40.6 4.13SPOT DEC 200 EBANK= WHOCARES -2CADR R40ENABL 4.15SPOT OCT 16000 # PRELAUNCH OPTICAL VERIFICATION EBANK= OGC # Page 215 2CADR COMPVER # CALLS FOR OPTICS DATA AGAIN (STD LEADIN) 4.17SPOT OCT 16000 # PRELAUNCH AZIMUTH CHANGE EBANK= XSM 2CADR AZMTHCG1 4.21SPOT GENADR P40TMP # DELTA TIME USED IN SETTING UP -GENADR TIGBLNK # LONG CALL OF TIGBLNK BY P40,P41 EBANK= P40TMP BBCON TIGBLNK 4.23SPOT OCT 12000 # PROTECT P40S/SV BY P40 P41 EBANK= TIG 2CADR P40S/SV 4.25SPOT OCT 24000 EBANK= BESTI 2CADR PROG52 4.27SPOT DEC 250 EBANK= PACTOFF -2CADR DOTVCRCS 4.31SPOT OCT 13000 EBANK= STAR 2CADR R51 +1 4.33SPOT DEC 2100 # PROTECT CONTINUING JOB TO START P63 EBANK= AOG -2CADR WAKEP62 4.35SPOT OCT 12000 EBANK= DAPDATR1 2CADR POSTBURN 4.37SPOT DEC 500 EBANK= TIG -2CADR TIGAVEG 4.41SPOT OCT 17000 # PROTECT DISPLAY JOB IN P67 EBANK= AOG 2CADR P67.1 4.43SPOT -GENADR S61DT # PROTECT TASK TO START PREREAD,ENTRY EBANK= S61DT # S61.1C WILL CHANGE EBANK=EB7 FOR PREREAD -2CADR S61.1C 4.45SPOT OCT 13000 # PROTECT CONTINUING JOB S61.1 EBANK= AOG # (ENTRY IMU ALIGNMENT) # Page 216 2CADR S61.1A -1 4.47SPOT OCT 17000 # PROTECT HUNTEST ITERATION. EBANK= AOG 2CADR PRE-HUNT 4.51SPOT OCT 77777 # PROTECT FDAI ATTITUDE EBANK= BODY3 # ERROR DISPLAY IN P11 -2CADR ATERTASK 4.53SPOT DEC -0 EBANK= END-E7 # EBANK7 FOR TIG -2CADR V97ETASK 4.55SPOT OCT 13000 # PROTECT P65 RESPONSIVE DISPLAY. EBANK= RTINIT 2CADR P65.1 4.57SPOT -GENADR P40TMP EBANK= P40TMP -2CADR TIGON 4.61SPOT OCT 77777 EBANK= PACTOFF -2CADR IGNITION 4.63SPOT OCT 77777 EBANK= PACTOFF -2CADR DOSPSOFF 4.65SPOT DEC 10 EBANK= TIG -2CADR TIG-5 4.67SPOT DEC -0 EBANK= CSMMASS -2CADR V97TTASK 4.71SPOT DEC 250 EBANK= DAPDATR1 # (FOR RCSDAPON) -2CADR V97TRCS 4.73SPOT DEC -0 EBANK= V97VCNTR -2CADR V97PTASK 4.75SPOT DEC -0 EBANK= DAPDATR1 -2CADR SPSOFF97 # Page 217 4.77SPOT DEC -0 EBANK= PACTOFF -2CADR TIG-0 # ANY MORE GROUP 4.ODD RESTART VALUES SHOULD GO HERE 5.2SPOT OCT 32000 EBANK= DVCNTR 2CADR NORMLIZE DEC 200 EBANK= AOG -2CADR REREADAC 5.4SPOT OCT 20000 EBANK= DVCNTR 2CADR SERVICER DEC 200 EBANK= AOG -2CADR REREADAC # ANY MORE GROUP 5.EVEN RESTART VALUES SHOULD GO HERE 5.3SPOT DEC 200 EBANK= AOG -2CADR REREADAC 5.5SPOT OCT 77777 EBANK= AOG -2CADR REDO5.5 5.7SPOT OCT 20000 # USED BY PRELAUNCH EBANK= XSM 2CADR RSTGTS1 5.11SPOT OCT 77777 EBANK= XSM -2CADR ALLOOP1 5.13SPOT OCT 20000 EBANK= XSM 2CADR WTLISTNT 5.15SPOT OCT 20000 EBANK= XSM 2CADR RESTEST1 5.17SPOT OCT 20000 EBANK= XSM # Page 218 2CADR GEOSTRT4 5.21SPOT OCT 22000 EBANK= XSM 2CADR ALFLT1 5.23SPOT OCT 77777 EBANK= XSM -2CADR SPECSTS 5.25SPOT OCT 20000 EBANK= XSM 2CADR RESTEST3 5.27SPOT OCT 20000 EBANK= XSM 2CADR RESTAIER 5.31SPOT DEC 0 DEC 0 DEC 0 5.33SPOT OCT 20000 EBANK= XSM 2CADR RESCHNG 5.35SPOT DEC 0 2DEC 0 5.37SPOT OCT 77777 EBANK= AOG -2CADR CHEKAVEG 5.41SPOT OCT 77777 # TO PROTECT PREREAD AT TIG-30A EBANK= DVCNTR # TIG-15 T+60 -2CADR PREREAD # ANY MORE GROUP 5.ODD RESTART VALUES SHOULD GO HERE 6.2SPOT OCT 77777 # USED BY P40 AFTER GIMB DR TST TO REPOS'N EBANK= AK # ENGINE UNTIL TVCDAPON -2CADR PRE40.6 DEC 100 EBANK= TTOGO -2CADR CLOKTASK # ANY MORE 6.ODD RESTART VALUES SHOULD GO HERE # Page 219 6.3SPOT DEC 100 EBANK= TIG -2CADR CLOKTASK 6.5SPOT OCT 30000 # PROTECT INCREMENTING OF TIME2,TIME1 BY EBANK= TEPHEM # P27(UPDATE PROGRAM) 2CADR TIMEDIDR 6.7SPOT OCT 0 OCT 0 OCT 0 6.11SPOT -GENADR CM/GYMDT # PROTECT TASK TO READ CDUS. EBANK= CM/GYMDT # FOR ENTRY DAP -2CADR READGYMB 6.13SPOT DEC 0 DEC 0 DEC 0 # Page 220 # PROGRAM DESCRIPTION: NEWPHASE DATE: 11 NOV 1966 # MOD: 1 ASSEMBLY: SUNBURST REV # MOD BY: COPPS LOG SECTION: PHASE TABLE MAINTENANCE # FUNCTIONAL DESCRIPTION: # # NEWPHASE IS THE QUICK WAY TO MAKE A NON VARIABLE PHASE CHANGE. IT INCLUDES THE OPTION OF SETTING # TBASE OF THE GROUP. IF TBASE IS TO BE SET, -C(TIME1) IS STORED IN THE TBASE TABLE AS FOLLOWS: # # (L-1) TBASE0 # (L) TBASE1 (IF GROUP=1) # (L+1) # (L+2) TBASE2 (IF GROUP=2) # ----- # (L+6) TBASE4 (IF GROUP=4) # (L+7) # (L+8) TBASE5 (IF GROUP=5) # # IN ANY CASE, THE NEGATIVE OF THE PHASE, FOLLOWED (IN THE NEXT REGISTER) BY THE PHASE, IS STORED IN THE # PHASE TABLE AS FOLLOWS: # # (L) -PHASE1 (IF GROUP=1) # (L+1) PHASE1 # (L+2) -PHASE2 (IF GROUP=2) # (L+3) PHASE2 # ----- # (L+7) PHASE4 # (L+8) -PHASE5 (IF GROUP=5) # (L+9) PHASE5 # # CALLING SEQUENCE: # EXAMPLE IS FOR PLACING A PHASE OF FIVE INTO GROUP THREE: # # 1) IF TBASE IS NOT TO BE SET: # L-1 CA FIVE # L TC NEWPHASE # L+1 OCT 00003 # # 2) IF TBASE IS TO BE SET: # L-1 CS FIVE # L TC NEWPHASE # L+1 OCT 00003 # # SUBROUTINES CALLED: NONE # # NORMAL EXIT MODE: AT L+2 OF CALLING SEQUENCE # # ALARM OR ABORT EXITS: NONE # # OUTPUT: PHASE TABLE AND TBASE TABLE UPDATED # # ERASABLE INITIALIZATION REQ'D: NONE # Page 221 # DEBRIS: A,L,TEMPG # ***WARNING*** THIS PROGRAM IS TO BE PLACED IN FIXED-FIXED AND UNSWITCHED ERASABLE. BLOCK 02 SETLOC FFTAG1 BANK COUNT* $$/PHASE NEWPHASE INHINT TS L # SAVE FOR FURTHER USE NDX Q # OBTAIN THE GROUP NUMBER CA 0 INCR Q # OBTAIN THE RETURN ADDRESS DOUBLE # SAVE THE GROUP IN A FORM USED FOR TS TEMPG # INDEXING CCS L # SEE IF WE ARE TO SET TBASE TCF +7 # NO, THE DELTA T WAS POSITIVE TCF +6 NUFAZ+10 INCR A # SET TBASE AND STORE PHASE CORRECTLY TS L CS TIME1 # SET TBASE NDX TEMPG TS TBASE1 -2 CS L # NOW PUT THE PHASE IN THE RIGHT TABLE LOC NDX TEMPG DXCH -PHASE1 -2 RELINT TC Q # NOW RETURN TO CALLER ================================================ FILE: Comanche055/RT8_OP_CODES.agc ================================================ # Copyright: Public domain. # Filename: RT8_OP_CODES.agc # Purpose: Part of the source code for Comanche, build 055. It # is part of the source code for the Command Module's # (CM) Apollo Guidance Computer (AGC), Apollo 11. # Assembler: yaYUL # Reference: pp. 1508-1516 # Contact: Ron Burkey # Website: http://www.ibiblio.org/apollo. # Mod history: 2009-05-07 RSB Adapted from Colossus249/RT8_OP_CODES.agc # and page images. # 2009-05-07 RSB Oops! Left out the entire last page before. # # The contents of the "Comanche055" files, in general, are transcribed # from scanned documents. # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. April 1, 1969. # # This AGC program shall also be referred to as Colossus 2A # # Prepared by # Massachusetts Institute of Technology # 75 Cambridge Parkway # Cambridge, Massachusetts # # under NASA contract NAS 9-4065. # # Refer directly to the online document mentioned above for further # information. Please report any errors to info@sandroid.org. # Page 1508 BANK 22 SETLOC RTBCODES BANK EBANK= XNB COUNT* $$/RTB # LOAD TIME2, TIME1 INTO MPAC: LOADTIME EXTEND DCA TIME2 TCF SLOAD2 # CONVERT THE SINGLE PRECISION 2'S COMPLEMENT NUMBER ARRIVING IN MPAC (SCALED IN HALF-REVOLUTIONS) TO A # DP 1'S COMPLEMENT NUMBER SCALED IN REVOLUTIONS. CDULOGIC CCS MPAC CAF ZERO TCF +3 NOOP CS HALF TS MPAC +1 CAF ZERO XCH MPAC EXTEND MP HALF DAS MPAC TCF DANZIG # MODE IS ALREADY AT DOUBLE-PRECISION # READ THE PIPS INTO MPAC WITHOUT CHANGING THEM: READPIPS INHINT CA PIPAX TS MPAC CA PIPAY TS MPAC +3 CA PIPAZ RELINT TS MPAC +5 CAF ZERO TS MPAC +1 TS MPAC +4 TS MPAC +6 VECMODE TCF VMODE # FORCE TP SIGN AGREEMENT IN MPAC: SGNAGREE TC TPAGREE # Page 1509 TCF DANZIG # CONVERT THE DP 1'S COMPLEMENT ANGLE SCALED IN REVOLUTIONS TO A SINGLE PRECISION 2'S COMPLEMENT ANGLE # SCALED IN HALF-REVOLUTIONS. 1STO2S TC 1TO2SUB CAF ZERO TS MPAC +1 TCF NEWMODE # DO 1STO2S ON A VECTOR OF ANGLES: V1STO2S TC 1TO2SUB # ANSWER ARRIVES IN A AND MPAC. DXCH MPAC +5 DXCH MPAC TC 1TO2SUB TS MPAC +2 DXCH MPAC +3 DXCH MPAC TC 1TO2SUB TS MPAC +1 CA MPAC +5 TS MPAC TPMODE CAF ONE # MODE IS TP. TCF NEWMODE # V1STO2S FOR 2 COMPONENT VECTOR. USED BY RR. 2V1STO2S TC 1TO2SUB DXCH MPAC +3 DXCH MPAC TC 1TO2SUB TS L CA MPAC +3 TCF SLOAD2 # SUBROUTINE TO DO DOUBLING AND 1'S TO 2'S CONVERSION: 1TO2SUB DXCH MPAC # FINAL MPAC +1 UNSPECIFIED. DDOUBL CCS A AD ONE TCF +2 COM # THIS WAS REVERSE OF MSU. TS MPAC # AND SKIP ON OVERFLOW. # Page 1510 TC Q INDEX A # OVERFLOW UNCORRECT AND IN MSU. CAF LIMITS ADS MPAC TC Q # Page 1511 # SUBROUTINE TO INCREMENT CDUS INCRCDUS CAF LOCTHETA TS BUF # PLACE ADRES(THETA) IN BUF. CAE MPAC # INCREMENT IN 1S COMPL. TC CDUINC INCR BUF CAE MPAC +3 TC CDUINC INCR BUF CAE MPAC +5 TC CDUINC TCF VECMODE LOCTHETA ADRES THETAD # THE FOLLOWING ROUTINE INCREMENTS IN 2S COMPLEMENT THE REGISTER WHOSE ADDRESS IS IN BUF BY THE 1S COMPL. # QUANTITY FOUND IN TEM2. THIS MAY BE USED TO INCREMENT DESIRED IMU AND OPTICS CDU ANGLES OR ANY OTHER 2S COMPL. # (+0 UNEQUAL TO -0) QUANTITY. MAY BE CALLED BY BANKCALL/SWCALL. CDUINC TS TEM2 # 1S COMPL.QUANT. ARRIVES IN ACC. STORE IT INDEX BUF CCS 0 # CHANGE 2S COMPLE. ANGLE(IN BUF) INTO 1S AD ONE TCF +4 AD ONE AD ONE # OVEFLOW HERE IF 2S COMPL. IS 180 DEG. COM AD TEM2 # SULT MOVES FROM 2ND TO 3D QUAD.(OR BACK) CCS A # BACK TO 2S COMPL. AD ONE TCF +2 COM TS TEM2 # STORE 14BIT QUANTITY WITH PRESENT SIGN TCF +4 INDEX A # SIGN. CAF LIMITS # FIX IT,BY ADDING IN 37777 OR 40000 AD TEM2 INDEX BUF TS 0 # STORE NEW ANGLE IN 2S COMPLEMENT. TC Q # Page 1512 # RTB TO TORQUE GYROS, EXCEPT FOR THE CALL TO IMUSTALL. ECADR OF COMMANDS ARRIVES IN X1. PULSEIMU INDEX FIXLOC # ADDRESS OF GYRO COMMANDS SHOULD BE IN X1 CA X1 TC BANKCALL CADR IMUPULSE TCF DANZIG # Page 1513 # EACH ROUTINE TAKES A 3X3 MATRIX STORED IN DOUBLE PRECISION IN A FIXED AREA OF ERASABLE MEMORY AND REPLACES IT # WITH THE TRANSPOSE MATRIX. TRANSP1 USES LOCATIONS XNB+0,+1 THROUGH XNB+16D, 17D AND TRANSP2 USES LOCATIONS # XNB1+0,+1 THROUGH XNB1+16D, 17D. EACH MATRIX IS STORED BY ROWS. XNBEB ECADR XNB XNB1EB ECADR XNB1 EBANK= XNB TRANSP1 CAF XNBEB TS EBANK DXCH XNB +2 DXCH XNB +6 DXCH XNB +2 DXCH XNB +4 DXCH XNB +12D DXCH XNB +4 DXCH XNB +10D DXCH XNB +14D DXCH XNB +10D TCF DANZIG EBANK= XNB1 TRANSP2 CAF XNB1EB TS EBANK DXCH XNB1 +2 DXCH XNB1 +6 DXCH XNB1 +2 DXCH XNB1 +4 DXCH XNB1 +12D DXCH XNB1 +4 DXCH XNB1 +10D DXCH XNB1 +14D DXCH XNB1 +10D TCF DANZIG # Page 1514 # THE SUBROUTINE SIGNMPAC SETS C(MPAC, MPAC +1) TO SIGN(MPAC). # FOR THIS, ONLY THE CONTENTS OF MPAC ARE EXAMINED. ALSO +0 YIELDS POSMAX AND -0 YIELDS NEGMAX. # # ENTRY MAY BE BY EITHER OF THE FOLLOWING: # 1. LIMIT THE SIZE OF MPAC ON INTERPRETIVE OVERFLOW: # ENTRY: BOVB # SIGNMPAC # 2. GENERATE IN MPAC THE SIGNUM FUNCTION OF MPAC: # ENTRY: RTB # SIGNMPAC # IN EITHER CASE, RETURN IS TO TEH NEXT INTERPRETIVE INSTRUCTION IN THE CALLING SEQUENCE. SIGNMPAC EXTEND DCA DPOSMAX DXCH MPAC CCS A DPMODE CAF ZERO # SETS MPAC +2 TO ZERO IN THE PROCESS TCF SLOAD2 +2 TCF +1 EXTEND DCS DPOSMAX TCF SLOAD2 # RTB OP CODE NORMUNIT IS LIKE INTERPRETIVE INSTRUCTION UNIT, EXCEPT THAT IT CAN BE DEPENDED ON NOT TO BLOW # UP WHEN THE VECTOR BEING UNITIZED IS VERY SMALL -- IT WILL BLOW UP WHEN ALL COMPONENT ARE ZERO. IF NORMUNIT # IS USED AND THE UPPER ORDER HALVES OF ALL COMPONENTS ARE ZERO, THE MAGNITUDE RETURNS IN 36D WILL BE TOO LARGE # BY A FACTOR OF 2(13) AND THE SQUARED MAGNITUDE RETURNED AT 34D WILL BE TOO BIG BY A FACTOR OF 2(26). NORMUNX1 CAF ONE TCF NORMUNIT +1 NORMUNIT CAF ZERO AD FIXLOC TS MPAC +2 TC BANKCALL # GET SIGN AGREEMENT IN ALL COMPONENTS CADR VECAGREE CCS MPAC TCF NOSHIFT TCF +2 TCF NOSHIFT CCS MPAC +3 TCF NOSHIFT TCF +2 TCF NOSHIFT CCS MPAC +5 TCF NOSHIFT TCF +2 TCF NOSHIFT # Page 1515 CA MPAC +1 # SHIFT ALL COMPONENTS LEFT 13 EXTEND MP BIT14 DAS MPAC # DAS GAINS A LITTLE ACCURACY CA MPAC +4 EXTEND MP BIT14 DAS MPAC +3 CA MPAC +6 EXTEND MP BIT14 DAS MPAC +5 CAF THIRTEEN INDEX MPAC +2 TS 37D OFFTUNIT TC POSTJUMP CADR UNIT +1 # SKIP THE "TC VECAGREE" DONE AT UNIT NOSHIFT CAF ZERO TCF OFFTUNIT -2 # RTB VECSGNAG ...FORCES SIGN AGREEMENT OF VECTOR IN MPAC. VECSGNAG TC BANKCALL CADR VECAGREE TC DANZIG # Page 1516 # MODULE CHANGE FOR NEW LUNAR GRAVITY MODEL SETLOC MODCHG3 BANK QUALITY1 BOF DLOAD MOONFLAG NBRANCH URPV DSQ GOTO QUALITY2 SETLOC MODCHG2 BANK QUALITY2 PDDL DSQ # SQUARE INTO 2D, B2 URPV +2 # Y COMPONENT, B1 DSU DMP VXSC # 5(Y**2-X**2)UR 5/8 # CONSTANT, 5B3 URPV # VECTOR, RESULT MAXIMUM IS 5, SCALING # HERE B6 VSL3 PDDL # STORE SCALED B3 IN 2D, 4D, 6D FOR XYZ URPV # X COMPONENT, B1 SR1 DAD # 2 X X COMPONENT FOR B3 SCALING 2D # ADD TO VECTOR X COMPONENT OF ANSWER. # SAME AS MULTIPLYING BY UNITX. MAX IS 7. STODL 2D URPV +2 # Y COMPONENT, B1 SR1 BDSU # 2 X Y COMPONENT FOR B3 SCALING 4D # SUBTRACT FROM VECTOR Y COMPONENT OF # ANSWER, SAME AS MULTIPLYING BY UNITY. # MAX IS 7. STORE 4D # 2D HAS VECTOR, B3. SLOAD VXSC # MULTIPLY COEFFICIENT TIMES VECTOR IN 2D E3J22R2M PDDL RVQ # J22 TERM X R**4 IN 2D, SCALED B61 COSPHI/2 # SAME AS URPV +4, Z COMPONENT # *** END OF CHIEFTAN.028 *** ================================================ FILE: Comanche055/S-BAND_ANTENNA_FOR_CM.agc ================================================ # Copyright: Public domain. # Filename: S-BAND_ANTENNA_FOR_CM.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Jim Lawton . # Website: www.ibiblio.org/apollo. # Pages: 934-935 # Mod history: 2009-05-11 JVL Adapted from the Colossus249/ file # of the same name, using Comanche055 page # images. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 934 # S-BAND ANTENNA FOR CM BANK 23 SETLOC SBAND BANK COUNT* $$/R05 EBANK= EMSALT SBANDANT TC BANKCALL # V 64 E GETS US HERE CADR R02BOTH # CHECK IF IMU IS ON AND ALIGNED TC INTPRET RTB CALL LOADTIME # PICKUP CURRENT TIME SCALED B-28 CDUTRIG # COMPUTE SINES AND COSINES OF CDU ANGLES STCALL TDEC1 # ADVANCE INTEGRATION TO TIME IN TDEC1 CSMCONIC # USING CONIC INTEGRATION SLOAD BHIZ # ORIGIN OF REFERENCE INERTIAL SYSTEM IS X2 # EARTH = 0, MOON = 2 EISOI VLOAD RATT STORE RCM # MOVE RATT TO PREVENT WIPEOUT DLOAD CALL # MOON, PUSH ON TAT # GET ORIGINAL TIME LUNPOS # COMPUTE POSITION VECTOR OF MOON VAD VCOMP # R= -(REM+RCM) = NEG. OF S/C POS. VEC RCM GOTO EISOI +2 EISOI VLOAD VCOMP # EARTH, R= -RCM RATT SETPD MXV # RCS TO STABLE MEMBER- B-1X B-29X B+1 2D # 2D REFSMMAT # STABLE MEMBER. B-1X B-29X B+1= B-29 VSL1 PDDL # 8D HI6ZEROS STOVL YAWANG # ZERO OUT YAWANG, SET UP FOR SMNB RCM # TRANSFORMATION. SM COORD. SCALED B-29 CALL *SMNB* STORE R # SAVE NAV. BASE COORDINATES UNIT PDVL # 14D R VPROJ VSL2 # COMPUTE PROJECTION OF VECTOR INTO CM HIUNITZ # XY-PLANE, R-(R.UZ)UZ BVSU BOV # CLEAR OVERFLOW INDICATOR IF SET R COVCNV COVCNV UNIT BOV # TEST OVERFLOW FOR INDICATION OF NULL NOADJUST # VECTOR PUSH DOT # 20D # Page 935 HIUNITX # COMPUTE YAW ANGLE = ACOS (URP.UX) SL1 ACOS # REVOLUTIONS SCALED B0 PDVL DOT # 22D YAWANG URP HIUNITY # COMPUTE FOLLOWING- URP.UY SL1 BPL # POSITIVE NOADJUST # YES, 0- 180 DEGREES DLOAD DSU # NO, 181-360 DEGREES 20D DPPOSMAX # COMPUTE 2 PI MINUS YAW ANGLE PUSH # 22D YAWANG NOADJUST VLOAD DOT # COMPUTE PITCH ANGLE UR # ACOS (UR.UZ) - PI/2 HIUNITZ SL1 ACOS # REVOLUTIONS B0 DSU HIDP1/4 STODL RHOSB YAWANG STORE GAMMASB # PATCH FOR CHECKOUT EXIT CA EXTVBACT # IS BIT 5 STILL ON MASK BIT5 EXTEND BZF ENDEXT # NO, WE HAVE BEEN ANSWERED CAF V06N51 # DISPLAY ANGLES TC BANKCALL CADR GOMARKFR TC B5OFF # TERMINATE TC B5OFF TC ENDOFJOB # RECYCLE CAF BIT3 # IMMEDIATE RETURN TC BLANKET # BLANK R3 CAF BIT1 # DELAY MINIMUM TIME TO ALLOW DISPLAY IN TC BANKCALL CADR DELAYJOB TCF SBANDANT +2 V06N51 VN 0651 RCM EQUALS 2D UR EQUALS 8D URP EQUALS 14D YAWANG EQUALS 20D PITCHANG EQUALS 22D R EQUALS RCM SBANK= LOWSUPER ================================================ FILE: Comanche055/SERVICER207.agc ================================================ # Copyright: Public domain. # Filename: SERVICER207.agc # Purpose: Part of the source code for Comanche, build 055. It # is part of the source code for the Command Module's # (CM) Apollo Guidance Computer (AGC), Apollo 11. # Assembler: yaYUL # Reference: pp. 819-836 # Contact: Ron Burkey # Website: http://www.ibiblio.org/apollo. # Mod history: 2009-05-12 RSB Adapted from Colossus249 file of the same # name and Comanche 055 page images. # # The contents of the "Comanche055" files, in general, are transcribed # from scanned documents. # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. April 1, 1969. # # This AGC program shall also be referred to as Colossus 2A # # Prepared by # Massachusetts Institute of Technology # 75 Cambridge Parkway # Cambridge, Massachusetts # # under NASA contract NAS 9-4065. # # Refer directly to the online document mentioned above for further # information. Please report any errors to info@sandroid.org. # Page 819 # SERVICER207 # PROGRAM NAME - PREREAD, READACCS, SERVICER, AVERAGE G. # MOD NO. 00 BY M.HAMILTON DEC.12, 1966 # FUNCTIONAL DESCRIPTION # THE ROUTINES DESCRIBED BELOW ARE USED TO CALCULATE VALUES OF RN, VN, AND GDT/2 DURING ACCELERATED FLIGHT. # THE SEVERAL ROUTINES COMPRISE A PACKAGE AND ARE NOT MEANT TO BE USED AS SEPARATE SUBROUTINES. # GENERAL REFERENCES TO SERVICER OR AVERAGE G ARE UNDERSTOOD TO REFER TO THE ENTIRE SET OF ROUTINES INCLUDING # READACCS, SERVICER, AVERAGE G, INTEREAD, SMOOTHER, AND ANY ADDITIONAL ROUTINES ATTACHED AT AVGEXIT (SEE BELOW). # PROGRAMS INITIATING SERVICER ARE REQUIRED TO MAKE A WAITLIST CALL FOR PREREAD (OR, IF LIFTOFF, FOR BIBIBIAS) # AT 2 SECONDS BEFORE THE FIRST AVERAGE G UPDATE IN ORDER TO INITIALIZE THE SEQUENCE, WHICH WILL RECUR EVERY # 2 SECONDS FROM THAT TIME ON AS LONG AS AVEGFLAG REMAINS SET. # THE USE OF ERASABLE AVGEXIT ALLOWS VARIOUS ROUTINES TO BE PERFORMED AS PART OF THE NORMAL CYCLE (SEE # EXPLANATION OF AVGEXIT BELOW). # DESCRIPTIONS OF INDIVIDUAL ROUTINES FOLLOW. # PREREAD # PREVIOUSLY EXTRAPOLATED VALUES COPIED FROM RN1, VN1, AND PIPTIME1 INTO RN, VN, AND PIPTIME. # LASTBIAS JOB SCHEDULED. # PIPS READ AND CLEARED VIA PIPASR SUBROUTINE. # AVERAGE G FLAG SET ON. # DRIFT FLAG SET OFF. # V37 FLAG SET ON. # INITIALIZATION OF 1) THRUST MONITOR (DVMON) - DVCNTR SET TO ONE. # 2) TOTAL ACCUMULATED DELV VALUE (DVTOTAL) - SET TO ZERO. # 3) AXIS VECTOR (AXIS) - SET TO (.5,0,0). # NORMLIZE JOB SCHEDULED. # READACCS TASH CALLED IN 2 SECONDS. # NORMLIZE # # GDT/2 INITIALIZED VIA CALCGRAV SUBROUTINE. # READACCS # IF ONMON FLAG SET QUIKREAD ROUTINE IS PERFORMED BEFORE PIPASR ZEROS THE PIPA REGISTERS, AND THE 1/2 SEC # ONMONITOR LOOP IS INITIATED TO PROVIDE DOWNLINK INFORMATION DURING ENTRY. # PIPS READ AND CLEARED BY PIPASR SUBROUTINE. # IF CM/DSTBY IS ON, ENTRY VARIABLES INITIALIZED AND SETJTAG TASK CALLED. # Page 820 # SERVICER207 # IF AVERAGEG FLAG ON READACCS CALLED TO RECYCLE IN 2 SECONDS. # IF AVERAGEG FLAG OFF AVERAGE G EXIT (AVGEXIT) SET TO 2CADR AVGEND FOR FINAL PASS. # SERVICER JOB SCHEDULED. # TEST CONNECTOR OUTBIT TURNED ON. # ONMNITOR # A SEQUENCE OF THREE PASSES THROUGH QUICREAD FOLLOWING A CALL TO READACCS WITH ONMONFLG SET AT 1/2 # SEC INTERVALS. INTERVALS ARE COUNTED OUT BY PIPCTR, INITIALISED AT 3 BY READACCS # QUIKREAD # READS CURRENT PIPS INTO X,Y,ZPIPBUF. READS OLD X,Y,ZPIPBUF INTO X,Y,ZOLDBUF. VALUES ARE SENT TO # DOWNLIST DURING ENTRY. # SERVICER # DELV VALUES CHECKED TO DETECT RUNAWAY PIP - # IF BAD PIP 1) ALARM SENT. # 2) COMPENSATION, DVTOTAL ACCUMULATION, AND DVMON BYPASSED. CONTROL # TRANSFERRED TO AVERAGE G. # PIPS COMPENSATED VIA 1/PIPA SUBROUTINE. # DVTOTAL INCREMENTED BY ABSOLUTE VALUE OF DELV. # THRUST MONITOR (DVMON) PERFORMED UNLESS IDLE FLAG IS ON. # CONTROL TRANSFERRED TO AVERAGE Q. # DVMON # THRESHOLD VALUD (PLACED IN DVTHRUSH BY USER) CHECKED AGAINST ABSOLUTE VALUE OF DELV TO CHECK # THRUST LEVEL. # IF THRUST 1) ULLAGE OFF ROUTINE PERFORMED. # 2) STEERING FLAG TURNED ON AT FIRST DETECTION OF THRUST. # 3) CONTROL TRANSFERRED TO AVERAGE G. # IF NO THRUST 1) ON FIRST PASS THROUGH MONITOR, CONTROL TRANSFERRED TO AVERAGE G. # 2) ON SUBSEQUENT PASSES, CONTROL TRANSFERRED TO ENGINE FAIL ROUTINE IF THRUST # HAS FAILED FOR 3 CONSECUTIVE PASSES. # ENGINE FAIL # ENGFAIL1 TASK CALLED IN 2.5 SECONDS. THIS WILL RETURN CONTROL TO TIG-5 SO THAT THE IGNITION # SEQUENCE MAY BE REPEATED. # ENGINOF3 PERFORMED. # DAP SET UP FOR RCS. # AVERAGE G # Page 821 # RN1, VN1, GDT1/2 CALCULATED VIA CALCRVG ROUTINE BY UPDATING RN, VN WITH DELV AND AN AVERAGED VALUE # OF GDT/2. # RN1, VN1, GDT1/2, PIPTIME1 COPIED INTO RN, VN, GDT/2, PIPTIME FOR RESTART PROTECTION. # CONTROL TRANSFERRED TO ADDRESS SPECIFIED BY USER (OR BY READACCS FOR LAST PASS) IN AVGEXIT. # LAST PASS (AVGEND) 1) FREE FALL GYRO COMPENSATION SET UP. # 2) DRIFT FLAG TURNED ON. # 3) STATE VECTOR TRANSFERRED VIA AVETOMID ROUTINE. # 4) ONMONITOR FLAG RESET. # 5) V37 FLAG RESET. # 6) TEST CONNECTOR OUTBIT RESET. # 7) CONTROL TRANSFERRED TO CANV37 TO CONTINUE MM CHANGE ROUTINE (R00). # CALLING SEQUENCE # PREREAD ENTERED DIRECTLY FROM TIG-30 VIA POSTJUMP. # READACCS CALLED AS WAITLIST TASK. # SUBROUTINES CALLED # UTILITY ROUTINES - PHASCHNG FLAGUP FLAGDOWN NOVAC FINDVAC WAITLIST ALARM NEWPHASE 2PHSCHNG # OTHER - PIPASR 1/PIPA CALCGRAV CALCRVG AVETOMID # NORMAL EXIT MODES # ENDOFJOB TASKOVER CANV37 # AVGEXIT - THIS IS A DOUBLE PRECISION ERASABLE LOCATION BY WHICH CONTROL IS TRANSFERRED AT THE END # OF EACH CYCLE OF AVERAGE G. # THE 2CADR OF A ROUTINE TO BE PERFORMED AT THAT TIME (E.G., STEERING EQUATIONS TO BE PERFORMED # AT 2 SECOND INTERVALS) MAY BE SET BY THE USER INTO AVGEXIT. # ALL SUCH ROUTINES SHOULD RETURN TO SERVEXIT, WHICH IS THE NORMAL EXIT FROM AVERAGE G. # SERVEXIT - DOES A PHASE CHANGE FOR RESTART PROTECTION AND GOES TO ENDOFJOB. # THE 2CADR OF SERVEXIT IS SET INTO AVGEXIT BY THE USER IF NO OTHER ROUTINE (SEE ABOVE). # # AVGEND - LAST PASS OF AVERAGE G EXITS HERE, BYPASSING SPECIAL ROUTINE (SEE ABOVE UNDER READACCS). # FINAL EXIT IS TO CANV37. F AVERAGE G). # OUTPUT # DVTOTAL(2) PIPTIME(2) XPIPBUF(2) YPIPBUF(2) ZPIPBUF(2) # RN(6) REFERENCE COORD. SCALED AT 2(+29) M/CS # VN(6) REFERENCE COORD. SCALED AT 2(+7) M/CS # GDT/2(6) REFERENCE COORD. SCALED AT 2(+7) M/CS # DELV(6) STABLE MEMB. COORD.SCALED AT 2(+14)*5.85*10(-4)M/CS (KPIP1 USED TO GET DV/2 AT 2(+7)) # Page 822 # DELVREF(6) REFERENCE COORD. SCALED AT 2(+7) M/CS # INITIALIZATION # ONMONITOR FLAG SET BY ENTRY TO SHOW PIPBUF VALUES REQUIRED. # IDLE FLAG ON IF DVMON TO BE BYPASSED. # DVTHRUSH SET TO APPROPRIATE VALUE FOR DVMON. # AVGEXIT SET TO 2CADR OF ROUTINE, IF ANY, TO BE PERFORMED AFTER EACH CYCLE OF AVERAGE G. IF NO ROUTINE # TO BE DONE, AVGEXIT SET TO SERVEXIT. # VALUES NEEDED # REFSMMAT # UNITW - FULL UNIT VECTOR, IN REFERENCE COORD., OF EARTH S ROTATIONAL VECTOR # RN1, VN1, PIPTIME1 - IN REFERENCE COORD., CONSISTENT WITH TIME OF EXECUTION OF PREREAD # DEBRIS # CENTRALS A, L, Q # OTHER INTERNAL - DVCNTR(1) PIPAGE(1) PIPCTR(1) AVGEXIT(2) # EXTERNAL - ITEMP1(1) ITEMP2(1) RUPTREG1(1) TEMX(1) TEMY(1) TEMZ(1) # USEFUL DEBRIS # RN1(6) VN1(6) GDT1/2 PIPTIME1(2) # THESE LOCATIONS USED AS BUFFER STORAGE FOR NEWLY CALCULATED VALUES OF RN, VN, GDT/2, # AND PIPTIME DURING PERFORMANCE OF SERVICER ROUTINES. # UNITR - HALF UNIT VECTOR OF RN, REFERENCE COORD. # RMAG SCALED AT 2(+58) IN 36D. # RMAGSQ SCALED AT 2(+58) IN 34D. # (RE/RMAG)SQ IN 32D. BANK 27 SETLOC SERVICES BANK EBANK= DVCNTR # ********************* PREREAD *************************************** # COUNT 37/SERV PREREAD CAF PRIO21 # CALLER MUST PROTECT PREREAD TC NOVAC EBANK= NBDX 2CADR LASTBIAS # DO LAST GYRO COMPENSATION IN FREE FALL # CALL-TO AND LASTBIAS ITSELF ARE NOT # PROTECTED. REREADAC SETS 1/PIPADT # TO 2.0 SECS IN CASE LASTBIAS LOST. # (REDUNDANT IF LASTBIAS IS AOK) # Page 823 REDO5.31 TC PREREAD1 CAF PRIO32 TC FINDVAC # SET UP NORMLIZE JOB REQUIRED PRIOR TO EBANK= DVCNTR # FIRST AVERAGE G PASS 2CADR NORMLIZE CAF 2SECS TC WAITLIST EBANK= AOG 2CADR READACCS CS TWO TC NEWPHASE OCT 5 TCF TASKOVER PREREAD1 EXTEND QXCH RUPTREG1 TC PIPASR # CLEAR + READ PIPS LAST TIME IN FREE FALL CAF ONE # SET UP PIPAGE FOR REREADAC IN CASE A TS PIPAGE # RESTART OCCURS BEFORE READACCS CS FLAGWRD1 # SET AVEG FLAG MASK BIT1 ADS FLAGWRD1 CA POSMAX MASK FLAGWRD2 TS FLAGWRD2 # KNOCK DOWN DRIFT FLAG CS FLAGWRD7 # SET V37 FLAG MASK BIT6 ADS FLAGWRD7 CAF ZERO TS DVTOTAL # CLEAR DVTOTAL TS DVTOTAL +1 TC RUPTREG1 # Page 824 # ********************* READACCS *************************************** EBANK= AOG READACCS TC PIPASR PIPSDONE CAF FIVE TS L COM DXCH -PHASE5 REDO5.5 CAF ONE # SHOW PIPS HAVE BEEN READ TS PIPAGE CA TWO # SET PIPCTR FOR ONMINTOR TS PIPCTR # AFTER ABOVE PHASCHNG CS CM/FLAGS MASK BIT2 # CM/DSTBY CCS A TC CHEKAVEG CS PIPTIME1 +1 TS TBASE6 # FOR RESTARTS EXTEND # CONTINUE FOR ENTRY DAP DCA AOG DXCH AOG/PIP CA AMG XCH AMG/PIP EXTEND DCA ROLL/180 DXCH ROLL/PIP CA BETA/180 XCH BETA/PIP CA CM/FLAGS MASK BIT12 # CM/DAPARM 93D BIT12 EXTEND # DURING ENTRY, WHEN RCS DAP IS INACTIVE, BZF NOSAVPIP # SAVE PIPAS EACH 0.5 SEC FOR TM. CA 0.5SEC TC WAITLIST EBANK= XPIPBUF 2CADR QUIKREAD # NO NEED TO RESTART PROTECT THIS. CA DELVX # SAVE PIPAS AS READ (BUT NOT COMPENSATED) XCH XPIPBUF TS XOLDBUF CA DELVY XCH YPIPBUF TS YOLDBUF # Page 825 CA DELVZ XCH ZPIPBUF TS ZOLDBUF NOSAVPIP CA FIVE TS CM/GYMDT CA JTAGTIME # ACTIVATE CM/RCS AFTER PIPUP TO GO # IN JTAGTIME +5 CS. TC WAITLIST EBANK= AOG 2CADR SETJTAG CS THREE # 1.3SPOT FOR SETJTAG TC NEWPHASE OCT 1 CAF OCT37 TS L COM DXCH -PHASE5 CHEKAVEG CS FLAGWRD1 MASK BIT1 CCS A # IF AVEG FLAG DOWN SET FINAL EXIT AVEG TC AVEGOUT CAF 2SECS TC WAITLIST EBANK= AOG 2CADR READACCS MAKESERV CAF PRIO20 # ESTABLISH SERVICER ROUTINE TC FINDVAC EBANK= DVCNTR 2CADR SERVICER CS FOUR # RESTART SERVICER AND READACCS TC NEWPHASE OCT 5 CAF BIT9 EXTEND WOR DSALMOUT # TURN TEST CONNECTOR OUTBIT ON TCF TASKOVER # END PREVIOUS READACCS WAITLIST TASK # Page 826 AVEGOUT EXTEND DCA AVOUTCAD DXCH AVGEXIT TCF MAKESERV EBANK= DVCNTR AVOUTCAD 2CADR AVGEND # Page 827 # ROUTINE NAME: ONMNITOR # MOD 04 BY BAIRNSFATHER 30 APR 1968 REDO ONMNITOR TO SAVE PIPS EACH 0.5 SEC FOR TM,ENTRY. # MOD 03 BY FISHER DECEMBER 1967 # MOD 02 BY RYE SEPT 1967 # MOD 01 BY KOSMALA 23 MAR 1967 # MOD 00 BY KOSMALA 27 FEB 1967 # FUNCTIONAL DESCRIPTION # THE PURPOSE OF ONMONITOR IS TO PROVIDE 1/2 SEC.READING OF PIPAS FOR DOWNLIST DURING ENTRY. # X,Y,ZPIPBUF CONTAIN PRESET VALUES X,Y,ZOLDBUF CONTAIN VALUES FROM PREVIOUS READING. # CALLING SEQUENCE # CALL AS WAITLIST TASK. TERMINATES ITSELF IN TASKOVER # INITIALISATION # PIPCTR = 2 (FOR DT = 0.5 SEC) # X,Y,ZPIPBUF SET TO PREVIOUS PIPAX,Y,Z # OUTPUT # X,Y,ZPIPBUF, X,Y,ZOLDBUF # DEBRIS # X,Y,ZPIPBUF CONTAIN LAST PIPAX,Y,Z VALUES # X,Y,ZOLDBUF CONTAIN LAST-BUT-ONE PIPAX,Y,Z VALUES # RUPTREG1 # PIPCTR ONMNITOR TS PIPCTR TC FIXDELAY # WAIT 0.5SEC DEC 50 QUIKREAD CAF TWO TS RUPTREG1 INDEX A CA PIPAX # SAVE ACTUAL PIPAS FOR TM. INDEX RUPTREG1 XCH XPIPBUF # UPDATE X,Y,ZPIPBUF INDEX RUPTREG1 TS XOLDBUF # AND X,Y,ZOLDBUF CHKCTR CCS RUPTREG1 TCF QUIKREAD +1 # LOOP AGAIN CCS PIPCTR TCF ONMNITOR TC TASKOVER # Page 828 # ********************* SERVICER *************************************** # EBANK= DVCNTR SERVICER CAF TWO INHINT PIPCHECK TS RUPTREG1 DOUBLE INDEX A CCS DELVX TC +2 TC PIPLOOP AD -MAXDELV # DO PIPA-SATURATION TEST BEFORE EXTEND BZMF PIPLOOP # COMPENSATION. TC ALARM OCT 00205 # SATURATED-PIPA ALARM ***CHANGE LATER TC AVERAGEG PIPLOOP CCS RUPTREG1 TCF PIPCHECK TC PHASCHNG # RESTART REREADAC + SERVICER OCT 16035 OCT 20000 EBANK= DVCNTR 2CADR DVTOTUP TC BANKCALL # PIPA COMPENSATION CALL CADR 1/PIPA DVTOTUP TC INTPRET VLOAD ABVAL # GET ABS VALUE OF DELV DELV DMP EXIT KPIP1 # SCALE AT 2(+7) EXTEND DCA MPAC DAS DVTOTAL # ACCUMULATE DVTOTAL AVERAGEG TC PHASCHNG OCT 10035 TC INTPRET CALL # Page 829 CALCRVG EXIT TC PHASCHNG OCT 10035 CAF OCT31 # COPY RN1,VN1,GOT102,GOBL1/2,PIPTIME1 TC GENTRAN # INTO RN ,VN ,GDT/12 ,GOBL/2 ,PIPTIME ADRES RN1 ADRES RN RELINT # GENTRAN DOES AN INHINT TC PHASCHNG OCT 10035 EXTEND DCA AVGEXIT DXCH Z # AVERAGEG EXIT AVGEND CA PIPTIME +1 # FINAL AVERAGE G EXIT TS OLDBT1 # SET UP FREE FALL GYRO COMPENSATION TC UPFLAG # SET DRIFTFLG ADRES DRIFTFLG # BIT 15 FLAG 2 TC 2PHSCHNG OCT 5 # GROUP 5 OFF OCT 05022 # GROUP 2 ON FOR AVETOMID OCT 20000 TC INTPRET CALL AVETOMID # CONVERT STATE VECTOR TO REFERENCE SCALE. EXIT CAF ZERO # ZERO MARK COUNTERS. TS VHFCNT TS TRKMKCNT TC BANKCALL CADR PIPFREE CS BIT9 TS MRKBUF2 # INVALIDATE MARK BUFFER EXTEND WAND DSALMOUT TC DOWNFLAG ADRES CM/DSTBY TC DOWNFLAG ADRES V37FLAG # Page 830 CAF BIT7 # RESTORE GROUP 1 + 2 IF P20 IS RUNNING. MASK FLAGWRD0 EXTEND BZF +4 TC 2PHSCHNG OCT 111 # 1.11SPOT OCT 132 # 2.13SPOT TC POSTJUMP CADR CANV37 SERVEXIT TC PHASCHNG OCT 00035 # A, 5.3 = REREADAC (ONLY) TCF ENDOFJOB DVTHRUSH EQUALS ELEVEN # 15 PERCENT OF 2SEC PIPA ACCUMULATION, # FOR 503-FULL CSM/LEM....DELV SC.AT # 5.85 CM/SEC. -MAXDELV DEC -6398 # 3200 PPS FOR 2 SEC CCS TAKES 1 JTAGTIME DEC 120 # = 1 SEC + T CDU, T CDU = .1 SEC 2.5SEC DEC 250 MDOTFAIL DEC 144.0 B-16 # 5 SEC MASS LOSS AT 28.8 KG/SEC # SHOULD BE 2-4 SECS FOR NO START # 6-8 SECS FOR FAILURE # Page 831 # NORMLIZE PERFORMS THE INITIALIZATION REQUIRED PRIOR TO THE FIRST ENTRY TO AVERAGEG, AND SCALES RN SO THAT IT # HAS 1 LEADING BINARY ZERO. IN MOST MISSIONS, RN WILL BE SCALED AT 2(+29), BUT IN THE 206 MISSION, RN WILL BE # SCALED AT 2(+24)M. NORMLIZE CAF THIRTEEN # SET UP TO COPY 14 REGS- RN1,VN1,PIPTIME1 TC GENTRAN # INTO RN,VN, PIPTIME ADRES RN1 # FROM HERE ADRES RN # TO HERE RELINT TC INTPRET VLOAD CALL # LOAD RN FOR CALCGRAV RN CALCGRAV # INITIALISE UNITR RMAG GDT1 STOVL GDT/2 GOBL1/2 STORE GOBL/2 EXIT TCF ENDOFJOB # Page 832 # ***** PIPA READER ***** # MOD NO. 00 BY D. LICKLY DEC.9 1966 # FUNCTIONAL DESCRIPTION # SUBROUTINE TO READ PIPA COUNTERS, TRYING TO BE VERY CAREFUL SO THAT IT WILL BE RESTARTABLE. # PIPA READINGS ARE STORED IN THE VECTOR DELV. THE HIGH ORDER PART OF EACH COMPONENT CONTAINS THE PIPA READING, # RESTARTS BEGIN AT REREADAC. # AT THE END OF THE PIPA READER THE CDUS ARE READ AND STORED AS A # VECTOR IN CDUTEMP. THE HIGH ORDER PART OF EACH COMPONENT CONTAINS # THE CDU READING IN 2S COMP IN THE ORDER CDUX,Y,Z. THE THRUST # VECTOR ESTIMATOR IN FINDCDUD REQUIRES THE CDUS BE READ AT PIPTIME. # CALLING SEQUENCE AND EXIT # CALL VIA TC, ISWCALL, ETC. # EXIT IS VIA Q. # INPUT # INPUT IS THROUGH THE COUNTERS PIPAX, PIPAY, PIPAZ, AND TIME2. # OUTPUT # HIGH ORDER COMPONENTS OF THE VECTOR DELV CONTAIN THE PIPA READINGS. # PIPTIME CONTAINS TIME OF PIPA READING. # DEBRIS (ERASABLE LOCATIONS DESTROYED BY THE PROGRAM) # LOW ORDER DELV'S ARE ZEROED FOR TM INDICATION. # TEMX TEMY TEMZ PIPAGE PIPASR EXTEND DCA TIME2 DXCH PIPTIME1 # CURRENT TIME POSITIVE VALUE CS ZERO # INITIALIZE THESE AT NEG ZERO. TS TEMX TS TEMY TS TEMZ # Page 833 CA ZERO TS DELVZ # OTHER DELVS OK INCLUDING LOW ORDER TS DELVY TS DELVX +1 # LOW ORDER DELV'S ARE ZEROED FOR TM: THUS TS DELVY +1 # IF DNLNK'D LOW ORDER DELVS ARE NZ, THEY TS DELVZ +1 # CONTAIN PROPER COMPENSATION. IF=0, THEN # THE TM VALUES ARE BEFORE COMPENSATION. TS PIPAGE # SHOW PIPA READING IN PROGRESS REPIP1 EXTEND DCS PIPAX # X AND Y PIPS READ DXCH TEMX DXCH PIPAX # PIPAS SET TO NEG ZERO AS READ. TS DELVX LXCH DELVY REPIP3 CS PIPAZ # REPEAT PROCESS FOR Z PIP XCH TEMZ XCH PIPAZ DODELVZ TS DELVZ TC Q EBANK= AOG REREADAC CCS PHASE5 # LAST PASS CHECK TCF +2 TCF TASKOVER CAF PRIO31 # RESTART MAY HAVE WIPED OUT LASTBIAS, AN TS 1/PIPADT # UNPROTECTED NOVAC FROM PREREAD, # WHICH SET(S) UP 1/PIPADT (THUSLY) # FOR NON-COASTING COMPENSATION....BE # SURE 1/PIPADT IS AOK. (PRIO31 IS # 2.0SEC SC.AT B+8CS) CCS PIPAGE TCF READACCS # PIP READING NOT STARTED. GO TO BEGINNING CAF DONEADR # SET UP RETURN FROM PIPASR TS Q CCS DELVZ TC Q # Z DONE, GO DO CDUS TCF +3 # Z NOT DONE, CHECK Y. TC Q TC Q # Page 834 ZL CCS DELVY TCF +3 TCF CHKTEMX # Y NOT DONE, CHECK X. TCF +1 LXCH PIPAZ # Y DONE, ZERO Z PIP. CCS TEMZ CS TEMZ # TEMZ NOT = -0, CONTAINS -PIPAZ VALUE. TCF DODELVZ TCF -2 LXCH DELVZ # TEMZ = -0, L HAS ZPIP VALUE. TC Q CHKTEMX CCS TEMX # HAS THIS CHANGED CS TEMX # YES TCF +3 # YES TCF -2 # YES TCF REPIP1 # NO TS DELVX CS TEMY TS DELVY CS ZERO # ZERO X AND Y PIPS DXCH PIPAX # L STILL ZERO FROM ABOVE TCF REPIP3 DONEADR GENADR PIPSDONE # Page 835 # ********************************************************************************************* # ROUTINE CALCRVG INTEGRATES THE EQUATIONS OF MOTION BY AVERAGING THE THRUST AND GRAVITATIONAL # ACCELERATIONS OVER A TIME INTERVAL OF 2 SECONDS. # # FOR THE EARTH-CENTERED GRAVITATIONAL FIELD, THE PERTURBATION DUE TO OBLATENESS IS COMPUTED TO THE FIRST # HARMONIC COEFFICIENT J. # ROUTINE CALCRVG REQUIRES... # 1) THRUST ACCELERATION INCREMENTS IN DELV SCALED SAME AS PIPAX,Y,Z IN STABLE MEMBER COORDS. # 2) VN SCALED 2(+7)M/CS IN REFERENCE COORDS. # 3) RN SCALED AT 2(+29) METERS IN REFERENCE COORDS. # 4) UNITW THE EARTH S UNIT ROTATIONAL VECTOR (SCALED AS A FULL UNIT VECTOR) IN REFERENCE COORDS. # IT LEAVES RN1 UPDATED (SCALED AT 2(+29)M, VN1 (SCALED AT 2(+7)M/CS), AND GDT1/2 (SCALED AT 2(+7)M/CS). ALSO HALF # UNIT VECTOR UNITR, RMAG IN 36D SCALED AT 2(+29)M, R MAG SQ. IN 34D SCALED AT 2(+58) M SQ. CALCGRAV UNIT PUSH # ENTER WITH RN IN MPAC STORE UNITR LXC,1 SLOAD RTX2 X1 BMN VLOAD ITISMOON DOT PUSH UNITW DSQ BDSU DP1/20 PDDL DDV RESQ 34D # (RN)SQ STORE 32D # TEMP FOR (RE/RN)SQ DMP DMP 20J VXSC PDDL UNITR DMP DMP 2J 32D VXSC VAD UNITW STADR STORE GOBL1/2 VAD PUSH UNITR ITISMOON DLOAD NORM 34D X2 BDDV* SLR* # Page 836 -MUDT(E),1 0 -21D,2 VXSC STADR STORE GDT1/2 # SCALED AT 2(+7) M/CS RVQ CALCRVG VLOAD VXSC DELV KPIP1 VXM VSL1 REFSMMAT STORE DELVREF # DELV IN REF COORDS AT 2(+7) VSR1 PUSH VAD PUSH # (DV-OLDGDT)/2 TO PD SCALED AT 2(+7)M/CS GDT/2 VAD VXSC VN 2SEC(22) VAD STQ RN 31D STCALL RN1 # TEMP STORAGE OF RN SCALED 2(+29)M CALCGRAV VAD VAD VAD VN STCALL VN1 # TEMP STORAGE OF VN SCALED 2(+7)M/CS. 31D KPIP 2DEC .1024 # SCALES DELV TO 2(+4) KPIP1 2DEC 0.074880 # 207 DELV SCALING. 1 PULSE = 5.85 CM/SEC. -MUDT(E) 2DEC* -7.9720645 E+12 B-44* -MUDT(M) 2DEC* -9.805556 E+10 B-44* 2SEC(22) 2DEC 200 B-22 DP1/20 2DEC 0.05 RESQ 2DEC* 40.6809913 E12 B-59* 20J 2DEC* 3.24692010 E-2 B1* 2J 2DEC* 3.24692010 E-3 B1* ================================================ FILE: Comanche055/SERVICE_ROUTINES.agc ================================================ # Copyright: Public domain. # Filename: SERVICE_ROUTINES.agc # Purpose: Part of the source code for Comanche, build 055. It # is part of the source code for the Command Module's # (CM) Apollo Guidance Computer (AGC), Apollo 11. # Assembler: yaYUL # Reference: pp. 1485-1492 # Contact: Ron Burkey # Website: http://www.ibiblio.org/apollo. # Mod history: 2009-05-07 RSB Adapted from Colossus249 file of the same # name, and page images. Corrected various # typos in the transcription of program # comments, and these should be back-ported # to Colossus249. # # The contents of the "Comanche055" files, in general, are transcribed # from scanned documents. # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. April 1, 1969. # # This AGC program shall also be referred to as Colossus 2A # # Prepared by # Massachusetts Institute of Technology # 75 Cambridge Parkway # Cambridge, Massachusetts # # under NASA contract NAS 9-4065. # # Refer directly to the online document mentioned above for further # information. Please report any errors to info@sandroid.org. # Page 1485 BLOCK 3 SETLOC FFTAG6 BANK COUNT 03/FLAG UPENT2 TS L # WHICH FLAGWORD IS IT MASK OCT7 XCH L # SAVE IN L FOR INDEXING MASK OCT77770 # OBTAIN THE BIT INFORMATION INHINT # PREVENT INTERUPTS TS ITEMP1 # STORE THE BIT INFORMATION TEMPORARIALY NDX L CS FLAGWRD0 MASK ITEMP1 NDX L ADS FLAGWRD0 RELINT # RELEASE INTERUPT INHIBIT INCR Q # OBTAIN THE CORRECT RETURN ADDRESS TC Q # RETURN DOWNENT2 TS L # WHICH FLAGWORD IS IT MASK OCT7 XCH L # SAVE IN L FOR INDEXING MASK OCT77770 # OBTAIN THE BIT INFORMATION COM # START TO PROCESS THE INFORMATION INHINT # PREVENT INTERUPTS NDX L MASK FLAGWRD0 NDX L TS FLAGWRD0 RELINT # RELEASE INTERUPT INHIBIT INCR Q # OBTAIN THE CORRECT RETURN ADDRESS TC Q # RETURN OCT7 EQUALS SEVEN BANK 10 # Page 1486 # # UPFLAG AND DOWNFLAG ARE ENTIRELY GENERAL FLAG SETTING AND CLEARING SUBROUTINES. USING THEM, WHETHER OR # NOT IN INTERRUPT, ONE MAY SET OR CLEAR ANY SINGLE, NAMED BIT IN ANY ERASABLE REGISTER, SUBJECT OF COURSE TO # EBANK SETTING. A "NAMED" BIT, AS THE WORD IS USED HERE, IS ANY BIT WITH A NAME FORMALLY ASSIGNED BY THE YUL # ASSEMBLER. # # AT PRESENT THE ONLY NAMED BITS ARE THOSE IN THE FLAGWORDS. ASSEMBLER CHANGES WILL MAKE IT POSSIBLE TO # NAME ANY BIT IN ERASABLE MEMORY. # # CALLING SEQUENCES ARE AS FOLLOWS:- # # TC UPFLAG TC DOWNFLAG # ADRES NAME OF FLAG ADRES NAME OF FLAG # # RETURN IS TO THE LOCATION FOLLOWING THE "ADRES" ABOUT .58 MS AFTER THE "TC". # # UPON RETURN A CONTAINS THE CURRENT FLAGWRD SETTING. BLOCK 02 SETLOC FFTAG1 BANK COUNT* $$/FLAG UPFLAG CA Q TC DEBIT COM # +(15 - BIT) EXTEND ROR LCHAN # SET BIT COMFLAG INDEX ITEMP1 TS FLAGWRD0 LXCH ITEMP3 RELINT TC L DOWNFLAG CA Q TC DEBIT MASK L # RESET BIT TCF COMFLAG DEBIT AD ONE # GET DE BITS INHINT TS ITEMP3 CA LOW4 # DEC15 TS ITEMP1 INDEX ITEMP3 CA 0 -1 # ADRES TS L CA ZERO # Page 1487 EXTEND DV ITEMP1 # A = FLAGWRD, L = (15 - BIT) DXCH ITEMP1 INDEX ITEMP1 CA FLAGWRD0 TS L # CURRENT STATE INDEX ITEMP2 CS BIT15 # -(15 - BIT) TC Q # Page 1488 # DELAYJOB- A GENERAL ROUTINE TO DELAY A JOB A SPECIFIC AMOUNT OF TIME BEFORE PICKING UP AGAIN. # # ENTRANCE REQUIREMENTS... # CAF DT # DELAY JOB FOR DT CENTISECS # TC BANKCALL # CADR DELAYJOB BANK 06 SETLOC DLAYJOB BANK # THIS MUST REMAIN IN BANK 0 **************************************** COUNT 00/DELAY DELAYJOB INHINT TS Q # STORE DELAY DT IN Q FOR DLY -1 IN CAF DELAYNUM # WAITLIST DELLOOP TS RUPTREG1 INDEX A CA DELAYLOC # IS THIS DELAYLOC AVAILABLE EXTEND BZF OK2DELAY # YES CCS RUPTREG1 # NO, TRY NEXT DELAYLOC TCF DELLOOP TC BAILOUT # NO AVAILABLE LOCS AVAILABLE. OCT 1104 OK2DELAY CA TCSLEEP # SET WAITLIST IMMEDIATE RETURN TS WAITEXIT CA FBANK AD RUPTREG1 # STORE BBANK FOR TASK CALL TS L CAF WAKECAD # STORE CADR FOR TASK CALL TCF DLY2 -1 # DLY IS IN WAITLIST ROUTINE TCGETCAD TC MAKECADR # GET CALLERS FCADR INDEX RUPTREG1 TS DELAYLOC # SAVE DELAY CADRS TC JOBSLEEP WAKER CAF ZERO INDEX BBANK XCH DELAYLOC # MAKE DELAYLOC AVAILABLE # Page 1489 TC JOBWAKE TC TASKOVER TCSLEEP GENADR TCGETCAD -2 WAKECAD GENADR WAKER # Page 1490 # GENTRAN, A BLOCK TRANSFER ROUTINE. # # WRITTEN BY D. EYLES # MOD 1 BY KERNAN UTILITYM REV 17 11/18/67 # # MOD 2 BY SCHULENBERG (REMOVE RELINT) SKIPPER REV 4 2/28/68 # # THIS ROUTINE IS USEFULL FOR TRANSFERING N CONSECUTIVE ERASABLE OR FIXED QUANTITIES TO SOME OTHER N # CONSECUTIVE ERASABLE LOCATIONS. IF BOTH BLOCKS OF DATA ARE IN SWITCHABLE EBANKS, THEY MUST BE IN THE SAME ONE. # # GENTRAN IS CALLABLE IN A JOB AS WELL AS A RUPT. THE CALLING SEQUENCE IS: # # I CA N-1 # # OF QUANTITIES MINUS ONE. # I +1 TC GENTRAN # IN FIXED-FIXED. # I +2 ADRES L # STARTING ADRES OF DATA TO BE MOVED. # I +3 ADRES M # STARTING ADRES OF DUPLICATION BLOCK. # I +4 # RETURNS HERE. # # GENTRAN TAKES 25 MCT'S (300 MICROSECONDS) PER ITEM + 5 MCT'S (60 MICS) FOR ENTERING AND EXITING. # # A, L AND ITEMP1 ARE NOT PRESERVED. BLOCK 02 SETLOC FFTAG4 BANK EBANK= ITEMP1 COUNT* $$/TRAN GENTRAN INHINT TS ITEMP1 # SAVE N-1. INDEX Q # C(Q) = ADRES L. AD 0 # ADRES (L + N - 1). INDEX A CA 0 # C(ABOVE). TS L # SAVE DATA. CA ITEMP1 INDEX Q AD 1 # ADRES (M + N - 1). INDEX A LXCH 0 # STUFF IT. CCS ITEMP1 # LOOP UNTIL N-1 = 0. TCF GENTRAN +1 TCF Q+2 # RETURN TO CALLER. # Page 1491 # B5OFF ZERO BIT 5 OF EXTVBACT, WHICH IS SET BY TESTXACT. # # MAY BE USED AS NEEDED BY ANY EXTENDED VERB WHICH HAS DONE TESTXACT COUNT* $$/EXTVB B5OFF CS BIT5 MASK EXTVBACT TS EXTVBACT TC ENDOFJOB # Page 1492 # SUBROUTINES TO TURN OFF AND TURN ON TRACKER FAIL LIGHT. TRFAILOF INHINT CS OCT40200 # TURN OFF TRACKER LIGHT MASK DSPTAB +11D AD BIT15 TS DSPTAB +11D CS OPTMODES # TO INSURE THAT OCDU FAIL WILL GO ON MASK BIT7 # AGAIN IF IT WAS ON IN ADDITION TO ADS OPTMODES # TRACKER FAIL. REQ RELINT TC Q TRFAILON INHINT CS DSPTAB +11D # TURN ON MASK OCT40200 ADS DSPTAB +11D TCF REQ ================================================ FILE: Comanche055/SINGLE_PRECISION_SUBROUTINES.agc ================================================ # Copyright: Public domain. # Filename: SINGLE_PRECISION_SUBROUTINES.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1207 # Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the # same name, using Comanche055 page images. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 1207 BLOCK 02 # SINGLE PRECISION SINE AND COSINE COUNT 02/INTER SPCOS AD HALF # ARGUMENTS SCALED AT PI SPSIN TS TEMK TCF SPT CS TEMK SPT DOUBLE TS TEMK TCF POLLEY XCH TEMK INDEX TEMK AD LIMITS COM AD TEMK TS TEMK TCF POLLEY TCF ARG90 POLLEY EXTEND MP TEMK TS SQ EXTEND MP C5/2 AD C3/2 EXTEND MP SQ AD C1/2 EXTEND MP TEMK DDOUBL TS TEMK TC Q ARG90 INDEX A CS LIMITS TC Q # RESULT SCALED AT 1 # SPROOT WAS DELETED IN REV 51 OF MASTER. ASS. CONT. HAS CARDS. ================================================ FILE: Comanche055/STABLE_ORBIT.agc ================================================ # Copyright: Public domain. # Filename: STABLE_ORBIT.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Hartmuth Gutsche . # Website: www.ibiblio.org/apollo. # Pages: 525-532 # Mod history: 2009-05-10 HG Started adapting from the Colossus249/ file # of the same name, using Comanche055 page # images 0525.jpg - 0532.jpg. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 525 # STABLE ORBIT RENDEZVOUS PROGRAMS (P38 AND P78) # # MOD NO -1 LOG SECTION - STABLE ORBIT - P38-P39 # MOD BY RUDNICKI.S DATE 25JAN68 # # FUNCTIONAL DESCRIPTION # # P38 AND P78 CALCULATE THE REQUIRED DELTA V AND OTHER INITIAL # CONDITIONS REQUIRED BY THE AGC TO (1) PUT THE ACTIVE VEHICLE # ON A TRANSFER TRAJECTORY THAT INTERCEPTS THE PASSIVE VEHICLE # ORBIT A GIVEN DISTANCE, DELTA R, EITHER AHEAD OF OR BEHIND THE # PASSIVE VEHICLE AND (2) ACTUALLY PLACE THE ACTIVE VEHICLE IN THE # PASSIVE VEHICLE ORBIT WITH A DELTA R SEPARATION BETWEEN THE TWO # VEHICLES # # CALLING SEQUENCE # # ASTRONAUT REQUEST THRU DSKY # # V37E38E IF THIS VEHICLE IS ACTIVE VEHICLE # V37E78E IF OTHER VEHICLE IS ACTIVE VEHICLE # # INPUT # # (1) SOI MANEUVER # # (A) TIG TIME OF SOI MANEUVER # (B) CENTANG ORBITAL CENTRAL ANGLE OF THE PASSIVE VEHICLE # DURING TRANSFER FROM TIG TO TIME OF INTERCEPT # (C) DELTAR THE DESIRED SEPARATION OF THE TWO VEHICLES # SPECIFIED AS A DISTANCE ALONG THE PASSIVE VEHICLE # ORBIT # (D) OPTION EQUALS 1 FOR SOI # # (2) SOR MANEUVER # # (A) TIG TIME OF SOR MANEUVER # (B) CENTANG AN OPTIONAL RESPECIFICATION OF 1 (B) ABOVE # (C) OPTION EQUALS 2 FOR SOR # (D) DELTTIME THE TIME REQUIRED TO TRAVERSE DELTA R WHEN # TRAVELING AT A VELOCITY EQUAL TO THE HORIZONTAL # VELOCITY OF THE PASSIVE VEHICLE - SAVED FROM # SOI PHASE # (E) TINT TIME OF INTERCEPT (SOI) - SAVED FROM SOI PHASE # # OUTPUT # # (1) TRKMKCNT NUMBER OF MARKS # (2) TTOGO TIME TO GO # (3) +MGA MIDDLE GIMBAL ANGLE # Page 526 # (4) DSPTEM1 TIME OF INTERCEPT OF PASSIVE VEHICLE ORBIT # (FOR SOI ONLY) # (5) POSTTPI PERIGEE ALTITUDE OF ACTIVE VEHICLE ORBIT AFTER # THE SOI (SOR) MANEUVER # (6) DELVTPI MAGNITUDE OF DELTA V AT SOI (SOR) TIME # (7) DELVTPF MAGNITUDE OF DELTA V AT INTERCEPT TIME # (8) DELVLVC DELTA VELOCITY AT SOI (AND SOR) - LOCAL VERTICAL # COORDINATES # # SUBROUTINES USED # # AVFLAGA # AVFLAGP # VNDSPLY # BANKCALL # GOFLASHR # GOTOPOOH # BLANKET # ENDOFJOB # PREC/TT # SELECTMU # INTRPVP # MAINRTNE BANK 04 SETLOC STBLEORB BANK EBANK= SUBEXIT COUNT* $$/P3879 P38 TC AVFLAGA # THIS VEHICLE ACTIVE TC +2 P78 TC AVFLAGP # OTHER VEHICLE ACTIVE TC P20FLGON # SET UPDATFLG, TRACKFLG CAF V06N33SR # DISPLAY TIG TC VNDSPLY CAF V06N55SR # DISPLAY CENTANG TCR BANKCALL CADR GOFLASHR TCF GOTOPOOH # TERMINATE TCF +5 # PROCEED TCF -5 # RECYCLE CAF THREE # IMMEDIATE RETURN - BLANK R1, R2 TCR BLANKET TCF ENDOFJOB CAF FIVE TS OPTION1 CAF ONE TS OPTION2 # OPTION CODE IS SET TO 1 # Page 527 CAF V04N06SR # DISPLAY OPTION CODE - 1 = SOI, 2 = SOR TCR BANKCALL CADR GOFLASHR TCF GOTOPOOH # TERMINATE TCF +5 # PROCEED TCF -5 # RECYCLE CAF BIT3 # IMMEDIATE RETURN - BLANK R3 TCR BLANKET TCF ENDOFJOB TC INTPRET SSP NN 2 SLOAD SR1 OPTION2 BHIZ DLOAD OPTN1 TINT STORE TINTSOI # STORE FOR SOR PHASE CLRGO OPTNSW # OPTNSW; ON = SOI, OFF = SOR JUNCTN1 OPTN1 SET CLEAR # SOI OPTNSW UPDATFLG CALL PREC/TT SET DAD UPDATFLG TIG STORE TINT # TI = TIG + TF STORE DSPTEM1 # FOR DISPLAY EXIT CAF V06N57SR # DISPLAY DELTA R TCR BANKCALL CADR GOFLASHR TCF GOTOPOOH # TERMINATE TCF +5 # PROCEED TCF -5 # RECYCLE CAF SIX # IMMEDIATE RETURN - BLANK R2, R3 TCR BLANKET TCF ENDOFJOB CAF V06N34SR # DISPLAY TIME OF INTERCEPT TC VNDSPLY TC INTPRET JUNCTN1 CLEAR CALL P39/79SW SELECTMU # SELECT MU, CLEAR FINALFLG, GO TO VN1645 RECYCLE CALL PREC/TT # Page 528 BOFF DLOAD OPTNSW OPTN2 TINT STCALL TDEC1 # PRECISION UPDATE PASSIVE VEHICLE TO INTRPVP # INTERCEPT TIME VLOAD UNIT RATT # RP/(RP) PDVL VXV VATT ABVAL NORM # (VP X RP/(RP)) X1 PDDL DDV DELTAR SL* # DELTA R / (VP X RP/RP) 0 -7,1 STCALL DELTTIME # DELTA T = (RP) DELTA R / (VP X RP) JUNCTN2 OPTN2 DLOAD DAD TINTSOI T STORE TINT # TI = TI + TF JUNCTN2 DLOAD DSU TINT DELTTIME STORE TARGTIME # TT = TI - DELTA T # .... MAINRTNE .... # SUBROUTINES USED # # S3435.25 # PERIAPO1 # SHIFTR1 # VNDSPLY # BANKCALL # GOFLASH # GOTOPOOH # VN1645 MAINRTNE STCALL TDEC1 # PRECISION UPDATE PASSIVE VEHICLE TO INTRPVP # TARGET TIME DLOAD TIG STORE INTIME SSP VLOAD SUBEXIT TEST3979 RATT CALL S3435.25 TEST3979 BOFF BON # Page 529 P39/79SW MAINRTN1 FINALFLG P39P79 SET UPDATFLG P39P79 EXIT TC DSPLY81 # FOR P39 AND P79 MAINRTN1 VLOAD ABVAL DELVEET3 STOVL DELVTPI # DELTA V VPASS4 VSU ABVAL VTPRIME STOVL DELVTPF # DELTA V (FINAL) = V'T - VT RACT3 PDVL CALL VIPRIME PERIAPO1 # GET PERIGEE ALTITUDE CALL SHIFTR1 STORE POSTTPI BON SET FINALFLG DSPLY58 UPDATFLG DSPLY58 EXIT CAF V06N58SR # DISPLAY HP, DELTA V, DELTA V (FINAL) TC VNDSPLY DSPLY81 CAF V06N81SR # DISPLAY DELTA V (LV) TC VNDSPLY TC INTPRET CLEAR VLOAD XDELVFLG DELVEET3 STCALL DELVSIN VN1645 # DISPLAY TRKMKCNT, TTOGO, +MGA BON GOTO P39/79SW P39/P79B RECYCLE # STABLE ORBIT MIDCOURSE PROGRAM (P39 AND P79) # # MOD NO -1 LOG SECTION - STABLE ORBIT - P38-P39 # MOD BY RUDNICKI, S DATE 25JAN68 # # FUNCTIONAL DESCRIPTION # # P39 AND P79 CALCULATE THE REQUIRED DELTA V AND OTHER INITIAL # CONDITIONS REQUIRED BY THE AGC TO MAKE A MIDCOURSE CORRECTION # Page 530 # MANEUVER AFTER COMPLETING THE SOI MANEUVER BUT BEFORE MAKING # THE SOR MANEUVER # # CALLING SEQUENCE # # ASTRONAUT REQUEST THRU DSKY # # V37E39E IF THIS VEHICLE IS ACTIVE VEHICLE # V37E79E IF OTHER VEHICLE IS ACTIVE VEHICLE # # INPUT # # (1) TPASS4 TIME OF INTERCEPT - SAVED FROM P38/P78 # (2) TARGTIME TIME THAT PASSIVE VEHICLE IS AT INTERCEPT POINT - # SAVED FROM P38/P78 # # OUTPUT # # (1) TRKMKCNT NUMBER OF MARKS # (2) TTOGO TIME TO GO # (3) +MGA MIDDLE GIMBAL ANGLE # (4) DELVLVC DELTA VELOCITY AT MID - LOCAL VERTICAL COORDINATES # # SUBROUTINES USED # # AVFLAGA # AVFLAGP # LOADTIME # SELECTMU # PRECSET # S34/35.1 # MAINRTNE P39 TC AVFLAGA # THIS VEHICLE ACTIVE EXTEND DCA ATIGINC TC P39/P79A P79 TC AVFLAGP # OTHER VEHICLE ACTIVE EXTEND DCA PTIGINC P39/P79A DXCH KT # TIME TO PREPARE FOR BURN TC P20FLGON # SET UPDATFLG, TRACKFLG TC INTPRET SET CALL P39/79SW SELECTMU # SELECT MU, CLEAR FINALFLG, GO TO VN1645 P39/P79B RTB DAD LOADTIME KT STORE TIG # TIG = T (PRESENT) + PREPARATION TIME # Page531 STCALL TDEC1 # PRECISION UPDATE ACTIVE AND PASSIVE PRECSET # VEHICLES TO TIG CALL S34/35.1 # GET UNIT NORMAL DLOAD GOTO TARGTIME MAINRTNE # CALCULATE DELTA V AND DELTA V (LV) # .... PREC/TT .... # SUBROUTINES USED # # PRECSET # TIMETHET # S34/35.1 PREC/TT STQ DLOAD RTRN TIG STCALL TDEC1 # PRECISION UPDATE ACTIVE AND PASSIVE PRECSET # VEHICLES TO TIG VLOAD VSR* RPASS3 0,2 STODL RVEC CENTANG PUSH COS STODL CSTH SIN SET RVSW STOVL SNTH VPASS3 VSR* 0,2 STCALL VVEC # GET TRANSFER TIME BASED ON CENTANG OF TIMETHET # PASSIVE VEHICLE CALL S34/35.1 # GET UNIT NORMAL DLOAD GOTO T RTRN # .... INTRPVP .... # SUBROUTINES USED # # CSMPREC # LEMPREC INTRPVP STQ BOFF # PRECISION UPDATE PASSIVE VEHICLE TO RTRN # TDEC1 AVFLAG OTHERV CALL # Page 532 CSMPREC GOTO RTRN OTHERV CALL LEMPREC GOTO RTRN # .... VNDSPLY .... # SUBROUTINES USED # # BANKCALL # GOFLASH # GOTOPOOH VNDSPLY EXTEND # FLASH DISPLAY QXCH RTRN TS VERBNOUN CA VERBNOUN TCR BANKCALL CADR GOFLASH TCF GOTOPOOH # TERMINATE TC RTRN # PROCEED TCF -5 # RECYCLE V06N33SR VN 0633 V06N55SR VN 0655 V04N06SR VN 0406 V06N57SR VN 0657 V06N34SR VN 0634 V06N58SR VN 0658 V06N81SR VN 0681 # *** END OF COMEKISS.020 *** ================================================ FILE: Comanche055/STAR_TABLES.agc ================================================ # Copyright: Public domain. # Filename: STAR_TABLES.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1389-1393 # Mod history: 2009-05-10 SN (Sergio Navarro). Started adapting # from the Colossus249/ file of the same # name, using Comanche055 page images. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 1389 BANK 32 SETLOC STARTAB BANK COUNT 14/STARS 2DEC +.8342971408 B-1 # STAR 37 X 2DEC -.2392481515 B-1 # STAR 37 Y 2DEC -.4966976975 B-1 # STAR 37 Z 2DEC +.8139832631 B-1 # STAR 36 X 2DEC -.5557243189 B-1 # STAR 36 Y 2DEC +.1691204557 B-1 # STAR 36 Z 2DEC +.4541086270 B-1 # STAR 35 X 2DEC -.5392368197 B-1 # STAR 35 Y 2DEC +.7092312789 B-1 # STAR 35 Z 2DEC +.3201817378 B-1 # STAR 34 X 2DEC -.4436021946 B-1 # STAR 34 Y 2DEC -.8370786986 B-1 # STAR 34 Z 2DEC +.5520184464 B-1 # STAR 33 X 2DEC -.7933187400 B-1 # STAR 33 Y 2DEC -.2567508745 B-1 # STAR 33 Z 2DEC +.4537196908 B-1 # STAR 32 X 2DEC -.8779508801 B-1 # STAR 32 Y 2DEC +.1527766153 B-1 # STAR 32 Z 2DEC +.2069525789 B-1 # STAR 31 X 2DEC -.8719885748 B-1 # STAR 31 Y 2DEC -.4436288486 B-1 # STAR 31 Z 2DEC +.1217293692 B-1 # STAR 30 X # Page 1390 2DEC -.7702732847 B-1 # STAR 30 Y 2DEC +.6259880410 B-1 # STAR 30 Z 2DEC -.1124304773 B-1 # STAR 29 X 2DEC -.9694934200 B-1 # STAR 29 Y 2DEC +.2178116072 B-1 # STAR 29 Z 2DEC -.1146237858 B-1 # STAR 28 X 2DEC -.3399692557 B-1 # STAR 28 Y 2DEC -.9334250333 B-1 # STAR 28 Z 2DEC -.3516499609 B-1 # STAR 27 X 2DEC -.8240752703 B-1 # STAR 27 Y 2DEC -.4441196390 B-1 # STAR 27 Z 2DEC -.5326876930 B-1 # STAR 26 X 2DEC -.7160644554 B-1 # STAR 26 Y 2DEC +.4511047742 B-1 # STAR 26 Z 2DEC -.7861763936 B-1 # STAR 25 X 2DEC -.5217996305 B-1 # STAR 25 Y 2DEC +.3311371675 B-1 # STAR 25 Z 2DEC -.6898393233 B-1 # STAR 24 X 2DEC -.4182330640 B-1 # STAR 24 Y 2DEC -.5909338474 B-1 # STAR 24 Z 2DEC -.5812035376 B-1 # STAR 23 X 2DEC -.2909171294 B-1 # STAR 23 Y 2DEC +.7599800468 B-1 # STAR 23 Z 2DEC -.9170097662 B-1 # STAR 22 X 2DEC -.3502146628 B-1 # STAR 22 Y # Page 1391 2DEC -.1908999176 B-1 # STAR 22 Z 2DEC -.4523440203 B-1 # STAR 21 X 2DEC -.0493710140 B-1 # STAR 21 Y 2DEC -.8904759346 B-1 # STAR 21 Z 2DEC -.9525211695 B-1 # STAR 20 X 2DEC -.0593434796 B-1 # STAR 20 Y 2DEC -.2986331746 B-1 # STAR 20 Z 2DEC -.9656605484 B-1 # STAR 19 X 2DEC +.0525933156 B-1 # STAR 19 Y 2DEC +.2544280809 B-1 # STAR 19 Z 2DEC -.8608205219 B-1 # STAR 18 X 2DEC +.4636213989 B-1 # STAR 18 Y 2DEC +.2098647835 B-1 # STAR 18 Z 2DEC -.7742591356 B-1 # STAR 17 X 2DEC +.6152504197 B-1 # STAR 17 Y 2DEC -.1482892839 B-1 # STAR 17 Z 2DEC -.4657947941 B-1 # STAR 16 X 2DEC +.4774785033 B-1 # STAR 16 Y 2DEC +.7450164351 B-1 # STAR 16 Z 2DEC -.3612508532 B-1 # STAR 15 X 2DEC +.5747270840 B-1 # STAR 15 Y 2DEC -.7342932655 B-1 # STAR 15 Z 2DEC -.4118589524 B-1 # STAR 14 X 2DEC +.9065485360 B-1 # STAR 14 Y 2DEC +.0924226975 B-1 # STAR 14 Z # Page 1392 2DEC -.1820751783 B-1 # STAR 13 X 2DEC +.9404899869 B-1 # STAR 13 Y 2DEC -.2869271926 B-1 # STAR 13 Z 2DEC -.0614937230 B-1 # STAR 12 X 2DEC +.6031563286 B-1 # STAR 12 Y 2DEC -.7952489957 B-1 # STAR 12 Z 2DEC +.1371725575 B-1 # STAR 11 X 2DEC +.6813721061 B-1 # STAR 11 Y 2DEC +.7189685267 B-1 # STAR 11 Z 2DEC +.2011399589 B-1 # STAR 10 X 2DEC +.9690337941 B-1 # STAR 10 Y 2DEC -.1432348512 B-1 # STAR 10 Z 2DEC +.3507315038 B-1 # STAR 9 X 2DEC +.8926333307 B-1 # STAR 9 Y 2DEC +.2831839492 B-1 # STAR 9 Z 2DEC +.4105636020 B-1 # STAR 8 X 2DEC +.4988110001 B-1 # STAR 8 Y 2DEC +.7632988371 B-1 # STAR 8 Z 2DEC +.7032235469 B-1 # STAR 7 X 2DEC +.7075846047 B-1 # STAR 7 Y 2DEC +.0692868685 B-1 # STAR 7 Z 2DEC +.5450107404 B-1 # STAR 6 X 2DEC +.5314955466 B-1 # STAR 6 Y 2DEC -.6484410356 B-1 # STAR 6 Z 2DEC +.0130968840 B-1 # STAR 5 X # Page 1393 2DEC +.0078062795 B-1 # STAR 5 Y 2DEC +.9998837600 B-1 # STAR 5 Z 2DEC +.4917678276 B-1 # STAR 4 X 2DEC +.2204887125 B-1 # STAR 4 Y 2DEC -.8423473935 B-1 # STAR 4 Z 2DEC +.4775639450 B-1 # STAR 3 X 2DEC +.1166004340 B-1 # STAR 3 Y 2DEC +.8708254803 B-1 # STAR 3 Z 2DEC +.9342640400 B-1 # STAR 2 X 2DEC +.1735073142 B-1 # STAR 2 Y 2DEC -.3115219339 B-1 # STAR 2 Z 2DEC +.8748658918 B-1 # STAR 1 X 2DEC +.0260879174 B-1 # STAR 1 Y 2DEC +.4836621670 B-1 # STAR 1 Z CATLOG DEC 6970 ================================================ FILE: Comanche055/SXTMARK.agc ================================================ # Copyright: Public domain. # Filename: SXTMARK.agc # Purpose: Part of the source code for Comanche, build 055. It # is part of the source code for the Command Module's # (CM) Apollo Guidance Computer (AGC), Apollo 11. # Assembler: yaYUL # Reference: pp. 222-235 # Contact: Ron Burkey , # Fabrizio Bernardini # Website: http://www.ibiblio.org/apollo. # Mod history: 16/05/09 FB Transcription Batch 2 Assignment. # # The contents of the "Comanche055" files, in general, are transcribed # from scanned documents. # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. April 1, 1969. # # This AGC program shall also be referred to as Colossus 2A # # Prepared by # Massachusetts Institute of Technology # 75 Cambridge Parkway # Cambridge, Massachusetts # # under NASA contract NAS 9-4065. # # Refer directly to the online document mentioned above for further # information. Please report any errors to info@sandroid.org. # Page 222 # PROGRAM NAME - SXTMARK DATE- 5 APRIL 1967 # PROGRAM MODIFIED BY 258/278 PROGRAMMERS LOG SECTION SXTMARK # MOD BY- R. MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 116 # FUNCTIONAL DESCRIPTION- # SXTMARK IS CALLED FROM INTERNAL ROUTINES WHICH MAY REQUIRE STAR OR LANDMARK MARKINGS BY THE ASTRONAUT. IF # THE MARK SYSTEM IS NOT IN USE, SXTMARK RESERVES A VAC AREA FOR MARKING AND REQUESTS EXECUTION OF THE MKVB51 # ROUTINE VIA THE EXECUTIVE JOB PRIORITY LIST. R21 USES THIS ROUTINE TO DETERMINE IF THE MARK SYSTEM CAN BE # USED. IF YES, SXTMARK RETURNS TO R21 TO PERFORM ITS OWN MARK REQUESTS VIA THE V51 FLASH. # CALLING SEQUENCE- # CAF (NO. MARK REQUESTS IN BITS 1-3 OF A) # TC BANKCALL # CADR SXTMARK # NORMAL EXIT MODE- # SWRETURN # ALARM OR ABORT EXIT MODE- # ABORT # OUTPUT- # 1) MARKSTAT CONTAINS MARK VALUE (BITS 14-12) AND VAC AREA ADDRESS # 2) QPRET = VAC AREA POINTER VALUE # 3) 1ST WORD OF RESERVED VAC AREA SET TO +0 # 4) PRIO32 PLACED IN A REGISTER # ERASABLE INITIALIZATION- # 1) BITS 1-3 OF A = NO. MARKS REQUESTED # 2) BITS 2,3 OF EXTVBACT =0 # 3) A VAC AREA MUST BE AVAILABLE (WORD 1 = ADDRESS OF VAC AREA) # DEBRIS- # A,Q,L,RUPTREG1,MARKSTAT,QPRET,BIT2 OF EXTVBACT BANK 13 SETLOC SXTMARKE BANK EBANK= MRKBUF1 COUNT 07/SXTMK SXTMARK INHINT TS RUPTREG1 # NUMBER OF MARKS WANTED CAF SIX # BIT2 = MARKING SYSTEM IN USE MASK EXTVBACT # BIT3 = EXTENDED VERB IN PROGRESS CCS A TC MKABORT # SET THEREFORE ABORT # Page 223 CAF BIT2 # NOT SET ADS EXTVBACT # SET IT, RESET IN ENDMARK TC MARKOK # YES, FIND VAC AREA MKABORT TC BAILOUT OCT 01211 MARKOK CCS VAC1USE # FIND VAC AREA TC MKVACFND CCS VAC2USE TC MKVACFND CCS VAC3USE TC MKVACFND CCS VAC4USE TC MKVACFND CCS VAC5USE TC MKVACFND TC BAILOUT OCT 01207 MKVACFND AD TWO # ADDRESS OF VAC AREA TS MARKSTAT INDEX A TS QPRET # STORE NEXT AVAILABLE MARK SLOT CAF ZERO # STORE VAC AREA OCCUPIED INDEX MARKSTAT TS 0 -1 TC CHECKMM # BACKUP MARK ROUTINE USES SXTMARK MM 53 TCF +2 TCF SWRETURN TC CHECKMM MM 54 TCF +2 TCF SWRETURN CAF BIT12 # DESIRED NUMBER OF MARKS IN 12-14 EXTEND MP RUPTREG1 XCH L ADS MARKSTAT CAF PRIO32 # ENTER MARK JOB TC NOVAC EBANK= MARKSTAT 2CADR MKVB51 RELINT TCF SWRETURN # SAME AS MODEEXIT # Page 224 # PROGRAM NAME - MKRELEAS DATE- 5 APRIL 1967 # PROGRAM MODIFIED BY 248/278 PROGRAMMERS LOG SECTION SXTMARK # MOD BY- R. MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 116 # FUNCTIONAL DESCRIPTION- # MKRELEAS IS EXECUTED BY INTERNAL ROUTINES TO RELEASE THE MARK SYSTEM TO MAKE IT AVAILABLE TO OTHER INTERNAL # SYSTEM ROUTINES. IT ALSO CLEARS THE COARSE OPTICS FLAG BIT AND DISABLES THE OPTICS ERROR COUNTER. # CALLING SEQUENCE- # TC BANKCALL # CADR MKRELEAS # NORMAL EXIT MODE- # SWRETURN # ALARM OR ABORT EXIT MODE- NONE # OUTPUT- # 1) BIT9 OPTMODES SET TO 0 # 2) OPTIND SET TO -1 # 3) 1ST WORD OF VAC AREA SET TO VAC ADDRESS TO SIGNIFY AVAILABILITY. # 4) MARKSTAT CLEARED # 5) BIT2 CHANNEL 12 SET TO 0 # ERASABLE INITIALIZATION- NONE # DEBRIS- # A,MARKSTAT,BIT9,OPTMODES OPTIND,BIT2 CHANNEL 12 MKRELEAS CAF ZERO # SHOW MARK SYSTEM NOW AVAILABLE XCH MARKSTAT MASK LOW9 CCS A INDEX A TS 0 MKRLEES INHINT CS BIT9 # COARSE OPTICS RETURN FLAG. MASK OPTMODES TS OPTMODES CA NEGONE TS OPTIND # KILL COARSE OPTICS CS BIT2 # DISABLE OPTICS ERROR COUNTER EXTEND WAND CHAN12 RELINT TC SWRETURN # Page 225 # PROGRAM NAME - MARKRUPT DATE- 5 APRIL 1967 # PROGRAM MODIFIED BY 258/278 PROGRAMMERS LOG SECTION SXTMARK # MOD BY- R. MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 116 # FUNCTIONAL DESCRIPTION- # MARKRUPT STORES CDUS,OPTICS AND TIME AND TRANSFERS CONTROL TO THE MARKIT,MARK REJECT OR KEYCOM ROUTINES IF # BITS IN CHANNEL 16 ARE SET AS REQUIRED. # CALLING SEQUENCE- # ROUTINE ENTERED VIA KEYRUPT2 WHEN MARK,MARK REJECT OR DSKY KEYS DEPRESSED BY THE OPERATOR. # NORMAL EXIT MODE- # MARKIT, MKREJECT, OR POSTJUMP ROUTINES (MARK,MARK REJECT, OR DSKY CODE) # ALARM OR ABORT EXIT MODE- # ALARM AND RESUME # OUTPUT- # RUPTSTOR+5 = CDUT, RUPTSTOR+3 = CDUS, RUPTSTOR+2 = CDUY, # RUPTREG3 = CDUZ, RUPTSTOR+6 = CDUX, RUPTSTOR+1 AND SAMPTIME+1 =TIME1, # RUPTSTOR AND SAMPTIME = TIME2 # ERASABLE INITIALIZATION- # CDUT,CDUS,CDUY,CDUZ,CDUX,TIME2,TIME1,CHANNEL 16 BITS 6,7 OR 1-5 # DEBRIS- # A,QRUPT,RUPTREG3,SAMPTIME,SAMPTIME+1,RUPTSTOR TO RUPTSTOR+6 EXCEPT RUPTSTOR+4 (LOCATION 67) MARKRUPT TS BANKRUPT # STORE CDUS AND OPTICS NOW CA CDUT TS MKCDUT CA CDUS TS MKCDUS CA CDUY TS MKCDUY CA CDUZ TS MKCDUZ CA CDUX TS MKCDUX EXTEND DCA TIME2 # GET TIME DXCH MKT2T1 EXTEND DCA MKT2T1 DXCH SAMPTIME # RUPT TIME FOR NOUN 65. XCH Q TS QRUPT CAF BIT6 # SEE IF MARK OR MKREJECT # Page 226 EXTEND RAND NAVKEYIN CCS A TC MARKIT # ITS A MARK CAF BIT7 # NOT A MARK, SEE IF MKREJECT EXTEND RAND NAVKEYIN CCS A TC MKREJECT # ITS A MARK REJECT KEYCALL CAF OCT37 # NOT MARK OR MKREJECT, SEE IF KEYCODE EXTEND RAND NAVKEYIN EXTEND BZF +3 # IF NO INBITS TC POSTJUMP CADR KEYCOM # IT,S A KEY CODE, NOT A MARK. +3 TC ALARM # ALARM IF NO INBITS OCT 113 TC RESUME # Page 227 # PROGRAM NAME - MARKCONT DATE- 19 SEPT 1967 # PROGRAM MODIFIED BY 258/278 PROGRAMMERS LOG SECTION SXTMARK # MOD BY- R. MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 116 # FUNCTIONAL DESCRIPTION- # MARKCONT IS USED TO PERFORM A SPECIAL MARK FUNCTION FOR R21, TO EXECUTE A SPECIAL DISPLAY OF OPTICS AND TIME OR # TO PERFORM A MARK OF THE STAR OR LAND SIGHTING BASED UPON FLASHING V-N. # CALLING SEQUENCE- # FROM MARKDIF # NORMAL EXIT MODE- # TASKOVER # ALARM OR ABORT EXIT MODE- # ALARM AND TASKOVER # OUTPUT- # 1) FOR R21- # EBANK=EBANK7 # MRKBUF1 TO MRKBUF1+6 = TIME2,TIME1,CDUY,OPTICX,CDUZ,OPTICSY,CDUX OF CURRENT R21 MARK FUNCTION. # MRKBUF2 TO MRKBUF2+6 CONTAINS PREVIOUS R21 MARK VALUES. # 2) FOR SPECIAL DISPLAY JOB- # RUPTREG1 AND MRKBUF1 = CDUS,RUPTREG2 AND MRKBUF1 +1 = CDUT. # RUPTREG3 AND MRKBUF1 +2 = TIME2,RUPTREG4 AND MRKBUF1 +3 = TIME1 # 3) FOR NORMAL MARKING- # DECREMENT BITS14-12 OF MARKSTAT BY 1, # BIT10 MARKSTAT SET TO 1,INCREMENT QPRET BY 7, # STORE TIME2,TIME1,CDUY,CDUS,CDUZ,CDUT AND CDUX IN VAC+1 TO VAC+7 # ERASABLE INITIALIZATION- # 1) FOR R21- # BIT14 OF STATE+2 =1, MRKBUF1 TO MRKBUF1+6, ITEMP1, RUPTREG3, # RUPTSTOR TO RUPTSTOR+6 EXCEPT RUPTSTOR+4 # 2) FOR SPECIAL DISPLAY JOB- # BIT14 OF STATE+2 =0,MARKSTAT =+0,RUPTREG1,RUPTREG2,RUPTREG3 # RUPTREG4,RUPTSTOR,RUPTSTOR+1,RUPTSTOR+3,RUPTSTOR+5, # BIT12 OF STATE+5 (V59 FLAG),MRKBUF1 THRU MRKBUF1+3 # 3) FOR NORMAL MARKING- # BIT14 OF STATE+2 =0,MARKSTAE =VAC ADDRESS, A REG, ITEMP1, RUPTREG3, # RUPTSTOR TO RUPTSTOR+6 EXCEPT RUPTSTOR+4. # DEBRIS- # 1) FOR R21- # A,ITEMP1,MRKBUF1,MRKBUF2 # 2) FOR SPECIAL DISPLAY JOB- # A,RUPTREG1,RUPTREG2,RUPTREG3,RUPTREG4,MPAC TO MPAC+3 # 3) FOR NORMAL MARKING- # A,MARKSTAT,ITEMP1,QPRET,VAC+1 TO VAC+7 OF VAC AREA IN USE # Page 228 MARKCONT CAF BIT14 MASK STATE +2 # R21 MARK (SPECIAL MARKING FOR R21) EXTEND BZF MARKET # NOT SET THEREFORE REGULAR MARKING MARKIT1 CAF SIX # SPECIAL FOR R21 TC GENTRAN # TRANSFER MRKBUF1 TO MRKBUF2 ADRES MRKBUF1 ADRES MRKBUF2 CAF SIX # TRANSFER CURRENT MARK DATA TO MARKBUF1 TC GENTRAN ADRES MKT2T1 ADRES MRKBUF1 TCF TASKOVER MARKET CCS MARKSTAT # SEE IF MARKS CALLED FOR TC MARK2 # COLLECT MARKS CAF TWO # IS MARKING SYSTEM IN USE (BIT2) MASK EXTVBACT EXTEND BZF MARKET3 # MARKING NOT CALLED FOR CAF BIT12 MASK STATE +5 # V59FLAG EXTEND BZF MARKET3 # IF V59FLAG NOT SET-MARK UNCALLED FOR CAF PRIO5 # CALIBRATION MARK (SET) FOR P23 TC NOVAC # SPECIAL DISPLAY JOB EBANK= MRKBUF1 2CADR MARKDISP CAF SIX TC GENTRAN # TRANSFER MARK DATE TO MARKDOWN ADRES MKT2T1 ADRES MARKDOWN CAF SIX TC GENTRAN # TRANSFER MARK DATA TO MRKBUF1 FOR ADRES MKT2T1 # SPECIAL DISPLAY OF SHAFT AND TRUNNION ADRES MRKBUF1 # IF V59 ACTING TCF TASKOVER MARKET3 TC ALARM OCT 122 # MARKING NOT CALLED FOR TCF TASKOVER 114ALM TC ALARM # MARK NOT WANTED OCT 114 TCF TASKOVER # Page 229 # STORE MARK DATA IN MKVAC AND INCREMENT POINTER MARK2 AD 74K # SEE IF MARKS WANTED-REDUCE MARKS WANTED EXTEND BZMF 114ALM # MARK NOT WANTED-ALARM TS MARKSTAT COM MASK BIT10 # SET BIT10 TO ENABLE REJECT ADS MARKSTAT MASK LOW9 TS ITEMP1 INDEX A XCH QPRET # PICK UP MARK SLOT-POINTER TS ITEMP2 # SAVE CURRENT POINTER AD SEVEN # INCREMENT POINTER INDEX ITEMP1 TS QPRET # STORE ADVANCED POINTER VACSTOR EXTEND DCA MKT2T1 INDEX ITEMP2 DXCH 0 CA MKCDUY INDEX ITEMP2 TS 2 CA MKCDUS INDEX ITEMP2 TS 3 CA MKCDUZ INDEX ITEMP2 TS 4 CA MKCDUT INDEX ITEMP2 TS 5 CA MKCDUX INDEX ITEMP2 TS 6 CAF PRIO34 # IF ALL MARKS MADE FLASH VB50 MASK MARKSTAT EXTEND BZF +2 TCF TASKOVER CAF PRIO32 TC NOVAC EBANK= MARKSTAT 2CADR MKVB50 TCF TASKOVER # Page 230 # PROGRAM NAME - MKREJECT DATE- 5 APRIL 1967 # PROGRAM MODIFIED BY 258/276 PROGRAMMERS LOG SECTION SXTMARK # MOD BY- R. MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 116 # FUNCTIONAL DESCRIPTION- # ROUTINE ALLOWS OPEATOR TO REJECT MARK MADE PRIOR TO ACCEPTANCE AND ALLOWS A NEW MARK TO BE MADE BY ASTRONAUT # CALLING SEQUENCE- # FROM MARKRUPT IF BIT7 OF CHANNEL 16 IS 1. # NORMAL EXIT MODE- # RESUME # ALARM OR ABORT EXIT MODE- # ALARM AND RESUME # OUTPUT- # 1) FOR R21- # MRKRUP1 SET TO -1 # 2) FOR NORMAL MARKING- # BIT10 MARKSTAT =0,INCREMENT NO. MARKS BY 1,DECREMENT QPRET BY 7 # ERASABLE INITIALIZATION- # 1) FOR R21- # BIT14 OF STATE+2 SET TO 1 # 2) FOR NORMAL MARKING- # BIT14 OF STATE+2 SET TO 0, MARKSTAT,QPRET # DEBRIS- # 1) FOR R21- # A,MARKSTAT,EBANK # 2) FOR NORMAL MARKING- # A,MARKSTAT,ITEMP1,QPRET MKREJECT CAF BIT14 MASK STATE +2 # R21 MARK (SPECIAL MARKING FOR R21) EXTEND BZF MRKREJCT # NOT SET THEREFORE REGULAR REJECT CA NEGONE # -1 (FOR R22) TS MRKBUF1 # -0 IN TIME IS FLAG TO R22 SIGNIFYING A TC RESUME # REJECTED MARK MRKREJCT CCS MARKSTAT # SEE IF MARKS BEING ACCEPTED TC REJECT2 TC ALARM # MARKS NOT BEING ACCEPTED OCT 112 TC RESUME REJECT2 CS BIT10 # SEE IF MARK HAD BEEN MADE SINCE LAST MASK MARKSTAT # REJECT, AND SET BIT10 TO ZERO TO XCH MARKSTAT # SHOW MARK REJECT # Page 231 MASK BIT10 CCS A TC REJECT3 TC ALARM # DONT ACCEPT TWO REJECTS TOGETHER OCT 110 TC RESUME REJECT3 CAF LOW9 # DECREMENT POINTER TO REJECT MARK MASK MARKSTAT TS ITEMP1 CS SEVEN INDEX ITEMP1 ADS QPRET # NEW POINTER CAF BIT12 # INCREMENT MARKS WANTED AND IF FIELD AD MARKSTAT # IS NOW NON-ZERO, CHANGE TO VB51 TO XCH MARKSTAT # INDICATE MORE MARKS WANTED MASK PRIO34 # INDICATE MORE MARKS WANTED CCS A TC RESUME CAF PRIO32 TC NOVAC EBANK= MARKSTAT 2CADR MKVB51 TC RESUME # Page 232 # PROGRAM DESCRIPTION MKVB51 AND MKVB50 # AUTHOR-BARNERT DATE-2-15-67 MOD-0 # PURPOSE FLASH V51N70,V51N43, OR V51 TO REQUEST MARKING, # AND V50N25 R1=16 TO REQUEST TERMINATE MARKING. # CALLING SEQUENCE AS JOB WITHIN SXTMARK # EXIT TO ENDMARK UPON RECEIPT OF V33, V34 CAUSES GOTOPOOH, ENTER # RECYCLES THE DISPLAY # NOTE- SXTMARK AUTOMATICALLY CHANGES FROM CALLING MKVB51 TO MKVB50 WHEN # SUFFICIENT MARKS HAVE BEEN MADE, AND THE REVERSE WHEN A MARK # REJECT REDUCES THE NUMBER MADE BELOW THAT REQUIRED # SUBROUTINES CALLED- BANKCALL, GOMARK2,GOODEND,ENDMARK,WAITLIST # ALARM OR ABORT MODES - NONE # ERASABLE USED-VERBREG,MARKSTAT,QPRET,DSPTEM1 # OUTPUT MARKSTAT=VAC ADDRESS # QPRET= NO.MARKS MKVB51 TC BANKCALL # CLEAR DISPLAY FOR MARK VERB CADR KLEENEX CAF VB51 # DISPLAY MARK VB51 TC BANKCALL CADR GOMARK4 TCF TERMSXT # VB34-TERMINATE TCF ENTANSWR # V33-PROCEED-MARKING DONE TCF MKVB5X # ENTER-RECYCLE TO INITIAL MARK DISPLAY TERMSXT TC CLEARMRK # CLEAR MARK ACTIVITY. TC CHECKMM MM 03 TCF +2 TC TERMP03 TC POSTJUMP CADR TERM52 TERMP03 TC UPFLAG ADRES TRM03FLG ENTANSWR CAF LOW9 # PUT VAC ADR IN MARKSTAT AND NO. OF MASK MARKSTAT # MARKS MADE IN QPRET BEFORE LEAVING TS MARKSTAT # SXTMARK COM INDEX MARKSTAT AD QPRET # Page 233 EXTEND BZMF JAMIT # NO MARKS MADE, SHOW IT IN QPRET, R53 EXTEND # WILL PICK IT UP AND RECYCLE MP BIT12 # THIS PUTS NUMBER MARKS-1 IN A AD ONE JAMIT INDEX MARKSTAT # STORE NO OF MARKS MADE TS QPRET INHINT # SERVICE OPTSTALL INTERFACE WITH CAF FIVE TC WAITLIST EBANK= MARKSTAT 2CADR ENDMARKS TC ENDMARK # KNOCKS DOWN MARKING FLAG + DOES ENDOFJOB ENDMARKS CAF ONE TC IBNKCALL CADR GOODEND MKVB5X CAF PRIO34 MASK MARKSTAT # RE-DISPLAY VB51 IF MORE MARKS WANTED CCS A # AND VB50 IF ALL IN TCF MKVB51 MKVB50 CAF R1D1 # OCT 16 TS DSPTEM1 CAF V50N25 TCF MKVB51 +3 V50N25 VN 5025 VB51 VN 5100 OCT37 = LOW5 # PROGRAM NAME - MARKIT DATE- 19 SEPT 1967 # CALLING SEQUENCE # FROM MARKRUPT IF CHAN 16 BIT 6 = 1 # EXIT # RESUME # INPUT # CDUCHKWD. ALSO ALL INITIALIZATION FOR MARKCONT # OUTPUT # MKT2T1,MKCDUX,MKCDUY,MKCDUZ,MKCDUS,MKCDUT # ALARM EXIT # NONE MARKIT CCS CDUCHKWD TCF +3 # DELAY OF CDUCHKWD CS IF PNZ # Page 234 TCF +2 CAF ZERO AD ONE # 10 MS IF NO CHECK TC WAITLIST EBANK= MRKBUF1 2CADR MARKDIF TCF RESUME SETLOC SXTMARK1 BANK COUNT 20/SXTMK # PROGRAM NAME - MARKDIF DATE- 19 SEPT 1967 # CALLING SEQUENCE # WAITLIST FROM MARKIT # EXIT # TASKOVER TO IBNKCALL TO MARKCONT # INPUT # OUTPUT FROM MARKIT, INPUT TO MARKCONT, CDUCHKWD # OUTPUT # RUPTSTOR - RUPTSTOR+3,RUPTREG3,RUPTSTOR+5 - RUPTSTOR+6 # ALARM EXIT # ALARM AND TASKOVER MARKDIF CA CDUCHKWD # IF DELAY CHECK IS ZERO OR NEG,ACP MARK EXTEND BZMF MKACPT CS BIT1 TS MKNDX # SET INDEX -1 CA MKCDUX TC DIFCHK # SEE IF VEHICLE RATE TO MUCH AT MARK CA MKCDUY TC DIFCHK CA MKCDUZ TC DIFCHK MKACPT TC IBNKCALL CADR MARKCONT # MARK DATA OK, WHAT DO WE DO WITH IT DIFCHK INCR MKNDX # INCREMENT INDEX EXTEND INDEX MKNDX # Page 235 MSU CDUX # GET MARK(ICDU) - CURRENT(ICDU) CCS A TCF +4 TC Q TCF +2 TC Q AD NEG2 # SEE IF DIFFERENCE GREATER THAN 3 BITS EXTEND BZMF -3 # NOT GREATER TC ALARM # COUPLED WITH PROGRAM ALARM OCT 00121 TCF TASKOVER # DO NOT ACCEPT ================================================ FILE: Comanche055/SYSTEM_TEST_STANDARD_LEAD_INS.agc ================================================ # Copyright: Public domain. # Filename: SYSTEM_TEST_STANDARD_LEAD_INS.agc # Purpose: Part of the source code for Comanche, build 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), Apollo 11. # Assembler: yaYUL # Reference: pp. 420-422 # Contact: Onno Hommes . # Website: www.ibiblio.org/apollo. # Mod history: 05/07/09 OH Transcription Batch 1 Assignment # # The contents of the "Comanche055" files, in general, are transcribed # from scanned documents. # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. April 1, 1969. # # This AGC program shall also be referred to as Colossus 2A # # Prepared by # Massachusetts Institute of Technology # 75 Cambridge Parkway # Cambridge, Massachusetts # # under NASA contract NAS 9-4065. # # Refer directly to the online document mentioned above for further information. # Please report any errors to info@sandroid.org. # Page 420 EBANK= XSM BANK 33 SETLOC E/PROG1 BANK COUNT* $$/P07 # SPECIAL PROGRAMS TO EASE THE PANGS OF ERASABLE MEMORY PROGRAMS. # # E/BKCALL FOR DOING BANKCALLS FROM AND RETURNING TO ERASABLE. # # THIS ROUTINE IS CALLABLE FROM ERASABLE OR FIXED. LIKE BANKCALL, HOWEVER, SWITCHING BETWEEN S3 AND S4 # IS NOT POSSIBLE. # # THE CALLING SEQUENCE IS: # # TC BANKCALL # CADR E/BKCALL # CADR ROUTINE # WHERE YOU WANT TO GO IN FIXED. # RETURN HERE FROM DISPLAY TERMINATE, BAD STALL OR TC Q. # RETURN HERE FROM DISPLAY PROCEED OR GOOD RETURN FROM STALL. # RETURN HERE FROM DISPLAY ENTER OR RECYCLE. # # THIS ROUTINE REQUIRES TWO ERASABLES (EBUF2, +1) IN UNSWITCHED WHICH ARE UNSHARED BY INTERRUPTS AND # OTHER EMEMORY PROGRAMS. # # A + L ARE PRESERVED THROUGH BANKCALL AND E/BKCALL. E/BKCALL DXCH BUF2 # SAVE A,L AND GET DP RETURN. DXCH EBUF2 # SAVE DP RETURN. INCR EBUF2 # RETURN +1 BECAUSE DOUBLE CADR. CA BBANK MASK LOW10 # GET CURRENT EBANK. (SBANK SOMEDAY) ADS EBUF2 +1 # FORM BBCON. (WAS FBANK) NDX EBUF2 CA 0 -1 # GET CADR OF ROUTINE. TC SWCALL # GO TO ROUTINE, SETTING Q TO SWRETURN # AND RESTORING A + L. TC +4 # TX Q, V34, OR BAD STALL RETURN. TC +2 # PROCEED OR GOOD STALL RETURN. INCR EBUF2 # ENTER OR RECYCLE RETURN. INCR EBUF2 E/SWITCH DXCH EBUF2 DTCB # Page 421 # E/CALL FOR CALLING A FIXED MEMORY INTERPRETIVE SUBROUTINE FROM ERASABLE AND RETURNING TO ERASABLE. # # THE CALLING SEQUENCE IS... # # RTB # E/CALL # CADR ROUTINE # THE INTERPRETIVE SUBROUTINE YOU WANT. # # RETURNS HERE IN INTERPRETIVE. E/CALL LXCH LOC # ADRES -1 OF CADR. INDEX L CA L # CADR IN A. INCR L INCR L # RETURN ADRES IN L. DXCH EBUF2 # STORE CADR AND RETURN. TC INTPRET CALL EBUF2 # INDIRECTLY EXECUTE ROUTING. IT MUST EXIT # LEAVE VIA RVQ OR EQUIVALENT. LXCH EBUF2 +1 # PICK UP RETURN. TCF INTPRET +2 # SET LOC AND RETURB TO CALLER # Page 422 # E/JOBWAK FOR WAKING UP ERASABLE MEMORY JOBS. # # THIS ROUTINE MUST BE CALLED IN INTERRUPT OR WITH INTERRUPTS INHIBITED. # # THE CALLING SEQUENCE IS: # # INHINT # . # . # CA WAKEADR # ADDRESS OF SLEEPING JOB # TC IBNKCALL # CADR E/JOBWAK # . # RETURNS HERE # . # . # RELINT # IF YOU DID AN INHINT. BANK 33 SETLOC E/PROG BANK COUNT* $$/P07 E/JOBWAK TC JOBWAKE # ARRIVE IWTH ADRES IN A. CS BIT11 NDX LOCCTR ADS LOC # KNOCK FIXED MEMORY BIT OUT OF ADRES. TC RUPTREG3 # RETURN # THESE PROGRAMS ARE PROVIDED TO ALLOW OVERLAY OF BANKS 30 THRU 33 OF THE 205 VERSIONS OF SYSTEM TESTS AND # PRELAUNCH ALIGN. THE INTENT IS TO ALLOW THE STG AND HYBRID LABS TO RUN ALL THE TESTS WITH COLOSSUS. BANK 33 SETLOC TESTLEAD BANK COUNT 33/COMST EBANK= QPLACE COMPVER TC GCOMPVER # MUST BE 33,2000. GTSCPSS1 TC GTSCPSS # MUST BE AT 33,2001 REDO TC NEWMODEX # DISPLAY MM 07. MM 07 # FALL INTO IMUTEST ================================================ FILE: Comanche055/T4RUPT_PROGRAM.agc ================================================ # Copyright: Public domain. # Filename: T4RUPT_PROGRAM.agc # Purpose: Part of the source code for Comanche, build 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), Apollo 11. # Assembler: yaYUL # Reference: pp. 133-169 # Contact: Ron Burkey , # Fabrizio Bernardini # Website: http://www.ibiblio.org/apollo. # Mod history: 10/05/09 FB Transcription of Batch FB-1 Assignment. # # The contents of the "Comanche055" files, in general, are transcribed # from scanned documents. # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. April 1, 1969. # # This AGC program shall also be referred to as Colossus 2A # # Prepared by # Massachusetts Institute of Technology # 75 Cambridge Parkway # Cambridge, Massachusetts # # under NASA contract NAS 9-4065. # # Refer directly to the online document mentioned above for further # information. Please report any errors to info@sandroid.org. # Page 133 BANK 12 SETLOC T4RUP BANK COUNT 06/T4RPT T4RUPT TS BANKRUPT EXTEND QXCH QRUPT CCS DSRUPTSW # GOES 7(-1)0 AROUND AND AROUND TCF NORMT4 +1 TCF NORMT4 TCF QUIKDSP NORMT4 CAF SEVEN TS RUPTREG1 TS DSRUPTSW COUNT 02/T4RPT 74K = HIGH4 # RELTAB IS A PACKED TABLE. RELAYWORD CODE IN UPPER 4 BITS, RELAY CODE # IN LOWER 5 BITS. BLOCK 02 SETLOC FFTAG12 BANK RELTAB OCT 04025 OCT 10003 OCT 14031 OCT 20033 OCT 24017 OCT 30036 OCT 34034 OCT 40023 OCT 44035 OCT 50037 OCT 54000 RELTAB11 OCT 60000 # Page 134 # SWITCHED-BANK PORTION BANK 12 SETLOC T4RUP BANK COUNT 06/T4RPT CDRVE CCS DSPTAB +11D TC DSPOUT TC DSPOUT XCH DSPTAB +11D MASK LOW11 TS DSPTAB +11D AD RELTAB11 EXTEND WRITE OUT0 TC HANG20 # Page 135 # DSPOUT PROGRAM, PUTS OUT DISPLAYS DSPOUTSB TS NOUT CS ZERO TS DSRUPTEM # SET TO -0 FOR 1ST PASS THRU DSPTAB XCH DSPCNT AD NEG0 # TO PREVENT +0 TS DSPCNT DSPSCAN INDEX DSPCNT CCS DSPTAB CCS DSPCNT # IF DSPTAB ENTRY +, SKIP TCF DSPSCAN -2 # IF DSPCNT +, AGAIN TCF DSPLAY # IF DSPTAB ENTRY -, DISPLAY TABLNTH OCT 12 # DEC 10 LENGTH OF DSPTAB CCS DSRUPTEM # IF DSRUPTEM=+0, 2ND PASS THRU DSPTAB 120MRUPT DEC 16372 # (DSPCNT = 0). +0 INTO NOUT. TS NOUT TC Q TS DSRUPTEM # IF DSRUPTEM=-0, 1ST PASS THRU DSPTAB CAF TABLNTH # (DSPCNT=0).+0 INTO DSRUPTEM. PASS AGAIN TCF DSPSCAN -1 DSPLAY AD ONE INDEX DSPCNT TS DSPTAB # REPLACE POSITIVELY MASK LOW11 # REMOVE BITS 12 TO 15 TS DSRUPTEM CAF HI5 INDEX DSPCNT MASK RELTAB # PICK UP BITS 12 TO 15 OF RELTAB ENTRY AD DSRUPTEM EXTEND WRITE OUT0 # WRITE CHANNEL 10 TCF Q+1 # *** NORMAL RETURN SKIPS ONE DSPOUT CCS FLAGWRD5 # DON'T DISPLAY UNLESS DSKY FLAG ON CAF ZERO TCF NODSPOUT CCS NOUT TC DSPOUTSB TCF NODSPOUT # NO DISPLAY REQUESTS HANG20 CS 11,14,9 ADS DSRUPTSW CAF 20MRUPT SETTIME4 TS TIME4 # Page 136 # THE STATUS OF THE PROCEED PUSHBUTTON IS MONITORED EVERY 120 MILLISECONDS VIA THE CHANNEL 32 BIT 14 INBIT. # THE STATE OF THIS INBIT IS COMPARED WITH ITS STATE DURING THE PREVIOUS T4RUPT AND IS PROCESSED AS FOLLOWS. # IF PREV ON AND NOW ON -- BYPASS # IF PREV ON AND NOW OFF -- UPDATE IMODES33 # IF PREV OFF AND NOW ON -- UPDATE IMODES33 AND PROCESS VIA PINBALL # IF PREV OFF AND NOW OFF -- BYPASS # THE LOGIC EMPLOYED REQUIRES ONLY 9 MCT (APPROX. 108 MICROSECONDS) OF COMPUTER TIME WHEN NO CHANGES OCCUR. PROCEEDE CA IMODES33 # MONITOR FOR PROCEED BUTTON EXTEND RXOR CHAN32 # CHECK IF BIT 14 DIFFERENT MASK BIT14 EXTEND BZF T4JUMP # NO CHANGE LXCH IMODES33 EXTEND RXOR LCHAN TS IMODES33 # UPDATE IMODES33 MASK BIT14 CCS A TCF T4JUMP # WAS ON -- NOW OFF CAF CHRPRIO # WAS OFF -- NOW ON TC NOVAC EBANK= DSPCOUNT 2CADR PROCKEY # Page 137 # JUMP TO APPROPRIATE ONCE-PER SECOND (0.96 SEC ACTUALLY) ACTIVITY T4JUMP INDEX RUPTREG1 TCF +1 TCF OPTTEST TCF OPTMON TCF IMUMON TCF RESUME TCF OPTTEST TCF OPTMON TCF IMUMON TCF RESUME OPTTEST TC IBNKCALL CADR OPTDRIVE 20MRUPT = OCT37776 # (DEC 16382) NODSPOUT EXTEND # TURN OFF RELAYS WRITE OUT0 CAF 120MRUPT # SET FOR NEXT CDRVE TCF SETTIME4 QUIKDSP CAF BIT14 MASK DSRUPTSW EXTEND BZF QUIKOFF # WROTE LAST TIME, NOW TURN OFF RELAYS. CCS NOUT TC DSPOUTSB TCF NODSPY # NOUT=0 OR BAD RETURN FROM DSPOUTSB CS BIT14 # GOOD RETURN (WE DISPLAYED SOMETHING) QUIKRUPT ADS DSRUPTSW CAF 20MRUPT TS TIME4 CAF BIT9 ADS DSRUPTSW TC RESUME NODSPY EXTEND WRITE OUT0 SYNCT4 CAF 20MRUPT ADS TIME4 CAF BIT9 # Page 138 ADS DSRUPTSW CCS DSRUPTSW TC RESUME OCT37737 OCT 37737 TC SYNCT4 TC RESUME QUIKOFF EXTEND WRITE OUT0 CAF BIT14 # RESET DSRUPTSW TO SEND DISPLAY NEXT PASS TCF QUIKRUPT 11,14,9 OCT 22400 # Page 139 # PROGRAM NAME: IMUMON # # FUNCTIONAL DESCRIPTION: THIS PROGRAM IS ENTERED EVERY 480 MS. IT DETECTS CHANGES OF THE IMU STATUS BITS IN # CHANNEL 30 AND CALLS THE APPROPRIATE SUBROUTINES. THE BITS PROCESSED AND THEIR RELEVANT SUBROUTINES ARE: # # FUNCTION BIT SUBROUTINE CALLED # -------- --- ----------------- # TEMP IN LIMITS 15 TLIM # ISS TURN-ON REQUEST 14 ITURNON # IMU FAIL 13 IMUFAIL (SETISSW) # IMU CDU FAIL 12 ICDUFAIL (SETISSW) # IMU CAGE 11 IMUCAGE # IMU OPERATE 9 IMUOP # # THE LAST SAMPLED STATE OF THESE BITS IS LEFT IN IMODES30. ALSO, EACH SUBROUTINE CALLED FINDS THE NEW # VALUE OF THE BIT IN A, WITH Q SET TO THE PROPER RETURN LOCATION NXTIFAIL. # # CALLING SEQUENCE: T4RUPT EVERY 480 MILLISECONDS. # # JOBS OR TASKS INITIATED: NONE. # # SUBROUTINES CALLED: TLIM, ITURNON, SETISSW, IMUCAGE, IMUOP. # # ERASABLE INITIALIZATION: # FRESH START OR RESTART WITH NO GROUPS ACTIVE: C(IMODES30) = OCT 37411. # RESTART WITH ACTIVE GROUPS: C(IMODES30) = (B(IMODES30)AND(OCT 00035)) PLUS OCT 37400. # THIS LEAVES IMU FAIL BITS INTACT. # # ALARMS: NONE. # # EXIT: TNONTEST. # # OUTPUT: UPDATED IMODES30 WITH CHANGES PROCESSED BY APPROPRIATE SUBROUTINE. IMUMON CA IMODES30 # SEE IF THERE HAS BEEN A CHANGE IN THE EXTEND # RELEVANT BITS OF CHAN 30. RXOR CHAN30 # CHECK IF BITS 9,11-15 CHANGED MASK 30RDMSK EXTEND BZF TNONTEST # NO CHANGE IN STATUS TS RUPTREG1 # SAVE BITS WHICH HAVE CHANGED. LXCH IMODES30 # UPDATE IMODES30. EXTEND RXOR LCHAN TS IMODES30 CS ONE XCH RUPTREG1 EXTEND # Page 140 BZMF TLIM # CHANGE IN IMU TEMP. TCF NXTIFBIT # BEGIN BIT SCAN. -1 AD ONE # (RE-ENTERS HERE FROM NXTIFAIL.) NXTIFBIT INCR RUPTREG1 # ADVANCE BIT POSITION NUMBER. +1 DOUBLE TS A # SKIP IF OVERFLOW. TCF NXTIFBIT # LOOK FOR BIT. XCH RUPTREG2 # SAVE OVERFLOW-CORRECTED DATA. INDEX RUPTREG1 # SELECT NEW VALUE OF THIS BIT. CAF BIT14 MASK IMODES30 INDEX RUPTREG1 TC IFAILJMP NXTIFAIL CCS RUPTREG2 # PROCESS ANY ADDITIONAL CHANGES. TCF NXTIFBIT -1 # Page 141 # PROGRAM NAME: TNONTEST. # # FUNCTIONAL DESCRIPTION: THIS PROGRAM HONORS REQUESTS FOR ISS INITIALIZATION. ISS TURN-ON (CHANNEL 30 BIT 14) # AND ISS OPERATE (CHANNEL 30 BIT 9) REQUESTS ARE TREATED AS A PAIR AND PROCESSING TAKES PLACE .480 SECONDS # AFTER EITHER ONE APPEARS. THIS INITIALIZATION TAKES ON ONE OF THE FOLLOWING THREE FORMS: # # 1) ISS TURN-ON: IN THIS SITUATION THE COMPUTER IS OPERATING WHEN THE ISS IS TURNED ON. NOMINALLY, # BOTH ISS TURN-ON AND ISS OPERATE APPEAR. THE PLATFORM IS CAGED FOR 90 SECONDS AND THE ICDU'S ZEROED # SO THAT AT THE END OF THE PROCESS THE GIMBAL LOCK MONITOR WILL FUNCTION PROPERLY. # # 2) ICDU INITIALIZATION: IN THIS CASE THE COMPUTER WAS PROBABLY TURNED ON WITH THE ISS IN OPERATE OR # A FRESH START WAS DONE WIT THE ISS IN OPERATE. IN THIS CASE ONLY ISS OPERATE IS ON. THE ICDU'S ARE # ZEROED SO THE GIMBAL LOCK MONITOR WILL FUNCTION. AN EXCEPTION IS IF THE ISS IS IN GIMBAL LOCK AFTER # A RESTART, THE ICDU'S WILL NOT BE ZEROED. # # 3) RESTART WITH RESTARTABLE PROGRAM USING THE IMU: IN THIS CASE, NO INITIALIZATION TAKES PLACE SINCE # IT IS ASSUMED THAT THE USING PROGRAM DID THE INITIALIZATION AND THEREFORE T4RUPT SHOULD NOT INTERFERE. # # IMODES30 BIT 7 IS SET = 1 BY THE FIRST BIT (CHANNEL 30 BIT 14 OR 9) WHICH ARRIVES. FOLLOWING THIS, TNONTEST IS # ENTERED, FINDS BIT 7 = 1 BUT BIT 8 = 0, SO IT SETS BIT 8 = 1 AND EXITS. THE NEXT TIME IT FINDS BIT 8 = 1 AND # PROCEEDS, SETTING BITS 8 AND 7 = 0. AT PROCTNON, IF ISS TURN-ON REQUEST IS PRESENT, THE ISS IS CAGED (ZERO + # COARSE). IF ISS OPERATE IS NOT PRESENT PROGRAM ALARM 00213 IS ISSUED. AT THE END OF A 90 SECOND CAGE, BIT 2 # OF IMODES30 IS TESTED. IF IT IS = 1, ISS TURN-ON WAS NOT PRESENT FOR THE ENTIRE 90 SECONDS. IN THAT CASE, IF # THE ISS TURN-ON REQUEST IS PRESENT THE 90 SECOND WAIT IS REPEATED, OTHERWISE NO ACTION OCCURS UNLESS A PROGRAM # WAS WAITING FOR THE INITIALIZATION IN WHICH CASE THE PROGRAM IS GIVEN AN IMUSTALL ERROR RETURN. IF THE DELAY # WENT PROPERLY, THE ISS DELAY OUTBIT IS SENT AND THE ICDU'S ZEROED. A TASK IS INITIATED TO REMOVE THE PIPA FAIL # INHIBIT BIT IN 10.24 SECONDS. IF A MISSION PROGRAM WAS WAITING IT IS INFORMED VIA ENDIMU. # # AT PROCTNON, IF ONLY ISS OPERATE IS PRESENT (OPONLY), THE CDU'S ARE ZEROED UNLESS THE PLATFORM IS IN COARSE # ALIGN (= GIMBAL LOCK HERE) OR A MISSION PROGRAM IS USING THE IMU (INUSEFLG = 1). # # CALLING SEQUENCE: T4RUPT EVERY 480 MILLISECONDS AFTER IMUMON. # # JOBS OR TASKS INITIATED: 1) ENDTNON, 90 SECONDS AFTER CAGING STARTED. 2) ISSUP, 4 SECONDS AFTER CAGING DONE. # 3) PFAILOK, 10.24 SECONDS AFTER INITIALIZATION COMPLETED. 4) UNZ2, 320 MILLISECONDS AFTER ZEROING # STARTED. # # SUBROUTINES CALLED: CAGESUB, CAGESUB2, ZEROICDU, ENDIMU, IMUBAD, NOATTOFF, SETISSW, VARDELAY. # # ERASABLE INITIALIZATION: SEE IMUMON. # # ALARMS: PROGRAM ALARM 00213 IF ISS TURN-ON REQUESTED WITHOUT ISS OPERATE. # # EXIT: ENDTNON EXITS TO C33TEST. TASKS HAVING TO DO WITH INITIALIZATION EXIT AS FOLLOWS: MISSION PROGRAM # WAITING AND INITIALIZATION COMPLETE, EXIT TO ENDIMU, MISSION PROGRAM WAITING AND INITIALIZATION FAILED, EXIT TO # IMUBAD, IMU NOT IN USE, EXIT TO TASKOVER. # # OUTPUT: ISS INITIALIZED. TNONTEST CS IMODES30 # AFTER PROCESSING ALL CHANGES, SEE IF IT # Page 142 MASK BIT7 # IS TIME TO ACT ON A TURN-ON SEQUENCE. CCS A TCF C33TEST # NO -- EXAMINE CHANNEL 33. CAF BIT8 # SEE IF FIRST SAMPLE OR SECOND. MASK IMODES30 CCS A TCF PROCTNON # REACT AFTER A SECOND SAMPLE. CAF BIT8 # IF FIRST SAMPLE, SET BIT TO REACT NEXT ADS IMODES30 # TIME. TCF C33TEST # PROCESS IMU TURN-ON REQUESTS AFTER WAITING 1 SAMPLE FOR ALL SIGNALS TO ARRIVE. PROCTNON CS BITS7&8 MASK IMODES30 TS IMODES30 MASK BIT14 # SEE IF TURN-ON REQUEST. CCS A TCF OPONLY # OPERATE ON ONLY. CS IMODES30 # IF TURN-ON REQUEST, WE SHOULD HAVE IMU MASK BIT9 # OPERATE. CCS A TCF +3 TC ALARM # ALARM IF NOT OCT 213 +3 TC CAGESUB CAF 90SECS TC WAITLIST EBANK= CDUIND 2CADR ENDTNON TCF C33TEST RETNON CAF 90SECS TC VARDELAY ENDTNON CS BIT2 # RESET TURN-ON REQUEST FAIL BIT. MASK IMODES30 XCH IMODES30 MASK BIT2 # IF IT WAS OFF, SEND ISS DELAY COMPLETE. EXTEND BZF ENDTNON2 # Page 143 CAF BIT14 # IF IT WAS ON AND TURN-ON REQUEST NOW. MASK IMODES30 # PRESENT, RE-ENTER 90 SEC DELAY IN WL. EXTEND BZF RETNON CS STATE # IF IT IS NOT ON NOW, SEE IF A PROG WAS MASK IMUSEFLG # WAITING. CCS A TCF TASKOVER TC POSTJUMP CADR IMUBAD # UNSUCCESSFUL TURN-ON. ENDTNON2 CAF BIT15 # SEND ISS DELAY COMPLETE. EXTEND WOR CHAN12 # TURN OFF ISS DELAY COUNTER TC IBNKCALL # TURN OFF NO ATT LAMP. CADR NOATTOFF UNZ2 TC ZEROICDU CS BITS4&5 # REMOVE ZERO AND COARSE. EXTEND WAND CHAN12 CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS TC VARDELAY ISSUP CS OCT54 # REMOVE CAGING, IMU FAIL INHIBIT, AND MASK IMODES30 # ICDUFAIL INHIBIT FLAGS. TS IMODES30 CS BIT6 # ENABLE DAP MASK IMODES33 TS IMODES33 TC SETISSW # ISS WARNING MIGHT HAVE BEEN INHIBITED. CS BIT15 # REMOVE IMU DELAY COMPLETE DISCRETE. EXTEND WAND CHAN12 CAF 4SECS # DONT ENABLE PROG ALARM ON PIP FAIL FOR TC WAITLIST # ANOTHER 4 SECS. EBANK= CDUIND 2CADR PFAILOK TCF TASKOVER OPONLY CAF BIT4 # Page 144 EXTEND # IF OPERATE ON ONLY AND WE ARE IN COARSE RAND CHAN12 # ALIGN, DON'T ZERO THE CDUS BECAUSE WE CCS A # MIGHT BE IN GIMBAL LOCK. USE V41N20 TO TCF C33TEST # RECOVER. CAF IMUSEFLG # OTHERWISE, ZERO THE COUNTERS MASK STATE # UNLESS SOMEONE IS USING THE IMU. CCS A TCF C33TEST TC CAGESUB2 # SET TURNON FLAGS. ISSZERO TC IBNKCALL # TURN OFF NO ATT LAMP. CADR NOATTOFF # IMU CAGE OFF ENTRY. CAF BIT5 # ISS CDU ZERO EXTEND WOR CHAN12 TC ZEROICDU CAF BIT6 # WAIT 300 MS FOR AGS TO RECEIVE SIGNAL. TC WAITLIST EBANK= OPTMODES 2CADR UNZ2 TCF C33TEST # Page 145 # PROGRAM NAME: C33TEST # # FUNCTIONAL DESCRIPTION: THIS PROGRAM MONITORS THREE FLIP-FLOP INBITS OF CHANNEL 33 AND CALLS THE APPROPRIATE # SUBROUTINE TO PROCESS A CHANGE. IT IS ANALOGOUS TO IMUMON, WHICH MONITORS CHANNEL 30, EXCEPT THAT IT READS # CHANNEL 33 WITH A WAND INSTRUCTION BECAUSE A `WRITE' PULSE IS REQUIRED TO RESET THE FLIP-FLOPS. THE BITS # PROCESSED AND THE SUBROUTINES CALLED ARE: # BIT FUNCTION SUBROUTINE # --- -------- ---------- # 13 PIPA FAIL PIPFAIL # 12 DOWNLINK TOO FAST DNTMFAST # 11 UPLINK TOO FAST UPTMFAST # # UPON ENTRY TO THE SUBROUTINE, THE NEW BIT STATE IS IN A. # # CALLING SEQUENCE: EVERY 480 MILLISECONDS AFTER TNONTEST. # # JOBS OR TASKS INITIATED: NONE. # # SUBROUTINES CALLED: PIPFAIL, DNTMFAST AND UPTMFAST ON BIT CHANGES. # # ERASABLE INITIALIZATION: C(IMODES33) = OCT 16000 ON A FRESH START OR RESTART, THEREFORE, THESE ALARMS WILL # REAPPEAR IF THE CONDITIONS PERSIST. # # ALARMS: NONE. # # EXIT: GLOCKMON. # # OUTPUT: UPDATED BITS 13, 12, AND 11 OF IMODES33 WITH CHANGES PROCESSED. C33TEST CA IMODES33 # SEE IF RELEVANT CHAN33 BITS HAVE MASK 33RDMSK TS L # CHANGED. CAF 33RDMSK EXTEND WAND CHAN33 # RESETS FLIP-FLOP INPUTS EXTEND RXOR LCHAN EXTEND BZF GLOCKMON # ON NO CHANGE. TS RUPTREG1 # SAVE BITS WHICH HAVE CHANGED LXCH IMODES33 EXTEND RXOR LCHAN TS IMODES33 # UPDATED IMODES33. CAF ZERO XCH RUPTREG1 DOUBLE # Page 146 TCF NXTIBT +1 # SCAN FOR BIT CHANGES. -1 AD ONE NXTIBT INCR RUPTREG1 +1 DOUBLE TS A # (CODING IDENTICAL TO CHAN 30). TCF NXTIBT XCH RUPTREG2 INDEX RUPTREG1 # GET NEW VALUE OF BIT WHICH CHANGED. CAF BIT13 MASK IMODES33 INDEX RUPTREG1 TC C33JMP NXTFL33 CCS RUPTREG2 # PROCESS POSSIBLE ADDITIONAL CHANGES. TCF NXTIBT -1 # Page 147 # PROGRAM NAME: GLOCKMON # # FUNCTIONAL DESCRIPTION: THIS PROGRAM MONITORS THE CDUZ COUNTER TO DETERMINE WHETHER THE ISS IS IN GIMBAL LOCK # AND TAKES ACTION IF IT IS. THREE REGIONS OF MIDDLE GIMBAL ANGLE (MGA) ARE USED: # # 1) ABS(MGA) LESS THAN OR EQUAL TO 70 DEGREES -- NORMAL MODE. # 2) ABS(MGA) GREATER THAN 70 DEGREES AND LESS THAN OR EQUAL TO 85 DEGREES -- GIMBAL LOCK LAMP TURNED ON. # 3) ABS(MGA) GREATER THAN 85 DEGREES -- ISS PUT IN COARSE ALIGN AND NO ATT LAMP TURNED ON. # # CALLING SEQUENCE: EVERY 480 MILLISECONDS AFTER C33TEST. # # JOBS OR TASKS INITIATED: NONE. # # SUBROUTINES CALLED: 1) SETCOARS WHEN ABS(MGA) GREATER THEN 85 DEGREES AND ISS NOT IN COARSE ALIGN. # 2) LAMPTEST BEFORE TURNING OFF GIMBAL LOCK LAMP. # # ERASABLE INITIALIZATION: # 1) FRESH START OR RESTART WITH NO GROUPS ACTIVE: C(CDUZ) = 0, IMODES30 BIT 6 = 0, IMODES33 BIT 1 = 0. # 2) RESTART WITH GROUPS ACTIVE: SAME AS FRESH START EXCEPT C(CDUZ) NOT CHANGED SO GIMBAL MONITOR # PROCEEDS AS BEFORE. # # ALARMS: 1) MGA REGION (2) CAUSES GIMBAL LOCK LAMP TO BE LIT. # 2) MGA REGION (3) CAUSES THE ISS TO BE PUT IN COARSE ALIGN AND THE NO ATT LAMP TO BE LIT IF EITHER NOT # SO ALREADY. GLOCKMON CCS CDUZ TCF GLOCKCHK # SEE IF MAGNITUDE OF MGA IS GREATER THAN TCF SETGLOCK # 70 DEGREES. TCF GLOCKCHK TCF SETGLOCK GLOCKCHK AD -70DEGS EXTEND BZMF SETGLOCK -1 # NO LOCK. AD -15DEGS # SEE IF ABS(MGA) GREATER THAN 85 DEGREES EXTEND BZMF NOGIMRUN CAF BIT4 # IF SO, SYSTEM SHOULD BE IN COARSE ALIGN EXTEND # TO PREVENT GIMBAL RUNAWAY. RAND CHAN12 CCS A TCF NOGIMRUN TC IBNKCALL # GO INTO COARSE ALIGN. CADR SETCOARS CAF SIX # ENABLE ISS ERROR COUNTERS IN 60 MS. TC WAITLIST # Page 148 EBANK= CDUIND 2CADR CA+ECE NOGIMRUN CAF BIT6 # TURN ON GIMBAL LOCK LAMP. TCF SETGLOCK -1 CAF ZERO SETGLOCK AD DSPTAB +11D # SEE IF PRESENT STATE OF GIMBAL LOCK LAMP MASK BIT6 # AGREES WITH DESIRED STATE BY HALF ADDING EXTEND # THE TWO. BZF GLOCKOK # OK AS IS. MASK DSPTAB +11D # IF OFF, DON'T TURN ON IF IMU BEING CAGED. CCS A TCF GLAMPTST # TURN OFF UNLESS LAMP TEST IN PROGRESS. CAF BIT6 MASK IMODES30 CCS A TCF GLOCKOK GLINVERT CS DSPTAB +11D # INVERT GIMBAL LOCK LAMP. MASK BIT6 AD BIT15 # TO INDICATE CHANGE IN DSPTAB +11D. XCH DSPTAB +11D MASK OCT37737 ADS DSPTAB +11D TCF GLOCKOK GLAMPTST TC LAMPTEST # TURN OFF UNLESS LAMP TEST IN PROGRESS. TCF GLOCKOK TCF GLINVERT -70DEGS DEC -.38888 # -70 DEGREES SCALED IN HALF-REVOLUTIONS. -15DEGS DEC -.08333 # Page 149 # PROGRAM NAME: TLIM. # # FUNCTIONAL DESCRIPTION: THIS PROGRAM MAINTAINS THE TEMP LAMP (BIT 4 OF CHANNEL 11) ON THE DSKY TO AGREE WITH # THE TEMP SIGNAL FROM THE ISS (BIT 15 OF CHANNEL 30). HOWEVER, THE LIGHT WILL NOT BE TURNED OFF IF A LAMP TEST # IS IN PROGRESS. # # CALLING SEQUENCE: CALLED BY IMUMON ON A CHANGE OF BIT 15 OF CHANNEL 30. # # JOBS OR TASKS INITIATED: NONE. # # SUBROUTINES CALLED: LAMPTEST. # # ERASABLE INITIALIZATION: FRESH START AND RESTART TURN THE TEMP LAMP OFF. # # ALARMS: TEMP LAMP TURNED ON WHEN THE IMU TEMP GOES OUT OF LIMITS. # # EXIT: NXTIFAIL. # # OUTPUT: SERVICE OF TEMP LAMP. IN A, EXCEPT FOR TLIM. TLIM MASK POSMAX # REMOVE BIT FROM WORD OF CHANGES AND SET TS RUPTREG2 # DSKY TEMP LAMP ACCORDINGLY. CCS IMODES30 TCF TEMPOK TCF TEMPOK CAF BIT4 # TURN ON LAMP. EXTEND WOR DSALMOUT TCF NXTIFAIL TEMPOK TC LAMPTEST # IF TEMP NOW OK, DON'T TURN OFF LAMP IF TCF NXTIFAIL # LAMP TEST IN PROGRESS. CS BIT4 EXTEND WAND DSALMOUT # TURN OFF LAMP TCF NXTIFAIL # Page 150 # PROGRAM NAME: ITURNON. # # FUNCTIONAL DESCRIPTION: THIS PROGRAM IS CALLED BY IMUMON WHEN A CHANGE OF BIT 14 OF CHANNEL 30 (ISS TURN-ON # REQUEST) IS DETECTED. UPON ENTRY, ITURNON CHECKS IF A TURN-ON DELAY SEQUENCE HAS FAILED, AND IF SO, IT EXITS. # IF NOT, IT CHECKS WHETHER THE TURN-ON REQUEST CHANGE IS TO ON OR OFF. IF ON, IT SETS BIT 7 OF IMODES30 TO 1 SO # THAT TNONTEST WILL INITIATE THE ISS INITIALIZATION SEQUENCE. IF OFF, THE TURN-ON DELAY SIGNAL, CHANNEL 12 BIT # 15, IS CHECKED AND IF IT IS ON, ITURNON EXITS. IF THE DELAY SIGNAL IS OFF, PROGRAM ALARM 00207 IS ISSUED, BIT 2 # OF IMODES30 IS SET TO 1 AND THE PROGRAM EXITS. # # THE SETTING OF BIT 2 OF IMODES30 (ISS DELAY SEQUENCE FAIL) INHIBITS THIS ROUTINE AND IMUOP FROM # PROCESSING ANY CHANGES. THIS BIT WILL BE RESET BY THE ENDTNON ROUTINE WHEN THE CURRENT 90 SECOND DELAY PERIOD # ENDS. # # CALLING SEQUENCE: FROM IMUMON WHEN ISS TURN-ON REQUEST CHANGES STATE. # # JOBS OR TASKS INITIATED: NONE. # # SUBROUTINES CALLED: ALARM, IF THE ISS TURN-ON REQUEST IS NOT PRESENT FOR 90 SECONDS. # # ERASABLE INITIALIZATION: FRESH START AND RESTART SET BIT 15 OF CHANNEL 12 AND BITS 2 AND 7 OF IMODES30 TO 0, # AND BIT 14 OF IMODES30 TO 1. # # ALARMS: PROGRAM ALARM 00207 IS ISSUED IF THE ISS TURN-ON REQUEST SIGNAL IS NOT PRESENT FOR 90 SECONDS. # # EXIT: NXTIFAIL. # # OUTPUT: BIT 7 OF IMODES30 TO START ISS INITIALIZATION, OR BIT 2 OF IMODES30 AND PROGRAM ALARM 00207 TO INDICATE # A FAILED TURN-ON SEQUENCE. ITURNON CAF BIT2 # IF DELAY REQUEST HAS GONE OFF MASK IMODES30 # PREMATURELY, DO NOT PROCESS ANY CHANGES CCS A # UNTIL THE CURRENT 90 SEC WAIT EXPIRES. TCF NXTIFAIL CAF BIT14 # SEE IF JUST ON OR OFF. MASK IMODES30 EXTEND BZF ITURNON2 # IF JUST ON. CAF BIT15 EXTEND # SEE IF DELAY PRESENT DISCRETE HAS BEEN RAND CHAN12 # SENT. IF SO, ACTION COMPLETE EXTEND BZF +2 TCF NXTIFAIL CAF BIT2 # IF NOT, SET BIT TO INDICATE REQUEST NOT ADS IMODES30 # PRESENT FOR FULL DURATION. TC ALARM OCT 207 TCF NXTIFAIL # Page 151 ITURNON2 CS IMODES30 # SET BIT7 TO INDICATE WAIT OF 1 SAMPLE MASK BIT7 ADS IMODES30 TCF NXTIFAIL # Page 152 # PROGRAM NAME: IMUCAGE. # # FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES OF THE IMUCAGE INBIT, CHANNEL 30 BITS 11. IF THE BIT # CHANGES TO 0 (CAGE BUTTON PRESSED), THE ISS IS CAGED (ICDU ZERO + COARSE ALIGN + NO ATT LAMP) UNTIL THE # ASTRONAUT SELECTS ANOTHER PROGRAM TO ALIGN THE ISS. ANY PULSE TRAINS TO THE ICDU'S AND GYRO'S ARE TERMINATED, # THE ASSOCIATE OUTCOUNTERS ARE ZEROED AND THE GYRO'S ARE DE-SELECTED. NO ACTION OCCURS WHEN THE BUTTON IS # RELEASED (INBIT CHANGES TO 1). # # CALLING SEQUENCE: BY IMUMON WHEN IMU CAGE BIT CHANGES. # # JOBS OR TASKS INITIATED: NONE. # # SUBROUTINES CALLED: CAGESUB. # # ERASABLE INITIALZATION: FRESH START AND RESTART SET BIT 11 OF IMODES30 TO 1. # # ALARMS: NONE. # # EXIT: NXTIFAIL. # # OUTPUT: ISS CAGED, COUNTERS ZEROED, PULSE TRAINS TERMINATED AND NO ATT LAMP LIT. IMUCAGE CCS A # NO ACTION IF GOING OFF. TCF ISSZERO CS OCT77000 # TERMINATE ICDU, OPTICS, GYRO PULSE TRAINS EXTEND WAND CHAN14 CS OCT272 # KNOCK DOWN TVC ENABLE, IMU ERROR COUNTER EXTEND # ENABLE, ZERO ICDU, COARSE ALIGN WAND CHAN12 # ENABLE, OPTICS ERR CNTR ENABLE CS BIT13 # TURN OFF ENGINE EXTEND WAND DSALMOUT TC CAGESUB1 TC IBNKCALL # KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS CADR RNDREFDR CS ZERO # ZERO COMMAND OUT-COUNTERS TS CDUXCMD TS CDUYCMD TS CDUZCMD TS GYROCMD CS OCT740 # HAVING WAITED AT LEAST 27 MCT FROM EXTEND # GYRO PULSE TRAIN TERMINATION, WE CAN WAND CHAN14 # DE-SELECT THE GYROS. # Page 153 TCF NXTIFAIL # Page 154 # PROGRAM NAME: IMUOP. # # FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES IN THE ISS OPERATE DISCRETE, BIT 9 OF CHANNEL 30. # IF THE INBIT CHANGES TO 0, INDICATING ISS ON, IMUOP GENERALLY SETS BIT 7 OF IMODES30 TO 1 TO REQUEST ISS # INITIALIZATION VIA TNONTEST. AN EXCEPTION IS DURING A FAILED ISS DELAY DURING WHICH BIT 2 OF IMODES30 IS SET # TO 1 AND NO FURTHER INITIALIZATION IS REQUIRED. WHEN THE INBIT CHANGES TO 1, INDICATING ISS OFF, IMUSEFLG IS # TESTED TO SEE IF ANY PROGRAM WAS USING THE ISS. IF SO, PROGRAM ALARM 00214 IS ISSUED. # # CALLING SEQUENCE: BY IMUMON WHEN BIT 9 OF CHANNEL 30 CHANGES. # # JOBS OR TASKS INITIATED: NONE. # # SUBROUTINES CALLED: ALARM, IF ISS IS TURNED OFF WHILE IN USE. # # ERASABLE INITIALIZATION: ON FRESH START AND RESTART, BIT 9 OF IMODES30 IS SET TO 1 EXCEPT WHEN THE GIMBAL LOCK # LAMP IS ON, IN WHICH CASE IT IS SET TO 0. THIS PREVENTS ICDU ZERO BY TNONTEST WITH THE ISS IN GIMBAL LOCK. # # ALARMS: PROGRAM ALARM 00214 IF THE ISS IS TURNED OFF WHILE IN USE. # # EXIT: NXTIFAIL. # # OUTPUT: ISS INITIALIZATION REQUEST (IMODES30 BIT 7) OR PROGRAM ALARM 00214. IMUOP EXTEND # IF OPERATE JUST ON, WAIT 1 SAMPLE. BZF IMUOP2 CS IMODES33 # DISABLE DAP MASK BIT6 ADS IMODES33 TC IBNKCALL # KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS CADR RNDREFDR CS BITS7&8 # KNOCK DOWN RENDEZVOUS, IMUUSE FLAGS MASK STATE XCH STATE # IF GOING OFF, ALARM IF PROG USING IMU. COM MASK IMUSEFLG CCS A TCF NXTIFAIL TC ALARM OCT 214 TCF NXTIFAIL IMUOP2 CAF BIT2 # SEE IF FAILED ISS TURN-ON SEQ IN PROG. MASK IMODES30 CCS A TCF NXTIFAIL # IF SO, DON'T PROCESS UNTIL PRESENT 90 TCF ITURNON2 # SECONDS EXPIRES # Page 155 # PROGRAM NAME: PIPFAIL # # FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES OF BIT 13 OF CHANNEL 33, PIPA FAIL. IT SETS BIT 10 OF # IMODES30 TO AGREE. IT CALLS SETISSW IN CASE A PIPA FAIL NECESSITATES AN ISS WARNING. IF NOT, I.E., IMODES30 # BIT 1 = 1, AND A PIPA FAIL IS PRESENT AND THE ISS NOT BEING INITIALIZED, PROGRAM ALARM 0212 IS ISSUED. # # CALLING SEQUENCE: BY C33TEST ON CHANGES OF CHANNEL 33 BIT 13. # # JOBS OR TASKS INITIATED: NONE. # # SUBROUTINES CALLED: 1) SETISSW, AND 2) ALARM (SEE FUNCTIONAL DESCRIPTION). # # ERASABLE INITIALIZATION: SEE IMUMON FOR INITIALIZATION OF IMODES30. THE RELEVANT BITS ARE 5, 7, 8, 9, AND 10. # # ALARMS: PROGRAM ALARM 00212 IF PIPA FAIL IS PRESENT BUT NEITHER ISS WARNING IS TO BE ISSUED NOR THE ISS IS # BEING INITIALIZED. # # EXIT: NXTFL33. # # OUTPUT: PROGRAM ALARM 00212 AND ISS WARNING MAINTENANCE. PIPFAIL CCS A # SET BIT10 IN IMODES30 SO ALL ISS WARNING CAF BIT10 # INFO IS IN ONE REGISTER. XCH IMODES30 MASK -BIT10 ADS IMODES30 TC SETISSW CS IMODES30 # IF PIP FAIL DOESN'T LIGHT ISS WARNING, DO MASK BIT1 # A PROGRAM ALARM IF IMU OPERATING BUT NOT CCS A # CAGED OR BEING TURNED ON. TCF NXTFL33 CA IMODES30 MASK OCT1720 CCS A TCF NXTFL33 # ABOVE CONDITION NOT MET. TC ALARM OCT 212 TCF NXTFL33 # Page 156 # PROGRAM NAMES: DNTMFAST, UPTMFAST # # FUNCTIONAL DESCRIPTION: THESE PROGRAMS PROCESS CHANGES OF BITS 12 AND 11 OF CHANNEL 33. IF A BIT CHANGES TO A # 0, A PROGRAM ALARM IS ISSUED. THE ALARMS ARE: # # BIT ALARM CAUSE # --- ----- ----- # 12 01105 DOWNLINK TOO FAST # 11 01106 UPLINK TOO FAST # # CALLING SEQUENCE: BY C33TEST ON A BIT CHANGE. # # SUBROUTINES CALLED: ALARM, IF A BIT CHANGES TO A 0. # # ERASABLE INITIALIZATION: FRESH START OR RESTART, BITS 12 AND 11 OF IMODES33 ARE SET TO 1. # # ALARMS: SEE FUNCTIONAL DESCRIPTION. # # EXIT: NXTFL33. # # OUTPUT: PROGRAM ALARM ON A BIT CHANGE TO 0. DNTMFAST CCS A # DO PROG ALARM IF TM TOO FAST. TCF NXTFL33 TC ALARM OCT 1105 TCF NXTFL33 UPTMFAST CCS A # SAME AS DNLINK TOO FAST WITH DIFFERENT TCF NXTFL33 # ALARM CODE. TC ALARM OCT 1106 TCF NXTFL33 # Page 157 # PROGRAM NAME: SETISSW # # FUNCTIONAL DESCRIPTION: THIS PROGRAM TURNS THE ISS WARNING LAMP ON AND OFF (CHANNEL 11 BIT 1 = 1 FOR ON, # 0 FOR OFF) DEPENDING ON THE STATUS OF IMODES30 BITS 13 (IMU FAIL) AND 4 (INHIBIT IMU FAIL), 12 (ICDU FAIL) AND # 3 (INHIBIT ICDU FAIL), AND 10 (PIPA FAIL) AND 1 (INHIBIT PIPA FAIL). THE LAMP IS LEFT ON IF A LAMP TEST IS IN # PROGRESS. # # CALLING SEQUENCE: CALLED BY IMUMON ON CHANGES TO IMU FAIL AND ICDU FAIL. CALLED BY IFAILOK AND PFAILOK UPON # REMOVAL OF THE FAIL INHIBITS. CALLED BY PIPFAIL WHEN THE PIPA FAIL DISCRETE CHANGES. IT IS CALLED BY PIPUSE # SINCE THE PIPA FAIL PROGRAM ALARM MAY NECESSITATE AN ISS WARNING, AND LIKEWISE BY PIPFREE WHEN THE ALARM DEPARTS # AND IT IS CALLED BY IMUZERO3 AND ISSUP AFTER THE FAIL INHIBITS HAVE BEEN REMOVED. # # JOBS OR TASKS INITIATED: NONE. # # SUBROUTINES CALLED: NONE. # # ERASABLE INITIALIZATION: # # 1) IMODES30 -- SEE IMUMON. # 2) IMODES33 BIT 1 = 0 (LAMP TEST NOT IN PROGRESS). # # ALARMS: ISS WARNING. # # EXIT: VIA Q. # # OUTPUT: ISS WARNING LAMP SET PROPERLY. SETISSW CAF OCT15 # SET ISS WARNING USING THE FAIL BITS IN MASK IMODES30 # BITS 13, 12, AND 10 OF IMODES30 AND THE EXTEND # FAILURE INHIBIT BITS IN POSITIONS MP BIT10 # 4, 3, AND 1. CA IMODES30 EXTEND ROR LCHAN # 0 INDICATES FAILURE COM MASK OCT15000 CCS A TCF ISSWON # FAILURE. ISSWOFF CAF BIT1 # DON'T TURN OFF ISS WARNING IF LAMP TEST MASK IMODES33 # IN PROGRESS. CCS A TC Q CS BIT1 EXTEND WAND DSALMOUT # TURN OFF ISS WARNING. TC Q ISSWON EXTEND # Page 158 QXCH ITEMP6 TC VARALARM # TELL EVERYONE WHAT CAUSED THE ISS WARNING CAF BIT1 EXTEND WOR DSALMOUT # TURN ON ISS WARNING TC ITEMP6 CAGESUB CS BIT15+6 # SET OUTBITS + INTERNAL FLAGS FOR EXTEND # SYSTEM TURN-ON OR CAGE. DISABLE THE WAND CHAN12 # ERROR COUNTER AND REMOVE THE IMU DELAY COMP. CAF BITS4&5 # SEND ZERO AND COARSE. EXTEND WOR CHAN12 CAGESUB1 CS DSPTAB +11D # TURN ON NO ATT LAMP MASK OC40010 ADS DSPTAB +11D CAGESUB2 CS IMODES30 # SET FLAGS TO INDICATE CAGING OR TURN-ON MASK OCT75 # AND INHIBIT ALL ISS WARNING INFO ADS IMODES30 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES MASK BIT6 ADS IMODES33 TC Q IMUFAIL EQUALS SETISSW ICDUFAIL EQUALS SETISSW # Page 159 # JUMP TABLES AND CONSTANTS. IFAILJMP TCF ITURNON # CHANNEL 30 DISPATCH. TCF IMUFAIL TCF ICDUFAIL TCF IMUCAGE 30RDMSK OCT 76400 # (BIT 10 NOT SAMPLED HERE). TCF IMUOP C33JMP TCF PIPFAIL # CHANNEL 33 DISPATCH. TCF DNTMFAST TCF UPTMFAST # SUBROUTINE TO SKIP IF LAMP TEST NOT IN PROGRESS. LAMPTEST CS IMODES33 # BIT 1 OF IMODES33 = 1 IF LAMP TEST IN MASK BIT1 # PROGRESS. TCF ZOPFIN3 33RDMSK EQUALS PRIO16 OC40010 OCT 40010 OCT54 OCT 54 OCT75 OCT 75 OCT272 OCT 00272 BITS7&8 OCT 300 OCT1720 OCT 1720 OCT740 OCT 00740 OCT15000 EQUALS PRIO15 OCT77000 OCT 77000 -BIT10 OCT -1000 90SECS DEC 9000 120MS = OCT14 # (DEC12) GLOCKOK EQUALS RESUME # Page 160 # OPTICS MONITORING AND ZERO ROUTINES OPTMON CA OPTMODES # MONITOR OPTICS INBITS IN CHAN 30 AND 33 EXTEND RXOR CHAN30 # LOOK FOR OCDU FAIL BIT CHANGE MASK BIT7 TS RUPTREG1 # STORE CHANGE BIT CCS A TC OCDUFTST # PROCESS OCDUFAIL BIT CHANGE 33OPTMON CCS OPTIND # BYPASS IF TVC TAKEOVER TCF +4 TCF +3 TCF +2 TCF RESUME CA OPTMODES # LOOK FOR OPTICS MODE SWITCH CHANGE EXTEND RXOR CHAN33 MASK OCTHIRTY ADS RUPTREG1 # STORE INBIT CHANGES LXCH OPTMODES EXTEND RXOR LCHAN TS OPTMODES # UPDATE OPTMODES TO SHOW BIT CHANGES COM # SAMPLE CURRENT SWITCH SETTING MASK OCTHIRTY EXTEND BZF SETSAMP # MANUAL-SET ZERO IN SWSAMPLE MASK BIT5 # SEE IF CSC CCS A TC +2 # CSC-SET SWSAMPLE POS CAF NEGONE # ZOPTICS-SET SWSAMPLE (-1) SETSAMP TS SWSAMPLE # CURRENT OPTICS SWITCH SETTING PROCESSW CCS DESOPMOD # BRANCH ON PREVIOUS SETTING TC CSCDES # CSC TC MANUDES # MANUAL TC ZOPTDES # ZERO OPTICS # Page 161 ZOPTDES CCS SWSAMPLE # IS SWITCH STILL AT ZOPTICS TC ZTOCSC # NOW AT CSC TC ZTOMAN # MANUAL TC ZOPFIN1 # ZOPTICS-SEE IF ZOPT PROCESSING // Should be TC ZOPFINI TC SETDESMD # ZOPT NOT PROCESSING-NO ACTION CCS ZOPTCNT # ZOPT PROCESSING-CHECK COUNTER TC SETCNT # 32 SAMPLE NOT FINISHED-SET COUNTER TC SETZOEND # 32 SAMPLE WAIT COMPLETED-SET UP ZOP END ZTOMAN TC ZOPFIN1 # ZOP TO MANUAL-IS ZOPT DONE // Should be TC ZOPFINI TC SETDESMD # YES-NORMAL EXIT ZOPALARM TC ALARM # ALARM-SWITCHED ALTERED WHILE ZOPTICS OCT 00116 CAF OCT13 # PROCESSING-SET RETURN OPTION TS WTOPTION TC CANZOPT # CANCEL ZOPT TC SETDESMD ZTOCSC TC ZOPFIN1 # SEE IF ZOPT PROCESSING // Should be TC ZOPFINI TC MANTOCSC +3 # NO-CHECK RETURN TO COARS OPT TC ALARM # ZOPT PROCESSING-ALARM OCT 00116 TC CANZOPT # CANCEL ZOPT TC MANTOCSC # ZERO CNT-LOOK FOR COARS OPT RETURN COARSLOK CAF BIT9 # IF COARS OPT SINCE FSTART GO TO L+2 TCF ZOPFIN2 # IF NOT GO TO L+1 ZOPFIN1 CAF BIT1 # SEE IF END ZOPT TASK WORKING // Label should be ZOPFINI MASK OPTMODES CCS A TC RESUME # ZOPT TASK WORKING-WAIT ONE SAMPLE PERIOD CAF BIT3 # TEST IF ZOPTICS PROCESSING ZOPFIN2 MASK OPTMODES # RETURNS TO L+1 PROCESSING AND ZOPFIN3 CCS A INCR Q # L+2 IF NOT TC Q CANZOPT CS SIX # CANCEL ZERO OPTICS MASK OPTMODES # ZERO ZOPT PROCESSING BIT-ENABLE OCDUFAIL TS OPTMODES CS BIT1 # MAKE SURE ZERO OCDU IS OFF EXTEND WAND CHAN12 TC Q # Page 162 MANUDES CCS SWSAMPLE # SEE IF SWITCH STILL IN MANUAL MODE TC MANTOCSC # NOW AT CSC TC MANTOMAN # STILL MANUAL CCS WTOPTION # ZOPTICS-LOOK AT ZOPTICS RETURN OPTION TC +2 # 5 SEC RETURN GOOD-CONTINUE ZOPTICS TC OPTZERO # ZOPTICS MUST START ANEW TC INITZOPT # SHOW ZERO OPTICS PROCESSING TC SETDESMD # NORMAL EXIT MANTOMAN CCS WTOPTION # DECREMENT RETURN OPTION TIME TS WTOPTION TC SETDESMD MANTOCSC CAF ZERO # CANCEL ZOPT RETURN OPTION IF SET TS WTOPTION TS ZOPTCNT TC COARSLOK # CHECK FOR COARS OPT RETURN TC SETDESMD # NO COARS TASK-NO ACTION CAF ONE # SET COARS OPT WORKING TS OPTIND CAF BIT2 # ENABLE OPTICS CDU ERROR CNTS EXTEND WOR CHAN12 TC SETDESMD CSCDES CCS SWSAMPLE # SEE IF SWITCH STILL AT CSC TC SETDESMD # STILL AT CSC TC CSCTOMAN # MANUAL CSCTOZOP CAF OCT40 # ZOPTICS-INITIALIZE FOR ZOPT TS ZOPTCNT TC INITZOPT CSCTOMAN CCS OPTIND # SEE IF COARS WORKING TC CANCOARS # COARS WORKING-SWITCH NOT CSC-KILL COARS TC CANCOARS TC +1 # NO COARS-NORMAL EXIT TC SETDESMD # Page 163 CANCOARS CA NEGONE TS OPTIND # SET OPTIND (-1) TO SHOW NOT WORKING CS BIT2 # DISABLE OCDU ERR CNTS EXTEND WAND CHAN12 CS OPTMODES # SET RETURN-TO-COARS BIT MASK BIT9 ADS OPTMODES TC SETDESMD OPTZERO TC INITZOPT # INITIALIZE ZERO OPTICS CA OCT40 # SET UP 32 SAMPLE WAIT SETCNT TS ZOPTCNT SETDESMD CA SWSAMPLE # SET CURRENT SWITCH INDICATION-RESUME TS DESOPMOD TC RESUME SETZOEND CAF BIT1 # SEND ZERO OPTICS CDU EXTEND WOR CHAN12 CA 200MS # HOLD ZERO CDU FOR 200 MS TC WAITLIST EBANK= OPTMODES 2CADR ENDZOPT CS OPTMODES # SHOW ZOPTICS TASK WORKING MASK BIT1 ADS OPTMODES TC SETDESMD ENDZOPT TC ZEROPCDU # ZERO OCDU COUNTERS CS BIT1 # TURN OFF ZERO OCDU EXTEND WAND CHAN12 CAF 200MS # DELAY 200MS FOR CDUS TO RESYNCHRONIZE TC VARDELAY CS OPTMODES # SHOW ZOPTICS SINCE LAST FRESH START MASK BIT10 # OR RESTART ADS OPTMODES CS SEVEN # ENABLE OCDUFAIL-SHOW OPTICS COMPLETE MASK OPTMODES TS OPTMODES TC OCDUFTST # CHECK OCDU FAIL BIT AFTER ENABLE. # Page 164 TC TASKOVER ZEROPCDU CAF ZERO TS CDUS # ZERO IN CDUS, -20 IN CDUT TS ZONE # INITIALIZE SHAFT MONITOR ZONE CS 20DEGS TS CDUT TC Q INITZOPT CAF ZERO # INITIALIZE ZOPTICS-INHIBIT OCDUFAIL TS WTOPTION # AND SHOW OPTICS PROCESSING CS OPTMODES # SET ZERO OPTICS PROCESSING MASK SIX # OPTICS CDU FAIL INHIBITED ADS OPTMODES TC Q # Page 165 OCDUFTST CAF BIT7 # SEE IF OCDUFAIL ON OR OFF EXTEND RAND CHAN30 CCS A TCF OPFAILOF # OCDUFAIL LIGHT OFF CAF BIT2 # OCDUFAIL LIGHT ON UNLESS INHIBITED MASK OPTMODES CCS A TC Q # OCDUFAIL INHIBITED OPFAILON CAF BIT8 # ON BIT AD DSPTAB +11D MASK BIT8 SETOFF EXTEND BZF TCQ # NO CHANGE TS L CA DSPTAB +11D EXTEND RXOR LCHAN MASK POSMAX AD BIT15 # SHOW ACTION WANTED TS DSPTAB +11D TC Q OPFAILOF CAF BIT1 # DON'T TURN OFF IF LAMP TEST MASK IMODES33 CCS A TC Q # LAMP TEST IN PROGRESS CAF BIT8 # TURN OFF OCDUFAIL LIGHT MASK DSPTAB +11D TCF SETOFF OCT13 = ELEVEN OCTHIRTY EQUALS BITS4&5 20DEGS DEC 7199 OCT40 EQUALS BIT6 200MS EQUALS OCT24 # Page 166 # OPTICS CDU DRIVING PROGRAM BANK 10 SETLOC OPTDRV BANK COUNT* $$/SXT # SHAFT STOP MONITOR-ZONE UPDATE OPTDRIVE CA CDUS # GRAB OPTIC SHAFT CDU TS L CCS A # GET ABS(CDUS) AD 13,14,15 TCF +2 # ABS(CDUS) - 45 DEG TCF -2 EXTEND BZMF OZONE # LESS THAN 45 DEG-SET ZONE 0 CA ZONE # IF ZONE ZERO, CHANGE TO + OR - OTHERWISE EXTEND # DON'T MESS WITH ZONE BZF +2 TCF CONTDRVE # JUST CONTINUE XCH L # GREATER THAN 45 DEG-SET ZONE TO SIGN CDU TCF OZONE +1 OZONE CAF ZERO # ABS(CDUS) LESS THAN 90 DEG-ZONE ZERO TS ZONE COUNT* $$/T4RUPT CONTDRVE CCS OPTIND TC +4 # WORK COARS OPTICS TC +3 # WORK COARS OPTICS TC RESUME # NO OPT TC RESUME # NO OPT CA SWSAMPLE # SEE IF SWITCH AT CMC EXTEND BZMF RESUME # ZERO (-1) MANUAL (+0) CAF BIT10 # SEE IF OCDUS ZEROED SINCE LAST FSTART MASK OPTMODES CCS A TC +3 TC ALARM # OPTICS NOT ZEROED OCT 00120 CA BIT2 # SEE IF ERR CNTS ENABLED EXTEND RAND CHAN12 EXTEND BZF SETBIT # CNTS NOT ENABLED-DO IT AND RESUME CAF ONE # INITIALIZE OPTIND # Page 167 OPT2 TS OPTIND EXTEND BZF TRUNCMD # CHECK TRUNION COMMAND GETOPCMD INDEX OPTIND CA DESOPTT # PICK UP DESIRED OPT ANGLE EXTEND INDEX OPTIND MSU CDUT # GET DIFFERENCE EXTEND MP BIT13 XCH L DOUBLE TS ITEMP1 TCF +2 # NO OVFL ADS L # WITH OVFL STORCMD INDEX OPTIND LXCH COMMANDO # STORE COMMAND CCS OPTIND TCF OPT2 # GET NEXT COMMAND TS ITEMP1 # INITIALIZE SEND INDICATOR TO ZERO COUNT* $$/SXT # SHAFT STOP AVOIDANCE CCS CDUS # IF CDUS GREATER THAN + OR - 90 DEG CHECK AD NEG1/2 # FOR POSSIBLE STOP PROBLEM TCF +2 TCF -2 EXTEND BZMF CMDSETUP # CDU LESS THAN 90 DEG, NO PROBLEMS CA ZONE EXTEND BZF CMDSETUP # ZONE=3, NORMAL COMMAND MASK BIT15 # GRAB SIGN OF ZONE TS L CA COMMANDO +1 MASK BIT15 # GRAB SIGN OF SHAFT COMMAND EXTEND RXOR LCHAN CCS A TCF CMDSETUP # SIGN ZONE NOT EQUAL TO SIGN COMMAND CCS DESOPTS # SEE IF DESOPTS BETWEEN -90 AND +90 AD NEG1/2 TCF +2 # ABS(DESOPTS) - 90 DEG TCF -2 EXTEND # Page 168 BZMF +2 # DESOPTS IN FIRST OR FOURTH QUAD TCF CMDSETUP CS COMMANDO +1 # REVERSE REGULAR COMMAND TS COMMANDO +1 COUNT* $$/T4RPT CMDSETUP CAF ONE # SET OPTIND TS OPTIND INDEX A CCS COMMANDO # GET SIGN OF COMMAND TC POSOPCMD TC NEXTOPT +1 # ZERO COMMAND-SKIP SEND INDICATOR TC NEGOPCMD TC NEXTOPT +1 # ZERO COMMAND TRUNCMD CS CDUT # IF COMMAND GREATER THAN 45 DEG-COMMAND AD DESOPTT # 45 DEG TS Q TC GETOPCMD # LESS THAN 45 DEG-NORMAL OPERATION CCS A # GREATER THAN 45 DEG-USE OPSMAX WITH CA POSMAX # CORRECT SIGN TC +2 CS POSMAX TS L TC STORCMD POSOPCMD AD MAXPLS1 EXTEND BZMF DELOPCMD # COMMAND LESS THAN MAX PULSE CS MAXPLS # GREATER THAN MAX PULSE-USE MAX PULSE NEXTOPT INCR ITEMP1 # SET SEND INDICATOR AD NEG0 # MAKE SURE ZERO COMMAND IS -ZERO INDEX OPTIND TS CDUTCMD # STORE PULSE IN SEND REG CCS OPTIND TC CMDSETUP +1 # GET NEXT OPT CCS ITEMP1 # ARE ANY PULSES TO GO TCF SENDOCMD # YES-SEND EM TC RESUME # NO NEGOPCMD AD MAXPLS1 EXTEND BZMF DELOPCMD # LESS THAN MAX PULSE CA MAXPLS # MAX PULSES TCF NEXTOPT # Page 169 DELOPCMD INDEX OPTIND XCH COMMANDO # SET UP SMALL COMMAND TCF NEXTOPT SENDOCMD CAF 11,12 # SEND OCDU DRIVE COMMANDS EXTEND WOR CHAN14 TC RESUME SETBIT CAF BIT2 # ENABLE OCDU ERR CNTS EXTEND WOR CHAN12 TC RESUME # START COARS NEXT TIME AROUND MAXPLS DEC -165 # WAS -80 MAXPLS1 DEC -164 # WAS -79 11,12 EQUALS PRIO6 ================================================ FILE: Comanche055/TAGS_FOR_RELATIVE_SETLOC.agc ================================================ # Copyright: Public domain. # Filename: TAGS_FOR_RELATIVE_SETLOC.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Mod history: 2009-05-05 RSB Adapted from the Colossus249/ file of the # same name, using Comanche055 page images. # 2009-05-20 RSB Corrected R32 -> R31. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 27 # TAGS FOR RELATIVE SETLOC AND BLANK BANK CARDS FIXED MEMORY 120000 - 167777 COUNT BANKSUM # MODULE 1 CONTAINS BANKS 0 THROUGH 5 BLOCK 02 FFTAG1 EQUALS FFTAG2 EQUALS FFTAG3 EQUALS FFTAG4 EQUALS FFTAG7 EQUALS FFTAG8 EQUALS FFTAG9 EQUALS FFTAG10 EQUALS FFTAG12 EQUALS P30SUBS EQUALS STOPRAT EQUALS P23S EQUALS BNKSUM 02 BLOCK 03 FFTAG5 EQUALS FFTAG6 EQUALS DAPS9 EQUALS FFTAG13 EQUALS BNKSUM 03 BANK 00 DLAYJOB EQUALS BNKSUM 00 BANK 01 RESTART EQUALS BNKSUM 01 BANK 4 VERB37 EQUALS CONICS1 EQUALS PINBALL4 EQUALS CSI/CDH1 EQUALS INTPRET2 EQUALS IMUCAL1 EQUALS # Page 28 STBLEORB EQUALS E/PROG EQUALS MIDDGIM EQUALS BNKSUM 04 BANK 5 FRANDRES EQUALS DOWNTELM EQUALS DAPMASS EQUALS CDHTAG EQUALS BNKSUM 05 # MODULE 2 CONTAINS BANKS 6 THROUGH 13 BANK 6 IMUCOMP EQUALS T4RUP EQUALS IMUCAL2 EQUALS CSIPROG EQUALS BNKSUM 06 BANK 7 SXTMARKE EQUALS R02 EQUALS MODESW EQUALS XANG EQUALS KEYRUPT EQUALS CSIPROG6 EQUALS BNKSUM 07 BANK 10 DISPLAYS EQUALS PHASETAB EQUALS COMGEOM2 EQUALS SXTMARK1 EQUALS P60S4 EQUALS OPTDRV EQUALS CSIPROG8 EQUALS BNKSUM 10 BANK 11 ORBITAL EQUALS ORBITAL1 EQUALS # CONSTANTS # Page 29 INTVEL EQUALS S52/2 EQUALS CSIPROG5 EQUALS INTINIT1 EQUALS BNKSUM 11 BANK 12 CONICS EQUALS CSIPROG2 EQUALS CSI/CDH2 EQUALS MODCHG2 EQUALS BNKSUM 12 BANK 13 P76LOC EQUALS LATLONG EQUALS INTINIT EQUALS SR52/1 EQUALS ORBITAL2 EQUALS CDHTAGS EQUALS E/PROG1 EQUALS MODCHG3 EQUALS BNKSUM 13 # SPACER # MODULE 3 CONTAINS BANKS 14 THROUGH 21 BANK 14 STARTAB EQUALS RT53 EQUALS P50S1 EQUALS MEASINC2 EQUALS CSI/CDH3 EQUALS BNKSUM 14 BANK 15 P50S EQUALS ETRYDAP EQUALS S52/3 EQUALS BNKSUM 15 BANK 16 P40S1 EQUALS # Page 30 DAPROLL EQUALS P50S2 EQUALS P23S1 EQUALS RTE2 EQUALS BNKSUM 16 BANK 17 DAPS4 EQUALS DAPS5 EQUALS DAPS7 EQUALS P50S3 EQUALS BNKSUM 17 BANK 20 DAPS6 EQUALS DAPS1 EQUALS DAPS2 EQUALS MANUSTUF EQUALS R36CM EQUALS VAC5LOC EQUALS BNKSUM 20 BANK 21 DAPS3 EQUALS MYSUBS EQUALS KALCMON3 EQUALS BNKSUM 21 # MODULE 4 CONTAINS BANKS 22 THROUGH 27 BANK 22 RTBCODES EQUALS RTBCODE1 EQUALS DAPS8 EQUALS APOPERI EQUALS P40S5 EQUALS KALCMON2 EQUALS KALCMON1 EQUALS CSIPROG3 EQUALS BNKSUM 22 # Page 31 BANK 23 P20S2 EQUALS INFLIGHT EQUALS COMGEOM1 EQUALS POWFLITE EQUALS POWFLIT1 EQUALS RENDGUID EQUALS POWFLIT2 EQUALS R30LOC EQUALS P11FOUR EQUALS CSIPROG4 EQUALS BNKSUM 23 BANK 24 LOADDAP EQUALS P40S EQUALS CSIPROG7 EQUALS BNKSUM 24 BANK 25 REENTRY EQUALS CDHTAG1 EQUALS BNKSUM 25 BANK 26 INTPRET1 EQUALS REENTRY1 EQUALS P60S EQUALS P60S1 EQUALS P60S2 EQUALS P60S3 EQUALS PLANTIN EQUALS # LUNAR ROT EPHEM EQUALS P05P06 EQUALS 26P50S EQUALS BNKSUM 26 BANK 27 TOF-FF EQUALS TOF-FF1 EQUALS MANUVER EQUALS MANUVER1 EQUALS # Page 32 VECPT EQUALS UPDATE1 EQUALS UPDATE2 EQUALS R22S1 EQUALS P60S5 EQUALS P40S2 EQUALS BNKSUM 27 # MODULE 5 CONTAINS BANKS 30 THROUGH 35 BANK 30 IMUSUPER EQUALS LOWSUPER EQUALS FCSTART EQUALS # STANDARD LOCATION FOR THIS. (FOR EXTV8) LOPC EQUALS P20S1 EQUALS P20S6 EQUALS P40S3 EQUALS R35A EQUALS BNKSUM 30 BANK 31 R35 EQUALS RT23 EQUALS P30S1A EQUALS R34 EQUALS CDHTAG2 EQUALS CSIPROG9 EQUALS R31 EQUALS P22S EQUALS RTE3 EQUALS BNKSUM 31 BANK 32 MSGSCAN1 EQUALS RTE EQUALS DELRSPL1 EQUALS IMUCAL3 EQUALS BNKSUM 32 BANK 33 TESTLEAD EQUALS # Page 33 IMUCAL EQUALS BNKSUM 33 BANK 34 P11ONE EQUALS P20S3 EQUALS P20S4 EQUALS RTECON EQUALS BNKSUM 34 BANK 35 RTECON1 EQUALS CSI/CDH EQUALS P30S1 EQUALS P30S EQUALS P17S1 EQUALS MEASINC3 EQUALS INTINIT2 EQUALS BNKSUM 35 # MODULE 6 CONTAINS BANKS 36 THROUGH 43 BANK 36 MEASINC EQUALS MEASINC1 EQUALS P17S EQUALS RTE1 EQUALS S3435LOC EQUALS BNKSUM 36 BANK 37 P20S EQUALS BODYATT EQUALS RENDEZ EQUALS SERVICES EQUALS P11TWO EQUALS CDHTAG3 EQUALS BNKSUM 37 BANK 40 PINSUPER EQUALS # Page 34 SELFSUPR EQUALS PINBALL1 EQUALS R36CM1 EQUALS BNKSUM 40 BANK 41 PINBALL2 EQUALS R36LM EQUALS BNKSUM 41 BANK 42 SBAND EQUALS PINBALL3 EQUALS EXTVBS EQUALS R36LM1 EQUALS BNKSUM 42 BANK 43 SELFCHEC EQUALS EXTVERBS EQUALS BNKSUM 43 HI6ZEROS EQUALS ZEROVECS # ZERO VECTOR ALWAYS IN HIGH MEMORY LO6ZEROS EQUALS ZEROVEC # ZERO VECTOR ALWAYS IN LOW MEMORY HIDPHALF EQUALS UNITX LODPHALF EQUALS XUNIT HIDP1/4 EQUALS DP1/4TH LODP1/4 EQUALS D1/4 # 2DEC .25 HIUNITX EQUALS UNITX HIUNITY EQUALS UNITY HIUNITZ EQUALS UNITZ LOUNITX EQUALS XUNIT # 2DEC .5 LOUNITY EQUALS YUNIT # 2DEC 0 LOUNITZ EQUALS ZUNIT # 2DEC 0 3/4LOWDP EQUALS 3/4 # 2DEC 3.0 B-2 SBANK= LOWSUPER # ROPE SPECIFIC ASSIGNS OBVIATING NEED TO CHECK COMPUTER FLAG IN DETVRUZVING INTEGRATION AREA ENTRIES OTHPREC EQUALS LEMPREC ATOPOTH EQUALS ATOPLEM ATOPTHIS EQUALS ATOPCSM MOONTHIS EQUALS CMOONFLG # Page 35 MOONOTH EQUALS LMOONFLG MOVATHIS EQUALS MOVEACSM STATEST EQUALS V83CALL # * TEMPORARY THISPREC EQUALS CSMPREC THISAXIS = UNITX ERASID EQUALS LOW10 # DOWNLINK ERASABLE DUMP ID DELAYNUM EQUALS THREE #*************************************************************************************************************** # THE FOLLOWING ECADRS ARE DEFINED TO FACILITATE EBANK SWITCHING. THEY ALSO MAKE IT EASIER FOR # ERASABLE CONTROL TO REARRANGE ERASABLE MEMORY WITHOUT DISRUPTING THE PROGRAMS WHICH SET EBANKS. # PRIOR TO ROPE RELEASE FIXED MEMORY CAN BE SAVED BY SETTING EACH EBXXXX =EBANKX (X=4,5,6,7).EBANKX OF COURSE # WILL BE THE BANK WHERE THE ERASABLES REFERENCED IN EBXXXX WILL BE STORED. BANK 7 EBANK= MARKDOWN EBMARKDO ECADR MARKDOWN EBANK= MRKBUF1 EBMRKBUF ECADR MRKBUF1 BANK 24 EBANK= DVCNTR EBDVCNTR ECADR DVCNTR EBANK= P40TMP EBP40TMP ECADR P40TMP BANK 34 EBANK= DVCNTR EBDVCNT ECADR DVCNTR EBANK= QPLACES EBQPLACE ECADR QPLACES BANK 37 EBANK= RN1 EBRN1 ECADR RN1 #*************************************************************************************************************** # Page 36 # *** END OF MAIN PROGRAM *** ================================================ FILE: Comanche055/TIME_OF_FREE_FALL.agc ================================================ # Copyright: Public domain. # Filename: TIME_OF_FREE_FALL.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1373-1388 # Mod history: 2009-05-10 SN (Sergio Navarro). Started adapting # from the Colossus249/ file of the same # name, using Comanche055 page images. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 1373 # THE TFF SUBROUTINES MAY BE USED IN EITHER EARTH OR MOON CENTERED COORDINATES. THE TFF ROUTINES NEVER # KNOW WHICH ORIGIN APPLIES. IT IS THE USER WHO KNOWS, AND WHO SUPPLIES RONE, VONE AND 1/SQRT(MU) AT THE # APPROPRIATE SCALE LEVEL FOR THE PROPER PRIMARY BODY. # EARTH ORIGIN POSITION -29 METERS # VELOCITY -7 METERS/CENTISECOND # 1/SQRT(MU) +17 SQRT(CS SQ/METERS CUBED) # MOON ORIGIN POSITION -27 METERS # VELOCITY -5 METERS/CENTISECONDS # 1/SQRT(MU) +14 SQRT(CS SQ/METERS CUBED) # ALL DATA PROVIDED TO AND RECEIVED FROM ANY TFF SUBROUTINE WILL BE AT ONE OF THE LEVELS ABOVE. IN ALL CASES, # THE FREE FALL TIME IS RETURNED IN CENTISECONDS AT (-28). PROGRAM TFF/CONIC WILL GENERATE VONE/RTMU AND # LEAVE IT IN VONE' AT (+10) IF EARTH ORIGIN AND (+9) IF MOON ORIGIN. # THE USER MUST STORE THE STATE VECTOR IN RONE, VONE AND MU IN THE FORM 1/SQRT(MU) IN TFF/RTMU # AT THE PROPER SCALE BEFORE CALLING TFF/CONIC. SINCE RONE, VONE ARE IN THE EXTENDED VERB STORAGE AREA, # THE USER MUST ALSO LOCK OUT THE EXTENDED VERBS, AND RELEASE THEM WHEN FINISHED. # PROGRAMS CALC/TFF AND CALC/TPER ASSUME THAT THE TERMINAL RADIUS IS LESS THAN THE PRESENT # RADIUS. THIS RESTRICTION CAN BE REMOVED BY A 15 W CODING CHANGE, BUT AT PRESENT IT IS NOT DEEMED NECESSARY. # # THE FOLLOWING ERASABLE QUANTITIES ARE USED BY THE TFF ROUTINES, AND ARE LOCATED IN THE PUSH LIST. # # BELOW E: IS USED FOR EARTH ORIGIN SCALE # M: IS USED FOR MOON ORIGIN SCALE #TFFSW = 119D # BIT1 0 = CALCTFF 1 = CALCTPER TFFDELQ = 10D # Q2-Q1 E: (-16) M: (-15) RMAG1 = 12D # ABVAL(RN) M E: (-29) M: (-27) #RPER = 14D # PERIGEE RADIUS M E: (-29) M: (-27) TFFQ1 = 14D # R.V / SQRT(MUE) E: (-16) M: (-15) #SDELF/2 # SIN(THETA) /2 CDELF/2 = 14D # COS(THETA) /2 #RAPO = 16D # APOGEE RADIUS M E: (-29) M: (-27) NRTERM = 16D # TERMINAL RADIUS M E: (-29+NR) # M: (-27+NR) RTERM = 18D # TERMINAL RADIUS M E: (-29) M: (-27) TFFVSQ = 20D # -(V SQUARED/MU) 1/M E: (20) M: (18) TFF1/ALF = 22D # SEMI MAJ AXIS M E: (-22-2 NA) # M: (-20-2 NA) TFFRTALF = 24D # SQRT(ALFA) E:(10+NA) M: (9+NA) TFFALFA = 26D # ALFA 1/M E:(26-NR) M: (24-NR) TFFNP = 28D # SEMI LATUS RECTUM M E: (-38+2 NR) # M: (-36+2 NR) TFF/RTMU = 30D # 1/SQRT(MU) E: (17) M: (14) NRMAG = 32D # PRESENT RADIUS M E: (-29+NR) # M: (-27+NR) TFFX = 34D # TFFTEM = 36D # TEMPORARY # Page 1374 # REGISTERS S1, S2 ARE UNTOUCHED BY ANY TFF SUBROUTINE # INDEX REGISTERS X1, X2 ARE USED BY ALL TFF SUBROUTINES. THEY ARE ESTAB- # LISHED IN TFF/CONIC AND MUST BE PRESERVED BETWEEN CALLS TO SUBSEQUENT # SUBROUTINES. # -NR C(X1) = NORM COUNT OF RMAG # -NA C(X2)= NORM COUNT OF SQRT(ABS(ALFA)) # Page 1375 # SUBROUTINE NAME: TFFCONIC DATE: 01.29.67 # MOD NO: 0 LOG SECTION: TIME OF FREE FALL # MOD BY: RR BAIRNSFATHER # MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 11 APR 67 # MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 21 NOV 67 ADD MOON MU. # MOD NO: 3 MOD BY: RR BAIRNSFATHER DATE: 21 MAR 68 ACCEPT DIFFERENT EARTH/MOON SCALES # FUNCTIONAL DESCRIPTION: THIS SUBROUTINE IS CALLED TO COMPUTE THOSE CONIC PARAMETERS REQUIRED BY THE TFF # SUBROUTINES AND TO ESTABLISH THEM IN THE PUSH LIST AREA. THE PARAMETERS ARE LISTED UNDER OUTPUT. # THE EQUATIONS ARE: # - - - # H = RN*VN ANGULAR MOMENTUM # - - # LCP = H.H / MU SEMI LATUS RECTUM # - - # ALFA = 2/RN - VN.VN / MU RECIPROCAL SEMI MAJ AXIS, SIGNED # AND ALFA IS POS FOR ELLIPTIC ORBITS # 0 FOR PARABOLIC ORBITS # NEG FOR HYPERBOLIC ORBITS. # SUBROUTINE ALSO COMPUTES AND SAVES RMAG. # CALLING SEQUENCE: # TFFCONIC EXPECTS CALLER TO ENTER WITH CORRECT GRAVITATIONAL CONSTANT IN MPAC, IN THE FORM # 1/SQRT(MU). THE PROGRAM WILL SAVE IN TFF/RTMU . THE SCALE IS DETERMINED BY WHETHER EARTH OR MOON # ORIGIN IS USED. THE CALLER MUST LOCK OUT THE EXTENDED VERBS BEFORE PROVIDING STATE VECTOR IN RONE, # VONE AT PROPER SCALE. THE EXTENDED VERBS MUST BE RESTORED WHEN THE CALLER IS FINISHED USING THE # TFF ROUTINES. # ENTRY POINT TFFCONMU EXPECTS THAT TFF/RTMU IS ALREADY LOADED. # TO SPECIFY MU: DLOAD CALL # IF MU ALREADY STORED: CALL # YOURMU # 1/RTMU E:(17) M:(14) TFFCONMU # TFFCONIC # PUSHLOC = PDL+0, ARBITRARY IF LEQ 18D # SUBROUTINES CALLED: NONE # NORMAL EXIT MODES: RVQ # ALARMS: NONE # OUTPUT: THE FOLLOWING ARE STORED IN THE PUSH LIST AREA. # RMAG1 E:(-29) M:(-27) M RN, PRESENT RADIUS LENGTH. # NRMAG E:(-29+NR) M RMAG, NORMALIZED # M:(-27+NR) # X1 -NR, NORM COUNT # TFFNP E:(-38+2NR) M LCP, SEMI LATUS RECTUM, WEIGHTED BY NR. FOR VGAMCALC # M:(-36+2NR) # TFF/RTMU E:(17) M:(14) 1/SQRT(MU) # TFFVSQ E:(20) M:(18) 1/M -(V SQ/MU): PRESENT VELOCITY,NORMLIZED. FOR VGAMCALC # TFFALFA E:(26-NR) 1/M ALFA, WEIGHTED BY NR # M:(24-NR) # TFFRTALF E:(10+NA) SQRT(ALFA), NORMALIZED # M:(9+NA) # Page 1376 # X2 -NA, NORM COUNT # TFF1/ALF E: (-22-2NA) SIGNED SEMI MAJ AXIS, WEIGHTED BY NA # M: (-20-2NA) # PUSHLOC AT PDL+0 # THE FOLLOWING IS STORED IN GENERAL ERASABLE # VONE' E:(10) M:(9) V/RT(MU), NORMALIZED VELOCITY # ERASABLE INITIALIZATION REQUIRED: # RONE E:(-29) M:(-27) M STATE VECTOR LEFT BY CALLER # VONE E:(-7) M:(-5) M/CS STATE VECTOR LEFT BY CALLER # TFF/RTMU E:(17) M:(14) 1/RT(CS SQ/M CUBE) IF ENTER VIA TFFCONMU. # DEBRIS: QPRET. PDL+0 ... PDL+3 # BANK 33 SETLOC TOF-FF BANK COUNT* $$/TFF TFFCONIC STORE TFF/RTMU # 1/SQRT(MU) E: (17) M: (14) TFFCONMU VLOAD UNIT # COME HERE WITH TFFRTMU LOADED. RONE # SAVED RN. M E: (-29) M: (-27) PDDL # UR/2 TO PDL+0, +5 36D # MAGNITUDE STORE RMAG1 # M E:(-29) M:(-27) NORM X1 # -NR STOVL NRMAG # RMAG M E: (-29+NR) M: (-27+NR) VONE # SAVED VN. M/CS E: (-7) M: (-5) VXSC TFF/RTMU # E:(17) M:(14) STORE VONE' # VN/SQRT(MU) E: (10) M: (9) VXSC VXV NRMAG # E: (-29+NR) M: (-27+NR) # UR/2 FROM PDL VSL1 VSQ # BEFORE: E:(-19+NR) M:(-18+NR) STODL TFFNP # LC P M E:(-38+2NR) M:(-36+2NR) # SAVE ALSO FOR VGAMCALC TFF1/4 DDV PDVL # (2/RMAG) 1/M E:(26-NR) M:(24-NR) NRMAG # RMAG M E:(-29+NR) M:(-27+NR) VONE' # SAVED VN. E:(10) M:(9) VSQ DCOMP # KEEP MPAC+2 HONEST FOR SQRT. STORE TFFVSQ # -(V SQ/MU) E:(20) M:(18) # SAVE FOR VGAMCALC SR* DAD # Page 1377 0 -6,1 # GET -VSQ/MU E:(26-NR) M:(24-NR) STADR # 2/RMAG FROM PDL+2 STORE TFFALFA # ALFA 1/M E:(26-NR) M:(24-NR) SL* PUSH # TEMP SAVE ALFA E:(20) M:(18) 0 -6,1 ABS SQRT # E:(10) M:(9) NORM X2 # X2 = -NA STORE TFFRTALF # SQRT( ABS(ALFA) ) E:(10+NA) M:(9+NA) DSQ SIGN # NOT SO ACCURATE, BUT OK # ALFA FROM PDL+2 E:(20) M:(18) BZE BDDV # SET 1/ALFA =0, TO SHOW SMALL ALFA +2 TFF1/4 +2 STORE TFF1/ALF # 1/ALFA E:(-22-2 NA) M:(-20-2 NA) DUMPCNIC RVQ # 39 W # Page 1378 # SUBROUTINE NAME: TFFRP/RA DATE: 01.17.67 # MOD NO: 0 LOG SECTION: TIME OF FREE FALL # MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 11 APR 67 # MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 21 MAR 68 ACCEPT DIFFERENT EARTH/MOON SCALES # ALSO IMPROVE ACCURACY OF RAPO. # FUNCTIONAL DESCRIPTION: USED BY CALCTPER AND TFF DISPLAYS TO CALCULATE PERIGEE RADIUS AND ALSO # APOGEE RADIUS FOR A GENERAL CONIC. # PROGRAM GIVES PERIGEE RADIUS AS APOGEE RADIUS IS GIVEN BY # RP = P /(1+E) RA = (1+E) / ALFA # WHERE 2 # E = 1 - P ALFA # IF RA IS NEGATIVE OR SHOWS DIVIDE OVERFLOW, THEN RA = POSMAX BECAUSE # 1. APOGEE RADIUS IS NOT MEANINGFUL FOR HYPERBOLA # 2. APOGEE RADIUS IS NOT DEFINED FOR PARABOLA # 3. APOGEE RADIUS EXCEEDS THE SCALING FOR ELLIPSE. # THIS SUBROUTINE REQUIRED THE SIGNED RECIPROCAL SEMI MAJ AXIS, ALFA, AND SEMI LATUS RECTUM AS DATA. # CALLING SEQUENCE: CALL # TFFRP/RA # PUSHLOC = PDL+0, ARBITRARY IF LEQ 10D # C(MPAC) UNSPECIFIED # SUBROUTINES CALLED: NONE # NORMAL EXIT MODE: RVQ # IF ELLIPSE, WITHIN NORMAL SCALING, RAPO IS CORRECT. # OTHERWISE, RAPO = POSMAX. # ALARMS: NONE # OUTPUT: STORED IN PUSH LIST AREA. SCALE OF OUTPUT AGREES WITH DATA SUPPLIED TO TFF/CONIC. # RPER E:(-29) M:(-27) M PERIGEE RADIUS DESTROYED BY CALCTFF/CALCTPER, TFFTRIG. # RAPO E:(-29) M:(-27) M APOGEE RADIUS WILL BE DESTROYED BY CALCTFF/CALCTPER # PUSHLOC AT PDL+0 # ERASABLE INITIALIZATION REQUIRED: # TFFALFA E:(26-NR) M 1/SEMI MAJ AXIS LEFT BY TFFCONIC # M:(24-NR) # TFFNP E: (-38+2NR) M LC P, SEMI LATUS RECTUM LEFT BY TFFCONIC # M: (-36+2NR) # X1 -NR, NORM COUNT OF RMAG LEFT BY TFFCONIC # X2 -NA, NORM COUNT OF ALFA LEFT BY TFFCONIC # DEBRIS: QPRET, PDL+0 ... PDL+1 # Page 1379 RAPO = 16D # APOGEE RADIUS M E:(-29) M:(-27) RPER = 14D # PERIGEE RADIUS M E:(-29) M:(-27) TFFRP/RA DLOAD DMP TFFALFA # ALFA 1/M E:(26-NR) M:(24-NR) TFFNP # LC P M E:(-38+2NR) M:(-36+2NR) SR* DCOMP # ALFA P (-12+NR) 0 -8D,1 # ALFA P (-4) DAD ABS # (DCOMP GIVES VALID TP RESULT FOR SQRT) # (ABS PROTECTS SQRT IF E IS VERY NEAR 0) DP2(-4) SQRT DAD # E SQ = (1- P ALFA) (-4) TFF1/4 PUSH BDDV # (1+E) (-2) TO PDL+0 TFFNP # LCP M E:(-38+2NR) M:(-36+2NR) SR* SR* # (DOES SR THEN SL TO AVOID OVFL) 0,1 # X1=-NR 0 -7,1 # (EFFECTIVE SL) STODL RPER # PERIGEE RADIUS M E:(-29) M:(-27) # (1+E) (-2) FROM PDL+0 DMP BOVB TFF1/ALF # E:(-22-2NA) M:(-20-2NA) TCDANZIG # CLEAR OVFIND, IF ON. BZE SL* MAXRA # SET POSMAX, IF ALFA=0 0 -5,2 # -5+NA SL* BOV 0,2 MAXRA # SET POSMAX IF OVFL. BPL # CONTINUE WITH VALID RAPO. +3 MAXRA DLOAD # RAPO CALC IS NOT VALID. SET RAPO = NEARONE # POSMAX AS A TAG. +3 STORE RAPO # APOGEE RADIUS M E:(-29) M:(-27) DUMPRPRA RVQ # 30 W # Page 1380 # SUBROUTINE NAME: CALCTPER / CALCTFF DATE: 01.29.67 # MOD NO: 0 LOG SECTION: TIME OF FREE FALL # MOD BY: RR BAIRNSFATHER # MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 21 MAR 67 # MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 14 APR 67 # MOD BY: 3 MOD BY: RR BAIRNSFATHER DATE: 8 JUL 67 NEAR EARTH MUE AND NEG TFF (GONEPAST) # MOD BY: 4 MOD BY: RR BAIRNSFATHER DATE: 21 NOV 67 ADD VARIABLE MU. # MOD BY: 5 MOD BY: RR BAIRNSFATHER DATE: 21 MAR 68 ACCEPT DIFFERENT EARTH/MOON SCALES # FUNCTIONAL DESCRIPTION: PROGRAM CALCULATES THE FREE-FALL TIME OF FLIGHT FROM PRESENT POSITION RN AND # VELOCITY VN TO A RADIUS LENGTH SPECIFIED BY RTERM , SUPPLIED BY THE USER. THE POSITION VECTOR # RN MAY BE ON EITHER SIDE OF THE CONIC, BUT RTERM IS CONSIDERED ON THE INBOUND SIDE. # THE EQUATIONS ARE # Q2 = -SQRT(RTERM (2-RTERM ALFA) - LCP) (INBOUND SIDE)) LEQ +- LCE/SQRT(ALFA) # - - # Q1 = RN.VN / SQRT(MU) LEQ +- LCE/SQRT(ALFA) # Z = NUM / DEN LEQ +- 1/SQRT(ALFA) # WHERE, IF INBOUND # NUM = RTERM -RN LEQ +- 2 LCE/ALFA # DEN = Q2+Q1 LEQ +- 2 LCE/SQRT(ALFA) # AND, IF OUTBOUND # NUM = Q2-Q1 LEQ +- 2 LCE/SQRT(ALFA) # DEN = 2 - ALFA (RTERM + RN) . LEQ +- 2 LCE # IF ALFA ZZ < 1.0 (FOR ALL CONICS EXCEPT ELLIPSES HAVING ABS(DEL ECC ANOM) G 90 DEG) # THEN X = ALFA Z Z # AND TFF = (RTERM +RN -2 ZZ T(X) ) Z/SQRT(MU) # EXCEPT IF ALFA PNZ, AND IF TFF NEG, # THEN TFF = 2 PI /(ALFA SQRT(ALFA)) + TFF # OR IF ALFA ZZ GEQ 1.0 (FOR ELLIPSES HAVING ABS(DEL ECC ANOM) GEQ 90 DEG) # THEN X = 1/ALFA Z Z # AND TFF = (PI/SQRT(ALFA) -Q2 +Q1 +2(X T(X) -1) /ALFA Z) /ALFA SQRT(MU) # WHERE T(X) IS A POLYNOMIAL APPROXIMATION TO THE SERIES # 2 3 2 # 1/3 -X/5 +X /7 -X /9... (X < 1.0) # CALLING SEQUENCE: TIME TO RTERM TIME TO PERIGEE # CALL CALL # CALCTFF CALCTPER # C(MPAC) = TERMNL RAD M C(MPAC) = PERIGEE RAD M # FOR EITHER, E: (-29) M: (-27) # FOR EITHER, PUSHLOC = PDL+0 , ARBITRARY IF LEQ 8D. # Page 1381 # # SUBROUTINES CALLED: T(X), VIA RTB # NORMAL EXIT MODE: RVQ # HOWEVER, PROGRAM EXITS WITH ONE OF THE FOLLOWING VALUES FOR TFF (-28) CS IN MPAC. USER MUST STORE. # A. TFF = FLIGHT TIME. NORMAL CASE FOR POSITIVE FLIGHT TIME LESS THAN ONE ORBITAL PERIOD. # B. (THIS OPTION IS NO LONGER USED.) # C. TFF = POSMAX. THIS INDICATES THAT THE CONIC FROM THE PRESENT POSITION WILL NOT RETURN TO # THE SPECIFIED ALTITUDE. ALSO INDICATES OUTBOUND PARABOLA OR HYPERBOLA. # OUTPUT: C(MPAC) (-28) CS TIME OF FLIGHT, OR TIME TO PERIGEE # TFFX (0) X, LEFT FOR ENTRY DISPLAY TFF ROUTINES # NRTERM E: (-29+NR) M RTERM, WEIGHTED BY NR LEFT FOR ENTRY DISPLAY TFF ROUTINES # M: (-27+NR) # TFFTEM E: (-59+2NR) LCP Z Z SGN(SDELF) LEFT FOR ENTRY DISPLAY TFF ROUTINES # M: (-55+2NR) LCP /ALFA SGN(SDELF) LEFT FOR ENTRY DISPLAY TFF ROUTINES # NOTE: TFFTEM = PDL 36D AND WILL BE DESTROYED BY .:UNIT:. # RMAG1 E:(-29) M:(-27) PDL 12 NOT TOUCHED. # TFFQ1 E:(-16) M:(-15) PDL 14D # TFFDELQ E:(-16) M:(-15) PDL 10D # PUSHLOC AT PDL+0 # ERASABLE INITIALIZATION REQUIRED: # RONE E:(-29) M:(-27) M STATE VECTOR LEFT BY USER # VONE' E:(+10) M:(+9) VN/SQRT(NU) LEFT BY TFF/CONIC # RMAG1 E:(-29) M:(-27) PRESENT RADIUS, M LEFT BY TFFCONIC # C(MPAC) E:(-29) M:(-27) RTERM, TERMINAL RADIUS LENGTH, M LEFT BY USER # # THE FOLLOWING ARE STORED IN THE PUSH LIST AREA. # TFF/RTMU E:(17) M:(14) 1/SQRT(MU) LEFT BY TFFCONIC. # NRMAG E: (-29+NR) M RMAG, NORMALIZED LEFT BY TFFCONIC # M: (-27+NR) # X1 -NR, NORM COUNT LEFT BY TFFCONIC # TFFNP E: (-38+2NR) M LCP, SEMI LATUS RECTUM, WEIGHT NR LEFT BY TFFCONIC # M: (-36+2NR) # TFFALFA E: (26-NR) 1/M ALFA, WEIGHT NR LEFT BY TFFCONIC # M: (24-NR) # TFFRTALF E:(10+NA) SQRT(ALFA), NORMALIZED LEFT BY TFFCONIC # M:(9+NA) # X2 -NA, NORM COUNT LEFT BY TFFCONIC # TFF1/ALF E:(-22-2NA) SIGNED SEMIMAJ AXIS, WEIGHTED BY NA LEFT BY TFFCONIC # M:(-20-2NA) # DEBRIS: QPRET, PDL+0 ... PDL+3 # RTERM E:(-29) M:(-27) RTERM, TERMINAL RADIUS LENGTH # RAPO E:(-29) M:(-27) PDL 16D (=NRTERM) # RPER E:(-29) M:(-27) PDL 14D (=TFFQ1) # Page 1382 CALCTPER SETGO # ENTER WITH RPER IN MPAC TFFSW +3 CALCTFF CLEAR # ENTER WITH RTERM IN MPAC TFFSW +3 STORE RTERM # E: (-29) M: (-27) SL* 0,1 # X1=-NR STORE NRTERM # RTERM E: (-29+NR) M: (-27+NR) DMP BDSU TFFALFA # ALFA E:(26-NR) M:(24-NR) TFF1/4 PUSH DMP # (2-ALFA RTERM) (-3) TO PDL+0 NRTERM # E: (-29+NR) M: (-27+NR) PDDL SR* # RTERM(2-ALFA RTERM) TO PDL+2 # E: (-32+NR) M: (-30+NR) TFFNP # LC P E:(-38+2NR) M:(-36+2NR) 0 -6,1 # X1 = -NR DCOMP DAD # DUE TO SHIFTS, KEEP PRECISION FOR SQRT # RTERM(2-ALFA RTERM) FROM PDL+2 # E: (-32+NR) M: (-30+NR) SR* # LEAVE E: (-32) M: (-30) 0,1 # X1 = -NR BOFF DLOAD # CHECK TFF / TPER SWITCH TFFSW +2 # IF TFF, CONTINUE TFFZEROS # IF TPER, SET Q2 = 0 +2 BMN SQRT # E: (-16) M: (-15) MAXTFF1 # NO FREE FALL CONIC TO RTERM FROM HERE # RESET PDL, SET TFF=POSMAX, AND EXIT. DCOMP BOVB # RT IS ON INBOUND SIDE. ASSURE OVFIND=0 TCDANZIG # ANY PORT IN A STORM. STOVL TFFTEM # Q2 E: (-16) M: (-15) VONE' # VN/SQRT(MU) E: (10) M: (9) DOT SL3 RONE # SAVED RN. E: (-29) M: (-27) STORE TFFQ1 # Q1, SAVE FOR GONEPAST TEST. # E: (-16) M: (-15) BMN BDSU INBOUND # USE ALTERNATE Z TFFTEM # Q2 E: (-16) M: (-15) # OUTBOUND Z CALC CONTINUES HERE STODL TFFX # NUM=Q2-Q1 E: (-16) M: (-15) TFFALFA # ALFA E: (26-NR) M: (24-NR) DMP BDSU # Page 1383 NRMAG # RMAG E: (-29+NR) M: (-27+NR) # (2-RTERM ALFA) (-3) FROM PDL+0 SAVEDEN PUSH ABS # DEN TO PDL+0 E: (-3) OR (-16) # M: (-3) OR (-15) DAD BOV # INDETERMINANCY TEST LIM(-22) # =1.0-B(-22) TFFXTEST # GO IF DEN >/= B(-22) DLOAD PDDL # SET DEN=0 OTHERWISE TFFZEROS # XCH ZERO WITH PDL+0 DLOAD DCOMP TFFALFA # ALFA E: (26-NR) M:( 24-NR) BMN DLOAD # FOR TPER: Z INDET AT DELE/2=0 AND 90. TFFEL1 # ASSUME 90, AND LEAVE 0 IN PDL: 1/Z=D/N # Z INDET. AT PERIGEE FOR PARAB OR HYPERB. DUMPTFF1 RVQ # RETURN TFF =0 # INBOUND Z CALC CONTINUES HERE INBOUND DLOAD # RESET PDL+0 DLOAD DSU # ALTERNATE Z CALC RTERM # E: (-29) M: (-27) RMAG1 # E: (-29) M: (-27) STODL TFFX # NUM=RTERM-RN E: (-29) M: (-27) TFFTEM # Q2 E: (-16) M: (-15) DAD GOTO TFFQ1 # Q1 E: (-16) M: (-15) SAVEDEN # DEN = Q2+Q1 E: (-16) M: (-15) TFFXTEST DAD PDDL # (ABS(DEN) TO PDL+2)) E: (-3) OR (-16) # M: (-3) OR (-15) DP(-22) # RESTORE ABS(DEN) TO MPAC TFFX # NUM E:(-16) OR (-29) M:(-15) OR (-27) DMP SR* TFFRTALF # SQRT(ALFA) E:(10+NA) M:(9+NA) 0 -3,2 # X2=-NA DDV # C(MPAC) =NUM SQRT(ALFA) E:(-3) OR (-16) # M:(-3) OR (-15) # ABS(DEN) FROM PDL+2 E:(-3) OR (-16) # M:(-3) OR (-15) DLOAD BOV # (THE DLOAD IS SHARED WITH TFFELL) TFFX # NUM E: (-16) OR (-29) M:(-15) OR (-27) TFFELL # USE EQN FOR DELE GEQ 90, LEQ -90 # OTHERWISE, CONTINUE FOR GENERAL CONIC FOR TFF EQN DDV STADR # DEN FROM PDL+0 E: (-3) OR (-16) # M: (-3) OR (-15) STORE TFFTEM # Z SAVE FOR SIGN OF SDELF. # Page 1384 # E: (-13) M: (-12) PUSH DSQ # Z TO PDL+0 PUSH DMP # Z SQ TO PDL+2 E: (-26) M: (-24) TFFNP # LC P E: (-38+2NR) M: (-36+2NR) SL SIGN 5 TFFTEM # AFFIX SIGN FOR SDELF (ENTRY DISPLAY) STODL TFFTEM # P ZSQ E: (-59+2NR) M: (-55+2NR) # (ARG IS USED IN TFF/TRIG) # ZSQ FROM PDL+2 E: (-26) M: (-24) PUSH DMP # RESTORE PUSH LOC TFFALFA # ALFA E: (26-NR) M: (24-NR) SL* 0,1 # X1=-NR STORE TFFX # X RTB DMP T(X) # POLY # ZSQ FROM PDL+2 E: (-26) M: (-24) SR2 BDSU # 2 ZSQ T(X) E: (-29) M: (-27) RTERM # RTERM E: (-29) M: (-27) DAD DMP RMAG1 # E: (-29) M: (-27) # Z FROM PDL+0 E: (-13) M: (-12) SR3 BPL # TFF SQRT(MU) E: (-45) M: (-42) ENDTFF # (NO PUSH UP) PUSH SIGN # TFF SQRT(MU) TO PDL+0 TFFQ1 # Q1 FOR GONEPAST TEST BPL DLOAD # GONE PAST ? NEGTFF # YES. TFF < 0 . TFF1/ALF # 1/ALFA E: (-22-2NA) M: (-20-2NA) DCOMP BPL # ALFA > 0 ? NEGTFF # NO. TFF IS NEGATIVE. # CORRECT FOR ORBITAL PERIOD. DCOMP # YES. CORRECT FOR ORB PERIOD. DMP DDV PI/16 # 2 PI (-5) TFFRTALF # SQRT(ALFA) E: (10+NA) M: (9+NA) SL* SL* 0 -4,2 # X2=-NA 0 -4,2 SL* DAD 0,2 # TFF SQRT(MU) FROM PDL+0 E:(-45) M:(-42) ENDTFF DMP BOV # TFF SQRT(MU) IN MPAC E:(-45) M:(-42) TFF/RTMU # E: (17) M: (14) MAXTFF # SET POSMAX IN OVFL. DUMPTFF2 RVQ # RETURN TFF (-28) CS IN MPAC. # Page 1385 NEGTFF DLOAD # TFF SQRT(MU) FROM PDL+0, NEGATIVE. GOTO ENDTFF MAXTFF1 DLOAD # RESET PDL MAXTFF DLOAD RVQ NEARONE # TIME OF FLIGHT ELLIPSE WHEN DEL (ECCENTRIC ANOM) GEQ 90 AND LEQ -90. # NUM FROM TFFX. E: (-16) OR (-29) # M: (-15) OR (-27) TFFELL SL2 # NUM E:(-14) OR (-27) M:(-13) OR (-25) BDDV PUSH # TEMP SAVE D/N IN PDL+0 # DEN FROM PDL+0 E:(-3)/( 16) M:(-3)/(-15) # N/D TO PDL+0 E: (11) M: (10) TFFEL1 DLOAD DSU # (ENTER WITH D/N=0 IN PDL+0) TFFTEM # Q2 E: (-16) M: (-15) TFFQ1 # Q1 E: (-16) M: (-15) STODL TFFDELQ # Q2-Q1 E: (-16) M: (-15) # D/N FROM PDL+0 STADR STORE TFFTEM # D/N E: (11) M: (10) DMP SL* TFF1/ALF # 1/ALFA E: (-22-2NA) M: (-20-2NA) 0,2 # 1/ALFA Z E: (-11-NA) M: (-10-NA) PUSH DMP # TO PDL+0 TFFTEM # 1/Z E: (11) M: (10) SL* BOVB 0,2 # X2= -NA SIGNMPAC # IN CASE X= 1.0, CONTINUE STORE TFFX # X=1/ALFA ZSQ RTB DMP T(X) # POLY TFFX SR3 DSU DP2(-3) DMP PUSH # 2(X T(X)-1) /Z ALFA E:(-15-NA) # M:(-14-NA) # 1/ALFA Z FROM PDL+0 E:(-11-NA) # M:(-10-NA) DLOAD DMP # GET SIGN FOR SDELF TFFTEM # 1/Z E: (11) M: (10) RMAG1 # E: (-29) M: (-27) SL2 DAD TFFQ1 # Q1 E: (-16) M: (-15) STODL TFFTEM # (Q1+R 1/Z) =SGN OF SDELF E:(-16) M:(-15 TFFNP # LC P E: (-38+2NR) M: (-36+2NR) DMP SL* # CALC FOR ARG FOR TFF/TRIG. # Page 1386 TFF1/ALF # 1/ALFA E:(-22-2NA) M:(-20-2NA) 1,2 # X2=-NA SIGN SL* TFFTEM # AFFIX SIGN FOR SDELF 0,2 STODL TFFTEM # P/ALFA E:(-59+2NR) M:(-55+2NR) # (ARG FOR USE IN TFF/TRIG) TFF1/ALF # 1/ALFA E:(-22-2NA) M:(-20-2NA) SQRT DMP PI/16 # PI (-4) DAD # 2(XT(X)-1)/Z ALFA FROM PDL E:(-15-NA) # M:(-14-NA) SL* DSU 0 -1,2 TFFDELQ # Q2-Q1 E: (-16) M: (-15) DMP SL* TFF1/ALF # 1/ALFA E:(-22-2NA) M:(-20-2NA) 0 -3,2 SL* GOTO 0 -4,2 ENDTFF # TFF SQRT(MU) IN MPAC E:(-45) M:(-42) # Page 1387 # PROGRAM NAME: T(X) DATE: 01.17.67 # MOD NO: 0 LOG SECTION: TIME OF FREE FALL # MOD BY: RR BAIRNSFATHER # FUNCTIONAL DESCRIPTION: THE POLYNOMIAL T(X) IS USED BY TIME OF FLIGHT SUBROUTINES CALCTFF AND # CALCTPER TO APPROXIMATE THE SERIES # 2 3 # 1/3 -X/5 +X /7 -X /9 ... # WHERE X = ALFA Z Z IF ALFA Z Z LEQ 1 # X = 1/(ALFA Z Z ) IF ALFA Z Z G 1 # ALSO X IS NEG FOR HYPERBOLIC ORBITS # X = 0 FOR PARABOLIC ORBITS # X IS POSITIVE FOR ELLIPTIC ORBITS # FOR FLIGHT 278, THE POLYNOMIAL T(X) IS FITTED OVER THE RANGE (0,+1) AND HAS A MAXIMUM # DEVIATION FROM THE SERIES OF 2 E-5 (T(X) IS A CHEBYCHEV TYPE FIT AND WAS OBTAINED USING # MAC PROGRAM AUTCURFIT294RRB AND IS VALID TO THE SAME TOLERANCE OVER THE RANGE (-.08,+1). ) # CALLING SEQUENCE: RTB # T(X) # C(MPAC) = X # SUBROUTINE CALLED: NONE # NORMAL EXIT MODE: TC DANZIG # ALARMS: NONE # OUTPUT: C(MPAC) = T(X) # ERASABLE INITIALIZATION REQUIRED: # C(MPAC) = X # DEBRIS: NONE T(X) TC POLY DEC 4 # N-1 2DEC 3.333333333 E-1 2DEC* -1.999819135 E-1* 2DEC* 1.418148467 E-1* 2DEC* -1.01310997 E-1* 2DEC* 5.609004986 E-2* 2DEC* -1.536156925 E-2* ENDT(X) TC DANZIG TCDANZIG = ENDT(X) # Page 1388 # TFF CONSTANTS BANK 32 SETLOC TOF-FF1 BANK # # NOTE _ NOTE _ ADJUSTED MUE FOR NEAR EARTH TRAJ. #MUE = 3.990 815 471 E10 # M CUBE/CS SQ #RTMUE = 1.997702549 E5 B-18* # MODIFIED EARTH MU 1/RTMU 2DEC* .5005750271 E-5 B17* # MODIFIED EARTH MU # # NOTE _ NOTE _ ADJUSTED MUE FOR NEAR EARTH TRAJ. #MUM = 4.902 778 E8 # M CUBE /CS SQ #RTMUM 2DEC* 2.21422176 E4 B-18* PI/16 2DEC 3.141592653 B-4 LIM(-22) 2OCT 3777737700 # 1.0 -B(-22) DP(-22) 2OCT 0000000100 # B(-22) DP2(-3) 2DEC 1 B-3 DP2(-4) 2DEC 1 B-4 # 1/16 # RPAD1 2DEC 6373338 B-29 # M (-29) =20 909 901.57 FT RPAD1 = RPAD R300K 2DEC 6464778 B-29 # (-29) M NEARONE 2DEC .999999999 TFFZEROS EQUALS HI6ZEROS TFF1/4 EQUALS HIDP1/4 ================================================ FILE: Comanche055/TPI_SEARCH.agc ================================================ # Copyright: Public domain. # Filename: TPI_SEARCH.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 551-561 # Mod history: 2009-05-15 RSB Adapted from the Colossus249/ file of the # same name, using Comanche055 page images. # 2009-05-20 RSB Corrections: On p. 551, "SETLOC P17S" -> P17S1. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 551 # TPI SEARCH # PROGRAM DESCRIPTION S17.1 AND S17.2 # FUNCTIONAL DESCRIPTION # THE TPI SEARCH ROUTINE DETERMINES THE MINIMUM TOTAL VELOCITY TRANSFER TRAJECTORY FROM A GIVEN TPI # MANEUVER TIME WITHIN THE CONSTRAINT OF A SAFE PERICENTER. THIS VELOCITY IS THE SUM OF THE IMPULSIVE VELOCITIES # FOR THE TPI AND TPF MANEUVERS. # THE S17.1 ROUTINE EXTRAPOLATES THE STATE VECTORS OF BOTH VEHICLES TO THE TPI TIME AND COMPUTES THE # RELATIVE PHASE ANGLE BETWEEN THE VEHICLES, THE ALTITUDE DIFFERENCE(I.E. THE MAGNITUDE DIFFERENCE OF THE # POSITION VECTORS) AND SELECTS A SEARCH SECTOR BASED ON THE SIGN OF THE ALTITUDE DIFFERENCE. # THE S17.2 ROUTINE FURTHER DEFINES THE SEARCH SECTOR BY COMPUTING ANGULAR LIMITS AND USES THE TIME THETA # SUBROUTINE TO COMPUTE THE SEARCH START AND END TIMES. THE SEARCH IS THEN MADE IN AN ITERATIVE LOOP USING THE # LAMBERT SUBROUTINE TO COMPUTE THE VELOCITIES REQUIRED AT TPI TIME AND AT TPF TIME. EXIT FROM THE SEARCH LOOP # IS MADE WHEN SOLUTION CRITERIA ARE MET (NORMAL EXIT) OR AS SOON AS IT IS EVIDENT THAT NO SOLUTION EXISTS IN # THE SECTOR SEARCHED. # CALLING SEQUENCE # BOTH ROUTINES ARE CALLED IN INTERPRETIVE CODE AND RETURN VIA QPRET. S17.1 HAS ONLY A NORMAL EXIT. # S17.2 RETURNS VIA QPRET FOR NORMAL EXIT AND TO ALARUMS FOR ERROR EXIT. # SUBROUTINES CALLED # # CSMCONIC # LEMCONIC # TIMETHET # INITVEL BANK 36 SETLOC P17S1 BANK COUNT 36/TPI EBANK= RACT3 # **** TEMPORARY **** HPE 2DEC 157420.0 B-29 # EARTH'S MIN. PERICENTER ALTITUDE 85 N.M. HPL 2DEC 10668.0213 B-29 # MOON:S MIN. PERICENTER ALTITUDE 35000FT CDSEC 2DEC 40000 CLSEC 2DEC 15000 PIINVERS 2DEC .3183098862 SEC1THET 2DEC .1944444444 # Page 552 SEC2THET 2DEC .9166666667 MANYFEET 2DEC -1.0 B-2 LIMVEL 2DEC .6096 E-2 B-7 # 2FPS DFTMOON 2DEC .1524 E3 B-29 # 500 FEET DP-.002 2DEC 0.002 SETLOC P17S BANK S17.1 STQ DLOAD NORMEX TTPI STCALL TDEC1 # ADVANCE PASSIVE VEHICLE TO TPI LEMCONIC CALL LEMSTORE DLOAD TTPI STCALL TDEC1 # ADVANCE ACTIVE VEHICLE TO TPI CSMCONIC CALL CSMSTORE VLOAD RACT3 ABVAL PDVL # /RA/ 0D PL 2D RPASS3 UNIT PDDL # UNIT RP 0D PL 6D BDSU SET 36D # /RP/ -/RA/ KFLAG # OFF = + BMN CLEAR +2 KFLAG # ON = - STOVL DELHITE 0D VXV UNIT VPASS3 STOVL E2 # ALMOST IT SAVE FOR 17.2 RACT3 PUSH VPROJ E2 VSL2 BVSU # RPA UNIT DOT 0D SL1 ACOS PDVL VXV DOT # Page 553 RACT3 E2 PDDL SIGN STADR STODL THETZERO # CENTRAL ANGLE X1 STCALL XRS # SAVE INDICES FOR FURTHER USE NORMEX # += ACTIVE AHEAD -= ACTIVE BEHIND S17.2 STQ VLOAD # COMPUTE SEARCH SECTOR LIMITS QTEMP RACT3 UNIT DOT E2 ABS SQRT SL1 DAD DP-.002 # ADD .002 RADIANS TO IT BON DCOMP # GIVES CORRECT SINE, COSINE MUST BE KFLAG # COMP. ADD .5 FOR ANGLE +1 # PHI(0)=180-(-(THETAZERO +K5IT)), PHI(I)=180-(-THETAZERO+K2IT)) # SIN(180-ALPHA)=SIN(ALPHA) ETC DMP SETPD PIINVERS # REVOLUTIONARY HERES TWO IT 0D PUSH DSU THETZERO STORE IT # PHI(I) , -(THETZERO + K2IT) PDDL PUSH SR1 DAD DAD PUSH # PHI(0) , -(THETZERO + K5IT) SIN SET RVSW STODL SNTH COS BMN +2 DCOMP STODL CSTH XRS STOVL X1 RPASS3 VSR* 0,2 STOVL RVEC VPASS3 VSR* 0,2 STCALL VVEC TIMETHET DLOAD # SAVE START TIME AND GET END TIME T # Page 554 STORE TF STODL TFO IT PUSH SIN STODL SNTH COS BMN +2 DCOMP STORE CSTH LXA,1 CALL XRS TIMETHET # INITIALIZE LOOP DLOAD CLEAR T ITSWICH STODL TFI # SAVE TIME FOR LOOP TEST DPPOSMAX STODL DELVEE MANYFEET STODL HP SEC1THET # 70 DEGREES BON DLOAD KFLAG +2 SEC2THET # 330 DEGREES STCALL THETL CONCAUL BIS DLOAD SR1 CSTH STODL COSTH SNTH SR1 STCALL SINTH # GET 4 QUADRANT THETA ARCTRIG BPL DAD +2 DPPOSMAX # PUT THETA BETWEEN 0,1 BDSU PDDL THETL TF DSU SIGN # FAST TIMES TFI BMN RNGETEST # TIME MUST HAVE A STOP # ADVANCE PASSIVE FOR TARGET VECTOR CONCAUL DLOAD TTPI DAD BON TF # Page 555 AVFLAG ADVCSM STCALL TDEC1 LEMCONIC GOTO JUNCT3 ADVCSM STCALL TDEC1 CSMCONIC # SAVE BACK VALUES OF HP AND DELVEE JUNCT3 VLOAD VATT STOVL VPASS4 RATT STORE RPASS4 STODL RTARG TF STODL DELLT4 HP STODL HPO DELVEE STODL DELVEO # PREPARE FOR LAMBERT TTPI STODL INTIME XRS STODL RTX1 HI6ZEROS SETPD PDDL 0D EPSFOUR PDVL RACT3 STOVL RINIT VACT3 STCALL VINIT INITVEL # COMPUTE H ET CETERA VLOAD VSU VTPRIME VPASS4 ABVAL PUSH STOVL RELDELV # /V2-VP(TPI+TF)/ DELVEET3 # V1-VA ABVAL # /V1-VA/ STORE MAGVTPI DAD STADR STODL DELVEE XRS STOVL X1 VIPRIME # Page 556 VSR* 0,2 STOVL VVEC RACT3 VSR* 0,2 STCALL RVEC PERIAPO LXA,2 DLOAD XRS +1 SL* 0,2 STORE HP # ITSWICH DENOTES INTERPOLATION--SOLUTION ACCEPTANCE IS FORCED BON DLOAD ITSWICH ENDEN HPERMIN DSU BMN HP HALFSAFE PDDL DSU # WAS PERICENTER ALT SAFE HPERMIN HPO BMN DSU # (HPLIM-HPO)-(HPLIM-HP)=HP-HPO INTERP # SOLUTION AT HAND BMN DLOAD ALARUMS # IT'S GETTING WORSE - SOUND THE ALARM CDSEC JUNCT1 BOFF DCOMP # OFF IS PLUS ON IS MINUS KFLAG +1 STORE DELTEE JUNCT2 DLOAD DAD DELTEE TF STCALL TF BIS # RECYCLE INTERP SET DSU # HP-HPO ITSWICH NORM PDDL X1 DFTMOON DAD DSU HPERMIN HP NORM SR1 X2 XSU,2 DDV X1 # Page 557 DMP SR* DELTEE 0 -1,2 STCALL DELTEE JUNCT2 HALFSAFE PDDL DSU # SAVE HP-HPLIM FOR POSSIBLE DELVEE DELVEO # SAVE THIS TOO PUSH ABS DSU BMN LIMVEL # 2 FT PS ENDEN DLOAD DSU HPERMIN HPO PDDL BMN DLOAD LRGRDVO BPL DLOAD INTERP DELTEE SR1 DCOMP STCALL DELTEE JUNCT2 LRGRDVO DLOAD BMN DLOAD JUNCT2 CLSEC GOTO JUNCT1 # TIME RAN OUT ASSUME SOLUTION IF SAVE PERICENTER RNGETEST DLOAD DSU HP HPERMIN BMN DLOAD ALARUMS TF DSU DELTEE STORE TF # TIME OF SOLUTION ENDEN VLOAD VTPRIME DOT PDDL # SG2 WITH MAGNITUDE RPASS4 RELDELV SIGN STADR # NOW SIGN(RELDELV)=SIGN(SG2) STCALL RELDELV TRANSANG # COMPUTE OMEGA T , CENTRAL ANGLE VLOAD DOT RACT3 # Page 558 VIPRIME # SG1 SIGN BPL # IF POSITIVE THEN SG1 = SG2 OTHERWISE RELDELV USEKAY # SIGN(SG2-SG1)=SIGN(SG2)=SIGN(RELDELV) SLOAD DCOMP DECTWO SIGN BPL RELDELV NEXUS DCOMP GOTO USEKAY +4 USEKAY SLOAD BON DECTWO KFLAG NEXUS DSU P21ONENN NEXUS STODL NN1 HP STCALL POSTTPI QTEMP BANK 07 SETLOC XANG BANK COUNT 07/XANG # CENTRAL ANGLE SUBROUTINE # THIS SUBROUTINE COMPUTES THE CENTRAL ANGLE OF TRAVEL OF THE # PASSIVE VEHICLE DURING THE TRANSFER. TRANSANG STQ SETPD SUBEXIT 0 LXA,1 LXA,2 XRS XRS +1 VLOAD VSR* VPASS4 0,2 STODL* VVEC MUTABLE +2,1 PDVL VSR* # SQRT MU (+18 OR +15) 00D RPASS4 0,2 ABVAL PDDL* # MAGNITUDE OF R (+29 OR +27) 02D MUTABLE,1 PDVL VSQ # 1/MU (+34 OR +28) 04D VVEC NORM DMPR # PUSH LIST AT 02D X1 # Page 559 DMP SRR* 02D 0 -3,1 BDSU # R V**/MU (+6) D1/32 NORM PDDL X1 # (2 - R V**/MU) (+6-N) SR1R DDV # MAGNITUDE OF R (+30 OR +28) SL* PUSH # R/(2 - R V**/MU) (+29 OR +27)02D 0 -5,1 SR1 SQRT DMP NORM PDDL # ASUBP*** 00D X1 SR1 DDV DMP SL* TF 0,1 PDDL NORM 2PISC X1 PDDL DDV SL* 0 -3,1 # CENTANG = (SQRT(MU/ASUP***)TF) STCALL CENTANG # IN REVOLUTIONS B-0 SUBEXIT BANK 35 SETLOC P17S1 BANK COUNT 35/P17 # TPI SEARCH DISPLAY ROUTNE P17 TC AVFLAGA # AVFLAG = CSM , SET TRACK + UPDATE FLAGS TC P17.1 P77 TC AVFLAGP # AVFLAG = LEM , SET TRACK + UPDATE FLAGS P17.1 TC P20FLGON # SET UPDATE FLAG CAF V06N37 # DISPLAY TTPI TIME TC VNPOOH TC INTPRET CLEAR CALL UPDATFLG S17.1 # UPDATE STATE VECTORS TO TTPI SET AXT,1 UPDATFLG DEC 2 # DELTA H = 2 K POSITIVE , KFLAG OFF BOFF AXT,1 KFLAG +2 DEC 1 # DELTA H = 1 K NEGATIVE , KFLAG ON # Page 560 SXA,1 EXIT OPTION2 CAF V06N72 # DISPLAY PHI , DELTA H , SEARCH OPTION K TC VNCOMP17 TC INTPRET CLEAR SET UPDATFLG KFLAG SLOAD DSU OPTION2 # RESET KFLAG ON FOR OPTION =1 P21ONENN # OFF FOR OPTION =2 BHIZ CLEAR +2 KFLAG SLOAD BHIZ XRS +1 +4 DLOAD GOTO HPL P17.2 DLOAD HPE P17.2 STCALL HPERMIN S17.2 SET EXIT UPDATFLG P17.3 CAF V06N58 # DISPLAY DELTA VTPI , DELTA VTPF , AND H TC VNCOMP17 CAF V06N55 # DISPLAY PERICENTER CODE AND CENTRAL ANG. TC BANKCALL CADR GOFLASHR TC GOTOPOOH # TERMINATE PROGRAM TC GOTOPOOH # END PROGRAM TC P17.1 # RECYCLE WITH NEW TTPI OR SEARCH OPTION CAF TWO # BLANK R2 TC BLANKET TCF ENDOFJOB EBANK= RTRN VNCOMP17 EXTEND QXCH QSAVED TS VERBNOUN CA VERBNOUN TCR BANKCALL CADR GOFLASH TC -3 # TERMINATE ILLEGAL REDISPLAY TC QSAVED # PROCEED CS MPAC # RECYCLE WITH NEW TPI TIME AD BIT6 # OR PROCEED WITH NEW SEARCH OPTION EXTEND # Page 561 BZF P17.1 TC VNCOMP17 +3 ALARUMS SET EXIT UPDATFLG TC ALARM OCT 00124 # NO SAFE PERICENTER IN THIS SECTOR CAF V05N09 TC VNCOMP17 TC GOTOPOOH # PROCEED ILLEGAL TERMINATE PROGRAM V06N72 VN 0672 ================================================ FILE: Comanche055/TVCDAPS.agc ================================================ # Copyright: Public domain. # Filename: TVCDAPS.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 961-978 # Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the # same name, using Comanche055 page images. # 2009-05-20 RSB Corrections: Eliminated an extraneous EXTEND, # added a missing instruction to PFORWARD. # 2000-05-21 RSB Wrong opcode was used with DELBRTMP and # DELBRTMP +1 operands in 4 places. Corrected # an MP operation in 2CASFLTR. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 961 # PROGRAM NAME....TVCDAP, CONSISTING OF PITCHDAP, YAWDAP, ETC. # LOG SECTION...TVCDAPS SUBROUTINE...DAPCSM # MODIFIED BY SCHLUNDT 21 OCTOBER 1968 # FUNCTIONAL DESCRIPTION.... # SELF-PERPETUATING T5 TASKS WHICH GENERATE THE COMMAND SIGNALS # FOR THE PITCH AND YAW SPS GIMBAL ACTUATORS DURING TVC (SPS) BURNS, # IN RESPONSE TO BODY-AXIS RATE COMMANDS FROM CROSS-PRODUCT STEERING # (S40.8). IF NO STEERING (IMPULSIVE BURNS) MAINTAINS ATTITUDE-HOLD # ABOUT THE REFERENCE (INITIAL) DIRECTIONS (ZERO RATE COMMANDS). # THE PITCH AND YAW LOOPS ARE SEPARATE, BUT STRUCTURED IDENTICALLY. # EACH ATTITUDE-RATE LOOP INCLUDES GIMBAL ANGLE RATE DERIVATION, # GIMBAL/BODY AXIS TRANSFORMATION, BODY-AXIS ATTITUDE ERROR # INTEGRATION WITH ERROR LIMITING, THE GENERALIZED 6TH-ORDER FILTER # FOR CSM OR CSM/LM OPERATION. A FILTER OUTPUT LIMITER. # CG-OFFSET TRACKER FILTER, AND THE CG-TRACKER MINOR LOOP. # THE DAPS ARE CYCLIC, CALLING EACH OTHER AT 1/2 THE DAP SAMPLE # TIME, AS DETERMINED BY T5TVCDT. THE ACTUATOR COMMANDS ARE # REGENERATED AS ANALOG VOLTAGES BY THE OPTICS ERROR COUNTERS, WHICH # TRANSMIT THE SIGNAL TO THE ACTUATOR SERVOS WHEN THERE IS PROPER CDU # MODING. # CALLING SEQUENCE.... (TYPICALLY) # T5 CALL OF TVCDAPON (TVCINITIALIZE) BY DOTVCON (P40) # T5 CALL OF DAPINIT (TVCDAPS) BY TVCINIT4 (TVCINITIALIZE) # T5 CALL OF PITCHDAP BY DAPINIT # T5 CALL OF YAWDAP BY PITCHDAP # T5 CALL OF PITCHDAP BY YAWDAP # ETC. # (AUTOMATIC SEQUENCING FROM TVCDAPON) # NORMAL EXIT MODE....RESUME # ALARM OR ABORT EXIT MODES....NONE # SUBROUTINES CALLED.... # HACK FOR STROKE TEST (V68) WAVEFORM GENERATION # PCOPY, YCOPY FOR COPY-CYCLES (USED ALSO BY TVC RESTART PACKAGE) # DAPINIT FOR INITIAL CDUS FOR RATE MEASUREMENTS # ERRORLIM, ACTLIM FOR INPUT (ATTITUDE-ERROR INTEGRATION) AND # OUTPUT (ACTUATOR COMMAND) LIMITING, COMMON TO PITCH AND # YAW DAPS # FWDFLTR (INCLUDING OPTVARK) AND PRECOMP, TO COMPUTE FILTER # OUTPUTS AND STORAGE VALUES # RESUME # Page 962 # OTHER INTERFACES.... # S40.8 CROSS-PRODUCT STEERING FOR BODY AXIS RATE COMMANDS OMEGAY,ZC # S40.15 FOR THE INITIAL DAP GAINS VARK AND 1/CONACC # TVCEXECUTIVE FOR DAP GAIN UPDATES AND TMC LOOP OPERATIONS # TVCRESTART PACKAGE FOR TVC RESTART PROTECTION. # ERASABLE INITIALIZATION REQUIRED.... # PAD-LOAD ERASABLES ( SEE ERASABLE ASSIGNMENTS ) # CONFIGURATION BITS (14, 13) OF DAPDATR1 AS IN R03 # ENGINE-ON BIT (11.13) FOR RESTARTS # TVCPHASE FOR RESTARTS ( SEE DOTVCON, AND TVCINIT4 ) # T5 BITS (15,14 OF FLAGWRD6) FOR RESTARTS # MISCELLANEOUS VARIABLES SET UP OR COMPUTED BY TVCDAPON....TVCINIT4, # INCLUDING THE ZEROING OF TEMPORARIES BY MRCLEAN # CDUX,Y,Z AND SINCDUX....COSCDUX AS PREPARED BY QUICTRIG (WITH # UPDATES EVERY 1/2 SECOND) # ALSO G+N PRIMARY, TVC ENABLE, AND OPTICS ERROR COUNTER ENABLE # UNLESS BENCH-TESTING. # # OUTPUT.... # # TVCPITCH AND TVCYAW WITH COUNTER RELEASE (11.14 AND 11.13 INCREMEN- # TAL COMMANDS TO OPTICS ERROR COUNTERS), FILTER NODES, BODY- # AXIS ATTITUDE ERROR INTEGRATOR, TOTAL ACTUATOR COMMANDS, # OFFSET-TRACKER-FILTER OUTPUTS, ETC. # DEBRIS.... # MUCH, SHAREABLE WITH RCS/ENTRY, IN EBANK6 ONLY BANK 17 SETLOC DAPS2 BANK EBANK= BZERO COUNT* $$/DAPS # Page 963 # PITCH TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER, MODOR DESIGN) PITCHDAP LXCH BANKRUPT # T5 ENTRY, NORMAL OR VIA DAPINIT EXTEND QXCH QRUPT CAF YAWT5 # SET UP T5 CALL FOR YAW AUTOPILOT (LOW- TS T5LOC # ORDER PART OF 2CADR ALREADY THERE) CAE T5TVCDT TS TIME5 PSTROKER CCS STROKER # (STRKFLG) CHECK FOR STROKE TEST TC HACK # TEST-START OR TEST-IN-PROGRESS TCF +2 # NO-TEST TC HACK # TEST-IN-PROGRESS PCDUDOTS CAE CDUY # COMPUTE CDUYDOT (USED BY PITCH AND YAW) XCH PCDUYPST EXTEND MSU PCDUYPST TCR RLIMTEST # RATE TEST TS MCDUYDOT # (MINUS, SC.AT 1/2TVCDT REVS/SEC) CAE CDUZ # COMPUTE CDUZDOT (USED BY PITCH AND YAW) XCH PCDUZPST EXTEND MSU PCDUZPST TCR RLIMTEST # RATE TEST TS MCDUZDOT # (MINUS, SC.AT 1/2TVCDT REVS/SEC) TCF PINTEGRL RLIMTEST TS TTMP1 # TEST FOR EXCESSIVE CDU RATES (GREATER EXTEND # THAN 2.33 DEG IN ONE SAMPLE PERIOD) MP 1/RTLIM EXTEND BZF +3 CAF ZERO TS TTMP1 CAE TTMP1 TC Q PINTEGRL EXTEND # COMPUTE INTEGRAL OF BODY-AXIS PITCH-RATE DCA PERRB # ERROR, SC.AT B-1 REVS DXCH ERRBTMP EXTEND DCA OMEGAYC DAS ERRBTMP # Page 964 CS COSCDUZ # PREPARE BODY-AXIS PITCH RATE, OMEGAYB EXTEND MP COSCDUX DDOUBL EXTEND MP MCDUYDOT DDOUBL DXCH OMEGAYB CS MCDUZDOT EXTEND MP SINCDUX DDOUBL DAS OMEGAYB # (COMPLETED OMEGAYB, SC.AT 1/2TVCDT REVS) EXTEND # PICK UP -OMEGAYB (SIGN CHNG, INTEGRATE) DCS OMEGAYB DAS ERRBTMP PERORLIM TCR ERRORLIM # PITCH BODY-AXIS-ERROR INPUT LIMITER PFORWARD EXTEND # PREPARE THE FILTER STORAGE LOCATIONS DCA PTMP1 # FOR THE PITCH CHANNEL DXCH TMP1 EXTEND DCA PTMP3 DXCH TMP3 EXTEND DCA PTMP5 DXCH TMP5 TCR FWDFLTR # GO COMPUTE PRESENT OUTPUT # (INCLUDES VARIABLE GAIN PACKAGE) POFFSET EXTEND DCA PDELOFF DAS CMDTMP # NO SCALED AT B+0 ASCREV PACLIM TCR ACTLIM # ROUND OFF & LIMIT PITCH ACTUATOR COMMAND POUT CS PCMD # INCREMENTAL PITCH COMMAND AD CMDTMP ADS TVCPITCH # UPDATE THE ERROR COUNTER (NO RESTART- # PROTECT. SINCE ERROR CNTR ZEROED) CAF BIT11 # BIT FOR TVCPITCH COUNT RELEASE EXTEND WOR CHAN14 PPRECOMP EXTEND # PREPARE THE FILTER STORAGE FOR PITCH # Page 965 DCA PTMP2 DXCH TMP2 EXTEND DCA PTMP4 DXCH TMP4 EXTEND DCA PTMP6 DXCH TMP6 TCR PRECOMP # TO THE FILTER FOR PRECOMPUTATION DELBARP CAE DELPBAR +1 # UPDATE PITCH OFFSET-TRACKER-FILTER EXTEND MP E(-AT) TS DELBRTMP +1 CAE DELPBAR EXTEND MP E(-AT) DAS DELBRTMP CAE CMDTMP EXTEND MP 1-E(-AT) DAS DELBRTMP PCOPYCYC TCR PCOPY # PITCH COPYCYCLE PDAPEND TCF RESUME # PITCH DAP COMPLETED # Page 966 # PITCH TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA PITCH TVCDAP OR TVC RESTART PACKAGE) PCOPY INCR TVCPHASE # RESTART-PROTECT THE COPYCYCLE. (1) # NOTE POSSIBLE RE-ENTRY FROM RESTART # PACKAGE, SHOULD A RESTART OCCUR # DURING PITCH COPYCYCLE. EXTEND DCA TMP1 DXCH PTMP1 EXTEND DCA TMP2 DXCH PTMP2 EXTEND DCA TMP3 DXCH PTMP3 EXTEND DCA TMP4 DXCH PTMP4 EXTEND DCA TMP5 DXCH PTMP5 EXTEND DCA TMP6 DXCH PTMP6 PMISC EXTEND # MISC....PITCH-RATE-ERROR INTEGRATOR DCA ERRBTMP TS AK1 # FOR PITCH NEEDLES, SC.AT B-1 REVS DXCH PERRB CAE CMDTMP # PITCH ACTUATOR COMMAND TS PCMD EXTEND # PITCH OFFSET-TRACKER-FILTER DCA DELBRTMP DXCH DELPBAR INCR TVCPHASE # PITCH COPYCYCLE COMPLETED (2) TC Q # Page 967 # YAW TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER, MODOR DESIGN) YAWDAP LXCH BANKRUPT # T5 ENTRY, NORMAL EXTEND QXCH QRUPT CAF PITCHT5 # SET UP T5 CALL FOR PITCH AUTOPILOT (LOW- TS T5LOC # ORDER PART OF 2CADR ALREADY THERE) CAE T5TVCDT TS TIME5 YSTROKER CCS STROKER # (STRKFLG) CHECK FOR STROKE TEST TC HACK # TEST-START OR TEST-IN-PROGRESS TCF +2 # NO-TEST TC HACK # TEST-IN-PROGRESS # USE BODY RATES FROM PITCHDAP (PCDUDOTS) YINTEGRL EXTEND # COMPUTE INTEGRAL OF BODY-AXIS YAW-RATE DCA YERRB # ERROR, SC.AT B-1 REVS DXCH ERRBTMP EXTEND DCA OMEGAZC DAS ERRBTMP CAE COSCDUZ # PREPARE BODY-AXIS YAW-RATE, OMEGAZB EXTEND MP SINCDUX DDOUBL EXTEND MP MCDUYDOT DDOUBL DXCH OMEGAZB CS MCDUZDOT EXTEND MP COSCDUX DDOUBL DAS OMEGAZB # (COMPLETED OMEGAZB, SC.AT 1/2TVCDT REVS) EXTEND # PICK UP -OMEGAZB (SIGN CHNG, INTEGRATE) DCS OMEGAZB DAS ERRBTMP YERORLIM TCR ERRORLIM # YAW BODY-AXIS-ERROR INPUT LIMITER YFORWARD EXTEND # PREPARE THE FILTER STORAGE LOCATIONS DCA YTMP1 # FOR THE YAW CHANNEL # Page 968 DXCH TMP1 EXTEND DCA YTMP3 DXCH TMP3 EXTEND DCA YTMP5 DXCH TMP5 TCR FWDFLTR # GO COMPUTE PRESENT OUTPUT # (INCLUDES VARIABLE GAIN PACKAGE) YOFFSET EXTEND DCA YDELOFF DAS CMDTMP # NOW SCALED AT B+0 ASCREV YACLIM TCR ACTLIM # ROUND OFF & LIMIT YAW ACTUATOR COMMAND YOUT CS YCMD # INCREMENTAL YAW COMMAND AD CMDTMP ADS TVCYAW # UPDATE THE ERROR COUNTER (NO RESTART- # PROTECT, SINCE ERROR CNTR ZEROED) CAF BIT12 # BIT FOR TVCYAW COUNT RELEASE EXTEND WOR CHAN14 YPRECOMP EXTEND # PREPARE THE FILTER STORAGE FOR YAW DCA YTMP2 DXCH TMP2 EXTEND DCA YTMP4 DXCH TMP4 EXTEND DCA YTMP6 DXCH TMP6 TCR PRECOMP # TO THE FILTER FOR PRECOMPUTATION DELBARY CAE DELYBAR +1 # UPDATE YAW OFFSET-TRACKER-FILTER EXTEND MP E(-AT) TS DELBRTMP +1 CAE DELYBAR EXTEND MP E(-AT) DAS DELBRTMP CAE CMDTMP EXTEND MP 1-E(-AT) DAS DELBRTMP # Page 969 YCOPYCYC TCR YCOPY # YAW COPYCYCLE YDAPEND TCF RESUME # YAW DAP COMPLETED # Page 970 # TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA YAW TVCDAP OR TVC RESTART PACKAGE) YCOPY INCR TVCPHASE # RESTART-PROTECT THE COPYCYCLE. (3) # NOTE POSSIBLE RE-ENTRY FROM RESTART # PACKAGE, SHOULD A RESTART OCCUR # DURING YAW COPYCYCLE. EXTEND DCA TMP1 DXCH YTMP1 EXTEND DCA TMP2 DXCH YTMP2 EXTEND DCA TMP3 DXCH YTMP3 EXTEND DCA TMP4 DXCH YTMP4 EXTEND DCA TMP5 DXCH YTMP5 EXTEND DCA TMP6 DXCH YTMP6 YMISC EXTEND # MISC....YAW-RATE-ERROR INTEGRATOR DCA ERRBTMP TS AK2 # FOR YAW NEEDLES, SC.AT B-1 REVS DXCH YERRB CAE CMDTMP TS YCMD EXTEND DCA DELBRTMP DXCH DELYBAR CAF ZERO # YAW COPYCYCLE COMPLETED TS TVCPHASE # RESET TVCPHASE TC Q # Page 971 # SUBROUTINES COMMON TO BOTH PITCH AND YAW DAPS.... # INITIALIZATION PACKAGE FOR CDURATES.... DAPINIT LXCH BANKRUPT # T5 RUPT ENTRY (CALLED BY TVCINT4) CAF NEGONE # SET UP AD T5TVCDT # T5 CALL FOR PITCHDAP IN TVCDT SECS AD NEGMAX # (T5TVCDT = POSMAX - TVCDT/2 +1) AD T5TVCDT TS TIME5 CAF PITCHT5 # (BBCON ALREADY THERE) TS T5LOC CAE CDUY # READ AND STORE CDUS FOR DIFFERENTIATOR TS PCDUYPST # PAST-VALUES CAE CDUZ TS PCDUZPST TCF NOQRSM # BODY-AXIS-ERROR INPUT LIMITER PACKAGE.... ERRORLIM CAE ERRBTMP # CHECK FOR INPUT-ERROR LIMIT EXTEND # CHECKS UPPER WORD ONLY MP 1/ERRLIM EXTEND BZF +6 CCS ERRBTMP CAF ERRLIM TCF +2 CS ERRLIM TS ERRBTMP # LIMIT WRITES OVER UPPER WORD ONLY TC Q # ACTUATOR-COMMAND LIMITER PACKAGE.... ACTLIM CAE CMDTMP +1 # ROUND UP FOR OUTPUT DOUBLE TS L CAF ZERO AD CMDTMP EXTEND # CHECK FOR ACTUATOR COMMAND LIMIT MP 1/ACTSAT EXTEND # Page 972 BZF +6 CCS CMDTMP # APPLY LIMITS CAF ACTSAT TCF +2 CS ACTSAT TS CMDTMP # LIMITS WRITE OVER CMDTMP TC Q # FILTER COMPUTATIONS FOR PRESENT OUTPUT................ FWDFLTR CAF ZERO TS DAP1 TS DAP2 TS DAP3 TS CMDTMP TS DELBRTMP 1DAPCAS CAE ERRBTMP +1 # FIRST DAP CASCADE EXTEND MP N10 # N10 TS DAP1 +1 CA ERRBTMP EXTEND MP N10 # N10 DAS DAP1 DXCH TMP1 DAS DAP1 2DAPCAS CAE DAP1 +1 # SECOND DAP CASCADE EXTEND MP N10 +5 # N20 TS DAP2 +1 CA DAP1 EXTEND MP N10 +5 # N20 DAS DAP2 DXCH TMP3 DAS DAP2 CAE DAPDATR1 # TEST FOR LEM ON OR OFF MASK BIT14 CCS A TCF 3DAPCAS # LEM ON EXTEND # LEM OFF DCA DAP2 DXCH DAP3 TCF OPTVARK # Page 973 3DAPCAS CAE DAP2 +1 # THIRD DAP CASCADE EXTEND MP N10 +10D # N30 TS DAP3 +1 CA DAP2 EXTEND MP N10 +10D # N30 DAS DAP3 DXCH TMP5 DAS DAP3 OPTVARK CS DAP3 +1 # VARIABLE GAIN PACKAGE EXTEND # (ALSO, SIGN CHANGE IN FORWARD LOOP) MP VARK # SCALED AT 1/(8 ASCREV) OF ACTUAL VALUE TS CMDTMP +1 CS DAP3 EXTEND MP VARK DAS CMDTMP DXCH CMDTMP # FIX UP SCALING - SCALED B+3 ASCREVS DDOUBL DDOUBL DXCH CMDTMP # - SCALED B+1 ASCREVS # NOTE - THERE IS AN INHERANT GAIN OF # (B+1 ASCREVS) ON THE OUTPUT DACS. TC Q # FILTER PRECOMPUTATIONS FOR NEXT PASS................ PRECOMP CAF ZERO # ***** FIRST CASCADE FILTER ********** TS TTMP1 TS TTMP2 CA ERRBTMP +1 # MULTIPLY INPUT BY EXTEND MP N10 +1 # N11/2 TS TTMP1 +1 CA ERRBTMP EXTEND MP N10 +1 # N11/2 DAS TTMP1 CS DAP1 +1 # MULTIPLY OUTPUT BY EXTEND MP N10 +3 # D11/2 TS TTMP2 +1 CS DAP1 # Page 974 EXTEND MP N10 +3 # D11/2 DAS TTMP2 DXCH TTMP2 DAS TTMP1 DXCH TTMP1 DDOUBL DAS TMP2 DXCH TMP2 DXCH TMP1 CAF ZERO TS TTMP1 TS TMP2 CA ERRBTMP +1 # MULTIPLY INPUT BY EXTEND # SECOND-ORDER NUMERATOR COEFF. MP N10 +2 # N12 TS TTMP1 +1 CA ERRBTMP EXTEND MP N10 +2 # N12 DAS TTMP1 CS DAP1 +1 # MULTIPLY OUTPUT BY EXTEND MP N10 +4 # D12 TS TMP2 +1 CS DAP1 EXTEND MP N10 +4 # D12 DAS TMP2 DXCH TTMP1 DAS TMP2 2CASFLTR CAF ZERO # *****SECOND CASCADE FILTER***** TS TTMP1 TS TTMP2 CA DAP1 +1 # MULTIPLY INPUT BY EXTEND MP N10 +6 # N21/2 TS TTMP1 +1 CA DAP1 EXTEND MP N10 +6 # N21/2 # Page 975 DAS TTMP1 CS DAP2 +1 # MULTIPLY OUTPUT BY EXTEND MP N10 +8D # D21/2 TS TTMP2 +1 CS DAP2 EXTEND MP N10 +8D # D21/2 DAS TTMP2 DXCH TTMP2 DAS TTMP1 DXCH TTMP1 DDOUBL DAS TMP4 DXCH TMP4 DXCH TMP3 CAF ZERO TS TTMP1 TS TMP4 CA DAP1 +1 # MULTIPLY INPUT BY EXTEND MP N10 +7 # N22 TS TTMP1 +1 CA DAP1 EXTEND MP N10 +7 # N22 DAS TTMP1 CS DAP2 +1 # MULTIPLY OUTPUT BY EXTEND MP N10 +9D # D22 TS TMP4 +1 CS DAP2 EXTEND MP N10 +9D # D22 DAS TMP4 DXCH TTMP1 DAS TMP4 CAE DAPDATR1 # TEST FOR LEM ON OR OFF MASK BIT13 CCS A TC Q # EXIT IF LEM OFF # Page 976 3CASFLTR CAF ZERO # *****THIRD CASCADE FILTER***** TS TTMP1 TS TTMP2 CA DAP2 +1 # MULTIPLY INPUT BY (1/2) EXTEND MP N10 +11D # N31/2 TS TTMP1 +1 CA DAP2 EXTEND MP N10 +11D # N31/2 DAS TTMP1 CS DAP3 +1 EXTEND MP N10 +13D # D31/2 TS TTMP2 +1 CS DAP3 EXTEND MP N10 +13D # D31/2 DAS TTMP2 DXCH TTMP2 DAS TTMP1 DXCH TTMP1 DDOUBL DAS TMP6 DXCH TMP6 DXCH TMP5 CAF ZERO TS TTMP1 TS TMP6 CA DAP2 +1 # MULTIPLY INPUT BY EXTEND MP N10 +12D # N32 TS TTMP1 +1 CA DAP2 EXTEND MP N10 +12D # N32 DAS TTMP1 CS DAP3 +1 EXTEND MP N10 +14D # D32 TS TMP6 +1 CS DAP3 EXTEND # Page 977 MP N10 +14D # D32 DAS TMP6 DXCH TTMP1 DAS TMP6 TC Q # Page 978 # CONSTANTS FOR AUTOPILOTS # NOTE....1 ASCREV (ACTUATOR CMD SCALING) = 85.41 ARCSEC/BIT OR 1.07975111 REVS (85.41x16384/3600/360) # 1 SPASCREV (SPECIAL ACTUATOR CMD SCALING) = 1.04620942 REVS ACTSAT DEC 253 # ACTUATOR LIMIT (6 DEG), SC.AT 1ASCREV 1/ACTSAT DEC .0039525692 # RECIPROCAL (1/253) ERRLIM EQUALS BIT13 # FILTER INPUT LIMIT....B-3 REVS (45DEG), 1/ERRLIM EQUALS BIT3 # SC.AT B-1 REV, AND ITS RECIPROCAL PITCHT5 GENADR PITCHDAP # UPPER WORDS OF T5 2CADRS, LOWER WORDS DAPT5 GENADR DAPINIT # (BBCON) ALREADY THERE. ORDER IS YAWT5 GENADR YAWDAP # REQUIRED. 1/RTLIM DEC 0.004715 # .004715(CDUDIF) = 0 IF CDUIF < 2.33 DEG 1-E(-AT) OCT 00243 # AT = .01SEC....EITHER(1/A=4SEC, T=40MS), E(-AT) OCT 37535 # OR(1/A=8SEC, T=80MS) ================================================ FILE: Comanche055/TVCEXECUTIVE.agc ================================================ # Copyright: Public domain. # Filename: TVCEXECUTIVE.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 945-950 # Mod history: 2009-05-12 RSB Adapted from the Colossus249/ file of the # same name, using Comanche055 page images. # 2009-05-20 RSB Corrections: CAE -> CAF in one place. # 2009-05-21 RSB In 1SHOTCHK, a CAF SEVEN was corrected to # CAF SIX. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 945 # PROGRAM NAME.... TVCEXECUTIVE, CONSISTING OF TVCEXEC, NEEDLEUP, VARGAINS # 1SHOTCHK, REPCHEK, CG.CORR, COPYCYCLES, ETC. # LOG SECTION...TVCEXECUTIVE SUBROUTINE...DAPCSM # MODIFIED BY SCHLUNDT 21 OCTOBER 1968 # FUNCTIONAL DESCRIPTION.... # # *A SELF-PERPETUATING WAITLIST TASK AT 1/2 SECOND INTERVALS WHICH: # PREPARES THE ROLL DAP WITH OGA (CDUX) # PREPARES THE ROLL FDAI NEEDLE (FLY-TO OGA ERROR) # PREPARES THE ROLL PHASE PLANE OGAERR (FLY-FROM OGA ERROR) # PREPARES THE TVC ROLLDAP TASK WAITLIST CALL (3 CS DELAY) # UPDATES THE NEEDLES DISPLAY # UPDATES VEHICLE MASS AND CALLS MASSPROP TO UPDATE INERTIA DATA # UPDATES PITCH, YAW, AND ROLL DAP GAINS FROM MASSPROP DATA # PERFORMS ONE-SHOT CORRECTION FOR TMC LOOP 0-3 SEC AFTER IGNITION # PERFORMS REPETITIVE UPDATES FOR TMC LOOP AFTER THE ONE-SHOT CORR. # # CALLING SEQUENCE.... # # *TVCEXEC CALLED AS A WAITLIST TASK, IN PARTICULAR BY TVCINIT4 AND BY # ITSELF, BOTH AT 1/2 SECOND INTERVALS # # NORMAL EXIT MODE.... TASKOVER # # ALARM OR ABORT EXIT MODES.... NONE # # SUBROUTINES CALLED....NEEDLER, S40.15, MASSPROP, TASKOVER, IBNKCALL # # OTHER INTERFACES.... # # *TVCRESTART PACKAGE FOR RESTARTS # *PITCHDAP, YAWDAP FOR VARIABLE GAINS AND ENGINE TRIM ANGLES # ERASABLE INITIALIZATION REQUIRED.... # # *SEE TVCDAPON....TVCINIT4 # *VARK AND 1/CONACC (S40.15 OF TVCINITIALIZE) # *PAD LOAD EREPFRAC # *BITS 15,14 OF FLAGWRD6 (T5 BITS) # *TVCEXPHS FOR RESTARTS # *ENGINE-ON BIT (11.13) FOR RESTARTS # *CDUX, OGAD # # OUTPUT.... # # *ROLL DAP OGANOW, FDAI NEEDLE (AK), AND PHASE PLANE OGAERR # *VARIABLE GAINS FOR PITCH/YAW AND ROLL TVC DAPS # *SINGLE-SHOT AND REPETITIVE CORRECTIONS TO ENGINE TRIM ANGLES # PACTOFF AND YACTOFF # # DEBRIS.... MUCH, BUT SHAREABLE WITH RCS/ENTRY, ALL IN EBANK6 # Page 946 BANK 16 SETLOC DAPROLL BANK EBANK= BZERO COUNT* $$/TVCX TVCEXEC CS FLAGWRD6 # CHECK FOR TERMINATION (BITS 15,14 READ MASK OCT60000 # 10 FROM TVCDAPON TO RCSDAPON) EXTEND BZMF TVCEXFIN # TERMINATE CAF .5SEC # W.L. CALL TO PERPETUATE TVCEXEC TC WAITLIST EBANK= BZERO 2CADR TVCEXEC ROLLPREP CAE CDUX # UPDATE ROLL LADDERS (NO NEED TO RESTART- XCH OGANOW # PROTECT, SINCE ROLL DAPS RE-START) XCH OGAPAST CAE OGAD # PREPARE ROLL FDAI NEEDLE WITH FLY-TO EXTEND # ERROR (COMMAND - MEASURED) MSU OGANOW TS AK # FLY-TO OGA ERROR, SC.AT B-1 REVS EXTEND # PREPARE ROLL DAP PHASE PLANE OGAERR MP -BIT14 TS OGAERR # PHASE-PLANE (FLY-FROM) OGAERROR, # SC.AT B+0 REVS CAF THREE # SET UP ROLL DAP TASK (ALLOW SOME TIME) TC WAITLIST EBANK= BZERO 2CADR ROLLDAP NEEDLEUP TC IBNKCALL # DO A NEEDLES UPDATE (RETURNS AFTER CADR) CADR NEEDLER # (NEEDLES RESTARTS ITSELF) VARGAINS CAF BIT13 # CHECK ENGINE-ON BIT TO INHIBIT VARIABLE EXTEND # GAINS AND MASS IF ENGINE OFF RAND DSALMOUT # CHANNEL 11 CCS A TCF +4 # ON , SO OK TO UPDATE GAINS AND MASS +5 CAF TWO # OFF, SO BYPASS MASS/GAIN UPDATES, TS TVCEXPHS # ALSO ENTRY FROM CCS BELOW WITH TCF 1SHOTCHK # VCNTR = -0 (V97 R40 ENGFAIL) CCS VCNTR # TEST FOR GAIN OF UPDATE TIME TCF +4 # NOT YET # Page 947 TCF GAINCHNG # NOW TCF +0 # NOT USED TCF VARGAINS +5 # NO, LOTHRUST (S40.8 R40) +4 TS VCNTRTMP # PROTECT VCNTR AND CAE CSMMASS # CSMMASS DURING AN IMPULSIVE BURN TS MASSTMP TCF EXECCOPY GAINCHNG TC IBNKCALL # UPDATE IXX, IAVG, IAVG/TLX CADR FIXCW # MASSPROP ENTRY (ALREADY INITIALIZED) TC IBNKCALL # UPDATE 1/CONACC, VARK CADR S40.15 # (S40.15 IS IN TVCINITIALIZE) CS TENMDOT # UPDATE MASS FOR NEXT 10 SEC. OF BURN AD CSMMASS TS MASSTMP # KG B+16 CAF NINETEEN # RESET THE VARIABLE-GAIN UPDATE COUNTER TS VCNTRTMP EXECCOPY INCR TVCEXPHS # RESTART-PROTECT THE COPYCYCLE (1) CAE MASSTMP # CSMMASS KG B+16 TS CSMMASS CAE VCNTRTMP # VCNTR TS VCNTR TS V97VCNTR # FOR ENGFAIL (R41) MASS UPDATES AT SPSOFF INCR TVCEXPHS # COPYCYCLE OVER (2) 1SHOTCHK CCS CNTR # CHECK TIME FOR ONE-SHOT OR REPCORR TCF +4 # NOT YET TCF 1SHOTOK # NOW TCF REPCHEK # ONE-SHOT OVER, ON TO REPCORR TCF 1SHOTOK # NOW (ONE-SHOT ONLY, NO REPCORR) +4 TS CNTRTMP # COUNT DOWN CAF SIX # SET UP TVCEXPHS FOR ENTRY AT CNTRCOPY TS TVCEXPHS TCF CNTRCOPY REPCHEK CAE REPFRAC # CHECK FOR REPETITIVE UPDATES EXTEND BZMF TVCEXFIN # NO, OVER-AND-OUT TS TEMPDAP +1 # YES, SET UP CORRECTION FRACTION CAF FOUR # SET UP TVCEXPHS FOR ENTRY AT CORSETUP TS TVCEXPHS TCF CORSETUP # Page 948 1SHOTOK CAF BIT13 # CHECK ENGINE-ON BIT, NOT PERMITTING EXTEND # ONE-SHOT DURING ENGINE-SHUTDOWN RAND DSALMOUT CCS A TCF +2 # ONE-SHOT OK TCF TVCEXFIN # NO, TERMINATE INCR TVCEXPHS # (3) # RSB 2009. The following instruction was previously "CAE FCORFRAC", but FCORFRAC # is not in erasable memory as implied by the use of CAE. I've accordingly changed # it to CAF instead to indicate fixed memory. TEMPSET CAF FCORFRAC # SET UP CORRECTION FRACTION TS TEMPDAP +1 INCR TVCEXPHS # ENTRY FROM REPCHECK AT NEXT LOCATION (4) CORSETUP CAE DAPDATR1 # CHECK FOR LEM-OFF/ON MASK BIT13 # (NOTE, SHOWS LEM-OFF) EXTEND BZF +2 # LEM IS ON, PICK UP TEMPDAP+1 CAE TEMPDAP +1 # LEM IS OFF, PICK UP 2(TEMPDAP+1) AD TEMPDAP +1 TS TEMPDAP # CG.CORR USES TEMPDAP CAF NEGONE # SET UP FOR CNTR = -1 (ONE-SHOT DONE) TS CNTRTMP # (COPYCYCLE AT .CNTRCOPY. ) CG.CORR EXTEND # PITCH TMC LOOP DCA PDELOFF DXCH PACTTMP EXTEND DCS PDELOFF DDOUBL DDOUBL DXCH TTMP1 EXTEND DCA DELPBAR DDOUBL DDOUBL DAS TTMP1 EXTEND DCA TTMP1 EXTEND MP TEMPDAP DAS PACTTMP EXTEND # YAW TMC LOOP DCA YDELOFF DXCH YACTTMP EXTEND DCS YDELOFF DDOUBL # Page 949 DDOUBL DXCH TTMP1 EXTEND DCA DELYBAR DDOUBL DDOUBL DAS TTMP1 EXTEND DCA TTMP1 EXTEND MP TEMPDAP DAS YACTTMP CORCOPY INCR TVCEXPHS # RESTART PROTECT THE COPYCYCLE (5) EXTEND # TRIM-ESTIMATES, AND DCA PACTTMP TS PACTOFF # TRIMS DXCH PDELOFF EXTEND DCA YACTTMP TS YACTOFF DXCH YDELOFF INCR TVCEXPHS # ENTRY FROM 1SHOTCHK AT NEXT LOCATION (6) CNTRCOPY CAE CNTRTMP # UPDATE CNTR (RESTARTS OK, FOLLOWS CPYCY) TS CNTR TVCEXFIN CAF ZERO # RESET TVCEXPHS TS TVCEXPHS TCF TASKOVER # TVCEXECUTIVE FINISHED FCORFRAC OCT 10000 # ONE-SHOT CORRECTION FRACTION # Page 950 (page is empty) ================================================ FILE: Comanche055/TVCINITIALIZE.agc ================================================ # Copyright: Public domain. # Filename: TVCINITIALIZE.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Jim Lawton . # Website: www.ibiblio.org/apollo. # Pages: 936-944 # Mod history: 2009-05-11 JVL Adapted from the Colossus249/ file # of the same name, using Comanche055 page # images. # 2009-05-20 RSB Corrections: +80 -> +8D, added 4 missing # lines in TVCINIT1, changed the capitalization # of a couple of the "Page N" comments, # corrected a couple of lines in LOADCOEFF. # 2009-05-22 RSB In LOADCOEF, DXCH N10 +14D corrected to # TS N10 +14D. Also, various comment-marks # were added to comments following this # change. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 937 # NAME TVCDAPON (TVC DAP INITIALIZATION AND STARTUP CALL) # LOG SECTION...TVCINITIALIZE SUBROUTINE...DAPCSM # MODIFIED BY SCHLUNDT 21 OCTOBER 1968 # FUNCTIONAL DESCRIPTION # PERFORMS TVCDAP INITIALIZATION (GAINS, TIMING PARAMETERS, FILTER VARIABLES, ETC.) # COMPUTES STEERING (S40.8) GAIN KPRIMEDT, AND ZEROES PASTDELV,+1 VARIABLE # MAKES INITIALIZATION CALL TO "NEEDLER" FOR TVC DAP NEEDLES-SETUP # PERFORMS INITIALIZATION FOR ROLL DAP # CALLS TVCEXECUTIVE AT TVCEXEC, VIA WAITLIST # CALLS TVCDAP CDU-RATE INITIALIZATION PKG AT DAPINIT VIA T5 # PROVIDES FOR LOADING OF LOW-BANDWIDTH COEFFS AND GAINS AT SWICHOVR # CALLING SEQUENCE - T5LOC=2CADR(TVCDAPON,EBANK=BZERO), T5=.6SECT5 # IN PARTICULAR, CALLED BY "DOTVCON" IN P40 # MRCLEAN AND TVCINIT4 ARE POSSIBLE TVC-RESTART ENTRY POINTS # NORMAL EXIT MODE # TCF RESUME # SUBROUTINES CALLED # NEEDLER, MASSPROP # ALARM OR ABORT EXIT MODES # NONE # ERASABLE INITIALIZATION REQUIRED # CSMMASS, LEMMASS, DAPDATR1 (FOR MASSPROP SUBROUTINE) # TVC PAD LOADS (SEE EBANK6 IN ERASABLE ASSIGNMENTS) # PACTOFF, YACTOFF, CDUX # TVCPHASE AND THE T5 BITS OF FLAGWRD6 (SET AT DOTVCON IN P40) # OUTPUT # ALL TVC AND ROLL DAP ERASABLES, FLAGWRD6 (BITS 13,14), T5, WAITLIST # DEBRIS # NONE COUNT* $$/INIT BANK 17 SETLOC DAPS7 BANK EBANK= BZERO TVCDAPON LXCH BANKRUPT # T5 RUPT ARRIVAL (CALL BY DOTVCON - P40) EXTEND # SAVE Q REQUIRED IN RESTARTS (MRCLEAN AND QXCH QRUPT # TVCINIT4 ARE ENTRIES) MRCLEAN CAF NZERO # NUMBER TO ZERO, LESS ONE (MUST BE ODD) # TVC RESTARTS ENTER HERE (NEW BANK) +1 CCS A TS CNTR CAF ZERO TS L INDEX CNTR DXCH OMEGAYC # FIRST (LAST) TWO LOCATIONS CCS CNTR TCF MRCLEAN +1 # Page 938 EXTEND # SET UP ANOTHER T5 RUPT TO CONTINUE DCA INITLOC2 # INITIALIZATION AT TVCINIT1 DXCH T5LOC # THE PHSCHK2 ENTRY (REDOTVC) AT TVCDAPON CAF POSMAX # +3 IS IN ANOTHER BANK. MUST RESET TS TIME5 # BBCON TOO (FULL 2CADR), FOR THAT ENDMRC TCF RESUME # ENTRY. TVCINIT1 LXCH BANKRUPT EXTEND QXCH QRUPT TC IBNKCALL # UPDATE IXX, IAVG/TLX FOR DAP GAINS (R03 CADR MASSPROP # OR NOUNS 46 AND 47 MUST BE CORRECT) CAE EMDOT # SPS FLOW RATE, SCALED B+3 KG/CS EXTEND MP ONETHOU TS TENMDOT # 10-SEC MASS LOSS B+16 KG COM AD CSMMASS TS MASSTMP # DECREMENT FOR FIRST 10 SEC OF BURN CAE DAPDATR1 # CHECK LEM-ON/OFF MASK BIT14 CCS A CAF BIT1 # LEM-ON (BIT1) TS CNTR # LEM-OFF (ZERO) INDEX CNTR # LOAD THE FILTER COEFFICIENTS CAF CSMCFADR TS COEFFADR TC LOADCOEF INDEX CNTR # PICK UP LM-OFF,-ON KTLX/I CAE EKTLX/I # SCALED AT 1/(8 ASCREV) OF ACTUAL VALUE TS KTLX/I TCR S40.15 # COMPUTE 1/CONACC , VARK TVCINIT2 CS CNTR # PICK LM-OFF,-ON VALUE FOR FILTER PERIOD INDEX A # DETERMINATION: CAF BIT2 # BIT2 FOR CSM ONLY 40MS FILTER TS KPRIMEDT # BIT3 FOR CSM/LM 80MS FILTER COM # PREPARE T5TVCDT AD POSMAX AD BIT1 TS T5TVCDT CS BIT15 # RESET SWTOVER FLAG # Page 939 MASK FLAGWRD9 TS FLAGWRD9 INDEX CNTR # PICK UP LEM-OFF,-ON KPRIME CAE EKPRIME # SCALED (100 PI)/16 EXTEND MP KPRIMEDT # (TVCDT/2, SC.AT B+14CS) LXCH A # SC.AT PI/8 (DIMENSIONLESS) DXCH KPRIMEDT INDEX CNTR # PICK UP LEM-OFF,-ON REPFRAC CAE EREPFRAC TS REPFRAC INDEX CNTR # PICK UP ONE-SHOT CORRECTION TIME CAF TCORR TS CNTR CAF NEGONE # PREVENT STROKE TEST UNTIL CALLED TS STRKTIME CAF NINETEEN # SET VCNTR FOR VARIABLE-GAIN UPDATES IN TS VCNTR # 10 SECONDS (TVCEXEC 1/2 SEC RATE) TS V97VCNTR # FOR ENGFAIL (R41) LOGIC TVCINIT3 CAE PACTOFF # TRIM VALUES TO TRIM-TRACKERS, OUTPUT TS PDELOFF # TRACKERS, OFFSET-UPDATES, AND TS PCMD # OFFSET-TRACKER FILTERS TS DELPBAR # NOTE, LO-ORDER DELOFF,DELBAR ZEROED CAE YACTOFF TS YDELOFF TS YCMD TS DELYBAR ATTINIT CAE DAPDATR1 # ATTITUDE-ERROR INITIALIZATION LOGIC MASK BIT13 # TEST FOR CSM OR CSM/LM EXTEND BZF NEEDLEIN # BYPASS INITIALIZATION FOR CSM/LM CAF BIT1 # SET UP TEMPORARY COUNTER +5 TS TTMP1 INDEX TTMP1 CA ERRBTMP # ERRBTMP CONTAINS RCS ATTITUDE ERRORS EXTEND # ERRORY & ERRORZ (P40 AT DOTVCON) MP 1/ATTLIM # .007325(ERROR) = 0 IF ERROR < 1.5 DEG EXTEND BZF +8D # |ERROR| LESS THAN 1.5 DEG EXTEND # Page 940 BZMF +3 # |ERROR| > 1.5 DEG, AND NEG CA ATTLIM # |ERROR| > 1.5 DEG, AND POS TCF +2 +3 CS ATTLIM +2 INDEX TTMP1 TS ERRBTMP +8 CCS TTMP1 # TEST TEMPORARY COUNTER TCF ATTINIT +5 # BACK TO REPEAT FOR PITCH ERROR CA ERRBTMP # ERRORS ESTABLISHED AND LIMITED TS PERRB CA ERRBTMP +1 TS YERRB NEEDLEIN CS RCSFLAGS # SET BIT 3 FOR INITIALIZATION PASS AND GO MASK BIT3 # TO NEEDLER. WILL CLEAR FOR TVC DAP ADS RCSFLAGS # (RETURNS AFTER CADR) TC IBNKCALL CADR NEEDLER TVCINIT4 CAF ZERO # SET TVCPHASE TO INDICATE TVCDAPON-THRU- TS TVCPHASE # NEEDLEIN INITIALIZATION FINISHED. # (POSSIBLE TVC-RESTART ENTRY) CAE CDUX # PREPARE ROLL DAP TS OGANOW CAF BIT13 # IF ENGINE IS ALREADY OFF, ENGINOFF HAS EXTEND # ALREADY ESTABLISHED THE POST-BURN RAND DSALMOUT # CSMMASS (MASSBACK DOES IT). DONT EXTEND # TOUCH CSMMASS. IF ENGINE IS ON, BZF +3 # THEN ITS OK TO DO THE COPYCYCLE # EVEN BURNS LESS THAN 0.4 SEC ARE AOK CAE MASSTMP # COPYCYCLE TS CSMMASS +3 CAF .5SEC # CALL TVCEXECUTIVE (ROLLDAP CALL, ETC) TC WAITLIST EBANK= BZERO 2CADR TVCEXEC EXTEND # CALL FOR DAPINIT DCA DAPINIT5 DXCH T5LOC CAE T5TVCDT # (ALLOW TIME FOR RESTART COMPUTATIONS) TS TIME5 # Page 941 ENDTVCIN TCF RESUME PRESWTCH TCR SWICHOVR # ENTRY FROM V46 TC POSTJUMP # THIS PROVIDES AN EXIT FROM SWITCH-OVER CADR PINBRNCH # (PINBRNCH DOES A RELINT) SWICHOVR INHINT CA TVCPHASE # SAVE TVCPHASE TS PHASETMP CS BIT2 # SET TVCPHASE = -2 (INDICATES SWITCH-OVER TS TVCPHASE # TO RESTART LOGIC) +5 EXTEND # SAVE Q FOR RETURN (RESTART ENTRY POINT, QXCH RTRNLOC # TVCPHASE AND PHASETMP ALREADY SET) CAF NZEROJR # ZEROING LOOP FOR FILTER STORAGE LOCS +8 TS CNTRTMP MCLEANJR CA ZERO TS L INDEX CNTRTMP DXCH PTMP1 -1 CCS CNTRTMP CCS A TCF SWICHOVR +8D CS FLAGWRD9 # SET SWITCHOVER FLAG FOR DOWNLINK MASK BIT15 ADS FLAGWRD9 CAE EKTLX/I +2 # LOW BANDWIDTH GAINS - DAP TS KTLX/I TCR S40.15 +7 CAF FKPRIMDT # - STEERING TS KPRIMEDT CAF FREPFRAC # - TMC LOOP TS REPFRAC EXTEND # UPDATE TRIM ESTIMATES DCA DELPBAR DXCH PDELOFF EXTEND DCA DELYBAR DXCH YDELOFF CA LBCFADR # Page 942 TS COEFFADR TC LOADCOEF CAE PHASETMP # RESTORE TVCPHASE TS TVCPHASE TC RTRNLOC # BACK TO PRESWTCH OR TVCRESTARTS LOADCOEF EXTEND # LOAD DAP FILTER COEFFICIENTS INDEX COEFFADR # FROM: ERASABLE FOR CSM/LM HB DCA 0 # FIXED FOR CSM/LM LB DXCH N10 # FIXED FOR CSM EXTEND # NOTE: FOR CSM/LM, NORMAL COEFFICIENT INDEX COEFFADR # LOAD WILL BE HIGH BANDWIDTH PAD LOAD DCA 2 # ERASABLES. DURING CSM/LM SWITCHOVER, DXCH N10 +2 # THIS LOGIC IS USED TO LOAD LOW BANDWIDTH # COEFFICIENTS FROM FIXED MEMORY. EXTEND INDEX COEFFADR DCA 4 DXCH N10 +4 EXTEND INDEX COEFFADR DCA 6 DXCH N10 +6 EXTEND INDEX COEFFADR DCA 8D DXCH N10 +8D EXTEND INDEX COEFFADR DCA 10D DXCH N10 +10D EXTEND INDEX COEFFADR DCA 12D DXCH N10 +12D INDEX COEFFADR CA 14D TS N10 +14D TC Q # Page 943 S40.15 CAE IXX # GAIN COMPUTATIONS (1/CONACC, VARK) EXTEND # ENTERED FROM TVCINITIALIZE AND TVCEXEC MP 2PI/M # 2PI/M SCALED 1/(B+8 N M) DDOUBL # IXX SCALED B+20 KG-MSQ DDOUBL DDOUBL TS 1/CONACC # SCALED B+9 SEC-SQ/REV +7 CAE KTLX/I # ENTRY FROM CSM/LM V46 SWITCH-OVER EXTEND # SCALED (B+3 ASCREV) 1/SECSQ MP IAVG/TLX # SCALED B+2 SECSQ DDOUBL DDOUBL TS VARK # SCALED (B+3 ASCREV) TC Q CSMN10 DEC .99999 # N10 CSM ONLY FILTER COEFFICIENTS DEC -.2549 # N11/2 DEC .0588 # N12 DEC -.7620 # D11/2 DEC .7450 # D12 DEC .99999 # N20 DEC -.4852 # N21/2 DEC 0 # N22 DEC -.2692 # D22/2 DEC 0 # D22 LBN10 DEC +.99999 # N10 LOW BANDWIDTH FILTER COEFFICIENTS DEC -.3285 # N11/2 DEC -.3301 # N12 DEC -.9101 # D11/2 DEC +.8460 # D12 DEC +.03125 # N20 DEC 0 # N21/2 DEC 0 # N22 DEC -.9101 # D21/2 DEC +.8460 # D22 DEC +.5000 # N30 DEC -.47115 # N31/2 DEC +.4749 # N32 DEC -.9558 # D31/2 DEC +.9372 # D32 CSMCFADR GENADR CSMN10 # CSM ONLY COEFFICIENTS ADDRESS HBCFADR GENADR HBN10 # HIGH BANDWIDTH COEFFICIENTS ADDRESS # Page 944 LBCFADR GENADR LBN10 # LOW BANDWIDTH COEFFICIENTS ADDRESS NZERO DEC 51 # MUST BE ODD FOR MRCLEAN NZEROJR DEC 23 # MUST BE ODD FOR MCLEANJR ATTLIM DEC 0.00833 # INITIAL ATTITUDE ERROR LIMIT (1.5 DEG) 1/ATTLIM DEC 0.007325 # .007325(ERROR) = 0 IF ERROR < 1.5 DEG TCORR OCT 00005 # CSM +1 OCT 00000 # CSM/LM (HB,LB) FKPRIMDT DEC .0102 # CSM/LM (LB), (.05 X .08) SCALED AT PI/8 FREPFRAC DEC .0375 B-2 # CSM/LM (LB), 0.0375 SCALED AT B+2 NINETEEN = VD1 2PI/M DEC .00331017 B+8 # 2PI/M, SCALED AT 1/(B+8 N-M) ONETHOU DEC 1000 B-13 # KG/CS B3 TO KG/10SEC B16 CONVERSION EBANK= BZERO DAPINIT5 2CADR DAPINIT EBANK= BZERO INITLOC2 2CADR TVCINIT1 ================================================ FILE: Comanche055/TVCMASSPROP.agc ================================================ # Copyright: Public domain. # Filename: TVCMASSPROP.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 951-955 # Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the # same name, using Comanche055 page images. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 951 # PROGRAM NAME....MASSPROP # LOG SECTION....TVCMASSPROP PROGRAMMER...MELANSON (ENGEL, SCHLUNDT) # # # FUNCTIONAL DESCRIPTION: # # MASSPROP OPERATES IN TWO MODES:(1)IF LEM MASS OR CONFIGURATION ARE UPDATED (MASSPROP DOES NOT TEST # FOR THIS) THE ENTIRE PROGRAM MUST BE RUN THROUGH, BREAKPOINT VALUES AND DERIVATIVES OF THE OUTPUTS WITH # RESPECT TO CSM MASS BEING CALCULATED PRIOR TO CALCULATION OF THE OUTPUTS. (2)OTHERWISE, THE OUTPUTS CAN BE # CALCULATED USING PREVIOUSLY COMPUTED BREAKPOINT VALUES AND DERIVATIVES. # # CALLING SEQUENCES # # IF LEM MASS OR CONFIGURATION HAS BEEN UPDATED, TRANSFER TO MASSPROP, OTHERWISE TRANSFER TO FIXCW. # L TC BANKCALL OR IBNKCALL # L+1 CADR MASSPROP # OR # L+1 CADR FIXCW # # L+2 RETURNS VIA Q # # CALLED IN PARTICULAR BY DONOUN47 (JOB) AND TVCEXECUTIVE (TASK) # # JOBS OR TASKS INITIATED - NONE # # SUBROUTINES CALLED - NONE # # ERASABLE INITIALIZATION REQUIRED # # LEMMASS MUST CONTAIN LEM MASS SCALED AT B+16 KILOGRAMS # CSMMASS MUST CONTAIN CSM MASS SCALED AT B+16 KILOGRAMS # # DAPDATR1 MUST BE SET TO INDICATE VEHICLE CONFIGURATION. # BITS (15,14,13) = ( 0 , 0 , 1 ) LEM OFF # ( 0 , 1 , 0 ) LEM ON (ASCNT,DSCNT) # ( 1 , 1 , 0 ) LEM ON (ASCNT ONLY) # # # ALARMS - NONE # # EXIT - TC Q # # OUTPUTS: # # (1)IXX, SINGLE PRECISION SCALED AT B+20 IN KG-M SQ. # (2)IAVG, SINGLE PRECISION SCALED AT B+20 IN KG-M SQ. # (3)IAVG/TLX, SINGLE PRECISION, SCALED AT B+2 SEC-SQD # THEY ARE STORED IN CONSECUTIVE REGISTERS IXX0, IXX1, IXX2 # # CONVERSION FACTOR : (SLUG-FTSQ) = 0.737562 (KG-MSQ) # Page 952 # # OUTPUTS ARE CALCULATED AS FOLLOWS: # # (1) IF LEM DOCKED, LEMMASS IS FIRST ELIMINATED AS A PARAMETER # # VARST0 = INTVALUE0 + LEMMASS(SLOPEVAL0) IXX BREAKPOINT VALUE # VARST1 = INTVALUE1 + LEMMASS(SLOPEVAL1) IAVG BREAKPOINT VALUE # VARST2 = INTVALUE2 + LEMMASS(SLOPEVAL2) IAVG/TLX BREAKPOINT VALUE # # VARST3 = INTVALUE3 + LEMMASS(SLOPEVAL3) IAVG/TLX SLOPE FOR CSMMASS > 33956 LBS ( SPS > 10000 LBS) # VARST4 = INTVALUE4 + LEMMASS(SLOPEVAL4) IAVG SLOPE FOR CSMMASS > 33956 LBS ( SPS > 10000 LBS) # # VARST5 = INTVALUE5 + LEMMASS(SLOPEVAL5) IXX SLOPE FOR ALL VALUES OF CSMMASS # # VARST6 = INTVALUE6 + LEMMASS(SLOPEVAL6) IAVG SLOPE FOR CSMMASS < 33956 LBS ( SPS < 10000 LBS) # VARST7 = INTVALUE7 + LEMMASS(SLOPEVAL7) IAVG/TLX SLOPE FOR CSMMASS < 33956 LBS ( SPS < 10000 LBS) # # VARST8 = INTVALUE8 + LEMMASS(SLOPEVAL8) IAVG DECREMENT TO BRKPT VALUE WHEN LEM DSCNT STAGE OFF # VARST9 = INTVALUE9 + LEMMASS(SLOPEVAL9) IAVG/TLX DECREMENT TO BRKPT VALUE WHEN LEM DSCNT STAGE OFF # # (2) IF LEM NOT DOCKED # # VARST0 = NOLEMVAL0 WHERE THE MEANING AND SCALING OF VARST0 # . . TO VARST9 ARE THE SAME AS GIVEN ABOVE # . . # . . NOTE... FOR THIS CASE, VARST8,9 HAVE NO # VARST9 = NOLEMVAL9 MEANING (THEY ARE COMPUTED BUT NOT USED) # # (3) THE FINAL OUTPUT CALCULATIONS ARE THEN DONE # # IXX0 = VARST0 + (CSMMASS + NEGBPW)VARST5 IXX # # IXX1 = VARST1 + (CSMMASS + NEGBPW)VARST(4 OR 6) IAVG # # IXX2 = VARST2 + (CSMMASS + NEGBPW)VARST(3 OR 7) IAVG/TLX # # # THE DATA USED CAME FROM CSM/LM SPACECRAFT OPERATIONAL DATA BOOK. # VOL. 3, NASA DOCUMENT SNA-8-D-027 (MARCH 1968) # # PERTINENT MASS DATA : CSM WEIGHT (FULL) 64100 LBS. # (EMPTY) 23956 LBS. # LEM WEIGHT (FULL) 32000 LBS. # (EMPTY) 14116 LBS. # # (WEIGHTS ARE FROM AMENDMENT #1 (APRIL 24,1968) TO ABOVE DATA BOOK) # Page 953 BANK 25 SETLOC DAPMASS BANK EBANK= BZERO COUNT* $$/MASP MASSPROP CAF NINE # MASSPROP USES TVC/RCS INTERRUPT TEMPS TS PHI333 # SET UP TEN PASSES LEMTEST CAE DAPDATR1 # DETERMINE LEM STATUS MASK BIT13 EXTEND BZF LEMYES LEMNO INDEX PHI333 # LEM NOT ATTACHED CAF NOLEMVAL TCF STOINST LEMYES CAE LEMMASS # LEM IS ATTACHED DOUBLE EXTEND INDEX PHI333 MP SLOPEVAL DDOUBL INDEX PHI333 AD INTVALUE STOINST INDEX PHI333 # STORAGE INST BEGIN HERE TS VARST0 CCS PHI333 # ARE ALL TEN PASSES COMPLETED TCF MASSPROP +1 # NO - GO DECREMENT PHI333 DXTEST CCS DAPDATR1 # IF NEG, BIT15 IS 1, LEM DSCNT STAGE OFF TCF FIXCW TCF FIXCW DXCH VARST0 +8D DAS VARST0 +1 CA DXITFIX ADS VARST0 +7 FIXCW CAF BIT2 # COMPUTATION PHASE BEGINS HERE. SET UP TS PHI333 # THREE PASSES TS PSI333 CAE CSMMASS # GET DELTA CSM WEIGHT - SIGN DETERMINES AD NEGBPW # SLOPE LOCATIONS. DOUBLE TS TEMP333 # Page 954 EXTEND BZMF PEGGY # DETERMINE CORRECT SLOPE CAF NEG2 TS PHI333 PEGGY INDEX PHI333 # ALL IS READY - CALCULATE OUTPUTS NOW CAE VARST5 # GET SLOPE EXTEND MP TEMP333 # MULT BY DELTA CSM WEIGHT DOUBLE INDEX PSI333 AD VARST0 # ADD BREAKPOINT VALUE INDEX PSI333 TS IXX # ****** OUTPUTS (IXX0, IXX1, IXX2) ****** CCS PSI333 # BOOKKEEPING - MASSPROP FINISHED OR NOT TCF BOKKEP2 # NO - GO TAKE CARE OF INDEXING REGISTERS CAE DAPDATR1 # UPDATE WEIGHT/G MASK BIT14 CCS A CA LEMMASS AD CSMMASS TS WEIGHT/G # SCALED AT B+16 KILOGRAMS ENDMASSP TC Q BOKKEP2 TS PSI333 # REDUCE PSI BY ONE EXTEND DIM PHI333 TCF PEGGY # Page 955 NOLEMVAL DEC 25445 B-20 DEC 87450 B-20 DEC .30715 B-2 DEC 1.22877 E-5 B+12 DEC 1.6096 B-6 DEC 1.54 B-6 DEC 7.77177 B-6 DEC 3.46458 E-5 B+12 INTVALUE DEC 26850 B-20 DEC 127518 B-20 DEC .54059 B-2 DEC .153964 E-4 B+12 DEC -.742923 B-6 DEC 1.5398 B-6 DEC 9.68 B-6 DEC .647625 E-4 B+12 DEC -27228 B-20 DEC -.206476 B-2 SLOPEVAL DEC 1.96307 B-6 DEC 27.5774 B-6 DEC 2.3548 E-5 B+12 DEC 2.1777 E-9 B+26 DEC 1.044 E-3 B+8 DEC 0 DEC 2.21068 E-3 B+8 DEC 1.5166 E-9 B+26 DEC -1.284 B-6 DEC 2 E-5 B+12 NEGBPW DEC -15402.17 B-16 DXITFIX DEC* -1.88275 E-5 B+12* ================================================ FILE: Comanche055/TVCRESTARTS.agc ================================================ # Copyright: Public domain. # Filename: TVCRESTARTS.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 956-960 # Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the # same name, using Comanche055 page images. # 2009-05-20 RSB Corrections: TCF -> BZF in one place. # 2009-05-21 RSB In PHSCHK2, CS TVCPHASE corrected to # CCS TVCPHASE and CCS 4 corrected to CCS A. # Page 924 corrected to 961. CORCOPY +2 # corrected to CORCOPY +1. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 956 # NAME....TVCRESTART PACKAGE, CONSISTING OF REDOTVC, ENABL1, 2, CMDSOUT, PHSCHK2, ETC. # LOG SECTION...TVCRESTARTS SUBROUTINE....DAPCSM # MODIFIED BY SCHLUNDT 21 OCTOBER 1968 # FUNCTIONAL DESCRIPTION.... # # *RESTART-PROOFS THE TVC DAPS, INCLUDING PITCHDAP, YAWDAP, # TVCEXECUTIVE, ROLLDAP, TVCINIT4, TVCDAPON, AND CSM/LM V46 SWTCHOVR. # *TVC RESTARTS DESERVE SPECIAL CONSIDERATION IN SEVERAL AREAS. # RESTART DOWN-TIME IS IMPORTANT BECAUSE OF THE TRANSIENTS INTRODUCED # BY THE THRUST VECTOR RETURN TO THE ACTUATOR MECHANICAL NULLS # FOLLOWING TVC- AND OPTICS-ERROR-COUNTER-DISENABLES (CHANNEL 12). # TVC USES A MIXTURE OF WAITLIST, T5, T6, AND JOB CALLS. THERE IS # FILTER MEMORY (UP TO 6TH ORDER) TO BE PROTECTED IF WILD TRANSIENTS # ARE TO BE AVOIDED. COUNTERS ARE INVOLVED FOR ONE-SHOT # CORRECTIONS AND GAIN UPDATES. THE GIMBAL TRIM ESTIMATORS AND THE # BODY AXIS ATTITUDE ERROR INTEGRATORS INVOLVE DIGITAL SUMMATION. # DIGITAL DIFFERENTIATORS ARE INVOLVED IN THE BODY AXIS RATE ESTIMA- # TIONS AND IN THE OUTPUTTING OF ACTUATOR COMMANDS. THERE IS AN # OFFSET-TRACKER-FILTER TO PROTECT. ETC., ETC. # *THOSE QUANTITIES WHICH MUST BE PROTECTED ARE STORED IN TEMPORARY # REGISTERS AS THEY ARE COMPUTED, FOR UPDATING THE REAL REGISTERS # DURING COPYCYCLES. # *THE SEVERAL COPYCYCLES ARE EACH PROTECTED BY PHASE POINTS AT THEIR # BEGINNING AND AT THEIR TERMINATION. THE PHASE POINTS ARE SIMPLY # ..INCR.. INSTRUCTIONS, EITHER ..INCR TVCEXPHS.. FOR COPYCYCLES # IN THE TVCEXECUTIVE, OR ..INCR TVCPHASE.. FOR THE PITCH AND YAW # COPYCYCLES. INDEXING ON EACH OF THESE POINTERS THEN PERMITS A # RETURN TO THE APPROPRIATE RESTART POINTS. # *IF A RESTART OCCURS DURING EITHER COPYCYCLE, THAT COPYCYCLE IS # COMPLETED. THEN THE NORMAL TVCINIT4....DAPINIT....PITCHDAP STARTUP # SEQUENCE IS CALLED UPON TO GET THINGS GOING AGAIN. # *TVC-ENABLE AND OPTICS-ERROR-COUNTER ENABLE MUST BE SET ASAP # (ALLOWING FOR PROCEDURAL DELAYS). THEN THE ENGINES ARE COMMANDED # TO THE P,YACTOFF TRIM VALUES. THE DAPS ARE THEN READY TO GO ON THE # AIR, WITH THE REGULAR STARTUP SEQUENCE, EITHER AT MRCLEAN FOR A # COMPLETE INITIALIZATION OR AT TVCINIT4 FOR A PARTIAL INITIALIZATION # *FOR RESTARTS PRIOR TO THE SETTING OF THE T5 BITS AT DOTVCON THE # PRE40.6 SECTION OF S40.6 TAKES CARE OF RE-ESTABLISHING TRIMS. # *IF A RESTART OCCURS DURING THE TVCEXEC....TVCEXFIN SEQUENCE THE # COMPUTATIONS WILL BE COMPLETED, STARTING AT THE APPROPRIATE RESTART # POINT, AFTER THE DAPS ARE READY TO GO ON THE AIR. # *IF A RESTART OCCURS PRIOR TO TVCINIT4 (TVCPHASE = -1) E.G. DURING # THE EARLY DAP INITIALIZATION PHASE, THE DAP STARTUP SEQUENCE IS # ENTERED AT MRCLEAN FOR A FULL INITIALIZATION. # *FOR RESTARTS DURING CSM/LM V46 SWITCH-OVER, TVCPHASE IS SET TO -2, # AND THE RESTART LOGIC GOES BACK TO REDO SWITCH-OVER (AFTER THE # NORMAL DAP RESTART SEQUENCE IS FOLLOWED). # *RESTARTS ARE NOT CRITICAL TO THE ROLL DAP PERFORMANCES HENCE THE # ROLL DAP IS MERELY RESTARTED. # *RESTARTS DURING A STROKE TEST (STROKER IS NON-ZERO) WILL CAUSE THE # Page 957 # STROKE TEST TO BE TERMINATED. A NEW V68 ENTRY WILL BE REQUIRED # TO GET IT GOING AGAIN (NO AUTOMATIC RESTART). # *REDOTVC IS REACHED FOLLOWING ANY RESTART WHICH FINDS THE T5 BITS # (BITS 15,14 OF FLAGWRD6) SET FOR TVC. DOTVCON SETS TVCPHASE = -1 # AND TVC EXPHS = 0 JUST BEFORE SETTING THESE BITS, JUST BEFORE # MAKING THE T5 CALL TO TVCDAPON. ON A NORMAL SHUTDOWN DOTVCRCS # CALLS RCSDAPON, WHICH RESETS THE T5 BIT FOR RCS. # CALLING SEQUENCE....T5, IN PARTICULAR BY ELRSKIP OF FRESH START/RESTART # # NORMAL EXIT MODES....RESUME, NOQRSM, POSTJUMP (TO TVCINIT4 OR MRCLEAN) # # ALARM OR ABORT EXIT MODES....NONE # # SUBROUTINES CALLED.... # # *PCOPY+1, YCOPY+1 (PITCH AND YAW COPYCYCLES) # *ENABLE1,2, CMDSOUT (RE-ESTABLISH ACTUATOR TRIMS) # *MRCLEAN OR TVCINIT4 (TVCDAP INITIALIZATIONS) # *SWICHOVR +5 (CSM/LM V46 SWITCH-OVER) # *EXRSTRT AND TVCEXECUTIVE PHASE POINTS 1 THRU 6 # *WAITLIST, IBNKCALL, POSTJUMP, ISWCALL # # OTHER INTERFACES....DOTVCON AND RCSDAPON (T5 BITS), ELRSKIP (CALLS IT) # ERASABLE INITIALIZATION REQUIRED.... # # *T5 BITS (1,0), TVCPHASE (-2,-1,0,1,2,3), TVCEXPHS (1 THRU 6) # *TVC DAP VARIABLES # *OPERATIONS PERFORMED BY REDOTVC ARE BASED ON THE ASSUMPTION THAT # THE TVC DAPS ARE RUNNING NORMALLY # # OUTPUT.... # # *PITCH AND YAW TVC DAP COPYCYCLES COMPLETED IF INTERUPTED # *TVCEXECUTIVE COMPLETED IF INTERUPTED # *STROKE TEST TERMINATED IF INTERRUPTED # *CSM/LM V46 SWITCH-OVER REPEATED IF INTERRUPTED # *ACTUATOR TRIMS RE-ESTABLISHED (ACTUATORS BACK ON THE AIR) # *TVC DAP INITIALIZATION AS REQUIRED # *ALL TVC DAP OPERATIONS ON THE AIR # # DEBRIS....TVC TEMPORARIES IN EBANK6 # Page 958 BANK 16 SETLOC DAPROLL BANK EBANK= TVCPHASE COUNT* $$/RSRT REDOTVC LXCH BANKRUPT # TVC RESTART PACKAGE EXTEND QXCH QRUPT # ( ..TCR.. IN ..FINCOPY.. ) EXECPHS CCS TVCEXPHS # CHECK TVCEXECUTIVE PHASE TCF +2 # MUST RESTART TVCEXECUTIVE TCF TVCDAPHS # NO NEED TO RESTART TVCEXECUTIVE CAF NINE # 9CS DELAY TO FORCE EXRSTRT TO OCCUR TC WAITLIST # BEFORE PITCHDAP, AFTER CMDSOUT EBANK= TVCEXPHS 2CADR EXRSTRT TVCDAPHS CS OCT37776 # CHECK BITS 15 AND 1 OF TVCPHASE TO SEE MASK TVCPHASE # DAP RESTART LOCATION (-1,1,2,3) CCS A TCF FINCOPY # FINISH THE COPYCYCLE FIRST TCF ENABL1 # JUST PREPARE THE OUTCOUNTERS AND GO CS TVCPHASE # TEST FOR TVCPHASE = -2 MASK BIT2 # (THIS INDICATES RESTART OCCURRED EXTEND # DURING CSM/LM V46 SWITCH-OVER) BZF TRIM/CMD # NO. TVCPHASE = -1. RSTRT WAS IN TVCINIT ENABL1 CAF BIT8 # TVC ENABLE, FOLLOWED BY 40 MS (MIN) WAIT AD BIT11 # SET BIT FOR OPTICS-DAC-ENABLE ALSO EXTEND # (ENABL1 ENTERED FROM TVCDAPHS / FINCOPY) WOR CHAN12 CAF TVCADDR # WAIT. CALLING ENABL2 (BBCON THERE) TS T5LOC CAF TVCADDR +4 # 60 MS (TVCEXADR) TS TIME5 TCF RESUME ENABL2 LXCH BANKRUPT # CONTINUE PREPARATION OF OUTCOUNTERS CAF BIT2 # OPTICS ERROR CNTR ENABLE. 4MS MIN WAIT EXTEND WOR CHAN12 # Page 959 CAF TVCADDR +2 # WAIT, CALLING CMDSOUT (BBCON THERE) TS T5LOC CAF OCT37776 # 20MS TS TIME5 TCF NOQRSM CMDSOUT LXCH BANKRUPT # CONTINUE PREPARATION OF OUTCOUNTERS EXTEND QXCH QRUPT CS ZERO # MOST RECENT ACTUATOR COMMANDS AD PCMD # (AVOID +0) TS TVCPITCH CS ZERO AD YCMD TS TVCYAW CAF PRIO6 # RELEASE THE COUNTERS (BITS 11,12) EXTEND WOR CHAN14 PHSCHK2 CCS TVCPHASE # CHECK TVCPHASE AGAIN TCF CHKSTRK TCF CHKSTRK CCS A # A CONTAINS THE DIMINISHED ABSOLUTE OF TC +3 # TVCPHASE (-2 BECOMES +1, -1 BECOMES +0) TC POSTJUMP # REPEAT TVC INITIALIZATION CADR MRCLEAN # (DO NOT RETURN) +3 TC IBNKCALL # REPEAT CSM/LM V46 SWITCH-OVER CADR SWICHOVR +5 # (RETURN TO CHECK FOR STROKE TEST) CHKSTRK CCS STROKER # CHECK FOR STROKE TEST IN PROGRESS TCF TSTINITJ # YES, KILL IT TCF +2 # NO, PROCEED TCF TSTINITJ # YES, KILL IT +4 TC POSTJUMP # IF POSITIVE OR ZERO, RESTART AT CADR TVCINIT4 # TVCINIT4 (ZEROS TVCPHASE, AND # CALLS TVC DAPS VIA DAPINIT) FINCOPY INDEX TVCPHASE # PICK UP THE APPROPRIATE COPYCYCLE CAF TVCCADR TCR ISWCALL # RE-ENTER THE COPYCYCLE, RETURN AT END TCF ENABL1 # NOW PREPARE THE OUTCOUNTERS TRIM/CMD EXTEND # TVCDAPON INITIALIZATION NOT COMPLETED, # Page 960 DCA PACTOFF # EG. P,YCMD MAY NOT BE SET. SET... DXCH PCMD TCF ENABL1 # NOW PREPARE THE OUTCOUNTERS TSTINITJ CAF ZERO # DISABLE STROKE TEST (-0 SHOWS PRIOR V68) TS STROKER # (+0 MEANS NEW V68 REQUIRED FOR STARTUP) TCF CHKSTRK +4 EXRSTRT INDEX TVCEXPHS # TVCEXECUTIVE RESTARTS....GO TO CAF TVCEXADR # APPROPRIATE RESTART POINT INDEX A TCF 0 # TVC RESTART TABLES.... ORDER IS REQUIRED. HI-ORDER WORDS ONLY, OF 2CADRS, SINCE BBCON IS ALREADY THERE. TVCADDR = TVCCADR # TABLE OF CADRS, UNUSED LOCS FOR GENADRS TVCCADR GENADR ENABL2 # (FOR T5 CALL, UNUSED TABLE LOC) +1 CADR PCOPY +1 # PITCH COPYCYCLE +2 GENADR CMDSOUT # (FOR T5 CALL, UNUSED TABLE LOC) +3 CADR YCOPY +1 # YAW COPYCYCLE TVCEXADR OCT 37772 # (UNUSED TABLE LOC, FILL WITH 60MS, T5) +1 GENADR EXECCOPY +1 # TVCEXECUTIVE RESTART POINTS (ORDERED) +2 GENADR 1SHOTCHK +3 GENADR TEMPSET +4 GENADR CORSETUP +5 GENADR CORCOPY +1 +6 GENADR CNTRCOPY ================================================ FILE: Comanche055/TVCROLLDAP.agc ================================================ # Copyright: Public domain. # Filename: TVCROLLDAP.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 984-998 # Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the # same name, using Comanche055 page images. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 984 # PROGRAM NAME...TVC ROLL AUTOPILOT # LOG SECTION...TVCROLLDAP SUBROUTINE...DAPCSM # MOD BY SCHLUNDT 21 OCTOBER 1968 # FUNCTIONAL DESCRIPTION.... # *AN ADAPTATION OF THE LEM P-AXIS CONTROLLER # *MAINTAIN OGA WITHIN 5 DEG DEADBND OF OGAD, WHERE OGAD = OGA AS SEEN # BY IGNITION (P40) # *MAINTAIN OGA RATE LESS THAN 0.1 DEG/SEC LIMIT CYCLE RATE # *SWITCHING LOGIC IN PHASE PLANE.... SEE GSOP CHAPTER 3 # *USES T6 CLOCK TO TIME JET FIRINGS # *MAXIMUM JET FIRING TIME = 2.56 SECONDS, LIMITED TO 2.5 IF GREATER # *MINIMUM JET FIRING TIME = 15 MS # *JET PAIRS FIRE ALTERNATELY # *AT LEAST 1/2 SECOND DELAY BEFORE A NEW JET PAIR IS FIRED # *JET FIRINGS MAY NOT BE EXTENDED, ONLY SHORTENED, WHEN RE-EVALUATION # OF A JET FIRING TIME IS MADE ON A LATER PASS # CALLING SEQUENCE.... # *ROLLDAP CALL VIA WAITLIST, IN PARTICULAR BY TVCEXEC (EVERY 1/2 SEC) # WITH A 3CS DELAY TO ALLOW FREE TIME FOR OTHER RUPTS (DWNRPT, ETC.) # NORMAL EXIT MODES.... ENDOFJOB # ALARM OR ABORT EXIT MODES.... NONE # SUBROUTINES CALLED.....NONE # OTHER INTERFACES.... # *TVCEXEC SETS UP ROLLDAP TASK EVERY 1/2 SECOND AND UPDATES 1/CONACC # EVERY 10 SECONDS (VIA MASSPROP AND S40.15) # *RESTARTS SUSPEND ROLL DAP COMPUTATIONS UNTIL THE NEXT 1/2 SEC # SAMPLE PERIOD. (THE PART OF TVCEXECUTIVE THAT CALLS ROLL DAP IS # NOT RESTARTED.) THE OGAD FROM IGNITION IS MAINTAINED. # ERASABLE INITIALIZATION REQUIRED.... # *1/CONACC (S40.15) # *OGAD (CDUX AT IGNITION) # *OGANOW (CDUX AT TVCINIT4 AND TVCEXECUTIVE) # *OGAPAST (OGANOW AT TVCEXECUTIVE) # *ROLLFIRE = TEMREG = ROLLWORD = 0 (MRCLEAN LOOP IN TVCDAPON) # # OUTPUT.... # *ROLL JET PAIR FIRINGS # Page 985 # DEBRIS.... MISCELLANEOUS, SHAREABLE WITH RCS/ENTRY, IN EBANK6 ONLY # Page 986 # SOME NOTES ON THE ROLL AUTOPILOT, AND IN PARTICULAR, ON ITS SWITCHING # LOGIC. SEE SECTION THREE OF THE GSOP (SUNDISK/COLOSSUS) FOR DETAILS. # SWITCHING LOGIC IN THE PHASE PLANE.... # OGARATE # * # * # * * * * * * * * * * * * # * (REGION 1, SEE TEXT BELOW) # * * # * # * * * * * * * (COAST) * ...PARABOLA (SWITCHING = CONTROL) # * * . # * * * # * * (FIRE NEG ROLL JETS) # * * * # (-DB,+LMCRATE)....* * # * * * # * * OGAERROR # ************************************************************************ # * * (-AK, OGAERR) # * * * (REGION 6-PRIME) # * * (SEE TEXT BELOW) # * * * # * * ...STRAIGHT LINE # (FIRE POS ROLL JETS) * * * . # * (COAST) * # * * * * * * * * * * * # * -MINLIM # * * # * # * * * * * * * * * * * * * * * * # * -MAXLIM # * # * # SWITCHING PARABOLAS ARE CONTROL PARABOLAS, THUS REQUIRING KNOWLEDGE OF # CONTROL ACCELERATION CONACC, OR ITS RECIPROCAL, 1/CONACC, THE TVC # ROLL DAP GAIN (SEE TVCEXECUTIVE VARIABLE GAIN PACKAGE). JET # FIRING TIME IS SIMPLY THAT REQUIRED TO ACHIEVE THE DESIRED OGARATE, # SUBJECT TO THE LIMITATIONS DISCUSSED UNDER FUNCTIONAL DESCRIPTION, # ABOVE. # THE THREE CONTROL REGIONS (+, -, AND ZERO TORQUE) ARE COMPRIZED OF # TWELVE SUBSET REGIONS ( 1...6, AND THE CORRESPONDING 1-PRIME... # 6-PRIME ) SEE SECTION 3 OF THE GSOP (SUNDISK OR COLOSSUS) # Page 987 # # GIVEN THE OPERATING POINT NOT IN THE COAST REGION, THE DESIRED OGARATE # IS AT THE POINT OF PENETRATION OF THE COAST REGION BY THE CONTROL # PARABOLA WHICH PASSES THROUGH THE OPERATING POINT. FOR REGION 3 # DESIRED OGARATE IS SIMPLY +-MAXLIM. FOR REGIONS 1 OR 6 THE SOLUTION # TO A QUADRATIC IS REQUIRED (THE PENETRATION IS ALONG THE STRAIGHT # LINE OR MINLIM BOUNDRY SWITCH LINES). AN APPROXIMATION IS MADE # INSTEAD. TAKE AN OPERATING POINT IN REGION 6' . PASS A TANGENT TO # THE CONTROL PARABOLA THROUGH THE OPERATING POINT, AND FIND ITS # INTERSECTION WITH THE STRAIGHT LINE SECTION OF THE SWITCH CURVE... # THE INTERSECTION DEFINES THE DESIRED OGARATE. IF THE OPERATING POINT IS # CLOSE TO THE SWITCH LINE, THE APPROXIMATION IS QUITE GOOD (INDEED # THE APPROXIMATE AND QUADRATIC SOLUTIONS CONVERGE IN THE LIMIT AS # THE SWITCH LINE IS APPROACHED). IF THE OPERATING POINT IS NOT CLOSE # TO THE SWITCH LINE, THE APPROXIMATE SOLUTION GIVES VALID TREND # INFORMATION (DIRECTION OF DESIRED OGARATE) AT LEAST. THE # RE-EVALUATION OF DESIRED OGARATE IN SUBSEQUENT ROLL DAP PASSES (1/2 # SECOND INTERVALS) WILL BENEFIT FROM THE CONVERGENT NATURE OF THE # APPROXIMATION. # FOR LARGE OGAERROR THE TANGENT INTERSECTS +-MINLIM SWITCH BOUNDARY BEFORE # INTERSECTING THE STRAIGHT LINE SWITCH. HOWEVER THE MINLIM IS # IGNORED IN COMPUTING THE FIRING TIME, SO THAT THE EXTENSION (INTO # THE COAST REGION) OF THE STRAIGHT LINE SWITCH IS WHAT IS FIRED TO. # IF THE ROLL DAP FINDS ITSELF IN THE COAST REGION BEFORE REACHING # THE DESIRED INTERSECTION (IE. IN THE REGION BETWEEN THE MINLIM # AND THE STRAIGHT LINE SWITCH) IT WILL EXHIBIT NORMAL COAST-REGION # BEHAVIOR AND TURN OFF THE JETS. THE PURPOSE OF THIS FIRING POLICY # IS TO MAINTAIN STATIC ROLL STABILITY IN THE EVENT OF A JET # FAILED-ON. # WHEN THE OPERATING POINT IS IN REGION 1 THE SAME APPROXIMATION IS # MADE, BUT AT AN ARTIFICIALLY-CREATED OR DUMMY OPERATING POINT, # DEFINED BY.. OGAERROR = INTERSECTION OF CONTROL PARABOLA AND # OGAERROR AXIS, OGARATE = +-LMCRATE WHERE SIGN IS OPPOSITE THAT OF # REAL OPERATING POINT RATE. WHEN THE OPERATING POINT HAS PASSED # FROM REGION 1 TO REGION 6', THE DUMMY POINT IS NO LONGER REQUIRED, # AND THE SOLUTION REVERTS TO THAT OF A REGULAR REGION 6' POINT. # EQUATION FOR SWITCHING PARABOLA (SEE FIGURE ABOVE).... # 2 # SOGAERROR = (DB - (SOGARATE) (1/CONACC)/2) SGN(SOGARATE) # EQUATION FOR SWITCHING STRAIGHT LINE SEGMENT.... # SOGARATE = -(-SLOPE)(SOGAERROR) - SGN(SOGARATE) INTERCEP # WHERE INTERCEP = DB(-SLOPE) - LMCRATE # Page 988 # # EQUATION FOR INTERSECTION, CONTROL PARABOLA AND STRAIGHT SWITCH LINE.... # DOGADOT = NUM/DEN, WHERE # 2 # NUM = (-SLOPE)(OGARATE) (1/CONACC) # +SGN(DELOGA)(-SLOPE)(OGAERROR - SGN(DELOGA)(DB)) # +LMCRATE # DEN = (-SLOPE)(LMCRATE)(1/CONACC) - SGN(DELOGA) # 2 # DELOGA = OGAERROR - (DB - (OGADOT) (1/CONACC)/2) SGN(OGARATE) # FOR REGIONS 6 AND 6-PRIME USE ACTUAL OPERATING POINT (OGA, OGARATE) # FOR OGAERROR AND OGARATE IN THE INTERSECTION EQUATIONS ABOVE. # FOR REGIONS 1 AND 1-PRIME USE DUMMY OPERATING POINT FOR OGAERROR # AND OGARATE, WHERE THE DUMMY POINT IS GIVEN BY.... # OGAERROR= DELOGA + DB SGN(OGARATE) # OGARATE= -LMCRATE SGN(OGARATE) # # NOTE, OGAERROR = OGA - OGAD USES DUMMY REGISTER OGA IN ROLL DAP CODING # ALSO, AT POINT WHERE DOGARATE IS COMPUTED, REGISTER DELOGA IS USED # AS A DUMMY REGISTER FOR THE OGAERROR IN THE NUM EQUATION ABOVE # Page 989 # ROLLDAP CODING.... SETLOC DAPROLL BANK EBANK= OGANOW COUNT* $$/ROLL ROLLDAP CAE OGANOW # OGA RATE ESTIMATOR...SIMPLE FIRST-ORDER EXTEND # DIFFERENCE (SAMPLE TIME = 1/2 SEC) MSU OGAPAST EXTEND MP BIT5 LXCH A TS OGARATE # SC.AT B-4 REV/SEC # COMPUTATIONS WHICH FOLLOW USE OGA FOR OGAERR (SAME REGISTER) # EXAMINE DURATION OF LAST JET FIRING IF JETS ARE NOW ON. DURATION CA ROLLFIRE # SAME SGN AS PRESENT TORQ,MAGN=POSMAX EXTEND BZF +2 # ROLL JETS ARE NOW OFF. TCF ROLLOGIC # ENTER LOGIC,JETS NOW ON. CAE TEMREG # EXAMINE LAST FIRING INTERVAL EXTEND # IF POSITIVE, DONT FIRE BZF ROLLOGIC # ENTER LOGIC, JETS NOW OFF. CAF ZERO # JETS HAVE NOT BEEN OFF FOR 1/2 SEC. WAIT TS TEMREG # RESET TEMREG WAIT1/2 TCF TASKOVER # EXIT ROLL DAP # COMPUTE DB-(1/2 CONACC) (OGARATE)SQ (1/2 IN THE SCALING) ROLLOGIC CS OGARATE # SCALED AT 2(-4) REV/SEC EXTEND MP 1/CONACC # SCALED AT 2(+9) SEC SQ /REV EXTEND MP OGARATE AD DB # SCALED AT 2(+0) REV TS TEMREG # QUANTITY SCALED AT 2(+0) REV. # GET SIGN OF OGARATE CA OGARATE EXTEND BZMF +3 # LET SGN(0) BE NEGATIVE CA BIT1 TCF +2 CS BIT1 TS SGNRT # + OR - 2(-14) # Page 990 # CALCULATE DISTANCE FROM SWITCH PARABOLA (DELOGA) EXTEND MP TEMREG # SGN(OGARATE) TEMREG NOW IN L CS L AD OGA # SCALED AT 2(+0) REV DELOGAC TS DELOGA # SC.AT B+0 REV, PLUS TO RIGHT OF C-PARAB # EXAMINE SGN(DELOGA) AND CREATE CA OR CS INSTR. DEPENDING UPON SIGN. EXTEND BZMF +3 CAF PRIO30 # =CA (30000) TCF +2 CAF BIT15 # =CS (40000) TS I INDEX I # TSET ON I SGN(OGARATE) 0 SGNRT # CA OR CS COM EXTEND REG1TST BZMF ROLLON # IF REGION 1 (DELOGA OGARATE SAME SIGN) # NO JET FIRE YET. TEST FOR MAX OGARATE INDEX I 0 OGARATE # CA OR CS...BOTH MUST BE NEG. HERE TS IOGARATE # I.E. I OGARATE AD MAXLIM # SCALED AT 2(-4) REV/SEC EXTEND REG3TST BZMF RATELIM # IF REGION 3 (RATES TOO HIGH, FIRE JETS) # COMPUTATION OF I((-SLOPE)OGA + OGARATE) - INTERCEPT..NOTE THAT STR. LINE # SWITCH SLOPE IS (SLOPE) DEG/SEC/DEG, A NEG QUANTITY CA OGARATE EXTEND MP BIT14 TS TEMREG CA OGA EXTEND MP -SLOPE DDOUBL DDOUBL DDOUBL # (OGA ERROR MUST BE LESS THAN +-225 DEG) AD TEMREG INDEX I 0 A # I((-SLOPE)OGA+OGARATE) AT 2(-3)REV/SEC COM # Page 991 AD INTERCEP # SCALED AT 2(-3) REV. COM EXTEND REG2TST BZMF NOROLL # IP REGION 2 (COAST SIDE OF STRT LINE) # CHECK TO SEE IF OGARATE IS ABOVE MINLIM BOUNDARY CA IOGARATE # ALWAYS NEGATIVE AD MINLIM # SCALED AT 2(-4) REV/SEC EXTEND REG4TST BZMF NOROLL # IF REGION 4 (COAST SIDE OF MINLIM) # ALL AREAS CHECKED EXCEPT LAST AREA...NO FIRE IN THIS SMALL SEGMENT INDEX I 0 OGA COM AD DB COM EXTEND REG5TST BZMF NOROLL # IF REGION 5 (COAST SIDE OF DB) # JETS MUST FIRE NOW.OGARATE IS NEG.(OR VICE VERSA).USE DIRECT STR. LINE. # DELOGA AND DELOGART ARE USED AS DUMMY VARIABLES IN THE SOLUTION OF A # STRAIGHT LINE APPROXIMATION TO A QUADRATIC SOLUTION OF THE INTERSECTION # OF THE CONTROL PARABOLA AND THE STRAIGHT-LINE SWITCH LINE. THE STRAIGHT # LINE IS THE TANGENT TO THE CONTROL PARABOLA AT THE OPERATING POINT. (FOR # OPERATING POINTS IN REGIONS 6 AND 6') REGION6 CAE OGA # USE ACTUAL OPERATING POINT FOR TANGENT TS DELOGA # ACTUAL STATE CA OGARATE TS DELOGART # ACTUAL STATE,I.E. DEL OGARATE TCF ONROLL # JETS ALSO FIRE FROM HERE EXCEPT OGARATE IS POS (VICE VERSA),USE INDIRECT # STRAIGHT LINE ESTABLISHED BY TANGENT TO A CONTROL PARABOLA AT ((DELOGA # + DB SGN(DELOGA) ), -LMCRATE SGN(DELOGA) ) (THIS IS THE DUMMY # OPERATING POINT FOR OPERATING POINTS IN REGIONS 1 AND 1' ) ROLLON INDEX I 0 DB ADS DELOGA # DELOGA WAS DIST. FROM SWITCH PARABOLA CS LMCRATE # LIMIT CYCLE RATE AT 2(-4) REV/SEC INDEX I 0 A TS DELOGART # EVALUATE STATE FOR INDIRECT LINE. # Page 992 # SOLVE STRAIGHT LINES SIMULTANEOUSLY TO OBTAIN DESIRED OGARATE. ONROLL EXTEND # DELOGART IN ACC. ON ARRIVAL MP 1/CONACC DOUBLE EXTEND MP -SLOPE TS TEMREG # 2(-SLOPE)RATE /CONACC EXTEND MP DELOGART TS DELOGART # 2(-SLOPE)(RATESQ)/CONACC CS BIT11 INDEX I 0 A RATEDEN ADS TEMREG # DENOMINATOR COMPLETED INDEX I 0 DELOGA COM AD DB COM EXTEND MP -SLOPE ADS DELOGART CA LMCRATE EXTEND MP BIT11 RATENUM AD DELOGART # NUMERATOR COMPLETED XCH L # PLACE NUMERATOR IN L FOR OVERFL. CHECK CA ZERO EXTEND DV TEMREG # OVERFLOW, IF ANYTHING, NOW APPEARS IN A EXTEND BZF DVOK # NO OVERFLOW....(0,L)/TEMREG = 0,L MINLIMAP CCS A CAF POSMAX # POSITIVE OVERFLOW TCF ROLLSET CS POSMAX # NEGATIVE OVERFLOW TCF ROLLSET DVOK LXCH A # PUT NUMERATOR BACK INTO A, 0 INTO L EXTEND DV TEMREG # RESULT OF DIVISION IS DESIRED OGARATE TCF ROLLSET # ( SCALED AT B-4 REV/SEC ) RATELIM CS MAXLIM INDEX I # Page 993 0 A # IF I = CA, DESIRED RATE IS -MAXLIM # COMPUTE JET FIRE TIME, BASED ON DESIRED RATE MINUS PRESENT RATE ROLLSET TS TEMREG # STORE DESIRED OGARATE (SCALED B-4) EXTEND SU OGARATE # RATE DIFF. SCALED AT 2(-4) REV/SEC TS TEMREG # OVERFLOW PROTECT TCF +3 # " " INDEX A # " " CS LIMITS # " " EXTEND MP T6SCALE # T6SCALE = 8/10.24 EXTEND MP 1/CONACC # SCALED AT B+9 SECSQ/REV (MAX < .60) DDOUBL DDOUBL TS TEMREG # OVERFLOW PROTECT TCF +3 # " " INDEX A # " " CS LIMITS # " " TS TEMREG # JET FIRE TIME AT 625 MICROSEC/BIT EXTEND # POS MEANS POSITIVE ROLL TORQUE. BZF NOROLL # JET FIRE TIME IS NZ, TEST FOR JETS NOW ON. CAE TEMREG # DESIRED CHANGE IN OGARATE EXTEND MP ROLLFIRE # (SGN OF TORQUE..ZERO IF JETS NOW OFF) CCS A TCF MOREROLL # CONTINUE FIRING WITH PRESENT POLARITY TCF NEWROLL # START NEW FIRING NOW, PLUS TCF NOROLL # TERMINATE OLD FIRING, NEW SIGN REQUESTED TCF NEWROLL # START NEW FIRING NOW, MINUS # CONTINUE PRESENT FIRING MOREROLL CAF ZERO TS I # USE TEMP. AS MOREROLL SWITCH TCF MAXTFIRE # START NEW FIRING BUT CHECK IF GREATER THAN MIN FIRE TIME. NEWROLL CCS TEMREG # CALL THIS T6FIRE AD ONE TCF +2 AD ONE COM # -MAG(T6FIRE) AD TMINFIRE # TMINFIRE-MAG(T6FIRE) # Page 994 COM EXTEND MINTST BZMF NOROLL # IF NOT GREATER THAN TMINFIRE (NEW FIRE) # PROCEED WITH NEW FIRING BUT NOT LONGER THAN TMAXFIRE. MAXTFIRE CA TEMREG EXTEND MP 1/TMXFIR # I.E. 1/TMAXFIRE EXTEND MAXTST BZF NOMXFIRE # IF LESS THAN TMAXFIRE CCS A CAF TMAXFIRE # USE MAXIMUM TCF +2 CS TMAXFIRE # USE MAXIMUM TS TEMREG # SET UP SIGN OF REQUIRED TORQUE. NOMXFIRE CCS TEMREG # FOR TORQUE SIGN CA POSMAX # POSITIVE TORQUE REQUIRED TCF +2 CA NEGMAX # NEGATIVE TORQUE REQUIRED TS ROLLFIRE # SET ROLLFIRE FOR + OR - TORQUE COM # COMPLEMENT... POS. FOR NEG. TORQUE EXTEND BZMF +3 # POSITIVE TORQUE REQUIRED CS TEMREG TS TEMREG FIRELOOK CA I # IS IT MOREROLL EXTEND BZF FIREPLUG # YES TCF JETROLL # MAG(T6FIRE) NOW IN TEMREG FIREPLUG CAE TIME6 # CHECK FOR EXTENDED FIRING EXTEND SU TEMREG EXTEND EXTENTST BZMF TASKOVER # IF EXTENSION WANTED, DONT, EXIT ROLL DAP TCF JETROLL NOROLL CS ZERO # COAST....(NEG ZERO FOR TIME6) TS ROLLFIRE # NOTE, JETS CAN FIRE NEXT PASS TS TEMREG JETROLL EXTEND DCA NOROL1T6 # Page 995 DXCH T6LOC CA TEMREG # ENTER JET FIRING TIME TS TIME6 CA I # I=0 IF MOREROLL,KEEP SAME JETS ON EXTEND SAMEJETS BZF TASKOVER # IF JETS ON KEEP SAME JETS. EXIT ROLL DAP CCS ROLLFIRE TCF +TORQUE TCF T6ENABL TCF -TORQUE TCF T6ENABL # PROCEED WITH + TORQUE +TORQUE CA ROLLWORD # WHAT WAS THE LAST +TORQUE COMBINATION MASK BIT1 # WAS IT NO.9-11 EXTEND BZF NO.9-11 # NOT 9-11, SO USE IT THIS TIME NO.13-15 CS BIT1 MASK ROLLWORD TS ROLLWORD # CHANGE BIT 1 TO ZERO CAF +ROLL2 EXTEND WRITE CHAN6 TCF T6ENABL NO.9-11 CAF BIT1 # 1ST + JETS TO FIRE (MRCLEAN OS ROLLWORD) ADS ROLLWORD # CHANGE BIT 1 TO ONE CAF +ROLL1 EXTEND WRITE CHAN6 TCF T6ENABL -TORQUE CA ROLLWORD # WHAT WAS LAST -TORQUE COMBINATION MASK BIT2 # WAS IT NO.12-10 EXTEND BZF NO.12-10 # NOT 12-10, SO USE IT THIS TIME NO.16-14 CS BIT2 MASK ROLLWORD TS ROLLWORD # CHANGE BIT 2 TO ZERO CAF -ROLL2 EXTEND WRITE CHAN6 TCF T6ENABL NO.12-10 CAF BIT2 # 1ST -JETS TO FIRE (MRCLEAN OS ROLLWORD) # Page 996 ADS ROLLWORD # CHANGE BIT 2 TO ONE CAF -ROLL1 EXTEND WRITE CHAN6 T6ENABL CAF BIT15 EXTEND WOR CHAN13 RDAPEND TCF TASKOVER # EXIT ROLL DAP # Page 997 # THIS T6 TASK SHUTS OFF ALL ROLL JETS NOROLL1 LXCH BANKRUPT # SHUT OFF ALL (ROLL) JETS, (A T6 TASK CAF ZERO # CALLED BY ..JETROLL..) TS ROLLFIRE # ZERO INDICATES JETS NOW OFF EXTEND KILLJETS WRITE CHAN6 TCF NOQRSM # Page 998 # CONSTANTS FOR ROLL AUTOPILOT.... EBANK= BZERO NOROL1T6 2CADR NOROLL1 DB DEC .01388889 # DEAD BAND (5 DEG), SC.AT B+0 REV -SLOPE DEC 0.2 # -SWITCHLINE SLOPE(0.2 PER SEC) SC.AT B+0 # PER SEC LMCRATE DEC .00027778 B+4 # LIMIT CYCLE RATE (0.1 DEG/SEC) SC.AT # B-4 REV/SEC INTERCEP DEC .0025 B+3 # DB(-SLOPE) - LMCRATE, SC.AT B-3 REV/SC MINLIM DEC .00277778 B+4 # RATELIM,MIN (1DEG/SEC), SC.AT B-4 REV/SC 1/MINLIM DEC 360 B-18 # RECIPROCAL THEREOF, SHIFTED 14 RIGHT MAXLIM DEC .01388889 B+4 # RATELIM,MAX (5DEG/SEC), SC.AT B-4 REV/SC TMINFIRE DEC 1.5 B+4 # 15 MS (14MIN), SC.AT 16 BITS/CS TMAXFIRE DEC 250 B+4 # 2.5 SEC, SC.AT 16 BITS/CS 1/TMXFIR = BIT3 # RECIPROCAL THEREOF, SHIFTED 14 RIGHT, # ROUNDS TO OCT00004, SO ALLOWS 2.56 # SEC FIRINGS BEFORE APPLYING LIMIT T6SCALE = PRIO31 # (B+3) (16 BITS/CS) (100CS/SEC) +ROLL1 = FIVE # ONBITS FOR JETS 9 AND 11 +ROLL2 = OCT120 # ONBITS FOR JETS 13 AND 15 -ROLL1 = TEN # ONBITS FOR JETS 12 NAD 10 -ROLL2 OCT 240 # ONBITS FOR JETS 16 AND 14 ================================================ FILE: Comanche055/TVCSTROKETEST.agc ================================================ # Copyright: Public domain. # Filename: TVCSTROKETEST.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 979-983 # Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the # same name, using Comanche055 page images. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 979 # NAME STROKE TEST PACKAGE (INCLUDING INITIALIZATION PACKAGE) # LOG SECTION...TVCSTROKETEST SUBROUTINE...DAPCSM # MODIFIED BY SCHLUNDT 21 OCTOBER 1968 # # FUNCTIONAL DESCRIPTION.... # STROKE TEST PACKAGE GENERATES A WAVEFORM DESIGNED TO EXCITE BENDING # STRKTSTI (STROKE TEST INITIALIZATION) IS CALLED AS A JOB BY VB68. # IT INITIALIZES ALL ERASABLES REQD FOR A STROKE TEST, AND # THEN TESTS FOR CSM/LM (BIT 13 OF DAPDATR1). IF CSM/LM, # IN EITHER HIGH OR LOW-BANDWIDTH MODE, THE TEST IS STARTED # IMMEDIATELY. IF NOT CSM/LM, PROGRAM EXITS WITH NO ACTION. # HACK (STROKE TEST) GENERATES THE WAVEFORM BY DUMPING PULSE BURSTS # OF PROPER SIGN AND IN PROPER SEQUENCE DIRECTLY INTO # TVCPITCH, WORKING IN CONJUNCTION WITH BOTH PITCH AND YAW # TVC DAPS, WITH INTERMEDIATE WAITLIST CALLS. NOTE, HOWEVER # THAT THE STROKE TEST IS PERFORMED ONLY IN THE PITCH AXIS. # AN EXAMPLE WAVEFORM IS GIVEN BELOW, TO DEMONSTRATE STROKE- # TEST PARAMETER SELECTION. # RESTARTS CAUSE TEST TO BE TERMINATED. ANOTHER V68 REQD IF TEST # IS TO BE RE-RUN. # PULSE BURST SIZE IS PAD-LOADED (ESTROKER) SO THAT AMPLITUDE OF # WAVEFORM CAN BE CHANGED. THERE ARE TEN PULSE BURSTS IN # THE HALF-AMPLITUDE OF THE FIRST FREQUENCY SET IN THE # STANDARD WAVEFORM. AMPLITUDE IS 10(ESTROKER)(1/42.15), # NOMINALLY 50/42.15 = 1.185 DEG # # CALLING SEQUENCE.... # EXTENDED VERB 68 SETS UP STRKTSTI JOB # PITCH AND YAW TVCDAPS, FINDING STROKER NON-ZERO, DO A ..TC HACK.. # AN INTERNALLY-GENERATED WAITLIST CALL ENTERS AT ..HACKWLST.. # # NORMAL EXIT MODES.... # TC BUNKER (..Q.. IF ENTRY FROM DAP, ..TCTSKOVR.. IF FROM WAITLIST) LIST # # SUBROUTINES CALLED.... # WAITLIST # # ALARM OR ABORT EXIT MODES.... # NONE # # ERASABLE INITIALIZATION REQUIRED.... # ESTROKER (PAD-LOAD) # STROKER, CADDY, REVS, CARD, N # # OUTPUT.... # STRKTSTI...INITIALIZATION FOR STROKE TEST # HACK, HACKWLST...PULSE BURSTS INTO TVCPITCH VIA..ADS.. # RESETS STROKER = +0 WHEN TEST COMPLETED # # DEBRIS.... # N = CADDY = +0, CARD = -0, REVS = -1 # BUNKER # Page 980 # # EXAMPLE STROKE TEST WAVE FORM, DEMONSTRATING PARAMETER SELECTION # NOTE....THIS IS NOT THE OFFICIAL WAVEFORM.... # # ** ** # ** ** # ** ** EXAMPLE WAVEFORM (EACH * REPRESENTS # * * * * (85.41 ARCSEC OF ACTUATOR CMND) # * * * * # * * * * # * * * * ** ** ** ** ** # * * * * ** ** ** ** ** # * * * * ** ** ** ** ** # * * * * * * * * * * * * * * ** ** ** ** ** # * * * * * * * * * * * * * * ** ** ** ** ** # * * * * * * * * * * * * * * ** ** ** ** ** # ---------------------------------------------------------------------------------------------------- # * * * * * * * * * * * * * * ** ** ** ** ** # * * * * * * * * * * * * * * ** ** ** ** ** # * * * * * * * * * * * * * * ** ** ** ** ** # * * * * ** ** ** ** ** # * * * * ** ** ** ** ** # * * * * ** ** ** ** ** # * * * * # * * * * # * * * * # ** ** # ** ** # ** ** # # FOR THIS (UNOFFICIAL, EXAMPLE) WAVEFORM, THE REQUIRED PARAMETERS ARE AS FOLLOWS.... # # FCARD = +3 (NUMBER OF SETS) # ESTROKER = +3 (PULSE BURST SIZE, SC.AT 85.41 ARCSEC/BIT) # # SET1: # FREVS = +3 (NUMBER REVERSALS MINUS 1) # FCADDY = +4 (NUMBER OF PULSE BURSTS IN 1/2 AMPLITUDE) # SET2: # FCARD1 = +9 (NUMBER REVERSALS MINUS 1) # FCARD4 = +2 (NUMBER OF PULSE BURSTS IN 1/2 AMPLITUDE) # SET3: # FCARD2 = +9 (NUMBER REVERSALS MINUS 1) # FCARD5 = +1 (NUMBER OF PULSE BURSTS IN 1/2 AMPLITUDE) # SET4: # FCARD3 = +0 (NUMBER OF REVERSALS MINUS 1) # FCARD6 = +0 (NUMBER OF PULSE BURSTS IN 1/2 AMPLUTUDE) # Page 981 # STROKE TEST INITIALIZATION PACKAGE (AS A JOB, FROM VERB 68) BANK 17 SETLOC DAPS2 BANK COUNT* $$/STRK EBANK= CADDY STRKTSTI TCR TSTINIT # STROKE TEST INITIALIZATION PKG (CALLED # AS A JOB BY VERB68) STRKCHK INHINT CAE DAPDATR1 # CHECK FOR CSM/LM CONFIGURATION MASK BIT14 EXTEND BZF +3 CAE ESTROKER # BEGIN ON NEXT DAP PASS (PITCH OR YAW) TS STROKER # (STROKING DONE IN PITCH ONLY, HOWEVER) TCF ENDOFJOB TSTINIT CS FCADDY # NORMAL ENTRY FROM STRKTSTI TS CADDY TS N # NOTE SGN CHNG FCADDY(+) TO CADDY(-) CAF FREVS TS REVS CS FCARD # NOTE SGN CHNG FCARD(+) TO CARD(-) TS CARD TC Q # RETURN TO STRKTSTI+1 (OR CHKSTRK+2OR+4) # Page 982 # THE OFFICIAL STROKE TEST WAVEFORM (3 JAN, 1967) CONSISTS OF FOUR STROKE SETS, AS FOLLOWS.... # # SET 1...10 BURSTS IN 1/2 AMP, 4 REVERSALS # SET 2... 6 BURSTS IN 1/2 AMP, 6 REVERSALS # SET 3... 5 BURSTS IN 1/2 AMP, 10 REVERSALS # SET 4... 4 BURSTS IN 1/2 AMP, 14 REVERSALS # # THE PULSE BURST SIZE (ESTROKER) IS PAD-LOADED (5 BITS AS OF 3JAN,1967) # THE REMAINING WAVEFORM-GENERATING PARAMETERS ARE AS FOLLOWS.... FCADDY DEC 10 # NO. PULSE BURSTS IN 1/2 AMP, SET1..(+10) FREVS DEC 3 # NO. REVERSALS MINUS 1, SET1........( 3) FCARD DEC 4 # NO. STROKE SETS....................(+ 4) FCARD1 DEC 5 # NO. REVERSALS MINUS 1, SET2........( 5) FCARD2 DEC 9 # 3........( 9) FCARD3 DEC 13 # 4........( 13) FCARD4 DEC 6 # NO. PULSE BURSTS IN 1/2 AMP, SET2..(+ 6) FCARD5 DEC 5 # SET3..(+ 5) FCARD6 DEC 4 # SET4..(+ 4) 20MS = BIT2 # STROKE TEST PACKAGE PROPER.... EBANK= BUNKER HACK EXTEND # ENTRY (IN T5 RUPT) FROM TVCDAPS QXCH BUNKER # SAVE Q FOR DAP RETURN CAF 20MS # 2DAPSX2(PASSES/DAP)X2(CS/PASS)=8CS=TVCDT TC WAITLIST EBANK= BUNKER 2CADR HACKWLST TCF +3 HACKWLST CAF TCTSKOVR # ENTRY FROM WAITLIST TS BUNKER # BUNKER IS TC TASKOVER CA STROKER # STROKE ADS TVCPITCH CAF BIT11 # RELEASE THE ERROR COUNTERS EXTEND WOR CHAN14 INCR CADDY # COUNT DOWN THE NO. BURSTS, THIS SLOPE # Page 983 CS CADDY EXTEND BZMF +2 TC BUNKER # EXIT, WHILE ON A SLOPE CCS REVS TCF REVUP # POSITIVE REVS TCF REVUP +4 # FINAL REVERSAL, THIS SET INCR CARD # NEGATIVE REVS SET LAST PASS, READY FOR CS CARD # THE NEXT SET. CHECK IF NO MORE SETS EXTEND BZF STROKILL # ALL SETS COMPLETED INDEX CARD CAF FCARD +4 # PICK UP NO. REVERSALS (-), NEXT SET TS REVS # REINITIALIZE INDEX CARD CS FCARD +7 # PICK UP NO. BURSTS IN 1/2AMP, NEXT SET TS N # REINITIALIZE TS CADDY TC BUNKER # EXIT, AT END OF SET STROKILL TS STROKER # RESET (TO +0) TO END TEST TC BUNKER # EXIT, STROKE TEST FINIS REVUP TS REVS # ALL REVERSALS EXCEPT LAST OF SET CA N DOUBLE # 2 x 1/2AMP TCF +4 +4 CS ONE # FINAL REVERSAL, THIS SET TS REVS # PREPARE TO BRANCH TO NEW BURST CA N # JUST RETURN TO ZERO, FINAL SLOPE OF SET TS CADDY # CADUP CS STROKER # CHANGE SIGN OF SLOPE TS STROKER TC BUNKER # EXIT AT A REVERSAL (SLOPE CHANGE) ================================================ FILE: Comanche055/UPDATE_PROGRAM.agc ================================================ # Copyright: Public domain. # Filename: UPDATE_PROGRAM.agc # Purpose: Part of the source code for Comanche, build 055. It # is part of the source code for the Command Module's # (CM) Apollo Guidance Computer (AGC), Apollo 11. # Assembler: yaYUL # Reference: pp. 1497-1507 # Contact: Ron Burkey # Website: http://www.ibiblio.org/apollo. # Mod history: 2009-05-07 RSB Adapted from Colossus249/UPDATE_PROGRAM.agc # and page images. Corrected various typos # in the transcription of program comments, # and these should be back-ported to # Colossus249. # # The contents of the "Comanche055" files, in general, are transcribed # from scanned documents. # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. April 1, 1969. # # This AGC program shall also be referred to as Colossus 2A # # Prepared by # Massachusetts Institute of Technology # 75 Cambridge Parkway # Cambridge, Massachusetts # # under NASA contract NAS 9-4065. # # Refer directly to the online document mentioned above for further # information. Please report any errors to info@sandroid.org. # Page 1497 # PROGRAM NAME: P27 # WRITTEN BY: KILROY/ DE WOLF # # MOD NO: 0 # MOD BY: KILROY # DATE: 01DEC67 # # LOG SECTION: UPDATE PROGRAM. # # FUNCT. DESCR.: P27 (THE UPDATE PROGRAM) PROCESSES COMMANDS AND DATA # INSERTIONS REQUESTED BY THE GROUND VIA UPLINK. # THE P27 PROGRAM WILL ACCEPT UPDATES # ONLY DURING P00 FOR THE LM, AND ONLY DURING P00, # P02, AND FRESH START FOR THE CSM. # # CALLING SEQ: PROGRAM IS INITIATED BY UPLINK ENTRY OF VERBS 70, 71, 72, AND 73. # # SUBROUTINES: TESTXACT, NEWMODEX, NEWMODEX +3, GOXDSPF, BANKCALL, FINDVAC, INTPRET, INTSTALL, TPAGREE, # INTWAKEU, ENDEXT, POSTJUMP, FALTON, NEWPHASE, PHASCHNG # # NORMAL EXIT: TC ENDEXT # # ALARM/ABORT: TC FALTON FOLLOWED BY TC ENDEXT # # RESTARTS: P27 IS RESTART PROTECTED IN TWO WAYS ... # 1. PRIOR TO VERIFLAG INVERSION(WHICH IS CAUSED BY THE GROUND/ASTRONAUT'S VERIFICATION OF UPDATE # DATA BY SENDING A V33E WHEN V21N02 IS FLASHING)--- # NO PROTECTION EXCEPT PRE-P27 MODE IS RESTORED, COAST + ALIGN DOWNLIST IS SELECTED AND UPLINE # ACTIVITY LIGHT IS TURNED OFF.(JUST AS IF A V34E WAS SENT DURING P27 DATA LOADS). # V70,V71,V72 OR V73 WILL HAVE TO BE COMPLETELY RESENT BY USER. # 2. AFTER VERIFLAG INVERSION(WHEN UPDATE OF THE SPECIFIED ERASABLES IS BEING PERFORMED)--- # PROTECTED AGAINST RESTARTS. # # DEBRIS: UPBUFF (20D) TEMP STORAGE FOR ADDRESSES AND CONTENTS. # UPVERB (1) VERB NUMBER MINUS 70D (E.G. FOR V72, UPVERB = 72D - 70D = 2) # UPOLDMOD(1) FOR MAJOR MODE INTERRUPTED BY P27. # COMPNUMB(1) TOTAL NUMBER OF COMPONENTS TO BE TRANSMITTED. # UPCOUNT (1) ACTUAL NUMBER OF COMPONENTS RECEIVED. # UPTEMP (1) SCRATCH, BUT USUALLY CONTAINS COMPONENT NUMBER TO BE CHANGED DURING VERIFY CYCLE # # INPUT: # # ENTRY: DESCRIPTION # # V70EXXXXXEXXXXXE (LIFTOFF TIME INCREMENT) DOUBLE PRECISION OCTAL TIME INCREMENT, XXXXX XXXXX, # IS ADDED TO TEPHEM, SUBTRACTED FROM AGC CLOCK(TIME2,TIME1), SUBTRACTED FROM CSM STATE # VECTOR TIME(TETCSM) AND SUBTRACTED FROM LEM STATE VECTOR TIME(TETLEM). # THE DP OCTAL TIME INCREMENT IS SCALED AT 2(28). # Page 1498 # V71EIIEAAAAE (CONTIGUOUS BLOCK UPDATE) II-2 OCTAL COMPONENTS,XXXXX, # XXXXXE ARE LOADED INTO ERASABLE STARTING AT ECADR, AAAA. # XXXXXE IT IS .GE. 3 .AND. .LE. 20D., # AND (AAAA + II -3) DOES NOT PRODUCE AN ADDRESS IN THE # NEXT BANK. # . SCALING IS SAME AS INTERNAL REGISTERS. # # V72EIIE (SCATTER UPDATE) (II-1)/2 OCTAL COMPONENTS,XXXXX, ARE # AAAAEXXXXXE LOADED INTO ERASABLE LOCATIONS, AAAA. # AAAAEXXXXXE II IS .GE. 3 .AND. .LE. 19D, AND MUST BE ODD. # . SCALING IS SAME AS INTERNAL REGISTERS. # # V73EXXXXXEXXXXXE (OCTAL CLOCK INCREMENT) DOUBLE PRECISION OCTAL TIME # INCREMENT XXXXX XXXXX, IS ADDED TO THE AGC CLOCK, IN # CENTISECONDS SCALED AT (2)28. # THIS LOAD IS THE OCTAL EQUIVALENT OF V55. # # OUTPUT: IN ADDITION TO THE ABOVE REGISTER LOADS, ALL UPDATES # COMPLEMENT BIT3 OF FLAGWORD7. # # ADDITIONAL NOTES: VERB 71, JUST DEFINED ABOVE WILL BE USED TO PERFORM BUT NOT LIMITED TO THE FOLLOWING UPDATES -- # 1. CSM/LM STATE VECTOR UPDATE # 2. REFSMMAT UPDATE # # THE FOLLOWING COMMENTS DELINEATE EACH SPECIAL UPDATE --- # # 1. CSM/LM STATE VECTOR UPDATE(ALL DATA ENTRIES IN OCTAL) # ENTRIES: DATA DEFINITION: SCALE FACTORS: # V71E CONTIGUOUS BLOCK UPDATE VERB # 21E NUMBER OF COMPONENTS FOR STATE VECTOR UPDATE # AAAAE ECADR OF 'UPSVFLAG' # XXXXXE STATE VECTOR IDENTIFIER: 00001 FOR CSM, 77776 FOR LEM - EARTH SPHERE OF INFLUENCE SCALING # 00002 FOR CSM, 77775 FOR LEM - LUNAR SPHERE OF INFLUENCE SCALING # XXXXXEXXXXXE X POSITION # XXXXXEXXXXXE Y POSITION # XXXXXEXXXXXE Z POSITION # XXXXXEXXXXXE X VELOCITY # XXXXXEXXXXXE Y VELOCITY # XXXXXEXXXXXE Z VELOCITY # XXXXXEXXXXXE TIME FROM AGC CLOCK ZERO # V33E VERB 33 TO SIGNAL THAT THE STATE VECTOR IS READY TO BE STORED. # # 2. REFSMMAT(ALL DATA ENTRIES IN OCTAL) # ENTRIES: DATA DEFINITIONS: SCALE FACTORS: # Page 1499 # V71E CONTIGUOUS BLOCK UPDATE VERB # 24E NUMBER OF COMPONENTS FOR REFSMMAT UPDATE # AAAAE ECADR OF 'REFSMMAT' # XXXXXEXXXXXE ROW 1 COLUMN 1 2(-1) # XXXXXEXXXXXE ROW 1 COLUMN 2 2(-1) # XXXXXEXXXXXE ROW 1 COLUMN 3 2(-1) # XXXXXEXXXXXE ROW 2 COLUMN 1 2(-1) # XXXXXEXXXXXE ROW 2 COLUMN 2 2(-1) # XXXXXEXXXXXE ROW 2 COLUMN 3 2(-1) # XXXXXEXXXXXE ROW 3 COLUMN 1 2(-1) # XXXXXEXXXXXE ROW 3 COLUMN 2 2(-1) # XXXXXEXXXXXE ROW 3 COLUMN 3 2(-1) # V33E VERB 33 TO SIGNAL THAT REFSMMAT IS READY TO BE STORED. BANK 07 SETLOC EXTVERBS BANK EBANK= TEPHEM COUNT* $$/P27 V70UPDAT CAF UP70 # COMES HERE ON V70E TCF V73UPDAT +1 V71UPDAT CAF UP71 # COMES HERE ON V71E TCF V73UPDAT +1 V72UPDAT CAF UP72 # COMES HERE ON V72E TCF V73UPDAT +1 V73UPDAT CAF UP73 # COMES HERE ON V73E +1 TS UPVERBSV # SAVE UPVERB UNTIL IT'S OK TO ENTER P27 TC TESTXACT # GRAB DISPLAY IF AVAILABLE, OTHERWISE # TURN*OPERATOR ERROR* ON AND TERMINATE JOB CA MODREG # CHECK IF UPDATE ALLOWED EXTEND # FIRST CHECK FOR MODREG = +0, -0 BZF +2 # (+0 = P00, -0 = FRESH START) TC CKMDMORE # NOW CHECK FOR PROGRAM WHICH CAN BE # INTERRUPTED BY P27. CAE MODREG # UPDATE ALLOWED. TS UPOLDMOD # SAVE CURRENT MAJOR MODE # Page 1500 CAE UPVERBSV # SET UPVERB TO INDICDATE TO P27 TS UPVERB # WHICH EXTENDED VERB CALLED IT. CAF ONE TS UPCOUNT # INITIALIZE UPCOUNT TO 1 TC POSTJUMP # LEAVE EXTENDED VERB BANK AND CADR UPPART2 # GO TO UPDATE PROGRAM(P27) BANK. CKMDMORE CS FLAGWRD5 MASK BIT8 # CHECK IF COMPUTER IS LGC CCS A # IS COMPUER LGC OR AGC UPERLEM TCF UPERROR # ERROR- IT'S THE LEM + MODE IS NOT P00. CS TWO MASK MODREG CCS A UPERCMC TCF UPERROR # ERROR- IT'S THE CMC AND MODE IS NOT # P00 OR P02. TC Q # ALLOW UPDATE TO PROCEED UPERROR TC POSTJUMP # TURN ON 'OPERATOR ERROR' LIGHT CADR UPERROUT +2 # GO TO COMMON UPDATE PROGRAM EXIT SBANK= LOWSUPER UP70 EQUALS ZERO UP71 EQUALS ONE UP72 EQUALS TWO UP73 EQUALS THREE BANK 04 SETLOC UPDATE2 BANK COUNT* $$/P27 UPPART2 EQUALS # UPDATE PROGRAM - PART 2 TC PHASCHNG # SET RESTART GROUP 6 TO RESTORE OLD MODE OCT 07026 # AND DOWNLIST AND EXIT IF RESTART OCCURS. OCT 30000 # PRIORITY SAME AS CHRPRIO EBANK= UPBUFF 2CADR UPOUT +1 CAF ONE TS DNLSTCOD # DOWNLIST TC NEWMODEX # SET MAJOR MODE = 27 # Page 1501 DEC 27 INDEX UPVERB # BRANCH DEPENDING ON WHETHER THE UPDATE TCF +1 # VERB REQUIRES A FIXED OR VARIABLE NUMBER TCF +3 # V70 FIXED. (OF COMPONENTS. TCF OHWELL1 # V71 VARIABLE - GO GET NO. OF COMPONENTS TCF OHWELL1 # V72 VARIABLE - GO GET NO. OF COMPONENTS CA TWO # V73 (AND V70) FIXED TS COMPNUMB # SET NUMBER OF COMPONENTS TO 2. TCF OHWELL2 # GO GET THE TWO UPDATE COMPONENTS OHWELL1 CAF ADUPBUFF # * REQUEST USER TO SEND NUMBER * TS MPAC +2 # * OF COMPONENTS PARAMETER(II). * +2 CAF UPLOADNV # (CKV432 RETURNS HERE IF V32 ENCOUNTERED) TC BANKCALL # DISPLAY A FLASHING V21N01 CADR GOXDSPF # TO REQUEST II. TCF UPOUT4 # V34 TERMINATE UPDATE(P27) RETURN TCF OHWELL1 +2 TC CK4V32 # DATA OR V32 RETURN CS BIT2 AD UPBUFF # IS II(NUMBER OF COMPONENTS PARAMETER) EXTEND # .GE. 3 AND .LE. 20D. BZMF OHWELL1 +2 CS UPBUFF AD UP21 EXTEND BZMF OHWELL1 +2 CAE UPBUFF TS COMPNUMB # SAVE II IN COMPNUMB # UPBUFF LOADING SEQUENCE INCR UPCOUNT # INCREMENT COUNT OF COMPONENTS RECEIVED. OHWELL2 CAF ADUPBFM1 # CALCULATE LOCATION(ECADR) IN UPBUFF AD UPCOUNT # WHERE NEXT COMPONENT SHOULD BE STORED. +2 TS MPAC +2 # PLACE ECADR INTO R3. +3 CAF UPLOADNV # (CK4V32 RETURNS HERE IF V32 ENCOUNTERED) TC BANKCALL # DISPLAY A FLASHING V21N01 CADR GOXDSPF # TO REQUEST DATA. TCF UPOUT4 # V34 TERMINATE UPDATE(P27) RETURN. TCF OHWELL2 +3 # V33 PROCEED RETURN TC CK4V32 # DATA OR V32 RETURN CS UPCOUNT # HAVE WE FINISHED RECEIVING ALL AD COMPNUMB # THE DATA WE EXPECTED. EXTEND BZMF UPVERIFY # YES- GO TO VERIFICATION SEQUENCE TCF OHWELL2 -1 # NO- REQUEST ADDITIONAL DATA. # Page 1502 # VERIFY SEQUENCE UPVERIFY CAF ADUPTEMP # PLACE ECADR WHERE COMPONENT NO. INDEX TS MPAC +2 # IS TO BE STORED INTO R3. CAF UPVRFYNV # (CK4V32 RETURNS HERE IF V32 ENCOUNTERED) TC BANKCALL # DISPLAY A FLASHING V21N02 TO REQUEST CADR GOXDSPF # DATA CORRECTION OR VERIFICATION. TCF UPOUT4 # V34 TERMINATE UPDATE(P27) RETURN TCF UPSTORE # V33 DATA SENT IS GOOD. GO STORE IT. TC CK4V32 # COMPONENT NO. INDEX OR V32 RETURN CA UPTEMP # DOES THE COMPONENT NO. INDEX JUST SENT EXTEND # SPECIFY A LEGAL COMPONENT NUMBER? BZMF UPVERIFY # NO, IT IS NOT POSITIVE NONZERO CS UPTEMP AD COMPNUMB AD BIT1 EXTEND BZMF UPVERIFY # NO CAF ADUPBFM1 # YES- BASED ON THE COMPONENT NO. INDEX AD UPTEMP # CALCULATE THE ECADR OF LOCATION IN TCF OHWELL2 +2 # UPBUFF WHICH USER WANTS TO CHANGE. UPOUT4 EQUALS UPOUT +1 # COMES HERE ON V34 TC TERMINATE UPDATE # CHECK FOR VERB 32 SEQUENCE CK4V32 CS MPAC # ON DATA RETURN FROM 'GOXDSPF' MASK BIT6 # ON DATA RETURN FROM "GOXDSP"& THE CON- CCS A # TENTS OF MPAC = VERB. SO TEST FOR V32. TC Q # IT'S NOT A V32, IT'S DATA. PROCEED. INDEX Q TC 0 -6 # V32 ENCOUNTERED - GO BACK AND GET DATA ADUPTEMP ADRES UPTEMP # ADDRESS OF TEMP STORAGE FOR CORRECTIONS ADUPBUFF ADRES UPBUFF # ADDRESS OF UPDATE DATA STORAGE BUFFER UPLOADNV VN 2101 # VERB 21 NOUN 01 UPVRFYNV VN 2102 # VERB 21 NOUN 02 UP21 = MD1 # DEC 21 = MAX NO OF COMPONENTS +1 UPDTPHAS EQUALS FIVE # PRE-STORE AND FAN TO APPROPRIATE BRANCH SEQUENCE UPSTORE EQUALS # GROUND HAS VERIFIED UPDATE. STORE DATA. INHINT CAE FLAGWRD7 # INVERT VERIFLAG(BIT3 OF FLAGWRD7) TO XCH L # INDICATE TO THE GROUND(VIA DOWNLINK) CAF BIT3 # THAT THE V33(WHICH THE GROUND SENT TO # Page 1503 EXTEND # VERIFY THE UPDATE) HAS BEEN SUCCESSFULLY RXOR LCHAN # RECEIVED BY THE UPDATE PROGRAM TS FLAGWRD7 TC PHASCHNG # SET RESTART GROUP 6 TO REDO THE UPDATE OCT 04026 # DATA STORE IF A RESTART OCCURS. INHINT # (BECAUSE PHASCHNG DID A RELINT) CS TWO # GO TO UPFNDVAC IF INSTALL IS REQUIRED, AD UPVERB # THAT IS, IF IT'S A V70 - V72. EXTEND # GO TO UPEND73 IF IT'S A V73. BZMF UPFNDVAC # VERB 73 BRANCH UPEND73 EXTEND # V73-PERFORM DP OCTAL AGC CLOCK INCREMENT DCA UPBUFF DXCH UPBUFF +8D TC TIMEDIDL TC FALTON # ERROR- TURN ON *OPERATOR ERROR* LIGHT TC UPOUT +1 # GO TO COMMON UPDATE PROGRAM EXIT UPFNDVAC CAF CHRPRIO # (USE EXTENDED VERB PRIORITY) TC FINDVAC # GET VAC AREA FOR 'CALL INTSTALL' EBANK= TEPHEM 2CADR UPJOB # (NOTE: THIS WILL ALSO SET EBANK FOR TC ENDOFJOB # 'TEPHEM' UPDATE BY V70) UPJOB TC INTPRET # THIS COULD BE A STATE VECTOR UPDATE--SO CALL # WAIT(PUT JOB TO SLEEP) IF ORBIT INT(OI) INTSTALL # IS IN PROGRESS--OR--GRAB OI AND RETURN # TO UPWAKE IF OI IS NOT IN PROGRESS. UPWAKE EXIT TC PHASCHNG # RESTART PROTECT(GROUP 6) OCT 04026 TC UPFLAG # SET INTEGRATION RESTART BIT ADRES REINTFLG INHINT UPPART3 EQUALS INDEX UPVERB # BRANCH TO THE APPROPRIATE UPDATE VERB TCF +1 # ROUTINE TO ACTUALLY PERFORM THE UPDATE TCF UPEND70 # V70 TCF UPEND71 # V71 TCF UPEND72 # V72 # Page 1504 # ROUTINE TO INCREMENT CLOCK(TIME2,TIME1) WITH CONTENTS OF DP WORD AT UPBUFF. TIMEDIDL EXTEND QXCH UPTEMP # SAVE Q FOR RETURN CAF ZERO # ZERO AND SAVE TIME2,TIME1 ZL DXCH TIME2 DXCH UPBUFF +18D # STORE IN CASE OF OVERFLOW CAF UPDTPHAS # DO TS L # A COM # QUICK DXCH -PHASE6 # PHASCHNG TIMEDIDR INHINT CAF ZERO ZL # PICK UP INCREMENTER(AND ZERO TS MPAC +2 # IT IN CASE OF RESTARTS) AND DXCH UPBUFF +8D # STORE IT DXCH MPAC # INTO MPAC FOR TPAGREE. EXTEND DCA UPBUFF +18D DAS MPAC # FORM SUM IN MPAC EXTEND BZF DELTATOK # TEST FOR OVERFLOW CAF ZERO DXCH UPBUFF +18D # OVERFLOW, RESTORE OLD VALUE OF CLOCK DAS TIME2 # AND TURN ON OPERATOR ERROR TC PHASCHNG # RESTART PROTECT(GROUP 6) OCT 04026 TC UPTEMP # GO TO ERROR EXIT DELTATOK TC TPAGREE # FORCE SIGN AGREEMENT DXCH MPAC DAS TIME2 # INCREMENT TIME2,TIME1 TC PHASCHNG # RESTART PROTECT(GROUP 6) OCT 04026 INHINT INDEX UPTEMP # (CODED THIS WAY FOR RESTART PROTECTION) TC 1 # NORMAL RETURN # VERB 71 BRANCH UPEND71 CAE UPBUFF +1 # SET EBANK TS EBANK # AND # Page 1505 MASK LOW8 # CALCULATE TS UPTEMP # S-REG VALUE OF RECEIVING AREA AD NEG3 # IN THE PROCESS OF AD COMPNUMB # PERFORMING EXTEND # THIS UPDATE BZF STORLP71 # WILL WE MASK BIT9 # OVERFLOW CCS A # INTO THE NEXT EBANK.... TCF UPERROUT # YES CA NEG3 # NO- CALCULATE NUMBER OF AD COMPNUMB # WORDS TO BE STORED MINUS ONE STORLP71 TS MPAC # SAVE NO. OF WORDS REMAINING MINUS ONE INDEX A # TAKE NEXT UPDATE WORD FROM CA UPBUFF +2 # UPBUFF AND TS L # SAVE IT IN L CA MPAC # CALCULATE NEXT AD UPTEMP # RECEIVING ADDRESS INDEX A EBANK= 1400 LXCH 1400 # UPDATE THE REGISTER BY CONTENTS OF L EBANK= TEPHEM CCS MPAC # ARE THERE ANY WORDS LEFT TO BE STORED TCF STORLP71 # YES TCF UPOUT # NO- THEN EXIT UPDATE PROGRAM ADUPBFM1 ADRES UPBUFF -1 # SAME AS ADUPBUFF BUT LESS 1 (DON'T MOVE) TCF UPOUT # NO- EXIT UPDATE(HERE WHEN COMPNUMB = 3) # VERB 72 BRANCH UPEND72 CAF BIT1 # HAVE AN ODD NO. OF COMPONENTS MASK COMPNUMB # BEEN SENT FOR A V72 UPDATE... CCS A TCF +2 # YES TCF UPERROUT # ERROR- SHOULD BE ODD NO. OF COMPONENTS CS BIT2 AD COMPNUMB LDLOOP72 TS MPAC # NOW PERFORM THE UPDATE INDEX A CAE UPBUFF +1 # PICK UP NEXT UPDATE WORD LXCH A CCS MPAC # SET POINTER TO ECADR(MUST BE CCS) TS MPAC INDEX A CAE UPBUFF +1 # PICK UP NEXT ECADR OF REG TO BE UPDATED TS EBANK # SET EBANK MASK LOW8 # ISOLATE RELATIVE ADDRESS INDEX A # Page 1506 EBANK= 1400 LXCH 1400 # UPDATE THE REGISTER BY CONTENTS OF L EBANK= TEPHEM CCS MPAC # ARE WE THORUGH THE V72 UPDATE... TCF LDLOOP72 # NO # NORMAL FINISH OF P27 UPOUT EQUALS TC INTWAKEU # RELEASE GRAB OF ORBITAL INTEGRATION +1 CAE UPOLDMOD # RESTORE PRIOR P27 MODE TC NEWMODEX +3 CAF ZERO TS DNLSTCOD TC UPACTOFF # TURN OFF 'UPLINK ACTIVITY' LIGHT EXTEND # KILL GROUP 6 DCA NEG0 DXCH -PHASE6 TC ENDEXT # EXTENDED VERB EXIT # VERB 70 BRANCH UPEND70 EXTEND # V70 DOES THE FOLLOWING WITH DP DELTA DCS UPBUFF # TIME IN UPBUFF DXCH UPBUFF +8D TC TIMEDIDL # DECREMENT AGC CLOCK TC UPERROUT # ERROR WHILE DECREMENTING CLOCK -- EXIT EBANK= TEPHEM EXTEND DCS UPBUFF # COPY DECREMENTERS FOR DXCH UPBUFF +10D # RESTART PROTECTION EXTEND DCS UPBUFF DXCH UPBUFF +12D TC PHASCHNG # RESTART PROTECT(GROUP 6) OCT 04026 CAF ZERO ZL DXCH UPBUFF +10D # DECREMENT CSM STATE VECTOR TIME DAS TETCSM CAF ZERO # Page 1507 ZL DXCH UPBUFF +12D # DECREMENT LEM STATE VECTOR TIME DAS TETLEM CAF ZERO ZL DXCH UPBUFF DAS TEPHEM +1 # INCREMENT TP TEPHEM ADS TEPHEM TC PHASCHNG # RESTART PROTECT(GROUP 6) OCT 04026 EBANK= UPBUFF TC UPOUT # GO TO STANDARD UPDATE PROGRAM EXIT # ERROR SEQUENCE UPERROUT TC FALTON # TURN ON *OPERATOR ERROR* LIGHT TCF UPOUT # GO TO COMMON UPDATE PROGRAM EXIT +2 TC FALTON # TURN ON 'OPERATOR ERROR' LIGHT TC UPACTOFF # TURN OFF'UPLINK ACTIVITY'LIGHT TC ENDEXT # EXTENDED VERB EXIT # (THE PURPOSE OF UPERROUT +2 EXIT IS # TO PROVIDE AN ERROR EXIT WHICH DOES NOT # RESET ANY RESTART GROUPS) # :UPACTOFF: IS A ROUTINE TO TURN OFF UPLINK ACTIVITY LIGHT ON ALL EXITS FROM UPDATE PROGRAM(P27). UPACTOFF CS BIT3 EXTEND # TURN OFF UPLINK ACTIVITY LIGHT WAND DSALMOUT # (BIT 3 OF CHANNEL 11) TC Q ================================================ FILE: Comanche055/WAITLIST.agc ================================================ # Copyright: Public domain. # Filename: WAITLIST.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1221-1235 # Mod history: 2009-05-14 RSB Adapted from the Colossus249/ file of the # same name, using Comanche055 page images. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A # Page 1221 # PROGRAM DESCRIPTION DATE - 10 OCTOBER 1966 # MOD NO - 2 LOG SECTION - WAITLIST # MOD BY - MILLER (DTMAX INCREASED TO 162.5 SEC) ASSEMBLY SUNBURST REV 5 # MOD 3 BY KERNAN (INHINT INSERTED AT WAITLIST) 2/28/68 SKIPPER REV 4 # MOD 4BY KERNAN (TWIDDLE IN 54) 3/28/68 SKIPPER REV 13. # # FUNCTIONAL DESCRIPTION- # PART OF A SECTION OF PROGRAMS,-WAITLIST, TASKOVER, T3RUPT, USED TO CALL A PROGRAM, (CALLED A TASK), # WHICH IS TO BEGIN IN C(A) CENTISECONDS. WAITLIST UPDATES TIME3, LST1 AND LST2. THE MEANING OF THESE LISTS # FOLLOW. # # C(TIME3) = 16384 -(T1-T) CENTISECONDS, (T=PRESENT TIME, T1-TIME FOR TASK1) # # C(LST1) = -(T2-T1)+1 # C(LST1 +1) = -(T3-T2)+1 # C(LST1 +2) = -(T4-T3)+1 # ... # C(LST1 +6) = -(T8-T7)+1 # C(LST1 +7) = -(T9-T8)+1 # # C(LST2) = 2CADR OF TASK1 # C(LST2 +2) = 2CADR OF TASK2 # ... # C(LST2 +14) = 2CADR OF TASK8 # C(LST2 +16) = 2CADR OF TASK9 # # WARNINGS- # -------- # 1) 1 <= C(A) <= 16250D (1 CENTISECOND TO 162.5 SEC) # 2) 9 TASKS MAXIMUM # 3) TASKS CALLED UNDER INTERRUPT INHIBITED # 4) TASKS END BY TC TASKOVER # # CALLING SEQUENCE- # # L-1 CA DELTAT (TIME IN CENTISECONDS TO TASK START) # L TC WAITLIST # L+1 2CADR DESIRED TASK # L+2 (MINOR OF 2CADR) # L+3 RELINT (RETURNS HERE) # # TWIDDLE- # ------- # TWIDDLE IS FOR USE WHEN THE TASK BEING SET UP IS IN THE SAME EBANK AND FBANK AS THE USER. IN # SUCH CASES, IT IMPROVES UPON WAITLIST BY ELIMINATING THE NEED FOR THE BBCON HALF OF THE 2CADR, # Page 1222 # SAVING A WORD. TWIDDLE IS LIKE WAITLIST IN EVERY RESPECT EXCEPT CALLING SEQUENCE, TO WIT- # # L-1 CA DELTAT # L TC TWIDDLE # L+1 ADRES DESIRED TASK # L+2 RELINT (RETURNS HERE) # # NORMAL EXIT MODES- # # AT L+3 OF CALLING SEQUENCE # # ALARM OR ABORT EXIT MODES- # # TC ABORT # OCT 1203 (WAITLIST OVERFLOW - TOO MANY TASKS) # # ERASABLE INITIALIZATION REQUIRED- # # ACCOMPLISHED BY FRESH START,-- LST2,..., LST2 +16 =ENDTASK # LST1,..., LST1 +7 =NEG1/2 # # OUTPUT-- # # LST1 AND LST2 UPDATED WITH NEW TASK AND ASSOCIATED TIME. # DEBRIS- # CENTRALS- A,Q,L # OTHER - WAITEXIT, WAITADR, WAITTEMP, WAITBANK # DETAILED ANALYSIS OF TIMING- # # CONTROL WILL NOT BE RETURNED TO THE SPECIFIED ADDRESS (2CADR) IN EXACTLY DELTA T CENTISECONDS. # THE APPROXIMATE TIME MAY BE CALCULATED AS FOLLOWS # # LET T0 = THE TIME OF THE TC WAITLIST # LET TS = T0 +147U + COUNTER INCREMENTS (SET UP TIME) # LET X = TS -(100TS)/100 (VARIANCE FROM COUNTERS) # LET Y = LENGTH OF TIME OF INHIBIT INTERRUPT AFTER T3RUPT # LET Z = LENGTH OF TIME TO PROCESS TASKS WHICH ARE DUE THIS T3RUPT BUT DISPATCHED EARLIER. # (Z=0, USUALLY) # LET DELTD = THE ACTUAL TIME TAKEN TO GIVE CONTROL TO 2CADR # THEN DELTD = TS+DELTA T -X +Y +Z +1.05MS* +COUNTERS* # *THE TIME TAKEN BY WAITLIST ITSELF AND THE COUNTER TICKING DURING THIS WAITLIST TIME. # # IN SHORT, THE ACTUAL TIME TO RETURN CONTROL TO A 2CADR IS AUGMENTED BY THE TIME TO SET UP THE TASK'S # INTERRUPT, ALL COUNTERS TICKING, THE T3RUPT PROCESSING TIME, THE WAITLIST PROCESSING TIME AND THE POSSIBILITY # OF OTHER TASKS INHIBITING THE INTERRUPT. BLOCK 02 # Page 1223 EBANK= LST1 # TASK LISTS IN SWITCHED E BANK. COUNT 02/WAIT TWIDDLE INHINT TS L # SAVE DELAY TIME IN L CA POSMAX ADS Q # CREATING OVERFLOW AND Q-1 IN Q CA BBANK EXTEND ROR SUPERBNK XCH L WAITLIST INHINT EXTEND BZMF WATLST0- XCH Q # SAVE DELTA T IN Q AND RETURN IN TS WAITEXIT # WAITEXIT. EXTEND INDEX WAITEXIT # IF TWIDDLING, THE TS SKIPS TO HERE DCA 0 # PICK UP 2CADR OF TASK. -1 TS WAITADR # BBCON WILL REMAIN IN L DLY2 CAF WAITBB # ENTRY FROM FIXDELAY AND VARDELAY. XCH BBANK TCF WAIT2 WATLST0- TC POODOO OCT 1204 # WAITLIST CALL WITH ZERO OR NEG DT # RETURN TO CALLER AFTER TASK INSERTION: LVWTLIST DXCH WAITEXIT AD TWO DTCB EBANK= LST1 WAITBB BBCON WAIT2 # RETURN TO CALLER +2 AFTER WAITING DT SPECIFIED AT CALLER +1. FIXDELAY INDEX Q # BOTH ROUTINES MUST BE CALLED UNDER CAF 0 # WAITLIST CONTROL AND TERMINATE THE TASK INCR Q # IN WHICH THEY WERE CALLED. # RETURN TO CALLER +1 AFTER WAITING THE DT AS ARRIVING IN A. VARDELAY XCH Q # DT TO Q. TASK ADRES TO WAITADR. TS WAITADR CA BBANK # BBANK IS SAVED DURING DELAY. EXTEND # Page 1224 ROR SUPERBNK # ADD SBANK TO BBCON. TS L CAF DELAYEX TS WAITEXIT # GO TO TASKOVER AFTER TASK ENTRY. TCF DLY2 DELAYEX TCF TASKOVER -2 # RETURNS TO TASKOVER # Page 1225 # ENDTASK MUST ENTERED IN FIXED-FIXED SO IT IS DISTINGUISHABLE BY ITS ADRES ALONE. EBANK= LST1 ENDTASK -2CADR SVCT3 SVCT3 CCS FLAGWRD2 # DRIFT FLAG TCF TASKOVER TCF TASKOVER TCF +1 CCS IMUCADR # DON'T DO NBDONLY IF SOMEONE ELSE IS IN TCF SVCT3X TCF +3 TCF SVCT3X TCF SVCT3X +3 CAF PRIO35 # COMPENSATE FOR NBD COEFFICIENTS ONLY. TC NOVAC # ENABLE EVERY 81.93 SECONDS EBANK= NBDX 2CADR NBDONLY TCF TASKOVER SETLOC FFTAG6 BANK SVCT3X TC FIXDELAY # DELAY MAX OF 2 TIMES FOR IMU ZERO DEC 500 TC SVCT3 # CHECK DRIFT FLAG AGAIN # Page 1226 # BEGIN TASK INSERTION. BANK 01 COUNT 01/WAIT WAIT2 TS WAITBANK # BBANK OF CALLING PROGRAM. CS TIME3 AD BIT8 # BIT 8 = OCT 200 CCS A # TEST 200 - C(TIME3). IF POSITIVE, # IT MEANS THAT TIME3 OVERFLOW HAS OCCURRED PRIOR TO CS TIME3 AND THAT # C(TIME3) = T - T1, INSTEAD OF 1.0 - (T1 - T). THE FOLLOWING FOUR # ORDERS SET C(A) = TD - T1 + 1 IN EITHER CASE. AD OCT40001 # OVERFLOW HAS OCCURRED. SET C(A) = CS A # T - T1 + 1.0 - 201 # NORMAL CASE (C(A) NNZ) YIELDS SAME C(A): -( -(1.0-(T1-T)) + 200) - 1 AD OCT40201 AD Q # RESULT = TD - T1 + 1. CCS A # TEST TD - T1 + 1 AD LST1 # IF TD - T1 POS, GO TO WTLST5 WITH TCF WTLST5 # C(A) = (TD - T1) + C(LST1) = TD-T2+1 NOOP CS Q # NOTE THAT THIS PROGRAM SECTION IS NEVER ENTERED WHEN T-T1 G/E -1, # SINCE TD-T1+1 = (TD-T) + (T-T1+1), AND DELTA T = TD-T G/E +1. (G/E # SYMBOL MEANS GREATER THAN OR EQUAL TO). THUS THERE NEED BE NO CON- # CERN OVER A PREVIOUS OR IMMINENT OVERFLOW OF TIME3 HERE. AD POS1/2 # WHEN TD IS NEXT, FORM QUANTITY AD POS1/2 # 1.0 - DELTA T = 1.0 - (TD - T) XCH TIME3 AD NEGMAX AD Q # 1.0 - DELTAT T NOW COMPLETE. EXTEND # ZERO INDEX Q. QXCH 7 # (ZQ) # Page 1227 WTLST4 XCH LST1 XCH LST1 +1 XCH LST1 +2 XCH LST1 +3 XCH LST1 +4 XCH LST1 +5 XCH LST1 +6 XCH LST1 +7 CA WAITADR # (MINOR PART OF TASK CADR HAS BEEN IN L.) INDEX Q TCF +1 DXCH LST2 DXCH LST2 +2 DXCH LST2 +4 DXCH LST2 +6 DXCH LST2 +8D DXCH LST2 +10D # AT END, CHECK THAT C(LST2 +10) IS STD DXCH LST2 +12D DXCH LST2 +14D DXCH LST2 +16D AD ENDTASK # END ITEM, AS CHECK FOR EXCEEDING # THE LENGTH OF THE LIST. EXTEND # DUMMY TASK ADRES SHOULD BE IN FIXED- BZF LVWTLIST # FIXED SO ITS ADRES ALONE DISTINGUISHES TCF WTABORT # IT. # Page 1228 WTLST5 CCS A # TEST TD - T2 + 1 AD LST1 +1 TCF +4 AD ONE TC WTLST2 OCT 1 +4 CCS A # TEST TD - T3 + 1 AD LST1 +2 TCF +4 AD ONE TC WTLST2 OCT 2 +4 CCS A # TEST TD - T4 + 1 AD LST1 +3 TCF +4 AD ONE TC WTLST2 OCT 3 +4 CCS A # TEST TD - T5 + 1 AD LST1 +4 TCF +4 AD ONE TC WTLST2 OCT 4 +4 CCS A # TEST TD - T6 + 1 AD LST1 +5 TCF +4 AD ONE TC WTLST2 OCT 5 +4 CCS A # TEST TD - T7 + 1 AD LST1 +6 TCF +4 AD ONE TC WTLST2 OCT 6 # Page 1229 +4 CCS A AD LST1 +7 TCF +4 AD ONE TC WTLST2 OCT 7 +4 CCS A WTABORT TC BAILOUT # NO ROOM IN THE INN. OCT 1203 AD ONE TC WTLST2 OCT 10 OCT40201 OCT 40201 # Page 1230 # THE ENTRY TO WTLST2 JUST PRECEDING OCT N IS FOR T LE TD LE T -1. # N N+1 # # (LE MEANS LESS THAN OR EQUAL TO). AT ENTRY, C(A) = -(TD - T + 1) # N+1 # # THE LST1 ENTRY-(T -T +1) IS TO BE REPLACED BY -(TD - T + 1), AND # N+1 N N # # THE ENTRY-(T - TD + 1) IS TO BE INSERTED IMMEDIATELY FOLLOWING. # N+1 WTLST2 TS WAITTEMP # C(A) = -(TD - T + 1) INDEX Q CAF 0 TS Q # INDEX VALUE INTO Q. CAF ONE AD WAITTEMP INDEX Q # C(A) = -(TD - T ) + 1. ADS LST1 -1 # N CS WAITTEMP INDEX Q TCF WTLST4 # Page 1231 # ENTERS HERE ON T3 RUPT TO DISPATCH WAITLISTED TASK. T3RUPT EXTEND ROR SUPERBNK # READ CURRENT SUPERBANK VALUE AND TS BANKRUPT # SAVE WITH E AND F BANK VALUES. EXTEND QXCH QRUPT T3RUPT2 CAF NEG1/2 # DISPATCH WAITLIST TASK. XCH LST1 +7 XCH LST1 +6 XCH LST1 +5 XCH LST1 +4 # 1. MOVE UP LST1 CONTENTS, ENTERING XCH LST1 +3 # A VALUE OF 1/2 +1 AT THE BOTTOM XCH LST1 +2 # FOR T6-T5, CORRESPONDING TO THE XCH LST1 +1 # INTERVAL 81.91 SEC FOR ENDTASK. XCH LST1 AD POSMAX # 2. SET T3 = 1.0 - T2 - T USING LIST 1. ADS TIME3 # SO T3 WONT TICK DURING UPDATE. TS RUPTAGN CS ZERO TS RUPTAGN # SETS RUPTAGN TO +1 ON OVERFLOW. EXTEND # DISPATCH TASK. DCS ENDTASK DXCH LST2 +16D DXCH LST2 +14D DXCH LST2 +12D DXCH LST2 +10D DXCH LST2 +8D DXCH LST2 +6 DXCH LST2 +4 DXCH LST2 +2 DXCH LST2 XCH L EXTEND WRITE SUPERBNK # SET SUPERBANK FROM BBCON OF 2CADR XCH L # RESTORE TO L FOR DXCH Z. DTCB # Page 1232 # RETURN, AFTER EXECUTION OF T3 OVERFLOW TASK: BLOCK 02 COUNT 02/WAIT TASKOVER CCS RUPTAGN # IF +1 RETURN TO T3RUPT, IF -0 RESUME. CAF WAITBB TS BBANK TCF T3RUPT2 # DISPATCH NEXT TASK IF IT WAS DUE. CA BANKRUPT EXTEND WRITE SUPERBNK # RESTORE SUPERBANK BEFORE RESUME IS DONE RESUME EXTEND QXCH QRUPT NOQRSM CA BANKRUPT XCH BBANK NOQBRSM DXCH ARUPT RELINT RESUME # Page 1233 # LONGCALL # # PROGRAM DESCRIPTION DATE- 17 MARCH 1967 # PROGRAM WRITTEN BY W.H. VANDEVER LOG SECTION WAITLIST # MOD BY- R. MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 100 # # FUNCTIONAL DESCRIPTION- # LONGCALL IS CALLED WITH THE DELTA TIME ARRIVING IN A,L SCALED AS TIME2,TIME1 WITH THE 2CADR OF THE TASK # IMMEDIATELY FOLLOWING THE TC LONGCALL. FOR EXAMPLE, IT MIGHT BE DONE AS FOLLOWS WHERE TIMELOC IS THE NAME OF # A DP REGISTER CONTAINING A DELTA TIME AND WHERE TASKTODO IS THE NAME OF THE LOCATION AT WHICH LONGCALL IS TO # START # # CALLING SEQUENCE- # EXTEND # DCA TIMELOC # TC LONGCALL # 2CADR TASKTODO # # NORMAL EXIT MODE- # 1). TC WAITLIST # 2). DTCB (TC L+3 OF CALLING ROUTINE 1ST PASS THRU LONGCYCL) # 3). DTCB (TO TASKOVER ON SUBSEQUENT PASSES THRU LONGCYCL) # # ALARM OR ABORT EXIT MODE- # NONE # # OUTPUT- # LONGTIME AND LONGTIME+1 = DELTA TIME # LONGEXIT AND LONGEXIT+1 = RETURN 2CADR # LONGCADR AND LONGCADR+1 = TASK 2CADR # A = SINGLE PRECISION TIME FOR WAITLIST # # ERASABLE INITIALIZATION- # A = MOST SIGNIFICANT PART OF DELTA TIME # L = LEAST SIGNIFICANT PART OF DELTA TIME # Q = ADDRESS OF 2CADR TASK VALUE # # DEBRIS- # A,Q,L # LONGCADR AND LONGCADR+1 # LONGEXIT AND LONGEXIT+1 # LONGTIME AND LONGTIME+1 # # *** THE FOLLOWING IS TO BE IN FIXED-FIXED AND UNSWITCHED ERRASIBLE *** BLOCK 02 EBANK= LST1 LONGCALL DXCH LONGTIME # OBTAIN THE DELTA TIME EXTEND # OBTAIN THE 2CADR # Page 1234 NDX Q DCA 0 DXCH LONGCADR EXTEND # NOW GO TO THE APPROPRIATE SWITCHED BANK DCA LGCL2CDR # FOR THE REST OF LONGCALL DTCB EBANK= LST1 LGCL2CDR 2CADR LNGCALL2 # *** THE FOLLOWING MAY BE IN A SWITCHED BANK, INCLUDING ITS ERASABLE *** BANK 01 COUNT 01/WAIT LNGCALL2 LXCH LONGEXIT +1 # SAVE THE CORRECT BB FOR RETURN CA TWO # OBTAIN THE RETURN ADDRESS ADS Q TS LONGEXIT # *** WAITLIST TASK LONGCYCL *** LONGCYCL EXTEND # CAN WE SUCCESFULLY TAKE ABOUT 1.25 DCS DPBIT14 # MINUTES OFF OF LONGTIME DAS LONGTIME CCS LONGTIME +1 # THE REASONING BEHIND THIS PART IS TCF MUCHTIME # INVOLVED, TAKING INTO ACCOUNT THAT THE # WORDS MAY NOT BE SIGNED CORRECTED (DP # BASIC INSTRUCTIONS # DO NOT SIGN CORRECT) AND THAT WE SUBTRAC- # TED BIT14 (1 OVER HALF THE POS. VALUE # REPRESENTABLE IN SINGLE WORD) NOOP # CAN'T GET HERE ********** TCF +1 CCS LONGTIME TCF MUCHTIME DPBIT14 OCT 00000 OCT 20000 # LONGCALL LASTTIME CA BIT14 # GET BACK THE CORRECT DELTA TFOR WAITLIST ADS LONGTIME +1 TC WAITLIST EBANK= LST1 2CADR GETCADR # THE ENTRY TO OUR LONGCADR LONGRTRN CA TSKOVCDR # SET IT UP SO THAT ONLY THE FIRST EXIT IS # Page 1235 DXCH LONGEXIT # TO THE CALLER OF LONGCALL DTCB # THE REST ARE TO TASKOVER MUCHTIME CA BIT14 # WE HAVE OVER OUR ABOUT 1.25 MINUTES TC WAITLIST # SO SET UP FOR ANOTHER CYCLE THROUGH HERE EBANK= LST1 2CADR LONGCYCL TCF LONGRTRN # NOW EXIT PROPERLY # *** WAITLIST TASK GETCADR *** GETCADR DXCH LONGCADR # GET THE LONGCALL THAT WE WISHED TO START DTCB # AND TRANSFER CONTROL TO IT TSKOVCDR GENADR TASKOVER ================================================ FILE: LICENSE.md ================================================ # Public Domain Mark 1.0 ## No Copyright This work has been identified as being free of known restrictions under copyright law, including all related and neighboring rights. You can copy, modify, distribute and perform the work, even for commercial purposes, all without asking permission. See Other Information below. ## Other Information - The work may not be free of known copyright restrictions in all jurisdictions. - Persons may have other rights in or related to the work, such as patent or trademark rights, and others may have rights in how the work is used, such as publicity or privacy rights. - In some jurisdictions moral rights of the author may persist beyond the term of copyright. These rights may include the right to be identified as the author and the right to object to derogatory treatments. - Unless expressly stated otherwise, the person who identified the work makes no warranties about the work, and disclaims liability for all uses of the work, to the fullest extent permitted by applicable law. - When using or citing the work, you should not imply endorsement by the author or the person who identified the work. ================================================ FILE: Luminary099/AGC_BLOCK_TWO_SELF_CHECK.agc ================================================ # Copyright: Public domain. # Filename: AGC_BLOCK_TWO_SELF_CHECK.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Onno Hommes . # Website: www.ibiblio.org/apollo. # Pages: 1284-1293 # Mod history: 2009-05-27 OH Transcribed from page images. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 1284 # PROGRAM DESCRIPTION DATE: 20 DECEMBER 1967 # PROGRAM NAME -- SELF-CHECK LOG SECTION: AGC BLOCK TWO SELF-CHECK # MOD NO -- 1 ASSEMBLY SUBROUTINE UTILITYM REV 25 # MOD BY -- GAUNTT # # # FUNCTIONAL DESCRIPTION # # PROGRAM HAS TWO MAIN PARTS. THE FIRST IS SELF-CHECK WHICH RUNS AS A ZERO PRIORITY JOB WITH NO CORE SET, AS # PART OF THE BACK-UP IDLE LOOP. THE SECOND IS SHOW-BANKSUM WHICH RUNS AS A REGULAR EXECUTIVE JOB WITH ITS OWN # STARTING VERB. # THE PURPOSE OF SELF-CHECK IS TO CHECK OUT VARIOUS PARTS OF THE COMPUTER AS OUTLINED BELOW IN THE OPTIONS. # THE PURPOSE OF SHOW-BANKSUM IS TO DISPLAY THE SUM OF EACH BANK, ONE AT A TIME. # IN ALL THERE ARE 7 POSSIBLE OPTIONS IN THIS BLOCK II VERSION OF SELF-CHECK. MORE DETAIL DESCRIPTION MAY BE # FOUND IN E-2065 BLOCK II AGC SELF-CHECK AND SHOW BANKSUM BY EDWIN D. SMALLY DECEMBER 1966, AND ADDENDA 2 AND 3. # THE DIFFERENT OPTIONS ARE CONTROLLED BY PUTTING DIFFERENT NUMBERS IN THE SMODE REGISTER (NOUN 27). BELOW IS # A DESCRIPTION OF WHAT PARTS OF THE COMPUTER THAT ARE CHECKED BY THE OPTIONS, AND THE CORRESPONDING NUMBER, IN # OCTAL, TO LOAD INTO SMODE. # +-4 ERASABLE MEMORY # +-5 FIXED MEMORY # +-1,2,3,6,7,10 EVERYTHING IN OPTIONS 4 AND 5. # -0 SAME AS +-10 UNTIL AN ERROR IS DETECTED. # +0 NO CHECK, PUTS COMPUTER INTO THE BACKUP IDLE LOOP. # # # WARNINGS # # USE OF E MEMORY RESERVED FOR SELF-CHECK (EVEN IN IDLE LOOP) AS TEMP STORAGE BY OTHER PROGRAMS IS DANGEROUS. # SMODE SET GREATER THAN OCT 10 PUTS COMPUTER INTO BACKUP IDLE LOOP. # # # CALLING SEQUENCE # # TO CALL SELF-CHECK KEY IN # V 21 N 27 E OPTION NUMBER E # TO CALL SHOW-BANKSUM KEY IN # V 91 E DISPLAYS FIRST BANK # V 33 E PROCEED, DISPLAYS NEXT BANK # # # EXIT MODES, NORMAL AND ALARM # SELF-CHECK NORMALLY CONTINUES INDEFINITELY UNLESS THERE IS AN ERROR DETECTED. IF SO + OPTION NUMBERS PUT # COMPUTER INTO BACKUP IDLE LOOP, - OPTION NUMBERS RESTART THE OPTION. # # THE -0 OPTION PROCEEDS FROM THE LINE FOLLOWING THE LINE WHERE THE ERROR WAS DETECTED. # SHOW-BANKSUM PROCEEDS UNTIL A TERMINATE IS KEYED IN (V 34 E). THE COMPUTER IS PUT INTO THE BACKUP IDLE LOOP. # # # OUTPUT # Page 1285 # SELF-CHECK UPON DETECTING AN ERROR LOADS THE SELF-CHECK ALARM CONSTANT (01102) INTO THE FAILREG SET AND # TURNS ON THE ALARM LIGHT. THE OPERATOR MAY THEN DISPLAY THE THREE FAILREGS BY KEYING IN V 05 N 09 E. FOR FURTHER # INFORMATION HE MAY KEY IN V 05 N 08 E, THE DSKY DISPLAY IN R1 WILL BE ADDRESS+1 OF WHERE THE ERROR WAS DETECTED, # IN R2 THE BBCON OF SELF-CHECK, AND IN R3 THE TOTAL NUMBER OF ERRORS DETECTED BY SELF-CHECK SINCE THE LAST MAN # INITIATED FRESH START (SLAP1). # SHOW-BANKSUM STARTING WITH BANK 0 DISPLAYS IN R1 THE BANK SUM (A +-NUMBER EQUAL TO THE BANK NUMBER), IN R2 # THE BANK NUMBER, AND IN R3 THE BUGGER WORD. # # # ERASABLE INITIALIZATION REQUIRED # # ACCOMPLISHED BY FRESH START # SMODE SET TO +0 # # # DEBRIS # # ALL EXITS FROM THE CHECK OF ERASABLE (ERASCHK) RESTORE ORIGINAL CONTENTS TO REGISTERS UNDER CHECK. # EXCEPTION IS A RESTART. RESTART THAT OCCURS DURING ERASCHK RESTORES ERASABLE, UNLESS THERE IS EVIDENCE TO DOUBT # E MEMORY, IN WHICH CASE PROGRAM THEN DOES A FRESH START (DOFSTART). BANK 25 SETLOC SELFCHEC BANK COUNT* $$/SELF SBIT1 EQUALS BIT1 SBIT2 EQUALS BIT2 SBIT3 EQUALS BIT3 SBIT4 EQUALS BIT4 SBIT5 EQUALS BIT5 SBIT6 EQUALS BIT6 SBIT7 EQUALS BIT7 SBIT8 EQUALS BIT8 SBIT9 EQUALS BIT9 SBIT10 EQUALS BIT10 SBIT11 EQUALS BIT11 SBIT12 EQUALS BIT12 SBIT13 EQUALS BIT13 SBIT14 EQUALS BIT14 SBIT15 EQUALS BIT15 S+ZERO EQUALS ZERO S+1 EQUALS BIT1 S+2 EQUALS BIT2 S+3 EQUALS THREE S+4 EQUALS FOUR S+5 EQUALS FIVE S+6 EQUALS SIX # Page 1286 S+7 EQUALS SEVEN S8BITS EQUALS LOW8 # 00377 CNTRCON = OCT50 # USED IN CNTRCHK ERASCON1 OCTAL 00061 # USED IN ERASCHK ERASCON2 OCTAL 01373 # USED IN ERASCHK ERASCON6 = OCT1400 # USED IN ERASCHK ERASCON3 OCTAL 01461 # USED IN ERASCHK ERASCON4 OCTAL 01773 # USED IN ERASCHK S10BITS EQUALS LOW10 # 01777, USED IN ERASCHK SBNK03 EQUALS PRIO6 # 06000, USED IN ROPECHK -MAXADRS = HI5 # FOR ROPECHK SIXTY OCTAL 00060 SUPRCON OCTAL 60017 # USED IN ROPECHK S13BITS OCTAL 17777 CONC+S1 OCTAL 25252 # USED IN CYCLSHFT CONC+S2 OCTAL 52400 # USED IN CYCLSHFT ERASCON5 OCTAL 76777 S-7 = OCT77770 S-4 EQUALS NEG4 S-3 EQUALS NEG3 S-2 EQUALS NEG2 S-1 EQUALS NEGONE S-ZERO EQUALS NEG0 EBANK= LST1 ADRS1 ADRES SKEEP1 SELFADRS ADRES SELFCHK # SELFCHK RETURN ADDRESS. SHOULD BE PUT # IN SELFRET WHEN GOING FROM SELFCHK TO # SHOWSUM AND PUT IN SKEEP1 WHEN GOING # FROM SHOWSUM TO SELF-CHECK. PRERRORS CA ERESTORE # IS IT NECESSARY TO RESTORE ERASABLE EXTEND BZF ERRORS # NO EXTEND DCA SKEEP5 INDEX SKEEP7 DXCH 0000 # RESTORE THE TWO ERASABLE REGISTERS CA S+ZERO TS ERESTORE ERRORS INHINT CA Q TS SFAIL # SAVE Q FOR FAILURE LOCATION TS ALMCADR # FOR DISPLAY WITH BBANK AND ERCOUNT INCR ERCOUNT # KEEP TRACK OF NUMBER OF MALFUNCTIONS. TCALARM2 TC ALARM2 OCT 01102 # SELF-CHECK MALFUNCTION INDICATOR CCS SMODE SIDLOOP CA S+ZERO TS SMODE # Page 1287 TC SELFCHK # GO TO IDLE LOOP TC SFAIL # CONTINUE WITH SELF-CHECK -1CHK CCS A TCF PRERRORS TCF PRERRORS CCS A TCF PRERRORS TC Q SMODECHK EXTEND QXCH SKEEP1 TC CHECKNJ # CHECK FOR NEW JOB CCS SMODE TC SOPTIONS TC SMODECHK +2 # TO BACKUP IDLE LOOP TC SOPTIONS INCR SCOUNT TC SKEEP1 # CONTINUE WITH SELF-CHECK SOPTIONS AD S-7 EXTEND BZMF +2 # FOR OPTIONS BELOW NINE. BNKOPTN TC SIDLOOP # ILLEGAL OPTION. GO TO IDLE LOOP. INCR SCOUNT # FOR OPTIONS BELOW NINE. AD S+7 INDEX A TC SOPTION1 SOPTION1 TC SKEEP1 # WAS TC+TCF SOPTION2 TC SKEEP1 # WAS IN:OUT1 SOPTION3 TC SKEEP1 # WAS COUNTCHK SOPTION4 TC ERASCHK SOPTION5 TC ROPECHK SOPTION6 TC SKEEP1 SOPTION7 TC SKEEP1 SOPTON10 TC SKEEP1 # CONTINUE WITH SELF-CHECK CHECKNJ EXTEND QXCH SELFRET # SAVE RETURN ADDRESS WHILE TESTING NEWJOB TC POSTJUMP # TO SEE IF ANY JOBS HAVE BECOME ACTIVE. CADR ADVAN SELFCHK TC SMODECHK # ** CHARLEY, COME IN HERE # SKEEP7 HOLDS LOWEST OF TWO ADDRESSES BEING CHECKED. # SKEEP6 HOLDS B(X+1). # SKEEP5 HOLDS B(X). # SKEEP4 HOLDS C(EBANK) DURING ERASLOOP AND CHECKNJ. # SKEEP3 HOLDS LAST ADDRESS BEING CHECKED (HIGHEST ADDRESS). # Page 1288 # SKEEP2 CONTROLS CHECKING OF NON-SWITCHABLE ERASABLE MEMORY WITH BANK NUMBERS IN EB. # ERASCHK TAKES APPROXMATELY 7 SECONDS ERASCHK CA S+1 TS SKEEP2 0EBANK CA S+ZERO TS EBANK CA ERASCON3 # 01461 TS SKEEP7 # STARTING ADDRESS CA S10BITS # 01777 TS SKEEP3 # LAST ADDRESS CHECKED TC ERASLOOP E134567B CA ERASCON6 # 01400 TS SKEEP7 # STARTING ADDRESS CA S10BITS # 01777 TS SKEEP3 # LAST ADDRESS CHECKED TC ERASLOOP 2EBANK CA ERASCON6 # 01400 TS SKEEP7 # STARTING ADDRESS CA ERASCON4 # 01773 TS SKEEP3 # LAST ADDRESS CHECKED TC ERASLOOP NOEBANK TS SKEEP2 # +0 CA ERASCON1 # 00061 TS SKEEP7 # STARTING ADDRESS CA ERASCON2 # 01373 TS SKEEP3 # LAST ADDRESS CHECKED ERASLOOP INHINT CA EBANK # STORES C(EBANK) TS SKEEP4 EXTEND NDX SKEEP7 DCA 0000 DXCH SKEEP5 # STORES C(X) AND C(X+1) IN SKEEP6 AND 5. CA SKEEP7 TS ERESTORE # IF RESTART, RESTORE C(X) AND C(X+1) TS L INCR L NDX A DXCH 0000 # PUTS OWN ADDRESS IN X AND X +1 NDX SKEEP7 CS 0001 # CS X+1 NDX SKEEP7 AD 0000 # AD X TC -1CHK CA ERESTORE # HAS ERASABLE BEEN RESTORED EXTEND # Page 1289 BZF ELOOPFIN # YES, EXIT ERASLOOP. EXTEND NDX SKEEP7 DCS 0000 # COMPLEMENT OF ADDRESS OF X AND X+1 NDX SKEEP7 DXCH 0000 # PUT COMPLEMENT OF ADDRESS OF X AND X+1 NDX SKEEP7 CS 0000 # CS X NDX SKEEP7 AD 0001 # AD X+1 TC -1CHK CA ERESTORE # HAS ERASABLE BEEN RESTORED EXTEND BZF ELOOPFIN # YES, EXIT ERASLOOP. EXTEND DCA SKEEP5 NDX SKEEP7 DXCH 0000 # PUT B(X) AND B(X+1) BACK INTO X AND X+1 CA S+ZERO TS ERESTORE # IF RESTART, DO NOT RESTORE C(X), C(X+1) ELOOPFIN RELINT TC CHECKNJ # CHECK FOR NEW JOB CA SKEEP4 # REPLACES B(EBANK) TS EBANK INCR SKEEP7 CS SKEEP7 AD SKEEP3 EXTEND BZF +2 TC ERASLOOP # GO TO NEXT ADDRESS IN SAME BANK CCS SKEEP2 TC NOEBANK INCR SKEEP2 # PUT +1 IN SKEEP2. CA EBANK AD SBIT9 TS EBANK AD ERASCON5 # 76777, CHECK FOR BANK E2 EXTEND BZF 2EBANK CCS EBANK TC E134567B # GO TO EBANKS 1,3,4,5,6, AND 7 CA ERASCON6 # END OF ERASCHK TS EBANK # CNTRCHK PERFORMS A CS OF ALL REGISTERS FROM OCT. 60 THROUGH OCT. 10. # INCLUDED ARE ALL COUNTERS, T6-1, CYCLE AND SHIFT, AND ALL RUPT REGISTERS CNTRCHK CA CNTRCON # 00050 CNTRLOOP TS SKEEP2 AD SBIT4 # +10 OCTAL INDEX A CS 0000 # Page 1290 CCS SKEEP2 TC CNTRLOOP # CYCLSHFT CHECKS THE CYCLE AND SHIFT REGISTERS CYCLSHFT CA CONC+S1 # 25252 TS CYR # C(CYR) = 12525 TS CYL # C(CYL) = 52524 TS SR # C(SR) = 12525 TS EDOP # C(EDOP) = 00125 AD CYR # 37777 C(CYR) = 45252 AD CYL # 00-12524 C(CYL) = 25251 AD SR # 00-25251 C(SR) = 05252 AD EDOP # 00-25376 C(EDOP) = +0 AD CONC+S2 # C(CONC+S2) = 52400 TC -1CHK AD CYR # 45252 AD CYL # 72523 AD SR # 77775 AD EDOP # 77775 AD S+1 # 77776 TC -1CHK INCR SCOUNT +1 TC SMODECHK # SKEEP1 HOLDS SUM # SKEEP2 HOLDS PRESENT CONTENTS OF ADDRESS IN ROPECHK AND SHOWSUM ROUTINES # SKEEP2 HOLDS BANK NUMBER IN LOW ORDER BITS DURING SHOWSUM DISPLAY # SKEEP3 HOLDS PRESENT ADDRESS (00000 TO 01777 IN COMMON FIXED BANKS) # (04000 TO 07777 IN FXFX BANKS) # SKEEP3 HOLDS BUGGER WORD DURING SHOWSUM DISPLAY # SKEEP4 HOLDS BANK NUMBER AND SUPER BANK NUMBER # SKEEP5 COUNTS 2 SUCCESSIVE TC SELF WORDS # SKEEP6 CONTROLS ROPECHK OR SHOWSUM OPTION # SKEEP7 CONTROLS WHEN ROUNTINE IS IN COMMON FIXED OR FIXED FIXED BANKS ROPECHK CA S-ZERO # * TS SKEEP6 # * -0 FOR ROPECHK. STSHOSUM CA S+ZERO # * SHOULD BE ROPECHK TS SKEEP4 # BANK NUMBER CA S+1 COMMFX TS SKEEP7 CA S+ZERO TS SKEEP1 TS SKEEP3 CA S+1 TS SKEEP5 # COUNTS DOWN 2 TC SELF WORDS COMADRS CA SKEEP4 TS L # TO SET SUPER BANK MASK HI5 # Page 1291 AD SKEEP3 TC SUPDACAL # SUPER DATA CALL TC ADSUM AD SBIT11 # 02000 TC ADRSCHK FXFX CS A TS SKEEP7 EXTEND BZF +3 CA SBIT12 # 04000, STARTING ADDRESS OF BANK 02 TC +2 CA SBNK03 # 06000, STARTING ADDRESS OF BANK 03 TS SKEEP3 CA S+ZERO TS SKEEP1 CA S+1 TS SKEEP5 # COUNTS DOWN 2 TC SELF WORDS FXADRS INDEX SKEEP3 CA 0000 TC ADSUM TC ADRSCHK ADSUM TS SKEEP2 AD SKEEP1 TS SKEEP1 CAF S+ZERO AD SKEEP1 TS SKEEP1 CS SKEEP2 AD SKEEP3 TC Q ADRSCHK LXCH A CA SKEEP3 MASK LOW10 # RELATIVE ADDRESS AD -MAXADRS # SUBTRACT MAX RELATIVE ADDRESS = 1777. EXTEND BZF SOPTION # CHECKSUM FINISHED IF LAST ADDRESS. CCS SKEEP5 # IS CHECKSUM FINISHED TC +3 # NO TC +2 # NO TC SOPTION # GO TO ROPECHK SHOWSUM OPTION CCS L # -0 MEANS A TC SELF WORD. TC CONTINU TC CONTINU TC CONTINU CCS SKEEP5 TC CONTINU +1 CA S-1 # Page 1292 TC CONTINU +1 # AD IN THE BUGGER WORD CONTINU CA S+1 # MAKE SURE TWO CONSECUTIVE TC SELF WORDS TS SKEEP5 CCS SKEEP6 # * CCS NEWJOB # * +1, SHOWSUM TC CHANG1 # * TC +2 # * TC CHECKNJ # -0 IN SKEEP6 FOR ROPECHK ADRS+1 INCR SKEEP3 CCS SKEEP7 TC COMADRS TC COMADRS TC FXADRS TC FXADRS NXTBNK CS SKEEP4 AD LSTBNKCH # LAST BANK TO BE CHECKED EXTEND BZF ENDSUMS # END OF SUMMING OF BANKS. CA SKEEP4 AD SBIT11 TS SKEEP4 # 37 TO 40 INCRMTS SKEEP4 BY END RND CARRY TC CHKSUPR 17TO20 CA SBIT15 ADS SKEEP4 # SET FOR BANK 20 TC GONXTBNK CHKSUPR MASK HI5 EXTEND BZF NXTSUPR # INCREMENT SUPER BANK 27TO30 AD S13BITS EXTEND BZF +2 # BANK SET FOR 30 TC GONXTBNK CA SIXTY # FIRST SUPER BANK ADS SKEEP4 TC GONXTBNK NXTSUPR AD SUPRCON # SET BNK 30 + INCR SUPR BNK AND CANCEL ADS SKEEP4 # ERC BIT OF THE 37 TO 40 ADVANCE. GONXTBNK CCS SKEEP7 TC COMMFX CA S+1 TC FXFX CA SBIT7 # HAS TO BE LARGER THAN NO OF FXSW BANKS. TC COMMFX SOPTION CA SKEEP4 MASK HI5 # = BANK BITS TC LEFT5 TS L # BANK NUMBER BEFORE SUPER BANK # Page 1293 CA SKEEP4 MASK S8BITS # = SUPER BANK BITS EXTEND BZF SOPT # BEFORE SUPER BANK TS SR # SUPER BANK NECESSARY CA L MASK SEVEN AD SR TS L # BANK NUMBER WITH SUPER BANK SOPT CA SKEEP6 # * EXTEND # * BZF +2 # * ON -0 CONTINUE WITH ROPE CHECK. TC SDISPLAY # * ON +1 GO TO DISPLAY OF SUM. CCS SKEEP1 # FORCE SUM TO ABSOLUTE VALUE. TC +2 TC +2 AD S+1 TS SKEEP1 BNKCHK CS L # = - BANK NUMBER AD SKEEP1 AD S-1 TC -1CHK # CHECK SUM TC NXTBNK EBANK= NEWJOB LSTBNKCH BBCON* # * CONSTANT, LAST BANK. ================================================ FILE: Luminary099/AGS_INITIALIZATION.agc ================================================ # Copyright: Public domain. # Filename: AGS_INITIALIZATION.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Hartmuth Gutsche . # Website: www.ibiblio.org/apollo. # Pages: 206-210 # Mod history: 2009-05-19 HG Transcribed from page images. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 206 # PROGRAM NAME: AGS INITIALIZATION (R47) # # WRITTEN BY: RHODE/KILROY/FOLLETT # # MOD NO.: 0 # DATE: 23 MARCH 1967 # MOD BY: KILROY # # MOD NO.: 1 # DATE: 28 OCTOBER 1967 # MOD BY: FOLLETT # # FUNCT. DESC.: (1) TO PROVIDE THE AGS ABORT ELECTRONICS ASSEMBLY (AEA) WITH THE LEM AND CSM STATE VECTORS # (POSITION,VELOCITY,TIME) IN LEM IMU COORDINATES BY MEANS OF THE LGC DIGITAL DOWNLINK. # # (2) TO ZERO THE ICDU, LGC, AND AEA GIMBAL ANGLE COUNTER SIMULTANEOUSLY IN ORDER TO ESTABLISH A # COMMON ZERO REFERENCE FOR THE MEASUREMENT OF GIMBAL (EULER) ANGLES WHICH DEFINE LEM ATTITUDE # (3) TO ESTABLISH THE GROUND ELAPSED TIME OF AEA CLOCK ZERO. (IF AN AEA CLOCK ZERO IS # REQUESTED DURING THIS PROGRAM # # LOG SECTION: AGS INITIALIZATION # # CALLING SEQ: PROGRAM IS ENTERED WHEN ASTRONAUT KEYS V47E ON DSKY. # R47 MAY BE CALLED AT ANY TIME EXCEPT WHEN ANOTHER EXTENDED VERB IS IN PROGRESS # # SUBROUTINES # CALLED: # # NORMAL EXIT: ENDEXT # # ALARM/ABORT: ALARM -- BAD REFSMMAT -- CODE:220 # OPERATOR ERROR IF V47 SELECTED DURING ANOTHER EXTENDED VERB. # # ERASABLES # USED: SAMPTIME (2) TIME OF :ENTER: KEYSTROKE # AGSK (2) GROUND ELAPSED TIME OF THE AEA CLOCK :ZERO: # AGSBUFF (14D) CONTAINS AGS INITIALIZATION DATA (SEE :OUTPUT: BELOW) # AGSWORD (1) PREVIOUS DOWNLIST SAVED HERE EBANK= AGSBUFF BANK 40 SETLOC R47 BANK COUNT* $$/R47 AGSINIT CAF REFSMBIT MASK FLAGWRD3 # CHECK REFSMFLG. CCS A # Page 207 TC REDSPTEM # REFSMMAT IS OK TC ALARM # REFSMMAT IS BAD OCT 220 TC ENDEXT NEWAGS EXTEND DCA SAMPTIME # TIME OF THE :ENTER: KEYSTROKE DXCH AGSK # BECOMES NEW AEA CLOCK :ZERO: REDSPTEM EXTEND DCA AGSK DXCH DSPTEMX AGSDISPK CAF V06N16 TC BANKCALL # R1 = 00XXX. HRS., R2 = 000XX MIN., CADR GOMARKF # R3 = 0XX.XX SEC. TC ENDEXT # TERMINATE RETURN TC AGSVCALC # PROCEED RETURN CS BIT6 # IS ENTER VIA A V32 AD MPAC EXTEND BZF NEWAGS # YES, USE KEYSTROKE TIME FOR NEW AGSK EXTEND # NO, NEW AGSK LOADED VIA V25 DCA DSPTEMX # LOADED INTO DSPTEMX BY KEYING TC REDSPTEM -1 # V25E FOLLOWED BY HRS.,MINS.,SECS. # DISPLAY THE NEW K AGSVCALC TC INTPRET SET NODOFLAG # DON'T ALLOW V37 SET EXIT XDSPFLAG CAF V06N16 TC BANKCALL CADR EXDSPRET TC INTPRET # EXTRAPOLATE LEM AND CSM STATE VECTORS RTB # TO THE PRESENT TIME LOADTIME # LOAD MPAC WITH TIME2,TIME1 STCALL TDEC1 # CALCULATE LEM STATE VECTOR LEMPREC CALL # CALL ROUTINE TO CONVERT TO SM COORDS AND SCALEVEC # PROVIDE PROPER SCALING STODL AGSBUFF # (LEMPREC AND CSMPREC LEAVE TDEC1 IN TAT) TAT # TAT = TIME TO WHICH RATT1 AND VATT1 ARE STCALL TDEC1 # COMPUTED (CSEC SINCE CLOCK START B-28). CSMPREC # CALCULATE CSM STATE VECTOR FOR SAME TIME CALL SCALEVEC # Page 208 STODL AGSBUFF +6 TAT DSU DDV # CALCULATE AND STORE THE TIME AGSK TSCALE STORE AGSBUFF +12D EXIT CAF LAGSLIST TS DNLSTCOD CAF 20SEC # DELAY FOR 20 SEC WHILE THE AGS TC BANKCALL # DOWNLIST IS TRANSMITTED CADR DELAYJOB CA AGSWORD TS DNLSTCOD # RETURN TO THE OLD DOWNLIST CAF IMUSEBIT MASK FLAGWRD0 # CHECK IMUSE FLAG. CCS A TC AGSEND # IMU IS BEING USED -- DO NOT ZERO CKSTALL CCS IMUCADR # CHECK FOR IMU USAGE WHICH AVOIDS THE TCF +3 # IMUSE BIT: I.E., IMU COMPENSATION. TCF +6 # FREE. GO AHEAD WITH THE IMU ZERO. TCF +1 +3 CAF TEN # WAIT .1 SEC AND TRY AGAIN. TC BANKCALL CADR DELAYJOB TCF CKSTALL +6 TC BANKCALL # IMU IS NOT IN USE CADR IMUZERO # SET IMU ZERO DISCRETE FOR 320 MSECS. TC BANKCALL # WAIT 3 SEC FOR COUNTERS TO INCREMENT CADR IMUSTALL TC AGSEND AGSEND TC DOWNFLAG # ALLOW V37 ADRES NODOFLAG CAF V50N16 TC BANKCALL CADR GOMARK3 TCF ENDEXT TCF ENDEXT TC ENDEXT SCALEVEC VLOAD MXV VATT1 REFSMMAT VXSC VSL2 VSCALE # Page 209 VAD VAD # THIS SECTION ROUNDS THE VECTOR, AND AGSRND1 # CORRECTS FOR THE FACT THAT THE AGS AGSRND2 # IS A 2 S COMPLEMENT MACHINE WHILE THE RTB # LGC IS A 1 S COMPLEMENT MACHINE. VECSGNAG STOVL VATT1 RATT1 MXV VXSC REFSMMAT RSCALE VSL8 VAD # AGAIN THIS SECTION ROUNDS. TWO VECTORS AGSRND1 # ARE ADDED TO DEFEAT ALSIGNAG IN THE VAD RTB # CASE OF A HIGH-ORDER ZERO COUPLED WITH AGSRND2 # A LOW ORDER NEGATIVE PART. VECSGNAG LXA,1 VATT1 SXA,1 LXA,1 MPAC +1 VATT1 +2 SXA,1 LXA,1 MPAC +4 VATT1 +4 SXA,1 RVQ MPAC +6 LAGSLIST = ONE V01N14 VN 0114 V50N00A VN 5000 V00N25 EQUALS OCT31 V06N16 VN 0616 V00N34 EQUALS 34DEC V50N16 VN 5016 TSCALE 2DEC 100 B-10 # CSEC TO SEC SCALE FACTOR 20SEC DEC 2000 RSCALE 2DEC 3.280839 B-3 # METERS TO FEET SCALE FACTOR VSCALE 2DEC 3.280839 E2 B-9 # METERS/CS TO FEET/SEC SCALE FACTOR AGSRND1 2OCT 0000060000 2OCT 0000060000 2OCT 0000060000 AGSRND2 2OCT 0000037777 2OCT 0000037777 # Page 210 2OCT 0000037777 SBANK= LOWSUPER # FOR SUBSEQUENT LOW 2CADRS. ================================================ FILE: Luminary099/ALARM_AND_ABORT.agc ================================================ # Copyright: Public domain. # Filename: ALARM_AND_ABORT.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1381-1385 # Mod history: 2009-05-10 SN (Sergio Navarro). Started adapting # from the Luminary131/ file of the same # name, using Luminary099 page images. # 2009-06-05 RSB Fixed a type. # 2011-01-06 JL Fixed pseudo-label indentation. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 1381 # THE FOLLOWING SUBROUTINE MAY BE CALLED TO DISPLAY A NON-ABORTIVE ALARM CONDITION. IT MAY BE CALLED # EITHER IN INTERRUPT OR UNDER EXECUTIVE CONTROL. # # CALLING SEQUENCE IS AS FOLLOWS: # TC ALARM # OCT AAANN # ALARM NO. NN IN GENERAL AREA AAA. # # (RETURNS HERE) BLOCK 02 SETLOC FFTAG7 BANK EBANK= FAILREG COUNT* $$/ALARM # ALARM TURNS ON THE PROGRAM ALARM LIGHT, BUT DOES NOT DISPLAY. ALARM INHINT CA Q ALARM2 TS ALMCADR INDEX Q CA 0 BORTENT TS L PRIOENT CA BBANK +1 EXTEND ROR SUPERBNK # ADD SUPER BITS. TS ALMCADR +1 LARMENT CA Q # STORE RETURN FOR ALARM TS ITEMP1 CHKFAIL1 CCS FAILREG # IS ANYTHING IN FAILREG TCF CHKFAIL2 # YES TRY NEXT REG LXCH FAILREG TCF PROGLARM # TURN ALARM LIGHT ON FOR FIRST ALARM CHKFAIL2 CCS FAILREG +1 TCF FAIL3 LXCH FAILREG +1 TCF MULTEXIT FAIL3 CA FAILREG +2 MASK POSMAX CCS A TCF MULTFAIL LXCH FAILREG +2 TCF MULTEXIT # Page 1382 PROGLARM CS DSPTAB +11D MASK OCT40400 ADS DSPTAB +11D MULTEXIT XCH ITEMP1 # OBTAIN RETURN ADDRESS IN A RELINT INDEX A TC 1 MULTFAIL CA L AD BIT15 TS FAILREG +2 TCF MULTEXIT # PRIOLARM DISPLAYS V05N09 VIA PRIODSPR WITH 3 RETURNS TO THE USER FROM THE ASTRONAUT AT CALL LOC +1,+2,+3 AND # AN IMMEDIATE RETURN TO THE USER AT CALL LOC +4. EXAMPLE FOLLOWS, # CAF OCTXX # ALARM CODE # TC BANKCALL # CADR PRIOLARM # ... ... # ... ... # ... ... # ASTRONAUT RETURN # TC PHASCHNG # IMMEDIATE RETURN TO USER. RESTART # OCT X.1 # PHASE CHANGE FOR PRIO DISPLAY BANK 10 SETLOC DISPLAYS BANK COUNT* $$/DSPLA PRIOLARM INHINT # * * * KEEP IN DISPLAY ROUTINES BANK TS L # SAVE ALARM CODE CA BUF2 # 2 CADR OF PRIOLARM USER TS ALMCADR CA BUF2 +1 TC PRIOENT +1 # * LEAVE L ALONE -2SEC DEC -200 # *** DONT MOVE CAF V05N09 TCF PRIODSPR BLOCK 02 SETLOC FFTAG7 BANK COUNT* $$/ALARM BAILOUT INHINT CA Q # Page 1383 TS ALMCADR INDEX Q CAF 0 TC BORTENT OCT40400 OCT 40400 INHINT WHIMPER CA TWO AD Z TS BRUPT RESUME TC POSTJUMP # RESUME SENDS CONTROL HERE CADR ENEMA POODOO INHINT CA Q ABORT2 TS ALMCADR INDEX Q CAF 0 TC BORTENT OCT77770 OCT 77770 # DON'T MOVE CAF OCT35 # 4.35SPOT FOR GOPOODOO TS L COM DXCH -PHASE4 GOPOODOO INHINT TC BANKCALL # RESET STATEFLG, REINTFLG, AND NODOFLAG. CADR FLAGS CA FLAGWRD7 # IS SERVICER CURRENTLY IN OPERATION? MASK V37FLBIT CCS A TCF STRTIDLE TC BANKCALL # TERMINATE GRPS 1, 3, 5, AND 6 CADR V37KLEAN TC BANKCALL # TERMINATE GRPS 2, 4, 1, 3, 5, AND 6 CADR MR.KLEAN # (I.E., GRP 4 LAST) TCF WHIMPER STRTIDLE CAF BBSERVDL TC SUPERSW TC BANKCALL # PUT SERVICER INTO ITS "GROUND" STATE CADR SERVIDLE # AND PROCED TO GOTOPOOH. CCSHOLE INHINT CA Q TC ABORT2 OCT1103 OCT 1103 CURTAINS INHINT CA Q TC ALARM2 OCT217 OCT 00217 # Page 1384 TC ALMCADR # RETURN TO USER BAILOUT1 INHINT DXCH ALMCADR CAF ADR40400 BOTHABRT TS ITEMP1 INDEX Q CAF 0 TS L TCF CHKFAIL1 POODOO1 INHINT DXCH ALMCADR CAF ADR77770 TCF BOTHABRT ALARM1 INHINT DXCH ALMCADR ALMNCADR INHINT INDEX Q CA 0 TS L TCF LARMENT ADR77770 TCF OCT77770 ADR40400 TCF OCT40400 DOALARM EQUALS ENDOFJOB EBANK= DVCNTR BBSERVDL BBCON SERVIDLE # CALLING SEQUENCE FOR VARALARM # CAF (ALARM) # TC VARALARM # # VARALARM TURNS ON PROGRAM ALARM LIGHT BUT DOES NOT DISPLAY VARALARM INHINT TS L # SAVE USERS ALARM CODE CA Q # SAVE USERS Q TS ALMCADR TC PRIOENT OCT14 OCT 14 # DONT MOVE TC ALMCADR # RETURN TO USER ABORT EQUALS WHIMPER BANK 13 SETLOC ABTFLGS BANK # Page 1385 COUNT* $$/ALARM FLAGS CS STATEBIT MASK FLAGWRD3 TS FLAGWRD3 CS REINTBIT MASK FLGWRD10 TS FLGWRD10 CS NODOBIT MASK FLAGWRD2 TS FLAGWRD2 TC Q ================================================ FILE: Luminary099/AOSTASK_AND_AOSJOB.agc ================================================ # Copyright: Public domain. # Filename: AOSTASK_AND_AOSJOB.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1485-1506 # Mod history: 2009-05-27 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # 2009-06-05 RSB Corrected a memory-bank error type. # 2009-06-07 RSB Corrected a typo. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 1485 # PROGRAM NAME: 1/ACCS # PROGRAM WRITTEN BY: BOB COVELLI AND MIKE HOUSTON # LAST MODIFICATION: FEB. 14, 1969 BY G. KALAN # # PROGRAM DESCRIPTION: # 1/ACCS PROVIDES THE INTERFACE BETWEEN THE GUIDANCE PROGRAMS AND THE DIGITAL AUTOPILOT. WHENEVER THERE IS A # CHANGE IN THE MASS OF THE VEHICLE, IN THE DEADBAND SELECTED, IN THE VEHICLE CONFIGURATION (ASCENT-DESCENT- # DOCKED), AND DURING A FRESH START OR A RESTART, 1/ACCS IS CALLED TO COMMUNICATE THE DATA CHANGES TO THE DAP. # # THE INPUTS TO 1/ACCS ARE MASS, ACCELERATION (ABDELV), DEADBAND (DB), OFFSET ACCELERATIONS (AOSQ AND AOSR), # STAGE VERIFY BIT (CHAN30, BIT2), DOCKED BIT (DAPBOOLS, BIT13), DRIFT BIT (DAPBOOLS, BIT8), USEQRJTS (DAPBOOLS, # BIT14), AND SURFACE FLAG (FLAGWRDB, BIT8), AND CH5MASK. # # 1/ACCS COMPUTES THE JET ACCELERATIONS (1JACC, 1JACCQ, 1JACCR) AS FUNCTIONS OF MASS. 1JACCU AND 1JACCV ARE # FORMED BY RESOLVING 1JACCQ AND 1JACCR. IN THE DESCENT CASE, THE DESCENT ENGINE MOMENT ARM (L, PVT-CG) IS ALSO # COMPUTED AS A FUNCTION OF MASS. THE RATE OF CHANGE OF ACCELERATION DUE TO ROTATION OF THE GIMBAL (ACCDOTQ, # ACCDOTR) IS ALSO COMPUTED IN THE DESCENT CASE. # # AFTER THE ABOVE COMPUTATIONS, THE PROGRAM 1/ACCONT COMPUTES THE RECIPROCAL NET ACCELERATIONS ABOUT THE P, U, # AND V AXES (2 JETS FOR P-AXIS, BOTH 1 AND 2 JETS FOR U AND V AXES), AND THE RECIPROCAL COAST ACCELERATIONS ABOUT # THE P, U, AND V AXES. THE ACCELERATION FUNCTIONS (ACCFCTZ1 AND ACCFCTZ5) ARE ALSO COMPUTED FOR THESE AXES. THE # FIRE AND COAST DEADBANDS AND AXISDIST ARE COMPUTED FOR EACH AXIS. FLAT AND ZONE3LIM, THE WIDTH AND HEIGHT OF THE # MINIMUM IMPULSE ZONE, ARE COMPUTED. 1/ACCONT ALSO SETS ACCSWU AND ACCSWV, WHICH INDICATE WHEN 1 JET ACCELERATION # IS NOT SUFFICIENT TO PRODUCE MINIMUM ACCELERATION. AT THE COMPLETION OF 1/ACCS, THE ACCSOKAY BIT IS SET. # # SUBROUTINES CALLED: # TIMEGMBL # MAKECADR # ROT45DEG # # CALLING SEQUENCE: # TC BANKCALL # (1/ACCS MUST BE CALLED BY BANKCALL) # CADR 1/ACCS # # NORMAL EXIT: VIA BANKJUMP # # ALARM AND EXIT MODES: NONE # # INPUT/OUTPUT: SEE PROGRAM DESCRIPTION. # # DEBRIS: # ALL OF THE EXECUTIVE TEMPORARY REGISTERS, EXCEPT FIXLOC AND OVFIND, AND THE CORE SET AREA FROM MPAC TO BANKSET. # # RESTRICTIONS: # 1/ACCS MUST BE CALLED BY BANKCALL # EBANK IS SET TO 6, BUT NOT RESTORED. # Page 1486 BANK 20 SETLOC DAPS3 BANK COUNT* $$/DAPAO EBANK= AOSQ # ENTRY IS THROUGH 1/ACCJOB OR 1/ACCSET WHEN 1/ACCS IS TO BE DONE AS A SEPARATE NOVAC JOB. # IT IS POSSIBLE FOR MORE THAN ONE OF THESE JOBS TO BE SET UP CONCURRENTLY. HOWEVER, SINCE THERE IS NO CHECK OF # NEWJOB, A SECOND MANIFESTATION CANNOT BE STARTED UNTIL THE FIRST IS COMPLETED. 1/ACCSET CAF ZERO # ENTRY FROM FRESH START/RESTART CODING. TS AOSQ # NULL THE OFFSET ESTIMATES FOR 1/ACCS. TS AOSR TS ALPHAQ # NULL THE OFFSET ESTIMATES FOR DOWNLIST TS ALPHAR 1/ACCJOB TC BANKCALL # 1/ACCS ASSUMES ENTRY VIA BANKCALL. CADR 1/ACCS +2 # SKIP EBANK SETTING. TC ENDOFJOB 1/ACCS CA EBANK6 # ***** EBANK SET BUT NOT RESTORED ***** TS EBANK TC MAKECADR # SAVE RETURN SO THAT BUF2 MAY BE USED TS ACCRETRN # DETERMINE MASS OF THE LEM. CA DAPBOOLS # IS THE CSM DOCKED MASK CSMDOCKD TS DOCKTEMP # STORE RECORD OF STATE IN TEMP (MPAC +3). CCS A CS CSMMASS # DOCKED: LEMMAS = MASS - CSMMASS AD MASS # LEM ALONE: LEMMASS = MASS TS LEMMASS # ON THE BASIS OF APSFLAG: # SET THE P-AXIS RATE COMMAND LIMIT FOR 2-JET/2-JET CONTROL # SET MPAC, WHICH INDICATES THE PROPER SET OF COEFFICIENTS FOR THE LEM-ALONE F(MASS) CALCULATIONS # ENSURE THAT THE LEM MASS VALUE IS WITHIN THE ACCEPTABLE RANGE INHINT CAE FLGWRD10 # DETERMINE WHETHER STAGED. MASK APSFLBIT EXTEND BZF DPSFLITE # Page 1487 CS POSMAX # ASCENT (OR ON LUNAR SURFACE) TS -2JETLIM # ALWAYS 2 JETS FOR P-AXIS RATE COMMAND CAF OCT14 # INITIALIZE INDEX AT 12. TS MPAC CS LEMMASS # CHECK IF MASS TOO HIGH. CATCH STAGING. AD HIASCENT EXTEND BZMF MASSFIX CS LEMMASS # CHECK IF MASS TOO LOW. THIS LIMITS THE AD LOASCENT # DECREMENTING BY MASSMON. EXTEND BZMF F(MASS) MASSFIX ADS LEMMASS # STORE THE VIOLATED LIMIT AS LEMMASS. ZL # ALSO CORRECT TOTAL MASS, ZEROING THE CCS DOCKTEMP # LOW-ORDER WORD. CAE CSMMASS # DOCKED: MASS = LEMMASS + CSMMASS AD LEMMASS # LEM ALONE: MASS = LEMMASS DXCH MASS TCF F(MASS) DPSFLITE CS BIT10 # FOUR JETS FOR P-AXIS RATE COMMAND ERRORS TS -2JETLIM # EXCEEDING 1.4 DEG/SEC (SCALED AT 45) CAF SIX # INITIALIZE INDEX AT 6. TS MPAC CS LEMMASS # CHECK IF MASS TOO HIGH. SHOULD NEVER AD HIDESCNT # OCCUR EXCEPT PERHAPS BEFORE THE PAD EXTEND # LOAD IS DONE. BZMF MASSFIX CS LEMMASS # CHECK IF MASS TOO LOW. THIS LIMITS THE AD LODESCNT # DECREMENTING BY MASSMON. AD HIASCENT EXTEND BZMF F(MASS) TCF MASSFIX # COMPUTATION OF FUNCTIONS OF MASS F(MASS) RELINT CCS DOCKTEMP TCF DOCKED # DOCKED: USE SEPARATE COMPUTATION. CA TWO STCTR TS MPAC +1 # J=2,1,0 FOR 1JACCR,1JACCQ,1JACC CS TWO ADS MPAC # JX=10,8,6 OR 4,2,0 TO INDEX COEFS. STCTR1 CAE LEMMASS INDEX MPAC AD INERCONC TS MPAC +2 # MASS + C # Page 1488 EXTEND INDEX MPAC DCA INERCONA EXTEND DV MPAC +2 INDEX MPAC AD INERCONB INDEX MPAC +1 # 1JACC(J)=A(JX)/(MASS+C(JX) + B(JX) TS 1JACC # 1JACC(-1)=L,PVT-CG SCALED AT 8 FEET CCS MPAC +1 TCF STCTR TCF COMMEQS TCF LRESC # COEFFQ AND COEFFR ARE COMPUTED IN THIS SECTION. THEY ARE USED TO RESOLVE Q-R COMPONENTS INTO NON-ORTHOGONAL # U AND V COMPONENTS (SEE ROT-TOUV SECTION). COMMEQS CS 1JACCR AD 1JACCQ EXTEND BZMF BIGIQ EXTEND # EPSILON IS A MEASURE OF COUPLING AND IS DV 1JACCQ # DEFINED=1-IQ/IR FOR IR GREATER THAN IQ. TS EPSILON # THE COMPUTED EXPRESSION IS EQUIVALENT AD -EPSMAX EXTEND BZMF GOODEPS1 CS -EPSMAX TS EPSILON # EPSILON IS LIMITED TO A MAX. OF .42265 GOODEPS1 CA EPSILON EXTEND MP 0.35356 AD .7071 TS COEFFR # IN THIS CASE WHERE IR IS GREATER THAN CS POSMAX # IQ, COEFFQ=-.707(1+.5EPSILON)(1-EPSILON) AD EPSILON # AND COEFFR=.707(1+.5EPSILON) EXTEND MP COEFFR TS COEFFQ TCF JACCUV BIGIQ EXTEND # EPSILON IS DEFINED AS 1-IR/IQ FOR IQ DV 1JACCR # GREATER THAN IR. -EPSILON IS COMPUTED TS -EPSILON # RATHER THAN EPSILON FOR CONVENIENCE CS -EPSILON AD -EPSMAX EXTEND BZMF GOODEPS2 CA -EPSMAX TS -EPSILON # EPSILON IS LIMITED TO A MAX. OF .42265 # Page 1489 GOODEPS2 CA -EPSILON EXTEND MP 0.35356 AD -.7071 TS COEFFQ # IN THIS CASE WHERE IQ IS GREATER THAN CS -EPSILON # IR, COEFFQ=-.707(1+.5EPSILON) AND AD NEGMAX # COEFFR=.707(1+.5EPSILON)(1-EPSILON) EXTEND MP COEFFQ TS COEFFR JACCUV CS COEFFQ EXTEND MP 1JACCQ # 1JACCQ IS SCALED AT PI/4 TS 1JACCU # 1JACCU USED AS TEMPORARY STORAGE CA COEFFR EXTEND MP 1JACCR AD 1JACCU EXTEND MP BIT14 # SCALING CHANGED FROM PI/4 TO PI/2 TS 1JACCU TS 1JACCV # SCALED AT PI/2 RADIANS/SEC(2) CCS MPAC # COMPUTE L,PVT-CG IF IN DESCENT CAF ZERO # ZERO SWITCHES AND GO TO 1/ACCONT IN TS ALLOWGTS # ASCENT TCF 1/ACCONT -1 CS TWO TS MPAC CS ONE TS MPAC +1 TCF STCTR1 # THIS SECTION COMPUTES THE RATE OF CHANGE OF ACCELERATION DUE TO THE ROTATION OF THE GIMBALS. THE EQUATION # IMPLEMENTED IN BOTH THE Y-X PLANE AND THE Z-X PLANE IS -- D(ALPHA)/DT = TL/I*D(DELTA)/DT, WHERE # T = ENGINE THRUST FORCE # L = PIVOT TO CG DISTANCE OF ENGINE # I = MOMENT OF INERTIA LRESC CAE ABDELV # SCALED AT 2(13) CM/SEC(2) EXTEND MP MASS # SCALED AT B+16 KGS TC DVOVSUB # GET QUOTIENT WITH OVERFLOW PROTECTION ADRES GFACTM # MASS IS DIVIDED BY ACCELERATION OF GRAVITY IN ORDER TO MATCH THE UNITS OF IXX,IYY,IZZ, WHICH ARE SLUG-FT(2). # THE RATIO OF ACCELERATION FROM PIPAS TO ACCELERATION OF GRAVITY IS THE SAME IN METRIC OR ENGINEERING UNITS, SO # THAT IS UNCONVERTED. 2.20462 CONVERTS KG. TO LB. NOW T IN IN A SCALED AT 2(14). EXTEND MP L,PVT-CG # SCALED AT 8 FEET. # Page 1490 INHINT TS MPAC EXTEND MP 1JACCR TC DVOVSUB # GET QUOTIENT WITH OVERFLOW PROTECTION ADRES TORKJET1 TS ACCDOTR # SCALED AT PI/2(7) CA MPAC EXTEND MP 1JACCQ TC DVOVSUB # GET QUOTIENT WITH OVERFLOW PROTECTION ADRES TORKJET1 SPSCONT TS ACCDOTQ # SCALED AT PI/2(7) EXTEND MP DGBF # .3ACCDOTQ SCALED AT PI/2(8) TS KQ CAE ACCDOTR # .3ACCDOTR AT PI/2(8) EXTEND MP DGBF TS KRDAP EXTEND # NOW COMPUTE QACCDOT, RACCDOT, THE SIGNED READ CHAN12 # JERK TERMS. STORE CHANNEL 12. WITH GIMBAL TS MPAC +1 # DRIVE BITS 9 THROUGH 12 SET LOOP CAF BIT2 # INDEX TO COMPUTE RACCDOT, THEN QACCDOT. TCF LOOP3 CAF ZERO # ACCDOTQ AND ACCDOTR ARE NOT NEGATIVE, LOOP3 TS MPAC # BECAUSE THEY ARE MAGNITUDES CA MPAC +1 INDEX MPAC # MASK CHANNEL IMAGE FOR ANY GIMBAL MOTION MASK GIMBLBTS EXTEND BZF ZACCDOT # IF NONE, Q(R)ACCDOT IS ZERO. CA MPAC +1 INDEX MPAC # GIMBAL IS MOVING. IS ROTATION POSITIVE. MASK GIMBLBTS +1 EXTEND BZF FRSTZERO # IF NOT POSITIVE, BRANCH INDEX MPAC # POSITIVE ROTATION, NEGATIVE Q(R)ACCDOT. CS ACCDOTQ TCF STACCDOT FRSTZERO INDEX MPAC # NEGATIVE ROTATION, POSITIVE Q(R)ACCDOT. CA ACCDOTQ TCF STACCDOT ZACCDOT CAF ZERO STACCDOT INDEX MPAC TS QACCDOT # STORE Q(R)ACCDOT. CCS MPAC TCF LOOP3 -1 # NOW DO QACCDOT. # Page 1491 CS DAPBOOLS # IS GIMBAL USABLE? MASK USEQRJTS EXTEND BZF DOWNGTS # NO. BE SURE THE GIMBAL SWITCHES ARE DOWN CS T5ADR # YES. IS THE DAP RUNNINT? AD PAXISADR EXTEND BZF +2 TCF DOWNGTS # NO. BE SURE THE GIMBAL SWITCHES ARE DOWN CCS INGTS # YES. IS GTS IN CONTROL? TCF DOCKTEST # YES. PROCEED WITH 1/ACCS. TC IBNKCALL # NO. NULL OFFSET AND FIND ALLOWGTS CADR TIMEGMBL DOCKTEST CCS DOCKTEMP # BYPASS 1/ACCONT WHEN DOCKED. TCF 1/ACCRET TCF 1/ACCONT # Page 1492 # SUBROUTINE: DVOVSUB # AUTHOR: C. WORK, MOD 0, 12 JUNE 68 # PURPOSE: THIS SUBROUTINE PROVIDES A SINGLE-PRECISION MACHINE LANGUAGE DIVISION OPERATION WHICH RETURNS # (1) THE QUOTIENT, IF THE DIVISION WAS NORMAL. # (2) NEGMAX, IF THE QUOTIENT WAS IMPROPER AND NEGATIVE. # (3) POSMAX, IF THE QUOTIENT WAS IMPROPER AND POSITIVE OR IF THERE WAS A ZERO DIVISOR. # THE CALLING PROGRAM IS PRESUMED TO BE A JOB IN THE F BANK WHICH CONTAINS DVOVSUB. E BANK MUST BE 6. # THE DIVISOR FOR THIS ROUTINE MAY BE IN EITHER FIXED OR ERASABLE STORAGE. SIGN AGREEMENT IS # ASSUMED BETWEEN THE TWO HALVES OF THE DIVIDEND. (THIS IS CERTAIN IF THE A AND L REGISTERS ARE THE # RESULT OF A MULTIPLICATION OPERATION.) # CALL SEQUENCE: L TC DVOVSUB # L +1 ADRES (DIVISOR) # L +2 RETURN HERE, WITH RESULT IN A,L # INPUT: DIVIDEND IN A,L (SIGN AGREEMENT ASSUMED), DIVISOR IN LOCATION DESIGNATED BY "ADRES". # DIVISOR MAY BE IN THE DVOVSUB FBANK,FIXED-FIXED FBANK,EBANK 6, OR UNSWITCHED ERASABLE. # OUTPUT: QUOTIENT AND REMAINDER, OR POSMAX (NEGMAX), WHICHEVER IS APPROPRIATE. # DEBRIS: SCRATCHX,SCRATCHY,SCRATCHZ,A,L (NOTE: SCRATCHX,Y,Z ARE EQUATED TO MPAC +4,+5, AND +6.) # ABORTS OR ALARMS: NONE # EXITS: TO THE CALL POINT +2. # SUBROUTINES CALLED: NONE. DVOVSUB TS SCRATCHY # SAVE UPPER HALF OF DIVIDEND TS SCRATCHX INDEX Q # OBTAIN ADDRESS OF DIVISOR. CA 0 INCR Q # STEP Q FOR PROPER RETURN SEQUENCE. INDEX A CA 0 # PICK UP THE DIVISOR. EXTEND # RETURN POSMAX FOR A ZERO DIVISOR. BZF MAXPLUS TS SCRATCHZ # STORE DIVISOR. CCS A # GET ABS(DIVISOR) IN THE A REGISTER. AD BIT1 TCF ZEROPLUS AD BIT1 ZEROPLUS XCH SCRATCHY # STORE ABS(DIVISOR). PICK UP TOP HALF OF EXTEND # DIVIDEND. BZMF GOODNEG # GET -ABS(DIVIDEND) # Page 1493 CS A GOODNEG AD SCRATCHY # ABS(DIVISOR) - ABS(DIVIDEND) EXTEND BZMF MAKEMAX # BRANCH IF DIVISION IS NOT PROPER. CA SCRATCHX # RE-ESTABLISH THE DIVIDEND EXTEND DV SCRATCHZ # QUOTIENT IN THE A, REMAINDER IN L. TC Q # RETURN TO CALLER. MAKEMAX CCS SCRATCHX # DETERMINE THE SIGN OF THE QUOTIENT. CCS SCRATCHZ # SCRATCHX AND SCRATCHZ ARE NON-ZERO. TCF MAXPLUS CCS SCRATCHZ CAF NEGMAX # +,- OR -,+ TC Q MAXPLUS CAF POSMAX # -,- OR +,+ TC Q # COEFFICIENTS FOR THE JET ACCELERATION CURVE FITS # THE CURVE FITS ARE OF THE FORM -- # # 1JACC = A/(MASS + C) + B # # A IS SCALED AT PI/4 RAD/SEC**2 B+16KG, B IS SCALED AT PI/4 RAD/SEC**2, AND C IS SCALED AT B +16 KG. # # THE CURVE FIT FOR L,PVT-CG IS OF THE SAME FORM, EXCEPT THAT A IS SCALED AT 8 FT B+16 KG, B IS SCALED AT 8 FT, # AND C IS SCALED AT B+16 KG. 2DEC +.0410511917 # L A DESCENT INERCONA 2DEC +.0059347674 # 1JACCP A DESCENT 2DEC +.0014979264 # 1JACCQ A DESCENT 2DEC +.0010451889 # 1JACCR A DESCENT 2DEC +.0065443852 # 1JACCP A ASCENT 2DEC +.0035784354 # 1JACCQ A ASCENT 2DEC +.0056946631 # 1JACCR A ASCENT DEC +.155044 # L B DESCENT DEC -.025233 # L C DESCENT # Page 1494 INERCONB DEC +.002989 # 1JACCP B DESCENT INERCONC DEC +.008721 # 1JACCP C DESCENT DEC +.018791 # 1JACCQ B DESCENT DEC -.068163 # 1JACCQ C DESCENT DEC +.021345 # 1JACCR B DESCENT DEC -.066027 # 1JACCR C DESCENT DEC +.000032 # 1JACCP B ASCENT DEC -.006923 # 1JACCP C ASCENT DEC +.162862 # 1JACCQ B ASCENT DEC +.002588 # 1JACCQ C ASCENT DEC +.009312 # 1JACCR B ASCENT DEC -.023608 # 1JACCR C ASCENT GIMBLBTS OCTAL 01400 OCTAL 01000 OCTAL 06000 OCTAL 04000 DGBF DEC 0.6 # .3 SCALED AT 1/2 0.35356 DEC 0.35356 # .70711 SCALED AT 2 GFACTM OCT 337 # 979.24/2.20462 AT B+15 .7071 DEC .70711 -.7071 DEC -.70711 -EPSMAX DEC -.42265 # CSM-DOCKED INERTIA COMPUTATIONS DOCKED CA ONE # COEFTR = 1 FOR INERTIA COEFFICIENTS SPSLOOP1 TS COEFCTR # = 7 FOR CG COEFFICIENTS CA ONE # MASSCTR = 1 FOR CSM TS MASSCTR # = 0 FOR LEM INDEX COEFCTR CA COEFF -1 # COEFF -1 = C EXTEND MP LEMMASS EXTEND MP CSMMASS # LET X = CSMMASS AND Y = LEMMASS INDEX COEFCTR AD COEFF # COEFF = F TS MPAC # MPAC = C X Y + F TCF +4 SPSLOOP2 TS MASSCTR # LOOP TWICE THROUGH HERE TO OBTAIN EXTEND # MPAC = MPAC + (A X +D)X + (B Y +E)Y DIM COEFCTR # LOOP #1 LOOP #2 INDEX COEFCTR CA COEFF +2 # COEFF +2 = A OR B EXTEND # Page 1495 INDEX MASSCTR MP LEMMASS INDEX COEFCTR AD COEFF +4 # COEFF +4 = E OR D EXTEND INDEX MASSCTR MP LEMMASS ADS MPAC CCS MASSCTR TCF SPSLOOP2 CCS COEFCTR # IF COEFCTR IS POS, EXIT FROM LOOP WITH TCF +7 # CG X DELDOT = MPAC X 4 PI RAD-CM/SEC TORQCONS 2DEC 0.51443 B-14 # CORRESPONDS TO 500 LB-FT CA MPAC TS MPAC +1 # INERTIA = (MPAC +1) X 2(38) KG-CM(2) CA SEVEN TCF SPSLOOP1 CA 1JACCCON # 1JACC=1JACCCON/MASS ZL TC DVOVSUB ADRES MASS TS 1JACC # SCALED AT PI/4 CA POSMAX # SET INVERSE JET ACCELERATIONS TO POSMAX, TS 1/ANETP # WHICH CORRESPONDS TO ACCEL. OF 1.4 D/SS. TS 1/ANET2 +1 TS 1/ANET2 +2 TS 1/ANET2 +17D TS 1/ANET2 +18D EXTEND DCA TORQCONS EXTEND DV MPAC +1 INHINT TS 1JACCQ # SCALED AT PI/4 TS 1JACCR CA -.7071 TS COEFFQ # COEFFQ AND COEFFR ARE CHOSEN TO MAKE U- CA .7071 # AND V-AXES ORTHOGONAL FOR DOCKED CASE TS COEFFR CA MASS # SCALED AT 2(16) KG EXTEND MP MPAC # SCALED AT 4 PI RAD-CM/SEC EXTEND MP ABDELV # SCALED AT 2(13) CM/SEC(2) TC DVOVSUB # GET QUOTIENT WITH OVERFLOW PROTECTION # Page 1496 ADRES MPAC +1 TS ACCDOTR TCF SPSCONT # CONTINUE K, KSQ CALCULATIONS 1JACCCON OCT 00167 # SCALED AT PI/4X2(16) RAD/SEC(2)-KG # 2 2 # COEFFICIENTS FOR CURVE FIT OF THE FORM Z = A X +B Y +C X Y +D X +E Y +F COEFF DEC .19518 # C COEFFICIENT OF INERTIA DEC -.00529 # F " DEC -.17670 # B " DEC -.03709 # A " DEC .06974 # E " DEC .02569 # D " DEC .20096 # C COEFFICIENT OF CG DEC .13564 # F " DEC .75704 # B " DEC -.37142 # A " DEC -.63117 # E " DEC .41179 # D " # ASSIGNMENT OF TEMPORARIES FOR 1/ACCS (EXCLUDING 1/ACCONT) # MPAC, MPAC +1, MPAC +2 USED EXPLICITLY COEFCTR EQUALS MPAC +4 MASSCTR EQUALS MPAC +5 SCRATCHX EQUALS MPAC +4 # SCRATCH AREA FOR DVOVSUB ROUTINE. SCRATCHY EQUALS SCRATCHX +1 SCRATCHZ EQUALS SCRATCHX +2 DOCKTEMP EQUALS MPAC +3 # RECORD OF CSMDOCKED BIT OF DAPBOOLS EPSILON EQUALS MPAC +1 -EPSILON EQUALS EPSILON -.1875 DEC -.18750 # Page 1497 BANK 20 SETLOC DAPS3 BANK EBANK= AOSQ COUNT* $$/DAPAO -1 TS INGTS # ZERO INGTS IN ASCENT 1/ACCONT CA DB # INITIALIZE DBVAL1,2,3 EXTEND MP BIT13 TS L # 0.25 DB AD A TS DBVAL3 # 0.50 DB CS DBVAL1 AD L TS DBVAL2 # -.75 DB GETAOSUV INHINT CAE AOSR # COMPUTE ASOU AND AOSV BY ROTATING TS L # AOSQ AND AOSR. CAE AOSQ TC IBNKCALL CADR ROT-TOUV DXCH AOSU RELINT CA DAPBOOLS MASK DRIFTBIT # ZERO DURING ULLAGE AND POWERED FLIGHT. CCS A # IF DRIFTING LIGHT, CA ONE # SET DRIFTER TO 1 TS DRIFTER # SAVE TO TEST FOR DRIFTING FLIGHT LATER AD ALLOWGTS # NON-ZERO IF DRIFT OR GTS NEAR CCS A CA FLATVAL # DRIFTING FLIGHT, STORE .8 IN FLAT TS FLATEMP # IN POWERED FLIGHT, STORE ZERO IN FLAT EXTEND BZF DOPAXIS # IF POWERED AND NO GTS, START P AXIS, CCS DRIFTER # OTHERWISE SET ZONE3LIM CA ZONE3MAX # 17.5 MS, SCALED AT 4 SECONDS. TS Z3TEM DOPAXIS CA 1JACC # 1JACC AT PI/4 = 2JACC AT PI/2 = # ANET AT PI/2 = ANET/ACOAST AT 2(6). AD BIT9 # 1 + ANET/ACOAST AT 2(6) TS FUNTEM CA 1JACC # Page 1498 TC INVERT INHINT # P AXIS DATA MUST BE CONSISTENT TS 1/ANETP # SCALED AT 2(7)/PI. TS 1/ANETP +1 CS BIT9 # -1 AT 2(6) EXTEND MP 1/ANETP # -1/ANET AT 2(13)/PI EXTEND DV FUNTEM # -1/(ANET + ANET**2/ACOAST) AT 2(7)/PI TS PACCFUN TS PACCFUN +1 CA 1/.03 # NO AOS FOR P AXIS, ACOAST = AMIN TS 1/ACOSTP TS 1/ACOSTP +1 RELINT ZL CCS DRIFTER DXCH AOSU # ZERO AOSU,V IF IN DRIFT, JUST TO BE SURE UAXIS CA ZERO # DO U AXIS COMPUTATIONS TS UV # ZERO FOR U AXIS, ONE FOR V AXIS. BOTHAXES TS SIGNAOS # CODING COMMON TO U,V AXES INDEX UV CCS AOSU # PICK UP ABS(AOSU OR AOSV) AD ONE # RESTORE TO PROPER VALUE TCF +3 # AND LEAVE SIGNAOS AT ZERO AD ONE # NEGATIVE, RESTORE TO PROPER VALUE INCR SIGNAOS # AND SET SIGNAOS TO ONE TO SHOW AOS NEG TS ABSAOS # SAVE ABS(AOS) CS SIGNAOS TS -SIGNAOS # USED AS AN INDEX CA DBVAL1 # SET DB1, DB2 TO DBVAL1 (= DB) TS DBB1 TS DBB2 CA ABSAOS # TEST MAGNITUDE OF ABS(AOS) AD -.03R/S2 EXTEND BZMF NOTMUCH # ABS(AOS) LESS THAN AMIN BIGAOS CCS FLATEMP # AGS(AOS) GREATER THAN AMIN TCF SKIPDB1 # I DRIFT OR GTS, DO NOT COMPUTE DB CA DBVAL1 INDEX -SIGNAOS # Page 1499 ADS DBB2 # DB2(1) = 2 DB INDEX SIGNAOS TS DBB4 # DB4(3) = 1 DB CA -.1875 # -.1875 PI/2 RAD/SEC(2) SCALED AT PI/2 AD ABSAOS # ABSAOS IS SCALED AT PI/2 EXTEND BZMF +3 CS DBVAL3 # -.5 DB TCF DBONE CS ABSAOS DOUBLE DOUBLE AD BIT14 DOUBLE # 1-8 ABSAOS. (8 IS 16/PI SCALED AT 2/PI) EXTEND MP DB DBONE INDEX SIGNAOS # DB1(2)=(1-8 ABSAOS) DB. IF ABSAOS IS TS DBB1 # GREATER THAN .1875 THEN DB1(2) = -.5 DB CA DBVAL2 INDEX -SIGNAOS TS DBB3 # DB3(4) = -.75 DB SKIPDB1 CA ABSAOS # ABS(AOS) GREATER THAN AMIN, SO IT IS EXTEND MP BIT12 AD ABSAOS # (9/8) ABSAOS. TC INVERT # ALL RIGHT TO DIVIDE INDEX -SIGNAOS TS 1/ACOSTT +1 # 1/ACOASTPOS(NET) = 1/ABS(AOS) CA 1/.03 INDEX SIGNAOS TS 1/ACOSTT # 1/ACOASTNEG(POS) = 1/AIN CA ABSAOS AD 1JACCU AD 1JACCU # 2 JACC + ABS(AOS) AD BIT9 # MAXIMUM VALUE IN COMPUTATIONS TS A # TEST FOR OVERFLOW TCF SKIPDB2 # NO OVERFLOW, DO NORMAL COMPUTATION CA ABSAOS # RESCALE TO PI TO PREVENT OVERFLOW EXTEND MP BIT14 AD 1JACCU # 1 JACC AT PI/2 = 2JACC AT PI TS ANET # ANETPOS(NEG) MAX SCALED AT PI = # ANETPOS(NEG) MAX/ACOASTNEG(POS) AT 2(7) AD BIT8 # 1 + ANETPOS/ACOASTNEG AT 2(7) XCH ANET # SAVE IN ANET, WHILE PICKING UP ANET TC INVERT EXTEND # Page 1500 MP BIT14 # SCALE 1/ANET AT 2(7)/PI TS 1/ANET CA ACCHERE # SET UP RETURN FROM COMPUTATION ROUTINE TS ARET CS BIT8 # -1 AT 2(7) TCF DOACCFUN # FINISH ACCFUN COMPUTATION ACCHERE TCF ACCTHERE NOTMUCH TS L # ABS(AOS) LESS THAN AMIN, SAVE IN L CA 1/.03 # ACOASTPOS,NEG = AMIN TS 1/ACOSTT TS 1/ACOSTT +1 CCS FLATEMP TCF SKIPDB2 # DO NOT COMPUTE DB IF DRIFT OR GTS CA .0125RS # AMIN/2 AD L # L HAS ABS(AOS) - AMIN EXTEND # RESULT IS ABS(AOS)- AMIN/2 BZMF NOAOS # ABS(AOS) LESS THAN AMIN/2 SOMEAOS CA DBVAL3 # AMIN/2 LT ABS(AOS) LT AMIN INDEX -SIGNAOS TS DBB3 # DB3(4) = DB/2 AD A INDEX SIGNAOS TS DBB4 # DB4(3) = DB TCF SKIPDB2 NOAOS CA DBVAL1 TS DBB3 # DB3,4 = DB TS DBB4 SKIPDB2 CA ABSAOS # ANETPOS(NEG) MAX = 2 JACC + ABS(AOS) AD 1JACCU AD 1JACCU TS ANET # CANNOT OVERFLOW HERE CL1/NET+ TC DO1/NET+ # COMPUTE 1/ANET, ACCFUN ACCTHERE INDEX -SIGNAOS TS Z5TEM +2 # STORE ACCFUN IN TEMPORARY BUFFER CA 1/ANET INDEX -SIGNAOS TS 1/ATEM2 +2 # STORE 1/ANET IN TEMPORARY BUFFER CA ABSAOS # SEE IF OVERFLOW IN MIN CASE AD 1JACCU # Page 1501 AD BIT9 # MAXIMUM POSSIBLE VALUE TS A # OVERFLOW POSSIBLE BUT REMOTE TCF +2 CA POSMAX # IF OVERFLOW, TRUNCATE TO PI/2 AD -.03R/S2 # RESTORE TO CORRECT VALUE TS ANET TC DO1/NET+ # COMPUTE 1/ANET, ACCFUN INDEX -SIGNAOS # STORE MIN VALUES JUST AS MAX VALUES TS Z5TEM CA 1/ANET INDEX -SIGNAOS TS 1/ATEM2 CS ABSAOS # NOW DO NEG(POS) CASES AD 1JACCU AD 1JACCU # ANETNEG(POS) MAX TC 1/ANET- # COMPUTE 1/ANET, ACCFUN, AND ACCSW INDEX SIGNAOS # STORE NEG(POS) VALUES JUST AS POS(NEG) TS Z1TEM +2 TS L # SAVE IN L FOR POSSIBLE FUTURE USE CA 1/ANET INDEX SIGNAOS TS 1/ATEM1 +2 CS ABSAOS AD 1JACCU # 1/ANETNEG(POS) MIN TS ANET AD -.03R/S2 # TEST FOR AMIN EXTEND # IF ANET LESS THAN AMIN, STORE MAX JET BZMF FIXMIN # VALUES FOR MIN JETS AND SET ACCSW TC 1/NETMIN # OTHERWISE DO MIN JET COMPUTATIONS STMIN- INDEX SIGNAOS # STORE VALUES TS Z1TEM CA 1/ANET INDEX SIGNAOS TS 1/ATEM1 INDEX UV CA +UMASK MASK CH5MASK # TEST FOR +U (+V) JET FAILURES EXTEND BZF FAIL- CA 1/ATEM2 # REPLACE FUNCTION VALUES DEPENDING ON THE TS 1/ATEM2 +2 # FAILED JET PAIR WITH CORRESPONDING ONE- CA Z5TEM # JET (OR AMIN) FUNCTION VALUES TS Z5TEM +2 FAIL- INDEX UV # Page 1502 CA -UMASK MASK CH5MASK # TEST FOR -U (-V) JET FAILURES EXTEND BZF DBFUN CA 1/ATEM1 # REPLACE FUNCTION VALUES DEPENDING ON THE TS 1/ATEM1 +2 # FAILED JET PAIR WITH CORRESPONDING ONE- CA Z1TEM # JET (OR AMIN) FUNCTION VALUES TS Z1TEM +2 DBFUN CS DBB3 # COMPUTE AXISDIST AD DBB1 AD FLATEMP TS AXDSTEM CS DBB4 AD DBB2 AD FLATEMP TS AXDSTEM +1 INHINT CCS UV # TEST FOR U OR V AXIS TCF STORV # V AXIS STORE V VALUES CA ACCSW # U AXIS STORE U VALUES TS ACCSWU CA NINE # TRANSFER 10 WORDS VIA GENTRAN TC GENTRAN +1 ADRES 1/ATEM1 # TEMPORARY BUFFER ADRES 1/ANET1 # THE REAL PLACE RELINT DXCH DBB1 # SAVE U DBS FOR LATER STORING DXCH UDB1 DXCH DBB4 DXCH UDB4 DXCH AXDSTEM DXCH UAXDIST CA ONE # NOW DO V AXIS TS UV CA ZERO TCF BOTHAXES # AND DO IT AGAIN STORV CA ACCSW # STORE V AXIS VALUES TS ACCSWV CA NINE TC GENTRAN +1 # Page 1503 ADRES 1/ATEM1 # TEMPORARY BUFFER ADRES 1/ANET1 +16D # THE REAL PLACE # NOW STORE DEADBANDS FOR ALL AXES DXCH FLATEMP # FLAT AND ZONE3LIM DXCH FLAT CA DBVAL1 # COMPUTE P AXIS DEADBANDS TS PDB1 TS PDB2 AD FLAT TS PDB3 TS PDB4 CA ZERO TS PAXDIST TS PAXDIST +1 CCS FLAT TCF DRFDB # DRIFT OR GTS -- COMPUTE DBS DXCH UDB1 # STORE U DEADBANDS DXCH FIREDB # CANNOT USE GENTRAN BECAUSE OF RELINT DXCH UDB4 DXCH COASTDB DXCH UAXDIST DXCH AXISDIST DXCH DBB1 # STORE V AXIS DEADBANDS DXCH FIREDB +16D # COULD USE GENTRAN IF DESIRED DXCH DBB4 DXCH COASTDB +16D DXCH AXDSTEM DXCH AXISDIST +16D TCF 1/ACCRET +1 # ALL DONE DRFDB CA DBVAL1 # DRIFT DEADBANDS TS FIREDB TS FIREDB +1 TS FIREDB +16D TS FIREDB +17D AD FLAT TS COASTDB TS COASTDB +1 TS COASTDB +16D TS COASTDB +17D CA ZERO TS AXISDIST TS AXISDIST +1 TS AXISDIST +16D TS AXISDIST +17D # Page 1504 1/ACCRET INHINT CS DAPBOOLS # SET BIT TO INDICATE DATA GOOD. MASK ACCSOKAY ADS DAPBOOLS RELINT CA ACCRETRN TC BANKJUMP # RETURN TO CALLER INVERT TS HOLD # ROUTINE TO INVERT -INPUT AT PI/2 CA BIT9 # 1 AT 2(6) ZL # ZERO L FOR ACCURACY AND TO PREVENT OVFLO EXTEND DV HOLD TC Q # RESULT AT 2(7)/PI DOWNGTS CAF ZERO # ZERO SWITCHES WHEN USEQRJTS BIT IS UP TS ALLOWGTS # OR DAP IS OFF TS INGTS TCF DOCKTEST 1/ANET- ZL LXCH ACCSW # ZERO ACCSW TS ANET # SAVE ANET AD -.03R/S2 # TEST FOR MIN VALUE EXTEND BZMF NETNEG # ANET LESS THAN AMIN, SO FAKE IT 1/NETMIN CA ANET EXTEND INDEX -SIGNAOS MP 1/ACOSTT +1 # ANETNEG(POS)/ACOASTPOS(NEG) AT 2(6) # THE FOLLOWING CODING IS VALID FOR BOTH POS OR NEG # VALUES OF AOS DO1/NET+ AD BIT9 # 1 + ANET/ACOAST AT 2(6) XCH ANET # SAVE AND PICK UP ANET EXTEND QXCH ARET # SAVE RETURN TC INVERT TS 1/ANET # 1/ANET AT 2(7)/PI CS BIT9 # -1 AT 2(6) DOACCFUN EXTEND MP 1/ANET # -1/ANET AT 2(13)/PI EXTEND DV ANET # ACCFUN AT 2(7)/PI TC ARET # RETURN NETNEG CS -.03R/S2 # ANET LESS THAN AMIN -- SET EQUAL TO AMIN TS ANET # Page 1505 TCF 1/NETMIN +1 # CONTINUE AS IF NOTHING HAPPENED. FIXMIN CCS SIGNAOS CA TWO # IF AOS NEG, ACCSW = +1 AD NEGONE # IF AOS POS, ACCSW = -1 TS ACCSW AD UV # IF ACCSW = +1, TEST FOR +U (+V) JET FAIL INDEX A # IF ACCSW = -1, TEST FOR -U (-V) JET FAIL CA -UMASK +1 MASK CH5MASK EXTEND BZF +4 CS -.03R/S2 # JET FAILURE -- CANNOT USE 2-JET VALUES TS ANET # ANET = AMIN TCF STMIN- -1 # CALCULATE FUNCTIONS USING AMIN CA L # L HAS ACCFUN TCF STMIN- # STORE MAX VALUES FOR MIN JETS # ERASABLE ASSIGNMENTS FOR 1/ACCONT 1/ANETP EQUALS BLOCKTOP +2 1/ACOSTP EQUALS BLOCKTOP +4 PACCFUN EQUALS BLOCKTOP +8D PDB1 EQUALS BLOCKTOP +10D PDB2 EQUALS BLOCKTOP +11D PDB4 EQUALS BLOCKTOP +12D PDB3 EQUALS BLOCKTOP +13D PAXDIST EQUALS BLOCKTOP +14D ACCSW EQUALS VBUF # EXECUTIVE TEMPORARIES # CANNOT DO CCS NEWJOB DURING 1/ACCS 1/ATEM1 EQUALS ACCSW +1 # TEMP BUFFER FOR U AND V AXES 1/ATEM2 EQUALS 1/ATEM1 +1 1/ACOSTT EQUALS 1/ATEM1 +4 Z1TEM EQUALS 1/ATEM1 +6 Z5TEM EQUALS 1/ATEM1 +7 UDB1 EQUALS 1/ATEM1 +10D # UAXIS DEADBAND BUFFER UDB2 EQUALS 1/ATEM1 +11D UDB4 EQUALS 1/ATEM1 +12D UDB3 EQUALS 1/ATEM1 +13D UAXDIST EQUALS 1/ATEM1 +14D DBB1 EQUALS 1/ATEM1 +16D # TEMP DEADBAND BUFFER, ALSO V AXIS DBB2 EQUALS 1/ATEM1 +17D DBB4 EQUALS 1/ATEM1 +18D DBB3 EQUALS 1/ATEM1 +19D AXDSTEM EQUALS 1/ATEM1 +20D # Page 1506 FLATEMP EQUALS 1/ATEM1 +22D Z3TEM EQUALS 1/ATEM1 +23D # MUST FOLLOW FLATEMP DBVAL1 EQUALS DB DBVAL2 EQUALS INTB15+ DBVAL3 EQUALS INTB15+ +1 DRIFTER EQUALS INTB15+ +2 UV EQUALS MPAC ANET EQUALS MPAC +3 FUNTEM EQUALS MPAC +3 1/ANET EQUALS MPAC +4 ARET EQUALS MPAC +5 ABSAOS EQUALS MPAC +6 SIGNAOS EQUALS MPAC +7 -SIGNAOS EQUALS MPAC +8D HOLD EQUALS MPAC +9D ACCRETRN EQUALS FIXLOC -1 ZONE3MAX DEC .004375 # 17.5 MS (35 MS FOR 1 JET) AT 4 SECONDS FLATVAL DEC .01778 # .8 AT PI/4 RAD -.03R/S2 OCT 77377 # -PI/2(7) AT PI/2 .0125RS EQUALS BIT8 # PI/2(+8) AT PI/2 1/.03 EQUALS POSMAX # 2(7)/PI AT 2(7)/PI PAXISADR GENADR PAXIS # THE FOLLOWING 4 CONSTANTS ARE JET # FAILURE MASKS AND ARE INDEXED -UMASK OCT 00110 # -U OCT 00022 # -V +UMASK OCT 00204 # +U OCT 00041 # +V ================================================ FILE: Luminary099/AOTMARK.agc ================================================ # Copyright: Public domain. # Filename: AOTMARK.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 244-261 # Mod history: 2009-05-10 SN (Sergio Navarro). Started adapting # from the Luminary131/ file of the same # name, using Luminary099 page images. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 244 BANK 12 SETLOC AOTMARK1 BANK EBANK= XYMARK COUNT* $$/MARK AOTMARK INHINT CCS MARKSTAT # SEE IF AOTMARK BUSY TC +2 # MARK SYSTEM BUSY -- DO ALARM TC EXTVBCHK TC POODOO OCT 00105 EXTVBCHK CAF SIX # SEE IF EXT. VERB WORKING MASK EXTVBACT CCS A TCF MKABORT # YES -- ABORT CAF BIT2 # NO -- DISALLOW SOME EXTENDED VERB ACTION ADS EXTVBACT # BIT2 RESET IN ENDMARK MKVAC CCS VAC1USE # LOOK FOR A VAC AREAD -- DO ABORT IF TCF MKVACFND # NONE AVAILABLE CCS VAC2USE TCF MKVACFND CCS VAC3USE TCF MKVACFND CCS VAC4USE TCF MKVACFND CCS VAC5USE TCF MKVACFND DXCH BUF2 TC BAILOUT1 # ALL VAC AREAS OCCUPIED -- ABORT. OCT 01207 MKVACFND AD TWO TS MARKSTAT # STORE VAC ADR IN LOW 9 OF MARKSTAT CAF ZERO INDEX MARKSTAT TS 0 -1 # ZERO IN VACUSE REG TO SHOW VAC OCCUPIED CAF PRIO15 TC FINDVAC # SET UP JOB FOR GETDAT EBANK= XYMARK 2CADR GETDAT RELINT TCF SWRETURN # Page 245 MKABORT DXCH BUF2 TC BAILOUT1 # CONFLICT WITH EXTENDED VERB OCT 01211 MKRELEAS CAF ZERO XCH MARKSTAT # SET MARKSTAT TO ZERO MASK LOW9 # PICK UP VAC AREA AOR CCS A INDEX A TS 0 # SHOW MKVAC AREA AVAILABLE CAF ONE TC IBNKCALL CADR GOODEND # GO WAKE UP CALLING JOB # Page 246 KILLAOT CAF ZERO TS EXTVBACT # TERMINATE AOTMARK -- ALLOW EXT VERB TC GOTOPOOH GETDAT CS MARKSTAT # SET BIT12 TO DISCOURAGE MARKRUPT MASK BIT12 # BIT12 RESET AT GETMARK ADS MARKSTAT CAF V01N71 # DISPLAY DETENT AND STAR CODE TC BANKCALL CADR GOMARKF TCF KILLAOT # V34 -- DOES GOTOPOOH TCF DODAT # V33 -- PROCEED -- USE THIS STAR FOR MARKS ENTERDAT TCF GETDAT # ENTER -- REDISPLAY STAR CODE DODAT CAF HIGH9 # PICK DETENT CODE FROM BITS7-9 OF AOTCODE MASK AOTCODE # AND SEE IF CODE 1 TO 6 EXTEND MP BIT9 TS XYMARK # STORE DETENT EXTEND BZMF GETDAT # COAS CALIBRATION CODE - NO GOOD HERE AD NEG7 # SEE IF DETENT 7 FOR COAS EXTEND BZF CODE7 TCF CODE1TO6 CODE7 CAF V06N87* # CODE 7, COAS SIGHTING, GET OPTIC AXIS TC BANKCALL # AZ AND EL OF SIGHTING DEVICE FROM ASTRO CADR GOMARKF TCF KILLAOT # V34 -- DOES GOTOPOOH TCF +2 # PROCEED TCF CODE7 # ON ENTER, RECYCLE EXTEND DCA AZ # PICK UP AZ AND EL IN SP 25 COMP INDEX FIXLOC DXCH 8D # STORE IN 8D AND 9D OF LOCAL VAC CAF ZERO # BACKUP SYSTEM TO BE USED TCF COASCODE # ZERO APPARENT ROTATION CODE1TO6 INDEX XYMARK # INDEX AOT POSITION BY DET CODE CA AOTEL -1 INDEX FIXLOC TS 9D # STORE ELEVATION IN VAC+9D INDEX XYMARK # INDEX DET CODE 1,2 OR 3 # Page 247 CA AOTAZ -1 INDEX FIXLOC TS 8D # STORE AZIMUTH IN VAC +8D CA AOTAZ +1 # COMPENSATION FOR APPARENT ROTATION OF EXTEND # AOT FIELD OF VIEW IN LEFT AND RIGHT INDEX FIXLOC # DETENTS IS STORED IN VAC +10D IN SP MSU 8D # PRECISION ONE'S COMPLEMENT COASCODE INDEX FIXLOC TS 10D # ROT ANGLE TC INTPRET # COMPUTE X AND Y PLANE VECTORS # Page 248 # THE OPTAXIS SUBROUTINE COMPUTES THE X AND Y MARK PLANE VECS AND # ROTATES THEM THRU THE APPARENT FIELD OF VIEW ROTATION UNIQUE TO AOT # OPTAXIS USES OANB TO COMPUTE THE OPTIC AXIS # # INPUT -- AZIMUTH ANGLE IN SINGLE PREC AT CDU SCALE IN 8D OF JOB VAC # ELEVATION ANGLE IN SINGLE PREC AT CDU SCALE IN 9D OF JOB VAC # ROTATION ANGLE IN SINGLE PREC IS COMP SCALED BY PI IN 10D OF VAC # # OUTPUT -- OPTIC AXIS VEC IN NG COORDS IN SCAXIS # X-MARK PLANE 1/4VEC IN NB COORDS AT 18D OF JOB VAC # Y-MARK PLANE 1/4VEC IN NB COORDS AT 12D OF JOB VAC OPTAXIS CALL # GO COMPUTE OA AN X AND Y PLANE VECS OANB SLOAD SR1 # LOAD APP ROTATION IN ONES COMP 10D # RESCALE BY 2PI PUSH SIN # 1/2SIN(ROT) 0-1 PDDL COS PUSH VXSC # 1/2COS(ROT) 2-3 18D PDDL VXSC # 1/4COS(ROT)UYP 4-9 0 24D # 1/4SIN(ROT)UXP BVSU STADR # UP 4-9 STODL 12D # YPNB=1/4(COS(ROT)UYP-SIN(ROT)UXP) VXSC PDDL # UP 2-3 UP 0-1 FOR EXCHANGE 24D # 1/4COS(ROT)UXP PUSH 0-5 VXSC VAD # 1/4SIN(ROT)UYP 18D # UP 0-5 STADR STOVL 18D # XPNB=1/4(COS(ROT)UXP+SIN(ROT)UYP) LO6ZEROS # INITIALIZE AVE STAR VEC ACCUMULATOR STORE STARAD +6 EXIT TCF GETMKS # Page 249 # THE OANB SUBROUTINE COMPUTES THE OPTIC AXIS OF THE SIGHTING INSTRUMENT # FROM AZIMUTH AND ELEVATION INPUT FROM THE ASTRONAUT. # # INPUT -- AZIMUTH ANGLE IN SINGLE PREC 2'S COMP IN 8D OF JOB VAC # ELEVATION ANGLE IN SINGLE PREC 2'S COMP IN 9D OF VAC # # OUTPUT -- OPTIC AXIS IN NB COORDS. IN SCAXIS # X-PLANE 1/2VEC IN NB COORDS AT 24D OF VAC # Y-PLANE 1/2VEC IN NB COORDS AT 18D OF VAC BANK 05 SETLOC AOTMARK2 BANK COUNT* $$/MARK OANB SETPD STQ 0 GCTR # STORE RETURN SLOAD RTB 9D # PICK UP SP ELV CDULOGIC PUSH COS PDDL SIN # 1/2COS(ELV) PD 0-1 STADR STODL SCAXIS # OAX=1/2SIN(ELV) 8D RTB CDULOGIC PUSH COS STORE 20D # STORE UYP(Y) 20-21 PDDL SIN # 1/2COS(AZ) PD 2-3 PUSH DCOMP # PUSH 1/2S IN (AZ) 4-5 STODL 22D # STORE UYP(Z) 22-23 LO6ZEROS STODL 18D # STORE UYP(X) 18-19 DMP SL1 0 STODL SCAXIS +2 # OAY=1/2COS(ELV)SIN(AZ) DMP SL1 # UP 2-3 STADR # UP 0-1 STOVL SCAXIS +4 # OAZ=1/2COS(ELV)COS(AZ) 18D # LOAD UYP VEC VXV UNIT SCAXIS # UXP VEC=UYP X OA STORE 24D # STORE UXP GOTO GCTR # Page 250 # SURFSTAR COMPUTES A STAR VECTOR IN SM COORDINATES FOR LUNAR # SURFACE ALIGNMENT AND EXITS TO AVEIT TO AVERAGE STAR VECTORS. # # GIVEN X-MARK PLANE 1/4 VEC IN NB AT 18D OF LOCAL VAC # Y-MARK PLANE 1/4 VEC IN NB AT 12D OF LOCAL VAC # CURSOR SP 2COMP AT POSITION 1 OF INDEXED MARKVAC # SPIRAL SP 2COMP AT POSITION 3 OF INDEXED MARKVAC # CDUY,Z,X AT POSITIONS 0,2,4 OF INDEXED MARKVAC BANK 15 SETLOC P50S BANK COUNT* $$/R59 SURFSTAR VLOAD* 0,1 # PUT X-MARK CDUS IN CDUSPOT FOR TRG*NBSM STORE CDUSPOT SLOAD* RTB 1,1 # PICK UP YROT CDULOGIC STORE 24D # STORE CURSOR FOR SPIRAL COMP (REVS) BZE YZCHK # IF YROT ZERO -- SEE IF SROT ZERO JUSTZY PUSH COS PDDL SIN # 1/2COS(YROT) 0-1 VXSC PDDL # UP 0-1 1/8SIN(YROT)UXP 0-5 18D VXSC VSU # UP 0-5 12D # UYP UNIT VXV SCAXIS UNIT PUSH SLOAD* RTB 3,1 # PICK UP SPIRAL CDULOGIC STORE 26D # STORE SPIRAL (REVS) DSU DAD 24D ABOUTONE DMP DP1/12 STORE 26D # SEP=(360 + SPIRAL -CURSOR)/12 SIN VXSC # UP 0-5 VSL1 PDDL # 1/2SIN(SEP)(UPP X OA) 0-5 26D COS VXSC SCAXIS VSL1 VAD # UP 0-5 JUSTOA UNIT CALL TRG*NBSM STCALL 24D # STAR VEC IN SM AVEIT # GO AVERAGE # Page 251 ABOUTONE 2DEC .99999999 DP1/12 EQUALS DEG30 # .08333333 BANK 7 SETLOC AOTMARK1 BANK COUNT* $$/MARK YZCHK SLOAD* BZE # YROT ZERO AND IF SROT ZERO FORCE STAR 3,1 # ALONG OPTIC AXIS YSZERO DLOAD GOTO 24D JUSTZY # SROT NOT ZERO -- CONTINUE NORMALLY YSZERO VLOAD GOTO SCAXIS JUSTOA # Page 252 # THE GETMKS ROUTINE INITIALIZES THE SIGHTING MARK PROCEDURE GETMKS CAF ZERO # INITIALIZE MARK ID REGISTER AND MARK CNT TS XYMARK TS MARKCNTR CAF LOW9 # ZERO BITS10 TO 15 RETAINING MKVAC ADR MASK MARKSTAT TS MARKSTAT CAF MKVB54* # DISPLAY VB54 INITIALLY PASTIT TC BANKCALL CADR GOMARK4 TCF KILLAOT # V34 -- DOES GOTOPOOH TCF MARKCHEX # VB33 -- PROCEED, GOT MARKS, COMPUTE LOS TCF GETDAT # ENTER -- RECYCLE TO V01N71 MARKCHEX CS MARKSTAT # SET BIT12 TO DISCOURAGE MARKRUPT MASK BIT12 ADS MARKSTAT MASK LOW9 TS XYMARK # JAM MARK VAC ADR IN XYMARK FOR AVESTAR CAF ZERO TS MKDEX # SET MKDEX ZERO FOR LOS VEC CNTR CA MARKSTAT MASK PRIO3 # SEE IF LAST MK PART COMPLETE TS L CAF PRIO3 # BITS10 AND 11 EXTEND RXOR LCHAN EXTEND BZF AVESTAR # LAST PAIR COMPLETE -- TO COMPUTE LOS CNTCHK CCS MARKCNTR # NO PAIR SHOWING -- SEE IF PAIR IN HOLD TCF +2 # PAIR BURIED -- DECREMENT COUNTER TCF MKALARM # NO PAIR -- ALARM TS MARKCNTR # STORE DECREMENTED COUNTER AVESTAR CAF BIT12 # INITIALIZE MKDEX FOR STAR LOS COUNTER ADS MKDEX # MKDEX WAS INITIALIZED ZERO IN MARKCHEX CS MARKCNTR EXTEND MP SIX # GET C(L) = -6 MARKCNTR CS XYMARK AD L # ADD -- MARK VAC ADR SET IN MARKCHEX INDEX FIXLOC TS X1 # JAM -- CDU ADR OF X-MARK IN X1 CA FIXLOC # SET PD POINTER TO ZERO TS PUSHLOC TC INTPRET # Page 253 BON VLOAD* SURFFLAG # IF ON SURFACE COMPUTE VEC AT SURFSTAR SURFSTAR 1,1 # PUT Y-MARK CDUS IN CDUSPOT FOR TRG*NBSM STOVL CDUSPOT 12D # LOAD Y-PLANE VECTOR IN NG CALL TRG*NBSM # CONVERT IT TO STABLE MEMBER PUSH VLOAD* 0,1 # PUT X-MARK CDUS IN CDUSPOT FOR TRG*NBSM STOVL CDUSPOT 18D # LOAD X-PLANE VECTOR IN NB CALL TRG*NBSM # CONVERT IT TO STABLE-MEMBER VXV UNIT # UNIT(XPSM * YPSM) STADR STORE 24D AVEIT SLOAD PDVL # N(NUMBER OF VECS) IN 0-1 MKDEX 24D # LOAD CURRENT VECTOR VSR3 V/SC 0 STODL 24D # VEC/N 0 DSU DDV DP1/8 # (N-1)/N VXSC VAD STARAD +6 # ADD VEC TO PREVIOUSLY AVERAGED VECTOR 24D # (N-1)/N AVESTVEC + VEC/N STORE STARAD +6 # AVERAGE STAR VECTOR STORE STARSAV2 EXIT CCS MARKCNTR # SEE IF ANOTHER MARK PAIR IN MKVAC TCF AVESTAR -1 # THERE IS -- GO GET IT -- DECREMENT COUNTER ENDMARKS CAF FIVE # NO MORE MARKS -- TERMINATE AOTMARK INHINT TC WAITLIST EBANK= XYMARK 2CADR MKRELEAS TC ENDMARK MKALARM TC ALARM # NOT A PAIR TO PROCESS -- DO GETMKS OCT 111 TCF GETMKS V01N71 VN 171 V06N87* VN 687 # Page 254 # MARKRUPT IS ENTERED FROM INTERRUPT LEAD-INS AND PROCESSES CHANNEL 16 # CAUSED BY X,Y MARK OR MARK REJECT OR BY THE RATE OF DESCENT SWITCH MARKRUPT TS BANKRUPT CA CDUY # STORE CDUS AND TIME NOW -- THEN SEE IF TS ITEMP3 # WE NEED THEM CA CDUZ TS ITEMP4 CA CDUX TS ITEMP5 EXTEND DCA TIME2 DXCH ITEMP1 XCH Q TS QRUPT CAF OCT34 # SEE IF X OR Y MARK OR MKREJECT EXTEND RAND NAVKEYIN CCS A TCF +2 # ITS A LIVE ONE -- SEE IF ITS WANTED TCF SOMEKEY # ITS SOME OTHER KEY CAF BIT12 # ARE WE ASKING FOR A MARK MASK MARKSTAT CCS A TC RESUME # DON'T WANT MARK OR MKREJECT -- DO NOTHING CCS MARKSTAT # ARE MARKS BEING ACCEPTED TCF FINDKEY # THEY ARE -- WHICH ONE IS IT TC ALARM # MARKS NOT BEING ACCEPTED -- DO ALARM OCT 112 TC RESUME FINDKEY CAF BIT5 # SEE IF MARK REJECT. EXTEND RAND NAVKEYIN CCS A TCF MKREJ # IT'S A MARK REJECT CAF BIT4 # SEE IF Y MARK EXTEND RAND NAVKEYIN CCS A TCF YMKRUPT # IT'S A Y MARK CAF BIT3 # SEE IF X MARK EXTEND RAND NAVKEYIN # Page 255 CCS A TCF XMKRUPT # IT'S A X MARK SOMEKEY CAF OCT140 # NOT MARK OR MKREJECT -- SEE IF DESCENT BITS EXTEND RAND NAVKEYIN EXTEND BZF +3 # IF NO BITS TC POSTJUMP # IF DESCENT BITS CADR DESCBITS TC ALARM # NO INBITS IN CHANNEL 16. OCT 113 TC RESUME XMKRUPT CAF ZERO TS RUPTREG1 # SET X MARK STORE INDEX TO ZERO CAF BIT10 TCF +4 YMKRUPT CAF ONE TS RUPTREG1 # SET Y MARK STORE INDEX TO ONE CAF BIT11 TS XYMARK # SET MARK IDENTIFICATION TC MARKTYPE # SEE IF SURFACE MARK TCF SURFSTOR # SURFACE MARK -- JUST STORE CDUS CAF BIT14 # GOT A MARK -- SEE IF MARK PARI MADE MASK MARKSTAT EXTEND BZF VERIFYMK # NOT A PAIR, NORMAL PROCEDURE CS MARKCNTR # GO A PAIR, SEE IF ANOTHER CAN BE MADE AD FOUR # IF SO, INCREMENT POINTER, CLEAR BITS 10,11 EXTEND BZMF 5MKALARM # HAVE FIVE MARK PAIRS -- DON'T ALLOW MARK INCR MARKCNTR # OK FOR ANOTHER PAIR, INCR POINTER CS PRIO23 # CLEAR BITS 10,11,14 FOR NEXT PAIR MASK MARKSTAT TS MARKSTAT VERIFYMK CA XYMARK MASK MARKSTAT CCS A TCF +2 # THIS MARK NOT DESIRED TCF VACSTOR # MARK DESIRED -- STORE CDUS TC ALARM OCT 114 TC RESUME # RESUME -- DISPLAY UNCHANGED -- WAIT FOR ACTION # Page 256 5MKALARM TC ALARM # ATTEMPTING TO MAKE MORE THAN 5 MK PAIRS OCT 107 TC MARKTYPE # SEE IF SURFACE MARK TCF DSPV6N79 # IT IS TC RESUME # DON'T CHANGE DISPLAY -- DO NOTHING # Page 257 MKREJ TC MARKTYPE # SEE IF SURFACE TCF SURFREJ # SURFACE -- JUST CHECK MARK COUNTER CAF PRIO3 # INFLIGHT -- SEE IF MARKS MADE MASK MARKSTAT CCS A TCF REJECT # MARKS MADE -- REJECT ONE REJALM TC ALARM # NO MARK TO REJECT -- BAD PROCEDURE -- ALARM OCT 115 TC RESUME # DESIRED ACTION DISPLAYED REJECT CS PRIO30 # ZERO BIT14, SHOW REJ., SEE IF MARK SINCE MASK MARKSTAT # LAST REJECT AD BIT13 XCH MARKSTAT MASK BIT13 CCS A TCF REJECT2 # ANOTHER REJECT SET BIT 10+11 TO ZERO CS XYMARK # MARK MADE SINCE REJECT -- REJECT MARK IN 1D RENEWMK MASK MARKSTAT TS MARKSTAT TCF REMARK # GO REQUEST NEW MARK ACTION REJECT2 CS PRIO3 # ON SECOND REJECT -- DISPLAY VB53 AGAIN TCF RENEWMK SURFREJ CCS MARKCNTR # IF MARK DECREMENT COUNTER TCF +2 TCF REJALM # NO MARKS TO REJECT -- ALARM TS MARKCNTR TC RESUME # Page 258 # MARKTYPE TESTS TO SEE IF LEM ON LUNAR SURFACE. IF IT IS RETURN TO LOC+1 MARKTYPE CS FLAGWRD8 # SURFFLAG ******** TEMPORARY ****** MASK BIT8 CCS A INCR Q # IF SURFACE MARK RETURN TO LOC +1 TC Q # IF INFLIGHT MARK RETURN TO LOC +2 SURFSTOR CAF ZERO # FOR SURFACE MARK ZERO MARK KIND INDEX TS RUPTREG1 CS MARKSTAT # SET BITS10,11 TO SHOW SURFACE MARK MASK PRIO3 # FOR MARKCHEX ADS MARKSTAT VACSTOR CAF LOW9 MASK MARKSTAT # STORE MARK VAC ADR IN RUPTREG2 TS RUPTREG2 EXTEND DCA ITEMP1 # PICK UP MARKTIME DXCH TSIGHT # STORE LAST MARK TIME CA MARKCNTR # 6 X MARKCNTR FOR STORE INDEX EXTEND MP SIX XCH L # GET INDEX FROM LOW ORDER PART AD RUPTREG2 # SET CDU STORE INDEX TO MARKVAC ADS RUPTREG1 # INCREMENT VAC PICKUP BY MARK FOR FLIGHT TS MKDEX # STORE HERE IN CASE OF SURFACE MARK CA ITEMP3 INDEX RUPTREG1 TS 0 # STORE CDUY CA ITEMP4 INDEX RUPTREG1 TS 2 # STORE CDUZ CA ITEMP5 INDEX RUPTREG1 TS 4 # STORE CDUX TC MARKTYPE # IF SURFACE MARK -- JUST DO SURFJOB TCF SURFJOB CAF BIT13 # CLEAR BIT13 TO SHOW MARK MADE AD XYMARK # SET MARK ID IN MARKSTAT COM MASK MARKSTAT AD XYMARK TS MARKSTAT MASK PRIO3 # SEE IF X, Y MARK MADE TS L # Page 259 CA PRIO3 EXTEND RXOR LCHAN CCS A TCF REMARK # NOT PAIR YET, DISPLAY MARK ACTION CS MARKSTAT # MARK PAIR COMPLETE -- SET BIT14 MASK BIT14 ADS MARKSTAT TCF REMARK # GO DISPLAY V54 # Page 260 REMARK CAF PRIO3 # BITS 10 AND 11 MASK MARKSTAT EXTEND MP BIT6 # SHIFT MARK IDS TO BE 0 TO 3 FOR INDEX TS MKDEX # STORE VERB INDEX SURFJOB CAF PRIO15 TC NOVAC # ENTER JOB TO CHANGE DISPLAY TO EBANK= XYMARK # REQUEST NEXT ACTION 2CADR CHANGEVB TC RESUME CHANGEVB TC MARKTYPE TCF DSPV6N79 # SURFACE -- DISPLAY V 06 N 79 INDEX MKDEX # INFLIGHT -- PICK UP MARK VB INDEX CAF MKVB54 TC PASTIT # PASTE UP NEXT MK VERB DISPLAY # THE FOUR MKVBS ARE INDEXED -- THEIR ORDER CANNOT BE CHANGED MKVB54 VN 5471 # MAKE X OR Y MARK MKVB53 VN 5371 # MAKE Y MARK MKVB52 VN 5271 # MAKE X MARK MKVB54* VN 5471 # MAKE X OR Y MARK DP1/8 2DEC .125 OCT34 OCT 34 V06N71 VN 671 V06N79* VN 679 # Page 261 # ROUTINE TO REQUEST CURSOR AND SPIRAL MEASUREMENTS COUNT* $$/R59 DSPV6N79 CAF V06N79* # CURSOR -- SPIRAL DISPLAY TC BANKCALL CADR GOMARKF TCF KILLAOT # V34 -- DOES GOTOPOOH TCF SURFEND # V33 -- PROCEED, END MARKING CAF BIT6 # IF V32(OCT40) IN MPAC DO RECYCLE MASK MPAC # OTHERWISE IT IS LOAD VB ENTER SO CCS A # RE-DISPLAY V06N79 TCF SURFAGAN # VB32 -- RECYCLE TCF DSPV6N79 # ENTER SURFEND CS BIT14 # SET BIT14 TO SHOW MARK END MASK MARKSTAT AD BIT14 TS MARKSTAT SURFAGAN CA CURSOR INDEX MKDEX # HOLDS VAC AREA POINTER FOR SURF MARKING TS 1 # STORE CURSOR SP 2COMP CA SPIRAL INDEX MKDEX TS 3 # STORE SPIRAL CS MARKSTAT # IF BIT 14 SET -- END MARKING MASK BIT14 EXTEND BZF MARKCHEX CA MARKCNTR # THIS IS RECYCLE -- SEE IF 5 MARKS ALREADY AD ONE COM AD FIVE EXTEND BZMF 5MKALARM # CAN'T RECYCLE -- TOO MANY MARKS -- ALARM INCR MARKCNTR # OF FOR RECYCLE -- INCR COUNTER TCF GETMKS +3 # GO DISPLAY MARK VB ================================================ FILE: Luminary099/ASCENT_GUIDANCE.agc ================================================ # Copyright: Public domain. # Filename: ASCENT_GUIDANCE.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Hartmuth Gutsche . # Website: www.ibiblio.org/apollo. # Pages: 843-856 # Mod history: 2009-05-23 HG Transcribed from page images. # 2009-06-05 RSB Fixed a couple of typos. # 2009-06-07 RSB Corrected a typo. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 843 BANK 34 SETLOC ASCFILT BANK EBANK= DVCNTR COUNT* $$/ASENT ATMAG TC PHASCHNG OCT 00035 TC INTPRET BON FLRCS ASCENT DLOAD DSU ABDVCONV MINABDV BMN CLEAR ASCTERM4 SURFFLAG CLEAR SLOAD RENDWFLG BIT3H DDV EXIT ABDVCONV DXCH MPAC DXCH 1/DV3 DXCH 1/DV2 DXCH 1/DV1 DXCH 1/DV0 TC INTPRET DLOAD DAD 1/DV0 1/DV1 DAD DAD 1/DV2 1/DV3 DMP DMP VE 2SEC(9) SL3 PDDL TBUP SR1 DAD DSU 6SEC(18) STODL TBUP VE SR1 DDV TBUP STCALL AT # Page 844 ASCENT BIT3H OCT 4 # Page 845 BANK 30 SETLOC ASENT BANK COUNT* $$/ASENT ASCENT VLOAD ABVAL R STOVL /R/MAG ZAXIS1 DOT SL1 V # Z.V = ZDOT*2(-8). STOVL ZDOT # ZDOT*2(-7) ZAXIS1 VXV VSL1 UNIT/R/ # Z X UR = LAXIS*2(-2) STORE LAXIS # LAXIS*2(-1) DOT SL1 V # L.V = YDOT*2(-8). STCALL YDOT # YDOT * 2(-7) YCOMP VLOAD GDT1/2 # LOAD GDT1/2*2(-7) M/CS. V/SC DOT 2SEC(18) UNIT/R/ # G.UR*2(9) = GR*2(9). PDVL VXV # STORE IN PDL(0) UNIT/R/ # LOAD UNIT/R/ *2(-1) V # UR*2(-1) X V*2(-7) = H/R*2(-8). VSQ DDV # H(2)/R(2)*2(-16). /R/MAG # H(2)/R(3)*2(9). SL1 DAD STADR STODL GEFF # GEFF*2(10)m/CS/CS. ZDOTD DSU ZDOT STORE DZDOT # DZDOT = (ZDOTD - ZDOT) * 2(7) M/CS. VXSC PDDL ZAXIS1 YDOTD DSU YDOT STORE DYDOT # DYDOT = (YDOTD - YDOT) *2(7) M/CS. VXSC PDDL LAXIS RDOTD # Page 846 DSU RDOT STORE DRDOT # DRDOT = (RDOTD - RDOT) * 2(7) M/CS. VXSC VAD UNIT/R/ VAD VSL1 STADR STORE VGVECT # VG = (DRDOT)R + (DVDOT)L + (DZDOT)Z. DLOAD DMP # LOAD TGO TGO # TGO GEFF GEFF VXSC VSL1 UNIT/R/ # TGO GEFF UR BVSU VGVECT # COMPENSATED FOR GEFF STORE VGVECT # STORE FOR DOWNLINK MXV VSL1 # GET VGBODY FOR N85 DISPLAY XNBPIP STOVL VGBODY VGVECT ABVAL BOFF # MAGNITUDE OF VGVECT FLRCS # IF FLRCS=0,D0 NORMAL GUIDANCE MAINENG DDV # USE TGO=VG/AT WITH RCS AT/RCS STCALL TGO # THIS WILL BE USED ON NEXT CYCLE ASCTERM2 MAINENG DDV PUSH # VG/VE IN PDL(0) (2) VE DMP BDSU # 1 - KT VG/VE KT1 NEARONE DMP DMP # TBUP VG(1-KT VG/VE)/VE (0) TBUP # = TGO DSU # COMPENSATE FOR TAILOFF TTO STORE TGO SR DCOMP 11D STODL TTOGO # TGO *2(-28) CS TGO BON DSU IDLEFLAG T2TEST 4SEC(17) # ( TGO - 4 )*2(-17) CS. BMN ENGOFF T2TEST DLOAD TGO DSU BMN # IF TGO - T2 NEG., GO TO CMPONENT # Page 847 T2A CMPONENT DLOAD DSU TBUP TGO DDV CALL # 1- TGO/TBUP TBUP LOGSUB SL PUSH # -L IN PDL(0) (2) 5 BDDV BDSU # -TGO/L*2(-17) TGO TBUP # TBUP + TGO/L = D12*2(-17) PUSH BON # STORE IN PDL(2) (4) FLPC # IF FLPC = 1, GO TO CONST NORATES DLOAD DSU TGO T3 BPL SET # FLPC=1 RATES FLPC NORATES DLOAD HI6ZEROS STORE PRATE # B = 0 STORE YRATE # D = 0 GOTO CONST # GO TO CONST RATES DLOAD DSU TGO 02D # TGO - D12 = D21*2(-17) PUSH SL1 # IN PDL(4) (6) BDSU SL3 # (1/2TGO - D21)*2(-13) = E * 2(-13) TGO # (8) PDDL DMP # IN PDL(6) TGO RDOT # RDOT TGO * 2(-24) DAD DSU # R + RDOT TGO /R/MAG # R + RDOT TGO - RCO RCO # MPAC = -DR *2(-24). PDDL DMP # -DR IN PDL(8) (10) DRDOT 04D # D21 DRDOT*2(-24) DAD SL2 # (D21 DRDOT-DR)*2(-22) (8) DDV DDV 06D # (D21 DRDOT-DR)/E*2(-9) TGO STORE PRATE # B * 2(8) BMN DLOAD # B>0 NOT PERMITTED CHKBMAG # Page 848 HI6ZEROS STCALL PRATE PROK CHKBMAG SR4 DDV # B*2(4) TBUP # (B / TAU) * 2(21) DSU BPL PRLIMIT # ( B / TAU ) = 2(21) MAX. PROK DLOAD DMP PRLIMIT TBUP # B MAX. * 2(4) SL4 # BMAX*2(8) STORE PRATE PROK DLOAD TGO DMP DAD # YDOT TGO YDOT Y # Y + YDOT TGO DSU PDDL # Y + YDOT TGO - YCO YCO # MPAC = - DY*(-24.) IN PDL(8) (10) DYDOT DMP DAD # D21 DYDOT - DY (8) 04D SL2 DDV # (D21 DYDOT - DY)/E*2(-9) DDV SETPD # (D21 DYDOT - DY)/E TGO*2(8) TGO # = D*2(8) 04 STORE YRATE CONST DLOAD DMP # LOAD B*2(8) PRATE # B D12*2(-9) 02D PDDL DDV # D12 B IN PDL(4) (6) DRDOT # LOAD DRDOT*2(-7) 00D # -DRDOT/L*2(-7) SR2 DSU # (-DRDOT/L-D12 B)=A*2(-9) (4) STADR STODL PCONS YRATE # D*2(8) DMP PDDL # D12 D,EXCH WITH -L IN PDL(0) (2,2) BDDV SR2 # -DYDOT/L*2(-9) DYDOT DSU # (-DYDOT/L-D12 D)=C*2(-9) 00D STORE YCONS CMPONENT SETPD DLOAD 00D 100CS DMP PRATE # B(T-T0)*2(-9) DAD DDV # (A+B(T-T0))*2(-9) # Page 849 PCONS # (A+B(T-T0))/TBUP*2(8) TBUP SL1 DSU GEFF # ATR*2(9) STODL ATR 100CS DMP DAD YRATE YCONS # (C+D(T-T0))*2(-9) DDV SL1 TBUP STORE ATY # ATY*2(9) VXSC PDDL # ATY UY*2(8) (6) LAXIS ATR VXSC VAD UNIT/R/ VSL1 PUSH # AH*2(9) IN PDL(0) (6) ABVAL PDDL # AH(2) IN PDL(34) AT # AHMAG IN PDL(6) (8) DSQ DSU # (AT(2)-AH(2))*2(18) 34D # =ATP2*2(18) PDDL PUSH # (12) AT DSQ DSU # (AT(2)KR(2)-AH(2))*2(18) (10) 34D # =ATP3*2(18) BMN DLOAD # IF ATP3 NEG,GO TO NO-ATP NO-ATP # LOAD ATP2, IF ATP3 POS 8D SQRT GOTO # ATP*2(9) AIMER NO-ATP DLOAD BDDV # KR AT/AH = KH (8) 6D VXSC # KH AG*2(9) 00D STODL 00D # STORE NEW AH IN PDL(0) HI6ZEROS AIMER SIGN DZDOT STORE ATP VXSC ZAXIS1 # ATP ZAXIS *2(8). VSL1 VAD # AT*2(0) 00D STORE UNFC/2 # WILL BE OVERWRITTEN IF IN VERT. RISE. SETPD BON 00D FLPI P12RET BON # Page 850 FLVR CHECKALT MAINLINE VLOAD VCOMP UNIT/R/ STODL UNWC/2 TXO DSU BPL PIPTIME ASCTERM BON ROTFLAG ANG1CHEK CLRXFLAG CLEAR CLEAR NOR29FLG # START r29 IN ASCENT PHASE. XOVINFLG # ALLOW X-AXIS OVERRIDE ASCTERM EXIT CA FLAGWRD9 MASK FLRCSBIT CCS A TCF ASCTERM3 TC INTPRET CALL FINDCDUW -2 ASCTERM1 EXIT +1 CA FLAGWRD9 # INSURE THAT THE NOUN 63 DISPLAY IS MASK FLRCSBIT # BYPASSED IF WE ARE IN THE RCS TRIMMING CCS A # MODE OF OPERATION TCF ASCTERM3 CA FLAGWRD8 # BYPASS DISPLAYS IF ENGINE FAILURE IS MASK FLUNDBIT # INDICATED. CCS A TCF ASCTERM3 CAF V06N63* TC BANKCALL CADR GODSPR TCF ASCTERM3 ASCTERM2 EXIT ASCTERM3 TCF ENDOFJOB ASCTERM4 EXIT INHINT TC IBNKCALL # NO GUIDANCE THIS CYCLE -- HENCE ZERO CADR ZATTEROR # THE DAP COMMANDED ERRORS. TCF ASCTERM1 +1 CHECKALT DLOAD DSU /R/MAG /LAND/ DSU BMN # IF H LT 25K CHECK Z AXIS ORIENTATION 25KFT CHECKYAW # Page 851 EXITVR CLEAR BON FLVR ROTFLAG MAINLINE DLOAD DAD PIPTIME 10SECS STCALL TXO MAINLINE EXITVR1 CLRGO ROTFLAG EXITVR SETLOC ASENT1 BANK COUNT* $$/ASENT ANG1CHEK VLOAD DOT UNFC/2 XNBPIP DSU BPL COSTHET1 OFFROT VLOAD DOT XNBPIP UNIT/R/ DSU BMN COSTHET2 KEEPVR1 OFFROT CLRGO ROTFLAG CLRXFLAG BANK 7 SETLOC ASENT2 BANK COUNT* $$/ASENT SETXFLAG = CHECKYAW CHECKYAW SET XOVINFLG # PROHIBIT X-AXIS OVERRIDE DLOAD VXSC ATY LAXIS PDDL VXSC ATP ZAXIS1 VAD UNIT PUSH DOT # Page 852 YNBPIP ABS DSU SIN5DEG BPL DLOAD KEEPVR RDOT DSU BPL 40FPS EXITVR1 GOTO KEEPVR BANK 5 SETLOC ASENT3 BANK COUNT* $$/ASENT SIN5DEG 2DEC 0.08716 B-2 40FPS 2DEC 0.12192 B-7 BANK 14 SETLOC ASENT4 BANK COUNT* $$/ASENT KEEPVR VLOAD STADR # RECALL LOSVEC FROM PUSHLIST STORE UNWC/2 KEEPVR1 VLOAD UNIT/R/ STCALL UNFC/2 ASCTERM ENGOFF RTB LOADTIME DSU DAD PIPTIME TTOGO DCOMP EXIT TC TPAGREE # FORCE SIGN AGREEMENT ON MPAC, MPAC +1. CAF EBANK7 TS EBANK EBANK= TGO INHINT CCS MPAC +1 TCF +3 # C(A) = DT - 1 BIT TCF +2 # C(A) = 0 CAF ZERO # C(A) = 0 AD BIT1 # C(A) = 1 BIT OR DT. # Page 853 TS ENGOFFDT TC TWIDDLE ADRES ENGOFF1 TC PHASCHNG OCT 47014 -GENADR ENGOFFDT EBANK= TGO 2CADR ENGOFF1 TC INTPRET SET GOTO IDLEFLAG # DISABLE DELTA-V MONITOR T2TEST ENGOFF1 TC IBNKCALL # SHUT OFF THE ENGINE. CADR ENGINOF2 CAF PRIO17 # SET UP A JOB FOR THE ASCENT GUIDANCE TC FINDVAC # POSTBURN LOGIC. EBANK= WHICH 2CADR CUTOFF TC PHASCHNG OCT 07024 OCT 17000 EBANK= TGO 2CADR CUTOFF TCF TASKOVER CUTOFF TC UPFLAG # SET FLRCS FLAG. ADRES FLRCS -5 CAF V16N63 TC BANKCALL CADR GOFLASH TCF +3 TCF CUTOFF1 TCF -5 +3 TC POSTJUMP CADR TERMASC CUTOFF1 INHINT TC IBNKCALL # ZERO ATTITUDE ERRORS BEFORE REDUCINT DB. CADR ZATTEROR TC IBNKCALL CADR SETMINDB TC POSTJUMP CADR CUTOFF2 # Page 854 V16N63 VN 1663 BANK 30 SETLOC ASENT5 BANK COUNT* $$/ASENT CUTOFF2 TC PHASCHNG OCT 04024 CAF V16N85C TC BANKCALL CADR GOFLASH TCF TERMASC TCF +2 # PROCEED TCF CUTOFF2 TERMASC TC PHASCHNG OCT 04024 INHINT # RESTORE DEADBAND DESIRED BY ASTRONAUT. TC IBNKCALL CADR RESTORDB TC DOWNFLAG # DISALLOW ABORTS AT THIS TIME. ADRES LETABORT TCF GOTOPOOH V16N85C VN 1685 BANK 27 SETLOC ASENT1 BANK COUNT* $$/ASENT YCOMP VLOAD DOT UNIT/R/ QAXIS SL2 DMP RCO STORE Y RVQ BANK 30 SETLOC ASENT BANK # Page 855 100CS EQUALS 2SEC(18) T2A EQUALS 2SEC(17) 4SEC(17) 2DEC 400 B-17 2SEC(17) 2DEC 200 B-17 T3 2DEC 1000 B-17 6SEC(18) 2DEC 600 B-18 BIT4H OCT 10 2SEC(9) 2DEC 200 B-9 V06N63* VN 0663 V06N76 VN 0676 V06N33A VN 0633 BANK 33 SETLOC ASENT6 BANK COUNT* $$/ASENT KT1 2DEC 0.5000 PRLIMIT 2DEC -.0639 # (B/TBUP)MIN=-.1FT.SEC(-3) MINABDV 2DEC .0356 B-5 # 10 PERCENT BIGGER THAN GRAVITY 1/DV0 = MASS1 # Page 856 # THE LOGARITHM SUBROUTINE BANK 24 SETLOC FLOGSUB BANK # INPUT ..... X IN MPAC # OUTPUT ..... -LOG(X) IN MPAC LOGSUB NORM BDSU MPAC +6 NEARONE EXIT TC POLY DEC 6 2DEC .0000000060 2DEC -.0312514377 2DEC -.0155686771 2DEC -.0112502068 2DEC -.0018545108 2DEC -.0286607906 2DEC .0385598563 2DEC -.0419361902 CAF ZERO TS MPAC +2 EXTEND DCA CLOG2/32 DXCH MPAC DXCH BUF +1 CA MPAC +6 TC SHORTMP DXCH MPAC +1 DXCH MPAC DXCH BUF +1 DAS MPAC TC INTPRET DCOMP RVQ CLOG2/32 2DEC .0216608494 ================================================ FILE: Luminary099/ASSEMBLY_AND_OPERATION_INFORMATION.agc ================================================ # Copyright: Public domain. # Filename: ASSEMBLY_AND_OPERATION_INFORMATION.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # # Assembler: yaYUL # Contact: Jim Lawton # Website: www.ibiblio.org/apollo. # Pages: 001-027 # Mod history: 2009-05-16 JVL Transcribed from page images. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 1 # THIS LGC PROGRAM IS INTENDED FOR USE IN THE LM DURING THE MANNED LUNAR LANDING MISSION OR ANY SUBSET THEREOF. # THE DETAILS OF IMPLEMENTATION ARE SPECIFIED IN REPORT R-567, AS AMENDED. # GUIDANCE SYSTEM OPERATIONS PLAN # FOR MANNED LM EARTH ORBITAL AND LUNAR MISSIONS # USING PROGRAM LUMINARY # THIS PROGRAM AND R-567 HAVE BEEN PREPARED BY THE INSTRUMENTATION LABORATORY, MASSACHUSETTS INSTITUTE OF # TECHNOLOGY, 75 CAMBRIDGE PARKWAY, CAMBRIDGE, MASSACHUSETTS, UNDER PROJECT 55-238-70, SPONSORED BY THE MANNED # SPACECRAFT CENTER OF THE NATIONAL AERONAUTICS AND SPACE ADMINISTRATION, CONTRACT NAS 9-4065. # THIS PROGRAM IS REFERRED TO AS LUMINARY 1A # Page 2 # TABLE OF LOG CARDS # ASSEMBLY AND OPERATION INFORMATION # TAGS FOR RELATIVE SETLOC AND BLANK BANK CARDS # CONTROLLED CONSTANTS # INPUT/OUTPUT CHANNEL BIT DESCRIPTIONS # FLAGWORD ASSIGNMENTS # SUBROUTINE CALLS # TABLE OF SUBROUTINE LOG SECTIONS # LUMERASE # ERASABLE ASSIGNMENTS # LNYAIDE # INTERRUPT LEAD INS # T4RUPT PROGRAM # RCS FAILURE MONITOR # DOWNLINK LISTS # AGS INITIALIZATION # FRESH START AND RESTART # RESTART TABLES # AOTMARK # EXTENDED VERBS # PINBALL NOUN TABLES # LEM GEOMETRY # IMU COMPENSATION PACKAGE # R63 # ATTITUDE MANEUVER ROUTINE # GIMBAL LOCK AVOIDANCE # KALCMANU STEERING # SYSTEM TEST STANDARD LEAD INS # IMU PERFORMANCE TESTS 2 # IMU PERFORMANCE TESTS 4 # PINBALL GAMES BUTTONS AND LIGHTS # R60,R62 # S-BAND ANTENNA FOR LM # LEMP20S # RADAR LEADIN ROUTINES # P20-P25 # LEMP30S # P30,P37 # P32-P35, P72-P75 # GENERAL LAMBERT AIMPOINT GUIDANCE # KISSING # GROUND TRACKING DETERMINATION PROGRAM - P21 # P34-P35, P74-P75 # R31 # P76 # R30 # STABLE ORBIT - P38-P39 # Page 3 # FLY # BURN, BABY, BURN -- MASTER IGNITION ROUTINE # P40-P47 # THE LUNAR LANDING # THROTTLE CONTROL ROUTINES # LUNAR LANDING GUIDANCE EQUATIONS # P70-P71 # P12 # ASCENT GUIDANCE # SERVICER # LANDING ANALOG DISPLAYS # FINDCDUW -- GUIDAP INTERFACE # LEMP50S # P51-P53 # LUNAR AND SOLAR EPHEMERIDES SUBROUTINES # SKIPPER # DOWN-TELEMETRY PROGRAM # INTER-BANK COMMUNICATION # INTERPRETER # FIXED-FIXED CONSTANT POOL # INTERPRETIVE CONSTANTS # SINGLE PRECISION SUBROUTINES # EXECUTIVE # WAITLIST # LATITUDE LONGITUDE SUBROUTINES # PLANETARY INERTIAL ORIENTATION # MEASUREMENT INCORPORATION # CONIC SUBROUTINES # INTEGRATION INITIALIZATION # ORBITAL INTEGRATION # INFLIGHT ALIGNMENT ROUTINES # POWERED FLIGHT SUBROUTINES # TIME OF FREE FALL # AGC BLOCK TWO SELF-CHECK # PHASE TABLE MAINTENANCE # RESTARTS ROUTINE # IMU MODE SWITCHING ROUTINES # KEYRUPT, UPRUPT # DISPLAY INTERFACE ROUTINES # SERVICE ROUTINES # ALARM AND ABORT # UPDATE PROGRAM # RTB OP CODES # LMDAP # T6-RUPT PROGRAMS # DAP INTERFACE SUBROUTINES # DAPIDLER PROGRAM # P-AXIS RCS AUTOPILOT # Q,R-AXIS RCS AUTOPILOT # TJET LAW # Page 4 # KALMAN FILTER # TRIM GIMBAL CONTROL SYSTEM # AOSTASK AND AOSJOB # SPS BACK-UP RCS CONTROL # # SYMBOL TABLE LISTING # UNREFERENCED SYMBOL LISTING # ERASABLE & EQUALS CROSS-REFERENCE TABLE # SUMMARY OF SYMBOL TABLE LISTINGS # MEMORY TYPE & AVAILABILITY DISPLAY # COUNT TABLE # PARAGRAPHS GENERATED FOR THIS ASSEMBLY # OCTAL LISTING # OCCUPIED LOCATIONS TABLE # SUBROS CALLED & PROGRAM STATUS # Page 5 # VERB LIST FOR LUMINARY # REGULAR VERBS # 00 NOT IN USE # 01 DISPLAY OCTAL COMP 1 IN R1 # 02 DISPLAY OCTAL COMP 2 IN R1 # 03 DISPLAY OCTAL COMP 3 IN R1 # 04 DISPLAY OCTAL COMP 1,2 IN R1,R2 # 05 DISPLAY OCTAL COMP 1,2,3 IN R1,R2,R3 # 06 DISPLAY DECIMAL IN R1 OR R1,R2 OR R1,R2,R3 # 07 DISPLAY DP DECIMAL IN R1,R2 (TEST ONLY) # 08 # 09 # 10 # 11 MONITOR OCTAL COMP 1 IN R1 # 12 MONITOR OCTAL COMP 2 IN R1 # 13 MONITOR OCTAL COMP 3 IN R1 # 14 MONITOR OCTAL COMP 1,2 IN R1,R2 # 15 MONITOR OCTAL COMP 1,2,3 IN R1,R2,R3 # 16 MONITOR DECIMAL IN R1 OR R1,R2 OR R1,R2,R3 # 17 MONITOR DP DECIMAL IN R1,R2 (TEST ONLY) # 18 # 19 # 20 # 21 LOAD COMPONENT 1 INTO R1 # 22 LOAD COMPONENT 2 INTO R2 # 23 LOAD COMPONENT 3 INTO R3 # 24 LOAD COMPONENT 1,2, INTO R1,R2 # 25 LOAD COMPONENT 1,2,3 INTO R1,R2,R3 # 26 # 27 DISPLAY FIXED MEMORY # 28 # 29 # 30 REQUEST EXECUTIVE # 31 REQUEST WAITLIST # 32 RECYCLE PROGRAM # 33 PROCEED WITHOUT DSKY INPUTS # 34 TERMINATE FUNCTION # 35 TEST LIGHTS # 36 REQUEST FRESH START # 37 CHANGE PROGRAM (MAJOR MODE) # 38 # 39 # Page 6 # EXTENDED VERBS # 40 ZERO CDU-S # 41 COARSE ALIGN CDU-S # 42 FINE ALIGN IMU # 43 LOAD IMU ATT ERROR METERS # 44 TERMINATE RR CONTINUOUS DESIGNATE (V41N72 OPTION 2) # 45 # 46 # 47 INITIALIZE AGS (R47) # 48 REQUEST DAP DATA LOAD ROUTINE (R03) # 49 REQUEST CREW DEFINED MANEUVER ROUTINE (R62) # 50 PLEASE PERFORM # 51 # 52 MARK X-RETICLE # 53 MARK Y-RETICLE # 54 MARK X OR Y-RETICLE # 55 INCREMENT AGC TIME (DECIMAL) # 56 TERMINATE TRACKING (P20 + P25) # 57 PERMIT LANDING RADAR UPDATES # 58 INHIBIT LANDING RADAR UPDATES # 59 # 60 COMMAND LR TO POSITON 2. # 61 DISPLAY DAP FOLLOWING ATTITUDE ERRORS. # 62 DISPLAY TOTAL ATTITUDE ERRORS WITH RESPECT TO NOUN 22. # 63 SAMPLE RADAR ONCE PER SECOND (R04). # 64 REQUEST S-BAND ANTENNA ROUTINE (R05). # 65 DISABLE U AND V JET FIRINGS DURING DPS BURNS. # 66 VEHICLES ARE ATTACHED. MOVE THIS VEHICLE STATE TO OTHER VEHICLE. # 67 DISPLAY W MATRIX # 68 # 69 CAUSE RESTART # 70 UPDATE LIFTOFF TIME # 71 UNIVERSAL UPDATE-BLOCK ADR # 72 UNIVERSAL UPDATE-SINGLE ADR # 73 UPDATE AGC TIME (OCTAL) # 74 INITIALIZE ERASABLE DUMP VIA DOWNLINK # 75 ENABLE U AND V JET FIRINGS DURING DPS BURNS. # 76 MINIMUM IMPUSE COMMAND MODE. # 77 RATE COMMAND AND ATTITUDE HOLD MODE # 78 LR SPURIOUS RETURN TEST START (R77) # 79 LR SPURIOUS RETURN TEST STOP # 80 UPDATE LEM STATE VECTOR # 81 UPDATE CSM STATE VECTOR # 82 REQUEST ORBIT PARAM DISPLAY (R30) # 83 REQUEST REND PARAM DISPLAY (R31) # 84 # 85 DISPLAY RR LOS AZ AND ELEV # 86 # 87 # Page 7 # 88 # 89 REQUEST RENDEZVOUS FINAL ATTITUDE ROUTINE (R63) # 90 REQUEST RENDEZVOUS OUT OF PLANE DISPLAY ROUTINE (R36) # 91 DISPLAY BANK SUM # 92 OPERATE IMU PERFORMANCE TEST (P07) # 93 ENABLE W MATRIX INITIALIZATION # 94 # 95 NO UPDATE OF EITHER STATE VECTOR (P20 OR P22) # 96 INTERRUPT INTEGRATION AND GO TO P00 # 97 PERFORM ENGINE FAIL PROCEDURE # 98 # 99 PLEASE ENABLE ENGINE # Page 8 # IN THE FOLLOWING NOUN LIST THE :NO LOAD: RESTRICTION MEANS THE NOUN # CONTAINS AT LEAST ONE COMPONENT WHICH CANNOT BE LOADED, I.E. OF # SCALE TYPE L (MIN/SEC), PP (2 INTEGERS) OR TT (LANDING RADAR POSITION). # IN THIS CASE VERBS 24 AND 25 ARE NOT ALLOWED, BUT VERBS 21, 22 OR 23 # MAY BE USED TO LOAD ANY OF THE NOUN:S COMPONENTS WHICH ARE NOT OF THE # ABOVE SCALE TYPES. # # THE :DEC ONLY: RESTRICTION MEANS ONLY DECIMAL OPERATION IS ALLOWED ON # EVERY COMPONENT IN THE NOUN. (NOTE THAT :NO LOAD: IMPLIES :DEC ONLY:.) # NORMAL NOUNS COMPONENTS SCALE AND DECIMAL POINT RESTRICTIONS # 00 NOT IN USE # 01 SPECIFY MACHINE ADDRESS (FRACTIONAL) 3COMP .xxxxx FOR EACH # 02 SPECIFY MACHINE ADDRESS (WHOLE) 3COMP xxxxx. FOR EACH # 03 SPECIFY MACHINE ADDRESS (DEGREES) 3COMP xxx.xx DEG FOR EACH # 04 ANGULAR ERROR/DIFFERENCE 1COMP xxx.xx DEG # 05 ANGULAR ERROR/DIFFERENCE 1COMP xxx.xx DEG # 06 OPTION CODE 3COMP OCTAL ONLY FOR EACH # LOADING NOUN 07 WILL SET OR RESET SELECTED BITS IN ANY ERASABLE REGISTER # 07 ECADR OF WORD TO BE MODIFIED 3COMP OCTAL ONLY FOR EACH # ONES FOR BITS TO BE MODIFIED # 1 TO SET OR 0 TO RESET SELECTED BITS # 08 ALARM DATA 3COMP OCTAL ONLY FOR EACH # 09 ALARM CODES 3COMP OCTAL ONLY FOR EACH # 10 CHANNEL TO BE SPECIFIED 1COMP OCTAL ONLY # 11 TIG OF CSI 3COMP 00xxx. HRS DEC ONLY # 000xx. MIN MUST LOAD 3 COMPS # 0xx.xx SEC # 12 OPTION CODE 2COMP OCTAL ONLY FOR EACH # (USED BY EXTENDED VERBS ONLY) # 13 TIG OF CDH 3COMP 00xxx. HRS DEC ONLY # 000xx. MIN MUST LOAD 3 COMPS # 0xx.xx SEC # 14 CHECKLIST 3COMP xxxxx. FOR EACH # (USED BY EXTENDED VERBS ONLY) # (NOUN 25 IS PASTED AFTER DISPLAY) # 15 INCREMENT MACHINE ADDRESS 1COMP OCTAL ONLY # 16 TIME OF EVENT 3COMP 00xxx. HRS DEC ONLY # (USED BY EXTENDED VERBS ONLY) 000xx. MIN MUST LOAD 3 COMPS # 0xx.xx SEC # 17 SPARE # 18 AUTO MANEUVER BALL ANGLES 3COMP xxx.xx DEG FOR EACH # 19 SPARE # 20 ICDU ANGLES 3COMP xxx.xx DEG FOR EACH # 21 PIPAS 3COMP xxxxx. PULSES FOR EACH # 22 NEW ICDU ANGLES 3COMP xxx.xx DEG FOR EACH # 23 SPARE # 24 DELTA TIME FOR AGC CLOCK 3COMP 00xxx. HRS DEC ONLY # 000xx. MIN MUST LOAD 3 COMPS # 0xx.xx SEC # Page 9 # 25 CHECKLIST 3COMP xxxxx. FOR EACH # (USED WITH PLEASE PERFORM ONLY) # 26 PRIORITY/DELAY, ADRES, BBCON 3COMP OCTAL ONLY FOR EACH # 27 SELF TEST ON/OFF SWITCH 1COMP xxxxx. # 28 SPARE # 29 SPARE # 30 SPARE # 31 SPARE # 32 TIME FROM PERIGEE 3COMP 00xxx. HRS DEC ONLY # 000xx. MIN MUST LOAD 3 COMPS # 0xx.xx SEC # 33 TIME OF IGNITION 3COMP 00xxx. HRS DEC ONLY # 000xx. MIN MUST LOAD 3 COMPS # 0xx.xx SEC # 34 TIME OF EVENT 3COMP 00xxx. HRS DEC ONLY # 000xx. MIN MUST LOAD 3 COMPS # 0xx.xx SEC # 35 TIME FROM EVENT 3COMP 00xxx. HRS DEC ONLY # 000xx. MIN MUST LOAD 3 COMPS # 0xx.xx SEC # 36 TIME OF AGC CLOCK 3COMP 00xxx. HRS DEC ONLY # 000xx. MIN MUST LOAD 3 COMPS # 0xx.xx SEC # 37 TIG OF TPI 3COMP 00xxx. HRS DEC ONLY # 000xx. MIN MUST LOAD 3 COMPS # 0xx.xx SEC # 38 TIME OF STATE BEING INTEGRATED 3COMP 00xxx. HRS DEC ONLY # 000xx. MIN MUST LOAD 3 COMPS # 0xx.xx SEC # 39 SPARE # Page 10 # MIXED NOUNS COMPONENTS SCALE AND DECIMAL POINT RESTRICTIONS # 40 TIME FROM IGNITION/CUTOFF 3COMP xxBxx MIN/SEC NO LOAD, DEC ONLY # VG, xxxx.x FT/SEC # DELTA V (ACCUMULATED) xxxx.x FT.SEC # 41 TARGET AZIMUTH 2COMP xxx.xx DEG (FOR SYSTEM TEST) # ELEVATION xx.xxx DEG # 42 APOGEE, 3COMP xxxx.x NAUT MI DEC ONLY # PERIGEE, xxxx.x NAUT MI # DELTA V (REQUIRED) xxxx.x FT/SEC # 43 LATITUDE, 3COMP xxx.xx DEG DEC ONLY # LONGITUDE, xxx.xx DEG # ALTITUDE xxxx.x NAUT MI # 44 APOGEE, 3COMP xxxx.x NAUT MI NO LOAD, DEC ONLY # PERIGEE, xxxx.x NAUT MI # TFF xxBxx MIN/SEC # 45 MARKS, 3COMP xxxxx. NO LOAD, DEC ONLY # TFI OF NEXT BURN, xxBxx MIN/SEC # MGA xxx.xx DEG # 46 AUTOPILOT CONFIGURATION 1COMP OCTAL ONLY # 47 LEM WEIGHT, 2COMP xxxxx. LBS DEC ONLY # CSM WEIGHT xxxxx. LBS # 48 GIMBAL PITCH TRIM, 2COMP xxx.xx DEG DEC ONLY # GIMBAL ROLL TRIM xxx.xx DEG # 49 DELTA R, 3COMP xxxx.x NAUT MI DEC ONLY # DELTA V, xxxx.x FT/SEC # RADAR DATA SOURCE CODE xxxxx. # 50 SPARE # 51 S-BAND ANTENNA ANGLES PITCH 2COMP xxx.xx DEG DEC ONLY # YAW xxx.xx DEG # 52 CENTRAL ANGLE OF ACTIVE VEHICLE 1COMP xxx.xx DEG # 53 SPARE # 54 RANGE, 3COMP xxx.xx NAUT MI DEC ONLY # RANGE RATE, xxxx.x FT/SEC # THETA xxx.xx DEG # 55 NO. OF APSIDAL CROSSINGS 3COMP xxxxx. DEC ONLY # ELEVATION ANGLE xxx.xx DEG # CENTRAL ANGLE OF PASSIVE VEHICLE xxx.xx DEG # 56 RR LOS AZIMUTH 2COMP xxx.xx DEG # ELEVATION xxx.xx DEG # 57 DELTA R 1COMP xxxx.x NAUT MI DEC ONLY # 58 PERIGEE ALT (POST TPI) 3COMP xxxx.x NAUT MI DEC ONLY # DELTA V TPI xxxx.x FT/SEC # DELTA V TPF xxxx.x FT/SEC # 59 DELTA VELOCITY LOS 3COMP xxxx.x FT/SEC FOR EA. DEC ONLY # 60 HORIZONTAL VELOCITY 3COMP xxxx.x FT/SEC DEC ONLY # ALTITUDE RATE xxxx.x FT/SEC # COMPUTED ALTITUDE xxxxx. FEET # 61 TIME TO GO IN BRAKING PHASE 3COMP xxBxx MIN/SEC NO LOAD, DEC ONLY # TIME FROM IGNITION xxBxx MIN/SEC # Page 11 # CROSS RANGE DISTANCE xxxx.x NAUT MI # 62 ABSOLUTE VALUE OF VELOCITY 3COMP xxxx.x FT/SEC NO LOAD, DEC ONLY # TIME FROM IGNITION xxBxx MIN/SEC # DELTA V (ACCUMULATED) xxxx.x FT/SEC # 63 ABSOLUTE VALUE OF VELOCITY 3COMP xxxx.x FT/SEC DEC ONLY # ALTITUDE RATE xxxx.x FT/SEC # COMPUTED ALTITUDE xxxxx. FEET # 64 TIME LEFT FOR REDESIGNATION- LPD ANGLE 3COMP xxBxx NO LOAD, DEC ONLY # ALTITUDE RATE xxxx.x FT/SEC # COMPUTED ALTITUDE xxxxx. FEET # 65 SAMPLED AGC TIME 3COMP 00xxx. HRS. DEC ONLY # (FETCHED IN INTERRUPT) 000xx. MIN MUST LOAD 3 COMPS # 0xx.xx SEC # 66 LR RANGE 2COMP xxxxx. FEET NO LOAD, DEC ONLY # POSITION +0000x # 67 LRVX 3COMP xxxxx. FT/SEC # LRVY xxxxx. FT/SEC # LRVZ xxxxx. FT/SEC # 68 SLANT RANGE TO LANDING SITE 3COMP xxxx.x NAUT MI NO LOAD, DEC ONLY # TIME TO GO IN BRAKING PHASE xxBxx MIN/SEC # LR ALTITUDE - COMPUTED ALTITUDE xxxxx. FEET # 69 SPARE # 70 AOT DETENT CODE/STAR CODE 3COMP OCTAL ONLY FOR EACH # 71 AOT DETENT CODE/STAR CODE 3COMP OCTAL ONLY FOR EACH # 72 RR 360 - TRUNNION ANGLE 2COMP xxx.xx DEG # SHAFT ANGLE xxx.xx DEG # 73 NEW RR 360 - TRUNNION ANGLE 2COMP xxx.xx DEG # SHAFT ANGLE xxx.xx DEG # 74 TIME FROM IGNITION 3COMP xxBxx MIN/SEC NO LOAD, DEC ONLY # YAW AFTER VEHICLE RISE xxx.xx DEG # PITCH AFTER VEHICLE RISE xxx.xx DEG # 75 DELTA ALTITUDE CDH 3COMP xxxx.x NAUT MI NO LOAD, DEC ONLY # DELTA TIME (CDH-CSI OR TPI-CDH) xxBxx MIN/SEC # DELTA TIME (TPI-CDH OR TPI-NOMTPI) xxBxx MIN/SEC # 76 DESIRED HORIZONTAL VELOCITY 3COMP xxxx.x FT/SEC DEC ONLY # DESIRED RADIAL VELOCITY xxxx.x FT/SEC # CROSS-RANGE DISTANCE xxxx.x NAUT MI # 77 TIME TO ENGINE CUTOFF 2COMP xxBxx MIN/SEC NO LOAD, DEC ONLY # VELOCITY NORMAL TO CSM PLANE xxxx.x FT/SEC # 78 RR RANGE 2COMP xxx.xx NAUT MI NO LOAD, DEC ONLY # RANGE RATE xxxxx. FT/SEC # 79 CURSOR ANGLE 3COMP xxx.xx DEG DEC ONLY # SPIRAL ANGLE xxx.xx DEG # POSITION CODE xxxxx. # 80 DATA INDICATOR, 2COMP xxxxx. # OMEGA xxx.xx DEG # 81 DELTA V (LV) 3COMP xxxx.x FT/SEC FOR EACH DEC ONLY # Page 12 # 82 DELTA V (LV) 3COMP xxxx.x FT/SEC FOR EACH DEC ONLY # 83 DELTA V (BODY) 3COMP xxxx.x FT/SEC FOR EACH DEC ONLY # 84 DELTA V (OTHER VEHICLE) 3COMP xxxx.x FT/SEC FOR EACH DEC ONLY # 85 VG (BODY) 3COMP xxxx.x FT/SEC FOR EACH DEC ONLY # 86 VG (LV) 3COMP xxxx.x FT/SEC FOR EACH DEC ONLY # 87 BACKUP OPTICS LOS AZIMUTH 2COMP xxx.xx DEG # ELEVATION xxx.xx DEG # 88 HALF UNIT SUN OR PLANET VECTOR 3COMP .xxxxx FOR EACH DEC ONLY # 89 LANDMARK LATITUDE 3COMP xx.xxx DEG DEC ONLY # LONGITUDE/2 xx.xxx DEC # ALTITUDE xxx.xx NAUT MI # 90 Y 3COMP xxx.xx NM DEC ONLY # Y DOT xxxx.x FPS # PSI xxx.xx DEG # 91 ALTITUDE 3COMP xxxxxB. NAUT MI # VELOCITY xxxxx. FT/SEC # FLIGHT PATH ANGLE xxx.xx DEG # 92 SPARE # 93 DELTA GYRO ANGLES 3COMP xx.xxx DEG FOR EACH # 94 SPARE # 95 SPARE # 96 SPARE # 97 SYSTEM TEST INPUTS 3COMP xxxxx. FOR EACH # 98 SYSTEM TEST RESULTS AND INPUTS 3COMP xxxxx. # .xxxxx # xxxxx. # 99 RMS IN POSITION 3COMP xxxxx. FT DEC ONLY # RMS IN VELOCITY xxxx.x FT/SEC # RMS IN BIAS xx.xxx RADIANS # Page 13 # REGISTERS AND SCALING FOR NORMAL NOUNS # NOUN REGISTER SCALE TYPE # 00 NOT IN USE # 01 SPECIFY ADDRESS B # 02 SPECIFY ADDRESS C # 03 SPECIFY ADDRESS D # 04 DSPTEM1 H # 05 DSPTEM1 H # 06 OPTION1 A # 07 XREG A # 08 ALMCADR A # 09 FAILREG A # 10 SPECIFY CHANNEL A # 11 TCSI K # 12 OPTIONX A # 13 TCDH K # 14 DSPTEMX C # 15 INCREMENT ADDRESS A # 16 DSPTEMX K # 17 SPARE # 18 FDAIX D # 19 SPARE # 20 CDUX D # 21 PIPAX C # 22 THETAD D # 23 SPARE # 24 DSPTEM2 +1 K # 25 DSPTEM1 C # 26 DSPTEM1 A # 27 SMODE C # 28 SPARE # 29 SPARE # 30 SPARE # 31 SPARE # 32 -TPER K # 33 TIG K # 34 DSPTEM1 K # 35 TTOGO K # 36 TIME2 K # 37 TTPI K # 38 TET K # 39 SPARE # Page 14 # REGISTERS AND SCALING FOR MIXED NOUNS # NOUN COMP REGISTER SCALE TYPE # 40 1 TTOGO L # 2 VGDISP S # 3 DVTOTAL S # 41 1 DSPTEM1 D # 2 DSPTEM1 +1 E # 42 1 HAPO Q # 2 HPER Q # 3 VGDISP S # 43 1 LAT H # 2 LONG H # 3 ALT Q # 44 1 HAPOX Q # 2 HPERX Q # 3 TFF L # 45 1 TRKMKCNT C # 2 TTOGO L # 3 +MGA H # 46 1 DAPDATR1 A # 47 1 LEMMASS KK # 2 CSMMASS KK # 48 1 PITTIME NN # 2 ROLLTIME NN # 49 1 R22DISP Q # 2 R22DISP +2 S # 3 WHCHREAD C # 50 SPARE # 51 1 ALPHASB H # 2 BETASB H # 52 1 ACTCENT H # 53 SPARE # 54 1 RANGE JJ # 2 RRATE S # 3 RTHETA H # 55 1 NN C # 2 ELEV H # 3 CENTANG H # 56 1 RR-AZ H # 2 RR-ELEV H # 57 1 DELTAR Q # 58 1 POSTTPI Q # 2 DELVTPI S # 3 DELVTPF S # 59 1 DVLOS S # 2 DVLOS +2 S # 3 DVLOS +4 S # 60 1 VHORIZ S # Page 15 # 2 HDOTDISP S # 3 HCALC RR # 61 1 TTFDISP L # 2 TTOGO L # 3 OUTOFPLN QQ # 62 1 ABVEL S # 2 TTOGO L # 3 DVTOTAL S # 63 1 ABVEL S # 2 HDOTDISP S # 3 HCALC1 RR # 64 1 FUNNYDSP PP # 2 HDOTDISP S # 3 HCALC RR # 65 1 SAMPTIME K # 2 SAMPTIME K # 3 SAMPTIME K # 66 1 RSTACK +6 W # 2 CHANNEL 33 TT # 67 1 RSTACK X # 2 RSTACK +2 Y # 3 RSTACK +4 Z # 68 1 RANGEDSP QQ # 2 TTFDISP L # 3 DELTAH RR # 69 SPARE # 70 1 AOTCODE A # 2 AOTCODE +1 A # 3 AOTCODE +2 A # 71 1 AOTCODE A # 2 AOTCODE +1 A # 3 AOTCODE +2 A # 72 1 CDUT WW # 2 CDUS D # 73 1 TANG WW # 2 TANG +1 D # 74 1 TTOGO L # 2 YAW H # 3 PITCH H # 75 1 DIFFALT Q # 2 T1TOT2 L # 3 T2TOT3 L # 76 1 ZDOTD S # 2 RDOTD S # 3 XRANGE Q # 77 1 TTOGO L # 2 YDOT S # 78 1 RSTACK U # 2 RSTACK +2 V # 79 1 CURSOR D # Page 16 # 2 SPIRAL D # 3 POSCODE C # 80 1 DATAGOOD C # 2 OMEGAD H # 81 1 DELVLVC S # 2 DELVLVC +2 S # 3 DELVLVC +4 S # 82 1 DELVLVC S # 2 DELVLVC +2 S # 3 DELVLVC +4 S # 83 1 DELVIMU S # 2 DELVIMU +2 S # 3 DELVIMU +4 S # 84 1 DELVOV S # 2 DELVOV +2 S # 3 DELVOV +4 S # 85 1 VGBODY S # 2 VGBODY +2 S # 3 VGBODY +4 S # 86 1 DELVLVC S # 2 DELVLVC +2 S # 3 DELVLVC +4 S # 87 1 AZ D # 2 EL D # 88 1 STARAD B # 2 STARAD +2 B # 3 STARAD +4 B # 89 1 LANDLAT G # 2 LANDLONG G # 3 LANDALT JJ # 90 1 RANGE JJ # 2 RRATE S # 3 RTHETA H # 91 1 P21ALT Q (MEMORY/100 TO DISPLAY TENS N.M.) # 2 P21VEL P # 3 P21GAM H # 92 SPARE # 93 1 OGC G # 2 OGC +2 G # 3 OGC +4 G # 94 SPARE # 95 SPARE # 96 SPARE # 97 1 DSPTEM1 C # 2 DSPTEM1 +1 C # 3 DSPTEM1 +2 C # 98 1 DSPTEM2 C # 2 DSPTEM2 +1 B # 3 DSPTEM2 +2 C # 99 1 WWPOS XX # Page 17 # 2 WWVEL YY # 3 WWBIAS AAA # Page 18 # NOUN SCALES AND FORMATS # -SCALE TYPE- PRECISION # UNITS DECIMAL FORMAT -- AGC FORMAT # ------------ -------------- -- ---------- # -A- # OCTAL xxxxx SP OCTAL # -B- -14 # FRACTIONAL .xxxxx SP BIT 1 = 2 UNITS # (MAX .99996) # -C- # WHOLE xxxxx. SP BIT 1 = 1 UNIT # (MAX 16383.) # -D- 15 # CDU DEGREES xxx.xx DEGREES SP BIT 1 = 360/2 DEGREES # (MAX 359.99) (USES 15 BITS FOR MAGNI- # TUDE AND 2-S COMP.) # -E- 14 # ELEVATION DEGREES xx.xxx DEGREES SP BIT 1 = 90/2 DEGREES # (MAX 89.999) # -F- 14 # DEGREES (180) xxx.xx DEGREES SP BIT 1 = 180/2 DEGREES # (MAX 179.99) # -G- # DP DEGREES(90) xx.xxx DEGREES DP BIT 1 OF LOW REGISTER = # 28 # 360/2 DEGREES # -H- # DP DEGREES (360) xxx.xx DEGREES DP BIT 1 OF LOW REGISTER = # 28 # (MAX 359.99) 360/2 DEGREES # Page 19 # -K- # TIME (HR, MIN, SEC) 00xxx. HR DP BIT 1 OF LOW REGISTER = # 000xx. MIN -2 # 0xx.xx SEC 10 SEC # (DECIMAL ONLY. # MAX MIN COMP=59 # MAX SEC COMP=59.99 # MAX CAPACITY=745 HRS # 39 MINS # 14.55 SECS. # WHEN LOADING, ALL 3 # COMPONENTS MUST BE # SUPPLIED.) # -L- # TIME (MIN/SEC) xxBxx MIN/SEC DP BIT 1 OF LOW REGISTER = # (B IS A BLANK -2 # POSITION, DECIMAL 10 SEC # ONLY, DISPLAY OR # MONITOR ONLY. CANNOT # BE LOADED. # MAX MIN COMP=59 # MAX SEC COMP=59 # VALUES GREATER THAN # 59 MIN 59 SEC # ARE DISPLAYED AS # 59 MIN 59 SEC.) # -M- -2 # TIME (SEC) xxx.xx SEC SP BIT 1 = 10 SEC # (MAX 163.83) # -N- # TIME(SEC) DP xxx.xx SEC DP BIT 1 OF LOW REGISTER = # -2 # 10 SEC. # -P- # VELOCITY 2 xxxxx. FEET/SEC DP BIT 1 OF HIGH REGISTER = # (MAX 41994.) -7 # 2 METERS/CENTI-SEC # -Q- # POSITION 4 xxxx.x NAUTICAL MILES DP BIT 1 OF LOW REGISTER = # 2 METERS # -S- # VELOCITY 3 xxxx.x FT/SEC DP BIT 1 OF HIGH REGISTER = # -7 # 2 METERS/CENTI-SEC # Page 20 # -T- -2 # G xxx.xx G SP BIT 1 = 10 G # (MAX 163.83) # -U- # RENDEZVOUS xxx.xx NAUT MI DP LOW ORDER BIT OF LOW ORDER # RADAR RANGE WORD = 9.38 FEET # -V- # RENDEZVOUS xxxxx. FEET/SEC DP LOW ORDER BIT OF LOW ORDER # RADAR RANGE RATE WORD = -.6278 FEET/SEC # -W- # LANDING RADAR xxxxx. FEET DP LOW ORDER BIT OF LOW ORDER # ALTITUDE WORD = 1.079 FEET # -X- # LANDING RADAR xxxxx. FEET/SEC DP LOW ORDER BIT OF LOW ORDER # VELX WORD = -.6440 FEET/SEC # -Y- # LANDING RADAR xxxxx. FEET/SEC DP LOW ORDER BIT OF LOW ORDER # VELY WORD = 1.212 FEET/SEC # -Z- # LANDING RADAR xxxxx. FEET/SEC DP LOW ORDER BIT OF LOW ORDER # VELZ WORD = .8668 FEET/SEC # -AA- # INITIAL/FINAL xxxxx. FEET DP LOW ORDER BIT OF LOW ORDER # ALTITUDE WORD = 2.345 FEET # -BB- # ALTITUDE RATE xxxxx. FEET/SEC SP LOW ORDER BIT = .5 # (MAX 08191.) FEET/SEC # -CC- # FORWARD/LATERAL xxxxx. FEET/SEC SP LOW ORDER BIT = .5571 # VELOCITY (MAX 09126.) FEET/SEC # -DD- # ROTATIONAL HAND xxxxx. DEG/SEC SP FRACTIONAL PART OF PI RAD # CONTROLLER ANGULAR (MAX 00044.) 4 SEC # RATES # -EE- # OPTICAL TRACKER xxx.xx DEG. DP LOW ORDER BIT OF LOW ORDER # AZIMUTH ANGLE 15 # WORD = 360/2 DEGREES # Page 21 # -JJ- # POSITION5 xxx.xx NAUT MI DP BIT 1 OF LOW REGISTER = # 2 METERS # -KK- 16 # WEIGHT2 xxxxx. LBS SP FRACTIONAL PART OF 2 KG # -NN- # TRIM DEGREES 2 xxx.xx DEG SP BIT 1=.01 SEC(TIME) # (MAX 032.76) # -PP- # 2 INTEGERS +xxByy DP BIT 1 OF HIGH REGISTER = # (B IS A BLANK 1 UNIT OF XX # POSITION. DECIMAL BIT 1 OF LOW REGISTER = # ONLY, DISPLAY OR 1 UNIT OF YY # MONITOR ONLY. CANNOT (EACH REGISTER MUST # BE LOADED.) CONTAIN A POSITIVE INTEGER # (MAX 99B99) LESS THAN 100) # -QQ- # POSITION7 xxxx.x NAUT MI DP BIT 1 OF LOW REGISTER = # (MAX 9058.9) -4 # 2 METERS # -RR- # COMPUTED ALTITUDE xxxxx. FEET DP BIT 1 OF LOW REGISTER = # -4 # 2 METERS # -SS- # DP DEGREES xxxx.x DEGREES DP BIT 1 OF HIGH REGISTER = # 1 DEGREE # -TT- # LANDING RADAR +0000x CHANNEL 33, BIT 6 = NOT POSIT. 1 # POSITION (DECIMAL ONLY. CHANNEL 33, BIT 7 = NOT POSIT. 2 # DISPLAY OR MONITOR X = 1 FOR LR POSITION 1 # ONLY. CANNOT BE X = 2 FOR LR POSITION 2 # LOADED.) # -WW- 15 # 360-CDU DEGREES xxx.xx DEGREES SP BIT 1 = 360 - (360/2 ) # (MAX 359.99) DEGREES # (USES 15 BITS FOR MAGNI- # TUDE AND 2-S COMP.) # -XX- # POSITION 9 xxxxx. FEET DP BIT 1 OF LOW REGISTER = # -9 # 2 METERS # Page 22 # -YY- # VELOCITY 4 xxxx.x FEET/SEC DP FRACTIONAL PART # (MAX 328.0) METERS/CENTI-SEC # -AAA- # RADIANS xx.xxx RADIANS DP BIT 1 OF HIGH REGISTER = # (MAX 31.999) -9 # 2 RADIANS. # THAT-S ALL ON THE NOUNS. # Page 23 # ALARM CODES FOR LUMINARY # *9 *18 *60 COLUMN # CODE * TYPE SET BY # 00105 ** AOTMARK SYSTEM IN USE # 00107 MORE THAN 5 MARK PAIRS AOTMARK # 00111 MARK MISSING AOTMARK # 00112 MARK OR MARK REJECT NOT BEING ACCEPTED AOTMARK # 00113 NO INBITS AOTMARK # 00114 MARK MADE BUT NOT DESIRED AOTMARK # 00115 NO MARKS IN LAST PAIR TO REJECT AOTMARK # 00206 ZERO ENCODE NOT ALLOWED WITH COARSE ALIGN IMU MODE SWITCHING # 00206 + GIMBAL LOC # 00207 ISS TURNON REQUEST NOT PRESENT FOR 90 SEC T4RUPT # 00210 IMU NOT OPERATING IMU MODE SWITCH, IMU-2, RD2, P51, P57 # 00211 COARSE ALIGN ERROR IMU MODE SWITCH # 00212 PIPA FAIL BUT PIPA IS NOT BEING USED IMU MODE SWITCH, T4RPT # 00213 IMU NOT OPERATING WITH TURN-ON REQUEST T4RUPT # 00214 PROGRAM USING IMU WHEN TURNED OFF T4RUPT # 00217 BAD RETURN FROM IMUSTALL P51, P52, P57 # 00220 IMU NOT ALIGNED - NO REFSMMAT R02, R47 # 00401 DESIRED GIMBAL ANGLE YIELDS GIMBAL LOCK INF ALIGN, IMU-2, # FINDCDUW # 00402 FINDCDUW NOT CONTROLLING ATTITUDE FINDCDUW # 00404 TWO STARS NOT AVAILABLE IN ANY DETENT R59, LUNAR SURFACE # 00405 TWO STARS NOT AVAILABLE P52 # 00421 W-MATRIX OVERFLOW INTEGRV # 00430 ** ACCELERATION OVERFLOW IN INTEGRATION ORBITAL INTEGRATION # 00501 P RADAR ANTENNA OUT OF LIMITS R23 # 00502 BAD RADAR GIMBAL ANGLE INPUT V41N72 # 00503 P RADAR ANTENNA DESIGNATE FAIL R21, NON-P IN V41N72 # 00510 RADAR AUTO DESCRETE NOT PRESENT R25 # 00511 LR NOT IN POSITION 2 OR REPOSITIONING SERVICER # 00514 P RR GOES OUT OF AUTO MODE WHILE IN USE P20 # 00515 RR CDU FAIL DISCRETE PRESENT R25 # 00520 RADAR RUPT NOT EXPECTED AT THIS TIME RADAR READ # 00521 COULD NOT READ RADAR P20 # 00522 LANDING RADAR POSITION CHANGE RADAR READ # 00523 P LR ANTENNA DIDN'T ACHIEVE POSITION 2 SERVICER, V60 (NON-P IN V60) # 00525 P DELTA THETA GREATER THAN 3 DEGREES R22 # 00526 P RANGE GREATER THAN 400 NAUT. MILES P20, P22 # 00527 P LOS NOT IN MODE II COVERAGE WHILE ON R21, R24 # LUNAR SURFACE # OR VEHICLE MANEUVER REQUIRED R24 (20) # 00530 P LOS NOT IN MODE2 COVERAGE R21 # ON LUNAR SURFACE AFTER 600 SECS. # 00600 IMAGINARY ROOTS ON FIRST ITERATION P32, P72 # 00601 PERIGEE ALTITUDE CSI LT PMIN1 P32, P72. # Page 24 # 00602 PERIGEE ALTITUDE CDH LT PMIN2 P32, P72. # 00603 CSI TO CDH TIME LT TMIN12 P32, P72, P33, P73 # 00604 CDH TO TPI TIME LT TMIN23 P32, P72, # OR COMPUTED CDH TIME GREATER THAN INPUT TP1 TIME # 00605 NUMBER OF ITERATIONS EXCEEDS LOOP MAXIMUM P32, P72 # 00606 DV EXCEEDS MAXIMUM P32, P72 # 00607 ** NO SOLN FROM TIME-THETA OR TIME-RADIUS TIMETHET, TIMERAD # 00611 NO TIG FOR GIVEN ELEV ANGLE P34, P74 # 00701 ILLEGAL OPTION CODE SELECTED P57 # 00777 PIPA FAIL CAUSED THE ISS WARNING T4RUPT # 01102 AGC SELF TEST ERROR SELF CHECK # 01103 ** UNUSED CCS BRANCH EXECUTED ABORT # 01104 * DELAY ROUTINE BUSY EXEC # 01105 DOWNLINK TOO FAST T4RUPT # 01106 UPLINK TOO FAST T4RUPT # 01107 PHASE TABLE FAILURE. ASSUME RESTART # ERASABLE MEMORY IS SUSPECT. RESTART # 01201 * EXECUTIVE OVERFLOW - NO VAC AREAS EXEC # 01202 * EXECUTIVE OVERFLOW - NO CORE SETS EXEC # 01203 * WAITLIST OVERFLOW - TOO MANY TASKS WAITLIST # 01204 ** WAITLIST, VARDELAY, FIXDELAY, OR LONGCALL WAITLIST ROUTINES # CALLED WITH ZERO OR NEGATIVE DELTA-TIME # 01206 ** SECOND JOB ATTEMPTS TO GO TO SLEEP PINBALL # 01206 VIA KYBD AND DISPLAY PROGRAM # 01207 * NO VAC AREAS FOR MARKS AOTMARK # 01210 * TWO PROGRAMS USING DEVICE AT SAME TIME MODE SWITCHING # 01211 * ILLEGAL INTERRUPT OF EXTENDED VERB AOTMARK # 01301 ARCSIN-ARCCOS ARGUMENT TOO LARGE INTERPRETER # 01302 ** SQRT CALLED WITH NEGATIVE ARGUMENT INTERPRETER # 01406 BAD RETURN FROM ROOTPSRS DESCENT GUIDANCE EQS. # 01406 ** BAD RETURN FROM ROOTPSRS IGNITION ALGORITHM # # NOTE: 1406 IS A POODOO DURING THE IGNITION ALGORITHM # AND AN ALARM DURING THE ACTUAL GUIDANCE PHASE. # # 01407 VG INCREASING (DELTA-V ACCUMULATED S40.8 # .GT. 90 DEGREES AWAY FROM DESIRED THRUST S40.8 # VECTOR.) S40.8 # 01410 UNINTENTIONAL OVERFLOW IN GUIDANCE DESCENT GUIDANCE EQS. # 01412 DESCENT IGNALG NOT CONVERGING P63 # 01501 ** KEYBOARD AND DISPLAY ALARM DURING PINBALL # 01501 INTERNAL USE (NVSUB). ABORT # 01502 ** ILLEGAL FLASHING DISPLAY GOPLAY # 01520 V37 REQUEST NOT PERMITTED AT THIS TIME V37 # 01600 OVERFLOW IN DRIFT TEST IMU 4 # 01601 BAD IMU TORQUE OPT PRE ALIGN CALIB # 01601 IMU 4 (LEM) # 01703 IGNITION TIME SLIPPED MIDTOAVE # 01706 INCORRECT PROGRAM REQUESTED FOR VEHICLE # CONFIGURATION P40, P42 # Page 25 # 02000 * DAP STILL IN PROGRESS AT NEXT TIMES RUPT DAP # 02001 JET FAILURES HAVE DISABLED Y-Z TRANS. DAP # 02002 JET FAILURES HAVE DISABLED X TRANSLATION DAP # 02003 JET FAILURES HAVE DISABLED P-ROTATION DAP # 02004 JET FAILURES HAVE DISABLED U-V ROTATION DAP # 03777 ICDU FAIL CAUSED THE ISS WARNING T4RUPT # 04777 ICDU, PIPA FAILS CAUSED THE ISS WARNING T4RUPT # 07777 IMU FAIL CAUSED THE ISS WARNING T4RUPT # 10777 IMU, PIPA FAILS CAUSED THE ISS WARNING T4RUPT # 13777 IMU, ICDU FAILS CAUSED THE ISS WARNING T4RUPT # 14777 IMU, ICDU, PIPA FAILS CAUSED THE ISS WARNING T4RUPT # # * INDICATES AN ABORT CODE THAT RESULTS IN A SOFTWARE RESTART. # # ** INDICATES A MORE SERIOUS ABORT CODE THAT RESULTS IN THE # PROGRAM GOING TO R00. # # P INDICATES A PRIORITY ALARM. # # ALL OTHERS ARE NON-ABORTIVE # Page 26 # CHECKLIST CODES FOR LUMINARY # *9 *17 *26 *9 COLUMN # R1CODE ACTION TO BE EFFECTED PROGRAM # 00013 KEY IN NORMAL OR GYRO TORQUE COARSE ALIGN P52 # 00014 PROCEED DO IMU FINE ALIGN ROUTINE P51, P63, P57 # 00014 ENTER DO LANDING SITE DETERMINATION (N89DISP) P57OPTION2 # 00015 PERFORM CELESTIAL BODY ACQUISITION R51, P51 # 00062 SWITCH AGC POWER DOWN P06 # 00201 SWITCH RR MODE TO AUTOMATIC P20, P22, R04 # 00203 SWITCH GUID CONTROL TO GNC, MODE TO AUTO... P12, P42, P71 # ALSO THR CONT TO AUTO P40, P63, P70 # 00205 PERFORM MANUAL ACQUISITION OF RR R23 # 00500 SWITCH LR ANTENNA TO POSITION 1 P63 # SWITCH DENOTES CHANGE POSITION OF A CONSOLE SWITCH # PERFORM DENOTES START OR END OF A TASK # KEY IN DENOTES KEY IN OF DATA THRU THE DSKY # Page 27 # OPTION CODES FOR LUMINARY # THE SPECIFIED OPTION CODES WIL BE FLASHED IN COMPONENT R1 IN # CONJUNCTION WITH V04N06 OR V04N12 (FOR EXTENDED VERBS) TO REQUEST THE # ASTRONAUT TO LOAD INTO COMPONENT R2 THE OPTION HE DESIRES. # *9 *17 *52 *11 *25 COLUMN # OPTION # CODE PURPOSE INPUT FOR COMPONENT 2 PROGRAM(S) APPLICABILITY # 00001 SPECIFY IMU ORIENTATION 1=PREF 2=NOM 3=REFSMMAT P52 ALL # 4=LAND SITE # 00002 SPECIFY VEHICLE 1=THIS 2=OTHER P21,R30 ALL # 00003 SPECIFY TRACKING ATTITUDE 1=PREFERRED 2=OTHER R63 ALL # 00004 SPECIFY RADAR 1=RR 2=LR R04 SUNDANCE + LUMINARY # 00005 SPECIFY SOR PHASE 1=FIRST 2=SECOND P38 COLOSSUS + LUMINARY # 00006 SPECIFY RR COARSE ALIGN OPTION 1=LOCKON 2=CONTINUOUS DESIG. V41N72 SUNDANCE + LUMINARY # 00010 SPECIFY ALIGNMENT MODE 0=ANY TIME 1=REFSMMAT +G P57 LUMINARY # 2=TWO BODIES 3=ONE BODY + G # 00012 SPECIFY CSM ORBIT OPTION 1=NO ORBIT CHANGE 2=CHANGE P22 LUMINARY # ORBIT TO PASS OVER LM ================================================ FILE: Luminary099/ATTITUDE_MANEUVER_ROUTINE.agc ================================================ # Copyright: Public domain. # Filename: ATTITUDE_MANEUVER_ROUTINE.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 342-363 # Mod history: 2009-05-16 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 342 # BLOCK 2 LGC ATTITUDE MANEUVER ROUTINE -- KALCMANU # # MOD 2 DATE 5/1/67 BY DON KEENE # # PROGRAM DESCRIPTION # # KALCMANU IS A ROUTINE WHICH GENERATES COMMANDS FOR THE LM DAP TO CHANGE THE ATTITUDE OF THE SPACECRAFT # DURING FREE FALL. IT IS DESIGNED TO MANEUVER THE SPACECRAFT FROM ITS INITIAL ORIENTATION TO SOME DESIRED # ORIENTATION SPECIFIED BY THE PROGRAM WHICH CALLS KALCMANU, AVOIDING GIMBAL LOCK IN THE PROCESS. IN THE # MOD 2 VERSION, THIS DESIRED ATTITUDE IS SPECIFIED BY A SET OF OF THREE COMMANDED CDU ANGLES STORES AS 2'S COMPLEMENT # SINGLE PRECISION ANGLES IN THE THREE CONSECUTIVE LOCATIONS, CPHI, CTHETA, CPSI, WHERE # # CPHI = COMMANDED OUTER GIMBAL ANGLE # CTHETA = COMMANDED INNER GIMBAL ANGLE # CPSI = COMMANDED MIDDLE GIMBAL ANGLE # # WHEN POINTING A SPACECRAFT AXIS (I.E., X, Y, Z, THE AOT, THRUST AXIS, ETC.) THE SUBROUTINE VECPOINT MAY BE # USED TO GENERATE THIS SET OF DESIRED CDU ANGLES (SEE DESCRIPTION IN R60). # # WITH THIS INFORMATION KALCMANU DETERMINES THE DIRECTION OF THE SINGLE EQUIVALENT ROTATION (COF ALSO U) AND THE # MAGNITUDE OF THE ROTATION (AM) TO BRING THE S/C FROM ITS INITIAL ORIENTATION TO ITS FINAL ORIENTATION. # THIS DIRECTION REMAINS FIXED BOTH IN INERTIAL COORDINATES AND IN COMMANDED S/C AXES THROUGHOUT THE # _ # MANEUVER. ONCE COF AND AM HAVE BEEN DETERMINED, KALCMANU THEN EXAMINES THE MANEUVER TO SEE IF IT WILL BRING # _ # THE S/C THROUGH GIMBAL LOCK. IF SO, COF AND AM ARE READJUSTED SO THAT THE S/C WILL JUST SKIM THE GIMBAL # LOCK ZONE AND ALIGN THE X-AXIS. IN GENERAL A FINAL YAW ABOUT X WILL BE NECESSARY TO COMPLETE THE MANEUVER. # NEEDLESS TO SAY, NEITHER THE INITIAL NOR THE FINAL ORIENTATION CAN BE IN GIMBAL LOCK. # # FOR PROPER ATTITUDE CONTROL THE DIGITAL AUTOPILOT MUST BE GIVEN AN ATTITUDE REFERENCE WHICH IT CAN TRACK. # KALCMANU DOES THIS BY GENERATING A REFERENCE OF DESIRED GIMBAL ANGLES (CDUXD, CDUYD, CDUZD) WHICH ARE UPDATED # EVERY ONE SECOND DURING THE MANEUVER. TO ACHIEVE A SMOOTHER SEQUENCE OF COMMANDS BETWEEN SUCCESSIVE UPDATES, # THE PROGRAM ALSO GENERATES A SET OF INCREMENTAL CDU ANGLES (DELDCDU) TO BE ADDED TO CDU DESIRED BY THE DIGITAL # AUTOPILOT. KALCMANU ALSO CALCULATES THE COMPONENT MANEUVER RATES (OMEGAPD, OMEGAQD, OMEGARD), WHICH CAN # _ # BE DETERMINED SIMPLY BY MULTIPLYING COF BY SOME SCALAR (ARATE) CORRESPONDING TO THE DESIRED ROTATIONAL RATE. # # AUTOMATIC MANEUVERS ARE TIMED WTH THE HELP OF WAITLIST SO THAT AFTER A SPECIFIED INTERVAL THE Y AND Z # DESIRED RATES ARE SET TO ZERO AND THE DESIRED CDU ANGLES (CDUYD, CDUZD) ARE SET EQUAL TO THE FINAL DESIRED CDU # ANGLES (CTHETA, CPSI). IF ANY YAW REMAINS DUE TO GIMBAL LOCK AVOIDANCE, THE FINAL YAW MANEUVER IS # CALCULATED AND THE DESIRED YAW RATE SET TO SOME FIXED VALUE (ROLLRATE = + OR - 2 DEGREES PER SEC). # IN THIS CASE ONLY AN INCREMENTAL CDUX ANGLE (DELFROLL) IS SUPPLIED TO THE DAP. AT THE END OF THE YAW # MANEUVER OR IN THE EVENT THAT THERE WAS NO FINAL YAW, CDUXD IS SET EQUAL TO CPHI AND THE X-AXIS DESIRED # RATE SET TO ZERO. THUS, UPON COMPLETION OF THE MANEUVER THE S/C WILL FINISH UP IN A LIMIT CYCLE ABOUT THE # DESIRED GIMBAL ANGLES. # # PROGRAM LOGIC FLOW # # KALCMANU IS CALLED AS A HIGH PRIORITY JOB WITH ENTRY POINTS AT KALCMAN3 AND VECPOINT. IT FIRST PICKS # UP THE CURRENT CDU ANGLES TO BE USED AS THE BASIS FOR ALL COMPUTATIONS INVOLVING THE INITIAL S/C ORIENTATION. # Page 343 # IT THEN DETERMINES THE DIRECTION COSINE MATRICES RELATING BOTH THE INITIAL AND FINAL S/C ORIENTATION TO STABLE # * * * # MEMBER AXES (MIS,MFS). IT ALSO COMPUTES THE MATRIX RELATING FINAL S/C AXES TO INITIAL S/C AXES (MFI). THE # ANGLE OF ROTATION (AM) IS THEN EXTRACTED FROM THIS MATRIX, AND TEST ARE MADE TO DETERMINE IF # # A) AM LESS THAN .25 DEGREES (MINANG) # B) AM GREATER THAN 170 DEGREES (MAXANG) # # IF AM IS LESS THAN .25 DEGREES, NO COMPLICATED AUTOMATIC MANEUVERING IS NECESSARY. THEREFORE, WE CAN SIMPLY # SET CDU DESIRED EQUAL TO THE FINAL CDU DESIRED ANGLES AND TERMINATE THE JOB. # # IF AM IS GREATER THAN .25 DEGREES BUT LESS THAN 170 DEGREES THE AXES OF THE SINGLE EQUIVALENT ROTATION # _ * # (COF) IS EXTRACTED FROM THE SKEW SYMMETRIC COMPONENTS OF MFI. # * * # IF AM GREATER THAN 170 DEGREES AN ALTERNATE METHOD EMPLOYING THE SYMMETRIC PART OF MFI (MFISYM) IS USED # _ # TO DETERMINE COF. # # THE PROGRAM THEN CHECKS TO SEE IF THE MANEUVER AS COMPUTED WILL BRING THE S/C THROUGH GIMBAL LOCK. IF # SO, A NEW MANEUVER IS CALCULATED WHICH WILL JUST SKIM THE GIMBAL LOCK ZONE AND ALIGN THE S/C X-AXIS. THIS # METHOD ASSURES THAT THE ADDITIONAL MANEUVERING TO AVOID GIMBAL LOCK WILL BE KEPT TO A MINIMUM. SINCE A FINAL # P AXIS YAW WILL BE NECESSARY, A SWITCH IS RESET (STATE SWITCH 31) TO ALLOW FOR THE COMPUTATION OF THIS FINAL # YAW. # # AS STATED PREVIOUSLY, KALCMANU GENERATES A SEQUENCE OF DESIRED GIMBAL ANGLES WHICH ARE UPDATED EVERY # _ # SECOND. THIS IS ACCOMPLISHED BY A SMALL ROTATION OF THE DESIRED S/C FRAME ABOUT THE VECTOR COF. THE NEW # DESIRED REFERENCE MATRIX IS THEN, # * * * # MIS = MIS DEL # N+1 N # * # WHERE DEL IS THE MATRIX CORRESPONDING TO THIS SMALL ROTATION. THE NEW CDU ANGLES CAN THEN BE EXTRACTED # * # FROM MIS. # # AT THE BEGINNING OF THE MANEUVER THE AUTOPILOT DESIRED RATES (OMEGAPD, OMEGAQD, OMEGARD) AND THE # MANEUVER TIMINGS ARE ESTABLISHED. ON THE FIRST PASS AND ON ALL SUBSEQUENT UPDATES THE CDU DESIRED # ANGLES ARE LOADED WITH THE APPROPRIATE VALUES AND THE INCREMENTAL CDU ANGLES ARE COMPUTED. THE AGC CLOCKS # (TIME1 AND TIME2) ARE THEN CHECKED TO SEE IF THE MANEUVER WILL TERMINATE BEFORE THE NEXT UPDATE. IF # NOT, KALCMANU CALLS FOR ANOTHER UPDATE (RUN AS A JOB WITH PRIORITY TBD) IN ONE SECOND. ANY DELAYS IN THIS # CALLING SEQUENCE ARE AUTOMATICALLY COMPENSATED IN CALLING FOR THE NEXT UPDATE. # # IF IT IS FOUND THAT THE MANEUVER IS TO TERMINATE BEFORE THE NEXT UPDATE A ROUTINE IS CALLED (AS A WAIT- # LIST TASK) TO STOP THE MANEUVER AT THE APPROPRIATE TIME AS EXPLAINED ABOVE. # Page 344 # CALLING SEQUENCE # # IN ORDER TO PERFORM A KALCMANU SUPERVISED MANEUVER, THE COMMANDED GIMBAL ANGLES MUST BE PRECOMPUTED AND # STORED IN LOCATIONS CPHI, CTHETA, CPSI. THE USER'S PROGRAM MUST THEN CLEAR STATE SWITCH NO 33 TO ALLOW THE # ATTITUDE MANEUVER ROUTINE TO PERFORM ANY FINAL P-AXIS YAW INCURRED BY AVOIDING GIMBAL LOCK. THE MANEUVER IS # THEN INITIATED BY ESTABLISHING THE FOLLOWING EXECUTIVE JOB # * # CAF PRIO XX # -- # INHINT # TC FINDVAC # 2CADR KALCMAN3 # RELINT # # THE USER'S PROGRAM MAY EITHER CONTINUE OR WAIT FOR THE TERMINATION OF THE MANEUVER. IF THE USER WISHES TO # WAIT, HE MAY PUT HIS JOB TO SLEEP WITH THE FOLLOWING INSTRUCTIONS: # # L TC BANKCALL # L+1 CADR ATTSTALL # L+2 (BAD RETURN) # L+3 (GOOD RETURN) # # UPON COMPLETION OF THE MANEUVER, THE PROGRAM WILL BE AWAKENED AT L+3 IF THE MANEUVER WAS COMPLETED # SUCCESSFULLY, OR AT L+2 IF THE MANEUVER WAS ABORTED. THIS ABORT WOULD OCCUR IF THE INITIAL OR FINAL ATTITUDE # WAS IN GIMBAL LOCK. # # *** NOTA BENE *** IF IT IS ASSUMED THAT THE DESIRED MANEUVERING RATE (0.5, 2, 5, 10 DEG/SEC) HAS BEEN SELECTED BY # KEYBOARD ENTRY PRIOR TO THE EXECUTION OF KALCMANU. # # IT IS ALSO ASSUMED THAT THE AUTOPILOT IS IN THE AUTO MODE. IF THE MODE SWITCH IS CHANGED DURING THE # MANEUVER, KALCMANU WILL TERMINATE VIA GOODEND WITHIN 1 SECOND SO THAT R60 MAY REQUEST A TRIM OF THE S/C ATTITUDE # SUBROUTINES. # # KALCMANU USES A NUMBER OF INTERPRETIVE SUBROUTINES WHICH MAY BE OF GENERAL INTEREST. SINCE THESE ROUTINES # WERE PROGRAMMED EXCLUSIVELY FOR KALCMANU, THEY ARE NOT, AS YET, GENERALLY AVAILABLE FOR USE BY OTHER PROGRAMS. # # MXM3 # ---- # # THIS SUBROUTINE MULTIPLIES TWO 3X3 MATRICES AND LEAVES THE RESULT IN THE FIRST 18 LOCATIONS OF THE PUSH # DOWN LIST, I.E., # [ M M M ] # [ 0 1 2 ] # * [ ] * * # M = [ M M M ] = M1 X M2 # [ 3 4 5 ] # [ ] # [ M M M ] # [ 6 7 8 ] # Page 345 # * # INDEX REGISTER X1 MUST BE LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M1, AND X2 MUST BE # * # LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M2. THE ROUTINE USES THE FIRST 20 LOCATIONS OF THE PUSH # DOWN LIST. THE FIRST ELEMENT OF THE MATRIX APPEARS IN PDO. PUSH UP FOR M . # 8 # TRANSPOS # -------- # # THIS ROUTINE TRANSPOSES A 3X3 MATRIX AND LEAVES THE RESULT IN THE PUSH DOWN LIST, I.E., # # * * T # M = M1 # # INDEX REGISTER X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M1. PUSH UP FOR THE FIRST AND SUB- # * # SEQUENT COMPONENTS OF M. THIS SUBROUTINE ALSO USES THE FIRST 20 LOCATIONS OF THE PUSH DOWN LIST. # # CDU TO DCM # ---------- # # THIS SUBROUTINE CONVERTS THREE CDU ANGLES IN T(MPAC) TO A DIRECTION COSINE MATRIX (SCALED BY 2) RELATING # THE CORRESPONDING S/C ORIENTATIONS TO THE STABLE MEMBER FRAME. THE FORMULAS FOR THIS CONVERSION ARE # # M = COSY COSZ # 0 # # M = -COSY SINZ COSX + SINY SINX # 1 # # M = COSY SINZ SINX + SINY COSX # 2 # # M = SINZ # 3 # # M = COSZ COSX # 4 # # M = -COSZ SINX # 5 # # M = -SINY COSZ # 6 # # M = SINY SINZ COSX + COSY SINX # 7 # Page 346 # M = -SINY SINZ SINX + COSY COSX # 8 # # WHERE X = OUTER GIMBAL ANGLE # Y = INNER GIMBAL ANGLE # Z = MIDDLE GIMBAL ANGLE # # THE INTERPRETATION OF THIS MATRIX IS AS FOLLOWS: # # IF A , A , A REPRESENT THE COMPONENTS OF A VECTOR IN S/C AXES THEN THE COMPONENTS OF THE SAME VECTOR IN # X Y Z # STABLE MEMBER AXES (B , B , B ) ARE # X Y Z # # [ B ] [ A ] # [ X ] [ X ] # [ ] [ ] # [ B ] * [ A ] # [ Y ] = M [ Y ] # [ ] [ ] # [ B ] [ B ] # [ Z ] [ Z ] # # THE SUBROUTINE WILL STORE THIS MATRIX IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY AS SPECIFIED BY THE CALLING # * # PROGRAM. TO DO THIS THE CALLING PROGRAM MUST FIRST LOAD X2 WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M. # # INTERNALLY, THE ROUTINE USES THE FIRST 16 LOCATIONS OF THE PUSH DOWN LIST, ALSO STEP REGISTER S1 AND INDEX # REGISTER X2. # # DCM TO CDU # ---------- # * # THIS ROUTINE EXTRACTS THE CDU ANGLES FROM A DIRECTION COSINE MATRIX (M SCALED BY 2) RELATING S/C AXIS TO # * # STABLE MEMBER AXES. X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M. THE SUBROUTINE LEAVES THE # CORRESPONDING GIMBAL ANGLES IN V(MPAC) AS DOUBLE PRECISION 1'S COMPLEMENT ANGLES SCALED BY 2PI. THE FORMULAS # FOR THIS CONVERSION ARE # # Z = ARCSIN (M ) # 3 # # Y = ARCSIN (-M /COSZ) # 6 # # IF M IS NEGATIVE, Y IS REPLACED BY PI SGN Y - Y. # 0 # Page 347 # X = ARCSIN (-M /COSZ) # 5 # # IF M IS NEGATIVE, X IS REPLACED BY PI SGN X - X. # 4 # # THIS ROUTINE DOES NOT SET THE PUSH DOWN POINTER, BUT USES THE NEXT 8 LOCATIONS OF THE PUSH DOWN LIST AND # RETURNS THE POINTER TO ITS ORIGINAL SETTING. THIS PROCEDURE ALLOWS THE CALLER TO STORE THE MATRIX AT THE TOP OF # THE PUSH DOWN LIST. # # DELCOMP # ------- # * # THIS ROUTINE COMPUTES THE DIRECTION COSINE MATRIX (DEL) RELATING ON # _ # IS ROTATED WITH RESPECT TO THE FIRST BY AN ANGLE, A, ABOUT A UNIT VECTOR U. THE FORMULA FOR THIS MATRIX IS # # * * _ _T * # DEL = I COSA + U U (1 - COSA) + V SINA # X # # WHERE * [ 1 0 0 ] # I = [ 0 1 0 ] # [ 0 0 1 ] # # [ 2 ] # [ U U U U U ] # [ X X Y X Z ] # [ ] # _ _T [ 2 ] # U U = [ U U U U U ] # [ Y X Y Y Z ] # [ ] # [ 2 ] # [ U U U U U ] # [ Z X Z Y Z ] # # # [ 0 -U U ] # [ Z Y ] # * [ ] # V = [ U 0 -U ] # X [ Z X ] # [ ] # [ -U U 0 ] # [ Y X ] # # Page 348 # _ # U = UNIT ROTATION VECTOR RESOLVED INTO S/C AXES. # A = ROTATION ANGLE # # * # THE INTERPRETATION OF DEL IS AS FOLLOWS: # # IF A , A , A REPRESENT THE COMPONENTS OF A VECTOR IN THE ROTATED FRAME, THEN THE COMPONENTS OF THE SAME # X Y Z # VECTOR IN THE ORIGINAL S/C AXES (B , B , B ) ARE # X Y Z # # [ B ] [ A ] # [ X ] [ X ] # [ ] [ ] # [ B ] * [ A ] # [ Y ] = DEL [ Y ] # [ ] [ ] # [ B ] [ B ] # [ Z ] [ Z ] # # THE ROUTINE WILL STORE THIS MATRIX (SCALED UNITY) IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY BEGINNING WITH # _ # THE LOCATION CALLED DEL. IN ORDER TO USE THE ROUTINE, THE CALLING PROGRAM MUST FIRST STORE U (A HALF UNIT # DOUBLE PRECISION VECTOR) IN THE SET OF ERASABLE LOCATIONS BEGINNING WITH THE ADDRESS CALLED COF. THE ANGLE, A, # MUST THEN BE LOADED INTO D(MPAC). # # INTERNALLY, THE PROGRAM ALSO USES THE FIRST 10 LOCATIONS OF THE PUSH DOWN LIST. # # READCDUK # -------- # # THIS BASIC LANGUAGE SUBROUTINE LOADS T(MPAC) WITH THE THREE CDU ANGLES. # # SIGNMPAC # -------- # # THIS IS A BASIC LANGUAGE SUBROUTINE WHICH LIMITS THE MAGNITUDE OF D(MPAC) TO + OR - DPOSMAX ON OVERFLOW. # # PROGRAM STORAGE ALLOCATION # # 1) FIXED MEMORY 1059 WORDS # 2) ERASABLE MEMORY 98 # 3) STATE SWITCHES 3 # Page 349 # 4) FLAGS 1 # # JOB PRIORITIES # # 1) KALCMANU TBD # 2) ONE SECOND UPDATE TBD # # SUMMARY OF STATE SWITCHES AND FLAGWORDS USED BY KALCMANU. # # STATE FLAGWRD 2 SETTING MEANING # SWITCH NO. BIT NO. # # * # 31 14 0 MANEUVER WENT THROUGH GIMBAL LOCK # 1 MANEUVER DID NOT GO THROUGH GIMBAL LOCK # * # 32 13 0 CONTINUE UPDATE PROCESS # 1 START UPDATE PROCESS # # 33 12 0 PERFORM FINAL P AXIS YAW IF REQUIRED # 1 IGNORE ANY FINAL P-AXIS YAW # # 34 11 0 SIGNAL END OF KALCMANU # 1 KALCMANU IN PROCESS. USER MUST SET SWITCH BEFORE INITIATING # # * INTERNAL TO KALCMANU # # SUGGESTIONS FOR PROGRAM INTEGRATION # # THE FOLLOWING VARIABLES SHOULD BE ASSIGNED TO UNSWITCH ERASABLE: # # CPHI # CTHETA # CPSI # POINTVSM +5 # SCAXIS +5 # DELDCDU # DELDCDU1 # DELDCDU2 # RATEINDX # # THE FOLLOWING SUBROUTINES MAY BE PUT IN A DIFFERENT BANK # # MXM3 # Page 350 # TRANSPGS # SIGNMPAC # READCDUK # CDUTODCM # Page 351 BANK 15 SETLOC KALCMON1 BANK EBANK= BCDU # THE THREE DESIRED CDU ANGLES MUST BE STORED AS SINGLE PRECISION TWO'S COMPLEMENT ANGLES IN THE THREE SUCCESSIVE # LOCATIONS, CPHI, CTHETA, CPSI. COUNT* $$/KALC KALCMAN3 TC INTPRET # PICK UP THE CURRENT CDU ANGLES AND RTB # COMPUTE THE MATRIX FROM INITIAL S/C READCDUK # AXES TO FINAL S/C AXES. STORE BCDU # STORE INITIAL S/C ANGLES SLOAD ABS # CHECK THE MAGNITUDE OF THE DESIRED CPSI # MIDDLE GIMBAL ANGLE DSU BPL LOCKANGL # IF GREATER THAN 70 DEG ABORT MANEUVER TOOBADF AXC,2 TLOAD MIS BCDU CALL # COMPUTE THE TRANSFORMATION FROM INITIAL CDUTODCM # S/C AXES TO STABLE MEMBER AXES AXC,2 TLOAD MFS # PREPARE TO CALCULATE ARRAY MFS CPHI CALL CDUTODCM SECAD AXC,1 CALL # MIS AND MFS ARRAYS CALCULATED $2 MIS TRANSPOS VLOAD STADR STOVL TMIS +12D STADR STOVL TMIS +6 STADR STORE TMIS # TMIS = TRANSPOSE(MIS) SCALED BY 2 AXC,1 AXC,2 TMIS MFS CALL MXM3 VLOAD STADR STOVL MFI +12D STADR STOVL MFI +6 STADR STORE MFI # MFI = TMIS MFS (SCALED BY 4) SETPD CALL # TRANSPOSE MFI IN PD LIST # Page 352 18D TRNSPSPD VLOAD STADR STOVL TMFI +12D STADR STOVL TMFI +6 STADR STORE TMFI # TMFI = TRANSPOSE (MFI) SCALED BY 4 # CALCULATE COFSKEW AND MFISYM DLOAD DSU TMFI +2 MFI +2 PDDL DSU # CALCULATE COF SCALED BY 2/SIN(AM) MFI +4 TMFI +4 PDDL DSU TMFI +10D MFI +10D VDEF STORE COFSKEW # EQUALS MFISKEW # CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE DLOAD DAD MFI MFI +16D DSU DAD DP1/4TH MFI +8D STORE CAM # CAM = (MFI0+MFI4+MFI8-1)/2 HALF SCALE ARCCOS STORE AM # AM=ARCCOS(CAM) (AM SCALED BY 2) DSU BPL MINANG CHECKMAX TLOAD # MANEUVER LESS THAN .25 DEGREES CPHI # GO DIRECTLY INTO ATTITUDE HOLD STCALL CDUXD # ABOUT COMMANDED ANGLES TOOBADI # STOP RATE AND EXIT CHECKMAX DLOAD DSU AM MAXANG BPL VLOAD ALTCALC # UNIT COFSKEW # COFSKEW UNIT STORE COF # COF IS THE MANEUVER AXIS # Page 353 GOTO # SEE IF MANEUVER GOES THRU GIMBAL LOCK LOCSKIRT ALTCALC VLOAD VAD # IF AM GREATER THAN 170 DEGREES MFI TMFI VSR1 STOVL MFISYM MFI +6 VAD VSR1 TMFI +6 STOVL MFISYM +6 MFI +12D VAD VSR1 TMFI +12D STORE MFISYM +12D # MFISYM=(MFI+TMFI)/2 SCALED BY 4 # CALCULATE COF DLOAD SR1 CAM PDDL DSU # PDO CAM $4 DPHALF CAM BOVB PDDL # PS2 1 - CAM $2 SIGNMPAC MFISYM +16D DSU DDV 0 2 SQRT PDDL # COFZ = SQRT(MFISYM8-CAM)/(1-CAM) MFISYM +8D # $ ROOT 2 DSU DDV 0 2 SQRT PDDL # COFY = SQRT(MFISYM4-CAM)/(1-CAM) $ROOT2 MFISYM DSU DDV 0 2 SQRT VDEF # COFX = SQRT(MFISYM-CAM)/(1-CAM) $ROOT 2 UNIT STORE COF # DETERMINE LARGEST COF AND ADJUST ACCORDINGLY COFMAXGO DLOAD DSU COF COF +2 BMN DLOAD # COFY G COFX # Page 354 COMP12 COF DSU BMN COF +4 METHOD3 # COFZ G COFX OR COFY GOTO METHOD1 # COFX G COFY OR COFZ COMP12 DLOAD DSU COF +2 COF +4 BMN METHOD3 # COFZ G COFY OR COFX METHOD2 DLOAD BPL # COFY MAX COFSKEW +2 # UY U2POS VLOAD VCOMP COF STORE COF U2POS DLOAD BPL MFISYM +2 # UX UY OKU21 DLOAD DCOMP # SIGN OF UX OPPOSITE garbled COF STORE COF OKU21 DLOAD BPL MFISYM +10D # UY UZ LOCSKIRT DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY COF +4 STORE COF +4 GOTO LOCSKIRT METHOD1 DLOAD BPL # COFX MAX COFSKEW # UX U1POS VLOAD VCOMP COF STORE COF U1POS DLOAD BPL MFISYM +2 # UX UY OKU12 DLOAD DCOMP COF +2 # SIGN OF UY OPPOSITE TO UX STORE COF +2 OKU12 DLOAD BPL MFISYM +4 # UX UZ LOCSKIRT DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY COF +4 # Page 355 STORE COF +4 GOTO LOCSKIRT METHOD3 DLOAD BPL # COFZ MAX COFSKEW +4 # UZ U3POS VLOAD VCOMP COF STORE COF U3POS DLOAD BPL MFISYM +4 # UX UZ OKU31 DLOAD DCOMP COF # SIGN OF UX OPPOSITE TO UZ STORE COF OKU31 DLOAD BPL MFISYM +10D # UY UZ LOCSKIRT DLOAD DCOMP COF +2 # SIGN OF UY OPPOSITE TO UZ STORE COF +2 GOTO LOCSKIRT # Page 356 # MATRIX OPERATIONS BANK 13 SETLOC KALCMON2 BANK EBANK= BCDU MXM3 SETPD VLOAD* # MXM3 MULTIPLIES 2 3X3 MATRICES 0 # AND LEAVES RESULT IN PD LIST 0,1 # AND MPAC VXM* PDVL* 0,2 6,1 VXM* PDVL* 0,2 12D,1 VXM* PUSH 0,2 RVQ # RETURN WITH MIXM2 IN PD LIST TRANSPOS SETPD VLOAD* # TRANSPOS TRANSPOSES A 3X3 MATRIX 0 # AND LEAVES RESULT IN PD LIST 0,1 # MATRIX ADDRESS IN XR1 PDVL* PDVL* 6,1 12D,1 PUSH # MATRIX IN PD TRNSPSPD EXIT # ENTER WITH MATRIX AT 0 IN PD LIST INDEX FIXLOC DXCH 12 INDEX FIXLOC DXCH 16 INDEX FIXLOC DXCH 12 INDEX FIXLOC DXCH 14 INDEX FIXLOC DXCH 4 INDEX FIXLOC DXCH 14 INDEX FIXLOC DXCH 2 INDEX FIXLOC DXCH 6 INDEX FIXLOC DXCH 2 # Page 357 TC INTPRET RVQ BANK 15 SETLOC KALCMON1 BANK EBANK= BCDU MINANG 2DEC 0.00069375 MAXANG 2DEC 0.472222222 # GIMBAL LOCK CONSTANTS # D = MGA CORRESPONDING TO GIMBAL LOCK = 60 DEGREES # NGL = BUFFER ANGLE (TO AVOID DIVISIONS BY ZERO) = 2 DEGREES SD 2DEC .433015 # = SIN(D) $2 K3S1 2DEC .86603 # = SIN(D) $1 K4 2DEC -.25 # = -COS(D) $2 K4SQ 2DEC .125 # = COS(D)COS(D) $2 SNGLCD 2DEC .008725 # = SIN(NGL)COS(D) $2 CNGL 2DEC .499695 # COS(NGL) $2 LOCKANGL DEC .388889 # = 70 DEGREES # INTERPRETIVE SUBROUTINE TO READ THE CDU ANGLES READCDUK CA CDUZ # LOAD T(MPAC) WITH CDU ANGLES TS MPAC +2 EXTEND DCA CDUX # AND CHANGE MODE TO TRIPLE PRECISION TCF TLOAD +6 CDUTODCM AXT,1 SSP OCT 3 S1 OCT 1 # SET XR1, S1, AND PD FOR LOOP STORE 7 SETPD 0 LOOPSIN SLOAD* RTB 10D,1 CDULOGIC # Page 358 STORE 10D # LOAD PD WITH 0 SIN(PHI) SIN PDDL # 2 COS(PHI) 10D # 4 SIN(THETA) COS PUSH # 6 COS(THETA) TIX,1 DLOAD # 8 SIN(PSI) LOOPSIN # 10 COS(PSI) 6 DMP SL1 10D STORE 0,2 # C0 = COS(THETA)COS(PSI) DLOAD DMP 4 0 PDDL DMP # (PD6 SIN(THETA)SIN(PHI)) 6 8D DMP SL1 2 BDSU SL1 12D STORE 2,2 # C1=-COS(THETA)SIN(PSI)COS(PHI) DLOAD DMP 2 4 PDDL DMP # (PD7 COS(PHI)SIN(THETA)) SCALED 4 6 8D DMP SL1 0 DAD SL1 14D STORE 4,2 # C2=COS(THETA)SIN(PSI)SIN(PHI) DLOAD 8D STORE 6,2 # C3=SIN(PSI) DLOAD 10D DMP SL1 2 STORE 8D,2 # C4=COS(PSI)COS(PHI) DLOAD DMP 10D 0 DCOMP SL1 STORE 10D,2 # C5=-COS(PSI)SIN(PHI) DLOAD DMP 4 10D DCOMP SL1 STORE 12D,2 # C6=-SIN(THETA)COS(PSI) # Page 359 DLOAD DMP SL1 # (PUSH UP 7) 8D PDDL DMP # (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE 4 6 0 DAD SL1 # (PUSH UP 7) STADR # C7=COS(PHI)SIN(THETA)SIN(PSI) STORE 14D,2 # +COS(THETA)SIN(PHI) DLOAD DMP SL1 # (PUSH UP 6) 8D PDDL DMP # (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE 4 6 2 DSU SL1 # (PUSH UP 6) STADR STORE 16D,2 # C8=-SIN(THETA)SIN(PHI)SIN(PSI) RVQ # +COS(THETA)COS(PHI) # CALCULATION OF THE MATRIX DEL...... # # * * __T * # DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A) SCALED 1 # _ # WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION. # A IS THE ANGLE OF ROTATION (DP SCALED 2) # _ # UPON ENTRY, THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A 0 SIN PDDL # PD0 = SIN(A) COS PUSH # PD2 = COS(A) SR2 PDDL # PD2 = COS(A) $8 BDSU BOVB DPHALF SIGNMPAC PDDL # PDA = 1-COS(A) # COMPUTE THE DIAGONAL COMPONENTS OF DEL COF DSQ DMP 4 DAD SL3 2 BOVB SIGNMPAC # Page 360 STODL KEL # UX UX(1-COS(A)) +COS(A) $1 COF +2 DSQ DMP 4 DAD SL3 2 BOVB SIGNMPAC STODL KEL +8D # UY UY(1-COS(A)) +COS(A) $1 COF +4 DSQ DMP 4 DAD SL3 2 BOVB SIGNMPAC STORE KEL +16D # UZ UZ(1-COS(A)) +COS(A) $1 # COMPUTE THE OFF DIAGONAL TERMS OF DEL DLOAD DMP COF COF +2 DMP SL1 4 PDDL DMP # D6 UX UY (1-COS A) $4 COF +4 0 PUSH DAD # D8 UZ SIN A $4 6 SL2 BOVB SIGNMPAC STODL KEL +6 BDSU SL2 BOVB SIGNMPAC STODL KEL +2 COF DMP DMP COF +4 4 SL1 PDDL # D6 UX UZ (1-COS A) $4 COF +2 DMP PUSH # D8 UY SIN(A) 0 DAD SL2 6 BOVB SIGNMPAC STODL KEL +4 # UX UZ (1-COS(A))+UY SIN(A) # Page 361 BDSU SL2 BOVB SIGNMPAC STODL KEL +12D # UX UZ (1-COS(A))-UY SIN(A) COF +2 DMP DMP COF +4 4 SL1 PDDL # D6 UY UZ (1-COS(A)) $ 4 COF DMP PUSH # D8 UX SIN(A) 0 DAD SL2 6 BOVB SIGNMPAC STODL KEL +14D # UY UZ(1-COS(A)) +UX SIN(A) BDSU SL2 BOVB SIGNMPAC STORE KEL +10D # UY UZ (1-COS(A)) -UX SIN(A) RVQ # DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE # X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2). # LEAVE CDU ANGLES SCALED 2PI IN V(MPAC). # COS(MGA) WILL BE LEFT IN S1 (SCALED 1). # # THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS: # # C = COS(THETA) COS(PSI # 0 # # C = -COS(THETA) SIN(PSI) COS(PHI) + SIN(THETA) SIN(PHI) # 1 # # C = COS(THETA) SIN(PSI) SIN(PHI) + SIN(THETA) COS(PHI) # 2 # # C = SIN(PSI) # 3 # # C = COS(PSI) COS(PHI) # 4 # # C = -COS(PSI) SIN(PHI) # 5 # # C = -SIN(THETA) COS(PSI) # 6 # # C = SIN(THETA) SIN(PSI) COS(PHI) + COS (THETA) SIN(PHI) # 7 # # C = -SIN(THETA) SIN(PSI) SIN(PHI) + COS(THETA)COS(PHI) # 8 # Page 362 # # WHERE PHI = OGA # THETA = IGA # PSI = MGA DCMTOCDU DLOAD* ARCSIN 6,1 PUSH COS # PD +0 PSI SL1 BOVB SIGNMPAC STORE S1 DLOAD* DCOMP 12D,1 DDV ARCSIN S1 PDDL* BPL # PD +2 THETA 0,1 # MUST CHECK THE SIGN OF COS(THETA) OKTHETA # TO DETERMINE THE PROPER QUADRANT. DLOAD DCOMP BPL DAD SUHALFA DPHALF GOTO CALCPHI SUHALFA DSU DPHALF CALCPHI PUSH OKTHETA DLOAD* DCOMP 10D,1 DDV ARCSIN S1 PDDL* BPL # PUSH DOWN PHI 8D,1 OKPHI DLOAD DCOMP # PUSH UP PHI BPL DAD SUHALFAP DPHALF GOTO VECOFANG SUHALFAP DSU GOTO DPHALF VECOFANG OKPHI DLOAD # PUSH UP PHI VECOFANG VDEF RVQ # Page 363 # ROUTINES FOR TERMINATING THE AUTOMATIC MANEUVER AND RETURNING TO USER. TOOBADF EXIT TC ALARM OCT 00401 TCF NOGO # DO NOT ZERO ATTITUDE ERRORS TC BANKCALL CADR ZATTEROR # ZERO ATTITUDE ERRORS NOGO TC BANKCALL CADR STOPRATE # STOP RATES CAF TWO INHINT # ALL RETURNS ARE NOW MADE VIA GOODEND TC WAITLIST EBANK= BCDU 2CADR GOODMANU TCF ENDOFJOB TOOBADI EXIT TCF NOGO ================================================ FILE: Luminary099/BURN_BABY_BURN--MASTER_IGNITION_ROUTINE.agc ================================================ # Copyright: Public domain. # Filename: BURN_BABY_BURN--MASTER_IGNITION_ROUTINE.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 731-751 # Mod history: 2009-05-19 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # 2009-06-07 RSB Corrected 3 typos. # 2009-07-23 RSB Added Onno's notes on the naming # of this function, which he got from # Don Eyles. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 731 ## At the get-together of the AGC developers celebrating the 40th anniversary ## of the first moonwalk, Don Eyles (one of the authors of this routine along ## with Peter Adler) has related to us a little interesting history behind the ## naming of the routine. ## ## It traces back to 1965 and the Los Angeles riots, and was inspired ## by disc jockey extraordinaire and radio station owner Magnificent Montague. ## Magnificent Montague used the phrase "Burn, baby! BURN!" when spinning the ## hottest new records. Magnificent Montague was the charismatic voice of ## soul music in Chicago, New York, and Los Angeles from the mid-1950s to ## the mid-1960s. # BURN, BABY, BURN -- MASTER IGNITION ROUTINE BANK 36 SETLOC P40S BANK EBANK= WHICH COUNT* $$/P40 # THE MASTER IGNITION ROUTINE IS DESIGNED FOR USE BY THE FOLLOWING LEM PROGRAMS: P12, P40, P42, P61, P63. # IT PERFORMS ALL FUNCTIONS IMMEDIATELY ASSOCIATED WITH APS OR DPS IGNITION: IN PARTICULAR, EVERYTHING LYING # BETWEEN THE PRE-IGNITION TIME CHECK -- ARE WE WITHIN 45 SECONDS OF TIG? -- AND TIG + 26 SECONDS, WHEN DPS # PROGRAMS THROTTLE UP. # # VARIATIONS AMONG PROGRAMS ARE ACCOMODATED BY MEANS OF TABLES CONTAINING CONSTANTS (FOR AVEGEXIT, FOR # WAITLIST, FOR PINBALL) AND TCF INSTRUCTIONS. USERS PLACE THE ADRES OF THE HEAD OF THE APPROPRIATE TABLE # (OF P61TABLE FOR P61LM, FOR EXAMPLE) IN ERASABLE REGISTER `WHICH' (E4). THE IGNITION ROUTINE THEN INDEXES BY # WHICH TO OBTAIN OR EXECUTE THE PROPER TABLE ENTRY. THE IGNITION ROUTINE IS INITIATED BY A TCF BURNBABY, # THROUGH BANKJUMP IF NECESSARY. THERE IS NO RETURN. # # THE MASTER IGNITION ROUTINE WAS CONCEIVED AND EXECUTED, AND (NOTA BENE) IS MAINTAINED BY ADLER AND EYLES. # # HONI SOIT QUI MAL Y PENSE # # *********************************************** # TABLES FOR THE IGNITION ROUTINE # *********************************************** # # NOLI SE TANGERE P12TABLE VN 0674 # (0) TCF ULLGNOT # (1) TCF COMFAIL3 # (2) TCF GOCUTOFF # (3) TCF TASKOVER # (4) TCF P12SPOT # (5) DEC 0 # (6) NO ULLAGE EBANK= WHICH 2CADR SERVEXIT # (7) TCF DISPCHNG # (11) TCF WAITABIT # (12) TCF P12IGN # (13) P40TABLE VN 0640 # (0) TCF ULLGNOT # (1) TCF COMFAIL4 # (2) TCF GOPOST # (3) TCF TASKOVER # (4) TCF P40SPOT # (5) # Page 732 DEC 2240 # (6) EBANK= OMEGAQ 2CADR STEERING # (7) TCF P40SJUNK # (11) TCF WAITABIT # (12) TCF P40IGN # (13) TCF REP40ALM # (14) P41TABLE TCF P41SPOT # (5) DEC -1 # (6) EBANK= OMEGAQ 2CADR CALCN85 # (7) TCF COMMON # (11) TCF TIGTASK # (12) P42TABLE VN 0640 # (0) TCF WANTAPS # (1) TCF COMFAIL4 # (2) TCF GOPOST # (3) TCF TASKOVER # (4) TCF P42SPOT # (5) DEC 2640 # (6) EBANK= OMEGAQ 2CADR STEERING # (7) TCF P40SJUNK # (11) TCF WAITABIT # (12) TCF P42IGN # (13) TCF P42STAGE # (14) P63TABLE VN 0662 # (0) TCF ULLGNOT # (1) TCF COMFAIL3 # (2) TCF V99RECYC # (3) TCF TASKOVER # (4) TCF P63SPOT # (5) DEC 2240 # (6) EBANK= WHICH 2CADR SERVEXIT # (7) TCF DISPCHNG # (11) TCF WAITABIT # (12) # Page 733 TCF P63IGN # (13) ABRTABLE VN 0663 # (0) TCF ULLGNOT # (1) TCF COMFAIL3 # (2) TCF GOCUTOFF # (3) TCF TASKOVER # (4) NOOP # (5) NOOP # (6) NOOP # (7) NOOP TCF DISPCHNG # (11) TCF WAITABIT # (12) TCF ABRTIGN # (13) # ********************************* # GENERAL PURPOSE IGNITION ROUTINES # ********************************* BURNBABY TC PHASCHNG # GROUP 4 RESTARTS HERE OCT 04024 CAF ZERO # EXTIRPATE JUNK LEFT IN DVTOTAL TS DVTOTAL TS DVTOTAL +1 TC BANKCALL # P40AUTO MUST BE BANKCALLED EVEN FROM ITS CADR P40AUTO # OWN BANK TO SET UP RETURN PROPERLY B*RNB*B* EXTEND DCA TIG # STORE NOMINAL TIG FOR OBLATENESS COMP. DXCH GOBLTIME # AND FOR P70 OR P71. INHINT TC IBNKCALL CADR ENGINOF3 RELINT INDEX WHICH TCF 5 P42SPOT = P40SPOT # (5) P12SPOT = P40SPOT # (5) P63SPOT = P41SPOT # (5) IN P63 CLOKTASK ALREADY GOING P40SPOT CS CNTDNDEX # (5) # Page 734 TC BANKCALL # MUST BE BANKCALLED FOR GENERALIZED CADR STCLOK2 # RETURN P41SPOT TC INTPRET # (5) DLOAD DSU TIG D29.9SEC STCALL TDEC1 INITCDUW BOFF CALL MUNFLAG GOMIDAV CSMPREC VLOAD MXV VATT1 REFSMMAT VSR1 STOVL V(CSM) # CSM VELOCITY -- M/CS*2(7) RATT1 VSL4 MXV REFSMMAT STCALL R(CSM) # CSM POSITION -- M*2(24) MUNGRAV STODL G(CSM) # CSM GRAVITY VEC. -- M/CS*2(7) TAT STORE TDEC1 # RELOAD TDEC1 FOR MIDTOAV. GOMIDAV CALRB MIDTOAV1 TCF CALLT-35 # MADE IT IN TIME. EXTEND # TIG WAS SLIPPED, SO RESET TIG TO 29.9 DCA PIPTIME1 # SECONDS AFTER THE TIME TO WHICH WE DID DXCH TIG # INTEGRATE. EXTEND DCA D29.9SEC DAS TIG CALLT-35 DXCH MPAC DXCH SAVET-30 # DELTA-T UNTIL TIG-30 EXTEND DCS 5SECDP DAS SAVET-30 # DELTA-T UNTIL TIG-35 EXTEND DCA SAVET-30 TC LONGCALL EBANK= TTOGO 2CADR TIG-35 TC PHASCHNG OCT 20254 # 4.25SPOT FOR TIG-35 RESTART. # Page 735 TC CHECKMM DEC 63 TCF ENDOFJOB # NOT P63 CS CNTDNDEX # P63 CAN START DISPLAYING NOW. TS DISPDEX TC INTPRET VLOAD ABVAL VN1 STORE ABVEL # INITIALIZE ABVEL FOR P63 DISPLAY EXIT TCF ENDOFJOB # ******************************** TIG-35 CAF 5SEC TC TWIDDLE ADRES TIG-30 TC PHASCHNG OCT 40154 # 4.15SPOT FOR TIG-30 RESTART CS BLANKDEX # BLANK DSKY FOR 5 SECONDS TS DISPDEX INDEX WHICH CS 6 # CHECK ULLAGE TIME. EXTEND BZMF TASKOVER CAF 4.9SEC # SET UP TASK TO RESTORE DISPLAY AT TIG-30 TC TWIDDLE ADRES TIG-30.1 CAF PRIO17 # A NEGATIVE ULLAGE TIME INDICATES P41, IN TC NOVAC # WHICH CASE WE HAVE TO SET UP A JOB TO EBANK= TTOGO # BLANK THE DSKY FOR FIVE SECONDS, SINCE 2CADR P41BLANK # CLOKJOB IS NOT RUNNING DURING P41. TCF TASKOVER P41BLANK TC BANKCALL # BLANK DSKY. CADR CLEANDSP TCF ENDOFJOB TIG-30.1 CAF PRIO17 # SET UP JOB TO RESTORE DISPLAY AT TIG-30 TC NOVAC EBANK= TTOGO 2CADR TIG-30A TCF TASKOVER # Page 736 TIG-30A CAF V16N85B TC BANKCALL # RESTORE DISPLAY. CADR REGODSP # REGODSP DOES A TCF ENDOFJOB # ******************************** TIG-30 CAF S24.9SEC TC TWIDDLE ADRES TIG-5 CS CNTDNDEX # START UP CLOKTASK AGAIN TS DISPDEX INDEX WHICH # PICK UP APPROPRIATE ULLAGE -- ON TIME CA 6 # Was CAF --- RSB 2009. EXTEND BZMF ULLGNOT # DON'T SET UP ULLAGE IF DT IS NEG OR ZERO TS SAVET-30 # SAVE DELTA-T FOR RESTART TC TWIDDLE ADRES ULLGTASK CA THREE # RESTART PROTECT ULLGTASK (1.3SPOT) TS L CS THREE DXCH -PHASE1 CS TIME1 TS TBASE1 INDEX WHICH TCF 1 WANTAPS CS FLGWRD10 # (1) FOR P42 ENSURE APSFLAG IS SET. IF IT MASK APSFLBIT # WASN'T SET, DAP WILL BE INITIALIZED TO ADS FLGWRD10 # ASCENT VALUES BY 1/ACCS IN 2 SECONDS. ULLGNOT EXTEND # (1) INDEX WHICH DCA 7 # LOAD AVEGEXIT WITH APPROPRIATE 2CADR DXCH AVEGEXIT CAF TWO # 4.2SPOT RESTARTS IMMEDIATELY AT REDO4.2 TS L CS TWO # AND ALSO AT TIG-5 AT THE CORRECT TIME. DXCH -PHASE4 CS TIME1 TS TBASE4 # SET TBASE4 FOR TIG-5 RESTART REDO2.17 EXTEND # Page 737 DCA NEG0 # CLEAR OUT GROUP 2 SO LAMBERT CAN START DXCH -PHASE2 # IF NEEDED. REDO4.2 CCS PHASE5 # IF SERVICER GOING? TCF TASKOVER # YES, DON'T START IT UP AGAIN. TC POSTJUMP CADR PREREAD # PREREAD END THIS TASK # ********************************* ULLGTASK TC ONULLAGE # THIS COMES AT TIG-7.5 OR TIG-3.5 TC PHASCHNG OCT 1 TCF TASKOVER # ********************************* TIG-5 EXTEND DCA NEG0 # INSURE THAT GROUP 3 IS INACTIVE. DXCH -PHASE3 CAF 5SEC TC TWIDDLE ADRES TIG-0 TC DOWNFLAG # RESET IGNFLAG AND ASINFLAG ADRES IGNFLAG # FOR LIGHT-UP LOGIC. TC DOWNFLAG ADRES ASTNFLAG INDEX WHICH TCF 11 P40SJUNK CCS PHASE3 # (11) P40 AND P42. S40.13 IN PROGRESS? TCF DISPCHNG # YES CAF PRIO20 TC FINDVAC EBANK= TTOGO 2CADR S40.13 TC PHASCHNG # 3.5SPOT FOR S40.13 OCT 00053 DISPCHNG CS VB99DEX # (11) TS DISPDEX # Page 738 COMMON TC PHASCHNG # RESTART TIG-0 (4.7SPOT) OCT 40074 TCF TASKOVER # ********************************* TIG-0 CS FLAGWRD7 # SET IGNFLAG SINCE TIG HAS ARRIVED MASK IGNFLBIT ADS FLAGWRD7 TC CHECKMM # IN P63 CASE, THROTTLE-UP IS ZOOMTIME DEC 63 # AFTER NOMINAL IGNITION, NOT ACTUAL TCF IGNYET? CA ZOOMTIME TC WAITLIST EBANK= DVCNTR 2CADR P63ZOOM TC 2PHSCHNG OCT 40033 OCT 05014 OCT 77777 IGNYET? CAF ASTNBIT # CHECK ASTNFLAG: HAS ASTRONAUT RESPONDED MASK FLAGWRD7 # TO OUR ENGINE ENABLE REQUEST? EXTEND INDEX WHICH BZF 12 # BRANCH IF HE HAS NOT RESPONDED YET IGNITION CS FLAGWRD5 # INSURE ENGONFLG IS SET. MASK ENGONBIT ADS FLAGWRD5 CS PRIO30 # TURN ON THE ENGINE. EXTEND RAND DSALMOUT AD BIT13 EXTEND WRITE DSALMOUT EXTEND # SET TEVENT FOR DOWNLINK DCA TIME2 DXCH TEVENT EXTEND # UPDATE TIG USING TGO FROM S40.13 DCA TGO DXCH TIG EXTEND DCA TIME2 DAS TIG # Page 739 CS FLUNDBIT # PERMIT GUIDANCE LOOP DISPLAYS MASK FLAGWRD8 TS FLAGWRD8 INDEX WHICH TCF 13 P63IGN EXTEND # (13) INITIATE BURN DISPLAYS DCA DSP2CADR DXCH AVGEXIT CA Z # ASSASSINATE CLOKTASK TS DISPDEX CS FLAGWRD9 # SET FLAG FOR P70-P71 MASK LETABBIT ADS FLAGWRD9 CS FLAGWRD7 # SET SWANDISP TO ENABLE R10. MASK SWANDBIT ADS FLAGWRD7 CS PULSES # MAKE SURE DAP IS NOT IN MINIMUM-IMPULSE MASK DAPBOOLS # MODE, IN CASE OF SWITCH TO P66 TS DAPBOOLS EXTEND # INITIALIZE TIG FOR P70 AND P71. DCA TIME2 DXCH TIG CAF ZERO # INITIALIZE WCHPHASE, AND FLPASS0 TS WCHPHASE TS WCHPHOLD # ALSO WHCPHOLD CA TWO TS FLPASS0 TCF P42IGN P40IGN CS FLAGWRD5 # (13) MASK NOTHRBIT EXTEND BZF P42IGN CA ZOOMTIME TC WAITLIST EBANK= DVCNTR 2CADR P40ZOOM P63IGN1 TC 2PHSCHNG OCT 40033 # 3.3SPOT FOR ZOOM RESTART. OCT 05014 # TYPE C RESTARTS HERE IMMEDIATELY OCT 77777 # Page 740 TCF P42IGN P12IGN CAF EBANK6 TS EBANK EBANK= AOSQ CA IGNAOSQ # INITIALIZE DAP BIAS ACCELERATION TS AOSQ # ESTIMATES AT P12 IGNITION. CA IGNAOSR TS AOSR CAF EBANK7 TS EBANK EBANK= DVCNTR ABRTIGN CA Z # (13) KILL CLOKTASK TS DISPDEX EXTEND # CONNECT ASCENT GYIDANCE TO SERVICER. DCA ATMAGADR DXCH AVGEXIT CS FLAGWRD7 # ENABLE R10. MASK SWANDBIT ADS FLAGWRD7 P42IGN CS DRIFTBIT # ENSURE THAT POWERED-FLIGHT SWITCHING MASK DAPBOOLS # CURVES ARE USED. TS DAPBOOLS CAF IMPULBIT # EXAMINE IMPULSE SWITCH MASK FLAGWRD2 CCS A TCF IMPLBURN DVMONCON TC DOWNFLAG ADRES IGNFLAG # CONNECT DVMON TC DOWNFLAG ADRES ASTNFLAG TC DOWNFLAG ADRES IDLEFLAG TC PHASCHNG OCT 40054 TC FIXDELAY # TURN ULLAGE OFF HALF A SECOND AFTER DEC 50 # LIGHT UP. ULLAGOFF TC NOULLAGE WAITABIT EXTEND # KILL GROUP 4 DCA NEG0 # Page 741 DXCH -PHASE4 TCF TASKOVER TIGTASK TC POSTJUMP # (12) CADR TIGTASK1 # ******************************** BANK 31 SETLOC P40S3 BANK COUNT* $$/P40 TIGTASK1 CAF PRIO16 TC NOVAC EBANK= TRKMKCNT 2CADR TIGNOW TC PHASCHNG OCT 6 # KILL GROUP 6 TCF TASKOVER # ******************************** P63ZOOM EXTEND DCA LUNLANAD DXCH AVEGEXIT TC IBNKCALL CADR FLATOUT TCF P40ZOOMA P40ZOOM CAF BIT13 TS THRUST CAF BIT4 EXTEND WOR CHAN14 P40ZOOMA TC PHASCHNG OCT 3 TCF TASKOVER EBANK= DVCNTR LUNLANAD 2CADR LUNLAND # Page 742 ZOOM = P40ZOOMA BANK 36 SETLOC P40S BANK COUNT* $$/P40 # ******************************** COMFAIL TC UPFLAG # (15) ADRES IDLEFLAG TC UPFLAG # SET FLAG TO SUPPRESS CONFLICTING DISPLAY ADRES FLUNDISP CAF FOUR # RESET DVMON TS DVCNTR CCS PHASE6 # CLOCKTASK ACTIVE? TCF +3 # YES TC BANKCALL # OTHERWISE, START IT UP CADR STCLOK1 +3 CS VB97DEX TS DISPDEX TC PHASCHNG # TURN OFF GROUP 4. OCT 00004 TCF ENDOFJOB COMFAIL1 INDEX WHICH TCF 2 COMFAIL3 CA Z # (15) KILL CLOKTASK USING Z TCF +2 COMFAIL4 CS CNTDNDEX TS DISPDEX TC DOWNFLAG # RECONNECT DV MONITOR ADRES IDLEFLAG TC DOWNFLAG # PERMIT GUIDANCE LOOP DISPLAYS ADRES FLUNDISP TCF ENDOFJOB COMFAIL2 TC PHASCHNG # KILL ZOOM RESTART PROTECTION OCT 00003 INHINT TC KILLTASK # KILL ZOOM IN CASE IT'S STILL TO COME CADR ZOOM TC IBNKCALL # COMMAND ENGINE OFF CADR ENGINOF4 TC UPFLAG # SET THE DRIFT BIT FOR THE DAP. ADRES DRIFTDFL # Page 743 TC INVFLAG # USE OTHER RCS SYSTEM ADRES AORBTFLG TC UPFLAG # TURN ON ULLAGE ADRES ULLAGFLG CAF BIT1 INHINT TC TWIDDLE ADRES TIG-5 TCF ENDOFJOB # *********************************** # SUBROUTINES OF THE IGNITION ROUTINE # *********************************** INVFLAG CA Q TC DEBIT COM EXTEND RXOR LCHAN TCF COMFLAG # *********************************** NOULLAGE CS ULLAGER # MUST BE CALLED IN A TASK OR UNDER INHINT MASK DAPBOOLS TS DAPBOOLS TC Q # *********************************** ONULLAGE CS DAPBOOLS # TURN ON ULLAGE. MUST BE CALLED IN MASK ULLAGER # A TASK OR WHILE INHINTED. ADS DAPBOOLS TC Q # *********************************** STCLOK1 CA ZERO # THIS ROUTINE STARTS THE COUNT-DOWN STCLOK2 TS DISPDEX # (CLOKTASK AND CLOKJOB). SETTING STCLOK3 TC MAKECADR # SETTING DISPDEX POSITIVE KILLS IT. TS TBASE4 # RETURN SAVE (NOT FOR RESTARTS). EXTEND DCA TIG DXCH MPAC EXTEND DCS TIME2 # Page 744 DAS MPAC # HAVE TIG -- TIME2, UNDOUBTEDLY A + NUMBER TC TPAGREE # POSITIVE, SINCE WE PASSED THE CAF 1SEC # 45 SECOND CHECK. TS Q DXCH MPAC MASK LOW5 # RESTRICT MAGNITUDE OF NUMBER IN A EXTEND DV Q CA L # GET REMAINDER AD TWO INHINT TC TWIDDLE ADRES CLOKTASK TC 2PHSCHNG OCT 40036 # 6.3SPOT FOR CLOKTASK OCT 05024 OCT 13000 CA TBASE4 TC BANKJUMP CLOKTASK CS TIME1 # SET TBASE6 FOR GROUP 6 RESTART TS TBASE6 CCS DISPDEX TCF KILLCLOK NOOP CAF PRIO27 TC NOVAC EBANK= TTOGO 2CADR CLOKJOB TC FIXDELAY # WAIT A SECOND BEFORE STARTING OVER DEC 100 TCF CLOKTASK KILLCLOK EXTEND # KILL RESTART DCA NEG0 DXCH -PHASE6 TCF TASKOVER CLOKJOB EXTEND DCS TIG DXCH TTOGO EXTEND # Page 745 DCA TIME2 DAS TTOGO INHINT CCS DISPDEX # IF DISPDEX HAS BEEN SET POSITIVE BY A TCF ENDOFJOB # TASK OR A HIGHER PRIORITY JOB SINCE THE TCF ENDOFJOB # LAST CLOKTASK, AVOID USING IT AS AN COM # INDEX. RELINT # ***** DISPDEX MUST NEVER B -0 ***** INDEX A TCF DISPNOT -1 # (-1 DUE TO EFFECT OF CCS) VB97DEX = OCT35 # NEGATIVE OF THIS IS PROPER FOR DISPDEX -35 CS ZERO # INDICATE VERB 97 PASTE TS NVWORD1 CA NVWORD +2 # NVWORD+2 CONTAINS V06 & APPROPRIATE NOUN TC BANKCALL CADR CLOCPLAY TCF STOPCLOK # TERMINATE CLOKTASK ON THE WAY TO POOH TCF COMFAIL1 TCF COMFAIL2 # THIS DISPLAY IS CALLED VIA ASTNCLOK -25 CAF V06N61 # IT IS PRIMARILY USED BY THE CREW IN P63 TC BANKCALL # TO RESET HIS EVENT TIMER TO AGREE WITH CADR REFLASH # TIG. TCF STOPCLOK TCF ASTNRETN TCF -6 CNTDNDEX = LOW4 # OCT17: NEGATIVE PROPER FOR DISPDEX -17 INDEX WHICH # THIS DISPLAY COMES UP AT ONE SECOND # Was CAF --- RSB 2009 CA 0 # INTERVALS. IT IS NORMALLY OPERATED TC BANKCALL # BETWEEN TIG-30 SECONDS AND TIG-5 SECONDS CADR REGODSP # REGODSP DOES ITS OWN TCF ENDOFJOB VB99DEX = ELEVEN # OCT13: NEGATIVE PROPER FOR DISPDEX V99RECYC EQUALS -13 CS BIT9 # INDICATE VERB 99 PASTE TS NVWORD1 INDEX WHICH # THIS IS THE "PLEASE ENABLE ENGINE" # Was CAF --- RSB 2004 CA 0 # DISPLAY; IT IS INITIATED AT TIG-5 SEC. TC BANKCALL # THE DISPLAY IS A V99NXX, WHERE XX IS CADR CLOCPLAY # NOUN THAT HAD PREVIOUSLY BEEN DISPLAYED TCF STOPCLOK # TERMINATE GOTOPOOH TURNS OFF ULLAGE. TCF *PROCEED TCF *ENTER # Page 746 BLANKDEX = TWO # NEGATIVE OF THIS IS PROPER FOR DISPDEX -2 TC BANKCALL # BLANK DSKY. THE DSKY IS BLANKED FOR CADR CLEANDSP # 5 SECONDS AT TIG-35 TO INDICATE THAT DISPNOT TCF ENDOFJOB # AVERAGE G IS STARTING. STOPCLOK TC NULLCLOK # STOP CLOKTASK & TURN OFF ULLAGE ON THE TCF GOTOPOOH # WAY TO P00 (GOTOPOOH RELINTS) NULLCLOK INHINT EXTEND QXCH P40/RET TC NOULLAGE # TURN OFF ULLAGE ... TC KILLTASK # DON'T LET IT COME ON, EITHER ... CADR ULLGTASK TC PHASCHNG # NOT EVEN IF THERE'S A RESTART. OCT 1 CA Z # KILL CLOKTASK TS DISPDEX TC P40/RET ASTNRETN TC PHASCHNG OCT 04024 CAF ZERO # STOP DISPLAYING BUT KEEP RUNNING TS DISPDEX CAF PRIO13 TC FINDVAC EBANK= STARIND 2CADR ASTNRET TCF ENDOFJOB *PROCEED TC UPFLAG ADRES ASTNFLAG TCF IGNITE *ENTER INHINT INDEX WHICH TCF 3 GOPOST CAF PRIO12 # (3) MUST BE LOWER PRIORITY THAN CLOKJOB TC FINDVAC EBANK= TTOGO 2CADR POSTBURN # Page 747 INHINT # SET UP THE DAP FOR COASTING FLIGHT. TC IBNKCALL CADR ALLCOAST TC NULLCLOK TC PHASCHNG # 4.13 RESTART FOR POSTBURN OCT 00134 TCF ENDOFJOB GOCUTOFF CAF PRIO17 # (3) TC FINDVAC EBANK= TGO 2CADR CUTOFF TC DOWNFLAG ADRES FLUNDISP INHINT # SET UP THE DAP FOR COASTING FLIGHT. TC IBNKCALL CADR ALLCOAST TC NULLCLOK TC PHASCHNG OCT 07024 OCT 17000 EBANK= TGO 2CADR CUTOFF TCF ENDOFJOB IGNITE CS FLAGWRD7 # (2) MASK IGNFLBIT CCS A TCF IGNITE1 CAF BIT1 INHINT TC TWIDDLE ADRES IGNITION CAF OCT23 # IMMEDIATE RESTART AT IGNITION TS L COM DXCH -PHASE4 IGNITE1 CS CNTDNDEX # RESTORE OLD DISPLAY. TS DISPDEX TCF ENDOFJOB # Page 748 # ******************************** P40ALM TC ALARM # PROGRAM SELECTION NOT CONSISTENT WITH OCT 1706 # VEHICLE CONFIGURATION REP40ALM CAF V05N09 # (14) TC BANKCALL CADR GOFLASH TCF GOTOPOOH # V34E TERMINATE TCF +2 # PROCEED CHECK FOR P42 TCF REP40ALM # V32E REDISPLAY ALARM INDEX WHICH # FOR P42, ALLOW CREW TO PROCEED EVEN TCF 14 # THOUGH VEHICLE IS UNSTAGED. # ******************************** BANK 31 SETLOC P40S2 BANK COUNT* $$/P40 P40AUTO TC MAKECADR # HELLO THERE. TS TEMPR60 # FOR GENERALIZED RETURN TO OTHER BANKS. P40A/P TC BANKCALL # SUBROUTINE TO CHECK PGNCS CONTROL CADR G+N,AUTO # AND AUTO STABILIZATION MODES CCS A # +0 INDICATES IN PGNCS, IN AUTO TCF TURNITON # + INDICATES NOT IN PGNCS AND/OR AUTO CAF APSFLBIT # ARE WE ON THE DESCENT STAGE? MASK FLGWRD10 CCS A TCF GOBACK # RETURN CAF BIT5 # YES, CHECK FOR AUTO-THROTTLE MODE EXTEND RAND CHAN30 EXTEND BZF GOBACK # IN AUTO-THROTTLE MODE -- RETURN TURNITON CAF P40A/PMD # DISPLAYS V50N25 R1=203 PLEASE PERFORM TC BANKCALL # CHECKLIST 203 TURN ON PGNCS ETC. CADR GOPERF1 TCF GOTOPOOH # V34E TERMINATE TCF P40A/P # RECYCLE GOBACK CA TEMPR60 TC BANKJUMP # GOODBYE. COME AGAIN SOON. P40A/PMD OCT 00203 # Page 749 BANK 36 SETLOC P40S BANK COUNT* $$/P40 # ********************************** # CONSTANTS FOR THE IGNITION ROUTINE # ********************************** SERVCADR = P63TABLE +7 P40ADRES ADRES P40TABLE P41ADRES ADRES P41TABLE -5 P42ADRES ADRES P42TABLE EBANK= DVCNTR DSP2CADR 2CADR P63DISPS -2 EBANK= DVCNTR ATMAGADR 2CADR ATMAG ? = GOTOPOOH D29.9SEC 2DEC 2990 S24.9SEC DEC 2490 4.9SEC DEC 490 OCT20 = BIT5 V06N61 VN 0661 # Page 750 # KILLTASK # MOD NO: NEW PROGRAM # MOD BY: COVELLI # # FUNCTIONAL DESCRIPTION: # # KILLTASK IS USED TO REMOVE A TASK FROM THE WAITLIST BY SUBSTITUTING A NULL TASK CALLED `NULLTASK' (OF COURSE), # WHICH MERELY DOES A TC TASKOVER. IF THE SAME TASK IS SCHEDULED MORE THAN ONCE, ONLY THE ONE WHICH WILL OCCUR # FIRST IS REMOVED. IF THE TASK IS NOT SCHEDULED, KILLTASK TAKES NO ACTION AND RETURNS WITH NO ALARM. KILLTASK # LEAVES INTERRUPTS INHIBITED SO CALLER MUST RELINT # # CALLING SEQUENCE # L TC KILLTASK # IN FIXED-FIXED # L+1 CADR ???????? # CADR (NOT 2CADR) OF TASK TO BE REMOVED. # L+2 (RELINT) # RETURN # # EXIT MODE: AT L+2 OF CALLING SEQUENCE. # # ERASABLE INITIALIZATION: NONE. # # OUTPUT: 2CADR OF NULLTASK IN LST2 # # DEBRIS: ITEMP1 - ITEMP4, A, L, Q. EBANK= LST2 BLOCK 3 # KILLTASK MUST BE IN FIXED-FIXED. SETLOC FFTAG6 BANK COUNT* $$/KILL KILLTASK CA KILLBB INHINT LXCH A INDEX Q CA 0 # GET CADR. LXCH BBANK TCF KILLTSK2 # CONTINUE IN SWITCHED FIXED. EBANK= LST2 KILLBB BBCON KILLTSK2 BANK 27 SETLOC P40S1 BANK COUNT* $$/KILL KILLTSK2 LXCH ITEMP2 # SAVE CALLER'S BBANK # Page 751 INCR Q EXTEND QXCH ITEMP1 # RETURN 2ADR IN ITEMP1,ITEMP2 TS ITEMP3 # CADR IS IN A MASK LOW10 AD BIT11 TS ITEMP4 # GENADR OF TASK CS LOW10 MASK ITEMP3 TS ITEMP3 # FBANK OF TASK ZL ADRSCAN INDEX L CS LST2 AD ITEMP4 # COMPARE GENADRS EXTEND BZF TSTFBANK # IF THEY MATCH, COMPARE FBANKS LETITLIV CS LSTLIM AD L EXTEND # ARE WE DONE? BZF DEAD # YES -- DONE, SO RETURN INCR L INCR L TCF ADRSCAN # CONTINUE LOOP. DEAD DXCH ITEMP1 DTCB TSTFBANK CS LOW10 INDEX L MASK LST2 +1 # COMPARE FBANKS ONLY. EXTEND SU ITEMP3 EXTEND BZF KILLDEAD # MATCH -- KILL IT. TCF LETITLIV # NO MATCH -- CONTINUE. KILLDEAD CA TCTSKOVR INDEX L TS LST2 # REMOVE TASK BY INSERTING TASKOVER TCF DEAD LSTLIM EQUALS BIT5 # DEC 16 ================================================ FILE: Luminary099/CONIC_SUBROUTINES.agc ================================================ # Copyright: Public domain. # Filename: CONIC_SUBROUTINES.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # # Assembler: yaYUL # Contact: Jim Lawton # Website: www.ibiblio.org/apollo. # Pages: 1159-1204 # Mod history: 2009-05-28 JL Started updating from page images. # 2009-06-02 JL Finished updating from page images. # 2010-12-31 JL Fixed page number comments. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 1159 # PROGRAM DESCRIPTION -- ENTIRE CONIC SUBROUTINE LOG SECTION DATE - 1 SEPTEMBER 1967 # MOD NO. - 0 LOG SECTION - CONIC SUBROUTINES # MOD BY KRAUSE ASSEMBLY - COLOSSUS REVISION 88 # # FUNCTIONAL DESCRIPTION - # THE FOLLOWING SET OF SUBROUTINES SOLVE VARIOUS PROBLEMS INVOLVING THE TRAJECTORY PRODUCED BY A CENTRAL # INVERSE-SQUARE FORCE ACTING ON A POINT MASS, AS OUTLINED IN THE CMC AND LGC LUNAR LANDING MISSION GSOP, SECTION # 5.5.1.2. A GENERAL USAGE POINT-OF-VIEW WAS TAKEN IN FORMULATING, MECHANIZING, AND SCALING THE SUBROUTINES, # RATHER THAN OPTIMIZING EACH FOR A PARTICULAR USE. THEREFORE, MULTIPLE USAGE CAN BE MADE OF THE SUBROUTINES # INVOLVING ANY REALISTIC SET OF CONSTRAINTS. IT SHOULD BE NOTED THAT ONLY ONE SET OF CODING IS USED, WHETHER THE # EARTH, MOON, OR ANY OTHER CELESTIAL BODY IS SPECIFIED AS THE CENTRAL BODY OF THE PROBLEM, PROVIDED ONE OBSERVES # THE INHERENT SCALE CHANGE REQUIRED IN POSITION, VELOCITY, MU, AND TIME, AS OUTLINES IN MISSION PROGRAMMING # DEFINITION MEMO NO. 10. THIS CAN BE ACCOMPLISHED BY SIMPLY ADDING TO THE MUTABLE AND INITIALIZING THE SUBROUTINES # APPROPRIATELY. # # DUE TO THE UNIFORMITY OF THE EQUATIONS INVOLVED, CODING WAS MINIMIZED BY TREATING INDIVIDUAL EQUATIONS AND # BLOCKS OF EQUATIONS AS SUBROUTINES OF LOWER RANK WHENEVER POSSIBLE. AS A RESULT, THREE BY-PRODUCTS SUBROUTINES, # DIRECTLY USABLE AS INDEPENDENT SUBROUTINES, WERE GENERATED. # # RESTRICTIONS - # THE ONLY LIMITATION IN THE SCOPE OF THE PROBLEM WHICH CAN BE SOLVED BY A PARTICULAR SUBROUTINE IS THE SCALING # LIMIT OF EACH PARAMETER AS SPECIFIED IN THE GSOP. THESE SCALING LIMITS WERE CHOSEN SO THAT ALL FEASIBLE TRAJECTORIES # COULD BE HANDLED. # # SINCE THE SUBROUTINES (EXCEPT KEPLER) USE COMMON SUBROUTINES OF LOWER RANK WHICH USE ERASABLE OTHER THAN # THE PUSHLIST (DUE TO ITS LIMITED SIZE) AND COMMON INTERPRETIVE SWITCHES, THE CONIC SUBROUTINES CANNOT BE ALLOWED # TO INTERRUPT EACH OTHER. IT IS UP TO THE USER TO GUARANTEE THIS CONDITION. # Page 1160 # PROGRAM DESCRIPTION - KEPLER SUBROUTINE DATE - 11 OCTOBER 1967 # MOD NO. -1 LOG SECTION - CONIC SUBROUTINES # MOD BY KRAUSE ASSEMBLY - COLOSSUS 103 AND SUNDANCE 222 # MOD NO. - 2 (AUGUST 1968) BY ROBERTSON: TO PERMIT BACKDATING BY MORE THAN ONE ORBITAL PERIOD. # MOD NO. - 3 (DEC 1968) BY ROBERTSON: SUPPRESSION OF X-MODULO-ING # MOD NO. - 4 (JAN 1969) BY ROBERTSON: CLEAR OVFIND AT KEPLER ENTRY # # FUNCTIONAL DESCRIPTION - # THIS SUBROUTINE, GIVEN AN INITIAL STATE VECTOR AND THE DESIRED TRANSFER TIME THROUGH WHICH THE STATE IS TO # BE UPDATED ALONG A CONIC TRAJECTORY, COMPUTES THE NEW, UPDATED STATE VECTOR. THE TRAJECTORY MAY BE ANY CONIC # SECTION - CIRCULAR, ELLIPTIC, PARABOLIC, HYPERPOLIC, OR RECTILINEAR WITH RESPECT TO THE EARTH OR THE MOON. THE # USE OF THE SUBROUTINE CAN BE EXTENDED USING OTHER PRIMARY BODIES BY SIMPLE ADDITIONS TO THE MUTABLE WITHOUT # INTRODUCING ANY CODING CHANGES, ACCEPTING THE INHERENT SCALE FACTOR CHANGES IN POSITION AND VELOCITY. AN ITERATION # TECHNIQUE IS UTILIZED IN THE COMPUTATION. # # IF A NEGATIVE TIME-OF-FLIGHT IS INPUT, THE PROGRAM WILL SOLVE FOR THE STATE WHICH WOULD BE PRODUCED BY # EXTRAPOLATING THE POSITION BACKWARD IN TIME. # # IF THE ABSOLUTE VALUE OF THE DESIRED TRANSFER TIME EXCEEDS THE ORBITAL PERIOD, THE SUBROUTINE, THROUGH A # MODULAR TECHNIQUE, WILL COMPUTE THE STATE CORRESPONDING TO THE DESIRED TIME (WHETHER POSITIVE OR NEGATIVE). # # THE RESTRICTIONS ARE - # 1. (PREVIOUS RESTRICTION ON THE NEGATIVE DESIRED TRANSFER TIME IS NOW DELETED.) # 2. THE PARAMETERS IN THE PROBLEM CANNOT EXCEED THEIR SCALING LIMITS AS SPECIFIED IN THE GSOP. IF # ANY OF THESE LIMITS ARE EXCEEDED, THE RESULTING SOLUTION WILL BE MEANINGLESS. # # THE NUMBER OF ITERATIONS AND, THEREFORE, THE COMPUTATION SPEED IS DEPENDENT ON THE ACCURACY OF THE # GUESS, XKFPNEW. THE AGC COMPUTATION TIME IS APPROXIMATELY .061 SECONDS FOR INITIALIZATION, .065 SECONDS FOR THE # FINAL COMPUTATIONS, PLUS .083 SECONDS FOR EACH ITERATION. # # REFERENCES - # R-479, MISSION PROGRAMMING DEFINITION MEMO NO. 10, LUNAR LANDING MISSION GSOP, SECTION 5.5, SGA # MEMO 67-4. # # INPUT - ERASABLE INITIALIZATION REQUIRED # * SCALE FACTOR * # VARIABLE *IN POWERS OF 2 * DESCRIPTION AND REMARKS # -------- *-------------- * ----------------------- # RRECT * +29 FOR EARTH * DP INITIAL POSITION VECTOR IN METERS # * +27 FOR MOON * # Page 1161 # VRECT * +7 FOR EARTH * DP INITIAL VELOCITY VECTOR IN METERS/CENTISECOND # * +5 FOR MOON * # X1 (38D) * NONE * INDEX REGISTER SET TO -2D OR -10D ACCORDING TO WHETHER THE EARTH OR MOON, # * * RESPECTIVELY, IS THE CENTRAL BODY # TAU * +28 * DESIRED TRANSFER TIME IN CENTISECONDS (DP) # * * MAY BE POS OR NEG AND ABSOLUTE VALUE MAY BE GREATER OR LESS THAN ONE ORBITAL PERIOD. # XKEPNEW * +17 FOR EARTH * DP GUESS OF ROOT X OF KEPLERS EQN IN SQRT(METERS). SIGN SHOULD AGREE WITH THAT OF TAU. # * +16 FOR MOON * AND ABS VALUE SHOULD BE LESS THAN THAT CORRESPONDING TO A PERIOD, VIZ, 2PI SQRT(SEMI- # * * MAJOR AXIS), FOR SPEED OF CONVERGENCE, BUT IF EITHER CONDITION FAILS, XKEPNEW IS RESET # * * BY KEPLER TO A POOR BUT VALID GUESS. # TC * +28 * DP PREV. VALUE OF TIME IN CENTISECS. MUST BE LESS THAN ONE ORBITAL PERIOD. # XPREV * +17 FOR EARTH * DP PREV. VALUE OF X IN SQRT(METERS). MUST BE LESS THAN AN X CORRESPONDING TO ONE # * +16 FOR MOON * ORBITAL PERIOD, VIZ, 2PI SQRT(SEMI-MAJOR AXIS) # # SUBROUTINES CALLED - # DELTIME # # CALLING SEQUENCE AND NORMAL EXIT MODES - # KEPRTN-2 GOTO # MUST BE IN INTERPRETIVE MODE BUT OVFIND ARBITRARY. # KEPRTN-1 KEPLER # RETURNS WITH XPREV IN MPAC. PL IS AT 0. # KEPRTN ... # CONTINUE # # KEPLER MUST NOT BE CALLED DIRECTLY SINCE AN INTERRUPTION OF IT WOULD DESTROY THE ERASABLES IT NEEDS TO COMPLETE # THE INTERRUPTED JOB. THEREFORE THE USER MUST CALL CSMCONIC OR LEMCONIC WHICH GUARANTEES NO INTERRUPTS AND WHICH # ALSO CALLS KEPPREP TO COMPUTE A GUESS OF XKEPNEW. # # ABORT EXIT MODES - # NONE # # OUTPUT - # * SCALE FACTOR * # VARIABLE *IN POWERS OF 2 * DESCRIPTION AND REMARKS # -------- *-------------- * ----------------------- # RCV * +29 FOR EARTH * DP TERMINAL POSITION VECTOR IN METERS # * +27 FOR MOON * # VCV * +7 FOR EARTH * DP TERMINAL VELOCITY VECTOR IN METERS/CENTISEC # * +5 FOR MOON * # TC * +28 * DP TRANSFER TIME IN CENTISECS TO WHICH KEPLER CONVERGED. ALWAYS LESS THAN ONE PERIOD. # XPREV * +17 FOR EARTH * DP VALUE OF X IN SQRT(METERS) TO WHICH KEPLER CONVERGED. ALWAYS LESS THAN THE X # * +16 FOR MOON * CORRESPONDING TO ONE PERIOD. # Page 1162 # FOR OTHER OUTPUT WHICH MAY BE OF USE, SEE DEBRIS. # # DEBRIS - # PARAMETERS WHICH MAY BE OF USE - # * SCALE FACTOR * # VARIABLE *IN POWERS OF 2 * DESCRIPTION AND REMARKS # -------- *-------------- * ----------------------- # URRECT * +1 * DP UNIT VECTOR OF INITIAL POSITION # R1 * +29 FOR EARTH * DP MAGNITUDE OF INITIAL POSITION IN METERS # * +27 FOR MOON * # ALPHA * -22 FOR EARTH * DP INVERSE OF SEMI-MAJOR AXIS IN 1/METERS # * -20 FOR MOON * # TMODULO * +28 * DP INTEGRAL NUMBER OF PERIODS IN CENTISECS, WHICH WAS SUBTRACTED FROM TAU, TO PRODUCE A # * * TAU. OF LESS THAN ONE PERIOD. # # PARAMETERS OF NO USE - # DP PARAMETERS - EPSILONT, DELX, DELT, RCNORM, XMODULO, PLUS PUSHLIST REGISTERS 0 THROUGH 39D. # Page 1163 # PROGRAM DESCRIPTION - LAMBERT SUBROUTINE DATE - 1 SEPTEMBER 1967 # MOD NO. - 0 LOG SECTION - CONIC SUBROUTINES # MOD BY KRAUSE ASSEMBLY - COLOSSUS REVISION 88 # # FUNCTIONAL DESCRIPTION - # THIS SUBROUTINE CALCULATES THE INITIAL VELOCITY REQUIRED TO TRANSFER A POINT-MASS ALONG A CONIC TRAJECTORY # FROM AN INITIAL POSITION TO A TERMINAL POSITION IN A PRESCRIBED TIME INTERVAL. THE RESULTING TRAJECTORY MAY BE # A SECTION OF A CIRCLE, ELLIPSE, PARABOLA, OR HYPERBOLA WITH RESPECT TO TEH EARTH OR THE MOON. THE USE OF THE # SUBROUTINE CAN BE EXTEDED USING OTHER PRIMARY BODIES BY SIMPLE ADDITIONS TO THE MUTABLE WITHOUT INTRODUCING ANY # CODING CHANGES, ACCEPTING THE INHERENT SCALE FACTOR CHANGES IN POSITION AND VELOCITY. AN ITERATION TECHNIQUE IS # UTILIZED IN THE COMPUTATION. # # THE RESTRICTIONS ARE: - # 1. RECTILINEAR TRAJECTORIES CANNOT BE COMPUTED. # 2. AN ACCURACY DEGRADATION OCCURS AS THE COSINE OF THE TRUE ANOMALY DIFFERENCE APPROACHES +1.0. # 3. THE ANGLE BETWEEN ANY POSITION VECTOR AND ITS VELOCITY VECTOR MUST BE GREATER THAN 1 DEGREE 47.5 MINUTES # AND LESS THAN 178 DEGREES 12.5 MINUTES. # 4. NEGATIVE TRANSFER TIME IS AMBIGUOUS AND WILL RESULT IN NO SOLUTION. # 5. THE PARAMETERS IN THE PROBLEM MUST NOT EXCEED THEIR SCALING LIMITS SPECIFIED IN THE GSOP. IF THE # LIMITS ARE EXCEEDED, THE RESULTING SOLUTION WILL BE MEANINGLESS. # # THE NUMBER OF ITERATIONS AND, THEREFORE, THE COMPUTATIONS SPEED IS DEPENDENT ON THE ACCURACY OF THE FIRST # GUESS OF THE INDEPENDENT VARIABLE, COGA. THE AGC COMPUTATION TIME IS APPROXIMATELY # .105 SECONDS FOR INITIALIZATION, .069 SECONDS FOR FINAL COMPUTATIONS, PLUS .205 SECONDS FOR EACH ITERATION. # # REFERENCES - # R-479, MISSION PROGRAMMING DEFINITION MEMO NO. 10, LUNAR LANDING MISSION GSOP - SECTION 5.5, SGA MEMO 67-8, # SGA MEMO 67-4. # # INPUT - ERASABLE INITIALIZATION REQUIRED # # * SCALE FACTOR * # VARIABLE *IN POWERS OF 2 * DESCRIPTION AND REMARKS # -------- *-------------- * ----------------------- # R1VEC * +29 FOR EARTH * DP INITIAL POSITION VECTOR IN METERS # * +27 FOR MOON * # R2VEC * +29 FOR EARTH * DP TARGET OR TERMINAL POSITION VECTOR IN METERS # * +27 FOR MOON * # TDESIRED * +28 * DP DESIRED TRANSFER TIME IN CENTISECONDS # X1 (38D) * NONE * INDEX REGISTER SET TO -2D OR -10D ACCORDING TO WHETHER THE EARTH OR MOON, # * * RESPECTIVELY, IS THE CENTRAL BODY # GEOMSGN * NONE * SP +.5 IF DESIRED TRANSFER ANGLE IS LESS THAN 180 DEGREES, -.5 IF GREATER THAN 180 DEG. # GUESSW * NONE * AN INTERPRETER SWITCH TO BE SET IF NO GUESS OF COGA IS AVAILABLE, CLEAR IF A GUESS OF # Page 1164 # * * COGA IS TO BE USED BY LAMBERT # COGA * +5 * DP GUESS OF COTANGENT OF FLIGHT PATH ANGLE (MEASURED FROM VERTICAL). THIS WILL BE # * * IGNORED IF GUESSW IS SET. # NORMSW * NONE * AN INTERPRETER SWITCH TO BE SET IF UN IS TO BE AN INPUT TO THE SUBROUTINE, CLEAR IF # * * LAMBERT IS TO COMPUTE ITS OWN NORMAL (UN). # UN * +1 * DP UNIT NORMAL TO THE DESIRED ORBIT PLANE IN THE DIRECTION OF THE RESULTING ANGULAR # * * MOMENTUM VECTOR. THIS WILL BE IGNORED IF NORMSW IS CLEAR. # VTARGTAG * NONE * A S.P. TAG TO BE SET TO ZERO IF LAMBERT IS TO COMPUTE THE VELOCITY AT R2VEC AS WELL AS # * * AT R1VEC. # ITERCTR * NONE * A S.P. COUNTER WHICH SPECIFIES THE MAXIMUM NUMBER OF ITERATIONS ALLOWABLE. # * * (AN ITERATION MEANS A PASS THRU KEPLER EQN (DELTIME). AT LEAST ONE OF THESE MUST # * * ALWAYS OCCUR, EVEN IF COGA CORRESPONDING TO SOLUTION WERE INPUT AS A GUESS.) # * * TWENTY ITERATIONS ARE SUFFICIENT TO SOLVE ALL PROBLEMS INCLUDING THOSE WITHOUT GUESS. # # SUBROUTINES CALLED - # GEOM, GETX, DELTIME, ITERATOR, LAMENTER (PART OF NEWSTATE) # # CALLING SEQUENCE AND NORMAL EXIT MODES - # L CALL # MUST BE IN INTERPRETIVE MODE BUT OVFIND ARBITRARY. # L+1 LAMBERT # RETURNS WITH PL AT 0 AND WITH VVEC IN MPAC IF VTARGTAG WAS WAS NON-ZERO OR VTARGET # # IN MPAC IF VTARGTAG WAS ZERO # L+2 BON # CONTINUE IF SOLNSW CLEAR SINCE SOLUTION IS ACCEPTABLE # L+3 SOLNSW # L+4 LAMABORT # # IF A LAMBERT RESULT IS TO BE A FIRST GUESS FOR THE NEXT LAMBERT CALCULATION, COGA MUST BE PRESERVED AND # GUESSW MUST BE CLEAR FOR EACH SUCCEEDING LAMBERT CALL. # # ABORT EXIT MODES - # IF SOLNSW WAS SET UPON EXITING, EITHER LAMBERT WAS ASKED TO COMPUTE A TRANSFER TOO NEAR 0 OR 360 DEG, OR T # WAS TOO SMALL TO PRODUCE A REALISTIC TRANSFER BETWEEN R1VEC AND R2VEC. IN EITHER CASE THE FIX MUST BE MADE # ACCORDING TO THE NEEDS OF THE PARTICULAR USER. THE ABORT EXIT MODE MAY BE CODED AS ... # LAMBABORT DLOAD ABS # A MEASURE OF THE PROXIMITY TO 0 OR # 1-CSTH # 360 DEGREES. # DSU BMN # ONEBIT # CHANGER2 # CHANGE R2VEC DIRECTION SLIGHTLY. # DLOAD DAD # TDESIRED # SOMETIME # STCALL TDESIRED # INCRESE TDESIRED # LAMBERT # # Page 1165 # OUTPUT - # * SCALE FACTOR * # VARIABLE *IN POWERS OF 2 * DESCRIPTION AND REMARKS # -------- *-------------- * ----------------------- # VVEC * +7 FOR EARTH * DP INITIAL VELOCITY VECTOR IN METERS/CENTISECOND REQUIRED TO SATISFY THE BOUNDARY VALUE # * +5 FOR MOON * PROBLEM. # VTARGET * +7 FOR EARTH * DP RESULTANT VELOCITY VECTOR AT R2VEC IN METERS/CENTISECOND. # * +5 FOR MOON * # SOLNSW * NONE * INTERPRETER SWITCH WHICH IS SET IF THE SUBROUTINE CANNOT SOLVE THE PROBLEM, CLEAR IF THE # * * SOLUTION EXISTS. # # FOR OTHER OUTPUT WHICH MAY BE OF USE, SEE DEBRIS. # # DEBRIS - # PARAMETERS WHICH MAY BE OF USE - # # * SCALE FACTOR * # VARIABLE *IN POWERS OF 2 * DESCRIPTION AND REMARKS # -------- *-------------- * ----------------------- # SNTH * +1 * DP SIN OF ANGLE BETWEEN R1VEC AND R2VEC # CSTH * +1 * DP COSINE OF ANGLE # 1-CSTH * +2 * DP 1-CSTH # COGA * +5 * DP COTAN OF INITIAL REQUIRED FLIGHT PATH ANGLE MEASURED FROM VERTICAL # P * +4 * DP RATIO OF SEMILATUS RECTUM TO INITIAL RADIUS # R1A * +6 * DP RATIO OF INITIAL RADIUS TO SEMI-MAJOR AXIS # R1 (32D) * +29 FOR EARTH * DP INITIAL RADIUS IN METERS # * +27 FOR MOON * # UR1 * +1 * DP UNIT VECTOR OF R1VEC # U2 * +1 * DP UNIT VECTOR OF R2VEC # # PARAMETERS OF NO USE - # DP PARAMETERS - EPSILONL, CSTH-RHO, TPREV, TERRLAMB, R2, RTNLAMB (SP), PLUS PUSHLIST REGISTER 0 THROUGH 41D # ADDITIONAL INTERPRETIVE SWITCHES USED - INFINFLG, 360SW, SLOPESW, ORDERSW # Page 1166 # PROGRAM DESCRIPTION - TIME-THETA SUBROUTINE DATE - 1 SEPTEMBER 1967 # MOD NO. - 0 LOG SECTION - CONIC SUBROUTINES # MOD BY KRAUSE ASSEMBLY - COLOSSUS REVISION 88 # # FUNCTIONAL DESCRIPTION - # THIS SUBROUTINE, GIVEN AN INITIAL STATE VECTOR AND A DESIRED TRUE-ANOMALY-DIFFERENCE THROUGH WHICH THE # STATE IS TO BE UPDATED ALONG A CONIC TRAJECTORY, CALCULATES THE CORRESPONDING TIME-OF-FLIGHT AND, IN ADDITION, # PROVIDES THE OPTION OF COMPUTING THE NEW UPDATED STATE VECTOR. THE RESULTING TRAJECTORY MAY BE A SECTION OF A # CIRCLE, ELLIPSE, PARABOLA, OR HYPERBOLA WITH RESPECT TO THE EARTH OR THE MOON. THE USE OF TEH SUBROUTINE CAN BE # EXTENDED USING OTHER PRIMARY BODIES BY SIMPLE ADDITIONS TO THE MUTABLE WTIHOUT INTRODUCING ANY CODING CHANGES, # ACCEPTING THE INHERENT SCALE FACTOR CHANGES IN POSITION AND VELOCITY. # # THE RESTRICTIONS ARE - # 1. THE ANGLE BETWEEN ANY POSITION VECTOR AND ITS VELOCITY VECTOR MUST BE GREATER THAN 1 DEGREE 47.5 MINUTES # AND LESS THAN 178 DEGREES 12.5 MINUTES. # 2. THE PARAMETERS IN THE PROBLEM MUST NOT EXCEED THEIR SCALING LIMITS SPECIFIED IN THE GSOP. IF THE LIMITS # ARE EXCEEDED, THE RESULTING SOLUTION WILL BE MEANINGLY. # # THE AGC COMPUTATION TIME IS APPROXIMATELY .292 SECONDS. # # REFERENCES - # R-479, MISSION PROGRAMMING DEFINITION MEMO NO. 10, LUNAR LANDING MISSION GSOP-SECTION 5.5, SGA MEMO 67-8. # # INPUT - ERASABLE INITIALIZATION REQUIRED # * SCALE FACTOR * # VARIABLE *IN POWERS OF 2 * DESCRIPTION AND REMARKS # -------- *-------------- * ----------------------- # RVEC * +29 FOR EARTH * DP INITIAL POSITION VECTOR IN METERS # * +27 FOR MOON * # VVEC * +7 FOR EARTH * DP INITIAL VELOCITY VECTOR IN METERS/CENTISECOND # * +5 FOR MOON * # SNTH * +1 * DP SINE OF TRUE-ANOMALY-DIFFERENCE THROUGH WHICH THE STATE IS TO BE UPDATED # CSTH * +1 * DP COSINE OF THE ANGLE # RVSW * NONE * AN INTERPRETIVE SWITCH TO BE SET IF ONLY TIME IS TO BE AN OUTPUT, CLEAR IF THE NEW STATE # * * IS TO BE COMPUTED ALSO. # X1 (38D) * NONE * INDEX REGISTER TO BE SET TO -2D OR -10D ACCORDING TO WHETHER THE EARTH OR MOON, # * * RESPECTIVELY, IS THE CENTRAL BODY. # # SUBROUTINES CALLED - # Page 1167 # PARAM, GEOM, GETX, DELTIME, NEWSTATE # # CALLING SEQUENCE AND NORMAL EXIT MODES - # IF ONLY TIME IS DESIRED AS OUTPUT - # L SET CALL # MUST BE IN INTERPRETIVE MODE BUT OVFIND ARBITRARY. # L+1 RVSW # L+2 TIMETHET # RETURN WITH PL AT 0 AND T IN MPAC # L+3 ... # CONTINUE # # IF THE UPDATE STATE VECTOR IS DESIRED AS WELL - # L CLEAR CALL # MUST BE IN INTERPRETIVE MODE BUT OVFIND ARBITRARY. # L+1 RVSW # L+2 TIMETHET # RETURNS WITH PL AT 6. THE INITIAL POSITION VECTOR IS IN 0D OF THE PUSHLIST AND # # THE INITIAL VELOCITY VECTOR IN MPAC. # L+3 STOVL NEWVVEC # L+4 STADR # L+5 STORE NEWRVEC # NEWVVEC AND NEWRVEC ARE SYMBOLIC REPRESENTATIONS OF THE USERS LOCATIONS. # L+6 ... # CONTINUE. # # ABORT EXIT MODES - # IF COGAFLAG AND/OR INFINFLG IS SET AT THE EXIT TO TIME-THETA, TIME-THETA WILL TRANSFER TO POODOO WITH # AN ALARM CODE (ORIGINALLY 00607), AND NOT RETURN TO THE CALLING PROGRAM. (PCR 692 AND 721). # # OUTPUT - # * SCALE FACTOR * # VARIABLE *IN POWERS OF 2 * DESCRIPTION AND REMARKS # -------- *-------------- * ----------------------- # T (30D) * +28 * DP TRANSFER TIME IN CENTISECONDS # INFINFLG * NONE * AN INTERPRETIVE SWITCH WHICH IS SET IF THE TRANSFER ANGLE REQUIRES CLOSURE THROUGH # * * INFINITY (NO SOLUTION), CLEAR IF A PHYSICAL SOLUTION IS POSSIBLE. # COGAFLAG * NONE * AN INTERPRETIVE SWITCH WHICH IS SET IF RESTRICTION 1 HAS BEEN VIOLATED (NO SOLUTION), # * * CLEAR IF NOT. # # IN ADDITION, IF RVSW IS CLEAR, THE FOLLOWING ARE OUTPUT - # MPAC - * +7 FOR EARTH * DP TERMINAL VELOCITY VECTOR IN METERS/CENTISEC. # MPAC +5 * +5 FOR MOON * # 0D - 5D * +29 FOR EARTH * DP TERMINAL POSITION VECTOR IN METERS (PL AT 6D) # * +27 FOR MOON * # # FOR OTHER OUTPUT WHICH MAY BE OF USE, SEE DEBRIS. # # Page 1168 # DEBRIS - # PARAMETERS WHICH MAY BE OF USE - # # * SCALE FACTOR * # VARIABLE *IN POWERS OF 2 * DESCRIPTION AND REMARKS # -------- *-------------- * ----------------------- # R1 (32D) * +29 FOR EARTH * DP MAGNITUDE OF INITIAL POSITION VECTOR, RVEC, IN METERS # * +27 FOR MOON * # R1A * +6 * DP RATIO OF R1 TO SEMIMAJOR AXIS (NEG. FOR HYPERBOLIC TRAJECTORIES) # P * +4 * DP RATIO OF SEMILATUS RECTUM TO R1 # COGA * +5 * DP COTAN OF ANGLE BETWEEN RVEC AND VVEC # UR1 * +1 * DP UNIT VECTOR OF RVEC # U2 * +1 * DP UNIT VECTOR OF VVEC # UN * +1 * DP UNIT VECTOR OF UR1*U2 # # PARAMETERS OF NO USE - # SP PARAMETERS -- RTNTT, GEOMSGN, RTNPRM, MAGVEC2=R2 (DP), PLUS PUSHLIST LOCATIONS 0-11D, 14D-21D, 24D-39D, 41D # ADDITIONAL INTERPRETIVE SWITCHES USED -- NORMSW, 360SW # Page 1169 # PROGRAM DESCRIPTION - TIME-RADIUS SUBROUTINE DATE - 11 OCTOBER 1967 # MOD NO. -1 LOG SECTION - CONIC SUBROUTINES # MOD BY KRAUSE ASSEMBLY - COLOSSUS REVISION 88 # # FUNCTIONAL DESCRIPTION - # # THIS SUBROUTINE, GIVEN AN INITIAL STATE VECTOR AND A DESIRED RADIUS TO WHICH THE # STATE IS TO BE UPDATED ALONG A CONIC TRAJECTORY, CALCULATES THE CORRESPONDING TIME-OF-FLIGHT AND, IN ADDITION, # PROVIDES THE OPTION OF COMPUTING THE NEW UPDATED STATE VECTOR. THE RESULTING TRAJECTORY MAY BE A SECTION OF A # CIRCLE, ELLIPSE, PARABOLA, OR HYPERBOLA WITH RESPECT TO THE EARTH OR THE MOON. THE USE OF THE SUBROUTINE CAN BE # EXTENDED USING OTHER PRIMARY BODIES BY SIMMPE ADDITIONS TO THE MUTABLE WITHOUT INTRODUCING ANY CODING CHANGES, # ACCEPTING THE INHERENT SCALE FACTOR CHANGES IN POSITION AND VELOCITY. # # IF THE DESIRED RADIUS IS BEYOND THE RADIUS OF APOCENTER OF THE CONIC OR BELOW THE RADIUS OF PERICENTER, # APSESW WILL BE SET AND THE SUBROUTINE WILL RETURN THE APOCENTER OR PERICENTER SOLUTION, RESPECTIVELY. # # THE RESTRICTIONS ARE - # 1. THE ANGLE BETWEEN ANY POSITION VECTOR AND ITS VELOCITY VECTOR MUST BE GREATER THAN 1 DEGREE 47.5 MINUTES # AND LESS THAN 178 DEGREES 12.5 MINUTES. # 2. THE PARAMETERS IN THE PROBLEM MUST NOT EXCEED THEIR SCALING LIMITS SPECIFIED IN THE GSOP. IF THE LIMITS # ARE EXCEEDED, THE RESULTING SOLUTION WILL BE MEANINGLESS. # 3. AN ACCURACY DEGRADATION OCCURS AS THE SENSITIVITIES OF TIME AND UPDATED STATE VECTOR TO CHANGES IN # RDESIRED INCREASE. THIS WILL OCCUR NEAR EITHER APSIS OF THE CONIC AND WHEN THE CONIC IS NEARLY CIRCULAR. IN # PARTICULAR, IF THE CONIC IS AN EXACT CIRCLE, THE PROBLEM IS UNDEFINED AND THE SUBROUTINE WILL ABORT. # # THE AGC COMPUTATION TIME IS APPROXIMATELY .363 SECONDS. # # REFERENCES - # R-479, MISSION PROGRAMMING DEFINITION MEMO NO. 10, LUNAR LANDING MISSION GSOP-SECTION 5.5, SGA MEMO 67-8. # # INPUT - ERASABLE INITIALIZATION REQUIRED. # * SCALE FACTOR * # VARIABLE *IN POWERS OF 2 * DESCRIPTION AND REMARKS # -------- *-------------- * ----------------------- # RVEC * +29 FOR EARTH * DP INITIAL POSITION VECTOR IN METERS # * +27 FOR MOON * # VVEC * +7 FOR EARTH * DP INITIAL VELOCITY VECTOR IN METERS/CENTISECOND # * +5 FOR MOON * # RDESIRED * +29 FOR EARTH * DP TERMINAL RADIAL DISTANCE ON CONIC TRAJECTORY FOR WHICH TRANSFER TIME IS TO BE # * +27 FOR MOON * COMPUTED # SGNRDOT * NONE * SP TAG SET TO +.5 OR -.5 ACCORDING TO WHETHER THE RADIAL VELOCITY AT RDESIRED IS TO BE # * * POSITIVE OR NEGATIVE, RESPECTIVELY. THIS TAG REDUCES THE DOUBLE-VALUED PROBLEM TO A # Page 1170 # * * SINGLE-VALUED PROBLEM. # X1 (38D) * NONE * INDEX REGISTER TO BE SET TO -2D OR -10D ACCORDING TO WHETHER THE EARTH OR MOON, # * * RESPECTIVELY, IS THE CENTRAL BODY. # RVSW * NONE * AN INTERPRETIVE SWITCH TO BE SET IF ONLY TIME IS TO BE AN OUTPUT, CLEAR IF THE NEW STATE # * * IS TO BE COMPUTED ALSO. # # SUBROUTINES CALLED - # PARAM, GEOM, GETX, DELTIME, NEWSTATE # # CALLING SEQUENCE AND NORMAL EXIT MODES - # # IF ONLY TIME IS DESIRED AS OUTPUT - # L SET CALL # MUST BE IN INTERPRETIVE MODE BUT OVFIND ARBITRARY. # L+1 RVSW # L+2 TIMERAD # RETURN WITH PL AT 0 AND T IN MPAC # L+3 ... # CONTINUE # # IF THE UPDATE STATE VECTOR IS DESIRED AS WELL - # L CLEAR CALL # MUST BE IN INTERPRETIVE MODE BUT OVFIND ARBITRARY. # L+1 RVSW # L+2 TIMERAD # RETURNS WITH PL AT 6. THE INITIAL POSITION VECTOR IS IN 0D OF THE PUSHLIST AND # # THE INITIAL VELOCITY VECTOR IN MPAC. # L+3 STOVL NEWVVEC # L+4 STADR # L+5 STORE NEWRVEC # NEWVVEC AND NEWRVEC ARE SYMBOLIC REPRESENTATIONS OF THE USERS LOCATIONS. # ... # CONTINUE # # ABORT EXIT MODES - # IF SOLNSW AND/OR COGAFLAG AND/OR INFINFLG IS SET AT THE EXIT TO TIME-RADIUS, TIME-RADIUS WILL TRANSFER # TO POODOO WITH AN ALARM CODE (ORIGINALLY 00607), AND NOT RETURN TO THE CALLING PROGRAM. (PCR 692 & 721) # # OUTPUT - # * SCALE FACTOR * # VARIABLE *IN POWERS OF 2 * DESCRIPTION AND REMARKS # -------- *-------------- * ----------------------- # T (30D) * +28 * DP TRANSFER TIME IN CENTISECONDS. # INFINFLG * NONE * AN INTERPRETIVE SWITCH WHICH IS SET IF RDESIRED AND SGNRDOT REQUIRE CLOSURE THROUGH # * * INFINITY (NO SOLUTION), CLEAR IF A PHYSICAL SOLUTION IS POSSIBLE. # COGAFLAG * NONE * AN INTERPRETIVE SWITCH WHICH IS SET IF RESTRICTION 1 HAS BEEN VIOLATED (NO SOLUTION), # * * CLEAR IF NOT. # APSESW * NONE * AN INTERPRETIVE SWITCH WHICH IS SET IF RDESIRED WAS GREATER THAN RADIUS OF APOCENTER OR # Page 1171 # * * LESS THAN RADIUS OF PERICENTER. THE APOCENTER OR PERICENTER SOLUTION, RESPECTIVELY, # * * WILL THEN BE RETURNED. THE SWITCH IS CLEAR IF RDESIRED WAS BETWEEN PERICENTER AND # * * APOCENTER. # SOLNSW * NONE * AN INTERPRETIVE SWITCH WHICH IS SET IF THE CONIC IS SO CLOSE TO A CIRCLE THAT THE TERMIN # * * POINT IS AMBIGUOUS, VIOLATING RESTRICTION 3. IF ECCENTRICITY IS GREATER THAN 2-TO-THE- # * * MINUS-18, THE SWITCH IS CLEAR. # # IN ADDITION, IF RVSW IS CLEAR, THE FOLLOWING ARE OUTPUT - # # MPAC - * +7 FOR EARTH * DP TERMINAL VELOCITY VECTOR IN METERS/CENTISEC. # MPAC +5 * +5 FOR MOON * # 0D - 5D * +29 FOR EARTH * DP TERMINAL POSITION VECTOR IN METERS (PL AT 6D) # * +27 FOR MOON * # # FOR OTHER OUTPUT WHICH MAY BE OF USE, SEE DEBRIS. # # DEBRIS - # PARAMETERS WHICH MAY BE OF USE - # # * SCALE FACTOR * # VARIABLE *IN POWERS OF 2 * DESCRIPTION AND REMARKS # -------- *-------------- * ----------------------- # R1 (32D) * +29 FOR EARTH * DP MAGNITUDE OF INITIAL POSITION VECTOR, RVEC, IN METERS # * +27 FOR MOON * # R1A * +6 * DP RATIO OF R1 TO SEMIMAJOR AXIS (NEG. FOR HYPERBOLIC TRAJECTORIES) # P * +4 * DP RATIO OF SEMILATUS RECTUM TO R1 # COGA * +5 * DP COTAN OF ANGLE BETWEEN RVEC AND VVEC # UR1 * +1 * DP UNIT VECTOR OF RVEC # U2 * +1 * DP UNIT VECTOR OF VVEC # UN * +1 * DP UNIT VECTOR OF UR1*U2 # CSTH * +1 * DP COSINE OF TRUE ANOMALY DIFFERENCE BETWEEN RVEC AND RDESIRED. # SNTH * +1 * DP SINE OF TRUE ANOMALY DIFFERENCE. # # PARAMETERS OF NO USE - # SP PARAMETERS -- RTNTT, GEOMSGN, RTNPRM, MAGVEC2=R2 (DP), PLUS PUSHLIST LOCATIONS 0-11D, 14D-21D, 24D-39D, 41D # ADDITIONAL INTERPRETIVE SWITCHES USED -- NORMSW, 360SW # # Page 1172 # PROGRAM DESCRIPTION - APSIDES SUBROUTINE DATE - 1 SEPTEMBER 1967 # MOD NO. - 0 LOG SECTION - CONIC SUBROUTINES # MOD BY KRAUSE ASSEMBLY - COLOSSUS REVISION 88 # # FUNCTIONAL DESCRIPTION - # # THIS SUBROUTINE, GIVEN AN INITIAL STATE VECTOR CALCULATES THE RADIUS OF PERICENTER AND OF APOCENTER AND THE # ECCENTRICITY OF THE RESULTING CONIC TRAJECTORY, WHICH MAY BE A STRAIGHT LINE, # CIRCLE, ELLIPSE, PARABOLA, OR HYPERBOLA WITH RESPECT TO THE EARTH OR THE MOON. THE USE OF THE SUBROUTINE CAN # BE EXTENDED USING OTHER PRIMARY BODIES BY SIMPLE ADDITIONS TO THE MUTABLE WITHOUT INTRODUCING ANY CODING CHANGES, # ACCEPTING THE INHERENT SCALE FACTOR CHANGES IN POSITION AND VELOCITY. # # THE RESTRICTIONS ARE - # 1. IF APOCENTER IS BEYOND THE SCALING OF POSITION, THE SCALE FACTOR LIMIT (536,870,910 METERS WITH RESPECT # TO THE EARTH OR 134,217,727.5 METERS WITH RESPECT TO THE MOON) WILL BE RETURNED. # 2. THE PARAMETERS IN THE PROBLEM MUST NOT EXCEED THEIR SCALING LIMITS SPECIFIED IN THE GSOP. IF THE LIMITS # ARE EXCEEDED, THE RESULTING SOLUTION WILL BE MEANINGLESS. # # THE AGC COMPUTATION TIME IS APPROXIMATELY .103 SECONDS. # # REFERENCES - # MISSION PROGRAMMING DEFINITION MEMO NO. 10, LUNAR LANDING MISSION GSOP-SECTION 5.5 # # INPUT - ERASABLE INITIALIZATION REQUIRED # * SCALE FACTOR * # VARIABLE *IN POWERS OF 2 * DESCRIPTION AND REMARKS # -------- *-------------- * ----------------------- # RVEC * +29 FOR EARTH * DP INITIAL POSITION VECTOR IN METERS # * +27 FOR MOON * # VVEC * +7 FOR EARTH * DP INITIAL VELOCITY VECTOR IN METERS/CENTISECOND # * +5 FOR MOON * # X1 (38D) * NONE * INDEX REGISTER TO BE SET TO -2D OR -10D ACCORDING TO WHETHER THE EARTH OR MOON, # * * RESPECTIVELY, IS THE CENTRAL BODY. # # SUBROUTINES CALLED - # PARAM, GEOM # # CALLING SEQUENCE AND NORMAL EXIT MODES - # Page 1173 # IF ONLY TIME IS DESIRED AS OUTPUT - # L CALL # MUST BE IN INTERPRETIVE MODE BUT OVFIND ARBITRARY. # L+1 APSIDES # RETURNS WITH PL AT 0, RADIUS OF APOCENTER IN MPAC AND RADIUS OF PERICENTER IN 0D # L+2 STODL APOAPSE # L+3 0D # L+4 STORE PERIAPSE # APOAPSE AND PERIAPSE ARE SYMBOLIC REPRESENTATIONS OF THE USERS LOCATIONS # L+5 ... # CONTINUE # # OUTPUT - # * SCALE FACTOR * # VARIABLE *IN POWERS OF 2 * DESCRIPTION AND REMARKS # -------- *-------------- * ----------------------- # MPAC * +29 FOR EARTH * DP RADIUS OF APOCENTER IN METERS # * +27 FOR MOON * # 0D-1D * +29 FOR EARTH * DP RADIUS OF PERICENTER IN METERS # * +27 FOR MOON * # ECC * +3 * DP ECCENTRICITY OF CONIC TRAJECTORY. # # FOR OTHER OUTPUT WHICH MAY BE OF USE, SEE DEBRIS. # # DEBRIS - # # PARAMETERS WHICH MAY BE OF USE - # # * SCALE FACTOR * # VARIABLE *IN POWERS OF 2 * DESCRIPTION AND REMARKS # -------- *-------------- * ----------------------- # R1 (32D) * +29 FOR EARTH * DP MAGNITUDE OF INITIAL POSITION VECTOR, RVEC, IN METERS # * +27 FOR MOON * # R1A * +6 * DP RATIO OF R1 TO SEMI-MAJOR AXIS (NEG. FOR HYPERBOLIC TRAJECTORIES) # P * +4 * DP RATIO OF SEMILATUS RECTUM TO R1 # COGA * +5 * DP COTAN OF ANGLE BETWEEN RVEC AND VVEC # UR1 * +1 * DP UNIT VECTOR OF RVEC # U2 * +1 * DP UNIT VECTOR OF VVEC # UN * +1 * DP UNIT VECTOR OF UR1*U2 # MAGVEC2 * +7 FOR EARTH * DP MAGNITUDE OF VVEC # * +5 FOR MOON * # # PARAMETERS OF NO USE - # SP PARAMETERS - RTNAPSE, GEOMSGN, RTNPRM, PLUS PUSHLIST LOCATIONS 0-5, 10D-11D, 14D-21D, 31D-38D. # ADDITIONAL INTERPRETIVE SWITCHES USED - NORMSW SETLOC CONICS # Page 1174 BANK COUNT* $$/CONIC EBANK= UR1 KEPLERN SETPD BOV 0 +1 VLOAD* MUTABLE,1 STOVL 14D RRECT UNIT SSP ITERCTR 20D STODL URRECT 36D STOVL R1 RRECT DOT SL1R VRECT DMP SL1R 1/ROOTMU # 1/ROOTMU (-17 OR -14) STOVL KEPC1 # C1=R.V/ROOTMU (+17 OR +16) VRECT VSQ DMPR 1/MU # 1/MU (-34 OR -28) DMP SL3 R1 DSU ROUND D1/64 STORE KEPC2 # C2=RV.V/MU -1 (+6) BDSU SR1R D1/64 DDV R1 STORE ALPHA # ALPHA=(1-C2)/R1 (-22 OR -20) BPL DLOAD # MAXIMUM X DEPENDS ON TYPE OF CONIC 1REV -50SC # -50SC (+12) DDV BOV ALPHA STOREMAX SQRT GOTO STOREMAX 1REV SQRT BDDV # Page 1175 2PISC # 2PISC (+6) BOV STOREMAX STOREMAX STORE XMAX DMP PDDL 1/ROOTMU ALPHA NORM PDDL X1 SL* DDV 0 -6,1 BOV BMN MODDONE MODDONE # MPAC=PERIOD PERIODCH PDDL ABS # 0D=PERIOD TAU. DSU BMN 0D MODDONE SIGN TAU. STODL TAU. GOTO PERIODCH MODDONE SETPD DLOAD 0 XKEPNEW STORE X SIGN BZE TAU. BADX BMN ABS BADX DSU BPL XMAX BADX STORBNDS DLOAD BPL TAU. STOREMIN DLOAD DCOMP XMAX STODL XMIN KEPZERO STORE XMAX GOTO DXCOMP STOREMIN DLOAD KEPZERO STORE XMIN DXCOMP DLOAD DMPR # Page 1176 TAU. BEE22 ABS STODL EPSILONT XPREV XDIFF BDSU X STORE DELX KEPLOOP DLOAD DSQ X # X=XKEP NORM PUSH # 0D=XSQ (+34 OR +32 -N1) PL AT 2 X1 DMP SRR* ALPHA 0 -6,1 STCALL XI # XI=ALPHA XSQ (+6) DELTIME BOV BDSU TIMEOVFL # UNLIKELY TAU. STORE DELT # DELT=DELINDEP ABS BDSU EPSILONT BPL DLOAD KEPCONVG T DSU NORM TC X1 PDDL NORM DELX X2 XSU,1 DMP X2 DELT SLR* DDV 1,1 SR1 PUSH # 0D=TRIAL DELX PL AT 2 BPL DLOAD POSDELX X STORE XMAX # MOVE MAX BOUND IN BDSU DSU # PL AT 0 XMIN BOV BPL NDXCHNGE NDXCHNGE DLOAD GOTO # Page 1177 0D NEWDELX NDXCHNGE DLOAD DSU XMIN X DMPR GOTO # TO FORCE MPAC +2 TO ZERO DP9/10 NEWDELX POSDELX DLOAD X STORE XMIN # MOVE MIN BOUND IN BDSU DSU # PL AT 0 XMAX BOV BMN PDXCHNGE PDXCHNGE DLOAD 0D NEWDELX STORE DELX BZE DAD KEPCONVG X STODL X T STORE TC BRNCHCTR RTB BHIZ CHECKCTR KEPCONVG GOTO KEPLOOP # ITERATE PDXCHNGE DLOAD DSU XMAX X DMPR GOTO # TO FORCE MPAC +2 TO ZERO DP9/10 NEWDELX BADX DLOAD SR1 XMAX SIGN TAU. STORE X GOTO # Page 1178 STORBNDS TIMEOVFL DLOAD BMN # X WAS TOO BIG X NEGTOVFL STORE XMAX CMNTOVFL DLOAD SR1 DELX STORE DELX BZE BDSU KEPRTN X STODL X TC STORE T GOTO BRNCHCTR NEGTOVFL STORE XMIN GOTO CMNTOVFL KEPCONVG DLOAD SR4R R1 DSU VXSC XSQC(XI) URRECT VSL1 PDDL # 0D=(R1-XSQC(XI))URRECT (+33 OR +31) X DSQ NORM X1 DMPR DMPR 1/ROOTMU X DMP SRR* S(XI) 0 -7,1 BDSU T SL1 VXSC VRECT VSL1 VAD # PL AT 0 VSL4 STORE RCV # RCV (+29 OR +27) ABVAL NORM X2 STODL RCNORM XI DMPR DSU S(XI) D1/128 # Page 1179 DMP SL1R ROOTMU DMP SLR* X 0 -3,2 DDV VXSC RCNORM URRECT VSL1 PDDL # 0D=URRECT(XI S(XI)-1)X ROOTMU/RCV (+15 XSQC(XI) # OR +13) PL AT 6 SLR* DDV 0 -4,2 RCNORM BDSU VXSC D1/256 VRECT VAD VSL8 STADR # PL AT 0 STODL VCV # VCV (+7 OR +5) T STODL TC X STORE XPREV GOTO KEPRTN # Page 1180 DELTIME EXIT # MPAC=XI (+6), 0D=XSQ (+34 OR +32 -N1) TC POLY DEC 8 2DEC .083333334 2DEC -.266666684 2DEC .406349155 2DEC -.361198675 2DEC .210153242 2DEC -.086221951 2DEC .026268812 2DEC -.006163316 2DEC .001177342 2DEC -.000199055 TC INTPRET STODL S(XI) XI EXIT TC POLY DEC 8 2DEC .031250001 2DEC -.166666719 2DEC .355555413 2DEC -.406347410 2DEC .288962094 2DEC -.140117894 2DEC .049247387 2DEC -.013081923 2DEC .002806389 2DEC -.000529414 TC INTPRET # Page 1181 DMP SRR* # PL AT 0 0D 0 -5,1 STORE XSQC(XI) # XSQC(XI) (+33 OR +31) DMP SL1 KEPC1 RTB PDDL # XCH WITH PL. 0D=C1 XSQ C(XI) (+49 OR +46) TPMODE # PL AT 0,3 DMP SRR* S(XI) 0 -5,1 DMP SL1 KEPC2 RTB PDDL # 3D=C2 XSQ S(XI) (+35 OR +33) PL AT 6 TPMODE R1 SR TAD # PL AT 3 6 NORM DMP # TO PRESERVE SIGNIF. X1 X SR* TAD # X(C2 XSQ S(XI) +R1) (+49 OR +46) PL AT 0 0 -3,1 SL4R DMPR 1/ROOTMU STORE T RVQ # Page 1182 ITERATOR BONCLR DLOAD SLOPESW FIRSTIME DEP DSU NORM DEPREV X1 PDDL NORM DELINDEP X2 XSU,1 DMP X2 DELDEP SLR* DDV # PL UP 2 1,1 SR1 BOFF ORDERSW SGNCHECK ABS SIGN # IN CASE 2ND DERIV. CHANGED SIGN, MUST DELDEP # DISREGARD IT TO FIND MIN. SGNCHECK PUSH BPL # TRIAL DELINDEP PL DOWN 2 POSDEL DLOAD BON INDEP ORDERSW MINCHECK STORE MAX # IF NOT 2ND ORDER, CAN MOVE MAX BOUND IN. MINCHECK BDSU DSU MIN BOV BPL MODNGDEL MODNGDEL GOTO DELOK MODNGDEL DLOAD DSU # TRIAL DELINDEP WOULD EXCEED MIN BOUND MIN INDEP DMP GOTO DP9/10 NEWDEL FIRSTIME DLOAD DMP MIN TWEEKIT # DLOAD TWEEKIT(40D) SENSITIVE TO CHANGE. PDDL DMP # S2(41D) SHOULDNT CONTAIN HI ORDER ONES # Page 1183 MAX TWEEKIT DSU SIGN GOTO DELDEP SGNCHECK POSDEL DLOAD BON INDEP ORDERSW MAXCHECK STORE MIN # IF NOT 2ND ORDER, CAN MOVE MIN BOUND IN. MAXCHECK BDSU DSU MAX BOV BMN MODPSDEL MODPSDEL DELOK DLOAD 0D NEWDEL STORE DELINDEP RVQ MODPSDEL DLOAD DSU MAX INDEP DMP GOTO DP9/10 NEWDEL CHECKCTR CS ONE INDEX FIXLOC AD ITERCTR INDEX FIXLOC TS ITERCTR TS MPAC TC DANZIG # Page 1184 NEWSTATE DLOAD SR4R R1 DSU VXSC XSQC(XI) UR1 VSL1 PDDL # 0D=(R1-XSQC(XI))UR1 (+33 OR 31) PL AT 6 X DSQ NORM X1 DMPR DMPR 1/ROOTMU X DMP SRR* S(XI) 0 -7,1 BDSU T SL1 VXSC VVEC VSL1 VAD # PL AT 0 VSL4 PUSH ABVAL LAMENTER NORM X1 STODL R2 XI DMP DSU S(XI) D1/128 DMP SL1R ROOTMU DMP SLR* X 0 -3,1 DDV VXSC R2 UR1 VSL1 PDDL # 6D=V2VEC PART (+15 OR 13) PL AT 12 XSQC(XI) SLR* DDV 0 -4,1 R2 BDSU D1/256 VXSC VAD # PL AT 6 VVEC VSL8 RVQ # Page 1185 SETLOC CONICS1 BANK COUNT* $$/CONIC # DO NOT DISTURB THE ORDER OF THESE CDS, OVERLAYS HAVE BEEN MADE. BEE17 DEC 0 # KEEP WITH D1/8 2DEC 1.0B-17 (0000004000) D1/8 2DEC 1.0 B-3 D1/128 2DEC 1.0 B-7 D1/64 2DEC 1.0 B-6 D1/4 2DEC 1.0 B-2 D1/16 2DEC 1.0 B-4 D1/32 2DEC 1.0 B-5 D1/1024 2DEC 1.0 B-10 D1/256 2DEC 1.0 B-8 DP9/10 2DEC .9 KEPZERO EQUALS LO6ZEROS -50SC 2DEC -50.0 B-12 2PISC 2DEC 6.28318530 B-6 BEE19 EQUALS D1/32 -1 # 2DEC 1.0 B-19 (00000 01000) BEE22 EQUALS D1/256 -1 # 2DEC 1.0 B-22 (00000 00100) ONEBIT 2DEC 1.0 B-28 COGUPLIM 2DEC .999511597 COGLOLIM 2DEC -.999511597 # Page 1186 SETLOC CONICS BANK COUNT* $$/CONIC TIMETHET STQ SETPD # PL AT 0 RTNTT 0 BOV +1 VLOAD PDVL # SETUP FOR PARAM CALL PL AT 6 RVEC VVEC CALL PARAM BOV CALL # PL AT 0 COGAOVFL GETX COMMNOUT DLOAD BON XI INFINFLG ABTCONIC CLEAR CALL COGAFLAG DELTIME BON CALL RVSW RTNTT NEWSTATE GOTO RTNTT COGAOVFL SETGO COGAFLAG ABTCONIC BANK 4 SETLOC CONICS1 BANK COUNT* $$/CONIC PARAM STQ CLEAR # MPAC=V1VEC, 0D=R1VEC PL AT 6 RTNPRM NORMSW CLEAR COGAFLAG SSP CALL GEOMSGN 37777 # GAMMA ALWAYS LESS THAN 180DEG GEOM # MPAC=SNGA (+1), 0D=CSGA (+1) PL AT 2 STODL 36D # 36D=SIN GAMMA (+1) PL AT 0 SR DDV # Page 1187 5 36D STOVL* COGA MUTABLE,1 STODL 1/MU MAGVEC2 DSQ NORM X1 DMPR DMP 1/MU R1 SRR* 0 -3,1 PUSH BDSU # 0D=R1 V1SQ/MU (+6) PL AT 2 D1/32 STODL R1A # R1A (+6) PL AT 0 DMP NORM 36D X1 DMP SR* 36D 0 -4,1 STORE P # P (+4) GOTO RTNPRM # Page 1188 GEOM UNIT # MPAC=V2VEC, 0D=R1VEC PL AT 6 STODL U2 # U2 (+1) 36D STOVL MAGVEC2 # PL AT 0 UNIT STORE UR1 # UR1 (+1) DOT SL1 U2 PDDL # 0D=CSTH (+1) PL AT 2 36D STOVL R1 # R1 (+29 OR +27) UR1 VXV VSL1 U2 BON SIGN NORMSW HAVENORM GEOMSGN UNIT BOV COLINEAR UNITNORM STODL UN # UN (+1) 36D SIGN RVQ # MPAC=SNTH (+1), 34D=SNTH.SNTH (+2) GEOMSGN COLINEAR VSR1 GOTO UNITNORM HAVENORM ABVAL SIGN GEOMSGN RVQ # MPAC=SNTH (+1), 34D=SNTH.SNTH (+2) # Page 1189 BANK 12 SETLOC CONICS BANK COUNT* $$/CONIC GETX AXT,2 SSP # ASSUMES P (+4) IN MPAC 3 S2 1 CLEAR 360SW SQRT PDDL # 0D=SQRT(P) PL AT 2 CSTH SR1 BDSU D1/4 PDDL SRR # PL AT 4D SNTH 6 DDV # PL AT 2 BOV 360CHECK DSU DMP COGA # PL AT 0 SL2R BOV 360CHECK WLOOP PUSH DSQ # 0D=W (+5) PL AT 2 TLOAD PDDL # 2D=WSQ (+10) PL AT 5 MPAC R1A SR4 TAD # PL AT 2 BMN SQRT INFINITY ROUND DAD # PL AT 0D BOV TIX,2 RESETX2 WLOOP BDDV BOV D1/128 INFINITY POLYCOEF BMN PUSH # 0D=1/W (+2) OR 16/W (+6) PL AT 2 INFINITY DSQ NORM DMP X1 R1A SRR* EXIT 0 -10D,1 TC POLY # Page 1190 DEC 5 2DEC .5 2DEC -.166666770 2DEC .100000392 2DEC -.071401086 2DEC .055503292 2DEC -.047264098 2DEC .040694204 TC INTPRET DMP SL1R # PL AT 0D PUSH BON 360SW TRUE360X XCOMMON DSQ NORM X1 DMP SRR* R1A 0 -12D,1 STODL XI # XI (+6) R1 SR1 SQRT ROUND DMP SL4R # PL AT 0 STORE X # X (+17 OR +16) DSQ NORM X1 PDDL DMP # 0D=XSQ (+34 OR +32 -N1) PL AT 2 P R1 SL3 SQRT DMP SL3R COGA STODL KEPC1 R1A BDSU CLEAR D1/64 INFINFLG STORE KEPC2 RVQ # Page 1191 RESETX2 AXT,2 3 360CHECK SETPD BPL 0D INVRSEQN SET 360SW INVRSEQN DLOAD SQRT P PDDL DMP # 0D=SQRT(P) (+2) PL AT 2 SNTH COGA SL1 PDDL # 2D=SNTH COGA (+5) PL AT 4 CSTH SR4 DAD D1/32 DSU DMP # PL AT 2,0 NORM BDDV X1 SNTH SLR* ABS # NOTE: NEAR 360 CASE TREATED DIFFERENTLY 0 -5,1 PUSH DSQ # 0D=1/W (-1) PL AT 2 STODL 34D D1/16 1/WLOOP PUSH DSQ # 2D=G (+4) PL AT 4 RTB PDDL # PL AT 7 TPMODE R1A DMP SR4 34D TAD # PL AT 4 BMN SQRT INFINITY DAD # PL AT 2 TIX,2 NORM 1/WLOOP X1 BDDV SLR* GOTO # PL AT 0 0 -7,1 POLYCOEF TRUE360X DLOAD BMN R1A # Page 1192 INFINITY SQRT NORM X1 BDDV SL* 2PISC 0 -3,1 DSU PUSH # 0D=2PI/SQRT(R1A) -X PL AT 0,2 GOTO XCOMMON INFINITY SETPD BOV # NO SOLUTION EXISTS SINCE CLOSURE THROUGH 0 # INFINITY IS REQUIRED OVFLCLR OVFLCLR SET RVQ INFINFLG # Page 1193 LAMBERT STQ SETPD RTNLAMB 0D BOV +1 CLEAR VLOAD* SOLNSW MUTABLE,1 STODL 1/MU TDESIRED DMPR BEE19 STORE EPSILONL SET VLOAD SLOPESW R1VEC PDVL CALL # 0D=R1VEC (+29 OR +27) PL AT 6 R2VEC # MPAC=R2VEC (+29 OR +27) GEOM STODL SNTH # 0D=CSTH (+1) PL AT 2 MAGVEC2 NORM PDDL X1 R1 SR1 DDV # PL AT 2 SL* PDDL # DXCH WITH 0D, 0D=R1/R2 (+7) PL AT 0,2 0 -6,1 STADR STORE CSTH # CSTH (+1) SR1 BDSU D1/4 STORE 1-CSTH # 1-CSTH (+2) ROUND BZE 360LAMB NORM PDDL # PL AT 4 X1 0D SR1 DDV # PL AT 2 SL* SQRT 0 -3,1 PDDL SR # 2D=SQRT(2R1/R2(1-CSTH)) (+5) PL AT 4 SNTH 6 DDV DAD # PL AT 2 1-CSTH STADR STORE COGAMAX BOV BMN # IF OVFL, COGAMAX=COGUPLIM UPLIM # IF NEG, USE EVEN IF LT COGLOLIM, SINCE # Page 1194 MAXCOGA # THIS WOULD BE RESET IN LAMBLOOP DSU BMN # IF COGAMAX GT COGUPLIM, COGAMAX=COGUPLIM COGUPLIM MAXCOGA # OTHERWISE OK, SO GO TO MAXCOGA UPLIM DLOAD COGUPLIM # COGUPLIM=.999511597 = MAX VALUE OF COGA STORE COGAMAX # NOT CAUSING OVFL IN R1A CALCULATION MAXCOGA DLOAD CSTH SR DSU # PL AT 0 6 STADR STODL CSTH-RHO GEOMSGN BMN DLOAD LOLIM CSTH-RHO SL1 DDV SNTH BOV LOLIM MINCOGA STORE COGAMIN # COGAMIN (+5) BON SSP GUESSW NOGUESS TWEEKIT 00001 DLOAD COGA LAMBLOOP DMP SNTH SR1 DSU CSTH-RHO NORM PDDL # 0D=SNTH COGA-(CSTH-RHO) (+7+C(X1)) PL=2 X1 1-CSTH SL* DDV # 1-CSTH (+2) PL AT 0 0 -9D,1 BMN BZE NEGP NEGP STODL P # P=(1-CSTH)/(SNTH COGA-(CSTH-RHO)) (+4) COGA DSQ DAD D1/1024 NORM DMP X1 P # Page 1195 SR* BDSU 0 -8D,1 D1/32 STODL R1A # R1A=2-P(1+COGA COGA) (+6) P BOV CALL HIENERGY GETX DLOAD T STODL TPREV XI BON CALL INFINFLG NEGP # HAVE EXCEEDED THEORETICAL BOUNDS DELTIME BOV BDSU BIGTIME TDESIRED STORE TERRLAMB ABS BDSU EPSILONL BPL RTB INITV CHECKCTR BHIZ CALL SUFFCHEK ITERATOR DLOAD BZE MPAC SUFFCHEK DAD COGA STORE COGA GOTO LAMBLOOP NEGP DLOAD BPL # IMPOSSIBLE TRAJECTORY DUE TO INACCURATE DCOGA # BOUND CALCULATION. TRY NEW COGA. LOENERGY HIENERGY SETPD DLOAD # HIGH ENERGY TRAJECTORY RESULTED 0 COGA # IN OVFL OF P OR R1A, OR XI EXCEEDING 50. STORE COGAMIN # THIS IS THE NEW BOUND. COMMONLM DLOAD SR1 DCOGA # Page 1196 STORE DCOGA # USE DCOGA/2 AS DECREMENT BZE BDSU SUFFCHEK COGA STORE COGA GOTO # RESTART THIS LOOP LAMBLOOP BIGTIME DLOAD TPREV STORE T LOENERGY SETPD DLOAD # LOW ENERGY TRAJECTORY RESULTED 0 COGA # IN OVERFLOW OF TIME. STORE COGAMAX # THIS IS THE NEW BOUND. GOTO COMMONLM SUFFCHEK DLOAD ABS TERRLAMB PDDL DMP # PL AT 2D TDESIRED BEE17 DAD DSU # PL AT 0D ONEBIT BPL SETGO INITV SOLNSW INITV 360LAMB SETPD SETGO # LAMBERT CANNOT HANDLE CSTH=1 0 SOLNSW RTNLAMB NOGUESS SSP DLOAD TWEEKIT 20000 COGAMIN SR1 PDDL # PL AT 2 COGAMAX SR1 DAD STADR # PL AT 0 STORE COGA STORE DCOGA GOTO # Page 1197 LAMBLOOP LOLIM DLOAD GOTO COGLOLIM # COGLOLIM=-.999511597 MINCOGA INITV DLOAD NORM R1 X1 PDDL SR1 # PL AT 2 P DDV # PL AT 0 SL* SQRT 0 -4,1 DMP SL1 ROOTMU PUSH DMP # 0D=VTAN (+7) PL AT 2 COGA SL VXSC 5 UR1 PDDL # XCH WITH 0D PL AT 0,6 VXSC VSL1 UN VXV VAD # PL AT 0 UR1 VSL1 STORE VVEC SLOAD BZE VTARGTAG TARGETV GOTO RTNLAMB TARGETV DLOAD CALL MAGVEC2 LAMENTER STORE VTARGET GOTO RTNLAMB # Page 1198 TIMERAD STQ SETPD # PL AT 0 RTNTR 0 BOV +1 VLOAD PDVL # PL AT 6 RVEC VVEC CALL PARAM BOV DLOAD # PL AT 0 COGAOVFL D1/32 DSU DMP R1A P SQRT DMP COGA SL4 VXSC U2 PDDL DSU # PL AT 6 D1/64 R1A VXSC VSU # PL AT 0 UR1 VSL4 UNIT BOV CIRCULAR PDDL NORM # 0D=UNIT(ECC) (+3) PL AT 6 RDESIRED # 35D=ECC (+3) X1 PDDL DMP # PL AT 8 R1 P SL* DDV # PL AT 6 0,1 DSU DDV D1/16 36D # 36D=ECC (+3) STORE COSF BOV DSQ BADR2 BDSU BMN D1/4 BADR2 SQRT SIGN SGNRDOT CLEAR APSESW # Page 1199 TERMNVEC VXSC VSL1 UN VXV PDVL # VXCH WITH 0D PL AT 0,6 0D VXSC VAD # PL AT 0 COSF VSL1 PUSH # 0D=U2 PL AT 6 DOT DDV # LIMITS RESULT TO POSMAX OR NEGMAX UR1 DP1/4 SR1 BOV # SCALE BACK DOWN TO NORMAL +1 # CLEAR OVFIND IF SET STOVL CSTH # CSTH (+1) UR1 VXV VSL1 DOT SL1 UN STODL SNTH # SNTH (+1) P CALL GETX CLRGO SOLNSW COMMNOUT CIRCULAR SETPD SETGO 0 SOLNSW ABTCONIC BADR2 DLOAD SIGN LODPHALF COSF STODL COSF KEPZERO SETGO APSESW TERMNVEC # Page 1200 APSIDES STQ SETPD # PL AT 0 RTNAPSE 0D BOV +1 VLOAD PDVL # PL AT 6 RVEC VVEC CALL PARAM BOV # PL AT 0 GETECC GETECC DMP SL4 R1A BDSU SQRT D1/64 STORE ECC DAD PDDL # PL AT 2 D1/8 R1 DMP SL1 P DDV # PL AT 0 PDDL NORM # 0D=RP (+29 OR +27) PL AT 2 R1A X1 PDDL SL* # PL AT 4 R1 0 -5,1 DDV DSU # PL AT 2,0 BOV BMN INFINAPO INFINAPO GOTO RTNAPSE INFINAPO DLOAD GOTO # RETURNS WITH APOAPSIS IN MPAC, PERIAPSIS LDPOSMAX RTNAPSE # THAT PL IS AT 0. # Page 1201 ABTCONIC EXIT TC POODOO OCT 00607 # Page 1202 LDPOSMAX EQUALS LODPMAX # DPPOSMAX IN LOW MEMORY. # ERASABLE ASSIGNEMENTS # KEPLER SUBROUTINE # INPUT - # RRECT ERASE +5 # VRECT ERASE +5 # TAU. ERASE +1 # XKEP ERASE +1 # TC ERASE +1 # XPREV ERASE +1 1/MU EQUALS 14D ROOTMU EQUALS 16D 1/ROOTMU EQUALS 18D # OUTPUT - # RCV ERASE +5 # VCV ERASE +5 # RC ERASE +1 # XPREV ERASE +1 # DEBRIS - ALPHA EQUALS 8D XMAX EQUALS 10D XMIN EQUALS 12D X EQUALS 20D XI EQUALS 24D S(XI) EQUALS 26D XSQC(XI) EQUALS 28D T EQUALS 30D R1 EQUALS 32D KEPC1 EQUALS 34D KEPC2 EQUALS 36D # DELX ERASE +1 # DELT ERASE +1 # URRECT ERASE +5 # RCNORM ERASE +1 # XPREV EQUALS XKEP # LAMBERT SUBROUTINE # # INPUT - # R1VEC ERASE +5 # R2VEC ERASE +5 # TDESIRED ERASE +1 # GEOMSGN ERASE +0 # GUESSW # 0 IF COGA GUESS AVIABLE, 1 IF NOT # Page 1203 # COGA ERASE +1 # INPUT ONLY IF GUESS IS ZERO. # NORMSW # 0 IF UN TO BE COMPUTED, 1 IF UN INPUT # UN ERASE +5 # ONLY USED IF NORMSW IS 1 # VTARGTAG ERASE +0 # TWEEKIT EQUALS 40D # ONLY USED IF GUESSW IS 0 # OUTPUT - # VTARGET ERASE +5 # AVAILABLE ONLY IF VTARGTAG IS ZERO. # V1VEC EQUALS MPAC # DEBRIS - # RTNLAMB ERASE +0 # U2 ERASE +5 # MAGVEC2 ERASE +1 # UR1 ERASE +5 # R1 EQUALS 31D # UN ERASE +5 # SNTH ERASE +1 # CSTH ERASE +1 # 1-CSTH ERASE +1 # CSTH-RHO ERASE +1 COGAMAX EQUALS 14D # CLOBBERS 1/MU COGAMIN EQUALS 8D DCOGA EQUALS 12D # TWEEKIT EQUALS 40D # P ERASE +1 # COGA ERASE +1 # R1A ERASE +1 # X EQUALS 20D # XSQ EQUALS 22D # XI EQUALS 24D # S(XI) EQUALS 26D # XSQC(XI) EQUALS 28D # T EQUALS 30D # KEPC1 EQUALS 34D # KEPC2 EQUALS 36D # SLOPESW # SOLNSW # OTHERS - # RVEC EQUALS R1VEC # VVEC ERASE +5 # COGAFLAG # RVSW # INFINFLG # APSESW # 360SW # RTNTT EQUALS RTNLAMB # ECC ERASE +1 # RTNTR EQUALS RTNLAMB # Page 1204 # RTNAPSE EQUALS RTNLAMB # R2 EQUALS MAGVEC2 COSF EQUALS 24D # RTNPRM ERASE +0 # SCNRDOT ERASE +0 # RDESIRED ERASE +1 # ITERATOR SUBROUTINE # ORDERSW MAX EQUALS 14D # CLOBBERS 1/MU MIN EQUALS 8D # INDEP ERASE +1 DELINDEP EQUALS 12D ITERCTR EQUALS 22D DEP EQUALS 30D # DELDEP ERASE +1 # DEPREV ERASE +1 TWEEKIT EQUALS 40D # MORE KEPLER # EPSILONT ERASE +1 # MORE LAMBERT # TERRLAMB EQUALS DELDEP # TPREV EQUALS DEPREV # EPSILONL EQUALS EPSILONT +2 # DOUBLE PRECISION WORD ================================================ FILE: Luminary099/CONTROLLED_CONSTANTS.agc ================================================ # Copyright: Public domain. # Filename: CONTROLLED_CONSTANTS.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # # Assembler: yaYUL # Contact: Jim Lawton # Website: www.ibiblio.org/apollo. # Pages: 038-053 # Mod history: 2009-05-16 JVL Transcribed from page images. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 38 # DPS AND APS ENGINE PARAMETERS SETLOC P40S BANK COUNT* $$/P40 # *** THE ORDER OF THE FOLLOWING SIX CONSTANTS MUST NOT BE CHANGED *** FDPS 2DEC 4.3670 B-7 # 9817.5 LBS FORCE IN NEWTONS MDOTDPS 2DEC 0.1480 B-3 # 32.62 LBS/SEC IN KGS/CS DTDECAY 2DEC -38 FAPS 2DEC 1.5569 B-7 # 3500 LBS FORCE IN NEWTONS MDOTAPS 2DEC 0.05135 B-3 # 11.32 LBS/SEC IN KGS/CS ATDECAY 2DEC -10 # ******************************************************************** FRCS4 2DEC 0.17792 B-7 # 400 LBS FORCE IN NEWTONS FRCS2 2DEC 0.08896 B-7 # 200 LBS FORCE IN NEWTONS SETLOC P40S1 BANK COUNT* $$/P40 # *** APS IMPULSE DATA FOR P42 *************************************** K1VAL 2DEC 124.55 B-23 # 2800 LB-SEC K2VAL 2DEC 31.138 B-24 # 700 LB-SEC K3VAL 2DEC 1.5569 B-10 # FAPS (3500 LBS THRUST) # ******************************************************************** S40.136 2DEC .4671 B-9 # .4671 M NEWTONS (DPS) S40.136_ 2DEC .4671 B+1 # S40.136 SHIFTED LEFT 10. SETLOC ASENT1 BANK COUNT* $$/P70 (1/DV)A 2DEC 15.20 B-7 # 2 SECONDS WORTH OF INITIAL ASCENT # Page 39 # STAGE ACCELERATION -- INVERTED (M/CS) # 1) PREDICATED ON A LIFTOFF MASS OF # 4869.9 KG (SNA-8-D-027 7/11/68) # 2) PREDICATED ON A CONTRIBUTION TO VEH- # ICLE ACCELERATION FROM RCS THRUSTERS # EQUIV. TO 1 JET ON CONTINUOUSLY. K(1/DV) 2DEC 436.70 B-9 # DPS ENGINE THRUST IN NEWTONS / 100 CS. (AT)A 2DEC 3.2883 E-4 B9 # INITIAL ASC. STG. ACCELERATION ** M/CS. # ASSUMPTIONS SAME AS FOR (1/DV)A. (TBUP)A 2DEC 91902 B-17 # ESTIMATED BURN-UP TIME OF THE ASCENT STG. # ASSUMPTIONS SAME AS FOR (1/DV)A WITH THE # ADDITIONAL ASSUMPTION THAT NET MASS-FLOW # RATE = 5.299 KG/SEC = 5.135 (APS) + # .164 (1 RCS JET). SETLOC ASENT BANK COUNT* $$/ASENT AT/RCS 2DEC .0000785 B+10 # 4 JETS IN A DRY LEM SETLOC SERVICES BANK COUNT* $$/SERV # *** THE ORDER OF THE FOLLOWING TWO CONSTANTS MUST NOT BE CHANGED ******* APSVEX DEC -3030 E-2 B-5 # 9942 FT/SEC IN M/CS. DPSVEX DEC* -2.95588868 E+1 B-05* # VE (DPS) +2.95588868E+ 3 # ************************************************************************ SETLOC F2DPS*31 BANK COUNT* $$/F2DPS TRIMACCL 2DEC* +3.50132708 E-5 B+08* # A (T) +3.50132708E- 1 # Page 40 # THROTTLING AND THRUST DETECTION PARAMETERS SETLOC P40S BANK COUNT* $$/P40 THRESH1 DEC 24 THRESH3 DEC 12 HIRTHROT = BIT13 SETLOC FFTAG5 BANK COUNT* $$/P40 THRESH2 DEC 308 SETLOC FTHROT BANK COUNT* $$/THROT FMAXODD DEC +3841 # FSAT +4.81454413 E+4 FMAXPOS DEC +3467 # FMAX +4.34546769 E+4 THROTLAG DEC +20 # TAU (TH) +1.99999999 E-1 SCALEFAC 2DEC* +7.97959872 E+2 B-16* # BITPERF +7.97959872 E-2 SETLOC F2DPS*32 BANK COUNT* $$/F2DPS DPSTHRSH DEC 36 # (THRESH1 + THRESH3 FOR P63) # Page 41 # LM HARDWARE-RELATED PARAMETERS SETLOC RADARUPT BANK COUNT* $$/RRUPT LVELBIAS DEC -12288 # LANDING RADAR BIAS FOR 153.6 KC. RDOTBIAS 2DEC 17000 # BIAS COUNT FOR RR RANGE RATE. SETLOC LRS22 BANK COUNT* $$/LRS22 RDOTCONV 2DEC -.0019135344 B7 # CONVERTS RR RDOT READING TO M/CS AT 2(7) RANGCONV 2DEC 2.859024 B-3 # CONVERTS RR RANGE READING TO M. AT 2(-29 SETLOC SERVICES BANK COUNT* $$/SERV HBEAMANT 2DEC -.4687018041 # RANGE BEAM IN LR ANTENNA COORDINATES. 2DEC 0 2DEC -.1741224271 HSCAL 2DEC -.3288792 # SCALES 1.079 FT/BIT TO 2(22)M. # ***** THE SEQUENCE OF THE FOLLOWING CONSTANTS MUST BE PRESERVED ********* VZSCAL 2DEC +.5410829105 # SCALES .8668 FT/SEC/BIT TO 2(18) M/CS. VYSCAL 2DEC +.7565672446 # SCALES 1.212 FT/SEC/BIT TO 2(18) M/CS. VXSCAL 2DEC -.4020043770 # SCALES -.644 FT/SEC/BIT TO 2(18) M/CS. # ************************************************************************* KPIP DEC .0512 # SCALES DELV TO UNITS OF 2(5) M/CS. KPIP1 2DEC .0128 # SCALES DELV TO UNITS OF 2(7) M/CS. KPIP2 2DEC .0064 # SCALES DELV TO UNITS OF 2(8) M/CS. # Page 42 ALTCONV 2DEC 1.399078846 B-4 # CONVERTS M*2(-24) TO BIT UNITS *2(-28). ARCONV1 2DEC 656.167979 B-10 # CONV. ALTRATE COMP. TO BIT UNITS< SETLOC R10 BANK COUNT* $$/R10 ARCONV OCT 24402 # 656.1679798B-10 CONV ALTRATE TO BIT UNIT ARTOA DEC .1066098 B-1 # .25/2.345 B-1 4X/SEC CYCLE RATE. ARTOA2 DEC .0021322 B8 # (.5)/(2.345)(100) VELCONV OCT 22316 # 588.914 B-10 CONV VEL. TO BIT UNITS. KPIP1(5) DEC .0512 # SCALES DELV TO M/CS*2(-5). MAXVBITS OCT 00547 # MAX. DISPLAYED VELOCITY 199.9989 FT/SEC. SETLOC DAPS3 BANK COUNT* $$/DAPAO TORKJET1 DEC .03757 # 550 / .2 SCALED AT (+16) 64 / 180 # Page 43 # PARAMETERS RELATING TO MASS, INERTIA, AND VEHICLE DIMENSIONS SETLOC FRANDRES BANK COUNT* $$/START FULLAPS DEC 5050 B-16 # NOMINAL FULL ASCENT MASS -- 2(16) KG. SETLOC LOADDAP1 BANK COUNT* $$/R03 MINLMD DEC -2850 B-16 # MIN. DESCENT STAGE MASS -- 2(16) KG. MINMINLM DEC -2200 B-16 # MIN ASCENT STAGE MASS -- 2(16) KG. MINCSM = BIT11 # MIN CSM MASS (OK FOR 1/ACCS) = 9050 LB SETLOC DAPS3 BANK COUNT* $$/DAPAD LOASCENT DEC 2200 B-16 # MIN ASCENT LEM MASS -- 2(16) KG. HIDESCNT DEC 15300 B-16 # MAX DESCENT LEM MASS -- 2(16) KG. LODESCNT DEC 1750 B-16 # MIN DESCENT STAGE (ALONE) -- 2(16) KG. # Page 44 # PHYSICAL CONSTANTS ( TIME - INVARIANT ) SETLOC IMU2 BANK COUNT* $$/P07 OMEG/MS 2DEC .24339048 SETLOC R30LOC BANK COUNT* $$/R30 # *** THE ORDER OF THE FOLLOWING TWO CONSTANTS MUST BE PRESERVED *********** 1/RTMUM 2DEC* .45162595 E-4 B14* 1/RTMUE 2DEC* .50087529 E-5 B17* # ************************************************************************** SETLOC P40S1 BANK COUNT* $$/S40.9 EARTHMU 2DEC* -3.986032 E10 B-36* # M(3)/CS(2) SETLOC ASENT1 BANK COUNT* $$/P12 MUM(-37) 2DEC* 4.9027780 E8 B-37* MOONRATE 2DEC* .26616994890062991 E-7 B+19* # RAD/CS. SETLOC SERVICES BANK COUNT* $$/SERV # *** THE ORDER OF THE FOLLOWING TWO CONSTANTS MUST BE PRESERVED *********** -MUDT 2DEC* -7.9720645 E+12 B-44* -MUDT1 2DEC* -9.8055560 E+10 B-44* # ************************************************************************** -MUDTMUN 2DEC* -9.8055560 E+10 B-38* RESQ 2DEC* 40.6809913 E12 B-58* # Page 45 20J 2DEC 3.24692010 E-2 2J 2DEC 3.24692010 E-3 SETLOC P50S1 BANK COUNT* $$/LOSAM RSUBEM 2DEC 384402000 B-29 RSUBM 2DEC 1738090 B-29 RSUBE 2DEC 6378166 B-29 ROE 2DEC .00257125 SETLOC CONICS1 BANK COUNT* $$/LT-LG ERAD 2DEC 6373338 B-29 # PAD RADIUS 504RM 2DEC 1738090 B-29 # METERS B-29 (EQUATORIAL MOON RADIUS) SETLOC CONICS1 BANK COUNT* $$/CONIC # *** THE ORDER OF THE FOLLOWING CONSTANTS MUST BE PRESERVED ************** MUTABLE 2DEC* 3.986032 E10 B-36* # MUE 2DEC* .25087606 E-10 B+34* # 1/MUE 2DEC* 1.99650495 E5 B-18* # SQRT(MUE) 2DEC* .50087529 E-5 B+17* # 1/SQRT(MUE) 2DEC* 4.902778 E8 B-30* # MUM 2DEC* .203966 E-8 B+28* # 1/MUM 2DEC* 2.21422176 E4 B-15* # SQRT(MUM) 2DEC* .45162595 E-4 B+14* # 1/SQRT(MUM) # ************************************************************************* # Page 46 SETLOC INTINIT BANK COUNT* $$/INTIN OMEGMOON 2DEC* 2.66169947 E-8 B+23* SETLOC ORBITAL2 BANK COUNT* $$/ORBIT # *** THE ORDER OF THE FOLLOWING CONSTANTS MUST NOT BE CHANGED ************ 2DEC* 1.32715445 E16 B-54* MUM 2DEC* 4.9027780 E8 B-30* MUEARTH 2DEC* 3.986032 E10 B-36* 2DEC 0 J4REQ/J3 2DEC* .4991607391 E7 B-26* 2DEC -176236.02 B-25 2J3RE/J2 2DEC* -.1355426363 E5 B-27* 2DEC* .3067493316 E18 B-60* J2REQSQ 2DEC* 1.75501139 E21 B-72* 3J22R2MU 2DEC* 9.20479048 E16 B-58* # ************************************************************************* SETLOC TOF-FF1 BANK COUNT* $$/TFF 1/RTMU 2DEC* .5005750271 E-5 B17* # MODIFIED EARTH MU SETLOC SBAND BANK COUNT* $$/R05 REMDIST 2DEC 384402000 B-29 # MEAN DISTANCE BETWEEN EARTH AND MOON. # Page 47 # PHYSICAL CONSTANTS (TIME - VARIANT) SETLOC STARTAB BANK COUNT* $$/STARS 2DEC +.8342971408 B-1 # STAR 37 X 2DEC -.2392481515 B-1 # STAR 37 Y 2DEC -.4966976975 B-1 # STAR 37 Z 2DEC +.8139832631 B-1 # STAR 36 X 2DEC -.5557243189 B-1 # STAR 36 Y 2DEC +.1691204557 B-1 # STAR 36 Z 2DEC +.4541086270 B-1 # STAR 35 X 2DEC -.5392368197 B-1 # STAR 35 Y 2DEC +.7092312789 B-1 # STAR 35 Z 2DEC +.3201817378 B-1 # STAR 34 X 2DEC -.4436021946 B-1 # STAR 34 Y 2DEC -.8370786986 B-1 # STAR 34 Z 2DEC +.5520184464 B-1 # STAR 33 X 2DEC -.7933187400 B-1 # STAR 33 Y 2DEC -.2567508745 B-1 # STAR 33 Z 2DEC +.4537196908 B-1 # STAR 32 X 2DEC -.8779508801 B-1 # STAR 32 Y 2DEC +.1527766153 B-1 # STAR 32 Z 2DEC +.2069525789 B-1 # STAR 31 X 2DEC -.8719885748 B-1 # STAR 31 Y 2DEC -.4436288486 B-1 # STAR 31 Z 2DEC +.1217293692 B-1 # STAR 30 X 2DEC -.7702732847 B-1 # STAR 30 Y # Page 48 2DEC +.6259880410 B-1 # STAR 30 Z 2DEC -.1124304773 B-1 # STAR 29 X 2DEC -.9694934200 B-1 # STAR 29 Y 2DEC +.2178116072 B-1 # STAR 29 Z 2DEC -.1146237858 B-1 # STAR 28 X 2DEC -.3399692557 B-1 # STAR 28 Y 2DEC -.9334250333 B-1 # STAR 28 Z 2DEC -.3516499609 B-1 # STAR 27 X 2DEC -.8240752703 B-1 # STAR 27 Y 2DEC -.4441196390 B-1 # STAR 27 Z 2DEC -.5326876930 B-1 # STAR 26 X 2DEC -.7160644554 B-1 # STAR 26 Y 2DEC +.4511047742 B-1 # STAR 26 Z 2DEC -.7861763936 B-1 # STAR 25 X 2DEC -.5217996305 B-1 # STAR 25 Y 2DEC +.3311371675 B-1 # STAR 25 Z 2DEC -.6898393233 B-1 # STAR 24 X 2DEC -.4182330640 B-1 # STAR 24 Y 2DEC -.5909338474 B-1 # STAR 24 Z 2DEC -.5812035376 B-1 # STAR 23 X 2DEC -.2909171294 B-1 # STAR 23 Y 2DEC +.7599800468 B-1 # STAR 23 Z 2DEC -.9170097662 B-1 # STAR 22 X 2DEC -.3502146628 B-1 # STAR 22 Y 2DEC -.1908999176 B-1 # STAR 22 Z # Page 49 2DEC -.4523440203 B-1 # STAR 21 X 2DEC -.0493710140 B-1 # STAR 21 Y 2DEC -.8904759346 B-1 # STAR 21 Z 2DEC -.9525211695 B-1 # STAR 20 X 2DEC -.0593434796 B-1 # STAR 20 Y 2DEC -.2986331746 B-1 # STAR 20 Z 2DEC -.9656605484 B-1 # STAR 19 X 2DEC +.0525933156 B-1 # STAR 19 Y 2DEC +.2544280809 B-1 # STAR 19 Z 2DEC -.8608205219 B-1 # STAR 18 X 2DEC +.4636213989 B-1 # STAR 18 Y 2DEC +.2098647835 B-1 # STAR 18 Z 2DEC -.7742591356 B-1 # STAR 17 X 2DEC +.6152504197 B-1 # STAR 17 Y 2DEC -.1482892839 B-1 # STAR 17 Z 2DEC -.4657947941 B-1 # STAR 16 X 2DEC +.4774785033 B-1 # STAR 16 Y 2DEC +.7450164351 B-1 # STAR 16 Z 2DEC -.3612508532 B-1 # STAR 15 X 2DEC +.5747270840 B-1 # STAR 15 Y 2DEC -.7342932655 B-1 # STAR 15 Z 2DEC -.4118589524 B-1 # STAR 14 X 2DEC +.9065485360 B-1 # STAR 14 Y 2DEC +.0924226975 B-1 # STAR 14 Z 2DEC -.1820751783 B-1 # STAR 13 X # Page 50 2DEC +.9404899869 B-1 # STAR 13 Y 2DEC -.2869271926 B-1 # STAR 13 Z 2DEC -.0614937230 B-1 # STAR 12 X 2DEC +.6031563286 B-1 # STAR 12 Y 2DEC -.7952489957 B-1 # STAR 12 Z 2DEC +.1371725575 B-1 # STAR 11 X 2DEC +.6813721061 B-1 # STAR 11 Y 2DEC +.7189685267 B-1 # STAR 11 Z 2DEC +.2011399589 B-1 # STAR 10 X 2DEC +.9690337941 B-1 # STAR 10 Y 2DEC -.1432348512 B-1 # STAR 10 Z 2DEC +.3507315038 B-1 # STAR 9 X 2DEC +.8926333307 B-1 # STAR 9 Y 2DEC +.2831839492 B-1 # STAR 9 Z 2DEC +.4105636020 B-1 # STAR 8 X 2DEC +.4988110001 B-1 # STAR 8 Y 2DEC +.7632988371 B-1 # STAR 8 Z 2DEC +.7032235469 B-1 # STAR 7 X 2DEC +.7075846047 B-1 # STAR 7 Y 2DEC +.0692868685 B-1 # STAR 7 Z 2DEC +.5450107404 B-1 # STAR 6 X 2DEC +.5314955466 B-1 # STAR 6 Y 2DEC -.6484410356 B-1 # STAR 6 Z 2DEC +.0130968840 B-1 # STAR 5 X 2DEC +.0078062795 B-1 # STAR 5 Y # Page 51 2DEC +.9998837600 B-1 # STAR 5 Z 2DEC +.4917678276 B-1 # STAR 4 X 2DEC +.2204887125 B-1 # STAR 4 Y 2DEC -.8423473935 B-1 # STAR 4 Z 2DEC +.4775639450 B-1 # STAR 3 X 2DEC +.1166004340 B-1 # STAR 3 Y 2DEC +.8708254803 B-1 # STAR 3 Z 2DEC +.9342640400 B-1 # STAR 2 X 2DEC +.1735073142 B-1 # STAR 2 Y 2DEC -.3115219339 B-1 # STAR 2 Z 2DEC +.8748658918 B-1 # STAR 1 X 2DEC +.0260879174 B-1 # STAR 1 Y 2DEC +.4836621670 B-1 # STAR 1 Z CATLOG DEC 6970 # ******************************************************************************* SETLOC EPHEM1 BANK COUNT* $$/EPHEM KONMAT 2DEC 1.0 B-1 # ******************** 2DEC 0 # * 2DEC 0 # * 2DEC 0 # * 2DEC .91745 B-1 # K1 COS(OBL) * 2DEC -.03571 B-1 # K2 SIN(OBL)SIN(IM) * 2DEC 0 # * 2DEC .39784 B-1 # K3 SIN(OBL) * # Page 52 2DEC .082354 B-1 # K4 COS(OBL)SIN(IM) * CSTODAY 2DEC 8640000 B-33 # * NOTE: * RCB-13 OCT 00002 # * TABLES CONTAIN * OCT 00000 # * CONSTANTS FOR * RATESP 2DEC .03660098 B+4 # LOMR * 1969 - 1970 * 2DEC .00273779 B+4 # LOSR 2DEC -.00014719 B+4 # LONR 2DEC .815282336 # LOMO 2DEC .274674910 # LOSO 2DEC .986209499 # LONO VAL67 2DEC* .01726666666 B+1* # AMOD 2DEC .530784445 # AARG 2DEC .036291712 B+1 # 1/27 2DEC .003505277 B+1 # BMOD 2DEC .585365625 # BARG 2DEC .03125 B+1 # 1/32 2DEC .005325277 B+1 # CMOD 2DEC -.01106341036 # CARG 2DEC .002737925 B+1 # 1/365 # ******************************************************************************** SETLOC PLANTIN2 BANK COUNT* $$/LUROT COSI 2DEC .99964173 B-1 # COS (5521.5 SEC.) B-1 SINI 2DEC .02676579 B-1 # SIN (5521.5 SEC.) B-1 NODDOT 2DEC -.457335121 E-2 # REV/CSEC B+28 = -1.07047011 E-8 RAD/SEC FDOT 2DEC .570863327 # REV/CSEC B+27 = 2.67240410 E-6 RAD/SEC # Page 53 BDOT 2DEC -3.07500686 E-8 # REV/CSEC B+28 = -7.19757301 E-14 RAD/SEC NODIO 2DEC .986209434 # REVS B-D = 6.19653663041 RAD FSUBO 2DEC .829090536 # REVS B-D = 5.20932947829 RAD BSUBO 2DEC .0651201393 # REVS B-D = 0.40916190299 RAD WEARTH 2DEC .973561595 # REV/CSEC B+23 = 7.29211494 E-5 RAD/SEC ================================================ FILE: Luminary099/DAPIDLER_PROGRAM.agc ================================================ # Copyright: Public domain. # Filename: DAPIDLER_PROGRAM.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1410-1420 # Mod history: 2009-05-10 SN (Sergio Navarro). Started adapting # from the Luminary131/ file of the same # name, using Luminary099 page images. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 1410 # THE DAPIDLER PROGRAM IS STARTED BY FRESH START AND RESTART. THE DAPIDLER PROGRAM IS DONE 10 TIMES # PER SECOND UNTIL THE ASTRONAUT DESIRES THE DAP TO WAKE UP, AND THE IMU AND CDUS ARE READY FOR USE BY THE DAP. # THE NECESSARY INITIALIZATION OF THE DAP IS DONE BY THE DAPIDLER PROGRAM. BANK 16 SETLOC DAPS1 BANK EBANK= AOSQ COUNT* $$/DAPID CHEKBITS EXTEND READ CHAN31 # IF BOTH BIT13 AND BIT14 ARE ONE, THEN COM # THE MODE SELECT SWITCH IS IN THE OFF MASK BIT13-14 # POSITION, AND SO THE DAP SHOULD BE OFF, EXTEND # WITH NO ATTITUDE ERROR DISPLAY. BZF MOREIDLE CS IMODES33 MASK BIT6 CCS A TCF JUMPDSP CS RCSFLAGS # IMU NOT USABLE. SET UP INITIALIZATION MASK BIT3 # FLAG FOR ATT ERROR DISPLAY ROUTINE. ADS RCSFLAGS TCF SHUTDOWN CHEKMORE CAF BIT10 # BIT 10 OF 30 IS PGNCS CONTROL OF S/C EXTEND RAND CHAN30 # BITS IN 30 ARE INVERTED CCS A TCF MOREIDLE RETURN # Page 1411 # DAPIDLER ENTRY. DAPIDLER LXCH BANKRUPT # INTERRUPT LEAD INS (CONTINUED) EXTEND QXCH QRUPT CA RCSFLAGS MASK BIT13 CCS A # CHECK IF 1/ACCJOB HAS BEEN SET UP SINCE TCF CHECKUP # THE LAST FRESH START OR RESTART. CA BIT13 ADS RCSFLAGS # BIT 13 IS 1. CAF PRIO27 TC NOVAC # SET UP JOB TO DO A LITTLE INITIALIZATION EBANK= AOSQ # AND EXECUTE 1/ACCS. 2CADR 1/ACCSET # (WILL BRANCH TO MOREIDLE ON ACCSOKAY) CHECKUP TC CHEKBITS # CHECK TO SEE IF LM DAP IS TO GO ON AND # DO ERROR DISPLAY. CAE DAPBOOLS # IF 1/ACCS HAS NOT BEEN COMPLETED, IDLE. MASK ACCSOKAY # NOTE: ONLY FRESH START AND RESTART EXTEND # KNOCK THIS BIT DOWN. BZF MOREIDLE STARTDAP TC IBNKCALL # ZERO ATTITUDE ERROR AND DESIRED RATES. FCADR ZATTEROR CAF ZERO # ********** INITIALIZE: ********** TS TJP TS TJU TS TJV TS OMEGAP # RATES IN BODY (PILOT) COORDINATES. TS OMEGAQ TS OMEGAR TS TRAPEDP TS TRAPEDQ TS TRAPEDR TS AOSQ # OFFSET ACCELERATION ESTIMATES. TS AOSQ +1 TS AOSR TS AOSR +1 TS ALPHAQ # COPIES OF OFFSET ESTIMATES FOR DOWNLIST. TS ALPHAR TS NEGUQ TS NEGUR TS AOSQTERM # QRAXIS RATE DERIVATION TERMS AND KALMAN TS AOSRTERM # FILTER INITIALIZATION TERMS. TS QACCDOT # DESCENT ACCELERATION DERIVATIVE EST. TS RACCDOT # Page 1412 TS ALLOWGTS # AOSTASK FLAG FOR QRAXIS RCS CONTROL USE. TS COTROLER # DO TRYGTS ON FIRST PASS (WILL GO TO RCS) TS INGTS # RECOGNIZE FIRST GTS PASS AS SUCH. TS QGIMTIMR # STOP GIMBAL DRIVES. (PROBABLY WOULD BE TS RGIMTIMR # GOOD ENOUGH JUST TO INACTIVATE TIMERS) TS OLDPMIN # MINIMUM IMPULSE MODE ERASABLES TS OLDQRMIN TS PJETCTR # INITIALIZE DOCKED JET INHIBITION TS UJETCTR # COUNTERS TS VJETCTR CALLGMBL EQUALS BIT5 # RCSFLAGS INITIALIZATION. CS MANFLAG MASK RCSFLAGS # NEGUQ(R) HAVE BEEN GENERATED. TS RCSFLAGS # SET UP "OLD" MEASURED CDU ANGLES: EXTEND DCA CDUX # OLDXFORP AND OLDYFORP DXCH OLDXFORP CA CDUZ TS OLDZFORQ CS RCSFLAGS MASK BIT12 ADS RCSFLAGS # BIT 12 SET TO 1. CA FOUR TS SKIPU TS SKIPV CA POSMAX TS TIME6 TS T6NEXT TS T6FURTHA CA ZERO TS T6NEXT +1 TS T6FURTHA +1 TS NXT6ADR TS NEXTP TS NEXTU TS NEXTV CS TEN TS DAPZRUPT # JASK NOT IN PROGRESS, INITIALIZE NEG. CA TWO TS NPTRAPS TS NQTRAPS TS NRTRAPS EXTEND DCA PAXADIDL DXCH T5ADR SETTIME5 CAF MS100 TS TIME5 # Page 1413 TCF RESUME EBANK= AOSQ IDLERADR 2CADR DAPIDLER MOREIDLE TC IBNKCALL # CALCULATE Q,R-AXES ATTITUDE ERRORS. CADR QERRCALC TC IBNKCALL CADR CALCPERR # CALCULATE P AXIS ATTITUDE ERRORS. SHUTDOWN EXTEND DCA IDLERADR DXCH T5ADR CAF ZERO # KILL ANY POSSIBLE JET REQUESTS TS NEXTP TS NEXTU TS NEXTV EXTEND # COMMAND JETS OFF. WRITE CHAN5 EXTEND WRITE CHAN6 CS BGIM23 # TURN TRIM GIMBAL OFF EXTEND WAND CHAN12 TCF SETTIME5 # RETURN IN 100 MSEC. MANFLAG OCT 03021 BGIM23 OCTAL 07400 EBANK= OMEGAP PAXADIDL 2CADR PAXIS MS100 = OCT37766 COSMG = ITEMP1 JUMPDSP EXTEND # TRANSFER TO BANK 20 DCA DSPCADR # FOR ATTITUDE ERROR DISPLAYS DTCB EBANK= AK DSPCADR 2CADR ALTDSPLY # Page 1414 BANK 20 SETLOC DAPS3 BANK COUNT* $$/NEEDL # PROGRAM: ALTDSPLY # # MOD 0. 6 DEC 1967 # # AUTHOR: CRAIG WORK, DON KEENE, MIT IL # # MOD 3 BY DON KEENE AUG 1, 1968 MOVED PROGRAM TO BANK 20 # # PROGRAM DESCRIPTION: # # ALTDSPLY REVERSES THE DSPLYALT BIT OF RCSFLAGS EACH TIME IT IS CALLED, WHICH IS PRESUMABLY EVERY 100 MS. # IF THE REVERSED BIT IS ONE, NEEDLER IS CALLED TO DISPLAY ATTITUDE ERRORS. IF THE BIT IS ZERO, THE ATTITUDE ERR- # ORS ARE CALCULATED AS 1) DAP FOLLOWING ERRORS, IF NEEDLFLG = 0, AND 2) TOTAL ATTITUDE ERRORS FOR NEEDLFLG = 1. # # WARNING: ALTDSPLY MAY ONLY BE CALLED WITH INTERRUPT INHIBITED. # # WARNING: EBANK MUST BE SET TO 6 WHEN USING THIS ROUTINE. # # INPUT: RCSFLAGS AND 1) IF NEEDLFLG=0, INPUT PERROR,QERROR,RERROR. # 2) IF NEEDLFLG=1, INPUT CPHI,CTHETA,CPSI,CDUX,CDUY,CDUZ,M11,M21,M32,M22,M32. (GPMATRIX) # # OUTPUTS: RCSFLAGS WITH DSPLYALT REVERSED,AK,AK1,AK2,+ NEEDLER OUTPUTS. # # ENTRY: TCF ALTDSPLY # # EXIT: TCF CHEKMORE # # ALARM OR ABORT EXITS: NONE # # SUBPROGRAMS CALLED: NEEDLER, OVERSUB2 # # DEBRIS: A,L,AND NEEDLER DEBRIS. ALTDSPLY CA RCSFLAGS # INVERT THE DISPLAY ALTERNATION BIT. TS L CA DSPLYALT EXTEND RXOR LCHAN TS RCSFLAGS MASK DSPLYALT CCS A # IS ALTERNATION FLAG ZERO? TCF NEEDLER CAE FLAGWRD0 # NEEDLFLG WILL INDICATE TOTAL OR DAP AT- # Page 1415 MASK NEEDLBIT # TITUDE ERROR DISPLAY REQUEST. CCS A TCF DSPLYTOT # TOTAL ERROR IS NEEDED IN AK,AK +1,AK +2 CS QERROR # YES. DISPLAY ATT ERRORS ON THE ,-BALL. TS AK +1 # ERROR COMPLEMENTS ARE INPUT TO NEEDLER. CS RERROR TS AK +2 CS PERROR XCH AK TCF RETNMORE # DISPLAY THESE THE NEXT TIME THROUGH # CALCULATE GIMBAL ANGLE TOTAL ERRORS, RESOLVE INTO PILOT AXES, STORE TOTAL ERRORS FOR NEEDLER. Q-AXIS FIRST. DSPLYTOT EXTEND QXCH ITEMP1 # SAVE Q FOR CHEKBITS RETURN. CA CTHETA # DESIRED ATTITUDE, Y-AXIS, 2'S COMP. EXTEND # SUBTRACT CURRENT ATTITUDE. MSU CDUY # DIFFERENCE SCALED AT PI, 1'S COMP. TS AK # SAVE FOR R-ERROR CALCULATION. EXTEND MP M21 # (CHTETA-CDUY)*M21 SCALED AT PI RADIANS. XCH AK +1 # STORE FIRST TERM OF Q ERROR. CA CPSI # DESIRED ATTITUDE,Z-AXIS, 2'S COMP. EXTEND # SUBTRACT CURRENT ATTITUDE. MSU CDUZ # DIFFERENCE SCALED AT PI, 1'S COMP. TS AK +2 # SAVE Z-AXIS TERM FOR R ERROR CALCULATION EXTEND MP M22 # (CPSI-CDUZ)*M22, SCALED AT PI RADIANS. AD AK +1 # Q ERROR COMPLETE , AT PI RAD. TC OVERSUB2 # PIN NEEDLES IN CASE OF OVERFLOW TS AK +1 # R ERROR CALCULATION NEXT. CA AK # Y-AXIS DIFFERENCE STORED BY Q-AXIS CALC. EXTEND MP M31 # (CTHETA-CDUY)*M31, SCALED AT PI RADIANS. XCH AK +2 # FIRST TERM OF R ERROR. # Z-AXIS DIFFERENCE, STORED BY A CALC. IS EXTEND # RECOVERED BY THE EXCHANGE. MP M32 # (CPSI-CDUZ)*M32, SCALED AT PI RADIANS. AD AK +2 # R ERROR COMPLETE , AT PI RAD. TC OVERSUB2 # PIN NEEDLES IN CASE OF OVERFLOW. TS AK +2 # NOW CALCULATE P ERROR. (NOTE THAT M13 = 1, SCALED AT 1, SO THE MULTIPLICATION IS BY-PASSED.) # Page 1416 CA AK # Y-AXIS DIFFERENCE STORED BY Q AXIS CALC. EXTEND MP M11 # (CTHETA-CDUY)*M11 SCALED AT PI RADIANS. XCH AK # FIRST TERM OF P ERROR IN AK, AT PI RAD. CAE CPHI # DESIRED ATTITUDE, X-AXIS, 2'S COMP. EXTEND # SUBTRACT CURRENT X ATTITUDE. MSU CDUX # X-AXIS DIFFERENCE, 1'S COMP, AT PI RAD. # M13 = 1, SO BYPASS THE MULTIPLICATION. # EXTEND # MP M13 (CPHI-CDUX)*M13 SCALED AT PI RADIANS. AD AK # P ERROR COMPLETE , SCALED AT PI RAD TC OVERSUB2 # PIN NEEDLES IN CASE OF OVERFLOW. TS AK EXTEND QXCH ITEMP1 # RESTORE Q FOR CHEKBITS RETURN. TCF RETNMORE # DISPLAY THESE THE NEXT TIME THROUGH # Page 1417 # FDAI ATTITUDE ERROR DISPLAY SUBROUTINE # # PROGRAM DESCRIPTION: D. KEENE 5/24/67 # # MOD 1 BY CRAIG WORK, 12 DEC 67 # # MOD 2 BY CRAIG WORK, 6 APRIL 68 CONVERTS ATTITUDE ERROR DISPLAY SCALING FROM 16 7/8 DEG. TO 42 3/16 DEGREES. # # THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS) # IN THE CDUS. CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT # OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES # THE DACS. # # # CALLING SEQUENCE: # # DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE # TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM: # # CS RCSFLAGS IN EBANK6 # MASK BIT3 # ADS RCSFLAGS # # THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANSFERRED TO THE FOLLOWING LOCATIONS IN EBANK6: # # AK SCALED 180 DEGREES NOTE: THESE LOCATIONS ARE SUBJECT # AK1 SCALED 180 DEGREES TO CHANGE # AK2 SCALED 180 DEGREES # # FULL SCALED DEFLECTION OF THE NEEDLES CORRESPONDS TO 5 1/16 DEGREES, WHILE 384 BITS IN THE IMU ERROR COUNTER # CORRESPONDS TO 42 3/16 DEGREES. (DAC MAXIMUM CAPACITY IS 384 BITS.) 46 BITS EFFECTIVELY PIN THE NEEDLES. # # A CALL TO NEEDLER WILL THEN UPDATE THE DISPLAY: # # INHINT # TC IBNKCALL NOTE: EBANK SHOULD BE SET TO E6 # CADR NEEDLER # RELINT # # THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED. AT LEAST 3 PASSES THRU THE PROGRAM ARE # REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS. # NOTE: EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50MS TO ASSURE PROPER RELAY SEQUENCING. # # ERASABLES USED: # AK CDUXCMD # AK1 CDUYCMD # AK2 CDUZCMD # EDRIVEX A,L,Q # EDRIVEY T5TEMP # EDRIVEZ DINDX # Page 1418 # # SWITCHES: RCSFLAGS BITS 3,2 # # I/O CHANNELS: CHAN12 BIT 4 (COARSE ALIGN - READ ONLY) # CHAN12 BIT 6 (IMU ERROR COUNTER ENABLE) # CHAN14 BIT 13,14,15 (DAC ACTIVITY) # # # SIGN CONVENTION< AK = THETAC - THETA # WHERE THETAC = COMMAND ANGLE # THETA = PRESENT ANGLE NEEDLER CA RCSFLAGS MASK SIX EXTEND BZF NEEDLES3 MASK BIT3 EXTEND BZF NEEDLER2 # BIT3 = 0, BIT2 = 1 CS BIT6 # FIRST PASS BIT3 = 1 EXTEND # DISABLE IMU ERROR COUNTER TO ZERO DACS WAND CHAN12 # MUST WAIT AT LEAST 60 MS BEFORE NEEDLE11 CS ZERO # ENABLING COUNTERS. TS AK # ZERO THE INPUTS ON FIRST PASS TS AK1 TS AK2 TS EDRIVEX # ZERO THE DISPLAY REGISTERS TS EDRIVEY TS EDRIVEZ TS CDUXCMD # ZERO THE OUT COUNTERS TS CDUYCMD TS CDUZCMD CS SIX # RESET RCSFLAGS FOR PASS2 MASK RCSFLAGS AD BIT2 TS RCSFLAGS TCF RETNMORE NEEDLER2 CAF BIT6 # ENABLE IMU ERROR COUNTERS EXTEND WOR CHAN12 CS SIX # RESET RCSFLAGS TO DISPLAY ATTITUDE MASK RCSFLAGS # ERRORS WAIT ATLEAST 4 MS FOR TS RCSFLAGS # RELAY CLOSURE TCF RETNMORE NEEDLES3 CAF BIT6 # CHECK TO SEE IF IMU ERROR COUNTER EXTEND # IS ENABLED RAND CHAN12 # Page 1419 CCS A # IF NOT, RE-INITIALIZE NEEDLER. TCF NEEDLES CS RCSFLAGS # SET UP INITIALIZATION FLAG IN RCSFLAGS. MASK BIT3 ADS RCSFLAGS TCF RETNMORE NEEDLES CAF TWO DACLOOP TS DINDX CS ONETENTH # RESCALE INPUTS TO + OR - 1800 DEGREES. EXTEND INDEX DINDX MP AK TS L CCS A CA DACLIMIT TCF +2 CS DACLIMIT AD L TS T5TEMP # OVFLO CHK TCF +4 INDEX A # ON OVERFLOW LIMIT OUTPUT TO +-384 CAF DACLIMIT TS L INDEX DINDX CS EDRIVEX # CURRENT VALUE OF DAC AD L INDEX DINDX ADS CDUXCMD INDEX DINDX LXCH EDRIVEX CCS DINDX TCF DACLOOP CAF 13,14,15 EXTEND WOR CHAN14 # SET DAC ACTIVITY BITS TCF RETNMORE DEC -384 DACLIMIT DEC 16000 DEC 384 ONETENTH OCT 03146 # DECIMAL +0.1, SCALED AT 1. DSPLYALT EQUALS BIT4 # 100 MS ALTERNATION BIT IN RCSFLAGS OVERSUB2 TS 7 # RETURNS A UNCHANGED OR LIMITED TO TC Q # POSMAX OR NEGMAX IF A HAS OVERFLOW INDEX A # Page 1420 CS LIMITS # DUPLICATE CODING IN BANK 16 TC Q RETNMORE EXTEND # RETURN TO CHEKMORE DCA MORECADR DTCB EBANK= AOSQ MORECADR 2CADR CHEKMORE ================================================ FILE: Luminary099/DAP_INTERFACE_SUBROUTINES.agc ================================================ # Copyright: Public domain. # Filename: DAP_INTERFACE_SUBROUTINES.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1406-1409 # Mod history: 2009-05-10 SN (Sergio Navarro). Started adapting # from the Luminary131/ file of the same # name, using Luminary099 page images. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 1406 BANK 20 SETLOC DAPS3 BANK EBANK= CDUXD COUNT* $$/DAPIF # MOD 0 DATE 11/15/66 BY GEORGE W. CHERRY # MOD 1 1/23/67 MODIFICATION BY PETER ADLER # # FUNCTIONAL DESCRIPTION # HEREIN ARE A COLLECTION OF SUBROUTINES WHICH ALLOW MISSION CONTROL PROGRAMS TO CONTROL THE MODE # AND INTERFACE WITH THE DAP. # # CALLING SEQUENCES # IN INTERRUPT OR WITH INTERRUPT INHIBITED # TC IBNKCALL # FCADR ROUTINE # IN A JOB WITHOUT INTERRUPT INHIBITED # INHINT # TC IBNKCALL # FCADR ROUTINE # RELINT # # OUTPUT # SEE INDIVIDUAL ROUTINES BELOW # # DEBRIS # A, L, AND SOMETIMES MDUETEMP ODE NOT IN PULSES MODE # Page 1407 # SUBROUTINE NAMES: # SETMAXDB, SETMINDB, RESTORDB, PFLITEDB # MODIFIED: 30 JANUARY 1968 BY P S WEISSMAN TO CREATE RESTORDB. # MODIFIED: 1 MARCH 1968 BY P S WEISSMAN TO SAVE EBANK AND CREATE PFLITEDB # # FUNCTIONAL DESCRIPTION: # SETMAXDB -- SET DEADBAND TO 5.0 DEGREES # SETMINDB -- SET DEADBAND TO 0.3 DEGREE # RESTORDB -- SET DEADBAND TO MAX OR MIN ACCORDING TO SETTINGS OF DBSELECT BIT OF DAPBOOLS # PFLITEDB -- SET DEADBAND TO 1.0 DEGREE AND ZERO THE COMMANDED ATTITUDE CHANGE AND COMMANDED RATE # # ALL ENTRIES SET UP A NOVAC JOB TO DO 1/ACCS SO THAT THE TJETLAW SWITCH CURVES ARE POSITIONED TO # REFLECT THE NEW DEADBAND. IT SHOULD BE NOTED THAT THE DEADBAND REFERS TO THE ATTITUDE IN THE P-, U-, AND V-AXES. # # SUBROUTINE CALLED: NOVAC # # CALLING SEQUENCE: SAME AS ABOVE # OR TC RESTORDB +1 FROM ALLCOAST # # DEBRIS: A, L, Q, RUPTREG1, (ITEMPS IN NOVAC) RESTORDB CAE DAPBOOLS # DETERMINE CREW-SELECTED DEADBAND. MASK DBSELECT EXTEND BZF SETMINDB SETMAXDB CAF WIDEDB # SET 5 DEGREE DEADBAND. +1 TS DB EXTEND # SET UP JOB TO RE-POSITION SWITCH CURVES. QXCH RUPTREG1 CALLACCS CAF PRIO27 TC NOVAC EBANK= AOSQ 2CADR 1/ACCJOB TC RUPTREG1 # RETURN TO CALLER. SETMINDB CAF NARROWDB # SET 0.3 DEGREE DEADBAND. TCF SETMAXDB +1 PFLITEDB EXTEND # THE RETURN FROM CALLACCS IS TO RUPTREG1. QXCH RUPTREG1 TC ZATTEROR # ZERO THE ERRORS AND COMMANDED RATES. CAF POWERDB # SET DB TO 1.0 DEG. TS DB TCF CALLACCS # SET UP 1/ACCS AND RETURN TO CALLER. NARROWDB OCTAL 00155 # 0.3 DEGREE SCALED AT 45. # Page 1408 WIDEDB OCTAL 03434 # 5.0 DEGREES SCALED AT 45. POWERDB DEC .02222 # 1.0 DEGREE SCALED AT 45. ZATTEROR CAF EBANK6 XCH EBANK TS L # SAVE CALLERS EBANK IN L. CAE CDUX TS CDUXD CAE CDUY TS CDUYD CAE CDUZ TS CDUZD TCF STOPRATE +3 STOPRATE CAF EBANK6 XCH EBANK TS L # SAVE CALLERS EBANK IN L. +3 CAF ZERO TS OMEGAPD TS OMEGAQD TS OMEGARD TS DELCDUX TS DELCDUY TS DELCDUZ TS DELPEROR TS DELQEROR TS DELREROR LXCH EBANK # RESTORE CALLERS EBANK. TC Q # SUBROUTINE NAME: ALLCOAST # WILL BE CALLED BY FRESH STARTS AND ENGINE OFF ROUTINES. # # CALLING SEQUENCE: (SAME AS ABOVE) # # EXIT: RETURN TO Q. # # SUBROUTINES CALLED: STOPRATE, RESTORDB, NOVAC # # ZERO: (FOR ALL AXES) AOS, ALPHA, AOSTERM, OMEGAD, DELCDU, DELEROR # # OUTPUT: DRIFTBIT/DAPBOOLS, OE, JOB TO DO 1/ACCS # # DEBRIS: A, L, Q, RUPTREG1, RUPTREG2, (ITEMPS IN NOVAC) ALLCOAST EXTEND # SAVE Q FOR RETURN QXCH RUPTREG2 # Page 1409 TC STOPRATE # CLEAR RATE INTERFACE. RETURN WITH A=0 LXCH EBANK # AND L=EBANK6. SAVE CALLER'S EBANK. TS AOSQ TS AOSQ +1 TS AOSR TS AOSR +1 TS ALPHAQ # FOR DOWNLIST. TS ALPHAR TS AOSQTERM TS AOSRTERM LXCH EBANK # RESTORE EBANK (EBANK6 NO LONGER NEEDED) CS DAPBOOLS # SET UP DRIFTBIT MASK DRIFTBIT ADS DAPBOOLS TC RESTORDB +1 # RESTORE DEADBANK TO CREW-SELECTED VALUE. TC RUPTREG2 # RETURN. ================================================ FILE: Luminary099/DISPLAY_INTERFACE_ROUTINES.agc ================================================ # Copyright: Public domain. # Filename: DISPLAY_INTERFACE_ROUTINES.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1341-1373 # Mod history: 2009-05-27 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # 2011-01-06 JL Fixed pseudo-label indentation. # 2011-05-08 JL Removed workaround. # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 1341 # DISPLAYS CAN BE CLASSIFIED INTO THE FOLLOWING CATEGORIES -- # 1. PRIORITY DISPLAYS -- DISPLAYS WHICH TAKE PRIORITY OVER ALL OTHER DISPLAYS. USUALLY THESE DISPLAYS ARE SENT # OUT UNDER CRITICAL ALARM CONDITIONS. # 2. EXTENDED VERB DISPLAYS -- ALL EXTENDED VERBS AND MARK ROUTINES SHOULD USE EXTENDED VERB (MARK) DISPLAYS. # 3. NORMAL DISPLAYS -- ALL MISSION PROGRAM DISPLAYS WHICH INTERFACE WITH THE ASTRONAUT DURING THE NORMAL # SEQUENCE OF EVENTS. # 4. MISC. DISPLAYS -- ALL DISPLAYS NOT HANDLED BY THE DISPLAY INTERFACE ROUTINES. THESE INCLUDE SUCH DISPLAYS AS # MM DISPLAYS AND SPECIAL PURPOSE DISPLAYS HANDLED BY PINBALL. # 5. ASTRONAUT INITIATED DISPLAYS -- ALL DISPLAYS INITIATED EXTERNALLY. # # THE FOLLOWING TERMS ARE USED TO DESCRIBE THE STATUS OF DISPLAYS -- # 1. ACTIVE -- THE DISPLAY WHICH IS (1) BEING DISPLAYED TO THE ASTRONAUT AND WAITING FOR A RESPONSE OR # (2) WAITING FIRST IN LINE FOR THE ASTRONAUT TO FINISH USING THE DSKY OR (3) BEING DISPLAYED ON THE DSKY # BUT NOT WAITING FOR A RESPONSE. # 2. INACTIVE -- A DISPLAY WHICH HAS (1) BEEN ACTIVE BUT WAS INTERRUPTED BY A DISPLAY OF HIGHER PRIORITY, # (2) BEEN PUT INTO THE WAITING LIST AT TIME IT WAS REQUESTED DUE TO THE FACT A HIGHER PRIORITY DISPLAY # WAS ALREADY DOING, (3) BEEN INTERRUPTED BY THE ASTRONAUT (CALLED A PINBRANCH CONDITION, SINCE THIS TYPE # OF INACTIVE DISPLAY IS USUALLY REACTIVATED ONLY BY PINBALL) OR (4) A DISPLAY WHICH HAS FINISHED BUT STILL # HAS INFO SAVED FOR RESTART PURPOSES. # # DISPLAY PRIORITIES WORK AS FOLLOWS -- # INTERRUPTS -- # 1. THE ASTRONAUT CAN INTERRUPT ANY DISPLAY WITH AN EXTERNAL DISPLAY REQUEST. # 2. INTERNAL DISPLAYS CAN NOT BE SENT OUT WHEN THE ASTRONAUT IS USING THE DSKY. # 3. PRIORITY DISPLAYS INTERRUPT ALL OTHER TYPES OF INTERNAL DISPLAYS. A PRIORITY DISPLAY INTERRUPTING ANOTHER # PRIORITY DISPLAY WILL CAUSE AN ABORT UNLESS BIT14 IS SET FOR THE LINUS ROUTINE. # 4. A MARK DISPLAY INTERRUPTS ANY NORMAL DISPLAY. # 5. A MARK THAT INTERRUPTS A MARK COMPLETELY REPLACES IT. # # ORDER OF WAITING DISPLAYS -- # 1. ASTRONAUT # 2. PRIORITY # 3. INTERRUPTED MARK # 4. INTERRUPTED NORMAL # 5. MARK TO BE REQUESTED (SEE DESCRIPTION OF ENDMARK) # 6. MARK WAITING # 7. NORMAL WAITING # # Page 1342 # THE DISPLAY ROUTINES ARE INTENDED TO SERVE AS AN INTERFACE BETWEEN THE USER AND PINBALL. THE # FOLLOWING STATEMENTS CAN BE MADE ABOUT NORMAL DISPLAYS AND PRIORITY DISPLAYS (A DESCRIPTION OF MARK ROUTINES # WILL FOLLOW LATER): # 1. ALL ROUTINES THAT END IN R HAVE AN IMMEDIATE RETURN TO THE USER. FOR ALL FLASHING DISPLAYS THIS RETURN # IS TO THE USER'S CALL CADR +4. FOR THE ONLY NON-FLASHING IMMEDIATE RETURN DISPLAY (GODSPR) THIS RETURN # IS TO THE USER'S CALLING LOC +1. # 2. ALL ROUTINES NOT ENDING IN R DO NOT DO AN IMMEDIATE RETURN TO THE USER. # 3. ALL ROUTINES THAT END IN R START A SEPARATE JOB (MAKEPLAY) WITH USER'S JOB PRIORITY. # 4. ALL ROUTINES NOT ENDING IN R BRANCH DIRECTLY TO MAKEPLAY WHICH MAKES THESE DISPLAYS A PART OF THE # USER'S JOB. # 5. ALL DISPLAY ROUTINES ARE CALLED VIA BANKCALL. # 6. TO RESTART A DISPLAY THE USER WILL GENERALLY USE A PHASE OF ONE WITH DESIRED RESTART GROUP (SEE # DESCRIPTION OF RESTARTS). # 7. ALL FLASHING DISPLAYS HAVE 3 RETURNS TO THE USER FROM ASTRONAUT RESPOSES. A TERMINATE (V34) BRANCHES # TO THE USER'S CALL CADR +1. A PROCEED (V33) BRANCHES TO THE USER'S CALL CADR +2. AN ENTER OR RECYCLE # (V32) BRANCHES TO THE USER'S CALL CADR +3. # 8. ALL ROUTINES MUST BE USED UNDER EXECUTIVE CONTROL # # A DESCRIPTION OF EACH ROUTINE WITH AN EXAMPLE FOLLOWS: # GODSP IS USED TO DISPLAY A VERB NOUN ARRIVING IN A. NO RETURN IS MADE TO THE USER. # 1. GODSP IS NOT RESTARTABLE # 2. A VERB PASTE WITH GODSP ALWAYS TURNS ON THE FLASH. # CAF VXXNYY # TC BANKCALL # CADR GODSP # VXXNYY OCT 0XXYY # GODSPR IS THE SAME AS GODSP ONLY RETURN IS TO THE USER. # CAF VXXNYY # TC BANKCALL # CADR GODSPR # ... ... # IMMEDIATE RETURN OF GODSPR # GOFLASH DISPLAYS A FLASHING VERB NOUN WITH NO IMMEDIATE RETURN TO THE USER. 3 RETURNS ARE POSSIBLE FORM # THE ASTRONAUT (SEE NO. 7 ABOVE). # CAF VXXNYY # VXX NYY WILL BE A FLASHING VERB NOUN. # TC BANKCALL # CADR GOFLASH # ... ... # TERMINATE RETURN # ... ... # PROCEED RETURN # ... ... # ENTER OR RECYCLE RETURN # GOPERF1 IS ENTERED WITH DESIRED CHECKLIST VALUE IN A. GOPERF1 WILL DISPLAY THIS VALUE IN R1 BY MEANS OF A # Page 1343 # V01 N25. A FLASHING PLEASE PERFORM ON CHECKLIST (V50 N25) IS THEN DISPLAYED. NO IMMEDIATE RETURN IS MADE TO # USER (SEE NO. 7 ABOVE). # GOPERF1 BLANKS REGISTERS R2 AND R3 # CAF OCTXX # CODE FOR CHECKLIST VALUE XX # TC BANKCALL # CADR GOPERF1 # ... ... # TERMINATE RETURN # ... ... # PROCEED RETURN # ... ... # ENTER RETURN # GOPERF2 IS ENTERED WITH A VARIABLE NOUN AND V01 (V00 FOR N10 OR N11) IN A. GOPERF2 WILL FIRST DISPLAY THE # REQUESTED NOUN BY MEANS OF A V01NYY OR A V00NYY. PLEASE PERFORM ON NOUN (V50 NYY) THEN BECOMES A FLASHING # DISPLAY. NO IMMEDIATE RETURN IS MADE TO THE USER (SEE NO. 7 ABOVE). # GOPERF2 DOES NOT BLANK ANY REGISTERS # CAF VXXNYY # VARIABLE NOUN YY. XX=0 OR 01. # TC BANKCALL # CADR GOPERF2 # ... ... # TERMINATE RETURN # ... ... # PROCEED RETURN # ... ... # ENTER RETURN # GOPERF3 IS USED FOR A PLEASE PERFORM ON A PROGRAM NUMBER. THE DESIRED PROGRAM NO. IS ENTERED IN A. GOPERF3 # DISPLAYS THE NO. BY MEANS OF A V06 N07 FOLLOWED BY A FLASHING V50 N07 FOR A PLEASE PERFORM. NO IMMEDIATE RETURN # IS MADE TO THE USER (SEE NO. 7 ABOVE). # GOPERF3 BLANKS REGISTERS R2 AND R3 # CAF DECXX # REQUEST PERFORM ON PXX # TC BANKCALL # CADR GOPERF3 # ... ... # TERMINATE RETURN # ... ... # PROCEED RETURN # ... ... # ENTER RETURN # GOPERF4 IS USED FOR A PLEASE PERFORM ON AN OPTION. THE DESIRED OPTION IS ENTERED IN A AND STORED IN OPTION1. # GOPERF4 DISPLAYS R1 AND R2 BY MEANS OF A V04N06 FOLLOWED BY A FLASHING V50N06 FOR A PLEASE PERFORM. NO # IMMEDIATE RETURN IS MADE TO THE USER (SEE NO. 7 ABOVE). # CAF OCTXX # REQUEST PERFORM ON OPTION XX # TC BANKCALL # CADR GOPERF4 # ... ... # TERMINATE RETURN # ... ... # PROCEED RETURN # ... ... # ENTER RETURN # GOPERF4 BLANKS REGISTER R3. # Page 1344 # GODSPRET IS USED TO DISPLAY A VERB NOUN ARRIVING IN A WITH A RETURN TO THE USER AFTER THE DISPLAY HAS BEEN SENT # OUT. # CAF VXXXNYY # TC BANKCALL # CADR GODSPRET # ... ... # RETURN TO USER. # REGODSP IS USED TO DISPLAY A VERB NOUN ARRIVING IN A. REGODSP IS THE SAME AS GODSP ONLY REGODSP REPLACES ANY # ACTIVE NORMAL DISPLAY IF ONE WAS ACTIVE. # CAF VXXNYY # TC BANKCALL # CADR REGODSP # REFLASH IS THE SAME AS GOFLASH ONLY REFLASH REPLACES ANY ACTIVE NORMAL DISPLAY IF ONE WAS ACTIVE. # CAF VXXNYY # VXX NYY WILL BE A FLASHING VERB NOUN # TC BANKCALL # CADR REFLASH # ... ... # TERMINATE RETURN # ... ... # PROCEED RETURN # ... ... # ENTER RETURN # GOFLASHR IF SAME AS GOFLASH ONLY AN IMMEDIATE RETURN IS MADE TO THE USER'S CALL CADR +4. # CAF VXXNYY # TC BANKCALL # CADR GOFLASHR # ... ... # TERMINATE RETURN # ... ... # PROCEED RETURN # ... ... # ENTER OR RECYCLE RETURN # ... ... # IMMEDIATE RETURN FROM GOFLASHR # GOPERF1R IS THE SAME AS GOPERF1 ONLY GOPERF1R HAS AN IMMEDIATE RETURN TO USER'S CALL CADR +4. # GOPERF1R BLANKS REGISTERS R2 AND R3 # CAF OCTXX # CODE FOR CHECKLIST VALUE XX. # TC BANKCALL # CADR GOPERF1R # ... ... # TERMINATE RETURN # ... ... # PROCEED RETURN # ... ... # ENTER RETURN # ... ... # IMMEDIATE RETURN FROM GOPERF1R # GOPERF2R IS THE SAME AS GOPERF2 ONLY AN IMMEDIATE RETURN IS MADE TO USER'S CALL CADR +4. # Page 1345 # GOPERF2R DOES NOT BLANK ANY REGISTERS # CAF VXXXNYY # VARIABLE NOUN YY REQUESTED. XX=00 OR 01 # TC BANKCALL # CADR GOPERF2R # ... ... # TERMINATE RETURN # ... ... # PROCEED RETURN # ... ... # ENTER RETURN # ... ... # IMMEDIATE RETURN HERE FROM GOPERF2R # GOPERF3R IS THE SAME AS GOPERF3 ONLY AN IMMEDIATE RETURN IS MADE TO USER'S CALL CADR +4. # GOPERF3R BLANKS REGISTERS R2 AND R3 # CAF PROGXX # PERFORM PROGRAM XX # TC BANKCALL # CADR GOPERF3R # ... ... # TERMINATE RETURN # ... ... # PROCEED RETURN # ... ... # ENTER RETURN # ... ... # GOPERF3R IMMEDIATELY RETURNS HERE # GOPERF4R IS THE SAME AS GOPERF4 ONLY AN IMMEDIATE RETURN IS MADE TO USER'S CALL CADR +4. # CAF OCTXX # REQUEST PERFORM ON OPTIONXX # TC BANKCALL # CADR GOPERF4R # ... ... # TERMINATE RETURN # ... ... # PROCEED RETURN # ... ... # ENTER RETURN # ... ... # IMMEDIATE RETURN TO USER # GOPERF4R BLANKS REGISTER R3. # REFLASHR IS THE SAME AS REFLASH ONLY AN IMMEDIATE RETURN IS MADE TO THE USER'S CALL CADR +4. # CAF VXXNYY # VXX NYY WILL BE A FLASHING VERB NOUN # TC BANKCALL # CADR REFLASHR # ... ... # TERMINATE RETURN # ... ... # PROCEED RETURN # ... ... # ENTER RETURN # ... ... # IMMEDIATE RETURN TO USER # REGODSPR IS THE SAME AS REGODSP ONLY A RETURN (IMMEDIATE) IS MADE TO THE USER. # Page 1346 # CAF VXXNYY # TC BANKCALL # CADR REGODSPR # ... ... # IMMEDIATE RETURN TO USER # Page 1347 # GOMARK IS USED TO DISPLAY A MARK VERB NOUN ARRIVING IN A. NO RETURN IS MADE TO THE USER. # GOXDSP = GOMARK # CAF VXXNYY # VXXNYY CONTAINS VERB AND NOUN # TC BANKCALL # CADR GOMARK # OTHER EXTENDED VERBS USE CADR GOXDSP # GOMARKR IS THE SAME AS GOMARK ONLY RETURN IS TO THE USER. # GOXDSPR = GOMARKR # CAF VXXNYY # TC BANKCALL # CADR GOMARKR # OTHER EXTENDED VERBS USE CADR GOXDSPR # ... ... # IMMEDIATE RETURN OF GOMARKR # GOMARKF DISPLAYS A FLASHING MARK VERB NOUN WITH NO IMMEDIATE RETURN TO THE USER. 3 RETURNS ARE POSSIBLE FROM # THE ASTRONAUT (SEE NO. 7 ABOVE). # GOXDSPF = GOMARKF # CAF VXXNYY # VXXNYY WILL BE A FLASHING MARK VERB NOUN # TC BANKCALL # CADR GOMARKFR # OTHER EXTENDED VERBS USE CADR GOXDSPFR # ... ... # TERMINATE RETURN # ... ... # PROCEED RETURN # ... ... # ENTER OR RECYCLE RETURN # GOMARKFR IS THE SAME AS GOMARKF ONLY AN IMMEDIATE RETURN IS MADE TO THE USER CALL CADR +4. # GOXDSPFR = GOMARKFR # CAF VXXNYY # FLASHING MARK VERB NOUN # TC BANKCALL # CADR GOMARKFR # OTHER EXTENDED VERBS USE CADR GOXDSPFR # ... ... # TERMINATE RETURN # ... ... # PROCEED RETURN # ... ... # ENTER OR RECYCLE RETURN # ... ... # IMMEDIATE RETURN TO THE USER # GOMARK1 IS USED FOR A PLEASE PERFORM ON A MARK REQUEST WITH ONLY 1 ASTRONAUT RETURN TO THE USER. NO IMMEDIATE # RETURN IS MADE. THE DESIRED MARK PLEASE PERFORM VERB AND DESIRED NOUN IS ENTERED IN A. GOMARK1 DISPLAYS R1, R2, R # MEANS OF A V05NYY FOLLOWED BY A FLASHING V5XNYY FOR A PLEASE PERFORM. THE ASTRONAUT WILL RESPOND WITH A MARK # OR MARK REJECT OR AN ENTER. THE ENTER IS THE ONLY ASTRONAUT RESPONSE THAT WILL COME BACK TO THE USER. # CAF V5XNYY # X=1,2,3,4 Y=NOUN # TC BANKCALL # Page 1348 # CADR GOMARK1 # ... ... # ENTER RETURN # *** IF BLANKING DESIRED ON NON-R ROUTINES, NOTIFY DISPLAYER. # # GOMARK1R IS THE SAME AS A GOMARK1 ONLY AN IMMEDIATE RETURN IS MADE TO THE USER'S CALL CADR +2. # CAF V5XNYY # X=1,2,3,4 YY=NOUN # TC BANKCALL # CADR GOMARK1R # ... ... # ASTRONAUT ENTER RETURN # ... ... # IMMEDIATE RETURN TO USER # GOMARK2 IS THE SAME AS GOMARK1 ONLY 3 RETURNS ARE MADE TO THE USER FROM THE ASTRONAUT. # CAF V5XNYY # X=1,2,3,4 YY=NOUN # TC BANKCALL # CADR GOMARK2 # ... ... # TERMINATE RETURN # ... ... # PROCEED RETURN # ... ... # ENTER RETURN # GOMARK2R IS THE SAME AS GOMARK1R ONLY 3 ASTRONAUT RETURNS ARE MADE TO THE USER. # CAF V5XNYY # X=0,1,2,3,4 YY=NOUN # TCF BANKCALL # CADR GOMARK2R # ... ... # TERMINATE RETURN # ... ... # PROCEED RETURN # ... ... # ENTER RETURN # ... ... # IMMEDIATE RETURN TO THE USER. # GOMARK3 IS USED FOR A PLEASE PERFORM ON A MARK REQUEST WITH A 3 COMP. DEC DISPLAY. THE DESIRED MARK PLEASE # PERFORM VERB AND NOUN ARE ENTERED IN A. GOMARK3 DISPLAYS R1, R2, R3 BY MEANS OF A V06NYY FOLLOWED BY A FLASHING # V5XNYY FOR A PLEASE PERFORM. GOMARK3 HAS 3 ASTRONAUT RETURNS TO THE USER WITH NO IMMEDIATE RETURN. # CAF V5XNYY # X=1,2,3,4 YY=NOUN # TC BANKCALL # CADR GOMARK3 # ... ... # TERMINATE RETURN # ... ... # PROCEED RETURN # ... ... # ENTER RETURN # GOMARK4 IS THE SAME AS GOMARK3 ONLY R2 AND R3 ARE BLANKED AND R1 IS DISPLAYED IN OCTAL. # CAF V5XNYY # X=1,2,3,4 YY=NOUN # TC BANKCALL # CADR GOMARK4 # ... ... # TERMINATE RETURN # ... ... # PROCEED RETURN # Page 1349 # ... ... # ENTER RETURN # EXDSPRET IS USED TO DISPLAY A VERB NOUN ARRIVING IN A WITH A RETURN MADE TO THE USER AFTER THE DISPLAY HAS BEEN # SEND OUT. # CAF VXNYY # TC BANKCALL # CADR EXDSPRET # ... ... # RETURN TO USER # KLEENEX CLEANS OUT ALL MARK DISPLAYS (ACTIVE AND INACTIVE). A RETURN IS MADE TO THE USER AFTER THE MARK DISPLAYS # HAVE BEEN CLEANED OUT. # TC BANKCALL # CADR KLEENEX # ... ... # RETURN TO USER # MARKBRAN IS A SPECIAL PURPOSE ROUTINE USED FOR SAVING JOB VAC AREAS (SEE DESCRIPTION OF MARKBRAN BELOW). # TC BANKCALL # CADR MARKBRAN # ... ... # BAD RETURN IF MARK DISPLAY NOT ACTIVE # # (GOOD RETURN TO IMMEDIATE RETURN LOC OF # # LAST FLASHING MARK R ROUTINE) # PINBRNCH REESTABLISHES THE LAST ACTIVE FLASHING DISPLAY. IF THERE IS NO ACTIVE FLASHING DISPLAY, THE DSKY IS # BLANKED AND CONTROL IS SENT TO ENDOFJOB. # TC POSTJUMP # CADR PINBRNCH # PRIODSP IS USED AS A PRIORITY DISPLAY. IT WILL DISPLAY A GOFLASH TYPE DISPLAY WITH THREE POSSIBLE RETURNS FROM # THE ASTRONAUT (SEE NO. 7 ABOVE). # THE MAIN PURPOSE OF PRIODSP IS TO REPLACE THE PRESENT DISPLAY WITH A DISPLAY OF HIGHER PRIORITY AND TO # PROVIDE A MEANS FOR RESTORING THE OLD DISPLAY WHEN THE PRIORITY DISPLAY # IS RESPONDED TO BY THE ASTRONAUT. # THE FORMER DISPLAY IS RESTORED BY AN AUTOMATIC BRANCH TO WAKE UP THE DISPLAY THAT WAS INTERRUPTED BY THE # PRIO DISPLAY # CAF VXXNYY # VXXNYY WILL BE A FLASHING VERB NOUN # TC BANKCALL # CADR PRIODSP # ... ... # TERMINATE RETURN # ... ... # PROCEED RETURN # Page 1350 # ... ... # ENTER OR RECYCLE RETURN # PRIODSPR IS THE SAME AS PRIODSP ONLY AN IMMEDIATE RETURN IS MADE TO THE USER'S CALL CADR +4. # CAF VXXNYY # VXXNYY WILL BE A FLASHING VERB NOUN # TC BANKCALL # CADR PRIODSPR # ... ... # TERMINATE ACTION # ... ... # PROCEED RETURN # ... ... # ENTER OR RECYCLE RETURN # ... ... # IMMEDIATE RETURN # PRIOLARM DOES A V05N09 PRIODSPR. # # CLEANDSP CLEANS OUT ALL NORMAL DISPLAYS (ACTIVE AND INACTIVE). A RETURN IS MADE TO THE USER AFTER NORMAL # DISPLAYS ARE CLEANED OUT. # TC BANKCALL # CADR CLEANDSP # ... ... # RETURN TO USER # Page 1351 # # GENERAL INFORMATION # ------------------- # # ALARM OR ABORT EXIT MODE -- # PRIOBORT TC ABORT # OCT 1502 # # PRIOBORT IS BRANCHED TO WHEN (1) A NORMAL DISPLAY IS REQUESTED AND ANOTHER NORMAL DISPLAY IS ALREADY ACTIVE # (REFLASH AND REGODSP ARE EXCEPTIONS) OR (2) A PRIORITY DISPLAY IS REQUESTED WHEN ANOTHER PRIORITY DISPLAY IS # ALREADY ACTIVE (A PRIORITY WITH LINUS BIT14 IS AN EXCEPTION). # # ERASABLE INITIALIZATION REQUIRED -- # ACCOMPLISHED BY FRESH START -- 1. FLAGWRD4 (USED EXCLUSIVELY BY DISPLAY INTERFACE ROUTINES) # 2. NVSAVE = NORMAL VERB AND NOUN REGISTER. # 3. EBANKTEM = NORMAL INACTIVE FLAGWORD (ALSO CONTAINS NORMALS EBANK). # 5. R1SAVE = MARKBRAN CONTROL WORD # 4. RESTREG = PRIORITY 30 AND SUPERBANK 3. # # OUTPUT -- # NVWORD = PRIO VERB AND NOUN # NVWORD +1 (MARKNV) = MARK VERB AND NOUN # NVWORD +2 (NVSAVE) = NORMAL VERB AND NOUN # DSPFLG (EBANKSAV) = PRIO FLAGWORD (INCLUDING EBANK) # DSPFLG +1 (MARKEBAN) = MARK FLAGWORD (INCLUDING EBANK) # DSPFLG +2 (EBANKTEM) = NORMAL FLAGWORD (INCLUDING EBANK) # CADRFLSH = PRIO USER'S CALL CADR +1 LOCATION # CADRFLSH +1 (MARKFLSH) = MARK USER'S CALL CADR +1 LOCATION # CADRFLSH +2 (TEMPFLSH) = NORMAL USER'S CALL CADR +1 LOCATION # PRIOTIME = TIME EACH PRIO REQUEST FIRST SENT OUT # OPTION1 = DESIRED OPTION FROM GOPERF4 # FLAGWRD4 = BIT INFO FOR CONTROL OF ALL DISPLAY ROUTINES # DSPTEM1 = R1 INFO FOR ASTRONAUT FROM PERFORM DISPLAYS (NORMAL) # # SUBROUTINES USED -- NVSUB, FLAGUP, FLAGDOWN, ENDOFJOB, BLANKSUB, ABORT, JOBWAKE, JOBSLEEP, FINDVAC, PRIOCHNG, # JAMTERM, NVSUBUSY, FLASHON, ENDIDLE, CHANG1, BANKJUMP, MAKECADR, NOVAC # # DEBRIS -- (STORED INTO) # TEMPORARY TEMPORARIES -- A, Q, L, MPAC +2, MPAC +3, MPAC +4, MPAC +5, MPAC +6, RUPREG2, RUPTREG3, CYL, # EBANK, RUPTREG4, LOC, BANKSET, MODE, MPAC, MPAC +1, FACEREG # ERASABLES (SHARED AND USED WITH OTHER PROGRAMS) -- CADRSTOR, DSPLIST, LOC, DSPTEM1, OPTION1 # ERASABLES (USED ONLY BY DISPLAY ROUTINES) -- NVWORD,+1,+2, DSPFLAG,+1,+2, CADRFLSH,+1,+2, PRIOTIME, FLAGWRD4, # Page 1352 # R1SAVE, MARK2PAC # # DEBRIS -- (USED BUT NOT STORED INTO) -- NOUNREG, VERBREG, LOCCTR, MONSAVE1 # # FLAGWORD DESCRIPTIONS -- # FLAGWRD4 -- SEE DESCRIPTION UNDER LOG SECTION ERASABLE ASSIGNMENTS # # DSPFLG, DSPFLG+1, DSPFLG+2 # -------------------------- # BITS 1 BLANK R1 # 2 BLANK R2 # 3 BLANK R3 # 4 FLASHING DISPLAY REQUESTED # 5 PERFORM DISPLAY REQUESTED # 6 ----- EXDSPRET GODSPRET # 7 PRIO DISPLAY ----- ----- # 8 ----- DEC MARK PERFORM ----- # 9 EBANK # 10 EBANK # 11 EBANK # 12 ----- ----- V99PASTE # 13 2ND PART OF PERFORM # 14 REFLASH OR REDO ----- REFLASH OR REDO # 15 ----- MARK REQUEST ----- # # RESTARTING DISPLAYS -- # # RULES FOR THE DSKY OPERATOR -- # 1. PROCEED AND TERMINATE SERVE AS RESPONSES TO REQUESTS FOR OPERATOR RESPONSE (FLASHING V/N). AS LONG # AS THERE IS ANY REQUEST AWAITING OPERATOR RESPONSE, ANY USE OF PROCEED OR TERMINATE WILL SERVE AS # RESPONSES TO THAT REQUEST. CARE SHOULD BE EXERCISED IN ATTEMPTING TO KILL AN OPERATOR INITIATED MONITOR # WITH PROCEED AND TERMINATE FOR THIS REASON. # 2. THE ASTRONAUT MUST RESPOND TO A PRIORITY DISPLAY NO SOONER THAN 2 SECONDS FROM THE TIME THE # PROGRAM SENT OUT THE REQUEST FOR OPERATOR RESPONSE (THE ASTRONAUT WOULD SEE THIS DISPLAY FOR LESS TIME # DUE TO TIME IT TAKES TO GET DISPLAY SENT OUT.) IF THE ASTRONAUT RESPONDS TOO SOON, THE PRIORITY DISPLAY # IS SENT OUT AGAIN -- AND AGAIN UNTIL AN ACCUMULATED 2 SECS FROM THE TIME THE FIRST PRIORITY DISPLAY # OUT. THE SAME 2 SEC. DELAY WILL OCCUR AT 163.84 SECS OR IN ANY MULTIPLE OF THAT TIME DUE TO PROGRAM # CONSIDERATION. # 3. KEY RELEASE BUTTON -- # A) IF THE KEY RELEASE LIGHT IS ON, IT SIMPLY RELEASES THE KEYBOARD AND DISPLAY FOR INTERNAL USE. # B) IF THE KEY RELEASE LIGHT IS OFF, AND IF SOME REQUEST FOR OPERATOR RESPONSE (FLASHING V/N) IS STILL # AWAITING RESPONSE THEN IT RE-ESTABLISHES THE DISPLAYS THAT ORIGINALLY REQUESTED RESPONSE. # IF AN OPERATOR WANTS THEREFORE TO RE-ESTABLISH BUT CONDITION (A) IS ENCOUNTERED, A SECOND DEPRESSION OF # KEY RELEASE BUTTON MAY BE NECESSARY. # 4. IT IS IMPORTANT TO ANSWER ALL REQUESTS FOR OPERATOR RESPONSE. # 5. IT IS ALWAYS GOOD PRACTICE TO TERMINATE AN EXTENDED VERB BEFORE ASKING FOR ANOTHER ONE OR THE SAME ONE # OVER AGAIN. # # SPECIAL CONSIDERATONS -- # Page 1353 # 1. MPAC +2 SAVED ONLY IN MARK DISPLAYS # 2. GODSP(R), REGODSP(R), GOMARK(R) ALWAYS TURN ON THE FLASH IF ENTERED WITH A PASTE VERB REQUEST. # 3. ALL NORMAL DISPLAYS ARE RESTARTABLE EXCEPT GODSP(R), REGODSP(R) # 4. ALL EXTENDED VERBS WITH DISPLAYS SHOULD START WITH A TC TESTXACT AND FINISH WITH A TC ENDEXT. # 5. GODSP(R) AND REGODSP(R) MUST BE IN THE SAME EBANK AND SUPERBANK AS THE LAST NORMAL DISPLAY RESTARTED # BY A .1 RESTART PHASE CHANGE. # 6. IN ORDER TO SET UP A NON DISPLAY .1 RESTART POINT, THE USER MUST MAKE CERTAIN THAT RESTREG CONTAINS THE # CORRECT PRIORITY AND SUPERBANK AND THAT EBANKTEM CONTAINS THE CO # 7. IF CLEANDSP IS RESTARTED VIA A .1 PHASE CHANGE, CAF ZERO SHOULD BE EXECUTED BEFORE THE TC BANKCALL. # Page 1354 # CALLING SEQUENCE FOR BLANKING # CAF BITX # X=1,2,3 BLANK R1,R2,R3 RESPECTIVELY # TC BLANKET # ... ... # RETURN TO USER HERE # IN ORDER TO USE BLANKET CORRECTLY, THE USER MUST USE A DISPLAY ROUTINE THAT ENDS IN R FIRST FOLLOWED BY THE CALL # TO BLANKET AT THE IMMEDIATE RETURN LOC. BLOCK 02 SETLOC FFTAG4 BANK COUNT* $$/DSPLA BLANKET TS MPAC +6 CS PLAYTEM4 MASK MPAC +6 INDEX MPAC +5 ADS PLAYTEM4 TC Q ENDMARK TC POSTJUMP CADR MARKEND CLEARMRK CAF ZERO TS EXTVBACT +2 INHINT CS XDSPBIT MASK FLAGWRD4 TS FLAGWRD4 RELINT TC Q # *** ALL EXTENDED VERB ROUTINES THAT HAVE AT LEAST ONE FLASHING DISPLAY MUST TCF ENDMARK OR TCF ENDEXT WHEN # FINISHED. BANK 10 SETLOC DISPLAYS BANK COUNT* $$/DSPLA # NTERONLY IS USED TO DIFFERENTIATE THE MARK ROUTINE WITH ONLY ONE RETURN TO THE USER FROM THE MARKING ROUTINE WITH # 3 RETURNS TO THE USER. THIS ROUTINE IS ONLY USED BY GOMARK1 AND GOMARK1R. MARKEND TC CLEARMRK TCF MARKOVER GOMARK TS PLAYTEM1 # ENTRANCE FOR MARK GODSP # Page 1355 GOMARS CAF BIT15 # BIT15 SET FOR ALL MARK REQUESTS TCF GOFLASH2 KLEENEX CAF ZERO # CLEAN OUT EXTENDED VERBS GOMARKF TS PLAYTEM1 # ENTRANCE FOR MARK GOFLASH CAF MARKFMSK # MARK, FLASH TCF GOFLASH2 GOMARK2 TS PLAYTEM1 # MARK GOPERFS-3 AST. RETURNS MARKFORM CAF MPERFMSK # MARK, PERFORM, FLASH TCF GOFLASH2 GOMARK3 TS PLAYTEM1 # USED FOR 3COMP DECIMAL PERFORM CAF MARK3MSK TCF GOFLASH2 GOMARK4 TS PLAYTEM1 CAF MARK4MSK # MARK,PERFORM,FLASH,BLANK TCF GOFLASH2 GOMARKR TS PLAYTEM1 # ENTRANCE FOR MARK GODSPR CAF BIT15 TCF GODSPR2 GOMARKFR TS PLAYTEM1 # ENTRANCE FOR MARK GOFLASHR CAF MARKFMSK TCF GODSPRS GOMARK2R TS PLAYTEM1 # MARK GOPERFS-3 AST. RETS+ IMMEDIATE RET. CAF MPERFMSK # MARK, PERFORM, FLASH TCF GODSPRS GOMARK3R TS PLAYTEM1 CAF MARK3MSK TCF GODSPRS MAKEMARK CAF ONE TC COPIES CA FLAGWRD4 # IS NORM OR PRIO BUSY OR WAITING MASK OCT34300 CCS A TCF CHKPRIO CA FLAGWRD4 # IS MARK SLEEPING DUE TO ASTRO BUSY MASK MRKNVBIT EXTEND # Page 1356 BZF MARKPLAY # NO TCF ENDOFJOB MARKPLAY INHINT CS FIVE # RESET MARK OVER NORM, SET MARK MASK FLAGWRD4 AD ONE TS FLAGWRD4 RELINT GOGOMARK CS MARKFLAG # PERFORM MASK BIT5 CCS A TCF MARKCOP CS MARKNV TS MARKNV MARKCOP CAF ONE # MARK INDEX TCF PRIOPLAY COPYTOGO CA MPAC2SAV TS MPAC +2 COPYPACS INDEX COPINDEX CAF PRIOOCT TS GENMASK INDEX COPINDEX CAF EBANKSAV TS TEMPOR2 # ACTIVE EBANK AND FLAG TS EBANK TC Q # PINCHEK CHECKS TO SEE IF THE CURRENT MARK REQUEST IS MADE BY THE ASTRONAUT WHILE INTERUPTING A GOPLAY DISPLAY # (A NORMAL OR A PRIO). IF THE ASTRONAUT TRIES TO MARK DURING A PRIO, THE CHECK FAIL LIGHT GOES ON AND THE MARK # REQUEST IS ENDED. IF HE TRIES TO MARK DURING A NORM, THE MARK IS ALLOWED. IN THIS CASE THE NORM IS PUT TO SLEEP # UNTIL ALL MARKING IS FINISHED. # # IF THE MARK REQUEST COMES FROM THE PROGRAM DURING A TIME THE ASTRONAUT IS NOT INTERRUPTING A NORMAL OR A # PRIO, THE MARK REQUEST IS PUT TO SLEEP UNTIL THE PRESENT ACTIVE DISPLAY IS RESPONDED TO BY THE ASTRONAUT. CHKPRIO CA FLAGWRD4 # MARK ATTEMPT DURING PRIO MASK OCT24100 CCS A TCF MARSLEEP CS FLAGWRD4 # Page 1357 MASK MKOVBIT # SET MARK OVER NORM INHINT ADS FLAGWRD4 TCF SETNORM MARKPERF CA MARKNV MASK VERBMASK TCF NV50DSP GODSP TS PLAYTEM1 GODSP2 CAF ZERO TCF GOFLASH2 GODSPRET TS PLAYTEM1 # ENTRANCE FOR A GODSP WITH A PASTE CAF BIT6 # SET BIT6 TO GO BACK TO USER AFTER NVSUB TCF GOFLASH2 GODSPR TS PLAYTEM1 GODSPR1 CAF ZERO GODSPR2 TS PLAYTEM4 CAF ZERO # * DON'T MOVE TCF GODSPRS1 # CLEANDSP IS USED FOR CLEARING OUT A NORMAL DISPLAY THAT IS PRESENTLY ACTIVE OR A NORMAL DISPLAY THAT IS # SET UP TO BE STARTED OR RESTARTED. # # NORMALLY THE USER WILL NOT NEED TO USE THIS ROUTINE SINCE A NEW NORMAL DISPLAY AUTOMATICALLY CLEARS OUT AN # OLD DISPLAY. # # CALLING SEQUENCE FOR CLEANDSP -- # # TC BANKCALL # CADR CLEANDSP CLEANDSP CAF ZERO REFLASH TS PLAYTEM1 CAF REDOMASK # FLASH AND PERMIT TCF GOFLASH2 REFLASHR TS PLAYTEM1 CAF REDOMASK # FLASH AND PERMIT TCF GODSPRS # Page 1358 REGODSP TS PLAYTEM1 CAF BIT14 TCF GOFLASH2 REGODSPR TS PLAYTEM1 CAF BIT14 TCF GODSPR2 CLOCPLAY TS PLAYTEM1 CAF CLOCKCON TCF GOFLASH2 GOFLASH TS PLAYTEM1 CAF BIT4 # LEAVE ONLY FLASH BIT SET GOFLASH2 TS PLAYTEM4 TC SAVELOCS RELINT TCF MAKEPLAY # BRANCH DIRECT WITH NO SEPARATE JOB CALL PRIODSPR TS PLAYTEM1 CAF BITS7+4 TCF GODSPRS PRIODSP TS PLAYTEM1 SETPRIO CAF BITS7+4 TCF GOFLASH2 MAKEPRIO CAF ZERO TS COPINDEX TC LINUSCHR TCF HIPRIO # LINUS RETURN CA FLAGWRD4 MASK OCT20100 # IS PRIO IN ENDIDLE OR BUSY CCS A TCF PRIOBORT # YES, ABORT HIPRIO CA FLAGWRD4 # MARK ACTIVE MASK OCT40400 EXTEND BZF ASKIFNRM # NO # Page 1359 SETMARK CAF ZERO TCF JOBXCHS ASKIFNRM CA FLAGWRD4 # NORMAL ACTIVE MASK OCT10200 # BITS 13+8 EXTEND BZF OKTOCOPY # NO SETNORM CAF ONE TCF JOBXCHS OKTOCOPY TC COPYNORM TC WITCHONE TC JOBWAKE TC XCHTOEND REDOPRIO CA TIME1 # SAVE TIME PRIODSP SENT OUT TS PRIOTIME KEEPPRIO CAF ZERO # START UP PRIO DISPLAY TCF PRIOPLAY MAKEPLAY CA PRIORITY # SAVE USER'S PRIORITY MASK PRIO37 TS USERPRIO CAF PRIO33 # RAISE PRIORITY FOR FAST JOBS AFTER WAKE TC PRIOCHNG CA PLAYTEM4 # IS IT MARK OR PRIO OR NORM MASK BITS15+7 CCS A TCF MAKEPRIO # ITS PRIO TCF IFLEGAL TCF MAKEMARK # ITS MARK IFLEGAL CAF TWO TS COPINDEX TC LINUSCHR TCF OKTOPLAY # LINUS RETURN CS EBANKTEM MASK BIT4 CCS A TCF OKTOPLAY # NO CA FLAGWRD4 # WAS NORM ASLEEP # Page 1360 MASK NBUSMASK # ARE ANY NORMS ASLEEP EXTEND BZF OKTOPLAY # NO PRIOBORT TC POODOO OCT 1502 OKTOPLAY TC COPIES2 CA USERPRIO EXTEND ROR SUPERBNK TS RESTREG CA FLAGWRD4 # PRIO OR MARK GOING MASK PMMASK CCS A TCF GOSLEEPS # MARK GOING TCF +2 TCF GOSLEEPS # COULD PUT NORM BUSY CHECK HERE TO SAVE TIME TC WITCHONE # IS IT NVSUB BUSY, ENDIDLE OR NOONE TC JOBWAKE TC XCHTOEND PLAYJUM1 CAF TWO PRIOPLAY TS COPINDEX TCF GOPLAY EXDSPRET TS PLAYTEM1 CAF BIT15+6 TCF GOFLASH2 GOPERF1 TS NORMTEM1 # STORE DESIRED CHECKLIST VALUE CAF V01N25 # USED TO DISPLAY CHECKLIST VALUE IN R1 GOPERFS TS PLAYTEM1 CAF PERFMASK # LEAVE ONLY FLASH, PERFORM, BLANKING TCF GOFLASH2 GOPERF2 TS PLAYTEM1 # DESIRED VERB-NOUN TO DISPLAY R1,R2,R3 CAF PERF2MSK TCF GOFLASH2 # Page 1361 GOPERF4 TC PURRS4 TCF GOFLASH2 GOFLASHR TS PLAYTEM1 CAF BIT4 # LEAVE ONLY FLASH BIT SET GODSPRS TS PLAYTEM4 CAF THREE GODSPRS1 INHINT # IMMEDIATE RETURN IS CALL CADR +4 TS RUPTREG3 CA PRIORITY # MAKE DISPLAY ONE HIGHER THAN USER MASK PRIO37 TS NEWPRIO CA PLAYTEM4 # IS THIS A FLASHING R DISPLAY MASK BIT4 CCS A TCF VACDSP # YES, MAKE DSPLAY JOB A VAC CA NEWPRIO # NO, MAKE DSPLAY JOB A NOVAC TC NOVAC EBANK= WHOCARES 2CADR MAKEPLAY TCF BOTHJOBS VACDSP CA BBANK EXTEND ROR SUPERBNK TS L CAF MAKEGEN TC SPVAC BOTHJOBS TC SAVELOCS # COPY TEMPS INTO PERMANENT REGISTERS EXTEND # SAVE NVWORD AND USER'S MPAC +2 DCA MPAC +1 INDEX LOCCTR DXCH MPAC +1 EXTEND # SAVE USER'S CADR, FLAGS AND EBANK DCA MPAC +3 INDEX LOCCTR DXCH MPAC +3 CA LOCCTR TS MPAC +5 # Page 1362 TC SAVELOCR RELINT TCF BANKJUMP # CALL CADR +4 GOPERF1R TS NORMTEM1 # DESIRED CHECKLIST VALUE CAF V01N25 # DISPLAYS CHECKLIST VALUE IN R1 GOPERFRS TS PLAYTEM1 CAF PERFMASK # LEAVE ONLY FLASH, PERFORM, BLANKING TCF GODSPRS GOPERF2R TS PLAYTEM1 # DESIRED VERB-NOUN TO DISPLAY R1,R2,R3 CAF PERF2MSK TCF GODSPRS GOPERF4R TC PURRS4 TCF GODSPRS PURRS4 TS OPTION1 # DESIRED OPTION CODE CAF V04N06 TS PLAYTEM1 CAF PERF4MSK # FLASH, PERFORM AND EBANK R3 TC Q SAVELOCS INHINT CS OCT3400 # EBANK BITS MASK PLAYTEM4 AD EBANK TS PLAYTEM4 SAVELOCR LXCH Q TC MAKECADR TS PLAYTEM3 AD RUPTREG3 # NOT USED FOR NON R ROUTINES TC L COPYNORM CAF ZERO COPIES TS COPINDEX COPIES2 INHINT CA PLAYTEM4 # FLAGWORD # Page 1363 INDEX COPINDEX TS EBANKSAV # EQUIV TO DSPFLG MASK CADRMASK # FLASH AND GODSPRET EXTEND BZF SKIPADD CA PLAYTEM3 INDEX COPINDEX TS CADRFLSH SKIPADD CA PLAYTEM1 # VERB NOUN INDEX COPINDEX TS NVWORD TCF RELINTQ GOSLEEPS INDEX COPINDEX CA PRIOOCT MASK WAITMASK TC UPENT2 WAITMASK OCT 3004 CS ONE AD COPINDEX TS FACEREG XCHSLEEP INDEX FACEREG CAF WAKECADR INHINT TC JOBWAKE # FIND CADR IN JOB AREA TC XCHTOEND # CAUSES AWAKENED JOB TO GO TO ENDOFJOB INDEX FACEREG # REPLACE SAME CADR BUT NEW JOB AREA CAF WAKECADR TCF JOBSLEEP JOBXCHS TS FACEREG # CONTROLS TYPE OF DISPLAY PUT TO SLEEP TC WITCHONE TC JOBWAKE CA FACEREG INDEX LOCCTR TS FACEREG CAF XCHQADD TC XCHNYLOC INDEX FACEREG CA MARKOCT MASK IDLESLEP # Page 1364 TC DOWNENT2 IDLEMASK OCT 74004 # * DON'T MOVE INDEX FACEREG # BIT SHOWS PRIO INTERRUPTED NORM OR MARK CA BIT5 # BIT5 FOR MARK, BIT4 FOR NORMAL AD FOUR TC UPENT2 # FLAG ROUTINE DOES RELINT XCHQADD GENADR XCHSLEEP # * DON'T MOVE CA FLAGWRD4 MASK MKOVBIT # MARK OVER NORM? CCS A GENMARK TC MARKPLAY # USED AS GENADR FOR JOBWAKE TCF OKTOCOPY MARKWAKE CAF ZERO WAKEPLAY TS TEMPOR2 INDEX TEMPOR2 CA BITS5+11 AD FOUR TC DOWNENT2 MARKFMSK OCT 40010 # *** DON'T MOVE INDEX TEMPOR2 CAF WAKECADR INHINT TC JOBWAKE TCF ENDRET # ALL .1 RESTARTS BRANCH DIRECTLY TO INITDSP. NORMAL DISPLAYS ARE THE ONLY DISPLAYS ALLOWED TO USE .1 RESTARTS # INITDSP FIRST RESTORES THE EBANK AND THE SUPERBANK TO THE MOST RECENT NORMAL EBANK AND SUPERBANK. # # IF THE MOST RECENT NORMAL DISPLAY REQUEST WAS NOT FINISHED, CONTROL IS SENT BACK TO THE LAST NORMAL USER. # OTHERWISE THE NORMAL DISPLAY SET UP IN THE NORMAL DISPLAY REGS IS STARTED UP IMMEDIATELY. INITDSP CA EBANKTEM # RESTORE MOST RECENT NORMAL EBANK TS EBANK CA RESTREG # SUPERBANK AND JOB PRIORITY TC SUPERSW # RESTORE SUPERBANK MASK PRIO37 TC PRIOCHNG CS THREE AD TEMPFLSH TCF BANKJUMP PINBRNCH RELINT # FOR GOPIN USERS CA MARK2PAC # NEEDED TO SAVE MPAC +2 FOR MARK USERS # Page 1365 TS MPAC +2 # ONLY CA FLAGWRD4 # PINBRANCH CONDITION MASK PINMASK CCS A TCF +3 TCF ERASER # ** NOTHING IN ENDIDLE TCF MARKPLAY NORMBNCH TC UPFLAG # SET PINBRANCH BIT ADRES PINBRFLG CAF PRIODBIT # PRIO INTERRUPTED MASK FLAGWRD4 CCS A TCF KEEPPRIO TCF PLAYJUM1 NVDSP TC COPYPACS CA TEMPOR2 # SET UP BLANK BITS FOR NVMONOPT IN CASE MASK SEVEN # USER REQUESTS BLANKING MONITOR TS L CS BIT13 INDEX COPINDEX MASK DSPFLG INDEX COPINDEX TS DSPFLG MASK BIT8 # BIT8 SET IF DEC MARK PERFORM DISPLAY TS TEM1 CA MPAC +2 TS MPAC2SAV TS MARK2PAC # * FOR DISK ONLY * INDEX COPINDEX CCS NVWORD TCF NVDSP1 TCF CLEANEND CS MARKNV TS MARKNV # IN CASE MARKPLAY AWAKENED AFTER SLEEPING MASK LOW7 AD V05N00M1 AD TEM1 NVDSP1 AD ONE NV50DSP TC NVMONOPT TCF REST # IF BUSY # Page 1366 TC FLASHOFF # IN CASE OF EXTENDED VERB NON-FLASH TC COPYTOGO # MPACS DESTROYED BY NVSUB TC DOWNFLAG # UNSET SLEEPING BITS ADRES MRKNVFLG TC DOWNFLAG ADRES NRMNVFLG TC DOWNFLAG ADRES PRONVFLG BLANKCHK CA TEMPOR2 # BLANK BITS 1,2,3 IF SET TC BLANKSUB TCF NVDSP PERFCHEK CAF BIT5 # BIT5 FOR PERFORM MASK TEMPOR2 CCS A # IS THIS A GOPERF DISPLAY TCF 1STOR2ND # YES GOANIDLE CAF BIT4 MASK TEMPOR2 CCS A TCF FLASHSUB # IT IS CS TEMPOR2 # IS THIS A GODSPRET MASK BIT6 CCS A TCF ISITN00 INDEX COPINDEX CA CADRFLSH TS MPAC +3 TCF ENDIT ISITN00 INDEX COPINDEX # IS THIS A PASTE CA NVWORD MASK LOW7 # CHECK MADE FOR PINBRNCH AND PRIO ON MARK EXTEND BZF FLASHSUB # YES, ASSUME PASTE ALWAYS ON FLASH TCF ENDOFJOB # NOT FLASH, NOT GOPERF, THEREFORE EXIT 1STOR2ND CA TEMPOR2 MASK BIT13 CCS A TCF GOANIDLE # SECOND CA BIT13 INDEX COPINDEX ADS DSPFLG ZL # Page 1367 EXTEND # IS IT MARK BZMF MARKPERF # YES MASK BIT12 EXTEND BZF V50PASTE CS NVWORD1 # NVOWRD1= -0 IS V97. NVWORD1= -400 IS V99 AD V97N00 TCF NV50DSP V50PASTE CAF V50N00 TCF NV50DSP # DISPLAY SECOND PART OF GOPERF WITCHONE CS BIT5 # TURN OFF KEY RELEASE LIGHT EXTEND WAND DSALMOUT CA FLAGWRD4 MASK NVBUSMSK # IS IT NVSUB ALEEP CCS A CAF ONE TS L CAF ZERO INDEX L XCH CADRSTOR INHINT TC Q XCHTOEND CAF ENDINST # TC ENDOFJOB REPLACES GENADR IN LOC FOR XCHNYLOC XCH LOCCTR # WAS THIS ADDRESS SLEEPING EXTEND BZMF RELINTQ # NO XCH LOCCTR # YES INDEX LOCCTR TS LOC RELINTQ RELINT TC Q # BACK TO USER CLEANEND CAF PRIO32 # ONE LOWER THAN DISPLAYS SLEEPING TC FINDVAC EBANK= NVSAVE 2CADR JAMTERM TCF FLASHSUB +1 ISITPRIO CA FLAGWRD4 MASK ITISMASK # IS PINBRFLG, MARKIDFLG SET EXTEND # Page 1368 BZF PRIOBORT TCF ENDOFJOB REST CCS CADRSTOR # IS SOMEONE IN ENDIDLE TCF ENDOFJOB # YES TCF RESTSLEP TCF ENDOFJOB RESTSLEP CA GENMASK # SET NVSLEEP BITS MASK ASTROMSK TC UPENT2 OCT24100 OCT 24100 # *** DON'T MOVE INDEX COPINDEX CAF NVCADR TC NVSUBUSY # BUSY OR ABORT IF ILLEGAL FLASHSUB TC FLASHON CA COPINDEX # COPINDEX DESTROYED BY ENDIDLE TS COPMPAC CA GENMASK MASK IDLEMASK TC UPENT2 ITISMASK OCT 40040 # *** ENDIDLE ALLOW *** DON'T MOVE CA R1SAVE # IS THIS A REPEAT AND RETURN DISPLAY INDEX COPINDEX MASK BIT3 CCS A TCF UNSETR1 # YES CCS CADRSTOR # SEE IF SOMEONE ALREADY IN ENDIDLE TCF ISITPRIO TCF +2 TCF ISITPRIO TC ENDIDLE IDLERET1 TCF TERMATE TCF PROCEED # ENDIDLE RETURNS HERE ON PROCEED CS LOWLOAD AD MPAC # VERBREG EXTEND DIM A EXTEND BZF LOADITIS # V21 OR V22 OR V23 ON DSKY # Page 1369 OKTOENT CAF TWO ENDOUT TS OUTHERE CA FLAGWRD4 # CHECK NATURE OF ENDIDLE RETURN MASK OCT60000 CCS A TCF TIMECHEK # PRIO ENDIDLE RETURN TCF NORMRET # NORMAL ENDIDLE RETURN TCF MARKRET # MARK ENDIDLE RETURN TIMECHEK CS TIME1 AD PRIOTIME CCS A COM AD OCT37776 AD ONE AD -2SEC EXTEND BZMF KEEPPRIO TCF NORMRET NORMWAKE CAF ONE TCF WAKEPLAY ENDRET CCS OUTHERE AD ONE TCF +2 # NORMAL ENDIDLE EXIT TCF ENDOFJOB INDEX COPMPAC AD CADRFLSH TS MPAC +3 CA GENMASK # REMOVE ENDIDLE AND PINBRANCH BITS MASK PINIDMSK TC DOWNENT2 PINIDMSK OCT 74044 # *** DON'T MOVE CS THREE # BLANK EVERYTHING EXCEPT MM TC NVSUB TCF +1 ENDIT CA USERPRIO # RETURN TO USER'S PRIORITY MASK PRIO37 TC PRIOCHNG CA MPAC +3 TCF BANKJUMP UNSETR1 INDEX COPINDEX # RESET REPEAT AND RETURN REQUEST CS BIT3 # Page 1370 MASK R1SAVE TS R1SAVE CAF ZERO # *** 205 ONLY MARKBRAN USERS IN TC SUPERSW # SUPERBANK 0 -1 CAF THREE # RETURN TO USER'S IMMEDIATE RETURN LOC IMMEDRET INDEX COPINDEX AD CADRFLSH TCF BANKJUMP TERMATE CAF ZERO # ASTRONAUT TERMINATE (V34) RETURNS TO TCF ENDOUT LINUSCHR CS PLAYTEM4 # IS THIS A LINUS MASK BIT14 CCS A TCF Q+1 # NO CS PLAYTEM3 # YES, IS IT ALREADY IN ENDIDLE INDEX COPINDEX AD CADRFLSH EXTEND BZF +2 # YES TC Q # NO CCS DSPLOCK # IS THE ASTRONAUT BUSY TC ENDOFJOB # END THE NEW DISPLAY, IT'S ALREADY ACTIVE TC Q # MORE LOGIC COULD BE INCORPORATED HERE TO MAKE SURE A RECYCLE IS A RECYCLE AND CONVERSELY THAT A LOAD IS A LOAD PROCEED CAF ONE # ASTRONAUT PROCEED (V33) RETURNS TCF ENDOUT # LASTPLAY CHECKS TO SEE IF (1) THE LAST NORMAL DISPLAY WAS EITHER INTERRUPTED BY A PRIO OR A MARK (MARK # COULD ONLY HAPPEN DURING PINBRANCH) OR IF (2) THE LAST NORMAL DISPLAY WAS REQUESTED WHILE A HIGHER PRIORITY # DISPLAY WAS GOING, RESULTING IN THE NORMAL BEING PUT TO SLEEP. # # IF EITHER OF THE ABOVE 2 CONDITIONS EXISTS, THE NORMAL DISPLAY IS AWAKENED TO GO TO PLAYJUM1 WHICH STARTS # UP THE MOST RECENT VALID NORMAL DISPLAY. IF THESE 2 CONDITIONS DO NOT EXIST, CONTROL GOES TO PLAYJUM1 WHICH IS # STARTED IMMEDIATELY WITH THE ASSUMPTION THAT THE MOST RECENT NORMAL DISPLAY IS ALREADY IN ENDIDLE (DURING A # PINBRNCH) OR THAT A RESTART HAS OCCURRED AND THE DISPLAY CAN BE STARTED AS A .1 RESTART. MARKRET CS SIX MASK FLAGWRD4 INHINT # *** MAY MOVE DISPLAY FLAGWORD OUT OF TS FLAGWRD4 RELINT # INHINT REALM TCF ENDRET # Page 1371 MARKOVER CAF MINUS1 # RUPTREG2 IS - MEANS ENDOFJOB TO ENDRET TS OUTHERE CA FLAGWRD4 # IS ENDIDFLG SET MASK PRIO30 # IS NORMAL OR PRIO IN ENDIDLE CCS A TCF NORMBNCH NORMRET CA FLAGWRD4 # IS MARK SLEEPING MASK BITS5+11 # OR WAITING CCS A TCF MARKWAKE CA FLAGWRD4 # NO MASK BITS4+10 # IS NORMAL INTERRUPTED OR WAITING CCS A TCF NORMWAKE # YES CA EBANKTEM # NO, WAS IT A FLASH REQUEST MASK OCT50 # OR A GODSPRET CCS A TCF ENDRET # YES CA NVSAVE EXTEND BZF ENDRET CAF PRIO15 INHINT TC NOVAC EBANK= NVWORD 2CADR PLAYJUM1 TCF ENDRET MARSLEEP CA FLAGWRD4 # IS MARK ALREADY IN MASK BITS5+11 CCS A TCF ENDOFJOB # YES TCF GOSLEEPS LOADITIS INDEX COPMPAC CA NVWORD MASK LOW7 COM AD MPAC +1 # NOUNREG EXTEND BZF OKTOENT # NO, THEN LOAD IS VALID TCF PINBRNCH # YES, ACCEPT LOAD BUT ASK FOR LAST AGAIN # Page 1372 ERASER CS THREE # BLANK EVERYTHING EXCEPT MM TC NVSUB TCF ENDOFJOB TCF ENDOFJOB PERFMASK OCT 0036 # FLASH, PERFORM, BLANK R2 AND R3 V01N25 VN 00125 V06N07 VN 00607 # GOPERF3 VN DISPLAY BEFORE V50 V50N00 VN 5000 PERF2MSK OCT 00030 # FLASH, PERFORM V04N06 VN 00406 PERF4MSK OCT 14 # FLASH, BLANK R3 GOAGIN EQUALS PINBRNCH REDOMASK OCT 20010 # BITS 4 AND 14 MARK3MSK OCT 40230 # MARK, DECIMAL NOUN, PERFORM, FLASH MARK4MSK OCT 40036 # MARK, PERFORM, FLASH, BLANK 2 AND 3 NVCADR CADR REDOPRIO WAKECADR CADR MARKPLAY CADR PLAYJUM1 OCT3400 OCT 3400 # EBANK MASK NBUSMASK OCT 11210 PMMASK OCT 66521 VERBMASK = MID7 # (OCT 37600) V05N00M1 OCT 1177 # V05 MINUS ONE GOXDSP EQUALS GOMARK GOXDSPR EQUALS GOMARKR GOXDSPF EQUALS GOMARKF GOXDSPFR EQUALS GOMARKFR ENDEXT EQUALS ENDMARK MPAC2SAV EQUALS BANKSET NVBUSMSK OCT 700 ASTROMSK OCT 704 MPERFMSK OCT 40030 # BIT 15,5,4 FOR MARK,PERFORM,FLASH OCT34300 OCT 34300 BITS15+7 OCT 40100 BITS7+4 OCT 110 DSPFLG EQUALS EBANKSAV MARKFLAG EQUALS MARKEBAN SAVEFLAG EQUALS EBANKTEM BITS5+11 OCT 2020 # * DON'T MOVE BITS4+10 OCT 1010 # * DON'T MOVE LOWLOAD DEC 22 BUSYMASK OCT 77730 CADRMASK OCT 50 PINMASK EQUALS 13,14,15 GOPLAY EQUALS NVDSP PRIOSAVE EQUALS R1SAVE COPMPAC EQUALS MPAC +3 TEMPOR2 EQUALS MPAC +4 # Page 1373 OUTHERE EQUALS MPAC +5 COPINDEX EQUALS LOC USERPRIO EQUALS MODE GENMASK EQUALS MPAC +6 PRIOOCT OCT 20144 # PRIO MARKOCT OCT 42424 # MARK OCT 11254 # NORM IDLESLEP OCT 74704 OCT67777 OCT 67777 LINUS EQUALS BLANKET FACEREG EQUALS MPAC PLAYTEM1 EQUALS MPAC +1 PLAYTEM3 EQUALS MPAC +3 PLAYTEM4 EQUALS MPAC +4 OCT40420 OCT 40420 MAKEGEN GENADR MAKEPLAY OCT10200 OCT 10200 V97N00 VN 09700 # PASTE FOR V97 OR V99 OCT20100 OCT 20100 CLOCKCON OCT 24030 # FLASH, PERFORM, V99 OR V97 PASTE, REFLASH ================================================ FILE: Luminary099/DOWNLINK_LISTS.agc ================================================ # Copyright: Public domain. # Filename: DOWNLINK_LISTS.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Hartmuth Gutsche . # Website: www.ibiblio.org/apollo. # Pages: 193-205 # Mod history: 2009-05-19 HG Transcribed from page images. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 193 BANK 22 SETLOC DOWNTELM BANK EBANK= DNTMBUFF # SPECIAL DOWNLINK OP CODES # OP CODE ADDRESS (EXAMPLE) SENDS... BIT 15 BITS 14-12 BITS 11-0 # ------- ----------------- -------- ------ ---------- --------- # 1DNADR TIME2 (2 AGC WDS) 0 0 ECADR # 2DNADR TEPHEM (4 AGC WDS) 0 1 ECADR # 3DNADR VGBODY (6 AGC WDS) 0 2 ECADR # 4DNADR STATE (8 AGC WDS) 0 3 ECADR # 5DNADR UPBUFF (10 AGC WDS) 0 4 ECADR # 6DNADR DSPTAB (12 AGC WDS) 0 5 ECADR # DNCHAN 30 CHANNELS 0 7 CHANNEL # ADDRESS # DNPTR NEXTLIST POINTS TO NEXT 0 6 ADRES # LIST # # DOWNLIST FORMAT DEFINITIONS AND RULES -- # 1. END OF A LIST = -XDNADR (X = 1 TO 6), -DNPTR, OR -DNCHAN. # 2. SNAPSHOT SUBLIST = LIST WHICH STARTS WITH A -1DNADR. # 3. SNAPSHOT SUBLIST CAN ONLY CONTAIN 1DNADRS. # 4. TIME2 1DNADR MUST BE LOCATED IN THE CONTROL LIST OF A DOWNLIST. # 5. ERASABLE DOWN TELEMETRY WORDS SHOULD BE GROUPED IN SEQUENTIAL # LOCATIONS AS MUCH AS POSSIBLE TO SAVE STORAGE USED BY DOWNLINK LISTS. COUNT* $$/DLIST ERASZERO EQUALS 7 UNKNOWN EQUALS ERASZERO SPARE EQUALS ERASZERO # USE SPARE TO INDICATE AVAILABLE SPACE LOWIDCOD OCT 77340 # LOW ID CODE NOMDNLST EQUALS LMCSTADL # FRESH START AND POST P27 DOWNLIST AGSLIST EQUALS LMAGSIDL UPDNLIST EQUALS LMAGSIDL # UPDATE PROGRAM (P27) DOWNLIST # Page 194 # LM ORBITAL MANEUVERS LIST # # --------------------- CONTROL LIST ------------------------- LMORBMDL EQUALS # SEND ID BY SPECIAL CODING DNPTR LMORBM01 # COLLECT SNAPSHOT 6DNADR DNTMBUFF # SEND SNAPSHOT 1DNADR DELLT4 # DELLT4,+1 3DNADR RTARG # RTARG,+1...+5 1DNADR ELEV # ELEV,+1 1DNADR TEVENT # TEVENT,+1 6DNADR REFSMMAT # REFSMMAT +0...+11D 1DNADR TCSI # TCSI,+1 3DNADR DELVEET1 # DELVEET1 +0...+5 3DNADR VGTIG # VGTIG +0...+5 1DNADR DNLRVELZ # DNLRVELZ,DNLRALT 1DNADR TPASS4 # TPASS4,+1 DNPTR LMORBM02 # COMMON DATA 1DNADR TIME2 # TIME2/1 DNPTR LMORBM03 # COLLECT SNAPSHOT 6DNADR DNTMBUFF # SEND SNAPSHOT DNPTR LMORBM04 # COMMON DATA 2DNADR POSTORKU # POSTORKU,NEGTORKU,POSTORKV,NEGTORKV 1DNADR SPARE 1DNADR TCDH # TCDH,+1 3DNADR DELVEET2 # DELVEET2 +0...+5 1DNADR TTPI # TTPI,+1 3DNADR DELVEET3 # DELVEET3 +0...+5 1DNADR DNRRANGE # DNRRANGE,DNRRDOT 2DNADR DNLRVELX # DNLRVELX,DNLRVELY,DNLRVELZ,DNLRALT 1DNADR DIFFALT # DIFFALT,+1 1DNADR LEMMASS # LEMMASS,CSMMASS 1DNADR IMODES30 # IMODES30,IMODES33 1DNADR TIG # TIG,+1 DNPTR LMORBM05 # COMMON DATA DNPTR LMORBM06 # COMMON DATA 1DNADR SPARE # FORMERLY PIF -1DNADR TGO # TGO,+1 # --------------------- SUB-LISTS --------------------------- LMORBM01 -1DNADR R-OTHER +2 # R-OTHER +2,+3 SNAPSHOT 1DNADR R-OTHER +4 # R-OTHER +4,+5 1DNADR V-OTHER # V-OTHER,+1 1DNADR V-OTHER +2 # V-OTHER +2,+3 1DNADR V-OTHER +4 # V-OTHER +4,+5 1DNADR T-OTHER # T-OTHER,+1 -1DNADR R-OTHER # R-OTHER +0,+1 LMORBM02 2DNADR REDOCTR # REDOCTR,THETAD,+1,+2 COMMON DATA # Page 195 1DNADR RSBBQ # RSBBQ,+1 2DNADR OMEGAP # OMEGAP,OMEGAQ,OMEGAR,GARBAGE 2DNADR CDUXD # CDUXD,CDUYD,CDUZD,GARBAGE 2DNADR CDUX # CDUX,CDUY,CDUZ,CDUT 6DNADR STATE # STATE +0...+11D (FLAGWORDS) -6DNADR DSPTAB # DSPTAB TABLES LMORBM03 -1DNADR RN +2 # RN +2,+3 SNAPSHOT 1DNADR RN +4 # RN +4,+5 1DNADR VN # VN,+1 1DNADR VN +2 # VN +2,+3 1DNADR VN +4 # VN +4,+5 1DNADR PIPTIME # PIPTIME,+1 -1DNADR RN # RN,+1 LMORBM04 2DNADR OMEGAPD # OMEGAPD,OMEGAQD,OMEGARD,GARBAGE 3DNADR CADRFLSH # CADRFLSH,+1,+2,FAILREG,+1,+2 -1DNADR RADMODES # RADMODES,DAPBOOLS COMMON DATA LMORBM05 2DNADR OMEGAP # OMEGAP,OMEGAQ,OMEGAR,GARBAGE 2DNADR CDUXD # CDUXD,CDUYD,CDUZD,GARBAGE 2DNADR CDUX # CDUX,CDUY,CDUZ,CDUT 1DNADR ALPHAQ # ALPHAQ,ALPHAR COMMON DATA 1DNADR POSTORKP # POSTORKP,NEGTORKP DNCHAN 11 # CHANNELS 11,12 DNCHAN 13 # CHANNELS 13,14 DNCHAN 30 # CHANNELS 30,31 -DNCHAN 32 # CHANNELS 32,33 LMORBM06 1DNADR PIPTIME1 # PIPTIME,+1 COMMON DATA -3DNADR DELV # DELV +0...+5 # -------------------------------------------------------------------- # Page 196 # LM COAST AND ALIGNMENT DOWNLIST # # ---------------------- CONTROL LIST -------------------------------- LMCSTADL EQUALS # SEND ID BY SPECIAL CODING DNPTR LMCSTA01 # COLLECT SNAPSHOT 6DNADR DNTMBUFF # SEND SNAPSHOT 1DNADR AGSK # AGSK,+1 1DNADR TALIGN # TALIGN,+1 2DNADR POSTORKU # POSTORKU,NEGTORKU,POSTORKV,NEGTORKV 1DNADR DNRRANGE # DNRRANGE,DNRRDOT 1DNADR TEVENT # TEVENT,+1 6DNADR REFSMMAT # REFSMMAT +0...+11D 1DNADR AOTCODE # AOTCODE,GARBAGE 3DNADR RLS # RLS +0...+5 2DNADR DNLRVELX # DNLRVELX,DNLRVELY,DNLRVELZ,DNLRALT DNPTR LMCSTA06 # COMMON DATA DNPTR LMCSTA02 # COMMON DATA 1DNADR TIME2 # TIME2/1 DNPTR LMCSTA03 # COLLECT SNAPSHOT 6DNADR DNTMBUFF # SEND SNAPSHOT DNPTR LMCSTA04 # COMMON DATA DNPTR LMCSTA07 # COMMON DATA 2DNADR DNLRVELX # DNLRVELX,DNLRVELY,DNLRVELZ,DNLRALT 2DNADR CDUS # CDUS,PIPAX,PIPAY,PIPAZ 1DNADR LASTYCMD # LASTYCMD,LASTXCMD 1DNADR LEMMASS # LEMMASS,CSMMASS 1DNADR IMODES30 # IMODES30,IMODES33 1DNADR TIG # TIG,+1 DNPTR LMCSTA05 # COMMON DATA -6DNADR DSPTAB # DSPTAB +0...+11D TABLE # ---------------------- SUB-LISTS -------------------------- LMCSTA01 EQUALS LMORBM01 # COMMON DOWNLIST DATA LMCSTA02 EQUALS LMORBM02 # COMMON DOWNLIST DATA LMCSTA03 EQUALS LMORBM03 # COMMON DOWNLIST DATA LMCSTA04 EQUALS LMORBM04 # COMMON DOWNLIST DATA LMCSTA05 EQUALS LMORBM05 # COMMON DOWNLIST DATA LMCSTA06 2DNADR X789 # X789 +0...+3 COMMON DATA -1DNADR LASTYCMD # LASTYCMD,LASTXCMD LMCSTA07 3DNADR OGC # OGC,+1,IGC,+1,MGC,+1 COMMON DATA 1DNADR BESTI # BESTI,BESTJ 3DNADR STARSAV1 # STARSAV1 +0...+5 -3DNADR STARSAV2 # STARSAV2 +0...+5 # Page 197 # ----------------------------------------------------------- # Page 198 # LM RENDEZVOUS AND PRE-THRUST DOWNLIST # # --------------------- CONTROL LIST ------------------------ LMRENDDL EQUALS # SEND ID BY SPECIAL CODING DNPTR LMREND01 # COLLECT SNAPSHOT 6DNADR DNTMBUFF # SEND SNAPSHOT DNPTR LMREND07 # COLLECT SNAPSHOT 4DNADR DNTMBUFF # SEND SNAPSHOT 1DNADR DELLT4 # DELLT4,+1 3DNADR RTARG # RTARG +0...+5 3DNADR DELVSLV # DELVSLV +0...+5 1DNADR TCSI # TCSI,+1 3DNADR DELVEET1 # DELVEET +0...+5 1DNADR SPARE 1DNADR TPASS4 # TPASS4,+1 DNPTR LMREND06 # COMMON DATA DNPTR LMREND02 # COMMON DATA 1DNADR TIME2 # TIME2/1 DNPTR LMREND03 # COLLECT SNAPSHOT 6DNADR DNTMBUFF # SEND SNAPSHOT DNPTR LMREND04 # COMMON DATA 2DNADR POSTORKU # POSTORKU,NEGTORKU,POSTORKV,NEGTORKV 1DNADR SPARE 1DNADR TCDH # TCDH,+1 3DNADR DELVEET2 # DELVEET2 +0...+5 1DNADR TTPI # TTPI,+1 3DNADR DELVEET3 # DELVEET3 +0...+5 1DNADR ELEV # ELEV,+1 2DNADR CDUS # CDUS,PIPAX,PIPAY,PIPAZ 1DNADR LASTYCMD # LASTYCMD,LASTXCMD 1DNADR LEMMASS # LEMMASS,CSMMASS 1DNADR IMODES30 # IMODES30,IMODES33 1DNADR TIG # TIG,+1 DNPTR LMREND05 # COMMON DATA 1DNADR DELTAR # DELTAR,+1 1DNADR CENTANG # CENTANG,+1 1DNADR NN # NN,+1 1DNADR DIFFALT # DIFFALT,+1 1DNADR DELVTPF # DELVTPF,+1 -1DNADR SPARE # --------------------- SUB-LISTS -------------------------- LMREND01 EQUALS LMORBM01 # COMMON DOWNLIST DATA LMREND02 EQUALS LMORBM02 # COMMON DOWNLIST DATA LMREND03 EQUALS LMORBM03 # COMMON DOWNLIST DATA # Page 199 LMREND04 EQUALS LMORBM04 # COMMON DOWNLIST DATA LMREND05 EQUALS LMORBM05 # COMMON DOWNLIST DATA LMREND06 EQUALS LMCSTA06 # COMMON DOWNLIST DATA LMREND07 -1DNADR AIG # AIG,AMG SNAPSHOT 1DNADR AOG # AOG,TRKMKCNT 1DNADR TANGNB # TANGNB,+1 1DNADR MKTIME # MKTIME,+1 -1DNADR RANGRDOT # DNRRANGE,DNRRDOT # ----------------------------------------------------------- # Page 200 # LM DESCENT AND ASCENT DOWNLIST # ---------------------- CONTROL LIST ------------------------ LMDSASDL EQUALS # SEND ID BY SPECIAL CODING DNPTR LMDSAS07 # COLLECT SNAPSHOT DNPTR LMDSAS08 # SEND SNAPSHOT 1DNADR TEVENT # TEVENT,+1 3DNADR UNFC/2 # UNFC/2 +0...+5 3DNADR VGVECT # VGVECT +0...+5 1DNADR TTF/8 # TTF/8,+1 1DNADR DELTAH # DELTAH,+1 3DNADR RLS # RLS +0...+5 1DNADR SPARE DNPTR LMDSAS09 # COMMON DATA DNPTR LMDSAS02 # COMMON DATA 1DNADR TIME2 # TIME2/1 DNPTR LMDSAS03 # COLLECT SNAPSHOT 6DNADR DNTMBUFF # SEND SNAPSHOT DNPTR LMDSAS04 # COMMON DATA 2DNADR POSTORKU # POSTORKU,NEGTORKU,POSTORKV,NEGTORKV 3DNADR RGU # RGU +0...+5 3DNADR VGU # VGU +0...+5 3DNADR LAND # LAND +0...+5 1DNADR AT # AT,+1 1DNADR TLAND # TLAND,+1 1DNADR FC # FC,GARBAGE 1DNADR LASTYCMD # LASTYCMD,LASTXCMD 1DNADR LEMMASS # LEMMASS,CSMMASS 1DNADR IMODES30 # IMODES30,IMODES33 1DNADR TIG # TIG,+1 DNPTR LMDSAS05 # COMMON DATA DNPTR LMDSAS06 # COMMON DATA 1DNADR PSEUDO55 # PSEUDO55,GARBAGE -1DNADR TTOGO # TTOGO,+1 # ---------------------- SUB-LISTS ------------------------ LMDSAS02 EQUALS LMORBM02 # COMMON DOWNLIST DATA LMDSAS03 EQUALS LMORBM03 # COMMON DOWNLIST DATA LMDSAS04 EQUALS LMORBM04 # COMMON DOWNLIST DATA LMDSAS05 EQUALS LMORBM05 # COMMON DOWNLIST DATA LMDSAS06 EQUALS LMORBM06 # COMMON DOWNLIST DATA LMDSAS07 -1DNADR LRZCDUDL # LRZCDUDL,GARBAGE SNAPSHOT 1DNADR VSELECT # VSELECT,GARBAGE 1DNADR LRVTIMDL # LRVTIMDL,+1 # Page 201 1DNADR VMEAS # VMEAS,+1 1DNADR MKTIME # MKTIME,+1 1DNADR HMEAS # HMEAS,+1 1DNADR RM # RM,+1 1DNADR AIG # AIG,AMG 1DNADR AOG # AOG,TRKMKCNT 1DNADR TANGNB # TANGNB,+1 1DNADR MKTIME # MKTIME,+1 -1DNADR LRXCDUDL # LRXCDUDL,LRYCDUDL LMDSAS08 6DNADR DNTMBUFF # SEND SNAPSHOT -5DNADR DNTMBUFF +12D LMDSAS09 EQUALS LMCSTA06 # COMMON DOWNLIST DATA # --------------------------------------------------------- # Page 202 # LM LUNAR SURFACE ALIGN DOWNLIST # ---------------------- CONTROL LIST --------------------- LMLSALDL EQUALS # SEND ID BY SPECIAL CODING DNPTR LMLSAL01 # COLLECT SNAPSHOT 6DNADR DNTMBUFF # SEND SNAPSHOT DNPTR LMLSAL07 # COLLECT SNAPSHOT 4DNADR DNTMBUFF # SEND SHAPSHOT 1DNADR TALIGN # TALIGN,+1 6DNADR REFSMMAT # REFSMMAT +0...+11D 6DNADR YNBSAV # YNBSAV +0...+5,SNBSAV +0...+5 DNPTR LMLSAL08 # COMMON DATA DNPTR LMLSAL02 # COMMON DATA 1DNADR TIME2 # TIME2/1 DNPTR LMLSAL03 # COLLECT SNAPSHOT 6DNADR DNTMBUFF # SEND SHAPSHOT DNPTR LMLSAL04 # COMMON DATA DNPTR LMLSAL09 # COMMON DATA 3DNADR GSAV # GSAV +0...+5 1DNADR AGSK # AGSK,+1 1DNADR LASTYCMD # LASTYCMD,LASTXCMD 1DNADR LEMMASS # LEMMASS,CSMMASS 1DNADR IMODES30 # IMODES30,IMODES33 1DNADR TIG # TIG,+1 DNPTR LMLSAL05 # COMMON DATA DNPTR LMLSAL06 # COMMON DATA 1DNADR SPARE -1DNADR SPARE # ---------------------- SUB-LISTS ---------------------- LMLSAL01 EQUALS LMORBM01 # COMMON DOWNLIST DATA LMLSAL02 EQUALS LMORBM02 # COMMON DOWNLIST DATA LMLSAL03 EQUALS LMORBM03 # COMMON DOWNLIST DATA LMLSAL04 EQUALS LMORBM04 # COMMON DOWNLIST DATA LMLSAL05 EQUALS LMORBM05 # COMMON DOWNLIST DATA LMLSAL06 EQUALS LMORBM06 # COMMON DOWNLIST DATA LMLSAL07 EQUALS LMREND07 # COMMON DOWNLIST DATA LMLSAL08 EQUALS LMCSTA06 # COMMON DOWNLIST DATA LMLSAL09 EQUALS LMCSTA07 # COMMON DOWNLIST DATA # Page 203 # -------------------------------------------------------- # Page 204 # LM AGS INITIALIZATION AND UPDATE DOWNLIST # ---------------------- CONTROL LIST -------------------- LMAGSIDL EQUALS # SEND IO BY SPECIAL CODING 3DNADR AGSBUFF +0 # AGSBUFF +0...+5 1DNADR AGSBUFF +12D # AGSBUFF +12D,GARBAGE 3DNADR AGSBUFF +1 # AGSBUFF +1...+6 1DNADR AGSBUFF +13D # AGSBUFF +13D, GARBAGE 3DNADR AGSBUFF +6 # AGSBUFF +6...+11 1DNADR AGSBUFF +12D # AGSBUFF +12D,GARBAGE 3DNADR AGSBUFF +7 # AGSBUFF +7...+12D 1DNADR AGSBUFF +13D # AGSBUFF +13D,GARBAGE 6DNADR COMPNUMB # COMPNUMB,UPOLDMOD,UPVERB,UPCOUNT, # UPBUFF +0...+7 6DNADR UPBUFF +8D # UPBUFF +8D...+19D DNPTR LMAGSI02 # COMMON DATA 1DNADR TIME2 # TIME2/1 DNPTR LMAGSI03 # COLLECT SNAPSHOT 6DNADR DNTMBUFF # SEND SNAPSHOT DNPTR LMAGSI04 # COMMON DATA 2DNADR POSTORKU # POSTORKU,NEGTORKU,POSTORKV,NEGTORKV 1DNADR SPARE 1DNADR SPARE 1DNADR AGSK # AGSK,+1 6DNADR UPBUFF # UPBUFF +0...+11D 4DNADR UPBUFF +12D # UPBUFF +12D...+19D 1DNADR LEMMASS # LEMMASS,CSMMASS 1DNADR IMODES30 # IMODES30,IMODES33 1DNADR SPARE DNPTR LMAGSI05 # COMMON DATA -6DNADR DSPTAB # DSPTAB +0...+11D # ---------------------- SUB-LISTS --------------------- LMAGSI02 EQUALS LMORBM02 # COMMON DOWNLIST DATA LMAGSI03 EQUALS LMORBM03 # COMMON DOWNLIST DATA LMAGSI04 EQUALS LMORBM04 # COMMON DOWNLIST DATA LMAGSI05 EQUALS LMORBM05 # COMMON DOWNLIST DATA # ------------------------------------------------------ DNTABLE GENADR LMCSTADL # LM COAST AND ALIGN DOWNLIST GENADR LMAGSIDL # LM AGS INITIALIZATION/UPDATE DOWNLIST GENADR LMRENDDL # LM RENDEZVOUS AND PRE-THRUST DOWNLIST GENADR LMORBMDL # LM ORBITAL MANEUVERS DOWNLIST GENADR LMDSASDL # LM DESCENT AND ASCENT DOWNLIST # Page 205 GENADR LMLSALDL # LM LUNAR SURFACE ALIGN DOWNLIST # ------------------------------------------------------ ================================================ FILE: Luminary099/DOWN_TELEMETRY_PROGRAM.agc ================================================ # Copyright: Public domain. # Filename: DOWN_TELEMETRY_PROGRAM.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 988-997 # Mod history: 2009-05-24 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 988 # PROGRAM NAME -- DOWN TELEMETRY PROGRAM # MOD NO. -- 0 TO COMPLETELY REWRITE THE DOWN TELEMETRY PROGRAM AND DOWNLINK ERASABLE DUMP PROGRAM FOR THE # PURPOSE OF SAVING APPROXIMATELY 150 WORDS OF CORE STORAGE. # THIS CHANGE REQUIRES AN ENTIRELY NEW METHOD OF SPECIFYING DOWNLINK LISTS. REFER TO DOWNLINK # LISTS LOG SECTION FOR MORE DETAILS. HOWEVER THIS CHANGE WILL NOT AFFECT THE GROUND PROCESSING # OF DOWN TELEMETRY DATA. # MOD BY -- KILROY, SMITH, DEWITT # DATE -- 02 OCT 67 # AUTHORS -- KILROY, SMITH, DWWITT, DEWOLF, FAGIN # LOG SECTION -- DOWN-TELEMETRY PROGRAM # # FUNCTIONAL DESCRIPTION -- THIS ROUTINE IS INITIATED BY TELEMETRY END # PULSE FROM THE DOWNLINK TELEMETRY CONVERTER. THIS PULSE OCCURS # AT 50 TIMES PER SEC (EVERY 20 MS) THEREFORE DODOWNTM IS # EXECUTED AT THESE RATES. THIS ROUTINE SELECTS THE APPROPRIATE # AGC DATA TO BE TRANSMITTED DOWNLINK AND LOADS IT INTO OUTPUT # CHANNELS 34 AND 35. THE INFORMATION IS THEN GATED OUT FROM THE # LGC IN SERIAL FASHION. # # THIS PROGRAM IS CODED FOR A 2 SECOND DOWNLIST. SINCE DOWNRUPTS # OCCUR EVERY 20 MS AND 2 AGC COMPUTER WORDS CAN BE PLACED IN # CHANNELS 34 AND 35 DURING EACH DOWNRUPT THE PROGRAM IS CAPABLE # OF SENDING 200 AGC WORDS EVERY 2 SECONDS. # # CALLING SEQUENCE -- NONE # PROGRAM IS ENTERED VIA TCF DODOWNTM WHICH IS EXECUTED AS A # RESULT OF A DOWNRUPT. CONTROL IS RETURNED VIA TCF RESUME WHICH # IN EFFECT IS A RESUME. # # SUBROUTINES CALLED -- NONE # # NORMAL EXIT MODE -- TCF RESUME # # ALARM OR ABORT EXIT MODE -- NONE # # RESTART PROTECTION: # ON A FRESH START AND RESTART THE `STARTSUB' SUBROUTINE WILL INITIALIZE THE DOWNLIST POINTER (ACTUALLY # DNTMGOTO) TO THE BEGINNING OF THE CURRENT DOWNLIST (I.E., CURRENT CONTENTS OF DNLSTADR). THIS HAS THE # EFFECT OF IGNORING THE REMAINDER OF THE DOWNLIST WHICH THE DOWN-TELEMETRY PROGRAM WAS WORKING ON WHEN # THE RESTART (OR FRESH START) OCCURRED AND RESUME DOWN TELEMETRY FROM THE BEGINNING OF THE CURRENT # DOWNLIST. # # ALSO OF INTEREST IS THE FACT THAT ON A RESTART THE AGC WILL ZERO DOWNLINK CHANNELS 13, 34 AND 35. # # DOWNLINK LIST SELECTION: # THE APPROPRIATE DOWNLINK LISTS ARE SELECTED BY THE FOLLOWING: # 1. FRESH START # 2. V37EXXE WHERE XX = THE MAJOR MODE BEING SELECTED. # 3. UPDATE PROGRAM (P27) # 4. NON-V37 SELECTABLE TYPE PROGRAMS (E.G., AGS INITIALIZATION (SUNDANCE, LUMINARY) AND P61-P62 # TRANSITION (COLOSSUS) ETC.). # # DOWNLINK LIST RULES AND LIMITATIONS: # READ SECTION(S) WHICH FOLLOW `DEBRIS' WRITEUP. # # OUTPUT -- EVERY 2 SECONDS 100 DOUBLE PRECISION WORDS (I.E., 200 LGC # COMPUTER WORDS) ARE TRANSMITTED VIA DOWNLINK. # # ERASABLE INITIALIZATION REQUIRED -- NONE # `DNTMGOTO' AND `DNLSTADR' ARE INITIALIZED BY THE FRESH START PROGRAM. # # DEBRIS (ERASABLE LOCATIONS DESTROYED BY THIS PROGRAM) -- # LDATALST, DNTMBUFF TO DNTMBUFF +21D, TMINDEX, DNQ. # Page 989 (empty page) # Page 990 # DODOWNTM IS ENTERED EVERY 20 MS BY AN INTERRUPT TRIGGERED BY THE # RECEIPT OF AN ENDPULSE FROM THE SPACECRAFT TELEMETRY PROGRAMMER. # # NOTES REGARDING DOWNLINK LISTS ASSOCIATED WITH THIS PROGRAM: # 1. DOWNLISTS. DOWNLISTS MUST BE COMPILED IN THE SAME BANK AS THE # DOWN-TELEMETRY PROGRAM. THIS IS DONE FOR EASE OF CODING, FASTER # EXECUTION. # 2. EACH DOWNLINK LIST CONSISTS OF A CONTROL LIST AND A NUMBER OF # SUBLISTS. # 3. A SUBLIST REFERS TO A SNAPSHOT OR DATA COMMON TO THE SAME OR OTHER # DOWNLINK LISTS. ANY SUBLIST CONTAINING COMMON DATA NEEDS TO BE # CODED ONLY ONCE FOR THE APPLICABLE DOWNLINK LISTS. # 4. SNAPSHOT SUBLISTS REFER SPECIFICALLY TO HOMOGENEOUS DATA WHICH MUST BE # SAVED IN A BUFFER DURING ONE DOWNRUPT. # 5. THE 1DNADR FOR THE 1ST WORD OF SNAPSHOT DATA IS FOUND AT THE END # OF EACH SNAPSHOT SUBLIST, SINCE THE PROGRAM CODING SENDS THIS DP WORD # IMMEDIATELY AFTER STORING THE OTHERS IN THE SNAPSHOT BUFFER. # 6. ALL LISTS ARE COMBINATIONS OF CODED ERASABLE ADDRESS CONSTANTS # CREATED FOR THE DOWNLIST PROGRAM. # A. 1DNADR 1-WORD DOWNLIST ADDRESS. # SAME AS ECADR, BUT USED WHEN THE WORD ADDRESSED IS THE LEFT # HALF OF A DOUBLE-PRECISION WORD FOR DOWN TELEMETRY. # B. 2DNADR - 6DNADR N-WORD DOWNLIST ADDRESS, N = 2 - 6. # SAME AS 1DNADR, BUT WITH THE 4 UNUSED BITS OF THE ECADR FORMAT # FILLED IN WITH 0001-0101. USED TO POINT TO A LIST OF N DOUBLE- # PRECISION WORDS, STORED CONSECUTIVELY, FOR DOWN TELEMETRY. # C. DNCHAN DOWNLIST CHANNEL ADDRESS. # SAME AS 1DNADR, BUT WITH PREFIX BITS 0111. USED TO POINT TO # A PAIR OF CHANNELS FOR DOWN TELEMETRY. # D. DNPTR DOWN-TELEMETRY SUBLIST POINTER. # SAME AS CAF BUT TAGGED AS A CONSTANT. USED IN CONTROL LIST TO POINT TO A SUBLIST. # CAUTION --- A DNPTR CANNOT BE USED IN A SUBLIST. # 7. THE WORD ORDER CODE IS SET TO ZERO AT THE BEGINNING OF EACH DOWNLIST (I.E., CONTROL LIST) AND WHEN # A `1DNADR TIME2' IS DETECTED IN THE CONTROL LIST (ONLY). # 8. IN THE SNAPSHOT SUBLIST ONLY, THE DNADR'S CANNOT POINT TO THE FIRST WORD OF ANY EBANK. # # DOWNLIST LIST RESTRICTIONS: # (THE FOLLOWING POINTS MAY BE LISTED ELSEWHERE BUT ARE LISTED HERE SO IT IS CLEAR THAT THESE THINGS CANNOT BE # DONE) # 1. SNAPSHOT DOWNLIST: # (A) CANNOT CONTAIN THE FOLLOWING ECADRS (I.E., 1DNADR'S): Q, 400, 1000, 1400, 2000, 2400, 3000, 3400. # (B) CAN CONTAIN ONLY 1DNADR'S # 2. ALL DOWNLINKED DATA (EXCEPT CHANNELS) IS PICKED UP BY A DCA SO DOWNLINK LISTS CANNOT CONTAIN THE # EQUIVALENT OF THE FOLLOWING ECADRS (I.E., 1DNADRS): 377, 777, 1377, 1777, 2377, 2777, 3377, 3777. # (NOTE: THE TERM `EQUIVALENT' MEANT THAT THE 1DNADR TO 6DNADR WILL BE PROCESSED LIKE 1 TO 6 ECADRS) # 3. CONTROL LISTS AND SUBLISTS CANNOT HAVE ENTRIES = OCTAL 00000 OR OCTAL 77777 # Page 991 # 4. THE `1DNADR TIME2' WHICH WILL CAUSE THE DOWNLINK PROGRAM TO SET THE WORDER CODE TO 3 MUST APPEAR IN THE # CONTROL SECTION OF THE DOWNLIST. # 5. `DNCHAN 0' CANNOT BE USED. # 6. `DNPTR 0' CANNOT BE USED. # 7. DNPTR CANNOT APPEAR IN A SUBLIST. # # EBANK SETTINGS # IN THE PROCESS OF SETTING THE EBANK (WHEN PICKING UP DOWNLINK DATA) THE DOWN TELEMETRY PROGRAM PUTS # `GARBAGE' INTO BITS15-12 OF EBANK. HUGH BLAIR-SMITH WARNS US THAT BITS15-12 OF EBANK MAY BECOME # SIGNIFICANT SOMEDAY IN THE FUTURE. IF/WHEN THAT HAPPENS, THE PROGRAM SHOULD INSURE (BY MASKING ETC.) # THAT BITS 15-12 OF EBANK ARE ZERO. # # INITIALIZATION REQUIRED -- TO INTERRUPT CURRENT LIST AND START A NEW ONE. # 1. ADRES OF DOWNLINK LIST INTO DNLSTADR # 2. NEGONE INTO SUBLIST # 3. NEGONE INTO DNECADR BANK 22 SETLOC DOWNTELM BANK EBANK= DNTMBUFF COUNT* $$/DPROG DODOWNTM TS BANKRUPT EXTEND QXCH QRUPT # SAVE Q TCF WOTEST WO1 EXTEND # SET WORD ORDER BIT TO 1 ONLY IF IT WOR CHAN13 # ALREADY ISN'T TC DNTMGOTO # GOTO APPROPRIATE PHASE OF PROGRAM DNPHASE1 CA NEGONE # INITIALIZE ALL CONTROL WORDS TS SUBLIST # WORDS TO MINUS ONE TS DNECADR CA LDNPHAS2 # SET DNTMGOTO = 0 ALL SUSEQUENT DOWRUPTS TS DNTMGOTO # GO TO DNPHASE2 TCF NEWLIST DNPHASE2 CCS DNECADR # SENDING OF DATA IN PROGRESS DODNADR TC FETCH2WD # YES -- THEN FETCH THE NEXT 2 SP WORDS MINTIME2 -1DNADR TIME2 # NEGATIVE OF TIME2 1DNADR TCF +1 # (ECADR OF 3776 + 74001 = 77777) CCS SUBLIST # IS THE SUBLIST IN CONTROL TCF NEXTINSL # YES # Page 992 DNADRDCR OCT 74001 # DNADR COUNT AND ECADR DECREMENTER CHKLIST CA CTLIST EXTEND BZMF NEWLIST # IT WILL BE NEGATIVE AT END OF LIST TCF NEXTINCL NEWLIST INDEX DNLSTCOD CA DNTABLE # INITIALIZE CTLIST WITH TS CTLIST # STARTING ADDRESS OF NEW LIST CS DNLSTCOD TCF SENDID +3 NEXTINCL INDEX CTLIST CA 0 CCS A INCR CTLIST # SET POINTER TO PICK UP NEXT CTLIST WORD TCF +4 # ON NEXT ENTRY TO PROG. (A SHOULD NOT =0) XCH CTLIST # SET CTLIST TO NEGATIVE AND PLACE(CODING) COM # UNCOMPLEMENTED DNADR INTO A. (FOR LA) XCH CTLIST # (ST IN ) +4 INCR A # (CTLIST) TS DNECADR # SAVE DNADR AD MINTIME2 # TEST FOR TIME2 (NEG. OF ECADR) CCS A TCF SETWO +1 # DON'T SET WORD ORDER CODE MINB1314 OCT 47777 # MINUS BIT 13 AND 14 (CAN'T GET HERE) TCF SETWO +1 # DON'T SET WORD ORDER CODE SETWO TC WOZERO # GO SET WORD ORDER CODE TO ZERO. +1 CA DNECADR # RELOAD A WITH THE DNADR. +2 AD MINB1314 # IS THIS A REGULAR DNADR? EXTEND BZMF FETCH2WD # YES. (A MUST NEVER BE ZERO) AD MINB12 # NO. IS IT A POINTER (DNPTR) OR A EXTEND # CHANNEL(DNCHAN) BZMF DODNPTR # IT'S A POINTER. (A MUST NEVER BE ZERO) DODNCHAN TC 6 # (EXECUTED AS EXTEND) IT'S A CHANNEL INDEX DNECADR INDEX 0 -4000 # (EXECUTED AS READ) TS L TC 6 # (EXECUTED AS EXTEND) INDEX DNECADR INDEX 0 -4001 # (EXECUTED AS READ) TS DNECADR # SET DNECADR CA NEGONE # TO MINUS XCH DNECADR # WHILE PRESERVING A. TCF DNTMEXIT # GO SEND CHANNELS WOZERO CS BIT7 EXTEND WAND CHAN13 # SET WORD ORDER CODE TO ZERO # Page 993 TC Q # RETURN TO CALLER DODNPTR INDEX DNECADR # DNECADR CONTAINS ADRES OF SUBLIST 0 0 # CLEAR AND ADD LIST ENTRY INTO A. CCS A # IS THIS A SNAPSHOT SUBLIST CA DNECADR # NO, IT IS A REGULAR SUBLIST. TCF DOSUBLST # A MUST NOT BE ZERO. XCH DNECADR # YES. IT IS A SNAPSHOT SUBLIST. TS SUBLIST # C(DNECADR) INTO SUBLIST CAF ZERO # A INTO A XCH TMINDEX # (NOTE: TMINDEX = DNECADR) # THE FOLLOWING CODING (FROM SNAPLOOP TO SNAPEND) IS FOR THE PURPOSE OF TAKING A SNAPSHOT OF 12 DP REGISTERS. # THIS IS DONE BY SAVING 11 DP REGISTERS IN DNTMBUFF AND SENDING THE FIRST DP WORD IMMEDIATELY. # THE SNAPSHOT PROCESSING IS THE MOST TIME CONSUMING AND THEREFORE THE CODING AND LIST STRUCTURE WERE DESIGNED # TO MINIMIZE TIME. THE TIME OPTIMIZATION RESULTS IN RULES UNIQUE TO THE SNAPSHOT PORTION OF THE DOWNLIST. # THESE RULES ARE ...... # 1. ONLY 1DNADR'S CAN APPEAR IN THE SNAPSHOT SUBLIST # 2. THE 1DNADR'S CANNOT REFER TO THE FIRST LOCATION IN ANY BANK. SNAPLOOP TS EBANK # SET EBANK MASK LOW8 # ISOLATE RELATIVE ADDRESS EXTEND INDEX A EBANK= 1401 DCA 1401 # PICK UP 2 SNAPSHOT WORDS. EBANK= DNTMBUFF INDEX TMINDEX DXCH DNTMBUFF # STORE 2 SNAPSHOT WORDS IN BUFFER INCR TMINDEX # SET BUFFER INDEX FOR NEXT 2 WORDS. INCR TMINDEX SNAPAGN INCR SUBLIST # SET POINTER TO NEXT 2 WORDS OF SNAPSHOT INDEX SUBLIST 0 0 # = CA SSSS (SSSS = NEXT ENTRY IN SUBLIST) CCS A # TEST FOR LAST TWO WORDS OF SNAPSHOT. TCF SNAPLOOP # NOT LAST TWO. LDNPHAS2 GENADR DNPHASE2 TS SUBLIST # YES, LAST. SAVE A. CA NEGONE # SET DNECADR AND TS DNECADR # SUBLIST POINTERS XCH SUBLIST # TO NEGATIVE VALUES TS EBANK MASK LOW8 EXTEND INDEX A EBANK= 1401 DCA 1401 # PICK UP FIRST 2 WORDS OF SNAPSHOT. # Page 994 EBANK= DNTMBUFF SNAPEND TCF DNTMEXIT # NOW TO SEND THEM. FETCH2WD CA DNECADR TS EBANK # SET EBANK MASK LOW8 # ISOLATE RELATIVE ADDRESS TS L CA DNADRDCR # DECREMENT COUNT AND ECADR ADS DNECADR EXTEND INDEX L EBANK= 1400 DCA 1400 # PICK UP 2 DATA WORDS EBANK= DNTMBUFF TCF DNTMEXIT # NOW GO SEND THEM. DOSUBLST TS SUBLIST # SET SUBLIST POINTER NEXTINSL INDEX SUBLIST 0 0 # = CA SSSS (SSSS = NEXT ENTRY IN SUBLIST) CCS A # IS IT THE END OF THE SUBLIST INCR SUBLIST # NO -- TCF +4 TS SUBLIST # SAVE A. CA NEGONE # SET SUBLIST TO MINUS XCH SUBLIST # RETRIEVE A. +4 INCR A TS DNECADR # SAVE DNADR TCF SETWO +2 # GO USE COMMON CODING (PROLEMS WOULD # OCCUR IF THE PROGRAM ENCOUNTERED A # DNPTR NOW) DNTMEXIT EXTEND # DOWN-TELEMETRY EXIT WRITE DNTM1 # TO SEND A + L TO CHANNELS 34 + 35 CA L # RESPECTIVELY TMEXITL EXTEND WRITE DNTM2 TMRESUME TCF RESUME # EXIT TELEMETRY PROGRAM VIA RESUME. MINB12 EQUALS -1/8 DNECADR EQUALS TMINDEX CTLIST EQUALS LDATALST SUBLIST EQUALS DNQ # Page 995 # SUBROUTINE NAME -- DNDUMP # # FUNCTIONAL DESCRIPTION -- TO SEND (DUMP) ALL ERASABLE STORAGE 'N' TIMES. (N=1 TO 4). BANKS ARE SENT ONE AT A TIME # EACH BANK IS PRECEDED BY AN ID WORD, SYNCH BITS, ECADR AND TIME1 FOLLOWED BY THE 256D WORDS OF EACH # EBANK. EBANKS ARE DUMPED IN ORDER (I.E., EBANK 0 FIRST, THEN EBANK1 ETC.) # # CALLING SEQUENCE -- THE GROUND OR ASTRONAUT BY KEYING V74E CAN INITIALIZE THE DUMP. # AFTER KEYING IN V74E THE CURRENT DOWNLIST WILL BE IMMEDIATELY TERMINATED AND THE DOWNLINK ERASABLE DUMP # WILL BEGIN. # # ONCE INITIATED THE DOWNLINK ERASABLE DUMP CAN BE TERMINATED (AND INTERRUPTED DOWNLIST REINSTATED) ONLY # BY THE FOLLOWING: # # 1. A FRESH START # 2. COMPLETION OF ALL DOWNLINK DUMPS REQUESTED (ACCORDING TO BITS SET IN DUMPCNT). NOTE THAT DUMPCNT # CAN BE ALTERED BY A V21N01. # 3. AND INVOLUNTARILY BY A RESTART. # # NORMAL EXIT MODE -- TCF DNPHASE1 # # ALARM OR ABORT MODE -- NONE # # *SUBROUTINES CALLED -- NONE # # ERASABLE INITIALIZATION REQUIRED -- # DUMPCNT OCT 20000 IF 4 COMPLETE ERASABLE DUMPS ARE DESIRED # DUMPCNT OCT 10000 IF 2 COMPLETE ERASABLE DUMPS ARE DESIRED # DUMPCNT OCT 04000 IF 1 COMPLETE ERASABLE DUMP IS DESIRED # # DEBRIS -- DUMPLOC, DUMPSW, DNTMGOTO, EBANK, AND CENTRAL REGISTERS # # TIMING -- TIME (IN SECS) = ((NO.DUMPS)*(NO.EBANKS)*(WDSPEREBANK + NO.IDWDS)) / NO.WDSPERSEC # TIME (IN SECS) = ( 4 )*( 8 )*( 256 + 4 ) / 100 # THUS TIME (IN SECS TO SEND DUMP OF ERASABLE 4 TIMES VIA DOWNLINK) = 83.2 SECONDS # # STRUCTURE OF ONE EBANK AS IT IS SENT BY DOWNLINK PROGRAM -- # (REMINDER -- THIS ONLY DESCRIBES ONE OF THE 8 EBANKS X 4 (DUMPS) = 32 EBANKS WHICH WILL BE SENT BY DNDUMP) # # DOWNLIST W # WORD TAKEN FROM CONTENTS OF EXAMPLE O COMMENTS # 1 ERASID 0177X 0 DOWNLIST I.D. FOR DOWNLINK ERASABLE DUMP (X=7 CSM, 6 LM) # 2 LOWIDCOD 77340 1 DOWNLINK SYNCH BITS. (SAME ONE USED IN ALL OTHER DOWNLISTS) # 3 DUMPLOC 13400 1 (SEE NOTES ON DUMPLOC) 1 = 3RD ERAS DUMP, 3400=ECADR OF 5TH WD # 4 TIME1 14120 1 TIME IN CENTISECONDS # 5 FIRST WORD OF EBANK X 03400 1 IN THIS EXAMPLE THIS WORD = CONTENTS OF E7,1400 (ECADR 3400) # 6 2ND WORD OF EBANK X 00142 1 IN THIS EXAMPLE THIS WORD = CONTENTS OF E7,1401 (ECADR 3401) # 7 3RD WORD OF EBANK X 00142 1 IN THIS EXAMPLE THIS WORD = CONTENTS OF E7,1402 (ECADR 3402) # . # . # . # 260D 256TH WORD OF EBANK X 03777 1 IN THIS EXAMPLE THIS WORD = CONTENTS OF E7,1777 (ECADR 3777) # # NOTE -- DUMPLOC CONTAINS THE COUNTER AND ECADR FOR EACH WORD BEING SENT. # THE BIT STRUCTURE OF DUMPLOC IS FOLLOW -- # X = NOT USED # X ABC EEE RRRRRRRR ABC = ERASABLE DUMP COUNTER (I.E. ABC = 0,1,2, OR 3 WHICH MEANS THAT # COMPLETE ERASABLE DUMP NUMBER 1,2,3, OR 4 RESPECTIVELY IS IN PROGRESS) # EEE = EBANK BITS # RRRRRRRR = RELATIVE ADDRESS WITHIN AN EBANK # Page 996 DNDUMPI CA ZERO # INITIALIZE DOWNLINK TS DUMPLOC # ERASABLE DUMP +2 TC SENDID # GO SEND ID AND SYNCH BITS CA LDNDUMP1 # SET DNTMGOTO TS DNTMGOTO # TO LOCATION FOR NEXT PASS CA TIME1 # PLACE TIME1 XCH L # INTO L CA DUMPLOC # AND ECADR OF THIS EBANK INTO A TCF DNTMEXIT # SEND DUMPLOC AND TIME1 LDNDUMP ADRES DNDUMP LDNDUMP1 ADRES DNDUMP1 DNDUMP CA TWO # INCREMENT ECADR IN DUMPLOC ADS DUMPLOC # TO NEXT DP WORD TO BE MASK LOW8 # DUMPED AND SAVE IT. CCS A # IS THIS THE BEGINNING OF A NEW EBANK TCF DNDUMP2 # NO -- THEN CONTINUE DUMPING CA DUMPLOC # YES -- IS THIS THE END OF THE MASK DUMPCNT # N TH (N = 1 TO 4) COMPLETE ERASABLE MASK PRIO34 # DUMP (BIT14 FOR 4, BIT13 FOR 2 OR BIT12 CCS A # FOR 1 COMPLETE ERASABLE DUMP(S)). TCF DNPHASE1 # YES -- START SENDING INTERRUPTED DOWNLIST # AGAIN TCF DNDUMPI +2 # NO -- GO BACK AND INITIALIZE NEXT BANK DNDUMP1 CA LDNDUMP # SET DNTMGOTO TS DNTMGOTO # FOR WORDS 3 TO 256D OF CURRENT EBANK DNDUMP2 CA DUMPLOC TS EBANK # SET EBANK MASK LOW8 # ISOLATE RELATIVE ADDRESS. TS Q # (NOTE: MASK INSTRUCTION IS USED TO PICK CA NEG0 # UP ERASABLE REGISTERS SO THAT EDITING TS L # REGISTERS 20-23 WILL NOT BE ALTERED.) INDEX Q EBANK= 1400 # PICK UP LOW ORDER REGISTER OF PAIR MASK 1401 # OF ERASABLE REGISTERS. XCH L INDEX Q # PICK UP HIGH ORDER REGISTER OF PAIR MASK 1400 # OF ERASABLE REGISTERS. EBANK= DNTMBUFF TCF DNTMEXIT # GO SEND THEM SENDID EXTEND # ** ENTRANCE USED BY ERASABLE DUMP PROG. ** QXCH DNTMGOTO # SET DNTMGOTO SO NEXT TIME PROG WILL GO CAF ERASID # TO LOCATION FOLLOWING `TC SENDID' TS L # ** ENTRANCE USED BY REGULAR DOWNLINK PG ** # Page 997 TC WOZERO # GO SET WORD ORDER CODE TO ZERO CAF LOWIDCOD # PLACE SPECIAL ID CODE INTO L XCH L # AND ID BACK INTO A TCF DNTMEXIT # SEND DOWNLIST ID CODE(S). WOTEST CA BIT7 # AT THE BEGINNING OF THE LIST THE WORD EXTEND # ORDER BIT WILL BE SET BACK TO ZERO RAND CHAN13 CCS A TC DNTMGOTO CA BIT7 TCF WO1 ================================================ FILE: Luminary099/ERASABLE_ASSIGNMENTS.agc ================================================ # Copyright: Public domain. # Filename: ERASABLE ASSIGNMENTS.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Onno Hommes . # Website: www.ibiblio.org/apollo. # Pages: 0090-0152 # Mod history: 2009-05-16 OH Transcribed from page images. # 2009-06-05 RSB Eliminated a variable that shouldn't have # survived from Luminary 131. # 2010-12-31 JL Fixed page number comment. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 90 # CONVENTIONS AND NOTATIONS UTILIZED FOR ERASABLE ASSIGNMENTS. # EQUALS IS USED IN TWO WAYS. IT IS OFTEN USED TO CHAIN A GROUP # OF ASSIGNMENTS SO THAT THE GROUP MAY BE MOVED WITH THE # CHANGING OF ONLY ONE CARD. EXAMPLE: # # X EQUALS START # Y EQUALS X +SIZE.X # Z EQUALS Y +SIZE.Y # # (X, Y, AND Z ARE CONSECUTIVE AND BEGIN AT START. # SIZE.X AND SIZE.Y ARE THE RESPECTIVE SIZES OF X AND Y. # USUALLY NUMERIC, IE. 1, 2, 6, 18D, ETC.) # EQUALS OFTEN IMPLIES THE SHARING OF REGISTERS (DIFFERENT NAMES # AND DIFFERENT DATA). EXAMPLE: # # X EQUALS Y # = MEANS THAT MULTIPLE NAMES HAVE BEEN GIVEN TO THE SAME DATA. # (THIS IS LOGICAL EQUIVALENCE, NOT SHARING.) EXAMPLE: # # X = Y # THE SIZE AND UTILIZATION OF AN ERASABLE ARE OFTEN INCLUDED IN # THE COMMENTS IN THE FOLLOWING FORM: M(SIZE)N. # # M REFERS TO THE MOBILITY OF THE ASSIGNMENT. # B MEANS THAT THE SYMBOL IS REFERENCED BY BASIC # INSTRUCTIONS AND THUS IS E-BANK SENSITIVE. # I MEANS THAT THE SYMBOL IS REFERENCED ONLY BY # INTERPRETIVE INSTRUCTIONS, AND IS THUS E-BANK # INSENSITIVE AND MAY APPEAR IN ANY E-BANK. # # SIZE IS THE NUMBER OF REGISTERS INCLUDED BY THE SYMBOL. # # N INDICATES THE NATURE OF PERMANENCE OF THE CONTENTS. # PL MEANS THAT THE CONTENTS ARE PAD LOADED. # DSP MEANS THAT THE REGISTER IS USED FOR A DISPLAY. # PRM MEANS THAT THE REGISTER IS PERMANENT. IE., IT # IS USED DURING THE ENTIRE MISSION FOR ONE # PURPOSE AND CANNOT BE SHARED. # TMP MEANS THAT THE REGISTER IS USED TEMPORARILY OR # IS A SCRATCH REGISTER FOR THE ROUTINE TO WHICH # IT IS ASSIGNED. THAT IS, IT NEED NOT BE SET # PRIOR TO INVOCATION OF THE ROUTINE NOR DOES IT # CONTAIN USEFUL OUTPUT TO ANOTHER ROUTINE. THUS # Page 91 # IT MAY BE SHARED WITHANY OTHER ROUTINE WHICH # IS NOT ACTIVE IN PARALLEL # IN MEANS INPUT TO THE ROUTINE AND IT IS PROBABLY # TEMPORARY FOR A HIGHER-LEVEL ROUTINE/PROGRAM. # OUT MEANS OUTPUT FROM THE ROUTINE, PROBABLY # TEMPORARY FOR A HIGHER-LEVEL ROUTINE/PROGRAM. # Page 92 # SPECIAL REGISTERS. A EQUALS 0 L EQUALS 1 # L AND Q ARE BOTH CHANNELS AND REGISTERS Q EQUALS 2 EBANK EQUALS 3 FBANK EQUALS 4 Z EQUALS 5 # ADJACENT TO FBANK AND BBANK FOR DXCH Z BBANK EQUALS 6 # (DTCB) AND DXCH FBANK (DTCF). # REGISTER 7 IS A ZERO-SOURCE, USED BY ZL. ARUPT EQUALS 10 # INTERRUPT STORAGE LRUPT EQUALS 11 QRUPT EQUALS 12 SAMPTIME EQUALS 13 # SAMPLED TIME 1 & 2. ZRUPT EQUALS 15 # (13 AND 14 ARE SPARES.) BANKRUPT EQUALS 16 # USUALLY HOLDS FBANK OR BBANK. BRUPT EQUALS 17 # RESUME ADDRESS AS WELL. CYR EQUALS 20 SR EQUALS 21 CYL EQUALS 22 EDOP EQUALS 23 # EDITS INTERPRETIVE OPERATION CODE PAIRS. TIME2 EQUALS 24 TIME1 EQUALS 25 TIME3 EQUALS 26 TIME4 EQUALS 27 TIME5 EQUALS 30 TIME6 EQUALS 31 CDUX EQUALS 32 CDUY EQUALS 33 CDUZ EQUALS 34 CDUT EQUALS 35 # REND RADAR TRUNNION CDU CDUS EQUALS 36 # REND RADAR SHAFT CDU PIPAX EQUALS 37 PIPAY EQUALS 40 PIPAZ EQUALS 41 Q-RHCCTR EQUALS 42 # RHC COUNTER REGISTERS P-RHCCTR EQUALS 43 R-RHCCTR EQUALS 44 INLINK EQUALS 45 RNRAD EQUALS 46 GYROCMD EQUALS 47 CDUXCMD EQUALS 50 CDUYCMD EQUALS 51 CDUZCMD EQUALS 52 CDUTCMD EQUALS 53 CDUSCMD EQUALS 54 # Page 93 THRUST EQUALS 55 LEMONM EQUALS 56 OUTLINK EQUALS 57 ALTM EQUALS 60 # INTERPRETIVE REGISTERS ADDRESSED RELATIVE TO VAC AREA. LVSQUARE EQUALS 34D # SQUARE OF VECTOR INPUT TO ABVAL AND UNIT LV EQUALS 36D # LENGTH OF VECTOR INPUT TO UNIT. X1 EQUALS 38D # INTERPRETIVE SPECIAL REGISTER RELATIVE X2 EQUALS 39D # TO THE WORK AREA. S1 EQUALS 40D S2 EQUALS 41D QPRET EQUALS 42D # INPUT/OUTPUT CHANNELS # *** CHANNEL ZERO IS TO BE USED IN AN INDEXED OPERATION ONLY. *** LCHAN EQUALS L QCHAN EQUALS Q HISCALAR EQUALS 3 LOSCALAR EQUALS 4 CHAN5 EQUALS 5 CHAN6 EQUALS 6 SUPERBNK EQUALS 7 # SUPER-BANK. OUT0 EQUALS 10 DSALMOUT EQUALS 11 CHAN12 EQUALS 12 CHAN13 EQUALS 13 CHAN14 EQUALS 14 MNKEYIN EQUALS 15 NAVKEYIN EQUALS 16 CHAN30 EQUALS 30 CHAN31 EQUALS 31 CHAN32 EQUALS 32 CHAN33 EQUALS 33 DNTM1 EQUALS 34 DNTM2 EQUALS 35 # END OF CHANNEL ASSIGNMENTS # Page 94 # INTERPRETIVE SWITCH BIT ASSIGNMENTS # ** FLAGWORDS AND BITS NOW ASSIGNED AND DEFINED IN THEIR OWN LOG SECTION. ** # Page 95 # GENERAL ERASABLE ASSIGNMENTS SETLOC 61 # INTERRUPT TEMPORARY STORAGE POOL. (11D) # (ITEMP1 THROUGH RUPTREG4) # ANY OF THESE MAY BE USED AS TEMPORARIES DURING INTERRUPT OR WITH INTERRUPT INHIBITED. THE ITEMP SERIES # IS USED DURING CALLS TO THE EXECUTIVE AND WAITLIST -- THE RUPTREGS ARE NOT. ITEMP1 ERASE WAITEXIT EQUALS ITEMP1 EXECTEM1 EQUALS ITEMP1 ITEMP2 ERASE WAITBANK EQUALS ITEMP2 EXECTEM2 EQUALS ITEMP2 ITEMP3 ERASE RUPTSTOR EQUALS ITEMP3 WAITADR EQUALS ITEMP3 NEWPRIO EQUALS ITEMP3 ITEMP4 ERASE LOCCTR EQUALS ITEMP4 WAITTEMP EQUALS ITEMP4 ITEMP5 ERASE NEWLOC EQUALS ITEMP5 ITEMP6 ERASE NEWLOC+1 EQUALS ITEMP6 # DP ADDRESS. SETLOC 67 NEWJOB ERASE # MUST BE AT LOC 67 DUE TO WIRING. RUPTREG1 ERASE RUPTREG2 ERASE RUPTREG3 ERASE RUPTREG4 ERASE KEYTEMP1 EQUALS RUPTREG4 DSRUPTEM EQUALS RUPTREG4 # FLAGWORD RESERVATIONS. (16D) STATE ERASE +15D # +15D FLAGWORD REGISTERS # P25 RADAR STORAGE. (MAY BE UNSHARED IN E7) (TEMP OVERLAY) (2D) OVERLAYS FLGWRD 14 & 15 # Page 96 LASTYCMD EQUALS STATE +14D # B(1)PRM THESE ARE CALLED BY T4RUPT LASTXCMD EQUALS LASTYCMD +1 # B(1)PRM THEY MUST BE CONTIGUOUS, Y FIRST # EXEC TEMPORARIES WHICH MAY BE USED BETWEEN CCS NEWJOBS (32D) (INTB15+ THROUGH RUPTMXTM) INTB15+ ERASE # REFLECTS 15TH BIT OF INDEXABLE ADDRESSES DSEXIT = INTB15+ # RETURN FOR DSPIN EXITEM = INTB15+ # RETURN FOR SCALE FACTOR ROUTINE SELECT BLANKRET = INTB15+ # RETURN FOR 2BLANK INTBIT15 ERASE # SIMILAR TO ABOVE. WRDRET = INTBIT15 # RETURN FOR 5BLANK WDRET = INTBIT15 # RETURN FOR DSPWD DECRET = INTBIT15 # RETURN FOR PUTCOM(DEC LOAD) 21/22REG = INTBIT15 # TEMP FOR CHARIN # THE REGISTERS BETWEEN ADDRWD AND PRIORITY MUST STAY IN THE FOLLOWING ORDER FOR INTERPRETIVE TRACE. ADDRWD ERASE # 12 BIT INTERPRETIVE OPERAND SUB-ADDRESS. POLISH ERASE # HOLDS CADR MADE FROM POLISH ADDRESS. UPDATRET = POLISH # RETURN FOR UPDATNN, UPDATVB CHAR = POLISH # TEMP FOR CHARIN ERCNT = POLISH # COUNTER FOR ERROR LIGHT RESET DECOUNT = POLISH # COUNTER FOR SCALING AND DISPLAY (DEC) FIXLOC ERASE # WORK AREA ADDRESS. OVFIND ERASE # SET NON-ZERO ON OVERFLOW. VBUF ERASE +5 # TEMPORARY STORAGE USED FOR VECTORS. SGNON = VBUF # TEMP FOR +,- ON NOUNTEM = VBUF # COUNTER FOR MIXNOUN FETCH DISTEM = VBUF # COUNTER FOR OCTAL DISPLAY VERB DECTEM = VBUF # COUNTER FOR FETCH (DEC DISPLAY VERBS) SGNOFF = VBUF +1 # TEMP FOR +,- ON NVTEMP = VBUF +1 # TEMP FOR NVSUB SFTEMP1 = VBUF +1 # STORAGE FOR SF CONST HI PART (=SFTEMP2-1) HITEMIN = VBUF +1 # TEMP FOR LOAD OF HRS,MIN,SEC # MUST = LOTEMIN-1. CODE = VBUF +2 # FOR DSPIN SFTEMP2 = VBUF +2 # STORAGE FOR SF CONST LO PART (=SFTEMP1+1) LOTEMIN = VBUF +2 # TEMP FOR LOAD OF HRS,MIN,SEC # MUST = HITEMIN+1 MIXTEMP = VBUF +3 # FOR MIXNOUN DATA SIGNRET = VBUF +3 # RETURN FOR +,- ON # ALSO MIXTEMP+1 = VBUF+4, MIXTEMP+2 = VBUF+5 BUF ERASE +2 # TEMPORARY SCALAR STORAGE. # Page 97 BUF2 ERASE +1 INDEXLOC EQUALS BUF # CONTAINS ADDRESS OF SPECIFIED INDEX. SWWORD EQUALS BUF # ADDRESS OF SWITCH WORD. SWBIT EQUALS BUF +1 # SWITCH BIT WITHIN THE SWITCH WORD MPTEMP ERASE # TEMPORARY USED IN MULTIPLY AND SHIFT DMPNTEMP = MPTEMP # DMPSUB TEMPORARY DOTINC ERASE # COMPONENT INCREMENT FOR DOT SUBROUTINE DVSIGN EQUALS DOTINC # DETERMINES SIGN OF DDV RESULT ESCAPE EQUALS DOTINC # USED IN ARCSIN/ARCCOS. ENTRET = DOTINC # EXIT FROM ENTER DOTRET ERASE # RETURN FROM DOT SUBROUTINE DVNORMCT EQUALS DOTRET # DIVIDENT NORMALIZATION COUNT IN DDV. ESCAPE2 EQUALS DOTRET # ALTERNATE ARCSIN/ARCCOS SWITCH WDCNT = DOTRET # CHAR COUNTER FOR DSPWD INREL = DOTRET # INPUT BUFFER SELECTION ( X,Y,Z, REG) MATINC ERASE # VECTOR INCREMENT IN MXV AND VXM MAXDVSW EQUALS MATINC # +0 IF DP QUOTIENT IS NEAR ONE -- ELSE -1. POLYCNT EQUALS MATINC # POLYNOMIAL LOOP COUNTER DSPMMTEM = MATINC # DSPCOUNT SAVE FOR DSPMM MIXBR = MATINC # INDICATOR FOR MIXED OR NORMAL NOUN TEM1 ERASE # EXEC TEMP POLYRET = TEM1 DSREL = TEM1 # REL ADDRESS FOR DSPIN TEM2 ERASE # EXEC TEMP DSMAG = TEM2 # MAGNITUDE STORE FOR DSPIN IDADDTEM = TEM2 # MIXNOUN INDIRECT ADDRESS (garbled) TEM3 ERASE # EXEC TEMP COUNT = TEM3 # FOR DSPIN TEM4 ERASE # EXEC TEMP LSTPTR = TEM4 # LIST POINTER FOR GRABUSY RELRET = TEM4 # RETURN FOR RELDSP FREERET = TEM4 # RETURN FOR FREEDSP DSPWDRET = TEM4 # RETURN FOR DSPSIGN SEPSCRET = TEM4 # RETURN FOR SEPSEC SEPMNRET = TEM4 # RETURN FOR SEPMIN TEM5 ERASE # EXEC TEMP NOUNADD = TEM5 # TEMP STORAGE FOR NOUN ADDRESS NNADTEM ERASE # TEMP FOR NOUN ADDRESS TABLE ENTRY NNTYPTEM ERASE # TEMP FOR NOUN TYPE TABLE ENTRY IDAD1TEM ERASE # TEMP FOR INDIR ADDRESS TABLE ENTRY (MIXNN) # MUST = IDAD2TEM-1, = IDAD3TEM-2 IDAD2TEM ERASE # TEMP FOR INDIR ADDRESS TABLE ENTRY (MIXNN) # Page 98 # MUST = IDAD1TEM+1, = IDAD3TEM-1. IDAD3TEM ERASE # TEMP FOR INDIR ADDRESS TABLE ENTRY (MIXNN) # MUST = IDAD1TEM+2, = IDAD2TEM+1. RUTMXTEM ERASE # TEMP FOR SF ROUT TABLE ENTRY (MIXNN ONLY) # AX*SR*T STORAGE. (6D) DEXDEX EQUALS TEM2 # B(1)TMP DEX1 EQUALS TEM3 # B(1)TMP DEX2 EQUALS TEM4 # B(1)TMP RTNSAVER EQUALS TEM5 # B(1)TMP TERM1TMP EQUALS MPAC +3 # B(2)TMP DEXI = DEX1 # THE FOLLOWING 10 REGISTERS ARE USED FOR TEMPORARY STORAGE OF THE DERIVATIVE COEFFICIENT TABLE OF # SUBROUTINE ROOTPSRS. THEY MUST REMAIN WITHOUT INTERFERENCE WITH ITS SUBROUTINES WHICH ARE POWRSERS (POLY). # DMPSUB, DMPNSUB, SHORTMP, DDV/BDDV, ABS, AND USPRCADR. DERCOF-8 = MPAC -12 # ROOTPSRS DER COF N-4 HI ORDER DERCOF-7 = MPAC -11 # ROOTPSRS DER COF N-4 LO ORDER DERCOF-6 = MPAC -10 # ROOTPSRS DER COF N-3 HI ORDER DERCOF-5 = MPAC -7 # ROOTPSRS DER COF N-3 LO ORDER DERCOF-4 = MPAC -6 # ROOTPSRS DER COF N-2 HI ORDER DERCOF-3 = MPAC -5 # ROOTPSRS DER COF N-2 LO ORDER DERCOF-2 = MPAC -4 # ROOTPSRS DER COF N-1 HI ORDER DERCOF-1 = MPAC -3 # ROOTPSRS DER COF N-1 LO ORDER DERCOFN = MPAC -2 # ROOTPSRS DER COF N, HI ORDER DERCOF+1 = MPAC -1 # ROOTPSRS DER COF N, LO ORDER PWRPTR = POLISH # ROOTPSRS POWER TABLE POINTER DXCRIT = VBUF +2 # ROOTPSRS CRITERION FOR ENDING ITERS HI DXCRIT+1 = VBUF +3 # ROOTPSRS CRITERION FOR ENDING ITERS LOW ROOTPS = VBUF +4 # ROOTPSRS ROOT HI ORDER ROOTPS+1 = VBUF +5 # ROOTPSRS ROOT LO ORDER RETROOT = BUF +2 # ROOTPSRS RETURN ADDRESS OF USER PWRCNT = MATINC # ROOTPSRS DER TABLE LOOP COUNTER DERPTR = TEM1 # ROOTPSRS DER TABLE POINTER # Page 99 # DYNAMICALLY ALLOCATED CORE SETS FOR JOBS (84D) MPAC ERASE +6 # MULTI-PURPOSE ACCUMULATOR. MODE ERASE # +1 FOR TP, +0 FOR DP, OR -1 FOR VECTOR. LOC ERASE # LOCATION ASSOCIATED WITH JOB. BANKSET ERASE # USUALLY CONTAINS BBANK SETTING. PUSHLOC ERASE # WORD OF PACKED INTERPRETIVE PARAMETERS. PRIORITY ERASE # PRIORITY OF PRESENT JOB AND WORK AREA. ERASE +83D # EIGHT SETS OF 12 REGISTERS EACH # INCORP STORAGE: R22 (N29) (SHARES WITH FOLLOWING SECTION) (4D) R22DISP EQUALS TIME2SAV # I(4) N49 DISPLAY OF DELTA R AND DELTA V # STANDBY VERB ERASABLES. REDOCTR BEFORE THETADS. (14D) TIME2SAV ERASE +1 SCALSAVE ERASE +1 REDOCTR ERASE # CONTAINS NUMBER OF RESTARTS THETAD ERASE +2 CPHI = THETAD # O DESIRED GIMBAL ANGLES CTHETA = THETAD +1 # I FOR CPSI = THETAD +2 # M MANEUVER DELV ERASE +5 DELVX = DELV DELVY = DELV +2 DELVZ = DELV +4 # DOWNLINK STORAGE. (28D) DNLSTADR EQUALS DNLSTCOD DNLSTCOD ERASE # B(1)PRM DOWNLINK LIST CODE DUMPCNT ERASE # B(1) LDATALST ERASE +25D # (26D) DNTMGOTO EQUALS LDATALST +1 # B(1) TMINDEX EQUALS DNTMGOTO +1 # B(1) DUMPLOC EQUALS TMINDEX # CONTAINS ECADR OF AGC DP WORD BEING DUMPED # AND COUNT OF COMPLETE DUMPS ALREADY # SENT. DNQ EQUALS TMINDEX +1 # B(1) DNTMBUFF EQUALS DNQ +1 # B(22)PRM DOWNLINK SNAPSHOT BUFFER # UNSWITCHED FOR DISPLAY INTERFACE ROUTINES. (10D) FIVE MORE IN EBANK 2. # Page 100 RESTREG ERASE # B(1)PRM FOR DISPLAY RESTARTS NVWORD ERASE MARKNV ERASE NVSAVE ERASE # (RETAIN THE ORDER OF CADRFLSH TO FAILREG +2 FOR DOWNLINK PURPOSES) CADRFLSH ERASE CADRMARK ERASE TEMPFLSH ERASE FAILREG ERASE +2 # B(3)PRM 3 ALARM CODE REGISTERS # VAC AREAS. -- BE CAREFUL OF PLACEMENT -- (220D) VAC1USE ERASE VAC1 ERASE +42D VAC2USE ERASE VAC2 ERASE +42D VAC3USE ERASE VAC3 ERASE +42D VAC4USE ERASE VAC4 ERASE +42D VAC5USE ERASE VAC5 ERASE +42D # WAITLIST REPEAT FLAG. (1D) RUPTAGN ERASE KEYTEMP2 = RUPTAGN # TEMP FOR KEYRUPT, UPRUPT # STARALIGN ERASABLES. (13D) STARCODE ERASE # (1) AOTCODE = STARCODE STARALGN ERASE +11D SINCDU = STARALGN COSCDU = STARALGN +6 SINCDUX = SINCDU +4 SINCDUY = SINCDU SINCDUZ = SINCDU +2 COSCDUX = COSCDU +4 COSCDUY = COSCDU COSCDUZ = COSCDU +2 # PHASE TABLE AND RESTART COUNTERS (12D) -PHASE1 ERASE # Page 101 PHASE1 ERASE -PHASE2 ERASE PHASE2 ERASE -PHASE3 ERASE PHASE3 ERASE -PHASE4 ERASE PHASE4 ERASE -PHASE5 ERASE PHASE5 ERASE -PHASE6 ERASE PHASE6 ERASE # A**SR*T STORAGE. (6D) CDUSPOT ERASE +5 # B(6) CDUSPOTY = CDUSPOT CDUSPOTZ = CDUSPOT +2 CDUSPOTX = CDUSPOT +4 # VERB 37 STORAGE (2D) MINDEX ERASE # B(1)TMP INDEX FOR MAJOR MODE MMNUMBER ERASE # B(1)TMP MAJOR MODE REQUESTED BY V37 # PINBALL INTERRUPT ACTION (1D) DSPCNT ERASE # B(1)PRM COUNTER FOR DSPOUT # PINBALL EXECUTIVE ACTION (44D) DSPCOUNT ERASE # DISPLAY POSITION INDICATOR DECBRNCH ERASE # +DEC, -DEC, OCT INDICATOR VERBREG ERASE # VERB CODE NOUNREG ERASE # NOUN CODE XREG ERASE # R1 INPUT BUFFER YREG ERASE # R2 INPUT BUFFER ZREG ERASE # R3 INPUT BUFFER XREGLP ERASE # LO PART OF XREG (FOR DEC CONV ONLY) YREGLP ERASE # LO PART OF YREG (FOR DEC CONV ONLY) HITEMOUT = YREGLP # TEMP FOR DISPLAY OF HRS,MIN,SEC # MUST = LOTEMOUT-1. ZREGLP ERASE # LO PART OF ZREG (FOR DEC CONV ONLY) LOTEMOUT = ZREGLP # TEMP FOR DISPLAY OF HRS,MIN,SEC # MUST = HITEMOUT+1 MODREG ERASE # MODE CODE # Page 102 DSPLOCK ERASE # KEYBOARD/SUBROUTINE CALL INTERLOCK REQRET ERASE # RETURN REGISTER FOR LOAD LOADSTAT ERASE # STATUS INDICATOR FOR LOADTST CLPASS ERASE # PASS INDICATOR CLEAR NOUT ERASE # ACTIVITY COUNTER FOR DSPTAB NOUNCADR ERASE # MACHINE CADR FOR NOUN MONSAVE ERASE # N/V CODE FOR MONITOR. (= MONSAVE1-1) MONSAVE1 ERASE # NOUNCADR FOR MONITOR (MATBS1) = MONSAVE+1 MONSAVE2 ERASE # NVMONOPT OPTIONS DSPTAB ERASE +11D # 0-10D, DISPLAY PANEL BUFF. 11D, C/S LTS. NVQTEM ERASE # NVSUB STORAGE FOR CALLING ADDRESS # MUST = NVBNKTEM-1. NVBNKTEM ERASE # NVSUB STORAGE FOR CALLING BANK # MUST = NVQTEM+1 VERBSAVE ERASE # NEEDED FOR RECYCLE CADRSTOR ERASE # ENDIDLE STORAGE DSPLIST ERASE # WAITING REG FOR DSP SYST INTERNAL USE EXTVBACT ERASE # EXTENDED VERB ACTIVITY INTERLOCK DSPTEM1 ERASE +2 # BUFFER STORAGE AREA 1 (MOSTLY FOR TIME) DSPTEM2 ERASE +2 # BUFFER STORAGE AREA 2 (MOSTLY FOR DEG) DSPTEMX EQUALS DSPTEM2 +1 # B(2) S-S DISPLAY BUFFER FOR EXT. VERBS NORMTEM1 EQUALS DSPTEM1 # B(3)DSP NORMAL DISPLAY REGISTERS. # DISPLAY FOR EXTENDED VERBS (V82, R04(V62), V41(N72) ) (2D) OPTIONX EQUALS DSPTEMX # (2) EXTENDED VERB OPTION CODE # TBASES AND PHSPRDT S. (12D) TBASE1 ERASE PHSPRDT1 ERASE TBASE2 ERASE PHSPRDT2 ERASE TBASE3 ERASE PHSPRDT3 ERASE TBASE4 ERASE PHSPRDT4 ERASE TBASE5 ERASE PHSPRDT5 ERASE TBASE6 ERASE PHSPRDT6 ERASE # UNSWITCHED FOR DISPLAY INTERFACE ROUTINES. (6D) # Page 103 NVWORD1 ERASE # B(1) PROBABLY FOR DISPLAY DURING SERVICER EBANKSAV ERASE MARKEBAN ERASE EBANKTEM ERASE MARK2PAC ERASE R1SAVE ERASE # IMU COMPENSATION UNSWITCHED ERASABLE. (1D) 1/PIPADT ERASE # SINGLE PRECISION SUBROUTINE TEMPORARIES (2D) TEMK ERASE # (1) SQ ERASE # (1) # UNSWITCHED RADAR ERASABLE SAMPLIM ERASE SAMPLSUM ERASE +3 TIMEHOLD ERASE +1 RRTARGET EQUALS SAMPLSUM # HALF U IT VECTOR IN SM OR NB AXES. TANG ERASE +1 # DESIRE TRUNNION AND SHAFT ANGLES. MODEA EQUALS TANG MODEB ERASE +1 # DODES LOBBERS TANG +2. NSAMP EQUALS MODEB DESRET ERASE OLDATAGD EQUALS DESRET # USED IN DATA READING ROUTINES. DESCOUNT ERASE # ****** P22 ****** (6D) RSUBC EQUALS RRTARGET # I(6) S-S CSM POSITION VECTOR. # Page 104 # UNSWITCHED FOR ORBIT INTEGRATION (21D) TDEC ERASE +20D # I(2) COLREG EQUALS TDEC +2 # I(1) LAT EQUALS COLREG +1 # I(2) LONG EQUALS LAT +2 # I(2) ALT EQUALS LONG +2 # I(2) YV EQUALS ALT +2 # I(6) ZV EQUALS YV +6 # I(6) # MISCELLANEOUS UNSWITCHED. (20D) P40/RET ERASE # (WILL BE PUT IN E6 WHEN THERE IS ROOM) GENRET ERASE # B(1) R61 RETURN CADR. OPTION1 ERASE # B(1) NOUN 06 USES THIS OPTION2 ERASE # B(1) NOUN 06 USES THIS OPTION3 ERASE # B(1) NOUN 06 USES THIS LONGCADR ERASE +1 # B(2) LONGCALL REGISTER LONGBASE ERASE +1 LONGTIME ERASE +1 # B(2) LONGCALL REGISTER CDUTEMPX ERASE # B(1)TMP CDUTEMPY ERASE # B(1)TMP CDUTEMPZ ERASE # B(1)TMP PIPATMPX ERASE # B(1)TMP PIPATMPY ERASE # B(1)TMP PIPATMPZ ERASE # B(1)TMP DISPDEX ERASE # B(1) TEMPR60 ERASE # B(1) PRIOTIME ERASE # B(1) # P27 (UPDATE PROGRAM) STORAGE (26D) UPVERBSV ERASE # B(1) UPDATE VERB ATTEMPTED. UPTEMP ERASE +24D # B(1)TMP SCRATCH INTWAK1Q EQUALS UPTEMP # (BORROWS UPTEMP REGISTERS) # RETAIN THE ORDER OF COMPNUMB THRU UPBUFF +19D FOR DOWNLINK PURPOSES. COMPNUMB EQUALS UPTEMP +1 # B(1)TMP NUMBER OF ITEMS TO BE UPLINKED UPOLDMOD EQUALS COMPNUMB +1 # B(1)TMP INTERRUPTD PROGRAM MM UPVERB EQUALS UPOLDMOD +1 # B(1)TMP VERB NUMBER UPCOUNT EQUALS UPVERB +1 # B(1)TMP UPBUFF INDEX UPBUFF EQUALS UPCOUNT +1 # B(20D) # SPECIAL DEFINITION FOR SYSTEM TEST ERASABLE PGMS. (2D) EBUF2 EQUALS UPTEMP # B(2) FOR EXCLUSIVE USE OF SYSTEM TEST. # Page 105 # PERM STATE VECTORS FOR BOOST AND DOWNLINK -- WHOLE MISSION -- (14D) RN ERASE +5 # B(6)PRM VN ERASE +5 # B(6)PRM PIPTIME ERASE +1 # B(2)PRM (MUST BE FOLLOWED BY GDT/2) # SERVICER -- MUST FOLLOW PIPTIME -- (19D) GDT/2 ERASE +19D # B(6)TMP ** MUST FOLLOW PIPTIME ** MASS EQUALS GDT/2 +6 # B(2) WEIGHT/G = MASS ABDELV EQUALS MASS +2 # (KALCMANU STORAGE) PGUIDE EQUALS ABDELV +1 # (2) DVTHRUSH EQUALS PGUIDE +2 # (1) AVEGEXIT EQUALS DVTHRUSH +1 # (2) AVGEXIT = AVEGEXIT TEMX EQUALS AVEGEXIT +2 # (1) TEMY EQUALS TEMX +1 # (1) TEMZ EQUALS TEMY +1 # (1) PIPAGE EQUALS TEMZ +1 # B(1) OUTROUTE EQUALS PIPAGE +1 # B(1) # PERMANENT LEM DAP STORAGE (12D) CH5MASK ERASE # B(1)PRM CH6MASK ERASE # B(1)PRM JET FAILURE MASK. DTHETASM ERASE +5 # (6) SPNDX ERASE # B(1) RCSFLAGS ERASE # AUTOPILOT FLAG WORD # BIT ASSIGNMENTS: # 1) ALTERYZ SWITCH (ZEROOR1) # 2) NEEDLER SWITCH # 3) NEEDLER SWITCH # 4) NEEDLER SWITCH # 5) NEEDLER SWITCH # 9) JUST-IN-DETENT SWITCH # 10) PBIT -- MANUAL CONTROL SWITCH # 11) QRBIT -- MANUAL CONTROL SWITCH # 12) PSKIP CONTROL (PJUMPADR) # 13) 1/ACCJOB CONTROL (ACCSET) T5ADR ERASE +1 # GENADR OF NEXT LM DAP T5RUPT. * 2CADR * # BBCON OF NEXT LM DAP T5RUPT. 2CADR # ERASABLES FOR P64: OVERLAY OF DTHETASM, WHICH IS UNUSED (4D) ZERLINA EQUALS DTHETASM # B(1) P64 # Page 106 ELVIRA EQUALS ZERLINA +1 # B(1) P64 AZINCR1 EQUALS ELVIRA +1 # B(1) P64 ELINCR1 EQUALS AZINCR1 +1 # B(1) P64 # RCS FAILURE MONITOR STORAGE (1) PVALVEST ERASE # B(1)PRM # KALCMANU/DAP INTERFACE (3D) DELPEROR ERASE # B(1)PRM COMMAND LAGS. DELQEROR ERASE # B(1)PRM DELREROR ERASE # B(1)PRM # MODE SWITCHING ERASABLE. (9D) # RETAIN THE ORDER OF IMODES30 AND IMODES33 FOR DOWNLINK PURPOSES IMODES30 ERASE # B(1) IMODES33 ERASE MODECADR ERASE +2 # B(3)PRM IMUCADR EQUALS MODECADR OPTCADR EQUALS MODECADR +1 RADCADR EQUALS MODECADR +2 ATTCADR ERASE +2 # B(3)PRM ATTPRIO = ATTCADR +2 MARKSTAT ERASE # T4RUPT ERASABLE (2D) DSRUPTSW ERASE LGYRO ERASE # (1) # RENDEZVOUS RADAR TASK STORAGE (3D) RRRET ERASE +2D # B(1)TMP P20'S, PERHAPS R29 & R12 RDES EQUALS RRRET +1 # B(1)TMP RRINDEX EQUALS RDES +1 # B(1)TMP # MEASINC (4D) WIXA ERASE # B(1) WIXB ERASE # B(1) ZIXA ERASE # B(1) ZIXB ERASE # B(1) # Page 107 # AGS DUMMY ID WORD. (1D) AGSWORD ERASE # SOME MISCELLANEOUS UNSWITCHED. (6D) RATEINDX ERASE # (1) USED BY KALCMANU DELAYLOC ERASE +2 LEMMASS ERASE # KEEP CONTIGUOUS W. CSMMASS. (1) EACH CSMMASS ERASE # LESS IS MORE. # RENDEZVOUS AND LANDING RADAR DOWNLINK STORAGE. (7D) # # (NORMALLY USED DURING P20, BUT MAY ALSO) # (BE REQUIRED FOR THE V62 SPURIOUS TEST.) # # (PLEASE KEEP IN THIS ORDER) DNRRANGE ERASE +6 # B(1)TMP DNRRDOT EQUALS DNRRANGE +1 # B(1)TMP DNINDEX EQUALS DNRRDOT +1 # B(1)TMP DNLRVELX EQUALS DNINDEX +1 # B(1)TMP DNLRVELY EQUALS DNLRVELX +1 # B(1)TMP DNLRVELZ EQUALS DNLRVELY +1 # B(1)TMP DNLRALT EQUALS DNLRVELZ +1 # B(1)TMP # INCORPORATION UNSWITCHED (2D) W.IND EQUALS PIPAGE # B(1) W.INDI EQUALS W.IND +1 # I(1) # SUBROUTINE BALLANGS OF R60. BALLEXIT ERASE # B(1) SAVE LOCATION FOR BALLINGS SUBR EXIT # SOME LEM DAP STORAGE. (4D) DAPDATR1 ERASE # B(1)DSP DAP CONFIG. TEVENT ERASE +1 # B(2)DSP DB ERASE # B(1)TMP DEAD BAND. # NOUN 87 (2D) AZ ERASE +1D # B(1) AZ AND EL MUST BE CONTIGUOUS # Page 108 EL EQUALS AZ +1D # B(1) # P63, P64, P65, P66, AND P67. (1D) WCHPHASE ERASE # B(1) # ERASABLES FOR THE R2 LUNAR POTENTIAL MODEL (2D) E3J22R2M ERASE # I(1) E32C31RM ERASE # I(1) RADSKAL ERASE +1 # LR ALT DOPPLER BIAS: 2T/LAMBDA SCALED # AT 1/(2(7) M/CS) SKALSKAL ERASE # LR ALT SCALE FACTOR RATIO: .2 NOM END-UE EQUALS # NEXT UNUSED UE ADDRESS # SELF-CHECK ASSIGNMENTS (17D) SELFERAS ERASE 1357 - 1377 # *** MUST NOT BE MOVED *** SFAIL EQUALS SELFERAS # B(1) ERESTORE EQUALS SFAIL +1 # B(1) SELFRET EQUALS ERESTORE +1 # B(1) RETURN SMODE EQUALS SELFRET +1 # B(1) ALMCADR EQUALS SMODE +1 # B(2) ALARM-ABORT USER'S 2CADR ERCOUNT EQUALS ALMCADR +2 # B(1) SCOUNT EQUALS ERCOUNT +1 # B(3) SKEEP1 EQUALS SCOUNT +3 # B(1) SKEEP2 EQUALS SKEEP1 +1 # B(1) SKEEP3 EQUALS SKEEP2 +1 # B(1) SKEEP4 EQUALS SKEEP3 +1 # B(1) SKEEP5 EQUALS SKEEP4 +1 # B(1) SKEEP6 EQUALS SKEEP5 +1 # B(1) SKEEP7 EQUALS SKEEP6 +1 # B(1) # Page 109 # EBANK-3 ASSIGNMENTS SETLOC 1400 # WAITLIST TASK LISTS. (26D) LST1 ERASE +7 # B(8D)PRM DELTA T'S. LST2 ERASE +17D # B(18D)PRM TASK 2CADR ADDRESSES. # RESTART STORAGE. (2D) RSBBQ ERASE +1 # B(2)PRM SAVE BB AND Q FOR RESTARTS # MORE LONGCALL STORAGE. (MUST BE IN LST1'S BANK. (2D) LONGEXIT ERASE +1 # B(2)TMP MAY BE SELDOM OVERLAYED. # PHASE-CHANGE LISTS PART II. (12D) PHSNAME1 ERASE # B(1)PRM PHSBB1 ERASE # B(1)PRM PHSNAME2 ERASE # B(1)PRM PHSBB2 ERASE # B(1)PRM PHSNAME3 ERASE # B(1)PRM PHSBB3 ERASE # B(1)PRM PHSNAME4 ERASE # B(1)PRM PHSBB4 ERASE # B(1)PRM PHSNAME5 ERASE # B(1)PRM PHSBB5 ERASE # B(1)PRM PHSNAME6 ERASE # B(1)PRM PHSBB6 ERASE # B(1)PRM # IMU COMPENSATION PARAMETERS (22D) PBIASX ERASE # B(1) PIPA BIAS, PIPA SCALE FACTOR TERMS PIPABIAS = PBIASX # INTERMIXED. PIPASCFX ERASE PIPASCF = PIPASCFX PBIASY ERASE PIPASCFY ERASE PBIASZ ERASE PIPASCFZ ERASE NBDX ERASE # GYRO BIAS DRIFT NBDY ERASE NBDZ ERASE # Page 110 ADIAX ERASE # ACCELERATION SENSITIVE DRIFT ALONG THE ADIAY ERASE # INPUT AXIS ADIAZ ERASE ADSRAX ERASE # ACCELERATION SENSITIVE DRIFT ALONG THE ADSRAY ERASE # SPIN REFERENCE AXIS ADSRAZ ERASE GCOMP ERASE +5 # CONTAINS COMPENSATING TORQUES COMMAND EQUALS GCOMP CDUIND EQUALS GCOMP +3 GCOMPSW ERASE # STATE VECTORS FOR ORBIT INTEGRATION. (44D) # (DIFEQCNT THUR XKEP MUST BE IN THE SAME # EBANK AS RRECTCSM, RRECTLEM ETC # BECAUSE THE COPY-CYCLES (ATOPCSM, # PTOACSM ETC) ARE EXECUTED IN BASIC. # ALL OTHER REFERENCES TO THIS GROUP # ARE BY INTERPRETIVE INSTRUCTIONS.) # DIFEQCNT ERASE +43D # B(1) # (UPSVFLAG...XKEP MUST BE KEPT IN ORDER) UPSVFLAG EQUALS DIFEQCNT +1 # B(1) RRECT EQUALS UPSVFLAG +1 # B(6) VRECT EQUALS RRECT +6 # B(6) TET EQUALS VRECT +6 # B(2) TDELTAV EQUALS TET +2 # B(6) TNUV EQUALS TDELTAV +6 # B(6) RCV EQUALS TNUV +6 # B(6) VCV EQUALS RCV +6 # B(6) TC EQUALS VCV +6 # B(2) XKEP EQUALS TC +2 # B(2) # PERMANENT STATE VECTORS AND TIMES. # (DO NOT OVERLAY WITH ANYTHING AFTER BOOST) # (RRECTCSM...XKEPCSM MUST BE KEPT IN THIS ORDER) RRECTCSM ERASE +5 # B(6)PRM CSM VARIABLES. RRECTOTH = RRECTCSM VRECTCSM ERASE +5 # B(6)PRM # Page 111 TETCSM ERASE +1 # B(2)PRM TETOTHER = TETCSM DELTACSM ERASE +5 # B(6)PRM NUVCSM ERASE +5 # B(6)PRM RCVCSM ERASE +5 # B(6)PRM VCVCSM ERASE +5 # B(6)PRM TCCSM ERASE +1 # B(2)PRM XKEPCSM ERASE +1 # B(2)PRM # (RRECTLEM...XKEPLEM MUST BE KEPT IN THIS ORDER) RRECTLEM ERASE +5 # B(6)PRM LEM VARIABLES RRECTHIS = RRECTLEM VRECTLEM ERASE +5 # B(6)PRM TETLEM ERASE +1 # B(2)PRM TETTHIS = TETLEM DELTALEM ERASE +5 # B(6)PRM NUVLEM ERASE +5 # B(6)PRM RCVLEM ERASE +5 # B(6)PRM VCVLEM ERASE +5 # B(6)PRM TCLEM ERASE +1 # B(2)PRM XKEPLEM ERASE +1 # B(2)PRM X789 ERASE +5 TEPHEM ERASE +2 AZO ERASE +1 -AYO ERASE +1 AXO ERASE +1 # STATE VECTORS FOR DOWNLINK (12D) R-OTHER ERASE +5 # B(6)PRM POS VECT (OTHER VECH) FOR DNLINK V-OTHER ERASE +5 # B(6)PRM VEL VECT (OTHER VECH) FOR DNLINK T-OTHER = TETCSM # TIME (OTHER VECH) FOR DNLINK # REFSMMAT. (18D) REFSMMAT ERASE +17D # I(18D)PRM # ACTIVE VEHICLE CENTANG. MUST BE DISPLAYED ANYTIME (ALMOST.) (2D) ACTCENT ERASE +1 # I(2) S-S CENTRAL ANGLE BETWEEN ACTIVE # VEHICLE AT TPI TIG AND TARGET VECTOR. # **** USED IN CONICSEX (PLAN INERT ORIENT) **** # Page 112 TIMSUBO EQUALS TEPHEM # CSEC B-42 (TRIPLE PRECISION) # LPS20.1 STORAGE -- ALL ARE PRM -- (9D) LS21X ERASE # I(1) LOSVEL ERASE +5 # I(6) MLOSV ERASE +1 # I(2) MAGNITUDE OF LOS. METERS B-29 # ***** P22 ***** (OVERLAYS LPS 20.1 STORAGE) (6D) VSUBC EQUALS LOSVEL # I(6) S-S CSM VELOCITY VECTOR # PADLOADED ERASABLES FOR P20/P22 (6D) RANGEVAR ERASE +1 # I(2) RR RANGE ERROR VARIANCE RATEVAR ERASE +1 # I(2) RR RANGE RATE ERROR VARIANCE RVARMIN ERASE # I(1) MINIMUM RANGE ERROR VARIANCE VVARMIN ERASE # I(1) MINIMUM RANGE-RATE ERROR VARIANCE # P32-P33 STORAGE (2D) TCDH ERASE +1 # I(2) T2 CDH TIME IN CS. (ALSO DOWNLINKED) END-E3 EQUALS 1777 # ** LAST LOCATION USED IN E3 ** # Page 113 # EBANK-4 ASSIGNMENTS SETLOC 2000 # E4 IS, FOR THE MOST PART RESERVED FOR PAD LOADED AND UNSHARABLE ERASE. AMEMORY EQUALS # P20 STORAGE. -- PAD LOADED -- (6D) WRENDPOS ERASE # B(1)PL KM*2(-7) WRENDVEL ERASE # B(1)PL KM(-1/2)*2(11) WSHAFT ERASE # B(1)PL KM*2(-7) WTRUN ERASE # B(1)PL KM*2(-7) RMAX ERASE # B(1)PL METERS*2(-19) VMAX ERASE # B(1)PL M/CSEC*2(-7) # LUNAR SURFACE NAVIGATION (2D) WSURFPOS ERASE # B(1)PL WSURFVEL ERASE # B(1)PL # P22 STORAGE. -- PAD LOADED -- (2D) SHAFTVAR ERASE # B(1)PL RAD SQ*2(12) TRUNVAR ERASE # B(1)PL RAD SQ*2(10) # CONISEX STORAGE. -- PAD LOADED -- 504LM ERASE +5 # I(6) MOON LIBRATION VECTOR # V47 (R47) AGS INITIALIZATION STORAGE. -- PAD LOADED -- (2D) AGSK ERASE +1 # LUNAR LANDING STORAGE. -- PAD LOADED -- (6D) RLS ERASE +5 # I(6) LANDING SITE VECTOR -- MOON REF # INTEGRATION STORAGE. (102D) PBODY ERASE +101D # I(1) # Page 114 ALPHAV EQUALS PBODY +1 # I(6) BETAV EQUALS ALPHAV +6 # I(6) PHIV EQUALS BETAV +6 # I(6) PSIV EQUALS PHIV +6 # I(6) FV EQUALS PSIV +6 # I(6) PERTURBING ACCELERATIONS ALPHAM EQUALS FV +6 # I(2) BETAM EQUALS ALPHAM +2 # I(2) TAU. EQUALS BETAM +2 # I(2) DT/2 EQUALS TAU. +2 # I(2) H EQUALS DT/2 +2 # I(2) GMODE EQUALS H +2 # I(1) IRETURN EQUALS GMODE +1 # I(1) NORMGAM EQUALS IRETURN +1 # I(1) RPQV EQUALS NORMGAM +1 ORIGEX EQUALS RPQV +6 # I(1) KEPRTN EQUALS ORIGEX # I(1) RQVV EQUALS ORIGEX +1 # I(6) RPSV EQUALS RQVV +6 # I(6) XKEPNEW EQUALS RPSV +6 # I(2) VECTAB EQUALS XKEPNEW +2 # I(36D) VECTABND EQUALS VECTAB +35D # END MARK # THESE PROBABLY CAN SHARE MID-COURSE VARIABLES. (6D) VACX EQUALS VECTAB +6 # I(2) VACY EQUALS VACX +2 # I(2) VACZ EQUALS VACY +2 # I(2) # SERVICER STORAGE (USED BY ALL POWERED FLIGHT PROGS.) (18D) XNBPIP EQUALS VECTAB +12D # I(6) YNBPIP EQUALS XNBPIP +6 # I(6) ZNBPIP EQUALS YNBPIP +6 # I(6) # SOME VERB 82 STORAGE (4D) HAPOX EQUALS RQVV +4 # I(2) HPERX EQUALS HAPOX +2 # I(2) # V82 STORAGE (6D) VONE' EQUALS VECTAB +30D # I(T)TMP NORMAL VELOCITY VONE / SQRT. MU # R32(V83) STORAGE. -- SHARES WITH INTEGRATION STORAGE -- (28D) # Page 115 BASETHV EQUALS RPQV # I(6) BASE VEL VECTOR THIS VEH BASETIME EQUALS RQVV # I(2) TIME ASSOC WITH BASE VECS ORIG EQUALS RQVV +2 # I(1) =0 FOR EARTH =2 FOR MOON STATEXIT EQUALS RQVV +3 # I(1) STQ ADDRESS FOR STATEXTP BASEOTV EQUALS RQVV +4 # I(6) BASE VEL VECTOR OTHER VEH BASEOTP EQUALS VECTAB +6 # I(6) BASE POS VECTOR OTHER VEH BASETHP EQUALS VECTAB +30D # I(6) BASE POS VECTOR THIS VEH # KEPLER STORAGE. (KEPLER IS CALLED BY PRECISION INTEGRATION AND (2D) # CONICS) EPSILONT ERASE +1 # I(2) # VERB 83 STORAGE (18D) RANGE ERASE +17D # I(2)DSP NOUN 54 DISTANCE TO OPTICAL SUBJ RRATE EQUALS RANGE +2 # I(2)DSP NOUN 54 RATE OF APPROACH RTHETA EQUALS RRATE +2 # I(2)DSP NOUN 54. RONE EQUALS RTHETA +2 # I(6)TMP VECTOR STORAGE. (SCRATCH) VONE EQUALS RONE +6 # I(6)TMP VECTOR STORAGE. (SCRATCH) # VERB 67 STORAGE WWPOS = RANGE # NOUN 99 (V67) WWVEL = RRATE # NOUN 99 (V67) WWBIAS = RTHETA # NOUN 99 (V67) # V82 STORAGE. (CANNOT OVERLAY RONE OR VONE) (11D) TWO SEPARAT LOCATIONS V82FLAGS EQUALS VECTAB +6 # (1) FOR V82 BITS. TFF EQUALS V82FLAGS +1 # I(2) -TPER EQUALS TFF +2 # I(2) HPERMIN EQUALS RANGE # I(2) SET TO 300KFT FOR SR30.1 RPADTEM EQUALS HPERMIN +2 # I(2) PAD OR LANDING RADIUS FOR SR30.1 TSTART82 EQUALS RPADTEM +2 # I(2) TEMP TIME STORAGE VOR V82. # VARIOUS DISPLAY REGISTERS (6D) NOUN 84; P76 # Page 116 DELVOV ERASE +5D # (6) # ALIGNMENT PLANETARY -- INERTIAL TRANSFORMATION STORAGE. (18D) # UNSHARED WHILE LM ON LUNAR SURFACE. GSAV ERASE +17D # I(6) YNBSAV EQUALS GSAV +6 # I(6) ZNBSAV EQUALS YNBSAV +6 # I(6) # KALCMANU STORAGE, CAN OVERLAY GSAV. (18D) MFS EQUALS GSAV # I(18) MFI EQUALS MFS # I KEL EQUALS MFS # I(18) E01 EQUALS MFS # I(6) E02 EQUALS E01 +6 # I(6) # LR VEL BEAM VECTORS. (26D) # CAN OVERLAY GSAV WITH CARE, USED DURING POWERED DESCENT ONLY. VZBEAMNB EQUALS GSAV # I(6) LR VELOCITY BEAMS IN NB COORDS. VYBEAMNB EQUALS VZBEAMNB +6 # I(6) VXBEAMNB EQUALS VYBEAMNB +6 # I(6) PRESERVE Z,Y,X ORDER LRVTIME = VXBEAMNB +6 # B(2) LR LRXCDU = LRVTIME +2 # B(1) LR LRYCDU = LRXCDU +1 # B(1) LR LRZCDU = LRYCDU +1 # B(1) LR PIPTEM = LRZCDU +1 # B(3) LR # P32-P35, P72-P75 STORAGE. (40D) T1TOT2 ERASE +1 # (2) TIME FROM CSI TO CDH T2TOT3 ERASE +1 # (2) ELEV ERASE +1 # (2) UP1 ERASE +5 # (6) DELVEET1 ERASE +5 # I(6) DV CSI IN REF DELVEET2 ERASE +5 # I(6) DV CSH IN REF RACT1 ERASE +5 # (6) POS VEC OF ACTIVE AT CSI TIME RACT2 ERASE +5 # (6) POS VEC OF ACTIVE AT CDH TIME # Page 117 RTSR1/MU ERASE +1 # (2) SQ ROOT 1/MU STORAGE RTMU ERASE +1 # (2) MU STORAGE # (THE FOLLOWING ERASABLES OVERLAY PORTIONS OF THE PREVIOUS SECTION) +MGA EQUALS T1TOT2 # (2) S-S + MID GIM ANGL TO DELVEET3 UNRM EQUALS UP1 # I(6) S-S DVLOS EQUALS RACT1 # I(6) S-S DELTA VELOCITY, LOS COORD-DISPLAY ULOS EQUALS RACT2 # I(6) S-S UNIT LINE OF SIGHT VECTOR NOMTPI EQUALS RTSR1/MU # (2) S-S NOMINAL TPI-TIME FOR RECYCLE # SOME P30 STORAGE. (4D) HAPO EQUALS RTSR1/MU # I(2) HPER EQUALS HAPO +2 # I(2) # SOME P38-P39,P78-79 STORAGE # (6D) DELTAR EQUALS DVLOS # I(2) DELTTIME EQUALS DELTAR +2 # I(2) TIME REPRESENTATION OF DELTAR TARGTIME EQUALS DELTTIME +2 # I(2) TINT MINUS DELTTIME TINTSOI EQUALS DELTAR # I(2) TIME OF INTERCEPT FOR SOI PHASE # THE FOLLOWING ARE ERASABLE LOADS DURING A PERFORMANCE TEST. TRANSM1 = WRENDPOS # E4,1400 ALFDK = TRANSM1 +18D # ****** THE FOLLOWING SECTIONS OVERLAY V83 AND DISPLAY STORAGE ****** # V47 (R47) AGS INITIALIZATION PROGRAM STORAGE. (OVERLAYS V83) (14D) AGSBUFF EQUALS RANGE # B(14D) AGSBUFFE EQUALS AGSBUFF +13D # ENDMARK # Page 118 # R36 OUT-OF-PLANE RENDEZVOUS DISPLAY STORAGE. (OVERLAYS V83) (12D) RPASS36 EQUALS RONE # I(6) S-S UNP36 EQUALS RPASS36 +6 # I(6) S-S # S-BAND ANTENNA GIMBAL ANGLES. DISPLAYED BY R05 (V64). (OVERLAYS V83) (10D) # (OPERATES DURING P00 ONLY) ALPHASB EQUALS RANGE # B(2)DSP NOUN 51. PITCH ANGLE. BETASB EQUALS ALPHASB +2 # B(2)DSP NOUN 51. YAW ANGLE. RLM EQUALS BETASB +2 # I(6)S S/C POSITION VECTOR. # **** USED IN S-BAND ANTENNA FOR LM **** YAWANG EQUALS BETASB PITCHANG EQUALS ALPHASB # NOUN 56 DATA -- COMPUTED AND DISPLAYED BY VERB 85. RR-AZ EQUALS PITCHANG # I(2) ANGLE BETWEEN LOS AND X-Z PLANE RR-ELEV EQUALS RR-AZ +2 # I(2) ANGLE BETWEEN LOS AND Y-Z PLANE # R04 (V62) RADAR TEST STORAGE. # R04 IS RESTRICTED TO P00. RSTACK EQUALS RANGE # B(8) BUFFER FOR R04 NOUNS. # INITVEL STORAGE. ALSO USED BY P31, P34, P35, P74, P75, P10, P11, MIDGIM, S40.1 AND S40.9. (18D) # (POSSIBLY RINIT & VINIT CAN OVERLAY DELVEET1 & 2 ABOVE) RINIT ERASE +5 # I(6) ACTIVE VEHICLE POSITION VINIT ERASE +5 # I(6) ACTIVE VEHICLE VELOCITY VIPRIME ERASE +5 # I(6) NEW VEL REQUIRED AT INITIAL RADIUS. # VARIOUS DISPLAY REGISTERS. BALLANGS (3D) FDAIX ERASE # I(1) FDAIY ERASE # I(1) FDAIZ ERASE # I(1) # P34-P35 STORAGE. DOWNLINKED. (2D) DELVTPF ERASE +1 # I(2) DELTA V FOR TPF # SOME R04(V63)-R77 RADAR TEST STORAGE. (6D) # Page 119 RTSTDEX ERASE # (1) RTSTMAX ERASE # (1) RTSTBASE ERASE # (1) RTSTLOC ERASE # (1) RSTKLOC = RTSTLOC RSAMPDT ERASE # (1) RFAILCNT ERASE # (1) # LPS20.1 STORAGE. (12D) LMPOS EQUALS RTSTDEX # I(6)TMP STORAGE FOR LM POS. VECTOR. LMVEL EQUALS LMPOS +6 # I(6)TMP STORAGE FOR LM VEL. VECTOR. # INITVEL STORAGE. ALSU USED BY P31,34,35,74,75,S40.1 AND DOWNLINKED. (6D) DELVEET3 EQUALS LMVEL +6 # I(6) DELTA V IN INERTIAL COORDINATES END-E4 EQUALS # FIRST UNUSED LOCATION IN E4 # SECOND DPS GUIDANCE (LUNAR LANDING) (OVERLAY P32-35, INITVEL) (14D) VHORIZ EQUALS PIPTEM +3 # I(2) DISPLAY ANGTERM EQUALS VHORIZ +2 # I(6) GUIDANCE HBEAMNB EQUALS ANGTERM +6 # I(6) LANDING RADAR # R12 DOWNLINK QUANTITIES (5D) LRXCDUDL EQUALS /LAND/ +2 # B(1) LANDING RADAR DOWNLINK LRYCDUDL EQUALS LRXCDUDL +1 # B(1) LANDING RADAR DOWNLINK LRZCDUDL EQUALS LRYCDUDL +1 # B(1) LANDING RADAR DOWNLINK LRVTIMDL EQUALS LRZCDUDL +1 # B(2) LANDING RADAR DOWNLINK # ASCENT GUIDANCE FOR LUNAR LANDING (54D) AT EQUALS PIPTEM +3 # I(2)TMP ENGINE DATA -- THRUST ACC*2(9) VE EQUALS AT +2 # I(2)TMP EXHAUST VELOCITY * 2(7)M/CS. TTO EQUALS VE +2 # I(2)TMP TAILOFF TIME * 2(17)CS. TBUP EQUALS TTO +2 # I(2)TMP (M/MDOT) * 2(17)CS. RDOTD EQUALS TBUP +2 # I(2)TMP TARGET VELOCITY COMPONENTS YDOTD EQUALS RDOTD +2 # I(2)TMP SCALING IS 2(7)M/CS. ZDOTD EQUALS YDOTD +2 # I(2)TMP /R/MAG EQUALS ZDOTD +2 # I(2)TMP LAXIS EQUALS /R/MAG +2 # I(6)TMP # Page 120 ZAXIS1 = UHZP RDOT = HDOTDISP YDOT = LAXIS +6 # I(2)TMP VEL. NORMAL TO REF. PLANE*2(-7) ZDOT EQUALS YDOT +2 # I(2)TMP DOWN RANGE VEL * 2(-7) GEFF EQUALS ZDOT +2 # I(2)TMP EFFECTIVE GRAVITY # THESE TWO GROUPS OF ASCENT GUIDANCE ARE SPLIT BY THE ASCENT-DESCENT SERVICER SECTION FOLLOWING THIS SECTION Y EQUALS /LAND/ +2 # I(2)TMP OUT-OF-PLANE DIST *2(24)M DRDOT EQUALS Y +2 # I(2)TMP RDOTD - RDOT DYDOT EQUALS DRDOT +2 # I(2)TMP YDOTD - YDOT DZDOT EQUALS DYDOT +2 # I(2)TMP ZDOTD - ZDOT PCONS EQUALS DZDOT +2 # I(2)TMP CONSTANT IN ATR EQUATION YCONS EQUALS PCONS +2 # I(2)TMP CONSTANT IN ATY EQUATION PRATE EQUALS YCONS +2 # I(2)TMP RATE COEFF. IN ATR EQUATION YRATE EQUALS PRATE +2 # I(2)TMP RATE COEFF. IN ATY EQUATION ATY EQUALS YRATE +2 # I(2)TMP OUT-OF-PLANE THRUST COMP. *2(9) ATR EQUALS ATY +2 # I(2)TMP RADIAL THRUST COMP. * 2(9) ATP EQUALS ATR +2 # I(2)TMP DOWN-RANGE THRUST COMP YAW EQUALS ATP +2 # I(2)TMP PITCH EQUALS YAW +2 # I(2)TMP # SERVICER FOR LUNAR ASCENT AND DESCENT (14D) G(CSM) EQUALS GEFF +2 # I(6) FOR UPDATE OF COMMAND MODULE STATE R(CSM) EQUALS R-OTHER # VECTORS BY LEM: ANALOGS OF GDT/2, V(CSM) EQUALS V-OTHER # R, AND V, RESPECTIVELY OF THE CSM WM EQUALS G(CSM) +6 # I(6)TMP -- LUNAR ROTATION VECTOR (SM) /LAND/ EQUALS WM +6 # B(2) LUNAR RADIUS AT LANDING SITE # Page 121 # EBANK-5 ASSIGNMENTS SETLOC 2400 # W-MATRIX. ESSENTIALLY UNSHARABLE. (162D) W ERASE +161D ENDW EQUALS W +162D # ******* OVERLAY NUMBER 1 IN EBANK 5 ******* # W-MATRIX PADLOADS (124D) TLAND EQUALS W # I(2) NOMINAL TIME OF LANDING RBRFG EQUALS TLAND +2 # I(6) BRAKING VBRFG EQUALS RBRFG +6 # I(6) PHASE ABRFG EQUALS VBRFG +6 # I(6) TARGET VBRFG* EQUALS ABRFG +6 # I(2) PARAMETERS: ABRFG* EQUALS VBRFG* +2 # I(2) HIGH JBRFG* EQUALS ABRFG* +2 # I(2) GATE GAINBRAK EQUALS JBRFG* +2 # B(2) TCGFBRAK EQUALS GAINBRAK +2 # B(1) TCGIBRAK EQUALS TCGFBRAK +1 # B(1) RAPFG EQUALS TCGIBRAK +1 # I(6) APPROACH VAPFG EQUALS RAPFG +6 # I(6) PHASE AAPFG EQUALS VAPFG +6 # I(6) TARGET VAPFG* EQUALS AAPFG +6 # I(2) PARAMETERS: AAPFG* EQUALS VAPFG* +2 # I(2) LOW JAPFG* EQUALS AAPFG* +2 # I(2) GATE GAINAPPR EQUALS JAPFG* +2 # B(2) TCGFAPPR EQUALS GAINAPPR +2 # B(1) TCGIAPPR EQUALS TCGFAPPR +1 # B(1) VIGN EQUALS TCGIAPPR +1 # I(2) DESIRED SPEED FOR IGNITION RIGNX EQUALS VIGN +2 # I(2) DESIRED `ALTITUDE' FOR IGNITION RIGNZ EQUALS RIGNX +2 # I(2) DESIRED GROUND RANGE FOR IGNITION KIGNX/B4 EQUALS RIGNZ +2 # I(2) KIGNY/B8 EQUALS KIGNX/B4 +2 # I(2) KIGNV/B4 EQUALS KIGNY/B8 +2 # I(2) LOWCRIT EQUALS KIGNV/B4 +2 # B(1) (HIGHCRIT MUST FOLLOW LOWCRIT) HIGHCRIT EQUALS LOWCRIT +1 # B(1) V2FG EQUALS HIGHCRIT +1 # I(6) DESIRED VELOCITY FOR P65. TAUVERT EQUALS V2FG +6 # I(2) TIME CONSTANT FOR P65 VEL. NULLING. DELQFIX EQUALS TAUVERT +2 # I(2) LR ALTITUDE DATA REASONABLE PARM. LRALPHA EQUALS DELQFIX +2 # B(1) POS1 X ROTATION * MUST * # Page 122 LRBETA1 EQUALS LRALPHA +1 # B(1) POS1 Y ROTATION * BE * LRALPHA2 EQUALS LRBETA1 +1 # B(1) POS2 X ROTATION * IN * LRBETA2 EQUALS LRALPHA2 +1 # B(1) POS2 Y ROTATION * ORDER* LRVMAX EQUALS LRBETA2 +1 # B(1) LR VEL WEIGHTING FUNCTIONS LRVF EQUALS LRVMAX +1 # B(1) LR VEL WEIGHTING FUNCTIONS LRWVZ EQUALS LRVF +1 # B(1) LR VEL WEIGHTING FUNCTIONS LRWVY EQUALS LRWVZ +1 # B(1) LR VEL WEIGHTING FUNCTIONS LRWVX EQUALS LRWVY +1 # B(1) LR VEL WEIGHTING FUNCTIONS LRWVFZ EQUALS LRWVX +1 # B(1) LR VEL WEIGHTING FUNCTIONS LRWVFY EQUALS LRWVFZ +1 # B(1) LR VEL WEIGHTING FUNCTIONS LRWVFX EQUALS LRWVFY +1 # B(1) LR VEL WEIGHTING FUNCTIONS LRWVFF EQUALS LRWVFX +1 # B(1) LR VEL WEIGHTING FUNCTIONS ABVEL* EQUALS BUF # B(1) LR TEMP VSELECT* EQUALS BUF +1 # B(1) LR TEMP RODSCALE EQUALS LRWVFF +1 # I(1) CLICK SCALE FACTOR FOR ROD TAUROD EQUALS RODSCALE +1 # I(2) TIME CONSTANT FOR R.O.D. LAG/TAU EQUALS TAUROD +2 # I(2) LAG TIME DIVIDED BY TAUROD (P66) MINFORCE EQUALS LAG/TAU +2 # I(2) MINIMUM FORCE P66 WILL COMMAND MAXFORCE EQUALS MINFORCE +2 # I(2) MAXIMUM FORCE P66 WILL COMMAND. ABTCOF EQUALS MAXFORCE +2 # I(16) COEFFICIENTS FOR ABORT TFI POLYS. VMIN EQUALS ABTCOF +16D # I(2) MINIMUM VELOCITY FOR ABORT INJ. YLIM EQUALS VMIN +2 # I(2) MAXIMUM CROSS-RANGE DIST. IN ABORTS ABTRDOT EQUALS YLIM +2 # I(2) DESIRED RADIAL VEL. FOR ABORTS. COSTHET1 EQUALS ABTRDOT +2 # I(2) COS CONE 1 ANGLE FOR ABORTS. COSTHET2 EQUALS COSTHET1 +2 # I(2) COS OF CONE 2 ANGLE FOR ABORTS. # SOME VARIABLES FOR SECOND DPS GUIDANCE. (34D) CG EQUALS COSTHET2 +2 # I(18D) GUIDANCE RANGEDSP EQUALS CG +18D # B(2) DISPLAY OUTOFPLN EQUALS RANGEDSP +2 # B(2) DISPLAY R60VSAVE EQUALS OUTOFPLN +2 # I(6)TMP SAVES VALUE OF POINTVSM THRU R51 RGU EQUALS R60VSAVE +6 # I(6) UNSHARED FOR DOWNLINK VBIAS EQUALS R60VSAVE # I(6) PIPA BIAS EQUIV. VELOCITY VECTOR. L*WCR*T = BUF H*GHCR*T = BUF +1 # ALIGNMENT/SYSTEST/CALCSMSC COMMON STORAGE (36D) XSM EQUALS ENDW # B(6) YSM EQUALS XSM +6 # B(6) ZSM EQUALS YSM +6 # B(6) XDC EQUALS ZSM +6 # B(6) YDC EQUALS XDC +6 # B(6) ZDC EQUALS YDC +6 # B(6) # Page 123 XNB = XDC YNB = YDC ZNB = ZDC # OVERLAYS WITHIN ALIGNMENT/SYSTEST/CALCSMSC COMMON STORAGE (4D) -COSB EQUALS XSM +2 # (2)TMP SINB EQUALS -COSB +2 # (2)TMP # MORE OVERLAYS TO ALIGNMENT/SYSTEST (THESE ARE P52) (6D) LANDLAT EQUALS STARAD # (2) LATTITUDE, LONGITUDE LANDLONG EQUALS LANDLAT +2 # (2) AND ALTITUDE LANDALT EQUALS LANDLONG +2 # (2) OF LANDING SITE # ALIGNMENT/SYSTEST COMMON STORAGE. (31D) STARAD EQUALS ZDC +6 # I(18D)TMP STAR EQUALS STARAD +18D # I(6) GCTR EQUALS STAR +6 # B(1) OGC EQUALS GCTR +1 # I(2) IGC EQUALS OGC +2 # I(2) MGC EQUALS IGC +2 # I(2) # P57 ALIGNMENT (OVERLAY OF ALIGNMENT/SYSTEST COMMON STORAGE) (12D) GACC = STARAD # (6) SS GOUT = STARAD +6 # (6) SS # OVERLAYS WITHIN ALIGNMENT/SYSTEST COMMON STORAGE (24D) VEARTH EQUALS STARAD # (6)TMP VSUN EQUALS VEARTH +6 # (6)TMP VMOON EQUALS VSUN +6 # (6)TMP SAX EQUALS VMOON +6 # (6)TMP # P50'S, R50'S Q STORES (2D) QMIN EQUALS MGC +2 # B(1)TMP QMAJ EQUALS QMIN +1 # B(1)TMP # **** USED IN P50S **** (SCATTERED OVERLAYS) XSCI EQUALS STARAD YSCI EQUALS XSCI +6 # Page 124 ZSCI EQUALS YSCI CULTRIX EQUALS VEARTH # VEARTH, VSUN, VMOON VEC1 EQUALS STARAD +12D VEC2 EQUALS STAR # ALIGNMENT STORAGE. (23D) OGCT EQUALS QMAJ +1 # I(6) BESTI EQUALS OGCT +6 # I(1) BESTJ EQUALS BESTI +1 STARIND EQUALS BESTJ +1 # RETAIN THE ORDER OF STARSAV1 TO STARSAV2 +5 FOR DOWNLINK PURPOSES STARSAV1 EQUALS STARIND +1 # I(6) STARSAV2 EQUALS STARSAV1 +6 # I(6) TALIGN EQUALS STARSAV2 +6 # B(2) TIME OF IMU ALIGNMENT (DOWNLINKED) # P32-35 + SERVICER RTX1 EQUALS TALIGN +2 # I(1) X1 -2 EARTH, -10 MOON RTX2 EQUALS RTX1 +1 # I(1) X2 0 EARTH, 2 MOON ZPRIME = 22D PDA = 22D COSTH = 16D SINTH = 18D THETA = 20D STARM = 32D # Page 125 # ******* OVERLAY NUMBER 2 IN EBANK 5 ******* # CONICS ROUTINE STORAGE. (85D) DELX EQUALS ENDW # I(2)TMP DELT EQUALS DELX +2 # I(2)TMP URRECT EQUALS DELT +2 # I(6)TMP RCNORM EQUALS 34D # I(2)TMP XPREV EQUALS XKEP # I(2)TMP R1VEC EQUALS URRECT +6 # I(6)TMP R2VEC EQUALS R1VEC +6 # I(6)TMP TDESIRED EQUALS R2VEC +6 # I(2)TMP GEOMSGN EQUALS TDESIRED +2 # I(1)TMP UN EQUALS GEOMSGN +1 # I(6)TMP VTARGTAG EQUALS UN +6 # I(1)TMP VTARGET EQUALS VTARGTAG +1 # I(6)TMP RTNLAMB EQUALS VTARGET +6 # I(1)TMP U2 EQUALS RTNLAMB +1 # I(6)TMP MAGVEC2 EQUALS U2 +6 # I(2)TMP UR1 EQUALS MAGVEC2 +2 # I(6)TMP SNTH EQUALS UR1 +6 # I(2)TMP CSTH EQUALS SNTH +2 # I(2)TMP 1-CSTH EQUALS CSTH +2 # I(2)TMP CSTH-RHO EQUALS 1-CSTH +2 # I(2)TMP P EQUALS CSTH-RHO +2 # I(2)TMP R1A EQUALS P +2 # I(2)TMP RVEC EQUALS R1VEC # I(6)TMP VVEC EQUALS R1A +2 # I(6)TMP RTNTT EQUALS RTNLAMB # I(1)TMP ECC EQUALS VVEC +6 # I(2)TMP RTNTR EQUALS RTNLAMB # I(1)TMP RTNAPSE EQUALS RTNLAMB # I(1)TMP R2 EQUALS MAGVEC2 # I(2)TMP RTNPRM EQUALS ECC +2 # I(1)TMP SGNRDOT EQUALS RTNPRM +1 # I(1)TMP RDESIRED EQUALS SGNRDOT +1 # I(2)TMP DELDEP EQUALS RDESIRED +2 # I(2)TMP DEPREV EQUALS DELDEP +2 # I(2)TMP TERRLAMB EQUALS DELDEP # I(2)TMP TPREV EQUALS DEPREV # I(2)TMP EPSILONL EQUALS DEPREV +2 # I(2)TMP COGA EQUALS EPSILONL +2 # I(2) COTAN OF INITIAL FLIGHT PATH ANGLE. INDEP EQUALS COGA # USED BY SUBROUTINE `ITERATOR'. # Page 126 # ******* OVERLAY NUMBER 3 IN EBANK 5 ******* # INCORP STORAGE. (18D) ZI EQUALS ENDW # I(18D)TMP # INCORP/L SR22.3 STORAGE. (21D) DELTAX EQUALS ZI +18D # I(18) VARIANCE EQUALS DELTAX +18D # I(3) # MEASUREMENT INCORPORATION -R22- STORAGE. (49D) GRP2SVQ EQUALS VARIANCE +3 # I(1)TMP QSAVE FOR RESTARTS OMEGAM1 EQUALS GRP2SVQ +1 # I(6) OMEGAM2 EQUALS OMEGAM1 +6 # I(6) OMEGAM3 EQUALS OMEGAM2 +6 # I(6) HOLDW EQUALS OMEGAM3 +6 # I(18) TDPOS EQUALS HOLDW +18D # I(6) TDVEL EQUALS TDPOS +6 # I(6) TRIPA EQUALS DELTAX # I(3)TMP TEMPVAR EQUALS TRIPA +3 # I(3)TMP # INCORPORATION/INTEGRATION Q STORAGE. (1D) EGRESS EQUALS TDVEL +6 # I(1) # P30/P31 STORAGE. (1D) AND ONE OVERLAY P30EXIT EQUALS EGRESS +1 # B(1)TMP ORIGIN EQUALS P30EXIT # I(1)TMP INTEX DURING INITVEL. # Page 127 # SYSTEM TEST ERASABLES. CAN OVERLAY W MATRIX. (127D) # ******* OVERLAY NUMBER 0 IN EBANK 5 ******* AZIMUTH EQUALS W # 2 LATITUDE EQUALS AZIMUTH +2 # 2 ERVECTOR EQUALS LATITUDE +2 # 6 LENGTHOT EQUALS ERVECTOR +6 # 1 LOSVEC EQUALS LENGTHOT +1 # 6 NDXCTR EQUALS LOSVEC +1 # 1 PIPINDEX EQUALS NDXCTR +1 # 1 POSITON EQUALS PIPINDEX +1 # 1 QPLACE EQUALS POSITON +1 # 1 QPLACES EQUALS QPLACE +1 # 1 SOUTHDR EQUALS QPLACES +1 # 7 TEMPTIME EQUALS SOUTHDR +7 # 2 TMARK EQUALS TEMPTIME +2 # 2 GENPL EQUALS TMARK +2 CDUTIMEI = GENPL CDUTIMEF = GENPL +2 CDUDANG = GENPL +4 CDUREADF = GENPL +5 CDUREADI = GENPL +6 CDULIMIT = GENPL +7 TEMPADD = GENPL +4 TEMP = GENPL +5 NOBITS = GENPL +6 CHAN = GENPL +7 LOS1 = GENPL +8D LOS2 = GENPL +14D CALCDIR EQUALS GENPL +20D CDUFLAG EQUALS GENPL +21D GYTOBETQ EQUALS GENPL +22D OPTNREG EQUALS GENPL +23D SAVE EQUALS GENPL +24D # THREE ONSEC LOC SFCONST1 EQUALS GENPL +27D TIMER EQUALS GENPL +28D DATAPL EQUALS GENPL +30D RDSP EQUALS GENPL # FIX LATER POSSIBLY KEEP1 MASKREG EQUALS GENPL +64D CDUNDX EQUALS GENPL +66D RESULTCT EQUALS GENPL +67D COUNTPL EQUALS GENPL +70D CDUANG EQUALS GENPL +71D # Page 128 AINLA = GENPL # 110 DEC OR 156 OCT LOCATIONS WANGO EQUALS AINLA # VERT ERATE WANGI EQUALS AINLA +2D # HORIZONTAL ERATE WANGT EQUALS AINLA +4D # T TORQNDX = WANGT DRIFTT EQUALS AINLA +6D ALX1S EQUALS AINLA +8D CMPX1 EQUALS AINLA +9D # IND ALK EQUALS AINLA +10D # GAINS VLAUNS EQUALS AINLA +22D WPLATO EQUALS AINLA +24D INTY EQUALS AINLA +28D # SOUTH IP INTE ANGZ EQUALS AINLA +30D # EAST A IS INTZ EQUALS AINLA +32D # EAST P P I ANGY EQUALS AINLA +34D # SOUTH ANGX EQUALS AINLA +36D # VE DRIFTO EQUALS AINLA +38D # VERT DRIFTI EQUALS AINLA +40D # SOU VLAUN EQUALS AINLA +44D ACCWD EQUALS AINLA +46D POSNV EQUALS AINLA +52D DPIPAY EQUALS AINLA +54D # SOUTH DPIPAZ EQUALS AINLA +58D # NORTH IP INCREMENT ALTIM EQUALS AINLA +60D ALTIMS EQUALS AINLA +61D # INDEX ALDK EQUALS AINLA +62D # TIME ONSTAN DELM EQUALS AINLA +76D WPLATI EQUALS AINLA +84D GEOCOMPS EQUALS AINLA +86D ERCOMP EQUALS AINLA +87D ZERONDX EQUALS AINLA +93D THETAN = ALK +4 FILDELV EQUALS THETAN +6 # AGS ALIGNMENT STORAGE INTVEC EQUALS FILDELV +2 1SECXT = AINLA +94D ASECXT = AINLA +95D PERFDLAY EQUALS AINLA +96D # B(2) DELAY TIME BEF. START DRIFT MEASURE OVFLOWCK EQUALS AINLA +98D # (1) SET MEANS OVERFLOW IN IMU PERF TEST END-E5 EQUALS STARSAV2 +6 # *** FIRST FREE LOCATION IN E5 *** # Page 129 # EBANK-6 ASSIGNMENTS. SETLOC 3000 # DAP PAD-LOADED DATA. (10D) # ALL OF THE FOLLOWING EXCEPT PITTIME AND ROLLTIME ARE INITIALIZED IN FRESH START TO PERMIT IMMEDIATE USE OF DAP. HIASCENT ERASE # (1) MASS AFTER STAGING, SCALE AT B16 KG. ROLLTIME ERASE # (1) TIME TO TRIM Z GIMBAL IN R03, CSEC. PITTIME ERASE # (1) TIME TO TRIM Y GIMBAL IN R03, CSEC. DKTRAP ERASE # (1) DAP STATE (POSSIBLE 77001 DKOMEGAN ERASE # (1) ESTIMATOR PARA- (VALUES 00012 DKKAOSN ERASE # (1) METERS FOR THE 00074 LMTRAP ERASE # (1) DOCKED AND 77001 LMOMEGAN ERASE # (1) LEM-ALONE CASES 00000 LMKAOSN ERASE # (1) RESPECTIVELY 00074 DKDB ERASE # (1) WIDTH OF DEADBAND FOR DOCKED RCS # AUTOPILOT (DB=1.4DEG IN FRESH START # DEADBAND = PI/DKDB RAD. # PADLOADS FOR INTITIALIZATION OF DAP BIAS ACCELERATION (AT P12 IGNITION) (2D) IGNAOSQ ERASE # B(1)PL IGNAOSR ERASE # B(1)PL # AXIS TRANSFORMATION MATRIX -- GIMBAL TO PILOT AXES: (5D) M11 ERASE # SCALED AT 1 M21 ERASE # SCALED AT 1 M31 ERASE M22 ERASE # SCALED AT 1. M32 ERASE # SCALED AT 1. # ANGLE MEASUREMENTS OMEGAP ERASE +4 # BODY-AXIS ROT. RATES SCALED AT PI/4 AND OMEGAQ EQUALS OMEGAP +1 # BODY-AXIS ACCELERATIONS SCALED AT PI/8. OMEGAR EQUALS OMEGAP +2 # RETAIN THE ORDER OF ALPHAQ AND ALPHAR FOR DOWNLINK PURPOSES. ALPHAQ EQUALS OMEGAP +3 ALPHAR EQUALS OMEGAP +4 OMEGAU ERASE +1 OMEGAV = OMEGAU +1 TRAPEDP ERASE +5 TRAPEDQ = TRAPEDP +1 TRAPEDR = TRAPEDP +2 NPTRAPS = TRAPEDP +3 # Page 130 NQTRAPS = TRAPEDP +4 NRTRAPS = TRAPEDP +5 EDOTP = EDOT EDOTQ ERASE +1 EDOTR = EDOTQ +1 # MANY SHAREING NAMES QRATEDIF EQUALS EDOTQ # ALTERNATIVE NAMES: RRATEDIF EQUALS EDOTR # DELETE WHEN NO. OF REFERENCES = 0 URATEDIF EQUALS OMEGAU VRATEDIF EQUALS OMEGAV OLDXFORP ERASE +2 # STORED CDU READINGS FOR STATE OLDYFORP EQUALS OLDXFORP +1 # DERIVATIONS: SCALED AT PI RADIANS (2'S) OLDZFORQ EQUALS OLDXFORP +2 # RATE-COMMAND AND MINIMUM IMPULSE MODES CH31TEMP ERASE STIKSENS ERASE TCP ERASE DXERROR ERASE +5 DYERROR EQUALS DXERROR +2 DZERROR EQUALS DXERROR +4 PLAST ERASE QLAST ERASE RLAST ERASE TCQR ERASE # OTHER VARIABLES (5D) OLDPMIN ERASE # THESE THREE USED IN MIN IMPUSE MODE OLDQRMIN ERASE TEMP31 EQUALS DAPTEMP1 SAVEHAND ERASE +1 PERROR ERASE QERROR EQUALS DYERROR RERROR EQUALS DZERROR # JET STATE CHANGE VARIABLES -- TIME (TOFJTCHG), JET BITS WRITTEN NOW (10D) # (JTSONNOW), AND JET BITS WRITTEN AT T6 RUPT (JTSATCHG). NXT6ADR ERASE T6NEXT ERASE +1 T6FURTHA ERASE +1 NEXTP ERASE +2 NEXTU = NEXTP +1 NEXTV = NEXTP +2 -2JETLIM ERASE +1 # RATE COMMAND 4-JET RATE DIFFERENCE LIMIT -RATEDB EQUALS -2JETLIM +1 # AND RATE DEADBAND FOR ASCENT OR DESCENT TARGETDB EQUALS -RATEDB # MAN. CONTROL TARGET DB COMPLEMENT. # ***Q,R AXIS ERASABLES *** (3) # Page 131 PBIT EQUALS BIT10 QRBIT EQUALS BIT11 UERROR EQUALS DAPTREG5 # U,V-AXES ATT ERROR FOR RCS CONTROL LAWS. VERROR = UERROR +1 RETJADR ERASE TEMPNUM EQUALS DAPTEMP4 NUMBERT EQUALS DAPTEMP5 ROTINDEX EQUALS DAPTEMP6 ROTEMP1 EQUALS DAPTEMP1 ROTEMP2 EQUALS DAPTEMP2 POLYTEMP EQUALS DAPTEMP3 SENSETYP ERASE ABSTJ EQUALS DAPTEMP1 # ABS VALUE OF JET-FIRING TIME ABSEDOTP EQUALS DAPTEMP1 DPSBURN EQUALS DAPTREG4 # USED WITH SNUFFBIT. VERY TEMPORARY. # Page 132 # TRIM GIMBAL CONTROL LAW ERASABLES: (11D) GTSTEMPS EQUALS DAPTEMP1 # GTS IS PART OF THE JASK. SHFTFLAG EQUALS GTSTEMPS +2 # COUNT BITS FOR GTSQRT SHIFTING. ININDEX EQUALS GTSTEMPS +5 # INDEX FOR SHIFT LOOP IN GTSQRT. SAVESR EQUALS AXISCTR # CANNOT BE A DAPTEMP -- GTS USES THEM ALL. SCRATCH EQUALS GTSTEMPS +7 # ROOTCYCL ERASABLE. HALFARG EQUALS GTSTEMPS +8D # ROOTCYCL ERASABLE. K2THETA EQUALS GTSTEMPS # D,P., K*ERROR, NEGUSUM KCENTRAL EQUALS GTSTEMPS +2 # S.P., K FROM KQ OR KRDAP, AT PI/2(8) K2CNTRAL EQUALS GTSTEMPS +3 # D.P., GTS SCRATCH CELLS. WCENTRAL EQUALS GTSTEMPS +4 # S.P., OMEGA, AT PI/4 RAD/SEC ACENTRAL EQUALS GTSTEMPS +5 # S.P., ALPHA, AT PI/4 RAD/SEC(2) DEL EQUALS GTSTEMPS +6 # S.P., SGN FUNCTION VALUE. A2CNTRAL EQUALS GTSTEMPS +7 # D.P., GTS SCRATCH CELLS. QRCNTR EQUALS GTSTEMPS +9D # S.P., INDEX FOR GTS LOOP THROUGH Q,R AXES FUNCTION EQUALS GTSTEMPS +10D # D.P., ARGUMENT FOR GRSQRT, SCRATCH FOR GTS. NEGUQ ERASE +2 # NEGATIVE OF Q-AXIS GIMBAL DRIVE. EQUALS NEGUQ +1 # DEFINED AND USED ELSEWHERE. NEGUR EQUALS NEGUQ +2 # NEGATIVE OF R-AXIS GIMBAL DRIVE. KQ ERASE +2 # S.P., JERK TERM FOR GTS, AT PI/2(8) AXISCTR EQUALS KQ +1 KRDAP EQUALS KQ +2 # .3 ACCDOTR SCALED AT PI/2(8) ACCDOTQ ERASE +3 # Q-JERK SCALED AT PI/2(7) UNSIGNED QACCDOT EQUALS ACCDOTQ +1 # Q-JERK SCALED AT PI/2(7) SIGNED ACCDOTR EQUALS ACCDOTQ +2 # R-JERK SCALED AT PI/2(7) UNSIGNED RACCDOT EQUALS ACCDOTQ +3 # R-JERK SCALED AT PI/2(7) SIGNED QDIFF EQUALS QERROR # ATTITUDE ERRORS: RDIFF EQUALS RERROR # SCALED AT PI RADIANS. # TORQUE VECTOR RECONSTRUCTION VARIABLES: (18D) JETRATE EQUALS DAPTREG1 JETRATEQ EQUALS JETRATE +1 # THE LAST CONTROL SAMPLE PERIOD OF 100 MS. JETRATER EQUALS JETRATE +2 # SCALED AT PI/4 RADIANS/SECOND DOWNTORK ERASE +5 # ACCUMULATED JET TORQUE COMMANDED ABOUT POSTORKP EQUALS DOWNTORK # +,-p, +,-u, +,-v RESPECTIVELY. NETTOTKP EQUALS DOWNTORK +1 # EMPLOYED EXCLUSIVELY FOR DOWNLIST. POSTORKU EQUALS DOWNTORK +2 # NOT INITIALIZED: PERMITTED TO OVERFLOW. # Page 133 NEGTORKU EQUALS DOWNTORK +3 # SCALED AT 32 JET-SEC, OR ABOUT 2.0 JET- POSTORKV EQUALS DOWNTORK +4 # MSEC. PER BIT. NEGTORKV EQUALS DOWNTORK +5 NO.PJETS ERASE +2 NO.UJETS = NO.PJETS +1 NO.VJETS = NO.UJETS +1 TJP ERASE +2 TJU = TJP +1 TJV = TJP +2 L,PVT-CG ERASE 1JACC ERASE +4 # ACCELERATIONS DUE TO 1 JET TORQUING 1JACCQ EQUALS 1JACC +1 # SCALED AT PI/4 RADIANS/SECOND 1JACCR EQUALS 1JACC +2 1JACCU EQUALS 1JACC +3 # FOR U,V-AXES THE SCALE FACTOR IS DOFF: 1JACCV EQUALS 1JACC +4 # SCALED AT PI/2 RADIANS/SECOND (FOR ASC) # ASCENT VARIABLES (10D) SKIPU ERASE +1 SKIPV = SKIPU +1 # THE FOLLOWING LM DAP ERASABLES ARE ZEROED IN THE STARTDAP SECTION OF THE DAPIDLER PROGRAM AND THE COASTASC # SECTION OF THE AOSTASK. THE ORDER MUST BE PRESERVED FOR THE INDEXING METHODS WHICH ARE EMPLOYED IN THOSE # SECTIONS AND ELSEWHERE. AOSQ ERASE +5 # OFFSET ACC. ESTIMATES, UPDATED IN D.P., AOSR EQUALS AOSQ +2 # AND SCALED AT PI/2. AOSU EQUALS AOSQ +4 # UV-AXES OFFSET ACC. FROMED BY VECTOR AOSV EQUALS AOSQ +5 # ADDITION OF Q,R. AT PI/2 RAD/SEC(2). AOSQTERM ERASE +1 # (.1-.05K)AOS AOSRTERM EQUALS AOSQTERM +1 # SCALED AT PI/4 RADIANS/SECOND. # FOR TJET LAW SUBROUTINES: (TEMPS ONLY) #NUMBERT EQUALS DAPTEMP5 # DEFINED IN QRAXIS. EDOTSQ EQUALS DAPTEMP1 ROTSENSE EQUALS DAPTEMP2 FIREFCT EQUALS DAPTEMP3 # LOOKED AT BY PAXIS. TTOAXIS EQUALS DAPTEMP4 ADRSDIF2 EQUALS DAPTEMP6 HOLDQ EQUALS DAPTREG1 ADRSDIF1 EQUALS DAPTREG2 HH EQUALS DAPTREG3 # DOUBLE PRECISION. # HH +1 EQUALS DAPTREG4 E EQUALS DAPTREG6 # TIME SHARE WITH VERROR EDOT EQUALS OMEGAV # Page 134 # INPUT TO TJET LAW (PERMANENT ERASABLES). (48D) TJETU = TJU # EQUATE NAMES. INDEXED BY -1, 0, +1. BLOCKTOP ERASE +47D 1/ANET1 = BLOCKTOP +16D # THESE 8 PARAMETERS ARE SET UP BY 1/ACCS 1/ANET2 = 1/ANET1 +1 # FOR MINIMUM JETS ABOUT THE U-AXIS WHEN 1/ACOAST = 1/ANET1 +4 # EDOT IS POSITIVE. TJETLAW INDEXES BY ACCFCTZ1 = 1/ANET1 +6 # ADRSDIFF FROM THESE REGISTERS TO PICK UP ACCFCTZ5 = 1/ANET1 +7 # PARAMETERS FOR THE PROPER AXIS, NUMBER FIREDB = 1/ANET1 +10D # OF JETS AND SIGN OF EDOT. THERE ARE 48 COASTDB = 1/ANET1 +12D # REGISTERS IN ALL IN THIS BLOCK. AXISDIST = 1/ANET1 +14D # FOUR NOT REFERENCED (P-AXIS) ARE FILLED # IN BY THE FOLLOWING: ACCSWU = BLOCKTOP # SET BY 1/ACCS TO SHOW WHETHER MAXIMUM ACCSWV = ACCSWU +1 # JETS ARE REQUIRED BECAUSE OF AOS. FLAT = BLOCKTOP +6 # WIDTH OF MINIMUM IMPULSE ZONE. ZONE3LIM = BLOCKTOP +7 # HEIGHT OF MINIMUM IMPULSE ZONE (AT 4 SEC.) COEFFQ ERASE +1 # COEFFQ AND COEFFR ARE USED IN ROT-TOUV COEFFR EQUALS COEFFQ +1 # TO REXOLVE Q,R COMPONENTS INTO U,V COMP. # VARIABLES FOR GTS-QRAXIS CONTROL EXCHANGE. (4) ALLOWGTS EQUALS NEGUQ +1 # INSERT INTO UNUSED LOCATION COTROLER ERASE # INDICATES WHICH CONTROL SYSTEM TO USE. QGIMTIMR ERASE +2 # Q-GIMBAL DRIVE ITMER, DECISECONDS. INGTS EQUALS QGIMTIMR +1 # INDICATOR OF CURRENT GTS CONTROL. RGIMTIMR EQUALS QGIMTIMR +2 # R-GIMBAL DRIVE TIMER, DECISECONDS. # PLEASE RETAIN THE ORDER OF CDUXD THRU CDUZD FOR DOWNLINK PURPOSES. # KALCMANU:DAP INTERFACE (9D) CDUXD ERASE +2 # CDU DESIRED REGISTERS: CDUYD EQUALS CDUXD +1 # SCALED AT PI RADIANS (180 DEGREES) CDUZD EQUALS CDUXD +2 # (STORE IN 2'S COMPLEMENT) DELCDUX ERASE +2 # NEGATIVE OF DESIRED 100MS CDU INCREMENT: DELCDUY EQUALS DELCDUX +1 # SCALED AT PI RADIANS (180 DEGREES) DELCDUZ EQUALS DELCDUX +2 # (STORE IN 2'S COMPLEMENT) # RETAIN THE ORDER OF OMEGAPD TO OMEGARD FOR DOWNLINK PURPOSES. OMEGAPD ERASE +2 # ATTITUDE MANEUVER DESIRED RATES: OMEGAQD EQUALS OMEGAPD +1 # (NOT EXPLICITLY REFERENCED IN GTS CNTRL) OMEGARD EQUALS OMEGAPD +2 # SCALED AT PI/4 RADIANS/SECOND # KALCMANU STORAGE. (24D) MIS ERASE +23D # I(18D) # Page 135 COF EQUALS MIS +18D # I(6) # KALCMANU STORAGE. (33D) BCDU ERASE +30D # B(3) KSPNDX EQUALS BCDU +3 # B(1) KDPNDX EQUALS KSPNDX +1 # B(1) TMIS EQUALS KDPNDX +1 # I(18) MUST BE IN SAME BANK AS RCS DAP COFSKEW EQUALS TMIS +18D # I(6) MUST BE IN THE SAME BANK AS RCS DAP CAM EQUALS COFSKEW +6 # I(2) MUST BE IN THE SAME BANK AS RCS DAP AM ERASE +1 # I(2) THIS WAS ONCE IN E5 OVERLAYING OGC # FIRST-ODER OVERLAYS IN KALCMANU (25D) KV1 EQUALS TMIS # I(6) MFISYM EQUALS TMIS # I TMFI EQUALS TMIS # I NCDU EQUALS TMIS # B NEXTIME EQUALS TMIS +3 # B TTEMP EQUALS TMIS +4 # B KV2 EQUALS TMIS +6 # I(6) BIASTEMP EQUALS TMIS +6 # B KV3 EQUALS TMIS +12D # I(6) OGF EQUALS TMIS +12D # I BRATE EQUALS COFSKEW # B IG EQUALS COFSKEW # I TM EQUALS CAM # B # SECOND-ORDER OVERLAYS IN KALCMANU (24D) K1 = KV1 K2 = KV2 K3 = KV3 P21 EQUALS KV1 # I(2) D21 EQUALS KV1 +2 # I(2) G21 EQUALS KV1 +4 # I(2) C2SQP EQUALS KV2 # I(2) C2SQM EQUALS KV2 +2 # I(2) C2PP EQUALS KV2 +4 # I(2) C2MP EQUALS KV3 # I(2) C1PP EQUALS KV3 +2 # I(2) C1MP EQUALS KV3 +4 # I(2) # Page 136 VECQTEMP = COFSKEW DCDU = CDUXD DELDCDU = DELCDUX DELDCDU1 = DELCDUY DELDCDU2 = DELCDUZ # * * * * * * * * * * * * * * * * * * * * * * * * * # STORAGE FOR FINDCDUW # OVERLAYING KALCMANU STORAGE: (26D) ECDUW EQUALS MIS ECDUWUSR EQUALS ECDUW # B(1)TMP QCDUWUSR EQUALS ECDUWUSR +1 # I(1)TMP NDXCDUW EQUALS QCDUWUSR +1 # B(1)TMP FLAGOODW EQUALS NDXCDUW +1 # B(1)TMP FLPAUTNO EQUALS FLAGOODW +1 # B(1)TMP UNFC/2 EQUALS FLPAUTNO +1 # I(6)IN UNWC/2 EQUALS UNFC/2 +6 # I(6)IN UNFV/2 EQUALS UNWC/2 +6 # I(6) S-S UNFVX/2 = UNFV/2 UNFVY/2 = UNFV/2 +2 UNFVZ/2 = UNFV/2 +4 -DELGMB EQUALS UNFV/2 +6 # B(3)TMP # DEFINED IN THE WORK AREA: (18D) UNX/2 = 0 UNY/2 = 6 UNZ/2 = 14 # END OF FINDCDUW ERASABLES # * * * * * * * * * * * * * * * * * * * * * * * * * # THE FOLLOWING ARE THE DAP REPLACEMENTS FOR THE ITEMPS AND RUPTREGS, NEEDED BECAUSE DAP IS NOW A TOB,JASK,JAB,TOSK # ... ANYWAY, THE DAP CAN NOW BE INTERRUPTED. (18D) DAPTEMP1 ERASE +17D DAPTEMP2 EQUALS DAPTEMP1 +1 DAPTEMP3 EQUALS DAPTEMP1 +2 DAPTEMP4 EQUALS DAPTEMP1 +3 DAPTEMP5 EQUALS DAPTEMP1 +4 DAPTEMP6 EQUALS DAPTEMP1 +5 DAPTREG1 EQUALS DAPTEMP1 +6 DAPTREG2 EQUALS DAPTEMP1 +7 DAPTREG3 EQUALS DAPTEMP1 +8D # Page 137 DAPTREG4 EQUALS DAPTEMP1 +9D DAPTREG5 EQUALS DAPTEMP1 +10D DAPTREG6 EQUALS DAPTEMP1 +11D DAPARUPT EQUALS DAPTEMP1 +12D DAPLRUPT EQUALS DAPARUPT +1 DAPBQRPT EQUALS DAPARUPT +2 DAPZRUPT EQUALS DAPARUPT +4 # (DAPZRUPT IS ALSO A JASK-IN-PROGRESS FLAG) # NEEDLER (ATTITUDE ERROR EIGHT BALL DISPLAY) STORAGE. (6D) T5TEMP EQUALS ITEMP1 DINDX EQUALS ITEMP3 AK ERASE +2 # NEEDLER ATTITUDE INPUTS, SCALED AT 180 AK1 EQUALS AK +1 # DEGREES. P,Q,R AXES IN AK,AK1,AK2. AK2 EQUALS AK +2 EDRIVEX ERASE +2 # NEEDLER DISPLAY REGS AT 1800 DEGREES. EDRIVEY EQUALS EDRIVEX +1 # SO THAT 384 BITS REPRESENT 42 3/16 DEGREES. EDRIVEZ EQUALS EDRIVEX +2 # DOCKED JET INHIBITION COUNTERS (3D) PJETCTR ERASE +2 UJETCTR EQUALS PJETCTR +1 VJETCTR EQUALS PJETCTR +2 END-E6 EQUALS VJETCTR # Page 138 # EBANK-7 ASSIGNMENTS SETLOC 3400 # P35 CONSTANTS. -- PAD LOADED -- (4D) ATIGINC ERASE +1 # B(2)PL *MUST BE AT 1400 FOR SYSTEMSTEST PTIGINC ERASE +1 # B(2)PL # AOTMARK STORAGE. -- PAD LOADED -- (12D) AOTAZ ERASE +5 # B(6)PL AOTEL ERASE +5 # B(6)PL # LANDING RADAR -- PAD LOADED -- (2D) LRHMAX ERASE # B(1) LRWH ERASE # B(1) # THROTTLE STORAGE. -- PAD LOADED -- (1D) ZOOMTIME ERASE # B(1)PL TIME OF DPS THROTTLE-UP COMMAND # P63 AND P64 CONSTANTS. -- PAD LOADED -- (4D) TENDBRAK ERASE # B(1) LANDING PHASE SWITCHING CRITERION. TENDAPPR ERASE # B(1) LANDING PHASE SWITCHING CRITERION. DELTTFAP ERASE # B(1) INCREMENT ADDED TO TTF/8 WHEN # SWITCHING FROM P63 TO P64. LEADTIME ERASE # B(1) TIME INCREMENT SPECIFYING HOW MUCH # GUIDANCE IS PROJECTED FORWARD # LANDING RADAR. -- PAD LOADED -- (2D) RPCRTIME ERASE # B(1) REPOSITIONING CRITERION (TIME) RPCRTQSW ERASE # B(1) REPOSITIONING CRITERION (ANGLE) # ASTEER. -- PAD LOADED -- (2D) TNEWA ERASE +1 # I(2)PL LAMBERT CYCLE PERIOD. # P22 STORAGE -- OVERLAYS LANDING PADLOADS -- (5D) # Page 139 REPOSCNT EQUALS TENDBRAK # B(1)TMP COUNTS NUMBER OF PASSES THROUGH # REPOSITION ROUTINE. REPOSTM EQUALS REPOSCNT +1 # I(2)TMP PRESENT TIME PLUS INCREMENTS OF # TEN SECONDS. DELTATM EQUALS REPOSTM +2 # I(2)TMP TIME INTERVAL FOR RUNNING # DESIGNATE TASK. # *** RETAIN THE ORDER OF DELVSLV, TIG, RTARG, DELLT4 FOR UPDATE. *** # P32-35 P72-75 STORAGE. (6D) DELVLVC ERASE +5 # I(6) DELTA VELOCITY -- LOCAL VERTICAL COO DELVSLV = DELVLVC # (TEMP STORAGE OF SAME VECTOR) -RDINATE # P30-P40 INTERFACE UNSHARED. (2D) TIG ERASE +1 # B(2) # INITVEL STORAGE. ALSO USED BY P34,35,74,75,10,11 OTHERS (8D) RTARG ERASE +5 # I(6) TARGET VECTOR DELLT4 ERASE +1 # I(2) TIME DIFFERENCE # P30-P40 INTERFACE UNSHARED. (3D) TTOGO ERASE +1 # B(2) TFI EQUALS TTOGO WHICH ERASE # B(1) # *** R21 *** (1D) LOSCOUNT ERASE # B(1) # L SR22.3 (RENDEZVOUS NAVIGATION) STORAGE. (4D) # RETAIN THE ORDER OF AIG TO TRKMKCNT FOR DOWNLINK PURPOSES. AIG ERASE # B(1)OUT GIMBAL ANGLES AMG ERASE # B(1)OUT (MUST BE AOG ERASE # B(1)OUT CONSECUTIVE) TRKMKCNT ERASE # B(1)TMP TEMPORARY MARK STORAGE. MARKCTR = TRKMKCNT # Page 140 # P32-P35, P72-P75 STORAGE. -- PERMANENT -- (6) NORMEX ERASE # B(1)PRM SAVE FOR Q QSAVED ERASE # B(1)PRM SAVE FOR Q RTRN ERASE # B(1)PRM SAVE FOR Q NN ERASE +1 # B(2) SUBEXIT ERASE # B(1)PRM SAVE Q E7OVERLA EQUALS # START OF E7 OVERLAYS WHOCARES EQUALS E7OVERLA # DUMMY FOR EBANK INSENSITIVE 2CADRS. # LUNAR LANDING OVERLAYS (6D) /AFC/ EQUALS NORMEX # B(2)TMP THROTTLE FCODD EQUALS /AFC/ +2 # B(2)TMP THROTTLE FP EQUALS FCODD +2 # B(2)TMP THROTTLE # Page 141 # ******* OVERLAY NUMBER 0 IN EBANK 7 ******* # RENDEZVOUS GUIDANCE STORAGE --P32.....P35-- (89D) TSTRT EQUALS DELDV # MIDCOURSE START TIME TDEC2 EQUALS DELVCSI # TEMP STORAGE FOR INTEGRATION TIME INPUT KT EQUALS DELVTPI # TEMP STORAGE FOR MIDCOURSE DELTA TIME VACT1 ERASE +5D # VELOCITY VECTOR OF ACTIVE AT CSI TIME RPASS1 ERASE +5D # POSITION VECTOR OF PASSIVE AT CSI TIME VPASS1 ERASE +5D # VELOCITY VECTOR OF PASSIVE AT CSI TIME VACT2 ERASE +5D # VELOCITY VECTOR OF ACTIVE AT CDH TIME RPASS2 ERASE +5D # POSITION VECTOR OF PASSIVE AT CDH TIME VPASS2 ERASE +5D # VELOCITY VECTOR OF PASSIVE AT CDH TIME RACT3 ERASE +5D # POSITION VECTOR OF ACTIVE AT TPI TIME VACT3 ERASE +5D # VELOCITY VECTOR OF ACTIVE AT TPI TIME RPASS3 ERASE +5D # POSITION VECTOR OF PASSIVE AT TPI TIME VPASS3 ERASE +5D # VELOCITY VECTOR OF PASSIVE AT TPI TIME VACT4 ERASE +5D # VELOCITY VECTOR OF ACTIVE AT INTERCEPT UNVEC EQUALS VACT3 # CDHMVR UNIT VECTOR TEMP STORAGE. DELVCSI ERASE +1D # THRUST VALUE AT CSI DELVTPI ERASE +1D # THRUST VALUE AT TPI OR MID DELVMID EQUALS DELVTPI DIFFALT ERASE +1D # ALT DIFFERENT AT CDH POSTCSI ERASE +1 # PERIGEE ALTITUDE AFTER CSI MANEUVER POSTCDH ERASE +1 # PERIGEE ALTITUDE AFTER CDH MANEUVER POSTTPI ERASE +1 # PERIGEE ALTITUDE AFTER TPI MANEUVER LOOPCT EQUALS POSTTPI # CSI NEWTON ITERATION COUNTER HAFPA1 EQUALS POSTCDH # HALF PERIOD GAMPREV ERASE +1 # PREVIOUS GAMMA DVPREV EQUALS DELVTPI # PREVIOUS DELVCSI DELDV ERASE +1D CSIALRM ERASE +1 # FIRST SOLUTION ALARM VERBNOUN ERASE TITER EQUALS CSIALRM # ITERATION COUNTER RDOTV ERASE +1 VAPREC EQUALS VPASS1 # I(6) S-S PREC VEC FOR NOM TPI TIME (ACTIVE) RAPREC EQUALS RPASS1 # I(6) S-S PREC VEC FOR NOM TPI TIME (ACTIVE) VPPREC EQUALS VPASS2 # I(6) S-S PREC VEC FOR NOM TPI TIME (PASSIVE) RPPREC EQUALS RPASS2 # I(6) S-S PREC VEC FOR NOM TPI TIME (PASSIVE) DELEL EQUALS DELVTPI # I(2) S-S DELTEE EQUALS DELDV # I(2) S-S SECMAX EQUALS DELVCSI # I(2) S-S MAX STOP SIZE FOR ROUTINE DELTEEO EQUALS POSTTPI # I(2) S-S BACK VALUES OF DELTA TIME CENTANG ERASE +1 # I(2) CENTRAL ANGLE COVERED (TPI-TPF) # Page 142 # SOME P47 STORAGE (6D) DELVIMU ERASE +5 # I(6)DSP NOUN 83 FOR P47 DELTA V (IMU) # P30-P40 COMMON STORAGE. (3D) TPASS4 ERASE +1 # INTERCEPT TIME QTEMP ERASE # I(1)TMP COMMON RETURN SAVE REGISTER. # P32,33,34 STORAGE. (6D) TCSI ERASE +1 # B(2)TMP CSI TIME IN CENTISECONDS TTPI ERASE +1 # B(2)TMP TPI TIME IN CENTISECONDS TTPIO ERASE +1 # B(2)TMP TTPI STORAGE FOR RECYCLE # P30,P40 INTERFACE. (21D) RTIG ERASE +19D # I(6)TMP VTIG EQUALS RTIG +6 # I(6)TMP DELVSIN EQUALS VTIG +6 # I(6)TMP DELVSAB EQUALS DELVSIN +6 # I(2)TMP VGDISP = DELVSAB QTEMP1 ERASE # I(1)TMP HOLDS RETURN. RGEXIT EQUALS QTEMP1 # SAVE Q SAVQR52 EQUALS QTEMP1 # INITVEL STORAGE. (IN OVERLAY 0 AND OVERLAY 1. (2D) # (CALLS LAMBERT, CONIC SUBROUTINES) VTPRIME EQUALS VACT4 # TOTAL VELOCITY AT DESIRED RADIUS ITCTR EQUALS RDOTV # ITERATION COUNTER COZY4 ERASE +1 # COS OF ANGLE WHEN ROTATION STARTS X1INPUT EQUALS DELDV # X1 TEMP STORAGE INTIME EQUALS GAMPREV # TIME OF RINIT # PERIAPO STORAGE. (2D) XXXALT ERASE +1 # RADIUS TO LAUNCH PAD OR LANDING SITE END-IN/M EQUALS XXXALT +2 # NEXT AVAIL ERASABLE AFTER INITVEL/MIDGIM # Page 143 # S40.1 STORAGE. (12D) UT ERASE +11D # I(6) THRUST DIRECTION VGTIG EQUALS UT +6 # I(6)OUT VGPREV = VGTIG # ASTEER STORAGE. (22D) VG ERASE +21D # I(6) RMAG EQUALS VG +6 # I(2) MUASTEER EQUALS RMAG +2 # I(2) MU/A EQUALS MUASTEER +2 # I(2) RTMAG EQUALS MU/A +2 # I(2) R1C EQUALS RTMAG +2 # I(6) SS EQUALS R1C +6 # I(2) IC = DELVSIN TIGSAVE = P21TIME TIGSAVEP = SCAXIS MUSCALE = SCAXIS +2 # P40 STORAGE. (6D) # F, MDOT, AND TDECAY MUST BE CONTIGUOUS FOR WLOAD F ERASE +5 # I(2)TMP S40.1 GENERATES THIS FOR S40.3 MDOT EQUALS F +2 # I(2)TMP MASS CHNG RATE, KG/CS AT 2**3. TDECAY EQUALS MDOT +2 # I(2)IN DELTA-T TAILOFF, (2**28)CS. VEX ERASE +1 # I(2) EXHAUST VELOCITY FOR TGO COMPUTAT'N # MIDTOAV1(2) STORAGE. (CALLED BY P40,P41,P42) (1D) IRETURN1 ERASE # B(1) RETURN FROM MIDTOAV1 AND 2. # Page 144 # ******* OVERLAY NUMBER 1 IN EBANK 7 ******* # INITVEL (CALLED BY P34,35,38,39,10,11,S40.9,S40.1) (6D) RTARG1 EQUALS VACT1 # I(6)S TEMP STORAGE OF RTARG # P35-P40 INTERFACE. (6D) VPASS4 EQUALS VPASS1 # I(6)TMP VELOCITY OF PASSIVE AT INTERCEPT # INITVEL OVERLAYS RENDESVOUS GUIDANCE (LISTED IN OVERLAY O) # SOME P38-30,P78-79 STORAGE (2D) TINT EQUALS TPASS4 # I(2) TIME OF INTERCEPT # LAT-LONG TEMPORARIES. CAN OVERLAY WITH S40.1 (3D) ERADM EQUALS UT # I(2) INCORPEX EQUALS ERADM +2 # I(1) # LRS24.1 STORAGE. (CAN SHARE WITH P30'S) (40D) RLMSRCH EQUALS INCORPEX +1 # I(6)TMP LM POSITION VECTOR VXRCM EQUALS RLMSRCH +6 # I(6) CM V X R VECTOR LOSDESRD EQUALS VXRCM +6 # I(6) DESIRED LOS VECTOR UXVECT EQUALS LOSDESRD +6 # I(6) X-AXIS SRCH PATTERN COORDS UYVECT EQUALS UXVECT +6 # I(6) Y-AXIS SRCH PATTERN COORDS DATAGOOD EQUALS UYVECT +6 # B(1)DSP FOR R1 -- ALL 1-S WHEN LOCKON OMEGDISP EQUALS DATAGOOD +1 # B(2) ANGLE OMEGA DISPLAYED IN R2 OMEGAD = OMEGDISP # PINBALL DEFINITION NSRCHPNT EQUALS OMEGDISP +2 # B(1)TMP SEARCH PATTERN POINT COUNTER. SAVLEMV EQUALS NSRCHPNT +1 # I(6)S-S SAVES LOSVEL # Page 145 # ******* OVERLAY NUMBER 2 IN EBANK 7 ******* # INCORP STORAGE IN E7. (47D) TX789 EQUALS E7OVERLA # I(6) GAMMA EQUALS TX789 +6 # I(3) OMEGA EQUALS GAMMA +3 # I(18) BVECTOR EQUALS OMEGA +18D # I(18) DELTAQ EQUALS BVECTOR +18D # I(2) # AOTMARK STORAGE (3D) MARKCNTR EQUALS DELTAQ +2 # I(1) XYMARK EQUALS MARKCNTR +1 # B(1) MKDEX EQUALS XYMARK +1 # B(1)TMP INDEX FOR AOTMARK # PLANET STORAGE (8D) PLANVEC EQUALS MKDEX +1 # (6) REFER VECTOR OF PLANET TSIGHT EQUALS PLANVEC +6 # (2) TIME OF MARK OR EST TIME OF MARK # LRS22.3 STORAGE. (CAN SHARE WITH P30'S AND OVERLAY LRS24.1) (30D) LGRET EQUALS RLMSRCH # I(1)TMP RDRET EQUALS LGRET # B(1) TEMP RETURN. IGRET EQUALS LGRET # B(1) TEMP RETURN. MX EQUALS RDRET +1 # I(6) MY EQUALS MX +6 # I(6) MZ EQUALS MY +6 # I(6) E0 EQUALS MX # I(2) E1 EQUALS MX +2 # I(2) E2 EQUALS MX +4 # I(2) E3 EQUALS E2 +2 # I(2) SCALSHFT EQUALS MZ +6 # B(1) SCALE SHIFT FOR EARTH/MOON RXZ EQUALS SCALSHFT +1 # I(2) ULC EQUALS RXZ +2 # I(6) SINTHETA EQUALS ULC +6 # I(2) # ***** IN OVERLAY ONE ***** N49FLAG EQUALS RDOTMSAV # B(1)S FLAG INDICATING V0649 RESPONSE # LRS22.1 STORAGE. (MUST NOT SHARE WITH P30'S) (13D) # (OUTPUTS ARE TO LRS22.3) # Page 146 RRTRUN EQUALS SINTHETA +2 # B(2)OUT RR TRUNNION ANGLE RRSHAFT EQUALS RRTRUN +2 # B(2)OUT RR SHAFT ANGLE LRS22.1X EQUALS RRSHAFT +2 # B(1)TMP RRBORSIT EQUALS LRS22.1X +1 # I(6)TMP RADAR BORESIGHT VECTOR. RDOTMSAV EQUALS RRBORSIT +6 # B(2)S RR RANGE-RATE (FPS) # LRS22.1 (SAME AS PREVIOUS SECTION) ALSO DOWNLINK FOR RR (R29) (10D) CANNOT SHARE WITH L.A.D. RDOTM EQUALS RDOTMSAV +2 # B(2)OUT RANGE-RATE READING TANGNB EQUALS RDOTM +2 # B(2)TMP RR GIMBAL ANGLES # RETAIN THE ORDER OF MKTIME TO RM FOR DOWNLINK PURPOSES MKTIME EQUALS TANGNB +2 # B(2)OUT TIME OF RR READING RM EQUALS MKTIME +2 # I(2)OUT RANGE READING RANGRDOT EQUALS RM +2 # B(2) DOWNLINKED RAW RANGE AND RRATE # R61LEM -- PREFERRED TRACKING ATTITUDE ROUTINE **IN OVERLAY ONE** # (CALLED BY P20, R22LEM, LSR22.3) (1D) R65CNTR EQUALS RRBORSIT +5 # B(1)SS COUNT NUMBER OF TIMES PREFERRED # TRACKING ROUTINE IS TO CYCLE WHCHREAD EQUALS R65CNTR # TELLS WHICH RR DATA TRIGGERED N49 DISPLAY # P21 STORAGE (2D) P21TIME EQUALS RANGRDOT +2 # I(2)TMP # KALCMANU, VECPOINT STORAGE. CALLED BY R63, R61, R65. (12D) SCAXIS EQUALS P21TIME +2 # I(6) POINTVSM EQUALS SCAXIS +6 # I(6) # Page 147 # ******* OVERLAY NUMBER 3 IN EBANK 7 ******* # SERVICER STORAGE (6D) ABVEL EQUALS E7OVERLA # B(2) DISPLAY HDOTDISP EQUALS ABVEL +2 # B(2) DISPLAY TTFDISP EQUALS HDOTDISP +2 # B(2) DISPLAY # BURN PROG STORAGE. (2D) SAVET-30 EQUALS TTFDISP +2 # B(2)TMP TIG-30 RESTART # SERVICER STORAGE. (69D) VGBODY EQUALS SAVET-30 +2 # B(6)OUT SET BY S41.1 VG LEM, SC.COORDS DELVCTL = VGBODY DVTOTAL EQUALS VGBODY +6 # B(2) DISPLAY NOUN GOBLTIME EQUALS DVTOTAL +2 # B(2) NOMINAL TIG FOR CALC. OF GOBLATE. ABDVCONV EQUALS GOBLTIME +2 # I(2) DVCNTR EQUALS ABDVCONV +2 # B(1) TGO EQUALS DVCNTR +1 # B(2) R EQUALS TGO +2 # I(6) UNITGOBL EQUALS R # I(6) V EQUALS R +6 DELVREF EQUALS V # I(6) HCALC EQUALS DELVREF +6 # B(2) LR UNIT/R/ EQUALS HCALC +2 # I(6) # (THE FOLLOWING SERVICER ERASABLES CAN BE SHARED WITH SECOND DPS GUIDANCE STORAGE) RN1 EQUALS UNIT/R/ +6 # B(6) VN1 EQUALS RN1 +6 # I(6) ( IN ORDER ) PIPTIME1 EQUALS VN1 +6 # B(2) ( FOR ) GDT1/2 EQUALS PIPTIME1 +2 # I(6) ( COPY ) MASS1 EQUALS GDT1/2 +6 # I(2) ( CYCLE ) R1S EQUALS MASS1 +2 # I(6) V1S EQUALS R1S +6 # I(6) # ALIGNMENT/S40.2,3 COMMON STORAGE. (18D) XSMD EQUALS V1S +6 # I(6) YSMD EQUALS XSMD +6 # I(6) ZSMD EQUALS YSMD +6 # I(6) XSCREF = XSMD YSCREF = YSMD # Page 148 ZSCREF = ZSMD END-ALIG EQUALS ZSMD +6 # NEXT AVAIL ERASABLE AFTER ALIGN/S40.2,3 # ****** P22 ****** (24D) RSUBL EQUALS END-ALIG # I(6)S-S LM POSITION VECTOR UCSM EQUALS RSUBL +6 # I(6)S-S VECTOR U NEWVEL EQUALS UCSM +6 # I(6)S-S TERMINAL VELOCITY VECTOR NEWPOS EQUALS NEWVEL +6 # I(6)S-S TERMINAL POSITION VECTOR LNCHTM EQUALS NEWPOS +6 # I(2)S-S EST. LAUNCH TIME FOR LEM TRANSTM EQUALS LNCHTM +2 # I(2)S-S TRANSFER TIME NCSMVEL EQUALS TRANSTM +2 # I(6)S-S NEW CSM VELOCITY # ****** P21 ****** (18D) P21ORIG = DISPDEX P21BASER EQUALS RLMSRCH # I(6)TMP P21BASEV EQUALS P21BASER +6 # I(6)TMP P21VEL EQUALS P21BASEV +6 # I(2)TMP *** NOUN 91 *** P21GAM EQUALS P21VEL +2 # I(2)TMP *** NOUN 91 *** P21ALT EQUALS P21GAM +2 # I(2)TMP *** NOUN 91 *** # Page 149 # ******* OVERLAY NUMBER 4 IN EBANK 7 ******* # VARIABLES FOR SECOND DPS GUIDANCE (THE LUNAR LANDING) (18D) # THESE ERASABLES MAY BE SHARED WITH CARE OURTEMPS = RN1 # OVERLAY LAST PART OF SERVICER LANDTEMP = OURTEMPS # B(6) GUIDANCE TTF/8TMP = LANDTEMP +6 # B(2) GUIDANCE ELINCR = TTF/8TMP +2 # B(2) GUIDANCE AZINCR = ELINCR +2 # B(2) GUIDANCE KEEP-2 = AZINCR +2 # B(2) TP PREVENT PIPTIME1 OVERLAY TABLTTF = KEEP-2 +2 # B(2) GUIDANCE TPIPOLD = TABLTTF +9D # B(2) GUIDANCE E2DPS EQUALS OURPERMS # THESE ERASABLES MUST NOT OVERLAY GOBLTIME OR SERVICER PIFPSET = XSMD # B(1) THROTTLE RTNHOLD = PIFPSET +1 # B(1) THROTTLE FWEIGHT = RTNHOLD +1 # B(2) THROTTLE PIF = FWEIGHT +2 # B(2) THROTTLE PSEUDO55 = PIF +2 # B(1) THROTTLE DOWNLINK FC = PSEUDO55 +1 # B(2) THROTTLE TTHROT = FC +2 # B(1) THROTTLE FCOLD = TTHROT +1 # B(1) THROTTLE # THESE ERASABLES SHOULD NOT BE SHARED DURING P63, P64, P65, P66, P67 OURPERMS = FCOLD +1 # MUSTN'T OVERLAY OURTEMPS OR SERVICER WCHPHOLD = OURPERMS # B(1) GUIDANCE FILLER = WCHPHOLD +1 FLPASS0 = FILLER +1 # B(1) GUIDANCE TPIP = FLPASS0 +1 # B(2) VGU = TPIP +2 # B(6) GUIDANCE LAND = VGU +6 # B(6) GUIDANCE CONTIGUOUS TTF/8 = LAND +6 # B(2) GUIDANCE CONTIGUOUS ELIDUMMY = TTF/8 +2 # (1) DUMMY FOR ELINCR1 AZIDUMMY = ELIDUMMY +1 # (1) DUMMY FOR AZINCR1 ZERDUMMY = AZIDUMMY +1 # (1) DUMMY FOR ZERLINA ELVDUMMY = ZERDUMMY +1 # (1) DUMMY FOR ELVIRA LRADRET = ELVDUMMY +1 # B(1) LR VSELECT = LRADRET +1 # B(1) LR VMEAS = VSELECT +1 # B(2) LR HMEAS = VMEAS +2 # B(2) LR VN2 = HMEAS +2 # B(6) LR # Page 150 GNUR = VN2 # B(6) LR GNUV = VN2 # B(6) LR LRADRET1 = VN2 # B(1) LR DELTAH = VN2 +6 # B(2) DISPLAY FUNNYDSP = DELTAH +2 # B(2) DISPLAY EOURPERM EQUALS FUNNYDSP +2 # NEXT AVAILABLE ERASABLE AFTER OURPERMS # (ERASABLES WHICH OVERLAY THE ABOVE BLOCK) VDGVERT = ELIDUMMY # B(2) P65,P66 NIGNLOOP = ZERDUMMY # B(1) IGNALG NGUIDSUB = ELVDUMMY # B(1) IGNALG WCHVERT = ELVDUMMY # B(1) P65,P66,P67 FUELNEED = FUNNYDSP # B(1) DISPLAY TREDES = FUNNYDSP # B(1) DISPLAY LOOKANGL = FUNNYDSP +1 # B(1) DISPLAY # ERASABLES CONVENIENTLY DEFINABLE IN THE WORK AREA PROJ = 18D # I(2) GUIDANCE UNLRB/2 = 20D # I(6) GUIDANCE (DURING P64 ONLY) UNLR/2 = 20D # I(6) GUIDANCE # THE END OF THE LUNAR LANDING ERASABLES # R12 (FOR LUNAR LANDING) (6D) LRLCTR EQUALS EOURPERM # B(1) LR DATA TEST LRRCTR EQUALS LRLCTR +1 # B(1) LRMCTR EQUALS LRRCTR +1 # B(1) LRSCTR EQUALS LRMCTR +1 # B(1) STILBADH EQUALS LRSCTR +1 # B(1) STILBADV EQUALS STILBADH +1 # B(1) # LANDING ANALOGS DISPLAY STORAGE. (40D) LATVMETR EQUALS STILBADV +1 # B(1)PRM LATVEL MONITOR METER (AN ORDER) FORVMETR EQUALS LATVMETR +1 # B(1)PRM FORVEL MONITOR METER (-ED PAIR) LATVEL EQUALS FORVMETR +1 # B(1)PRM LATERAL VELOCITY (AN ORDER) FORVEL EQUALS LATVEL +1 # B(1)PRM FORWARD VELOCITY (-ED PAIR) TRAKLATV EQUALS FORVEL +1 # B(1)PRM MONITOR FLG 4 LATVEL (AN ORDER) TRAKFWDV EQUALS TRAKLATV +1 # B(1)PRM MONIT. FLAG FOR FORVEL (ED PAIR) VHY EQUALS TRAKFWDV +1 # B(1)PRM VHY=VMP.UHYP (AN ORDER) # Page 151 VHZ EQUALS VHY +1 # B(1)PRM VHZ=VMP.UHZP (-ED PAIR) VVECT EQUALS VHZ +1 # B(3)PRM UPDATED S.P. VELOCITY VECTOR ALTRATE EQUALS VVECT +3 # B(1)PRM ALTITUDE RATE IN BIT UNITS ALTSAVE EQUALS ALTRATE +1 # B(2)PRM ALTITUDE IN BIT UNITS LADQSAVE EQUALS ALTSAVE +2 # B(1)PARM SAVE Q IN LAND1SP DT EQUALS LADQSAVE +1 # B(1)PRM TIME 1 MINUS (PIPTIME +1) DALTRATE EQUALS DT +1 # B(1)PRM ALTITUDE RATE ERROR CORRECTION UHYP EQUALS DALTRATE +1 # B(6)PRM SM UNIT VECTOR QAXIS = UHYP UHZP EQUALS UHYP +6 # B(6)PRM SM UNIT VECTOR DELVS EQUALS UHZP +6 # B(6)PRM DELVS = WMXR ALTBITS EQUALS DELVS +6 # B(2)PRM ALTITUDE IN BIT UNITS. 2.34 FT/BIT RUNIT EQUALS ALTBITS +2 # B(3)PRM SM HALF-UNIT R VECTOR LASTLADW EQUALS RUNIT +2 # ONLY A TAG TO SIGNIFY LAST L.A.D. WORD # P66 ERASABLES (R.O.D.) (1D) RODCOUNT EQUALS RUNIT +3 # P66 ERASABLES (R.O.D.) (14D) RODSCAL1 EQUALS RM # B(1) LASTTPIP EQUALS RODSCAL1 +1 # I(2) THISTPIP EQUALS LASTTPIP +2 # B(2) OLDPIPAX EQUALS THISTPIP +2 # B(1) OLDPIPAY EQUALS OLDPIPAX +1 # B(1) OLDPIPAZ EQUALS OLDPIPAY +1 # B(1) DELVROD EQUALS OLDPIPAZ +1 # B(6) # NOUN 63 COMPONENT (2D) HCALC1 EQUALS DELVROD +6 # I(2) # Page 152 # ******* OVERLAY NUMBER 5 IN EBANK 7 ******* # ASCENT GUIDANCE ERASABLES. (21D) RCO EQUALS END-ALIG # I(2)TMP TARGET RADIUS AND OUT-OF-PLANE YCO EQUALS RCO +2 # I(2)TMP DISTANCE, SCALED AT 2(24). 1/DV1 EQUALS YCO +2 # B(2)TMP ATMAG 1/DV2 EQUALS 1/DV1 +2 # B(2)TMP ATMAG 1/DV3 EQUALS 1/DV2 +2 # B(2)TMP ATMAG XRANGE EQUALS 1/DV3 +2 # B(2)TMP ENGOFFDT EQUALS XRANGE +2 # B(1)TMP VGVECT EQUALS ENGOFFDT +1 # I(6)OUT VELOCITY-TO-BE-GAINED. TXO EQUALS VGVECT +6 # I(2)TMP TIME AT WHICH X-AXIS OVERRIDE # IS ALLOWED. # END OF THE ASCENT GUIDANCE ERASABLES # THE FOLLOWING CARDS KEEP THE ASSEMBLER HAPPY UNTIL THE SYMBOLS ARE DELETED FROM THE PINBALL NOUN TABLES. END-E7.0 EQUALS IRETURN1 +1 # FIRST UNUSED LOCATION IN E7 OVERLAY 0 END-E7.1 EQUALS N49FLAG +1 # FIRST UNUSED LOCATION IN E7 OVERLAY 1 END-E7.2 EQUALS POINTVSM +6 # FIRST UNUSED LOCATION IN E7 OVERLAY 2 END-E7.3 EQUALS END-ALIG # FIRST UNUSED LOCATION IN E7 OVERLAY 3 END-E7.4 EQUALS 3777 # ** LAST LOCATION USED IN E7 OVERLAY 4 ** END-E7.5 EQUALS TXO +2 # FIRST UNUSED LOCATION IN E7 OVERLAY 5 END-E7 EQUALS 3777 # ** LAST LOCATION USED IN E7 ** ================================================ FILE: Luminary099/EXECUTIVE.agc ================================================ # Copyright: Public domain. # Filename: EXECUTIVE.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1103-1114 # Mod history: 2009-05-25 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # 2011-01-06 JL Fixed pseudo-label indentation. # 2011-05-08 JL Removed workaround. # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 1103 BLOCK 02 # TO ENTER A JOB REQUEST REQUIRING NO VAC AREA: COUNT* $$/EXEC NOVAC INHINT AD FAKEPRET # LOC(MPAC +6) - LOC(QPRET) TS NEWPRIO # PRIORITY OF NEW JOB + NOVAC C(FIXLOC) EXTEND INDEX Q # Q WILL BE UNDISTURBED THROUGHOUT. DCA 0 # 2CADR OF JOB ENTERED. DXCH NEWLOC CAF EXECBANK XCH FBANK TS EXECTEM1 TCF NOVAC2 # ENTER EXECUTIVE BANK. # TO ENTER A JOB REQUEST REQUIREING A VAC AREA -- E.G., ALL (PARTIALLY) INTERPRETIVE JOBS. FINDVAC INHINT TS NEWPRIO EXTEND INDEX Q DCA 0 SPVACIN DXCH NEWLOC CAF EXECBANK XCH FBANK TCF FINDVAC2 # OFF TO EXECUTIVE SWITCHED-BANK. # TO ENTER A FINDVAC WITH THE PRIORITY IN NEWPRIO TO THE 2CADR ARRIVING IN A AND L: # USERS OF SPVAC MUST INHINT BEFORE STORING IN NEWPRIO. SPVAC XCH Q AD NEG2 XCH Q TCF SPVACIN # TO SUSPEND A BASIC JOB SO A HIGHER PRIORITY JOB MAY BE SERVICED: CHANG1 LXCH Q CAF EXECBANK XCH BBANK TCF CHANJOB # TO SUSPEND AN INTERPRETIVE JOB: CHANG2 CS LOC # NEGATIVE LOC SHOWS JOB = INTERPRETIVE. # ITRACE (4) REFERS TO "CHANG2" TS L # Page 1104 +2 CAF EXECBANK TS BBANK TCF CHANJOB -1 # Page 1105 # TO VOLUNTARILY SUSPEND A JOB UNTIL THE COMPLETION OF SOME ANTICIPATED EVENT (I/O EVENT ETC.): JOBSLEEP TS LOC CAF EXECBANK TS FBANK TCF JOBSLP1 # TO AWAKEN A JOB PUT TO SLEEP IN THE ABOVE FASHION: JOBWAKE INHINT TS NEWLOC CS TWO # EXIT IS VIA FINDVAC/NOVAC PROCEDURES. ADS Q CAF EXECBANK XCH FBANK TCF JOBWAKE2 # TO CHANGE THE PRIORITY OF A JOB CURRENTLY UNDER EXECUTION: PRIOCHNG INHINT # NEW PRIORITY ARRIVES IN A. RETURNS TO TS NEWPRIO # CALLER AS SOON AS NEW JOB PRIORITY IS CAF EXECBANK # HIGHEST. PREPARE FOR POSSIBLE BASIC- XCH BBANK # STYLE CHANGE-JOB. TS BANKSET CA Q TCF PRIOCH2 # TO REMOVE A JOB FROM EXECUTIVE CONSIDERATIONS: ENDOFJOB CAF EXECBANK TS FBANK TCF ENDJOB1 ENDFIND CA EXECTEM1 # RETURN TO CALLER AFTER JOB ENTRY TS FBANK # COMPLETE. TCF Q+2 EXECBANK CADR FINDVAC2 FAKEPRET ADRES MPAC -36D # LOC(MPAC +6) - LOC(QPRET) # Page 1106 # LOCATE AN AVAILABLE VAC AREA BANK 01 COUNT* $$/EXEC FINDVAC2 TS EXECTEM1 # (SAVE CALLER'S BANK FIRST.) CCS VAC1USE TCF VACFOUND CCS VAC2USE TCF VACFOUND CCS VAC3USE TCF VACFOUND CCS VAC4USE TCF VACFOUND CCS VAC5USE TCF VACFOUND LXCH EXECTEM1 CA Q TC BAILOUT1 OCT 1201 # NO VAC AREAS. VACFOUND AD TWO # RESERVE THIS VAC AREA BY STORING A ZERO ZL # IN ITS VAC USE REGISTER AND STORE THE INDEX A # ADDRESS OF THE FIRST WORD OF IT IN THE LXCH 0 -1 # LOW NINE BITS OF THE PRIORITY WORD. ADS NEWPRIO NOVAC2 CAF ZERO # NOVAC ENTERS HERE. FIND A CORE SET. TS LOCCTR CAF NO.CORES # SEVEN SETS OF ELEVEN REGISTERS EACH. NOVAC3 TS EXECTEM2 INDEX LOCCTR CCS PRIORITY # EACH PRIORITY REGISTER CONTAINS -0 IF TCF NEXTCORE # THE CORESPONDING CORE SET IS AVAILABLE. NO.CORES DEC 7 TCF NEXTCORE # AN ACTIVE JOB HAS A POSITIVE PRIORITY # BUT A DORMANT JOB'S PRIORITY IS NEGATIVE # Page 1107 CORFOUND CA NEWPRIO # SET THE PRIORITY OF THIS JOB IN THE CORE INDEX LOCCTR # SET'S PRIORITY REGISTER AND SET THE TS PRIORITY # JOB'S PUSH-DOWN POINTER AT THE BEGINNING MASK LOW9 # OF THE WORK AREA AND OVERFLOW INDICATOR. INDEX LOCCTR TS PUSHLOC # OFF TO PREPARE FOR INTERPRETIVE PROGRAMS. CCS LOCCTR # IF CORE SET ZERO IS BEING LOADED, SET UP TCF SETLOC # OVFIND AND FIXLOC IMMEDIATELY. TS OVFIND CA PUSHLOC TS FIXLOC SPECTEST CCS NEWJOB # SEE IF ANY ACTIVE JOBS WAITING (RARE). TCF SETLOC # MUST BE AWAKENED OUT UNCHANGED JOB. TC CCSHOLE TC CCSHOLE TS NEWJOB # +0 SHOWS ACTIVE JOB ALREADY SET. DXCH NEWLOC DXCH LOC TCF ENDFIND SETLOC DXCH NEWLOC # SET UP THE LOCATION REGISTERS FOR THIS INDEX LOCCTR DXCH LOC INDEX NEWJOB # THIS INDEX INSTRUCTION INSURES THAT THE CS PRIORITY # HIGHEST ACTIVE PRIORITY WILL BE COMPARED AD NEWPRIO # WITH THE NEW PRIORITY TO SEE IF NEWJOB EXTEND # SHOULD BE SET TO SIGNAL A SWITCH. BZMF ENDFIND CA LOCCTR # LOCCTR IS LEFT SET AT THIS CORE SET IF TS NEWJOB # THE CALLER WANTS TO LOAD ANY MPAC TCF ENDFIND # REGISTERS, ETC. NEXTCORE CAF COREINC ADS LOCCTR CCS EXECTEM2 TCF NOVAC3 LXCH EXECTEM1 CA Q TC BAILOUT1 # NO CORE SETS AVAILABLE. OCT 1202 # Page 1108 # THE FOLLOWING ROUTINE SWAPS CORE SET 0 WITH THAT WHOSE RELATIVE ADDRESS IS IN NEWJOB. -2 LXCH LOC -1 CAE BANKSET # BANKSET, NOT BBANK, HAS RIGHT CONTENTS. CHANJOB INHINT EXTEND ROR SUPERBNK # PICK UP CURRENT SBANK FOR BBCON XCH L # LOC IN A AND BBCON IN L. +4 INDEX NEWJOB # SWAP LOC AND BANKSET. DXCH LOC DXCH LOC CAE BANKSET EXTEND WRITE SUPERBNK # SET SBANK FOR NEW JOB. DXCH MPAC # SWAP MULTI-PURPOSE ACCUMULATOR AREAS. INDEX NEWJOB DXCH MPAC DXCH MPAC DXCH MPAC +2 INDEX NEWJOB DXCH MPAC +2 DXCH MPAC +2 DXCH MPAC +4 INDEX NEWJOB DXCH MPAC +4 DXCH MPAC +4 DXCH MPAC +6 INDEX NEWJOB DXCH MPAC +6 DXCH MPAC +6 CAF ZERO XCH OVFIND # MAKE PUSHLOC NEGATIVE IF OVFIND NZ. EXTEND BZF +3 CS PUSHLOC TS PUSHLOC DXCH PUSHLOC INDEX NEWJOB DXCH PUSHLOC DXCH PUSHLOC # SWAPS PUSHLOC AND PRIORITY. CAF LOW9 # SET FIXLOC TO BASE OF VAC AREA. MASK PRIORITY TS FIXLOC CCS PUSHLOC # SET OVERFLOW INDICATOR ACCORDING TO CAF ZERO TCF ENDPRCHG -1 # Page 1109 CS PUSHLOC TS PUSHLOC CAF ONE XCH OVFIND TS NEWJOB ENDPRCHG RELINT DXCH LOC # BASIC JOBS HAVE POSITIVE ADDRESSES, SO EXTEND # DISPATCH WITH A DTCB. BZMF +2 # IF INTERPRETIVE, SET UP EBANK, ETC. DTCB # Page 1110 COM # EPILOGUE TO JOB CHANGE FOR INTERPRETIVE AD ONE TS LOC # RESUME TCF INTRSM # COMPLETE JOBSLEEP PREPARATIONS. JOBSLP1 INHINT CS PRIORITY # NNZ PRIORITY SHOWS JOB ASLEEP. TS PRIORITY CAF LOW7 MASK BBANK EXTEND ROR SUPERBNK # SAVE OLD SUPERBANK VALUE. TS BANKSET CS ZERO JOBSLP2 TS BUF +1 # HOLDS -- HIGHEST PRIORITY. TCF EJSCAN # SCAN FOR HIGHEST PRIORITY ALA ENDOFJOB. NUCHANG2 INHINT # QUICK... DON'T LET NEWJOB CHANGE TO +0. CCS NEWJOB TCF +3 # NEWJOB STILL PNZ RELINT # NEW JOB HAS CHANGED TO +0. WAKE UP JOB TCF ADVAN +2 # VIA NUDIRECT. (VERY RARE CASE.) CAF TWO EXTEND WOR DSALMOUT # TURN ON ACTIVITY LIGHT DXCH LOC # AND SAVE ADDRESS INFO FOR BENEFIT OF TCF CHANJOB +4 # POSSIBLE SLEEPINT JOB. # Page 1111 # TO WAKE UP A JOB, EACH CORE SET IS FOUND TO LOCATE ALL JOBS WHICH ARE ASLEEP. IF THE FCADR IN THE # LOC REGISTER OF ANY SUCH JOB MATCHES THAT SUPPLIED BY THE CALLER, THAT JOB IS AWAKENED. IF NO JOB IS FOUND, # LOCCTR IS SET TO -1 AND NO FURTHER ACTION TAKES PLACE. JOBWAKE2 TS EXECTEM1 CAF ZERO # BEGIN CORE SET SCAN TS LOCCTR CAF NO.CORES JOBWAKE4 TS EXECTEM2 INDEX LOCCTR CCS PRIORITY TCF JOBWAKE3 # ACTIVE JOB -- CHECK NEXT CORE SET. COREINC DEC 12 # 12 REGISTERS PER CORE SET. TCF WAKETEST # SLEEPING JOB -- SEE IF CADR MATCHES. JOBWAKE3 CAF COREINC ADS LOCCTR CCS EXECTEM2 TCF JOBWAKE4 CS ONE # EXIT IF SLEEPIN JOB NOT FOUND. TS LOCCTR TCF ENDFIND WAKETEST CS NEWLOC INDEX LOCCTR AD LOC EXTEND BZF +2 # IF MATCH. TCF JOBWAKE3 # EXAMINE NEXT CORE SET IF NO MATCH. INDEX LOCCTR # RE-COMPLEMENT PRIORITY TO SHOW JOB AWAKE CS PRIORITY TS NEWPRIO INDEX LOCCTR TS PRIORITY CS FBANKMSK # MAKE UP THE 2CADR OF THE WAKE ADDRESS MASK NEWLOC # USING THE CADR IN NEWLOC AND THE EBANK AD 2K # HALF OF BBANK SAVED IN BANKSET. XCH NEWLOC MASK FBANKMSK INDEX LOCCTR AD BANKSET TS NEWLOC +1 CCS LOCCTR # SPECIAL TREATMENT IF THIS JOB WAS TCF SETLOC # ALREADY IN THE RUN (0) POSITION. TCF SPECTEST # Page 1112 # PRIORITY CHANGE. CHANGE THE CONTENTS OF PRIORITY AND SCAN FOR THE JOB OF HIGHEST PRIORITY. PRIOCH2 TS LOC CAF ZERO # SET FLAG TO TELL ENDJOB SCANNER IF THIS TS BUF # JOB IS STILL HIGHEST PRIORITY. CAF LOW9 MASK PRIORITY AD NEWPRIO TS PRIORITY COM TCF JOBSLP2 # AND TO EJSCAN. # Page 1113 # RELEASE THIS CORE SET AND VAC AREA AND SCAN FOR THE JOB OF HIGHEST ACTIVE PRIORITY. ENDJOB1 INHINT CS ZERO TS BUF +1 XCH PRIORITY MASK LOW9 TS L CS FAKEPRET AD L EXTEND BZMF EJSCAN # NOVAC ENDOFJOB CCS L INDEX A TS 0 EJSCAN CCS PRIORITY +12D TC EJ1 TC CCSHOLE TCF +1 CCS PRIORITY +24D # EXAMINE EACH PRIORITY REGISTER TO FIND TC EJ1 # THE JOB OF HIGHEST ACTIVE PRIORITY. TC CCSHOLE TCF +1 CCS PRIORITY +36D TC EJ1 -CCSPR -CCS PRIORITY TCF +1 CCS PRIORITY +48D TC EJ1 TC CCSHOLE TCF +1 CCS PRIORITY +60D TC EJ1 TC CCSHOLE TCF +1 CCS PRIORITY +72D TC EJ1 TC CCSHOLE TCF +1 CCS PRIORITY +84D # Page 1114 TC EJ1 TC CCSHOLE TCF +1 # Page 1115 # EVALUATE THE RESULTS OF THE SCAN. CCS BUF +1 # SEE IF THERE ARE ANY ACTIVE JOBS WAITING TC CCSHOLE TC CCSHOLE TCF +2 TCF DUMMYJOB CCS BUF # BUF IS ZERO IS THIS IS A PRIOCHNG AND TCF +2 # CHANGED PRIORITY IS STILL HIGHEST. TCF ENDPRCHG -1 INDEX A # OTHERWISE, SET NEWJOB TO THE RELATIVE CAF 0 -1 # ADDRESS OF THE NEW JOB'S CORE SET. AD -CCSPR TS NEWJOB TCF CHANJOB -2 EJ1 TS BUF +2 AD BUF +1 # - OLD HIGH PRIORITY. CCS A CS BUF +2 TCF EJ2 # NEW HIGH PRIORITY. NOOP INDEX Q TC 2 # PROCEED WITH SEARCH. EJ2 TS BUF +1 EXTEND QXCH BUF # FOR LOCATING CCS PRIORITY + X INSTR. INDEX BUF TC 2 # Page 1116 # IDLING AND COMPUTER ACTIVITY (GREEN) LIGHT MAINTENANCE. THE IDLING ROUTINE IS NOT A JOB IN ITSELF, # BUT RATHER A SUBROUTINE OF THE EXECUTIVE. EBANK= SELFRET # SELF-CHECK STORAGE IN EBANK. DUMMYJOB CS ZERO # SET NEWJOB TO -0 FOR IDLING. TS NEWJOB RELINT CS TWO # TURN OFF THE ACTIVITY LIGHT. EXTEND WAND DSALMOUT ADVAN CCS NEWJOB # IS THE NEWJOB ACTIVE? TCF NUCHANG2 # YES... ONE REQUIRING A CHANGE JOB. CAF TWO # NEW JOB ALREADY IN POSITION FOR TCF NUDIRECT # EXECUTION CA SELFRET TS L # PUT RETURN ADDRESS IN L. CAF SELFBANK TCF SUPDXCHZ +1 # AND DISPATCH JOB. EBANK= SELFRET SELFBANK BBCON SELFCHK NUDIRECT EXTEND # TURN THE GREEN LIGHT BACK ON. WOR DSALMOUT DXCH LOC # JOBS STARTED IN THIS FASHION MUST BE TCF SUPDXCHZ BLOCK 2 # IN FIXED-FIXED SO OTHERS MAY USE. COUNT* $$/EXEC # SUPDXCHZ -- ROUTINE TO TRANSFER TO SUPEBANK. # CALLING SEQUENCE: # TCF SUPDXCHZ # WITH 2CADR OF DESIRED LOCATION IN A + L. SUPDXCHZ XCH L # BASIC. +1 EXTEND WRITE SUPERBNK TS BBANK TC L NEG100 OCT 77677 ================================================ FILE: Luminary099/EXTENDED_VERBS.agc ================================================ # Copyright: Public domain. # Filename: EXTENDED_VERBS.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 262-300 # Mod history: 2009-05-10 SN (Sergio Navarro). Started adapting # from the Luminary131/ file of the same # name, using Luminary099 page images. # 2009-06-05 RSB Corrected 5 typos. # 2009-06-06 RSB Eliminated an extraneous 3-instruction block # and added a missing instruction. # 2009-06-07 RSB Added a couple of "SBANK=" for compatibility # with yaYUL. Corrected a typo. # 2010-12-31 JL Fixed page number comments. # 2011-01-06 JL Added missing comment characters. # 2011-05-08 JL Flagged SBANK= workarounds for future removal. # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 262 BANK 7 SETLOC EXTVERBS BANK EBANK= OGC COUNT* $$/EXTVB # FAN-OUT GOEXTVB INDEX MPAC # VERB-40 IS IN MPAC TC LST2FAN # FAN AS BEFORE. LST2FAN TC VBZERO # VB40 ZERO (USED WITH NOUN 20 OR 72 ONLY) TC VBCOARK # VB41 COARSE ALIGN (USED WITH NOUN 20 OR # 72 ONLY) TC IMUFINEK # VB42 FINE ALIGN IMU TC IMUATTCK # VB43 LOAD IMU ATTITUDE ERROR METERS. TC RRDESEND # VB44 TERMINATE CONTINUOUS DESIGNATE TC ALM/END # VB45 SPARE TC ALM/END # VB46 SPARE TC V47TXACT # VB47 AGS INITIALIZATION TC DAPDISP # VB48 LOAD A/P DATA TCF CREWMANU # VB49 START AUTOMATIC ATTITUDE MANEUVER TC GOLOADLV # VB50 PLEASE PERFORM TC ALM/END # VB51 SPARE TC GOLOADLV # VB52 PLEASE MARK X -- RETICLE. TC GOLOADLV # VB53 PLEASE MARK Y -- RETICLE. TC GOLOADLV # VB54 PLEASE MARK X OR Y RETICLE TC ALINTIME # VB55 ALIGN TIME TC TRMTRACK # VB56 TERMINATE TRACKING -- P20 + P25 TC LRON # VB57 PERMIT LANDING RADAR UPDATES TC LROFF # VB58 INHIBIT LANDING RADAR UPDATES TC ALM/END # VB59 SPARE TC LRPOS2K # VB60 COMMAND LR TO POSITION 2. TC DAPATTER # VB61 DISPLAY DAP ATTITUDE ERROR TC TOTATTER # VB62 DISPLAY TOTAL ATTITUDE ERROR TC R04 # VB63 SAMPLE RADAR ONCE PER SECOND TC VB64 # VB64 CALCULATE, DISPLAY S-BAND ANT ANGLES TC SNUFFOUT # VB65 DISABLE U,V JETS DURING DPS BURNS. TC ATTACHED # VB66 ATTACHED MOVE THIS TO OTHER STATE TC V67 # VB67 W MATRIX MONITOR TC ALM/END # VB68 SPARE VERB69 TC VERB69 # VB69 FORCE A HARDWARE RESTART TC V70UPDAT # VB70 UPDATE LIFTOFF TIME. TC V71UPDAT # VB71 UNIVERSAL UPDATE -- BLOCK ADDRESS. TC V72UPDAT # VB72 UNIVERSAL UPDATE -- SINGLE ADDRESS. TC V73UPDAT # VB73 UPDATE AGC TIME (OCTAL). TC DNEDUMP # VB74 INITIALIZE DOWN-TELEMETRY PROGRAM # FOR ERASABLE DUMP. TC OUTSNUFF # VB75 ENABLE U,V JETS DURING DPS BURNS. # Page 263 TC MINIMP # VB76 MINIMUM IMPULSE MODE TC NOMINIMP # VB77 RATE COMMAND MODE TC R77 # VB78 START LR SPURIOUS RETURN TEST TC R77END # VB79 TERMINATE LR SPURIOUS RETURN TEST TC LEMVEC # VB80 UPDATE LEM STATE VECTOR TC CSMVEC # VB81 UPDATE CSM STATE VECTOR TC V82PERF # VB82 REQUEST ORBIT PARAM DISPLAY (R30) TC V83PERF # VB83 REQUEST REND PARAM DISPLAY (R31) TC ALM/END # VB84 SPARE TC VERB85 # VB85 DISPLAY RR LOS AZ AND ELEV TC ALM/END # VB86 SPARE TC ALM/END # VB87 SPARE TC ALM/END # VB88 SPARE TC V89PERF # VB89 ALIGN XORZ LEM AXIS ALONG LOS (R63) TC V90PERF # VB90 OUT OF PLANE RENDEZVOUS DISPLAY TC GOSHOSUM # VB91 DISPLAY BANK SUM. TC SYSTEST # VB92 OPERAT IMU PERFORMANCE TEST. TC WMATRXNG # VB93 CLEAR RENDWFLG TC ALM/END # VB94 SPARE TC UPDATOFF # VB95 NO STATE VECTOR UPDATE ALLOWED TC VERB96 # VB96 INTERRUPT INTEGRATION AND GO TO P00 TC GOLOADLV # VB97 PLEASE VERIFY ENGINE FAILURE TC ALM/END # VB98 SPARE TC GOLOADLV # VB99 PLEASE ENABLE ENGINE # END OF EXTENDED VERB FAN TESTXACT CCS EXTVBACT # ARE EXTENDED VERBS BUSY TC ALM/END # YES, TURN ON OPERATOR LIGHT CA FLAGWRD4 # ARE PRIORITY DISPLAYS USING DSKY MASK OC24100 CCS A TC ALM/END # YES CAF OCT24 # SET BITS 3 AND 5 SETXTACT TS EXTVBACT # NO. SET FLAG TO SHOW EXT VERB DISPLAY # SYSTEM BUSY CA Q TS MPAC +1 CS TWO # BLANK EVERYTHING EXCEPT MM AND VERB TC NVSUB TC +1 TC MPAC +1 XACTALM TC FALTON # TURN ON OPERATOR ERROR LIGHT. TC ENDEXT # RELEASE MARK AND EXT. VERB DISPLAY SYS. TERMEXTV EQUALS ENDEXT # Page 264 ENDEXTVB EQUALS ENDEXT XACT0 CAF ZERO # RELEASE MARK AND EXT. VERB DISPLAY SYS. TC SETXTACT ALM/END TC FALTON # TURN ON OPERATOR ERROR LIGHT GOPIN TC POSTJUMP CADR PINBRNCH CHKPOOH CA MODREG # CHECK FOR P00 OR P00-. EXTEND BZF TCQ TC ALM/END OC24100 OCT 24100 # Page 265 # VBZERO VERB 40 DESCRIPTION # # 1. REQUIRE NOUN 20 (ICDU ANGLES) OR NOUN 72 (RCDU ANGLES). # 2. FOR N20, CHECK IMUCADR IN AN EFFORT TO AVOID A 1210 RESTART. # FOR N72, CHECK IF EITHER RADAR IS IN USE. # 3. EXECUTE THE CDU ZERO. # 4. STALL UNTILL THE ZERO IS DONE. # 5. DON'T DIFFERENTIATE BETWEEN A BAD OR GOOD RETURN. # 6. EXIT, RE-ESTABLISHING THE INTERRUPTED DISPLAY (IF ANY). VBZERO TC OP/INERT TC IMUZEROK # RETURN HERE IF NOUN = ICDU(20) TC RRZEROK # RETURN HERE IF NOUN = RCDU(72) IMUZEROK TC CKMODCAD TC BANKCALL # KEYBOARD REQ FOR ISS CDUZERO CADR IMUZERO TC BANKCALL # STALL CADR IMUSTALL TC +1 TC GOPIN # IMUZERO RRZEROK TC RDRUSECK TC BANKCALL CADR RRZERO RWAITK TC BANKCALL CADR RADSTALL TCF +1 TC GOPIN # RRZERO # LRPOS2K VERB 60 DESCRIPTION # COMMAND LANDING RADAR TO POSITION 2 # # 1. EXIT WITH OP ERROR IF SOMEONE IS USING EITHER RADAR. # 2. ALARM WITH CODE 523 IF POS 2 IS NOT INDICATED WITHIN # THE PRESCRIBED TIME. # 3. RE-ESTABLISH THE DISPLAYS. LRPOS2K TC RDRUSECK TC BANKCALL # COMMAND LR TO POSITION 2 CADR LRPOS2 TC BANKCALL CADR RADSTALL TC LRP2ALM TC GOPIN LRP2ALM TC ALARM OCT 523 TC GOPIN # Page 266 # V61 VERB 61, DISPLAY DAP ATTITUDE ERRORS ON FDAI ATTITUDE ERROR NEEDLES. DAPATTER TC DOWNFLAG ADRES NEEDLFLG TC GOPIN # V62 VERB 62, DISPLAY TOTAL ATTITUDE ERRORS ON FDAI ATTITUDE ERROR NEEDLES. TOTATTER TC UPFLAG ADRES NEEDLFLG TC GOPIN # Page 267 # VBCOARK VERB 41 DESCRIPTION # COARSE ALIGN IMU OR RADAR # # 1. REQUIRE NOUN 20 OR NOUN 72 OR TURN ON OPERATOR ERROR. # 2. REQUIRE EXT VERB DISPLAY SYS AVAILABLE OR TURN ON OPERATOR ERROR LIGHT AND GO TO PINBRNCH. # CASE 1, NOUN 20 (ICDU ANGLES) # 3. SET EXT VERB DISPLAY ACTIVE FLAG. # 4. DISPLAY FLASHING V25,N22 (LOAD NEW ICDU ANGLES). # RESPONSES # A. TERMINATE # 1. RELEASE EXT VERB DISPLAY SYSTEM # B. PROCEED # 1. COARSE ALIGN TO THE EXISTING THETAD'S (ICORK2). # C. ENTER # 1. COARSE ALIGN TO THE LOADED THETAD'S (ICORK2). # ICORK2 # 1. RE-DISPLAY VERB 41. # 2. EXECUTE IMUCCARS (IMU COARSE ALIGN). # 3. EXECUTE IMUSTALL (ALLOW TIME FOR DATA TRANSFER). # 4. RELEASE EXT VERB DISPLAY SYSTEM. # CASE 2 NOUN 72 (RCDU ANGLES) # EXIT WITH OP ERROR IF SOMEONE IS USING EITHER RADAD. # 5. DISPLAY FLASHING V24,N73 (LOAD NEW RR TRUNION ANGLE AND NEW SHAFT ANGLE). # RESPONSES # A. TERMINATE # 1. RELEASE EXT VERB DISPLAY SYS. # B. PROCEED OR ENTER # 1. EXECUTE AURLOKON (ASK OPERATOR FOR LOCK-ON REQUIREMENTS). # 2. RE-DISPLAY VERB 41. # 3. SCHEDULE RRDESK2 WITH PRIORITY 20. # 4. RELEASE EXT VERB DISPLAY SYS. # AURLOKON # 1. FLASH V04 N12 R1 = 00006 R2 = 00002 # RESPONSES # A. TERMINATE # B. PROCEED # 1. RESET LOCK-ON SWITCH # 2. SET CONTINUOUS DESIGNATE FLAG # 3. DISABLE R25 # C. V22 E 1 E, R1 = 00001, PROCEED # 1. SET LOCK-ON SWITCH VBCOARK TC OP/INERT TC IMUCOARK # RETURN HERE IF NOUN = ICDU (20) TC RRDESNBK # RETURN HERE IF NOUN = RCDU (72) # RETURNS TO L+1 IF IMU OR L+2 IF RR. OP/INERT CS OCT24 AD NOUNREG EXTEND # Page 268 BZF TCQ # IF = 20. AD RRIMUDIF # -52 EXTEND BZF Q+1 TC ALM/END # ILLEGAL. RRIMUDIF DEC -52 # THE IMU IMUCOARK TC CKMODCAD TC TESTXACT # COARSE ALIGN FROM KEYBOARD. CAF VNLODCDU # CALL FOR THETAD LOAD TC BANKCALL CADR GOXDSPF TC TERMEXTV TCF +1 ICORK2 CAF IMUCOARV # RE-DISPLAY COARSE ALIGN VERB. TC BANKCALL CADR EXDSPRET TC BANKCALL # CALL MODE SWITCHING PROG CADR IMUCOARS TC BANKCALL # STALL CADR IMUSTALL TC ENDEXTVB TC ENDEXTVB VNLODCDU VN 2522 IMUCOARV VN 4100 # Page 269 # DESIGNATE TO DESIRED GIMBAL ANGLES. RRDESNBK TC RDRUSECK TC TESTXACT CA RNDVZBIT # IS P20 RUNNING? MASK FLAGWRD0 CCS A TCF XACTALM # OPERADOR ERROR IF IN P20 CS OCT41000 # TERMINATE PRESENT DESIGNATION INHINT # RELINT DONE IN GOXDSPF MASK RADMODES TS RADMODES CAF VNLDRCDU # ASK FOR GIMBAL ANGLES. TC BANKCALL CADR GOXDSPF TC TERMEXTV TCF -4 # V33 TC BANKCALL # ASK OP FOR LOCK ON REQUIREMENTS. CADR AURLOKON CAF OPTCOARV # RE-DISPLAY OUR OWN VERB TC BANKCALL CADR EXDSPRET CAF PRIO20 TC FINDVAC EBANK= LOSCOUNT 2CADR RRDESK2 TCF TERMEXTV # FREES DISPLAY VNLDRCDU VN 2473 OPTCOARV EQUALS IMUCOARV # DIFFERENT NOUNS. RRDESK2 TC BANKCALL CADR RRDESNB TC +1 # DUMMY NEEDED SINCE DESRETRN DOES INCR CA PRIORITY MASK LOW9 CCS A INDEX A TS A # RELEASE THIS JOBS VAC AREA. COM # INSURE ENDOFJOB DOES A NOVAC END (BZMF). ADS PRIORITY TC BANKCALL # WAIT FOR COMPLETION OF DESIGNATE CADR RADSTALL # Page 270 TC +2 # BADEND-NO LOCKON OR OUT OF LIMITS TC ENDOFJOB # GOODEND-LOCKON ACHIEVED TC ALARM OCT 503 # TURN ON ALARM LIGHT -503 DESIGNATE FAIL TC ENDOFJOB RRDESEND CCS RADMODES # TERMINATE CONTINOUS DESIGNATE ONLY TCF GOPIN TCF GOPIN TCF +1 CS OCT41000 # BEGDES GOES TO ENDRADAR INHINT # RELINT DONE IN DOWNFLAG MASK RADMODES TS RADMODES TC CLRADMOD CAF 1SEC TC BANKCALL CADR DELAYJOB TC DOWNFLAG # ENABLE R25 GIMBAL MONITOR ADRES NORRMON TCF GOPIN OCT41000 OCT 41000 # CONTINUOUS DESIGNATE - DESIGNATE # Page 271 BANK 23 SETLOC EXTVB1 BANK COUNT* $$/EXTVB AURLOKON TC MAKECADR TS DESRET CAF TWO TS OPTIONX +1 CAF SIX # OPTION CODE FOR V04N12 TS OPTIONX -5 CAF V04N1272 TC BANKCALL # R2 00001 LOCK-ON CADR GOMARKFR TCF ENDEXT # V34 TCF +5 # V33 TCF -5 # V32 CAF BIT3 TC BLANKET TC ENDOFJOB +5 CA OPTIONX +1 MASK BIT2 CCS A TCF NOLOKON TC UPFLAG ADRES LOKONSW TCF AURLKON1 NOLOKON TC DOWNFLAG # IF NO LOCK-ON, SET BIT15 OF RADMADES TO ADRES LOKONSW # INDICATE THAT CONTINUOUS DESIGNATION IS TC UPFLAG # WANTED (TO BE TERMINATED BY V44.) ADRES CDESFLAG TC UPFLAG # SET NO RR ANGLE MONITOR FLAG. ADRES NORRMON # DISABLE R25 RR GIMBAL MONITOR IN T4RUPT AURLKON1 RELINT CA DESRET TCF BANKJUMP V04N1272 VN 412 -LOKONFG OCT -20 BANK 43 SETLOC EXTVERBS BANK COUNT* $$/EXTVB LRON TC UPFLAG # PERMIT INCORPORATION OF LR DATA V57 # Page 272 ADRES LRINH TCF GOPIN LROFF TC DOWNFLAG # INHIBIT INCORPORATION OF LR DATA V58 ADRES LRINH TCF GOPIN EBANK= OGC # Page 273 # IMUFINEK VERB 42 DESCRIPTION # FINE ALIGN IMU # # 1. REQUIRE EXT VERB DISPLAY AVAILABLE AND SET BUSY FLAG OR TURN ON OPER ERROR AND GO TO PINBRNCH. # 2. DISPLAY FLASHING V25,N93....LOAD DELTA GYRO ANGLES.... # RESPONSES # A. TERMINATE # 1. RELEASE EXT VERB DISPLAY SYSTEM. # B. PROCEED OR ENTER # 1. RE-DISPLAY VERB 42 # 2. EXECUTE IMUFINE (IMU FIVE ALIGN MODE SWITCHING). # 3. EXECUTE IMUSTALL (ALLOW FOR DATA TRANSFER) # A. FAILED # 1. RELEASE EXT VERB DISPLAY SYSTEM. # B. GOOD # 1. EXECUTE IMUPULSE (TORQUE IRIGS). # 2. EXECUTE IMUSTALL AND RELEASE EXT VERB DISPLAY SYSTEM. IMUFINEK TC CKMODCAD TC TESTXACT # FINE ALIGN WITH GYRO TORQUING. CAF VNLODGYR # CALL FOR LOAD OF GYRO COMMANDS TC BANKCALL CADR GOXDSPF TC TERMEXTV TC +1 # PROCEED WITHOUT A LOAD CAF IMUFINEV # RE-DISPLAY OUR OWN VERB TC BANKCALL CADR EXDSPRET TC BANKCALL # CALL MODE SWITCH PROG CADR IMUFINE TC BANKCALL # HIBERNATION CADR IMUSTALL TC ENDEXTVB FINEK2 CAF LGYROBIN # PINBALL LEFT COMMANDS IN OGC REGISTERS TC BANKCALL CADR IMUPULSE TC BANKCALL # WAIT FOR PULSES TO GET OUT. CADR IMUSTALL TC ENDEXTVB TC ENDEXTVB LGYROBIN ECADR OGC VNLODGYR VN 2593 IMUFINEV VN 4200 # GOLOADLV VERB 50 DESCRIPTION # AND OTHER PLEASE # Page 274 # DO SOMETHING VERBS # # PLEASE PERFORM, MARK, CALIBRATE, ETC. # # 1. PRESSING ENTER ON DSKY INDICATES REQUESTED ACTION HAS BEEN PERFORMED, AND THE PROGRAM DOES THE # SAME RECALL AS A COMPLETED LOAD. # 2. THE EXECUTION OF A VERB 33 (PROCEED WITHOUT DATA) INDICATES THE REQUESTED ACTION IS NOT DESIRED. SBANK= PINSUPER # FOR LOADLV1 AND SHOWSUM CADR'S GOLOADLV TC FLASHOFF CAF PINSUPBT EXTEND WRITE SUPERBNK TC POSTJUMP CADR LOADLV1 # VERB 47 -- AGS INITIALIZATION -- R47. # # SEE LOG SECTION AGS INITIALIZATION FOR OTHER PERTINENT REMARKS. V47TXACT TC TESTXACT # NO OTHER EXTVERB. CAF PRIO4 TC FINDVAC ## [WORKAROUND] RSB 2009 SBANK= LOWSUPER ## [WORKAROUND] EBANK= AGSBUFF 2CADR AGSINIT TC ENDOFJOB CKMODCAD CA MODECADR EXTEND BZF TCQ TC ALM/END # SOMEBODY IS USING MODECADR SO EXIT # Page 275 # ALINTIME VERB 55 DESCRIPTION # REQUIRE P00 OR P00-. # # 1. SET EXT VERB DISPLAY BUSY FLAG. # 2. DISPLAY FLASHING V25,N24 (LOAD DELTA TIME FOR AGC CLOCK. # 3. REQUIRE EXECUTION OF VERB 23. # 4. ADD DELTA TIME, RECEIVED FROM INPUT REGISTER, TO THE COMPUTER TIME. # 5. RELEASE EXT VERB DISPLAY SYSTEM ALINTIME TC TESTXACT TC POSTJUMP # NO ROOM IN 43 CADR R33 BANK 42 SETLOC SBAND BANK COUNT* $$/R33 R33 CAF PRIO7 TC PRIOCHNG CAF VNLODDT TC BANKCALL CADR GOXDSPF TC ENDEXT # TERMINATE TC ENDEXT # PROCEED CS DEC23 # DATA IN OR RESEQUENCE (UNLIKELY) AD MPAC # RECALL LEFT VERB IN MPAC EXTEND BZF UPDATIME # GO AHEAD WITH UPDATE ONLY IF RECALL TC ENDEXT # WITH V23 (DATA IN). UPDATIME INHINT # DELTA TIME IS IN DSPTEM1, +1. CAF ZERO TS MPAC +2 # NEEDED FOR TP AGREE TS L # ZERO T1 + 2 WHILE ALIGNING. DXCH TIME2 DXCH MPAC DXCH DSPTEM2 +1 # INCREMENT DAS MPAC TC TPAGREE # FORCE SIGN AGREEMENT. DXCH MPAC # NEW CLOCK. DAS TIME2 RELINT UPDTMEND TC ENDEXT DEC23 DEC 23 # V 23 VNLODDT VN 2524 # V25N24 FOR LOAD DELTA TIME # Page 276 # SET UP FOR RADAR SAMPLING. BANK 42 SETLOC EXTVERBS BANK EBANK= RSTACK COUNT* $$/R0477 R77 TC RDRUSECK # TRY TO AVOID THE 1210. CA FLAGWRD3 # IS R04 RUNNING? MASK R04FLBIT CCS A TC ALM/END # YES. TC UPFLAG ADRES R77FLAG TCF R04Z R04 TC RDRUSECK # TRY TO AVOID THE 1210. TC TESTXACT TC UPFLAG ADRES R04FLAG # SET R04FLAG FOR ALARMS R04Z CAF EBANK4 TS EBANK CAF 1SEC+1 # SAMPLE ONCE PER SECOND TS RSAMPDT CAF ZERO TS RTSTLOC TS RFAILCNT # ZERO BAD SAMPLE COUNTER INHINT CS LRPOSCAL # INITIALIZE MASK RADMODES # BIT 9 LR RANGE LOW SCALE =0 TS RADMODES # BIT 6 LR POS 1 =0 CAF LRPOSCAL # BIT 3 RR RANGE LOW SCALE =0 EXTEND RAND CHAN33 ADS RADMODES RELINT CS FLAGWRD3 # CHECK R04FLAG R04 =1 R77 =0 MASK R04FLBIT CCS A TCF R04K CAF ONE # INDICATES RENDEZVOUS DESIRED TS OPTIONX +1 R04A CAF BIT3 # OPTION CODE FOR V04N12 # Page 277 TS OPTIONX CAF V04N12X TC BANKCALL # R2 00001 RENDEZVOUS RADAR CADR GOMARKFR # 00002 LANDING RADAR TCF R04END # V34 TCF +5 # V33 TCF R04A +2 # R2 CAF BIT3 TC BLANKET TC ENDOFJOB CA OPTIONX +1 # SAVE DESIRED OPTION RR =1 LR =2 TS RTSTDEX R04X CAF SIX # RR OR LR DESIRED MASK RTSTDEX CCS A TCF R04L # LANDING RADAR TS RTSTBASE # FOR RR BASE =0, MAX =1 R04B CAF BIT2 # IS RR AUTO MODE DISCRETE PRESENT EXTEND RAND CHAN33 EXTEND BZF R04C # YES CAF 201R04 # REQUEST SELECTION OF RR AUTO MODE TS DSPTEM1 CAF V50N25X TC BANKCALL CADR GOMARK4 TCF R04END # V34 TCF R04B # V33 TCF -7 # E R04C CAF BIT14 # ENABLE RR AUTO TRACKER EXTEND WOR CHAN12 CAF TWO TS RTSTMAX # FOR SEQUENTIAL STORAGE TC WAITLIST ## [WORKAROUND] RSB 2009 SBANK= PINSUPER ## [WORKAROUND] EBANK= RSTACK 2CADR RADSAMP RELINT CS FLAGWRD3 # CHECK R04FLAG R04 =1 R77 =0 MASK R04FLBIT # Page 278 CCS A TCF GOPIN # R77 CAF SIX # RR OR LR MASK RTSTDEX CCS A TCF R04LR # LR R04RR CAF V16N72 # DISPLAY RR CDU ANGLES (1/SEC) TC BANKCALL # R1 + XXX.XX DEG TRUNNION CADR GOMARKF # R2 + XXX.XX DEG SHAFT TCF R04END # V34 R3 BLANK TCF +2 # V33 TCF R04RR # V32 CAF V16N78 # DISPLAY RR RANGE AND RANGE RATE (1/SEC) TC BANKCALL # R1 +- XXX.XX NM RANGE CADR GOMARKF # R2 +- XXXXX. FPS RANGE RATE TCF R04END # V34 R3 BLANK TCF R04Y # V33 TCF R04RR # V32 R04LR CAF V16N66 # DISPLAY LR RANGE AND POSITON (1/SEC) TC BANKCALL # R1 +- XXXXX, FT LR RANGE CADR GOMARKF # R2 + 0000X. POS. NO. TCF R04END # V34 R3 BLANK TCF +2 # V33 TCF R04LR # V32 CAF V16N67 # DISPLAY LR VELX, VELY, VELZ (1/SEC) TC BANKCALL # R1 +- XXXXX. FPS LR V(X) CADR GOMARKF # R2 +- XXXXX. FPS LR V(Y) TCF R04END # V34 R3 +- XXXXX. FPS LR V(Z) TCF R04Y # V33 TCF R04LR # V32 R04Y CAF ZERO # TO TERMINATE SAMPLING. TS RSAMPDT CAF 2SECS # WAIT FOR LAST RADARUP TC BANKCALL CADR DELAYJOB CAF 1SEC+1 # SAMPLE ONCE PER SECOND TS RSAMPDT CAF ZERO # FOR STORING RESULTS TS RTSTLOC CAF SIX MASK RTSTDEX CCS A CS ONE # WAS LR AD TWO # WAS RR # Page 279 TCF R04X -1 R04K CAF 250MS+1 # SAMPLE 4 LR COMPONENTS PER SECOND. TS RSAMPDT R04L CAF TWO TS RTSTBASE # FOR LR BASE =2, MAX =3 CAF SIX TCF R04C +4 R04END CAF ZERO # ZERO RSAMPDT TS RSAMPDT # TO TERMINATE SAMPLING CAF BIT8 # WAIT 1.28 SECONDS FOR POSSIBLE TC BANKCALL # PENDING RUPT. CADR DELAYJOB INHINT CS BIT14 # DISABLE RR AUTO TRACKER. EXTEND WAND CHAN12 TC DOWNFLAG ADRES R04FLAG # SIGNAL END OF R04. TC ENDEXT R77END CAF EBANK4 # TO TERMINATE SAMPLING TS EBANK CAF ZERO TS RSAMPDT CAF BIT6 # WAIT 320 MS FOR POSSIBLE TC BANKCALL # PENDING RUPT. CADR DELAYJOB TC DOWNFLAG ADRES R77FLAG TCF GOPIN V16N72 VN 1672 V16N78 VN 1678 V16N66 VN 1666 V16N67 VN 1667 V04N12X VN 412 V50N25X VN 5025 201R04 OCT 00201 1SEC+1 DEC 101 250MS+1 EQUALS CALLCODE LRPOSCAL OCT 444 # Page 280 RDRUSECK CS FLAGWRD3 # IS R29 ON? MASK NR29FBIT CCS A TC ALM/END # YES CA FLAGWRD5 # IS R77 RUNNING? MASK R77FLBIT CCS A TC ALM/END # YES. CS FLAGWRD7 # IS SERVICER RUNNING AND HENCE POSSIBLY MASK V37FLBIT # R12 USING THE LR? CCS A TCF CHECKRR # NO CS FLGWRD11 # YES, IS R12 ON? MASK LRBYBIT CCS A TC ALM/END # YES CHECKRR CS FLAGWRD1 # IS THE TRACK FLAG SET AND HENCE POSSIBLY MASK TRACKBIT # P20 USING THE RR? CCS A TCF CHECKP22 # NO, CHECK FOR P22. CKRNDBIT CA FLAGWRD0 # YES, BUT IS IT P25? MASK RNDVZBIT CCS A TC ALM/END CHECKP22 CS MODREG AD DEC22 EXTEND BZF ALM/END TC Q DEC22 DEC 22 COUNT* $$/EXTVB VB64 TC CHKPOOH # DEMAND PROGRAM 00. TC TESTXACT # IF DISPLAY SYS. NOT BUSY MAKE IT BUSY. CAF PRIO4 TC FINDVAC EBANK= ALPHASB 2CADR SBANDANT # CALC., DISPLAY S-BAND ANTENNA ANGLES. TC ENDOFJOB # Page 281 # IMUATTCK VERB 43 DESCRIPTION # LOAD IMU ATTITUDE ERROR METERS # # 1. REQUIRE P00 OR FRESH START. # 2. REQUIRE COARSE ALIGN ENABLE AND ZERO ICDU BITS OFF. # 3. REQUIRE THAT NEEDLES BE OFF. # 4. REQUEST LOAD OF N22 (VALUES TO BE DISPLAYED). # 5. ON PROCEED OR ENTER RE-DISPLAY V43 AND SEND PULSES. IMUATTCK TC CHKPOOH # VB 76 -- LOAD IMU ATT. ERROR METERS CAF BITS4&5 # SEE IF COARSE ALIGN ENABLE AND ZERO IMU EXTEND # CDUS BITS ARE ON RAND CHAN12 CCS A TCF ALM/END # NOT ALLOWED IF IMU COARSE OR IMU ZERO ON CAF BIT13-14 # BOTH BITS 13 AND 14 MUST BE 1 EXTEND # INDICATING THE MODE SELECTED IS OFF. RXOR CHAN31 MASK BIT13-14 EXTEND BZF +2 # NEEDLES IS OFF. TCF ALM/END # EXIT. NEEDLES IS ON. TC TESTXACT CAF VNLODCDU TC BANKCALL CADR GOXDSPF TC ENDEXT # V34 TC +1 CAF V43K # REDISPLAY OUR VERB. TC BANKCALL CADR EXDSPRET CAF BIT6 EXTEND WOR CHAN12 # ENABLE ERROR COUNTERS. CAF TWO TC WAITLIST # PUT OUT COMMANDS IN .32 SECONDS. EBANK= THETAD 2CADR ATTCK2 TCF ENDEXT BANK 42 SETLOC PINBALL3 # SOMETHING IN B42. BANK COUNT* $$/EXTVB # Page 282 ATTCK2 CAF TWO # PUT OUT COMMANDS. +1 TS Q # CDU WILL LIMIT EXCESS DATA. INDEX A CA THETAD EXTEND MP ATTSCALE INDEX Q XCH CDUXCMD CCS Q TCF ATTCK2 +1 CAF 13,14,15 EXTEND WOR CHAN14 TCF TASKOVER # LEAVE ERROR COUNTERS ENABLED. ATTSCALE DEC 0.1 BANK 7 SETLOC EXTVERBS BANK COUNT* $$/EXTVB V43K VN 4300 # V82PERF VERB82 DESCRIPTION # REQUEST ORBIT PARAMETERS DISPLAY (R30) # # 1. IF AVERAGE G IS OFF: # FLASH DISPLAY V04N06. R2 INDICATES WHICH SHIP'S STATE VECTOR IS # TO BE UPDATED. INITIAL CHOICE IS THIS SHIP (R2=1). ASTRONAUT # CAN CHANGE TO OTHER SHIP BY V22EXE, WHERE X NOT EQ I. # SELECTED STATE VECTOR UPDATED BY THISPREC (OTHPREC). # CALLS SR30.1 (WHICH CALLS TFFCONMU + TFFRP/RA) TO CALCULATE # RPER (PERIGEE RADIUS), RAP0 (APOGEE RADIUS), HPER (PERIGEE # HEIGHT ABOVE LAUNCH PAD OR LUNAR LANDING SITE), HAPO (APOGEE # HEIGHT AS ABOVE), TPER (TIME TO PERIGEE), TFF (TIME TO # INTERSECT 300 KFT ABOVE PAD OR 35KFT ABOVE LANDING SITE). # FLASH MONITOR V16N44 (HAPO, HPER, TFF). TFF IS -59M59S IF IT WAS # NOT COMPUTABLE, OTHERWISE IT INCREMENTS ONCE PER SECOND. # ASTRONAUT HAS OPTION TO MONITOR TPER BY KEYING IN N 32 E. # DISPLAY IS IN HMS, IS NEGATIVE (AS WAS TFF), AND INCREMENTS # ONCE PER SECOND ONLY IF TFF DISPLAY WAS -59M59S. # # 2. IF AVERAGE G IS ON: # CALLS SR30.1 APPROX EVERY TWO SECS. STATE VECTOR IS ALWAYS # FOR THIS VEHICLE. V82 DOES NOT DISTURB STATE VECTOR. RESULTS # OF SR30.1 ARE RAPO, RPER, HAPO, HPER, TPER, TFF. # FLASH MONITOR V16N44 (HAPO, HPER, TFF). # IF MODE IS P11, THEN CALL DELRSPL SO ASTRONAUT CAN MONITOR # RESULTS BY N50E. SPLASH COMPUTATION DONE ONCE PER TWO SECS. # Page 283 V82PERF TC TESTXACT CAF PRIO7 # LESS THAN LAMBERT. R30,V82 TC PRIOCHNG EXTEND DCA V82CON TC SUPDXCHZ # V82CALL IN DIFF SUPERBANK FROM V82PERF EBANK= HAPO V82CON 2CADR V82CALL # VB83PERF VERB 83 DESCRIPTION # REQUEST RENDEZVOUS PARAMETER DISPLAY (R31) # # 1. SET EXT VERB DISPLAY BUSY FLAG. # 2. SCHEDULE R31CALL WITH PRIORITY 5. # A. DISPLAY # R1 RANGE # R2 RANGE RATE # R3 THETA V83PERF TC TESTXACT CAF BIT2 TC WAITLIST EBANK= TSTRT 2CADR R31CALL TC ENDOFJOB # VERB 89 DESCRIPTION RENDEZVOUS FINAL ATTITUDE ROUTINE (R63) # # CALLED BY VERB 89 ENTER DURING P00. PRIO 10 IS USED. CALCULATES AND # DISPLAYS FINAL FDAI BALL ANGLES TO POINT LM +X OR +Z AXIS AT CSM. # # 1. KEY IN V 89 E ONLY IF IN PROG 00. IF NOT IN P00, OPERATOR ERROR AND # EXIT R63, OTHERWISE CONTINUE. # # 2. IF IN P00, DO IMU STATUS CHECK ROUTINE (R02BOTH). IF IMU ON AND ITS # ORIENTATION KNOWN TO LGC,CONTINUE. # # 3. FLASH DISPLAY V 04 N 06. R2 INDICATES WHICH SPACECRAFT AXIS IS TO # BE POINTED AT CSM. INITIAL CHOICE IS PREFERRED (+Z) AXIS (R2=1). # ASTRONAUT CAN CHANGE TO (+X) AXIS (R2 NOT = 1) BY V 22 E 2 E. CONTINUE # AFTER KEYING IN PROCEED. # # 4. BOTH VEHICLE STATE VECTORS UPDATED BY CONIC EQS. # # 5. HALF MAGNITUDE UNIT LOS VECTOR (IN STABLE MEMBER COORDINATES) AND # Page 284 # HALF MAGNITUDE UNIT SPACECRAFT AXIS VECTOR (IN BODY COORDINATES) # PREPARED FOR VECPOINT. # # 6. GIMBAL ANGLES FROM VECPOINT TRANSFORMED INTO FDAI BALL ANGLES BY # BALLANGS. FLASH DISPLAY V 06 N 18 AND AWAIT RESPONSE. # # 7. RECYCLE -- RETURN TO STEP 4. # TERMINATE -- EXIT R63. # PROCEED -- RESET 3AXISFLG AND CALL R60LEM FOR ATTITUDE MANEUVER. V89PERF TC CHKPOOH TC TESTXACT CAF PRIO10 TC FINDVAC EBANK= RONE 2CADR V89CALL TC ENDOFJOB # V90PERF VERB 90 DESCRIPTION # REQUEST RENDEZVOUS OUT-OF-PLANE DISPLAY (R36) # # 1. SET EXT VERB DISPLAY BUSY FLAG. # 2. SCHEDULE R36 CALL WITH PRIORITY 10 # A. DISPLAY # TIME OF EVENT -- HOURS, MINUTES, SECONDS # Y OUT-OF-PLANE POSITION -- NAUTICAL MILES # YDOT OUT-OF-PLANE VELOCITY -- FEET/SECOND # PSI ANGLE BTW LINE OF SIGHT AND FORWARD # DIRECTION VECTOR IN HORIZONTAL PLANE -- DEGREES V90PERF TC TESTXACT CAF PRIO7 # R36,V90 TC FINDVAC EBANK= RPASS36 2CADR R36 TCF ENDOFJOB # MINIMP VERB 76 DESCRIPTION # MINIMUM IMPULSE MODE # # 1. SET MINIMUM IMPULSE RHO MODE FLAG TO 1. MINIMP INHINT CS DAPBOOLS MASK PULSES # PULSES = 1 INDICATES MIN IMP MODE ADS DAPBOOLS TCF GOPIN # RETURN VIA PINBRNCH # NOMINIMP VERB 77 DESCRIPTION # RATE COMMAND MODE # Page 285 # # 1. SET MINIMUM IMPULSE RHO MODE FLAG TO 0. (ZERO INDICATES NOT MINIMUM IMPULSE MODE.). # 2. MOVE CDUX, CDUY, CDUZ INTO CDUXD, CDUYD, CDUZD. NOMINIMP INHINT CS PULSES MASK DAPBOOLS TS DAPBOOLS # PULSES = NOT IN MINIMUM UMPULSE MODE TC IBNKCALL CADR ZATTEROR TC GOPIN # Page 286 # CREMANU VERB 49 DESCRIPTION # START AUTOMATIC ATTITUDE MANEUVER # # 1. REQUIRE PROGRAM 00 ACTIVE. # 2. SET EXT VERB DISPLAY BUSY FLAG. # 3. SCHEDULE R62DISP WITH PRIORITY 10. # 4. RELEASE EXT VERB DISPLAY. # # R62DISP # 1. DISPLAY FLASHING V06,N22. # RESPONSES # A. TERMINATE # 1. GOTOPOOH # B. PROCEED # 1. SET 3AXISFLG TO INDICATE MANEUVER IS SPECIFIED BY 3 AXIS. # 2. EXECUTE R60LEM (ATTITUDE MANEUVER). # C. ENTER # 1. REPEAT FLASHING V06,N22. CREWMANU TC CHKPOOH # DEMAND P00 TC TESTXACT CAF PRIO10 TC FINDVAC EBANK= BCDU 2CADR R62DISP TC ENDOFJOB # Page 287 # TRMTRACK VERB 56 DESCRIPTION # TERMINATE TRACKING (P20 AND P25). # # 1. KNOCK DOWN RENDEZVOUS, TRACK, AND UPDATE FLAGS. # 2. REQUIRE P20 OR P25 NOT RUNNING ALONE OR GO TO GOGOPOOH (REQUEST PROGRAM 00). # 3. SCHEDULE V56TOVAC WITH PRIORITY 30. # # V56TOVAC # 1. EXECUTE INTSTALL (IF INTEGRATION IS RUNNING, STALL UNTIL IT IS FINISHED.). # 2. ZERO GROUP 2 TO HALT P20. # 3. TRANSFER CONTROL TO GOPROG2 (SOFTWARE RESTART). TRMTRACK CA BITS9+7 # IS REND OR P25 FLAG ON MASK FLAGWRD0 EXTEND BZF GOPIN # NO TC DOWNFLAG ADRES RNDVZFLG TC DOWNFLAG ADRES P25FLAG TC DOWNFLAG # ENSURE SEARCH FLAG IS OFF ADRES SRCHOPTN CA TRACKBIT # IS TRACK FLAG ON? MASK FLAGWRD1 EXTEND BZF GOPIN TC POSTJUMP CADR TRMTRAK1 BITS9+7 OCT 500 SETLOC SBAND # BANK 42 BANK COUNT* $$/EXTVB TRMTRAK1 TC DOWNFLAG ADRES UPDATFLG # UPDATE FLAG DOWN TC DOWNFLAG ADRES TRACKFLG # TRACK FLAG DOWN TC DOWNFLAG ADRES IMUSE TC INTPRET CALL INTSTALL # DON'T INTERRUPT INTEGRATION # Page 288 EXIT TC PHASCHNG OCT 2 # KILL GROUP 2 TO HALT P20 ACTIVITY INHINT TC IBNKCALL # ZERO THE COMMANDED RATES TO STOP CADR STOPRATE # MANEUVER TC IBNKCALL CADR RESTORDB TC CLRADMOD # CLEAR BITS 10 + 15 OF RADMODES. CS BIT14 # DISABLE LOCKON EXTEND WAND CHAN12 TC POSTJUMP CADR GOPROG2 # CAUSE RESTART. # DNEDUMP VERB 74 DESCRIPTION # INITIALZE DOWN-TELEMETRY PROGRAM FOR ERASABLE MEMORY DUMP. # # 1. SET EXT VERB DISPLAY BUSY FLAG. # 2. REPLACE CURRENT DOWNLIST WITH ERASABLE MEMORY. # 3. RELEASE EXT VERB DISPLAY. SETLOC EXTVERBS BANK COUNT* $$/EXTVB EBANK= 400 DNEDUMP CAF LDNDUMPI TS DNTMGOTO TC GOPIN V74 EQUALS DNEDUMP LDNDUMPI REMADR DNDUMPI # LEMVEC VERB 80 DESCRIPTION # UPDATE LEM STATE VECTOR # RESET VHUPFLG TC 0 LEMVEC TC DOWNFLAG ADRES VEHUPFLG # VB 80 -- VEHUPFLG DOWN INDICATES LEM TC NOUPDOWN # CSMVEC VERB 81 DESCRIPTION # UPDATE CSM STATE VECTOR # Page 289 # SET VEHUPFLG TO 1 CSMVEC TC UPFLAG ADRES VEHUPFLG # VB 81 -- VEHUPFLG UP INDICATES CSM NOUPDOWN TC DOWNFLAG ADRES NOUPFLAG TCF GOPIN # UPDATOFF VERB 95 DESCRIPTION # INHIBIT STATE VECTOR UPDATES BY INCORP # SET NOUPFLAG TO 1 UPDATOFF TC UPFLAG # VB 95 SET NOUPFLAG ADRES NOUPFLAG TC GOPIN # Page 290 # SYSTEST VERB 92 DESCRIPTION # OPERATE IMU PERFORMANCE TEST. # # 1. REQUIRE PROGRAM 00 OR TURN ON OPERATOR ERROR. # 2. SET EXT VERB BUSY FLAG. EBANK= QPLACE SYSTEST TC CHKPOOH # DEMAND P00 TC TESTXACT CAF PRIO22 TC FINDVAC EBANK= QPLACE SBANK= IMUSUPER 2CADR REDO TC ENDOFJOB # VERB 93 CLEAR RENDWFLG, CAUSES W-MATRIX TO BE RE-INITIALIZED. WMATRXNG INHINT CS RENDWBIT MASK FLAGWRD5 TS FLAGWRD5 TC GOPIN GOSHOSUM EQUALS SHOWSUM SHOWSUM TC CHKPOOH # * TC TESTXACT # * CAF PRIO7 # * ALLOW OTHER CHARINS. TC PRIOCHNG # * CAF S+1 # * TS SKEEP6 # * SHOWSUM OPTION CAF S+ZERO # * TS SMODE # * TURN OFF SELF-CHECK CA SELFADRS # * TS SELFRET # * TC STSHOSUM # * ENTER ROPECHK SDISPLAY LXCH SKEEP2 # * BANK # FOR DISPLAY LXCH SKEEP3 # * BUGGER WORD FOR DISPLAY NOKILL CA ADRS1 # * TS MPAC +2 # * CA VNCON # * 0501 TC BANKCALL # * CADR GOXDSPF # * TC +3 # * TC NXTBNK # * # Page 291 TC NOKILL # * CA SELFADRS TS SKEEP1 TC ENDEXT # * VNCON VN 501 # * ENDSUMS CA SKEEP6 # * EXTEND # * BZF SELFCHK # * ROPECHK, START SELFCHK AGAIN. TC STSHOSUM # * START SHOWSUM AGAIN. # Page 292 # DAPDISP VERB 48 DESCRIPTION # LOAD AUTO PILOT DATA # # 1. REQUIRE EXT VERB DISPLAY AVAILABLE AND SET BUSY FLAG. # 2. EXECUTE DAPDATA1, DAPDATA2, AND DAPDATA3. # 3. RELEASE EXT VERB DISPLAY SYSTEM. DAPDISP TC TESTXACT CAF PRIO7 # R03 TC PRIOCHNG TC POSTJUMP CADR DAPDATA1 BANK 34 SETLOC LOADDAP BANK COUNT* $$/R03 SBANK= LOWSUPER # FOR SUBSEQUENT LOW 2CADR'S DAPDATA1 CAF BOOLSMSK # SET DISPLAY ACCORDING TO DAPBOOLS BITS. MASK DAPBOOLS # LM TS DAPDATR1 # LM CS FLGWRD10 # SET BIT 14 TO BE COMPLEMENT OF APSFLAG. MASK APSFLBIT CCS A CAF BIT14 ADS DAPDATR1 CHKDATA1 CAE DAPDATR1 # IF BITS 13 AND 14 ARE BOTH ZERO, FORCE MASK BIT13-14 # A ONE INTO BIT 13. EXTEND BZF FORCEONE CAE DAPDATR1 # ENSURE THAT NO ILLEGAL BITS SET BY CREW. MSKDATR1 MASK DSPLYMSK TS DAPDATR1 CAF V01N46 # LM TC BANKCALL CADR GOXDSPFR TCF ENDEXT # V34E TERMINATE TCF DPDAT1 # V33E PROCEED TCF CHKDATA1 # E NEW DATA CHECK AND REDISPLAY CAF REVCNT # BITS 2 & 3: BLANKS R2 & R3. TC BLANKET TCF ENDOFJOB FORCEONE CAF BIT13 ADS DAPDATR1 TCF MSKDATR1 DPDAT1 INHINT # INHINT FOR SETTING OF FLAG BITS AND MASS CS APSFLBIT # ON BASIS OF DISPLAYED DAPDATR1. MASK FLGWRD10 TS L # SET APSFLAG TO BE COMPLEMENT OF BIT 14. # Page 293 CS DAPDATR1 MASK BIT14 CCS A CAF APSFLBIT AD L TS FLGWRD10 CS DAPDATR1 # SET BITS OF DAPBOOLS ON BASIS OF DISPLAY MASK BIT13-14 # MASK OUT CSMDOCKD (BIT 13) UNLESS BOTH CCS A # 13 AND 14 ARE SET. CS CSMDOCKD AD BOOLSMSK MASK DAPDATR1 TS L CS BOOLSMSK MASK DAPBOOLS AD L TS DAPBOOLS MASK CSMDOCKD # LOAD MASS IN ACCORDANCE WITH CSMDOCKD. CCS A # MASS IS USUALLY OKAY, SO DO CAE CSMMASS # NOT TOUCH ITS LOW-ORDER PART. AD LEMMASS TS MASS CAE DAPBOOLS MASK ACC4OR2X # 2 OR 4 JET X-TRANSLATION EXTEND # (BIT ACC4OR2X = 1 FOR 4 JETS) BZF +5 CS BIT15 MASK FLAGWRD1 # CLEAR NJTSFLAG TO 0 FOR 4 JETS TS FLAGWRD1 TCF +4 CS FLAGWRD1 # SET NJTSFLAG TO 1 FOR 2 JETS MASK BIT15 ADS FLAGWRD1 CA DAPBOOLS # SELECT DESIRED KALCMANU AUTOMATIC MASK THREE # MANEUVER RATE DOUBLE # RATEINDX HAS TO BE 0,2,4,6 SINCE RATES TS RATEINDX # ARE DP TC POSTJUMP CADR STIKLOAD V01N46 VN 0146 DSPLYMSK OCT 33113 BOOLSMSK OCT 13113 BANK 01 SETLOC LOADDAP1 BANK COUNT* $$/R03 STIKLOAD CAF EBANK6 # Page 294 TS EBANK EBANK= STIKSENS CA RHCSCALE # SET STICK SENSITIVITY TO CORRESPOND TO A MASK DAPBOOLS # MAXIMUM COMMANDED RATE (AT 42 COUNTS) OF CCS A # 20 D/S (NORMAL) OR 4 D/S (FINE), SCALED CA NORMAL # AT 45 D/S. AD FINE TS STIKSENS CA -0.6D/S TS -RATEDB # LM-ONLY BREAKOUT LEVEL IS .6 D/S. CA CSMDOCKD # IF CSM-DOCKED, DIVIDE STICK SENSITIVITY MASK DAPBOOLS # BY 10. NORMAL SCALING IS THEN 2 D/S AND EXTEND # FINE SCALING IS 0.4 D/S BZF +7 # BRANCH IF CSM IS NOT DOCKED. CA STIKSENS EXTEND MP 1/10 TS STIKSENS CA -0.3D/S # CSM-DOCKED BREAKOUT LEVEL IS .3 D/S. TS -RATEDB RELINT # PROCEED TO NOUN 47, MASS LOAD. DAPDATA2 CAF V0647 TC BANKCALL CADR GOXDSPFR TCF ENDR03 # V34E TERMINATE. FIRST SET DB. DO 1/ACCS TCF DAPDAT2 # V33E PROCEED TCF DAPDATA2 # LOAD NEW DATA AND RECYCLE CAF BIT3 # BLANKS R3 TC BLANKET # LM TCF ENDOFJOB ENDR03 INHINT TC IBNKCALL CADR RESTORDB TCF ENDEXT # DOES RELINT DAPDAT2 CS FLGWRD10 # DETERMINE STAGE FROM APSFLAG MASK APSFLBIT CCS A CA MINLMD AD MINMINLM AD LEMMASS # LEMMASS MUST BE GREATER THAN EMPTY LEM EXTEND BZMF DAPDATA2 # ASK FOR NEW MASSES CAE DAPBOOLS MASK CSMDOCKD EXTEND BZF LEMALONE # SKIP TEST ON CSMMASS IF NOT DOCKED. CS MINCSM # TEST CSM MASS AD CSMMASS # CSMMASS MUST BE GREATER THAN EMPTY CSM # Page 295 EXTEND BZMF DAPDATA2 # ASK FOR NEW MASSES CAE CSMMASS # DOCKED: MASS = CSMMASS + LEMMASS LEMALONE AD LEMMASS # LEM ALONE: MASS = LEMMASS ZL DXCH MASS INHINT TC IBNKCALL # SET DEADBANK AND COMPUTE MOMENTS OF CADR RESTORDB # INERTIA. RELINT # PROCEED TO NOUN 48 (OR END). DAPDATA3 CS FLGWRD10 MASK APSFLBIT EXTEND # END ROUTINE IF LEM HAS STAGED. BZF ENDEXT CAF V06N48 # DISPLAY TRIM ANGLES AND REQUEST RESPONSE TC BANKCALL CADR GOXDSPFR TC ENDEXT TCF DPDAT3 # V33E GO DO TRIM (WAITLIST TO TRIMGIMB) TCF -5 # LOAD NEW DATA AND RECYCLE CAF BIT3 TC BLANKET # BLANK R3 TCF ENDOFJOB DPDAT3 CAF BIT1 # GO TO TRIMGIMB VIA WAITLIST SO IT INHINT # CAN USE FIXDELAY AND VARDELAY TC WAITLIST EBANK= ROLLTIME 2CADR TRIMGIMB TCF ENDOFJOB # DOES A RELINT TRIMDONE CAF V50N48 TC BANKCALL # TRIM IS FINISHED; PLEASE TERMINATE R03 CADR GOMARK3R TC ENDEXT # V34E TERMINATE TC ENDEXT TC ENDEXT CAF OCT24 # BIT5 TO CHANGE TO PERFORM, 3 TO BLANK 43 TC BLANKET TCF ENDOFJOB V0647 VN 0647 V06N48 VN 0648 V50N48 VN 5048 NORMAL DEC .660214 # NORMAL SCALING IS 20 D/S FINE DEC .165054 # FINE STICK SCALING (4 D/S). 1/10 DEC .1 # FACTOR FOR CSM-DOCKED SCALING -0.6D/S DEC -218 # Page 296 -0.3D/S DEC -109 # Page 297 # VERB 66 VEHICLES ARE ATTACHED. MOVE THIS VEHICLE STATE VECTOR TO # OTHER VEHICLE STATE VECTOR. # # USE SUBROUTINE GENTRAN. BANK 7 SETLOC EXTVERBS BANK COUNT* $$/EXTVB EBANK= RRECTHIS ATTACHED CAF PRIO10 TC FINDVAC EBANK= RRECTHIS 2CADR ATTACHIT TC ENDOFJOB ATTACHIT TC INTPRET CALL INTSTALL SET BON MOONOTH MOONTHIS +3 CLEAR MOONOTH EXIT CAF OCT51 TC GENTRAN ADRES RRECTHIS # OUR STATE VECTOR INTO OTHER VIA GENTRAN ADRES RRECTOTH RELINT TC INTPRET CALL # UPDATE R-OTHER, V-OTHER PTOALEM LXA,2 CALL PBODY SVDWN1 EXIT CAF TCPINAD INDEX FIXLOC TS QPRET TC POSTJUMP CADR INTWAKE # FREE INTEGRATION AND EXIT. # Page 298 TCPIN RTB PINBRNCH OCT51 OCT 51 TCPINAD CADR TCPIN # VERB 96 SET QUITFLAT TO STOP INTEGRATION. # # GO TO V37 WITH ZERO TO CAUSE P00. # STATEINT WILL CHECK QUITFLAG AND SKIP 1ST PASS, # THUS ALLOWING A 10 MINUT PERIOD WITHOUT INTEGRATION. VERB96 TC UPFLAG # QUITFLAG WILL CAUSE INTEGRATION TO EXIT ADRES QUITFLAG # AT NEXT TIMESTEP CAF ZERO TC POSTJUMP CADR V37 # GO TO P00 # VERB 67: DISPLAY OF W MATRIX V67 TC TESTXACT CAF PRIO5 TC FINDVAC EBANK= WWPOS 2CADR V67CALL TC ENDOFJOB # VERB 65 DISABLE U,V JETS DURING DPS BURNS SNUFFOUT TC UPFLAG ADRES SNUFFER TC GOPIN # VERB 75 ENABLE U,V JETS DURING DPS BURNS OUTSNUFF TC DOWNFLAG ADRES SNUFFER TC GOPIN # VERB 85 DISPLAY RR LOS AZIMUTH AND ELEVATION. # # AZIMUTH IS THE ANGLE BETWEEN THE LOS AND THE X-Z NB PLANE, 0-90 DEG IN THE +Y HEMISPHERE, # 360-270 DEG IN THE -Y HEMISPHERE. # # ELEVATION IS THE ANGLE BETWEEN +ZNB AND THE PROJECTION OF THE LOS INTO THE X-Z PLANE, 0-360 ABOUT +Y. EBANK= RR-AZ VERB85 TC TESTXACT # Page 299 TC POSTJUMP CADR DSPRRLOS SETLOC PINBALL1 BANK COUNT* $$/EXTVB DSPRRLOS CAF PRIO5 TC FINDVAC EBANK= RR-AZ 2CADR RRLOSDSP CAF PRIO4 TC PRIOCHNG CAF V16N56 TC BANKCALL CADR GOMARKFR TC B5OFF TC B5OFF TC B5OFF CAF BIT3 TC BLANKET TC ENDOFJOB RRLOSDSP EXTEND DCA CDUT DXCH MPAC TC INTPRET CALL RRNBMPAC # GET RR LOS IN BODY AXIS. STORE 0D # UNIT LOS STODL 6D HI6ZEROS STOVL 8D 6D UNIT STORE 6D # UNIT OF LOS PROJ IN X-Z PLANE DOT UNITZ STOVL COSTH # 16D UNITX DOT 6D STCALL SINTH # 18D ARCTRIG BPL DAD # INSURE DISPLAY OF 0-360 DEG. +2 DPPOSMAX # INTRODUCES AND ERROR OF B-28 REVS. # Page 300 STOVL RR-ELEV 0D DOT UNITY STOVL SINTH 0D DOT 6D STCALL COSTH ARCTRIG BPL DAD # INSURE DISPLAY OF 0-360 DEG. +2 DPPOSMAX # INTRODUCES AN ERROR OF B-28 REVS. STORE RR-AZ EXIT CA 1SEC TC BANKCALL CADR DELAYJOB CA BIT5 MASK EXTVBACT CCS A TC RRLOSDSP TC ENDEXT V16N56 VN 1656 ================================================ FILE: Luminary099/FINDCDUW--GUIDAP_INTERFACE.agc ================================================ # Copyright: Public domain. # Filename: FINDCDUW--GUIDAP_INTERFACE.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Hartmuth Gutsche . # Website: www.ibiblio.org/apollo. # Pages: 908-925 # Mod history: 2009-05-28 HG Transcribed from page images. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 908 # PROGRAM NAME: FINDCDUW # MOD NUMBER: 1 68-07-15 # MOD AUTHOR: KLUMPP # # OBJECTS OF MOD: 1. TO SUPPLY COMMANDED GIMBAL ANGLES FOR NOUN 22. # 2. TO MAINTAIN CORRECT AND CURRENT THRUST # DIRECTION DATA IN ALL MODES. THIS IS DONE BY # FETCHING FOR THE THRUST DIRECTION FILTER THE # CDUD'S IN PNGCS-AUTO, THE CDU'S IN ALL OTHER # MODES. # 3. TO SUBSTITUDE A STOPRATE FOR THE NORMAL # AUTOPILOT COMMANDS WHENEVER # 1) NOT IN PNGCS-AUTO, OR # 2) ENGINE IS OFF. # # FUNCTIONAL DESCRIPTION: # # FINDCDUW PROVIDES THE INTERFACES BETWEEN THE VARIOUS POWERED FLITE GUIDANCE PROGRAMS # AND THE DIGITAL AUTOPILOT. THE INPUTS TO FINDCDUW ARE THE THRUST COMMAND VECTOR # AND THE WINDOW COMMAND VECTOR, AND THE OUTPUTS ARE THE GIMBAL ANGLE # INCREMENTS, THE COMMANDED ATTITUDE ANGLE RATES, AND THE COMMANDED # ATTITUDE LAG ANGLES (WHICH ACCOUNT FOR THE ANGLES BY WHICH THE BODY WILL # LAG BEHIND A RAMP COMMAND IN ATTITUDE ANGLE DUE TO THE FINITE ANGULAR # ACCELERATIONS AVAILABLE). # # FINDCDUW ALIGNS THE ESTIMATED THRUST VECTOR FROM THE THRUST DIRECTION # FILTER WITH THE THRUST COMMAND VECTOR, AND, WHEN XDVINHIB SET, # ALIGNS THE +Z HALF OF THE LM ZX PLANE WITH THE WINDOW COMMAND VECTOR. # # Page 909 # SPECIFICATIONS: # # INITIALIZATION: A SINGLE INTERPRETIVE CALL TO INITCDUW IS REQUIRED # BEFORE EACH GUIDED MANEUVER USING FINDCDUW. # # CALL: INTERPRETIVE CALL TO FINDCDUW WITH THE THRUST COMMAND # VECTOR IN MPAC. INTERPRETIVE CALL TO FINDCDUW -2 WITH # THE THRUST COMMAND VECTOR IN UNFC/2 AND NOT IN MPAC. # # RETURNS: NORMAL INTERPRETIVE IN ALL CASES # 1. NORMALLY ALL AUTOPILOT CMDS ARE ISSUED. # 2. IF NOT PNGCS AUTO, DO STOPRATE AND RETURN # WITHOUT ISSUING AUTOPILOT CMDS. # 3. IF ENGINE OFF, DO STOPRATE AND RETURN WITHOUT # ISSUING AUTOPILOT CMDS. # # ALARMS: 00401 IF INPUTS DETERMINE AN ATTITUDE IN GIMBAL LOCK. # FINDCDUW DRIVES CDUXD AND CDUYD TO THE RQD VALUES, # BUT DRIVES CDUZD ONLY TO THE GIMBAL LOCK CONE. # # 00402 IF UNFC/2 OR UNWC/2 PRODUCE OVERFLOW WHEN # UNITIZED USING NORMUNIT. FINDCDUW ISSUES # STOPRATE AS ONLY INPUT TO AUTOPILOT. # # INPUTS: UNFC/2 THRUST COMMAND VECTOR, NEED NOT BE SEMI-UNIT. # UNWC/2 WINDOW COMMAND VECTOR, NEED NOT BE SEMI-UNIT. # OGABIAS POSSIBLE BIAS FOR OUTER GIMBAL ANGLE (ZEROED IN INITCDUW), UNITS OF PI. # XOVINHIB FLAG DENOTING X AXIS OVERRIDE INHIBITED. # CSMDOCKD FLAG DENOTING CSM DOCKED. # STEERSW FLAG DENOTING INSUFF THRUST FOR THRUST DIR FLTR. # # OUTPUTS: DELCDUX,Y,Z # OMEGAPD,+1,+2 # DELPEROR,+1,+2 # CPHI,+1,+2 FOR NOUN22 # # DEBRIS: FINDCDUW DESTROYS SINCDUX,Y,Z AND COSCDUX,Y,Z BY # WRITING INTO THESE LOCATIONS THE SINES AND COSINES # OF THE CDUD'S IN PNGCS-AUTO, OF THE CDU'S OTHERWISE. # Page 910 # INITIALIZATION FOR FINDCDUW BANK 30 SETLOC FCDUW BANK EBANK= ECDUW COUNT* $$/FCDUW INITCDUW VLOAD UNITX STORE UNFV/2 STORE UNWC/2 RVQ # FINDCDUW PRELIMINARIES VLOAD # FINDCDUW -2: ENTRY WHEN UNFC/2 PRE-STORD UNFC/2 # INPUT VECTORS NEED NOT BE SEMI-UNIT FINDCDUW BOV SETPD # FINDCDUW: ENTRY WHEN UNFC/2 IN MPAC FINDCDUW # INTERPRETER NOW INITIALIZED 22 # LOCS 0 THRU 21 FOR DIRECTION COSINE MAT STQ EXIT QCDUWUSR # SAVE RETURN ADDRESS # MORE HAUSKEEPING CA ECDUWL XCH EBANK # SET EBANK TS ECDUWUSR # SAVE USER'S EBANK CA DAPBOOLS MASK CSMDOCKD # CSMDOCKD MUST NOT BE BIT15 CCS A CA ONE # INDEX IF CSM DOCKED TS NDXCDUW CA XOVINHIB # XOVINHIB MUST NOT BE BIT15 TS FLPAUTNO # SET TO POS-NON-ZERO FLAG PNGCS AUTO NOT MASK DAPBOOLS TS FLAGOODW # FLAG0ODW = ANY PNZ NUMBER IF XOV INHIBTD # Page 911 # FETCH BASIC DATA INHINT # RELINT AT PAUTNO (TC INTPRET) CA CDUX # FETCH CDUX,CDUY,CDUZ IN ALL CASES, BUT TS CDUSPOTX # REPLACE BELOW IF PNGCS AUTO CA CDUY TS CDUSPOTY CA CDUZ TS CDUSPOTZ CA BIT10 # PNGCS CONTROL BIT EXTEND RAND CHAN30 CCS A TCF PAUTNO # NOT PNGCS (BITS INVERTED) CA BIT14 # AUTO MODE BIT EXTEND RAND CHAN31 CCS A TCF PAUTNO # NOT AUTO (BITS INVERTED) TS FLPAUTNO # RESET FLAG PNGCS AUTO NOT CA CDUXD # PNGCS AUTO: FETCH CDUXD,CDUYD,CDUZD TS CDUSPOTX CA CDUYD TS CDUSPOTY CA CDUZD TS CDUSPOTZ # Page 912 # FETCH INPUTS PAUTNO TC INTPRET # ENTERING THRUST CMD STILL IN MPAC RTB NORMUNIT STOVL UNX/2 # SEMI-UNIT THRUST CMD AS INITIAL UNX/2 UNWC/2 RTB RTB NORMUNIT QUICTRIG # ALWAYS RQD TO OBTAIN TRIGS OF CDUD'S STOVL UNZ/2 # SEMI-UNIT WINDOW CMD AS INITIAL UNZ/2 DELV BOVB UNIT NOATTCNT # AT LEAST ONE ENTERING CMD VCT ZERO BOV CALL AFTRFLTR # IF UNIT DELV OVERFLOWS SKIP FILTER *SMNB* # YIELDS UNIT(DELV) IN VEH COORDS FOR FLTR # THRUST DIRECTION FILTER EXIT CA UNFVY/2 # FOR RESTARTS, UNFV/2 ALWAYS INTACT, MPAC LXCH MPAC +3 # RENEWD AFTER RETURN FROM CALLER, TC FLTRSUB # TWO FILTER UPDATES MAY BE DONE. TS UNFVY/2 # UNFV/2 NEED NOT BE EXACTLY SEMI-UNIT. CA UNFVZ/2 LXCH MPAC +5 TC FLTRSUB TS UNFVZ/2 TC INTPRET # COMPLETES FILTER # Page 913 # FIND A SUITABLE WINDOW POINTING VECTOR AFTRFLTR SLOAD BHIZ # IF XOV NOT INHIBITED, GO FETCH ZNB FLAGOODW FETCHZNB VLOAD CALL UNZ/2 UNWCTEST FETCHZNB VLOAD ZNBPIP STCALL UNZ/2 UNWCTEST VLOAD VCOMP # Z AND -X CAN'T BOTH PARALLEL UNFC/2 XNBPIP STORE UNZ/2 # COMPUTE THE REQUIRED DIRECTION COSINE MATRIX DCMCL VLOAD VXV UNZ/2 UNX/2 UNIT PUSH # UNY/2 FIRST ITERATION VXV VSL1 UNX/2 STORE UNZ/2 # -UNZ/2 FIRST ITERATION VXSC PDVL # EXCHANGE -UNFVZ/2 UNZ/2 FOR UNY/2 UNFVZ/2 # MUST BE SMALL VXSC BVSU # YIELDS -UNFVY/2 UNY/2-UNFVZ/2 UNZ/2 UNFVY/2 # MUST BE SMALL VSL1 VAD UNX/2 UNIT # TOTALLY ELIMINATES THRUST POINTING ERROR STORE UNX/2 # UNX/2 VXV VSL1 UNZ/2 # -UNZ/2 WAS STORED HERE REMEMBER STORE UNY/2 # UNY/2 VCOMP VXV UNX/2 VSL1 STORE UNZ/2 # UNZ/2 # Page 914 # COMPUTES THE REQUIRED GIMBAL ANGLES CALL NB2CDUSP # YIELDS THE RQD GIMBAL ANGLES, 2'S, PI EXIT # LIMIT THE MIDDLE GIMBAL ANGLE & COMPUTE THE UNLIMITED GIMBAL ANGLE CHGS CA MPAC +2 # LIMIT THE MGA TS L # CAN'T LXCH: NEED UNLIMITED MGA FOR ALARM CA CDUZDLIM TC LIMITSUB # YIELDS LIMITED MGA. 1 BIT ERROR POSSIBLE XCH MPAC +2 # BECAUSE USING 2'S COMP. WHO CARES? EXTEND MSU MPAC +2 # THIS BETTER YIELD ZERO EXTEND BZF +2 TCF ALARMMGA MGARET INHINT # RELINT AT TC INTPRET AFTER TCQCDUW ZL CA TWO DELGMBLP TS TEM2 CA L # TO PREVENT FALSE STARTS ABOUT X, ZERO EXTEND # FLAGOODW IF DELGMBZ OR Y TOO BIG. SQUARE AD HI5 # WITHIN 1 BIT OF -(45 DEG SQUARED) EXTEND BZMF +3 CA ZERO TS FLAGOODW INDEX TEM2 CA MPAC INDEX TEM2 TS CPHI # OUTPUTS TO NOUN22 EXTEND INDEX TEM2 MSU CDUXD # NO MATTER THAT THESE SLIGHTLY DIFFERENT COM # FROM WHEN WE INITIALLY FETCHED THEM INDEX TEM2 TS -DELGMB # -UNLIMITED GIMBAL ANGLE CHGS, 1'S, PI TS L # FOR PRECEDING TEST ON NEXT LOOP PASS CCS TEM2 TCF DELGMBLP # Page 915 # BRANCHES TO NOATTCNT CCS FLPAUTNO TCF NOATTCNT +2 # NO PNGCS AUTO CA FLAGWRD5 MASK ENGONBIT EXTEND BZF NOATTCNT +2 # ENGINE NOT ON # Page 916 # LIMIT THE ATTITUDE ANGLE CHANGES # # THIS SECTION LIMITS THE ATTITUDE ANGLE CHANGES ABOUT A SET OF ORTHOGONAL VEHICLE AXES X,YPRIME,ZPRIME, # THESE AXES COINCIDE WITH THE COMMANDED VEHICLE AXES IF AND ONLY IF CDUXD IS ZERO. THE PRIME SYSTEM IS # THE COMMANDED VEHICLE SYSTEM ROTATED ABOUT THE X AXIS TO BRING THE Z AXIS INTO ALIGNMENT WITH THE MIDDLE GIMBAL # AXIS. ATTITUDE ANGLE CHANGES IN THE PRIME SYSTEM ARE RELATED TO SMALL GIMBAL ANGLE CHANGES BY: # # [ -DELATTX ] [ 1 SIN(CDUZD) 0 ] [ -DELGMBX ] # [ ] [ ] [ ] # [ -DELATTYPRIME ] = [ 0 COS(CDUZD) 0 ] [ -DELGMBY ] # [ ] [ ] [ ] # [ -DELATTZPRIME ] [ 0 0 1 ] [ -DELGMBZ ] LXCH -DELGMB +2 # SAME AS -DELATTZPRIME UNLIMITED INDEX NDXCDUW CA DAZMAX TC LIMITSUB TS -DELGMB +2 # -DELGMBZ CA -DELGMB +1 EXTEND MP COSCDUZ # YIELDS -DELATTYPRIME/2 UNLIMITED TS L INDEX NDXCDUW CA DAY/2MAX TC LIMITSUB EXTEND DV COSCDUZ XCH -DELGMB +1 # -DELGMBY, FETCHING UNLIMITED VALUE EXTEND MP SINCDUZ DDOUBL COM EXTEND # YIELDS +DELATTX UNLIMITD, MAG < 180 DEG. MSU -DELGMB # BASED ON UNLIMITED DELGMBV. TS L # ONE BIT ERROR IF OPERANDS IN MSU INDEX NDXCDUW # OF MIXED SIGNS. WHO CARES? CA DAXMAX TC LIMITSUB TS -DELGMB # SAVE LIMITED +DELATTX CCS FLAGOODW CS -DELGMB # FETCH IT BACK CHGING SIGN IF WINDOW GOOD TS -DELGMB # OTHERWISE USE ZERO FOR -DELATTX CS -DELGMB +1 EXTEND MP SINCDUZ DDOUBL # YIELDS -CNTRIB TO -DELATTX FROM -DELGMBY ADS -DELGMB # -DELGMBX. NO OVERFLOW SINCE LIMITED TO # 20DEG(1+SIN(70DEG)/COS(70DEG)) < 180DEG # Page 917 # COMPUTE COMMANDED ATTITUDE RATES # # [ OMEGAPD ] [ -2 -4 SINCDUZ +0 ] [ -DELGMBZ ] # [ ] [ ] [ ] # [ OMEGAQD ] = [ +0 -8 COSCDUZ COSCDUX -4 SINCDUX ] [ -DELGMBY ] # [ ] [ ] [ ] # [ OMEGARD ] [ +0 +8 COSCDUZ SINCDUX -4 COSCDUX ] [ -DELGMBZ ] # # ATTITUDE ANGLE RATES IN UNITS OF PI/4 RAD/SEC = K TRIG FCNS IN UNITS OF 2 X GIMBAL ANGLE RATES IN UNITS OF # PI/2 RAD/SEC. THE CONSTANTS ARE BASED ON DELGMB BEING THE GIMBAL ANGLE CHANGES IN UNITS OF PI RADIANS, # AND 2 SECONDS BEING THE COMPUTATION PERIOD (THE PERIOD BETWEEN SUCCESSIVE PASSES THRU FINDCDUW). CS -DELGMB TS OMEGAPD CS -DELGMB +1 EXTEND MP SINCDUZ DDOUBL ADS OMEGAPD ADS OMEGAPD CS -DELGMB +1 EXTEND MP COSCDUX DDOUBL EXTEND MP COSCDUZ TS OMEGAQD CS -DELGMB +2 EXTEND MP SINCDUX ADS OMEGAQD ADS OMEGAQD ADS OMEGAQD CA -DELGMB +1 EXTEND MP SINCDUX DDOUBL EXTEND MP COSCDUZ TS OMEGARD CS -DELGMB +2 EXTEND MP COSCDUX ADS OMEGARD ADS OMEGARD ADS OMEGARD # Page 918 # FINAL TRANSFER CA TWO CDUWXFR TS TEM2 INDEX TEM2 CA -DELGMB EXTEND MP DT/DELT # RATIO OF DAP INTERVAL TO CDUW INTERVAL TC ONESTO2S INDEX TEM2 TS DELCDUX # ANGLE INTERFACE INDEX TEM2 CCS OMEGAPD AD ONE TCF +2 AD ONE EXTEND # WE NOW HAVE ABS(OMEGAPD,QD,RD) INDEX TEM2 MP OMEGAPD EXTEND MP BIT11 # 1/16 EXTEND INDEX TEM2 # 2 DV 1JACC # UNITS PI/4 RAD/SEC TS L CA DELERLIM TC LIMITSUB INDEX TEM2 TS DELPEROR # LAG ANGLE = OMEGA ABS(OMEGA)/2 ACCEL CCS TEM2 TCF CDUWXFR # HAUSKEEPING AND RETURN TCQCDUW CA ECDUWUSR TS EBANK # RETURN USER'S EBANK TC INTPRET SETPD GOTO 0 QCDUWUSR # NORMAL AND ABNORMAL RETURN TO USER # Page 919 # THRUST VECTOR FILTER SUBROUTINE FLTRSUB EXTEND QXCH TEM2 TS TEM3 # SAVE ORIGINAL OFFSET COM # ONE MCT, NO WDS, CAN BE SAVED IF NEG OF AD L # ORIG OFFSET ARRIVES IN A, BUT IT'S EXTEND # NOT WORTH THE INCREASED OBSCURITY. INDEX NDXCDUW MP GAINFLTR TS L # INCR TO OFFSET, UNLIMITED CA DUNFVLIM # SAME LIMIT FOR Y AND Z TC LIMITSUB # YIELDS INCR TO OFFSET, LIMITED AD TEM3 # ORIGINAL OFFSET TS L # TOTAL OFFSET, UNLIMITED CA UNFVLIM # SAME LIMIT FOR Y AND Z TC LIMITSUB # YIELDS TOTAL OFFSET, LIMITED TC TEM2 # SUBR TO TEST THE ANGLE BETWEEN THE PROPOSED WINDOW AND THRUST CMD VCTS UNWCTEST DOT DSQ UNX/2 DSU BMN DOTSWFMX DCMCL SSP RVQ # RVQ FOR ALT CHOICE IF DOT MAGN TOO LARGE FLAGOODW # ZEROING WINDOW GOOD FLAG 0 # Page 920 # NB2CDUSP RETURNS THE 2'S COMPLEMENT, PI, SP CDU ANGLES X,Y,Z IN MPAC,+1,+2 GIVEN THE MATRIX WHOSE ROW VECTORS # ARE THE SEMI-UNIT NAV BASE VECTORS X,Y,X EXPRESSED IN STABLE MEMBER COORDINATES, LOCATED AT 0 IN THE PUSH LIST. # NB2CDUSP USES THE ARCTRGSP WHICH HAS A MAXIMUM ERROR OF +-4 BITS. NB2CDUSP DLOAD DSQ 2 BDSU BPL DP1/4TH +3 DLOAD ZEROVECS # IN CASE SIN WAS SLIGHTLY > 1/2 SQRT EXIT # YIELDS COS(CDUZ) IN UNITS OF 2 EXTEND DCA MPAC DDOUBL TS TEM5 TCF +3 CA POSMAX # OVERFLOW. FETCH POSMAX, MPAC ALWAYS POS TS TEM5 # COS(CDUZ) IN TEM5, UNITS 1 INDEX FIXLOC CA 2 LXCH MPAC TC ARCTRGSP TS MPAC +2 # CDUZ CA ZERO TC DVBYCOSM CA FOUR TC DVBYCOSM CS TEM1 TC ARCTRGSP TS MPAC +1 # CDUY CA BIT4 TC DVBYCOSM CA 16OCT TC DVBYCOSM CS TEM1 TC ARCTRGSP TS MPAC # CDUX TC INTPRET RVQ 16OCT OCT 16 # Page 921 # THE ELEMENTS OF THE NAV BASE MATRIX WHICH WE MUST DIVIDE BY COS(MGA) # ALREADY CONTAIN COS(MGA)/2 AS A FACTOR. THEREFORE THE QUOTIENT SHOULD # ORDINARILY NEVER EXCEED 1/2 IN MAGNITUDE. BUT IF THE MGA IS NEAR PI/2 # THEN COS(MGA) IS NEAR ZERO, AND THERE MAY BE SOME CHAFF IN THE OTHER # ELEMENTS OF THE MATRIX WHICH WOULD PRODUCE CHAOS UNDER DIVISION. # BEFORE DIVIDING WE MAKE SURE COS(MGA) IS AT LEAST ONE BIT LARGER # THAN THE MAGNITUDE OF THE HIGH ORDER PART OF THE OPERAND. # # IF ONE OR MORE DIVIDES CANNOT BE PERFORMED, THIS MEANS THAT THE # REQUIRED MGA IS VERY NEARLY +-PI/2 AND THEREFORE THE OTHER GIMBAL # ANGLES ARE INDETERMINATE. THE INNER AND OUTER GIMBAL ANGLES RETURNED # IN THIS CASE WILL BE RANDOM MULTIPLES OF PI/2. DVBYCOSM AD FIXLOC TS ADDRWD # ADRES OF OPERAND INDEX ADDRWD # FETCH NEG ABS OF OPERAND, AD TEM5, AND CA 0 # SKIP DIVIDE IF RESULT NEG OR ZERO EXTEND BZMF +2 COM AD TEM5 # C(A) ZERO OR NEG, C(TEM5) ZERO OR POS EXTEND BZMF TSL&TCQ # DIFFERENCE ALWAYS SMALL IF BRANCH EXTEND # TEM5 EXCEEDS ABS HIGH ORDER PART OF INDEX ADDRWD # OPERAND BY AT LEAST ONE BIT. DCA 0 # THEREFORE IT EXCEEDS THE DP OPERAND EXTEND # AND DIVISION WILL ALWAYS SUCCEED. DV TEM5 TSL&TCQ TS L LXCH TEM1 TC Q # Page 922 # ARCTRGSP RETURNS THE 2'S COMPLEMENT, PI, SP ANGLE IN THE A REGISTER GIVEN ITS SINE IN A AND ITS COSINE IN L IN # UNITS OF 2. THE RESULT IS AN UNAMBIGUOUS ANGLE ANYWHERE IN THE CIRCLE, WITH A MAXIMUM ERROR OF +-4 BITS. # THE ERROR IS PRODUCED BY THE SUBROUTINE SPARCSIN WHICH IS USED ONLY IN THE REGION +-45 DEGREES. ARCTRGSP EXTEND BZF SINZERO # TO AVOID DIVIDING BY ZERO EXTEND QXCH TEM4 TS TEM2 CA L TS TEM3 CA ZERO EXTEND DV TEM2 EXTEND BZF USECOS CCS TEM3 # SIN IS SMALLER OR EQUAL CA ZERO TCF +4 CS TEM2 # IF COS NEG, REVERSE SIGN OF SIN, TS TEM2 # ANGLE = PI-ARCSIN(SIN) CA NEGMAX # PICK UP PI, 2'S COMPLEMENT TS TEM3 # WE NO LONGER NEED COS CA TEM2 TC SPARCSIN -1 TC ONESTO2S EXTEND MSU TEM3 1TO2&TCQ TC ONESTO2S TC TEM4 USECOS CS TEM3 # COS IS SMALLER TC SPARCSIN -1 # ANGLE = SIGN(SIN)(FI/2-ARCSIN(COS)) AD HALF TS TEM3 # WE NO LONGER NEED COS CCS TEM2 CA TEM3 TCF 1TO2&TCQ CS TEM3 TCF 1TO2&TCQ SINZERO CCS L CA ZERO TC Q CA NEGMAX # PI, 2'S COMP TC Q # Page 923 # SPARCSIN TAKES AN ARGUMENT SCALED UNITY IN A AND RETURNS AN ANGLE SCALED # 180 DEGREES IN A. IT HAS BEEN UNIT TESTED IN THE REGION +-.94 (+-70 # DEGREES) AND THE MAXIMUM ERROR IS +-5 BITS WITH AN AVERAGE TIME OF # 450 MICROSECONDS. SPARCSIN -1 TAKES THE ARGUMENT SCALED TWO. (BOB CRISP) DOUBLE SPARCSIN TS SR TCF +4 INDEX A CS LIMITS TS SR EXTEND MP A TS TEM1 EXTEND MP DPL9 AD DPL7 EXTEND MP TEM1 AD DPL5 EXTEND MP TEM1 AD DPL3 EXTEND MP TEM1 AD DPL1 EXTEND MP SR TC Q DPL1 DEC 10502 DPL3 DEC 432 DPL5 DEC 7300 DPL7 DEC -11803 DPL9 DEC 8397 # Page 924 # LIMITSUB LIMITS THE MAGNITUDE OF THE POSITIVE OR NEGATIVE VARIABLE # ARRIVING IN L TO THE POSITIVE LIMIT ARRIVING IN A. # THE SIGNED LIMITED VARIABLE IS RETURNED IN A. # # VERSION COUTESY HUGH BLAIR-SMITH LIMITSUB TS TEM1 CA ZERO EXTEND DV TEM1 CCS A LXCH TEM1 TCF +2 TCF +3 CA L TC Q CS TEM1 TC Q # SUBROUTINE TO CONVERT 1'S COMP SP TO 2'S COMP ONESTO2S CCS A AD ONE TC Q CS A TC Q # NO ATTITUDE CONTROL NOATTCNT TC ALARM OCT 00402 # NO ATTITUDE CONTROL +2 INHINT # COME HERE FOR NOATTCNT WITHOUT ALARM TC IBNKCALL # RELINT AT TC INTPRET AFTER TCQCDUW FCADR STOPRATE TCF TCQCDUW # RETURN TO USER SKIPPING AUTOPILOT CMDS # MIDDLE GIMBAL ANGLE ALARM ALARMMGA TC ALARM OCT 00401 TCF MGARET # Page 925 #****************************************************************** # CONSTANTS #****************************************************************** # ADDRESS CONSTANTS ECDUWL ECADR ECDUW # THRUST DIRECTION FILTER CONSTANTS GAINFLTR DEC .2 # GAIN FILTER SANS CSM DEC .1 # GAIN FILTER WITH CSM DUNFVLIM DEC .007 B-1 # 7 MR MAX CHG IN F DIR IN VEH IN 2 SECS. # THIS DOES NOT ALLOW FOR S/C ROT RATE. UNFVLIM DEC .129 B-1 # 129 MR MAX THRUST OFFSET. 105 MR TRAVEL # +10MR DEFL+5MR MECH MOUNT+9MR ABLATION. # CONSTANT RELATED TO GIMBAL ANGLE COMPUTATIONS DOTSWFMX DEC .93302 B-4 # LIM COLNRTY OF UNWC/2 & UNFC/2 TO 85 DEG # LOWER PART COMES FROM NEXT CONSTANT DAXMAX DEC .11111111111 # DELATTX LIM TO 20 DEG IN 2 SECS, 1'S, PI DEC .0111111111 # 2 DEG WHEN CSM DOCKED DAY/2MAX DEC .05555555555 # LIKEWISE FOR DELATTY DEC .0055555555 DAZMAX = DAXMAX # LIKEWISE FOR DELATTZ CDUZDLIM DEC .3888888888 # 70 DEG LIMIT FOR MGA, 1'S, PI # CONSTANTS FOR DATA TRANSFER DT/DELT DEC .05 # .1 SEC/2 SEC WHICH IS THE AUTOPILOT # CONTROL SAMPLE PERIOD/COMPUTATION PERIOD DELERLIM = DAY/2MAX # 0 DEG LIMIT FOR LAG ANGLES, 1'S, PI # *** END OF FLY .132 *** ================================================ FILE: Luminary099/FIXED_FIXED_CONSTANT_POOL.agc ================================================ # Copyright: Public domain. # Filename: FIXED_FIXED_CONSTANT_POOL.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1095-1099 # Mod history: 2009-05-25 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 1095 BLOCK 02 COUNT* $$/FCONS # THE FOLLOWING TABLE OF 18 VALUES IS INDEXED. DO NOT INSERT OR REMOVE ANY QUANTITIES DPOSMAX OCT 37777 # MUST PRECEDE POSMAX POSMAX OCT 37777 LIMITS = NEG1/2 NEG1/2 OCT -20000 # USED BY SIN ROUTINE (MUST BE TWO # LOCATIONS IN FRONT OF BIT14) # BIT TABLE BIT15 OCT 40000 BIT14 OCT 20000 BIT13 OCT 10000 BIT12 OCT 04000 BIT11 OCT 02000 BIT10 OCT 01000 BIT9 OCT 00400 BIT8 OCT 00200 BIT7 OCT 00100 BIT6 OCT 00040 BIT5 OCT 00020 BIT4 OCT 00010 BIT3 OCT 00004 BIT2 OCT 00002 BIT1 OCT 00001 # DO NOT DESTROY THIS COMBINATION, SINCE IT IS USED IN DOUBLE PRECISION INSTRUCTIONS. NEG0 OCT -0 # MUST PRECEDE ZERO ZERO OCT 0 # MUST FOLLOW NEG0 # BIT1 OCT 00001 # NO.WDS OCT 2 # INTERPRETER # OCTAL3 OCT 3 # INTERPRETER # R3D1 OCT 4 # PINBALL FIVE OCT 5 # REVCNT OCT 6 # INTERPRETER SEVEN OCT 7 # BIT4 OCT 00010 # R2D1 OCT 11 # PINBALL OCT11 = R2D1 # P20S # BINCON DEC 10 # PINBALL (OCTAL 12) ELEVEN DEC 11 # OCT14 OCT 14 # ALARM AND ABORT (FILLER) OCT15 OCT 15 # R1D1 OCT 16 # PINBALL LOW4 OCT 17 # Page 1096 # BIT5 OCT 00020 # ND1 OCT 21 # PINBALL # VD1 OCT 23 # PINBALL # OCT24 OCT 24 # SERVICE ROUTINES # MD1 OCT 25 # PINBALL BITS4&5 OCT 30 # OCT31 OCT 31 # SERVICE ROUTINES OCT33 OCT 33 DEC27 = OCT33 OCT35 OCT 35 DEC29 = OCT35 CALLCODE OCT 00032 # LOW5 OCT 37 # PINBALL # 33DEC DEC 33 # PINBALL (OCTAL 41) # 34DEC DEC 34 # PINBALL (OCTAL 42) TBUILDFX DEC 37 # BUILDUP FOR CONVIENCE IN DAPTESTING TDECAYFX DEC 38 # CONVENIENCE FOR DAPTESTING # BIT6 OCT 00040 OCT50 OCT 50 DEC45 DEC 45 SUPER011 OCT 60 # BITS FOR SUPERBNK SETTING 011. .5SEC DEC 50 # BIT7 OCT 00100 SUPER100 = BIT7 # BITS FOR SUPERBNK SETTING 100 # (LAST 4K OF ROPE) SUPER101 OCT 120 # BITS FOR SUPERBNK SETTING 101 # OCT121 OCT 121 # SERVICE ROUTINES # (FIRST 8K OF ACM) SUPER110 OCT 140 # BITS FOR SUPERBNK SETTING 110. # (LAST 8K OF ACM) 1SEC DEC 100 # LOW7 OCT 177 # INTERPRETER # BIT8 OCT 00200 # OT215 OCT 215 # ALARM AND ABORT # 8,5 OCT 00220 # P20-P25 SUNDANCE 2SECS DEC 200 # LOW8 OCT 377 # PINBALL # BIT9 OCT 00400 GN/CCODE OCT 00401 # SET S/C CONTROL SWITCH TO G/N 3SECS DEC 300 4SECS DEC 400 LOW9 OCT 777 # BIT10 OCT 01000 # 5.5DEGS DEC .03056 # P20-P25 SUNDANCE (OCTAL 00765) # OCT1103 OCT 1103 # ALARM AND ABORT C5/2 DEC .0363551 # (OCTAL 01124) V05N09 VN 0509 # (SAME AS OCTAL 1211) OCT1400 OCT 01400 V06N22 VN 0622 # Page 1097 # MID5 OCT 1740 # PINBALL BITS2-10 OCT 1776 LOW10 OCT 1777 # BIT11 OCT 02000 # 2K+3 OCT 2003 # PINBALL LOW7+2K OCT 2177 # OP CODE MASK + BANK 1 FBANK SETTING. EBANK5 OCT 02400 PRIO3 OCT 03000 EBANK7 OCT 03400 # LOW11 OCT 3777 # PINBALL # BIT12 OCT 04000 # RELTAB OCT 04025 # T4RUPT PRIO5 OCT 05000 PRIO6 OCT 06000 PRIO7 OCT 07000 # BIT13 OCT 10000 # OCT 10003 # T4RUPT RELTAB +1D # 13,7,2 OCT 10102 # P20-P25 SUNDANCE PRIO11 OCT 11000 # PRIO12 OCT 12000 # BANKCALL PRIO13 OCT 13000 PRIO14 OCT 14000 # OCT 14031 # T4RUPT RELTAB +2D PRIO15 OCT 15000 PRIO16 OCT 16000 # 85DEGS DEC .45556 # P20-P25 SUNDANCE (OCTAL 16450) PRIO17 OCT 17000 OCT17770 OCT 17770 # BIT14 OCT 20000 # OCT 20033 # T4RUPT RELTAB +3D PRIO21 OCT 21000 BLOCK 03 COUNT* $$/FCONS PRIO22 OCT 22000 # SERVICE ROUTINES PRIO23 OCT 23000 PRIO24 OCT 24000 # 5/8+1 OCT 24001 # SINGLE PRECISION SUBROUTINES # OCT 24017 # T4RUPT RELTAB +4D PRIO25 OCT 25000 PRIO26 OCT 26000 PRIO27 OCT 27000 # CHRPRIO OCT 30000 # PINBALL # OCT 30036 # T4RUPT RELTAB +5D PRIO31 OCT 31000 C1/2 DEC .7853134 # (OCTAL 31103) PRIO32 OCT 32000 PRIO33 OCT 33000 PRIO34 OCT 34000 # OCT 34034 # T4RUPT RELTAB +6D # Page 1098 PRIO35 OCT 35000 PRIO36 OCT 36000 PRIO37 OCT 37000 63/64+1 OCT 37401 # MID7 OCT 37600 # PINBALL OCT37766 OCT 37766 OCT37774 OCT 37774 OCT37776 OCT 37776 # DPOSMAX OCT 37777 # BIT15 OCT 40000 # OCT40001 OCT 40001 # INTERPRETER ( CS 1 INSTRUCTION) DLOADCOD OCT 40014 DLOAD* OCT 40015 # OCT 40023 # T4RUPT RELTAB +7D BIT15+6 OCT 40040 OCT40200 OCT 40200 # OCT 44035 # T4RUPT RELTAB +8D # OCT 50037 # T4RUPT RELTAB +9D # OCT 54000 # T4RUPT RELTAB +10D -BIT14 OCT 57777 # RELTAB11 OCT 60000 # T4RUPT C3/2 DEC -.3216147 # (OCTAL 65552) 13,14,15 OCT 70000 -1/8 OCT 73777 HIGH4 OCT 74000 -ENDERAS DEC -2001 # (OCTAL 74056) # HI5 OCT 76000 # PINBALL HIGH9 OCT 77700 # -ENDVAC DEC -45 # INTERPRETER (OCTAL 77722) # -OCT10 OCT -10 # (OCT 77767) # NEG4 DEC -4 # (OCTAL 77773) NEG3 DEC -3 NEG2 OCT 77775 NEGONE DEC -1 # Page 1099 # DEFINED BY EQUALS # IT WOULD BE TO THE USERS ADVANTAGE TO OCCASIONALLY CHECK ANY OF THESE SYMBOLS IN ORDER TO PREVENT ANY # ACCIDENTAL DEFINITION CHANGES. MINUS1 = NEG1 NEG1 = NEGONE ONE = BIT1 TWO = BIT2 THREE = OCTAL3 LOW2 = THREE FOUR = BIT3 SIX = REVCNT LOW3 = SEVEN EIGHT = BIT4 NINE = R2D1 TEN = BINCON NOUTCON = ELEVEN OCT23 = VD1 OCT25 = MD1 PRIO1 = BIT10 EBANK3 = OCT1400 PRIO2 = BIT11 OCT120 = SUPER101 OCT140 = SUPER110 2K = BIT11 EBANK4 = BIT11 PRIO4 = BIT12 EBANK6 = PRIO3 QUARTER = BIT13 PRIO10 = BIT13 OCT10001 = CCSL POS1/2 = HALF PRIO20 = BIT14 HALF = BIT14 PRIO30 = CHRPRIO BIT13-14 = PRIO30 # INTERPRETER USES IN PROCESSING STORECODE OCT30002 = TLOAD +1 B12T14 = PRIO34 NEGMAX = BIT15 VLOADCOD = BIT15 VLOAD* = OCT40001 OCT60000 = RELTAB11 BANKMASK = HI5 ================================================ FILE: Luminary099/FLAGWORD_ASSIGNMENTS.agc ================================================ # Copyright: Public domain. # Filename: FLAGWORD_ASSIGNMENTS.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Onno Hommes . # Website: www.ibiblio.org/apollo. # Pages: 0061-0089 # Mod history: 2009-05-15 OH Transcribed from page images. # 2009-05-17 RSB Extended to (blank) p. 89. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 61 # FLAGWORDS 0-11 ARE DOWNLINKED AND CAN BE SET AND CLEARED BY UP-FLAG AND DOWN-FLAG INSTRUCTIONS IN THE # INTERPRETER. THESE WERE PREVIOUSLY LISTED UNDER "INTERPRETIVE SWITCH BIT ASSIGNMENTS" IN # THE ERASABLE LOG SECTION. FLAGWORDS 12 & 13 WERE PREVIOUSLY RADMODES AND DAPBOOLS AND # ARE STILL DOWNLINKED UNDER THOSE NAMES. # ALPHABETICAL LIST OF FLAGWORDS # # FLAGWORD DEC. NUMBER BIT AND FLAG BIT NAME # ACCOKFLG 207 BIT 3 FLAG 13 ACCSOKAY # ACC4-2FL 199 BIT 11 FLAG 13 ACC4OR2X # ACMODFLG 032 BIT 13 FLAG 2 ACMODBIT # ALTSCALE 186 BIT 9 FLAG 12 ALTSCBIT # ANTENFLG 183 BIT 12 FLAG 12 ANTENBIT # AORBSFLG 205 BIT 5 FLAG 13 AORBSYST # AORBTFLG 200 BIT 10 FLAG 13 AORBTRAN # APSESW 130 BIT 5 FLAG 8 APSESBIT # APSFLAG 152 BIT 13 FLAG 10 APSFLBIT # ASTNFLAG 108 BIT 12 FLAG 7 ASTNBIT # ATTFLAG 104 BIT 1 FLAG 6 ATTFLBIT # AUTOMODE 193 BIT 2 FLAG 12 AUTOMBIT # AUTR1FLG 209 BIT 1 FLAG 13 AUTRATE1 # AUTR2FLG 208 BIT 2 FLAG 13 AUTRATE2 # AUXFLAG 103 BIT 2 FLAG 6 AUXFLBIT # AVEGFLAG 115 BIT 5 FLAG 7 AVEGFBIT # AVEMIDSW 149 BIT 1 FLAG 9 AVEMDBIT # AVFLAG 040 BIT 5 FLAG 2 AVFLBIT # CALCMAN2 043 BIT 2 FLAG 2 CALC2BIT # CALCMAN3 042 BIT 3 FLAG 2 CALC3BIT # CDESFLAG 180 BIT 15 FLAG 12 CDESBIT # CMOONFLG 123 BIT 12 FLAG 8 CMOONBIT # COGAFLAG 131 BIT 4 FLAG 8 COGAFBIT # CSMDKFLG 197 BIT 13 FLAG 13 CSMDOCKD # CULTFLAG 053 BIT 7 FLAG 3 CULTBIT # DAPBOOLS FLGWRD13 # DBSELFLG 206 BIT 4 FLAG 13 DBSELECT # DESIGFLG 185 BIT 10 FLAG 12 DESIGBIT # DIDFLAG 016 BIT 14 FLAG DIDFLBIT # DIMOFLAG 059 BIT 1 FLAG 3 DIMOBIT # DMENFLG 081 BIT 9 FLAG 5 DMENFBIT # DRIFTDFL 202 BIT 8 FLAG 13 DRIFTBIT # DRIFTFLG 030 BIT 15 FLAG 2 DRFTBIT # DSKYFLAG 075 BIT 15 FLAG 5 DSKYFBIT # Page 62 # D6OR9FLG 058 BIT 2 FLAG 3 D6OR9BIT # ENGONFLG 083 BIT 7 FLAG 5 ENGONBIT # ERADFLAG 017 BIT 13 FLAG 1 ERADFBIT # ETPIFLAG 038 BIT 7 FLAG 2 ETPIBIT EQUIVALENT FLAG NAME: DPTNSW # FINALFLG 039 BIT 6 FLAG 2 FINALBIT # FLAGWRD0 (000-014) (STATE +0) # FLAGWRD1 (015-029) (STATE +1) # FLAGWRD2 (030-044) (STATE +2) # FLAGWRD3 (045-059) (STATE +3) # FLAGWRD4 (060-074) (STATE +4) # FLAGWRD5 (075-089) (STATE +5) # FLAGWRD6 (090-104) (STATE +6) # FLAGWRD7 (105-119) (STATE +7) # FLAGWRD8 (120-134) (STATE +8D) # FLAGWRD9 (135-149) (STATE +9D) # FLAP 142 BIT 8 FLAG 9 FLAPBIT # FLGWRD10 (150-164) (STATE +10D) # FLGWRD11 (165-179) (STATE +11D) # FLGWRD12 (180-194) (STATE +12D) # FLGWRD13 (195-209) (STATE +13D) # FLPC 138 BIT 12 FLAG 9 FLPCBIT # FLPI 139 BIT 11 FLAG 9 FLPIBIT # FLRCS 149 BIT 10 FLAG 9 FLRCSBIT # FLUNDISP 125 BIT 10 FLAG 8 FLUNDBIT # FLVR 136 BIT 14 FLAG 9 FLVRBIT # FREEFLAG 012 BIT 3 FLAG 0 FREEFBIT # FSPASFLG 005 BIT 10 FLAG 0 FSPASBIT # GLOKFAIL 046 BIT 14 FLAG 3 GLOKFBIT # GMBDRVSW 095 BIT 10 FLAG 6 GMBDRBIT # GUESSW 028 BIT 2 FLAG 1 GUESSBIT # HFLSHFLG 179 BIT 1 FLAG 11 HFLSHBIT # IDLEFLAG 113 BIT 7 FLAG 7 IDLEFBIT # IGNFLAG 107 BIT 13 FLAG 7 IGNFLBIT # IMPULSW 036 BIT 9 FLAG 2 IMPULBIT # IMUSE 007 BIT 8 FLAG 0 IMUSEBIT # INFINFLG 128 BIT 7 FLAG 8 INFINBIT # INITALGN 133 BIT 2 FLAG 8 INITABIT # INTFLAG 151 BIT 14 FLAG 10 INTFLBIT # INTYPFLG 056 BIT 4 FLAG 3 INTYPBIT # ITSWICH 105 BIT 15 FLAG 7 ITSWBIT # JSWITCH 001 BIT 14 FLAG 0 JSWCHBIT # LETABORT 141 BIT 9 FLAG 9 LETABBIT # LMOONFLG 124 BIT 11 FLAG 8 LMOONBIT # LOKONSW 010 BIT 5 FLAG 0 LOKONBIT # LOSCMFLG 033 BIT 12 FLAG 2 LOSCMBIT # LRALTFLG 190 BIT 5 FLAG 12 LRALTBIT # LRBYPASS 165 BIT 15 FLAG 11 LRBYBIT # LRINH 172 BIT 8 FLAG 11 LRINHBIT # LRPOSFLG 189 BIT 6 FLAG 12 LRPOSBIT # LRVELFLG 187 BIT 8 FLAG 12 LRVELBIT # Page63 # LUNAFLAG 048 BIT 12 FLAG 3 LUNABIT # MANUFLAG 106 BIT 14 FLAG 7 MANUFBIT # MGLVFLAG 088 BIT 2 FLAG 5 MGLVFBIT # MIDAVFLG 148 BIT 2 FLAG 9 MIDAVBIT # MIDFLAG 002 BIT 13 FLAG 0 MIDFLBIT # MID1FLAG 147 BIT 3 FLAG 9 MID1BIT # MKOVFLAG 072 BIT 3 FLAG 4 MKOVBIT # MOONFLAG 003 BIT 12 FLAG 0 MOONBIT # MRKIDFLG 060 BIT 15 FLAG 4 MRKIDBIT # MRKNVFLG 066 BIT 9 FLAG 4 MRKNVBIT # MRUPTFLG 070 BIT 5 FLAG 4 MRUPTBIT # MUNFLAG 097 BIT 8 FLAG 6 MUNFLBIT # MWAITFLG 064 BIT 11 FLAG 4 MWAITBIT # NEEDLFLG 011 BIT 4 FLAG 0 NEEDLBIT # NEWIFLG 122 BIT 13 FLAG 8 NEWIBIT # NJETSFLG 015 BIT 15 FLAG NJETSBIT # NODOFLAG 044 BIT 1 FLAG 2 NODOBIT # NOLRREAD 170 BIT 10 FLAG 11 NOLRRBIT # NORMSW 110 BIT 10 FLAG 7 NORMSBIT # NORRMON 086 BIT 4 FLAG 5 NORRMBIT # NOR29FLG 049 BIT 11 FLAG 3 NR29FBIT # NOTHROTL 078 BIT 12 FLAG 5 NOTHRBIT # NOUPFLAG 024 BIT 6 FLAG 1 NOUPFBIT # NRMNVFLG 067 BIT 8 FLAG 4 NRMNVBIT # NRMIDFLG 062 BIT 13 FLAG 4 NRMIDBIT # NRUPTFLG 071 BIT 4 FLAG 4 NRUPTBIT # NTARGFLG 102 BIT 3 FLAG 6 NTARGBIT # NWAITFLG 065 BIT 10 FLAG 4 NWAITBIT # OLDESFLG 014 BIT 1 FLAG 0 OLDESBIT # OPTNSW 038 BIT 7 FLAG 2 OPTNBIT EQUIVALENT FLAG NAME: ETPIFLAG # ORBWFLAG 054 BIT 6 FLAG 3 ORBWFBIT # ORDERSW 129 BIT 6 FLAG 8 ORDERBIT # OURRCFLG 198 BIT 12 FLAG 13 OURRCBIT # PDSPFLAG 063 BIT 12 FLAG 4 PDSPFBIT # PFRATFLG 041 BIT 4 FLAG 2 PFRATBIT # PINBRFLG 069 BIT 6 FLAG 4 PINBRBIT # PRECIFLG 052 BIT 8 FLAG 3 PRECIBIT # PRIODFLG 061 BIT 14 FLAG 1 PRIODBIT # PRONVFLG 068 BIT 7 FLAG 4 PRONVBIT # PSTHIGAT 169 BIT 11 FLAG 11 PSTHIBIT # PULSEFLG 195 BIT 15 FLAG 13 PULSES # P21FLAG 004 BIT 11 FLAG 0 P21FLBIT # P25FLAG 006 BIT 9 FLAG 0 P25FLBIT # P39/79SW 126 BIT 9 FLAG 8 P39SWBIT # QUITFLAG 145 BIT 5 FLAG 9 QUITBIT # RADMODES FLGWRD12 # RASFLAG FLGWRD10 # RCDUFAIL 188 BIT 7 FLAG 12 RCDUFBIT # RCDU0FLG 182 BIT 13 FLAG 12 RCDU0BIT # READLR 174 BIT 6 FLAG 11 READLBIT # Page 64 # READRFLG 051 BIT 9 FLAG 3 READRBIT EQUIVALENT FLAG NAME FOR R04FLAG # READVEL 175 BIT 5 FLAG 11 READVBIT # REDFLAG 099 BIT 6 FLAG 6 REDFLBIT # REFSMFLG 047 BIT 13 FLAG 3 REFSMBIT # REINTFLG 158 BIT 7 FLAG 10 REINTBIT # REMODFLG 181 BIT 14 FLAG 12 REMODBIT # RENDWFLG 089 BIT 1 FLAG 5 RENDWBIT # REPOSMON 184 BIT 11 FLAG 12 REPOSBIT # RHCSCFLG 203 BIT 7 FLAG 13 RHCSCALE # RNDVZFLG 008 BIT 7 FLAG 0 RNDVZBIT # RNGEDATA 176 BIT 4 FLAG 11 RNGEDBIT # RNGSCFLG 080 BIT 10 FLAG 5 RNGSCBIT # RODFLAG 018 BIT 12 FLAG 1 RODFLBIT # ROTFLAG 144 BIT 6 FLAG 9 ROTFLBIT # RPQFLAG 120 BIT 15 FLAG 8 RPQFLBIT # RRDATAFL 191 BIT 4 FLAG 12 RRDATABT # RRNBSW 009 BIT 6 FLAG 0 RRNBBIT # RRRSFLAG 192 BIT 3 FLAG 12 RRRSBIT # RVSW 111 BIT 9 FLAG 7 RVSWBIT # R04FLAG 051 BIT 9 FLAG 3 R04FLBIT EQUIVALENT FLAG NAME: READRFLG # R10FLAG 013 BIT 2 FLAG 0 R10FLBIT # R61FLAG 020 BIT 10 FLAG 1 R61FLBIT # R77FLAG 079 BIT 11 FLAG 5 R77FLBIT # SCALBAD 177 BIT 3 FLAG 11 SCABBIT # SLOPESW 027 BIT 3 FLAG 1 SLOPEBIT # SNUFFER 077 BIT 13 FLAG 5 SNUFFBIT # SOLNSW 087 BIT 3 FLAG 5 SOLNSBIT # SRCHOPTN 031 BIT 14 FLAG 2 SRCHOBIT # STATEFLG 055 BIT 5 FLAG 3 STATEBIT # STEERSW 034 BIT 11 FLAG 2 STEERBIT # SURFFLAG 127 BIT 8 FLAG 8 SURFFBIT # SWANDISP 109 BIT 11 FLAG 7 SWANDBIT # S32.1F1 090 BIT 15 FLAG 6 S32BIT1 # S32.1F2 091 BIT 14 FLAG 6 S32BIT2 # S32.1F3A 092 BIT 13 FLAG 6 S32BIT3A # S32.1F3B 093 BIT 12 FLAG 6 S32BIT3B # TFFSW 119 BIT 1 FLAG 7 TFFSWBIT # TRACKFLG 025 BIT 5 FLAG 1 TRACKBIT # TURNONFL 194 BIT 1 FLAG 12 TURNONBT # ULLAGFLG 204 BIT 6 FLAG 13 ULLAGER # UPDATFLG 023 BIT 7 FLAG 1 UPDATBIT # UPLOCKFL 116 BIT 4 FLAG 7 UPLOCBIT # USEQRFLG 196 BIT 14 FLAG 13 USEQRJTS # VEHUPFLG 022 BIT 8 FLAG 1 VEHUPBIT # VELDATA 173 BIT 7 FLAG 11 VELDABIT # VERIFLAG 117 BIT 3 FLAG 7 VERIFBIT # VFLAG 050 BIT 10 FLAG 3 VFLAGBIT # VFLSHFLG 178 BIT 2 FLAG 11 VFLSHBIT # VINTFLAG 057 BIT 3 FLAG 3 VINTFBIT # VXINH 168 BIT 12 FLAG 11 VXINHBIT # Page 65 # V37FLAG 114 BIT 6 FLAG 7 V37FLBIT # V67FLAG 112 BIT 8 FLAG 7 V67FLBIT # V82EMFLG 118 BIT 2 FLAG 7 V82EMBIT # XDELVFLG 037 BIT 8 FLAG 2 XDELVBIT # XDSPFLAG 074 BIT 1 FLAG 4 XDSPBIT # XORFLG 171 BIT 9 FLAG 11 XORFLBIT # XOVINFLG 201 BIT 9 FLAG 13 XOVINHIB # 3AXISFLG 084 BIT 6 FLAG 5 3AXISBIT # 360SW 134 BIT 1 FLAG 8 360SWBIT # ASSIGNMENT AND DESCRIPTION OF FLAGWORDS FLAGWRD0 = STATE +0 # (000-014) # (SET) (RESET) # BIT 15 FLAG 0 (S) = 000D = BIT15 # BIT 14 FLAG 0 (S) JSWITCH = 001D # INTEGRATION OF W INTEGRATION OF STATE JSWCHBIT = BIT14 # MATRIX VECTOR # BIT 13 FLAG 0 (S) MIDFLAG = 002D # INTEGRATION WITH INTEGRATION WITHOUT # SECONDARY BODY AND SOLAR PERTURBATIONS MIDFLBIT = BIT13 # SOLAR PERTURBATIONS # BIT 12 FLAG 0 (L) MOONFLAG = 003D # MOON IS SPHERE OF EARTH IS SPHERE OF MOONBIT = BIT12 # INFLUENCE INFLUENCE # BIT 11 FLAG 0 P21FLAG = 004D # USE BASE VECTORS 1ST PASS -- CALC- P21FLBIT = BIT11 # ALREADY CALCULATED ULATE BASE VECTORS # BIT 10 FLAG 0 FSPASFLG = 005D # FIRST PASS THROUGH NOT FIRST PASS THRU FSPASBIT = BIT10 # REPOSITION ROUTINE REPOSITION ROUTINE # Page 66 # BIT 9 FLAG 0 (S) P25FLAG = 006D # P25 OPERATING P25 NOT OPERATING P25FLBIT = BIT9 # BIT 8 FLAG 0 (S) IMUSE = 007D # IMU IN USE IMU NOT IN USE IMUSEBIT = BIT8 # BIT 7 FLAG 0 (S) RNDVZFLG = 008D # P20 RUNNING (RADAR P20 NOT RUNNING RNDVZBIT = BIT7 # IN USE) # BIT 6 FLAG 0 (S) RRNBSW = 009D # RADAR TARGET IN RADAR TARGET IN RRNBBIT = BIT6 # NB COORDINATES SM COORDINATES # BIT 5 FLAG 0 (S) LOKONSW = 010D # RADAR LOCK-ON RADAR LOCK-ON NOT LOKONBIT = BIT5 # DESIRED DESIRED # BIT 4 FLAG 0 (S) NEEDLFLG = 011D # TOTAL ATTITUDE A/P FOLLOWING NEEDLBIT = BIT4 # ERROR DISPLAYED ERROR DISPLAYED # BIT 3 FLAG 0 FREEFLAG = 012D # (USED BY P51-53 TEMP IN MANY DIFFERENT # ROUTINES & BY LUNAR + SOLAR EPHEMERIDES) FREEFBIT = BIT3 # BIT 2 FLAG 0 R10FLAG = 013D # R10 OUTPUTS DATA TO BESIDES OUTPUT WHEN R10FLBIT = BIT2 # ALTITUDE & ALTITUDE SET, R10 ALSO OUTPUT # RATE METERS ONLY TO FORWARD & LATERAL # VELOCITY CROSSPOINTER # BIT 1 FLAG 0 (L) OLDESFLG = 014D # R29 GYRO CMD LOOP R29 GYRO CMD LOOP OLDESBIT = BIT1 # REQUESTED NOT REQUESTED FLAGWRD1 = STATE +1 # (015-029) # Page 67 # (SET) (RESET) # BIT 15 FLAG 1 (S) NJETSFLG = 015D # TWO JET RCS BURN FOUR JET RCS BURN NJETSBIT = BIT15 # BIT 14 FLAG 1 (L) DIDFLAG = 016D # INERTIAL DATA IS PERFORM DATA DISPLAY DIDFLBIT = BIT14 # AVAILABLE INITIALIZATION FUNCS # BIT 13 FLAG 1 (S) ERADFLAG = 017D # COMPUTE REARTH USE CONSTANT REARTH ERADFBIT = BIT13 # FISCHER ELLIPSOID PAD RADIUS # BIT 12 FLAG 1 RODFLAG = 018D # IF IN P66, NORMAL IF IN P66, RE-INIT- RODFLBIT = BIT12 # OPERATION CONTINUES. IALIZATION IS PER- # RESTART CLEARS FLAG FORMED AND FLAG IS # BIT 11 FLAG 1 = 019D = BIT11 # BIT 10 FLAG 1 (L) R61FLAG = 020D # RUN R61 LEM RUN R65 LEM R61FLBIT = BIT10 # BIT 9 FLAG 1 = 021D = BIT9 # BIT 8 FLAG 1 (S) VEHUPFLG = 022D # CSM STATE-VECTOR LEM STATE VECTOR VEHUPBIT = BIT8 # BEING UPDATED BEING UPDATED # BIT 7 FLAG 1 (S) UPDATFLG = 023D # UPDATING BY MARKS UPDATING BY MARKS UPDATBIT = BIT7 # ALLOWED NOT ALLOWED # BIT 6 FLAG 1 (S) NOUPFLAG = 024D # NEITHER CSM EITHER STATE # NOR LM STATE VECTOR VECTOR MAY BE NOUPFBIT = BIT6 # MAY BE UPDATED UPDATED # Page 68 # BIT 5 FLAG 1 (S) TRACKFLG = 025D # TRACKING ALLOWED TRACKING NOT ALLOWED TRACKBIT = BIT5 # BIT 4 FLAG 1 = 026D = BIT4 # BIT 3 FLAG 1 (S) SLOPESW = 027D # ITERATE WITH BIAS ITERATE WITH REGULAR # METHOD IN ITERATOR FALSI METHOD IN SLOPEBIT = BIT3 # ITERATOR # BIT 2 FLAG 1 (S) GUESSW = 028D # NO STARTING VALUE STARTING VALUE FOR GUESSBIT = BIT2 # FOR ITERATION ITERATION EXISTS # BIT 1 FLAG 1 = 029D = BIT1 # OH 2009-05-15 Scan does not have this line FLAGWRD2 = STATE +2 # (030-044) # (SET) (RESET) # BIT 15 FLAG 2 (S) DRIFTFLG = 030D # T3RUPT CALLS GYRO T3RUPT DOES NO GYRO DRFTBIT = BIT15 # COMPENSATION COMPENSATION # BIT 14 FLAG 2 (S) SRCHOPTN = 031D # RADAR IN AUTOMATIC RADAR NOT IN AUTO- SRCHOBIT = BIT14 # SEARCH OPTION (R24) MATIC SEARCH OPTION # BIT 13 FLAG 2 (S) ACMODFLG = 032D # MANUAL ACQUISITION AUTO ACQUISITION ACMODBIT = BIT13 # BY RENDEZVOUS RADAR BY RENDEZVOUS RADAR # BIT 12 FLAG 2 (S) LOSCMFLG = 033D # LINE OF SIGHT BEING LINE OF SIGHT NOT # COMPUTED (R21) BEING COMPUTED LOSCMBIT = BIT12 # Page 69 # BIT 11 FLAG 2 (S) STEERSW = 034D # SUFFICIENT THRUST INSUFFICIENT THRUST STEERBIT = BIT11 # IS PRESENT IS PRESENT # BIT 10 FLAG 2 (S) = 035D # OH 2009-05-15 These two line don't appear in scan = BIT10 # BIT 9 FLAG 2 (S) IMPULSW = 036D # MINIMUM IMPULSE STEERING BURN (NO # BURN (CUTOFF TIME CUTOFF TIME YET IMPULBIT = BIT9 # SPECIFIED) AVAILABLE) # BIT 8 FLAG 2 (S) XDELVFLG = 037D # EXTERNAL DELTAV VG LAMBERT (AIMPOINT) XDELVBIT = BIT8 # COMPUTATION VG COMPUTATION # BIT 7 FLAG 2 (S) ETPIFLAG = 038D # ELEVATION ANGLE TPI TIME SUPPLIED # SUPPLIED FOR FOR P34,74 TO COMPUTE ETPIBIT = BIT7 # P34,74 ELEVATION # BIT 7 FLAG 2 (L) OPTNSW = ETPIFLAG # SOI PHASE OF P38/78 SOR PHASE OF P38/78 OPTNBIT = BIT7 # BIT 6 FLAG 2 (S) FINALFLG = 039D # LAST PASS THROUGH INTERIM PASS THROUGH # RENDEZVOUS PROGRAM RENDEZVOUS PROGRAM FINALBIT = BIT6 # COMPUTATIONS COMPUTATIONS # BIT 5 FLAG 2 (S) AVFLAG = 040D # LEM IS ACTIVE CSM IS ACTIVE AVFLBIT = BIT5 # VEHICLE VEHICLE # BIT 4 FLAG 2 (S) PFRATFLG = 041D # PREFERRED ATTITUDE PREFERRED ATTITUDE PFRATBIT = BIT4 # COMPUTED NOT COMPUTED # BIT 3 FLAG 2 (S) # Page 70 CALCMAN3 = 042D # NO FINAL ROLL FINAL ROLL IS CALC3BIT = BIT3 # NECESSARY # BIT 2 FLAG 2 (S) CALCMAN2 = 043D # PERFORM MANEUVER BYPASS STARTING CALC2BIT = BIT2 # STARTING PROCEDURE PROCEDURE # BIT 1 FLAG 2 (S) NODOFLAG = 044D # V37 NOT PERMITTED V37 PERMITTED NODOBIT = BIT1 FLAGWRD3 = STATE +3 # (045-059) # (SET) (RESET) # BIT 15 FLAG 3 = 045D # = BIT15 # OH 2009-05-15 This line is not in scans # BIT 14 FLAG 3 (S) GLOKFAIL = 046D # GIMBAL LOCK HAS NOT IN GIMBAL LOCK GLOKFBIT = BIT14 # OCCURRED # BIT 13 FLAG 3 *** PROTECTED FROM FRESH START *** REFSMFLG = 047D # REFSMMAT GOOD REFSMMAT NO GOOD REFSMBIT = BIT13 # BIT 12 FLAG 3 (S) LUNAFLAG = 048D # LUNAR LAT-LONG EARTH LAT-LONG LUNABIT = BIT12 # BIT 11 FLAG 3 (L) NOR29FLG = 049D # R29 NOT ALLOWED R29 ALLOWED (RR DES- NR29FBIT = BIT11 # IGNATED POWERED FLT) # BIT 10 FLAG 3 (S) VFLAG = 050D # LESS THAN TWO STARS TWO STARS IN FIELD VFLAGBIT = BIT10 # IN FIELD OF VIEW OF VIEW # BIT 9 FLAG 3 (S) R04FLAG = 051D # ALARM 521 ALARM 521 ALLOWED # SUPPRESSED # Page 71 R04FLBIT = BIT9 # BIT 9 FLAG 3 (L) READRFLG = R04FLAG # READING RR DATA NOT READING RR DATA READRBIT = BIT9 # PURSUANT TO R29 PURSUANT TO R29 # BIT 8 FLAG 3 (S) PRECIFLG = 052D # NORMAL INTEGRATION ENGAGES 4-TIME STEP # IN P00 (P00) LOGIC IN INTE- PRECIBIT = BIT8 # GRATION # BIT 7 FLAG 3 (S) CULTFLAG = 053D # STAR OCCULTED STAR NOT OCCULTED CULTBIT = BIT7 # BIT 6 FLAG 3 (S) ORBWFLAG = 054D # W MATRIX VALID FOR W MATRIX INVALID FOR ORBWFBIT = BIT6 # ORBITAL NAVIGATION ORBITAL NAVIGATION # BIT 5 FLAG 3 (S) STATEFLG = 055D # PERMANENT STATE PERMANENT STATE STATEBIT = BIT5 # VECTOR UPDATED VECTOR NOT UPDATED # BIT 4 FLAG 3 (S) INTYPFLG = 056D # CONIC INTEGRATION ENCKE INTEGRATION INTYPBIT = BIT4 # BIT 3 FLAG 3 (S) VINTFLAG = 057D # CSM STATE VECTOR LEM STATE VECTOR VINTFBIT = BIT3 # BEING INTEGRATED BEING INTEGRATED # BIT 2 FLAG 3 (S) D6OR9FLG = 058D # DIMENSION OF W IS 9 DIMENSION OF W IS 6 D6OR9BIT = BIT2 # FOR INTEGRATION FOR INTEGRATION # BIT 1 FLAG 3 (S) DIM0FLAG = 059D # W MATRIX IS TO BE W MATRIX IS NOT TO DIM0BIT = BIT1 # USED USED FLAGWRD4 = STATE +4 # (060-074) # Page 72 # (SET) (RESET) # BIT 15 FLAG 4 (S) MRKIDFLG = 060D # MARK DISPLAY IN NO MARK DISPLAY IN MRKIDBIT = BIT15 # ENDIDLE ENDIDLE # BIT 14 FLAG 4 (S) PRIODFLG = 061D # PRIORITY DISPLAY IN NO PRIORITY DISPLAY PRIODBIT = BIT14 # ENDIDLE IN ENDIDLE # BIT 13 FLAG 4 (S) NRMIDFLG = 062D # NORMAL DISPLAY IN NO NORMAL DISPLAY NRMIDBIT = BIT13 # ENDIDLE IN ENDIDLE # BIT 12 FLAG 4 (S) PDSPFLAG = 063D # P20 SETS SO AS TO LEAVE AS NORMAL DISP # TURN A NORMAL DIS- PDSPFBIT = BIT12 # PLAY INTO A PRIORITY # DISPLAY IN R60 # BIT 11 FLAG 4 (S) MWAITFLG = 064D # HIGHER PRIORITY NO HIGHER PRIORITY # DISPLAY OPERATING DISPLAY OPERATING MWAITBIT = BIT11 # WHEN MARK WHEN MARK DISPLAY # DISPLAY INITIATED INITIATED # BIT 10 FLAG 4 (S) NWAITFLG = 065D # HIGHER PRIORITY NO HIGHER PRIORITY # DISPLAY OPERATING DISPLAY OPERATING NWAITBIT = BIT10 # WHEN NORMAL WHEN NORMAL DISPLAY # DISPLAY INITIATED INITIATED # BIT 9 FLAG 4 (S) MRKNVFLG = 066D # ASTRONAUT USING ASTRONAUT NOT USING # KEYBOARD WHEN MARK KEYBOARD WHEN MARK MRKNVBIT = BIT9 # DISPLAY INITIATED DISPLAY INITIATED # BIT 8 FLAG 4 (S) NRMNVFLG = 067D # ASTRONAUT USING ASTRONAUT NOT USING # KEYBOARD WHEN KEYBOARD WHEN NRMNVBIT = BIT8 # NORMAL DISPLAY NORMAL DISPLAY # INITIATED INITIATED # BIT 7 FLAG 4 (S) PRONVFLG = 068D # ASTRONAUT USING ASTRONAUT NOT USING # Page 73 # KEYBOARD WHEN KEYBOARD WHEN PRONVBIT = BIT7 # PRIORITY DISPLAY PRIORITY DISPLAY # INITIATED INITIATED # BIT 6 FLAG 4 (S) PINBRFLG = 069D # ASTRONAUT HAS ASTRONAUT HAS NOT # INTERFERED WITH INTERFERED WITH PINBRBIT = BIT6 # EXISTING DISPLAY EXISTING DISPLAY # BIT 5 FLAG 4 (S) MRUPTFLG = 070D # MARK DISPLAY MARK DISPLAY NOT # INTERRUPTED BY INTERRUPTED BY MRUPTBIT = BIT5 # PRIORITY DISPLAY PRIORITY DISPLAY # BIT 4 FLAG 4 (S) NRUPTFLG = 071D # NORMAL DISPLAY NORMAL DISPLAY NOT # INTERRUPTED BY INTERRUPTED BY NRUPTBIT = BIT4 # PRIORITY OR MARK PRIORITY OR MARK # DISPLAY DISPLAY # BIT 3 FLAG 4 (S) MKOVFLAG = 072D # MARK DISPLAY OVER NO MARK DISPLAY OVER MKOVBIT = BIT3 # NORMAL NORMAL # BIT 2 FLAG 4 = 073D = BIT2 # OH 2009-05-15 Not in scan. # BIT 1 FLAG 4 (S) XDSPFLAG = 074D # MARK DISPLAY NOT NO SPECIAL MARK XDSPBIT = BIT1 # TO BE INTERRUPTED INFORMATION FLAGWRD5 = STATE +5 # (075-089) # (SET) (RESET) # BIT 15 FLAG 5 (S) DSKYFLAG = 075D # DISPLAYS SENT TO NO DISPLAYS TO DSKY DSKYFBIT = BIT15 # DSKY # BIT 14 FLAG 5 = 076D = BIT14 # Page 74 # BIT 13 FLAG 5 (S,L) SNUFFER = 077D # U,V JETS DISABLED U,V JETS ENABLED # DURING DPS DURING DPS SNUFFBIT = BIT13 # BURNS (V65) BURNS (V75) # BIT 12 FLAG 5 (S) NOTHROTL = 078D # INHIBIT FULL PERMIT FULL THROTTLE NOTHRBIT = BIT12 # THROTTLE # BIT 11 FLAG 5 (S,L) R77FLAG = 079D # R77 IS ON, R77 IS NOT ON. # SUPPRESS ALL RADAR # ALARMS AND TRACKER R77FLBIT = BIT11 # FAILS # BIT 10 FLAG 5 (S) RNGSCFLG = 080D # SCALE CHANGE HAS NO SCALE CHANGE HAS # OCCURRED DURING OCCURRED DURING RNGSCBIT = BIT10 # RR READING RR READING # BIT 9 FLAG 5 (S) DMENFLG = 081D # DIMENSION OF W IS 9 DIMENSION OF W IS 6 DMENFBIT = BIT9 # FOR INCORPORATION FOR INCORPORATION # BIT 8 FLAG 5 (S) = 082D = BIT8 # BIT 7 FLAG 5 (S) ENGONFLG = 083D # ENGINE TURNED ON ENGINE TURNED OFF ENGONBIT = BIT7 # # BIT 6 FLAG 5 (S) 3AXISFLG = 084D # MANEUVER SPECIFIED MANEUVER SPECIFIED # BY THREE AXES BY ONE AXIS; R60 3AXISBIT = BIT6 # CALLS VECPOINT. # BIT 5 FLAG 5 = 085D = BIT5 # OH 2009-05-15 Not in scan # BIT 4 FLAG 5 (S) # Page 75 NORRMON = 086D # BYPASS RR GIMBAL PERFORM NORRMBIT = BIT4 # MONITOR RR GIMBAL MONITOR # BIT 3 FLAG 5 (S) SOLNSW = 087D # LAMBERT DOES NOT LAMBERT CONVERGES OR # CONVERGE, OR TIME-RAD TIME-RADIUS NON- SOLNSBIT = BIT3 # NEARLY CIRCULAR CIRCULAR # BIT 2 FLAG 5 (S) MGLVFLAG = 088D # LOCAL VERTICAL MIDDLE GIMBAL ANGLE # COORDINATES COMPUTED MGLVFBIT = BIT2 # COMPUTED # BIT 1 FLAG 5 (S) RENDWFLG = 089D # W MATRIX VALID W MATRIX INVALID # FOR RENDEZVOUS FOR RENDEZVOUS RENDWBIT = BIT1 # NAVIGATION NAVIGATION FLAGWRD6 = STATE +6 # (090-104) # (SET) (RESET) # BIT 15 FLAG 6 (S) S32.1F1 = 090D # DELTA V AT CSI TIME DVT1 LESS THAN MAX S32BIT1 = BIT15 # ONE EXCEEDS MAX # BIT 14 FLAG 6 (S) S32.1F2 = 091D # FIRST PASS OF REITERATION OF S32BIT2 = BIT14 # NEWTON ITERATION NEWTON # BIT 13 FLAG 6 (S) S32.1F3A = 092D # BIT 13 AND BIT 12 FUNCTION AS AN ORDERED S32BIT3A = BIT13 # PAIR (13,12) INDICATING THE POSSIBLE OC- # CURRENCE OF 2 NEWTON ITERATIONS FOR S32.1 # IN THE PROGRAM IN THE FOLLOWING ORDER: # BIT 12 FLAG 6 (S) # (0,1) (I.E. BIT 13 RESET, BIT 12 SET) S32.1F3B = 093D # = FIRST NEWTON ITERATION BEING DONE S32BIT3B = BIT12 # (0,0)= FIRST PASS OF SECOND NEWTON ITERATION # (1,1)= 50 FT/SEC STAGE OF SECOND NEWTON ITERATION # (1,0)= REMAINDER OF SECOND NEWTON ITERATION # BIT 11 FLAG 6 (S) = 094D # = BIT11 # # Page 76 # BIT 10 FLAG 6 (S) GMBDRVSW = 095D # TRIMGIMB OVER TRIMGIMB NOT OVER GMBDRBIT = BIT10 # # BIT 9 FLAG 6 = 096D # = BIT9 # # BIT 8 FLAG 6 (S) MUNFLAG = 097D # SERVICER CALLS SERVICER CALLS MUNFLBIT = BIT8 # MUNRVG CALCRVG # BIT 7 FLAG 6 (L) = 098D # = BIT7 # # BIT 6 FLAG 6 (L) REDFLAG = 099D # LANDING SITE LANDING SITE # REDESIGNATION REDESIGNATION NOT REDFLBIT = BIT6 # PERMITTED PERMITTED # BIT 5 FLAG 6 = 100D # = BIT5 # OH 2009-05-15 Not in scan # BIT 4 FLAG 6 = 101D # = BIT4 # OH 2009-05-15 Not in scan # BIT 3 FLAG 6 (S) NTARGFLG = 102D # ASTRONAUT DID ASTRONAUT DID NOT # OVERWRITE DELTA OVERWRITE DELTA NTARGBIT = BIT3 # VELOCITY AT TPI VELOCITY # OR TPM (P34,35) # BIT 2 FLAG 6 AUXFLAG = 103D # PROVIDING IDLEFLAG SERVICER WILL SKIP AUXFLBIT = BIT2 # IS NOT SET, SERV- DVMON ON ITS NEXT # ICER WILL EXERCISE PASS EVEN IF THE # DVMON ON ITS NEXT IDLEFLAG IS NOT SET. # PASS. IT WILL THEN SET # AUXFLAG. # BIT 1 FLAG 6 (L) ATTFLAG = 104D # LEM ATTITUDE EXISTS NO LEM ATTITUDE # IN MOON-FIXED AVAILABLE IN MOON- # Page 77 ATTFLBIT = BIT1 # COORDINATES FIXED COORDINATES FLAGWRD7 = STATE +7 # (105-119) # (SET) (RESET) # BIT 15 FLAG 7 (S) ITSWICH = 105D # R34;TPI TIME TO BE TPI HAS BEEN ITSWBIT = BIT15 # COMPUTED COMPUTED # BIT 14 FLAG 7 (S) MANUFLAG = 106D # ATTITUDE MANEUVER NO ATTITUDE MANEUVER # GOING DURING RR DURING RR SEARCH MANUFBIT = BIT14 # SEARCH # BIT 13 FLAG 7 (S) IGNFLAG = 107D # TIG HAS ARRIVED TIG HAS NOT ARRIVED IGNFLBIT = BIT13 # # BIT 12 FLAG 7 (S) ASTNFLAG = 108D # ASTRONAUT HAS ASTRONAUT HAS NOT ASTNBIT = BIT12 # OKAYED IGNITION OKAYED IGNITION # BIT 11 FLAG 7 (L) SWANDISP = 109D # LANDING ANALOG LANDING ANALOG SWANDBIT = BIT11 # DISPLAYS ENABLED DISPLAYS SUPPRESSED # BIT 10 FLAG 7 (S) NORMSW = 110D # UNIT NORMAL INPUT LAMBERT COMPUTES ITS NORMSBIT = BIT10 # TO LAMBERT OWN UNIT NORMAL # BIT 9 FLAG 7 (S) RVSW = 111D # DO NOT COMPUTE COMPUTE FINAL STATE # FINAL STATE VECTOR VECTOR IN TIME-THETA RVSWBIT = BIT9 # IN TIME-DELTA # BIT 8 FLAG 7 (S) V67FLAG = 112D # ASTRONAUT OVERWRITE ASTRONAUT DOES NOT # W-MATRIX INITIAL OVERWRITE W-MATRIX V67FLBIT = BIT8 # VALUES INITIAL VALUES # Page 78 # BIT 7 FLAG 7 (S) IDLEFLAG = 113D # NO DV MONITOR CONNECT DV MONITOR IDLEFBIT = BIT7 # # BIT 6 FLAG 7 (S) V37FLAG = 114D # AVERAGEG (SERVICER) AVERAGEG (SERVICER) V37FLBIT = BIT6 # RUNNING OFF # BIT 5 FLAG 7 (S) AVEGFLAG = 115D # AVERAGEG (SERVICER) AVERAGEG (SERVICER) AVEGFBIT = BIT5 # DESIRED NOT DESIRED # BIT 4 FLAG 7 (S) UPLOCKFL = 116D # K-KBAR-K FAIL NO K-KBAR-K FAIL UPLOCBIT = BIT4 # # BIT 3 FLAG 7 (S) VERIFLAG = 117D # CHANGED WHEN V33E OCCURS AT END OF P27 VERIFBIT = BIT3 # # BIT 2 FLAG 7 (L,C) V82EMFLG = 118D # MOON VICINITY EARTH VICINITY V82EMBIT = BIT2 # # BIT 1 FLAG 7 (S) TFFSW = 119D # CALCULATE TPERIGEE CALCULATE TFF TFFSWBIT = BIT1 # FLAGWRD8 = STATE +8D # (120-134) # (SET) (RESET) # BIT 15 FLAG 8 (S) RPQFLAG = 120D # RPQ NOT COMPUTED RPQ COMPUTED # (RPQ = VECTOR BE- RPQFLBIT = BIT15 # TWEEN SECONDARY BODY # AND PRIMARY BODY) # BIT 14 FLAG 8 = 121D # = BIT14 # # Page 79 # BIT 13 FLAG 8 (S) NEWIFLG = 122D # FIRST PASS THROUGH SUCCEEDING ITERATION NEWIBIT = BIT13 # INTEGRATION OF INTEGRATION # BIT 12 FLAG 8 *** PROTECTED FROM FRESH START *** CMOONFLG = 123D # PERMANENT CSM STATE PERMANENT CSM STATE CMOONBIT = BIT12 # IN LUNAR SPHERE IN EARTH SPHERE # BIT 11 FLAG 8 *** PROTECTED FROM FRESH START *** LMOONFLG = 124D # PERMANENT LM STATE PERMANENT LM STATE LMOONBIT = BIT11 # IN LUNAR SPHERE IN EARTH SPHERE # BIT 10 FLAG 8 (L) FLUNDISP = 125D # CURRENT GUIDANCE CURRENT GUIDANCE FLUNDBIT = BIT10 # DISPLAYS INHIBITED DISPLAYS PERMITTED # BIT 9 FLAG 8 (L) P39/79SW = 126D # P39/79 OPERATING P38/78 OPERATING P39SWBIT = BIT9 # # BIT 8 FLAG 8 *** PROTECTED FROM FRESH START *** SURFFLAG = 127D # LM ON LUNAR SURFACE LM NOT ON LUNAR SURFFBIT = BIT8 # SURFACE # BIT 7 FLAG 8 (S) INFINFLG = 128D # NO CONIC SOLUTION CONIC SOLUTION # (CLOSURE THROUGH EXISTS INFINBIT = BIT7 # INFINITY REQUIRED) # BIT 6 FLAG 8 (S) ORDERSW = 129D # ITERATOR USES 2ND ITERATOR USES 1ST ORDERBIT = BIT6 # ORDER MINIMUM MODE ORDER STANDARD MODE # BIT 5 FLAG 8 (S) APSESW = 130D # RDESIRED OUTSIDE RDESIRED INSIDE # PERICENTER-APOCENTER PERICENTER-APOCENTER APSESBIT = BIT5 # RANGE IN TIME-RADIUS RANGE IN TIME-RADIUS # BIT 4 FLAG 8 (S) COGAFLAG = 131D # NO CONIC SOLUTION -- CONIC SOLUTION # TOO CLOSE TO RECTI- EXISTS (COGA DOES NOT # Page 80 COGAFBIT = BIT4 # LINEAR (COGA OVERFLWS) OVERFLOW) # BIT 3 FLAG 8 (S) = 132D # = BIT3 # OH 2009-05-15 Line not in scan # BIT 2 FLAG 8 (L) INITALGN = 133D # INITIAL PASS THRU SECOND PASS THRU P57 INITABIT = BIT2 # P57 (CHECK RESET-MILLARD) # BIT 1 FLAG 8 (S) 360SW = 134D # TRANSFER ANGLE NEAR TRANSFER ANGLE NOT 360SWBIT = BIT1 # 360 DEGREES NEAR 360 DEGREES FLAGWRD9 = STATE +9D # (135-149) # (SET) (RESET) # BIT 15 FLAG 9 = 135D # = BIT15 # # BIT 14 FLAG 9 (L) FLVR = 136D # VERTICAL RISE NON-VERTICAL RISE FLVRBIT = BIT14 # (ASCENT GUIDANCE) # BIT 13 FLAG 9 = 137D # = BIT13 # OH 2009-05-15 Line not in scan # BIT 12 FLAG 9 (L) FLPC = 138D # NO POSITION CONTROL POSITION CONTROL FLPCBIT = BIT12 # (ASCENT GUIDANCE) # BIT 11 FLAG 9 (L) FLPI = 139D # PRE-IGNITION PHASE REGULAR GUIDANCE FLPIBIT = BIT11 # (ASCENT GUIDANCE) # BIT 10 FLAG 9 (L) FLRCS = 140D # RCS INJECTION MODE MAIN ENGINE MODE FLRCSBIT = BIT10 # (ASCENT GUIDANCE) # BIT 9 FLAG 9 (L) # Page 81 LETABORT = 141D # ABORT PROGRAMS ABORT PROGRAMS LETABBIT = BIT9 # ARE ENABLED ARE NOT ENABLED # BIT 8 FLAG 9 (L) FLAP = 142D # APS CONTINUED ABORT APS ABORT IS NOT A # AFTER DPS STAGING CONTINUATION FLAPBIT = BIT8 # (ASCENT GUIDANCE) # BIT 7 FLAG 9 (L) = 143D = BIT7 # OH 2009-05-15 Line not in scan # BIT 6 FLAG 9 (L) ROTFLAG = 144D # P70 AND P71 WILL P70 AND P71 WILL NOT ROTFLBIT = BIT6 # FORCE VEHICLE FORCE VEHICLE # ROTATION IN THE ROTATION IN THE # PREFERRED DIRECTION PREFERRED DIRECTION # BIT 5 FLAG 9 (S) QUITFLAG = 145D # DISCONTINUE INTEGR. CONTINUE INTEGRATION QUITBIT = BIT5 # # BIT 4 FLAG 9 = 146D # = BIT4 # # BIT 3 FLAG 9 (L) MID1FLAG = 147D # INTEGRAT TO TDEC INTEGRATE TO THE MID1FBIT = BIT3 # THEN-PRESENT TIME # BIT 2 FLAG 9 (L) MIDAVFLG = 148D # INTEGRATION ENTERED INTEGRATION WAS # FROM ONE OF MIDTOAV NOT ENTERED VIA MIDAVBIT = BIT2 # PORTALS MIDTOAV # BIT 1 FLAG 9 (S) AVEMIDSW = 149D # AVETOMID CALLING NO AVETOMID W INTEGR # FOR W.MATRIX INTEGR ALLOW SET UP RM, VN AVEMDBIT = BIT1 # DON'T WRITE OVER RN, PIPTIME # VN,PIPTIME RASFLAG EQUALS FLGWRD10 # WAS ONLY AN INSTALL-ERASTALL FLAG # Page 82 FLGWRD10 = STATE +10D # (150-164) # (SET) (RESET) # BIT 15 FLAG 10 (S) = 150D # = BIT15 # OH 2009-05-15 Line not in scan # BIT 14 FLAG 10 (L,C) INTFLAG = 151D # INTEGRATION IN INTEGRATION NOT IN INTFLBIT = BIT14 # PROGRESS PROGRESS # BIT 13 FLAG 10 (S,L) APSFLAG = 152D # ASCENT STAGE DESCENT STAGE APSFLBIT = BIT13 # *** PROTECTED FROM FRESH START *** # BIT 12 FLAG 10 = 153D # = BIT12 # OH 2009-05-15 Line not in scan # BIT 11 FLAG 10 = 154D # = BIT11 # OH 2009-05-15 Line not in scan # BIT 10 FLAG 10 = 155D # = BIT10 # OH 2009-05-15 Line not in scan # BIT 9 FLAG 10 = 156D # = BIT9 # OH 2009-05-15 Line not in scan # BIT 8 FLAG 10 = 157D # = BIT8 # OH 2009-05-15 Line not in scan # BIT 7 FLAG 10 (L,C) REINTFLG = 158D # INTEGRATION ROUTINE INTEGRATION ROUTINE REINTBIT = BIT7 # TO BE RESTARTED NOT TO BE RESTARTED # BIT 6 FLAG 10 = 159D # = BIT6 # OH 2009-05-15 Line not in scan # BIT 5 FLAG 10 = 160D # = BIT5 # OH 2009-05-15 Line not in scan # Page 83 # BIT 4 FLAG 10 = 161D # = BIT4 # OH 2009-05-15 Line not in scan # BIT 3 FLAG 10 = 162D # = BIT3 # OH 2009-05-15 Line not in scan # BIT 2 FLAG 10 = 163D # = BIT2 # OH 2009-05-15 Line not in scan # BIT 1 FLAG 10 = 164D # = BIT1 # OH 2009-05-15 Line not in scan FLGWRD11 = STATE +11D # (165-179) # (SET) (RESET) # BIT 15 FLAG 11 (L)(R12) LRBYPASS = 165D # BYPASS ALL LANDING DO NOT BYPASS LR LRBYBIT = BIT15 # RADAR UPDATES UPDATES # BIT 14 FLAG 11 = 166D # = BIT14 # # BIT 13 FLAG 11 = 167D # = BIT13 # # BIT 12 FLAG 11 (L)(R12) VXINH = 168D # IF Z VELOCITY DATA UPDATE X AXIS # UNREASONABLE, VELOCITY VXINHBIT = BIT12 # BYPASS X VELOCITY # UPDATE ON NEXT PASS # BIT 11 FLAG 11 (L)(R12) PSTHIGAT = 169D # PAST HIGATE PREHIGATE PSTHIBIT = BIT11 # # BIT 10 FLAG 11 (L)(R12) # Page 84 NOLRREAD = 170D # LANDING RADAR LR NOT REPOSITIONING # REPOSITIONING; NOLRRBIT = BIT10 # BYPASS UPDATE # BIT 9 FLAG 11 (L)(R12) XORFLG = 171D # BELOW LIMIT ABOVE LIMIT DO # INHIBIT X AXIS NOT INHIBIT XORFLBIT = BIT9 # OVERRIDE # BIT 8 FLAG 11 LRINH = 172D # LANDING RADAR UP- LR UPDATES INHIBITED LRINHBIT = BIT8 # DATES PERMITTED BY ASTRONAUT # BY ASTRONAUT # BIT 7 FLAG 11 (L)(R12) VELDATA = 173D # LR VELOCITY LR VELOCITY MEASURE VELDABIT = BIT7 # MEASUREMENT MADE NOT MADE # BIT 6 FLAG 11 (L)(R12) READLR = 174D # OK TO READ LR DO NOT READ LR RANGE READLBIT = BIT6 # RANGE DATA DATA # BIT 5 FLAG 11 (L)(R12) READVEL = 175D # OK TO READ LR DO NOT READ LR READVBIT = BIT5 # VELOCITY DATA VELOCITY DATA # BIT 4 FLAG 11 (L)(R12) RNGEDATA = 176D # LR ALTITUDE LR ALTITUDE MEASURE RNGEDBIT = BIT4 # MEASUREMENT MADE NOT MADE # BIT 3 FLAG 11 SCALBAD = 177D # LR LOW SCALE DISP- LS SCALE DISCRETE SCABBIT = BIT3 # CRETE NOT PRESENT APPEARS OK # WHEN IT SHOULD # BIT 2 FLAG 11 (L)(R12) VFLSHFLG = 178D # LR VELOCITY FAIL LR VEL FAIL LAMP # LAMP SHOULD BE SHOULDN'T FLASH VFLSHBIT = BIT2 # FLASHING # BIT 1 FLAG 11 (L)(R12) # Page 85 HFLSHFLG = 179D # LR ALTITUDE FAIL LR ALTITUDE FAIL HFLSHBIT = BIT1 # LAMP SHOULD BE LAMP SHOULD NOT BE # FLASHING FLASHING RADMODES EQUALS FLGWRD12 # RADAR FLAG WORD FLGWRD12 = STATE +12D # (180-194) WAS RADMODES # (SET) (RESET) # BIT 15 FLAG 12 CDESFLAG = 180D # CONTINUOUS DESIG- LGC CHECKS FOR LOCK- CDESBIT = BIT15 # NATE, LGC COMMANDS ON WHEN ANTENNA # RR REGARDLESS OF BEING DESIGNATED # LOCK-ON # BIT 14 FLAG 12 REMODFLG = 181D # CHANGE IN ANTENNA NO REMODE REQUESTED REMODBIT = BIT14 # MODE BEEN REQUESTED OR OCCURRING # I.E., REMODE # BIT 13 FLAG 12 RCDU0FLG = 182D # RR CDU'S BEING RR CDU'S NOT BEING RCDU0BIT = BIT13 # ZEROED ZEROED # BIT 12 FLAG 12 ANTENFLG = 183D # RR ANTENNA MODE IS RR ANTENNA IN MODE 1 ANTENBIT = BIT12 # MODE 2 # BIT 11 FLAG 12 REPOSMON = 184D # REPOSITION MONITOR. NO REPOSITION TAKING REPOSBIT = BIT11 # RR REPOSITION IS PLACE # TAKING PLACE # BIT 10 FLAG 12 DESIGFLG = 185D # RR DESIGNATE RR DESIGNATE NOT DESIGBIT = BIT10 # REQUESTED OR IN REQUESTED OR IN # PROGRESS PROGRESS # BIT 9 FLAG 12 ALTSCALE = 186D # LR ALTITUDE READING LR ALTITUDE READING ALTSCBIT = BIT9 # IS ON HIGH SCALE IS ON LOW SCALE # Page 86 # BIT 8 FLAG 12 LRVELFLG = 187D # LR VELOCITY DATA NO LR VELOCITY DATA LRVELBIT = BIT8 # FAIL FAIL # BIT 7 FLAG 12 RCDUFAIL = 188D # RR CDU FAIL HAS RR CDU FAIL OCCURRED RCDUFBIT = BIT7 # NOT OCCURRED # BIT 6 FLAG 12 LRPOSFLG = 189D # LANDING RADAR LR POSITION 1 LRPOSBIT = BIT6 # POSITION 2 # BIT 5 FLAG 12 LRALTFLG = 190D # LR ALTITUDE DATA NO LR ALTITUDE DATA LRALTBIT = BIT5 # FAIL. COULD NOT BE FAIL # READ SUCCESSFULLY. # BIT 4 FLAG 12 RRDATAFL = 191D # RR DATA FAIL. NO RR DATA FAIL RRDATABT = BIT4 # DATA COULD NOT BE # READ SUCCESSFULLY # BIT 3 FLAG 12 RRRSFLAG = 192D # RR RANGE READING RR RANGE READING ON RRRSBIT = BIT3 # ON THE HIGH SCALE THE LOW SCALE # BIT 2 FLAG 12 AUTOMODE = 193D # RR NOT IN AUTO MODE. RR IN AUTO MODE AUTOMBIT = BIT2 # AUTO MODE DISCRETE # IS NOT PRESENT # BIT 1 FLAG 12 TURNONFL = 194D # RR TURN-ON SEQUENCE NO RR TURN-ON TURNONBT = BIT1 # IN PROGRESS. (ZERO SEQUENCE IN PROGRESS # CDU'S, FIX ANTENNA # MODE) DAPBOOLS EQUALS FLGWRD13 # DIGITAL AUTOPILOT FLAGWORD # Page 87 FLGWRD13 = STATE +13D # (195-209) WAS DAPBOOLS # (SET) (RESET) # BIT 15 FLAG 13 PULSEFLG = 195D # MINIMUM IMPUSE NOT IN MINIMUM PULSES = BIT15 # COMMAND MODE IN IMPULSE COMMAND MODE # "ATT HOLD" (V76) (V77) # BIT 14 FLAG 13 USEQRFLG = 196D # GIMBAL UNUSABLE. TRIM GIMBAL MAY BE USEQRJTS = BIT14 # USE JETS ONLY. USED. # BIT 13 FLAG 13 CSMDKFLG = 197D # CSM DOCKED. USE CSM NOT DOCKED TO LM CSMDOCKD = BIT13 # BACKUP DAP # BIT 12 FLAG 13 OURRCFLG = 198D # CURRENT DAP PASS CURRENT DAP PASS IS OURRCBIT = BIT12 # IS RATE COMMAND NOT RATE COMMAND # BIT 11 FLAG 13 ACC4-2FL = 199D # 4 JET X-AXIS TRANS- 2 JET X-AXIS TRANS- ACC4OR2X = BIT11 # LATION REQUESTED LATION REQUESTED # BIT 10 FLAG 13 AORBTFLG = 200D # B SYSTEM FOR X- A SYSTEM FOR X- AORBTRAN = BIT10 # TRANSLATION TRANSLATION PREFER'D # BIT 9 FLAG 13 XOVINFLG = 201D # X-AXIS OVERRIDE X-AXIS OVERRIDE OKAY XOVINHIB = BIT9 # LOCKED OUT # BIT 8 FLAG 13 DRIFTDFL = 202D # ASSUME 0 OFFSET USE OFFSET ACCELERA- DRIFTBIT = BIT8 # DRIFTING FLIGHT ION ESTIMATE # BIT 7 FLAG 13 RHCSCFLG = 203D # NORMAL RHC SCALING FINE RHC SCALING RHCSCALE = BIT7 # REQUESTED REQUESTED # Page 88 # BIT 6 FLAG 13 ULLAGFLG = 204D # ULLAGE REQUEST BY NO INTERNAL ULLAGE ULLAGER = BIT6 # MISSION PROGRAM REQUEST # BIT 5 FLAG 13 AORBSFLG = 205D # P-AXIS COUPLES 7.15 P-AXIS COUPLES 4.12 AORBSYST = BIT5 # AND 8.16 PREFERRED AND 3.11 PREFERRED # BIT 4 FLAG 13 DBSELFLG = 206D # MAX DB SELECTED MIN DB SELECTED BY DBSELECT = BIT4 # BY CREW (5 DEG) CREW (0.3 DEG) # BIT 3 FLAG 13 ACCOKFLG = 207D # CONTROL AUTHORITY RESTART OR FRESH ST. ACCSOKAY = BIT3 # VALUES FROM 1/ACCS SINCE LAST 1/ACCS; # USABLE OUTPUTS SUSPECT. # BIT 2 FLAG 13 AUTR2FLG = 208D # THESE FLAGS ARE USED TOGETHER TO INDICATE AUTRATE2 = BIT2 # ASTRONAUT-CHOSEN KALCMANU MANEUVER RATES # (0,0)=(BIT2,BIT1)= 0.2 DEG/SEC # BIT 1 FLAG 13 # (0,1)= 0.5 DEG/SEC AUTR1FLG = 209D # (1,0)= 2.0 DEG/SEC AUTRATE1 = BIT1 # (1,1)= 10.0 DEG/SEC # Page 89 (nothing on this page) ================================================ FILE: Luminary099/FRESH_START_AND_RESTART.agc ================================================ # Copyright: Public domain. # Filename: FRESH_START_AND_RESTART.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Hartmuth Gutsche . # Website: www.ibiblio.org/apollo. # Pages: 211-237 # Mod history: 2009-05-19 HG Transcribed from page images. # 2010-12-31 JL Fixed page number comments. # 2011-01-06 JL Fixed pseudo-label indentation. # 2011-01-06 JL Added missing comment characters. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 211 BANK 10 SETLOC FRANDRES BANK EBANK= LST1 COUNT* $$/START # FRESH AND RESTART SLAP1 INHINT # FRESH START. COMES HERE FROM PINBALL. TC STARTSUB # SUBROUTINE DOES MOST OF THE WORK STARTSW TCF SKIPSIM # PATCH....TCF STARTSIM FOR SIMULATION STARTSIM CAF BIT14 TC FINDVAC SIM2CADR OCT 77777 # PATCH 2CADR (AND EBANK DESIGNATION) OF OCT 77777 # SIMULATION START ADDRESS. SKIPSIM CA DSPTAB +11D # TURN OFF ALL DSPTAB +11D LAMPS MASK BITS4&6 # EXCEPT THE GIMBAL LOCK & NO ATT ONLY ON AD BIT15 # REQUESTED FRESH START. TS DSPTAB +11D CA BIT12 # INITIALIZE DOWNLINK EARASABLE MEMORY TS DUMPCNT # DUMP FOR ONE PASS CA ZERO TS ERCOUNT TS FAILREG TS FAILREG +1 TS FAILREG +2 TS REDOCTR CS PRIO12 TS DSRUPTSW DOFSTART CAF BIT14 # INSURE ENGINE IS OFF. EXTEND WRITE DSALMOUT CS ZERO TS THRUST DOFSTRT1 CAF FOUR TS RCSFLAGS # INITIALIZE ATTITUDE ERROR DISPLAYS. CA PRIO30 TS RESTREG # SUPER BANK PRIORITY FOR DISPLAYS. CA ZERO TS ABDELV # DAP INITIALIZATION TS NVSAVE TS EBANKTEM # Page 212 TS CH5MASK TS CH6MASK TS PVALVEST # FOR RCS FAILURE MONITOR TS ERESTORE # ***** MUST NOT BE REMOVED FROM DOFSTART TS SMODE # ***** MUST NOT BE REMOVED FROM DOFSTART TS DNLSTCOD # SELECT P00 DOWNLIST TS AGSWORD # ALLOW AGS INITIALIZATION TS UPSVFLAG # ZERO UPDATE STATE VECTOR REQUEST FLAGWRD EXTEND WRITE CHAN5 # TURN OFF RCS JETS. EXTEND WRITE CHAN6 # TURN OFF RCS JETS. EXTEND WRITE CHAN12 EXTEND WRITE CHAN13 EXTEND WRITE CHAN14 CS DSPTAB +11D MASK BITS4&6 CCS A TC +4 CA BITS4&6 EXTEND # THE IMU WAS IN COARSE ALIGN IN GIMBAL WOR CHAN12 # LOCK, SO PUT IT BACK INTO COARSE ALIGN. +4 TC MR.KLEAN CS ZERO TS MODREG CAF IM30INIF # FRESH START IMU INITIALIZATION TS IMODES30 CAF MAXDB TS DB CAF FOUR TS RATEINDX # INITIALZE KALCMANU RATE CA BOOLSTRT TS DAPBOOLS CAF EBANK6 TS EBANK EBANK= HIASCENT CA STIKSTRT TS STIKSENS CA RATESTRT TS -RATEDB CAF FULLAPS # INITIALIZE MAXIMUM ASCENT MASS FOR USE TS HIASCENT # BY 1/ACCS UNTIL THE PAD LOAD IS DONE. CA 77001OCT # LOAD DAP FILTER GAINS PAD LOAD. # Page 213 TS DKTRAP # TO BEST PRESENT ESTIMATE OF GOODIES TS LMTRAP # .14 DEG CA 60DEC TS DKKAOSN TS LMKAOSN # 6 SEC GAIN FOR ALPHA CA ZERO TS LMOMEGAN # UNITY GAIN CA TEN TS DKOMEGAN # 1 SEC GAIN FOR OMEGA CAF BIT8 # SET DOCKED DB TO 1.4 DEG. MAY OVERWRITE TS DKDB # WITH PAD LOAD. CAF IM33INIT AD BIT6 # KEEP BOTH DAP AND ERROR-NEEDLES DISPLAY TS IMODES33 # OFF UNTIL ICDU ZERO IS FINISHED. EXTEND # INITIALIZE SWITCHES ONLY ON FRESH START. DCA SWINIT DXCH STATE CA SWINIT +2 TS STATE +2 CA REFSMBIT # DO NOT ALTER REFSMFLG ON FRESH START. MASK STATE +3 AD SWINIT +3 TS STATE +3 EXTEND DCA SWINIT +4 DXCH STATE +4 EXTEND DCA SWINIT +6 DXCH STATE +6 CA SURFFBIT # DO NOT ALTER SURFFLAG ON FRESH START. AD CMOONBIT # CMOONFLG AD LMOONBIT # LMOONFLG MASK STATE +8D AD SWINIT +8D TS STATE +8D CA SWINIT +9D TS STATE +9D CA APSFLBIT # DO NOT ALTER APSFLAG ON FRESH START. MASK STATE +10D AD SWINIT +10D TS STATE +10D CAF SWINIT +11D TS STATE +11D ENDRSTRT TC POSTJUMP # NOW IN ANOTHER BANK. CADR DUMMYJOB +2 # PICKS UP AT RELINT. (DON'T ZERO NEWJOB) MR.KLEAN INHINT # Page 214 EXTEND DCA NEG0 DXCH -PHASE2 P00KLEAN EXTEND DCA NEG0 DXCH -PHASE4 V37KLEAN EXTEND DCA NEG0 DXCH -PHASE1 EXTEND DCA NEG0 DXCH -PHASE3 EXTEND DCA NEG0 DXCH -PHASE5 EXTEND DCA NEG0 DXCH -PHASE6 TC Q # Page 215 # COMES HERE FROM LOCATION 4000, GOJAM, RESTART ANY PROGRAMS WHICH MAY HAVE BEEN RUNNING AT THE TIME. EBANK= LST1 GOPROG INCR REDOCTR # ADVANCE RESTART COUNTER. LXCH Q EXTEND ROR SUPERBNK DXCH RSBBQ CA DSPTAB +11D MASK BIT4 EXTEND BZF +4 AD BIT6 # SET ERROR COUNTER ENABLE EXTEND WOR CHAN12 # ISS WAS IN COARSE ALIGN SO GO BACK TO BUTTONS TC LIGHTSET # ERASCHK TEMPORARILY STORES THE CONTENST OF TWO ERASABLE LOCATIONS, X # AND X+1 INTO SKEEP5 AND SKEEP6. IT ALSO STORES X INTO SKEEP7 AND # ERESTORE. IF ERASCHK IS INTERRUPTED BY A RESTART, C(ERESTORE) SHOULD # EQUAL C(SKEEP7), AND SHOULD BE A + NUMBER LESS THAN 2000 OCT. OTHERWISE # C(ERESTORE) SHOULD EQUAL +0. CAF HI5 MASK ERESTORE EXTEND BZF +2 # IF ERESTORE NOT = +0 OR +N LESS THAN 2K, TCF NONAVKEY +3 # DO FRESH START -- E MEMORY MIGHT BE BAD CS ERESTORE EXTEND BZF DORSTART # = +0 CONTINUE WITH RESTART. AD SKEEP7 EXTEND BZF +2 # = SKEEP7, RESTORE E MEMORY. TCF NONAVKEY +3 # DO FRESH START -- E MEMORY MIGHT BE BAD CA SKEEP4 TS EBANK # EBANK OF E MEMORY THAT WAS UNDER TEST. EXTEND # (NOT DXCH SINCE THIS MIGHT HAPPEN AGAIN) DCA SKEEP5 INDEX SKEEP7 DXCH 0000 # E MEMORY RESTORED CA ZERO TS ERESTORE DORSTART TC STARTSUB # DO INITIALIZATION AFTER ERASE RESTORE. SETINFL CS INTFLBIT MASK FLGWRD10 TS FLGWRD10 # Page 216 CA 9,6,4 # LEAVE PROG ALARM, GIMBAL LOCK, NO ATT MASK DSPTAB +11D # LAMPS INTACT ON HARDWARE RESTART AD BIT15 XCH DSPTAB +11D CAF IFAILINH # LEAVE IMU FAILURE INHIBITS INTACT ON MASK IMODES30 # HARDWARE RESTART, RESET ALL FAILURE AD IM30INIR # CODES. TS IMODES30 CA AGSWORD # BE SURE OF CORRECT DOWNLIST TS DNLSTCOD CA BIT4 # TURN ON THROTTLE COUNTER EXTEND WOR CHAN14 # TURN ON THRUST DRIVE CS FLAGWRD5 MASK ENGONBIT CCS A TCF +5 CAF BIT13 EXTEND WOR DSALMOUT # TURN ENGINE ON TCF GOPROG3 +5 CAF BIT14 EXTEND WOR DSALMOUT # TURN ENGINE OFF TCF GOPROG3 ENEMA INHINT TC STARTSB1 TCF GOPROG2A GOPROG2 TC STARTSB2 GOPROG2A TC LIGHTSET CS RSFLGBTS # CLEAR BITS 7 AND 14. MASK FLGWRD10 TS FLGWRD10 GOPROG3 CAF NUMGRPS # VERIFY PHASE TABLE AGREEMENTS PCLOOP TS MPAC +5 DOUBLE EXTEND INDEX A DCA -PHASE1 # COMPLEMENT INTO A, DIRECT INTO L. EXTEND RXOR LCHAN # RESULT MUST BE -0 FOR AGREEMENT. CCS A TCF PTBAD # RESTART FAILURE. TCF PTBAD TCF PTBAD # Page 217 CCS MPAC +5 # PROCESS ALL RESTART GROUPS. TCF PCLOOP TS MPAC +6 # SET TO +0. TC MMDSPLAY # DISPLAY MAJOR MODE INHINT # RELINT DONE IN MMDSPLAY CS DIDFLBIT # CLEAR DIDFLAG IN ORDER TO FORCE R10 TO MASK FLAGWRD1 # RE-INITIALIZE ITSELF IF IT HAD BEEN TS FLAGWRD1 # OPERATION AT THE TIME OF THE RESTART. CS RODFLBIT # CLEAR RODFLAG. IF P66 IS IN OPERATION MASK FLAGWRD1 # IT WILL RE-INITIALIZE ITSELF AND TS FLAGWRD1 # CONTINUE. CS P21FLBIT # CLEAR P21 FLAG SO THAT P21 WILL COMPUTE MASK FLAGWRD0 # NEW BASE STATE VECTORS. TS FLAGWRD0 CAF NUMGRPS # SEE IF ANY GROUPS RUNNING. NXTRST TS MPAC +5 DOUBLE INDEX A CCS PHASE1 TCF PACTIVE # PNZ -- GROUP ACTIVE. TCF PINACT # +0 -- GROUP NOT RUNNING. PACTIVE TS MPAC INCR MPAC # ABS OF PHASE. INCR MPAC +6 # INDICATE GROUP DEMANDS PRESENT. CA RACTCADR TC SWCALL # MUST RETURN TO SWRETURN. PINACT CCS MPAC +5 # PROCESS ALL RESTART GROUPS. TCF NXTRST CCS MPAC +6 # NO, CHECK PHASE ACTIVITY FLAG TCF ENDRSTRT # PHASE ACTIVE CAF BIT15 # IS MODE -0 MASK MODREG EXTEND BZF GOTOPOOH # NO TCF ENDRSTRT # YES PTBAD TC ALARM # SET ALARM TO SHOW PHASE TABLE FAILURE. OCT 1107 TCF DOFSTRT1 #******** ****** ****** # Page 218 # DO NOT USE GOPROG2 OR ENEMA WITHOUT CONSULTING POOH PEOPLE. OCT10000 = BIT13 OCT30000 = PRIO30 OCT7777 OCT 7777 STIKSTRT DEC 0.825268 # 20 D/S MAXIMUM COMPANDED RATE RATESTRT DEC -218 RACTCADR CADR RESTARTS BOOLSTRT OCT 21312 77001OCT OCT 77001 # .14 DEG SCALED AT 4.5 DEG 60DEC DEC 60 RSFLGBTS OCT 20100 MAXDB OCTAL 03434 # 5 DEG ATTITUDE DEADBAND, SCALED AT 45. LIGHTSET CAF BIT5 # CHECK FOR MARK REJECT AND ERROR RESET EXTEND RAND NAVKEYIN EXTEND BZF NONAVKEY # NO MARK REJECT EXTEND READ MNKEYIN # CHECK IF KEYS 2M AND 5M ON AD -ELR # MAIN DSKY KEYCODE (BITS 1-5) EXTEND BZF +2 NONAVKEY TC Q TC STARTSUB TCF DOFSTART +3 TC STARTSUB TCF DOFSTRT1 # DO FRESH START BUT DON'T TOUCH ENGINE # Page 219 # INITIALIZATION COMMON TO BOTH FRESH START AND RESTART. EBANK= AOSQ STARTSUB CAF LDNPHAS1 # SET POINTER SO NEXT 20MS DOWNRUPT WILL TS DNTMGOTO # CAUSE THE CURRENT DOWNLIST TO BE # INTERRUPTED AND START SENDING FROM THE # BEGINNING OF THE CURRENT DOWNLIST. CAF BIT6 EXTEND RAND CHAN33 AD RMODINIT TS RADMODES STARTSB1 CAF POSMAX TS TIME3 AD MINUS2 TS TIME4 AD NEGONE TS TIME5 CAF EBANK6 TS EBANK CS BIT13 # CAUSE DAPIDLER TO CALL 1/ACCS MASK RCSFLAGS TS RCSFLAGS # ZERO BIT 13 CAF POSMAX # DISABLE TIME6 CLOCK. JUST IN CASE A T6 TS T6NEXT # RUPT IS ALREADY IN THE PRIORITY CHAIN, EXTEND # ENSURE THAT ITS INPUTS WILL RENDER IT WAND CHAN13 # INEFFECTUAL. CAF ZERO TS NXT6ADR TS NEXTP CS ACCSOKAY MASK DAPBOOLS TS DAPBOOLS EXTEND # SET T5RUPT FOR DAPIDLER PROGRAM. DCA IDLEADR DXCH T5ADR STARTSB2 CAF OCT30001 # DURING SOFTWARE RESTART, DO NOT DISTURB EXTEND # ENGINE ON, OFF AND ISS WARNING. WAND DSALMOUT CS READRBIT # CLEAR READRFLG FOR R29 MASK FLAGWRD3 TS FLAGWRD3 # Page 220 CS FLAGWRD3 # DURING SOFTWARE RESTART, CLEAR TURNON, MASK NR29FBIT # REPOSITION, CDU ZERO AND REMODE BITS EXTEND # IN RADMODES, SINCE TASKS ASSOCIATED BZF +2 # WITH THESE BITS HAVE BEEN KILLED CAF BIT10 # ALSO IF R29 HAD BEEN REQUESTED. AD OCT32001 # (NOR29FLG = 0) CLEAR BIT 10 RADMODES COM # TO MAKE R29 FORGET IT HAD STARTED MASK RADMODES # DESIGNATING TS RADMODES CAF OCT27470 # DURING SOFTWARE RESTART, DO NOT DISTURB EXTEND # IMU FLAGS. (COARSE ALIGN ENABLE, ZERO WAND CHAN12 # IMU CDUS, ENABLE IMU COUNTER) AND GIMBAL # TRIM DRIVES. LEAVE RR LOCKON ENABLE # ALONE. CS NORRMBIT # ENABLE R25. MASK FLAGWRD5 TS FLAGWRD5 CS R77FLBIT # CLEAR R77FLAG MASK FLAGWRD5 TS FLAGWRD5 CAF OCT74160 # DURING SOFTWARE RESTART, DO NOT DISTURB EXTEND # TELEMETRY FLAGS, RESET TRAP FLAGS, AND WAND CHAN13 # ENABLE T6RUPT FLAG. CAF BIT12 # REENABLE RUPT10 (RUPT QUICKLY EXTEND # RESUMES EXCEPT DURING P64) WOR CHAN13 CAF BIT6 # DURING SOFTWARE RESTART, DO NOT DISTURB EXTEND # GYRO ENABLE FLAG. WAND CHAN14 EBANK= LST1 CAF STARTEB TS EBANK # SET FOR E3 CAF NEG1/2 # INITIALIZE WAITLIST DELTA-TS. TS LST1 +7 TS LST1 +6 TS LST1 +5 TS LST1 +4 TS LST1 +3 TS LST1 +2 TS LST1 +1 TS LST1 CS ENDTASK TS LST2 # Page 221 TS LST2 +2 TS LST2 +4 TS LST2 +6 TS LST2 +8D TS LST2 +10D TS LST2 +12D TS LST2 +14D TS LST2 +16D CS ENDTASK +1 TS LST2 +1 TS LST2 +3 TS LST2 +5 TS LST2 +7 TS LST2 +9D TS LST2 +11D TS LST2 +13D TS LST2 +15D TS LST2 +17D CS ZERO # MAKE ALL EXECUTIVE REGISTER SETS TS PRIORITY # AVAILABLE. TS PRIORITY +12D TS PRIORITY +24D TS PRIORITY +36D TS PRIORITY +48D TS PRIORITY +60D TS PRIORITY +72D TS PRIORITY +84D TS DSRUPTSW TS NEWJOB # SHOWS NO ACTIVE JOBS. CAF VAC1ADRC # MAKE ALL VAC AREAS AVAILABLE. TS VAC1USE AD LTHVACA TS VAC2USE AD LTHVACA TS VAC3USE AD LTHVACA TS VAC4USE AD LTHVACA TS VAC5USE CAF TEN DSPOFF TS MPAC # R1, R2, R3 CS BIT12 INDEX MPAC TS DSPTAB CCS MPAC TCF DSPOFF # Page 222 TS DELAYLOC TS DELAYLOC +1 TS DELAYLOC +2 TS R1SAVE TS INLINK TS DSPCNT TS CADRSTOR TS REQRET TS CLPASS TS DSPLOCK TS MONSAVE # KILL MONITOR TS MONSAVE1 TS VERBREG TS NOUNREG TS DSPLIST TS MARKSTAT TS EXTVBACT # MAKE EXTENDED VERBS AVAILABLE TS IMUCADR TS OPTCADR TS RADCADR TS ATTCADR TS LGYRO TS FLAGWRD4 # KILL INTERFACE DISPLAYS CAF NOUTCON TS NOUT CS ONE TS SAMPLIM CAF BIT6 MASK IMODES33 # LEAVE BIT 6 UNCHANGED AD IM33INIT # NO PIP OR TM FAILS. BIT6=0 IN THIS WORD. TS IMODES33 CAF LESCHK # SELF CHECK GO-TO REGISTER. TS SELFRET CS VD1 TS DSPCOUNT TC Q EBANK= AOSQ IDLEADR 2CADR DAPIDLER IFAILINH OCT 435 LDNPHAS1 GENADR DNPHASE1 LESCHK GENADR SELFCHK VAC1ADRC ADRES VAC1USE OCT32001 OCT 32001 LTHVACA DEC 44 # Page 223 OCT27470 OCT 27470 OCT74160 OCT 74160 OCT30001 OCT 30001 STARTEB EQUALS EBANK3 NUMGRPS EQUALS FIVE -ELR OCT -22 # -ERROR LIGHT RESET KEY CODE. IM30INIF OCT 37411 # INHIBITS IMU FAIL FOR 5 SEC AND PIP ISSW IM30INIR OCT 37000 IM33INIT = PRIO16 # NO PIP OR TM FAIL SIGNALS. 9,6,4 OCT 450 RMODINIT OCT 00102 SWINIT OCT 0 OCT 0 OCT 0 OCT 02000 # BIT 11 = NOR29FLG OCT 0 OCT 0 OCT 0 OCT 00100 OCT 0 OCT 0 OCT 0 OCT 40000 # BIT 15 = LRBYPASS. # Page 224 # PROGRAM NAME GOTOPOOH ASSEMBLY SUNDANCE # LOG SECTION FRESH START AND RESTART # # FUNCTIONAL DESCRIPTION # # FLASH V 37 ON DSKY MM CHANGE REQUEST # # INPUT/OUTPUT INFORMATION # # A. CALLING SEQUENCE TC GOTOPOOH # B. ERASABLE INITIALIZATION NONE # C. OUTPUT FLASH V 37 ON DSKY # D. DEBRIS L # # PROGRAM ANALYSIS # # A. SUBROUTINES CALLED PRIODSPR, LINUS # B. NORMAL EXIT TCF ENDOFJOB # C. ALARM AND ABORT EXITS NONE BLOCK 03 SETLOC FFTAG5 BANK COUNT* $$/P00 GOTOPOOH CAF OCT33 # 4.33 SPOT FOR GOP00FIX TS L COM DXCH -PHASE4 TC POSTJUMP CADR GOP00FIX OCT24 MM 20 OCT31 MM 25 BANK 20 SETLOC VERB37 BANK COUNT* $$/P00 # VERB 37 AND P00 IN BANK 4. GOP00FIX TC DOWNFLAG # ALLOW X-AXIS OVERRIDE ADRES XOVINFLG TC DOWNFLAG # INSURE THAT ULLAGE IS OFF ADRES ULLAGFLG # Page 225 TC CLEARMRK +2 # RELEASE MARK DISPLAY SYSTEM. CAF V37N99 TC BANKCALL CADR GOFLASH TCF -3 TCF -4 TCF -5 V37N99 VN 3799 # Page 226 # PROGRAM NAME V37 ASSEMBLY SUNDANCE # # LOG SECTION FRESH START AND RESTART # # FUNCTIONAL DESCRIPTION # # 1. CHECK IF NEW PROGRAM ALLOWED. IF BIT 1 OF FLAGWRD2 (NODOFLAG) IS SET, AN ALARM 1520 IS CALLED. # 2. CHECK FOR VALIDITY OF PROGRAM SELECTED. IF AN INVALID PROGRAM IS SELECTED, THE OPERATOR ERROR LIGHT IS # SET AND CURRENT ACTIVITY, IF ANY, CONTINUE. # 3. SERVICER IS TERMINATED IF IT HAS BEEN RUNNING. # 4. INSTALL IS EXECUTED TO AVOID INTERRUPTING INTEGRATION. # 5. THE ENGINE IS TURNED OFF AND THE DAP IS INITIALIZED FOR COAST. # 6. TRACK AND UPDATE FLAGS ARE SET TO ZERO. # 7. DISPLAY SYSTEM IS RELEASED. # 8. THE FOLLOWING ARE PERFORMED FOR EACH OF THE THREE CASES. # A. PROGRAM SELECTED IS P00 # 1. RENDEZVOUS AND P25 FLAGS ARE RESET. (KILL P20 AND P25) # 2. STATINT1 IS SCHEDULED BY SETTING RESTART GROUP 2. # 3. MAJOR MODE 00 IS STORED IN THE MODE REGISTER (MODREG). # 4. SUPERBANK 3 IS SELECTED. # 5. NODOFLAG IS RESET. # 6. ALL RESTART GROUPS EXCEPT GROUP2 ARE CLEARED. CONTROL IS TRANSFERRED TO RESTART PROGRAM (GOPROG2) # WHICH CAUSES ALL CURRENT ACTIVITY TO BE DISCONTINUED AND A 9 MINUTE INTEGRATION CYCLE TO BE # INITIATED. # B. PROGRAM SELECTES IS P20 OR P25. # 1. IF THE CURRENT MAJOR MODE IS THE SAME AS THE SELECTED NEWPROGRAM. THE PROGRAM IS RE-INITIALIZED # VIA V37XEQ, ALL RESTART GROUPS, EXCEPT GROUP 4 ARE CLEARED. # 2. IF THE CURRENT MAJOR MODE IS NOT EQUAL TO THE NEW REQUEST, A CHECK IS MADE TO SEE IF THE REQUEST- # ED MAJOR MODE HAS BEEN RUNNING THE BACKGROUND, # AND IF IT HAS, NO NEW PROGRAM IS SCHEDULED, THE EXISTING # P20 OR P25 IS RESTARTED TO CONTINUE, AND ITS MM IS SET. # 3. CONTROL IS TRANSFERRED TO GOPROG2. # C. PROGRAM SELECTED IS NEITHER P00, P20, NOR P25 # 1. V37XEQ IS SCHEDULED (AS A JOB) BY SETTING RESTART GROUP 4 # 2. ALL CURRENT ACTIVITY EXCEPT RENDEZVOUS AND TRACKING IS DISCONTINUED BY CLEARING ALL RESTART # GROUPS. IF THE RENDEZVOUS OR THE P25 FLAG IS ON, GROUP 2 IS NOT CLEARED, ALLOWING THESE PROGRAMS # TO CONTINUE. # # INPUT/OUTPUT INFORMATION # # A. CALLING SEQUENCE # CONTROL IS DIRECTED TO V37 BY THE VERBFAN ROUTINE. # VERBFAN GOES TO C(VERBTAB+C(VERBREG)). VERB 37 = MMCHANG. # MMCHANG EXECUTES A `TC POSTJUMP', CADR V37. # # B. ERASABLE INITIALIZATION NONE # # C. OUTPUT # Page 227 # MAJOR MOD CHANGE # # D. DEBRIS # MMNUMBER, MPAC +1, MINDEX, BASETEMP +C(MINDEX), FLAGWRD0, FLAGWRD1, FLAGWRD2, MODREG, GOLOC -1, # GOLOC, GOLOC +1, GOLOC +2, BASETEMP, -PHASE2, PHASE2, -PHASE4 # # PROGRAM ANALYSIS # # A. SUBROUTINES CALLED # ALARM, RELDSP, PINBRNCH, INTSTALL, ENGINOF2, ALLCOAST, V37KLEAN, GOPROG2, FALTON, FINDVAC, SUPERSW, # DSPMM # # B. NORMAL EXIT TC ENDOFJOB # # C. ALARMS 1520 (MAJOR MODE CHANGE NOT PERMITTED) V37 TS MMNUMBER # SAVE MAJOR MODE CAF PRIO30 # RESTART AT PINBALL PRIORITY TS RESTREG CA IMODES30 # IS IMU BEING INITIALIZED MASK BIT6 CCS A TCF CANTROD CS MMNUMBER # IS P70 REQUESTED? AD DEC70 EXTEND BZF SETUP70 # YES AD ONE # IS P71 REQUESTED? EXTEND BZF SETUP71 # YES CA MMNUMBER # IS NEW REQUEST P00 EXTEND BZF ISSERVON # YES, CHECK SERVICER STATUS CS FLAGWRD2 # NO, IS NODO V37 FLAG SET MASK NODOBIT CCS A TCF CHECKTAB # NO CANTROD TC ALARM OCT 1520 V37BAD TC RELDSP # RELEASES DISPLAY FROM ASTRONAUT TC POSTJUMP # BRING BACK LAST NORMAL DISPLAY IF THERE CADR PINBRNCH # WAS ONE. OTHERWISE DO AN EOJ. CHECKTAB CA NOV37MM # INDEX FOR MM TABLES. # Page 228 AGAINMM TS MPAC +1 NDX MPAC +1 CA PREMM1 # OBTAIN WHICH MM THIS IS FOR MASK LOW7 COM AD MMNUMBER CCS A CCS MPAC +1 # IF GR, SEE IF ANY MORE IN LIST TCF AGAINMM # YES, GET NEXT ONE TCF V37NONO # LAST TIME OR PASSED MM CA MPAC +1 TS MINDEX # SAVE INDEX FOR LATER ISSERVON CS FLAGWRD7 # V37 FLAG SET -- I.E., IS SERVICER GOING MASK V37FLBIT CCS A TCF CANV37 # NO TC DOWNFLAG # YES, TURN OFF THE AVERAGE FLAG AND ADRES AVEGFLAG # WAIT FOR SERVICER TO RETURN TO CANV37 CAF V37RETAD TS OUTROUTE TCF ENDOFJOB V37RET CS FLAGWRD0 # IS P20 OR P22 RUNNING? MASK RNDVZBIT CCS A TCF +2 # NO. CHECK FOR P25. TCF 2.7SPT # YES. DO 2.7SPOT CS FLAGWRD0 # IS P25 RUNNING? MASK P25FLBIT CCS A 2.0SPT CA OCT37667 2.11SPT AD BIT5 2.7SPT AD OCT40072 TC PHSCHNGA CANV37 CAF ZERO EXTEND WRITE SUPERBNK CAF R00AD TS TEMPFLSH TC PHASCHNG OCT 14 # Page 229 R00 TC INTPRET CALL # WAIT FOR INTEGRATION TO FINISH INTSTALL DUMMYAD EXIT TC DOWNFLAG ADRES 3AXISFLG # RESET 3-AXIT FLAG CAF LRBYBIT # CLEAN UP THE R12 FLAGWORD. TS FLGWRD11 TC DOWNFLAG # INSURE THAT THE R04FLAG IS CLEAR. ADRES R04FLAG TC DOWNFLAG # INSURE MUNFLAG IS CLEAR. ADRES MUNFLAG TC DOWNFLAG # ALLOW X-AXIS OVERRIDE. ADRES XOVINFLG CCS MMNUMBER # IS THIS A POOH REQUEST TCF NOUVEAU # NO, PICK UP NEW PROGRAM POOH TC RELDSP # RELEASE DISPLAY SYSTEM CAF PRIO5 # SET VARIABLE RESTART PRIORITY FOR TS PHSPRDT2 # P00 INTEGRATION. TC CLRADMOD # CLRADMOD DOES AN INHINT. CS NODOBIT # TURN OFF NODOFLAG. MASK FLAGWRD2 TS FLAGWRD2 CA FIVE # SET RESTART FOR STATEINT1 TS L COM DXCH -PHASE2 CS OCT700 # TURN OFF P20, P25, IMU IN USE FLAG MASK FLAGWRD0 TS FLAGWRD0 # REMDFLG CAF DNLADP00 SEUDOP00 TS DNLSTCOD # SET UP APPROPRIATE DOWNLIST CODE TS AGSWORD # (CURRENT LIST WILL BE COMPLETED BEFORE # NEW ONE IS STARTED) TC IBNKCALL CADR ENGINOF1 # Page 230 TC IBNKCALL # INSURE ALLCOAST. CADR ALLCOAST # DOES A RESTORDB. CS OCT120 # TURN OFF TRACK, UPDATE FLAGS TS EBANKTEM MASK FLAGWRD1 TS FLAGWRD1 TC IBNKCALL # KILL GROUPS 1,3,5,6 CADR V37KLEAN CCS MMNUMBER # IS IT POOH TCF RENDV00 # NO GOMOD TC IBNKCALL # REDUNDANT EXCEPT FOR GROUP 4 CADR P00KLEAN CA MMNUMBER TS MODREG GOGOPROG TC POSTJUMP CADR GOPROG2 RENDV00 CS MODREG # IS CURRENT PROGRAM 22 AD OCT26 EXTEND BZF RESET22 # YES -- CLEAR RENDEZVOUS FLAG CS MMNUMBER # IS NE PROGRAM P22 AD OCT26 EXTEND BZF RESET22 AD NEG2 # IS NEW PROGRAM = P20 OR P25 EXTEND BZF RENDN00 # YES AD FIVE # 25 EXTEND BZF RENDN00 # YES CA OCT500 # NO, IS EITHER P20 OR P25 RUNNING MASK FLAGWRD0 CCS A TCF P00FIZZ # YES, LEAVE GROUP 2 TO PICK UP P20 OR P25 RESET22 CS OCT700 # CLEAR RENDEZVOUS, P25 MASK FLAGWRD0 # AND IMU IN USE FLAGS TS FLAGWRD0 TC CLRADMOD # Page 231 KILL2 EXTEND # NO, KILL 2 DCA NEG0 DXCH -PHASE2 P00FIZZ CAF V37QCAD # RESTART POINT FOR V37XEQ TS TEMPFLSH TCF GOGOPROG RENDN00 CS MODREG AD OCT24 EXTEND BZF KILL2 # P20 OR P25 ON TOP OF P20 OR P25 -- AD FIVE EXTEND BZF KILL2 CA OCT500 MASK FLAGWRD0 AD MMNUMBER COM AD P20REG # IS IT 20 AND IS RENDEZVOUS FLAG ON EXTEND BZF STATQUO # YES AD OCT305 # IS IT 25 AND IS P25 BIT ON EXTEND BZF STATQUO # YES, LEAVE AS IS TCF KILL2 STATQUO CS FLAGWRD1 # SET TRACKFLAG MASK OCT120 # UPDATE FLAG ADS FLAGWRD1 TCF GOMOD NOUVEAU CAF OCT500 # IS P20 OR P25 FLAG SET MASK FLAGWRD0 CCS A TCF +3 # YES TC DOWNFLAG # NO, RESET IMUINUSE FLAG ADRES IMUSE INDEX MINDEX CAF DNLADMM1 # OBTAIN APPROPIRATE DOWNLIST ADDRESS INHINT TCF SEUDOP00 V37NONO TC FALTON # COME HERE IF MM REQUESTED DOESN'T EXIST # Page 232 TCF V37BAD OCT00010 EQUALS BIT4 OCT500 OCT 500 # BITS 7 AND 9 OCT305 OCT 305 OCT26 OCT 26 P20REG OCT 124 V37XEQ INHINT INDEX MINDEX CAF PREMM1 # OBTAIN PRIO, EBANK, AND MM TS MMTEMP TS CYR # SHIFT RIGHT TO BITS 14-10 CA CYR MASK PRIO37 TS PHSPRDT4 # PRESET GROUP 4 RESTART PRIORITY TS NEWPRIO # STORE PRIO FOR SPVAC CA MMTEMP # OBTAIN EBANK -- BITS 8, 9, 10 OF MMTEMP. EXTEND MP BIT8 MASK LOW3 TS L INDEX MINDEX CAF FCADRMM1 TS BASETEMP # MAKE BBCON BY ADDING HI5 OR FCADR MASK HI5 ADS L CA BASETEMP # OBTAIN GENADR PORTION OF 2CADR. MASK LOW10 AD BIT11 TC SPVAC V37XEQC CA MMTEMP # UPON RETURN FROM FINDVAC PLACE THE MASK LOW7 # NEW MM IN MODREG (THE LOW 7 BITS OF TC NEWMODEA # PHSPRDT1) TC RELDSP # RELEASE DISPLAY TC ENDOFJOB # AND EXIT NEG7 EQUALS OCT77770 MMTEMP EQUALS PHSPRDT3 BASETEMP EQUALS TBASE4 V37QCAD CADR V37XEQ +3 R00AD CADR DUMMYAD # Page 233 V37RETAD CADR V37RET OCT37667 OCT 37667 OCT40072 OCT 40072 OCT700 OCT 700 SETUP71 CAF THREE SETUP70 TS Q EXTEND DCA P70CADR AD Q DTCB DEC70 DEC 70 EBANK= R P70CADR 2CADR P70 # FOR VERB 37 TWO TABLES ARE MAINTAINED. EACH TABLE HAS AN ETRY FOR EACH # MAJOR MODE THAT CAN BE STARTED FROM THE KEYBOARD. THE ENTRIES ARE PUT # INTO THE TABLE WITH THE ENTRY FOR THE HIGHEST MAJOR MODE COMING FIRST, # TO THE LOWEST MAJOR MODE WHICH IS THE LAST ENTRY IN EACH TABLE. # # THE FCADRMM TABLE CONTAINS THE FCADR OF THE STARTING JOB OF # THE MAJOR MODE. FOR EXAMPLE, # # FCADRMM1 FCADR P79 # START OF P 79 # FCADR PROG18 # START OF P 18 # FCADR P01 # START OF P 01 # # NOTE: THE FIRST ENTRY MUST BE LABELED FCADRMM1. # ----- FCADRMM1 FCADR P79 FCADR P78 FCADR P76 FCADR P75 FCADR P74 FCADR P73 FCADR P72 FCADR LANDJUNK FCADR P63LM FCADR P57 FCADR PROG52 FCADR P51 FCADR P47LM FCADR P42LM FCADR P41LM FCADR P40LM FCADR P39 FCADR P38 # Page 234 FCADR P35 FCADR P34 FCADR P33 FCADR P32 FCADR P31 FCADR P30 FCADR PROG25 FCADR PROG22 FCADR PROG21 FCADR PROG20 FCADR P12LM FCADR P06 # THE PREMM TABLE CONTAINS THE E-BANK, MAJOR MODE, AND PRIORITY # INFORMATION, IT IS IN THE FOLLOWING FORM, # # PPP PPE EEM MMM MMM # # WHERE THE 7 M BITS CONTAIN THE MAJOR MODE NUMBER # 3 E BITS CONTAIN THE E-BANK NUMBER # 5 P BITS CONTAIN THE PRIORITY AT WHICH THE JOB IS # TO BE STARTED # # FOR EXAMPLE, # # PREMM1 OCT 67213 # PRIORITY 33 # # E-BANK 5 # # MAJOR MODE 11 # OCT 25437 # PRIORITY 12 # # E-BANK 6 # # MAJOR MODE 31 # # NOTE: THE FIRST ENTRY MUST BE LABELED PREMM1 PREMM1 OCT 27717 # MM 79 EBANK 7 PRIO 13 OCT 27716 # MM 78 EBANK 7 PRIO 13 OCT 27714 # MM 76 EBANK 7 PRIO 13 OCT 27713 # MM 75 EBANK 7 PRIO 13 OCT 27712 # MM 74 EBANK 7 PRIO 13 OCT 27711 # MM 73 EBANK 7 PRIO 13 OCT 27710 # MM 72 EBANK 7 PRIO 13 OCT 27704 # MM 68 EBANK 7 PRIO 13 OCT 27677 # MM 63 EBANK 7 PRIO 13 OCT 27271 # MM 57 EBANK 5 PRIO 13 OCT 27264 # MM 52 EBANK 5 PRIO 13 OCT 27263 # MM 51 EBANK 5 PRIO 13 OCT 27657 # MM 47 EBANK 7 PRIO 13 OCT 27652 # MM 42 EBANK 7 PRIO 13 OCT 27651 # MM 41 EBANK 7 PRIO 13 OCT 27650 # MM 40 EBANK 7 PRIO 13 OCT 27647 # MM 39 EBANK 7 PRIO 13 OCT 27646 # MM 38 EBANK 7 PRIO 13 # Page 235 OCT 27643 # MM 35 EBANK 7 PRIO 13 OCT 27642 # MM 34 EBANK 7 PRIO 13 OCT 27641 # MM 33 EBANK 7 PRIO 13 OCT 27640 # MM 32 EBANK 7 PRIO 13 OCT 27637 # OCT 27636 # MM 30 EBANK 7 PRIO 13 OCT 27631 # MM 25 EBANK 7 PRIO 13 OCT 27626 # MM 22 EBANK 7 PRIO 13 OCT 27625 # MM 21 EBANK 7 PRIO 13 OCT 27624 # MM 20 EBANK 7 PRIO 13 OCT 27614 # MM 12 EBANK 7 PRIO 13 OCT 27006 # MM 06 EBANK 4 PRIO 13 # NOTE: THE FOLLOWING CONSTANT IS THE NUMBER OF ENTRIES IN EACH OF # ----- THE ABOVE LISTS-1 (I.E., THE NUMBER OF MAJOR MODES (EXCEPT P00) # THAT CAN BE CALLED FROM THE KEYBOARD MINUS ONE) NOV37MM DEC 29 # MM'S -1 DNLADMM1 ADRES RENDEZVU # P79 ADRES RENDEZVU # P78 ADRES RENDEZVU ADRES RENDEZVU # P75 ADRES RENDEZVU # P74 ADRES RENDEZVU # P73 ADRES RENDEZVU # P72 ADRES DESASCNT # P68 ADRES DESASCNT # P63 ADRES LUNRSALN # P57 ADRES COSTALIN # P52 ADRES COSTALIN # P51 ADRES ORBMANUV # P47 ADRES ORBMANUV # P42 ADRES ORBMANUV # P41 ADRES ORBMANUV # P40 ADRES RENDEZVU # P39 ADRES RENDEZVU # P38 ADRES RENDEZVU # P35 ADRES RENDEZVU # P34 ADRES RENDEZVU # P33 ADRES RENDEZVU # P32 ADRES RENDEZVU # P31LM ADRES RENDEZVU # P30 ADRES RENDEZVU # P25 ADRES LUNRSALN # P22 ADRES RENDEZVU # P21 ADRES RENDEZVU # P20 ADRES DESASCNT # P12 ADRES COSTALIN # P06 DNLADP00 = ZERO COSTALIN = 0 # Page 236 AGSUPDAT = 1 RENDEZVU = 2 ORBMANUV = 3 DESASCNT = 4 LUNRSALN = 5 BANK 13 SETLOC INTINIT BANK COUNT* $$/INTIN EBANK= RRECTCSM # THIS ROUTINE DOES THE P00 INTEGRATION STATEUP SET BOF # EXTRAPOLATE CM STATE VECTOR VINTFLAG SURFFLAG # ALSO 6X6 W-MATRIX IF LM ON LUNAR DOINT # SURFACE AND W-MATRIX VALID BOF SET # FOR RENDEZVOUS NAVIGATION. RENDWFLG DOINT DIM0FLAG DOINT CLEAR CALL PRECIFLG # ENGAGES 4-TIME STEP LOGIC IN INTEGRATION INTEGRV # WHEN MODREG = 0 BON DLOAD SURFFLAG NO-INT TETCSM STCALL TDEC1 INTSTALL CLEAR CALL # EXTRAPOLATE LM STATE VECTOR VINTFLAG SETIFLGS BOF # ALSO 9X9 W-MATRIX IF W IS VALID RENDWFLG DOINT2 SET SET DIM0FLAG D6OR9FLG DOINT2 SET CALL PRECIFLG # DISENGAGE 4 TIME STEP LOGIC IN INTEG. INTEGRV NO-INT CLRGO NODOFLAG ENDINT # Page 237 # THISVINT IS CALLED BY MIDTOAV1 AND 2 THISVINT CLEAR RVQ VINTFLAG ================================================ FILE: Luminary099/GENERAL_LAMBERT_AIMPOINT_GUIDANCE.agc ================================================ # Copyright: Public domain. # Filename: LAMBERT_AIMPOINT_GUIDANCE.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 651-653 # Mod history: 2009-05-18 RSB Transcribed from Luminary 099 # page images. # 2009-06-05 RSB Corrected 4 typos. # 2009-06-07 RSB Fixed a typo. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14,1969 # Page 651 # GENERAL LAMBERT AIMPOINT GUIDANCE ** # WRITTEN BY RAMA M AIYAWAR # PROGRAM P-31 DESCRIPTION ** # # 1. TO ACCEPT TARGETING PARAMETERS OBTAINED FROM A SOURCE EXTERNAL # TO THE LEM AND COMPUTE THERE FROM THE REQUIRED-VELOCITY AND # OTHER INITIAL CONDITIONS REQUIRED BY LM FOR DESIRED MANEUVER. # THE TARGETING PARAMETERS ARE TIG (TIME OF IGNITION), TARGET # VECTOR (RTARG), AND THE TIME FROM TIG UNTIL THE TARGET IS # REACHED(DELLT4),DESIRED TIME OF FLIGHT FROM RINIT TO RTARG.. # ASSUMPTIONS ** # # 1. THE TARGET PARAMETERS MAY HAVE BEEN LOADED PRIOR TO THE # EXECUTION OF THIS PROGRAM. # 2. THIS PROGRAM IS APPLICABLE IN EITHER EARTH OR LUNAR ORBIT. # 3. THIS PROGRAM IS DESIGNED FOR ONE-MAN OPERATION, AND SHOULD # BE SELECTED BY THE ASTRONAUT BY DSKY ENTRY V37 E31. # SUBROUTINES USED ** # # MANUPARM, TTG/N35, R02BOTH, MIDGIM, DISPMGA, FLAGDOWN, BANKCALL, # GOTOPOOH, ENDOFJOB, PHASCHNG, GOFLASHR, GOFLASH. # # MANUPARM CALCULATES APOGEE, PERIGEE ALTITUDES AND DELTAV DESIRED # FOR THE MANEUVER. # # TTG/N35 CLOCKTASK - UPDATES CLOCK. # # MIDGIM CALCULATES MIDDLE GIMBAL ANGLE FOR DISPLAY. # # R02BOTH IMU - STATUS CHECK ROUTINE. # DISPLAYS USED IN P-31LM ** # # V06N33 DISPLAY SOTRED TIG (IN HRS. MINS. SECS) # V06N42 DISPLAY APOGEE, PERIGEE, DELTAV. # V16N35 DISPLAY TIME FROM TIG. # V06N45 TIME FROM IGNITION AND MIDDLE GIMBAL ANGLE. # ERASABLE INITIALIZATION REQUIRED ** # # TIG TIME OF IGNITION DP (B+28) CS. # # DELLT4 DESIRED TIME OF FLIGHT DP (B+28) CS # FROM RINIT TO RTARG . # # RTARG RADIUS VECTOR OF TARGET POSITION VECTOR # RADIUS VECTOR SCALED TO (B+29)METERS IF EARTH ORBIT # Page 652 # RADIUS VECTOR SCALED TO (B+27)METERS IF MOON ORBIT # OUTPUT ** # # HAPO APOGEE ALTITUDE # HPER PERIGEE ALTITUDE # VGDISP MAG.OF DELTAV FOR DISPLAY ,SCALING B+7 M/CS EARTH # MAG.OF DELTAV FOR DISPLAY,SCALING B+5 M/CS MOON # MIDGIM MIDDLE GIMBAL ANGLE # XDELVFLG RESETS XDELVFLG FOR LAMBERT VG COMPUTATIONS # ALARMS OR ABORTS NONE ** # RESTARTS ARE VIA GROUP 4 ** SETLOC GLM BANK EBANK= SUBEXIT COUNT* $$/P31 P31 TC P20FLGON CAF V06N33 # TIG TC VNPOOH TC INTPRET CLEAR DLOAD UPDATFLG TIG STCALL TDEC1 # INTEGRATE STATE VECTORS TO TIG LEMPREC VLOAD SETPD RATT 0D STORE RTIG STOVL RINIT VATT STORE VTIG STODL VINIT P30ZERO PUSH PDDL # E4 AND NUMIT = 0 DELLT4 DAD SXA,1 TIG RTX1 STORE TPASS4 SXA,2 CALL RTX2 INITVEL VLOAD PUSH # Page 653 DELVEET3 STORE DELVSIN ABVAL CLEAR XDELVFLG STCALL VGDISP GET.LVC VLOAD PDVL RTIG VIPRIME CALL PERIAPO1 CALL SHIFTR1 CALL # LIMIT DISPLAY TO 9999.9 N. MI. MAXCHK STODL HPER 4D CALL SHIFTR1 CALL # LIMIT DISPLAY TO 9999.9 N. MI. MAXCHK STORE HAPO EXIT CAF V06N81 # DELVLVC TC VNPOOH CAF V06N42 # HAPO, HPER, VGDISP TC VNPOOH TC INTPRET REVN1645 SET CALL # TRKMKCNT, TTOGO, +MGA FINALFLG VN1645 GOTO REVN1645 # *** END OF LEMP30S .103 *** ================================================ FILE: Luminary099/GIMBAL_LOCK_AVOIDANCE.agc ================================================ # Copyright: Public domain. # Filename: GIMBAL_LOCK_AVOIDANCE.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 364 # Mod history: 2009-05-17 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # 2010-12-31 JL Fixed page number comment. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 364 BANK 15 SETLOC KALCMON1 BANK # DETECTING GIMBAL LOCK LOCSKIRT EQUALS NOGIMLOC NOGIMLOC SET CALCMAN3 WCALC LXC,1 DLOAD* RATEINDX # CHOOSE THE DESIRED MANEUVER RATE ARATE,1 # FROM A LIST OF FOUR SR4 CALL # COMPUTE THE INCREMENTAL ROTATION MATRIX DELCOMP # DEL CORRESPONDING TO A 1 SEC ROTATION # ABOUT COF DLOAD* VXSC ARATE,1 COF STODL BRATE # COMPONENT MANEUVER RATES 45 DEG/SEC AM DMP DDV* ANGLTIME ARATE,1 SR 5 STORE TM # MANEUVER EXECUTION TIME SCALED AS T2 SETGO CALCMAN2 # 0(OFF) = CONTINUE MANEUVER NEWANGL +1 # 1(ON) = START MANEUVER # THE FOUR SELECTABLE FREE FALL MANEUVER RATES SELECTED BY # LOADING RATEINDX WITH 0,2,4,6, RESPECTIVELY ARATE 2DEC .0088888888 # = 0.2 DEG/SEC $ 22.5 DEG/SEC 2DEC .0222222222 # = 0.5 DEG/SEC $ 22.5 DEG/SEC 2DEC .0888888888 # = 2.0 DEG/SEC $ 22.5 DEG/SEC 2DEC .4444444444 # = 10.0 DEG/SEC $ 22.5 DEG/SEC ANGLTIME 2DEC .0001907349 # = 1008-19 FUDGE FACTOR TO CONVERT # MANEUVER ANGLE TO MANEUVER TIME ================================================ FILE: Luminary099/GROUND_TRACKING_DETERMINATION_PROGRAM.agc ================================================ # Copyright: Public domain. # Filename: GROUND_TRACKING_DETERMINATION_PROGRAM.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 654-657 # Mod history: 2009-05-18 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 654 # GROUND TRACKING DETERMINATION PROGRAM P21 # PROGRAM DESCRIPTION # MOD NO - 1 # MOD BY - N.M.NEVILLE # FUNCTIONAL DECRIPTION- # # TO PROVIDE THE ASTRONAUT DETAILS OF THE LM OR CSM GROUND TRACK WITHOUT # THE NEED FOR GROUND COMMUNICATION (REQUESTED BY DSKY). # CALLING SEQUENCE - # # ASTRONAUT REQUEST THROUGH DSKY V37E21E # SUBROUTINES CALLED- # # GOPERF4 # GOFLASH # THISPREC # OTHPREC # LAT-LONG # NORMAL EXIT MODES- # # ASTRONAUT REQUEST TROUGH DSKY TO TERMINATE PROGRAM V34E # ALARM OR ABORT EXIT MODES- # # NONE # OUTPUT - # # OCTAL DISPLAY OF OPTION CODE AND VEHICLE WHOSE GROUND TRACK IS TO BE # COMPUTED # OPTION CODE 00002 # THIS 00001 # OTHER 00002 # DECIMAL DISPLAY OF TIME TO BE INTEGRATED TO HOURS , MINUTES , SECONDS # DECIMAL DISPLAY OF LAT,LONG,ALT # ERASABLE INITIALIZATION REQUIRED # # AXO 2DEC 4.652459653 E-5 RADIANS %68-69 CONSTANTS" # # -AYO 2DEC 2.147535898 E-5 RADIANS # # AZO 2DEC .7753206164 REVOLUTIONS # FOR LUNAR ORBITS 504LM VECTOR IS NEEDED # # 504LM 2DEC -2.700340600 E-5 RADIANS # # 504LM _2 2DEC -7.514128400 E-4 RADIANS # # 504LM _4 2DEC _2.553198641 E-4 RADIANS # # NONE # DEBRIS # # Page 655 # CENTRALS-A,Q,L # OTHER-THOSE USED BY THE ABOVE LISTED SUBROUTINES # SEE LEMPREC,LAT-LONG SBANK= LOWSUPER # FOR LOW 2CADR'S. BANK 33 SETLOC P20S BANK EBANK= P21TIME COUNT* $$/P21 PROG21 CAF ONE TS OPTION2 # ASSUMED VEHICLE IS LM , R2 = 00001 CAF BIT2 # OPTION 2 TC BANKCALL CADR GOPERF4 TC GOTOPOOH # TERMINATE TC +2 # PROCEED VALUE OF ASSUMED VEHICLE OK TC -5 # R2 LOADED THROUGH DSKY P21PROG1 CAF V6N34 # LOAD DESIRED TIME OF LAT-LONG. TC BANKCALL CADR GOFLASH TC GOTOPOOH # TERM TC +2 # PROCEED VALUES OK TC -5 # TIME LOADED THROUGH DSKY TC INTPRET DLOAD DSPTEM1 STCALL TDEC1 # INTEGRATE TO TIME SPECIFIED IN TDEC INTSTALL BON CLEAR P21FLAG P21CONT # ON---RECYCLE USING BASE VECTOR VINTFLAG # OFF--IST PASS CALL BASE VECTOR SLOAD SR1 OPTION2 BHIZ SET +2 # ZERO--THIS VEHICLE(LM) VINTFLAG # ONE--OTHER VEHICLE(CM) CLEAR CLEAR DIM0FLAG INTYPFLG # PRECISION CALL INTEGRV # CALCULATE GOTO # -AND P21VSAVE # -SAVE BASE VECTOR P21CONT VLOAD P21BASER # RECYCLE--INTEG FROM BASE VECTOR STOVL RCV # --POS # Page 656 P21BASEV STODL VCV # --VEL P21TIME STORE TET # --TIME CLEAR CLEAR DIM0FLAG MOONFLAG SLOAD BZE P21ORIG +3 # ZERO=EARTH SET # ---2=MOON MOONFLAG +3 CALL INTEGRVS P21VSAVE DLOAD # SAVE CURRENT BASEVECTOR TAT STOVL P21TIME # --TIME RATT1 STOVL P21BASER # --POS B-29 OR B-27 VATT1 STORE P21BASEV # --VEL B-07 OR B-05 ABVAL SL* 0,2 STOVL P21VEL # VEL/ FOR N91 DISP RATT UNIT DOT VATT # U(R).V DDV ASIN # U(R).U(V) P21VEL STORE P21GAM # SIN-1 U(R).U(V) , -90 TO &90 SXA,2 SLOAD P21ORIG # 0=EARTH OPTION2 SR1 BHIZ +3 GOTO +4 +3 BON SURFFLAG P21DSP +4 SET P21FLAG P21DSP CLEAR SLOAD # GENERATE DISPLAY DATA LUNAFLAG X2 BZE SET +2 # 0 = EARTH LUNAFLAG VLOAD RATT # Page 657 STODL ALPHAV TAT CLEAR CALL ERADFLAG LAT-LONG DMP # MPAC = ALT, METERS B-29 K.01 STORE P21ALT # ALT/100 FOR N91 DISP EXIT CAF V06N43 # DISPLAY LAT, LONG, ALT TC BANKCALL # LAT, LONG = 1/2 REVS B0 CADR GOFLASH # ALT = KM B14 TC GOTOPOOH # TERM TC GOTOPOOH TC INTPRET # V32E RECYCLE DLOAD DAD P21TIME 600SEC # 600 SECONDS OR 10 MIN STORE DSPTEM1 RTB P21PROG1 600SEC 2DEC 60000 # 10 MIN V06N43 VN 00643 V6N34 VN 00634 K.01 2DEC .01 ================================================ FILE: Luminary099/IMU_COMPENSATION_PACKAGE.agc ================================================ # Copyright: Public domain. # Filename: IMU_COMPENSATION_PACKAGE.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 326-337 # Mod history: 2009-05-16 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # 2009-06-07 RSB Corrected a typo. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 326 BANK 7 SETLOC IMUCOMP BANK EBANK= NBDX COUNT* $$/ICOMP 1/PIPA CAF LGCOMP # SAVE EBANK OF CALLING PROGRAM XCH EBANK TS MODE CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE TCF +3 TCF +2 TCF IRIG1 # RETURN 1/PIPA1 CAF FOUR # PIPAZ, PIPAY, PIPAX TS BUF +2 INDEX BUF +2 CA PIPASCF # (P.P.M.) X 2(-9) EXTEND INDEX BUF +2 MP DELVX # (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5) TS Q # SAVE MAJOR PART CA L # MINOR PART EXTEND MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9 INDEX BUF +2 TS DELVX +1 # FRACTIONAL PIPA PULSES SCALED 2(+14) CA Q # MAJOR PART EXTEND MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9 INDEX BUF +2 DAS DELVX # (PIPAI) + (PIPAI)(SFE) INDEX BUF +2 CS PIPABIAS # (PIPA PULSES)/(CS) X 2(-5) * EXTEND MP 1/PIPADT # (CS) X 2(+8) NOW (PIPA PULSES) X 2(+3)* EXTEND MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11 * INDEX BUF +2 DAS DELVX # (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT) CCS BUF +2 # PIPAZ, PIPAY, PIPAX AD NEG1 TCF 1/PIPA1 +1 # Page 327 NOOP # LESS THAN ZERO IMPOSSIBLE # Page 328 IRIGCOMP TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS. TS BUF # INDEX COUNTER . IRIGX, IRIGY, IRIGZ. TC IRIGX # COMPENSATE ACCELERATION TERMS CS NBDX # (GYRO PULSES)/(CS) X 2(-5) TC DRIFTSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14) TC IRIGY # COMPENSATE ACCELERATION TERMS CS NBDY # (GYRO PULSES)/(CS) X 2(-5) TC DRIFTSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14) TC IRIGZ # COMPENSATE ACCELERATION TERMS CA NBDZ # (GYRO PULSES)/(CS) X 2(-5) TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14) CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES TCF +2 # YES SEND OUT GYRO TORQUING COMMANDS. TCF IRIG1 # NO RETURN CA PRIO21 # PRIO GREATER THAN SERVICER TC NOVAC # SEND OUT GYRO TORQUING COMMANDS. EBANK= NBDX 2CADR 1/GYRO RELINT IRIG1 CA MODE # RESTORE CALLERS EBANK TS EBANK TCF SWRETURN # Page 329 IRIGX EXTEND QXCH MPAC +2 # SAVE Q EXTEND DCS DELVX # (PIPA PULSES) X 2(+14) DXCH MPAC CA ADIAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) * TC GCOMPSUB # -(ADIAX)(PIPAX) (GYRO PULSES) X 2(+14) EXTEND # DCS DELVY # (PIPA PULSES) X 2(+14) DXCH MPAC # CS ADSRAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) * TC GCOMPSUB # +(ADSRAX)(PIPAY) (GYRO PULSES) X 2(+14) # EXTEND # *** # DCS DELVZ # *** (PIPA PULSES) X 2(+14) # DXCH MPAC # *** # CA ADOAX # *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) * # TC GCOMPSUB # *** -(ADOAX)(PIPAZ) (GYRO PULSES) X 2(+14) TC MPAC +2 IRIGY EXTEND QXCH MPAC +2 # SAVE Q EXTEND DCS DELVY # (PIPA PULSES) X 2(+14) DXCH MPAC CA ADIAY # (GYRO PULSES)/(PIPA PULSE) X 2(-6) * TC GCOMPSUB # -(ADIAY)(PIPAY) (GYRO PULSES) X 2(+14) EXTEND DCS DELVZ # (PIPA PULSES) X 2(+14) DXCH MPAC CS ADSRAY # (GYRO PULSES)/(PIPA PULSE) X 2(-6) * TC GCOMPSUB # +(ADSRAY)(PIPAZ) (GYRO PULSES) X 2(+14) # EXTEND # *** # DCS DELVX # *** (PIPA PULSES) X 2(+14) # DXCH MPAC # *** # CA ADOAY # *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) * # TC GCOMPSUB # *** -(ADOAY)(PIPAX) (GYRO PULSES) X 2(+14) TC MPAC +2 IRIGZ EXTEND QXCH MPAC +2 # SAVE Q EXTEND DCS DELVY # (PIPA PULSES) X 2(+14) DXCH MPAC CA ADSRAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) * # Page 330 TC GCOMPSUB # -(ADSRAZ)(PIPAY) (GYRO PULSES) X 2(+14) EXTEND DCS DELVZ # (PIPA PULSES) X 2(+14) DXCH MPAC CA ADIAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) * TC GCOMPSUB # -(ADIAZ)(PIPAZ) (GYRO PULSES) X 2(+14) # EXTEND # *** # DCS DELVX # *** (PIPA PULSE) X 2(+14) # DXCH MPAC # *** # CS ADOAZ # *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) * # TC GCOMPSUB # *** +(ADOAZ)(PIPAX) (GYRO PULSES) X 2(+14) TC MPAC +2 # Page 331 GCOMPSUB XCH MPAC # ADIA OR ADSRA COEFFICIENT ARRIVES IN A EXTEND # C(MPAC) = (PIPA PULSES) X 2(+14) MP MPAC # (GYRO PULSES)/(PIPA PULSE) X 2(-6) * DXCH VBUF # NOW = (GYRO PULSES) X 2(+8) * CA MPAC +1 # MINOR PART OF PIPA PULSES EXTEND MP MPAC # ADIA OR ADSRA TS L CAF ZERO DAS VBUF # NOW = (GYRO PULSES) X 2(+8) * CA VBUF # PARTIAL RESULT - MAJOR EXTEND MP BIT9 # SCALE 2(+6) SHIFT RIGHT * INDEX BUF # RESULT = (GYRO PULSES) X 2(+14) DAS GCOMP # HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI) CA VBUF +1 # PARTIAL RESULT - MINOR EXTEND MP BIT9 # SCALE 2(+6) SHIFT RIGHT 6 * TS L CAF ZERO INDEX BUF # RESULT = (GYRO PULSES) X 2(+14) DAS GCOMP # (ADIA)(PIPAI) OR (ADSRA)(PIPAI) TC Q # Page 332 DRIFTSUB EXTEND QXCH BUF +1 EXTEND # C(A) = NBD (GYRO PULSES)/(CS) X 2(-5) MP 1/PIPADT # (CS) X 2(+8) NOW (GYRO PULSES) X 2(+3) LXCH MPAC +1 # SAVE FOR FRACTIONAL COMPENSATION EXTEND MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11 INDEX BUF DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14) CA MPAC +1 # NOW MINOR PART EXTEND MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11 TS L CAF ZERO INDEX BUF # ADD IN FRACTIONAL COMPENSATION DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14) DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ AD BUF XCH BUF INDEX A CCS GCOMP # ARE GYRO COMMANDS 1 PULSE OR GREATER TCF +2 # YES TC BUF +1 # NO MASK COMPCHK # DEC -1 CCS A # ARE GYRO COMMANDS GREATER THAN 2 PULSES TS GCOMPSW # YES - SET GCOMPSW POSITIVE TC BUF +1 # NO # Page 333 1/GYRO CAF FOUR # PIPAZ, PIPAY, PIPAX TS BUF INDEX BUF # SCALE GYRO COMMANDS FOR IMUPULSE CA GCOMP +1 # FRACTIONAL PULSES EXTEND MP BIT8 # SHIFT RIGHT 7 INDEX BUF TS GCOMP +1 # FRACTIONAL PULSES SCALED CAF ZERO # SET GCOMP = 0 FOR DAS INSTRUCTION INDEX BUF XCH GCOMP # GYRO PULSES EXTEND MP BIT8 # SHIFT RIGHT 7 INDEX BUF DAS GCOMP # ADD THESE TO FRACTIONAL PULSES ABOVE CCS BUF # PIPAZ, PIPAY, PIPAX AD NEG1 TCF 1/GYRO +1 LGCOMP ECADR GCOMP # LESS THAN ZERO IMPOSSIBLE CAF LGCOMP TC BANKCALL CADR IMUPULSE # CALL GYRO TORQUING ROUTINE TC BANKCALL CADR IMUSTALL # WAIT FOR PULSES TO GET OUT TCF ENDOFJOB # TEMPORARY GCOMP1 CAF FOUR # PIPAZ, PIPAY, PIPAX TS BUF INDEX BUF # RESCALE CA GCOMP +1 EXTEND MP BIT8 # SHIFT MINOR PART LEFT 7 - MAJOR PART = 0 INDEX BUF LXCH GCOMP +1 # BITS 8-14 OF MINOR PART WERE = 0 CCS BUF # PIPAZ, PIPAY, PIPAX AD NEG1 TCF GCOMP1 +1 COMPCHK DEC -1 # LESS THAN ZERO IMPOSSIBLE TCF ENDOFJOB # Page 334 NBDONLY CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE TCF +3 TCF +2 TCF ENDOFJOB INHINT CCS FLAGWRD2 # PREREAD T3RUPT MAY COINCIDE TCF ENDOFJOB TCF ENDOFJOB TCF +1 CA FLAGWRD8 # IF SURFACE FLAG IS SET, SET TEM1 MASK BIT8 # POSITIVE SO THAT THE ACCELERATION TERMS TS TEM1 # WILL BE COMPENSATED. EXTEND BZF +3 # ARE WE ON THE SURFACE TC IBNKCALL # ON THE SURFACE CADR PIPASR +3 # READ PIPAS, BUT DO NOT SCALE THEM CA TIME1 # (CS) X 2(+14) XCH 1/PIPADT # PREVIOUS TIME RELINT COM AD 1/PIPADT # PRESENT TIME - PREVIOUS TIME NBD2 AD HALF # CORRECT FOR POSSIBLE TIME1 TICK AD HALF XCH L # IF TIME1 DID NOT TICK, REMOVE RESULTING XCH L # OVERFLOW. NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14) MP BIT10 # SHIFT RIGHT 5 DXCH VBUF +2 CA ZERO TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS. TS BUF # INDEX X, Y, Z. CCS TEM1 # IF SURFACE FLAG IS SET, TC IRIGX # COMPENSATE ACCELERATION TERMS. EXTEND DCA VBUF +2 DXCH MPAC # DELTAT NOW SCALED (CS) X 2(+19) CS NBDX # (GYRO PULSES)/(CS) X 2(-5) TC FBIASSUB # -(NBDX)(DELTAT) (GYRO PULSES) X 2(+14) CCS TEM1 # IF SURFACE FLAG IS SET, TC IRIGY # COMPENSATE ACCELERATION TERMS. # Page 335 EXTEND DCS VBUF +2 DXCH MPAC # DELTAT SCALED (CS) X 2(+19) CA NBDY # (GYRO PULSES)/(CS) X 2(-5) TC FBIASSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14) CCS TEM1 # IF SURFACE FLAG IS SET. TC IRIGZ # COMPENSATE ACCELERATION TERMS EXTEND DCS VBUF +2 DXCH MPAC # DELTAT SCALED (CS) X 2(+19) CS NBDZ # (GYRO PULSES)/(CS) X 2(-5) TC FBIASSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14) CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES TCF 1/GYRO # YES TCF ENDOFJOB # NO # Page 336 FBIASSUB XCH Q TS BUF +1 CA Q # NBD SCALED (GYRO PULSES)/(CS) X 2(-5) EXTEND MP MPAC # DELTAT SCALED (CS) X 2(+19) INDEX BUF DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14) CA Q # NOW FRACTIONAL PART EXTEND MP MPAC +1 TS L CAF ZERO INDEX BUF DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14) TCF DRFTSUB2 # CHECK MAGNITUDE OF COMPENSATION LASTBIAS TC BANKCALL CADR PIPUSE1 CCS GCOMPSW TCF +3 TCF +2 TCF ENDOFJOB CA FLAGWRD8 # IF SURFACE FLAG IS SET, SET TEM1 MASK SURFFBIT # POSITIVE SO THAT THE ACCELERATION TERMS TS TEM1 # WILL BE COMPENSATED. CAF PRIO31 # 2 SECONDS SCALED (CS) X 2(+8) XCH 1/PIPADT COM AD PIPTIME +1 TCF NBD2 GCOMPZER CAF LGCOMP # ROUTINE TO ZERO GCOMP BEFORE FIRST XCH EBANK # CALL TO 1/PIPA TS MODE CAF ZERO TS GCOMPSW TS GCOMP TS GCOMP +1 TS GCOMP +2 TS GCOMP +3 TS GCOMP +4 # Page 337 TS GCOMP +5 TCF IRIG1 # RESTORE EBANK AND RETURN ================================================ FILE: Luminary099/IMU_MODE_SWITCHING_ROUTINES.agc ================================================ # Copyright: Public domain. # Filename: IMU_MODE_SWITCHING_ROUTINES.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Onno Hommes . # Website: www.ibiblio.org/apollo. # Pages: 1309-1337 # Mod history: 2009-05-28 OH Transcribed from page images. # 2009-06-05 RSB Fixed a typo. # 2011-01-06 JL Fixed pseudo-label indentation. # 2011-05-08 JL Removed workaround. Flagged SBANK= # workaround for future removal. # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 1309 BLOCK 02 SETLOC FFTAG3 BANK EBANK= COMMAND # FIXED-FIXED ROUTINES COUNT* $$/IMODE ZEROICDU CAF ZERO # ZERO ICDU COUNTERS. TS CDUX TS CDUY TS CDUZ TC Q SPSCODE = BIT9 # Page 1310 # IMU ZEROING ROUTINES BANK 11 SETLOC MODESW BANK COUNT* $$/IMODE IMUZERO INHINT # ROUTINE TO ZERO ICDUS. CS DSPTAB +11D # DON'T ZERO CDUS IF IMU IN GIMBAL LOCK AND MASK BITS4&6 # COARSE ALIGN (GIMBAL RUNAWAY PROTECTION) CCS A TCF IMUZEROA TC ALARM # IF SO. OCT 00206 TCF CAGETSTJ +4 # IMMEDIATE FAILURE. IMUZEROA TC CAGETSTJ CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES MASK SUPER011 # BIT5 FOR GROUND ADS IMODES33 CS IMODES30 # INHIBIT ICDUFAIL AND IMUFAIL (IN CASE WE MASK BITS3&4 # JUST CAME OUT OF COARSE ALIGN). ADS IMODES30 CS BITS4&6 # SEND ZERO ENCODE WITH COARSE AND ERROR EXTEND # COUNTER DISABLED. WAND CHAN12 TC NOATTOFF # TURN OFF NO ATT LAMP. CAF BIT5 EXTEND WOR CHAN12 TC ZEROICDU CAF BIT6 # WAIT 320 MS TO GIVE AGS ADEQUATE TIME TO TC WAITLIST # RECEIVE ITS PULSE TRAIN. EBANK= CDUIND 2CADR IMUZERO2 CS IMODES30 # SEE IF IMU OPERATING AND ALARM IF NOT. MASK BIT9 CCS A TCF MODEEXIT # Page 1311 TC ALARM OCT 210 MODEEXIT RELINT # GENERAL MODE-SWITCHING EXIT. TCF SWRETURN IMUZERO2 TC CAGETEST TC ZEROICDU # ZERO CDUX, CDUY, CDUZ CS BIT5 # REMOVE ZERO DISCRETE. EXTEND WAND CHAN12 CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS TC VARDELAY IMUZERO3 TC CAGETEST CS BITS3&4 # REMOVE IMUFAIL AND ICDUFAIL INHIBIT. MASK IMODES30 TS IMODES30 CS SUPER011 # ENABLE DAP AUTO AND HOLD MODES MASK IMODES33 # BIT5 FOR GROUND TS IMODES33 TC IBNKCALL # SET ISS WARNING IF EITHER OF ABOVE ARE CADR SETISSW # PRESENT. TCF ENDIMU # Page 1312 # IMU COARSE ALIGN MODE. IMUCOARS INHINT TC CAGETSTJ TC SETCOARS CAF SIX TC WAITLIST EBANK= CDUIND 2CADR COARS TCF MODEEXIT COARS TC CAGETEST CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS EXTEND WOR CHAN12 CAF TWO # SET CDU INDICATOR COARS1 TS CDUIND INDEX CDUIND # COMPUTE THETAD -- THETAA IN 1'S CA THETAD # COMPLEMENT FORM EXTEND INDEX CDUIND MSU CDUX EXTEND MP BIT13 # SHIFT RIGHT 2 XCH L # ROUND DOUBLE TS ITEMP1 TCF +2 ADS L INDEX CDUIND # DIFFERENCE TO BE COMPUTED LXCH COMMAND CCS CDUIND TC COARS1 CAF TWO # MINIMUM OF 4 MS WAIT TC VARDELAY # Page 1313 COARS2 TC CAGETEST # DON'T CONTINUE IF CAGED. TS ITEMP1 # SET TO +0. CAF TWO # SET CDU INDICATOR. +3 TS CDUIND INDEX CDUIND CCS COMMAND # NUMBER OF PULSES REQUIRED TC COMPOS # GREATER THAN MAX ALLOWED TC NEXTCDU +1 TC COMNEG TC NEXTCDU +1 COMPOS AD -COMMAX # COMMAX = MAX NUMBER OF PULSES ALLOWED EXTEND # MINUS ONE BZMF COMZERO INDEX CDUIND TS COMMAND # REDUCE COMMAND BY MAX NUMBER OF PULSES CS -COMMAX- # ALLOWED NEXTCDU INCR ITEMP1 AD NEG0 INDEX CDUIND TS CDUXCMD # SET UP COMMAND REGISTER. CCS CDUIND TC COARS2 +3 CCS ITEMP1 # SEE IF ANY PULSES TO GO OUT. TCF SENDPULS TC FIXDELAY # WAIT FOR GIMBALS TO SETTLE. DEC 150 CAF TWO # AT END OF COMMAND, CHECK TO SEE THAT CHKCORS TS ITEMP1 # GIMBALS ARE WITHIN 2 DEGREES OF THETAD. INDEX A CA CDUX EXTEND INDEX ITEMP1 MSU THETAD CCS A TCF COARSERR TCF CORSCHK2 TCF COARSERR # Page 1314 CORSCHK2 CCS ITEMP1 TCF CHKCORS TCF ENDIMU # END OF COARSE ALIGNMENT COARSERR AD COARSTOL # 2 DEGREES. EXTEND BZMF CORSCHK2 TC ALARM # COARSE ALIGN ERROR. OCT 211 TCF IMUBAD COARSTOL DEC -.01111 # 2 DEGREES SCALED AT HALF-REVOLUTIONS COMNEG AD -COMMAX EXTEND BZMF COMZERO COM INDEX CDUIND TS COMMAND CA -COMMAX- TC NEXTCDU COMZERO CAF ZERO INDEX CDUIND XCH COMMAND TC NEXTCDU SENDPULS CAF 13,14,15 EXTEND WOR CHAN14 CAF 600MS TCF COARS2 -1 # THEN TO VARDELAY CA+ECE CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS EXTEND WOR CHAN12 TC TASKOVER # Page 1315 SETCOARS CAF BIT4 # BYPASS IF ALREADY IN COARSE ALIGN EXTEND RAND CHAN12 CCS A TC Q CS BIT6 # CLEAR ISS ERROR COUNTERS EXTEND WAND CHAN12 CS BIT10 # KNOCK DOWN GYRO ACTIVITY EXTEND WAND CHAN14 CS ZERO TS GYROCMD CAF BIT4 # PUT ISS IN COARSE ALIGN EXTEND WOR CHAN12 CS DSPTAB +11D # TURN ON NO ATT LAMP MASK OCT40010 ADS DSPTAB +11D CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES MASK BIT6 ADS IMODES33 CS IMODES30 # DISABLE IMUFAIL MASK BIT4 ADS IMODES30 RNDREFDR CS TRACKBIT # CLEAR TRACK FLAG MASK FLAGWRD1 TS FLAGWRD1 CS DRFTBIT # CLEAR DRIFT FLAG MASK FLAGWRD2 TS FLAGWRD2 CS REFSMBIT # CLEAR REFSMMAT FLAG MASK FLAGWRD3 TS FLAGWRD3 TC Q OCT40010 OCT 40010 # Page 1316 # IMU FINE ALIGN MODE SWITCH. IMUFINE INHINT TC CAGETSTJ # SEE IF IMU BEING CAGED. CS BITS4-5 # RESET ZERO AND COARSE EXTEND WAND CHAN12 CS BIT6 # INSURE DAP AUTO AND HOLD MODES ENABLED MASK IMODES33 TS IMODES33 TC NOATTOFF CAF BIT10 # IMU FAIL WAS INHIBITED DURING THE TC WAITLIST # PRESUMABLY PRECEDING COARSE ALIGN. LEAVE EBANK= CDUIND 2CADR IFAILOK # IT ON FOR THE FIRST 5 SECS OF FINE ALIGN CAF 2SECS TC WAITLIST EBANK= CDUIND 2CADR IMUFINED TCF MODEEXIT IMUFINED TC CAGETEST # SEE THAT NO ONE HAS CAGED THE IMU. TCF ENDIMU # Page 1317 IFAILOK TC CAGETSTQ # ENABLE IMU FAIL UNLESS IMU BEING CAGED. TCF TASKOVER # IT IS. CAF BIT4 # DON'T RESET IMU FAIL INHIBIT IF SOMEONE EXTEND # HAS GONE INTO COARSE ALIGN. RAND CHAN12 CCS A TCF TASKOVER CS IMODES30 # RESET IMUFAIL. MASK BIT13 ADS IMODES30 CS BIT4 PFAILOK2 MASK IMODES30 TS IMODES30 TC IBNKCALL # THE ISS WARNING LIGHT MAY COME ON NOW CADR SETISSW # THAT THE INHIBIT WAS BEEN REMOVED. TCF TASKOVER PFAILOK TC CAGETSTQ # ENABLE PIP FAIL PROG ALARM. TCF TASKOVER CS IMODES30 # RESET IMU AND PIPA FAIL BITS. MASK BIT10 ADS IMODES30 CS IMODES33 MASK BIT13 ADS IMODES33 CS BIT5 TCF PFAILOK2 NOATTOFF CS OCT40010 # SUBROUTINE TO TURN OFF NO ATT LAMP. MASK DSPTAB +11D AD BIT15 TS DSPTAB +11D TC Q # Page 1318 # ROUTINES TO INITIATE AND TERMINATE PROGRAM USE OF THE PIPAS. NO IMUSTALL REQUIRED IN EITHER CASE. PIPUSE CS ZERO TS PIPAX TS PIPAY TS PIPAZ PIPUSE1 TC CAGETSTQ # DO NOT ENABLE PIPA FAIL IF IMU IS CAGED TCF SWRETURN INHINT CS BIT1 # IF PIPA FAILS FROM NOW ON (UNTIL MASK IMODES30 # PIPFREE), LIGHT ISS WARNING. TS IMODES30 PIPFREE2 TC IBNKCALL # ISS WARNING MIGHT COME ON NOW. CADR SETISSW # (OR GO OFF ON PIPFREE). TCF MODEEXIT PIPFREE INHINT # PROGRAM DONE WITH PIPAS. DON'T LIGHT CS IMODES30 # ISS WARNING. MASK BIT1 ADS IMODES30 MASK BIT10 # IF PIP FAIL ON, DO PROG ALSRM AND RESET CCS A # ISS WARNING. TCF MODEEXIT TC ALARM OCT 212 INHINT TCF PIPFREE2 # Page 1319 # THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIX REGISTERS # BEGINNING AT THE ECADR ARRIVING IN A. THE MINIMUM SIZE OF ANY PULSE TRAIN IS 16 PULSES (.25 CDU COUNTS). THE # UNSENT PORTION OF THE COMMAND IS LEFT INTACT IN THE INPUT COMMAND REGISTERS. EBANK= 1400 # VARIABLE, ACTUALLY. IMUPULSE TS MPAC +5 # SAVE ARRIVING ECADR. TC CAGETSTJ # DON'T PROCEED IF IMU BEING CAGED. CCS LGYRO # SEE IF GYROS BUSY. TC GYROBUSY # SLEEP. TS MPAC +2 CAF BIT6 # ENABLE THE POWER SUPPLY. EXTEND WOR CHAN14 CAF FOUR GWAKE2 TC WAITLIST # (IF A JOB WAS PUT TO SLEEP, THE POWER EBANK= CDUIND # SUPPLY IS LEFT ON BY THE WAKING JOB). 2CADR STRTGYRO CA MPAC +5 # SET UP EBANK, SAVING CALLER'S EBANK FOR XCH EBANK # RESTORATION ON RETURN. XCH MPAC +5 TS LGYRO # RESERVES GYROS. MASK LOW8 TS ITEMP1 CAF TWO # FORCE SIGN AGREEMENT ON INPUTS. GYROAGRE TS MPAC +3 DOUBLE AD ITEMP1 TS MPAC +4 EXTEND INDEX A DCA 1400 DXCH MPAC TC TPAGREE DXCH MPAC INDEX MPAC +4 DXCH 1400 CCS MPAC +3 TCF GYROAGRE CA MPAC +5 # RESTORE CALLER'S EBANK. TS EBANK TCF MODEEXIT # Page 1320 # ROUTINES TO ALLOW TORQUING ONLY ONE JOB AT A TIME. GYROBUSY EXTEND # SAVE RETURN 2FCADR. DCA BUF2 DXCH MPAC REGSLEEP CAF LGWAKE TCF JOBSLEEP GWAKE CCS LGYRO # WHEN AWAKENED, SEE IF GYROS STILL BUSY. TCF REGSLEEP # IF SO, SLEEP SOME MORE. TS MPAC +2 EXTEND DCA MPAC DXCH BUF2 # RESTORE SWRETURN INFO. CAF ONE TCF GWAKE2 LGWAKE CADR GWAKE # Page 1321 # GYRO-TORQUING WAITLIST TASKS. STRTGYRO CS GDESELCT # DE-SELECT LAST GYRO. EXTEND WAND CHAN14 TC CAGETEST STRTGYR2 CA LGYRO # JUMP ON PHASE COUNTER IN BITS 13-14. EXTEND MP BIT4 INDEX A TCF +1 TC GSELECT # =0. DO Y GYRO. OCT 00202 TC GSELECT # =1. DO Z GYRO. OCT 00302 TC GSELECT -2 # =2. DO X GYRO. OCT 00100 CAF ZERO # =3. DONE TS LGYRO CAF LGWAKE # WAKE A POSSIBLE SLEEPING JOB. TC JOBWAKE NORESET TCF IMUFINED # DO NOT RESET POWER SUPPLY # Page 1322 -2 CS FOUR # SPECIAL ENTRY TO REGRESS LGYRO FOR X. ADS LGYRO GSELECT INDEX Q # SELECT GYRO. CAF 0 # PACKED WORD CONTAINS GYRO SELECT BITS TS ITEMP4 # AND INCREMENT TO LGYRO. MASK SEVEN AD BIT13 ADS LGYRO TS EBANK MASK LOW8 TS ITEMP1 CS SEVEN MASK ITEMP4 TS ITEMP4 EXTEND # MOVE DP COMMAND TO RUPTREGS FOR TESTING. INDEX ITEMP1 DCA 1400 DXCH RUPTREG1 CCS RUPTREG1 TCF MAJ+ TCF +2 TCF MAJ- CCS RUPTREG2 TCF MIN+ TCF STRTGYR2 TCF MIN- TCF STRTGYR2 # Page 1323 MIN+ AD -GYROMIN # SMALL POSITIVE COMMAND. SEE IF AT LEAST EXTEND # 16 GYRO PULSES. BZMF STRTGYR2 MAJ+ EXTEND # DEFINITE POSITIVE OUTPUT. DCA GYROFRAC DAS RUPTREG1 CA ITEMP4 # SELECT POSITIVE TORQUING FOR THIS GYRO. EXTEND WOR CHAN14 CAF LOW7 # LEAVE NUMBER OF POSSIBLE 8192 AUGMENTS MASK RUPTREG2 # TO INITIAL COMMAND IN MAJOR PART OF LONG XCH RUPTREG2 # TERM STORAGE AND TRUNCATED FRACTION GMERGE EXTEND # IN MINOR PART. THE MAJOR PART WILL BE MP BIT8 # COUNTED DOWN TO ZERO IN THE COURSE OF TS ITEMP2 # PUTTING OUT THE ENTIRE COMMAND. CA RUPTREG1 EXTEND MP BIT9 TS RUPTREG1 CA L EXTEND MP BIT14 ADS ITEMP2 # INITIAL COMMAND. EXTEND # SEE IF MORE THAN ONE PULSE TRAIN NEEDED DCA RUPTREG1 # (MORE THAN 16383 PULSES). AD MINUS1 CCS A TCF LONGGYRO -GYROMIN OCT -176 # MAY BE ADJUSTED TO SPECIFY MINIMUM CMD TCF +4 CAF BIT14 ADS ITEMP2 CAF ZERO +4 INDEX ITEMP1 DXCH 1400 # Page 1324 CA ITEMP2 # ENTIRE COMMAND. LASTSEG TS GYROCMD EXTEND MP BIT10 # WAITLIST DT AD THREE # TRUNCATION AND PHASE UNCERTAINTIES. TC WAITLIST EBANK= CDUIND 2CADR STRTGYRO GYROEXIT CAF BIT10 EXTEND WOR CHAN14 TCF TASKOVER LONGGYRO INDEX ITEMP1 DXCH 1400 # INITIAL COMMAND OUT PLUS N AUGMENTS OF CAF BIT14 # 8192. INITIAL COMMAND IS AT LEAST 8192. AD ITEMP2 TS GYROCMD AUG3 EXTEND # GET WAITLIST DT TO TIME WHEN TRAIN IS MP BIT10 # ALMOST OUT. AD NEG3 TC WAITLIST EBANK= CDUIND 2CADR 8192AUG TCF GYROEXIT 8192AUG TC CAGETEST CAF BIT4 EXTEND RAND CHAN12 CCS A TCF IMUBAD CA LGYRO # ADD 8192 PULSES TO GYROCMD TS EBANK MASK LOW8 TS ITEMP1 INDEX ITEMP1 # SEE IF THIS IS THE LAST AUG. CCS 1400 TCF AUG2 # MORE TO COME. CAF BIT14 ADS GYROCMD TCF LASTSEG +1 # Page 1325 AUG2 INDEX ITEMP1 TS 1400 CAF BIT14 ADS GYROCMD TCF AUG3 # COMPUTE DT. # Page 1326 MIN- AD -GYROMIN # POSSIBLE NEGATIVE OUTPUT. EXTEND BZMF STRTGYR2 MAJ- EXTEND # DEFINITE NEGATIVE OUTPUT. DCS GYROFRAC DAS RUPTREG1 CA ITEMP4 # SELECT NEGATIVE TORQUING FOR THIS GYRO. AD BIT9 EXTEND WOR CHAN14 CS RUPTREG1 # SET UP RUPTREGS TO FALL INTO GMERGE. TS RUPTREG1 # ALL NUMBERS PUT INTO GYROCMD ARE CS RUPTREG2 # POSITIVE -- BIT9 OF CHAN 14 DETERMINES MASK LOW7 # THE SIGN OF THE COMMAND. COM XCH RUPTREG2 COM TCF GMERGE GDESELCT OCT 1700 # TURN OFF SELECT AND ACTIVITY BITS. GYROFRAC 2DEC .215 B -21 # Page 1327 # IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE. ENDIMU EXTEND # MODE IS BAD IF CAGE HAS OCCURRED OR IF READ DSALMOUT # ISS WARNING IS ON. MASK BIT1 CCS A TCF IMUBAD IMUGOOD TCF GOODEND # WITH C(A) = 0. IMUBAD CAF ZERO TCF BADEND CAGETEST CAF BIT6 # SUBROUTINE TO TERMINATE IMU MODE MASK IMODES30 # SWITCH IF IMU HAS BEEN CAGED. CCS A TCF IMUBAD # DIRECTLY. TC Q # WITH C(A) = +0. CAGETSTQ CS IMODES30 # SKIP IF IMU NOT BEING CAGED. MASK BIT6 CCS A INCR Q TC Q CAGETSTJ CS IMODES30 # IF DURING MODE SWITCH INITIALIZATION MASK BIT6 # IT IS FOUND THAT THE IMU IS BEING CAGED, CCS A # SET IMUCADR TO -0 TO INDICATE OPERATION TC Q # COMPLETE BUT FAILED. RETURN IMMEDIATELY CS ZERO # TO SWRETURN. TS IMUCADR TCF MODEEXIT # Page 1328 # GENERALIZED MODE SWITCHING TERMINATION. ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION # OR AT BADEND FOR A N UNSUCCESSFUL ONE. C(A) OR ARRIVAL =0 FOR IMU, 1 FOR OPTICS. BADEND TS RUPTREG2 # DEVICE INDEX. CS ZERO # FOR FAILURE. TCF GOODEND +2 GOODEND TS RUPTREG2 CS ONE # FOR SUCCESS. TS RUPTREG3 INDEX RUPTREG2 # SEE IF USING PROGRAM ASLEEP. CCS MODECADR TCF +4 # YES -- WAKE IT UP. TCF ENDMODE # IF 0, PROGRAM NOT IN YET. EXTEND BZF ENDMODE +1 # BZF = TCF IF MODECADR = -0. CAF ZERO # WAKE SLEEPING PROGRAM. INDEX RUPTREG2 XCH MODECADR TC JOBWAKE CS RUPTREG3 # ADVANCE LOC IF SUCCESSFUL. INDEX LOCCTR ADS LOC TCF TASKOVER ENDMODE CA RUPTREG3 # -0 INDICATES OPERATION COMPLETE BUT +1 INDEX RUPTREG2 # UNSUCCESSFUL: -1 INDICATES COMPLETE AND TS MODECADR # SUCCESSFUL. TCF TASKOVER # Page 1329 # GENERAL STALLING ROUTINE. USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION. # # PROGRAM DESCRIPTION DATE- 21 FEB 1967 # LOG SECTION IMU MODE SWITCHING # MOD BY- R.MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 82 # # FUNCTIONAL DESCRIPTION- # TO DELAY FURTHER EXECUTION OF THE CALLING ROUTINE UNTIL ITS SELECTED # I/O FUNCTION IS COMPLETE.THE FOLLOWING CHECKS ON THE CALLING ROUTINE:S # MODECADR ARE MADE AND ACTED UPON. # 1) +0 INDICATES INCOMPLETE I/O OPERATION.CALLING ROUTINE IS PUT TO # SLEEP. # 2) -1 INDICATES COMPLETED I/O OPERATION. STALL BYPASSES JOBSLEEP # CALL AND RETURNS TO CALLING ROUTINE AT L+3 # 3) -0 INDICATES COMPLETED I/O WITH FAILURE. STALL CLEARS MODECADR # AND RETURNS TO CALLING ROUTINE AT L+2. # 4) VALUE GREATER THAN 0 INDICATES TWO ROUTINES CALLING FOR USE OF # SAME DEVICE. STALL EXITS TO ABORT WHICH EXECUTES A PROGRAM # RESTART WHICH IN TURN CLEARS ALL MODECADR REGISTERS. # # CALLING SEQUENCE- # L TC BANKCALL # L+1 CADR (ONE OF 5 STALL ADDRESSES I.E. IMUSTALL,OPTSTALL,RADSTALL, # AOTSTALL,OR ATTSTALL) # # NORMAL-EXIT MODE- # TCF JOBSLEEP OR TCF MODEXIT # # ALARM OR ABORT EXIT MODE- # TC ABORT # # OUTPUT- # MODECADR= CADR IF JOBSLEEP # MODECADR=+0 IF I/O COMPLETE # BUF2=L+3 IF I/O COMPLETE AND GOOD. # BUF2=L+2 IF I/O COMPLETE BUT FAILED. # # ERASABLE INITIALIZATION- # BUF2 CONTAINS RETURN ADDRESS PLUS 1,(L+2) # BUF2+1 CONTAINS FBANK VALUE OF CALLING ROUTINE. # MODECADR OF CALLING ROUTINE CONTAINS +0,-1,-0 OR CADR RETURN ADDRESS. # # DEBRIS- # RUPTREG2 AND CALLING ROUTINE MODECADR. AOTSTALL CAF ONE # AOT. TC STALL RADSTALL CAF TWO TCF STALL # Page 1330 OPTSTALL EQUALS AOTSTALL IMUSTALL CAF ZERO # IMU. STALL INHINT TS RUPTREG2 # SAVE DEVICE INDEX. INDEX A # SEE IF OPERATION COMPLETE. CCS MODECADR TCF MODABORT # ALLOWABLE STATES ARE +0, -1, AND -0. TCF MODESLP # OPERATION INCOMPLETE. TCF MODEGOOD # COMPLETE AND GOOD IF = -1. MG2 INDEX RUPTREG2 # COMPLETE AND FAILED IF -0. RESET TO +0. TS MODECADR # RETURN TO CALLER. TCF MODEEXIT MODEGOOD CCS A # MAKE SURE INITIAL STATE -1. TCF MODABORT INCR BUF2 # IF SO, INCREMENT RETURN ADDRESS AND TCF MG2 # RETURN IMMEDIATELY, SETTING CADR = +0. MODESLP TC MAKECADR # CALL FROM SWITCHABLE FIXED ONLY. INDEX RUPTREG2 TS MODECADR TCF JOBSLEEP MODABORT DXCH BUF2 TC BAILOUT1 # TWO PROGRAMS USING THE SAME DEVICE. OCT 1210 # Page 1331 # CONSTANTS FOR MODE SWITCHING ROUTINES BITS3&4 = OCT14 BITS4&6 = OCT50 BITS4-5 OCT 00030 IMUSEFLG EQUALS BIT8 # INTERPRETER SWITCH 7. -COMMAX DEC -191 -COMMAX- DEC -192 600MS DEC 60 IMUFIN20 = IMUFINE GOMANUR CA ATTCADR # IS KALCMANU FREE EXTEND BZF +3 TC POODOO # NO OCT 1210 # 2 TRYING TO USE SAME DEVICE +3 EXTEND DCA BUF2 DXCH ATTCADR # SAVE FINAL RETURN FOR KALCMAN3 CA BBANK MASK SEVEN ADS ATTCADR +1 CA PRIORITY MASK PRIO37 TS ATTPRIO # SAVE USERS PRIO CAF KALEBCON # SET EBANK FOR KALCMAN3 TS EBANK TC POSTJUMP CADR KALCMAN3 KALEBCON ECADR BCDU # Page 1332 # PROGRAM DESCRIPTION # IMU STATUS CHECK ROUTINE R02 (SUBROUTINE UTILITY) # MOD NO - 1 # MOD BY - N.BRODEUR # FUNCTIONAL DESCRIPTION # # TO CHECK WHETHER IMU IS ON AND IF ON WHETHER IT IS ALIGNED TO AN # ORIENTATION KNOWN BY THE CMC. TO REQUEST SELECTION OF THE APPROPRIATE # PROGRAM IF THE IMU IS OFF OR NOT ALIGNED TO AN ORIENTATION KNOWN BY THE # CMC. CALLED THROUGH BANKCALL # CALLING SEQUENCE- # # L TC BANKCALL # L+1 CADR R02BOTH # SUBROUTINES CALLED # # VARALARM # FLAGUP # NORMAL EXIT MODES # # AT L+2 OF CALLING SEQUENCE # ALARM OR ABORT EXIT MODES # GOTOPOOH, WITH ALARM # ERASABLE INITIALIZATION REQUIRED # # NONE # DEBRIS # # CENTRALS-A,Q,L BANK 34 SETLOC R02 BANK COUNT* $$/R02 DEC51 DEC 51 R02BOTH CAF REFSMBIT MASK FLAGWRD3 CCS A TC R02ZERO # ZERO IMUS CA IMODES30 MASK BIT9 # IS ISS INITIALIZED EXTEND BZF +2 CS BIT4 # SEND IMU ALARM CODE 210 AD OCT220 # SEND REFSMM ALARM TC VARALARM TC GOTOPOOH R02ZERO TC UPFLAG # Page 1333 ADRES IMUSE TCF SWRETURN OCT220 OCT 220 # Page 1334 # PROGRAM DESCRIPTION P06 10FEB67 # # TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION. # # THE NORMAL CONDITION OF READINESS OF THE GNCS WHEN NOT IN USE IS STANDBY. IN THIS CONDITION THE IMU # HEATER POWER IS ON. THE IMU OPERATE POWER IS OFF. THE COMPUTER POWER IS ON. THE OPTICS POWER IS OFF. THE # CMC STANDBY ON THE MAIN AND LEB DISKYS IS ON. # # CALLING SEQUENCE: # ASTRONAUT REQUEST THROUGH DSKY V37E 06E. # # SUBROUTINES CALLED: # GOPERF1 # BANKCALL # FLAGDOWN # # Page 1335 # PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2 # THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATIBILITY # BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING. SETLOC P05P06 BANK EBANK= TIME2SAV COUNT* $$/P06 P06 TC UPFLAG # SET NODOV37 BIT ADRES NODOFLAG PRESTAND INHINT EXTEND DCA TIME2 # SNAPSHOT TIME1TIME2 DXCH TIME2SAV TC SCALPREP TC PRESTAND # T1,T2,SCALER NOT COMPATIBLE DXCH MPAC # T1,T2 AND SCALER OK DXCH SCALSAVE # STORE SCALER INHINT TC BANKCALL CADR RNDREFDR # REFSMM, DRIFT, TRACK FLAGS DOWN TC DOWNFLAG ADRES IMUSE # IMUSE DOWN TC DOWNFLAG ADRES RNDVZFLG # RNDVZFLG DOWN CAF BIT11 EXTEND WOR CHAN13 # SET STANDBY ENABLE BIT TC PHASCHNG # SET RESTART TO POSTAND WHEN STANDBY OCT 07024 # RECOVERS OCT 20000 EBANK= SCALSAVE 2CADR POSTAND CAF OCT62 TC BANKCALL CADR GOPERF1 TCF -3 TCF -4 TCF -5 OCT62 EQUALS .5SEC # DEC 50 = OCT 62 # THE LOW 5 BITS OF THE SCALER READS 10000 FOR THE FIRST INTERVAL AFTER A # Page 1336 # T1 INCREMENT. IF SCALPREP DETECTS THIS INTERVAL THE T1,T2 AND SCALER # DATA ARE NOT COMPATIBLE AND RETURN IS TO L+1 FOR ANOTHER READING OF THE # DATA. OTHERWISE, THE RETURN IS TO L+2 TO PROCEED. ROUTINE ALSO PREPARES # THE SCALER READING FOR COMPUTATION OF THE INCREMENT TO UPDATE T1T2. (THE # 10 MS BIT (BIT 6) OF THE SCALER IS INCREMENTED 5 MS OUT OF PHASE FROM # T1.) ADDITION OF 5 MS (BIT 5) TO THE SCALER READING HAS THE EFFECT OF # ADJUSTING BIT 6 IN THE SCALER TO BE IN PHASE WITH BIT 1 OF T1. THE LOW 5 # BITS OF THE SCALER READING ARE THEN SET TO ZERO, TO TRUNCATE THE SCALER # DATA TO 10 MS. RESULTS ARE STORED IN MPAC, +1. SCALPREP EXTEND QXCH MPAC +2 TC FINETIME +1 RELINT DXCH MPAC CA BIT5 # ADD 5 MS TO THE SCALER READING. TS L CA ZERO DAS MPAC CS LOW5 # SET LOW 5 BITS OF (SCALER+5MS) TO ZERO MASK MPAC +1 # AND STORE RESULTS IN MPAC,+1. XCH MPAC +1 MASK LOW5 # TEST LOW 5 BITS OF SCALER FOR THE FIRST # INTERVAL AFTER THE T1 INCREMENT # (NOW = 00000, SINCE BIT 5 ADDED). CCS A # IS IT 1ST INTERVAL AFTER T1 INCREMENT INCR MPAC +2 # NO TC MPAC +2 # YES # POSTAND RECOVERS TIME AFTER STANDBY.THE SCALER IS SNAPSHOTTED AND THE # TIME1 TIME2 COUNTER IS SET TO ZERO. THE LOW 5 BITS OF THE SCALER ARE # INSPECTED TO INSURE COMPATIBILITY BETWEEN THE SCALER READING AND THE # CLEARING OF THE TIME COUNTER. IT THEN COMPUTES THE DIFFERENCE IN SCALER # VALUES (IN DP) AND ADDS THIS TO THE PREVIOUSLY SNAPSHOTTED VALUES OF # TIME1 TIME2 AND PLACES THIS NEW TIME INTO THE TIME1 TIME2 COUNTER. COUNT* $$/P05 POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY. EXTEND WAND CHAN13 # CLEAR STANDBY ENABLE BIT INHINT CA ZERO TS L DXCH TIME2 # CLEAR TIME1TIME2 TC SCALPREP # STORE SCALER IN MPAC, MPAC+1 TC POSTAND +3 # T1,T2,SCALER NOT COMPATIBLE EXTEND # T1,T2 AND SCALER OK DCS SCALSAVE DAS MPAC # FORM DP DIFFERENCE OF POSTSTANDBY SCALER # Page 1337 CAF BIT10 # MINUS PRESTANDBY SCALER AND SHIFT RIGHT TC SHORTMP # 5 TO ALIGN BITS WITH TIME1TIME2. CAF ZERO TS MPAC +2 # NEEDED FOR TP AGREE TC TPAGREE # MAKE DP DIFF AGREE CCS MPAC TC POSTCOM # IF DP DIFF NET +, NO SCALER OVERFLOW TC POSTCOM # BETWEEN PRE AND POST STANDBY. TC +1 # IF DP DIFF NET -, SCALER OVERFLOWED. ADD CAF BIT10 # BIT 10 TO HIGH DIFF TO CORRECT. ADS MPAC POSTCOM EXTEND # C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER. DCA TIME2SAV # PRESTANDBY TIME1TIME2 DAS MPAC TC TPAGREE # FORCE SIGN AGREEMENT DXCH MPAC # UPDATED VALUE FOR T1,T2. DAS TIME2 # LOAD UPDATED VALUE INTO T1,T2, WITH TC DOWNFLAG # CLEAR NODOFLAG ADRES NODOFLAG TC GOTOPOOH ================================================ FILE: Luminary099/IMU_PERFORMANCE_TESTS_4.agc ================================================ # Copyright: Public domain. # Filename: IMU_PERFORMANCE_TESTS_4.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 382-389 # Mod history: 2009-05-17 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 382 # PROGRAM -- IMU PERFORMANCE TESTS 4 # DATE -- NOV 15, 1966 # BY -- GEORGE SCHMIDT IL7-146 EXT 1126 # MOD NO-ZERO # # FUNCTIONAL DESCRIPTION # # THIS SECTION CONSISTS OF THE FILTER FOR THE GYRO DRIFT TESTS. NO COMPASS # IS DONE IN LEM. FOR A DESCRIPTION OF THE FILTER SEE E-1973. THIS # SECTION IS ENTERED FROM IMU 2. IT RETURNS THERE AT END OF TEST. # # EARTHR,OGC ZERO,ERTHRVSE # # NORMAL EXIT # # LENGTHOT GOES TO ZERO -- RETURN TO IMU PERF TESTS 2 CONTROL # # ALARMS # # 1600 OVERFLOW IN DRIFT TEST # 1601 BAD IMU MODING IN ANY ROUTINE THAT USES IMUSTALL # OUTPUT # # FLASHING DISPLAY OF RESULTS -- CONTROLLED IN IMU PERF TESTS 2 # # DEBRIS # # ALL CENTRALS -- ALL OF EBANK XSM # Page 383 BANK 33 SETLOC IMU4 BANK COUNT* $$/P07 EBANK= XSM ESTIMS INHINT CAE 1SECXT TC TWIDDLE EBANK= XSM ADRES ALLOOP CAF ZERO # ZERO THE PIPAS TS PIPAX TS PIPAY TS PIPAZ RELINT CA 77DECML TS ZERONDX CA ALXXXZ TC ZEROING TC INTPRET SLOAD SCHZEROS STOVL GCOMPSW -1 INTVAL +2 STOVL ALX1S SCHZEROS STORE DELVX STORE GCOMP SLOAD TORQNDX DCOMP BMN VERTSKIP CALL ERTHRVSE VERTSKIP EXIT TC SLEEPIE +1 # Page 384 ALLOOP CA OVFLOWCK EXTEND BZF +2 TC TASKOVER CCS ALTIM CA A # SHOULD NEVER HIT THIS LOCATION TS ALTIMS CS A TS ALTIM CS ONE AD GEOCOMPS EXTEND BZF +4 CA LENGTHOT EXTEND BZMF +5 CAE 1SECXT TC TWIDDLE EBANK= XSM ADRES ALLOOP CAF ZERO XCH PIPAX TS DELVX CAF ZERO XCH PIPAY TS DELVY CAF ZERO XCH PIPAZ TS DELVZ SPECSTS CAF PRIO20 TC FINDVAC EBANK= XSM 2CADR ALFLT # START THE JOB TC TASKOVER # Page 385 ALFLT CCS GEOCOMPS TC +2 TC NORMLOP TC BANKCALL CADR 1/PIPA NORMLOP TC INTPRET DLOAD INTVAL STOVL S1 DELVX VXM VSL1 XSM DLOAD DCOMP MPAC +3 STODL DPIPAY MPAC +5 STORE DPIPAZ SETPD AXT,1 0 8D SLOAD DCOMP GEOCOMPS BMN PERFERAS ALCGKK SLOAD BMN ALTIMS ALFLT3 ALKCG AXT,2 LXA,1 # LOADS SLOPES AND TIME CONSTANTS AT RQST 12D ALX1S ALKCG2 DLOAD* INCR,1 ALFDK +144D,1 DEC -2 STORE ALDK +10D,2 TIX,2 SXA,1 ALKCG2 ALX1S ALFLT3 AXT,1 8D DELMLP DLOAD* DMP DPIPAY +8D,1 PIPASC SLR BDSU* 9D INTY +8D,1 STORE INTY +8D,1 PDDL DMP* VELSC # Page 386 VLAUN +8D,1 SL2R DSU STADR STORE DELM +8D,1 STORE DELM +10D,1 TIX,1 AXT,2 DELMLP 4 ALILP DLOAD* DMPR* ALK +4,2 ALDK +4,2 STORE ALK +4,2 TIX,2 AXT,2 ALILP 8D ALKLP LXC,1 SXA,1 CMPX1 CMPX1 DLOAD* DMPR* ALK +1,1 DELM +8D,2 DAD* INTY +8D,2 STORE INTY +8D,2 DLOAD* DAD* ALK +12D,2 ALDK +12D,2 STORE ALK +12D,2 DMPR* DAD* DELM +8D,2 INTY +16D,2 STORE INTY +16D,2 DLOAD* DMP* ALSK +1,1 DELM +8D,2 SL1R DAD* VLAUN +8D,2 STORE VLAUN +8D,2 TIX,2 AXT,1 ALKLP 8D LOOSE DLOAD* PDDL* ACCWD +8D,1 VLAUN +8D,1 PDDL* VDEF POSNV +8D,1 MXV VSL1 TRANSM1 # Page 387 DLOAD MPAC STORE POSNV +8D,1 DLOAD MPAC +3 STORE VLAUN +8D,1 DLOAD MPAC +5 STORE ACCWD +8D,1 TIX,1 LOOSE AXT,2 AXT,1 # EVALUATE SINES AND COSINES 6 2 BOOP DLOAD* DMPR ANGX +2,1 GEORGEJ SR2R PUSH SIN SL3R XAD,1 X1 STORE 16D,2 DLOAD COS STORE 22D,2 # COSINES TIX,2 BOOP PERFERAS EXIT CA EBANK7 TS EBANK EBANK= ATIGINC TC ATIGINC # GOTO ERASABLE TO CALCULATE ONLY TO RETN # CAUTION # # THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED # BEFORE ANY ATTEMPT IS MAKE TO RUN THE IMU PERFORMANCE TEST EBANK= AZIMUTH CCS LENGTHOT TC SLEEPIE CCS TORQNDX TCF +2 TC SETUPER1 CA CDUX TS LOSVEC +1 # FOR TROUBLESHOOTING VD POSNS 2$4 # Page 388 SETUPER1 TC INTPRET DLOAD PDDL # ANGLES FROM DRIFT TEST ONLY ANGZ ANGY PDDL VDEF ANGX VCOMP VXSC GEORGEJ MXV VSR1 XSM STORE OGC EXIT CA OGCPL TC BANKCALL CADR IMUPULSE TC IMUSLLLG GEOSTRT4 CCS TORQNDX # ONLY POSITIVE IF IN VERTICAL DRIFT TEST TC VALMIS TC INTPRET CALL ERTHRVSE EXIT TC TORQUE SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGTHOT CCS TORQNDX # ARE WE DOING VERTDRIFT TC EARTHR* TC ENDOFJOB SOMEERRR CA EBANK5 TS EBANK CA ONE TS OVFLOWCK # STOP ALLOOP FROM CALLING ITSELF TC ALARM OCT 1600 TC ENDTEST1 SOMERR2 CAF OCT1601 TC VARALARM TC DOWNFLAG ADRES IMUSE TC ENDOFJOB OCT1601 OCT 01601 DEC585 OCT 06200 # 3200 B+14 ORDER IS IMPORTANT SCHZEROS 2DEC .00000000 # Page 389 2DEC .00000000 OCT 00000 ONEDPP OCT 00000 # ORDER IS IMPORTANT OCT 00001 INTVAL OCT 4 OCT 2 DEC 144 DEC -1 SOUPLY 2DEC .93505870 # INITIAL GAINS FOR PIP OUTPUTS 2DEC .26266423 # INITIAL GAINS/4 FOR ERECTION ANGLES 77DECML DEC 77 ALXXXZ GENADR ALX1S -1 PIPASC 2DEC .13055869 VELSC 2DEC -.52223476 # 512/980.402 ALSK 2DEC .17329931 # SSWAY VEL GAIN X 980.402/4096 2DEC -.00835370 # SSWAY ACCEL GAIN X 980.402/4096 GEORGEJ 2DEC .63661977 GEORGEK 2DEC .59737013 ================================================ FILE: Luminary099/IMU_PERFORMANCE_TEST_2.agc ================================================ # Copyright: Public domain. # Filename: IMU_PERFORMANCE_TEST_2.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 373-381 # Mod history: 2009-05-17 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 373 # NAME -- IMU PERFORMANCE TESTS 2 # # DATE -- MARCH 20, 1967 # # BY -- SYSTEM TEST GROUP 864-6900 EXT. 1274 # # MODNO. -- ZERO # # FUNCTIONAL DESCRIPTION # # POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF # THE TESTS THEMSELVES. FOR A DESCRIPTION OF THESE SUBROUTINES AND THE # OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685. THEORETICAL REF. E-1973 BANK 33 SETLOC IMU2 BANK EBANK= POSITON COUNT* $$/P07 REDO TC NEWMODEX MM 07 GEOIMUTT TC IMUZERR IMUBACK CA ZERO TS NDXCTR TS TORQNDX TS TORQNDX +1 TS OVFLOWCK NBPOSPL CA DEC17 TS ZERONDX CA XNBADR TC ZEROING CA HALF TS XNB GUESS TC INTPRET LATAZCHK DLOAD SL2 LATITUDE STODL DSPTEM1 +1 AZIMUTH RTB EXIT 1STO2S XCH MPAC TS DSPTEM1 CAF VN0641 TC BANKCALL CADR GOFLASH TC ENDTEST1 TC +2 TC -5 # Page 374 TC INTPRET SLOAD RTB DSPTEM1 CDULOGIC STORE AZIMUTH SLOAD SR2 DSPTEM1 +1 STORE LATITUDE COS DCOMP SL1 STODL WANGI LATITUDE SIN SL1 STODL WANGO AZIMUTH PUSH SIN STORE YNB +2 STODL ZNB +4 COS STORE YNB +4 DCOMP POSGMBL STCALL ZNB +2 CALCGA EXIT TC BANKCALL CADR IMUCOARS CAF BIT14 # IF BIT14 SET, GIMBAL LOCK MASK FLAGWRD3 EXTEND BZF +2 INCR NDXCTR # +1 IF IN GIMBAL LOCK, OTHERWISE 0 TC DOWNFLAG ADRES GLOKFAIL # RESET GIMBAL LOCK FLAG TC IMUSLLLG CCS NDXCTR # IF ONE GO AND DO A PIPA TEST ONLY TC PIPACHK # ALIGN AND MEASURE VERTICAL PIPA RATE TC FINIMUDD EXTEND DCA PERFDLAY TC LONGCALL # DELAY WHILE SUSPENSION STABILIZES EBANK= POSITON 2CADR GOESTIMS CA ESTICADR TC JOBSLEEP GOESTIMS CA ESTICADR TC JOBWAKE TC TASKOVER ESTICADR CADR ESTIMS TORQUE CA ZERO # Page 375 TS DSPTEM2 CA DRIFTI TS DSPTEM2 +1 INDEX POSITON TS SOUTHDR -1 TC SHOW PIPACHK INDEX NDXCTR # PIPA TEST TC +1 TC EARTHR* CA DEC17 # ALLOW PIP COUNTER TO OVERFLOW 17 TIMES TS DATAPL +4 # IN THE ALLOTTED TIME INTERVAL CA DEC58 TS LENGTHOT CA ONE TS RESULTCT CA ZERO INDEX PIPINDEX TS PIPAX TS DATAPL TC CHECKG INHINT CAF TWO TC TWIDDLE EBANK= XSM ADRES PIPATASK TC ENDOFJOB PIPATASK EXTEND DIM LENGTHOT CA LENGTHOT EXTEND BZMF STARTPIP CAF BIT10 TC TWIDDLE EBANK= XSM ADRES PIPATASK STARTPIP CAF PRIO20 TC FINDVAC EBANK= XSM 2CADR PIPJOBB TC TASKOVER PIPJOBB INDEX NDXCTR TC +1 TC EARTHR* CA LENGTHOT # Page 376 EXTEND BZMF +2 TC ENDOFJOB CA FIVE TS RESULTCT TC CHECKG CCS DATAPL +1 TC +4 TC CCSHOLE CS DATAPL +4 TS DATAPL +4 EXTEND DCS DATAPL DAS DATAPL +4 TC INTPRET DLOAD DSU DATAPL +6 DATAPL +2 BPL CALL AINGOTN OVERFFIX AINGOTN PDDL DDV DATAPL +4 DMPR RTB DEC585 # DEC585 HAS BEEN REDEFINED FOR LEM SGNAGREE STORE DSPTEM2 EXIT CCS NDXCTR TC COAALIGN # TAKE PLATFORM OUT OF GIMBAL LOCK TC SHOW VERTDRFT CA 3990DEC # ABOUT 1 HOUR VERTICAL DRIFT TEST TS LENGTHOT INDEX POSITON CS SOUTHDR -2 TS DRIFTT CCS PIPINDEX # OFFSET PLATFORM TO MISS PIP DEAD-ZONES TCF PON4 # Z-UP IN POS 4 PON2 CS BIT5 # X-UP ADS ERCOMP +2 CA BIT5 ADS ERCOMP +4 TCF PON PON4 CS BIT5 ADS ERCOMP +2 CA BIT5 ADS ERCOMP PON TC EARTHR* # Page 377 CA ZERO # ALLOW ONLY SOUTH GYRO EARTH RATE COMPENS TS ERVECTOR TS ERVECTOR +1 GUESS1 CAF POSMAX TS TORQNDX TS TORQNDX +1 CA CDUX TS LOSVEC TC ESTIMS VALMIS CA DRIFTO TS DSPTEM2 +1 CA ZERO TS DSPTEM2 TC SHOW ENDTEST1 TC DOWNFLAG ADRES IMUSE CS ZERO TC NEWMODEA TC ENDEXT # Page 378 OVERFFIX DAD DAD DPPOSMAX ONEDPP RVQ COAALIGN EXTEND # COARSE ALIGN SUBROUTINE QXCH ZERONDX CA ZERO TS THETAD TS THETAD +1 TS THETAD +2 TC BANKCALL CADR IMUCOARS ALIGNCOA TC BANKCALL CADR IMUSTALL TC SOMERR2 TC ZERONDX IMUSLLLG EXTEND QXCH ZERONDX TC ALIGNCOA FINIMUDD EXTEND QXCH ZERONDX TC BANKCALL CADR IMUFINE TC ALIGNCOA IMUZERR EXTEND QXCH ZERONDX TC BANKCALL CADR IMUZERO TC ALIGNCOA CHECKG EXTEND # PIP PULSE CATCHING ROUTINE QXCH QPLACE TC +6 CHECKG1 RELINT CA NEWJOB EXTEND BZMF +6 TC CHANG1 INHINT INDEX PIPINDEX CS PIPAX TS ZERONDX INHINT # Page 379 INDEX PIPINDEX CA PIPAX AD ZERONDX EXTEND BZF CHECKG1 INDEX PIPINDEX CA PIPAX INDEX RESULTCT TS DATAPL TC FINETIME INDEX RESULTCT TS DATAPL +1 INDEX RESULTCT LXCH DATAPL +2 RELINT ENDCHKG TC QPLACE ZEROING TS L TCF +2 ZEROING1 TS ZERONDX CAF ZERO INDEX L TS 0 INCR L CCS ZERONDX TCF ZEROING1 TC Q # Page 380 ERTHRVSE DLOAD PDDL SCHZEROS # PD24 = (SIN -COS 0)(OMEG/MS) LATITUDE COS DCOMP PDDL SIN LATITUDE VDEF VXSC OMEG/MS STORE ERVECTOR RTB LOADTIME STOVL TMARK SCHZEROS STORE ERCOMP RVQ EARTHR ITA RTB S2 LOADTIME STORE TEMPTIME DSU BPL TMARK ERTHR CALL OVERFFIX ERTHR SL VXSC 9D ERVECTOR MXV VAD XSM ERCOMP STODL ERCOMP TEMPTIME STORE TMARK AXT,1 RTB ECADR ERCOMP PULSEIMU GOTO S2 EARTHR* EXTEND QXCH QPLACES TC INTPRET CALL EARTHR EXIT TC IMUSLLLG TC QPLACES SHOW EXTEND # Page 381 QXCH QPLACE SHOW1 CA POSITON TS DSPTEM2 +2 CA VB06N98 TC BANKCALL CADR GOFLASH TC ENDTEST1 # V34 TC QPLACE # V33 TCF SHOW1 3990DEC DEC 3990 VB06N98 VN 0698 VN0641 VN 0641 DEC17 = ND1 DEC58 DEC 58 OGCPL ECADR OGC 1SECX = 1SEC XNBADR GENADR XNB XSMADR GENADR XSM BLOCK 2 COUNT* $$/P07 FINETIME INHINT # RETURNS WITH INTERRUPT INHIBITED EXTEND READ LOSCALAR TS L EXTEND RXOR LOSCALAR EXTEND BZF +4 EXTEND READ LOSCALAR TS L +4 CS POSMAX AD L EXTEND BZF FINETIME +1 EXTEND READ HISCALAR TC Q ================================================ FILE: Luminary099/INFLIGHT_ALIGNMENT_ROUTINES.agc ================================================ # Copyright: Public domain. # Filename: INFLIGHT_ALIGNMENT_ROUTINES.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1249-1258 # Mod history: 2009-05-26 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 1249 BANK 22 SETLOC INFLIGHT BANK EBANK= XSM # CALCGTA COMPUTES THE GYRO TORQUE ANGLES REQUIRED TO BRING THE STABLE MEMBER INTO THE DESIRED ORIENTATION. # # THE INPUT IS THE DESIRED STABLE MEMBER COORDINATES REFERRED TO PRESENT STABLE MEMBER COORDINATES. THE THREE # HALF-UNIT VECTORS ARE STORED AT XDC, YDC, AND ZDC. # # THE OUTPUTS ARE THE THREE GYRO TORQUE ANGLES TO BE APPLIED TO THE Y, Z, AND X GYROS AND ARE STORED DP AT IGC, # MGC, AND OGC RESPECTIVELY. COUNT* $$/INFLT CALCGTA ITA DLOAD # PUSHDOWN 00-03, 16D-27D, 34D-37D S2 # XDC = (XD1 XD2 XD3) XDC # YDC = (YD1 YD2 YD3) PDDL PDDL # ZDC = (ZD1 ZD2 ZD3) HI6ZEROS XDC +4 DCOMP VDEF UNIT STODL ZPRIME # ZP = UNIT(-XD3 0 XD1) = (ZP1 ZP2 ZP3) ZPRIME SR1 STODL SINTH # SIN(IGC) = ZP1 ZPRIME +4 SR1 STCALL COSTH # COS(IGC) = ZP3 ARCTRIG STODL IGC # Y GYRO TORQUING ANGLE FRACTION OF REV. XDC +2 SR1 STODL SINTH # SIN(MGC) = XD2 ZPRIME DMP PDDL XDC +4 # PD00 = (ZP1)(XD3) ZPRIME +4 DMP DSU XDC # MPAC = (ZP3)(XD1) STADR STCALL COSTH # COS(MGC) = MPAC - PD00 ARCTRIG # Page 1250 STOVL MGC # Z GYRO TORQUING ANGLE FRACTION OF REV. ZPRIME DOT ZDC STOVL COSTH # COS(OGC) = ZP . ZDC ZPRIME DOT YDC STCALL SINTH # SIN(OGC) = ZP . YDC ARCTRIG STCALL OGC # X GYRO TORQUING ANGLE FRACTION OF REV. S2 # Page 1251 # ARCTRIG COMPUTES AN ANGLE GIVEN THE SINE AND COSINE OF THIS ANGLE. # # THE INPUTS ARE SIN/4 AND COS/4 STORED DP AT SINTH AND COSTH. # # THE OUTPUT IS THE CALCULATED ANGLE BETWEEN +.5 AND -.5 REVOLUTIONS AND STORED AT THETA. THE OUTPUT IS ALSO # AVAILABLE AT MPAC. ARCTRIG DLOAD ABS # PUSHDOWN 16D-21D SINTH DSU BMN QTSN45 # ABS(SIN/4) - SIN(45)/4 TRIG1 # IF (-45,45) OR (135,-135) DLOAD SL1 # (45,135) OR (-135,-45) COSTH ACOS SIGN SINTH STORE THETA # X = ARCCOS(COS) WITH SIGN(SIN) RVQ TRIG1 DLOAD SL1 # (-45,45) OR (135,-135) SINTH ASIN STODL THETA # X = ARCSIN(SIN) WITH SIGN(SIN) COSTH BMN TRIG2 # IF (135,-135) DLOAD RVQ THETA # X = ARCSIN(SIN) (-45,45) TRIG2 DLOAD SIGN # (135,-135) HIDPHALF SINTH DSU THETA STORE THETA # X = .5 WITH SIGN(SIN) - ARCSIN(SIN) RVQ # (+) - (+) OR (-) - (-) # Page 1252 # SMNB, NBSM, AND AXISROT, WHICH USED TO APPEAR HERE, HAVE BEEN # COMBINED IN A ROUTINE CALLED AX*SR*T, WHICH APPEARS AMONG THE POWERED # FLIGHT SUBROUTINES. # Page 1253 # CALCGA COMPUTES THE CDU DRIVING ANGLES REQUIRED TO BRING THE STABLE MEMBER INTO THE DESIRED ORIENTATION. # # THE INPUTS ARE 1) THE NAVIGATION BASE COORDINATES REFERRED TO ANY COORDINATE SYSTEM. THE THREE HALF-UNIT # VECTORS ARE STORED AT XNB, YNB, AND ZNB. 2) THE DESIRED STABLE MEMBER COORDINATES REFERRED TO THE SAME # COORDINATE SYSTEM ARE STORED AT XSM, YSM, AND ZSM. # # THE OUTPUTS ARE THE THREE CDU DRIVING ANGLES AND ARE STORED SP AT THETAD, THETAD +1, AND THETAD +2. CALCGA SETPD # PUSHDOWN 00-05, 16D-21D, 34D-37D 0 VLOAD VXV XNB # XNB = OGA (OUTER GIMBAL AXIS) YSM # YSM = IGA (INNER GIMBAL AXIS) UNIT PUSH # PD0 = UNIT(OGA X IGA) = MGA DOT ITA ZNB S2 STOVL COSTH # COS(OG) = MGA . ZNB 0 DOT YNB STCALL SINTH # SIN(OG) = MGA . YNB ARCTRIG STOVL OGC 0 VXV DOT # PROVISION FOR MG ANGLE OF 90 DEGREES XNB YSM SL1 STOVL COSTH # COS(MG) = IGA . (MGA X OGA) YSM DOT XNB STCALL SINTH # SIN(MG) = IGA . OGA ARCTRIG STORE MGC ABS DSU .166... BPL GIMLOCK1 # IF ANGLE GREATER THAN 60 DEGREES CALCGA1 VLOAD DOT ZSM 0 STOVL COSTH # COS(IG) = ZSM . MGA XSM # Page 1254 DOT STADR STCALL SINTH # SIN(IG) = XSM . MGA ARCTRIG STOVL IGC OGC RTB V1STO2S STCALL THETAD S2 GIMLOCK1 EXIT TC ALARM OCT 00401 TC UPFLAG # GIMBAL LOCK HAS OCCURRED ADRES GLOKFAIL TC INTPRET GOTO CALCGA1 # Page 1255 # AXISGEN COMPUTES THE COORDINATES OF ONE COORDINATE SYSTEM REFERRED TO ANOTHER COORDINATE SYSTEM. # # THE INPUTS ARE 1) THE STAR1 VECTOR REFERRED TO COORDINATE SYSTEM A STORED AT STARAD. 2) THE STAR2 VECTOR # REFERRED TO COORDINATE SYSTEM A STORED AT STARAD +6. 3) THE STAR1 VECTOR REFERRED TO COORDINATE SYSTEM B STORED # AT LOCATION 6 OF THE VAC AREA. 4) THE STAR2 VECTOR REFERRED TO COORDINATE SYSTEM B STORED AT LOCATION 12D OF # THE VAC AREA. # # THE OUTPUT DEFINES COORDINATE SYSTEM A REFERRED TO COORDINATE SYSTEM B. THE THREE HALF-UNIT VECTORS ARE STORED # AT LOCATIONS XDC, XDC +6, XDC +12D, AND STARAD, STARAD +6, STARAD +12D. AXISGEN AXT,1 SSP # PUSHDOWN 00-30D, 34D-37D STARAD +6 S1 STARAD -6 SETPD 0 AXISGEN1 VLOAD* VXV* # 06D UA = S1 STARAD +12D,1 # STARAD +00D UB = S1 STARAD +18D,1 UNIT # 12D VA = UNIT(S1 X S2) STORE STARAD +18D,1 # STARAD +06D VB = UNIT(S1 X S2) VLOAD* STARAD +12D,1 VXV* VSL1 STARAD +18D,1 # 18D WA = UA X VA STORE STARAD +24D,1 # STARAD +12D WB = UB X VB TIX,1 AXISGEN1 AXC,1 SXA,1 6 30D AXT,1 SSP 18D S1 6 AXT,2 SSP 6 S2 2 AXISGEN2 XCHX,1 VLOAD* 30D # X1=-6 X2=+6 X1=-6 X2=+4 X1=-6 X2=+2 0,1 # Page 1256 VXSC* PDVL* # J=(UA)(UB1) J=(UA)(UB2) J=(UA)(UB3) STARAD +6,2 6,1 VXSC* STARAD +12D,2 STOVL* 24D # K=(VA)(VB1) J=(VA)(VB2) J=(VA)(VB3) 12D,1 VXSC* VAD STARAD +18D,2 # L=(WA)(WB1) J=(WA)(WB2) J=(WA)(WB3) VAD VSL1 24D XCHX,1 UNIT 30D STORE XDC +18D,1 # XDC = L+J+K YDC = L+J+K ZDC = L+J+K TIX,1 AXISGEN3 AXISGEN3 TIX,2 AXISGEN2 VLOAD XDC STOVL STARAD YDC STOVL STARAD +6 ZDC STORE STARAD +12D RVQ # Page 1257 QTSN45 2DEC .1768 .166... 2DEC .1666666667 # Page 1258 (empty page) ================================================ FILE: Luminary099/INPUT_OUTPUT_CHANNEL_BIT_DESCRIPTIONS.agc ================================================ # Copyright: Public domain. # Filename: INPUT_OUTPUT_CHANNEL_BIT_DESCRIPTIONS.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Onno Hommes . # Website: www.ibiblio.org/apollo. # Pages: 0054-0060 # Mod history: 2009-05-14 OH Transcribed from page images. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 54 # *** CHANNEL DESCRIPTIONSF WORDS ARE ALLOCATED IN ERASABLE ASSIGNMENTS *** # CHANNEL 1 IDENTICAL TO COMPUTER REGISTER L (0001) # CHANNEL 2 IDENTICAL TO COMPUTER REGISTER Q (0002) # CHANNEL 3 HISCALAR; INPUT CHANNEL; MOST SIGNIFICANT 14 BITS FROM 33 STAGE BINARY COUNTER. SCALE # FACTOR IS B23 IN CSEC, SO MAX VALUE ABOUT 23.3 HOURS AND LEAST SIGNIFICANT BIT 5.12 SECS. # CHANNEL 4 LOSCALAR; INPUT CHANNEL; NEXT MOST SIGNIFICANT 14 BITS FROM THE 33 STAGE BINARY COUNTER # ASSOCIATED WITH CHANNEL 3. SCALE FACTOR IS B9 IN CSEC. SO MAX VAL IS 5.12 SEC AND LEAST # SIGNIFICANT BIT IS 1/3200 SEC. SCALE FACTOR OF D.P. WORD WITH CHANNEL 3 IS B23 CSEC. # CHANNEL 5 PYJETS; OUTPUT CHANNEL; PITCH RCS JET CONTROL. (REACTION CONTROL SYSTEM) USES BITS 1-8. # CHANNEL 6 ROLLJETS; OUTPUT CHANNEL; ROLL RCS JET CONTROL. (REACTION CONTROL SYSTEM) USES BIT 1-8. # CHANNEL 7 SUPERBNK; OUTPUT CHANNEL; NOT RESET BY RESTART; FIXED EXTENSION BITS USED TO SELECT THE # APPROPRIATE FIXED MEMORY BANK IF FBANK IS 30 OCTAL OR MORE. USES BITS 5-7. # CHANNEL 10 OUT0; OUTPUT CHANNEL; REGISTER USED TO TRANSMIT LATCHING-RELAY DRIVING INFORMATION FOR # THE DISPLAY SYSTEM. BITS 15-12 ARE SET TO THE ROW NUMBER (1-14 OCTAL) OF THE RELAY TO BE # CHANGED AND BITS 11-1 CONTAIN THE REQUIRED SETTINGS FOR THE RELAYS IN THE ROW. # CHANNEL 11 DSALMOUT; OUTPUT CHANNEL; REGISTER WHOSE BITS ARE USED FOR ENGINE ON-OFF CONTROL AND TO # DRIVE INDIVIDUAL INDICATORS OF THE DISPLAY SYSTEM. BITS 1-7 ARE A RELAYS. # # BIT 1 ISS WARNING # BIT 2 LIGHT COMPUTER ACTIVITY LAMP # BIT 3 LIGHT UPLINK ACTIVITY LAMP # BIT 4 LIGHT TEMP CAUTION LAMP # BIT 5 LIGHT KEYBOARD RELEASE LAMP # BIT 6 FLASH VERB AND NOUN LAMPS # BIT 7 LIGHT OPERATOR ERROR LAMP # Page 55 # BIT 8 SPARE # BIT 9 TEST CONNECTOR OUTBIT # BIT 10 CAUTION RESET # BIT 11 SPARE # BIT 12 SPARE # BIT 13 ENGINE ON # BIT 14 ENGINE OFF # BIT 15 SPARE # CHANNEL 12 CHAN12; OUTPUT CHANNEL; BITS USED TO DRIVE NAVIGATION AND SPAECRAFT HARDWARE # # BIT 1 ZERO RR CDU; CDU'S GIVE RRADAR INFORMATION FOR LM # BIT 2 ENABLE CDU RADAR ERROR COUNTERS # BIT 3 NOT USED # BIT 4 COARSE ALIGN ENABLE OF IMU # BIT 5 ZERO IMU CDU'S # BIT 6 ENABLE IMU ERROR COUNTER, CDU ERROR COUNTER. # BIT 7 SPARE # BIT 8 DISPLAY INERTIAL DATA # BIT 9 -PITCH GIMBAL TRIM (BELL MOTION) DESCENT ENGINE # BIT 10 +PITCH GIMBAL TRIM (BELL MOTION) DESCENT ENGINE # BIT 11 -ROLL GIMBAL TRIM (BELL MOTION) DESCENT ENGINE # BIT 12 +ROLL GIMBAL TRIM (BELL MOTION) DESCENT ENGINE # BIT 13 LR POSITION 2 COMMAND # BIT 14 ENABLE RENDESVOUS RADAR LOCK-ON;AUTO ANGLE TRACK'G # BIT 15 ISS TURN ON DELAY COMPLETE # Page 56 # CHANNEL 13 CHAN13; OUTPUT CHANNEL. # # BIT 1 RADAR C PROPER SETTING OF THE A,B,C MATRIX # BIT 2 RADAR B SELECTS CERTAIN RADAR # BIT 3 RADAR A PARAMETERS TO BE READ. # BIT 4 RADAR ACTIVITY # BIT 5 NOT USED (CONNECTS AN ALTERNATE INPUT TO UPLINK) # BIT 6 BLOCK INPUTS TO UPLINK CELL # BIT 7 DOWNLINK TELEMETRY WORD ORDER CODE BIT # BIT 8 RHC COUNTER ENABLE (READ HAND CONTROLLER ANGLES) # BIT 9 START RHC READ INTO COUNTERS IF BIT 8 SET # BIT 10 TEST ALARMS, TEST DSKY LIGHTS # BIT 11 ENABLE STANDBY # BIT 12 RESET TRAP 31-A ALWAYS APPEAR TO BE SET TO 0 # BIT 13 RESET TRAP 31-B ALWAYS APPEAR TO BE SET TO 0 # BIT 14 RESET TRAP 32 ALWAYS APPEAR TO BE SET TO 0 # BIT 15 ENABLE T6 RUPT # CHANNEL 14 CHAN14; OUTPUT CHANNEL; USED TO CONTROL COMPUTER COUNTER CELLS (CDU,GYRO,SPACECRAFT FUNC. # # BIT 1 OUTLINK ACTIVITY (NOT USED) # BIT 2 ALTITUDE RATE OR ALTITIDE SELECTOR # BIT 3 ALTITUDE METER ACTIVITY # BIT 4 THRUST DRIVE ACTIVITY FOR DESCENT ENGINE # BIT 5 SPARE # BIT 6 GYRO ENABLE POWER FOR PULSES # BIT 7 GYRO SELECT B PAIR OF BITS IDENTIFIES AXIS OF - # BIT 8 GYRO SELECT A GYRO SYSTEM TO BE TORQUED. # BIT 9 GYRO TORQUING COMMAND IN NEGATIVE DIRECTION # Page 57 # BIT 10 GYRO ACTIVITY # BIT 11 DRIVE CDU S # BIT 12 DRIVE CDU T # BIT 13 DRIVE CDU Z # BIT 14 DRIVE CDU Y # BIT 15 DRIVE CDU X # CHANNEL 15 MNKEYIN; INPUT CHANNEL;KEY CODE INPUT FROM KEYBOARD OF DSKY, SENSED BY PROGRAM WHEN # PROGRAM INTERRUPT #5 IS RECEIVED. USES BITS 5-1 # CHANNEL 16 NAVKEYIN; INPUT CHANNEL; OPTICS MARK INFORMATION AND NAVIGA ION PANEL DSKY (CM) OR THRUST # CONTROL (LM) SENSED BY PROGRAM WHEN PROGRAM INTER-RUPT #6 IS RECEIVED. USES BITS 3-7 ONLY. # # BIT 1 NOT ASSIGNED # BIT 2 NOT ASSIGNED # BIT 3 OPTICS X-AXIS MARK SIGNAL FOR ALIGN OPTICAL TSCOPE # BIT 4 OPTICS Y-AXIS MARK SIGNAL FOR AOT # BIT 5 OPTICS MARK REJECT SIGNAL # BIT 6 DESCENT+ ; CREW DESIRED SLOWING RATE OF DESCENT # BIT 7 DESCENT- ; CREW DESIRED SPEEDING UP RATE OF D'CENT # NOTE: ALL BITS IN CHANNELS 30-33 ARE INVERTED AS SENSED BY THE PROGRAM, SO THAT A VALUE OF ZERO MEANS # THAT THE INDICATED SIGNAL IS PRESENT. # CHANNEL 30 INPUT CHANNEL # # BIT 1 ABORT WITH DESCENT STAGE # BIT 2 UNUSED # BIT 3 ENGINE ARMED SIGNAL # BIT 4 ABORT WITH ASCENT ENGINE STAGE # BIT 5 AUTO THROTTLE; COMPUTER CONTROL OF DESCENT ENGINE # Page 58 # BIT 6 DISPLAY INERTIAL DATA # BIT 7 RR CDU FAIL # BIT 8 SPARE # BIT 9 IMU OPERATE WITH NO MALFUNCTION # BIT 10 LM COMPUTER (NOT AGS) HAS CONTROL OF LM # BIT 11 IMU CAGE COMMAND TO DRIVE IMU GIMBAL ANGLES TO 0. # BIT 12 IMU CDU FAIL (MALFUNCTION OF IMU CDU,S) # BIT 13 IMU FAIL (MALFUNCTION OF IMU STABILIZATION LOOPS) # BIT 14 ISS TURN ON REQUESTED # BIT 15 TEMPERATURE OF STABLE MEMBER WITHIN DESIGN LIMITS # CHANNEL 31 INPUT CHANNEL; BITS ASSOCIATED WITH THE ATTITUDE CONTROLLER, TRANSLATIONAL CONTROLLER, # AND SPACECRAFT ATTITUDE CONTROL; USED BY RCS DAP # # BIT 1 ROTATION (BY RHC) COMMANDED IN POSITIVE PITCH DIRECTION; MUST BE IN MINIMUM IMPULSE MODE. # ALSO POSITIVE ELEVATION CHANGE FOR LANDING POINT DESIGNATOR # BIT 2 AS BIT 1 EXCEPT NEGATIVE PITCH AND ELEVATION # BIT 3 ROTATION (BY RHC) COMMANDED IN POSITIVE YAW DIRECTION; MUST BE IN MINIMUM IMPULSE MODE. # BIT 4 AS BIT 3 EXCEPT NEGATIVE YAW # BIT 5 ROTATION (BY RHC) COMMANDED IN POSITIVE ROLL DIRECTION; MUST BE IN MINIMUM IMPULSE MODE. # ALSO POSITIVE AZIMUTH CHANGE FOR LANDING POINT DESIGNATOR # BIT 6 AS BIT 5 EXCEPT NEGATIVE ROLL AND AZIMUTH # BIT 7 TRANSLATION IN +X DIRECTION COMMANDED BY THC # BIT 8 TRANSLATION IN -X DIRECTION COMMANDED BY THC # BIT 9 TRANSLATION IN +Y DIRECTION COMMANDED BY THC # BIT 10 TRANSLATION IN -Y DIRECTION COMMANDED BY THC # BIT 11 TRANSLATION IN +Z DIRECTION COMMANDED BY THC # BIT 12 TRANSLATION IN -Z DIRECTION COMMANDED BY THC # Page 59 # BIT 13 ATTITUDE HOLD MODE ON SCS MODE CONTROL SWITCH # BIT 14 AUTO STABILIZATION OF ATTITUDE ON SCS MODE SWITCH # BIT 15 ATTITUDE CONTROL OUT OF DETENT (RHC NOT IN NEUTRAL # CHANNEL 32 INPUT CHANNEL. # # BIT 1 THRUSTERS 2 & 4 DISABLED BY CREW # BIT 2 THRUSTERS 5 & 8 DISABLED BY CREW # BIT 3 THRUSTERS 1 & 3 DISABLED BY CREW # BIT 4 THRUSTERS 6 & 7 DISABLED BY CREW # BIT 5 THRUSTERS 14 & 16 DISABLED BY CREW # BIT 6 THRUSTERS 13 & 15 DISABLED BY CREW # BIT 7 THRUSTERS 9 & 12 DISABLED BY CREW # BIT 8 THRUSTERS 10 & 11 DISABLED BY CREW # BIT 9 DESCENT ENGINE GIMBALS DISABLED BY CREW # BIT 10 APPARENT DESCENT ENGINE GIMBAL FAILURE # BIT 14 INDICATES PROCEED KEY IS DEPRESSED # CHANNEL 33 CHAN33; INPUT CHANNEL; FOR HARDWARE STATUS AND COMMAND INFORMATION. BITS 15-11 ARE FLIP- # FLOP BITS RESET BY A CHANNEL "WRITE" COMMAND THAT ARE RESET BY A RESTART & BY T4RUPT LOOP. # # BIT 1 SPARE # BIT 2 RR AUTO-POWER ON # BIT 3 RR RANGE LOW SCALE # BIT 4 RR DATA GOOD # BIT 5 LR RANGE DATA GOOD # BIT 6 LR POS1 # BIT 7 LR POS2 # Page 60 # BIT 8 LR VEL DATA GOOD # BIT 9 LR RANGE LOW SCALE # BIT 10 BLOCK UPLINK INPUT # BIT 11 UPLINK TOO FAST # BIT 12 DOWNLINK TOO FAST # BIT 13 PIPA FAIL # BIT 14 WARNING OF REPEATED ALARMS: RESTART,COUNTER FAIL, VOLTAGE FAIL,AND SCALAR DOUBLE. # BIT 15 LGC OSCILLATOR STOPPED # CHANNEL 34 DNT M1; OUTPUT CHANNEL; DOWNLINK 1 FIRST OF TWO WORDS SERIALIZATION. # CHANNEL 35 DNT M2; OUTPUT CHANNEL DOWNLINK 2 SOCOND OF TWO WORDS SERIALIZATION. ================================================ FILE: Luminary099/INTEGRATION_INITIALIZATION.agc ================================================ # Copyright: Public domain. # Filename: INTEGRATION_INITIALIZATION.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1205-1226 # Mod history: 2009-05-26 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # 2011-01-06 JL Fixed pseudo-label indentation. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 1205 # 1.0 INTRODUCTION # ---------------- # # FROM A USER'S POINT OF VIEW, ORBITAL INTEGRATION IS ESSENTIALLY THE SAME AS THE 278 INTEGRATION # PROGRAM. THE SAME ENTRANCES TO THE PROGRAM WILL BE MAINTAINED, THE SAME STALLING ROUTINE WILL BE USED AND # OUTPUT WILL STILL BE VIA THE PUSHLIST. THE PRIMARY DIFFERENCES TO A USER INVOLVE THE ADDED CAPABILITY OF # TERMINATING INTEGRATION AT A SPECIFIC FINAL RADIUS AND THE DIFFERENCE IN STATE VECTOR SCALING INSIDE AND OUTSIDE # THE LUNAR SPHERE OF INFLUENCE. # # IN ORDER TO MAKE THE CSM(LEM)PREC AND CSM(LEM)CONIC ENTRANCES SIMILAR TO FLIGHT 278, THE INTEGRATION PROGRAM # WILL ITSELF SET THE FINAL RADIUS (RFINAL) TO 0 SO THAT REACHING THE DESIRED TIME ONLY WILL TERMINATE # INTEGRATION. THE DP REGISTER RFINAL MUST BE SET BY USERS OF INTEGRVS AND INTEGRV, AND MUST BE DONE AFTER THE # CALL TC INTSTALL. # # WHEN THE LM IS ON THE LUNAR SURFACE (INDICATED BY LUNAR SURFACE FLAG SET) CALLS TO LEMCONIC, LEMPREC, AND # INTEGRV WITH VINFLAG = 0 WILL RESULT IN THE USE OF THE PLANETARY INERTIAL ORIENTATION SUBROUTINES TO PROVIDE # BOTH THE LM'S POSITION AND VELOCITY IN THE REFERENCE COORDINATE SYSTEM. # THE PROGRAM WILL PROVIDE OUTPUT AS IF INTEGRATION WAS USED. THAT IS, THE PUSHLIST WILL BE SET AS NOTED BELOW AND # THE PERMANENT STATE VECTOR UPDATED WHEN SPECIFIED BY AN INTEGRV CALL. # # USERS OF INTEGRVS DESIRING INTEGRATION (INTYPFLG = 0) SHOULD NOTE THAT THE OBLATENESS PERTURBATION COMPUTATION # IN LUNAR ORBIT IS TIME DEPENDENT. THEREFORE, THE USER SHOULD SUPPLY AN INITIAL STATE VECTOR VALID AT SOME REAL # TIME AND THE DESIRED TIME (TDEC1) ALSO AT SOME REAL TIME. FOR CONIC "INTEGRATION" THE USER MAY STILL USE ZERO # AS THE INITIAL TIME AND DELTA TIME AS THE DESIRED TIME. # # 2.0 GENERAL DESCRIPTION # ----------------------- # # THE INTEGRATION PROGRAM OPERATES AS A CLOSED INTERPRETIVE SUBROUTINE AND PERFORMS THESE FUNCTIONS -- # 1) INTEGRATES (PRECISION OR CONIC) EITHER CSM OR LM STATE VECTOR # 2) INTEGRATES THE W-MATRIX # 3) PERMANENT OR TEMPORARY UPDATE OF THE STATE VECTOR # # THERE ARE SIX ENTRANCES TO THE INTEGRATION PROGRAM. FOUR OF THESE (CSMPREC, LEMPREC, CSMCONIC, LEMCONIC) SET # ALL THE FLAGS REQUIRED IN THE INTEGRATION PROGRAM ITSELF TO CAUSE THE PRECISION OR CONIC INTEGRATION (KEPLER) OF # THE LM OR CSM STATE VECTOR, AS THE NAMES SUGGEST. ONE ENTRANCE (INTEGRVS) PERMITS THE CALLING PROGRAM TO # PROVIDE A STATE VECTOR TO BE INTEGRATED. THE CALLING PROGRAM MUST SET THE FLAGS INDICATING (1) PRECISION OR # CONIC INTEGRATION, (2) IN OR OUT OF LUNAR SPHERE, (3) MIDCOURSE OR NOT, AND THE INTEGRATION PROGRAM COMPLETES # THE FLAG SETTING TO BYPASS W-MATRIX INTEGRATION. THE LAST ENTRANCE (INTEGRV, USED IN GENERAL BY THE # NAVIGATION PROGRAMS) PERMITS THE CALLER TO SET FIVE FLAGS (NOT MOONFLAG OR MIDFLAG) BUT NOT TO INPUT A STATE # VECTOR. ANY PROGRAM WHICH CALLS INTEGRVS OR INTEGRV MUST CALL INTSTALL BEFORE IT SETS THE INTEGRATION FLAGS # AND/OR STATE VECTOR. # # THREE SETS OF 42 REGISTERS AND 2 FLAGS ARE USED FOR THE STATE VECTORS. TWO SETS, WHICH MAY NOT BE OVERLAYED, ARE # USED FOR THE PERMANENT STATE VECTORS FOR THE CSM AND LM. THE THIRD SET, WHICH MAY BE OVERLAYED WHEN INTEGRATION # IS NOT BEING DONE, IS USED IN THE COMPUTATIONS. # # THE PERMANENT STATE VECTORS WILL BE PERIODICALLY UPDATED SO THAT THE VECTORS WILL NOT BE OLDER THAN 4 TIMESTEPS. # THE PERMANENT STATE VECTORS WILL ALSO BE UPDATED WHENEVER THE W-MATRIX IS INTEGRATED OR WHEN A CALLER OF INTEGRV # SETS STATEFLG (THE NAVIGATION PROGRAMS P20, P22.) # # Page 1206 # APPENDIX B OF THE USERS' GUIDE LISTS THE STATE VECTOR QUANTITIES. # # 2.1 RESTARTS # # PHASE CHANGES WILL BE MADE IN THE INTEGRATION PROGRAM ONLY FOR THE INTEGRV ENTRANCE (I.E., WHEN THE W-MATRIX IS # INTEGRATED OR PERMANENT STATE VECTOR IS UPDATED.) THE GROUP NUMBER USED WILL BE THAT FOR THE P20-25 PROGRAMS # (I.E., GROUP2) WINCE THE INTEGRV ENTRANCE WILL ONLY BE USED BY THESE PROGRAMS. IF A RESTART OCCURS DURING AN # INTEGRATION OF THE STATE VECTOR ONLY, THE RECOVERY WILL BE TO THE LAST PHASE IN THE CALLING PROGRAM. CALLING # PROGRAMS WHICH USE THE INTEGRV OR INTEGRVS ENTRANCE OF INTEGRATION WHOULD ENSURE THAT IF PHASE CHANGING IS DONE # THAT IT IS PRIOR TO SETTING THE INTEGRATION INPUTS IN THE PUSHLIST. # THIS IS BECAUSE THE PUSHLIST IS LOST DURING A RESTART. # # 2.2 SCALING # # THE INTEGRATION ROUTINE WILL MAINTAIN THE PERMANENT MEMORY STATE VECTORS IN THE SCALING AND UNITS DEFINED IN # APPENDIX B OF THE USERS GUIDE. THE SCALING OF THE OUTPUT POSITION VECTOR DEPENDS ON THE ORIGIN OF THE COORDINATE # SYSTEM AT THE DESIRED INTEGRATION TIME. THE COORDINATE SYSTEM TRANSFORMATION WILL BE DONE AUTOMATICALLY ON # MULTIPLE TIMESTEP ENCKE INTEGRATION ONLY. THUS IT IS POSSIBLE TO HAVE OUTPUT FROM SUCCESSIVE INTEGRATIONS IN # DIFFERENT SCALING. # HOWEVER, RATT, VATT WILL ALWAYS BE SCALED THE SAME. # # 3.0 INPUT/OUTPUT # ---------------- # # PROGRAM INPUTS ARE THE FLAGS DESCRIBED IN APPENDIX A AND THE PERMANENT STATE VECTOR QUANTITIES DESCRIBED IN # APPENDIX B OF THE USERS GUIDE, PLUS THE DESIRED TIME TO INTEGRATE TO IN TDEC1 (A PUSH LIST LOCATION). # FOR INTEGRVS, THE RCV,VCV,TET OR THE TEMPORARY STATE VECTOR MUST BE SET, PLUS MOONFLAG AND MIDFLAG # # FOR SIMULATION THE FOLLOWING QUANTITIES MUST BE PRESET --- # EARTH MOON # 29 27 # RRECTCSM(LEM) RECTIFIED POSITION VECTOR METERS 2 2 # # 7 5 # VRECTCSM(LEM) RECTIFIED VELOCITY VECTOR M/CSEC 2 2 # # 28 28 # TETCSM(LEM) TIME STATE VECTOR IS VALID CSEC 2 2 # CUSTOMARILY 0, BUT NOTE LUNAR # ORBIT DEPENDENCE ON REAL TIME. # # 22 18 # DELTAVCSM(LEM) POSITION DEVIATION METERS 2 2 # 0 IF TCCSM(LEM) = 0 # # 3 -1 # NUVCSM(LEM) VELOCITY DEVIATION M/CSEC 2 2 # 0 IF TCCSM(LEM) = 0 # Page 1207 # 29 27 # RCVSM(LEM) CONIC POSITION METERS 2 2 # EQUALS RRECTCSM(LEM) IF # TCCSM(LEM) = 0 # # 7 5 # VCVCSM(LEM) CONIC VELOCITY M/CSEC 2 2 # EQUALS VRECTCSM(LEM) IF # TCCSM(LEM) = 0 # # 28 28 # TCCSM(LEM) TIME SINCE RECTIFICATION CSECS 2 2 # CUSTOMARILY 0 # # 1/2 17 16 # XKEPCSM(LEM) ROOT OF KEPLER'S EQUATION M 2 2 # 0 IF TCCSM(LEM) = 0 # # CMOONFLG PERMANENT FLAGS CORRESPONDING 0 0 # CMIDFLAG TO MOONFLAG AND MIDFLAG 0,1 0,1 # LMOONFLG C = CSM, L = LM 0 0 # LMIDFLG 0,1 0,1 # # SURFFLAG LUNAR SURFACE FLAG 0,1 0,1 # # IN ADDITION, IF (L)CMIDFLAG IS SET, THE INITIAL INPUT VALUES FOR LUNAR # SOLAR EPHEMERIDES SUBROUTINE AND PLANETARY INERTIAL ORIENTATION SUB- # ROUTINE MUST BE PRESET. # # OUTPUT # AFTER EVERY CALL TO INTEGRATION # EARTH MOON # 29 29 # 0D RATT POSITION METERS 2 2 # # 7 7 # 6D VATT VELOCITY M/CSEC 2 2 # # 28 28 # 12D TAT TIME 2 2 # # 29 27 # 14D RATT1 POSITION METERS 2 2 # # 7 5 # 20D VATT1 VELOCITY M/CSEC 2 2 # # 3 2 36 30 # 26D MU(P) MU M /CS 2 2 # # X1 MUTABLE ENTRY -2 -10D # # X2 COORDINT # X2 COORDINATE SYSTEM ORIGIN 0 2 # (THIS, NOT MOONFLAG, SHOULD BE # Page 1208 # USED TO DETERMINE ORIGIN.) # # IN ADDITION TO THE ABOVE, THE PERMANENT STATE VECTOR IS UPDATED WHENEVER # STATEFLG WAS SET AND WHENEVER A W-MATRIX IS TO BE INTEGRATED. THE PUSH # COUNTER IS SET TO 0 AND OVERFLOW IS CLEARED BEFORE RETURNING TO THE # CALLING PROGRAM. # # 4.0 CALLING SEQUENCES AND SAMPLE CODE # ------------------------------------- # # A) PRECISION ORBITAL INTEGRATION. CSMPREC, LEMPREC ENTRANCES # L-X STORE TIME TO 96T5791T5 T 95 PUS L9ST (T4531) # L CALL # L+1 CSMPREC (OR LEMPREC) # L+2 RETURN # INPUT 28 # TDEC1 (PD 32D) TIME TO INTEGRATE TO...CENTISECONDS SCALED 2 # OUTPUT # THE DATA LISTED IN SECTION 3.0 PLUS # RQVV POSITION VECTOR OF VEHICLE WITH RESPECT TO SECONDARY # BODY... METERS B-29 ONLY IF MIDFLAG = DIM0FLAG = 1 # B) CONIC INTEGRATION. CSMCONIC, LEMCONIC ENTRANCES # L-X STORE TIME IN PUSH LIST (TDEC1) # L CALL # L+1 CSMCONIC (OR LEMCONIC) # INPUT/OUTPUT # SAME AS PRECISION INTEGRATION, EXCEPT RQVV NOT SET # C) INTEGRATE GIVEN STATE VECTOR. INTEGRVS ENTRANCE # CALL # INTSTALL # VLOAD # POSITION VECTOR # STOVL RCV # VELOCITY VECTOR # STODL VCV # TIME STATE VECTOR VALID # STODL TET # FINAL RADIUS # STORE RFINAL # SET(CLEAR) SET(CLEAR) # INTYPFLAG # MOONFLAG # SET(CLEAR) DLOAD # DESIRED TIME # STCALL TDEC1 # INTEGRVS # INPUT # RCV POSITION VECTOR METERS # VCV VELOCITY VECTOR M/CSEC # TET TIME OF STATE VECTOR (MAY = 0) CSEC B-28 # Page 1209 # TDEC1 TIME TO INTEGRATE TO CSEC B-28 (PD 32D) # (MAY BE INCREMENT IF TET=0) # OUTPUT # SAME AS FOR PRECISION OR CONIC INTEGRATION, # DEPENDING ON INTYPFLG. # D) INTEGRATE STATE VECTOR. INTGRV ENTRANCE # L-X STORE TIME IN PUSH LIST (TDEC1) (MAY BE DONE AFTER CALL TO INTSTALL) # L-8 CALL # L-7 # L-6 SET(CLEAR) SET(CLEAR) # L-5 VINTFLAG 1=CSM, 0=LM # L-4 INTYPFLAG 1=CONIC, 0=PRECISION # L-3 SET(CLEAR) SET(CLEAR) # L-2 DIM0FLAG 1=W-MATRIX, 0=NO W-MATRIX # L-1 D6OR9FLG 1=9X9, 0=6X6 # L SET DLOAD # L+1 STATEFLG DESIRE PERMANENT UPDATE # L+2 FINAL RAD. OF STATE VECTOR # L+3 STCALL RFINAL # L+4 INTEGRV # L CALL NORMAL USE -- WILL UPDATE STATE # L+1 INTEGRV VECTOR IF DIM0FLAG=1. (STATEFLG IS # L+2 RETURN ALWAYS RESET IN INTEGRATION AFTER # IT USED.) # INPUT # TDEC1 (PD 32D) TIME TO INTEGRATE TO CSEC B-28 # OUTPUT # SAME AS FOR PRECISION OR CONIC INTEGRATION # THE PROGRAM WILL SET MOONFLAG, MIDFLAG DEPENDING ON # THE PERMANENT STATE VECTOR REPRESENTATION. BANK 11 SETLOC INTINIT BANK EBANK= RRECTCSM COUNT* $$/INTIN STATEINT TC PHASCHNG OCT 00052 CAF PRIO5 TC FINDVAC EBANK= RRECTCSM 2CADR STATINT1 TC TASKOVER STATINT1 TC INTPRET BON RTB QUITFLAG # KILL INTEGRATION UNTIL NEXT P00. NOINT LOADTIME STORE TDEC1 # Page 1210 CALL INTSTALL SET CALL NODOFLAG SETIFLGS GOTO STATEUP 600SECS 2DEC 60000 ENDINT CLEAR EXIT STATEFLG TC PHASCHNG OCT 20032 EXTEND DCA 600SECS TC LONGCALL EBANK= RRECTHIS 2CADR STATEINT TC ENDOFJOB SETIFLGS SET CLEAR STATEFLG INTYPFLG CLEAR CLEAR DIM0FLAG D6OR9FLG RVQ NOINT EXIT TC PHASCHNG OCT 00002 TC DOWNFLAG ADRES QUITFLAG TC ENDOFJOB # ATOPCSM TRANSFERS RRECT TO RRECT +41 TO RRECTCSM TO RRECTCSM +41 # # CALLING SEQUENCE # L CALL # L+1 ATOPCSM # # NORMAL EXIT AT L+2 ATOPCSM STQ RTB S2 MOVEACSM SET CALL CMOONFLG SVDWN1 BON CLRGO # Page 1211 MOONFLAG S2 CMOONFLG S2 MOVEACSM TC SETBANK TS DIFEQCNT # INITIALIZE INDEX INDEX DIFEQCNT CA RRECT INDEX DIFEQCNT TS RRECTCSM CCS DIFEQCNT # IS TRANSFER COMPLETE TCF MOVEACSM +1 # NO-LOOP TC DANZIG # COMPLETE -- RETURN # PTOACSM TRANSFERS RRECTCSM TO RRECTCSM +41 TO RRECT TO RRECT +41 # # CALLING SEQUENCE # L CALL # PTOACSM # # NORMAL EXIT AT L+2 PTOACSM RTB BON MOVEPCSM CMOONFLG SETMOON CLRMOON CLEAR SSP MOONFLAG PBODY 0 RVQ SETMOON SET SSP MOONFLAG PBODY 2 RVQ MOVEPCSM TC SETBANK TS DIFEQCNT INDEX DIFEQCNT CA RRECTCSM INDEX DIFEQCNT TS RRECT CCS DIFEQCNT TCF MOVEPCSM +1 TC DANZIG # ATOPLEM TRANSFERS RRECT TO RRECT +41 TO RRECTLEM TO RRECTLEM +41 ATOPLEM STQ RTB # Page 1212 S2 MOVEALEM SET CALL LMOONFLG SVDWN2 BON CLRGO MOONFLAG S2 LMOONFLG S2 MOVEALEM TC SETBANK TS DIFEQCNT INDEX DIFEQCNT CA RRECT INDEX DIFEQCNT TS RRECTLEM CCS DIFEQCNT TCF MOVEALEM +1 TC DANZIG # PTOALEM TRANSFERS RRECTLEM TO RRECTLEM +41 TO RRECT TO RRECT +41 PTOALEM BON RTB SURFFLAG USEPIOS MOVEPLEM BON GOTO LMOONFLG SETMOON CLRMOON MOVEPLEM TC SETBANK TS DIFEQCNT INDEX DIFEQCNT CA RRECTLEM INDEX DIFEQCNT TS RRECT CCS DIFEQCNT TCF MOVEPLEM +1 TC DANZIG USEPIOS SETPD VLOAD 0 RLS PDDL PUSH TDEC1 STODL TET 5/8 CALL # Page 1213 RP-TO-R STOVL RCV ZUNIT STODL 0D TET STODL 6D 5/8 SET CALL # NEEDED FOR SETTING X1 ON EXIT MOONFLAG RP-TO-R VXV VXSC RCV OMEGMOON STOVL VCV ZEROVEC STORE TDELTAV AXT,2 SXA,2 2 PBODY STCALL TNUV A-PCHK SETBANK CAF INTBANK TS BBANK CAF FORTYONE TC Q EBANK= RRECTCSM INTBANK BBCON INTEGRV # SPECIAL PURPOSE ENTRIES TO ORBITAL INTEGRATION. THESE ROUTINES PROVIDE ENTRANCES TO INTEGRATION WITH # APPROPRIATE SWITCHES SET OR CLEARED FOR THE DESIRED INTEGRATION. # # CSMPREC AND LEMPREC PERFORM ORBIT INTEGRATION BY THE ENCKE METHOD TO THE TIME INDICATED IN TDEC1. # ACCELERATIONS DUE TO OBLATENESS ARE INCLUDED. NO W-MATRIX INT. IS DONE. # THE PERMANENT STATE VECTOR IS NOT UPDATED. # # CSMCONIC AND LEMCONIC PERFORM ORBIT INTEG. BY KEPLER'S METHOD TO THE TIME INDICATED IN TDEC1. # NO DISTURBING ACCELERATIONS ARE INCLUDED. IN THE PROGRAM FLOW THE GIVEN # STATE VECTOR IS RECTIFIED BEFORE SOLUTION OF KEPLER'S EQUATION. # # THE ROUTINES ASSUME THAT THE CSM (LEM) STATE VECTOR IN P-MEM IS VALID. # SWITCHES SET PRIOR TO ENTRY TO THE MAIN INTEG. PROG ARE AS FOLLOWS: # CSMPREC CSMCONIC LEMPREC LEMCONIC # VINTFLAG SET SET CLEAR CLEAR # INTYPFLG CLEAR SET CLEAR SET # DIM0FLAG CLEAR CLEAR CLEAR CLEAR # # CALLING SEQUENCE # L-X STORE TDEC1 # L CALL (STCALL TDEC1) # Page 1214 # L+1 CSMPREC (CSMCONIC, LEMPREC, LEMCONIC) # # NORMAL EXIT TO L+2 # # SUBROUTINES CALLED # INTEGRV1 # PRECOUT FOR CSMPREC AND LEMPREC # CONICOUT FOR CSMCONIC AND LEMCONIC # # OUTPUT -- SEE PAGE 2 OF THIS LOG SECTION # # INPUT # TDEC1 TIME TO INTEGRATE TO. CSECS B-28 CSMPREC STQ CALL X1 INTSTALL SXA,1 SET IRETURN VINTFLAG IFLAGP SET CLEAR PRECIFLG DIM0FLAG CLRGO INTYPFLG INTEGRV1 LEMPREC STQ CALL X1 INTSTALL SXA,1 CLRGO IRETURN VINTFLAG IFLAGP CSMCONIC STQ CALL X1 INTSTALL SXA,1 SET IRETURN VINTFLAG IFLAGC CLEAR SETGO DIM0FLAG INTYPFLG INTEGRV1 LEMCONIC STQ CALL X1 INTSTALL SXA,1 CLRGO IRETURN # Page 1215 VINTFLAG IFLAGC INTEGRVS SET SSP PRECIFLG PBODY 0 BOF SSP MOONFLAG +3 PBODY 2 STQ VLOAD IRETURN ZEROVEC STORE TDELTAV STCALL TNUV RECTIFY CLEAR SET DIM0FLAG NEWIFLG SETGO RPQFLAG ALOADED # INTEGRV IS AN ENTRY TO ORBIT INTEGRATION WHICH PERMITS THE CALLER, # NORMALLY THE NAVIGATION PROGRAM, TO SET THE INTEG. FLAGS. THE ROUTINE # IS ENTERED AT INTEGRV1 BY CSMPREC ET AL. AND AT ALOADED BY INTEGRVS. # THE ROUTINE SETS UP A-MEMORY IF ENTERED AT INTEGRV,1 AND SETS THE INTEG. # PROGRAM FOR PRECISION OR CONIC. # # THE CALLER MUST FIRST CALL INTSTALL TO CHECK IF INTEG. IS IN USE BEFORE # SETTING ANY FLAGS. # # THE FLAGS WHICH SHOULD BE SET OR CLEARED ARE # VINTFLAG (IGNORED WHEN ENTERED FROM INTEGRVS) # INTYPFLG # DIM0FLAG # D6OR9FLG # # CALLING SEQUENCE # L-X CALL # L-Y INTSTALL # L-1 SET OR CLEAR ALL FOUR FLAGS. ALSO CAN SET STATEFLG IF DESIRED # AND DIM0FLAG IS CLEAR. # L CALL # L+1 INTEGRV # # INITIALIZATION # FLAGS AS ABOVE # STORE TIME TO INTEGRATE TO IN TDEC1 # # OUTPUT # RATT AS # VATT DEFINED # Page 1216 # TAT BEFORE INTEGRV STQ IRETURN INTEGRV1 SET SET RPQFLAG NEWIFLG INTEGRV2 SSP QPRET ALOADED BON GOTO VINTFLAG PTOACSM PTOALEM ALOADED DLOAD TDEC1 STORE TDEC BOFF GOTO INTYPFLG TESTLOOP RVCON A-PCHK BOF EXIT STATEFLG RECTOUT TC PHASCHNG OCT 04022 TC UPFLAG # PHASE CHANGE HAS OCCURRED BETWEEN ADRES REINTFLG # INTSTALL AND INTWAKE TC INTPRET SSP QPRET PHEXIT BON GOTO VINTFLAG ATOPCSM ATOPLEM PHEXIT CALL GRP2PC RECTOUT SETPD CALL 0 RECTIFY VLOAD VSL* RRECT 0,2 PDVL VSL* # RATT TO PD0 VRECT 0,2 PDDL PDVL # VATT TO PD6 TAT TO PD12 TET # Page 1217 RRECT PDVL PDDL* VRECT MUEARTH,2 PUSH AXT,1 DEC -10 BON AXT,1 MOONFLAG +2 DEC -2 INTEXIT SETPD BOV 0 +1 CLEAR CLEAR AVEMIDSW # ALLOW UPDATE OF DOWNLINK STATE VECTOR PRECIFLG CLEAR STATEFLG SLOAD EXIT IRETURN CA MPAC INDEX FIXLOC TS QPRET TC INTWAKE # RVCON SETS UP ORBIT INTEGRATION TO DO A CONIC SOLUTION FOR POSITION AND # VELOCITY FOR THE INTERVAL (TET-TDEC) RVCON DLOAD DSU TDEC TET STCALL TAU. RECTIFY CALL KEPPREP DLOAD DAD TC TET STCALL TET RECTOUT # Page 1218 TESTLOOP BOF CLRGO QUITFLAG +3 STATEFLG INTEXIT # STOP INTEGRATION +3 SETPD LXA,2 10D PBODY VLOAD ABVAL RCV PUSH CLEAR # RC TO 10D MIDFLAG DSU* BMN # MIDFLAG=0 IF R G.T. RMP RME,2 +3 SET MIDFLAG NORFINAL DLOAD DMP 10D 34D SR1R DDV* MUEARTH,2 SQRT DMP .3D SR3 SR4 # DT IS TRUNCATED TO A MULTIPLE DLOAD SL MPAC 15D # OF 128 CSECS. PUSH BOV MAXDT BDSU BMN DT/2MAX MAXDT DT/2COMP DLOAD DSU TDEC TET RTB SL SGNAGREE 8D STORE DT/2 # B-19 BOV ABS GETMAXDT DSU BMN # IS TIME TO INTEG. TO GR THAN MAXTIME 12D POOHCHK USEMAXDT DLOAD SIGN 12D DT/2 # Page 1219 STCALL DT/2 POOHCHK MAXDT DLOAD PDDL # EXCHANGE DT/2MAX WITH COMPUTED MAX. DT/2MAX GOTO DT/2COMP GETMAXDT RTB SIGNMPAC STCALL DT/2 USEMAXDT POOHCHK DLOAD ABS DT/2 DSU BMN DT/2MIN A-PCHK SLOAD BHIZ MODREG +3 GOTO TIMESTEP BON # WAS THIS CALL VIA CSM(LEM)PREC PRECIFLG TIMESTEP # YES DLOAD DSU DT/2 12D BMN BOFCLR A-PCHK NEWIFLG TIMESTEP DLOAD DSU TDEC TET BMN # NO BACKWARD INTEGRATION INTEXIT PDDL SR4 DT/2 # IS 4(DT) LS (TDEC - TET) SR2R BDSU BMN GOTO INTEXIT TIMESTEP DT/2MIN 2DEC 3 B-20 DT/2MAX 2DEC 4000 E2 B-20 INTSTALL EXIT CA RASFLAG MASK INTBITAB # IS THIS STALL AREA FREE EXTEND BZF OKTOGRAB # YES # Page 1220 CAF WAKESTAL TC JOBSLEEP INTWAKE0 EXIT TCF INTWAKE1 INTWAKE CS RASFLAG # IS THIS INTSTALLED ROUTINE TO BE MASK REINTBIT # RESTARTED CCS A TC INTWAKE1 # NO INDEX FIXLOC CA QPRET TS TBASE2 # YES, DON'T RESTART WITH SOMEONE ELSE'S Q TC PHASCHNG OCT 04022 CA TBASE2 INDEX FIXLOC TS QPRET CAF REINTBIT MASK RASFLAG EXTEND BZF GOBAC # DON'T INTWAKE IF WE CAME HERE VIA RESTART INTWAKE1 CAF WAKESTAL INHINT TC JOBWAKE CCS LOCCTR TCF INTWAKE1 FORTYONE DEC 41 CS INTBITAB MASK RASFLAG TS RASFLAG # RELEASE STALL AREA RELINT TCF GOBAC OKTOGRAB CAF INTFLBIT INHINT ADS RASFLAG GOBAC TC INTPRET RVQ WAKESTAL CADR INTSTALL +1 INTBITAB OCT 20100 # Page 1221 # AVETOMID # # THIS ROUTINE PERFORMS THE TRANSITION FROM A THRUSTING PHASE TO THE COAST # PHASE BY INITIALIZING THIS VEHICLE'S PERMANENT STATE VECTOR WITH THE # VALUES LEFT BY THE AVERAGEG ROUTINE IN RN,VN,PIPTIME. # # BEFORE THIS IS DONE THE W-MATRIX, IF ITS VALID (OR WFLAG OR RENDWFLT IS # SET) IS INTEGRATED FORWARD TO PIPTIME WITH THE PRE-THRUST STATE VECTOR. # # IN ADDITION, THE OTHER VEHICLE IS INTEGRATED (PERMANENT) TO PIPTIME. # # FINALLY TRKMKCNT IS ZEROED. SETLOC INTINIT BANK COUNT* $$/INTIN AVETOMID STQ BON EGRESS RENDWFLG INT/W # W-MATRIX VALID, GO INTEGRATE IT BON ORBWFLAG INT/W # W-MATRIX VALID, GO INTEGRATE IT. OTHERS DLOAD CALL # GET SET FOR OTHER VEHICLE INTEGRATION PIPTIME # DESIRED TIME INTSTALL SET CALL VINTFLAG # CM SETIFLGS # SETS UP NONE W-MAT. PERMANENT INTEG. STCALL TDEC1 INTEGRV AXT,2 CALL # NOW MOVE PROPERLY SCALE RN,UN AS WELL AS 2 # PIPTIME TO INTEGRATION ERASABLES. INTSTALL BON AXT,2 MOONTHIS +2 0 VLOAD VSR* RN 0,2 STORE RRECT STODL RCV PIPTIME STOVL TET VN # Page 1222 VSR* CALL 0,2 MINIRECT # FINISH SETTING UP STATE VECTOR RTB SSP MOVATHIS # PUT TEMP STATE VECTOR INTO PERMANENT TRKMKCNT 0 GOTO FAZAB5 INT/W DLOAD CALL PIPTIME # INTEGRATE W THRU BURN INTSTALL SET SET DIM0FLAG # DO W-MATRIX AVEMIDSW # SO WON'T CLOBBER RN,VN,PIPTIME SET CLEAR D6OR9FLG # 9X9 FOR LM VINTFLAG # LM STCALL TDEC1 INTEGRV GOTO OTHERS # NOW GO DO THE OTHER VEHICLE # Page 1223 # MIDTOAV1 # # THIS ROUTINE INTEGRATES (PRECISION) TO THE TIME SPECIFIED IN TDEC1. # IF, AT THE END OF AN INTEGRATION TIME STEP, CURRENT TIME PLUS A DELTA # TIME (SEE TIMEDELT.....BASED ON THE COMPUTATION TIME FOR ONE TIME STEP) # IS GREATER THAN THE DESIRED TIME, ALARM 1703 IS SET AND THE INTEGRATION # IS DONE TO THE CURRENT TIME. # RETURN IS IN BASIC TO THE RETURN ADDRESS PLUS ONE. # # IF THE INTEGRATION IS FINISHED TO THE DESIRED TIME, RETURN IS IN BASIC # TO THE RETURN ADDRESS. # # IN EITHER CASE, BEFORE RETURNING, THE EXTRAPOLATED STATE VECTOR IS TRANSFERRED # FROM R,VATT TO R,VN1-PIPTIME1 IS SET TO THE FINISHING INTEGRATION # TIME AND MPAC IS SET TO THE DELTA TIME -- # TAT MINUS CURRENT TIME # MIDTOAV2 # # THIS ROUTINE INTEGRATES THIS VEHICLE'S STATE VECTOR TO THE CURRENT TIME. # NO INPUTS ARE REQUIRED OF THE CALLER. RETURN IS IN BASIC TO THE RETURN # ADDRESS WITH THE ABOVE TRANSFERS TO R,VN1-PIPTIME1-AND MPAC DONE EBANK= IRETURN1 MIDTOAV2 STQ CLRGO # INTEGRATE TO PRESENT TIME PLUS TIMEDELT IRETURN1 MID1FLAG ENTMID2 MIDTOAV1 STQ SET # INTEGRATE TO TDEC1 IRETURN1 MID1FLAG RTB DAD # INITIAL CHECK, IS TDEC1 IN THE FUTURE LOADTIME TIMEDELT BDSU BPL TDEC1 ENTMID1 # Y5S CALL NOTIME # NO, SET ALARM, SWITCH TO MIDTOAV2 ENTMID2 RTB DAD LOADTIME TIMEDELT STORE TDEC1 ENTMID1 CALL INTSTALL CLEAR CALL # Page 1224 DIM0FLAG # NO W-MATRIX THISVINT CLEAR SET INTYPFLG MIDAVFLG # LET INTEG. KNOW THE CALL IS FOR MIDTOAV. CALL INTEGRV # GO INTEGRATE CLEAR VLOAD MIDAVFLG RATT STOVL RN1 VATT STODL VN1 TAT STORE PIPTIME1 SXA,2 SXA,1 RTX2 RTX1 EXIT INHINT EXTEND DCS TIME2 DAS MPAC TC TPAGREE CA IRETURN1 TC BANKJUMP CKMID2 BOF RTB MID1FLAG MID2 LOADTIME DAD BDSU TIMEDELT TDEC BPL CALL TESTLOOP # YES NOTIME TIMEINC RTB DAD LOADTIME TIMEDELT STCALL TDEC TESTLOOP MID2 DLOAD DSU TDEC TET ABS DSU 3CSECS # Page 1225 BMN GOTO A-PCHK TIMEINC NOTIME CLEAR EXIT # TOO LATE MID1FLAG INCR IRETURN1 # SET ERROR EXIT (CALLOC +2) TC ALARM # INSUFFICIENT TIME FOR INTEGRATION -- OCT 1703 # TIG WILL BE SLIPPED... TC INTPRET RVQ 3CSECS 2DEC 3 TIMEDELT 2DEC 2000 BANK 27 SETLOC UPDATE2 BANK EBANK= INTWAKUQ COUNT* $$/INTIN INTWAKUQ = INTWAK1Q # TEMPORARY UNTIL NAME OF INTWAK1Q IS CHNG INTWAKEU RELINT EXTEND QXCH INTWAKUQ # SAVE Q FOR RETURN TC INTPRET SLOAD BZE # IS THIS A CSM/LEM STATE VECTOR UPDATE UPSVFLAG # REQUEST. IF NOT GO TO INTWAKUP. INTWAKUP VLOAD # MOVE PRECT(6) AND VRECT(6) INTO RRECT # RCV(6) AND VCV(6) RESPECTIVELY. STOVL RCV VRECT # NOW GO TO `RECTIFY +13D' TO CALL # STORE VRECT INTO VCV AND ZERO OUT RECTIFY +13D # TDELTAV(6),TNUV(6),TC(2), AND XKEP(2) SLOAD ABS # COMPARE ABSOLUTE VALUE OF `UPSVFLAG' UPSVFLAG # TO `UPDATE MOON STATE VECTOR CODE' DSU BZE # TO DETERMINE WHETHER THE STATE VECTOR TO UPMNSVCD # BE UPDATED IS IN THE EARTH OR LUNAR INTWAKEM # SPHERE OF INFLUENCE........ AXT,2 CLRGO # EARTH SPHERE OF INFLUENCE. DEC 0 MOONFLAG # Page 1226 INTWAKEC INTWAKEM AXT,2 SET # LUNAR SPHERE OF INFLUENCE. DEC 2 MOONFLAG INTWAKEC SLOAD BMN # COMMON CODING AFTER X2 INITIALIZED AND # MOONFLAG SET (OR CLEARED). UPSVFLAG # IS THIS A REQUEST FOR A LEM OR CSM INTWAKLM # STATE VECTOR UPDATE...... CALL # UPDATE CSM STATE VECTOR ATOPCSM CLEAR GOTO ORBWFLAG INTWAKEX INTWAKLM CALL # UPDATE LM STATE VECTOR ATOPLEM INTWAKEX CLEAR RENDWFLG INTWAKUP SSP CALL # REMOVE `UPDATE STATE VECTOR INDICATOR' UPSVFLAG 0 INTWAKE0 # RELEASE `GRAB' OF ORBIT INTEG. EXIT TC PHASCHNG OCT 04026 TC INTWAKUQ UPMNSVCD OCT 2 OCT 0 GRP2PC STQ EXIT GRP2SVQ TC PHASCHNG OCT 04022 TC INTPRET GOTO GRP2SVQ ================================================ FILE: Luminary099/INTER-BANK_COMMUNICATION.agc ================================================ # Copyright: Public domain. # Filename: INTER-BANK_COMMUNICATION.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 998-1001 # Mod history: 2009-05-24 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # 2011-05-08 JL Removed workaround. # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 998 # THE FOLLOWING ROUTINE CAN BE USED TO CALL A SUBROUTINE IN ANOTHER BANK. IN THE BANKCALL VERSION, THE # CADR OF THE SUBROUTINE IMMEDIATELY FOLLOWS THE TC BANKCALL INSTRUCTION, WITH C(A) AND C(L) PRESERVED. BLOCK 02 COUNT* $$/BANK BANKCALL DXCH BUF2 # SAVE INCOMING A,L. INDEX Q # PICK UP CADR. CA 0 INCR Q # SO WE RETURN TO THE LOC. AFTER THE CADR. # SWCALL IS IDENTICAL TO BANKCALL, EXCEPT THAT THE CADR ARRIVES IN A. SWCALL TS L LXCH FBANK # SWITCH BANKS, SAVING RETURN. MASK LOW10 # GET SUB-ADDRESS OF CADR. XCH Q # A,L NOW CONTAINS DP RETURN. DXCH BUF2 # RESTORING INPUTS IF THIS IS A BANKCALL. INDEX Q TC 10000 # SETTING Q TO SWRETURN. SWRETURN XCH BUF2 +1 # COMES HERE TO RETURN TO CALLER. C(A,L) XCH FBANK # ARE PRESERVED FOR RETURN. XCH BUF2 +1 TC BUF2 # THE FOLLOWING ROUTINE CAN BE USED AS A UNILATERAL JUMP WITH C(A,L) PRESERVED AND THE CADR IMMEDIATELY # FOLLOWING THE TC POSTJUMP INSTRUCTION. POSTJUMP XCH Q # SAVE INCOMING C(A). INDEX A # GET CADR. CA 0 # BANKJUMP IS THE SAME AS POSTJUMP, EXCEPT THAT THE CADR ARRIVES IN A. BANKJUMP TS FBANK MASK LOW10 XCH Q # RESTORING INPUT C(A) IF THIS WAS A Q+10000 INDEX Q # POSTJUMP. PRIO12 TCF 10000 # PRIO12 = TCF 10000 = 12000 # Page 999 # THE FOLLOWING ROUTINE GETS THE RETURN CADR SAVED BY SWCALL OR BANKCALL AND LEAVES IT IN A. MAKECADR CAF LOW10 MASK BUF2 AD BUF2 +1 TC Q SUPDACAL TS MPTEMP XCH FBANK # SET FBANK FOR DATA. EXTEND ROR SUPERBNK # SAVE FBANK IN BITS 15-11, AND XCH MPTEMP # SUPERBANK IN BITS 7-5. MASK LOW10 XCH L # SAVE REL. ADR. IN BANK, FETCH SUPERBITS. INHINT # BECAUSE RUPT DOES NOT SAVE SUPERBANK. EXTEND WRITE SUPERBNK # SET SUPERBANK FOR DATA. INDEX L CA 10000 # PINBALL (FIX MEM DISP) PREVENTS DCA HERE XCH MPTEMP # SAVE 1ST WD, FETCH OLD FBANK AND SBANK. EXTEND WRITE SUPERBNK # RESTORE SUPERBANK. RELINT TS FBANK # RESTORE FBANK. CA MPTEMP # RECOVER FIRST WORD OF DATA. RETURN # 24 WDS. DATACALL 516 MU, SUPDACAL 432 MU # Page 1000 # THE FOLLOWING ROUTINES ARE IDENTICAL TO BANKCALL AND SWCALL EXCEPT THAT THEY ARE USED IN INTERRUPT. IBNKCALL DXCH RUPTREG3 # USES RUPTREG3,4 FOR DP RETURN ADDRESS. INDEX Q CAF 0 INCR Q ISWCALLL TS L LXCH FBANK MASK LOW10 XCH Q DXCH RUPTREG3 INDEX Q TC 10000 ISWRETRN XCH RUPTREG4 XCH FBANK XCH RUPTREG4 TC RUPTREG3 # 2. USPRCADR ACCESSES INTERPRETIVE CODING IN OTHER THAN THE USER'S FBANK. THE CALLING SEQUENCE IS AS FOLLOWS: # L TC USPRCADR # L+1 CADR INTPRETX INTPRETX IS THE INTERPRETIVE CODING # RETURN IS TO L+2 USPRCADR TS LOC # SAVE A CA BIT8 TS EDOP # EXIT INSTRUCTION TO EDOP CA BBANK TS BANKSET # USER'S BBANK TO BANKSET INDEX Q CA 0 TS FBANK # INTERPRETIVE BANK TO FBANK MASK LOW10 # YIELDS INTERPRETIVE RELATIVE ADDRESS XCH Q # INTERPRETIVE ADDRESS TO Q, FETCHING L+1 XCH LOC # L+1 TO LOC, RETRIEVING ORIGINAL A TCF Q+10000 # Page 1001 # THERE ARE FOUR POSSIBLE SETTINGS FOR CHANNEL 07. (CHANNEL 07 CONTAINS SUPERBANK SETTING.) # PSEUDO-FIXED OCTAL PSEUDO # SUPERBANK SETTING S-REG. VALUE BANK NUMBERS ADDRESSES # ---------- ------- ------------ ------------ ------------ # # SUPERBANK 3 OXX 2000 - 3777 30 - 37 70000 - 107777 (WHERE XX CAN BE ANYTHING AND # WILL USUALLY BE SEEN AS 11) # SUPERBANK 4 100 2000 - 3777 40 - 47 110000 - 127777 (AS FAR AS IT CAN BE SEEN, # ONLY BANKS 40-43 WILL EVER BE # AND ARE PRESENTLY AVAILABLE) # SUPERBANK 5 101 2000 - 3777 50 - 57 130000 - 147777 (PRESENTLY NOT AVAILABLE TO # THE USER) # SUPERBANK 6 110 2000 - 3777 60 - 67 150000 - 167777 (PRESENTLY NOT AVAILABLE TO # THE USER) # *** THIS ROUTINE MAYBE CALLED BY ANY PROGRAM LOCATED IN BANKS 00 - 27. I.E., NO PROGRAM LIVING IN ANY # SUPERBANK SHOULD USE SUPERSW. *** # # SUPERSW MAYBE CALLED IN THIS FASHION: # # CAF ABBCON WHERE -- ABBCON BBCON SOMETHIN -- # TCR SUPERSW (THE SUPERBNK BITS ARE IN THE BBCON) # ... ... # . . # . . # OR IN THIS FASHION : # CAF SUPERSET WHERE SUPERSET IS ONE OF THE FOUR AVAILABLE # TCR SUPERSW SUPERBANK BIT CONSTANTS: # ... ... SUPER011 OCTAL 60 # . . SUPER100 OCTAL 100 # . . SUPER101 OCTAL 120 # SUPER110 OCTAL 140 SUPERSW EXTEND WRITE SUPERBNK # WRITE BITS 7-6-5 OF THE ACCUMULATOR INTO # CHANNEL 07 TC Q # TC TO INSTRUCTION FOLLOWING # TC SUPERSW ================================================ FILE: Luminary099/INTERPRETER.agc ================================================ # Copyright: Public domain. # Filename: INTERPRETER.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1002-1094 # Mod history: 2009-05-25 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # 2011-01-06 JL Fixed pseudo-label indentation. # 2011-05-08 JL Removed workarounds. # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 1002 # SECTION 1: DISPATCHER # # ENTRY TO THE INTERPRETER. INTPRET SETS LOC TO THE FIRST INSTRUCTION, BANKSET TO THE BBANK OF THE # OBJECT INTERPRETIVE PROGRAM, AND INTBIT15 TO THE BIT15 CONTENTS OF FBANK. INTERPRETIVE PROGRAMS MAY BE IN # VIRTUALLY ALL BANKS PRESENT UNDER ANY SUPER-BANK SETTING, WITH THE RESTRICTION THAT PROGRAMS IN HIGH BANKS # (BIT15 OF FBANK = 1) DO NOT REFER TO LOWBANKS, AND VICE-VERSA. THE INTERPRETER DOES NOT SWITCH SUPERBANKS. # E-BANK SWITCHING OCCURS WHENEVER GENERAL ERASABLE (100-3777) IS ADDRESSED. BLOCK 03 COUNT* $$/INTER INTPRET RELINT EXTEND # SET LOC TO THE WORD FOLLOWING THE TC. QXCH LOC +2 CA BBANK # INTERPRETIVE BRANCHES FINISH HERE. TS BANKSET MASK BIT15 # GET 15TH BIT FOR INDEXABLE ADDRESSES. TS INTBIT15 TS EDOP # MAKE SURE NO INSTRUCTIONS LEFT OVER TCF NEWOPS # PICK UP OP CODE PAIR AND BEGIN. INTRSM LXCH BBANK # RESUME SUSPENDED INTERPRETIVE JOB TCF INTPRET +3 # DLOAD LOADS MPAC, MPAC +1, LEAVING ZERO IN MPAC +2. DLOAD EXTEND INDEX ADDRWD DCA 0 # LOAD DP C(C(ADDRWD)) INT MPAC,MPAC +1 SLOAD2 DXCH MPAC CAF ZERO # ZERO MPAC +2 # Page 1003 # AT THE END OF MOST INSTRUCTIONS, CONTROL IS GIVEN TO DANZIG TO DISPATCH THE NEXT OPERATION. TS MPAC +2 # AND DECLARE DP MODE NEWMODE TS MODE # PROLOGUE FOR MODE-CHANGING INSTRUCTIONS. DANZIG CA BANKSET # SET BBANK BEFORE TESTING NEWJOB SO THAT TS BBANK # IT MAY BE SAVED DIRECTLY BY CHANJOB. NOIBNKSW CCS EDOP # SEE IF AN ORDER CODE IS LEFT OVER FROM TCF OPJUMP # THE LAST PAIR RETRIEVED. IF SO, EXECUTE. # EDOP IS SET TO ZERO ON ITS RE-EDITIING. CCS NEWJOB # SEE IF A JOB OF HIGHER PRIORITY IS TCF CHANG2 # PRESENT, AND IF SO, CHANGE JOBS. INCR LOC # ADVANCE THE LOCATION COUNTER. # ITRACE (1) REFERS TO "NEWOPS" NEWOPS INDEX LOC # ENTRY TO BEGIN BY PICKING OP CODE PAIR. CA 0 # MAY BE AN OPCODE PAIR OR A STORE CODE. CCS A # TEST SIGN AND GET DABS(A). TCF DOSTORE # PROCESS STORE CODE. LOW7 OCT 177 TS EDOP # OP CODE PAIR. LEAVE THE OTHER IN EDOP MASK LOW7 # WHERE CCS EDOP WILL HONOR IT NEXT. OPJUMP TS CYR # LOWWD ENTERS HERE IF A RIGHT-HAND OP CCS CYR # CODE IS TO BE PROCESSED. TEST PREFICES. TCF OPJUMP2 # TEST SECOND PREFIX BIT. TCF EXIT # +0 OP CODE IS EXIT # Page 1004 # PROCESS ADDRESSES WHICH MAY BE DIRECT, INDEXED, OR REFERENCE THE PUSHDOWN LIST. ADDRESS MASK BIT1 # SEE IF ADDRESS IS INDEXED. CYR CONTAINED CCS A # 400XX, SO BIT 1 IS NOW AS IT WAS IN CYR. TCF INDEX # FORM INDEXED ADDRESS. DIRADRES INDEX LOC # LOOK AHEAD TO NEXT WORD TO SEE IF OCT40001 CS 1 # ADDRESS IS GIVEN. CCS A TCF PUSHUP # IF NOT. NEG4 DEC -4 INCR LOC # IF SO, TO SHOW WE PICKED UP A WORD. TS ADDRWD # Page 1005 # FINAL DIGESTION OF DIRECT ADDRESSES OF OP CODES WITH 01 PREFIX IS DONE HERE. IN EACH CASE, THE # REQUIRED 12-BIT SUB-ADDRESS IS LEFT IN ADDRWD, WITH ANY REQUIRED E OR F BANK SWITCHING DONE. ADDRESSES LESS # THAN 45D ARE TAKEN TO BE RELATIVE TO THE WORK AREA. THE OP CODE IS NOW IN BITS 1-5 OF CYR WITH BIT 14 = 1. AD -ENDVAC # SEE IF ADDRESS RELATIVE TO WORK AREA. CCS A AD -ENDERAS # IF NOT, SEE IF IN GENERAL ERASABLE. TCF IERASTST NETZERO CA FIXLOC # IF SO, LEAVE THE MODIFIED ADDRESS IN ADS ADDRWD # ADDRWD AND DISPATCH. ITR15 INDEX CYR # THIS INDEX MAKES THE NEXT INSTRUCTION 7 INDJUMP -1 # TCF INDJUMP + OP, EDITING CYR. IERASTST EXTEND BZMF GEADDR # GO PROCESS GENERAL-ERASABLE ADDRESS. MASK LOW10 # FIXED BANK ADDRESS. RESTORE AND ADD B15. AD LOW10 # SWITCH BANKS AND LEAVE SUBADDRESS IN XCH ADDRWD # ADDRWD FOR OPERAND RETRIEVAL. (THIS AD INTBIT15 # METHOD PRECLUDES USE OF THE LAST TS FBANK # LOCATION IN EACH FBANK.) ITR12 INDEX CYR 7 INDJUMP -1 GEADDR MASK LOW8 AD OCT1400 XCH ADDRWD TS EBANK ITR10 INDEX CYR 7 INDJUMP -1 # Page 1006 # THE FOLLOWING ROUTINE PROCESSES INTERPRETIVE INDEXED ADDRESSES. AN INTERPRETER INDEX REGISTER MAY # CONTAIN THE ADDRESS OF ANY ERASABLE REGISTER (0-42 BEING RELATIVE TO THE VAC AREA) OR ANY INTERPRETIVE PROGRAM # BANK, OR ANY INTEGER IN THAT RANGE. DODLOAD* CAF DLOAD* # STODL* COMES HERE TO PROCESS LOAD ADR. TS CYR # (STOVL* ENTERS HERE). INDEX CA FIXLOC # SET UP INDEX LOCATION. TS INDEXLOC INCR LOC # (ADDRESS ALWAYS GIVEN). INDEX LOC CS 0 CCS A # INDEX 2 IF ADDRESS STORED COMPLEMENTED. INCR INDEXLOC NOOP TS ADDRWD # 14 BIT ADDRESS TO ADDRWD. MASK HIGH4 # IF ADDRESS GREATER THAN 2K, ADD INTBIT15 EXTEND BZF INDEX2 CA INTBIT15 ADS ADDRWD INDEX2 INDEX INDEXLOC CS X1 ADS ADDRWD # DO AUGMENT, IGNORING AND CORRECTING OVF. MASK HIGH9 # SEE IF ADDRESS IS IN WORK AREA. EXTEND BZF INDWORK MASK HIGH4 # SEE IF IN FIXED BANK. EXTEND BZF INDERASE CA ADDRWD # IN FIXED -- SWITCH BANKS AND CREATE TS FBANK # SUB-ADDRESS MASK LOW10 AD 2K TS ADDRWD ITR11 INDEX CYR 3 INDJUMP -1 INDWORK CA FIXLOC # MAKE ADDRWD RELATIVE TO WORK AREA. TCF ITR13 -1 INDERASE CA OCT1400 XCH ADDRWD TS EBANK MASK LOW8 -1 ADS ADDRWD # Page 1007 ITR13 INDEX CYR 3 INDJUMP -1 # Page 1008 # PUSH-UP ROUTINES. WHEN NO OPERAND ADDRESS IS GIVEN, THE APPROPRIATE OPERAND IS TAKEN FROM THE PUSH-DOWN # LIST. IN MOST CASES THE MODE OF THE RESULT (VECTOR OR SCALAR) OF THE LAST ARITHMETIC OPERATION PERFORMED # IS THE SAME AS THE TYPE OF OPERAND DESIRED (ALL ADD/SUBTRACT ETC.). EXCEPTIONS TO THIS GENERAL RULE ARE LISTED # BELOW (NOTE THAT IN EVERY CASE THE MODE REGISTER IS LEFT INTACT): # # 1. VXSC AND V/SC WANT THE OPPOSITE TYPE OF OPERAND, E.G., IF THE LAST OPERATION YIELDED A VECTOR # RESULT, VXSC WANTS A SCALAR. # # 2. THE LOAD CODES SHOULD LOAD THE ACCUMULATOR INDEPENDENT OF THE RESULT OF THE LAST OPERATION. THIS # INCLUDES VLOAD, DLOAD, TLOAD, PDDL, AND PDVL (NO PUSHUP WITH SLOAD). # # 3. SOME ARITHMETIC OPERATIONS REQUIRE A STANDARD TYPE OF OPERAND REGARDLESS OF THE PREVIOUS OPERATION. # THIS INCLUDES SIGN WANTING DP AND TAD REQUIRING TP. PUSHUP CAF OCT23 # IF THE LOW 5 BITS OF CYR ARE LESS THAN MASK CYR # 20, THIS OP REQUIRES SPECIAL ATTENTION. AD -OCT10 # (NO -0). CCS A TCF REGUP # FOR ALL CODES GREATEER THAN OCT 7. -OCT10 OCT -10 AD NEG4 # WE NOW HAVE 7 -- OP CODE (MOD4). SEE IF CCS A # THE OP CODE (MOD4) IS THREE (REVERSE). INDEX A # NO -- THE MODE IS DEFINITE. PICK UP THE CS NO.WDS TCF REGUP +2 INDEX MODE # FOR VXSC AND V/SC WE WANT THE REQUIRED CS REVCNT # PUSHLOC DECREMENT WITHOUT CHANGING THE TCF REGUP +2 # MODE AT THIS TIME. REGUP INDEX MODE # MOST ALL OP CODES PUSHUP HERE. CS NO.WDS +2 ADS PUSHLOC TS ADDRWD ITR14 INDEX CYR 7 INDJUMP -1 # (THE INDEX MAKES THIS A TCF.) OCT 2 # REVERSE PUSHUP DECREMENT. VECTOR TAKES 2 REVCNT OCT 6 # WORDS, SCALAR TAKES 6. OCT 6 NO.WDS OCT 2 # CONVENTIONAL DECREMENT IS 6 WORDS VECTOR OCTAL3 OCT 3 # 2 IN DP, AND 3 IN TP. OCT 6 # Page 1009 # TEST THE SECOND PREFIX BIT TO SEE IF THIS IS A MISCELLANEOUS OR A UNARY/SHORT SHIFT OPERATION. OPJUMP2 CCS CYR # TEST SECOND PREFIX BIT. TCF OPJUMP3 # TEST THIRD BIT TO SEE IF UNARY OR SHIFT -ENDVAC DEC -45 # THE FOLLOWING ROUTINE PROCESSES ADDRESSES OF SUFFIX CLASS 10. THEY ARE BASICALLY WORK AREA ADDRESSES # IN THE RANGE 0-52, ERASABLE ECADR CONSTANTS FROM 100-3777, AND FCADRS ABOVE THAT. ALL 15 BITS ARE AVAILABLE # IN CONTRAST TO SUFFIX 1, IN WHICH ONLY THE LOW ORDER 14 ARE AVAILABLE. 15BITADR INCR LOC # (ENTRY HERE FROM STCALL). INDEX LOC # PICK UP ADDRESS WORD. CA 0 TS POLISH # WE MAY NEED A SUBADDRESS LATER. CAF LOW7+2K # THESE INSTRUCTIONS ARE IN BANK 1. TS FBANK MASK CYR ITR7 INDEX A TCF MISCJUMP # Page 1010 # COMPLETE THE DISPATCHING OF UNARY AND SHORT SHIFT OPERATIONS. OPJUMP3 TS FBANK # CALL IN BANK 0 (BIT5S 11-15 OF A ARE 0.) # ITRACE (6) REFERS TO "OPJUMP3" CCS CYR # TEST THIRD PREFIX BIT. INDEX A # THE DECREMENTED UNARY CODE IS IN BITS TCF UNAJUMP # 1-4 OF A (ZERO, EXIT, HAS BEEN DETECTED) CCS MODE # IT'S A SHORT SHIFT CODE. SEE IF PRESENT TCF SHORTT # SCALAR OR VECTOR. TCF SHORTT TCF SHORTV # CALLS THE APPROPRIATE ROUTINE. FBANKMSK EQUALS BANKMASK LVBUF ADRES VBUF # Page 1011 # THE FOLLOWING IS THE JUMP TABLE FOR OP CODES WHICH MAY HAVE INDEXABLE ADDRESSES OR MAY PUSH UP. INDJUMP TCF VLOAD # 00 -- LOAD MPAC WITH A VECTOR. TCF TAD # 01 -- TRIPLE PRECISION ADD TO MPAC. TCF SIGN # 02 -- COMPLEMENT MPAC (V OR SC) IF X NEG. TCF VXSC # 03 -- VECTOR TIMES SCALAR. TCF CGOTO # 04 -- COMPUTED GO TO. TCF TLOAD # 05 -- LOAD MPAC WITH TRIPLE PRECISION. TCF DLOAD # 06 -- LOAD MPAC WITH A DP SCALAR. TCF V/SC # 07 -- VECTOR DIVIDED BY A SCALAR. TCF SLOAD # 10 -- LOAD MPACIN SINGLE PRECISION. TCF SSP # 11 -- SET SINGLE PRECISION INTO X. TCF PDDL # 12 -- PUSH DOWN MPAC AND RE-LOAD IN DP. TCF MXV # 13 -- MATRIX POST-MULTIPLIED BY VECTOR. TCF PDVL # 14 -- PUSH DOWN AND VECTOR LOAD. TCF CCALL # 15 -- COMPUTED CALL. TCF VXM # 16 -- MATRIX PRE-MULTIPLIED BY VECTOR. TCF TSLC # 17 -- NORMALIZE MPAC (SCALAR ONLY). TCF DMPR # 20 -- DP MULTIPLY AND ROUND. TCF DDV # 21 -- DP DIVIDE BY. TCF BDDV # 22 -- DP DIVIDE INTO. TCF GSHIFT # 23 -- GENERAL SHIFT INSTRUCTION TCF VAD # 24 -- VECTOR ADD. TCF VSU # 25 -- VECTOR SUBTRACT. TCF BVSU # 26 -- VECTOR SUBTRACT FROM. TCF DOT # 27 -- VECTOR DOT PRODUCT. TCF VXV # 30 -- VECTOR CROSS PRODUCT. TCF VPROJ # 31 -- VECTOR PROJECTION. TCF DSU # 32 -- DP SUBTRACT. TCF BDSU # 33 -- DP SUBTRACT FROM. TCF DAD # 34 -- DP ADD. TCF # 35 -- AVAILABLE TCF DMP1 # 36 -- DP MULTIPLY. TCF SETPD # 37 -- SET PUSH DOWN POINTER (DIRECT ONLY) # CODES 10 AND 14 MUST NOT PUSH UP. CODE 04 MAY BE USED FOR VECTOR DECLARE BEFORE PUSHUP IF DESIRED. # Page 1012 # THE FOLLOWING JUMP TABLE APPLIES TO INDEX, BRANCH, AND MISCELLANEOUS INSTRUCTIONS. MISCJUMP TCF AXT # 00 -- ADDRESS TO INDEX TRUE. TCF AXC # 01 -- ADDRESS TO INDEX COMPLEMENTED. TCF LXA # 02 -- LOAD INDEX FROM ERASABLE. TCF LXC # 03 -- LOAD INDEX FROM COMPLEMENT OF ERAS. TCF SXA # 04 -- STORE INDEX IN ERASABLE. TCF XCHX # 05 -- EXCHANGE INDEX WITH ERASABLE. TCF INCR # 06 -- INCREMENT INDEX REGISTER. TCF TIX # 07 -- TRANSFER ON INDEX. TCF XAD # 10 -- INDEX REGISTER ADD FROM ERASABLE. TCF XSU # 11 -- INDEX SUBTRACT FROM ERASABLE. TCF BZE/GOTO # 12 -- BRANCH ZERO AND GOTO TCF BPL/BMN # 13 -- BRANCH PLUS AND BRANCH MINUS. TCF RTB/BHIZ # 14 -- RETURN TO BASIC AND BRANCH HI ZERO. TCF CALL/ITA # 15 -- CALL AND STORE QPRET. TCF SW/ # 16 -- SWITCH INSTRUCTIONS AND AVAILABLE. TCF BOV(B) # 17 -- BRANCH ON OVERFLOW TO BASIC OR INT. # Page 1013 # THE FOLLOWING JUMP TABLE APPLIES TO UNARY INSTRUCTIONS. COUNT* $$/INTER BANK 0 # 00 -- EXIT -- DETECTED EARLIER. UNAJUMP TCF SQRT # 01 -- SQUARE ROOT. TCF SINE # 02 -- SIN. TCF COSINE # 03 -- COS. TCF ARCSIN # 04 -- ARC SIN. TCF ARCCOS # 05 -- ARC COS. TCF DSQ # 06 -- DP SQUARE. TCF ROUND # 07 -- ROUND TO DP. TCF COMP # 10 -- COMPLEMENT VECTOR OR SCALAR TCF VDEF # 11 -- VECTOR DEFINE. TCF UNIT # 12 -- UNIT VECTOR. TCF ABVALABS # 13 -- LENGTH OF VECTOR OR MAG OF SCALAR. TCF VSQ # 14 -- SQUARE OF LENGTH OF VECTOR. TCF STADR # 15 -- PUSH UP ON STORE CODE. TCF RVQ # 16 -- RETURN VIA QPRET. TCF PUSH # 17 -- PUSH MPAC DOWN. # Page 1014 # SECTION 2 LOAD AND STORE PACKAGE. # # A SET OF EIGHT STORE CODES IS PROVIDED AS THE PRIMARY METHOD OF STORING THE MULTI-PURPOSE # ACCUMULATOR (MPAC). IF IN THE DANZIG SECTION LOC REFERS TO AN ALGEBRAICALLY POSITIVE WORD, IT IS TAKEN AS A # STORE CODE WITH A CORRESPONDING ERASABLE ADDRESS. MOST OF THESE CODES ARE TWO ADDRESS, SPECIFYING THAT THE WORD # FOLLOWING THE STORE CODE IS TO BE USED AS AN ADDRESS FROM WHICH TO RE-LOAD MPAC. FOUR OPTIONS ARE AVAILABLE: # # 1. STORE STORE MPAC. THE E ADDRESS MAY BE INDEXED. # 2. STODL STORE MPAC AND RE-LOAD IT IN DP WITH THE NEXT ADDRESS (THE LOAD MAY BE INDEXED). # 3. STOVL STORE MPAC AND RE-LOAD A VECTOR (AS ABOVE). # 4. STCALL STORE AND DO A CALL (BOTH ADDRESES MUST BE DIRECT HERE). # # STODL AND STOVL WILL TAKE FROM THE PUSH-DOWN LIST IF NO LOAD ADDRESS IS GIVEN. BLOCK 3 COUNT* $$/INTER STADR CA BANKSET # THE STADR CODE (PUSHUP UP ON STORE TS FBANK # ADDRESS) ENTERS HERE. INCR LOC ITR1 INDEX LOC # THE STORECODE WAS STORED COMPLEMENTED TO CS 0 # MAKE IT LOOK LIKE AN OPCODE PAIR. AD NEGONE # (YUL CAN'T REMOVE 1 BECAUSE OF EARLY CCS) DOSTORE TS ADDRWD MASK LOW11 # ENTRY FROM DISPATCHER. SAVE THE ERASABLE XCH ADDRWD # ADDRESS AND JUMP ON THE STORE CODE NO. MASK B12T14 EXTEND MP BIT5 # EACH TRANSFER VECTOR ENTRY IS TWO WORDS. INDEX A TCF STORJUMP # Page 1015 # STORE CODE JUMP TABLE. CALLS THE APPROPRIATE STORING ROUTINE AND EXITS TO DANZIG OR TO ADDRESS WITH # A SUPPLIED OPERATION CODE. # # STORE STORE,1 AND STORE,2 RETURN TO DANZIG, THUS RESETTING THE EBANK TO ITS STATE AT INTPRET. STORJUMP TC STORE # STORE. TCF DANZIG # PICK UP NEW OP CODE(S). TC STORE,1 TCF DANZIG TC STORE,2 TCF DANZIG TC STORE # STODL. TCF DODLOAD TC STORE # STODL WITH INDEXED LOAD ADDRESS. TCF DODLOAD* TC STORE # STOVL. TCF DOVLOAD TC STORE # STOVL WITH INDEXED LOAD ADDRESS. TCF DOVLOAD* TC STORE # STOTC. CAF CALLCODE TS CYR TCF 15BITADR # GET A 15 BIT ADDRESS. # Page 1016 # STORE CODE ADDRESS PROCESSOR. STORE,1 INDEX FIXLOC CS X1 TCF PRESTORE STORE,2 INDEX FIXLOC CS X2 PRESTORE ADS ADDRWD # RESULTANT ADDRESS IS IN ERASABLE. STORE CS ADDRWD AD DEC45 CCS A # DOES THE ADDRESS POINT TO THE WORK AREA? CA FIXLOC # YES. TCF AHEAD5 CA OCT1400 # NO. SET EBANK & MAKE UP SUBADDRESS. XCH ADDRWD TS EBANK MASK LOW8 AHEAD5 ADS ADDRWD # Page 1017 # STORING ROUTINES. STORE DP, TP, OR VECTOR AS INDICATED BY MODE. STARTSTO EXTEND # MPAC,+1 MUST BE STORED IN ANY EVENT. # ITRACE (5) REFERS TO "STARTSTO". DCA MPAC INDEX ADDRWD DXCH 0 CCS MODE TCF TSTORE TC Q VSTORE EXTEND DCA MPAC +3 INDEX ADDRWD DXCH 2 EXTEND DCA MPAC +5 INDEX ADDRWD DXCH 4 TC Q TSTORE CA MPAC +2 INDEX ADDRWD TS 2 TC Q # Page 1018 # ROUTINES TO BEGIN PROCESSING OF THE SECOND ADDRES ASSOCIATED WITH ALL STORE-TYPE CODES EXCEPT STORE # ITSELF. DODLOAD CAF DLOADCOD TS CYR TCF DIRADRES # GO GET A DIRECT ADDRESS. DOVLOAD CAF VLOADCOD TS CYR TCF DIRADRES DOVLOAD* CAF VLOAD* TCF DODLOAD* +1 # PROLOGUE TO INDEX ROUTINE. # Page 1019 # THE FOLLOWING LOAD INSTRUCTIONS ARE PROVIDED FOR LOADING THE MULTI-PURPOSE ACCUMULATOR MPAC. TLOAD INDEX ADDRWD CA 2 # LOAD A TRIPLE PRECISION ARGUMENT INTO TS MPAC +2 # THE FIRST THREE MPAC REGISTERS, WITH THE EXTEND # CONTENTS OF THE OTHER FOUR IRRELEVANT. INDEX ADDRWD DCA 0 DXCH MPAC TMODE CAF ONE TCF NEWMODE # DECLARE TRIPLE PRECISION MODE. SLOAD ZL # LOAD A SINGLE PRECISION NUMBER INTO INDEX ADDRWD # MPAC, SETTING MPAC+1,2 TO ZERO. THE CA 0 # CONTENTS OF THE REMAINING MPAC REGISTERS TCF SLOAD2 # ARE IRRELEVANT. VLOAD EXTEND # LOAD A DOUBLE PRECISION VECTOR INTO INDEX ADDRWD # MPAC,+1, MPAC+3,4, AND MPAC+5,6. THE DCA 0 # CONTENTS OF MPAC +2 ARE IRRELEVANT. DXCH MPAC ENDVLOAD EXTEND # PDVL COMES HERE TO FINISH UP FOR DP, TP. INDEX ADDRWD DCA 2 DXCH MPAC +3 +4 EXTEND # TPDVL FINISHES HERE. INDEX ADDRWD DCA 4 DXCH MPAC +5 VMODE CS ONE # DECLARE VECTOR MODE. TCF NEWMODE # Page 1020 # THE FOLLOWING INSTRUCTIONS ARE PROVIDED FOR STORING OPERANDS IN THE PUSHDOWN LIST: # 1. PUSH PUSHDOWN AND NO LOAD. # 2. PDDL PUSHDOWN AND DOUBLE PRECISION LOAD. # 3. PDVL PUSHDOWN AND VECTOR LOAD. PDDL EXTEND INDEX ADDRWD # LOAD MPAC,+1, PUSHING THE FORMER DCA 0 # CONTENTS DOWN. DXCH MPAC INDEX PUSHLOC DXCH 0 INDEX MODE # ADVANCE THE PUSHDOWN POINTER APPRO- CAF NO.WDS # PRIATELY. ADS PUSHLOC CCS MODE TCF ENDTPUSH TCF ENDDPUSH TS MODE # NOW DP. ENDVPUSH TS MPAC +2 DXCH MPAC +3 # PUSH DOWN THE REST OF THE VECTOR HERE. INDEX PUSHLOC DXCH 0 -4 DXCH MPAC +5 INDEX PUSHLOC DXCH 0 -2 TCF DANZIG ENDDPUSH TS MPAC +2 # SET MPAC +2 TO ZERO AND EXIT ON DP. TCF DANZIG ENDTPUSH TS MODE XCH MPAC +2 # ON TRIPLE, SET MPAC +2 TO ZERO, PUSHING +2 INDEX PUSHLOC # DOWN THE OLD CONTENTS TS 0 -1 TCF DANZIG # Page 1021 # PDVL -- PUSHDOWN AND VECTOR LOAD PDVL EXTEND # RELOAD MPAC AND PUSH DOWN ITS CONTENTS. INDEX ADDRWD DCA 0 DXCH MPAC INDEX PUSHLOC DXCH 0 INDEX MODE # ADVANCE THE PUSHDOWN POINTER. CAF NO.WDS ADS PUSHLOC CCS MODE # TEST PAST MODE. TCF TPDVL TCF ENDVLOAD # JUST LOAD LAST FOUR REGISTERS ON DP. VPDVL EXTEND # PUSHDOWN AND RE-LOAD LAST TWO COMPONENTS INDEX ADDRWD DCA 2 DXCH MPAC +3 INDEX PUSHLOC DXCH 0 -4 EXTEND INDEX ADDRWD DCA 4 DXCH MPAC +5 INDEX PUSHLOC DXCH 0 -2 TCF DANZIG TPDVL EXTEND # ON TP, WE MUST LOAD THE Y COMPONENT INDEX ADDRWD # BEFORE STORING MPAC +2 IN CASE THIS IS A DCA 2 # PUSHUP. DXCH MPAC +3 CA MPAC +2 INDEX PUSHLOC # IN DP. TS 0 -1 TCF ENDVLOAD +4 # SSP (STORE SINGLE PRECISION) IS EXECUTED HERE. SSP INCR LOC # PICK UP THE WORD FOLLOWING THE GIVEN INDEX LOC # ADDRESS AND STORE IT AT X. CA 0 STORE1 INDEX ADDRWD # SOME INDEX AND MISCELLANEOUS OPS END TS 0 # HERE. # Page 1022 TCF DANZIG # Page 1023 # SEQUENCE CHANGING AND SUBROUTINE CALLING OPTIONS. # # THE FOLLOWING OPERATIONS ARE AVAILABLE FOR SEQUENCING CHANGING, BRANCHING, AND CALLING SUBROUTINES: # 1. GOTO GO TO. # 2. CALL CALL SUBROUTINE SETTING QPRET. # 3. CGOTO COMPUTED GO TO. # 4. CCALL COMPUTED CALL. # 7. BPL BRANCH IF MPAC POSITIVE OR ZERO. # 8. BZE BRANCH IF MPAC ZERO. # 9. BMN BRANCH IF MPAC NEGATIVE NON-ZERO. CCALL INCR LOC # MAINTAIN LOC FOR QPRET COMPUTATION INDEX LOC CAF 0 # GET BASE ADDRESS OF CADR LIST. INDEX ADDRWD AD 0 # ADD INCREMENT. TS FBANK # SELECT DESIRED CADR. MASK LOW10 INDEX A CAF 10000 TS POLISH CALL CA BANKSET # FOR ANY OF THE CALL OPTIONS, MAKE UP THE MASK BANKMASK # ADDRESS OF THE NEXT OP-CODE PAIR/STORE AD BANKMASK # CODE AND LEAVE IT IN QPRET. NOTE THAT AD LOC # BANKMASK = -(2000 - 1). INDEX FIXLOC TS QPRET GOTO CA POLISH # BASIC BRANCHING SEQUENCE. +1 MASK HIGH4 EXTEND BZF GOTOERS # SEE IF ADDRESS POINTS TO FIXED OR ERAS. +4 CA BANKSET # SET EBANK PART OF BBANK. NEXT, SET UP TS BBANK # FBANK. THE COMBINATION IS PICKED UP & CA POLISH # PUT INTO BANKSET AT INTPRET +2. TS FBANK MASK LOW10 AD 2K TS LOC TCF INTPRET +3 EBANK= 1400 # SO YUL DOESN'T CUSS THE "CA 1400" BELOW. GOTOERS CA POLISH # THE GIVEN ADDRESS IS IN ERASABLE -- SEE AD -ENDVAC # IF RELATIVE TO THE WORK ARA. CCS A CA POLISH # GENERAL ERASABLE. TCF GOTOGE # Page 1024 CA FIXLOC # WORK AREA. AD POLISH INDEX A # USE THE GIVEN ADDRESS AS THE ADDRESS OF CA 0 # THE BRANCH ADDRESS. TS POLISH TCF GOTO +1 # ALLOWS ARBITRARY INDIRECTNESS LEVELS. GOTOGE TS EBANK MASK LOW8 INDEX A # USE THE GIVEN ADDRESS AS THE ADDRESS OF CA 1400 # THE BRANCH ADDRESS. TS POLISH TCF GOTO +1 CGOTO INDEX LOC # COMPUTED GO TO. PICK UP ADDRESS OF CADR CA 1 # LIST INDEX ADDRWD # ADD MODIFIER. AD 0 TS FBANK # SELECT GOTO ADDRESS MASK LOW10 INDEX A CA 10000 TS POLISH TCF GOTO +1 # WITH ADDRESS IN A. SWBRANCH CA BANKSET # SWITCH INSTRUCTIONS WHICH ELECT TO TS FBANK # BRANCH COME HERE TO DO SO. INDEX LOC CA 1 TS POLISH TCF GOTO +1 # Page 1025 # TRIPLE PRECISION BRANCHING ROUTINE. IF CALLING TC IS AT L, RETURN IS AS FOLLOWS: # L+1 IF MPAC IS GREATER THAN ZERO. # L+2 IF MPAC IS EQUAL TO +0 OR -0. # L+3 IF MPAC IS LESS THAN ZERO. BRANCH CCS MPAC TC Q TCF +2 # ON ZERO. TCF NEG CCS MPAC +1 TC Q TCF +2 TCF NEG CCS MPAC +2 TC Q TCF +2 TCF NEG Q+1 INDEX Q TC 1 NEG INDEX Q # IF FIRST NON-ZERO REGISTER WAS NEGATIVE. TC 2 Q+2 = NEG # ITRACE (3) REFERS TO "EXIT". EXIT CA BANKSET # RESTORE USER'S BANK SETTING, AND LEAVE TS BBANK # INTERPRETIVE MODE. INDEX LOC TC 1 # Page 1026 # SECTION 3 -- ADD/SUBTRACT PACKAGE. # # THE FOLLOWING OPERATIONS ARE PROVIDED FOR ADDING TO AND SUBTRACTING FROM THE MULTI-PURPOSE ACCUMULATOR # MPAC: # 1. DAD DOUBLE PRECISION ADD. # 2. DSU DOUBLE PRECISION SUBTRACT. # 3. BDSU DOUBLE PRECISION SUBTRACT FROM. # 4. TAD TRIPLE PRECISION ADD. # 5. VAD VECTOR ADD. # 6. VSU VECTOR SUBTRACT. # 7. BVSU VECTOR SUBTRACT FROM. # THE INTERPRETIVE OVERFLOW INDICATOR OVFIND IS SET NON-ZERO IF OVERFLOW OCCURS IN ANY OF THE ABOVE. VSU CAF BIT15 # CHANGES 0 TO DCS. TCF +2 VAD CAF PRIO30 # CHANGES 0 TO DCA. ADS ADDRWD EXTEND INDEX ADDRWD READ HISCALAR # DCA 2 OR DCS 2 DAS MPAC +3 EXTEND # CHECK OVERFLOW. BZF +2 TC OVERFLWY EXTEND INDEX ADDRWD READ CHAN5 # DCA 4 OR DCS 4 DAS MPAC +5 EXTEND BZF +2 TC OVERFLWZ EXTEND INDEX ADDRWD READ LCHAN # DCA 0 OR DCS 0 TCF ENDVXV DAD EXTEND INDEX ADDRWD DCA 0 ENDVXV DAS MPAC # VXV FINISHES HERE. EXTEND BZF DANZIG # Page 1027 SETOVF TC OVERFLOW TCF DANZIG # Page 1028 DSU EXTEND INDEX ADDRWD DCS 0 TCF ENDVXV OVERFLWZ TS L # ENTRY FOR THIRD COMPONENT. CAF FIVE TCF +3 OVERFLWY TS L # ENTRY FOR SECOND COMPONENT. CAF THREE XCH L OVERFLOW INDEX A # ENTRY FOR 1ST COMP OR DP (L=0). CS LIMITS # PICK UP POSMAX OR NEGMAX. TS BUF EXTEND AUG A # FORCE OVERFLOW. INDEX L ADS MPAC +1 TS 7 CAF ZERO AD BUF INDEX L ADS MPAC TS 7 TC Q # NO OVERFLOW EXIT. TCF SETOVF2 # SET OVFIND AND EXIT. BVSU EXTEND INDEX ADDRWD DCA 2 DXCH MPAC +3 EXTEND DCOM DAS MPAC +3 EXTEND BZF +2 TC OVERFLWY EXTEND INDEX ADDRWD DCA 4 DXCH MPAC +5 EXTEND DCOM DAS MPAC +5 EXTEND BZF +2 TC OVERFLWZ # Page 1029 BDSU EXTEND INDEX ADDRWD DCA 0 DXCH MPAC EXTEND DCOM TCF ENDVXV # Page 1030 # TRIPLE PRECISION ADD ROUTINE. TAD EXTEND INDEX ADDRWD DCA 1 # ADD MINOR PARTS FIRST. DAS MPAC +1 INDEX ADDRWD AD 0 AD MPAC TS MPAC TCF DANZIG TCF SETOVF # SET OVFIND IF SUCH OCCURS. # Page 1031 # ARITHMETIC SUBROUTINES REQUIRED IN FIXED-FIXED. # 1. DMPSUB DOUBLE PRECISION MULTIPLY, MULTIPLY THE CONTENTS OF MPAC,+1 BY THE DP WORD WHOSE ADDRESS # IS IN ADDRWD AND LEAVE A TRIPLE-PRECISION RESULT IN MPAC. # 2. ROUNDSUB ROUND THE TRIPLE PRECISION CONTENTS OF MPAC TO DOUBLE PRECISION. # 3. DOTSUB TAKE THE DOT PRODUCT OF THE VECTOR IN MPAC AND THE VECTOR WHOSE ADDRESS IS IN ADDRWD # AND LEAVE THE TRIPLE PRECISION RESULT IN MPAC. # 4. POLY USING THE CONTENTS OF MPAC AS A DP ARGUMENT, EVALUATE THE POLYNOMIAL WHOSE DEGREE AND # COEFFICIENTS IMMEDIATELY FOLLOW THE TC POLY INSTRUCTION (SEE ROUTINE FOR DETAILS). DMP INDEX Q # BASIC SUBROUTINE FOR USE BY PINBALL, ETC CAF 0 # ADRES OF ARGUMENT FOLLOWS TC DMP . INCR Q -1 TS ADDRWD # (PROLOGUE FOR SETTING ADDRWD.) DMPSUB INDEX ADDRWD # GET MINOR PART OF OPERAND AT C(ADDRWD). CA 1 TS MPAC +2 # THIS WORKS FOR SQUARING MPAC AS WELL. CAF ZERO # SET MPAC +1 TO ZERO SO WE CAN ACCUMULATE XCH MPAC +1 # THE PARTIAL PRODUCTS WITH DAS TS MPTEMP # INSTRUCTIONS. EXTEND MP MPAC +2 # MINOR OF MPAC X MINOR OF C(ADDRWD). XCH MPAC +2 # DISCARD MINOR PART OF ABOVE RESULT AND EXTEND # FORM MAJOR OF MPAC X MINOR OF C(ADDRWD). MP MPAC DAS MPAC +1 # GUARANTEED NO OVERFLOW. INDEX ADDRWD # GET MAJOR PART OF ARGUMENT AT C(ADDRWD). CA 0 XCH MPTEMP # SAVE AND BRING OUT MINOR OF MPAC. DMPSUB2 EXTEND MP MPTEMP # MAJOR OF C(ADDRWD) X MINOR OF MPAC. DAS MPAC +1 # ACCUMULATE, SETTING A TO NET OVERFLOW. XCH MPAC # SETTING MPAC TO 0 OR +-1. EXTEND MP MPTEMP # MAJOR OF MPAC X MAJOR OF C(ADDRWD). DAS MPAC # GUARANTEED NO OVERFLOW. TC Q # 49 MCT = .573 MS. INCLUDING RETURN. # Page 1032 # ROUND MPAC TO DOUBLE PRECISION, SETTING OVFIND ON THE RARE EVENT OF OVERFLOW. ROUNDSUB CAF ZERO # SET MPAC +2 = 0 FOR SCALARS AND CHANGE +1 TS MODE # MODE TO DP. VROUND XCH MPAC +2 # BUT WE NEEDN'T TAKE THE TIME FOR VECTORS. DOUBLE TS L TC Q AD MPAC +1 # ADD ROUDING BIT IF MPAC +2 WAS GREATER TS MPAC +1 # THAN .5 IN MAGNITUDE. TC Q AD MPAC # PROPAGATE INTERFLOW. TS MPAC TC Q SETOVF2 TS OVFIND # (RARE). TC Q # Page 1033 # THE DOT PRODUCT SUBROUTINE USUALLY FORMS THE DOT PRODUCT OF THE VECTOR IN MPAC WITH A STANDARD SIX # REGISTER VECTOR WHOSE ADDRESS IS IN ADDRWD. IN THIS CASE C(DOTINC) ARE SET TO 2. VXM, HOWEVER, SETS C(DOTINC) TO # 6 SO THAT DOTSUB DOTS MPAC WITH A COLUMN VECTOR OF THE MATRIX IN QUESTION IN THIS CASE. PREDOT CAF TWO # PROLOGUE TO SET DOTINC TO 2. TS DOTINC DOTSUB EXTEND QXCH DOTRET # SAVE RETURN TC DMPSUB # DOT X COMPONENTS. DXCH MPAC +3 # POSITION Y COMPONENT OF MPAC FOR DXCH MPAC # MULTIPLICATION WHILE SAVING RESULT IN DXCH BUF # THREE WORD BUFFER, BUF. CA MPAC +2 TS BUF +2 CA DOTINC # ADVANCE ADDRWD TO Y COMPONENT OF ADS ADDRWD # OTHER ARGUMENT. TC DMPSUB DXCH MPAC +1 # ACCUMULATE PARTIAL PRODUCTS. DAS BUF +1 AD MPAC AD BUF TS BUF TCF +2 TS OVFIND # IF OVERFLOW OCCURS. DXCH MPAC +5 # MULTIPLY Z COMPONENTS. DXCH MPAC CA DOTINC ADS ADDRWD TC DMPSUB ENDDOT DXCH BUF +1 # LEAVE FINAL ACCUMULATION IN MPAC. DAS MPAC +1 AD MPAC AD BUF TS MPAC TC DOTRET TC OVERFLOW # ON OVERFLOW HERE. TC DOTRET # Page 1034 # DOUBLE PRECISION POLYNOMIAL EVALUATOR # N N-1 # THIS ROUTINE EVALUATES A X + A X + ... + A X + A LEAVING THE DP RESULT IN MPAC ON EXIT. # N N-1 1 0 # # THE ROUTINE HAS TWO ENTRIES # # 1 ENTRY THRU POWRSERS. THE COEFFICIENTS MAY BE EITHER IN FIXED OR ERASABLE E. THE CALL IS BY # TC POWRSERS, AND THE RETURN IS TO LOC(TC POWRSERS)+1. THE ENTERING DATA MUST BE AS FOLLOWS: # # A SP LOC-3 # ADDRESS FOR REFERENCING COEF TABLE # L SP N-1 # N IS THE DEGREE OF THE POWER SERIES # MPAC DP X # ARGUMENT # LOC-2N DP A(0) # ... # LOC DP A(N) # # 2. ENTRY THRU POLY. THE CALL TO POLY AND THE ENTERING DATA MUST BE AS FOLLOWS # # MPAC DP X # ARGUMENT # LOC TC POLY # LOC+1 SP N-1 # LOC+2 DP A(0) # ... # LOC+2N+2 DP A(N) # RETURN IS TO LOC+2N+4 POWRSERS EXTEND QXCH POLYRET # RETURN ADDRESS TS POLISH # POWER SERIES ADDRESS LXCH POLYCNT # N-1 TO COUNTER TCF POLYCOM # SKIP SET UP BY POLY POLY INDEX Q CAF 0 TS POLYCNT # N-1 TO COUNTER DOUBLE AD Q TS POLISH # L(A(N))-3 TO POLISH AD FIVE TS POLYRET # STORE RETURN ADDRESS POLYCOM CAF LVBUF # INCOMING X WILL BE MOVED TO VBUF, SO TS ADDRWD # SET ADDRWD SO DMPSUB WILL MPY BY VBUF. EXTEND INDEX POLISH DCA 3 # Page 1035 DXCH MPAC # LOAD A(N) INTO MPAC DXCH VBUF # SAVING X IN VBUF TCF POLY2 POLYLOOP TS POLYCNT # SAVE DECREMENTD LOOP COUNTER CS TWO ADS POLISH # REGRESS COEFFICIENT POINTER POLY2 TC DMPSUB # MULTIPLY BY X EXTEND INDEX POLISH DCA 1 # ADD IN NEXT COEFFICIENT DAS MPAC # USER'S RESPONSIBILITY TO ASSURE NO OVFLOW CCS POLYCNT TCF POLYLOOP TC POLYRET # RETURN CALLER # Page 1036 # MISCELLANEOUS MULTI-PRECISION ROUTINES REQUIRED IN FIXED-FIXED BUT NOT USED BY THE INTERPRETER. DPAGREE CAF ZERO # DOUBLE PRECISION ENTRY -- TS MPAC +2 # ZERO LOW-ORDER WORD TPAGREE LXCH Q # FORCE SIGN AGREEMENT AMONG THE TRIPLE TC BRANCH # PRECISION CONTENTS OF MPAC. RETURNING TCF ARG+ # WITH SIGNUM OF THE INPUT IN A. TCF ARGZERO CS POSMAX # IF NEGATIVE. TCF +2 ARG+ CAF POSMAX TS Q EXTEND AUG A # FORMS +-1.0. AD MPAC +2 TS MPAC +2 CAF ZERO AD Q AD MPAC +1 TS MPAC +1 CAF ZERO AD Q # Q STILL HAS POSMAX OR NEGMAX IN IT. AD MPAC ARGZERO2 TS MPAC # ALWAYS SKIPPING UNLESS ARGZERO. TS MPAC +1 TC L # RETURN VIA L. ARGZERO TS MPAC +2 # SET ALL THREE MPAC REGISTERS TO ZERO. TCF ARGZERO2 # SHORTMP MULTIPLIES THE TP CONTENTS OF MPAC BY THE SINGLE PRECISION NUMBER ARRIVING IN A. SHORTMP TS MPTEMP EXTEND MP MPAC +2 TS MPAC +2 SHORTMP2 CAF ZERO # SO SUBSEQUENT DAS WILL WORK. XCH MPAC +1 TCF DMPSUB2 # Page 1037 # DMPNSUB MULTIPLIES THE DP FRACTION ARRIVING IN MPAC BY THE SP # INTEGER ARRIVING IN A. THE DP PRODUCT DEPARTS BOTH IN MPAC AND IN # A AND L. NOTE THAT DMPNSUB NORMALLY INCREASES THE MAGNITUDE OF THE # CONTENTS OF MPAC. THE CUSTOMER MUST INSURE THAT B(A) X B(MPAC,MPAC+1) # AND B(A) X B(MPAC) ARE LESS THAN 1 IN MAGNITUDE, WHERE B, AS IS OBVIOUS, # INDICATES THE ARRIVING CONTENTS. DMPNSUB TS DMPNTEMP EXTEND MP MPAC +1 DXCH MPAC # LOW PRODUCT TO MPAC, HIGH FACTOR TO A EXTEND MP DMPNTEMP CA L ADS MPAC # COMPLETING THE PRODUCT IN MPAC EXTEND DCA MPAC # BRINGING THE PRODUCT INTO A AND L TC Q # Page 1038 # MISCELLANEOUS VECTOR OPERATIONS. INCLUDED HERE ARE THE FOLLOWING. # 1. DOT DP VECTOR DOT PRODUCT. # 2. VXV DP VECTOR CROSS PRODUCT. # 3. VXSC DP VECTOR TIMES SCALAR. # 4. V/SC DP VECTOR DIVIDED BY SCALAR. # 5. VPROJ DP VECTOR PROJECTION. ( (MPAC.X)MPAC ). # 6. VXM DP VECTOR POST-MULTIPLIED BY MATRIX. # 7. MXV DP VECTOR PRE-MULTIPLIED BY MATRIX. DOT TC PREDOT # DO THE DOT PRODUCT AND EXIT, CHANGING DMODE CAF ZERO # THE MODE TO DP SCALAR. TCF NEWMODE MXV CAF TWO # SET UP MATINC AND DOTINC FOR ROW TS MATINC # VECTORS. TCF VXM/MXV # GO TO COMMON PORTION. VXM CS TEN # SET MATINC AND DOTINC TO REFER TO MATRIX TS MATINC # AS THREE COLUMN VECTORS. CAF SIX # Page 1039 # COMMON PORTION OF MXV AND VXM. VXM/MXV TS DOTINC # ITRACE (2) REFERS TO "VXM/MXV". TC MPACVBUF # SAVE VECTOR IN MPAC FOR FURTHER USE. TC DOTSUB # GO DOT TO GET X COMPONENT OF ANSWER. EXTEND DCA VBUF # MOVE MPAC VECTOR BACK INTO MPAC, SAVING DXCH MPAC # NEW X COMPONENT IN BUF2. DXCH BUF2 EXTEND DCA VBUF +2 DXCH MPAC +3 EXTEND DCA VBUF +4 DXCH MPAC +5 CA MATINC # INITIALIZE ADDRWD FOR NEXT DOT PRODUCT. ADS ADDRWD # FORMS HAS ADDRESS OF NEXT COLUMN(ROW). TC DOTSUB DXCH VBUF # MORE GIVEN VECTOR BACK TO MPAC, SAVING Y DXCH MPAC # COMPONENT OF ANSWER IN VBUF +2. DXCH VBUF +2 DXCH MPAC +3 DXCH VBUF +4 DXCH MPAC +5 CA MATINC # FORM ADDRESS OF LAST COLUMN OR ROW. ADS ADDRWD TC DOTSUB DXCH BUF2 # ANSWER NOW COMPLETE. PUT COMPONENTS INTO DXCH MPAC # PROPER MPAC REGISTERS. DXCH MPAC +5 DXCH VBUF +2 DXCH MPAC +3 TCF DANZIG # EXIT. # Page 1040 # VXSC -- VECTOR TIMES SCALAR. VXSC CCS MODE # TEST PRESENT MODE. TCF DVXSC # SEPARATE ROUTINE WHEN SCALAR IS IN MPAC. TCF DVXSC VVXSC TC DMPSUB # COMPUTE X COMPONENT TC VROUND # AND ROUND IT. DXCH MPAC +3 # PUT Y COMPONENT INTO MPAC SAVING MPAC IN DXCH MPAC # MPAC +3. DXCH MPAC +3 TC DMPSUB # DO SAME FOR Y AND Z COMPONENTS. TC VROUND DXCH MPAC +5 DXCH MPAC DXCH MPAC +5 TC DMPSUB TC VROUND VROTATEX DXCH MPAC # EXIT USED TO RESTORE MPAC AFTER THIS DXCH MPAC +5 # TYPE OF ROTATION. CALLED BY VECTOR SHIFT DXCH MPAC +3 # RIGHT, V/SC, ETC. DXCH MPAC TCF DANZIG # Page 1041 # DP VECTOR PROJECTION ROUTINE. VPROJ TC PREDOT # (MPAC.X)MPAC IS COMPUTED AND LEFT IN CS FOUR # MPAC. DO DOT AND FALL INTO DVXSC. ADS ADDRWD # VXSC WHEN SCALAR ARRIVES IN MPAC AND VECTOR IS AT X. DVXSC EXTEND # SAVE SCALAR IN MPAC +3 AND GET X DCA MPAC # COMPONENT OF ANSWER. DXCH MPAC +3 TC DMPSUB TC VROUND CAF TWO # ADVANCE ADDRWD TO Y COMPONENT OF X. ADS ADDRWD EXTEND DCA MPAC +3 # PUT SCALAR BACK INTO MPAC AND SAVE DXCH MPAC # X RESULT IN MPAC +5. DXCH MPAC +5 TC DMPSUB TC VROUND CAF TWO ADS ADDRWD # TO Z COMPONENT. DXCH MPAC +3 # BRING SCALAR BACK, PUTTING Y RESULT IN DXCH MPAC # THE PROPER PLACE. DXCH MPAC +3 TC DMPSUB TC VROUND DXCH MPAC # PUT Z COMPONENT IN PROPER PLACE, ALSO DXCH MPAC +5 # POSITIONING X. DXCH MPAC TCF VMODE # MODE HAS CHANGED TO VECTOR. # Page 1042 # VECTOR CROSS PRODUCT ROUTINE CALCULATES (X M -X M ,X M -X M ,X M -X M ) WHERE M IS THE VECTOR IN # 3 2 2 3 1 3 3 1 2 1 1 2 # MPAC AND X THE VECTOR AT THE GIVEN ADDRESS. VXV EXTEND DCA MPAC +5 # FORM UP M3X1, LEAVING M1 IN VBUF. DXCH MPAC DXCH VBUF TC DMPSUB # BY X1. EXTEND DCS MPAC +3 # CALCULATE -X1M2, SAVING X1M3 IN VBUF +2. DXCH MPAC DXCH VBUF +2 TC DMPSUB CAF TWO # ADVANCE ADDRWD TO X2. ADS ADDRWD EXTEND DCS MPAC +5 # PREPARE TO GET -X2M3, SAVING -X1M2 IN DXCH MPAC # MPAC +5. DXCH MPAC +5 TC DMPSUB EXTEND DCA VBUF # GET X2M1, SAVING -X2M3 IN VBUF +4. DXCH MPAC DXCH VBUF +4 TC DMPSUB CAF TWO # ADVANCE ADDRWD TO X3. ADS ADDRWD EXTEND DCS VBUF # GET -X3M1, ADDING X2M1 TO MPAC +5 TO DXCH MPAC # COMPLETE THE Z COMPONENT OF THE ANSWER. DAS MPAC +5 EXTEND BZF +2 TC OVERFLWZ TC DMPSUB DXCH VBUF +2 # MOVE X1M3 TO MPAC +3 SETTING UP FOR X3M2 DXCH MPAC +3 # AND ADD -X3M1 TO MPAC +3 TO COMPLETE THE DXCH MPAC # Y COMPONENT OF THE RESULT. DAS MPAC +3 EXTEND BZF +2 # Page 1043 TC OVERFLWY TC DMPSUB DXCH VBUF +4 # GO ADD -X2M3 TO X3M2 TO COMPLETE THE X TCF ENDVXV # COMPONENT (TAIL END OF DAD). # THE MPACVBUF SUBROUTINE SAVES THE VECTOR IN MPAC IN VBUF WITHOUT CLOBBERING MPAC. MPACVBUF EXTEND # CALLED BY MXV, VXM, AND UNIT. DCA MPAC DXCH VBUF EXTEND DCA MPAC +3 DXCH VBUF +2 EXTEND DCA MPAC +5 DXCH VBUF +4 TC Q # RETURN TO CALLER. # DOUBLE PRECISION SIGN AGREE ROUTINE. ARRIVE WITH INPUT IN A+L. OUTPUT IS IN A + L. ALSIGNAG CCS A # TEST UPPER PART. TCF UPPOS # IT IS POSITIVE TC Q # ZERO TCF UPNEG # NEGATIVE TC Q # ZERO UPPOS XCH L # SAVE DECREMENTED UPPER PART. AD HALF AD HALF TS A # SKIPS ON OVERFLOW TCF +2 INCR L # RESTORE UPPER TO ORIGINAL VALUE XCH L # SWAP A + L BANCK. TC Q UPNEG XCH L # SAVE COMPLEMENTED + DECREMENTED UPPER PT AD NEGMAX AD NEGONE TS A TCF +2 # DON'T INCREMENT IF NO OVERFLOW. INCR L XCH L COM # MAKE NEGATIVE AGAIN. TC Q # Page 1044 # INTERPRETIVE INSTRUCTIONS WHOSE EXECUTION CONSISTS OF PRINCIPALLY CALLING SUBROUTINES. DMP1 TC DMPSUB # DMP INSTRUCTIONS TCF DANZIG DMPR TC DMPSUB TC ROUNDSUB +1 # (C(A) = +0). TCF DANZIG DDV EXTEND INDEX ADDRWD # MOVE DIVIDEND INTO BUF. DCA 0 TCF BDDV +4 BDDV EXTEND # MOVE DIVISOR INTO MPAC SAVING MPAC, THE INDEX ADDRWD # DIVIDEND, IN BUF. DCA 0 DXCH MPAC +4 DXCH BUF CAF ZERO # DIVIDE ROUTINES IN BANK 0. TS FBANK TCF DDV/BDDV SETPD CA ADDRWD # MUST SET TO WORK AREA, OR EBANK TROUBLE. TS PUSHLOC TCF NOIBNKSW # NO FBANK SWITCH REQUIRED. TSLC CAF ZERO # SHIFTING ROUTINES LOCATED IN BANK 00. TS FBANK TCF TSLC2 GSHIFT CAF LOW7 # USED AS MASK AT GENSHIFT. THIS PROCESSES TS FBANK # ANY SHIFT INSTRUCTION (EXCEPT TSLC) WITH TCF GENSHIFT # AN ADDRESS (ROUTINES IN BANK 0). # Page 1045 # THE FOLLOWING IS THE PROLOGUE TO V/SC. IF THE PRESENT MODE IS VECTOR, IT SAVES THE SCALAR AT X IN BUF # AND CALLS THE V/SC ROUTINE IN BANK 0. IF THE PRESENT MODE IS SCALAR, IT MOVES THE VECTOR AT X INTO MPAC, SAVING # THE SCALAR IN MPAC IN BUF BEFORE CALLING THE V/SC ROUTINE IN BANK 0. V/SC CCS MODE TCF DV/SC # MOVE VECTOR INTO MPAC. TCF DV/SC VV/SC EXTEND INDEX ADDRWD DCA 0 V/SC1 DXCH BUF # IN BOTH CASES, VECTOR IS NOW IN MPAC AND CAF ZERO # SCALAR IN BUF. TS FBANK TCF V/SC2 DV/SC EXTEND INDEX ADDRWD DCA 2 DXCH MPAC +3 EXTEND INDEX ADDRWD DCA 4 DXCH MPAC +5 CS ONE # CHANGE MODE TO VECTOR. TS MODE EXTEND INDEX ADDRWD DCA 0 DXCH MPAC TCF V/SC1 # FINISH PROLOGUE AT COMMON SECTION. # Page 1046 # SIGN AND COMPLEMENT INSTRUCTIONS. SIGN INDEX ADDRWD # CALL COMP INSTRUCTION IF WORD AT X IS CCS 0 # NEGATIVE NON-ZERO. TCF DANZIG TCF +2 TCF COMP # DO THE COMPLEMENT. INDEX ADDRWD CCSL CCS 1 TCF DANZIG TCF DANZIG TCF COMP TCF DANZIG COMP EXTEND # COMPLEMENT DP MPAC IN EVERY CASE. DCS MPAC DXCH MPAC CCS MODE # EITHER COMPLEMENT MPAC +3 OR THE REST OF TCF DCOMP # THE VECTOR ACCUMULATOR. TCF DCOMP EXTEND # VECTOR COMPLEMENT. DCS MPAC +3 DXCH MPAC +3 EXTEND DCS MPAC +5 DXCH MPAC +5 TCF DANZIG DCOMP CS MPAC +2 TS MPAC +2 TCF DANZIG # Page 1047 # THE FOLLOWING SHORT SHIFT CODES REQUIRE NO ADDRESS WORD: # 1. SR1 TO SR4 SCALAR SHIFT RIGHT. # 2. SR1R TO SR4R SCALAR SHIFT RIGHT AND ROUND. # 3. SL1 TO SL4 SCALAR SHIFT LEFT. # 4. SL1R TO SL4R SCALAR SHIFT LEFT AND ROUND. # 5. VSR1 TO VSR8 VECTOR SHIFT RIGHT (ALWAYS ROUNDS). # 6. VSL1 TO VSL8 VECTOR SHIFT LEFT (NEVER ROUNDS). # THE FOLLOWING CODES REQUIRE AND ADDRESS WHICH MAY BE INDEXED:* # 1. SR SCALAR SHIFT RIGHT. # 2. SRR SCALAR SHIFT RIGHT AND ROUND. # 3. SL SCALAR SHIFT LEFT. # 4. SLR SCALAR SHIFT LEFT AND ROUND. # 5. VSR VECTOR SHIFT RIGHT. # 6. VSL VECTOR SHIFT LEFT. # * IF THE ADDRESS IS INDEXED, AND THE INDEX MODIFICATION RESULTS IN A NEGATIVE SHIFT COUNT, A SHIFT OF THE # ABSOLUTE VALUE OF THE COUNT IS DONE IN THE OPPOSITE DIRECTION. BANK 00 COUNT* $$/INTER SHORTT CAF SIX # SCALAR SHORT SHIFTS COME HERE. THE SHIFT MASK CYR # COUNT-1 IS NOW IN BITS 2-3 OF CYR. THE TS SR # ROUNDING BIT IS IN BIT1 AT THIS POINT. CCS CYR # SEE IF RIGHT OR LEFT SHIFT DESIRED. TCF TSSL # SHIFT LEFT. SRDDV DEC 20 # MPTEMP SETTING FOR SR BEFORE DDV. TSSR INDEX SR # GET SHIFTING BIT. CAF BIT14 TS MPTEMP CCS CYR # SEE IF A ROUND IS DESIRED. RIGHTR TC MPACSRND # YES -- SHIFT RIGHT AND ROUND. TCF NEWMODE # SET MODE TO DP (C(A) = 0). MPACSHR CA MPTEMP # DO A TRIPLE PRECISION SHIFT RIGHT. EXTEND MP MPAC +2 +3 TS MPAC +2 # (EXIT FROM SQRT AND ABVAL). CA MPTEMP EXTEND MP MPAC # SHIFT MAJOR PART INTO A,L AND PLACE IN # Page 1048 DXCH MPAC # MPAC,+1. CA MPTEMP EXTEND MP L # ORIGINAL C(MPAC +1). DAS MPAC +1 # GUARANTEED NO OVERFLOW. TCF DANZIG # MPAC SHIFT RIGHT AND ROUND SUBROUTINES MPACSRND CA MPAC +2 # WE HAVE TO DO ALL THREE MULTIPLIES SINCE EXTEND # MPAC +1 AND MPAC +2 MIGHT HAVE SIGN MP MPTEMP # DISAGREEMENT WITH A SHIFT RIGHT OF L. XCH MPAC +1 EXTEND MP MPTEMP XCH MPAC +1 # TRIAL MINOR PART. AD L VSHR2 DOUBLE # (FINISH VECTOR COMPONENT SHIFT RIGHT TS MPAC +2 # AND ROUND.) TCF +2 ADS MPAC +1 # GUARANTEED NO OVERFLOW. CAF ZERO TS MPAC +2 XCH MPAC # SETTING TO ZERO SO FOLLOWING DAS WORKS. EXTEND MP MPTEMP DAS MPAC # AGAIN NO OVERFLOW. TC Q VSHRRND CA MPTEMP # ENTRY TO SHIFT RIGHT AND ROUND MPAC WHEN EXTEND # MPAC CONTAINS A VECTOR COMPONENT. MP MPAC +1 TS MPAC +1 XCH L TCF VSHR2 # GO ADD ONE IF NECESSARY AND FINISH. # Page 1049 # ROUTINE FOR SHORT SCALAR SHIFT LEFT (AND MAYBE ROUND). TSSL CA SR # GET SHIFT COUNT FOR SR. +1 TS MPTEMP +2 EXTEND # ENTRY HERE FROM SL FOR SCALARS. DCA MPAC +1 # SHIFTING LEFT ONE PLACE AT A TIME IS DAS MPAC +1 # FASTER THAN DOING THE WHOLE SHIFT WITH AD MPAC # MULTIPLIES ASSUMING THAT FREQUENCY OF AD MPAC # SHIFT COUNTS GOES DOWN RAPIDLY AS A TS MPAC # FUNCTION OF THEIR MAGNITUDE. TCF +2 TS OVFIND # OVERFLOW. (LEAVES OVERFLOW-CORRECTED # RESULT ANYWAY). CCS MPTEMP # LOOP ON DECREMENTED SHIFT COUNT. TCF TSSL +1 CCS CYR # SEE IF ROUND WANTED. ROUND TC ROUNDSUB # YES -- ROUND AND EXIT. TCF DANZIG # SL LEAVES A ZERO IN CYR FOR NO ROUND. TCF DANZIG # NO -- EXIT IMMEDIATELY # Page 1050 # VECTOR SHIFTING ROUTINES. SHORTV CAF LOW3 # SAVE 3 BIT SHIFT COUNT -- 1 WITHOUT MASK CYR # EDITING CYR. TS MPTEMP CCS CYR # SEE IF LEFT OR RIGHT SHIFT. TCF VSSL # VECTOR SHIFT LEFT. OCT176 OCT 176 # USED IN PROCESSED SHIFTS WITH - COUNT. VSSR INDEX MPTEMP # (ENTRY FROM SR). PICK UP SHIFTING BIT. CAF BIT14 # MPTEMP CONTAINS THE SHIFT COUNT - 1. TS MPTEMP TC VSHRRND # SHIFT X COMPONENT. DXCH MPAC # SWAP X AND Y COMPONENTS. DXCH MPAC +3 DXCH MPAC TC VSHRRND # SHIFT Y COMPONENT. DXCH MPAC # SWAP Y AND Z COMPONENTS. DXCH MPAC +5 DXCH MPAC TC VSHRRND # SHIFT Z COMPONENT. TCF VROTATEX # RESTORE COMPONENTS TO PROPER PLACES. # Page 1051 # VECTOR SHIFT LEFT -- DONE ONE PLACE AT A TIME. -1 TS MPTEMP # SHIFTING LOOP. VSSL EXTEND DCA MPAC DAS MPAC EXTEND BZF +2 TC OVERFLOW EXTEND DCA MPAC +3 DAS MPAC +3 EXTEND BZF +2 TC OVERFLWY EXTEND DCA MPAC +5 DAS MPAC +5 EXTEND BZF +2 TC OVERFLWZ CCS MPTEMP # LOOP ON DECREMENTED SHIFT COUNTER. TCF VSSL -1 TCF DANZIG # EXIT. # Page 1052 # TSLC -- TRIPLE SHIFT LEFT AND COUNT. SHIFTS MPAC LEFT UNTIL GREATER THAN .5 IN MAGNITUDE, LEAVING # THE COMPLEMENT OF THE NUMBER OF SHIFTS REQUIRED IN X. TSLC2 TS MPTEMP # START BY ZEROING SHIFT COUNT (IN A NOW). TC BRANCH # EXIT WITH NO SHIFTING IF ARGUMENT ZERO. TCF +2 TCF ENDTSLC # STORES ZERO SHIFT COUNT IN THIS CASE. TC TPAGREE # MAY CAUSE UPSHIFT OF ONE EXTRA PLACE. CA MPAC # BEGIN NORMALIZATION LOOP. TCF TSLCTEST TSLCLOOP INCR MPTEMP # INCREMENT SHIFT COUNTER. EXTEND DCA MPAC +1 DAS MPAC +1 AD MPAC ADS MPAC TSLCTEST DOUBLE # SEE IF (ANOTHER) SHIFT IS REQUIRED OVSK TCF TSLCLOOP # YES -- INCREMENT COUNT AND SHIFT AGAIN. ENDTSLC CS MPTEMP TCF STORE1 # STORE SHIFT COUNT AND RETURN TO DANZIG. # Page 1053 # THE FOLLOWING ROUTINE PROCESSES THE GENERAL SHIFT INSTRUCTIONS SR, SRR, SL, AND SLR. # THE GIVEN ADDRESS IS DECODED AS FOLLOWS: # BITS 1-7 SHIFT COUNT (SUBADDRESS) LESS THAN 125 DECIMAL. # BIT 8 PSEUDO SIGN BIT (DETECTS CHANGE IN SIGN IN INDEXED SHIFTS). # BIT 9 0 FOR LEFT SHIFT, AND 1 FOR RIGHT SHIFT. # BIT 10 1 FOR TERMINAL ROUND ON SCALAR SHIFTS, 0 OTHERWISE # BITS 11-13 0. # BIT 14 1. # BIT 15 0. # THE ABOVE ENCODING IS DONE BY THE YUL SYSTEM. GENSHIFT MASK ADDRWD # GET SHIFT COUNT, TESTING FOR ZERO. CCS A # (ARRIVES WITH C(A) = LOW7). TCF GENSHFT2 # IF NON-ZERO, PROCEED WITH DECREMENTED CT CAF BIT10 # ZERO SHIFT COUNT. NO SHIFTS NEEDED BUT MASK ADDRWD # WE MIGHT HAVE TO ROUND MPAC ON SLR AND CCS A # SRR (SCALAR ONLY). TC ROUNDSUB TCF DANZIG GENSHFT2 TS MPTEMP # DECREMENTED SHIFT COUNT TO MPTEMP. CAF BIT8 # TEST MEANING OF LOW SEVEN BIT COUNT IN EXTEND # MPTEMP NOW. MP ADDRWD MASK LOW2 # JUMPS ON SHIFT DIRECTION (BIT8) AND INDEX A TCF +1 # ORIGINAL SHIFT DIRECTION (BIT 9) TCF RIGHT- # NEGATIVE SHIFT COUNT FOR SL OR SLR. TCF LEFT # SL OR SLR. TCF LEFT- # NEGATIVE SHIFT COUNT WITH SR OR SRR. # Page 1054 # GENERAL SHIFT RIGHT RIGHT CCS MODE # SET IF VECTOR OR SCALAR. TCF GENSCR TCF GENSCR CA MPTEMP # SEE IF SHIFT COUNT LESS THAN 14D. VRIGHT2 AD NEG12 EXTEND BZMF VSSR # IF SO, BRANCH AND SHIFT IMMEDIATELY. AD NEGONE # IF NOT, REDUCE MPTEMP BY A TOTAL OF 14. TS MPTEMP # AND DO A SHIFT RIGHT AND ROUND BY 14. CAF ZERO # THE ROUND AT THIS STAGE MAY INTRODUCE A TS L # ONE BIT ERROR IN A SHIFT RIGHT 15D. XCH MPAC XCH MPAC +1 TC SETROUND # X COMPONENT NOW SHIFTED, SO MAKE UP THE DAS MPAC # ROUNDING QUANTITY (0 IN A AND 0 OR +-1 # IN L). XCH MPAC +3 # REPEAT THE ABOVE PROCESS FOR Y AND Z. XCH MPAC +4 TC SETROUND DAS MPAC +3 # NO OVERFLOW ON THESE ADDS. XCH MPAC +5 XCH MPAC +6 TC SETROUND DAS MPAC +5 CCS MPTEMP # SEE IF DONE, DOING FINAL DECREMENT. TS MPTEMP TCF VRIGHT2 BIASLO DEC .2974 B-1 # SQRT CONSTANT TCF DANZIG SETROUND DOUBLE # MAKES UP ROUNDING QUANTITY FROM ARRIVING TS MPAC +2 # C(A). L IS ZERO INITIALLY. CAF ZERO XCH L TC Q # RETURN AND DO THE DAS, RESETTING L TO 0. # Page 1055 # PROCESS SR AND SRR FOR SCALARS. GENSCR CA MPTEMP # SEE IF THE ORIGINAL SHIFT COUNT WAS LESS +1 AD NEG12 # THAN 14D. EXTEND BZMF DOSSHFT # DO THE SHIFT IMMEDIATELY IF SO. +4 AD NEGONE # IF NOT, DECREMENT SHIFT COUNT BY 14D AND TS MPTEMP # SHIFT MPAC RIGHT 14 PLACES. CAF ZERO XCH MPAC XCH MPAC +1 TS MPAC +2 CCS MPTEMP # SEE IF FINISHED, DO FINAL DECREMENT. TS MPTEMP TC GENSCR +1 SLOPEHI DEC .5884 # SQRT CONSTANT. CAF BIT10 # FINISHED WITH SHIFT. SEE IF ROUND MASK ADDRWD # WANTED. CCS A TC ROUNDSUB TCF DANZIG # DO SO AND/OR EXIT. DOSSHFT INDEX MPTEMP # PICK UP SHIFTING BIT. CAF BIT14 TS MPTEMP CAF BIT10 # SEE IF TERMINAL ROUND DESIRED. MASK ADDRWD CCS A TCF RIGHTR # YES. TCF MPACSHR # JUST SHIFT RIGHT. # Page 1056 # PROCESS THE RIGHT- (SL(R) WITH A NEGATIVE COUNT), LEFT-, AND LEFT OPTIONS. RIGHT- CS MPTEMP # GET ABSOLUTE VALUE - 1 OF SHIFT COUNT AD OCT176 # UNDERSTANDING THAT BIT8 (PSEUDO-SIGN) TS MPTEMP # WAS 1 INITIALLY. TCF RIGHT # DO NORMAL SHIFT RIGHT. LEFT- CS OCT176 # SAME PROLOGUE TO LEFT FOR INDEXED RIGHT AD MPTEMP # SHIFT WHOSE NET SHIFT COUNT IS NEGATIVE COM TS MPTEMP LEFT CCS MODE # SINCE LEFT SHIFTING IS DONE ONE PLACE AT TCF GENSCL # A TIME, NO COMPARISON WITH 14 NEED BE TCF GENSCL # DONE. FOR SCALARS, SEE IF TERMINAL ROUND TCF VSSL # DESIRED. FOR VECTORS, SHIFT IMMEDIATELY. GENSCL CS ADDRWD # PUT ROUNDING BIT (BIT 10 OF ADDRWD) INTO EXTEND # BIT 15 OF CYR WHERE THE ROUNDING BIT OF MP BIT6 # A SHORT SHIFT LEFT WOULD BE TS CYR TCF TSSL +2 # DO THE SHIFT. # Page 1057 # SCALAR DIVISION INSTRUCTIONS, DDV AND BDDV, ARE EXECUTED HERE. AT THIS POINT, THE DIVIDEND IS IN MPAC # AND THE DIVISOR IS IN BUF. DDV/BDDV CS ONE # INITIALIZATION TS DVSIGN # +-1 FOR POSITIVE QUOTIENT -- -0 FOR NEG. TS DVNORMCT # DIVIDENT NORMALIZATION COUNT. TS MAXDVSW # NEAR-ONE DIVIDE FLAG. CCS BUF # FORCE BUF POSITIVE WITH THE MAJOR PART TCF BUFPOS # NON-ZERO. TCF +2 TCF BUFNEG BUFZERO TS MPAC +2 # ZERO THIS. TC TPAGREE # FORCE SIGN AGREEMENT BEFORE OVERFLOW CCS MPAC # TEST TO SEE IF MPAC NON-ZERO. (TOO BIG) TCF OVF+ # MAJOR PART OF DIVIDEND IS POSITIVE NON-0 TCF +2 TCF OVF+ -1 # MAJOR PART OF DIVIDEND IS NEG. NON-ZERO XCH BUF +1 # SHIFT DIVIDEND AND DIVISOR LEFT 14 XCH BUF XCH MPAC +1 XCH MPAC CCS BUF # TRY AGAIN ON FORMER MINOR PART. TCF BUF+ TCF +2 # OVERFLOW ON ZERO DIVISOR. TCF BUF- CS MPAC # SIGN OF MPAC DETERMINES SIGN OF RESULT. SGNDVOVF EXTEND BZMF +2 INCR DVSIGN # NEGMAX IN MPAC PERHAPS. DVOVF CAF POSMAX # ON DIVISION OVERFLOW OF ANY SORT, SET TS MPAC # SET DP MPAC TO +-POSMAX. TC FINALDV +3 CAF ONE # SET OVERFLOW INDICATOR AND EXIT. TS OVFIND TC DANZIG -1 INCR DVSIGN OVF+ CS BUF +1 # LOAD LOWER ORDER PART OF DIVISOR. TCF SGNDVOVF # GET SIGN OF RESULT. BUF- EXTEND # IF BUF IS NEGATIVE, COMPLEMENT IT AND DCS BUF # MAINTAIN DVSIGN FOR FINAL QUOTIENT SIGN. DXCH BUF INCR DVSIGN # NOW -0. # Page 1058 BUF+ CCS MPAC # FORCE MPAC POSITIVE, CHECKING FOR ZERO TCF MPAC+ # DIVIDEND IN THE PROCESS. TCF +2 TCF MPAC- CCS MPAC +1 TCF MPAC+ TCF DANZIG # EXIT IMMEDIATELY ON ZERO DIVIDEND. TCF MPAC- TCF DANZIG MPAC- EXTEND # FORCE MPAC POSITIVE AS BUF IN BUF-. DCS MPAC DXCH MPAC INCR DVSIGN # NOW +1 OR -0. # Page 1059 MPAC+ CS MPAC # CHECK FOR DIVISION OVERFLOW. IF THE AD NEGONE # MAJOR PART OF THE DIVIDEND IS LESS THAN AD BUF # THE MAJOR PART OF THE DIVISOR BY AT CCS A # LEAST TWO, WE CAN PROCEED IMMEDIATELY TCF DVNORM # WITHOUT NORMALIZATION PRODUCING A DVMAX. -1/2+2 OCT 60001 # USED IN SQRTSUB. TCF +1 # IF THE ABOVE DOES NOT HOLD, FORCE SIGN CAF HALF # AGREEMENT IN NUMERATOR AND DENOMINATOR DOUBLE # TO FACILITATE OVERFLOW AND NEAR-ONE AD MPAC +1 # CHECKING. TS MPAC +1 CAF ZERO AD POSMAX ADS MPAC CAF HALF # SAME FOR BUF. DOUBLE AD BUF +1 TS BUF +1 CAF ZERO AD POSMAX ADS BUF CS MPAC # CHECK MAGNITUDE OF SIGN-CORRECTED AD BUF # OPERANDS. CCS A TCF DVNORM # DIVIDE OK -- WILL NOT BECOME MAXOV CASE. LBUF2 ADRES BUF2 TCF DVOVF # DIVISOR NOT LESS THAN DIVIDEND -- OVF. TS MAXDVSW # IF THE MAJOR PARTS OF THE DIVIDEND AND CS MPAC +1 # DIVISOR ARE EQUAL, A SPECIAL APPROXIMA- AD BUF +1 # TION IS USED (PROVIDED THE DIVISION IS EXTEND # POSSIBLE, OF COURSE). BZMF DVOVF TCF DVNORM # IF NO OVERFLOW. # Page 1060 BUFNORM EXTEND # ADD -1 TO AUGMENT SHIFT COUNT AND SHIFT AUG DVNORMCT # LEFT ONE PLACE. EXTEND DCA BUF DAS BUF DVNORM CA BUF # SEE IF DIVISOR NORMALIZED YET. DOUBLE OVSK TCF BUFNORM # NO -- SHIFT LEFT ONE AND TRY AGAIN. DXCH MPAC # CALL DIVIDEND NORMALIZATION SEQUENCE INDEX DVNORMCT # PRIOR TO DOING THE DIVIDE. TC MAXTEST TS MPAC +2 # RETURNS WITH DIVISION DONE AND C(A) = 0. TCF DANZIG BUFPOS CCS A TCF BUF+ # TO BUF+ IF BUF IS GREATER THAN +1. CS BUF +1 # IF BUF IS +1, FORCING SIGN AGREEMENT EXTEND # MAY CAUSE BUF TO BECOME ZERO. BZMF BUF+ # BRANCH IF SIGNS AGREE. CA HALF # SIGNS DISAGREE. FORCE AGREEMENT. +6 DOUBLE ADS BUF +1 CA ZERO TS BUF TCF BUFZERO BUFNEG CCS A TCF BUF- # TO BUF- IF BUF IS LESS THAN -1. CA BUF +1 # IF BUF IS -1, FORCING SIGN AGREEMENT EXTEND # MAY CAUSE BUF TO BECOME ZERO. BZMF BUF- # BRANCH IF SIGNS AGREE. CS HALF # SIGNS DISAGREE. FORCE AGREEMENT. TCF BUFPOS +6 # Page 1061 # THE FOLLOWING ARE PROLOGUES TO SHIFT THE DIVIDEND ARRIVING IN A AND L BEFORE THE DIVIDE. -21D LXCH SR # SPECIAL PROLOGUE FOR UNIT WHEN THE EXTEND # LENGTH OF THE ARGUMENT WAS NOT LESS THAN MP HALF # .5. IN THIS CASE, EACH COMPONENT MUST BE XCH L # SHIFTED RIGHT ONE TO PRODUCE A HALF-UNIT AD SR # VECTOR. XCH L TCF GENDDV +1 # WITH DP DIVIDEND IN A,L. DDOUBL # PROLOGUE WHICH NORMALIZES THE DIVIDEND DDOUBL # WHEN IT IS KNOWN THAT NO DIVISION DDOUBL # OVEFLOW WILL OCCUR. DDOUBL DDOUBL DDOUBL DDOUBL DDOUBL DDOUBL DDOUBL DDOUBL DDOUBL DDOUBL DXCH MPAC MAXTEST CCS MAXDVSW # 0 IF MAJORS MIGHT BE =, -1 OTHERWISE. BIASHI DEC .4192 B-1 # SQRT CONSTANTS. TCF MAXDV # CHECK TO SEE IF THAY ARE NOW EQUAL. # Page 1062 # THE FOLLOWING IS A GENERAL PURPOSE DOUBLE PRECISION DIVISION ROUTINE. IT DIVIDES MPAC BY BUF AND LEAVES # THE RESULT IN MPAC. THE FOLLOWING CONDITIONS MUST BE SATISFIED: # # 1. THE DIVISOR (BUF) MUST BE POSITIVE AND NOT LESS THAN .5. # # 2. THE DIVIDEND (MPAC) MUST BE POSITIVE WITH THE MAJOR PART OF MPAC STRICTLY LESS THAN THAT OF BUF # (A SPECIAL APPROXIMATION, MAXDV, IS USED WHEN THE MAJOR PARTS ARE EQUAL). # # UNDERSTANDING THAT A/B = Q + S(R/B) WHERE S = 2(-14) AND Q AND R ARE QUOTIENT AND REMAINDER, RESPEC- # TIVELY, THE FOLLOWING APPROXIMATION IS OBTAINED BY MULTIPLYING ABOVE AND BELOW BY C - SD AND NEGLECTING TERMS OF # ORDER S-SQUARED (POSSIBLY INTRODUCING ERROR INTO THE LOW TWO BITS OF THE RESULT). SIGN AGREEMENT IS UNNECESSARY. # # A + SB . (R - QD) A + SB # ------ = Q + S(------) WHERE Q AND R ARE QUOTIENT AND REMAINDER OF ------ RESPECTIVELY. # C + SD ( C } C GENDDV DXCH MPAC # WE NEED A AND B ONLY FOR FIRST DV. +1 EXTEND # (SPECIAL UNIT PROLOGUE ENTERS HERE). DV BUF # A NOW CONTAINS Q AND L, R. DXCH MPAC CS MPAC # FORM DIVIDEND FOR MINOR PART OF RESULT. EXTEND MP BUF +1 AD MPAC +1 # OVERFLOW AT THIS POINT IS POSITIVE SINCE OVSK # R IS POSITIVE IN EVERY CASE. TCF +5 EXTEND # OVERFLOW CAN BE REMOVED BY SUBTRACTING C SU BUF # (BUF) ONCE SINCE R IS ALWAYS LESS THAN C INCR MPAC # IN THIS CASE. INCR COMPENSATES SUBTRACT. TCF +DOWN # (SINCE C(A) IS STILL POSITIVE). +5 EXTEND # C(A) CAN BE MADE LESS THAN C IN MAGNI- BZMF -UP # TUDE BY DIMINISHING IT BY C (SINCE C IS # NOT LESS THAN .5) UNLESS C(A) = 0. # Page 1063 +DOWN EXTEND SU BUF # IF POSITIVE, REDUCE ONLY IF NECESSARY EXTEND # SINCE THE COMPENSATING INCR MIGHT CAUSE BZF +3 # OVERFLOW. EXTEND # DON'T SUBTRACT UNLESS RESULT IS POSITIVE BZMF ENDMAXDV # OR ZERO. +3 INCR MPAC # KEEP SUBTRACT HERE AND COMPENSATE. TCF FINALDV -UP EXTEND # IF ZERO, SET MINOR PART OF RESULT TO BZF FINALDV +3 # ZERO. EXTEND # IF NEGATIVE, ADD C TO A, SUBTRACTING ONE DIM MPAC # TO COMPENSATE. DIM IS OK HERE SINCE THE ENDMAXDV AD BUF # MAJOR PART NEVER GOES NEGATIVE. # Page 1064 FINALDV ZL # DO DV TO OBTAIN MINOR PART OF RESULT. EXTEND DV BUF +3 TS MPAC +1 CCS DVSIGN # LEAVE RESULT POSITIVE UNLESS C(DVSIGN)= TC Q # -0. TC Q TC Q EXTEND DCS MPAC DXCH MPAC CAF ZERO # SO WE ALWAYS RETURN WITH C(A) = 0. TC Q # Page 1065 # IF THE MAJOR PARTS OF THE DIVISOR AND DIVIDEND ARE EQUAL, BUT THE MINOR PARTS ARE SUCH THAT THE # DIVIDEND IS STRICTLY LESS THAN THE DIVISOR IN MAGNITUDE, THE FOLLOWING APPROXIMATION IS USED. THE ASSUMPTIONS # ARE THE SAME AS THE GENERAL ROUTINE WITH THE ADDITION THAT SIGN AGREEMENT IS NECESSARY (B, C, & D POSITIVE). # # C + SB . (C + B - D) # ------ = 37777 + S(---------) # C + SD ( C ) # # THE DIVISION MAY BE PERFORMED IMMEDIATELY SINCE B IS STRICTLY LESS THAN D AND C IS NOT LESS THAN .5. MAXDV CS MPAC # SEE IF MAXDV CASE STILL HOLDS AFTER AD BUF # NORMALIZATION. EXTEND BZF +2 TCF GENDDV # MPAC NOW LESS THAN BUFF -- DIVIDE AS USUAL. +2 CAF POSMAX # SET MAJOR PART OF RESULT. TS MPAC CS BUF +1 # FORM DIVIDEND OF MINOR PART OF RESULT. AD MPAC +1 TCF ENDMAXDV # GO ADD C AND DO DIVIDE, ATTACHING SIGN # BEFORE EXITING. # Page 1066 # VECTOR DIVIDED BY SCALAR, V/SC, IS EXECUTED HERE. THE VECTOR IS NOW IN MPAC WITH SCALAR IN BUF. V/SC2 CS ONE # INITIALIZE DIVIDEND NORMALIZATION COUNT TS DVNORMCT # AND DIVISION SIGN REGISTER. TS VBUF +5 TC VECAGREE # FORCE SIGN AGREEMENT IN VECTOR DXCH BUF TC ALSIGNAG # SIGN AGREE BUF DXCH BUF CCS BUF # FORCE DIVISOR POSITIVE WITH MAJOR PART TCF /BUF+ # NON-ZERO (IF POSSIBLE). TCF +2 TCF /BUF- XCH BUF +1 # SHIFT VECTOR AND SCALAR LEFT 14. XCH BUF XCH MPAC +1 XCH MPAC EXTEND # CHECK FOR OVERFLOW IN EACH CASE. BZF +2 TCF DVOVF XCH MPAC +4 XCH MPAC +3 EXTEND BZF +2 TCF DVOVF XCH MPAC +6 XCH MPAC +5 EXTEND BZF +2 TCF DVOVF CCS BUF TCF /BUF+ TCF DVOVF # ZERO DIVISOR - OVERFLOW. TCF /BUF- TCF DVOVF /BUF- EXTEND # ON NEGATIVE, COMPLEMENT BUF AND MAINTAIN DCS BUF # DVSIGN IN VBUF +5. DXCH BUF INCR VBUF +5 # Page 1067 /BUF+ EXTEND DCA BUF # LEAVE ABS(ORIG DIVISOR) IN BUF2 DXCH BUF2 # FOR OVERFLOW TESTING TCF /NORM # NORMALIZE DIVISOR IN BUF. /NORM2 EXTEND # IF LESS THAN .5, AUGMENT DVNORMCT AND AUG DVNORMCT # DOUBLE DIVISOR. EXTEND DCA BUF DAS BUF /NORM CA BUF # SEE IF DIVISOR NORMALIZED. DOUBLE OVSK TCF /NORM2 # DOUBLE AND TRY AGAIN IF NOT. TC V/SCDV # DO X COMPONENT DIVIDE. DXCH MPAC +3 # SUPPLY ARGUMENTS IN USUAL SEQUENCE. DXCH MPAC DXCH MPAC +3 TC V/SCDV # Y COMPONENT. DXCH MPAC +5 DXCH MPAC DXCH MPAC +5 TC V/SCDV # Z COMPONENT. TCF VROTATEX # GO RE-ARRANGE COMPONENTS BEFORE EXIT. # Page 1068 # SUBROUTINE USED BY V/SC TO DIVIDE VECTOR COMPONENT IN MPAC,+1 BY THE SCALAR GIVEN IN BUF. V/SCDV CA VBUF +5 # REFLECTS SIGN OF SCALAR. TS DVSIGN CCS MPAC # FORCE MPAC POSITIVE, EXITING ON ZERO. TCF /MPAC+ TCF +2 TCF /MPAC- CCS MPAC +1 TCF /MPAC+ TC Q TCF /MPAC- TC Q /MPAC- EXTEND # USUAL COMPLEMENTING AND SETTING OF SIGN. DCS MPAC DXCH MPAC INCR DVSIGN /MPAC+ CS ONE # INITIALIZE NEAR-ONE SWITCH. TS MAXDVSW CS MPAC # CHECK POSSIBLE OVERFLOW. AD BUF2 # UNNORMALIZED INPUT DIVISOR. CCS A TCF DDVCALL # NOT NEAR-ONE TCF +2 # +0 IS JUST POSSIBLE TCF DVOVF # NO HOPE TS MAXDVSW # SIGNAL POSSIBLE NEAR-ONE CASE CS MPAC +1 # SEE IF DIVISION CAN BE DONE AD BUF2 +1 EXTEND BZMF DVOVF DDVCALL DXCH MPAC # CALL PRE-DIVIDE NORMALIZATION. INDEX DVNORMCT TCF MAXTEST # Page 1069 SLOPELO DEC .8324 VECAGREE XCH Q # SAVE Q IN A DXCH MPAC TC ALSIGNAG # SIGNAGREE MPAC DXCH MPAC DXCH MPAC +3 TC ALSIGNAG # SIGN AGREE MPAC +3 DXCH MPAC +3 DXCH MPAC +5 TC ALSIGNAG # SIGNAGREE MPAC +5 DXCH MPAC +5 TC A # Page 1070 # THE FOLLOWING ROUTINE EXECUTES THE UNIT INSTRUCTION, WHICH TAKES THE UNIT OF THE VECTOR IN MPAC. UNIT TC VECAGREE # FORCE SIGN AGREEMENT IN VECTOR TC MPACVBUF # SAVE ARGUMENT IN VBUF CAF ZERO # MUST SENSE OVERFLOW IN FOLLOWING DOT. XCH OVFIND TS TEM1 TC VSQSUB # DOT MPAC WITH ITSELF. CA TEM1 XCH OVFIND EXTEND BZF +2 TCF DVOVF EXTEND DCA MPAC # LEAVE THE SQUARE OF THE LENGTH OF THE INDEX FIXLOC # ARGUMENT IN LVSQUARE. DXCH LVSQUARE TC SQRTSUB # GO TAKE THE NORMALIZED SQUARE ROOT. CCS MPAC # CHECK FOR UNIT OVERFLOW. TCF +5 # MPAC IS NOT LESS THAN .5 UNLESS TS L INDEX FIXLOC DXCH LV TCF DVOVF # INPUT TO SQRTSUB WAS 0. CS FOURTEEN # SEE IF THE INPUT WAS SO SMALL THAT THE AD MPTEMP # FIRST TWO REGISTERS OF THE SQUARE WERE 0 CCS A COM # IF SO, SAVE THE NEGATIVE OF THE SHIFT TCF SMALL # COUNT -15D. TCF LARGE # (THIS IS USUALLY THE CASE.) CS THIRTEEN # IF THE SHIFT COUNT WAS EXACTLY 14, SET TS MPTEMP # THE PRE-DIVIDE NORM COUNT TO -13D. CA MPAC # SHIFT THE LENGTH RIGHT 14 BEFORE STORING SMALL2 TS L # (SMALL EXITS TO THIS POINT). CAF ZERO TCF LARGE2 # GO TO STORE LENGTH AND PROCEED. LARGE CCS MPTEMP # MOST ALL CASES COME HERE. TCF LARGE3 # SEE IF NO NORMALIZATION WAS REQUIRED BY CS SRDDV # SQRT, AND IF SO, SET UP FOR A SHIFT TS MPTEMP # RIGHT 1 BEFORE DIVIDING TO PRODUCE EXTEND # THE DESIRED HALF UNIT VECTOR. DCA MPAC # Page 1071 TCF LARGE2 # Page 1072 LARGE3 COM # LEAVE NEGATIVE OF SHIFT COUNT-1 FOR TS MPTEMP # PREDIVIDE LEFT SHIFT. COM # PICK UP REQUIRED SHIFTING BIT TO UNNORM- INDEX A # ALIZE THE SQRT RESULT. CAF BIT14 TS BUF EXTEND MP MPAC +1 XCH BUF EXTEND # (UNNORMALIZE THE SQRT FOR LV). MP MPAC XCH L AD BUF XCH L LARGE2 INDEX FIXLOC DXCH LV # LENGTH NOW STORED IN WORK AREA. CS ONE TS MAXDVSW # NO MAXDV CASES IN UNIT. DXCH VBUF # PREPARE X COMPONENT FOR DIVIDE, SETTING DXCH MPAC # LENGTH OF VECTOR AS DIVISOR IN BUF. DXCH BUF TC UNITDV DXCH VBUF +2 # DO Y AND Z IN USUAL FASHION SO WE CAN DXCH MPAC # EXIT THROUGH VROTATEX. DXCH MPAC +3 TC UNITDV DXCH VBUF +4 DXCH MPAC DXCH MPAC +5 TC UNITDV TCF VROTATEX # AND EXIT. # Page 1073 # IF THE LENGTH OF THE ARGUMENT VECTOR WAS LESS THAN 2(-28), EACH COMPONENT MUST BE SHIFTED LEFT AT LEAST # 14 PLACES BEFORE THE DIVIDE. NOTE THAT IN THIS CASE, THE MAJOR PART OF EACH COMPONENT IS ZERO. SMALL TS MPTEMP # NEGATIVE OF PRE-DIVIDE SHIFT COUNT. CAF ZERO # SHIFT EACH COMPONENT LEFT 14. XCH VBUF +1 XCH VBUF XCH VBUF +3 XCH VBUF +2 XCH VBUF +5 XCH VBUF +4 CS MPTEMP INDEX A CAF BIT14 EXTEND MP MPAC TCF SMALL2 THIRTEEN = OCT15 FOURTEEN = OCT16 OCT16 = R1D1 # Page 1074 # THE FOLLOWING ROUTINE SETS UP THE CALL TO THE DIVIDE ROUTINES. UNITDV CCS MPAC # FORCE MPAC POSITIVE IF POSSIBLE, SETTING TCF UMPAC+ # DVSIGN ACCORDING TO THE SIGN OF MPAC TCF +2 # SINCE THE DIVISOR IS ALWAYS POSITIVE TCF UMPAC- # HERE. CCS MPAC +1 TCF UMPAC+ TC Q # EXIT IMMEDIATELY ON ZERO. TCF UMPAC- TC Q UMPAC- CS ZERO # IF NEGATIVE, SET -0 IN DVSIGN FOR FINAL TS DVSIGN # COMPLEMENT. EXTEND DCS MPAC # PICK UP ABSOLUTE VALUE OF ARG AND JUMP. INDEX MPTEMP TCF MAXTEST -1 UMPAC+ TS DVSIGN # SET DVSIGN FOR POSITIVE QUOTIENT. DXCH MPAC INDEX MPTEMP TCF MAXTEST -1 # Page 1075 # MISCELLANEOUS UNARY OPERATIONS. DSQ TC DSQSUB # SQUARE THE DP CONTENTS OF MPAC. TCF DANZIG ABVALABS CCS MODE # ABVAL OR ABS INSTRUCTION. TCF ABS # DO ABS ON SCALAR. TCF ABS ABVAL TC VSQSUB # DOT MPAC WITH ITSELF. LXCH MODE # MODE IS NOW DP (L ZERO AFTER DAS). EXTEND # STORE SQUARE OF LENGTH IN WORK AREA. DCA MPAC INDEX FIXLOC DXCH LVSQUARE # Page 1076 # PROGRAM DESCRIPTION -- SUBROUTINE SQRT # # FUNCTIONAL DESCRIPTION -- DOUBLE PRECISION SQUARE ROOT ROUTINE # THIS PROGRAM TAKES THE SQUARE ROOT OF THE 27 OR 28 MOST SIGNIFICANT BITS IN THE TRIPLE PRECISION SET OF # NUMBERS -- MPAC, MPAC+1, AND MPAC+2. THE ROOT IS RETURNED DOUBLE PRECISION IN MPAC AND MPAC+1. # # WARNING -- THIS SUBROUTINE USES A TRIPLE PRECISION INPUT. THE PROGRAMMER MUST ASSURE THE CONTENTS OF MPAC+2 # ESPECIALLY IF THE CONTENTS OF MPAC IS SMALL OR ZERO. FOR DETAILS SEE STG MEMO NO.949. # # CALLING SEQUENCE -- IN INTERPRETIVE MODE, I.E., FOLLOWING `TC INTPRET', `SQRT', NO ADDRESS IS ALLOWED. # INPUT SCALING: THE BINARY POINT IS ASSUMED TO THE RIGHT OF BIT 15. THE ANSWER IS RETURNED WITH THE SAME SCALING. # # SUBROUTINES -- GENSCR, MPACSHR, SQRTSUB, ABORT # # ABORT EXIT MODE -- ABORTS ON NEGATIVE INPUT -1.2X10E-4 (77775 OCTAL) OR LESS. # DISPLAYS ERROR CODE 1302 # TC ABORT # OCT 1302 # # DEBRIS -- LOCATIONS BUF, MPTEMP, ADDRWD ARE USED SQRT TC SQRTSUB # TAKE THE SQUARE ROOT OF MPAC. CCS MPTEMP # RETURNED NORMALIZED SQUARE ROOT. SEE IF TCF +2 # ANY UN-NORMALIZATION REQUIRED AND EXIT TCF DANZIG # IF NOT. AD NEG12 # A RIGHT SHIFT OF MORE THAN 13 COULD BE EXTEND # REQUIRED IF INPUT WAS ZERO IN MPAC,+1. BZMF SQRTSHFT # GOES HERE IN MOST CASES. ZL # IF A LONG SHIFT IS REQUIRED, GO TO LXCH ADDRWD # GENERAL RIGHT SHIFT ROUTINES. TCF GENSCR +4 # ADDRWD WAS ZERO TO PREVENT ROUND. SQRTSHFT INDEX MPTEMP # SELECT SHIFTING BIT AND EXIT THROUGH CAF BIT15 # SHIFT ROUTINES. TS MPTEMP CAF ZERO # TO ZERO MPAC +2 IN THE PROCESS. TCF MPACSHR +3 ABS TC BRANCH # TEST SIGN OF MPAC AND COMPLEMENT IF TCF DANZIG TCF DANZIG TCF COMP # Page 1077 VDEF CS FOUR # VECTOR DEFINE -- ESSENTIALLY TREATS ADS PUSHLOC # SCALAR IN MPAC AS X COMPONENT, PUSHES UP EXTEND # FOR Y AND THEN AGAIN FOR Z. INDEX A DCA 2 DXCH MPAC +3 EXTEND INDEX PUSHLOC DCA 0 DXCH MPAC +5 TCF VMODE # MODE IS NON VECTOR. VSQ TC VSQSUB # DOT MPAC WITH ITSELF. TCF DMODE # MODE IS NOW DP. PUSH EXTEND # PUSH DOWN MPAC LEAVING IT LOADED. DCA MPAC INDEX PUSHLOC # PUSH DOWN FIRST TWO REGISTERS IN EACH DXCH 0 INDEX MODE # INCREMENT PUSHDOWN POINTER. CAF NO.WDS ADS PUSHLOC CCS MODE TCF TPUSH # PUSH DOWN MPAC +2. TCF DANZIG # DONE FOR DP. EXTEND # ON VECTOR, PUSH DOWN Y AND Z COMPONENTS. DCA MPAC +3 INDEX PUSHLOC DXCH 0 -4 EXTEND DCA MPAC +5 INDEX PUSHLOC DXCH 0 -2 TCF DANZIG TPUSH CA MPAC +2 TCF ENDTPUSH +2 RVQ INDEX FIXLOC # RVQ -- RETURN IVA QPRET. CA QPRET TS POLISH TCF GOTO +4 # (ASSUME QPRET POINTS TO FIXED ONLY.) # Page 1078 # THE FOLLOWING SUBROUTINES ARE USED IN SQUARING MPAC, IN BOTH THE SCALAR AND VECTOR SENSE. THEY ARE # SPECIAL CASES OF DMPSUB AND DOTSUB, PUT IN TO SAVE SOME TIME. DSQSUB CA MPAC +1 # SQUARES THE SCALAR CONTENTS OF MPAC. EXTEND SQUARE TS MPAC +2 CAF ZERO # FORM 2(CROSS TERM). XCH MPAC +1 EXTEND MP MPAC DDOUBL # AND MAYBE OVEFLOW. DAS MPAC +1 # AND SET A TO NET OVERFLOW. XCH MPAC EXTEND SQUARE DAS MPAC TC Q VSQSUB EXTEND # DOTS THE VECTOR IN MPAC WITH ITSELF. QXCH DOTRET TC DSQSUB # SQUARE THE X COMPONENT. DXCH MPAC +3 DXCH MPAC DXCH BUF # SO WE CAN END IN DOTSUB. CA MPAC +2 TS BUF +2 TC DSQSUB # SQUARE Y COMPONENT. DXCH MPAC +1 DAS BUF +1 AD MPAC AD BUF TS BUF TCF +2 TS OVFIND # IF OVERFLOW. DXCH MPAC +5 DXCH MPAC TC DSQSUB # SQUARE Z COMPONENT. TCF ENDDOT # END AS IN DOTSUB. # Page 1079 # DOUBLE PRECISION SQUARE ROOT ROUTINE. TAKE THE SQUARE ROOT OF THE TRIPLE PRECISION (MPAC +2 USED ONLY # IN NORMALIZATION) CONTENTS OF MPAC AND LEAVE THE NORMALIZED RESULT IN MPAC (C(MPAC) GREATER THAN OR EQUAL TO # .5). THE RIGHT SHIFT COUNT (TC UNNORMALIZE) IS LEFT IN MPTEMP. SQRTSUB CAF ZERO # START BY ZEROING RIGHT SHIFT COUNT. TS MPTEMP CCS MPAC # CHECK FOR POSITIVE ARGUMENT, SHIFTING TCF SMPAC+ # FIRST SIGNIFICANT MPAC REGISTER INTO TCF +2 # MPAC ITSELF. TCF SQRTNEG # SEE IF MAG OF ARGUMENT LESS THAN 10(-4). XCH MPAC +2 # MPAC IS ZERO -- SHIFT LEFT 14. XCH MPAC +1 TS MPAC CAF SEVEN # AUGMENT RIGHT SHIFT COUNTER. TS MPTEMP CCS MPAC # SEE IF MPAC NOW PNZ. TCF SMPAC+ TCF +2 TCF ZEROANS # NEGATIVE BUT LESS THAN 10(-4) IN MAG. XCH MPAC +1 # XERO -- SHIFT LEFT 14 AGAIN. TS MPAC CAF SEVEN # AUGMENT RIGHT SHIFT COUNTER. ADS MPTEMP CCS MPAC TCF SMPAC+ TC Q # SQRT(0) = 0. TCF ZEROANS TCF FIXROOT # DO NOT LEAVE SQRTSUB WITH -0 IN MPAC. SQRTNEG CCS A # ARGUMENT IS NEGATIVE, BUT SEE IF SIGN- TCF SQRTABRT # CORRECTED ARGUMENT IS LESS THAN 10(-4) CCS MPAC +1 # IN MAGNITUDE. IF SO, CALL ANSWER ZERO. ZEROANS CAF ZERO # FORCE ANSWER TO ZERO HERE. TCF FIXROOT TCF SQRTABRT TCF FIXROOT SQRTABRT DXCH LOC TC POODOO1 OCT 1302 # Page 1080 SMPAC+ AD -1/2+2 # SEE IF ARGUMENT GREATER THAN OR EQUAL TO EXTEND # .5. BZMF SRTEST # IF SO, SEE IF LESS THAN .25. DXCH MPAC # WE WILL TAKE THE SQUARE ROOT OF MPAC/2. LXCH SR # SHIFT RIGHT 1 AND GO TO THE SQRT ROUTINE EXTEND MP HALF DXCH MPAC XCH SR ADS MPAC +1 # GUARANTEED NO OVERFLOW. ARGHI CAF SLOPEHI # ARGUMENT BETWEEN .25 AND .5, GET A EXTEND # LINEAR APPROXIMATION FOR THIS RANGE. MP MPAC AD BIASHI # X0/2 = (MPAC/2)(SLOPHI) + BIASHI/2. +4 TS BUF # X0/2 (ARGLO ENTERS HERE). CA MPAC # SINGLE-PRECISION THROUGHOUT. ZL EXTEND DV BUF # (MPAC/2)/(X0/2) EXTEND MP HALF ADS BUF # X1 = X0/2 + .5(MPAX/2)/(X0/2) EXTEND MP HALF # FORM UP X1/2. DXCH MPAC # SAVE AND BRING OUT ARGUMENT. EXTEND # TAKE DP QUOTIENT WITH X1. DV BUF TS BUF +1 # SAVE MAJOR PART OF QUOTIENT. CAF ZERO # FORM MINOR PART OF QUOTIENT USING XCH L # (REMAINDER,0). EXTEND DV BUF TS L # IN PREPARATION FOR DAS. CA BUF +1 DAS MPAC # X2 = X1/2 + (MPAC/2)X1 EXTEND # OVERFLOWS IF ARG. NEAR POSMAX. BZF TCQBNK00 CAF POSMAX FIXROOT TS MPAC TS MPAC +1 TCQBNK00 TC Q # RETURN TO CALLER TO UNNORMALIZE, ETC. # Page 1081 SRTEST AD QUARTER # ARGUMENT WAS LESS THAN .5, SEE IF LESS EXTEND # THAN .25. BZMF SQRTNORM # IF SO, BEGIN NORMALIZATION. DXCH MPAC # IF BETWEEN .5 AND .25, SHIFT RIGHT 1 AND LXCH SR # START AT ARGLO. EXTEND MP HALF DXCH MPAC XCH SR ADS MPAC +1 # NO OVERFLOW. ARGLO CAF SLOPELO # (NORMALIZED) ARGUMENT BETWEEN .125 AND EXTEND # .25 MP MPAC AD BIASLO TCF ARGHI +4 # BEGIN SQUARE ROOT. SQRTNM2 EXTEND # SHIFT LEFT 2 AND INCREMENT RIGHT SHIFT DCA MPAC +1 # COUNT (FOR TERMINAL UNNORMALIZATION). DAS MPAC +1 AD MPAC ADS MPAC # (NO OVERFLOW). SQRTNORM INCR MPTEMP # FIRST TIME THROUGH, JUST SHIFT LEFT 1 EXTEND # (PUTS IN EFFECTIVE RIGHT SHIFT SINCE DCA MPAC +1 # WE WANT MPAC/2). DAS MPAC +1 AD MPAC ADS MPAC # (AGAIN NO OVERFLOW). DOUBLE TS CYL NORMTEST CCS CYL # SEE IF ARGUMENT NOW NORMALIZED AT CCS CYL # GREATER THAN .125. TCF SQRTNM2 # NO -- SHIFT LEFT 2 MORE AND TRY AGAIN. TCF ARGHI # YES -- NOW BETWEEN .5 AND .25. TCF ARGLO # ARGUMENT NOW BETWEEN .25 AND .125. # Page 1082 # TRIGONOMETRIC FUNCTION PACKAGE. # THE FOLLOWING TRIGONOMETRIC FUNCTIONS ARE AVAIALABLE AS INTERPRETIVE OPERATIONS: # 1. SIN COMPUTES (1/2)SINE(2 PI MPAC). # 2. COS COMPUTES (1/2)COSINE(2 PI MPAC). # 3. ASIN COMPUTES (1/2PI)ARCSINE(2 MPAC). # 4. ACOS COMPUTES (1/2PI)ARCCOSINE(2 MPAC). # # SIN-ASIN AND COS-ACOS ARE MUTUALLY INVERSE, I.E., SIN(ASIN(X)) = X. COSINE TC BRANCH # FINDS COSINE USING THE IDENTITY TCF +3 # COS(X) = SIN(PI/2 - ABS(X)). TCF PRESINE TCF PRESINE +3 EXTEND DCS MPAC DXCH MPAC PRESINE CAF QUARTER # PI/2 SCALED. ADS MPAC SINE DXCH MPAC # DOUBLE ARGUMENT. DDOUBL OVSK # SEE IF OVERFLOW PRESENT. TCF +3 # IF NOT, ARGUMENT OK AS IS. EXTEND # IF SO, WE LOST (OR GAINED) PI, SO DCOM # COMPLEMENT MPAC USING THE IDENTITY # SIN(X-(+)PI) = SIN(-X). +3 DXCH MPAC CA MPAC # SEE IF ARGUMENT GREATER THAN .5 IN DOUBLE # MAGNITUDE. IF SO, REDUCE IT TO LESS THAN TS L # .5 (+-PI/2 SCALED) AS FOLLOWS: TCF SN1 INDEX A # IF POSITIVE, FORM PI - X, IF NEGATIVE CAF NEG1/2 +1 # USE -PI -X. DOUBLE EXTEND SU MPAC # GUARANTEED NO OVERFLOW. TS MPAC CS MPAC +1 TS MPAC +1 # Page 1083 SN1 EXTEND # SET UP TO EVALUATE HASTINGS POLYNOMIAL DCA MPAC DXCH BUF2 TC DSQSUB # SQUARE MPAC. TC POLY # EVALUATE FOURTH ORDER POLYNOMIAL. DEC 3 2DEC +.3926990796 2DEC -.6459637111 2DEC +.318758717 2DEC -.074780249 2DEC +.009694988 CAF LBUF2 # MULTIPLY BY ARGUMENT AND SHIFT LEFT 2. TC DMPSUB -1 EXTEND DCA MPAC +1 DAS MPAC +1 AD MPAC ADS MPAC # NEITHER SHIFT OVERFLOWS. EXTEND DCA MPAC +1 DAS MPAC +1 AD MPAC ADS MPAC TCF DANZIG # Page 1084 # ARCSIN/ARCCOS ROUTINE. ARCSIN CAF LASINEX # COMPUTE ARCSIN BY USING THE IDENTITY TCF +2 # ARCSIN(X) = PI/2 - ARCCOS(X). ARCCOS CAF LDANZIG # (EXITS IMMEDIATELY). TS ESCAPE TC BRANCH # TEST SIGN OF INPUT. TCF ACOSST # START IMMEDIATELY IF POSITIVE. TCF ACOSZERO # ARCCOS(0) = PI/2 = .25. EXTEND # IF NEGATIVE, USE THE IDENTITY DCS MPAC # ARCCOS(X) = PI - ARCCOS(-X), FORCING DXCH MPAC # ARGUMENT POSITIVE. CAF TCSUBTR # SET EXIT TO DO ABOVE BEFORE XCH ESCAPE # ARCSIN/ARCCOS CONSIDERATIONS. TS ESCAPE2 ACOSST CS HALF # TEST MAGNITUDE OF INPUT. AD MPAC CCS A TCF ACOSOVF # THIS IS PROBABLY AN OVERFLOW CASE. LASINEX TCF ASINEX TCF ACOSST2 # NO OVERFLOW -- PROCEED. CCS MPAC +1 # IF MAJOR PART IS .5, CALL ANSWER 0 CAF ZERO # UNLESS MINOR PART NEGATIVE. TCF ACOS=0 TCF ACOSST2 ACOS=0 TS MPAC +1 TS MPAC TC ESCAPE ACOSST2 EXTEND # NOW THAT ARGUMENT IS IN PROPER RANGE, DCS MPAC # BEGIN COMPUTATION. USE HASTINGS AD HALF # APPROXIMATION ARCCOS(X) = SQRT(1-X)P(X) DXCH MPAC # IN A SCALED VERSION WHERE P(X) IS A DXCH BUF2 # SEVENTH ORDER POLYNOMIAL. TC SQRTSUB # RETURNS WITH NORMALIZED SQUARE ROOT. CCS MPTEMP # SEE IF UN-NORMALIZATION REQUIRED. TCF ACOSSHR # IF SO. # Page 1085 ACOS3 DXCH MPAC # SET UP FOR POLYNOMIAL EVALUATION. DXCH BUF2 DXCH MPAC TC POLY DEC 6 2DEC +.353553385 # COEFFICIENTS ARE C 2(+I)/PISQRT(2) WHERE 2DEC* -.0483017006 B+1* # I 2DEC* +.0200273085 B+2* # WHERE C STANDS FOR ORIGINAL COEFFS. 2DEC* -.0112931863 B+3* 2DEC* +.00695311612 B+4* 2DEC* -.00384617957 B+5* 2DEC* +.001501297736 B+6* 2DEC* -.000284160334 B+7* CAF LBUF2 # DO FINAL MULTIPLY AND GO TO ANY TC DMPSUB -1 # EPILOGUE SEQUENCES. TC ESCAPE SUBTR EXTEND # EPILOGUE FOR NEGATIVE INPUTS TO ARCCOS. DCS MPAC AD HALF # FORMS PI - ARCCOS(-X) = ARCCOS(X). DXCH MPAC TC ESCAPE2 # GO TO POSSIBLE ARCSIN EPILOGUE. ASINEX EXTEND DCS MPAC # ARCSIN EPILOGUE -- GET ARCSIN(X) AD QUARTER # = PI/2 - ARCCOS(X). DXCH MPAC LDANZIG TCF DANZIG # Page 1086 ACOSSHR INDEX A # THE SHIFT RIGHT IS LESS THAN 14 SINCE CAF BIT14 # THE INPUT WAS NON-ZERO DP. TS MPTEMP TC VSHRRND # DP SHIFT RIGHT AND ROUND. TCF ACOS3 # PROCEED. ACOSOVF EXTEND # IF MAJOR PART WAS ONLY 1 MORE THAN .5, BZF ACOS=0 # CALL ANSWER ZERO. ACOSABRT EXTEND # IF OVERFLOW, CALL ANSWER ZERO BUT DCA LOC # SOUND AN ALARM. TC ALARM1 OCT 1301 CAF ZERO TCF ACOS=0 ACOSZERO CAF QUARTER # ACOS(0) = PI/2. TCF ACOS=0 +1 # SET MPAC AND EXIT VIA ESCAPE. NEG12 DEC -12 TCSUBTR TCF SUBTR # Page 1087 # THE FOLLOWING INSTRUCTIONS ARE AVAILABLE FOR SETTING, MODIFYING, AND BRANCHING ON INDEX REGISTERS: # 1. AXT ADDRESS TO INDEX TRUE. # 2. AXC ADDRESS TO INDEX COMPLEMENTED. # 3. LXA LOAD INDEX FROM ERASABLE. # 4. LXC LOAD INDEX COMPLEMENTED FROM ERASABLE. # 5. SXA STORE INDEX IN ERASABLE. # 6. XCHX EXCHANGE INDEX REGISTER WITH ERASABLE. # 7. INCR INCREMENT INDEX REGISTER. # 8. XAD ERASABLE ADD TO INDEX REGISTER. # 9. XSU ERASABLE SUBTRACT FROM INDEX REGISTER. # 10. TIX BRANCH ON INDEX REGISTER AND DECREMENT. BANK 01 COUNT* $$/INTER AXT TC TAGSUB # SELECT APPROPRIATE INDEX REGISTER. CA POLISH XSTORE INDEX INDEXLOC # CONTAINS C(FIXLOC) OR C(FIXLOC)+1 TS X1 TCF DANZIG AXC TC TAGSUB CS POLISH TC XSTORE LXA TC 15ADRERS # LOAD INDEX REGISTER FROM ERASABLE. INDEX POLISH CA 0 TCF XSTORE LXC TC 15ADRERS # LOAD NDX REG FROM ERASABLE COMPLEMENTED. INDEX POLISH CS 0 TCF XSTORE SXA TC 15ADRERS # STORE INDEX REGISTER IN ERASABLE. INDEX INDEXLOC CA X1 MSTORE1 INDEX POLISH TS 0 TCF DANZIG # Page 1088 XCHX TC 15ADRERS # EXCHANGE INDEX REGISTER WITH ERASABLE. INDEX POLISH CA 0 INDEX INDEXLOC XCH X1 TCF MSTORE1 XAD TC 15ADRERS # ADD ERASABLE TO INDEX REGISTER. INDEX POLISH CA 0 XAD2 INDEX INDEXLOC ADS X1 # IGNORING OVERFLOWS. TCF DANZIG INCR TC TAGSUB # INCREMENT INDEX REGISTER. CA POLISH TCF XAD2 XSU TC 15ADRERS # SUBTRACT ERASABLE FROM INDEX REGISTER. INDEX POLISH CS 0 TCF XAD2 TIX TC TAGSUB # BRANCH AND DECREMENT ON INDEX. INDEX INDEXLOC CS S1 INDEX INDEXLOC AD X1 EXTEND # NO OPERATION IF DECREMENTED INDEX IS BZMF DANZIG # NEGATIVE OR ZERO. DOTIXBR INDEX INDEXLOC XCH X1 # IGNORING OVERFLOWS. TCF GOTO # DO THE BRANCH USING THE CADR IN POLISH. # Page 1089 # SUBROUTINE TO CONVERT AN ERASABLE ADDRESS (11 BITS) TO AN EBANK SETTING AND SUBADDRESS. 15ADRERS CS POLISH AD DEC45 CCS A # DOES THE ADDRESS POINT TO THE WORK AREA? CA FIXLOC # YES. ADD FIXLOC. EBANK OK AS IS. TCF +5 CA OCT1400 # NO. SET EBANK & MAKE UP SUBADDRESS. XCH POLISH TS EBANK MASK LOW8 +5 ADS POLISH # FALL INTO TAGSUB, AND RETURN VIA Q. # SUBROUTINE WHICH SETS THE ADDRESS OF THE SPECIFIED INDEX IN INDEXLOC. (ACTUALLY, THE ADDRESS -38D.) TAGSUB CA FIXLOC TS INDEXLOC CCS CYR # BIT 15 SPECIFIES INDEX. INCR INDEXLOC # 0 MEANS USE X2. TC Q TC Q # 1 FOR X1. # Page 1090 # MISCELLANEOUS OPERATION CODES WITH DIRECT ADDRESSES. INCLUDED HERE ARE: # 1. ITA STORE CPRET (RETURN ADDRESS) IN ERASABLE. # 2. CALL CALL A SUBROUTINE, LEAVING RETURN IN QPRET. # 3. RTB RETURN TO BASIC LANGUAGE AT THE GIVEN ADDRESS. # 4. BHIZ BRANCH IF THE HIGH ORDER OF MPAC IS ZERO (SINGLE PRECISION). # 5. BOV BRANCH ON OVERFLOW. # 6. GOTO SIMPLE SEQUENCE CHANGE. RTB/BHIZ CCS CYR RTB CA POLISH TC SWCALL -1 # SO A "TC Q" FROM ROUTINE LEADS TO DANZIG BHIZ CCS MPAC TCF DANZIG TCF GOTO TCF DANZIG TCF GOTO BOV(B) CCS OVFIND # BRANCH ON OVERFLOW TO BASIC OR INTERP. TCF +2 TCF DANZIG TS OVFIND CCS CYR TCF RTB # IF BASIC. B5TOBB OCT 360 TCF GOTO # Page 1091 BZE/GOTO CCS CYR # SEE WHICH OP-CODE IS DESIRED. TC BRANCH # DO BZE. TCF DANZIG TCF GOTO # DO GOTO. TCF DANZIG BPL/BMN CCS CYR TCF BPL 5B10 DEC 5 B+10 # SHIFTS OP CODE IN SWITCH INSTRUCTION ADR TC BRANCH # DO BMN TCF DANZIG TCF DANZIG TCF GOTO # ONLY IF NNZ. BPL TC BRANCH TCF GOTO # IF POSITIVE OR ZERO. TCF GOTO TCF DANZIG CALL/ITA CCS CYR TCF CALL TC CCSHOLE TC 15ADRERS # STORE QPRET. (TAGSUB AFTER 15ADRERS IS INDEX FIXLOC # SLOW IN THIS CASE, BUT SAVES STORAGE.) CA QPRET TCF MSTORE1 # Page 1092 # THE FOLLOWING OPERATIONS ARE AVAILABLE FOR ALTERING AND TESTING INTERPRETATIVE SWITCHES: # 00 BONSET SET A SWITCH AND DO A GOTO IF IT WAS ON. # 01 SETGO SET A SWITCH AND DO A GOTO. # 02 BOFSET SET A SWITCH AND DOA GOTO IF IT WAS OFF # 03 SET SET A SWITCH. # 04 BONINV INVERT A SWITCH AND BRANCH IF IT WAS ON. # 05 INVGO INVERT A SWITCH AND DO A GOTO. # 06 BOFINV INVERT A SWITCH AND BRANCH IF IT WAS OFF # 07 INVERT INVERT A SWITCH. # 10 BONCLR CLEAR A SWITCH AND BRANCH IF IT WAS ON. # 11 CLRGO CLEAR A SWITCH AND DO A GOTO. # 12 BOFCLR CLEAR A SWITCH AND BRANCH IF IT WAS OFF. # 13 CLEAR CLEAR A SWITCH. # 14 BON BRANCH IF A SWITCH WAS ON. # 16 BOFF BRANCH IF A SWITCH WAS OFF. # THE ADDRESS SUPPLIED WITH THE SWITCH INSTRUCTION IS INTERPRETED AS FOLLOWS: # BITS 1-4 SWITCH BIT NUMBER (1-15). # BITS 5-8 SWITCH OPERATION NUMBER # BITS 9- SWITCH WORD NUMBER (UP TO 64 SWITCH WORDS). # THE ADDRESS ITSELF IS MADE UP BY THE YUL SYSTEM ASSEMBLER. THE BRANCH INSTRUCTIONS REQUIRE TWO # ADDRESSES, THE SECOND TAKEN AS THE DIRECT (OR INDIRECT IF IN ERASABLE) ADDRESS OF THE BRANCH. SWITCHES CAF LOW4 # LEAVE THE SWITCH BIT IN SWBIT. MASK POLISH INDEX A CAF BIT15 # (NUMBER FROM LEFT TO RIGHT.) TS SWBIT CAF BIT7 # LEAVE THE SWITCH NUMBER IN SWWORD. EXTEND MP POLISH TS SWWORD INHINT # DURING SWITCH CHANGE SO RUPT CAN USE TOO INDEX A # LEAVE THE SWITCH WORD ITSELF IN L. CA STATE TS Q # Q WILL BE USED AS A CHANNEL. # Page 1093 CAF BIT11 EXTEND # DISPATCH SWITCH BIT OPERATION AS IN BITS MP POLISH # 7-8 OF POLISH. MASK B3TOB4 # GETS 4X2-BIT CODE. INDEX A TCF +1 +1 CA SWBIT # 00 -- SET SWITCH IN QUESTION. EXTEND ROR QCHAN TCF SWSTORE +5 CA SWBIT # 01 -- INVERT SWITCH. EXTEND RXOR QCHAN TCF SWSTORE +9D CS SWBIT # 10 -- CLEAR. MASK Q SWSTORE INDEX SWWORD TS STATE # NEW SWITCH WORD. # Page 1094 +13D RELINT # 11 -- NOOP. CAF BIT13 EXTEND # DISPATCH SEQUENCE CHANGING OR BRANCING MP POLISH # CODE. MASK B3TOB4 INDEX A TCF +1 # ORIGINALLY STORED IN BITS 5-6 +1 CS Q # 00 -- BRANCH IF ON. TEST MASK SWBIT CCS A TCF SWSKIP +5 TCF SWBRANCH # 01 -- GO TO. TCF SWSKIP # HERE ONLY ON BIT 15. TC CCSHOLE TC CCSHOLE +9D CA Q # 10 -- BRANCH IF OFF. TCF TEST B3TOB4 OCT 0014 SWSKIP INCR LOC SW/ EQUALS SWITCHES +13D TCF DANZIG # 11 -- NOOP. ================================================ FILE: Luminary099/INTERPRETIVE_CONSTANT.agc ================================================ # Copyright: Public domain. # Filename: INTERPRETIVE_CONSTANT.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1100-1101 # Mod history: 2009-05-25 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 1100 SETLOC INTPRET1 BANK COUNT* $$/ICONS DP1/4TH 2DEC .25 UNITZ 2DEC 0 UNITY 2DEC 0 UNITX 2DEC .5 ZEROVECS 2DEC 0 2DEC 0 2DEC 0 DPHALF = UNITX DPPOSMAX OCT 37777 OCT 37777 # Page 1101 # INTERPRETIVE CONSTANTS IN THE OTHER HALF-MEMORY SETLOC INTPRET2 BANK COUNT* $$/ICONS ZUNIT 2DEC 0 YUNIT 2DEC 0 XUNIT 2DEC .5 ZEROVEC 2DEC 0 2DEC 0 2DEC 0 OCT 77777 # -0, -6, -12 MUST REMAIN IN THIS ORDER DFC-6 DEC -6 DFC-12 DEC -12 LODPMAX 2OCT 3777737777 # THESE TWO CONSTANTS MUST REMAIN LODPMAX1 2OCT 3777737777 # ADJACENT AND THE SAME FOR INTEGRATION ZERODP = ZEROVEC HALFDP = XUNIT ================================================ FILE: Luminary099/INTERRUPT_LEAD_INS.agc ================================================ # Copyright: Public domain. # Filename: INTERRUT_LEAD_INS.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Onno Hommes . # Website: www.ibiblio.org/apollo. # Pages: 0153-0154 # Mod history: 2009-05-14 OH Transcribed from page images. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 153 SETLOC 4000 COUNT* $$/RUPTS # FIX-FIX LEAD INS INHINT # GO CAF GOBB XCH BBANK TCF GOPROG DXCH ARUPT # T6RUPT EXTEND DCA T6ADR DTCB DXCH ARUPT # T5RUPT - AUTOPILOT EXTEND DCA T5ADR DTCB DXCH ARUPT # T3RUPT CAF T3RPTBB XCH BBANK TCF T3RUPT DXCH ARUPT # T4RUPT CAF T4RPTBB XCH BBANK TCF T4RUPT DXCH ARUPT # KEYRUPT1 CAF KEYRPTBB XCH BBANK TCF KEYRUPT1 DXCH ARUPT # KEYRUPT2 CAF MKRUPTBB XCH BBANK TCF MARKRUPT DXCH ARUPT # UPRUPT CAF UPRPTBB XCH BBANK TCF UPRUPT DXCH ARUPT # DOWNRUPT CAF DWNRPTBB XCH BBANK TCF DODOWNTM DXCH ARUPT # RADAR RUPT CAF RDRPTBB # Page 154 XCH BBANK TCF RADAREAD DXCH ARUPT # RUPT10 IS USED ONLY BY LANDING GUIDANCE CA RUPT10BB XCH BBANK TCF PITFALL EBANK= LST1 # RESTART USES E0, E3 GOBB BBCON GOPROG EBANK= PERROR T6ADR 2CADR DOT6RUPT EBANK= LST1 T3RPTBB BBCON T3RUPT EBANK= KEYTEMP1 KEYRPTBB BBCON KEYRUPT1 EBANK= AOTAZ MKRUPTBB BBCON MARKRUPT UPRPTBB = KEYRPTBB EBANK= DNTMBUFF DWNRPTBB BBCON DODOWNTM EBANK= RADMODES RDRPTBB BBCON RADAREAD EBANK= M11 T4RPTBB BBCON T4RUPT EBANK= ELVIRA RUPT10BB BBCON PITFALL ================================================ FILE: Luminary099/KALCMANU_STEERING.agc ================================================ # Copyright: Public domain. # Filename: KALCMANU_STEERING.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 365-369 # Mod history: 2009-05-17 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # 2011-01-06 JL Added missing comment characters. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 365 # GENERATION OF STEERING COMMANDS FOR DIGITAL AUTOPILOT FREE FALL MANEUVERS # # NEW COMMANDS WILL BE GENERATED EVERY ONE SECOND DURING THE MANEUVER EBANK= TTEMP NEWDELHI TC BANKCALL # CHECK FOR AUTO STABILIZATION CADR ISITAUTO # ONLY CCS A TCF NOGO -2 NEWANGL TC INTPRET AXC,1 AXC,2 MIS # COMPUTE THE NEW MATRIX FROM S/C TO KEL # STABLE MEMBER AXES CALL MXM3 VLOAD STADR STOVL MIS +12D # CALCULATE NEW DESIRED CDU ANGLES STADR STOVL MIS +6D STADR STORE MIS AXC,1 CALL MIS DCMTOCDU # PICK UP THE NEW CDU ANGLES FROM MATRIX RTB V1STO2S STORE NCDU # NEW CDU ANGLES BONCLR EXIT CALCMAN2 MANUSTAT # TO START MANEUVER CAF TWO # +0 OTHERWISE INCRDCDU TS SPNDX INDEX SPNDX CA BCDU # INITIAL CDU ANGLES EXTEND # OR PREVIOUS DESIRED CDU ANGLES INDEX SPNDX MSU NCDU EXTEND SETLOC KALCMON1 BANK MP DT/TAU CCS A # CONVERT TO 2S COMPLEMENT AD ONE TCF +2 COM INDEX SPNDX TS DELDCDU # ANGLE INCREMENTS TO BE ADDED TO INDEX SPNDX # CDUXD, CDUYD, CDUZD EVERY TENTH SECOND # Page 366 CA NCDU # BY LEM DAP INDEX SPNDX XCH BCDU INDEX SPNDX TS CDUXD CCS SPNDX TCF INCRDCDU # LOOP FOR THREE AXES RELINT # COMPARE PRESENT TIME WITH TIME TO TERMINATE MANEUVER TMANUCHK TC TIMECHK TCF CONTMANU CAF ONE MANUSTAL INHINT # END MAJOR PART OF MANEUVER WITHIN 1 SEC TC WAITLIST # UNDER WAITLIST CALL TO MANUSTOP EBANK= TTEMP 2CADR MANUSTOP RELINT TCF ENDOFJOB TIMECHK EXTEND DCS TIME2 DXCH TTEMP EXTEND DCA TM DAS TTEMP CCS TTEMP TC Q TCF +2 TCF 2NDRETRN CCS TTEMP +1 TC Q TCF MANUOFF COM MANUOFF AD ONESEK +1 EXTEND BZMF 2NDRETRN INCR Q 2NDRETRN INCR Q TC Q DT/TAU DEC .1 MANUSTAT EXIT # INITIALIZATION ROUTINE EXTEND # FOR AUTOMATIC MANEUVERS DCA TIME2 # Page 367 DAS TM # TM+TO MANEUVER COMPLETION TIME EXTEND DCS ONESEK DAS TM # (TM+TO)-1 INHINT CAF TWO RATEBIAS TS KSPNDX DOUBLE TS KDPNDX INDEX A CA BRATE INDEX KSPNDX # STORE MANEUVER RATE IN TS OMEGAPD # OMEGAPD, OMEGAQD, OMEGARD EXTEND BZMF +2 # COMPUTE ATTITUDE ERROR COM # OFFSET = (WX)ABS(WX)/2AJX EXTEND # WHERE AJX= 2-JET ACCELERATION MP BIASCALE # = -1/16 EXTEND INDEX KDPNDX MP BRATE EXTEND INDEX KSPNDX DV 1JACC # =AJX $ 90 DEG/SEC-SEC INDEX KSPNDX TS DELPEROR # $ 180 DEG CCS KSPNDX TCF RATEBIAS CA TIME1 AD ONESEK +1 XCH NEXTIME TCF INCRDCDU -1 ONESEK DEC 0 DEC 100 BIASCALE OCT 75777 # = -1/16 CONTMANU CS TIME1 # RESET FOR NEXT DCDU UPDATE AD NEXTIME CCS A AD ONE TCF MANUCALL AD NEGMAX COM MANUCALL INHINT # CALL FOR NEXT UPDATE VIA WAITLIST TC WAITLIST EBANK= TTEMP 2CADR UPDTCALL # Page 368 CAF ONESEK +1 # INCREMENT TIME FOR NEXT UPDATE ADS NEXTIME TCF ENDOFJOB UPDTCALL CAF PRIO26 # SATELLITE PROGRAM TO CALL FOR UPDATE TC FINDVAC # OF STEERING COMMANDS EBANK= TTEMP 2CADR NEWDELHI TC TASKOVER # Page 369 # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS MANUSTOP CAF ZERO # ZERO MANEUVER RATES TS DELDCDU2 TS OMEGARD TS DELREROR TS DELDCDU1 TS OMEGAQD TS DELQEROR CA CPSI # SET DESIRED GIMBAL ANGLES TO TS CDUZD # DESIRED FINAL GIMBAL ANGLES CA CTHETA TS CDUYD ENDROLL CA CPHI # NO FINAL YAW TS CDUXD CAF ZERO TS OMEGAPD # I.E. MANEUVER DID NOT GO THRU TS DELDCDU # GIMBAL LOCK ORIGINALLY TS DELPEROR GOODMANU CA ATTPRIO # RESTORE USERS PRIO TS NEWPRIO CA ZERO # ZERO ATTCADR DXCH ATTCADR TC SPVAC # RETURN TO USER TC TASKOVER ================================================ FILE: Luminary099/KALMAN_FILTER.agc ================================================ # Copyright: Public domain. # Filename: KALMAN_FILTER.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1470-1471 # Mod history: 2009-05-27 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 1470 EBANK= NO.UJETS BANK 16 SETLOC DAPS1 BANK COUNT* $$/DAP RATELOOP CA TWO TS DAPTEMP6 DOUBLE TS Q INDEX DAPTEMP6 CCS TJP TCF +2 TCF LOOPRATE AD -100MST6 EXTEND BZMF SMALLTJU INDEX DAPTEMP6 CCS TJP CA -100MST6 TCF +2 CS -100MST6 INDEX DAPTEMP6 ADS TJP INDEX DAPTEMP6 CCS TJP CS -100MS # 0.1 AT 1 TCF +2 CA -100MS LOOPRATE EXTEND INDEX DAPTEMP6 MP NO.PJETS CA L INDEX DAPTEMP6 TS DAPTEMP1 # SIGNED TORQUE AT 1 JET-SEC FOR FILTER EXTEND MP BIT10 # RESCALE TO 32; ONE BIT ABOUT 2 JET-MSEC EXTEND BZMF NEGTORK STORTORK INDEX Q # INCREMENT DOWNLIST REGISTER. ADS DOWNTORK # NOTE: NOT INITIALIZED; OVERFLOWS. CCS DAPTEMP6 TCF RATELOOP +1 TCF ROTORQUE SMALLTJU CA ZERO INDEX DAPTEMP6 XCH TJP EXTEND # Page 1471 MP ELEVEN # 10.24 PLUS CA L TCF LOOPRATE ROTORQUE CA DAPTEMP2 AD DAPTEMP3 EXTEND MP 1JACCR TS JETRATER CS DAPTEMP3 AD DAPTEMP2 EXTEND MP 1JACCQ TS JETRATEQ TCF BACKP -100MST6 DEC -160 NEGTORK COM INCR Q TCF STORTORK ================================================ FILE: Luminary099/KEYRUPT_UPRUPT.agc ================================================ # Copyright: Public domain. # Filename: KEYRUPT_UPRUPT.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1338-1340 # Mod history: 2009-05-27 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 1338 BANK 14 SETLOC KEYRUPT BANK COUNT* $$/KEYUP KEYRUPT1 TS BANKRUPT XCH Q TS QRUPT TC LODSAMPT # TIME IS SNATCHED IN RUPT FOR NOUN 65. CAF LOW5 EXTEND RAND MNKEYIN # CHECK IF KEYS 5M-1M ON KEYCOM TS RUPTREG4 CS FLAGWRD5 MASK DSKYFBIT ADS FLAGWRD5 ACCEPTUP CAF CHRPRIO # (NOTE: RUPTREG4 = KEYTEMP1) TC NOVAC EBANK= DSPCOUNT 2CADR CHARIN CA RUPTREG4 INDEX LOCCTR TS MPAC # LEAVE 5 BIT KEY CDE IN MPAC FOR CHARIN TC RESUME # Page 1339 # UPRUPT PROGRAM UPRUPT TS BANKRUPT XCH Q TS QRUPT TC LODSAMPT # TIME IS SNATCHED IN RUPT FOR NOUN 65. CAF ZERO XCH INLINK TS KEYTEMP1 CAF BIT3 # TURN ON UPACT LIGHT EXTEND # (BIT 3 OF CHANNEL 11) WOR DSALMOUT UPRPT1 CAF LOW5 # TEST FOR TRIPLE CHAR REDUNDANCY MASK KEYTEMP1 # LOW5 OF WORD XCH KEYTEMP1 # LOW5 INTO KEYTEMP1 EXTEND MP BIT10 # SHIFT RIGHT 5 TS KEYTEMP2 MASK LOW5 # MID 5 AD HI10 TC UPTEST CAF BIT10 EXTEND MP KEYTEMP2 # SHIFT RIGHT 5 MASK LOW5 # HIGH 5 COM TC UPTEST UPCK CS ELRCODE # CODE IS GOOD. IF CODE = 'ERROR RESET', AD KEYTEMP1 # CLEAR UPLOCKFL(SET BIT4 OF FLAGWRD7 = 0) EXTEND # IF CODE DOES NOT = 'ERROR RESET', ACCEPT BZF CLUPLOCK # CODE ONLY IF UPLOCKFL IS CLEAR (=0). CAF UPLOCBIT # TEST UPLOCKFL FOR 0 OR 1 MASK FLAGWRD7 CCS A TC RESUME # UPLOCKFL = 1 TC ACCEPTUP # UPLOCKFL = 0 CLUPLOCK CS UPLOCBIT # CLEAR UPLOCKFL (I.E.,SET BIT 4 OF ) MASK FLAGWRD7 # FLAGWRD7 = 0) TS FLAGWRD7 TC ACCEPTUP # CODE IS BAD TMFAIL2 CS FLAGWRD7 # LOCK OUT FURTHER UPLINK ACTIVITY MASK UPLOCBIT # (BY SETTING UPLOCKFL = 1) UNTIL ADS FLAGWRD7 # 'ERROR RESET' IS SENT VIA UPLINK. TC RESUME UPTEST AD KEYTEMP1 # Page 1340 CCS A TC TMFAIL2 HI10 OCT 77740 TC TMFAIL2 TC Q ELRCODE OCT 22 # 'UPLINK ACTIVITY LIGHT' IS TURNED OFF BY ..... # 1. VBRELDSP # 2. ERROR RESET # 3. UPDATE PROGRAM(P27) ENTERED BY V70,V71,V72,AND V73. # # _ # THE RECEPTION OF A BAD CODE(I.E CCC FAILURE) LOCKS OUT FURTHER UPLINK ACTIVITY BY SETTING BIT4 OF FLAGWRD7 = 1. # THIS INDICATION WILL BE TRANSFERRED TO THE GROUND BY THE DOWNLINK WHICH DOWNLINKS ALL FLAGWORDS. # WHEN UPLINK ACTIVITY IS LOCKED OUT ,IT CAN BE ALLOWED WHEN THE GROUND UPLINKS AND 'ERROR RESET' CODE. # (IT IS RECOMMENDED THAT THE 'ERROR LIGHT RESET' CODE IS PRECEEDED BY 16 BITS THE FIRST OF WHICH IS 1 FOLLOWED # BY 15 ZEROES. THIS WILL ELIMINATE EXTRANEOUS BITS FROM INLINK WHICH MAY HAVE BEEN LEFT OVER FROM THE ORIGINAL # FAILURE) # UPLINK ACTIVITY IS ALSO ALLOWED(UNLOCKED) DURING FRESH START WHEN FRESH START SETS BIT4 OF FLAGWRD7 = 0. CS XDSPBIT ================================================ FILE: Luminary099/LANDING_ANALOG_DISPLAYS.agc ================================================ # Copyright: Public domain. # Filename: LANDING_ANALOG_DISPLAYS.agc # Purpose: Part of the source code for Luminary, build 099. It # is part of the source code for the Lunar Module's # (LM) Apollo Guidance Computer (AGC), Apollo 11. # Assembler: yaYUL # Reference: pp. 898-907 # Contact: Ron Burkey , # Fabrizio Bernardini # Website: http://www.ibiblio.org/apollo. # Mod history: 05/06/09 FB Transcription Batch 4 Assignment. # # The contents of the "Luminary099" files, in general, are transcribed # from scanned documents. # # Assemble revision 001 of AGC program Luminary099 by NASA # 2021112-061. July 14, 1969. # # Prepared by # Massachusetts Institute of Technology # 75 Cambridge Parkway # Cambridge, Massachusetts # # under NASA contract NAS 9-4065. # # Refer directly to the online document mentioned above for further # information. Please report any errors to info@sandroid.org. # Page 898 BANK 21 SETLOC R10 BANK EBANK= UNIT/R/ COUNT* $$/R10 LANDISP LXCH PIPCTR1 # UPDATE TBASE2 AND PIPCTR SIMULTANEOUSLY. CS TIME1 DXCH TBASE2 CS FLAGWRD7 # IS LANDING ANALOG DISPLAYS FLAG SET? MASK SWANDBIT CCS A TCF DISPRSET # NO. CA IMODES33 # BIT 7 = 0 (DO ALTRATE), =1 (DO ALT.) MASK BIT7 CCS A TCF ALTOUT ALTROUT TC DISINDAT # CHECK MODE SELECT SWITCH AND DIDFLG. CS IMODES33 MASK BIT7 ADS IMODES33 # ALTERNATE ALTITUDE RATE WITH ALTITUDE. CAF BIT2 # RATE COMMAND IS EXECUTED BEFORE RANGE. EXTEND WOR CHAN14 # ALTRATE (BIT2 = 1), ALTITUDE (BIT2 = 0). ARCOMP CA RUNIT # COMPUTE ALTRATE=RUNIT.VVECT M/CS *2(-6). EXTEND MP VVECT # MULTIPLY X-COMPONENTS. XCH RUPTREG1 # SAVE SINGLE PRECISION RESULT M/CS*2(-6). CA RUNIT +1 # MULTIPLY Y-COMPONENTS. EXTEND MP VVECT +1 ADS RUPTREG1 # ACCUMULATE PARTIAL PRODUCTS. CA RUNIT +2 # MULTIPLY Z-COMPONENTS. EXTEND MP VVECT +2 ADS RUPTREG1 # ALTITUDE RATE IN M/CS *2(-6). CA ARCONV # CONVERT ALTRATE TO BIT UNITS (.5FPS/BIT) EXTEND MP RUPTREG1 DDOUBL DDOUBL XCH RUPTREG1 # ALTITUDE RATE IN BIT UNITS*2(-14). CA DALTRATE # ALTITUDE RATE COMPENSATION FACTOR. EXTEND MP DT AD RUPTREG1 TS ALTRATE # ALTITUDE RATE IN BIT UNITS*2(-14). CS ALTRATE # Page 899 EXTEND # CHECK POLARITY OF ALTITUDE RATE. BZMF +2 TCF DATAOUT # NEGATIVE - SEND POS. PULSES TO ALTM REG. CA ALTRATE # POSITIVE OR ZERO - SET SIGN BIT = 1 AND AD BIT15 # SEND TO ALTM REGISTER. *DO NOT SEND +0* DATAOUT TS ALTM # ACTIVATE THE LANDING ANALOG DISPLAYS - - CAF BIT3 EXTEND WOR CHAN14 # BIT3 DRIVES THE ALT/ALTRATE METER. TCF TASKOVER # EXIT ALTOUT TC DISINDAT # CHECK MODE SELECT SWITCH AND DIDFLG. CS BIT7 MASK IMODES33 TS IMODES33 # ALTERNATE ALTITUDE RATE WITH ALTITUDE. CS BIT2 EXTEND WAND CHAN14 CCS ALTBITS # =-1 IF OLD ALT. DATA TOBE EXTRAPOLATED. TCF +4 TCF +3 TCF OLDDATA TS ALTBITS # SET ALTBITS FROM -0 TO +0. CS ONE DXCH ALTBITS # SET ALTBITS=-1 FOR SWITCH USE NEXT PASS. DXCH ALTSAVE CA BIT10 # NEW ALTITUDE EXTRAPOLATION WITH ALTRATE. XCH Q LXCH 7 # ZL CA DT EXTEND DV Q # RESCALE DT*2(-14) TO *2(-9) TIME IN CS. EXTEND MP ARTOA2 # .0021322 *2(+8) TCF OLDDATA +1 # RATE APPLIES FOR DT CS. ZDATA2 DXCH ALTSAVE TCF NEWDATA OLDDATA CA ARTOA # RATE APPLIES FOR .5 SEC. (4X/SEC. CYCLE) EXTEND MP ALTRATE # EXTRAPOLATE WITH ALTITUDE RATE. DDOUBL AD ALTSAVE +1 TS ALTSAVE +1 CAF ZERO ADS ALTSAVE CAF POSMAX # FORCE SIGN AGREEMENT ASSUMING A AD ONE # NON-NEGATIVE ALTSAVE. AD ALTSAVE +1 # IF ALTSAVE IS NEGATIVE, ZERO ALTSAVE TS ALTSAVE +1 # AND ALTSAVE +1 AT ZERODATA. # Page 900 CAF ZERO AD POSMAX AD ALTSAVE TS ALTSAVE # POSSIBLY SKIP TO NEWDATA. TCF ZERODATA NEWDATA CCS ALTSAVE +1 TCF +4 TCF +3 CAF ZERO # SET NEGATIVE ALTSAVE +1 TO +0. TS ALTSAVE +1 CCS ALTSAVE # PROVIDE A 15 BIT UNSIGNED OUTPUT. CAF BIT15 # THE HI-ORDER PART IS +1 OR +0. AD ALTSAVE +1 TCF DATAOUT # DISPATCH UNSIGNED BITS TO ALTM REG. DISINDAT EXTEND QXCH LADQSAVE # SAVE RETURN TO ALTROUT +1 OR ALTOUT +1 CAF BIT6 EXTEND # WISHETH THE ASTRONAUT THE ANALOG RAND CHAN30 # DISPLAYS? I.E., CCS A # IS THE MODE SELECT SWITCH IN PGNCS? TCF DISPRSET # NO. ASTRONAUT REQUESTS NO INERTIAL DATA CS FLAGWRD1 # YES. CHECK STATUS OF DIDFLAG. MASK DIDFLBIT EXTEND BZF SPEEDRUN # SET. PERFORM DATA DISPLAY SEQUENCE. CS FLAGWRD1 # RESET. PERFORM INITIALIZATION FUNCTIONS. MASK DIDFLBIT ADS FLAGWRD1 # SET DIDFLAG. CS BIT7 MASK IMODES33 # TO DISPLAY ALTRATE FIRST AND ALT. SECOND TS IMODES33 CS FLAGWRD0 # ARE WE IN DESCENT TRAJECTORY? MASK R10FLBIT EXTEND BZF TASKOVER # NO CAF BIT8 # YES. EXTEND WOR CHAN12 # SET DISPLAY INERTIAL DATA OUTBIT. CAF ZERO TS TRAKLATV # LATERAL VELOCITY MONITOR FLAG TS TRAKFWDV # FORWARD VELOCITY MONITOR FLAG TS LATVMETR # LATVEL MONITOR METER TS FORVMETR # FORVEL MONITOR METER CAF BIT4 TC TWIDDLE ADRES INTLZE TCF TASKOVER INTLZE CAF BIT2 EXTEND WOR CHAN12 # ENABLE RR ERROR COUNTER. # Page 901 CS IMODES33 MASK BIT8 ADS IMODES33 # SET INERTIAL DATA FLAG. TCF TASKOVER SPEEDRUN CS PIPTIME +1 # UPDATE THE VELOCITY VECTOR AD TIME1 # COMPUTE T - TN AD HALF # CORRECT FOR POSSIBLE OVERFLOW OF TIME1. AD HALF XCH DT # SAVE FOR LATER USE CA 1SEC TS ITEMP5 # INITIALIZE FOR DIVISION LATER EXTEND DCA GDT/2 # COMPUTE THE X-COMPONENT OF VELOCITY. DDOUBL DDOUBL EXTEND MP DT EXTEND DV ITEMP5 XCH VVECT # VVECT = G(T-TN) M/CS *2(-5) EXTEND DCA V # M/CS *2(-7) DDOUBL # RESCALE TO 2(-5) DDOUBL ADS VVECT # VVECT = VN + G(T-TN) M/CS *2(-5) CA PIPAX # DELV CM/SEC *2(-14) AD PIPATMPX # IN CASE PIPAX HAS BEEN ZEROED EXTEND MP KPIP1(5) # DELV M/CS *2(-5) ADS VVECT # VVECT = VN + DELV + GN(T-TN) M/CS *2(-5) EXTEND DCA GDT/2 +2 # COMPUTE THE Y-COMPONENT OF VELOCITY. DDOUBL DDOUBL EXTEND MP DT EXTEND DV ITEMP5 XCH VVECT +1 EXTEND DCA V +2 DDOUBL DDOUBL ADS VVECT +1 CA PIPAY AD PIPATMPY EXTEND MP KPIP1(5) ADS VVECT +1 # Page 902 EXTEND DCA GDT/2 +4 # COMPUTE THE Z-COMPONENT OF VELOCITY. DDOUBL DDOUBL EXTEND MP DT EXTEND DV ITEMP5 XCH VVECT +2 EXTEND DCA V +4 DDOUBL DDOUBL ADS VVECT +2 CA PIPAZ AD PIPATMPZ EXTEND MP KPIP1(5) ADS VVECT +2 CAF BIT3 # PAUSE 40 MS TO LET OTHER RUPTS IN. TC VARDELAY CS FLAGWRD0 # ARE WE IN DESCENT TRAJECTORY? MASK R10FLBIT CCS A TCF +2 # YES. TC LADQSAVE # NO. CA DELVS # HI X OF VELOCITY CORRECTION TERM. AD VVECT # HI X OF UPDATED VELOCITY VECTOR. TS ITEMP1 # = VX - DVX M/CS*2(-5). CA DELVS +2 # Y AD VVECT +1 # Y TS ITEMP2 # = VY - DVY M/CS*2(-5). CA DELVS +4 # Z AD VVECT +2 # Z TS ITEMP3 # = VZ - DVZ M/CS*2(-5). CA ITEMP1 # COMPUTE VHY, VELOCITY DIRECTED ALONG THE EXTEND # Y-COORDINATE. MP UHYP # HI X OF CROSS-RANGE HALF-UNIT VECTOR. XCH RUPTREG1 CA ITEMP2 EXTEND MP UHYP +2 # Y ADS RUPTREG1 # ACCUMULATE PARTIAL PRODUCTS. CA ITEMP3 EXTEND MP UHYP +4 # Z ADS RUPTREG1 # Page 903 CA RUPTREG1 DOUBLE XCH VHY # VHY=VMP.UHYP M/CS*2(-5). CA ITEMP1 # NO COMPUTE VHZ, VELOCITY DIRECTED ALONG EXTEND # THE Z-COORDINATE. MP UHZP # HI X OF DOWN-RANGE HALF-UNIT VECTOR. XCH RUPTREG1 CA ITEMP2 EXTEND MP UHZP +2 # Y ADS RUPTREG1 # ACCUMULATE PARTIAL PRODUCTS. CA ITEMP3 EXTEND MP UHZP +4 # Z ADS RUPTREG1 CA RUPTREG1 DOUBLE XCH VHZ # VHZ = VMP.UHZP M/CS*2(-5). GET22/32 CAF EBANK6 # GET SIN(AOG),COS(AOG) FROM GPMATRIX. TS EBANK EBANK= M22 CA M22 TS ITEMP3 CA M32 TS ITEMP4 CAF EBANK7 TS EBANK EBANK= UNIT/R/ LATFWDV CA ITEMP4 # COMPUTE LATERAL AND FORWARD VELOCITIES. EXTEND MP VHY XCH RUPTREG1 CA ITEMP3 EXTEND MP VHZ ADS RUPTREG1 # =VHY(COS)AOG+VHZ(SIN)AOG M/CS *2(-5) CA VELCONV # CONVERT LATERAL VELOCITY TO BIT UNITS. EXTEND MP RUPTREG1 DDOUBL XCH LATVEL # LATERAL VELOCITY IN BIT UNITS *2(-14). CA ITEMP4 # COMPUTE FORWARD VELOCITY. EXTEND MP VHZ XCH RUPTREG1 CA ITEMP3 EXTEND MP VHY CS A ADS RUPTREG1 # =VHZ(COS)AOG-VHY(SIN)AOG M/CS *2(-5). # Page 904 CA VELCONV # CONVERT FORWARD VELOCITY TO BIT UNITS. EXTEND MP RUPTREG1 DDOUBL XCH FORVEL # FORWARD VELOCITY IN BIT UNITS *2(-14). CS MAXVBITS # ACC.=-199.9989 FT./SEC. TS ITEMP6 # -547 BIT UNITS (OCTAL) AT 0.5571 FPS/BIT CAF ONE # LOOP TWICE. VMONITOR TS ITEMP5 # FORWARD AND LATERAL VELOCITY LANDING INDEX ITEMP5 # ANALOG DISPLAYS MONITOR. CCS LATVEL TCF +4 TCF LVLIMITS TCF +8D TCF LVLIMITS INDEX ITEMP5 CS LATVEL AD MAXVBITS # +199.9989 FT.SEC. EXTEND BZMF CHKLASTY TCF LVLIMITS INDEX ITEMP5 CA LATVEL AD MAXVBITS EXTEND BZMF +2 TCF LVLIMITS CHKLASTY INDEX ITEMP5 CCS LATVMETR TCF +4 TCF LASTOK TCF +7 TCF LASTOK INDEX ITEMP5 CA LATVEL EXTEND BZMF LASTPOSY +5 TCF +5 INDEX ITEMP5 CS LATVEL EXTEND BZMF LASTNEGY +4 LASTOK INDEX ITEMP5 CCS TRAKLATV TCF LASTPOSY TCF +2 TCF LASTNEGY INDEX ITEMP5 # Page 905 CA LATVEL EXTEND BZMF NEGVMAXY TCF POSVMAXY LASTPOSY INDEX ITEMP5 CA LATVEL EXTEND BZMF +2 TCF POSVMAXY CS MAXVBITS TCF ZEROLSTY POSVMAXY INDEX ITEMP5 CS LATVMETR AD MAXVBITS INDEX ITEMP5 XCH RUPTREG3 CAF ONE TCF ZEROLSTY +3 LASTNEGY INDEX ITEMP5 CA LATVEL EXTEND BZMF NEGVMAXY CA MAXVBITS TCF ZEROLSTY NEGVMAXY INDEX ITEMP5 CA LATVMETR AD MAXVBITS COM INDEX ITEMP5 XCH RUPTREG3 CS ONE TCF ZEROLSTY +3 LVLIMITS INDEX ITEMP5 CCS TRAKLATV TCF LATVPOS TCF +2 TCF LATVNEG INDEX ITEMP5 CS LATVMETR EXTEND BZMF +2 TCF NEGLMLV INDEX ITEMP5 CS LATVEL EXTEND BZMF LVMINLM AD ITEMP6 INDEX ITEMP5 AD LATVMETR EXTEND # Page 906 BZMF LVMINLM INDEX ITEMP5 AD LATVEL EXTEND INDEX ITEMP5 SU LATVMETR TCF ZEROLSTY LATVPOS INDEX ITEMP5 CS LATVEL EXTEND BZMF LVMINLM TCF +5 LATVNEG INDEX ITEMP5 CA LATVEL EXTEND BZMF LVMINLM INDEX ITEMP5 CS LATVMETR TCF ZEROLSTY NEGLMLV INDEX ITEMP5 CA LATVEL EXTEND BZMF LVMINLM CA MAXVBITS INDEX ITEMP5 AD LATVMETR COM INDEX ITEMP5 AD LATVEL EXTEND BZMF LVMINLM EXTEND INDEX ITEMP5 SU LATVEL INDEX ITEMP5 AD LATVMETR COM TCF ZEROLSTY LVMINLM INDEX ITEMP5 CS LATVMETR INDEX ITEMP5 AD LATVEL ZEROLSTY INDEX ITEMP5 XCH RUPTREG3 CAF ZERO INDEX ITEMP5 TS TRAKLATV INDEX ITEMP5 CA RUPTREG3 AD NEG0 # AVOIDS +0 DINC HARDWARE MALFUNCTION # Page 907 INDEX ITEMP5 TS CDUTCMD INDEX ITEMP5 CA RUPTREG3 INDEX ITEMP5 ADS LATVMETR CCS ITEMP5 # FIRST MONITOR FORWARD THEN LATERAL VEL. TCF VMONITOR CAF BITSET # DRIVE THE X-POINTER DISPLAY. EXTEND WOR CHAN14 TC LADQSAVE # GO TO ALTROUT +1 OR TO ALTOUT +1 ZERODATA CAF ZERO # ZERO ALTSAVE AND ALTSAVE +1 - - - TS L # NO NEGATIVE ALTITUDES ALLOWED. TCF ZDATA2 # ************************************************************************ DISPRSET CS FLAGWRD0 # ARE WE IN DESCENT TRAJECTORY? MASK R10FLBIT EXTEND BZF ABORTON # NO. CAF BIT8 # YES. MASK IMODES33 # CHECK IF INERTIAL DATA JUST DISPLAYED. CCS A CAF BIT2 # YES. DISABLE RR ERROR COUNTER AD BIT8 # NO. REMOVE DISPLAY INERTIAL DATA COM EXTEND WAND CHAN12 ABORTON CS BITS8/7 # RESET INERTIAL DATA, INTERLEAVE FLAGS. MASK IMODES33 TS IMODES33 CS DIDFLBIT MASK FLAGWRD1 TS FLAGWRD1 # RESET DIDFLAG. TCF TASKOVER # ************************************************************************ BITS8/7 OCT 00300 # INERTIAL DATA AND INTERLEAVE FLAGS. BITSET = PRIO6 # ************************************************************************ ================================================ FILE: Luminary099/LATITUDE_LONGITUDE_SUBROUTINES.agc ================================================ # Copyright: Public domain. # Filename: LATITUDE_LONGITUDE_SUBROUTINES.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # # Assembler: yaYUL # Contact: Jim Lawton # Website: www.ibiblio.org/apollo. # Pages: 1133-1139 # Mod history: 2009-05-28 JL Updated from page images. # 2011-01-06 JL Fixed interpretive indentation. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 1133 # SUBROUTINE TO CONVERT RAD VECTOR AT GIVEN TIME TO LAT,LONG AND ALT # # CALLING SEQUENCE # # L-1 CALL # L LAT-LONG # SUBROUTINES USED # # R-TO-RP,ARCTAN,SETGAMMA,SETRE # ERASABLE INIT. REQ. # # AXO,-AYO,AZO,TEPHEM (SET AT LAUNCH TIME) # ALPHAV = POSITION VECTOR METERS B-29 # MPAC-- TIME (CSECS B-28) # ERADFLAG =1, TO COMPUTE EARTH RADIUS, =0 FOR FIXED EARTH RADIUS # LUNAFLAG=0 FOR EARTH,1 FOR MOON # OUTPUT # # LATITUDE IN LAT (REVS. B-0) # LONGITUDE IN LONG (REVS. B-0) # ALTITUDE IN ALT METERS B-29 BANK 30 SETLOC LATLONG BANK COUNT* $$/LT-LG EBANK= ALPHAV LAT-LONG STQ SETPD INCORPEX 0D STOVL 6D # SAVE TIME IN 6-7D FOR R-TO-RP ALPHAV PUSH ABVAL # 0-5D= R FOR R-TO-RP STODL ALPHAM # ABS. VALUE OF R FOR ALT FORMULA BELOW ZEROVEC # SET MPAC=0 FOR EARTH,NON-ZERO FOR MOON BOFF COS # USE COS(0) TO GET NON-ZERO IN MPAC LUNAFLAG # 0=EARTH,1=MOON CALLRTRP CALLRTRP CALL R-TO-RP # RP VECTOR CONVERTED FROM R B-29 UNIT # UNIT RP B-1 STCALL ALPHAV # U2= 1/2 SINL FOR SETRE SUBR BELOW SETGAMMA # SET GAMMA=B2/A2 FOR EARTH,=1 FOR MOON CALL # SCALED B-1 SETRE # CALC RE METERS B-29 DLOAD DSQ ALPHAV PDDL DSQ ALPHAV +2 DAD SQRT # Page 1134 DMP SL1R GAMRP STODL COSTH # COS(LAT) B-1 ALPHAV +4 STCALL SINTH # SIN(LAT) B-1 ARCTAN STODL LAT # LAT B0 ALPHAV STODL COSTH # COS(LONG) B-1 ALPHAV +2 STCALL SINTH # SIN(LONG) B-1 ARCTAN STODL LONG # LONG. REVS B-0 IN RANGE -1/2 TO 1/2 ALPHAM DSU # ALT= R-RE METERS B-29 ERADM STCALL ALT # EXIT WITH ALT METERS B-29 INCORPEX # Page 1135 # SUBROUTINE TO CONVERT LAT,LONG,ALT AT GIVEN TIME TO RADIUS VECTOR # CALLING SEQUENCE # # L-1 CALL # L LALOTORV # SUBROUTINES USED # # SETGAMMA,SETRE,RP-TO-R # ERASABLE INIT. REQ. # # AXO,AYO,AZO,TEPHEM SET AT LAUNCH TIME # LAT-- LATITUDE (REVS B0) # LONG-- LONGITUDE (REVS B0) # ALT--ALTITUDE (METERS) B-29 # MPAC-- TIME (CSECS B-28) # ERADFLAG =1 TO COMPUTE EARTH RADIUS, =0 FOR FIXED EARTH RADIUS # LUNAFLAG=0 FOR EARTH,1 FOR MOON # OUTPUT # # R-VECTOR IN ALPHAV (METERS B-29) LALOTORV STQ SETPD # LAT,LONG,ALT TO R VECTOR INCORPEX 0D STCALL 6D # 6-7D= TIME FOR RP-TO-R SETGAMMA # GAMMA=B2/A2 FOR EARTH,1 FOR MOON B-1 DLOAD SIN # COS(LONG)COS(LAT) IN MPAC LAT # UNIT RP= SIN(LONG)COS(LAT) 2-3D DMPR PDDL # PD 2 GAMMA*SIN(LAT) 0-1D GAMRP LAT # 0-1D= GAMMA*SIN(LAT) B-2 COS PDDL # PD4 2-3D=COS(LAT) B-1 TEMPORARILY LONG SIN DMPR # PD 2 PDDL COS # PD 4 2-3D=SIN(LONG)COS(LAT) B-2 LAT PDDL COS # PD 6 4-5D=COS(LAT) B-1 TEMPORARILY LONG DMPR VDEF # PD 4 MPAC= COS(LONG)COS(LAT) B-2 UNIT PUSH # 0-5D= UNIT RP FOR RP-TO-R SUBR. STCALL ALPHAV # ALPHAV +4= SINL FOR SETRE SUBR. SETRE # RE METERS B-29 DLOAD BOFF # SET MPAC=0 FOR EARTH,NON-ZERO FOR MOON ZEROVEC LUNAFLAG CALLRPRT COS # USE COS(0) TO GET NON-ZERO IN MPAC CALLRPRT CALL RP-TO-R # EXIT WITH UNIT R VECTOR IN MPAC STODL ALPHAV ERADM # Page 1136 DAD VXSC # (RE + ALT)(UNIT R) METERS B-30 ALT ALPHAV VSL1 # R METERS B-29 STCALL ALPHAV # EXIT WITH R IN METERS B-29 INCORPEX # SUBROUTINE TO COMPUTE EARTH RADIUS # # INPUT # # 1/2 SIN LAT IN ALPHAV +4 # # OUTPUT # # EARTH RADIUS IN ERADM AND MPAC (METERS B-29) GETERAD DLOAD DSQ ALPHAV +4 # SIN**2(L) SL1 BDSU DP1/2 # COS**2(L) DMPR BDSU EE DP1/2 BDDV SQRT B2XSC SR4R STORE ERADM RVQ # THE FOLLOWING CONSTANTS WERE COMPUTED WITH A=6378166,B=6356784 METERS # B2XSC= B**2 SCALED B-51 # B2/A2= B**2/A**2 SCALED B-1 # EE=(1-B**2/A**2) SCALED B-0 B2XSC 2DEC .0179450689 # B**2 SCALED B-51 DP1/2 = XUNIT B2/A2 2DEC .9933064884 B-1 # GAMMA= B**2/A**2 B-1 EE 2DEC 6.6935116 E-3 # (1-B**2/A**2) B-0 # Page 1137 # ARCTAN SUBROUTINE # # CALLING SEQUENCE # # SIN THETA IN SINTH B-1 # COS THETA IN COSTH B-1 # CALL ARCTAN # # OUTPUT # ARCTAN THETA IN MPAC AND THETA B-0 IN RANGE -1/2 TO +1/2 ARCTAN BOV CLROVFLW CLROVFLW DLOAD DSQ SINTH PDDL DSQ COSTH DAD BZE SQRT ARCTANXX # ATAN=0/0 SET THETA=0 BDDV BOV SINTH ATAN=90 SR1 ASIN STORE THETA PDDL BMN COSTH NEGCOS DLOAD RVQ NEGCOS DLOAD DCOMP BPL DAD NEGOUT DP1/2 ARCTANXX STORE THETA RVQ NEGOUT DSU GOTO DP1/2 ARCTANXX ATAN=90 DLOAD SIGN LODP1/4 SINTH STORE THETA RVQ 2DZERO = DPZERO # Page 1138 # ..... SETGAMMA SUBROUTINE ..... # SUBROUTINE TO SET GAMMA FOR THE LAT-LONG AND LALOTORV SUBROUTINES # # GAMMA = B**2/A**2 FOR EARTH (B-1) # GAMMA = 1 FOR MOON (B-1) # # CALLING SEQUENCE # L CALL # L+1 SETGAMMA # # INPUT # LUNAFLAG=0 FOR EARTH,=1 FOR MOON # # OUTPUT # GAMMA IN GAMRP (B-1) SETGAMMA DLOAD BOFF # BRANCH FOR EARTH B2/A2 # EARTH GAMMA LUNAFLAG SETGMEX SLOAD 1B1 # MOON GAMMA SETGMEX STORE GAMRP RVQ GAMRP = 8D # Page 1139 # .....SETRE SUBROUTINE ..... # SUBROUTINE TO SET RE (EARTH OR MOON RADIUS) # # RE= RM FOR MOON # RE= RREF FOR FIXED EARTH RADIUS OR COMPUTED RF FOR FISCHER ELLIPSOID # # CALLING SEQUENCE # L CALL # L+1 SETRE # # SUBROUTINES USED # GETERAD # # INPUT # ERADFLAG=0 FOR FIXED RE, 1 FOR COMPUTED RE # ALPHAV +4= 1/2 SINL IF GETERAD IS CALLED # LUNAFLAG=0 FOR EARTH,=1 FOR MOON # # OUTPUT # ERADM= 504RM FOR MOON (METERS B-29) # ERADM= ERAD OR COMPUTED RE FOR EARTH (METERS B-29) SETRE STQ DLOAD SETREX 504RM BON DLOAD # BRANCH FOR MOON LUNAFLAG TSTRLSRM ERAD BOFF CALL # ERADFLAG=0 FOR FIXED RE,1 FOR COMPUTED ERADFLAG SETRXX GETERAD SETRXX STCALL ERADM # EXIT WITH RE OR RM METERS B-29 SETREX TSTRLSRM BON VLOAD # ERADFLAG=0,SET R0=RLS ERADFLAG # =1 R0=RM SETRXX RLS ABVAL SR2R # SCALE FROM B-27 TO B-29 GOTO SETRXX SETREX = S2 ================================================ FILE: Luminary099/LEM_GEOMETRY.agc ================================================ # Copyright: Public domain. # Filename: LEM_GEOMETRY.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 320-325 # Mod history: 2009-05-16 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 320 BANK 23 SETLOC LEMGEOM BANK SBANK= LOWSUPER EBANK= XSM # THESE TWO ROUTINES COMPUTE THE ACTUAL STATE VECTOR FOR LM,CSM BY ADDING # THE CONIC R,V AND THE DEVIATIONSR,V. THE STATE VECTORS ARE CONVERTED TO # METERS B-29 AND METERS/CSEC B-7 AND STORED APPROPRIATELY IN RN,VN OR # R-OTHER , V-OTHER FOR DOWNLINK. THE ROUTINES NAMES ARE SWITCHED IN THE # OTHER VEHICLES COMPUTER. # # INPUT # STATE VECTOR IN TEMPORARY STORAGE AREA # IF STATE VECTOR IS SCALED POS B27 AND VEL B5 # SET X2 TO +2 # IF STATE VECTOR IS SCALED POS B29 AND VEL B7 # SET X2 TO 0 # # OUTPUT # R(T) IN RN, V(T) IN VN, T IN PIPTIME # OR # R(T) IN R-OTHER, V(T) IN V-OTHER (T IS DEFINED BY T-OTHER) COUNT* $$/GEOM SVDWN2 BOF RVQ # SW=1=AVETOMID DOING W-MATRIX INTEG. AVEMIDSW +1 VLOAD VSL* TDELTAV 0 -7,2 VAD VSL* RCV 0,2 STOVL RN TNUV VSL* VAD 0 -4,2 VCV VSL* 0,2 STODL VN TET STORE PIPTIME RVQ # Page 321 SVDWN1 VLOAD VSL* TDELTAV 0 -7,2 VAD VSL* RCV 0,2 STOVL R-OTHER TNUV VSL* VAD 0 -4,2 VCV VSL* 0,2 STORE V-OTHER RVQ # Page 322 # THE FOLLOWING ROUTINE TAKES A HALF UNIT TARGET VECTOR REFERRED TO NAV BASE COORDINATES AND FINDS BOTH # GIMBAL ORIENTATIONS AT WHICH THE RR MIGHT SIGHT THE TARGET. THE GIMBAL ANGLES CORRESPONDING TO THE PRESENT MODE # ARE LEFT IN MODEA AND THOSE WHICH WOULD BE USED AFTER A REMODE IN MODEB. THIS ROUTINE ASSUMES MODE 1 IS TRUNNION # ANGLE LESS THAN 90 DEGS IN ABS VALUE WITH ARBITRARY SHAFT, WITH A CORRESPONDING DEFINITION FOR MODE 2. MODE # SELECTION AND LIMIT CHECKING ARE DONE ELSEWHERE. # # THE MODE 1 CONFIGURATION IS CALCULATED FROM THE VECTOR AND THEN MODE 2 IS FOUND USING THE RELATIONS # # S(2) = 180 + S(1) # T(2) = 180 - T(1) # # THE VECTOR ARRIVES IN MPAC WHERE TRG*SMNB OR *SMNB* WILL HAVE LEFT IT. RRANGLES STORE 32D DLOAD DCOMP # SINCE WE WILL FIND THE MODE 1 SHAFT 34D # ANGLE LATER, WE CAN FIND THE MODE 1 SETPD ASIN # TRUNNION BY SIMPLY TAKING THE ARCSIN OF 0 # THE Y COMPONENT, THE ASIN GIVIN AN PUSH BDSU # ANSWER WHOSE ABS VAL IS LESS THAN 90 DEG LODPHALF STODL 4 # MODE 2 TRUNNION TO 4. LO6ZEROS STOVL 34D # UNIT THE PROJECTION OF THE VECTOR 32D # IN THE X-Z PLANE UNIT BOVB # IF OVERFLOW,TARGET VECTOR IS ALONG Y LUNDESCH # CALL FOR MANEUVER UNLESS ON LUNAR SURF STODL 32D # PROJECTION VECTOR. 32D SR1 STQ S2 STODL SINTH # USE ARCTRIG SINCE SHAFT COULD BE ARB. 36D SR1 STCALL COSTH ARCTRIG # Page 323 PUSH DAD # MODE 1 SHAFT TO 2. LODPHALF STOVL 6 4 RTB # FIND MODE 2 CDU ANGLES. 2V1STO2S STOVL MODEB 0 RTB # MODE 1 ANGLES TO MODE A. 2V1STO2S STORE MODEA EXIT CS RADMODES # SWAP MODEA AND MODEB IF RR IN MODE 2. MASK ANTENBIT CCS A TCF +4 DXCH MODEA DXCH MODEB DXCH MODEA TC INTPRET GOTO S2 # Page 324 # GIVEN RR TRUNNION AND SHAFT (T,S) IN TANGNB,+1,FIND THE ASSOCIATED # LINE OF SIGHT IN NAV BASE AXES. THE HALF UNIT VECTOR, .5(SIN(S)COS(T), # -SIN(T),COS(S)COS(T)) IS LEFT IN MPAC AND 32D. SETLOC INFLIGHT BANK COUNT* $$/GEOM RRNB SLOAD RTB TANGNB CDULOGIC SETPD PUSH # TRUNNION ANGLE TO 0 0 SIN DCOMP STODL 34D # Y COMPONENT COS PUSH # .5 COS(T) TO 0 SLOAD RTB TANGNB +1 CDULOGIC RRNB1 PUSH COS # SHAFT ANGLE TO 2 DMP SL1 0 STODL 36D # Z COMPONENT SIN DMP SL1 STOVL 32D 32D RVQ # THIS ENTRY TO RRNB REQUIRES THE TRUNNION AND SHAFT ANGLES IN MPAC AND MPAC +1 RESPECTIVELY RRNBMPAC STODL 20D # SAVE SHAFT CDU IN 21. MPAC # SET MODE TO DP. (THE PRECEEDING STORE # MAY BE DP. TP OR VECTOR.) RTB SETPD CDULOGIC 0 PUSH SIN # TRUNNION ANGLE TO 0 DCOMP STODL 34D # Y COMPONENT COS PUSH # .5COS(T) TO 0 SLOAD RTB # PICK UP CDU'S. 21D CDULOGIC GOTO RRNB1 # Page 325 (empty page) ================================================ FILE: Luminary099/LUNAR_AND_SOLAR_EPHEMERIDES_SUBROUTINES.agc ================================================ # Copyright: Public domain. # Filename: LUNAR_AND_SOLAR_EPHEMERIDES_SUBROUTINES.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Hartmuth Gutsche . # Website: www.ibiblio.org/apollo. # Pages: 984-987 # Mod history: 2009-05-24 HG Transcribed from page images. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 984 # NAME - LSPOS - LOCATE SUN AND MOON DATE - 25 OCT 67 # MOD NO.1 # MOD BY NEVILLE ASSEMBLY SUNDANCE # # FUNCTIONAL DESCRIPTION # # COMPUTES UNIT POSITION VECTOR OF THE SUN AND MOON IN THE BASIC REFERENCE SYSTEM. THE SUN VECTOR S IS # LOCATED VIA TWO ANGLES. THE FIRST ANGLE(OBLIQUITY) IS THE ANGLE BETWEEN THE EARTH EQUATOR AND THE ECLIPTIC. THE # SECOND ANGLE IS THE LONGITUDE OF THE SUN MEASURED IN THE ECLIPTIC. # THE POSITION VECTOR OF THE SUN IS # - # S=(COS(LOS), COS(OBL)*SIN(LOS), SIN(OBL)*SIN(LOS)), WHERE # # LOS=LOS +LOS *T-(C *SIN(2PI*T)/365.24 +C *COS(2PI*T)/365.24) # 0 R 0 1 # LOS (RAD) IS THE LONGITUDE OF THE SUN FOR MIGNIGHT JUNE 30TH OF THE PARTICULAR YEAR. # 0 # LOS (RAD/DAY) IS THE MEAN RATE FOR THE PARTICULAR YEAR. # R # LOS AND LOS ARE STORED AS LOSO AND LOSR IN RATESP. # 0 R # COS(OBL) AND SIN(OBL) ARE STORED IN THE MATRIX KONMAT. # T, TIME MEASURED IN DAYS(24 HOURS), IS STORED IN TIMEP. # C AND C ARE FUDGE FACTORS TO MINIMIZE THE DEVIATION. THEY ARE STORED AS ONE CONSTANT(CMOD), SINCE # 0 1 2 2 1/2 # C *SIN(X)+C *COS(X) CAN BE WRITTEN AS (C +C ) *SIN(X+PHI), WHERE PHI=ARCTAN(C /C ). # 0 1 0 1 1 0 # # THE MOON IS LOCATED VIA FOUR ANGLES. THE FIRST IS THE OBLIQUITY. THE SECOND IS THE MEAN LONGITUDE OF THE MOON, # MEASURED IN THE ECLIPTIC FROM THE MEAN EQUINOX TO THE MEAN ASCENDING NODE OF THE LUNAR ORBIT, AND THEN ALONG THE # ORBIT. THE THIRD ANGLE IS THE ANGLE BETWEEN THE ECLIPTIC AND THE LUNAR ORBIT. THE FOURTH ANGLE IS THE LONGITUDE # OF THE NODE OF THE MOON, MEASURED IN THE LUNAR ORBIT. LET THESE ANGLES BE OBL,LOM,IM, AND LON RESPECTIVELY. # # THE SIMPLIFIED POSITION VECTOR OF THE MOON IS # - # M=(COS(LOM), COS(OBL)*SIN(LOM)-SIN(OBL)*SIN(IM)*SIN(LOM-LON), SIN(OBL)*SIN(LOM)+COS(OBL)*SIN(IM)*SIN(LOM-LON)) # # WHERE # LOM=LOM +LOM *T-(A *SIN(2PI*T/27.5545)+A *COS(2PI*T/27.5545)+B *SIN(2PI*T/32)+B *COS(2PI*T/32)), AND # 0 R 0 1 0 1 # LON=LON +LON # 0 R # A , A , B AND B ARE STORED AS AMOD AND BMOD (SEE DESCRIPTION OF CMOD, ABOVE). COS(OBL), SIN(OBL)*SIN(IM), # 0 1 0 1 # SIN(OBL), AND COS(OBL)*SIN(IM) ARE STORED IN KONMAT AS K1, K2, K3 AND K4, RESPECTIVELY. LOM , LOM , LON , LON # ARE STORED AS LOMO, LOMR, LONO, AND LONR IN RATESP. 0 R 0 R # THE THREE PHIS ARE STORED AS AARG, BARG, AND CARG(SUN). ALL CONSTANTS ARE UPDATED BY YEAR. # # CALLING SEQUENCE # Page 985 # CALL LSPOS. RETURN IS VIA QPRET. # ALARMS OR ABORTS # NONE # ERASABLE INITIALIZATION REQUIRED # TEPHEM - TIME FROM MIGNIGHT 1 JULY PRECEDING THE LAUNCH TO THE TIME OF THE LAUNCH (WHEN THE AGC CLOCK WENT # TO ZERO). TEPHEM IS TP WITH UNITS OF CENTI-SECONDS. # TIME2 AND TIME1 ARE IN MPAC AND MPAC +1 WHEN PROGRAM IS CALLED. # OUTPUT # UNIT POSITIONAL VECTOR OF SUN IN VSUN. (SCALED B-1) # UNIT POSITIONAL VECTOR OF MOON IN VMOON. (SCALED B-1) # SUBROUTINES USED # NONE # DEBRIS # CURRENT CORE SET,WORK AREA AND FREEFLAG BANK 04 SETLOC EPHEM BANK EBANK= VSUN COUNT* $$/EPHEM LUNPOS EQUALS LSPOS LSPOS SETPD SR 0 14D # TP TAD DDV ## Comments in [...] are hand-written notations in original listing TEPHEM # TIME OF LAUNCH [in centisec B 42] CSTODAY # 24 HOURS-8640000 CENTI-SECS/DAY B-33 STORE TIMEP # T IN DAYS [@ B 9 = 512 days] AXT,1 AXT,2 # [∴ granularity ≈ 0.164 sec] 0 0 CLEAR FREEFLAG # SWITCH BIT POSITA DLOAD KONMAT +2 # ZERO$ STORE GTMP POSITB DLOAD DMP* TIMEP # T VAL67 +4,1 # 1/27 OR 1/32 OR 1/365 # Page 986 SL DAD* 8D VAL67 +2,1 # AARG SIN DMP* # SIN(T/27+PHI) OR T/32 OR T/365 VAL67,1 # (A0**2+A1**2)**1/2SIN(X+PHIA) DAD INCR,1 # PLUS GTMP # (B0**2+B1**2)**1/2SIN(X+PHIB) DEC -6 STORE GTMP # OR (C0**2+C1**2)**1/2SIN(X+PHIC) BOFSET FREEFLAG POSITB POSITD DLOAD DMP* TIMEP # T RATESP,2 # LOMR,LOSR,LONR SL DAD* 5D RATESP +6,2 # LOMO,LOSO,LONO DSU GTMP STORE STMP,2 # LOM,LOS,LON SLOAD INCR,2 X2 DEC -2 DAD BZE RCB-13 # PLUS 2 POSITE # 2ND BPL POSITA # 1ST POSITF DLOAD DSU # 3RD STMP # LOM STMP +4 # LON SIN PDDL # SIN(LOM-LON) STMP SIN PDDL # SIN LOM STMP COS VDEF # COS LOM MXV UNIT KONMAT # K1,K2,K3,K4, STORE VMOON DLOAD PDDL KONMAT +2 # ZERO STMP +2 SIN PDDL # SIN LOS STMP +2 COS VDEF # COS LOS MXV UNIT KONMAT STORE VSUN RVQ # Page 987 POSITE DLOAD KONMAT +2 # ZEROS STORE GTMP GOTO POSITD LUNVEL RVQ # TO FOOL INTEGRATION SETLOC EPHEM1 BANK COUNT* $$/EPHEM STMP EQUALS 16D GTMP EQUALS 22D TIMEP EQUALS 24D # *** END OF LEMP50S .115 *** ================================================ FILE: Luminary099/LUNAR_LANDING_GUIDANCE_EQUATIONS.agc ================================================ # Copyright: Public domain. # Filename: LUNAR_LANDING_GUIDANCE_EQUATIONS.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: HARTMUTH GUTSCHE . # Website: www.ibiblio.org/apollo. # Pages: 798-828 # Mod history: 2009-05-23 HG Transcribed from page images. # 2009-06-05 RSB Fixed a goofy thing that was apparently # legal in GAP but not in yaYUL. Eliminated # a couple of lines of code that shouldn't # have survived from Luminary 131 to here. # 2009-06-07 RSB Fixed a typo. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 798 EBANK= E2DPS COUNT* $$/F2DPS # ******************************************************** # LUNAR LANDING FLIGHT SEQUENCE TABLES # ******************************************************** # FLIGHT SEQUENCE TABLES ARE ARRANGED BY FUNCTION. THEY ARE REFERENCED USING AS AN INDEX THE REGISTER WCHPHASE: # WCHPHASE = -1 ---> IGNALG # WCHPHASE = 0 ---> BRAKQUAD # WCHPHASE = 1 ---> APPRQUAD # WCHPHASE = 2 ---> VERTICAL #********************************************************* # ROUTINES FOR STARTING NEW GUIDANCE PHASES: TCF TTFINCR # IGNALG NEWPHASE TCF TTFINCR # BRAKQUAD TCF STARTP64 # APPRQUAD TCF P65START # VERTICAL # PRE-GUIDANCE COMPUTATIONS: TCF CALCRGVG # IGNALG PREGUIDE TCF RGVGCALC # BRAKQUAD TCF REDESIG # APPRQUAD TCF RGVGCALC # VERTICAL # GUIDANCE EQUATIONS: TCF TTF/8CL # IGNALG WHATGUID TCF TTF/8CL # BRAKQUAD TCF TTF/8CL # APPRQUAD TCF VERTGUID # VERTICAL # POST GUIDANCE EQUATION COMPUTATIONS: TCF CGCALC # IGNALG AFTRGUID TCF CGCALC # BRAKQUAD TCF CGCALC # APPRQUAD TCF STEER? # VERTICAL # Page 799 # WINDOW VECTOR COMPUTATIONS: TCF EXGSUB # IGNALG WHATEXIT TCF EXBRAK # BRAKQUAD TCF EXNORM # APPRQUAD # DISPLAY ROUTINES: WHATDISP TCF P63DISPS # BRAKQUAD TCF P64DISPS # APPRQUAD TCF VERTDISP # VERTICAL # ALARM ROUTINE FOR TTF COMPUTATION: TCF 1406P00 # IGNALG WHATALM TCF 1406ALM # BRAKQUAD TCF 1406ALM # APPRQUAD # INDICES FOR REFERENCING TARGET PARAMETERS OCT 0 # IGNALG TARGTDEX OCT 0 # BRAKQUAD OCT 34 # APPRQUAD #************************************************************************ # ENTRY POINTS: ?GUIDSUB FOR THE IGNITION ALGORITHM, LUNLAND FOR SERVOUT #************************************************************************ # IGNITION ALGORITHM ENTRY: DELIVERS N PASSES OF QUADRATIC GUIDANCE ?GUIDSUB EXIT CAF TWO # N = 3 TS NGUIDSUB TCF GUILDRET +2 GUIDSUB TS NGUIDSUB # ON SUCCEEDING PASSES SKIP TTFINCR TCF CALCRGVG # NORMAL ENTRY: CONTROL COMES HERE FROM SERVOUT LUNLAND TC PHASCHNG OCT 00035 # GROUP 5: RETAIN ONLY PIPA TASK TC PHASCHNG OCT 05023 # GROUP 3: PROTECT GUIDANCE WITH PRIO 21 OCT 21000 # JUST HIGHER THAN SERVICER'S PRIORITY # Page 800 #******************************************************************* # GUILDENSTERN: AUTO-MODES MONITOR (R13) #******************************************************************* COUNT* $$/R13 # HERE IS THE PHILOSOPHY OF GUILDENSTERN: ON EVERY APPEARANCE OR DISAPPEARANCE OF THE MANUAL THROTTLE # DISCRETE TO SELECT P67 OR P66 RESPECTIVELY: ON EVERY APPEARANCE OF THE ATTITUDE-HOLD DISCRETE TO SELECT P66 # UNLESS THE CURRENT PROGRAM IS P67 IN WHICH CASE THERE IS NO CHANGE GUILDEN EXTEND # IS UN-AUTO-THROTTLE DISCRETE PRESENT? # STERN # RSB 2009: Not originally a comment. READ CHAN30 MASK BIT5 CCS A TCF STARTP67 # YES P67NOW? TC CHECKMM # NO: ARE WE IN P67 NOW? DEC 67 TCF STABL? # NO STARTP66 TC FASTCHNG # YES TC NEWMODEX DEC66 DEC 66 EXTEND DCA HDOTDISP # SET DESIRED ALTITUDE RATE = CURRENT DXCH VDGVERT # ALTITUDE RATE. STRTP66A TC INTPRET SLOAD PUSH PBIASZ SLOAD PUSH PBIASY SLOAD VDEF PBIASX VXSC SET BIASFACT RODFLAG STOVL VBIAS TEMX VCOMP STOVL OLDPIPAX ZEROVECS STODL DELVROD RODSCALE STODL RODSCAL1 PIPTIME STORE LASTTPIP EXIT CAF ZERO TS FCOLD TS FWEIGHT TS FWEIGHT +1 VRTSTART TS WCHVERT # Page 801 CAF TWO # WCHPHASE = 2 ---> VERTICAL: P65,P66,P67 TS WCHPHOLD TS WCHPHASE TC BANKCALL # TEMPORARY, I HOPE HOPE HOPE CADR STOPRATE # TEMPORARY, I HOPE HOPE HOPE TC DOWNFLAG # PERMIT X-AXIS OVERRIDE ADRES XOVINFLG TC DOWNFLAG ADRES REDFLAG TCF VERTGUID STARTP67 TC NEWMODEX # NO HARM IN "STARTING" P67 OVER AND OVER DEC 67 # SO NO NEED FOR A FASTCHNG AND NO NEED CAF ZERO # TO SEE IF ALREADY IN P67. TS RODCOUNT CAF TEN TCF VRTSTART STABL? CAF BIT13 # IS UN-ATTITUDE-HOLD DISCRETE PRESENT? EXTEND RAND CHAN31 CCS A TCF GUILDRET # YES ALL'S WELL P66NOW? CS MODREG AD DEC66 EXTEND BZF RESTART? CA RODCOUNT # NO. HAS THE ROD SWITCH BEEN "CLICKED"? EXTEND BZF GUILDRET # NO. CONTINUE WITH AUTOMATIC LANDING TCF STARTP66 # YES. SWITCH INTO THE ROD MODE. RESTART? CA FLAGWRD1 # HAS THERE BEEN A RESTART? MASK RODFLBIT EXTEND BZF STRTP66A # YES. REINITIALIZE BUT LEAVE VDGVERT AS # IS. TCF VERTGUID # NO: CONTINUE WITH R.O.D. # ******************************************************************************* # INITIALIZATION FOR THIS PASS # ******************************************************************************* COUNT* $$/F2DPS GUILDRET CAF ZERO TS RODCOUNT # Page 802 +2 EXTEND DCA TPIP DXCH TPIPOLD TC FASTCHNG EXTEND DCA PIPTIME1 DXCH TPIP EXTEND DCA TTF/8 DXCH TTF/8TMP CCS FLPASS0 TCF TTFINCR BRSPOT1 INDEX WCHPHASE TCF NEWPHASE # ****************************************************************** # ROUTINES TO START NEW PHASES # ****************************************************************** P65START TC NEWMODEX DEC 65 CS TWO TS WCHVERT TC DOWNFLAG # PERMIT X-AXIS OVERRIDE ADRES XOVINFLG TCF TTFINCR STARTP64 TC NEWMODEX DEC 64 CA DELTTFAP # AUGMENT TTF/8 ADS TTF/8TMP CA BIT12 # ENABLE RUPT10 EXTEND WOR CHAN13 TC DOWNFLAG # INITIALIZE REDESIGNATION FLAG ADRES REDFLAG # (CONTINUE TO TTFINCR) # ********************************************************************************* # INCREMENT TTF/8, UPDATE LAND FOR LUNAR ROTATION, DO OTHER USEFUL THINGS # ********************************************************************************* # # TTFINCR COMPUTATIONS ARE AS FOLLOWS -- # Page 803 # TTF/8 UPDATED FOR TIME SINCE LAST PASS: # TTF/8 = TTF/8 + (TPIP - TPIPOLD)/8 # LANDING SITE VECTOR UPDATED FOR LUNAR ROTATION: # ____ ____ ____ __ # LAND = /LAND/ UNIT(LAND - LAND(TPIP - TPIPOLD) * WM) # SLANT RANGE TO LANDING SITE, FOR DISPLAY: # ____ _ # RANGEDSP = ABVAL(LAND - R) TTFINCR TC INTPRET DLOAD DSU TPIP TPIPOLD SLR PUSH # SHIFT SCALES DELTA TIME TO 2(17) CSECS 11D VXSC VXV LAND WM BVSU RTB LAND NORMUNIT VXSC VSL1 /LAND/ STODL LANDTEMP EXIT DXCH MPAC DAS TTF/8TMP # NOW HAVE INCREMENTED TTF/8 IN TTF/8TMP TC FASTCHNG EXTEND DCA TTF/8TMP DXCH TTF/8 EXTEND DCA LANDTEMP DXCH LAND EXTEND DCA LANDTEMP +2 DXCH LAND +2 EXTEND DCA LANDTEMP +4 DXCH LAND +4 # Page 804 TC TDISPSET TC FASTCHNG # SINCE REDESIG MAY CHANGE LANDTEMP BRSPOT2 INDEX WCHPHASE TCF PREGUIDE # ********************************************************************* # LANDING SITE PERTURBATION EQUATIONS # ********************************************************************* REDESIG CA FLAGWRD6 # IS REDFLAG SET? MASK REDFLBIT EXTEND BZF RGVGCALC # NO: SKIP REDESIGNATION LOGIC CA TREDES # YES: HAS TREDES REACHED ZERO? EXTEND BZF RGVGCALC # YES: SKIP REDESIGNATION LOGIC INHINT CA ELINCR1 TS ELINCR CA AZINCR1 TS AZINCR TC FASTCHNG CA ZERO TS ELINCR1 TS AZINCR1 TS ELINCR +1 TS AZINCR +1 CA FIXLOC # SET PD TO 0 TS PUSHLOC TC INTPRET VLOAD VSU LAND R # ____ _ RTB PUSH # PUSH DOWN UNIT (LAND - R) NORMUNIT VXV VSL1 YNBPIP # ___ ____ _ VXSC PDDL # PUSH DOWN - ELINCR(YNB * UNIT(LAND - R)) ELINCR AZINCR VXSC VSU YNBPIP VAD PUSH # RESULTING VECTOR IS 1/2 REAL SIZE # Page 805 DLOAD DSU # MAKE SURE REDESIGNATION IS NOT 0 # TOO CLOSE TO THE HORIZON. DEPRCRIT BMN DLOAD REDES1 DEPRCRIT STORE 0 REDES1 DLOAD DSU LAND R DDV VXSC 0 VAD UNIT R VXSC VSL1 /LAND/ STORE LANDTEMP EXIT # LOOKANGL WILL BE COMPUTED AT RGVGCALC TC FASTCHNG EXTEND DCA LANDTEMP DXCH LAND EXTEND DCA LANDTEMP +2 DXCH LAND +2 EXTEND DCA LANDTEMP +4 DXCH LAND +4 TCF RGVGCALC # ********************************************************************* # COMPUTE STATE IN GUIDANCE COORDINATES # ********************************************************************* # # RGVGCALC COMPUTATIONS ARE AS FOLLOWS:-- # VELOCITY RELATIVE TO THE SURFACE: # _______ _ _ __ # ANGTERM = V + R * WM # STATE IN GUIDANCE COORDINATES: # ___ * _ ____ # RGU = CG (R - LAND) # ___ * _ __ _ # VGU = CG (V - WM * R) # Page 806 actually starts one line earlier but that would separate the markers from their variables # # HORIZONTAL VELOCITY FOR DISPLAY # # VHORIZ = 8 ABVAL (0, VG , VG ) # 2 1 # DEPRESSION ANGLE FOR DISPLAY: # _ ____ ______ # LOOKANGL = ARCSIN(UNIT(R - LAND).XMBPIP) CALCRGVG TC INTPRET # IN IGNALG, COMPUTE V FROM INTEGRATION VLOAD MXV # OUTPUT AND TRIM CORRECTION TERM VATT1 # COMPUTED LAST PASS AND LEFT IN UNFC/2 REFSMMAT VSR1 VAD UNFC/2 STORE V EXIT RGVGCALC TC INTPRET # ENTER HERE TO RECOMPUTE RG AND VG VLOAD VXV R WM VAD VSR2 # RESCALE TO UNITS OF 2(9) M/CS V STORE ANGTERM MXV CG # NO SHIFT SINCE ANGTERM IS DOUBLE SIZED STORE VGU PDDL VDEF # FORM (0,VG ,VG ) IN UNITS OF 2(10) M/CS ZEROVECS # 2 1 ABVAL SL3 STOVL VHORIZ # VHORIZ FOR DISPLAY DURING P65. R # _ ____ VSU PUSH # PUSH DOWN R - LAND LAND MXV VSL1 CG STORE RGU ABVAL STOVL RANGEDSP RTB DOT # NOW IN MPAC IS SINE(LOOKANGL)/4 NORMUNIT XNBPIP EXIT CA FIXLOC # RESET PUSH DOWN POINTER TS PUSHLOC # Page 807 CA MPAC # COMPUTE LOOKANGLE ITSELF DOUBLE TC BANKCALL CADR SPARCSIN -1 AD 1/2DEG EXTEND MP 180DEGS TS LOOKANGL # LOOKANGL FOR DISPLAY DURING P64 BRSPOT3 INDEX WCHPHASE TCF WHATGUID # ************************************************************************** # TTF/8 COMPUTATION # ************************************************************************** TTF/8CL TC INTPRETX DLOAD* JDG2TTF,1 STODL* TABLTTF +6 # A(3) = 8 JDG TO TABLTTF ADG2TTF,1 # 2 STODL TABLTTF +4 # A(2) = 6 ADG TO TABLTTF VGU +4 # 2 DMP DAD* 3/4DP VDG2TTF,1 STODL* TABLTTF +2 # A(1) = (6 VGU + 18 VDG )/8 TO TABLTTF RDG +4,1 # 2 2 DSU DMP RGU +4 3/8DP STORE TABLTTF # A(0) = -24 (RGU - RDG )/64 TO TABLTTF EXIT # 2 2 CA BIT8 TS TABLTTF +10 # FRACTIONAL PRECISION FOR TTF TO TABLE EXTEND DCA TTF/8 DXCH MPAC # LOADS TTF/8 (INITIAL GUESS) INTO MPAC CAF TWO # DEGREE - ONE TS L CAF TABLTTFL TC ROOTPSRS # YIELDS TTF/8 IN MPAC INDEX WCHPHASE TCF WHATALM EXTEND # GOOD RETURN DCA MPAC # FETCH TTF/8 KEEPING IT IN MPAC DXCH TTF/8 # CORRECTED TTF/8 # Page 808 TC TDISPSET # (CONTINUE TO QUADGUID) # ********************************************************************************* # MAIN GUIDANCE EQUATION # ********************************************************************************* # # AS PUBLISHED -- # ___ __ ___ __ # ___ ___ 6(VDG + VG) 12(RDG - RG) # ACG = ADG + ----------- + ------------ # TTF (TTF)(TTF) # AS HERE PROGRAMMED -- # ___ __ # 3 (1/4(RDG - RG) ___ __) # - (------------- + VDG + VG) # ___ 4 ( TTF/8 ) ___ # ACG = ---------------------------- + ADG # TTF/8 QUADGUID CS TTF/8 AD LEADTIME # LEADTIME IS A NEGATIVE NUMBER AD POSMAX # SAFEGUARD THE COMPUTATIONS THAT FOLLOW TS L # BY FORCING -TTF*LEADTIME > OR = ZERO CS L AD L ZL EXTEND DV TTF/8 TS BUF # - RATIO OF LAG-DIMINISHED TTF TO TTF EXTEND SQUARE TS BUF +1 AD BUF XCH BUF +1 # RATIO SQUARED - RATIO AD BUF +1 TS MPAC # COEFFICIENT FOR VGU TERM AD BUF +1 INDEX FIXLOC TS 26D # COEFFICIENT FOR RDG-RGU TERM AD BUF +1 INDEX FIXLOC TS 28D # COEFFICIENT FOR VDG TERM AD BUF AD POSMAX # Page 809 AD BUF +1 AD BUF +1 INDEX FIXLOC TS 30D # COEFFICIENT FOR ADG TERM CAF ZERO TS MODE TC INTPRETX VXSC PDDL VGU 28D VXSC* PDVL* VDG,1 RDG,1 VSU V/SC RGU TTF/8 VSR2 VXSC 26D VAD VAD V/SC VXSC TTF/8 3/4DP PDDL VXSC* 30D ADG,1 VAD AFCCALC1 VXM VSL1 # VERGUID COMES HERE CG PDVL V/SC GDT/2 GSCALE BVSU STADR STORE UNFC/2 # UNFC/2 NEED NOT BE UNITIZED ABVAL AFCCALC2 STODL /AFC/ # MAGNITUDE OF AFC FOR THROTTLE UNFC/2 # VERTICAL COMPONENT DSQ PDDL UNFC/2 +2 # OUT-OF-PLANE DSQ PDDL HIGHESTF DDV DSQ MASS # 2 2 2 DSU DSU # AMAXHORIZ = SQRT(ATOTAL - A - A ) BPL DLOAD # 1 0 AFCCALC3 ZEROVECS AFCCALC3 SQRT DAD UNFC/2 +4 # Page 810 BPL BDSU AFCCLEND UNFC/2 +4 STORE UNFC/2 +4 AFCCLEND EXIT TC FASTCHNG CA WCHPHASE # PREPARE FOR PHASE SWITCHING LOGIC TS WCHPHOLD INCR FLPASS0 # INCREMENT PASS COUNTER BRSPOT4 INDEX WCHPHASE TCF AFTRGUID # *********************************************************************** # ERECT GUIDANCE-STABLE MEMBER TRANSFORMATION MATRIX # *********************************************************************** CGCALC CAF EBANK5 TS EBANK EBANK= TCGIBRAK EXTEND INDEX WCHPHASE INDEX TARGTDEX DCA TCGFBRAK INCR BBANK INCR BBANK EBANK= TTF/8 AD TTF/8 XCH L AD TTF/8 CCS A CCS L TCF EXTLOGIC TCF EXTLOGIC NOOP TC INTPRETX VLOAD UNIT LAND STODL CG TTF/8 DMP* VXSC GAINBRAK,1 # NUMERO MYSTERIOSO ANGTERM VAD LAND VSU RTB R NORMUNIT # Page 811 VXV RTB LAND NORMUNIT STOVL CG +6 # SECOND ROW CG VXV VSL1 CG +6 STORE CG +14 EXIT # (CONTINUE TO EXTLOGIC) # # *********************************************************************** # PREPARE TO EXIT # *********************************************************************** # # DECIDE (1) HOW TO EXIT, AND (2) WHETHER TO SWITCH PHASES # EXTLOGIC INDEX WCHPHASE # WCHPHASE = 1 APPRQUAD CA TENDBRAK # WCHPHASE = 0 BRAKQUAD AD TTF/8 EXSPOT1 EXTEND INDEX WCHPHASE BZMF WHATEXIT TC FASTCHNG CA WCHPHOLD AD ONE TS WCHPHASE CA ZERO TS FLPASS0 # RESET FLPASS0 INDEX WCHPHOLD TCF WHATEXIT # *********************************************************************** # ROUTINES FOR EXITING FROM LANDING GUIDANCE # *********************************************************************** # # 1. EXGSUB IS THE RETURN WHEN GUIDSUB IS CALLED BY THE IGNITION ALGORITHM. # 2. EXBRAK IN THE EXIT USED DURING THE BRAKING PHASE. IN THIS CASE UNIT(R) IS THE WINDOW POINTING VECTOR. # 3. EXNORM IS THE EXIT USED AT OTHER TIMES DURING THE BURN. # (EXOVFLOW IS A SUBROUTINE OF EXBRAK AND EXNORM CALLED WHEN OVERFLOW OCCURRED ANYWHERE IN GUIDANCE.) EXGSUB TC INTPRET # COMPUTE TRIM VELOCITY CORRECTION TERM. # Page 812 VLOAD RTB UNFC/2 NORMUNIT VXSC VXSC ZOOMTIME TRIMACCL STORE UNFC/2 EXIT CCS NGUIDSUB TCF GUIDSUB CCS NIGNLOOP TCF +3 TC ALARM OCT 01412 +3 TC POSTJUMP CADR DDUMCALC EXBRAK TC INTPRET VLOAD UNIT/R/ STORE UNWC/2 EXIT TCF STEER? EXNORM TC INTPRET VLOAD VSU LAND R RTB NORMUNIT STORE UNWC/2 # UNIT(LAND - R) IS TENTATIVE CHOICE VXV DOT XNBPIP CG +6 EXIT # WITH PROJ IN MPAC 1/8 REAL SIZE CS MPAC # GET COEFFICIENT FOR CG +14 AD PROJMAX AD POSMAX TS BUF CS BUF ADS BUF # RESULT IS 0 IF PROJMAX - PROJ NEGATIVE CS PROJMIN # GET COEFFICIENT FOR UNIT(LAND - R) AD MPAC AD POSMAX TS BUF +1 CS BUF +1 # Page 813 ADS BUF +1 # RESULT IS 0 IF PROJ - PROJMIN NEGATIVE CAF FOUR UNWCLOOP MASK SIX TS Q CA EBANK5 TS EBANK EBANK= CG CA BUF EXTEND INDEX Q MP CG +14 INCR BBANK EBANK= UNWC/2 INDEX Q DXCH UNWC/2 EXTEND MP BUF +1 INDEX Q DAS UNWC/2 CCS Q TCF UNWCLOOP INCR BBANK EBANK= PIF STEER? CA FLAGWRD2 # IF STEERSW DOWN NO OUTPUTS MASK STEERBIT EXTEND BZF RATESTOP EXVERT CA OVFIND # IF OVERFLOW ANYWHERE IN GUIDANCE EXTEND # DON'T CALL THROTTLE OR FINDCDUW BZF +13 EXOVFLOW TC ALARM # SOUND THE ALARM NON-ABORTIVELY OCT 01410 RATESTOP CAF BIT13 # ARE WE IN ATTITUDE-HOLD? EXTEND RAND CHAN31 EXTEND BZF DISPEXIT # YES TC BANKCALL # NO: DO A STOPRATE CADR STOPRATE TCF DISPEXIT GDUMP1 TC THROTTLE # Page 814 TC INTPRET CALL FINDCDUW -2 EXIT # (CONTINUE TO DISPEXIT) # *********************************************************************** # GUIDANCE LOOP DISPLAYS # *********************************************************************** DISPEXIT EXTEND # KILL GROUP 3: DISPLAYS WILL BE DCA NEG0 # RESTORED BY NEXT GUIDANCE CYCLE. DXCH -PHASE3 +3 CS FLAGWRD8 # IF FLUNDISP IS SET, NO DISPLAY THIS PASS MASK FLUNDBIT EXTEND BZF ENDLLJOB # TO PICK UP THE TAG INDEX WCHPHOLD TCF WHATDISP -2 TC PHASCHNG # KILL GROUP 5 OCT 00035 P63DISPS CAF V06N63 DISPCOMN TC BANKCALL CADR REGODSPR ENDLLJOB TCF ENDOFJOB P64DISPS CA TREDES # HAS TREDES REACHED ZERO? EXTEND BZF RED-OVER # YES: CLEAR REDESIGNATION FLAG CS FLAGWRD6 # NO: IS REDFLAG SET? MASK REDFLBIT EXTEND BZF REDES-OK # YES: DO STATIC DISPLAY CAF V06N64 # OTHERWISE USE FLASHING DISPLAY TC BANKCALL CADR REFLASHR TCF GOTOPOOH # TERMINATE TCF P64CEED # PROCEED PERMIT REDESIGNATIONS TCF P64DISPS # RECYCLE # Page 815 TCF ENDLLJOB P64CEED CAF ZERO TS ELINCR1 TS AZINCR1 TC UPFLAG # ENABLE REDESIGNATION LOGIC ADRES REDFLAG TCF ENDOFJOB RED-OVER TC DOWNFLAG ADRES REDFLAG REDES-OK CAF V06N64 TCF DISPCOMN VERTDISP CAF V06N60 TCF DISPCOMN # ************************************************************************** # GUIDANCE FOR P65 # ************************************************************************** VERTGUID CCS WCHVERT TCF P67VERT # POSITIVE NON-ZERO ---> P67 TCF P66VERT # +0 # # THE P65 GUIDANCE EQUATION IS AS FOLLOWS -- # ____ ___ # V2FG - VGU # ACG = ---------- # TAUVERT P65VERT TC INTPRET VLOAD VSU V2FG VGU V/SC GOTO TAUVERT AFCCALC1 # Page 816 # ********************************************************** # GUIDANCE FOR P66 # ********************************************************** P66VERT TC POSTJUMP CADR P66VERTA P67VERT TC PHASCHNG # TERMINATE GROUP 3. OCT 00003 TC INTPRET VLOAD GOTO V VHORCOMP SETLOC P66LOC BANK COUNT* $$/F2DPS RODTASK CAF PRIO22 TC FINDVAC EBANK= DVCNTR 2CADR RODCOMP TCF TASKOVER P66VERTA TC PHASCHNG # TERMINATE GROUP 3. OCT 00003 CAF 1SEC TC TWIDDLE ADRES RODTASK RODCOMP INHINT CAF ZERO XCH RODCOUNT EXTEND MP RODSCAL1 DAS VDGVERT # UPDATE DESIRED ALTITUDE RATE. EXTEND # SET OLDPIPAX,Y,Z = PIPAX,Y,Z DCA PIPAX DXCH OLDPIPAX DXCH RUPTREG1 # SET RUPTREG1,2,3 = OLDPIPAX,Y,Z CA PIPAZ XCH OLDPIPAZ XCH RUPTREG3 EXTEND # SNAPSHOT TIME OF PIPA READING. DCA TIME2 # Page 817 DXCH THISTPIP CA OLDPIPAX AD PIPATMPX TS MPAC # MPAC(X) = PIPAX + PIPATMPX CA OLDPIPAY AD PIPATMPY TS MPAC +3 # MPAC(Y) = PIPAY + PIPATMPY CA OLDPIPAZ AD PIPATMPZ TS MPAC +5 # MPAC(Z) = PIPAZ + PIPATMPZ CS OLDPIPAX AD TEMX AD RUPTREG1 TS DELVROD CS OLDPIPAY AD TEMY AD RUPTREG2 TS DELVROD +2 CS OLDPIPAZ AD TEMZ AD RUPTREG3 TS DELVROD +4 CAF ZERO TS MPAC +1 # ZERO LO-ORDER MPAC COMPONENTS TS MPAC +4 TS MPAC +6 TS TEMX # ZERO TEMX, TEMY, AND TEMZ SO WE WILL TS TEMY # KNOW WHEN READACCS CHANGES THEM. TS TEMZ CS ONE TS MODE TC INTPRET ITRPNT1 VXSC PDDL # SCALE MPAC TO M/CS *2(-7) AND PUSH (6) KPIP1 THISTPIP DSU PIPTIME STORE 30D # 30-31D CONTAINS TIME IN CS SINCE PIPTIME DDV PDVL # (8) 4SEC(28) GDT/2 VSU VXSC # (6) VBIAS VSL2 VAD V VAD STADR # (0) STOVL 24D # STORE UPDATED VELOCITY IN 24-29D # Page 818 R UNIT STORE 14D DOT SL1 24D STODL HDOTDISP # UPDATE HDOTDISP RATE FOR NOUN 63. 30D SL DMP 11D HDOTDISP DAD DSU 36D /LAND/ STODL HCALC1 # UPDATE HCALC1 FOR NOUN 63. HDOTDISP BDSU DDV VDGVERT TAUROD PDVL ABVAL # (2) GDT/2 DDV SR2 GSCALE STORE 20D DAD # (0) PDVL CALL # (2) UNITX CDU*NBSM DOT 14D STORE 22D BDDV STADR # (0) STOVL /AFC/ DELVROD VXSC VAD KPIP1 VBIAS ABVAL PDDL # (2) THISTPIP DSU PDDL # (4) LASTTPIP THISTPIP STODL LASTTPIP # (2) DDV BDDV # (0) SHFTFACT PDDL DMP # (2) FWEIGHT BIT1H DDV DDV MASS SCALEFAC # Page 819 DAD PDDL # (4) 0D 20D DDV DSU # (2) 22D DMP DAD LAG/TAU /AFC/ PDDL DDV # (4) MAXFORCE MASS PDDL DDV # (6) MINFORCE MASS PUSH BDSU # (8) 2D BMN DLOAD # (6) AFCSPOT DLOAD PUSH # (6) BDSU BPL 2D AFCSPOT DLOAD # (4) AFCSPOT DLOAD # (2), (4), OR (6) SETPD # (2) 2D STODL /AFC/ # (0) ITRPNT2 EXIT DXCH MPAC # MPAC = MEASURED ACCELERATION. TC BANKCALL CADR THROTTLE +3 TC INTPRET VLOAD # PICK UP UPDATED VELOCITY VECTOR. 24D VHORCOMP VSL2 VAD DELVS VSR2 PDVL R UNIT VXSC HDOTDISP VSL1 BVSU ABVAL STORE VHORIZ EXIT TC BANKCALL # PUT UP V06N60 DISPLAY BUT AVOID PHASCHNG CADR DISPEXIT +3 BIT1H OCT 00001 SHFTFACT 2DEC 1 B-17 # Page 820 BIASFACT 2DEC 655.36 B-28 # ********************************************************************************* # REDESIGNATOR TRAP # ********************************************************************************* BANK 11 SETLOC F2DPS*11 BANK COUNT* $$/F2DPS PITFALL XCH BANKRUPT EXTEND QXCH QRUPT TC CHECKMM # IF NOT IN P64, NO REASON TO CONTINUE DEC 64 TCF RESUME EXTEND READ CHAN31 COM MASK ALL4BITS TS ELVIRA CAF TWO TS ZERLINA CAF FIVE TC TWIDDLE ADRES REDESMON TCF RESUME # REDESIGNATOR MONITOR (INITIATED BY PITFALL) PREMON1 TS ZERLINA PREMON2 CAF SEVEN TC VARDELAY REDESMON EXTEND READ 31 COM MASK ALL4BITS XCH ELVIRA TS L CCS ELVIRA # DO ANY BITS APPEAR THIS PASS? TCF PREMON2 # Y: CONTINUE MONITOR CCS L # N: ANY LAST PASS? TCF COUNT'EM # Y: COUNT 'EM, RESET RUPT, TERMINATE # Page 821 CCS ZERLINA # N: HAS ZERLINA REACHED ZERO YET? TCF PREMON1 # N: DIMINISH ZERLINA, CONTINUE RESETRPT CAF BIT12 # Y: RESET RUPT. TERMINATE EXTEND WOR CHAN13 TCF TASKOVER COUNT'EM CAF BIT13 # ARE WE IN ATTITUDE-HOLD? EXTEND RAND CHAN31 EXTEND BZF RESETRPT # YES: SKIP REDESIGNATION LOGIC. CA L # NO. MASK -AZBIT CCS A -AZ CS AZEACH ADS AZINCR1 CA L MASK +AZBIT CCS A +AZ CA AZEACH ADS AZINCR1 CA L MASK -ELBIT CCS A -EL CS ELEACH ADS ELINCR1 CA L MASK +ELBIT CCS A +EL CA ELEACH ADS ELINCR1 TCF RESETRPT # THESE EQUIVALENCES ARE BASED ON GSOP CHAPTER 4, REVISION 16 OF P64LM +ELBIT = BIT2 # -PITCH -ELBIT = BIT1 # +PITCH +AZBIT = BIT5 -AZBIT = BIT6 # Page 822 ALL4BITS OCT 00063 AZEACH DEC .03491 # 2 DEGREES ELEACH DEC .00873 # 1/2 DEGREE # **************************************************************** # R.O.D. TRAP # **************************************************************** BANK 20 SETLOC RODTRAP BANK COUNT* $$/F2DPS # ************************ DESCBITS MASK BIT7 # COME HERE FROM MARKRUPT CODING WITH BIT CCS A # 7 OR 6 OF CHANNEL 16 IN A; BIT 7 MEANS CS TWO # - RATE INCREMENT, BIT 6 + INCREMENT. AD ONE ADS RODCOUNT TCF RESUME # TRAP IS RESET WHEN SWITCH IS RELEASED BANK 31 SETLOC F2DPS*31 BANK COUNT* $$/F2DPS # *********************************************************************************** # DOUBLE PRECISION ROOT FINDER SUBROUTINE (BY ALLAN KLUMPP) # *********************************************************************************** # # N N-1 # ROOTPSRS FINDS ONE ROOT OF THE POWER SERIES A X + A X + ... + A X + A # N N-1 1 0 # USING NEWTON'S METHOD STARTING WITH AN INITIAL GUESS FOR THE ROOT. THE ENTERING DATA MUST BE AS FOLLOWS: # A SP LOC-3 ADRES FOR REFERENCING PWR COF TABL # L SP N-1 N IS THE DEGREE OF THE POWER SERIES # MPAC DP X INITIAL GUESS FOR ROOT # # LOC-2N DP A(0) # ... # LOC DP A(N) # LOC+2 SP PRECROOT PREC RQD OF ROOT (AS FRACT OF 1ST GUESS) # # Page 823 # THE DP RESULT IS LEFT IN MPAC UPON EXIT, AND A SP COUNT OF THE ITERATIONS TO CONVERGENCE IS LEFT IN MPAC+2. # RETURN IS NORMALLY TO LOC(TC ROOTPSRS)+3. IF ROOTPSRS FAILS TO CONVERGE TO IN 8 PASSES, RETURN IS TO LOC+1 AND # OUTPUTS ARE NOT TO BE TRUSTED. # # PRECAUTION: ROOTPSRS MAKES NO CHECKS FOR OVERFLOW OR FOR IMPROPER USAGE. IMPROPER USAGE COULD # PRECLUDE CONVERGENCE OR REQUIRE EXCESSIVE ITERATIONS. AS A SPECIFIC EXAMPLE, ROOTPSRS FORMS A DERIVATIVE # COEFFICIENT TABLE BY MULTIPLYING EACH A(I) BY I, WHERE I RANGES FROM 1 TO N. IF AN ELEMENT OF THE DERIVATIVE # COEFFICIENT TABLE = 1 OR >1 IN MAGNITUDE, ONLY THE EXCESS IS RETAINED. ROOTPSRS MAY CONVERGE ON THE CORRECT # ROOT NONETHELESS, BUT IT MAY TAKE AN EXCESSIVE NUMBER OF ITERATIONS. THEREFORE THE USER SHOULD RECOGNIZE: # 1. USER'S RESPONSIBILITY TO ASSUR THAT I X A(I) < 1 IN MAGNITUDE FOR ALL I. # 2. USER'S RESPONSIBILITY TO ASSURE OVERFLOW WILL NOT OCCUR IN EVALUATING EITHER THE RESIDUAL OR THE DERIVATIVE # POWER SERIES. THIS OVERFLOW WOULD BE PRODUCED BY SUBROUTINE POWRSERS, CALLED BY ROOTPSRS, AND MIGHT NOT # PRECLUDE EVENTUAL CONVERGENCE. # 3. AT PRESENT, ERASABLE LOCATIONS ARE RESERVED ONLY FOR N UP TO 5. AN N IN EXCESS OF 5 WILL PRODUCE CHAOS. # ALL ERASABLES USED BY ROOTPSRS ARE UNSWITCHED LOCATED IN THE REGION FROM MPAC-33 OCT TO MPAC+7. # 4. THE ITERATION COUNT RETURNED IN MPAC+2 MAY BE USED TO DETECT ABNORMAL PERFORMANCE. # STORE ENTERING DATA, INITIALIZE ERASABLES ROOTPSRS EXTEND QXCH RETROOT # RETURN ADRES TS PWRPTR # PWR TABLE POINTER DXCH MPAC +3 # PWR TABLE ADRES, N-1 CA DERTABLL TS DERPTR # DER TABL POINTER TS MPAC +5 # DER TABL ADRES CCS MPAC +4 # NO POWER SERIES DEGREE 1 OR LESS TS MPAC +6 # N-2 CA ZERO # MODE USED AS ITERATION COUNTER. MODE TS MODE # MUST BE POS SO ABS WON'T COMP MPAC+3 ETC. # COMPUTE CRITERION TO STOP ITERATING EXTEND DCA MPAC # FETCH ROOT GUESS, KEEPING IT IN MPAC DXCH ROOTPS # AND IN ROOTPS INDEX MPAC +3 # PWR TABLE ADRES CA 5 # PRECROOT TO A TC SHORTMP # YIELDS DP PRODUCT IN MPAC TC USPRCADR CADR ABS # YIELDS ABVAL OF CRITERION ON DX IN MPAC DXCH MPAC DXCH DXCRIT # CRITERION # SET UP DER COF TABL # Page 824 EXTEND INDEX PWRPTR DCA 3 DXCH MPAC # A(N) TO MPAC CA MPAC +4 # N-1 TO A DERCLOOP TS PWRCNT # LOOP COUNTER AD ONE TC DMPNSUB # YIELDS DERCOF = I X A(I) IN MPAC EXTEND INDEX PWRPTR DCA 1 DXCH MPAC # (I-1) TO MPAC, FETCHING DERCOF INDEX DERPTR DXCH 3 # DERCOF TO DER TABLE CS TWO ADS PWRPTR # DECREMENT PWR POINTER CS TWO ADS DERPTR # DECREMENT DER POINTER CCS PWRCNT TCF DERCLOOP # CONVERGE ON ROOT ROOTLOOP EXTEND DCA ROOTPS # FETCH CURRENT ROOT DXCH MPAC # LEAVE IN MPAC EXTEND DCA MPAC +5 # LOAD A, L WITH DER TABL ADRES, N-2 TC POWRSERS # YIELDS DERIVATIVE IN MPAC EXTEND DCA ROOTPS DXCH MPAC # CURRENT ROOT TO MPAC, FETCHING DERIVATIVE DXCH BUF # LEAVE DERIVATIVE IN BUF AS DIVISOR EXTEND DCA MPAC +3 # LOAD A, L WITH PWR TABL ADRES, N-1 TC POWRSERS # YIELDS RESIDUAL IN MPAC TC USPRCADR CADR DDV/BDDV # YIELDS -DX IN MPAC EXTEND DCS MPAC # FETCH DX, LEAVING -DX IN MPAC DAS ROOTPS # CORRECTED ROOT NOW IN ROOTPS TC USPRCADR CADR ABS # YIELDS ABS(DX) IN MPAC EXTEND # Page 825 DCS DXCRIT DAS MPAC # ABS(DX)-ABS(DXCRIT) IN MPAC CA MODE MASK BIT4 # KLUMPP SAYS GIVE UP AFTER EIGHT PASSES CCS A BADROOT TC RETROOT INCR MODE # INCREMENT ITERATION COUNTER CCS MPAC # TEST HI ORDER DX TCF ROOTLOOP TCF TESTLODX TCF ROOTSTOR TESTLODX CCS MPAC +1 # TEST LO ORDER DX TCF ROOTLOOP TCF ROOTSTOR TCF ROOTSTOR ROOTSTOR DXCH ROOTPS DXCH MPAC CA MODE TS MPAC +2 # STORE SP ITERATION COUNT IN MPAC+2 INDEX RETROOT TCF 2 DERTABLL ADRES DERCOFN -3 # **************************************************************************** # TRASHY LITTLE SUBROUTINES # **************************************************************************** INTPRETX INDEX WCHPHASE # SET X1 ON THE WAY TO THE INTERPRETER CS TARGTDEX INDEX FIXLOC TS X1 TCF INTPRET TDISPSET CA TTF/8 EXTEND MP TSCALINV DXCH TTFDISP CA EBANK5 # TREDES BECOMES ZERO TWO PASSES TS EBANK # BEFORE TCGFAPPR IS REACHED EBANK= TCGFAPPR CA TCGFAPPR INCR BBANK INCR BBANK EBANK= TTF/8 # Page 826 AD TTF/8 EXTEND MP TREDESCL AD -DEC103 AD NEGMAX TS L CS L AD L AD +DEC99 AD POSMAX TS TREDES CS TREDES ADS TREDES TC Q 1406P00 TC POODOO OCT 01406 1406ALM TC ALARM OCT 01406 TCF RATESTOP # ********************************************************************* # SPECIALIZED "PHASCHNG" SUBROUTINE # ********************************************************************* EBANK= PHSNAME2 FASTCHNG CA EBANK3 # SPECIALIZED 'PHASCHNG' ROUTINE XCH EBANK DXCH L TS PHSNAME3 LXCH EBANK EBANK= E2DPS TC A # ************************************************************************************* # PARAMETER TABLE INDIRECT ADDRESSES # ************************************************************************************* RDG = RBRFG VDG = VBRFG ADG = ABRFG VDG2TTF = VBRFG* ADG2TTF = ABRFG* JDG2TTF = JBRFG* # ************************************************************************************* # LUNAR LANDING CONSTANTS # ************************************************************************************* # Page 827 TABLTTFL ADRES TABLTTF +3 # ADDRESS FOR REFERENCING TTF TABLE TTFSCALE = BIT12 TSCALINV = BIT4 -DEC103 DEC -103 +DEC99 DEC +99 TREDESCL DEC -.08 180DEGS DEC +180 1/2DEG DEC +.00278 PROJMAX DEC .42262 B-3 # SIN(25')/8 TO COMPARE WITH PROJ PROJMIN DEC .25882 B-3 # SIN(15')/8 TO COMPARE WITH PROJ V06N63 VN 0663 # P63 V06N64 VN 0664 # P64 V06N60 VN 0660 # P65, P66, P67 BANK 22 SETLOC LANDCNST BANK COUNT* $$/F2DPS HIGHESTF 2DEC 4.34546769 B-12 GSCALE 2DEC 100 B-11 3/8DP 2DEC .375 3/4DP 2DEC .750 DEPRCRIT 2DEC -.02 B-1 # Page 828 # ************************************************************************** # ************************************************************************** ================================================ FILE: Luminary099/MAIN.agc ================================================ $ASSEMBLY_AND_OPERATION_INFORMATION.agc # pp. 1-27 $TAGS_FOR_RELATIVE_SETLOC.agc # pp. 28-37 $CONTROLLED_CONSTANTS.agc # pp. 38-53 $INPUT_OUTPUT_CHANNEL_BIT_DESCRIPTIONS.agc # pp. 54-60 $FLAGWORD_ASSIGNMENTS.agc # pp. 61-88 # p. 89 is a GAP-generated table $ERASABLE_ASSIGNMENTS.agc # pp. 90-152 $INTERRUPT_LEAD_INS.agc # pp. 153-154 $T4RUPT_PROGRAM.agc # pp. 155-189 $RCS_FAILURE_MONITOR.agc # pp. 190-192 $DOWNLINK_LISTS.agc # pp. 193-205 $AGS_INITIALIZATION.agc # pp. 206-210 $FRESH_START_AND_RESTART.agc # pp. 211-237 $RESTART_TABLES.agc # pp. 238-243 $AOTMARK.agc # pp. 244-261 $EXTENDED_VERBS.agc # pp. 262-300 $PINBALL_NOUN_TABLES.agc # pp. 301-319 $LEM_GEOMETRY.agc # pp. 320-325 $IMU_COMPENSATION_PACKAGE.agc # pp. 326-337 $R63.agc # pp. 338-341 $ATTITUDE_MANEUVER_ROUTINE.agc # pp. 342-363 $GIMBAL_LOCK_AVOIDANCE.agc # p. 364 $KALCMANU_STEERING.agc # pp. 365-369 $SYSTEM_TEST_STANDARD_LEAD_INS.agc # pp. 370-372 $IMU_PERFORMANCE_TEST_2.agc # pp. 373-381 $IMU_PERFORMANCE_TESTS_4.agc # pp. 382-389 $PINBALL_GAME_BUTTONS_AND_LIGHTS.agc # pp. 390-471 $R60_62.agc # pp. 472-485 $S-BAND_ANTENNA_FOR_LM.agc # pp. 486-489 $RADAR_LEADIN_ROUTINES.agc # pp. 490-491 $P20-P25.agc # pp. 492-614 $P30_P37.agc # pp. 615-617 $P32-P35_P72-P75.agc # pp. 618-650 $LAMBERT_AIMPOINT_GUIDANCE.agc # pp. 651-653 $GROUND_TRACKING_DETERMINATION_PROGRAM.agc # pp. 654-657 $P34-35_P74-75.agc # pp. 658-702 $R31.agc # pp. 703-708 $P76.agc # pp. 709-711 $R30.agc # pp. 712-722 $STABLE_ORBIT.agc # pp. 723-730 $BURN_BABY_BURN--MASTER_IGNITION_ROUTINE.agc # pp. 731-751 $P40-P47.agc # pp. 752-784 $THE_LUNAR_LANDING.agc # pp. 785-792 $THROTTLE_CONTROL_ROUTINES.agc # pp. 793-797 $LUNAR_LANDING_GUIDANCE_EQUATIONS.agc # pp. 798-828 $P70-P71.agc # pp. 829-837 $P12.agc # pp. 838-842 $ASCENT_GUIDANCE.agc # pp. 843-856 $SERVICER.agc # pp. 857-897 $LANDING_ANALOG_DISPLAYS.agc # pp. 898-907 $FINDCDUW--GUIDAP_INTERFACE.agc # pp. 908-925 $P51-P53.agc # pp. 926-983 $LUNAR_AND_SOLAR_EPHEMERIDES_SUBROUTINES.agc # pp. 984-987 $DOWN_TELEMETRY_PROGRAM.agc # pp. 988-997 $INTER-BANK_COMMUNICATION.agc # pp. 998-1001 $INTERPRETER.agc # pp. 1002-1094 $FIXED_FIXED_CONSTANT_POOL.agc # pp. 1095-1099 $INTERPRETIVE_CONSTANT.agc # pp. 1100-1101 $SINGLE_PRECISION_SUBROUTINES.agc # p. 1102 $EXECUTIVE.agc # pp. 1103-1116 $WAITLIST.agc # pp. 1117-1132 $LATITUDE_LONGITUDE_SUBROUTINES.agc # pp. 1133-1139 $PLANETARY_INERTIAL_ORIENTATION.agc # pp. 1140-1148 $MEASUREMENT_INCORPORATION.agc # pp. 1149-1158 $CONIC_SUBROUTINES.agc # pp. 1159-1204 $INTEGRATION_INITIALIZATION.agc # pp. 1205-1226 $ORBITAL_INTEGRATION.agc # pp. 1227-1248 $INFLIGHT_ALIGNMENT_ROUTINES.agc # pp. 1249-1258 $POWERED_FLIGHT_SUBROUTINES.agc # pp. 1259-1267 $TIME_OF_FREE_FALL.agc # pp. 1268-1283 $AGC_BLOCK_TWO_SELF_CHECK.agc # pp. 1284-1293 $PHASE_TABLE_MAINTENANCE.agc # pp. 1294-1302 $RESTARTS_ROUTINE.agc # pp. 1303-1308 $IMU_MODE_SWITCHING_ROUTINES.agc # pp. 1309-1337 $KEYRUPT_UPRUPT.agc # pp. 1338-1340 $DISPLAY_INTERFACE_ROUTINES.agc # pp. 1341-1373 $SERVICE_ROUTINES.agc # pp. 1374-1380 $ALARM_AND_ABORT.agc # pp. 1381-1385 $UPDATE_PROGRAM.agc # pp. 1386-1396 $RTB_OP_CODES.agc # pp. 1397-1402 $T6-RUPT_PROGRAMS.agc # pp. 1403-1405 $DAP_INTERFACE_SUBROUTINES.agc # pp. 1406-1409 $DAPIDLER_PROGRAM.agc # pp. 1410-1420 $P-AXIS_RCS_AUTOPILOT.agc # pp. 1421-1441 $Q_R-AXIS_RCS_AUTOPILOT.agc # pp. 1442-1459 $TJET_LAW.agc # pp. 1460-1469 $KALMAN_FILTER.agc # pp. 1470-1471 $TRIM_GIMBAL_CNTROL_SYSTEM.agc # pp. 1472-1484 $AOSTASK_AND_AOSJOB.agc # pp. 1485-1506 $SPS_BACK-UP_RCS_CONTROL.agc # pp. 1507-1510 # pp. 1511-1743: GAP-generated tables. ================================================ FILE: Luminary099/MEASUREMENT_INCORPORATION.agc ================================================ # Copyright: Public domain. # Filename: MEASUREMENT_INCORPORATION.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # # Assembler: yaYUL # Contact: Jim Lawton # Website: www.ibiblio.org/apollo. # Pages: 1149-1158 # Mod history: 2009-05-28 JL Updated from page images. # 2011-01-06 JL Fixed pseudo-label indentation. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 1149 # INCORP1 -- PERFORMS THE SIX DIMENSIONAL STATE VECTOR DEVIATION FOR POSITION # AND VELOCITY OR THE NINE-DIMENSIONAL DEVIATION OF POSITION, VELOCITY, AND # RADAR OR LANDMARK BIAS. THE OUTPUT OF THE BVECTOR ROUTINE ALONG WITH THE # ERROR TRANSITION MATRIX (W) ARE USED AS INPU TO THE ROUTINE. THE DEVIATION # IS OBTAINED BY COMPUTING AN ESTIMATED TRACKING MEASUREMENT FROM THE # CURRENT STATE VECTOR AND COMPARING IT WITH AN ACTUAL TRACKING MEASUREMENT # AND APPLYING A STATISTICAL WEIGHTING VECTOR. # # INPUT # DMENFLG = 0 (6-DIMENSIONAL BVECTOR), =1 (9-DIMENSIONAL) # W = ERROR TRANSITION MATRIX 6X6 OR 9X9 # VARIANCE = VARIANCE (SCALAR) # DELTAQ = MEASURED DEVIATION (SCALAR) # BVECTOR = 6 OR 9 DIMENSIONAL BVECTOR # # OUTPUT # DELTAX = STATE VECTOR DEVIATIONS 6 OR 9 DIMENSIONAL # ZI = VECTOR USED FOR THE INCORPORATION 6 OR 9 DIMENSIONAL # GAMMA = SCALAR # OMEGA = OMEGA WEIGHTING VECTOR 6 OR 9 DIMENSIONAL # # CALLING SEQUENCE # L CALL INCORP1 # # NORMAL EXIT # L+1 OF CALLING SEQUENCE BANK 37 SETLOC MEASINC BANK COUNT* $$/INCOR EBANK= W INCORP1 STQ EGRESS AXT,1 SSP 54D S1 18D # IX1 = 54 S1= 18 AXT,2 SSP 18D S2 6 # IX2 = 18 S2=6 Z123 VLOAD MXV* BVECTOR # BVECTOR (0) W +54D,1 STORE ZI +18D,2 VLOAD BVECTOR +6 # BVECTOR (1) # Page 1150 MXV* VAD* W +108D,1 ZI +18D,2 STORE ZI +18D,2 VLOAD BVECTOR +12D # BVECTOR (2) MXV* VAD* W +162D,1 ZI +18D,2 # B(0)*W+B(1)*(W+54)+B(2)*(W+108) FIRST PASS STORE ZI +18D,2 # ZI THEN Z2 THEN Z3 TIX,1 INCOR1 INCOR1 TIX,2 BON Z123 # LOOP FOR Z1,Z2,Z3 DMENFLG INCOR1A VLOAD ZEROVECS STORE ZI +12D INCOR1A SETPD VLOAD 0 ZI VSQ RTB TPMODE PDVL VSQ ZI +6 RTB TAD TPMODE PDVL VSQ ZI +12D RTB TAD TPMODE TAD AXT,2 VARIANCE 0 STORE TRIPA # ZI*2 + Z2*2 + Z3*2 + VARIANCE TLOAD BOV VARIANCE # CLEAR OVFIND +1 STORE TEMPVAR # TEMP STORAGE FOR VARIANCE BZE INCOR1C INCOR1B SL2 BOV INCOR1C STORE TEMPVAR INCR,2 GOTO DEC 1 INCOR1B INCOR1C TLOAD ROUND TRIPA # Page 1151 DMP SQRT TEMPVAR SL* TAD 0,2 TRIPA NORM INCR,2 X2 DEC -2 SXA,2 AXT,2 NORMGAM # NORMALIZATION COUNT -2 FOR GAMMA 162D BDDV SETPD DP1/4TH 0 STORE GAMMA TLOAD NORM TRIPA X1 DLOAD PDDL # PD 0-1 = NORM (A) MPAC DELTAQ NORM S1 XSU,1 SR1 S1 DDV PUSH # PD 0-1 = DELTAQ/A GOTO NEWZCOMP -3 SSP S2 54D INCOR2 VLOAD VXM* # COMPUT OMEGA1,2,3 ZI W +162D,2 PUSH VLOAD ZI +6 VXM* VAD W +180D,2 PUSH VLOAD ZI +12D VXM* VAD W +198D,2 PUSH TIX,2 # PD 2-7=OMEGA1, 8-13=OMEGA2, 14-19=OMEGA3 INCOR2 VLOAD STADR STORE OMEGA +12D VLOAD STADR STORE OMEGA +6 VLOAD STADR STORE OMEGA # Page 1152 BON VLOAD DMENFLG INCOR2AB ZEROVECS STORE OMEGA +12D INCOR2AB AXT,2 SSP 18D S2 6 INCOR3 VLOAD* OMEGA +18D,2 VXSC VSL* 0 # DELTAQ/A 0,1 STORE DELTAX +18D,2 TIX,2 VLOAD INCOR3 DELTAX +6 VSL3 STORE DELTAX +6 GOTO EGRESS # Page 1153 # INCORP2 - INCORPORATES THE COMPUTED STATE VECTOR DEVIATIONS INTO THE # ESTIMATED STATE VECTOR. THE STATE VECTOR UPDATED MAY BE FOR EITHER THE # LEM OR THE CSM. DETERMINED BY FLAG VEHUPFLG. (ZERO = LEM) (1 = CSM) # # INPUT # PERMANENT STATE VECTOR FOR EITHER THE LEM OR CSM # VEHUPFLG = UPDATE VEHICLE 0=LEM 1=CSM # W = ERROR TRANSITION MATRIX # DELTAX = COMPUTED STATE VECTOR DEVIATIONS # DMENFLG = SIZE OF W MATRIX (ZERO=6X6) (1=9X9) # GAMMA = SCALAR FOR INCORPORATION # ZI = VECTOR USED IN INCORPORATION # OMEGA = WEIGHTING VECTOR # # OUTPUT # UPDATED PERMANENT STATE VECTOR # # CALLING SEQUENCE # L CALL INCORP2 # # NORMAL EXIT # L+1 OF CALLING SEQUENCE # SETLOC MEASINC1 BANK COUNT* $$/INCOR INCORP2 STQ CALL EGRESS INTSTALL VLOAD VXSC # CALC. GAMMA * OMEGA1,2,3 OMEGA GAMMA STOVL OMEGAM1 OMEGA +6 VXSC GAMMA STOVL OMEGAM2 OMEGA +12D VXSC GAMMA STORE OMEGAM3 EXIT CAF 54DD # INITIAL IX 1 SETTING FOR W MATRIX TS WIXA TS WIXB CAF ZERO TS ZIXA # INITIAL IX 2 SETTING FOR Z COMPONENT TS ZIXB FAZA TC PHASCHNG # Page 1154 OCT 04022 TC UPFLAG ADRES REINTFLG FAZA1 CA WIXB # START FIRST PHASE OF INCORP2 TS WIXA # TO UPDATE 6 OR 9 DIM. W MATRIX IN TEMP CA ZIXB TS ZIXA TC INTPRET LXA,1 LXA,2 WIXA ZIXA SSP DLOAD* S1 6 ZI,2 DCOMP NORM # CALC UPPER 3X9 PARTITION OF W MATRIX S2 VXSC XCHX,2 OMEGAM1 S2 LXC,2 XAD,2 X2 NORMGAM VSL* XCHX,2 0,2 S2 VAD* W +54D,1 STORE HOLDW DLOAD* DCOMP # CALC MIDDLE 3X9 PARTITION OF W MATRIX ZI,2 NORM VXSC S2 OMEGAM2 XCHX,2 LXC,2 S2 X2 XAD,2 VSL* NORMGAM 0,2 XCHX,2 VAD* S2 W +108D,1 STORE HOLDW +6 BOFF DMENFLG # BRANCH IF 6 DIMENSIONAL FAZB DLOAD* DCOMP # CALC LOWER 3X9 PARTITION OF W MATRIX ZI,2 NORM VXSC # Page 1155 S2 OMEGAM3 XCHX,2 LXC,2 S2 X2 XAD,2 VSL* NORMGAM 0,2 XCHX,2 VAD* S2 W +162D,1 STORE HOLDW +12D FAZB CALL GRP2PC EXIT FAZB1 CA WIXA # START 2ND PHASE OF INCORP2 TO TRANSFER AD 6DD # TEMP REG TO PERM W MATRIX TS WIXB CA ZIXA AD MINUS2 TS ZIXB TC INTPRET LXA,1 SSP WIXA S1 6 VLOAD HOLDW STORE W +54D,1 VLOAD HOLDW +6 STORE W +108D,1 BOFF VLOAD DMENFLG FAZB5 HOLDW +12D STORE W +162D,1 FAZB2 TIX,1 GOTO +2 FAZC # DONE WITH W MATRIX. UPDATE STATE VECTOR RTB FAZA FAZB5 SLOAD DAD ZIXB 12DD BHIZ GOTO FAZC FAZB2 FAZC CALL GRP2PC # Page 1156 VLOAD VAD # START 3RD PHASE OF INCORP2 X789 # 7TH, 8TH, 9TH COMPONENT OF STATE VECTOR DELTAX +12D # INCORPORATION FOR X789 STORE TX789 BON RTB VEHUPFLG DOCSM MOVEPLEM FAZAB BOVB AXT,2 TCDANZIG 0 BOFF AXT,2 MOONTHIS +2 2 VLOAD VSR* DELTAX # B27 IF MOON ORBIT, B29 IF EARTH 0 -7,2 VAD BOV TDELTAV FAZAB1 STOVL TDELTAV DELTAX +6 # B5 IF MOON ORBIT, B7 IF EARTH VSR* VAD 0 -4,2 TNUV BOV FAZAB2 STCALL TNUV FAZAB3 FAZAB1 VLOAD VAD RCV DELTAX STORE RCV FAZAB2 VLOAD VAD VCV DELTAX +6 STORE VCV SXA,2 CALL PBODY RECTIFY FAZAB3 CALL GRP2PC BON RTB VEHUPFLG DOCSM1 MOVEALEM CALL SVDWN2 # STORE DOWNLINK STATE VECTOR FAZAB4 CALL # Page 1157 GRP2PC # PHASE CHANGE BOFF VLOAD DMENFLG FAZAB5 # 6 DIMENSIONAL TX789 # 9 DIMENSIONAL STORE X789 FAZAB5 LXA,1 SXA,1 EGRESS QPRET EXIT TC POSTJUMP # EXIT CADR INTWAKE DOCSM RTB GOTO MOVEPCSM FAZAB DOCSM1 RTB CALL MOVEACSM SVDWN1 # STORE DOWNLINK STATE VECTOR GOTO FAZAB4 ZEROD = ZEROVECS 54DD DEC 54 6DD DEC -6 12DD DEC 12 SETLOC RENDEZ BANK COUNT* $$/INCOR NEWZCOMP VLOAD ABVAL ZI STOVL NORMZI ZI +6 ABVAL PUSH DSU BMN NORMZI +3 DLOAD STADR STORE NORMZI VLOAD ABVAL ZI +12D PUSH DSU NORMZI BMN DLOAD +3 STADR STORE NORMZI # LARGEST ABVAL DLOAD SXA,1 NORMZI NORMZI # SAVE X1 NORM INCR,1 # Page 1158 X1 DEC 2 VLOAD VSL* ZI 0,1 STOVL ZI ZI +6 VSL* 0,1 STOVL ZI +6 ZI +12D VSL* SXA,1 0,1 NORMZI +1 # SAVE SHIFT STORE ZI +12D LXA,1 XSU,1 NORMGAM NORMZI +1 XSU,1 NORMZI +1 SXA,1 LXC,1 NORMGAM NORMZI +1 XAD,1 SETPD NORMZI 2D GOTO INCOR2 -3 NORMZI = 36D ================================================ FILE: Luminary099/ORBITAL_INTEGRATION.agc ================================================ # Copyright: Public domain. # Filename: ORBITAL_INTEGRATION.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1227-1248 # Mod history: 2009-05-26 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # 2009-06-05 RSB Fixed 3 typos. # 2009-06-06 RSB Page 1248 was missing entirely for some reason. # 2009-06-07 RSB Corrected a typo. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 1227 # ORBITAL INTEGRATION # DELETE BANK 13 SETLOC ORBITAL BANK COUNT* $$/ORBIT # DELETE KEPPREP LXA,2 SETPD PBODY 0 DLOAD* SQRT # SQRT(MU) (+18 OR +15) 0D PL 2D MUEARTH,2 PDVL UNIT # PL 8D RCV PDDL NORM # NORM R (+29 OR +27 - N1) 2D PL 4D 36D X1 PDVL DOT PDDL # F*SQRT(MU) (+7 OR +5) 4D PL 6D VCV TAU. # (+28) DSU NORM TC S1 SR1 DDV PDDL 2D DMP PUSH # FS (+6 +N1-N2) 6D PL 8D 4D DSQ PDDL # (FS)SQ (+12 +2(N1-N2)) 8D PL 10D 4D DSQ PDDL* # SSQ/MU (-20R +2(N1-N2)) 10D PL 12D MUEARTH,2 SR3 SR4 PDVL VSQ # PREALIGN MU (+43 OR +37) 12D PL 14D VCV DMP BDSU # PL 12D 36D DDV DMP # PL 10D 2D # -(1/R-ALPHA) (+12 +3N1-2N2) DMP SL* DP2/3 0 -3,1 # 10L(1/R-ALPHA) (+13 +2(N1-N2)) XSU,1 DAD # 2(FS)SQ - ETCETERA PL 8D S1 # X1 = N2-N1 SL* DSU # -FS+2(FS)SQ ETC (+6 +N1-N2) PL 6D 8D,1 DMP DMP 0D 4D SL* SL* # Page 1228 8D,1 0,1 # S(-FS(1-2FS)-1/6...) (+17 OR +16) DAD PDDL # PL 6D XKEP DMP SL* # S(+17 OR +16) 0D 1,1 BOVB DAD TCDANZIG STADR STORE XKEPNEW STQ AXC,1 KEPRTN DEC 10 BON AXC,1 MOONFLAG KEPLERN DEC 2 GOTO KEPLERN # Page 1229 FBR3 LXA,1 SSP DIFEQCNT S1 DEC -13 DLOAD SR DT/2 9D TIX,1 ROUND +1 PUSH DAD TC STODL TAU. DAD TET STCALL TET KEPPREP # Page 1230 # AGC ROUTINE TO COMPUTE ACCELERATION COMPONENTS. ACCOMP LXA,1 LXA,2 PBODY PBODY VLOAD ZEROVEC STOVL FV ALPHAV VSL* VAD 0 -7,2 RCV STORE BETAV BOF XCHX,2 DIM0FLAG +5 DIFEQCNT STORE VECTAB,2 XCHX,2 DIFEQCNT VLOAD UNIT ALPHAV STODL ALPHAV 36D STORE ALPHAM CALL GAMCOMP VLOAD SXA,1 BETAV S2 STODL ALPHAV BETAM STORE ALPHAM BOF DLOAD MIDFLAG OBLATE TET CALL LSPOS AXT,2 LXA,1 2 S2 BOF MOONFLAG +3 VCOMP AXT,2 0 STORE BETAV STOVL RPQV # Page 1231 2D STORE RPSV SLOAD DSU MODREG OCT27 BHIZ BOF +3 DIM0FLAG GETRPSV VLOAD VXSC ALPHAV ALPHAM VSR* VSU 1,2 BETAV XCHX,2 DIFEQCNT STORE VECTAB +6,2 STORE RQVV XCHX,2 DIFEQCNT GETRPSV VLOAD INCR,1 RPQV 4 CLEAR BOF RPQFLAG MOONFLAG +5 VSR VAD 9D RPSV STORE RPSV CALL GAMCOMP AXT,2 INCR,1 4 4 VLOAD RPSV STCALL BETAV GAMCOMP GOTO OBLATE GAMCOMP VLOAD VSR1 BETAV VSQ SETPD 0 NORM ROUND 31D PDDL NORM # NORMED B SQUARED TO PD LIST # Page 1232 ALPHAM # NORMALIZE (LESS ONE) LENGTH OF ALPHA 32D # SAVING NORM SCALE FACTOR IN X1 SR1 PDVL BETAV # C(PDL+2) = ALMOST NORMED ALPHA UNIT STODL BETAV 36D STORE BETAM NORM BDDV # FORM NORMALIZE QUOTIEN ALPHAM/BETAM 33D SR1R PUSH # C(PDL+2) = ALMOST NORMALIZE RHO. DLOAD* ASCALE,1 STORE S1 XCHX,2 XAD,2 S1 32D XSU,2 DLOAD 33D 2D SR* XCHX,2 0 -1,2 S1 PUSH SR1R # RHO/4 TO 4D PDVL DOT ALPHAV BETAV SL1R BDSU # (RHO/4) - 2(ALPHAV/2.BETAV/2) PUSH DMPR # TO PDL+6 4 SL1 PUSH DAD DQUARTER PUSH SQRT DMPR PUSH 10D SL1 DAD DQUARTER PDDL DAD # (1/4)+2((Q+1)/4) TO PD+14D 10D HALFDP DMPR SL1 8D DAD DDV THREE/8 14D DMPR VXSC 6 BETAV # _ PDVL VSR3 # (G/2)(C(PD+4))B/2 TO PD+16D # Page 1233 ALPHAV VAD PUSH # A12 + C(PD+16D) TO PD+16D DLOAD DMP 0 12D NORM ROUND 30D BDDV DMP* 2 MUEARTH,2 DCOMP VXSC XCHX,2 XAD,2 S1 S2 XSU,2 XSU,2 30D 31D BOV # CLEAR OVIND +1 VSR* XCHX,2 0 -1,2 S1 VAD FV STORE FV BOV RVQ # RETURN IF NO OVERFLOW +1 GOBAQUE VLOAD ABVAL TDELTAV BZE INT-ABRT DLOAD SR H 9D PUSH BDSU TC STODL TAU. TET DSU STADR STCALL TET KEPPREP CALL RECTIFY SETGO RPQFLAG TESTLOOP INT-ABRT EXIT TC POODOO OCT 00430 # Page 1234 # THE OBLATE ROUTINE COMPUTES THE ACCELERATION DUE TO OBLATENESS. IT USES THE UNIT OF THE VEHICLE # POSITION VECTOR FOUND IN ALPHAV AND THE DISTANCE TO THE CENTER IN ALPHAM. THIS IS ADDED TO THE SUM OF THE # DISTURBING ACCELERATIONS IN FV AND THE PROPER DIFEQ STAGE IS CALLED VIA X1. OBLATE LXA,2 DLOAD PBODY ALPHAM SETPD DSU* 0 RDE,2 BPL BOF # GET URPV NBRANCH MOONFLAG COSPHIE VLOAD PDDL ALPHAV TET PDDL CALL 3/5 R-TO-RP STORE URPV VLOAD VXV 504LM ZUNIT VAD VXM ZUNIT MMATRIX UNIT # POSSIBLY UNNECESSARY COMTERM STORE UZ DLOAD DMPR COSPHI/2 3/32 PDDL DSQ # P2/64 TO PD0 COSPHI/2 DMPR DSU 15/16 3/64 PUSH DMPR # P3/32 TO PD2 COSPHI/2 DMP SL1R 7/12 PDDL DMPR 0 2/3 BDSU PUSH # P4/128 TO PD4 DMPR DMPR COSPHI/2 # BEGIN COMPUTING P5/1024 9/16 PDDL DMPR 2 5/128 # Page 1235 BDSU DMP* J4REQ/J3,2 DDV DAD # -3 ALPHAM # (((P5/256)B 2 /R+P4/32) /R+P3/8)ALPHAV 4 # 4 3 DMPR* DDV 2J3RE/J2,2 ALPHAM DAD VXSC 2 ALPHAV STODL TVEC DMP* SR1 J4REQ/J3,2 DDV DAD ALPHAM DMPR* SR3 2J3RE/J2,2 DDV DAD ALPHAM VXSC VSL1 UZ BVSU TVEC STODL TVEC ALPHAM NORM DSQ X1 DSQ NORM S1 # 4 PUSH BDDV* # NORMED R TO 0D J2REQSQ,2 VXSC BOV TVEC +1 # (RESET OVERFLOW INDICATOR) XAD,1 XAD,1 X1 X1 XAD,1 VSL* S1 0 -22D,1 VAD BOV FV GOBAQUE STCALL FV QUALITY1 QUALITY3 DSQ # J22 TERM X R**4 IN 2D, SCALED B61 # AS VECTOR. # Page 1236 PUSH DMP # STORE COSPHI**2 SCALED B2 IN 8D 5/8 # 5 SCALED B3 PDDL SR2 # PUT 5 COSPHI**2, D5, IN 8D. GET # COSPHI**2 D2 FROM 8D DAD BDSU # END UP WITH (1-7 COSPHI**2), B5 8D # ADDING COSPHI**2 B4 SAME AS COSPHI**2 # X 2 D5 D1/32 # 1 SCALED B5 DMP DMP URPV # X COMPONENT 5/8 # 5 SCALED B3 VXSC VSL5 # AFTER SHIFT, SCALED B5 URPV # VECTOR, B1. PDDL # VECTOR INTO 8D, 10D, 12D, SCALED B5. # GET 5 COSPHI**2 OUT OF 8D DSU DAD D1/32 # 1 B5 8D # X COMPONENT (SAME AS MULTIPLYING # BY UNITX) STODL 8D URPV # X COMPONENT DMP DMP URPV +4 # Z COMPONENT 5/8 # 5 B3 ANSWER B5 SL1 DAD # FROM 12D FOR Z COMPONENT (SL1 GIVES 10 # INSTEAD OF 5 FOR COEFFICIENT) PDDL NORM # BACK INTO 12D FOR Z COMPNENT. ALPHAM # SCALED B27 FOR MOON X2 PUSH SLOAD # STORE IN 14D, DESTROYING URPV # X COMPONENT E32C31RM DDV VXSC # IF X2 = 0, DIVISION GIVES B53, VXSC # OUT OF 8D B5 GIVES B58 VSL* VAD # SHIFT MAKES B61, FOR ADDITION OF # VECTOR IN 2D 0 -3,2 VSL* V/SC # OPERAND FROM 0D. B108 FOR X1 = 0 0 -27D,1 # FOR X1 = 0, MAKES B88, GIVING B-20 # FOR RESULT. PDDL PDDL TET 5/8 # ANY NON-ZERO CONSTANT LXA,2 CALL # POSITION IN 0D, TIME IN 6D. X2 LEFT # ALONE. PBODY RP-TO-R VAD BOV # OVERFLOW INDICATOR RESET IN "RP-TO-R" FV GOBAQUE # Page 1237 STORE FV NBRANCH SLOAD LXA,1 DIFEQCNT MPAC DMP CGOTO -1/12 MPAC DIFEQTAB COSPHIE DLOAD ALPHAV +4 STOVL COSPHI/2 ZUNIT GOTO COMTERM DIFEQTAB CADR DIFEQ+0 CADR DIFEQ+1 CADR DIFEQ+2 TIMESTEP BOF VLOAD MIDFLAG RECTEST RCV DOT DMP VCV DT/2 # (R.V) X (DELTA T) BMN RECTEST BON BOF MOONFLAG LUNSPH RPQFLAG EARSPH DLOAD CALL TET LSPOS # RPQV IN MPAC STORE RPQV # RPQV LXA,2 PBODY INLUNCHK BVSU ABVAL RCV DSU BMN RSPHERE DOSWITCH RECTEST VLOAD ABVAL # RECTIFY IF TDELTAV BOV CALLRECT DSU BPL # 1) EITHER TDELTAV OR TNUV EQUALS OR 3/4 # EXCEEDS 3/4 IN MAGNITUDE CALLRECT # DAD SL* # OR # Page 1238 3/4 # 0 -7,2 # 2) ABVAL(TDELTAV) EQUALS OR EXCEEDS DDV DSU # .01(ABVAL(RCV)) 10D RECRATIO BPL VLOAD CALLRECT TNUV ABVAL DSU 3/4 BOV CALLRECT BMN INTGRATE CALLRECT CALL RECTIFY INTGRATE VLOAD TNUV STOVL ZV TDELTAV STORE YV CLEAR JSWITCH DIFEQ0 VLOAD SSP YV DIFEQCNT 0 STODL ALPHAV DPZERO STORE H # START H AT ZERO. GOES 0(DELT/2)DELT. BON GOTO JSWITCH DOW.. ACCOMP EARSPH VLOAD GOTO RPQV INLUNCHK LUNSPH DLOAD SR2 10D DSU BMN RSPHERE RECTEST BOF DLOAD RPQFLAG DOSWITCH TET CALL LUNPOS VCOMP STORE RPQV # Page 1239 DOSWITCH CALL ORIGCHNG GOTO INTGRATE ORIGCHNG STQ CALL ORIGEX RECTIFY VLOAD VSL* RCV 0,2 VSU VSL* RPQV 2,2 STORE RRECT STODL RCV TET CALL LUNVEL BOF VCOMP MOONFLAG +1 PDVL VSL* VCV 0,2 VSU VSL* 0 +2,2 STORE VRECT STORE VCV LXA,2 SXA,2 ORIGEX QPRET BON GOTO MOONFLAG CLRMOON SETMOON # Page 1240 # THE RECTIFY SUBROUTINE IS CALLED BY THE INTEGRATION PROGRAM AND OCCASIONALLY BY THE MEASUREMENT INCORPORATION # ROUTINES TO ESTABLISH A NEW CONIC. RECTIFY LXA,2 VLOAD PBODY TDELTAV VSL* VAD 0 -7,2 RCV STORE RRECT STOVL RCV TNUV VSL* VAD 0 -4,2 VCV MINIRECT STORE VRECT STOVL VCV ZEROVEC STORE TDELTAV STODL TNUV ZEROVEC STORE TC STORE XKEP RVQ # Page 1241 # THE THREE DIFEQ ROUTINES -- DIFEQ+0, DIFEQ+12, DIFEQ+24 -- ARE ENTERED TO PROCESS THE CONTRIBUTIONS AT THE # BEGINNING, MIDDLE, AND END OF THE TIMESTEP, RESPECTIVELY. THE UPDATING IS DONE BY THE NYSTROM METHOD. DIFEQ+0 VLOAD VSR3 FV STCALL PHIV DIFEQCOM DIFEQ+1 VLOAD VSR1 FV PUSH VAD PHIV STOVL PSIV VSR1 VAD PHIV STCALL PHIV DIFEQCOM DIFEQ+2 DLOAD DMPR H DP2/3 PUSH VXSC PHIV VSL1 VAD ZV VXSC VAD H YV STOVL YV FV VSR3 VAD PSIV VXSC VSL1 VAD ZV STORE ZV BOFF CALL JSWITCH ENDSTATE GRP2PC LXA,2 VLOAD COLREG ZV VSL3 # ADJUST W-POSITION FOR STORAGE STORE W +54D,2 VLOAD YV VSL3 BOV WMATEND STORE W,2 CALL GRP2PC # Page 1242 LXA,2 SSP COLREG S2 0 INCR,2 SXA,2 6 YV TIX,2 CALL RELOADSV GRP2PC LXA,2 SXA,2 YV COLREG NEXTCOL CALL GRP2PC LXA,2 VLOAD* COLREG W,2 VSR3 # ADJUST W-POSITION FOR INTEGRATION STORE YV VLOAD* AXT,1 W +54D,2 0 VSR3 # ADJUST W-VELOCITY FOR INTEGRATION STCALL ZV DIFEQ0 ENDSTATE BOV VLOAD GOBAQUE ZV STOVL TNUV YV STORE TDELTAV BON BOFF MIDAVFLG CKMID2 # CHECK FOR MID2 BEFORE GOING TO TIMEINC DIM0FLAG TESTLOOP EXIT TC PHASCHNG OCT 04022 # PHASE 1 TC UPFLAG # PHASE CHANGE HAS OCCURRED BETWEEN ADRES REINTFLG # INSTALL AND INTWAKE TC INTPRET SSP QPRET AMOVED BON GOTO VINTFLAG # Page 1243 ATOPCSM ATOPLEM AMOVED SET SSP JSWITCH COLREG DEC -30 BOFF SSP D6OR9FLG NEXTCOL COLREG DEC -48 GOTO NEXTCOL RELOADSV DLOAD # RELOAD TEMPORARY STATE VECTOR TDEC # FROM PERMANENT IN CASE OF STCALL TDEC1 INTEGRV2 # BY STARTING AT INTEGRV2. DIFEQCOM DLOAD DAD # INCREMENT H AND DIFEQCNT. DT/2 H INCR,1 SXA,1 DEC -12 DIFEQCNT # DIFEQCNT SET FOR NEXT ENTRY. STORE H VXSC VSR1 FV VAD VXSC ZV H VAD YV STORE ALPHAV BON GOTO JSWITCH DOW.. FBR3 WMATEND CLEAR CLEAR DIM0FLAG # DON'T INTEGRATE W THIS TIME ORBWFLAG # INVALIDATE W CLEAR RENDWFLG SET EXIT STATEFLG # PICK UP STATE VECTOR UPDATE TC ALARM OCT 421 TC INTPRET # Page 1244 GOTO TESTLOOP # FINISH INTEGRATING STATE VECTOR # Page 1245 # ORBITAL ROUTINE FOR EXTRAPOLATION OF THE W MATRIX. IT COMPUTES THE SECOND DERIVATIVE OF EACH COLUMN POSITION # VECTOR OF THE MATRIX AND CALLS THE NYSTROM INTEGRATION ROUTINES TO SOLVE THE DIFFERENTIAL EQUATIONS. THE PROGRAM # USES A TABLE OF VEHICLE POSITION VECTORS COMPUTED DURING THE INTEGRATION OF THE VEHICLE'S POSITION AND VELOCITY. DOW.. LXA,2 DLOAD* PBODY MUEARTH,2 STCALL BETAM DOW..1 STORE FV BOF INCR,1 MIDFLAG NBRANCH DEC -6 LXC,2 DLOAD* PBODY MUEARTH -2,2 STCALL BETAM DOW..1 BON VSR6 MOONFLAG +1 VAD FV STCALL FV NBRANCH DOW..1 VLOAD VSR4 ALPHAV PDVL* UNIT VECTAB,1 PDVL VPROJ ALPHAV VXSC VSU 3/4 PDDL NORM 36D S2 PUSH DSQ DMP NORM PDDL 34D BETAM SR1 DDV VXSC LXA,2 XAD,2 S2 S2 XAD,2 XAD,2 S2 34D VSL* RVQ # Page 1246 0 -8D,2 # ******************************************************************************** # ******************************************************************************** SETITCTR SSP BOFF # SET ITERCTR FOR LAMBERT CALLS. THIS ITERCTR # CODING BELONGS IN INITVEL AND IS HERE 20D # FOR PURPOSES OF A ONE-MODULE AVEGFLAG # REMANUFACTURE ONLY. CODING SHOULD LAMBERT # BE MOVED BACK TO INITVEL FOR LUMINARY 1B SSP GOTO ITERCTR 5 LAMBERT # ******************************************************************************** # ******************************************************************************** SETLOC ORBITAL1 BANK 3/5 2DEC .6 B-2 THREE/8 2DEC .375 .3D 2DEC .3 B-2 3/64 2DEC 3 B-6 DP1/4 2DEC .25 DQUARTER EQUALS DP1/4 POS1/4 EQUALS DP1/4 3/32 2DEC 3 B-5 15/16 2DEC 15. B-4 3/4 2DEC 3.0 B-2 7/12 2DEC .5833333333 9/16 2DEC 9 B-4 5/128 2DEC 5 B-7 DPZERO EQUALS ZEROVEC DP2/3 2DEC .6666666667 2/3 EQUALS DP2/3 OCT27 OCT 27 # Page 1247 BANK 13 SETLOC ORBITAL2 BANK # IT IS VITAL THAT THE FOLLOWING CONSTANTS NOT BE SHUFFLED DEC -11 DEC -2 DEC -9 DEC -6 DEC -2 DEC -2 DEC 0 DEC -12 DEC -9 DEC -4 ASCALE DEC -7 DEC -6 5/8 2DEC 5 B-3 -1/12 2DEC -.1 RECRATIO 2DEC .01 RSPHERE 2DEC 64373.76 E3 B-29 RDM 2DEC 16093.44 E3 B-27 RDE 2DEC 80467.20 E3 B-29 RATT EQUALS 00 VATT EQUALS 6D TAT EQUALS 12D RATT1 EQUALS 14D VATT1 EQUALS 20D MU(P) EQUALS 26D TDEC1 EQUALS 32D URPV EQUALS 14D COSPHI/2 EQUALS URPV +4 UZ EQUALS 20D TVEC EQUALS 26D QUALITY1 BOF DLOAD MOONFLAG NBRANCH URPV DSQ QUALITY2 PDDL DSQ # SQUARE INTO 2D, B2 URPV +2 # Y COMPONENT, B1 DSU DMP VXSC # 5(Y**2-X**2)UR 5/8 # CONSTANT, 5B3 URPV # VECTOR. RESULT MAXIMUM IS 5, SCALING # Page 1248 # HERE B6 VSL3 PDDL # STORE SCALED B3 IN 2D, 4D, 6D FOR XYZ URPV # X COMPONENT, B1 SR1 DAD # 2 X X COMPONENT FOR B3 SCALING 2D # ADD TO VECTOR X COMPONENT OF ANSWER, # SAME AS MULTIPLYING BY UNITX. MAX IS 7. STODL 2D URPV +2 # Y COMPONENT, B1 SR1 BDSU # 2 X Y COMPONENT FOR B3 SCALING 4D # SUBTRACT FROM VECTOR Y COMPONENT OF # ANSWER, SAME AS MULTIPLYING BY UNITY. # MAX IS 7. STORE 4D # 2D HAS VECTOR, B3. SLOAD VXSC # MULTIPLY COEFFICIENT TIMES VECTOR IN 2D E3J22R2M PDDL RVQ # J22 TERM X R**4 IN 2D, SCALED B61 COSPHI/2 # SAME AS URPV +4 Z COMPONENT ================================================ FILE: Luminary099/P-AXIS_RCS_AUTOPILOT.agc ================================================ # Copyright: Public domain. # Filename: P-AXIS_RCS_AUTOPILOT.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1421-1441 # Mod history: 2009-05-27 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # 2009-06-05 RSB Corrected a relative jump from # +8 to +8D. # 2009-06-07 RSB Corrected a typo. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 1421 BANK 16 SETLOC DAPS1 BANK EBANK= PERROR COUNT* $$/DAPP # THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH CONTROLS THE P-AXIS ACTION OF THE LEM USING THE RCS JETS. # THE NOMINAL TIME BETWEEN THE P-AXIS RUPTS IS 100 MS IN ALL NON-IDLING MODES OF THE DAP. PAXIS CA MS100 ADS TIME5 # *** NECESSARY IN ORDER TO ALLOW # SYNCHRONIZATION WITH OTHER INTERRUPTS *** LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED) EXTEND QXCH QRUPT # CHECK IF DAP PASS IS PERMISSIBLE CCS DAPZRUPT # IF DAPZRUPT POSITIVE, DAP (JASK) IS TC BAILOUT # STILL IN PROGRESS AND A RESTART IS OCT 02000 # CALLED FOR. IT IS NEVER ZERO TC CHEKBITS # RETURN IS TC I+1 IF DAP SHOULD STAY ON. CA CDUX # READ AND STORE CDU'S TS DAPTREG4 CA CDUY TS DAPTREG5 CA CDUZ TS DAPTREG6 # ***** KALCMANU-DAP AND "RATE-HOLD"-DAP INTERFACE ***** # # THE FOLLOWING SECTION IS EXECUTED EVERY 100 MS (10 TIMES A SECOND) WITHIN THE P-AXIS REACTION CONTROL SYSTEM # AUTOPILOT (WHENEVER THE DAP IS IN OPERATION). CA CDUXD EXTEND MSU DELCDUX TC 1STOTWOS TS CDUXD CA CDUYD EXTEND MSU DELCDUY TC 1STOTWOS TS CDUYD CA CDUZD EXTEND MSU DELCDUZ # Page 1422 TC 1STOTWOS TS CDUZD EXTEND # DIMINISH MANUAL CONTROL DIRECT RATE DIM TCP # TIME COUNTERS. EXTEND DIM TCQR # RATFLOOP COMPUTES JETRATEQ, JRATER, AND 1JACC*NO. PJEETS IN ITEMP1. # RETURNS TO BACKP. # # JETRATE = 1JACC*NO.PJETS*TJP (NOTE TJ IS THE TIME FIRED DURING CSP) # JETRATEQ = 1JACCQ(TJU*NO.UJETS - TJV*NO.VJETS) # JETRATER = 1JACCR(TJU*NO.UJETS + TJV*NO.VJETS) TCF PAXFILT # PROCEEDS TO RATELOOP AFTER SUPERJOB 1STOTWOS CCS A AD ONE TC Q CS A TC Q SUBDIVDE EXTEND # OVERFLOW PROTECTION ROUTINE TO GIVE MP DAPTEMP3 # POSMAX OR NEGMAX IF THE DIVIDE WOULD DAS OMEGAU # OVERFLOW +3 EXTEND DCA OMEGAU DXCH DAPTEMP5 CCS OMEGAU TCF +2 TCF DIVIDER AD -OCT630 EXTEND BZMF DIVIDER CCS OMEGAU CA POSMAX # 45 DEG/SEC TC Q CS POSMAX TC Q DIVIDER DXCH OMEGAU EXTEND DV DAPTREG4 TC Q OVERSUB TS 7 # RETURNS A UNCHANGED OR LIMITED TO TC Q # POSMAX OR NEGMAX IF A HAS OVERFLOW INDEX A CS BIT15 -1 # Page 1423 TC Q -OCT630 OCT 77147 BACKP CA DAPTEMP1 EXTEND MP 1JACC TS JETRATE # BEGINNING OF THE RATE DERIVATION # OMEGAP,Q,R BODY RATES SCALED AT PI/4 # TRAPEDP,Q,R BODY ANGLE ERRORS FROM PREDICTED ANGLE (PI/40) # NP(QR)TRAPS NUMBER OF TIMES ANGLE ERROR HAS BEEN ACCUMULATED # AOSQ(R)TERM CHANGE IN RATE DUE TO OFFSET ACCELERATION. (PI/4) # JETRATE,Q,R CHANGE IN RATE DUE TO JET ACCELERATION. (PI/4) # TRAPSIZE NEGATIVE LIMIT OF MAGNITUDE OF TRAPEDP, ETC. # OMEGAU DP-TEMPORARY STORAGE # OMEGA = OMEGA + JETRATE + AOSTERM (+TRAPED/NTRAPS IF TRAPED BIG) CAE DAPTREG4 # CDUX IS STORED HERE TS L EXTEND MSU OLDXFORP # SCALED AT PI LXCH OLDXFORP TS DAPTEMP1 CA 1/40 TS DAPTREG4 CS JETRATE EXTEND MP BIT14 ADS TRAPEDP CA JETRATEQ AD AOSQTERM EXTEND MP -BIT14 ADS TRAPEDQ CA JETRATER AD AOSRTERM EXTEND MP -BIT14 ADS TRAPEDR CA DAPTREG5 # CDUY IS STORED HERE TS L EXTEND MSU OLDYFORP # SCALED AT PI LXCH OLDYFORP TS DAPTEMP2 EXTEND MP M11 # M11 SCALED AT 1 # Page 1424 AD DAPTEMP1 DXCH OMEGAU TC SUBDIVDE +3 # RETURNS WITH CDU-RATE AT PI/4 EXTEND SU OMEGAP ADS TRAPEDP TC OVERSUB TS TRAPEDP EXTEND DCA DAPTEMP5 DAS DXERROR CS PLAST EXTEND MP 1/40 DAS DXERROR # MANUAL MODE X-ATTITUDE ERROR (DP) CA DAPTREG6 # CDUZ IS STORED HERE TS L EXTEND MSU OLDZFORQ TS DAPTEMP3 LXCH OLDZFORQ CA M21 EXTEND MP DAPTEMP2 DXCH OMEGAU CA M22 TC SUBDIVDE EXTEND SU OMEGAQ ADS TRAPEDQ TC OVERSUB TS TRAPEDQ EXTEND DCA DAPTEMP5 DAS DYERROR CS QLAST EXTEND MP 1/40 DAS DYERROR # MANUAL MODE Y-ATTITUDE ERROR (DP) CA M31 EXTEND MP DAPTEMP2 DXCH OMEGAU CA M32 TC SUBDIVDE # Page 1425 EXTEND SU OMEGAR ADS TRAPEDR TC OVERSUB TS TRAPEDR # TRAPEDS HAVE ALL BEEN COMPUTED EXTEND DCA DAPTEMP5 DAS DZERROR CS RLAST EXTEND MP 1/40 DAS DZERROR # MANUAL MODE Z-ATTITUDE ERROR (DP) CA DAPBOOLS # PICK UP PAD LOADED STATE ESTIMATOR GAINS MASK CSMDOCKD EXTEND BZF LMONLY EXTEND # DOCKED DCA DKOMEGAN DXCH DAPTREG4 CA DKTRAP TCF +5 LMONLY EXTEND # UNDOCKED DCA LMOMEGAN DXCH DAPTREG4 CA LMTRAP +5 TS DAPTREG6 CCS TRAPEDP TCF +2 TCF SMALPDIF AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC" EXTEND BZMF SMALPDIF ZL LXCH TRAPEDP CA ZERO EXTEND DV NPTRAPS ADS OMEGAP TC OVERSUB TS OMEGAP CA DAPTREG4 ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED TS NPTRAPS SMALPDIF INCR NPTRAPS P-RATE CA JETRATE ADS OMEGAP TC OVERSUB TS OMEGAP CCS TRAPEDQ # Page 1426 TCF +2 TCF Q-RATE AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC" EXTEND BZMF Q-RATE ZL LXCH TRAPEDQ CA ZERO EXTEND DV NQTRAPS TS DAPTEMP1 # SAVE FOR OFFSET ESTIMATE ADS OMEGAQ TC OVERSUB TS OMEGAQ CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED XCH NQTRAPS AD DAPTREG5 # KAOS > ABOUT 60D %N/N_60" XCH DAPTEMP1 EXTEND MP FIVE EXTEND DV DAPTEMP1 ADS AOSQ Q-RATE INCR NQTRAPS CA JETRATEQ AD AOSQTERM ADS OMEGAQ TC OVERSUB TS OMEGAQ CCS TRAPEDR TCF +2 TCF R-RATE AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC" EXTEND BZMF R-RATE ZL LXCH TRAPEDR CA ZERO EXTEND DV NRTRAPS TS DAPTEMP2 # SAVE FOR OFFSET ESTIMATE ADS OMEGAR TC OVERSUB TS OMEGAR CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED XCH NRTRAPS AD DAPTREG5 # KAOS > ABOUT 60D %N/N_60" XCH DAPTEMP2 EXTEND # Page 1427 MP FIVE EXTEND DV DAPTEMP2 ADS AOSR R-RATE INCR NRTRAPS CA JETRATER AD AOSRTERM ADS OMEGAR TC OVERSUB TS OMEGAR # END OF RATE DERIVATION # BEGIN OFFSET ESTIMATER # IN POWERED FLIGHT, AOSTASK WILL BE CALLED EVERY 2 SECONDS. # AOS = AOS + K*SUMRATE CS DAPBOOLS MASK DRIFTBIT CCS A TCF WORKTIME TS ALPHAQ # ZERO THE OFFSET ACCELERATION VALUES. TS ALPHAR TS AOSQTERM TS AOSRTERM TS AOSQ TS AOSR TCF PRETIMCK KAOS DEC 60 WORKTIME CA QACCDOT EXTEND MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6). DAS AOSQ CA AOSQ TS ALPHAQ EXTEND MP 200MS # .2 AT 1 TS AOSQTERM CA RACCDOT EXTEND MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6). DAS AOSR CA AOSR TS ALPHAR EXTEND MP 200MS # .2 AT 1 TS AOSRTERM TCF PRETIMCK # Page 1428 PAXFILT CA CALLGMBL # EXECUTE ACDT+C12, IF NEEDED. MASK RCSFLAGS CCS A # CALLGMBL IS NOT BIT15, SO THIS TEST IS TC ACDT+C12 # VALID. DXCH ARUPT DXCH DAPARUPT CA SUPERJOB # SETTING UP THE SUPERJOB XCH BRUPT LXCH QRUPT DXCH DAPBQRPT CA SUPERADR DXCH ZRUPT DXCH DAPZRUPT TCF NOQBRSM +1 # RELINT (JUST IN CASE) AND RESUME, IN THE # FORM OF A JASK, AT SUPERJOB. SUPERADR GENADR SUPERJOB +1 # COUNT DOWN GIMBAL DRIVE TIMERS AND TURN OFF DRIVES IF REQUIRED. SUPERJOB TCF RATELOOP PRETIMCK CCS QGIMTIMR TCF DECQTIMR # POSITIVE -- COUNTING DOWN TCF TURNOFFQ # NEGATIVE -- DRIVE SHOULD BE ENDED CHKRTIMR CCS RGIMTIMR # NEGATIVE -- INACTIVE TCF DECRTIMR # (NEG ZERO -- IMPOSSIBLE) TCF TURNOFFR # REPEATED (ABOVE) FOR R AXIS. EXTEND # DECREMENT DOCKED JET INHIBITION COUNTERS DIM PJETCTR EXTEND DIM UJETCTR EXTEND DIM VJETCTR CA BIT12 MASK RCSFLAGS EXTEND BZF SKIPPAXS TC CHKVISFZ DECQTIMR TS QGIMTIMR # COUNT TIMERS DOWN TO POS ZERO. TCF CHKRTIMR DECRTIMR TS RGIMTIMR TCF CHKRTIMR +3 TURNOFFQ TS NEGUQ # HALT DRIVES. TS QACCDOT CS QGIMBITS EXTEND # Page 1429 WAND CHAN12 CAF NEGMAX TS QGIMTIMR TCF CHKRTIMR TURNOFFR TS NEGUR TS RACCDOT CS RGIMBITS EXTEND WAND CHAN12 CAF NEGMAX TS RGIMTIMR TCF CHKRTIMR +3 QGIMBITS EQUALS OCT1400 # BITS 9 AND 10 (OF CHANNEL 12). RGIMBITS EQUALS PRIO6 # BITS 11 AND 12 (OF CHANNEL 12). SKIPPAXS CS RCSFLAGS MASK BIT12 ADS RCSFLAGS # BIT 12 SET TO 1. TCF QRAXIS # GO TO QRAXIS OR TO CTS. # Y-X TRANSLATION # # INPUT: BITS 9-12 OF CH31 (FROM TRANSLATION CONTROLLER) # # OUTPUT: NEXTP # # NEXTP IS THE CHANNEL 6 CODE OF JETS FOR THE DESIRED TRANSLATION. # IF THERE ARE FAILURES IN THE DESIRED POLICY, THEN # (1) FOR DIAGONAL TRANS: UNFAILED PAIR # ALARM (IF NO PAIR) # (2) FOR PRINCIPAL TRANS: TRY TO TACK WITH DIAGONAL PAIRS # ALARM (IF DIAGONAL PAIRS ARE FAILED) CHKVISFZ EXTEND READ CHAN31 CS A MASK 07400OCT EXTEND BZF TSNEXTP EXTEND MP BIT7 INDEX A CA INDXYZ TS ROTINDEX TRYUORV CA SIX TC SELECTYZ CS SIX AD NUMBERT EXTEND # Page 1430 BZF TSNEXTP -1 CS FIVE AD ROTINDEX EXTEND BZMF ALTERYZ CS NUMBERT AD FOUR EXTEND BZMF TSNEXTP -1 ABORTYZ TC ALARM OCT 02001 CA BIT1 # INVERT BIT 1 OF RCSFLAGS. LXCH RCSFLAGS EXTEND RXOR 1 TS RCSFLAGS CA ZERO TCF TSNEXTP ALTERYZ CA BIT1 # INVERT BIT 1 OF RCSFLAGS. LXCH RCSFLAGS EXTEND RXOR 1 TS RCSFLAGS MASK BIT1 AD FOUR ADS ROTINDEX TCF TRYUORV CA POLYTEMP TSNEXTP TS NEXTP # STATE LOGIC # CHECK IN ORDER: IF ON # LPDPHASE GO TO PURGENCY # PULSES MINIMUM PULSE LOTIC # DETENT(BIT15 CH31) RATE COMMAND # GOTO TO PURGENCY CA BIT13 # CHECK STICK IF IN ATT. HOLD. EXTEND RAND CHAN31 EXTEND BZF MANMODE CA DAPBOOLS MASK XOVINHIB CCS A TCF PURGENCY # ATTITUDE STEER DURING VISIBILITY PHASE TCF DETENTCK MANMODE CA PULSES # PULSES IS ONE FOR PULSE MODE MASK DAPBOOLS # Page 1431 EXTEND BZF DETENTCK # BRANCH FOR RATE COMMAND CA ZERO TS PERROR # MINIMUM IMPULSE MODE CA CDUX TS CDUXD CCS OLDPMIN TCF CHECKP FIREP CA BIT3 EXTEND RAND CHAN31 EXTEND BZF +XMIN CA BIT4 EXTEND RAND CHAN31 EXTEND BZF -XMIN TCF JETSOFF CHECKP EXTEND READ CHAN31 CS A MASK OCT14 TS OLDPMIN TCF JETSOFF -XMIN CS TEN # ANYTHING LESS THAN 14MS. CORRECTED TCF +2 # IN JET SELECTION ROUTINE +XMIN CA TEN TS TJP CA ONE TS OLDPMIN TCF PJETSLEC -6 # MANUAL RATE COMMAND MODE # ======================== # BY ROBERT F. STENGEL # # THIS MODE PROVIDES RCAH MANUAL CONTROL THRU 2 CONTROL LAWS: 1) DIRECT RATE AND 2) PSEUDO-AUTO. # THE DIRECT RATE MODE AFFORDS IMMEDIATE CONTROL WITHOUT OVERSHOOT. THE PSEUDO-AUTO MODE PROVIDES PRECISE # RATE CONTROL AND ATTITUDE HOLD. # # Page 1432 # IN DIRECT RATE, JETS ARE FIRED WHEN STICK POSITION CHANGES BY A FIXED NUMBER OF INCREMENTS IN ONE DAP CYCLE. # THE `BREAKOUT LEVEL' IS .6 D/S FOR LM-ONLY AND .3 D/S FOR CSM-DOCKED. THIS LAW NULLS THE RATE ERROR TO WITHIN # THE `TARGET DEADBAND', WHICH EQUALS THE BREAKOUT LEVEL. # # IN PSEUDO-AUTO, BODY-FIXED RATE AND ATTITUDE ERRORS ARE SUPPLIED TO TJETLAW, WHICH EXERCISES CONTROL. # CONTROL SWITCHES FROM DIRECT RATE TO PSEUDO-AUTO IF THE TARGET DB IS ACHIEVED OR IF TIME IN (1) EXCEEDS 4 SEC. # IF THE INITIAL COMMAND DOES NOT EXCEED THE BREAKOUT LEVEL, CONTROL GOES TO PSEUDO-AUTO IMMEDIATELY. # # SINCE P-AXIS CONTROL IS SEPARATE FROM Q,R AXES CONTROL, IT IS POSSIBLE TO USE (1) IN P-AXIS AND (2) IN Q,R AXES, # OR VICE VERSA. THIS ALLOWS A DEGREE OF ATTITUDE HOLD IN UNCONTROLLED AXES. DUE TO U,V CONTROL, HOWEVER, Q AND # R AXES ARE COUPLED AND MUST USE THE SAME CONTROL LAW. # # HAND CONTROLLER COMMANDS ARE SCALED BY A LINEAR/QUADRATIC LAW. FOR THE LM-ALONE, MAXIMUM COMMANDED RATES ARE 20 # AND 4 D/S IN NORMAL AND FINE SCALING; HOWEVER, STICK SENSITIVITY AT ZERO COUNTS (OBTAINED AT A STICK DEFLECTION # OF 2 DEGREES FROM THE CENTERED POSITION) IS .5 OR .1 D/S PER DEGREE. NORMAL AND FINE SCALINGS FOR THE CSM-DOCKED # CASE IS AUTOMATICALLY SET TO 1/10 THE ABOVE VALUES. SCALING IS DETERMINED IN ROUTINE 3. # # ZEROENBL ENABLES COUNTERS SO THEY CAN BE READ NEXT TIME # JUSTOUT FIRST DETECTION OF OUT OF DETENT (BY OURRCBIT) DETENTCK EXTEND READ CHAN31 TS CH31TEMP MASK BIT15 # CHECK OUT-OF-DETENT BIT. EXTEND BZF RHCMOVED # BRANCH IF OUT OF DETENT. CAF OURRCBIT # IN DETENT. CHECK THE RATE COMMAND BIT. MASK DAPBOOLS EXTEND BZF PURGENCY # BRANCH IF NOT IN RATE COMMAND LAST PASS. # ................................................................................ CA BIT9 # JUST IN DETENT?? MASK RCSFLAGS EXTEND BZF RUTH CAF BIT13 # CHECK FOR ATTITUDE HOLD. EXTEND RAND CHAN31 EXTEND BZF RATEDAMP # BRANCH IF IN ATTITUDE HOLD. CS BITS9,11 # IN AUTO. MASK RCSFLAGS # (X-AXIS OVERRIDE) TS RCSFLAGS # ZERO ORBIT (BIT 11) AND JUST-IN BIT (9). TCF RATEDAMP RUTH CA RCSFLAGS MASK PBIT # IN ATTITUDE HOLD. EXTEND BZF +2 # BRANCH IF P-RATE DAMPING IS FINISHED. TCF RATEDAMP # Page 1433 CA RCSFLAGS MASK QRBIT EXTEND BZF RATEDONE # BRANCH IF Q,R RATE DAMPING IS FINISHED. TCF RATEDAMP # ============================================ 1/10SEC OCT 1 40CYC OCT 50 PQRBIT OCT 74777 BITS9,11 EQUALS EBANK5 LINRATP DEC 46 # ============================================ RATEDONE CS OURRCBIT # MANUAL COMMAND AND DAMPING COMPLETED IN INHINT # ALL AXES. MASK DAPBOOLS TS DAPBOOLS # READ CDUS INTO CDU DESIRED REGISTERS CAF BIT13 EXTEND RAND CHAN31 EXTEND BZF +4 CA CDUX # (X-AXIS OVERRIDE) TS CDUXD TC +3 TC IBNKCALL FCADR ZATTEROR RELINT TCF PURGENCY TS PERROR JUSTOUT CA OURRCBIT # INITIALIZATION -- FIRST MANUAL PASS. ADS DAPBOOLS CA ZERO TS DXERROR TS DXERROR +1 TS DYERROR TS DYERROR +1 TS DZERROR TS DZERROR +1 TS PLAST TS QLAST TS RLAST TS Q-RHCCTR TS R-RHCCTR CA PQRBIT MASK RCSFLAGS TS RCSFLAGS # BITS 10 AND 11 OF RCSFLAGS ARE 0. # Page 1434 CS RCSFLAGS # SET 'JUST-IN' BIT TO 1. MASK BIT9 ADS RCSFLAGS TC ZEROENBL TCF JETSOFF ZEROENBL LXCH R-RHCCTR CA Q-RHCCTR DXCH SAVEHAND CA ZERO TS P-RHCCTR TS Q-RHCCTR TS R-RHCCTR CA BITS8,9 EXTEND WOR CHAN13 # COUNTERS ZEROED AND ENABLED TC Q RATEDAMP CA ZERO TS P-RHCCTR TCF RATERROR RHCMOVED CA OURRCBIT # P CONTROL MASK DAPBOOLS EXTEND BZF JUSTOUT -1 RATERROR CA CDUX # FINDCDUW REQUIRES THAT CDUXD=CDUX DURING TS CDUXD # X-AXIS OVERRIDE CCS P-RHCCTR TCF +3 TCF +2 TCF +1 DOUBLE # LINEAR/QUADRATIC CONTROLLER SCALING DOUBLE # (SEE EXPLANATION OF Q,R-AXES RCS AD LINRATP # AUTOPILOT) EXTEND MP P-RHCCTR CA L EXTEND MP STIKSENS XCH PLAST COM AD PLAST TS DAPTEMP1 TC ZEROENBL # INTERVAL. ZERO AND ENABLE ACA COUNTERS. CS PLAST AD OMEGAP TS EDOTP CCS DAPTEMP1 # IF P COMMAND CHANGE EXCEEDS BREAKOUT TCF +3 # LEVEL, GO TO DIRECT RATE CONTROL. IF NOT TCF +8D # CHECK FOR DIRECT RATE CONTROL LAST TIME. TCF +1 # Page 1435 AD -RATEDB EXTEND BZMF +4 CA 40CYC TS TCP TC PEGI CA RCSFLAGS # CHECK FOR DIRECT RATE COMMAND LAST TIME. MASK PBIT EXTEND BZF +2 TC PEGI # TO PURE RATE COMMAND CA DXERROR # PSEUDO-AUTO CONTROL. TS E # X-ATTITUDE ERROR (SP) TS PERROR # LOAD P-AXIS ERROR FOR MODE1 FDAI DISPLAY TC PURGENCY +4 PEGI CA CDUX # DIRECT RATE CONTROL. TS CDUXD CA ZERO TS DXERROR TS DXERROR +1 TS PERROR # ZERO P-AXIS ERROR FOR MODE1 FDAI DISPLAY CCS EDOTP TC +3 TC +2 TC +1 TS ABSEDOTP AD TARGETDB EXTEND # IF RATE ERROR IS LESS THAN DEADBANK, BZMF LAST # FIRE, AN SWITCH TO PSEUDO-AUTO. CA TCP EXTEND # IF TIME IN RATE COMMAND EXCEEDS 4 SEC. BZMF LAST CS RCSFLAGS MASK PBIT ADS RCSFLAGS # BIT 10 IS 1. TCF +4 LAST CS PBIT MASK RCSFLAGS TS RCSFLAGS # BIT 10 IS 0. CS EDOTP EXTEND MP 1/ANETP # 1/2JTACC SCALED AT 2EXP(7)/PI DAS A TC OVERSUB EXTEND MP 25/32 # A CONTAINS TJET SCALED AT 2EXP(4)(16/25) TS TJP # 4.JET TIME CA ABSEDOTP AD -2JETLIM # COMPARING DELTA RATE WITH 2 JET LIMIT EXTEND # Page 1436 BZMF +3 CA SIX TCF +8D CA TJP ADS TJP # GOES TO PJETSLEC FOR TWO JETS # P-JET-SELECTION-ROUTINE (ROTATION) # # INPUT: NUMBERT 4,5,6 FOR WHICH PAIR OR 4 JETS # TJP + FOR +P ROTATION # # OUTPUT: CHANNEL 6 # PJUMPADR FOR P-AXIS SKIP # (JTLST CALL) (SMALL TJP) # # ORDER OF POLICIES TRIED IN CASE OF FAILURE. # +P -P # 7,15 8,16 # 4,12 3,11 # 4,7 8,11 # 7,12 11,16 # 12,15 3,16 # 4,15 3,8 # ALARM ALARM CA AORBSYST MASK DAPBOOLS CCS A CA ONE AD FOUR TS NUMBERT PJETSLEC CA ONE TS L CCS TJP TCF +5 TCF JETSOFF TCF +2 TCF JETSOFF ZL AD ONE TS ABSTJ LXCH ROTINDEX TC SELECTP CS SIX AD NUMBERT EXTEND BZF +2 CS TWO # Page 1437 AD FOUR TS NO.PJETS CA POLYTEMP TC WRITEP CS ABSTJ AD +150MST6 EXTEND BZMF QRAXIS # GO TO QRAXIS OR TO GTS. AD -136MST6 EXTEND BZMF +5 ADS ABSTJ INDEX ROTINDEX CA MINTIMES TS TJP CA ABSTJ ZL INHINT DXCH T6FURTHA TC IBNKCALL CADR JTLST CS BIT12 MASK RCSFLAGS TS RCSFLAGS # BIT 12 SET TO 0. TC ALTSYST TCF QRAXIS ALTSYST CA DAPBOOLS # ALTERNATE P-AXIS JETS TS L CA AORBSYST EXTEND RXOR LCHAN TS DAPBOOLS RELINT TC Q DKALT TC ALTSYST JETSOFF TC WRITEP -1 CA ZERO TS TJP TCF QRAXIS # (NOTE -- M13 = 1 IDENTICALLY IMPLIES NULL MULTIPLICATION.) CALCPERR CA CDUY # P-ERROR CALCULATION. EXTEND MSU CDUYD # CDU VALUE -- ANGLE DESIRED (Y-AXIS) # Page 1438 EXTEND MP M11 # (CDUY-CDUYD)M11 SCALED AT PI RADIANS XCH E # SAVE FIRST TERM (OF TWO) CA CDUX # THIRD COMPONENT EXTEND MSU CDUXD # CDU VALUE -- ANGLE DESIRED (X-AXIS) # EXTEND # MP M13 AD DELPEROR # KALCMANU INTERFACE ERROR. ADS E # SAVE SUM OF TERMS. COULD BE OVERFLOW. XCH PERROR # SAVE P-ERROR FOR EIGHT-BALL DISPLAY. TC Q # RETURN TO CALLER # P-AXIS URGENCY FUNCTION CALCULATION. PURGENCY TC CALCPERR # CALCULATE P-AXIS ERRORS. CS OMEGAPD # THIS CODING IS COMMON TO BOTH LM DAP AND AD OMEGAP # SPS-BACKUP MODE. TS EDOTP # EDOTP = OMEGAP - OMEGAPD AT PI/4 RAD/SEC CS ONE TS AXISCTR CA DAPBOOLS MASK CSMDOCKD EXTEND BZF HEADTJET INHINT # IF CSMDOCKD = 1, GOT TO DOCKED RCS LOGIC TC IBNKCALL CADR SPSRCS CA TJP EXTEND BZF DKALT # IF TJP = ZERO, CHANGE AORBSYST. RELINT TCF PJETSLEC -6 # SELECT AORBSYST AND USE TWO JETS. HEADTJET CA ZERO TS SENSETYP INHINT TC IBNKCALL CADR TJETLAW RELINT CS FIREFCT AD -FOURDEG EXTEND BZMF PJETSLEC -6 CCS TJP TCF +2 TCF JETSOFF # Page 1439 AD -160MST6 EXTEND BZMF PJETSLEC -6 CA SIX TCF PJETSLEC -1 -160MST6 DEC -256 -FOURDEG DEC -.08888 # Page 1440 # JET POLICY CONSTRUCTION SUBROUTINE # # INPUT: ROTINDEX, NUMBERT # # OUTPUT: POLYTEMP (JET POLICY) # # THIS SUBROUTINE SELECT A SUBSET OF THE DESIRED JETS WHICH HAS NO FAILURE SELECTP CA SIX TS TEMPNUM INDEX NUMBERT CA TYPEP INDEX ROTINDEX MASK JETSALL TS POLYTEMP MASK CH6MASK CCS A TCF +2 TC Q CCS TEMPNUM TCF +4 TC ALARM OCT 02003 TCF JETSOFF # ********** TCF ALARMJET ********** SELECTYZ TS NUMBERT TCF SELECTP +1 -1 TCF ABORTYZ +2 JETSALL OCT 00252 OCT 00125 # +P OCT 00140 # -Y OCT 00006 # -Z OCT 00220 # +Y OCT 00011 # +Z OCT 00151 # +V TYPEP OCT 00146 # -U OCT 00226 # -V OCT 00231 # +U OCT 00151 # +V OCT 00132 # 1-3 OCT 00245 # 2-4 OCT 00377 # ALL INDXYZ = -136MST6 -136MST6 DEC -218 DEC 4 DEC 2 OCT 07776 DEC 5 DEC 9 DEC 10 OCT 07776 DEC 3 # Page 1441 DEC 8 DEC 7 OCT 07776 # THESE INDEXES OF MASK JETSALL WILL OCT 07776 # CHANGE THE INSTRUCTION AT SELECTP +4 OCT 07776 # TO BE TC JETSALL -1 OCT 07776 # ONLY USED FOR TRANSLATION FAILURE OCT 07776 +150MST6 DEC 240 07400OCT OCT 07400 # T-JET LAW FIXED CONSTANTS NORMSCL OCT 266 -100MS DEC -.1 200MS DEC .2 25/32 = PRIO31 # (DEC .78125) BITS8,9 OCTAL 00600 1/40 DEC .02500 MINTIMES DEC -22 DEC 22 PSKIPADR GENADR SKIPPAXS # GOES TO Q,R-AXES RCS AUTOPILOT QRAXIS CS OMEGARD AD OMEGAR TC OVERSUB TS EDOTR CS OMEGAQD AD OMEGAQ TC OVERSUB TS EDOTQ EXTEND DCA QERRCALL DTCB EBANK= AOSQ QERRCALL 2CADR CALLQERR ================================================ FILE: Luminary099/P12.agc ================================================ # Copyright: Public domain. # Filename: P12.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Hartmuth Gutsche . # Website: www.ibiblio.org/apollo. # Pages: 838-842 # Mod history: 2009-05-23 HG Transcribed from page images. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 838 BANK 24 SETLOC P12 BANK EBANK= DVCNTR COUNT* $$/P12 P12LM TC PHASCHNG OCT 04024 TC BANKCALL CADR R02BOTH # CHECK THE STATUS OF THE IMU. TC UPFLAG ADRES MUNFLAG TC UPFLAG # INSURE 4-JET TRANSLATION CAPABILITY. ADRES ACC4-2FL TC UPFLAG # PREVENT R10 FROM ISSUING CROSS-POINTER ADRES R10FLAG # OUTPUTS. TC CLRADMOD # INITIALIZE RADMODES FOR R29. TC DOWNFLAG # CLEAR RENDEZVOUS FLAG FOR P22 ADRES RNDVZFLG CAF THRESH2 # INITIALIZE DVMON TS DVTHRUSH CAF FOUR TS DVCNTR CA ZERO TS TRKMKCNT # SHOW THAT R29 DOWNLINK DATA ISN'T READY. CAF V06N33A TC BANKCALL # FLASH TIG CADR GOFLASH TCF GOTOPOOH TCF +2 # PROCEED TCF -5 # ENTER TC PHASCHNG OCT 04024 TC INTPRET CALL # INITIALZE WM AND /LAND/ GUIDINIT SET CALL FLPI P12INIT # Page 839 P12LMB DLOAD (TGO)A # SET TGO TO AN INITIAL NOMINAL VALUE. STODL TGO TIG STCALL TDEC1 LEMPREC # ROTATE THE STATE VECTORS TO THE VLOAD MXV # IGNITION TIME. VATT REFSMMAT VSL1 STOVL V1S # COMPUTE V1S = VEL(TIG)*2(-7)M/CS. RATT MXV VSL6 REFSMMAT STCALL R # COMPUTE R = POS(TIG)*2(-24)M. MUNGRAV # COMPUTE GDT1/2(TIG)*2(-7)M/CS. VLOAD UNIT R STCALL UNIT/R/ # COMPUTE UNIT/R/ FOR YCOMP. YCOMP SR DCOMP 5D STODL XRANGE # INITIALIZE XRANGE FOR NOUN 76. VINJNOM STODL ZDOTD RDOTDNOM STORE RDOTD EXIT TC PHASCHNG OCT 04024 NEWLOAD CAF V06N76 # FLASH CROSS-RANGE, AND APOLUNE VALUES. TC BANKCALL CADR GOFLASH TCF GOTOPOOH TCF +2 # PROCEED TCF NEWLOAD # ENTER NEW DATA. CAF P12ADRES TS WHICH TC PHASCHNG OCT 04024 TC INTPRET DLOAD SL XRANGE 5D DAD # Page 840 Y STOVL YCO UNIT/R/ VXSC VAD 49FPS V1S STORE V # V(TIPOVER) = V(IGN) + 57FPS (UNIT/R/) DOT SL1 UNIT/R/ STOVL RDOT # RDOT * 2(-7) UNIT/R/ VXV UNIT QAXIS STORE ZAXIS1 SETGO FLVR ASCENT P12RET DLOAD ATP # ATP(2)*2(18) DSQ PDDL ATY # ATY(2)*2(18) DSQ DAD BZE SQRT YAWDUN SL1 BDDV ATY ARCSIN YAWDUN STOVL YAW UNFC/2 UNIT DOT UNIT/R/ SL1 ARCCOS DCOMP STORE PITCH EXIT TC PHASCHNG OCT 04024 TC DOWNFLAG ADRES FLPI INHINT TC IBNKCALL CADR PFLITEDB RELINT TC POSTJUMP CADR BURNBABY P12INIT DLOAD # INITIALIZE ENGINE DATA. USED FOR P12 AND # Page 841 (1/DV)A # P71. STORE 1/DV3 STORE 1/DV2 STODL 1/DV1 (AT)A STODL AT (TBUP)A STODL TBUP ATDECAY DCOMP SL 11D STORE TTO SLOAD DCOMP APSVEX SR2 STORE VE BOFF RVQ FLAP COMMINIT COMMINIT DLOAD DAD # INITIALIZE TARGET DATA. USED BY P12, P70 HINJECT # AND P71 IF IT DOES NOT FOLLOW P70. /LAND/ STODL RCO HI6ZEROS STORE TXO STORE YCO STORE RDOTD STOVL YDOTD VRECTCSM VXV MXV RRECTCSM REFSMMAT UNIT STORE QAXIS RVQ P12ADRES REMADR P12TABLE SETLOC P12A BANK COUNT* $$/P12 GUIDINIT STQ SETPD TEMPR60 0D VLOAD PUSH UNITZ RTB PUSH LOADTIME CALL RP-TO-R # Page 842 MXV VXSC REFSMMAT MOONRATE STOVL WM RLS ABVAL SL3 STCALL /LAND/ TEMPR60 49FPS 2DEC .149352 B-6 # EXPECTED RDOT AT TIPOVER VINJNOM 2DEC 16.7924 B-7 # 5509.5 FPS(APO=30NM WITH RDOT=19.5FPS) RDOTDNOM 2DEC .059436 B-7 # 19.5 FPS ================================================ FILE: Luminary099/P20-P25.agc ================================================ # Copyright: Public domain. # Filename: P20-P25.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Onno Hommes . # Website: www.ibiblio.org/apollo. # Pages: 0492-0613 # Mod history: 2009-05-26 OH Transcribed from page images. # 2009-06-05 RSB Corrected a typos. # 2009-06-06 RSB Added a missing instruction, and a block # of 3 missing instructions. # 2009-06-07 RSB Fixed a misprint. # 2009-06-07 RSB Changed the construct "2DEC E-6 B12" # (which isn't legal in yaYUL) to # "2DEC 1.0 E-6 B12". # 2011-05-07 JL Removed workarounds. # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 492 # RENDEZVOUS NAVIGATION PROGRAM 20 # # PROGRAM DESCRIPTION # # MOD NO -- 2 # BY P. VOLANTE # # FUNCTIONAL DESCRIPTION # # THE PURPOSE OF THIS PROGRAM IS TO CONTROL THE RENDEZVOUS RADAR FROM # STARTUP THROUGH ACQUISITION AND LOCKON TO THE CSM AND TO UPDATE EITHER # THE LM OR CSM STATE VECTOR (AS SPECIFIED BY THE ASTRONAUT BY DSKY ENTRY) # ON THE BASIS OF THE RR TRACKING DATA. # # CALLING SEQUENCE -- # # ASTRONAUT REQUEST THROUGH DSKY V37E20E # # SUBROUTINES CALLED # # R02BOTH (IMU STATUS CHECK) FLAGUP # GOFLASH (PINBALL-DISPLAY) FLAGDOWN # R23LEM (MANUAL ACQUISITION) BANKCALL # LS201 (LOS DETERMINATION) TASKOVER # LS202 (RANGE LIMIT TEST) # R61LEM (PREFERRED TRACKING ATTITUDE) # R21LEM (RR DESIGNATE) ENDOFJOB # R22LEM (DATA READ) GOPERF1 # R31LEM (RENDEZVOUS PARAMETER DISPLAY) # PRIOLARM (PRIORITY DISPLAY) # # NORMAL EXIT MODES -- # # P20 MAY BE TERMINATED IN TWO WAYS -- ASTRONAUT SELECTION OF IDLING # PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E # # ALARM OR ABORT EXIT MODES -- # # RANGE GREATER THAN 400 NM DISPLAY # # OUTPUT # # TRKMKCNT = NO OF RENDEZVOUS TRACKING MARKS TAKEN (COUNTER) # # ERASABLE INITIALIZATION REQUIRED # # FLAGS SET + RESET # # SRCHOPT, RNDVZFLG, ACMODFLG, VEHUPFLG, UPDATFLG, TRACKFLG # # DEBRIS # # CENTRALS -- A,Q,L SBANK= LOWSUPER # FOR LOW 2CADR'S. BANK 33 SETLOC P20S BANK EBANK= LOSCOUNT COUNT* $$/P20 PROG22 = PROG20 PROG20 TC 2PHSCHNG OCT 4 OCT 05022 OCT 26000 # PRIORITY 26 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE # Page 493 TC ORBCHGO # YES TC PROG20A -2 # NO -- CONTINUE WITH P20 ORBCHGO TC UPFLAG # SET VEHUPFLG -- CSM STATE ADRES VEHUPFLG # VECTOR TO BE UPDATED CAF ONE # SET R2 FOR OPTION CSM WILL NOT TS OPTION2 # CHANGE PRESENT ORBIT CAF OCT00012 TC BANKCALL # DISPLAY ASSUMED CSM ORBIT OPTION CADR GOPERF4 TC GOTOPOOH # TERMINATE TC ORBCHG1 # PROCEED VALUE OF ASSUMED OPTION OK TC -5 # R2 LOADED THRU DSKY ORBCHG1 CS P22ONE AD OPTION2 EXTEND BZF PROG20A CAF V06N33* TC BANKCALL # FLASH VERB-NOUN TO REQUEST ESTIMATED CADR GOFLASH # TIME OF LAUNCH TC GOTOPOOH # TERMINATE TC ORBCHG2 # PROCEED VALUES OK TC -5 # TIME LOADED THRU DSKY ORBCHG2 TC INTPRET GOTO ORBCHG3 BANK 32 SETLOC P20S4 BANK COUNT* $$/P20 ORBCHG3 CALL INTSTALL DLOAD TIG STORE LNCHTM STORE TDEC1 # ESTIMATED LAUNCH TIME CLEAR CLEAR VINTFLAG # LM INTEGRATION INTYPFLG # PRECISION -- ENCKE CLEAR CLEAR DIM0FLAG # NO W-MATRIX D6OR9FLG CALL INTEGRV # PLANETARY INERTIAL ORIENTATION CALL GRP2PC VLOAD RATT1 STODL RSUBL # SAVE LM POSITION TAT # Page 494 STCALL TDEC1 INTSTALL SET CLEAR VINTFLAG # CSM INTEGRATION INTYPFLG CLEAR BOFF DIM0FLAG RENDWFLG # W MATRIX VALID NOWMATX # NO SET SET # YES -- SET FOR W MATRIX DIM0FLAG D6OR9FLG NOWMATX CALL INTEGRV # CSM INTEGRATION CALL GRP2PC VLOAD VATT1 STOVL VSUBC # SAVE CSM POSITION RATT1 STORE RSUBC # SAVE CSM POSITION VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE VSUBC # NSUB1=UNIT(R(CM) CROSS V(CM)) STOVL 20D # SAVE NSUB1 RSUBL # COMPUTE ESTIMATED ORBITAL VXV UNIT # PLANE CHANGE 20D # UCSM = UNIT(R(LM) CROSS NSUB1) STOVL UCSM RSUBC # COMPUTE ANGLE BETWEEN UCSM UNIT DOT # AND RSUBC UCSM # COS A = UCSM DOT UNIT (R(CM)) SL1 STORE CSTH # SAVE DOE TIME-THETA SUBROUTINE DSQ BDSU # COMPUTE SINE A ONEB-2 SQRT STOVL SNTH # SAVE FOR TIME-THETA SUBROUTINE RSUBC # POSITION OF CSM AT EST. LAUNCH STOVL RVEC # TIME FOR TIME-THETHA B-27 VSUBC # VELOCITY OF CSM AT EST. LAUNCH. VCOMP STORE VVEC # TIME FOR TIME THETA B-5 CLEAR CALL RVSW TIMETHET VCOMP STORE NEWVEL # TERMINAL VELOCITY OF CSM DLOAD T STOVL TRANSTM # TRANSFER TIME # Page 495 NEWVEL ABVAL STOVL 20D 0D STORE NEWPOS # TERMINAL POSITION OF CSM VXV UNIT # COMPUTE NORMAL TO SCM ORBITAL PLANE RSUBL # NSUB2 = UNIT(NEWPOS CROSS R(LM)) VXV UNIT # ROTATE TERMINAL VEL INTO DESIRED NEWPOS # ORBITAL PLANE VXSC VSL1 # VSUBC = ABVAL(NEWVEL) $ UNIT (NSUB2 20D STCALL NCSMVEL # NEW CSM VELOCITY GRP2PC CALL INTSTALL DLOAD BDSU TRANSTM # LAUNCH TIME -- TRANSFER TIME LNCHTM STOVL TET NEWPOS STORE RCV STOVL RRECT NCSMVEL STCALL VRECT MINIRECT AXT,2 CALL 2 ATOPCSM CALL INTWAKE0 EXIT TC BANKCALL CADR PROG20A BANK 24 SETLOC P20S BANK COUNT* $$/P20 TC DOWNFLAG # RESET VEHUPFLG -- LM STATE VECTOR ADRES VEHUPFLG # TO BE UPDATED PROG20A TC BANKCALL CADR R02BOTH TC UPFLAG ADRES UPDATFLG # SET UPDATE FLAG TC UPFLAG ADRES TRACKFLG # SET TRACK FLAG TC UPFLAG ADRES RNDVZFLG # SET RENDEZVOUS FLAG TC DOWNFLAG ADRES SRCHOPTN # INSURE SEARCH OPTION OFF # Page 496 TC DOWNFLAG # ALSO MANUAL ACQUISITION FLAG RESET ADRES ACMODFLG TC DOWNFLAG # TURN OFF R04FLAG TO ENSURE GETTING ADRES R04FLAG # ALARM 521 IF CAN'T READ RADAR TC DOWNFLAG # ENSURE R25 GIMBAL MONITOR IS ENABLED ADRES NORRMON # (RESET NORRMON FLAG) TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG ADRES LOSCMFLG TC CLRADMOD P20LEM1 TC PHASCHNG OCT 04022 CAF ZERO # ZERO MARK COUNTER TS MARKCTR TC INTPRET # LOS DETERMINATION ROUTINE RTB LOADTIME STCALL TDEC1 LPS20.1 CALL LPS20.2 # TEST RANGE R/UTINE EXIT INDEX MPAC TC +1 TC P20LEMA # NORMAL RETURN WITHIN 400 N M 526ALARM CAF ALRM526 # ERROR EXIT -- RANGE > 400 N. MI. TC BANKCALL CADR PRIOLARM TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING TC -4 # PROC (ILLEGAL) TC P20LEM1 # ENTER RECYCLE TC ENDOFJOB P20LEMA TC PHASCHNG OCT 04022 TC LUNSFCHK # CHECK LUNAR SURFACE FLAG (P22 FLAG) TC P20LEMB TC BANKCALL CADR R61LEM # PREFERRED TRACKING ATTITUDE ROUTINE P20LEMB TC PHASCHNG OCT 05022 # RESTART AT PRIORITY 10 TO ALLOW V37 OCT 10000 # REQUESTED PROGRAM TO RUN FIRST CAF PRIO26 # RESTORE PRIORITY 26 TC PRIOCHNG CA FLAGWRD1 # IS THE TRACK FLAG SET MASK TRACKBIT EXTEND BZF P20LEMWT # BRANCH -- NO -- WAIT FOR IT TO BE SET P20LEMB7 CAF BIT2 # IS RR AUTO MODE DISCRETE PRESENT EXTEND # Page 497 RAND CHAN33 EXTEND BZF P20LEMB3 # YES -- DO AUTOMATIC ACQUISITION (R21) P20LEMB5 CS OCT24 # RADAR NOT IN AUTO CHECK IF AD MODREG # MAJOR MODE IS 20 EXTEND BZF P20LEMB6 # BRANCH -- YES -- OKAY TO DO PLEASE PERFORM AD NEG2 # ALSO CHECK FOR P22 EXTEND BZF P20LEMB6 # BRANCH -- YES OK TO DO PLEASE PERFORM CAF ALRM514 # TRACK FLAG SET -- FLASH PRIORITY ALARM 514 -- TC BANKCALL # RADAR GOES OUT OF AUTO MODE WHILE IN USE CADR PRIOLARM TC GOTOV56 # TERMINATE EXITS VIA V56 TC P20LEMB # PROCEED AND ENTER BOTH GO BACK TC P20LEMB # TO CHECK AUTO MODE AGAIN TC ENDOFJOB P20LEMB6 CAF OCT201 # REQUEST RR AUTO MODE SELECTION TC BANKCALL CADR GOPERF1 TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING TC P20LEMB # PROCEED CHECKS AUTO MODE DISCRETE AGAIN TC LUNSFCHK # ENTER INDICATES MANUAL ACQUISITION (R23) TC P20LEMB2 # YES -- R23 NOT ALLOWED -- TURN ON OPR ERROR TC R23LEM # NO -- DO MANUAL ACQUISITION P20LEMB1 TC UPFLAG # RETURN FROM R23 -- LOCKON ACHIEVED ADRES ACMODFLG # SET MANUAL FLAG AND GO BACK TO CHECK TC P20LEMB # RR AUTO MODE P20LEMB2 TC FALTON # TURNS ON OPERATOR ERROR LIGHT ON DSKY TC P20LEMB # AND GOES BACK TO CHECK AUTO MODE P20LEMB3 CS RADMODES # ARE RR CDUS BEING ZEROED MASK RCDU0BIT EXTEND BZF P20LEMB4 # BRANCH -- YES -- WAIT CAF BIT13-14 # IS SEARCH OR MANUAL ACQUISITION FLAG SET MASK FLAGWRD2 EXTEND BZF P20LEMC3 # ZERO MEANS AUTOMATIC RR ACQUISITION TC DOWNFLAG # RESET TO AUTO MODE ADRES SRCHOPTN # Page 498 TC DOWNFLAG ADRES ACMODFLG TC P20LEMWT # WAIT 2.5 SECONDS THEN GO TO RR DATA READ P20LEMB4 CAF 250DEC TC BANKCALL # WAIT 2.5 SECONDS WHILE RR CDUS ARE BEING CADR DELAYJOB # ZEROED -- THEN GO BACK AND CHECK AGAIN TC P20LEMB3 P20LEMC3 TC INTPRET RTB LOADTIME STCALL TDEC1 UPPSV P20LEMC4 EXIT P20LEMC TC PHASCHNG OCT 04022 CAE FLAGWRD0 # IS THE RENDEZVOUS FLAG SET MASK RNDVZBIT EXTEND BZF ENDOFJOB # NO -- EXIT P20 CAE FLAGWRD1 # IS TRACK FLAG SET (BIT 5 FLAGWORD 1) MASK TRACKBIT EXTEND BZF P20LEMD # BRANCH -- TRACK FLAG NOT ON -- WAIT 15 SECONDS P20LEMF TC R21LEM P20LEMWT CAF 250DEC TC TWIDDLE # USE INSTEAD OF WAITLIST SINCE SAME BANK ADRES P20LEMC1 # WAIT 2.5 SECONDS CAE FLAGWRD1 # IS TRACK FLAG SET MASK TRACKBIT EXTEND BZF ENDOFJOB # NO -- EXIT WITHOUT DOING 2.7 PHASE CHANGE P20LMWT1 TC PHASCHNG OCT 40072 TC ENDOFJOB P20LEMC1 CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET MASK RNDVZBIT EXTEND BZF TASKOVER # NO -- EXIT P20/R22 CAE FLAGWRD1 # IS TRACK FLAG SET MASK TRACKBIT EXTEND BZF P20LEMC2 # NO -- DON'T SCHEDULE R22 JOB # Page 499 CAF PRIO26 # YES -- SCHEDULE R22 JOB (RR DATA READ) TC FINDVAC EBANK= LOSCOUNT 2CADR R22LEM42 TC TASKOVER P20LEMC2 TC FIXDELAY # TRACK FLAG NOT SET, WAIT 15 SECONDS DEC 1500 # AND CHECK AGAIN TC P20LEMC1 P20LEMD CAF 1500DEC TC TWIDDLE # WAITLIST FOR 15 SECONDS ADRES P20LEMD1 TC ENDOFJOB P20LEMD1 CAE FLAGWRD1 # IS TRACK FLAG SET MASK TRACKBIT CCS A TCF P20LEMD2 # YES -- SCHEDULE DESIGNATE JOB TC FIXDELAY # NO -- WAIT 15 SECONDS DEC 1500 TC P20LEMD1 P20LEMD2 CAF PRIO26 # SCHEDULE JOB TO DO R21 TC FINDVAC EBANK= LOSCOUNT 2CADR P20LEMC3 # START AT PERM. MEMORY INTEGRATION TC TASKOVER 250DEC DEC 250 ALRM526 OCT 00526 OCT201 OCT 00201 ALRM514 OCT 514 MAXTRIES DEC 60 OCT00012 OCT 00012 P22ONE OCT 00001 ONEB-2 2DEC 1.0 B-2 V06N33* VN 0633 UPPSV STQ CALL # UPDATES PERMANENT STATE VECTORS LS21X # TO PRESENT TIME INTSTALL CALL # Page 500 SETIFLGS BOF SET # IF W-MATRIX INVALID, DON'T INTEGRATE IT RENDWFLG UPPSV1 DIM0FLAG # SET DIM0FLAG TO INTEGRATE W-MATRIX BON SET SURFFLAG # IF ON LUNAR SURFACE W IS 6X6 UPPSV5 D6OR9FLG # OTHERWISE 9X9 UPPSV5 BOF VEHUPFLG UPPSV3 UPPSV1 SET VINTFLAG CALL INTEGRV CALL # GROUP 2 PHASE CHANGE GRP2PC # TO PROTECT INTEGRATION CALL INTSTALL DLOAD CLEAR # GET TETCSM TO STORE IN TDEC FOR LM INT. TETCSM VINTFLAG UPPSV4 CALL # INTEGRATE OTHER VEHICLE SETIFLGS # WITHOUT W-MATRIX STCALL TDEC1 INTEGRV BOFF VLOAD SURFFLAG P20LEMC4 RCVLEM VSR2 STOVL LMPOS VCVLEM VSR2 STORE LMVEL GOTO LS21X UPPSV3 CLEAR CALL VINTFLAG INTEGRV CALL GRP2PC CALL INTSTALL SET DLOAD VINTFLAG TETLEM # GET TETLEM TO STORE IN TDEC FOR CSM INT. # Page 501 GOTO UPPSV4 EBANK= LOSCOUNT COUNT* $$/P22 # Page 502 # PROGRAM DESCRIPTION # # PREFERRED TRACKING ATTITUDE PROGRAM P25 # MOD NO -- 3 # BY P. VOLANTE # # FUNCTIONAL DESCRIPTION # # THE PURPOSE OF THIS PROGRAM IS TO COMPUTE THE PREFERRED TRACKING # ATTITUDE OF THE LM TO CONTINUOUSLY POINT THE LM TRTACKING BEACON AT THE # CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED TRACKING ATTITUDE AND # CONTINUOUSLY MAINTAIN THIS ATTITUDE WITHIN PRESCRIBED LIMITS. # # CALLING SEQUENCE -- # # ASTRONAUT REQUEST THROUGH DSKY V37E25E # # SUBROUTINES CALLED -- # # BANKCALL FLAGUP # R02BOTH (IMU STATUS CHECK) ENDOFJOB # R61LEM (PREF TRK ATT ROUT) WAITLIST # TASKOVER FINDVAC # # NORMAL EXIT MODES -- # # P25 MAY BE TERMINATED IN TWO WAYS -- ASTRONAUT SELECTION OF IDLING # PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E # # ALARM OR ABORT EXIT MODES -- # # NONE # # OUTPUT # # ERASABLE INITIALIZATION REQUIRED # # FLAGS SET + RESET # # TRACKFLG, P25FLAG # # DEBRIS # # NONE EBANK= LOSCOUNT COUNT* $$/P25 PROG25 TC 2PHSCHNG OCT 4 # MAKE GROUP 4 INACTIVE (VERB 37) OCT 05022 OCT 26000 # PRIORITY 26 TC BANKCALL CADR R02BOTH # IMU STATUS CHECK TC UPFLAG ADRES TRACKFLG # SET TRACK FLAG TC UPFLAG ADRES P25FLAG # SET P25FLAG P25LEM1 TC PHASCHNG OCT 04022 CAF P25FLBIT MASK STATE # IS P25FLAG SET EXTEND BZF ENDOFJOB CAF TRACKBIT # IS TRACKFLAG SET? MASK STATE +1 EXTEND # Page 503 BZF P25LMWT1 # NO -- SKIP PHASE CHANGE AND WAIT 1 MINUTE CAF SEVEN # CALL R65 -- FINE PREFERRED TS R65CNTR TC BANKCALL # TRACKING ATTITUDE ROUTINE CADR R65LEM TC P25LEM1 # THEN GO CHECK FLAGS P25LEMWT TC PHASCHNG OCT 00112 P25LMWT1 CAF 60SCNDS TC TWIDDLE # WAIT ONE MINUTE THEN CHECK AGAIN ADRES P25LEM2 TC ENDOFJOB P25LEM2 CAF PRIO14 TC FINDVAC EBANK= LOSCOUNT 2CADR P25LEM1 TC TASKOVER 60SCNDS DEC 6000 # Page 504 # DATA READ ROUTINE 22 (LEM) # PROGRAM DESCRIPTION # # MOD NO -- 2 # BY P. VOLANTE # # FUNCTIONAL DESCRIPTION # # TO PROCESS AUTOMATIC RR MARK DATA TO UPDATE THE STATE VECTOR OF EITHER # LM OR CSM AS DEFINED IN THE RENDEZVOUS NAVIGATION PROGRAM (P20) # # CALLING SEQUENCE -- # # TC BANKCALL # CADR R22LEM # # SUBROUTINES CALLED -- # # LSR22.1 GOFLASH WAITLIST # LSR22.2 PRIOLARM BANKCALL # LSR22.3 R61LEM # # NORMAL EXIT MODES -- # # R22 WILL CONTINUE TO RECYCLE, UPDATING STATE VECTORS WITH RADAR DATA # UNTIL P20 CEASES TO OPERATE (RENDEZVOUS FLAG SET TO ZERO) AT WHICH TIME # R22 WILL TERMINATE SELF. # # ALARM OR ABORT EXIT MODES -- # # PRIORITY ALARM # PRIORITY ALARM 525 LOS NOT WITHIN 3 DEGREE LIMIT # # OUTPUT # # SEE OUTPUT FROM LSR22.3 # # ERASABLE INITIALIZATION REQUIRED # # SEE LSR22.1, LSR22.2, LSR22.3 # # FLAGS SET + RESET # # NOANGFLG # # DEBRIS # # SEE LSR22.1, LSR22.2, LSR22.3 EBANK= LRS22.1X COUNT* $$/R22 R22LEM TC PHASCHNG OCT 04022 CAF RNDVZBIT # IS RENDEZVOUS FLAG SET? MASK STATE EXTEND BZF ENDOFJOB # NO -- EXIT R22 AND P20 CAF TRACKBIT # IS TRACKFLAG SET? MASK STATE +1 EXTEND BZF R22WAIT # NO WAIT R22LEM12 CAF BIT14 # IS RR AUTO TRACK ENABLE DISCRETE STILL EXTEND # ON (A MONITOR REPOSITION BY R25 CLEARS IT) RAND CHAN12 EXTEND BZF P20LEMA # NO -- RETURN TO P20 CAF BIT2 # YES EXTEND # IS RR AUTO MODE DISCRETE PRESENT RAND CHAN33 # Page 505 EXTEND BZF +2 # YES CONTINUE TC P20LEMB5 # NO -- SET IT CS RADMODES # ARE RR CDUS BEING ZEROED MASK RCDU0BIT EXTEND BZF R22LEM42 # CDUS BEING ZEROED TC PHASCHNG # IF A RESTART OCCURS, AND EXTRA RADAR OCT 00152 # READING IS TAKEN, SO BAD DATA ISN'T USED TC BANKCALL # YES READ DATA + CALCULATE LOS CADR LRS22.1 # DATA READ SUBROUTINE INDEX MPAC TC +1 TC R22LEM2 # NORMAL RETURN (GOOD DATA) TC P20LEMC # COULD NOT READ RADAR -- TRY TO REDESIGNATE CAF ALRM525 # RR LOS NOT WITHIN 3 DEGREES (ALARM) TC BANKCALL CADR PRIOLARM TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING TC R22LEM1 # PROC (DISPLAY DELTA THETA) TC -5 # ENTER (ILLEGAL OPTION) TC ENDOFJOB R22LEM1 TC PHASCHNG OCT 04022 CAF V06N05 # DISPLAY DELTA THETA TC BANKCALL CADR PRIODSP TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING TC R22LEM2 # PROC (OK CONTINUE) TC P20LEMC # ENTER (RECYCLE) R22LEM2 TC PHASCHNG OCT 04022 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET) TC R22LEM3 # YES -- BYPASS FLAG CHECKS AND LRS22.2 CA FLAGWRD1 # IS TRACK FLAG SET MASK TRACKBIT EXTEND BZF R22WAIT # NO -- WAIT TC BANKCALL # YES CADR LRS22.2 # CHECKS RR BORESIGHT WITHIN 30 DEG OF +Z INDEX MPAC TC +1 TC R22LEM3 # NORMAL RETURN (LOS WITHIN 30 OF Z-AXIS) TC BANKCALL CADR R61LEM TC R22WAIT # NOT WITHIN 30 DEG OF Z-AXIS R22LEM3 CS FLAGWRD1 # SHOULD WE BYPASS STATE VECTOR UPDATE MASK NOUPFBIT # (IS NO UPDATE FLAG SET?) # Page 506 EXTEND BZF R22LEM42 # BRANCH -- YES CA FLAGWRD1 # IS UPDATE FLAG SET MASK UPDATBIT EXTEND BZF R22LEM42 # UPDATE FLAG NOT SET CAF PRIO26 # INSURE HIGH PRIO IN RESTART TS PHSPRDT2 TC INTPRET GOTO LSR22.3 R22LEM93 EXIT # NORMAL EXIT FROM LSR22.3 TC PHASCHNG # PHASE CHANGE TO PROTECT AGAINST OCT 04022 # CONFLICT WITH GRP2PC ERASEABLE TCF R22LEM44 R22LEM96 EXIT CAF ZERO # SET N49FLAG = ZERO TO INDICATE TS N49FLAG # V06 N49 DISPLAY HASN'T BEEN ANSWERED TC PHASCHNG OCT 04022 # TO PROTECT DISPLAY CAF PRIO27 # PROTECT DISPLAY TC NOVAC EBANK= N49FLAG 2CADR N49DSP TC INTPRET SLOAD N49FLAG BZE BMN # LOOP TO CHECK IF FLAG -3 # SETTING CHANGED -- BRANCH -- NO R22LEM7 # PROCEED EXIT # DISPLAY ANSERED BY RECYCLE TC LUNSFCHK # ARE WE ON LUNAR SURFACE TC R22WAIT # YES -- 15 SECOND DELAY CA ZERO # NO -- SET R65COUNTER = 0, DO FINE TC R22LEM45 # TRACKING TAKE ANOTHER RADAR READING R22LEM7 CALL # PROCEED GRP2PC # PHASE CHANGE AND GOTO # GO TO INCOPORATE DATA. ASTOK R22LEM44 INCR MARKCTR # INCREMENT COUNT OF MARKS INCORPORATED. TC LUNSFCHK # ARE WE ON LUNAR SURFACE TC R22LEM46 # YES -- WAIT 2 SECONDS CA FIVE # NOT ON LUNAR SURFACE TC R22LEM45 # R65COUNTER = 5 R22LEM42 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET) TC R22LEM46 # YES -- WAIT 2 SECONDS CA TWO # NO -- SET R65COUNTER = 2 R22LEM45 TS R65CNTR # Page 507 TC BANKCALL CADR R65LEM # FINE PREFERRED TRACKING ATTITUDE TC R22LEM R22WAIT CAF 1500DEC TC P20LEMWT +1 R22LEM46 CAF 2SECS TC BANKCALL # WAIT 2 SECONDS AND TAKE ANOTHER MARK CADR DELAYJOB TC R22LEM N49DSP CAF V06N49NB TC BANKCALL # EXCESSIVE STATE VECTOR UPDATE -- FLASH CADR PRIODSP # VERB 06 NOUN 49 R1=DELTA R, R2=DELTA V TC GOTOV56 # TERMINATE -- EXIT R22 AND P20 CS ONE # PROCEED -- N49FLAG = -1 TS N49FLAG # RECYCLE -- N49FLAG = + VALUE TC ENDOFJOB R22RSTRT TC PHASCHNG # IF A RESTART OCCURS WHILE READING RADAR OCT 00152 # COME HERE TO TAKE A RANGE-RATE READING TC BANKCALL # WHICH ISN'T USED TO PREVENT TAKING A BAD CADR RRRDOT # READING AND TRYING TO INCORPORATE THE TC BANKCALL # BAD DATA CADR RADSTALL # WAIT FOR READ COMPLETE TC P20LEMC # COULD NOT READ RADAR -- TRY TO REDISGNATE TC R22LEM # READ SUCCESSFUL -- CONTINUE AT R22 ALRM525 OCT 00525 V06N05 VN 00605 V06N49NB VN 00649 1500DEC DEC 1500 # LUNSFCHECK -- CLOSED SUBROUTINE TO CHECK IF ON LUNAR SURFACE (P22FLAG) # RETURNS TO CALLER +1 IF P22FLAG SET # TO CALLER +2 IF P22FLAG NOT SET COUNT* $$/P22 LUNSFCHK CS FLAGWRD8 # CHECK IF ON LUNAR SURFACE MASK SURFFBIT # IS SURFFLAG SET? CCS A # BRANCH -- P22FLAG SET INCR Q # NOT SET TC Q # RETURN # Page 508 # RR DESIGNATE ROUTINE (R21LEM) # PROGRAM DESCRIPTION # # MOD NO -- 2 # BY P. VOLANTE # # FUNCTIONAL DESCRIPTION # # TO POINT THE RENDEZVOUS RADAR AT THE CSM UNTIL AUTOMATIC ACQUISITION # OF THE CSM IS ACCOMPLISHED BY THE RADAR. ROUTINE IS CALLED BY P20. # # CALLING SEQUENCE -- # # TC BANKCALL # CADR R21LEM # # SUBROUTINES CALLED -- # # FINDVAC FLAGUP ENDOFJOB PRIOLARM # NOVAC INTPRET LPS20.1 PHASCHNG # WAITLIST JOBSLEEP JOBWAKE FLAGDOWN # TASKOVER BANKCALL RADSTALL RRDESSM # # NORMAL EXIT MODES # # WHEN LOCK-ON IS ACHIEVED, BRANCH WILL BE TO P20 WHERE R22 (DATA READ # WILL BE SELECTED OR A NEED FOR A MANEUVER (BRANCH TO P20LEMA) # # ALARM OR ABORT EXIT MODES -- # # PRIORITY ALARM 503 WHEN LOCK-ON HASN'T BEEN ACHIEVED AFTER 30SECS -- # THIS REQUIRES ASTRONAUT INTERFACE: SELECTION OF SEARCH OPTION OF # ACQUISITION # # OUTPUT # # SEE LPS20.1, RRDESSM # # ERASABLE INITIALIZATION REQUIRED # # RRTARGET, RADMODES ARE USED BY LPS20.1 AND RRDESSM # # FLAGS SET + RESET # # LOSCMFLG LOKONSW # # DEBRIS # # SEE LPS20.1, RRSESSM EBANK= LOSCOUNT COUNT* $$/R21 R21LEM CS BIT14 # REMOVE RR SELF TRACK ENABLE EXTEND WAND CHAN12 TC LUNSFCHK TC R21LEM5 CAF ZERO # COMMAND ANTENNA TO MODE CENTER TS TANG # IF NOT ON SURFACE -- MODE 1 -- (T=0,S=0) TS TANG +1 TC R21LEM6 R21LEM5 CAF BIT12 MASK RADMODES CCS A TC R21LEM10 CAF BIT15 TS TANG CS HALF TS TANG +1 # Page 509 R21LEM6 TC DOWNFLAG ADRES LOKONSW TC BANKCALL CADR RRDESNB TC +1 TC BANKCALL CADR RADSTALL TC R21-503 # BAD RETURN FROM DESIGNATE -- ISSUE ALARM R21LEM10 TC UPFLAG ADRES LOSCMFLG # EVERY FOURTH PASS THRU DODES CAF MAXTRIES # ALLOW 60 PASSES (APPROX 45 SECONDS) TS DESCOUNT # TO DESIGNATE AND LOCK ON R21LEM2 CAF THREE TS LOSCOUNT R21LEM1 TC INTPRET RTB DAD LOADTIME HALFSEC # EXTRAPOLATE TO PRESENT TIME + .5 SEC. STCALL TDEC1 # LOS DETERMINATION ROUTINE LPS20.1 EXIT R21LEM3 TC UPFLAG # SET LOKONSW TO RADAR -- ON DESIRED ADRES LOKONSW TC DOWNFLAG ADRES NORRMON TC INTPRET CALL # INPUT (RRTARGET UPDATED BY LPS20.1) RRDESSM # DESIGNATE ROUTINE EXIT TC R21LEM4 # LOS NOT IN MODE 2 COVERAGE # ON LUNAR SURFACE TC P20LEMA # VEHICLE MANEUVER REQUIRED. TC BANKCALL # NO VEHICLE MANEUVER REQUIRED CADR RADSTALL # WAIT FOR DESIGNATE COMPLETE -- LOCKON OR TC +2 # BAD END -- LOCKON NOT ACHIEVED IN 60 TRIES TC R21END # EXIT ROUTINE RETURN TO P20 (LOCK-ON) R21-503 CAF ALRM503 # ISSUE ALARM 503 TC BANKCALL CADR PRIOLARM TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING TC R21SRCH # PROC TC P20LEMC3 TC ENDOFJOB R21END TC DOWNFLAG ADRES LOSCMFLG # RESET LOSCMFLG TC R21DISP # PUT UP VERIFY MAIN LOBE LOCKON DISPLAY R21SRCH TC PHASCHNG OCT 04022 TC R24LEM # SEARCH ROUTINE ALRM503 OCT 00503 # Page 510 ALRM527 OCT 527 R21LEM4 CAF MAXTRIES # SET UP COUNTER FOR TS REPOSCNT # 60 PASSES (APPROX 600 SECS.) TC UPFLAG ADRES FSPASFLG # SET FIRST PASS FLAG TC DOWNFLAG # RESET LOS BEING ADRES LOSCMFLG # COMPUTED FLAG TC INTPRET R21LEM12 RTB LOADTIME DAD TENSEC # TIME T = T + 10 SECS. STORE REPOSTM # SAVE FOR LONGCALL AND UPPSV STCALL TDEC1 LPS20.1 # COMPUTE LOS AT TIME T CALL RRDESSM EXIT TC R21LEM13 # LOS NOT IN MODE 2 COVERAGE TC ENDOFJOB # VEHICLE MANEUVER REQUIRED TC KILLTASK CADR BEGDES TC INTPRET BOF FSPASFLG # FIRST PASS THRU REPOSITION R21LEMB # NO -- GO TO CONTINUOUS DESIGNATE CLRGO FSPASFLG # YES -- RESET FIRST PASS FLAG R21LEM7 +1 R21LEM13 CCS REPOSCNT # HAVE WE TRIED 60 TIMES? TC R21LEM7 # NO -- ADD 10 SECS. RECOMPUTE LOS TC R21LEM11 # YES -- PUT OUT ALARM 530 R21LEM7 TS REPOSCNT TC INTPRET DLOAD GOTO REPOSTM R21LEM12 +2 R21LEMB DLOAD REPOSTM STCALL TDEC1 UPPSV EXIT TC UPFLAG # SET RADMODES BIT 15 FOR ADRES CDESFLAG # CONTINUOUS DESIGNATION TC DOWNFLAG ADRES LOKONSW TC UPFLAG ADRES NORRMON # Page 511 TC BANKCALL CADR RRDESNB TC +1 TC INTPRET RTB BDSU LOADTIME # COMPUTE DELTA TIME REPOSTM # FOR LONGCALL STORE DELTATM EXIT EXTEND DCA DELTATM TC LONGCALL EBANK= LOSCOUNT 2CADR R21LEM9 TC ENDOFJOB R21LEM9 TC KILLTASK CADR STDESIG TC CLRADMOD CAF PRIO26 TC FINDVAC EBANK= LOSCOUNT 2CADR R21LEM10 TC TASKOVER R21LEM11 CAF ALRM530 # ALARM 530 -- LOS NOT IN COVERAGE TC BANKCALL # AFTER TRYING TO DESIGNATE FOR CADR PRIOLARM # 600 SECS. TC GOTOV56 TC GOTOV56 TC GOTOV56 TC ENDOFJOB ALRM530 OCT 00530 TENSEC 2DEC 1000 B-28 HALFSEC 2DEC 50 R21DISP TC PHASCHNG OCT 04022 CAF V06N72PV # FLASH V 50 N 72 -- PLEASE PERFORM RR TC BANKCALL # MAIN LOBE LOCKON VERIFICATION CADR GOPERF2R TC GOTOV56 # TERMINATE EXITS VIA V 56 TC P20LEMWT # PROCEED CONTINUES TO R22 TC -5 # ENTER ILLEGAL CAF BIT7 TC LINUS # SET BITS TO MAKE THIS A PRIORITY DISPLAY TC ENDOFJOB # Page 512 V06N72PV VN 00672 # Page 513 # MANUAL ACQUISITION ROUTINE R23LEM # PROGRAM DESCRIPTION # # MOD NO -- 2 # BY P. VOLANTE # # FUNCTIONAL DESCRIPTION # # TO ACQUIRE THE CSM BY MANUAL OPERATION OF THE RENDEZVOUS RADAR # # CALLING SEQUENCE -- # # TC R23LEM # # SUBROUTINES CALLED # # BANKCALL R61LEM # SETMINDB GOPERF1 # # NORMAL EXIT MODES -- # # IN RESPONSE TO THE GOPERF1, SELECTION OF ENTER WILL RECYCLE R23 # SELECTION OF PROC WILL CONTINUE R23 # SELECTION OF TERM WILL TERMINATE R23 + P20 # # ALARM OR ABORT EXIT MODES -- # # SEE NORMAL EXIT MODES ABOVE # # OUTPUT # # N.A. # # ERASABLE INITIALIZATION REQUIRED -- # # ACMODFLG MUST BE SET TO 1 (MANUAL MODE) EBANK= GENRET COUNT* $$/R23 R23LEM TC UPFLAG # SET NO ANGLE MONITOR FLAG ADRES NORRMON INHINT TC IBNKCALL # SELECT MINIMUM DEADBAND CADR SETMINDB RELINT R23LEM1 CAF BIT14 # ENABLE TRACKER EXTEND WOR CHAN12 CAF OCT205 TC BANKCALL CADR GOPERF1 TC R23LEM2 # TERMINATE TC R23LEM11 # PROCEDE TC R23LEM3 # ENTER -- DO ANOTHER MANEUVER R23LEM11 INHINT TC RRLIMCHK # YES -- CHECK IF ANTENNA IS WITHIN LIMITS ADRES CDUT TC OUTOFLIM # NOT WITHIN LIMITS TC IBNKCALL # RESTORE DEADBAND TO CADR RESTORDB # ASTRONAUT SELECTED VALUE RELINT TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG ADRES NORRMON TC P20LEMB1 # RADAR IS LOCKED ON CONTINUE IN P20 OUTOFLIM RELINT # Page 514 CAF OCT501PV TC BANKCALL # ISSUE ALARM -- RR ANTENNA NOT WITHIN CADR PRIOLARM # LIMITS TC R23LEM2 # TERMINATE -- EXIT R23 TO R00 (GO TO POOH) TC OUTOFLIM +1 # PROCEED ILLEGAL TC R23LEM3 # RECYCLE -- TO ANOTHER MANEUVER TC ENDOFJOB R23LEM2 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG ADRES NORRMON TC GOTOV56 # AND EXIT VIA V56 R23LEM3 TC BANKCALL CADR R61LEM TC R23LEM1 OCT501PV OCT 501 OCT205 OCT 205 # Page 515 # SEARCH ROUTINE R24LEM # PROGRAM DESCRIPTION # # MOD NO -- 2 # BY P. VOLANTE # # FUNCTIONAL DESCRIPTION # # TO ACQUIRE THE CSM BY A SEARCH PATTERN WHEN THE RENDEZVOUS RADAR HAS # FAILED TO ACQUIRE TEH CSM IN THE AUTOMATIC TRACKING MODE AND TO ALLOW # THE ASTRONAUT TO CONFIRM THAT REACQUISITION HAS NOT BEEN IN SIDELOBE. # # CALLING SEQUENCE # # CAF PRIONN # TC FINDVAC # EBANK= DATAGOOD # 2CADR R24LEM # # SUBROUTINES CALLED # # FLAGUP FLAGDOWN BANKCALL # R61LEM GOFLASHR FINDVAC # ENDOFJOB NOVAC LSR24.1 # # NORMAL EXIT MODES -- # # ASTRONAUT RESPONSE TO DISPLAY OF OMEGA AND DATAGOOD. HE CAN EITHER # REJECT BY TERMINATING (SEARCH OPTION AND RESELECTING P20) OR ACCEPT BY # PROCEEDING (EXIT ROUTINE AND RETURN TO AUTO MODE IN P20) # # ALARM OR ABORT EXIT MODES -- # # SEE NORMAL EXIT MODES ABOVE # # OUTPUT -- # # SEE OUTPUT FROM LSR24.1 + R61LEM # # ERASABLE INITIALIZATION REQUIRED # # SET INPUT FOR LSR24.1 # # FLAGS SET + RESET # # SRCHOPT, ACMODFLG EBANK= DATAGOOD COUNT* $$/R24 R24LEM TC UPFLAG ADRES SRCHOPTN # SET SRCHOPT FLAG TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG TO MAKE ADRES LOSCMFLG # SURE DODES DOESN'T GO TO R21 R24LEM1 CAF ZERO TS DATAGOOD # ZERO OUT DATA INDICATOR TS OMEGAD # ZERO OMEGA DISPLAY REGS TS OMEGAD +1 # ZERO OMEGA DISPLAY REGS R24LEM2 TC PHASCHNG OCT 04022 CAF V16N80 TC BANKCALL CADR PRIODSPR TC GOTOV56 TC R24END # PROCEED EXIT R24 TO P20LEM1 TC R24LEM3 # RECYCLE -- CALL R61 TO MANEUVER S/C # Page 516 TC BANKCALL CADR LRS24.1 R24END TC KILLTASK CADR CALLDGCH TC CLRADMOD # CLEAR BITS 10 & 15 OF RADMODES. TCF P20LEM1 # AND GO TO 400 MI. RANGE CHECK IN P20 BLOCK 3 SETLOC FFTAG6 BANK COUNT* $$/R24 CLRADMOD CS BIT10+15 INHINT MASK RADMODES TS RADMODES CS BIT2 # DISABLE RR ERROR COUNTERS EXTEND WAND CHAN12 # USER WILL RELINT TC Q BIT10+15 OCT 41000 BANK 24 SETLOC P20S BANK COUNT* $$/R24 R24LEM3 TC PHASCHNG OCT 04022 TC KILLTASK CADR CALLDGCH # KILL WAITLIST FOR NEXT POINT IN PATTERN TC CLRADMOD # CLEAR BITS 10 + 15 OF RADMODES TO KILL RELINT # HALF SECOND DESIGNATE LOOP CAF .5SEC TC BANKCALL # WAIT FOR DESIGNATE LOOP TO DIE CADR DELAYJOB TC LUNSFCHK # CHECK IF ON LUNAR SURFACE TC R24LEM4 # YES -- DON'T DO ATTITUDE MANEUVER TC BANKCALL # CALL R61 TO DO PREFERRED TRACKING CADR R61LEM # ATTITUDE MANEUVER R24LEM4 CAF ZERO # ZERO OUT RADCADR (WHICH WAS SET BY TS RADCADR # ENDRADAR WHEN DESIGNATE STOPPED) SO THAT # RRDESSM WILL RETURN TO CALLER TC R24LEM2 # AND GO BACK TO PUT UP V16 N80 DISPLAY V16N80 VN 01680 # Page 517 # PREFERRED TRACKING ATTITUDE ROUTINE R61LEM # PROGRAM DESCRIPTION # # MOD NO: 3 DATE: 4-11-67 # MOD BY: P. VOLANTE, SDC # # FUNCTIONAL DESCRIPTION -- # # TO COMPUTE THE PREFERRED TRACKING ATTITUDE OF THE LM TO ENABLE RR # TRACKING OF THE CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED # ATTITUDE. # # CALLING SEQUENCE -- # # TC BANKCALL # CADR R61LEM # # SUBROUTINES CALLED # # LPS20.1 VECPOINT # KALCMAN3 # # NORMAL EXIT MODES -- # # NORMAL RETURN IS TO CALLER + 1 # # ALARM OR ABORT EXIT MODES -- # # TERMINATE P20 + R61 BY BRANCHING TO P20END IF BOTH TRACKFLAG + # RENDEZVOUS FLAG ARE NOT SET. # # OUTPUT -- # # SEE OUTPUT FOR LPS20.1 + ATTITUDE MANEUVER ROUTINE (R60) # # ERASABLE INITIALIZATION REQUIRED # # GENRET USED TO SAVE Q FOR RETURN # # FLAGS SET + RESET # # 3AXISFLG # # DEBRIS # # SEE SUBROUTINES SETLOC R61 BANK EBANK= LOSCOUNT COUNT* $$/R61 R61LEM TC MAKECADR TS GENRET TC UPFLAG # SET R61 FLAG ADRES R61FLAG TC R61C+L01 R65LEM TC MAKECADR TS GENRET TC DOWNFLAG # RESET R61 FLAG ADRES R61FLAG R61C+L01 CAF TRACKBIT # TRACKFLAG MASK STATE +1 EXTEND BZF R65WAIT # NOT SET R61C+L03 TC INTPRET VLOAD # Page 518 HIUNITZ STORE SCAXIS # TRACK AXIS UNIT VECTOR R61LEM1 RTB DAD LOADTIME # EXTRAPOLATE FORWARD TO CENTER 3SECONDS # SIX SECOND PERIOD. STCALL TDEC1 LPS20.1 # LOS DETERMINATION + VEH ATTITUDE VLOAD RRTARGET STORE POINTVSM RTB CALL # GET DESIRED CDU'S FOR VECPNT1 READCDUD VECPNT1 # COMPUTES FINAL ANGLES FROM PRESENT CDUDS STORE CPHI # STORE FINAL ANGLES -- CPHI, CTHETA, CPSI EXIT TC PHASCHNG OCT 04022 CAF TRACKBIT # IS TRACK FLAG SET MASK FLAGWRD1 EXTEND BZF R65WAIT TC BANKCALL CADR G+N,AUTO # CHECK FOR AUTO MODE CCS A TC R61C+L04 # NOT IN AUTO TC INTPRET VLOAD CALL RRTARGET CDU*SMNB DLOAD DSU # GET PHI -- ARCCOS OF Z-COMPONENT OF LOS MPAC +5 COS15DEG R61LEM2 BMN EXIT # BRANCH -- PHI > 15 DEGREES R61C+L05 # PHI GRE 10DEG EBANK= CDUXD CAF EBANK6 TS EBANK INHINT EXTEND DCA CPHI DXCH CDUXD CA CPSI TS CDUZD RELINT EBANK= LOSCOUNT CAF EBANK7 TS EBANK TC R61C+L06 R61C+L05 EXIT INHINT # Page 519 TC IBNKCALL FCADR ZATTEROR TC IBNKCALL FCADR SETMINDB # REDUCE ATTITUDE ERROR TC DOWNFLAG ADRES 3AXISFLG TC UPFLAG ADRES PDSPFLAG # SET PRIORITY DISPLAY FLAG TC BANKCALL CADR R60LEM INHINT TC IBNKCALL FCADR RESTORDB TC PHASCHNG OCT 04022 TC DOWNFLAG ADRES PDSPFLAG # RESET PRIORITY DISPLAY FLAG R61C+L06 CA FLAGWRD1 MASK R61FLBIT CCS A TC R61C+L4 CCS R65CNTR TC +2 TC R61C+L4 # R65CNTR = 0 - EXIT ROUTINE TS R65CNTR CAF 06SEC TC TWIDDLE ADRES R61C+L2 TC ENDOFJOB R61C+L2 CAF PRIO26 TC FINDVAC EBANK= LOSCOUNT 2CADR R61C+L01 TC TASKOVER R61C+L04 TC BANKCALL # TO CONVERT ANGLES TO FDAI CADR BALLANGS TC R61C+L06 R61C+L4 CAE GENRET TCF BANKJUMP # EXIT R61 R61C+L1 CAF BIT7+9PV # IS RENDEZVOUS OR P25FLAG SET MASK STATE EXTEND BZF ENDOFJOB # NO -- EXIT ROUTINE AND PROGRAM. TC R61C+L06 # YES EXIT ROUTINE R65WAIT TC POSTJUMP CADR P20LEMWT BIT7+9PV OCT 00500 # Page 520 COS15DEG 2DEC 0.96593 B-1 06SEC DEC 600 PHI EQUALS 20D READCDUD INHINT # READS DESIRED CDU'S AND STORES IN CAF EBANK6 # MPAC TP EXITS WITH MODE SET TO TP XCH EBANK TS RUPTREG1 EBANK= CDUXD CA CDUXD TS MPAC EXTEND DCA CDUYD DXCH MPAC +1 CA RUPTREG1 TS EBANK RELINT TCF TMODE BLOCK 02 SETLOC RADARFF BANK EBANK= LOSCOUNT COUNT* $$/RRSUB # Page 521 # THE FOLLOWING SUBROUTINE RETURNS TO CALLER +2 IF THE ABSOLUTE VALUE OF VALUE OF C(A) IS GREATER THAN THE # NEGATIVE OF THE NUMBER AT CALLER +1. OTHERWISE IT RETURNS TO CALLER +3. MAY BE CALLED IN RUPT OR UNDER EXEC. MAGSUB EXTEND BZMF +2 TCF +2 COM INDEX Q AD 0 EXTEND BZMF Q+2 # ABS(A) <= CONST GO TO L+3 TCF Q+1 # ABS(A) > CONST GO TO L+2 # Page 522 # PROGRAM NAME: RRLIMCHK # # FUNCTIONAL DESCRIPTION: # # RRLIMCHK CHECKS RR DESIRED GIMBAL ANGLES TO SEE IF THEY ARE WITHIN # THE LIMITS OF THE CURRENT MODE. INITIALLY THE DESIRED TRUNNION AND # SHAFT ANGLES ARE STORED IN ITEMP1 AND ITEMP2. THE CURRENT RR # ANTENNAE MODE (RADMODES BIT 12) IS CHECKED WHICH IS = 0 FOR # MODE 1 AND =1 FOR MODE 2. # # MODE 1 -- THE TRUNNION ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS # BETWEEN -55 AND +55 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN LIMITS, # THE SHAFT ANGLE IS CHECKED TO SEE IF IT IS BETWEEN -70 AND +59 DEGREES. # IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN TO L +3. # # MODE 2 -- THE SHAFT ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS # BETWEEN -139 AND -25 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN # LIMITS, THE TRUNNION ANGLE IS CHECKED TO SEE IF IT IS BETWEEN +125 # AND -125 (+235) DEGREES. IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN # TO L +3. # # CALLING SEQUENCE: # # L TC RLIMCHK (WITH INTERRUPT INHIBITED) # L +1 ADRES T,S (DESIRED TRUNNION ANGLE ADDRESS) # # ERASABLE INITIALIZATION REQUIRED: # # RADMODES, MODEA, MODEB (OR DESIRED TRUNNION AND SHAFT # ANGLES ELSEWHERE IN CONSECUTIVE LOCATIONS -- UNSWITCHED ERASABLE OR # CURRENT EBANK). # # SUBROUTINES CALLED: MAGSUB # # JOBS OR TASKS INITIATED: NONE # # ALARMS: NONE # # EXIT: L + 2 (EITHER OR BOTH ANGLES NOT WITHIN LIMITS OF CURRENT MODE) # L + 3 (BOTH ANGLES WITHIN LIMITS OF CURRENT MODE) RRLIMCHK EXTEND INDEX Q INDEX 0 DCA 0 INCR Q DXCH ITEMP1 LXCH Q # L(CALLER +2) TO L. CAF ANTENBIT # SEE WHICH MODE RR IS IN. MASK RADMODES CCS A TCF MODE2CHK CA ITEMP1 # MODE 1 IS DEFINED AS # Page 523 TC MAGSUB # 1. ABS(T) L 55 DEGS. DEC -.30555 # 2. ABS(S + 5.5 DEGS) L 64.5 DEGS TC L # (SHAFT LIMITS AT +59, -70 DEGS) CAF 5.5DEGS AD ITEMP2 TC MAGSUB DEC -.35833 # 64.5 DEGS TC L TC RRLIMOK # IN LIMITS. MODE2CHK CAF 82DEGS # MODE 2 IS DEFINED AS AD ITEMP2 # 1. ABS(T) G 125 DEGS. TC MAGSUB # 2. ABS(S + 82 DEGS) L 57 DEGS DEC -.31667 # (SHAFT LIMITS AT -25, -139 DEGS) TC L CA ITEMP1 TC MAGSUB DEC -.69444 # 125 DEGS RRLIMOK INDEX L TC L # ( = TC 1 ) 5.5DEGS DEC .03056 82DEGS DEC .45556 # Page 524 # PROGRAM NAME: SETTRKF # # FUNCTIONAL DESCRIPTION: # # SETTRKF UPDATES THE TRACKER FAIL LAMP ON THE DSKY. # INITIALLY THE LAMP TEST FLAG (IMODES33 BIT 1) IS CHECKED. # IF A LAMP TEST IS IN PROGRESS, THE PROGRAM EXITS TO L +1. # IF NO LAMP TEST THE FOLLOWING IS CHECKED SEQUENTIALLY: # 1) RR CDU'S BEING ZEROED, RR CDU OK, AND RR NOT IN # AUTO MODE (RADMODES BITS 13, 7, 2). # 2) LR VEL DATA FAIL AND NO LR POS DATA (RADMODES BITS # 8,5) # 3) NO RR DATA (RADMODES BIT 4) # THE ABSENCE OF ALL THREE SIMULTANEOUSLY IN (1), THE PRESENCE OF BOTH # IN (2), AND THE PRESENCE OF (3) RESULTS IN EITHER THE TRACKER FAIL # LAMP (DSPTAB +11D BIT 8) BEING TURNED OFF OR IS LEFT OFF. THEREFORE, THE # TRACKER FAIL LAMP IS TURN ON IF: # A) RR CDU FAILED WITH RR IN AUTO MODE AND RR CDU'S NOT BEING ZEROED # B) N SAMPLES OF LR DATA COULD NOT BE TAKEN IN 2N TRIES WITH # EITHER THE ALT OR VEL INFORMATION # C) N SAMPLES OF RR DATA COULD NOT BE OBTAINED FROM 2N TRIES # WITH EITHER THE AL # # CALLING SEQUENCE: # # L TC SETTRKF # # ERASABLE INITIALIZATION REQUIRED: IMODES33, RADMODES, DSPTAB +11D # # SUBROUTINES CALLED: NONE # # JOBS OR TASKS INITIATED: NONE # # ALARMS: TRACKER FAIL LAMP # # EXIT: L +1 (ALWAYS) SETTRKF CAF BIT1 # NO ACTION IF DURING LAMP TEST MASK IMODES33 CCS A TC Q RRTRKF CA BIT8 TS L CAF 13,7,2 # SEE IF CDU FAILED. MASK RADMODES EXTEND BZF TRKFLON # CONDITION 3 ABOVE. RRCHECK CAF RRDATABT # SEE IF RR DATA FAILED. MASK RADMODES # Page 525 CCS A TRKFLON CA L AD DSPTAB +11D # HALF ADD DESIRED AND PRESENT STATES. MASK L EXTEND BZF TCQ # NO CHANGE. FLIP CA DSPTAB +11D # CAN'T USE LXCH DSPTAB +11D (RESTART PROB) EXTEND RXOR LCHAN MASK POSMAX AD BIT15 TS DSPTAB +11D TC Q 13,7,2 OCT 10102 ENDRMODF EQUALS # Page 526 # PROGRAM NAME: RRTURNON # # FUNCTIONAL DESCRIPTION: # # RRTURNON IS THE TURN-ON SEQUENCE WHICH, ALONG WTIH # RRZEROSB, ZEROES THE CDU'S AND DETERMINES THE RR MODE. # INITIALLY, CONTROL IS TRANSFERRED TO RRZEROSB FOR THE # ACTUAL TURN-ON SEQUENCE. UPON RETURN THE PROGRAM # WAITS 1 SECOND BEFORE REMOVING THE TURN-ON FLAG # (RADMODES BIT1) SO THE REPOSITION ROUTINE WON'T # INITIATE PROGRAM ALARM 00501. A CHECK IS THEN MADE # TO SEE IF A PROGRAM IS USING THE RR (STATE BIT 7). IF # SO, THE PROGRAM EXITS TO ENDRADAR SO THAT THE RR CDU # FAIL FLAG (RADMODES BIT 7) CAN BE CHECKED BEFORE # RETURNING TO THE WAITING PROGRAM. IF NOT, THE PROGRAM EXITS # TO TASKOVER. # # CALLING SEQUENCE: WAITLIST TASK FROM RRAUTCHK IF THE RR POWER-ON AUTO # BIT (CHAN 33 BIT 2) CHANGES TO 0 AND NO PROGRAM WAS USING # THE RR (STATE BIT 7). # # ERASABLE INITIALIZATION REQUIRED: # # RADMODES, STATE # # SUBROUTINES CALLED: RRZEROSB, FIXDELAY, TASKOVER, ENDRADAR # # JOBS OR TASKS INITIATED: # # NONE # # ALARMS: NONE (SEE RRZEROSB) # # EXIT: TASKOVER, ENDRADAR (WAITING PROGRAM) BANK 24 SETLOC P20S1 BANK EBANK= LOSCOUNT COUNT* $$/RSUB RRTURNON TC RRZEROSB TC FIXDELAY # WAIT 1 SEC BEFORE REMOVING TURN ON FLAG DEC 100 # SO A MONITOR REPOSITION WON'T ALARM. CS TURNONBT MASK RADMODES TS RADMODES TCF TASKOVER # Page 527 # PROGRAM NAME: RRZEROSB # # FUNCTIONAL DESCRIPTION: # # RRZEROSB IS A CLOSED SUBROUTINE TO ZERO THE RR CDU'S, # DETERMINE THE RR MODE, AND TURN ON THE TRACKER FAIL # LAMP IF REQUIRED. INITIALLY THE RR CDU ZERO BIT (CHAN 12 # BIT 1) IS SET. FOLLOWING A 20 MILLISECOND WAIT, THE LGC # RR CDU COUNTERS (OPTY, OPTX) ARE SET = 0 AFTER # WHICH THE RR CDU ZERO DISCRETE (CHAN 12 BIT 1) IS # REMOVED. A 4 SECOND WAIT IS SET TO ALL THE RR CDU'S # TO REPEAT THE ACTUAL TRUNNION AND SHAFT ANGLES. THE # RR CDU ZERO FLAG (RADMODES BIT 13) IS REMOVED. THE # CONTENTS OF OPTY IS THEN CHECKED TO SEE IF THE TRUNNION # ANGLE IS LESS THAN 90 DEGREES. IF NOT, BIT 12 OF # RADMODES IS SET = 1 TO INDICATE RR ANTENNA MODE 2. # IF LESS THAN 90 DEGREES, BIT 12 OF RADMODES IS SET = 0 TO # INDICATE RR ANTENNA MODE 1. SETTRKF IS THEN CALLED TO # SEE IF THE TRACKER FAIL LAMP SHOULD BE TURNED ON. # # CALLING SEQUENCE: L TC RRZEROSB (FROM RRTURNON AND RRZERO) # # ERASABLE INITIALIZATION REQUIRED: # # RADMODES (BIT 13 SET), DSPTAB +11D # # SUBROUTINES CALLED: FIXDELAY, MAGSUB, SETTRKF # # JOBS OR TASKS INITIATED: # # NONE # # ALARMS: TRAKCER FAIL # # EXIT: L +1 (ALWAYS) RRZEROSB EXTEND QXCH RRRET CAF BIT1 # BIT 13 OF RADMODES MUST BE SET BEFORE EXTEND # COMING HERE. WOR CHAN12 # TURN ON ZERO RR CDU TC FIXDELAY DEC 2 CAF ZERO TS CDUT TS CDUS CS ONE # REMOVE ZEROING BIT. EXTEND WAND CHAN12 TC FIXDELAY DEC 1000 # RESET FAIL INHIBIT IN 10 SECS. -- D.281 CS RCDU0BIT # REMOVE ZEROING IN PROCESS BIT # Page 528 MASK RADMODES TS RADMODES CA CDUT TC MAGSUB DEC -.5 TCF +3 # IF MODE 2. CAF ZERO TCF +2 CAF ANTENBIT XCH RADMODES MASK -BIT12 ADS RADMODES TC SETTRKF # TRACKER LAMP MIGHT GO ON NOW. TC RRRET # DONE. -BIT12 EQUALS -1/8 # IN SPROOT # Page 529 # PROGRAM NAME: DORREPOS # # FUNCTIONAL DESCRIPTION: # # DORREPOS IS A SEQUENCE OF TASKS TO DRIVE THE RENDEZVOUS RADAR # TO A SAFE POSITION. INIITALLY SETRRECR IS CALLED WHERE THE RR # ERROR COUNTERS (CHAN 12 BIT 2) ARE ENABLED AND LASTYCMD # AND LASTXCMD SET = 0 TO INDICATE THE DIFFERENCE BETWEEN THE # DESIRED STATE AND PRESENT STATE OF THE COMMANDS. THE RR # TURN-ON FLAG (RADMODES BIT 1) IS CHECKED AND IF NOT PRESENT, # PROGRAM ALARM 00501 IS REQUESTED BEFORE CONTINUING. IN EITHER # CASE, FOLLOWING A 20 MILLISECOND WAIT THE PROGRAM CHECKS THE CURRENT # RR ANTENNA MODE (RADMODES BIT 12). RRTONLY IS THEN CALLED # TO DRIVE THE TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1 AND TO 180 # DEGREES IF IN MODE 2. UPON RETURN, THE CURRENT RR ANTENNA # MODE (RADMODES BIT 12) IS AGAIN CHECKED. RRSONLY IS THEN # CALLED TO DRIVE THE SHAFT ANGLE TO 0 DEGREES IF IN MODE 1 AND TO # -90 DEGREES IF IN MODE 2. IF DURING RRTONLY OR RRSONLY A # REMODE HAS BEEN REQUESTED (RADMODES BIT 14), AND ALWAYS # FOLLOWING COMPLETION OF RRSONLY, CONTROL IS TRANFERRED TO # REPOSRPT. HERE THE REPOSITION FLAG (RADMODES BIT 11) IS # REMOVED. A CHECK IS THEN MADE ON THE DESIGNATE FLAG (RADMODES # BIT 10). IF PRESENT, CONTROL IS TRANSFERRED TO BEGDES. IF NOT PRESENT # INDICATING NO FURTHER ANTENNA CONTROL REQUIRED, THE RR ERROR # COUNTER BIT (CHAN 12 BIT 2) IS REMOVED AND THE ROUTINE EXITS TO # TASKOVER. # # CALLING SEQUENCE: # # WAITLIST CALL FROM RRGIMON IF TRUNNION AND SHAFT CDU ANGLES # NOT WITHIN LIMITS OF CURRENT MODE. # # ERASABLE INITIALIZATION REQUIRED: # # RADMODES # # SUBROUTINES CALLED # # RRTONLY, RRSONLY, BEGDES (EXIT) # # JOBS OR TASKS INITIATED: # # NONE # # ALARMS: NONE # # EXIT: TASKOVER, BEGDES DORREPOS TC SETRRECR # SET UP RR CDU ERROR COUNTERS. # ALARM 501 DELETED IN DANCE 279 PER PCR 97. TC FIXDELAY DEC 2 CAF ANTENBIT # MANEUVER TRUNNION ANGLE TO NOMINAL POS. # Page 530 MASK RADMODES CCS A CAF BIT15 # 0 FOR MODE 1 AND 180 FOR MODE 2. TC RRTONLY CAF ANTENBIT # NOT PUT SHAFT IN RIGHT POSITION MASK RADMODES CCS A CS HALF # -90 FOR MODE 2. TC RRSONLY REPOSRPT CS REPOSBIT # RETURNS HERE FROM RR1AXIS IN REMODE # REQUESTED DURING REPOSITION. MASK RADMODES # REMOVE REPOSITION BIT. TS RADMODES MASK DESIGBIT # SEE IF SOMEONE IS WAITING TO DESIGNATE. CCS A TCF BEGDES CS BIT2 # IF NO FURTHER ANTENNA CONTROL REQUIRED, EXTEND # REMOVE ERROR COUNTER ENABLE. WAND CHAN12 TCF TASKOVER SETRRECR CAF BIT2 # SET UP RR ERROR COUNTERS EXTEND RAND CHAN12 CCS A # DO NOT CLEAR LAST COMMAND IF TC Q # ERROR COUNTERS ARE ENABLED TS LASTYCMD TS LASTXCMD CAF BIT2 EXTEND WOR CHAN12 # ENABLE RR CDU ERROR COUNTERS. TC Q # Page 531 # PROGRAM NAME: REMODE # # FUNCTIONAL DESCRIPTION # # REMODE IS THE GENERAL REMODING SUBROUTINE. IT DRIVES THE # TRUNNION ANGLE TO 0 DEGREES IF THE CURRENT MODE IS MODE 1, # 180 DEGREES FOR MODE 2, THEN DRIVES THE SHAFT ANGLE TO -45 # DEGREES, AND FINALLY DRIVES THE TRUNNION ANGLE TO -130 DEGREES, # TO PLACE THE RR IN MODE 2, -50 DEGREES FOR MODE 1, BEFORE # INITIATING 2-AXIS CONTROL. ALL REMODING IS DONE WITH SINGLE # AXIS ROTATIONS (RR1AXIS). INITIALLY THE RR ANTENNA MODE FLAG # (RADMODES BIT 12) IS CHECKED. CONTROL IS THEN TRANSFERRED TO # RRTONLY TO DRIVE THR TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1 # OR 180 DEGREES IF IN MODE 2. RRSONLY IS THEN CALLED TO DRIVE # THE SHAFT ANGLE TO -45 DEGREES. THE RR ANTENNA MODE FLAG # (RADMODES BIT 12) IS CHECKED AGAIN. CONTROL IS AGAIN # TRANSFERRED TO RRTONLY TO DRIVE THE TRUNNION ANGLE TO -130 # DEGREES TO PLACE THE RR IN MODE 2 IF CURRENTLY IN MODE 1 OR TO # -50 DEGREES IF IN MODE 2 TO PLACE THE RR IN MODE 1. RMODINV # IS THEN CALLED TO SET RADMODES BIT 12 TO INDICATE THE NEW # RR ANTENNA MODE. THE REMODE FLAG (RADMODES BIT 14) # IS REMOVED TO INDICATE THAT REMODING IS COMPLETE. THE PROGRAM # THEN EXITS TO STDESIG TO BEGIN 2-AXIS CONTROL. # # CALLIN SEQUENCE: # # FROM BEGDES WHEN REMODE FLAG (RADMODES BIT 14) IS SET. # THIS FLAG MAY BE SET IN RRDESSM AND RRDESNB IF RRLIMCHK # DETERMINES THAT THE DESIRED ANGLES ARE WITHIN THE LIMITS OF THE # OTHER MODE. # # ERASABLE INIITIALIZATION REQUIRED: # # RADMODES # # SUBROUTINES CALLED: # # RRTONLY, RRSONL, RMODINV (ACTUALLY PART OF) # # JOBS OR TASKS INITIATED: # # NONE # # ALARMS: NONE # # EXIT: STDESIG REMODE CAF ANTENBIT # DRIVE TRUNNION TO 0 (180) MASK RADMODES # (ERROR COUNTER ALREADY ENABLED) CCS A CAF BIT15 TC RRTONLY CAF -45DEGSR TC RRSONLY # Page 532 CS RADMODES MASK ANTENBIT CCS A CAF -80DEGSR # GO TO T = -130 (-50). AD -50DEGSR TC RRTONLY CS RADMODES MASK ANTENBIT CCS A CAF BIT15 # GO TO T = -180 (+0). TC RRTONLY CS RADMODES # GO TO S = -90 (+0). MASK ANTENBIT CCS A CS HALF TC RRSONLY TC RMODINV CS REMODBIT # END OF REMODE. MASK RADMODES TS RADMODES CAF DESIGBIT # WAS REMODE CALLED DURING DESIGNATE? MASK RADMODES # (BIT10 RADMODES = 1) EXTEND BZF RGOODEND # NO -- RETURN TO CALLER WAITING IN RADSTALL TC STDESIG # YES -- RETURN TO DESIGNATE -45DEGSR = 13,14,15 -50DEGSR DEC -.27778 -80DEGSR DEC -.44444 RMODINV LXCH RADMODES # INVERT THE MODE STATUS. CAF ANTENBIT EXTEND RXOR LCHAN TS RADMODES TC Q # Page 533 # PROGRAM NAMES: RRTONLY, RRSONLY # # FUNCTIONAL DESCRIPTION: # # RRTONLY AND RRSONLY ARE SUBROUTINES FOR DOING SINGLE AXIS # RR MANEUVERS FOR REMODE AND REPOSITION. IT DRIVES TO # WITHIN 1 DEGREE. INITIALLY, AT RR1AX2, THE REMODE AND REPOSITION # FLAGS (RADMODES BITS 14, 11) ARE CHECKED. IF BOTH EXIST, # THE PROGRAM EXITS TO REPOSRPT (SEE DORREPOS). THIS INDICATES # THAT SOMEONE POSSIBLY REQUESTED A DESIGNATE (RADMODES BIT 10) # WHICH REQUIRES A REMODE (RADMODES BIT 14) AND THAT A # REPOSITION IS IN PROGRESS (RADMODES BIT 11). IF NONE # OR ONLY ONE OF THE FLAGS EXIST, REMODE OR REPOSITION, MAGSUB # IS CALLED TO SEE IF THE APPROPRIATE ANGLE IS WITHIN 1 DEGREE. IF YES, # CONTROL RETURNS TO THE CALLING ROUTINE. IF NOT, CONTROL IS # TRANSFERRED TO RROUT FOR SINGLE AXIS MANEUVERS WITH THE OTHER # ANGLE SET = 0. FOLLOWING A .5 SECOND WAIT, THE ABOVE PROCEDURE IS # REPEATED. # # CALLING SEQUENCE: L-1 CAF *ANGLE* (DESIRED ANGLE SCALED PI) # L TC RRTONLY (TRUNNION ONLY) # RRSONLY (SHAFT ONLY) # RRTONLY IS CALLED BY PREPOS29; # RRTONLY AND RRSONLY ARE CALLED BY DORREPOS AND REMODE # # ERASABLE INITIALIZATION REQUIRED: # # C(A) = DESIRED ANGLE, RADMODES # # SUBROUTINES CALLED: # # FIXDELAY, REPOSRPT, MAGSUB, RROUT # # JOBS OR TASKS INITIATED: # # NONE # # ALARMS: NONE # # EXIT: REPOSRPT (REMODE AND REPOSITION FLAGS PRESENT -- RADMODES # BITS 14, 11) # L+1 (ANGLE WITHIN ONE DEGREE OR RR OUT OF AUTO MODE) RRTONLY TS RDES # DESIRED TRUNNION ANGLE. CAF ZERO TCF RR1AXIS RRSONLY TS RDES # SHAFT COMMANDS ARE UNRESOLVED SINCE THIS CAF ONE # ROUTINE ENTERED ONLY WHEN T = 0 OR 180. RR1AXIS TS RRINDEX EXTEND QXCH RRRET TCF RR1AX2 # Page 534 NXTRR1AX TC FIXDELAY DEC 50 # 2 SAMPLES PER SECOND. RR1AX2 CS RADMODES # IF SOMEONE REQUESTS A DESIGNATE WHICH MASK PRIO22 # REQUIRES A REMODE AND A REPOSITION IS IN EXTEND # PROGRESS, INTERRUPT IT AND START THE BZF REPOSRPT # REMODE IMMEDIATELY. CA RDES EXTEND INDEX RRINDEX MSU CDUT TS ITEMP1 # SAVE ERROR SIGNAL. EXTEND MP RRSPGAIN # TRIES TO NULL .7 OF ERROR OVER NEXT .5 TS L CA RADMODES MASK AUTOMBIT XCH ITEMP1 # STORE RR-OUT-OF-AUTO-MODE BIT. TC MAGSUB # SEE IF WITHIN ONE DEGREE. DEC -.00555 # SCALED IN HALF-REVS. CCS ITEMP1 # NO. IF RR OUT OF AUTO MODE, EXIT. TC RRRET # RETURN TO CALLER. CCS RRINDEX # COMMAND FOR OTHER AXIS IS ZERO. TCF +2 # SETTING A TO 0. XCH L DXCH TANG TC RROUT TCF NXTRR1AX # COME BACK IN .5 SECONDS. RRSPGAIN DEC .59062 # NULL .7 ERROR IN .5 SEC. # Page 535 # PROGRAM NAME: RROUT # # FUNCTIONAL DESCRIPTION: # # RROUT RECEIVES RR GYRO COMMANDS IN TANG, TANG +1 IN RR # ERROR COUNTER SCALING. RROUT THEN LIMITS THEM AND # GENERATES COMMANDS TO THE CDU TO ADJUST THE ERROR COUNTERS # TO THE DESIRED VALUES. INITIALLY MAGSUB CHECKS THE MAGNITUDE OF # THE COMMAND (SHAFT ON 1ST PASS) TO SEE IF IT IS GREATER THAN # 384 PULSES. IF NOT, CONTROL IS TRANFERRED TO RROUTLIM TO # LIMIT THE COMMAND TO +384 OR -384 PULSES. THE DIFFERENCE IS # THEN CALCULATED BETWEEN THE DESIRED STATE AND TEH PRESENT STATE OF # THE ERROR COUNTER AS RECORDED IN LASTYCMD AND LASTXCMD. # THE RESULT IS STORED IN OPTXCMD (1ST PASS) AND OPTYCMD (2ND # PASS). FOLLOWING THE SECOND PASS, FOR THE TRUNNION COMMAND, THE # OCDUT AND OCDUS ERROR COUNTER DRIVE BITS (CHAN 14 BITS 12, 11) # ARE SET. THIS PROGRAM THEN EXITS TO THE CALLING PROGRAM. # # CALLING SEQUENCE: # # L TC RROUT (WITH RUPT INHIBITED) RROUT IS CALLED BY # RRTONLY, RRSONLY, AND DODES # # ERASABLE INITIALIZATION REQURIED: # # TANG, TANG +1 (DESIRED COMMANDS), LASTYCMD, LASTXCMD # (1ST PASS = 0), RR ERROR COUNTER ENAGLE SET (CHAN 12 BIT 2). # # SUBROUTINES CALLED: # # MAGSUB # # JOBS OR TASKS INITIATED: # # NONE # # ALARMS: NONE # # EXIT: L+1 (ALWAYS) RROUT LXCH Q # SAVE RETURN CAF ONE # LOOP TWICE. RROUT2 TS ITEMP2 INDEX A CA TANG TS ITEMP1 # SAVE SIGN COMMAND FOR LIMITING. TC MAGSUB # SEE IF WITHIN LIMITS. -RRLIMIT DEC -384 TCF RROUTLIM # LIMIT COMMAND TO MAG OF 384. SETRRCTR CA ITEMP1 # COUNT OUT DIFFERENCE BETWEEN DESIRED INDEX ITEMP2 # STATE AND PRESENT STATE AS RECORDED IN XCH LASTYCMD # LASTYCMD AND LASTXCMD COM # Page 536 AD ITEMP1 AD NEG0 # PREVENT +0 IN OUTCOUNTER INDEX ITEMP2 TS CDUTCMD CCS ITEMP2 # PROCESS BOTH INPUTS. TCF RROUT2 CAF PRIO6 # ENABLE COUNTERS. EXTEND WOR CHAN14 # PUT ON CDU DRIVES S AND T TC L # RETURN. RROUTLIM CCS ITEMP1 # LIMIT COMMAND TO ABS VAL OF 384. CS -RRLIMIT TCF +2 CA -RRLIMIT TS ITEMP1 TCF SETRRCTR +1 # Page 537 # ROUTINE TO ZERO THE RR CDUS AND DETERMINE THE ANTENNA MODE. RRZERO CAF BIT11+1 # SEE IF MONITOR REPOSITION OR NOT IN AUTO MASK RADMODES # IF SO, DON'T RE-ZERO CDUS. CCS A TCF RADNOOP # (IMMEDIATE TASK TO RGOODEND). INHINT CS RCDU0BIT # SET FLAG TO SHOW ZEROING IN PROGRESS. MASK RADMODES AD RCDU0BIT TS RADMODES CAF ONE TC WAITLIST EBANK= LOSCOUNT 2CADR RRZ2 CS RADMODES # SEE IF IN AUTO MODE. MASK AUTOMBIT CCS A TCF ROADBACK TC ALARM # AUTO DISCRETE NOT PRESENT -- TRYING OCT 510 ROADBACK RELINT TCF SWRETURN RRZ2 TC RRZEROSB # COMMON TO TURNON AND RRZERO. TCF ENDRADAR BIT11+1 OCT 02001 # Page 538 # PROGRAM NAME: RRDESSM # # FUNCTIONAL DESCRIPTION: # # THIS INTERPRETIVE ROUTINE WILL DESIGNATE, IF DESIRED ANGLES ARE # WITHIN THE LIMITS OF EITHER MODE, TO A LINE-OF-SIGHT (LOS) VECTOR # (HALF-UNIT) KNOWN WITH RESPECT TO THE STABLE MEMBER PRESENT # ORIENTATION. INITIALLY THE IMU CDU'S ARE READ AND CONTROL # TRANSFERRED TO SMNB TO TRANSFORM THE LOS VECTOR FROM STABLE # MEMBER TO NAVIGATION BASE COORDINATES (SEE STG MEMO 699) # RRANGLES IS THEN CALLED TO CALCULATE THE RR GIMBAL ANGLES, # TRUNNION AND SHAFT, FOR BOT THE PRESENT AND ALTERNATE MODE. # RRLIMCHK IS CALLED TO SEE IF THE ANGLES CALCULATED FOR THE # PRESENT MODE ARE WITHIN LIMITS. IF WITHIN LIMITS, THE RETUREN # LOCATION IS INCREMENTED, INASMUCH AS NO VEHICLE MANEUVER IS # REQUIRED, BEFORE EXITING TO STARTDES. IF NOT WITHIN THE LIMITS OF THE # CURRENT MODE, TRYSWS IS CALLED. FOLLOWING INVERTING OF THE RR # ANTENNA MODE FLAG (RADMODES BIT 12), RRLIMCHK IS CALLED # TO SEE IF THE ANGLES CALCULATED FOR THE ALTERNATE MODE ARE WITHIN # LIMITS. IF YES, THE RR ANTENNA MODE FLAG IS AGAIN INVERTED, # THE REMODE FLAG (RADMODES BIT 14) SET, AND THE RETURN LOCATION # INCREMENTED, TO INDICATE NO VEHICLE MANEUVER IS REQUIRED, BEFORE # EXITING TO STARTDES. IF THESE ANGLES ARE NOT WITHIN LIMITS # OF THE ALTERNATE MODE, THE RR ANTENNA MODE FLAG (RADMODES # BIT 12) IS INVERTED BEFORE RETURNING DIRECTLY TO THE CALLING PROGRAM # TO INDICATE THAT A VEHICLE MANEUVER IS REQUIRED. # # CALLING SEQUENCE: # # L STCALL RRTARGET (LOS HALF-UNIT VECTOR IN SM COORDINATES) # L+1 RRDESM # L+2 BASIC (VEHICLE MANEUVER REQUIRED) # L+3 BASIC (NO VEHICLE MANEUVER REQUIRED) # # ERASABLE INITIALIZATION REQUIRED: # # RRTARGET, RADMODES # # SUBROUTINES CALLED: # # READCDUS, SMNB, RRANGLES, RRLIMCHK, TRYSWS (ACTUALLY # PART OF), RMODINV # # JOBS OR TASKS INITIATED: # # NONE # # ALARMS: NONE # # EXIT: L+2 (NEITHER SET OF ANGLES ARE WITHIN LIMITS OF RELATED MODE) # STARTDES (DESIGNATE POSSIBLE AT PRESENT VEHICLES ATTITUDE -- RETURNS # TO L+3 FROM STARTDES) RRDESSM STQ CLEAR DESRET # Page 539 RRNBSW CALL # COMPUTES SINES AND COSINES, ORDER Y Z X CDUTRIG VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION RRTARGET *SMNB* CALL # GET RR GIMBAL ANGLES IN PRESENT AND RRANGLES # ALTERNATE MODE. EXIT INHINT TC RRLIMCHK ADRES MODEA # CONFIGURATION FOR CURRENT MODE. TC +3 # NOT IN CURRENT MODE OKDESSM INCR DESRET # INCREMENT SAYS NO VEHICLE MANEUVER REQ. TC STARTDES # SHOW DESIGNATE REQUIRED CS FLAGWRD8 MASK SURFFBIT # CHECK IF ON LUNAR SURFACE (SURFFLAG=P22F) EXTEND BZF NORDSTAL # BRANCH -- YES -- CANNOT DESIGNATE IN MODE 2 TC TRYSWS LUNDESCH CS FLAGWRD8 # OVERFLOW RETURN FROM RRANGLES MASK SURFFBIT # CHECK IF ON LUNAR SURFACE EXTEND BZF NORDSTAL # BRANCH -- YES -- RETURN TO CALLER -- ALARM 527 CA STATE MASK RNDVZBIT CCS A # TEST RNDVZFLG TC NODESSM # NOT ON MOON -- CALL FOR ATTITUDE MANEUVER TCF ENDOFJOB # ... BUT NOT IN R29. # Page 540 # PROGRAM NAME: STARTDES # # FUNCTIONAL DESCRIPTION: # # STARTDES IS ENTERED WHEN WE ARE READY TO BEGIN DESIGNATION. # BIT 14 OF RADMODES IS ALREADY SET IF A REMODE IS REQUIRED. # AT THIS TIME, THE RR ANTENNA MAY BE IN A REPOSITON # OPERATION. IN THIS CASE, IF A REMODE IS REQUIRED IT MAY HAVE # ALREADY BEGUN BUT IN ANY CASE THE REPOSITION WILL BE INTERRUPTED. # OTHERWISE, THE REPOSITION WILL BE COMPLETED BEFORE 2-AXIS # DESIGNATION BEGINS. INITIALLY DESCOUNT IS SET = 60 TO INDICATE # THAT 30 SECONDS WILL BE ALLOWED FOR THE RR DATA GOOD INBIT # (CHAN 33 BIT 4) IF LOCK-ON IS DESIRED (STATE BIT 5). BIT 10 # OF RADMODES IS SET TO SHOW THAT A DESIGNATE IS REQUIRED. # THE REPOSITON FLAG (RADMODES BIT 11) IS CHECKED. IF SET, # THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM (SEE RRDESSM # AND RRDESNB). THE PROGRAM WILL BEGIN DESIGNATING TO THE DESIRED # ANGLES FOLLOWING THE REPOSITON OR REMODE IF ONE WAS # REQUESTED. IF THE REPOSITON FLAG IS NOT SET, SETRRECR IS CALLED # WITH SETS THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2) # AND SETS LASTYCMD AND LASTXCMD = 0 TO INDICATE THE # DIFFERENCE BETWEEN THE PRESENT AND DESIRED STATE OF THE ERROR # COUNTERS. A 20 MILLISECOND WAITLIST CALL IS SET FOR BEGDES # AFTER WHICH THE PROGRAM EXITS TO L+3 OF TEH CALLING PROGRAM. # # CALLING SEQUENCE: # # FROM RRDESSM AND RRDESNB WHEN ANGLES WITHIN LIMITS. # # ERASABLE INITIALIZATION REQUIRED: # # RADMODES, (SEE DODES) # # SUBROUTINES CALLED # # SETRRECR, WAITLIST # # JOBS OR TASKS INITIATED: # # BEGDES # # ALARMS: NONE # # EXIT: L+3 OF CALLING PROGRAM (SEE RRDESSM) # L+2 OF CALLING PROGRAM (SEE RRDESNB) STARTDES INCR DESRET CS RADMODES MASK DESIGBIT ADS RADMODES MASK REPOSBIT # SEE IF REPOSITIONING IN PROGRESS. CCS A TCF DESRETRN # ECTR ALREADY SET UP. TC SETRRECR # SET UP ERROR COUNTERS. # Page 541 CAF TWO TC WAITLIST EBANK= LOSCOUNT 2CADR BEGDES DESRETRN CA RADCADR # FIRST PASS THRU DESIGNATE EXTEND BZF DESRTRN # YES SET EXIT TC ENDOFJOB # NO DESRTRN RELINT INCR DESRET CA DESRET TCF BANKJUMP NORDSTAL CAF ZERO # ZERO RADCADR TO WIPE OUT ANYONE TS RADCADR # WAITING IN RADSTALL SINCE WE ARE NOW TCF DESRTRN # RETURNING TO P20 AND MAY DO NEW RADSTALL # Page 542 # SEE IF RRDESSM CAN BE ACCOMPLISHED AFTER A REMODE. TRYSWS TC RMODINV # (NOTE RUPT INHIBIT) TC RRLIMCHK # TRY DIFFERENT MODE. ADRES MODEB TCF NODESSM # VEHICLE MANEUVER REQUIRED TC RMODINV # RESET BIT12 CAF REMODBIT # SET FLAG FOR REMODE. ADS RADMODES TCF OKDESSM NODESSM TC RMODINV # RE-INVERT MODE AND RETURN INCR DESRET # TO CALLER +2 TCF NORDSTAL MAXTRYS DEC 60 # Page 543 # DESIGNATE TO SPECIFIC RR GIMBAL ANGLES (INDEPENDENT OF VEHICLE MOTION). ENTER WITH DESIRED ANGLES IN # TANG AND TANG +1. RRDESNB TC MAKECADR TS DESRET TC DOWNFLAG # RESET FLAG TO PREVENT DODES FROM GOING ADRES LOSCMFLG # BACK TO R21 CA MAXTRYS # SET TIME LIMIT COUNTER TS DESCOUNT # FOR DESIGNATE INHINT # SEE IF CURRENT MODE OK. TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK ADRES TANG TCF TRYSWN # SEE IF IN OTHER MODE. OKDESNB RELINT EXTEND DCA TANG DXCH TANGNB TC INTPRET CALL # GET LOS IN NB COORDS. RRNB STORE RRTARGET SET EXIT RRNBSW INHINT TCF STARTDES +1 TRYSWN TC RMODINV # SEE IF OTHER MODE WILL DO. TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK ADRES TANG TCF NODESNB # NOT POSSIBLE. TC RMODINV CAF REMODBIT # CALL FOR REMODE. ADS RADMODES TCF OKDESNB NODESNB TC RMODINV # REINVERT MODE BIT. TC ALARM # BAD INPUT ANGLES. OCT 502 TC CLRADMOD TC ENDOFJOB # AVOID 503 ALARM. RRLIMNB INDEX Q # THIS ROUTINE IS IDENTICAL TO RRLIMCHK CAF 0 # EXCEPT THAT THE MODE 1 SHAFT LOWER INCR Q # LIMIT IS -85 INSTEAD OF -70 DEGREES EXTEND # Page 544 INDEX A # READ GIMBAL ANGLES INTO ITEMP STORAGE DCA 0 DXCH ITEMP1 LXCH Q # L(CALLER +2) TO L CAF ANTENBIT # SEE WHICH MODE RR IS IN MASK RADMODES CCS A TCF MODE2CHK # MODE 2 CAN USE RRLIMCHK CODING CA ITEMP1 TC MAGSUB # MODE 1 IS DEFINED AS DEC -.30555 # 1 ABS(T) L 55 DEGS TC L # 2 SHAFT LIMITS AT +59, -85 DEGS CA ITEMP2 # LOAD SHAFT ANGLE EXTEND BZMF NEGSHAFT # IF NEGATIVE SHAFT ANGLE, ADD 20.5 DEGS AD 5.5DEGS SHAFTLIM TC MAGSUB DEC -.35833 # 64.5 DEGREES TC L # NOT IN LIMITS TC RRLIMOK # IN LIMITS NEGSHAFT AD 20.5DEGS # MAKE NEGATIVE SHAFT LIMIT -85 DEGREES TCF SHAFTLIM 20.5DEGS DEC .11389 # Page 545 # PROGRAM NAME: BEGDES # # FUNCTIONAL DESCRIPTION: # # BEGDES CHECKS VARIOUS DESIGNATE REQUESTS AND REQUESTS THE # ACTUAL RR DESIGNATION. INITIALLY A CHECK IS MADE TO SEE IF A # REMODE (RADMODES BIT 14) IS REQUESTED OR IN PROGRESS. IF SO, # CONTROL IS TRANFERRED TO STDESIG AFTER ROUTINE REMODE IS # EXECUTED. IF NO REMODE, STDESIG IS IMMEDIATELY CALLED WHERE # FIRST THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS REMOVED # AFTER WHICH THE PROGRAM EXITS TO RDBADEND. IF THE REPOSITION # FLAG IS NOT PRESET, THE CONTINUOUS DESIGNATE FLAG (RADMODES # BIT 15) IS CHECKED. IF PRESENT, AN EXECUTIVE CALL IS IMMEDIATELY # MADE FOR DODES AFTER WHICH A .5 SECOND WAIT IS INITIATED BEFORE # REPEATING AT STDESIG. IF THE RR SEARCH ROUTINE (LRS24.1) IS DESIGNATING # TO A NEW POINT (NEWPTFLG SET) THE CURRENT DESIGNATE TASK IS TERMINATED. # IF CONTINUOUS DESIGNATE IS NOT WANTED, THE DESIGNATE FLAG (RADMODES # BIT 10) IS CHECKED. IF NOT PRESENT, THE PROGRAM EXITS TO ENDRADAR TO # CHECK RR CDU FAIL BEFORE RETURNING TO THE CALLING PROGRAM. IF DESIGNATE # IS STILL REQUIRED, DESCOUNT IS CHECKED TO SEE IF THE 30 SECONDS HAS # EXPIRED BEFORE RECEIVING THE RR DATA GOOD (CHAN 33 BIT 4) # SIGNAL. IF OUT OF TIME, PROGRAM ALARM 00503 IS REQUESTED, THE # RR AUTO TRACKER ENABLE AND RR ERROR COUNTER ENABLE # (CHAN 12 BITS 14,2) BITS REMOVED, AND THE DESIGNATE FLAG # (RADMODES BIT 10) REMOVED BEFORE EEXITING TO RDBADEND. IF # TIME HAS NOT EXPIRED, DESCOUNT IS DECREMENTED, THE # EXECUTIVE CALL MADE FOR DODES, AND A .5 SECOND WAIT INITIATED # BEFORE REPEATING THIS PROCEDURE AT STDESIG. # # CALLING SEQUENCE: # # WAITLIST CALL FROM STARTDES # TCF BEGDES FROM DORREPOS # TC STDESIG RETURNING, FROM REMODE # # ERASABLE INITIALIZATION REQUIRED: # # DESCOUNT, FINDVAC # # JOBS OR TASKS INITIATED: DODES # # ALARMS: PROGRAM ALARM 00503 (30 SECONDS HAVE EXPIRED) WITH NO RR DATA # GOOD (CHAN 33 BIT 4) RECEIVED WHEN LOCK-ON (STATE BIT 5) WAS REQUESTED. # # EXIT: TASKOVER (SEARCH PATTERN DESIGNATING TO NEW POINT) # ENDRADAR (NO DESIGNATE -- RADMODES BIT 10) # RDBADEND (REPOSITION OR 30 SECONDS EXPIRED) BEGDES CS RADMODES # Page 546 MASK REMODBIT CCS A TC STDESIG TC REMODE DESLOOP TC FIXDELAY # 2 SAMPLES PER SECOND. DEC 50 STDESIG CAF REPOSBIT MASK RADMODES # SEE IF GIMBAL LIMIT MONITOR HAS FOUND US CCS A # OUT OF BOUNDS. IF SO, THIS BIT SHOWS A TCF BADDES # REPOSITION TO BE IN PROGRESS. CCS RADMODES # SEE IF CONTINUOUS DESIGNATE WANTED. TCF +3 # IF SO, DON'T CHECK BIT 10 TO SEE IF IN TCF +2 # LIMITS BUT GO RIGHT TO FINDVAC ENTRY. TCF MOREDES +1 CS RADMODES # IF NON-CONTINUOUS, SEE IF END OF MASK DESIGBIT # PROBLEM (DATA GOOD IF LOCK-ON WANTED OR CCS A # WITHIN LIMITS IF NOT). IF SO, EXIT AFTER TCF ENDRADAR # CHECKING RR CDU FAIL. STDESIG1 CCS DESCOUNT # SEE IF THE TIME LIMIT HAS EXPIRED TCF MOREDES CS B14+B2 # IF OUT OF TIME, REMOVE ECR ENABLE + TRKR EXTEND WAND CHAN12 BADDES CS DESIGBIT # REMOVE DESIGNATE FLAG MASK RADMODES TS RADMODES TCF RDBADEND MOREDES TS DESCOUNT CAF PRIO26 # UPDATE GYRO TORQUE COMMANDS. TC FINDVAC EBANK= LOSCOUNT 2CADR DODES TCF DESLOOP B14+B2 OCT 20002 # Page 547 # PROGRAM NAME: DODES # # FUNCTIONAL DESCRIPTION: # # DODES CALCULATES AND REQUESTS ISSUANCE OF RR GYRO TORQUE # COMMANDS. INITIALLY THE CURRENT RR CDU ANGLES ARE STORED AND # THE LOS HALF-UNIT VECTOR TRANSFORMED FROM STABLE MEMBER TO # NAVIGATION BASE COORDINATES VIA SMNB IF NECESSARY. THE # SHAFT AND TRUNNION COMMANDS ARE THEN CALCULATED AS FOLLOWS: # + SHAFT = LOS . (COS(S), 0, -SIN(S)) (DOT PRODUCT) # - TRUNNION = LOS . (SIN(T)SIN(S), COS(T), SIN(T)COS(S)) # THE SIGN OF THE SHAFT COMMAND IS THEN REVERSED IF IN MODE 2 # (RADMODES BIT 12) BECAUSE A RELAY IN THE RR REVERSES THE # POLARITY OF THE COMMAND. AT RRSCALUP EACH COMMAND IS # SCALED AND IF EITHER, OR BOTH, OF THE COMMANDS IS GREATER THAN # .5 DEGREES, MPAC +1 IS SET POSITIVE. IF A CONTINUOUS DESIGNATE # (RADMODES BIT 15) IS DESIRED AND THE SEARCH ROUTINE IS NOT OPERATING, # THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS CLEARED AND RROUT # CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11) # IS IN PROGRESS. IF A CONTINUOUS DESIGNATE AND THE SEARCH ROUTINE IS # OPERATING (SRCHOPT FLAT SET) THE TRACK ENABLE IS NOT CLEARED. IF NO # CONTINUOUS DESIGNATE AND BOTH COMMANDS ARE NOT LESS THAN .5 DEGREES AS # INDICATED BY MPAC +1, THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS # CLEARED AND RROUT CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITON # (RADMODES BIT 11) IS IN PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5 # DEGREES AS INDICATED BY MPAC+1, THE RR AUTO TRACKER ENABLE BIT # (CHAN 12 BIT 14) IS CLEARED AND RROUT CALLED TO PUT OUT THE # COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11) IS IN # PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5 DEGREES, THE # LOCK-ON FLAG (STATE BIT 5) IS CHECKED. IF NOT PRESETN, THE # DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED, AND ENDOFJOB # CALLED. IF LOCK-ON IS DESIRED, THE RR AUTO TRACKER (CHAN 12 # BIT 14) IS ENABLED FOLLOWED BY A CHECK OF THE RECEIPT OF THE # RR DATA GOOD (CHAN 33 BIT 4) SIGNAL. IF RR DATA GOOD # PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED, # THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED, # AND ENDOFJOB CALLED. IF RR DATA GOOD IS NOT PRESENT, RROUT # IS CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION # (RADMODES BIT 11) IS IN PROGRESS AFTER WHICH THE JOB IS TERMINATED # VIA ENDOFJOB. # # CALLING SEQUENCE: # # EXECUTIVE CALL EVERY .5 SECONDS FROM BEGDES. # # ERASABLE INITIALIZATION REQUIRED: # # RRTARGET (HALF-UNIT LOS VECTOR IN EITHER SM OR NB COORDINATES), # LOKONSW (STATE BIT 5), RRNBSW (STATE BIT 6), RADMODES # # SUBROUTINES CALLED: # # READCDUS, SMNB, CDULOGIC, MAGSUB, RROUT # Page 548 # # JOBS OR TASKS INITIATED: # # NONE # # ALARMS: NONE # # EXIT: ENDOFJOB (ALWAYS) DODES EXTEND DCA CDUT DXCH TANG TC INTPRET SETPD VLOAD 0 RRTARGET BON VXSC RRNBSW DONBRD # TARGET IN NAV-BASE COORDINATES MLOSV # MULTIPLY UNIT LOS BY MAGNITUDE VSL1 PDVL LOSVEL VXSC VAD # ADD ONE SECOND RELATIVE VELOCITY TO LOS MCTOMS UNIT CALL CDUTRIG CALL *SMNB* DONBRD STODL 32D TANG +1 RTB PUSH # SHAFT COMMAND = V(32D).(COS(S), 0, CDULOGIC # -SIN(S)). SIN PDDL # SIN(S) TO 0 AND COS(S) TO 2. COS PUSH DMP PDDL 32D 36D DMP BDSU 0 STADR STORE TANG +1 # SHAFT COMMAND SLOAD RTB TANG CDULOGIC PUSH COS # COS(T) TO 4. PDDL SIN PUSH DMP # SIN(T) TO 6. 2 # Page 549 SL1 PDDL # DEFINE VECTOR U = [SIN(T)SIN(S)] 4 # [ COS(T) ] PDDL DMP # [SIN(T)COS(S)] 6 0 SL1 VDEF DOT EXIT # DOT U WITH LOS TO GET TRUNNION COMMAND. 32D # Page 550 # AT THIS POINT WE HAVE A ROTATION VECTOR IN DISH AXES LYING IN THE TS PLANE. CONVERT THIS TO A # COMMANDED RATE AND ENABLE THE TRACKER IF WE ARE WITHIN .5 DEGREES OF THE TARGET. CS MPAC # DOT WAS NEGATIVE OF DESREG ANGLE. EXTEND MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS. TS TANG # TRUNNION COMMAND. CS RADMODES # A RELAY IN THE RR REVERSES POLARITY OF MASK BIT12 # THE SHAFT COMMANDS IN MODE 2 SO THAT A EXTEND # POSITIVE TORQUE APPLIED TO THE SHAFT BZF +3 # GYRO CAUSES A POSITIVE CHANGE IN THE CA TANG +1 # SHAFT ANGLE. COMPENSATE FOR THIS SWITCH TCF +2 # BY CHANGING THE POLARITY OF OUR COMMAND. +3 CS TANG +1 EXTEND MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS. TS TANG +1 # SHAFT COMMAND FOR RROUT TC INTPRET DLOAD DMP 2 # COS(S). 4 # COS(T). SL1 PDDL # Z COMPONENT OF URR. DCOMP PDDL # Y COMPONENT = -SIN(T) 0 # SIN(S). DMP SL1 4 # COS(T). VDEF BON # FORM URR IN NB AXES. RRNBSW # BYPASS NBSM CONVERSION IN VERB 41 +3 CALL *NBSM* # GET URR IN SM AXES. DOT EXIT RRTARGET # GET COSIN OF ANGLE BETWEEN RR AND LOS EXTEND DCS COS1/2DG DAS MPAC # DIFFERENCE OF COSINES, SCALED B-2. CCS MPAC CA ZERO # IF COS ERROR BIGGER, ERROR IS SMALLER TCF +2 CA ONE TS MPAC +1 # ZERO IF RR IS POINTED OK, ONE IF NOT. # Page 551 # SEE IF TRACKER SHOULD BE ENABLED OR DISABLED. CCS RADMODES # IF CONTINUOUS DESIGNATE WANTED, PUT OUT TCF SIGNLCHK # COMMANDS WITHOUT CHECKING MAGNITUDE OF TCF SIGNLCHK # ERROR SIGNALS TCF DORROUT SIGNLCHK CCS MPAC +1 # SEE IF BOTH AXES WERE WITHIN .5 DEGS. TCF DGOODCHK CS STATE # IF WITHIN LIMITS AND NO LOCK-ON WANTED, MASK LOKONBIT # PROBLEM IS FINISHED. CCS A TCF RRDESDUN CAF BIT14 # ENABLE THE TRACKER EXTEND WOR CHAN12 DGOODCHK CAF BIT4 # SEE IF DATA GOOD RECEIVED YET EXTEND RAND CHAN33 CCS A TCF DORROUT RRDESDUN CS BIT10 # WHEN PROBLEM DONE, REMOVE BIT 10 SO NEXT MASK RADMODES # WAITLIST TASK WE WILL GO TO RGOODEND. INHINT TS RADMODES TC DOWNFLAG # RESET LOSCMFLG TO PREENT A ADRES LOSCMFLG # RECOMPUTATION OF LOS AFTER DATA GOOD CS BIT2 # TURN OFF ENABLE RR ERROR COUNTER EXTEND WAND CHAN12 TCF ENDOFJOB # WITH ECTR DISABLED. DORROUT CA FLAGWRD2 # IF BOTH LOSCMFLAG AND SEARCH FLAG ARE MASK BIT12,14 # ZERO, BYPASS VELOCITY ADJUSTMENT TO LOS EXTEND BZF NOTP20 TC INTPRET VLOAD VXSC # MULTIPLY UNIT LOS BY MAGNITUDE RRTARGET MLOSV VSL1 PUSH VLOAD VXSC # ADD .5 SEC. OF VELOCITY LOSVEL # TO LOS VECTOR MCTOMS VSR1 VAD UNIT STODL RRTARGET # STORE VELOCITY-CORRECTED LOS (UNIT) # Page 552 36D STORE MLOSV # AND STORE MAGNITUDE EXIT NOTP20 INHINT CS RADMODES # PUT OUT COMMAND UNLESS MONITOR MASK REPOSBIT # REPOSITION HAS TAKEN OVER CCS A TC RROUT CA FLAGWRD2 MASK LOSCMBIT # IF LOSCMFLG NOT SET, DON'T TEST EXTEND # LOS COUNTER BZF ENDOFJOB CCS LOSCOUNT # TEST LOS COUNTER TO SEE IF TIME TO GET TC DODESEND # A NEW LOS INHINT TC KILLTASK # YES -- KILL TASK WHICH SCHEDULES DODES CADR DESLOOP +2 RELINT CCS NEWJOB TC CHANG1 TC BANKCALL CADR R21LEM2 DODESEND TS LOSCOUNT TC ENDOFJOB RDESGAIN DEC .53624 # TRIES TO NULL .5 ERROR IN .5 SEC. BIT12,14 EQUALS PRIO24 # OCT 24000 COS1/2DG 2DEC .999961923 B-2 # COSINE OF 0.5 DEGREES. MCTOMS 2DEC 100 B-13 # Page 553 # RADAR READ INITIALIZATION # # RADAR DATA READ BY A BANKCALL FOR THE APPROPRIATE LEAD-IN BELOW. LRALT TC INITREAD -1 # ONE SAMPLE PER READING. ALLREAD OCT 17 LRVELZ TC INITREAD OCT 16 LRVELY TC INITREAD OCT 15 LRVELX TC INITREAD OCT 14 RRRDOT TC INITREAD -1 OCT 12 RRRANGE TC INITREAD -1 OCT 11 # LRVEL IS THE ENTRY TO THE LR VELOCITY READ ROUTINE WHEN 5 SAMPLES ARE # WANTED. ENTER WITH C(A)= 0,2,4 FOR LRVELZ,LRVELY,LRVELX RESP. LRVEL TS TIMEHOLD # STORE VBEAM INDEX HERE MOMENTARILY CAF FIVE # SPECIFY FIVE SAMPLES INDEX TIMEHOLD TCF LRVELZ # Page 554 -1 CAF ONE # ENTRY TO TAKE ONLY 1 SAMPLE INITREAD INHINT TS TIMEHOLD # GET DT OF MIDPOINT OF NOMINAL SAMPLING EXTEND # INTERVAL (ASSUMES NO BAD SAMPLES WILL BE MP BIT3 # ENCOUNTERED). DXCH TIMEHOLD CCS A TS NSAMP AD ONE # INSERT FOLLOWING INSTRUCTION TO GET 2N TRIES FOR N SAMPLES. # DOUBLE TS SAMPLIM CAF DGBITS # READ CURRENT VALUE OF DATA GOOD BITS. EXTEND RAND CHAN33 TS OLDATAGD CS ALLREAD EXTEND WAND CHAN13 # REMOVE ALL RADAR BITS INDEX Q CAF 0 EXTEND WOR CHAN13 # SET NEW RADAR BITS EXTEND DCA TIME2 DAS TIMEHOLD # TIME OF NOMINAL MIDPOINT CAF ZERO TS L DXCH SAMPLSUM TCF ROADBACK DGBITS OCT 230 # Page 555 # RADAR RUPT READER # # THIS ROUTINE STARTS FROM A RADARUPT. IT READS THE DATA & LOTS MORE. SETLOC RADARUPT BANK COUNT* $$/RRUPT RADAREAD EXTEND # MUST SAVE SBANK BECAUSE OF RUPT EXITS ROR SUPERBNK # VIA TASKOVER (BADEND OR GOODEND). TS BANKRUPT EXTEND QXCH QRUPT CAF SEVEN EXTEND RAND CHAN13 TS DNINDEX EXTEND # IF RADAR SELECT BITS ZERO, DO NOT STORE BZF TRYCOUNT # DATA FOR DOWNLIST (ERASABLE PROBLEMS) CA RNRAD INDEX DNINDEX TS DNRRANGE -1 TRYCOUNT CCS SAMPLIM TCF PLENTY TCF NOMORE TC ALARM OCT 520 TC RESUME NOMORE CA FLGWRD11 # IS LRBYPASS SET? MASK LRBYBIT EXTEND BZF BADRAD # NO. R12 IS ON -- BYPASS 521 ALARM. CS FLAGWRD3 # CHECK R04FLAG. MASK R04FLBIT # IF 1, R04 IS RUNNING. DO NOT ALARM EXTEND BZF BADRAD TC ALARM # P20 WANTS THE ALARM. OCT 521 BADRAD CS ONE TS SAMPLIM TC RDBADEND -2 PLENTY TS SAMPLIM CAF BIT3 EXTEND RAND CHAN13 # TO FIND OUT WHICH RADAR EXTEND # Page 556 BZF RENDRAD TC R77CHECK # R77 QUITS HERE. LRPOSCHK CA RADMODES # SEE IF LR IN DESIRED POSITION EXTEND RXOR CHAN33 MASK BIT6 EXTEND BZF VELCHK TC ALARM OCT 522 TC BADRAD VELCHK CAF BIN3 # = 00003 OCT EXTEND RXOR CHAN13 # RESET ACTIVITY BIT MASK BIN3 EXTEND BZF LRHEIGHT # TAKE A LR RANGE READING CAF POSMAX MASK RNRAD AD LVELBIAS TS L CAE RNRAD DOUBLE MASK BIT1 DXCH ITEMP3 CAF BIT8 # DATA GOOD ISN'T CHECKED UNTIL AFTER READ- TC DGCHECK # ING DATA SO SOME RADAR TESTS WILL WORK # INDEPENDENT OF DATA GOOD. CCS NSAMP TC NOEND GOODRAD CS ONE TS SAMPLIM CS ITEMP1 # WHEN ENOUGH GOOD DATA HAS BEEN GATHERED, MASK RADMODES # RESET DATA FAIL FLAGS FOR SETTRKF. TS RADMODES TC RADLITES # LAMPS MAY GO OFF IF DATA JUST GOOD. TC RGOODEND -2 NOEND TS NSAMP RESAMPLE CCS SAMPLIM # SEE IF ANY MORE TRIES SHOULD BE MADE. TCF +2 TCF DATAFAIL # N SAMPLES NOT AVAILABLE. CAF BIT4 # RESET ACTIVITY BIT. EXTEND # Page 557 WOR CHAN13 # RESET ACTIVITY BIT TC RESUME LRHEIGHT CAF BIT5 TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33) CAF BIT9 TC SCALECHK -1 RENDRAD CAF REPOSBIT # MAKE SURE ANTENNA HAS NOT GONE OUT OF MASK RADMODES # LIMITS. CCS A TCF BADRAD CS RADMODES # BE SURE RR CDU HASN'T FAILED. MASK RCDUFBIT CCS A TCF BADRAD CAF BIT4 # SEE IF DATA HAS BEEN GOOD. TS ITEMP1 # (POSITION OF DATA GOOD BIT IN CHAN 33) CAF BIT1 # SEE IF RR RDOT. EXTEND RAND CHAN13 TS Q # FOR LATER TESTING. CCS A TCF +2 TCF RADIN # NO SCALE CHECK FOR RR RDOT. CAF BIT3 TS L SCALECHK EXTEND RAND CHAN33 # SCALE STATUS NOW XCH L MASK RADMODES # SCALE STATUS BEFORE EXTEND RXOR LCHAN # SEE IF THEY DIFFER CCS A TC SCALCHNG # THEY DIFFER. RADIN CAF POSMAX MASK RNRAD TS ITEMP4 CAE RNRAD DOUBLE MASK BIT1 TS ITEMP3 # Page 558 CCS Q # SEE IF RR RDOT. TCF SCALADJ # NO, BUT SCALE CHANGING MAY BE NEEDED. EXTEND # IF RR RANGE RATE, THROW OUT BIAS DCS RDOTBIAS DASAMPL DAS ITEMP3 DGCHECK2 CA ITEMP1 # SEE THAT DATA HAS BEEN GOOD BEFORE AND TC DGCHECK +1 # AFTER TAKING SAMPLE. TC GOODRAD SCALCHNG LXCH RADMODES AD BIT1 EXTEND RXOR LCHAN TS RADMODES CAF DGBITS # UPDATE LAST VALUE OF DATA GOOD BITS. EXTEND RAND CHAN33 TS OLDATAGD TC UPFLAG # SET RNGSCFLG ADRES RNGSCFLG # FOR LRS24.1 TCF BADRAD # R77 MUST IGNORE DATA FAILS SO AS NOT TO DISTURB THE ASTRONAUT. R77CHECK CS FLAGWRD5 MASK R77FLBIT CCS A TC Q # NOT R77 CS BITS5,8 # UPDATE LR DATA GOOD BITS IN RADMODES MASK RADMODES TS L CA BITS5,8 EXTEND RAND CHAN33 AD L TS RADMODES TC RGOODEND -2 BITS5,8 OCT 220 # Page 559 # THE FOLLOWING ROUTINE INCORPORATES RR RANGE AND LR ALT SCALE INFORMATION AND LEAVES DATA AT LO SCALE. SCALADJ CCS L # L HAS SCALE INBIT FOR THIS RADAR. TCF +2 # ON HIGH SCALE. TCF DGCHECK2 CA DNINDEX MASK BIT3 CCS A TCF LRSCK DXCH ITEMP3 DDOUBL DDOUBL DDOUBL DXCH ITEMP3 TCF DGCHECK2 LRSCK CCS ITEMP3 TCF +11 CS ITEMP4 AD HISCALIM EXTEND BZMF +5 CS FLGWRD11 MASK SCABBIT ADS FLGWRD11 TCF +4 CS SCABBIT MASK FLGWRD11 TS FLGWRD11 EXTEND DCA ITEMP3 DDOUBL DDOUBL TCF DASAMPL HISCALIM DEC 460 # 2481.7 FT ****************************** # Page 560 DGCHECK TS ITEMP1 # UPDATE DATA GOOD BIT IN OLDATAGD AND EXTEND # MAKE SURE IT WAS ON BEFORE AND AFTER THE RAND CHAN33 # SAMPLE WAS TAKEN BEFORE RETURNING. IF TS L # NOT, GOES TO RESAMPLE TO TRY AGAIN. IF CS ITEMP1 # MAX NUMBER OF TRIES HAS BEEN REACHED, MASK OLDATAGD # THE BIT CORRESPONDING TO THE DATA GOOD AD L # WHICH FAILED TO APPEAR IS IN ITEMP1 AND XCH OLDATAGD # CAN BE USED TO SET RADMODES WHICH VIA MASK ITEMP1 # SETTRKF SETS THE TRACKER FAIL LAMP. AD L CCS A # SHOULD BOTH BE ZERO. TC RESAMPLE DXCH ITEMP3 # IF DATA GOOD BEFORE AND AFTER, ADD TO DAS SAMPLSUM # ACCUMULATION. TC Q DATAFAIL CS ITEMP1 # IN THE ABOVE CASE, SET RADMODES BIT MASK RADMODES # SHOWING SOME RADAR DATA FAILED. AD ITEMP1 TS RADMODES DXCH ITEMP3 # IF WE HAVE BEEN UNABLE TO GATHER N DXCH SAMPLSUM # SAMPLES, USE LAST ONE ONLY. TC RADLITES TCF NOMORE # Page 561 # THIS ROUTINE CHANGES THE LR POSITION, AND CHECKS THAT IT GOT THERE. SETLOC P20S1 BANK COUNT* $$/RSUB LRPOS2 INHINT CS RADMODES MASK LRPOSBIT # SHOW DESIRED LR POSITION IS 2 ADS RADMODES CAF BIT7 EXTEND RAND CHAN33 # SEE IF ALREADY THERE. EXTEND BZF RADNOOP CAF BIT13 EXTEND WOR CHAN12 # COMMAND TO POSITION 2 CAF 6SECS # START SCANNING FOR INBIT AFTER 7 SECS. TC WAITLIST EBANK= LOSCOUNT 2CADR LRPOSCAN TC ROADBACK LRPOSNXT TS SAMPLIM TC FIXDELAY # SCAN ONCE PER SECOND 15 TIMES MAX AFTER DEC 100 # INITIAL DELAY OF 7 SECONDS. CAF BIT7 # SEE IF LR POS2 IS ON EXTEND RAND CHAN33 EXTEND BZF LASTLRDT # IF THERE, WAIT FINAL SECOND FOR BOUNCE. CCS SAMPLIM # SEE IF MAX TIME UP. TCF LRPOSNXT CS BIT13 # IF TIME UP, DISABLE COMMAND AND ALARM. EXTEND WAND CHAN12 TCF RDBADEND RADNOOP CAF ONE # NO FURTHER ACTION REQUESTED. TC WAITLIST EBANK= LOSCOUNT 2CADR RGOODEND # Page 562 TC ROADBACK LASTLRDT CA 2SECS # WAIT TWO SECONDS AFTER RECEIPT OF INBIT TC VARDELAY # TO WAIT FOR ANTENNA BOUNCE TO DIE OUT. CS BIT13 # REMOVE COMMAND EXTEND WAND CHAN12 TCF RGOODEND LRPOSCAN CAF FOURTEEN # SET UP FOR 15 SAMPLES. TCF LRPOSNXT 6SECS DEC 600 # Page 563 # SEQUENCES TO TERMINATE RR OPERATIONS. ENDRADAR CAF RCDUFBIT # PROLOG TO CHECK RR CDU FAIL BEFORE END. MASK RADMODES CCS A TCF RGOODEND TCF RDBADEND -2 CS ZERO # RGOODEND WHEN NOT UNDER WAITLIST CONTROL TS RUPTAGN RGOODEND CAF TWO TC POSTJUMP CADR GOODEND -2 CS ZERO # RDBADEND WHEN NOT UNDER WIATLIST. TS RUPTAGN RDBADEND CAF TWO TC POSTJUMP CADR BADEND BIN3 EQUALS THREE # Page 564 # PROGRAM NAME: LPS20.1 VECTOR EXTRAPOLATION AND LOS COMPUTATION # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66 # # FUNCTIONAL DESCRPIPTION: # 1) EXTRAPOLATE THE LEM AND CSM VECTORS IN ACCORDANCE WITH THE TIME REFERRED TO IN CALLER + 1. # 2) COMPUTES THE LOS VECTOR TO THE CSM, CONVERTS IT TO STABLE MEMBER COORDINATES AND STORES IT IN RRTARGET. # 3) COMPUTES THE MAGNITUDE OF TEH LOS VECTOR AND STORES IT IN MLOSV # # CALLING SEQUENCE: CALL # LPS20.1 # # SUBROUTINES CALLED: # LEMPREC, CSMPREC # # NORMAL EXIT: RETURN TO CALLER + 2. # # ERROR EXITS: NONE # # ALARMS: NONE # # OUTPUT: # LOS VECTOR (HALF UNIT) IN SM COORDINATES STORED IN RRTARGET # MAGNITUDE OF TEH LOS VECTOR (METERS SCALED B-29) STORED IN MSLOV # RRNBSW CLEARED. # # INITIALIZED ERASABLE # TDEC1 MUST CONTAIN THE TIME FOR EXTRAPOLATION # SEE ORBITAL INTEGRATION ROUTINE # # DEBRIS: # MPAC DESTROYED BY THE ROUTINE BANK 23 SETLOC P20S BANK # Page 565 COUNT* $$/LPS20 LPS20.1 STQ BOFF LS21X LOSCMFLG # LOSCMFLG = 0 MEANS NOT CALLED BY R21 LMINT # SO CALL LEMCONIC TO GET LM STATE BON # IF IN R21 AND ON LUNAR SURFACE SURFFLAG # DON'T CALL LEMCONIC CSMINT LMINT CALL LEMCONIC # EXTRAPOLATE LEM VLOAD RATT STOVL LMPOS # SAVE LM POSITION B-29 VATT STODL LMVEL # SAVE LM VELOCITY B-7 TAT CSMINT STCALL TDEC1 CSMCONIC # EXTRAPOLATE CSM VLOAD VSU # COMPUTE RELATIVE VELOCITY V(CSM) - V(LM) VATT LMVEL MXV VSL1 REFSMMAT EXIT TC KILLTASK # KILL THE TASK WHICH CALLS DODES SINCE CADR DESLOOP +2 # STORING INTO ERASEABLES DODES USES TC INTPRET STOVL LOSVEL RATT VSU BOFF LMPOS RNDVZFLG NOTSHIFT BOVB TCDANZIG VSL 9D NOTSHIFT UNIT BOVB # IF OVERFLOW, RANGE MUST BE GREATER 526ALARM # THAN 400 N. M. MXV VSL1 REFSMMAT # CONVERT TO STABLE MEMBER STODL RRTARGET 36D # SAVE MAGNITUDE OF LOS VECTOR FOR STORE MLOSV # VELOCITY CORRECTION IN DESIGNATE CLRGO RRNBSW LS21X # Page 566 # PROGRAM NAME: LPS20.2 400 NM RANGE CHECK # MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66 # # FUNCTIONAL DESCRIPTION: # COMPARES THE MAGNITUDE OF THE LOS VECTOR TO 400 NM. # # CALLING SEQUENCE: CALL # LPS20.2 # # SUBROUTINES CALLED: NONE # # NORMAL EXIT: RETURN TO CALLER +1, MPAC EQ 0 (RANGE 400NM OR LESS.) # # ERROR EXITS: RETURN TO CALLER +1, MPAC EQ 1 (RANGE GREATER THAN 400NM) # # ALARMS: NONE # # OUTPUT: NONE # # INITIALIZED ERASEABLE: # PDL 36D MUST CONTAIN THE MAGNITUDE OF THE VECTOR # # DEBRIS: # MPAC DESTROYED BY THIS ROUTINE SETLOC P20S1 BANK COUNT* $$/LPS20 LPS20.2 DLOAD DSU MLOSV # MAGNITUDE OF LOS FHNM # OVER 400NM BPL TOFAR SLOAD RVQ ZERO/SP TOFAR SLOAD RVQ ONE/SP ONE/SP DEC 1 # Page 567 FHNM 2DEC 740800 B-20 # 400 NAUTICAL MILES IN METERS B-20 # Page 568 # PROGRAM NAME: LRS22.1 (DATA READ SUBROUTINE 1) # MOD. NO.: 1 BY: P. VOLANTE SDC DATE: 11-15-66 # # FUNCTIONAL DESCRIPTION: # 1) READS RENDEZVOUS RADAR RANGE AND RANGE-RATE, TRUNNION AND SHAFT ANGLES, THREE CDU VALUES AND TIME. CONVERTS THIS # DATA AND LEAVES IT FOR THE MEASUREMENT INCORPORATION ROUTINE (LSR22.3). CHECKS FOR THE RR DATA GOOD DISCRETE, FOR # RR REPOSITION AND RR CDU FAIL # 2) COMPARES RADAR LOS WITH LOS COMPUTED FROM STATE VECTORS TO SEE IF THEY ARE WITHIN THREE DEGREES # # CALLING SEQUENCE: BANKCALL FOR LRS22.1 # # SUBROUTINES CALLED: # RRDOT LPS20.1 # RRRANGE BANKCALL # RADSTALL CDULOGIC # RRNB SMNB # # NORMAL EXIT: RETURN TO CALLER+1 WITH MPAC SET TO +0 # # ERROR EXITS: RETURN TO CALLER+1 WITH ERROR CODE STORED IN MPAC AS FOLLOWS: # 00001 -- ERROR EXIT 1 -- RR DATA NO GOOD (NO RR DATA GOOD DISCRETE OR RR CDU FAIL OR RR REPOSITION) # 00002 -- ERROR EXIT 2 -- RR LOS NOT WITHIN THREE DEGREES OF LOS COMPUTED FROM STATE VECTORS # # ALARMS: 521 -- COULD NOT READ RADAR DATA (RR DATA GOOD DISCRETE NOT PRESENT BEFORE AND AFTER READING THE RADAR) # (THIS ALARM IS ISSUED BY RADARREAD SUBROUTINE WHICH IS ENTERED FROM A RADARUPT) # # OUTPUT: RRLOSVEC -- THE RR LINE-OF-SIGHT VECTOR (USED BY LRS22.2) -- A HALF-UNIT VECTOR # RM -- THE RR RANGE READING (TO THE CSM) DP, IN METERS SCALED BY B-29 (USED BY LRS22.2 AND LRS22.3) # # ALL OF THE FOLLOWING OUTPUTS ARE USED BY LRS22.3: # RDOTM -- THE RR RANGE-RATE READING, DP, IN METERS PER CENTISECOND, SCALED BY B-7 # RRTRUN -- THE RR TRUNNION ANGLE, DP, IN REVOLUTIONS, SCALED B0 # RRSHAFT -- RR SHAFT ANGLE, DP, IN REVOLUTIONS, SCALED B0 # AIG,AMG,AOG -- THE CDU ANGLES, THREE SP WORDS # MKTIME -- THE TIME OF THE RR READING, DP, IN CENTISECONDS # # ERASABLE INITIALIZATION REQUIRED: # RNRAD, THE RADAR READ COUNTER FROM WHICH IS OBTAINED: # Page 569 # 1) RR RANGE SCALED 9.38 FT. PER BIT ON THE LOW SCALE AND 75.04 FT. PER BIT ON THE HIGH SCALE # 2) RR RANGE RATE, SCALED .6278 FT./SEC. PER BIT # THE CDU ANGLES FROM CDUX, CDUY, CDUZ, AND TIME1 AND TIME2 # # DEBRIS: LRS22.1X, A, L, Q, PUSHLIST BANK 32 SETLOC LRS22 BANK COUNT* $$/LRS22 LRS22.1 TC MAKECADR TS LRS22.1X TC DOWNFLAG ADRES RNGSCFLG INHINT CAF BIT3 EXTEND # GET RR RANGE SCALE RAND CHAN33 # FROM CHANNEL 33 BIT 3 TS L CS RRRSBIT MASK RADMODES AD L TS RADMODES RELINT READRDOT TC BANKCALL CADR RRRDOT # READ RANGE-RATE (ONE SAMPLE) TC BANKCALL CADR RADSTALL # WAIT FOR DATA READ COMPLETION TCF EREXIT1 # COULD NOT READ RADAR-ERROR EXIT 1 INHINT # NO INTERRUPTS WHILE READING TIME AND CDU DXCH TIMEHOLD # SET MARK TIME EQUAL TO THE MID-POINT DXCH MPAC +5 # TEMP BUFFER FOR DOWNLINK DXCH SAMPLSUM # SAVE RANGE-RATE READING DXCH RDOTMSAV EXTEND DCA CDUY # SAVE ICDU ANGLES DXCH MPAC +3 # TEMP BUFFER FOR DOWNLINK CA CDUX TS MPAC +2 # TEMP BUFFER FOR DOWNLINK EXTEND DCA TIME2 # SAVE TIME DXCH MPAC # SAVE TIME OF CDUY READINGS IN MPAC EXTEND DCA CDUT # SAVE TRUNNION AND SHAFT ANGLES FOR RRNB DXCH TANG # Page 570 RELINT TC BANKCALL CADR RRRANGE # READ RR RANGE (ONE SAMPLE) TC BANKCALL CADR RADSTALL # WAIT FOR READ COMPLETE TC CHEXERR # CHECK FOR ERRORS DURING READ INHINT # COPY CYCLE FOR MARK DATA ON DOWNLINK DXCH DNRRANGE # RANGE, RANGE RATE (RAW DATA) DXCH RANGRDOT DXCH MPAC +5 DXCH MKTIME # MARK TIME DXCH MPAC +3 DXCH AIG # CDUY, CDUZ EXTEND DCA TANG # PRESERVE TANG DXCH TANGNB # TRUNNION AND SHAFT ANGLES CA MPAC +2 TS AOG # CDUX TC INTPRET STODL 20D # SAVE TIME OF CDU READINGS IN 20D RDOTMSAV # CONVERT RDOT UNITS AND SCALING SL DMPR # START WITH READING SCALED B-28, -.6278 14D # FT./SECOND PER BIT RDOTCONV # END WITH METERS/CENTISECOND, B-7 STORE RDOTM SLOAD RTB TANG # GET TRUNNION ANGLE CDULOGIC # CONVERT TO DP ONES COMP. IN REVOLUTIOINS STORE RRTRUN # AND SAVE FOR TMI ROUTINE (LSR22.3) SLOAD RTB TANG +1 # DITTO FOR SHAFT ANGLE CDULOGIC STODL RRSHAFT SAMPLSUM DMP SL2R # CONVERT UNITS AND SCALING DP RANGE RANGCONV # PER BIT, END WITH METERS, SCALED -29 STCALL RM RRNB # COMPUTE RADAR LOS USING RRNB STODL RRBORSIT # AND SAVE 20D STCALL TDEC1 # GET STATE VECTOR LOS AT TIME OF CDU READ LPS20.1 EXIT CA AIG # STORE IMU CDU ANGLES AT MARKTIME TS CDUSPOT # IN CDUSPOT FOR TRG*SMNB CA AMG TS CDUSPOT +2 CA AOG TS CDUSPOT +4 TC INTPRET # Page 571 VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION RRTARGET TRG*SMNB # ROTATE LOS AT MARKTIME FROM SM TO NB. DOT # DOT WITH RADAR LOS TO GET ANGLE RRBORSIT SL1 ACOS # BETWEEN THEM STORE DSPTEM1 # STORE FOR POSSIBLE DISPLAY DSU BMN # IS IT LESS THAN 3 DEGREES THREEDEG NORMEXIT # YES -- NORMAL EXIT EXIT # ERROR EXIT 2 CAF BIT2 # SET ERROR CODE TS MPAC TCF OUT22.1 NORMEXIT EXIT # NORMAL EXIT -- SET MPAC EQUAL ZERO CAF ZERO TS MPAC OUT22.1 CAE LRS22.1X # EXIT FROM LRS22.1 TC BANKJUMP CHEXERR CAE FLAGWRD5 MASK RNGSCBIT CCS A # CHECK IF RANGE SCALE CHANGED TCF READRDOT # YES -- TAKE ANOTHER READING EREXIT1 CA BIT1 # SET ERROR CODE TS MPAC TC OUT22.1 THREEDEG 2DEC .008333333 # THREE DEGREES, SCALED REVS, B0 RRLOSVEC EQUALS RRTARGET # Page 572 # PROGRAM NAME -- LRS22.2 (DATA READ SUBROUTINE 2) # MOD. NO.: 1 BY: P. VOLANTE SDC DATE: 4-11-67 # # FUNCTIONAL DESCRIPTION: # (Yes, I know point #1 is missing. It is missing from the program listing -- RSB 2003) # 2) CHECKS IF THE RR LOS (I.E., THE RADAR BORESIGHT VECTOR) IS WITHIN 30 DEGREES OF THE LM +Z AXIS # # CALLING SEQUENCE: BANKCALL FOR LRS22.2 # # SUBROUTINES CALLED: G+N, AUTO, SETMAXDB # # NORMAL EXIT: RETURN TO CALLER WITH MPAC SET TO +0 (VIA SWRETURN) # # ERROR EXIT: RETURN TO CALLER WITH MPAC SET TO 00001 -- RADAR LOS NOT WITHIN 30 DEGREES OF LM +Z AXIS. # # ALARMS: NONE # # ERASABLE INITIALIZATION REQUIRED: # RRLOSVEC -- THE RR LINE-OF-SIGHT VECTOR -- A HALF UNIT VECTOR COMPUTED BY LRS22.1 # RM -- RR RANGE, METERS B-29, FROM LRS22.1 # BIT 14 CHANNEL 31 -- INDICATES AUTOPILOT IS IN AUTO MODE # # DEBRIS -- A,L,Q,MPAC -- PUSHLIST AND PUSHLOC ARE NOT CHANGED BY THIS ROUTINE SETLOC P20S BANK LRS22.2 TC MAKECADR TS LRS22.1X TC INTPRET # CHECK IF RR LOS IS WITHIN 30 DEG OF 30DEGCHK DLOAD ACOS # THE SPACECRAFT +Z AXIT RRBORSIT +4 # BY TAKING ARCCOS OF Z-COMP. OF THE RR # LOS VECTOR, A HALF UNIT VECTOR # IN NAV BASE AXES) DSU BMN 30DEG OKEXIT # NORMAL EXIT -- WITHIN 30 DEG. EXIT # ERROR EXIT -- NOT WITHIN 30 DEG. CAF BIT1 # SETS ERROR CODE IN MPAC TS MPAC TCF OUT22.2 OKEXIT EXIT # NORMAL EXIT -- SET MPAC = ZERO # Page 573 CAF ZERO TS MPAC OUT22.2 CAE LRS22.1X TC BANKJUMP 30DEG 2DEC .083333333 # THIRTY DEGREES, SCALED REVS, B0 # Page 574 # PROGRAM NAME -- LSR22.3 DATE -- 29 MAY 1967 # MOD. NO 3 LOG SECTION -- P20-P25 # MOD. BY -- DANFORTH ASSEMBLY LEMP20S REV 10 # # FUNCTIONAL DESCRIPTION: # THIS ROUTINE COMPUTES THE B-VECTORS ADN DELTA Q FOR EACH OF THE QUANTITIES MEASURED BY THE RENDEZVOUS # RADAR. (RANGE, RANGE RATE, SHAFT AND TRUNNION ANGLES). THE ROUTINE CALLS THE INCORP1 AND INCORP2 ROUTINES # WHICH COMPUTE THE DEVIATIONS AND CORRECT THE STATE VECTOR. # # CALLING SEQUENCE: # THIS ROUTINE IS PART OF P20 RENDEZVOUS NAVIGATION FOR THE LM COMPUTER ONLY. THE ROUTINE IS ENTERED FROM # R22 LEM ONLY AND RETURNS DIRECTLY TO R22LEM FOLLOWING SUCCESSFUL INCORPORATION OF MEASURED DATA. IF THE # COMPUTED STATE VECTOR DEVATIONS EXCEED THE MAXIMUM PERMITTED. THE ROUTINE RETURNS TO R22LEM TO DISPLAY # THE DEVIATIONS. IF THE ASTRONAUT ACCEPTS THE DATA R22LEM RETURNS TO LSR22.3 TO INCORPORATE THE # DEVIATIONS INTO THE STATE VECTOR. IF THE ASTRONAUT REJECTS THE DEVIATIONS, NO MORE MEASUREMENTS ARE # PROCESSED FOR THIS MARK, I.E., R22LEM GETS THE NEXT MARK. # # SUBROUTINES CALLED: # WLINIT LGCUPDTE INTEGRV INCORP1 ARCTAN # GETULC RADARANG INCORP2 NBSM INTSTALL # # OUTPUT: # CORRECTED LM OR CSM STATE VECTOR (PERMANENT) # NUMBER OF MARKS INCORPORATED IN MARKCTR # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29 # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7 # UPDATED W-MATRIX # # ERASABLE INITIALIZATION REQUIRED: # LM AND CSM STATE VECTORS # W-MATRIX # MARK TIME IN MKTIME # RADAR RANGE IN RM METERS B-29 # RANGE RATE IN RDOTM METERS/CSES B-7 # SHAFT ANGLE IN RRSHAFT REVS. B0 # TRUNNION ANGLE IN RRTRUN REVS. B0 # GIMBAL ANGLES INNER IN AIG # MIDDLE IN AMG # OUTER IN ACG # REFSMMAT # RENDWFLG # NOANGFLG # VEHUPFLG # # DEBRIS: # PUSHLIST -- ALL # MX, MY, MZ (VECTORS) # Page 575 # ULC, RXZ, SINTHETA, LGRET, RDRET, BVECTOR, W.IND, X78T BANK 13 SETLOC P20S3 BANK EBANK= LOSCOUNT COUNT* $$/LSR22 LSR22.3 CALL GRP2PC BON SET SURFFLAG # ARE WE ON LUNAR SURFACE LSR22.4 # YES DMENFLG BOFF CALL VEHUPFLG DOLEM INTSTALL CLEAR CALL # LM PRECISION INTEGRATION VINTFLAG SETIFLGS CALL INTGRCAL CALL GRP2PC CALL INTSTALL CLEAR BOFF DIM0FLAG RENDWFLG NOTWCSM SET SET # CSM WITH W-MATRIX INTEGRATION DIM0FLAG D6OR9FLG NOTWCSM SET CLEAR VINTFLAG INTYPFLG SET CALL STATEFLG INTGRCAL GOTO MARKTEST DOLEM CALL INTSTALL SET CALL VINTFLAG SETIFLGS CALL INTGRCAL # Page 576 CALL GRP2PC CALL INTSTALL CLEAR BOFF DIM0FLAG RENDWFLG NOTWLEM SET SET # LM WITH W-MATRIX INTEGRATION DIM0FLAG D6OR9FLG NOTWLEM CLEAR CLEAR INTYPFLG VINTFLAG SET CALL STATEFLG INTGRCAL MARKTEST BON CALL # HAS W-MATRIX BEEN INVALIDATED RENDWFLG # HAS W-MATRIX BEEN INVALIDATED RANGEBQ WLINIT # YES -- REINITIALIZE RANGEBQ BON EXIT # DON'T CALL R65 IF ON SURFACE SURFFLAG RANGEBQ1 CA ZERO TS R65CNTR TC BANKCALL CADR R65LEM TC INTPRET RANGEBQ1 AXT,2 BON # CLEAR X2 0 LMOONFLG # IS MOON SPHERE OF INFLUENCE SETX2 # YES. STORE ZERO IN SCALSHFT REGISTER INCR,2 2 SETX2 SXA,2 CALL SCALSHFT # 0 -- MOON. 2 -- EARTH. GRP2PC AXT,1 SXA,1 # STORE RANGE CODE (1) FOR R3 IN NOUN 49 1 WHCHREAD SLOAD SR # GET SINGLE PRECISION RVARMIN (B-12) RVARMIN # SHIFT TO TRIPLE PRECISION (B-40) 28D RTB TPMODE # AND SAVE IN 20D STORE 20D CALL # BEGIN COMPUTING THE B-VECTORS, DELTAQ GETULC # B-VECTORS FOR RANGE BON VCOMP # B0, COMP. IF LM BEING CORRECTED # Page 577 VEHUPFLG +1 STOVL BVECTOR ZEROVECS STORE BVECTOR +6 # B1 STODL BVECTOR +12D # B2 36D SRR* BDSU 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-29 RM # RM - (MAGNITUDE RCSM-RLM) SLR* 2,2 # SHIFT TO EARTH/MOON SPHERE STODL DELTAQ # EARTH B-29. MOON B-27 36D # RLC B-29/B-27 NORM DSQ # NORMALIZE AND SQUARE X1 DMP SR* RANGEVAR # MULTIPLY BY RANGEVAR (B12) THEN 0 -2,1 # UNNORMALIZE SR* SR* 0,1 0,2 SR* RTB 0,2 TPMODE STORE VARIANCE # B-40 DCOMP TAD 20D # B-40 BMN TLOAD QOK 20D # B-40 STORE VARIANCE QOK CALL LGCUPDTE SSP CALL WHCHREAD DEC 2 # STORE R-RATE CODE (2) FOR R3 IN NOUN 49 GRP2PC CALL # B-VECTOR, DELTAQ FOR RANGE RATE GETULC PDDL SR* # GET RLC SCALED B-29/B-27 36D # AND SHIFT TO B-23 0 -4,2 STOVL 36D # THEN STORE BACK IN 36D BON VCOMP # B1, COMP. IF LM BEING CORRECTED VEHUPFLG +1 VXSC 36D # B1 = RLC (B-24/B-22) # Page 578 STOVL BVECTOR +6 NUVLEM VSR* VAD 6,2 # SHIFT FOR EARTH/MOON SPHERE VCVLEM # EARTH B-7. MOON B-5 PDVL VSR* # VL TO PD6 NUVCSM 6,2 # SHIFT FOR EARTH/MOON SPHERE VAD VSU VCVCSM PDVL DOT # VC - VL = VLC TO PD6 0 6 PUSH SRR* # RDOT B-8/B-6 TO PD12 2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-8 DSQ DMPR # RDOT**2 B-16 X RATEVAR B12 RATEVAR STORE VARIANCE SLOAD SR VVARMIN # GET SINGLE PRECISION VVARMIN (B+12) 16D # SHIFT TO DP (B-4) STORE 24D # AND SAVE IN 24D DSU BMN # IS MIN. VARIANCE > COMPUTED VARIANCE VARIANCE VOK # BRANCH -- NO DLOAD # YES -- USE MINIMUM VARIANCE 24D STORE VARIANCE VOK DLOAD SR2 # RDOT (PD12) FROM B-8/B-6 PDDL SLR* # TO B-10/B-8 RDOTM # SHIFT TO EARTH/MOON SPHERE 0 -1,2 # B-7 TO B-10/B-8 DSU DMPR 36D STOVL DELTAQ # B-33 0 # NOW GET B0 VXV VXV # (ULC X VLC) X ULC BON VCOMP # B0, COMP. IF LM BEING CORRECTED VEHUPFLG +1 VSR* 0 -2,2 # SCALED B-5 STOVL BVECTOR ZEROVECS STORE 20D # ZERO OUT 20 TO 25 IN PUSHLIST STOVL BVECTOR +12D BVECTOR ABVAL NORM # LOAD B0, GET MAGNITUDE AND NORMALIZE 20D # SHIFT COUNT IN 20D # Page 579 VLOAD ABVAL BVECTOR +6D # LOAD B1, GET MAGNITUDE AND NORMALIZE NORM DLOAD 22D # SHIFT COUNT IN 22D 22D # FIND WHICH SHIFT IS SMALLER DSU BMN # BRANCH -- B0 HAS A SMALLER SHIFT COUNT 20D VOK1 LXA,1 GOTO 22D # LOAD X2 WITH THE SMALLER SHIFT COUNT VOK2 VOK1 LXA,1 20D VOK2 VLOAD VSL* # THEN ADJUST B0, B1, DELTAQ AND VARIANCE BVECTOR # WITH THI SSHIFT COUNT 0,1 STOVL BVECTOR BVECTOR +6 VSL* 0,1 STODL BVECTOR +6 DELTAQ SL* 0,1 STORE DELTAQ DLOAD SL* # GET RLC AND ADJUST FOR SCALE SHIFT 36D 0 -1,1 DSQ DMP # MULTIPLY RLC**2 BY VARIANCE VARIANCE SL4 RTB # SHIFT TO CONFORM TO BVECTORS AND DELTAQ TPMODE STCALL VARIANCE # AND STORE TP VARIANCE LGCUPDTE CALL GRP2PC BON EXIT # ARE ANGLES TO BE DONE SURFFLAG RENDEND # NO EBANK= AIG MXMYMZ CAF AIGBANK TS BBANK CA AIG # YES, COMPUTE MX, MY, MZ TS CDUSPOT CA AMG TS CDUSPOT +2 CA AOG TS CDUSPOT +4 # GIMBAL ANGLES NOW IN CDUSPOT FOR TRG*NBSM TC INTPRET # Page 580 VLOAD CALL UNITX TRG*NBSM VXM VSL1 REFSMMAT STOVL MX UNITY CALL *NBSM* VXM VSL1 REFSMMAT STOVL MY UNITZ CALL *NBSM* VXM VSL1 REFSMMAT SHAFTBQ STCALL MZ RADARANG SSP CALL # STORE SHAFT CODE (3) FOR R3 IN NOUN 49 WHCHREAD DEC 3 GRP2PC VLOAD DOT # COMPUTE DELTAQ,B VECTORS FOR SHAFT ANG. ULC MX SL1 STOVL SINTH # 18D ULC DOT SL1 MZ STCALL COSTH # 16D ARCTAN BDSU DMP RRSHAFT 2PI/8 SL3R PUSH DLOAD SL3 X789 SRR* BDSU # SHIFT FROM -5/-3 TO B0 0,2 DMP SRR* RXZ 0,1 # SHIFT TO EARTH/MOON SPHERE STOVL DELTAQ # EARTH B-29. MOON B-27 ULC VXV VSL1 MY UNIT BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED # Page 581 VEHUPFLG +1 STOVL BVECTOR ZEROVECS STORE BVECTOR +6 STODL BVECTOR +12D RXZ SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25 0 -2,1 0,2 STORE BVECTOR +12D SLOAD SHAFTVAR DAD DMP IMUVAR # RAD**2 B12 RXZ SRR* DMP 0,1 # SHIFT TO EARTH/MOON SPHERE RXZ SR* SR* 0 -2,1 0,2 SR* RTB 0,2 TPMODE # STORE VARIANCE TRIPLE PRECISION STCALL VARIANCE # B-40 LGCUPDTE CALL GRP2PC TRUNBQ CALL RADARANG SSP CALL # STORE TRUNNION CODE (4) FOR R3 IN N49 WHCHREAD DEC 4 GRP2PC VLOAD VXV ULC MY VSL1 VXV ULC VSL1 # (ULC X MY) X ULC BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED VEHUPFLG +1 STOVL BVECTOR ZEROVECS STORE BVECTOR +6 STODL BVECTOR +12D RXZ # Page 582 SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25 0 -2,1 0,2 STORE BVECTOR +14D SLOAD TRUNVAR DAD DMP IMUVAR RXZ SRR* DMP 0,1 # SHIFT TO EARTH/MOON SPHERE RXZ SR* SR* 0 -2,1 0,2 SR* RTB 0,2 TPMODE # STORE VARIANCE TRIPLE PRECISION STODL VARIANCE SINTHETA ASIN BDSU # SIN THETA IN PD6 RRTRUN DMP SL3R 2PI/8 PDDL SL3 X789 +2 SRR* BDSU # SHIFT FROM -5/-3 TO B0 0,2 DMP SRR* RXZ 0,1 STCALL DELTAQ # EARTH B-29. MOON B-27 LGCUPDTE CALL GRP2PC RENDEND GOTO R22LEM93 # FUNCTIONAL DESCRIPTION: # LSR22.4 IS THE ENTRY TO PERFORM LUNAR SURFACE NAVIGATION FOR THE LM # COMPUTER ONLY. THIS ROUTINE COMPUTES THE BE-VECTORS AND DELTA Q FOR RANGE # AND RANGE RATE MEASURED BY THE RENDEZVOUS RADAR # # SUBROUTINES CALLED: # INTSTALL LGCUPDTE INCORP1 RP-TO-R # INTEGRV GETULC INCORP2 # # OUTPUT # CORRECTED CSM STATE VECTOR (PERMANENT) # NUMBER OF MARKS INCORPORATED IN MARKCTR # Page 583 # MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22 DISP METERS B-29 # MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7 # UPDATED W-MATRIX # ERASABLE INITIALIZATION REQUIRED # LM AND CSM STATE VECTORS # W-MATRIX # MARK TIME IN MKTIME # RADAR RANGE IN RM METERS B-29 # RANGE RATE IN RDOTM METERS/CSEC B-7 # VEHUPFLG LSR22.4 CALL INTSTALL SET CLEAR STATEFLG VINTFLAG # CALL TO GET LM POS + VEL IN REF COORD. CALL INTGRCAL CALL GRP2PC CLEAR CALL DMENFLG # SET MATRIX SIZE TO 6X6 FOR INCORP INTSTALL DLOAD BHIZ # IS THIS FIRST TIME THROUGH MARKCTR INITWMX6 # YES, INITIALIZE 6X6 W-MATRIX CLEAR SET D6OR9FLG DIM0FLAG SET CLEAR VINTFLAG INTYPFLG CALL INTGRCAL GOTO RANGEBQ INITWMX6 CALL WLINIT # INITIALIZE W-MATRIX SET CALL VINTFLAG SETIFLGS CALL INTGRCAL GOTO RANGEBQ # THIS ROUTINE CLEARS RFINAL (DP) AND CALLS INTEGRV # Page 584 INTGRCAL STQ DLOAD IGRET MKTIME STCALL TDEC1 INTEGRV GOTO IGRET # THIS ROUTINE INITIALIZES THE W-MATRIX BY ZEROING ALL W THEN SETTING # DIAGONAL ELEMENTS TO INITIAL STORED VALUES. EBANK= W WLINIT EXIT CAF WBANK TS BBANK CAF WSIZE TS W.IND CAF ZERO INDEX W.IND TS W CCS W.IND TC -5 CAF AIGBANK # RESTORE EBANK 7 TS BBANK TC INTPRET BON SLOAD # IF ON LUNAR SURFACE, INITIALIZE WITH SURFFLAG # WSURFPOS AND WSURFVEL INSTEAD OF WLSRFPOS # WRENDPOS AND WRENDVEL WRENDPOS GOTO WPOSTORE WLSRFPOS SLOAD WSURFPOS WPOSTORE SR # SHIFT TO B-19 SCALE 5 STORE W STORE W +8D STORE W +16D BON SLOAD SURFFLAG WLSRFVEL WRENDVEL GOTO WVELSTOR WLSRFVEL SLOAD WSURFVEL WVELSTOR STORE W +72D STORE W +80D STORE W +88D SLOAD # Page 585 WSHAFT STORE W +144D SLOAD WTRUN STORE W +152D SET SSP # SET RENDWFLG -- W-MATRIX VALID RENDWFLG MARKCTR # SET MARK COUNTER EQUAL ZERO 0 RVQ EBANK= W WBANK BBCON WLINIT EBANK= AIG AIGBANK BBCON LSR22.3 # GETULC # # THIS SUBROUTINE COMPUTES THE RELATIVE POSITION VECTOR BETWEEN THE CSM # AND THE LM, LEAVING THE UNIT VECTOR IN THE PUSHLIST AND MPAC AND THE # MAGNITUDE IN 36D. GETULC SETPD VLOAD 0 DELTALEM LXA,2 SCALSHFT # LOAD X2 WITH SCALE SHIFT VSR* VAD 9D,2 # SHIFT FOR EARTH/MOON SPHERE RCVLEM PDVL VSR* DELTACSM 9D,2 # SHIFT FOR EARTH/MOON SPHERE VAD VSU RCVCSM RTB PUSH # USE NORMUNIT TO PRESERVE ACCURACY NORMUNX1 STODL ULC 36D SL* # ADJUST MAGNITUDE FROM NORMUNIT 0,1 STOVL 36D # ULC IN PD0 AND MPAC,RLC IN 36D ULC RVQ # RADARANG # # THIS SUBROUTINE COMPUTS SINTHETA = -ULC DOT MY # RXZ = (SQRT (1-SINTHETA**2))RLC # OUTPUT # ULC IN ULC, PD0 # Page 586 # RLC IN PD36D # SIN THETA IN SINTHETA AND PD6 # RXZ NORM IN RXZ (N IN X1) RADARANG STQ CALL RDRET GETULC VCOMP DOT MY SL1R PUSH # SIN THETA TO PD6 STORE SINTHETA DSQ BDSU DP1/4TH # 1-(SIN THETA)**2 SQRT DMP 36D SL1 NORM X1 # SET SHIFT COUNTER IN X1 STORE RXZ GOTO # EXIT RDRET LGCUPDTE STQ CALL LGRET INCORP1 VLOAD ABVAL DELTAX +6 LXA,2 SRR* SCALSHFT # 0 -- MOON. 2 -- EARTH 2,2 # SET VEL DISPLAY TO B-7 STOVL R22DISP +2 DELTAX ABVAL SRR* 2,2 # SET POS DISPLAY TO B-29 STORE R22DISP SLOAD SR RMAX 10D DSU BMN R22DISP R22LEM96 # GO DISPLAY SLOAD DSU VMAX R22DISP +2 # VMAX MINUS VEL. DEVIATION BMN R22LEM96 # GO DISPLAY ASTOK CALL INCORP2 GOTO LGRET IMUVAR 2DEC E-6 B12 # RAD**2 WSIZE DEC 161 # Page 587 2PI/8 2DEC 3.141592653 B-2 EBANK= LOSCOUNT # Page 588 # PROGRAM NAME LRS24.1 RR SEARCH ROUTINE # MCD NO. 0 BY P. VOLANTE, SDC DATE 1-15-67 # # FUNCTIONAL DESCRIPTION # # DRIVES THE RENDEZVOUS RADAR IN A HEXAGONAL SEARCH PATTERN ABOUT THE LOS TO THE CSM (COMPUTED FROM THE CSM AND LM # STATE VECTORS) CHECKING FOR THE DATA GOOD DISCRETE AND MONITORING THE ANGLE BETWEEN THE RADAR BORESIGHT AND THE # LM +Z AXIS. IF THIS ANGLE EXCEEDS 30 DEGREES THE PREFERRED TRACKING ATTITUDE ROUTINE IS CALLED TO PERFORM AN # ATTITUDE MANEUVER. # # CALLING SEQUENCE -- BANKCALL FOR LRS24.1 # # SUBROUTINES CALLED # # LEMCONIC R61LEM # CSMCONIC RRDESSM # JOBDELAY FLAGDOWN # WAITLIST FLAGUP # RRNB BANKCALL # # EXIT -- TO ENDOFJOB WHEN THE SEARCH FLAG (SRCHOPT) IS NOT SET # # OUTPUT # # DATAGOOD (SP) -- FOR DISPLAY IN R1 -- 00000 INDICATES NO LOCKON # 11111 INDICATES LOCKON ACHIEVED # OMEGAD (SP) -- FOR DISPLAY IN R2 -- ANGLE BETWEEN RR BORESIGNT VECTOR AND THE SPACECRAFT +Z AXIS # # ERASABLE INITIALIZATION REQUIRED: # # SEARCH FLAG MUST BE SET # LM AND CSM STATE VECTORS AND REFSMMAT MATRIX # # DEBRIS # # RLMSRCH UXVECT # VXRLM UYVECT # LOSDESRD NSRCHPNT # DATAGOOD OMEGAD # MPAC PUSHLIST COUNT* $$/LRS24 LRS24.1 CAF ZERO TS NSRCHPNT # SET SEARCH PATTERN POINT COUNTER TO ZERO CHKSRCH CAF BIT14 # ISSUE AUTO TRACK ENABLE TO RADAR EXTEND # Page 589 WOR CHAN12 CAF SRCHOBIT # CHECK IF SEARCH STILL REQUESTED MASK FLAGWRD2 # (SRCHOPT FLAG SET) EXTEND BZF ENDOFJOB # NO-TERMINATE JOB CAF 6SECONDS # SCHEDULE TASK TO DRIVE RADAR TO NEXT PT. INHINT TC WAITLIST # IN 6 SECONDS EBANK= LOSCOUNT 2CADR CALLDGCH RELINT CS RADMODES # IS REMODE IN PROGRESS MASK REMODBIT EXTEND BZF ENDOFJOB # YES -- WAIT SIX SECONDS TC INTPRET RTB DAD # COMPUTE LOS AT PRESENT TIME + 1.5 SEC. LOADTIME 1.5SECS LRS24.11 STCALL TDEC1 LEMCONIC # EXTRAPOLATE LM STATE VECTOR VLOAD RATT STOVL RLMSRCH # SAVE LEM POSITION VATT STODL SAVLEMV # SAVE LEM VELOCITY TAT STCALL TDEC1 # EXTRAPOLATE CSM STATE VECTOR CSMCONIC # EXTRAPOLATE CSM STATE VECTOR VLOAD VSU # LOS VECTOR = R(CSM) - R(LM) RATT RLMSRCH UNIT STOVL LOSDESRD # STORE DESIRED LOS VATT # COMPUTE UNIT(V(CM) CROSS R(CM)) UNIT VXV RATT UNIT STORE VXRCM VLOAD VSU VATT SAVLEMV MXV VSL1 # CONVERT FROM REFERENCE TO STABLE MEMBER REFSMMAT STORE SAVLEMV # VLC = V(CSM) - V(LM) SLOAD BZE # CHECK IF N=0 # Page 590 NSRCHPNT DESGLOS # YES -- DESIGNATE ALONG LOS DSU BZE # IS N=1 ONEOCT # YES -- CALCULATE X AND Y AXES OF CALCXY # SEARCH PATTERN COORDINATE SYSTEM VLOAD # NO -- ROTATE X-Y AXES TO NEXT SEARCH POINT UXVECT STOVL UXVECTPR # SAVE ORIGINAL X AND Y VECTORS UYVECT # UXPRIME = ORIGINAL UX STORE UYVECTPR # UYPRIME = ORIGINAL UY VXSC SIN60DEG # UX = (COS 60)UXPR + (SIN 60)UYPR STOVL UXVECT UXVECTPR VXSC VAD COS60DEG UXVECT UNIT STOVL UXVECT UXVECTPR # UY = (-SIN 60)UXPR + (COS 60)UYPR VXSC SIN60DEG STOVL UYVECT UYVECTPR VXSC VSU COS60DEG UYVECT UNIT STORE UYVECT OFFCALC VXSC VAD # OFFSET VECTOR = K(UY) OFFSTFAC # LOS VECTOR + OFFSET VECTOR DEFINES LOSDESRD # DESIRED POINT IN SEARCH PATTERN UNIT MXV REFSMMAT # CONVERT TO STABLE MEMBER COORDINATES VSL1 CONTDESG STOVL RRTARGET SAVLEMV STORE LOSVEL EXIT INHINT TC KILLTASK # KILL ANY PRESENTLY WAITLISTED TASK CADR DESLOOP +2 # WHICH WOULD DESIGNATE TO THE LAST # POINT IN THE PATTERN CONTDES2 CS CDESBIT MASK RADMODES # SET BIT 15 OF RADMODES TO INDICATE AD CDESBIT # A CONTINUOUS DESIGNATE WANTED. TS RADMODES TC INTPRET CALL # Page 591 RRDESSM # DESIGNATE RADAR TO RRTARGET VECTOR EXIT TC LIMALARM # LOS NOT IN MODE 2 COVERAGE (P22) TC LIMALARM # VEHICLE MANEUVER REQUIRED (P20) # COMPUTE OMEGA,ANGLE BETWEEN RR LOS AND # SPACECRAFT +Z AXIS OMEGCALC EXTEND DCA CDUT DXCH TANGNB TC INTPRET CALL RRNB DLOAD ACOS # OMEGA IS ARCCOSINE OF Z-COMPONENT OF 36D # VECTOR COMPUTED BY RRNB (LEFT AT 32D) STORE OMEGDISP # STORE FOR DISPLAY IN R2 EXIT TC ENDOFJOB # Page 592 # CALCULATE X AND Y VECTORS FOR SEARCH PATTERN COORDINATE SYSTEM. CALCXY VLOAD VXV VXRCM LOSDESRD UNIT STOVL UXVECT # UX = (VLM X RLM) X LOS LOSDESRD VXV UNIT UXVECT STORE UYVECT # UY = LOS X UX GOTO OFFCALC DESGLOS VLOAD MXV # WHEN N= 0,DESIGNATE ALONG LOS LOSDESRD REFSMMAT # CONVERT LOS FROM REFERENCE TO SM COORDS VSL1 GOTO CONTDESG CALLDGCH CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET MASK RNDVZBIT EXTEND BZF TASKOVER # NO -- EXIT R24 CAF PRIO25 # YES -- SCHEDULE JOB TO DRIVE RADAR TO NEXT TC FINDVAC # PONT IN SEARCH PATTERN EBANK= RLMSRCH 2CADR DATGDCHK TC TASKOVER DATGDCHK CAF BIT4 EXTEND # CHECK IF DATA GOOD DISCRETE PRESENT RAND CHAN33 EXTEND BZF STORE1S # YES -- GO TO STORE 11111 FOR DISPLAY IN R1 CS SIX AD NSRCHPNT # IS N GREATER THAN 6 EXTEND BZF LRS24.1 # YES -- RESET N = 0 AND START AROUND AGAIN INCR NSRCHPNT # NO -- SET N = N+1 AND GO TO TCF CHKSRCH # NEXT POINT IN PATTERN STORE1S CAF ALL1S # STORE 11111 FOR DISPLAY IN R1 TS DATAGOOD # Page 593 INHINT TC KILLTASK # DELETE DESIGNATE TASK FROM CADR DESLOOP +2 # WAITLIST USING KILLTASK TC ENDOFJOB LIMALARM TC ALARM # ISSUE ALARM 527 -- LOS NOT IN MODE2 OCT 527 # COVERAGE IN P22 OR VEHICLE MANEUVER INHINT # REQUIRED IN P20 TC KILLTASK # KILL WAITLIST CALL FOR NEXT CADR CALLDGCH # POINT IN SEARCH PATTERN TC ENDOFJOB ALL1S DEC 11111 SIN60DEG 2DEC .86603 COS60DEG = DPHALF # (2DEC .50) UXVECTPR EQUALS 12D # PREVIOUS UYVECTPR EQUALS 18D RLMUNIT EQUALS 12D OFFSTFAC 2DEC 0.05678 # TANGENT OF 3.25 DEGREES ONEOCT OCT 00001 # **** NOTE -- THESE TWO CONSTANTS MUST **** 3SECONDS 2DEC 300 # **** BE IN THIS ORDER BECAUSE **** # **** ONEOCT NEEDS A LOWER ORDER **** # **** WORD OF ZEROES **** 6SECONDS DEC 600 1.5SECS 2DEC 150 ZERO/SP EQUALS HI6ZEROS BLOCK 02 SETLOC FFTAG5 BANK COUNT* $$/P20 GOTOV56 EXTEND # P20 TERMINATES BY GOTOV56 INSTEAD OF DCA VB56CADR # GOTOPOOH TCF SUPDXCHZ EBANK= WHOCARES VB56CADR 2CADR TRMTRACK # Page 594 # PROGRAM NAME: R29 (RENDEZVOUS RADAR DESIGNATE DURING POWERED FLIGHT) # MOD NO. 2 BY H. BLAIR-SMITH JULY 2, 1968 # # FUNCTIONAL DESCRIPTION: # # DESIGNATES THE RENDEZVOUS RADAR TOWARD THE COMPUTES LOS TO THE CSM, WITH THE CHIEF OBJECTIVE OF OBTAINING RANGE # AND RANGE RATE DATA AT 2-SECOND INTERVALS FOR TRANSMISSION TO THE GROUND. WHEN THE RR IS WITHIN .5 DEGREE OF # THE COMPUTED LOS, TRACKING IS ENABLED, AND DESIGNATION CONTINUES UNTIL THE DATA-GOOD DISCRETE IS RECEIVED. AT # THAT POINT, DESIGNATION CEASES AND A RADAR-READING ROUTINE TAKES OVER, PREPARING A CONSISTENT SET OF DATA FOR # DOWN TELEMETRY. THE SET INCLUDES RANGE, RANGE RATE, MARK TIME, TWO RR CDU ANGLES, THREE IMUCDU ANGLES, AND AN # INDICATOR WHICH IS 1 WHEN THE SET IS CONSISTENT AND 0 OTHERWISE. THE INDICATOR IS IN TRKMKCNT. # # CALLING SEQUENCE: BEGUN EVERY 2 SECONDS AS AN INTEGRAL PART OF SERVICER # # SUBROUTINES CALLED: # # REMODE RRPONLY # UNIT MPACVBUF # QUICTRIG AX*SR*T # SPSIN SPCOS # SETRRECR RROUT # RRRDOT RRRANGE # # EXIT: TO NOR29NOW, IN SERVICER. # # OUTPUT: (ALL FOR DOWNLINK) # # RM RDOTM (RAW) # AIG AMG # AOG TRKMKCNT TRKMKCNT = 00001 IF SET IS CONSISTENT, # TANGNB TANGNB +1 OTHERWISE TRKMKCNT = 00000. # MKTIME # Page 595 # # ERASABLE INITIALIZATION REQUIRED: # # NOR29FLG READRFLG (TO 1 AND 0 BY FRESH START) (RESET NOR29FLG TO LET SERVICER RUN R29) # PIPTIME RADMODES (BIT 10) (BIT SET TO 0 BY FRESH START) # R(CSM) V(CSM) # R V (PIPTIME THRU V BY AVE G IN SERVICER) # # DEBRIS: # # RADMODES (BIT 10) # LOSSM LOSVDT/4 (= RRTARGET & LOSVEL) # SAVECDUT OLDESFLG (SAVECDUT = MLOSV) # LOSCMFLG READRFLG # # ALARMS: NONE. # # COMPONENT JOBS AND TASKS: # # INITIALIZING, IF RR IS FOUND TO BE IN MODE 1: JOB R29REMOJ AND TASK REMODE: ALWAYS: TASK PREPOS29. # DESIGNATING: TASK BEGDES29 & JOB R29DODES. # RADAR READING: TASK R29READ AND JOB R29RDJOB. ALL JOBS ARE NOVAC TYPE. BANK 33 SETLOC R29/SERV BANK COUNT* $$/r29 NR29&RDR EQUALS EBANK5 # Page 596 # SERVICER COMES TO R29 FROM "R29?" IF NOR29FLG, READRFLG, RRREMODE, RRCDUZRO, RRREPOS, AND DISPLAY-INERTIAL-DATA # ARE ALL RESET, AND THE RR IS IN LGC MODE (OFTEN CONFUSINGLY CALLED AUTO MODE). R29 CS RADMODES MASK DESIGBIT EXTEND BZF R29.LOS # BRANCH IF DESIGNATION IS ALREADY ON. INHINT ADS RADMODES # SHOW THAT DESIGNATION IS NOW ON. CS BIT14 EXTEND WAND CHAN12 # REMOVE RR TRACK ENABLE DISCRETE. CS LOSCMBIT MASK FLAGWRD2 TS FLAGWRD2 # CLEAR LOSCMFLG TO SHOW DES. LOOP IS OFF. CS OLDESBIT MASK STATE TS STATE # SHOW THAT DES. LOOP IS NOT REQUESTED. TC BANKCALL CADR SETRRECR # ENABLE RR ERROR COUNTERS. CA ANTENBIT MASK RADMODES CCS A # TEST RR MODE BIT. TCF SETPRPOS # MODE 2. CA PRIO21 # MODE 1: MUST REMODE. TC NOVAC EBANK= LOSCOUNT 2CADR R29REM0J # NEEDS OWN JOB TO RADSTALL IN. CS DESIGBIT MASK RADMODES # CLEAR DESIGNATE FLAG IN RADMODES TS RADMODES # BEFORE CALLING REMODE CA REMODBIT ADS RADMODES # SHOW THAT REMODING IS ON. TCF NOR29NOW # CONTINUE SERVICER FUNCTIONS. SETPRPOS CA ONE TC WAITLIST EBANK= LOSCOUNT 2CADR PREPOS29 # TASK TO SET TRUNNION ANGLE TO 180 DEG. CA REPOSBIT ADS RADMODES # SHOW THAT REPOSITIONING IS ON. TCF NOR29NOW # Page 597 # FORCE RENDEZVOUS RADAR INTO MODE 2. R29REM0J CA ONE TC WAITLIST EBANK= LOSCOUNT 2CADR REMODE # REMODE MUST RUN AS A TASK. TC BANKCALL # WAIT FOR END OF REMODING CADR RADSTALL TCF ENDOFJOB # BAD EXIT CAN'T HAPPEN. TCF ENDOFJOB # TASK TO PREPOSITION THE RR TRUNNION ANGLE TO -180 DEG. SETLOC R29S1 BANK PREPOS29 CA NEGMAX # -180 DEG. TC RRTONLY # DRIVE TRUNNION CDU. CS REPOSBIT # SHOW THAT REPOSITIONING IS OFF. MASK RADMODES TS RADMODES TCF TASKOVER # COMPUTE THE LINE-OF-SIGHT AND LOS VELOCITY, AND PASS THEM TO THE R29DODES LOOP. SETLOC R29 BANK R29.LOS EXTEND DCS PIPTIME DXCH MPAC EXTEND DCA TIME2 DAS MPAC # (MPAC) = T-PIPTIME, SCALED B-28. TS MODE # SET MODE TO DOUBLE PRECISION. CA MPAC +1 EXTEND MP BIT12 DXCH MPAC # T-PIPTIME NOW SCALED B-17. TC INTPRET # Page 598 # LOSCMFLG = 0 MEANS THAT THE DESIGNATION IS READY FOR NEW DATA. SETTING LOSCMFLG MAKES IT GO AWAY SO SETUP29D CAN # START IT UP WHEN THE DATA IS IN PLACE. PDVL VSU # PUSH DOWN T-PIPTIME V(CSM) V # LOSVEL = V(CSM) - V PDDL VXSC # SWAP LOSVEL FOR T-PIPTIME, MULTIPLY THEM VAD VSU # AND ADD THE RESULT TO R(CSM) - R TO GET R(CSM) # AN UP-TO-DATE LOS VECTOR IN SM AXES. R BOFSET EXIT # (BOFSET DOES ITS THING INHINTED.) LOSCMFLG # IF DESIGNATE LOOP IS OFF, CHANGE LOSCM- SETUP29D # FLG TO ON AND GO TO SET UP NEW DATA. TCF NOR29NOW # IF DES. LOOP IS ON, LET IT USE OLD DATA. SETUP29D STOVL LOSSM # LINE-OF-SIGHT VECTOR, STABLE MEMBER AXES 0 VXSC .5SECB17 STORE LOSVDT/4 # 1/2 SECOND'S WORTH OF LOS VELOCITY. CLEAR EXIT LOSCMFLG # LET R29DLOOP USE NEW DATA. CS STATE MASK OLDESBIT EXTEND BZF NOR29NOW # BRANCH IF R29 DES. LOOP IS REQUESTED. INHINT ADS STATE # OTHERWISE REQUEST IT NOW. CCS PIPCTR # SEE IF TASK SHOULD BE OFFSET ONE SECOND. CS SUPER110 # -96D +100D = 4. AD 1SEC # 0 +100D = 100D. TC WAITLIST EBANK= LOSCOUNT 2CADR BEGDES29 # START BEGDES29 TASK ASAP. TCF NOR29NOW # RELINT AND CONTINUE SERVICER FUNCTIONS. .5SECB17 2DEC 50 B-17 # Page 599 # R29 DESIGNATE JOB AND TASK MACHINERY. TASK RECURS EVERY .5 SEC UNTIL DESIGNATE IS CALLED OFF; IT MAY WAIT FOR A # CENTISECOND OR TWO IF IT COMES UP WHILE SETUP29D IS SUPPLYING NEW DATA. BANK 24 SETLOC P20S BANK COUNT* $$/R29 BEGDES29 CAF PRIO21 TC NOVAC EBANK= LOSVDT/4 2CADR R29DODES # START R29DODES JOB TWICE A SECOND. R29DLOOP CAF .5SEC TC VARDELAY CS RADMODES MASK DESIGBIT CCS A TCF TASKOVER # QUIT IF DESIGNATION IS CALLED OFF. CS FLAGWRD2 MASK LOSCMBIT EXTEND BZF +3 # BRANCH IF SETUP29D'S SUPPLYING NEW DATA. ADS FLAGWRD2 # SET LOSCMFLG: SHOW THAT DES. LOOP IS ON. TCF BEGDES29 CA ONE TCF R29DLOOP +1 # WAIT A CENTISECOND FOR NEW DATA. # Page 600 # R29DODES: RR DESIGNATION LOOP FOR R29 # # THIS ROUTINE DOES MUCH THE SAME THING AS DODES, BUT A GREAT DEAL FASTER. IT TAKES THE NON-UNITIZED LOS VECTOR # IN STABLE MEMBER COORDINATES (LOSSM) AND A DELTA-LOS IN SM AXES (LOSVDT/4) WHICH IS 1/2 SEC TIMES LOS VELOCITY, # AND DEVELOPS THE SHAFT AND TRUNNION COMMANDS USING SINGLE PRECISION AS MUCH AS POSSIBLE, AND INTERPRETIVE NOT AT # ALL. THE UNIT(LOSM + LOSVEL * 1 SEC) IS COMPUTED IN DP AND TRANSFORMED TO NAV BASE COORDINATES IN DOUBLE PRE- # CISION (USING SP SINES AND COSINES OF CDU ANGLES), AND THE REST IS DONE IN SP. # # THE FUNCTIONAL DIFFERENCE IS THAT R29DODES ALWAYS CLEARS LOSCMFLG WHEN IT ENDS, AND IT STARTS UP THE R29READ # TASK WHEN LOCK-ON IS ACHIEVED. BANK 32 SETLOC F2DPS*32 BANK COUNT* $$/R29 EBANK= LOSVDT/4 R29DODES CA ONE TS TANG # INDICATE 1ST PASS THRU VECTOR LOOP. CA FIVE R29DVBEG CCS A # COUNT DOWN BY TWO'S IN VECTOR LOOP. TS Q CCS TANG TCF R29DPAS1 # DO THIS ON 1ST PASS THRU LOOP. EXTEND # (A "PASS" HERE MEANS 3 TIMES AROUND). INDEX Q DCA LOSVDT/4 INDEX Q DAS LOSSM # ADVANCE LOS VECTOR 1/2 SECOND. R29DPAS1 EXTEND INDEX Q DCA LOSSM INDEX Q # MOVE CURRENT LOS (1ST PASS) OR LOS PRO- DXCH MPAC +1 # JECTED 1/2 SEC AHEAD (2ND PASS). CCS TANG TCF R29DVEND # BUG OUT HERE IN 1ST PASS. EXTEND INDEX Q DCA LOSVDT/4 INDEX Q DAS MPAC +1 # PROJECT LOS 1 SECOND AHEAD (2ND PASS). R29DVEND CCS Q TCF R29DVBEG # BRANCH TO CONTINUE VECTOR LOOP. # Page 601 # UNITIZE AND TRANSFORM TO NAV BASE AXES THE PRESENT LOS (1ST PASS) OR THE 1-SEC PROJECTED LOS (2ND PASS). DXCH MPAC +1 DXCH MPAC CA R29FXLOC # = ADRES INTB15 + -34D TS FIXLOC TC USPRCADR # WITH FIXLOC ARMED FOR LENGTH AND LENGTH CADR UNIT # SQUARED, BORROW UNITIZING ROUTINE. TC MPACVBUF # MOVE UNIT(LOS) TO AX*SR*T ARG AREA. CCS TANG TCF +2 TCF GOTANGLS # GET CDU ANGLES ONLY AFTER 1ST PASS. INHINT # ENSURE CONSISTENT CDU READINGS. EXTEND DCA CDUT DXCH SAVECDUT # TRUNNION AND SHAFT ANGLES. CA CDUY TS CDUSPOT CA CDUZ TS CDUSPOT +2 CA CDUX TS CDUSPOT +4 # CDU ANGLES IN FUNNY ORDER FOR AX*SR*T. TC BANKCALL CADR QUICTRIG # GET SINES AND COSINES OF CDU ANGLES. GOTANGLS CS THREE TC BANKCALL CADR AX*SR*T # TRANSFORM UNIT LOS TO NB AXES (ULOSNB). CCS TANG TCF +2 TCF R29DPAS2 # GO TO RR COMMAND COMP. AFTER 2ND PASS. # Page 602 # COMPUTE COSINE OF THE ANGLE BETWEEN THE PRESENT LOS AND THE RR BORESIGHT VECTOR, AND SET THE SELFTRACK ENABLE IF # THE COSINE IS APPROXIMATELY COS(.5 DEG) OR GREATER (I.E., SMALLER ANGLE). INHINT TS TANG # INDICATE 2ND PASS THRU VECTOR LOOP. CA SAVECDUT TC SPCOS TS PUSHLOC # PUSHLOC = COS T. CS SAVECDUT TC SPSIN TS MODE # MODE = -SIN T. EXTEND MP VBUF +2 # FORM - SIN T ULOSNBY. DXCH MPAC CA SAVECDUT +1 TC SPSIN TS SAVECDUT # SAVECDUT NOW = SIN S. EXTEND MP PUSHLOC EXTEND MP VBUF # FORM SIN S COS T ULOSNBX. DAS MPAC CA SAVECDUT +1 TC SPCOS TS SAVECDUT +1 # SAVECDUT +1 NOW = COS S. EXTEND MP PUSHLOC EXTEND MP VBUF +4 # FORM COS S COS T ULOSNBZ. DAS MPAC # COS(ERROR) = ULOSNB . (SIN S COS T, EXTEND # -SIN T, COS S COS T). DCA MPAC TESTCOS DAS MPAC # (ULOSNB IN VBUF WAS A HALF-UNIT VECTOR). CCS A # TEST FOR + OVERFLOW, NONE, OR MINUS. CA BIT14 NOOP EXTEND WOR CHAN12 # IF PLUS OVERFLOW, SET SELFTRACK ENABLE. RELINT TCF R29DVBEG -1 # MAKE 2ND PASS THRU VECTOR LOOP. # Page 603 # COMPUTE SHAFT AND TRUNNION COMMANDS TO NULL HAVE THE ERROR IN HALF A SECOND. R29DPAS2 CA SAVECDUT +1 EXTEND MP VBUF # FORM COS S ULOSNB'X. DXCH TANG CS SAVECDUT EXTEND MP VBUF +4 # FORM - SIN S ULOSNB'Z. DAS TANG # RAW SHAFT CMD = ULOSNB' . (COS S, 0, CS MODE # - SIN S) EXTEND MP SAVECDUT EXTEND MP VBUF # FORM SIN T SIN S ULOSNB'X. DXCH MPAC CA PUSHLOC EXTEND MP VBUF +2 # FORM COS T ULOSNB'Y. DAS MPAC CS MODE EXTEND MP SAVECDUT +1 EXTEND MP VBUF +4 # FORM SIN T COS S ULOSNB'Z. DAS MPAC # RAW TRUNNION CMD = ULOSNB'. CA MPAC # (SIN S SIN T, COS T, SIN S COS T). EXTEND MP RR29GAIN XCH TANG # STORE REFINED T CMD, GET RAW S CMD. EXTEND MP RR29GAIN TS TANG +1 # STORE REFINED S CMD. # Page 604 # WHETHER OR NOT TRACKING WAS ENABLED THIS TIME, CHECK ON RR DATA-GOOD. IF PRESENT, STOP DESIGNATING AND START # READING DATA FROM THE RENDEZVOUS RADAR. DGOOD? CAF BIT4 EXTEND RAND CHAN33 # GET RR DATA-GOOD BIT. INHINT # (MAINLY FOR RROUT). EXTEND BZF R29LOKON # BRANCH IF DATA-GOOD IS PRESENT. TC BANKCALL CADR RROUT # DATA-GOOD IS ABSENT, SO SEND COMMANDS. TCF END29DOD R29LOKON CS DESIGBIT MASK RADMODES TS RADMODES # SHOW THAT DESIGNATION IS OVER. CS BIT2 EXTEND WAND CHAN12 # DISABLE RR ERROR COUNTERS. CA READRBIT ADS FLAGWRD3 # SHOW THAT READING HAS BEEN REQUESTED. CCS PIPCTR # SEE IF TASK SHOULD BE OFFSET 1 SEC. CS SUPER110 # -96D + 100D = 4. AD 1SEC # 0 + 100D = 100D. TC WAITLIST EBANK= LOSCOUNT 2CADR R29READ # START READING TASK AND JOB. END29DOD CS LOSCMBIT MASK FLAGWRD2 TS FLAGWRD2 # ALWAYS CLEAR LOSCMFLG. TCF ENDOFJOB R29FXLOC ADRES INTB15+ -34D RR29GAIN DEC -.53624 LOSVDT/4 EQUALS LOSVEL LOSSM EQUALS RRTARGET SAVECDUT EQUALS MLOSV # Page 605 # RR READING IS SET UP BY R29DODES WHEN IT DETECTS RR LOCK-ON BANK 24 SETLOC P20S BANK COUNT* $$/R29 EBANK= LOSCOUNT R29READ CAF PRIO26 # CALLED BY WAITLIST TC NOVAC EBANK= LOSCOUNT 2CADR R29RDJOB # START JOB TO READ AND DOWNLINK FOR R29. CA 2SECS TC VARDELAY CA FLAGWRD3 # 2 SECONDS LATER, SEE IF READING IS STILL MASK READRBIT # ALLOWED (NO TRACKER FAIL ETC.) CCS A TCF R29READ # IT'S OK: CALL IT AGAIN. TCF TASKOVER # IT AIN'T: WAIT FOR REDESIGNATE. R29RDJOB CA FLAGWRD3 # CALLED VIA NOVAC. MASK NR29FBIT CCS A # TEST "NOR29FLG". TCF ENDRRD29 # R29 IS NOW OVER, STOP AT ONCE. CA RADMODES MASK AUTOMBIT CCS A # TEST RR-NOT-IN-AUTO-MODE BIT. TCF ENDRRD29 # ASTRO TOOK RR OUT OF AUTO MODE. TC BANKCALL CADR RRRDOT # INITIATE READING OF RANGE RATE. TC BANKCALL CADR RADSTALL # GOT TO SLEEP UNTIL IT'S READY. TCF ENDRRD29 # BAD READ; REDESIGNATE. # Page 606 # R29 RADAR READING CONTINUED. DXCH TIMEHOLD DXCH MPAC # TIME OF RR READING, FOR DOWNLINK. INHINT # BE SURE OF 5 CONSISTENT CDU ANGLES. EXTEND DCA CDUT DXCH MPAC +2 # RRCDU ANGLES AT RR READ, FOR DOWNLINK. EXTEND DCA CDUY DXCH MPAC +4 # MPAC'S 7 WORDS ARE BUFFERED FOR COPYCYCLE. CA CDUX TS MPAC +6 # IMUCDU ANGLES AT RR READ, FOR DOWNLINK. R29RANGE TC BANKCALL CADR RRRANGE # INITIATE READING OF RR RANGE. TC BANKCALL CADR RADSTALL # GO TO SLEEP UNTIL IT'S READY. TCF R29RRR? # BAD READ OR SCALE CHANGE ... WHICH? INHINT DXCH DNRRANGE # COPYCYCLE TO LAY OUT NEW R29 DOWNLINK. DXCH RM DXCH MPAC DXCH MKTIME DXCH MPAC +2 DXCH TANGNB DXCH MPAC +4 DXCH AIG CA MPAC +6 TS AOG CA ONE TS TRKMKCNT # SHOW THAT DOWNLINK DATA IS CONSISTENT. TCF ENDOFJOB R29RRR? CS FLAGWRD5 MASK BIT10 CCS A # WAS IT A SCALE CHANGE (REAL OR PHONY)? TCF ENDRRD29 # NO, A BAD READ; REDESIGNATE. TC DOWNFLAG ADRES RNGSCFLG TCF R29RANGE # YES; CLEAR FLAG AND READ AGAIN. ENDRRD29 CA ZERO # TROUBLE MADE US COME HERE TO LEAVE THE TS TRKMKCNT # RR-READING MODE. DISCREDIT DOWNTEL. TC DOWNFLAG ADRES READRFLG CS BIT14 EXTEND # Page 607 WAND CHAN12 # REMOVE TRACK-ENABLE DISCRETE. TCF ENDOFJOB # Page 608 # W-MATRIX MONITOR BANK 31 SETLOC VB67 BANK COUNT* $$/EXTVB EBANK= WWPOS V67CALL TC INTPRET CALL V67WW EXIT EXTEND # SAVE THE PRESENT N99 VALUES FOR DCA WWPOS # COMPARISON AFTER THE DISPLAY DXCH WWBIAS +2 EXTEND DCA WWVEL DXCH WWBIAS +4 EXTEND DCA WWBIAS DXCH WWBIAS +6 V06N99DS CAF V06N99 TC BANKCALL CADR GOXDSPF TCF ENDEXT TCF V6N99PRO TCF V06N99DS V6N99PRO ZL CA FIVE N99LOOP TS Q INDEX Q CS WWPOS INDEX Q AD WWPOS +6 ADS L CCS Q # THE SUM OF ALL DIFFERENCES MUST BE ZERO. TCF N99LOOP LXCH A EXTEND BZF V06N9933 TC UPFLAG ADRES V67FLAG V06N9933 TC INTPRET BON EXIT V67FLAG +2 TCF ENDEXT DLOAD # Page 609 WWPOS SL4 SL1 STODL 0D WWVEL STODL 2D WWBIAS SL # SHIFT FROM NOUN SCALING (B-5) TO 10D # INTERNAL SCALING (B+5) STORE 4D BON LXA,1 SURFFLAG V67SURF 0D SXA,1 LXA,1 WRENDPOS 2D SXA,1 GOTO WRENDVEL V67CLRF V67SURF LXA,1 SXA,1 0D WSURFPOS LXA,1 SXA,1 2D WSURFVEL V67CLRF LXA,1 SXA,1 4D WTRUN SXA,1 WSHAFT CLEAR EXIT RENDWFLG TCF ENDEXT V67WW STQ BOV S2 +1 CLEAR CALL V67FLAG INTSTALL SSP DLOAD S1 DEC 6 ZEROVECS STORE WWPOS STORE WWVEL STORE WWBIAS AXT,1 DEC 54 NXPOSVEL VLOAD* VSQ W +54D,1 # Page 610 GOTO ADDPOS V06N99 VN 0699 SETLOC VB67A BANK COUNT* $$/EXTVB ADDPOS DAD WWPOS STORE WWPOS VLOAD* VSQ W +108D,1 DAD WWVEL STORE WWVEL VLOAD* VSQ W +162D,1 DAD WWBIAS STORE WWBIAS TIX,1 SQRT NXPOSVEL SR # SHIFT FROM INTERNAL SCALING (B+5) TO 10D # NOUN SCALING (B-5) STODL WWBIAS WWVEL SQRT STODL WWVEL WWPOS SQRT STORE WWPOS BOV GOTO +2 V67XXX DLOAD DPPOSMAX STORE WWPOS STORE WWVEL STORE WWBIAS V67XXX DLOAD DSU WWPOS FT99999 BMN DLOAD +3 FT99999 STORE WWPOS LXA,1 SXA,1 S2 QPRET # Page 611 EXIT TC POSTJUMP CADR INTWAKE FT99999 2DEC 30479 B-19 # Page 612 BANK 25 SETLOC RADARUPT BANK COUNT* $$/RRUPT EBANK= LOSCOUNT R12LITES CA ONE MASK IMODES33 CCS A TCF ISWRETRN TC HLIGHT TC HLIGHT -3 TCF ISWRETRN RADLITES CA BIT1 MASK IMODES33 CCS A TC Q CS BIT5 AD ITEMP1 CCS A CS ONE TCF VLIGHT TCF RRTRKF HLIGHT TS ITEMP5 # ZERO ITEMP5 FOR H INDEX CA HLITE TS L CA FLGWRD11 MASK SCABBIT CCS A TCF ONLITES CA LRALTBIT BOTHLITS MASK RADMODES CCS A TCF ONLITES CA FLGWRD11 INDEX ITEMP5 MASK HFLSHBIT CCS A TCF RRTRKF # Page 613 LITIT EXTEND QXCH ITEMP6 TC TRKFLON +1 EXTEND QXCH ITEMP6 TCF RRTRKF ONLITES INDEX ITEMP5 CS HFLSHBIT MASK FLGWRD11 TS FLGWRD11 CA L TCF LITIT VLIGHT TS ITEMP5 CA VLITE TS L CA BIT8 TCF BOTHLITS HLITE EQUALS BIT5 VLITE EQUALS BIT3 # *** END OF LEMP20S .127 *** ================================================ FILE: Luminary099/P30_P37.agc ================================================ # Copyright: Public domain. # Filename: P30_P37.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 614-617 # Mod history: 2009-05-17 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # 2009-06-05 RSB Removed 4 lines of code that shouldn't # have survived from Luminary 131. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 614 # PROGRAM DESCRIPTION P30 DATE 3-6-67 # # MOD.1 BY RAMA AIYAWAR # FUNCTIONAL DESCRIPTION # ACCEPT ASTRONAUT INPUTS OF TIG.DELV(LV) # CALL IMU STATUS CHECK ROUTINE (R02) # DISPLAY TIME TO GO, APOGEE, PERIGEE, DELV(MAG), MGA AT IGN # REQUEST BURN PROGRAM # # CALLING SEQUENCE VIA JOB FROM V37 # # EXIT VIA V37 CALL OR TO GOTOPOOH (V34E) # # SUBROUTINE CALLS-FLAGUP, PHASCHNG, BANKCALL, ENDOFJOB, GOFLASH, GOFLASHR # GOPERF3R, INTPRET, BLANKET, GOTOPOOH, R02BOTH, S30.1, # TIG/N35, MIDGIM, DISPMGA # # ERASABLE INITIALIZATION- STATE VECTOR # # OUTPUT-RINIT, VINIT, +MGA, VTIG, RTIG, DELVSIN, DELVSAB, DELVSLV, HAPO, # HPER, TTOGO # # DEBRIS- A,L, MPAC, PUSHLIST BANK 32 SETLOC P30S BANK EBANK= +MGA COUNT* $$/P30 P30 TC UPFLAG # SET UPDATE FLAG ADRES UPDATFLG TC UPFLAG # SET TRACK FLAG ADRES TRACKFLG P30N33 CAF V06N33 # T OF IGN TC VNPOOH # RETURNS ON PROCEED, POOH ON TERMINATE CAF V06N81 # DISPLAY DELTA V (LV) TC VNPOOH # REDISPLAY ON RECYCLE TC DOWNFLAG # RESET UPDATE FLAG ADRES UPDATFLG TC INTPRET CALL S30.1 SET EXIT UPDATFLG PARAM30 CAF V06N42 # DISPLAY APOGEE,PERIGEE ,DELTA V TC VNPOOH # Page 615 TC INTPRET SETGO XDELVFLG # FOR P40'S: EXTERNAL DELTA-V GUIDANCE. REVN1645 # TRKMKCNT, T60, +MGA DISPLAY V06N33 VN 0633 V06N42 VN 0642 # Page 616 # PROGRAM DESCRIPTION S30.1 DATE 9NOV66 # MOD NO 1 LOG SECTION P30,P37 # MOD BY RAMA AIYAWAR ** # FUNCTIONAL DESCRIPTION # BASED ON STORED TARGET PARAMETERS(R OF IGNITION(RTIG),V OF # IGNITION(VTIG),TIME OF IGNITION (TIG)),COMPUTE PERIGEE ALTITUDE # APOGEE ALTITUDE AND DELTAV REQUIRED(DELVSIN). # CALLING SEQUENCE # L CALL # L+1 s30.1 # NORMAL EXIT MODE # AT L+2 OR CALLING SEQUENCE (GOTO L+2) # SUBROUTINES CALLED # LEMPREC # PERIAPO # ALARM OR ABORT EXIT MODES # NONE # ERASABLE INITIALIZATION REQUIRED # TIG TIME OF IGNITION DP B28CS # DELVSLV SPECIFIED DELTA-V IN LOCAL VERT. # COORDS. OF ACTIVE VEHICLE AT # TIME OF IGNITION VECTOR B+7 METERS/CS # # OUTPUT # RTIG POSITION AT TIG VECTOR B+29 METERS # VTIG VELOCITY AT TIG VECTOR B+29 METERS/CS # PDL 4D APOGEE ALTITUDE DP B+29 M , B+27 METERS. # HAPO APOGEE ALTITUDE DP B+29 METERS # PDL 8D PERIGEE ALTITUDE DP B+29 M , B+27 METERS. # HPER PERIGEE ALTITUDE DP B+29 METERS # DELVSIN SPECIFIED DELTA-V IN INTERTIAL # COORD. OF ACTIVE VEHICLE AT # TIME OF IGNITION VECTOR B+7 METERS/CS # DELVSAB MAG. OF DELVSIN VECTOR B+7 METERS/CS # # DEBRIS QTEMP TEMP. ERASABLE # QPRET,MPAC # PUSHLIST SETLOC P30S1 BANK COUNT* $$/S30S S30.1 STQ DLOAD QTEMP TIG # TIME IGNITION SCALED AT 2(+28)CS STCALL TDEC1 LEMPREC # ENCKE ROUTINE FOR LEM VLOAD SXA,2 # Page 617 RATT RTX2 STORE RTIG # RADIUS VECTOR AT IGNITION TIME UNIT VCOMP STOVL DELVSIN # ZRF/LV IN DELVSIN SCALED AT 2 VATT # VELOCITY VECTOR AT TIG, SCALED 2(7) M/CS STORE VTIG VXV UNIT RTIG SETPD SXA,1 0 RTX1 PUSH VXV # YRF/LV PDL 0 SCALED AT 2 DELVSIN VSL1 PDVL PDVL PDVL # YRF/LV PDL 6 SCALED AT 2 DELVSIN # ZRF/LV PDL 12D SCALED AT 2 DELVSLV VXM VSL1 0 STORE DELVSIN # DELTAV IN INERT. COOR. SCALED TO B+7M/CS ABVAL STOVL DELVSAB # DELTA V MAG. RTIG # (FOR PERIAPO) PDVL VAD # VREQUIRED = VTIG + DELVSIN (FOR PERIAPO) VTIG DELVSIN CALL PERIAPO1 CALL SHIFTR1 # RESCALE IF NEEDED CALL # LIMIT DISPLAY TO 9999.9 N. MI. MAXCHK STODL HPER # PERIGEE ALT 2(29) METERS, FOR DISPLAY 4D CALL SHIFTR1 # RESCALE IF NEEDED CALL # LIMIT DISPLAY TO 9999.9 N. MI. MAXCHK STCALL HAPO # APOGEE ALT 2(29) METERS, FOR DISPLAY QTEMP ================================================ FILE: Luminary099/P32-P35_P72-P75.agc ================================================ # Copyright: Public domain. # Filename: P32-P35_P72-P75.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 618-650 # Mod history: 2009-05-18 RSB Adapted from the Luminary 131 file of the # same name, as corrected from Luminary 099 # page images. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 618 # COELLIPTIC SEQUENCE INITIATION (CSI) PROGRAMS (P32 AND P72) # # MOD NO -1 LOG SECTION -- P32-P35, P72-P75 # MOD BY WHITE.P DATE 1JUNE67 # # PURPOSE # (1) TO CALCULATE PARAMETERS ASSOCIATED WITH THE TIME FOLLOWING # CONCENTRIC FLIGHT PLAN MANEUVERS -- THE CO-ELLIPTIC SEQUENCE # INITIATION (CSI) MANEUVER AND THE CONSTANT DELTA ALTITUDE # (CDH) MANEUVER. # (2) TO CALCULATE THESE PARAMETERS BASED UPON MANEUVER DATA # APPROVED AND KEYED INTO THE DSKY BY THE ASTRONAUT. # (3) TO DISPLAY TO THE ASTRONAUT AND THE GROUND DEPENDENT VARIABLES # ASSOCIATED WITH THE CONCENTRIC FLIGHT PLAN MANEUVERS FOR # APPROVAL BY THE ASTRONAUT/GROUND. # (4) TO STORE THE CSI TARGET PARAMETERS FOR USE BY THE DESIRED # THRUSTING PROGRAM. # # ASSUMPTIONS # (1) AT A SELECTED TPI TIME THE LINE OF SIGHT BETWEEN THE ACTIVE # AND PASSIVE VEHICLES IS SELECTED TO BE A PRESCRIBED ANGLE (E) # FROM THE HORIZONTAL PLANE DEFINED BY THE ACTIVE VEHICLE # POSITION. # (2) THE TIME BETWEEN CSI IGNITION AND CDH IGNITION MUST BE # COMPUTED TO BE GREATER THAN 10 MINUTES FOR SUCCESSFUL # COMPLETION OF THE PROGRAM. # (3) THE TIME BETWEEN CDH IGNITION AND TPI IGNITION MUST BE # COMPUTED TO BE GREATER THAN 10 MINUTES FOR SUCCESSFUL # COMPLETION OF THE PROGRAM. # (4) CDH DELTA V IS SELECTED TO MINIMIZE THE VARIATION OF THE # ALTITUDE DIFFERENCE BETWEEN THE ORBITS. # (5) CSI BURN IS DEFINED SUCH THAT THE IMPULSIVE DELTA V IS IN THE # HORIZONTAL PLANE DEFINED BY THE ACTIVE VEHICLE POSITION AT CSI # IGNITION. # (6) THE PERICENTER ALTITUDE OF THE ORBIT FOLLOWING CSI AND CDH # MUST BE GREATER THAN 35,000 FT (LUNAR ORBIT) OR 85 NM (EARTH # ORBIT) FOR SUCCESSFUL COMPLETION OF THIS PROGRAM. # (7) THE CSI AND CDH MANEUVERS ARE ORIGINALLY ASSUMED TO BE # PARALLEL TO THE PLANE OF THE CSM ORBIT. HOWEVER, CREW # Page 619 # MODIFICATION OF DELTA V (LV) COMPONENTS MAY RESULT IN AN # OUT-OF-PLANE CSI MANEUVER # (8) STATE VECTOR UPDATES BY P27 ARE DISALLOWED DURING AUTOMATIC # STATE VECTOR UPDATING INITIATED BY P20 (SEE ASSUMPTION 10). # (9) COMPUTED VARIABLES MAY BE STORED FOR LATER VERIFICATION BY # THE GROUND. THESE STORAGE CAPABILITIES ARE NORMALLY LIMITED # ONLY TO THE PARAMETERS FOR ONE THRUSTING MANEUVER AT A TIME # EXCEPT FOR CONCENTRIC FLIGHT PLAN MANEUVER SEQUENCES. # (10) THE RENDEZVOUS RADAR MAY OR MAY NOT BE USED TO UPDATE THE LM # OR CSM STATE VECTORS FOR THIS PROGRAM. IF RADAR USE IS # DESIRED THE RADAR WAS TURNED ON AND LOCKED BY THE CSM BY # PREVIOUS SELECTION OF P20. RADAR SIGHTING MARKS WILL BE MADE # AUTOMATICALLY APPROXIMATELY ONCE A MINUTE WHEN ENABLED BY THE # TRACK AND UPDATE FLAGS (SEE P20). THE RENDEZVOUS TRACKING # MARK COUNTER IS ZEROED BY THE SELECTION OF P20 AND AFTER EACH # THRUSTING MANEUVER. # (11) THE ISS NEED NOT BE ON TO COMPLETE THIS PROGRAM. # (12) THE OPERATION OF THE PROGRAM UTILIZES THE FOLLOWING FLAGS -- # # ACTIVE VEHICLE FLAG -- DESIGNATES THE VEHICLE WHICH IS # DOING RENDEZVOUS THRUSTING MANEUVERS TO THE PROGRAM WHICH # CALCULATES THE MANEUVER PARAMETERS. SET AT THE START OF # EACH RENDEZVOUS PRE-THRUSTING PROGRAM. # # FINAL FLAG -- SELECTS FINAL PROGRAM DISPLAYS AFTER CREW HAS # COMPLETED THE FINAL MANEUVER COMPUTATION AND DISPLAY # CYCLE. # # EXTERNAL DELTA V STEERING FLAG -- DESIGNATES THE TYPE OF # STEERING REQUIRED FOR EXECUTION OF THIS MANEUVER BY THE # THRUSTING PROGRAM SELECTED AFTER COMPLETION OF THIS # PROGRAM. # # (13) IT IS NORMALLY REQUIRED THAT THE ISS BE ON FOR 1 HOUR PRIOR TO # A THRUSTING MANEUVER. # # (14) THIS PROGRAM IS SELECTED BY THE ASTRONAUT BY DSKY ENTRY # # P32 IF THIS VEHICLE IS ACTIVE VEHICLE. # # P72 IF THIS VEHICLE IS THE PASSIVE VEHICLE. # # INPUT # (1) TCSI TIME OF THE CSI MANEUVER # Page 620 # (2) NN NUMBER OF APSIDAL CROSSINGS THRU WHICH THE ACTIVE # VEHICLE ORBIT CAN BE ADVANCED TO OBTAIN THE CDH # MANEUVER POINT. # (3) ELEV DESIRED LOS ANGLE AT TPI # (4) TTPI TIME OF THE TPI MANEUVER # # OUTPUT # (1) TRKMKCNT NUMBER OF MARKS # (2) TTOGO TIME TO GO # (3) +MGA MIDDLE GIMBAL ANGLE # (4) DIFFALT DELTA ALTITUDE AT CDH # (5) T1TOT2 DELTA TIME FROM CSI TO CDH # (6) T2TOT3 DELTA TIME FROM CDH TO TPI # (7) DELVLVC DELTA VELOCITY AT CSI -- LOCAL VERTICAL COORDINATES # (8) DELVLVC DELTA VELOCITY AT CDH -- LOCAL VERTICAL COORDINATES # # DOWNLINK # (1) TCSI TIME OF THE CSI MANEUVER # (2) TCDH TIME OF THE CDH MANEUVER # (3) TTPI TIME OF THE TPI MANEUVER # (4) TIG TIME OF THE CSI MANEUVER # (5) DELVEET1 DELTA VELOCITY AT CSI -- REFERENCE COORDINATES # (6) DELVEET2 DELTA VELOCITY AT CDH -- REFERENCE COORDINATES # (7) DIFFALT DELTA ALTITUDE AT CDH # (8) NN NUMBER OF APSIDAL CROSSINGS THRU WHICH THE ACTIVE # VEHICLE ORBIT CAN BE ADVANCED TO OBTAIN THE CDH # MANEUVER POINT # (9) ELEV DESIRED LOS ANGLE AT TPI # # COMMUNICATION TO THRUSTING PROGRAM # (1) TIG TIME OF THE CSI MANEUVER # (2) RTIG POSITION OF ACTIVE VEHICLE AT CSI -- BEFORE ROTATION # INTO PLANE OF PASSIVE VEHICLE # (3) VTIG VELOCITY OF ACTIVE VEHICLE AT CSE -- BEFORE ROTATION # INTO PLANE OF PASSIVE VEHICLE # (4) DELVSIN DELTA VELOCITY AT CSI -- REFERENCE COORDINATES # (5) DELVSAB MAGNITUDE OF DELTA VELOCITY AT CSI # (6) XDELVFLG SET TO INDICATE EXTERNAL DELTA V VG COMPUTATION # # SUBROUTINES USED # AVFLAGA # AVFLAGP # P20FLGON # VARALARM # BANKCALL # GOFLASH # GOTOPOOH # Page 621 # VNPOOH # GOFLASHR # BLANKET # ENDOFJOB # SELECTMU # ADVANCE # INTINT # PASSIVE # CSI/A # S32/33.1 # DISDVLVC # VN1645 BANK 35 SETLOC CSI/CDH BANK EBANK= SUBEXIT COUNT* $$/P3272 P32 TC AVFLAGA TC P32STRT P72 TC AVFLAGP P32STRT EXTEND DCA P30ZERO DXCH CENTANG TC P32/P72A ALMXITA SXA,2 CSIALRM ALMXIT LXC,1 CSIALRM SLOAD* EXIT ALARM/TB -1,1 CA MPAC TC VARALARM CAF V05N09 TC BANKCALL CADR GOFLASH TC GOTOPOOH TC -4 P32/P72A TC P20FLGON CAF P30ZERO TS NN +1 TS TCSI TS TCSI +1 VN0611 CAF V06N11 # TCSI TC VNPOOH TC INTPRET DLOAD DCOMP TCSI BMN DLOAD VN0655 # Page 622 TETLEM STCALL TDEC1 PRECSET VLOAD VSR* RACT3 0,2 STOVL RVEC VACT3 VSR* SET 0,2 RVSW STODL VVEC DPPOSMAX STCALL RDESIRED TIMERAD DAD TDEC2 STORE TCSI EXIT TC VN0611 VN0655 EXIT CAF V06N55 # NN, ELEV(RGLOS) TC BANKCALL CADR GOFLASH TC GOTOPOOH TC +2 TC -5 CAF V06N37 # TTPI TC VNPOOH TC INTPRET DLOAD TCSI STCALL TIG SELECTMU P32/P72B CALL ADVANCE SETPD VLOAD 0D VPASS1 PDVL PDDL RPASS1 TCSI PDDL PDDL TTPI TWOPI PUSH CALL INTINT CALL PASSIVE CALL # Page 623 CSI/A P32/P72C BON SET FINALFLG P32/P72D UPDATFLG P32/P72D DLOAD T1TOT2 P32/P72E STORE T1TOT2 DSU BPL 60MIN P32/P72E DLOAD T2TOT3 P32/P72F STORE T2TOT3 DSU BPL 60MIN P32/P72F EXIT CAF V06N75 TC VNPOOH TC INTPRET VLOAD CALL DELVEET1 S32/33.1 STOVL DELVEET1 RACT2 STOVL RACT1 DELVEET2 AXT,1 CALL VN 0682 DISDVLVC DLOAD TTPI STCALL TTPIO VN1645 GOTO P32/P72B # Page 624 # CONSTANT DELTA HEIGHT (CDH) PROGRAMS (P33 AND P73) # MOD NO -1 LOC SECTION -- P32-P35, P72-P75 # MOD BY WHITE, P. DATE: 1 JUNE 67 # # PURPOSE # # (1) TO CALCULATE PARAMETERS ASSOCIATED WITH THE CONSTANT DELTA # ALTITUDE MANEUVER (CDH). # # (2) TO CALCULATE THESE PARAMETERS BASED UPON MANEUVER DATA # APPROVED AND KEYED INTO THE DSKY BY THE ASTRONAUT. # # (3) TO DISPLAY TO THE ASTRONAUT AND THE GROUND DEPENDENT VARIABLES # ASSOCIATED WITH THE CDH MANEUVER FOR APPROVAL BY THE # ASTRONAUT/GROUND. # # (4) TO STORE THE CDH TARGET PARAMETERS FOR USE BY THE DESIRED # THRUSTING PROGRAM. # # ASSUMPTIONS # # (1) THIS PROGRAM IS BASED UPON PREVIOUS COMPLETION OF THE # CO-ELLIPTIC SEQUENCE INITIATION (CSI) PROGRAM (P32/P72). # THEREFORE -- # # (A) AT A SELECTED TPI TIME (NOW IN STORAGE) THE LINE OF SIGHT # BETWEEN THE ACTIVE AND PASSIVE VEHICLES WAS SELECTED TO BE # A PRESCRIBED ANGLE (E) (NOW IN STORAGE) FROM THE # HORIZONTAL PLANE DEFINED BY THE ACTIVE VEHICLE POSITION. # # (B) THE TIME BETWEEN CSI IGNITION AND CDH IGNITION WAS # COMPUTED TO BE GREATER THAN 10 MINUTES. # # (C) THE TIME BETWEEN CDH IGNITION AND TPI IGNITION WAS # COMPUTED TO BE GREATER THAN 10 MINUTES. # # (D) THE VARIATION OF THE ALTITUDE DIFFERENCE BETWEEN THE # ORBITS WAS MINIMIZED. # # (E) CSI BURN WAS DEFINED SUCH THAT THE IMPULSIVE DELTA V WAS # IN THE HORIZONTAL PLANE DEFINED BY ACTIVE VEHICLE # POSITION AT CSI IGNITION. # # (F) THE PERICENTER ALTITUDES OF THE ORBITS FOLLOWING CSI AND # CDH WERE COMPUTED TO BE GREATER THAN 35,000 FT FOR LUNAR # ORBIT OR 85 NM FOR EARTH ORBIT. # # (G) THE CSI AND CDH MANEUVERS WERE ASSUMED TO BE PARALLEL TO # THE PLANE OF THE PASSIVE VEHICLE ORBIT. HOWEVER, CREW # Page 625 # MODIFICATION OF DELTA V (LV) COMPONENTS MAY HAVE RESULTED # IN AN OUT-OF-PLANE MANEUVER. # # (2) STATE VECTOR UPDATES BY P27 ARE DISALLOWED DURING AUTOMATIC # STATE VECTOR UPDATING INITIATED BY P20 (SEE ASSUMPTION 4). # # (3) COMPUTED VARIABLES MAY BE STORED FOR LATER VERIFICATION BY # THE GROUND. THESE STORAGE CAPABILITIES ARE NORMALLY LIMITED # ONLY TO THE PARAMETERS FOR ONE THRUSTING MANEUVER AT A TIME # EXCEPT FOR CONCENTRIC FLIGHT PLAN MANEUVER SEQUENCES. # # (4) THE RENDEZVOUS RADAR MAY OR MAY NOT BE USED TO UPDATE THE LM. # OR CSM STATE VECTORS FOR THIS PROGRAM. IF RADAR USE IS # DESIRED THE RADAR WAS TURNED ON AND LOCKED ON THE CSM BY # PREVIOUS SELECTION OF P20. RADAR SIGHTING MARKS WILL BE MADE # AUTOMATICALLY APPROXIMATELY ONCE A MINUTE WHEN ENABLED BY THE # TRACK AND UPDATE FLAGS (SEE P20). THE RENDEZVOUS TRACKING # MARK COUNTER IS ZEROED BY THE SELECTION OF P20 AND AFTER EACH # THRUSTING MANEUVER. # # (5) THE ISS NEED NOT BE ON TO COMPLETE THIS PROGRAM. # # (6) THE OPERATION OF THE PROGRAM UTILIZES THE FOLLOWING FLAGS -- # # ACTIVE VEHICLE FLAG -- DESIGNATES THE VEHICLE WHICH IS # DOING RENDEZVOUS THRUSTING MANEUVERS TO THE PROGRAM WHICH # CALCULATES THE MANEUVER PARAMETERS. SET AT THE START OF # EACH RENDEZVOUS PRE-THRUSTING PROGRAM. # # FINAL FLAG -- SELECTS FINAL PROGRAM DISPLAYS AFTER CREW HAS # COMPLETED THE FINAL MANEUVER COMPUTATION AND DISPLAY # CYCLE. # # EXTERNAL DELTA V STEERING FLAG -- DESIGNATES THE TYPE OF # STEERING REQUIRED FOR EXECUTION OF THIS MANEUVER BY THE # THRUSTING PROGRAM SELECTED AFTER COMPLETION OF THIS # PROGRAM. # # (7) IT IS NORMALLY REQUIRED THAT THE ISS BE ON FOR 1 HOUR PRIOR TO # A THRUSTING MANEUVER. # # (8) THIS PROGRAM IS SELECTED BY THE ASTRONAUT BY DSKY ENTRY. # # P33 IF THIS VEHICLE IS ACTIVE VEHICLE. # # P73 IF THIS VEHICLE IS PASSIVE VEHICLE. # # INPUT # # (1) TTPIO TIME OF THE TPI MANEUVER -- SAVED FROM P32/P72 # Page 626 # (2) ELEV DESIRED LOS ANGLE AT TPI -- SAVED FROM P32/P72 # (3) TCDH TIME OF THE CDH MANEUVER # # OUTPUT # # (1) TRKMKCNT NUMBER OF MARKS # (2) TTOGO TIME TO GO # (3) +MGA MIDDLE GIMBAL ANGLE # (4) DIFFALT DELTA ALTITUDE AT CDH # (5) T2TOT3 DELTA TIME FROM CDH TO COMPUTED TPI # (6) NOMTPI DELTA TIME FROM NOMINAL TPI TO COMPUTED TPI # (7) DELVLVC DELTA VELOCITY AT CDH -- LOCAL VERTICAL COORDINATES # # DOWNLINK # # (1) TCDH TIME OF THE CDH MANEUVER # (2) TTPI TIME OF THE TPI MANEUVER # (3) TIG TIME OF THE CDH MANEUVER # (4) DELLVEET2 DELTA VELOCITY AT CDH -- REFERENCE COORDINATES # (5) DIFFALT DELTA ALTITUDE AT CDH # (6) ELEV DESIRED LOS ANGLE AT TPI # # COMMUNICATION TO THRUSTING PROGRAMS # # (1) TIG TIME OF THE CDH MANEUVER # (2) RTIG POSITION OF ACTIVE VEHICLE AT CDH -- BEFORE ROTATION # INTO PLANE OF PASSIVE VEHICLE. # (3) VTIG VELOCITY OF ACTIVE VEHICLE AT CDH -- BEFORE ROTATION # INTO PLANE OF PASSIVE VEHICLE. # (4) DELVSIN DELTA VELOCITY AT CDH -- REFERENCE COORDINATES. # (5) DELVSAB MAGNITUDE OF DELTA VELOCITY AT CDH. # (6) XDELVFLG SET TO INDICATE EXTERNAL DELTA V VG COMPUTATION. # # SUBROUTINES USED # # AVFLAGA # AVFLAGP # P20FLGON # VNPOOH # SELECTMU # ADVANCE # CDHMVR # INTINT3P # ACTIVE # PASSIVE # S33/S34.1 # ALARM # BANKCALL # GOFLASH # GOTOPOOH # S32/33.1 # Page 627 # VN1645 COUNT* $$/P3373 P33 TC AVFLAGA TC P33/P73A P73 TC AVFLAGP P33/P73A TC P20FLGON CAF V06N13 # TCDH TC VNPOOH TC INTPRET DLOAD TTPIO STODL TTPI TCDH STCALL TIG SELECTMU P33/P73B CALL ADVANCE CALL CDHMVR SETPD VLOAD 0D VACT3 PDVL CALL RACT2 INTINT3P CALL ACTIVE SETPD VLOAD 0D VPASS2 PDVL CALL RPASS2 INTINT3P CALL PASSIVE DLOAD SET P30ZERO ITSWICH STCALL NOMTPI S33/34.1 BZE EXIT P33/P73C TC ALARM OCT 611 CAF V05N09 TC BANKCALL CADR GOFLASH TC GOTOPOOH TC +2 # Page 628 TC P33/P73A TC INTPRET DLOAD P30ZERO STORE NOMTPI P33/P73C BON SET FINALFLG P33/P73D UPDATFLG P33/P73D DLOAD DAD NOMTPI TTPI STORE TTPI DSU TCDH P33/P73E DSU BPL 60MIN P33/P73E DAD 60MIN STODL T1TOT2 TTPI DSU PUSH TTPIO P33/P73F ABS DSU 60MIN BPL DAD P33/P73F 60MIN SIGN STADR STORE T2TOT3 EXIT CAF V06N75 TC VNPOOH TC INTPRET VLOAD CALL DELVEET2 S32/33.1 STCALL DELVEET2 VN1645 GOTO P33/P73B # Page 629 # ***** ADFLAG/P ***** # # SUBROUTINES USED # # UPFLAG # DOWNFLAG AVFLAGA EXTEND # AVFLAG = LEM QXCH SUBEXIT TC UPFLAG ADRES AVFLAG TC SUBEXIT AVFLAGP EXTEND # AVFLAG = CSM QXCH SUBEXIT TC DOWNFLAG ADRES AVFLAG TC SUBEXIT P20FLGON EXTEND QXCH SUBEXIT TC UPFLAG ADRES UPDATFLG # SET UPDATFLG TC UPFLAG ADRES TRACKFLG # SET TRACKFLG TC SUBEXIT # Page 630 # ***** DISDVLVC ***** # # SUBROUTINES USED # # S32/33.X # VNPOOH DISDVLVC STORE DELVLVC STQ CALL NORMEX S32/33.X VLOAD MXV DELVLVC 0D VSL1 SXA,1 VERBNOUN STORE DELVLVC EXIT CA VERBNOUN TC VNPOOH TC INTPRET GOTO NORMEX # Page 631 # ***** CONSTANTS ***** V06N11 VN 0611 V06N13 VN 0613 V06N75 VN 0675 SN359+ 2DEC -.000086601 CS359+ 2DEC +.499999992 P30ZERO 2DEC 0 60MIN 2DEC 360000 ALARM/TB OCT 00600 # NO 1 OCT 00601 # 2 OCT 00602 # 3 OCT 00603 # 4 OCT 00604 # 5 OCT 00605 # 6 OCT 00606 # 7 # Page 632 # ***** CSI/A ***** # # SUBROUTINES USED # # VECSHIFT # TIMETHET # PERIAPO # SHIFTR1 # INTINT2C # CDHMVR # PERIAPO1 # INTINT # ACTIVE BANK 34 SETLOC CSI/CDH1 BANK EBANK= SUBEXIT COUNT* $$/CSI LOOPMX 2DEC 16 INITST 2DEC .03048 B-7 # INITIAL DELDV = 10 FPS DVMAX1 2DEC 3.0480 B-7 # MAXIMUM DV1 = 1000 FPS DVMAX2 2DEC 3.014472 B-7 # 989 FPS 1DPB2 2DEC 1.0 B-2 1DPB28 2DEC 1 PMINE 2DEC 157420 B-29 # 85 NM -- MUST BE 8 WORDS BEFORE PMINM EPSILN1 2DEC .0003048 B-7 # .1 FPS NICKELDP 2DEC .021336 B-7 # 7 FPS (CHANGED FROM .05 FPS) FIFPSDP 2DEC -.152400 B-7 # 50 FPS PMINM 2DEC 10668 B-29 # 35000 FT -- MUST BE 8 WORDS AFTER PMINE DELMAX1 2DEC .6096000 B-7 # 200 FPS ONETHTH 2DEC .0001 B-3 TMIN 2DEC 60000 # 10 MIN CSI/A CLEAR SET # INITIALIZE INDICATORS S32.1F1 # DVT1 HAS EXCEEDED MAX INDICATOR S32.1F2 # FIRST PASS FOR NEWTON ITERATION INDICATOR # Page 633 CLEAR SET S32.1F3A # 00=1ST 2 PASSES 2ND CYCLE, 01=FIRST CYCLE S32.1F3B # 10=2ND CYCLE, 11=50 FPS STAGE 2ND CYCLE DLOAD P30ZERO STORE LOOPCT STORE CSIALRM CSI/B SETPD VLOAD 0D RACT1 ABVAL PUSH # RA1 B29 PL02D NORM SR1 X2 # B29-N2+ B1 PL04D PDVL ABVAL RPASS3 NORM BDDV # RA1/RP3 B1 PL02D X1 XSU,2 SR* # B2 X1 1,2 DAD DMP # (1+(RA1/RP3))RA1 B29+B2=B31 PL00D 1DPB2 NORM PDDL # PL02D X1 RTMU SR1 DDV # B38-B31= B7 PL00D SL* SQRT # B7 0 -7,1 PDVL UNIT # PL02D RACT1 PDVL VXV UP1 UNIT # UNIT(URP1 X UVP1 X URA1) = UH1 DOT SL1 # VA1 . UH1 B7 VACT1 BDSU STADR # PL00D STODL DELVCSI INITST # 10 FPS STORE DELDV CSI/B1 DLOAD DAD # IF LOOPCT = 16 LOOPCT 1DPB28 STORE LOOPCT DSU AXT,2 LOOPMX 6 BPL SCNDSOL CSI/B2 SETPD 0D # Page 634 DLOAD ABS DELVCSI DSU BMN DVMAX1 CSI/B23 AXT,2 BON 7 S32.1F1 SCNDSOL BOFF BON S32.1F3A CSI/B22 # FLAG 3 NEQ 3 S32.1F3B SCNDSOL CSI/B22 SET DLOAD S32.1F1 DVMAX2 SIGN DELVCSI STORE DELVCSI CSI/B23 VLOAD PUSH RACT1 UNIT PDVL UP1 VXV UNIT # UNIT (URP1 X UVP1 X URA1) = UH1 VXSC VSL1 DELVCSI STORE DELVEET1 VAD BOV VACT1 CSI/B23D CSI/B23D STCALL VACT4 VECSHIFT STOVL VVEC SET RVSW STOVL RVEC SN359+ STCALL SNTH # ALSO CSTH TIMETHET SR1 LXA,1 RTX1 STCALL HAFPA1 PERIAPO CALL SHIFTR1 STODL POSTCSI CENTANG BZE GOTO +2 # Page 635 CIRCL DLOAD ECC DSU BMN ONETHTH CIRCL DLOAD CALL R1 SHIFTR1 SETPD NORM 2D X1 PDVL DOT # PL04D RACT1 VACT4 ABS DDV 02D # (/RDOTV/)/R1 B38-B29= B7 SL* DSU 0,1 NICKELDP BMN DLOAD CIRCL P SL2 DSU 1DPB2 STODL 14D RTSR1/MU SR1 DDV # (1/ROOTMU)/R1 B-16-B29 = B-45 PL02D PDDL DMP P R1 CALL SHIFTR1 SL4 SL1 SQRT DMP # ((P/MU)**.5)/R1 B14+B-14 = B-31 PL02D BOFF SL3 CMOONFLG CSI/B3 CSI/B3 PDVL DOT RACT1 VACT4 STORE RDOTV ABS NORM DMP # ((P/MU)**.5)RDOTV/R1 PL02D X2 XSU,1 SL* # B-31+B36-B3 = B2 X2 3,1 STODL 12D P30ZERO # Page 636 STORE 16D VLOAD UNIT 12D STOVL SNTH # ALSO STORES CSTH AND 0 RACT1 PDVL SIGN VACT4 RDOTV VCOMP CALL VECSHIFT STOVL VVEC SET RVSW STCALL RVEC TIMETHET PDDL BPL RDOTV NTP/2 DLOAD DSU HAFPA1 PUSH GOTO NTP/2 CIRCL SETPD DLOAD 00D P30ZERO PUSH NTP/2 DLOAD DMP NN HAFPA1 SL DSU 14D DAD TCSI STORE TCDH BDSU AXT,2 TTPI 5D BMN SETPD SCNDSOL 0D VLOAD PDVL VACT4 RACT1 CALL INTINT2C STOVL RACT2 VATT STOVL VACT2 VPASS1 SETPD PDVL # Page 637 0D RPASS1 CALL INTINT2C STOVL RPASS2 VATT STCALL VPASS2 CDHMVR VLOAD SETPD RACT2 0D PDVL CALL VACT3 PERIAPO1 CALL SHIFTR1 STOVL POSTCDH VACT3 SETPD PDVL 0D RACT2 PDDL PDDL TCDH TTPI PDDL PUSH TWOPI CALL INTINT CALL ACTIVE DLOAD ELEV SETPD SINE 6D PDVL UNIT RACT3 STORE 00D # URA3 AT 00D PDVL VXV # PL14D, PL08D UP1 UNIT PDDL COSINE # UNIT(URA3 X UVA3 X URA3) = UH3 B1 PL14D ELEV VXSC STADR # (COSLOS)(UH3) B2 PL08D STORE 18D # PLUS DLOAD VXSC # (SINLOS)(URA3) = U B2 PL00D VAD VSL1 18D # B1 PUSH DOT # PL06D RACT3 # (U . RA3) = TEMP1 B1 +B29 = B30 SL1 PUSH # B29 PL08D # Page 638 DSQ TLOAD # TEMP1**2 B58 MPAC PDVL DOT # PL11D RACT3 RACT3 TLOAD DCOMP # RA3 . RA3 MPAC PDVL DOT # RP3 . RP3 B58 PL14D RPASS3 RPASS3 # PL11D TAD TAD # TEMP1**2 + RA3.RA3 + RP3.RP3 = TEMP2 PL08D BPL DLOAD K10RK2 LOOPCT DSU AXT,2 1DPB28 1D BZE ALMXITA DLOAD SR1 DELDV STORE DELDV BDSU DVPREV STCALL DELVCSI CSI/B1 K10RK2 SQRT PUSH # TEMP3 = TEMP2**.5 B29 PL10D DCOMP DSU 06D # -TEMP1-TEMP3 = K2 AT 10D STODL 10D # PL08D DSU STADR # PL06D STORE 12D # -TEMP1+TEMP3 = K1 AT 12D ABS STODL 14D 10D ABS DSU 14D BMN DLOAD K2. 12D STORE 10D # K = K1 K2. DLOAD 10D VXSC VSL1 VAD UNIT # V = RA3 + KU UNIT B1 RACT3 PDVL UNIT RPASS3 # PL06D PDVL UNIT VPASS3 # PL12D # Page 639 VXV PDVL # UVP3 X URP3 PL18D 06D 06D VXV DOT 00D STADR # PL12D STOVL 12D # (URP3 X V).(UVP3 X URP3)=TEMP PL06D DOT SL1 # PL00D ARCCOS SIGN 12D # B0 SR1 PUSH # GAMMA = SIGN(TEMP)ARCOS(UNITV.URP3) PL02D BON DLOAD S32.1F2 FRSTPAS 00D # NOT THE FIRST PASS OF A CYCLE DSU PDDL # GAMMA-GAMPREV B1 PL04D GAMPREV DELVCSI DSU NORM # B7 DVPREV X1 BDDV PDDL # (GAM-GAMPREV)/(DV-DVPREV) B-6+N1 PL06D 02D # = SLOPE DELVCSI STORE DVPREV BOFF BOFF S32.1F3A THRDCHK S32.1F3B THRDCHK DLOAD DMP 02D GAMPREV BPL DLOAD FIFTYFPS INITST SIGN DELDV STORE DELDV SET CLEAR S32.1F3A S32.1F3B FRSTPAS DLOAD 00D STODL GAMPREV DELVCSI STORE DVPREV DSU CLEAR DELDV S32.1F2 # Page 640 STCALL DELVCSI CSI/B1 THRDCHK BON BON S32.1F3A NEWTN S32.1F3B NEWTN FIFTYFPS DLOAD SIGN FIFPSDP 04D SIGN GAMPREV STORE DELDV DCOMP DAD DELVCSI STODL DELVCSI 00D SET SET S32.1F3B S32.1F3A STCALL GAMPREV CSI/B2 NEWTN DLOAD NORM 04D X2 BDDV XSU,1 00D X2 SR* 0,1 STODL DELDV 00D STORE GAMPREV DLOAD ABS DELDV # PL08D PUSH DSU EPSILN1 BMN DLOAD CSI/SOL DSU BMN DELMAX1 CSISTEP DLOAD SIGN DELMAX1 DELDV STORE DELDV CSISTEP DLOAD DSU DELVCSI DELDV STCALL DELVCSI # Page 641 CSI/B1 CSI/SOL DLOAD AXT,2 POSTCSI 2 LXA,1 RTX1 DSU* BMN PMINE -2,1 SCNDSOL AXT,2 DLOAD 3 POSTCDH DSU* BMN PMINE -2,1 SCNDSOL DLOAD DSU TCDH TCSI STORE T1TOT2 AXT,2 DSU 4 TMIN BMN AXT,2 SCNDSOL 5 DLOAD DSU TTPI TCDH STORE T2TOT3 DSU BPL TMIN P32/P72C SCNDSOL BON BOFF S32.1F3A ALMXIT S32.1F3B ALMXIT SXA,2 DLOAD CSIALRM P30ZERO CLEAR SET S32.1F1 S32.1F2 CLEAR CLEAR S32.1F3A S32.1F3B STCALL LOOPCT CSI/B # Page 642 # ***** ADVANCE ***** # # SUBROUTINES USED # PRECSET # ROTATE ADVANCE STQ DLOAD SUBEXIT TIG STCALL TDEC1 PRECSET SET VLOAD XDELVFLG VPASS3 STORE VPASS2 STOVL VPASS1 RPASS3 STORE RPASS2 STORE RPASS1 UNIT VXV VPASS1 UNIT STOVL UP1 RACT3 STCALL RTIG ROTATE STORE RACT2 STOVL RACT1 VACT3 STCALL VTIG ROTATE STORE VACT2 STCALL VACT1 SUBEXIT # Page 643 # ***** ROTATE ***** ROTATE PUSH PUSH DOT VXSC UP1 UP1 VSL2 BVSU UNIT PDVL ABVAL VXSC VSL1 RVQ # Page 644 # ***** INTINTNA ***** INTINT2C PDDL PDDL TCSI TCDH PDDL PUSH TWOPI GOTO INTINT INTINT3P PDDL PDDL TCDH TTPI PDDL PUSH P30ZERO GOTO INTINT # Page 645 # ***** S32/33.1 ***** # # SUBROUTINES USED # S32/33.X S32/33.1 STQ AXT,1 SUBEXIT VN 0681 CALL DISDVLVC CALL S32/33.X VLOAD VXM DELVLVC 0D VSL1 STORE DELVSIN PUSH ABVAL STOVL DELVSAB GOTO SUBEXIT # Page 646 # ***** S32/33.X ***** S32/33.X SETPD VLOAD 6D UP1 VCOMP PDVL RACT1 UNIT VCOMP PUSH VXV UP1 VSL1 STORE 0D RVQ # Page 647 # ***** CDHMVR ***** # # SUBROUTINES USED # VECSHIFT # TIMETHET # SHIFTR1 CDHMVR STQ VLOAD SUBEXIT RACT2 PUSH UNIT STOVL UNVEC # UR SUB A RPASS2 UNIT DOT UNVEC PUSH SL1 STODL CSTH DSQ PDDL DP1/4TH SR2 DSU SQRT SL1 PDVL VCOMP VXV RPASS2 DOT PDDL UP1 SIGN STADR STOVL SNTH RPASS2 PDVL CALL VPASS2 VECSHIFT STOVL VVEC CLEAR RVSW STCALL RVEC TIMETHET LXA,2 VSL* RTX2 0,2 STORE 18D DOT SL1R UNVEC PDVL ABVAL # 0D = V SUB PV SL* PDVL 0,2 RACT2 ABVAL PDDL # 2D = LENGTH OF R SUB A DSU # Page 648 02D STODL DIFFALT # DELTA H IN METERS B+29 R1A NORM PDDL # 2 - R V**/MU 04D X1 R1 CALL SHIFTR1 SR1R DDV SL* PUSH 0 -5,1 DSU PDDL # A SUB A B+29 04D DIFFALT SR2 DDV # A SUB P B+31 04D # B+2 PUSH SQRT # A SUB P/A SUB A 06D DMPR DMP 06D 00D SL3R PDDL # V SUB AV METERS/CS B+7 08D 02D # R SUB A MAGNITUDE B+29 NORM PDDL X1 RTMU SR1 DDV # 2MU B+38 SL* PDDL # 2 MU/R SUBAA B+14 10D 0 -5,1 04D # ASUBA B+29 NORM PDDL X2 RTMU SR1 DDV SL* BDSU 0 -6,2 # 2U/R - U/A B+14 (METERS/CS)SQ PDDL DSQ # 10D 08D BDSU SQRT PDVL VXV # SQRT(MU(2/R SUB A-1/A SUB A)-VSUBA2) 10D UP1 UNVEC UNIT VXSC 10D PDVL VXSC UNVEC 08D VAD VSL1 STADR STORE VACT3 VSU VACT2 # Page 649 STCALL DELVEET2 # DELTA VCDH -- REFERENCE COORDINATES SUBEXIT # Page 650 # ***** COMPTGO ***** # # SUBROUTINES USED # CLOKTASK # 2PHSCHNG BANK 35 SETLOC CSI/CDH BANK EBANK= RTRN COUNT* $$/P3575 COMPTGO EXTEND QXCH RTRN CAF ZERO TS DISPDEX CAF BIT2 INHINT TC WAITLIST EBANK= WHICH 2CADR CLOKTASK TC 2PHSCHNG OCT 40036 OCT 05024 OCT 13000 TC RTRN ================================================ FILE: Luminary099/P34-35_P74-75.agc ================================================ # Copyright: Public domain. # Filename: P34-35_P74-75.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 658-702 # Mod history: 2009-05-19 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # 2009-06-05 RSB Corrected a typo. # 2011-01-06 JL Fixed pseudo-label indentation. # 2011-01-06 JL Added missing comment characters. # 2011-05-07 JL Removed workaround. # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 658 # TRANSFER PHASE INITITIATION (TPI) PROGRAMS (P34 AND P74) # MOD NO -1 LOG SECTION -- P32-P35, P72-P75 # MOD BY WHITE, P. DATE: 1 JUNE 67 # # PURPOSE # # (1) TO CALCULATE THE REQUIRED DELTA V AND OTHER INITIAL CONDITIONS # REQUIRED BY THE ACTIVE VEHICLE FOR EXECUTION OF THE TRANSFER # PHASE INITITATION (TPI) MANEUVER, GIVEN -- # (A) TIME OF IGNITION TIG (TPI) OR THE ELEVATION ANGLE (E) OF # THE ACTIVE/PASSIVE VEHICLE LOS AT TIG (TPI). # (B) CENTRAL ANGLE OF TRANSFER (CENTANG) FROM TIG (TPI) TO # INTERCEPT TIME (TIG (TPF)). # (2) TO CALCULATE TIG (TPI) GIVEN E OR E GIVEN TIG (TPI). # (3) TO CALCULATE THESE PARAMETERS BASED UPON MANEUVER DATA # APPROVED AND KEYED INTO THE DSKY BY THE ASTRONAUT. # (4) TO DISPLAY TO THE ASTRONAUT AND THE GROUND CERTAIN DEPENDENT # VARIABLES ASSOCIATED WITH THE MANEUVER FOR APPROVAL BY THE # ASTRONAUT/GROUND. # (5) TO STORE THE TPI TARGET PARAMETERS FOR USE BY THE DESIRED # THRUSTING PROGRAM. # # ASSUMPTIONS # (1) LM ONLY -- THIS PROGRAM IS BASED UPON PREVIOUS COMPLETION OF # THE CONSTANT DELTA ALTITUDE (CDH) PROGRAM (P33/P73). # THEREFORE -- # (A) AT A SELECTED TPI TIME (NOW IN STORAGE) THE LINE OF SIGHT # BETWEEN THE ACTIVE AND PASSIVE VEHICLES WAS SELECTED TO BE # A PRESCRIBED ANGLE (E) (NOW IN STORAGE) FROM THE # HORIZONTAL PLANE DEFINED BY THE ACTIVE VEHICLE POSITION. # (B) THE TIME BETWEEN CDH IGNITION AND TPI IGNITION WAS # COMPUTED TO BE GREATER THAN 10 MINUTES. # (C) THE VARIATION OF THE ALTITUDE DIFFERENCE BETWEEN THE # ORBITS WAS MINIMIZED. # (D) THE PERICENTER ALTITUDES OF ORBITS FOLLOWING CSI AND # CDH WERE COMPUTED TO BE GREATER THAN 35,000 FT FOR LUNAR # Page 659 # ORBIT OR 85 NM FOR EARTH ORBIT. # (E) THE CSI AND CDH MANEUVERS WERE ASSUMED TO BE PARALLEL TO # THE PLANE OF THE PASSIVE VEHICLE ORBIT. HOWEVER, CREW # MODIFICATION OF DELTA V (LV) COMPONENTS MAY HAVE RESULTED # IN AN OUT-OF-PLANE MANEUVER. # (2) STATE VECTOR UPDATED BY P27 ARE DISALLOWED DURING AUTOMATIC # STATE VECTOR UPDATING INITIATED BY P20 (SEE ASSUMPTION (4)). # (3) THIS PROGRAM MUST BE DONE OVER A TRACKING STATION FOR REAL # TIME GROUND PARTICIPATION IN DATA INPUT AND OUTPUT. COMPUTED # VARIABLES MAY BE STORED FOR LATER VERIFICATION BY THE GROUND. # THESE STORAGE CAPABILITIES ARE LIMITED ONLY TO THE PARAMETERS # FOR ONE THRUSTING MANEUVER AT A TIME EXCEPT FOR CONCENTRIC # FLIGHT PLAN MANEUVER SEQUENCES. # (4) THE RENDEZVOUS RADAR MAY OR MAY NOT BE USED TO UPDATE THE LM # OR CSM STATE VECTORS FOR THIS PROGRAM. IF RADAR USE IS # DESIRED THE RADAR WAS TURNED ON AND LOCKED ON THE CSM BY # PREVIOUS SELECTION OF P20. RADAR SIGHTING MARKS WILL BE MADE # AUTOMATICALLY APPROXIMATELY ONCE A MINUTE WHEN ENABLED BY THE # TRACK AND UPDATE FLAGS (SEE P20). THE RENDEZVOUS TRACKING # MARK COUNTER IS ZEROED BY THE SELECTION OF P20 AND AFTER EACH # THRUSTING MANEUVER. # (5) THE ISS NEED NOT BE ON TO COMPLETE THIS PROGRAM. # (6) THE OPERATION OF THE PROGRAM UTILIZES THE FOLLOWING FLAGS -- # # ACTIVE VEHICLE FLAG -- DESIGNATES THE VEHICLE WHICH IS # DOING RENDEZVOUS THRUSTING MANEUVERS TO THE PROGRAM WHICH # CALCULATES THE MANEUVER PARAMETERS. SET AT THE START OF # EACH RENDEZVOUS PRE-THRUSTING PROGRAM. # # FINAL FLAG -- SELECTS FINAL PROGRAM DISPLAYS AFTER CREW HAS # SELECTED THE FINAL MANEUVER COMPUTATION CYCLE. # # EXTERNAL DELTA V FLAG -- DESIGNATES THE TYPE OF STEERING # REQUIRED FOR EXECUTION OF THIS MANEUVER BY THE THRUSTING # PROGRAM SELECTED AFTER COMPLETION OF THIS PROGRAM. # # (7) ONCE THE PARAMETERS REQUIRED FOR COMPUTATION OF THE MANEUVER # HAVE BEEN COMPLETELY SPECIFIED, THE VALUE OF THE ACTIVE # VEHICLE CENTRAL ANGLE OF TRANSFER IS COMPUTED AND STURED. # THIS NUMBER WILL BE AVAILABLE FOR DISPLAY TO THE ASTRONAUT # THROUGH THE USE OF V06N52. # # THE ASTRONAUT WILL CALL THIS DISPLAY TO VERIFY THAT THE # CENTRAL ANGLE OF TRANSFER OF THE ACTIVE VEHICLE IS NOT WITHIN # Page 660 # 170 TO 190 DEGREES. IF THE ANGLE IS WITHIN THIS ZONE THE # ASTRONAUT SHOULD REASSES THE INPUT TARGETING PARAMETERS BASED # UPON DELTA V AND EXPECTED MANEUVER TIME. # # (8) THIS PROGRAM IS SELECTED BY THE ASTRONAUT BY DSKY ENTRY -- # # P34 IF THIS VEHICLE IS ACTIVE VEHICLE. # # P74 IF THIS VEHICLE IS PASSIVE VEHICLE. # # INPUT # # (1) TTPI TIME OF THE TPI MANEUVER. # (2) ELEV DESIRED LOS ANGLE AT TPI # (3) CENTANG ORBITAL CENTRAL ANGLE OF THE PASSIVE VEHICLE DURING # TRANSFER FROM TPI TO TIME OF INTERCEPT # # OUTPUT # # (1) TRKMKCNT NUMBER OF MARKS # (2) TTOGO TIME TO GO # (3) +MGA MIDDLE GIMBAL ANGLE # (4) TTPI COMPUTED TIME OF TPI MANEUVER # OR # ELEV COMPUTED LOS ANGLE AT TPI # (5) POSTTPI PERIGEE ALTITUDE AFTER THE TPI MANEUVER # (6) DELVTPI MAGNITUDE OF DELTA V AT TPI # (7) DELVTPF MAGNITUDE OF DELTA V AT INTERCEPT # (8) DVLOS DELTA VELOCITY AT TPI -- LINE OF SIGHT # (9) DELVLVC DELTA VELOCITY AT TPI -- LOCAL VERTICAL COORDINATES # # DOWNLINK # # (1) TTPI TIME OF TPI MANEUVER # (2) TIG TIME OF TPI MANEUVER # (3) ELEV DESIRED LOS ANGLE AT TPI # (4) CENTANG ORBITAL CENTRAL ANGLE OF THE PASSIVE VEHICLE DURING # TRANSFER FROM TPI TO TIME OF INTERCEPT # (5) DELVEET3 DELTA VELOCITY AT TPI -- REFERENCE COORDINATES # (6) TPASS4 TIME OF INTERCEPT # # COMMUNICATION TO THRUSTING PROGRAMS # # (1) TIG TIME OF THE TPI MANEUVER # (2) RTARG OFFSET TARGET POSITION # (3) TPASS4 TIME OF INTERCEPT # (4) XDELVFLG RESET TO INDICATE LAMBERT (AIMPOINT) VG COMPUTATION # # SUBROUTINES USED # # AVFLAGA # Page 661 # AVFLAGP # VNPOOH # DISPLAYE # SELECTMU # PRECSET # S33/34.1 # ALARM # BANKCALL # GOFLASH # GOTOPOOH # TIMETHET # S34/35.2 # PERIAPO1 # SHIFTR1 # S34/35.5 # VN1645 SETLOC CSI/CDH BANK EBANK= SUBEXIT COUNT* $$/P3474 P34 TC AVFLAGA TC P34/P74A P74 TC AVFLAGP P34/P74A TC P20FLGON # SET UPDATFLG, TRACKFLG CAF V06N37 # TTPI TC VNPOOH EXTEND DCA 130DEG DXCH CENTANG CAF P30ZERO TS NN TC DISPLAYE # ELEV AND CENTANG TC INTPRET CLEAR DLOAD ETPIFLAG TTPI STODL TIG ELEV BZE SET P34/P74B ETPIFLAG P34/P74B CALL SELECTMU DELELO EQUALS 26D P34/P74C DLOAD SET ZEROVECS ITSWICH BON CLEAR ETPIFLAG # Page 662 SWCHSET ITSWICH SWCHSET STORE NOMTPI INTLOOP DLOAD DAD TTPI NOMTPI STCALL TDEC1 PRECSET CALL S33/34.1 BZE EXIT SWCHCLR TC ALARM OCT 611 CAF V05N09 TC BANKCALL CADR GOFLASH TC GOTOPOOH TC P34/P74A # PROCEED TC -7 # V32 SWCHCLR BONCLR BON ITSWICH INTLOOP ETPIFLAG P34/P74D # DISPLAY TTPI EXIT TC DISPLAYE # DISPLAY ELEV AND CENTANG TC P34/P74E P34/P74D EXIT CAF V06N37 # TTPI TC VNPOOH P34/P74E TC INTPRET SETPD DLOAD 0D RTX1 STODL X1 CENTANG PUSH COS STODL CSTH SIN STOVL SNTH RPASS3 VSR* 0,2 STOVL RVEC VPASS3 VSR* SET 0,2 RVSW # Page 663 STCALL VVEC TIMETHET DLOAD TTPI STORE INTIME # FOR INITVEL DAD T # RENDEZVOUS TIME STCALL TPASS4 # FOR INITVEL S34/35.2 VLOAD ABVAL DELVEET3 STOVL DELVTPI VPASS4 VSU ABVAL VTPRIME STOVL DELVTPF RACT3 PDVL CALL VIPRIME PERIAPO1 CALL SHIFTR1 STODL POSTTPI TTPI STORE TIG EXIT CAF V06N58 TC VNPOOH TC INTPRET CALL S34/35.5 CALL VN1645 GOTO P34/P74C # Page 664 # RENDEZVOUS MID-COURSE MANEUVER PROGRAMS (P35 AND P75) # MOD NO -1 LOG SECTION -- P32-P35, P72-P75 # MOD BY WHITE, P. DATE: 1 JUNE 67 # # PURPOSE # # (1) TO CALCULATE THE REQUIRED DELTA V AND OTHER INITIAL CONDITIONS # REQUIRED BY THE ACTIVE VEHICLE FOR EXECUTION OF THE NEXT # MID-COURSE CORRECTION OF THE TRANSFER PHASE OF AN ACTIVE # VEHICLE RENDEZVOUS. # # (2) TO DISPLAY TO THE ASTRONAUT AND THE GROUND CERTAIN DEPENDENT # VARIABLES ASSOCIATED WITH THE MANEUVER FOR APPROVAL BY THE # ASTRONAUT/GROUND. # # (3) TO STORE THE TPM TARGET PARAMETERS FOR USE BY THE DESIRED # THRUSTING PROGRAM. # # ASSUMPTIONS # # (1) THE ISS NEED NOT BE ON TO COMPLETE THIS PROGRAM. # # (2) STATE VECTOR UPDATES BY P27 ARE DISALLOWED DURING AUTOMATIC # STATE VECTOR UPDATING INITIATED BY P20 (SEE ASSUMPTION (3)). # # (3) THE RENDEZVOUS RADAR IS ON AND IS LOCKED ON THE CSM. THIS WAS # DONE DURING PREVIOUS SELECTION OF P20. RADAR SIGHTING MARKS # WILL BE MADE AUTOMATICALLY APPROXIMATELY ONCE A MINUTE WHEN # ENABLED BY THE TRACK AND UPDATE FLAGS (SEE P20). THE # RENDEZVOUS TRACKING MARK COUNTER IS ZEROED BY THE SELECTION OF # P20 AND AFTER EACH THRUSTING MANEUVER. # # (4) THE OPERATION OF THE PROGRAM UTILIZES THE FOLLOWING FLAGS -- # # THE ACTIVE VEHICLE FLAG -- DESIGNATES THE VEHICLE WHICH IS # DOING RENDEZVOUS THRUSTING MANEUVERS TO THE PROGRAM WHICH # CALCULATES THE MANEUVER PARAMETERS. SET AT THE START OF # EACH RENDEZVOUS PRE-THRUSTING PROGRAM. # # FINAL FLAG -- SELECTS FINAL PROGRAM DISPLAYS AFTER CREW HAS # SELECTED THE FINAL MANEUVER COMPUTATION CYCLE. # # EXTERNAL DELTA V FLAG -- DESIGNATES THE TYPE OF STEERING # REQUIRED FOR EXECUTION OF THIS MANEUVER BY THE THRUSTING # PROGRAM SELECTED AFTER COMPLETION OF THIS PROGRAM. # # (5) THE TIME OF INTERCEPT (T(INT)) WAS DEFINED BY PREVIOUS # COMPLETION OF THE TRANSFER PHASE INITIATION (TPI) PROGRAM # (P34/P74) AND IS PRESENTLY AVAILABLE IN STORAGE. # # Page 665 # (6) ONCE THE PARAMETERS REQUIRED FOR COMPUTATION OF THE MANEUVER # HAVE BEEN COMPLETELY SPECIFIED, THE VALUE OF THE ACTIVE # VEHICLE CENTRAL ANGLE OF TRANSFER IS COMPUTED AND STORED. # THIS NUMBER WILL BE AVAILABLE FOR DISPLAY TO THE ASTRONAUT # THROUGH THE USE OF V06N52 # # THE ASTRONAUT WILL CALL THIS DISPLAY TO VERIFY THAT THE # CENTRAL ANGLE OF TRANSFER OF THE ACTIVE VEHICLE IS NOT WITHIN # 170 TO 190 DEGREES. IF THE ANGLE IS WITHIN THIS ZONE THE # ASTRONAUT SHOULD REASSESS THE INPUT TARGETING PARAMETERS BASED # UPON DELTA V AND EXPECTED MANEUVER TIME. # # (7) THIS PROGRAM IS SELECTED BY THE ASTRONAUT BY DSKY ENTRY -- # # P35 IF THIS VEHICLE IS ACTIVE VEHICLE. # # P75 IF THIS VEHICLE IS PASSIVE VEHICLE. # # INPUT # # (1) TPASS4 TIME OF INTERCEPT -- SAVED FROM P34/P74 # # OUTPUT # # (1) TRKMKCNT NUMBER OF MARKS # (2) TTOGO TIME TO GO # (3) +MGA MIDOLF GIMBAL ANGLE # (4) DVLOS DELTA VELOCITY AT MID -- LINE OF SIGHT # (5) DELVLVC DELTA VELOCITY AT MID -- LOCAL VERTICAL COORDINATES # # DOWNLINK # # (1) TIG TIME OF THE TPM MANEUVER # (2) DELVEET3 DELTA VELOCITY AT TPM -- REFERENCE COORDINATES # (3) TPASS4 TIME OF INTERCEPT # # COMMUNICATION TO THRUSTING PROGRAMS # # (1) TIG TIME OF THE TPM MANEUVER # (2) RTARG OFFSET TARGET POSITION # (3) TPASS4 TIME OF INTERCEPT # (4) XDELVFLG RESET TO INDICATE LAMBERT (AIMPOINT) VG COMPUTATION. # # SUBROUTINES USED # # AVFLAGA # AVFLAGP # LOADTIME # SELECTMU # PRECSET # S34/35.1 # S34/35.2 # Page 666 # S34/35.5 # VN1645 COUNT* $$/P3575 EBANK= KT P35 TC AVFLAGA EXTEND DCA ATIGINC TC P35/P75A P75 TC AVFLAGP EXTEND DCA PTIGINC P35/P75A DXCH KT TC P20FLGON # SET UPDATFLG, TRACKFLG TC INTPRET CALL SELECTMU P35/P75B RTB LOADTIME STORE TSTRT DAD KT STORE TIG STORE INTIME # FOR INITVEL STCALL TDEC1 PRECSET # ADVANCE BOTH VEHICLES CALL S34/35.1 # GET NORM AND LOS FOR TRANSFORM CALL S34/35.2 # GET DELTA V(LV) CALL S34/35.5 CALL VN1645 GOTO P35/P75B # Page 667 # ***** S33/34.1 ***** S33/34.1 STQ SSP NORMEX TITER OCT 40000 DLOAD SETPD MAX250 0D STOVL SECMAX RACT3 STOVL RAPREC VACT3 STOVL VAPREC RPASS3 STOVL RPPREC VPASS3 STORE VPPREC ELCALC CALL S34/35.1 # NORMAL AND LOS VXV PDVL RACT3 # (RA*VA)*RA 0D PDVL UNIT # ULOS AT 6D RACT3 PDVL VPROJ # XCHNJ AND UP VSL2 BVSU ULOS UNIT PDVL # UP AT 0D DOT PDVL # UP.UN*RA AT 0D 0D # UP IN MPAC DOT SIGN ULOS SL1 ACOS PDVL DOT # EA AT 0D ULOS RACT3 BPL DLOAD TESTY DPPOSMAX DSU PUSH TESTY BOFF DLOAD ITSWICH ELEX DELEL STODL DELELO DSU ELEV STORE DELEL ABS DSU ELEPS # Page 668 BMN TIMEX # COMMERCIALS EVERYWHERE FIGTIME SLOAD SR1 TITER BHIZ LXA,1 NORMEX # TOO MANY ITERATIONS MPAC SXA,1 VLOAD TITER RPASS3 UNIT PDDL 36D PDVL UNIT RACT3 PDDL PDDL PUSH 36D BDSU 12D STODL 30D # RP - RA MAGNITUDES DPHALF DSU PUSH ELEV SIGN BMN 30D NORMEX DLOAD COS DMP DDV 14D 12D DCOMP # SINCE COS(180-A)=-COS A STORE 28D ABS BDSU DPHALF BMN VLOAD NORMEX UNRM VXV UNIT 6D # UN*RA DOT DMP VACT3 12D PDVL VXV 0D VPASS3 VXV UNIT 0D # (RP*VP)*RP DOT DMP VPASS3 14D # Page 669 BDSU NORM PDVL # NORMALIZED WA - WP 12D X1 6D VXV DOT 0D UNRM # RA*RP.UN 14D PDVL DOT 0D 6D SL1 ACOS SIGN DSU DAD # ALPHA PI DPHALF ELEV PDDL ACOS 28D BDSU SIGN DPHALF 30D # CONTAINS RP-RA DAD DMP DDV TWOPI DMP SL* DMP 0 -3,1 PUSH ABS DSU BMN SECMAX OKMAX DLOAD SIGN # REPLACE TIME WITH MAX TIME SIGNED SECMAX PUSH OKMAX SLOAD BPL # TEST FIRST ITERATION TITER REPETE SSP DLOAD TITER OCT 37777 GOTO STORDELT REPETE DLOAD DMP DELEL DELELO BPL DLOAD NEXTES SECMAX DMP THIRD STODL SECMAX # Page 670 ABS SR1 # CROSSED OVER SOLUTION DCOMP GOTO # DT=(-SIGN(DTO)//DT//)/2 RESIGN NEXTES DLOAD ABS DELEL PDDL ABS DELELO DSU BMN DLOAD REVERS # WRONG DIRECTION ABS RESIGN SIGN GOTO DELTEEO STORDELT REVERS DLOAD DCOMP DELTEEO PUSH SR1 STORE DELTEEO DAD GOTO ADTIME STORDELT STORE DELTEEO ADTIME DAD NOMTPI # SUM OF DELTA T'S STORE NOMTPI VLOAD PDVL VAPREC RAPREC CALL GOINT CALL ACTIVE # STORE NEW RACT3 VACT3 VLOAD PDVL VPPREC RPPREC CALL GOINT CALL PASSIVE # STORE NEW RPASS3 VPASS3 GOTO ELCALC ELEX DLOAD DAD TTPI NOMTPI STODL TTPI BON ETPIFLAG TIMEX STORE ELEV TIMEX DLOAD GOTO # Page 671 ZEROVECS NORMEX # Page 672 # ***** S34/35.1 ***** # COMPUTE UNIT NORMAL AND LINE OF SIGHT VECTORS GIVEN THE ACTIVE AND # PASSIVE POS AND VEL AT TIME T3 S34/35.1 VLOAD VSU RPASS3 RACT3 UNIT PUSH STOVL ULOS RACT3 VXV UNIT VACT3 STORE UNRM RVQ # Page 673 # ***** S34/35.2 ***** # ADVANCE PASSIVE VEH TO RENDEZVOUS TIME AND GET REQ VEL FROM LAMBERT S34/35.2 STQ VLOAD SUBEXIT VPASS3 PDVL PDDL RPASS3 INTIME PDDL PDDL TPASS4 TWOPI # CONIC PDDL BHIZ NN S3435.23 DLOAD DLOAD PUSH ZEROVECS # PRECISION S3435.23 CALL INTINT # GET TARGET VECTOR S3435.25 STOVL RTARG VATT STOVL VPASS4 RTARG # COMPUTE PHI = PI + (ACOS(UNIT RA.UNIT RP) - PI)SIGN(RA*RP.U) UNIT PDVL # UNIT RP RACT3 UNIT PUSH # UNIT RA VXV DOT 0D UNRM # RA*RP.U PDVL DOT SL1 # UNIT RA.UNIT RP 0D ACOS SIGN BPL DAD NOPIE DPPOSMAX # REASONABLE TWO PI NOPIE STODL ACTCENT TPASS4 DSU INTIME STORE DELLT4 SLOAD SETPD NN # NUMBER OF OFFSETS 0D PDDL PDVL EPSFOUR RACT3 STOVL RINIT # Page 674 VACT3 STCALL VINIT INITVEL CALL LOMAT VLOAD MXV DELVEET3 0D VSL1 STCALL DELVLVC SUBEXIT # Page 675 # ***** S34/35.3 ***** S34/35.3 STQ CALL NORMEX LOMAT # GET MATRIX IN PUSH LIST VLOAD VXM DELVLVC # NEW DEL V TPI 0D VSL1 STORE DELVEET3 # SAVE FOR TRANSFORM VAD PDVL VACT3 # NEW V REQ RACT3 PDDL PDDL TIG TPASS4 PDDL PUSH DPPOSMAX CALL # INTEG. FOR NEW TARGET VEC INTINT VLOAD RATT STORE RTARG NOVRWRT VLOAD PUSH ULOS VXV VCOMP UNRM UNIT PUSH VXV VSL1 ULOS PDVL PDVL MXV DELVEET3 0D VSL1 STCALL DVLOS NORMEX # Page 676 # ***** S34/35.4 ***** S34/35.4 STQ SETPD # NO ASTRONAUT OVERWRITE NORMEX 0D GOTO NOVRWRT # Page 677 # ***** LOMAT ***** LOMAT VLOAD VCOMP UNRM STOVL 6D # Y RACT3 UNIT VCOMP STORE 12D VXV VSL1 UNRM # Z*-Y STORE 0D SETPD RVQ 18D GOINT PDDL PDDL # DO ZEROVECS # NOT NOMTPI # PUSH PUSH # ORDER OR INSERT BEFORE INTINT INTINT STQ CALL RTRN INTSTALL CLEAR DLOAD INTYPFLG BZE SET +2 INTYPFLG DLOAD STADR STODL TDEC1 SET LXA,2 MOONFLAG RTX2 BON CLEAR CMOONFLG ALLSET MOONFLAG ALLSET STOVL TET VSR* 0,2 STOVL RCV VSR* 0,2 STCALL VCV INTEGRVS VLOAD GOTO RATT RTRN # Page 678 # ***** S34/35.5 ***** # SUBROUTINES USED # BANKCALL # GOFLASH # GOTOPOOH # S34/35.3 # S34.35.4 # VNPOOH S34/35.5 STQ BON SUBEXIT FINALFLG FLAGON SET GOTO UPDATFLG FLAGOFF FLAGON CLEAR VLOAD NTARGFLG DELVLVC STORE GDT/2 EXIT +5 CAF V06N81 TC BANKCALL CADR GOFLASH TC GOTOPOOH TC +2 # PRO TC FLAGON +5 # LOAD +2 CA EBANK7 TS EBANK # TO BE SURE ZL CA FIVE NTARGCHK TS Q INDEX Q CS DELVLVC INDEX Q AD GDT/2 ADS L CCS Q TCF NTARGCHK LXCH A EXTEND BZF +3 TC UPFLAG ADRES NTARGFLG TC INTPRET BOFF CALL NTARGFLG # Page 679 NOCHG S34/35.3 NOCHG CLEAR VLOAD XDELVFLG DELVEET3 STORE DELVSIN FLAGOFF CALL S34/35.4 EXIT CAF V06N59 TC VNPOOH TC INTPRET GOTO SUBEXIT # Page 680 # ***** VN1645 ***** # # SUBROUTINES USED # P3XORP7X # GET+MGA # BANKCALL # DELAYJOB # COMPTGO # GOFLASHR # GOTOPOOH # FLAGUP VN1645 STQ DLOAD SUBEXIT DP-.01 STORE +MGA # MGA = -.01 BOFF DLOAD FINALFLG GET45 DP-.01 DAD DP-.01 STORE +MGA # MGA = -.02 BOFF EXIT REFSMFLG GET45 TC P3XORP7X TC +2 # P3X TC GET45 +1 # P7X TC INTPRET VLOAD PUSH DELVSIN CALL # COMPUTE MGA GET+MGA GET45 EXIT TC COMPTGO # INITIATE TASK TO UPDATE TTOGO CA SUBEXIT TS QSAVED CAF 1SEC TC BANKCALL CADR DELAYJOB CAF V16N45 # TRKMKCNT, TTOGO, +MGA TC BANKCALL CADR GOFLASH TC KILCLOCK # TERMINATE TC N45PROC # PROCEED TC CLUPDATE # RECYCLE -- RETURN FOR INITIAL COMPUTATION KILCLOCK CA Z TS DISPDEX # Page 681 TC GOTOPOOH N45PROC CS FLAGWRD2 MASK BIT6 EXTEND BZF KILCLOCK # FINALFLG IS SET -- FLASH V37 -- AWAIT NEW PGM TC PHASCHNG OCT 04024 TC UPFLAG # SET ADRES FINALFLG # FINALFLG CLUPDATE CA Z TS DISPDEX TC PHASCHNG OCT 04024 TC INTPRET CLEAR GOTO UPDATFLG QSAVED # Page 682 # ***** DISPLAYE ***** # # SUBROUTINES USED # BANKCALL # GOFLASHR # GOTOPOOH # BLANKET # ENDOFJOB DISPLAYE EXTEND QXCH NORMEX CAF V06N55 TCR BANKCALL CADR GOFLASH TCF GOTOPOOH TC NORMEX TCF -5 # Page 683 # ***** P3XORP7X ***** P3XORP7X CAF HIGH9 MASK MODREG EXTEND BZF +2 INCR Q RETURN # ***** VNPOOH ***** # # SUBROUTINES USED # BANKCALL # GOFLASH # GOTOPOOH VNPOOH EXTEND QXCH RTRN TS VERBNOUN CA VERBNOUN TCR BANKCALL CADR GOFLASH TCF GOTOPOOH TC RTRN TCF -5 # Page 684 # ***** CONSTANTS ***** V06N37 VN 0637 V06N55 VN 0655 V06N58 VN 0658 V06N59 VN 0659 V06N81 VN 0681 V16N45 VN 1645 TWOPI 2DEC 6.283185307 B-4 MAX250 2DEC 25 E3 THIRD 2DEC .333333333 ELEPS 2DEC .27777777 E-3 DP-.01 OCT 77777 # CONSTANTS OCT 61337 # ADJACENT -.01 FOR MGA DSP EPSFOUR 2DEC .0416666666 130DEG 2DEC .3611111111 # Page 685 # ***** INITVEL ***** # MOD NO -1 LOG SECTION -- P34-P35, P74-P75 # MOD BY WHITE, P. DATE: 21 NOV 67 # # FUNCTIONAL # # THIS SUBROUTINE COMPUTES THE REQUIRED INITIAL VELOCITY VECTOR FOR # A TRAJECTORY OF SPECIFIC TRANSFER TIME BETWEEN SPECIFIED INITIAL # AND TARGET POSITIONS. THE TRAJECTORY MAY BE EITHER CONIC OR # PRECISION DEPENDING ON AN INPUT PARAMETER (NAMELY, NUMBER OF # OFFSETS). IN ADDITION, IN THE PRECISION TRAJECTORY CASE, THE # SUBROUTINE ALSO COMPUTES AN OFFSET TARGET VECTOR, TO BE USED # DURING PURE-CONIC CROSS-PRODUCT STEERING. THE OFFSET TARGET # VECTOR IS THE TERMINAL POSITION VECTOR OF A CONIC TRAJECTORY WHICH # HAS THE SAME INITIAL STATE AS A PRECISION TRAJECTORY WHOSE # TERMINAL POSITION VECTOR IS THE SPECIFIED TARGET VECTOR. # # IN ORDER TO AVOID THE INHERENT SINGULARITIES IN THE 180 DEGREE # TRANSFER CASE WHEN THE (TRUE OR OFFSET) TARGET VECTOR MAY BE # SLIGHTLY OUT OF THE ORBITAL PLANE, THIS SUBROUTINE ROTATES THIS # VECTOR INTO A PLANE DEFINED BY THE INPUT INITIAL POSITION VECTOR # AND ANOTHER INPUT VECTOR (USUALLY THE INITIAL VELOCITY VECTOR), # WHENEVER THE INPUT TARGET VECTOR LIES INSIDE A CONE WHOSE VERTEX # IS THE ORIGIN OF COORDINATES, WHOSE AXIS IS THE 180 DEGREE # TRANSFER DIRECTION, AND WHOSE CONE ANGLE IS SPECIFIED BY THE USER. # # THE LAMBERT SUBROUTINE IS UTILIZED FOR THE CONIC COMPUTATIONS AND # THE COASTING INTEGRATION SUBROUTINE IS UTILIZED FOR THE PRECISION # TRAJECTORY COMPUTATIONS. # # CALLING SEQUENCE # # L CALL # L+1 INITVEL # L+2 (RETURN -- ALWAYS) # # INPUT # # (1) RINIT INITIAL POSITION RADIUS VECTOR # (2) VINIT INITIAL POSITION VELOCITY VECTOR # (3) RTARG TARGET POSITION RADIUS VECTOR # (4) DELLT4 DESIRED TIME OF FLIGHT FROM RINIT TO RTARG # (5) INTIME TIME OF RINIT # (6) 0D NUMBER OF ITERATIONS OF LAMBERT/INTEGRVS # (7) 2D ANGLE TO 180 DEGREES WHEN ROTATION STARTS # (8) RTX1 -2 FOR EARTH, -10D FOR LUNAR # (9) RTX2 COORDINATE SYSTEM ORIGIN -- 0 FOR EARTH, 2 FOR LUNAR # PUSHLOC SET AT 4D # # Page 686 # OUTPUT # # (1) RTARG OFFSET TARGET POSITION VECTOR # (2) VIPRIME MANEUVER VELOCITY REQUIRED # (3) VTPRIME VELOCITY AT TARGET AFTER MANEUVER # (4) DELVEET3 DELTA VELOCITY REQUIRED FOR MANEUVER # # SUBROUTINES USED # # LAMBERT # INTSTALL # INTEGRVS SETLOC INTVEL BANK COUNT* $$/INITV INITVEL SET # COGA GUESS NOT AVAILABLE GUESSW HAVEGUES VLOAD STQ RTARG NORMEX STORE RTARG1 ABVAL STORE RTMAG SLOAD BHIZ RTX2 INITVEL1 VLOAD VSL2 RINIT # B29 STOVL RINIT # B27 VINIT # B7 VSL2 STOVL VINIT # B5 RTARG1 VSL2 STORE RTARG1 ABVAL STORE RTMAG # INITIALIZATION INITVEL1 SSP DLOAD # SET ITCTR TO -1,LOAD MPAC WITH E4 (PL 2D) ITCTR 0 -1 COSINE SR1 # CALCULATE COSINE (E4) (+2) STODL COZY4 # SET COZY4 TO COSINE (E4) (PL 0D) LXA,2 SXA,2 MPAC VTARGTAG # SET VTARGTAG TO 0D (SP) VLOAD # Page 687 RINIT STOVL R1VEC # R1VEC EQ RINIT RTARG1 STODL R2VEC # R2VEC EQ RTARG DELLT4 STORE TDESIRED # TDESIRED EQ DELLT4 SETPD VLOAD 0D # INITIALIZE PL TO 0D RINIT # MPAC EQ RINIT (+29) UNIT PUSH # UNIT(RI) (+1) (PL 6D) VXV UNIT VINIT # MPAC EQ UNIT(RI) X VI (+8) STOVL UN RTARG1 UNIT DOT # TEMP*RT.URI (+2) (PL 0D) DAD CLEAR COZY4 NORMSW STORE COZY4 INITVEL2 BPL SET INITVEL3 # UN CALCULATED IN LAMBERT NORMSW # ROTATE RC INTO YC PLANE -- SET UNIT NORMAL TO YC VLOAD PUSH # (PL 6D) R2VEC # RC TO 6D (+29) ABVAL PDVL # RC TO MPAC, ABVAL(RC) (+29) TO OD (PL 2D) PUSH VPROJ # (PL 8D) UN VSL2 BVSU UNIT VXSC # (PL 0D) VSL1 STORE R2VEC TLOAD SLOAD ZEROVEC ITCTR BPL VLOAD INITVEL3 R2VEC STORE RTARG1 INITVEL3 DLOAD PDVL # (PL 2D) MUEARTH # POSITIVE VALUE R2VEC UNIT PDVL # 2D = UNIT(R2VEC) (PL 8D) R1VEC UNIT PUSH # 8D = UNIT(R1VEC) (PL 14D) VXV VCOMP # -N = UNIT(R2VEC) X UNIT(R1VEC) 2D PUSH # (PL 20D) LXA,1 DLOAD # Page 688 RTX1 18D BMN INCR,1 +2 DEC -8 INCR,1 SLOAD 10D X1 BHIZ VLOAD # (PL 14D) +2 VCOMP PUSH # (PL 20D) VLOAD # (PL 14D) VXV DOT # (PL 2D) BPL DLOAD # (PL 0D) INITVEL4 DCOMP PUSH # (PL 2D) INITVEL4 LXA,2 SXA,2 0D GEOMSGN # SET INPUTS UP FOR LAMBERT LXA,1 CALL RTX1 # OPERATE THE LAMBERT CONIC ROUTINE (COASTFLT SUBROUTINE) SETITCTR # GO TO END OF BANK TO SET ITERCTR BEFORE # CALLING LAMBER (FOR REMANUFACTURE ONLY) # ARRIVED AT SOLUTION IS GOOD ENOUGH ACCORDING TO SLIGHTLY WIDER BOUNDS. CLEAR VLOAD GUESSW VVEC # STORE CALCULATED INITIAL VELOCITY REQUIRED IN VIPRIME STODL VIPRIME # INITIAL VELOCITY REQUIRED (+7) # IF NUMIT IS ZERO, CONTINUE AT INITVELB, OTHERWISE # SET UP INPUTS FOR ENCKE INTEGRATION (INTEGRVS). VTARGTAG BHIZ CALL INITVEL7 INTSTALL SLOAD CLEAR RTX2 MOONFLAG BHIZ SET INITVEL5 # Page 689 MOONFLAG INITVEL5 VLOAD RINIT STORE R1VEC STOVL RCV VIPRIME STODL VCV INTIME STORE TET DAD CLEAR DELLT4 INTYPFLG STCALL TDEC1 INTEGRVS VLOAD VATT1 STORE VTARGET # IF ITERATION COUNTER (ITCTR) EQ NO. ITERATIONS (NUMIT), CONTINUE AT # INITVELC, OTHERWISE REITERATE LAMBERT AND ENCKE LXA,2 INCR,2 ITCTR 1D # INCREMENT ITCTR SXA,2 XSU,2 ITCTR VTARGTAG SLOAD BHIZ # IF SP(MPAC) EQ 0, CONTINUE AT INITVELC X2 INITVEL6 # OFFSET CONIC TARGET VECTOR VLOAD VSU RTARG1 RATT1 VAD R2VEC STODL R2VEC COZY4 GOTO INITVEL2 # CONTINUE ITERATING AT INITVEL2 # COMPUTE THE DELTA VELOCITY INITVEL6 VLOAD R2VEC STORE RTARG1 INITVEL7 VLOAD VSU VIPRIME VINIT STOVL DELVEET3 # DELVEET3 = VIPRIME-VINIT (+7) # Page 690 VTARGET STORE VTPRIME SLOAD BHIZ RTX2 INITVELX VLOAD VSR2 VTPRIME STOVL VTPRIME VIPRIME VSR2 STOVL VIPRIME RTARG1 VSR2 STOVL RTARG1 DELVEET3 VSR2 STORE DELVEET3 INITVELX LXA,1 DLOAD* RTX1 MUTABLE -2,1 PUSH DMP R1A SR1 DDV R1 STODL MU/A SR 6 STORE MUASTEER SETPD VLOAD 0D RTARG1 STCALL RTARG NORMEX # ***** END OF INITVEL ROUTINE ***** # Page 691 # ***** MIDGIM ***** # MOD NO. 0, BY WILLMAN, SUBROUTINE RENDGUID, LOG P34-P35, P74-P75 # REVISION 03, 17 FEB 67 # # IF THE ACTIVE VEHICLE IS DOING THE COMPUTATION, MIDGIM COMPUTES # THE POSITIVE MIDDLE GIMBAL ANGLE OF THE ACTIVE VEHICLE TO THE INPUT # DELTA VELOCITY VECTOR (0D IN PUSH LIST), OTHERWISE # MIDGIM CONVERTS THE INPUT DELTA VELOCITY VECTOR FROM INERTIAL COORDIN- # ATES TO LOCAL VERTICAL COORDINATES OF THE ACTIVE VEHICLE. # # ** INPUTS ** # # NAME MEANING UNITS/SCALING/MODE # # AVFLAG INT FLAG -- 0 IS CSM ACTIVE, 1 IS LEM ACTIVE BIT # RINIT ACTIVE VEHICLE RADIUS VECTOR METERS/CSEC (+7) VT # VINIT ACTIVE VEHICLE VELOCITY VECTOR METERS/CSEC (+7) VT # 0D(PL) ACTIVE VEHICLE DELTA VELOCITY VECTOR METERS/CSEC (+7) VT # # ** OUTPUTS ** # # NAME MEANING UNITS/SCALING/MODE # # +MGA + MIDDLE GIMBAL ANGLE REVOLUTIONS (+0) DP # DELVLVC DELTA VELOCITY VECTOR IN LV COORD. METERS/CSEC (+7) VT # MGLVFLAG INT FLAG: 0 IS +MGA COMPUTED, 1 IS DELVLVC COMP. BIT # # ** CALLING SEQUENCE ** # # L CALL # L+1 MIDGIM # L+2 (RETURN -- ALWAYS) # # ** NO SUBROUTINES CALLED ** # # ** DEBRIS -- ERASABLE TEMPORARY USAGE ** # # A,Q,L, PUSH LIST, MPAC. # # ** ALARMS -- NONE ** # Page 692 # MIDDLE GIMBAL ANGLE COMPUTATION. SETLOC MIDDGIM BANK COUNT* $$/MIDG HALFREV 2DEC 1 B-1 GET+MGA VLOAD UNIT # (PL 0D) V (+7) TO MPAC UNITIZE UV (+1) UNIT DOT SL1 # DOT UV WITH Y(STABLE MEMBER) AND RESCALE REFSMMAT +6 # FROM +2 TO +1 FOR ASIN ROUTINE ARCSIN BPL SETMGA DAD DAD # CONVERT -MGA TO +MGA BY HALFREV # ADDING ONE REVOLUTION HALFREV SETMGA STORE +MGA CLR RVQ # CLEAR MGLVFLAG TO INDICATE +MGA CALC MGLVFLAG # AND EXIT GET.LVC VLOAD UNIT # (PL 6D) R (+29) IN MPAC UNITIZE UR RINIT VCOMP # U(-R) STORE 18D # U(-R) TO 18D VXV UNIT # U(-R)*V EQ V*U(R), U(V*R) VINIT STORE 12D # U(V*R) TO 12D VXV UNIT # U(V*R)*U(-R), U((V*R)*(-R)) 18D STOVL 6D # TRANSFORMATION MATRIX IS IN 6D (+1) 0D # DELTA V (+7) IN 0D MXV VSL1 # CONVERT FROM INER COOR TO LV COOR (+8) 6D # AND SCALE +7 IN MPAC STORE DELVLVC # STORE IN DELVLVC (+7) SET RVQ # SET MGLVFLAG TO INDICATE LVC CALC MGLVFLAG # AND EXIT # ***** END OF MIDGIM ROUTINE ***** # Page 693 BANK 10 SETLOC SLCTMU BANK COUNT* $$/MIDG SELECTMU AXC,1 AXT,2 2D 0D BOFF CMOONFLG SETMUER AXC,1 AXT,2 10D 2D SETMUER DLOAD* SXA,1 MUTABLE +4,1 RTX1 STODL* RTSR1/MU MUTABLE -2,1 BOFF SR CMOONFLG RTRNMU 6D RTRNMU STORE RTMU SXA,2 CLEAR RTX2 FINALFLG GOTO VN1645 # Page 694 # ***** PERIAPO ***** # # MOD NO -1 LOG SECTION -- P34-P35, P74-P75 # MOD BY WHITE, P. DATE 18 JAN 68 # # FUNCTIONAL DESCRIPTION # # THIS SUBROUTINE COMPUTES THE TWO BODY APOCENTER AND PERICENTER # ALTITUDES GIVEN THE POSITION AND VELOCITY VECTORS FOR A POINT ON # TRAJECTORY AND THE PRIMARY BODY. # # SETRAD IS CALLED TO DETERMINE THE RADIUS OF THE PRIMARY BODY. # # APSIDES IS CALLED TO SOVE FOR THE TWO BODY RADII OF APOCENTER AND # PERICENTER AND THE ECCENTRICITY OF THE TRAJECTORY. # # CALLING SEQUENCE # # L CALL # L+1 PERIAPO # L+2 (RETURN -- ALWAYS) # # INPUT # # (1) RVEC POSITION VECTOR IN METERS # SCALE FACTOR -- EARTH +29, MOON +27 # (2) VVEC VELOCITY VECTOR IN METERS/CENTISECOND # SCALE FACTOR -- EARTH +7, MOON +5 # (3) X1 PRIMARY BODY INDICATOR # EARTH -1, MOON -10 # # OUTPUT # # (1) 2D APOCENTER RADIUS IN METERS # SCALE FACTOR -- EARTH +29, MOON +27 # (2) 4D APOCENTER ALTITUDE IN METERS # SCALE FACTOR -- EARTH +29, MOON +27 # (3) 6D PERICENTER RADIUS IN METERS # SCALE FACTOR -- EARTH +29, MOON +27 # (4) 8D PERICENTER ALTITUDE IN METERS # SCALE FACTOR -- EARTH +29, MOON +27 # (5) ECC ECCENTRICITY OF CONIC TRAJECTORY # SCALE FACTOR -- +3 # (6) XXXALT RADIUS OF THE PRIMARY BODY IN METERS # SCALE FACTOR -- EARTH +29, MOON +27 # (7) PUSHLOC EQUALS 10D # # SUBROUTINES USED # # SETRAD # Page 695 # APSIDES SETLOC APOPERI BANK COUNT* $$/PERAP RPAD 2DEC 6373338 B-29 # STANDARD RADIUS OF PAD 37-B. # = 20 909 901.57 FT PERIAPO1 LXA,2 VSR* RTX2 0,2 STOVL VVEC LXA,1 VSR* RTX1 0,2 STORE RVEC PERIAPO STQ CALL NORMEX SETRAD STCALL XXXALT APSIDES SETPD PUSH # 2D = APOCENTER RADIUS B29 OR B27 2D DSU PDDL # 4D = APOGEE ALTITUDE B29 OR B27 XXXALT 0D PUSH DSU # 6D = PERICENTER RADIUS B29 OR B27 XXXALT PUSH GOTO # 8D = PERIGEE ALTITUDE B29 OR B27 NORMEX # Page 696 SETRAD DLOAD PUSH RPAD SXA,1 INCR,2 X2 2D SLOAD BHIZ X2 SETRADX VLOAD ABVAL RLS PDDL SETRADX DLOAD RVQ # Page 697 PRECSET STQ NORMEX STCALL TDEC2 LEMPREC CALL LEMSTORE DLOAD TDEC2 STCALL TDEC1 CSMPREC CALL CSMSTORE GOTO NORMEX LEMSTORE VLOAD BOFF RATT AVFLAG PASSIVE ACTIVE STOVL RACT3 VATT STORE VACT3 RVQ CSMSTORE VLOAD BOFF RATT AVFLAG ACTIVE PASSIVE STOVL RPASS3 VATT STORE VPASS3 RVQ # Page 698 VECSHIFT LXA,2 VSR* RTX2 0,2 LXA,1 PDVL RTX1 VSR* PDVL 0,2 RVQ # Page 699 SHIFTR1 LXA,2 SL* RTX2 0,2 RVQ # Page 700 # PROGRAM DESCRIPTION # SUBROUTINE NAME R36 OUT-OF-PLANE RENDEZVOUS ROUTINE # MOD NO. 0 DATE 22 DECEMBER 67 # MOD BY N.M.NEVILLE LOG SECTION EXTENDED VERBS # FUNCTIONAL DESCRIPTION # # TO DISPLAY AT ASTRONAUT REQUEST LGC CALCULATED RENDEZVOUS # OUT-OF-PLANE PARAMETERS (Y, YDOT, PSI). (REQUESTED BY DSKY). # # CALLING SEQUENCE # # ASTRONAUT REQUEST THROUGH DSKY V 90 E # # SUBROUTINES CALLED # # EXDSPRET # GOMARKF # CSMPREC # LEMPREC # SGNAGREE # LOADTIME # # NORMAL EXIT MODES # # ASTRONAUT REQUEST THROUGH DSKY TO TERMINATE PROGRAM V 34 E # # ALARM OR ABORT EXIT MODES # # NONE # # OUTPUT # # DECIMAL DISPLAY OF TIME, Y, YDOT AND PSI # # DISPLAYED VALUES Y, YDOT, AND PSI, ARE STORED IN ERASABLE # REGISTERS RANGE, RRATE, AND RTHETA RESPECTIVELY. # # ERASABLE INITIALIZATION REQUIRED # # CSM AND LEM STATE VECTORS # # DEBRIS # # CENTRALS A,Q,L # OTHER: THOSE USED BY THE ABOVE LISTED SUBROUTINES BANK 20 SETLOC R36LM BANK # Page 701 EBANK= RPASS36 COUNT* $$/R36 R36 ZL CAF ZERO # SET TIME OF EVENT TO ZERO FOR FIRST DXCH DSPTEMX # DISPLAY CAF V06N16N TC BANKCALL CADR GOMARKF TCF ENDEXT # TERMINATE TCF +2 # PROCEED TCF -5 # RECYCLE FOR ASTRONAUT INPUT TIME DXCH DSPTEMX EXTEND BZF LREGCHK # A-REG ZERO GOTO CHECK L-REG FOR ZERO ASTROTIM DXCH MPAC # A-REG NON-ZERO, TIME = ASTRO INPUT TIME TC INTPRET RTB DPMODE R36INT STCALL TDEC1 OTHPREC VLOAD PDVL VATT RATT # _ STORE RPASS36 # R UNIT PDVL # P VXV UNIT STADR # _ STODL UNP36 # U TAT STCALL TDEC1 THISPREC VLOAD PDVL # - VATT # VELOCITY VECTOR V 00D RATT # A PDDL TAT # SAVE TIME IN LOCATION 30D FOR REDISPLAY STOVL 30D # _ PUSH PUSH # POSITION VECTOR R IN 06D AND 12D BVSU PDVL # A _ _ RPASS36 # LINE OF SIGHT VECTOR R - R 12D DOT SL1 # P A UNP36 # _ _ STOVL RANGE # Y = U . R 00D # A DOT SL1 UNP36 # . _ _ STOVL RRATE # Y = U . V 06D # A # Page 702 # _ _ UNIT PUSH # U = UNIT ( R ) 18D VXV VXV # RA A 00D # _ _ _ _ 18D # (U X V ) X U = U VSL2 UNIT # RA A RA A UNIT STOVL 00D # UNIT HORIZONTAL IN FORWARD DIR. 00D 18D DOT VXSC # _ 12D # U VSL2 # L BVSU UNIT UNIT PUSH DOT # LOS PROJECTED INTO HORIZONTAL 12D 00D # PLANE SL1 ARCCOS # _ _ STOVL RTHETA # PSI = ARCCOS(U . U ) VXV DOT # A L 00D BPL DLOAD R36TAG2 LODPMAX DSU RTHETA STORE RTHETA R36TAG2 DLOAD RTB 30D SGNAGREE STORE DSPTEMX EXIT CAF V06N90N # DISPLAY Y, YDOT, AND PSI. TC BANKCALL CADR GOMARKF TCF ENDEXT # TERMINATE TCF ENDEXT # PROCEED, END OF PROGRAM TCF R36 +3 # REDISPLAY OUTPUT LREGCHK XCH L EXTEND BZF ENTTIM2 # L-REG ZERO, SET TIME = PRESENT TIME XCH L # L-REG NON ZERO, TIME = ASTRO INPUT TIME TCF ASTROTIM ENTTIM2 TC INTPRET RTB GOTO LOADTIME R36INT V06N16N VN 00616 V06N90N VN 00690 ================================================ FILE: Luminary099/P40-P47.agc ================================================ # Copyright: Public domain. # Filename: P40-P47.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 752-784 # Mod history: 2009-05-19 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # 2011-01-06 JL Fixed interpretive indentation. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 752 # PROGRAM DESCRIPTION: P40BOTH DECEMBER 22, 1966 # MOD 03 BY PETER ADLER MARCH 3, 1967 # CALLED VIA JOB FROM V37E # # FUNCTIONAL DESCRIPTION # # 1) TO COMPUTE A PREFERRED IMU ORIENTATION AND A PREFERRED VEHICLE ATTITUDE FOR A LM DPS # THRUSTING MANEUVER. # (There is no item #2 in the original program listing --- RSB 2009.) # 3) TO DO THE VEHICLE MANEUVER TO THE THRUSTING ATTITUDE. # 4) TO CONTROL THE PGNCS DURING COUNTDOWN, IGNITION, THRUSTING, AND THRUST TERMINATION OF A # PGNCS CONTROLLED DPS MANEUVER. # 5) IN POSTBURN --- ZERO RENDEZVOUS COUNTER, MAINTAIN VG CALCULATIONS FOR POSSIBLE RCS MANEUVER, # SET MAXIMUM DEADBAND IN DAP, RESET STEERLAW CSTEER TO ZERO. # # NOTE: P42, WHICH IS IN THIS LOG SECTION, DOES THE SAME FOR AN APS BURN, AND P41 DOES 1-3 FOR # RCS PLUS DISPLAYS PARAMETERS FOR MANUAL CONTROL. # # SUBROUTINES USED # # R02 IMU STATUS CHECK # S40.1 COMPUTATION OF THRUST DIRECTION # S40.13 LENGTH OF BURN # S40.2,3 PREFERRED IMU ORIENTATION # S40.8 X PRODUCT STEERING # S40.9 LAMBERT VTOGAIN # R60LEM ATTITUDE MANEUVER # LEMPREC EXTRAPOLATE STATE VECTOR # PREREAD AVERAGE G, SERVICER # ALLCOAST DAP COASTING INITIALIZATION # CLOKTASK ERGO CLOCKJOB -- COUNT DOWN # PHASCHANG, INTPRET, FLAGUP, FLAGDOWN, WAITLIST, LONGCALL, GOFLASH, GOFLASHR, GOPERF1, ALARM, # PRIOLARM, GOTOPOOH, ENDOFJOB, BANKCALL, SETMAXDB, SETMINDB, CHECKMM, FLATOUT, OUTFLAT, # KILLTASK, SGNAGREE, TPAGREE, ETC. # # RESTARTS VIA GROUP 4 # # DISPLAYS # # V50N25 203 A/P TO PGNCS, AUTO-THROTTLE MODE, AUTO ATTITUDE CONTROL # V06N40 TTI, VG, DELTAVM (DISPLAYED ONCE/SECOND BY CLOKTASK) # V50N99 PLEASE PERFORM ENGINE ON ENABLE # V06N40 TG (TIME TO GO TO CUTOFF), VG, DELTAVM -- ONCE/SECOND # V16N40 FINAL VALUES OF TG, VG, DELTAVM # V16N85 COMP OF VG (BODY AXES) FOR POSS. RCS MANUAL MANEUVER # V05N09 POSSIBLE ALARMS # V50N07 PLEASE SELECT P00 # # Page 753 # VIA R30 # # V06N44 HAPO, PERI, TFF # V06N35 TIME TO PERIGEE, HMS # # ALARM OR ABORT EXIT MODES # # PROGRAM ALARM, FLASHING DISPLAY OF ALARM CODE 1706 IF P40 SELECTED WITH DESCENT UNIT STAGED. # V34E (TERMINATE) IS THE ONLY RESPONSE ACCEPTED. TC GOTOPOOH. # # PROGRAM ALARM, FLASH CODE 1703: TIG LESS THAN 45 SECS AWAY. V34E= GOTOPOOH OR V33E= SLIP # TIG BY 45 SECS. # # ERASABLE INITIALIZATION # # DEBRIS # # OUTPUT # # SEE SUBROUTINES E.G.: S40.1, S40.2,3, S40.13, S40.8, S40.9, TRIMGIMB # XDELVFLG = 1 FOR EXT DELV COMPUTATION # = 0 FOR AIMPT (LAMBERT COMP COUNT* $$/P40 EBANK= WHICH BANK 36 SETLOC P40S BANK P40LM TC PHASCHNG OCT 04024 CAF P40ADRES # INITIALIZATION FOR BURNBABY TS WHICH CA FLGWRD10 MASK APSFLBIT CCS A TCF P40ALM TC BANKCALL # GO DO IMU STATUS CHECK ROUTINE. CADR R02BOTH CS DAPBOOLS # INITIALIZE DVMON MASK CSMDOCKD CCS A CAF THRESH1 AD THRESH3 TS DVTHRUSH CAF FOUR TS DVCNTR # Page 754 TC INTPRET # LOAD CONSTANTS FOR DPS BURN VLOAD CLEAR # LOAD F, MDOT, TDECAY FDPS NOTHROTL STORE F SLOAD DPSVEX P40IN DCOMP SR1 STCALL VEX # LOAD EXHAUST VELOCITY FOR TGO COMP. S40.1 # COMPUTES UT AND VGTIG CALL S40.2,3 # COMPUTES PREFERRED IMU ORIENTATION EXIT INHINT TC IBNKCALL CADR PFLITEDB # ZERO ATTITUDE ERRORS, SET DB TO ONE DEG. TC P40SXT4 # ******************************** TCF BURNBABY # ******************************** P40SXT4 EXTEND QXCH P40/RET P41MANU RELINT TC DOWNFLAG # CLEAR 3AXISFLG -- R60 USE VECPOINT. ADRES 3AXISFLG TC BANKCALL CADR R60LEM # DO ATTITUDE MANEUVER ROUTINE TC P40/RET EBANK= TRKMKCNT POSTBURN CA Z TS DISPDEX EXTEND DCA ACADN85 DXCH AVEGEXIT CAF V16N40 TC BANKCALL CADR GOFLASHR TC TERM40 TCF TIGNOW TC POSTBURN # Page 755 P40PHS1 TC PHASCHNG OCT 00014 TCF ENDOFJOB TIGNOW INHINT TC IBNKCALL CADR ZATTEROR TC IBNKCALL CADR SETMINDB RELINT CAF V16N85B TC BANKCALL CADR REFLASHR TC TERM40 TCF TERM40 TC -5 TCF P40PHS1 TERM40 EXTEND DCA SERVCADR DXCH AVEGEXIT CAF ZERO TS TRKMKCNT # ZERO RENDZVS CNTERS CA Z TS DISPDEX INHINT TC IBNKCALL CADR RESTORDB RELINT TC GOTOPOOH EBANK= WHICH COUNT* $$/P41 P41LM CAF P41ADRES # INITIALIZATION FOR BURNBABY TS WHICH TC BANKCALL CADR R02BOTH TC INTPRET # BOTH LM BON DLOAD # IF NJETSFLAG IS SET, LOAD Z JET F NJETSFLG P41FJET1 FRCS4 # IF NJETSFLG IS CLEAR, LOAD 4 JET F P41FJET STCALL F P41IN P41FJET1 DLOAD # Page 756 FRCS2 STORE F P41IN CALL S40.1 # BOTH P41NORM CALL S40.2,3 # CALCULATE PREFERRED IMU ORIENTATION AND EXIT # SET PFRATFLG. INHINT TC IBNKCALL CADR ZATTEROR # ZERO ATTITUDE ERRORS TC IBNKCALL CADR SETMINDB # SET 0.3 DEGREE DEADBAND TC P40SXT4 TC INTPRET VLOAD CALL # TRANSFORM VELOCITY-TO-BE-GAINED AT TIG VGTIG # FROM REFERENCE COORDINATES TO LM BODY- S41.1 # AXIS COORDINATES FOR V16N85 DISPLAY. STORE VGBODY # (SCALED AT 2 (+7) METERS/CENTISECOND) EXIT CAF V16N85B TC BANKCALL CADR GODSPRET CAF PRIO5 TS DISPDEX # FOR SAFETY ONLY TC FINDVAC EBANK= VGPREV 2CADR DYNMDISP TC 2PHSCHNG OCT 00076 # GROUP 6 RESTARTS AT REDO6.7 OCT 04024 # GROUP 4 RESTARTS HERE # ******************************** TCF B*RNB*B* # ******************************** BLNKWAIT CAF 1SEC TC BANKCALL CADR DELAYJOB REDO6.7 CA DISPDEX # ON A RESTART, DO NOT PUT UP DISPLAY IF AD TWO # BLANKING (BETWEEN TIG-35 AND TIG-30) # ******************************** # Page 757 EXTEND BZF BLNKWAIT CAF V16N85B TC BANKCALL CADR GODSPRET CAF PRIO5 TC PRIOCHNG DYNMDISP CA DISPDEX # A NON-POSITIVE DISPDEX INDICATES PAST EXTEND # TIG-35, SO SERVICER WILL BE DOING THE BZMF ENDOFJOB # UPDATING OF NOUN 85. STOP DYNMDISP. TC INTPRET VLOAD CALL VGPREV S41.1 STORE VGBODY EXIT CAF 1SEC TC BANKCALL CADR DELAYJOB TCF DYNMDISP CALCN85 TC INTPRET CALL UPDATEVG VLOAD CALL VGPREV S41.1 STORE VGBODY EXIT TC POSTJUMP CADR SERVEXIT COUNT* $$/P42 EBANK= WHICH P42LM TC PHASCHNG OCT 04024 CAF P42ADRES # INITIALIZATION FOR BURNBABY. TS WHICH CS FLGWRD10 MASK APSFLBIT CCS A TC P40ALM P42STAGE TC BANKCALL # Page 758 CADR R02BOTH CAF THRESH2 # INITIALIZE DVMON TS DVTHRUSH CAF FOUR TS DVCNTR TC INTPRET SET VLOAD # LOAD FAPS, MDOTAPS, AND ATDECAY INTO AVFLAG # F, MDOT, AND TDECAY BY VECTOR LOAD. FAPS STORE F SLOAD GOTO APSVEX P40IN EBANK= WHICH COUNT* $$/P47 P47LM TC BANKCALL CADR R02BOTH TC INTPRET CALRB MIDTOAV2 CA MPAC +1 TC TWIDDLE ADRES STARTP47 TCF ENDOFJOB STARTP47 TC PHASCHNG OCT 05014 OCT 77777 EXTEND DCA ACADN83 DXCH AVEGEXIT CAF PRIO20 TC FINDVAC EBANK= DELVIMU 2CADR P47BODY TCF REDO4.2 # CHECKS PHASE 5 AND GOES TO PREREAD # SEE TIG-30 IN BURNBABY CALCN83 TC INTPRET VLOAD VAD DELVCTL DELVREF STORE DELVSIN # TEMP STORAGE FOR RESTARTS # Page 759 CALL S41.1 STORE DELVIMU EXIT TC PHASCHNG OCT 10035 # REREADAC AND HERE TC INTPRET VLOAD DELVSIN STORE DELVCTL EXIT TC POSTJUMP CADR SERVEXIT P47BOD CAF V1683 TC BANKCALL CADR GOFLASHR TC GOTOPOOH TC GOTOPOOH TCF P47BODY TCF P40PHS1 P47BODY TC INTPRET VLOAD HI6ZEROS STORE DELVIMU STORE DELVCTL EXIT TC P47BOD COUNT* $$/P40 IMPLBURN CA TGO +1 TC GETDT TC TWIDDLE ADRES ENGOFTSK TC DOWNFLAG # TURN OFF IGNFLAG ADRES IGNFLAG TC DOWNFLAG # TURN OFF ASTNFLG ADRES ASTNFLAG TC DOWNFLAG # TURN OFF IMPULSW ADRES IMPULSW TC PHASCHNG # RESTART PROTECT ENGOFTSK (ENGINOFF) OCT 40114 TC FIXDELAY # WAIT HALF A SECOND DEC 50 # Page 760 TC NOULLAGE # TURN OFF ULLAGE TC TASKOVER ENGOFTSK TC IBNKCALL # THIS CODING ALLOWS ENGINOFF ET AL TO BE CADR ENGINOFF # USED BOTH BY WAITLIST AND BY TC IBNKCALL TC TASKOVER ENGINOFF CAF PRIO12 # MUST BE LOWER PRIO THAN CLOCKJOB TC FINDVAC EBANK= TRKMKCNT 2CADR POSTBURN ENGINOF2 CAF BIT1 TC WAITLIST EBANK= OMEGAQ 2CADR COASTSET ENGINOF1 CS FLAGWRD7 # SET THE IDLE BIT. MASK IDLEFBIT ADS FLAGWRD7 TC NOULLAGE ENGINOF4 EXTEND DCA TIME2 DXCH TEVENT ENGINOF3 CS ENGONBIT # INSURE ENGONFLG IS CLEAR. MASK FLAGWRD5 TS FLAGWRD5 CS PRIO30 # ENGINOF3 IS USED AS A PRE-ENGINE ARM EXTEND # SUBROUTINE. RAND DSALMOUT AD PRIO20 # TURN OFF THE ENGINE -- DPS OR APS EXTEND WRITE DSALMOUT CS DAPBOOLS # TURN OFF TRIM GIMBAL MASK USEQRJTS ADS DAPBOOLS CS HIRTHROT # ZERO AUTO-THROTTLE WHENEVER THE ENGINE TS THRUST # IS TURNED OFF. CAF BIT4 # THE HARDWARE DOES SO ONLY WHEN THE EXTEND # ENGINE IS DISARMED. WOR CHAN14 TC ISWRETRN # Page 761 COASTSET TC IBNKCALL # DO DAP COASTING INITIALIZATION CADR ALLCOAST TC TASKOVER EBANK= OMEGAQ UPDATEVG STQ CALL QTEMP1 S40.8 # X-PRODUCT STEERING BON BON XDELVFLG QTEMP1 NORMSW 180SETUP DLOAD DSU PIPTIME TIGSAVE DSU BMN TNEWA GETRANS DLOAD DAD TIGSAVE TNEWA STORE TIGSAVEP 180SETUP EXIT CCS PHASE2 TCF NO.9 CAF PRIO10 INHINT TC FINDVAC EBANK= VG 2CADR S40.9 # LAMBERT VTOGAIN TC 2PHSCHNG OCT 00172 # 2.17SPOT FOR S40.9 OCT 10035 # HERE AND REREADAC AFTER RESTART ENDSTEER TC INTPRET DLOAD TIGSAVEP STOVL TIGSAVE RN STOVL RINIT VN STORE VINIT GETRANS DLOAD DSU TPASS4 PIPTIME STCALL DELLT4 QTEMP1 # Page 762 NO.9 TC INTPRET GOTO QTEMP1 STEERING TC INTPRET CALL UPDATEVG EXIT EBANK= DVCNTR NSTEER INHINT CA EBANK7 TS EBANK CS FLAGWRD2 # CHECK IMPULSE SWITCH. IT IS SET EITHER MASK IMPULBIT # BY S40.13 IF TBURN<6 SECS OR BY S40.8 IF CCS A # STEERING IS ALMOST DONE. TCF +5 # IMPULSW = 0 EXIT CS FLAGWRD7 # IMPULSW = 1 WHY? CHECK IDLEFLAG MASK IDLEFBIT # (IDLEFLAG = 0 --> DVMON ON) CCS A TCF +3 # DVMON ON --> THRUSTING --> IMPULSW VIA S40.8 TC POSTJUMP # DVMON OFF --> IMPULSW ON VIA S40.13 --> EXIT CADR SERVEXIT TC IBNKCALL CADR STOPRATE TC DOWNFLAG # TURN OFF IMPULSW ADRES IMPULSW TC UPFLAG ADRES IDLEFLAG # TURN OFF DVMON INHINT EXTEND DCA TIG DXCH MPAC EXTEND DCS TIME2 DAS MPAC TC TPAGREE CAE MPAC +1 TC GETDT TC TWIDDLE ADRES ENGOFTSK TC 2PHSCHNG OCT 40114 # ENGOFTSK (ENGINOFF) OCT 00035 # SERVICER -- REREADAC # Page 763 TCF ENDOFJOB GETDT CCS A TCF +3 TCF +2 CAF ZERO AD ONE XCH L CAF ZERO DXCH TGO CA TGO +1 TC Q # ************************************** SEC15DP OCT 00000 # DON'T SEPARATE SEC15 DEC 1500 # DON'T SEPARATE SEC30DP 2DEC 3000 SEC45DP OCT 00000 # DON'T MOVE FROM JUST BEFORE SEC45 SEC45 DEC 4500 5SECDP OCT 00000 # DON'T MOVE FROM JUST BEFORE 5SEC 5SEC DEC 500 26SECS DEC 2600 V16N40 VN 1640 V16N85B VN 1685 V1683 VN 1683 SEC01 = 1SEC ACADN85 = P41TABLE +2 EBANK= DELVIMU ACADN83 2CADR CALCN83 # ****************************************** # Page 764 # PROGRAM DESCRIPTION: S40.1 DATE: 15 NOV 66 # MOD N02 LOG SECTION P40-P47 # MOD BY ZELDIN AND ADAPTED BY TALAYCO # # FUNCTIONAL DESCRIPTION # COMPUTE INITIAL THRUST DIRECTION(UT) AND INITIAL VALUE OF VG # VECTOR(VGTIG). # # CALLING SEQUENCE # L CALL # L+1 S40.1 # # NORMAL EXIT MODE # AT L+2 OF CALLING SEQUENCE (GOTO L+2) NORMAL RETURN OR # ERROR RETURN IF NOSOFLAG =1 # # SUBROUTINES CALLED # LEMPREC # INITVEL # CALCGRAV # MIDGIM # # ALARM OR ABORT EXIT MODES # L+2 OF CALLING SEQUENCE, UNSOLVABLE CONIC IF NOSOFLAG=1 # # ERASABLE INITIALIZATION REQUIRED # WEIGHT/G ANTICIPATED VEHICLE MASS DP B16 KGM # XDELVFLG 1=DELTA-V MANEUVER, 0=AIMPT STEER # F THRUST FOR ENGINE USED # IF DELTA-V MANEUVER: # DELVSIN SPECIFIED DELTA-V REQUIRED IN # INERTIAL COORDS. OF ACTIVE VEHICLE # AT TIME OF IGNITION VECTOR B7 M/CS # DELVSAB MAG. OF DELVSIN DP B7 M/CS # RTIG POSITION AT TIME OF IGNITION VECTOR B29 M # VTIG VELOCITY AT TIME OF IGNITION VECTOR B7 M/CS. # IF AIMPT STEER: # TIG TIME OF IGNITION DP B28 CS # RTARG POSITION TARGET TIME VECTOR B29 M # CSTEER C FOR STEER LAW DP B2 # DLTARG TARGET TIME-IGNITION TIME DP B28 CS # # OUTPUT # UT DESIRED THRUST DIRECTION VECT. B2 M/(CS.CS) # VGTIG INITIAL VALUE OF VELOCITY # TO BE GAINED (INERT. COORD.) VECTOR B7 M/CS # DELVLVC VGTIG IN LOC. VERT. COORDS. B7 M/CS # BDT V REQUIRED AT TIG -V REQUIRED AT (TIG-2SEC) # -GDT FOR S40.13 VECT B7 M/CS # RTIG CALC IN S40.1B (AIMPT) FOR S40.2,3 VECTOR B27M # POSITION AT TIME OF IGNITION # # DEBRIS QTEMP1 # MPAC, QPRET # PUSHLIST BANK 14 SETLOC P40S1 BANK # Page 765 COUNT* $$/S40.1 S40.1 STQ DLOAD QTEMP TIG STORE TIGSAVE DELVTEST BOFF XDELVFLG S40.1B CALCTHET SETPD VLOAD 0 VTIG STORE VINIT VXV UNIT RTIG STOVL UT # UP IN UT RTIG STORE RINIT VSQ PDDL 36D DMP DDV THETACON DMP DMP DELVSAB WEIGHT/G DDV F STOVL 14D DELVSIN DOT VXSC UT UT VSL2 PUSH # (DELTAV.UP)UP SCALED AT 2(+7) P.D.L. 0 BVSU PDDL # DELTA VP SCALED AT 2(+7) P.D.L. 6 DELVSIN 14D SIN PDVL 6D VXV UNIT UT VXSC STADR STOVL VGTIG # UNIT(VP X UP)SIN(THETAT/2) IN VGTIG. UNIT PDDL # UNIT(DELTA VP) IN P.D.L. 6 14D COS VXSC VAD VXSC VGTIG 36D VSL2 VAD STADR # Page 766 STORE VGTIG # VG IGNITION SCALED AT 2(+7) M/CS UNIT STOVL UT # THRUST DIRECTION SCALED AT 2(+1) VGTIG PUSH CALL GET.LVC # VGTIG IN LV COOR AT 2(+7) M/CS IN DELVLVC GOTO QTEMP S40.1B DLOAD TIG STORE TDEC1 BDSU TPASS4 STCALL DELLT4 # INTERCEPT TIME -- TIG. LEMPREC VLOAD SETPD # LOAD STATE VECTOR AT TIG FOR INITVEL. RATT 0 STORE RTIG STORE RINIT UNIT STOVL UNIT/R/ VATT STORE VTIG STORE VINIT DLOAD PDDL # NUMIT = 0 ZEROVECS EPS1 BOFF DAD NORMSW SMALLEPS EPS2 # EPSILON4 = 10 DEGREES OR 45 DEGREES. SMALLEPS PUSH SXA,1 RTX1 SXA,2 CALL RTX2 INITVEL VLOAD PUSH DELVEET3 # VGTIG = VR - VN. STORE VGTIG UNIT # UT = UNIT (VGTIG) STODL UT 36D STCALL VGDISP # CONVERT VGTIG (IN PUSHLIST) TO LOCAL GET.LVC # VERTICAL COORDINATES. GOTO QTEMP EPS1 2DEC* 2.777777778 E-2* # 10 DEGREES AT 1 REVOLUTION # Page 767 EPS2 2DEC* 9.722222222 E-2* # 35 DEGREES AT 1 REVOLUTION. THETACON 2DEC .31830989 B-8 # Page 768 # SUBROUTINE NAME: S40.2,3 MOD. NO. 3, DATE APRIL 4, 1967 # MODIFICATION BY: JONATHON D. ADDELSTON (ADAMS ASSOCIATES) # MOD. NO. 4: JULY 18, 1967: PETER ADLER (MIT/IL) # MOD. NO. 5: OCTOBER 18, 1967: PETER ADLER (MIT/IL) # ORIGINALLY BY: SAYDEAN ZELDIN (MIT INSTRUMENTATION LAB) AND RICHARD TALAYCO (SYSTEM DELVELOPMENT CORP) # # S40.2,3 COMPUTES "POINTVSM" WHICH IS THE HALF-UNIT DESIRED THRUST VECTOR IN STABLE-MEMBER COORDINATES FROM "UT" # WHICH IS THE SAME VECTOR IN REFERENCE COORDINATES. IT DETERMINES THE CORRECT VALUES FOR "SCAXIS" USING THE +X # AXIS FOR DPS, APS, AND RCS BURNS. THE "WINGS-LEVEL HEADS-UP" LM ORIENTATION IS THEN COMPUTED IN REFERENCE # COORDINATES. THESE VECTORS ALSO DEFINE THE "PREFERRED IMU ORIENTATION". UPON COMPLETION OF THIS CALCULATION, # THE "PREFERRED ATTITUDE COMPUTED" FLAG IS SET (PFRATFLG). # # CALLING SEQUENCE: # L CALL # INTERPRETIVE CALL. # L +1 S40.2,3 # L +2 (RETURN) # GIMBAL ANGLE VECTOR IN MPAC. # # SUBROUTINES CALLED: NONE. # # NORMAL RETURN: L +2 (SEE CALLING SEQUENCE ABOVE). # # ALARM/ABORT MODES: NONE. # # INPUT: # 1. REFSMMAT MATRIX FROM REFERENCE TO STABLE-MEMBER COORDINATES SCALED AT 2. # 2. UT HALF-UNIT DESIRED THRUST DIRECTION. # 3. RTIG POSITION AT TIG IN REFERENCE COORDINATES. # # OUTPUT: # 1. `XSCREF' WINGS-LEVEL HEADS-UP LM ORIENTATION # `YSCREF' IN REFERENCE COORDINATES # `ZSCREF' (PREFERRED IMU ORIENTATION). # 2. POINTVSM DESIRED THRUST DIRECTION IN STABLE-MEMBER COORDINATES. # 3. SCAXIS HALF-UNIT OF AXIS TO ALIGN IN STABLE-MEMBER COORDINATES. # 4. PFRATFLG INTERPRETIVE FLAG. ON: PREFERRED ORIENTATION COMPUTED; OFF: NOT COMPUTED. # # DEBRIS: NONE # Page 769 COUNT* $$/S40.2 S40.2,3 VLOAD # UT: DESIRED THRUST DIRECTION (HALF-UNIT) UT # (PUT INTO TOP OF PUSH-DOWN-LIST.) MXV VSL1 # TRANSFORM THRUST DIRECTION TO STABLE- REFSMMAT # MEMBER FROM REFERENCE COORDS (RESCALE). STOVL POINTVSM # SAVE FOR "VECPOINT" ROUTINE (LEMMANU). UNITX # SCAXIS SET TO +X, FOR P40 AND P42 AND STOVL SCAXIS # FOR P41 IF RCS NOT -X,+Y,-Y,+Z,-Z. UT # ASSUME +X BURN ALWAYS, EVEN FOR RCS. PLUSX STORE XSCREF # XSCREF = UT (DESIRED THRUST DIRECTION) VXV UNIT # RTIG = POSITION AT TIME-OF-IGNITION. RTIG # YSCREF = UNIT(UT X RTIG) PDDL BHIZ 36D # TEST MAGNITUDE OF UT X RTIG FIXY # IF SMALL, USE UT X VTIG AS YSC STORY VLOAD STADR STORE YSCREF VXV VSL1 # COMPUTE (YSCREF X XCREF), BUT FOR A XSCREF # RIGHT HANDED SYSTEM, NEED (X CROSS Y). VCOMP # ZSCREF = - (YSCREF X XSCREF) STORE ZSCREF # = + (XSCREF X YSCREF) SET RVQ PFRATFLG FIXY VLOAD VXV # IN THIS CASE, XSCREF # YSCREF = UNIT(XSCREF X VTIG) VTIG UNIT PUSH GOTO STORY # Page 770 # SUBROUTINE S40.8 # MODIFIED APRIL 3, 1968 BY PETER ADLER, MIT/IL # # DESCRIPTION # S40.8 UPDATES THE VELOCITY-TO-BE-GAINED VECTOR, VG, (AND FOR LAMBERT TARGETTED BURNS ALSO EXTRAPOLATES VG # USING THE BDT VECTOR) COMPUTES THE TIME FOR ISSUING THE ENGINE OFF COMMAND, TGO, AND CALLS THE ROUTINE # "FINDCDUW", WHICH GENERATES STEERING COMMANDS FOR THE DAP. # # CALLING SEQUENCE # L-1 CALL # L S40.8 # L+1 INTERPRETIVE RETURN # # ALARM # IF VG . DELVREF IS NEGATIVE (VG AND DELVREF OVER 90 DEGREES APART), BYPASS TGO AND STEERING COMPUTATIONS # AND SET ALARM 1407. RETURN TO CALLER NORMALLY. # # INPUT AND INITIALIZATION # VGPREV REFERENCE 2(7) M/CS # DELVREF REFERENCE 2(7) M/CS # BDT REFERENCE 2(7) M/CS # TDECAY TAIL-OFF TIME 2(28) CS # XDELVFLG 1 = EXTERNAL DELTA-V; 0 = LAMBERT (AIMPOINT) # STEERSW 1 = DO STEERING AND TGO COMPUTATIONS; 0 = VG UPDATE ONLY # FIRSTFLG 1 = GONE TO LAMBERT AT LEAST ONCE; 0 = HAVEN'T GONE TO LAMBERT YET. # # NOTE: VGTIG EQUALS VGPREV # # OUTPUT # STEERSW SEE INPUT # INPULSW 1 = ENGINE OFF IN TGO CENTISECONDS; 0 = CONTINUE BURN # TGO TIME TO CUT-OFF 2(28) CS # SEE FINDCDUW FOR STEERING OUTPUTS. # # SUBROUTINE CALLED # FINDCDUW # # DEBRIS # MPACS, PUSHLIST COUNT* $$/S40.8 # Page 771 S40.8 BOF # GENERATE VR IF NOT EXTERNAL DELTA-V BURN XDELVFLG RASTEER1 VLOAD VSU VGPREV DELVREF VGAIN* STORE VG # VELOCITY TO BE GAINED SCALED AT (7) M/CS MXV VSL1 REFSMMAT STORE UNFC/2 BDTOK VLOAD ABVAL VG STORE VGDISP TGDCALC SETPD VLOAD 0 VG STOVL VGPREV DELVREF BOFF VCOMP STEERSW QPRET UNIT DOT PUSH VG BPL DDV ALARMIT # DELV IS MORE THAN 90 DEGREES FROM VG. VEX DAD DMP DPHALF SR DDV 10D 36D DMP DAD -FOURDT TDECAY STORE TGO DAD PIPTIME STODL TIG TGO DSU BPL FOURSECS # 400 CS FINDCDUW -2 SET CLRGO IMPULSW STEERSW QPRET ALARMIT EXIT # Page 772 TC ALARM OCT 01407 TC INTPRET GOTO # SKIP TGO COMPUTATION BUT CALL FINDCDUW. FINDCDUW -2 # FINDCDUW WILL EXIT TO UPDATEVG +3. -FOURDT 2DEC -800 B-18 # -4 (200 CS.) B(-18) FOURSECS 2DEC 400 # 400 CS SCALED AT 2(+28) CS 2VEXHUST = VEX # Page 773 # NAME: S40.13 -- TIMEBURN # # FUNCTION (1) DETERMINE WHETHER A GIVEN COMBINATION OF VELOCITY TO # BE GAINED AND ENGINE CHOICE RESULT IN A BURN TIME # SUFFICIENT TO ALLOW STEERING AT THE VEHICLE DURING THE # BURN # (2) THE MAGNITUDE OF THE RESULTING BURN TIME -- IF IT # IS SHORT -- AND THE ASSOCIATED TIME OF THE ENGINE OFF # SIGNAL # # CALLING SEQUENCE VIA FINDVAC AS A NEW JOB # # INPUT VGTIG -- VELOCITY TO BE GAINED VECTOR (METERS/CS) AT +7 # WEIGHT/G -- MASS OF VEHICLE IN KGM AT +16 # F -- APS ENGINE THRUST IN M.NEWTONS AT +7 # AND ALSO FOR RCS ENGINE # MDOT -- RATE OF DECREASE OF VEHICLE MASS DURING ENGINE # BURN IN KILOGRAMS/CS AT +3. THIS SCALING MAY # REQUIRE MODIFICATION FOR SATURN BURNS. # ENG1FLAG -- SWITCH TO DECIDE WHETHER APS OR DPS ENGINE IS USED # =0 DPS # =1 APS # # OUTPUT IMPULSW ZERO FOR STEERING # ONE FOR ATTITUDE HOLD # NOTHROTL ZERO FOR THROTTLING # ONE TO INHIBIT THROTTLING # TGO TIME TO BURN IN CS # # THE QUANTITY M.NEWTON = 10000 NEWTONS WILL BE USED TO EXPRESS # FORCE. EBANK= TGO COUNT* $$/40.13 S40.13 TC INTPRET SETPD CLEAR 00D IMPULSW # ASSUME NO STEERING UNTIL FOUND OTHERWISE VLOAD ABVAL VGTIG # VELOCITY TO BE GAINED AT +7 PDDL DMP # 00D = MAG OF VGTIG AT +7 4SEC(17) # CORRECT VG FOR 4 SECS OF 2 JET ULLAGE FRCS2 DDV SL1 # SCALE WEIGHT/G BDSU PUSH BOFF SET APSFLAG S40.13D # FOR DPS ENGINE NOTHROTL DLOAD DDV # 00D = MAG OF VGTIG CORRECTED K1VAL # M.NEWTONS-CS AT +24 WEIGHT/G BDSU BMN # Page 774 00D S40.131 # TGO LESS THAN 100 CS PDDL DMP # 02D = TEMP1 AT +7 MDOT # MDOT REPRESENTS THE RATE OF DECREASE OF VEHICLE MASS DURING ENGINE # BURN IN KILOGRAMS/CS. WHEN SATURN IS USED, THE SCALING MAY # REQUIRE ADJUSTMENT. 3.5SEC # 350 CS AT +14 BDSU PDDL WEIGHT/G F DMP SR2 # SCALE 5SECS DDV PUSH # 04D = TEMP2 BDSU BPL 02D S40.13D DLOAD BDDV DMP DAD 5SECS 1SEC2D # 100 CS AT +14 GOTO S40.132 S40.131 DLOAD DMP WEIGHT/G SR1 PUSH DAD DDV K2VAL # M.NEWTON CS AT +24 K3VAL # M.NEWTON CS AT +10 S40.132 SET EXIT IMPULSW S40.132* TC TPAGREE CA MPAC XCH L CA ZERO DXCH TGO TCF S40.134 S40.13D DLOAD DMP # FOR DPS ENGINE 00D WEIGHT/G PUSH BON APSFLAG APSTGO DDV CLEAR S40.136 NOTHROTL BOV PUSH # Page 775 S40.130V S40.127 DSU BPL 6SEC # 600.0 CS AT +14 S40.138 DAD GOTO 6SEC S40.132 S40.133 EXIT S40.134 TC PHASCHNG OCT 00003 TC ENDOFJOB S40.130V DLOAD SR4 # RECOMPUTED TGO IN TIMER UNITS DDV S40.136_ # S40.136 SHIFTED LEFT 10 STORE TGO EXIT TCF S40.134 # REJOIN COMMON CODING FOR RESTART PROTECT S40.138 DSU BPL 89SECS STORETGO SET NOTHROTL STORETGO DLOAD # LOAD TGO AT 2(14) EXIT TCF S40.132* APSTGO DDV SL2 FAPS GOTO STORETGO +1 1SEC2D 2DEC 100.0 B-14 # 100.0 CS AT +14 3.5SEC 2DEC 350.0 B-13 # 350 CS AT +13 5SECS 2DEC 500.0 B-14 # 500.0 CS AT +14 6SEC 2DEC 600.0 B-14 # 600.0 CS AT +14 89SECS 2DEC 8900.0 B-14 # FUNCTION (1) GENERATES REQUIRED VELOCITY AND VELOCITY-TO-BE-GAINED # VECTORS FOR USE DURING AIMPOINT MANEUVERS EVERY TWO # COMPUTATION CYCLES (4 SECONDS). # (2) UPDATES THE B VECTOR WHICH IS USED IN THE FINAL # CALCULATION OF EXTRAPOLATING THE VELOCITY-TO-BE-GAINED # THROUGH ONE 2-SECOND INTERVAL INTO THE FUTURE. # # CALLING SEQUENCE VIA FINDVAC AS NEW JOB. # # INPUT RN ACTIVE VEHICLE RADIUS VECTOR IN METERS AT +29 # VN ACTIVE VEHICLE VELOCITY VECTOR IN METERS/CS AT +7 # Page 776 # VPREV LAST COMPUTED VELOCITY REQUIRED VECTOR IN # METERS/CS AT +7. # TIG TIME OF IGNITION IN CS AT +28. # DLTARG COMPUTATION CYCLE INTERVAL = 200 CS AT +28. # PIPTIME TIME OF RN AND VN IN CS AT +28. # GDT/2 HALF OF VELOCITY GAINED IN DELTA T TIME DUE TO # ACCELERATION OF GRAVITY IN METERS/CS AT +7. # DELVREF CHANGE IN VELOCITY DURING LAST 2 SEC IN # METERS/CS AT +7. # # OUTPUT VGPREV VELOCITY TO BE GAINED VECTOR IN METERS/CS AT +7. # VGDISP MAG OF VGPREV FOR DISPLAY PURPOSES. # VRPREV VELOCTY REQUIRED VECTOR IN METERS/CS AT +7. # BDT B VECTOR IN METERS/CS AT +7. # # SUBROUTINES USED INITVEL EBANK= VGPREV COUNT* $$/S40.9 S40.9 TC INTPRET SETPD 00D SET DLOAD AVFLAG # SET AVFLAG FOR LEM ACTIVE HI6ZEROS PDDL EPS1 BOFF DAD # EPSILON4 = 10 OR 45 DEGREES. NORMSW EPSSMALL EPS2 EPSSMALL PUSH CALL HAVEGUES ENDS40.9 EXIT TC PHASCHNG OCT 2 TCF ENDOFJOB RASTEER1 VLOAD ABVAL RN LXC,2 SL* RTX2 0,2 STOVL RMAG RTARG VSU RTB RN NORMUNX1 STODL IC 36D # C(36D) = ABVAL(C) XAD,2 SL* X1 # Page 777 0,2 STORE 30D NORM DMP X2 RMAG NORM XAD,2 X1 X1 SXA,2 MUSCALE STODL R1C # 2(+56 -X) 30D SR1 PDDL RMAG SR1 PDDL RTMAG SR1 DAD DAD STADR STORE SS # SS = (R1 + R2 + C)/2 DSU DMP 30D MU/A BDSU MUASTEER PDDL DSU SS RMAG NORM SR1 X1 DDV DMP R1C XSU,2 SL* X1 1,2 LXA,2 MUSCALE SQRT SIGN GEOMSGN STORE 32D # + OR - A DLOAD DMP SS MU/A BDSU MUASTEER PDDL DSU SS RTMAG NORM SR1 X1 DDV DMP # Page 778 R1C XSU,2 SL* X1 1,2 SQRT PDDL # -B (NO SIGN) SS DSU DDV 30D SS SQRT PUSH SR1 ASIN DMP PDDL 2PI+3 PDDL DDV 30D SS BOV +1 SQRT DMP SR3 BDSU SIGN PDDL GEOMSGN 2PI+3 SR2 DSU DMP PDDL SS SS SR3 SQRT DMP PDDL SL3 MUASTEER SQRT BDDV DSU DAD TPASS4 PIPTIME STODL 30D SIGN 30D # B WITH SIGN STORE 30D BON VLOAD NORMSW 180MESS IC VSU UNIT UNIT/R/ VXSC PDVL 30D IC VAD UNIT UNIT/R/ # Page 779 GETVRVG1 VXSC VAD 32D GETVRVG2 LXC,2 VSR* RTX2 0 -1,2 STORE VIPRIME GOTO ASTREND -2 180MESS VLOAD DOT IC UNIT/R/ BMN VLOAD NEGPROD IC VSR1 PDVL UNIT/R/ VSR1 VAD UNIT PUSH VCOMP # FOR A VXV SIGN UN GEOMSGN UNIT VXSC 30D PDVL # UNIT(IC-IR) +-B GOTO GETVRVG1 NEGPROD VLOAD VSR1 UNIT/R/ PDVL VSR1 IC VSU UNIT PUSH VXV SIGN UN # FOR B GEOMSGN UNIT VXSC 32D PDVL VXSC VAD 30D GOTO GETVRVG2 VSU VN1 ASTREND STORE DELVEET3 FIRSTTME SLOAD BZE RTX2 GETGOBL VLOAD GOTO # NO OBLATENESS COMP IF IN MOON SPHERE # Page 780 DELVEET3 NOGOBL GETGOBL VLOAD UNIT # CALCULATE OBLATENESS TERM. RN DLOAD DSU PIPTIME # 2 GOBLTIME # G = -(MU/R )(UNITGOBL)(T-TIG) DMP DDV # OBL EARTHMU 34D # 34D = /RN/ (2) FROM UNIT OPERATION. VXSC VAD UNITGOBL DELVEET3 # OUTPUT FROM INITVEL VG = VR - VN NOGOBL STORE DELVEET3 # VG = VR + GOBL - VN GOTO VGAIN* 2PI+3 2DEC 3.141592653 B-2 # Page 781 # TRIMGIMB (FORMERLY S40.6) # MOD 0 24 FEB 67 PETER ADLER # # FUNCTION: # TRIMS DPS ENGINE TO MINIMIZE THRUST/CG OFFSET. ENGINE IS GIMBALLED TO FULL + PITCH AND + ROLL (TO LOCK) # FOR REFERENCE AND IS THEN BROUGHT BACK TO TRIM POSITION BY RUNNING FOR THE PROPER TIMES (TO BE # SPECIFIED BY GAEC) IN - PITCH AND - ROLL. # # CALLING SEQUENCE: # VIA WAITLIST FROM R03 # # INPUT: # PITTIME TIME TO RUN FROM FULL + PITCH TO TRIM (CS) # ROLLTIME TIME TO RUN FROM FULL + ROLL TO TRIM (CS) # # SUBROUTINES USED: # WAITLIST, FIXDELAY, VARDELAY, FLAGUP, FLAGDOWN, NOVAC COUNT* $$/S40.6 EBANK= ROLLTIME # OCTAL MASKS: PRIO5=05000 EBANK5=02400 TRIMGIMB TC DOWNFLAG # GMBDRVSW FLAG IS SET WHEN EITHER ROLL OR ADRES GMBDRVSW # PITCH IS COMPLETED, WHICHEVER IS FIRST. CS PRIO5 # TURN OFF - PITCH, - ROLL, IF ON. EXTEND WAND CHAN12 CAF EBANK5 # TURN ON + PITCH, + ROLL. EXTEND WOR CHAN12 TC FIXDELAY # WAIT ONE MINUTE TO MAKE SURE ENGINE IS DEC 6000 # AT FULL + PITCH AND FULL + ROLL CS EBANK5 # TURN OFF + PITCH, + ROLL. EXTEND WAND CHAN12 CAF PRIO5 # TURN ON - PITCH, - ROLL. EXTEND WOR CHAN12 CAE PITTIME # GET TIME TO SHUT OFF - PITCH AND SET UP TC TWIDDLE # TWIDDLE-TASK TO TURN IT OFF THEN ADRES PITCHOFF CAE ROLLTIME # GET TIME TO SHUT OFF - ROLL AND GO AWAY TC VARDELAY # UNTIL THEN CS BIT12 EXTEND WAND CHAN12 # SHUT OFF ROLL ROLLOVER CA FLAGWRD6 # IF HERE INLINE (ROLL DONE) IS PITCH DONE MASK GMBDRBIT # IF HERE FROM PITCHOFF, IS ROLL DONE? EXTEND BZF PITCHOFF +4 # NO. SET FLAG, ROLL OR PITCH DONE. CAF PRIO10 # RETURN TO R03. TC NOVAC EBANK= WHOCARES # Page 782 2CADR TRIMDONE TC TASKOVER PITCHOFF CS BIT10 EXTEND WAND CHAN12 # SHUT OFF PITCH TCF ROLLOVER # SEE IF ROLL HAS FINISHED ALSO. TC UPFLAG # ROLL DONE; OR PITCH DONE; BUT NOT BOTH. ADRES GMBDRVSW TC TASKOVER # Page 783 # SUBROUTINE NAME: S41.1 MOD. NO. 0 DATE: FEBRUARY 28, 1967 # MOD. NO. 1 DATE: JANUARY 23, 1968, BY PETER ADLER (MIT/IL) # # AUTHOR: JONATHON D. ADDLESTON (ADAMS ASSOCIATES) # # S41.1 PERFORMS THE COORDINATE SYSTEM TRANSFORMATION FROM THE REFERENCE FRAME TO THE BODY OF THE LM. # SPECIFICALLY, IT IS USED TO TRANSFORM A VELOCITY (SCALED AT 2(+7) METERS/CENTISECOND) FROM REFERENCE TO LM AXIS # COORDINATES. FIRST THE VECTOR IS TRANSFORMED TO THE STABLE MEMBER COORDINATES BY THE MATRIX REFSMMAT. THIS # LEAVES THE VECTOR IN MPAC, SCALED AT 2(+8) METERS/CENTISECOND. THEN # THE SUBROUTINE CDUTRIG IS CALLED TO SET UP THE DOUBLE-PRECISION CDU VECTOR ALONG WITH ITS SINES AND COSINES. # THE VECTOR IS THEN TRANSFORMED FROM STABLE MEMBER COORDINATES TO SPACECRAFT (OR LM) COORDINATES BY THE # SUBROUTINE *SMNB*. FINALLY, THE VECTOR IS RESCALED TO 2(+7) METERS/CENTISECOND, AND CONTROL IS RETURNED BO THE # CALLER WITH C(MPAC) = VELOCITY(LM). # # CALLING SEQUENCE: # L VLOAD CALL # L +1 VELOCITY(REF) # SCALED AT 2(+7) M/CS IN REFERENCE COORDS. # L +2 S41.1 # L +3 STORE VELOCITY(LM) # SCALED AT 2(+7) M/CS IN LM BODY AXIS SYS. # # SUBROUTINES CALLED: # 1. CDUTRIG, # WHICH CALLS CDULOGIC. # 2. *SMNB* # # NORMAL RETURN: L +3 (SEE CALLING SEQUENCE, ABOVE.) # # ALARM/ABORT MODES: NONE. # # RESTART PROTECTION: NONE. # # Page 784 # INPUT: # 1. REFSMMAT. # 2. CDUX, CDUY, CDUZ. # 3. VELOCITY (REF) IN MPAC. # # OUTPUT: # 1. CSUSPOT: DOUBLE PRECISION CDU VECTOR, ORDERED Y,Z,X. # 2. SINCDU: HALF SINES OF CDUSPOT COMPONENTS # 3. COSCDU: HALF COSINES OF CDUSPOT COMPONENTS. # 4. MPAC: VELOCITY(LM) (SCALED AT 2(+7) METERS/CENTISECOND) # # DEBRIS: NONE. # # CHECKOUT STATUS: CODED COUNT* $$/S41.1 S41.1 MXV VSL1 # CONVERT VECTOR IN MPAC FROM REF AT 2(+7) REFSMMAT # TO SM AND RESCALE DUE TO HALF-UNIT MATRIX GOTO # CONVERT TO BODY AT 2(+7) USING PRESENT CDU*SMNB # CDU ANGLES. CDU*SMNB WILL RETURN # VIA RVQ TO THE CALLER OF S41.1. ================================================ FILE: Luminary099/P51-P53.agc ================================================ # Copyright: Public domain. # Filename: P51-P53.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Hartmuth Gutsche . # Website: www.ibiblio.org/apollo. # Pages: 926-983 # Mod history: 2009-05-31 HG Transcribed from page images. # 2009-06-07 RSB Corrected a typo. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 926 # PROGRAM NAME -- PROG52 DATE -- JAN 9, 1967 # MOD NO -- 0 LOG SECTION -- P51-P53 # MODIFICATION BY -- LONSKE ASSEMBLY -- SUNDANCE REV 46 # # FUNCTIONAL DESCRIPTION -- # # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE: # # (A) PREFERRED ORIENTATION # # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANEUVER. THIS ORIENTATION MUST BE CALCULATED AND # STORED BY A PREVIOUSLY SELECTED PROGRAM. # # (B) NOMINAL ORIENTATION # # X = UNIT ( R ) # -SM # # Y = UNIT (V X R) # SM # # Z = UNIT (X X Y ) # SM SM SM # # WHERE: # # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT # - # # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT # - # # (C) RERSMMAT ORIENTATION # # (D) LANDING SITE -- THIS IS NOT AVAILABLE IN SUNDANCE # # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT (I.E., NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURRED # SINCE THE LAST ALIGNMENT). # # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO # COARSE ALIGN THE IMU. THE STARS SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANEUVER THE VEHICLE AND SELECT 2 STARS # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING (INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS # REQUESTED. # # CALLING SEQUENCE -- # # Page 927 # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY. # # SUBROUTINES CALLED -- # # 1. FLAGDOWN 7. S52.2 13. NEWMODEX # 2. R02BOTH 8. CAL53A 14. PRIOLARM # 3. GOPERF4 9. FLAGUP # 4. MATMOVE 10. R56 # 5. GOFLASH 11. R51 # 6. S52.3 12. GOPERF3 # # NORMAL EXIT MODES -- # # EXITS TO ENDOFJOB # # ALARM OR ABORT EXIT MODES -- # # NONE # # OUTPUT -- # # THE FOLLOWING MAY BE FLASHED ON THE DSKY # 1. IMU ORIENTATION CODE # 2. ALARM CODE 215 -- PREFERRED IMU ORIENTATION NOT SPECIFIED # 3. TIME OF NEXT IGNITION # 4. GIMBAL ANGLES # 5. ALARM CODE 405 -- TWO STARS NOT AVAILABLE # 6. PLEASE PERFORM P00 # THE MODE DISPLAY MAY BE CHANGED TO 20 # # ERASABLE INITIALIZATION REQUIRED -- # # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED. IF IT HAS BEEN COMPUTED IT IS STORED IN # XSMD, YSMD, ZSMD. # # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING. # # DEBRIS -- # # WORK AREA BANK 33 SETLOC P50S BANK EBANK= BESTI COUNT* $$/P52 PROG52 TC BANKCALL CADR R02BOTH # IMU STATUS CHECK CAF PFRATBIT MASK FLAGWRD2 # IS PFRATFLG SET? CCS A # Page 928 TC P52A # YES CAF BIT2 # NO TC P52A +1 P52A CAF BIT1 TS OPTION2 P52B CAF BIT1 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE CADR GOPERF4R # FLASH V04N06 TC GOTOPOOH TCF +5 # V33 -- PROCEED TC P52B # NEW CODE -- NEW ORIENTATION CODE INPUT TC PHASCHNG # DISPLAY RETURN OCT 00014 TC ENDOFJOB CA OPTION2 MASK THREE INDEX A TC +1 TCF OPT4 # OPTION 4 LANDING SITE TCF P52H # OPTION 1 PREFERRED TCF P52T # OPTION 2 NOMINAL P52E TC INTPRET # OPTION 3 REFSMMAT GOTO P52F # GO DO R51 OPT4 EXTEND DCA TLAND # IF OPTION 4 DISPLAY TLAND TCF P52T +2 P52T EXTEND DCA NEG0 DXCH DSPTEM1 CAF V06N34* TC BANKCALL CADR GOFLASH TC GOTOPOOH TC +2 TC -5 DXCH DSPTEM1 EXTEND BZMF +2 # IF TIME ZERO OR NEG USE TIME2 TCF +3 EXTEND DCA TIME2 DXCH TALIGN P52V CA OPTION2 MASK BIT2 CCS A TC P52W # Page 929 TC INTPRET # OPTION 4 -- GET LS ORIENTATION GOTO P52LS # Page 930 P52W TC INTPRET DLOAD CALL # PICK UP ALIGN TIME TALIGN # COMPUTED NOMINAL IMU S52.3 # ORIENTATION P52D CALL # READ VEHICLE ATTITUDE AND S52.2 # COMPUTE GIMBAL ANGLES EXIT CAF V06N22 TC BANKCALL # DISPLAY GIMBAL ANGLES CADR GOFLASH TC GOTOPOOH TCF COARSTYP # V33 -- PROCEED, SEE IF GYRO TORQUE COARSE P52H TC INTPRET GOTO P52D REGCOARS TC INTPRET CALL # DO COARSE ALIGN CAL53A # ROUTINE COARSRET SET CLEAR REFSMFLG PFRATFLG P52F CALL R51 P52OUT EXIT TC GOTOPOOH VB05N09 = V05N09 V06N34* VN 634 # Page 931 # CHECK FOR GYRO TORQUE COARSE ALIGNMENT COARSTYP CAF OCT13 TC BANKCALL # DISPLAY V 50N25 WITH COARSE ALIGN OPTION CADR GOPERF1 TCF GOTOPOOH # V34 -- TERMIN&OE TCF REGCOARS # V33 -- NORMAL COARSE TC INTPRET # V32 -- GYRO TORQUE COARSE VLOAD MXV XSMD # GET SM(DESIRED) WRT SM(PRESENT) REFSMMAT UNIT STOVL XDC YSMD MXV UNIT REFSMMAT STOVL YDC ZSMD MXV UNIT REFSMMAT STCALL ZDC GYCOARS GOTO P52OUT OCT13 OCT 13 # Page 932 # COMPUTE LANDING ORIENTATION FOR OPTION 4 P52LS SET CLEAR # GET LANDING SITE ORIENTATION LUNAFLAG ERADFLAG # TO PICK UP RLS SETPD VLOAD 0 RLS # PICK UP LANDING SITE VEC IN MF PDDL PUSH # RLS PD 0-5 TALIGN STCALL TLAND # JAM ALIGN TIME IN TLAND FOR OPTION 4 RP-TO-R # TRANS RLS TO REF VSR2 STODL ALPHAV # INPUT TO LAT-LONG TALIGN CALL N89DISP VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD) ALPHAV STCALL XSMD LSORIENT GOTO P52D # NOW GO COMPUTE GIMBAL ANGLES. # Page 933 # SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE SETLOC P50S1 BANK EBANK= XSM N89DISP STQ QMAJ STCALL GDT/2 +4 # TEMP STORE TIME LAT-LONG DLOAD SR1 LONG STODL LANDLONG ALT STODL LANDALT LAT STODL LANDLAT EXIT LSDISP CAF V06N89* # DISPLAY LAT,LONG/2,ALT TC BANKCALL CADR GOFLASH TCF GOTOPOOH # V34 -- TERMINATE -- EXIT P57 TCF +2 # V33 -- PROCEED -- ACCEPT LS DATA TCF LSDISP # V32 OR E -- LOOK AGAIN AND/OR LOAD NEW LS TC INTPRET DLOAD SL1 LANDLONG STODL LONG LANDALT STODL ALT LANDLAT STODL LAT GDT/2 +4 # PICK UP TIME CALL # GET RLS BACK FROM LAT,LONG,ALT LALOTORV # RLS B-29 IN MPAC AND ALPHAV GOTO QMAJ V06N89* VN 689 # Page 934 # NAME -- S50 ALIAS LOCSAM # BY # VINCENT # # FUNCTION -- COMPUTE INPUTS FOR PICAPAR AND PLANET # # DEFINE # # U = UNIT( SUN WRT EARTH ) # ES # # U = UNIT( MOON WRT EARTH ) # EM # # R = POSITION VECTOR OF LEM # L # # R = MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON # EM # # P = RATIO R /(DISTANCE SUN TO EARTH) > .00257125 # EM # # R = EQUATORIAL RADIUS (6378.166KM) OF EARTH # E # # LOCSAM COMPUTES IN EARTH INFLUENCE # # VSUN = U # ES # # VEARTH = -UNIT( R ) # L # # VMOON = UNIT(R .U - R ) # EM EM L # # CSUN = COS 90 # # CEARTH = COS(5 + ARCSIN(R /MAG(R ))) # E L # # CMOON = COS 5 # # INPUT -- TIME IN MPAC # # OUTPUT -- LISTED ABOVE # # SUBROUTINES -- LSPOS, LEMPREC # # DEBRIS -- VAC AREA, TSIGHT # Page 935 COUNT* $$/LOSAM S50 = LOCSAM LOCSAM STQ QMIN STCALL TSIGHT LSPOS DLOAD TSIGHT STCALL TDEC1 LEMPREC SSP TIX,2 S2 0 MOONCNTR EARTCNTR VLOAD VXSC VMOON RSUBEM VSL1 VSU RATT UNIT STOVL VMOON RATT UNIT VCOMP STODL VEARTH RSUBE CALL OCCOS STODL CEARTH CSS5 STCALL CMOON ENDSAM MOONCNTR VLOAD VXSC VMOON ROE BVSU UNIT VSUN STOVL VSUN VMOON VXSC VAD RSUBEM RATT UNIT VCOMP STOVL VEARTH RATT UNIT VCOMP STODL VMOON RSUBM CALL OCCOS # Page 936 STODL CMOON CSS5 STORE CEARTH ENDSAM DLOAD CSSUN STORE CSUN GOTO QMIN OCCOS DDV SR1 36D ASIN DAD 5DEGREES COS SR1 RVQ CEARTH = 14D CSUN = 16D CMOON = 18D CSS5 2DEC .2490475 # (COS 5)/4 CSSUN 2DEC .125 # (COS 60)/4 5DEGREES 2DEC .013888889 # SCALED IN REVS # Page 937 # PROGRAM NAME -- R56 DATE: DEC 20 66 # MOD 1 LOG SECTION: P51-P53 # ASSEMBLY: SUNDISK REV4D # BY KEN VINCENT # # FUNCTION # THIS PROGRAM READS THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX) # WITH RESPECT TO REFERENCE INTERTIAL. EACH STAR IN THE CATALOG IS TESTED # TO DETERMIN IF IT IS OCCULTED BY EITHER EARTH, SUN OR MOON. IF A # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STARS OF LOWER INDEX. # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION. A PAIR OF STARS # HAVE GOOD SEPARATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW. (WITHIN # 50 DEGREES OF SAX). THE PAIR WITH MAX SEPARATION IS CHOSEN FROM # THOSE WITH GOOD SEPARATION, AND IN FIELD OF VIEW. # # CALLING SEQUENCE # L TC BANKCALL # L+1 CADR R56 # L+2 ERROR RETURN -- NO STARS IN FIELD OF VIEW # L+3 NORMAL RETURN # # OUTPUT # BESTI, BESTJ -- SINGLE PREC, INTEGERS, STAR NUMBERS TIMES 6 # VFLAG -- FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW # # INITIALIZATION # 1) A CALL TO LOCSAM MUST BE MADE # # DEBRIS # WORKAREA # X,Y,ZNB # SINCDU, COSCDU # STARAD -- STAR +5 R56 = PICAPAR COUNT* $$/R56 PICAPAR TC MAKECADR TS QMIN TC INTPRET CALL CDUTRIG CALL CALCSMSC SETPD 0 SET DLOAD # VFLAG = 1 VFLAG # Page 938 DPZERO STOVL BESTI XNB VXSC PDVL HALFDP ZNB AXT,1 VXSC 228D # X1 = 37 X 6 + 6 HALFDP VAD VXM UNIT REFSMMAT STORE SAX # SAX = SHAFT AXIS SSP SSP # S1 = S2 = 6 S1 6 S2 6 PIC1 TIX,1 GOTO # MAJOR STAR PIC2 PICEND PIC2 VLOAD* DOT CATLOG,1 SAX DSU BMN CSS33 PIC1 LXA,2 X1 PIC3 TIX,2 GOTO PIC4 PIC1 PIC4 VLOAD* DOT CATLOG,2 SAX DSU BMN CSS33 PIC3 VLOAD* DOT* CATLOG,1 CATLOG,2 DSU BPL CSS40 PIC3 VLOAD* CALL CATLOG,1 OCCULT BON CULTFLAG PIC1 # Page 939 VLOAD* CALL CATLOG,2 OCCULT BON CULTFLAG PIC3 STRATGY BONCLR VFLAG NEWPAR XCHX,1 XCHX,2 BESTI BESTJ STRAT VLOAD* DOT* CATLOG,1 CATLOG,2 PUSH BOFINV VFLAG STRAT -3 DLOAD DSU BPL PIC3 NEWPAR SXA,1 SXA,2 BESTI BESTJ GOTO PIC3 OCCULT MXV BVSU CULTRIX CSS BZE CULTED BMN SIGN CULTED MPAC +3 BMN SIGN CULTED MPAC +5 BMN CLRGO CULTED CULTFLAG QPRET CULTED SETGO CULTFLAG QPRET CSS = CEARTH CSS40 2DEC .16070 # COS 50 / 4 CSS33 2DEC .16070 # COS 50 / 4 PICEND BOFF EXIT # Page 940 VFLAG PICGXT TC PICBXT PICGXT LXA,1 LXA,2 BESTI BESTJ VLOAD DOT* SAX CATLOG,1 PDVL DOT* SAX CATLOG,2 DSU BPL SXA,1 PICNSWP BESTJ SXA,2 BESTI PICNSWP EXIT INCR QMIN PICBXT CA QMIN TC SWCALL VPD = 0D V0 = 6D V1 = 12D V2 = 18D V3 = 24D DP0 = 30D DP1 = 32D # Page 941 # NAME -- R51 FINE ALIGN # FUNCTION -- TO ALIGN THE STABLE MEMBER TO REFSSMAT # CALLING SEQ -- CALL R51 # INPUT -- REFSMMAT # OUTPUT -- GYRO TORQUE PULSES # SUBROUTINES -- LOCSAM, PICAPAR, R52, R53, R54, R55 COUNT* $$/R51 R51 STQ QMAJ R51.1 EXIT TC PHASCHNG OCT 04024 R51C CAF OCT15 TC BANKCALL CADR GOPERF1 TC GOTOPOOH TC +2 # V33E TC R51E # ENTER TC INTPRET RTB DAD LOADTIME TSIGHT1 CALL LOCSAM EXIT TC BANKCALL CADR R56 TC R51I R51F TC R51E R51I TC ALARM OCT 405 CAF VB05N09 TC BANKCALL CADR GOFLASH TC GOTOPOOH TC R51E TC R51C R51E CAF ZERO TS STARIND R51.2 TC INTPRET R51.3 EXIT TC PHASCHNG OCT 04024 TC INTPRET CALL R52 # AOP WILL MAKE CALLS TO SIGHTING EXIT TC BANKCALL # Page 942 CADR AOTMARK TC BANKCALL CADR OPTSTALL TC CURTAINS CCS STARIND TCF +2 TC R51.4 TC INTPRET VLOAD STARAD +6 STORE STARSAV2 EXIT TC PHASCHNG OCT 04024 TC INTPRET DLOAD CALL TSIGHT PLANET MXV UNIT REFSMMAT STOVL STARAD +6 PLANVEC MXV UNIT REFSMMAT STOVL STARAD STARSAV1 STOVL 6D STARSAV2 STCALL 12D R54 # STAR DATA TEST BOFF CALL FREEFLAG R51K AXISGEN CALL R55 # GYRO TORQUE CLEAR PFRATFLG R51K EXIT R51P63 CAF OCT14 TC BANKCALL CADR GOPERF1 TC GOTOPOOH TC R51C TC INTPRET GOTO QMAJ R51.4 TC INTPRET VLOAD # Page 943 STARAD +6 STORE STARSAV1 DLOAD CALL TSIGHT PLANET STORE PLANVEC SSP STARIND 1 GOTO R51.3 TSIGHT1 2DEC 36000 # 6 MIN TO MARKING # Page 944 # GYRO TORQUE COARSE ALGNMENT GYCOARS STQ CALL QMAJ CALCGTA CLEAR CLEAR DRIFTFLG REFSMFLG EXIT CAF V16N20 # MONITOR GIMBALS TC BANKCALL CADR GODSPR CA R55CDR TC BANKCALL CADR IMUPULSE TC BANKCALL CADR IMUSTALL TC CURTAINS TC PHASCHNG OCT 04024 TC INTPRET AXC,1 AXC,2 XSMD REFSMMAT CALL # STORE DESIRED REFSMMAT MATMOVE CLEAR SET PFRATFLG REFSMFLG CALL NCOARSE # SET DRIFT AND INITIALIZE 1/PIPADT GOTO R51K V16N20 VN 1620 # Page 945 # R55 GYRO TORQUE # FUNCTION -- COMPUTE AND SEND GYRO PULSES # CALLING SEQ -- CALL R55 # INPUT -- X,Y,ZDC -- REFSMMAT WRT PRESENT STABLE MEMBER # OUTPUT -- GYRO PULSES # SUBROUTINES -- CALCGTA, GOFLASH, GODSPR, IMUFINE, IMUPULSE, GOPERF1 COUNT* $$/R55 R55 STQ QMIN CALL CALCGTA PULSEM EXIT R55.1 CAF V06N93 TC BANKCALL CADR GOFLASH TC GOTOPOOH TC R55.2 TC R55RET R55.2 TC PHASCHNG OCT 00214 CA R55CDR TC BANKCALL CADR IMUPULSE TC BANKCALL CADR IMUSTALL TC CURTAINS TC PHASCHNG OCT 04024 R55RET TC INTPRET GOTO QMIN V06N93 VN 0693 R55CDR ECADR OGC R54 = CHKSDATA # ROUTINE NAME -- CHKSDATA DATE -- JAN 9, 1967 # MOD NO -- 0 LOG SECTION -- P51-P53 # MODIFICATION BY -- LONSKE ASSEMBLY -- # # FUNCTIONAL DESCRIPTION -- CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED -- # OS1 = OBSERVED STAR 1 VECTOR # OS2 = OBSERVED STAR 2 VECTOR # SS1 = STORED STAR 1 VECTOR # SS2 = STORED STAR 2 VECTOR # A1 = ARCCOS(OS1 - OS2) # A2 = ARCCOS(SS1 - SS2) # A = ABS(2(A1 - A2)) # Page 946 # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTANCE. # # EXIT MODE -- 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE # # OUTPUT -- 1. VERB 6,NOUN 3 -- DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS. # 2. STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D. # # ERASABLE INITIALIZATION REQUIRED -- # 1. MARK VECTORS ARE STORED IN STARAD AND STARAD +6. # 2. CATALOG VECTORS ARE STORED IN 6D AND 12D. # # DEBRIS -- COUNT* $$/R54 CHKSDATA STQ SET QMIN FREEFLAG CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA STARAD CHKSB VLOAD* DOT* # CAL. ANGLE THETA 0,1 6,1 SL1 ACOS STORE THETA BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS FREEFLAG CHKSD FREEFLAG # CLEAR FREEFLAG AXC,1 DLOAD # SET X1 TO MARK ANGLES 6D THETA STORE 18D GOTO CHKSB # RETURN TO CAL. 2ND ANGLE CHKSD DLOAD DSU THETA 18D ABS RTB # COMPUTE POS DIFF SGNAGREE STORE NORMTEM1 SET EXIT FREEFLAG CAF VB6N5 TC BANKCALL CADR GOFLASH TCF GOTOPOOH TC CHKSDA # PROCEED TC INTPRET CLEAR GOTO FREEFLAG QMIN CHKSDA TC INTPRET # Page 947 GOTO QMIN VB6N5 VN 605 # NAME -- CAL53A # FUNCTION -- COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY # CALLING SEQUENCE -- CALL CAL53A # INPUT -- X,Y,ZSMD, CDUX,Y,Z # DESIRED GIMBAL ANGLES -- THETAD,+1,+2 # OUTPUT -- THE IMU COORDINATES AT STORED IN REFSMMAT # SUBROUTINES -- S52.2, IMUCOARSE, IMUFINE COUNT* $$/R50 CAL53A CALL S52.2 # MAKE ONE FINAL COMP OF GIMBAL ANGLES RTB SSP RDCDUS # READ CDUS S1 1 AXT,1 SETPD 3 4 CALOOP DLOAD* SR1 THETAD +3D,1 PDDL* SR1 4,1 DSU ABS PUSH DSU DEGREE1 BMN DLOAD CALOOP1 DSU BPL DEG359 CALOOP1 EXIT TC PHASCHNG OCT 04024 TC INTPRET COARFINE CALL COARSE CALL NCOARSE GOTO FINEONLY CALOOP1 TIX,1 CALOOP FINEONLY AXC,1 AXC,2 XSM REFSMMAT CALL MATMOVE # Page 948 GOTO COARSRET MATMOVE VLOAD* # TRANSFER MATRIX 0,1 STORE 0,2 VLOAD* 6D,1 STORE 6D,2 VLOAD* 12D,1 STORE 12D,2 RVQ DEGREE1 DEC 46 # 1 DEG SCALED CDU/2 DEG359 DEC 16338 # 359 DEG SCALED CDU/2 RDCDUS INHINT # READ CDUS CA CDUX INDEX FIXLOC TS 1 CA CDUY INDEX FIXLOC TS 2 CA CDUZ INDEX FIXLOC TS 3 RELINT TC DANZIG COUNT* $$/INFLT # Page 949 # NAME -- P51 -- IMU ORIENTATION DETERMINATION # MOD. NO. 1 23 JAN 67 LOG SECTION -- P51-P53 # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56 # # FUNCTIONAL DESCRIPTION # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING # (AOTMARK) ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK (R53) RETURNS THE STAR NUMBER AND THE # STAR LOS VECTOR IN STARAD +6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT # CHKSDATA (R54). REFSMMAT IS THEN COMPUTED AT AXISGEN. # # CALLING SEQUENCE # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY. # # SUBROUTINES CALLED # GOPERF3 # GOPERF1 # GODSPR # IMUCOARS # IMUFIN20 # AOTMARK (R53) # CHKSDATA (R54) # MKRELEAS # AXISGEN # MATMOVE # # ALARMS # NONE. # # ERASABLE INITIALIZATION # IMU ZERO FLAG SHOULD BE SET. # # OUTPUT # REFSMMAT # REFSMFLG # # DEBRIS # WORK AREA # STARAD # STARIND # BESTI # BESTJ COUNT* $$/P51 # Page 950 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH. CAF OCT15 TC BANKCALL CADR GOPERF1 TC GOTOPOOH # TERM. TCF P51B # V33 TC PHASCHNG OCT 04024 CAF ZERO TS THETAD # ZERO THE GIMBALS TS THETAD +1 TS THETAD +2 CAF V06N22 TC BANKCALL CADR GODSPRET CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41 TC BANKCALL CADR GODSPRET TC INTPRET CALL COARSE EXIT TC PHASCHNG OCT 04024 TCF P51 +2 P51B TC PHASCHNG OCT 00014 TC INTPRET CALL NCOARSE SSP SETPD STARIND # INDEX -- STAR 1 OR 2 0 0 P51C EXIT TC PHASCHNG OCT 04024 TC BANKCALL CADR AOTMARK # R53 TC BANKCALL CADR AOTSTALL TC CURTAINS CCS STARIND TCF P51D +1 TC INTPRET # Page 951 VLOAD STARAD +6 STORE STARSAV1 P51D EXIT TC PHASCHNG OCT 04024 CCS STARIND TCF P51E TC PHASCHNG OCT 04024 TC INTPRET DLOAD CALL TSIGHT PLANET STORE PLANVEC EXIT CAF BIT1 TS STARIND TCF P51C +1 # DO SECOND STAR P51E TC PHASCHNG OCT 04024 TC INTPRET DLOAD CALL TSIGHT PLANET STOVL 12D PLANVEC STOVL 6D STARSAV1 STOVL STARAD STARSAV2 STCALL STARAD +6 CHKSDATA # CHECK STAR ANGLES IN STARAD AND BON EXIT FREEFLAG P51G TC P51 +2 P51G CALL AXISGEN # COME BACK WITH REFSMMAT IN XDC AXC,1 AXC,2 XDC REFSMMAT CALL MATMOVE SET EXIT REFSMFLG TC GOTOPOOH # FINIS # Page 952 V41K VN 4100 COARSE EXIT TC BANKCALL CADR IMUCOARS TC BANKCALL CADR IMUSTALL TC CURTAINS TC BANKCALL CADR IMUFINE TC BANKCALL CADR IMUSTALL TC CURTAINS TC INTPRET RVQ NCOARSE EXIT CA TIME1 TS 1/PIPADT CS ZERO TS PIPAX TS PIPAY TS PIPAZ TC INTPRET VLOAD ZEROVEC STORE GCOMP SET RVQ DRIFTFLG # Page 953 # NAME -- S52.2 # FUNCTION -- COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE # CALL -- CALL S52.2 # INPUT -- X,Y,ZSMD # OUTPUT -- OGC,IGC,MGC,THETAD,+1,+2 # SUBROUTINES -- CDUTRIG, CALCSMSC, MATMOVE, CALCGA COUNT* $$/S52.1 S52.2 STQ CALL QMAJ CDUTRIG CALL CALCSMSC AXT,1 SSP 18D S1 6D S52.2A VLOAD* VXM XNB +18D,1 REFSMMAT UNIT STORE XNB +18D,1 TIX,1 S52.2A S52.2.1 AXC,1 AXC,2 XSMD XSM CALL MATMOVE CALL CALCGA GOTO QMAJ # Page 954 # NAME -- S52.3 # FUNCTION -- XSMD= UNIT R # YSMD= UNIT(V X R) # ZSMD= UNIT(XSMD X YSMD) # CALL -- DLOAD CALL # TALIGN # S52.3 # INPUT -- TIME OF ALIGNMENT IN MPAC # OUTPUT -- X,Y,ZSMD # SUBROUTINES -- CSMCONIC COUNT* $$/S52.3 S52.3 STQ QMAJ STCALL TDEC1 LEMCONIC VLOAD UNIT RATT STOVL XSMD VATT VXV UNIT RATT STOVL YSMD XSMD VXV UNIT YSMD STCALL ZSMD QMAJ # Page 955 # NAME -- R52 (AUTOMATIC OPTICS POSITIONING ROUTINE) # # FUNCTION -- POINT THE AOT APTICS AXIS BY MANEUVERING THE LEM TO A NAVIGATION # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT # # CALLING -- CALL R52 # # INPUT -- BESTI AND BESTJ (STAR CODES TIMES 6) # # OUTPUT -- STAR CODE IN BITS 1-6, DETENT CODE IN BITS 7-9 # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID) # POINTVSM-1/2 UNIT NAV STAR VEC IN SM # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE # # SUBROUT -- R60LEM COUNT* $$/R52 R52 STQ EXIT SAVQR52 INDEX STARIND CA BESTI # PICK UP STARCODE DETERMINED BY R56 EXTEND MP 1/6TH AD BIT8 # SET DETENT POSITION 2 TS STARCODE # SCALE AND STORE IN STARCODE R52A CAF V01N70 TC BANKCALL CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE TC GOTOPOOH # V34 -- TERMINATE TCF R52B # V33 -- PROCEED TO ORIENT LEM TCF R52A # ENTER -- SELECT NEW STARCODE -- RECYCLE R52B TC DOWNFLAG ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT CA STARCODE # GRAB DETENT CODE MASK HIGH9 EXTEND MP BIT9 TS L # TEMP STORE DETENT EXTEND BZMF GETAZEL # CODE 0, COAS CALIBRATION AD NEG7 EXTEND BZF GETAZEL # CODE 7, COAS SIGHTING EBANK= XYMARK CA EBANK7 TS EBANK # Page 956 INDEX L CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT TS L EBANK= XSM CA EBANK5 # CHANGE TO EBANK5 BUT DON'T DISTURB L TS EBANK CA BIT13 # SET ELV TO 45 DEG XCH L # SET C(A)=AZ, C(L)=45 DEG TCF AZEL # GO COMP OPTIC AXIS GETAZEL CAF V06N87 # CODE 0 OR 7, GET AZ AND EL KEY IN TC BANKCALL CADR GOFLASH TC GOTOPOOH # V34 -- TERMINATE TCF +2 # PROCEED -- CALC OPTIC AXIS TCF GETAZEL # ENTER -- RECYCLE EXTEND DCA AZ # PICK UP AZ AND EL IN SP 2'S COMP AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC DXCH 8D TC INTPRET CALL # GO COMPUTE OPTIC AXIS AND STORE IN OANB # SCAXIS IN NB COORDS RTB CALL LOADTIME PLANET MXV UNIT REFSMMAT STORE POINTVSM # STORE FOR VECPOINT EXIT TC BANKCALL CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS CAF HIGH9 # IF COAS CALIBRATION CODE 0. RECYCLE MASK STARCODE EXTEND BZF R52A TC INTPRET # RETURN FROM KALCMANU GOTO SAVQR52 # RETURN TO CALLER 1/6TH DEC .1666667 V01N70 VN 0170 V06N87 VN 687 # Page 957 # LUNAR SURFACE STAR ACQUISITION BANK 15 SETLOC P50S BANK COUNT* $$/R59 R59 CS FLAGWRD3 MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR ACQUIRE CCS A TCF R59OUT # NO REFSMMAT GO TO AOTMARK CAF V01N70* # SELECT STAR CODE FOR ACQUISITION TC BANKCALL CADR GOFLASH TC GOTOPOOH # V34 -- TERMINATE TCF R59A # V33 -- PROCEED TCF R59 # V32 -- RECYCLE R59A CS HIGH9 # GRAB STARCODE FOR INDEX MASK AOTCODE EXTEND MP REVCNT # JUST 6 XCH L INDEX STARIND TS BESTI INDEX FIXLOC TS X1 # CODE X 6 FOR CATLOG STAR INDEX EXTEND BZF R59OUT # BYPASS ACQUISITION IF NOT CATLOG STAR COM AD DEC227 EXTEND BZMF R59OUT TC INTPRET VLOAD* MXV CATLOG,1 # GRAB STAR VECTOR REFSMMAT # TRANSFORM TO SM UNIT CALL CDU*SMNB STORE STAR # TEMP STORE STAR VEC(NB) EXIT CAF BIT1 # INITIALIZE AZ POSITION COD TO 1 (-60) TS POSCODE EBANK= XYMARK INCAZ CA EBANK7 TS EBANK # Page 958 INDEX POSCODE CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO POSCODE TS L EBANK= XSM CA EBANK5 TS EBANK CA BIT13 # SET ELV TO 45 DEG XCH L # SET C(A)=AZ, C(L)=45 DEG TS QMIN # STORE QMIN=AZ FOR LATER INDEX FIXLOC DXCH 8D # JAM AZ IN 8D, 45 DEG IN 9D FOR OANB TC INTPRET CALL OANB # GO CALC OPTIC AXIS WRT NB VLOAD DOT STAR # DOT STAR WITH OA SCAXIS SL1 ARCCOS STORE 24D # TEMP STORE ARCCOS(STAR.OPTAXIS) DSU BPL DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW NXAX # NOT IN FIELD -- TRY NEXT POSITION DLOAD DSU # SEE IF STAR AT FIELD CENTER 24D DEG.5 BMN DLOAD # CALC SPIRAL AND CURSOR ZSPCR # GO ZERO CURSOR AND SPIRAL 24D # GET SPIRAL DMP SL4 3/4 # 12 SCALED AT 16 STOVL 24D # 12(ARCCOS(AO.STAR)) SCALED IN REVS SCAXIS # OA VXV UNIT XUNIT PUSH VXV # OA X UNITX PD 0-5 SCAXIS VCOMP UNIT PDVL # UNIT(OA X (OA X UNITX)) PD 6-11 SCAXIS VXV UNIT STAR PUSH DOT # 1/2(OA X STAR) PD 12-17 0 # DOT WITH 1/2(OA X UNITX) FOR YROT SL1 ARCCOS STOVL 26D # STORE THET SCALED IN REVS # Page 959 DOT # UP 12-17, UP 6-11 FOR C2 BPL DLOAD # IF THET NEG -- GET 360-THET R59D ABOUTONE DSU 26D STORE 26D # 360-THET SCALED IN REVS R59D SLOAD SR1 QMIN # RESCALE AZ(N) TO REVS DAD PUSH # PUSH YROT + AZ(N) REVS 26D RTB 1STO2S STODL CURSOR # YROT IN 1/2 REVS 24D # LOAD SROT IN REVS DAD # 12(SEP) + YROT RTB 1STO2S STORE SPIRAL # SROT IN 1/2 REVS EXIT TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE ZSPCR EXIT CAF ZERO # STAR ALMOST OPTIC AXIS, ZERO CURSOR TS CURSOR # AND SPIRAL ANGLES TS SPIRAL TCF 79DISP NXAX EXIT INCR POSCODE CS POSCODE AD SEVEN EXTEND BZMF R59ALM # THIS STAR NOT AT ANY POSITION TCF INCAZ R59ALM TC ALARM # THIS STAR CAN'T BE LOCATED IN AOT FIELD OCT 404 CAF VB05N09 # DISPLAY ALARM TC BANKCALL CADR GOFLASH TCF GOTOPOOH # VB34 -- TERMINATE TCF R59OUT # VB33 -- PROCEED, GO WITHOUT ACQUIRE TCF R59 # VB32 -- RECYCLE AND TRY ANOTHER STAR 79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE TC BANKCALL CADR GOFLASH TCF GOTOPOOH # V34 -- TERMINATE # Page 960 TCF R59E # V33 -- PROCEED TO MARK ROUTINE TCF R59 # V32 -- RECYCLE TO TOP OF R59 AGAIN R59E CAF SEVEN # GET DETENT CODE CORRESPONDING TO POSCODE MASK POSCODE EXTEND MP BIT7 # DETEND CODE NOW IN L CS HIGH9 MASK AOTCODE # ISOLATE STAR NO BIT 1-6 AD L TS AOTCODE # STORE DETENT 7-9 R59OUT TC BANKCALL # GO TO AOTMARK FOR SIGHTING CADR AOTMARK TC BANKCALL CADR AOTSTALL # SLEEP TILL SIGHTING DONE TC CURTAINS # BADEND RETURN FROM AOTMARK TCF R59RET # RETURN TO 1 STAR OR 2STAR V01N70* VN 170 V06N79 VN 679 DEG30 2DEC .083333333 # 30 DEGREES DEG.5 2DEC .00138888 # .5 DEGREES SCALED IN REVS. DEG60 OCT 12525 # 60 DEG CDU SCALING CURSOR EQUALS GDT/2 SPIRAL EQUALS GDT/2 +2 POSCODE EQUALS GDT/2 +4 # Page 961 # NAME -- PLANET # FUNCTION -- TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL # BODY. STARS ARE FETCHED FROM THE CATALOG, SUN, EARTH AND # MOON ARE COMPUTED BY LOCSAM, PLANET VECTORS ARE ENTERED # BY DSKY INPUT. # CALL -- CALL # PLANET # INPUT -- TIME IN MPAC # OUTPUT -- VECTOR IN MPAC # SUBROUTINES -- LOCSAM # DEBRIS -- VAC, STARAD - STARAD +17 SETLOC P50S BANK COUNT* $$/P51 PLANET STOVL TSIGHT ZEROVEC STORE STARAD STQ EXIT GCTR CS HIGH9 MASK AOTCODE EXTEND MP REVCNT XCH L INDEX STARIND TS BESTI CCS A TCF NOTPLAN CAF VNPLANV TC BANKCALL CADR GOFLASH TC -3 TC +2 TC -5 TC INTPRET VLOAD UNIT STARAD GOTO GCTR NOTPLAN CS A AD DEC227 EXTEND BZMF CALSAM1 INDEX STARIND CA BESTI INDEX FIXLOC TS X1 TC INTPRET # Page 962 VLOAD* GOTO CATLOG,1 GCTR CALSAM1 TC INTPRET CALSAM DLOAD CALL TSIGHT LOCSAM LXC,1 VLOAD STARIND VEARTH STOVL 0D VSUN STOVL VEARTH 0D STORE VSUN DLOAD* LXC,1 BESTI,1 MPAC VLOAD* GOTO STARAD -228D,1 GCTR DEC227 DEC 227 VNPLANV VN 0688 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DON'T LOAD PIPTIME1 # Page 963 # GRAVITY VECTOR DETERMINATION ROUTINE # BY KEN VINCENT # # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5. # # THIS PROGRAM FINDS THE DIRECTION OF THE MOON'S GRAVITY # WHILE THE LM IS IN THE MOON'S SURFACE. IT WILL BE USED # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO # PARTICULAR ORIENTATIONS. THE TWO READINGS ARE AVERAGED # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO # ORIENTATIONS WERE CHOSEN TO REDUCE BIAS ERRORS IN THE # READINGS. # # CALL -- # TC BANKCALL # CADR GVDETER # # INPUTS -- # PIPAS, CDUS # # OUTPUTS -- # STARSAV1 = UNIT GRAVITY # GSAV = DITTO # GRAVBIT = 1 # # SUBROUTINES -- # PIPASR, IMUCOARS, IMUFINE, IMUSTALL, 1/PIPA, DELAYJOB, CDUTRIG, # *NBSM*, *SNMB*, CALCGA, GOFLASH # # DEBRIS -- # VAC, SAC, STARAD, XSM, XNB, THETAD, DELV, COSCDU, SINCDU GVDETER CAF 42DEG TS THETAD COM TS THETAD +1 CAF 35DEG TS THETAD +2 TC INTPRET CLEAR CALL REFSMFLG LUNG # FIND GIMBAL ANGLES WHICH ROTATE SM 180 DEG ABOUT G VEC # # DEFINE G COOR SYS # _ # [ X ] [ UNIT G ] # * [ _ ] [ _ ] # M = [ Y ] = [ UNITEZSM * X ] # [ _ ] [ _ _ ] # [ Z ] [ UNIT( X * Y )] # # THEN ROTATED SM WRT PRESENT IS # # Page 964 # [ 1 0 0 ] # * *T [ ] * * * # XSM = M [ 0 -1 0 ] M = 2 (X X ) - 1/2 I # [ ] I J # [ 0 0 -1 ] # # ALSO NB WRT PRES SM IS # # * * * # XNB = NBSM I # # * * # GIMBAL ANGLES = CALCGA( XSM, XNB ) SETLOC P50S BANK COUNT* $$/P57 AXT,1 SSP # X1=18 18D # S1=6 S1 # X2, -2 6D LXC,2 S1 GRAVEL VLOAD* CALL XUNIT -6,2 *NBSM* # SIN AND COS COMPUTED IN LUNG STORE XNB +18D,1 VLOAD STAR LXC,2 VXSC* # COMPLEMENT -- UNITX ARE BACKWARD -- X2 STAR +6,2 # OUTER PRODUCT VSL2 LXC,2 X2 VSU* INCR,2 XUNIT -6,2 2D STORE XSM +18D,1 TIX,1 CALL GRAVEL CALCGA VLOAD VSR1 GOUT STCALL STARAD +12D LUNG VLOAD VSR1 GOUT VAD UNIT STARAD +12D STORE STARSAV1 DOT GSAV SL1 ACOS # Page 965 STORE DSPTEM1 EXIT TC DOWNFLAG # CLAR FREEFLAG IN CASE OF RECYCLE ADRES FREEFLAG CA DISGRVER TC BANKCALL CADR GOFLASH TC GOTOPOOH TCF PROGRAV # VB33 -- PROCEED TC UPFLAG # VB32 -- RECYCLE -- STORE GRAV AND DO IT AGAIN ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE PROGRAV TC PHASCHNG OCT 04024 TC INTPRET VLOAD STARSAV1 STORE GSAV EXIT CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY MASK FLAGWRD0 CCS A TCF GVDETER # SET TCF ATTCHK # EXIT FROM GVDETER LUNG STQ VLOAD QMIN ZEROVEC STORE GACC EXIT TC PHASCHNG OCT 04024 TC BANKCALL CADR IMUCOARS TC BANKCALL CADR IMUSTALL TC CURTAINS TC BANKCALL CADR IMUFINE TC BANKCALL CADR IMUSTALL TC CURTAINS CA T/2SEC TS GCTR CA PRIO31 TS 1/PIPADT TC BANKCALL # Page 966 CADR GCOMPZER # INITIALIZE COMPENSATION TC PHASCHNG OCT 04024 TC BANKCALL # DON'T NEED TO INHINT. THIS USED TO CADR PIPSRINE # INITIALIZE PIPAS. DON'T USE DATA TC INTPRET GREED EXIT # = MASK 7776 IN BASIC SO DON'T CARE CAF 2SECS TC TWIDDLE # SET UP 2 SEC TASK TO READ PIPAS ADRES GRABGRAV TC ENDOFJOB GRABGRAV TC IBNKCALL CADR PIPSRINE CAF PRIO13 # RE-ESTABLISH MAINLINE JOB TC FINDVAC EBANK= STARAD 2CADR ADDGRAV TC TASKOVER ADDGRAV TC BANKCALL CADR 1/PIPA INCR GCTR TC INTPRET VLOAD VAD DELV GACC STORE GACC # ACCUMULATE G VECTOR SLOAD BMN GCTR GREED VLOAD UNIT GACC STCALL STAR CDUTRIG # TRANSFORM IN NB COOR AND STORE CALL # IN OUTPUT *SMNB* STORE GOUT EXIT TC PHASCHNG OCT 04024 QMINEXIT TC INTPRET GOTO QMIN T/2SEC DEC -20 # Page 967 DISGRVER VN 0604 42DEG OCT 07357 35DEG OCT 06211 # Page 968 # NAME -- GYROTRIM # # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION. # # CALL CALL # GYROTRIM # # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES # CDUX,CDUY,CDUZ # # OUTPUT GYRO TORQUE PULSES # # SUBROUTINES TRG*NBSM, *NBSM*, CDUTRIG, AXISGEN, CALCGTA, IMUFINE # IMPULSE, IMUSTALL # _______ ______ ______ * * ___ # DEBRIS CDUSPOT, SINCDU, COSCDU, STARAD, VAC, XDC, OGC COUNT* $$/P57 GYROTRIM STQ DLOAD QMIN THETAD PDDL PDDL THETAD +2 THETAD +1 VDEF STOVL CDUSPOT XUNIT CALL TRG*NBSM STOVL STARAD YUNIT CALL *NBSM* STCALL STARAD +6 CDUTRIG CALL CALCSMSC VLOAD XNB STOVL 6D YNB STCALL 12D AXISGEN CALL CALCGTA JUSTTRIM EXIT TC BANKCALL CADR IMUFINE TC BANKCALL # Page 969 CADR IMUSTALL TC CURTAINS CA GYRCDR TC BANKCALL CADR IMUPULSE TC BANKCALL CADR IMUSTALL TC CURTAINS TCF QMINEXIT GYRCDR ECADR OGC # Page 970 # PERFORM STAR ACQUISITION AND STAR SIGHTINGS 2STARS CAF ZERO # INITIALIZE STARIND TCF +2 # ZERO FOR 1ST STAR, ONE FOR 2ND STAR 1STAR CAF BIT1 TS STARIND TC PHASCHNG OCT 04024 TCF R59 # GO DO STAR ACQUIRE AND AOTMARK R59RET CA STARIND # BACK FROM SURFACE MARKING EXTEND BZF ASTAR # 1ST STAR MARKED TC PHASCHNG OCT 04024 TC INTPRET DLOAD CALL TSIGHT # TIME OF 2ND MARK PLANET STCALL VEC2 # STORE 2ND CATALOG VEC (REF) SURFLINE ASTAR TC INTPRET VLOAD STARAD +6 STORE STARSAV1 # 1ST OBSERVED STAR (SM) DLOAD CALL TSIGHT # TIME OF 1ST MARK PLANET STORE VEC1 # STORE 1ST CATALOG VEC (REF) EXIT TCF 1STAR # GO GET 2ND STAR SIGHTING # Page 971 # DO FINE OR COARSE ALIGNMENT OF IMU SURFLINE SSP AXT,2 S2 6 12D WRTDESIR VLOAD* MXV VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH XSMD UNIT STORE STARAD +12D,2 # VEC IN SM VLOAD* STARSAV1 +12D,2 # PICK UP VEC IN PRESENT SM STORE 18D,2 TIX,2 BON WRTDESIR INITALGN # IF INITIAL PASS (OPTION 0) BYPASS R54 INITBY DOALIGN CALL R54 # DO CHKSDATA BOFF FREEFLAG P57POST # ASTRO DOES NOT LIKE DATA TEST RESULTS INITBY CALL AXISGEN # GET DESIRED ORIENT WRT PRES. XDC,YDC,ZDC CALL CALCGTA # GET GYRO TORQ ANGLES, OGC,IGC,MGC EXIT CAF INITABIT # IF INITIAL PASS BYPASS NOUN 93 DISPLAY MASK FLAGWRD8 CCS A TCF 5DEGTEST CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93 TC BANKCALL CADR GOFLASH TC GOTOPOOH # V34 -- TERMINATE TCF 5DEGTEST # VB33 -- PROCEED TO COARSE OR FINE TCF P57POST +1 # VB32 -- RECYCLE, MAYBE RE-ALIGN 5DEGTEST TC INTPRET # IF ANGLES GREATER THAN 5 DEGS, DO COARSE VLOAD BOV OGC SURFSUP SURFSUP STORE OGCT V/SC BOV 5DEGREES COATRIM SSP GOTO QMIN SURFDISP # Page 972 JUSTTRIM # ANGLES LESS THAN 5 DEG, DO GYRO TORQ SURFDISP EXIT TC PHASCHNG OCT 04024 TC INTPRET AXC,1 AXC,2 XSMD REFSMMAT SET CALL REFSMFLG MATMOVE EXIT CCS OPTION2 # IF OPTION ZERO DO FINISH TCF B2F8 TCF P57POST +1 B2F8 CAF INITABIT # IF INITIAL FLAG SET, RE-CYCLE. MASK FLAGWRD8 CCS A TCF P57JUMP # IT'S SET TC INTPRET CALL REFMF # GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV) P57POST EXIT CAF OCT14 # DISPLAY V50N25 CHK CODE 14 TC BANKCALL CADR GOPERF1 TCF GOTOPOOH # VB34 -- TERMINATE TCF P57JUMP # VB33 -- PROCEED TO RE-ALIGN CS BIT2 # TEST TO SEE IF ALIGNED BY OPTION 2 AD OPTION2 EXTEND BZF +2 # YES -- GO CALCULATE LANDING SITE TCF GOTOPOOH # NO -- EXIT P57 TC PHASCHNG # RESTART PLACE OCT 04024 TC INTPRET VLOAD CALL # USE GNB GSAV CDU*NBSM # GO TO SM COORDS VXM SET # ON MOON SO SET LUNAFLAG REFSMMAT # G(REF) = (REFSMMAT)T (NBSM)GNB LUNAFLAG PDVL ABVAL RLS VXSC STADR STORE ALPHAV # ALPHAV = RLSMAG * G(REF) CLEAR RTB # Page 973 ERADFLAG LOADTIME CALL N89DISP # SUBROUTINE TO CALC LS AND GIVE RLS BACK STORE RN # RN=RLS B-29 = LM POSITION VSL2 PDDL # R-TO-RP GETS RLS B-27 AT 0-50 IN PDLIST GDT/2 +4 # TIME TEMP STORED IN N89DISP PUSH # TIME AT 6-7 IN PDLIST STCALL PIPTIME # PIPTIME = LM STATE TIME R-TO-RP STORE RLS # RLS IN MOON-FIXED COORDS EXIT TCF GOTOPOOH # EXIT P57 # Page 974 # COARSE AND FINE ALIGN IMU COATRIM AXC,1 AXC,2 XDC XSM CALL MATMOVE CALL CDUTRIG CALL CALCSMSC CALL CALCGA BOFF EXIT INITALGN # IF INITIAL ALIGNMENT DISPLAY FINAL CORSIT # GIMBAL ANGLES IF COARSE ANGLES GREATER CAF V06N22 # THAN 5 DEGREES TC BANKCALL CADR GOFLASH TC GOTOPOOH TCF +2 TCF -5 TC PHASCHNG OCT 04024 TC INTPRET CORSIT CALL COARSE CALL NCOARSE CALL GYROTRIM GOTO SURFDISP DISPGYRO VN 0693 # Page 975 # LUNAR SURFACE IMU ALIGNMENT PROGRAM P57 TC BANKCALL # IS ISS ON -- IF NOT, IMUCHK WILL SEND CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH CAF THREE # JAM REFSMMAT OPTION 3 FOR INITIAL DISP. TS OPTION2 P57OPT CAF BIT1 TC BANKCALL CADR GOPERF4R # FLASH V04N06 FOR ALIGNMENT CODE TC GOTOPOOH # V34 TERMINATE TCF ALIGNOPT # V33 PROCEED TCF P57OPT # V32 RECYCLE TC PHASCHNG OCT 00014 TC ENDOFJOB ALIGNOPT CA OPTION2 MASK THREE INDEX A TCF +1 TCF TDISP # OPTION 4 LS ORIENTATION TCF PACKOPTN # OPTION 1 PREFERRED TCF P57OPT # OPTION 2 INVALID IN P57, RECYCLE TC INTPRET # OPTION 3 REFSMMAT AXC,1 AXC,2 # JAM REFSMMAT IN XSMD LOC REFSMMAT XSMD CALL MATMOVE GOTO PACKOPTN -1 TDISP TC INTPRET DLOAD TIG # LOAD ASCENT TIME FOR DISPLAY P57A STORE DSPTEM1 EXIT P57AA CAF V06N34* # DISPLAY TALIGN, TALIGN : DSPTEM1 TC BANKCALL CADR GOFLASH TCF GOTOPOOH # V34 -- TERMINATE TCF +2 TCF P57AA # VB32 -- RECYCLE TC INTPRET RTB PDDL LOADTIME # PUSH CURRENT TIME AND PICK UP KEY IN DSPTEM1 # Page 976 BZE PDDL P57C # IF KEY IN TIME ZERO - TALIGN=CURRENT TIME DSU BPL # NOT ZERO SO EXCHANGE PD WITH DSPTEM1 DSPTEM1 P57C DLOAD STADR # IF KEYIN TIME GREATER THAN CURRENT TIME STORE TIG # STORE IT IN TIG STCALL TALIGN P57D P57C DLOAD STADR STORE TALIGN P57D STCALL TDEC1 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE VLOAD UNIT # IN X,Y,ZSMD RATT STCALL XSMD LSORIENT EXIT PACKOPTN CAF ZERO # PACK FLAG BITS FOR OPTION DISPLAY TS OPTION1 +1 # JAM ZERO IN ALIGNMENT OPTION TS OPTION1 +2 # INITIALIZE FLAG BIT CONFIGURATION CAF REFSMBIT MASK FLAGWRD3 # REFSMFLG CCS A CAF BIT7 # SET ADS OPTION1 +2 # CLEAR -- JUST ZERO CAF ATTFLBIT MASK FLAGWRD6 # ATTFLG CCS A CAF BIT4 # SET ADS OPTION1 +2 # CLEAR -- ZERO IN A CAF BIT4 TS OPTION1 # JAM 00010 IN OPTION1 FOR CHECK LIST DSPOPTN CAF VB05N06 # DISPLAY OPTION CODE AND FLAG BITS TC BANKCALL CADR GOFLASH TCF GOTOPOOH # VB34 -- TERMINATE TCF +2 # V33 -- PROCEED TCF DSPOPTN # V32 -- RECYCLE CAF REFSMBIT MASK FLAGWRD3 CCS A TCF GETLMATT # SET, GO COMPUTE LM ATTITUDE CAF ATTFLBIT # CLEAR -- CHECK ATTFLAG FOR STORED ATTITUDE. MASK FLAGWRD6 CCS A TCF BYLMATT # ALLFLG SET, CHK OPTION FOR GRAVITY COMP CAF BIT2 # SEE IF OPTION 2 OR 3 # Page 977 MASK OPTION2 CCS A TCF BYLMATT # OPTION 2 OR 3 BUT DON'T HAVE ATTITUDE TC ALARM # OPTION INCONSISTENT WITH FLAGS -- ALARM 701 OCT 701 CAF VB05N09 # DISPLAY ALARM FOR ACTION TC BANKCALL CADR GOFLASH TCF GOTOPOOH # VB34 -- TERMINATE TCF DSPOPTN # V33 -- PROCEED *********TEMPORARY TCF DSPOPTN # VB32 -- RECYCLE TO OPTION DISPLAY V 05N06 # Page 978 # TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2 MFREF STQ SETPD QMAJ 0 RTB LOADTIME STOVL TSIGHT VEC1 PDDL PUSH TSIGHT CALL RP-TO-R STOVL VEC1 VEC2 SETPD PDDL 0 TSIGHT PUSH CALL RP-TO-R STCALL VEC2 QMAJ # Page 979 # COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND # STORE IN YNBSAV AND ZNBSAV. REFMF STQ CALL QMAJ CDUTRIG # GET SIN AND COS OF CDUS RTB SETPD LOADTIME 0 STCALL TSIGHT CALCSMSC # GET YNB IN SM VLOAD VXM YNB REFSMMAT # YNB TO REF UNIT PDDL TSIGHT PUSH CALL R-TO-RP STOVL YNBSAV # YNB TO MF ZNB VXM UNIT REFSMMAT # ZNB TO REF PDDL PUSH TSIGHT CALL R-TO-RP # ZNB TO MF STORE ZNBSAV SETGO ATTFLAG QMAJ # Page 980 # BRANCH TO ALIGNMENT OPTION GETLMATT TC INTPRET CALL REFMF # GO TRANSFORM TO MF IN YNBSAV, ZNBSAV EXIT BYLMATT TC UPFLAG # SET INITIAL ALIGN FLAG ADRES INITALGN CAF BIT1 MASK OPTION2 # SEE IF OPTION 1 OR 3 CCS A TCF GVDETER # OPTION 1 OR 2, GET GRAVITY ATTCHK TC PHASCHNG OCT 04024 CAF ATTFLBIT # NOT 1 OR 3, CHECK ATTFLAG MASK FLAGWRD6 CCS A TCF P57OPT0 # GET ALIGNMENT VECS FOR OPTION 0 P57JUMP TC PHASCHNG OCT 04024 TC DOWNFLAG # ATTFLG CLEAR -- RESET INTALIGN FLAG ADRES INITALGN CAF THREE MASK OPTION2 # BRANCH ON OPTION CODE INDEX A TCF +1 TCF P57OPT0 # OPTION IS 0 TCF P57OPT1 # OPTION IS 1 TCF P57OPT2 # OPTION IS 2 TCF P57OPT3 # OPTION IS 3 # Page 981 # OPTION 0, GET TWO ATTITUDE VECS P57OPT0 TC INTPRET VLOAD YNBSAV # Y AND Z ATTITUDE WILL BE PUT IN REF STOVL VEC1 ZNBSAV STCALL VEC2 CDUTRIG CALL CALCSMSC # COMPUTE SC AXIS WRT PRESENT SM VLOAD YNB SAMETYP STOVL STARSAV1 # Y SC AXIS WRT PRESENT SM ZNB STCALL STARSAV2 # Z SC AXIS WRT PRESENT SM MFREF # TRANSFORM VEC1,2 FROM MF TO REF GOTO SURFLINE # OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC P57OPT1 TC INTPRET VLOAD UNIT RLS # LANDING SITE VEC STOVL VEC1 ZNBSAV # Z ATTITUDE VEC STCALL VEC2 CDUTRIG CALL CALCSMSC # GET ZNB AXIS WRT PRES SM FOR STARSAV2 VLOAD CALL GSAV # TRANS GSAV FROM NB TO SM FOR STARSAV1 CDU*NBSM GOTO SAMETYP # NOW DO SAME AS OPTION 0 # Page 982 # OPTION 2, GET TWO STAR SIGHTINGS P57OPT2 TCF 2STARS # DO SIGHTING ON 2 STARS # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING P57OPT3 TC INTPRET VLOAD UNIT RLS # LANDING SITE VEC STORE VEC1 STOVL VEC2 # DUMMY VEC2 FOR 2ND CATALOG STAR GSAV # GRAVITY VEC NB CALL CDU*NBSM # TRANS GSAV FROM NB TO SM FOR STARSAV1 STCALL STARSAV1 MFREF # STARSAV2 IS STORED AS 2ND OBSERVED STAR EXIT TCF 1STAR # 1STAR GET VEC2, STARSAV2 GOES TO SURFLINE. VB05N06 VN 506 # Page 983 # CHECK IMODES30 TO VERIFY IMU IS ON IMUCHK CS IMODES30 MASK BIT9 CCS A # IS IMU ON TCF +4 # YES TC ALARM # NO, SEND ALARM AND EXIT OCT 210 TC GOTOPOOH TC UPFLAG ADRES IMUSE # SET IMUSE FLAG TC SWRETURN BANK 04 SETLOC AOTMARK2 BANK COUNT* $$/P57 LSORIENT STQ VLOAD QMAJ RRECTCSM VXV VXV VRECTCSM XSMD UNIT STORE ZSMD VXV UNIT XSMD STCALL YSMD QMAJ ================================================ FILE: Luminary099/P70-P71.agc ================================================ # Copyright: Public domain. # Filename: P70-P71.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Hartmuth Gutsche . # Website: www.ibiblio.org/apollo. # Pages: 829-837 # Mod history: 2009-05-23 HG Transcribed from page images. # 2009-06-05 RSB Fixed a typo. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 829 BANK 21 SETLOC R11 BANK EBANK= DVCNTR COUNT* $$/R11 R10,R11 CS FLAGWRD7 # IS SERVICER STILL RUNNING? MASK AVEGFBIT CCS A TCF TASKOVER # LET AVGEND TAKE CARE OF GROUP 2. CCS PIPCTR TCF +2 TCF LRHTASK # LAST PASS. CALL LRHTASK. +2 TS PIPCTR1 PIPCTR1 = LADQSAVE PIPCTR = PHSPRDT2 CAF OCT31 TC TWIDDLE ADRES R10,R11 R10,R11A CS IMODES33 # IF LAMP TEST, DO NOT CHANGE LR LITES. MASK BIT1 EXTEND BZF 10,11 FLASHH? MASK FLGWRD11 # C(A) = 1 = HFLASH BIT EXTEND BZF FLASHV? # H FLASH OFF, SO LEAVE ALONE CA HLITE TS L TC FLIP # FLIP H LITE FLASHV? CA VFLSHBIT # VLASHBIT MUST BE BIT 2. MASK FLGWRD11 EXTEND BZF 10,11 # V FLASH OFF CA VLITE TS L TC FLIP # FLIP V LITE 10,11 CA FLAGWRD9 # IS THE LETABORT FLAG SET ? MASK LETABBIT EXTEND BZF LANDISP # NO. PROCEED TO R10. P71NOW? CS MODREG # YES. ARE WE IN P71 NOW? # Page 830 AD 1DEC71 EXTEND BZF LANDISP # YES. PROCEED TO R10. EXTEND # NO. IS AN ABORT STAGE COMMANDED? READ CHAN30 COM TS L MASK BIT4 CCS A TCF P71A # YES. P70NOW? CS MODREG # NO. ARE WE IN P70 NOW? AD 1DEC70 EXTEND BZF LANDISP # YES. PROCEED TO R10. CA L # NO. IS AN ABORT COMMANDED? MASK BIT1 CCS A TCF P70A # YES. TCF LANDISP # NO. PROCEED TO R10. COUNT* $$/P70 P70 TC LEGAL? P70A CS ZERO TCF +3 P71 TC LEGAL? P71A CAF TWO +3 TS Q INHINT EXTEND DCA CNTABTAD DTCB EBANK= DVCNTR CNTABTAD 2CADR CONTABRT 1DEC70 DEC 70 1DEC71 DEC 71 BANK 05 SETLOC ABORTS1 BANK COUNT* $$/P70 CONTABRT CAF ABRTJADR TS BRUPT RESUME # Page 831 ABRTJADR TCF ABRTJASK ABRTJASK CAF OCTAL27 AD Q TS L COM DXCH -PHASE4 INDEX Q CAF MODE70 TS MODREG TS DISPDEX # INSURE DISPDEX IS POSITIVE. CCS Q # SET APSFLAG IF P71. CS FLGWRD10 # SET APSFLAG PRIOR TO THE ENEMA. MASK APSFLBIT ADS FLGWRD10 CS DAPBITS # DAPBITS = OCT 640 = BITS 6, 8, 9 MASK DAPBOOLS # (TURN OFF: ULLAGE, DRIFT, AND XOVINHIB ) TS DAPBOOLS CS FLAGWRD5 # SET ENGONFLG. MASK ENGONBIT ADS FLAGWRD5 CS PRIO30 # INSURE THAT THE ENGINE IS ON, IF ARMED. EXTEND RAND DSALMOUT AD BIT13 EXTEND WRITE DSALMOUT CAF LRBYBIT # TERMINATE R12. TS FLGWRD11 CS FLAGWRD0 # SET R10FLAG TO SUPPRESS OUTPUTS TO THE MASK R10FLBIT # CROSS-POINTER DISPLAY. ADS FLAGWRD0 # THE FOLLOWING ENEMA WILL REMOVE THE # DISPLAY INERTIAL DATA OUTBIT. TC CLRADMOD # INSURE RADMODES PROPERLY SET FOR R29. EXTEND # LOAD TEVENT FOR THE DOWNLINK. DCA TIME2 DXCH TEVENT EXTEND DCA SVEXITAD DXCH AVGEXIT # Page 832 EXTEND DCA NEG0 DXCH -PHASE1 EXTEND DCA NEG0 DXCH -PHASE3 EXTEND DCA NEG0 DXCH -PHASE6 CAF THREE # SET UP 4.3SPOT FOR GOABORT TS L COM DXCH -PHASE4 CAF OCT37774 # SET T5RUPT TO CALL DAPIDLER IN TS TIME5 # 40 MILLISECONDS. TC POSTJUMP CADR ENEMA EBANK= DVCNTR SVEXITAD 2CADR SERVEXIT MODE70 DEC 70 OCTAL27 OCT 27 MODE71 DEC 71 DAPBITS OCT 00640 BANK 32 SETLOC ABORTS BANK COUNT* $$/P70 GOABORT TC INTPRET CALL INITCDUW EXIT CAF FOUR TS DVCNTR CAF WHICHADR TS WHICH TC DOWNFLAG ADRES FLRCS # Page 833 TC DOWNFLAG ADRES FLUNDISP TC DOWNFLAG ADRES IDLEFLAG TC UPFLAG # INSURE 4-JET TRANSLATION CAPABILITY. ADRES ACC4-2FL TC CHECKMM 70DEC DEC 70 TCF P71RET P70INIT TC INTPRET CALL TGOCOMP DLOAD SL MDOTDPS 4D BDDV MASS STODL TBUP MASS DDV SR1 K(1/DV) STORE 1/DV1 STORE 1/DV2 STORE 1/DV3 BDDV K(AT) STODL AT DTDECAY DCOMP SL 11D STORE TTO SLOAD DCOMP DPSVEX SR2 STORE VE # INITIALIZE DPS EXHAUST VELOCITY SET CALL FLAP COMMINIT AXC,1 GOTO # RETURN HERE IN P70, SE X1 FOR DPS COEFF. 0D BOTHPOLY INJTARG AXC,1 # RETURN HERE IN P71, SET X1 FOR APS COEFF 8D BOTHPOLY DLOAD* DMP # TGO D ABTCOF,1 TGO # Page 834 DAD* DMP ABTCOF +2,1 # TGO(C+TGO D) TGO DAD* DMP ABTCOF +4,1 # TGO(B+TGO(C+TGO D)) TGO DAD* ABTCOF +6,1 # A+TGO(B+TGO(C+TGO D)) STORE ZDOTD # STORE TENTATIVELY IN ZDOTD DSU BPL # CHECK AGAINST MINIMUM VMIN UPRATE # IF BIG ENOUGH, LEAVE ZDOTD AS IS . DLOAD VMIN STORE ZDOTD # IF TOO SMALL, REPLACE WITH MINIMUM. UPRATE DLOAD ABTRDOT STCALL RDOTD # INITIALZE RDOTD. YCOMP # COMPUTE Y ABS DSU YLIM # /Y/-DYMAX BMN SIGN # IF <0, XR<.5DEG, LEAVE YCO AT 0 YOK # IF >0, FIX SIGN OF DEFICIT, THIS IS YCO. Y STORE YCO YOK DLOAD DSU YCO Y # COMPUTE XRANGE IN CASE ASTRONAUT WANTS SR 5D STORE XRANGE # TO LOOK. UPTHROT SET EXIT FLVR TC UPFLAG # SET ROTFLAG ADRES ROTFLAG TC THROTUP TC PHASCHNG OCT 04024 -3 TC BANKCALL # VERIFY THAT THE PANEL SWITCHES CADR P40AUTO # ARE PROPERLY SET. TC THROTUP UPTHROT1 EXTEND # SET SERVICER TO CALL ASCENT GUIDANCE. DCA ATMAGAD DXCH AVGEXIT # Page 835 GRP4OFF TC PHASCHNG # TERMINATE USE OF GROUP 4. OCT 00004 TCF ENDOFJOB P71RET TC DOWNFLAG ADRES LETABORT CAF THRESH2 # SET DVMON THRESHOLD TO THE ASCENT VALUE. TS DVTHRUSH TC INTPRET BON CALL FLAP OLDTIME TGOCOMP # IF FLAP=0, TGO=T-TIG SSP GOTO QPRET CADR INJTARG P12INIT # WILL EXIT P12INIT TO INJTARG OLDTIME DLOAD SL1 # IF FLAP=1,GTO=2 TGO TGO STCALL TGO1 P12INIT EXIT TC PHASCHNG OCT 04024 EXTEND DCA TGO1 DXCH TGO TCF UPTHROT1 -3 TGO1 = VGBODY # ************************************************************************* BANK 21 SETLOC R11 BANK COUNT* $$/P70 LEGAL? CS MMNUMBER # IS THE DESIRED PGM ALREADY IN PROGRESS? AD MODREG EXTEND BZF ABORTALM CS FLAGWRD9 # ARE THE ABORTS ENABLED? MASK LETABBIT CCS A # Page 836 TCF ABORTALM CA FLAGWRD7 # IS SERVICER ON THE AIR? MASK AVEGFBIT CCS A TC Q # YES. ALL IS WELL. ABORTALM TC FALTON TC RELDSP TC POSTJUMP CADR PINBRNCH BANK 32 SETLOC ABORTS BANK COUNT* $$/P70 # ************************************************************************ TGOCOMP RTB DSU LOADTIME TIG SL 11D STORE TGO RVQ # ************************************************************************ THROTUP CAF BIT13 TS THRUST CAF BIT4 EXTEND WOR CHAN14 TC Q # ************************************************************************ 10SECS 2DEC 1000 HINJECT 2DEC 18288 B-24 # 60,000 FEET EXPRESSED IN METERS. (TGO)A 2DEC 37000 B-17 K(AT) 2DEC .02 # SCALING CONSTANT WHICHADR REMADR ABRTABLE # ************************************************************************ # Page 837 EBANK= DVCNTR ATMAGAD 2CADR ATMAG ORBMANAD ADRES ORBMANUV ================================================ FILE: Luminary099/P76.agc ================================================ # Copyright: Public domain. # Filename: P76.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 709-711 # Mod history: 2009-05-19 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 709 # 1) PROGRAM NAME - TARGET DELTA V PROGRAM (P76). # 2) FUNCTIONAL DESCRIPTION - UPON ENTRY BY ASTRONAUT ACTION, P76 FLASHES DSKY REQUESTS TO THE ASTRONAUT # TO PROVIDE VIA DSKY (1) THE DELTA V TO BE APPLIED TO THE OTHER VEHICLE STATE VECTOR AND (2) THE # TIME (TIG) AT WHICH THE OTHER VEHICLE VELOCITY WAS CHANGED BY EXECUTION OF A THRUSTING MANEUVER. THE # OTHER VEHICLE STATE VECTOR IS INTEGRATED TO TIG AND UPDATED BY THE ADDITION OF DELTA V (DELTA V HAVING # BEEN TRANSFORMED FROM LV TO REF COSYS). USING INTEGRVS, THE PROGRAM THEN INTEGRATES THE OTHER # VEHICLE STATE VECTOR TO THE STATE VECTOR OF THIS VEHICLE, THUS INSURING THAT THE W-MATRIX AND BOTH VEHICLE # STATES CORRESPOND TO THE SAME TIME. # 3) ERASABLE INIITIALIZATION REQUIRED - NONE. # 4) CALLING SEQUENCES AND EXIT MODES - CALLED BY ASTRONAUT REQUEST THRU DSKY V 37 E 76 E. # EXITS BY TCF ENDOFJOB. # 5) OUTPUT -- OTHER VEHICLE STATE VECTOR INTEGRATED TO TIG AND INCREMENTED BY DELTA V IN REF COSYS. # THE PUSHLIST CONTAINS THE MATRIX BY WHICH THE INPUT DELTA V MUST BE POST-MULTIPLIED TO CONVERT FROM LV # TO REF COSYS. # 6) DEBRIS - OTHER VEHICLE STATE VECTOR. # 7) SUBROUTINES CALLED - BANKCALL, GOXDSPF, CSMPREC (OR LEMPREC), ATOPCSM (OR ATOPLEM), INTSTALL, INTWAKE, PHASCHNG # INTPRET, INTEGRVS, AND MINIRECT. # 8) FLAG USE - MOONFLAG, CMOONFLG, INTYPFLG, RASFLAG, AND MARKCTR. BANK 30 SETLOC P76LOC BANK COUNT* $$/P76 EBANK= TIG P76 TC UPFLAG ADRES TRACKFLG TC INTPRET VLOAD DELVLVC STORE DELVOV EXIT CAF V06N84 # FLASH LAST DELTA V, TC BANKCALL # AND WAIT FOR KEYBOARD ACTION. CADR GOFLASH TCF ENDP76 TC +2 # PROCEED TC -5 # STORE DATA AND REPEAT FLASHING CAF V06N84 +1 # FLASH VERB 06 NOUN 33, DISPLAY LAST TIG, TC BANKCALL # AND WAIT FOR KEYBOARD ACTION. CADR GOFLASH TCF ENDP76 TC +2 TC -5 TC INTPRET # RETURN TO INTERPRETIVE CODE # Page 710 DLOAD # SET D(MPAC)=TIG IN CSEC B28 TIG STCALL TDEC1 # SET TDEC1=TIG FOR ORBITAL INTEGRATION OTHPREC COMPMAT VLOAD UNIT RATT VCOMP # U(-R) STORE 24D # U(-R) TO 24D VXV UNIT # U(-R) XV = U(VXR) VATT STORE 18D VXV UNIT # U(VXR)XU(-R) = U((RXV)XR) 24D STOVL 12D DELVOV VXM VSL1 # V(MPAC)=DELTA V IN REFCOSYS 12D VAD VATT STORE 6 # V(PD6)=VATT + DELTA V CALL # PRESENT WOULD-BE USER OF ORBITAL INTSTALL # INTEG FROM INTERFERING WITH UPDATING CALL P76SUB1 VLOAD VSR* 6 0,2 STOVL VCV RATT VSR* 0,2 STODL RCV TIG STORE TET CLEAR DLOAD INTYPFLG TETTHIS INTOTHIS STCALL TDEC1 INTEGRVS CALL INTSTALL VLOAD RATT1 STORE RRECT STODL RCV TAT STOVL TET VATT1 CALL MINIRECT # Page 711 EXIT TC PHASCHNG OCT 04024 TC UPFLAG ADRES REINTFLG TC INTPRET CALL ATOPOTH SSP EXIT QPRET OUT TC BANKCALL # PERMIT USE OF ORBITAL INTEGRATION CADR INTWAKE1 OUT EXIT ENDP76 CAF ZERO TS MARKCTR # CLEAR RR TRACKING MARK COUNTER TCF GOTOPOOH V06N84 NV 0684 NV 0633 P76SUB1 AXT,2 SET 2 MOONFLAG # SET MEANS MOON IS SPHERE OF INFLUENCE. BON AXT,2 CMOONFLG # SET MEANS PERM CM STATE IN LUNAR SPHERE. QPRET 0 CLEAR RVQ MOONFLAG ================================================ FILE: Luminary099/PHASE_TABLE_MAINTENANCE.agc ================================================ # Copyright: Public domain. # Filename: PHASE_TABLE_MAINTENANCE.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Onno Hommes . # Website: www.ibiblio.org/apollo. # Pages: 1294-1302 # Mod history: 2009-05-26 OH Transcribed from page images. # 2009-06-05 RSB A few lines at the bottom of page image # 1294 were truncated. I've fixed the page # image and added those missing lines here. # 2011-05-07 JL Flagged SBANK= workaround for future # removal. # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 1294 # SUBROUTINE TO UPDATE THE PROGRAM NUMBER DISPLAY ON THE DSKY. COUNT* $$/PHASE BLOCK 02 SETLOC FFTAG1 BANK NEWMODEX INDEX Q # UPDATE MODREG. ENTRY FOR MODE IN FIXED. CAF 0 INCR Q NEWMODEA TS MODREG # ENTRY FOR MODE IN A. MMDSPLAY CAF +3 # DISPLAY MAJOR MODE. PREBJUMP LXCH BBANK # PUTS BBANK IN L TCF BANKJUMP # PUTS Q INTO A CADR SETUPDSP # RETURN TO CALLER +3 IF MODE = THAT AT CALLER +1. OTHERWISE RETURN TO CALLER +2. CHECKMM INDEX Q CS 0 AD MODREG EXTEND BZF Q+2 TCF Q+1 # NO MATCH TCQ = Q+2 +1 BANK 14 SETLOC PHASETAB BANK COUNT* $$/PHASE SETUPDSP INHINT DXCH RUPTREG1 # SAVE CALLER'S RETURN 2CADR CAF PRIO30 # EITHER A TASK OR JOB CAN COME TO TC NOVAC # NEWMODE X EBANK= MODREG 2CADR DSPMMJOB DXCH RUPTREG1 RELINT DXCH Z # RETURN DSPMMJOB EQUALS DSPMMJB BLOCK 02 SETLOC FFTAG1 BANK # Page 1295 # PHASCHNG IS THE MAIN WAY OF MAKING PHASE CHANGES FOR RESTARTS. THERE ARE THREE FORMS OF PHASCHNG, KNOWN AS TYPE # A, TYPE B, AND TYPE C. THEY ARE ALL CALLED AS FOLLOWS, WHERE OCT XXXXX CONTAINS THE PHASE INFORMATION, # TC PHASCHNG # OCT XXXXX # TYPE A IS CONCERNED WITH FIXED PHASE CHANGES, THAT IS, PHASE INFORMATION THAT IS STORED PERMANENTLY. THESE # OPTIONS ARE, WHERE G STANDS FOR A GROUP AND .X FOR THE PHASE, # G.0 INACTIVE, WILL NOT PERMIT A GROUP G RESTART # G.1 WILL CAUSE THE LAST DISPLAY TO BE REACTIVATED, USED MAINLY IN MANNED FLIGHTS # G.EVEN A DOUBLE TABLE RESTART, CAN CAUSE ANY COMBINATION OF TWO JOBS, TASKS, AND/OR # LONGCALL TO BE RESTARTED. # G.ODD NOT .1 A SINGLE TABLE RESTART, CAN CAUSE EITHER A JOB, TASK, OR LONGCALL RESTART. # # THIS INFORMATION IS PUT INTO THE OCTAL WORD AFTER TC PHASCHNG AS FOLLOWS # TL0 00P PPP PPP GGG # WHERE EACH LETTER OR NUMBER STANTS FOR A BIT. THE G'S STAND FOR THE GROUP, OCTAL 1-7, THE P'S FOR THE PHASE, # OCTAL 0 - 127. 0'S MUST BE 0. IF ONE WISHES TO HAVE THE TBASE OF GROUP G TO BE SET AT THIS TIME, # T IS SET TO 1, OTHERWISE IT IS SET TO 0. SIMILARLY IF ONE WISHES TO SET LONGBASE, THEN L IS SET TO 1, OTHERWISE # IT IS SET TO 0. SOME EXAMPLES, # TC PHASCHNG # THIS WILL CAUSE GROUP 3 TO BE SET TO 0, # OCT 00003 # MAKING GROUP 3 INACTIVE # # TC PHASCHNG # IF A RESTART OCCURS THIS WOULD CAUSE # OCT 00012 # GROUP 2 TO RESTART THE LAST DISPLAY # # TC PHASCHNG # THIS SETS THE TBASE OF GROUP 4 AND IN # OCT 40064 # CASE OF A RESTART WOULD START UP THE TWO # # THINGS LOCATED IN THE DOUBLE 4.6 RESTART # # LOCATION. # # TC PHASCHNG # THIS SETS LONGBASE AND UPON A RESTART # OCT 20135 # CAUSES 5.13 TO BE RESTARTED (SINCE # # LONGBASE WAS SET THIS SINGLE ENTRY # # SHOULD BE A LONGCALL) # # TC PHASCHNG # SINCE BOTH TBASE4 AND LONGBASE ARE SET, # OCT 60124 # 4.12 SHOULD CONTAIN BOTH A TASK AND A # # LONGCALL TO BE RESTARTED # # TYPE C PHASCHNG CONTAINS THE VARIABLE TYPE OF PHASCHNG INFORMATION. INSTEAD OF THE INFORMATION BEING IN A # PERMANENT FORM, ONE STORES THE DESIRED RESTART INFORMATION IN A VARIABLE LOCATION. THE BITS ARE AS FOLLOWS, # TL0 1AD XXX CJW GGG # WHERE EACH LETTER OR NUMBER STANDS FOR A BIT. THE G'S STAND FOR THE GROUP, OCTAL 1 - 7. IF THE RESTART IS TO # BE BY WAITLIST, W IS SET TO 1, IF IT IS A JOB, J IS SET TO 1, IF IT IS A LONGCALL, C IS SET TO 1. ONLY ONE OF # THESE THREE BITS MAY BE SET. X'S ARE IGNORED, 1 MUST BE 1, AND 0 MUST BE 0. AGAIN T STANDS FOR THE TBASE, # Page 1296 # AND L FOR LONGBASE. THE BITS A AND D ARE CONCERNED WITH THE VARIABLE INFORMATION. IF D IS SET TO 1, A PRIORITY # OR DELTA TIME WILL BE READ FROM THE NEXT LOCATION AFTER THE OCTAL INFORMATION., IF THIS IS TO BE INDIRECT, THAT # IS, THE NAME OF A LOCATION CONTAINING THE INFORMATION (DELTA TIME ONLY), THEN THIS IS GIVEN AS THE -GENADR OF # THAT LOCATION WHICH CONTAINS THE DELTA TIME. IF THE OLD PRIORITY OR DELTA TIME IS TO BE USED, THAT WHICH IS # ALREADY IN THE VARIABLE STORAGE, THEN D IS SET TO 0. NEXT THE A BIT IS USED. IF IT IS SET TO 0, THE ADDRESS # THAT WOULD BE RESTARTED DURING A RESTART IS THE NEXT LOCATION AFTER THE PHASE INFORMATION, THAT IS, EITHER # (TC PHASCHNG) +2 OR +3, DEPENDING ON WHETHER D HAD BEEN SET OR NOT. IF A IS SET TO 1, THEN THE ADDRESS THAT # WOULD BE RESTARTED IS THE 2CADR THAT IS READ FROM THE NEXT TWO LOCATION. EXAMPLES, # AD TC PHASCHNG # THIS WOULD CAUSE LOCATION AD +3 TO BE # AD+1 OCT 05023 # RESTARTED BY GROUP THREE WITH A PRIORITY # AD+2 OCT 23000 # OF 23. NOTE UPON RETURNING IT WOULD # AD+3 # ALSO GO TO AD+3 # # AD TC PHASCHNG # GROUP 1 WOULD CAUSE CALLCALL TO BE # AD+1 OCT 27441 # BE STARTED AS A LONGCALL FROM THE TIME # AD+2 -GENADR DELTIME # STORED IN LONGBASE (LONGBASE WAS SET) BY # AD+3 2CADR CALLCALL # A DELTA TIME STORED IN DELTIME. THE # AD+4 # BBCON OF THE 2CADR SHOULD CONTAIN THE E # AD+5 # BANK OF DELTIME. PHASCHNG RETURNS TO # # LOCATION AD+5 # # NOTE THAT IF A VARIABLE PRIORITY IS GIVEN FOR A JOB, THE JOB WILL BE RESTARTED AS A NOVAC IF THE PRIORITY IS # NEGATIVE, AS A FINDVAC IF THE PRIORITY IS POSITIVE. # # TYPE B PHASCHNG IS A COMBINATION OF VARIABLE AND FIXED PHASE CHANGES. IT WILL START UP A JOB AS INDICATED # BELOW AND ALSO START UP ONE FIXED RESTART, THAT IS EITHER AN G.1 OR A G.ODD OR THE FIRST ENTRY OF G.EVEN # DOUBLE ENTRY. THE BIT INFORMATION IS AS FOLLOW, # TL1 DAP PPP PPP GGG # WHERE EACH LETTER OR NUMBER STANDS FOR A BIT. THE G'S STAND FOR THE GROUP, OCTAL 1 - 7, THE P'S FOR THE FIXED # PHASE INFORMATION, OCTAL 0 - 127. 1 MUST BE 1. AND AGAIN T STANDS FOR THE TBASE AND L FOR LONGBASE. D THIS # TIME STANDS ONLY FOR PRIORITY SINCE THIS WILL BE CONSIDERED A JOB, AND IT MUST BE GIVEN DIRECTLY IF GIVEN. # AGAIN A STANDS FOR THE ADDRESS OF THE LOCATION TO BE RESTARTED, 1 IF THE 2CADR IS GIVEN, OR 0 IF IT IS TO BE # THE NEXT LOCATION. (THE RETURN LOCATION OF PHASCHNG) EXAMPLES, # AD TC PHASCHNG # TBASE IS SET AND A RESTART CAUSE GROUP 3 # AD+1 OCT 56043 # TO START THE JOB AJOBAJOB WITH PRIORITY # AD+2 OCT 31000 # 31 AND THE FIRST ENTRY OF 3.4SPOT (WE CAN # AD+3 2CADR AJOBAJOB # ASSUME IT IS A TASK SINCE WE SET TBASE3) # AD+4 # UPON RETURN FROM PHASCHNG CONTROL WOULD # AD+5 # GO TO AD+5 # # AD TC PHASCHNG # UPON A RESTART THE LAST DISPLAY WOULD BE # AD+1 OCT 10015 # RESTARTED AND A JOB WITH THE PREVIOUSLY # AD+2 # STORED PRIORITY WOULD BE BEGUN AT AD+2 # # BY MEANS OF GROUP 5 # Page 1297 # THE NOVAC-FINDVAC CHOICE FOR JOBS HOLDS HERE ALSO -- NEGATIVE PRIORITY CAUSES A NOVAC CALL, POSITIVE A FINDVAC. # SUMMARY OF BITS: # TYPE A TL0 00P PPP PPP GGG # TYPE B TL1 DAP PPP PPP GGG # TYPE C TL0 1AD XXX CJW GGG # Page 1298 # 2PHSCHNG IS USED WHEN ONE WISHES TO START UP A GROUP OR CHANGE A GROUP WHILE UNDER THE CONTROL OF A DIFFERENT # GROUP. FOR EXAMPLE, CHANGE THE PHASE OF GROUP 3 WHILE THE PORTION OF THE PROGRAM IS UNDER GROUP 5. ALL 2PHSCHNG # CALLS ARE MADE IN THE FOLLOWING MANNER, # TC 2PHSCHNG # OCT XXXXX # OCT YYYYY # WHERE OCT XXXXX MUST BE OF TYPE A AND OCT YYYYY MAY BE OF EITHER TYPE A OR TYPE B OR TYPE C. THERE IS ONE # DIFFERENCE --- NOTE: IF LONGBASE IS TO BE SET THIS INFORMATION IS GIVEN IN THE OCT YYYYY INFORMATION, IT WILL # BE DISREGARDED IF GIVEN WITH THE OCT XXXXX INFORMATION. A COUPLE OF EXAMPLES MAY HELP, # AD TC 2PHACHNG # SET TBASE3 AND IF A RESTART OCCURS START # AD+1 OCT 40083 # THE TWO ENTRIES IN 3.8 TABLE LOCATION # AD+2 OCT 05025 # THIS IS OF TYPE C, SET THE JOB TO BE # AD+3 OCT 18000 # TO BE LOCATION AD+4, WITH A PRIORITY 18, # AD+4 # FOR GROUP 5 PHASE INFORMATION. ## [WORKAROUND] RSB 2004 SBANK= PINSUPER ## [WORKAROUND] COUNT* $$/PHASE 2PHSCHNG INHINT # THE ENTRY FOR A DOUBLE PHASE CHANGE NDX Q CA 0 INCR Q TS TEMPP2 MASK OCT7 DOUBLE TS TEMPG2 CA TEMPP2 MASK OCT17770 # NEED ONLY 1770, BUT WHY GET A NEW CONST. EXTEND MP BIT12 XCH TEMPP2 MASK BIT15 TS TEMPSW2 # INDICATES WHETHER TO SET TBASE OR NOT INDEX Q CA 0 INCR Q TS TEMPSW TCF PHASJUMP PHASCHNG INHINT # NORMAL PHASCHNG ENTRY POINT. INDEX Q CA 0 INCR Q PHSCHNGA INHINT # FIRST OCTAL PARAMETER IN A. # Page 1299 TS TEMPSW CA ONE TS TEMPSW2 PHASJUMP EXTEND DCA ADRPCHN2 # OFF TO SWITCHED BANK DTCB EBANK= LST1 ADRPCHN2 2CADR PHSCHNG2 ONEORTWO LXCH TEMPBBCN LXCH BBANK LXCH TEMPBBCN MASK OCT14000 # SEE WHAT KIND OF PHASE CHANGE IT IS CCS A TCF CHECKB # IT IS OF TYPE `B'. CA TEMPP MASK BIT7 CCS A # SHALL WE USE THE OLD PRIORITY TCF GETPRIO # NO GET A NEW PRIORITY (OR DELTA T) OLDPRIO NDX TEMPG # USE THE OLD PRIORITY (OR DELTA T) CA PHSPRDT1 -2 TS TEMPPR CON1 CA TEMPP # SEE IF A 2CADR IS GIVEN MASK BIT8 CCS A TCF GETNEWNM CA Q TS TEMPNM CA BB EXTEND # PICK UP USER'S SUPERBANK ROR SUPERBNK TS TEMPBB TOCON2 CA CON2ADR # BACK TO SWITCHED BANK LXCH TEMPBBCN DTCB CON2ADR GENADR CON2 GETPRIO NDX Q # DON'T CARE IF DIRECT OR INDIRECT CA 0 # LEAVE THAT DECISION TO RESTARTS INCR Q # OBTAIN RETURN ADDRESS # Page 1300 TCF CON1 -1 GETNEWNM EXTEND INDEX Q DCA 0 DXCH TEMPNM CA TWO ADS Q # OBTAIN RETURN ADDRESS TCF TOCON2 OCT14000 EQUALS PRIO14 TEMPG EQUALS ITEMP1 TEMPP EQUALS ITEMP2 TEMPNM EQUALS ITEMP3 TEMPBB EQUALS ITEMP4 TEMPSW EQUALS ITEMP5 TEMPSW2 EQUALS ITEMP6 TEMPPR EQUALS RUPTREG1 TEMPG2 EQUALS RUPTREG2 TEMPP2 EQUALS RUPTREG3 TEMPBBCN EQUALS RUPTREG4 BB EQUALS BBANK BANK 14 SETLOC PHASETAB BANK EBANK= PHSNAME1 COUNT* $$/PHASE PHSCHNG2 LXCH TEMPBBCN CA TEMPSW MASK OCT7 DOUBLE TS TEMPG CA TEMPSW MASK OCT17770 EXTEND MP BIT12 TS TEMPP CA TEMPSW MASK OCT60000 XCH TEMPSW MASK OCT14000 CCS A # Page 1301 TCF ONEORTWO CA TEMPP # START STORING THE PHASE INFORMATION NDX TEMPG TS PHASE1 -2 BELOW1 CCS TEMPSW2 # IS IT A PHASCHNG OR A 2PHSCHNG TCF BELOW2 # IT'S A PHASCHNG TCF +1 # IT'S A 2PHSCHNG CS TEMPP2 LXCH TEMPP2 NDX TEMPG2 DXCH -PHASE1 -2 CCS TEMPSW2 NOOP # CAN'T GET HERE TCF BELOW2 CS TIME1 NDX TEMPG2 TS TBASE1 -2 BELOW2 CCS TEMPSW # SEE IF WE SHOULD SET TBASE OR LONGBASE TCF BELOW3 # SET LONGBASE ONLY TCF BELOW4 # SET NEITHER CS TIME1 # SET TBASE TO BEGIN WITH NDX TEMPG TS TBASE1 -2 CA TEMPSW # SHALL WE NOW SET LONGBASE AD BIT14COM CCS A NOOP # ***** CAN'T GET HERE ***** BIT14COM OCT 17777 # ***** CAN'T GET HERE ***** TCF BELOW4 # NO WE NEED ONLY SET TBASE BELOW3 EXTEND # SET LONGBASE DCA TIME2 DXCH LONGBASE BELOW4 CS TEMPP # AND STORE THE FINAL PART OF THE PHASE NDX TEMPG TS -PHASE1 -2 CA Q LXCH TEMPBBCN RELINT DTCB # Page 1302 CON2 LXCH TEMPBBCN CA TEMPP NDX TEMPG TS PHASE1 -2 CA TEMPPR NDX TEMPG TS PHSPRDT1 -2 EXTEND DCA TEMPNM NDX TEMPG DXCH PHSNAME1 -2 TCF BELOW1 BLOCK 03 SETLOC FFTAG6 BANK COUNT* $$/PHASE CHECKB MASK BIT12 # SINCE THIS IS OF TYPE B, THIS BIT WOULD CCS A # BE HERE IF WE ARE TO GET A NEW PRIORITY TCF GETPRIO # IT IS, SO GET NEW PRIORITY TCF OLDPRIO # IT ISN'T, USE THE OLD PRIORITY. ================================================ FILE: Luminary099/PINBALL_GAME_BUTTONS_AND_LIGHTS.agc ================================================ # Copyright: Public domain. # Filename: PINBALL_GAME_BUTTONS_AND_LIGHTS.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Jim Lawton # Website: www.ibiblio.org/apollo. # Pages: 390-471 # Mod history: 2009-05-16 JVL Started updating from page images. # 2009-05-25 JVL Finished updating from page images. # 2009-07-01 RSB Began annotating. # 2010-12-31 JL Fixed page number comment. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 ## Note: Notations below resembling this note are 21st-century ## annotations added by the ## Virtual AGC project, and are not original AGC source code. # Page 390 # PROGRAM NAME -- KEYBOARD AND DISPLAY PROGRAM # MOD NO -- 4 DATE -- 27 APRIL 1967 ASSEMBLY -- PINDANCE REV 18 # MOD BY -- FILENE # LOG SECTION -- PINBALL GAME BUTTONS AND LIGHTS # # FUNCTIONAL DESCRIPTION # # THE KEYBOARD AND DISPLAY SYSTEM PROGRAM OPERATES UNDER EXECUTIVE # CONTROL AND PROCESSES INFORMATION EXCHANGED BETWEEN THE AGC AND THE # COMPUTER OPERATOR. THE INPUTS TO THE PROGRAM ARE FROM THE KEYBOARD, # FROM INTERNAL PROGRAM, AND FROM THE UPLINK. # # THE LANGUAGE OF COMMUNICATION WITH THE PROGRAM IS A PAIR OF WORDS # KNOWN AS VERB AND NOUN. EACH OF THESE IS REPRESENTED BY A 2 CHARACTER # DECIMAL NUMBER. THE VERB CODE INDICATES WHAT ACTION IS TO BE TAKEN, THE # NOUN CODE INDICATES TO WHAT THIS ACTION IS APPLIED. NOUNS USUALLY # REFER TO A GROUP OF ERASABLE REGISTERS. # # VERBS ARE GROUPED INTO DISPLAYS, LOADS, MONITORS (DISPLAYS THAT ARE # UPDATED ONCE PER SECOND), SPECIAL FUNCTIONS, AND EXTENDED VERBS (THESE # ARE OUTSIDE OF THE DOMAIN OF PINBALL AND CAN BE FOUND UNDER LOG SECTION # 'EXTENDED VERBS'). # # A LIST OF VERBS AND NOUNS IS GIVEN IN LOG SECTION 'ASSEMBLY AND # OPERATION INFORMATION'. # ## Ramón Alonso, one of the original AGC developers, provides a ## little more insight: Apparently, nobody had yet arrived at any kind ## of software requirements for the AGC's user interface when the desire ## arose within the Instrumentation Laboratory to set up a demo ## guidance-computer unit with which to impress visitors to the lab. ## Of course, this demo would have to do something, if it was going to be ## at all impressive, and to do something it would need some software. In ## short order, some of the coders threw together a demo program, ## inventing and using the verb/noun user-interface concept (in the ## whimsical fashion seen in much of this code), but without any idea ## that the verb/noun concept would somehow survive into the flight ## software. As time passed, and more and more people became familiar ## with the demo, nobody got around to inventing an improvement for the ## user interface, so the coders simply built it into the flight software ## without any specific requirements to do so.
##
## However, that does not mean that the verb/noun interface was universally ## beloved. Ramón says that many objections were received from ## naysayers, such as "it's not scientific", "it's not dignified", or ## even "astronauts won't understand it". Even though the coders of ## the demo hadn't seriously intended the verb/noun interface to be used ## in any permanent way, it became a kind of devilish game to counter ## these objections with (perhaps) sophistic arguments as to why the ## interface was really a good one. In the end, the coders won. I don't ## know whether they were elated or dismayed by this victory.
##
## The astronauts, of course, could understand the interface, ## but they did not like it. Most of them really wanted an interface much ## more like that they had used in aircraft: i.e., lots of dials and ## switches. Dave Scott is the the only astronaut I'm aware of who had ## kind words for it (or for the AGC in general), though we are told that ## Jim McDivitt wasn't necessary completely hostile to it.
##
##
—Ron Burkey, 07/2009
# # CALLING SEQUENCES -- # # KEYBOARD: # EACH DEPRESSION OF A KEYBOARD BUTTON ACTIVATES AN INTERRUPT KEYRUPT1 # AND PLACES THE 5 BIT KEY CODE INTO CHANNEL 15. KEYRUPT1 PLACES THE KEY # CODE INTO MPAC, ENTERS AN EXECUTIVE REQUEST FOR THE KEYBOARD AND DISPLAY # PROGRAM (AT 'CHARIN'), AND EXECUTES A RESUME. # # UPLINK: # EACH WORD RECEIVED BY THE UPLINK ACTIVATES INTERRUPT UPRUPT, WHICH # PLACES THE 5 BIT KEY CODE INTO MPAC, ENTERS AN EXECUTIVE REQUEST FOR THE # KEYBOARD AND DISPLAY PROGRAM (AT 'CHARIN') AND EXECUTES A RESUME. # # INTERNAL PROGRAMS: # INTERNAL PROGRAMS CALL PINBALL AT `NVSUB' WITH THE DESIRED VERB/NOUN # CODE IN A (LOW 7 BITS FOR NOUN, NEXT 7 BITS FOR VERB). DETAILS # DESCRIBED ON REMARKS CARDS JUST BEFORE 'NVSUB' AND 'NVSBWAIT' (SEE # SYMBOL TABLE FOR PAGE NUMBERS). # # NORMAL EXIT MODES -- # # IF PINBALL WAS CALLED BY EXTERNAL ACTION, THERE ARE FOUR EXITS: # 1) ALL BUT (2), (3), AND (4) EXIT DIRECTLY TO ENDOFJOB. # 2) EXTENDED VERBS GO TO THE EXTENDED VERB FAN AS PART OF THE # Page 391 # PINBALL EXECUTIVE JOB WITH PRIORITY 30000. IT IS THE # RESPONSIBILITY OF THE EXTEDED VERB CALLED TO EVENTUALLY # CHANGE PRIORITY (IF NECESSARY) AND DO AN ENDOFJOB. # ALSO PINBALL IS A NOVAC JOB. EBANK SET FOR COMMON. # 3) VERB 37. CHANGE OF PROGRAM (MAJOR MODE) CALLS 'V37' IN THE # SERVICE ROUTINES AS PART OF THE PINBALL EXEC JOB WITH PRIO # 30000. THE NEW PROGRAM CODE (MAJOR MODE) IS LEFT IN A. # 4) KEY RELEASE BUTTON CALLS 'PINBRNCH' IN THE DISPLAY INTERFACE # ROUTINES AS PART OF THE PINBALL EXEC JOB WITH PRIO 30000 IF # THE KEY RELEASE LIGHT IS OFF AND 'CADRSTOR' IS NOT +0. # # IF PINBALL WAS CALLED BY INTERNAL PROGRAMS, EXIT FROM PINBALL IS BACK # TO CALLING ROUTINE. DETAILS DESCRIBED IN REMARKS CARDS JUST BEFORE # 'NVSUB' AND 'NVSBWAIT' (SEE SYMBOL TABLE FOR PAGE NUMBERS). # # ALARM OR ABORT EXIT MODES -- # # EXTERNAL INITIATION: # IF SOME IMPROPER SEQUENCE OF KEY CODES IS DETECTED, THE OPERATOR # ERROR LIGHT IS TURNED ON AND EXIT IS TO 'ENDOFJOB'. # # INTERNAL PROGRAM INITIATION: # IF AN ILLEGAL V/N COMBINATION IS ATTEMPTED, AN ABORT IS CAUSED # (WITH OCTAL 01501). # IF A SECOND ATTEMPT IS MADE TO GO TO SLEEP IN PINBALL, AN ABORT IS # CAUSED (WITH OCTAL 01206). THERE ARE TWO WAYS TO GO TO SLEEP IN PINBALL: # 1) ENDIDLE OR DATAWAIT. # 2) NVSBWAIT, PRENVBSY, OR NVSUBUSY. # # CONDITIONS LEADING TO THE ABOVE ARE DESCRIBED IN FORTHCOMING MIT/IL # E-REPORT DESCRIBING KEYBOARD AND DISPLAY OPERATION FOR 278. # # OUTPUT -- # # INFORMATION TO BE SENT TO THE DISPLAY PANEL IS LEFT IN THE 'DSPTAB' # BUFFERS REGISTERS (UNDER EXEC CONTROL). 'DSPOUT' (A PART OF T4RUPT) # HANDLES THE PLACING OF THE 'DSPTAB' INFORMATION INTO OUTPUT CHANNEL 10 # IN INTERRUPT. # # ERASABLE INITIALIZATION -- # # FRESH START AND RESTART INITIALIZE THE NECESSARY E REGISTERS FOR # PINBALL IN 'STARTSUB'. REGISTERS ARE: DSPTAB BUFFER, CADRSTOR, # REQRET, CLPASS, DSPLOCK, MONSAVE, MONSAVE1, VERBREG, NOUNREG, DSPLIST, # DSPCOUNT, NOUT. # # A COMPLETE LIST OF ALL THE ERASABLES (BOTH RESERVED AND TEMPORARIES) FOR # Page 392 # PINBALL IS GIVEN BELOW. # # THE FOLLOWING ARE OF GENERAL INTEREST -- # # REMARKS CARDS PRECEDE THE REFERENCED SYMBOL DEFINITION. SEE SYMBOL # TABLE TO FIND APPROPRIATE PAGE NUMBERS. # # NVSUB CALLING POINT FOR INTERNAL USE OF PINBALL. # OF RELATED INTEREST NVSBWAIT # NVSUBUSY # PRENVBSY # # ENDIDLE ROUTINE FOR INTERNAL PROGRAMS WISHING TO GO TO SLEEP WHILE # AWAITING OPERATORS RESPONSE. # # DSPMM ROUTINE BY WHICH AN INTERNAL PROGRAM MAY DISPLAY A DECIMAL # PROGRAM CODE (MAJOR MODE) IN THE PROGRAM (MAJOR MODE) LIGHTS. # (DSPMM DOES NOT DISPLAY DIRECTLY BUT ENTERS EXEC REQUEST # FOR DSPMMJB WITH PRIO 30000 AND RETURNS TO CALLER.) # # BLANKSUB ROUTINE BY WHICH AN INTERNAL PROGRAM MAY BLANK ANY # COMBINATION OF THE DISPLAY REGISTERS R1, R2, R3. # # JAMTERM ROUTINE BY WHICH AN INTERNAL PROGRAM MAY PERFORM THE # JAMPROC TERMINATE (V 34) OR PROCEED (V 33) FUNCTION. # # MONITOR VERBS FOR PERIODIC ( 1 PER SEC) DISPLAY. # # PLEASE PERFORM, PLEASE MARK SITUATIONS # REMARKS DESCRIBING HOW AN INTERNAL ROUTINE SHOULD HANDLE # THESE SITUATIONS CAN BE FOUND JUST BEFORE :NVSUB: (SEE # SYMBOL TABLE FOR PAGE NUMBER). # # THE NOUN TABLE FORMAT IS DESCRIBED ON A PAGE OF REMARKS CARDS JUST # BEFORE :DSPABC: (SEE SYMBOL TABLE FOR PAGE NUMBER). # # THE NOUN TABLES THEMSELVES ARE FOUND IN LOG SECTION :PINBALL NOUN # TABLES:. # # FOR FURTHER DETAILS ABOUT OPERATION OF THE KEYBOARD AND DISPLAY SYSTEM # PROGRAM, SEE THE MISSION PLAN AND/OR MIT/IL E-2129 # DESCRIBING KEYBOARD AND DISPLAY OPERATION FOR 278. ## The document described above, "Keyboard and Display Program Operation" ## by Alan I. Green and Robert J. Filene is ## ## available online at the Virtual AGC website. ## —Ron Burkey, 07/2009 # THE FOLLOWING QUOTATION IS PROVIDED THROUGH THE COURTESY OF THE AUTHORS. # # ::IT WILL BE PROVED TO THY FACE THAT THOU HAST MEN ABOUT THEE THAT # USUALLY TALK OF A NOUN AND A VERB, AND SUCH ABOMINABLE WORDS AS NO # Page 393 # CHRISTIAN EAR CAN ENDURE TO HEAR.:: # HENRY 6, ACT 2, SCENE 4 ## Actually, this quotation is from Henry VI, Part 2, Act IV, Scene VII. ## —Ron Burkey, 07/2009 # THE FOLLOWING ASSIGNMENTS FOR PINBALL ARE MADE ELSEWHERE # # DSPCOUNT ERASE # DISPLAY POSITION INDICATOR # DECBRNCH ERASE # +DEC, -DEC, OCT INDICATOR # VERBREG ERASE # VERB CODE # NOUNREG ERASE # NOUN CODE # XREG ERASE # R1 INPUT BUFFER # YREG ERASE # R2 INPUT BUFFER # ZREG ERASE # R3 INPUT BUFFER # XREGLP ERASE # LO PART OF XREG (FOR DEC CONV ONLY) # YREGLP ERASE # LO PART OF YREG (FOR DEC CONV ONLY) # HITEMOUT = YREGLP # TEMP FOR DISPLAY OF HRS, MIN, SEC # # MUST = LOTEMOUT-1. # ZREGLP ERASE # LO PART OF ZREG (FOR DEC CONV ONLY) # LOTEMOUT = ZREGLP # TEMP FOR DISPLAY OF HRS, MIN, SEC # # MUST = HITEMOUT+1. # MODREG ERASE # MODE CODE # DSPLOCK ERASE # KEYBOARD/SUBROUTINE CALL INTERLOCK # REQRET ERASE # RETURN REGISTER FOR LOAD # LOADSTAT ERASE # STATUS INDICATOR FOR LOADTST # CLPASS ERASE # PASS INDICATOR FOR CLEAR # NOUT ERASE # ACTIVITY COUNTER FOR DSPTAB # NOUNCADR ERASE # MACHINE CADR FOR NOUN # MONSAVE ERASE # N/V CODE FOR MONITOR. (= MONSAVE1-1) # MONSAVE1 ERASE # NOUNCADR FOR MONITOR (MATBS) = MONSAVE+1 # MONSAVE2 ERASE # NVMONOPT OPTIONS # DSPTAB ERASE +13D # 0-10, DISPLAY PANEL BUFFER, 11-13, C RELAYS # CADRSTOR ERASE # ENDIDLE STORAGE # NVQTEM ERASE # NVSUB STORAGE FOR CALLING ADDRESS # # MUST = NVBNKTEM-1. # NVBNKTEM ERASE # NVSUB STORAGE FOR CALLING BANK # # MUST = NVQTEM+1 # VERBSAVE ERASE # NEEDED FOR RECYCLE # DSPLIST ERASE # WAITING REG FOR DSP SYST INTERNAL USE # EXTVBACT ERASE # EXTENDED VERB ACTIVITY INTERLOCK # DSPTEM1 ERASE # BUFFER STORAGE AREA 1 (MOSTLY FOR TIME) # DSPTEM2 ERASE # BUFFER STORAGE AREA 2 (MOSTLY FOR DEG) # # END OF ERASABLES RESERVED FOR PINBALL EXECUTIVE ACTION # # TEMPORARIES FOR PINBALL EXECUTIVE ACTION # Page 394 # DSEXIT = INTB15+ # RETURN FOR DSPIN # EXITEM = INTB15+ # RETURN FOR SCALE FACTOR ROUTINE SELECT # BLANKRET = INTB15+ # RETURN FOR 2BLANK # WRDRET = INTBIT15 # RETURN FOR 5BLANK. # WDRET = INTBIT15 # RETURN FOR DSPWD # DECRET = INTBIT15 # RETURN FOR PUTCOM(DEC LOAD) # 21/22REG = INTBIT15 # TEMP FOR CHARIN # UPDATRET = POLISH # RETURN FOR UPDATNN, UPDATVB # CHAR = POLISH # TEMP FOR CHARIN # ERCNT = POLISH # COUNTER FOR ERROR LIGHT RESET # DECOUNT = POLISH # COUNTER FOR SCALING AND DISPLAY (DEC) # SGNON = VBUF # TEMP FOR +,- ON # NOUNTEM = VBUF # COUNTER FOR MIXNOUN FETCH # DISTEM = VBUF # COUNTER FOR OCTAL DISPLAY VERB # DECTEM = VBUF # COUNTER FOR FETCH (DEC DISPLAY VERBS) # SGNOFF = VBUF +1 # TEMP FOR +,- ON # NVTEMP = VBUF +1 # TEMP FOR NVSUB # SFTEMP1 = VBUF +1 # STORAGE FOR SF CONST HI PART (=SFTEMP2-1) # HITEMIN = VBUF +1 # TEMP FOR LOAD OF HRS, MIN, SEC # # MUST = LOTEMIN-1. # CODE = VBUF +2 # FOR DSPIN # SFTEMP2 = VBUF +2 # STORAGE FOR SF CONST LO PART (=SFTEMP1+1) # LOTEMIN = VBUF +2 # TEMP FOR LOAD OF HRS, MIN, SEC # # MUST = HITEMIN+1 # MIXTEMP = VBUF +3 # FOR MIXNOUN DATA # SIGNRET = VBUF +3 # RETURN FOR +,- ON # ALSO MIXTEMP+1 = VBUF+4, MIXTEMP+2 = VBUF+5. # ENTRET = DOTINC # EXIT FROM ENTER # WDCNT = DOTRET # CHAR COUNTER FOR DSPWD # INREL = DOTRET # INPUT BUFFER SELECTOR (X, Y, Z, REG) # DSPMMTEM = MATINC # DSPCOUNT SAVE FOR DSPMM # MIXBR = MATINC # INDICATOR FOR MIXED OR NORMAL NOUN # TEM1 ERASE # EXEC TEMP # DSREL = TEM1 # REL ADDRESS FOR DSPIN # TEM2 ERASE # EXEC TEMP # DSMAG = TEM2 # MAGNITUDE STORE FOR DSPIN # IDADDTEM = TEM2 # MIXNOUN INDIRECT ADDRESS STORAGE # TEM3 ERASE # EXEC TEMP # COUNT = TEM3 # FOR DSPIN # Page 395 # TEM4 ERASE # EXEC TEMP # LSTPTR = TEM4 # LIST POINTER FOR GRABUSY # RELRET = TEM4 # RETURN FOR RELDSP # FREERET = TEM4 # RETURN FOR FREEDSP # DSPWDRET = TEM4 # RETURN FOR DSPSIGN # SEPSCRET = TEM4 # RETURN FOR SEPSEC # SEPMNRET = TEM4 # RETURN FOR SEPMIN # TEM5 ERASE # EXEC TEMP # NOUNADD = TEM5 # TEMP STORAGE FOR NOUN ADDRESS # NNADTEM ERASE # TEMP FOR NOUN ADDRESS TABLE ENTRY # NNTYPTEM ERASE # TEMP FOR NOUN TYPE TABLE ENTRY # IDAD1TEM ERASE # TEMP FOR INDIR ADDRESS TABLE ENTRY (MIXNN) # # MUST = IDAD2TEM-1, = IDAD3TEM-2. # IDAD2TEM ERASE # TEMP FOR INDIR ADDRESS TABLE ENTRY (MIXNN) # # MUST = IDAD1TEM+1, IDAD3TEM-1. # IDAD3TEM ERASE # TEMP FOR INDIR ADDRESS TABLE ENTRY (MIXNN) # # MUST = IDAD1TEM+2, IDAD2TEM+1. # RUTMXTEM ERASE # TEMP FOR SF ROUT TABLE ENTRY (MIXNN ONLY) # # END OF TEMPORARIES FOR PINBALL EXECUTIVE ACTION. # # ADDITIONAL TEMPORARIES FOR PINBALL EXECUTIVE ACTION # # MPAC, THRU MPAC +6 # BUF, +1, +2 # BUF2, +1, +2 # MPTEMP # ADDRWD # # END OF ADDITIONAL TEMPS FOR PINBALL EXEC ACTION # # RESERVED FOR PINBALL INTERRUPT ACTION # # DSPCNT ERASE # COUNTER FOR DSPOUT # UPLOCK ERASE # BIT1 = UPLINK INTERLOCK (ACTIVATED BY # # RECEPTION OF A BAD MESSAGE IN UPLINK) # # END OF ERASABLES RESERVED FOR PINBALL INTERRUPT ACTION # # TEMPORARIES FOR PINBALL INTERRUPT ACTION # # KEYTEMP1 = WAITEXIT # TEMP FOR KEYRUPT, UPRUPT # DSRUPTEM = WAITEXIT # TEMP FOR DSPOUT # KEYTEMP2 = RUPTAGN # TEMP FOR KEYRUPT, UPRUPT # # END OF TEMPORARIES FOR PINBALL INTERRUPT ACTION # Page 396 # THE INPUT CODES ASSUMED FOR THE KEYBOARD ARE, # 0 10000 # 1 00001 # 9 01001 # VERB 10001 # ERROR RES 10010 # KEY RLSE 11001 # + 11010 # - 11011 # ENTER 11100 # CLEAR 11110 # NOUN 11111 # # (2003 RSB -- The PROCEED key has no keycode; it is read by an alternate mechanism.) # # OUTPUT FORMAT FOR DISPLAY PANEL. SET OUT0 TO AAAABCCCCCDDDDD. # A'S SELECTS A RELAYWORD. THIS DETERMINES WHICH PAIR OF CHARACTERS ARE # ENERGIZED. # B FOR SPECIAL RELAYS SUCH AS SIGNS ETC. # C'S 5 BIT RELAY CODE FOR LEFT CHAR OF PAIR SELECTED BY RELAYWORD. # D'S 5 BIT RELAY CODE FOR RIGHT CHAR OF PAIR SELECTED BY RELAYWORD. # # THE PANEL APPEARS AS FOLLOWS, # MD1 MD2 (MAJOR MODE) # VD1 VD2 (VERB) ND1 ND2 (NOUN) # R1D1 R1D2 R1D3 R1D4 R1D5 (R1) # R2D1 R2D2 R2D3 R2D4 R2D5 (R2) # R3D1 R3D2 R3D3 R3D4 R3D5 (R3) # # EACH OF THESE IS GIVEN A DSPCOUNT NUMBER FOR USE WITHIN COMPUTATION ONLY # # MD1 25 R2D1 11 ALL ARE OCTAL # MD2 24 R2D2 10 # VD1 23 R2D3 7 # VD2 22 R2D4 6 # ND1 21 R2D5 5 # ND2 20 R3D1 4 # R1D1 16 R3D2 3 # R1D2 15 R3D3 2 # R1D3 14 R3D4 1 # R1D4 13 R3D5 0 # R1D5 12 # # THERE IS AN 11-REGISTER TABLE (DSPTAB) FOR THE DISPLAY PANEL. # # DSPTAB RELAYWD BIT11 BITS 10-6 BITS 5-1 # RELADD # 10 1011 MD1 (25) MD2 (24) # 9 1010 VD1 (23) VD2 (22) # 8 1001 ND1 (21) ND2 (20) # 7 1000 R1D1 (16) # Page 397 # 6 0111 +R1 R1D2 (15) R1D3 (14) # 5 0110 -R1 R1D4 (13) R1D5 (12) # 4 0101 +R2 R2D1 (11) R2D2 (10) # 3 0100 -R2 R2D3 (7) R2D4 (6) # 2 0011 R2D5 (5) R3D1 (4) # 1 0010 +R3 R3D2 (3) R3D3 (2) # 0 0001 -R3 R3D4 (1) R3D5 (0) # 0000 NO RELAYWORD # # THE 5-BIT OUTPUT RELAY CODES ARE: # # BLANK 00000 # 0 10101 # 1 00011 # 2 11001 # 3 11011 # 4 01111 # 5 11110 # 6 11100 # 7 10011 # 8 11101 # 9 11111 # # OUTPUT BITS USED BY PINBALL: # # KEY RELEASE LIGHT - BIT 5 OF CHANNEL 11 # VERB/NOUN FLASH - BIT 6 OF CHANNEL 11 # OPERATOR ERROR LIGHT - BIT 7 OF CHANNEL 11 ## Hint: In the source code below, each of the blue operands to the ## right of the instruction opcodes is a hyperlink back to the definition ## of the symbol. This is particularly useful for tracing program flow. # Page 398 # START OF EXECUTIVE SECTION OF PINBALL BANK 40 SETLOC PINBALL1 BANK COUNT* $$/PIN CHARIN CAF ONE # BLOCK DISPLAY SYST XCH DSPLOCK # MAKE DSP SYST BUSY, BUT SAVE OLD TS 21/22REG # C(DSPLOCK) FOR ERROR LIGHT RESET. CCS CADRSTOR # ALL KEYS EXCEPT ER TURN ON KR LITE IF TC +2 # CADRSTOR IS FULL. THIS REMINDS OPERATOR TC CHARIN2 # TO RE-ESTABLISH A FLASHING DISPLAY CS ELRCODE1 # WHICH HE HAS OBSCURED WITH DISPLAYS OF AD MPAC # HIS OWN (SEE REMARKS PRECEDING ROUTINE EXTEND # VBRELDSP). BZF CHARIN2 TC RELDSPON CHARIN2 XCH MPAC TS CHAR INDEX A TC +1 # INPUT CODE FUNCTION TC CHARALRM # 0 TC NUM # 1 TC NUM # 2 TC NUM # 3 TC NUM # 4 TC NUM # 5 TC NUM # 6 TC NUM # 7 TC 89TEST # 10 8 TC 89TEST # 11 9 TC CHARALRM # 12 TC CHARALRM # 13 TC CHARALRM # 14 TC CHARALRM # 15 TC CHARALRM # 16 TC CHARALRM # 17 TC NUM -2 # 20 0 TC VERB # 21 VERB TC ERROR # 22 ERROR LIGHT RESET TC CHARALRM # 23 TC CHARALRM # 24 TC CHARALRM # 25 TC CHARALRM # 26 TC CHARALRM # 27 TC CHARALRM # 30 TC VBRELDSP # 31 KEY RELEASE TC POSGN # 32 + # Page 399 TC NEGSGN # 33 - TC ENTERJMP # 34 ENTER TC CHARALRM # 35 TC CLEAR # 36 CLEAR TC NOUN # 37 NOUN ELRCODE1 OCT 22 ENTERJMP TC POSTJUMP CADR ENTER 89TEST CCS DSPCOUNT TC +4 # + TC +3 # +0 TC ENDOFJOB # - BLOCK DATA IN IF DSPCOUNT IS - OR -0 TC ENDOFJOB # -0 CAF THREE MASK DECBRNCH CCS A TC NUM # IF DECBRNCH IS +, 8 OR 9 OK TC CHARALRM # IF DECBRNCH IS +0, REJECT 8 OR 9 # NUM ASSEMBLES OCTAL 3 BITS AT A TIME. FOR DECIMAL IT CONVERTS INCOMING # WORD AS A FRACTION, KEEPING RESULTS TO DP. # OCTAL RESULTS ARE LEFT IN XREG, YREG, OR ZREG. HI PART OF DEC IN XREG, # YREG, ZREG. THE LOW PARTS IN XREGLP, YREGLP, OR ZREGLP. # DECBRNCH IS LEFT AT +0 FOR OCT, +1 FOR + DEC, +2 FOR - DEC. # IF DSPCOUNT WAS LEFT -, NO MORE DATA IS ACCEPTED. CAF ZERO TS CHAR NUM CCS DSPCOUNT TC +4 # + TC +3 # +0 TC +1 # -BLOCK DATA IN IF DSPCOUNT IS - TC ENDOFJOB # -0 TC GETINREL CCS CLPASS # IF CLPASS IS + OR +0, MAKE IT +0. CAF ZERO TS CLPASS TC +1 INDEX CHAR CAF RELTAB MASK LOW5 TS CODE CA DSPCOUNT TS COUNT TC DSPIN CAF THREE # Page 400 MASK DECBRNCH CCS A # +0, OCTAL. +1, + DEC. +2, - DEC. TC DECTOBIN # + INDEX INREL # +0 OCTAL XCH VERBREG TS CYL CS CYL CS CYL XCH CYL AD CHAR TC ENDNMTST DECTOBIN INDEX INREL XCH VERBREG TS MPAC # SUM X 2EXP-14 IN MPAC CAF ZERO TS MPAC +1 CAF TEN # 10 X 2EXP-14 TC SHORTMP # 10SUM X 2EXP-28 IN MPAC, MPAC+1 XCH MPAC +1 AD CHAR TS MPAC +1 TC ENDNMTST # NO OF ADS MPAC # OF MUST BE 5TH CHAR TC DECEND ENDNMTST INDEX INREL TS VERBREG CS DSPCOUNT INDEX INREL AD CRITCON EXTEND BZF ENDNUM # -0, DSPCOUNT = CRITCON TC MORNUM # - , DSPCOUNT G/ CRITCON ENDNUM CAF THREE MASK DECBRNCH CCS A TC DECEND ENDALL CS DSPCOUNT # BLOCK NUMIN BY PLACING DSPCOUNT TC MORNUM +1 # NEGATIVELY DECEND CS ONE AD INREL EXTEND BZMF ENDALL # IF INREL=0,1 (VBREG,NNREG) LEAVE WHOLE TC DMP # IF INREL=2,3,4 (R1,R2,R3), CONVERT TO FRAC # MULT SUM X 2EXP-28 IN MPAC, MPAC+1 BY ADRES DECON # 2EXP14/10EXP5, GIVES (SUM/10EXP5)X2EXP-14 CAF THREE # IN MPAC, +1, +2. MASK DECBRNCH INDEX A TC +0 TC +DECSGN # Page 401 EXTEND # - CASE DCS MPAC +1 DXCH MPAC +1 +DECSGN XCH MPAC +2 INDEX INREL TS XREGLP -2 XCH MPAC +1 INDEX INREL TS VERBREG TC ENDALL MORNUM CCS DSPCOUNT # DECREMENT DSPCOUNT TS DSPCOUNT TC ENDOFJOB CRITCON OCT 22 # (DEC 18) OCT 20 # (DEC 16) OCT 12 # (DEC 10) OCT 5 OCT 0 DECON 2DEC 1 E-5 B14 # 2EXP14/10EXP5 = .16384 DEC # GETINREL GETS PROPER DATA REG REL ADDRESS FOR CURRENT C(DSPCOUNT) AND # PUTS IN INTO INREL. +0 VERBREG, 1 NOUNREG, 2 XREG, 3 YREG, 4 ZREG. GETINREL INDEX DSPCOUNT CAF INRELTAB TS INREL # (A TEMP. REG) TC Q INRELTAB OCT 4 # R3D5 (DSPCOUNT = 0) OCT 4 # R3D4 =(1) OCT 4 # R3D3 =(2) OCT 4 # R3D2 =(3) OCT 4 # R3D1 =(4) OCT 3 # R2D5 =(5) OCT 3 # R2D4 =(6) OCT 3 # R2D3 =(7) OCT 3 # R2D2 =(8D) OCT 3 # R2D1 =(9D) OCT 2 # R1D5 =(10D) OCT 2 # R1D4 =(11D) OCT 2 # R1D3 =(12D) OCT 2 # R1D2 =(13D) OCT 2 # R1D1 =(14D) TC CCSHOLE # NO DSPCOUNT NUMBER = 15D OCT 1 # ND2 =(16D) OCT 1 # ND1 =(17D) # Page 402 OCT 0 # VD2 =(18D) OCT 0 # VD1 =(19D) VERB CAF ZERO TS VERBREG CAF VD1 NVCOM TS DSPCOUNT TC 2BLANK CAF ONE TS DECBRNCH # SET FOR DEC V/N CODE CAF ZERO TS REQRET # SET FOR ENTPAS0 CAF ENDINST # IF DSPALARM OCCURS BEFORE FIRST ENTPAS0 TS ENTRET # OR NVSUB, ENTRET MUST ALREADY BE SET # TO TC ENDOFJOB TC ENDOFJOB NOUN CAF ZERO TS NOUNREG CAF ND1 # ND1, OCT 21 (DEC 17) TC NVCOM NEGSGN TC SIGNTEST TC -ON CAF TWO BOTHSGN INDEX INREL # SET DEC COMP BIT TO 1 (IN DECBRNCH) AD BIT7 # BIT 5 FOR R1. BIT 4 FOR R2. ADS DECBRNCH # BIT 3 FOR R3. FIXCLPAS CCS CLPASS # IF CLPASS IS + OR +0. MAKE IT +0. CAF ZERO TS CLPASS TC +1 TC ENDOFJOB POSGN TC SIGNTEST TC +ON CAF ONE TC BOTHSGN +ON LXCH Q TC GETINREL INDEX INREL CAF SGNTAB -2 TS SGNOFF AD ONE TS SGNON SGNCOM CAF ZERO TS CODE XCH SGNOFF # Page 403 TC 11DSPIN CAF BIT11 TS CODE XCH SGNON TC 11DSPIN TC L -ON LXCH Q TC GETINREL INDEX INREL CAF SGNTAB -2 TS SGNON AD ONE TS SGNOFF TC SGNCOM SGNTAB OCT 5 # -R1 OCT 3 # -R2 OCT 0 # -R3 SIGNTEST LXCH Q # ALLOWS +,- ONLY WHEN DSPCOUNT=R1D1, CAF THREE # R2D1, OR R3D1. ALLOWS ONLY FIRST OF MASK DECBRNCH # CONSECUTIVE +/- CHARACTERS. CCS A # IF LOW2 BITS OF DECBRNCH NOT= 0, SIGN TC ENDOFJOB # FOR THIS WORD ALREADY IN. REJECT. CS R1D1 TC SGNTST1 CS R2D1 TC SGNTST1 CS R3D1 TC SGNTST1 TC ENDOFJOB # NO MATCH FOUND. SIGN ILLEGAL SGNTST1 AD DSPCOUNT EXTEND BZF +2 # MATCH FOUND TC Q TC L # SIGN LEGAL # CLEAR BLANKS WHICH R1, R2, R3 IS CURRENT OR LAST TO BE DISPLAYED (PERTINENT # XREG, YREG, ZREG IS CLEARED). SUCCESSIVE CLEARS TAKE CARE OF EACH RX # L/ RC UNTIL R1 IS DONE. THEN NO FURTHER ACTION. # # THE SINGLE COMPONENT LOAD VERBS ALLOW ONLY THE SINGLE RC THAT IS # APPROPRIATE TO BE CLEARED. # # CLPASS +0 PASS0, CAN BE BACKED UP # +NZ HIPASS, CAN BE BACKED UP # -NZ PASS0, CANNOT BE BACKED UP # Page 404 CLEAR CCS DSPCOUNT AD ONE TC +2 AD ONE INDEX A # DO NOT CHANGE DSPCOUNT BECAUSE MAY LATER CAF INRELTAB # FAIL LEGALTST. TS INREL # MUST SET INREL, EVEN FOR HIPASS. CCS CLPASS TC CLPASHI # + TC +2 # +0 IF CLPASS IS +0 OR -, IT IS PASS0 TC +1 # - CA INREL TC LEGALTST TC CLEAR1 CLPASHI CCS INREL TS INREL TC LEGALTST CAF DOUBLK +2 # +3 TO - NUMBER, BACKS DATA REQUESTS. ADS REQRET CA INREL TS MIXTEMP # TEMP STORAGE FOR INREL EXTEND DIM VERBREG # DECREMENT VERB AND RE-DISPLAY TC BANKCALL CADR UPDATVB CA MIXTEMP TS INREL # RESTORE INREL CLEAR1 TC CLR5 INCR CLPASS # ONLY IF CLPASS IS + OR +0. TC ENDOFJOB # SET FOR HIGHER PASS. CLR5 LXCH Q # USES 5BLANK BUT AVOIDS ITS TC GETINREL TC 5BLANK +2 LEGALTST AD NEG2 CCS A TC Q # LEGAL INREL G/ 2 TC CCSHOLE TC ENDOFJOB # ILLEGAL INREL=0,1 TC Q # LEGAL INREL=2 # 5BLANK BLANKS 5 CHAR DISPLAY WORD IN R1, R2, OR R3. IT ALSO ZEROES XREG, # YREG, OR ZREG. PLACE ANY + DSPCOUNT NUMBER FOR PERTINENT RC INTO DSPCOUNT. # DSPCOUNT IS LEFT SET TO LEFT MOST DSP NUMB FOR RC JUST BLANKED. TS DSPCOUNT # NEEDED FOR BLANKSUB 5BLANK LXCH Q TC GETINREL CAF ZERO INDEX INREL TS VERBREG # ZERO X, Y, Z, REG. # Page 405 INDEX INREL TS XREGLP -2 TS CODE INDEX INREL # ZERO PERTINENT DEC COMP BIT. CS BIT7 # PROTECT OTHERS MASK DECBRNCH MASK BRNCHCON # ZERO LOW 2 BITS. TS DECBRNCH INDEX INREL CAF SINBLANK -2 # BLANK ISOLATED CHAR SEPARATELY TS COUNT TC DSPIN 5BLANK1 INDEX INREL CAF DOUBLK -2 TS DSPCOUNT TC 2BLANK CS TWO ADS DSPCOUNT TC 2BLANK INDEX INREL CAF R1D1 -2 TS DSPCOUNT # SET DSPCOUNT TO LEFT MOST DSP NUMBER TC L # OF REG. JUST BLANKED SINBLANK OCT 16 # DEC 14 OCT 5 OCT 4 DOUBLK OCT 15 # DEC 13 OCT 11 # DEC 9 OCT 3 BRNCHCON OCT 77774 # 2BLANK BLANKS TWO CHAR. PLACE DSP NUMBER OF LEFT CHAR OF THE PAIR INTO # DSPCOUNT. THIS NUMBER IS LEFT IN DSPCOUNT 2BLANK CA DSPCOUNT TS SR CS BLANKCON INHINT INDEX SR XCH DSPTAB EXTEND BZMF +2 # IF OLD CONTENTS -, NOUT OK INCR NOUT # IF OLD CONTENTS +, +1 TO NOUT RELINT # IF -, NOUT OK TC Q BLANKCON OCT 4000 # Page 406 # ENTER PASS 0 IS THE EXECUTE FUNCTION. HIGHER ORDER ENTERS ARE TO LOAD # DATA. THE SIGN OF REQRET DETERMINES THE PASS, + FOR PASS 0, - FOR HIGHER # PASSES. # # MACHINE CADR TO BE SPECIFIED (MCTBS) NOUNS DESIRE AN ECADR TO BE LOADED # WHEN USED WITH LOAD VERBS, MONITOR VERBS, OR DISPLAY VERBS (EXCEPT # VERB = FIXED MEMORY DISPLAY, WHICH REQUIRES AN FCADR). BANK 41 SETLOC PINBALL2 BANK COUNT* $$/PIN NVSUBB TC NVSUB1 # STANDARD LEAD INS. DONT MOVE. LOADLV1 TC LOADLV # END OF STANDARD LEAD INS. ENTER CAF ZERO TS CLPASS CAF ENDINST TS ENTRET CCS REQRET TC ENTPAS0 # IF +, PASS 0 TC ENTPAS0 # IF +, PASS 0 TC +1 # IF -, NOT PASS 0 ENTPASHI CAF MMADREF AD REQRET # IF L/ 2 CHAR IN FOR MM CODE, ALARM EXTEND # AND RECYCLE (DECIDE AT MMCHANG+1). BZF ACCEPTWD CAF THREE # IF DEC, ALARM IF L/ 5 CHAR IN FOR DATA, MASK DECBRNCH # BUT LEAVE REQRET - AND FLASH ON, SO CCS A # OPERATOR CAN SUPPLY MISSING NUMERICAL TC +2 # CHARACTERS AND CONTINUE. TC ACCEPTWD # OCTAL. ANY NUMBER OF CHAR OK. CCS DSPCOUNT TC GODSPALM # LESS THAN 5 CHAR DEC(DSPCOUNT IS +) TC GODSPALM # LESS THAN 5 CHAR DEC(DSPCOUNT IS +) TC +1 # 5 CHAR IN (DSPCOUNT IS -) ACCEPTWD CS REQRET # 5 CHAR IN (DSPCOUNT IS -) TS REQRET # SET REQRET +. TC FLASHOFF TC REQRET ENTEXIT = ENTRET MMADREF ADRES MMCHANG +1 # ASSUMES TC REQMM AT MMCHANG. # Page 407 LOWVERB DEC 28 # LOWER VERB THAT AVOIDS NOUN TEST. ENTPAS0 CAF ZERO # NOUN VERB SUB ENTERS HERE TS DECBRNCH CS VD1 # BLOCK FURTHER NUM CHAR, SO THAT STRAY TS DSPCOUNT # CHAR DO NOT GET INTO VERB OR NOUN LTS. TESTVB CS VERBREG # IF VERB IS G/E LOWVB, SKIP NOUN TEST. TS VERBSAVE # SAVE VERB FOR POSSIBLE RECYCLE. AD LOWVERB # LOWVERB - VB EXTEND BZMF VERBFAN # VERB G/ E LOWVERB TESTNN EXTEND # VERB L/ LOWVERB DCA LODNNLOC # SWITCH BANKS TO NOUN TABLE READING DXCH Z # ROUTINE. INDEX MIXBR TC +0 TC +2 # NORMAL TC MIXNOUN # MIXED CCS NNADTEM # NORMAL TC VERBFAN -2 # NORMAL IF + TC GODSPALM # NOT IN USE IF +0 TC REQADD # SPECIFY MACHINE CADR IF - INCR NOUNCADR # AUGMENT MACHINE CADR IF -0 TC SETNADD # ECADR FROM NOUNCADR, SETS EB, NOUNADD. TC INTMCTBS +2 REQADD CAF BIT15 # SET CLPASS FOR PASS 0 ONLY TS CLPASS CS ENDINST # TEST IF REACHED HERE FROM INTERNAL OR AD ENTEXIT # FROM EXTERNAL EXTEND BZF +2 # EXTERNAL MACH CADR TO BE SPECIFIED TC INTMCTBS TC REQDATZ # EXTERNAL MACH CADR TO BE SPECIFIED CCS DECBRNCH # ALARM AND RECYCLE IF DECIMAL USED TC ALMCYCLE # FOR MCTBS. CS VD1 # OCTAL USED OK TS DSPCOUNT # BLOCK NUM CHAR IN CCS CADRSTOR TC +3 # EXTERNAL MCTBS DISPLAY WILL LEAVE FLASH TC USEADD # ON IF ENDIDLE NOT = +0. TC +1 TC FLASHON USEADD XCH ZREG TC SETNCADR # ECADR INTO NOUNCADR. SET EB, NOUNADD. EXTEND DCA LODNNLOC # SWITCH BANKS TO NOUN TABLE READING DXCH Z # ROUTINE. TC VERBFAN EBANK= DSPCOUNT # Page 408 LODNNLOC 2CADR LODNNTAB NEG5 OCT 77772 INTMCTBS CA MPAC +2 # INTERNAL MACH CADR TO BE SPECIFIED. TC SETNCADR # ECADR INTO NOUNCADR. SET EB. NOUNADD. CS FIVE # NVSUB CALL LEFT CADR IN MPAC+2 FOR MACH AD VERBREG # CADR TO BE SPECIFIED. EXTEND BZF VERBFAN # DONT DISPLAY CADR IF VB = 05. CAF R3D1 # VB NOT = 05. DISPLAY CADR. TS DSPCOUNT CA NOUNCADR TC DSPOCTWO TC VERBFAN AD ONE TC SETNCADR # ECADR INTO NOUNCADR. SETS EB, NOUNADD. VERBFAN CS LST2CON AD VERBREG # VERB = LST2CON CCS A AD ONE # VERB G/ LST2CON TC +2 TC VBFANDIR # VERB L/ LST2CON TS MPAC TC RELDSP # RELEASE DISPLAY SYST TC POSTJUMP # GO TO GOEXTVB WITH VB=40 IN MPAC. CADR GOEXTVB LST2CON DEC 40 # FIRST LIST2 VERB (EXTENDED VERB) VBFANDIR INDEX VERBREG CAF VERBTAB TC BANKJUMP VERBTAB CADR GODSPALM # VB00 ILLEGAL CADR DSPA # VB01 DISPLAY OCT COMP 1 (R1) CADR DSPB # VB02 DISPLAY OCT COMP 2 (R1) CADR DSPC # VB03 DISPLAY OCT COMP 3 (R1) CADR DSPAB # VB04 DISPLAY OCT COMP 1,2 (R1,R2) CADR DSPABC # VB05 DISPLAY OCT COMP 1,2,3 (R1,R2,R3) CADR DECDSP # VB06 DECIMAL DISPLAY CADR DSPDPDEC # VB07 DP DECIMAL DISPLAY (R1,R2) CADR GODSPALM # VB08 SPARE CADR GODSPALM # VB09 SPARE CADR DSPALARM # VB10 SPARE CADR MONITOR # VB11 MONITOR OCT COMP 1 (R1) CADR MONITOR # VB12 MONITOR OCT COMP 2 (R1) CADR MONITOR # VB13 MONITOR OCT COMP 3 (R1) CADR MONITOR # VB14 MONITOR OCT COMP 1,2 (R1,R2) # Page 409 CADR MONITOR # VB15 MONITOR OCT COMP 1,2,3 (R1,R2,R3) CADR MONITOR # VB16 MONITOR DECIMAL CADR MONITOR # VB17 MONITOR DP DEC (R1,R2) CADR GODSPALM # VB18 SPARE CADR GODSPALM # VB19 SPARE CADR GODSPALM # VB20 SPARE CADR ALOAD # VB21 LOAD COMP 1 (R1) CADR BLOAD # VB22 LOAD COMP 2 (R2) CADR CLOAD # VB23 LOAD COMP 3 (R3) CADR ABLOAD # VB24 LOAD COMP 1,2 (R1,R2) CADR ABCLOAD # VB25 LOAD COMP 1,2,3 (R1,R2,R3) CADR GODSPALM # VB26 SPARE CADR DSPFMEM # VB27 FIXED MEMORY DISPLAY # THE FOLLOWING VERBS MAKE NO NOUN TEST CADR GODSPALM # VB28 SPARE CADR GODSPALM # VB29 SPARE REQEXLOC CADR VBRQEXEC # VB30 REQUEST EXECUTIVE CADR VBRQWAIT # VB31 REQUEST WAITLIST CADR VBRESEQ # VB32 RESEQUENCE CADR VBPROC # VB33 PROCEED WITHOUT DATA CADR VBTERM # VB34 TERMINATE CURRENT TEST OR LOAD REQ CADR VBTSTLTS # VB35 TEST LIGHTS CADR SLAP1 # VB36 FRESH START CADR MMCHANG # VB37 CHANGE MAJOR MODE CADR GODSPALM # VB38 SPARE CADR GODSPALM # VB39 SPARE # THE LIST2 VERBFAN IS LOCATED IN THE EXTENDED VERB BANK. # Page 410 # NNADTAB CONTAINS A RELATIVE ADDRESS, IDADDREL (IN LOW 10 BITS), REFERRING # TO WHERE 3 CONSECUTIVE ADDRESSES ARE STORED (IN IDADDTAB). # MIXNOUN GETS DATA AND STORES IN MIXTEMP,+1,+2. IT SETS NOUNADD FOR # MIXTEMP. MIXNOUN CCS NNADTEM TC +4 # + IN USE TC GODSPALM # +0 NOT IN USE TC +2 # - IN USE TC +1 # -0 IN USE CS SIX AD VERBREG EXTEND BZMF +2 # VERB L/E 6 TC VERBFAN # AVOID MIXNOUN SWAP IF VB NOT = DISPLAY CAF TWO MIXNN1 TS DECOUNT AD MIXAD TS NOUNADD # SET NOUNADD TO MIXTEMP + K INDEX DECOUNT # GET IDADDTAB ENTRY FOR COMPONENT K CA IDAD1TEM # OF NOUN. TS NOUNTEM # TEST FOR DP (FOR OCT DISPLAY). IF SO, GET # MINOR PART ONLY. TC SFRUTMIX # GET SF ROUT NUMBER IN A TC DPTEST TC MIXNN2 # NO DP INCR NOUNTEM # DP GET MINOR PART MIXNN2 CA NOUNTEM MASK LOW11 # ESUBK (NO DP) OR (ESUBK)+1 (garbled) FOR DP TC SETEBANK # SET EBANK, LEAVE EADRES IN A. INDEX A # PICK UP C(ESUBK) NOT DP CA 0 # OR C((ESUBK)+1) FOR DP MINOR PART INDEX NOUNADD XCH 0 # STORE IN MIXTEM + K CCS DECOUNT TC MIXNN1 TC VERBFAN MIXAD TC MIXTEMP # DPTEST ENTER WITH SF ROUT NUMBER IN A. # RETURNS TO L+1 IF NO DP. # RETURNS TO L+2 IF DP. DPTEST INDEX A TCF +1 TC Q # OCTAL ONLY NO DP TC Q # FRACT NO DP # Page 411 TC Q # DEG NO DP TC Q # ARITH NO DP TCF DPTEST1 # DP1OUT TCF DPTEST1 # DP2OUT TC Q # LRPOSOUT NO DP (DATA IN CHANNEL 33) TCF DPTEST1 # DP3OUT TC Q # HMS NO DP TC Q # M/S NO DP TCF DPTEST1 # DP4OUT TC Q # ARITH1 NO DP TC Q # 2INTOUT NO DP TO GET HI PART IN MPAC TC Q # 360-CDU NO DP DPTEST1 INDEX Q TC 1 # RETURN TO L+2 REQDATX CAF R1D1 TCF REQCOM REQDATY CAF R2D1 TCF REQCOM REQDATZ CAF R3D1 REQCOM TS DSPCOUNT CS Q TS REQRET TC BANKCALL CADR 5BLANK TC FLASHON ENDRQDAT TC ENTEXIT TS NOUNREG UPDATNN XCH Q TS UPDATRET EXTEND DCA LODNNLOC # SWITCH BANKS TO NOUN TABLE READING DXCH Z # ROUTINE. CCS NNADTEM AD ONE # NORMAL TCF PUTADD TCF PUTADD +1 # MCTBS DONT CHANGE NOUNADD TCF PUTADD +1 # MCTBI DONT CHANGE NOUNADD PUTADD TC SETNCADR # ECADR INTO NOUNCADR. SETS EB. NOUNADD. CAF ND1 TS DSPCOUNT CA NOUNREG TCF UPDAT1 TS VERBREG UPDATVB XCH Q TS UPDATRET CAF VD1 # Page 412 TS DSPCOUNT CA VERBREG UPDAT1 TC POSTJUMP # CANT USE SWCALL TO GO TO DSPDECVN, SINCE CADR GOVNUPDT # UPDATVB CAN ITSELF BE CALLED BY SWCALL. TC UPDATRET GOALMCYC TC ALMCYCLE # NEEDED BECAUSE BANKJUMP CANT HANDLE F/F. GODSPALM TC POSTJUMP CADR DSPALARM # Page 413 # NOUN TABLES # # NOUN CODE L/40, NORMAL NOUN CASE. NOUN CODE G/E 40, MIXED NOUN CASE. # FOR NORMAL CASE, NNADTAB CONTAINS ONE ECADR FOR EACH NOUN. # +0 INDICATES NOUN NOT USED. - ENTRY INDICATES MACHINE CADR (E OR F) TO # BE SPECIFIED. -1 INDICATES CHANNEL TO BE SPECIFIED. -0 INDICATES AUGMENT # OF LAST MACHINE CADR SUPPLIED. # # FOR MIXED CASE, NNADTAB CONTAINS ONE INDIRECT ADDRESS (IDADDREL) IN LOW # 10 BITS, AND THE COMPONENT CODE NUMBER IN THE HIGH 5 BITS. # # NNTYPTAB IS A PACKED TABLE OF THE FORM MMMMMNNNNNPPPPP. # # FOR THE NORMAL CASE, M'S ARE THE COMPONENT CODE NUMBER. # N'S ARE THE SF ROUTINE CODE NUMBER. # P'S ARE THE SF CONSTANT CODE NUMBER. # # MIXED-CASE, M'S ARE THE SF CONSTANT3 CODE NUMBER 3 COMPONENT CASE # N'S ARE THE SF CONSTANT2 CODE NUMBER # P'S ARE THE SF CONSTANT1 CODE NUMBER # N'S ARE THE SF CONSTANT2 CODE NUMBER 2 COMPONENT CASE # P'S ARE THE SF CONSTANT1 CODE NUMBER # P'S ARE THE SF CONSTANT1 CODE NUMBER 1 COMPONENT CASE # # THERE IS ALSO AN INDIRECT ADDRESS TABLE (IDADDTAB) FOR MIXED CASE ONLY. # EACH ENTRY CONTAINS ONE ECADR. IDADDREL IS THE RELATIVE ADDRESS OF # THE FIRST OF THESE ENTRIES. # # THERE IS ALSO A SCALE FACTOR ROUTINE NUMBER TABLE (RUTMXTAB) FOR MIXED # CASE ONLY. THERE IS ONE ENTRY PER MIXED NOUN. THE FORM IS, # # QQQQQRRRRRSSSSS # # Q'S ARE THE SF ROUTINE 3 CODE NUMBER 3 COMPONENT CASE # R'S ARE THE SF ROUTINE 2 CODE NUMBER # S'S ARE THE SF ROUTINE 1 CODE NUMBER # R'S ARE THE SF ROUTINE 2 CODE NUMBER 2 COMPONENT CASE # S'S ARE THE SF ROUTINE 1 CODE NUMBER # # IN OCTAL DISPLAY AND LOAD (OCT OR DEC) VERBS, EXCLUDE USE OF VERBS WHOSE # COMPONENT NUMBER IS GREATER THAN THE NUMBER OF COMPONENTS IN NOUN. # (ALL MACHINE ADDRESS TO BE SPECIFIED NOUNS ARE 3 COMPONENT.) # # IN MULTI-COMPONENT LOAD VERBS, NO MIXING OF OCTAL AND DECIMAL DATA # COMPONENT WORDS IS ALLOWED. ALARM IF VIOLATION. # # IN DECIMAL LOADS OF DATA, 5 NUMERICAL CHARACTERS MUST BE KEYED IN # BEFORE EACH ENTER. IF NOT, ALARM. # Page 414 # DISPLAY VERBS DSPABC CS TWO TC COMPTEST INDEX NOUNADD CS 2 XCH BUF +2 DSPAB CS ONE TC COMPTEST INDEX NOUNADD CS 1 XCH BUF +1 DSPA TC DECTEST TC TSTFORDP INDEX NOUNADD CS 0 DSPCOM1 XCH BUF TC DSPCOM2 DSPB CS ONE TC DCOMPTST INDEX NOUNADD CS 1 TC DSPCOM1 DSPC CS TWO TC DCOMPTST INDEX NOUNADD CS 2 TC DSPCOM1 DSPCOM2 CS TWO # A B C AB ABC AD VERBREG # -1 -0 +1 +2 +3 IN A CCS A # +0 +0 +0 +1 +2 IN A AFTER CCS TC DSPCOM3 TC ENTEXIT TC +1 DSPCOM3 TS DISTEM # +0 +1 +2 INTO DISTEM INDEX A CAF R1D1 TS DSPCOUNT INDEX DISTEM CS BUF TC DSPOCTWO XCH DISTEM TC DSPCOM2 +2 # COMPTEST ALARMS IF COMPONENT NUMBER OF VERB (LOAD OR OCT DISPLAY) IS # GREATER THAN THE HIGHEST COMPONENT NUMBER OF NOUN. COMPTEST TS SFTEMP1 # VERB COMP LXCH Q COMPTST1 TC GETCOMP TC LEFT5 MASK THREE # NOUN COMP # Page 415 AD SFTEMP1 # NOUN COMP = VERB COMP CCS A TC L # NOUN COMP G/ VERB COMP TC CCSHOLE TC GODSPALM # NOUN COMP L/ VERB COMP NDCMPTST TC L # NOUN COMP = VERB COMP # DCOMPTST ALARMS IF DECIMAL ONLY BIT (BIT4 OF COMP CODE NUMBER) = 1. # IF NOT, IT PERFORMS REGULAR COMPTEST. DCOMPTST TS SFTEMP1 # - VERB COMP LXCH Q TC DECTEST TC COMPTST1 DECTEST EXTEND # ALARMS IF DEC ONLY BIT = 1 (BIT4 OF COMP QXCH MPAC +2 # CODE NUMBER). RETURNS IF NOT. TC GETCOMP MASK BIT14 CCS A TC GODSPALM TC MPAC +2 DCTSTCYC LXCH Q # ALARMS AND RECYCLES IF DEC ONLY BIT = 1 TC GETCOMP # (BIT4 OF COMP CODE NUMBER). RETURNS MASK BIT14 # IF NOT. USED BY LOAD VERBS. CCS A TC ALMCYCLE TC L # NOUNTEST ALARMS IF NO-LOAD BIT (BIT5 OF COMP CODE NUMBER) = 1. # IF NOT, IT RETURNS. NOUNTEST LXCH Q TC GETCOMP CCS A TC L TC L TC GODSPALM TSTFORDP LXCH Q # TEST FOR DP. IF SO, GET MINOR PART ONLY. CA NNADTEM AD ONE # IF NNADTEM = -1, CHANNEL TO BE SPECIFIED EXTEND BZF CHANDSP INDEX MIXBR TC +0 TC +2 # NORMAL # Page 416 TC L # MIXED CASE ALREADY HANDLED IN MIXNOUN TC SFRUTNOR TC DPTEST TC L # NO DP INCR NOUNADD # DP E+1 INTO NOUNADD FOR MINOR PART. TC L CHANDSP CA NOUNCADR MASK LOW9 EXTEND INDEX A READ 0 CS A TCF DSPCOM1 COMPICK ADRES NNTYPTEM ADRES NNADTEM GETCOMP INDEX MIXBR # NORMAL MIXED CAF COMPICK -1 # ADRES NNTYPTEM ADRES NNADTEM INDEX A CA 0 # C(NNTYPTEM) C(NNADTEM) MASK HI5 # GET HI5 OF NNTYPTAB (NORM) OF NNADTAB (MIX) TC Q DECDSP TC GETCOMP TC LEFT5 MASK THREE TS DECOUNT # COMP NUMBER INTO DECOUNT DSPDCGET TS DECTEM # PICKS UP DATA AD NOUNADD # DECTEM 1COMP +0, 2COMP +1, 3COMP +2 INDEX A CS 0 INDEX DECTEM XCH XREG # CANT USE BUF SINCE DMP USES IT. CCS DECTEM TC DSPDCGET # MORE TO GET DSPDCPUT CAF ZERO # DISPLAYS DATA TS MPAC +1 # DECOUNT 1COMP +0, 2COMP +1, 3COMP +2 TS MPAC +2 INDEX DECOUNT CAF R1D1 TS DSPCOUNT INDEX DECOUNT CS XREG TS MPAC TC SFCONUM # 2X (SF CON NUMB) IN A # Page 417 TS SFTEMP1 EXTEND # SWITCH BANKS TO SF CONSTANT TABLE DCA GTSFOUTL # READING ROUTINE. DXCH Z # LOADS SFTEMP1, SFTEMP2 INDEX MIXBR TC +0 TC DSPSFNOR TC SFRUTMIX TC DECDSP3 DSPSFNOR TC SFRUTNOR TC DECDSP3 EBANK= DSPCOUNT GTSFOUTL 2CADR GTSFOUT DSPDCEND TC BANKCALL # ALL SFOUT ROUTINES END HERE CADR DSPDECWD CCS DECOUNT TC +2 TC ENTEXIT TS DECOUNT TC DSPDCPUT # MORE TO DISPLAY DECDSP3 INDEX A CAF SFOUTABR TC BANKJUMP SFOUTABR CADR PREDSPAL # ALARM IF DEC DISP WITH OCTAL ONLY NOUN CADR DSPDCEND CADR DEGOUTSF CADR ARTOUTSF CADR DP1OUTSF CADR DP2OUTSF CADR LRPOSOUT CADR DP3OUTSF CADR HMSOUT CADR M/SOUT CADR DP2OUTSF CADR AROUT1SF CADR 2INTOUT CADR 360-CDUO ENDRTOUT EQUALS # THE FOLLOWING IS A TYPICAL SF ROUTINE. IT USES MPAC. LEAVES RESULTS # IN MPAC, MPAC+1. ENDS WITH TC DSPDCEND # Page 418 SETLOC BLANKCON +1 COUNT* $$/PIN # DEGOUTSF SCALES BY .18 THE LOW 14 BITS OF ANGLE, ADDING .18 FOR # NUMBERS IN THE NEGATIVE (AGC) RANGE. DEGOUTSF CAF ZERO TS MPAC +2 # SET INDEX FOR FULL SCALE. TC FIXRANGE TC +2 # NO AUGMENT NEEDED (SFTEMP1 AND 2 ARE 0) TC SETAUG # SET AUGMENTER ACCORDING TO C(MPAC +2) TC DEGCOM # 360-CDUD COMPUTES 360 - CDU ANGLE IN MPAC, STORES RESULT IN MPAC AND # GOES TO DEGOUTSF. 360-CDUO TC 360-CDU TC DEGOUTSF 360-CDU CA MPAC MASK POSMAX # IF ANGLE IS 0 OR 180 DEGREES, DO NOTHING EXTEND BZF 360-CDUE CS MPAC # COMPUTE 360 DEGREES MINUS ANGLE AD ONE TS MPAC 360-CDUE TC Q # LRPOSOUT DISPLAYS +0,1,2, OR 3 (WHOLE) FOR CHANNEL 33, BITS 7-6 = 11,10, # 01,00 RESPECTIVELY LRPOSOUT EXTEND READ CHAN33 EXTEND MP BIT10 # BITS 7-6 TO BITS 2-1 COM MASK THREE TS MPAC TC ARTOUTSF # DISPLAY AS WHOLE SETAUG EXTEND # LOADS SFTEMP1 AND SFTEMP2 WITH THE INDEX MPAC +2 # DP AUGMENTER CONSTANT DCA DEGTAB DXCH SFTEMP1 TC Q FIXRANGE CCS MPAC # IF MPAC IS + RETURN TO L+1 TC Q # IF MPAC IS - RETURN TO L+2 AFTER TC Q # MASKING OUT THE SIGN BIT TCF +1 # Page 419 CS BIT15 MASK MPAC TS MPAC INDEX Q TC 1 DEGCOM EXTEND # LOADS MULTIPLIER, DOES SHORTMP, AND INDEX MPAC +2 # ADDS AUGMENTER. DCA DEGTAB DXCH MPAC # ADJUSTED ANGLE IN A TC SHORTMP DXCH SFTEMP1 DAS MPAC TC SCOUTEND DEGTAB OCT 05605 # HI PART OF .18 OCT 03656 # LOW PART OF .18 OCT 16314 # HI PART OF .45 OCT 31463 # LO PART OF .45 ARTOUTSF DXCH SFTEMP1 # ASSUMES POINT AT LEFT OF DP SFCON DXCH MPAC TC PRSHRTMP # IF C(A) = -0, SHORTMP FAILS TO GIVE -0. SCOUTEND TC POSTJUMP CADR DSPDCEND AROUT1SF DXCH SFTEMP1 # ASSUMES POINT BETWEEN HI AND LO PARTS OF DXCH MPAC # DP SFCON. SHIFTS RESULTS LEFT 14, BY TC PRSHRTMP # TAKING RESULTS FROM MPAC+1, MPAC+2. TC L14/OUT DP1OUTSF TC DPOUT # SCALES MPAC, MPAC +1 BY DP SCALE FACTOR L14/OUT XCH MPAC +2 # IN SFTEMP1, SFTEMP2. THEN SCALE RESULT XCH MPAC +1 # BY B14 TS MPAC TC SCOUTEND DP2OUTSF TC DPOUT # SCALES MPAC, MPAC +1 BY DP SCALE FACTOR TC SCOUTEND DP3OUTSF TC DPOUT # ASSUMES POINT BETWEEN BITS 7-8 OF HIGH CAF SIX # LEFT BY 7, ROUNDS MPAC+2 INTO MPAC+1. TC TPLEFTN # SHIFT LEFT 7. TC SCOUTEND # Page 420 MPAC+6 = MPAC +6 # USE MPAC +6 INSTEAD OF OVFIND DPOUT XCH Q TS MPAC+6 TC READLO # GET FRESH DATA FOR BOTH HI AND LO. TC TPAGREE # MAKE DP DATA AGREE TC DMP ADRES SFTEMP1 TC MPAC+6 # THE FOLLOWING ROUTINE DISPLAYS TWO CONTIGUOUS SP POSITIVE INTEGERS # AS TWO POSITIVE DECIMAL INTEGERS IN RXD1-RXD2 AND RXD4-RXD5 (RXD3 IS # BLANKED). THE INTEGER IN THE LOWER NUMBERED ADDRESS IS DISPLAYED IN # RXD1-RXD2. 2INTOUT TC 5BLANK # TO BLANK RXD3 TC +ON # TURN ON + SIGN CA MPAC TC DSPDECVN # DISPLAY 1ST INTEGER (LIKE VERB AND NOUN) CS THREE INDEX DECOUNT AD R1D1 # RXD4 TS DSPCOUNT TC READLO # GET 2ND INTEGER CA MPAC +1 TC DSPDECVN # DISPLAY 2ND INTEGER (LIKE VERB AND NOUN) TC POSTJUMP CADR DSPDCEND +2 # READLO PICKS UP FRESHDATA FOR BOTH HI AND LO AND LEAVES IT IN # MPAC, MPAC+1. THIS IS NEEDED FOR TIME DISPLAY. IT ZEROES MPAC+2, BUT # DOES NOT FORCE TPAGREE. READLO XCH Q TS TEM4 INDEX MIXBR TC +0 TC RDLONOR INDEX DECOUNT CA IDAD1TEM # GET IDADDTAB ENTRY FOR COMP K OF NOUN. MASK LOW11 # E SUBK TC SETEBANK # SET EB, LEAVE EADRES IN A. READLO1 EXTEND # MIXED NORMAL INDEX A # C(ESUBK) C(E) DCA 0 # C(E SUBK)+1) C(E+1) DXCH MPAC CAF ZERO TS MPAC +2 TC TEM4 # Page 421 RDLONOR CA NOUNADD # E ENDRDLO TC READLO1 BANK 42 SETLOC PINBALL3 BANK COUNT* $$/PIN HMSOUT TC BANKCALL # READ FRESH DATA FOR HI AND LO INTO MPAC, CADR READLO # MPAC+1. TC TPAGREE # MAKE DP DATA AGREE. TC SEPSECNR # LEAVE FRACT SEC/60 IN MPAC, MPAC+1. LEAVE # WHOLE MIN IN BIT13 OF LOTEMOUT AND ABOVE TC DMP # USE ONLY FRACT SEC/60 MOD 60 ADRES SECON2 # MULT BY .06 CAF R3D1 # GIVES CENTI-SEC/10EXP5 MOD 60 TS DSPCOUNT TC BANKCALL # DISPLAY SEC MOD 60 CADR DSPDECWD TC SEPMIN # REMOVE REST OF SECONDS CAF MINCON2 # LEAVE FRACT MIN/60 IN MPAC+1. LEAVE XCH MPAC # WHOLE HOURS IN MPAC. TS HITEMOUT # SAVE WHOLE HOURS. CAF MINCON2 +1 XCH MPAC +1 # USE ONLY FRACT MIN/60 MOD 60 TC PRSHRTMP # IF C(A) = -0, SHORTMP FAILS TO GIVE -0. # MULT BY .0006 CAF R2D1 # GIVE MIN/10EXP5 MOD 60 TS DSPCOUNT TC BANKCALL # DISPLAY MIN MOD 60 CADR DSPDECWD EXTEND # MINUTES, SECONDS HAVE BEEN REMOVED DCA HRCON1 DXCH MPAC CA HITEMOUT # USE WHOLE HOURS TC PRSHRTMP # IF C(A) = -0, SHORTMP FAILS TO GIVE -0. # MULT BY .16384 CAF R1D1 # GIVES HOURS/10EXP5 TS DSPCOUNT TC BANKCALL # USE REGULAR DSPDECWD, WITH ROUND OFF. CADR DSPDECWD TC ENTEXIT SECON1 2DEC* 1.666666666 E-4 B12* # 2EXP12/6000 SECON2 OCT 01727 # .06 FOR SECONDS DISPLAY OCT 01217 MINCON2 OCT 00011 # .0006 FOR MINUTES DISPLAY OCT 32445 # Page 422 MINCON1 OCT 02104 # .066..66 UPPED BY 2EXP-28 OCT 10422 HRCON1 2DEC .16384 OCT 00000 RNDCON OCT 00062 # .5 SEC M/SOUT TC BANKCALL # READ FRESH DATA FOR HI AND LO INTO MPAC. CADR READLO # MPAC+1. TC TPAGREE # MAKE DP DATA AGREE CCS MPAC # IF MAG OF (MPAC, MPAC+1) G/ 59 M 59 S. TC +2 # DISPLAY 59B59, WITH PROPER SIGN. TC M/SNORM # MPAC = +0. L/ 59M58.5S AD M/SCON1 # - HI PART OF (59M58.5S) +1 FOR CCS CCS A # MAG OF MPAC - HI PART OF (59M58.5S) TC M/SLIMIT # G/ 59M58.5S TC M/SNORM # ORIGINAL MPAC = -0. L/ 59M58.5S TC M/SNORM # L/ 59M58.5S CCS MPAC +1 # MAG OF MPAC = HI PART OF 59M58.5S TC +2 TC M/SNORM # MPAC+1 = +0. L/ 59M58.5S AD M/SCON2 # - LO PART OF (59M58.5S) +1 FOR CCS CCS A # MAG OF MPAC+1 - LO PART OF (59M58.5S) TC M/SLIMIT # G/ 59M58.5S TC M/SNORM # ORIGINAL MPAC+1 = -0. L/ 59M58.5S TC M/SNORM # L/ 59M58.5S M/SLIMIT CCS MPAC # = 59M58.5S LIMIT CAF M/SCON3 # MPAC CANNOT BE +/- 0 AT THIS POINT. TC +LIMIT # FORCE MPAC, MPAC+1 TO +/- 59M59.5S CS M/SCON3 TS MPAC # WILL DISPLAY 59M59S IN DSPDECNR CS M/SCON3 +1 LIMITCOM TS MPAC +1 CAF NORMADR # SET RETURN TO M/SNORM+1. TC SEPSECNR +1 +LIMIT TS MPAC CAF M/SCON3 +1 TC LIMITCOM M/SNORM TC SEPSEC # LEAVE FRACT SEC/60 IN MPAC,MPAC+1. LEAVE # WHOLE MIN IN BIT13 OF LOTEMOUT AND ABOVE CAF HISECON # USE ONLY FRACT SEC/60 MOD 60 TC SHORTMP # MULT BY .6 + 2EXP-14 CS THREE # GIVES SEC/100 MOD 60 ADS DSPCOUNT # DSPCOUNT ALREADY SET TO RXD1 TC BANKCALL # DISPLAY SEC MOD 60 IN D4D5. CADR DSPDC2NR CAF ZERO TS CODE CS TWO # Page 423 INDEX DECOUNT AD R1D1 # RXD3 TS COUNT TC BANKCALL # BLANK MIDDLE CHAR CADR DSPIN TC SEPMIN # REMOVE REST OF SECONDS XCH MPAC +1 # LEAVE FRACT MIN/60 IN MPAC+1 EXTEND # USE ONLY FRACT MIN/60 MOD 60 MP HIMINCON # MULT BY .6 + 2EXP-7 DXCH MPAC # GIVES MIN/100 MOD 60 INDEX DECOUNT CAF R1D1 # RXD1 TS DSPCOUNT TC BANKCALL # DISPLAY MIN MOD 60 IN D1D2. CADR DSPDC2NR TC POSTJUMP CADR DSPDCEND +2 HISECON OCT 23147 # .6 + 2EXP-14 HIMINCON OCT 23346 # .6 + 2EXP-7 M/SCON1 OCT 77753 # - HI PART OF (59M58.5S) +1 M/SCON2 OCT 41126 # - LO PART OF (59M58.5S) +1 NORMADR ADRES M/SNORM +1 M/SCON3 OCT 00025 # 59M 59.5S OCT 37016 SEPSEC CCS MPAC +1 # IF +, ROUND BY ADDING .5 SEC TCF POSEC # IF -, ROUND BY SUBTRACING .5 SEC TCF POSEC # FINDS TIME IN MPAC, MPAC+1 TCF +1 # ROUNDS OFF BY +/- .5 SEC EXTEND # LEAVES WHOLE MIN IN BIT13 OF DCS RNDCON -1 # LOTEMOUT AND ABOVE. SEPSEC1 DAS MPAC # LEAVES FRACT SEC/60 IN MPAC, MPAC+1. TCF SEPSECNR POSEC EXTEND DCA RNDCON -1 TCF SEPSEC1 SEPSECNR XCH Q # THIS ENTRY AVOIDS ROUNDING BY .5 SEC TS SEPSCRET TC DMP # MULT BY 2EXP12/6000 ADRES SECON1 # GIVES FRACT SEC/60 IN BIT12 OF MPAC+1 EXTEND # AND BELOW. DCA MPAC # SAVE MINUTES AND HOURS DXCH HITEMOUT TC TPSL1 TC TPSL1 # GIVES FRACT SEC/60 IN MPAC+1, MPAC+2. CAF ZERO XCH MPAC +2 # LEAVE FRACT SEC/60 IN MPAC, MPAC+1. # Page 424 XCH MPAC +1 XCH MPAC TC SEPSCRET SEPMIN XCH Q # FIND WHOLE MINUTES IN BIT13 TS SEPMNRET # OF LOTEMOUT AND ABOVE. CA LOTEMOUT # REMOVES REST OF SECONDS. EXTEND # LEAVES FRACT MIN/60 IN MPAC+1. MP BIT3 # LEAVES WHOLE HOURS IN MPAC. EXTEND # SR 12, THROW AWAY LP. MP BIT13 # SR 2, TAKE FROM LP. = SL 12. LXCH MPAC +1 # THIS FORCES BITS 12-1 TO 0 IF +. # FORCES BITS 12-1 TO 1 IF -. CA HITEMOUT TS MPAC TC DMP # MULT BY 1/15 ADRES MINCON1 # GIVES FRACT MIN/60 IN MPAC+1. ENDSPMIN TC SEPMNRET # GIVES WHOLE HOURS IN MPAC. # THIS IS A SPECIAL PURPOS VERB FOR DISPLAYING A DOUBLE PRECISION AGC # WORD AS 10 DECIMAL DIGITS ON THE AGC DISPLAY PANEL. IT CAN BE USED WITH # ANY NOUN, EXCEPT MIXED NOUNS. IT DISPLAYS THE CONTENTS # OF THE REGISTER NOUNADD IS POINTING TO. IF USED WITH NOUNS WHICH ARE # INHERENTLY NOT DP SUCH AS THE CDU COUNTERS THE DISPLAY WILL BE GARBAGE. # DISPLAY IS IN R1 AND R2 ONLY WITH THE SIGN IN R1. SETLOC ENDRDLO +1 COUNT* $$/PIN DSPDPDEC INDEX MIXBR TC +0 TC +2 # NORMAL NOUN TC DSPALARM EXTEND INDEX NOUNADD DCA 0 DXCH MPAC CAF R1D1 TS DSPCOUNT CAF ZERO TS MPAC +2 TC TPAGREE TC DSP2DEC ENDDPDEC TC ENTEXIT # Page 425 # LOAD VERBS IF ALARM CONDITION IS DETECTED DURING EXECUTE, # CHECK FAIL LIGHT IS TURNED ON AND ENDOFJOB. IF ALARM CONDITION IS # DETECTED DURING ENTER OF DATA, CHECK FAIL IS TURNED ON AND IT RECYCLES # TO EXECUTE OF ORIGINAL LOAD VERB. RECYCLE CAUSED BY 1) DECIMAL MACHINE # CADR 2) MIXTURE OF OCTAL/DECIMAL DATA 3) OCTAL DATA INTO DECIMAL # ONLY NOUN 4) DEC DATA INTO OCT ONLY NOUN 5) DATA TOO LARGE FOR SCALE # 6) FEWER THAN 3 DATA WORDS LOADED FOR HRS, MIN, SEC NOUN. (2)-(6) ALARM # AND RECYCLE OCCUR AT FINAL ENTER OF SET. (1) ALARM AND RECYCLE OCCUR AT # ENTER OF CADR. SETLOC ENDRTOUT COUNT* $$/PIN ABCLOAD CS TWO TC COMPTEST TC NOUNTEST # TEST IF NOUN CAN BE LOADED. CAF VBSP1LD TC UPDATVB -1 TC REQDATX CAF VBSP2LD TC UPDATVB -1 TC REQDATY CAF VBSP3LD TC UPDATVB -1 TC REQDATZ PUTXYZ CS SIX # TEST THAT THE 3 DATA WORDS LOADED ARE TC ALLDC/OC # ALL DEC OR ALL OCT. EXTEND DCA LODNNLOC # SWITCH BANKS TO NOUN TABLE READING DXCH Z # ROUTINE. CAF ZERO # X COMP TC PUTCOM INDEX NOUNADD TS 0 CAF ONE # Y COMP TC PUTCOM INDEX NOUNADD TS 1 CAF TWO # Z COMP TC PUTCOM INDEX NOUNADD TS 2 CS SEVEN # IF NOUN 7 HAS JUST BEEN LOADED, SET AD NOUNREG # FLAG BITS AS SPECIFIED. EXTEND BZF +2 TC LOADLV # Page 426 CA XREG # ECADR OF FLAG WORD. TC SETNCADR +1 # SET EBANK, NOUNADD. CA ZREG # ZERO TO RESET BITS, NON-ZERO TO SET BITS. INHINT EXTEND BZF BITSOFF INDEX NOUNADD CS 0 MASK YREG # BITS TO BE PROCESSED. INDEX NOUNADD ADS 0 # SET BITS. TC BITSOFF1 BITSOFF CS YREG # BITS TO BE PROCESSED. INDEX NOUNADD MASK 0 INDEX NOUNADD TS 0 # RESET BITS. BITSOFF1 RELINT TC LOADLV ABLOAD CS ONE TC COMPTEST TC NOUNTEST # TEST IF NOUN CAN BE LOADED. CAF VBSP1LD TC UPDATVB -1 TC REQDATX CAF VBSP2LD TC UPDATVB -1 TC REQDATY PUTXY CS FIVE # TEST THAT THE 2 DATA WORDS LOADED ARE TC ALLDC/OC # ALL DEC OR ALL OCT. EXTEND DCA LODNNLOC # SWITCH BANKS TO NOUN TABLE READING DXCH Z # ROUTINE. CAF ZERO # X COMP TC PUTCOM INDEX NOUNADD TS 0 CAF ONE # Y COMP TC PUTCOM INDEX NOUNADD TS 1 TC LOADLV ALOAD TC REQDATX EXTEND DCA LODNNLOC # SWITCH BANKS TO NOUN TABLE READING DXCH Z # ROUTINE. CAF ZERO # X COMP TC PUTCOM # Page 427 INDEX NOUNADD TS 0 TC LOADLV BLOAD CS ONE TC COMPTEST CAF BIT15 # SET CLPASS FOR PASS0 ONLY TS CLPASS TC REQDATY EXTEND DCA LODNNLOC # SWITCH BANKS TO NOUN TABLE READING DXCH Z # ROUTINE. CAF ONE TC PUTCOM INDEX NOUNADD TS 1 TC LOADLV CLOAD CS TWO TC COMPTEST CAF BIT15 # SET CLPASS FOR PASS0 ONLY TS CLPASS TC REQDATZ EXTEND DCA LODNNLOC # SWITCH BANKS TO NOUN TABLE READING DXCH Z # ROUTINE. CAF TWO TC PUTCOM INDEX NOUNADD TS 2 TC LOADLV LOADLV CAF ZERO TS DECBRNCH CS ZERO TS LOADSTAT TC RELDSP # RELEASE FOR PRIORITY DISPLAY PROBLEM. CS VD1 # TO BLOCK NUMERICAL CHARACTERS AND TS DSPCOUNT # CLEARS AFTER A COMPLETED LOAD TC POSTJUMP # AFTER COMPLETED LOAD, GO TO RECALTST CADR RECALTST # TO SEE IF THERE IS RECALL FROM ENDIDLE. VBSP1LD DEC 21 # VB21 = ALOAD VBSP2LD DEC 22 # VB22 = BLOAD VBSP3LD DEC 23 # VB23 = CLOAD ALLDC/OC TS DECOUNT # TESTS THAT DATA WORDS LOADED ARE EITHER CS DECBRNCH # ALL DEC OR ALL OCT. ALARMS IF NOT. TS SR # Page 428 CS SR CS SR # SHIFTED RIGHT 2 CCS A # DEC COMP BITS IN LOW 3 TCF +2 # SOME ONES IN LOW 3 TC Q # ALL ZEROS. ALL OCTAL. OK AD DECOUNT # DEC COMP = 7 FOR 3COMP, =6 FOR 2COMP EXTEND # (BUT IT HAS BEEN DECREMENTED BY CCS) BZF +2 # MUST MATCH 6 FOR 3COMP, 5 FOR 2COMP. TC ALMCYCLE # ALARM AND RECYCLE. GOQ TC Q # ALL REQUIRED ARE DEC. OK SFRUTNOR XCH Q # GETS SF ROUTINE NUMBER FOR NORMAL CASE TS EXITEM # CAN'T USE L FOR RETURN. TSTFORDP USES L. CAF MID5 MASK NNTYPTEM TC RIGHT5 TC EXITEM # SF ROUTINE NUMBER IN A SFRUTMIX XCH Q # GETS SF ROUTINE NUMBER FOR MIXED CASE TS EXITEM INDEX DECOUNT CAF DISPLACE # PUT TC GOQ, TC RIGHT5, OR TC LEFT5 IN L TS L INDEX DECOUNT CAF LOW5 # LOW5, MID5, OR HI5 IN A MASK RUTMXTEM # GET HI5, MID5, OR LOW5 OF RUTMXTAB ENTRY INDEX L TC 0 # DO TC GOQ(DECOUNT=0), DO TC RIGHT5(DECOUNT=1), DO TC LEFT5(DECOUNT=2). SFRET1 TC EXITEM # SF ROUTINE NUMBER IN A SFCONUM XCH Q # GETS 2X(SF CONSTANT NUMBER) TS EXITEM INDEX MIXBR TC +0 TC CONUMNOR # NORMAL NOUN INDEX DECOUNT # MIXED NOUN CAF DISPLACE TS L # PUT TC GOQ, TC RIGHT5, OR TC LEFT5 IN L INDEX DECOUNT CAF LOW5 MASK NNTYPTEM INDEX L TC 0 # DO TC GOQ(DECOUNT=0), DO TC RIGHT5(DECOUNT=1), DO TC LEFT5(DECOUNT=2). SFRET DOUBLE # 2X(SF CONSTANT NUMBER) IN A TC EXITEM DISPLACE TC GOQ # Page 429 TC RIGHT5 TC LEFT5 CONUMNOR CAF LOW5 # NORMAL NOUN ALWAYS GETS LOW5 OF MASK NNTYPTEM # NNTYPTAB FOR SF CONUM. DOUBLE TC EXITEM # 2X(SF CONSTANT NUMBER) IN A PUTCOM TS DECOUNT XCH Q TS DECRET CAF ZERO TS MPAC+6 INDEX DECOUNT XCH XREGLP TS MPAC +1 INDEX DECOUNT XCH XREG TS MPAC INDEX MIXBR TC +0 TC PUTNORM # NORMAL NOUN # IF MIXNOUN, PLACE ADDRESS FOR COMPONENT K INTO NOUNADD, SET EBANK BITS. INDEX DECOUNT # GET IDADDTAB ENTRY FOR COMPONENT K CA IDAD1TEM # OF NOUN. MASK LOW11 # (ECADR)SUBK FOR CURRENT COMP OF NOUN TC SETNCADR # ECADR INTO NOUNCADR. SETS EB, NOUNADD. EXTEND # C(NOUNADD) IN A UPON RETURN SU DECOUNT # PLACE (ESUBK)-K INTO NOUNADD TS NOUNADD CCS DECBRNCH TC PUTDECSF # + DEC TC DCTSTCYC # +0 OCTAL TC SFRUTMIX # TEST IF DEC ONLY BIT = 1. IF SO, TC DPTEST # ALARM AND RECYCLE. IF NOT, CONTINUE. TC PUTCOM2 # NO DP # TEST FOR DP SCALE FOR OCT LOAD. IF SO, # +0 INTO MAJOR PART. SET NOUNADD FOR # LOADING OCTAL WORD INTO MINOR PART. PUTDPCOM INCR NOUNADD # DP (ESUBK)-K+1 OR E+1 CA NOUNADD # NOUNADD NOW SET FOR MINOR PART ADS DECOUNT # (ESUBK)+1 OR E+1 INTO DECOUNT CAF ZERO # NOUNADD SET FOR MINOR PART INDEX DECOUNT TS 0 -1 # ZERO MAJOR PART(ESUBK OR E) TC PUTCOM2 PUTNORM TC SETNADD # ECADR FROM NOUNCADR. SETS EB, NOUNADD. CCS DECBRNCH # Page 430 TC PUTDECSF # + DEC TC DCTSTCYC # +0 OCTAL TC SFRUTNOR # TEST IF DEC ONLY BIT =1. IF SO, TC DPTEST # ALARM AND RECYCLE. IF NOT, CONTINUE. TC PUTCOM2 -4 # NO DP CAF ZERO # DP TS DECOUNT TC PUTDPCOM CA NNADTEM AD ONE # IF NNADTEM = -1, CHANNEL TO BE SPECIFIED EXTEND BZF CHANLOAD PUTCOM2 XCH MPAC TC DECRET EBANK= DSPCOUNT GTSFINLC 2CADR GTSFIN CHANLOAD CS SEVEN # DONT LOAD CHAN 7. (IT = SUPERBANK). AD NOUNCADR EXTEND BZF LOADLV CA NOUNCADR MASK LOW9 XCH MPAC EXTEND INDEX MPAC WRITE 0 TC LOADLV # PUTDECSF FINDS MIXBR AND DECOUNT STILL SET FROM PUTCOM PUTDECSF TC SFCONUM # 2X(SF CON NUMB) IN A TS SFTEMP1 EXTEND # SWITCH BANKS TO SF CONSTANT TABLE DCA GTSFINLC # READING ROUTINE. DXCH Z # LOADS SFTEMP1, SFTEMP2. INDEX MIXBR TC +0 TC PUTSFNOR TC SFRUTMIX TC PUTDCSF2 PUTSFNOR TC SFRUTNOR PUTDCSF2 INDEX A CAF SFINTABR # Page 431 TC BANKJUMP # SWITCH BANKS FOR EXPANSION ROOM SFINTABR CADR GOALMCYC # ALARM AND RECYCLE IF DEC LOAD # WITH OCTAL ONLY NOUN. CADR BINROUND CADR DEGINSF CADR ARTHINSF CADR DPINSF CADR DPINSF2 CADR DSPALARM # LRPOSOUT CANT BE LOADED. CADR DPINSF # SAME AS ARITHDP1 CADR HMSIN CADR DSPALARM # MIN/SEC CANT BE LOADED. CADR DPINSF4 CADR ARTIN1SF CADR DSPALARM # 2INTOUT CANT BE LOADED. CADR DEGINSF # TESTS AT END FOR 360-CDU ENDRUTIN EQUALS # SCALE FACTORS FOR THOSE ROUTINES NEEDING THEM ARE AVAILABLE IN SFTEMP1. # ALL SFIN ROUTINES USE MPAC MPAC+1. LEAVE RESULT IN A. END WITH TC DECRET. SETLOC ENDDPDEC +1 COUNT* $$/PIN # DEGINSF APPLIES 1000/180 = 5.55555(10) = 5.43434(8) DEGINSF TC DMP # SF ROUTINE FOR DEC DEGREES ADRES DEGCON1 # MULT BY 5.5 5(10)X2EXP-3 CCS MPAC +1 # THIS ROUNDS OFF MPAC+1 BEFORE SHIFT CAF BIT11 # LEFT 3, AND CAUSES 360.00 TO OF/UF TC +2 # WHEN SHIFTED LEFT AND ALARM. CS BIT11 AD MPAC +1 TC 2ROUND +2 TC TPSL1 # LEFT 1 DEGINSF2 TC TPSL1 # LEFT 2 TC TESTOFUF TC TPSL1 # RETURNS IF NO OF/UF (LEFT3) CCS MPAC TC SIGNFIX # IF +, GO TO SIGNFIX TC SIGNFIX # IF +0, GO TO SIGNFIX COM # IF -, USE -MAGNITUDE +1 TS MPAC # IF -0, USE +0 SIGNFIX CCS MPAC+6 TC SGNTO1 # IF OVERFLOW TC ENDSCALE # NO OVERFLOW/UNDERFLOW CCS MPAC # IF UF FORCE SIGN TO 0 EXCEPT -180 TC CCSHOLE # Page 432 TC NEG180 TC +1 XCH MPAC MASK POSMAX TS MPAC ENDSCALE INDEX MIXBR # IF ROUTINE NO. IS NOT CDU DEGREES, TC +0 # THEN THIS IS 360 - CDU DEGREES TC +3 # AND ANGLE IN MPAC MUST BE REPLACED TC SFMIXCAL # BY 360 DEGREES MINUS ITSELF. MIXBACK TC +2 TC SFNORCAL NORBACK CS A AD BIT2 EXTEND BZF +2 TC 360-CDU ENDSCAL1 TC POSTJUMP CADR PUTCOM2 SFMIXCAL TC BANKCALL CADR SFRUTMIX TC MIXBACK SFNORCAL TC BANKCALL CADR SFRUTNOR TC NORBACK NEG180 CS POSMAX TC ENDSCALE -1 SGNTO1 CS MPAC # IF OF FORCE SIGN TO 1 MASK POSMAX CS A TC ENDSCALE -1 DEGCON1 2DEC 5.555555555 B-3 ARTHINSF TC DMP # SCALES MPAC, +1 BY SFTEMP1, SFTEMP2. ADRES SFTEMP1 # ASSUMES POINT BETWEEN HI AND LO PARTS XCH MPAC +2 # OF SFCON. SHIFTS RESULTS LEFT BY 14. XCH MPAC +1 # (BY TAKING RESULTS FROM MPAC+1, MPAC+2) XCH MPAC EXTEND BZF BINROUND TC ALMCYCLE # TOO LARGE A LOAD. ALARM AND RECYCLE. BINROUND TC 2ROUND TC TESTOFUF TC ENDSCAL1 # RETURNS IF NO OF/UF # Page 433 ARTIN1SF TC DMP # SCALES MPAC, +1 BY SFTEMP1, SFTEMP2. ADRES SFTEMP1 # ROUNDS MPAC+1 INTO MPAC. TC BINROUND DPINSF TC DMP # SCALES MPAC, MPAC +1 BY SFTEMP1, ADRES SFTEMP1 # SFTEMP. STORES LOW PART OF RESULT XCH MPAC +2 # IN (E SUBK) +1 OR E+1 DOUBLE TS MPAC +2 CAF ZERO AD MPAC +1 TC 2ROUND +2 TC TESTOFUF INDEX MIXBR # RETURNS IF NO OF/UF TC +0 TC DPINORM CA DECOUNT # MIXED NOUN DPINCOM AD NOUNADD # MIXED NORMAL TS Q # E SUBK E XCH MPAC +1 INDEX Q TS 1 # PLACE LOW PART IN TC ENDSCAL1 # (E SUBK) +1 MIXED DPINORM CAF ZERO # E +1 NORMAL TC DPINCOM DPINSF2 TC DMP # ASSUMES POINT BETWEEN BITS 7-8 OF HIGH ADRES SFTEMP1 # PART OF SF CONST. DPINSF2 SHIFTS RESULTS CAF SIX # LEFT BY 7, ROUNDS MPAC+2 INTO MPAC+1 TC TPLEFTN # SHIFT LEFT 7. TC DPINSF +2 DPINSF4 TC DMP # ASSUMES POINT BETWEEN BITS 11-12 OF HIGH ADRES SFTEMP1 # PART OF SF CONST. DPINSF2 SHIFTS RESULTS CAF TWO # LEFT BY 3, ROUNDS MPAC+2 INTO MPAC+1. TC TPLEFTN # SHIFT LEFT 3. TC DPINSF +2 TPLEFTN XCH Q # SHIFTS MPAC, +1, +2 LEFT N. SETS OVFIND TS SFTEMP2 # TO +1 FOR OF, -1 FOR UF. XCH Q # CALL WITH N-1 IN A. LEFTNCOM TS SFTEMP1 # LOOP TIME .37 MSEC. TC TPSL1 CCS SFTEMP1 TC LEFTNCOM # Page 434 TC SFTEMP2 2ROUND XCH MPAC +1 DOUBLE TS MPAC +1 TC Q # IF MPAC+1 DOES NOT OF/UF AD MPAC TS MPAC TC Q # IF MPAC DOES NOT OF/UF TS MPAC+6 2RNDEND TC Q TESTOFUF CCS MPAC+6 # RETURNS IF NO OF/UF TC ALMCYCLE # OF ALARM AND RECYCLE. TC Q TC ALMCYCLE # UF ALARM AND RECYCLE. SETLOC ENDSPMIN +1 COUNT* $$/PIN HMSIN TC ALL3DEC # IF ALL 3 WORDS WERE NOT LOADED, ALARM. TC DMP # XREG, XREGLP (=HOURS) WERE ALREADY PUT ADRES WHOLECON # INTO MPAC, MPAC+1. TC RND/TST # ROUND OFF TO WHOLE HRS IN MPAC+1. CAF ZERO # ALARM IF MPAC NON ZERO (G/ 16383). TS MPAC +2 CAF HRCON TS MPAC CAF HRCON +1 XCH MPAC +1 TC SHORTMP TC MPACTST # ALARM IF MPAC NON ZERO (G/ 745) DXCH MPAC +1 # STORE HOURS CONTRIBUTION DXCH HITEMIN CA YREG # PUT YREG, YREGLP INTO MPAC, +1. LXCH YREGLP DXCH MPAC TC DMP ADRES WHOLECON TC RND/TST # ROUND OFF TO WHOLE MIN IN MPAC+1 CS 59MIN # ALARM IF MPAC NON ZERO (G/16383) TC SIZETST # ALARM IF MPAC+1 G/ 59MIN XCH MPAC +1 EXTEND MP MINCON # LEAVES MINUTES CONTRIBUTION IN A,L DAS HITEMIN # ADD IN MINUTES CONTRIBUTION EXTEND # IF THIS DAS OVEFLOWS, G/ 745 HR, 39MIN # Page 435 BZF +2 TC ALMCYCLE CA ZREG # PUT ZREG, ZREGLP INTO MPAC, +1. LXCH ZREGLP DXCH MPAC TC DMP ADRES WHOLECON TC RND/TST # ROUND OFF TO WHOLE CENTI-SEC IN MPAC+1 CS 59.99SEC # ALARM IF MPAC NON ZERO (G/163.83 SEC) TC SIZETST # ALARM IF MPAC+1 G/59.99 SEC DXCH HITEMIN # ADD IN SECONDS CONTRIBUTION DAS MPAC # IF THIS DAS OVERFLOWS, EXTEND # G/ 745 HR, 39 MIN, 14.59 SEC. BZF +2 TC ALMCYCLE # ALARM AND RECYCLE CAF ZERO TS MPAC +2 TC TPAGREE DXCH MPAC INDEX NOUNADD DXCH 0 TC POSTJUMP CADR LOADLV WHOLECON OCT 00006 # (10EXP5/2EXP14)2EXP14 OCT 03240 HRCON OCT 00025 # 1 HOUR IN CENTI-SEC OCT 37100 MINCON OCT 13560 # 1 MINUTE IN CENTI-SEC 59MIN OCT 00073 # 59 AS WHOLE 59.99SEC OCT 13557 # 5999 CENTI-SEC RND/TST XCH MPAC +2 # ROUNDS MPAC+2 INTO MPAC+1. DOUBLE # ALARMS IF MPAC NOT 0 TS MPAC +2 CAF ZERO AD MPAC +1 TS MPAC +1 CAF ZERO AD MPAC # CANT OVFLOW XCH MPAC MPACTST CCS MPAC # ALARM IF MPAC NON ZERO TC ALMCYCLE # ALARM AND RECYCLE. TC Q TC ALMCYCLE # ALARM AND RECYCLE. TC Q SIZETST TS MPAC +2 # CALLED WITH - CON IN A CCS MPAC +1 # GET MAG OF MPAC+1 # Page 436 AD ONE TCF +2 AD ONE AD MPAC +2 EXTEND # MAG OF MPAC+1 - CON BZMF +2 TC ALMCYCLE # MAG OF MPAC+1 G/ CON. ALARM AND RECYCLE. TC Q # MAG OF MPAC+1 L/= CON # ALL3DEC TESTS THAT ALL 3 WORDS ARE LOADED IN DEC (FOR HMSIN). # ALARM IF NOT. (TEST THAT BITS 3,4,5 OF DECBRNCH ARE ALL = 1). ALL3DEC CS OCT34BAR # GET BITS 3,4,5 IN A MASK DECBRNCH # GET BITS 3,4,5 OF DECBRNCH IN A AD OCT34BAR # BITS 3,4,5 OF DECBRNCH MUST ALL = 1 CCS A TC FORCEV25 OCT34BAR OCT 77743 TC FORCEV25 TC Q FORCEV25 CS OCT31 # FORCE VERB 25 TO BE EXECUTED BY RECYCLE TS VERBSAVE # IN CASE OPERATOR EXECUTED A LOWER LOAD TC ALMCYCLE # VERB. ALARM AND RECYCLE. ENDHMSS EQUALS # Page 437 # MONITOR ALLOWS OTHER KEYBOARD ACTIVITY. IT IS ENDED BY VERB TERMINATE, # VERB PROCEED WITHOUT DATA, VERB RESEQUENCE, # ANOTHER MONITOR, OR ANY NVSUB CALL THAT PASSES THE DSPLOCK (PROVIDED # THAT THE OPERATOR HAS SOMEHOW ALLOWED THE ENDING OF A MONITOR WHICH # HE HAS INITIATED THROUGH THE KEYBOARD). # # MONITOR ACTION IS SUSPENDED, BUT NOT ENDED, BY ANY KEYBOARD ACTION, # EXCEPT ERROR LIGHT RESET. IT BEGINS AGAIN WHEN KEY RELEASE IS PERFORMED. # MONITOR SAVES THE NOUN AND APPROPRIATE DISPLAY VERB IN MONSAVE. IT SAVES # NOUNCADR IN MONSAVE1, IF NOUN = MACHINE CADR TO BE SPECIFIED. BIT 15 OF # MONSAVE1 IS THE KILL MONITOR SIGNAL (KILLER BIT). BIT 14 OF MONSAVE1 # INDICATES THE CURRENT MONITOR WAS EXTERNALLY INITIATED (EXTERNAL # MONITOR BIT). IT IS TURNED OFF BY RELDSP AND KILMONON. # # MONSAVE INDICATES IF MONITOR IS ON (+=ON, +0=OFF) # IF MONSAVE IS +, MONITOR ENTERS NO REQUEST, BUT TURNS KILLER BIT OFF. # IF MONSAVE IS +0, MONITOR ENTERS REQUEST AND TURNS KILLER BIT OFF. # # NVSUB (IF EXTERNAL MONITOR BIT IS OFF), VB=PROCEED WITHOUT DATA, # VB=RESEQUENCE, AND VB=TERMINATE TURN KILL MONITOR BIT ON. # # IF KILLER BIT IS ON, MONREQ ENTERS NO FURTHER REQUESTS, ZEROS MONSAVE # AND MONSAVE1 (TURNING OFF KILLER BIT AND EXTERNAL MONITOR BIT). # # MONITOR DOESNT TEST FOR MATBS SINCE NVSUB CAN HANDLE INTERNAL MATBS NOW. SETLOC ENDRUTIN COUNT* $$/PIN MONITOR CS BIT15/14 MASK NOUNCADR MONIT1 TS MPAC +1 # TEMP STORAGE CS ENTEXIT AD ENDINST CCS A TC MONIT2 BIT15/14 OCT 60000 TC MONIT2 CAF BIT14 # EXTERNALLY INITIATED MONITOR. ADS MPAC +1 # SET BIT 14 FOR MONSAVE1. CAF ZERO TS MONSAVE2 # ZERO NVMONOPT OPTIONS MONIT2 CAF LOW7 MASK VERBREG TC LEFT5 TS CYL CS CYL XCH CYL AD NOUNREG TS MPAC # TEMP STORAGE CAF ZERO # Page 438 TS DSPLOCK # +0 INTO DSPLOCK SO MONITOR CAN RUN. CCS CADRSTOR # TURN OFF KR LITE IF CADRSTOR AND DSPLIST TC +2 # ARE BOTH EMPTY. (LITE COMES ON IF NEW TC RELDSP1 # MONITOR IS KEYED IN OVER OLD MONITOR.) INHINT CCS MONSAVE TC +5 # IF MONSAVE WAS +, NO REQUEST CAF ONE # IF MONSAVE WAS 0, REQUEST MONREQ TC WAITLIST EBANK= DSPCOUNT 2CADR MONREQ DXCH MPAC # PLACE MONITOR VERB AND NOUN INTO MONSAVE DXCH MONSAVE # ZERO THE KILL MONITOR BIT RELINT # SET UP EXTERNAL MONITOR BIT TC ENTRET MONREQ TC LODSAMPT # CALLED BY WAITLIST CCS MONSAVE1 # TIME IS SNATCHED N RUPT FOR NOUN 65 TC +4 # IF KILLER BIT = 0, ENTER REQUESTS TC +3 # IF KILLER BIT = 0, ENTER REQUESTS TC KILLMON # IF KILLER BIT = 1, NO REQUESTS. TC KILLMON # IF KILLER BIT = 1, NO REQUESTS. CAF MONDEL TC WAITLIST # ENTER WAITLIST REQUEST FOR MONREQ EBANK= DSPCOUNT 2CADR MONREQ CAF CHRPRIO TC NOVAC # ENTER EXEC REQUEST FOR MONDO EBANK= DSPCOUNT 2CADR MONDO TC TASKOVER KILLMON CAF ZERO # ZERO MONSAVE AND TURN KILLER BIT OFF TS MONSAVE TS MONSAVE1 # TURN OFF KILL MONITOR BIT. TC TASKOVER # TURN OFF EXTERNAL MONITOR BIT. MONDEL OCT 144 # FOR 1 SEC MONITOR INTERVALS MONDO CCS MONSAVE1 # CALLED BY EXEC TC +4 # IF KILLER BIT = 0, CONTINUE TC +3 # IF KILLER BIT = 0, CONTINUE TC ENDOFJOB # IN CASE TERMINATE CAME SINCE LAST MONREQ TC ENDOFJOB # IN CASE TERMINATE CAME SINCE LAST MONREQ CCS DSPLOCK TC MONBUSY # NVSUB IS BUSY # Page 439 CAF LOW7 MASK MONSAVE TC UPDATNN -1 # PLACE NOUN INTO NOUNREG AND DISPLAY IT CAF MID7 MASK MONSAVE # CHANGE MONITOR VERB TO DISPLAY VERB AD MONREF # -DEC10, STARTING IN BIT8 TS EDOP # RIGHT 7 CA EDOP TS VERBREG CAF MONBACK # SET RETURN TO PASTEVB AFTER DATA DISPLAY TS ENTRET CS BIT15/14 MASK MONSAVE1 # PUT ECADR INTO MPAC +2. INTMCTBS WILL TS MPAC +2 # DISPLAY IT AND SET NOUNCADR, NOUNADD, ENDMONDO TC TESTNN # EBANK. BLOCK 2 SETLOC FFTAG8 BANK COUNT* $$/PIN PASTEVB CAF MID7 MASK MONSAVE2 # NVMONOPT PASTE OPTION EXTEND BZF +2 TC PASTEOPT # PASTE PLEASE VERB FOR NVMONOPT CA MONSAVE # PASTE MONITOR VERB - PASTE OPTION IS 0 PASTEOPT TS EDOP # RIGHT 7 CA EDOP # PLACE MONITOR VERB OR PLEASE VERB INTO TC BANKCALL # VERBREG AND DISPLAY IT. CADR UPDATVB -1 CAF ZERO # ZERO REQRET SO THAT PASTED VERBS CAN TS REQRET # BE EXECUTED BY OPERATOR. CA MONSAVE2 TC BLANKSUB # PROCESS NVMONOPT BLANK OPTION IF ANY TC +1 ENDPASTE TC ENDOFJOB MID7 OCT 37600 SETLOC ENDMONDO +1 COUNT* $$/PIN MONREF OCT 75377 # -DEC10, STARTING IN BIT8 MONBACK ADRES PASTEVB MONBUSY TC RELDSPON # TURN KEY RELEASE LIGHT TC ENDOFJOB # Page 440 # DSPFMEM IS USED TO DISPLAY (IN OCTAL) ANY FIXED REGISTER. # IT IS USED WITH NOUN = MACHINE CADR TO BE SPECIFIED. THE FCADR OF THE # DESIRED LOCATION IS THEN PUNCHED IN. IT HANDLES F/F (FCADR 4000-7777) # # FOR BANKS L/E 27, THIS IS ENOUGH. # # FOR BANKS G/E 30, THE THIRD COMPONENT OF NOUN 26 (PRIO, ADRES, BBCON) # MUST BE PRELOADED WITH THE DESIRED SUPERBANK BITS (BITS 5,6,7). # V23N26 SHOULD BE USED. # # SUMMARY # FOR BANKS L/E 27, V27N01E(FCADR)E # FOR BANKS G/E 30, V23N26E(SUPERBITS)E V27N01E(FCADR)E DSPFMEM CAF R1D1 # IF F/F, DATACALL USES BANK 02 OR 03. TS DSPCOUNT CA DSPTEM1 +2 # SUPERBANK BITS WERE PRELOADED INTO TS L # 3RD COMPONENT OF NOUN 26. CA NOUNCADR # ORIGINAL FCADR LOADED STILL IN NOUNCADR. TC SUPDACAL # CALL WITH FCADR IN A, SUPERBITS IN L. TC DSPOCTWO ENDSPF TC ENDOFJOB # Page 441 # WORD DISPLAY ROUTINES SETLOC TESTOFUF +4 COUNT* $$/PIN DSPSIGN XCH Q TS DSPWDRET CCS MPAC TC +8D TC +7 AD ONE TS MPAC TC -ON CS MPAC +1 TS MPAC +1 TC DSPWDRET TC +ON TC DSPWDRET DSPRND EXTEND # ROUND BY 5 EXP-6 DCA DECROUND -1 DAS MPAC EXTEND BZF +4 EXTEND DCA DPOSMAX DXCH MPAC TC Q # DSPDECWD CONVERTS C(MPAC, MPAC+1) INTO A SIGN AND 5 CHAR DECIMAL # STARTING IN LOC SPECIFIED IN DSPCOUNT. IT ROUNDS BY 5 EXP-6. DSPDECWD XCH Q TS WDRET TC DSPSIGN TC DSPRND CAF FOUR DSPDCWD1 TS WDCNT CAF BINCON TC SHORTMP TRACE1 INDEX MPAC CAF RELTAB MASK LOW5 TS CODE CAF ZERO XCH MPAC +2 XCH MPAC +1 TS MPAC XCH DSPCOUNT TRACE1S TS COUNT CCS A # DECREMENT DSPCOUNT EXCEPT AT +0 # Page 442 TS DSPCOUNT TC DSPIN CCS WDCNT TC DSPDCWD1 CS VD1 TS DSPCOUNT TC WDRET OCT 00000 DECROUND OCT 02476 # DSPDECNR CONVERTS C(MPAC,MPAC+1) INTO A SIGN AND 5 CHAR DECIMAL # STARTING IN LOC SPECIFIED IN DSPCOUNT. IT DOES NOT ROUND DSPDECNR XCH Q TS WDRET TC DSPSIGN TC DSPDCWD1 -1 # DSPDC2NR CONVERTS C(MPAC,MPAC+1) INTO A SIGN AND 2 CHAR DECIMAL # STARTING IN LOC SPECIFIED IN DSPCOUNT. IT DOES NOT ROUND DSPDC2NR XCH Q TS WDRET TC DSPSIGN CAF ONE TC DSPDCWD1 # DSP2DEC CONVERTS C(MPAC) AND C(MPAC+1) INTO A SIGN AND 10 CHAR DECIMAL # STARTING IN THE LOC SPECIFIED IN DSPCOUNT. DSP2DEC XCH Q TS WDRET CAF ZERO TS CODE CAF THREE TC 11DSPIN # -R2 OFF CAF FOUR TC 11DSPIN # +R2 OFF TC DSPSIGN CAF R2D1 END2DEC TC DSPDCWD1 # DSPDECVN DISPLAYS C(A) UPON ENTRY AS A 2 CHAR DECIMAL BEGINNING IN THE # DSP LOC SPECIFIED IN DSPCOUNT. # C(A) SHOULD BE IN FORM N X 2EXP-14. THIS IS SCALED TO FORM N/100 BEFORE # DISPLAY CONVERSION. # Page 443 DSPDECVN EXTEND MP VNDSPCON # MULT BY .01 LXCH MPAC # TAKE RESULTS FROM L. (MULT BY 2EXP14). CAF ZERO TS MPAC +1 XCH Q TS WDRET TC DSPDC2NR +3 # NO SIGN, NO ROUND, 2 CHAR VNDSPCON OCT 00244 # .01 ROUNDED UP GOVNUPDT TC DSPDECVN # THIS IS NOT FOR GENERAL USE. REALLY PART TC POSTJUMP # OF UPDATVB. CADR UPDAT1 +2 ENDECVN EQUALS SETLOC ENDSPF +1 COUNT* $$/PIN # DSPOCTWD DISPLAYS C(A) UPON ENTRY AS A 5 CHAR OCT STARTING IN THE DSP # CHAR SPECIFIED IN DSPCOUNT. IT STOPS AFTER 5 CHAR HAVE BEEN DISPLAYED. DSPOCTWO TS CYL XCH Q TS WDRET # MUST USE SAME RETURN AS DSP2BIT. CAF BIT14 # TO BLANK SIGNS ADS DSPCOUNT CAF FOUR WDAGAIN TS WDCNT CS CYL CS CYL CS CYL CS A MASK DSPMSK INDEX A CAF RELTAB MASK LOW5 TS CODE XCH DSPCOUNT TS COUNT CCS A # DECREMENT DSPCOUNT EXCEPT AT +0 TS DSPCOUNT TC POSTJUMP CADR DSPOCTIN OCTBACK CCS WDCNT TC WDAGAIN # + DSPLV CS VD1 # TO BLOCK NUMERICAL CHARACTERS, CLEARS, TS DSPCOUNT # AND SIGNS AFTER A COMPLETED DISPLAY. # Page 444 TC WDRET DSPMSK = SEVEN # DSP2BIT DISPLAYS C(A) UPON ENTRY AS A 2 CHAR OCT BEGINNING IN THE DSP # LOC SPECIFIED IN DSPCOUNT BY PRE CYCLING RIGHT C(A) AND USING THE LOGIC # OF THE 5 CHAR OCTAL DISPLAY DSP2BIT TS CYR XCH Q TS WDRET CAF ONE TS WDCNT CS CYR CS CYR XCH CYR TS CYL TC WDAGAIN +5 # FOR DSPIN PLACE 0/25 OCT INTO COUNT, 5 BIT RELAY CODE INTO CODE. BOTH # ARE DESTROYED. IF BIT14 OF COUNT IS 1, SIGN IS BLANKED WITH LEFT CHAR. # FOR DSPIN1 PLACE 0,1 INTO BIT11 OF CODE, 2 INTO COUNT, REL ADDRESS OF # DSPTAB ENTRY INTO DSREL. SETLOC ENDECVN COUNT* $$/PIN DSPIN XCH Q # CANT USE L FOR RETURN, SINCE MANYOF THE TS DSEXIT # ROTINE CALLING DSPIN USE L AS RETURN. CAF LOW5 MASK COUNT TS SR XCH SR TS DSREL CAF BIT1 MASK COUNT CCS A TC +2 # LEFT IF COUNT IS ODD TC DSPIN1 -1 # RIGHT IF COUNT IS EVEN XCH CODE TC SLEFT5 # DOES NOT USE CYL TS CODE CAF BIT14 MASK COUNT CCS A CAF TWO # BIT14 = 1, BLANK SIGN AD ONE # BIT14 = 0, LEAVE SIGN ALONE TS COUNT # +0 INTO COUNT FOR RIGHT # Page 445 # +1 INTO COUNT FOR LEFT (SIGN LEFT ALONE) # +3 INTO COUNT FOR LEFT (TO BLANK SIGN) DSPIN1 INHINT INDEX DSREL CCS DSPTAB TC +2 # IF + TC CCSHOLE AD ONE # IF - TS DSMAG INDEX COUNT MASK DSMSK EXTEND SU CODE EXTEND BZF DSLV # SAME DFRNT INDEX COUNT CS DSMSK # MASK WITH 77740, 76037, 76777, OR 74037 MASK DSMAG AD CODE CS A INDEX DSREL XCH DSPTAB EXTEND BZMF DSLV # DSPTAB ENTRY WAS - INCR NOUT # DSPTAB ENTRY WAS + DSLV RELINT TC DSEXIT DSMSK OCT 37 OCT 1740 OCT 2000 OCT 3740 # FOR 11DSPIN, PUT REL ADDRESS OF DSPTAB ENTRY INTO A, 1 IN BIT11 OR 0 IN # BIT11 OF CODE. 11DSPIN TS DSREL CAF TWO TS COUNT XCH Q # MUST USE SAME RETURN AS DSPIN TS DSEXIT TC DSPIN1 DSPOCTIN TC DSPIN # SO DSPOCTWO DOESNT USE SWCALL CAF +2 TC BANKJUMP ENDSPOCT CADR OCTBACK # Page 446 # DSPALARM FINDS TC NVSUBEND IN ENTRET FOR NVSUB INITIATED ROUTINES # ABORT WITH 01501. # # DSPALARM FINDS TC ENDOFJOB IN ENTRET FOR KEYBOARD INITIATED ROUTINES. # DC TC ENTRET. PREDSPAL CS VD1 TS DSPCOUNT DSPALARM CS NVSBENDL AD ENTEXIT EXTEND BZF CHARALRM +2 CS MONADR # IF THIS IS A MONITOR, KILL IT AD ENTEXIT EXTEND BZF +2 TC CHARALRM TC KILMONON TC FALTON TC PASTEVB # PUT MONITOR VERB BACK IN VERBREG CHARALRM TC FALTON # NO NVSUB INITATED. TURN ON OPR ERROR TC ENDOFJOB TC POODOO OCT 01501 MONADR GENADR PASTEVB NVSBENDL TC NVSUBEND # ALMCYCLE TURNS ON CHECK FAIL LIGHT, REDISPLAYS THE ORIGINAL VERB THAT # WAS EXECUTED, AND RECYCLES TO EXECUTE THE ORIGINAL VERB/NOUN COMBINATION # THAT WAS LAST EXECUTED. USED FOR BAD DATA DURING LOAD VERBS AND BY # MCTBS. ALSO BY MMCHANG IF 2 NUMERICAL CHARACTERS WERE NOT PUNCHED IN # FOR MM CODE. SETLOC MID7 +1 COUNT* $$/PIN ALMCYCLE TC FALTON # TURN ON CHECK FAIL LIGHT. CS VERBSAVE # GET ORIGINAL VERB THAT WAS EXECUTED TS REQRET # SET FOR ENTPAS0 TC BANKCALL # PUTS ORIGINAL VERB INTO VERBREG AND CADR UPDATVB -1 # DISPLAYS IT IN VERB LIGHTS. TC POSTJUMP ENDALM CADR ENTER # MMCHANG USES NOUN DISPLAY UNTIL ENTER. THEN IT USES MODE DISP. # IT GOES TO MODROUT WITH THE NEW M M CODE IN A, BUT NOT DISPLAYED IN # MM LIGHTS. # IT DEMANDS 2 NUMERICAL CHARACTERS BE PUNCHED IN FOR NEW MM CODE. # IF NOT, IT RECYCLES. # Page 447 SETLOC DSP2BIT +10D COUNT* $$/PIN MMCHANG TC REQMM # ENTPASHI ASSUMES THE TC REQMM AT MMCHANG # IF THIS MOVES AT ALL, MUST CHANGE # MMADREF AT ENTPASHI. CAF BIT5 # OCT20 = ND2. AD DSPCOUNT # DSPCOUNT MUST = -ND2. EXTEND # DEMAND THAT 2 NUM CHAR WERE PUNCHED IN. BZF +2 TC ALMCYCLE # DSPCOUNT NOT= -ND2. ALARM AND RECYCLE. CAF ZERO # DSPCOUNT = -ND2. XCH NOUNREG TS MPAC CAF ND1 TS DSPCOUNT TC BANKCALL CADR 2BLANK CS VD1 # BLOCK NUM CHAR IN TS DSPCOUNT CA MPAC TC POSTJUMP CADR MODROUTB # GO THRU STANDARD LOC. MODROUTB = V37 REQMM CS Q TS REQRET CAF ND1 TS DSPCOUNT CAF ZERO TS NOUNREG TC BANKCALL CADR 2BLANK TC FLASHON CAF ONE TS DECBRNCH # SET FOR DEC TC ENTEXIT # VBRQEXEC ENTERS REQUEST TO EXEC FOR ANY ADDRESS WITH ANY PRIORITY. # IT DOES ENDOFJOB AFTER ENTERING REQUEST. DISPLAY SYST IS RELEASED. # IT ASSUMES NOUN 26 HAS BEEN PRELOADED WITH # COMPONENT 1 PRIORITY (BITS 10-14) BIT1=0 FOR NOVAC, BIT1=1 FOR FINDVAC. # COMPONENT 2 JOB ADRES (12 BIT) # COMPONENT 3 BBCON VBRQEXEC CAF BIT1 MASK DSPTEM1 CCS A # Page 448 TC SETVAC # IF BIT1 = 1, FINDVAC CAF TCNOVAC # IF BIT1 = 0, NOVAC REQEX1 TS MPAC # TC NOVAC OR TC FINDVAC INTO MPAC CS BIT1 MASK DSPTEM1 TS MPAC +4 # PRIO INTO MPAC+4 AS A TEMP REQUESTC TC RELDSP CA ENDINST TS MPAC +3 # TC ENDOFJOB INTO MPAC+3 EXTEND DCA DSPTEM1 +1 # JOB ADRES INTO MPAC+1 DXCH MPAC +1 # BBCON INTO MPAC+2 CA MPAC +4 # PRIO IN A INHINT TC MPAC SETVAC CAF TCFINDVC TC REQEX1 # VBRQWAIT ENTERS REQUEST TO WAITLIST FOR ANY ADDRESS WITH ANY DELAY. # IT DOES ENDOFJOB AFTER ENTERING REQUEST. DISPLAY SYST IS RELEASED. # IT ASSUMES NOUN 26 HAS BEEN PRELOADED WTIH # COMPONENT 1 DELAY (LOW BITS) # COMPONENT 2 TASK ADRES (12 BIT) # COMPONENT 3 BBCON VBRQWAIT CAF TCWAIT TS MPAC # TC WAITLIST INTO MPAC CA DSPTEM1 # TIME DELAY ENDRQWT TC REQUESTC -1 # REQUESTC WILL PUT TASK ADRES INTO MPAC+1, BBCON INTO MPAC+2, # TC ENDOFJOB INTO MPAC+3. IT WILL TAKE TIME DELAY OUT OF MPAC+4 AND # LEAVE IT IN A, INHINT AND TC MPAC. SETLOC NVSBENDL +1 COUNT* $$/PIN VBPROC CAF ONE # PROCEED WITHOUT DATA TS LOADSTAT TC KILMONON # TURN ON KILL MONITOR BIT TC RELDSP TC FLASHOFF TC RECALTST # SEE IF THERE IS ANY RECALL FROM ENDIDLE VBTERM CS ONE TC VBPROC +1 # TERM VERB SETS LOADSTAT NEG # Page 449 # PROCKEY PERFORMS THE SAME FUNCTION AS VBPROC. IT MUST BE CALLED UNDER # EXECUTIVE CONTROL, WITH CHRPRIO. PROCKEY CAF ZERO # SET REQRET FOR ENTER PASS 0. TS REQRET CS VD1 # BLOCK NUMERICAL CHARACTERS, SIGNS, CLEAR TS DSPCOUNT TC VBPROC # VBRESEQ WAKES ENDIDLE AT SAME LINE AS FINAL ENTER OF LOAD (L+3). # (MAIN USE IS INTENDED AS RESPONSE TO INTERNALLY INITIATED FLASHING # DISPLAYS IN ENDIDLE. SHOULD NOT BE USED WITH LOAD VERBS, PLEASE PERFORM, # OR PLEASE MARK VERBS BECAUSE THEY ALREADY USE L+3 IN ANOTHER CONTEXT.) VBRESEQ CS ZERO # MAKE IT LOOK LIKE DATA IN. TC VBPROC +1 # FLASH IS TURNED OFF BY PROCEED WITHOUT DATA, TERMINATE, REQUEQUENCE, # END OF LOAD. # Page 450 # KEY RELEASE ROUTINE # # THIS ROUTINE ALWAYS TURNS OFF THE UPACT LIGHT AND ALWAYS CLEARS DSPLOCK. # # THE HIGHEST PRIORITY FUNCTION OF THE KEY RELEASE BUTTON IS THE # UNSUSPENDING OF A SUSPENDED MONITOR WHICH WAS EXTERNALLY INITIATED. # THIS FUNCTION IS ACCOMPLISHED BY CLEARING DSPLOCK AND TURNING OFF # THE KEY RELEASE LIGHT IF BOTH DSPLIST AND CADRSTOR ARE EMPTY. # # IF NO SUCH MONITOR EXISTS, THEN RELDSP IS EXECUTED TO CLEAR DSPLOCK # AND THE EXTERNAL MONITOR BIT (FREEING THE DISPLAY SYSTEM FOR INTERNAL # USE), TURN OFF THE KEY RELEASE LIGHT, AND WAKE UP ANY JOB IN DSPLIST. # # IN ADDITION IF THERE IS A JOB IN ENDIDLE, THEN CONTROL IS TRANSFERRED # TO PINBRNCH (IN DISPLAY INTERFACE ROUTINE) TO RE-EXECUTE THE SERIES OF # NVSUB CALLS ETC. THAT PRECEDED THE ENDIDLE CALL STILL AWAITING RESPONSE. # THIS FEATURE IS INTENDED FOR USE WHEN THE OPERATOR HAS BEEN REQUESTED TO # RESPOND TO SOME INTERNAL ACTION THAT USED ENDIDLE, BUT HE HAS WRITTEN # OVER THE INFORMATION ON THE DISPLAY PANEL BY SOME DISPLAYS OF HIS OWN # INITIATION WHICH DO NOT SERVE AS RESPONSES. HITTING KEYRLSE WILL # RE-ESTABLISH THE DISPLAYS TO THE STATE THEY WERE IN BEOFRE HE OBSCURED # THEM, SO THAT HE CAN SEE THE WAITING REQUEST. THIS WORKS ONLY FOR # INTERNAL PROGRAMS THAT USED ENDIDLE THROUGH MARGARETS DISPLAY # SUBROUTINES. VBRELDSP CS BIT3 EXTEND WAND DSALMOUT # TURN OFF UPACT LITE CCS 21/22REG # OLD DSPLOCK CAF BIT14 MASK MONSAVE1 # EXTERNAL MONITOR BIT (EMB) CCS A TC UNSUSPEN # OLD DSPLOCK AND EMB BOTH 1, UNSUSPEND. TSTLTS4 TC RELDSP # NOT UNSUSPENDING EXTERNAL MONITOR, CCS CADRSTOR # RELEASE DISPLAY SYSTEM AND TC +2 # DO RE-ESTABLISH IF CADRSTOR IS FULL. TC ENDOFJOB TC POSTJUMP CADR PINBRNCH UNSUSPEN CAF ZERO # EXTERNAL MONITOR IS SUSPENDED, TS DSPLOCK # JUST UNSUSPEND IT BY CLEARING DSPLOCK. CCS CADRSTOR # TURN KEY RELEASE LIGHT OFF IF BOTH TC ENDOFJOB # CADRSTOR AND DSPLIST ARE EMPTY. TC RELDSP1 TC ENDOFJOB ENDRELDS EQUALS # Page 451 # NVSUB IS USED FOR SUBROUTINE CALLS FROM WITHIN COMPUTER. IT CAN BE # USED TO CALL THE COMBINATION OF ANY DISPLAY, LOAD, OR MONITOR VERB # TOGETHER WITH ANY NOUN AVAILABLE TO THE KEYBOARD. # PLACE 0VVVVVVVNNNNNNN INTO A. # V'S ARE THE 7-BIT VERB CODE. N'S ARE THE 7-BIT NOUN CODE. # # IF NVSUB IS CALLED WTIH THE FOLLOWING NEGATIVE NUMBERS (RATHER THAN THE # VERB-NOUN CODE) IN A, THEN THE DISPLAY IS BLANKED AS FOLLOWS - # -4 FULL BLANK, -3 LEAVE MODE, -2 LEAVE MODE AND VERB, -1 BLANK R'S ONLY. # # NVSUB CAN BE USED WTIH MACH CADR TO BE SPEC BY PLACING THE CADR INTO # MPAC+2 BEFORE THE STANDARD NVSUB CALL. # # NVSUB RETURNS TO 2+ CALLING LOC AFTER PERFORMING TASK, IF DISPLAY # SYSTEM IS AVAIALBLE. THE NEW NOUN AND VERB CODES ARE DISPLAYED. # IF V'S =0, THE NEW NOUN CODE IS DISPLAYED ONLY (RETURN WITH NO FURTHER # ACTION). IF N'S =0, THE NEW VERB CODE IS DISPLAYED ONLY (RETURN WITH NO # FURTHER ACTION). # # IT RETURNS TO 1+ CALLING LOC WITHOUT PERFORMING TASK, IF DISPLAY # SYSTEM IS BLOCKED (NOTHING IS DISPLAYED IN THIS CASE). # IT DOES TC ABORT (WITH OCT 01501) IF IT ENCOUNTERS A DISPLAY PROGRAM # ALARM CONDITION BEFORE RETURN TO CALLER. # # THE DISPLAY SYSTEM IS BLOCKED BY THE DEPRESSION OF ANY # KEY, EXCEPT ERROR LIGHT RESET. # IT IS RELEASED BY THE KEY RELEASE BUTTON, ALL EXTENDED VERBS, # PROCED WITHOUT DATA, TERMINATE, RESEQUENCE, INITIALIZE EXECUTIVE, # RECALL PART OF RECALTST IF ENDIDLE WAS USED, # VB = REQUEST EXECUTIVE, VB = REQUEST WAITLIST, # MONITOR SET UP. # # THE DISPLAY SYSTEM IS ALSO BLOCKED BY THE EXTERNAL MONITOR BIT, WHICH # INDICATES AND EXTERNALLY INITIATED MONITOR IS RUNNING (SEE MONITOR). # # A NVSUB CALL THAT PASSES DSPLOCK AND THE EXTERNAL MONITOR BIT ENDS OLD # MONITOR. # # DSPLOCK IS THE INTERLOCK FOR USE OF KEYBOARD AND DISPLAY SYSTEM WHICH # LOCKS OUT INTERNAL USE WHENEVER THERE IS EXTERNAL KEYBOARD ACTION. # # NVSUB SHOULD BE USED TWICE IN SUCCESSION FOR 'PLEASE PERFORM' SITUATIONS # (SIMILARLY FOR PLEASE MARK). FIRST PLACE THE CODED NUMBER FOR WHAT # ACTION IS DESIRED OF OPERATOR INTO THE REGISTERS REFERRED TO BY THE # 'CHECKLIST' NOUN. GO TO NVSUB WITH A DISPLAY VERB AND THE 'CHECKLIST' # NOUN. GO TO NVSUB AGAIN WTIH THE 'PLEASE PERFORM' VERB AND ZEROS IN THE # LOW 7 BITS. THIS 'PASTES UP' THE 'PLEASE PERFORM' VERB INTO THE VERB # LIGHTS. # # NVMONOPT IS AN ENTRY SIMILAR TO NVSUB, BUT REQUIRING AN ADDITIONAL # Page 452 # PARAMETER IN L. IT SHOULD BE USED ONLY WITH A MONITOR VERB-NOUN CODE IN # A. AFTER EACH MONITOR DISPLAY A *PLEASE* VERB WILL BE PASED INT THE VERB # LIGHTS OR DATA WILL BE BLANKED (OR BOTH) ACCORDING TO THE OPTIONS # SPECIFIED IN L. IF BITS 8-14 OF L ARE OTHER THAN ZERO, THEN THEY WILL # BE INTERPRETED AS A VERB CODE AND PASTED IN THE VERB LIGHTS. (THIS VERB # CODE SHOULD DESIGNATE ONE OF THE *PLEASE* VERBS.) IF BITS 1-3 OF L ARE # OTHER THAN ZERO, THEN THEY WILL BE USED TO BLANK DATA BY BEING FED TO # BLANKSUB. IF NVMONOPT IS USED WITH A VERB OTHER THAN A MONITOR VERB, # THE PARAMETER IN L HAS NO EFFECT. # # NVSUB IN FIXED-FIXED PLACES 2+CALLING LOC INTO NVQTEM, TC NVSUBEND INTO # ENTRET. (THIS WILL RESTORE OLD CALLING BANK BITS) SETLOC ENDALM +1 COUNT* $$/PIN NVSUB LXCH 7 # ZERO NVMONOPT OPTIONS NVMONOPT TS NVTEMP CAF BIT14 MASK MONSAVE1 # EXTERNAL MONITOR BIT AD DSPLOCK CCS A TC Q # DSP SYST BLOCKED, RET TO 1+ CALLING LOC CAF ONE # DSP SYST AVAILABLE. NVSBCOM AD Q TS NVQTEM # 2+ CALLING LOC INTO NVQTEM LXCH MONSAVE2 # STORE NVMONOPT OPTIONS TC KILMONON # TURN ON KILL MONITOR BIT NVSUBCOM CAF NVSBBBNK XCH BBANK EXTEND # SAVE OLD SUPERBITS ROR SUPERBNK TS NVBNKTEM CAF PINSUPBT EXTEND WRITE SUPERBNK TC NVSUBB # GO TO NVSUB1 THRU STANDARD LOC EBANK= DSPCOUNT NVSBBBNK BBCON NVSUB1 PINSUPBT = NVSBBBNK # CONTAINS THE PINBALL SUPERBITS. NVSUBEND DXCH NVQTEM # NVBNKTEM MUST = NVQTEM+1 TC SUPDXCHZ # DTCB WITH SUPERBIT SWITCHING SETLOC ENDRQWT +1 COUNT* $$/PIN # BLANKDSP BLANKS DISPLAY ACCORDING TO OPTION NUMBER IN NVTEMP AS FOLLOWS # Page 453 # -4 FULL BLANK, -3 LEAVE MODE, -2 LEAVE MODE AND VERB, -1 BLANK R'S ONLY. BLANKDSP AD SEVEN # 7,8,9, OR 10 (A HAD 0,1,2,OR 3) INHINT TS CODE # BLANK SPECIFIED DSPTABS CS BIT12 INDEX CODE XCH DSPTAB CCS A INCR NOUT TC +1 CCS CODE TC BLANKDSP +2 RELINT INDEX NVTEMP TC +5 TC +1 # NVTEMP HAS -4 (NEVER TOUCH MODREG) TS VERBREG # -3 TS NOUNREG # -2 TS CLPASS # -1 CS VD1 TS DSPCOUNT TC FLASHOFF # PROTECT AGAINS INVISIBLE FLASH TC ENTSET -2 # ZEROS REQRET NVSUB1 CAF ENTSET # IN BANK TS ENTRET # SET RETURN TO NVSUBEND CCS NVTEMP # WHAT NOW TC +4 # NORMAL NVSUB CALL (EXECUTE VN OR PASTE) TC GODSPALM TC BLANKDSP # BLANK DISPLAY AS SPECIFIED TC GODSPALM CAF LOW7 MASK NVTEMP TS MPAC +3 # TEMP FOR NOUN (CANT USE MPAC. DSPDECVN CA NVTEMP # USES MPAC, +1, +2). TS EDOP # RIGHT 7 CA EDOP TS MPAC +4 # TEMP FOR VERB (CANT USE MPAC+1. DSPDECVN # USES MPAC, +1, +2). CCS MPAC +3 # TEST NOUN TC NVSUB2 # IF NOUN NOT +0, GO ON CA MPAC +4 TC UPDATVB -1 # IF NOUN = +0, DISPLAY VERB, THEN RETURN CAF ZERO # XERO REQRET SO THAT PASTED VERBS CAN TS REQRET # BE EXECUTED BY OPERATOR. ENTSET TC NVSUBEND NVSUB2 CCS MPAC +4 # TEST VERB TC +4 # IF VERB NOT +0, GO ON CA MPAC +3 # Page 454 TC UPDATNN -1 # IF VERB = +0, DISPLAY NOUN, THEN RETURN TC NVSUBEND CA MPAC +2 # TEMP FOR MACH CADR TO BE SPEC. (DSPDECVN TS MPAC +5 # USES MPAC, +1, +2) CA MPAC +4 TC UPDATVB -1 # IF BOTH NOUN AND VERB NOT +0, DISPLAY CA MPAC +3 # BOTH AND GO TO ENTPAS0. TC UPDATNN -1 CAF ZERO TS LOADSTAT # SET FOR WAITING FOR DATA CONDITION TS CLPASS TS REQRET # SET REQRET FOR PASS 0. CA MPAC +5 # RESTORES MACH CADR TO BE SPEC TO MPAC+2 TS MPAC +2 # FOR USE IN INTMCTBS (IN ENTPAS0). ENDNVSB1 TC ENTPAS0 # IF INTERNAL MACH CADR TO BE SPECIFIED, MPAC+2 WILL BE PLACED INTO # NOUNCADR IN ENTPAS0 (INTMCTBS). SETLOC NVSUBEND +2 COUNT* $$/PIN # FORCE BIT 15 OF MONSAVE1 TO 1. KILMONON CAF BIT15 # THIS IS THE KILL MONITOR BIT. TS MONSAVE1 # TURN OFF BIT 14, THE EXTERNAL # MONITOR BIT. TC Q # LOADSTAT +0 INACTIVE (WAITING FOR DATA). SET BY NVSUB # +1 PROCEED NO DATA. SET BY SPECIAL VERB # -1 TERMINATE. SET BY SPECIAL VERB. # -0 DATA IN SET BY END OF LOAD ROUTINE # OR RESEQUENCE SET BY VERB 32 # # L TO ENDIDLE (FIXED FIXED) # ROUTINES THAT REQUEST LOADS THROUGH NVSUB SHOULD USE ENDIDLE WHILE # WAITING FOR THE DATA TO BE LOADED. ENDIDLE PUTS CURRENT JOB TO SLEEP. # ENDIDLE CANNOT BE CALLED FROM ERASABLE OR F/F MEMORY, # SINCE JOB SLEEP AND JOBWAKE CAN HANDLE ONLY FIXED BANKS. # RECALTST TESTS LOADSTAT AND WAKES JOB UP TO, # L+1 FOR TERMINATE # L+2 FOR PROCEED WITHOUT DATA # L+3 FOR DATA IN, OR RESEQUENCE # IT DOES NOTHING IF LOADSTAT INDICATES WAITING FOR DTA. # # ENDIDLE ABORTS (WITH CODE 1206) IF A SECOND JOB ATTEMPTS TO GO TO SLEEP # Page 455 # IN PINBALL. IN PARTICULAR, IF AN ATTEMPT IS MADE TO GO TO ENDIDLE WHEN # 1) CADRSTOR NOT= +0. THIS IS THE CASE WHERE THE CAPACITY OF ENDIDLE IS # EXCEEDED. (+-NZ INDICATES A JOB IS ALREADY ASLEEP DUE TO ENDIDDLE.) # 2) DSPLIST NOT= +0. THIS INDICATES A JOB IS ALREADY ASLEEP DUE TO # NVSUBUSY. ENDIDLE LXCH Q # RETURN ADDRESS INTO L. TC ISCADR+0 # ABORT IF CADRSTOR NOT= +0 TC ISLIST+0 # ABORT IF DSPLIST NOT= +0 CA L # DONT SET DSPLOC TO 1 SO CAN USE MASK LOW10 # ENDIDLE WITH NVSUB INITIATED MONITOR. AD FBANK # SAME STRATEGY FOR CADR AS MAKECADR. TS CADRSTOR TC JOBSLEEP ENDINST TC ENDOFJOB ISCADR+0 CCS CADRSTOR # ABORTS (CODE 01206) IF CADRSTOR NOT= +0. TC DSPABORT # RETURNS IF CADRSTOR = +0. TC Q TC DSPABORT ISLIST+0 CCS DSPLIST # ABORTS (CODE 01206) IF DSPLIST NOT= +0. TC DSPABORT # RETURNS IF DSPLIST = +0. TC Q DSPABORT TC POODOO OCT 01206 # JAMTERM ALLOWS PROGRAMS TO PERFORM THE TERMINATE FUNCTION. # IT DOES ENDOFJOB. JAMTERM CAF PINSUPBT EXTEND WRITE SUPERBNK CAF 34DEC TS REQRET # LEAVE ENTER SET FOR ENTPASS0. CS VD1 TS DSPCOUNT TC POSTJUMP CADR VBTERM 34DEC DEC 34 # JAMPROC ALLOWS PROGRAMS TO PERFORM THE PROCEED/PROCEED WITHOUT DATA # FUNCTION. IT DOES ENDOFJOB. # Page 456 JAMPROC CAF PINSUPBT EXTEND WRITE SUPERBNK CAF 33DEC TS REQRET # LEAVE ENTER SET FOR ENTPASS0. CS VD1 TS DSPCOUNT TC POSTJUMP CADR VBPROC 33DEC DEC 33 # BLANKSUB BLANKS ANY COMBINATION OF R1, R2, R3. # CALL WITH BLANKING CODE IN A. # BIT1=1 BLANKS R1, BIT2=1 BLANKS R2, BIT3=1 BLANKS R3. # ANY COMBINATION OF THESE BITS IS ACCEPTED. # # DSPCOUNT IS RESTORED TO STATE IT WAS IN BEFORE BLANKSUB WAS EXECUTED. BLANKSUB MASK SEVEN TS NVTEMP # STORE BLANKING CODE IN NVTEMP. CAF BIT14 MASK MONSAVE1 # EXTERNAL MONITOR BIT AD DSPLOCK CCS A TC Q # DSP SYST BLOCKED. RET TO 1+ CALLING LOC INCR Q # DSP SYST AVAILABLE # SET RETURN FOR 2+ CALLING LOC CCS NVTEMP TCF +2 TC Q # NOTHING TO BLANK. RET TO 2+ CALLING LOC LXCH Q # SET RETURN FOR 2 + CALLING LOC CAF BLNKBBNK XCH BBANK EXTEND ROR SUPERBNK # SAVE OLD SUPERBITS. DXCH BUF CAF PINSUPBT EXTEND WRITE SUPERBNK TC BLNKSUB1 EBANK= DSPCOUNT BLNKBBNK BBCON BLNKSUB1 ENDBLFF EQUALS SETLOC ENDRELDS COUNT* $$/PIN BLNKSUB1 CA DSPCOUNT # SAVE OLD DSPCOUNT FOR LATER RESTORATION # Page 457 TS BUF +2 CAF BIT1 # TEST BIT1. SEE IF R1 TO BE BLANKED. TC TESTBIT CAF R1D1 TC 5BLANK -1 CAF BIT2 # TEST BIT2. SEE IF R2 TO BE BLANKED. TC TESTBIT CAF R2D1 TC 5BLANK -1 CAF BIT3 # TEST BIT3. SEE IF R3 TO BE BLANKED. TC TESTBIT CAF R3D1 TC 5BLANK -1 CA BUF +2 # RESTORE DSPCOUNT TO STATE IT HAD TS DSPCOUNT # BEFORE BLANKSUB. DXCH BUF # CALL L+2 DIRECTLY. TC SUPDXCHZ +1 # DTCB WITH SUPERBIT SWITCHING TESTBIT MASK NVTEMP # NVTEMP CONTAINS BLANKING CODE. CCS A TC Q # IF CURRENT BIT = 1, RETURN TO L+1. INDEX Q # IF CURRENT BIT = 0, RETURN TO L+3. TC 2 ENDBSUB1 EQUALS # DSPMM DOES NOT DISPLAY MODREG DIRECTLY. IT PUTS IN EXEC REQUEST WITH # PRIO 30000 FOR DSPMMJB AND RETURNS TO CALLER. # # IF MODREG CONTAINS -0, DSPMMJB BLANKS THE MODE LIGHTS. # # DSPMM MUST BE IN BANK 27 OR LOWER, SO IT CAN BE CALLED VIA BANKCALL. BANK 7 SETLOC PINBALL4 BANK COUNT* $$/PIN DSPMM XCH Q TS MPAC INHINT CAF CHRPRIO TC NOVAC EBANK= DSPCOUNT 2CADR DSPMMJB RELINT ENDSPMM TC MPAC # Page 458 # DSPMM PLACE MAJOR MODE CODE INTO MODREG SETLOC ENDBSUB1 COUNT* $$/PIN DSPMMJB CAF MD1 # GETS HERE THRU DSPMM XCH DSPCOUNT TS DSPMMTEM # SAVE DSPCOUNT CCS MODREG AD ONE TC DSPDECVN # IF MODREG IS + OR +0, DISPLAY MODREG TC +2 # IF MODREG IS -NZ, DO NOTHING TC 2BLANK # IF MODREG IS -0, BLANK MM XCH DSPMMTEM # RESTORE DSPCOUNT TS DSPCOUNT TC ENDOFJOB # RECALTST IS ENTERED DIRECTLY AFTER DATA IS LOADED (OR RESEQUENCE VERB IS # EXECUTED), TERMINATE VERB IS EXECUTED, OR PROCEED WITHOUT DATA VERB IS # EXECUTED. IT WAKES UP JOB THAT DID TC ENDIDLE. # # IF CADRSTOR NOT= +0, IT PUTS +0 INTO DSPLOCK, AND TURNS OFF KEY RLSE # LIGHT IF DSPLIST IS EMPTY (LEAVES KEY RLSE LIGHT ALONE IF NOT EMPTY). RECALTST CCS CADRSTOR TC RECAL1 TC ENDOFJOB # NORMAL EXIT IF KEYBOARD INITIATED RECAL1 CAF ZERO XCH CADRSTOR INHINT TC JOBWAKE CCS LOADSTAT TC DOPROC # + PROCEED WITHOUT DATA TC ENDOFJOB # PATHALOGICAL CASE EXIT TC DOTERM # - TERMINATE CAF TWO # -0 DATA IN OR RESEQUENCE RECAL2 INDEX LOCCTR AD LOC # LOC IS + FOR BASIC JOBS INDEX LOCCTR TS LOC CA NOUNREG # SAVE VERB IN MPAC, NOUN IN MPAC+1 AT TS L # TIME OF RESPONSE TO ENDIDLE FOR CA VERBREG # POSSIBLE LATER TESTING BY JOB THAT HAS INDEX LOCCTR # BEEN WAKED UP. DXCH MPAC RELINT RECAL3 TC RELDSP TC ENDOFJOB # Page 459 DOTERM CAF ZERO TC RECAL2 DOPROC CAF ONE TC RECAL2 # Page 460 # MISCELLANEOUS SERVICE ROUTINES IN FIXED/FIXED SETLOC ENDBLFF COUNT* $$/PIN # SETNCADR E CADR ARRIVES IN A. IT IS STORED IN NOUNCADR. EBANK BITS # ARE SET. E ADRES IS DERIVED AND PUT INTO NOUNADD. SETNCADR TS NOUNCADR # STORE ECADR TS EBANK # SET EBANK BITS MASK LOW8 AD OCT1400 TS NOUNADD # PUT E ADRES INTO NOUNADD TC Q # SETNADD GETS E CADR FROM NOUNCADR, SETS EBANK BITS, DERIVES # E ADRES AND PUTS IT INTO NOUNADD. SETNADD CA NOUNCADR TCF SETNCADR +1 # SETEBANK E CADR ARRIVES IN A. EBANK BITS ARE SET. E ADRES IS # DERIVED AND LEFT IN A. SETEBANK TS EBANK # SET EBANK BITS MASK LOW8 AD OCT1400 # E ADRES LEFT IN A TC Q R1D1 OCT 16 # THESE 3 CONSTANTS FORM A PACKED TABLE. R2D1 OCT 11 # DONT SEPARATE. R3D1 OCT 4 RIGHT5 TS CYR CS CYR CS CYR CS CYR CS CYR XCH CYR TC Q LEFT5 TS CYL CS CYL CS CYL CS CYL CS CYL # Page 461 XCH CYL TC Q SLEFT5 DOUBLE DOUBLE DOUBLE DOUBLE DOUBLE TC Q LOW5 OCT 37 # THESE 3 CONSTANTS FORM A PACKED TABLE. MID5 OCT 1740 # DONT SEPARATE. HI5 OCT 76000 # MUST STAY HERE TCNOVAC TC NOVAC TCWAIT TC WAITLIST TCTSKOVR TC TASKOVER TCFINDVC TC FINDVAC CHRPRIO OCT 30000 # EXEC PRIORITY OF CHARIN LOW11 OCT 3777 B12-1 EQUALS LOW11 LOW8 OCT 377 VD1 OCT 23 # THESE 3 CONSTANTS FORM A PACKED TABLE. ND1 OCT 21 # DONT SEPARATE. MD1 OCT 25 BINCON DEC 10 FALTON CA BIT7 # TURN ON OPERATOR ERROR LIGHT. EXTEND WOR DSALMOUT # BIT 7 OF CHANNEL 11 TC Q FALTOF CS BIT7 # TURN OFF OPERATOR ERROR LIGHT EXTEND WAND DSALMOUT # BIT 7 OF CHANNEL 11 TC Q RELDSPON CAF BIT5 # TURN ON KEY RELEASE LIGHT EXTEND WOR DSALMOUT # BIT 5 OF CHANNEL 11 TC Q # Page 462 LODSAMPT EXTEND DCA TIME2 DXCH SAMPTIME TC Q TPSL1 EXTEND # SHIFTS MPAC, +1, +2 LEFT 1 DCA MPAC +1 # LEAVES OVFIND SET TO +/- 1 FOR OF/UF DAS MPAC +1 AD MPAC ADS MPAC TS 7 # TS A DOES NOT CHANGE A ON OF/UF. TC Q # NO NET OF/UF TS MPAC+6 # MPAC +6 SET TO +/- 1 FOR OF/UF TC Q # IF MPAC, +1 ARE EACH +NZ OR +0 AND C(A)=-0, SHORTMP WRONGLY GIVES +0. # IF MPAC, +1 ARE EACH -NZ OR -0 AND C(A)=+0, SHORTMP WRONGLY GIVES +0. # PRSHRTMP FIXES FORST CASE ONLY, BY MERELY TESTING C(A) AND IF IT = -0, # SETTING RESULT TO -0. # (DO NOT USE PRSHRTMP UNLESS MPAC, +1 ARE EACH +NZ OR +0, AS THEY ARE # WHEN THEY CONTAIN THE SF CONSTANTS.) PRSHRTMP TS MPTEMP CCS A CA MPTEMP # C(A) +, DO REGULAR SHORTMP TCF SHORTMP +1 # C(A) +0, DO REGULAR SHORTMP TCF -2 # C(A) -, DO REGULAR SHORTMP CS ZERO # C(A) -0, FORCE RESULT TO -0 AND RETURN. TS MPAC TS MPAC +1 TS MPAC +2 TC Q FLASHON CAF BIT6 # TURN ON V/N FLASH EXTEND # BIT 6 OF CHANNEL 11 WOR DSALMOUT TC Q FLASHOFF CS BIT6 # TURN OFF V/N FLASH EXTEND WAND DSALMOUT TC Q # Page 463 # INTERNAL USE OF KEYBOARD AND DISPLAY PROGRAM. # # USER MUST SCHEDULE CALLS TO NVSUB SO THAT THERE IS NO CONFLICT OF USE OR # CONFUSION TO OPERATOR. THE OLD GRABLOCK (INTERNAL/INTERNAL INTERLOCK) # HAS BEEN REMOVED AND THE INTERNAL USER NO LONGER HAS THE PROTECTION THIS # OFFERED. # # THERE ARE TWO WAYS A JOB CAN BE PUT TO SLEEP BY THE KEYBOARD + DISPLAY # PROGRAM. 1) BY ENDIDLE # 2) BY NVSUBUSY # THE BASIC CONVENTION IS THAT ONLY ONE JOB WILL BE PERMITTED ASLEEP VIA # THE KEYBOARD + DISPLAY PROGRAM AT A TIME. IF A JOB ATTEMPTS TO GO TO # SLEEP BY MEANS OF (1) OR (2) AND THERE IS ALREADY A JOB ASLEEP THAT WAS # PUT TO SLEEP BY (1) OR (2), THEN AN ABORT IS CAUSED. # # THE CALLING SEQUENCE FOR NVSUB IS # CAF V/N # L TC NVSUB # L+1 RETURN HERE IF OPERATOR HAS INTERVENED # L+2 RETURN HERE AFTER EXECUTION # # A ROUTINE CALLED NVSUBUSY IS PROVIDED (USE IS OPTIONAL) TO PUT # YOUR JOB TO SLEEP UNTIL THE OPERATOR RELEASES THE KEYBOARD + DISPLAY # SYSTEM. NVSUBUSY ALSO TURNS ON THE KEY RELEASE LIGHT. # NVSUBUSY CANNOT BE CALLED FROM ERASABLE OR F/F MEMORY, # SINCE JOBSLEEP AND JOBWAKE CAN HANDLE ONLY FIXED BANKS. # # THE CALLING SEQUENCE IS # CAF WAKEFCADR # TC NVSUBUSY # # # . # # NVSUBUSY IS INTENDED FOR USE WHEN AN INTERNAL PROGRAM FINDS THE OPERATOR # IS NOT USING THE KEYBOARD + DISPLAY PROGRAM (BY HIS OWN INITIATION). IT IS # NOT INTENDED FOR USE WHEN ONE INTERNAL PROGRAM FINDS ANOTHER INTERNAL # PROGRAM USING THE KEYBOARD + DISPLAY PROGRAM. # # NVSUBUSY ABORTS (WITH CODE 01206) IF A SECOND JOB ATTEMPTS TO GO TO # SLEEP IN PINBALL. IN PARTICULAR, IF AN ATTEMPT IS MADE TO GO TO NVSUBUSY # WHEN # 1) DSPLIST NOT= +0. THIS IS THE CASE WHERE THE CAPACITY OF THE DSPLIST # IS EXCEEDED. # 2) CADRSTOR NOT= +0. THIS INDICATES THAT A JOB IS ALREADY USING # Page 464 # ENDIDLE. (+-NZ INDICATE A JOB IS ALREADY ASLEEP DUE TO ENDIDLE.) PRENVBSY CS 2K+3 # SPECIAL ENTRANCE FOR ROUTINES IN FIXED AD Q # BANKS ONLY DESIRING THE FCADR OF (LOC AD FBANK # FROM WHICH THE TC PRENVBSY WAS DONE) -2 NVSUBUSY TC POSTJUMP # TO BE ENTERED. CADR NVSUBSY1 2K+3 OCT 2003 # NVSUBSY1 MUST BE IN BANK 27 OR LOWER, SO IT WILL PUT CALLER TO SLEEP # WITH HIS PROPER SUPERBITS. SETLOC ENDSPMM +1 COUNT* $$/PIN NVSUBSY1 TS L TC ISCADR+0 # ABORT IF CADRSTOR NOT= +0. TC ISLIST+0 # ABORT IF DSPLIST NOT= +0. TC RELDSPON CA L TS DSPLIST ENDNVBSY TC JOBSLEEP # NVSBWAIT IS A SPECIAL ENTRANCE FOR ROUTINES IN FIXED BANKS ONLY. IF # SYSTEM IS NOT BUSY, IT EXECUTES V/N AND RETURNS TO L+1 (L= LOC FROM # WHICH THE TC NVSBWAIT WAS DONE). IF SYSTEM IS BUSY, IT PUTS CALLING JOB # TO SLEEP WITH L-1 GOING INTO LIST FOR EVENTUAL WAKING UP WHEN SYSTEM # IS NOT BUSY. SETLOC NVSUBUSY +3 COUNT* $$/PIN NVSBWAIT LXCH 7 # ZERO NVMONOPT OPTIONS TS NVTEMP CAF BIT14 MASK MONSAVE1 # EXTERNAL MONITOR BIT AD DSPLOCK CCS A TCF NVSBWT1 # BUSY TCF NVSBCOM # FREE. NVSUB WILL SAVE L+1 FOR RETURN # AFTER EXECUTION. NVSBWT1 INCR Q # L+2. PRENVBSY WILL PUT L-1 INTO LIST AND TCF PRENVBSY # GO TO SLEEP. # RELDSP IS USED BY VBPROC, VBTERM, VBRQEXEC, VBRQWAIT, VBRELDSP, EXTENDED # VERB DISPATCHER, VBRESEQ, RECALTST. # RELDSP1 IS USED BY MONITOR SET UP, VBRELDSP. RELDSP XCH Q # SET DSPLOCK TO +0, TURN RELDSP LIGHT TS RELRET # OFF, SEARCH DSPLIST CS BIT14 # Page 465 INHINT MASK MONSAVE1 TS MONSAVE1 # TURN OFF EXTERNAL MONITOR BIT CCS DSPLIST TC +2 TC RELDSP2 # LIST EMPTY CAF ZERO XCH DSPLIST TC JOBWAKE RELDSP2 RELINT CS BIT5 # TURN OFF KEY RELEASE LIGHT EXTEND # (BIT 5 OF CHANNEL 11) WAND DSALMOUT CAF ZERO TS DSPLOCK TC RELRET RELDSP1 XCH Q # SET DSPLOCK TO +0. NO DSPLIST SEARCH. TS RELRET # TURN KEY RLSE LIGHT OFF IF DSPLIST IS # EMPTY. LEAVE KEY RLSE LIGHT ALONE IF # DSPLIST IS NOT EMPTY. CCS DSPLIST TC +2 # + NOT EMPTY. LEAVE KEY RLSE LIGHT ALONE. TC RELDSP2 # +0 EMPTY. TURN OFF KEY RLSE LIGHT CAF ZERO # - NOT EMPTY. LEAVE KEY RLSE LIGHT ALONE TS DSPLOCK TC RELRET ENDPINBF EQUALS # Page 466 # PINTEST IS NEEDED FOR AUTO CHECK OF PINBALL. PINTEST EQUALS LST2FAN # Page 467 # VBTSTLTS TURNS ON ALL DISPLAY PANEL LIGHTS. AFTER 5 SEC, IT TURNS # OFF THE CAUTION AND STATUS LIGHTS. SETLOC ENDNVSB1 +1 COUNT* $$/PIN VBTSTLTS INHINT CS BIT1 # SET BIT 1 OF IMODES33 SO IMUMON WONT MASK IMODES33 # TURN OUT ANY LAMPS. AD BIT1 TS IMODES33 CAF TSTCON1 # TURN ON UPLINK ACTIVITY, TEMP, KEY RLSE, EXTEND # V/N FLASH, OPERATOR ERROR. WOR DSALMOUT CAF TSTCON2 # TURN ON NO ATT, GIMBAL LOCK, TRACKER, TS DSPTAB +11D # PROG ALM. CAF BIT10 # TURN ON TEST ALARM OUTBIT EXTEND WOR CHAN13 CAF TEN TSTLTS1 TS ERCNT CS FULLDSP INDEX ERCNT TS DSPTAB CCS ERCNT TC TSTLTS1 CS FULLDSP1 TS DSPTAB +1 # TURN ON 3 PLUS SIGNS TS DSPTAB +4 TS DSPTAB +6 CAF ELEVEN TS NOUT RELINT CAF SHOLTS INHINT TC WAITLIST EBANK= DSPTAB 2CADR TSTLTS2 TC ENDOFJOB # DSPLOCK IS LEFT BUSY (FROM KEYBOARD # ACTION) UNTIL TSTLTS3 TO INSURE THAT # LIGHTS TEST WILL BE SEEN. FULLDSP OCT 05675 # DISPLAY ALL 8'S FULLDSP1 OCT 07675 # DISPLAY ALL 8'S AND + TSTCON1 OCT 00175 # UPLINK ACTIVITY, TEMP. KEY RLSE, # V/N FLASH, OPERATOR ERROR. # Page 468 TSTCON2 OCT 40674 # DSPTAB+11D BITS 3,4,5,6,8,9 LR LITES, # NO ATT, GIMBAL LOCK, TRACKER, PROG ALM. TSTCON3 OCT 00115 # CHAN 11 BITS 1, 3, 4, 7. # UPLINK ACITIVY, TEMP, OPERATOR ERROR. SHOLTS OCT 764 # 5 SEC TSTLTS2 CAF CHRPRIO # CALLED BY WAITLIST TC NOVAC EBANK= DSPTAB 2CADR TSTLTS3 TC TASKOVER TSTLTS3 CS TSTCON3 # CALLED BY EXECUTIVE INHINT EXTEND # TURN OFF UPLINK ACTIVITY, TEMP, WAND DSALMOUT # OPERATOR ERROR. CS BIT10 # TURN OFF TEST ALARM OUTBIT EXTEND WAND CHAN13 CAF BIT4 # MAKE NO ATT FOLLOW BIT 4 OF CHANNEL 12 EXTEND # (NO ATT LIGHT ON IF IN COARSE ALIGN) RAND CHAN12 AD BIT15 # TURN OFF AUTO, HOLD, FREE, SPARE, TS DSPTAB +11D # GIMBAL LOCK, SPARE, TRACKER, PROG ALM CS 13-11,1 # SET BITS TO INDICATE ALL LAMPS OUT. TEST MASK IMODES33 # LIGHTS COMPLETE. AD PRIO16 TS IMODES33 CS OCT55000 MASK IMODES30 AD PRIO15 # 15000. TS IMODES30 CS RFAILS2 MASK RADMODES AD RCDUFBIT TS RADMODES RELINT TC BANKCALL # REDISPLAY C(MODREG) CADR DSPMM TC KILMONON # TURN ON KILL MONITOR BIT. TC FLASHOFF # TURN OFF V/N FLASH. TC POSTJUMP # DOES RELDSP AND GOES TO PINBRNCH IF CADR TSTLTS4 # ENDIDLE IS AWAITING OPERATOR RESPONSE. # Page 469 13-11,1 OCT 16001 RFAILS2 OCT 330 # RADAR CDU AND DATA FAIL FLAGS. OCT55000 OCT 55000 ENDPINS2 EQUALS # Page 470 # ERROR LIGHT RESET (RSET) TURNS OFF: # UPLINK ACTIVITY, AUTO, HOLD, FREE, OPERATOR ERROR, # PROG ALM, TRACKER FAIL. # LEAVES GIMBAL LOCK AND NO ATT ALONE. # IT ALSO ZEROS THE 'TEST ALARM' OUT BIT, WHICH TURNS OFF STBY, RESTART. # IT ALSO SETS 'CAUTION RESET' TO 1. # IT ALSO FORCES BIT 12 OF ALL DSPTAB ENTRIES TO 1. SETLOC DOPROC +2 COUNT* $$/PIN ERROR XCH 21/22REG # RESTORE ORIGINAL C(DSPLOCK). THUS ERROR TS DSPLOCK # LIGHT RESET LEAVES DSPLOCK UNCHANGED. INHINT CAF BIT10 # TURN ON 'CAUTION RESET' OUTBIT EXTEND WOR DSALMOUT # BIT10 CHAN 11 CAF GL+NOATT # LEAVE GIMBAL LOCK AND NO ATT INTACT, MASK DSPTAB +11D # TURNING OFF AUTO, HOLD, FREE, AD BIT15 # PROG ALARM, AND TRACKER. TS DSPTAB +11D CS PRIO16 # RESET FAIL BITS WHICH GENERATE PROG MASK IMODES33 # ALARM SO THAT IF THE FAILURE STILL AD PRIO16 # EXISTS, THE ALARM WILL COME BACK. TS IMODES33 CS BIT10 MASK IMODES30 AD BIT10 TS IMODES30 CS RFAILS MASK RADMODES AD RCDUFBIT TS RADMODES CS BIT10 # TURN OFF 'TEST ALARM' OUTBIT. EXTEND WAND CHAN13 CS ERCON # TURN OFF UPLINK ACTIVITY, EXTEND # OPERATOR ERROR. WAND DSALMOUT TSTAB CAF BINCON # (DEC 10) TS ERCNT # ERCNT = COUNT INHINT INDEX ERCNT CCS DSPTAB AD ONE TC ERPLUS AD ONE ERMINUS CS A MASK NOTBIT12 # Page 471 TC ERCOM ERPLUS CS A MASK NOTBIT12 CS A # MIGHT WANT TO RESET CLPASS, DECBRNCH, ERCOM INDEX ERCNT # ETC. TS DSPTAB RELINT CCS ERCNT TC TSTAB +1 CAF ZERO TS FAILREG TS FAILREG +1 TS FAILREG +2 TS SFAIL TC ENDOFJOB ERCON OCT 104 # CHAN 11 BITS 3,7. # UPLINK ACTIVITY, AND OPERATOR ERROR. RFAILS OCT 330 # RADAR CDU AND DATA FAIL FLAGS. GL+NOATT OCT 00050 # NO ATT AND GIMBAL LOCK LAMPS NOTBIT12 OCT 73777 ENDPINS1 EQUALS SBANK= LOWSUPER ================================================ FILE: Luminary099/PINBALL_NOUN_TABLES.agc ================================================ # Copyright: Public domain. # Filename: PINBALL_NOUN_TABLES.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 301-319 # Mod history: 2009-05-10 SN (Sergio Navarro). Started adapting # from the Luminary131/ file of the same # name, using Luminary099 page images. # 2009-06-07 RSB Corrected two typos. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 301 # THE FOLLOWING REFERS TO THE NOUN TABLES # # COMPONENT CODE NUMBER INTERPRETATION # # 00000 1 COMPONENT # 00001 2 COMPONENT # 00010 3 COMPONENT # X1XXX BIT 4 = 1. DECIMAL ONLY # 1XXXX BIT 5 = 1. NO LOAD # END OF COMPONENT CODE NUMBER # # SF ROUTINE CODE NUMBER INTERPRETATION # # 00000 OCTAL ONLY # 00001 STRAIGHT FRACTIONAL # 00010 CDU DEGREES (XXX.XX) # 00011 ARITHMETIC SF # 00100 ARITH DP1 OUT (MULT BY 2EXP14 AT END) IN (STRAIGHT) # 00101 ARITH DP2 OUT (STRAIGHT) IN (SL 7 AT END) # 00110 LANDING RADAR POSITION (+0000X) # 00111 ARITH DP3 OUT (SL 7 AT END) IN (STRAIGHT) # 01000 WHOLE HOURS IN R1, WHOLE MINUES (MOD 60) IN R2, # SECONDS (MOD 60) 0XX.XX IN R3. *** ALARMS IF USED WITH OCTAL # 01001 MINUTES (MOD 60) IN D1D2, D3 BLANK, SECONDS (MOD 60) IN D4D5 # LIMITS TO 59B59 IF MAG EXCEEDS THIS VALUE. # ALARMS IF USED WITH OCTAL ******** IN (ALARM) # 01010 ARITH DP4 OUT (STRAIGHT) IN (SL 3 AT END) # 01011 ARITH1 SF OUT (MULT BY 2EXP14 AT END) IN (STRAIGHT) # 01100 2 INTEGERS IN D1D2, D4D5, D3 BLANK. # ALARMS IF USED WITH OCTAL ******** IN (ALARM) # 01101 360-CDU DEGREES (XXX.XX) # # END OF SF ROUTINE CODE NUMBERS # SF CONSTANT CODE NUMBER INTERPRETATION # # 00000 WHOLE USE ARITH # 00000 DP TIME SEC (XXX.XX SEC) USE ARITHDP1 # 00000 LR POSITION (+0000X) USE LR POSITION # 00001 SPARE # 00010 CDU DEGREES USE CDU DEGREES # 00010 360-CDU DEGREES USE 360-CDU DEGREES # 00011 DP DEGREES (90 XX.XXX DEG USE ARITHDP3 # 00100 DP DEGREES (360) XXX.XX DEG USE ARITHDP4 # 00101 DEGREES (180) XXX.XX DEG USE ARITH # 00101 OPTICAL TRACKER AZIMUTH ANGLE (XXX.XXDEG) # USE ARITHDP1 # 00110 WEIGHT2 (XXXXX. LBS) USE ARITH1 # Page 302 # 00111 POSITION5 (XXX.XX NAUTICAL MILES) # USE ARITHDP3 # 01000 POSITION4 (XXXX.X NAUTICAL MILES) # USE ARITHDP3 # 01001 VELOCITY2 (XXXXX. FT/SEC) USE ARITHDP4 # 01010 VELOCITY3 (XXXX.X FT/SEC) USE ARITHDP3 # 01011 ELEVATION DEGREES (89.999 MAX) USE ARITH # 01100 RENDEZVOUS RADAR RANGE (XXX.XX NAUT MI) # USE ARITHDP1 # 01101 RENDEZVOUS RADAR RANGE RATE (XXXXX.FT/SEC) # USE ARITHDP1 # 01110 LANDING RADAR ALTITUDE (XXXXX.FEET) # USE ARITHDP1 # 01111 INITIAL/FINAL ALTITUDE (XXXXX. FEET) # USE ARITHDP1 # 10000 ALTITUDE RATE (XXXXX.FT/SEC) USE ARITH # 10001 FORWARD/LATERAL VELOCITY (XXXXX.FEET/SEC) # USE ARITH # 10010 ROTATIONAL HAND CONTROLLER ANGLE RATES # XXXXX.DEG/SEC USE ARITH # 10011 LANDING RADAR VELX (XXXXX.FEET/SEC) # USE ARITHDP1 # 10100 LANDING RADAR VELY (XXXXX.FEET/SEC) # USE ARITHDP1 # 10101 LANDING RADAR VELZ (XXXXX.FEET/SEC) # USE ARITHDP1 # 10110 POSITION7 (XXXX.X NAUT MI) USE ARITHDP4 # 10111 TRIM DEGREES2 (XXX.XX DEG) USE ARITH # 11000 COMPUTED ALTITUDE (XXXXX. FEET) # USE ARITHDP1 # 11001 DP DEGREES (XXXX.X DEG) USE ARITHDP3 # 11010 POSITION9 (XXXX.X FT) USE ARITHDP3 # 11011 VELOCITY4 (XXXX.X FT/SEC) USE ARITHDP2 # 11100 RADIANS (XXX.XXX RADIANS) USE ARITHDP4 # # END OF SF CONSTANT CODE NUMBERS # FOR GREATER THAN SINGLE PRECISION SCALES, PUT ADDRESS OF MAJOR PART INTO # NOUN TABLES. # OCTAL LOADS PLACE +0 INTO MAJOR PART, DATA INTO MINOR PART. # OCTAL DISPLAYS SHOW MINOR PART ONLY. # TO GET AT BOTH MAJOR AND MINOR PARTS (IN OCTAL), USE NOUN 01. # A NOUN MAY BE DECLARED :DECIMAL ONLY: BY MAKING BIT4=1 OF ITS COMPONENT # CODE NUMBER. IF THIS NOUN IS USED WITH ANY OCTAL DISPLAY VERB, OR IF # DATA IS LOADED IN OCTAL, IT ALARMS. # IN LOADING AN :HOURS, MINUTES, SECONDS: NOUN, ALL 3 WORDS MUST BE # LOADED, OR ALARM. # Page 303 # ALARM IF AN ATTEMPT IS MADE TO LOAD :SPLIT MINUTES/SECONDS: (MMBSS). # THIS IS USED FOR DISPLAY ONLY. # Page 304 # THE FOLLOWING ROUTINES ARE FOR READING THE NOUN TABLES AND THE SF TABLES # (WHICH ARE IN A SEPARATE BANK FROM THE REST OF PINBALL). THESE READING # ROUTINES ARE IN THE SAME BANK AS THE TABLES. THEY ARE CALLED BY DXCH Z. # LODNNTAB LOADS NNADTEM WITH THE NNADTAB ENTRY, NNTYPTEM WITH THE # NNTYPTAB ENTRY. IF THE NOUN IS MIXED, IDADITEM IS LOADED WITH THE FIRST # IDADDTAB ENTRY, IDAD2TEM THE SECOND IDADDTAB ENTRY, IDAD3TEM THE THIRD # IDADDTAB ENTRY, RUTMXTEM WITH THE RUTMXTAB ENTRY. MIXBR IS SET FOR # MIXED OR NORMAL NOUN. BANK 6 SETLOC PINBALL3 BANK COUNT* $$/NOUNS LODNNTAB DXCH IDAD2TEM # SAVE RETURN INFO IN IDAD2TEM, IDAD3TEM. INDEX NOUNREG CAF NNADTAB TS NNADTEM INDEX NOUNREG CAF NNTYPTAB TS NNTYPTEM CS NOUNREG AD MIXCON EXTEND BZMF LODMIXNN # NOUN NUMBER G/E FIRST MIXED NOUN CAF ONE # NOUN NUMBER L/ FIRST MIXED NOUN TS MIXBR # NORMAL. +1 INTO MIXBR TC LODNLV LODMIXNN CAF TWO # MIXED. +2 INTO MIXBR. TS MIXBR INDEX NOUNREG CAF RUTMXTAB -40D # FIRST MIXED NOUN = 40. TS RUTMXTEM CAF LOW10 MASK NNADTEM TS Q # TEMP INDEX A CAF IDADDTAB TS IDAD1TEM # LOAD IDAD1TEM WITH FIRST IDADDTAB ENTRY EXTEND INDEX Q # LOAD IDAD2TEM WITH 2ND IDADDTAB ENTRY DCA IDADDTAB +1 # LOAD IDAD3TEM WITH 3RD IDADDTAB ENTRY. LODNLV DXCH IDAD2TEM # PUT RETURN INFO INTO A, L. DXCH Z MIXCON = OCT50 # (DEC 40) # GTSFOUT LOADS SFTEMP1, SFTEMP2 WTIH THE DP SFOUTAB ENTRIES. GTSFOUT DXCH SFTEMP1 # 2X(SFCONUM) ARRIVES IN SFTEMP1. # Page 305 EXTEND INDEX A DCA SFOUTAB SFCOM DXCH SFTEMP1 DXCH Z # GTSFIN LOADS SFTEMP1, SFTEMP2 WITH THE DP SFINTAB INTRIES. GTSFIN DXCH SFTEMP1 # 2X(SFCONUM) ARIVES IN SFTEMP1. EXTEND INDEX A DCA SFINTAB TCF SFCOM # NN NORMAL NOUNS NNADTAB OCT 00000 # 00 NOT IN USE OCT 40000 # 01 SPECIFY MACHINE ADDRESS (FRACTIONAL) OCT 40000 # 02 SPECIFY MACHINE ADDRESS (WHOLE) OCT 40000 # 03 SPECIFY MACHINE ADDRESS (DEGREES) ECADR DSPTEM1 # 04 ANGULAR ERROR/DIFFERENCE ECADR DSPTEM1 # 05 ANGULAR ERROR/DIFFERENCE ECADR OPTION1 # 06 OPTION CODE ECADR XREG # 07 ECADR OF WORD TO BE MODIFIED # ONES FOR BITS TO BE MODIFIED # 1 TO SET OR 0 TO RESET SELECTED BITS ECADR ALMCADR # 08 ALARM DATA ECADR FAILREG # 09 ALARM CODES OCT 77776 # 10 CHANNEL TO BE SPECIFIED ECADR TCSI # 11 TIG OF CSI (HRS,MIN,SEC) ECADR OPTIONX # 12 OPTION CODE # (USED BY EXTENDED VERBS ONLY) ECADR TCDH # 13 TIG OF CDH (HRS,MIN,SEC) ECADR DSPTEMX # 14 CHECKLIST # (USED BY EXTENDED VERBS ONLY) OCT 77777 # 15 INCREMENT MACHINE ADDRESS ECADR DSPTEMX # 16 TIME OF EVENT (HRS,MIN,SEC) OCT 00000 # 17 SPARE ECADR FDAIX # 18 AUTO MANEUVER BALL ANGLES OCT 00000 # 19 SPARE ECADR CDUX # 20 ICDU ANGLES ECADR PIPAX # 21 PIPAS ECADR THETAD # 22 NEW ICDU ANGLES OCT 00000 # 23 SPARE ECADR DSPTEM2 +1 # 24 DELTA TIME FOR AGC CLOCK (HRS,MIN,SEC) ECADR DSPTEM1 # 25 CHECKLIST # (USED WTIH PLEASE PERFORM ONLY) ECADR DSPTEM1 # 26 PRIO/DELAY, ADRES, BBCON ECADR SMODE # 27 SELF TEST ON/OFF SWITCH # Page 306 OCT 00000 # 28 SPARE OCT 00000 # 29 SPARE OCT 0 # 30 SPARE OCT 0 # 31 SPARE ECADR -TPER # 32 TIME TO PERIGEE (HRS,MIN,SEC) ECADR TIG # 33 TIME OF IGNITION (HRS,MIN,SEC) ECADR DSPTEM1 # 34 TIME OF EVENT (HRS,MIN,SEC) ECADR TTOGO # 35 TIME TO GO TO EVENT (HRS,MIN,SEC) ECADR TIME2 # 36 TIME OF AGC CLOCK (HRS,MIN,SEC) ECADR TTPI # 37 TIG OF TPI (HRS,MIN,SEC) ECADR TET # 38 TIME OF STATE BEING INTEGRATED OCT 00000 # 39 SPARE # END OF NNADTAB FOR NORMAL NOUNS # NN MIXED NOUNS OCT 64000 # 40 TIME TO IGNITION/CUTOFF # VG # DELTA V (ACCUMULATED) OCT 02003 # 41 TARGET AZIMUTH # ELEVATION OCT 24006 # 42 APOGEE # PERIGEE # DELTA V (REQUIRED) OCT 24011 # 43 LATITUDE # LONGITUDE # ALTITUDE OCT 64014 # 44 APOGEE # PERIGEE # TFF OCT 64017 # 45 MARKS # TTI OF NEXT BURN # MGA OCT 00022 # 46 AUTOPILOT CONFIGURATION OCT 22025 # 47 LEM WEIGHT # CSM WEIGHT OCT 22030 # 48 GIMBAL PITCH TRIM # GIMBAL ROLL TRIM OCT 24033 # 49 DELTA R # DELTA V # RADAR DATA SOURCE CODE OCT 0 # 50 SPARE OCT 22041 # 51 S-BAND ANTENNA PITCH # YAW OCT 00044 # 52 CENTRAL ANGLE OF ACTIVE VEHICLE OCT 00000 # 53 SPARE OCT 24052 # 54 RANGE # RANGE RATE # THETA OCT 24055 # 55 NO. OF APSIDAL CROSSINGS # Page 307 # ELEVATION ANGLE # CENTRAL ANGLE OCT 02060 # 56 RR LOS AZIMUTH # ELEVATION OCT 20063 # 57 DELTA R OCT 24066 # 58 PERIGEE ALT # DELTA V TPI # DELTA V TPF OCT 24071 # 59 DELTA VELOCITY LOS OCT 24074 # 60 HORIZONTAL VELOCITY # ALTITUDE RATE # COMPUTED ALTITUDE OCT 64077 # 61 TIME TO GO IN BRAKING PHASE # TIME TO IGNITION # CROSS RANGE DISTANCE OCT 64102 # 62 ABSOLUTE VALUE OF VELOCITY # TIME TO IGNITION # DELTA V (ACCUMULATED) OCT 24105 # 63 ABSOLUTE VALUE OF VELOCITY # ALTITUDE RATE # COMPUTED ALTITUDE OCT 64110 # 64 TIME LEFT FOR REDESIGNATION -- LPD ANGLE # ALTITUDE RATE # COMPUTED ALTITUDE OCT 24113 # 65 SAMPLED AGC TIME (HRS,MIN,SEC) # (FETCHED IN INTERRUPT) OCT 62116 # 66 LR RANGE # POSITION OCT 04121 # 67 LRVX # LRVY # LRVZ OCT 64124 # 68 SLANT RANGE TO LANDING SIGHT # TIME TO GO IN BRAKING PHASE # LR ALTITUDE -- COMPUTED ALTITUDE OCT 00000 # 69 SPARE OCT 04132 # 70 AOT DETENT CODE/STAR CODE OCT 04135 # 71 AOT DETENT CODE/STAR CODE OCT 02140 # 72 RR 360 -- TRUNNION ANGLE # SHAFT ANGLE OCT 02143 # 73 NEW RR 360 -- TRUNNION ANGLE # SHAFT ANGLE OCT 64146 # 74 TIME TO IGNITION # YAWAFTER VEHICLE RISE # PITCH AFTER VEHICLE RISE OCT 64151 # 75 DELTA ALTITUDE CDH # DELTA TIME (CDH-CSI OR TPI-CDH) # DELTA TIME (TPI-CDH OR TPI-NOMTPI) OCT 24154 # 76 DESIRED HORIZONTAL VELOCITY # DESIRED RADIAL VELOCITY # CROSS-RANGE DISTANCE # Page 308 OCT 62157 # 77 TIME TO ENGINE CUTOFF # VELOCITY NORMAL TO CSM PLANE OCT 02162 # 78 RR RANGE # RANGE RATE OCT 24165 # 79 CURSOR ANGLE # SPIRAL ANGLE # POSITION CODE OCT 02170 # 80 DATA INDICATOR # OMEGA OCT 24173 # 81 DELTA V (LV) OCT 24176 # 82 DELTA V (LV) OCT 24201 # 83 DELTA V (BODY) OCT 24204 # 84 DELTA V (OTHER VEHICLE) OCT 24207 # 85 VG (BODY) OCT 24212 # 86 VG (LV) OCT 02215 # 87 BACKUP OPTICS LOS AZIMUTH # ELEVATION OCT 24220 # 88 HALF UNIT SUN OR PLANET VECTOR OCT 24223 # 89 LANDMARK LATITUDE # LONGITUDE/2 # ALTITUDE OCT 24226 # 90 Y # Y DOT # PSI OCT 04231 # 91 ALTITUDE # VELOCITY # FLIGHT PATH ANGLE OCT 00000 # 92 SPARE OCT 04237 # 93 DELTA GYRO ANGLES OCT 00000 # 94 SPARE OCT 0 # 95 SPARE OCT 0 # 96 SPARE OCT 04253 # 97 SYSTEM TEST INPUTS OCT 04256 # 98 SYSTEM TEST RESULTS OCT 24261 # 99 RMS IN POSITION # RMS IN VELOCITY # RMS IN BIAS # END OF NNADTAB FOR MIXED NOUNS # NN NORMAL NOUNS NNTYPTAB OCT 00000 # 00 NOT IN USE OCT 04040 # 01 3COMP FRACTIONAL OCT 04140 # 02 3COMP WHOLE OCT 04102 # 03 3COMP CDU DEGREES OCT 00504 # 04 1COMP DPDEG(360) OCT 00504 # 05 1COMP DPDEG(360) OCT 04000 # 06 3COMP OCTAL ONLY OCT 04000 # 07 3COMP OCTAL ONLY OCT 04000 # 08 3COMP OCTAL ONLY # Page 309 OCT 04000 # 09 3COMP OCTAL ONLY OCT 00000 # 10 1COMP OCTAL ONLY OCT 24400 # 11 3COMP HMS (DEC ONLY) OCT 02000 # 12 2COMP OCTAL ONLY OCT 24400 # 13 3COMP HMS (DEC ONLY) OCT 04140 # 14 3COMP WHOLE OCT 00000 # 15 1COMP OCTAL ONLY OCT 24400 # 16 3COMP HMS (DEC ONLY) OCT 0 # 17 SPARE OCT 04102 # 18 3COMP CDU DEG OCT 00000 # 19 SPARE OCT 04102 # 20 3COMP CDU DEGREES OCT 04140 # 21 3COMP WHOLE OCT 04102 # 22 3COMP CDU DEGREES OCT 00000 # 23 SPARE OCT 24400 # 24 3COMP HMS (DEC ONLY) OCT 04140 # 25 3COMP WHOLE OCT 04000 # 26 3COMP OCTAL ONLY OCT 00140 # 27 1COMP WHILE OCT 00000 # 28 SPARE OCT 00000 # 29 SPARE OCT 0 # 30 SPARE OCT 0 # 31 SPARE OCT 24400 # 32 3COMP HMS (DEC ONLY) OCT 24400 # 33 3COMP HMS (DEC ONLY) OCT 24400 # 34 3COMP HMS (DEC ONLY) OCT 24400 # 35 3COMP HMS (DEC ONLY) OCT 24400 # 36 3COMP HMS (DEC ONLY) OCT 24400 # 37 3COMP HMS (DEC ONLY) OCT 24400 # 38 3COMP HMS (DEC ONLY) OCT 00000 # 39 SPARE # END OF NNTYPTAB FOR NORMAL NOUNS # NN MIXED NOUNS OCT 24500 # 40 3COMP MIN/SEC, VEL3, VEL3 # (NO LOAD, DEC ONLY) OCT 00542 # 41 2COMP CDU DEG, ELEV DEG OCT 24410 # 42 3COMP POS4, POS4, VEL3 # (DEC ONLY) OCT 20204 # 43 3COMP DPDEG(360), DPDEG(360) POS4 # (DEC ONLY) OCT 00410 # 44 3COMP POS4, POS4, MIN/SEC # (NO LOAD, DEC ONLY) OCT 10000 # 45 3COMP WHOLE, MIN/SEC, DPDEG(360) # (NO LOAD, DEC ONLY) OCT 00000 # 46 1COMP OCTAL ONLY OCT 00306 # 47 2COMP WEIGHT2 FOR EACH # (DEC ONLY) OCT 01367 # 48 2COMP TRIM DEG2 FOR EACH # Page 310 # (DEC ONLY) OCT 00510 # 49 3COMP POS4, VEL3, WHOLE # (DEC ONLY) OCT 0 # 50 SPARE OCT 00204 # 51 2COMP DPDEG(360), DPDEG(360) # (DEC ONLY) OCT 00004 # 52 1COMP DPDEG(360) OCT 00000 # 53 SPARE OCT 10507 # 54 3COMP POS5, VEL3, DPDEG(360) # (DEC ONLY) OCT 10200 # 55 3COMP WHOLE, DPDEG(360), DPDEG(360) # (DEC ONLY) OCT 00204 # 56 2COMP DPDEG(360), DPDEG(360) OCT 00010 # 57 1COMP POS4 # (DEC ONLY) OCT 24510 # 58 3COMP POS4, VEL3, VEL3 # (DEC ONLY) OCT 24512 # 59 3COMP VEL3 FOR EACH # (DEC ONLY) OCT 60512 # 60 3COMP VEL3, VEL3, COMP ALT # (DEC ONLY) OCT 54000 # 61 3COMP MIN/SEC, MIN/SEC, POS7 # (NO LOAD, DEC ONLY) OCT 24012 # 62 3COMP VEL3, MIN/SEC, VEL3 # (NO LOAD, DEC ONLY) OCT 60512 # 63 3COMP VEL3, VEL3, COMP ALT # (DEC ONLY) OCT 60500 # 64 3COMP 2INT, VEL3, COMP ALT # (NO LOAD, DEC ONLY) OCT 00000 # 65 3COMP HMS (DEC ONLY) OCT 00016 # 66 2COMP LANDING RADAR ALT, POSITION # (NO LOAD, DEC ONLY) OCT 53223 # 67 3COMP LANDING RADAR VELX, Y, Z OCT 60026 # 68 3COMP POS7, MIN/SEC, COMP ALT # (NO LOAD, DEC ONLY) OCT 00000 # 69 SPARE OCT 0 # 70 3COMP OCTAL ONLY FOR EACH OCT 0 # 71 3COMP OCTAL ONLY FOR EACH OCT 00102 # 72 2COMP 360-CDU DEG, CDU DEG OCT 00102 # 73 2COMP 360-CDU DEG, CDU DEG OCT 10200 # 74 3COMP MIN/SEC, DPDEG(360), DPDEG(360) # (NO LOAD, DEC ONLY) OCT 00010 # 75 3COMP POS4, MIN/SEC, MIN/SEC # (NO LOAD, DEC ONLY) OCT 20512 # 76 3COMP VEL3, VEL3, POS4 # (DEC ONLY) OCT 00500 # 77 2COMP MIN/SEC, VEL3 # (NO LOAD, DEC ONLY) OCT 00654 # 78 2 COMP RR RANGE, RR RANGE RATE OCT 00102 # 79 3COMP CDU DEG, CDU DEG, WHOLE # Page 311 # (DEC ONLY) OCT 00200 # 80 2COMP WHOLE, DPDEG(360) OCT 24512 # 81 3COMP VEL3 FOR EACH # (DEC ONLY) OCT 24512 # 82 3COMP VEL3 FOR EACH # (DEC ONLY) OCT 24512 # 83 3COMP VEL3 FOR EACH # (DEC ONLY) OCT 24512 # 84 3COMP VEL3 FOR EACH # (DEC ONLY) OCT 24512 # 85 3COMP VEL3 FOR EACH # (DEC ONLY) OCT 24512 # 86 3COMP VEL3 FOR EACH # (DEC ONLY) OCT 00102 # 87 2COMP CDU DEG FOR EACH OCT 0 # 88 3COMP FRAC FOR EACH # (DEC ONLY) OCT 16143 # 89 3COMP DPDEG(90), DPDEG(90), POS5 # (DEC ONLY) OCT 10507 # 90 3COMP POS5, VEL3, DEPDEG(360) # (DEC ONLY) OCT 10450 # 91 3COMP POS4, VEL2, DPDEG(360) OCT 00000 # 92 SPARE OCT 06143 # 93 3COMP DPDEG(90) FOR EACH OCT 00000 # 94 SPARE OCT 0 # 95 SPARE OCT 0 # 96 SPARE OCT 00000 # 97 3COMP WHOLE FOR EACH OCT 00000 # 98 3COMP WHOLE, FRAC, WHOLE OCT 71572 # 99 3COMP POS9, VEL4, RADIANS # (DEC ONLY) # END OF NNTYPTAB FOR MIXED NOUNS SFINTAB OCT 00006 # WHOLE, DP TIME (SEC) OCT 03240 OCT 00000 # SPARE OCT 00000 OCT 00000 # CDU DEGREES, 360-CDU DEGREES OCT 00000 # (SFCONS IN DEGINSF) OCT 10707 # DP DEGREES (90) OCT 03435 # UPPED BY 1 OCT 13070 # DP DEGREES (360) (POINT BETWN BITS 11-12) OCT 34345 # UPPED BY 1 OCT 00005 # DEGREES (180) OCT 21616 OCT 26113 # WEIGHT2 OCT 31713 OCT 00070 # POSITION5 OCT 20460 # Page 312 OCT 01065 # POSITION4 OCT 05740 OCT 11414 # VELOCITY2 (POINT BETWN BITS 11-12) OCT 31463 OCT 07475 # VELOCITY3 OCT 16051 OCT 00001 # ELEVATION DEGREES OCT 03434 OCT 00047 # RENDEZVOUS RADAR RANGE OCT 21135 OCT 77766 # RENDESVOUS RADAR RANGE RATE OCT 50711 2DEC* .9267840599 E5 B-28* # LANDING RADAR ALTITUDE OCT 00002 # INITIAL/FINAL ALTITUDE OCT 23224 OCT 00014 # ALTITUDE RATE OCT 06500 OCT 00012 # FORWARD/LATERAL VELOCITY OCT 36455 OCT 04256 # ROT HAND CONT ANGLE RATE OCT 07071 2DEC* -1.552795030 E5 B-28* # LANDING RADAR VELX 2DEC* .8250825087 E5 B-28* # LANDING RADAR VELY 2DEC* 1.153668673 E5 B-28* # LANDING RADAR VELZ OCT 04324 # POSITION7 OCT 27600 OCT 00036 # TRIM DEGREES2 OCT 20440 OCT 00035 # COMPUTED ALTITUDE OCT 30400 OCT 23420 # DP DEGREES OCT 00000 2DEC 30480 B-19 # POSITION 9 2DEC 30.48 B-7 # VELOCITY4 2DEC 100 B-8 # RADIANS # END OF SFINTAB SFOUTAB OCT 05174 # WHOLE, DP TIME (SEC) OCT 13261 OCT 00000 # SPARE OCT 00000 OCT 00000 # CDU DEGREES, 360-CDU DEGREES # Page 313 OCT 00000 # (SFCONS IN DEGOUTSF, 360 CDUO) OCT 00714 # DP DEGREES (90) (POINT BETWN BITS 7-8) OCT 31463 OCT 13412 # DP DEGREES (360) OCT 07534 OCT 05605 # DEGREES (180) OCT 03656 OCT 00001 # WEIGHT2 OCT 16170 OCT 00441 # POSITION5 OCT 34306 OCT 07176 # POSITION4 (POINT BETWN BITS 7-8) OCT 21603 OCT 15340 # VELOCITY2 OCT 15340 OCT 01031 # VELOCITY3 (POINT BETWN BITS 7-8) OCT 21032 OCT 34631 # ELEVATION DETREES OCT 23146 OCT 00636 # RENDEZVOUS RADAR RANGE OCT 14552 OCT 74552 # RENDEZVOUS RADAR RANGE RATE OCT 70307 2DEC 1.079 E-5 B14 # LANDING RADAR ALTITUDE OCT 14226 # INITIAL/FINAL ALTITUDE OCT 31757 OCT 02476 # ALTITUDE RATE OCT 05531 OCT 02727 # FORWARD/LATERAL VELOCTY OCT 16415 OCT 00007 # ROT HAND CONT ANGLE RATE OCT 13734 2DEC -.6440 E-5 B14 # LANDING RADAR VELX 2DEC 1.212 E-5 B14 # LANDING RADAR VELY 2DEC .8668 E-5 B14 # LANDING RADAR VELZ OCT 34772 # POSITION7 OCT 07016 OCT 01030 # TRIM DEGREES2 OCT 33675 OCT 01046 # COMPUTED ALTITUDE OCT 15700 OCT 00321 # DP DEGREES OCT 26706 2DEC 17.2010499 B-7 # POSITION 9 2DEC .032808399 # VELOCITY4 # Page 314 2DEC .32 # RADIANS # END OF SFOUTAB # NN SF CONSTANT SF ROUTINE IDADDTAB ECADR TTOGO # 40 MIN/SEC M/S ECADR VGDISP # 40 VEL3 DP3 ECADR DVTOTAL # 40 VEL3 DP3 ECADR DSPTEM1 # 41 CDU DEG CDU ECADR DSPTEM1 +1 # 41 ELEV DEG ARTH OCT 0 # 41 SPARE COMPONENT ECADR HAPO # 42 POS4 DP3 ECADR HPER # 42 POS4 DP3 ECADR VGDISP # 42 VEL3 DP3 ECADR LAT # 43 DPDEG(360) DP4 ECADR LONG # 43 DPDEG(360 DP4 ECADR ALT # 43 POS4 DP3 ECADR HAPOX # 44 POS4 DP3 ECADR HPERX # 44 POS4 DP3 ECADR TFF # 44 MIN/SEC M/S ECADR TRKMKCNT # 45 WHOLE ARTH ECADR TTOGO # 45 MIN/SEC M/S ECADR +MGA # 45 DPDEG(360) DP4 ECADR DAPDATR1 # 46 OCTAL ONLY OCT OCT 0 # 46 SPARE COMPONENT OCT 0 # 46 SPARE COMPONENT ECADR LEMMASS # 47 WEIGHT2 ARTH1 ECADR CSMMASS # 47 WEIGHT2 ARTH1 OCT 0 # 47 SPARE COMPONENT ECADR PITTIME # 48 TRIM DEG2 ARTH ECADR ROLLTIME # 48 TRIM DEG2 ARTH OCT 0 # 48 SPARE COMPONENT ECADR R22DISP # 49 POS4 DP3 ECADR R22DISP +2 # 49 VEL3 DP3 ECADR WHCHREAD # 49 WHOLE ARTH OCT 0 # 50 SPARE OCT 0 # 50 SPARE OCT 0 # 50 SPARE ECADR ALPHASB # 51 DPDEG(360) DP4 ECADR BETASB # 51 DPDEG(360) DP4 OCT 0 # 51 SPARE COMPONENT ECADR ACTCENT # 52 DPDEG(360) DP4 OCT 00000 # 52 SPARE COMPONENT OCT 00000 # 52 SPARE COMPONENT OCT 00000 # 53 SPARE OCT 00000 # 53 OCT 00000 # 53 ECADR RANGE # 54 POS5 DP1 # Page 315 ECADR RRATE # 54 VEL3 DP3 ECADR RTHETA # 54 DPDEG(360) DP4 ECADR NN # 55 WHOLE ARTH ECADR ELEV # 55 DPDEG(360) DP4 ECADR CENTANG # 55 DPDEG(360) DP4 ECADR RR-AZ # 56 DPDEG(360) DP4 ECADR RR-ELEV # 56 DPDEG(360) DP4 OCT 0 # 56 SPARE COMPONENT ECADR DELTAR # 57 POS4 DP3 OCT 0 # 57 SPARE COMPONENT OCT 0 # 57 SPARE COMPONENT ECADR POSTTPI # 58 POS4 DP3 ECADR DELVTPI # 58 VEL3 DP3 ECADR DELVTPF # 58 VEL3 DP3 ECADR DVLOS # 59 VEL3 DP3 ECADR DVLOS +2 # 59 VEL3 DP3 ECADR DVLOS +4 # 59 VEL3 DP3 ECADR VHORIZ # 60 VEL3 DP3 ECADR HDOTDISP # 60 VEL3 DP3 ECADR HCALC # 60 COMP ALT DP1 ECADR TTFDISP # 61 MIN/SEC M/S ECADR TTOGO # 61 MIN/SEC M/S ECADR OUTOFPLN # 61 POS7 DP4 ECADR ABVEL # 62 VEL3 DP3 ECADR TTOGO # 62 MIN/SEC M/S ECADR DVTOTAL # 62 VEL3 DP3 ECADR ABVEL # 63 VEL3 DP3 ECADR HDOTDISP # 63 VEL3 DP3 ECADR HCALC1 # 63 COMP ALT DP1 ECADR FUNNYDSP # 64 2INT 2INT ECADR HDOTDISP # 64 VEL3 DP3 ECADR HCALC # 64 COMP ALT DP1 ECADR SAMPTIME # 65 HMS (MIXED ONLY TO KEEP CODE 65) HMS ECADR SAMPTIME # 65 HMS HMS ECADR SAMPTIME # 65 HMS HMS ECADR RSTACK +6 # 66 LANDING RADAR ALT DP1 OCT 0 # 66 LR POSITION LRPOS OCT 0 # 66 SPARE COMPONENT ECADR RSTACK # 67 LANDING RADAR VELX DP1 ECADR RSTACK +2 # 67 LANDING RADAR VELY DP1 ECADR RSTACK +4 # 67 LANDING RADAR VELZ DP1 ECADR RANGEDSP # 68 POS7 DP4 ECADR TTFDISP # 68 MIN/SEC M/S ECADR DELTAH # 68 COMP ALT DP1 OCT 00000 # 69 SPARE OCT 00000 # 69 OCT 00000 # 69 ECADR AOTCODE # 70 OCTAL ONLY OCT ECADR AOTCODE +1 # 70 OCTAL ONLY OCT ECADR AOTCODE +2 # 70 OCTAL ONLY OCT # Page 316 ECADR AOTCODE # 71 OCTAL ONLY OCT ECADR AOTCODE +1 # 71 OCTAL ONLY OCT ECADR AOTCODE +2 # 71 OCTAL ONLY OCT ECADR CDUT # 72 360-CDU DEG 360-CDU ECADR CDUS # 72 CDU DEG CDU OCT 0 # 72 SPARE COMPONENT ECADR TANG # 73 360-CDU DEG 360-CDU ECADR TANG +1 # 73 CDU DEG CDU OCT 0 # 73 SPARE COMPONENT ECADR TTOGO # 74 MIN/SEC M/S ECADR YAW # 74 DPDEG(360) DP4 ECADR PITCH # 74 DPDEG(360) DP4 ECADR DIFFALT # 75 POS4 DP3 ECADR T1TOT2 # 75 MIN/SEC ECADR T2TOT3 # 75 MIN/SEC M/S ECADR ZDOTD # 76 VEL3 DP3 ECADR RDOTD # 76 VEL3 DP3 ECADR XRANGE # 76 POS4 DP3 ECADR TTOGO # 77 MIN/SEC M/S ECADR YDOT # 77 VEL3 DP3 OCT 0 # 77 SPARE COMPONENT ECADR RSTACK # 78 RR RANGE DP1 ECADR RSTACK +2 # 78 RR RANGE RATE DP1 OCT 00000 # 78 SPARE COMPONENT ECADR CURSOR # 79 CDU DEG CDU ECADR SPIRAL # 79 CDU DEG CDU ECADR POSCODE # 79 WHOLE ARTH ECADR DATAGOOD # 80 WHOLE ARTH ECADR OMEGAD # 80 DPDEG(360) DP4 OCT 0 # 80 SPARE COMPONENT ECADR DELVLVC # 81 VEL3 DP3 ECADR DELVLVC +2 # 81 VEL3 DP3 ECADR DELVLVC +4 # 81 VEL3 DP3 ECADR DELVLVC # 82 VEL3 DP3 ECADR DELVLVC +2 # 82 VEL3 DP3 ECADR DELVLVC +4 # 82 VEL3 DP3 ECADR DELVIMU # 83 VEL3 DP3 ECADR DELVIMU +2 # 83 VEL3 DP3 ECADR DELVIMU +4 # 83 VEL3 DP3 ECADR DELVOV # 84 VEL3 DP3 ECADR DELVOV +2 # 84 VEL3 DP3 ECADR DELVOV +4 # 84 VEL3 DP3 ECADR VGBODY # 85 VEL3 DP3 ECADR VGBODY +2 # 85 VEL3 DP3 ECADR VGBODY +4 # 85 VEL3 DP3 ECADR DELVLVC # 86 VEL3 DP3 ECADR DELVLVC +2 # 86 VEL3 DP3 ECADR DELVLVC +4 # 86 VEL3 DP3 ECADR AZ # 87 CDU DEG CDU ECADR EL # 87 CDU DEG CDU # Page 317 OCT 0 # 87 SPARE COMPONENT ECADR STARAD # 88 FRAC FRAC ECADR STARAD +2 # 88 FRAC FRAC ECADR STARAD +4 # 88 FRAC FRAC ECADR LANDLAT # 89 DPDEG(90) DP3 ECADR LANDLONG # 89 DPDEG(90) DP3 ECADR LANDALT # 89 POS5 DP1 ECADR RANGE # 90 POS5 DP1 ECADR RRATE # 90 VEL3 DP3 ECADR RTHETA # 90 DPDEG(360) DP4 ECADR P21ALT # 91 POS4 DP3 ECADR P21VEL # 91 VEL2 DP4 ECADR P21GAM # 91 DPDEG(360) DP4 OCT 00000 # 92 SPARE OCT 00000 # 92 OCT 00000 # 92 ECADR OGC # 93 DPDEG(90) DP3 ECADR OGC +2 # 93 DPDEG(90) DP3 ECADR OGC +4 # 93 DPDEG(90) DP3 OCT 00000 # 94 SPARE OCT 00000 # 94 OCT 00000 # 94 OCT 0 # 95 SPARE OCT 0 # 95 SPARE OCT 0 # 95 SPARE OCT 0 # 96 SPARE OCT 0 # 96 SPARE OCT 0 # 96 SPARE ECADR DSPTEM1 # 97 WHOLE ARTH ECADR DSPTEM1 +1 # 97 WHOLE ARTH ECADR DSPTEM1 +2 # 97 WHOLE ARTH ECADR DSPTEM2 # 98 WHOLE ARTH ECADR DSPTEM2 +1 # 98 FRAC FRAC ECADR DSPTEM2 +2 # 98 WHOLE ARTH ECADR WWPOS # 99 POS9 DP3 ECADR WWVEL # 99 VEL4 DP2 ECADR WWBIAS # 99 RADIANS DP4 # END OF IDADDTAB # NN SF ROUTINES RUTMXTAB OCT 16351 # 40 M/S, DP3, DP3 OCT 00142 # 41 CDU, ARTH OCT 16347 # 42 DP3, DP3, DP3 OCT 16512 # 43 DP4, DP4, DP3 OCT 22347 # 44 DP3, DP3, M/S OCT 24443 # 45 ARTH, M/S, DP4 OCT 00000 # 46 OCT OCT 00553 # 47 ARITH1, ARITH1 # Page 318 OCT 00143 # 48 ARTH, ARTH OCT 06347 # 49 DP3, DP3, ARTH OCT 0 # 50 SPARE OCT 00512 # 51 DP4, DP4 OCT 00012 # 52 DP4 OCT 00000 # 53 SPARE OCT 24344 # 54 DP1, DP3, DP4 OCT 24503 # 55 ARTH, DP4, DP4 OCT 00512 # 56 DP4, DP4 OCT 00007 # 57 DP3 OCT 16347 # 58 DP3, DP3, DP3 OCT 16347 # 59 DP3, DP3, DP3 OCT 10347 # 60 DP3, DP3, DP1 OCT 24451 # 61 M/S, M/S, DP4 OCT 16447 # 62 DP3, M/S, DP3 OCT 10347 # 63 DP3, DP3, DP1 OCT 10354 # 64 2INT, DP3, DP1 OCT 20410 # 65 HMS, HMS, HMS OCT 00304 # 66 DP1, LRPOS OCT 10204 # 67 DP1, DP1, DP1 OCT 10452 # 68 DP4, M/S, DP1 OCT 00000 # 69 SPARE OCT 0 # 70 OCT, OCT, OCT OCT 0 # 71 OCT, OCT, OCT OCT 00115 # 72 360-CDU, CDU OCT 00115 # 73 360-CDU, CDU OCT 24511 # 74 M/S, DP4, DP4 OCT 22447 # 75 DP3, M/S, M/S OCT 16347 # 76 DP3, DP3, DP3 OCT 00351 # 77 M/S, DP3 OCT 00204 # 78 DP1, DP1 OCT 06102 # 79 CDU, CDU, ARTH OCT 00503 # 80 ARTH, DP4 OCT 16347 # 81 DP3, DP3, DP3 OCT 16347 # 82 DP3, DP3, DP3 OCT 16347 # 83 DP3, DP3, DP3 OCT 16347 # 84 DP3, DP3, DP3 OCT 16347 # 85 DP3, DP3, DP3 OCT 16347 # 86 DP3, DP3, DP3 OCT 00102 # 87 CDU, CDU OCT 02041 # 88 FRAC FOR EACH OCT 10347 # 89 DP3, DP3, DP1 OCT 24344 # 90 DP1, DP3, DP4 OCT 24507 # 91 DP3, DP4, DP4 OCT 00000 # 92 SPARE OCT 16347 # 93 DP3, DP3, DP3 OCT 00000 # 94 SPARE OCT 0 # 95 SPARE OCT 0 # 96 SPARE OCT 06143 # 97 ARTH, ARTH, ARTH # Page 319 OCT 06043 # 98 ARTH, FRAC, ARTH OCT 24247 # 99 DP3, DP2, DP4 # END OF RUTMXTAB SBANK= LOWSUPER ================================================ FILE: Luminary099/PLANETARY_INERTIAL_ORIENTATION.agc ================================================ # Copyright: Public domain. # Filename: PLANETARY_INERTIAL_ORIENTATION.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # # Assembler: yaYUL # Contact: Jim Lawton # Website: www.ibiblio.org/apollo. # Pages: 1140-1148 # Mod history: 2009-05-28 JVL Updated from page images. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 1140 # ..... RP-TO-R SUBROUTINE ..... # SUBROUTINE TO CONVERT RP (VECTOR IN PLANETARY COORDINATE SYSTEM,EITHER # EARTH-FIXED OR MOON-FIXED) TO R (SAME VECTOR IN THE BASIC REF. SYSTEM) # # R=MT(T)*(RP+LPXRP) MT= M MATRIX TRANSPOSE # # CALLING SEQUENCE # L CALL # L+1 RP-TO-R # # SUBROUTINES USED # EARTHMX,MOONMX,EARTHL # # ITEMS AVAILABLE FROM LAUNCH DATA # 504LM= THE LIBRATION VECTOR L OF THE MOON AT TIME TIMSUBL,EXPRESSED # IN THE MOON-FIXED COORD. SYSTEM RADIANS B0 # ITEMS NECESSARY FOR SUBR. USED (SEE DESCRIPTION OF SUBR.) # # INPUT # MPAC= 0 FOR EARTH,NON-ZERO FOR MOON # 0-5D= RP VECTOR # 6-7D= TIME # # OUTPUT # MPAC= R VECTOR METERS B-29 FOR EARTH, B-27 FOR MOON SETLOC PLANTIN1 BANK COUNT* $$/LUROT RP-TO-R STQ BHIZ RPREXIT RPTORA CALL # COMPUTE M MATRIX FOR MOON MOONMX # LP=LM FOR MOON RADIANS B0 VLOAD 504LM RPTORB VXV VAD 504RPR 504RPR VXM GOTO MMATRIX # MPAC=R=MT(T)*(RP+LPXRP) RPRPXXXX # RESET PUSHLOC TO 0 BEFORE EXITING RPTORA CALL # EARTH COMPUTATIONS EARTHMX # M MATRIX B-1 CALL EARTHL # L VECTOR RADIANS B0 MXV VSL1 # LP=M(T)*L RAD B-0 MMATRIX # Page 1141 GOTO RPTORB SETLOC PLANTIN BANK COUNT* $$/LUROT # Page 1142 # ..... R-TO-RP SUBROUTINE ..... # SUBROUTINE TO CONVERT R (VECTOR IN REFERENCE COORD. SYSTEM) TO RP # (VECTOR IN PLANETARY COORD SYSTEM) EITHER EARTH-FIXED OR MOON-FIXED # # RP=M(T)*(R-LXR) # # CALLING SEQUENCE # L CALL # L+1 R-TO-RP # # SUBROUTINES USED # EARTHMX,MOONMX,EARTHL # # INPUT # MPAC= 0 FOR EARTH, NON-ZERO FOR MOON # 0-5D= R VECTOR # 6-7D= TIME # # ITEMS AVAILABLE FROM LAUNCH DATA # 504LM= THE LIBRATION VECTOR L OF THE MOON AT TIME TIMSUBL,EXPRESSED # IN THE MOON-FIXED COORD. SYSTEM RADIANS B0 # ITEMS NECESSARY FOR SUBROUTINES USED (SEE DESCRIPTION OF SUBR.) # # OUTPUT # MPAC=RP VECTOR METERS B-29 FOR EARTH, B-27 FOR MOON R-TO-RP STQ BHIZ RPREXIT RTORPA CALL MOONMX VLOAD VXM 504LM # LP=LM MMATRIX VSL1 # L=MT(T)*LP RADIANS B0 RTORPB VXV BVSU 504RPR 504RPR MXV # M(T)*(R-LXR) B-2 MMATRIX RPRPXXXX VSL1 SETPD 0D GOTO RPREXIT RTORPA CALL # EARTH COMPUTATIONS EARTHMX CALL EARTHL GOTO # MPAC=L=(-AX,-AY,0) RAD B-0 RTORPB # Page 1143 # ..... MOONMX SUBROUTINE ..... # SUBROUTINE TO COMPUTE THE TRANSFORMATION MATRIX M FOR THE MOON # # CALLING SEQUENCE # L CALL # L+1 MOONMX # # SUBROUTINES USED # NEWANGLE # # INPUT # 6-7D= TIME # ITEMS AVAILABLE FROM LAUNCH DATA # BSUBO,BDOT # TIMSUBO,NODIO,NODDOT,FSUBO,FDOT # COSI= COS(I) B-1 # SINI= SIN(I) B-1 # I IS THE ANGLE BETWEEN THE MEAN LUNAR EQUATORIAL PLANE AND THE # PLANE OF THE ECLIPTIC (1 DEGREE 32.1 MINUTES) # # OUTPUT # MMATRIX= 3X3 M MATRIX B-1 (STORED IN VAC AREA) MOONMX STQ SETPD EARTHMXX 8D AXT,1 # B REQUIRES SL 0, SL 5 IN NEWANGLE 5 DLOAD PDDL # PD 10D 8-9D=BSUBO BSUBO # 10-11D= BDOT BDOT PUSH CALL # PD 12D NEWANGLE # EXIT WITH PD 8D AND MPAC= B REVS B0 PUSH COS # PD 10D STODL COB # PD 8D COS(B) B-1 SIN # SIN(B) B-1 STODL SOB # SETUP INPUT FOR NEWANGLE FSUBO # 8-9D=FSUBO PDDL PUSH # PD 10D THEN 12D 10-11D=FDOT FDOT AXT,1 CALL # F REQUIRES SL 1, SL 6 IN NEWANGLE 4 NEWANGLE # EXIT WITH PD 8D AND MPAC= F REVS B0 STODL AVECTR +2 # SAVE F TEMP NODIO # 8-9D=NODIO PDDL PUSH # PD 10D THEN 12D 10-11D=NODDOT NODDOT # MPAC=T AXT,1 CALL # NODE REQUIRES SL 0, SL 5 IN NEWANGLE 5 NEWANGLE # EXIT WITH PD 8D AND MPAC= NODI REVS B0 # Page 1144 PUSH COS # PD 10D 8-9D= NODI REVS B0 PUSH # PD 12D 10-11D= COS(NODI) B-1 STORE AVECTR DMP SL1R COB # COS(NODI) B-1 STODL BVECTR +2 # PD 10D 20-25D=AVECTR= COB*SIN(NODI) DMP SL1R # SOB*SIN(NODI) SOB STODL BVECTR +4 # PD 8D SIN PUSH # PD 10D -SIN(NODI) B-1 DCOMP # 26-31D=BVECTR= COB*COS(NODI) STODL BVECTR # PD 8D SOB*COS(NODI) AVECTR +2 # MOVE F FROM TEMP LOC. TO 504F STODL 504F DMP SL1R COB GOTO MOONMXA BANK 25 SETLOC PLANTIN3 BANK COUNT* $$/LUROT MOONMXA STODL AVECTR +2 SINNODI # 8-9D=SIN(NODI) B-1 DMP SL1R SOB STODL AVECTR +4 # 0 HI6ZEROS # 8-13D= CVECTR= -SOB B-1 PDDL DCOMP # PD 10D COB SOB PDDL PDVL # PD 12D THEN PD 14D COB BVECTR VXSC PDVL # PD 20D BVECTR*SINI B-2 SINI CVECTR VXSC VAD # PD 14D CVECTR*COSI B-2 COSI VSL1 STOVL MMATRIX +12D # PD 8D M2=BVECTR*SINI+CVECTR*COSI B-1 VXSC PDVL # PD 14D SINI # CVECTR*SINI B-2 BVECTR VXSC VSU # PD 8D BVECTR*COSI B-2 COSI VSL1 PDDL # PD 14D 504F # 8-13D=DVECTR=BVECTR*COSI-CVECTR*SINI B-1 COS VXSC # Page 1145 DVECTR PDDL SIN # PD 20D 14-19D= DVECTR*COSF B-2 504F VXSC VSU # PD 14D AVECTR*SINF B-2 AVECTR VSL1 STODL MMATRIX +6 # M1= AVECTR*SINF-DVECTR*COSF B-1 504F SIN VXSC # PD 8D PDDL COS # PD 14D 8-13D=DVECTR*SINF B-2 504F VXSC VAD # PD 8D AVECTR*COSF B-2 AVECTR VSL1 VCOMP STCALL MMATRIX # M0= -(AVECTR*COSF+DVECTR*SINF) B-1 EARTHMXX # COMPUTE X=X0+(XDOT)(T+T0) # 8-9D= X0 (REVS B-0),PUSHLOC SET AT 12D # 10-11D=XDOT (REVS/CSEC) SCALED B+23 FOR WEARTH,B+28 FOR NODDOT AND BDOT # AND B+27 FOR FDOT # X1=DIFFERENCE IN 23 AND SCALING OF XDOT,=0 FOR WEARTH,5 FOR NODDOT AND # BDOT AND 4 FOR FDOT # 6-7D=T (CSEC B-28), TIMSUBO= (CSEC B-42 TRIPLE PREC.) NEWANGLE DLOAD SR # ENTER PD 12D 6D 14D TAD TLOAD # CHANGE MODE TO TP TIMSUBO MPAC STODL TIMSUBM # T+T0 CSEC B-42 TIMSUBM +1 DMP # PD 10D MULT BY XDOT IN 10-11D SL* DAD # PD 8D ADD X0 IN 8-9D AFTER SHIFTING 5,1 # SUCH THAT SCALING IS B-0 PUSH SLOAD # PD 10D SAVE PARTIAL (X0+XDOT*T) IN 8-9D TIMSUBM SL DMP 9D 10D # XDOT SL* DAD # PD 8D SHIFT SUCH THAT THIS PART OF X 10D,1 # IS SCALED REVS/CSEC B-0 BOV # TURN OFF OVERFLOW IF SET BY SHIFT +1 # INSTRUCTION BEFORE EXITING RVQ # MPAC=X= X0+(XDOT)(T+T0) REVS B0 # Page 1146 # ..... EARTHMX SUBROUTINE ..... # SUBROUTINE TO COMPUTE THE TRANSFORMATION MATRIX M FOR THE EARTH # # CALLING SEQUENCE # L CALL # L+1 EARTHMX # # SUBROUTINE USED # NEWANGLE # # INPUT # INPUT AVAILABLE FROM LAUNCH DATA AZO REVS B-0 # TEPHEM CSEC B-42 # 6-7D= TIME CSEC B-28 # # OUTPUT # MMATRIX= 3X3 M MATRIX B-1 (STORED IN VAC AREA) BANK 26 SETLOC PLANTIN1 BANK COUNT* $$/LUROT EARTHMX STQ SETPD # SET 8-9D=AZO EARTHMXX 8D # 10-11D=WEARTH AXT,1 # FOR SL 5, AND SL 10 IN NEWANGLE 0 DLOAD PDDL # LEAVING PD SET AT 12D FOR NEWANGLE AZO WEARTH PUSH CALL NEWANGLE SETPD PUSH # 18-19D=504AZ 18D # COS(AZ) SIN(AZ) 0 COS PDDL # 20-37D= MMATRIX= -SIN(AZ) COS(AZ) 0 B-1 504AZ # 0 0 1 SIN PDDL HI6ZEROS PDDL SIN 504AZ DCOMP PDDL 504AZ COS PDVL HI6ZEROS PDDL PUSH HIDPHALF GOTO EARTHMXX # Page 1147 # ..... EARTHL SUBROUTINE ..... # SUBROUTINE TO COMPUTE L VECTOR FOR EARTH # # CALLING SEQUENCE # L CALL # L+1 EARTHL # # INPUT # AXO,AYO SET AT LAUNCH TIME WITH AYO IMMEDIATELY FOLLOWING AXO IN CORE # # OUTPUT # -AX # MPAC= -AY RADIANS B-0 # 0 BANK 06 SETLOC EARTHLOC BANK COUNT* $$/LUROT EARTHL DLOAD DCOMP AXO STODL 504LPL -AYO STODL 504LPL +2 LO6ZEROS STOVL 504LPL +4 504LPL RVQ # Page 1148 # CONSTANTS AND ERASABLE ASSIGNMENTS 1B1 = DP1/2 # 1 SCALED B-1 RPREXIT = S1 # R-TO-RP AND RP-TO-R SUBR EXIT EARTHMXX = S2 # EARTHMX,MOONMX SUBR. EXITS 504RPR = 0D # 6 REGS R OR RP VECTOR SINNODI = 8D # 2 SIN(NODI) DVECTR = 8D # 6 D VECTOR MOON CVECTR = 8D # 6 C VECTR MOON 504AZ = 18D # 2 AZ TIMSUBM = 14D # 3 TIME SUB M (MOON) T+T0 IN GETAZ 504LPL = 14D # 6 L OR LP VECTOR AVECTR = 20D # 6 A VECTOR (MOON) BVECTR = 26D # 6 B VECTOR (MOON) MMATRIX = 20D # 18 M MATRIX COB = 32D # 2 COS(B) B-1 SOB = 34D # 2 SIN(B) B-1 504F = 6D # 2 F (MOON) ================================================ FILE: Luminary099/POWERED_FLIGHT_SUBROUTINES.agc ================================================ # Copyright: Public domain. # Filename: POWERED_FLIGHT_SUBROUTINES.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1259-1267 # Mod history: 2009-05-26 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # 2011-01-06 JL Fixed pseudo-label indentation. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 1259 BANK 14 # SAME FBANK AS THE FINDCDUD SUB-PROGRAM SETLOC POWFLITE BANK EBANK= DEXDEX COUNT* $$/POWFL # 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. # 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 # 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. # # 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 # MODES (SMNB OR NBSM). SINCE AX*SR*T EXPECTS TO FIND THE SINES AND # COSINES IN THE ORDER Y Z X THE ANGLES MUST HAVE BEEN PLACED IN CDUSPOT # IN THIS ORDER. CD*TR*GS NEED NOT BE REPEATED WHEN AX*SR*T IS CALLED # MORE THAN ONCE, PROVIDED THE ANGLES HAVE NOT CHANGED. NOTE THAT SINCE # 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 # INTERPRETIVE. CDUTRIG EXIT TC CDUTRIGS TC INTPRET RVQ CD*TR*G EXIT TC CD*TR*GS TC INTPRET RVQ CDUTRIGS CA CDUX TS CDUSPOT +4 CA CDUY TS CDUSPOT # Page 1260 CA CDUZ TS CDUSPOT +2 CD*TR*GS EXTEND QXCH TEM2 CAF FOUR TR*GL**P MASK SIX # MAKE IT EVEN AND SMALLER TS TEM3 INDEX TEM3 CA CDUSPOT DXCH MPAC # STORING 2'S COMP ANGLE, LOADING MPAC DXCH VBUF +4 # STORING MPAC FOR LATER RESTORATION TC USPRCADR CADR CDULOGIC EXTEND DCA MPAC INDEX TEM3 DXCH CDUSPOT # STORING 1'S COMPLEMENT ANGLE TC USPRCADR CADR COSINE DXCH MPAC INDEX TEM3 DXCH COSCDU # STORING COSINE EXTEND INDEX TEM3 DCA CDUSPOT # LOADING 1'S COMPLEMENT ANGLE TC USPRCADR CADR SINE +1 # SINE +1 EXPECTS ARGUMENT IN A AND L DXCH VBUF +4 # BRINGING UP PRIOR MPAC TO BE RESTORED DXCH MPAC INDEX TEM3 DXCH SINCDU CCS TEM3 TCF TR*GL**P TC TEM2 # Page 1261 # ******************************************************************************************************* # 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 # CALLED FROM INTERPRETIVE AS AN RTB OP-CODE, OR FROM BASIC VIA BANKCALL OR IBNKCALL. QUICTRIG INHINT # INHINT SINCE DAP USES THE SAME TEMPS EXTEND QXCH ITEMP1 CAF FOUR +4 MASK SIX TS ITEMP2 INDEX ITEMP2 CA CDUSPOT TC SPSIN EXTEND MP BIT14 # SCALE DOWN TO MATCH INTERPRETER OUTPUTS INDEX ITEMP2 DXCH SINCDU INDEX ITEMP2 CA CDUSPOT TC SPCOS EXTEND MP BIT14 INDEX ITEMP2 DXCH COSCDU CCS ITEMP2 TCF QUICTRIG +4 CA ITEMP1 RELINT TC A # Page 1262 #**************************************************************************** # 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. # # 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. # # 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 EXIT TC CDUTRIGS TCF C*MM*N1 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. C*MM*N2 TC AX*SR*T TC INTPRET VLOAD RVQ VBUF CDU*NBSM EXIT TC CDUTRIGS TCF C*MM*N3 TRG*NBSM EXIT TC CD*TR*GS 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 # 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 # 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- # MATIONS USE *NBSM* AND *SMNB*. *SMNB* EXIT TCF C*MM*N1 *NBSM* EXIT TCF C*MM*N3 # 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:-- # 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 # 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. EXTEND QXCH RTNSAVER R*TL**P CCS DEXDEX # +3 --> 0 -3 --> 2 CS DEXDEX # THUS: +2 --> 1 -2 --> 1 AD THREE # +1 --> 2 -1 --> 0 EXTEND INDEX A DCA INDEXI DXCH DEXI CA ONE TS BUF EXTEND INDEX DEX1 DCS VBUF TCF LOOP1 # REALLY BE A SUBTRACT, AND VICE VERSA LOOP2 DXCH BUF # LOADING VECTOR COMPONENT, STORING INDEX # Page 1264 LOOP1 DXCH MPAC CA SINSLOC AD DEX1 TS ADDRWD TC DMPSUB # MULTIPLY AT SIN(CDUANGLE) CCS DEXDEX DXCH MPAC # NBSM CASE TCF +3 EXTEND # SMNB CASE DCS MPAC DXCH TERM1TMP CA SIX # SINCDU AND COSCDU (EACH 6 WORDS) MUST ADS ADDRWD # BE CONSECUTIVE AND IN THAT ORDER EXTEND INDEX BUF INDEX DEX1 DCA VBUF DXCH MPAC TC DMPSUB # MULTIPLY BY COS(CDUANGLE) DXCH MPAC DAS TERM1TMP DXCH TERM1TMP DDOUBL INDEX BUF INDEX DEX1 DXCH VBUF DXCH BUF # LOADING INDEX, STORING VECTOR COMPONENT CCS A # 'CAUSE THAT'S WHERE THE INDEX NOW IS TCF LOOP2 EXTEND DIM DEXDEX # DECREMENT MAGNITUDE PRESERVING SIGN TSTPOINT CCS DEXDEX # ONLY THE BRANCHING FUNCTION IS USED TCF R*TL**P TC RTNSAVER TCF R*TL**P TC RTNSAVER SINSLOC ADRES SINCDU # FOR USE IN SETTING ADDRWD INDEXI DEC 4 # ********** DON'T *********** DEC 2 # ********** TOUCH *********** DEC 0 # ********** THESE *********** # Page 1265 DEC 4 # ********** CONSTANTS *********** # ****************************************************************************** BANK 10 SETLOC FLESHLOC BANK COUNT* $$/POWFL # 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 TC BANKCALL CADR FLESHPOT -1 TC INTPRET RVQ XNBECADR ECADR XNB -1 CAF XNBECADR FLESHPOT TS TEM2 XCH EBANK XCH TEM2 MASK LOW8 AD OCT1400 TS TEM1 EXTEND DCA COSCDUY DXCH MPAC TC DMP ADRES COSCDUZ DXCH MPAC DDOUBL INDEX TEM1 DXCH 0 # = COSY COSZ EXTEND DCA SINCDUZ INDEX TEM1 DXCH 2 # = SINZ EXTEND DCS SINCDUY DXCH MPAC TC DMPSUB # ADDRWD SET TO COSCDUZ # Page 1266 DXCH MPAC DDOUBL INDEX TEM1 DXCH 4 # = - SINY COSZ EXTEND DCS SINCDUX DXCH MPAC TC DMPSUB # ADDRWD SET TO COSCDUZ STILL DXCH MPAC DDOUBL DXCH MPAC +3 EXTEND DCS SINCDUX DXCH MPAC TC DMP ADRES SINCDUZ EXTEND DCS MPAC DXCH MPAC +5 TC DMP ADRES SINCDUY DXCH MPAC DDOUBL DDOUBL DXCH MPAC +5 DXCH MPAC TC DMP ADRES COSCDUY DXCH MPAC DDOUBL DDOUBL DXCH BUF EXTEND DCA COSCDUY DXCH MPAC TC DMP ADRES COSCDUX DXCH MPAC DDOUBL DAS MPAC +5 EXTEND DCA SINCDUY DXCH MPAC TC DMPSUB # ADDRWD SET TO COSCDUX DXCH MPAC # Page 1267 DDOUBL DAS BUF DXCH BUF DXCH MPAC EXTEND DCA MPAC INDEX TEM1 DXCH 14 # = - SINY COSX + SINX SINZ COSY EXTEND DCA MPAC +3 INDEX TEM1 DXCH 16 # = - SINX COSZ EXTEND DCA MPAC +5 INDEX TEM1 DXCH 20 # = COSX COSY - SINX SINY SINZ CA TEM1 TS ADDRWD EXTEND DCA Z AD FOUR DXCH LOC CAF BIT8 TS EDOP TCF VXV DXCH MPAC DDOUBL INDEX TEM1 DXCH 6 DXCH MPAC +3 DDOUBL INDEX TEM1 DXCH 10 DXCH MPAC +5 DDOUBL INDEX TEM1 DXCH 12 CA TEM2 TS EBANK TCF SWRETURN ================================================ FILE: Luminary099/Q_R-AXIS_RCS_AUTOPILOT.agc ================================================ # Copyright: Public domain. # Filename: Q_R-AXIS_RCS_AUTOPILOT.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1442-1459 # Mod history: 2009-05-27 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # 2009-06-07 RSB Corrected "DEC 96.0" to "DEC 96", since # the former is not compatible with yaYUL. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 1442 BANK 17 SETLOC DAPS2 BANK EBANK= CDUXD COUNT* $$/DAPQR CALLQERR CA BIT13 # CALCULATE Q,R ERRORS UNLESS THESE AXES EXTEND # ARE IN MANUAL RATE COMMAND. RAND CHAN31 CCS A TCF +5 # IN AUTO COMPUTE Q,R ERRORS CS DAPBOOLS # IN MANUAL RATE COMMAND? MASK OURRCBIT EXTEND BZF Q,RORGTS # IF SO BYPASS CALCULATION OF ERRORS. TC QERRCALC Q,RORGTS CCS COTROLER # CHOOSE CONTROL SYSTEM FOR THIS DAP PASS: TCF GOTOGTS # GTS (ALTERNATES WITH RCS WHEN DOCKED) TCF TRYGTS # GTS IF ALLOWED, OTHERWISE RCS RCS CAF ZERO # RCS (TRYGTS MAY BRANCH TO HERE) TS COTROLER DXCH EDOTQ TC ROT-TOUV DXCH OMEGAU # X - TRANSLATION # # INPUT: BITS 7,8 OF CH31 (TRANSLATION CONTROLLER) # ULLAGER # APSFLAG, DRIFTBIT # ACC40R2X, ACRBTRAN # # OUTPUT: NEXTU, NEXTV CODES OF TRANSLATION FOR AFTER ROTATION # SENSETYP TELL ROTATION DIRECTION AND DESIRE # # X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR. IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED. A FAILURE # WILL OVERRIDE THIS SPECIFICATION. AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES. SENSEGET CA BIT7 # INPUT BITS OVERRIDE THE INTERNAL BITS EXTEND # SENSETYP WILL NOT OPPOSE ANYTRANS RAND CHAN31 EXTEND BZF +X0RULGE # Page 1443 CA BIT8 EXTEND RAND CHAN31 EXTEND BZF -XTRANS CA ULLAGER MASK DAPBOOLS CCS A TCF +X0RULGE TS NEXTU # STORE NULL TRANSLATION POLICIES TS NEXTV CS DAPBOOLS # BURNING OR DRIFTING? MASK DRIFTBIT EXTEND BZF TSENSE CA FLGWRD10 # DPS (INCLUDING DOCKED) OR APS? MASK APSFLBIT CCS A CAF TWO # FAVOR +X JETS DURING AN APS BURN. TSENSE TS SENSETYP TCF QRCONTRL +X0RULGE CAF ONE -XTRANS AD FOUR TS ROTINDEX AD NEG3 TS SENSETYP # FAVOR APPROPRIATE JETS DURING TRANS. CA DAPBOOLS MASK ACC4OR2X CCS A TCF TRANS4 CA DAPBOOLS MASK AORBTRAN CCS A CA ONE # THREE FOR B AD TWO # TWO FOR A SYSTEM 2 JET X TRANS TSNUMBRT TS NUMBERT TC SELCTSUB CCS POLYTEMP TCF +3 TC ALARM OCT 02002 CA 00314OCT MASK POLYTEMP TSNEXTS TS NEXTU # Page 1444 CS 00314OCT MASK POLYTEMP TS NEXTV # Q,R-AXES RCS CONTROL MODE SELECTION # SWITCHES INDICATION WHEN SET # BIT13/CHAN31 AUTO, GO TO ATTSTEER # PULSES MINIMUM IMPULSE MODE # (OTHERWISE) RATE COMMAND/ATTITUDE HOLD MODE QRCONTRL CA BIT13 # CHECK MODE SELECT SWITCH. EXTEND RAND CHAN31 # BITS INVERTED CCS A TCF ATTSTEER CHKBIT10 CAF PULSES # PULSES = 1 FOR MIN IMP USE OF RHC MASK DAPBOOLS EXTEND BZF CHEKSTIK # IN ATT-HOLD/RATE-COMMAND IF BIT10=0 # MINIMUM IMPULSE MODE INHINT TC IBNKCALL CADR ZATTEROR CA ZERO TS QERROR TS RERROR # FOR DISPLAYS RELINT EXTEND READ CHAN31 TS TEMP31 # IS EQUAL TO DAPTEMP1 CCS OLDQRMIN TCF CHECKIN FIREQR CA TEMP31 MASK BIT1 EXTEND BZF +QMIN CA TEMP31 MASK BIT2 EXTEND BZF -QMIN CA TEMP31 MASK BIT5 # Page 1445 EXTEND BZF +RMIN CA TEMP31 MASK BIT6 EXTEND BZF -RMIN TCF XTRANS CHECKIN CS TEMP31 MASK OCT63 TS OLDQRMIN TCF XTRANS +QMIN CA 14MS TS TJU CS 14MS TCF MINQR -QMIN CS 14MS TS TJU CA 14MS TCF MINQR +RMIN CA 14MS TCF +2 -RMIN CS 14MS TS TJU MINQR TS TJV CA MINADR TS RETJADR CA ONE TS OLDQRMIN MINRTN TS AXISCTR CA DAPBOOLS MASK CSMDOCKD EXTEND BZF MIMRET INDEX AXISCTR # IF DOCKED, USE 60MS MINIMUM IMPULSE CCS TJU CA 60MS TCF +2 CS 60MS INDEX AXISCTR TS TJU MIMRET CA DAPBOOLS MASK AORBTRAN CCS A CA ONE AD TWO TS NUMBERT # Page 1446 TCF AFTERTJ 60MS DEC 96 # RSB 2009 -- was 96.0. MINADR GENADR MINRTN OCT63 OCT 63 14MS = +TJMINT6 TRANS4 CA FOUR TCF TSNUMBRT # RATE COMMAND MODE: # # DESCRIPTION (SAME AS P-AXIS) CHEKSTIK TS INGTS # NOT IN GTS WHEN IN ATT HOLD CS ONE # 1/ACCS WILL DO THE NULLING DRIVES TS COTROLER # COME BACK TO RCS NEXT TIME CA BIT15 MASK CH31TEMP EXTEND BZF RHCACTIV # BRANCH IF OUT OF DETENT. CA OURRCBIT # *********** MASK DAPBOOLS # *IN DETENT* CHECK FOR MANUAL CONTROL EXTEND # *********** LAST TIME. BZF STILLRCS CS BIT9 MASK RCSFLAGS TS RCSFLAGS # BIT 9 IS 0. TCF DAMPING 40CYCL OCT 50 1/10S OCT 1 LINRAT DEC 46 # =========================================================== DAMPING CA ZERO TS SAVEHAND TS SAVEHAND +1 RHCACTIV CCS SAVEHAND # ****************** TCF +3 # Q,R MANUAL CONTROL WC = A*(B+|D|)*D TCF +2 # ****************** TCF +1 DOUBLE # WHERE DOUBLE # AD LINRAT # WC = COMMANDED ROTATIONAL RATE EXTEND # A = QUADRATIC SENSITIVITY FACTOR MP SAVEHAND # B = LINEAR/QUADRATIC SENSITIVITY CA L # |D| = ABS. VALUE OF DEFLECTION EXTEND # D = HAND CONTROLLER DEFLECTION MP STIKSENS XCH QLAST # COMMAND Q RATE, SCALED 45 DEG/SEC COM # Page 1447 AD QLAST TS DAPTEMP3 CCS SAVEHAND +1 TCF +3 TCF +2 TCF +1 DOUBLE DOUBLE AD LINRAT EXTEND MP SAVEHAND +1 CA L EXTEND MP STIKSENS XCH RLAST COM AD RLAST TS DAPTEMP4 CS QLAST # INTERVAL. AD OMEGAQ TS QRATEDIF CS RLAST AD OMEGAR TS RRATEDIF ENTERQR DXCH QRATEDIF # TRANSFORM RATES FROM Q,R TO U,V AXES TC ROT-TOUV DXCH URATEDIF CCS DAPTEMP3 # CHECK IF Q COMMAND CHANGE EXCEEDS TC +3 # BREAKOUT LEVEL. IF NOT, CHECK R. TC +2 TC +1 AD -RATEDB EXTEND BZMF +2 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE. CCS DAPTEMP4 # R COMMAND BREAKOUT CHECK. TC +3 TC +2 TC +1 AD -RATEDB EXTEND BZMF +2 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE. CA RCSFLAGS # BREAKOUT LEVEL NOT EXCEEDED. CHECK FOR MASK QRBIT # DIRECT RATE CONTROL LAST TIME. EXTEND BZF +2 TCF ENTERUV # CONTINUE DIRECT RATE CONTROL. TCF STILLRCS # PSEUDO-AUTO CONTROL. CA 40CYCL # Page 1448 TS TCQR ENTERUV INHINT # DIRECT RATE CONTROL TC IBNKCALL FCADR ZATTEROR RELINT CA ZERO TS DYERROR TS DYERROR +1 TS DZERROR TS DZERROR +1 CCS URATEDIF TCF +3 TCF +2 TCF +1 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE EXTEND # DIRECT RATE CONTROL. BZMF VDB CCS VRATEDIF TCF +3 TCF +2 TCF +1 AD TARGETDB EXTEND BZMF +2 TCF QRTIME CA ZERO TS VRATEDIF TCF QRTIME VDB CCS VRATEDIF TC +3 TC +2 TC +1 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE EXTEND # DIRECT RATE CONTROL. IF NOT, FIRE AND BZMF TOPSEUDO # SWITCH TO PSEUDO-AUTO CONTROL ON NEXT CA ZERO # PASS. TS URATEDIF QRTIME CA TCQR # DIRECT RATE TIME CHECK. EXTEND BZMF +5 # BRANCH IF TIME EXCEEDS 4 SEC. CS RCSFLAGS MASK QRBIT ADS RCSFLAGS # BIT 11 IS 1. TC +4 TOPSEUDO CS QRBIT MASK RCSFLAGS TS RCSFLAGS # BIT 11 IS 0. CA HANDADR TS RETJADR CA ONE # Page 1449 BACKHAND TS AXISCTR CA FOUR TS NUMBERT INDEX AXISCTR INDEX SKIPU TCF +1 CA FOUR INDEX AXISCTR TS SKIPU TCF LOOPER INDEX AXISCTR CCS URATEDIF # INDEX AXIS QUANTITY CA ZERO # 0 -U 1/JETACC-AOSU TCF +2 # 1 +U 1/JETACC+AOSU CA ONE # 16 -V 1/JETACC-AOSV INDEX AXISCTR # 17 +V 1/JETACC+AOSV AD AXISDIFF # JETACC = 2 JET ACCELERATION (1 FOR FAIL) INDEX A CS 1/ANET2 +1 EXTEND INDEX AXISCTR # UPRATEDIF IS SCALED AT PI/4 RAD/SEC MP URATEDIF # JET TIME IN A, SCALED 32 SEC TS Q DAS A AD Q TS A # OVERFLOW SKIP TCF +2 CA Q # RIGHT SIGN AND BIGGER THAN 150MS SETTIME INDEX AXISCTR TS TJU # SCALED AT 10.67 WHICH IS CLOSE TO 10.24 TCF AFTERTJ ZEROTJ CA ZERO TCF SETTIME HANDADR GENADR BACKHAND # GTS WILL BE TRIED IF # 1. USEQRJTS = 0, # 2. ALLOWGTS POS, # 3. JETS ARE OFF (Q,R-AXES) TRYGTS CAF USEQRJTS # IS JET USE MANDATORY. (AS LONG AS MASK DAPBOOLS # USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE.) CCS A TCF RCS CCS ALLOWGTS # NO. DOES AOSTASK OK CONTROL FOR GTS? # Page 1450 TCF +2 TCF RCS EXTEND READ CHAN5 CCS A TCF CHKINGTS GOTOGTS EXTEND DCA GTSCADR DTCB CHKINGTS CCS INGTS # WAS THE TRIM GIMBAL CONTROLLING TCF +2 # YES. SET UP A DAMPED NULLING DRIVE. TCF RCS # NO. NULLING WAS SET UP BEFORE. DO RCS. INHINT TC IBNKCALL CADR TIMEGMBL RELINT CAF ZERO TS INGTS TCF RCS EBANK= CDUXD GTSCADR 2CADR GTS # Page 1451 # SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS. QERRCALC CAE CDUY # Q-ERROR CALCULATION EXTEND MSU CDUYD # CDU ANGLE -- ANGLE DESIRED (Y-AXIS) TS DAPTEMP1 # SAVE FOR RERRCALC EXTEND MP M21 # (CDUY-CDUYD)*M21 SCALED AT PI RADIANS TS E CAE CDUZ # SECOND TERM CALCULATION: EXTEND MSU CDUZD # CDU ANGLE -ANGLE DESIRED (Z-AXIS) TS DAPTEMP2 # SAVE FOR RERRCALC EXTEND MP M22 # (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS AD DELQEROR # KALCMANU INERFACE ERROR AD E XCH QERROR # SAVE Q-ERROR FOR EIGHT-BALL DISPLAY. RERRCALC CAE DAPTEMP1 # R-ERROR CALCULATION: EXTEND # CDU ANGLE -ANGLE DESIRED (Y-AXIS) MP M31 # (CDUY-CDUYD)*M31 SCALED AT PI RADIANS TS E CAE DAPTEMP2 # SECOND TERM CALCULATION: EXTEND # CDU ANGLE -ANGLE DESIRED (Z-AXIS) MP M32 # (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS AD DELREROR # KALCMANU INERFACE ERROR AD E XCH RERROR # SAVE R-ERROR FOR EIGHT-BALL DISPLAY. TC Q # Page 1452 # "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM ATTSTEER EQUALS STILLRCS # "STILLRCS" IS THE RCS EXIT FROM TRYGTS. STILLRCS CA RERROR LXCH A CA QERROR TC ROT-TOUV DXCH UERROR # PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED)) # PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED. TJLAW CA TJLAWADR TS RETJADR CA ONE TS AXISCTR INDEX AXISCTR INDEX SKIPU TCF +1 CA FOUR INDEX AXISCTR TS SKIPU TCF LOOPER INDEX AXISCTR CA UERROR TS E INDEX AXISCTR CA OMEGAU TS EDOT CA DAPBOOLS MASK CSMDOCKD CCS A TCF +3 TC TJETLAW TCF AFTERTJ +3 CS DAPBOOLS # DOCKED. IF GIMBAL USABLE DO GTS CONTROL MASK USEQRJTS # ON THE NEXT PASS. CCS A # USEQRJTS BIT MUST NOT BE BIT 15. TS COTROLER # GIMBAL USABLE. STORE POSITIVE VALUE. INHINT TC IBNKCALL CADR SPSRCS # DETERMINE RCS CONTROL RELINT CAF FOUR # ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V. TS NUMBERT # FALL THROUGH TO JET SELECTION, ETC. # Q,R-JET-SELECTION-LOGIC # # INPUT: AXISCTR 0,1 FOR U,V # SNUFFBIT ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN # Page 1453 # TJU,TJV JET TIME SCALED 10.24 SEC. # NUMBERT INDICATES NUMBER OF JETS AND TYPE OF POLICY # RETJADR WHERE TO RETURN TO # # OUTPUT: NO.U(V)JETS RATE DERIVATION FEEDBACK # CHANNEL 5 # SKIPU,SKIPV FOR LESS THAN 150MS FIRING # # NOTES: IN CASE OF FAILURE IN DESIRED ROTATION POLICY, "ALL" UNFAILED # JETS OF THE DESIRED POLICY ARE SELECTED. SINCE THERE ARE ONLY # TWO JETS, THIS MEANS THE OTHER ONE OR NONE. THE ALARM IS SENT # IF NONE CAN BE FOUND. # # TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET # MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY. AFTERTJ CA FLAGWRD5 # IF SNUFFBIT SET DURING A DPS BURN GO TO MASK SNUFFBIT # XTRANS; THAT IS, INHIBIT CONTROL. EXTEND BZF DOROTAT CS FLGWRD10 MASK APSFLBIT EXTEND BZF DOROTAT CA DAPBOOLS MASK DRIFTBIT EXTEND BZF XTRANS DOROTAT CAF TWO TS L INDEX AXISCTR CCS TJU TCF +5 TCF NOROTAT TCF +2 TCF NOROTAT ZL AD ONE TS ABSTJ CA AXISCTR AD L TS ROTINDEX # 0 1 2 3 = -U -V +U +V CA ABSTJ AD -150MS EXTEND BZMF DOSKIP # Page 1454 TC SELCTSUB INDEX AXISCTR CA INDEXES TS L CA POLYTEMP INHINT INDEX L TC WRITEP RELINT TCF FEEDBACK NOROTAT INDEX AXISCTR CA INDEXES INHINT INDEX A TC WRITEP -1 RELINT LOOPER CCS AXISCTR TC RETJADR TCF CLOSEOUT DOSKIP CS ABSTJ AD +TJMINT6 # 14MS EXTEND BZMF NOTMIN ADS ABSTJ INDEX AXISCTR CCS TJU CA +TJMINT6 TCF +2 CS +TJMINT6 INDEX AXISCTR TS TJU CCS SENSETYP # ENSURE MIN-IMPULSE NOT AGAINST TRANS TCF NOTMIN -1 EXTEND READ LOSCALAR MASK ONE TS NUMBERT NOTMIN TC SELCTSUB INDEX AXISCTR CA INDEXES INHINT # Page 1455 TS T6FURTHA +1 CA POLYTEMP INDEX T6FURTHA +1 TC WRITEP CA ABSTJ TS T6FURTHA TC JTLST # IN QR BANK BY NOW RELINT CA ZERO INDEX AXISCTR TS SKIPU FEEDBACK CS THREE AD NUMBERT EXTEND BZMF +3 CA TWO TCF +2 CA ONE INDEX AXISCTR TS NO.UJETS TCF LOOPER XTRANS CA ZERO TS TJU TS TJV CA FOUR INHINT XCH SKIPU EXTEND BZF +2 TC WRITEU -1 CA FOUR XCH SKIPV RELINT EXTEND BZF CLOSEOUT INHINT TC WRITEV -1 RELINT TCF CLOSEOUT INDEXES DEC 4 DEC 13 +TJMINT6 DEC 22 # Page 1456 -150MS DEC -240 BIT8,9 OCT 00600 SCLNORM OCT 266 TJLAWADR GENADR TJLAW +3 # RETURN ADDRESS FOR RCS ATTITUDE CONTROL # THE JET LIST: # THIS IS A WAITLIST FOR T6RUPTS. # # CALLED BY: # CA TJ # TIME WHEN NEXT JETS WILL BE WRITTEN # TS T6FURTHA # CA INDEX # AXIS TO BE WRITTEN AT TJ (FROM NOW) # TS T6FURTHA +1 # TC JTLST # # EXAMPLE -- U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF # JETS INTO CHANNEL 5. IF IT DESIRES TO TURN OFF THIS POLICY WITHIN # 150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA # CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX # OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO. # # THE LIST IS EXACTLY 3 LONG. (THIS LEADS UP TO SKIP LOGIC AND 150MS LIMIT) # THE INPUT IS THE LAST MEMBER OF THE LIST. # # RETURNS BY: # + TC Q # # DEFINITIONS: (OUTPUT) # TIME6 TIME OF NEXT RUPT # T6NEXT DELTA TIME TO NEXT RUPT # T6FURTHA DELTA TIME FROM 2ND TO LAST RUPT # NXT6ADR AXIS INDEX 0 -- P-AXIS # T6NEXT +1 AXIS INDEX 4 -- U-AXIS # T6FURTHA +1 AXIS INDEX 13 -- V-AXIS JTLST CS T6FURTHA AD TIME6 EXTEND BZMF MIDORLST # TIME6 -- TI IS IN A LXCH NXT6ADR DXCH T6NEXT DXCH T6FURTHA TS TIME6 LXCH NXT6ADR TURNON CA BIT15 EXTEND WOR CHAN13 TC Q # Page 1457 MIDORLST AD T6NEXT EXTEND BZMF LASTCHG # TIME6 + T6NEXT - T IS IN A LXCH T6NEXT +1 DXCH T6FURTHA EXTEND SU TIME6 DXCH T6NEXT TC Q LASTCHG CS A AD NEG0 TS T6FURTHA TC Q # ROT-TOUV IS ENTERED WITH THE Q-COMPONENT OF THE QUANTITY TO BE TRANSFORMED IN A AND THE R-COMPONENT IN L. # ROT-TOUV TRANSFORMS THE QUANTITY INTO THE NON-ORTHOGONAL U-V AXIS SYSTEM. IN THE U-V SYSTEM NO CROSS-COUPLING IS # PRODUCED FROM RCS JET FIRINGS. AT THE COMPLETION OF ROT-TOUV, THE U-COMPONENT OF THE TRANSFORMED QUANTITY IS IN # A AND THE V-COMPONENT IS IN L. ROT-TOUV LXCH ROTEMP2 # (R) IS PUT INTO ROTEMP2 EXTEND MP COEFFQ XCH ROTEMP2 # (R) GOES TO A AND COEFFQ.(Q) TO ROTEMP2 EXTEND MP COEFFR TS L # COEFFR.(R) IS PUT INTO L AD ROTEMP2 TS ROTEMP1 # COEFFQ.(Q)+COEFFR.(R) IS PUT IN ROTEMP1 TCF +4 INDEX A # COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX TS ROTEMP1 CS ROTEMP2 AD L # -COEFFQ.(Q) + COEFFR.(R) IS NOW IN A TS 7 TCF +3 INDEX A # -COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX LXCH ROTEMP1 # COEFFQ.(Q) + COEFFR.(R) IS PUT INTO L TC Q SELCTSUB INDEX ROTINDEX CA ALLJETS INDEX NUMBERT MASK TYPEPOLY TS POLYTEMP # Page 1458 MASK CH5MASK CCS A TCF +2 TC Q CA THREE FAILOOP TS NUMBERT INDEX ROTINDEX CA ALLJETS INDEX NUMBERT MASK TYPEPOLY TS POLYTEMP MASK CH5MASK EXTEND BZF FAILOOP -2 CCS NUMBERT TCF FAILOOP INDEX AXISCTR TS TJU TC ALARM OCT 02004 TCF NOROTAT ALLJETS OCT 00110 # -U 6 13 OCT 00022 # -V 2 9 OCT 00204 # +U 5 14 OCT 00041 # +V 1 10 TYPEPOLY OCT 00125 # -X 1 5 9 13 OCT 00252 # +X 2 6 10 14 OCT 00146 # A 2 5 10 13 OCT 00231 # B 1 6 9 14 OCT 00377 # ALL 1 2 5 6 9 10 13 14 # THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB. CLOSEOUT CA ADRRUPT TC MAKERUPT ADRRUPT ADRES ENDJASK ENDJASK DXCH DAPARUPT DXCH ARUPT DXCH DAPBQRPT XCH BRUPT LXCH Q CAF NEGMAX # NEGATIVE DAPZRUPT SIGNALS JASK IS OVER. DXCH DAPZRUPT DXCH ZRUPT TCF NOQRSM # Page 1459 BLOCK 3 SETLOC FFTAG6 BANK COUNT* $$/DAP MAKERUPT EXTEND EDRUPT MAKERUPT ================================================ FILE: Luminary099/R30.agc ================================================ # Copyright: Public domain. # Filename: R30.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 712-722 # Mod history: 2009-05-19 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # 2009-06-07 RSB Removed a space between two components of # a 2OCT that isn't legal in yaYUL. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 712 # SUBROUTINE NAME: V82CALL # MOD NO: 0 DATE: 16 FEB 67 # MOD BY: R. R. BAIRNSFATHER LOG SECTION: R30 # MOD NO: 1 MOD BY: R. R. BAIRNSFATHER DATE: 11 APR 67 SR30.1 CHANGED TO ALLOW MONITOR OPERN # MOD NO: 2 MOD BY: ALONSO DATE: 11 DEC 67 VB82 PROGRAM REWRITTEN # MOD NO: 3 MOD BY: ALONSO DATE: 26 MAR 68 PROG MOD TO HANDLE DIF EARTH/MOON SCALE # # NEW FUNCTIONAL DESCRIPTION: CALLED BY VERB 82 ENTER. PRIORITY 10. # USED THROUGHOUT. CALCULATE AND DISPLAY ORBITAL PARAMETERS # # 1. IF AVERAGE G IS OFF: # FLASH DISPLAY V04N06. R2 INDICATES WHICH SHIP'S STATE VECTOR IS # TO BE UPDATED. INITIAL CHOICE IS THIS SHIP (R2=1). ASTRONAUT # CAN CHANGE TO OTHER SHIP BY V22EXE, WHERE X NOT EQ 1. # SELECTED STATE VECTOR UPDATED BY THISPREC (OTHPREC). # CALLS SR30.1 (WHICH CALLS TFFCONMU + TFFRP/RA) TO CALCULATE # RPER (PERIGEE RADIUS), RAPO (APOGEE RADIUS), HPER (PERIGEE # HEIGHT ABOVE LAUNCH PAD OR LUNAR LANDING SITE), HARD (APOGEE # HEIGHT AS ABOVE), TPER (TIME TO PERIGEE), TFF (TIME TO # INTERSECT 300 KFT ABOVE PAD OR 35KFT ABOVE LANDING SITE). # FLASH MONITOR V16N44 (HAPO, HPER, TFF).TFF IS -59M59S IF IT WAS # NOT COMPUTABLE, OTHERWISE IT INCREMENTS ONCE PER SECOND. # ASTRONAUT HAS OPTION TO MONITOR TPER BY KEYING IN N 32 E. # DISPLAY IS IN HMS, IS NEGATIVE (AS WAS TFF), AND INCREMENTS # ONCE PER SECOND ONLY IF TFF DISPLAY WAS -59M59S. # # 2. IF AVERAGE G IS ON: # CALLS SR30.1 APPROX EVERY TWO SECS. STATE VECTOR IS ALWAYS # FOR THIS VEHICLE. V82 DOES NOT DISTURB STATE VECTOR. RESULTS # OF SR30.1 ARE RAPO, RPER, HAPO, HPER, TPER, TFF. # FLASH MONITOR V16N44 (HAPO, HPER, TFF). # ADDENDUM: HAPO AND HPER SHOULD BE CHANGED TO READ HAPOX AND HPERX IN THE # ABOVE REMARKS. # # CALLING SEQUENCE: VERB 82 ENTER. # # SUBROUTINES CALLED: SR30.1, GOXDSPF # MAYBE - THISPREC , OTHPREC, LOADTIME, DELRSPL # NORMAL EXIT MODES: TC ENDEXT # # ALARMS: NONE # # OUTPUT: HAPOX (-29) M # HPERX (-29) M # RAPO (-29) M EARTH # (-27) M MOON # RPER (-29) M EARTH # (-27) M MOON # TFF (-28) CS CONTAINS NEGATIVE QUANTITY # -TPER (-28) CS CONTAINS NEGATIVE QUANTITY # Page 713 # # ERASABLE INITIALIZATION REQUIRED: STATE VECTOR. # # DEBRIS: QPRET, RONE, VONE,TFF/RTMU, HPERMIN, RPADTEM, V82EMFLG. # MAYBE: TSTART82, V82FLAGS, TDEC1. EBANK= HAPOX BANK 31 SETLOC R30LOC BANK COUNT* $$/R30 V82CALL TC INTPRET BON GOTO AVEGFLAG V82GON # IF AVERAGE G ON V82GOFF # IF AVERAGE G OFF V82GOFF EXIT # ALLOW ASTRONAUT TO SELECT VEHICLE CAF TWO # DESIRED FOR ORBITAL PARAMETERS TS OPTIONX # CALCULATION AND DISPLAY. CAF ONE TS OPTIONX +1 CAF OPTIONVN # V 04 N 06 TC BANKCALL CADR GOXDSPF TC ENDEXT # TERMINATE TC +2 # PROCEED TC -5 # DATA IN. OPTION1+1 = 1 FOR THIS VEHICLE. # UNEQ 1 FOR OTHER VEHICLE. CAF BIT4 # 80 MS TC WAITLIST EBANK= TFF 2CADR TICKTEST RELINT V82GOFLP CAF TFFBANK # MAJOR RECYCLE LOOP ENTRY TS EBANK CAF ZERO TS V82FLAGS # ZERO FLAGS FOR TICKTEST, INHIBITS # DECREMENTING OF TFF AND -TPER. CAF PRIO7 TC FINDVAC # V82GOFF1 WILL EXECUTE STATE VECTOR EBANK= TFF # UPDATE AND ORBIT CALCULATIONS FOR 2CADR V82GOFF1 # SELECTED VEHICLE ABOUT PROPER BODY. RELINT V82STALL CAF THREE # STALL IN THIS LOOP AND WITHOLD V 16 N 44 # Page 714 MASK V82FLAGS # UNTIL STATE VECTOR UPDATE SETS ONE OF CCS A # OUR FLAG BITS. TC FLAGGON # EXIT FROM STALL LOOP. CAF 1SEC TC BANKCALL CADR DELAYJOB TC V82STALL FLAGGON CAF V16N44 # MONITOR HAPO,HPER,TFF. TC BANKCALL CADR GOXDSPF TC B5OFF # TERM THIS TELLS TICKTEST TO KILL ITSELF TC B5OFF # PROCEED DITTO TC V82GOFLP # RECYCLE RECOMPUTE STATE VECT + DISPLAY OPTIONVN VN 412 V16N44 VN 1644 TFFBANK ECADR TFF V82GOFF1 TC INTPRET RTB LOADTIME STORE TDEC1 # TIME FOR STATE VECTOR UPDATE. STORE TSTART82 # TIME FOR INTERNAL USE. EXIT CS OPTIONX +1 # 1 FOR THIS VEHICLE, NOT 1 FOR OTHER. AD ONE EXTEND BZF THISSHIP OTHSHIP TC INTPRET CALL # CALL STATE VECTOR UPDATE FOR OTHER SHIP. OTHPREC BOTHSHIP VLOAD # MOVE RESULTS INTO TFFCONIC STORAGE AREAS RATT # TO BE CALLED BY SR30.1. STOVL RONE # RATT AT (-29)M FOR EARTH OR MOON VATT STORE VONE # VATT AT (-7)M/CS FOR EARTH OR MOON DLOAD* 1/RTMUE,2 # X2 IS 0 FOR EARTH CENTERED STATE VEC STORE TFF/RTMU # X2 IS 2 FOR MOON DLOAD* # AS LEFT BY THISPREC OR OTHPREC. MINPERE,2 STORE HPERMIN # TFFRTMU, HPERMIN AND RPADTEM ARE ALL SLOAD BHIZ # EARTH/MOON PARAMETERS AS SET HERE. X2 EARTHPAD GOTO MOONPAD # Page 715 THISSHIP TC INTPRET CALL # CALL STATE VECTOR UPDATE FOR THIS SHIP. THISPREC GOTO BOTHSHIP # THE FOLLOWING CONSTANTS ARE PAIRWISE INDEXED. DO NOT SEPARATE PAIRS. MINPERM 2DEC 10668 B-27 # 35 KFT MIN PERIGEE HEIGHT FOR MOON(-27)M MINPERE 2DEC 91440 B-29 # 300 KFT (-29)M FOR EARTH EARTHPAD DLOAD CLRGO # PAD 37-B RADIUS. SCALED AT (-29)M. RPAD V82EMFLG # INDICATE EARTH SCALING FOR SR30.1 BOTHPAD MOONPAD VLOAD ABVAL # COMPUTE MOON PAD RADIUS FROM RLS VECTOR. RLS # SCALED AT (-27)M. SET V82EMFLG # INDICATE MOON SCALING FOR SR30.1 BOTHPAD STCALL RPADTEM SR30.1 # CALCULATE ORBITAL PARAMETERS RTB DSU LOADTIME TSTART82 # PRESENT TIME - TIME V82GOFF1 BEGAN STORE TSTART82 # SAVE IT DLOAD BZE # SR30.1 SETS -TPER=0 IF HPER L/ -TPER # HPERMIN (300 OR 35) KFT. TICKTIFF # (-TPER = 0) TICKTPER DLOAD DAD # (-TPER NON ZERO) TFF WAS NOT COMPUTED. -TPER # BUT WAS SET TO 59M59S.DONT TICK TFF, DO TSTART82 # TICK -TPER. DISPLAY BOTH. STORE -TPER # -TPER CORRECTED FOR TIME SINCE V82GOFF1 EXIT # BEGAN. CAF BIT1 TS V82FLAGS # INFORMS TICKTEST TO INCREMENT ONLY -TPER TC ENDOFJOB TICKTIFF DLOAD DAD # (-TPER=0) TFF WAS COMPUTED.TICK TFF. TFF # DO NOT TICK -TPER.DISPLAY TFF, BUT NOT TSTART82 # -TPER. STORE TFF # TFF CORRECTED FOR TIME SINCE V82GOFF1 EXIT # BEGAN. CAF BIT2 TS V82FLAGS # INFORMS TICKTEST TO INCREMENT ONLY TFF. TC ENDOFJOB # Page 716 TICKTEST CAF BIT5 # THIS WAITLIST PROGRAM PERPETUATES ITSELF MASK EXTVBACT # ONCE A SEC UNTIL BIT 5 OF EXTVBACT =0. CCS A TC DOTICK CAF PRIO25 TC NOVAC # TERMINATE V 82.CANT CALL ENDEXT IN RUPT. EBANK= EXTVBACT 2CADR ENDEXT TC TASKOVER DOTICK CAF 1SEC # RE-REQUEST TICKTEST. TC WAITLIST EBANK= TFF 2CADR TICKTEST CAF THREE MASK V82FLAGS INDEX A TC +1 TC TASKOVER # IF NO FLAGBITS SET DONT CHANGE TFF OR # -TPER, BUT CONTINUE LOOP. TC TPERTICK # ONLY BIT 1 SET. INCR -TPER BY 1 SEC. TFFTICK CAF 1SEC # ONLY BIT 2 SET. INCR TFF BY 1 SEC. TS L CAF ZERO DAS TFF TC TASKOVER TPERTICK CAF 1SEC TS L CAF ZERO DAS -TPER TC TASKOVER # Page 717 V82GON EXIT # AVERAGE G ON. USE CURRENT STATE VECTOR # FOR ORBITAL PARAMETER CALCULATIONS. CAF PRIO7 # LESS THAN LAMBERT TC FINDVAC # V82GON1 WILL PERFORM ORBIT CALCULATIONS EBANK= TFF # ABOUT PROPER BODY APPROX ONCE PER SEC. 2CADR V82GON1 RELINT CCS NEWJOB # WITHOLD V16 N44 UNTIL FIRST ORBIT CALC TC CHANG1 # IS DONE. NOTE: V82GON1 (PRIO7, FINDVAC # JOB) IS COMPLETED BEFORE V82GON (PRIO7, # NOVAC JOB). V82REDSP CAF V16N44 # MONITOR HAPO, HPER, TFF TC BANKCALL CADR GOXDSPF TC B5OFF # TERM THIS TELLS V82GON1 TO KILL ITSELF. TC B5OFF # PROC DITTO. TC V82REDSP # RECYCLE V82GON1 TC INTPRET # THIS EXEC PROGRAM PERPETUATES ITSELF # ONCE A SEC UNTIL BIT 5 OF EXTVBACT =0. VLOAD GOTO # HOLDS OFF CCS NEWJOB BETWEEN RN AND RN # VN FETCH SO RN , VN ARE FROM SAME NEXTLINE # STATE VECTOR UPDATE. NEXTLINE STOVL RONE # RN AT (-29)M FOR EARTH OR MOON VN STORE VONE # VN AT (-7)M/CS FOR EARTH OR MOON BON GOTO MOONTHIS # FLAG INDICATES BODY ABOUT WHICH ORBITAL MOONGON # CALCULATIONS ARE TO BE PERFORMED. EARTHGON # IF SET - MOON , IF RESET - EARTH. MOONGON SET DLOAD V82EMFLG # INDICATE MOON SCALING FOR SR30.1 1/RTMUM # LUNAR PARAMETERS LOADED HERE FOR SR30.1 STODL TFF/RTMU MINPERM STOVL HPERMIN RLS # SCALED AT (-27)M. ABVAL GOTO V82GON2 EARTHGON CLEAR DLOAD V82EMFLG # INDICATE EARTH SCALING FOR SR30.1 1/RTMUE # EARTH PARAMETERS LOADED HERE FOR SR30.1 STODL TFF/RTMU MINPERE STODL HPERMIN RPAD V82GON2 STCALL RPADTEM # COMMON CODE FOR EARTH & MOON. SR30.1 # Page 718 EXIT V82GON3 CAF BIT5 MASK EXTVBACT # SEE IF ASTRONAUT HAS SIGNALLED TERMINATE EXTEND BZF ENDEXT # YES, TERMINATE VB 82 LOOP CAF 1SEC TC BANKCALL # WAIT ONE SECOND BEFORE REPEATING CADR DELAYJOB # ORBITAL PARAMETER COMPUTATION. TC V82GON1 SPLRET = V82GON3 # Page 719 # SUBROUTINE NAME: SR30.1 # MOD NO: 0 DATE: 16 FEB 67 # MOD BY: R. R. BAIRNSFATHER LOG SECTION: R32 # MOD NO: 1 MOD BY: R. R. BAIRNSFATHER DATE: 11 APR 67 SR30.1 CHANGED TO ALLOW MONITOR OPERN # MOD NO: 2 MOD BY: R. R. BAIRNSFATHER DATE: 14 APR 67 ADD OVFL CK FOR RAPO # MOD NO: 3 MOD BY ALONSO DATE: 11 DEC 67 SUBROUTINE REWRITTEN # MOD NO: 4 MOD BY ALONSO DATE: 26 MAR 68 PROG MOD TO HANDLE DIF EARTH/MOON SCALE # MOD NO: 5 MOD BY: R. R. BAIRNSFATHER DATE: 6 AUG 68 OVFL CK FOR HAPO & HPER. VOIDS MOD #2. # # NEW FUNCTIONAL DESCRIPTION: ORBITAL PARAMETERS DISPLAY FOR NOUNS 32 AND 44. # SR30.1 CALLS TFFCONMU AND TFFRP/RA TO CALCULATE RPER (PERIGEE RADIUS), # RAPO (APOGEE RADIUS), HPER (PERIGEE HEIGHT ABOVE LAUNCH PAD OR LUNAR # LANDING SITE), HAPO (APOGEE HEIGHT AS ABOVE), TPER (TIME TO PERIGEE), # TFF (TIME TO INTERSECT 300 KFT ABOVE PAD OR 35KFT ABOVE LANDING SITE). # IF HPER IS GREATER THAN OR EQUAL TO HPERMIN, CALCULATES TPER AND STORES # NEGATIVE IN -TPER. OTHERWISE STORES +0 IN -TPER. WHENEVER TPER IS # CALCULATED, TFF IS NOT COMPUTABLE AND DEFAULTS TO -59MIN 59SEC. IF HAPO # WOULD EXCEED 9999.9 NM, IT IS LIMITED TO THAT VALUE FOR DISPLAY. # # ADDENDUM: HAPO AND HPER SHOULD BE CHANGED TO READ HAPOX AND HPERX IN THE # ABOVE REMARKS. # # CALLING SEQUENCE: CALL # SR30.1 # # SUBROUTINES CALLED: TFFCONMU, TFFRP/RA, CALCTPER, CALCTFF # # NORMAL EXIT MODE: CALLING LINE +1 (STILL IN INTERPRETIVE MODE) # # ALARMS: NONE # # OUTPUT: RAPO (-29) M EARTH APOGEE RADIUS EARTH CENTERED COORD. # (-27) M MOON MOON CENTERED COORD. # RPER (-29) M EARTH PERIGEE RADIUS EARTH CENTERED COORD. # (-27) M MOON MOON CENTERED COORD. # HAPOX (-29) M APOGEE ALTITUDE ABOVE PAD OR LAND. SITE MAX VALUE LIMITED TO 9999.9 NM. # HPERX (-29) M PERIGEE ALT. ABOVE PAD OR LAND. SITE MAX VALUE LIMITED TO 9999.9 NM. # TFF (-28) CS TIME TO 300KFT OR 35KFT ALTITUDE # -TPER (-28) CS TIME TO PERIGEE # # ERASABLE INITIALIZATION REQUIRED -- # TFF/RTMU (+17) EARTH RECIPROCAL OF PROPER GRAV CONSTANT FOR # (+14) MOON EARTH OR MOON = 1/SQRT(MU). # RONE (-29) M STATE VECTOR # VONE (-7) M/CS STATE VECTOR # RPADTEM (-29) M EARTH RADIUS OF LAUNCH PAD OR LUNAR LANDING # (-27) M MOON SITE. # HPERMIN (-29) M EARTH (300 OR 35) KFT MINIMUM PERIGEE ALTITUDE # (-27) M MOON ABOVE LAUNCH PAD OR LUNAR LANDING SITE. # V82EMFLG (INT SW BIT) RESET FOR EARTH, SET FOR MOON. # # DEBRIS: QPREG, PDL, S2 # Page 720 COUNT* $$/SR30S SR30.1 SETPD STQ # INITIALIZE PUSHDOWN LIST. 0 S2 # SR30.1 INPUT: RONE AT (-29)M EARTH/MOON # VONE AT (-7)M/CS # TFFCONMU, TFFRP/RA, CALCTPER, AND CALCTFF # CALLS REQUIRE: # EARTH CENTERED (NO RESCALING REQUIRED) # RONE SCALED TO B-29 M # VONE SCALED TO B-7 M/CS # MOON CENTERED (RESCALING REQUIRED) # RONE SCALED TO B-27 M # VONE SCALED TO B-5 M/CS BOFF VLOAD V82EMFLG # OFF FOR EARTH, ON FOR MOON. TFFCALLS RONE VSL2 STOVL RONE VONE VSL2 STORE VONE TFFCALLS CALL TFFCONMU CALL # TFFRP/RA COMPUTES RAPO,RPER. TFFRP/RA # RETURNS WITH RAPO IN D(MPAC). DSU RPADTEM BOFF SR2R # NEED HAPO AT (-29)M FOR DISPLAY. # IF MOON CENTERED, RESCALE FROM (-27)M. # IF EARTH CENTERED ALREADY AT (-29)M. V82EMFLG # OFF FOR EARTH, ON FOR MOON. +1 CALL # IF RAPO > MAXNM, SET RAPO =9999.9 NM. MAXCHK # OTHERWISE STORE (RAPO-RPADTEM) IN HAPO. STORHAPO STODL HAPOX RPER DSU RPADTEM # GIVES HPER AT (-29)M EARTH, (-27)M MOON. STORE MPAC +4 # SAVE THIS FOR COMPARISON TO HPERMIN. BOFF SR2R # NEED HPER AT (-29)M FOR DISPLAY. # IF MOON CENTERED, RESCALE FROM (-27)M. # IF EARTH CENTERED ALREADY AT (-29)M. V82EMFLG # OFF FOR EARTH, ON FOR MOON. +1 CALL # IF HPER > MAXNM, SET HPER = 9999.9 NM. MAXCHK # Page 721 STORHPER STODL HPERX # STORE (RPER - RPADTEM) INTO HPERX. MPAC +4 DSU BPL # HPERMIN AT (-29)M FOR EARTH, (-27)M MOON HPERMIN # IF HPER L/ HPERMIN (300 OR 35)KFT, DOTPER # THEN ZERO INTO -TPER. DLOAD GOTO # OTHERWISE CALCULATE TPER. HI6ZEROS SKIPTPER DOTPER DLOAD CALL RPER CALCTPER DCOMP # TPER IS PUT NEG INTO -TPER. SKIPTPER STODL -TPER HPERMIN # HPERMIN AT (-29)M FOR EARTH, (-27)M MOON DAD CALL RPADTEM # RPADTEM AT (-29)M FOR EARTH, (-27)M MOON CALCTFF # GIVES 59M59S FOR TFF IF HPER G/ DCOMP # HPERMIN + RPADTEM. (TPER WAS NON ZERO) STCALL TFF # OTHERWISE COMPUTES TFF. (GOTO) S2 MAXCHK DSU BPL # IF C(MPAC) > 9999.9 NM. MPAC = 9999.9 NM. MAXNM +3 # OTHERWISE C(MPAC) = B(MPAC). DAD RVQ MAXNM +3 DLOAD RVQ # (USED BY P30 - P37 ALSO) MAXNM MAXNM 2OCT 0106505603 # Page 722 (empty page) ================================================ FILE: Luminary099/R31.agc ================================================ # Copyright: Public domain. # Filename: R31.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 703-708 # Mod history: 2009-05-19 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 703 BANK 40 SETLOC R31LOC BANK COUNT* $$/R31 R31CALL CAF PRIO3 TC FINDVAC EBANK= SUBEXIT 2CADR V83CALL DSPDELAY TC FIXDELAY DEC 100 CA EXTVBACT MASK BIT12 EXTEND BZF DSPDELAY CAF PRIO5 TC NOVAC EBANK= TSTRT 2CADR DISPN5X TCF TASKOVER BANK 37 SETLOC R31 BANK COUNT* $$/R31 DISPN5X CAF V16N54 TC BANKCALL CADR GOMARKF TC B5OFF TC B5OFF TCF DISPN5X V83CALL CS FLAGWRD7 # TEST AVERAGE G FLAG MASK AVEGFBIT EXTEND BZF MUNG? # ON - TEST MUNFLAG CS FLAGWRD8 MASK SURFFBIT EXTEND BZF ONEBASE # ON SURFACE - BYPASS LEMPREC TC INTPRET # EXTRAPOLATE BOTH STATE VECTORS RTB # Page 704 LOADTIME STCALL TDEC1 LEMPREC # PRECISION BASE VECTOR FOR LM VLOAD RATT1 STOVL BASETHP VATT1 STODL BASETHV TAT DOCMBASE STORE BASETIME # PRECISION BASE VECTOR FOR CM STCALL TDEC1 CSMPREC VLOAD RATT1 STOVL BASEOTP VATT1 STORE BASEOTV EXIT REV83 CS FLAGWRD7 MASK AVEGFBIT EXTEND BZF GETRVN # IF AVEGFLAG SET, USE RN,VN CS FLAGWRD8 MASK SURFFBIT EXTEND BZF R31SURF # IF ON SURFACE,USE LEMAREC TC INTPRET # DO CONIC EXTRAPOLATION FOR BOTH VEHICLES RTB LOADTIME STCALL TDEC1 INTSTALL VLOAD CLEAR BASETHP MOONFLAG STOVL RCV BASETHV STODL VCV BASETIME BOF SET # GET APPROPRIATE MOONFLAG SETTING MOONTHIS +2 MOONFLAG SET INTYPFLG # CONIC EXTRAP. STCALL TET INTEGRVS # INTEGRATION --- AT LAST--- OTHCONIC VLOAD # Page 705 RATT STOVL RONE VATT STCALL VONE # GET SET FOR CONIC EXTRAP.,OTHER. INTSTALL SET DLOAD INTYPFLG TAT OTHINT STORE TDEC1 VLOAD CLEAR BASEOTP MOONFLAG STOVL RCV BASEOTV STODL VCV BASETIME BOF SET MOONTHIS +2 MOONFLAG STCALL TET INTEGRVS COMPDISP VLOAD VSU RATT RONE RTB PDDL NORMUNX1 # UNIT(RANGE) TO PD 0-5 36D SL* # RESCALE AFTER NORMUNIT 0,1 STOVL RANGE # SCALED 2(29)M VATT VSU DOT # (VCM- VLM).UNIT(LOS). PD=0 VONE SL1 # SCALED 2(7)M/CS STOVL RRATE RONE UNIT PDVL # UNIT(R) TO PD 0-5 UNITZ CALL CDU*NBSM VXM PUSH # UNIT (Z)/4 TO PD 6-11 REFSMMAT VPROJ VSL2 # UNIT(P)=UNIT(UZ -(UZ)PROJ(UR)) 0D BVSU UNIT 6D PDVL VXV # UNIT(P) TO PD 12-17 0D # UNIT(RL) VONE # Page 706 VXV DOT # (UR * VL)*UR . U(P) 0D 12D PDVL # SIGN TO 12-13 , LOAD U(P) DOT SIGN 6D 12D SL2 ACOS # ARCCOS(UP.UZ(SIGN)) STOVL RTHETA 0D DOT BPL # IF UR.UZ NEG, 6D # RTHETA = 1 - RTHETA +5 DLOAD DSU DPPOSMAX RTHETA STORE RTHETA EXIT CA BIT5 MASK EXTVBACT EXTEND # IF ANSWERED, BZF ENDEXT # TERMINATE CS EXTVBACT MASK BIT12 ADS EXTVBACT # SET BIT 12 TCF REV83 # AND START AGAIN. GETRVN CA PRIO22 # INHIBIT SERVICER TC PRIOCHNG TC INTPRET VLOAD SETPD RN # LM STATE VECTOR IN RN,VN 0 STOVL RONE VN STOVL VONE # LOAD R(CSM),V(CSM) IN CASE MUNFLAG SET V(CSM) # (TO INSURE TIME COMPATABILITY) PDVL PDDL R(CSM) PIPTIME EXIT CA PRIO3 TC PRIOCHNG TC INTPRET BOFF VLOAD MUNFLAG GETRVN2 # IF MUNFLAG RESET, DO CM DELTA PRECISION # Page 707 VXM VSR4 # CHANGE TO REFERENCE SYSTEM AND RESCALE REFSMMAT PDVL # R TO PD 0-5 VXM VSL1 REFSMMAT PUSH SETPD # V TO PD 5-11 0 GOTO COMPDISP GETRVN2 CALL INTSTALL CLEAR GOTO INTYPFLG # PREC EXTRAP FOR OTHER OTHINT R31SURF TC INTPRET RTB # LM IS ON SURFACE, SO PRECISION LOADTIME # INTEGRATION USES PLANETARY INERTIAL STCALL TDEC1 # ORIENTATION SUBROUTINE LEMPREC GOTO # DO CSM CONIC OTHCONIC MUNG? CS FLAGWRD6 MASK MUNFLBIT EXTEND BZF GETRVN # IF MUNFLAG SET, CSM BASE NOT NEEDED ONEBASE TC INTPRET # GET CSM BASE VECTOR RTB GOTO LOADTIME DOCMBASE V16N54 VN 1654 # Page 708 (empty page) ================================================ FILE: Luminary099/R60_62.agc ================================================ # Copyright: Public domain. # Filename: R60_R62.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 472-485 # Mod history: 2009-05-17 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 472 # MOD NO: 0 DATE: 1 MAY 1968 # MOD BY: DIGITAL DEVEL GROUP LOG SECTION R60,R62 # # FUNCTIONAL DESCRIPTION: # # CALLED AS A GENERAL SUBROUTINE TO MANEUVER THE LM TO A SPECIFIED # ATTITUDE. # # 1. IF THE 3-AXIS FLAG IS NOT SET THE FINAL CDU ANGLES ARE # CALCULATED (VECPOINT). # # 2. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS). # # 3. REQUEST FLASHING DISPLAY V50 N18 PLEASE PERFORM AUTO MANEUVER. # # 4. IF PRIORITY DISPLAY FLAG IS SET DO A PHASECHANGE. THEN AWAIT # ASTRONAUT RESPONSE. # # 5. DISPLAY RESPONSE RETURNS: # # A. ENTER - RESET 3-AXIS FLAG AND RETURN TO CLIENT. # # B. TERMINATE - IF IN P00 GO TO STEP 5A. OTHERWISE CHECK IF R61 IS # THE CALLING PROGRAM. IF IN R61 AN EXIT IS MADE TO GOTOV56. IF # NOT IN R61 AN EXIT IS DONE VIA GOTOPOOH. # # C. PROCEED - CONTINUE WITH PROGRAM AT STEP 6. # # 6. IF THE 3-AXISFLAG IS NOT SET, THE FINAL CDU ANGLES ARE CALCULATED # (VECPOINT). # # 7. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS). # # 8. IF THE G+N SWITCH IS NOT SET GO BACK TO STEP 3. # # 9. IF THE AUTO SWITCH IS NOT SET GO BACK TO STEP 3. # # 10. NONFLASHING DISPLAY V06N18 (FDAI ANGLES). # # 11. DO A PHASECHANGE. # # 12. DO A MANEUVER CALCULATION AND ICDU DRIVE ROUTINE TO ACHIEVE FINAL # # GIMBAL ANGLES (GOMANUR). # 13. AT END OF MANEUVER GO TO STEP 3. # # IF SATISFACTORY MANEUVER STEP 5A EXITS R60. # FOR FURTHER ADJUSTMENT OF THE VEHICLE ATTITUDE ABOUT THE # DESIRED VECTOR, THE ROUTINE MAY BE PERFORMED AGAIN STARTING AT # Page 473 # STEP 5C. # # CALLING SEQUENCE: TC BANKCALL # CADR R60LEM # # ERASABLE INITIALIZATION REQUIRED : SCAXIS, POINTVSM (FOR VECPOINT) # 3AXISFLG. # # SUBROUTINES CALLED: VECPOINT, BALLANGS, GOPERF2R, LINUS, GODSPER, # GOMANUR, DOWNFLAG, PHASCHNG, UPFLAG # # NORMAL EXIT MODES: CAE TEMPR60 (CALLERS RETURN ADDRESS) # TC BANKJUMP # # ALARMS: NONE # # OUTPUT: NONE # # DEBRIS: CPHI, CTHETA, CPSI, 3AXISFLG, TBASE2 BANK 34 SETLOC MANUVER BANK EBANK= TEMPR60 COUNT* $$/R06 R60LEM TC MAKECADR TS TEMPR60 REDOMANN CAF 3AXISBIT MASK FLAGWRD5 # IS 3-AXIS FLAG SET CCS A TCF TOBALL # YES TC INTPRET CALL VECPOINT # TO COMPUTE FINAL ANGLES STORE CPHI # STORE FINAL ANGLES - CPHI,CTHETA,CPSI EXIT TOBALL TC BANKCALL CADR BALLANGS # TO CONVERT ANGLES TO FDAI TOBALLA CAF V06N18 TC BANKCALL CADR GOPERF2R # DISPLAY PLEASE PERFORM AUTO MANEUVER TC R61TEST TC REDOMANC # PROCEED TC ENDMANU1 # ENTER I.E. FINISHED WITH R60 # Page 474 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS TC ENDOFJOB REDOMANC CAF 3AXISBIT MASK FLAGWRD5 # IS 3-AXIS FLAG SET CCS A TCF TOBALLC # YES TC INTPRET CALL VECPOINT # TO COMPUTE FINAL ANGLES STORE CPHI # STORE ANGLES EXIT TOBALLC TC BANKCALL CADR BALLANGS # TO CONVERT ANGLES TO FDAI TC G+N,AUTO # CHECK AUTO MODE CCS A TCF TOBALLA # NOT AUTO, GO REREQUEST AUTO MANEUVER. AUTOMANV CAF V06N18 # STATIC DISPLAY DURING AUTO MANEUVER TC BANKCALL CADR GODSPR TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS STARTMNV TC BANKCALL # PERFORM MANEUVER VIA KALCMANU CADR GOMANUR ENDMANUV TCF TOBALLA # FINISHED MANEUVER. ENDMANU1 TC DOWNFLAG # RESET 3-AXIS FLAG ADRES 3AXISFLG CAE TEMPR60 TC BANKJUMP CHKLINUS CS FLAGWRD4 MASK PDSPFBIT # IS PRIORITY DISPLAY FLAG SET? CCS A TC Q # NO - EXIT CA Q TS MPAC +2 # SAVE RETURN CS THREE # OBTAIN LOCATION FOR RESTART AD BUF2 # HOLDS Q OF LAST DISPLAY TS TBASE2 TC PHASCHNG OCT 00132 CAF BIT7 TC LINUS # GO SET BITS FOR PRIORITY DISPLAY TC MPAC +2 # Page 475 RELINUS CAF PRIO26 # RESTORE ORIGINAL PRIORITY TC PRIOCHNG CAF TRACKBIT # DON'T CONTINUE R60 UNLESS TRACKFLAG ON. MASK FLAGWRD1 CCS A TCF RER60 CAF RNDVZBIT # IS IT P20? MASK FLAGWRD0 CCS A TC +4 # YES TC PHASCHNG # NO, MUST BE P25, SET 2.11 SPOT OCT 40112 TC ENDOFJOB TC PHASCHNG # SET 2.7 SPOT FOR P20 OCT 40072 TC ENDOFJOB RER60 TC UPFLAG # SET PRIO DISPLAY FLAG AFTER RESTART ADRES PDSPFLAG TC TBASE2 R61TEST CA MODREG # IF WE ARE IN P00 IT MUST BE V49 OR V89 EXTEND BZF ENDMANU1 # THUS WE GO TO ENDEXT VIA USER CA FLAGWRD4 # ARE WE IN R61 (P20 OR P25) MASK PDSPFBIT EXTEND BZF GOTOPOOH # NO TC GOTOV56 # YES BIT14+7 OCT 20100 OCT203 OCT 203 V06N18 VN 0618 # SUBROUTINE TO CHECK FOR G+N CONTROL. AUTO STABILIZATION # # RETURNS WITH C(A) = + IF NOT SET FOR G+N, AUTO # RETURNS WITH C(A) = +0 IF SWITCHES ARE SET G+N,AUTO EXTEND READ CHAN30 MASK BIT10 CCS A TC Q # NOT IN G+N C(A) = + # Page 476 ISITAUTO EXTEND # CHECK FOR AUTO MODE READ CHAN31 MASK BIT14 TC Q # (+) = NOT IN AUTO, (+0) = AOK # Page 477 # PROGRAM DESCRIPTION BALLANGS # MOD NO. LOG SECTION R60,R62 # # WRITTEN BY RAMA M.AIYAWAR # FUNCTIONAL DESCRIPTION # # COMPUTES LM FDAI BALL DISPLAY ANGLES # CALLING SEQUENCE # # TC BALLANGS # NORMAL EXIT MODE # # TC BALLEXIT # (SAVED Q) # # ALARM OR EXIT MODE NIL # SUBROUTINES CALLED # CD*TR*G # ARCTAN # # INPUT # # CPHI,CTHETA,CPSI ARE THE ANGLES CORRESPONDING TO AOG,AIG,AMG. THEY ARE # SP,2S COMPLIMENT SCALED TO HALF REVOLUTION. # OUTPUT # # FDAIX,FDAIY,FDAIZ ARE THE REQUIRED BALL ANGLES SCALED TO HALF REVOLUTION # SP,2S COMPLIMENT. # THESE ANGLES WILL BE DISPLAYED AS DEGREES AND HUNDREDTHS. IN THE ORDER ROLL, PITCH, YAW, USING NOUNS 18 & 19. # # ERASABLE INITIALIZATION REQUIRED # # CPHI,CTHETA,CPSI EACH A SP REGISTER # DEBRIS # # A,L,Q,MPAC,SINCDU,COSCDU,PUSHLIS,BALLEXIT # # # NOMENCLATURE: CPHI, CTHETA, & CPSI REPRESENT THE OUTER, INNER, & MIDDLE GIMBAL ANGLES, RESPECTIVELY; OR # EQUIVALENTLY, CDUX, CDUY, & CDUZ. # # NOTE: ARCTAN CHECKS FOR OVERFLOW AND SHOULD BE ABLE TO HANDLE ANY SINGULARITIES. SETLOC BAWLANGS BANK COUNT* $$/BALL BALLANGS TC MAKECADR TS BALLEXIT CA CPHI # Page 478 TS CDUSPOT +4 CA CTHETA TS CDUSPOT CA CPSI TS CDUSPOT +2 TC INTPRET SETPD CALL 0D CD*TR*G DLOAD DMP SINCDUX # SIN (OGA) COSCDUZ # COS (MGA) SL1 DCOMP # SCALE ARCSIN PDDL # YAW = ARCSIN(-SXCZ) INTO 0 PD SINCDUZ STODL SINTH # (SINTH = 18D IN PD) COSCDUZ DMP SL1 # RESCALE COSCDUX STCALL COSTH # (COSTH= 16D IN PD) ARCTAN PDDL DMP # ROLL = ARCTAN(SZ/CZCX) INTO 2 PD SINCDUZ SINCDUX SL2 PUSH # SXSZ INTO 4 PD DMP PDDL # SXSZCY INTO 4 PD COSCDUY DMP PDDL # SXSZSY INTO 6 PD SINCDUY COSCDUX DMP SL1 # CXCY COSCDUY DSU STADR # PULL UP FROM 6 PD STODL COSTH # COSTH = CXCY - SXSZSY SINCDUY DMP SL1 COSCDUX # CXSY DAD STADR # PULL UP FROM 4 PD STCALL SINTH # SINTH = CXSY + SXSZCY ARCTAN # RETURNS WITH D(MPAC) = PITCH PDDL VDEF # PITCH INTO 2 PD, ROLL INTO MPAC FROM 2PD RTB # VDEF MAKES V(MPAC) = ROLL, PITCH, YAW V1STO2S STORE FDAIX # MODE IS TP EXIT ENDBALL CA BALLEXIT # Page 479 TC BANKJUMP # Page 480 # 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 (2S COMPLEMENT) CORESPONDING TO THE CROSS-PRODUCT ROTATION BETWE EN 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 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, # THE ADDITIONAL ROTATION TO AVOID GIMAL LOCK IS 35 DEGREES. IF THE AXIS IS MORE THAN 60.5 DEGEES FROM +X (OR -X) # THE ADDITIONAL ROTATION IS 35 DEGREES. THE GIMBAL ANGLES CORRESPONDING TO THIS ATTITUDE ARE THEN COMPUTED AND # 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 # 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 SETLOC VECPT BANK # Page 481 COUNT* $$/VECPT EBANK= BCDU VECPNT1 STQ BOV # THIS ENTRY USES DESIRED CDUS VECQTEMP # NOT PRESENT-ENTER WITH CDUD'S IN MPAC VECPNT2 VECPNT2 AXC,2 GOTO MIS STORANG VECPOINT STQ BOV # SAVE RETURN ADDRESS VECQTEMP VECLEAR # AND CLEAR OVFIND VECLEAR AXC,2 RTB MIS # READ THE PRESENT CDU ANGLES AND READCDUK # STORE THEM IN PD25, 26, 27 STORANG STCALL 25D 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) UNIT STORE 28D # PD 28 29 30 31 32 33 VXV UNIT # TAKE THE CROSS PRODUCT VF X VI SCAXIS # WHERE VI = SCAXIS BOV VCOMP PICKAXIS STODL COF # CHECK MAGNITUDE 36D # OF CROSS PRODUCT DSU BMN # VECTOR, IF LESS DPB-14 # THAN B-14 ASSUME PICKAXIS # UNIT OPERATION VLOAD DOT # INVALID. SCAXIS 28D SL1 ARCCOS 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 KEL # S/C AXES TO STABLE MEMBER AXES CALL # MFS = MIS MFI MXM3 # (IN PD LIST) DLOAD ABS 6 # MFS6 = SIN(CPSI) $2 DSU BMN SINGIMLC # = SIN(59 DEGS) $2 FINDGIMB # /CPSI/ LESS THAN 59 DEGS # Page 482 # I.E. DESIRED ATTITUDE NOT IN GIMBAL LOCK DLOAD ABS # CHECK TO SEE IF WE ARE POINTING SCAXIS # THE THRUST AXIS DSU BPL SINVEC1 # SIN 49.4 DEGS $2 FINDGIMB # IF SO, WE ARE TRYING TO POINT IT INTO VLOAD # GIMBAL LOCK, ABORT COULD GO HERE STADR STOVL MIS +12D STADR # STORE MFS (IN PD LIST) IN MIS STOVL MIS +6 STADR STOVL MIS MIS +6 # INNER GIMBAL AXIS IN FINAL S/C AXES BPL VCOMP # LOCATE THE IG AXIS DIRECTION CLOSEST TO IGSAMEX # FINAL X S/C AXIS 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 0, U = SCAXIS # OTHERWISE U = -SCAXIS VLOAD VCOMP SCAXIS STCALL COF # ROTATE ABOUT -SCAXIS CHEKAXIS U=SCAXIS VLOAD SCAXIS STORE COF # ROTATE ABOUT + SCAXIS CHEKAXIS DLOAD ABS SCAXIS # SEE IF WE ARE POINTING THE AOT DSU BPL SINVEC2 # SIN 29.5 DEGS $2 PICKANG1 # IF SO, ROTATE 50 DEGS ABOUT +- SCAXIS DLOAD GOTO # IF NOT, MUST BE POINTING THE TRANSPONDER VECANG2 # OR SOME VECTOR IN THE Y, OR Z PLANE COMPMFSN # IN THIS CASE ROTATE 35 DEGS TO GET OUT # OF GIMBAL LOCK (VECANG2 $360) PICKANG1 DLOAD VECANG1 # = 50 DEGS $ 360 COMPMFSN CALL DELCOMP # COMPUTE THE ROTATION ABOUT SCAXIS TO AXC,1 AXC,2 # BRING MFS OUT OF GIMBAL LOCK MIS KEL CALL # COMPUTE THE NEW TRANSFORMATION FROM MXM3 # DESIRED S/C AXES TO STABLE MEMBER AXES # WHICH WILL ALIGN VI WITH VF AND AVOID # Page 483 # GIMBAL LOCK FINDGIMB AXC,1 CALL 0 # EXTRACT THE COMMANDED CDU ANGLES FROM DCMTOCDU # THIS MATRIX RTB SETPD V1STO2S # CONVERT TO 2:S COMPLEMENT 0 GOTO VECQTEMP # RETURN TO CALLER PICKAXIS VLOAD DOT # IF VF X VI = 0, FIND VF . VI 28D SCAXIS BMN TLOAD ROT180 25D GOTO # IF VF = VI, CDU DESIRED = PRESENT CDU VECQTEMP # PRESENT CDU ANGLES BANK 35 SETLOC MANUVER1 BANK ROT180 VLOAD VXV # IF VF, VI ANTIPARALLEL, 180 DEG ROTATION MIS +6 # IS REQUIRED. Y STABLE MEMBER AXIS IN HIDPHALF # INITIAL S/C AXES. 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), PICKX # Y(SM) PERPENDICULAR TO VI STODL COF 36D # CHECK MAGNITUDE DSU BMN # OF THIS VECTOR. DPB-14 # IF LESS THAN B-14, PICKX # PICK X-AXIS. VLOAD COF XROT STODL COF HIDPHALF GOTO COMPMATX PICKX VLOAD GOTO # PICK THE XAXIS IN THIS CASE HIDPHALF XROT SINGIMLC 2DEC .4285836003 # =SIN(59) $2 SINVEC1 2DEC .3796356537 # =SIN(49.4) $2 SINVEC2 2DEC .2462117800 # =SIN(29.5) $2 VECANG1 2DEC .1388888889 # = 50 DEGREES $360 # Page 484 VECANG2 2DEC .09722222222 # = 35 DEGREES $360 1BITDP OCT 0 # KEEP THIS BEFORE DPB(-14) ********* DPB-14 OCT 00001 OCT 00000 # Page 485 # ROUTINE FOR INITIATING AUTOMATIC MANEUVER VIA KEYBOARD (V49) BANK 34 SETLOC R62 BANK EBANK= BCDU COUNT* $$/R62 R62DISP EQUALS R62FLASH R62FLASH CAF V06N22 # FLASH V06N22 AND TC BANKCALL # ICDU ANGLES CADR GOFLASH TCF ENDEXT # TERMINATE TCF GOMOVE # PROCEED TCF R62FLASH # ENTER # ASTRONAUT MAY LOAD NEW ICDUS AT THIS # POINT GOMOVE TC UPFLAG # SET FOR 3-AXIS MANEUVER ADRES 3AXISFLG TC BANKCALL CADR R60LEM TCF ENDEXT # END R62 ================================================ FILE: Luminary099/R63.agc ================================================ # Copyright: Public domain. # Filename: R63.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 338-341 # Mod history: 2009-05-16 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 338 # SUBROUTINE NAME: V89CALL # MOD NO: 0 DATE: 9 JAN 1968 # MOD BY: DIGITAL DEVEL GROUP LOG SECTION: R63 # # FUNCTIONAL DESCRIPTION: # # CALLED BY VERB 89 ENTER DURING P00. PRIO 10 USED. CALCULATES AND # DISPLAYS FINAL FDAI BALL ANGLES TO POINT LM +X OR +Z AXIS AT CSM. # # 1. KEY IN V 89 E ONLY IF IN PROG 00. IF NOT IN P00, OPERATOR ERROR AND # EXIT R63, OTHERWISE CONTINUE. # # 2. IF IN P00, DO IMU STATUS CHECK ROUTINE (R02BOTH). IF IMU ON AND ITS # ORIENTATION KNOWN TO LGC, CONTINUE. # # 3. FLASH DISPLAY V 04 N 06. R2 INDICATES WHICH SPACECRAFT AXIS IS TO # BE POINTED AT CSM. INITIAL CHOICE IS PREFERRED (+Z) AXIS (R2=1). # ASTRONAUT CAN CHANGE TO (+X) AXIS (R2 NOT = 1) BY V 22 E 2 E. CONTINUE # AFTER KEYING IN PROCEED. # # 4. BOTH VEHICLE STATE VECTORS UPDATED BY CONIC EQS. # # 5. HALF MAGNITUDE UNIT LOS VECTOR (IN STABLE MEMBER COORDINATES) AND # HALF MAGNITUDE UNIT SPACECRAFT AXIS VECTOR (IN BODY COORDINATES) # PREPARED FOR VECPOINT. # # 6. GIMBAL ANGLES FROM VECPOINT TRANSFORMED INTO FDAI BALL ANGLES BY # BALLANGS. FLASH DISPLAY V 06 N 18 AND AWAIT RESPONSE. # # 7. RECYCLE - RETURN TO STEP 4. # TERMINATE - EXIT R63. # PROCEED - RESET 3AXISFLG AND CALL R60LEM FOR ATTITUDE MANEUVER. # # CALLING SEQUENCE: V 89 E. # # SUBROUTINES CALLED: CHKPOOH, R02BOTH, GOXDSPF, CSMCONIC, LEMCONIC, # VECPOINT, BALLANGS, R60LEM. # # NORMAL EXIT MODES: TC ENDEXT # # ALARMS: 1. OPERATOR ERROR IF NOT IN P00. # 2. PROGRAM ALARM IF IMU IS OFF. # 3. PROGRAM ALARM IF IMU ORIENTATION IS UNKNOWN. # # OUTPUT: NONE # # ERASABLE INITIALIZATION REQUIRED: NONE # # DEBRIS: OPTION1, +1, TDEC1, PDINTVSM, SCAXIS, CPHI, CTHETA, CPSI, # Page 339 # 3AXISFLG. EBANK= RONE BANK 32 SETLOC BAWLANGS BANK COUNT* $$/R63 V89CALL TC BANKCALL # IMU STATUS CHECK. RETURNS IF ORIENTATION CADR R02BOTH # KNOWN. ALARMS IF NOT. CAF THREE # ALLOW ASTRONAUT TO SELECT DESIRED TS OPTIONX # TRACKING ATTITUDE AXIS. CAF ONE TS OPTIONX +1 CAF VB04N12 # V 04 N 12 TC BANKCALL CADR GOFLASH TC ENDEXT # TERMINATE TC +2 # PROCEED TC -5 # DATA IN. OPTION1+1 = 1 FOR Z AXIS V89RECL TC INTPRET # = 2 FOR X AXIS RTB DAD LOADTIME # READ PRESENT TIME DP1MIN STORE TSTART82 # SAVE TIME FOR LEMCONIC CALL STCALL TDEC1 # STORE TIME FOR CSMCONIC CALL CSMCONIC # CSM STATE VECTOR UPDATE VLOAD # CSMCONIC LEFT R VECTOR IN RATT RATT STODL RONE # SAVE FOR LINE OF SIGHT (LOS) COMPUTATION TSTART82 STCALL TDEC1 # STORE TIME FOR LEMCONIC CALL LEMCONIC # LEM STATE VECTOR UPDATE VLOAD VSU # CSM POSITION - LEM POSITION = LOS RONE # LOS VECTOR LEFT IN MPAC RATT MXV RTB # (REFSMAT X LOS). TRANSFORMS LOS FROM REFSMMAT # REFERENCE COORD TO STAB MEMB COORD. NORMUNIT STORE POINTVSM # STORE LOS FOR VECPOINT CALCULATION EXIT CS OPTIONX +1 # 1 FOR Z AXIS. 2 FOR X AXIS. AD ONE EXTEND BZF ALINEZ ALINEX TC INTPRET # X AXIS ALIGNMENT VLOAD UNITX # READ (.5, 0, 0) # Page 340 V89CALL1 STCALL SCAXIS # STORE SELECTED ALIGNMENT AXIS VECPOINT # PUTS DESIRED GIM ANG (OG,IG,MG) IN TMPAC STORE CPHI # STORE GIMBAL ANGLES FOR BALLANGS CALL. EXIT TC BANKCALL CADR BALLANGS # PUTS DESIRED BALL ANGLE IN FDAIX,Y,Z CAF VB06N18 # V 06 N 18 TC BANKCALL # NOUN 18 REFERS TO FDAIX,Y,Z CADR GOFLASH TC ENDEXT # TERMINATE TC +2 # PROCEED TC V89RECL # RECYCLE TC DOWNFLAG # RESET 3 AXIS FLAG ADRES 3AXISFLG # RESET BIT6 FLAG WORD 5 TC BANKCALL # PERFORMS LEM MANEUVER TO ALIGN SELECTED CADR R60LEM # SPACECRAFT AXIS TO CSM. TCF ENDEXT # TERMINATE R63 ALINEZ TC INTPRET # Z AXIS ALIGNMENT VLOAD GOTO UNITZ # READ (0, 0, .5) V89CALL1 VB04N12 VN 412 VB06N18 VN 0618 # Page 341 DP1MIN 2DEC 6000 ================================================ FILE: Luminary099/RADAR_LEADIN_ROUTINES.agc ================================================ # Copyright: Public domain. # Filename: RADAR_LEADIN_ROUTINES.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 490-491 # Mod history: 2009-05-17 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 490 BANK 25 SETLOC RRLEADIN BANK EBANK= RSTACK # RADAR SAMPLING LOOP. COUNT* $$/RLEAD RADSAMP CCS RSAMPDT # TIMES NORMAL ONCE-PER-SECOND SAMPLING. TCF +2 TCF TASKOVER # +0 INSERTED MANUALLY TERMINATES TEST. TC WAITLIST EBANK= RSTACK 2CADR RADSAMP CAF PRIO25 TC NOVAC EBANK= RSTACK 2CADR DORSAMP CAF BIT14 # FOR CYCLIC SAMPLING, RTSTDEX = EXTEND # RTSTLOC/2 + RTSTBASE MP RTSTLOC AD RTSTBASE # 0 FOR RR, 2 FOR LR. TS RTSTDEX TCF TASKOVER # DO THE ACTUAL RADAR SAMPLE. DORSAMP TC VARADAR # SELECTS VARIABLE RADAR CHANNEL. TC BANKCALL CADR RADSTALL INCR RFAILCNT # ADVANCE FAIL COUNTER BUT ACCEPT BAD DATA DORSAMP2 INHINT CA FLAGWRD5 # DON'T UPDATE RSTACK IF IN R77. MASK R77FLBIT CCS A TCF +4 DXCH SAMPLSUM INDEX RTSTLOC DXCH RSTACK CS RTSTLOC # CYCLE RTSTLOC. AD RTSTMAX EXTEND # Page 491 BZF +3 CA RTSTLOC AD TWO # STORAGE IS DP TS RTSTLOC TCF ENDOFJOB # CONTINUOUS SAMPLING AND 2N TRIES - GONE. # VARIABLE RADAR DATA CALLER FOR ONE MEASUREMENT ONLY. VARADAR CAF ONE # WILL BE SENT TO RADAR ROUTINE IN A BY TS BUF2 # SWCALL. INDEX RTSTDEX CAF RDRLOCS TCF SWCALL # NOT TOUCHING Q. RDRLOCS CADR RRRANGE # =0 CADR RRRDOT # =1 CADR LRVELX # =2 CADR LRVELY # =3 CADR LRVELZ # =4 CADR LRALT # =5 ================================================ FILE: Luminary099/RCS_FAILURE_MONITOR.agc ================================================ # Copyright: Public domain. # Filename: RCS_FAILURE_MONITOR.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Hartmuth Gutsche . # Website: www.ibiblio.org/apollo. # Pages: 190-192 # Mod history: 2009-05-19 HG Transcribed from page images. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 190 # PROGRAM DESCRIPTION # # AUTHOR: J S MILLER # # MODIFIED 6 MARCH 1968 BY P S WEISSMAN TO SET UP JOB FOR 1/ACCS WHEN THE MASKS ARE CHANGED. # # THIS ROUTINE IS ATTACHED TO T4RUPT, AND IS ENTERED EVERY 480 MS. ITS FUNCTION IS TO EXAMINE THE LOW 8 BITS # OF CHANNEL 32 TO SEE IF ANY ISOLATION-VALVE CLOSURE BITS HAVE APPEARED OR DISAPPEARED (THE CREW IS WARNED OF JET # FAILURES BY LAMPS LIT BY THE GRUMMAN FAILURE-DETECTION CIRCUITRY; THEY MAY RESPOND BY OPERATING SWITCHES WHICH # ISOLATE PAIRS OF JETS FROM THE PROPELLANT TANKS AND SET BITS IN CHANNEL 32). IN THE EVENT THAT CHANNEL 32 BITS # DIFFER FROM 'PVALVEST', THE RECORD OF ACTIONS TAKEN BY THIS ROUTINE, THE APPROPRIATE BITS IN 'CH5MASK' & # 'CH6MASK', USED BY THE DAP JET-SELECTION LOGIC, ARE UPDATED, AS IS 'PVALVEST'. TO SPEED UP & SHORTEN THE # ROUTINE, NO MORE THAN ONE CHANGE IS ACCEPTED PER ENTRY. THE HIGHEST-NUMBERED BIT IN CHANNEL 32 WHICH REQUIRES # ACTION IS THE ONE PROCESSED. # # THE CODING IN THE FAILURE MONITOR HAS BEEN WRITTEN SO AS TO HAVE ALMOST COMPLETE RESTART PROTECTION. FOR # EXAMPLE, NO ASSUMPTION IS MADE WHEN SETTING A 'CH5MASK' BIT TO 1 THAT THE PREVIOUS STATE IS 0, ALTHOUGH IT OF # COURSE SHOULD BE. ONE CASE WHICH MAY BE SEEN TO EVADE PROTECTION IS THE OCCURRENCE OF A RESTART AFTER UPDATING # ONE OR BOTH DAP MASK-WORDS BUT BEFORE UPDATING 'PVALVEST', COUPLED WITH A CHANGE IN THE VALVE-BIT BACK TO ITS # FORMER STATE. THE CONSEQUENCE OF THIS IS THAT THE NEXT ENTRY WOULD NOT SEE THE CHANGE INCOMPLETELY INCORP- # ORATED BY THE LAST PASS (BECAUSE IT WENT AWAY AT JUST THE RIGHT TIME), BUT THE DAP MASK-WORDS WILL BE INCORRECT. # THIS COMBINATION OF EVENTS SEEMS QUITE REMOTE, BUT NOT IMPOSSIBLE UNLESS THE CREW OPERATES THE SWITCHES AT HALF- # SECOND INTERVALS OR LONGER. IN ANY EVENT, A DISAGREEMENT BETWEEN REALITY AND THE DAP MASKS WILL BE CURED IF # THE MISINTERPRETED SWITCH IS REVERSED AND THEN RESTORED TO ITS CORRECT POSITION (SLOWLY). # # CALLING SEQUENCE: # # TCF RCSMONIT (IN INTERRUPT MODE, EVERY 480 MS.) # # EXIT: TCF RCSMONEX (ALL PATHS EXIT VIA SUCH AN INSTRUCTION) RCSMONEX EQUALS RESUME # ERASABLE INITIALIZATION REQUIRED: # # VIA FRESH START: PVALVEST = +0 (ALL JETS ENABLED) # CH5MASK, CH6MASK = +0 (ALL JETS OK) # # OUTPUT: CH5MASK & CH6MASK UPDATED (1'S WHERE JETS NOT TO BE USED, IN CHANNEL 5 & 6 FORMAT) # PVALTEST UPDATED (1.5 WHEN VALVE CLOSURES HAVE BEEN TRANSLATED INTO CH5MASK & CH6MASK; CHAN 32 FORMAT) # JOB TO DO 1/ACCS. # # DEBRIS: A, L, Q AND DEBRIS OF NOVAC. # # SUBROUTINE CALLED: NOVAC. EBANK= CH5MASK BANK 23 SETLOC RCSMONT BANK # Page 191 COUNT* $$/T4RCS RCSMONIT EQUALS RCSMON RCSMON CS ZERO EXTEND RXOR CHAN32 # PICK UP + INVERT INVERTED CHANNEL 32. MASK LOW8 # KEEP JET-FAIL BITS ONLY. TS Q CS PVALVEST # - - MASK Q # FORM PC + PC. TS L # (P = PREVIOUS ISOLATION VALVE STATE, CS Q # C = CURRENT VALVE STATE (CH 32)). MASK PVALVEST ADS L # RESULT NZ INDICATES ACTION REQUIRED. EXTEND BZF RCSMONEX # QUIT IF NO ACTION REQUIRED. EXTEND MP BIT7 # MOVE BITS 8 - 1 OF A TO 14 - 7 OF L. XCH L # ZERO TO L IN THE PROCESS. -3 INCR L DOUBLE # BOUND TO GET OVERFLOW IN THIS LOOP. OVSK # SINCE WE ASSURED INITIAL NZ IN A. TCF -3 INDEX L CA BIT8 -1 # SAVE THE RELEVANT BIT (8 - 1). TS Q MASK PVALVEST # LOOK AT PREVIOUS VALVE STATE BIT. CCS A TCF VOPENED # THE VALVE HAS JUST BEEN OPENED. CS CH5MASK # THE VALVE HAS JUST BEEN CLOSED. INDEX L MASK 5FAILTAB ADS CH5MASK # SET INHIBIT BIT FOR CHANNEL 5 JET. CS CH6MASK INDEX L MASK 6FAILTAB ADS CH6MASK # SET INGIBIT BIT FOR CHANNEL 6 JET. CA Q ADS PVALVEST # RECORD ACTION TAKEN. TCF 1/ACCFIX # SET UP 1/ACCJOB AND EXIT. # Page 192 VOPENED INDEX L # A VALVE HAS JUST BEEN OPENED. CS 5FAILTAB MASK CH5MASK TS CH5MASK # REMOVE INHIBIT BIT FOR CHANNEL 5 JET. INDEX L CS 6FAILTAB MASK CH6MASK TS CH6MASK # REMOVE INHIBIT BIT FOR CHANNEL 6 JET. CS Q MASK PVALVEST TS PVALVEST # RECORD ACTION TAKEN. 1/ACCFIX CAF PRIO27 # SET UP 1/ACCS SO THAT THE SWITCH CURVES TC NOVAC # FOR TJETLAW CAN BE MODIFIED IF CH5MASK EBANK= AOSQ # HAS BEEN ALTERED. 2CADR 1/ACCJOB TCF RCSMONEX # EXIT. 5FAILTAB EQUALS -1 # CH 5 JET BIT CORRESPONDING TO CH 32 BIT: OCT 00040 # 8 OCT 00020 # 7 OCT 00100 # 6 OCT 00200 # 5 OCT 00010 # 4 OCT 00001 # 3 OCT 00004 # 2 OCT 00002 # 1 6FAILTAB EQUALS -1 # CH 6 JET BIT CORRESPONDING TO CH 32 BIT: OCT 00010 # 8 OCT 00020 # 7 OCT 00004 # 6 OCT 00200 # 5 OCT 00001 # 4 OCT 00002 # 3 OCT 00040 # 2 OCT 00100 # 1 ================================================ FILE: Luminary099/README.md ================================================ # Luminary099 The images (with suitable reduction in storage size and consequent reduction in image quality as well) are available online at www.ibiblio.org/apollo. If for some reason you find that the images are illegible, contact me at info@sandroid.org about getting access to the (much) higher-quality images which Paul actually created. ## Background The contents of the "Luminary099" files, in general, are transcribed from a digital images created from a hardcopy of the program residing at the MIT Museum. Many thanks to Debbie Douglas of the Museum, and to Paul Fjeld (who made the images). Notations on this document read, in part: ```text ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061 16:27 JULY 14,1969 [Note that this is the date the hardcopy was made, not the date of the program revision or the assembly.] ... THIS LGC PROGRAM IS INTENDED FOR USE IN THE LM DURING THE MANNED LUNAR LANDING MISSION OR ANY SUBSET THEREOF. ... ``` For organizational purposes RSB split the huge monolithic source code into smaller, more manageable chunks--i.e., into individual source files. Those files are rejoined within `MAIN.agc` file as "includes". It just makes it a little easier to work with. The code chunks correspond to natural divisions into sub-programs. In fact, these divisions are more-or-less specified by the source code itself. Refer to the "TABLE OF SUBROUTINE LOG SECTIONS" at the very beginning of the file `ASSEMBLY_AND_OPERATION_INFORMATION.agc`. It may be reasonably asked why tens of thousands of lines of source are joined by means of inclusion, rather than simply assembling the source files individually and then linking them to form the executable. The answer is that the original development team had no linker. The builds were monolithic just like this. There was a big emphasis on reusability of the code in the original project, apparently, but this reusability took the form of inserting your deck of punch-cards at the appropriate position in somebody else's deck of punch-cards. (Actually, I believe a tape-library method was used to avoid having to continually reload the card decks, but that doesn't change the basic principle.) So, indeed, the method of file-inclusion is a very fair representation of the methods used in the original development ... with the improvement, of course, that you no longer have to worry about dropping the card deck. On the other hand, I wasn't there at the time, so I may have no idea what I'm talking about. Finally, note that the original Apollo AGC assembler (called "YUL") is no longer available (as far as I can tell). In fact, it was replaced by another assembler ("GAP") even before Apollo 11, but GAP is no more available than is YUL. The replacement assembler yaYUL accepts a slightly different format for the source code from what YUL or GAP accepted, so the source code has been targeted for assembly with yaYUL. What follows is simply a bunch of file-includes for the individual code chunks. I've marked the page numbers to make proof-reading easier. Besides, the digital images of the assembly listing contains a lot of interesting tables (cross-referenced to page numbers) created by GAP, but not duplicated by yaYUL, so it's still valuable even if the source-files listed below are at hand. ## Source Code Index *Derived from [MAIN.agc]* | Source File | Page Number | | :-------------------------------------------- | :---------- | | [ASSEMBLY_AND_OPERATION_INFORMATION.agc] | 1-27 | | [TAGS_FOR_RELATIVE_SETLOC.agc] | 28-37 | | [CONTROLLED_CONSTANTS.agc] | 38-53 | | [INPUT_OUTPUT_CHANNEL_BIT_DESCRIPTIONS.agc] | 54-60 | | [FLAGWORD_ASSIGNMENTS.agc] | 61-88 | | [ERASABLE_ASSIGNMENTS.agc] | 90-152 | | [INTERRUPT_LEAD_INS.agc] | 153-154 | | [T4RUPT_PROGRAM.agc] | 155-189 | | [RCS_FAILURE_MONITOR.agc] | 190-192 | | [DOWNLINK_LISTS.agc] | 193-205 | | [AGS_INITIALIZATION.agc] | 206-210 | | [FRESH_START_AND_RESTART.agc] | 211-237 | | [RESTART_TABLES.agc] | 238-243 | | [AOTMARK.agc] | 244-261 | | [EXTENDED_VERBS.agc] | 262-300 | | [PINBALL_NOUN_TABLES.agc] | 301-319 | | [LEM_GEOMETRY.agc] | 320-325 | | [IMU_COMPENSATION_PACKAGE.agc] | 326-337 | | [R63.agc] | 338-341 | | [ATTITUDE_MANEUVER_ROUTINE.agc] | 342-363 | | [GIMBAL_LOCK_AVOIDANCE.agc] | 364 | | [KALCMANU_STEERING.agc] | 365-369 | | [SYSTEM_TEST_STANDARD_LEAD_INS.agc] | 370-372 | | [IMU_PERFORMANCE_TEST_2.agc] | 373-381 | | [IMU_PERFORMANCE_TESTS_4.agc] | 382-389 | | [PINBALL_GAME_BUTTONS_AND_LIGHTS.agc] | 390-471 | | [R60_62.agc] | 472-485 | | [S-BAND_ANTENNA_FOR_LM.agc] | 486-489 | | [RADAR_LEADIN_ROUTINES.agc] | 490-491 | | [P20-P25.agc] | 492-614 | | [P30_P37.agc] | 615-617 | | [P32-P35_P72-P75.agc] | 618-650 | | [GENERAL_LAMBERT_AIMPOINT_GUIDANCE.agc] | 651-653 | | [GROUND_TRACKING_DETERMINATION_PROGRAM.agc] | 654-657 | | [P34-35_P74-75.agc] | 658-702 | | [R31.agc] | 703-708 | | [P76.agc] | 709-711 | | [R30.agc] | 712-722 | | [STABLE_ORBIT.agc] | 723-730 | | [BURN_BABY_BURN--MASTER_IGNITION_ROUTINE.agc] | 731-751 | | [P40-P47.agc] | 752-784 | | [THE_LUNAR_LANDING.agc] | 785-792 | | [THROTTLE_CONTROL_ROUTINES.agc] | 793-797 | | [LUNAR_LANDING_GUIDANCE_EQUATIONS.agc] | 798-828 | | [P70-P71.agc] | 829-837 | | [P12.agc] | 838-842 | | [ASCENT_GUIDANCE.agc] | 843-856 | | [SERVICER.agc] | 857-897 | | [LANDING_ANALOG_DISPLAYS.agc] | 898-907 | | [FINDCDUW--GUIDAP_INTERFACE.agc] | 908-925 | | [P51-P53.agc] | 926-983 | | [LUNAR_AND_SOLAR_EPHEMERIDES_SUBROUTINES.agc] | 984-987 | | [DOWN_TELEMETRY_PROGRAM.agc] | 988-997 | | [INTER-BANK_COMMUNICATION.agc] | 998-1001 | | [INTERPRETER.agc] | 1002-1094 | | [FIXED_FIXED_CONSTANT_POOL.agc] | 1095-1099 | | [INTERPRETIVE_CONSTANT.agc] | 1100-1101 | | [SINGLE_PRECISION_SUBROUTINES.agc] | 1102 | | [EXECUTIVE.agc] | 1103-1116 | | [WAITLIST.agc] | 1117-1132 | | [LATITUDE_LONGITUDE_SUBROUTINES.agc] | 1133-1139 | | [PLANETARY_INERTIAL_ORIENTATION.agc] | 1140-1148 | | [MEASUREMENT_INCORPORATION.agc] | 1149-1158 | | [CONIC_SUBROUTINES.agc] | 1159-1204 | | [INTEGRATION_INITIALIZATION.agc] | 1205-1226 | | [ORBITAL_INTEGRATION.agc] | 1227-1248 | | [INFLIGHT_ALIGNMENT_ROUTINES.agc] | 1249-1258 | | [POWERED_FLIGHT_SUBROUTINES.agc] | 1259-1267 | | [TIME_OF_FREE_FALL.agc] | 1268-1283 | | [AGC_BLOCK_TWO_SELF_CHECK.agc] | 1284-1293 | | [PHASE_TABLE_MAINTENANCE.agc] | 1294-1302 | | [RESTARTS_ROUTINE.agc] | 1303-1308 | | [IMU_MODE_SWITCHING_ROUTINES.agc] | 1309-1337 | | [KEYRUPT_UPRUPT.agc] | 1338-1340 | | [DISPLAY_INTERFACE_ROUTINES.agc] | 1341-1373 | | [SERVICE_ROUTINES.agc] | 1374-1380 | | [ALARM_AND_ABORT.agc] | 1381-1385 | | [UPDATE_PROGRAM.agc] | 1386-1396 | | [RTB_OP_CODES.agc] | 1397-1402 | | [T6-RUPT_PROGRAMS.agc] | 1403-1405 | | [DAP_INTERFACE_SUBROUTINES.agc] | 1406-1409 | | [DAPIDLER_PROGRAM.agc] | 1410-1420 | | [P-AXIS_RCS_AUTOPILOT.agc] | 1421-1441 | | [Q_R-AXIS_RCS_AUTOPILOT.agc] | 1442-1459 | | [TJET_LAW.agc] | 1460-1469 | | [KALMAN_FILTER.agc] | 1470-1471 | | [TRIM_GIMBAL_CONTROL_SYSTEM.agc] | 1472-1484 | | [AOSTASK_AND_AOSJOB.agc] | 1485-1506 | | [SPS_BACK-UP_RCS_CONTROL.agc] | 1507-1510 | ### MISCELLANEOUS | Source File | Page Number | | :------------------- | :------------ | | GAP-generated tables | 89, 1511-1743 | [MAIN.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/MAIN.agc [ASSEMBLY_AND_OPERATION_INFORMATION.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/ASSEMBLY_AND_OPERATION_INFORMATION.agc [TAGS_FOR_RELATIVE_SETLOC.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/TAGS_FOR_RELATIVE_SETLOC.agc [CONTROLLED_CONSTANTS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/CONTROLLED_CONSTANTS.agc [INPUT_OUTPUT_CHANNEL_BIT_DESCRIPTIONS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/INPUT_OUTPUT_CHANNEL_BIT_DESCRIPTIONS.agc [FLAGWORD_ASSIGNMENTS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/FLAGWORD_ASSIGNMENTS.agc [ERASABLE_ASSIGNMENTS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/ERASABLE_ASSIGNMENTS.agc [INTERRUPT_LEAD_INS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/INTERRUPT_LEAD_INS.agc [T4RUPT_PROGRAM.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/T4RUPT_PROGRAM.agc [RCS_FAILURE_MONITOR.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/RCS_FAILURE_MONITOR.agc [DOWNLINK_LISTS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/DOWNLINK_LISTS.agc [AGS_INITIALIZATION.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/AGS_INITIALIZATION.agc [FRESH_START_AND_RESTART.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/FRESH_START_AND_RESTART.agc [RESTART_TABLES.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/RESTART_TABLES.agc [AOTMARK.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/AOTMARK.agc [EXTENDED_VERBS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/EXTENDED_VERBS.agc [PINBALL_NOUN_TABLES.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/PINBALL_NOUN_TABLES.agc [LEM_GEOMETRY.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/LEM_GEOMETRY.agc [IMU_COMPENSATION_PACKAGE.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/IMU_COMPENSATION_PACKAGE.agc [R63.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/R63.agc [ATTITUDE_MANEUVER_ROUTINE.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/ATTITUDE_MANEUVER_ROUTINE.agc [GIMBAL_LOCK_AVOIDANCE.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/GIMBAL_LOCK_AVOIDANCE.agc [KALCMANU_STEERING.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/KALCMANU_STEERING.agc [SYSTEM_TEST_STANDARD_LEAD_INS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/SYSTEM_TEST_STANDARD_LEAD_INS.agc [IMU_PERFORMANCE_TEST_2.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/IMU_PERFORMANCE_TEST_2.agc [IMU_PERFORMANCE_TESTS_4.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/IMU_PERFORMANCE_TESTS_4.agc [PINBALL_GAME_BUTTONS_AND_LIGHTS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/PINBALL_GAME_BUTTONS_AND_LIGHTS.agc [R60_62.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/R60_62.agc [S-BAND_ANTENNA_FOR_LM.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/S-BAND_ANTENNA_FOR_LM.agc [RADAR_LEADIN_ROUTINES.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/RADAR_LEADIN_ROUTINES.agc [P20-P25.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/P20-P25.agc [P30_P37.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/P30_P37.agc [P32-P35_P72-P75.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/P32-P35_P72-P75.agc [GENERAL_LAMBERT_AIMPOINT_GUIDANCE.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/GENERAL_LAMBERT_AIMPOINT_GUIDANCE.agc [GROUND_TRACKING_DETERMINATION_PROGRAM.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/GROUND_TRACKING_DETERMINATION_PROGRAM.agc [P34-35_P74-75.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/P34-35_P74-75.agc [R31.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/R31.agc [P76.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/P76.agc [R30.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/R30.agc [STABLE_ORBIT.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/STABLE_ORBIT.agc [BURN_BABY_BURN--MASTER_IGNITION_ROUTINE.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/BURN_BABY_BURN--MASTER_IGNITION_ROUTINE.agc [P40-P47.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/P40-P47.agc [THE_LUNAR_LANDING.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/THE_LUNAR_LANDING.agc [THROTTLE_CONTROL_ROUTINES.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/THROTTLE_CONTROL_ROUTINES.agc [LUNAR_LANDING_GUIDANCE_EQUATIONS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/LUNAR_LANDING_GUIDANCE_EQUATIONS.agc [P70-P71.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/P70-P71.agc [P12.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/P12.agc [ASCENT_GUIDANCE.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/ASCENT_GUIDANCE.agc [SERVICER.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/SERVICER.agc [LANDING_ANALOG_DISPLAYS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/LANDING_ANALOG_DISPLAYS.agc [FINDCDUW--GUIDAP_INTERFACE.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/FINDCDUW--GUIDAP_INTERFACE.agc [P51-P53.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/P51-P53.agc [LUNAR_AND_SOLAR_EPHEMERIDES_SUBROUTINES.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/LUNAR_AND_SOLAR_EPHEMERIDES_SUBROUTINES.agc [DOWN_TELEMETRY_PROGRAM.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/DOWN_TELEMETRY_PROGRAM.agc [INTER-BANK_COMMUNICATION.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/INTER-BANK_COMMUNICATION.agc [INTERPRETER.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/INTERPRETER.agc [FIXED_FIXED_CONSTANT_POOL.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/FIXED_FIXED_CONSTANT_POOL.agc [INTERPRETIVE_CONSTANT.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/INTERPRETIVE_CONSTANT.agc [SINGLE_PRECISION_SUBROUTINES.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/SINGLE_PRECISION_SUBROUTINES.agc [EXECUTIVE.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/EXECUTIVE.agc [WAITLIST.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/WAITLIST.agc [LATITUDE_LONGITUDE_SUBROUTINES.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/LATITUDE_LONGITUDE_SUBROUTINES.agc [PLANETARY_INERTIAL_ORIENTATION.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/PLANETARY_INERTIAL_ORIENTATION.agc [MEASUREMENT_INCORPORATION.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/MEASUREMENT_INCORPORATION.agc [CONIC_SUBROUTINES.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/CONIC_SUBROUTINES.agc [INTEGRATION_INITIALIZATION.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/INTEGRATION_INITIALIZATION.agc [ORBITAL_INTEGRATION.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/ORBITAL_INTEGRATION.agc [INFLIGHT_ALIGNMENT_ROUTINES.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/INFLIGHT_ALIGNMENT_ROUTINES.agc [POWERED_FLIGHT_SUBROUTINES.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/POWERED_FLIGHT_SUBROUTINES.agc [TIME_OF_FREE_FALL.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/TIME_OF_FREE_FALL.agc [AGC_BLOCK_TWO_SELF_CHECK.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/AGC_BLOCK_TWO_SELF_CHECK.agc [PHASE_TABLE_MAINTENANCE.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/PHASE_TABLE_MAINTENANCE.agc [RESTARTS_ROUTINE.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/RESTARTS_ROUTINE.agc [IMU_MODE_SWITCHING_ROUTINES.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/IMU_MODE_SWITCHING_ROUTINES.agc [KEYRUPT_UPRUPT.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/KEYRUPT_UPRUPT.agc [DISPLAY_INTERFACE_ROUTINES.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/DISPLAY_INTERFACE_ROUTINES.agc [SERVICE_ROUTINES.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/SERVICE_ROUTINES.agc [ALARM_AND_ABORT.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/ALARM_AND_ABORT.agc [UPDATE_PROGRAM.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/UPDATE_PROGRAM.agc [RTB_OP_CODES.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/RTB_OP_CODES.agc [T6-RUPT_PROGRAMS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/T6-RUPT_PROGRAMS.agc [DAP_INTERFACE_SUBROUTINES.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/DAP_INTERFACE_SUBROUTINES.agc [DAPIDLER_PROGRAM.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/DAPIDLER_PROGRAM.agc [P-AXIS_RCS_AUTOPILOT.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/P-AXIS_RCS_AUTOPILOT.agc [Q_R-AXIS_RCS_AUTOPILOT.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/Q_R-AXIS_RCS_AUTOPILOT.agc [TJET_LAW.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/TJET_LAW.agc [KALMAN_FILTER.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/KALMAN_FILTER.agc [TRIM_GIMBAL_CONTROL_SYSTEM.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/TRIM_GIMBAL_CONTROL_SYSTEM.agc [AOSTASK_AND_AOSJOB.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/AOSTASK_AND_AOSJOB.agc [SPS_BACK-UP_RCS_CONTROL.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Luminary099/SPS_BACK-UP_RCS_CONTROL.agc ================================================ FILE: Luminary099/RESTARTS_ROUTINE.agc ================================================ # Copyright: Public domain. # Filename: RESTARTS_ROUTINE.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Onno Hommes . # Website: www.ibiblio.org/apollo. # Pages: 1303-1309 # Mod history: 2009-05-27 OH Transcribed from page images. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 1303 BANK 01 SETLOC RESTART BANK EBANK= PHSNAME1 # GOPROG MUST SWITCH TO THIS EBANK COUNT* $$/RSROU RESTARTS CA MPAC +5 # GET GROUP NUMBER -1 DOUBLE # SAVE FOR INDEXING TS TEMP2G CA PHS2CADR # SET UP EXIT IN CASE IT IS AN EVEN TS TEMPSWCH # TABLE PHASE CA RTRNCADR # TO SAVE TIME ASSUME IT WILL GET NEXT TS GOLOC +2 # GROUP AFTER THIS CA TEMPPHS MASK OCT1400 CCS A # IS IT A VARIABLE OR TABLE RESTART TCF ITSAVAR # IT:S A VARIABLE RESTART GETPART2 CCS TEMPPHS # IS IT AN X.1 RESTART CCS A TCF ITSATBL # NO, ITS A TABLE RESTART CA PRIO14 # IT IS AN X.1 RESTART, THEREFORE START TC FINDVAC # THE DISPLAY RESTART JOB EBANK= LST1 2CADR INITDSP TC RTRNCADR # FINISHED WITH THIS GROUP, GET NEXT ONE ITSAVAR MASK OCT1400 # IS IT TYPE B ? CCS A TCF ITSLIKEB # YES,IT IS TYPE B EXTEND # STORE THE JOB (OR TASK) 2CADR FOR EXIT NDX TEMP2G DCA PHSNAME1 DXCH GOLOC CA TEMPPHS # SEE IF THIS IS A JOB, TASK, OR A LONGCAL MASK OCT7 AD MINUS2 CCS A TCF ITSLNGCL # ITS A LONGCALL RTRNCADR TC SWRETURN # CANT GET HERE # Page 1304 TCF ITSAWAIT TCF ITSAJOB # ITS A JOB ITSAWAIT CA WTLTCADR # SET UP WAITLIST CALL TS GOLOC -1 NDX TEMP2G # DIRECTLY STORED CA PHSPRDT1 TIMETEST CCS A # IS IT AN IMMEDIATE RESTART INCR A # NO. TCF FINDTIME # FIND OUT WHEN IT SHOULD BEGIN TCF ITSINDIR # STORED INDIRECTLY TCF IMEDIATE # IT WANTS AN IMMEDIATE RESTART # ***** THIS MUST BE IN FIXED FIXED ***** BLOCK 02 SETLOC FFTAG2 BANK COUNT* $$/RSROU ITSINDIR LXCH GOLOC +1 # GET THE CORRECT E BANK IN CASE THIS IS LXCH BB # SWITCHED ERRASIBLE NDX A # GET THE TIME INDIRECTLY CA 1 LXCH BB # RESTORE THE BB AND GOLOC LXCH GOLOC +1 TCF FINDTIME # FIND OUT WHEN IT SHOULD BEGIN # ***** YOU MAY RETURN TO SWITCHED FIXED ***** BANK 01 SETLOC RESTART BANK COUNT* $$/RSROU FINDTIME COM # MAKE NEGITIVE SINCE IT WILL BE SUBTRACTD TS L # AND SAVE NDX TEMP2G CS TBASE1 EXTEND SU TIME1 CCS A COM # Page 1305 AD OCT37776 AD ONE AD L CCS A CA ZERO TCF +2 TCF +1 IMEDIATE AD ONE TC GOLOC -1 ITSLIKEB CA RTRNCADR # TYPE B, SO STORE RETURN IN TS TEMPSWCH # TEMPSWCH IN CASE OF AN EVEN PHASE CA PRT2CADR # SET UP EXIT TO GET TABLE PART OF THIS TS GOLOC +2 # VARIABLE TYPE OF PHASE CA TEMPPHS # MAKE THE PHASE LOOK RIGHT FOR THE TABLE MASK OCT177 # PART OF THIS VARIABLE PHASE TS TEMPPHS EXTEND NDX TEMP2G # OBTAIN THE JOB:S 2CADR DCA PHSNAME1 DXCH GOLOC ITSAJOB NDX TEMP2G # NOW ADD THE PRIORITY AND LET:S GO CA PHSPRDT1 CHKNOVAC TS GOLOC -1 # SAVE PRIO UNTIL WE SEE IF ITS EXTEND # A FINDVAC OR A NOVAC BZMF ITSNOVAC CAF FVACCADR # POSITIVE, SET UP FINDVAC CALL. XCH GOLOC -1 # PICK UP PRIO, TC GOLOC -1 # AND GO ITSNOVAC CAF NOVACADR # NEGATIVE, XCH GOLOC -1 # SET UP NOVAC CALL, COM # CORRECT PRIO, TC GOLOC -1 # AND GO ITSATBL TS CYR # FIND OUT IF THE PHASE IS ODD OR EVEN CCS CYR TCF +1 # IT:S EVEN TCF ITSEVEN CA RTRNCADR # IN CASE THIS IS THE SECOND PART OF A TS GOLOC +2 # TYPE B RESTART, WE NEED PROPER EXIT CA TEMPPHS # SET UP POINTER FOR FINDING OUR PLACE IN TS SR # THE RESTART TABLES AD SR # Page 1306 NDX TEMP2G AD SIZETAB +1 TS POINTER CONTBL2 EXTEND # FIND OUT WHAT:S IN THE TABLE NDX POINTER DCA CADRTAB # GET THE 2CADR LXCH GOLOC +1 # STORE THE BB INFORMATION CCS A # IS IT A JOB OR IS IT TIMED INCR A # POSITIVE. MUST BE A JOB TCF ITSAJOB2 INCR A # MUST BE EITHER A WAITLIST OR LONGCALL TS GOLOC # LET-S STORE THE CORRECT CADR CA WTLTCADR # SET UP OUR EXIT TO WAITLIST TS GOLOC -1 CA GOLOC +1 # NOW FIND OUT IF IT IS A WAITLIST CALL MASK BIT10 # THIS SHOULD BE ONE IF WE HAVE -BB CCS A # FOR THAT MATTER SO SHOULD BE BITS 9,8,7, # 6,5, AND LAST BUT NOT LEAST (PERHAPS NOT # IN IMPORTANCE ANYWAY. BIT 4 TCF ITSWTLST # IT IS A WAITLIST CALL NDX POINTER # OBTAIN THE ORIGINAL DELTA T CA PRDTTAB # ADDRESS FOR THIS LONGCALL TCF ITSLGCL1 # NOW GO GET THE DELTA TIME # ***** THIS MUST BE IN FIXED FIXED ***** BLOCK 02 SETLOC FFTAG2 BANK COUNT* $$/RSROU ITSLGCL1 LXCH GOLOC +1 # OBTAIN THE CORRECT E BANK LXCH BB LXCH GOLOC +1 # AND PRESERVE OUR E AND F BANKS EXTEND # GET THE DELTA TIME NDX A DCA 0 LXCH GOLOC +1 # RESTORE OUR E AND F BANK LXCH BB # RESTORE THE TASKS E AND F BANKS LXCH GOLOC +1 # AND PRESERVE OUR L # Page 1307 TCF ITSLGCL2 # NOT LET:S PROCESS THIS LONGCALL # ***** YOU MAY RETURN TO SWITCHED FIXED ***** BANK 01 SETLOC RESTART BANK COUNT* $$/RSROU ITSLGCL2 DXCH LONGTIME EXTEND # CALCULATE TIME LEFT DCS TIME2 DAS LONGTIME EXTEND DCA LONGBASE DAS LONGTIME CCS LONGTIME # FIND OUT HOW THIS SHOULD BE RESTARTED TCF LONGCLCL TCF +2 TCF IMEDIATE -3 CCS LONGTIME +1 TCF LONGCLCL NOOP # CAN:T GET HERE ********* TCF IMEDIATE -3 TCF IMEDIATE LONGCLCL CA LGCLCADR # WE WILL GO TO LONGCALL TS GOLOC -1 EXTEND # PREPARE OUR ENTRY TO LONGCALL DCA LONGTIME TC GOLOC -1 ITSLNGCL CA WTLTCADR # ASSUME IT WILL GO TO WAITLIST TS GOLOC -1 NDX TEMP2G CS PHSPRDT1 # GET THE DELTA T ADDRESS TCF ITSLGCL1 # NOW GET THE DELTA TIME ITSWTLST CS GOLOC +1 # CORRECT THE BBCON INFORMATION TS GOLOC +1 NDX POINTER # GET THE DT AND FIND OUT IF IT WAS STORED CA PRDTTAB # DIRECTLY OR INDIRECTLY TCF TIMETEST # FIND OUT HOW THE TIME IS STORED # Page 1308 ITSAJOB2 XCH GOLOC # STORE THE CADR NDX POINTER # ADD THE PRIORITY AND LET:S GO CA PRDTTAB TCF CHKNOVAC ITSEVEN CA TEMPSWCH # SET UP FOR EITHER THE SECOND PART OF THE TS GOLOC +2 # TABLE, OR A RETURN FOR THE NEXT GROUP NDX TEMP2G # SET UP POINTER FOR OUR LOCATION WITHIN CA SIZETAB # THE TABLE AD TEMPPHS # THIS MAY LOOK BAD BUT LET:S SEE YOU DO AD TEMPPHS # BETTER IN TIME OR NUMBERR OF LOCATIONS AD TEMPPHS TS POINTER TCF CONTBL2 # NOW PROCESS WHAT IS IN THE TABLE PHSPART2 CA THREE # SET THE POINTER FOR THE SECOND HALF OF ADS POINTER # THE TABLE CA RTRNCADR # THIS WILL BE OUR LAST TIME THROUGH THE TS GOLOC +2 # EVEN TABLE , SO AFTER IT GET THE NEXT # GROUP TCF CONTBL2 # SO LET:S GET THE SECOND ENTRY IN THE TBL TEMPPHS EQUALS MPAC TEMP2G EQUALS MPAC +1 POINTER EQUALS MPAC +2 TEMPSWCH EQUALS MPAC +3 GOLOC EQUALS VAC5 +20D MINUS2 EQUALS NEG2 OCT177 EQUALS LOW7 PHS2CADR GENADR PHSPART2 PRT2CADR GENADR GETPART2 LGCLCADR GENADR LONGCALL FVACCADR GENADR FINDVAC WTLTCADR GENADR WAITLIST NOVACADR GENADR NOVAC ================================================ FILE: Luminary099/RESTART_TABLES.agc ================================================ # Copyright: Public domain. # Filename: RESTART_TABLES.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 238-243 # Mod history: 2009-05-10 SN (Sergio Navarro). Started adapting # from the Luminary131/ file of the same # name, using Luminary099 page images. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 238 # RESTART TABLES # ------------------ # # THERE ARE TWO FORMS OF RESTART TABLES FOR EACH GROUP. THEY ARE KNOWN AS THE EVEN RESTART TABLES AND THE ODD # RESTART TABLES. THE ODD TABLES HAVE ONLY ONE ENTRY OF THREE LOCATIONS WHILE THE EVEN TABLES HAVE TWO ENTRIES # EACH USING THREE LOCATIONS. THE INFORMATION AS TO WHETHER IT IS A JOB, WAITLIST, OR A LONGCALL IS GIVEN BY THE # WAY THINGS ARE PUT INTO THE TABLES. # A JOB HAS ITS PRIORITY STORED IN PRDTTAB OF THE CORRECT PHASE SPOT - A POSITIVE PRIORITY INDICATES A # FINDVAC JOB, A NEGATIVE PRIORITY A NOVAC. THE 2CADR OF THE JOB IS STORED IN THE CADRTAB. # FOR EXAMPLE, # # 5.7SPOT OCT 23000 # 2CADR SOMEJOB # # A RESTART OF GROUP 5 WITH PHASE SEVEN WOULD THEN CAUSE SOMEJOB TO BE RESTARTED AS A FINDVAC WITH PRIORITY 23. # # 5.5SPOT OCT -23000 # 2CADR ANYJOB # # HERE A RESTART OF GROUP 5 WITH PHASE 7 WOULD CAUSE ANYJOB TO BE RESTARTED AS A NOVAC WITH PRIORITY 23. # A LONGCALL HAS ITS GENADR OF ITS 2CADR STORED NEGATIVELY AND ITS BBCON STORED POSITIVELY. IN ITS PRDTTAB IS # PLACED THE LOCATION OF A DP REGISTER THAT CONTAINS THE DELTA TIME THAT LONGCALL HAD BEEN ORIGINALLY STARTED # WITH. EXAMPLE, # # 3.6SPOT GENADR DELTAT # -GENADR LONGTASK # BBCON LONGTASK # # OCT 31000 # 2CADR JOBAGAIN # # THIS WOULD START UP LONGTASK AT THE APPROPRIATE TIME, OR IMMEDIATELY IF THE TIME HAD ALREADY PASSED. IT SHOULD # BE NOTED THAT IF DELTAT IS IN A SWITCHED E BANK, THIS INFORMATOIN SHOULD BE IN THE BBCON OFTHE 2CADR OF THE # TASK. FROM ABOVE, WE SEE THAT THE SECOND PART OF THIS PHASE WOULD BE STARTED AS A JOB WITH A PRIORITY OF 31. # # WAITLIST CALLS ARE IDENTIFIED BY THE FACT THAT THEIR 2CADR IS STORED NEGATIVELY. IF PRDTTAB OF THE PHASE SPOT # IS POSITIVE, THEN IT CONTAINS THE DELTA TIME, IF PRDTTAB IS NEGATIVE THEN IT IS THE -GENADR OF AN ERASABLE # LOCATION CONTAINING THE DELTA TIME, THAT IS, THE TIME IS STORED INDIRECTLY. IT SHOULD BE NOTED AS ABOVE, THAT # IF THE TIME IS STORED INDIRECTLY, THE BBCON MUST CONTAIN THE NECESSARY E BANK INFORMATION IF APPLICABLE. WITH # WAITLIST WE HAVE ONE FURTHER OPTION, IF -0 IS STORED IN PRDTTAB, IT WILL CAUSE AN IMMEDIATE RESTART OF THE # TASK. EXAMPLES, # # OCT 77777 # THIS WILL CAUSE AN IMMEDIATE RESTART # -2CADR ATASK # OF THE TASK :ATASK: # # DEC 200 # IF THE TIME OF THE 2 SECONDS SINCE DUMMY # -2CADR DUMMY # WAS PUT ON THE WAITLIST IS UP, IT WILL BEGIN # # IN 10 MS, OTHERWISE IT WILL BEGIN WHEN # # IT NORMALLY WOULD HAVE BEGUN. # Page 239 # -GENADR DTIME # WHERE DTIME CONTAINS THE DELTA TIME # -2CADR TASKTASK # OTHERWISE THIS IS AS ABOVE # # ***** NOW THE TABLES THEMSELVES ***** BANK 01 SETLOC RESTART BANK PRDTTAB EQUALS 12000 # USED TO FIND THE PRIORITY OR DELTATIME CADRTAB EQUALS 12001 # THIS AND THE NEXT RELATIVE LOC CONTAIN # RESTART 2CADR COUNT* $$/RSTAB # TABLES IN BANK 1. SIZETAB TC 1.2SPOT -12006 TC 1.3SPOT -12004 TC 2.2SPOT -12006 TC 2.3SPOT -12004 TC 3.2SPOT -12006 TC 3.3SPOT -12004 TC 4.2SPOT -12006 TC 4.3SPOT -12004 TC 5.2SPOT -12006 TC 5.3SPOT -12004 TC 6.2SPOT -12006 TC 6.3SPOT -12004 1.2SPOT OCT 21000 # A DUMMY EXAMPLE TO BE REPLACED AS SOON EBANK= STATE 2CADR ENDOFJOB # AS THERE IS A LEGITIMATE 1.2SPOT DEC 100 EBANK= STATE 2CADR TASKOVER # ANY MORE GROUP 1.EVEN RESTART VALUES SHOULD GO HERE 1.3SPOT -GENADR SAVET-30 EBANK= DVCNTR -2CADR ULLGTASK # ANY MORE GROUP 1.ODD RESTART VALUES SHOULD GO HERE 2.2SPOT EQUALS 1.2SPOT # ANY MORE GROUP 2.EVEN RESTART VALUES SHOULD GO HERE 2.3SPOT GENADR 600SECS -GENADR STATEINT EBANK= RRECTCSM BBCON STATEINT # Page 240 2.5SPOT OCT 05000 EBANK= RRECTCSM 2CADR STATINT1 2.7SPOT DEC 1500 EBANK= LOSCOUNT -2CADR P20LEMC1 2.11SPOT OCT 14000 EBANK= P21TIME 2CADR P25LEM1 2.13SPOT OCT 10000 EBANK= LOSCOUNT 2CADR RELINUS 2.15SPOT OCT 26000 EBANK= LOSCOUNT 2CADR R22RSTRT 2.17SPOT OCT 77777 EBANK= VGPREV -2CADR REDO2.17 2.21SPOT DEC 25 EBANK= DVCNTR -2CADR R10,R11 # ANY MORE GROUP 2.ODD RESTART VALUES SHOULD GO HERE. 3.2SPOT EQUALS 1.2SPOT # ANY MORE GROUP 3.EVEN RESTART VALUES SHOULD GO HERE 3.3SPOT -GENADR ZOOMTIME EBANK= DVCNTR -2CADR ZOOM 3.5SPOT OCT 20000 EBANK= TTOGO 2CADR S40.13 # ANY MORE GROUP 3.ODD RESTART VALUES SHOULD GO HERE 4.2SPOT DEC 2500 EBANK= TTOGO -2CADR TIG-5 OCT 77777 EBANK= TTOGO # Page 241 -2CADR REDO4.2 # ANY MORE GROUP 4.EVEN RESTART VALUES SHOULD GO HERE 4.3SPOT OCT 25000 EBANK= DVCNTR 2CADR GOABORT 4.5SPOT DEC 50 EBANK= TTOGO -2CADR ULLAGOFF 4.7SPOT DEC 500 EBANK= DVCNTR -2CADR TIG-0 4.11SPOT -GENADR TGO +1 EBANK= DVCNTR -2CADR ENGOFTSK 4.13SPOT OCT 12000 EBANK= TRKMKCNT 2CADR POSTBURN 4.15SPOT DEC 500 EBANK= TTOGO -2CADR TIG-30 4.17SPOT OCT 77777 EBANK= DVCNTR -2CADR TIG-5 4.21SPOT OCT 13000 EBANK= STAR 2CADR R51.1 +1 4.23SPOT OCT 77777 EBANK= DVCNTR -2CADR IGNITION 4.25SPOT GENADR SAVET-30 -GENADR TIG-35 EBANK= SAVET-30 BBCON TIG-35 4.27SPOT OCT 52777 EBANK= DVCNTR 2CADR P70A # Page 242 4.31SPOT OCT 52777 EBANK= DVCNTR 2CADR P71A 4.33SPOT OCT 46777 EBANK= DVCNTR 2CADR GOP00FIX 4.35SPOT OCT 46777 EBANK= DVCNTR 2CADR GOPOODOO 4.37SPOT OCT 52777 EBANK= WHICH 2CADR COMFAIL # ANY MORE 4.ODD RESTART VALUES SHOULD GO HERE. 5.2SPOT OCT 22000 EBANK= DVCNTR 2CADR NORMLIZE DEC 200 EBANK= DVCNTR -2CADR REREADAC 5.4SPOT DEC 200 EBANK= DVCNTR -2CADR REREADAC OCT 20000 EBANK= DVCNTR 2CADR SERVICER # ANY MORE GROUP 5.EVEN RESTART VALUES SHOULD GO HERE 5.3SPOT DEC 200 EBANK= DVCNTR -2CADR REREADAC 5.5SPOT OCT 77777 EBANK= DVCNTR -2CADR REDO5.5 5.7SPOT OCT 77777 EBANK= DVCNTR # Page 243 -2CADR BIBIBIAS # ANY MORE GROUP 5.ODD RESTART VALUES SHOULD GO HERE 6.2SPOT EQUALS 1.2SPOT 6.3SPOT DEC 100 EBANK= TIG -2CADR CLOKTASK 6.5SPOT OCT 30000 # PROTECT INCREMENTING OF TIME2,TIME1 BY EBANK= TEPHEM # P27(UPDATE PROGRAM) VIA V70 OR V73. 2CADR TIMEDIDR 6.7SPOT OCT 17000 EBANK= VGPREV 2CADR REDO6.7 ================================================ FILE: Luminary099/RTB_OP_CODES.agc ================================================ # Copyright: Public domain. # Filename: RTB_OP_CODES.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1397-1401 # Mod history: 2009-05-10 SN (Sergio Navarro). Started adapting # from the Luminary131/ file of the same # name, using Luminary099 page images. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 1397 BANK 22 SETLOC RTBCODES BANK EBANK= XNB COUNT* $$/RTB # LOAD TIME2, TIME1 INTO MPAC: LOADTIME EXTEND DCA TIME2 TCF SLOAD2 # CONVERT THE SINGLE PRECISION 2'S COMPLEMENT NUMBER ARRIVING IN MPAC (SCALED IN HALF-REVOLUTIONS) TO A # DP 1'S COMPLEMENT NUMBER SCALED IN REVOLUTIONS. CDULOGIC CCS MPAC CAF ZERO TCF +3 NOOP CS HALF TS MPAC +1 CAF ZERO XCH MPAC EXTEND MP HALF DAS MPAC TCF DANZIG # MODE IS ALREADY AT DOUBLE-PRECISION # FORCE TP SIGN AGREEMENT IN MPAC: SGNAGREE TC TPAGREE TCF DANZIG # CONVERT THE DP 1'S COMPLEMENT ANGLE SCALED IN REVOLUTIONS TO A SINGLE PRECISION 2'S COMPLEMENT ANGLE # SCALED IN HALF-REVOLUTIONS. 1STO2S TC 1TO2SUB CAF ZERO TS MPAC +1 TCF NEWMODE # DO 1STO2S ON A VECTOR OF ANGLES: V1STO2S TC 1TO2SUB # ANSWER ARRIVES IN A AND MPAC. DXCH MPAC +5 DXCH MPAC TC 1TO2SUB # Page 1398 TS MPAC +2 DXCH MPAC +3 DXCH MPAC TC 1TO2SUB TS MPAC +1 CA MPAC +5 TS MPAC TPMODE CAF ONE # MODE IS TP. TCF NEWMODE # V1STO2S FOR 2 COMPONENT VECTOR. USED BY RR. 2V1STO2S TC 1TO2SUB DXCH MPAC +3 DXCH MPAC TC 1TO2SUB TS L CA MPAC +3 TCF SLOAD2 # SUBROUTINE TO DO DOUBLING AND 1'S TO 2'S CONVERSION: 1TO2SUB DXCH MPAC # FINAL MPAC +1 UNSPECIFIED. DDOUBL CCS A AD ONE TCF +2 COM # THIS WAS REVERSE OF MSU. TS MPAC # AND SKIP ON OVERFLOW. TC Q INDEX A # OVERFLOW UNCORRECT AND IN MSU. CAF LIMITS ADS MPAC TC Q # THE FOLLOWING ROUTINE INCREMENTS IN 2S COMPLEMENT THE REGISTER WHOSE ADDRESS IS IN BUF BY THE 1S COMPL. # QUANTITY FOUND IN TEM2. THIS MAY BE USED TO INCREMENT DESIRED IMU AND OPTICS CDU ANGLES OR ANY OTHER 2S COMPL. # (+0 UNEQUAL TO -0) QUANTITY. MAY BE CALLED BY BANKCALL/SWCALL. CDUINC TS TEM2 # 1S COMPL.QUANT. ARRIVES IN ACC. STORE IT INDEX BUF CCS 0 # CHANGE 2S COMPL. ANGLE(IN BUF)INTO 1S AD ONE TCF +4 AD ONE # Page 1399 AD ONE # OVERFLOW HERE IF 2S COMPL. IS 180 DEG. COM AD TEM2 # SULT MOVES FROM 2ND TO 3D QUAD.(OR BACK) CCS A # BACK TO 2S COMPL. AD ONE TCF +2 COM TS TEM2 # STORE 14BIT QUANTITY WITH PRESENT SIGN TCF +4 INDEX A # SIGN. CAF LIMITS # FIX IT,BY ADDING IN 37777 OR 40000 AD TEM2 INDEX BUF TS 0 # STORE NEW ANGLE IN 2S COMPLEMENT. TC Q # Page 1400 # RTB TO TORQUE GYROS, EXCEPT FOR THE CALL TO IMUSTALL. ECADR OF COMMANDS ARRIVES IN X1. PULSEIMU INDEX FIXLOC # ADDRESS OF GYRO COMMANDS SHOULD BE IN X1 CA X1 TC BANKCALL CADR IMUPULSE TCF DANZIG # Page 1401 # THE SUBROUTINE SIGNMPAC SETS C(MPAC, MPAC +1) TO SIGN(MPAC). # FOR THIS, ONLY THE CONTENTS OF MPAC ARE EXAMINED. ALSO +0 YIELDS POSMAX AND -0 YIELDS NEGMAX. # # ENTRY MAY BE BY EITHER OF THE FOLLOWING: # 1. LIMIT THE SIZE OF MPAC ON INTERPRETIVE OVERFLOW: # ENTRY: BOVB # SIGNMPAC # 2. GENERATE IN MPAC THE SIGNUM FUNCTION OF MPAC: # ENTRY: RTB # SIGNMPAC # IN EITHER CASE, RETURN IS TO THE NEXT INTERPRETIVE INSTRUCTION IN THE CALLING SEQUENCE. SIGNMPAC EXTEND DCA DPOSMAX DXCH MPAC CCS A DPMODE CAF ZERO # SETS MPAC +2 TO ZERO IN THE PROCESS TCF SLOAD2 +2 TCF +1 EXTEND DCS DPOSMAX TCF SLOAD2 # RTB OP CODE NORMUNIT IS LIKE INTERPRETIVE INSTRUCTION UNIT, EXCEPT THAT IT CAN BE DEPENDED ON NOT TO BLOW # UP WHEN THE VECTOR BEING UNITIZED IS VERY SMALL -- IT WILL BLOW UP WHEN ALL COMPONENTS ARE ZERO. IF NORMUNIT # IS USED AND THE UPPER ORDER HALVES OF ALL COMPONENTS ARE ZERO, THE MAGNITUDE RETURNED IN 36D WILL BE TOO LARGE # BY A FACTOR OF 2(13) AND THE SQUARED MAGNITUDE RETURNED AT 34D WILL BE TOO BIG BY A FACTOR OF 2(26). NORMUNX1 CAF ONE TCF NORMUNIT +1 NORMUNIT CAF ZERO AD FIXLOC TS MPAC +2 TC BANKCALL # GET SIGN AGREEMENT IN ALL COMPONENTS CADR VECAGREE CCS MPAC TCF NOSHIFT TCF +2 TCF NOSHIFT CCS MPAC +3 TCF NOSHIFT TCF +2 TCF NOSHIFT CCS MPAC +5 TCF NOSHIFT TCF +2 TCF NOSHIFT # Page 1402 CA MPAC +1 # SHIFT ALL COMPONENTS LEFT 13 EXTEND MP BIT14 DAS MPAC # DAS GAINS A LITTLE ACCURACY CA MPAC +4 EXTEND MP BIT14 DAS MPAC +3 CA MPAC +6 EXTEND MP BIT14 DAS MPAC +5 CAF THIRTEEN INDEX MPAC +2 TS 37D OFFTUNIT TC POSTJUMP CADR UNIT +1 # SKIP THE "TC VECAGREE" DONE AT UNIT NOSHIFT CAF ZERO TCF OFFTUNIT -2 # RTB VECSGNAG ...FORCES SIGN AGREEMENT OF VECTOR IN MPAC. VECSGNAG TC BANKCALL CADR VECAGREE TC DANZIG # *** END OF SKIPPER .087 *** ================================================ FILE: Luminary099/S-BAND_ANTENNA_FOR_LM.agc ================================================ # Copyright: Public domain. # Filename: S-BAND_ANTENNA_FOR_LM.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 486-489 # Mod history: 2009-05-17 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # 2009-06-07 RSB Corrected a misprint. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 486 # SUBROUTINE NAME: R05 - S-BAND ANTENNA FOR LM # # MOD0 BY T. JAMES # MOD1 BY P. SHAKIR # # FUNCTIONAL DESCRIPTION # # THE S-BAND ANTENNA ROUTINE, R05, COMPUTES AND DISPLAYS THE PITCH AND # YAW ANTENNA GIMBAL ANGLES REQUIRED TO POINT THE LM STEERABLE ANTENNA # TOWARD THE CENTER OF THE EARTH. THIS ROUTINE IS SELECTED BY THE ASTRO- # NAUT VIA DSKY ENTRY DURING COASTING FLIGHT OR WHEN THE LM IS ON THE MOON # SURFACE. THE EARTH OR MOON REFERENCE COORDINATE SYSTEM IS USED DEPENDING # ON WHETHER THE LM IS ABOUT TO ENTER OR HAS ALREADY ENTERED THE MOON # SPHERE OF INFLUENCE, RESPECTIVELY # # TO CALL SUBROUTINE, ASTRONAUT KEYS IN V 64 E # # SUBROUTINES CALLED- # R02BOTH # INTPRET # LOADTIME # LEMCONIC # LUNPOS # CDUTRIG # *SMNB* # BANKCALL # B50OFF # ENDOFJOB # BLANKET # # RETURNS WITH # PITCH ANGLE IN PITCHANG REV. B0 # YAW ANGLE IN YAWANG REV. B0 # # ERASABLES USED # PITCHANG # YAWANG # RLM # VAC AREA BANK 41 SETLOC SBAND BANK EBANK= WHOCARES COUNT* $$/R05 SBANDANT TC BANKCALL # Page 487 CADR R02BOTH # CHECK IF IMU IS ON AND ALIGNED TC INTPRET SETPD RTB 0D LOADTIME # PICK UP CURRENT TIME STCALL TDEC1 # ADVANCE INTEGRATION TO TIME IN TDEC1 LEMCONIC # USING CONIC INTEGRATION SLOAD BHIZ X2 # X2 =0 EARTH SPHERE, X2 =2 MOON SPHERE CONV4 VLOAD RATT STODL RLM TAT CONV3 CALL LUNPOS # UNIT POSITION VECTOR FROM EARTH TO MOON VLOAD VXSC VMOON REMDIST # MEAN DISTANCE FROM EARTH TO MOON VSL1 VAD RLM GOTO CONV5 CONV4 VLOAD RATT # UE = -UNIT(RATT) EARTH SPHERE CONV5 SETPD UNIT # UE = -UNIT((REM)(UEM) + RL) MOON SPHERE 0D # SET PL POINTER TO 0 VCOMP CALL CDUTRIG # COMPUTE SINES AND COSINES OF CDU ANGLES MXV VSL1 # TRANSFORM REF. COORDINATE SYSTEM TO REFSMMAT # STABLE MEMBER B-1 X B-1 X B+1 = B-1 PUSH DLOAD # 8D HI6ZEROS STORE PITCHANG STOVL YAWANG # ZERO OUT ANGLES CALL *SMNB* STODL RLM # PRE-MULTIPLY RLM BY (NBSA) MATRIX(B0) RLM +2 PUSH DSU RLM DMP 1OVSQRT2 STODL RLM +2 DAD DMP RLM 1OVSQRT2 STOVL RLM # R B-1 RLM UNIT PDVL # Page 488 RLM VPROJ VSL2 # PROJECTION OF R ONTO LM XZ PLANE HIUNITY BVSU BOV # CLEAR OVERFLOW INDICATOR IF ON RLM COVCNV COVCNV UNIT BOV # EXIT ON OVERFLOW SBANDEX PUSH VXV # URP VECTOR B-1 HIUNITZ VSL1 VCOMP # UZ X URP = -(URP X UZ) STORE RLM # X VEC B-1 DOT PDVL # SGN(X.UY) UNSCALED HIUNITY RLM ABVAL SIGN ASIN # ASIN((SGN(X.UY))ABV(X)) REV B0 STOVL PITCHANG URP DOT BPL HIUNITZ NOADJUST # YES, -90 TO +90 DLOAD DSU HIDPHALF PITCHANG STORE PITCHANG NOADJUST VLOAD VXV UR # Z = (UR X URP) URP VSL1 STODL RLM # Z VEC B-1 PITCHANG SIN VXSC HIUNITZ PDDL COS PITCHANG VXSC VSU HIUNITX # (UX COS ALPHA) - (UZ SIN ALPHA) DOT PDVL # YAW.Z RLM RLM ABVAL SIGN ASIN STORE YAWANG SBANDEX EXIT CA EXTVBACT MASK BIT5 # IS BIT5 STILL ON EXTEND BZF ENDEXT # NO CAF PRIO5 # Page 489 TC PRIOCHNG CAF V06N51 # DISPLAY ANGLES TC BANKCALL CADR GOMARKFR TC B5OFF # TERMINATE TC B5OFF # PROCEED TC ENDOFJOB # RECYCLE CAF BIT3 # IMMEDIATE RETURN TC BLANKET # BLANK R3 CAF PRIO4 TC PRIOCHNG TC SBANDANT +2 # YES, CONTINUE DISPLAYING ANGLES V06N51 VN 0651 1OVSQRT2 2DEC .7071067815 # 1/SQRT(2) UR EQUALS 0D URP EQUALS 6D SBANK= LOWSUPER # *** END OF LNYAIDE .001 *** ================================================ FILE: Luminary099/SERVICER.agc ================================================ # Copyright: Public domain. # Filename: SERVICER.agc # Purpose: Part of the source code for Luminary, build 099. It # is part of the source code for the Lunar Module's # (LM) Apollo Guidance Computer (AGC), Apollo 11. # Assembler: yaYUL # Reference: pp. 857-897 # Contact: Ron Burkey , # Fabrizio Bernardini # Website: http://www.ibiblio.org/apollo. # Mod history: 2009-06-01 FB Transcription Batch 4 Assignment. # 2009-06-05 RSB Fixed a couple of typos, plus a goofy relative # label reference from the original source. # # The contents of the "Luminary099" files, in general, are transcribed # from scanned documents. # # Assemble revision 001 of AGC program Luminary099 by NASA # 2021112-061. July 14, 1969. # # Prepared by # Massachusetts Institute of Technology # 75 Cambridge Parkway # Cambridge, Massachusetts # # under NASA contract NAS 9-4065. # # Refer directly to the online document mentioned above for further # information. Please report any errors to info@sandroid.org. # Page 857 BANK 37 SETLOC SERV1 BANK EBANK= DVCNTR # ************* PREREAD ******************* COUNT* $$/SERV PREREAD CAF SEVEN # 5.7 SPOT TO SKIP LASTBIAS AFTER TC GNUFAZE5 # RESTART. CAF PRIO21 TC NOVAC EBANK= NBDX 2CADR LASTBIAS # DO LAST GYRO COMPENSATION IN FREE FALL BIBIBIAS TC PIPASR +3 # CLEAR + READ PIPS LAST TIME IN FRE5+F133 # DO NOT DESTROY VALUE OF PIPTIME1 CS FLAGWRD7 MASK SUPER011 # SET V37FLAG AND AVEGFLAG (BITS 5 AND 6 ADS FLAGWRD7 # OF FLAGWRD7) CS DRFTBIT MASK FLAGWRD2 # RESET DRIFTFLAG TS FLAGWRD2 CAF FOUR # INITIALIZE DV MONITOR TS PIPAGE CAF ENDJBCAD # POINT OUTROUTE TO END-OF-JOB. TS OUTROUTE CAF PRIO22 TC FINDVAC # TO FIRST ENTRY TO AVERAGE G EBANK= DVCNTR 2CADR NORMLIZE CA TWO # 5.2SPOT FOR REREADAC AND NORMLIZE GOREADAX TC GNUTFAZ5 CA 2SECS # WAIT TWO SECONDS FOR READACCS TC VARDELAY # Page 858 # ************* READACCS **************** READACCS CS OCT37771 # THIS PIECE OF CODING ATTEMPTS TO AD TIME5 # SYNCHRONIZE READACCS WITH THE DIGITAL CCS A # AUTOPILOT SO THAT A PAXIS RUPT WILL CS ONE # OCCUR APPROXIMATELY 70 MILLISECONDS TCF +2 # FOLLOWING THE READACCS RUPT. THE 70 MS CA ONE # OFFSET WAS CHOSEN SO THAT THE PAXIS +2 ADS TIME5 # RUPT WOULD NOT OCCUR SIMULTANEOUSLY # WITH ANY OF THE 8 SUBSEQUENT R10,R11 # INTERRUPTS -- THUS MINIMIZING THE POSS- # IBILITY OF LOSING DOWNRUPTS. TC PIPASR # READ THE PIPAS. PIPSDONE CA FIVE TC GNUFAZE5 REDO5.5 CAF ONE TS PIPAGE CA PRIO20 TC FINDVAC EBANK= DVCNTR 2CADR SERVICER # SET UP SERVICER JOB CA BIT9 EXTEND WOR DSALMOUT # TURN ON TEST CONNECTOR OUTBIT CA FLAGWRD7 MASK AVEGFBIT EXTEND BZF AVEGOUT # AVEGFLAG DOWN -- SET UP FINAL EXIT CA FLAGWRD6 MASK MUNFLBIT EXTEND BZF MAKEACCS # MUNFLAG CLEAR -- BYPASS LR AND DISP. CCS PHASE2 TCF MAKEACCS # PHASE 2 ACTIVATED -- AVOID MULTIPLE R10. CAF SEVEN # SET PIPCTR FOR 4X/SEC RATE. TS PIPCTR CS TIME1 # SET TBASE2 .05 SECONDS IN THE PAST. AD FIVE AD NEG1/2 AD NEG1/2 XCH TBASE2 # Page 859 CAF DEC17 # 2.21SPOT FOR R10,R11 TS L COM DXCH -PHASE2 CAF OCT24 # FIRST R10,R11 IN .200 SECONDS TC WAITLIST EBANK= UNIT/R/ 2CADR R10,R11 MAKEACCS CA FOUR TCF GOREADAX # DO PHASE CHANGE AND RECALL READACCS AVEGOUT EXTEND DCA AVOUTCAD # SET UP FINAL SERVICER EXIT DXCH AVGEXIT CA FOUR # SET 5.4 SPOT FOR REREADAC AND SERVICER TC GNUTFAZ5 # IF REREADAC IS CALLED, IT WILL EXIT TC TASKOVER # END TASK WITHOUT CALLING READACCS GNUTFAZ5 TS L # SAVE INPUT IN L CS TIME1 TS TBASE5 # SET TBASE5 TCF +2 GNUFAZE5 TS L # SAVE INPUT IN L CS L # -PHASE IN A, PHASE IN L. DXCH -PHASE5 # SET -PHASE5,PHASE5 TC Q EBANK= DVCNTR AVOUTCAD 2CADR AVGEND ENDJBCAD CADR SERVEXIT +2 OCT37771 OCT 37771 BANK 33 SETLOC SERVICES BANK COUNT* $$/SERV # Page 860 # ************* SERVICER **************** SERVICER TC PHASCHNG # RESTART REREADAC + SERVICER OCT 16035 OCT 20000 EBANK= DVCNTR 2CADR GETABVAL CAF PRIO31 # INITIALIZE 1/PIPADT IN CASE RESTART HAS TS 1/PIPADT # CAUSED LASTBIAS TO BE SKIPPED. TC BANKCALL # PIPA COMPENSATION CALL CADR 1/PIPA GETABVAL TC INTPRET VLOAD ABVAL DELV EXIT CA MPAC TS ABDELV # ABDELV = CM/SEC*2(-14). EXTEND MP KPIP DXCH ABDVCONV # ABDVCONV = M/CS * 2(-5). EXTEND DCA MASS DXCH MASS1 # INITIALIZE MASS1 IN CASE WE SKIP MASSMON MASSMON CS FLAGWRD8 # ARE WE ON THE SURFACE? MASK SURFFBIT EXTEND BZF MOONSPOT # YES: BYPASS MASS MESS CA FLGWRD10 # NO: WHICH VEX SHOULD BE USED? MASK APSFLBIT CCS A EXTEND # IF EXTEND IS EXECUTED, APSVEX --> A, DCA APSVEX # OTHERWISE DPSVEX --> A TS Q EXTEND DCA ABDVCONV EXTEND OCT10002 DV Q # WHERE APPROPRIATE VEX RESIDES EXTEND MP MASS DAS MASS1 MOONSPOT CA KPIP1 # TP MPAC = ABDELV AT 2(14) CM/SEC TC SHORTMP # MULTIPLY BY KPIP1 TO GET # Page 861 DXCH MPAC # ABDELV AT 2(7) M/CS DAS DVTOTAL # UPDATE DVTOTAL FOR DISPLAY TC TMPTOSPT TC BANKCALL CADR QUICTRIG CAF XNBPIPAD TC BANKCALL CADR FLESHPOT TC INTPRET AVERAGEG BON CALL MUNFLAG RVBOTH CALCRVG EXIT GOSERV TC QUIKFAZ5 COPYCYCL TC COPYCYC # CA ZERO # A IS ZERO ON RETURN FROM COPYCYC TS PIPATMPX TS PIPATMPY TS PIPATMPZ CS STEERBIT # CLEAR STEERSW PRIOR TO DVMON. MASK FLAGWRD2 TS FLAGWRD2 CAF IDLEFBIT # IS THE IDLE FLAG SET? MASK FLAGWRD7 CCS A TCF NODVMON1 # IDLEFLAG = 1, HENCE SET AUXFLAG TO 0. CS FLAGWRD6 MASK AUXFLBIT CCS A TCF NODVMON2 # AUXFLAG = 0, HENCE SET AUXFLAG TO 1. DVMON CS DVTHRUSH AD ABDELV EXTEND BZMF LOTHRUST CS FLAGWRD2 # SET STEERSW. MASK STEERBIT ADS FLAGWRD2 DVCNTSET CAF ONE # ALLOW TWO PASSES MAXIMUM NOW THAT # Page 862 TS DVCNTR # THRUST HAS BEEN DETECTED. CA FLGWRD10 # BRANCH IF APSFLAG IS SET. MASK APSFLBIT CCS A TCF USEJETS CA BIT9 # CHECK GIMBAL FAIL BIT EXTEND RAND CHAN32 EXTEND BZF USEJETS USEGTS CS USEQRJTS MASK DAPBOOLS TS DAPBOOLS TCF SERVOUT NODVMON1 CS AUXFLBIT # SET AUXFLAG TO 0. MASK FLAGWRD6 TS FLAGWRD6 TCF USEJETS NODVMON2 CS FLAGWRD6 # SET AUXFLAG TO 1. MASK AUXFLBIT ADS FLAGWRD6 TCF USEJETS LOTHRUST TC QUIKFAZ5 CCS DVCNTR TCF DECCNTR CCS PHASE4 # COMFAIL JOB ACTIVE? TCF SERVOUT # YES: WON'T NEED ANOTHER. TC PHASCHNG # 4.37SPOT FOR COMFAIL. OCT 00374 CAF PRIO25 TC NOVAC EBANK= WHICH 2CADR COMFAIL TCF SERVOUT DECCNTR TS DVCNTR1 TC QUIKFAZ5 CA DVCNTR1 TS DVCNTR INHINT TC IBNKCALL # IF THRUST IS LOW, NO STEERING IS DONE # Page 863 CADR STOPRATE # AND THE DESIRED RATES ARE SET TO ZERO. USEJETS CS DAPBOOLS MASK USEQRJTS ADS DAPBOOLS SERVOUT RELINT TC BANKCALL CADR 1/ACCS CA PRIORITY MASK LOW9 TS PUSHLOC ZL DXCH FIXLOC # FIXLOC AND DVFIND TC QUIKFAZ5 EXTEND # EXIT TO SELECTED ROUTINE WHETHER THERE DCA AVGEXIT # IS THRUST OR NOT. THE STATE OF STEERSW DXCH Z # WILL CONVEY THIS INFORMATION. XNBPIPAD ECADR XNBPIP BANK 32 SETLOC SERV2 BANK COUNT* $$/SERV AVGEND CA PIPTIME +1 # FINAL AVERAGE G EXIT TS 1/PIPADT # SET UP FREE FALL GYRO COMPENSATION. TC UPFLAG # SET DRIFT FLAG. ADRES DRIFTFLG TC BANKCALL CADR PIPFREE CS BIT9 EXTEND WAND DSALMOUT TC 2PHSCHNG OCT 5 # GROUP 5 OFF OCT 05022 # GROUP 2 ON OCT 20000 TC INTPRET SET CLEAR NOR29FLG # SHUT OFF R29 WHEN SERVICER ENDS. SWANDISP # SHUT OFF R10 WHEN SERVICER ENDS. CLEAR CALL # RESET MUNFLAG. MUNFLAG # Page 864 AVETOMID CLEAR EXIT V37FLAG AVERTRN CA OUTROUTE # RETURN TO DESIRED POINT. TC BANKJUMP OUTGOAVE = AVERTRN DVCNTR1 = MASS1 # Page 865 SETLOC SERV3 BANK COUNT* $$/SERV SERVIDLE EXTEND # DISCONNECT SERVICER FROM ALL GUIDANCE DCA SVEXTADR DXCH AVGEXIT CS FLAGWRD7 # DISCONNECT THE DELTA-V MONITOR MASK IDLEFBIT ADS FLAGWRD7 CAF LRBYBIT # TERMINATE R12 IS RUNNING. TS FLGWRD11 EXTEND DCA NEG0 DXCH -PHASE1 CA FLAGWRD6 # DO NOT TURN OFF PHASE 2 IF MUNFLAG SET. MASK MUNFLBIT CCS A TCF +4 EXTEND DCA NEG0 DXCH -PHASE2 +4 EXTEND DCA NEG0 DXCH -PHASE3 EXTEND DCA NEG0 DXCH -PHASE6 CAF OCT33 # 4.33SPOT FOR GOP00FIX TS L COM DXCH -PHASE4 TCF WHIMPER # PERFORM A SOFTWARE RESTART AND PROCEED # TO GOTOPOOH WHILE SERVICER CONTINUES TO # RUN, ALBEIT IN A GROUND STATE WHERE # ONLY STATE-VECTOR DEPENDENT FUNCTIONS # ARE MAINTAINED. EBANK= DVCNTR # Page 866 SVEXTADR 2CADR SERVEXIT BANK 32 SETLOC SERV BANK COUNT* $$/SERV SERVEXIT TC PHASCHNG OCT 00035 +2 TCF ENDOFJOB BANK 23 SETLOC NORMLIZ BANK COUNT* $$/SERV # Page 867 NORMLIZE TC INTPRET VLOAD BOFF RN1 MUNFLAG NORMLIZ1 VSL6 MXV REFSMMAT STCALL R MUNGRAV VLOAD VSL1 VN1 MXV REFSMMAT STOVL V V(CSM) VXV UNIT R(CSM) STORE UHYP ASCSPOT EXIT EXTEND # MAKE SURE GROUP 2 IS OFF DCA NEG0 DXCH -PHASE2 TC POSTJUMP CADR NORMLIZ2 BANK 33 SETLOC SERVICES BANK COUNT* $$/SERV NORMLIZ1 CALL CALCGRAV EXIT NORMLIZ2 CA EIGHTEEN TC COPYCYC +1 # DO NOT COPY MASS IN NORMLIZE TC ENDOFJOB COPYCYC CA OCT24 # DEC 20 +1 INHINT +2 MASK NEG1 # REDUCE BY 1 IF ODD TS ITEMP1 EXTEND INDEX ITEMP1 DCA RN1 INDEX ITEMP1 # Page 868 DXCH RN CCS ITEMP1 TCF COPYCYC +2 TC Q # RETURN UNDER INHINT EIGHTEEN DEC 18 # Page 869 # ************* PIPA READER ***************** # MOD NO. 00 BY D. LICKLY, DEC. 9 1966 # # FUNCTIONAL DESCRIPTION # SUBROUTINE TO READ PIPA COUNTERS, TRYING TO BE VERY CAREFUL SO THAT WILL BE RESTARTABLE. # PIPA READINGS ARE STORED IN THE VECTOR DELV. THE HIGH ORDER PART OF EACH COMPONENT CONTAINS THE PIPA READING, # RESTARTS BEGIN AT REREADAC. # # AT THE END OF THE PIPA READER THE CDUS ARE READ AND STORED AS A # VECTOR IN CDUTEMP. THE HIGH ORDER PART OF EACH COMPONENT CONTAINS # THE CDU READING IN 25 COMP IN THE ORDER CDUX,Y,Z. THE THRUST # VECTOR ESTIMATOR IN FINDCDUD REQUIRES THE CDUS BE READ AT PIPTIME. # # CALLING SEQUENCE AND EXIT # CALL VIA TC, ISWCALL, ETC. # EXIT IS VIA Q. # # INPUT # INPUT IS THROUGH THE COUNTERS PIPAX, PIPAY, PIPAZ, AND TIME2. # # OUTPUT # HIGH ORDER COMPONENTS OF THE VECTOR DELV CONTAIN THE PIPA READINGS. # PIPTIME CONTAINS TIME OF PIPA READING. # # DEBRIS (ERASABLE LOCATIONS DESTROYED BY PROGRAM) # TEMX, TEMY, TEMZ, PIPAGE BANK 37 SETLOC SERV1 BANK COUNT* $$/SERV PIPASR EXTEND # Page 870 DCA TIME2 DXCH PIPTIME1 # CURRENT TIME POSITIVE VALUE +3 CS ZERO # INITIALIZE THESE AT NEG. ZERO. TS TEMX TS TEMY TS TEMZ CA ZERO TS DELVZ TS DELVZ +1 TS DELVY TS DELVY +1 TS DELVX +1 TS PIPAGE # SHOW PIPA READING IN PROGRESS REPIP1 EXTEND DCS PIPAX # X AND Y PIPS READ DXCH TEMX DXCH PIPAX # PIPAS SET TO NEG ZERO AS READ. TS DELVX LXCH DELVY REPIP3 CS PIPAZ # REPEAT PROCESS FOR Z PIP XCH TEMZ XCH PIPAZ DODELVZ TS DELVZ REPIP4 EXTEND # COMPUTE GUIDANCE PERIOD DCA PIPTIME1 DXCH PGUIDE EXTEND DCS PIPTIME DAS PGUIDE CA CDUX # READ CDUS INTO HIGH ORDER CDUTEMPS TS CDUTEMPX CA CDUY TS CDUTEMPY CA CDUZ TS CDUTEMPZ CA DELVX TS PIPATMPX CA DELVY TS PIPATMPY CA DELVZ TS PIPATMPZ TC Q # Page 871 REREADAC CCS PIPAGE TCF READACCS # PIP READING NOT STARTED. GO TO BEGINNING CAF DONEADR # SET UP RETURN FROM PIPASR TS Q CCS DELVZ TCF REPIP4 # Z DONE, GO DO CDUS TCF +3 # Z NOT DONE, CHECK Y. TCF REPIP4 TCF REPIP4 ZL CCS DELVY TCF +3 TCF CHKTEMX # Y NOT DONE, CHECK X. TCF +1 LXCH PIPAZ # Y DONE, ZERO Z PIP. CCS TEMZ CS TEMZ # TEMZ NOT = -0, CONTAINS -PIPAZ VALUE. TCF DODELVZ TCF -2 LXCH DELVZ # TEMZ = -0, L HAS ZPIP VALUE. TCF REPIP4 CHKTEMX CCS TEMX # HAS THIS CHANGED CS TEMX # YES TCF +3 # YES TCF -2 # YES TCF REPIP1 # NO TS DELVX CS TEMY TS DELVY CS ZERO # ZERO X AND Y PIPS DXCH PIPAX # L STILL ZERO FROM ABOVE TCF REPIP3 DONEADR GENADR PIPSDONE # Page 872 BANK 33 SETLOC SERVICES BANK COUNT* $$/SERV TMPTOSPT CA CDUTEMPY # THIS SUBROUTINE, CALLED BY AN RTB FROM TS CDUSPOTY # INTERPRETIVE, LOADS THE CDUS CORRESPON- CA CDUTEMPZ # DING TO PIPTIME INTO THE CDUSPOT VECTOR. TS CDUSPOTZ CA CDUTEMPX TS CDUSPOTX TC Q # LRHTASK IS A WAITLIST TASK SET BY READACCS DURING THE DESCENT BRAKING # PHASE WHEN THE ALT TO THE LUNAR SURFACE IS LESS THAN 25,000 FT. THIS # TASK CLEARS THE ALTITUDE MEASUREMENT MADE DISCRETE AND INITIATES THE # LANDING RADAR MEASUREMENT JOB (LRHJOB) TO TAKE A ALTITUDE MEASUREMENT # 50 MS PRIOR TO THE NEXT READACCS TASK. BANK 21 SETLOC R10 BANK COUNT* $$/SERV LRHTASK CS FLGWRD11 MASK LRBYBIT EXTEND BZF GRP2OFF # LR BYPASS SET -- BYPASS ALL LR READING. CA READLBIT MASK FLGWRD11 # IS READLR FLAG SET? EXTEND BZF GRP2OFF # NO. BYPASS LR READ. CS FLGWRD11 MASK NOLRRBIT # IS LR READ INHIBITED? EXTEND BZF GRP2OFF # YES. BYPASS LR READ. CA PRIO32 # LR READ OK. SET JOB TO DO IT TC NOVAC # ABOUT 50 MS. PRIOR TO PIPA READ. EBANK= HMEAS 2CADR LRHJOB GRP2OFF EXTEND DCA NEG0 DXCH -PHASE2 TCF R10,R11A BANK 33 SETLOC SERVICES BANK # Page 873 COUNT* $$/SERV # HIGATASK IS ENTERED APPROXIMATELY 6 SECS PRIOR TO HIGATE DURING THE # DESCENT PHASE. HIGATASK SETS THE HIGATE FLAG (BIT11) AND THE LR INHIBIT # FLAG (BIT10) IN LRSTAT. THE HIGATJOB IS SET UP TO REPOSITION THE LR # ANTENNA FROM POSITION 1 TO POSITION 2. IF THE REPOSITIONING IS # SUCCESSFUL THE ALT BEAM AND VELOCITY BEAMS ARE TRANSFORMED TO THE NEW # ORIENTATION IN NB COORDINATES AND STORED IN ERASABLE. HIGATASK INHINT CS PRIO3 # SET HIGATE AND LR INHIBIT FLAGS MASK FLGWRD11 AD PRIO3 TS FLGWRD11 CAF PRIO32 TC FINDVAC # SET LR POSITIONING JOB (POS2) EBANK= HMEAS 2CADR HIGATJOB TCF CONTSERV # CONTINUE SERVICER # Page 874 # MUNRETRN IS THE RETURN LOC FROM SPECIAL AVE G ROUTINE (MUNRVG) MUNRETRN EXIT CS FLGWRD11 MASK LRBYBIT EXTEND BZF COPYCYC1 # BYPASS LR LOGIC IF BIT15 IS SET. CA READLBIT # SEE IF ALT < 35000 FT LAST CYCLE MASK FLGWRD11 EXTEND BZF 35KCHK # ALT WAS > 35000 FT LAST CYCLE CHK NOW CAF XORFLBIT # WERE WE BELOW 30000 FT LAST PASS? MASK FLGWRD11 EXTEND BZF XORCHK # NO -- TEST THIS PASS HITEST CAF PSTHIBIT # CHECK FOR HIGATE MASK FLGWRD11 EXTEND BZF HIGATCHK # NOT AT HIGATE LAST CYCLE -- CHK THIS CYCLE POS2CHK CAF BIT7 # VERIFY LR IN POS2 EXTEND RAND CHAN33 EXTEND BZF UPDATCHK # IT IS -- CHECK FOR LR UPDATE CAF BIT13 EXTEND RAND CHAN12 EXTEND BZF LRPOSALM # LR NOT IN POS2 OR REPOSITIONING -- BAD TCF CONTSERV # LR BEING REPOSITIONED -- CONTINUE SERV HIGATCHK CA TTF/8 # IS TTF > CRITERION? (TTF IS NEGATIVE) AD RPCRTIME EXTEND BZMF POS1CHK # NO CA EBANK4 # MUST SWITCH EBANKS XCH EBANK TS L # SAVE IN L EBANK= XNBPIP CS XNBPIP # UXBXP IN GSOP CH5 EBANK= DVCNTR LXCH EBANK # RESTORE EBANK AD RPCRTQSW # QSW - UXBXP # Page 875 EXTEND BZMF HIGATASK # IF UXBXP > QSW, THEN REPOSITION POS1CHK CAF BIT6 # HIGATE NOT IN SIGHT -- DO POS1 CHK EXTEND RAND 33 EXTEND BZF UPDATCHK # LR IN POS1 -- CHECK FOR LR UPDATE LRPOSALM TC ALARM # LR NOT IN PROPER POS-ALARM-BYPASS UPDATE OCT 511 # AND CONTINUE SERVICER CONTSERV INHINT CS BITS4-7 MASK FLGWRD11 # CLEAR LR MEASUREMENT MADE DISCRETES. TS FLGWRD11 TC IBNKCALL # SET LR LITES PROPERLY CADR R12LITES # Page 876 COPYCYC1 TC QUIKFAZ5 R29? CA FLAGWRD3 MASK NR29&RDR CCS A # IS NOR29FLG OR READRFLG SET? TCF R29NODES # YES, SO DON'T DESIGNATE. CA RADMODES # NO, SO R29 IS CALLED FOR. MASK OCT10002 # IS THE RR NOT ZEROING ITS CDUS, AND CCS A # IS THE RENDEZVOUS RADAR IN AUTO MODE? TCF R29NODES # NO, SO DON'T DESIGNATE. CA RADMODES MASK PRIO22 CCS A # IS RR REPOSITIONING OR REMODING? TCF NOR29NOW # YES: COME BACK IN 2 SECONDS & TRY AGAIN. TCF R29 R29NODES INHINT # R29 NOT ALLOWED THIS CYCLE. CS DESIGBIT # SHOW THAT DESIGNATION IS OFF. MASK RADMODES TS RADMODES NOR29NOW TC INTPRET # INTPRET DOES A RELINT. VLOAD ABVAL # MPAC = ABVAL( NEW SM. POSITION VECTOR ) R1S PUSH DSU # (2) /LAND/ STORE HCALC # NEW HCALC*2(24)M. STORE HCALC1 DMPR RTB ALTCONV SGNAGREE STOVL ALTBITS # ALTITUDE FOR R10 IN BIT UNITS. UNIT/R/ VXV UNIT UHYP STOVL UHZP # DOWNRANGE HALF-UNIT VECTOR FOR R10. R1S VXM VSR4 REFSMMAT STOVL RN1 # TEMP. REF. POSITION VECTOR*2(29)M. V1S VXM VSL1 REFSMMAT STOVL VN1 # TEMP. REF. VELOCITY VECTOR 2(7) M/CS. UNIT/R/ VXV ABVAL # Page 877 V1S SL1 DSQ DDV DMPR RTB ARCONV1 SGNAGREE COPYCYC2 EXIT # LEAVE ALTITUDE RATE COMPENSATION IN MPAC INHINT CA UNIT/R/ # UPDATE RUNIT FOR R10. TS RUNIT CA UNIT/R/ +2 TS RUNIT +1 CA UNIT/R/ +4 TS RUNIT +2 CA MPAC # LOAD NEW DALTRATE FOR R10. TS DALTRATE EXTEND DCA R1S DXCH R EXTEND DCA R1S +2 DXCH R +2 EXTEND DCA R1S +4 DXCH R +4 EXTEND DCA V1S DXCH V EXTEND DCA V1S +2 DXCH V +2 EXTEND DCA V1S +4 DXCH V +4 TCF COPYCYCL # COMPLETE THE COPYCYCL. # Page 878 # ALTCHK COMPARES CURRENT ALTITUDE (IN HCALC) WITH A SPECIFIED ALTITUDE FROM A TABLE BEGINNING AT ALTCRIT. # ITS CALLING SEQUENCE IS AS FOLLOWS:- # # L CAF N # L+1 TC BANKCALL # L+2 CADR ALTCHK # L+3 RETURN HERE IF HCALC STILL > SPECIFIED CRITERION. C(L) = +0. # L+4 RETURN HERE IF HCALC < OR = SPECIFIED CRITERION. C(A) = C(L) = +0 # # ALTCHK MUST BE BANKCALLED EVEN FROM ITS OWN BANK. N IS THE LOCATION, RELATIVE TO THE TAG ALTCRIT, # OF THE BEGINNING OF THE DP CONSTANT TO BE USED AS A CRITERION. ALTCHK EXTEND INDEX A DCA ALTCRIT DXCH MPAC +1 EXTEND DCS HCALC DAS MPAC +1 TC BRANCH +4 CAF ZERO # BETTER THAN A NOOP, PERHAPS INCR BUF2 TCF SWRETURN ALTCRIT = 25KFT 25KFT 2DEC 7620 B-24 # (0) 50KFT 2DEC 15240 B-24 # (2) 50FT 2DEC 15.24 B-24 # (4) 30KFT 2DEC 9144 B-24 # (6) 2KFT/SEC DEC 6.096 B-7 # 2000 FT/SEC AT 2(7) M/CS # (A remark was likely to be needed here to explain XORCHK) 4/Jun/09,FB XORCHK CAF SIX # ARE WE BELOW 30000 FT? TC BANKCALL CADR ALTCHK TCF HITEST # CONTINUE LR UPDATE TC UPFLAG # YES: INHIBIT X-AXIS OVERRIDE ADRES XOVINFLG TC UPFLAG ADRES XORFLG TCF HITEST # CONTINUE LR UPDATE 35KCHK CAF TWO # ARE WE BELOW 35000 FT? # Page 879 TC BANKCALL CADR ALTCHK TCF CONTSERV TC UPFLAG ADRES READLR # SET READLR FLAG TO ENABLE LR READING. TCF CONTSERV # Page 880 # *************************************************************** CALCGRAV UNIT PUSH # SAVE UNIT/R/ IN PUSHLIST (18) STORE UNIT/R/ LXC,1 SLOAD # RTX2 = 0 IF EARTH ORBIT, =2 IF LUNAR. RTX2 RTX2 DCOMP BMN CALCGRV1 VLOAD DOT # (12) UNITZ UNIT/R/ SL1 PUSH # (14) DSQ BDSU DP1/20 PDDL DDV RESQ 34D # (RN)SQ STORE 32D # TEMP FOR (RE/RN)SQ DMP DMP 20J VXSC PDDL UNIT/R/ DMP DMP 2J 32D VXSC VSL1 UNITZ VAD STADR STORE UNITGOBL VAD PUSH # MPAC = UNIT GRAVITY VECTOR. (18) CALCGRV1 DLOAD NORM # PERFORM A NORMALIZATION ON RMAGSQ IN 34D # ORDER TO BE ABLE TO SCALE THE MU FOR X2 # MAXIMUM PRECISION. BDDV* SLR* -MUDT,1 0 -21D,2 VXSC STADR STORE GDT1/2 # SCALED AT 2(+7) M/CS RVQ CALCRVG VLOAD VXM DELV REFSMMAT VXSC VSL1 KPIP1 STORE DELVREF VSR1 PUSH VAD PUSH # (DV-OLDGDT)/2 TO PD SCALED AT 2(+7) M/CS. # Page 881 GDT/2 VAD PDDL VN PGUIDE SL VXSC 6D VAD STQ RN 31D STCALL RN1 # TEMP STORAGE OF RN SCALED 2(+29) M CALCGRAV VAD VAD VAD VN STCALL VN1 # TEMP STORAGE OF VN SCALED 2(+7) M/CS 31D DP1/20 2DEC 0.05 SHIFT11 2DEC 1 B-11 # Page 882 #***************************************************************************** # MUNRVG IS A SPECIAL AVERAGE G INTEGRATION ROUTINE USED BY THRUSTING # PROGRAMS WHICH FUNCTION IN THE VICINITY OF AN ASSUMED SPHERICAL MOON. # THE INPUT AND OUTPUT QUANTITIES ARE REFERENCED TO THE STABLE MEMBER # COORDINATE SYSTEM. RVBOTH VLOAD PUSH G(CSM) VAD PDDL V(CSM) PGUIDE DDV VXSC SHIFT11 VAD R(CSM) STCALL R1S MUNGRAV VAD VAD V(CSM) STADR STORE V1S EXIT TC QUIKFAZ5 TC INTPRET VLOAD GDT1/2 STOVL G(CSM) R1S STOVL R(CSM) V1S STORE V(CSM) EXIT TC QUIKFAZ5 TC INTPRET MUNRVG VLOAD VXSC DELV KPIP2 PUSH VAD # 1ST PUSH: DELV IN UNITS OF 2(8) M/CS GDT/2 PUSH VAD # 2ND PUSH: (DELV + GDT)/2, UNITS OF 2(7) V # (12) PDDL DDV PGUIDE SHIFT11 VXSC VAD R STCALL R1S # STORE R SCALED AT 2(+24) M MUNGRAV # Page 883 VAD VAD VAD V STORE V1S # STORE V SCALED AT 2(+7) M/CS. ABVAL STOVL ABVEL # STORE SPEED FOR LR AND DISPLAYS. UNIT/R/ DOT SL1 V1S STOVL HDOTDISP # HDOT = V. UNIT(R)*2(7) M/CS. R1S VXV VSL2 WM STODL DELVS # LUNAR ROTATION CORRECTION TERM*2(5) M/CS. 36D DSU /LAND/ STCALL HCALC # FOR NOW, DISPLAY WHETHER POS OR NEG MUNRETRN MUNGRAV UNIT # AT 36D HAVE ABVAL(R), AT 34D R.R STODL UNIT/R/ 34D SL BDDV 6D -MUDTMUN DMP VXSC SHIFT11 UNIT/R/ STORE GDT1/2 # 1/2GDT SCALED AT 2(7) M/CS. RVQ 1.95SECS DEC 195 7.5 2DEC .02286 B-6 # 7.5 FT/SEC AT 2(6) M/CS 2SEC(18) 2DEC 200 B-18 2SEC(28) 2OCT 0000000310 # 2SEC AT 2(28) 4SEC(28) 2DEC 400 B-28 BITS4-7 OCT 110 # Page 884 UPDATCHK CAF NOLRRBIT # SEE IF LR UPDATE INHIBITED. MASK FLGWRD11 CCS A TCF CONTSERV # IT IS -- NO LR UPDATE CAF RNGEDBIT # NO INHIBIT -- SEE ALT MEAS. THIS CYCLE. MASK FLGWRD11 EXTEND BZF VMEASCHK # NO ALT MEAS THIS CYCLE -- CHECK FOR VEL POSUPDAT CA FIXLOC # SET PUSHLIST TO ZERO TS PUSHLOC TC INTPRET VLOAD VXM HBEAMNB XNBPIP # HBEAM SM AT 2(2) PDVL VSL2 # STORE HBEAM IN PD 0-5 V1S # SCALE V AT 2(5) M/CS VAD DOT DELVS # V RELATIVE TO SURFACE AT 2(5) M/CS 0D # V ALONG HBEAM AT 2(7) M/CS. DMP EXIT RADSKAL # SCALE TO RADAR COUNTS X 5 CS FLGWRD12 # TEST LR ALTITUDE SCALE FACTOR MASK ALTSCBIT EXTEND BZF +3 # BRANCH IF HIGH SCALE CA SKALSKAL # RESCALE IF LOW SCALE TC SHORTMP +3 TC INTPRET DAD SL # CORRECT HMEAS FOR DOPPLER EFFECT HMEAS 7D DMP VXSC # SLANT RANGE AT 2(21), PUSH UP FOR HBEAM HSCAL # SLANT RANGE VECTOR AT 2(23) M DOT DSU UNIT/R/ # ALTITUDE AT 2(24) M HCALC # DELTA H AT 2(24) M STORE DELTAH EXIT CA FLGWRD11 MASK PSTHIBIT EXTEND # DO NOT PERFORM DATA REASONABLENESS TEST BZF NOREASON # UNTIL AFTER HIGATE # Page 885 TC INTPRET ABS DSU DELQFIX # ABS(DELTAH) - DQFIX 50 FT NOM SL3 DSU # SCALE TO 2(21) HCALC # ABS(DELTAH) - (50 + HCALC/8) AT 2(21) EXIT INCR LRLCTR TC BRANCH TCF HFAIL # DELTA H TOO LARGE TCF HFAIL # DELTA H TOO LARGE TC DOWNFLAG # TURN OFF ALT FAIL LAMP ADRES HFLSHFLG NOREASON CS FLGWRD11 MASK LRINHBIT CCS A TCF VMEASCHK # UPDATE INHIBITED -- TEST VELOCITY ANYWAY TC INTPRET # DO POSITION UPDATE DLOAD SR4 HCALC # RESCALE H TO 2(28)M EXIT EXTEND DCA DELTAH # STORE DELTAH IN MPAC AND DXCH MPAC # BRING HCALC INTO A,L TC ALSIGNAG EXTEND # IF HIGH PART OF HCALC IS NON-ZERO, THEN BZF +2 # HCALC > HMAX, TCF VMEASCHK # SO UPDATE IS BYPASSED TS MPAC +2 # FOR LATER SHORTMP CS L # -H AT 2(14) M AD LRHMAX # HMAX - H EXTEND BZMF VMEASCHK # IF H >HMAX, BYPASS UPDATE EXTEND MP LRWH # WH(HMAX - H) EXTEND DV LRHMAX # WH(1 - H/HMAX) TS MPTEMP TC SHORTMP2 # DELTAH (WH)(1 - H/HMAX) IN MPAC TC INTPRET # MODE IS DP FROM ABOVE SL1 VXSC VAD UNIT/R/ # DELTAR = DH(WH)(1 - H/HMAX) UNIT/R/ R1S STCALL GNUR MUNGRAV EXIT # Page 886 TC QUIKFAZ5 CA ZERO RUPDATED TC GNURVST VMEASCHK TC QUIKFAZ5 # RESTART AT NEXT LOCATION CS FLGWRD11 MASK VELDABIT # IS V READING AVAILABLE? CCS A TCF VALTCHK # NO: SEE IF V READING TO BE TAKEN VELUPDAT CS VSELECT # PROCESS VELOCITY DATA TS L ADS L # -2 VSELECT IN L AD L AD L # -6 VSELECT IN A INDEX FIXLOC DXCH X1 # X1 = -6 VSELECT, X2 = -2 VSELECT CA EBANK4 TS EBANK EBANK= LRXCDU CA LRYCDU # STORE LRCDUS IN CDUSPOTS TS CDUSPOT CA LRZCDU TS CDUSPOT +2 CA LRXCDU TS CDUSPOT +4 TC BANKCALL CADR QUICTRIG # GET SINES AND COSINES FOR NBSM CA FIXLOC TS PUSHLOC # SET PD TO ZERO TC INTPRET VLOAD* CALL VZBEAMNB,1 # CONVERT VBEAM FROM NB TO SM *NBSM* PDDL SL # STORE IN PD 0-5 VMEAS # LOAD VELOCITY MEASUREMENT 12D DMP* PUSH # SCALE TO M/CS AT 2(6) VZSCAL,2 # AND STORE IN PD 6-7 EXIT CS ONE TS MODE # CHANGE STORE MODE TO VECTOR CA PIPTEM # STORE DELV IN MPAC # Page 887 ZL DXCH MPAC CA PIPTEM +1 ZL DXCH MPAC +3 CA PIPTEM +2 ZL DXCH MPAC +5 CA EBANK7 TS EBANK # RESTORE EBANK 7 EBANK= DVCNTR TC INTPRET VXSC PDDL KPIP1 # SCALE DELV TO 2(7) M/CS AND PUSH LRVTIME # TIME OF DELV AT 2(28) CS DSU DDV PIPTIME # TU - T(N-1) 2SEC(28) VXSC VSL1 # G(N-1)(TU - T(N-1)) GDT/2 # SCALED AT 2(7) M/CS VAD VAD # PUSH UP FOR DELV V # VU = V(N-1) + DELVU + G(N-1) DTU VSL2 VAD # SCALE TO 2(5) M/CS AND SUBTRACT DELVS # MOON ROTATION. PUSH ABVAL # STORE IN PD SR4 DAD # ABS(VM)/8 + 7.5 AT 2(6) 7.5 STOVL 20D # STORE IN 20D AND PICK UP VM DOT BDSU # V(EST) AT 2(6) 0 # DELTAV = VMEAS - V(EST) PUSH ABS DSU EXIT # ABS(DV) - (7.5 + ABS(VM)/8)) 20D INCR LRMCTR TC BRANCH TCF VFAIL # DELTA V TOO LARGE. ALARM TCF VFAIL # DELTA V TOO LARGE. ALARM TC DOWNFLAG # TURN OFF VEL FAIL LAMP ADRES VFLSHFLG CA FLGWRD11 MASK VXINHBIT EXTEND BZF VUPDAT # IF VX INHIBIT RESET, INCORPORATE DATA. # Page 888 TC DOWNFLAG ADRES VXINH # RESET VX INHIBIT CA VSELECT AD NEG2 # IF VSELECT = 2 (X AXIS). EXTEND # BYPASS UPDATE BZF ENDVDAT VUPDAT CS FLGWRD11 MASK LRINHBIT CCS A TCF VALTCHK # UPDATE INHIBITED TS MPAC +1 CA ABVEL # STORE E7 ERASABLES NEEDED IN TEMPS TS ABVEL* CA VSELECT TS VSELECT* CA EBANK5 TS EBANK # CHANGE EBANKS EBANK= LRVF CS LRVF AD ABVEL* # IF V < VF, USE WVF EXTEND BZMF USEVF CS ABVEL* AD LRVMAX # VMAX - V EXTEND BZMF WSTOR -1 # IF V > VMAX, W = 0 EXTEND INDEX VSELECT* MP LRWVZ # WV(VMAX - V) EXTEND DV LRVMAX # WV( 1 - V/VMAX ) TCF WSTOR USEVF INDEX VSELECT* CA LRWVFZ # USE APPROPRIATE CONSTANT WEIGHT TCF WSTOR -1 CA ZERO WSTOR TS MPAC CS BIT7 # (=64D) AD MODREG EXTEND # Page 889 BZMF +3 # IF IN P65,P66,P67, USE ANOTHER CONSTANT CA LRWVFF TS MPAC +3 CA EBANK7 TS EBANK # CHANGE EBANKS EBANK= ABVEL TC INTPRET DMP VXSC # W(DELTA V)(VBEAMSM) UP 6-7, 0-5 VAD V1S # ADD WEIGHTED DELTA V TO VELOCITY STORE GNUV EXIT TC QUIKFAZ5 # DO NOT RE-UPDATE CA SIX VUPDATED TC GNURVST # STORE NEW VELOCITY VECTOR ENDVDAT = VALTCHK VALTCHK TC QUIKFAZ5 # DO NOT REPEAT ABOVE CAF READVBIT # TEST READVEL TO SEE IF VELOCITY READING MASK FLGWRD11 # IS DESIRED. CCS A TCF READV # YES -- READ VELOCITY CS ABVEL # NO -- SEE IF VELOCITY < 2000 FT/SEC AD 2KFT/SEC EXTEND BZMF CONTSERV # V > 2000 FT/SEC DO NOT READ VEL TC UPFLAG # V < 2000 FT/SEC SET READVEL AND READ. ADRES READVEL READV CAF PRIO32 # SET UP JOB TO READ VELOCITY BEAMS. TC NOVAC EBANK= HMEAS 2CADR LRVJOB TCF CONTSERV # CONTINUE WITH SERVICER GNURVST TS BUF # STORE GNUR (=GNUV) IN R1S OR V1S EXTEND # A = 0 FOR R, A = 6 FOR V DCA GNUR INDEX BUF DXCH R1S EXTEND # Page 890 DCA GNUR +2 INDEX BUF DXCH R1S +2 EXTEND DCA GNUR +4 INDEX BUF DXCH R1S +4 TC Q QUIKFAZ5 CA EBANK3 XCH EBANK # SET EBANK 3 DXCH L # Q TO A, A TO L EBANK= PHSNAME5 TS PHSNAME5 LXCH EBANK EBANK= DVCNTR TC A HFAIL CS LRRCTR EXTEND BZF NORLITE # IF R = 0, DO NOT TURN ON TRK FAIL AD LRLCTR MASK NEG3 EXTEND # IF L-R LT 4, DO NOT TURN ON TRK FAIL BZF +2 TCF NORLITE TC UPFLAG # AND SET BIT TO TURN ON TRACKER FAIL LITE ADRES HFLSHFLG NORLITE CA LRLCTR TS LRRCTR # SET R = L TCF VMEASCHK VFAIL CS LRSCTR # DELTA Q LARGE EXTEND # IF S = 0, DO NOT TURN ON TRACKER FAIL BZF NOLITE AD LRMCTR # M-S MASK NEG3 # TEST FOR M-S > 3 EXTEND # IF M-S > 3, THEN TWO OR MORE OF THE BZF +2 # LAST FOUR V READINGS WERE BAD, TCF NOLITE # SO TURN ON VELOCITY FAIL LIGHT TC UPFLAG # AND SET BIT TO TURN ON TRACKER FAIL LITE ADRES VFLSHFLG # Page 891 NOLITE CA LRMCTR # SET S = M TS LRSCTR CCS VSELECT # TEST FOR Z COMPONENT TCF ENDVDAT # NOT Z, DO NOT SET VX INHIBIT TC UPFLAG # Z COMPONENT - SET FLAG TO SKIP X ADRES VXINH # COMPONENT, AS ERROR MAY BE DUE TO CROSS TCF ENDVDAT # LOBE LOCK UP NOT DETECTED ON X AXIS. # Page 892 # ******************************************************************************** # LRVJOB IS SET WHEN THE LEM IS BELOW 15000 FT DURING THE LANDING PHASE # THIS JOB INITIALIZES THE LANDING RADAR READ ROUTINE FOR 5 VELOCITY # SAMPLES AND GOES TO SLEEP WHILE THE SAMPLING IS DONE -- ABOUT 500 MS. # WITH A GOODEND RETURN THE DATA IS STORED IN VMEAS AND BIT7 OF LRSTAT # IS SET. THE GIMBAL ANGLES ARE READ ABOUT MIDWAY IN THE SAMPLINGS. 170MS EQUALS ND1 LRVJOB CA 170MS # SET TASK TO READ CDUS + PIPAS TC WAITLIST EBANK= LRVTIME 2CADR RDGIMS CCS VSELECT # SEQUENCE LR VEL BEAM SELECTOR TCF +2 CAF TWO # IF ZERO, RESET TO TWO DOUBLE # 2XVSELECT USED FOR VBEAM INDEX IN LRVEL TC BANKCALL # GO INITIALIZE LR VEL READ ROUTINE CADR LRVEL TC BANKCALL # PUT LRVJOB TO SLEEP ABOUT 500 MS CADR RADSTALL TCF VBAD CCS STILBADV # IS DATA GOOD JUST PRESENT? TCF VSTILBAD # JUST GOOD -- MUST WAIT 4 SECONDS. INHINT EXTEND # GOOD RETURN -- STOW AWAY VMEAS DCA SAMPLSUM DXCH VMEAS CA EBANK4 # FOR DOWNLINK TS EBANK EBANK= LRVTIME EXTEND DCA LRVTIME DXCH LRVTIMDL EXTEND DCA LRXCDU DXCH LRXCDUDL CA LRZCDU TS LRZCDUDL CA EBANK7 TS EBANK EBANK= VSELECT CS FLGWRD11 # SET BIT TO INDICATE VELOCITY MASK VELDABIT # MEASUREMENT MADE # Page 893 ADS FLGWRD11 ENDLRV CCS VSELECT # UPDATE VSELECT TCF +2 CA TWO TS VSELECT TCF ENDOFJOB VBAD CAF TWO # SET STILBAD TO WAIT 4 SECONDS VSTILBAD TS STILBADV TCF ENDLRV # LRHJOB IS SET BY LRHTASK WHEN LEM IS BELOW 25000 FT. THIS JOB # INITIALIZES THE LR READ ROUTINE FOR AN ALT MEASUREMENT AND GOES TO # SLEEP WHILE THE SAMPLING IS DONE -- ABOUT 95 MS. WITH A GOODEND RETURN # THE ALT DATA IS STORED IN HMEAS AND BIT7 OF LRSTAT IS SET. BANK 34 SETLOC R12STUFF BANK COUNT* $$/SERV LRHJOB TC BANKCALL # INITIATE LR ALT MEASUREMENT CADR LRALT TC BANKCALL # LRHJOB TO SLEEP ABOUT 95MS CADR RADSTALL TCF HBAD CCS STILBADH # IS DATA GOOD JUST PRESENT? TCF HSTILBAD # JUST GOOD -- MUST WAIT 4 SECONDS. INHINT EXTEND DCA SAMPLSUM # GOOD RETURN -- STORE AWAY LRH DATA DXCH HMEAS # LRH DATA 1.079 FT/BIT EXTEND # FOR DOWNLINK DCA PIPTIME1 DXCH MKTIME EXTEND DCA CDUTEMPY # CDUY,Z = AIG,AMG DXCH AIG CA CDUTEMPX # CDUX = AOG TS AOG CS FLGWRD11 # SET BIT TO INDICATE RANGE MASK RNGEDBIT # MEASUREMENT MADE. ADS FLGWRD11 ENDLRH TC ENDOFJOB # TERMATE LRHJOB # Page 894 HBAD CA FLAGWRD5 MASK RNGSCBIT # IS BAD RETURN DUE TO SCALE CHANGE? EXTEND BZF HSTILBAD -1 # NO RESET HSTILBAD TC DOWNFLAG # YES RESET SCALE CHANGE BIT AND IGNORE ADRES RNGSCFLG TC ENDOFJOB CAF TWO # SET STILBAD TO WAIT 4 SECONDS HSTILBAD TS STILBADH TC ENDOFJOB BANK 34 SETLOC SERV4 BANK COUNT* $$/SERV # RDGIMS IS A TASK SET UP BY LRVJOB TO PICK UP THE IMU CDUS AND TIME # AT ABOUT THE MIDPOINT OF THE LR VEL READ ROUTINE WHEN 5 VEL SAMPLES # ARE SPECIFIED. EBANK= LRVTIME RDGIMS EXTEND DCA TIME2 # PICK UP TIME2, TIME1 DXCH LRVTIME # AND SAVE IN LRVTIME EXTEND DCA CDUX # PICK UP CDUX AND CDUY DXCH LRXCDU # AND SAVE IN LRXCDU AND LRYCDU CA CDUZ TS LRZCDU # SAVE CDUZ IN LRZCDU CA PIPAX TS PIPTEM # SAVE PIPAX IN PIPTEM EXTEND DCA PIPAY # PICK UP PIPAY AND PIPAZ DXCH PIPTEM +1 # AND SAVE IN PIPTEM +1 AND PIPTEM +2 TC TASKOVER BANK 33 SETLOC SERVICES BANK COUNT* $$/SERV EBANK= DVCNTR # Page 895 # HIGATJOB IS SET APPROXIMATELY 6 SECONDS PRIOR TO HIGH GATE DURING # THE DESCENT BURN PHASE OF LUNAR LANDING. THIS JOB INITIATES THE # LANDING RADAR REPOSITIONING ROUTINE AND GOES TO SLEEP UNTIL THE # LR ANTENNA MOVES FROM POSITION 1 TO POSITION 2. IF THE LR ANTENNA # ACHIEVES POSITION 2 WITHIN 22 SECONDS THE ALTITUDE AND VELOCITY # BEAM VECTORS ARE RECOMPUTED TO REFLECT THE NEW ORIENTATION WITH # RESPECT TO THE NB. BIT10 OF LRSTAT IS CLEARED TO ALLOW LR # MEASUREMENTS AND THE JOB TERMINATES. HIGATJOB TC BANKCALL # START LRPOS2 JOB CADR LRPOS2 TC BANKCALL # PUT HIGATJOB TO SLEEP UNTIL JOB IS DONE CADR RADSTALL TCF POSALARM # BAD END ALARM POSGOOD CA PRIO23 # REDUCE PRIORITY FOR INTERPRETIVE COMPS. TC PRIOCHNG TC SETPOS2 # LR IN POS2 -- SET UP TRANSFORMATIONS TC DOWNFLAG ADRES NOLRREAD # RESET NOLRREAD FLAG TO ENABLE LR READING TC ENDOFJOB POSALARM CA OCT523 TC BANKCALL CADR PRIOLARM # FLASH ALARM CODE TCF GOTOPOOH # TERMINATE TCF +3 # PROCEED -- TRY AGAIN TCF ENDOFJOB # V 32 E TERMINATE R12 TC ENDOFJOB +3 CA BIT7 # SEE IF IN POS2 YET EXTEND RAND CHAN33 EXTEND BZF POSGOOD # POS2 ACHIEVED SET UP ANTENNA BEAMS TCF POSALARM # STILL DIDN'T MAKE IT REALARM OCT523 OCT 00523 SETPOS1 TC MAKECADR # MUST BE CALLED BY BANKCALL TS LRADRET1 # SAVE RETURN CADR. SINCE BUP2 CLOBBERED CAF TWO TS STILBADH # INITIALIZE STILBAD TS STILBADV # INITIALIZE STILBAD CA ZERO # INDEX FOR LRALPHA, LRBETA IN POS 1. # Page 896 TS LRLCTR # SET L,M,R, ANS S TO ZERO TS LRMCTR TS LRRCTR TS LRSCTR TS VSELECT # INITIALIZE VSELECT TC SETPOS # CONTINUE WITH COMPUTATIONS. CA LRADRET1 TC BANKJUMP # RETURN TO CALLER SETPOS2 CA TWO # INDEX FOR POS2 SETPOS XCH Q # SAVE INDEX IN Q TS LRADRET # SAVE RETURN CA EBANK5 TS EBANK EBANK= LRALPHA EXTEND INDEX Q DCA LRALPHA # LRALPHA IN A, LRBETA IN L TS CDUSPOT +4 # ROTATION ABOUT X LXCH CDUSPOT # ROTATION ABOUT Y CA ZERO TS CDUSPOT +2 # ZERO ROTATION ABOUT Z. CA EBANK7 TS EBANK EBANK= LRADRET TC INTPRET VLOAD CALL UNITY # CONVERT UNITY(ANTENNA) TO NB TRG*SMNB STOVL VYBEAMNB UNITX # CONVERT UNITX(ANTENNA) TO NB CALL *SMNB* STORE VXBEAMNB VXV VSL1 VYBEAMNB STOVL VZBEAMNB # Z = X * Y HBEAMANT CALL *SMNB* # CONVERT TO NB STORE HBEAMNB EXIT # Page 897 TC LRADRET ================================================ FILE: Luminary099/SERVICE_ROUTINES.agc ================================================ # Copyright: Public domain. # Filename: SERVICE_ROUTINES.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1374-1380 # Mod history: 2009-05-10 SN (Sergio Navarro). Started adapting # from the Luminary131/ file of the same # name, using Luminary099 page images. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 1374 BANK 10 SETLOC DISPLAYS BANK COUNT* $$/DSPLA UPENT2 INHINT MASK OCT77770 TS L CS FLAGWRD4 MASK L ADS FLAGWRD4 JOIN RELINT TCF Q+1 DOWNENT2 INHINT MASK OCT77770 COM MASK FLAGWRD4 TS FLAGWRD4 TCF JOIN OCT7 EQUALS SEVEN # Page 1375 # UPFLAG AND DOWNFLAG ARE ENTIRELY GENERAL FLAG SETTING AND CLEARING SUBROUTINES. USING THEM, WHETHER OR # NOT IN INTERRUPT, ONE MAY SET OR CLEAR ANY SINGLE, NAMED BIT IN ANY ERASABLE REGISTER, SUBJECT OF COURSE TO # EBANK SETTING. A "NAMED" BIT, AS THE WORD IS USED HERE, IS ANY BIT WITH A NAME FORMALLY ASSIGNED BY THE YUL # ASSEMBLER. # # AT PRESENT THE ONLY NAMED BITS ARE THOSE IN THE FLAGWORDS. ASSEMBLER CHANGES WILL MAKE IT POSSIBLE TO # NAME ANY BIT IN ERASABLE MEMORY. # # CALLING SEQUENCES ARE AS FOLLOWS :- # TC UPFLAG TC DOWNFLAG # ADRES NAME OF FLAG ADRES NAME OF FLAG # # RETURN IS TO THE LOCATION FOLLOWING THE "ADRES" ABOUT .58 MS AFTER THE "TC". # UPON RETURN A CONTAINS THE CURRENT FLAGWRD SETTING. BLOCK 02 SETLOC FFTAG1 BANK COUNT* $$/FLAG UPFLAG CA Q TC DEBIT COM # +(15 - BIT) EXTEND ROR LCHAN # SET BIT COMFLAG INDEX ITEMP1 TS FLAGWRD0 LXCH ITEMP3 RELINT TC L DOWNFLAG CA Q TC DEBIT MASK L # RESET BIT TCF COMFLAG DEBIT AD ONE # CET DE BITS INHINT TS ITEMP3 CA LOW4 # DEC15 TS ITEMP1 INDEX ITEMP3 CA 0 -1 # ADRES TS L CA ZERO # Page 1376 EXTEND DV ITEMP1 # A = FLAGWRD, L = (15 - BIT) DXCH ITEMP1 INDEX ITEMP1 CA FLAGWRD0 TS L # CURRENT STATE INDEX ITEMP2 CS BIT15 # -(15 - BIT) TC Q # Page 1377 # DELAYJOB- A GENERAL ROUTINE TO DELAY A JOB A SPECIFIC AMOUNT OF TIME BEFORE PICKING UP AGAIN. # # ENTRANCE REQUIREMENTS... # CAF DT # DELAY JOB FOR DT CENTISECS # TC BANKCALL # CADR DELAYJOB BANK 06 SETLOC DLAYJOB BANK # THIS MUST REMAIN IN BANK 0 ***************************************** COUNT* $$/DELAY DELAYJOB INHINT TS Q # STORE DELAY DT IN Q FOR DLY -1 IN CAF DELAYNUM # WAITLIST DELLOOP TS RUPTREG1 INDEX A CA DELAYLOC # IS THIS DELAYLOC AVAILABLE EXTEND BZF OK2DELAY # YES CCS RUPTREG1 # NO, TRY NEXT DELAYLOC TCF DELLOOP DXCH BUF2 TC BAILOUT1 # NO AVAILABLE LOCS. OCT 1104 OK2DELAY CA TCSLEEP # SET WAITLIST IMMEDIATE RETURN TS WAITEXIT CA FBANK AD RUPTREG1 # STORE BBANK FOR TASK CALL TS L CAF WAKECAD # STORE CADR FOR TASK CALL TCF DLY2 -1 # DLY IS IN WAITLIST ROUTINE TCGETCAD TC MAKECADR # GET CALLERS FCADR INDEX RUPTREG1 TS DELAYLOC # SAVE DELAY CADRS TC JOBSLEEP WAKER CAF ZERO INDEX BBANK XCH DELAYLOC # MAKE DELAYLOC AVAILABLE # Page 1378 TC JOBWAKE TC TASKOVER TCSLEEP GENADR TCGETCAD -2 WAKECAD GENADR WAKER # Page 1379 # GENTRAN, A BLOCK TRANSFER ROUTINE. # WRITTEN BY D. EYLES # MOD 1 BY KERNAN UTILITYM REV 17 11/18/67 # MOD 2 BY SCHULENBERG (REMOVE RELINT) SKIPPER REV 4 2/28/68 # # THIS ROUTINE IS USEFULL FOR TRANSFERING N CONSECUTIVE ERASABLE OR FIXED QUANTITIES TO SOME OTHER N # CONSECUTIVE ERASABLE LOCATIONS. IF BOTH BLOCKS OF DATA ARE IN SWITCHABLE EBANKS, THEY MUST BE IN THE SAME ONE. # # GENTRAN IS CALLABLE IN A JOB AS WELL AS A RUPT. THE CALLING SEQUENCE IS: # I CA N-1 # # OF QUANTITIES MINUS ONE. # I +1 TC GENTRAN # IN FIXED-FIXED. # I +2 ADRES L # STARTING ADRES OF DATA TO BE MOVED. # I +3 ADRES M # STARTING ADRES OF DUPLICATION BLOCK. # I +4 # RETURNS HERE. # # GENTRAN TAKES 25 MCT'S (300 MICROSECONDS) PER ITEM + 5 MCT'S (60 MICS) FOR ENTERING AND EXITING. # A, L, AND ITEMP1 ARE NOT PRESERVED. BLOCK 02 SETLOC FFTAG4 BANK EBANK= ITEMP1 COUNT* $$/TRAN GENTRAN INHINT TS ITEMP1 # SAVE N-1. INDEX Q # C(Q) = ADRES L. AD 0 # ADRES (L + N - 1). INDEX A CA 0 # C(ABOVE). TS L # SAVE DATA. CA ITEMP1 INDEX Q AD 1 # ADRES (M + N - 1). INDEX A LXCH 0 # STUFF IT. CCS ITEMP1 # LOOP UNTIL N-1 = 0. TCF GENTRAN +1 TCF Q+2 # RETURN TO CALLER. # Page 1380 # B5OFF ZERO BIT 5 OF EXTVBACT, WHICH IS SET BY TESTXACT. # MAY BE USED AS NEEDED BY ANY EXTENDED VERB WHICH HAS DONE TESTXACT COUNT* $$/EXTVB B5OFF CS BIT5 MASK EXTVBACT TS EXTVBACT TC ENDOFJOB ================================================ FILE: Luminary099/SINGLE_PRECISION_SUBROUTINES.agc ================================================ # Copyright: Public domain. # Filename: SINGLE_PRECISION_SUBROUTINES.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1102 # Mod history: 2009-05-25 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # 2010-12-31 JL Fixed page number comment. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 1102 BLOCK 02 # SINGLE PRECISION SINE AND COSINE COUNT* $$/INTER SPCOS AD HALF # ARGUMENTS SCALED AT PI SPSIN TS TEMK TCF SPT CS TEMK SPT DOUBLE TS TEMK TCF POLLEY XCH TEMK INDEX TEMK AD LIMITS COM AD TEMK TS TEMK TCF POLLEY TCF ARG90 POLLEY EXTEND MP TEMK TS SQ EXTEND MP C5/2 AD C3/2 EXTEND MP SQ AD C1/2 EXTEND MP TEMK DDOUBL TS TEMK TC Q ARG90 INDEX A CS LIMITS TC Q # RESULT SCALED AT 1 ================================================ FILE: Luminary099/SPS_BACK-UP_RCS_CONTROL.agc ================================================ # Copyright: Public domain. # Filename: SPS_BACK-UP_RCS_CONTROL.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1507-1510 # Mod history: 2009-05-27 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 1507 # PROGRAM NAME: SPSRCS # AUTHOR: EDGAR M. OSHIKA (AC ELECTRONICS) # MODIFIED: TO RETURN TO ALL AXES VIA Q BY P. S. WEISSMAN, OCT 7, 1968 # MODIFIED TO IMPROVE BENDING STABILITY BY G. KALAN, FEB. 14, 1969 # # FUNCTIONAL DESCRIPTION: # THE PROGRAM CONTROLS THE FIRING OF ALL RCS JETS IN THE DOCKED CONFIGURATION ACCORDING TO THE FOLLOWING PHASE # PLANE LOGIC. # # 1. JET SENSE TEST (SPSRCS) # IF JETS ARE FIRING NEGATIVELY, SET OLDSENSE NEGATIVE AND CONTINUE # IF JETS ARE FIRING POSITIVELY, SET OLDSENSE POSITIVE AND CONTINUE # IF JETS ARE NOT FIRING, SET OLDSENSE TO ZERO AND GO TO OUTER RATE LIMIT TEST # # 2. RATE DEAD BAND TEST # IF JETS ARE FIRING NEGATIVELY AND RATE IS GREATER THAN TARGET RATE, LEAVE # JETS ON AND GO TO INHIBITION LOGIC. OTHERWISE, CONTINUE. # IF JETS ARE FIRING POSITIVELY AND RATE IS LESS THAN TARGET RATE, LEAVE # JETS ON AND GO TO INHIBITION LOGIC. OTHERWISE, CONTINUE. # # 3. OUTER RATE LIMIT TEST (SPSSTART) # IF MAGNITUDE OF EDOT IS GREATER THAN 1.73 DEG/SEC SET JET FIRING TIME # TO REDUCE RATE AND GO TO INHIBITION LOGIC. OTHERWISE, CONTINUE. # # 4. COAST ZONE TEST # IF STATE (E,EDOT) IS BELOW LINE E + 4 X EDOT > -1.4 DEG AND EDOT IS LESS THAN 1.30 DEG/SEC SET JET TIME # POSITIVE AND CONTINUE. OTHERWISE, SET JET FIRING TIME TO ZERO AND CONTINUE. # IF STATE IS ABOVE LINE E + 4 X EDOT > +1.4 DEG AND EDOT IS GREATER THAN -1.30 DEG/SEC, SET JET TIME NEGATIVE # AND CONTINUE. OTHERWISE, SET JET FIRING TIME TO ZERO AND CONTINUE. # # 5. INHIBITION LOGIC # IF OLDSENSE IS NON-ZERO: # A) RETURN IF JET TIME AS THE SAME SIGN AS OLDSENSE # B) SET INHIBITION COUNTER* AND RETURN IF JET TIME IS ZERO # C) SET INHIBITION COUNTER,* SET JET TIME TO ZERO AND RETURN IF SIGN # OF JET TIME IS OPPOSITE TO THAT OF OLDSENSE # IF OLDSENSE IS ZERO: # A) RETURN IF INHIBITION COUNTER IS NOT POSITIVE # B) SET JET TIME TO ZERO AND RETURN IF INHIBITION COUNTER IS POSITIVE # *NOTE: INHIBITION COUNTERS CAN BE SET TO 4 OR 10 FOR THE P AND UV AXES, # RESPECTIVELY, IN SPSRCS. THEY ARE DECREMENTED BY ONE AT THE BEGINNING OF # Page 1508 # EACH DAP PASS. # # THE MINIMUM PULSE WIDTH OF THIS CONTROLLER IS DETERMINED BY THE REPETITION RATE AT WHICH THIS ROUTINE IS CALLED # AND IS NOMINALLY 100 MS FOR ALL AXES IN DRIFTING FLIGHT. DURING POWERED FLIGHT THE MINIMUM IS 100 MS FOR THE # P AXIS AND 200 MS FOR THE CONTROL OF THE U AND V AXES. # # CALLING SEQUENCE: # INHINT # TC IBNKCALL # CADR SPSRCE # # EXIT: # TC Q # # ALARM/ABORT MODE: NONE # # SUBROUTINES CALLED: NONE # # INPUT: E, EDOT # TJP, TJV, TJU TJ MUST NOT BE NEGATIVE ZERO # # OUTPUT: TJP, TJV, TJU BANK 21 SETLOC DAPS4 BANK COUNT* $$/DAPBU EBANK= TJU RATELIM2 OCT 00632 # 1.125 DEG/SEC POSTHRST CA HALF NDX AXISCTR TS TJU CCS OLDSENSE TCF POSCHECK # JETS FIRING POSITIVELY TCF CTRCHECK # JETS OFF. CHECK INHIBITION CTR NEGCHECK INDEX AXISCTR # JETS FIRING NEGATIVELY CS TJU CCS A TC Q # RETURN TCF +2 TCF +1 # JETS COMMANDED OFF. SET CTR AND RETURN SETCTR INDEX AXISCTR # JET FIRING REVERSAL COMMANDED. SET CTR, CA UTIME # SET JET TIME TO ZERO, AND RETURN # Page 1509 INDEX AXISCTR TS UJETCTR ZAPTJ CA ZERO INDEX AXISCTR TS TJU TC Q POSCHECK INDEX AXISCTR CA TJU TCF NEGCHECK +2 CTRCHECK INDEX AXISCTR # CHECK JET INHIBITION COUNTER CCS UJETCTR TCF +2 TC Q # CTR IS NOT POSITIVE. RETURN TCF ZAPTJ # CTR IS POSITIVE. INHIBIT FIRINGS TC Q # CTR IS NOT POSITIVE. RETURN OCT 00004 UTIME OCT 00012 OCT 00012 OLDSENSE EQUALS DAPTREG1 NEGFIRE CS ONE # JETS FIRING NEGATIVELY TS OLDSENSE CA EDOT TCF +4 PLUSFIRE CA ONE TS OLDSENSE CS EDOT # RATE DEAD BAND TEST LXCH A CS DAPBOOLS # IF DRIFTBIT = 1, USE ZERO TARGET RATE MASK DRIFTBIT # IF DRIFTBIT = 0, USE 0.10 RATE TARGET CCS A CA RATEDB1 AD L EXTEND BZMF SPSSTART TCF POSTHRST +3 SPSRCS INDEX AXISCTR # JET SENSE TEST CCS TJU TCF PLUSFIRE # JETS FIRING POSITIVELY TCF +2 TCF NEGFIRE # JETS FIRING NEGATIVELY TS OLDSENSE # JETS OFF SPSSTART CA EDOT # OUTER RATE LIMIT TEST EXTEND MP RATELIM1 CCS A TCF NEGTHRST # OUTER RATE LIMIT EXCEEDED TCF +2 TCF POSTHRST # OUTER RATE LIMIT EXCEEDED CA EDOT # COAST ZONE TEST # Page 1510 AD E EXTEND MP DKDB # PAD LOADED DEADBAND. FRESHSTART: 1.4 DEG EXTEND BZF TJZERO EXTEND BZMF +7 CA EDOT AD RATELIM2 EXTEND BZMF TJZERO NEGTHRST CS HALF TCF POSTHRST +1 +7 CS RATELIM2 AD EDOT EXTEND BZMF POSTHRST TJZERO CA ZERO TCF POSTHRST +1 RATELIM1 = CALLCODE # = 00032, CORRESPONDING TO 1.73 DEG/SEC RATEDB1 = TBUILDFX # = 00045, CORRESPONDS TO 0.101 DEG/SEC # *** END OF LMDAP .015 *** ================================================ FILE: Luminary099/STABLE_ORBIT.agc ================================================ # Copyright: Public domain. # Filename: STABLE_ORBIT.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 723-730 # Mod history: 2009-05-19 RSB Adapted from the corresponding # Colossus249 file (there being no corresponding # Luminary131 source-code file), using page # images from Luminary 1A. # 2009-06-07 RSB Eliminated an extraneous instruction. # 2011-01-06 JL Fixed pseudo-label indentation. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 723 # STABLE ORBIT RENDEZVOUS PROGRAMS (P38 AND P78) # # MOD NO -1 LOG SECTION - STABLE ORBIT - P38-P39 # MOD BY RUDNICKI.S DATE 25JAN68 # # FUNCTIONAL DESCRIPTION # # P38 AND P78 CALCULATE THE REQUIRED DELTA V AND OTHER INITIAL # CONDITIONS REQUIRED BY THE AGC TO (1) PUT THE ACTIVE VEHICLE # ON A TRANSFER TRAJECTORY THAT INTERCEPTS THE PASSIVE VEHICLE # ORBIT A GIVEN DISTANCE, DELTA R, EITHER AHEAD OF OR BEHIND THE # PASSIVE VEHICLE AND (2) ACTUALLY PLACE THE ACTIVE VEHICLE IN THE # PASSIVE VEHICLE ORBIT WITH A DELTA R SEPARATION BETWEEN THE TWO # VEHICLES # # CALLING SEQUENCE # # ASTRONAUT REQUEST THRU DSKY # # V37E38E IF THIS VEHICLE IS ACTIVE VEHICLE # V37E78E IF OTHER VEHICLE IS ACTIVE VEHICLE # # INPUT # # (1) SOI MANEUVER # # (A) TIG TIME OF SOI MANEUVER # (B) CENTANG ORBITAL CENTRAL ANGLE OF THE PASSIVE VEHICLE # DURING THE TRANSFER FROM TIG TO TIME OF INTERCEPT # (C) DELTAR THE DESIRED SEPARATION OF THE TWO VEHICLES # SPECIFIED AS A DISTANCE ALONG THE PASSIVE VEHICLE # ORBIT # (D) OPTION EQUALS 1 FOR SOI # # (2) SOR MANEUVER # # (A) TIG TIME OF SOR MANEUVER # (B) CENTANG AN OPTIONAL RESPECIFICATION OF 1 (B) ABOVE # (C) OPTION EQUALS 2 FOR SOR # (D) DELTTIME THE TIME REQUIRED TO TRAVERSE DELTA R WHEN # TRAVELING AT A VELOCITY EQUAL TO THE HORIZONTAL # VELOCITY OF THE PASSIVE VEHICLE - SAVED FROM # SOI PHASE # (E) TINT TIME OF INTERCEPT (SOI) - SAVED FROM SOI PHASE # # OUTPUT # # (1) TRKMKCNT NUMBER OF MARKS # (2) TTOGO TIME TO GO # (3) +MGA MIDDLE GIMBAL ANGLE # Page 724 # (4) DSPTEM1 TIME OF INTERCEPT OF PASSIVE VEHICLE ORBIT # (FOR SOI ONLY) # (5) POSTTPI PERIGEE ALTITUDE OF ACTIVE VEHICLE ORBIT AFTER # THE SOI (SOR) MANEUVER # (6) DELVTPI MAGNITUDE OF DELTA V AT SOI (SOR) TIME # (7) DELVTPF MAGNITUDE OF DELTA V AT INTERCEPT TIME # (8) DELVLVC DELTA VELOCITY AT SOI (AND SOR) - LOCAL VERTICAL # COORDINATES # # SUBROUTINE USED # # AVFLAGA # AVFLAGP # VNDSPLY # BANKCALL # GOFLASHR # GOTOPOOH # BLANKET # ENDOFJOB # PREC/TT # SELECTMU # INTRPVP # MAINRTNE BANK 04 SETLOC STBLEORB BANK EBANK= SUBEXIT COUNT* $$/P3879 P38 TC BANKCALL CADR AVFLAGA # THIS VEHICLE ACTIVE TC +3 P78 TC BANKCALL CADR AVFLAGP # OTHER VEHICLE ACTIVE TC BANKCALL CADR P20FLGON # SET UPDATFLG, TRACKFLG CAF DECTWO TS NN CAF V06N33SR # DISPLAY TIG TC VNDSPLY CAF V06N55SR # DISPLAY CENTANG TCR BANKCALL CADR GOFLASHR TCF GOTOPOOH # TERMINATE TCF +5 # PROCEED TCF -5 # RECYCLE CAF THREE # IMMEDIATE RETURN - BLANK R1, R2 TCR BLANKET # Page 725 TCF ENDOFJOB CAF FIVE TS OPTION1 CAF ONE TS OPTION2 # OPTION CODE IS SET TO 1 CAF V04N06SR # DISPLAY OPTION CODE - 1 = SOI, 2 = SOR TCR BANKCALL CADR GOFLASHR TCF GOTOPOOH # TERMINATE TCF +5 # PROCEED TCF -5 # RECYCLE CAF BIT3 # IMMEDIATE RETURN - BLANK R3 TCR BLANKET TCF ENDOFJOB TC INTPRET SLOAD SR1 OPTION2 BHIZ DLOAD OPTN1 TINT STORE TINTSOI # STORE FOR SOR PHASE CLRGO OPTNSW # OPTNSW: ON = SOI, OFF = SOR JUNCTN1 OPTN1 SET CLEAR # SOI OPTNSW UPDATFLG CALL PREC/TT DAD SET TIG UPDATFLG STORE TINT # TI = TIG + TF EXIT CAF V06N57SR # DISPLAY DELTA R TCR BANKCALL CADR GOFLASHR TCF GOTOPOOH # TERMINATE TCF +5 # PROCEED TCF -5 # RECYCLE CAF SIX # IMMEDIATE RETURN - BLANK R2, R3 TCR BLANKET TCF ENDOFJOB +5 EXTEND DCA TINT DXCH DSPTEM1 # FOR DISPLAY CAF V06N34SR # DISPLAY TIME OF INTERCEPT TC VNDSPLY TC INTPRET JUNCTN1 CLEAR CALL # Page 726 P39/79SW SELECTMU # SELECT MU, CLEAR FINALFLG, GO TO VN1645 RECYCLE CALL PREC/TT BOFF DLOAD OPTNSW OPTN2 TINT STCALL TDEC1 # PRECISION UPDATE PASSIVE VEHICLE TO INTRPVP # INTERCEPT TIME VLOAD UNIT RATT # RP/(RP) PDVL VXV VATT ABVAL NORM # (VP X RP/(RP)) X1 PDDL DDV DELTAR SL* # DELTA R / (VP X RP/RP) 0 -7,1 STCALL DELTTIME # DELTA T = (RP) DELTA R / (VP X RP) JUNCTN2 OPTN2 DLOAD DAD TINTSOI T STORE TINT # TI = TI + TF JUNCTN2 DLOAD DSU TINT DELTTIME STORE TARGTIME # TT = TI - DELTA T # .... MAINRTNE .... # SUBROUTINES USED: # # S3435.25 # PERIAPO1 # SHIFTR1 # VNDSPLY # BANKCALL # GOFLASH # GOTOPOOH # VN1645 MAINRTNE STCALL TDEC1 # PRECISION UPDATE PASSIVE VEHICLE TO INTRPVP # TARGET TIME DLOAD TIG STORE INTIME SSP VLOAD SUBEXIT TEST3979 # Page 727 RATT CALL S3435.25 TEST3979 BOFF BON P39/79SW MAINRTN1 FINALFLG P39P79 SET UPDATFLG P39P79 EXIT TC DSPLY81 # FOR P39 AND P79 MAINRTN1 VLOAD ABVAL DELVEET3 STOVL DELVTPI # DELTA V VPASS4 VSU ABVAL VTPRIME STOVL DELVTPF # DELTA V (FINAL) = V'T - VT RACT3 PDVL CALL VIPRIME PERIAPO1 # GET PERIGEE ALTITUDE CALL SHIFTR1 STORE POSTTPI BON SET FINALFLG DSPLY58 UPDATFLG DSPLY58 EXIT CAF V06N58SR # DISPLAY HP, DELTA V, DELTA V (FINAL) TC VNDSPLY DSPLY81 CAF V06N81SR # DISPLAY DELTA V (LV) TC VNDSPLY TC INTPRET CLEAR VLOAD XDELVFLG DELVEET3 STCALL DELVSIN VN1645 # DISPLAY TRKMKCNT, TTOGO, +MGA BON GOTO P39/79SW P39/P79B RECYCLE # STABLE ORBIT MIDCOURSE PROGRAM (P39 AND P79) # # MOD NO -1 LOG SECTION - STABLE ORBIT - P38-P39 # MOD BY RUDNICKI.S DATE 25JAN68 # # Page 728 # FUNCTIONAL DESCRIPTION # # P39 AND P79 CALCULATE THE REQUIRED DELTA V AND OTHER INITIAL # CONDITIONS REQUIRED BY THE AGC TO MAKE A MIDCOURSE CORRECTION # MANEUVER AFTER COMPLETING THE SOI MANEUVER BUT BEFORE MAKING # THE SOR MANEUVER. # # CALLING SEQUENCE # # ASTRONAUT REQUEST THRU DSKY # # V37E39E IF THIS VEHICLE IS ACTIVE VEHICLE # V37E79E IF OTHER VEHICLE IS ACTIVE VEHICLE # # INPUT # # (1) TPASS4 TIME OF INTERCEPT - SAVED FROM P38/P78 # (2) TARGTIME TIME THAT PASSIVE VEHICLE IS AT INTERCEPT POINT - # SAVED FROM P38/P78 # # OUTPUT # # (1) TRKMKCNT NUMBER OF MARKS. # (2) TTOGO TIME TO GO # (3) +MGA MIDDLE GIMBAL ANGLE # (4) DELVLVC DELTA VELOCITY AT MID - LOCAL VERTICAL COORDINATES # # SUBROUTINES USED # # AVFLAGA # AVFLAGP # LOADTIME # SELECTMU # PRECSET # S34/35.1 # MAINRTNE P39 TC BANKCALL CADR AVFLAGA # THIS VEHICLE ACTIVE EXTEND DCA ATIGINC TC P39/P79A P79 TC BANKCALL CADR AVFLAGP # OTHER VEHICLE ACTIVE EXTEND DCA PTIGINC P39/P79A DXCH KT # TIME TO PREPARE FOR BURN TC BANKCALL CADR P20FLGON # SET UPDATFLG, TRACKFLG TC INTPRET # Page 729 SET CALL P39/79SW SELECTMU # SELECT MU, CLEAR FINALFLG, GO TO VN1645 P39/P79B RTB DAD LOADTIME KT STORE TIG # TIG = T (PRESENT) + PREPARATION TIME STCALL TDEC1 # PRECISION UPDATE ACTIVE AND PASSIVE PRECSET # VEHICLES TO TIG CALL S34/35.1 # GET UNIT NORMAL DLOAD GOTO TARGTIME MAINRTNE # CALCULATE DELTA V AND DELTA V (LV) # .... PREC/TT .... # SUBROUTINES USED # # PRECSET # TIMETHET # S34/35.1 PREC/TT STQ DLOAD RTRN TIG STCALL TDEC1 # PRECISION UPDATE ACTIVE AND PASSIVE PRECSET # VEHICLES TO TIG VLOAD VSR* RPASS3 0,2 STODL RVEC CENTANG PUSH COS STODL CSTH SIN SET RVSW STOVL SNTH VPASS3 VSR* 0,2 STCALL VVEC # GET TRANSFER TIME BASED ON CENTANG OF TIMETHET # PASSIVE VEHICLE CALL S34/35.1 # GET UNIT NORMAL DLOAD GOTO T RTRN # .... INTRPVP .... # SUBROUTINES USED # # CSMPREC # Page 730 # LEMPREC INTRPVP STQ BOFF # PRECISION UPDATE PASSIVE VEHICLE TO RTRN # TDEC1 AVFLAG OTHERV CALL CSMPREC GOTO RTRN OTHERV CALL LEMPREC GOTO RTRN # .... VNDSPLY .... # SUBROUTINES USED # # BANKCALL # GOFLASH # GOTOPOOH VNDSPLY EXTEND # FLASH DISPLAY QXCH RTRN TS VERBNOUN CA VERBNOUN TCR BANKCALL CADR GOFLASH TCF GOTOPOOH # TERMINATE TC RTRN # PROCEED TCF -5 # RECYCLE V06N33SR VN 0633 V06N55SR VN 0655 V04N06SR VN 0406 V06N57SR VN 0657 V06N34SR VN 0634 V06N58SR VN 0658 V06N81SR VN 0681 DECTWO OCT 2 # *** END OF KISSING .050 *** ================================================ FILE: Luminary099/SYSTEM_TEST_STANDARD_LEAD_INS.agc ================================================ # Copyright: Public domain. # Filename: SYSTEM_TEST_STANDARD_LEAD_INS.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 370-372 # Mod history: 2009-05-17 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 370 EBANK= XSM BANK 33 SETLOC E/PROG BANK COUNT* $$/P07 # SPECIAL PROGRAMS TO EASE THE PANGS OF ERASABLE MEMORY PROGRAMS. # # E/BKCALL FOR DOING BANKCALLS FROM AND RETURNING TO ERASABLE. # # THIS ROUTINE IS CALLABLE FROM ERASABLE OR FIXED. LIKE BANKCALL, HOWEVER, SWITCHING BETWEEN S3 AND S4 # IS NOT POSSIBLE. # # THE CALLING SEQUENCE IS: # # TC BANKCALL # CADR E/BKCALL # CADR ROUTINE # WHERE TO WANT TO GO IN FIXED. # RETURN HERE FROM DISPLAY TERMINATE, BAD STALL OR TC Q. # RETURN HERE FROM DISPLAY PROCEED OR GOOD RETURN FROM STALL. # RETURN HERE FROM DISPLAY ENTER OR RECYCLE. # # THIS ROUTINE REQUIRES TWO ERASABLES (EBUF2, +1) IN UNSWITCHED WHICH ARE UNSHARED BY INTERRUPTS AND # OTHER EMEMORY PROGRAMS. # # A + L ARE PRESERVED THROUGH BANKCALL AND E/BKCALL. E/BKCALL DXCH BUF2 # SAVE A,L AND GET DP RETURN. DXCH EBUF2 # SAVE DP RETURN. INCR EBUF2 # RETURN +1 BECAUSE DOUBLE CADR. CA BBANK MASK LOW10 # GET CURRENT EBANK. (SBANK SOMEDAY) ADS EBUF2 +1 # FORM BBCON. (WAS FBANK) NDX EBUF2 CA 0 -1 # GET CADR OF ROUTINE. TC SWCALL # GO TO ROUTINE, SETTING Q TO SWRETURN # AND RESTORING A + L. TC +4 # TX Q, V34, OR BAD STALL RETURN. TC +2 # PROCEED OR GOOD STALL RETURN. INCR EBUF2 # ENTER OR RECYCLE RETURN. INCR EBUF2 E/SWITCH DXCH EBUF2 DTCB # Page 371 # E/CALL FOR CALLING A FIXED MEMORY INTERPRETIVE SUBROUTINE FROM ERASABLE AND RETURNING TO ERASABLE. # # THE CALLING SEQUENCE IS... # # RTB # E/CALL # CADR ROUTINE # THE INTERPRETIVE SUBROUTINE YOU WANT. # # RETURNS HERE IN INTERPRETIVE. E/CALL LXCH LOC # ADRES -1 OF CADR. INDEX L CA L # CADR IN A. INCR L INCR L # RETURN ADRES IN L. DXCH EBUF2 # STORE CADR AND RETURN TC INTPRET CALL EBUF2 # INDIRECTLY EXECUTE ROUTINE. IT MUST EXIT # LEAVE VIA RVQ OR EQUIVALENT. LXCH EBUF2 +1 # PICK UP RETURN. TCF INTPRET +2 # SET LOC AND RETURN TO CALLER. # Page 372 # E/JOBWAK FOR WAKING UP ERASABLE MEMORY JOBS. # # THIS ROUTINE MUST BE CALLED IN INTERRUPT OR WITH INTERRUPTS INHIBITED. # # THE CALLING SEQUENCE IS: # # INHINT # ... # CA WAKEADR # ADDRESS OF SLEEPING JOB # TC IBNKCALL # CADR E/JOBWAK # ... # RETURNS HERE # RELINT # IF YOU DID AND INHINT. BANK 33 SETLOC E/PROG BANK COUNT* $$/P07 E/JOBWAK TC JOBWAKE # ARRIVE IWTH ADRES IN A. CS BIT11 NDX LOCCTR ADS LOC # KNOCK FIXED MEMORY BIT OUT OF ADRES. TC RUPTREG3 # RETURN ================================================ FILE: Luminary099/T4RUPT_PROGRAM.agc ================================================ # Copyright: Public domain. # Filename: T4RUPT_PROGRAM.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Hartmuth Gutsche . # Website: www.ibiblio.org/apollo. # Pages: 155-189 # Mod history: 2009-05-19 HG Transcribed from page images. # 2010-12-31 JL Fixed page number comment. # 2011-01-06 JL Fixed indentation of TNONTEST. Fixed pseudo-label indentation. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 155 BANK 12 SETLOC T4RUP BANK EBANK= M11 COUNT* $$/T4RPT T4RUPT TS BANKRUPT EXTEND QXCH QRUPT CCS DSRUPTSW # GOES 7(-1)0 AROUND AND AROUND TCF NORMT4 +1 TCF NORMT4 TCF QUIKDSP NORMT4 CAF SEVEN TS RUPTREG1 TS DSRUPTSW BLOCK 02 SETLOC FFTAG10 BANK COUNT* $$/T4RPT 100MRUPT = OCT37766 # (DEC 16374) # RELTAB IS A PACKED TABLE. RELAYWORD CODE IN UPPER 4 BITS, RELAY CODE # IN LOWER 5 BITS. RELTAB OCT 04025 OCT 10003 OCT 14031 OCT 20033 OCT 24017 OCT 30036 OCT 34034 OCT 40023 OCT 44035 OCT 50037 OCT 54000 RELTAB11 OCT 60000 # Page 156 # SWITCHED-BANK PORTION BANK 12 SETLOC T4RUP BANK COUNT* $$/T4RPT CDRVE CCS DSPTAB +11D TC DSPOUT TC DSPOUT XCH DSPTAB +11D MASK LOW11 TS DSPTAB +11D AD RELTAB11 EXTEND WRITE OUT0 TC HANG20 # Page 157 # DSPOUT PROGRAM, PUTS OUT DISPLAYS DSPOUTSB TS NOUT CS ZERO TS DSRUPTEM # SET TO -0 FOR 1ST PASS THRU DSPTAB XCH DSPCNT AD NEG0 # TO PREVENT +0 TS DSPCNT DSPSCAN INDEX DSPCNT CCS DSPTAB CCS DSPCNT # IF DSPTAB ENTRY +, SKIP TCF DSPSCAN -2 # IF DSPCNT +, TRY AGAIN TCF DSPLAY # IF DSPTAB ENTRY -, DISPLAY TABLNTH OCT 12 # DEC 10, LENGTH OF DSPTAB CCS DSRUPTEM # IF DSRUPTEM=+0, 2ND PASS THRU DSPTAB 120MRUPT DEC 16372 # (DSPCNT = 0). +0 INTO NOUT. TS NOUT TC Q TS DSRUPTEM # IF DSRUPTEM=-0, 1ST PASS THRU DSPTAB CAF TABLNTH # (DSPCNT=0).+0 INTO DSRUPTEM. PASS AGAIN TCF DSPSCAN -1 DSPLAY AD ONE INDEX DSPCNT TS DSPTAB # REPLACE POSITIVELY MASK LOW11 # REMOVE BITS 12 TO 15 TS DSRUPTEM CAF HI5 INDEX DSPCNT MASK RELTAB # PICK UP BITS 12 TO 15 OF RELTAB ENTRY AD DSRUPTEM EXTEND WRITE OUT0 TCF Q+1 DSPOUT CCS FLAGWRD5 # IS DSKY FLAG ON CAF ZERO # NO TCF NODSPOUT # NO CCS NOUT # YES TC DSPOUTSB TCF NODSPOUT # NO DISPLAY REQUESTS HANG20 CS 14,11,9 ADS DSRUPTSW CAF 20MRUPT SETTIME4 TS TIME4 # Page 158 # THE STATUS OF THE PROCEED PUSHBUTTON IS MONITORED EVERY 120 MILLISECONDS VIA THE CHANNEL 32 BIT 14 INBIT. # THE STATE OF THIS INBIT IS COMPARED WITH ITS STATE DURING THE PREVIOUS T4RUPT AND IS PROCESSED AS FOLLOWS. # IF PREV ON AND NOW ON -- BYPASS. # IF PREV ON AND NOW OFF -- UPDATE IMODES33. # IF PREV OFF AND NOW ON -- UPDATE IMODES33 AND PROCESS VIA PINBALL. # IF PREV OFF AND NOW OFF -- BYPASS. # THE LOGIC EMPLOYED REQUIRES ONLY 9 MCT (APPROX. 108 MICROSECONDS) OF COMPUTER TIME WHEN NO CHANGES OCCUR. PROCEEDE CA IMODES33 # MONITOR FOR PROCEED BUTTON EXTEND RXOR CHAN32 MASK BIT14 EXTEND BZF T4JUMP # NO CHANGE LXCH IMODES33 EXTEND RXOR LCHAN TS IMODES33 # UPDATE IMODES33 MASK BIT14 CCS A TCF T4JUMP # WAS ON -- NOW OFF CAF CHRPRIO # WAS OFF -- NOW ON TC NOVAC EBANK= DSPCOUNT 2CADR PROCKEY # Page 159 # JUMP TO APPROPRIATE ONCE-PER SECOND (0.96 SEC ACTUALLY) ACTIVITY T4JUMP INDEX RUPTREG1 TCF +1 TC RCSMONIT TCF RRAUTCHK TCF IMUMON TCF DAPT4S TC RCSMONIT TCF RRAUTCHK TCF IMUMON TCF DAPT4S 20MRUPT = OCT37776 # (DEC 16382) # Page 160 # ADDITIONAL ROUTINES FOR 20MS. KEYBOARD ACTIVITY NODSPOUT EXTEND WRITE OUT0 CAF 120MRUPT #SET FOR NEXT CCRIVE TCF SETTIME4 QUIKDSP CAF BIT14 MASK DSRUPTSW EXTEND BZF QUIKOFF # WROTE LAST TIME, NOW TURN OFF RELAYS. CCS NOUT TC DSPOUTSB TCF NODSPY # NOUT=0 OR BAD RETURN FROM DSPOUTSB CS BIT14 # GOOD RETURN (WE DISPLAYED SOMETHING) QUIKRUPT ADS DSRUPTSW CAF 20MRUPT TS TIME4 CAF BIT9 ADS DSRUPTSW TC RESUME NODSPY EXTEND WRITE OUT0 SYNCT4 CAF 20MRUPT ADS TIME4 CAF BIT9 ADS DSRUPTSW CCS DSRUPTSW TC RESUME OCT37737 OCT 37737 TC SYNCT4 TC RESUME QUIKOFF EXTEND WRITE OUT0 CAF BIT14 # RESET DSRUPTSW TO SEND DISPLAY NEXT PASS TCF QUIKRUPT 14,11,9 OCT 22400 # Page 161 # PROGRAM NAME: IMUMON # FUNCTIONAL DESCRIPTION: THIS PROGRAM IS ENTERED EVERY 480 MS. IT DETECTS CHANGES OF THE IMU STATUS BITS IN # CHANNEL 30 AND CALLS THE APPROPRIATE SUBROUTINES. THE BITS PROCESSED AND THEIR RELEVANT SUROUTINES ARE: # FUNCTION BIT SUBROUTINE CALLED # -------- --- ----------------- # TEMP IN LIMITS 15 TLIM # ISS TURN-ON REQUEST 14 ITURNON # IMU FAIL 13 IMUFAIL (SETISSW) # IMU CDU FAIL 12 ICDUFAIL (SETISSW) # IMU CAGE 11 IMUCAGE # IMU OPERATE 9 IMUOP # THE LAST SAMPLED STATE OF THESE BITS IS LEFT IN IMODES30. ALSO, EACH SUBROUTINE CALLED FINDS THE NEW # VALUE OF THE BIT IN A, WITH Q SET TO THE PROPER RETURN LOCATION NXTIFAIL. # CALLING SEQUENCE: T4RUPT EVERY 480 MILLISECONDS. # JOBS OR TASKS INITIATED: NONE. # SUBROUTINES CALLED: TLIM, TURNON, SETISSW, IMUCAGE, IMUOP. # ERASABELE INITIALIZATION: # FRESH START OR RESTART WITH NO GROUPS ACTIVE: C((MODES30) = OCT 37411). # RESTART WITH ACTIVE GROUPS: C(IMODES30) = (B(IMODES30)AND(OCT 00035)) PLUS OCT 37400. # THIS LEAVES IMU FAIL BITS INTACT. # ALARMS: NONE. # EXIT: TNONTEST. # OUTPUT: UPDATED IMODES30 WITH CHANGES PROCESSED BY APPROPRIATE SUBROUTINE. IMUMON CA IMODES30 # SEE IF THERE HAS BEEN A CHANGE IN THE EXTEND # RELEVANT BITS OF CHAN 30. RXOR CHAN30 MASK 30RDMSK EXTEND BZF TNONTEST # NO CHANGE IN STATUS TS RUPTREG1 # SAVE BITS WHICH HAVE CHANGED. LXCH IMODES30 # UPDATE IMODES30. EXTEND RXOR LCHAN TS IMODES30 CS ONE XCH RUPTREG1 EXTEND # Page 162 BZMF TLIM # CHANGE IN IMU TEMP. TCF NXTIFBIT # BEGIN BIT SCAN. -1 AD ONE # (RE-ENTERS HERE FROM NXTIFAIL.) NXTIFBIT INCR RUPTREG1 # ADVANCE BIT POSITION NUMBER. +1 DOUBLE TS A # SKIP IF OVERFLOW. TCF NXTIFBIT # LOOK FOR BIT. XCH RUPTREG2 # SAVE OVERFLOW-CORRECTED DATA. INDEX RUPTREG1 # SELECT NEW VALUE OF THIS BIT. CAF BIT14 MASK IMODES30 INDEX RUPTREG1 TC IFAILJMP NXTIFAIL CCS RUPTREG2 # PROCESS ANY ADDITIONAL CHANGES. TCF NXTIFBIT -1 # Page 163 # PROGRAM NAME: TNONTEST. # FUNCTIONAL DESCRIPTION: THIS PROGRAM HONORS REQUESTS FOR ISS INITIALIZATION. ISS TURN-ON (CHANNEL 30 BIT 14) # AND ISS OPERATE (CHANNEL 30 BIT 9) REQUESTS ARE TREATED AS A PAIR AND PROCESSING TAKES PLACE .480 SECONDS # AFTER EITHER ONE APPEARS. THIS INITIALIZATION TAKES ON ONE OF THE FOLLOWING THREE FORMS: # 1) ISS TURN-ON: IN THIS SITUATION THE COMPUTER IS OPERATING WHEN THE ISS IS TURNED ON. NOMINALLY, # BOTH ISS TURN-ON AND ISS OPERATE APPEAR. THE PLATFORM IS CAGED FOR 90 SECONDS AND THE ICDU'S ZEROED # SO THAT AT THE END OF THE PROCESS THE GIMBAL LOCK MONITOR WILL FUNCTION PROPERLY. # 2) ICDU INITIALIZATION: IN THIS CASE THE COMPUTER WAS PROBABLY TURNED ON WITH THE ISS IN OPERATE OR # A FRESH START WAS DONE WIT THE ISS IN OPERATE. IN THIS CASE ONLY ISS OPERATE IS ON. THE ICDU'S ARE # ZEROED SO THE GIMBAL LOCK MONITOR WILL FUNCTION. AN EXCEPTION IS IF THE ISS IS IN GIMBAL LOCK AFTER # A RESTART, THE ICDU'S WILL NOT BE ZEROED. # 3) RESTART WITH RESTARTABLE PROGRAM USING THE IMU: IN THIS CASE, NO INITIALIZATION TAKES PLACE SINCE # IT IS ASSUMED THT THE USING PROGRAM DID THE INITIALIZATION AND THEREFORE T4RUPT SHOULD NOT INTERFERE. # IMODES30 BIT 7 IS SET = 1 BY THE FIRST BIT (CHANNEL 30 BIT 14 OR 9) WHICH ARRIVES. FOLLOWING THIS, TNONTEST IS # ENTERED, FINDS BIT 7 = 1 BUT BIT 8 = 0, SO IT SETS BIT 8 = 1 AND EXITS. THE NEXT TIME IT FINDS BIT 8 = 1 AND # PROCEEDS, SETTING BITS 8 AND 7 = 0. AT PROCTNON, IF ISS TURN-ON REQUEST IS PRESENT, THE ISS IS CAGED (ZERO + # COARSE). IF ISS OPERATE IS NOT PRESENT PROGRAM ALARM 00213 IS ISSUED. AT THE END OF A 90 SECOND CAGE, BIT 2 # OF IMODES30 IS TESTED. IF IT IS = 1, ISS TURN-ON WAS NOT PRESENT FOR THE ENTIRE 90 SECONDS. IN THAT CASE, IF # THE ISS TURN-ON REQUEST IS PRESENT TEH 90 SECOD WAIT IS REPEATED. OTHERWISE NO ACTION OCURS UNLESS A PROGRAM # WAS WAITING FOR THE INITIALIZATION IN WHIC CASE TH PROGRAM IS GIVEN AN IMUSTALL ERROR RETURN. IF THE DELAY # WENT PROPERLY, THE ISS DELAY OUTBIT IS SENT AND THE ICDU'S ZEROED. A TASK IS INITIATED TO REMOVE THE PIPA FAIL # INHIBIT BIT IN 10.24 SECONDS. IF A MISSION PROGRAM WAS WAITING IT IS INFORMED VIA ENDIMU. # AT PROCTNON, IF ONLY ISS OPERATE IS PRESENT (OPONLY), THE CDU'S ARE ZEROED UNLESS THE PLATFORM IS IN COARSE # ALIGN (= GIMBAL LOCK HERE) OR A MISSIN PROGRAM IS USING THE IMU (INUSEFLG = 1). # CALLING SEQUENCE: T4RUPT EVERY 480 MILLISECONDS AFTER IMUMON. # JOBS OR TASKS INITIATED: 1) ENDTNON, 90 SECONDS AFER CAGING STARTED. 2) ISSUP, 4 SECONDS AFTER CAGING DONE. # 3) PFAILOK, 10.24 SECONDS AFTER INITIALIZATION COMPLETED. 4) UNZ2, 320 MILLISECONDS AFTER ZEROING # STARTED. # SUBROUTINES CALLED: CAGESUB, CAGESUB2, ZEROICDU, ENDIMU, IMUBAD, NOATTOFF, SETISSW, VARDELAY. # ERASABLE INITIALIZATION: SEE IMUMON. # ALARMS: PROGRAM ALARM 00213 IF ISS TURN-ON REQUESTED WITHOUT ISS OPERATE. # EXIT: ENDTNON EXITS TO C33TEST. TASKS HAVING TO DO WITH INITIALIZATION EXIT AS FOLLOWS: MISSION PROGRAM # WAITING AND INITIALIZATION COMPLETE, EXIT TO ENDIMU, MISSION PROGRAM WAITING AND INITIALIZATION FAILED, EXIT TO # IMUBAD, IMU NOT IN USE, EXIT TO TASKOVER. # OUTPUT: ISS INITIALIZED. TNONTEST CS IMODES30 # AFTER PROCESSING ALL CHANGES, SEE IF IT # Page 164 MASK BIT7 # IS TIME TO ACT ON A TURN-ON SEQUENCE. CCS A TCF C33TEST # NO -- EXAMINE CHANNEL 33. CAF BIT8 # SEE IF FIRST SAMPLE OR SECOND. MASK IMODES30 CCS A TCF PROCTNON # REACT AFTER A SECOND SAMPLE. CAF BIT8 # IF FIRST SAMPLE, SET BIT TO REACT NEXT ADS IMODES30 # TIME. TCF C33TEST # PROCESS IMU TURN-ON REQUESTS AFTER WAITING 1 SAMPLE FOR ALL SIGNALS TO ARRIVE. PROCTNON CS BITS7&8 MASK IMODES30 TS IMODES30 MASK BIT14 # SEE IF TURN-ON REQUEST. CCS A TCF OPONLY # OPERATE ON ONLY. CS IMODES30 # IF TURN-ON REQUEST, WE SHOUD HAVE IMU MASK BIT9 # OPERATE. CCS A TCF +3 TC ALARM # ALARM IF NOT OCT 213 +3 TC CAGESUB CAF 90SECS TC WAITLIST EBANK= M11 2CADR ENDTNON TCF C33TEST RETNON CAF 90SECS TC VARDELAY ENDTNON CS BIT2 # RESET TURN-ON REQUEST FAIL BIT. MASK IMODES30 XCH IMODES30 MASK BIT2 # IF IT WAS OFF, SEND ISS DELAY COMPLETE. EXTEND BZF ENDTNON2 CAF BIT14 # IF IT WAS ON AND TURN-ON REQUEST NOW. # Page 165 MASK IMODES30 # PRESENT, RE-ENTER 90 SEC DELAY IN WL. EXTEND BZF RETNON CS FLAGWRD0 # IF IT IS NOT ON NOW, SEE IF A PROG WAS MASK IMUSEBIT # WAITING. CCS A TCF TASKOVER TC POSTJUMP CADR IMUBAD # UNSUCCESSFUL TURN-ON. ENDTNON2 CAF BIT15 # SEND ISS DELAY COMPLETE. EXTEND WOR CHAN12 TC IBNKCALL # TURN OFF NO ATT LAMP. CADR NOATTOFF UNZ2 TC ZEROICDU CS BITS4&5 # REMOVE ZERO AND COARSE. EXTEND WAND CHAN12 CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS TC VARDELAY ISSUP CS OCT54 # REMOVE CAGING, IMU FAIL INHIBIT BIT, AND MASK IMODES30 # ICDUFAIL INHIBIT FLAGS. TS IMODES30 CS BIT6 # ENABLE DAP MASK IMODES33 TS IMODES33 CS FLAGWRD2 # TEST DRIFTFLG: IF ON DO NOTHING BECAUSE MASK DRFTBIT # IMUCOMP SHOUD BE ALL SET UP (RESTART EXTEND # WITH IMUSE DOWN). IF OFF, SET DRIFTFLG BZF +4 # AND 1/PIPADT TO GET FREEFALL IMUCOMP ADS FLAGWRD2 # GOING (FRESH START OR ISS TURN-ON). CA TIME1 XCH 1/PIPADT # CANNOT GET HERE IF RESTART WITH IMUSE UP TC SETISSW # ISS WARNING MIGHT HAVE BEEN INHIBITED. CS BIT15 # REMOVE IMU DELAY COMPLETE DISCRETE. EXTEND WAND CHAN12 CAF 4SECS # DON'T ENABLE PROG ALARM ON PIP FAIL FOR # Page 166 TC WAITLIST # ANOTHER 4 SECS. EBANK= CDUIND 2CADR PFAILOK TCF TASKOVER OPONLY CAF BIT4 # IF OPERATE ON ONLY, AND WE ARE IN COARSE EXTEND # ALIGN, DON'T ZERO THE CDUS BECAUSE WE RAND CHAN12 # MIGHT BE IN GIMBAL LOCK. CCS A TCF C33TEST CAF IMUSEBIT # OTHERWISE, ZERO THE COUNTERS. MASK FLAGWRD0 # UNLESS SOMEONE IS USING TH IMU. CCS A TCF C33TEST TC CAGESUB2 # SET TURNON FLAGS. ISSZERO TC IBNKCALL # TURN OFF NO ATT LAMP. CADR NOATTOFF # IMU CAGE OFF ENTRY. CAF BIT5 # ISS CDU ZERO EXTEND WOR CHAN12 TC ZEROICDU CAF BIT6 # WAIT 300 MS. FOR AGS TO RECEIVE SIGNAL. TC WAITLIST EBANK= M11 2CADR UNZ2 TCF C33TEST # Page 167 # PROGRAM NAME: C33TEST # # FUNCTIONAL DESCRIPTION: THIS PROGRAM MONITORS THREE FLIP-FLOP INBITS OF CHANNEL 33 AND CALLS THE APPROPRIATE # SUBROUTINE TO PROCESS A CHANGE. IT IS ANALOGOUS TO IMUMON, WHICH MONITORS CHANNEL 30, EXCEPT THAT IT READS # CHANNEL 33 WITH A WAND INSTRUCTION BECAUSE A `WRITE' PULSE IS REQUIRED TO RESET THE FLIP-FLOPS. THE BITS # PROCESSED AND THE SUBROUTINES CALLED ARE: # BIT FUNCTION SUBROUTINE # --- -------- ---------- # 13 PIPA FAIL PIPFAIL # 12 DOWNLINK TOO FAST DNTMFAST # 11 UPLINK TOO FAST UPTMFAST # # UPON ENTRY TO THE SUBROUTINE, THE NEW BIT STATE IS IN A. # # CALLING SEQUENCE: EVERY 480 MILLISECONDS AFTER TNONTEST. # # JOBS OR TASKS INITIATED: NONE. # # SUBROUTINES CALLED: PIPFAIL, DNTMFAST AND UPTMFAST ON BIT CHANGES. # # ERASABLE INITIALIZATION: C(IMODES33) = OCT 16000 ON A FRESH START OR RESTART, THEREFORE, THESE ALARMS WILL # REAPPEAR IF THE CONDITIONS PERSIST. # # ALARMS: NONE. # # EXIT: GLOCKMON. # # OUTPUT: UPDATED BITS 13, 12, AND 11 OF IMODES33 WITH CHANGES PROCESSED. C33TEST CA IMODES33 # SEE IF RELEVANT CHAN33 BITS HAVE MASK 33RDMSK TS L # CHANGED. CAF 33RDMSK EXTEND WAND CHAN33 # RESETS FLIP-FLOP INPUTS EXTEND RXOR LCHAN EXTEND BZF GLOCKMON # ON NO CHANGE. TS RUPTREG1 # SAVE BITS WHICH HAVE CHANGED. LXCH IMODES33 EXTEND RXOR LCHAN TS IMODES33 # UPDATED IMODES33. CAF ZERO XCH RUPTREG1 DOUBLE # Page 168 TCF NXTIBT +1 # SCAN FOR BIT CHANGES. -1 AD ONE NXTIBT INCR RUPTREG1 +1 DOUBLE TS A # (CODING IDENTICAL TO CHAN 30). TCF NXTIBT XCH RUPTREG2 INDEX RUPTREG1 # GET NEW VALUE OF BIT WHICH CHANGED. CAF BIT13 MASK IMODES33 INDEX RUPTREG1 TC C33JMP NXTFL33 CCS RUPTREG2 # PROCESS POSSIBLE ADDITIONAL CHANGES. TCF NXTIBT -1 # Page 169 # PROGRAM NAME: GLOCKMON # # FUNCTIONAL DESCRIPTION: THIS PROGRAM MONITORS THE CDUZ COUNTER TO DETERMINE WHETHER THE ISS IS IN GIMBAL LOCK # AND TAKES ACTION IF IT IS. THREE REGIONS OF MIDDLE GIMBAL ANGLE (MGA) ARE USED: # # 1) ABS(MGA) LESS THAN OR EQUAL TO 70 DEGREES -- NORMAL MODE. # 2) ABS(MGA) GREATER THAN 70 DEGREES AND LESS THAN OR EQUAL TO 85 DEGREES -- GIMBAL LOCK LAMP TURNED ON. # 3) ABS(MGA) GREATER THAN 85 DEGREES -- ISS PUT IN COARSE ALIGN AND NO ATT LAMP TURNED ON. # # CALLING SEQUENCE: EVERY 480 MILLISECONDS AFTER C33TEST. # # JOBS OR TASKS INITIATED: NONE. # # SUBROUTINES CALLED: 1) SETCOARS WHEN ABS(MGA) GREATER THEN 85 DEGREES AND ISS NOT IN COARSE ALIGN. # 2) LAMPTEST BEFORE TURNING OFF GIMBAL LOCK LAMP. # # ERASABLE INITIALIZATION: # 1) FRESH START OR RESTART WITH NO GROUPS ACTIVE: C(CDUZ) = 0, IMODES30 BIT 6 = 0, IMODES33 BIT 1 = 0. # 2) RESTART WTIH GROUPS ACTIVE: SAME AS FRESH START EXCEPT C(CDUZ) NOT CHANGED SO GIMBAL MONITOR # PROCEEDS AS BEFORE. # # ALARMS: 1) MGA REGION (2) CAUSES GIMBAL LOCK LAMP TO BE LIT. # 2) MGA REGION (3) CAUSES THE ISS TO BE PUT IN COARSE ALIGN AND THE NO ATT LAMP TO BE LIT IF EITHER NOT # SO ALREADY. GLOCKMON CCS CDUZ TCF GLOCKCHK # SEE IF MAGNITUDE OF MGA IS GREATER THAN TCF SETGLOCK # 70 DEGREES. TCF GLOCKCHK TCF SETGLOCK GLOCKCHK AD -70DEGS EXTEND BZMF SETGLOCK -1 # NO LOCK. AD -15DEGS # SEE IF ABS(MGA) GREATER THAN 85 DEGREES EXTEND BZMF NOGIMRUN CAF BIT4 # IF SO, SYSTEM SHOULD BE IN COARSE ALIGN EXTEND # TO PREVENT GIMBAL RUNAWAY. RAND CHAN12 CCS A TCF NOGIMRUN TC IBNKCALL CADR SETCOARS CAF SIX # ENABLE ISS ERROR COUNTERS IN 60 MS. TC WAITLIST # Page 170 EBANK= CDUIND 2CADR CA+ECE NOGIMRUN CAF BIT6 # TURN ON GIMBAL LOCK LAMP. TCF SETGLOCK -1 CAF ZERO SETGLOCK AD DSPTAB +11D # SEE IF PRESENT STATE OF GIMBAL LOCK LAMP MASK BIT6 # AGREES WITH DESIRED STATE BY HALF ADDING EXTEND # THE TWO. BZF GLOCKOK # OK AS IS. MASK DSPTAB +11D # IF OFF, DON'T TURN ON IF IMU BEING CAGED. CCS A TCF GLAMPTST # TURN OFF UNLESS LAMP TEST IN PROGRESS. CAF BIT6 MASK IMODES30 CCS A TCF GLOCKOK GLINVERT CS DSPTAB +11D # INVERT GIMBAL LOCK LAMP. MASK BIT6 AD BIT15 # TO INDICATE CHANGE IN DSPTAB +11D. XCH DSPTAB +11D MASK OCT37737 ADS DSPTAB +11D TCF GLOCKOK GLAMPTST TC LAMPTEST # TURN OFF UNLESS LAMP TEST IN PROGRESS. TCF GLOCKOK TCF GLINVERT -70DEGS DEC -.38888 # -70 DEGREES SCALED IN HALF-REVOLUTIONS. -15DEGS DEC -.08333 # Page 171 # PROGRAM NAME: TLIM. # # FUNCTIONAL DESCRIPTION: THIS PROGRAM MAINTAINS THE TEMP LAMP (BIT 4 OF CHANNEL 11) ON THE DSKY TO AGREE WITH # THE TEMP SIGNAL FROM THE ISS (BIT 15 OF CHANNEL 30). HOWEVER, THE LIGHT WILL NOT BE TURNED OFF IF A LAMP TEST # IS IN PROGRESS. # # CALLING SEQUENCE: CALLED BY IMUMON ON A CHANGE OF BIT 15 OF CHANNEL 30. # # JOBS OR TASKS INITIATED: NON. # # SUBROUTINES CALLED: LAMPTEST. # # ERASABLE INITIALIZATION: FRESH START AND RESTART TURN THE TEMP LAMP OFF. # # ALARMS: TEMP LAMP TURNED ON WHEN THE IMU TEMP GOES OUT OF LIMITS. # # EXIT: NXTIFAIL. # # OUTPUT: SERVICE OF TEMP LAMP. IN A, EXCEPT FOR TLIM. TLIM MASK POSMAX # REMOVE BIT FROM WORD OF CHANGES AND SET TS RUPTREG2 # DSKY TEMP LAMP ACCORDINGLY. CCS IMODES30 TCF TEMPOK TCF TEMPOK CAF BIT4 # TURN ON LAMP. EXTEND WOR DSALMOUT TCF NXTIFAIL TEMPOK TC LAMPTEST # IF TEMP NOW OK, DON'T TURN OFF LAMP IF TCF NXTIFAIL # LAMP TEST IN PROGRESS. CS BIT4 EXTEND WAND DSALMOUT # TURN OFF LAMP TCF NXTIFAIL # Page 172 # PROGRAM NAME: ITURNON. # # FUNCTIONAL DESCRIPTION: THIS PROGRAM IS CALLED BY IMUMON WHEN A CHANGE OF BIT 14 OF CHANNEL 30 (ISS TURN-ON # REQUEST) IS DETECTED. UPON ENTRY, ITURNON CHECKS IF A TURN-ON DELAY SEQUENCE HAS FAILED, AND IF SO, IT EXITS. # IF NOT, IT CHECKS WHETHER THE TURN-ON REQUEST CHANGE IS TO ON OR OFF. IF ON, IT SETS BIT7 OF IMODES30 TO 1 SO # THAT TNONTEST WILL INITIATE THE ISS INITIALIZATION SEQUENCE. IF OFF, THE TURN-ON DELAY SIGNAL, CHANNEL 12 BIT # 15, IS CHECKED AND IF IT IS ON, ITURNON EXITS. IF THE DEALY SIGNAL IS OFF, PROGRAM ALARM 00207 IS ISSUED, BIT 2 # OF IMODES30 IS SET TO 1 AND THE PROGRAM EXITS. # # THE SETTING OF BIT 2 OF IMODES30 (ISS DELAY SEQUENCE FAIL) INHIBITS THIS ROUTINE AND IMUOP FROM # PROCESSING ANY CHANGES. THIS BIT WILL BE RESET BY THE ENDTNON ROUTINE WHEN THE CURRENT 90 SECOND DELAY PERIOD # ENDS. # # CALLING SEQUENCE: FROM IMUMON WHEN ISS TURN-ON REQUEST CHANGES STATE. # # JOBS OR TASKS INITITIATED: NONE. # # SUBROUTINES CALLED: ALARM, IF THE ISS TURN-ON REQUEST IS NOT PRESENT FOR 90 SECONDS. # # ERASABLE INITIALIZATION: FRESH START AND RESTART SET BIT 15 OF CHANNEL 12 AND BITS 2 AND 7 OF IMODES30 TO 0, # AND BIT 14 OF IMODES30 TO 1. # # ALARMS: PROGRAM ALARM 00207 IS ISSUED IF THE ISS TURN-ON REQUEST SIGNAL IS NOT PRESENT FOR 90 SECONDS. # # EXIT: NXTIFAIL. # # OUTPUT: BIT 7 OF IMODES30 TO START ISS INITIALIZATION, OR BIT 2 OF IMODES30 AND PROGRAM ALARM 00207 TO INDICATE # A FAILED TURN-ON SEQUENCE. ITURNON CAF BIT2 # IF DELAY REQUEST HAS GONE OFF MASK IMODES30 # PREMATURELY, DO NOT PROCESS ANY CHANGES CCS A # UNTIL THE CURRENT 90 SEC WAIT EXPIRES. TCF NXTIFAIL CAF BIT14 # SEE IF JUST ON OR OFF. MASK IMODES30 EXTEND BZF ITURNON2 # IF JUST ON. CAF BIT15 EXTEND # SEE IF DELAY PRESENT DISCRETE HAS BEEN RAND CHAN12 # SENT. IF SO, ACTION COMPLETE EXTEND BZF +2 TCF NXTIFAIL CAF BIT2 # IF NOT, SET BIT TO INDICATE REQUEST NOT ADS IMODES30 # PRESENT FOR FULL DURATION. TC ALARM OCT 207 TCF NXTIFAIL # Page 173 ITURNON2 CS IMODES30 # SET BIT7 TO INDICATE WAIT OF 1 SAMPLE MASK BIT7 ADS IMODES30 CAF RRINIT TS RADMODES TCF NXTIFAIL RRINIT OCT 00102 # Page 174 # PROGRAM NAME: IMUCAGE. # # FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES OF THE IMUCAGE INBIT, CHANNEL 30 BITS 11. IF THE BIT # CHANGES TO 0 (CAGE BUTTON PRESSED), THE ISS IS CAGED (ICDU ZERO + COARSE ALIGN + NO ATT LAMP) UNTIL THE # ASTRONAUT SELECTS ANOTHER PROGRAM TO ALIGN THE ISS. ANY PULSE TRAINS TO THE ICDU'S AND GYRO'S ARE TERMINATED, # THE ASSOCIATE OUTCOUNTERS ARE ZEROED AND THE GYRO'S ARE DE-SELECTED. NO ACTION OCCURS WHEN THE BUTTON IS # RELEASED (INBIT CHANGES TO 1). # # CALLING SEQUENCE: BY IMUMON WHEN IMU CAGE BIT CHANGES. # # JOBS OR TASKS INITIATED: NONE. # # SUBROUTINES CALLED: CAGESUB. # # ERASABLE INITIALZATION: FRESH START AND RESTART SET BIT 11 OF IMODES30 TO 1. # # ALARMS: NONE. # # EXIT: NXTIFAIL. # # OUTPUT: ISS CAGED, COUNTERS ZEROED, PULSE TRAINS TERMINATED AND NO ATT LAMP LIT. IMUCAGE CCS A # NO ACTION OF GOING OFF. TCF ISSZERO CS OCT77000 # TERMINATE ICDU, RCDU, GYRO PULSE TRAINS EXTEND WAND CHAN14 CS OCT272 # KNOCK DOWN DISPLAY INERTIAL DATA, IMU EXTEND # ERROR COUNTER ENABLE, ZERO ICDU, COARSE WAND CHAN12 # ALIGN ENABLE, RR ERROR COUNTER ENABLE. CS ENGONBIT # INSURE ENGONFLG IS CLEAR. MASK FLAGWRD5 TS FLAGWRD5 CS PRIO30 # TURN ENGINE OFF. EXTEND RAND DSALMOUT AD BIT14 EXTEND WRITE DSALMOUT # FORCE BIT14=1, BIT13=0. TC CAGESUB1 TC IBNKCALL # KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS CADR RNDREFDR CS ZERO TS CDUXCMD TS CDUYCMD # Page 175 TS CDUZCMD TS GYROCMD CS OCT740 # HAVING WAITED AT LEAST 27 MCT FROM EXTEND # GYRO PULSE TRAIN TERMINATION, WE CAN WAND CHAN14 # DE-SELECT THE GYROS. TCF NXTIFAIL # Page 176 # PROGRAM NAME: IMUOP. # # FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES IN THE ISS OPERATE DISCRETE, BIT 9 OF CHANNEL 30. # IF THE INBIT CHANGES TO 0, INDICATING ISS ON, IMUOP GENERALLY SETS BIT 7 OF IMODES30 TO 1 TO REQUEST ISS # INITIALIZATION VIA TNONTEST. AN EXCEPTION IS DURING A FAILED ISS DELAY DURING WHICH BIT 2 OF IMODES30 IS SET # TO 1 AND NO FURTHER INITIALIZATION IS REQUIRED. WHEN THE INBIT CHANGES TO 1, INDICATING ISS OFF, IMUSEFLG IS # TESTED TO SEE IF ANY PROGRAM WAS USING THE ISS. IF SO, PROGRAM ALARM 00214 IS ISSUED. # # CALLING SEQUENCE: BY IMUMON WHEN BIT 9 OF CHANNEL 30 CHANGES. # # JOBS OR TAKS INITIATED: NONE. # # SUBROUTINES CALLED: ALARM, IF ISS IS TURNED OFF WHILE IN USE. # # ERASABLE INITIALIZATION: ON FRESH START AND RESTART, BIT 9 OF IMODES30 IS SET TO 1 EXCEPT WHEN THE GIMBAL LOCK # LAMP IS ON, IN WHICH CASE IT IS SET TO 0. THIS PREVENTS ICDU ZERO BY TNONTEST WITH THE ISS IN GIMBAL LOCK. # # ALARMS: PROGRAM ALARM 00214 IF THE ISS IS TURNED OFF WHILE IN USE. # # EXIT: NXTIFAIL. # # OUTPUT: ISS INITIALIZATION REQUEST (IMODES30 BIT 7) OR PROGRAM ALARM 00214. IMUOP EXTEND BZF IMUOP2 CS IMODES33 # DISABLE DAP MASK BIT6 ADS IMODES33 TC IBNKCALL # KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS CADR RNDREFDR CS BITS7&8 # KNOCK DOWN RENDEZVOUS, IMUUSE FLAGS MASK FLAGWRD0 XCH FLAGWRD0 # IF GOING OFF, ALARM IF PROG USING IMU. COM MASK IMUSEFLG CCS A TCF NXTIFAIL TC ALARM OCT 214 TCF NXTIFAIL IMUOP2 CAF BIT2 # SEE IF FAILED ISS TURN-ON SEQ IN PROG. MASK IMODES30 CCS A TCF NXTIFAIL # IF SO, DON'T PROCESS UNTIL PRESENT 90 TCF ITURNON2 # SECONDS EXPIRES. # Page 177 # PROGRAM NAME: PIPFAIL # # FUNCITONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES OF BIT 13 OF CHANNEL 33, PIPA FAIL. IT SETS BIT 10 OF # IMODES30 TO AGREE. IT CALLS SETISSW IN CASE A PIPA FAIL NECESSITATES AN ISS WARNING. IF NOT, I.E., IMODES30 # BIT 1 = 1, AND A PIPA FAIL IS PRESENT AND THE ISS NOT BEING INITIALIZED, PROGRAM ALARM 0212 IS ISSUED. # # CALLING SEQUENCE: BY C33TEST ON CHANGES OF CHANNEL 33 BIT 13. # # JOBS OR TASKS INITIATED: NONE. # # SUBROUTINES CALLED: 1) SETISSW, AND 2) ALARM (SEE FUNCITONAL DESCRIPTION). # # ERASABLE INITIALZIZATION: SEE IMUMON FOR INITIALIZATION OF IMODES30. THE RELEVANT BITS ARE 5, 7, 8, 9, AND 10. # # ALARMS: PROGRAM ALARM 00212 IF PIPA FAIL IS PRESENT BUT NEITHER ISS WARNING IS TO BE ISSUED NOR THE ISS IS # BEING INITIALIZED. # # EXIT: NXTFL33. # # OUTPUT: PROGRAM ALARM 00212 AND ISS WARNING MAINTENANCE. PIPFAIL CCS A # SET BIT10 IN IMODES30 SO ALL ISS WARNING CAF BIT10 # INFO IS IN ONE REGISTER. XCH IMODES30 MASK -BIT10 ADS IMODES30 TC SETISSW CS IMODES30 # IF PIP FAIL DOESN'T LIGHT ISS WARNING, DO MASK BIT1 # A PROGRAM ALARM IF IMU OPERATING BUT NOT CCS A # CAGED OR BEING TURNED ON. TCF NXTFL33 CA IMODES30 MASK OCT1720 CCS A TCF NXTFL33 # ABOVE CONDITION NOT MET. TC ALARM OCT 212 TCF NXTFL33 # Page 178 # PROGRAM NAMES: DNTMFAST, UPTMFAST # # FUNCTIONAL DESCRIPTION: THESE PROGRAMS PROCESS CHANGES OF BITS 12 AND 11 OF CHANNEL 33. IF A BIT CHANGES TO A # 0, A PROGRAM ALARM IS ISSUED. THE LAARMS ARE: # # BIT ALARM CAUSE # --- ----- ----- # 12 01105 DOWNLINK TOO FAST # 11 01106 UPLINK TOO FAST # # CALLING SEQUENCE: BY C33TEST ON A BIT CHANGE. # # SUBROUTINES CALLED: ALARM, IF A BIT CHANGES TO A 0. # # ERASABLE INITIALIZATION: FRESH START OR RESTART, BITS 12 AND 11 OF IMODES33 ARE SET TO 1. # # ALARMS: SET FUNCTGIONAL DESCRIPTION. # # EXIT: NXTFL33. # # OUTPUT: PROGRAM ALARM ON A BIT CHANGE TO 0. DNTMFAST CCS A # DO PROG ALARM IF TM TOO FAST. TCF NXTFL33 TC ALARM OCT 1105 TCF NXTFL33 UPTMFAST CCS A # SAME AS DNLINK TOO FAST WITH DIFFERENT TCF NXTFL33 # ALARM CODE. TC ALARM OCT 1106 TCF NXTFL33 # Page 179 # PROGRAM NAME: SETISSW # # FUNCTIONAL DESCRIPTION: THIS PROGRAM TURNS THE ISS WARNING LAMP ON AND OFF (CHANNEL 11 BIT 1 = 1 FOR ON, # 0 FOR OFF) DEPENDING ON THE STATUS OF IMODES30 BITS 13 (IMU FAIL) AND 4 (INHIBIT IMU FAIL), 12 (ICDU FAIL) AND # 3 (INHIBIT ICDU FAIL), AND 10 (PIPA FAIL) AND 1 (INHIBIT PIPA FAIL). THE LAMP IS LEFT ON IF A LAMP TEST IS IN # PROGRESS. # # CALLING SEQUENCE: CALLED BY IMUMON ON CHANGES TO IMU FAIL AND ICDU FAIL. CALLED BY IFAILOK AND PFAILOK UPON # REMOVAL OF THE FAIL INHIBITS. CALLED BY PIPFAIL WHEN THE PIPA FAIL DISCRETE CHANGES. IT IS CALLED BY PIPUSE # SINCE THE PIPA FAIL PROGRAM ALARM MAY NECESSITATE AN ISS WARNING, AND LIKEWISE BY PIPFREE WHEN THE ALARM DEPARTS # AND IT IS CALLED BY IMUZERO3 AND ISSUP AFTER THE FAIL INHIBITS HAVE BEEN REMOVED. # # JOBS OR TASKS INITIAZTED: NONE. # # SUBROUTINES CALLED: NONE. # # ERASABLE INITIALIZATION: # # 1) IMODES30 -- SEE IMUMON. # 2) IMODES33 BIT 1 = 0 (LAMP TEST NOT IN PROGRESS). # # ALARMS: ISS WARNING. # # THE FOLLOWING PROGRAM ALARMS WILL SHOW WHICH FAILURE CAUSED THE ISS WARN # PROGRAM ALARM 00777 PIPA FAIL # PROGRAM ALARM 03777 ICDU FAIL # PROGRAM ALARM 04777 ICDU, PIPA FAILS # PROGRAM ALARM 07777 IMU FAIL # PROGRAM ALARM 10777 IMU, PIPA FAILS # PROGRAM ALARM 13777 IMU, ICDU FAILS # PROGRAM ALARM 14777 IMU, ICDU, PIPA FAILS # # EXIT: VIA Q. # # OUTPUT: ISS WARNING LAMP SET PROPERLY. SETISSW CAF OCT15 # SET ISS WARNING USING THE FAIL BITS IN MASK IMODES30 # BITS 13, 12, AND 10 OF IMODES30 AND THE EXTEND # FAILURE INHIBIT BITS IN POSITIONS MP BIT10 # 4, 3, AND 1. CA IMODES30 EXTEND ROR LCHAN # 0 INDICATES FAILURE COM MASK OCT15000 CCS A TCF ISSWON # FAILURE. ISSWOFF CAF BIT1 # DON'T TURN OFF ISS WARNING IF LAMP TEST MASK IMODES33 # IN PROGRESS. # Page 180 CCS A TC Q CS BIT1 EXTEND WAND DSALMOUT TC Q ISSWON EXTEND QXCH ITEMP6 TC VARALARM # TELL EVERYONE WHAT CAUSED THE ISS WARNING CAF BIT1 EXTEND WOR DSALMOUT TC ITEMP6 CAGESUB CS BITS6&15 # SET OUTBITS AND INTERNAL FLAGS FOR EXTEND # SYSTEM TURN-ON OR CAGE. DISABLE THE WAND CHAN12 # ERROR COUNTER AND REMOVE THE IMU DELAY COMP. CAF BITS4&5 # SEND ZERO AND COARSE. EXTEND WOR CHAN12 CAGESUB1 CS DSPTAB +11D # TURN ON NO ATT LAMP MASK OC40010 ADS DSPTAB +11D CAGESUB2 CS IMODES30 # SET FLAGS TO INDICATE CAGING OR TURN-ON MASK OCT75 # AND INHIBIT ALL ISS WARNING INFO ADS IMODES30 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES MASK BIT6 ADS IMODES33 TC Q IMUFAIL EQUALS SETISSW ICDUFAIL EQUALS SETISSW # Page 181 # JUMP TABLES AND CONSTANTS. IFAILJMP TCF ITURNON # CHANNEL 30 DISPATCH. TCF IMUFAIL TCF ICDUFAIL TCF IMUCAGE 30RDMSK OCT 76400 # (BIT 10 NOT SAMPLED HERE). TCF IMUOP C33JMP TCF PIPFAIL # CHANNEL 33 DISPATCH. TCF DNTMFAST TCF UPTMFAST # SUBROUTINE TO SKIP IF LAMP TEST NOT IN PROGRESS. LAMPTEST CS IMODES33 # BIT 1 OF IMODES33 = 1 IF LAMP TEST IN MASK BIT1 # PROGRESS. CCS A INCR Q TC Q 33RDMSK EQUALS PRIO16 OC40010 OCT 40010 OCT54 OCT 54 OCT75 OCT 75 OCT272 OCT 00272 BITS7&8 OCT 300 OCT1720 OCT 1720 OCT740 OCT 00740 OCT15000 EQUALS PRIO15 OCT77000 OCT 77000 BITS6&15 OCT 40040 -BIT10 OCT -1000 90SECS DEC 9000 120MS = OCT14 # (DEC12) GLOCKOK EQUALS RESUME # Page 182 # PROGRAM NAME: RRAUTCHK # # FUNCITONAL DESCRIPTION: # RRAUTCHK IS THE RENDEZFOUS RADAR INBIT MONITOR. INITIALLY THE RR # POWER ON AUTO (CHAN 33 BIT 2) INBIT IS CHECKED. IF NO CHANGE, THE # PROGRAM EXITS TO RRCDUCHK. IF A CHANGE, RADMOES IS UPDATED # AND A CHECK MADE IF RR POWER HAS JUST COME ON. IF JUST OFF, A CHECK # IS MADE TO SEE IF A PROGRAM WAS USING THE RR (STATE BIT 7). IF NO, # THE PROGRAM EXITS TO RRCDUCHK. IF YES, PROGRAM ALARM 00514 # IS REQUESTED BEFORE EXITING TO RRCDUCHK. IF RR POWER HAS JUST COME # ON, A CHECK IS MADE TO SEE IF A PROGRAM WAS USING THE RR (STATE BIT 7) # SEQUENCE. IF NO, RADMODES IS UPDATED TO INDICATE RR CDU ZERO AND # RR TURN-ON SEQUENCE (BITS 13, 1). A 10 MILLISECOND WAITLIST CALL # IS THEN SET FOR RRTURNON BEFORE THE PROGRAM EXITS TO NORRGMON. # # CALLING SEQUENCE: # T4RUPT EVERY 480 MILLISECONDS # # ERASABLE INITIALIZATION REQUIRED: # RADMODES, STATE. # # SUBROUTINES CALLED: # WAITLIST. # # JOBS OR TASKS INITIATED: # RRTURNON # # ALARMS: PROGRAM ALARM 00514 -- RADAR GOES OUT OF AUTO MODE WHILE BEING # USED # # EXIT: RRCDUCHK, NORRGMON RRAUTCHK CA RADMODES # SEE IF CHANGE IN RR AUTO MODE BIT. EXTEND RXOR CHAN33 MASK AUTOMBIT EXTEND BZF RRCDUCHK LXCH RADMODES # UPDATE RADMODES. EXTEND RXOR LCHAN MASK OCT05776 # CLR CONT. DES., REMODE, REPOS, CDUZERO, TS RADMODES # AND TURNON BITS. MASK BIT2 # SEE IF JUST ON. CCS A TCF RRCDUCHK -3 # OFF. GO DISABLE RR CDU ERROR COUNTERS. CA OCT10001 # SET RRCDUZRO AND TURNON BITS. ADS RADMODES # Page 183 CAF ONE TC WAITLIST EBANK= LOSCOUNT 2CADR RRTURNON TCF NORRGMON OCT05776 OCT 5776 # Page 184 # PROGRAM NAME: RRCDUCHK # # FUNCTIONAL DESCRIPTION: # RRCDUCHK CHECKS FOR RR CDU FAIL (CHAN 30 BIT 7). INITIALLY THE # RR CDU FAIL BIT IS SAMPLED (CHAN 30 BIT 7). IF NO CHANGE, THE # PROGRAM EXITS TO RRGIMON. IF A CHANGE, THE RR AUTO MODE # (RADMODES BIT 2) BIT IS CHECKED. IF NOT IN RR AUTO MODE, THE # PROGRAM EXITS TO NORRGMO0N. IF IN AUTO MODE, RADMODES BIT 7 # (RR CDU OK) IS UPDATED AND IF P-20 IS OPERATING PROGRAM ALARM 00515 IS # REQUESTED. CONTROL IS TRANSFERRED TO SETTRKF TO UPDATE # THE TRACKER FAIL LAMP (DSPTAB+11D BIT 8). CONTROL RETURNS TO # RRGIMON. # # CALLING SEQUENCE: # EVERY 480 MILLISECONDS FROM RRAUTCHK (VIA T4RUPT) UNLESS A # TURN-ON SEQUENCE HAS JUST BE INITIATED. # # ERASABLE INITIALIZATION REQUIRED: # RADMODES # # SUBROUTINES CALLED: # SETTRKF # # JOBS OR TASKS INITIATED: # NONE # # ALARMS: # TRACKER FAIL # PROGRAM ALARM 00515 -- RRCDU FAIL DURING P-20 # # EXIT: # RRGIMON, NORRGMON -3 CS BIT2 EXTEND WAND CHAN12 # AT TURNON, DISABLE CDU ERROR COUNTERS. RRCDUCHK CA RADMODES # LAST SAMPLED BIT IN RADMODES. EXTEND RXOR CHAN30 MASK RCDUFBIT EXTEND BZF RRGIMON CAF AUTOMBIT # IF RR NOT IN AUTO MODE, DON'T CHANGE BIT MASK RADMODES # 7 OF RADMODES. IF THIS WERE NOT DONE, CCS A # THE TRACKER FAIL MIGHT COME ON WHEN TCF NORRGMON # JUST READING LR DATA. CAF RCDUFBIT # SET BIT 7 OF RADMODES FOR SETTRKF. # Page 185 LXCH RADMODES # UPDATE RADMODES. EXTEND RXOR L TS RADMODES CA RADMODES # DID RR CDU FAIL MASK RCDUFBIT CCS A TCF TRKFLCDU # NO CS FLAGWRD0 # RNDVFLG P20 OR P22 OPERATING MASK RNDVZBIT CCS A TCF TRKFLCDU # NO TC ALARM # YES OCT 00515 TRKFLCDU TC SETTRKF # UPDATE TRAKER FAIL LAMP ON DSKY. # Page 186 # PROGRAM NAME: RRGIMON # # FUNCTIONAL DESCRIPTION: # RRGIMON IS THE RR GIMBAL LIMIT MONITOR. INITIALLY THE FOLLOWING IS # CHECKED: REMOD, RR CDU'S BEING ZEROED, REPOSITION, AND RR # NOT IN AUTO MODE (RADMODES BITS 14, 13, 11, 2). IF ANY OF THESE # EXIST THE PROGRAM EXITS TO GPMATRIX. IF NONE ARE PRESENT RRLIMCHK # IS CALLED TO SEE IF THE PRESENT RR CDU ANGLES (OPTY, OPTX) ARE WITHIN # THE LIMITS OF THE CURRENT MODE. IF WITHIN LIMITS, THE PROGRAM EXITS # TO NORRGMON. IF NOT WITHIN LIMITS, THE REPOSITION FLAG (RADMODES # BIT 11) IS SET, THE RR AUTO TRACKER AND RR ERROR COUNTER # (CHAN 12 BITS 14, 2) ARE DISABLED, AND A 20 MILLISECOND WAITLIST # CALL IS SET FOR DORREPOS AFTER WHICH THE PROGRAM EXITS TO NORRGMON. # # CALLING SEQUENCE: # EVERY 480 MILLISECONDS FROM RRCDUCHK (VIA T4RUPT) UNLESS TURN-ON # HAS JUST BEEN INITIATED VIA RRAUTCHK OR IF THERE HAS BEEN A CHANGE IN # THE RR CDU FAIL BIT (CHAN 30 BIT 7) AND THE RR IS NOT IN THE AUTO MODE # (RADMODES BIT 2). # # ERASABLE INITIALZATION: RADMODES # # SUBROUTINES CALLED: # RRLIMCHK, WAITLIST # # JOBS OR TASKS INITIATED: # DORREPOS # # ALARMS: # NONE # # EXIT: # NORRGMON RRGIMON CAE FLAGWRD5 # IS NO ANGLE MONITOR FLAG SET MASK NORRMBIT CCS A TCF NORRGMON # YES -- SKIP LIMIT CHECK CS FLAGWRD7 # IS SERVICER RUNNING? MASK AVEGFBIT CCS A TCF +5 # NO. DO R25 CA FLAGWRD6 # YES. IS MUNFLAG SET? MASK MUNFLBIT CCS A TCF NORRGMON # YES. DON'T DO R25 +5 CAF OCT32002 # INHIBIT BY REMODE, ZEROING, MONITOR. MASK RADMODES # OR RR NOT IN AUTO. CCS A TCF NORRGMON # Page 187 TC RRLIMCHK # SET IF ANGLES IN LIMITS. ADRES CDUT TCF MONREPOS TCF NORRGMON # (ADDITIONAL CODING MAY GO HERE). MONREPOS CAF REPOSBIT # SET FLAG TO SHOW REPOSITION IN PROGRESS. ADS RADMODES CS OCT20002 # DISABLE TRACKER AND ERROR COUNTER. EXTEND WAND CHAN12 CAF TWO TC WAITLIST EBANK= LOSCOUNT 2CADR DORREPOS TCF NORRGMON OCT32002 OCT 32002 OCT20002 OCT 20002 OCT02100 OCT 02100 # P20, P22 MASK BITS. # Page 188 # PROGRAM NAME: GPMATRIX (DAPT4S) MCD. NO. 2 DATE: OCTOBER 27, 1966 # # AUTHOR: JOHNATHAN D. ADDLELSTON (ADAMS ASSOCIATES) # # MODIFIED: 7FEB. 1968 BY P. S. WEISSMAN TO DELETE COMPUTATION OF MR12 AND MR13, WHICH ARE NO LONGER REQUIRED. # # THIS PROGRAM CALCULATES ALL THE SINGLE-PRECISION MATRIX ELEMENTS WHICH ARE USED BY LEM DAP TO TRANSFORM VECTORS # FROM GIMBAL TO PILOT (BODY) AXES AND BACK AGAIN. THESE ELEMENTS ARE USED EXCLUSIVELY BY BASIC LANGUAGE ROUTINES # AND THEREFORE ARE NOT ARRAYED FOR USE BY INTERPRETIVE PROGRAMS. # # CALLING SEQUENCE: GPMATRIX IS TRANSFERRED TO FROM DAPT4S AND IS THUS EXECUTED 4 TIMES A SECOND BY T4RUPT. # DAPT4S IS LISTED IN T4JUMP TABLE TWICE EXPLICITLY AND ALSO OCCURS AFTER RRAUTCHK (WHICH IS ALSO LISTED TWICE). # # SUBROUTINES CALLED: SPSIN, SPCOS. # # NORMAL EXIT MODE: TCF RESUME # # ALARM AND ABORT MODES: NONE. # # INPUT: CDUX, CDUY, CDUZ. # # OUTPUT: M11, M21, M32, M22, M32. # # AOG = CDUX, AIG = CDUY, AMG = CDUZ: MNEMONIC IS : OIM = XYZ # # * * SING(MG) 0 1 * # M = * COS(MG)COS(OG) SIN(OG) 0 * # GP * -COS(MG)SIN(OG) COS(OG) 0 * # # * * 0 COS(OG)/COS(MG) -SIN(OG)/COS(MG) * # M = * 0 SIN(OG) COS(OG) * # PG * 1 -SIN(MG)COS(OG)/COS(MG) SIN(MG)SIN(OG)/COS(MG) * EBANK= M11 DAPT4S EQUALS GPMATRIX # T4RUPT DAP LOGIC: GPMATRIX CAE CDUZ # SINGLE ENTRY POINT TC SPSIN # SIN(CDUZ) = SIN(MG) TS M11 # SCALED AT 1 CAE CDUZ TC SPCOS # COS(CDUZ) = COS(MG) TS COSMG # SCALED AT 1 (ONLY A FACTOR) CAE CDUX TC SPSIN # SIN(CDUX) = SIN(OG) TS M22 # SCALED AT 1 (ALSO IS MR22) CS M22 # Page 189 EXTEND MP COSMG # -SIN(OG)COS(MG) TS M31 # SCALED AT 1 CAE CDUX TC SPCOS # COS(CDUX) = COS(OG) TS M32 # SCALED AT 1 (ALSO IS MR23) EXTEND MP COSMG # COS(OG)COS(MG) TS M21 # SCALED AT 1 TC RESUME NORRGMON EQUALS DAPT4S ENDDAPT4 EQUALS RESUME ================================================ FILE: Luminary099/T6-RUPT_PROGRAMS.agc ================================================ # Copyright: Public domain. # Filename: T6-RUPT_PROGRAMS.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1403-1405 # Mod history: 2009-05-10 SN (Sergio Navarro). Started adapting # from the Luminary131/ file of the same # name, using Luminary099 page images. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 1403 # PROGRAM NAMES: (1) T6JOBCHK MOD. NO. 5 OCTOBER 2, 1967 # (2) DOT6RUPT # MODIFICATION BY: LOWELL G. HULL (A.C.ELECTRONICS) # # THESE PROGRAMS ENABLE THE LM DAP TO CONTROL THE THRUST TIMES OF THE REACTION CONTROL SYSTEM JETS BY USING TIME6. # SINCE THE LM DAP MAINTAINS EXCLUSIVE CONTROL OVER TIME6 AND ITS INTERRUPTS, THE FOLLOWING CONVENTIONS HAVE BEEN # ESTABLISHED AND MUST NOT BE TAMPERED WITH: # 1. NO NUMBER IS EVER PLACED INTO TIME6 EXCEPT BY LM DAP. # 2. NO PROGRAM OTHER THAN LM DAP ENABLES THE TIME6 COUNTER. # 3. TO USE TIME6, THE FOLLOWING SEQUENCE IS ALWAYS EMPLOYED: # A. A POSITIVE (NON-ZERO) NUMBER IS STORED IN TIME6. # B. THE TIME6 CLOCK IS ENABLED. # C. TIME6 IS INTERROGATED AND IS: # I. NEVER FOUND NEGATIVE (NON-ZERO) OR +0. # II. SOMETIMES FOUND POSITIVE (BETWEEN 1 AND 240D) INDICATING THAT IT IS ACTIVE. # III. SOMETIMES FOUND POSMAX INDICATING THAT IT IS INACTIVE AND NOT ENABLED. # IV. SOMETIMES FOUND NEGATIVE ZERO INDICATING THAT: # A. A T6RUPT IS ABOUT TO OCCUR AT THE NEXT DINC, OR # B. A T6RUPT IS WAITING IN THE PRIORITY CHAIN, OR # C. A T6RUPT IS IN PROCESS NOW. # 4. ALL PROGRAMS WHICH OPERATE IN EITHER INTERRUPT MODE OR WITH INTERRUPT INHIBITED MUST CALL T6JOBCHK # EVERY 5 MILLISECONDS TO PROCESS A POSSIBLE WAITING T6RUPT BEFORE IT CAN BE HONORED BY THE HARDWARE. # (5. PROGRAM JTLST, IN Q,R-AXES, HANDLES THE INPUT LIST.) # # T6JOBCHK CALLING SEQUENCE: # L TC T6JOBCHK # L+1 (RETURN) # # DOT6RUPT CALLING SEQUENCE: # DXCH ARUPT # T6RUPT LEAD IN AT LOCATION 4004. # EXTEND # DCA T6ADR # DTCB # # SUBROUTINES CALLED: DOT6RUPT CALLS T6JOBCHK. # # NORMAL EXIT MODES: T6JOBCHK RETURNS TO L +1. # DOT6RUPT TRANSFERS CONTROL TO RESUME. # # ALARM/ABORT MODES: NONE. # # INPUT: TIME6 NXT6ADR OUTPUT: TIME6 NXT6ADR CHANNEL 5 # T6NEXT T6NEXT +1 T6NEXT T6NEXT +1 CHANNEL 6 # T6FURTHA T6FURTHA +1 T6FURTHA T6FURTHA +1 BIT15/CH13 # # DEBRIS: T6JOBCHK CLOBBERS A. DOT6RUPT CLOBBERS NOTHING. BLOCK 02 # Page 1404 BANK 17 SETLOC DAPS2 BANK EBANK= T6NEXT COUNT* $$/DAPT6 T6JOBCHK CCS TIME6 # CHECK TIME6 FOR WAITING T6RUPT: TC Q # NONE: CLOCK COUNTING DOWN. TC CCSHOLE TC T6JOBCHK +3 # CONTROL PASSES TO T6JOB ONLY WHEN C(TIME6) = -0 (I.E., WHEN A T6RUPT MUST BE PROCESSED). T6JOB CAF POSMAX # DISABLE CLOCK: NEEDED SINCE RUPT OCCURS EXTEND # 1 DINC AFTER T6 = 77777. FOR 625 MUSECS WAND CHAN13 # MUST NOT HAVE T6 = +0 WITH ENABLE SET CA POSMAX ZL DXCH T6FURTHA DXCH T6NEXT LXCH NXT6ADR TS TIME6 AD PRIO37 TS A TCF ENABLET6 CA POSMAX TS TIME6 TCF GOCH56 ENABLET6 CA BIT15 EXTEND WOR CHAN13 CA T6NEXT AD PRIO37 TS A TCF GOCH56 CA POSMAX TS T6NEXT GOCH56 INDEX L TCF WRITEP -1 BLOCK 02 SETLOC FFTAG9 BANK EBANK= CDUXD COUNT* $$/DAPT6 CA NEXTP WRITEP EXTEND WRITE CHAN6 # Page 1405 TC Q CA NEXTU WRITEU TS L CS 00314OCT EXTEND RAND CHAN5 AD L EXTEND WRITE CHAN5 TC Q CA NEXTV WRITEV TS L CA 00314OCT TCF -9D 00314OCT OCT 00314 BANK 17 SETLOC DAPS2 BANK EBANK= T6NEXT COUNT* $$/DAPT6 DOT6RUPT LXCH BANKRUPT # (INTERRUPT LEAD INS CONTINUED) EXTEND QXCH QRUPT TC T6JOBCHK # CALL T6JOBCHK. TCF RESUME # END TIME6 INTERRUPT PROCESSOR. ================================================ FILE: Luminary099/TAGS_FOR_RELATIVE_SETLOC.agc ================================================ # Copyright: Public domain. # Filename: TAGS_FOR_RELATIVE_SETLOC.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # # Assembler: yaYUL # Contact: Jim Lawton # Website: www.ibiblio.org/apollo. # Pages: 028-037 # Mod history: 2009-05-16 JVL Transcribed from page images. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 28 # TAGS FOR RELATIVE SETLOC AND BLANK BANK CARDS # COUNT BANKSUM # MODULE 1 CONTAINS BANKS 0 THROUGH 5 BLOCK 02 RADARFF EQUALS FFTAG1 EQUALS FFTAG2 EQUALS FFTAG3 EQUALS FFTAG4 EQUALS FFTAG7 EQUALS FFTAG8 EQUALS FFTAG9 EQUALS FFTAG10 EQUALS FFTAG11 EQUALS FFTAG12 EQUALS FFTAG13 EQUALS BNKSUM 02 BLOCK 03 FFTAG5 EQUALS FFTAG6 EQUALS BNKSUM 03 BANK 00 DLAYJOB EQUALS BNKSUM 00 BANK 01 RESTART EQUALS LOADDAP1 EQUALS BNKSUM 01 BANK 04 R02 EQUALS VERB37 EQUALS PINBALL4 EQUALS CONICS1 EQUALS KEYRUPT EQUALS R36LM EQUALS UPDATE2 EQUALS E/PROG EQUALS AOTMARK2 EQUALS BNKSUM 04 # Page 29 BANK 05 FRANDRES EQUALS DOWNTELM EQUALS ABORTS1 EQUALS EPHEM1 EQUALS ASENT3 EQUALS BNKSUM 05 # MODULE 2 CONTAINS BANKS 6 THROUGH 13 BANK 06 IMUCOMP EQUALS T4RUP EQUALS RCSMONT EQUALS MIDDGIM EQUALS EARTHLOC EQUALS BNKSUM 06 BANK 07 AOTMARK1 EQUALS MODESW EQUALS ASENT2 EQUALS BNKSUM 07 BANK 10 RTBCODES EQUALS DISPLAYS EQUALS PHASETAB EQUALS FLESHLOC EQUALS SLCTMU EQUALS BNKSUM 10 BANK 11 ORBITAL EQUALS F2DPS*11 EQUALS INTVEL EQUALS BNKSUM 11 BANK 12 CONICS EQUALS ORBITAL1 EQUALS # Page 30 INTPRET2 EQUALS BNKSUM 12 BANK 13 LATLONG EQUALS INTINIT EQUALS LEMGEOM EQUALS P76LOC EQUALS ORBITAL2 EQUALS ABTFLGS EQUALS BNKSUM 13 # Page 31 # MODULE 3 CONTAINS BANKS 14 THROUGH 21 BANK 14 P50S1 EQUALS STARTAB EQUALS ASENT4 EQUALS BNKSUM 14 BANK 15 P50S EQUALS EPHEM EQUALS BNKSUM 15 BANK 16 DAPS1 EQUALS BNKSUM 16 BANK 17 DAPS2 EQUALS P40S3 EQUALS BNKSUM 17 BANK 20 DAPS3 EQUALS LOADDAP EQUALS RODTRAP EQUALS BNKSUM 20 BANK 21 DAPS4 EQUALS R10 EQUALS R11 EQUALS BNKSUM 21 # Page 32 # MODULE 4 CONTAINS BANKS 22 THROUGH 27 BANK 22 KALCMON1 EQUALS KALCMON2 EQUALS R30LOC EQUALS RENDEZ EQUALS SERV2 EQUALS LANDCNST EQUALS BNKSUM 22 BANK 23 POWFLITE EQUALS POWFLIT1 EQUALS INFLIGHT EQUALS APOPERI EQUALS R61 EQUALS R62 EQUALS INTPRET1 EQUALS MEASINC EQUALS MEASINC1 EQUALS EXTVB1 EQUALS P12A EQUALS NORMLIZ EQUALS ASENT7 EQUALS BNKSUM 23 BANK 24 PLANTIN EQUALS P20S EQUALS BNKSUM 24 BANK 25 P20S1 EQUALS P20S2 EQUALS RADARUPT EQUALS RRLEADIN EQUALS R29S1 EQUALS PLANTIN3 EQUALS BNKSUM 25 BANK 26 # Page 33 P20S3 EQUALS BAWLANGS EQUALS MANUVER EQUALS MANUVER1 EQUALS PLANTIN1 EQUALS PLANTIN2 EQUALS BNKSUM 26 BANK 27 TOF-FF EQUALS TOF-FF1 EQUALS P40S1 EQUALS VECPT EQUALS ASENT1 EQUALS SERV3 EQUALS BNKSUM 27 # Page 34 # MODULE 5 CONTAINS BANKS 30 THROUGH 35 BANK 30 LOWSUPER EQUALS P12 EQUALS ASENT EQUALS FCDUW EQUALS FLOGSUB EQUALS VB67A EQUALS ASENT5 EQUALS BNKSUM 30 BANK 31 FTHROT EQUALS F2DPS*31 EQUALS VB67 EQUALS BNKSUM 31 BANK 32 P20S4 EQUALS F2DPS*32 EQUALS ABORTS EQUALS LRS22 EQUALS P66LOC EQUALS R47 EQUALS SERV EQUALS BNKSUM 32 BANK 33 SERVICES EQUALS R29/SERV EQUALS ASENT6 EQUALS BNKSUM 33 BANK 34 STBLEORB EQUALS P30S1 EQUALS CSI/CDH1 EQUALS ASCFILT EQUALS R12STUFF EQUALS SERV4 EQUALS BNKSUM 34 # Page 35 BANK 35 CSI/CDH EQUALS P30S EQUALS GLM EQUALS P40S2 EQUALS BNKSUM 35 # Page 36 # MODULE 6 CONTAINS BANKS 36 THROUGH 43 BANK 36 P40S EQUALS BNKSUM 36 BANK 37 P05P06 EQUALS IMU2 EQUALS IMU4 EQUALS R31 EQUALS IMUSUPER EQUALS SERV1 EQUALS BNKSUM 37 BANK 40 PINBALL1 EQUALS SELFSUPR EQUALS PINSUPER EQUALS R31LOC EQUALS BNKSUM 40 BANK 41 PINBALL2 EQUALS BNKSUM 41 BANK 42 SBAND EQUALS PINBALL3 EQUALS BNKSUM 42 BANK 43 EXTVERBS EQUALS SELFCHEC EQUALS BNKSUM 43 # Page 37 HI6ZEROS EQUALS ZEROVECS # ZERO VECTOR ALWAYS IN HIGH MEMORY LO6ZEROS EQUALS ZEROVEC # ZERO VECTOR ALWAYS IN LOW MEMORY HIDPHALF EQUALS UNITX LODPHALF EQUALS XUNIT HIDP1/4 EQUALS DP1/4TH LODP1/4 EQUALS D1/4 # 2DEC .25 HIUNITX EQUALS UNITX HIUNITY EQUALS UNITY HIUNITZ EQUALS UNITZ LOUNITX EQUALS XUNIT # 2DEC .5 LOUNITY EQUALS YUNIT # 2DEC 0 LOUNITZ EQUALS ZUNIT # 2DEC 0 DELRSPL EQUALS SPLRET # COL PGM, ALSO CALLED BY R30 IN LUMINARY. # ROPE-SPECIFIC ASSIGNS OBVIATING NEED TO CHECK COMPUTER FLAG IN DETERMINING INTEGRATION AREA ENTRIES. ATOPTHIS EQUALS ATOPLEM ATOPOTH EQUALS ATOPCSM OTHPREC EQUALS CSMPREC MOONTHIS EQUALS LMOONFLG MOONOTH EQUALS CMOONFLG MOVATHIS EQUALS MOVEALEM RMM = LODPMAX RME = LODPMAX1 THISPREC EQUALS LEMPREC THISAXIS = UNITZ NB1NB2 EQUALS THISAXIS # FOR R31 ERASID EQUALS BITS2-10 # DOWNLINK ERASABLE DUMP ID DELAYNUM EQUALS TWO ================================================ FILE: Luminary099/THE_LUNAR_LANDING.agc ================================================ # Copyright: Public domain. # Filename: THE_LUNAR_LANDING.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Hartmuth Gutsche. # Website: www.ibiblio.org/apollo. # Pages: 785-792 # Mod history: 2009-05-20 HG Transcribed from page images. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 785 BANK 32 SETLOC F2DPS*32 BANK EBANK= E2DPS # ************************************* # P63: THE LUNAR LANDING, BRAKING PHASE # ************************************* COUNT* $$/P63 P63LM TC PHASCHNG OCT 04024 TC BANKCALL # DO IMU STATUS CHECK ROUTINE R02 CADR R02BOTH CAF P63ADRES # INITIALIZE WHICH FOR BURNBABY TS WHICH CAF DPSTHRSH # INITIALIZE DVMON TS DVTHRUSH CAF FOUR TS DVCNTR CS ONE # INITIALIZE WCHPHASE AND FLPASS0 TS WCHPHASE CA ZERO TS FLPASS0 CS BIT14 EXTEND WAND CHAN12 # REMOVE TRACK-ENABLE DISCRETE. FLAGORGY TC INTPRET # DIONYSIAN FLAG WAVING CLEAR CLEAR NOTHROTL REDFLAG CLEAR SET LRBYPASS MUNFLAG CLEAR CLEAR P25FLAG # TERMINATE P25 IF IT IS RUNNING. RNDVZFLG # TERMINATE P20 IF IT IS RUNNING # ******************************** IGNALG SETPD VLOAD # FIRST SET UP INPUTS FOR RP-TO-R:- # Page 786 0 # AT 0D LANDING SITE IN MOON FIXED FRAME RLS # AT 6D ESTIMATED TIME OF LANDING PDDL PUSH # MPAC NON-ZERO TO INDICATE LUNAR CASE TLAND STCALL TPIP # ALSO SET TPIP FOR FIRST GUIDANCE PASS RP-TO-R VSL4 MXV REFSMMAT STCALL LAND GUIDINIT # GUIDINIT INITIALIZES WM AND /LAND/ DLOAD DSU TLAND GUIDDURN STCALL TDEC1 # INTEGRATE STATE FORWARD TO THAT TIME LEMPREC SSP VLOAD NIGNLOOP 40D UNITX STOVL CG UNITY STOVL CG +6 UNITZ STODL CG +14 99999CON STOVL DELTAH # INITIALIZE DELTAH FOR V16N68 DISPLAY ZEROVECS STODL UNFC/2 # INITIALIZE TRIM VELOCITY CORRECTION TERM HI6ZEROS STORE TTF/8 IGNALOOP DLOAD TAT STOVL PIPTIME1 RATT1 VSL4 MXV REFSMMAT STCALL R MUNGRAV STCALL GDT/2 ?GUIDSUB # WHICH DELIVERS N PASSES OF GUIDANCE # DDUMCALC IS PROGRAMMED AS FOLLOWS:- # 2 ___ # (RIGNZ - RGU )/16 + 16(RGU )KIGNY/B8 + (RGU - RIGNX)KIGNX/B4 + (ABVAL(VGU) - VIGN)KIGNV/B4 # 2 1 0 # DDUM = ------------------------------------------------------------------------------------------- # 10 # 2 (VGU - 16 VGU KIGNX/B4) # 2 0 # Page 787 new page is actually one line earlier but this would put the indices on a separate line # disconnected from their respective variables # THE NUMERATOR IS SCALED IN METERS AT 2(28). THE DENOMINATOR IS A VELOCITY IN UNITS OF 2(10) M/CS. # THE QUOTIENT IS THUS A TIME IN UNITS OF 2(18) CENTISECONDS. THE FINAL SHIFT RESCALES TO UNITS OF 2(28) CS. # THERE IS NO DAMPING FACTOR. THE CONSTANTS KIGNX/B4, KIGNY/B8 AND KIGNV/B4 ARE ALL NEGATIVE IN SIGN. DDUMCALC TS NIGNLOOP TC INTPRET DLOAD DMPR # FORM DENOMINATOR FIRST VGU KIGNX/B4 SL4R BDSU VGU +4 PDDL DSU RIGNZ RGU +4 SR4R PDDL RGU +2 DSQ DMPR KIGNY/B8 SL4R PDDL RGU DSU DMPR RIGNX KIGNX/B4 PDVL ABVAL VGU DSU DMPR VIGN KIGNV/B4 DAD DAD DAD DDV SRR 10D PUSH DAD PIPTIME1 STODL TDEC1 # STORE NEW GUESS FOR NEXT INTEGRATION ABS DSU DDUMCRIT BMN CALL DDUMGOOD INTSTALL SET SET INTYPFLG MOONFLAG DLOAD PIPTIME1 STOVL TET # HOPEFULLY ?GUIDSUB DID NOT RATT1 # CLOBBER RATT1 AND VATT1 # Page 788 STOVL RCV VATT1 STCALL VCV INTEGRVS GOTO IGNALOOP DDUMGOOD SLOAD SR ZOOMTIME 14D BDSU TDEC1 STOVL TIG # COMPUTE DISTANCE LANDING SITE WILL BE V # OUT OF LM'S ORBITAL PLANE AT IGNITION: VXV UNIT # SIGN IS + IF LANDING SITE IS TO THE R # RIGHT, NORTH; - IF TO THE LEFT, SOUTH. DOT SL1 LAND R60INIT STOVL OUTOFPLN # INITIALIZATION FOR CALCMANU UNFC/2 STORE R60VSAVE # STORE UNFC/2 TEMPORARILY IN R60SAVE EXIT # ******************************************* IGNALGRT TC PHASCHNG # PREVENT REPEATING IGNALG OCT 04024 ASTNCLOK CS ASTNDEX TC BANKCALL CADR STCLOK2 TCF ENDOFJOB # RETURN IN NEW JOB AND IN EBANK FIVE ASTNRET TC INTPRET SSP RTB # GO PICK UP DISPLAY AT END OF R51: QMAJ # "PROCEED" WILL DO A FINE ALIGNMENT FCADR P63SPOT2 # " ENTER " WILL RETURN TO P63SPOT2 R51P63 P63SPOT2 VLOAD UNIT # INITIALIZE KALCMANU FOR BURN ATTITUDE R60VSAVE STOVL POINTVSM UNITX STORE SCAXIS EXIT CAF EBANK7 TS EBANK INHINT TC IBNKCALL CADR PFLITEDB # Page 789 RELINT TC BANKCALL CADR R60LEM TC PHASCHNG # PREVENT RECALLING R60 OCT 04024 P63SPOT3 CA BIT6 # IS THE LR ANTENNA IN POSITION 1 YET EXTEND RAND CHAN33 EXTEND BZF P63SPOT4 # BRANCH IF ANTENNA ALREADY IN POSITION 1 CAF CODE500 # ASTRONAUT: PLEASE CRANK THE TC BANKCALL # SILLY THING AROUND CADR GOPERF1 TCF GOTOPOOH # TERMINATE TCF P63SPOT3 # PROCEED SEE IF HE'S LYING P63SPOT4 TC BANKCALL # ENTER INITIALIZE LANDING RADAR CADR SETPOS1 TC POSTJUMP # OFF TO SEE THE WIZARD... CADR BURNBABY # --------------------------------- # CONSTANTS FOR P63LM AND IGNALG P63ADRES GENADR P63TABLE ASTNDEX = MD1 # OCT 25: INDEX FOR CLOKTASK CODE500 OCT 00500 99999CON 2DEC 30479.7 B-24 GUIDDURN 2DEC +66440 # GUIDDURN +6.64400314 E+2 DDUMCRIT 2DEC +8 B-28 # CRITERION FOR IGNALG CONVERGENCE # Page 790 # -------------------------------- # Page 791 # ************************* # P68: LANDING CONFIRMATION # ************************* BANK 31 SETLOC F2DPS*31 BANK COUNT* $$/P6567 LANDJUNK TC PHASCHNG OCT 04024 INHINT TC BANKCALL # ZERO ATTITUDE ERROR CADR ZATTEROR TC BANKCALL # SET 5 DEGREE DEADBAND CADR SETMAXDB TC INTPRET # TO INTERPRETIVE AS TIME IS NOT CRITICAL SET CLEAR SURFFLAG LETABORT SET VLOAD APSFLAG RN STODL ALPHAV PIPTIME SET CALL LUNAFLAG LAT-LONG SETPD VLOAD # COMPUTE RLS AND STORE IT AWAY 0 RN VSL2 PDDL PIPTIME PUSH CALL R-TO-RP STORE RLS EXIT CAF V06N43* # ASTRONAUT: NOW LOOK WHERE YOU ENDED UP TC BANKCALL CADR GOFLASH TCF GOTOPOOH # TERMINATE TCF +2 # PROCEED TCF -5 # RECYCLE TC INTPRET # Page 792 VLOAD # INITIALIZE GSAV AND (USING REFMF) UNITX # YNBSAV, ZNBSAV AND ATTFLAG FOR P57 STCALL GSAV REFMF EXIT TCF GOTOPOOH # ASTRONAUT: PLEASE SELECT P57 V06N43* VN 0643 ================================================ FILE: Luminary099/THROTTLE_CONTROL_ROUTINES.agc ================================================ # Copyright: Public domain. # Filename: THROTTLE_CONTROL_ROUTINES.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: HARTMUTH GUTSCHE . # Website: www.ibiblio.org/apollo. # Pages: 793-797 # Mod history: 2009-05-20 HG Transcribed from page images. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 793 BANK 31 SETLOC FTHROT BANK EBANK= PIF COUNT* $$/THROT # * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * # HERE FC, DESIRED THRUST, AND FP, PRESENT THRUST, UNWEIGHTED, ARE COMPUTED. THROTTLE CA ABDELV # COMPUTE PRESENT ACCELERATION IN UNITS OF EXTEND # 2(-4) M/CS/CS, SAVING SERVICER TROUBLE MP /AF/CNST +3 EXTEND QXCH RTNHOLD AFDUMP TC MASSMULT DXCH FP # FP = PRESENT THRUST EXTEND DCA /AFC/ TC MASSMULT TS FC # FC = THRUST DESIRED BY GUIDANCE DXCH FCODD # FCODD = WHAT IT IS GOING TO GET # IF IT HAS BEEN LESS THAN 3 SECONDS SINCE THE LAST THROTTLING, AUGMENT FP USING THE FWEIGHT CALCULATED THEN. CS TTHROT # THIS CODING ASSUMES A FLATOUT WITHIN AD TIME1 # 80 SECONDS BEFORE FIRST THROTTLE CALL MASK POSMAX COM AD 3SECS EXTEND BZMF WHERETO # BRANCH IF (TIME1-TTHROT +1) > 3 SECONDS EXTEND DCA FWEIGHT DAS FP # THIS LOGIC DETERMINES THE THROTTLING IN THE REGION 10% - 94%. THE MANUAL THROTTLE, NOMINALLY SET AT # MINIMUM BY ASTRONAUT OR MISSION CONTROL PROGRAMS, PROVIDES THE LOWER BOUND. A STOP IN THE THROTTLE HARDWARE # PROVIDES THE UPPER. WHERETO CA EBANK5 # INITIALIZE L*WCR*T AND H*GHCR*T FROM TS EBANK # PAD LOADED ERASABLES IN W-MATRIX # Page 794 EBANK= LOWCRIT EXTEND DCA LOWCRIT DXCH L*WCR*T CA EBANK7 TS EBANK EBANK= PIF CS ZERO # INITIALIZE PIFPSET TS PIFPSET CS H*GHCR*T AD FCOLD EXTEND BZMF LOWFCOLD # BRANCH IF FCOLD < OR = HIGHCRIT CS L*WCR*T AD FCODD EXTEND BZMF FCOMPSET # BRANCH IF FC < OR = LOWCRIT CA FP # SEE NOTE 1 TCF FLATOUT1 FCOMPSET CS FMAXODD # SEE NOTE 2 AD FP TCF FLATOUT2 LOWFCOLD CS H*GHCR*T AD FCODD EXTEND BZMF DOPIF # BRANCH IF FC < OR = HIGHCRIT CA FMAXPOS # NO: THROTTLE-UP FLATOUT1 DXCH FCODD CA FEXTRA FLATOUT2 TS PIFPSET # NOTE 1 FC IS SET EQUAL TO FP SO PIF WILL BE ZERO. THIS IS DESIRABLE # AS THERE IS ACTUALLY NO THROTTLE CHANGE. # # NOTE 2 HERE, SINCE WE ARE ABOUT TO RETURN TO THE THROTTLEABLE REGION # (BELOW 55%) THE QUANTITY -(FMAXODD - FP) IS COMPUTED AND PUT # INTO PIFPSET TO COMPENSATE FOR THE DIFFERENCE BETWEEN THE # NUMBER OF BITS CORRESPONDING TO FULL THROTTLE (FMAXODD) AND THE # NUMBER CORRESPONDING TO ACTUAL THRUST (FP). THUS THE TOTAL # THROTTLE COMMAND PIF = FC - FP - (FMAXODD - FP) = FC - FMAXODD. DOPIF TC FASTCHNG EXTEND DCA FCODD TS FCOLD DXCH PIF EXTEND # Page 795 DCS FP DAS PIF # PIF = FC - FP, NEVER EQUALS +0 DOIT CA PIF AD PIFPSET # ADD IN PIFPSET, WITHOUT CHANGING PIF TS PSEUDO55 TS THRUST CAF BIT4 EXTEND WOR CHAN14 CA TIME1 TS TTHROT # SINCE /AF/ IS NOT AN INSTANTANEOUS ACCELERATION, BUT RATHER AN "AVERAGE" OF THE ACCELERATION LEVELS DURING # THE PRECEEDING PIPA INTERVAL, AND SINCE FP IS COMPUTED DIRECTLY FROM /AF/, FP IN ORDER TO CORRESPOND TO THE # ACTUAL THRUST LEVEL AT THE END OF THE INTERVAL MUST BE WEIGHTED BY # # PIF(PPROCESS + TL) PIF /PIF/ # FWEIGHT = ------------------ + ------------- # PGUID 2 PGUID FRATE # # WHERE PPROCESS IS THE TIME BETWEEN PIPA READING AND THE START OF THROTTLING, PGUID IS THE GUIDANCE PERIOD, AND # FRATE IS THE THROTTLING RATE (32 UNITS PER CENTISECOND). PGUID IS EITHER 1 OR 2 SECONDS. THE "TL" IN THE # FIRST TERM REPRESENTS THE ENGINE'S RESPONSE LAG. HERE FWEIGHT IS COMPUTED FOR USE NEXT PASS. CA THISTPIP +1 # INITIALIZE FWEIGHT COMP AS IF FOR P66 TS BUF CS MODREG # ARE WE IN FACT IN P66? AD DEC66 EXTEND BZF FWCOMP # YES CA PIPTIME +1 # NO: INITIALIZE FOR TWO SECOND PERIOD TS BUF CAF 4SECS TCF FWCOMP +1 FWCOMP CAF 2SECS +1 TS Q EXTEND MP BIT6 LXCH BUF +1 CS BUF # TIME OF LAST PIPA READING. AD TIME1 AD THROTLAG # COMPENSATE FOR ENGINE RESPONSE LAG MASK LOW8 # MAKE SURE SMALL AND POSITIVE ZL EXTEND # Page 796 DV Q EXTEND MP PIF DOUBLE DXCH FWEIGHT CCS PIF AD ONE TCF +2 AD ONE EXTEND MP PIF EXTEND DV BUF +1 ZL DAS FWEIGHT THDUMP TC RTNHOLD # FLATOUT THROTTLES UP THE DESCENT ENGINE, AND IS CALLED AS A BASIC SUBROUTINE. FLATOUT CAF BIT13 # 4096 PULSES WHATOUT TS PIFPSET # USE PIFPSET SO FWEIGHT WILL BE ZERO CS ZERO TS FCOLD TS PIF EXTEND QXCH RTNHOLD TCF DOIT # MASSMULT SCALES ACCELERATION, ARRIVING IN A AND L IN UNITS OF 2(-4) M/CS/CS, TO FORCE IN PULSE UNITS. MASSMULT EXTEND QXCH BUF DXCH MPAC TC DMP ADRES MASS TC DMP # LEAVES PROPERLY SCALED FORCE IN MPAC ADRES SCALEFAC TC TPAGREE CA MPAC EXTEND BZF +3 CAF POSMAX TC BUF DXCH MPAC +1 TC BUF # Page 797 # CONSTANTS:- FEXTRA = BIT13 # FEXT +5.13309020E+ 4 /AF/CNST DEC .13107 # * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * ================================================ FILE: Luminary099/TIME_OF_FREE_FALL.agc ================================================ # Copyright: Public domain. # Filename: TIME_OF_FREE_FALL.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1268-1283 # Mod history: 2009-05-26 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # 2011-01-06 JL Fixed pseudo-label indentation. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 1268 # THE TFF SUBROUTINES MAY BE USED IN EITHER EARTH OR MOON CENTERED COORDINATES. THE TFF ROUTINES NEVER # KNOW WHICH ORIGIN APPLIES. IT IS THE USER WHO KNOWS, AND WHO SUPPLIES RONE, VONE, AND 1/SQRT(MU) AT THE # APPROPRIATE SCALE LEVEL FOR THE PROPER PRIMARY BODY. # # EARTH ORIGIN POSITION -29 METERS # VELOCITY -7 METERS/CENTISECOND # 1/SQRT(MU) +17 SQRT(CS SQ/METERS CUBED) # # MOON ORIGIN POSITION -27 METERS # VELOCITY -5 METERS/CENTISECONDS # 1/SQRT(MU) +14 SQRT(CS SQ/METERS CUBED) # # ALL DATA PROVIDED TO AND RECEIVED FROM ANY TFF SUBROUTINE WILL BE AT ONE OF THE LEVELS ABOVE. IN ALL CASES, # THE FREE FALL TIME IS RETURNED IN CENTISECONDS AT (-28). PROGRAM TFF/CONIC WILL GENERATE VONE/RTMU AND # LEAVE IT IN VONE' AT (+10) IF EARTH ORIGIN AND (+9) IF MOON ORIGIN. # # THE USER MUST STORE THE STATE VECTOR IN RONE, VONE, AND MU IN THE FORM 1/SQRT(MU) IN TFF/RTMU # AT THE PROPER SCALE BEFORE CALLING TFF/CONIC. SINCE RONE, VONE ARE IN THE EXTENDED VERB STORAGE AREA, # THE USER MUST ALSO LOCK OUT THE EXTENDED VERBS, AND RELEASE THEM WHEN FINISHED. # # PROGRAMS CALC/TFF AND CALC/TPER ASSUME THAT THE TERMINAL RADIUS IS LESS THAN THE PRESENT # RADIUS. THIS RESTRICTION CAN BE REMOVED BY A 15 W CODING CHANGE, BUT AT PRESENT IT IS NOT DEEMED NECESSARY. # # THE FOLLOWING ERASABLE QUANTITIES ARE USED BY THE TFF ROUTINES, AND ARE LOCATED IN THE PUSH LIST. # # BELOW E: IS USED FOR EARTH ORIGIN SCALE # M: IS USED FOR MOON ORIGIN SCALE # #TFFSW = 119D # BIT1 0 = CALCTFF 1 = CALCTPER TFFDELQ = 10D # Q2-Q1 E: (-16) M: (-15) RMAG1 = 12D # ABVAL(RN) M E: (-29) M: (-27) #RPER = 14D # PERIGEE RADIUS M E: (-29) M: (-27) TFFQ1 = 14D # R.V / SQRT(MUE) E: (-16) M: (-15) #SDELF/2 # SIN(THETA) /2 CDELF/2 = 14D # COS(THETA) /2 #RAPO = 16D # APOGEE RADIUS M E: (-29) M: (-27) NRTERM = 16D # TERMINAL RADIUS M E: (-29+NR) # M: (-27+NR) RTERM = 18D # TERMINAL RADIUS M E: (-29) M: (-27) TFFVSQ = 20D # -(V SQUARED/MU) 1/M E: (20) M: (18) TFF1/ALF = 22D # SEMI MAJ AXIS M E: (-22-2 NA) # M: (-20-2 NA) TFFRTALF = 24D # SQRT(ALFA) E:(10+NA) M: (9+NA) TFFALFA = 26D # ALFA 1/M E:(26-NR) M: (24-NR) TFFNP = 28D # SEMI LATUS RECTUM M E: (-38+2 NR) # M: (-36+2 NR) TFF/RTMU = 30D # 1/SQRT(MU) E: (17) M: (14) NRMAG = 32D # PRESENT RADIUS M E: (-29+NR) # M: (-27+NR) TFFX = 34D # TFFTEM = 36D # TEMPORARY # Page 1269 # REGISTERS S1, S2 ARE UNTOUCED BY ANY TFF SUBROUTINE # INDEX REGISTERS X1, X2 ARE USED BY ALL TFF SUBROUTINES. THEY ARE ESTAB- # LISHED IN TFF/CONIC AND MUST BE PRESERVED BETWEEN CALLS TO SUBSEQUENT # SUBROUTINES. # -NR C(X1) = NORM COUNT OF RMAG # -NA C(X2) = NORM COUNT OF SQRT(ABS(ALFA)) # Page 1270 # SUBROUTINE NAME: TFFCONIC DATE: 01.29.67 # MOD NO: 0 LOG SECTION: TIME OF FREE FALL # MOD BY: RR BAIRNSFATHER # MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 11 APR 67 # MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 21 NOV 67 ADD MOON MU. # MOD NO: 3 MOD BY: RR BAIRNSFATHER DATE: 21 MAR 68 ACCEPT DIFFERENT EARTH/MOON SCALES # # FUNCTIONAL DESCRIPTION: THIS SUBROUTINE IS CALLED TO COMPUTE THOSE CONIC PARAMETERS REQUIRED BY THE TFF # SUBROUTINES AND TO ESTABLISH THEM IN THE PUSH LIST AREA. THE PARAMETERS ARE LISTED UNDER OUTPUT. # THE EQUATIONS ARE: # _ __ __ # H = RN*VN ANGULAR MOMENTUM # _ _ # LCP = H.H / MU SEMI LATUS RECTUM # __ __ # ALFA = 2/RN - VN.VN / MU RECIPROCAL SEMI-MAJOR AXIS, SIGNED # # AND ALFA IS POS FOR ELLIPTIC ORBITS # 0 FOR PARABOLIC ORBITS # NEG FOR HYPERBOLIC ORBITS # SUBROUTINE ALSO COMPUTES AND SAVES RMAG. # # CALLING SEQUENCE: # TFFCONIC EXPECTS CALLER TO ENTER WITH CORRECT GRAVITATIONAL CONSTANT IN MPAC, IN THE FORM # 1/SQRT(MU). THE PROGRAM WILL SAVE IN TFF/RTMU. THE SCALE IS DETERMINED BY WHETHER EARTH OR MOON # ORIGIN IS USED. THE CALLER MUST LOCK OUT THE EXTENDED VERBS BEFORE PROVIDING STATE VECTOR IN RONE, # VONE AT PROPER SCALE. THE EXTENDED VERBS MUST BE RESTORED WHEN THE CALLER IS FINISHED USING THE # TFF ROUTINES. # # ENTRY POINT TFFCONMU EXPECTS THAT TFF/RTMU IS ALREADY LOADED. # # TO SPECIFY MU: DLOAD CALL IF MU ALREADY STORED: CALL # YOURMU 1/RTMU E:(17) M:(14) TFFCONMU # TFFCONIC # PUSHLOC = PDL+0, ARBITRARY IF LEQ 18D # # SUBROUTINES CALLED: NONE # # NORMAL EXIT MODES: RVQ # # ALARMS: NONE # # OUTPUT: THE FOLLOWING ARE STORED IN THE PUSH LIST AREA. # RMAG1 E:(-29) M:(-27) M RN, PRESENT RADIUS LENGTH. # NRMAG E:(-29+NR) M RMAG, NORMALIZED # M:(-27+NR) # X1 -NR, NORM COUNT # TFFNP E:(-38+2NR) M LCP, SEMI LATUS RECTUM, WEIGHTED BY NR. FOR VGAMCALC. # M:(-36+2NR) # TFF/RTMU E:(17) M:(14) 1/SQRT(MU) # TFFVSQ E:(20) M:(18) 1/M -(V SQ/MU): PRESENT VELOCITY, NORMALIZED. FOR VGAMCALC # TFFALFA E:(26-NR) 1/M ALFA, WEIGHTED BY NR # M:(24-NR) # TFFRTALF E:(10+NA) SQRT(ALFA), NORMALIZED # M:(9+NA) # Page 1271 # X2 -NA, NORMCOUNT # TFF1/ALF E:(-22-2NA) SIGNED SEMI MAJ AXIS, WEIGHTED BY NA # M:(-20-2NA) # PUSHLOC AT PDL+0 # # THE FOLLOWING IS STORED IN GENERAL ERASABLE # VONE' E:(10) M:(9) V/RT(MU), NORMALIZED VELOCITY # # ERASABLE INITIALIZATION REQUIRED: # RONE E:(-29) M:(-27) M STATE VECTOR LEFT BY CALLER # VONE E:(-7) M:(-5) M/CS STATE VECTOR LEFT BY CALLER # TFF/RTMU E:(17) M:(14) 1/RT(CS SQ/M CUBE) IF ENTER VIA TFFCONMU. # # DEBRIS: QPRET PDL+0 ... PDL+3 BANK 33 SETLOC TOF-FF BANK COUNT* $$/TFF TFFCONIC STORE TFF/RTMU # 1/SQRT(MU) E:(17) M:(14) TFFCONMU VLOAD UNIT # COME HERE WITH TFFRTMU LOADED. RONE # SAVED RN. M E:(-29) M:(-27) PDDL # UR/2 TO PDL+0, +5 36D # MAGNITUDE STORE RMAG1 # M E:(-29) M:(-27) NORM X1 # -NR STOVL NRMAG # RMAG M E:(-29+NR) M:(-27+NR) VONE # SAVED VN. M/CS E:(-7) M:(-5) VXSC TFF/RTMU # E:(17) M:(14) STORE VONE' # VN/SQRT(MU) E:(10) M:(9) VXSC VXV NRMAG # E:(-29+NR) M:(-27+NR) # UR/2 FROM PDL VSL1 VSQ # BEFORE: E:(-19+NR) M:(-18+NR) STODL TFFNP # LC P M E:(-38+2NR) M:(-36+2NR) # SAVE ALSO FOR VGAMCALC TFF1/4 DDV PDVL # (2/RMAG) 1/M E:(26-NR) M:(24-NR) NRMAG # RMAG M E:(-29+NR) M:(-27+NR) VONE' # SAVED VN. E:(10) M:(9) VSQ DCOMP # KEEP MPAC+2 HONEST FOR SQRT. STORE TFFVSQ # -(V SQ/MU) E:(20) M:(18) # SAVE FOR VGAMCALC SR* DAD # Page 1272 0 -6,1 # GET -VSQ/MU E:(26-NR) M:(24-NR) STADR # 2/RMAG FROM PDL+2 STORE TFFALFA # ALFA 1/M E:(26-NR) M:(24-NR) SL* PUSH # TEMP SAVE ALFA E:(20) M:(18) 0 -6,1 ABS SQRT # E:(10) M:(9) NORM X2 # X2 = -NA STORE TFFRTALF # SQRT( ABS(ALFA) ) E:(10+NA) M:(9+NA) DSQ SIGN # NOT SO ACCURATE, BUT OK # ALFA FROM PDL+2 E:(20) M:(18) BZE BDDV # SET 1/ALFA =0, TO SHOW SMALL ALFA +2 TFF1/4 +2 STORE TFF1/ALF # 1/ALFA E:(-22-2NA) M:(-20-2NA) DUMPCNIC RVQ # 39 W # Page 1273 # SUBROUTINE NAME: TFFRP/RA DATE: 01.17.67 # MOD NO: 0 LOG SECTION: TIME OF FREE FALL # MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 11 APR 67 # MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 21 MAR 68 ACCEPT DIFFERENT EARTH/MOON SCALES # ALSO IMPROVE ACCURACY OF RAPO. # # FUNCTIONAL DESCRIPTION: USED BY CALCTPER AND TFF DISPLAYS TO CALCULATE PERIGEE RADIUS AND ALSO # APOGEE RADIUS FOR A GENERAL CONIC. # PROGRAM GIVES PERIGEE RADIUS AS APOGEE RADIUS IS GIVEN BY # RP = P/(1+E) RA = (1+E) / ALFA # WHERE 2 # E = 1 - P ALFA # IF RA IS NEGATIVE OR SHOWS DIVIDE OVERFLOW, THEN RA = POSMAX BECAUSE # 1. APOGEE RADIUS IS NOT MEANINGFUL FOR HYPERBOLA # 2. APOGEE RADIUS IS NOT DEFINED FOR PARABOLA # 3. APOGEE RADIUS EXCEEDS THE SCALING FOR ELLIPSE. # # THIS SUBROUTINE REQUIRED THE SIGNED RECIPROCAL SEMI MAJ AXIS, ALFA, AND SEMI-LATUS RECTUM AS DATA. # # CALLING SEQUENCE: CALL # TFFRP/RA # PUSHLOC = PDL+0, ARBITRARY IF LEQ 10D # C(MPAC) UNSPECIFIED # # SUBROUTINES CALLED: NONE # # NORMAL EXIT MODE: RVQ # IF ELLIPSE, WITHIN NORMAL SCALING, RAPO IS CORRECT. # OTHERWISE, RAPO = POSMAX. # # ALARMS: NONE # # OUTPUT: STORED IN PUSH LIST AREA. SCALE OF OUTPUT AGREES WITH DATA SUPPLIED TO TFF/CONIC. # RPER E:(-29) M:(-27) M PERIGEE RADIUS DESTROYED BY CALCTFF/CALCTPER, TFFTRIG. # RAPO E:(-29) M:(-27) M APOGEE RADIUS WILL BE DESTROYED BY CALCTFF/CALCTPER # PUSHLOC AT PDL+0 # # ERASABLE INITIALIZATION REQUIRED: # TFFALFA E:(26-NR) M 1/SEMI MAJ AXIS LEFT BY TFFCONIC # M:(24-NR) # TFFNP E:(-38+2NR) M LC P, SEMI LATUS RECTUM LEFT BY TFFCONIC # M:(-36+2NR) # X1 -NR, NORM COUNT OF RMAG LEFT BY TFFCONIC # X2 -NA, NORM COUNT OF ALFA LEFT BY TFFCONIC # # DEBRIS: QPRET, PDL+0 ... PDL+1 # Page 1274 RAPO = 16D # APOGEE RADIUS M E:(-29) M:(-27) RPER = 14D # PERIGEE RADIUS M E:(-29) M:(-27) TFFRP/RA DLOAD DMP TFFALFA # ALFA 1/M E:(26-NR) M:(24-NR) TFFNP # LC P M E:(-38+2NR) M:(-36+2NR) SR* DCOMP # ALFA P (-12+NR) 0 -8D,1 # ALFA P (-4) DAD ABS # (DCOMP GIVES VALID TP RESULT FOR SQRT) # (ABS PROTECTS SQRT IF E IS VERY NEAR 0) DP2(-4) SQRT DAD # E SQ = (1- P ALFA) (-4) TFF1/4 PUSH BDDV # (1+E) (-2) TO PDL+0 TFFNP # LCP M E:(-38+2NR) M:(-36+2NR) SR* SR* # (DOES SR THEN SL TO AVOID OVFL) 0,1 # X1=-NR 0 -7,1 # (EFFECTIVE SL) STODL RPER # PERIGEE RADIUS M E:(-29) M:(-27) # (1+E) (-2) FROM PDL+0 DMP BOVB TFF1/ALF # E:(-22-2NA) M:(-20-2NA) TCDANZIG # CLEAR OVFIND, IF ON. BZE SL* MAXRA # SET POSMAX IF ALFA=0 0 -5,2 # -5+NA SL* BOV 0,2 MAXRA # SET POSMAX IF OVFL. BPL # CONTINUE WITH VALID RAPO. +3 MAXRA DLOAD # RAPO CALC IS NOT VALID. SET RAPO = NEARONE # POSMAX AS A TAG. +3 STORE RAPO # APOGEE RADIUS M E:(-29) M:(-27) DUMPRPRA RVQ # 30 W # Page 1275 # SUBROUTINE NAME: CALCTPER / CALCTFF DATE: 01.29.67 # MOD NO: 0 LOG SECTION: TIME OF FREE FALL # MOD BY: RR BAIRNSFATHER # MOD NO: 1 MOD BY: RR BAIRNSFATHER DATE: 21 MAR 67 # MOD NO: 2 MOD BY: RR BAIRNSFATHER DATE: 14 APR 67 # MOD BY: 3 MOD BY: RR BAIRNSFATHER DATE: 8 JUL 67 NEAR EARTH MUE AND NEG TFF (GONEPAST) # MOD BY: 4 MOD BY: RR BAIRNSFATHER DATE: 21 NOV 67 ADD VARIABLE MU. # MOD BY: 5 MOD BY: RR BAIRNSFATHER DATE: 21 MAR 68 ACCEPT DIFFERENT EARTH/MOON SCALES # # FUNCTIONAL DESCRIPTION: PROGRAM CALCULATES THE FREE-FALL TIME OF FLIGHT FROM PRESENT POSITION RN AND # VELOCITY VN TO A RADIUS LENGTH SPECIFIED BY RTERM, SUPPLIED BY THE USER. THE POSITION VECTOR # RN MAY BE ON EITHER SIDE OF THE CONIC, BUT RTERM IS CONSIDERED ON THE INBOUND SIDE. # THE EQUATIONS ARE: # # Q2 = -SQRT(RTERM (2-RTERM ALFA) - LCP) (INBOUND SIDE) LEQ +- LCE/SQRT(ALFA) # __ __ # Q1 = RN.VN / SQRT(MU) LEQ +- LCE/SQRT(ALFA) # # Z = NUM / DEN LEQ +- 1/SQRT(ALFA) # # WHERE, IF INBOUND # NUM = RTERM -RN LEQ +- 2 LCE/ALFA # DEN = Q2+Q1 LEQ +- 2 LCE/SQRT(ALFA) # # AND, IF OUTBOUND # NUM = Q2-Q1 LEQ +- 2 LCE/SQRT(ALFA) # DEN = 2 - ALFA (RTERM + RN). LEQ +- 2 LCE # # IF ALFA ZZ < 1.0 (FOR ALL CONICS EXCEPT ELLIPSES HAVING ABS(DEL ECC ANOM) G 90 DEG) # THEN X = ALFA Z Z # AND TFF = (RTERM +RN -2 ZZ T(X) ) Z/SQRT(MU) # EXCEPT IF ALFA PNZ, AND IF TFF NEG, # THEN TFF = 2 PI /(ALFA SQRT(ALFA)) + TFF # OR IF ALFA ZZ GEQ 1.0 (FOR ELLIPSES HAVING ABS(DEL ECC ANOM) GEQ 90 DEG) # THEN X = 1/ALFA Z Z # AND TFF = (PI/SQRT(ALFA) -Q2 +Q1 +2(X T(X) -1) /ALFA Z) /ALFA SQRT(MU) # WHERE T(X) IS A POLYNOMIAL APPROXIMATION TO THE SERIES # 2 3 2 # 1/3 - X/5 + X /7 - X /8 ... (X < 1.0) # # CALLING SEQUENC: TIME TO RTERM TIME TO PERIGEE # CALL CALL # CALCTFF CALCTPER # C(MPAC) = TERMNL RAD M C(MPAC) = PERIGEE RAD M # FOR EITHER, E:(-29) M:(-27) # FOR EITHER, PUSHLOC = PDL+0, ARBITRARY IF LEQ 8D. # Page 1276 # # SUBROUTINES CALLED: T(X), VIA RTB # # NORMAL EXIT MODE: RVQ # HOWEVER, PROGRAM EXITS WITH ONE OF THE FOLLOWING VALUES FOR TFF (-28) CS IN MPAC. USER MUST STORE. # A. TFF = FLIGHT TIME. NORMAL CASE FOR POSITIVE FLIGHT TIME LESS THAN ONE ORBITAL PERIOD. # B. (THIS OPTION IS NO LONGER USED.) # C. TFF = POSMAX. THIS INDICATES THAT THE CONIC FROM THE PRESENT POSITION WILL NOT RETURN TO # THE SPECIFIED ALTITUDE. ALSO INDICATES OUTBOUND PARABOLA OR HYPERBOLA. # # OUTPUT: C(MPAC) (-28) CS TIME OF FLIGHT, OR TIME TO PERIGEE # TFFX (0) X LEFT FOR ENTRY DISPLAY TFF ROUTINES # NRTERM E:(-29+NR) M RTERM, WEIGHTED BY NR LEFT FOR ENTRY DISPLAY TFF ROUTINES # M:(-27+NR) # TFFTEM E:(-59+2NR) LCP Z Z SGN(SDELF) LEFT FOR ENTRY DISPLAY TFF ROUTINES # M:(-55+2NR) LCP /ALFA SGN(SDELF) LEFT FOR ENTRY DISPLAY TFF ROUTINES # NOTE: TFFTEM = PDL 36D AND WILL BE DESTROYED BY .:UNIT:. # RMAG1 E:(-29) M:(-27) PDL 12 NOT TOUCHED. # TFFQ1 E:(-16) M:(-15) PDL 14D # TFFDELQ E:(-16) M:(-15) PDL 10D # PUSHLOC AT PDL+0 # # ERASABLE INITIALIZATION REQUIRED: # RONE E:(-29) M:(-27) M STATE VECTOR LEFT BY USER # VONE' E:(+10) M:(+9) VN/SQRT(NU) LEFT BY TFF/CONIC # RMAG1 E:(-29) M:(-27) PRESENT RADIUS, M LEFT BY TFFCONIC # C(MPAC) E:(-29) M:(-27) RTERM, TERMINAL RADIUS LENGTH, M LEFT BY USER # # THE FOLLOWING ARE STORED IN THE PUSH LIST AREA. # TFF/RTMU E:(17) M:(14) 1/SQRT(MU) LEFT BY TFFCONIC. # NRMAG E:(-29+NR) M RMAG, NORMALIZED LEFT BY TFFCONIC # M:(-27+NR) # X1 -NR, NORM COUNT LEFT BY TFFCONIC # TFFNP E:(-38+2NR) M LCP, SEMI LATUS RECTUM, WEIGHT NR LEFT BY TFFCONIC # M:(-36+2N4) # TFFALFA E:(26-NR) 1/M ALFA, WEIGHT NR LEFT BY TFFCONIC # M:(24-NR) # TFFRTALF E:(10+NA) SQRT(ALFA), NORMALIZED LEFT BY TFFCONIC # M:(9+NA) # X2 -NA, NORMCOUNT LEFT BY TFFCONIC # TFF1/ALF E:(-22-2NA) SIGNED SEMI-MAJOR AXIS, WEIGHTED BY NA LEFT BY TFFCONIC # M:(-20-2NA) # # DEBRIS: QPRET, PDL+0 ... PDL+3 # RTERM E:(-29) M(-27) RTERM, TERMINAL RADIUS LENGTH # RAPO E:(-29) M(-27) PDL 16D (=NRTERM) # RPER E:(-29) M(-27) PDL 14D (=TFFQ1) # Page 1277 CALCTPER SETGO # ENTER WITH RPER IN MPAC TFFSW +3 CALCTFF CLEAR # ENTER WITH RTERM IN MPAC TFFSW +3 STORE RTERM # E:(-29) M:(-27) SL* 0,1 # X1=-NR STORE NRTERM # RTERM E:(-29+NR) M:(-27+NR) DMP BDSU TFFALFA # ALFA E:(26-NR) M:(24-NR) TFF1/4 PUSH DMP # (2-ALFA RTERM) (-3) TO PDL+0 NRTERM # E:(-29+NR) M:(-27+NR) PDDL SR* # RTERM(2-ALFA RTERM) TO PDL+2 # E:(-32+NR) M:(-30+NR) TFFNP # LC P E:(-38+2NR) M:(-36+2NR) 0 -6,1 # X1 = -NR DCOMP DAD # DUE TO SHIFTS, KEEP PRECISION FOR SQRT # RTERM(2-ALFA RTERM) FROM PDL +2 # E:(-32+NR) M:(-30+NR) SR* # LEAVE E:(-32) M:(-30) 0,1 # X1 = -NR BOFF DLOAD # CHECK TFF /TPER SWITCH TFFSW +2 # IF TFF, CONTINUE TFFZEROS # IF TPER, SET Q2 = 0 +2 BMN SQRT # E:(-16) M:(-15) MAXTFF1 # NO FREE FALL CONIC TO RTERM FROM HERE # RESET PDL, SET TFF=POSMAX, AND EXIT. DCOMP BOVB # RT IS ON INBOUND SIDE. ASSURE OVFIND=0 TCDANZIG # ANY PORT IN A STORM. STOVL TFFTEM # Q2 E:(-16) M:(-15) VONE' # VN/SQRT(MU) E:(10) M:(9) DOT SL3 RONE # SAVED RN. E:(-29) M:(-27) STORE TFFQ1 # Q1, SAVE FOR GONEPAST TEST. # E:(-16) M:(-15) BMN BDSU INBOUND # USE ALTERNATE Z TFFTEM # Q2 E:(-16) M:(-15) # OUTBOUND Z CALC CONTINUES HERE STODL TFFX # NUM=Q2-Q1 E:(-16) M:(-15) TFFALFA # ALFA E:(26-NR) M:(24-NR) DMP BDSU # Page 1278 NRMAG # RMAG E:(-29+NR) M:(-27+NR) # (2-RTERM ALFA) (-3) FROM PDL+0 SAVEDEN PUSH ABS # DEN TO PDL+0 E:(-3) OR (-16) # M:(-3) OR (-15) DAD BOV # INDETERMINANCY TEST LIM(-22) # =1.0-B(-22) TFFXTEST # GO IF DEN >/= B(-22) DLOAD PDDL # SET DEN=0 OTHERWISE TFFZEROS # XCH ZERO WITH PDL+0 DLOAD DCOMP TFFALFA # ALFA E:(26-NR) M:(24-NR) BMN DLOAD # FOR TPER: Z INDET AT DELE/2=0 AND 90. TFFEL1 # ASSUME 90, AND LEAVE 0 IN PDL: 1/Z=D/N # Z INDET. AT PERIGEE FOR PARAB OR HYPERB. DUMPTFF1 RVQ # RETURN TFF =0 # INBOUND Z CALC CONTINUES HERE INBOUND DLOAD # RESET PDL+0 DLOAD DSU # ALTERNATE Z CALC RTERM # E:(-29) M:(-27) RMAG1 # E:(-29) M:(-27) STODL TFFX # NUM=RTERM-RN E:(-29) M:(-27) TFFTEM # Q2 E:(-16) M:(-15) DAD GOTO TFFQ1 # Q1 E:(-16) M:(-15) SAVEDEN # DEN = Q2+Q1 E:(-16) M:(-15) TFFXTEST DAD PDDL # (ABS(DEN) TO PDL+2) E:(-3) OR (-16) # M:(-3) OR (-15) DP(-22) # RESTORE ABS(DEN) TO MPAC TFFX # NUM E:(-16) OR (-29) M:(-15) OR (-27) DMP SR* TFFRTALF # SQRT(ALFA) E:(10+NA) M:(9+NA) 0 -3,2 # X2=-NA DDV # C(MPAC) =NUM SQRT(ALFA) E:(-3) OR (-16) # M:(-3) OR (-15) # ABS(DEN) FROM PDL+2 E:(-3) OR (-16) # M:(-3) OR (-15) DLOAD BOV # (THE DLOAD IS SHARED WITH TFFELL) TFFX # NUM E:(-16) OR (-29) M:(-15) OR (-27) TFFELL # USE EQN FOR DELE GEQ 90, LEQ -90 # OTHERWISE, CONTINUE FOR GENERAL CONIC FOR TFF EQN DDV STADR # DEN FROM PDL+0 E:(-3) OR (-16) # M:(-3) OR (-15) STORE TFFTEM # Z SAVE FOR SIGN OF SDELF. # Page 1279 # E:(-13) M:(-12) PUSH DSQ # Z TO PDL+0 PUSH DMP # Z SQ TO PDL+2 E:(-26) M:(-24) TFFNP # LC P E:(-38+2NR) M:(-36+NR) SL SIGN 5 TFFTEM # AFFIX SIGN FOR SDELF (ENTRY DISPLAY) STODL TFFTEM # P ZSQ E:(-59+2NR) M:(-55+2NR) # (ARG IS USED IN TFF/TRIG) # ZSQ FROM PDL+2 E:(-26) M:(-24) PUSH DMP # RESTORE PUSH LOC TFFALFA # ALFA E:(26-NR) M:(24-NR) SL* 0,1 # X1=-NR STORE TFFX # X RTB DMP T(X) # POLY # ZSQ FROM PDL+2 E:(-26) M:(-24) SR2 BDSU # 2 ZSQ T(X) E:(-29) M:(-27) RTERM # RTERM E:(-29) M:(-27) DAD DMP RMAG1 # E:(-29) M:(-27) # Z FROM PDL+0 E:(-13) M:(-12) SR3 BPL # TFF SQRT(MU) E:(-45) M:(-42) ENDTFF # (NO PUSH UP) PUSH SIGN # TFF SQRT(MU) TO PDL+0 TFFQ1 # Q1 FOR GONEPAST TEST BPL DLOAD # GONE PAST ? NEGTFF # YES. TFF < 0. TFF1/ALF # 1/ALFA E:(-22-2NA) M:(-20-2NA) DCOMP BPL # ALFA > 0 ? NEGTFF # NO. TFF IS NEGATIVE. # CORRECT FOR ORBITAL PERIOD. DCOMP # YES. CORRECT FOR ORB PERIOD. DMP DDV PI/16 # 2 PI (-5) TFFRTALF # SQRT(ALFA) E:(10+NA) M:(9+NA) SL* SL* 0 -4,2 # X2=-NA 0 -4,2 SL* DAD 0,2 # TFF SQRT(MU) FROM PDL+0 E:(-45) M:(-42) ENDTFF DMP BOV # TFF SQRT(MU) IN MPAC E:(-45) M:(-42) TFF/RTMU # E:(17) M:(14) MAXTFF # SET POSMAX IN OVFL. DUMPTFF2 RVQ # RETURN TFF (-28) CS IN MPAC. # Page 1280 NEGTFF DLOAD # TFF SQRT(MU) FROM PDL+0, NEGATIVE. GOTO ENDTFF MAXTFF1 DLOAD # RESET PDL MAXTFF DLOAD RVQ NEARONE # TIME OF FLIGHT ELLIPSE WHEN DEL (ECCENTRIC ANOM) GEQ 90 AND LEQ -90. # NUM FROM TFFX. E:(-16) OR (-29) # M:(-15) OR (-27) TFFELL SL2 # NUM E:(-14) OR (-27) M:(-13) OR (-25) BDDV PUSH # TEMP SAVE D/N IN PDL+0 # DEN FROM PDL+0 E:(-3)/(-16) M:(-3)/(-15) # N/D TO PDL+0 E:(11) M:(10) TFFEL1 DLOAD DSU # (ENTER WITH D/N=0 IN PDL+0) TFFTEM # Q2 E:(-16) M:(-15) TFFQ1 # Q1 E:(-16) M:(-15) STODL TFFDELQ # Q2-Q1 E:(-16) M:(-15) # D/N FROM PDL+0 STADR STORE TFFTEM # D/N E:(11) M:(10) DMP SL* TFF1/ALF # 1/ALFA E:(-22-2NA) M:(-20-2NA) 0,2 # 1/ALFA Z E:(-11-NA) M:(-10-NA) PUSH DMP # TO PDL+0 TFFTEM # 1/Z E:(11) M:(10 SL* BOVB 0,2 # X2= -NA SIGNMPAC # IN CASE X= 1.0, CONTINUE STORE TFFX # X=1/ALFA ZSQ RTB DMP T(X) # POLY TFFX SR3 DSU DP2(-3) DMP PUSH # 2(X T(X)-1) /Z ALFA E:(-15-NA) # M:(-14-NA) # 1/ALFA Z FROM PDL+0 E:(-11-NA) # M:(-10-NA) DLOAD DMP # GET SIGN FOR SDELF TFFTEM # 1/Z E:(11) M:(10) RMAG1 # E:(-29) M:(-27) SL2 DAD TFFQ1 # Q1 E:(-16) M:(-15) STODL TFFTEM # (Q1+R 1/Z) =SGN OF SDELF E:(-16) M:(-15) TFFNP # LC P E:(-38+2NR) M:(-36+2NR) DMP SL* # CALC FOR ARG FOR TFF/TRIG. # Page 1281 TFF1/ALF # 1/ALFA E:(-22-2NA) M:(-20-2NA) 1,2 # X2=-NA SIGN SL* TFFTEM # AFFIX SIGN FOR SDELF 0,2 STODL TFFTEM # P/ALFA E:(-59+2NR) M:(-55+2NR) # (ARG FOR USE IN TFF/TRIG) TFF1/ALF # 1/ALFA E:(-22-2NA) M:(-20-2NA) SQRT DMP PI/16 # PI (-4) DAD # 2(XT(X)-1)/Z ALFA FROM PDL E:(-15-NA) # M:(-14-NA) SL* DSU 0 -1,2 TFFDELQ # Q2-Q1 E:(-16) M:(-15) DMP SL* TFF1/ALF # 1/ALFA E:(-22-2NA) M:(-20-2NA) 0 -3,2 SL* GOTO 0 -4,2 ENDTFF # TFF SQRT(MU) IN MPAC E:(-45) M:(-42) # Page 1282 # PROGRAM NAME: T(X) DATE: 01.17.67 # MOD NO: 0 LOG SECTION: TIME OF FREE FALL # MOD BY: RR BAIRNSFATHER # # FUNCTIONAL DESCRIPTION: THE POLYNOMIAL T(X) IS USED BY TIME OF FLIGHT SUBROUTINES CALCTFF AND # CALCTPER TO APPROXIMATE THE SERIES # 2 3 # 1/3 -X/5 +X /7 -X /9 ... # # WHERE X = ALFA Z Z IF ALFA Z Z LEQ 1 # X = 1/(ALFA Z Z) IF ALFA Z Z G 1 # # ALSO X IS NEG FOR HYPERBOLIC ORBITS # X = 0 FOR PARABOLIC ORBITS # X IS POSITIVE FOR ELLIPTIC ORBITS # # FOR FLIGHT 278, THE POLYNOMIAL T(X) IS FITTED OVER THE RANGE (0,+1) AND HAS A MAXIMUM # DEVIATION FROM THE SERIES OF 2 E-5. (T(X) IS A CHEBYCHEV TYPE FIT AND WAS OBTAINED USING # MAX PROGRAM AUTOCURFIT294RRB AND IS VALID TO THE SAME TOLERANCE OVER THE RANGE (-.08,+1).) # # CALLING SEQUENCE: RTB # T(X) # C(MPAC) = X # # SUBROUTINE CALLED: NONE # # NORMAL EXIT MODE: TC TANZIG # # ALARMS: NONE # # OUTPUT: C(MPAC) = T(X) # # ERASABLE INITIALIZATION REQUIRED: # C(MPAC) = X # # DEBRIS: NONE T(X) TC POLY DEC 4 # N-1 2DEC 3.333333333 E-1 2DEC* -1.999819135 E-1* 2DEC* 1.418148467 E-1* 2DEC* -1.01310997 E-1* 2DEC* 5.609004986 E-2* 2DEC* -1.536156925 E-2* ENDT(X) TC DANZIG TCDANZIG = ENDT(X) # Page 1283 # TFF CONSTANTS BANK 32 SETLOC TOF-FF1 BANK # # NOTE: ADJUSTED MUE FOR NEAR EARTH TRAJ. #MUE = 3.990815471 E10 # M CUBE/CS SQ #RTMUE = 1.997702549 E5 B-18* # MODIFIED EARTH MU # # # NOTE: ADJUSTED MUE FOR NEAR EARTH TRAJ. #MUM = 4.902778 E8 # M CUBE/CS SQ #RTMUM 2DEC* 2.21422176 E4 B-18* PI/16 2DEC 3.141592653 B-4 LIM(-22) 2OCT 3777737700 # 1.0 -B(-22) DP(-22) 2OCT 0000000100 # B(-22) DP2(-3) 2DEC 1 B-3 DP2(-4) 2DEC 1 B-4 # 1/16 # RPAD1 2DEC 6373338 B-29 # M (-29) = 20909901.57 FT RPAD1 = RPAD R300K 2DEC 6464778 B-29 # (-29) M NEARONE 2DEC .999999999 TFFZEROS EQUALS HI6ZEROS TFF1/4 EQUALS HIDP1/4 ================================================ FILE: Luminary099/TJET_LAW.agc ================================================ # Copyright: Public domain. # Filename: TJET_LAW.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1460-1469 # Mod history: 2009-05-27 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # 2009-06-06 RSB Eliminated a stray instruction that had crept # in somehow. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 1460 # PROGRAM DESCRIPTION # DESIGNED BY: R. D. GOSS AND P. S. WEISSMAN # CODED BY: P. S. WEISSMAN, 28 FEBRUARY 1968 # # TJETLAW IS CALLED AS A SUBROUTINE WHEN THE LEM IS NOT DOCKED AND THE AUTOPILOT IS IN THE AUTOMATIC OR # ATTITUDE-HOLD MODE TO CALCULATE THE JET-FIRING-TIME (TJET) REQUIRED FOR THE AXIS INDICATED BY AXISCTR: # -1 INDICATES THE P-AXIS # +0 INDICATES THE U-AXIS # +1 INDICATES THE V-AXIS # THE REGISTERS E AND EDOT CONTAIN THE APPROPRIATE ATTITUDE ERROR AND ERROR RATE AND SENSETYP SHOWS WHETHER # UNBALANCED COUPLES ARE PREFERRED. TJETLAW ALSO USES VARIOUS FUNCTIONS OF ACCELERATION AND DEADBAND WHICH ARE # COMPUTED IN THE 1/ACCONT SECTION OF 1/ACCS AND ARE STORED IN SUCH AN ORDER THAT THEY CAN BE CONVENIENTLY # ACCESSED BY INDEXING. # # THE SIGN OF THE REQUIRED ROTATION IS CARRIED THROUGH TJETLAW AS ROTSENSE AND IS FINALLY APPLIED TO TJET JUST # PREVIOUS TO ITS STORAGE IN THE LOCATION CORRESPONDING TO THE AXIS (TJP, TJU, OR TJV). THE NUMBER OF JETS THAT # TJETLAW ASSUMES WILL BE USED AS INDICATED BY THE SETTING OF NUMBERT FOR THE U- OR V-AXIS. TWO JETS ARE ALWAYS # ASSUMED FOR THE P-AXIS ALTHOUGH FOUR JETS WILL BE FIRED WHEN FIREFCT IS MORE NEGATIVE THAN -4.0 DEGREES # (FIREFCT IS THE DISTANCE TO A SWITCH CURVE IN THE PHASE PLANE) AND A LONG FIRING IS CALLED FOR. # # IN ORDER TO AVOID SCALING DIFFICULTIES, SIMPLE ALGORITHMS TAGGED RUFLAW1, -2 AND -3 ARE RESORTED TO WHEN THE # ERROR AND/OR ERROR RATE ARE LARGE. # # CALLING SEQUENCE: # TC TJETLAW # (MUST BE IN JASK) # OR # INHINT # (MUST BE IN JASK) # TC IBNKCALL # CADR TJETLAW # RELINT # # EXIT: RETURN TO Q. # # INPUT: # FROM THE CALLER: E, EDOT, AXISCTR, SENSETYP, TJP, -U, -V. # FROM 1/ACCONT: 48 ERASABLES BEGINNING AT BLOCKTOP (INCLUDING FLAT, ZONE3LIM AND ACCSWU, -V). # # OUTPUT: # TJP, -U OR -V, NUMBERT (DAPTEMP5), FIREFCT (DAPTEMP3). # # DEBRIS: # A, L, Q, E, EDOT, DAPTEMP1-6, DAPTEMP1-4. # # ALARM: NONE BANK 17 SETLOC DAPS2 BANK EBANK= TJP # Page 1461 COUNT* $$/DAPTJ TJETLAW EXTEND # SAVE Q FOR RETURN. QXCH HOLDQ # SET INDEXERS TO CORRESPOND TO THE AXIS AND TO THE SIGN OF EDOT INDEX AXISCTR # AXISDIFF(-1)=NO OF LOCATIONS BET P AND U CAF AXISDIFF # AXISDIFF(0)=0 TS ADRSDIF1 # AXISDIFF(+1)=NO OF LOCATIONS BET V AND U CAE EDOT # IF EDOT NEGATIVE, PICK UP SET OF VALUES EXTEND # THAT ALLOW USE OF SAME CODING AS FOR BZMF NEGEDOT # POSITIVE EDOT. CAE ADRSDIF1 # SET A SECOND INDEXER WHICH MAY BE TS ADRSDIF2 # MODIFIED BY A DECISION FOR MAX JETS. CAF SENSOR # FOR POSITIVE EDOT, ROTSENSE IS TCF SETSENSE # INITIALIZED POSITIVE. NEGEDOT CS E # IN ORDER FOR NEG EDOT CASE TO USE CODING TS E # OF POS EDOT, MUST MODIFY AS FOLLOWS: CS EDOT # 1. COMPLEMENT E AND EDOT. TS EDOT # 2. SET SENSE OF ROTATION TO NEGATIVE CAF BIT1 # (REVERSED LATER IF NECESSARY). ADS ADRSDIF1 # 3. INCREMENT INDEXERS BY ONE SO THAT TS ADRSDIF2 # THE PROPER PARAMETERS ARE ACCESSED. CS SENSOR SETSENSE TS ROTSENSE # TEST MAGNITUDE OF E (ATTITUDE ERROR, SINGLE-PRECISION, SCALED AT PI RADIANS): # IF GREATER THAN (OR EQUAL TO) PI/16 RADIANS, GO TO THE SIMPLIFIED TJET ROUTINE. # IF LESS THAN PI/16 RADIANS, RESCALE TO PI/4 CAE E # PICK UP ATTITUDE ERROR FOR THIS AXIS EXTEND MP BIT5 # SHIFT RIGHT TEN BITS: IF A-REGISTER IS CCS A # ZERO, RESCALE AND TEST EDOT. TCF RUFLAW2 TCF SCALEE TCF RUFLAW1 SCALEE CAF BIT13 # ERROR IS IN L SCALED AT PI/16. RESCALE EXTEND # IT TO PI/4 AND SAVE IT. MP L TS E # TEST MAGNITUDE OF EDOT (ERROR RATE SCALED AT PI/4 RADIANS/SECOND) # IF GREATER THAN (OR EQUAL TO) PI/32 RADIANS/SECOND, GO TO THE SIMPLIFIED TJET ROUTINE. # IF LESS THAN PI/32 RADIANS/SECOND, THEN RESCALE TO PI/32 RADIANS/SECOND. CAE EDOT # PICK UP SINGLE-PRECISION ERROR-RATE # Page 1462 EXTEND # FOR THIS AXIS= MP BIT4 # SHIFT RIGHT ELEVEN BITS, IF THE A-REG IS EXTEND # ZERO, THEN RESCALE AND USE FINELAW. BZF SCALEDOT TCF RUFLAW3 # *** FINELAW STARTS HERE *** SCALEDOT LXCH EDOT # EDOT IS SCALED AT PI/32 RADIANS/SECOND. CAE EDOT # COMPUTE (EDOT)(EDOT) EXTEND SQUARE # PRODUCT SCALED AT PI(2)/2(10) RAD/SEC. EXTEND MP BIT13 # SHIFT RIGHT TWO BITS TO RESCALE TO EDOTSQ TS EDOTSQ # TO PI(2)/2(8) RAD(2)/SEC(2). ERRTEST CCS E # DOES BIG ERROR (THREE DEG BEYOND THE AD -3DEG # DEADBAND) REQUIRE MAXIMUM JETS? TCF +2 AD -3DEG EXTEND INDEX ADRSDIF1 SU FIREDB EXTEND BZMF SENSTEST # IF NOT: ARE UNBALANCED JETS PREFERRED? MAXJETS CAF TWO # IF YES: INCREMENT ADDRESS LOCATOR AND ADS ADRSDIF2 # SET SWITCH FOR JET SELECT LOGIC TO 4. CAF FOUR # (ALWAYS DO THIS FOR P-AXIS) TCF TJCALC SENSTEST CCS SENSETYP # DOES TRANSLATION PREFER MIN JETS. TCF TJCALC # YES. USE MIN-JET PARAMETERS TCF MAXJETS # NO. GET THE MAX-JET PARAMETERS. TJCALC TS NUMBERT # SET TO +0,1,4 FOR (U,V-AXES) JET SELECT. # BEGINNING OF TJET CALCULATIONS: CS EDOTSQ # SCALED AT PI(2)/2(8). EXTEND INDEX ADRSDIF2 MP 1/ANET1 # .5/ACC SCALED AT 2(6)/PI SEC(2)/RADIAN. INDEX ADRSDIF1 AD FIREDB # DEADBAND SCALED AT PI/4 RADIAN. EXTEND SU E # ATTITUDE ERROR SCALED AT PI/4 RADIAN. TS FIREFCT # -E-.5(EDOTSQ)/ACC-DB AT PI/4 RADIAN. EXTEND BZMF ZON1,2,3 ZONE4,5 INDEX ADRSDIF1 CAE 1/ACOAST # .5/ACC SCALED AT 2(6)/PI WHERE # Page 1463 EXTEND # ACC = MAX(AMIN, AOS-). MP EDOTSQ # SCALED AT PI/2(8). AD E # SCALED AT PI/4 INDEX ADRSDIF1 AD COASTDB # SCALED AT PI/4 POS. FOR NEG. INTERCEPT. EXTEND # TEST E+.5(EDOTSQ)/ACC+DB AT PI/4 RADIAN. BZMF ZONE5 # IF FUNCTION NEGATIVE, FIND TJET. # IF FUNCTION POSITIVE, IN ZONE 4. # ZONE 4 IS THE COAST REGION. HOWEVER, IF THE JETS ARE ON AND DRIVING TOWARD # A. THE AXIS WITHIN + OR - (DB + FLAT) FOR DRIFTING FLIGHT, OR # B. THE USUAL TARGET PARABOLA FOR POWERED FLIGHT # THEN THE THRUSTERS ARE KEPT ON. ZONE4 INDEX AXISCTR # IS THE CURRENT VALUE IN TJET NON-ZERO CS TJETU # WITH SENSE OPPOSITE TO EDOT, EXTEND # (I.E., ARE JETS ON AND FIRING TOWARD MP ROTSENSE # THE DESIRABLE STATE). EXTEND BZMF COASTTJ # NO. COAST. JETSON CCS FLAT # YES. IS THIS DRIFTING OR POWERED FLIGHT? TCF DRIFT/ON # DRIFTING. GO MAKE FURTHER TEST. CS FIREFCT # POWERED (OR ULLAGE). CAN TARGET PARABOLA INDEX ADRSDIF1 # BE REACHED FROM THIS POINT IN THE AD AXISDIST # PHASE PLANE? EXTEND BZMF COASTTJ # NO. SET TJET = 0. TC Z123COMP # YES. CALCULATE TJET AS THOUGH IN ZONE 1 CAE FIREFCT # AFTER COMPUTING THE REQUIRED TCF ZONE1 # PARAMETERS. DRIFT/ON INDEX ADRSDIF1 # CAN TARGET STRIP OF AXIS BE REACHED FROM CS FIREDB # THIS POINT IN THE PHASE PLANE? DOUBLE AD FIREFCT EXTEND BZMF +3 COASTTJ CAF ZERO # NO. SET TJET = 0. TCF RETURNTJ TC Z123COMP # YES. CALCULATE TJET AS THOUGH IN ZONE 2 TCF ZONE2,3 # OR 3 AFTER COMPUTING REQUIRED VALUES. ZONE5 TS L # TEMPORARILY STORE FUNCTION IN L. CCS ROTSENSE # MODIFY ADRSDIF2 FOR ACCESSING 1/ANET2 TCF +4 # AND ACCFCTZ5, WHICH MUST BE PICKED UP TC CCSHOLE # FROM THE NEXT LOWER REGISTER IF THE CS TWO # (ACTUAL) ERROR RATE IS NEGATIVE. # Page 1464 ADS ADRSDIF2 +4 CAE L EXTEND INDEX ADRSDIF2 # TTOAXIS AND HH ARE THE PARAMETERS UPON MP ACCFCTZ5 # WHICH THE APPROXIMATIONS TO TJET ARE DDOUBL # ABASED. DDOUBL DXCH HH # DOUBLE PRECISION H SCALED AT 8 SEC(2). INDEX ADRSDIF2 CAE 1/ANET2 # SCALED AT 2(7)/PI SEC(2)/RAD. EXTEND MP EDOT # SCALED AT PI/2(5) TS TTOAXIS # SCALED AT 4 SEC. # TEST WHETHER TJET GREATER THAN 50 MSEC. EXTEND MP -.05AT2 # H - .05 TTOAXIS - .00125 G.T. ZERO AD HH # (SCALED AT 8 SEC(2) ). AD NEG2 EXTEND BZMF FORMULA1 # TEST WHETHER TJET GREATER THAN 150 MSEC. CAE TTOAXIS EXTEND MP -.15AT2 # H - .15 TTOAXIS - .01125 G.T. ZERO AD HH # (SCALED AT 8 SEC(2) ) AD -.0112A8 EXTEND BZMF FORMULA2 # IF TJET GREATER THAN 150 MSEC, ASSIGN IT VALUE OF 250 MSEC, SINCE THIS # IS ENOUGH TO ASSURE NO SKIP NEXT CSP (100 MSEC). FULLTIME CAF BIT11 # 250 MSEC SCALED AT 4 SEC. # RETURN TO CALLING PROGRAM WITH JET TIME SCALED AS TIME6 AND SIGNED. RETURNTJ EXTEND # ALL BRANCHES TERMINATE HERE WITH TJET MP ROTSENSE # (SCALED AT 4 SEC) IN THE ACCUMULATOR. INDEX AXISCTR # ROTSENSE APPLIES SIGN AND CHANGES SCALE. TS TJETU EXTEND INDEX AXISCTR MP ACCSWU # SET SWITCH FOR JET SELECT IF ROTATION IS CAE L EXTEND # IN A SENSE FOR WHICH 1/ACCS HAS FORCED BZMF +3 # A MAX-JET CALCULATION. CAF FOUR # Page 1465 TS NUMBERT TC HOLDQ # RETURN VIA SAVED Q. # TJET = H/(.025 + TTOAXIS) FOR TJET LESS THAN 50 MSEC. FORMULA1 CS -.025AT4 # .025 SEC SCALED AT 4. AD TTOAXIS # SCALED AT 4 SECONDS. DXCH HH # STORE DENOMINATOR IN FIRST WORD OF H, EXTEND # WHICH NEED NOT BE PRESERVED. PICK UP DV HH # DP H AND DIVIDE BY DENOMINATOR. EXTEND MP BIT14 # RESCALE TJET FROM 2 TO USUAL 4 SEC. TCF CHKMINTJ # CHECK THAT TJET IS NOT LESS THAN MINIMUM # TJET = (H + .00375)/(0.1 + TTOAXIS) FOR TJET GREATER THAN 50 MSEC. FORMULA2 EXTEND DCA .00375A8 # .00375 SEC(2) SCALED AT 8. DAS HH # STORE NUMERATOR IN DP H, WHICH NEED NOT # BE PRESERVED. CAE TTOAXIS # SCALED AT 4 SEC. AD .1AT4 # 0.1 SEC SCALED AT 4. DXCH HH # STORE DENOMINATOR IN FIRST WORD OF H, EXTEND # WHICH NEED NOT BE PRESERVED. PICK UP DV HH # DP NUMERATOR AND DIVIDE BY DENOMINATOR EXTEND MP BIT14 # RESCALE TJET FROM 2 TO USUAL 4 SEC. TCF RETURNTJ # END SUBROUTINE. # SUBROUTINIZED COMPUTATIONS REQUIRED FOR ALL ENTRIES INTO CODING FOR ZONES 1, 2, AND 3. # REACHED BY TC FROM 3 POINTS IN TJETLAW. Z123COMP CS ROTSENSE # USED IN RETURNTJ SECTION TO RESCALE TJET TS ROTSENSE # AS TIME6 AND GIVE IT PROPER SIGN. CAE EDOT # SCALED AT PI/2(5) RAD/SEC. EXTEND INDEX ADRSDIF2 MP 1/ANET1 # SCALED AT 2(7)/PI SEC(2)/RAD. TS TTOAXIS # STORE TIME-TO-AXIS SCALED AT 4 SECONDS. AD -TJMAX EXTEND # IS TIME TO AXIS LESS THAN 150 MSEC. BZMF +2 TCF FULLTIME # NO. FIRE JETS, DO NOT CALCULATE TJET. RETURN # YES. GO ON TO FIND TJET ZON1,2,3 TC Z123COMP # SUBROUTINIZED PREPARATION FOR ZONE1,2,3. # IF THE (NEG) DISTANCE BEYOND PARABOLA IS LESS THAN FLAT, USE SPECIAL # LOGIC TO ACQUIRE MINIMUM IMPULSE LIMIT CYCLE. DURING POWERED FLIGHT # Page 1466 # OR ULLAGE, FLAT = 0 CAE FIREFCT # SCALED AT PI/4 RAD. AD FLAT EXTEND BZMF ZONE1 # NOT IN SPECIAL ZONES. # FIRE FOR AXIS OR, IF CLOSE, FIRE MINIMUM IMPULSE. IF ON AXIS, COAST. ZONE2,3 CS ZONE3LIM # HEIGHT OF MIN-IMPULSE ZONE SET BY 1/ACCS AD TTOAXIS # 35 MSEC IN DRIFTING FLIGHT EXTEND # ZERO WHEN TRYING TO ENTER GTS CONTROL. BZMF ZONE3 ZONE2 CAE TTOAXIS # FIRE TO AXIS. TCF RETURNTJ ZONE3 CCS EDOT # CHECK IF EDOT IS ZERO. CAF BIT6 # FIRE A ONE-JET MINIMUM IMPULSE. TCF RETURNTJ # TJET = +0. TC CCSHOLE # CANNOT BE BECAUSE NEG EDOT COMPLEMENTED. TCF RETURNTJ # TJET = +0. ZONE1 EXTEND INDEX ADRSDIF1 SU AXISDIST # SCALED AT PI/4 RAD. EXTEND INDEX ADRSDIF2 MP ACCFCTZ1 # SCALED AT 2(7)/PI SEC(2)/RAD. DDOUBL DDOUBL DXCH HH # DOUBLE PRECISION H SCALED AT 8 SEC(2). # TEST WHETHER TOTAL TIME REQUIRED GREATER THAN 150 MSEC: # 2 2 # IS .5(.150 - TTOAXIS) - H NEGATIVE (SCALED AT 8 SECONDS ) CAE TTOAXIS # TTOAXIS SCALED AT 4 SECONDS. AD -TJMAX # -.150 SECOND SCALED AT 4. EXTEND SQUARE EXTEND SU HH # HIGH WORD OF H SCALED AT 8 SEC(2). EXTEND BZMF FULLTIME # YES. NEED NOT CALCULATE TJET. # TEST WHETHER TIME BEYOND AXIS GREATER THAN 50 MSEC TO DETERMINE WHICH APPROXIMATION TO USE. CAE HH AD NEG2 EXTEND BZMF FORMULA3 # Page 1467 # TJET = H/0.1 + TTOAXIS + .0375 FOR APPROXIMATION OVER MORE THAN 50 MSEC. CAF .1AT2 # STORE .1 SEC SCALED AT 2 FOR DIVISION. DXCH HH # DP H SCALED AT 8 SEC(2) NEED NOT BE EXTEND # PRESERVED. DV HH # QUOTIENT SCALED AT 4 SECONDS. AD TTOAXIS # SCALED AT 4 SEC. AD .0375AT4 # .0375 SEC SCALED AT 4. TCF RETURNTJ # END COMPUTATION. # TJET - H/.O25 + TTOAXIS FOR APPROXIMATION OVER LESS THAN 50 MSEC. FORMULA3 CS -.025AT2 # STORE +.25 SEC SCALED AT 2 FOR DIVISION DXCH HH # PICK UP DP H AT 8, WHICH NEED NOT BE EXTEND # PRESERVED. DV HH # QUOTIENT SCALED AT 4 SECONDS. AD TTOAXIS # SCALED AT 4 SEC. # IF COMPUTED JET TIME IS LESS THAN TJMIN, TJET IS SET TO ZERO. # MINIMUM IMPULSES REQUIRED IN ZONE 3 ARE NOT SUBJECT TO THIS CONSTRAINT, NATURALLY. CHKMINTJ AD -TJMIN # IS COMPUTED TIME LESS THAN THE MINIMUM. EXTEND BZMF COASTTJ # YES, SET TIME TO ZERO. AD TJMIN # NO, RESTORE COMPUTED TIME. TCF RETURNTJ # END COMPUTATION. # Page 1468 # *** ROUGHLAW *** # # BEFORE ENTRY TO RUFLAW: # 1. INDEXERS ADRSDIF1 AND ADRSDIF2 ARE SET ON BASIS OF AXIS, AND SIGN OF EDOT. # 2. IF EDOT WAS NEGATIVE, E AND EDOT ARE ROTATED INTO UPPER HALF-PLANE AND ROTSENSE IS MADE NEGATIVE. # 3. E IS SCALED AT PI RADIANS AND EDOT AT PI/4 RAD/SEC. # (EXCEPT THE RUFLAW3 ENTRY WHEN E IS AT PI/4) # # RUFLAW1: ERROR MORE NEGATIVE THAN PI/16 RAD. FIRE TO A RATE OF 6.5 DEG/SEC (IF JET TIME EXCEEDS 20 MSEC.). # RUFLAW2: ERROR MORE POSITIVE THAN PI/16 RAD. FIRE TO AN OPPOSING RATE OF 6.5 DEG/SEC. # RUFLAW3: ERROR RATE GREATER THAN PI/32 RAD/SEC AND ERROR WITHIN BOUNDS. COAST IF BELOW FIREFCT, FIRE IF ABOVE RUFLAW1 CS RUFRATE # DECREMENT EDOT BY .1444 RAD/SEC AT PI/4 ADS EDOT # WHICH IS THE TARGET RATE EXTEND BZMF SMALRATE # BRANCH IF RATE LESS THAN TARGET. TC RUFSETUP # REVERSE ROTSENSE AND INDICATE MAX JETS. CAE EDOT # PICK UP DESIRED RATE CHANGE. RUFLAW12 EXTEND # COMPUTE TJET INDEX ADRSDIF2 # = (DESIRED RATE CHANGE)/(2-JET ACCEL.) MP 1/ANET1 +2 AD -1/8 # IF TJET, SCALED AT 32 SEC, EXCEEDS EXTEND # 4 SECONDS, SET TJET TO TJMAX. BZMF +2 TCF FULLTIME EXTEND BZF FULLTIME AD BIT12 # RESTORE COMPUTED TJET TO ACCUMULATOR DAS A DAS A DAS A # RESCALED TJET AT 4 SECONDS. TCF CHKMINTJ # RETURN AS FROM FINELAW. SMALRATE TC RUFSETUP +2 # SET NUMBERT AND FIREFCT FOR MAXIMUM JETS CCS ROTSENSE CAF ONE # MODIFY INDEXER TO POINT TO 1/ANET TCF +2 # CORRESPONDING TO THE PROPER SENSE. CAF NEGONE ADS ADRSDIF2 CS EDOT # (.144 AT PI/4 - EDOT) = DESIRED RATE CHNG. TCF RUFLAW12 RUFLAW2 TC RUFSETUP # REVERSE ROTSENSE AND INDICATE MAX JETS. CAF RUFRATE AD EDOT # (.144 AT PI/4 + EDOT) = DESIRED RATE CHNG. TS A # IF OVERFLOW SKIP, FIRE FOR FULL TIME. TCF RUFLAW12 # OTHERWISE, COMPUTE JET TIME. TCF FULLTIME # Page 1469 RUFLAW3 TC RUFSETUP # EXECUTE COMMON RUFLAW SUBROUTINE. INDEX ADRSDIF1 CS FIREDB # CALCULATE DISTANCE FROM SWITCH CURVE AD E # 1/ANET1*EDOT*EDOT +E - FIREDB = 0 EXTEND # SCALED AT 4 PI RADIANS MP BIT11 XCH EDOT EXTEND SQUARE EXTEND INDEX ADRSDIF1 MP 1/ANET1 +2 AD EDOT EXTEND BZMF COASTTJ # COAST IF BELOW IT. TCF FULLTIME # FIRE FOR FULL PERIOD IF ABOVE IT. # SUBROUTINE USED IN ALL ENTRIES TO ROUGHLAW. RUFSETUP CS ROTSENSE # REVERSE ROTSENSE WHEN ENTER HERE. TS ROTSENSE +2 CAF FOUR # REQUIRE MAXIMUM (2) JETS IN U,V-AXES. TS NUMBERT CAF NEGMAX # SUGGEST MAXIMUM (4) JETS IN P-AXIS. TS FIREFCT TC Q # CONSTANTS FOR TJETLAW DEC -16 # AXISDIFF(INDEX) = NUMBER OF REGISTERS AXISDIFF DEC +0 # BETWEEN STORED 1/ACCS PARAMETERS FOR DEC 16 # THE INDEXED AXIS AND THE U-AXIS. SENSOR OCT 14400 # RATIO OF TJET SCALING WITHIN TJETLAW # (4 SEC) TO SCALING FOR T6 (10.24 SEC). -3DEG DEC -.06667 # -3.0 DEGREES SCALED AT 45. -.0112A8 DEC -.00141 # -.01125 SEC(2) SCALED AT 8. .1AT4 DEC .025 # 0.1 SECOND SCALED AT 4. .1AT2 DEC .05 # .1 SEC SCALED AT 2. .0375AT4 DEC .00938 # .0375 SEC SCALED AT 4. -.025AT2 DEC -.0125 # -.025 SEC SCALED AT 2. -.025AT4 DEC -.00625 -.05AT2 DEC -.025 -.15AT2 DEC -.075 .00375A8 2DEC .00375 B-3 -TJMAX DEC -.0375 # LARGEST CALCULATED TIME. .150 SEC AT 4. TJMIN DEC .005 # SMALLEST ALLOWABLE TIME. .020 SEC AT 4. -TJMIN DEC -.005 RUFRATE DEC .1444 # CORRESPONDS TO TARGET RATE OF 6.5 DEG/S. ================================================ FILE: Luminary099/TRIM_GIMBAL_CONTROL_SYSTEM.agc ================================================ # Copyright: Public domain. # Filename: TRIM_GIMBAL_CNTROL_SYSTEM.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1472-1485 # Mod history: 2009-05-27 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 1472 BANK 21 EBANK= QDIFF SETLOC DAPS4 BANK COUNT* $$/DAPGT # CONTROL REACHES THIS POINT UNDER EITHER OF THE FOLLOWING TWO CONDITIONS ONCE THE DESCENT ENGINE AND THE DIGITAL # AUTOPILOT ARE BOTH ON: # A) THE TRIM GIMBAL CONTROL LAW WAS ON DURING THE PREVIOUS Q,R-AXIS TIME5 INTERRUPT (OR THE DAPIDLER # INITIALIZATION WAS SET FOR TRIM GIMBAL CONTROL AND THIS IS THE FIRST PASS), OR # B) THE Q,R-AXES RCS AUTOPILOT DETERMINED THAT THE VEHICLE WAS ENTERING (OR HAD JUST ENTERED) A COAST # ZONE WITH A SMALL OFFSET ANGULAR ACCELERATION. # GTS IS THE ENTRY TO THE GIMBAL TRIM SYSTEM FOR CONTROLLING ATTITUDE ERRORS AND RATES AS WELL AS ACCELERATIONS. GTS CAF NEGONE # MAKE THE NEXT PASS THROUGH THE DAP BE TS COTROLER # THROUGH RCS CONTROL, CAF FOUR # AND ENSURE THAT IT IS NOT A SKIP. TS SKIPU TS SKIPV CAF TWO TS INGTS # SET INDICATOR OF GTS CONTROL POSITIVE. TS QGIMTIMR # SET TIMERS TO 200 MSEC TO AVOID BOTH TS RGIMTIMR # RUNAWAY AND INTERFERENCE BY NULLING. # THE DRIVE SETTING ALGORITHM # # DEL = SGN(OMEGA + ALPHA*ABS(ALPHA)/(2*K)) # 2 1/2 2 3/2 # NEGUSUM = ERROR*K + ALPHA*(DEL*OMEGA + ALPHA /(3*K)) + DEL*K (DEL*OMEGA + ALPHA /(2*K)) # # DRIVE = -SGN(NEGUSUM) CA SR # SAVE THE SR. SHIFT IT LEFT TO CORRECT AD A # FOR THE RIGHT SHIFT DUE TO EDITING. TS SAVESR GTSGO+ON CAF TWO # SET INDEXER FOR R-AXIS CALCULATIONS. TCF GOQTRIMG +1 GOQTRIMG CAF ZERO # SET INDEXER FOR Q-AXIS CALCULATIONS TS QRCNTR # Page 1473 # RSB 2009 ----------------------------------------------------------------------- # Everything between this line and the similar line below was simply filled-in # as-is from Luminary 131, and then verified to assemble to the proper binary # values. This area is blank on the Luminary 099 print-out, as if the printer # ribbon had run out. INDEX QRCNTR # AOS SCALED AT PI/2 CA AOSQ EXTEND MP BIT2 # RESCALE AOS TO PI/4 EXTEND BZF GTSQAXIS -3 # USE FULL SCALE FOR LARGER AOS ESTIMATES. INDEX A CS LIMITS # LIMITS +1 CONTAINS NEGMAX. XCH L # LIMITS -1 CONTAINS POSMAX. CCS QRCNTR # PICK UP RATE FOR THIS AXIS. RATE CELLS INDEX A # USE ADJACENT, NOT SEPARATED. AT PI/4 CA EDOTQ GTSQAXIS DXCH WCENTRAL INDEX QRCNTR # COLLECT K FOR THIS AXIS CA KQ TS KCENTRAL EXTEND # CONTROL AUTHORITY ZERO. AVOID DRIVING BZF POSDRIVE +1 # ENGINE BELL TO THE STOPS. INDEX QRCNTR # QDIFF, RDIFF ARE STORED IN D.P. CAE QDIFF ALGORTHM EXTEND # Q(R)DIFF IS THETA (ERROR) SCALED AT PI. MP KCENTRAL # FORM K*ERROR AT PI(2)/2(8), IN D.P. LXCH K2THETA EXTEND MP BIT5 # RESCALE TO 4*PI(2) DXCH K2THETA EXTEND MP BIT5 # FIRST TERM OF NEGUSUM IN K2THETA. ADS K2THETA +1 # NO CARRY NEEDED D.P. AT 4*PI(2) CS ACENTRAL # FORM ALPHA(2)/(2*K) AT 16*PI, IN D.P., EXTEND # LIMITING QUOTIENT TO AVOID OVERFLOW. MP BIT14 # -ALPHA/2 IN A, SCALED AT PI/4 EXTEND MP ACENTRAL # -ALPHA(2)/2 IN A,L, SCALED AT PI(2)/16) AD KCENTRAL EXTEND BZMF HUGEQUOT # K-ALPHA(2)/2 SHOULD BE PNZ FO DIVISION EXTEND DCS A # ALPHA(2)/2 - K AD KCENTRAL # RSB 2009 ----------------------------------------------------------------------- EXTEND DV KCENTRAL # HIGH ORDER OF QUOTIENT. XCH A2CNTRAL CA L # SHIFT UP THE REMAINDER. LXCH 7 # ZERO LOW-ORDER DIVIDEND. EXTEND # Page 1474 DV KCENTRAL XCH A2CNTRAL +1 # QUOTIENT STORED AT 16*PI , D.P. TCF HAVEQUOT HUGEQUOT CA POSMAX TS L DXCH A2CNTRAL # LIMITED QUOTIENT STORED AT 16*PI, D.P. HAVEQUOT CA WCENTRAL EXTEND MP BIT9 # RESCALE OMEGA AT 16*PI IN D.P. DXCH K2CNTRAL # LOWER WORD OVERLAYS OMEGA IN WCENTRAL EXTEND DCA K2CNTRAL DXCH FUNCTION CA ACENTRAL # GET ALPHA*ABS(ALPHA)/(2*K) EXTEND BZMF +4 EXTEND DCA A2CNTRAL TCF +3 EXTEND DCS A2CNTRAL DAS FUNCTION # OMEGA + ALPHA*ABS(ALPHA)/(2*K) AT 16*PI CCS FUNCTION # DEL = +1 FOR FUNCT1 GREATER THAN ZERO. TCF POSFNCT1 # OTHERWISE DEL = -1 TCF +2 TCF NEGFNCT1 CCS FUNCTION +1 # USE LOW ORDER WORD SINCE HIGH IS ZERO POSFNCT1 CAF BIT1 TCF +2 NEGFNCT1 CS BIT1 TS DEL CCS DEL # REPLACE OMEGA BY DEL*OMEGA TCF FUNCT2 # POSITIVE DEL VALUE. PROCEED. TCF DEFUNCT TCF NEGFNCT2 DEFUNCT TS K2CNTRAL TS K2CNTRAL +1 TCF FUNCT2 # Page 1475 NEG1/3 DEC -.33333 NEGFNCT2 EXTEND DCS K2CNTRAL DXCH K2CNTRAL FUNCT2 EXTEND DCA A2CNTRAL DAS K2CNTRAL # DEL*OMEGA + ALPHA(2)/(2*K) AT 16*PI,D.P. FUNCT3 CA A2CNTRAL EXTEND MP NEG1/3 DXCH A2CNTRAL CA L EXTEND MP NEG1/3 ADS A2CNTRAL +1 TS L TCF +2 # A2CNTRAL NOW CONTAINS -ALPHA(2)/(6*K), ADS A2CNTRAL # SCALED AT 16*PI, IN D.P. EXTEND DCA K2CNTRAL # DEL*OMEGA + ALPHA(2)/(3*K) IN A2CNTRAL, DAS A2CNTRAL # SCALED AT 16*PI, D.P. CA A2CNTRAL EXTEND MP ACENTRAL DAS K2THETA CA A2CNTRAL +1 EXTEND MP ACENTRAL # ACENTRAL MAY NOW BE OVERLAID. ADS K2THETA +1 TS L TCF +2 # TWO TERMS OF NEGUSUM ACCUMULATED, SO FAR ADS K2THETA # SCALED AT 4*PI(2), IN D.P. GETROOT CA K2CNTRAL # K*(DEL*OMEGA + ALPHA(2)/(2*K)) IS THE EXTEND # TERM FOR WHICH A SQUARE ROOT IS NEEDED. MP KCENTRAL # K AT PI/2(8) DXCH FUNCTION CA K2CNTRAL +1 EXTEND MP KCENTRAL ADS FUNCTION +1 TS L TCF +2 ADS FUNCTION # DESIRED TERM IN FUNCTION, AT PI(2)/16 # Page 1476 CCS DEL TCF RSTOFGTS TCF NEGUSUM TCF NEGATE TCF NEGUSUM NEGATE EXTEND DCS K2CNTRAL DXCH K2CNTRAL TCF RSTOFGTS BANK 16 EBANK= NEGUQ SETLOC DAPS1 BANK # THE WRCHN12 SUBROUTINE SETS BITS 9,10,11,12 OF CHANNEL 12 ON THE BASIS OF THE CONTENTS OF NEGUQ,NEGUR WHICH ARE # THE NEGATIVES OF THE DESIRED ACCELERATION CHANGES. ACDT+C12 SETS Q(R)ACCDOT TO REFLECT THE NEW DRIVES. # # WARNING: ACDT+C12 AND WRCHN12 MUST BE CALLED WITH INTERRUPT INHIBITED. BGIM OCTAL 07400 CHNL12 EQUALS ITEMP6 ACDT+C12 CS NEGUQ EXTEND # GIMBAL DRIVE REQUESTS. MP ACCDOTQ LXCH QACCDOT CS NEGUR EXTEND MP ACCDOTR LXCH RACCDOT CCS NEGUQ CAF BIT10 TCF +2 CAF BIT9 TS CHNL12 CCS NEGUR CAF BIT12 TCF +2 CAF BIT11 ADS CHNL12 # (STORED RESULT NOT USED AT PRESENT) CS BGIM EXTEND RAND CHAN12 AD CHNL12 EXTEND WRITE CHAN12 # Page 1477 CS CALLGMBL # TURN OFF REQUEST FOR ACDT+C12 EXECUTION. MASK RCSFLAGS TS RCSFLAGS TC Q # RETURN TO CALLER. BANK 21 EBANK= QDIFF SETLOC DAPS4 BANK # Page 1478 # SUBROUTINE TIMEGMBL: MOD 0, OCTOBER 1967, CRAIG WORK # # TIMEGMBL COMPUTES THE DRIVE TIME NEEDED FOR THE TRIM GIMBAL TO POSITION THE DESCENT ENGINE NOZZLE SO AS TO NULL # THE OFFSET ANGULAR ACCELERATION ABOUT THE Q (OR R) AXIS. INSTEAD OF USING AOSQ(R), TIMEGMBL USES .4*AOSQ(R), # SCALED AT PI/8. FOR EACH AXIS, THE DRIVE TIME IS COMPUTED AS ABS(ALPHA/ACCDOT). A ZERO # ALPHA OR ACCDOT OR A ZERO QUOTIENT TURNS OFF THE GIMBAL DRIVE IMMEDIATELY. OTHERWISE, THE GIMBAL IS TURNED ON # DRIVING IN THE CORRECT DIRECTION. THE Q(R)GIMTIMR IS SET TO TERMINATE THE DRIVE AND Q(R)ACCDOT # IS STORED TO REFLECT THE NEW ACCELERATION DERIVATIVE. NEGUQ(R) WILL CONTAIN +1,+0,-1 FOR A Q(R)ACCDOT VALUE # WHICH IS NEGATIVE, ZERO, OR POSITIVE. # # INPUTS: AOSQ,AOSR, SCALED AT P1/2, AND ACCDOTQ, ACCDOTR AT PI/2(7). PI/2(7). # # OUTPUTS: NEW GIMBAL DRIVE BITS IN CHANNEL 12,NEGUQ,NEGUR,QACCDOT AND RACCDOT, THE LAST SCALED AT PI/2(7). # Q(R)GIMTIMR WILL BE SET TO TIME AND TERMINATE GIMBAL DRIVE(S) # # DEBRIS: A,L,Q, ITEMPS 2,3,6, RUPTREG2 AND ACDT+C12 DEBRIS. # # EXITS: VIA TC Q. # # ALARMS, ABORTS, : NONE # # SUBROUTINES: ACDT+C12, IBNKCALL # # WARNING: THIS SUBROUTINE WRITES INTO CHANNEL 12 AND USES THE ITEMPS. THEREFORE IT MAY ONLY BE CALLED WITH # INTERRUPT INHIBITED. # # ERASABLE STORAGE CONFIGURATION (NEEDED BY THE INDEXING METHODS): # NEGUQ ERASE +2 # NEGATIVE OF Q-AXIS GIMBAL DRIVE # (SPWORD) EQUALS NEGUQ +1 # ANY S.P. ERASABLE NUMBER, NOW THRSTCMD # NEGUR EQUALS NEGUQ +2 # NEGATIVE OF R-AXIS GIMBAL DRIVE # ACCDOTQ ERASE +2 # Q-JERK TERM SCALED AT PI/2(7) RAD/SEC(3) # (SPWORD) EQUALS ACCDOTQ +1 # ANY S.P. ERASABLE NUMBER NOW QACCDOT # ACCDOTR EQUALS ACCDOTQ +2 # R-JERK TERM SCALED AT PI/2(7) RAD/SEC(3) # # ACCDOTQ,ACCDOTR ARE MAGNITUDES. # AOSQ ERASE +4 # Q-AXIS ACC., D.P. AT PI/2 R/SEC(2) # AOSR EQUALS AOSQ +2 # R-AXIS ACCELERATION SCALED AT PI/2 R/S2 QRNDXER EQUALS ITEMP6 OCT23146 OCTAL 23146 # DECIMAL .6 NZACCDOT EQUALS ITEMP3 TIMEGMBL CAF ONE # INITIALZE ALLOWGTS. TS ALLOWGTS CAF TWO # SET UP LOOP FOR R AXIS. LXCH Q # SAVE RETURN ADDRESS. LXCH RUPTREG2 # Page 1479 TCF +2 TIMQGMBL CAF ZERO # NOW DO THE Q-AXIS TS QRNDXER INDEX QRNDXER CA ACCDOTQ # ACCDOT IS PRESUMED TO BE AT PI/2(7). EXTEND BZMF TGOFFNOW # IS ACCDOT LESS THAN OR EQUAL TO 0? TS NZACCDOT # NO. STORE NON-ZERO, POSITIVE ACCDOT. ALPHATRY INDEX QRNDXER CS AOSQ EXTEND BZF TGOFFNOW # IS ALPHA ZERO? TS Q # SAVE A COPY OF -AOS. EXTEND # NO. RESCALE FOR TIMEGMBL USE. MP OCT23146 # OCTAL 23146 IS DECIMAL .6 AD Q # -1.6*AOS AT PI/2 = -.4*AOS AT PI/8. TS L # WAS THERE OVERFLOW? TCF SETNEGU # NO. COMPUTE DRIVE TIME. CS A # RECOVER -SGN(AOS) IN THE A REGISTER. INDEX QRNDXER # YES. START DRIVE WITHOUT WAITLIST. XCH NEGUQ TCF NOTALLOW # KNOCK DOWN THE ALLOWGTS FLAG. SETNEGU EXTEND BZMF POSALPH COM TS ITEMP2 # STORE -ABS(.4*AOS) SCALED AT PI/8. CS BIT1 TCF POSALPH +2 POSALPH TS ITEMP2 # STORE -ABS(.4*AOS) SCALED AT PI/8. CA BIT1 +2 INDEX QRNDXER # SGN(AOS) INTO NEGU TS NEGUQ # STORE SGN(ALPHA) AS NEGU CA NZACCDOT EXTEND MP BIT12 # 2*ACCDOT, SCALED AT PI/8. AD ITEMP2 # -ABS(ALPHS) + 2*ACCDOT, AT PI/8. EXTEND BZMF NOTALLOW # IS DRIVE TIME MORE THAN TWO SECONDS? CS ITEMP2 # NO. COMPUTE DRIVE TIME. EXTEND # ABS(ALPHA) AT PI/8. MP OCT00240 # DECIMAL 10/1024 EXTEND # QUOTIENT IS DRIVE TIME AT WAITLIST. DV NZACCDOT # ABS(ALPHA)/ACCDOT AT 2(14)/100 # Page 1480 EXTEND BZF TGOFFNOW # DRIVE TIME MUST BE GREATER THAN ZERO. TCF DRIVEON TGOFFNOW CAF ZERO # TURN OFF GIMBAL NOW. INDEX QRNDXER TS NEGUQ TCF DONEYET NOTALLOW CAF OCT31 INDEX QRNDXER TS QGIMTIMR CAF ZERO # DRIVE TIME IS MORE THAN 2 SECONDS, SO TS ALLOWGTS # DO NOT PERMIT FURTHER GTS ATTITUDE-RATE # CONTROL UNTIL AOSTASK APPROVES. TCF DONEYET # NO WAITLIST CALL IS MADE. DRIVEON INDEX QRNDXER TS QGIMTIMR # CHOOSE Q OR R AXIS. DONEYET CCS QRNDXER TCF TIMQGMBL DXCH RUPTREG3 # PROTECT IBNKCALL ERASABLES. ACDT+C12 DXCH ITEMP2 # LEAVES ITEMPS2,3 ALONE. TC IBNKCALL # TURN OFF CHANNEL BITS, SET Q(R)ACCDOTS. CADR ACDT+C12 DXCH ITEMP2 # RESTORE ERASABLES FOR IBNKCALL. DXCH RUPTREG3 TC RUPTREG2 # RETURN TO CALLER. OCT00240 OCTAL 00240 # DECIMAL 10/1024 # Page 1481 # THE FOLLOWING SECTION IS A CONTINUATION OF THE TRIM GIMBAL CONTROL FROM THE LAST GTS ENTRY. THE QUANTITY NEGUSUM # IS COMPUTED FOR EACH AXIS (Q,R), .707*DEL*FUNCTION(3/2) + K2THETA = NEGUSUM. NEW DRIVES ARE ENTERED TO CH 12. # # THE SUBROUTINE GTSQRT ACCEPTS A DOUBLE PRECISION VALUE IN FUNCTION, FUNCTION +1 AND RETURNS A SINGLE-PRECISION # SQUARE ROOT OF THE FOURTEEN MOST SIGNIFICANT BITS OF THE ARGUMENT. ALSO, THE CELL SHFTFLAG CONTAINS A BINARY # EXPONENT S, SUCH THAT THE SQUARE ROOT (RETURNED IN THE A REGISTER) MUST BE SHIFTED RIGHT (MULTIPLIED BY 2 TO THE # POWER (-S)) IN ORDER TO BE THE TRUE SQUARE ROOT OF THE FOURTEEN MOST SIGNIFICANT BITS OF FUNCTION, FUNCTION +1. # SQUARE ROOT ERROR IS NOT MORE THAN 2 IN THE 14TH SIGNIFICANT BIT. CELLS CLOBBERED ARE A,L,SHFTFLAG,ININDEX, # HALFARG,SCRATCH,SR,FUNCTION, FUNCTION +1. GTSQRT IS CALLED BY TC GTSQRT AND RETURNS VIA TC Q OR TC FUNCTION +1. # ZERO OR NEGATIVE ARGUMENTS YIELD ZERO FOR SQUARE ROOTS. GTSQRT CCS FUNCTION TCF GOODARG # FUNCTION IS POSITIVE. TAKE SQUARE ROOT. TCF +2 # HIGH ORDER WORD IS ZERO. TRY THE LOWER. TCF ZEROOT # NEGATIVE. USE ZERO FOR 1/2 POWER. CA FUNCTION +1 EXTEND BZMF ZEROOT TCF ZEROHIGH # PROCEED. ZEROOT CA ZERO TS SHFTFLAG TC Q ZEROHIGH XCH FUNCTION # 14 MOST SIGNIFICANT BITS ARE IN THE XCH FUNCTION +1 # LOWER WORD. EXCHANGE THEM. CA SEVEN TCF GOODARG +1 GOODARG CA ZERO TS SHFTFLAG CA TWELVE # INITIALIZE THE SCALING LOOP. TS ININDEX TCF SCALLOOP SCALSTRT CA FUNCTION TCF SCALDONE MULBUSH CA NEG2 # IF ARG IS NOT LESS THAN 1/4, INDEX IS ADS ININDEX # ZERO, INDICATING NO SHIFT NEEDED. EXTEND # BRANCH IF ARG IS NOT LESS THAN 1/4. BZMF SCALSTRT # OTHERWISE COMPARE ARG WITH A REFERENCE # WHICH IS 4 TIMES LARGER THAN THE LAST. SCALLOOP CS FUNCTION INDEX ININDEX AD BIT15 # REFERENCE MAGNITUDE LESS OR EQUAL TO 1/4 EXTEND BZMF MULBUSH # IF ARG IS NOT LESS THAN REFERENCE, GO # AROUND THE MULBERRY BUSH ONCE MORE. # Page 1482 INDEX ININDEX CA BIT15 # THIS IS THE SCALE MAGNITUDE XCH HALFARG # 2**(-ININDEX) IS THE SHIFT DIVISOR. EXTEND # RESCALE ARGUMENT. DCA FUNCTION EXTEND DV HALFARG # ININDEX AND SHFTFLAG PRESERVE INFO FOR # RESCALING AFTER ROOT PROCESS. SCALDONE EXTEND QXCH FUNCTION +1 # SAVE Q FOR RETURN EXTEND MP BIT14 TS HALFARG MASK BIT13 CCS A CA OCT11276 AD ROOTHALF # INITIAL GUESS IS ROOT 1/2 OR POSMAX TC ROOTCYCL TC ROOTCYCL TC ROOTCYCL TC FUNCTION +1 # **************************************************************************************************************** RSTOFGTS TC GTSQRT PRODUCT XCH K2CNTRAL EXTEND MP K2CNTRAL DXCH K2CNTRAL EXTEND # THE PRODUCT OF MP L # 1/2 2 1/2 ADS K2CNTRAL +1 # K *(DEL*OMEGA + ALPHA /(2*K)) TS L # AND TCF +2 # 2 ADS K2CNTRAL # DEL*(DEL*OMEGA + ALPHA /(2*K)) NOW IN # K2CNTRAL DOSHIFT CA ININDEX EXTEND # MULTIPLY IN THE FACTOR 2(-S), RETURNED MP BIT14 # BY THE GTSQRT SUBROUTINE ADS SHFTFLAG EXTEND BZF ADDITIN INDEX SHFTFLAG CA BIT15 # Page 1483 XCH K2CNTRAL EXTEND MP K2CNTRAL DAS K2THETA XCH K2CNTRAL EXTEND MP K2CNTRAL +1 ADS K2THETA +1 TS L TCF +2 ADS K2THETA TCF NEGUSUM ADDITIN EXTEND DCA K2CNTRAL DAS K2THETA # NOW ADD IN THE K2THETA TERM. NEGUSUM CCS K2THETA # TEST SIGN OF HIGH ORDER PART. TCF NEGDRIVE TCF +2 TCF POSDRIVE CCS K2THETA +1 # SIGN TEST FOR LOW ORDER PART. NEGDRIVE CA BIT1 TCF +2 # STOP GIMBAL DRIVE FOR A ZERO NEGUSUM. POSDRIVE CS BIT1 TS L # SAVE FOR DRIVE REVERSAL TEST. INDEX QRCNTR XCH NEGUQ EXTEND MP L # MULTIPLY OLD NEGU AND NEW NEGU. CCS L TCF LOUPE # NON-ZERO GIMBAL DRIVE BEING CONTINUED. TCF ZEROLOUP # NO REVERSAL PROBLEM HERE. TCF REVERSAL # NON-ZERO GIMBAL DRIVE BEING REVERSED. TCF ZEROLOUP # NO REVERSAL PROBLEM HERE. REVERSAL INDEX QRCNTR # A ZERO-DRIVE PAUSE IS NEEDED HERE. ZERO TS QACCDOT # IS IN A REGISTER FROM CCS ON (-1). INDEX QRCNTR CS GMBLBITA EXTEND WAND CHAN12 ZEROLOUP CS RCSFLAGS # SET UP REQUEST FOR ACDT+C12 CALL. MASK CALLGMBL ADS RCSFLAGS # Page 1484 LOUPE CCS QRCNTR # HAVE BOTH AXES BEEN PROCESSED? TCF GOQTRIMG # NO. DO Q AXIS NEXT. CA SAVESR # RESTORE THE SR TS SR GOCLOSE EXTEND # TERMINATE THE JASK. DCA CLOSEADR DTCB EBANK= AOSQ CLOSEADR 2CADR CLOSEOUT # TERMINATE THE JASK. TWELVE EQUALS OCT14 ROOTHALF OCTAL 26501 # SQUARE ROOT OF 1/2 GMBLBITA OCTAL 01400 # INDEXED WRT GMBLBITB DO NOT MOVE****** OCT11276 OCTAL 11276 # POSMAX - ROOTHALF GMBLBITB OCTAL 06000 # INDEXED WRT GMBLBITA DO NOT MOVE****** # SUBROUTINE ROOTCYCL: BY CRAIG WORK,3 APRIL 68 # ROOTCYCL IS A SUBROUTINE WHICH EXECUTES ONE NEWTON SQUARE ROOT ALGORITHM ITERATION. THE INITIAL GUESS AT THE # SQUARE ROOT IS PRESUMED TO BE IN THE A REGISTER AND ONE-HALF THE SQUARE IS TAKEN FROM HALFARG. THE NEW APPROXI- # MATION TO THE SQUARE ROOT IS RETURNED IN THE A REGISTER. DEBRIS: A,L,SR,SCRATCH. ROOTCYCL IS CALLED FROM # LOCATION (LOC) BY A TC ROOTCYCL, AND RETURNS (TC Q) TO LOC +1. # WARNING: IF THE INITIAL GUESS IS NOT GREATER THAN THE SQUARE, DIVIDE OR ADD OVERFLOW IS A REAL POSSIBILITY. ROOTCYCL TS SCRATCH # STORE X TS SR # X/2 NOW IN SR CA HALFARG # ARG/2 IN THE A REG ZL # PREPARE FOR DIVISION EXTEND DV SCRATCH # (ARG/X)/2 AD SR # (X + ARG/X)/2 IN THE A REG TC Q ================================================ FILE: Luminary099/UPDATE_PROGRAM.agc ================================================ # Copyright: Public domain. # Filename: UPDATE_PROGRAM.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1386-1396 # Mod history: 2009-05-10 SN (Sergio Navarro). Started adapting # from the Luminary131/ file of the same # name, using Luminary099 page images. # 2009-06-07 RSB Added an SBANK= to account for incompatibilities # between YUL and yaYUL. # 2011-01-06 JL Fixed pseudo-label indentation. # 2011-05-07 JL Flag SBANK= workaround. # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 1386 # PROGRAM NAME: P27 # WRITTEN BY: KILROY/ DE WOLF # # MOD NO: 6 # MOD BY: KILROY # DATE: 01DEC67 # # LOG SECTION: UPDATE PROGRAM. # # FUNCT. DESCR: P27 (THE UPDATE PROGRAM) PROCESSES COMMANDS AND DATA # INSERTIONS REQUESTED BY THE GROUND VIA UPLINK. # THE P27 PROGRAM WILL ACCEPT UPDATES # ONLY DURING P00 FOR THE LM, AND ONLY DURING P00, # P02, AND FRESH START FOR THE CSM # # CALLING SEQ: PROGRAM IS INITIATED BY UPLINK ENTRY OF VERBS 70, 71, 72 AND 73. # # SUBROUTINES: TESTXACT, NEWMODEX, NEWMODEX +3, GOXDSPF, BANKCALL, FINDVAC, INTPRET, INTSTALL, TPAGREE, # INTWAKEU, ENDEXT, POSTJUMP, FALTON, NEWPHASE, PHASCHNG # # NORMAL EXIT: TC ENDEXT # # ALARM/ABORT: TC FALTON FOLLOWED BY TC ENDEXT # # RESTARTS: P27 IS RESTART PROTECTED IN TWO WAYS... # 1. PRIOR TO VERIFLAG INVERSION(WHICH IS CAUSED BY THE GROUND/ASTRONAUT'S VERIFICATION OF UPDATE # DATA BY SENDING A V33E WHEN V21N02 IS FLASHING)--- # NO PROTECTION EXCEPT PRE-P27 MODE IS RESTORED, COAST + ALIGN DOWNLIST IS SELECTED AND UPLINK # ACTIVITY LIGHT IS TURNED OFF.(JUST AS IF A V34E WAS SENT DURING P27 DATA LOADS). # V70,V71,V72 OR V73 WILL HAVE TO BE COMPLETELY RESENT BY USER. # 2. AFTER VERIFLAG INVERSION(WHEN UPDATE OF THE SPECIFIED ERASABLES IS BEING PERFORMED)--- # PROTECTED AGAINST RESTARTS. # # DEBRIS: UPBUFF (20D) TEMP STORAGE FOR ADDRESSES AND CONTENTS. # UPVERB (1) VERB NUMBER MINUS 70D (E.G., FOR V72, UPVERB = 72D - 70D = 2) # UPOLDMOD (1) FOR MAJOR MODE INTERRUPTED BY P27. # COMPNUMB (1) TOTAL NUMBER OF COMPONENTS TO BE TRANSMITTED. # UPCOUNT (1) ACTUAL NUMBER OF COMPONENTS RECEIVED. # UPTEMP (1) SCRATCH, BUT USUALLY CONTAINS COMPONENT NUMBER TO BE CHANGED DURING VERIFY CYCLE # # INPUT: # # ENTRY: DESCRIPTION # # V70EXXXXXEXXXXXE (LIFTOFF TIME INCREMENT) DOUBLE PRECISION OCTAL TIME INCREMENT, XXXXX XXXXX, # IS ADDED TO TEPHEM, SUBTRACTED FROM AGC CLOCK(TIME2,TIME1), SUBTRACTED FROM CSM STATE # VECTOR TIME(TETCSM) AND SUBTRACTED FROM LEM STATE VECTOR TIME(TETLEM). # THE DP OCTAL TIME INCREMENT IS SCALED AT 2(28). # Page 1387 # V71EIIEAAAAE (CONTIGUOUS BLOCK UPDATE) II-2 OCTAL COMPONENTS,XXXXX, # XXXXXE ARE LOADED INTO ERASABLE STARTING AT ECADR, AAAA. # XXXXXE IT IS .GE. 3 .AND. .LE. 200., # AND (AAAA + II - 3) DOES NOT PRODUCE AN ADDRESS IN THE # 9 NEXT BANK. # . SCALING IS SAME AS INTERNAL REGISTERS. # # V72EIIE (SCATTER UPDATE) (II-1)/2 OCTAL COMPONENTS,XXXXX, ARE # AAAAEXXXXXE LOADED INTO ERASABLE LOCATIONS, AAAA. # AAAAEXXXXXE II IS .GE. 3 .AND. .LE. 19D, AND MUST BE ODD. # . SCALING IS SAME AS INTERNAL REGISTERS. # # V73EXXXXXEXXXXXE (OCTAL CLOCK INCREMENT) DOUBLE PRECISION OCTAL TIME # INCREMENT XXXXX XXXXX, IS ADDED TO THE AGC CLOCK, IN # CENTISECONDS SCALED AT (2)28. # THIS LOAD IS THE OCTAL EQUIVALENT OF V55. # # OUTPUT: IN ADDITION TO THE ABOVE REGISTER LOADS, ALL UPDATES # COMPLEMENT BIT3 OF FLAGWORD7. # # ADDITIONAL NOTES: VERB 71, JUST DEFINED ABOVE WILL BE USED TO PERFORM BUT NOT LIMITED TO THE FOLLOWING UPDATES-- # # 1. CSM/LM STATE VECTOR UPDATE # 2. REFSMMAT UPDATE # # # THE FOLLOWING COMMENTS DELINEATE EACH SPECIAL UPDATE---- # # 1. CSM/LM STATE VECTOR UPDATE(ALL DATA ENTRIES IN OCTAL) # # ENTRIES: DATA DEFINITION: SCALE FACTORS: # V71E CONTIGUOUS BLOCK UPDATE VERB # 21E NUMBER OF COMPONENTS FOR STATE VECTOR UPDATE # AAAAE ECADR OF 'UPSVFLAG' # XXXXXE STATE VECTOR IDENTIFIER: 00001 FOR CSM, 77776 FOR LEM - EARTH SPHERE OF INFLUENCE SCALING # 00002 FOR CSM, 77775 FOR LEM - LUNAR SPHERE OF INFLUENCE SCALING # # XXXXXEXXXXXE X POSITION # XXXXXEXXXXXE Y POSITION # XXXXXEXXXXXE Z POSITION # XXXXXEXXXXXE X VELOCITY # XXXXXEXXXXXE Y VELOCITY # XXXXXEXXXXXE Z VELOCITY # XXXXXEXXXXXE TIME FROM AGC CLOCK ZERO # V33E VERB 33 TO SIGNAL THAT THE STATE VECTOR IS READY TO BE STORED. # # # 2. REFSMMAT(ALL DATA ENTRIES IN OCTAL) # ENTRIES: DATA DEFINITITIONS: SCALE FACTORS: # Page 1388 # V71E CONTIGUOUS BLOCK UPDATE VERB # 24E NUMBER OF COMPONENTS FOR REFSMMAT UPDATE # AAAAE ECADR OF 'REFSMMAT' # XXXXXEXXXXXE ROW 1 COLUMN 1 2(-1) # XXXXXEXXXXXE ROW 1 COLUMN 2 2(-1) # XXXXXEXXXXXE ROW 1 COLUMN 3 2(-1) # XXXXXEXXXXXE ROW 2 COLUMN 1 2(-1) # XXXXXEXXXXXE ROW 2 COLUMN 2 2(-1) # XXXXXEXXXXXE ROW 2 COLUMN 3 2(-1) # XXXXXEXXXXXE ROW 3 COLUMN 1 2(-1) # XXXXXEXXXXXE ROW 3 COLUMN 2 2(-1) # XXXXXEXXXXXE ROW 3 COLUMN 3 2(-1) # V33E VERB 33 TO SIGNAL THAT REFSMMAT IS READY TO BE STORED. BANK 07 SETLOC EXTVERBS BANK EBANK= TEPHEM COUNT* $$/P27 V70UPDAT CAF UP70 # COMES HERE ON V70E TCF V73UPDAT +1 V71UPDAT CAF UP71 # COMES HERE ON V71E TCF V73UPDAT +1 V72UPDAT CAF UP72 # COMES HERE ON V72E TCF V73UPDAT +1 V73UPDAT CAF UP73 # COMES HERE ON V73E +1 TS UPVERBSV # SAVE UPVERB UNTIL IT'S OK TO ENTER P27 TC TESTXACT # GRAB DISPLAY IF AVAILABLE, OTHERWISE # TURN*OPERATOR ERROR* ON AND TERMINATEJOB CA MODREG # CHECK IF UPDATE ALLOWED EXTEND # FIRST CHECK FOR MODREG = +0, -0 BZF +3 # (+0 = P00, -0 = FRESHSTART) UPERROR TC POSTJUMP # TURN ON 'OPERATOR ERROR' LIGHT CADR UPERROUT +2 # GO TO COMMON UPDATE PROGRAM EXIT CAE MODREG # UPDATE ALLOWED. CKMDMORE = UPERROR TS UPOLDMOD # SAVE CURRENT MAJOR MODE # Page 1389 CAE UPVERBSV # SET UPVERB TO INDICDATE TO P27 TS UPVERB # WHICH EXTENDED VERB CALLED IT. CAF ONE TS UPCOUNT # INITIALIZE UPCOUNT TO 1 TC POSTJUMP # LEAVE EXTENDED VERB BANK AND CADR UPPART2 # GO TO UPDATE PROGRAM(P27) BANK. UP70 EQUALS ZERO UP71 EQUALS ONE UP72 EQUALS TWO UP73 EQUALS THREE BANK 04 SETLOC UPDATE2 BANK COUNT* $$/P27 UPPART2 EQUALS # UPDATE PROGRAM - PART 2 TC PHASCHNG # SET RESTART GROUP 6 TO RESTORE OLD MODE OCT 07026 # AND DOWNLIST AND EXIT IF RESTART OCCURS. OCT 30000 # PRIORITY SAME AS CHRPRIO EBANK= UPBUFF 2CADR UPOUT +1 CAF ONE TS DNLSTCOD # DOWNLIST TC NEWMODEX # SET MAJOR MODE = 27 DEC 27 INDEX UPVERB # BRANCH DEPENDING ON WHETHER THE UPDATE TCF +1 # VERB REQUIRES A FIXED OR VARIABLE NUMBER TCF +3 # V70 FIXED. (OF COMPONENTS. TCF OHWELL1 # V71 VARIABLE - GO GET NO. OF COMPONENTS TCF OHWELL1 # V72 VARIABLE - GO GET NO. OF COMPONENTS CA TWO # V73 (AND V70) FIXED TS COMPNUMB # SET NUMBER OF COMPONENTS TO 2. TCF OHWELL2 # GO GET THE TWO UPDATE COMPONENTS OHWELL1 CAF ADUPBUFF # * REQUEST USER TO SEND NUMBER * TS MPAC +2 # * OF COMPONENTS PARAMETER(II).* +2 CAF UPLOADNV # (CK4V32 RETURNS HERE IF V32 ENCOUNTERED) TC BANKCALL # DISPLAY A FLASHING V21N01 # Page 1390 CADR GOXDSPF # TO REQUEST II. TCF UPOUT4 # V34 TERMINATE UPDATE(P27) RETURN TCF OHWELL1 +2 TC CK4V32 # DATA OR V32 RETURN CS BIT2 AD UPBUFF # IS II(NUMBER OF COMPONENTS PARAMETER) EXTEND # .GE. 3 AND .LE. 20D. BZMF OHWELL1 +2 CS UPBUFF AD UP21 EXTEND BZMF OHWELL1 +2 CAE UPBUFF TS COMPNUMB # SAVE II IN COMPNUMB # UPBUFF LOADING SEQUENCE INCR UPCOUNT # INCREMENT COUNT OF COMPONENTS RECEIVED. OHWELL2 CAF ADUPBFM1 # CALCULATE LOCATION(ECADR) IN UPBUFF AD UPCOUNT # WHERE NEXT COMPONENT SHOULD BE STORED. +2 TS MPAC +2 # PLACE ECADR INTO R3. +3 CAF UPLOADNV # (CK4V32 RETURNS HERE IF V32 ENCOUNTERED) TC BANKCALL # DISPLAY A FLASHING V21N01 CADR GOXDSPF # TO REQUEST DATA. TCF UPOUT4 # V34 TERMINATE UPDATE(P27) RETURN. TCF OHWELL2 +3 # V33 PROCEED RETURN TC CK4V32 # DATA OR V32 RETURN CS UPCOUNT # HAVE WE FINISHED RECEIVING ALL AD COMPNUMB # THE DATA WE EXPECTED. EXTEND BZMF UPVERIFY # YES- GO TO VERIFICATION SEQUENCE TCF OHWELL2 -1 # NO- REQUEST ADDITIONAL DATA. # VERIFY SEQUENCE UPVERIFY CAF ADUPTEMP # PLACE ECADR WHERE COMPONENT NO. INDEX TS MPAC +2 # IS TO BE STORED INTO R3. CAF UPVRFYNV # (CK4V32 RETURNS HERE IF V32 ENCOUNTERED) TC BANKCALL # DISPLAY A FLASHING V21N02 TO REQUEST CADR GOXDSPF # DATA CORRECTION OR VERIFICATION. TCF UPOUT4 # V34 TERMINATE UPDATE(P27) RETURN TCF UPSTORE # V33 DATA SENT IS GOOD. GO STORE IT. TC CK4V32 # COMPONENT NO. INDEX OR V32 RETURN CA UPTEMP # DOES THE COMPONENT NO. INDEX JUST SENT EXTEND # SPECIFY A LEGAL COMPONENT NUMBER? BZMF UPVERIFY # NO, IT IS NOT POSITIVE NONZERO CS UPTEMP AD COMPNUMB # Page 1391 AD BIT1 EXTEND BZMF UPVERIFY # NO CAF ADUPBFM1 # YES- BASED ON THE COMPONENT NO. INDEX AD UPTEMP # CALCULATE THE ECADR OF LOCATION IN TCF OHWELL2 +2 # UPBUFF WHICH USER WANTS TO CHANGE. UPOUT4 EQUALS UPOUT +1 # COMES HERE ON V34 TO TERMINATE UPDATE # CHECK FOR VERB 32 SEQUENCE CK4V32 CS MPAC # ON DATA RETURN FROM 'GOXDSPF' MASK BIT6 # ON DATA RETURN FROM "GOXDSP"& THE CON- CCS A # TENTS OF MPAC = VERB. SO TEST FOR V32. TC Q # IT'S NOT A V32, IT'S DATA. PROCEED. INDEX Q TC 0 -6 # V32 ENCOUNTERED - GO BACK AND GET DATA ADUPTEMP ADRES UPTEMP # ADDRESS OF TEMP STORAGE FOR CORRECTIONS ADUPBUFF ADRES UPBUFF # ADDRESS OF UPDATE DATA STORAGE BUFFER UPLOADNV VN 2101 # VERB 21 NOUN 01 UPVRFYNV VN 2102 # VERB 21 NOUN 02 UP21 = MD1 # DEC 21 = MAX NO OF COMPONENTS +1 UPDTPHAS EQUALS FIVE # PRE-STORE AND FAN TO APPROPRIATE BRANCH SEQUENCE UPSTORE EQUALS # GROUND HAS VERIFIED UPDATE. STORE DATA. INHINT CAE FLAGWRD7 # INVERT VERIFLAG(BIT3 OF FLAGWRD7) TO XCH L # INDICATE TO THE GROUND(VIA DOWNLINK) CAF VERIFBIT # THAT THE V33 (WHICH THE GROUND SENT TO EXTEND # VERIFY THE UPDATE) HAS BEEN SUCCESSFULLY RXOR LCHAN # RECEIVED BY THE UPDATE PROGRAM TS FLAGWRD7 TC PHASCHNG # SET RESTART GROUP 6 TO REDO THE UPDATE OCT 04026 # DATA STORE IF A RESTART OCCURS. INHINT # (BECAUSE PHASCHNG DID A RELINT) CS TWO # GO TO UPFNDVAC IF INSTALL IS REQUIRED. AD UPVERB # THAT IS, IF IT'S A V70 - V72. EXTEND # GO TO UPEND73 IF IT'S A V73. BZMF UPFNDVAC # VERB 73 BRANCH # Page 1392 UPEND73 EXTEND # V73-PERFORM DP OCTAL AGC CLOCK INCREMENT DCA UPBUFF DXCH UPBUFF +8D TC TIMEDIDL TC FALTON # ERROR- TURN ON *OPERATOR ERROR* LIGHT TC UPOUT +1 # GO TO COMMON UPDATE PROGRAM EXIT UPFNDVAC CAF CHRPRIO # (USE EXTENDED VERB PRIORITY) TC FINDVAC # GET VAC AREA FOR 'CALL INTSTALL' EBANK= TEPHEM 2CADR UPJOB # (NOTE: THIS WILL ALSO SET EBANK FOR TC ENDOFJOB # 'TEPHEM' UPDATE BY V70) UPJOB TC INTPRET # THIS COULD BE A STATE VECTOR UPDATE--SO CALL # WAIT(PUT JOB TO SLEEP) IF ORBIT INT(OI) INTSTALL # IS IN PROGRESS--OR--GRAB OI AND RETURN # TO UPWAKE IF OI IS NOT IN PROGRESS. UPWAKE EXIT TC PHASCHNG # RESTART PROTECT(GROUP 6) OCT 04026 TC UPFLAG # SET INTEGRATION RESTART BIT ADRES REINTFLG INHINT UPPART3 EQUALS INDEX UPVERB # BRANCH TO THE APPROPRIATE UPDATE VERB TCF +1 # ROUTINE TO ACTUALLY PERFORM THE UPDATE TCF UPEND70 # V70 TCF UPEND71 # V71 TCF UPEND72 # V72 # ROUTINE TO INCREMENT CLOCK(TIME2,TIME1) WITH CONTENTS OF DP WORD AT UPBUFF. TIMEDIDL EXTEND QXCH UPTEMP # SAVE Q FOR RETURN CAF ZERO # ZERO AND SAVE TIME2,TIME1 ZL DXCH TIME2 DXCH UPBUFF +18D # STORE IN CASE OF OVERFLOW CAF UPDTPHAS # DO TS L # A COM # QUICK DXCH -PHASE6 # PHASCHNG # Page 1393 TIMEDIDR INHINT CAF ZERO ZL # PICK UP INCREMENTER(AND ZERO TS MPAC +2 # IT IN CASE OF RESTARTS) AND DXCH UPBUFF +8D # STORE IT DXCH MPAC # INTO MPAC FOR TPAGREE. EXTEND DCA UPBUFF +18D DAS MPAC # FORM SUM IN MPAC EXTEND BZF DELTATOK # TEST FOR OVERFLOW CAF ZERO DXCH UPBUFF +18D # OVERFLOW, RESTORE OLD VALUE OF CLOCK DAS TIME2 # AND TURN ON OPERATOR ERROR TC PHASCHNG # RESTART PROTECT(GROUP 6) OCT 04026 TC UPTEMP # GO TO ERROR EXIT DELTATOK TC TPAGREE # FORCE SIGN AGREEMENT DXCH MPAC DAS TIME2 # INCREMENT TIME2,TIME1 TC PHASCHNG # RESTART PROTECT(GROUP 6) OCT 04026 INHINT INDEX UPTEMP # (CODED THIS WAY FOR RESTART PROTECTION) TC 1 # NORMAL RETURN # VERB 71 BRANCH UPEND71 CAE UPBUFF +1 # SET EBANK TS EBANK # AND MASK LOW8 # CALCULATE TS UPTEMP # S-REG VALUE OF RECEIVING AREA AD NEG3 # IN THE PROCESS OF AD COMPNUMB # PERFORMING EXTEND # THIS UPDATE BZF STORLP71 # WILL WE MASK BIT9 # OVERFLOW CCS A # INTO THE NEXT EBANK.... TCF UPERROUT # YES CA NEG3 # NO- CALCULATE NUMBER OF AD COMPNUMB # WORDS TO BE STORED MINUS ONE STORLP71 TS MPAC # SAVE NO. OF WORDS REMAINING MINUS ONE # Page 1394 INDEX A # TAKE NEXT UPDATE WORD FROM CA UPBUFF +2 # UPBUFF AND TS L # SAVE IT IN L CA MPAC # CALCULATE NEXT AD UPTEMP # RECEIVING ADDRESS INDEX A EBANK= 1400 LXCH 1400 # UPDATE THE REGISTER BY CONTENTS OF L EBANK= TEPHEM CCS MPAC # ARE THERE ANY WORDS LEFT TO BE STORED TCF STORLP71 # YES TCF UPOUT # NO- THEN EXIT UPDATE PROGRAM ADUPBFM1 ADRES UPBUFF -1 # SAME AS ADUPBUFF BUT LESS 1 (DON'T MOVE) TCF UPOUT # NO- EXIT UPDATE(HERE WHEN COMPNUMB = 3) # VERB 72 BRANCH UPEND72 CAF BIT1 # HAVE AN ODD NO. OF COMPONENTS MASK COMPNUMB # BEEN SENT FOR A V72 UPDATE... CCS A TCF +2 # YES TCF UPERROUT # ERROR- SHOULD BE ODD NO. OF COMPONENTS CS BIT2 AD COMPNUMB LDLOOP72 TS MPAC # NOW PERFORM THE UPDATE INDEX A CAE UPBUFF +1 # PICK UP NEXT UPDATE WORD LXCH A CCS MPAC # SET POINTER TO ECADR(MUST BE CCS) TS MPAC INDEX A CAE UPBUFF +1 # PICK UP NEXT ECADR OF REG TO BE UPDATED TS EBANK # SET EBANK MASK LOW8 # ISOLATE RELATIVE ADDRESS INDEX A EBANK= 1400 LXCH 1400 # UPDATE THE REGISTER BY CONTENTS OF L EBANK= TEPHEM CCS MPAC # ARE WE THORUGH THE V72 UPDATE... TCF LDLOOP72 # NO # NORMAL FINISH OF P27 UPOUT EQUALS TC INTWAKEU # RELEASE GRAB OF ORBITAL INTEGRATION +1 CAE UPOLDMOD # RESTORE PRIOR P27 MODE TC NEWMODEX +3 CAF ZERO # Page 1395 TS DNLSTCOD TC UPACTOFF # TURN OFF 'UPLINK ACTIVITY' LIGHT EXTEND # KILL GROUP 6. DCA NEG0 DXCH -PHASE6 TC ENDEXT # EXTENDED VERB EXIT # VERB 7O BRANCH UPEND70 EXTEND # V70 DOES THE FOLLOWING WITH DP DELTA DCS UPBUFF # TIME IN UPBUFF DXCH UPBUFF +8D TC TIMEDIDL # DECREMENT AGC CLOCK TC UPERROUT # ERROR WHILE DECREMENTING CLOCK -- EXIT EBANK= TEPHEM EXTEND DCS UPBUFF # COPY DECREMENTERS FOR DXCH UPBUFF +10D # RESTART PROTECTION EXTEND DCS UPBUFF DXCH UPBUFF +12D TC PHASCHNG # RESTART PROTECT(GROUP 6) OCT 04026 CAF ZERO ZL DXCH UPBUFF +10D # DECREMENT CSM STATE VECTOR TIME DAS TETCSM CAF ZERO ZL DXCH UPBUFF +12D # DECREMENT LEM STATE VECTOR TIME DAS TETLEM CAF ZERO ZL DXCH UPBUFF DAS TEPHEM +1 # INCREMENT TP TEPHEM ADS TEPHEM TC PHASCHNG # RESTART PROTECT(GROUP 6) OCT 04026 EBANK= UPBUFF # Page 1396 TC UPOUT # GO TO STANDARD UPDATE PROGRAM EXIT # ERROR SEQUENCE UPERROUT TC FALTON # TURN ON *OPERATOR ERROR* LIGHT TCF UPOUT # GO TO COMMON UPDATE PROGRAM EXIT +2 TC FALTON # TURN ON 'OPERATOR ERROR' LIGHT TC UPACTOFF # TURN OFF'UPLINK ACTIVITY'LIGHT TC ENDEXT # EXTENDED VERB EXIT # (THE PURPOSE OF UPERROUT +2 EXIT IS # TO PROVIDE AN ERROR EXIT WHICH DOES NOT # RESET ANY RESTART GROUPS) # :UPACTOFF: IS A ROUTINE TO TURN OFF UPLINK ACTIVITY LIGHT ON ALL EXITS FROM UPDATE PROGRAM(P27). UPACTOFF CS BIT3 EXTEND # TURN OFF UPLINK ACTIVITY LIGHT WAND DSALMOUT # (BIT 3 OF CHANNEL 11) TC Q ================================================ FILE: Luminary099/WAITLIST.agc ================================================ # Copyright: Public domain. # Filename: WAITLIST.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 1117-1132 # Mod history: 2009-05-25 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # 2011-01-06 JL Fixed pseudo-label indentation. # 2011-05-07 JL Removed workarounds. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-061 # 16:27 JULY 14, 1969 # Page 1117 # PROGRAM DESCRIPTION DATE -- 10 OCTOBER 1966 # MOD NO -- 2 LOG SECTION -- WAITLIST # MOD BY -- MILLER (DTMAX INCREASED TO 162.5 SEC) ASSEMBLY -- SUNBURST REV 5 # MOD 3 BY KERNAN (INHINT INSERTED AT WAITLIST) 2/28/68 SKIPPER REV 4 # MOD 4 BY KERNAN (TWIDDLE IN 54) 3/28/68 SKIPPER REV 13. # # FUNCTIONAL DESCRIPTION -- # PART OF A SECTION OF PROGRAMS -- WAITLIST, TASKOVER, T3RUPT, USED TO CALL A PROGRAM (CALLED A TASK), # WHICH IS TO BEGIN IN C(A) CENTISECONDS. WAITLIST UPDATES TIME3, LST1, AND LST2. THE MEANING OF THESE LISTS # FOLLOW. # # C(TIME3) = 16384 -(T1-T) CENTISECONDS, (T=PRESENT TIME, T1-TIME FOR TASK1) # # C(LST1) = -(T2-T1)+1 # C(LST1 +1) = -(T3-T2)+1 # C(LST1 +2) = -(T4-T3)+1 # ... # C(LST1 +6) = -(T8-T7)+1 # C(LST1 +7) = -(T9-T8)+1 # # C(LST2) = 2CADR OF TASK1 # C(LST2 +2) = 2CADR OF TASK2 # ... # C(LST2 +14) = 2CADR OF TASK8 # C(LST2 +16) = 2CADR OF TASK9 # # WARNINGS -- # 1) 1 <= C(A) <= 16250D (1 CENTISECOND TO 162.5 SEC) # 2) 9 TASKS MAXIMUM # 3) TASKS CALLED UNDER INTERRUPT INHIBITED # 4) TASKS END BY TC TASKOVER # # CALLING SEQUENCE -- # L-1 CA DELTAT (TIME IN CENTISECONDS TO TASK START) # L TC WAITLIST # L+1 2CADR DESIRED TASK. # L+2 (MINOR OF 2CADR) # L+3 RELINT (RETURNS HERE) # # TWIDDLE -- # TWIDDLE IS FOR USE WHEN THE TASK BEING SET UP IS IN THE SAME EBANK AND FBANK AS THE USER. IN # SUCH CASES, IT IMPROVES UPON WAITLIST BY ELIMINATING THE NEED FOR THE BBCON HALF OF THE 2CADR, # Page 1118 # SAVING A WORD. TWIDDLE IS LIKE WAITLIST IN EVERY RESPECT EXCEPT CALLING SEQUENCE, TO WIT, # L-1 CA DELTAT # L TC TWIDDLE # L+1 ADRES DESIRED TASK # L+2 RELINT (RETURNS HERE) # # NORMAL EXIT MODES -- # AT L+3 OF CALLING SEQUENCE. # # ALARM OR ABORT EXIT MODES -- # TC ABORT # OCT 1203 (WAITLIST OVERFLOW -- TOO MANY TASKS) # # ERASABLE INITIALIZATION REQUIRED -- # ACCOMPLISHED BY FRESH START -- LST2, ..., LST2 +16 = ENDTASK # LST1, ..., LST1 +7 = NEG1/2 # # OUTPUT -- # LST1 AND LST2 UPDATED WTIH NEW TASK AND ASSOCIATED TIME. # # DEBRIS -- # CENTRALS -- A,Q,L # OTHER -- WAITEXIT, WAITADR, WAITTEMP, WAITBANK # # DETAILED ANALYSIS OF TIMING -- # CONTROL WILL NOT BE RETURNED TO THE SPECIFIED ADDRESS (2CADR) IN EXACTLY DELTA T CENTISECONDS. # THE APPROXIMATE TIME MAY BE CALCULATED AS FOLLOWS: # LET T0 = THE TIME OF THE TC WAITLIST # LET TS = T0 +147U + COUNTER INCREMENTS (SET UP TIME) # LET X = TS -(100TS)/100 (VARIANCE FROM COUNTERS) # LET Y = LENGTH OF TIME OF INHIBIT INTERRUPT AFTER T3RUPT # LET Z = LENGTH OF TIME TO PROCESS TASKS WHICH ARE DUE THIS T3RUPT BUT DISPATCHED EARLIER. # (Z=0, USUALLY). # LET DELTD = THE ACTUAL TIME TAKEN TO GIVE CONTROL TO 2CADR # THEN DELTD = TS+DELTA T -X +Y +Z +1.05MS* +COUNTERS* # *THE TIME TAKEN BY WAITLIST ITSELF AND THE COUNTER TICKING DURING THIS WAITLIST TIME. # IN SHORT, THE ACTUAL TIME TO RETURN CONTROL TO A 2CADR IS AUGMENTED BY THE TIME TO SET UP THE TASK'S # INTERRUPT, ALL COUNTERS TICKING, THE T3RUPT PROCESSING TIME, THE WAITLIST PROCESSING TIME AND THE POSSIBILITY # OF OTHER TASKS INHIBITING THE INTERRUPT. BLOCK 02 # Page 1119 EBANK= LST1 # TASK LISTS IN SWITCHED E BANK. COUNT* $$/WAIT TWIDDLE INHINT TS L # SAVE DELAY TIME IN L CA POSMAX ADS Q # CREATING OVERFLOW AND Q-1 IN Q CA BBANK EXTEND ROR SUPERBNK XCH L WAITLIST INHINT XCH Q # SAVE DELTA T IN Q AND RETURN IN TS WAITEXIT # WAITEXIT. EXTEND INDEX WAITEXIT # IF TWIDDLING, THE TS SKIPS TO HERE DCA 0 # PICK UP 2CADR OF TASK. -1 TS WAITADR # BBCON WILL REMAIN IN L DLY2 CAF WAITBB # ENTRY FROM FIXDELAY AND VARDELAY. XCH BBANK TCF WAIT2 # RETURN TO CALLER AFTER TASK INSERTION: LVWTLIST DXCH WAITEXIT AD TWO DTCB EBANK= LST1 WAITBB BBCON WAIT2 # RETURN TO CALLER +2 AFTER WAITING DT SPECIFIED AT CALLER +1. FIXDELAY INDEX Q # BOTH ROUTINES MUST BE CALLED UNDER CAF 0 # WAITLIST CONTROL AND TERMINATE THE TASK INCR Q # IN WHICH THEY WERE CALLED. # RETURN TO CALLER +1 AFTER WAITING THE DT AS ARRIVING IN A. VARDELAY XCH Q # DT TO Q. TASK ADRES TO WAITADR. TS WAITADR CA BBANK # BBANK IS SAVED DURING DELAY. EXTEND ROR SUPERBNK # ADD SBANK TO BBCON. TS L CAF DELAYEX TS WAITEXIT # GO TO TASKOVER AFTER TASK ENTRY. TCF DLY2 # Page 1120 DELAYEX TCF TASKOVER -2 # RETURNS TO TASKOVER. # Page 1121 # ENDTASK MUST ENTERED IN FIXED-FIXED SO IT IS DISTINGUISHABLE BY ITS ADRES ALONE. EBANK= LST1 ENDTASK -2CADR SVCT3 SVCT3 CCS FLAGWRD2 # DRIFT FLAG TCF TASKOVER TCF TASKOVER TCF +1 CKIMUSE CCS IMUCADR # DON'T DO NBDONLY IF SOMEONE ELSE IS IN TCF SVCT3X # IMUSTALL. TCF +3 TCF SVCT3X TCF SVCT3X +3 CAF PRIO35 # COMPENSATE FOR NBD COEFFICIENTS ONLY. TC NOVAC # ENABLE EVERY 81.93 SECONDS EBANK= NBDX 2CADR NBDONLY TCF TASKOVER SVCT3X TC FIXDELAY # DELAY MAX OF 2 TIMES FOR IMUZERO. DEC 500 TC SVCT3 # CHECK DRIFT FLAG AGAIN. # Page 1122 # BEGIN TASK INSERTION. BANK 01 COUNT* $$/WAIT WAIT2 TS WAITBANK # BBANK OF CALLING PROGRAM. CA Q EXTEND BZMF WAITPOOH CS TIME3 AD BIT8 # BIT 8 = OCT 200 CCS A # TEST 200 - C(TIME3). IF POSITIVE, # IT MEANS THAT TIME3 OVERFLOW HAS OCCURRED PRIOR TO CS TIME3 AND THAT # C(TIME3) = T - T1, INSTEAD OF 1.0 - (T1 - T). THE FOLLOWING FOUR # ORDERS SET C(A) = TD - T1 + 1 IN EITHER CASE. AD OCT40001 # OVERFLOW HAS OCCURRED. SET C(A) = CS A # T - T1 + 1.0 - 201 # NORMAL CASE (C(A) NNZ) YIELDS SAME C(A): -( -(1.0-(T1-T)) + 200) - 1 AD OCT40201 AD Q # RESULT = TD - T1 + 1. CCS A # TEST TD - T1 + 1. AD LST1 # IF TD - T1 POS, GO TO WTLST5 WITH TCF WTLST5 # C(A) = (TD - T1) + C(LST1) = TD-T2+1 NOOP CS Q # NOTE THAT THIS PROGRAM SECTION IS NEVER ENTERED WHEN T-T1 G/E -1, # SINCE TD-T1+1 = (TD-T) + (T-T1+1), AND DELTA T = TD-T G/E +1. (G/E # SYMBOL MEANS GREATER THAN OR EQUAL TO). THUS THERE NEED BE NO CON- # CERN OVER A PREVIOUS OR IMMINENT OVEFLOW OF TIME3 HERE. AD POS1/2 # WHEN TD IS NEXT, FORM QUANTITY AD POS1/2 # 1.0 - DELTA T = 1.0 - (TD - T) XCH TIME3 AD NEGMAX AD Q # 1.0 - DELTAT T NOW COMPLETE. EXTEND # ZERO INDEX Q. QXCH 7 # (ZQ) # Page 1123 WTLST4 XCH LST1 XCH LST1 +1 XCH LST1 +2 XCH LST1 +3 XCH LST1 +4 XCH LST1 +5 XCH LST1 +6 XCH LST1 +7 CA WAITADR # (MINOR PART OF TASK CADR HAS BEEN IN L.) INDEX Q TCF +1 DXCH LST2 DXCH LST2 +2 DXCH LST2 +4 DXCH LST2 +6 DXCH LST2 +8D DXCH LST2 +10D # AT END, CHECK THAT C(LST2 +10) IS STD DXCH LST2 +12D DXCH LST2 +14D DXCH LST2 +16D AD ENDTASK # END ITEM, AS CHECK FOR EXCEEDING # THE LENGTH OF THE LIST. EXTEND # DUMMY TASK ADRES SHOULD BE IN FIXED- BZF LVWTLIST # FIXED SO ITS ADRES ALONE DISTINGUISHES TCF WTABORT # IT. # Page 1124 WTLST5 CCS A # TEST TD - T2 + 1 AD LST1 +1 TCF +4 AD ONE TC WTLST2 OCT 1 +4 CCS A # TEST TD - T3 + 1 AD LST1 +2 TCF +4 AD ONE TC WTLST2 OCT 2 +4 CCS A # TEST TD - T4 + 1 AD LST1 +3 TCF +4 AD ONE TC WTLST2 OCT 3 +4 CCS A # TEST TD - T5 + 1 AD LST1 +4 TCF +4 AD ONE TC WTLST2 OCT 4 +4 CCS A # TEST TD - T6 + 1 AD LST1 +5 TCF +4 AD ONE TC WTLST2 OCT 5 +4 CCS A # TEST TD - T7 + 1 AD LST1 +6 TCF +4 AD ONE TC WTLST2 OCT 6 # Page 1125 +4 CCS A # TEST TD - T2 + 1 AD LST1 +7 TCF +4 AD ONE TC WTLST2 OCT 7 +4 CCS A WTABORT TC FILLED NOOP # CAN'T GET HERE AD ONE TC WTLST2 OCT 10 OCT40201 OCT 40201 # Page 1126 FILLED DXCH WAITEXIT TC BAILOUT1 # NO ROOM IN THE INN OCT 01203 # Page 1127 # THE ENTRY TC WTLST2 JUST PRECEDING OCT N IS FOR T LE TD LE T -1. # N N+1 # (LE MEANS LESS THAN OR EQUAL TO). AT ENTRY, C(A) = -(TD - T + 1) # N+1 # THE LST1 ENTRY -(T -T +1) IS TO BE REPLACED BY -(TD - T + 1), AND # N+1 N N # THE ENTRY -(T - TD + 1) IS TO BE INSERTED IMMEDIATELY FOLLOWING. # N+1 WTLST2 TS WAITTEMP # C(A) = -(TD - T + 1) INDEX Q CAF 0 TS Q # INDEX VALUE INTO Q. CAF ONE AD WAITTEMP INDEX Q # C(A) = -(TD - T ) + 1. ADS LST1 -1 # N CS WAITTEMP INDEX Q TCF WTLST4 # C(TIME3) = 1.0 - (T1 - T) # # C(LST1) = - (T2 - T1) + 1 # C(LST1+1) = - (T3 - T2) + 1 # C(LST1+2) = - (T4 - T3) + 1 # C(LST1+3) = - (T5 - T4) + 1 # C(LST1+4) = - (T6 - T5) + 1 # # C(LST2) = 2CADR TASK1 # C(LST2+2) = 2CADR TASK2 # C(LST2+4) = 2CADR TASK3 # C(LST2+6) = 2CADR TASK4 # C(LST2+8) = 2CADR TASK5 # C(LST2+10) = 2CADR TASK6 # Page 1128 # ENTERS HERE ON T3 RUPT TO DISPATCH WAITLISTED TASK. T3RUPT EXTEND ROR SUPERBNK # READ CURRENT SUPERBANK VALUE AND TS BANKRUPT # SAVE WITH E AND F BANK VALUES. EXTEND QXCH QRUPT T3RUPT2 CAF NEG1/2 # DISPATCH WAITLIST TASK. XCH LST1 +7 XCH LST1 +6 XCH LST1 +5 XCH LST1 +4 # 1. MOVE UP LST1 CONTENTS, ENTERING XCH LST1 +3 # A VALUE OF 1/2 +1 AT THE BOTTOM XCH LST1 +2 # FOR T6-T5, CORRESPONDING TO THE XCH LST1 +1 # INTERVAL 81.91 SEC FOR ENDTASK. XCH LST1 AD POSMAX # 2. SET T3 = 1.0 - T2 - T USING LIST 1. ADS TIME3 # SO T3 WON'T TICK DURING UPDATE. TS RUPTAGN CS ZERO TS RUPTAGN # SETS RUPTAGN TO +1 ON OVERFLOW. EXTEND # DISPATCH TASK. DCS ENDTASK DXCH LST2 +16D DXCH LST2 +14D DXCH LST2 +12D DXCH LST2 +10D DXCH LST2 +8D DXCH LST2 +6 DXCH LST2 +4 DXCH LST2 +2 DXCH LST2 XCH L EXTEND WRITE SUPERBNK # SET SUPERBANK FROM BBCON OF 2CADR XCH L # RESTORE TO L FOR DXCH Z. DTCB # Page 1129 # RETURN, AFTER EXECUTION OF T3 OVERFLOW TASK: BLOCK 02 COUNT* $$/WAIT TASKOVER CCS RUPTAGN # IF +1 RETURN TO T3RUPT, IF -0 RESUME. CAF WAITBB TS BBANK TCF T3RUPT2 # DISPATCH NEXT TASK IF IT WAS DUE. CA BANKRUPT EXTEND WRITE SUPERBNK # RESTORE SUPERBANK BEFORE RESUME IS DONE RESUME EXTEND QXCH QRUPT NOQRSM CA BANKRUPT XCH BBANK NOQBRSM DXCH ARUPT RELINT RESUME # Page 1130 # LONGCALL # PROGRAM DESCRIPTION DATE -- 17 MARCH 1967 # PROGRAM WRITTEN BY W.H.VANDEVER LOG SECTION WAITLIST # MOD BY -- R. MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 100 # # FUNCTIONAL DESCRIPTION -- # LONGCALL IS CALLED WITH THE DELTA TIME ARRIVING IN A,L SCALED AS TIME2,TIME1 WITH THE 2CADR OF THE TASK # IMMEDIATELY FOLLOWING THE TC LONGCALL. FOR EXAMPLE, IT MIGHT BE DONE AS FOLLOWS WHERE TIMELOC IS THE NAME OF # A DP REGISTER CONTAINING A DELTA TIME AND WHERE TASKTODO IS THE NAME OF THE LOCATION AT WHICH LONGCALL IS TO # START. # CALLING SEQUENCE -- # EXTEND # DCA TIMELOC # TC LONGCALL # 2CADR TASKTODO # NORMAL EXIT MODE -- # 1) TC WAITLIST # 2) DTCB (TC L+3 OF CALLING ROUTINE 1ST PASS THRU LONGCYCL) # 3) DTCB (TO TASKOVER ON SUBSEQUENT PASSES THRU LONGCYCL) # ALARM OR ABORT EXIT MODE -- # NONE # OUTPUT -- # LONGTIME AND LONGTIME+1 = DELTA TIME # LONGEXIT AND LONGEXIT+1 = RETURN 2CADR # LONGCADR AND LONGCADR+1 = TASK 2CADR # A = SINGLE PRECISION TIME FOR WAITLIST # ERASABLE INITIALIZATION -- # A = MOST SIGNIFICANT PART OF DELTA TIME # L = LEAST SIGNIFICANT PART OF DELTA TIME # Q = ADDRESS OF 2CADR TASK VALUE # DEBRIS -- # A,Q,L # LONGCADR AND LONGCADR+1 # LONGEXIT AND LONGEXIT+1 # LONGTIME AND LONGTIME+1 # *** THE FOLLOWING IS TO BE IN FIXED-FIXED AND UNSWITCHED ERRASIBLE ** BLOCK 02 EBANK= LST1 LONGCALL DXCH LONGTIME # OBTAIN THE DELTA TIME EXTEND # OBTAIN THE 2CADR # Page 1131 NDX Q DCA 0 DXCH LONGCADR EXTEND # NOW GO TO THE APPROPRIATE SWITCHED BANK DCA LGCL2CDR # FOR THE REST OF LONGCALL DTCB EBANK= LST1 LGCL2CDR 2CADR LNGCALL2 # *** THE FOLLOWING MAY BE IN A SWITCHED BANK, INCLUDING ITS ERASABLE *** BANK 01 COUNT* $$/WAIT LNGCALL2 LXCH LONGEXIT +1 # SAVE THE CORRECT BB FOR RETURN CA TWO # OBTAIN THE RETURN ADDRESS ADS Q TS LONGEXIT CA LONGTIME # CHECK FOR LEGITIMATE DELTA-TIME CCS A TCF LONGCYCL # HI-ORDER OK --> ALL IS OK. TCF +2 # HI-ORDER ZERO --> CHECK LO-ORDER. TCF LONGPOOH # HI-ORDER NEG. --> NEG. DT +2 CA LONGTIME +1 # CHECK LO-ORDER FOR ZERO OR NEGATIVE. EXTEND BZMF LONGPOOH # BAD DELTA-TIME. ABORT # *** WAITLIST TASK LONGCYCL *** LONGCYCL EXTEND # CAN WE SUCCESFULLY TAKE ABOUT 1.25 DCS DPBIT14 # MINUTES OFF OF LONGTIME DAS LONGTIME CCS LONGTIME +1 # THE REASONING BEHIND THIS PART IS TCF MUCHTIME # INVOLVED, TAKING INTO ACCOUNT THAT THE # WORDS MAY NOT BE SIGNED CORRECTED (DP # BASIC INSTRUCTIONS # DO NOT SIGN CORRECT) AND THAT WE SUBTRAC- # TED BIT14 (1 OVER HALF THE POS. VALUE # REPRESENTABLE IN SINGLE WORD) NOOP # CAN'T GET HERE ************* TCF +1 CCS LONGTIME TCF MUCHTIME DPBIT14 OCT 00000 OCT 20000 # LONGCALL # Page 1132 LASTTIME CA BIT14 # GET BACK THE CORRECT DELTA T FOR WAITLIST ADS LONGTIME +1 TC WAITLIST EBANK= LST1 2CADR GETCADR # THE ENTRY TO OUR LONGCADR LONGRTRN CA TSKOVCDR # SET IT UP SO THAT ONLY THE FIRST EXIT IS DXCH LONGEXIT # TO THE CALLER OF LONGCALL DTCB # THE REST ARE TO TASKOVER MUCHTIME CA BIT14 # WE HAVE OVER OUR ABOUT 1.25 MINUTES TC WAITLIST # SO SET UP FOR ANOTHER CYCLE THROUGH HERE EBANK= LST1 2CADR LONGCYCL TCF LONGRTRN # NOW EXIT PROPERLY # *** WAITLIST TASK GETCADR *** GETCADR DXCH LONGCADR # GET THE LONGCALL THAT WE WISHED TO START DTCB # AND TRANSFER CONTROL TO IT TSKOVCDR GENADR TASKOVER LONGPOOH DXCH LONGEXIT TCF +2 WAITPOOH DXCH WAITEXIT +2 TC POODOO1 OCT 01204 ================================================ FILE: README.md ================================================ # Apollo-11 [![NASA][1]][2] [![SWH]][SWH_URL] [![Comanche]][ComancheMilestone] [![Luminary]][LuminaryMilestone] 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Basa Jawa][JV], [Català][CA], [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdî][KU], [Lietuvių][LT], [Mongolian][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Română][RO], [Suomi][FI], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Беларуская мова][BE], [Русский][RU], [Українська][UK], [العربية][AR], [فارسی][FA], [नेपाली भाषा][NE] [हिंदी][HI_IN], [অসমীয়া][AS_IN], [বাংলা][BD_BN], [မြန်မာ][MM], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN], [മലയാളം][ML] [AR]:Translations/README.ar.md [AS_IN]:Translations/README.as_in.md [AZ]:Translations/README.az.md [BD_BN]:Translations/README.bd_bn.md [BE]:Translations/README.be.md [CA]:Translations/README.ca.md [CZ]:Translations/README.cz.md [DA]:Translations/README.da.md [DE]:Translations/README.de.md [EN]:README.md [ES]:Translations/README.es.md [FA]:Translations/README.fa.md [FI]:Translations/README.fi.md [FR]:Translations/README.fr.md [GL]:Translations/README.gl.md [GR]:Translations/README.gr.md [HI_IN]:Translations/README.hi_in.md [ID]:Translations/README.id.md [IT]:Translations/README.it.md [JA]:Translations/README.ja.md [JV]:Translations/README.jv.md [KO_KR]:Translations/README.ko_kr.md [KU]:Translations/README.ku.md [LT]:Translations/README.lt.md [MM]:Translations/README.mm.md [MN]:Translations/README.mn.md [NE]:Translations/README.ne.md [NL]:Translations/README.nl.md [NO]:Translations/README.no.md [PL]:Translations/README.pl.md [PT_BR]:Translations/README.pt_br.md [RO]:Translations/README.ro.md [RU]:Translations/README.ru.md [SV]:Translations/README.sv.md [TR]:Translations/README.tr.md [UK]:Translations/README.uk.md [VI]:Translations/README.vi.md [ZH_CN]:Translations/README.zh_cn.md [ZH_TW]:Translations/README.zh_tw.md [ML]:Translations/README.ml.md Original Apollo 11 guidance computer (AGC) source code for Command Module (Comanche055) and Lunar Module (Luminary099). Digitized by the folks at [Virtual AGC][3] and [MIT Museum][4]. The goal is to be a repo for the original Apollo 11 source code. As such, PRs are welcome for any issues identified between the transcriptions in this repository and the original source scans for [Luminary 099][5] and [Comanche 055][6], as well as any files I may have missed. ## Contributing Please read [CONTRIBUTING.md][7] before opening a pull request. ## Compiling If you are interested in compiling the original source code, check out [Virtual AGC][8]. ## Attribution   |   :------------- | :----- Copyright | Public domain Comanche055 | Part of the source code for Colossus 2A, the Command Module's (CM) Apollo Guidance Computer (AGC) for Apollo 11
`Assemble revision 055 of AGC program Comanche by NASA`
`2021113-051. 10:28 APR. 1, 1969` Luminary099 | Part of the source code for Luminary 1A, the Lunar Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11
`Assemble revision 001 of AGC program LMY99 by NASA`
`2021112-061. 16:27 JUL. 14, 1969` Assembler | yaYUL Contact | Ron Burkey Website | www.ibiblio.org/apollo Digitalisation | This source code has been transcribed or otherwise adapted from digitized images of a hardcopy from the MIT Museum. The digitization was performed by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many thanks to both. ### Contract and Approvals *Derived from [CONTRACT_AND_APPROVALS.agc]* This AGC program shall also be referred to as Colossus 2A. This program is intended for use in the Command Module as specified in report `R-577`. This program was prepared under DSR project `55-23870`, sponsored by the Manned Spacecraft Center of The National Aeronautics and Space Administration through contract `NAS 9-4065` with the Instrumentation Laboratory, Massachusetts Institute of Technology, Cambridge, Mass. Submitted by | Role | Date :------------------- | :--- | :--- Margaret H. Hamilton | Colossus Programming Leader
Apollo Guidance and Navigation | 28 Mar 69 Approved by | Role | Date :---------------- | :--- | :--- Daniel J. Lickly | Director, Mission Program Development
Apollo Guidance and Navigation Program | 28 Mar 69 Fred H. Martin | Colossus Project Manager
Apollo Guidance and Navigation Program | 28 Mar 69 Norman E. Sears | Director, Mission Development
Apollo Guidance and Navigation Program | 28 Mar 69 Richard H. Battin | Director, Mission Development
Apollo Guidance and Navigation Program | 28 Mar 69 David G. Hoag | Director
Apollo Guidance and Navigation Program | 28 Mar 69 Ralph R. Ragan | Deputy Director
Instrumentation Laboratory | 28 Mar 69 [CONTRACT_AND_APPROVALS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CONTRACT_AND_APPROVALS.agc [1]:https://flat.badgen.net/badge/NASA/Mission%20Overview/0B3D91 [2]:https://www.nasa.gov/mission_pages/apollo/missions/apollo11.html [3]:http://www.ibiblio.org/apollo/ [4]:http://web.mit.edu/museum/ [5]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [6]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [7]:https://github.com/chrislgarry/Apollo-11/blob/master/CONTRIBUTING.md [8]:https://github.com/rburkey2005/virtualagc [SWH]:https://flat.badgen.net/badge/Software%20Heritage/Archive/0B3D91 [SWH_URL]:https://archive.softwareheritage.org/browse/origin/https://github.com/chrislgarry/Apollo-11/ [Comanche]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/1 [ComancheMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/1 [Luminary]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/2 [LuminaryMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/2 ================================================ FILE: Translations/CONTRIBUTING.ar.md ================================================
# المساهمة 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA]، [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdi][KU], [Kurdî][KU], [Lietuvių][LT], [Mongolia][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Українська][UK]، [العربية][AR], [हिन्दी][HI_IN], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:CONTRIBUTING.ar.md [AZ]:CONTRIBUTING.az.md [CA]:CONTRIBUTING.ca.md [CZ]:CONTRIBUTING.cz.md [DA]:CONTRIBUTING.da.md [DE]:CONTRIBUTING.de.md [EN]:../CONTRIBUTING.md [ES]:CONTRIBUTING.es.md [FR]:CONTRIBUTING.fr.md [GL]:CONTRIBUTING.gl.md [GR]:CONTRIBUTING.gr.md [HI_IN]:CONTRIBUTING.hi_in.md [ID]:CONTRIBUTING.id.md [IT]:CONTRIBUTING.it.md [JA]:CONTRIBUTING.ja.md [KO_KR]:CONTRIBUTING.ko_kr.md [KU]:CONTRIBUTING.ku.md [LT]:CONTRIBUTING.lt.md [MN]:CONTRIBUTING.mn.md [NL]:CONTRIBUTING.nl.md [NO]:CONTRIBUTING.no.md [PL]:CONTRIBUTING.pl.md [PT_BR]:CONTRIBUTING.pt_br.md [SV]:CONTRIBUTING.sv.md [TR]:CONTRIBUTING.tr.md [UK]:CONTRIBUTING.uk.md [VI]:CONTRIBUTING.vi.md [ZH_CN]:CONTRIBUTING.zh_cn.md [ZH_TW]:CONTRIBUTING.zh_tw.md تمّت رقمنة الكود المصدر في هذا المستودع يدويًا من مطبوعات ورقية، لذلك طرأت أخطاء طباعية و تباينات أخرى سهوًا. يجب تعديل الكود ليتّفق مع المسوحات الضوئية للطبعات التالية: - [طبعات AGC لكود Comanche][8] - [طبعات AGC لكود Luminary][9] The following website can be used to easily navigate around the scanned printouts for both Comanche and Luminary: https://28gpc.csb.app/ ## ملحقات مفيدة يحوي GitHub دعمًا للتلوين النحويِّ للغة التجميع AGC، و مع أنّ محررات الكود الشائعة لا تدعم ذلك، إلا أنه ثمّة ملحقات توفر الدعم للغة AGC لكلٍ مِنْ المحررات التالية: - [Atom][Atom]۞ - [CodeBlocks][CodeBlocks] - [Eclipse][Eclipse] - [Kate][Kate] - [ProgrammersNotepad][ProgrammersNotepad] - [Sublime Text 3][Sublime Text]† - [TextPad][TextPad] - [Vim][Vim] - [Visual Studio Code][VisualStudioCode]† - [jEdit][jEdit] ۞ يدعم التنسيق الآلي ## التنسيق **ملاحظة:** GitHub و الملحقات المذكورة أعلاه تضمن تلقائيًّا استخدام التنسيق الصحيح. - استخدام علامة الجدولة للإزاحة أوّل السطر. - تعيين طول علامة الجدولة بثمان مسافات. - حذف المسافات اللاحقة للنصوص في السطر ## المطلوب التحقّق منه التباينات بين المسوحات الضوئية و الكود المصدر في هذا المستودع، بما في ذلك: ### التعليقات يجب أن تتطابق التعليقات في الكود المنسوخ مع ما في المسوحات حرفيًّا من الجوانب التي ينبغي تحرّيها عند المراجعة: #### الأخطاء الطباعية في بعض المواضع وقع مطوّرو البرمجية في أخطاء طباعية أثناء إدخال نصوص التعليقات، و قد تم تصويب بعض تلك الأخطاء من باب الخطأ في أثناء إنجاز الرقمنة ابتداءً، كما طرأت أخطاء أثناء الرقمنة لم توجد في الأصل. على سبيل المثال، إذا تضمّنت التعليقات في الكود في المستودع كلمة `SPACECRAFT` بينما وجدت في الموضع المقابل في المسوحات الضوئية `SPAECRAFT` فيجب تصويب النص إلى `SPAECRAFT` بإغفال حرف `C` كذلك إذا وُجد في كلمة في الكود المٌرقمَن خطأ طباعي غير موجود في المسوحات الضوئية فيجب تصويبه. #### المسافات يجب أن تُطابِق المسافات بين الأحرف في الكود المُرقمَن نظيراتها في المسوحات الضوئية، و ذلك يكون على النحو التالي في أغلب الحالات (طالعوا النقاش في [#316][10]): - مسافة واحدة بين الكلمات - مسافتين بين العبارات - ثلاث مسافات لإزاحة أوّل السطر - لكن الصفحات في المسوحات الضوئية لا تتبع كلّها تلك القواعد، و عند التباين يجب اتّباع ما في المسوحات الضوئية. ### السطور - السطور التي *تحوي* `R0000` في العمود 1 يجب أن تطابق الممسوحات حرفيًّا. - السطور التي __لا__ *تحوي* `R0000` في العمود 1 يجب أن يسبقها سطر فارغ واحد أو اثنين متتاليين. - إذا وُجد أكثر من سطرين فارغين متتاليين يجب حذف الزائد منها. - لا تؤخذ الأسطر التي تحوي `R0000` في العمود 1 في الحسبان. - في المصدر، أنشئت تلك الفواصل بوضع رقم غير مطبوع في العمود 8. فوجود الرقم 2 في ذلك الموضع أوجد فراغًا مزدوجًا (سطر فارغ واحد) و وجود الرقم 3 أوجد فراغًا ثلاثيًّا (سطرين فارغين). القيم 4-8 كانت مُعرَّفة لكنها لم تستخدم قط. المزيد عن هذا في [#159][7] على سبيل المثال:
```plain R0819 SUBROUTINE TO SKIP... R0820 0821 LAMPTEST CS IMODES33 ```
يُصوّب إلى:
```plain R0819 SUBROUTINE TO SKIP... R0820 0820 LAMPTEST CS IMODES33 ```
## ملاحظة قبل وضع طلب الدمج، يُرجى التأكد من اتفاق تحريراتكم مع المسوحات!
[0]:https://github.com/chrislgarry/Apollo-11/pull/new/master [1]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [2]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [6]:https://github.com/wopian/agc-assembly#user-settings [7]:https://github.com/chrislgarry/Apollo-11/issues/159 [8]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [9]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [10]:https://github.com/chrislgarry/Apollo-11/pull/316#pullrequestreview-102892741 [Atom]:https://github.com/Alhadis/language-agc [CodeBlocks]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/CodeBlocks [Eclipse]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Eclipse [Kate]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Kate [ProgrammersNotepad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/ProgrammersNotepad [Sublime Text]:https://github.com/jimlawton/AGC-Assembly [TextPad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/TextPad [Vim]:https://github.com/wsdjeg/vim-assembly [VisualStudioCode]:https://github.com/wopian/agc-assembly [jEdit]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/jEdit ================================================ FILE: Translations/CONTRIBUTING.az.md ================================================ # Töhfə 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA]، [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdi][KU], [Kurdî][KU], [Lietuvių][LT], [Mongolia][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Українська][UK]، [العربية][AR], [हिन्दी][HI_IN], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:CONTRIBUTING.ar.md [AZ]:CONTRIBUTING.az.md [CA]:CONTRIBUTING.ca.md [CZ]:CONTRIBUTING.cz.md [DA]:CONTRIBUTING.da.md [DE]:CONTRIBUTING.de.md [EN]:../CONTRIBUTING.md [ES]:CONTRIBUTING.es.md [FR]:CONTRIBUTING.fr.md [GL]:CONTRIBUTING.gl.md [GR]:CONTRIBUTING.gr.md [HI_IN]:CONTRIBUTING.hi_in.md [ID]:CONTRIBUTING.id.md [IT]:CONTRIBUTING.it.md [JA]:CONTRIBUTING.ja.md [KO_KR]:CONTRIBUTING.ko_kr.md [KU]:CONTRIBUTING.ku.md [LT]:CONTRIBUTING.lt.md [MN]:CONTRIBUTING.mn.md [NL]:CONTRIBUTING.nl.md [NO]:CONTRIBUTING.no.md [PL]:CONTRIBUTING.pl.md [PT_BR]:CONTRIBUTING.pt_br.md [SV]:CONTRIBUTING.sv.md [TR]:CONTRIBUTING.tr.md [UK]:CONTRIBUTING.uk.md [VI]:CONTRIBUTING.vi.md [ZH_CN]:CONTRIBUTING.zh_cn.md [ZH_TW]:CONTRIBUTING.zh_tw.md Bu repodakı mənbə kodu kağız çıxışlarından əl ilə rəqəmsallaşdırılıb. Belə ki, yanlışlıqla hərf səhvləri və digər uyğunsuzluqlar edilib. Kod aşağıdakı skan edilmiş çıxışa uyğun olmaq üçün redaktə edilməlidir: - [AGC printouts for Comanche][8] - [AGC printouts for Luminary][9] The following website can be used to easily navigate around the scanned printouts for both Comanche and Luminary: https://28gpc.csb.app/ ## Faydalı Pluginlər GitHub, AGC assembly dili için sentaks desteği sağlıyor ama sizin kodu düzenlemek için kullandığınız editör sağlamayacaktır. Aşağıdaki editörler AGC dili sentaks vurgulaması için eklentiler sunmaktadır: GitHub, AGC assembly dilinin sintaksını dəstəkləyir amma sizin kodu redaktə etmək üçün istifadə edəcəyiniz IDE dəstəkləməyəcək. Aşağıdakı IDE-lər AGC dili üçün sintaks dəstəyi təqdim etməkdədir. - [Atom][Atom]† - [CodeBlocks][CodeBlocks] - [Eclipse][Eclipse] - [Kate][Kate] - [ProgrammersNotepad][ProgrammersNotepad] - [Sublime Text 3][Sublime Text]† - [TextPad][TextPad] - [Vim][Vim] - [Visual Studio Code][VisualStudioCode]† - [jEdit][jEdit] † Avtomatik formatlaşdırmanı dəstəkləyirlər [Atom]:https://github.com/Alhadis/language-agc [CodeBlocks]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/CodeBlocks [Eclipse]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Eclipse [Kate]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Kate [ProgrammersNotepad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/ProgrammersNotepad [Sublime Text]:https://github.com/jimlawton/AGC-Assembly [TextPad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/TextPad [Vim]:https://github.com/wsdjeg/vim-assembly [VisualStudioCode]:https://github.com/wopian/agc-assembly [jEdit]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/jEdit ## Formatlaşdırma **Not:** GitHub və yuxarıdakı 3 plagin avtomatik olaraq düzgün formatlaşdırmadan istifadə etməyə imkan verəcək. - Girintiləməni TAB ilə buraxın. - 8 TAB genişliyi istifadə edin. - Davamındakı boşluqları silin. ## Nəyi kontrol edim? Skan edilmiş çıxışlar və bu repodakı mənbə kodu arasında hər hansı uyğunsuzluq. ### Şərhlər Uyğunlaşdırılmış koddakı şərh sətirləri çıxışlarla **dəqiq** **uyğunlaşmalıdır**. Düzəltmək üçün axtarmaq lazım olan bəzi əsas problemlər bunlardır: #### Yazım Xətaları Bəzi yerlərdə orijinal tərtibatçılar şərhləri yazarkən hərf səhvlərinə yol verdiblər. Bunlardan bəziləri rəqəmsallaşdırma prosesinin əvvəlində səhvən düzəldildi, lakin rəqəmsallaşdırma prosesi skan edilmiş çıxışda olmayan yeni yazı xətaları da yol açdı. Məsələn, rəqəmsal şərhlərdə `SPACECRAFT` sözü varsa, lakin skan edilmiş çaplarda `SPAECRAFT` oxunursa, rəqəmsal şərh `SPAECRAFT` olaraq **düzəldilməlidir** (`C` yoxdur). Eyni şəkildə, rəqəmsal şərhlərdə yazı xətası varsa, lakin skan edilmiş çaplar düzgün yazılıbsa, yazı xətası **düzəldilməlidir**. ### Boşluqlar Şərhlər arasındakı iki simvol arasındakı boşluqlar skan edilmiş çıxışa **uyğun** olmalıdır. Əksər hallarda ([#316][10]-da müzakirəyə baxın) boşluqlar aşağıdakılardır: - Yeni sözlər arasında tək boşluq. - Yeni cümlələr arasında iki boşluq. - Yeni girintilər üçün üç boşluq. Skan edilmiş çaplardakı bütün səhifələr bu ümumiləşdirmələrə uyğun gəlmir. Çıxışda iki boşluq əvəzinə boşluq varsa, bir boşluqdan istifadə edin. ### Sətir sonları - İlk sütunu "R0000" *ilə* bitən sətir sonları çıxışa tam uyğun gəlməlidir. - Birinci sütunda `R0000` *__olmadan__* ilə bitən sətir sonunda yalnız 1 və ya 2 boş sətir olmalıdır. - Əgər 2-dən çox sətir sonu varsa artıq olanları silin. - Birinci sütunu `R0000` *ilə* bitən sətirlər bu qanun daxilində deyillər. - Mənbə şəkillərində onlar 8-ci sətirdə basdırılmamış rəqəmlə yaradılmışdır. 2 iki boşluğu (bir boş sətir), 3 isə üç boşluğu (iki boş sətir) təmsil edir. 4 və 8 müəyyən edilmişdir, lakin heç vaxt istifadə edilməmişdir. Bu barədə daha çox oxumaq üçün: [#159][7] Məsələn bu: ```plain R0819 SUBROUTINE TO SKIP... R0820 0821 LAMPTEST CS IMODES33 ``` Buna çevrilməlidir: ```plain R0819 SUBROUTINE TO SKIP... R0820 0820 LAMPTEST CS IMODES33 ``` ## Not PR-dən əvvəl, zəhmət olmasa, dəyişikliklərinizin nəticələrə uyğun olduğundan əmin olun! [0]:https://github.com/chrislgarry/Apollo-11/pull/new/master [1]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [2]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [6]:https://github.com/wopian/agc-assembly#user-settings [7]:https://github.com/chrislgarry/Apollo-11/issues/159 [8]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [9]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [10]:https://github.com/chrislgarry/Apollo-11/pull/316#pullrequestreview-102892741 ================================================ FILE: Translations/CONTRIBUTING.ca.md ================================================ # Contributing 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA]، [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdi][KU], [Kurdî][KU], [Lietuvių][LT], [Mongolia][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Українська][UK]، [العربية][AR], [हिन्दी][HI_IN], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:CONTRIBUTING.ar.md [AZ]:CONTRIBUTING.az.md [CA]:CONTRIBUTING.ca.md [CZ]:CONTRIBUTING.cz.md [DA]:CONTRIBUTING.da.md [DE]:CONTRIBUTING.de.md [EN]:../CONTRIBUTING.md [ES]:CONTRIBUTING.es.md [FR]:CONTRIBUTING.fr.md [GL]:CONTRIBUTING.gl.md [GR]:CONTRIBUTING.gr.md [HI_IN]:CONTRIBUTING.hi_in.md [ID]:CONTRIBUTING.id.md [IT]:CONTRIBUTING.it.md [JA]:CONTRIBUTING.ja.md [KO_KR]:CONTRIBUTING.ko_kr.md [KU]:CONTRIBUTING.ku.md [LT]:CONTRIBUTING.lt.md [MN]:CONTRIBUTING.mn.md [NL]:CONTRIBUTING.nl.md [NO]:CONTRIBUTING.no.md [PL]:CONTRIBUTING.pl.md [PT_BR]:CONTRIBUTING.pt_br.md [SV]:CONTRIBUTING.sv.md [TR]:CONTRIBUTING.tr.md [UK]:CONTRIBUTING.uk.md [VI]:CONTRIBUTING.vi.md [ZH_CN]:CONTRIBUTING.zh_cn.md [ZH_TW]:CONTRIBUTING.zh_tw.md El codi font en aquest repositori es va digitalitzar manualment a partir d'impressions en paper, d'aquesta manera els errors tipogràfics i altres discrepàncies s'han introduït accidentalment. El codi es modificarà perquè sigui coherent amb les impressions escanejades: - [AGC impressions per a Comanche][8] - [AGC impressions per a Luminary][9] El següent lloc web es pot utilitzar per navegar fàcilment per les impressions escanejades tant per a Comanche com per a Luminary: https://28gpc.csb.app/ ## Extensions Útils GitHub té suport de sintaxi pel llenguatge assemblador AGC incorporat. Malauradament, el seu editor de codi no ho farà, no obstant això, hi ha extensions de llenguatge AGC que proporcionen ressaltat de sintaxi pels següents editors: - [Atom][Atom]† - [CodeBlocks][CodeBlocks] - [Eclipse][Eclipse] - [Kate][Kate] - [ProgrammersNotepad][ProgrammersNotepad] - [Sublime Text 3][Sublime Text]† - [TextPad][TextPad] - [Vim][Vim] - [Visual Studio Code][VisualStudioCode]† - [jEdit][jEdit] † Admet formateig automàtic [Atom]:https://github.com/Alhadis/language-agc [CodeBlocks]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/CodeBlocks [Eclipse]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Eclipse [Kate]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Kate [ProgrammersNotepad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/ProgrammersNotepad [Sublime Text]:https://github.com/jimlawton/AGC-Assembly [TextPad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/TextPad [Vim]:https://github.com/wsdjeg/vim-assembly [VisualStudioCode]:https://github.com/wopian/agc-assembly [jEdit]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/jEdit ## Formateig **Nota:** GitHub i les extensions marcades anteriorment asseguren que s'està utilitzant el format correcte automàticament. - Utilitzar la tabulació per la indentació - Utilitza una tabulació de 8 - Retalla espais en blanc al final ## ¿Que verifico? Qualsevol discrepància entre els escanejos i el codi font d'aquest repositori, incloent-hi: ### Comentaris Els comentaris en el codi transcrit **han de coincidir exactament** amb els escanejos Això podria implicar crear un error tipogràfic deliberat o eliminat/ agregar un comentari complet. Els problemes més habituals que heu de tindre en compte durant la prova inclouen, entre d'altres: ### Salts de línia - Salt de línia *with* `R0000` en la columna 1 ha de coincidir exactament amb els escanejos. - Salt de línia *with**__out__* `R0000` en la columna 1 hauria de contenir sols 1 o 2 línies en blanc en una fila. - Si hi ha més de 2 salts de línia en blanc, elimina els salts de línia addicionals. - Línies amb `R0000` en la columna 1 no conten per això. - En les imatges d'origen, aquestes van ser creades per un dígit sense imprimir en la columna 8. A 2 va forçar un doble espai (línia amb blanc simple) i un 3 va forçar un espai triple (línia en blanc doble). Els valors 4-8 es van diferenciar però mai es van utilitzar. Llegeix més sobre això a [#159][7] Per exemple el següent: ```plain R0819 SUBROUTINE TO SKIP... R0820 0821 LAMPTEST CS IMODES33 ``` S'ha de convertir en: ```plain R0819 SUBROUTINE TO SKIP... R0820 0820 LAMPTEST CS IMODES33 ``` ### Espais - Els espais entre dos caràcters en la cadena han de respectar la següent convenció (observa la discussió a [#316][10]): - Espai únic per noves paraules. - Doble espai per noves oracions. - Triple espai per esquerdes. Per exemple el següent: ```plain 1) FOO BAR BAZ QUX QUUX QUUZ. CORGE, GRAULT, GARPLY, WALDO. ``` S'ha de convertir en: ```plain 1) FOO BAR BAZ QUX QUUX QUUZ. CORGE, GRAULT, GARPLY, WALDO. ``` ## Nota Abans de fer una RP, ¡assegurat que els seus canvis siguin consistents amb els escenaris! [0]:https://github.com/chrislgarry/Apollo-11/pull/new/master [1]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [2]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [6]:https://github.com/wopian/agc-assembly#user-settings [7]:https://github.com/chrislgarry/Apollo-11/issues/159 [8]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [9]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [10]:https://github.com/chrislgarry/Apollo-11/pull/316#pullrequestreview-102892741 ================================================ FILE: Translations/CONTRIBUTING.cz.md ================================================ # Contributing 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA]، [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdi][KU], [Kurdî][KU], [Lietuvių][LT], [Mongolia][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Українська][UK]، [العربية][AR], [हिन्दी][HI_IN], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:CONTRIBUTING.ar.md [AZ]:CONTRIBUTING.az.md [CA]:CONTRIBUTING.ca.md [CZ]:CONTRIBUTING.cz.md [DA]:CONTRIBUTING.da.md [DE]:CONTRIBUTING.de.md [EN]:../CONTRIBUTING.md [ES]:CONTRIBUTING.es.md [FR]:CONTRIBUTING.fr.md [GL]:CONTRIBUTING.gl.md [GR]:CONTRIBUTING.gr.md [HI_IN]:CONTRIBUTING.hi_in.md [ID]:CONTRIBUTING.id.md [IT]:CONTRIBUTING.it.md [JA]:CONTRIBUTING.ja.md [KO_KR]:CONTRIBUTING.ko_kr.md [KU]:CONTRIBUTING.ku.md [LT]:CONTRIBUTING.lt.md [MN]:CONTRIBUTING.mn.md [NL]:CONTRIBUTING.nl.md [NO]:CONTRIBUTING.no.md [PL]:CONTRIBUTING.pl.md [PT_BR]:CONTRIBUTING.pt_br.md [SV]:CONTRIBUTING.sv.md [TR]:CONTRIBUTING.tr.md [UK]:CONTRIBUTING.uk.md [VI]:CONTRIBUTING.vi.md [ZH_CN]:CONTRIBUTING.zh_cn.md [ZH_TW]:CONTRIBUTING.zh_tw.md Zdrojové kódy v tomto repozitáři byly manuálně digitalizovány z papírových zdrojových materiálů, mohou se v nich tedy vyskytovat chyby a překlepy. Kód by měl být modifikován tak, aby byl konzistentní se zdrojovým skenem: - [AGC printouts for Comanche][8] - [AGC printouts for Luminary][9] Pro snadnou navigaci mezi naskenovanými výtisky pro Comanche i Luminary lze použít následující web: https://28gpc.csb.app/ ## Užitečná rozšíření GitHub podporuje syntaxi AGC assembly jazyka. Váš editor pravděpodobně podporu mít nebude, proto zde poskytujeme seznam rozšíření na zvýraznění syntaxe jazyka AGC pro následující editory: - [Atom][Atom]† - [CodeBlocks][CodeBlocks] - [Eclipse][Eclipse] - [Kate][Kate] - [ProgrammersNotepad][ProgrammersNotepad] - [Sublime Text 3][Sublime Text]† - [TextPad][TextPad] - [Vim][Vim] - [Visual Studio Code][VisualStudioCode]† - [jEdit][jEdit] † Podporuje automatické formátování [Atom]:https://github.com/Alhadis/language-agc [CodeBlocks]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/CodeBlocks [Eclipse]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Eclipse [Kate]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Kate [ProgrammersNotepad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/ProgrammersNotepad [Sublime Text]:https://github.com/jimlawton/AGC-Assembly [TextPad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/TextPad [Vim]:https://github.com/wsdjeg/vim-assembly [VisualStudioCode]:https://github.com/wopian/agc-assembly [jEdit]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/jEdit ## Formátování **Poznámka:** GitHub a výše uvedená rozšíření zajistí automatické použití správného formátování. - Odsazení s použitím tabů - Šířka tabu je 8 - Nezanechávat bílé znaky (whitespace) na konci řádků ## Co mám kontrolovat? Jakékoliv rozdíly mezi skeny a zdrojovým kódem v tomto repozitáři, včetně: ### Komentářů - Komentáře v přepsaném kódu by měly přesně odpovídat skenům - Toto může zahrnovat doslovné kopírování překlepů či přidávání/odebírání celých komentářů ### Zalomení řádků - Zalomení řádků *obsahujících* `R0000` ve sloupci 1 by měly přesně odpovídat skenům. - Zalomení řádků *__bez__* `R0000` ve sloupci 1 by měly obsahovat jen 1 až 2 prázdné řádky v řadě - Pokud obsahují více než dva prázdné řádky, přebytečné odstraňte. - Řádky obsahující `R0000` v prvním sloupci se do tohoto nepočítají. - Vznikly díky nevytištěnému číslu ve sloupci 8 zdrojových dokumentů. Číslo 2 způsobilo vypsání dvojité mezery (jeden prázdný řádek) a číslo 3 trojité mezery (dva prázdné řádky). Hodnoty 4-8 byly definovány, ale nebyly použity. Více v [#159][7] Napříkald následující kód: ```plain R0819 SUBROUTINE TO SKIP... R0820 0821 LAMPTEST CS IMODES33 ``` By měl být změněn na: ```plain R0819 SUBROUTINE TO SKIP... R0820 0820 LAMPTEST CS IMODES33 ``` ### Mezery - Mezery mezi dvěma znaky v řetězci by měly respektovat tyto konvence (viz diskuze v [#316][10]): - Jedna mezera pro nová slova. - Dvě mezery pro nové věty. - Tři mezery pro odsazení. Například následující kód: ```plain 1) FOO BAR BAZ QUX QUUX QUUZ. CORGE, GRAULT, GARPLY, WALDO. ``` By měl být změněn na: ```plain 1) FOO BAR BAZ QUX QUUX QUUZ. CORGE, GRAULT, GARPLY, WALDO. ``` ## Poznámka Než otevřete PR, ujistěte se že vaše změny jsou konzistentní se skeny! [0]:https://github.com/chrislgarry/Apollo-11/pull/new/master [1]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [2]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [6]:https://github.com/wopian/agc-assembly#user-settings [7]:https://github.com/chrislgarry/Apollo-11/issues/159 [8]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [9]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [10]:https://github.com/chrislgarry/Apollo-11/pull/316#pullrequestreview-102892741 ================================================ FILE: Translations/CONTRIBUTING.da.md ================================================ # Bidrag 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA]، [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdi][KU], [Kurdî][KU], [Lietuvių][LT], [Mongolia][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Українська][UK]، [العربية][AR], [हिन्दी][HI_IN], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:CONTRIBUTING.ar.md [AZ]:CONTRIBUTING.az.md [CA]:CONTRIBUTING.ca.md [CZ]:CONTRIBUTING.cz.md [DA]:CONTRIBUTING.da.md [DE]:CONTRIBUTING.de.md [EN]:../CONTRIBUTING.md [ES]:CONTRIBUTING.es.md [FR]:CONTRIBUTING.fr.md [GL]:CONTRIBUTING.gl.md [GR]:CONTRIBUTING.gr.md [HI_IN]:CONTRIBUTING.hi_in.md [ID]:CONTRIBUTING.id.md [IT]:CONTRIBUTING.it.md [JA]:CONTRIBUTING.ja.md [KO_KR]:CONTRIBUTING.ko_kr.md [KU]:CONTRIBUTING.ku.md [LT]:CONTRIBUTING.lt.md [MN]:CONTRIBUTING.mn.md [NL]:CONTRIBUTING.nl.md [NO]:CONTRIBUTING.no.md [PL]:CONTRIBUTING.pl.md [PT_BR]:CONTRIBUTING.pt_br.md [SV]:CONTRIBUTING.sv.md [TR]:CONTRIBUTING.tr.md [UK]:CONTRIBUTING.uk.md [VI]:CONTRIBUTING.vi.md [ZH_CN]:CONTRIBUTING.zh_cn.md [ZH_TW]:CONTRIBUTING.zh_tw.md Kildekoden i dette «repository» er digitaliseret manuelt fra papirudskrifter, så skrivefejl og andre afvigelser kan være blevet introduceret. Koden skal modificeres så det er konsistent med følgende indskannede udskrifter: - [AGC udskrift for Comanche][8] - [AGC udskrift for Luminary][9] Følgende hjemmeside kan bruges til nemt at navigere rundt i de scannede udskrifter for både Comanche og Luminary: https://28gpc.csb.app/ ## Brugbare udvidelser GitHub har indbygget syntaks understøttelse for AGC assembler sprog. De fleste kodeeditorer har ikke, men der findes AGC sprog udvidelser som giver syntaks fremhævelse for følgende editorer: - [Atom][Atom]† - [CodeBlocks][CodeBlocks] - [Eclipse][Eclipse] - [Kate][Kate] - [ProgrammersNotepad][ProgrammersNotepad] - [Sublime Text 3][Sublime Text]† - [TextPad][TextPad] - [Vim][Vim] - [Visual Studio Code][VisualStudioCode]† - [jEdit][jEdit] † Supportere automatisk formattering [Atom]:https://github.com/Alhadis/language-agc [CodeBlocks]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/CodeBlocks [Eclipse]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Eclipse [Kate]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Kate [ProgrammersNotepad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/ProgrammersNotepad [Sublime Text]:https://github.com/jimlawton/AGC-Assembly [TextPad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/TextPad [Vim]:https://github.com/wsdjeg/vim-assembly [VisualStudioCode]:https://github.com/wopian/agc-assembly [jEdit]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/jEdit ## Formattering **Note:** GitHub og udvidelser markeret ovenfor vil sikre at du bruger den rigtige formattering automatisk. - Brug tab indrykning - Brug tab bredde svarende til 8 mellemrum - Fjern mellemrum, tab og andre tegn der ikke er synlig fra slutningen af linien ## Hvad skal jeg kontrollere? Alle forskelle mellem det indskannede og kildekoden i «repositoriet». ### Kommentarer Kommentarer i den transskiberede kildekode **skal** matche det indskannede **fuldstændigt**. Ofte forekomne forskelle som du skal kigge efter indeholder, men er ikke begrænset til: #### Typografiske fejl Nogle steder har de oprindelige udviklere lavet typegrafiske fejl da de skrev kommentarer. Nogle af disse blev fejlagtigt rettet under den oprindelige digitalisering, men selve digitaliseringen har også introduceret typografiske fejl, som ikke var til stede i indskanningerne. For eksempel, hvis de digitaliserede kommentarer indeholdt `SPACECRAFT`, men der stod `SPAECRAFT` i det indskannede, så **SKAL** det rettes til `SPAECRAFT` (mangler `C`). På samme måde, hvis et ord har en stavefejl i digitaliseringen, men er stavet korrekt i det indskannede, så **SKAL** stavefejlen rettes. #### Mellemrum Mellemrum mellem to tegn i kommentarer **BØR** matche det indskannede. I de fleste tilfælde (se diskussionen i [#316][10]) gælder følgende: - Enkel mellemrum ved nyt ord. - Dobbel mellemrum for en ny sætning. - Trippel mellemrum for indrykning. Ikke alle sider in det indskannede følger denne generalisering. Hvis det indskannede kun bruger et enkelt mellemrum i stedet for dobbel mellemrum, brug et enkelt mellemrum. ### Linie skift - Linie skift *med* `R0000` i kolonne 1 bør matche det indskannede præcist. - Linie skift *uden* `R0000` i kolonne 1 bør kun indeholde 1 eller 2 blanke linier i træk. - Hvis der er mere end 2 blank linie skift, fjern de ekstra linie skift. - Linier med `R0000` i kolonne 1 skal ikke tælles med. - I originalen, dette blev skabt af en tegn i kolonne 8, som ikke blev skrevet ud. Stod der et 2-tal blev det til et dobbel mellemrum (enkel blank linie) og et 3-tal blive til trippel mellemrum (dobbel blank linie). Værdierne 4-8 var defineret, men blev aldrig brugt. Læs mere om det i [#159][7] For eksempel skal følgende koden: ```plain R0819 SUBROUTINE TO SKIP... R0820 0821 LAMPTEST CS IMODES33 ``` Se således ud: ```plain R0819 SUBROUTINE TO SKIP... R0820 0820 LAMPTEST CS IMODES33 ``` ## Note Før du laver en PR, sørg venligst for at dine ændringer er konsistente med det indskannede! [0]:https://github.com/chrislgarry/Apollo-11/pull/new/master [1]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [2]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [6]:https://github.com/wopian/agc-assembly#user-settings [7]:https://github.com/chrislgarry/Apollo-11/issues/159 [8]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [9]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [10]:https://github.com/chrislgarry/Apollo-11/pull/316#pullrequestreview-102892741 ================================================ FILE: Translations/CONTRIBUTING.de.md ================================================ # Contributing 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA]، [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdi][KU], [Kurdî][KU], [Lietuvių][LT], [Mongolia][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Українська][UK]، [العربية][AR], [हिन्दी][HI_IN], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:CONTRIBUTING.ar.md [AZ]:CONTRIBUTING.az.md [CA]:CONTRIBUTING.ca.md [CZ]:CONTRIBUTING.cz.md [DA]:CONTRIBUTING.da.md [DE]:CONTRIBUTING.de.md [EN]:../CONTRIBUTING.md [ES]:CONTRIBUTING.es.md [FR]:CONTRIBUTING.fr.md [GL]:CONTRIBUTING.gl.md [GR]:CONTRIBUTING.gr.md [HI_IN]:CONTRIBUTING.hi_in.md [ID]:CONTRIBUTING.id.md [IT]:CONTRIBUTING.it.md [JA]:CONTRIBUTING.ja.md [KO_KR]:CONTRIBUTING.ko_kr.md [KU]:CONTRIBUTING.ku.md [LT]:CONTRIBUTING.lt.md [MN]:CONTRIBUTING.mn.md [NL]:CONTRIBUTING.nl.md [NO]:CONTRIBUTING.no.md [PL]:CONTRIBUTING.pl.md [PT_BR]:CONTRIBUTING.pt_br.md [SV]:CONTRIBUTING.sv.md [TR]:CONTRIBUTING.tr.md [UK]:CONTRIBUTING.uk.md [VI]:CONTRIBUTING.vi.md [ZH_CN]:CONTRIBUTING.zh_cn.md [ZH_TW]:CONTRIBUTING.zh_tw.md Der Quellcode in diesem Repository wurde manuell digitalisiert, also sind jegliche Tippfehler und Diskrepanzen unabsichtlich eingeführt worden. Der Code soll so angepasst werden, dass er mit den folgenden eingescannten Ausdrucken übereinstimmt: - [AGC printouts for Comanche][8] - [AGC printouts for Luminary][9] Auf der folgenden Website können Sie problemlos in den gescannten Ausdrucken für Comanche und Luminary navigieren: https://28gpc.csb.app/ ## Nützliche Erweiterungen GitHub verfügt über eine integrierte Syntax-Unterstützung für die AGC Assembly Sprache. Das gilt leider nicht für deinen Code Editor. Für die folgenden Editoren gibt es aber AGC-Spracherweiterungen, die Syntaxhervorhebung hinzufügen: - [Atom][Atom]† - [CodeBlocks][CodeBlocks] - [Eclipse][Eclipse] - [Kate][Kate] - [ProgrammersNotepad][ProgrammersNotepad] - [Sublime Text 3][Sublime Text]† - [TextPad][TextPad] - [Vim][Vim] - [Visual Studio Code][VisualStudioCode]† - [jEdit][jEdit] † Unterstützt automatische Formatierung [Atom]:https://github.com/Alhadis/language-agc [CodeBlocks]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/CodeBlocks [Eclipse]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Eclipse [Kate]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Kate [ProgrammersNotepad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/ProgrammersNotepad [Sublime Text]:https://github.com/jimlawton/AGC-Assembly [TextPad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/TextPad [Vim]:https://github.com/wsdjeg/vim-assembly [VisualStudioCode]:https://github.com/wopian/agc-assembly [jEdit]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/jEdit ## Formatierung **Anmerkung:** GitHub und die oben erwähnten Erweiterungen werden automatisch sicherstellen, dass du die korrekte Formatierung einhältst. - Verwende Tab-Einrückung - Verwende Tab-Breite von 8 - Entferne Leerzeichen am Ende einer Zeile ## Was soll ich überprüfen? Alle Diskrepanzen zwischen den Scans und dem Quelltext in diesem Repository. ### Kommentare Kommentare in dem transkribierten Quellcode **MÜSSEN** denen in den Scans **genau** entsprechen. Häufige Fehler, auf die du dich unter anderem beim Korrekturlesen achten solltest sind folgende (nicht abschließend): #### Typographische Fehler An einigen Stellen haben die ursprünglichen Entwickler typographische Fehler beim Schreiben von Kommentaren gemacht. Manche von diesen wurden fälschlicherweise bei der ursprünglichen Digitalisierung korrigiert, die Digitalisierung hat jedoch auch typografische Fehler eingeführt die nicht in den Scans vorhanden sind. Wenn die digitalisierten Kommentare zum Beispiel `SPACECRAFT` enthielten aber `SPAECRAFT` in den Scans stand, dann **MUSS** die Digitalisierung zu `SPAECRAFT` korrigiert werden (fehlendes `C`). Gleichermaßen gilt, dass wenn ein Wort einen Tippfehler in der Digitalisierung aufweist aber in den Scans korrekt geschrieben wurde der Tippfehler korrigiert werden **MUSS**. #### Leerzeichen Leerzeichen zwischen zwei Zeichen in Kommentaren **SOLLTEN** den Scans angeglichen werden. In den meisten Fällen (siehe die Diskussion in [#316][10]) sind es: - Einzelne Leerzeichen für neue Wörter. - Doppelte Leerzeichen für neue Sätze. - Dreifache Leerzeichen für Einrückungen. Nicht alle Seiten in den Scans befolgen diese Verallgemeinerung, wenn es in den Scans nur ein einzelnes Leerzeichen gibt statt einem doppelten Leerzeichen, verwende ein einzelnes Leerzeichen. ### Zeilenumbrüche - Zeilenumbrüche *mit* `R0000` in Spalte 1 sollten genau mit den Scans übereinstimmen - Zeilenumbrüche *__ohne__* `R0000` in Spalte 1 sollten nur 1 bis 2 Leerzeilen hintereinander haben - Wenn es mehr als 2 Leerzeilen gibt, entferne die zusätzlichen Zeilenumbrüche. - Zeilen mit `R0000` in Spalte 1 werden dabei nicht dazugezählt. - In den Originalbildern wurden diese durch eine nicht gedruckte Ziffer in Spalte 8 verursacht. Eine 2 an dieser Stelle erzwang ein doppeltes Leerzeichen (einzelne Leerzeile) und eine 3 erzwang ein dreifaches Leerzeichen (doppelte Leerzeile). Die Werte zwischen 4 und 8 waren definiert, wurden aber nie verwendet. Mehr dazu in [#159][7] Zum Beispiel, das folgende: ```plain R0819 SUBROUTINE TO SKIP... R0820 0821 LAMPTEST CS IMODES33 ``` Sollte werden zu: ```plain R0819 SUBROUTINE TO SKIP... R0820 0820 LAMPTEST CS IMODES33 ``` ## Anmerkung Bevor du einen PR erstellst, stelle bitte sicher, dass deine Änderungen mit den Scans übereinstimmen! [0]:https://github.com/chrislgarry/Apollo-11/pull/new/master [1]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [2]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [6]:https://github.com/wopian/agc-assembly#user-settings [7]:https://github.com/chrislgarry/Apollo-11/issues/159 [8]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [9]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [10]:https://github.com/chrislgarry/Apollo-11/pull/316#pullrequestreview-102892741 ================================================ FILE: Translations/CONTRIBUTING.es.md ================================================ # Contributing 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA]، [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdi][KU], [Kurdî][KU], [Lietuvių][LT], [Mongolia][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Українська][UK]، [العربية][AR], [हिन्दी][HI_IN], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:CONTRIBUTING.ar.md [AZ]:CONTRIBUTING.az.md [CA]:CONTRIBUTING.ca.md [CZ]:CONTRIBUTING.cz.md [DA]:CONTRIBUTING.da.md [DE]:CONTRIBUTING.de.md [EN]:../CONTRIBUTING.md [ES]:CONTRIBUTING.es.md [FR]:CONTRIBUTING.fr.md [GL]:CONTRIBUTING.gl.md [GR]:CONTRIBUTING.gr.md [HI_IN]:CONTRIBUTING.hi_in.md [ID]:CONTRIBUTING.id.md [IT]:CONTRIBUTING.it.md [JA]:CONTRIBUTING.ja.md [KO_KR]:CONTRIBUTING.ko_kr.md [KU]:CONTRIBUTING.ku.md [LT]:CONTRIBUTING.lt.md [MN]:CONTRIBUTING.mn.md [NL]:CONTRIBUTING.nl.md [NO]:CONTRIBUTING.no.md [PL]:CONTRIBUTING.pl.md [PT_BR]:CONTRIBUTING.pt_br.md [SV]:CONTRIBUTING.sv.md [TR]:CONTRIBUTING.tr.md [UK]:CONTRIBUTING.uk.md [VI]:CONTRIBUTING.vi.md [ZH_CN]:CONTRIBUTING.zh_cn.md [ZH_TW]:CONTRIBUTING.zh_tw.md El código fuente en este repositorio se digitalizó manualmente a partir de impresiones en papel, por lo que los errores tipográficos y otras discrepancias se han introducido accidentalmente. El código se modificará para que sea coherente con las impresiones escaneadas: - [AGC impresiones para Comanche][8] - [AGC impresiones para Luminary][9] Se puede utilizar el siguiente sitio web para navegar fácilmente por las impresiones escaneadas de Comanche y Luminary: https://28gpc.csb.app/ ## Extensiones Útiles GitHub tiene soporte de sintaxis para el lenguaje ensamblador AGC incorporado. Lamentablemente, su editor de código no lo hará, sin embargo, hay extensiones de lenguaje AGC que proporcionan resaltado de sintaxis para los siguientes editores: - [Atom][Atom]† - [CodeBlocks][CodeBlocks] - [Eclipse][Eclipse] - [Kate][Kate] - [ProgrammersNotepad][ProgrammersNotepad] - [Sublime Text 3][Sublime Text]† - [TextPad][TextPad] - [Vim][Vim] - [Visual Studio Code][VisualStudioCode]† - [jEdit][jEdit] † Admite formateo automático [Atom]:https://github.com/Alhadis/language-agc [CodeBlocks]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/CodeBlocks [Eclipse]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Eclipse [Kate]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Kate [ProgrammersNotepad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/ProgrammersNotepad [Sublime Text]:https://github.com/jimlawton/AGC-Assembly [TextPad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/TextPad [Vim]:https://github.com/wsdjeg/vim-assembly [VisualStudioCode]:https://github.com/wopian/agc-assembly [jEdit]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/jEdit ## Formateo **Nota:** GitHub y las extensiones marcadas anteriormente asegurarán que esté utilizando el formato correcto automáticamente. - Use tabulación tipo sangría - Use un ancho de pestaña de 8 - Recortar espacios en blanco al final ## ¿Qué verifico? Cualquier discrepancia entre los escaneos y el código fuente en este repositorio, incluyendo: ### Comentarios - Los comentarios en el código transcrito deben coincidir exactamente con los escaneos - Esto podría implicar crear un error tipográfico deliberado o eliminar / agregar un comentario completo. ### Saltos de línea - Salto de línea *with* `R0000` en la columna 1 debe coincidir exactamente con los escaneos. - Salto de línea *with**__out__* `R0000` en la columna 1 debe contener solo 1 ó 2 líneas en blanco en una fila. - Si hay más de 2 saltos de línea en blanco, elimine los saltos de línea adicionales. - Líneas con `R0000` en la columna 1 no cuentan para esto. - En las imágenes de origen, éstas fueron creadas por un dígito sin imprimir en la columna 8. A 2 forzó un doble espacio (línea en blanco simple) y un 3 forzó un espacio triple (línea en blanco doble). Los valores 4-8 se definieron pero nunca se usaron. Lea más sobre esto en [#159][7] Por ejemplo lo siguiente: ```plain R0819 SUBROUTINE TO SKIP... R0820 0821 LAMPTEST CS IMODES33 ``` Debe convertirse: ```plain R0819 SUBROUTINE TO SKIP... R0820 0820 LAMPTEST CS IMODES33 ``` ### Espacios - Los espacios entre dos caracteres en la cadena deben respetar la siguiente convención (vea la discusión en [#316][10]): - Espacio único para nuevas palabras. - Doble espacio para nuevas oraciones. - Triple espacio para hendiduras. Por ejemplo lo siguiente: ```plain 1) FOO BAR BAZ QUX QUUX QUUZ. CORGE, GRAULT, GARPLY, WALDO. ``` Debe convertirse: ```plain 1) FOO BAR BAZ QUX QUUX QUUZ. CORGE, GRAULT, GARPLY, WALDO. ``` ## Nota Antes de hacer un RP, ¡asegúrese de que sus cambios sean consistentes con los escaneos! [0]:https://github.com/chrislgarry/Apollo-11/pull/new/master [1]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [2]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [6]:https://github.com/wopian/agc-assembly#user-settings [7]:https://github.com/chrislgarry/Apollo-11/issues/159 [8]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [9]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [10]:https://github.com/chrislgarry/Apollo-11/pull/316#pullrequestreview-102892741 ================================================ FILE: Translations/CONTRIBUTING.fr.md ================================================ # Contribuer 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA]، [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdi][KU], [Kurdî][KU], [Lietuvių][LT], [Mongolia][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Українська][UK]، [العربية][AR], [हिन्दी][HI_IN], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:CONTRIBUTING.ar.md [AZ]:CONTRIBUTING.az.md [CA]:CONTRIBUTING.ca.md [CZ]:CONTRIBUTING.cz.md [DA]:CONTRIBUTING.da.md [DE]:CONTRIBUTING.de.md [EN]:../CONTRIBUTING.md [ES]:CONTRIBUTING.es.md [FR]:CONTRIBUTING.fr.md [GL]:CONTRIBUTING.gl.md [GR]:CONTRIBUTING.gr.md [HI_IN]:CONTRIBUTING.hi_in.md [ID]:CONTRIBUTING.id.md [IT]:CONTRIBUTING.it.md [JA]:CONTRIBUTING.ja.md [KO_KR]:CONTRIBUTING.ko_kr.md [KU]:CONTRIBUTING.ku.md [LT]:CONTRIBUTING.lt.md [MN]:CONTRIBUTING.mn.md [NL]:CONTRIBUTING.nl.md [NO]:CONTRIBUTING.no.md [PL]:CONTRIBUTING.pl.md [PT_BR]:CONTRIBUTING.pt_br.md [SV]:CONTRIBUTING.sv.md [TR]:CONTRIBUTING.tr.md [UK]:CONTRIBUTING.uk.md [VI]:CONTRIBUTING.vi.md [ZH_CN]:CONTRIBUTING.zh_cn.md [ZH_TW]:CONTRIBUTING.zh_tw.md Le code source de ce dépôt a été numérisé manuellement à partir de papiers imprimés, les fautes de frappe et autres anomalies ont donc été introduites accidentellement. Le code doit être modifié pour être cohérent avec les impressions numérisées suivantes : - [Impressions AGC pour Comanche][8] - [Impressions AGC pour Luminary][9] Le site Web suivant peut être utilisé pour naviguer facilement dans les impressions numérisées de Comanche et Luminary : https://28gpc.csb.app/ ## Extensions utiles GitHub prend en charge nativement la syntaxe pour le langage assembleur AGC. Malheureusement, votre éditeur de texte ne l’aura pas. Mais il y a des extensions pour le langage AGC pour les éditeurs suivants : - [Atom][Atom]† - [CodeBlocks][CodeBlocks] - [Eclipse][Eclipse] - [Kate][Kate] - [ProgrammersNotepad][ProgrammersNotepad] - [Sublime Text 3][Sublime Text]† - [TextPad][TextPad] - [Vim][Vim] - [Visual Studio Code][VisualStudioCode]† - [jEdit][jEdit] † Prend en charge le formatage automatique [Atom]:https://github.com/Alhadis/language-agc [CodeBlocks]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/CodeBlocks [Eclipse]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Eclipse [Kate]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Kate [ProgrammersNotepad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/ProgrammersNotepad [Sublime Text]:https://github.com/jimlawton/AGC-Assembly [TextPad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/TextPad [Vim]:https://github.com/wsdjeg/vim-assembly [VisualStudioCode]:https://github.com/wopian/agc-assembly [jEdit]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/jEdit ## Mise en page **Note :** GitHub et les extensions marquées ci-dessus vous assureront d'utiliser automatiquement le bon formatage. - Utiliser une tabulation (tab) pour l'indentation - Utiliser une largeur de 8 caractères pour la tabulation - Pas d'espace à la fin des lignes ## Comment vérifier ? Tout écart entre les scans et le code source dans ce référentiel. ### Commentaires - Les commentaires dans le code transcrit **doivent** correspondre **exactement** aux scans. - Les problèmes courants que vous devez rechercher lors de la vérification sont les suivants. Attention, la liste n'est pas exhaustive ! #### Erreurs typographiques À certains endroits, les développeurs originaux ont fait des erreurs typographiques en écrivant des commentaires. Certaines d’entre elles ont été corrigées par erreur lors de la numérisation initiale, mais la numérisation a également introduit des erreurs typographiques qui n’étaient pas présentes dans les scans. Par exemple, si les commentaires numérisés contiennent `SPACECRAFT`, mais que `SPAECRAFT` a été imprimé dans les scans, la numérisation DOIT être corrigée en `SPAECRAFT` (C manquant). De même, si un mot a une faute de frappe dans la numérisation mais est correctement orthographié dans les scans, alors la faute de frappe DOIT être corrigée. #### Espaces Les espaces entre deux caractères dans les commentaires **DEVRAIENT** correspondre aux scans. Dans la plupart des cas (voir la discussion dans [#316][10]), c'est: - Espace unique pour les nouveaux mots - Double espace pour les nouvelles phrases - Triple espace pour les indentations Toutes les pages des scans ne suivent pas cette généralisation, si les scans n'ont qu'un seul espace au lieu d'un double espace, utiliser un seul espace. ### Sauts de ligne - Les lignes *avec* `R0000` dans la colonne 1 doivent correspondre exactement aux scans. - Les sauts de ligne *sans* `R0000` dans la colonne 1 ne doivent contenir que 1 ou 2 lignes vides d'affilée. - Si il y a plus de 2 lignes vides, supprimer les sauts de ligne supplémentaires. - Ne pas prendre en compte les lignes avec `R0000` dans la colonne 1. - Dans les images sources, celles-ci ont été créées à cause d'un caractère non imprimé dans la colonne 8. Un 2 a forcé un double espace (une seule ligne vide) et un 3 a forcé un triple espace (double ligne vide). Les valeurs 4-8 ont été définies mais n’ont jamais été utilisées. Pour en savoir plus [#159][7] Par exemple, ce qui suit : ```plain R0819 SUBROUTINE TO SKIP... R0820 0821 LAMPTEST CS IMODES33 ``` Doit devenir : ```plain R0819 SUBROUTINE TO SKIP... R0820 0820 LAMPTEST CS IMODES33 ``` ## Note Avant de faire une PR, assurez-vous que vos modifications soient cohérentes avec les scans ! [0]:https://github.com/chrislgarry/Apollo-11/pull/new/master [1]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [2]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [6]:https://github.com/wopian/agc-assembly#user-settings [7]:https://github.com/chrislgarry/Apollo-11/issues/159 [8]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [9]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [10]:https://github.com/chrislgarry/Apollo-11/pull/316#pullrequestreview-102892741 ================================================ FILE: Translations/CONTRIBUTING.gl.md ================================================ # Contribuíndo 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA]، [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdi][KU], [Kurdî][KU], [Lietuvių][LT], [Mongolia][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Українська][UK]، [العربية][AR], [हिन्दी][HI_IN], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:CONTRIBUTING.ar.md [AZ]:CONTRIBUTING.az.md [CA]:CONTRIBUTING.ca.md [CZ]:CONTRIBUTING.cz.md [DA]:CONTRIBUTING.da.md [DE]:CONTRIBUTING.de.md [EN]:../CONTRIBUTING.md [ES]:CONTRIBUTING.es.md [FR]:CONTRIBUTING.fr.md [GL]:CONTRIBUTING.gl.md [GR]:CONTRIBUTING.gr.md [HI_IN]:CONTRIBUTING.hi_in.md [ID]:CONTRIBUTING.id.md [IT]:CONTRIBUTING.it.md [JA]:CONTRIBUTING.ja.md [KO_KR]:CONTRIBUTING.ko_kr.md [KU]:CONTRIBUTING.ku.md [LT]:CONTRIBUTING.lt.md [MN]:CONTRIBUTING.mn.md [NL]:CONTRIBUTING.nl.md [NO]:CONTRIBUTING.no.md [PL]:CONTRIBUTING.pl.md [PT_BR]:CONTRIBUTING.pt_br.md [SV]:CONTRIBUTING.sv.md [TR]:CONTRIBUTING.tr.md [UK]:CONTRIBUTING.uk.md [VI]:CONTRIBUTING.vi.md [ZH_CN]:CONTRIBUTING.zh_cn.md [ZH_TW]:CONTRIBUTING.zh_tw.md O código fonte neste repositorio dixitalizouse manualmente a partir de impresións en papel, polo que os erros tipográficos e outras discrepancias foron introducidas accidentalmente. O código modificarase para que sexa coherente coas impresións escaneadas: - [AGC impresións para Comanche][8] - [AGC impresións para Luminary][9] O seguinte sitio web pódese usar para navegar facilmente polas impresións escaneadas tanto para Comanche como para Luminary: https://28gpc.csb.app/ ## Extensións Útiles GitHub ten soporte de sintaxis para o lenguaxe ensamblador AGC incorporado. Lamentablemente, o seu editor de código non o fará, non obstante, hai extensións de linguaxe AGC que proporcionan resaltado de sintaxis para os seguintes editores: - [Atom][Atom]† - [CodeBlocks][CodeBlocks] - [Eclipse][Eclipse] - [Kate][Kate] - [ProgrammersNotepad][ProgrammersNotepad] - [Sublime Text 3][Sublime Text]† - [TextPad][TextPad] - [Vim][Vim] - [Visual Studio Code][VisualStudioCode]† - [jEdit][jEdit] † Admite formatado automático [Atom]:https://github.com/Alhadis/language-agc [CodeBlocks]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/CodeBlocks [Eclipse]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Eclipse [Kate]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Kate [ProgrammersNotepad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/ProgrammersNotepad [Sublime Text]:https://github.com/jimlawton/AGC-Assembly [TextPad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/TextPad [Vim]:https://github.com/wsdjeg/vim-assembly [VisualStudioCode]:https://github.com/wopian/agc-assembly [jEdit]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/jEdit ## Formatado **Nota:** GitHub e as extensións marcadas anteriormente aseguraranse de que estés utilizando o formato correcto automaticamente. - Empregar sangría de separación - Empregar un ancho de pestana de 8 - Recortar espazos en branco ao final ## Que comprobar? Calqueira discrepancia entre os escaneos e o código fonte neste repositorio, incluíndo: ### Comentarios - Os comentarios no código transcrito deben coincidir exactamente cos escaneos - Isto podería implicar crear un erro tipográfico deliberado ou eliminar / agregar un comentario completo. ### Saltos de liña - Salto de liña *with* `R0000` na columna 1 debe coincidir exactamente cos escaneos. - Salto de liña *with**__out__* `R0000` na columna 1 debe conter só 1 ou 2 liñas en branco nunha fila. - Se hai máis de 2 saltos de líña en branco, elimine os saltos de líña adicionales. - Liñas con `R0000` na columna 1 non contan para isto. - Nas imaxes de orixen, estas foron creadas por un díxito sen imprimir na columna 8. A 2 forzou un dobre espazo (liña en branco sinxela) e un 3 forzou un espazo triple (liña en branco doble). Os valores 4-8 definíronse pero nunca se empregaron. Lea máis sobre isto en [#159][7] Por exemplo o siguiente: ```plain R0819 SUBROUTINE TO SKIP... R0820 0821 LAMPTEST CS IMODES33 ``` Debe convertirse: ```plain R0819 SUBROUTINE TO SKIP... R0820 0820 LAMPTEST CS IMODES33 ``` ### Espazos - Os espazos entre dous caracteres na cadea deben respetar a seguinte convención (vexa a discusión en [#316][10]): - Espazo único para novas palabras. - Dobre espazo para novas oracións. - Triple espazo para fendas. Por exemplo o seguiente: ```plain 1) FOO BAR BAZ QUX QUUX QUUZ. CORGE, GRAULT, GARPLY, WALDO. ``` Debe convertirse: ```plain 1) FOO BAR BAZ QUX QUUX QUUZ. CORGE, GRAULT, GARPLY, WALDO. ``` ## Nota Antes de facer un RP, asegúrese de que os seus cambios sexan consistentes cos escaneos! [0]:https://github.com/chrislgarry/Apollo-11/pull/new/master [1]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [2]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [6]:https://github.com/wopian/agc-assembly#user-settings [7]:https://github.com/chrislgarry/Apollo-11/issues/159 [8]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [9]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [10]:https://github.com/chrislgarry/Apollo-11/pull/316#pullrequestreview-102892741 ================================================ FILE: Translations/CONTRIBUTING.gr.md ================================================ # Συνεισφορά 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA]، [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdi][KU], [Kurdî][KU], [Lietuvių][LT], [Mongolia][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Українська][UK]، [العربية][AR], [हिन्दी][HI_IN], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:CONTRIBUTING.ar.md [AZ]:CONTRIBUTING.az.md [CA]:CONTRIBUTING.ca.md [CZ]:CONTRIBUTING.cz.md [DA]:CONTRIBUTING.da.md [DE]:CONTRIBUTING.de.md [EN]:../CONTRIBUTING.md [ES]:CONTRIBUTING.es.md [FR]:CONTRIBUTING.fr.md [GL]:CONTRIBUTING.gl.md [GR]:CONTRIBUTING.gr.md [HI_IN]:CONTRIBUTING.hi_in.md [ID]:CONTRIBUTING.id.md [IT]:CONTRIBUTING.it.md [JA]:CONTRIBUTING.ja.md [KO_KR]:CONTRIBUTING.ko_kr.md [KU]:CONTRIBUTING.ku.md [LT]:CONTRIBUTING.lt.md [MN]:CONTRIBUTING.mn.md [NL]:CONTRIBUTING.nl.md [NO]:CONTRIBUTING.no.md [PL]:CONTRIBUTING.pl.md [PT_BR]:CONTRIBUTING.pt_br.md [SV]:CONTRIBUTING.sv.md [TR]:CONTRIBUTING.tr.md [UK]:CONTRIBUTING.uk.md [VI]:CONTRIBUTING.vi.md [ZH_CN]:CONTRIBUTING.zh_cn.md [ZH_TW]:CONTRIBUTING.zh_tw.md Ο πηγαίος κώδικας σε αυτό το αποθετήριο ψηφιοποιήθηκε χειροκίνητα (με μη αυτόματο τρόπο) από εκτυπώσεις σε χαρτί, έτσι τυχαία λάθη και άλλες αποκλίσεις μπορεί να έχουν εισαχθεί κατά λάθος. Ο κώδικας πρέπει να τροποποιείται ώστε πάντα να είναι συνεπής με τις παρακάτω σαρωμένες εκτυπώσεις: - [AGC printouts for Comanche][8] - [AGC printouts for Luminary][9] Ο παρακάτω ιστότοπος μπορεί να χρησιμοποιηθεί για εύκολη πλοήγηση στις σαρωμένες εκτυπώσεις τόσο για το Comanche όσο και για το Luminary: https://28gpc.csb.app/ ## Χρήσιμες Επεκτάσεις Το GitHub διαθέτει υποστήριξη συντακτικού για τη γλώσσα assembly του AGC. Δυστυχώς, ο επεξεργαστής κώδικά σας μπορεί να μην την υποστηρίζει, ωστόσο, υπάρχουν επεκτάσεις για τη γλώσσα assembly AGC που παρέχουν επισήμανση σύνταξης για τους ακόλουθους επεξεργαστές κώδικα: - [Atom][Atom]† - [CodeBlocks][CodeBlocks] - [Eclipse][Eclipse] - [Kate][Kate] - [ProgrammersNotepad][ProgrammersNotepad] - [Sublime Text 3][Sublime Text]† - [TextPad][TextPad] - [Vim][Vim] - [Visual Studio Code][VisualStudioCode]† - [jEdit][jEdit] † Υποστηρίζει αυτόματη μορφοποίηση [Atom]:https://github.com/Alhadis/language-agc [CodeBlocks]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/CodeBlocks [Eclipse]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Eclipse [Kate]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Kate [ProgrammersNotepad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/ProgrammersNotepad [Sublime Text]:https://github.com/jimlawton/AGC-Assembly [TextPad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/TextPad [Vim]:https://github.com/wsdjeg/vim-assembly [VisualStudioCode]:https://github.com/wopian/agc-assembly [jEdit]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/jEdit ## Mορφοποίηση Σημείωση: Το GitHub και οι επεκτάσεις που σημειώνονται παραπάνω θα διασφαλίσουν ότι χρησιμοποιείτε τη σωστή μορφοποίηση αυτόματα. - Χρήση εσοχής με tab - 8 χαρακτήες κενού για εσοχή tab - Περικοπή τελικών κενών χαρακτήρων γραμμής ## Τι να ελέγξω; Τυχόν αποκλίσεις μεταξύ των σαρώσεων και του πηγαίου κώδικα σε αυτό το αποθετήριο. ### Σχόλια Τα σχόλια στον μεταγραμμένο κώδικα **ΠΡΕΠΕΙ** να ταιριάζουν **ακριβώς** με τις σαρώσεις. Συχνά προβλήματα που θα μπορούσατε να ψάξετε κατά τη διόρθωση περιλαμβάνουν αλλά δεν περιορίζονται σε: #### Τυπογραφικά λάθη Σε μερικά σημεία, οι αρχικοί προγραμματιστές έκαναν τυπογραφικά λάθη κατά τη σύνταξη σχολίων. Μερικά από αυτά διορθώθηκαν κατά λάθος κατά την αρχική ψηφιοποίηση, ωστόσο η ψηφιοποίηση έχει επίσης εισαγάγει τυπογραφικά λάθη που δεν υπήρχαν στις σαρώσεις. Για παράδειγμα, εάν τα ψηφιοποιημένα σχόλια περιείχαν `SPACECRAFT`, αλλά `SPAECRAFT` ήταν γραμμένο στις σαρώσεις, τότε η ψηφιοποίηση **ΠΡΕΠΕΙ** να διορθωθεί σε `SPAECRAFT` (λείπει το `C`). Αντίστοιχα, αν μια λέξη έχει κάποιο τυπογραφικό λάθος στην ψηφιοποίηση αλλά είναι γραμμένη σωστά στις σαρώσεις τότε αυτό το τυπογραφικό λάθος **ΠΡΕΠΕΙ** να διορθωθεί. #### Κενά Τα κενά μεταξύ χαρακτήρων στα σχόλια **ΘΑ ΕΠΡΕΠΕ** να ταιριάζουν με τις σαρώσεις. Τις περισσότερες φορές (δείτε τη συζήτηση στο [#316[10], αυτό σημαίνει: - Ένα κενό για νέες λέξεις. - Δύο κενά για νέες προτάσεις. - Τρία κενά για εσοχές. Αυτή η γενίκευση δεν ακολουθείτε από όλες τις σαρωμένες σελίδες, αν μια σάρωση έχει ένα κενό αντί για δύο, χρησιμοποιήστε ένα. ### Αλλαγές γραμμής - Οι αλλαγές γραμμής με `R0000` στη στήλη 1 πρέπει να ταιριάζουν ακριβώς με τις σαρώσεις. - Οι αλλαγές γραμμής *χωρίς* `R0000` στη στήλη 1 πρέπει να περιέχουν μόνο 1 ή 2 κενές γραμμές στη σειρά. - Εάν υπάρχουν περισσότερες από 2 αλλαγές γραμμών, αφαιρέστε τις επιπλέον αλλαγές γραμμής. - Οι γραμμές με `R0000` στη στήλη 1 δεν υπολογίζονται σε αυτό. - Στις εικόνες προέλευσης, αυτές δημιουργήθηκαν από ένα μη τυπωμένο ψηφίο στη στήλη 8. Ένα 2 ανάγκαζε ένα διπλό διάστημα (μονή κενή γραμμή) και ένα 3 ανάγκαζε ένα τριπλό διάστημα (διπλή κενή γραμμή). Οι τιμές 4-8 ορίστηκαν αλλά δεν χρησιμοποιήθηκαν ποτέ. Διαβάστε περισσότερα σχετικά, στο [#159][7] Για παράδειγμα το παρακάτω: ```plain R0819 SUBROUTINE TO SKIP... R0820 0821 LAMPTEST CS IMODES33 ``` Πρέπει να γίνει: ```plain R0819 SUBROUTINE TO SKIP... R0820 0820 LAMPTEST CS IMODES33 ``` ## Σημείωση Πριν κάνετε ένα PR, παρακαλώ βεβαιωθείτε ότι οι αλλαγές σας είναι σύμφωνες με τις σαρώσεις! [0]:https://github.com/chrislgarry/Apollo-11/pull/new/master [1]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [2]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [6]:https://github.com/wopian/agc-assembly#user-settings [7]:https://github.com/chrislgarry/Apollo-11/issues/159 [8]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [9]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [10]:https://github.com/chrislgarry/Apollo-11/pull/316#pullrequestreview-102892741 ================================================ FILE: Translations/CONTRIBUTING.hi_in.md ================================================ # योगदान 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA]، [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdi][KU], [Kurdî][KU], [Lietuvių][LT], [Mongolia][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Українська][UK]، [العربية][AR], [हिन्दी][HI_IN], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:CONTRIBUTING.ar.md [AZ]:CONTRIBUTING.az.md [CA]:CONTRIBUTING.ca.md [CZ]:CONTRIBUTING.cz.md [DA]:CONTRIBUTING.da.md [DE]:CONTRIBUTING.de.md [EN]:../CONTRIBUTING.md [ES]:CONTRIBUTING.es.md [FR]:CONTRIBUTING.fr.md [GL]:CONTRIBUTING.gl.md [GR]:CONTRIBUTING.gr.md [HI_IN]:CONTRIBUTING.hi_in.md [ID]:CONTRIBUTING.id.md [IT]:CONTRIBUTING.it.md [JA]:CONTRIBUTING.ja.md [KO_KR]:CONTRIBUTING.ko_kr.md [KU]:CONTRIBUTING.ku.md [LT]:CONTRIBUTING.lt.md [MN]:CONTRIBUTING.mn.md [NL]:CONTRIBUTING.nl.md [NO]:CONTRIBUTING.no.md [PL]:CONTRIBUTING.pl.md [PT_BR]:CONTRIBUTING.pt_br.md [SV]:CONTRIBUTING.sv.md [TR]:CONTRIBUTING.tr.md [UK]:CONTRIBUTING.uk.md [VI]:CONTRIBUTING.vi.md [ZH_CN]:CONTRIBUTING.zh_cn.md [ZH_TW]:CONTRIBUTING.zh_tw.md इस रिपॉजिटरी में स्रोत कोड को पेपर प्रिंटआउट से मैन्युअल रूप से डिजिटाइज़ किया गया था, इसलिए गलती से टाइपो और अन्य विसंगतियों को पेश किया गया है। निम्नलिखित स्कैन किए गए प्रिंटआउट के अनुरूप बनाने के लिए कोड को संशोधित किया जाएगा: - [Comanche के लिए AGC प्रिंटआउट][8] - [Luminary के लिए AGC प्रिंटआउट][9] निम्नलिखित वेबसाइट का उपयोग कॉमंच और ल्यूमिनरी दोनों के स्कैन किए गए प्रिंटआउट को आसानी से नेविगेट करने के लिए किया जा सकता है: https://28gpc.csb.app/ ## उपयोगी एक्सटेंशन GitHub में अंतर्निहित AGC असेंबली भाषा के लिए सिंटैक्स समर्थन है। दुर्भाग्य से आपका कोड संपादक नहीं होगा, हालांकि एजीसी भाषा एक्सटेंशन हैं जो निम्नलिखित संपादकों के लिए सिंटैक्स हाइलाइटिंग प्रदान करते हैं:: - [Atom][Atom]† - [CodeBlocks][CodeBlocks] - [Eclipse][Eclipse] - [Kate][Kate] - [ProgrammersNotepad][ProgrammersNotepad] - [Sublime Text 3][Sublime Text]† - [TextPad][TextPad] - [Vim][Vim] - [Visual Studio Code][VisualStudioCode]† - [jEdit][jEdit] † स्वचालित स्वरूपण का समर्थन करता है [Atom]:https://github.com/Alhadis/language-agc [CodeBlocks]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/CodeBlocks [Eclipse]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Eclipse [Kate]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Kate [ProgrammersNotepad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/ProgrammersNotepad [Sublime Text]:https://github.com/jimlawton/AGC-Assembly [TextPad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/TextPad [Vim]:https://github.com/wsdjeg/vim-assembly [VisualStudioCode]:https://github.com/wopian/agc-assembly [jEdit]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/jEdit ## का प्रारूपण **टिप्पणी:** GitHub और ऊपर चिह्नित एक्सटेंशन सुनिश्चित करेंगे कि आप स्वचालित रूप से सही स्वरूपण का उपयोग कर रहे हैं। - टैब इंडेंटेशन का प्रयोग करें - 8 की टैब चौड़ाई का प्रयोग करें - पिछली सफेद जगह ट्रिम करें ## मैं क्या जाँच करूँ? इस भंडार में स्कैन और स्रोत कोड के बीच कोई भी विसंगतियां। ### टिप्पणियाँ प्रूफ़िंग करते समय आपको जिन सामान्य मुद्दों पर ध्यान देना चाहिए उनमें शामिल हैं, लेकिन इन्हीं तक सीमित नहीं: ### टंकण त्रुटियाँ कुछ जगहों पर, मूल डेवलपर्स ने टिप्पणी लिखते समय टाइपोग्राफिक त्रुटियां कीं। इनमें से कुछ को प्रारंभिक डिजिटलीकरण के दौरान गलती से ठीक कर दिया गया था, हालांकि डिजिटलीकरण ने टाइपोग्राफिक त्रुटियों को भी पेश किया है जो स्कैन में मौजूद नहीं थे। उदाहरण के लिए, यदि डिजीटल टिप्पणियों में `SPACECRAFT` शामिल है, लेकिन `SPAECRAFT` स्कैन में मुद्रित किया गया था, तो डिजिटलीकरण को `SPAECRAFT` (लापता `C`) में सही किया जाना चाहिए। इसी तरह, यदि किसी शब्द में डिजिटाइजेशन में टाइपो है लेकिन स्कैन में सही वर्तनी है तो टाइपो को सही किया जाना चाहिए। ### खाली स्थान टिप्पणियों में दो वर्णों के बीच रिक्त स्थान स्कैन से मेल खाना चाहिए। ज्यादातर मामलों में (चर्चा देखें [#316][10]): - नए शब्दों के लिए सिंगल स्पेस। - नए वाक्यों के लिए डबल स्पेस। - इंडेंटेशन के लिए ट्रिपल स्पेस। स्कैन के सभी पृष्ठ इस सामान्यीकरण का पालन नहीं करते हैं, यदि स्कैन में दोहरे स्थान के बजाय केवल एक ही स्थान है, तो एकल स्थान का उपयोग करें। ### कतार टूट जाती है - कॉलम 1 में `R0000` के *साथ* लाइन ब्रेक स्कैन से बिल्कुल मेल खाना चाहिए। - कॉलम 1 में `R0000` के *बिना* लाइन ब्रेक में एक पंक्ति में केवल 1 या 2 खाली लाइनें होनी चाहिए। - यदि 2 से अधिक रिक्त रेखाएँ विराम हैं, तो अतिरिक्त रेखा विरामों को हटा दें। - कॉलम 1 में `R0000` वाली पंक्तियों की गणना इसमें नहीं की जाती है। - स्रोत छवियों में, ये कॉलम 8 में एक अमुद्रित अंक द्वारा बनाए गए थे। ए 2 ने एक डबल स्पेस (एकल रिक्त रेखा) को मजबूर किया और एक 3 ने ट्रिपल स्पेस (डबल रिक्त रेखा) को मजबूर कर दिया। मान 4-8 परिभाषित किए गए थे लेकिन कभी उपयोग नहीं किए गए। [#159][7] में इसके बारे में और पढ़ें। उदाहरण के लिए निम्नलिखित: ```plain R0819 SUBROUTINE TO SKIP... R0820 0821 LAMPTEST CS IMODES33 ``` बन जाना चाहिए: ```plain R0819 SUBROUTINE TO SKIP... R0820 0820 LAMPTEST CS IMODES33 ``` ## टिप्पणी पीआर करने से पहले, कृपया सुनिश्चित करें कि आपके परिवर्तन स्कैन के अनुरूप हैं! [0]:https://github.com/chrislgarry/Apollo-11/pull/new/master [1]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [2]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [6]:https://github.com/wopian/agc-assembly#user-settings [7]:https://github.com/chrislgarry/Apollo-11/issues/159 [8]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [9]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [10]:https://github.com/chrislgarry/Apollo-11/pull/316#pullrequestreview-102892741 ================================================ FILE: Translations/CONTRIBUTING.id.md ================================================ # Menyumbang 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA]، [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdi][KU], [Kurdî][KU], [Lietuvių][LT], [Mongolia][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Українська][UK]، [العربية][AR], [हिन्दी][HI_IN], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:CONTRIBUTING.ar.md [AZ]:CONTRIBUTING.az.md [CA]:CONTRIBUTING.ca.md [CZ]:CONTRIBUTING.cz.md [DA]:CONTRIBUTING.da.md [DE]:CONTRIBUTING.de.md [EN]:../CONTRIBUTING.md [ES]:CONTRIBUTING.es.md [FR]:CONTRIBUTING.fr.md [GL]:CONTRIBUTING.gl.md [GR]:CONTRIBUTING.gr.md [HI_IN]:CONTRIBUTING.hi_in.md [ID]:CONTRIBUTING.id.md [IT]:CONTRIBUTING.it.md [JA]:CONTRIBUTING.ja.md [KO_KR]:CONTRIBUTING.ko_kr.md [KU]:CONTRIBUTING.ku.md [LT]:CONTRIBUTING.lt.md [MN]:CONTRIBUTING.mn.md [NL]:CONTRIBUTING.nl.md [NO]:CONTRIBUTING.no.md [PL]:CONTRIBUTING.pl.md [PT_BR]:CONTRIBUTING.pt_br.md [SV]:CONTRIBUTING.sv.md [TR]:CONTRIBUTING.tr.md [UK]:CONTRIBUTING.uk.md [VI]:CONTRIBUTING.vi.md [ZH_CN]:CONTRIBUTING.zh_cn.md [ZH_TW]:CONTRIBUTING.zh_tw.md Kode asli dalam repositori ini didigitalkan secara manual dari kertas cetak, sehingga inkonsistensi dan ketidaksesuaian lainnya mungkin terjadi karena kesalahan. Kode perlu diubah agar sesuai dengan edisi yang diterbitkan: - [AGC printouts for Comanche][8] - [AGC printouts for Luminary][9] Situs web berikut dapat digunakan untuk menavigasi dengan mudah hasil cetakan pindaian untuk Comanche dan Luminary: https://28gpc.csb.app/ ## Ekstensi yang berguna GitHub memiliki dukungan sintaks untuk pengaturan bahasa AGC. Sayangnya kode editor anda tidak dapat melakukannya, namun ada ekstensi bahasa AGC yang menyediakan penyorotan sintaks untuk kode editor berikut: - [Atom][Atom]† - [CodeBlocks][CodeBlocks] - [Eclipse][Eclipse] - [Kate][Kate] - [ProgrammersNotepad][ProgrammersNotepad] - [Sublime Text 3][Sublime Text]† - [TextPad][TextPad] - [Vim][Vim] - [Visual Studio Code][VisualStudioCode]† - [jEdit][jEdit] † Mendukung pemformatan otomatis [Atom]:https://github.com/Alhadis/language-agc [CodeBlocks]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/CodeBlocks [Eclipse]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Eclipse [Kate]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Kate [ProgrammersNotepad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/ProgrammersNotepad [Sublime Text]:https://github.com/jimlawton/AGC-Assembly [TextPad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/TextPad [Vim]:https://github.com/wsdjeg/vim-assembly [VisualStudioCode]:https://github.com/wopian/agc-assembly [jEdit]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/jEdit ## Pemformatan **Note:** GitHub dan plugin yang tercantum di atas akan secara otomatis mengonfirmasi bahwa Anda menggunakan plugin yang benar. - Gunakan panjang tab - Gunakan panjang tab 8 - Hapus karakter spasi ataupun tab di awal atau di akhir string ## Apa yang saya periksa? Setiap perbedaan antara pemindaian dan kode sumber dalam repositori ini. ### Komentar Komentar dalam kode yang ditranskripsikan **HARUS** cocok dengan pindaian **persis**. Masalah umum yang harus Anda perhatikan saat pemeriksaan termasuk, tetapi tidak terbatas pada: #### Kesalahan Tipografi Di beberapa tempat, pengembang asli membuat kesalahan ketik saat menulis komentar. Beberapa di antaranya salah dikoreksi selama digitalisasi awal, namun digitalisasi juga menimbulkan kesalahan tipografi yang tidak ada dalam pemindaian. Misalnya, jika komentar digital berisi `SPACECRAFT`, tetapi `spaecraft` dicetak dalam pemindaian, maka digitalisasi **HARUS** dikoreksi ke `spaecraft` (hilang `C`). Demikian juga, jika sebuah kata memiliki kesalahan ketik dalam digitalisasi tetapi dieja dengan benar dalam pemindaian, maka kesalahan ketik **HARUS** diperbaiki. #### Spasi Spasi antara dua karakter dalam komentar **HARUS** cocok dengan pindaian. Dalam kebanyakan kasus (lihat diskusi di [#316][10]), ini adalah: - Satu spasi untuk kata-kata baru. - Spasi ganda untuk kalimat baru. - Tiga ruang untuk lekukan. Tidak semua halaman dalam pemindaian mengikuti generalisasi ini, jika pemindaian hanya memiliki satu spasi, bukan spasi ganda, gunakan satu spasi. ### Jeda baris - Pemisahan baris *dengan* `R0000` di kolom 1 harus sama persis dengan pemindaian. - Pemisahan baris *dengan**__out__* `R0000` di kolom 1 hanya boleh berisi 1 atau 2 baris kosong dalam satu baris. - Jika ada lebih dari 2 jeda baris kosong, hapus jeda baris tambahan. - Baris dengan `R0000` di kolom 1 tidak diperhitungkan dalam hal ini. - Dalam gambar sumber, ini dibuat oleh digit yang belum dicetak di kolom 8. A 2 di sana memaksa spasi ganda (satu baris kosong dan 3 memaksa spasi tiga (garis kosong ganda). Nilai 4-8 didefinisikan tetapi tidak pernah digunakan. Baca selengkapnya di [#159][7] Misalnya berikut ini: ```plain R0819 SUBROUTINE TO SKIP... R0820 0821 LAMPTEST CS IMODES33 ``` Harus menjadi: ```plain R0819 SUBROUTINE TO SKIP... R0820 0820 LAMPTEST CS IMODES33 ``` ## Catatan Sebelum Anda membuat PR, pastikan perubahan Anda konsisten dengan pemindaian! [0]:https://github.com/chrislgarry/Apollo-11/pull/new/master [1]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [2]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [6]:https://github.com/wopian/agc-assembly#user-settings [7]:https://github.com/chrislgarry/Apollo-11/issues/159 [8]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [9]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [10]:https://github.com/chrislgarry/Apollo-11/pull/316#pullrequestreview-102892741 ================================================ FILE: Translations/CONTRIBUTING.it.md ================================================ # Contribuire 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA]، [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdi][KU], [Kurdî][KU], [Lietuvių][LT], [Mongolia][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Українська][UK]، [العربية][AR], [हिन्दी][HI_IN], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:CONTRIBUTING.ar.md [AZ]:CONTRIBUTING.az.md [CA]:CONTRIBUTING.ca.md [CZ]:CONTRIBUTING.cz.md [DA]:CONTRIBUTING.da.md [DE]:CONTRIBUTING.de.md [EN]:../CONTRIBUTING.md [ES]:CONTRIBUTING.es.md [FR]:CONTRIBUTING.fr.md [GL]:CONTRIBUTING.gl.md [GR]:CONTRIBUTING.gr.md [HI_IN]:CONTRIBUTING.hi_in.md [ID]:CONTRIBUTING.id.md [IT]:CONTRIBUTING.it.md [JA]:CONTRIBUTING.ja.md [KO_KR]:CONTRIBUTING.ko_kr.md [KU]:CONTRIBUTING.ku.md [LT]:CONTRIBUTING.lt.md [MN]:CONTRIBUTING.mn.md [NL]:CONTRIBUTING.nl.md [NO]:CONTRIBUTING.no.md [PL]:CONTRIBUTING.pl.md [PT_BR]:CONTRIBUTING.pt_br.md [SV]:CONTRIBUTING.sv.md [TR]:CONTRIBUTING.tr.md [UK]:CONTRIBUTING.uk.md [VI]:CONTRIBUTING.vi.md [ZH_CN]:CONTRIBUTING.zh_cn.md [ZH_TW]:CONTRIBUTING.zh_tw.md Il codice sorgente in questa repository è stato digitalizzato manualmente da stampe su carta, quindi errori di battitura e altre differenze sono state aggiunte accidentalmente. Il codice dovrebbe essere modificato per essere consistente con le seguenti scansioni: - [AGC stampa per Comanche][8] - [AGC stampa per Luminary][9] Il seguente sito web può essere utilizzato per navigare facilmente tra le stampe scansionate per Comanche e Luminary: https://28gpc.csb.app/ ## Estensioni utili GitHub supporta la sintassi assembly AGC nativamente. Se sfortunatamente il tuo editor di codice non dovesse farlo, sono presenti delle estensioni che aggiungono la sottolineatura della sintassi per i seguenti editor: - [Atom][Atom]† - [CodeBlocks][CodeBlocks] - [Eclipse][Eclipse] - [Kate][Kate] - [ProgrammersNotepad][ProgrammersNotepad] - [Sublime Text 3][Sublime Text]† - [TextPad][TextPad] - [Vim][Vim] - [Visual Studio Code][VisualStudioCode]† - [jEdit][jEdit] † Supporta la formattazione automatica [Atom]:https://github.com/Alhadis/language-agc [CodeBlocks]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/CodeBlocks [Eclipse]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Eclipse [Kate]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Kate [ProgrammersNotepad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/ProgrammersNotepad [Sublime Text]:https://github.com/jimlawton/AGC-Assembly [TextPad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/TextPad [Vim]:https://github.com/wsdjeg/vim-assembly [VisualStudioCode]:https://github.com/wopian/agc-assembly [jEdit]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/jEdit ## Formattazione **Nota:** GitHub e le estensioni riportate di sopra assicureranno che tu stia usando automaticamente la formattazione corretta. - Indenta con le tabulazioni - Usa una tabulazione di larghezza 8 - Elimina spazi a fine riga ## Che cosa devo controllare? Qualsiasi differenza tra le scannerizzazioni e il codice sorgente in questa repository. ### Commenti Commenti nel codice trascritto **DEVONO** coincidere **ESATTAMENTE** con quelli delle scannerizzazioni. Errori comuni a cui dovresti stare attento mentre verifichi includono, ma non sono limitati a: #### Errori tipografici Qualche volta, gli sviluppatori originali hanno fatto degli errori tipografici mentre scrivevano i commenti. Alcuni sono stati erroneamente corretti durante la digitalizzazione iniziale e anche la digitalizzazione stessa ha introdotto altri errori tipografici che non erano presenti nelle scannerizzazioni originali. Per esempio, se i commenti digitalizzati contengono `SPACEFRAFT`, ma `SPAECRAFT` è stato stampato sulle scannerizzazioni, allora le digitalizzaioni **DEVONO** essere corrette in `SPAECRAFT` (senza `C`). Analogamente, se una parola ha un errore di battitura ma è scritta correttamente nelle scannerizzazioni allora l'errore **DEVE** essere corretto. #### Spazi Spazi tra due caratteri nei commenti **DOVREBBERO** corrispondere alle scannerizzazioni. Nella maggior parte dei casi (Si guardi la discussione in [#316][10]), questo comprende: - Spazio singolo tra parole. - Doppio spazio tra frasi. - Triplo spazio per l'indentazione. Non tutte le pagine nelle scannerizzazioni seguono queste linee guida, se le scannerizzazioni hanno un solo uno spazio, usane uno solo. ### Ritorni a capo - I ritorni a capo *con* `R0000` nella colonna 1 dovrebbero corrispondere alle scannerizzaioni esattamente. - I ritorni a capo *senza* `R0000` nella colonna 1 dovrebbero contenere solo 1 o 2 linee vuote di seguito. - Se ci sono più di 2 ritorni a capo, elimina quelli in eccesso. - Righe con `R0000` nella colonna 1 non seguono questa regola. - Nelle immagini originali, queste sono state create da un numero non stampato nella colonna 8. Un 2 ha forzato un doppio spazio (una singola riga vuota), invece un 3 ha forzato uno spazio triplo (due righe vuote). Valori da 4 a 8 sono stati definiti ma non sono mai stati usati. Puoi leggere di più qui [#159][7] Per esempio, il seguente: ```plain R0819 SUBROUTINE TO SKIP... R0820 0821 LAMPTEST CS IMODES33 ``` Dovrebbe diventare: ```plain R0819 SUBROUTINE TO SKIP... R0820 0820 LAMPTEST CS IMODES33 ``` ## Note Prima di fare una PR(Pull Request), per piacere controlla che i tuoi cambiamenti siano consistenti con le scannerizzazioni! [0]:https://github.com/chrislgarry/Apollo-11/pull/new/master [1]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [2]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [6]:https://github.com/wopian/agc-assembly#user-settings [7]:https://github.com/chrislgarry/Apollo-11/issues/159 [8]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [9]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [10]:https://github.com/chrislgarry/Apollo-11/pull/316#pullrequestreview-102892741 ================================================ FILE: Translations/CONTRIBUTING.ja.md ================================================ # コントリビュート 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA]، [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdi][KU], [Kurdî][KU], [Lietuvių][LT], [Mongolia][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Українська][UK]، [العربية][AR], [हिन्दी][HI_IN], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:CONTRIBUTING.ar.md [AZ]:CONTRIBUTING.az.md [CA]:CONTRIBUTING.ca.md [CZ]:CONTRIBUTING.cz.md [DA]:CONTRIBUTING.da.md [DE]:CONTRIBUTING.de.md [EN]:../CONTRIBUTING.md [ES]:CONTRIBUTING.es.md [FR]:CONTRIBUTING.fr.md [GL]:CONTRIBUTING.gl.md [GR]:CONTRIBUTING.gr.md [HI_IN]:CONTRIBUTING.hi_in.md [ID]:CONTRIBUTING.id.md [IT]:CONTRIBUTING.it.md [JA]:CONTRIBUTING.ja.md [KO_KR]:CONTRIBUTING.ko_kr.md [KU]:CONTRIBUTING.ku.md [LT]:CONTRIBUTING.lt.md [MN]:CONTRIBUTING.mn.md [NL]:CONTRIBUTING.nl.md [NO]:CONTRIBUTING.no.md [PL]:CONTRIBUTING.pl.md [PT_BR]:CONTRIBUTING.pt_br.md [SV]:CONTRIBUTING.sv.md [TR]:CONTRIBUTING.tr.md [UK]:CONTRIBUTING.uk.md [VI]:CONTRIBUTING.vi.md [ZH_CN]:CONTRIBUTING.zh_cn.md [ZH_TW]:CONTRIBUTING.zh_tw.md このリポジトリのソースコードは紙の印刷物から手動でデジタル化された為、いくつかのタイプミスやその他の不一致が誤って導入されています。以下のスキャンしたプリントアウトと一致する様にコードを変更する必要があります: - [AGC printouts for Comanche][8] - [AGC printouts for Luminary][9] 次の Web サイトを使用すると、Comanche と Luminary の両方のスキャンされたプリントアウトを簡単にナビゲートできます: https://28gpc.csb.app/ ## 便利な拡張機能 GitHubには、組み込みのAGCアセンブリ言語の構文サポートがあります。残念ながらコードエディターにはありませんが、次のエディターにシンタックスハイライトをサポートするAGC言語拡張機能があります: - [Atom][Atom]† - [CodeBlocks][CodeBlocks] - [Eclipse][Eclipse] - [Kate][Kate] - [ProgrammersNotepad][ProgrammersNotepad] - [Sublime Text 3][Sublime Text]† - [TextPad][TextPad] - [Vim][Vim] - [Visual Studio Code][VisualStudioCode]† - [jEdit][jEdit] † オートフォーマットをサポート [Atom]:https://github.com/Alhadis/language-agc [CodeBlocks]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/CodeBlocks [Eclipse]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Eclipse [Kate]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Kate [ProgrammersNotepad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/ProgrammersNotepad [Sublime Text]:https://github.com/jimlawton/AGC-Assembly [TextPad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/TextPad [Vim]:https://github.com/wsdjeg/vim-assembly [VisualStudioCode]:https://github.com/wopian/agc-assembly [jEdit]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/jEdit ## フォーマット **注意:** GitHubと上記の拡張機能により、正しいフォーマットが自動的に使用されます。 - タブでインデントする - タブ幅は8を使用する - 末尾の空白を削除する ## 確認方法は? スキャンとこのリポジトリ内のソースコードとの間の不一致がある場合。 ### コメント 文字起こしされたコードのコメントはスキャンと**正確**に一致**しなければなりません**。 校正中に注意する必要がある一般的な問題には、次のものがありますが、これらに限定されません: #### 誤植 いくつかの場所において、元の開発者がコメントを書いている中で誤植をしています。これらのいくつかは、最初のデジタル化の際に修正がされていますが、デジタル化によってスキャンに存在しなかった誤植も発生してしまいました。 例えば、デジタル化されたコメントに `SPACECRAFT` が含まれているが、 `SPAECRAFT` が印刷されたスキャンの場合、デジタル化は `SPAECRAFT` に修正**しなければなりません**(`C` が抜けている)。 同様に、単語のデジタル化にタイプミスがあるが、スキャンでスペルが正しい場合は、タイプミスを修正**しなければなりません**。 ### スペース - コメント内の2つの文字間のスペースは、スキャンと一致**すべきです**。多くの場合（[#316][10]のディスカッションを参照）、次の規則に従う必要があります: - 新しい単語の為の単一のスペース。 - 新しい文章の為の2個のスペース。 - インデントの為の3個のスペース。 スキャンのすべてのページがこの一般化に従っている訳ではありません。スキャンに2個のスペースではなく1個のスペースしかない場合、1個のスペースを使用して下さい。 ### 改行 - 列1の `R0000` での改行は、スキャンと正確に一致する必要があります。 - 列1の `R0000` で *ない* 改行は、1行または2行の空白行のみを含める必要があります。 - 空白の改行が2つ以上ある場合は、余分な改行を削除します。 - 列1に `R0000` が含まれる行は、これにカウントされません。 - ソース画像では、これらは列8の印刷されていない数字によって作成されました。2はダブルスペース（単一の空白行）を強制し、3はトリプルスペース（二重の空白行）を強制しました。値4-8は定義されていますが使用されていません。詳しくは[#159][7]をご覧ください。 例えば、次の通りです: ```plain R0819 SUBROUTINE TO SKIP... R0820 0821 LAMPTEST CS IMODES33 ``` これになるはずです: ```plain R0819 SUBROUTINE TO SKIP... R0820 0820 LAMPTEST CS IMODES33 ``` ## 注意 PRを作成する前に、変更がスキャンと一致していることを確認して下さい！ [0]:https://github.com/chrislgarry/Apollo-11/pull/new/master [1]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [2]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [6]:https://github.com/wopian/agc-assembly#user-settings [7]:https://github.com/chrislgarry/Apollo-11/issues/159 [8]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [9]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [10]:https://github.com/chrislgarry/Apollo-11/pull/316#pullrequestreview-102892741 ================================================ FILE: Translations/CONTRIBUTING.jv.md ================================================ # Nyumbang 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Basa Jawa][JV], [Català][CA]، [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdi][KU], [Kurdî][KU], [Lietuvių][LT], [Mongolia][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Українська][UK]، [العربية][AR], [हिन्दी][HI_IN], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN], [AR]:Translations/CONTRIBUTING.ar.md [AZ]:Translations/CONTRIBUTING.az.md [CA]:Translations/CONTRIBUTING.ca.md [CZ]:Translations/CONTRIBUTING.cz.md [DA]:Translations/CONTRIBUTING.da.md [DE]:Translations/CONTRIBUTING.de.md [EN]:CONTRIBUTING.md [ES]:Translations/CONTRIBUTING.es.md [FR]:Translations/CONTRIBUTING.fr.md [GL]:Translations/CONTRIBUTING.gl.md [GR]:Translations/CONTRIBUTING.gr.md [HI_IN]:Translations/CONTRIBUTING.hi_in.md [ID]:Translations/CONTRIBUTING.id.md [IT]:Translations/CONTRIBUTING.it.md [JA]:Translations/CONTRIBUTING.ja.md [JV]:Translations/CONTRIBUTING.jv.md [KO_KR]:Translations/CONTRIBUTING.ko_kr.md [KU]:Translations/CONTRIBUTING.ku.md [LT]:Translations/CONTRIBUTING.lt.md [MN]:Translations/CONTRIBUTING.mn.md [NL]:Translations/CONTRIBUTING.nl.md [NO]:Translations/CONTRIBUTING.no.md [PL]:Translations/CONTRIBUTING.pl.md [PT_BR]:Translations/CONTRIBUTING.pt_br.md [SV]:Translations/CONTRIBUTING.sv.md [TR]:Translations/CONTRIBUTING.tr.md [UK]:Translations/CONTRIBUTING.uk.md [VI]:Translations/CONTRIBUTING.vi.md [ZH_CN]:Translations/CONTRIBUTING.zh_cn.md [ZH_TW]:Translations/CONTRIBUTING.zh_tw.md Kode sumber ing repositori iki wis didigitalisasi kanthi manual saka printout kertas, mula kadhang kala ana salah tulis utawa beda cilik sing ora disengaja. Kode kudu didandani supaya konsisten karo printout scan asli iki: - [AGC printouts kanggo Comanche][8] - [AGC printouts kanggo Luminary][9] Situs iki bisa digunakake kanggo nggampangaké navigasi ing antarane printout sing wis discan kanggo Comanche lan Luminary: https://28gpc.csb.app/ ## Ekstensi sing Migunani GitHub wis nduwé dhukungan sintaks kanggo basa assembly AGC bawaan. Nanging umume editor kode ora nduwé. Untungé, ana ekstensi AGC sing nyedhiyakake **syntax highlighting** kanggo sawetara editor, kayata: - [Atom][Atom]† - [CodeBlocks][CodeBlocks] - [Eclipse][Eclipse] - [Kate][Kate] - [ProgrammersNotepad][ProgrammersNotepad] - [Sublime Text 3][Sublime Text]† - [TextPad][TextPad] - [Vim][Vim] - [Visual Studio Code][VisualStudioCode]† - [jEdit][jEdit] † Dhukungan format otomatis [Atom]:https://github.com/Alhadis/language-agc [CodeBlocks]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/CodeBlocks [Eclipse]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Eclipse [Kate]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Kate [ProgrammersNotepad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/ProgrammersNotepad [Sublime Text]:https://github.com/jimlawton/AGC-Assembly [TextPad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/TextPad [Vim]:https://github.com/wsdjeg/vim-assembly [VisualStudioCode]:https://github.com/wopian/agc-assembly [jEdit]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/jEdit ## Format **Cathetan:** GitHub lan ekstensi sing wis ditandai † ing dhuwur bakal mesthekake formatmu wis bener. - Gunakake tab kanggo indentasi - Jembar tab = 8 - Mbuwang spasi kosong ing mburi baris ## Opo sing kudu dicek? Kabeh bedane antarane scan lan kode sumber ing repositori iki. ### Komentar Komentar ing kode sing wis didigitalisasi **KUDU** padha persis kaya ing scan. Masalah umum sing kudu diwaspadai nalika mriksa, kalebu nanging ora winates ing: #### Salah Tulis (Typo) Kadhang kala para pangembang asli nggawe salah tulis ing komentar. Sawetara salah tulis iki salahé wis “dibeneraké” nalika digitalisasi awal, nanging proses digitalisasi uga ngenalaké salah tulis anyar sing ora ana ing scan. Conto: yen komentar digitalisasi ana `SPACECRAFT`, nanging ing scan ditulis `SPAECRAFT`, mula kudu dibalekaké dadi `SPAECRAFT`. #### Spasi Spasi ing antarane karakter utawa tembung ing komentar **KUDU** padha karo scan. Ing umume kasus (ndeleng diskusi ing [#316][10]) aturané yaiku: - Siji spasi kanggo tembung anyar. - Loro spasi kanggo kalimat anyar. - Telu spasi kanggo indentasi. Nanging ora kabeh kaca ing scan konsisten, yen mung ana siji spasi ing scan, ya kudu nganggo siji spasi. ### Pamisah Baris - Pamisah baris **sing nganggo** `R0000` ing kolom 1 kudu padha karo scan. - Pamisah baris **tanpa** `R0000` ing kolom 1 mung kena 1 utawa 2 baris kosong berturut-turut. - Yen luwih saka 2, kudu dibusak sing luwih. - Ing gambar sumber, iki asale saka digit sing ora dicithak ing kolom 8. Angka 2 nyebabake spasi ganda (1 baris kosong), angka 3 spasi telu (2 baris kosong). Angka 4-8 ana definisi nanging ora tau digunakake. Waca luwih lengkap ing [#159][7]. Conto: ```plain R0819 SUBROUTINE TO SKIP... R0820 0821 LAMPTEST CS IMODES33 ``` Kudu dadi: ```plain R0819 SUBROUTINE TO SKIP... R0820 0820 LAMPTEST CS IMODES33 ``` ## Cathetan Sadurunge nggawe PR, priksa maneh supaya owahanmu konsisten karo hasil scan! [0]:https://github.com/chrislgarry/Apollo-11/pull/new/master [1]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [2]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [6]:https://github.com/wopian/agc-assembly#user-settings [7]:https://github.com/chrislgarry/Apollo-11/issues/159 [8]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [9]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [10]:https://github.com/chrislgarry/Apollo-11/pull/316#pullrequestreview-102892741 ================================================ FILE: Translations/CONTRIBUTING.ko_kr.md ================================================ # 기여하기 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA]، [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdi][KU], [Kurdî][KU], [Lietuvių][LT], [Mongolia][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Українська][UK]، [العربية][AR], [हिन्दी][HI_IN], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:CONTRIBUTING.ar.md [AZ]:CONTRIBUTING.az.md [CA]:CONTRIBUTING.ca.md [CZ]:CONTRIBUTING.cz.md [DA]:CONTRIBUTING.da.md [DE]:CONTRIBUTING.de.md [EN]:../CONTRIBUTING.md [ES]:CONTRIBUTING.es.md [FR]:CONTRIBUTING.fr.md [GL]:CONTRIBUTING.gl.md [GR]:CONTRIBUTING.gr.md [HI_IN]:CONTRIBUTING.hi_in.md [ID]:CONTRIBUTING.id.md [IT]:CONTRIBUTING.it.md [JA]:CONTRIBUTING.ja.md [KO_KR]:CONTRIBUTING.ko_kr.md [KU]:CONTRIBUTING.ku.md [LT]:CONTRIBUTING.lt.md [MN]:CONTRIBUTING.mn.md [NL]:CONTRIBUTING.nl.md [NO]:CONTRIBUTING.no.md [PL]:CONTRIBUTING.pl.md [PT_BR]:CONTRIBUTING.pt_br.md [SV]:CONTRIBUTING.sv.md [TR]:CONTRIBUTING.tr.md [UK]:CONTRIBUTING.uk.md [VI]:CONTRIBUTING.vi.md [ZH_CN]:CONTRIBUTING.zh_cn.md [ZH_TW]:CONTRIBUTING.zh_tw.md 이 저장소의 소스 코드는 종이 인쇄물에서 수동으로 디지털화되었으므로 실수로 오타 및 기타 불일치가 발생했습니다. 코드는 다음 스캔된 인쇄물과 일관되도록 수정해야 합니다. - [Comanche용 AGC 인쇄물][8] - [Luminary용 AGC 인쇄물][9] 다음 웹사이트를 사용하면 Comanche와 Luminary의 스캔된 인쇄물을 쉽게 탐색할 수 있습니다. https://28gpc.csb.app/ ## 유용한 확장기능들 GitHub은 내장 에디터에서 AGC문법을 지원합니다. 그러나 불행하게도 대개 사용되는 에디터들은 그렇지 않습니다. 하지만 확장 기능이 지원되는 에디터들이 있습니다. - [Atom][Atom]† - [CodeBlocks][CodeBlocks] - [Eclipse][Eclipse] - [Kate][Kate] - [ProgrammersNotepad][ProgrammersNotepad] - [Sublime Text 3][Sublime Text]† - [TextPad][TextPad] - [Vim][Vim] - [Visual Studio Code][VisualStudioCode]† - [jEdit][jEdit] † 자동 포매팅 지원 [Atom]:https://github.com/Alhadis/language-agc [CodeBlocks]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/CodeBlocks [Eclipse]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Eclipse [Kate]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Kate [ProgrammersNotepad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/ProgrammersNotepad [Sublime Text]:https://github.com/jimlawton/AGC-Assembly [TextPad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/TextPad [Vim]:https://github.com/wsdjeg/vim-assembly [VisualStudioCode]:https://github.com/wopian/agc-assembly [jEdit]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/jEdit ## 포매팅 **참고:** GitHub 내장 에디터와 위의 세 확장기능들은 이 문단에서 정의하는 포매팅을 자동으로 수행해 줍니다. - 탭 들여쓰기를 사용하십시오. - 들여쓰기 크기는 8입니다. - 뒤에 불필요하게 붙는 공백 문자는 제거하시기 바랍니다. ## 확인해야 할 것들 ### 주석 - 옮겨진 코드의 주석들은 스캔본과 일치해야 합니다. - 의도적인 오타나 전체 주석을 삭제/추가하는 것과 관계가 있을 수 있습니다. ### 개행 - 1열에서 `R0000`로 개행되는 경우 스캔본과 일치해야 합니다. - 1열에서 `R0000`*__없이__*  개행되는 경우 1~2개의 빈 줄이 있어야 합니다. - 만약 3개 이상의 개행이 있는 경우 초과분을 제거하십시오. - 1열에 `R0000`를 포함하는 경우 빈 줄로 치지 않습니다. - 소스 이미지는 8열의 인쇄되지 않은 숫자로 생성되었습니다. 두 부분에 두 개의 공백과(빈 줄 한 개), 세 부분에 3개의 공백이(빈 줄 두 개) 강제됩니다. 4-8의 값들은 정의되었지만 사용되지 않습니다. 자세한 내용은 [#159][7]를 참고하십시오. 예를 들어 이 코드는: ```plain R0819 SUBROUTINE TO SKIP... R0820 0821 LAMPTEST CS IMODES33 ``` 이렇게 고쳐야 합니다: ```plain R0819 SUBROUTINE TO SKIP... R0820 0820 LAMPTEST CS IMODES33 ``` [0]:https://github.com/chrislgarry/Apollo-11/pull/new/master [1]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [2]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [6]:https://github.com/wopian/agc-assembly#user-settings [7]:https://github.com/chrislgarry/Apollo-11/issues/159 [8]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [9]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ ================================================ FILE: Translations/CONTRIBUTING.ku.md ================================================ # Beşdarbûn 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA]، [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdi][KU], [Kurdî][KU], [Lietuvių][LT], [Mongolia][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Українська][UK]، [العربية][AR], [हिन्दी][HI_IN], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:CONTRIBUTING.ar.md [AZ]:CONTRIBUTING.az.md [CA]:CONTRIBUTING.ca.md [CZ]:CONTRIBUTING.cz.md [DA]:CONTRIBUTING.da.md [DE]:CONTRIBUTING.de.md [EN]:../CONTRIBUTING.md [ES]:CONTRIBUTING.es.md [FR]:CONTRIBUTING.fr.md [GL]:CONTRIBUTING.gl.md [GR]:CONTRIBUTING.gr.md [HI_IN]:CONTRIBUTING.hi_in.md [ID]:CONTRIBUTING.id.md [IT]:CONTRIBUTING.it.md [JA]:CONTRIBUTING.ja.md [KO_KR]:CONTRIBUTING.ko_kr.md [KU]:CONTRIBUTING.ku.md [LT]:CONTRIBUTING.lt.md [MN]:CONTRIBUTING.mn.md [NL]:CONTRIBUTING.nl.md [NO]:CONTRIBUTING.no.md [PL]:CONTRIBUTING.pl.md [PT_BR]:CONTRIBUTING.pt_br.md [SV]:CONTRIBUTING.sv.md [TR]:CONTRIBUTING.tr.md [UK]:CONTRIBUTING.uk.md [VI]:CONTRIBUTING.vi.md [ZH_CN]:CONTRIBUTING.zh_cn.md [ZH_TW]:CONTRIBUTING.zh_tw.md Koda xwerû di vê depoyê de ji kaxezek çapkirî bi awak destkî hat dîjîtîzkirin, ji ber vê yekê nakokî û cudahiyên din bi şaşî hatine danîn. Pêdivîye ku kod bêne guhertin da ku li gorî çapên şandî li hev bikin: - [AGC printouts for Comanche][8] - [AGC printouts for Luminary][9] Malpera jêrîn dikare were bikar anîn da ku meriv hem ji bo Comanche û hem jî ji bo Luminary li dora çapên şehkirî bi hêsanî rêve bibe: https://28gpc.csb.app/ ## Berfirehiyên bikêr GitHub ji bo sazkirina zimanê AGC-ê desteka syntax heye. Mixabin redaktorê kodê yê li gel wê bê ev destek be, lê di heman dem de berfirehiyên zimanê AGC yê ku ronahî li ser syntaxê dikin ji bo redaktorên jêrîn hene: - [Atom][Atom]† - [CodeBlocks][CodeBlocks] - [Eclipse][Eclipse] - [Kate][Kate] - [ProgrammersNotepad][ProgrammersNotepad] - [Sublime Text 3][Sublime Text]† - [TextPad][TextPad] - [Vim][Vim] - [Visual Studio Code][VisualStudioCode]† - [jEdit][jEdit] † Piştgiriya formasyona otomatîk dikin [Atom]:https://github.com/Alhadis/language-agc [CodeBlocks]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/CodeBlocks [Eclipse]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Eclipse [Kate]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Kate [ProgrammersNotepad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/ProgrammersNotepad [Sublime Text]:https://github.com/jimlawton/AGC-Assembly [TextPad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/TextPad [Vim]:https://github.com/wsdjeg/vim-assembly [VisualStudioCode]:https://github.com/wopian/agc-assembly [jEdit]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/jEdit ## Formasyon **Nîşe:** GitHub û pêvekên ku li jor hatine nîşankirin wê tekez bikin ku hûn bi awak otomatîk pêvekirina rast bikar tînin. - Dirêjahiya tab bikar bînin - Dirêjahiya tab ya 8 bikar bînin - Zêdebûna spî jê bibe ## Ez çi kontrol dikim? Çi ciyawaziya di navbera skana û koda xwerû di vê depoyê de, di nav de: ### Şîrove - Şîrovên di koda ku hatî veguheztin divê tam weke skanan be. - Ev dibe ku di nav de şaştiyek qesdî be yan jî jêbirin/zedekirina şîrovekî bi tevahî. ### Şikandina xetê - Şikandinên xetan yê ku *li gel* `R0000` di lingê 1 de gereke bi tam weke skanan bin. - Şikandinên xetan yê ku *ne li get* `R0000` di lingê 1 gereke tenê 1 an 2 xetên vala li peyhev hebin. - Eger zêdetir ji 2 şikandinê xetan hebin, şikandinê xetan yê zêde tecrîd bike. - Xetên li gel `R0000` di lingê 1 de di nav van de nayê jimartin. - Di wêneyên skanan de, ev şikandinên xetan hatine çêkirin di riya jimarek ne çapkirî di lingê 8an de. Jimara 2 li wer valahiyek dualî mecbûr kiriyê (yek xeta vala) û jimara 3 valahiyek sêalî mecbur kiriye (du xetên vala). Nirxên 4-8-ê hatin diyar kirin lê ti carî ne hatine bikaranîn. Zêdetir li ser wê bixwînin [#159][7] Wek mînak jêrîn: ```plain R0819 SUBROUTINE TO SKIP... R0820 0821 LAMPTEST CS IMODES33 ``` Gereke bibe: ```plain R0819 SUBROUTINE TO SKIP... R0820 0820 LAMPTEST CS IMODES33 ``` ### Valahî - Valahiyên di navbera du tîpan de di rêzikê de divê peymana jêrîn rêz bikin (nîqaşê li [#316][10] binihêrin): - Tenê valahiyek ji bo peyvên nû. - Du valahî ji bo hevokên nû. - Sê valahî ji bo çar-valahiyan. Wek mînak jêrîn: ```plain 1) FOO BAR BAZ QUX QUUX QUUZ. CORGE, GRAULT, GARPLY, WALDO. ``` Gereke bibe: ```plain 1) FOO BAR BAZ QUX QUUX QUUZ. CORGE, GRAULT, GARPLY, WALDO. ``` ## Nîşe Berî ku hûn PR-ê çêbikin, ji kerema xwe pê tekez bikin ku guhartinên we bi skanan re hevbeş in! [0]:https://github.com/chrislgarry/Apollo-11/pull/new/master [1]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [2]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [6]:https://github.com/wopian/agc-assembly#user-settings [7]:https://github.com/chrislgarry/Apollo-11/issues/159 [8]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [9]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [10]:https://github.com/chrislgarry/Apollo-11/pull/316#pullrequestreview-102892741 ================================================ FILE: Translations/CONTRIBUTING.lt.md ================================================ # Prisidėjimas 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA]، [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdi][KU], [Kurdî][KU], [Lietuvių][LT], [Mongolia][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Українська][UK]، [العربية][AR], [हिन्दी][HI_IN], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:CONTRIBUTING.ar.md [AZ]:CONTRIBUTING.az.md [CA]:CONTRIBUTING.ca.md [CZ]:CONTRIBUTING.cz.md [DA]:CONTRIBUTING.da.md [DE]:CONTRIBUTING.de.md [EN]:../CONTRIBUTING.md [ES]:CONTRIBUTING.es.md [FR]:CONTRIBUTING.fr.md [GL]:CONTRIBUTING.gl.md [GR]:CONTRIBUTING.gr.md [HI_IN]:CONTRIBUTING.hi_in.md [ID]:CONTRIBUTING.id.md [IT]:CONTRIBUTING.it.md [JA]:CONTRIBUTING.ja.md [KO_KR]:CONTRIBUTING.ko_kr.md [KU]:CONTRIBUTING.ku.md [LT]:CONTRIBUTING.lt.md [MN]:CONTRIBUTING.mn.md [NL]:CONTRIBUTING.nl.md [NO]:CONTRIBUTING.no.md [PL]:CONTRIBUTING.pl.md [PT_BR]:CONTRIBUTING.pt_br.md [SV]:CONTRIBUTING.sv.md [TR]:CONTRIBUTING.tr.md [UK]:CONTRIBUTING.uk.md [VI]:CONTRIBUTING.vi.md [ZH_CN]:CONTRIBUTING.zh_cn.md [ZH_TW]:CONTRIBUTING.zh_tw.md Šios saugyklos kodas buvo suskaitmenintas rankiniu būdu iš popierinių spausdinių, todėl galima tikėtis klaidų ir kiti neatitikimų. Kodas turi būti pakeistas taip, kad labiau atitiktų šiuos nuskaitytus spausdinius: - [AGC spausdiniai Comache][8] - [AGC spausdiniai Luminary][9] Norėdami lengvai naršyti po nuskaitytus Comanche ir Luminary spaudinius, galite naudoti šią svetainę: https://28gpc.csb.app/ ## Naudingi plėtiniai GitHub turi integruotą AGC assemblerio kalbos sintakės palaikymą. Dėja, jūsų kodo redaktorius šios assemblerio kalbos nepalaikys, tačiau yra AGC kalbos plėtinių, kurie suteikia sintakės paryškinimą šiems redaktoriams: - [Atom][Atom]† - [CodeBlocks][CodeBlocks] - [Eclipse][Eclipse] - [Kate][Kate] - [ProgrammersNotepad][ProgrammersNotepad] - [Sublime Text 3][Sublime Text]† - [TextPad][TextPad] - [Vim][Vim] - [Visual Studio Code][VisualStudioCode]† - [jEdit][jEdit] † Palaiko automatinį formatavimą [Atom]:https://github.com/Alhadis/language-agc [CodeBlocks]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/CodeBlocks [Eclipse]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Eclipse [Kate]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Kate [ProgrammersNotepad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/ProgrammersNotepad [Sublime Text]:https://github.com/jimlawton/AGC-Assembly [TextPad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/TextPad [Vim]:https://github.com/wsdjeg/vim-assembly [VisualStudioCode]:https://github.com/wopian/agc-assembly [jEdit]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/jEdit ## Formatavimas **Pastaba:** GitHub ir plėtiniai nurodyti viršuje automatiškai užtikrins, kad naudotumėte teisingą formatavimą. - Naudokite skirtuko įtrauką - Naudokite skirtuko plotį 8 - Ištrinkite galinius tarpus ## Ką aš turiu patikrinti? Betkokius neatitikimus tarp skenuočių ir šaltinio kodo šioje saugykloje. ### Komentarai - Komentarai perrašytame kode turi **tiksliai** atitikti skenuočių komentarus. Dažnai pasikartojančios problemos, į kurias turėtumėte atkreipti dėmesį, jomis neapsiribojant: #### Tipografinės klaidos Kai kuriose vietose, rašant komentarus, originalūs kūrėjai paliko tipografinių klaidų. Kai kurios iš jų buvo klaidingai ištaisytos per pradinį skaitmenizavimą, tačiau skaitmenizavimas taip pat pridėjo tipografinių klaidų, kurių nebuvo skenuotėse. Pavyzdžiui, jeigu skaitmenizuotas komentaras turėjo žodį `SPACECRAFT`, bet `SPAECRAFT` buvo išspausdintas skenuotėse, tai ši skaitmenizacija **turi** būti pataisyta į `SPAECRAFT` (be `C`). Taip pat, jeigu žodis turi klaidą skaitmenizacijoje, bet yra parašytas teisingai skenuotėse, tai ta klaida **turi** būti pataisyta. ### Tarpai - Tarpai tarp dviejų rašmenų komentaruose **turi** atitikti skenuotes. Dažnu atvėju (žiūrėti diskusiją [#316][10]), tai yra: - Vienas tarpas naujiems žodžiams. - Dvigubas tarpas naujiems sakiniams. - Trigubas tarpas įtraukoms. Nevisi puslapiai skenuotėse laikosi šių taisykių, jeigu skenuotės turi tik vieną tarpą vietoj dvigubo tarpo, reikia naudoti vieną tarpą. ### Eilučių lūžiai - Linijų lūžiai su *pločiu* `R0000` pirmame stulpelyje turi tiksliai atitikti skenuotes. - Linijų lūžiai su *pločiu**__out__* `R0000` pirmame stulpelyje gali turėti tik vieną arba dvi tuščias eilutes iš eilės. - Jeigu yra daugiau negu dvi tuščios linijos, reikia ištrinti papildomas eilutes. - Linijos su `R0000` pirmame stulpelyje nesiskaičiuoja. - Šaltinių nuotraukose, šios buvo sukurtos nespausdintu skaitmeniu aštuntame stulpelyje. A 2 - ten buvo dvigubas tarpas (viena tuščia eilutė) ir a 3 buvo trigubas tarpas (dviguba tuščia eilutė). Reikšmės nuo 4-8 buvo apibrėžtos, bet niekada nenaudotos. Daugiau apie tai [#159][7] Pavyzdžiui, šis tekstas: ```plain R0819 SUBROUTINE TO SKIP... R0820 0821 LAMPTEST CS IMODES33 ``` Turėtų patapti: ```plain R0819 SUBROUTINE TO SKIP... R0820 0820 LAMPTEST CS IMODES33 ``` ## Pastabos Prieš kuriant PR, prašome įsitikinti, kad jūsų pakeitimai atitinka skenuotes! [0]:https://github.com/chrislgarry/Apollo-11/pull/new/master [1]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [2]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [6]:https://github.com/wopian/agc-assembly#user-settings [7]:https://github.com/chrislgarry/Apollo-11/issues/159 [8]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [9]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [10]:https://github.com/chrislgarry/Apollo-11/pull/316#pullrequestreview-102892741 ================================================ FILE: Translations/CONTRIBUTING.mn.md ================================================ # Хувь нэмэр оруулж байна 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA]، [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdi][KU], [Kurdî][KU], [Lietuvių][LT], [Mongolia][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Українська][UK]، [العربية][AR], [हिन्दी][HI_IN], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:CONTRIBUTING.ar.md [AZ]:CONTRIBUTING.az.md [CA]:CONTRIBUTING.ca.md [CZ]:CONTRIBUTING.cz.md [DA]:CONTRIBUTING.da.md [DE]:CONTRIBUTING.de.md [EN]:../CONTRIBUTING.md [ES]:CONTRIBUTING.es.md [FR]:CONTRIBUTING.fr.md [GL]:CONTRIBUTING.gl.md [GR]:CONTRIBUTING.gr.md [HI_IN]:CONTRIBUTING.hi_in.md [ID]:CONTRIBUTING.id.md [IT]:CONTRIBUTING.it.md [JA]:CONTRIBUTING.ja.md [KO_KR]:CONTRIBUTING.ko_kr.md [KU]:CONTRIBUTING.ku.md [LT]:CONTRIBUTING.lt.md [MN]:CONTRIBUTING.mn.md [NL]:CONTRIBUTING.nl.md [NO]:CONTRIBUTING.no.md [PL]:CONTRIBUTING.pl.md [PT_BR]:CONTRIBUTING.pt_br.md [SV]:CONTRIBUTING.sv.md [TR]:CONTRIBUTING.tr.md [UK]:CONTRIBUTING.uk.md [VI]:CONTRIBUTING.vi.md [ZH_CN]:CONTRIBUTING.zh_cn.md [ZH_TW]:CONTRIBUTING.zh_tw.md Энэ репозиторийн эх код нь цаасан хэвлэлээс гараар дижитал хэлбэрт шилжүүлсэн тул зарим нэг бичгийн алдаа болон бусад зөрчил санаандгүйгээр орсон байж магадгүй. Доорх сканнердсан хэвлэмэлтэй тааруулахын тулд кодыг өөрчлөх шаардлагатай: - [Comanche-ийн AGC хэвлэлүүд][8] - [Luminary-ийн AGC хэвлэлүүд][9] Дараах вэбсайтыг Comanche болон Luminary-ийн аль алиных нь сканнердсан хэвлэмэл материалуудаар хялбархан гүйлгэх боломжтой: https://28gpc.csb.app/ ## Туслах өргөтгөлүүд GitHub-д AGC угсрах хэлний синтаксийн дэмжлэг байдаг. Харамсалтай нь код засварлагчид байхгүй боловч дараах засварлагчид AGC хэлний өргөтгөлийг синтаксийн тодруулгыг дэмждэг: - [Atom][Atom]† - [CodeBlocks][CodeBlocks] - [Eclipse][Eclipse] - [Kate][Kate] - [ProgrammersNotepad][ProgrammersNotepad] - [Sublime Text 3][Sublime Text]† - [TextPad][TextPad] - [Vim][Vim] - [Visual Studio Code][VisualStudioCode]† - [jEdit][jEdit] † Автоформатлахыг дэмждэг [Atom]:https://github.com/Alhadis/language-agc [CodeBlocks]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/CodeBlocks [Eclipse]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Eclipse [Kate]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Kate [ProgrammersNotepad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/ProgrammersNotepad [Sublime Text]:https://github.com/jimlawton/AGC-Assembly [TextPad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/TextPad [Vim]:https://github.com/wsdjeg/vim-assembly [VisualStudioCode]:https://github.com/wopian/agc-assembly [jEdit]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/jEdit ## Формат **Анхаар:** GitHub болон дээрх өргөтгөлүүдийн тусламжтайгаар зөв формат автоматаар ашиглагдана. - Таб ашиглан мөрийг хойшлуулна - Табын өргөн нь 8 байна - Мөрийн төгсгөлд байгаа хоосон зайг устгана ## Хэрхэн шалгах вэ? Скан болон энэ репозиторид байгаа эх кодын хооронд зөрүү байгаа эсэхийг шалгана. ### Тайлбар Текст болгон хувиргасан кодын тайлбарууд скантай **яг** таарч **байх ёстой**. Хяналтын явцад анхаарах нийтлэг асуудлууд нь дараах байж болно, гэхдээ үүгээр хязгаарлагдахгүй: #### Алдаа Зарим газарт анхны хөгжүүлэгчид тайлбар бичихдээ алдаа гаргасан байдаг. Эдгээрийн зарим нь анхны дижиталчлалын үед засагдсан боловч дижиталчлалаас болж сканд байгаагүй алдаа гарсан тохиолдлууд ч бий. Жишээлбэл, дижиталчлагдсан тайлбарт `SPACECRAFT` гэсэн үг байгаа боловч сканд `SPAECRAFT` гэж хэвлэгдсэн бол дижиталчлал нь `SPAECRAFT` гэж засагдах **ёстой** (`C` үсэг дутуу байна). Үүнтэй адил, үгэнд дижиталчлалын алдаа байгаа боловч сканд зөв бичигдсэн бол алдааг засах **ёстой**. ### Зай - Тайлбар доторх хоёр үсгийн хоорондох зай нь скантай **таарч байх ёстой**. Ихэнх тохиолдолд (дэлгэрэнгүйг [#316][10] хэлэлцүүлгээс үзнэ үү), дараах дүрмийг дагах хэрэгтэй: - Шинэ үгэнд нэг зай. - Шинэ өгүүлбэрт хоёр зай. - Хойшлуулахад гурван зай. Сканы бүх хуудсууд энэ ерөнхий дүрмийг дагадаггүй. Хэрэв сканд хоёр зай биш нэг зай байгаа бол нэг зайг ашиглана уу. ### Мөр шилжүүлэлт - `R0000`-тэй мөр шилжүүлэлт нь скантай яг таарч байх ёстой. - `R0000`-тэй *биш* мөр шилжүүлэлт нь зөвхөн нэг эсвэл хоёр хоосон мөрийг агуулсан байх ёстой. - Хоосон мөр хоёр буюу түүнээс олон байвал илүүдэл мөрийг устгана. - `R0000`-тэй мөрүүд үүнд тооцогдохгүй. - Эх зургуудад эдгээр нь 8-р баганад хэвлэгдээгүй тоогоор үүсгэгдсэн. 2 нь давхар зай (нэг хоосон мөр), 3 нь гурвалсан зай (хоёр хоосон мөр) үүсгэдэг. 4-8 утгууд тодорхойлогдсон боловч ашиглагдаагүй. Дэлгэрэнгүйг [#159][7] үзнэ үү. Жишээлбэл, дараах байдлаар: ```plain R0819 SUBROUTINE TO SKIP... R0820 0821 LAMPTEST CS IMODES33 ``` Энэ болох ёстой: ```plain R0819 SUBROUTINE TO SKIP... R0820 0820 LAMPTEST CS IMODES33 ``` ## Анхаар PR үүсгэхээс өмнө өөрчлөлтүүд скантай таарч байгаа эсэхийг шалгана уу! [0]:https://github.com/chrislgarry/Apollo-11/pull/new/master [1]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [2]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [6]:https://github.com/wopian/agc-assembly#user-settings [7]:https://github.com/chrislgarry/Apollo-11/issues/159 [8]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [9]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [10]:https://github.com/chrislgarry/Apollo-11/pull/316#pullrequestreview-102892741 ================================================ FILE: Translations/CONTRIBUTING.nl.md ================================================ # Bijdragen 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA]، [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdi][KU], [Kurdî][KU], [Lietuvių][LT], [Mongolia][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Українська][UK]، [العربية][AR], [हिन्दी][HI_IN], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:CONTRIBUTING.ar.md [AZ]:CONTRIBUTING.az.md [CA]:CONTRIBUTING.ca.md [CZ]:CONTRIBUTING.cz.md [DA]:CONTRIBUTING.da.md [DE]:CONTRIBUTING.de.md [EN]:../CONTRIBUTING.md [ES]:CONTRIBUTING.es.md [FR]:CONTRIBUTING.fr.md [GL]:CONTRIBUTING.gl.md [GR]:CONTRIBUTING.gr.md [HI_IN]:CONTRIBUTING.hi_in.md [ID]:CONTRIBUTING.id.md [IT]:CONTRIBUTING.it.md [JA]:CONTRIBUTING.ja.md [KO_KR]:CONTRIBUTING.ko_kr.md [KU]:CONTRIBUTING.ku.md [LT]:CONTRIBUTING.lt.md [MN]:CONTRIBUTING.mn.md [NL]:CONTRIBUTING.nl.md [NO]:CONTRIBUTING.no.md [PL]:CONTRIBUTING.pl.md [PT_BR]:CONTRIBUTING.pt_br.md [SV]:CONTRIBUTING.sv.md [TR]:CONTRIBUTING.tr.md [UK]:CONTRIBUTING.uk.md [VI]:CONTRIBUTING.vi.md [ZH_CN]:CONTRIBUTING.zh_cn.md [ZH_TW]:CONTRIBUTING.zh_tw.md De broncode in deze repository is handmatig gedigitalizeerd van papieren stukken. Typfouten en andere discrepanties kunnen per ongeluk zijn toegevoegd. De code zal worden aangepast om gelijk te worden gemaakt aan de gescande papieren: - [AGC prints voor Comanche][8] - [AGC prints voor Luminary][9] De volgende website is eenvoudig te doorzoeken met gescande afdrukken van zowel Comanche als Luminary: https://28gpc.csb.app/ ## Handige extensies GitHub heeft syntax ondersteuning voor de AGC assembly taal ingebouwd. Helaas heeft jouw editor dit niet, gelukkig zijn er AGC extensies die de volgende editors kunnen voorzien van syntax ondersteuning: - [Atom][Atom]† - [CodeBlocks][CodeBlocks] - [Eclipse][Eclipse] - [Kate][Kate] - [ProgrammersNotepad][ProgrammersNotepad] - [Sublime Text 3][Sublime Text]† - [TextPad][TextPad] - [Vim][Vim] - [Visual Studio Code][VisualStudioCode]† - [jEdit][jEdit] † Ondersteunt automatische opmaak [Atom]:https://github.com/Alhadis/language-agc [CodeBlocks]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/CodeBlocks [Eclipse]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Eclipse [Kate]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Kate [ProgrammersNotepad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/ProgrammersNotepad [Sublime Text]:https://github.com/jimlawton/AGC-Assembly [TextPad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/TextPad [Vim]:https://github.com/wsdjeg/vim-assembly [VisualStudioCode]:https://github.com/wopian/agc-assembly [jEdit]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/jEdit ## Opmaak **Let op:** GitHub en de extensies in de lijst hierboven zorgen ervoor dat je automatisch de correcte opmaak gebruikt. - Gebruik tab indentatie - Gebruik een tab width van 8 - Haal trailing whitespace weg ## Wat controleer ik? Elk verschil tussen de scans en de broncode in deze repository inclusief: ### Commentaren - Commentaren in de overgeschreven code moeten exact hetzelfde zijn als in de scans - Soms betekent dit dat je expres een typfout moet overnemen of een commentaar volledig moet weghalen. ### Regeleindes - Regeleinden *met* `R0000` in kolom 1 moeten exact overeen komen met de scans. - Regeleinden *zonder* `R0000` in kolom 1 moeten slechts 1 of 2 lege regels in een rij bevatten. - Als er meer dan twee lege regels zijn, haal de extra witregels dan weg. - Regels met `R0000` in kolom 1 tellen hierbij niet mee. - In de bron scans zijn deze aangemaakt door een niet uitgeprint getal in kolom 8. Een 2 in deze kolom veroorzaakte een dubbele spatie (enkele witregel) en een 3 in deze kolom veroorzaakte een driedubbele spatie (dubbele witregel). De waarden 4-8 waren wel gedefinieerd maar nooit gebruikt. Lees hier meer over in [#159][7] Bijvoorbeeld het volgende: ```plain R0819 SUBROUTINE TO SKIP... R0820 0821 LAMPTEST CS IMODES33 ``` Zou dit moeten worden: ```plain R0819 SUBROUTINE TO SKIP... R0820 0820 LAMPTEST CS IMODES33 ``` ### Spaties - Spaties tussen twee karakters in de string moeten de volgende conventie gebruiken (bekijk de discussie in [#316][10]): - Enkele spatie voor een nieuw woord. - Dubbele spatie voor een nieuwe zin. - Driedubbele spatie voor inspringen. Bijvoorbeeld het volgende: ```plain 1) FOO BAR BAZ QUX QUUX QUUZ. CORGE, GRAULT, GARPLY, WALDO. ``` Zou dit moeten worden: ```plain 1) FOO BAR BAZ QUX QUUX QUUZ. CORGE, GRAULT, GARPLY, WALDO. ``` ## Let op Voordat je een PR maakt zorg er alsjeblieft voor dat je wijzigingen consistent zijn met de scans! [0]:https://github.com/chrislgarry/Apollo-11/pull/new/master [1]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [2]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [6]:https://github.com/wopian/agc-assembly#user-settings [7]:https://github.com/chrislgarry/Apollo-11/issues/159 [8]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [9]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [10]:https://github.com/chrislgarry/Apollo-11/pull/316#pullrequestreview-102892741 ================================================ FILE: Translations/CONTRIBUTING.no.md ================================================ # Bidra 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA]، [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdi][KU], [Kurdî][KU], [Lietuvių][LT], [Mongolia][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Українська][UK]، [العربية][AR], [हिन्दी][HI_IN], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:CONTRIBUTING.ar.md [AZ]:CONTRIBUTING.az.md [CA]:CONTRIBUTING.ca.md [CZ]:CONTRIBUTING.cz.md [DA]:CONTRIBUTING.da.md [DE]:CONTRIBUTING.de.md [EN]:../CONTRIBUTING.md [ES]:CONTRIBUTING.es.md [FR]:CONTRIBUTING.fr.md [GL]:CONTRIBUTING.gl.md [GR]:CONTRIBUTING.gr.md [HI_IN]:CONTRIBUTING.hi_in.md [ID]:CONTRIBUTING.id.md [IT]:CONTRIBUTING.it.md [JA]:CONTRIBUTING.ja.md [KO_KR]:CONTRIBUTING.ko_kr.md [KU]:CONTRIBUTING.ku.md [LT]:CONTRIBUTING.lt.md [MN]:CONTRIBUTING.mn.md [NL]:CONTRIBUTING.nl.md [NO]:CONTRIBUTING.no.md [PL]:CONTRIBUTING.pl.md [PT_BR]:CONTRIBUTING.pt_br.md [SV]:CONTRIBUTING.sv.md [TR]:CONTRIBUTING.tr.md [UK]:CONTRIBUTING.uk.md [VI]:CONTRIBUTING.vi.md [ZH_CN]:CONTRIBUTING.zh_cn.md [ZH_TW]:CONTRIBUTING.zh_tw.md Kildekoden i dette depotet ble digitalisert manuelt fra papirutskrifter, skrivefeil og andre avvik kan ha blitt innført ved et uhell. Koden skal modifiseres til å være identisk med følgende digitaliserte papirutskrifter: - [AGC-utskrift for Comanche][8] - [AGC-utskrift for Luminary][9] Følgende nettside er lett tilgjengelig med skannede utskrifter av både Comanche og Luminary: https://28gpc.csb.app/ ## Nytteprogrammer GitHub har innebygd støtte for programmeringsspråket AGC "assembly", og følgene tekstredigeringsprogrammer har også utvidelser som gir støtte for syntaksutheving i AGC: - [Atom][Atom]† - [CodeBlocks][CodeBlocks] - [Eclipse][Eclipse] - [Kate][Kate] - [ProgrammersNotepad][ProgrammersNotepad] - [Sublime Text 3][Sublime Text]† - [TextPad][TextPad] - [Vim][Vim] - [Visual Studio Code][VisualStudioCode]† - [jEdit][jEdit] † Støtter automatisk formatering [Atom]:https://github.com/Alhadis/language-agc [CodeBlocks]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/CodeBlocks [Eclipse]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Eclipse [Kate]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Kate [ProgrammersNotepad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/ProgrammersNotepad [Sublime Text]:https://github.com/jimlawton/AGC-Assembly [TextPad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/TextPad [Vim]:https://github.com/wsdjeg/vim-assembly [VisualStudioCode]:https://github.com/wopian/agc-assembly [jEdit]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/jEdit ## Formatering **Merk:** GitHub og de markerte redigeringsprogrammene vil sørge for at du bruker korrekt formatering av kildekoden automatisk. - Bruk Tab for innrykk - Bruk Tab med 8 mellomrom - Ta bort mellomrom og annet som ikke er synlig på slutten av setninger ## Hva må jeg sjekke? Eventuelle avvik fra de innskannede bildene og kildekoden i dette depotet. ### Kommentarer Kommentarer i denne koden **SKAL** stemme **eksakt** med den digitaliserte originalen. Vanlige feil man bør se etter er blant annet: #### Typografiske feil Noen steder skrev originalutviklerne feil i kodekommentarene. Noen av disse skrivefeilene ble feilaktig rettet under digitaliseringen, og digitaliseringen har også introdusert nye skrivefeil som ikke stammer fra papirutskriften. For eksempel, hvis de originale dokumentene var feilstavet som ‘SPAECRAFT’ og de digitaliserte dokumentene ble endret til ‘SPACECRAFT’ så **SKAL** dette rettes for å reflektere de originale dokumentene, altså manglende ‘C’. På samme måte, hvis digitaliseringen introduserte stavefeil som ikke var tilstede i de originale dokumentene **SKAL** dette rettes. #### Mellomrom Mellomrom mellom to tegn i teksten **BØR** følge de digitaliserte dokumentene. I de fleste tilfeller (se diskusjon i [#316[10]) betyr dette: - Enkelt mellomrom for nye ord - Dobbelt mellomrom for nye linjer - Trippel mellomrom for innrykk Ikke alle sider i de digitaliserte dokumentene følger denne generaliseringen, hvis de digitaliserte dokumentene bruker enkelt mellomrom i stedet for dobbelt mellomrom, skal enkelt mellomrom brukes. ### Linjeskift - Linje skift *med* `R0000` i kolonne 1 skal stemme helt med originalen. - Linje skift *uten* `R0000` i kolonne 1 skal bare ha en eller to blanke linjer etter seg. - Hvis det er flere enn to blanke linjer skal de fjernes - Linjer med `R0000` i kolonne 1 regnes ikke med i slike tilfeller - I originalen ble disse skapt av et siffer i kolonne 8 (som ikke ble skrevet ut). et 2-tall fremtvang dobbelt mellomrom (enkel blank linje) og et 3-tall så ble det et trippel mellomrom (to doble linjer). Verdiene fra 4 til 8 var definert, men ikke brukt. Les mer om dette i [#159][7] For eksempel skal følgende kode: ```plain R0819 SUBROUTINE TO SKIP... R0820 0821 LAMPTEST CS IMODES33 ``` Se slik ut: ```plain R0819 SUBROUTINE TO SKIP... R0820 0820 LAMPTEST CS IMODES33 ``` ## Noter Før man åpner en «Pull Request», bør man være helt sikker på at endringene er i samsvar med de digitaliserte bildene! [0]:https://github.com/chrislgarry/Apollo-11/pull/new/master [1]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [2]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [6]:https://github.com/wopian/agc-assembly#user-settings [7]:https://github.com/chrislgarry/Apollo-11/issues/159 [8]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [9]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [10]:https://github.com/chrislgarry/Apollo-11/pull/316#pullrequestreview-102892741 ================================================ FILE: Translations/CONTRIBUTING.pl.md ================================================ # Contributing 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA]، [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdi][KU], [Kurdî][KU], [Lietuvių][LT], [Mongolia][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Українська][UK]، [العربية][AR], [हिन्दी][HI_IN], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:CONTRIBUTING.ar.md [AZ]:CONTRIBUTING.az.md [CA]:CONTRIBUTING.ca.md [CZ]:CONTRIBUTING.cz.md [DA]:CONTRIBUTING.da.md [DE]:CONTRIBUTING.de.md [EN]:../CONTRIBUTING.md [ES]:CONTRIBUTING.es.md [FR]:CONTRIBUTING.fr.md [GL]:CONTRIBUTING.gl.md [GR]:CONTRIBUTING.gr.md [HI_IN]:CONTRIBUTING.hi_in.md [ID]:CONTRIBUTING.id.md [IT]:CONTRIBUTING.it.md [JA]:CONTRIBUTING.ja.md [KO_KR]:CONTRIBUTING.ko_kr.md [KU]:CONTRIBUTING.ku.md [LT]:CONTRIBUTING.lt.md [MN]:CONTRIBUTING.mn.md [NL]:CONTRIBUTING.nl.md [NO]:CONTRIBUTING.no.md [PL]:CONTRIBUTING.pl.md [PT_BR]:CONTRIBUTING.pt_br.md [SV]:CONTRIBUTING.sv.md [TR]:CONTRIBUTING.tr.md [UK]:CONTRIBUTING.uk.md [VI]:CONTRIBUTING.vi.md [ZH_CN]:CONTRIBUTING.zh_cn.md [ZH_TW]:CONTRIBUTING.zh_tw.md Kod źródłowy w tym repozytorium został zdigitalizowany ręcznie na podstawie wydruków papierowych, więc literówki i inne rozbieżności zostały wprowadzone przypadkowo. Kod należy zmodyfikować, aby był zgodny z zeskanowanymi wydrukami: - [AGC printouts for Comanche][8] - [AGC printouts for Luminary][9] Poniższą stronę internetową można łatwo przeglądać, korzystając ze zeskanowanych wydruków Comanche i Luminary: https://28gpc.csb.app/ ## Przydatne rozszerzenia GitHub obsługuje składnię wbudowanego języka asemblera AGC. Niestety twój edytor kodu prawdopodobnie nie będzie go obsługiwał, jednak istnieją rozszerzenia języka AGC, które zapewniają obsługę składni tego języka dla następujących edytorów: - [Atom][Atom]† - [CodeBlocks][CodeBlocks] - [Eclipse][Eclipse] - [Kate][Kate] - [ProgrammersNotepad][ProgrammersNotepad] - [Sublime Text 3][Sublime Text]† - [TextPad][TextPad] - [Vim][Vim] - [Visual Studio Code][VisualStudioCode]† - [jEdit][jEdit] † Wspiera automatyczne formatowanie [Atom]:https://github.com/Alhadis/language-agc [CodeBlocks]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/CodeBlocks [Eclipse]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Eclipse [Kate]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Kate [ProgrammersNotepad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/ProgrammersNotepad [Sublime Text]:https://github.com/jimlawton/AGC-Assembly [TextPad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/TextPad [Vim]:https://github.com/wsdjeg/vim-assembly [VisualStudioCode]:https://github.com/wopian/agc-assembly [jEdit]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/jEdit ## Formatowanie **Uwaga:** GitHub wraz z powyższymi rozszerzeniami zapewniają automatyczne użycie prawidłowego formatowana - Tabulacja - Szerokość tabulacji wynosząca 8 - Niepozostawianie spacji na końcu wierszy ## Co mam sprawdzać? Wszelkie rozbieżności między skanami a kodem źródłowym tego repozytorium. ### Komentarze Komentarze w transkrybowanym kodzie **MUSZĄ DOKŁADNIE** odpowiadać skanom. Typowe problemy, na które należy zwrócić uwagę podczas sprawdzania, obejmują między innymi: #### Literówki W niektórych miejscach pierwotni programiści popełnili błędy typograficzne podczas pisania komentarzy. Niektóre z nich zostały błędnie poprawione podczas wstępnej digitalizacji, jednak digitalizacja wprowadziła również błędy typograficzne, których nie było w skanach. Na przykład, jeśli zdigitalizowane komentarze zawierały słowo „SPACECRAFT”, ale na skanach odczytano „SPAECRAFT”, wówczas digitalizacja **MUSI** zostać poprawiona na „SPAECRAFT” (brakujące „C”). Podobnie, jeśli słowo zawiera literówkę w digitalizacji, ale jest poprawnie napisane na skanach, wówczas literówka **MUSI** zostać poprawiona. #### Spacje Spacje pomiędzy dwoma znakami w danym ciągu powinny być zgodne z następującą konwencją (patrz na [#316][10]): - Pojedyncza spacja dla nowego słowa. - Podwójna spacja dla nowego zdania. - Potrójna spacja dla akapitu. Nie wszystkie strony w skanach są zgodne z tym uogólnieniem, jeśli skany mają tylko jedną spację zamiast podwójnej, użyj jednej spacji. ### Rozdzielanie wierszy - Wiersz *rozpoczynający się od* `R0000` w kolumnie 1 powinien dokładnie pasować do skanów. - Wiersz *nierozpoczynający się od* `R0000` w kolumnie 1 powinien zawierać tylko 1 lub 2 puste wiersze z rzędu. - Jeżeli są więcej niż 2 puste wiersze - usuń ich nadmiar. - Wiersze rozpoczynające się od `R0000` w kolumnie 1 nie są zaliczane jako pusty wiersz. - W obrazach źródłowych puste linie zostały utworzone przez niezadrukowaną cyfrę w kolumnie 8. 2 wymusiło podwójną spację (pojedyncza pusta linia), a 3 wymusiło potrójną spację (podwójna pusta linia). Wartości 4-8 zostały zdefiniowane, ale nigdy nie były używane. Więcej na ten temat w [#159][7] Na przykład: ```plain R0819 SUBROUTINE TO SKIP... R0820 0821 LAMPTEST CS IMODES33 ``` Zostaje zmienione na: ```plain R0819 SUBROUTINE TO SKIP... R0820 0820 LAMPTEST CS IMODES33 ``` ## Uwaga Zanim utworzysz PR, upewnij się, że zmiany są zgodne ze skanami! [0]:https://github.com/chrislgarry/Apollo-11/pull/new/master [1]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [2]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [6]:https://github.com/wopian/agc-assembly#user-settings [7]:https://github.com/chrislgarry/Apollo-11/issues/159 [8]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [9]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [10]:https://github.com/chrislgarry/Apollo-11/pull/316#pullrequestreview-102892741 ================================================ FILE: Translations/CONTRIBUTING.pt_br.md ================================================ # Contribuindo 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA]، [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdi][KU], [Kurdî][KU], [Lietuvių][LT], [Mongolia][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Українська][UK]، [العربية][AR], [हिन्दी][HI_IN], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:CONTRIBUTING.ar.md [AZ]:CONTRIBUTING.az.md [CA]:CONTRIBUTING.ca.md [CZ]:CONTRIBUTING.cz.md [DA]:CONTRIBUTING.da.md [DE]:CONTRIBUTING.de.md [EN]:../CONTRIBUTING.md [ES]:CONTRIBUTING.es.md [FR]:CONTRIBUTING.fr.md [GL]:CONTRIBUTING.gl.md [GR]:CONTRIBUTING.gr.md [HI_IN]:CONTRIBUTING.hi_in.md [ID]:CONTRIBUTING.id.md [IT]:CONTRIBUTING.it.md [JA]:CONTRIBUTING.ja.md [KO_KR]:CONTRIBUTING.ko_kr.md [KU]:CONTRIBUTING.ku.md [LT]:CONTRIBUTING.lt.md [MN]:CONTRIBUTING.mn.md [NL]:CONTRIBUTING.nl.md [NO]:CONTRIBUTING.no.md [PL]:CONTRIBUTING.pl.md [PT_BR]:CONTRIBUTING.pt_br.md [SV]:CONTRIBUTING.sv.md [TR]:CONTRIBUTING.tr.md [UK]:CONTRIBUTING.uk.md [VI]:CONTRIBUTING.vi.md [ZH_CN]:CONTRIBUTING.zh_cn.md [ZH_TW]:CONTRIBUTING.zh_tw.md O código-fonte neste repositório foi digitado manualmente a partir de impressões em papel, logo alguns erros de digitação e discrepâncias foram introduzidos acidentalmente. O código deve ser modificado para se tornar consistente com as seguintes digitalizações: - [Impressões em AGC para Comanche][8] - [Impressões em AGC para Luminary][9] O seguinte site é facilmente navegável com impressões digitalizadas de Comanche e Luminary: https://28gpc.csb.app/ ## Extensões úteis GitHub possui suporte de sintaxe nativo para a linguagem assembly AGC. Infelizmente, seu editor de texto não o terá. Portanto, existem extensões para a linguagem AGC que providenciam destaque de sintaxe para os seguintes editores: - [Atom][Atom]† - [CodeBlocks][CodeBlocks] - [Eclipse][Eclipse] - [Kate][Kate] - [ProgrammersNotepad][ProgrammersNotepad] - [Sublime Text 3][Sublime Text]† - [TextPad][TextPad] - [Vim][Vim] - [Visual Studio Code][VisualStudioCode]† - [jEdit][jEdit] † Suporta formatação automática [Atom]:https://github.com/Alhadis/language-agc [CodeBlocks]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/CodeBlocks [Eclipse]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Eclipse [Kate]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Kate [ProgrammersNotepad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/ProgrammersNotepad [Sublime Text]:https://github.com/jimlawton/AGC-Assembly [TextPad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/TextPad [Vim]:https://github.com/wsdjeg/vim-assembly [VisualStudioCode]:https://github.com/wopian/agc-assembly [jEdit]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/jEdit ## Formatando **Nota:** GitHub e as três extensões listadas acima garantirão que você estará usando a formatação correta automaticamente. - Use indentação por tab - Use largura de tab em 8 - Diminua o espaço em branco à direita ## O que devo conferir? Quaisquer discrepâncias entre as digitalizações e o código-fonte neste repositório, incluindo: ### Comentários - Comentários no código transcrito devem corresponder exatamente às digitalizações - Isso pode envolver criar um erro de digitação deliberadamente ou remover/adicionar um comentário inteiro. ### Quebra de linha - Quebras de linha *com* `R0000` na coluna 1 devem corresponder exatamente às digitalizações. - Quebras de linha *sem* `R0000` na coluna 1 devem conter apenas uma ou duas linhas em branco em sequência. - Se existem mais de duas quebras de linha em branco, remova as quebras de linha extras. - Linhas com `R0000` na coluna 1 não contam para este propósito. - As imagens fonte foram criadas por meio de um dígito não-impresso na coluna 8. Um 2 forçava um espaço duplo (linha em branco única) e um 3 forçava um espaço triplo (linha em branco dupla). Os valores de 4 até 8 foram definidos porém nunca usados. Leia mais sobre em [#159][7] Por exemplo, o seguinte código: ```plain R0819 SUBROUTINE TO SKIP... R0820 0821 LAMPTEST CS IMODES33 ``` Deve tornar-se: ```plain R0819 SUBROUTINE TO SKIP... R0820 0820 LAMPTEST CS IMODES33 ``` ### Espaços - Espaços entre dois caracteres na cadeia de caracteres devem respeitar a seguinte convenção (veja a discussão em [#316][10]): - Espaço único para novas palavras. - Espaço duplo para novas sentenças. - Espaço triplo para indentações. Por exemplo, o seguinte código: ```plain 1) FOO BAR BAZ QUX QUUX QUUZ. CORGE, GRAULT, GARPLY, WALDO. ``` Deve tornar-se: ```plain 1) FOO BAR BAZ QUX QUUX QUUZ. CORGE, GRAULT, GARPLY, WALDO. ``` ## Notas Antes de realizar um PR, por favor, certifique-se que suas mudanças estejam consistentes com as digitalizações! [0]:https://github.com/chrislgarry/Apollo-11/pull/new/master [1]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [2]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [6]:https://github.com/wopian/agc-assembly#user-settings [7]:https://github.com/chrislgarry/Apollo-11/issues/159 [8]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [9]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [10]:https://github.com/chrislgarry/Apollo-11/pull/316#pullrequestreview-102892741 ================================================ FILE: Translations/CONTRIBUTING.sv.md ================================================ # Bidra 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA]، [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdi][KU], [Kurdî][KU], [Lietuvių][LT], [Mongolia][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Українська][UK]، [العربية][AR], [हिन्दी][HI_IN], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:CONTRIBUTING.ar.md [AZ]:CONTRIBUTING.az.md [CA]:CONTRIBUTING.ca.md [CZ]:CONTRIBUTING.cz.md [DA]:CONTRIBUTING.da.md [DE]:CONTRIBUTING.de.md [EN]:../CONTRIBUTING.md [ES]:CONTRIBUTING.es.md [FR]:CONTRIBUTING.fr.md [GL]:CONTRIBUTING.gl.md [GR]:CONTRIBUTING.gr.md [HI_IN]:CONTRIBUTING.hi_in.md [ID]:CONTRIBUTING.id.md [IT]:CONTRIBUTING.it.md [JA]:CONTRIBUTING.ja.md [KO_KR]:CONTRIBUTING.ko_kr.md [KU]:CONTRIBUTING.ku.md [LT]:CONTRIBUTING.lt.md [MN]:CONTRIBUTING.mn.md [NL]:CONTRIBUTING.nl.md [NO]:CONTRIBUTING.no.md [PL]:CONTRIBUTING.pl.md [PT_BR]:CONTRIBUTING.pt_br.md [SV]:CONTRIBUTING.sv.md [TR]:CONTRIBUTING.tr.md [UK]:CONTRIBUTING.uk.md [VI]:CONTRIBUTING.vi.md [ZH_CN]:CONTRIBUTING.zh_cn.md [ZH_TW]:CONTRIBUTING.zh_tw.md Källkoden i det här kodarkivet digitaliserades manuellt från pappersutskrifter, så stavfel och andra avvikelser har införts av misstag. Koden ska modifieras så att den överensstämmer med följande skannade utskrifter: - [AGC-utskrifter för Comanche][8] - [AGC-utskrifter för Luminary][9] Följande webbplats kan användas för att enkelt navigera runt de skannade utskrifterna för både Comanche och Luminary: https://28gpc.csb.app/ ## Användbara tillägg GitHub har syntaxstöd för AGC-assemblerspråket inbyggt. Tyvärr har inte din kodredigerare det, men det finns AGC-språktillägg som ger syntaxmarkering för följande redigerare: - [Atom][Atom]† - [CodeBlocks][CodeBlocks] - [Eclipse][Eclipse] - [Kate][Kate] - [ProgrammersNotepad][ProgrammersNotepad] - [Sublime Text 3][Sublime Text]† - [TextPad][TextPad] - [Vim][Vim] - [Visual Studio Code][VisualStudioCode]† - [jEdit][jEdit] † Stöder automatisk formatering [Atom]:https://github.com/Alhadis/language-agc [CodeBlocks]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/CodeBlocks [Eclipse]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Eclipse [Kate]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Kate [ProgrammersNotepad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/ProgrammersNotepad [Sublime Text]:https://github.com/jimlawton/AGC-Assembly [TextPad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/TextPad [Vim]:https://github.com/wsdjeg/vim-assembly [VisualStudioCode]:https://github.com/wopian/agc-assembly [jEdit]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/jEdit ## Formatering **Notering:** GitHub och tillägg markerade ovan säkerställer att du använder rätt formatering automatiskt. - Använd flikindrag - Använd flikbredden 8 - Trimma efterföljande blanksteg ## Vad ska jag kolla? Eventuella avvikelser mellan skanningarna och källkoden i det här kodarkivet. ### Kommentarer Kommentarer i den transkriberade koden **MÅSTE** matcha skanningarna **exakt**. Vanliga problem som du bör hålla utkik efter vid korrekturbehandling inkluderar, men inte begränsat till: #### Typografiska fel På vissa ställen gjorde de ursprungliga utvecklarna typografiska fel när de skrev kommentarer. En del av dessa korrigerades av misstag under den inledande digitaliseringen, men digitaliseringen har också infört typografiska fel som inte fanns i skanningarna. Till exempel, om de digitaliserade kommentarerna innehöll "SPACECRAFT", men "SPAECRAFT" skrevs ut i skanningarna, då **MÅSTE* korrigeras till "SPAECRAFT" (saknas "C"). Likaså, om ett ord har ett stavfel i digitaliseringen men är rättstavat i skanningarna så **MÅSTE** stavfelet korrigeras. #### Mellanslag Mellanslag mellan två tecken i kommentarerna **SKA** matcha skanningarna. I de flesta fall (se diskussionen i [#316][10]) är detta: - Ett mellanslag för nya ord. - Dubbelt mellanslag för nya meningar. - Trippelt mellanslag för fördjupningar. Alla sidor i skanningarna följer inte denna generalisering, om skanningarna bara har ett enda mellanslag istället för ett dubbelt mellanslag, använd ett enda mellanslag. ### Radbrytningar - Radbrytningar *med* `R0000` i kolumn 1 bör matcha skanningarna exakt. - Radbrytningar *med**__out__* `R0000` i kolumn 1 bör endast innehålla 1 eller 2 tomma rader i rad. - Om det finns fler än 2 tomma radbrytningar, ta bort de extra radbrytningarna. - Rader med `R0000` i kolumn 1 räknas inte till detta. - I källbilderna skapades dessa av en otryckt siffra i kolumn 8. En 2:a tvingade fram ett dubbelt mellanslag (enkel blank rad) och en 3:a tvingade fram ett trippelt mellanslag (dubbel blank linje). Värdena 4-8 definierades men användes aldrig. Läs mer om det i [#159][7] Till exempel följande: ```plain R0819 SUBROUTINE TO SKIP... R0820 0821 LAMPTEST CS IMODES33 ``` Bör bli: ```plain R0819 SUBROUTINE TO SKIP... R0820 0820 LAMPTEST CS IMODES33 ``` ## Notering Innan du gör en PR, se till att dina ändringar överensstämmer med skanningarna! [0]:https://github.com/chrislgarry/Apollo-11/pull/new/master [1]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [2]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [6]:https://github.com/wopian/agc-assembly#user-settings [7]:https://github.com/chrislgarry/Apollo-11/issues/159 [8]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [9]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [10]:https://github.com/chrislgarry/Apollo-11/pull/316#pullrequestreview-102892741 ================================================ FILE: Translations/CONTRIBUTING.tr.md ================================================ # Katkıda Bulunma 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA]، [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdi][KU], [Kurdî][KU], [Lietuvių][LT], [Mongolia][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Українська][UK]، [العربية][AR], [हिन्दी][HI_IN], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:CONTRIBUTING.ar.md [AZ]:CONTRIBUTING.az.md [CA]:CONTRIBUTING.ca.md [CZ]:CONTRIBUTING.cz.md [DA]:CONTRIBUTING.da.md [DE]:CONTRIBUTING.de.md [EN]:../CONTRIBUTING.md [ES]:CONTRIBUTING.es.md [FR]:CONTRIBUTING.fr.md [GL]:CONTRIBUTING.gl.md [GR]:CONTRIBUTING.gr.md [HI_IN]:CONTRIBUTING.hi_in.md [ID]:CONTRIBUTING.id.md [IT]:CONTRIBUTING.it.md [JA]:CONTRIBUTING.ja.md [KO_KR]:CONTRIBUTING.ko_kr.md [KU]:CONTRIBUTING.ku.md [LT]:CONTRIBUTING.lt.md [MN]:CONTRIBUTING.mn.md [NL]:CONTRIBUTING.nl.md [NO]:CONTRIBUTING.no.md [PL]:CONTRIBUTING.pl.md [PT_BR]:CONTRIBUTING.pt_br.md [SV]:CONTRIBUTING.sv.md [TR]:CONTRIBUTING.tr.md [UK]:CONTRIBUTING.uk.md [VI]:CONTRIBUTING.vi.md [ZH_CN]:CONTRIBUTING.zh_cn.md [ZH_TW]:CONTRIBUTING.zh_tw.md Bu repodaki kaynak kodu kağıt çıktılarından elle dijitalleştirilmiştir. Yani yazım hataları ve diğer tutarsızlıklar yanlışlıkla yapılmıştır. Kod, aşağıdaki taratılmış çıktılar ile tutarlı olması için düzenlenmelidir: - [AGC printouts for Comanche][8] - [AGC printouts for Luminary][9] Aşağıdaki web sitesi hem Comanche hem de Luminary'nin taranmış baskılarını kolayca görüntüleyebilir: https://28gpc.csb.app/ ## Yararlı Eklentiler GitHub, AGC assembly dili için sentaks desteği sağlıyor ama sizin kodu düzenlemek için kullandığınız editör sağlamayacaktır. Aşağıdaki editörler AGC dili sentaks vurgulaması için eklentiler sunmaktadır: - [Atom][Atom]† - [CodeBlocks][CodeBlocks] - [Eclipse][Eclipse] - [Kate][Kate] - [ProgrammersNotepad][ProgrammersNotepad] - [Sublime Text 3][Sublime Text]† - [TextPad][TextPad] - [Vim][Vim] - [Visual Studio Code][VisualStudioCode]† - [jEdit][jEdit] † Otomatik biçimlendirmeyi destekler [Atom]:https://github.com/Alhadis/language-agc [CodeBlocks]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/CodeBlocks [Eclipse]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Eclipse [Kate]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Kate [ProgrammersNotepad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/ProgrammersNotepad [Sublime Text]:https://github.com/jimlawton/AGC-Assembly [TextPad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/TextPad [Vim]:https://github.com/wsdjeg/vim-assembly [VisualStudioCode]:https://github.com/wopian/agc-assembly [jEdit]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/jEdit ## Biçimlendirme **Not:** GitHub ve yukarıdaki 3 eklenti otomatik olarak doğru biçimlendirmeyi kullanmanızı sağlayacaktır. - Girintilemeyi tab ile yapın - Tab genişliği olarak 8'i kullanın - Devamındaki boşlukları silin ## Neyi kontrol edeyim? Taratılmış çıktılar ve bu repodaki kaynak kodu arasındaki herhangi bir tutarsızlığı. ### Yorumlar Uyarlanan koddaki yorum satırları, çıktılar ile **tamamen** **eşleşmelidir**. Düzeltmek için bakmanız gereken bazı temel sorunlar şunlardır: #### Yazım Hataları Bazı yerlerde, orijinal geliştiriciler yorum yazarken yazım hataları yapmış. Bunların bazıları dijitalleştirme sürecinin başlarında yanlışlıkla düzeltildi fakat dijitalleştirme süreci taratılmış çıktılarda olmayan yeni yazım hatalarına da sebep oldu. Örneğin, dijitalleştirilmiş yorumlar `SPACECRAFT` kelimesini içeriyorsa ama taratılmış çıktılarda `SPAECRAFT` yazıyorsa, dijitalleştirilmiş yorum `SPAECRAFT` (`C` eksik) olarak **düzeltilmelidir**. Aynı şekilde, eğer dijitalleştirmiş yorumlarda bir yazım hatası varsa ama taratılmış çıktılarda doğru yazılmışsa, yazım hatası **düzeltilmelidir**. ### Boşluklar Yorumlar arasındaki iki karakterin arasındaki boşluklar taratılmış çıktılar ile **uyuşmalıdır**. Bir çok durumda ([#316][10]'daki tartışmayı inceleyin) boşluklar şu şekildedir: - Yeni kelimeler arası tek boşluk. - Yeni cümleler arası iki boşluk. - Yeni girintiler için üç boşluk. Taratılmış çıktılarda bütün sayfalar bu genellemelere uymaz. Eğer çıktılarda iki boşluk yerine bir boşluk varsa, bir boşluk kullanın. ### Satır sonları - Birinci sütunu `R0000` *ile* biten satır sonları çıktılar ile tamamen eşleşmelidir. - Birinci sütunu `R0000` *__olmadan__* biten satır sonları arka arkaya sadece 1 ya da 2 boş satır içermelidir. - Eğer 2'den fazla satır sonu varsa ekstra olan satır sonlarını kaldırın. - Birinci sütunu `R0000` *ile* biten satırlar bu kural dahilinde değildir. - Kaynak resimlerde bunlar 8. satırındaki basamak bastırılmamış halde oluşturulmuştur. Bir 2 kullanımı iki boşluğu (tek boş satırı) temsil ederken, bir 3 kullanımı üç boşluğu (iki boş satırı) ifade eder. 4 ve 8 tanımlanmıştır fakat hiç kullanılmamıştır. Bunun hakkında daha fazla okumak için: [#159][7] Örneğin bu: ```plain R0819 SUBROUTINE TO SKIP... R0820 0821 LAMPTEST CS IMODES33 ``` Buna dönüşmeli: ```plain R0819 SUBROUTINE TO SKIP... R0820 0820 LAMPTEST CS IMODES33 ``` ## Not PR yapmadan önce lütfen yaptığınız değişikliklerin çıktılar ile tutarlı olduğundan emin olun! [0]:https://github.com/chrislgarry/Apollo-11/pull/new/master [1]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [2]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [6]:https://github.com/wopian/agc-assembly#user-settings [7]:https://github.com/chrislgarry/Apollo-11/issues/159 [8]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [9]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [10]:https://github.com/chrislgarry/Apollo-11/pull/316#pullrequestreview-102892741 ================================================ FILE: Translations/CONTRIBUTING.uk.md ================================================ # Сприяння 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA]، [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdi][KU], [Kurdî][KU], [Lietuvių][LT], [Mongolia][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Українська][UK]، [العربية][AR], [हिन्दी][HI_IN], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:CONTRIBUTING.ar.md [AZ]:CONTRIBUTING.az.md [CA]:CONTRIBUTING.ca.md [CZ]:CONTRIBUTING.cz.md [DA]:CONTRIBUTING.da.md [DE]:CONTRIBUTING.de.md [EN]:../CONTRIBUTING.md [ES]:CONTRIBUTING.es.md [FR]:CONTRIBUTING.fr.md [GL]:CONTRIBUTING.gl.md [GR]:CONTRIBUTING.gr.md [HI_IN]:CONTRIBUTING.hi_in.md [ID]:CONTRIBUTING.id.md [IT]:CONTRIBUTING.it.md [JA]:CONTRIBUTING.ja.md [KO_KR]:CONTRIBUTING.ko_kr.md [KU]:CONTRIBUTING.ku.md [LT]:CONTRIBUTING.lt.md [MN]:CONTRIBUTING.mn.md [NL]:CONTRIBUTING.nl.md [NO]:CONTRIBUTING.no.md [PL]:CONTRIBUTING.pl.md [PT_BR]:CONTRIBUTING.pt_br.md [SV]:CONTRIBUTING.sv.md [TR]:CONTRIBUTING.tr.md [UK]:CONTRIBUTING.uk.md [VI]:CONTRIBUTING.vi.md [ZH_CN]:CONTRIBUTING.zh_cn.md [ZH_TW]:CONTRIBUTING.zh_tw.md Вихідний код у цьому репозиторії було оцифровано вручну з паперових роздруківок, тому помилки та інші розбіжності були внесені випадково. Код необхідно змінити, щоб узгодити його з такими сканованими роздруківками: - [AGC printouts for Comanche][8] - [AGC printouts for Luminary][9] На наступному веб-сайті можна легко переглянути відскановані роздруківки Comanche і Luminary: https://28gpc.csb.app/ ## Корисні розширення GitHub має вбудовану підтримку синтаксису для мови асемблера AGC. На жаль, ваш редактор коду цього не зробить, однак існують розширення мови AGC, які забезпечують підсвічування синтаксису для таких редакторів: - [Atom][Atom]† - [CodeBlocks][CodeBlocks] - [Eclipse][Eclipse] - [Kate][Kate] - [ProgrammersNotepad][ProgrammersNotepad] - [Sublime Text 3][Sublime Text]† - [TextPad][TextPad] - [Vim][Vim] - [Visual Studio Code][VisualStudioCode]† - [jEdit][jEdit] † Підтримує автоматичне форматування [Atom]:https://github.com/Alhadis/language-agc [CodeBlocks]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/CodeBlocks [Eclipse]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Eclipse [Kate]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Kate [ProgrammersNotepad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/ProgrammersNotepad [Sublime Text]:https://github.com/jimlawton/AGC-Assembly [TextPad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/TextPad [Vim]:https://github.com/wsdjeg/vim-assembly [VisualStudioCode]:https://github.com/wopian/agc-assembly [jEdit]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/jEdit ## Форматування **Примітка.** GitHub і розширення, позначені вище, забезпечать автоматичне використання правильного форматування. - Використовуйте відступ через TAB. - Використовуйте TAB шириною (width) у 8. - Видаляйте кінцеві пробіли. ## Що мені перевірити? Будь-які розбіжності між сканами та вихідним кодом у цьому репозиторії. ### Коментарі Коментарі в транскрибованому коді **МАЮТЬ** **точно** збігатися зі сканами. Поширені проблеми, на які слід звернути увагу під час перевірки, вміщують, але не обмежуються таким: #### Друкарські помилки У деяких місцях оригінальні розробники допускали друкарські помилки під час написання коментарів. Деякі з них були помилково виправлені під час початкової оцифровки, однак оцифрування також допустило друкарські помилки, яких не було в сканованих документах. Наприклад, якщо оцифровані коментарі містили `SPAECRAFT`, але `SPAECRAFT` було надруковано в сканах, тоді оцифрування **ПОТРІБНО** виправити на `SPAECRAFT` (відсутнє `C`). Аналогічно якщо слово має друкарську помилку під час оцифрування, але написано правильно в сканах, тоді друкарську помилку **ПОТРІБНО** виправити. #### Пробіли Пробіли між двома символами в коментарях **ПОВИННІ** збігатися зі сканами. У більшості випадків (див. обговорення у [#316][10]), це: - Одиничний пробіл для нових слів. - Подвійний пробіл для нових речень. - Потрійний пробіл для відступів. Не всі скановані сторінки дотримуються цього узагальнення. Якщо скани мають лише один пробіл замість подвійного, використовуйте один пробіл. ### Розриви рядків - Розриви рядків *з* `R0000` у стовпці 1 мають точно відповідати сканам. - Розриви рядків *з**__out__* `R0000` у стовпці 1 мають містити лише 1 або 2 порожні рядки поспіль. - Якщо є більше 2 порожніх розривів рядків, видаліть додаткові розриви рядків. - Рядки з `R0000` у стовпці 1 не враховуються. - На вихідних зображеннях вони були створені недрукованою цифрою в стовпці 8. 2 примусово ставило подвійний пробіл (один порожній рядок), а 3 — потрійний пробіл (подвійний порожній рядок). Значення 4-8 були визначені, але ніколи не використовувалися. Докладніше про це в [#159][7]. Наприклад, наступне: ```plain R0819 SUBROUTINE TO SKIP... R0820 0821 LAMPTEST CS IMODES33 ``` Має стати: ```plain R0819 SUBROUTINE TO SKIP... R0820 0820 LAMPTEST CS IMODES33 ``` ## Примітка Перш ніж робити PR, будь ласка, переконайтеся, що ваші зміни узгоджуються зі сканами! [0]:https://github.com/chrislgarry/Apollo-11/pull/new/master [1]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [2]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [6]:https://github.com/wopian/agc-assembly#user-settings [7]:https://github.com/chrislgarry/Apollo-11/issues/159 [8]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [9]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [10]:https://github.com/chrislgarry/Apollo-11/pull/316#pullrequestreview-102892741 ================================================ FILE: Translations/CONTRIBUTING.vi.md ================================================ # Hướng dẫn đóng góp 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA]، [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdi][KU], [Kurdî][KU], [Lietuvių][LT], [Mongolia][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Українська][UK]، [العربية][AR], [हिन्दी][HI_IN], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:CONTRIBUTING.ar.md [AZ]:CONTRIBUTING.az.md [CA]:CONTRIBUTING.ca.md [CZ]:CONTRIBUTING.cz.md [DA]:CONTRIBUTING.da.md [DE]:CONTRIBUTING.de.md [EN]:../CONTRIBUTING.md [ES]:CONTRIBUTING.es.md [FR]:CONTRIBUTING.fr.md [GL]:CONTRIBUTING.gl.md [GR]:CONTRIBUTING.gr.md [HI_IN]:CONTRIBUTING.hi_in.md [ID]:CONTRIBUTING.id.md [IT]:CONTRIBUTING.it.md [JA]:CONTRIBUTING.ja.md [KO_KR]:CONTRIBUTING.ko_kr.md [KU]:CONTRIBUTING.ku.md [LT]:CONTRIBUTING.lt.md [MN]:CONTRIBUTING.mn.md [NL]:CONTRIBUTING.nl.md [NO]:CONTRIBUTING.no.md [PL]:CONTRIBUTING.pl.md [PT_BR]:CONTRIBUTING.pt_br.md [SV]:CONTRIBUTING.sv.md [TR]:CONTRIBUTING.tr.md [UK]:CONTRIBUTING.uk.md [VI]:CONTRIBUTING.vi.md [ZH_CN]:CONTRIBUTING.zh_cn.md [ZH_TW]:CONTRIBUTING.zh_tw.md Mã nguồn trong repo này được số hóa một cách thủ công từ các bản in giấy, do đó lỗi đánh máy và các lỗi khác đã vô tình được đưa vào. Code sẽ được sửa để phù hợp với các bản in được quét sau: - [AGC printouts for Comanche][8] - [AGC printouts for Luminary][9] Trang web sau đây có thể dễ dàng duyệt qua với các bản in được quét của cả Comanche và Luminary: https://28gpc.csb.app/ ## Các tiện ích mở rộng GitHub tích hợp sẵn hỗ trợ cú pháp cho ngôn ngữ lắp assembly AGC. Thật không may, trình soạn thảo của bạn sẽ không hỗ trợ, tuy nhiên có các tiện ích mở rộng ngôn ngữ AGC cung cấp tính năng highlight cú pháp cho các trình soạn thảo sau: - [Atom][Atom]† - [CodeBlocks][CodeBlocks] - [Eclipse][Eclipse] - [Kate][Kate] - [ProgrammersNotepad][ProgrammersNotepad] - [Sublime Text 3][Sublime Text]† - [TextPad][TextPad] - [Vim][Vim] - [Visual Studio Code][VisualStudioCode]† - [jEdit][jEdit] † Hỗ trợ tự động định dạng (Auto formatting) [Atom]: https://github.com/Alhadis/language-agc [CodeBlocks]: https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/CodeBlocks [Eclipse]: https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Eclipse [Kate]: https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Kate [ProgrammersNotepad]: https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/ProgrammersNotepad [Sublime Text]: https://github.com/jimlawton/AGC-Assembly [TextPad]: https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/TextPad [Vim]: https://github.com/wsdjeg/vim-assembly [VisualStudioCode]: https://github.com/wopian/agc-assembly [jEdit]: https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/jEdit ## Định dạng **Lưu ý:** GitHub và các tiện ích mở rộng được đánh dấu ở trên sẽ đảm bảo bạn đang sử dụng định dạng chính xác một cách tự động. - Sử dụng canh chĩnh tab - Sử dụng chiều rộng tab là 8 - Xóa khoảng trắng cuối ## Tôi cần kiểm tra cái gì? Bất kỳ sự khác biệt nào giữa các bản quét và mã nguồn trong repo này. ### Comments Các comment trong code **PHẢI** khớp **chính xác** với bản quét. Các vấn đề phổ biến mà bạn nên chú ý khi kiểm tra, nhưng không giới hạn, bao gồm: #### Lỗi đánh máy Ở một số nơi, các nhà phát triển ban đầu đã mắc lỗi đánh máy khi viết comment. Một số lỗi này đã được sửa nhầm trong quá trình số hóa ban đầu, tuy nhiên quá trình số hóa cũng đã đưa vào các lỗi đánh máy không có trong bản quét. Ví dụ, nếu các bình luận được số hóa có chứa `SPACECRAFT`, nhưng `SPAECRAFT` được in trong bản quét, thì bản số hóa **PHẢI** được sửa thành `SPAECRAFT` (thiếu `C`). Tương tự như vậy, nếu một từ có lỗi đánh máy trong bản số hóa nhưng được viết đúng chính tả trong bản quét thì **PHẢI** được sửa lỗi đánh máy đó. #### Khoảng trắng Khoảng trắng giữa hai ký tự trong comment **NÊN** khớp với bản quét. Trong hầu hết các trường hợp (xem phần thảo luận trong [#316][10]), như sau: - 1 khoảng trắng cho các từ mới. - 2 khoảng trắng cho các câu mới. - 3 khoảng trắng cho các thụt lề. Không phải tất cả các trang trong bản quét đều tuân theo quy tắc trên, nếu bản quét chỉ có một khoảng trắng thay vì hai khoảng trắng, hãy sử dụng một khoảng trắng. ### Ngắt dòng - Ngắt dòng _có_ `R0000` trong cột 1 phải khớp chính xác với bản quét. - Ngắt dòng _\*\***không** có_ `R0000` trong cột 1 chỉ nên chứa 1 hoặc 2 dòng trống liên tiếp. - Nếu có nhiều hơn 2 ngắt dòng trống, hãy xóa các ngắt dòng thừa. - Các dòng có `R0000` ở cột 1 sẽ không được tính vào đây. - Trong các hình ảnh nguồn, Những thứ trên được tạo ra bởi một chữ số không được in vào trong cột 8. Một số 2 ở đó buộc phải có hai khoảng trắng (một dòng trống) và một số 3 buộc phải có ba khoảng trắng (hai dòng trống). Các giá trị 4-8 được xác định nhưng không bao giờ được sử dụng. Đọc thêm tại [#159][7] Hãy xem ví dụ dưới đây: ```plain R0819 SUBROUTINE TO SKIP... R0820 0821 LAMPTEST CS IMODES33 ``` Nên là: ```plain R0819 SUBROUTINE TO SKIP... R0820 0820 LAMPTEST CS IMODES33 ``` ## Ghi chú Trước khi bạn tạo PR, hãy chắc chắn rằng những thay đổi của bạn phù hợp và ổn định với những scan sau: [0]: https://github.com/chrislgarry/Apollo-11/pull/new/master [1]: http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [2]: http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [6]: https://github.com/wopian/agc-assembly#user-settings [7]: https://github.com/chrislgarry/Apollo-11/issues/159 [8]: http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [9]: http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [10]: https://github.com/chrislgarry/Apollo-11/pull/316#pullrequestreview-102892741 ================================================ FILE: Translations/CONTRIBUTING.zh_cn.md ================================================ # 贡献 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA]، [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdi][KU], [Kurdî][KU], [Lietuvių][LT], [Mongolia][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Українська][UK]، [العربية][AR], [हिन्दी][HI_IN], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:CONTRIBUTING.ar.md [AZ]:CONTRIBUTING.az.md [CA]:CONTRIBUTING.ca.md [CZ]:CONTRIBUTING.cz.md [DA]:CONTRIBUTING.da.md [DE]:CONTRIBUTING.de.md [EN]:../CONTRIBUTING.md [ES]:CONTRIBUTING.es.md [FR]:CONTRIBUTING.fr.md [GL]:CONTRIBUTING.gl.md [GR]:CONTRIBUTING.gr.md [HI_IN]:CONTRIBUTING.hi_in.md [ID]:CONTRIBUTING.id.md [IT]:CONTRIBUTING.it.md [JA]:CONTRIBUTING.ja.md [KO_KR]:CONTRIBUTING.ko_kr.md [KU]:CONTRIBUTING.ku.md [LT]:CONTRIBUTING.lt.md [MN]:CONTRIBUTING.mn.md [NL]:CONTRIBUTING.nl.md [NO]:CONTRIBUTING.no.md [PL]:CONTRIBUTING.pl.md [PT_BR]:CONTRIBUTING.pt_br.md [SV]:CONTRIBUTING.sv.md [TR]:CONTRIBUTING.tr.md [UK]:CONTRIBUTING.uk.md [VI]:CONTRIBUTING.vi.md [ZH_CN]:CONTRIBUTING.zh_cn.md [ZH_TW]:CONTRIBUTING.zh_tw.md 本仓库中的源代码来自对纸质打印输出文件的手动数字化，所以会不小心引入一些拼写错误和其他差异。这些代码应该被修正以使其与原纸质打印输出文件内容保持一致： - [阿波罗 11 号制导计算机（AGC）中指令模块打印输出][8] - [阿波罗 11 号制导计算机（AGC）中登月模块打印输出][9] 以下网站可以轻松浏览 Comanche 和 Luminary 的扫描件：https://28gpc.csb.app/ ## 有用的扩展 GitHub 内建支持 AGC 汇编语言语法。不幸的是，你的代码编辑器并不支持，但有些 AGC 语言的扩展插件可以为下列的编辑器提供语法高亮显示支持： - [Atom][Atom]† - [CodeBlocks][CodeBlocks] - [Eclipse][Eclipse] - [Kate][Kate] - [ProgrammersNotepad][ProgrammersNotepad] - [Sublime Text 3][Sublime Text]† - [TextPad][TextPad] - [Vim][Vim] - [Visual Studio Code][VisualStudioCode]† - [jEdit][jEdit] † 符号表示支持自动格式化 [Atom]:https://github.com/Alhadis/language-agc [CodeBlocks]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/CodeBlocks [Eclipse]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Eclipse [Kate]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Kate [ProgrammersNotepad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/ProgrammersNotepad [Sublime Text]:https://github.com/jimlawton/AGC-Assembly [TextPad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/TextPad [Vim]:https://github.com/wsdjeg/vim-assembly [VisualStudioCode]:https://github.com/wopian/agc-assembly [jEdit]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/jEdit ## 格式化 **注意**：GitHub 和上面列出的3个扩展插件会确保您自动使用正确的格式。 - 使用 TAB 进行缩进 - TAB 宽度为 8 个字符 - 去掉末尾的空格 ## 我该怎么检查？ 原始的扫描打印输出文件与此存储库中的源码之间存在的差异，包括： ### 注释 - 转录代码中的注释应与扫描件完全匹配 - 这可能涉及故意创建的拼写错误或删除/添加整个评论 ### 换行 - 第 1 列 *带* `R0000` 的换行符应与扫描件完全匹配。 - 第 1 列 *不**__带__* `R0000` 的换行符应该只包含 1 个或 2 个连续空行。 - 如果有超过 2 个空行换行，请删除额外的空白行换行。 - 第 1 列中带 `R0000` 的行不计入此。 - 在原始图片中，这些是由一个未打印的数字分 8 列创建。A 2 处强制两个空格（单个空白行），A 3 处强制三个空格（双空行）。值 4-8 被定义但从未使用过。可在 [#159][7] 查看细节 例如以下内容： ```plain R0819 SUBROUTINE TO SKIP... R0820 0821 LAMPTEST CS IMODES33 ``` 应该改为： ```plain R0819 SUBROUTINE TO SKIP... R0820 0820 LAMPTEST CS IMODES33 ``` ### 空格 - 字符串中两个字符之间的空格应遵循以下约定 (可在 [#316][10] 查阅相关讨论)： - 新单词另起一个空格. - 新句另起两个空格. - 缩进占三个空格. 例如以下内容： ```plain 1) FOO BAR BAZ QUX QUUX QUUZ. CORGE, GRAULT, GARPLY, WALDO. ``` 应该改为： ```plain 1) FOO BAR BAZ QUX QUUX QUUZ. CORGE, GRAULT, GARPLY, WALDO. ``` ## 谨记 在提交 PR 之前，请确保您的更改与原始的扫描件打印输出一致！ [0]:https://github.com/chrislgarry/Apollo-11/pull/new/master [1]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [2]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [3]:https://github.com/wopian/agc-assembly [4]:https://github.com/jimlawton/AGC-Assembly [5]:https://github.com/Alhadis/language-agc [6]:https://github.com/wopian/agc-assembly#user-settings [7]:https://github.com/chrislgarry/Apollo-11/issues/159 [8]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [9]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [10]:https://github.com/chrislgarry/Apollo-11/pull/316#pullrequestreview-102892741 ================================================ FILE: Translations/CONTRIBUTING.zh_tw.md ================================================ # 貢獻 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA]، [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdi][KU], [Kurdî][KU], [Lietuvių][LT], [Mongolia][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Українська][UK]، [العربية][AR], [हिन्दी][HI_IN], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:CONTRIBUTING.ar.md [AZ]:CONTRIBUTING.az.md [CA]:CONTRIBUTING.ca.md [CZ]:CONTRIBUTING.cz.md [DA]:CONTRIBUTING.da.md [DE]:CONTRIBUTING.de.md [EN]:../CONTRIBUTING.md [ES]:CONTRIBUTING.es.md [FR]:CONTRIBUTING.fr.md [GL]:CONTRIBUTING.gl.md [GR]:CONTRIBUTING.gr.md [HI_IN]:CONTRIBUTING.hi_in.md [ID]:CONTRIBUTING.id.md [IT]:CONTRIBUTING.it.md [JA]:CONTRIBUTING.ja.md [KO_KR]:CONTRIBUTING.ko_kr.md [KU]:CONTRIBUTING.ku.md [LT]:CONTRIBUTING.lt.md [MN]:CONTRIBUTING.mn.md [NL]:CONTRIBUTING.nl.md [NO]:CONTRIBUTING.no.md [PL]:CONTRIBUTING.pl.md [PT_BR]:CONTRIBUTING.pt_br.md [SV]:CONTRIBUTING.sv.md [TR]:CONTRIBUTING.tr.md [UK]:CONTRIBUTING.uk.md [VI]:CONTRIBUTING.vi.md [ZH_CN]:CONTRIBUTING.zh_cn.md [ZH_TW]:CONTRIBUTING.zh_tw.md 這個倉庫的原始碼，是透過列印出的紙本輸出，予以手動數位化。所以可能會不小心出現錯字和其他出入。程式碼應當修正到與紙本掃描的輸出一致： - [AGC printouts for Comanche][8] - [AGC printouts for Luminary][9] 以下網站可以輕鬆瀏覽 Comanche 和 Luminary 的掃描件：https://28gpc.csb.app/ ## 實用套件 GitHub 內建 AGC 組語語法支援，但你的編輯器本身並沒有。不過，以下編輯器有提供 AGC 語法突顯的語言套件： - [Atom][Atom]† - [CodeBlocks][CodeBlocks] - [Eclipse][Eclipse] - [Kate][Kate] - [ProgrammersNotepad][ProgrammersNotepad] - [Sublime Text 3][Sublime Text]† - [TextPad][TextPad] - [Vim][Vim] - [Visual Studio Code][VisualStudioCode]† - [jEdit][jEdit] † 支援自動格式化 [Atom]:https://github.com/Alhadis/language-agc [CodeBlocks]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/CodeBlocks [Eclipse]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Eclipse [Kate]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/Kate [ProgrammersNotepad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/ProgrammersNotepad [Sublime Text]:https://github.com/jimlawton/AGC-Assembly [TextPad]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/TextPad [Vim]:https://github.com/wsdjeg/vim-assembly [VisualStudioCode]:https://github.com/wopian/agc-assembly [jEdit]:https://github.com/virtualagc/virtualagc/tree/master/Contributed/SyntaxHighlight/jEdit ## 格式化 **注意：** GitHub 與上面列出的套件，會自動確保您使用正確的格式。 - 用 tab 縮排 - tab 寬度為 8 - 去除底部空白 ## 如何檢查？ 掃描與倉庫原始碼的差異會包括： ### 註解 抄寫的註解**必須**和掃描**一模一樣**。 在檢查程式時需要留心，但不限於的問題有： #### 拼寫錯誤 有時候，原始程式的開發者會撰寫時，出現若干拼寫錯誤。有時可能會在初次數位化時，被錯誤地更正；不過數位化本身，也可能產出在原始稿沒出現的拼寫錯誤。 比方說，數位化的註解如果是 `SPACECRAFT`、但掃描原稿是 `SPAECRAFT` 的話，數位化就**必須**更正為沒有 C 的 `SPAECRAFT`。 同樣地，如果是數位化的註解錯了、但掃描稿正確的話，就**必須**更正數位化的程式。 #### 空格 在字元內，兩個單字之間的空白**必須**與掃描相同。大多數時（請參閱 [#316][10] 的討論）慣例如下： - 單字間空一格。 - 句子間空兩格。 - 縮排間空三格。 不是所有掃描都遵照這個慣例。如果不空兩格，而是空一格，那就空一格。 ### 換行 - 在第一列（column 1）*有著* `R0000` 的換行，要和掃描一模一樣。 - 在第一列*沒有* `R0000` 的換行，在一行（row）只能留有一到兩個空白行。 - 如果空白行超過兩個，請刪去額外的空白行。 - 如果在第一列有 `R0000` 的話，就不要這麼做。 - 在原始圖片中，這些都是由第八列（column 8）的未列印數字所產生。2 強制用兩個（也就是單一空白行）、3 強制用三個（也就是雙空行）、4-8 有定義，但從未使用過。請參閱 [#159][7] 的詳細訊息。 例如以下程式： ```plain R0819 SUBROUTINE TO SKIP... R0820 0821 LAMPTEST CS IMODES33 ``` 要改寫成： ```plain R0819 SUBROUTINE TO SKIP... R0820 0820 LAMPTEST CS IMODES33 ``` ## 注意 在發 PR 前，請確保您的修改與掃描輸出一模一樣！ [0]:https://github.com/chrislgarry/Apollo-11/pull/new/master [1]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [2]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [3]:https://github.com/wopian/agc-assembly [4]:https://github.com/jimlawton/AGC-Assembly [5]:https://github.com/Alhadis/language-agc [6]:https://github.com/wopian/agc-assembly#user-settings [7]:https://github.com/chrislgarry/Apollo-11/issues/159 [8]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [9]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [10]:https://github.com/chrislgarry/Apollo-11/pull/316#pullrequestreview-102892741 ================================================ FILE: Translations/README.ar.md ================================================
# أبولو 11 [![NASA][1]][2] [![SWH]][SWH_URL] [![Comanche]][ComancheMilestone] [![Luminary]][LuminaryMilestone] 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA], [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdî][KU], [Lietuvių][LT], [Mongolian][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Română][RO], [Suomi][FI], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Беларуская мова][BE], [Русский][RU], [Українська][UK], [العربية][AR], [فارسی][FA], [नेपाली भाषा][NE] [हिंदी][HI_IN], [অসমীয়া][AS_IN], [বাংলা][BD_BN], [မြန်မာ][MM], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:README.ar.md [AS_IN]:README.as_in.md [AZ]:README.az.md [BD_BN]:README.bd_bn.md [BE]:README.be.md [CA]:README.ca.md [CZ]:README.cz.md [DA]:README.da.md [DE]:README.de.md [EN]:../README.md [ES]:README.es.md [FA]:README.fa.md [FI]:README.fi.md [FR]:README.fr.md [GL]:README.gl.md [GR]:README.gr.md [HI_IN]:README.hi_in.md [ID]:README.id.md [IT]:README.it.md [JA]:README.ja.md [KO_KR]:README.ko_kr.md [KU]:README.ku.md [LT]:README.lt.md [MM]:README.mm.md [MN]:README.mn.md [NE]:README.ne.md [NL]:README.nl.md [NO]:README.no.md [PL]:README.pl.md [PT_BR]:README.pt_br.md [RO]:README.ro.md [RU]:README.ru.md [SV]:README.sv.md [TR]:README.tr.md [UK]:README.uk.md [VI]:README.vi.md [ZH_CN]:README.zh_cn.md [ZH_TW]:README.zh_tw.md هذا هو الكود المصدر الأصلي لحاسوب الارشاد لمهمة أبولو 11 (AGC) المستخدم في مركبة القيادة (Comanche055) و المركبة القمرية (Luminary099) الذي أتمّ رقمنته القائمون على مشروع [AGC iالافتراضي][3] و [متحف MIT][4] بهدف إنشاء مستودع للكود المصدر الأصلي لمهمة أبولو 11. نرحب بطلبات دمج الكود التي تعالج أيّ تباين بين الكود المحفوظ في هذا المستودع و المسوحات الأصلية لكود (Luminary099) و (Comanche055)، أو أيّة ملفات أكون قد أغفلتها. ## المساهمة طالعوا [CONTRIBUTING.ar.md][7] قبل إيداع طلب الدمج. ## التجميع إذا أردتم تجميع الكود المصدر الأصلي فطالعوا مشروع [AGC الافتراضي][8]. ## النسبة   |   -------------: | -----: حقوق النشر | في الملك العام Comanche055 | جزء من الكود المصدري للنظامColossus 2A، حاسوب ارشاد أبولو (AGC) للمركبة القيادية (CM) لأبولو 11
`Assemble revision 055 of AGC program Comanche by NASA`
`2021113-051. 10:28 APR. 1, 1969` Luminary099 | جزء من الكود المصدري للنظامLuminary 1A، حاسوب ارشاد أبولو (AGC) للمركبة القمرية (LM) لأبولو 11
`Assemble revision 001 of AGC program LMY99 by NASA`
`2021112-061. 16:27 JUL. 14, 1969` المُجمِّع | yaYUL للتواصل | رون بركي الموقع على الوِب | www.ibiblio.org/apollo الرقمنة | تم استنساخ الكود المصدري و تحويله من صور رقمية صُنعت بالمسح الضوئي من نسخة مطبوعة موجودة في متحف MIT. قام بالرقمنة بول فيلد (Paul Fjeld)، بتنسيق من ديبورا دوغلاس (Deborah Douglas) من المتحف، فلهما جزيل الشكر. ### العقد والموافقات *مستمدة من [CONTRACT_AND_APPROVALS.agc]* برمجية AGC هذه سيُشار إليها هنا بالاسم Colossus 2A. هذا البرمجية مخصصة للاستخدام في مركبة القيادة كما هو موصوف في التقرير `R-577`. تم إعداد هذه البرمجية في إطار مشروع DSR `55-23870`، برعاية مركز المركبات الفضائية (Manned Spacecraft Center) التابع للإدارة الوطنية للملاحة الجوية و الفضاء (The National Aeronautics and Space Administration) بالعقد `NAS 9-4065` مع مختبر التجهيز (Instrumentation Laboratory) في معهد مستشوستس للتكنولوجيا (Massachusetts Institute of Technology) في كامبريدج بولاية مستشوستس من الولايات المتّحدة الأمريكية. قدمته | الوظيفة | التاريخ --------------------: | ---: | ---: مارغريت ​ﮪ. هاملتون | قائدة برمجة Colussus
برنامج أبولو للتوجيه و الملاحة | 28 آذار 1969 أقرّه | الوظيفة | التاريخ -----------------: | ---: | ---: دانيال ج. ليكلي | مدير تطوير برامج المهمات
برنامج أبولو للتوجيه و الملاحة | 28 آذار 1969 فريد ​ﮪ. مارتن | مدير مشروع Colussus
برنامج أبولو للتوجيه و الملاحة | 28 آذار 1969 نورمان إي. سيرز | مدير تطوير المهمات
برنامج أبولو للتوجيه و الملاحة | 28 آذار 1969 ريتشارد ​ﮪ. باتن | مدير تطوير المهمات
برنامج أبولو للتوجيه و الملاحة | 28 آذار 1969 ديفيد ج. هوج | المدير
برنامج أبولو للتوجيه و الملاحة | 28 آذار 1969 رالف ر. راجان | نائب المدير
مختبر التجهيز | 28 آذار 1969
[CONTRACT_AND_APPROVALS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CONTRACT_AND_APPROVALS.agc [1]:https://flat.badgen.net/badge/NASA/Mission%20Overview/0B3D91 [2]:https://www.nasa.gov/mission_pages/apollo/missions/apollo11.html [3]:http://www.ibiblio.org/apollo/ [4]:http://web.mit.edu/museum/ [5]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [6]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [7]:https://github.com/chrislgarry/Apollo-11/blob/master/Translations/CONTRIBUTING.ar.md [8]:https://github.com/rburkey2005/virtualagc [SWH]:https://flat.badgen.net/badge/Software%20Heritage/Archive/0B3D91 [SWH_URL]:https://archive.softwareheritage.org/browse/origin/https://github.com/chrislgarry/Apollo-11/ [Comanche]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/1 [ComancheMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/1 [Luminary]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/2 [LuminaryMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/2 ================================================ FILE: Translations/README.as_in.md ================================================ # Apollo-11 [![NASA][1]][2] [![SWH]][SWH_URL] [![Comanche]][ComancheMilestone] [![Luminary]][LuminaryMilestone] 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA], [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdî][KU], [Lietuvių][LT], [Mongolian][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Română][RO], [Suomi][FI], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Беларуская мова][BE], [Русский][RU], [Українська][UK], [العربية][AR], [فارسی][FA], [नेपाली भाषा][NE] [हिंदी][HI_IN], [অসমীয়া][AS_IN], [বাংলা][BD_BN], [မြန်မာ][MM], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:README.ar.md [AS_IN]:README.as_in.md [AZ]:README.az.md [BD_BN]:README.bd_bn.md [BE]:README.be.md [CA]:README.ca.md [CZ]:README.cz.md [DA]:README.da.md [DE]:README.de.md [EN]:../README.md [ES]:README.es.md [FA]:README.fa.md [FI]:README.fi.md [FR]:README.fr.md [GL]:README.gl.md [GR]:README.gr.md [HI_IN]:README.hi_in.md [ID]:README.id.md [IT]:README.it.md [JA]:README.ja.md [KO_KR]:README.ko_kr.md [KU]:README.ku.md [LT]:README.lt.md [MM]:README.mm.md [MN]:README.mn.md [NE]:README.ne.md [NL]:README.nl.md [NO]:README.no.md [PL]:README.pl.md [PT_BR]:README.pt_br.md [RO]:README.ro.md [RU]:README.ru.md [SV]:README.sv.md [TR]:README.tr.md [UK]:README.uk.md [VI]:README.vi.md [ZH_CN]:README.zh_cn.md [ZH_TW]:README.zh_tw.md মূল অ্যাপোলো ১১ গাইডেন্স কম্পিউটার (AGC) এর কমান্ড মডিউল (Comanche055) এবং লুনার মডিউল (Luminary099) এর উৎস কোড। এটি [Virtual AGC][3] এবং [MIT Museum][4] এর সদস্যদের দ্বারা ডিজিটাইজ করা হয়েছে। মূল লক্ষ্য হলো অ্যাপোলো ১১ এর উৎস কোডের জন্য একটি রেপোজিটরি তৈরি করা। এই ভান্ডারে কপি এবং Luminary 099 এবং Comanche 055 এর মূল উৎসের মধ্যে সনাক্ত হওয়া যে কোনো সমস্যার জন্য PR (পুল রিকোয়েস্ট) স্বাগত জানানো হয় এবং সংশ্লিষ্ট যে কোনো ফাইল অন্তর্ভুক্ত করা যেতে পারে। ## অবদান অনুগ্রহ করে pull request জমা দেওয়ার আগে [CONTRIBUTING.md][7] পড়ুন। ## কম্পাইল যদি আপনি মূল উৎস কোড কম্পাইল করতে আগ্রহী, তবে [Virtual AGC][8] দেখুন। ## উৎস   |   :------------- | :----- কপিরাইট | পাবলিক ডোমেইন Comanche055 | Colossus 2A প্রোগ্রামের উৎস কোডের অংশ, অ্যাপোলো ১১ এর কমান্ড মডিউল (CM) এর জন্য অ্যাপোলো গাইডেন্স কম্পিউটার (AGC)
`Assemble revision 055 of AGC program Comanche by NASA`
`2021113-051. 10:28 APR. 1, 1969` Luminary099 | Luminary 1A প্রোগ্রামের উৎস কোডের অংশ, অ্যাপোলো ১১ এর লুনার মডিউল (LM) এর জন্য অ্যাপোলো গাইডেন্স কম্পিউটার (AGC)
`Assemble revision 001 of AGC program LMY99 by NASA`
`2021112-061. 16:27 JUL. 14, 1969` Assembler | yaYUL যোগাযোগ | Ron Burkey ওয়েবসাইট | www.ibiblio.org/apollo ডিজিটাইজেশন | এই উৎস কোডটি হার্ডকপির ডিজিটাইজড ছবি থেকে অনুলিপি বা অভিযোজিত করা হয়েছে যা MIT মিউজিয়াম থেকে সংগ্রহ করা। এটি Paul Fjeld দ্বারা ডিজিটাইজ এবং Deborah Douglas দ্বারা আয়োজিত হয়েছে। দুজনের প্রতিই আন্তরিক ধন্যবাদ। ## চুক্তি এবং অনুমোদন *এই বিভাগটি [CONTRACT_AND_APPROVALS.agc] থেকে নেওয়া হয়েছে* এই AGC প্রোগ্রামটিকে Colossus 2A নামেও ডাকা হয়। 'R-577' রিপোর্ট অনুযায়ী, এই প্রোগ্রামটি CM-এ ব্যবহৃত হয়েছিল। এই প্রজেক্ট DSR প্রোজেক্ট '55-23870' এর অধীনে, National Aeronautics and Space Administration এর Manned Spacecraft Center দ্বারা পৃষ্ঠপোষিত, Instrumentation Laboratory, Massachusetts Institute of Technology এর সাথে চুক্তি 'NAS 9-4065' দ্বারা। দাখিলকারী | ভূমিকা | তারিখ :------------------- | :--- | :--- Margaret H. Hamilton | Colossus প্রোগ্রামিং লিডার
অ্যাপোলো গাইডেন্স এবং নেভিগেশন | ২৮ মার্চ '৬৯ অনুমোদনকারী | ভূমিকা | তারিখ :---------------- | :--- | :--- Daniel J. Lickly | পরিচালক, মিশন প্রোগ্রাম ডেভেলপমেন্ট
অ্যাপোলো গাইডেন্স এবং নেভিগেশন প্রোগ্রাম | ২৮ মার্চ '৬৯ Fred H. Martin | Colossus প্রজেক্ট ম্যানেজার
অ্যাপোলো গাইডেন্স এবং নেভিগেশন প্রোগ্রাম | ২৮ মার্চ '৬৯ Norman E. Sears | পরিচালক, মিশন ডেভেলপমেন্ট
অ্যাপোলো গাইডেন্স এবং নেভিগেশন প্রোগ্রাম | ২৮ মার্চ '৬৯ Richard H. Battin | পরিচালক, মিশন ডেভেলপমেন্ট
অ্যাপোলো গাইডেন্স এবং নেভিগেশন প্রোগ্রাম | ২৮ মার্চ '৬৯ David G. Hoag | পরিচালক
অ্যাপোলো গাইডেন্স এবং নেভিগেশন প্রোগ্রাম | ২৮ মার্চ '৬৯ Ralph R. Ragan | সহকারী পরিচালক
ইন্সট্রুমেন্টেশন ল্যাবরেটরি | ২৮ মার্চ '৬৯ [CONTRACT_AND_APPROVALS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CONTRACT_AND_APPROVALS.agc [1]:https://flat.badgen.net/badge/NASA/Mission%20Overview/0B3D91 [2]:https://www.nasa.gov/mission_pages/apollo/missions/apollo11.html [3]:http://www.ibiblio.org/apollo/ [4]:http://web.mit.edu/museum/ [5]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [6]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [7]:https://github.com/chrislgarry/Apollo-11/blob/master/Translations/CONTRIBUTING.md [8]:https://github.com/rburkey2005/virtualagc [SWH]:https://flat.badgen.net/badge/Software%20Heritage/Archive/0B3D91 [SWH_URL]:https://archive.softwareheritage.org/browse/origin/https://github.com/chrislgarry/Apollo-11/ [Comanche]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/1 [ComancheMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/1 [Luminary]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/2 [LuminaryMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/2 ================================================ FILE: Translations/README.az.md ================================================ # Apollo-11 [![NASA][1]][2] [![SWH]][SWH_URL] [![Comanche]][ComancheMilestone] [![Luminary]][LuminaryMilestone] 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA], [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdî][KU], [Lietuvių][LT], [Mongolian][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Română][RO], [Suomi][FI], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Беларуская мова][BE], [Русский][RU], [Українська][UK], [العربية][AR], [فارسی][FA], [नेपाली भाषा][NE] [हिंदी][HI_IN], [অসমীয়া][AS_IN], [বাংলা][BD_BN], [မြန်မာ][MM], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:README.ar.md [AS_IN]:README.as_in.md [AZ]:README.az.md [BD_BN]:README.bd_bn.md [BE]:README.be.md [CA]:README.ca.md [CZ]:README.cz.md [DA]:README.da.md [DE]:README.de.md [EN]:../README.md [ES]:README.es.md [FA]:README.fa.md [FI]:README.fi.md [FR]:README.fr.md [GL]:README.gl.md [GR]:README.gr.md [HI_IN]:README.hi_in.md [ID]:README.id.md [IT]:README.it.md [JA]:README.ja.md [KO_KR]:README.ko_kr.md [KU]:README.ku.md [LT]:README.lt.md [MM]:README.mm.md [MN]:README.mn.md [NE]:README.ne.md [NL]:README.nl.md [NO]:README.no.md [PL]:README.pl.md [PT_BR]:README.pt_br.md [RO]:README.ro.md [RU]:README.ru.md [SV]:README.sv.md [TR]:README.tr.md [UK]:README.uk.md [VI]:README.vi.md [ZH_CN]:README.zh_cn.md [ZH_TW]:README.zh_tw.md Original Apollo 11 Yönləndirmə Kompüterinin (AGC) Komanda Modulu (Comanche055) və Ay modulu (Luminary099) üçün mənbə kodu. [Virtual AGC][3] və [MIT Museum][4] əməkdaşları tərəfindən rəqəmsallaşdırılıb. Məqsəd, original Apollo 11 mənbə kodunu ehtiva edən bir repo yaratmaqdır. Buna görə də, bu repodakı transkriptlər ilə original [Luminary 099][5] və [Comanche 055][6] mənbə skanları arasında aşkarlanan xətalarla və ya mənim gözdən qaçırdığım bir fayl ilə əlaqəli pull request-ləri önəmsəyirik. ## Töhfə Zəhmət olmasa pull request etmədən öncə [CONTRIBUTING.az.md][7] faylını oxuyun. ## Kompilyasiya Əgər original mənbə kodunu kompilyasiya etmək istəyirsinizsə, [Virtual AGC][8] proyektinə baxa bilərsiniz. ## Atributlar   |   :-------------- | :----- Lisenziya | İctimai mülkiyyət - ABŞ hökumətinin işi Comanche055 | Apollo Yönləndirmə Kompüteri (AGC) Komanda Modulu (CM) olan Colossus 2A-nın mənbə kodunun bir hissəsi.
`AGC proqramı Comanche-in NASA tərəfindən yaradılan 055 sayılı birləşdirmə təftişi`
`2021113-051. 10:28 APR. 1, 1969` Luminary099 | Apollo Yönləndirmə Kompüteri (AGC) Ay Modulu (LM) olan Luminary 1A-in mənbə kodunun bir parçası.
`AGC Proqramı LMY99-un NASA tərəfindən yaradılan 001 sayılı birləşdirmə təftişi`
`2021112-061. 16:27 İYUL. 14, 1969` Kompilyator | yaYUL Əlaqə | Ron Burkey Sayt | www.ibiblio.org/apollo Rəqəmsallaşdırma | Bu mənbə kodu MIT muzeyindəki kağız nüsxələrin fotoşəkillərindən uyğunlaşdırılmış və ya köçürülmüşdür. Rəqəmsallaşdırma Muzeyin əməkdaşı Deborah Duqlas tərəfindən təşkil edilib, Paul Fjeld tərəfindən həyata keçirilmişdir. Hər ikisinə də təşəkkür edirəm. ### Əlaqə və Təsdiqlər *[CONTRACT_AND_APPROVALS.agc]-dan alınmışdır.* Bu AGC proqramı Colossus 2A kimi də tanınır. `R-577` hesabatında qeyd edildiyi kimi, bu proqram CM üçün istifadə məqsədli nəzərdə tutulub. Bu proqram DSR `55-23870` layihəsi, Milli Aeronavtika və Kosmos Administrasiyasının Kosmik Gəmilər Mərkəzinin sponsorluğu ilə, Cambridge Mass Massachusetts Texnologiya İnstitutunun Alətlər Laboratoriyası ilə `NAS 9-4065` müqaviləsi əsasında hazırlanmışdır. Göndərən | Vəzifəsi | Tarix :------------------- | :------ | :---- Margaret H. Hamilton | Colossus Proqramlama Lideri
Apollo Yönləndirmə və Naviqasiya | 28 Mart 1969 Təsdiqləyən | Vəzifəsi | Tarix :---------------- | :------ | :---- Daniel J. Lickly | Direktor, Tapşırıq Proqramı İnkişafı
Apollo Yönləndirmə və Naviqasiya proqramı | 28 Mart 1969 Fred H. Martin | Colossus Layihə rəhbəri
Apollo Yönləndirmə və Naviqasiya Proqramı | 28 Mart 1969 Norman E. Sears | Direktor, Tapşırıq İnkişafı
Apollo Yönləndirmə və Naviqasiya Proqramı | 28 Mart 1969 Richard H. Battin | Direktor, Tapşırıq İnkişafı
Apollo Yönləndirmə və Naviqasiya Proqramı | 28 Mart 1969 David G. Hoag | Direktor
Apollo Yönləndirmə və Naviqasiya Proqramı | 28 Mart 1969 Ralph R. Ragan | Direktor köməkçisi
Alətlər Laboratoriyası | 28 Mart 1969 [CONTRACT_AND_APPROVALS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CONTRACT_AND_APPROVALS.agc [1]:https://flat.badgen.net/badge/NASA/Mission%20Overview/0B3D91 [2]:https://www.nasa.gov/mission_pages/apollo/missions/apollo11.html [3]:http://www.ibiblio.org/apollo/ [4]:http://web.mit.edu/museum/ [5]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [6]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [7]:https://github.com/chrislgarry/Apollo-11/blob/master/Translations/CONTRIBUTING.tr.md [8]:https://github.com/rburkey2005/virtualagc [SWH]:https://flat.badgen.net/badge/Software%20Heritage/Archive/0B3D91 [SWH_URL]:https://archive.softwareheritage.org/browse/origin/https://github.com/chrislgarry/Apollo-11/ [Comanche]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/1 [ComancheMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/1 [Luminary]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/2 [LuminaryMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/2 ================================================ FILE: Translations/README.bd_bn.md ================================================ # অ্যাপোলো ১১ [![NASA][1]][2] [![SWH]][SWH_URL] [![Comanche]][ComancheMilestone] [![Luminary]][LuminaryMilestone] 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA], [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdî][KU], [Lietuvių][LT], [Mongolian][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Română][RO], [Suomi][FI], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Беларуская мова][BE], [Русский][RU], [Українська][UK], [العربية][AR], [فارسی][FA], [नेपाली भाषा][NE] [हिंदी][HI_IN], [অসমীয়া][AS_IN], [বাংলা][BD_BN], [မြန်မာ][MM], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:README.ar.md [AS_IN]:README.as_in.md [AZ]:README.az.md [BD_BN]:README.bd_bn.md [BE]:README.be.md [CA]:README.ca.md [CZ]:README.cz.md [DA]:README.da.md [DE]:README.de.md [EN]:../README.md [ES]:README.es.md [FA]:README.fa.md [FI]:README.fi.md [FR]:README.fr.md [GL]:README.gl.md [GR]:README.gr.md [HI_IN]:README.hi_in.md [ID]:README.id.md [IT]:README.it.md [JA]:README.ja.md [KO_KR]:README.ko_kr.md [KU]:README.ku.md [LT]:README.lt.md [MM]:README.mm.md [MN]:README.mn.md [NE]:README.ne.md [NL]:README.nl.md [NO]:README.no.md [PL]:README.pl.md [PT_BR]:README.pt_br.md [RO]:README.ro.md [RU]:README.ru.md [SV]:README.sv.md [TR]:README.tr.md [UK]:README.uk.md [VI]:README.vi.md [ZH_CN]:README.zh_cn.md [ZH_TW]:README.zh_tw.md অ্যাপোলো ১১ গাইডেন্স কম্পিউটারের মূল ম্যানুয়াল (AGC), অ্যাপোলো ১১ কমান্ড মডিউল (Comanche055) এবং লুনার মডিউল (Luminary099)। এটি [Virtual AGC][3] এবং [MIT Museum][4] সদস্যদের দ্বারা সূচিত করা হয়েছে। আমাদের মূল লক্ষ্য অ্যাপোলো ১১ এর মূল কোডটি সংকলন করা। আপনি যদি এই বিরোধের প্রতিলিপি এবং [Luminary 099][5] এবং [Comanche 055][6] এর মধ্যে কোনও বৈষম্য উন্মোচন করেছেন, সেক্ষেত্রে আপনার সহযোগিতা PR হিসাবে প্রশংসিত হবে। ## অবদান কোনো পুল রিকুয়েস্ট খোলার আগে দয়া করে [CONTRIBUTING.md][7] পড়ুন। ## সংগ্রহ যদি আপনি এই নিয়মগুলি পরিচালনা করেন তবে [Virtual AGC][8] দেখুন। ## আরোপণ   |   :----------- | :----- কপিরাইট | পাবলিক ডোমেইন Comanche055 | Colossus 2A, কমান্ড মডিউলটির (CM) উৎস কোডের একটি অংশ, অ্যাপোলো ১১ গাইডেন্স কম্পিউটার (AGC)
`নাসা 055 দ্বারা AGC প্রোগ্রাম কোমঞ্চের একীভূত সংশোধনী`
`2021113-051. 10:28 APR. 1, 1969` Luminary099 | লুমিনারি ১ এ, অ্যাপোলো ১১-এর চন্দ্র অংশ (LM) জন্য ফ্লোটেশন ডিভাইস (AGC) কোডের অংশ `নাসার দ্বারা এজিসি (AGC)প্রোগ্রাম LMY99 এর একীভূত সংশোধনী ০০১`
`2021112-061. 16:27 JUL. 14, 1969` অ্যাসেম্বলার | yaYUL যোগাযোগ | Ron Burkey ওয়েবসাইট | www.ibiblio.org/apollo ডিজিটালাইজেশন | এই উৎস কোডটি এমআইটি জাদুঘরের একটি হার্ডকপির ডিজিটাইজড চিত্র থেকে অনুলিপি করা হয়েছে বা অন্যথায় রূপান্তরিত হয়েছে। ডিজিটালাইজেশনটি Paul Fjeld সঞ্চালনা করেছিলেন এবং জাদুঘরের Deborah Douglas দ্বারা ব্যবস্থা করেছিলেন। উভয়কে অনেক ধন্যবাদ। ### চুক্তি এবং গ্রহণযোগ্যতা *[CONTRACT_AND_APPROVALS.agc] হতে প্রাপ্ত* এই AGC প্রোগ্রামটিকে Colossus 2A হিসাবেও উল্লেখ করা হবে। এই প্রোগ্রামটি CM প্রতিবেদনে নির্দিষ্ট হিসাবে ব্যবহারের জন্য উদ্দিষ্ট `R-577`. এই প্রোগ্রামটি DSR প্রকল্পের আওতায় প্রস্তুত করা হয়েছিল `55-23870`, এই চুক্তির মাধ্যমে দ্য ন্যাশনাল অ্যারোনটিকস অ্যান্ড স্পেস অ্যাডমিনিস্ট্রেশনের ম্যানড স্পেসক্র্যাফট সেন্টার স্পনসর করে `NAS 9-4065` যন্ত্রানুষঙ্গের ল্যাবরেটরি সহ, Massachusetts Institute of Technology, Cambridge, Mass. জমাদানকারী | ভূমিকা | তারিখ :------------------- | :---- | :--- Margaret H. Hamilton | কলসাস(Colossus) প্রোগ্রামিং লিডার
অ্যাপোলো গাইডেন্স এবং নেভিগেশন | ২৮ মার্চ ১৯৬৯ যাদের দ্বারা অনুমোদিত | ভূমিকা | তারিখ :---------------- | :--- | :--- Daniel J. Lickly | পরিচালক, মিশন প্রোগ্রাম উন্নয়ন
অ্যাপোলো গাইডেন্স এবং নেভিগেশন প্রোগ্রাম | ২৮ মার্চ ১৯৬৯ Fred H. Martin | কলসাস প্রজেক্ট ম্যানেজার
অ্যাপোলো গাইডেন্স এবং নেভিগেশন প্রোগ্রাম | ২৮ মার্চ ১৯৬৯ Norman E. Sears | পরিচালক, মিশন উন্নয়ন
অ্যাপোলো গাইডেন্স এবং নেভিগেশন প্রোগ্রাম | ২৮ মার্চ ১৯৬৯ Richard H. Battin | পরিচালক, মিশন উন্নয়ন
অ্যাপোলো গাইডেন্স এবং নেভিগেশন প্রোগ্রাম | ২৮ মার্চ ১৯৬৯ David G. Hoag | পরিচালক
অ্যাপোলো গাইডেন্স এবং নেভিগেশন প্রোগ্রাম | ২৮ মার্চ ১৯৬৯ Ralph R. Ragan | সহকারী পরিচালক
ইনস্ট্রুমেন্টেশন ল্যাবরেটরি | ২৮ মার্চ ১৯৬৯ [CONTRACT_AND_APPROVALS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CONTRACT_AND_APPROVALS.agc [1]:https://flat.badgen.net/badge/NASA/Mission%20Overview/0B3D91 [2]:https://www.nasa.gov/mission_pages/apollo/missions/apollo11.html [3]:http://www.ibiblio.org/apollo/ [4]:http://web.mit.edu/museum/ [5]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [6]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [7]:https://github.com/chrislgarry/Apollo-11/blob/master/CONTRIBUTING.md [8]:https://github.com/rburkey2005/virtualagc [SWH]:https://flat.badgen.net/badge/Software%20Heritage/Archive/0B3D91 [SWH_URL]:https://archive.softwareheritage.org/browse/origin/https://github.com/chrislgarry/Apollo-11/ [Comanche]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/1 [ComancheMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/1 [Luminary]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/2 [LuminaryMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/2 ================================================ FILE: Translations/README.be.md ================================================ # Apollo-11 [![NASA][1]][2] [![SWH]][SWH_URL] [![Comanche]][ComancheMilestone] [![Luminary]][LuminaryMilestone] 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA], [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdî][KU], [Lietuvių][LT], [Mongolian][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Română][RO], [Suomi][FI], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Беларуская мова][BE], [Русский][RU], [Українська][UK], [العربية][AR], [فارسی][FA], [नेपाली भाषा][NE] [हिंदी][HI_IN], [অসমীয়া][AS_IN], [বাংলা][BD_BN], [မြန်မာ][MM], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:README.ar.md [AS_IN]:README.as_in.md [AZ]:README.az.md [BD_BN]:README.bd_bn.md [BE]:README.be.md [CA]:README.ca.md [CZ]:README.cz.md [DA]:README.da.md [DE]:README.de.md [EN]:../README.md [ES]:README.es.md [FA]:README.fa.md [FI]:README.fi.md [FR]:README.fr.md [GL]:README.gl.md [GR]:README.gr.md [HI_IN]:README.hi_in.md [ID]:README.id.md [IT]:README.it.md [JA]:README.ja.md [KO_KR]:README.ko_kr.md [KU]:README.ku.md [LT]:README.lt.md [MM]:README.mm.md [MN]:README.mn.md [NE]:README.ne.md [NL]:README.nl.md [NO]:README.no.md [PL]:README.pl.md [PT_BR]:README.pt_br.md [RO]:README.ro.md [RU]:README.ru.md [SV]:README.sv.md [TR]:README.tr.md [UK]:README.uk.md [VI]:README.vi.md [ZH_CN]:README.zh_cn.md [ZH_TW]:README.zh_tw.md Арыгінальны код навігацыйнай камп'ютарнай сыстэмы Apollo 11 (AGC) для Каманднага Модуля (Comanche055) і Луннага Модуля (Luminary099). Цыфраваныя карыстальнікамі [Virtual AGC][3] і [MIT Museum][4]. Мэтай гэтага рэпазіторыя з'яўляецца захоўванне арыгінальнага коду Apollo 11. Таму ўсе PR (Pull Requests) запрашаюцца для выяўлення якіх-небудзь памылак паміж аглядамі гэтага рэпазіторыя і арыгінальнымі сканамі коду [Luminary 099][5] і [Comanche 055][6], а таксама для дадзеных файлаў, якія моглі мне не дасягнуць. ## Внесак Калі ласка, прачытайце [CONTRIBUTING.md][7] перад тым, як стварыць запыт на ўключэнне. ## Кампіляцыя Калі вас цікавіць кампіляцыя арыгінальнага коду, паглядзіце [Virtual AGC][8]. ## Прызнанне   |   :------------- | :----- Аўтарскія правы | Грамадскае майна Comanche055 | Частка када для Colossus 2A, навігацыйнага камп'ютара Каманднага Модуля (CM) Apollo 11
`Зборка рэвізіі 055 праграмы AGC Comanche ад NASA`
`2021113-051. 10:28 1 крас. 1969 года` Luminary099 | Частка када для Luminary 1A, навігацыйнага камп'ютара Луннага Модуля (LM) Apollo 11
`Зборка рэвізіі 001 праграмы AGC LMY99 ад NASA`
`2021112-061. 16:27 14 ліп. 1969 года` Зборшчык | yaYUL Кантакт | Рон Буркі Сайт | www.ibiblio.org/apollo Цыфраванне | Гэты код быў сканіраваны або інакш адаптаваны з цыфравых выяваў на хардкопы ад Музея MIT. Цыфраванне праводзіў Пол Фельд, і зараджана Дэбарой Дуглас з Музея. Вялікі дзякуй ім абодвум. ### Кантракт і Згадкі *Узяты з [CONTRACT_AND_APPROVALS.agc]* Гэтая праграма AGC таксама вядомая як Colossus 2A. Гэтая праграма прызначаная для выкарыстання ў Камандным Модулі згодна з апісаннем у справаздачы `R-577`. Гэтая праграма была падрыхтаваная ў межах праекта DSR `55-23870`, які фінансуецца Цэнтрам палётных апаратаў Нацыянальнага адміністрацыі па аэранаўтыцы і касманавтыцы праз кантракт `NAS 9-4065` з Інстытутам інструментальнай лабараторыі Массачусетскага тэхналягічнага інстытуту, Кембрыдж, Массачусетс. Пададзена | Роля | Дата :------------------ | :--- | :--- Маргарэт Г. Гамільтан | Кіраўнік Праграміровання "Калосус"
Навігацыя і навігацыя Apollo | 28 сак. 1969 года Зацверджаная | Роля | Дата :------------------ | :--- | :--- Даніэль Дж. Ліклі | Дырэктар, Праграма Распрацоўкі Місій
Праграма Навігацыі і навігацыі Apollo | 28 сак. 1969 года Фред Г. Мартын | Кіраўнік Праграмы "Калосус"
Праграма Навігацыі і навігацыі Apollo | 28 сак. 1969 года Нарман Э. Сірс | Дырэктар Праграмы Распрацоўкі Місій
Праграма Навігацыі і навігацыі Apollo | 28 сак. 1969 года Рычард Г. Баттін | Дырэктар Праграмы Распрацоўкі Місій
Праграма Навігацыі і навігацыі Apollo | 28 сак. 1969 года Давід Дж. Хоаг | Дырэктар
Праграма Навігацыі і навігацыі Apollo | 28 сак. 1969 года Ральф Р. Рэган | Заместнік Дырэктара
Інструментальная лабараторыя | 28 сак. 1969 года [CONTRACT_AND_APPROVALS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CONTRACT_AND_APPROVALS.agc [1]:https://flat.badgen.net/badge/NASA/Mission%20Overview/0B3D91 [2]:https://www.nasa.gov/mission_pages/apollo/missions/apollo11.html [3]:http://www.ibiblio.org/apollo/ [4]:http://web.mit.edu/museum/ [5]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [6]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [7]:https://github.com/chrislgarry/Apollo-11/blob/master/CONTRIBUTING.md [8]:https://github.com/rburkey2005/virtualagc [SWH]:https://flat.badgen.net/badge/Software%20Heritage/Archive/0B3D91 [SWH_URL]:https://archive.softwareheritage.org/browse/origin/https://github.com/chrislgarry/Apollo-11/ [Comanche]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/1 [ComancheMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/1 [Luminary]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/2 [LuminaryMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/2 ================================================ FILE: Translations/README.ca.md ================================================ # Apollo-11 [![NASA][1]][2] [![SWH]][SWH_URL] [![Comanche]][ComancheMilestone] [![Luminary]][LuminaryMilestone] 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA], [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdî][KU], [Lietuvių][LT], [Mongolian][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Română][RO], [Suomi][FI], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Беларуская мова][BE], [Русский][RU], [Українська][UK], [العربية][AR], [فارسی][FA], [नेपाली भाषा][NE] [हिंदी][HI_IN], [অসমীয়া][AS_IN], [বাংলা][BD_BN], [မြန်မာ][MM], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:README.ar.md [AS_IN]:README.as_in.md [AZ]:README.az.md [BD_BN]:README.bd_bn.md [BE]:README.be.md [CA]:README.ca.md [CZ]:README.cz.md [DA]:README.da.md [DE]:README.de.md [EN]:../README.md [ES]:README.es.md [FA]:README.fa.md [FI]:README.fi.md [FR]:README.fr.md [GL]:README.gl.md [GR]:README.gr.md [HI_IN]:README.hi_in.md [ID]:README.id.md [IT]:README.it.md [JA]:README.ja.md [KO_KR]:README.ko_kr.md [KU]:README.ku.md [LT]:README.lt.md [MM]:README.mm.md [MN]:README.mn.md [NE]:README.ne.md [NL]:README.nl.md [NO]:README.no.md [PL]:README.pl.md [PT_BR]:README.pt_br.md [RO]:README.ro.md [RU]:README.ru.md [SV]:README.sv.md [TR]:README.tr.md [UK]:README.uk.md [VI]:README.vi.md [ZH_CN]:README.zh_cn.md [ZH_TW]:README.zh_tw.md Codi font original del Mòdul de Comandament (Comanche055) i del Mòdul Lunar (Comanche055) de l'ordinador de navegació de l'Apollo 11 (AGC, per les seves sigles en anglès). Digitalitzat per la gent de [Virtual AGC][3] i [MIT Museum][4]. L'objectiu és esdevenir un repositori del codi font original de l'Apollo 11. Per això els *pull requests* són benvinguts davant de qualsevol problema que s'identifiqui entre les transcripcions d'aquests repositori i les còpies originals del codi font de [Luminary 099][5] i [Comanche 055][6], així com qualsevol fitxer que m'hagi pogut deixar. ## Col·laboració Si us plau llegiu [CONTRIBUTING.md][7] abans d'obrir un *pull request*. ## Compilació Si esteu interessat en compilar el codi font original, vegeu [Virtual AGC][8]. ## Autoria   |   :------------- | :----- Copyright | Domini públic Comanche055 | Part del codi font del Colossus 2A, l'Ordinador de Navegació Apollo (AGC, per les seves sigles en anglès) del Mòdul de Comandament (CM, per les seves sigles en anglès) de l'Apollo 11
`Assemble revision 055 of AGC program Comanche by NASA`
`2021113-051. 10:28 APR. 1, 1969` Luminary099 | Part of the source code for Luminary 1A, the Lunar Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11
`Assemble revision 001 of AGC program LMY99 by NASA`
`2021112-061. 16:27 JUL. 14, 1969` Luminary099 | Part del codi font del Luminary 1A, el Mòdul Lunar (LM, per les seves sigles en anlès) de l'Ordinador de Navegació Apollo (AGC, per les seves sigles en anglès) de l'Apollo 11.
`Assemble revision 001 of AGC program LMY99 by NASA`
`2021112-061. 16:27 JUL. 14, 1969` Assemblador | yaYUL Contacte | Ron Burkey Web | www.ibiblio.org/apollo Digitalització | Aquest codi font s'ha transcrit o adaptat d'alguna altra manera d'imatges digitalitzades d'una còpia física del MIT Museum. La digitalització la va fer Paul Fjeld, i la va revisar Deborah Douglas, de l'equip del museu. Moltes gràcies a tots dos. ### Contracte i validacions *Copiat de [CONTRACT_AND_APPROVALS.agc]* Aquest programa de l'AGC també es pot anomenar Colossus 2A. Aquest programa està pensat per fer-se servir al CM tal com s'especifica a l'informe `R-577`. Aquest programa es va preparar en el marc del projecte `55-23870` de DSR, patrocinat per Manned Spacecraft Center of The National Aeronautics i l'Administració Aeroespacial a través del contracte `NAS 9-4065` del Laboratori d'Instrumentació del Massachusetts Institute of Technology, Cambridge, Massachusetts. Enviat per | Posició | Data :------------------- | :------ | :--- Margaret H. Hamilton | Cap de programació del Colossus
Teledirecció i navegació d'Apollo | 28 Mar 69 Aprovat per | Posició | Data :----------------- | :------ | :--- Daniel J. Lickly | Director del desenvolupament programa de la missió
Programa de teledirecció i navegació d'Apollo | 28 Mar 69 Fred H. Martin | Gestor del projecte Colossus
Programa de teledirecció i navegació d'Apollo | 28 Mar 69 Norman E. Sears | Director de desenvolupament de la missió
Programa de teledirecció i navegació d'Apollo | 28 Mar 69 Richard H. Battin | Director de desenvolupament de la missió
Programa de teledirecció i navegació d'Apollo | 28 Mar 69 David G. Hoag | Director
Programa de teledirecció i navegació d'Apollo | 28 Mar 69 Ralph R. Ragan | Director adjunt
Laboratori d'Instrumentació | 28 Mar 69 [CONTRACT_AND_APPROVALS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CONTRACT_AND_APPROVALS.agc [1]:https://flat.badgen.net/badge/NASA/Mission%20Overview/0B3D91 [2]:https://www.nasa.gov/mission_pages/apollo/missions/apollo11.html [3]:http://www.ibiblio.org/apollo/ [4]:http://web.mit.edu/museum/ [5]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [6]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [7]:https://github.com/chrislgarry/Apollo-11/blob/master/CONTRIBUTING.md [8]:https://github.com/rburkey2005/virtualagc [SWH]:https://flat.badgen.net/badge/Software%20Heritage/Archive/0B3D91 [SWH_URL]:https://archive.softwareheritage.org/browse/origin/https://github.com/chrislgarry/Apollo-11/ [Comanche]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/1 [ComancheMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/1 [Luminary]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/2 [LuminaryMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/2 ================================================ FILE: Translations/README.cz.md ================================================ # Apollo-11 [![NASA][1]][2] [![SWH]][SWH_URL] [![Comanche]][ComancheMilestone] [![Luminary]][LuminaryMilestone] 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA], [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdî][KU], [Lietuvių][LT], [Mongolian][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Română][RO], [Suomi][FI], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Беларуская мова][BE], [Русский][RU], [Українська][UK], [العربية][AR], [فارسی][FA], [नेपाली भाषा][NE] [हिंदी][HI_IN], [অসমীয়া][AS_IN], [বাংলা][BD_BN], [မြန်မာ][MM], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:README.ar.md [AS_IN]:README.as_in.md [AZ]:README.az.md [BD_BN]:README.bd_bn.md [BE]:README.be.md [CA]:README.ca.md [CZ]:README.cz.md [DA]:README.da.md [DE]:README.de.md [EN]:../README.md [ES]:README.es.md [FA]:README.fa.md [FI]:README.fi.md [FR]:README.fr.md [GL]:README.gl.md [GR]:README.gr.md [HI_IN]:README.hi_in.md [ID]:README.id.md [IT]:README.it.md [JA]:README.ja.md [KO_KR]:README.ko_kr.md [KU]:README.ku.md [LT]:README.lt.md [MM]:README.mm.md [MN]:README.mn.md [NE]:README.ne.md [NL]:README.nl.md [NO]:README.no.md [PL]:README.pl.md [PT_BR]:README.pt_br.md [RO]:README.ro.md [RU]:README.ru.md [SV]:README.sv.md [TR]:README.tr.md [UK]:README.uk.md [VI]:README.vi.md [ZH_CN]:README.zh_cn.md [ZH_TW]:README.zh_tw.md Originální zdrojové kódy navigačního počítače (AGC) Apolla 11 pro Velitelský Modul (Comanche055) a Lunární Modul (Luminary099). Digitalizováno s pomocí [Virtual AGC][3] a [MIT Museum][4]. Cílem repozitáře je udržovat původní zdrojové kódy Apolla 11. Vítáme všechny PR s úpravami problémů identifikovaných mezi přepisy v tomto repozitáři a originálními skeny pro [Luminary 099][5] a [Comanche 055][6], stejně jako soubory které mohly být přehlédnuty. ## Přispívání Před otevřením pull requestu si prosím přečtěte [CONTRIBUTING.cz.md][7] ## Compiling Zajímá-li vás kompilace původního zdrojového kódu, navštivte [Virtual AGC][8]. ## Attribution   |   :------------- | :----- Copyright | Veřejná doména Comanche055 | Součást zdrojového kódu pro Colossus 2A, Navigační Počítač (AGC) Velitelského Modulu (CM) pro Apollo 11
`Assemble revision 055 of AGC program Comanche by NASA`
`2021113-051. 10:28 APR. 1, 1969` Luminary099 | Součást zdrojového kódu pro Luminary 1A, Navigační Počítač (AGC) Lunárního Modulu (LM) pro Apollo 11
`Assemble revision 001 of AGC program LMY99 by NASA`
`2021112-061. 16:27 JUL. 14, 1969` Assembler | yaYUL Contact | Ron Burkey Website | www.ibiblio.org/apollo Digitalisation | Tento zdrojový kód byl přepsán či jinak adaptován z digitalizované verze papírových materiálů z MIT Muzea. Digitalizaci provedl Paul Fjeld a zajistila Deborah Douglas z MIT Muzea. Oběma děkujeme. ### Smlouva a schválení *Výňatek z [CONTRACT_AND_APPROVALS.agc]* Tento AGC program bude nazýván také Colossus 2A. Tento program je určen k použití v CM podle specifikací ve zprávě `R-577`. Tento program byl připraven v rámci DSR projektu `55-23870`, sponzorovaného Centrem kosmických lodí s posádkou Národního úřadu pro letectví a vesmír skrze smlouvu `NAS 9-4065` s Laboratoří instrumentace, Massachusetts Institute of Technology, Cambridge, Mass. Podal | Role | Datum :------------------- | :--- | :--- Margaret H. Hamilton | Vedoucí programátor projektu Colossus
Navádění a navigace Apollo | 28 Března 69 Schválil | Role | Datum :---------------- | :--- | :--- Daniel J. Lickly | Ředitel, Vývoj programů misí
Program navádění a navigace Apollo | 28. Března 1969 Fred H. Martin | Manažer projektu Colossus
Program navádění a navigace Apollo | 28. Března 1969 Norman E. Sears | Ředitel, Vývoj misí
Program navádění a navigace Apollo | 28. Března 1969 Richard H. Battin | Ředitel, Vývoj misí
Program navádění a navigace Apollo | 28. Března 1969 David G. Hoag | Ředitel
Program navádění a navigace Apollo | 28. Března 1969 Ralph R. Ragan | Zástupce ředitele
Laboratoř instrumentace | 28. Března 1969 [CONTRACT_AND_APPROVALS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CONTRACT_AND_APPROVALS.agc [1]:https://flat.badgen.net/badge/NASA/Mission%20Overview/0B3D91 [2]:https://www.nasa.gov/mission_pages/apollo/missions/apollo11.html [3]:http://www.ibiblio.org/apollo/ [4]:http://web.mit.edu/museum/ [5]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [6]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [7]:https://github.com/chrislgarry/Apollo-11/blob/master/Translations/CONTRIBUTING.cz.md [8]:https://github.com/rburkey2005/virtualagc [SWH]:https://flat.badgen.net/badge/Software%20Heritage/Archive/0B3D91 [SWH_URL]:https://archive.softwareheritage.org/browse/origin/https://github.com/chrislgarry/Apollo-11/ [Comanche]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/1 [ComancheMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/1 [Luminary]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/2 [LuminaryMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/2 ================================================ FILE: Translations/README.da.md ================================================ # Apollo-11 [![NASA][1]][2] [![SWH]][SWH_URL] [![Comanche]][ComancheMilestone] [![Luminary]][LuminaryMilestone] 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA], [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdî][KU], [Lietuvių][LT], [Mongolian][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Română][RO], [Suomi][FI], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Беларуская мова][BE], [Русский][RU], [Українська][UK], [العربية][AR], [فارسی][FA], [नेपाली भाषा][NE] [हिंदी][HI_IN], [অসমীয়া][AS_IN], [বাংলা][BD_BN], [မြန်မာ][MM], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:README.ar.md [AS_IN]:README.as_in.md [AZ]:README.az.md [BD_BN]:README.bd_bn.md [BE]:README.be.md [CA]:README.ca.md [CZ]:README.cz.md [DA]:README.da.md [DE]:README.de.md [EN]:../README.md [ES]:README.es.md [FA]:README.fa.md [FI]:README.fi.md [FR]:README.fr.md [GL]:README.gl.md [GR]:README.gr.md [HI_IN]:README.hi_in.md [ID]:README.id.md [IT]:README.it.md [JA]:README.ja.md [KO_KR]:README.ko_kr.md [KU]:README.ku.md [LT]:README.lt.md [MM]:README.mm.md [MN]:README.mn.md [NE]:README.ne.md [NL]:README.nl.md [NO]:README.no.md [PL]:README.pl.md [PT_BR]:README.pt_br.md [RO]:README.ro.md [RU]:README.ru.md [SV]:README.sv.md [TR]:README.tr.md [UK]:README.uk.md [VI]:README.vi.md [ZH_CN]:README.zh_cn.md [ZH_TW]:README.zh_tw.md Original Apollo 11 guidance computer (AGC) kildekode til Command Module (Comanche055) og Lunar Module (Luminary099). Digitaliseret af folkene på [Virtual AGC][3] og [MIT Museum][4]. Målet er at være en repo for den originale Apollo 11-kildekode. Som sådan er PR'er velkomne for ethvert problem, der er identificeret mellem transskriptionerne i dette repo og de originale kildescanninger for [Luminary 099][5] og [Comanche 055][6], såvel som alle filer, jeg kan have savnet. ## Bidrag Venligst læs [CONTRIBUTING.md][7] før du åbner en pull-request. ## Kompilering Hvis du er interesseret i at kompilere den originale kildekode, så venligst se [Virtuel AGC][8]. ## Tilskrivning   |   :------------- | :----- Ophavsret | Offentligt domæne Comanche055 | En del af kildekoden til Colossus 2A, Command Module's (CM) Apollo Guidance Computer (AGC) til Apollo 11
`Assemble revision 055 of AGC program Comanche by NASA`
`2021113-051. 10:28 APR. 1, 1969` Luminary099 | En del af kildekoden til Luminary 1A, Lunar Module's (LM) Apollo Guidance Computer (AGC) til Apollo 11
`Assemble revision 001 of AGC program LMY99 by NASA`
`2021112-061. 16:27 JUL. 14, 1969` Samler | yaYUL Kontakt | Ron Burkey Hjemmeside | www.ibiblio.org/apollo Digitalisering | Denne kildekode er blevet transskriberet eller på anden måde tilpasset fra digitaliserede billeder af en papirkopi fra MIT Museum. Digitaliseringen blev udført af Paul Fjeld, og arrangeret af Deborah Douglas fra Museet. Mange tak til begge. ### Kontrakt og godkendelser *Nedarvet fra [CONTRACT_AND_APPROVALS.agc]* Dette AGC-program vil også blive omtalt som Colossus 2A. Dette program er beregnet til brug i CM som specificeret i rapporten "R-577". Dette program blev udarbejdet under DSR-projektet `55-23870`, sponsoreret af Manned Spacecraft Center fra The National Aeronautics and Space Administration gennem kontrakten `NAS 9-4065` med Instrumentation Laboratory, Massachusetts Institute of Technology, Cambridge, Mass. Indsendt af | Rolle | Dato :------------------- | :--- | :--- Margaret H. Hamilton | Colossus-programmeringsleder
Apollo-vejledning og -navigation | 28 Mar 69 Godkendt af | Role | Date :---------------- | :--- | :--- Daniel J. Lickly | Direktør, udvikling af missionsprogram
Apollo vejlednings- og navigationsprogram | 28 Mar 69 Fred H. Martin | Colossus-projektleder
Apollo-vejlednings- og navigationsprogram | 28 Mar 69 Norman E. Sears | Direktør, Missionsudvikling
Apollo vejlednings- og navigationsprogram | 28 Mar 69 Richard H. Battin | Direktør, Missionsudvikling
Apollo vejlednings- og navigationsprogram | 28 Mar 69 David G. Hoag | Direktør
Apollo vejlednings- og navigationsprogram | 28 Mar 69 Ralph R. Ragan | Vicedirektør
Instrumentlaboratoriet | 28 Mar 69 [CONTRACT_AND_APPROVALS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CONTRACT_AND_APPROVALS.agc [1]:https://flat.badgen.net/badge/NASA/Mission%20Overview/0B3D91 [2]:https://www.nasa.gov/mission_pages/apollo/missions/apollo11.html [3]:http://www.ibiblio.org/apollo/ [4]:http://web.mit.edu/museum/ [5]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [6]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [7]:https://github.com/chrislgarry/Apollo-11/blob/master/Translations/CONTRIBUTING.da.md [8]:https://github.com/rburkey2005/virtualagc [SWH]:https://flat.badgen.net/badge/Software%20Heritage/Archive/0B3D91 [SWH_URL]:https://archive.softwareheritage.org/browse/origin/https://github.com/chrislgarry/Apollo-11/ [Comanche]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/1 [ComancheMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/1 [Luminary]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/2 [LuminaryMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/2 ================================================ FILE: Translations/README.de.md ================================================ # Apollo-11 [![NASA][1]][2] [![SWH]][SWH_URL] [![Comanche]][ComancheMilestone] [![Luminary]][LuminaryMilestone] 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA], [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdî][KU], [Lietuvių][LT], [Mongolian][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Română][RO], [Suomi][FI], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Беларуская мова][BE], [Русский][RU], [Українська][UK], [العربية][AR], [فارسی][FA], [नेपाली भाषा][NE] [हिंदी][HI_IN], [অসমীয়া][AS_IN], [বাংলা][BD_BN], [မြန်မာ][MM], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:README.ar.md [AS_IN]:README.as_in.md [AZ]:README.az.md [BD_BN]:README.bd_bn.md [BE]:README.be.md [CA]:README.ca.md [CZ]:README.cz.md [DA]:README.da.md [DE]:README.de.md [EN]:../README.md [ES]:README.es.md [FA]:README.fa.md [FI]:README.fi.md [FR]:README.fr.md [GL]:README.gl.md [GR]:README.gr.md [HI_IN]:README.hi_in.md [ID]:README.id.md [IT]:README.it.md [JA]:README.ja.md [KO_KR]:README.ko_kr.md [KU]:README.ku.md [LT]:README.lt.md [MM]:README.mm.md [MN]:README.mn.md [NE]:README.ne.md [NL]:README.nl.md [NO]:README.no.md [PL]:README.pl.md [PT_BR]:README.pt_br.md [RO]:README.ro.md [RU]:README.ru.md [SV]:README.sv.md [TR]:README.tr.md [UK]:README.uk.md [VI]:README.vi.md [ZH_CN]:README.zh_cn.md [ZH_TW]:README.zh_tw.md Dieses Repository beinhaltet den originalen Quellcode des Apollo 11 Navigationscomputers (kurz AGC) für das Kommandomodul (Comanche055) und die Mondlandefähre (Luminary099). Digitalisiert wurde der Code durch das [Virtual AGC][3] Projekt und das [MIT Museum][4]. Ziel dieses Projektes ist es, den originalen Apollo 11 Source Code an einem zentralen Ort zu sammeln. Daher sind PRs, die Diskrepanzen zwischen den Transkripten in diesem Repository und den originalen Scans des Source Codes von [Luminary 099][5] und [Comanche 055][6] beheben, gern gesehen. Das Gleiche gilt für irgendwelche Dateien, die ich verpasst haben könnte. ## Mitmachen Bitte lies [CONTRIBUTING.de.md][7], bevor du einen Pull Request öffnest. ## Kompilieren Wenn du den originalen Quellcode gern selbst kompilieren möchtest, wirf am besten einen Blick auf das [Virtual AGC][8] Projekt. ## Attribution   |   :-------------- | :----- Urheberrecht | Gemeingut Comanche055 | Teil des Quellcodes für Colossus 2A, den Apollo Navigationscomputer (AGC) des Kommandomoduls (CM) für Apollo 11
`Assemble revision 055 of AGC program Comanche by NASA`
`2021113-051. 10:28 APR. 1, 1969` Luminary099 | Teil des Quellcodes für Luminary 1A, den Apollo Navigationscomputer (AGC) der Mondlandefähre (LM) für Apollo 11
`Assemble revision 001 of AGC program LMY99 by NASA`
`2021112-061. 16:27 JUL. 14, 1969` Assembler | yaYUL Kontakt | Ron Burkey Webseite | www.ibiblio.org/apollo Digitalisierung | Der vorliegende Quellcode wurde von digitalisierten Bildern einer physischen Kopie des MIT Museums transkribiert oder anderweitig adaptiert. Die Digitalisierung wurde durchgeführt von Paul Fjeld nach Vorbereitung von Deborah Douglas vom MIT Museum. Vielen Dank an beide. ### Vertrag und Genehmigungen *Abgeleitet aus [CONTRACT_AND_APPROVALS.agc]* Dieses AGC Programm wird gleichfalls als Colossus 2A bezeichnet. Dieses Programm ist für die Benutzung im CM vorgesehen, wie in Report `R577` spezifiziert. Das Programm wurde vorbereitet im Rahmen des DSR Projekts `55-23870`, gesponsert vom Zentrum für bemannte Raumfahrt der National Aeronautics and Space Administration durch Vertrag `NAS 9-4065`, geschlossen mit dem Instrumentation Laboratory des Massachusetts Institute of Technology, Cambridge, Mass. Eingereicht von | Position | Datum :------------------- | :------- | :---- Margaret H. Hamilton | Leitende Colossus Programmiererin
Apollo Steuerung und Navigation | 28. März 1969 Genehmigt von | Position | Datum :---------------- | :------- | :---- Daniel J. Lickly | Direktor, Mission Program Development
Apollo Steuerungs- und Navigationsprogramm | 28. März 1969 Fred H. Martin | Colossus Projektmanager
Apollo Steuerungs- und Navigationsprogramm | 28. März 1969 Norman E. Sears | Direktor, Mission Development
Apollo Steuerungs- und Navigationsprogramm | 28. März 1969 Richard H. Battin | Direktor, Mission Development
Apollo Steuerungs- und Navigationsprogramm | 28. März 1969 David G. Hoag | Direktor
Apollo Steuerungs- und Navigationsprogramm | 28. März 1969 Ralph R. Ragan | Stellvertretender Direktor
Instrumentation Laboratory | 28. März 1969 [CONTRACT_AND_APPROVALS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CONTRACT_AND_APPROVALS.agc [1]:https://flat.badgen.net/badge/NASA/Mission%20Overview/0B3D91 [2]:https://www.nasa.gov/mission_pages/apollo/missions/apollo11.html [3]:http://www.ibiblio.org/apollo/ [4]:http://web.mit.edu/museum/ [5]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [6]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [7]:https://github.com/chrislgarry/Apollo-11/blob/master/Translations/CONTRIBUTING.de.md [8]:https://github.com/rburkey2005/virtualagc [SWH]:https://flat.badgen.net/badge/Software%20Heritage/Archive/0B3D91 [SWH_URL]:https://archive.softwareheritage.org/browse/origin/https://github.com/chrislgarry/Apollo-11/ [Comanche]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/1 [ComancheMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/1 [Luminary]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/2 [LuminaryMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/2 ================================================ FILE: Translations/README.es.md ================================================ # Apolo 11 [![NASA][1]][2] [![SWH]][SWH_URL] [![Comanche]][ComancheMilestone] [![Luminary]][LuminaryMilestone] 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA], [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdî][KU], [Lietuvių][LT], [Mongolian][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Română][RO], [Suomi][FI], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Беларуская мова][BE], [Русский][RU], [Українська][UK], [العربية][AR], [فارسی][FA], [नेपाली भाषा][NE] [हिंदी][HI_IN], [অসমীয়া][AS_IN], [বাংলা][BD_BN], [မြန်မာ][MM], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:README.ar.md [AS_IN]:README.as_in.md [AZ]:README.az.md [BD_BN]:README.bd_bn.md [BE]:README.be.md [CA]:README.ca.md [CZ]:README.cz.md [DA]:README.da.md [DE]:README.de.md [EN]:../README.md [ES]:README.es.md [FA]:README.fa.md [FI]:README.fi.md [FR]:README.fr.md [GL]:README.gl.md [GR]:README.gr.md [HI_IN]:README.hi_in.md [ID]:README.id.md [IT]:README.it.md [JA]:README.ja.md [KO_KR]:README.ko_kr.md [KU]:README.ku.md [LT]:README.lt.md [MM]:README.mm.md [MN]:README.mn.md [NE]:README.ne.md [NL]:README.nl.md [NO]:README.no.md [PL]:README.pl.md [PT_BR]:README.pt_br.md [RO]:README.ro.md [RU]:README.ru.md [SV]:README.sv.md [TR]:README.tr.md [UK]:README.uk.md [VI]:README.vi.md [ZH_CN]:README.zh_cn.md [ZH_TW]:README.zh_tw.md Código fuente original del ordenador guía del Apolo 11 (AGC) para el módulo de comando (Comanche055) y del módulo lunar (Luminary099). Digitalizado por los chicos de [Virtual AGC][3] y [el museo del MIT][4]. El objetivo es ser un repositorio del código fuente original del Apolo 11. De este modo, serán bienvenidos los PRs relacionados con las transcripciones en este repositorio y los escaneos del código fuente original para el [Luminary 099][5] y el [Comanche 055][6], así como cualquier archivo que se me haya olvidado. ## ¿Cómo contribuir? Por favor, lea [CONTRIBUTING.es.md][7] antes de abrir un pull request. ## Compilar Si está interesado en compilar el código fuente original, eche un vistazo a [Virtual AGC][8]. ## Atribuciones   |   :---------------- | :----- Derechos de autor | Dominio público Comanche055 | Parte del código fuente del Colossus 2A, el ordenador guía Apolo (AGC) del Módulo de Comando (CM) para el Apolo 11
`Assemble revision 055 of AGC program Comanche by NASA`
`2021113-051. 10:28 APR. 1, 1969` Luminary099 | Parte del código fuente del Luminary 1A, el ordenador guía Apolo (AGC) del Módulo Lunar (LM) para el Apolo 11
`Assemble revision 001 of AGC program LMY99 by NASA`
`2021112-061. 16:27 JUL. 14, 1969` Ensamblador | yaYUL Contacto | Ron Burkey Sitio Web | www.ibiblio.org/apollo Digitalización | Este código fuente ha sido transcrito o adaptado desde imágenes digitalizadas de una copia en papel presente en el museo del MIT. Los empleados del museo Paul Fjeld y Deborah Douglas realizaron la digitalización y la gestión de las imágenes, respectivamente. Muchas gracias a ambos. ### Contratos y aprobaciones *Derivado de [CONTRACT_AND_APPROVALS.agc]* Este programa debe también llamarse Colossus 2A. Este programa fue creado para ser usado en el Modulo de Comando tal y como se especifica en el informe `R-577`. Este programa se preparó en el proyecto `55-23870`, patrocinado por el Centro de Naves Tripuladas del Centro Nacional de Aeronáutica y Administración Espacial a través del contrato `NAS 9-4065` del Laboratorio de Instrumentación del Instituto de Tecnología de Massachussets, Cambridge, Mass. Enviado por | Rol | Fecha :------------------- | :-- | :---- Margaret H. Hamilton | Líder de programación de Colossus
Apollo Guidance and Navigation | 28 mar 69 Aprobado por | Rol | Fecha :---------------- | :-- | :---- Daniel J. Lickly | Director, Desarrollo del programa de misión
Programa de orientación y navegación Apollo | 28 mar 69 Fred H. Martin | Colossus Project Manager
Programa de orientación y navegación Apollo | 28 mar 69 Norman E. Sears | Director de Desarrollo de Misión
Programa de Orientación y Navegación Apollo | 28 mar 69 Richard H. Battin | Director de Desarrollo de Misión
Programa de Orientación y Navegación Apollo | 28 mar 69 David G. Hoag | Director del Programa de Orientación y Navegación Apollo | 28 mar 69 Ralph R. Ragan | Subdirector del Laboratorio de Instrumentación | 28 mar 69 [CONTRACT_AND_APPROVALS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CONTRACT_AND_APPROVALS.agc [1]:https://flat.badgen.net/badge/NASA/Mission%20Overview/0B3D91 [2]:https://www.nasa.gov/mission_pages/apollo/missions/apollo11.html [3]:http://www.ibiblio.org/apollo/ [4]:http://web.mit.edu/museum/ [5]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [6]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [7]:https://github.com/chrislgarry/Apollo-11/blob/master/Translations/CONTRIBUTING.es.md [8]:https://github.com/rburkey2005/virtualagc [SWH]:https://flat.badgen.net/badge/Software%20Heritage/Archive/0B3D91 [SWH_URL]:https://archive.softwareheritage.org/browse/origin/https://github.com/chrislgarry/Apollo-11/ [Comanche]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/1 [ComancheMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/1 [Luminary]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/2 [LuminaryMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/2 ================================================ FILE: Translations/README.fa.md ================================================
# آپولو ۱۱ [![NASA][1]][2] [![SWH]][SWH_URL] [![Comanche]][ComancheMilestone] [![Luminary]][LuminaryMilestone] 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA], [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdî][KU], [Lietuvių][LT], [Mongolian][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Română][RO], [Suomi][FI], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Беларуская мова][BE], [Русский][RU], [Українська][UK], [العربية][AR], [فارسی][FA], [नेपाली भाषा][NE] [हिंदी][HI_IN], [অসমীয়া][AS_IN], [বাংলা][BD_BN], [မြန်မာ][MM], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:README.ar.md [AS_IN]:README.as_in.md [AZ]:README.az.md [BD_BN]:README.bd_bn.md [BE]:README.be.md [CA]:README.ca.md [CZ]:README.cz.md [DA]:README.da.md [DE]:README.de.md [EN]:../README.md [ES]:README.es.md [FA]:README.fa.md [FI]:README.fi.md [FR]:README.fr.md [GL]:README.gl.md [GR]:README.gr.md [HI_IN]:README.hi_in.md [ID]:README.id.md [IT]:README.it.md [JA]:README.ja.md [KO_KR]:README.ko_kr.md [KU]:README.ku.md [LT]:README.lt.md [MM]:README.mm.md [MN]:README.mn.md [NE]:README.ne.md [NL]:README.nl.md [NO]:README.no.md [PL]:README.pl.md [PT_BR]:README.pt_br.md [RO]:README.ro.md [RU]:README.ru.md [SV]:README.sv.md [TR]:README.tr.md [UK]:README.uk.md [VI]:README.vi.md [ZH_CN]:README.zh_cn.md [ZH_TW]:README.zh_tw.md سورس کد اصلی سیستم هدایت آپولو ۱۱ (AGC) برای سفینه فرمان (Comanche055) و سفینه ماه‌نشین (Luminary099). دیجیتال شده توسط جمعی از افراد در [Virtual AGC][3] و [موزه‌ی MIT][4]. هدف این است که یک مخزن برای سورس کد اصلی آپولو ۱۱ باشد. همین‌طور، از پول‌ریکوئست‌ها برای هر تفاوتی بین نسخه‌ی موجود در این مخزن با اسکن‌ فایل‌های اصلی برای [Luminary 099][5] و [Comanche 055][6] و همچنین هر فایل دیگری که از دست من در رفته باشد،‌ استقبال می‌شود. ## مشارکت لطفاً [CONTRIBUTING.md][7] را قبل از باز کردن پول‌ریکوئست بخوانید. ## کامپایل کردن اگر علاقه‌مند به کامپایل کردن سورس کد هستید، به [AGC مجازی][8] مراجعه کنید. ## مجوز   |   -----------: | -----: حق نشر | مالکیت عمومی Comanche055 | بخشی از سورس کد Colossus 2A، سیستم هدایت (AGC) سفینه فرمان (CM) آپولو ۱۱
`Assemble revision 055 of AGC program Comanche by NASA`
`2021113-051. 10:28 APR. 1, 1969` Luminary099 | بخشی از سورس کد Luminary 1A، سیستم هدایت سفینه ماه‌نشین (LM) آپولو ۱۱
`Assemble revision 001 of AGC program LMY99 by NASA`
`2021112-061. 16:27 JUL. 14, 1969` اسمبلر | yaYUL تماس | رون برکی وبسایت | www.ibiblio.org/apollo دیجیتال کردن | این سورس کد رونویسی شده یا از تصاویر دیجیتالی از یک مرجع کاغذی در موزه MIT به دست آمده است. دیجیتالی کردن توسط پول فیلد انجام شده و توسط دبرا داگلاس، از کارکنان موزه، مرتب شده است. با تشکر از هر دو آن‌ها. ### تاییدیه *برگرفته از [CONTRACT_AND_APPROVALS.agc]* برنامه AGC باید Colossus 2A خطاب شود. این برنامه به منظور استفاده در CM است که در گزارش `R-577` مشخص شده است. این برنامه تحت پروژه DSR `55-23870`، با حمایت مرکز فضایی جانسون اداره کل ملی هوانوردی و فضا تحت قرارداد `NAS 9-4065` با آزمایشگاه ابزار موسسه فناوری ماساچوست آماده شده است. ارائه شده توسط | نقش | تاریخ --------------------: | ---: | ---: مارگارت ه. همیلتون | برنامه‌نویس ارشد Colussus
مسیریابی و هدایت آپولو | ۲۸ مارس ۱۹۶۹ تایید شده توسط | نقش | تاریخ --------------------: | ---: | ---: دنیل ج. لیکی | مدیر، توسعه برنامه عملیات، برنامه مسیریابی و هدایت آپولو | ۲۸ مارس ۱۹۶۹ فرد ه. مارتین | مدیر پروژه Colossus، برنامه مسیریابی و هدایت آپولو | ۲۸ مارس ۱۹۶۹ نرمان ای. سیرز | مدیر، توسعه برنامه عملیات، برنامه مسیریابی و هدایت آپولو | ۲۸ مارس ۱۹۶۹ ریچارد ه. باتین | مدیر، توسعه برنامه عملیات، برنامه مسیریابی و هدایت آپولو | ۲۸ مارس ۱۹۶۹ دیوید جی. هوگ | مدیر، برنامه مسیریابی و هدایت آپولو | ۲۸ مارس ۱۹۶۹ رالف ه. راگان |قائم مقام ، برنامه مسیریابی و هدایت آپولو | ۲۸ مارس ۱۹۶۹
[CONTRACT_AND_APPROVALS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CONTRACT_AND_APPROVALS.agc [1]:https://flat.badgen.net/badge/NASA/Mission%20Overview/0B3D91 [2]:https://www.nasa.gov/mission_pages/apollo/missions/apollo11.html [3]:http://www.ibiblio.org/apollo/ [4]:http://web.mit.edu/museum/ [5]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [6]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [7]:https://github.com/chrislgarry/Apollo-11/blob/master/CONTRIBUTING.md [8]:https://github.com/rburkey2005/virtualagc [SWH]:https://flat.badgen.net/badge/Software%20Heritage/Archive/0B3D91 [SWH_URL]:https://archive.softwareheritage.org/browse/origin/https://github.com/chrislgarry/Apollo-11/ [Comanche]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/1 [ComancheMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/1 [Luminary]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/2 [LuminaryMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/2 ================================================ FILE: Translations/README.fi.md ================================================ # Apollo-11 [![NASA][1]][2] [![SWH]][SWH_URL] [![Comanche]][ComancheMilestone] [![Luminary]][LuminaryMilestone] 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA], [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdî][KU], [Lietuvių][LT], [Mongolian][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Română][RO], [Suomi][FI], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Беларуская мова][BE], [Русский][RU], [Українська][UK], [العربية][AR], [فارسی][FA], [नेपाली भाषा][NE] [हिंदी][HI_IN], [অসমীয়া][AS_IN], [বাংলা][BD_BN], [မြန်မာ][MM], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN], [മലയാളം][ML] [AR]:README.ar.md [AS_IN]:README.as_in.md [AZ]:README.az.md [BD_BN]:README.bd_bn.md [BE]:README.be.md [CA]:README.ca.md [CZ]:README.cz.md [DA]:README.da.md [DE]:README.de.md [EN]:../README.md [ES]:README.es.md [FA]:README.fa.md [FI]:README.fi.md [FR]:README.fr.md [GL]:README.gl.md [GR]:README.gr.md [HI_IN]:README.hi_in.md [ID]:README.id.md [IT]:README.it.md [JA]:README.ja.md [KO_KR]:README.ko_kr.md [KU]:README.ku.md [LT]:README.lt.md [MM]:README.mm.md [MN]:README.mn.md [NE]:README.ne.md [NL]:README.nl.md [NO]:README.no.md [PL]:README.pl.md [PT_BR]:README.pt_br.md [RO]:README.ro.md [RU]:README.ru.md [SV]:README.sv.md [TR]:README.tr.md [UK]:README.uk.md [VI]:README.vi.md [ZH_CN]:README.zh_cn.md [ZH_TW]:README.zh_tw.md Alkuperäinen Apollo 11 guidance computer (AGC) lähdekoodi Command Module (Comanche055) ja Lunar Module (Luminary099) varten. Digitalisoitu [Virtual AGC][3] -proektin ja [MIT Museum][4] toimesta. Tavoitteena on toimia alkuperäisen Apollo 11 -lähdekoodin arkistona. Siksi pull requestit ovat tervetulleita, jos tässä repositoriossa olevien transkriptioiden ja alkuperäisten lähdekoodiskannausten ([Luminary 099][5] ja [Comanche 055][6]) välillä havaitaan eroavaisuuksia, tai jos jokin tiedosto on jäänyt puuttumaan. ## Osallistuminen Ole hyvä ja lue [CONTRIBUTING.md][7] ennen pull requestin avaamista. ## Lähdekoodin kääntäminen Jos olet kiinnostunut kääntämään alkuperäisen lähdekoodin, tutustu kohtaan [Virtual AGC][8]. ## Lähdeviitteet   |   :------------- | :----- Tekijänoikeudet| Public domain Comanche055 | Osa Colossus 2A -ohjelman lähdekoodista, joka toimi Apollo 11:n Command Modulen (CM) ohjaustietokoneessa Apollo Guidance Computer (AGC).
`Assemble revision 055 of AGC program Comanche by NASA`
`2021113-051. 10:28 APR. 1, 1969` Luminary099 | Osa Luminary 1A -ohjelman lähdekoodista, joka toimi Apollo 11:n kuumoduulin Lunar Module (LM) ohjaustietokoneessa Apollo Guidance Computer (AGC).
`Assemble revision 001 of AGC program LMY99 by NASA`
`2021112-061. 16:27 JUL. 14, 1969` Assembleri | yaYUL Yhteystiedot | Ron Burkey Sivusto | www.ibiblio.org/apollo Digitalisointi | Tämä lähdekoodi on kirjoitettu uudelleen tai muuten mukautettu MIT-museon hallussa olleen paperiversion digitoiduista kuvista. Digitalisoinnin suoritti Paul Fjeld, ja sen järjesti Deborah Douglas museolta. Suuret kiitokset heille molemmille. ### Sopimus ja Hyväksynnät *Peräisin tiedostosta [CONTRACT_AND_APPROVALS.agc]* Tätä AGC-ohjelmaa kutsutaan myös nimellä Colossus 2A. Ohjelma on tarkoitettu käytettäväksi komentomoduulissa Command Module, kuten raportissa `R-577` on määritelty. Ohjelma on valmistettu DSR-projektin `55-23870` puitteissa, jota sponsoroi Manned Spacecraft Center of The National Aeronautics and Space Administration sopimuksen `NAS 9-4065` kautta yhteistyössä Instrumentation Laboratory, Massachusetts Institute of Technology, Cambridge, Mass. kanssa. Lähettäjä | Rooli | Päivämäärä :------------------- | :--- | :--- Margaret H. Hamilton | Colossus Programming Leader
Apollo Guidance and Navigation | 28. Maaliskuuta 69 Hyväksyjät | Rooli | Päivämäärä :---------------- | :--- | :--- Daniel J. Lickly | Director, Mission Program Development
Apollo Guidance and Navigation Program | 28. Maaliskuuta 69 Fred H. Martin | Colossus Project Manager
Apollo Guidance and Navigation Program | 28. Maaliskuuta 69 Norman E. Sears | Director, Mission Development
Apollo Guidance and Navigation Program | 28. Maaliskuuta 69 Richard H. Battin | Director, Mission Development
Apollo Guidance and Navigation Program | 28. Maaliskuuta 69 David G. Hoag | Director
Apollo Guidance and Navigation Program | 28. Maaliskuuta 69 Ralph R. Ragan | Deputy Director
Instrumentation Laboratory | 28. Maaliskuuta 69 [CONTRACT_AND_APPROVALS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CONTRACT_AND_APPROVALS.agc [1]:https://flat.badgen.net/badge/NASA/Mission%20Overview/0B3D91 [2]:https://www.nasa.gov/mission_pages/apollo/missions/apollo11.html [3]:http://www.ibiblio.org/apollo/ [4]:http://web.mit.edu/museum/ [5]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [6]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [7]:https://github.com/chrislgarry/Apollo-11/blob/master/CONTRIBUTING.md [8]:https://github.com/rburkey2005/virtualagc [SWH]:https://flat.badgen.net/badge/Software%20Heritage/Archive/0B3D91 [SWH_URL]:https://archive.softwareheritage.org/browse/origin/https://github.com/chrislgarry/Apollo-11/ [Comanche]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/1 [ComancheMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/1 [Luminary]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/2 [LuminaryMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/2 ================================================ FILE: Translations/README.fr.md ================================================ # Apollo-11 [![NASA][1]][2] [![SWH]][SWH_URL] [![Comanche]][ComancheMilestone] [![Luminary]][LuminaryMilestone] 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA], [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdî][KU], [Lietuvių][LT], [Mongolian][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Română][RO], [Suomi][FI], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Беларуская мова][BE], [Русский][RU], [Українська][UK], [العربية][AR], [فارسی][FA], [नेपाली भाषा][NE] [हिंदी][HI_IN], [অসমীয়া][AS_IN], [বাংলা][BD_BN], [မြန်မာ][MM], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:README.ar.md [AS_IN]:README.as_in.md [AZ]:README.az.md [BD_BN]:README.bd_bn.md [BE]:README.be.md [CA]:README.ca.md [CZ]:README.cz.md [DA]:README.da.md [DE]:README.de.md [EN]:../README.md [ES]:README.es.md [FA]:README.fa.md [FI]:README.fi.md [FR]:README.fr.md [GL]:README.gl.md [GR]:README.gr.md [HI_IN]:README.hi_in.md [ID]:README.id.md [IT]:README.it.md [JA]:README.ja.md [KO_KR]:README.ko_kr.md [KU]:README.ku.md [LT]:README.lt.md [MM]:README.mm.md [MN]:README.mn.md [NE]:README.ne.md [NL]:README.nl.md [NO]:README.no.md [PL]:README.pl.md [PT_BR]:README.pt_br.md [RO]:README.ro.md [RU]:README.ru.md [SV]:README.sv.md [TR]:README.tr.md [UK]:README.uk.md [VI]:README.vi.md [ZH_CN]:README.zh_cn.md [ZH_TW]:README.zh_tw.md Code source original de l'ordinateur de guidage Apollo 11 (AGC) pour le module de commande (Comanche055) et le module lunaire (Luminary099). Numérisé par les gens du [Virtual AGC][3] et du [MIT Museum][4]. Le but est d'être un repo pour le code source original d'Apollo 11. En tant que tel, les PR sont les bienvenues pour tous les problèmes identifiés entre les transcriptions dans ce référentiel et les scans source originaux pour [Luminary 099][5] et [Comanche 055][6], ainsi que pour tous les fichiers que j'ai pu manquer. ## Contribuer Merci de lire [CONTRIBUTING.fr.md][7] avant d'ouvrir une pull request. ## Compilation Si vous êtes intéressé par la compilation du code source original, visitez [Virtual AGC][8]. ## Attribution   |   :------------ | :----- Copyright | Domaine public Comanche055 | Partie du code source de Colossus 2A, le module de commande (CM) Ordinateur embarqué de navigation (AGC), pour Apollo 11.
`Assemble revision 055 of AGC program Comanche by NASA`
`2021113-051. 10:28 APR. 1, 1969` Luminary099 | Partie du code source de Luminary 1A, le module de lunaire (LM) Ordinateur embarqué de navigation (AGC), pour Apollo 11.
`Assemble revision 001 of AGC program LMY99 by NASA`
`2021112-061. 16:27 JUL. 14, 1969` Assembleur | yaYUL Contact | Ron Burkey Site internet | www.ibiblio.org/apollo Numérisation | Ce code source a été transcrit ou autrement adapté à partir de données numérisées des images d'une copie papier du Musée du MIT. La numérisation a été effectuée par Paul Fjeld, et organisé par Deborah Douglas du Musée. Un grand merci à eux deux. ### Contrat et Approbations *Dérivé de [CONTRACT_AND_APPROVALS.agc]* ```plain CE PROGRAMME DE L'AGC SERA ÉGALEMENT DÉSIGNÉ SOUS LE NOM DE : COLOSSUS 2A CE PROGRAMME EST DESTINÉ À ÊTRE UTILISÉ EN CM COMME INDIQUÉ DANS LE RAPPORT R-577. CE PROGRAMME A ÉTÉ PRÉPARÉ DANS LE CADRE DU DSR PROJET 55-23870, PARRAINÉ PAR L'ENGIN SPATIAL HABITÉ CENTRE NATIONAL DE L'AÉRONAUTIQUE ET DE L'ADMINISTRATION SPATIALE PAR LE BIAIS DU CONTRAT NAS 9-4065 AVEC LE LABORATOIRE D'INSTRUMENTATION, INSTITUT DE TECHNOLOGIE DU MASSACHUSETTS, CAMBRIDGE, MASS. ``` Soumis par | Rôle | Date :------------------- | :--- | :--- Margaret H. Hamilton | Chef de programmation Colossus
Programme de guidage et de navigation Apollo | 28 Mar 69 Approuvé par | Rôle | Date :---------------- | :--- | :--- Daniel J. Lickly | Directeur, Développement des programmes de mission
Programme de guidage et de navigation Apollo | 28 Mar 69 Fred H. Martin | Chef de projet Colossus
Programme de guidage et de navigation Apollo | 28 Mar 69 Norman E. Sears | Directeur, Développement de la mission
Programme de guidage et de navigation Apollo | 28 Mar 69 Richard H. Battin | Directeur, Développement de la mission
Programme de guidage et de navigation Apollo | 28 Mar 69 David G. Hoag | Directeur
Programme de guidage et de navigation Apollo | 28 Mar 69 Ralph R. Ragan | Directeur adjoint
Laboratoire d'instrumentation | 28 Mar 69 [CONTRACT_AND_APPROVALS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CONTRACT_AND_APPROVALS.agc [1]:https://flat.badgen.net/badge/NASA/Mission%20Overview/0B3D91 [2]:https://www.nasa.gov/mission_pages/apollo/missions/apollo11.html [3]:http://www.ibiblio.org/apollo/ [4]:http://web.mit.edu/museum/ [5]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [6]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [7]:https://github.com/chrislgarry/Apollo-11/blob/master/Translations/CONTRIBUTING.fr.md [8]:https://github.com/rburkey2005/virtualagc [SWH]:https://flat.badgen.net/badge/Software%20Heritage/Archive/0B3D91 [SWH_URL]:https://archive.softwareheritage.org/browse/origin/https://github.com/chrislgarry/Apollo-11/ [Comanche]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/1 [ComancheMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/1 [Luminary]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/2 [LuminaryMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/2 ================================================ FILE: Translations/README.gl.md ================================================ # Apollo 11 [![NASA][1]][2] [![SWH]][SWH_URL] [![Comanche]][ComancheMilestone] [![Luminary]][LuminaryMilestone] 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA], [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdî][KU], [Lietuvių][LT], [Mongolian][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Română][RO], [Suomi][FI], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Беларуская мова][BE], [Русский][RU], [Українська][UK], [العربية][AR], [فارسی][FA], [नेपाली भाषा][NE] [हिंदी][HI_IN], [অসমীয়া][AS_IN], [বাংলা][BD_BN], [မြန်မာ][MM], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:README.ar.md [AS_IN]:README.as_in.md [AZ]:README.az.md [BD_BN]:README.bd_bn.md [BE]:README.be.md [CA]:README.ca.md [CZ]:README.cz.md [DA]:README.da.md [DE]:README.de.md [EN]:../README.md [ES]:README.es.md [FA]:README.fa.md [FI]:README.fi.md [FR]:README.fr.md [GL]:README.gl.md [GR]:README.gr.md [HI_IN]:README.hi_in.md [ID]:README.id.md [IT]:README.it.md [JA]:README.ja.md [KO_KR]:README.ko_kr.md [KU]:README.ku.md [LT]:README.lt.md [MM]:README.mm.md [MN]:README.mn.md [NE]:README.ne.md [NL]:README.nl.md [NO]:README.no.md [PL]:README.pl.md [PT_BR]:README.pt_br.md [RO]:README.ro.md [RU]:README.ru.md [SV]:README.sv.md [TR]:README.tr.md [UK]:README.uk.md [VI]:README.vi.md [ZH_CN]:README.zh_cn.md [ZH_TW]:README.zh_tw.md Código fonte orixinal do ordenador guía do Apollo 11 (AGC) para o módulo de comando (Comanche055) e o módulo lunar (Luminary099). Dixitalizado polos rapaces de [Virtual AGC][3] y [o museo do MIT][4]. O obxetivo é ser un repositorio do código fonte orixinal do Apollo 11. Deste modo, serán benvidos os PRs relacionados coas transcricións neste repositorio e os escaneos do código fonte orixinal para o [Luminary 099][5] e o [Comanche 055][6], así como calquera ficheiro que esquecera. ## Cómo contribuír Por favor, lea [CONTRIBUTING.gl.md][7] antes de abrir un pull request. ## Compilar Se estás interesado en compilar o código fonte orixinal, bótalle un ollo a [Virtual AGC][8]. ## Atribucións   |   :---------------- | :----- Dereitos de autor | Dominio público Comanche055 | Parte do código fonte do Colossus 2A, o ordenador guía Apollo (AGC) do Módulo de Comando (CM) para o Apollo 11
`Assemble revision 055 of AGC program Comanche by NASA`
`2021113-051. 10:28 APR. 1, 1969` Luminary099 | Parte do código fonte do Luminary 1A, o ordenador guía Apollo (AGC) do Módulo Lunar (LM) para o Apollo 11
`Assemble revision 001 of AGC program LMY99 by NASA`
`2021112-061. 16:27 JUL. 14, 1969` Ensamblador | yaYUL Contacto | Ron Burkey Páxina Web | www.ibiblio.org/apollo Dixitalización | Este código fonte transcribiuse ou adaptouse dende imaxes dixitalizadas dunha copia en papel presente no museo do MIT. Os empregados do museo Paul Fjeld e Deborah Douglas realizaron a dixitalización e a xestión das imaxes, respectivamente. Moitas grazas a ambos os dous. ### Contratos e aprobacións *Derivado de [CONTRACT_AND_APPROVALS.agc]* Este programa tamén debe chamarse Colossus 2A. Este programa foi creado para ser empregado no CM tal e como especifícase no informe `R-577`. Este programa preparouse no proxecto `55-23870`, patrocinado polo Centro de Naves Tripuladas do Centro Nacional de Aeronáutica e Administración Espacial a través do contrato `NAS 9-4065` do Laboratorio de Instrumentación do Instituto de Tecnoloxía de Massachussets, Cambridge, Mass. Enviado por | Rol | Data :------------------- | :-- | :---- Margaret H. Hamilton | Líder de programación de Colossus
Apollo Guidance and Navigation | 28 mar 69 Aprobado por | Rol | Data :---------------- | :-- | :---- Daniel J. Lickly | Director, Desenvolvemento do programa de misión
Programa de orientación e navegación Apollo | 28 mar 69 Fred H. Martin | Colossus Project Manager
Programa de orientación e navegación Apollo | 28 mar 69 Norman E. Sears | Director do Desenvolvemento de Misión
Programa de Orientación e Navegación Apollo | 28 mar 69 Richard H. Battin | Director do Desenvolvemento de Misión
Programa de Orientación e Navegación Apollo | 28 mar 69 David G. Hoag | Director do Programa de Orientación e Navegación Apollo | 28 mar 69 Ralph R. Ragan | Subdirector do Laboratorio de Instrumentación | 28 mar 69 [CONTRACT_AND_APPROVALS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CONTRACT_AND_APPROVALS.agc [1]:https://flat.badgen.net/badge/NASA/Mission%20Overview/0B3D91 [2]:https://www.nasa.gov/mission_pages/apollo/missions/apollo11.html [3]:http://www.ibiblio.org/apollo/ [4]:http://web.mit.edu/museum/ [5]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [6]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [7]:https://github.com/chrislgarry/Apollo-11/blob/master/Translations/CONTRIBUTING.gl.md [8]:https://github.com/rburkey2005/virtualagc [SWH]:https://flat.badgen.net/badge/Software%20Heritage/Archive/0B3D91 [SWH_URL]:https://archive.softwareheritage.org/browse/origin/https://github.com/chrislgarry/Apollo-11/ [Comanche]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/1 [ComancheMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/1 [Luminary]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/2 [LuminaryMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/2 ================================================ FILE: Translations/README.gr.md ================================================ # Apollo-11 [![NASA][1]][2] [![SWH]][SWH_URL] [![Comanche]][ComancheMilestone] [![Luminary]][LuminaryMilestone] 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA], [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdî][KU], [Lietuvių][LT], [Mongolian][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Română][RO], [Suomi][FI], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Беларуская мова][BE], [Русский][RU], [Українська][UK], [العربية][AR], [فارسی][FA], [नेपाली भाषा][NE] [हिंदी][HI_IN], [অসমীয়া][AS_IN], [বাংলা][BD_BN], [မြန်မာ][MM], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:README.ar.md [AS_IN]:README.as_in.md [AZ]:README.az.md [BD_BN]:README.bd_bn.md [BE]:README.be.md [CA]:README.ca.md [CZ]:README.cz.md [DA]:README.da.md [DE]:README.de.md [EN]:../README.md [ES]:README.es.md [FA]:README.fa.md [FI]:README.fi.md [FR]:README.fr.md [GL]:README.gl.md [GR]:README.gr.md [HI_IN]:README.hi_in.md [ID]:README.id.md [IT]:README.it.md [JA]:README.ja.md [KO_KR]:README.ko_kr.md [KU]:README.ku.md [LT]:README.lt.md [MM]:README.mm.md [MN]:README.mn.md [NE]:README.ne.md [NL]:README.nl.md [NO]:README.no.md [PL]:README.pl.md [PT_BR]:README.pt_br.md [RO]:README.ro.md [RU]:README.ru.md [SV]:README.sv.md [TR]:README.tr.md [UK]:README.uk.md [VI]:README.vi.md [ZH_CN]:README.zh_cn.md [ZH_TW]:README.zh_tw.md Ο πρωτότυπος πηγαίος κώδικας του υπολογιστή πλοήγησης (guidance computer) του Apollo 11 (AGC) για το Command Module (Comanche055) και το Lunar Module (Luminary099). Ψηφιοποίηση από ανθρώπους στο [Virtual AGC][3] και το [MIT Museum][4]. Ο στόχος είναι αυτό το αποθετήριο να παρέχει όλο τον πηγαίο κώδικα του Apollo 11. Ως εκ τούτου, τα PRs είναι ευπρόσδεκτα για τυχόν ζητήματα που εντοπίζονται μεταξύ των μεταγραφών σε αυτό το αποθετήριο και των αρχικών σαρώσεων προέλευσης για το [Luminary 099][5] και το [Comanche 055][6], καθώς επίσης και για αρχεία που λείπουν. ## Συνεισφορά Παρακαλώ διαβάστε το [CONTRIBUTING.gr.md][7] πριν ανοίξετε ένα pull request. ## Σύνταξη πηγαίου κώδικα (Compiling) Αν ενδιαφέρεστε να κάνετε compile τον πρωτότυπο πηγαίο κώδικα, δείτε το [Virtual AGC][8]. ## Απόδοση   |   :------------- | :----- Πνευματική ιδιοκτησία | Δημόσιος τομέας (Public domain) Comanche055 | Μέρος του πηγαίου κώδικα για το Colossus 2A, το Command Module's (CM) Apollo Guidance Computer (AGC) για το Apollo 11
`Assemble revision 055 of AGC program Comanche by NASA`
`2021113-051. 10:28 APR. 1, 1969` Luminary099 | Μέρος του πηγαίου κώδικα για το Luminary 1A, το Lollar Module's (LM) Apollo Guidance Computer (AGC) για το Apollo 11
`Assemble revision 001 of AGC program LMY99 by NASA`
`2021112-061. 16:27 JUL. 14, 1969` Συμβολομεταφράστης | yaYUL Επικοινωνία | Ron Burkey Ιστοσελίδα | www.ibiblio.org/apollo Ψηφιοποίηση | Αυτός ο πηγαίος κώδικας έχει μεταγραφεί ή αλλιώς προσαρμοστεί από ψηφιοποιημένες εικόνες έντυπου αντιγράφου από το Μουσείο MIT. Η ψηφιοποίηση πραγματοποιήθηκε από τον Paul Fjeld και διευθετήθηκε από την Deborah Douglas του Μουσείου. Ευχαριστώ πολύ και τους δύο. ### Σύμβαση και εγκρίσεις Προέρχεται από το [CONTRACT_AND_APPROVALS.agc]* Το πρόγραμμα του AGC αναφέρεται επίσης και ως Colossus 2A. Αυτό το πρόγραμμα προορίζεται για χρήση στο CM, όπως ορίζεται στην αναφορά R-577. Αυτό το πρόγραμμα προετοιμάστηκε στο πλαίσιο του έργου DSR 55-23870, που χρηματοδοτήθηκε από το Manned Spacecraft Center of the National Aeronautics and Space Administration μέσω της σύμβασης NAS 9-4065 με το Instrumentation Laboratory, Massachusetts Institute of Technology, Cambridge, Mass. Υποβλήθηκε από | Ρόλος | Ημερομηνία :------------------- | :--- | :--- Margaret H. Hamilton | Colossus Programming Leader
Apollo Guidance and Navigation | 28 Mar 69 Εγκρίθηκε από | Ρόλος | Ημερομηνία :---------------- | :--- | :--- Daniel J. Lickly | Διευθυντής, Mission Program Development
Apollo Guidance and Navigation Program | 28 Mar 69 Fred H. Martin | Colossus Project Manager
Apollo Guidance and Navigation Program | 28 Mar 69 Norman E. Sears | Διευθυντής, Mission Development
Apollo Guidance and Navigation Program | 28 Mar 69 Richard H. Battin | Διευθυντής, Mission Development
Apollo Guidance and Navigation Program | 28 Mar 69 David G. Hoag | Διευθυντής
Apollo Guidance and Navigation Program | 28 Mar 69 Ralph R. Ragan | Αναπληρωτής Διευθυντής
Instrumentation Laboratory | 28 Mar 69 [CONTRACT_AND_APPROVALS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CONTRACT_AND_APPROVALS.agc [1]:https://flat.badgen.net/badge/NASA/Mission%20Overview/0B3D91 [2]:https://www.nasa.gov/mission_pages/apollo/missions/apollo11.html [3]:http://www.ibiblio.org/apollo/ [4]:http://web.mit.edu/museum/ [5]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [6]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [7]:https://github.com/chrislgarry/Apollo-11/blob/master/Translations/CONTRIBUTING.gr.md [8]:https://github.com/rburkey2005/virtualagc [SWH]:https://flat.badgen.net/badge/Software%20Heritage/Archive/0B3D91 [SWH_URL]:https://archive.softwareheritage.org/browse/origin/https://github.com/chrislgarry/Apollo-11/ [Comanche]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/1 [ComancheMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/1 [Luminary]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/2 [LuminaryMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/2 ================================================ FILE: Translations/README.hi_in.md ================================================ # अपोलो -11 [![NASA][1]][2] [![SWH]][SWH_URL] [![Comanche]][ComancheMilestone] [![Luminary]][LuminaryMilestone] 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA], [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdî][KU], [Lietuvių][LT], [Mongolian][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Română][RO], [Suomi][FI], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Беларуская мова][BE], [Русский][RU], [Українська][UK], [العربية][AR], [فارسی][FA], [नेपाली भाषा][NE] [हिंदी][HI_IN], [অসমীয়া][AS_IN], [বাংলা][BD_BN], [မြန်မာ][MM], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:README.ar.md [AS_IN]:README.as_in.md [AZ]:README.az.md [BD_BN]:README.bd_bn.md [BE]:README.be.md [CA]:README.ca.md [CZ]:README.cz.md [DA]:README.da.md [DE]:README.de.md [EN]:../README.md [ES]:README.es.md [FA]:README.fa.md [FI]:README.fi.md [FR]:README.fr.md [GL]:README.gl.md [GR]:README.gr.md [HI_IN]:README.hi_in.md [ID]:README.id.md [IT]:README.it.md [JA]:README.ja.md [KO_KR]:README.ko_kr.md [KU]:README.ku.md [LT]:README.lt.md [MM]:README.mm.md [MN]:README.mn.md [NE]:README.ne.md [NL]:README.nl.md [NO]:README.no.md [PL]:README.pl.md [PT_BR]:README.pt_br.md [RO]:README.ro.md [RU]:README.ru.md [SV]:README.sv.md [TR]:README.tr.md [UK]:README.uk.md [VI]:README.vi.md [ZH_CN]:README.zh_cn.md [ZH_TW]:README.zh_tw.md अपोलो ११ मार्गदर्शन कम्प्यूटर (Apollo 11 Guidance computer, AGC) कमांड मॉड्यूल (Comanche055) तथा चंद्र मॉड्यूल (Luminary099) का मूल नियम संग्रह। इसे [Virtual AGC][3] एवं [MIT Museum][4] के सदस्यों द्वारा अंक्रिकित किया गया है। हमारा मुख्य उद्देश्य अपोलो ११ के मूल नियम संग्रह को संकलित करना है। यदि आपने इस संग्रह के प्रतिलेखन एवं [Luminary 099][5] और [Comanche 055][6] के बीच में किसी भी फर्क का अनावरण किया है, उस दशा में आपका सहयोग PR के रूप में बहुत ही अविवादित है। ## योगदान पुल रिक्वेस्ट खोलने से पहले कृपया निर्देशों [CONTRIBUTING.md][7] को पढ़ें। ## संचयन यदि आप इस नियम संग्रह को संचयित करना चाहते है तो [Virtual AGC][8] को देखें। ## रोपण   |   :---------- | :----- कॉपीराइट | पब्लिक डोमेन Comanche055 | कोलोसस २ए (Colossus 2), अपोलो ११ के नियंत्रण भाग (CM) के लिए निर्देशरण संगड़क यंत्र (AGC) के नियमसंग्रह का हिस्सा।
`नासा द्वारा एजीसी कार्यक्रम कॉमचेस के समेकित संशोधन 055`
`2021113-051. 10:28 APR. 1, 1969` Luminary099 | ल्यूमिनरी १ए, अपोलो ११ के चंद्र भाग (LM) के लिए निर्देशरण संगड़क यंत्र (AGC) के नियमसंग्रह का हिस्सा।
`नासा द्वारा एजीसी(AGC) कार्यक्रम LMY99 के समेकित संशोधन 001`
`2021112-061. 16:27 JUL. 14, 1969` कोडांतरक | yaYUL संपर्क करें | Ron Burkey वेबसाइट | www.ibiblio.org/apollo डिजिटलीकरण | यह नियम संग्रह एमआईटी संग्रहालय से हार्डकॉपी की डिजिटल छवियों से प्रतिलिपि या अन्यथा अनुकूलित किया गया है। डिजिटलीकरण Paul Fjeld द्वारा किया गया था, और संग्रहालय Deborah Douglas द्वारा इसकी व्यवस्था की गई थी। दोनों के लिए बहुत धन्यवाद। ### अनुबंध और स्वीकृतियां *से व्युत्पन्न [CONTRACT_AND_APPROVALS.agc]* इस एजीसी कार्यक्रम को कोलोसस 2ए(Colossus 2A.) के रूप में भी जाना जाएगा। इस कार्यक्रम का उद्देश्य कमांड मॉड्यूल में उपयोग के लिए किया गया है जैसा रिपोर्ट `R-577` में निर्दिष्ट है यह कार्यक्रम डीएसआर परियोजना `55-23870` के तहत तैयार किया गया था, इंस्ट्रुमेंटेशन प्रयोगशाला, मैसाचुसेट्स इंस्टिट्यूट ऑफ टेक्नोलॉजी, कैम्ब्रिज, मास के साथ अनुबंध `NAS 9-4065` के माध्यम से राष्ट्रीय एयरोनॉटिक्स और अंतरिक्ष प्रशासन के मानव अंतरिक्षयान केंद्र द्वारा प्रायोजित। द्वारा प्रस्तुत | भूमिका | तारीख :------------------- | :---- | :--- Margaret H. Hamilton | कोलोसस(Colossus) प्रोग्रामिंग लीडर
अपोलो मार्गदर्शन और नेविगेशन | २८ मार्च ६९ के द्वारा अनुमोदित | भूमिका | तारीख :---------------- | :---- | :--- Daniel J. Lickly | निदेशक, मिशन कार्यक्रम विकास
अपोलो मार्गदर्शन और नेविगेशन कार्यक्रम | २८ मार्च ६९ Fred H. Martin | बादशाह परियोजना प्रबंधक
अपोलो मार्गदर्शन और नेविगेशन कार्यक्रम | २८ मार्च ६९ Norman E. Sears | निदेशक, मिशन विकास
अपोलो मार्गदर्शन और नेविगेशन कार्यक्रम | २८ मार्च ६९ Richard H. Battin | निदेशक, मिशन विकास
अपोलो मार्गदर्शन और नेविगेशन कार्यक्रम | २८ मार्च ६९ David G. Hoag | निदेशक
अपोलो मार्गदर्शन और नेविगेशन कार्यक्रम | २८ मार्च ६९ Ralph R. Ragan | उप निदेशक
इंस्ट्रुमेंटेशन प्रयोगशाला | २८ मार्च ६९ [CONTRACT_AND_APPROVALS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CONTRACT_AND_APPROVALS.agc [1]:https://flat.badgen.net/badge/NASA/Mission%20Overview/0B3D91 [2]:https://www.nasa.gov/mission_pages/apollo/missions/apollo11.html [3]:http://www.ibiblio.org/apollo/ [4]:http://web.mit.edu/museum/ [5]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [6]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [7]:https://github.com/chrislgarry/Apollo-11/blob/master/CONTRIBUTING.md [8]:https://github.com/rburkey2005/virtualagc [SWH]:https://flat.badgen.net/badge/Software%20Heritage/Archive/0B3D91 [SWH_URL]:https://archive.softwareheritage.org/browse/origin/https://github.com/chrislgarry/Apollo-11/ [Comanche]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/1 [ComancheMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/1 [Luminary]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/2 [LuminaryMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/2 ================================================ FILE: Translations/README.id.md ================================================ # Apollo-11 [![NASA][1]][2] [![SWH]][SWH_URL] [![Comanche]][ComancheMilestone] [![Luminary]][LuminaryMilestone] 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA], [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdî][KU], [Lietuvių][LT], [Mongolian][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Română][RO], [Suomi][FI], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Беларуская мова][BE], [Русский][RU], [Українська][UK], [العربية][AR], [فارسی][FA], [नेपाली भाषा][NE] [हिंदी][HI_IN], [অসমীয়া][AS_IN], [বাংলা][BD_BN], [မြန်မာ][MM], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:README.ar.md [AS_IN]:README.as_in.md [AZ]:README.az.md [BD_BN]:README.bd_bn.md [BE]:README.be.md [CA]:README.ca.md [CZ]:README.cz.md [DA]:README.da.md [DE]:README.de.md [EN]:../README.md [ES]:README.es.md [FA]:README.fa.md [FI]:README.fi.md [FR]:README.fr.md [GL]:README.gl.md [GR]:README.gr.md [HI_IN]:README.hi_in.md [ID]:README.id.md [IT]:README.it.md [JA]:README.ja.md [KO_KR]:README.ko_kr.md [KU]:README.ku.md [LT]:README.lt.md [MM]:README.mm.md [MN]:README.mn.md [NE]:README.ne.md [NL]:README.nl.md [NO]:README.no.md [PL]:README.pl.md [PT_BR]:README.pt_br.md [RO]:README.ro.md [RU]:README.ru.md [SV]:README.sv.md [TR]:README.tr.md [UK]:README.uk.md [VI]:README.vi.md [ZH_CN]:README.zh_cn.md [ZH_TW]:README.zh_tw.md Kode sumber orisinil Komputer Pemandu Apollo 11 (AGC) untuk Modul Komando (Comanche055) dan Modul Bulan (Luminary099). Didigitalkan oleh [Virtual AGC][3] dan [MIT Museum][4]. Tujuan dari repo ini adalah untuk menjadi repo kode sumber Apollo 11 yang orisinil. Dengan demikian, siapapun dipersilakan untuk mengirimkan Pull Request untuk issue atau perbedaan apapun yang ditemukan antara transkripsi di repositori ini dengan kode sumber orisinil hasil scan untuk [Luminary 099][5] dan [Comanche 055][6], juga file apapun yang mungkin lupa saya masukkan. ## Berkontribusi Silakan membaca [CONTRIBUTING.md][7] sebelum mengirimkan pull request. ## Kompilasi Jika anda tertarik untuk mengkompilasi kode sumber orisinil ini, silakan mengecek [Virtual AGC][8] ## Atribusi   |   :------------- | :----- Copyright | Domain Publik Comanche055 | Bagian dari kode sumber untuk Colossus 2A, Modul Komando (CM) dari Komputer Pemandu Apollo (AGC) untuk Apollo 11
`Assemble revision 055 of AGC program Comanche by NASA`
`2021113-051. 10:28 APR. 1, 1969` Luminary099 | Bagian dari kode sumber untuk Luminary 1A, Modul Bulan (LM) dari Komputer Pemandu Apollo (AGC) untuk Apollo 11
`Assemble revision 001 of AGC program LMY99 by NASA`
`2021112-061. 16:27 JUL. 14, 1969` Assembler | yaYUL Contact | Ron Burkey Website | www.ibiblio.org/apollo Digitalization | Kode sumber ini telah ditranskripsikan atau diadaptasi dari gambar digital sebuah hardcopy dari Museum MIT. Digitalisasi dilakukan oleh Paul Fjeld, dan diatur oleh Deborah Douglas dari Museum. Terima kasih banyak untuk keduanya. ### Kontrak dan Persetujuan *Berasal dari [CONTRACT_AND_APPROVALS.agc]* Program AGC ini juga harus disebut sebagai Colossus 2A. Program ini dimaksudkan untuk digunakan di dalam Modul Komando (CM) sebagaimana ditentukan dalam laporan `R-577`. Program ini disiapkan dibawah proyek DSR `55-23870`, disponsori oleh Pusat Pesawat Ruang Angkasa Berawak Badan Penerbangan dan Antariksa (NASA) melalui kontrak `NAS 9-4065` dengan Laboratorium Instrumentasi, Institut Teknologi Massachusetts (MIT), Cambridge, Mass. Diajukan oleh | Peran | Tanggal :------------------- | :---- | :------ Margaret H. Hamilton | Colossus Programming Leader
Apollo Guidance and Navigation | 28 Maret 1969 Disetujui oleh | Peran | Tanggal :---------------- | :---- | :------ Daniel J. Lickly | Director, Mission Program Development
Apollo Guidance and Navigation Program | 28 Maret 1969 Fred H. Martin | Colossus Project Manager
Apollo Guidance and Navigation Program | 28 Maret 1969 Norman E. Sears | Director, Mission Development
Apollo Guidance and Navigation Program | 28 Maret 1969 Richard H. Battin | Director, Mission Development
Apollo Guidance and Navigation Program | 28 Maret 1969 David G. Hoag | Director
Apollo Guidance and Navigation Program | 28 Maret 1969 Ralph R. Ragan | Deputy Director
Instrumentation Laboratory | 28 Maret 1969 [CONTRACT_AND_APPROVALS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CONTRACT_AND_APPROVALS.agc [1]:https://flat.badgen.net/badge/NASA/Mission%20Overview/0B3D91 [2]:https://www.nasa.gov/mission_pages/apollo/missions/apollo11.html [3]:http://www.ibiblio.org/apollo/ [4]:http://web.mit.edu/museum/ [5]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [6]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [7]:https://github.com/chrislgarry/Apollo-11/blob/master/CONTRIBUTING.md [8]:https://github.com/rburkey2005/virtualagc [SWH]:https://flat.badgen.net/badge/Software%20Heritage/Archive/0B3D91 [SWH_URL]:https://archive.softwareheritage.org/browse/origin/https://github.com/chrislgarry/Apollo-11/ [Comanche]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/1 [ComancheMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/1 [Luminary]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/2 [LuminaryMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/2 ================================================ FILE: Translations/README.it.md ================================================ # Apollo-11 [![NASA][1]][2] [![SWH]][SWH_URL] [![Comanche]][ComancheMilestone] [![Luminary]][LuminaryMilestone] 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA], [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdî][KU], [Lietuvių][LT], [Mongolian][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Română][RO], [Suomi][FI], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Беларуская мова][BE], [Русский][RU], [Українська][UK], [العربية][AR], [فارسی][FA], [नेपाली भाषा][NE] [हिंदी][HI_IN], [অসমীয়া][AS_IN], [বাংলা][BD_BN], [မြန်မာ][MM], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:README.ar.md [AS_IN]:README.as_in.md [AZ]:README.az.md [BD_BN]:README.bd_bn.md [BE]:README.be.md [CA]:README.ca.md [CZ]:README.cz.md [DA]:README.da.md [DE]:README.de.md [EN]:../README.md [ES]:README.es.md [FA]:README.fa.md [FI]:README.fi.md [FR]:README.fr.md [GL]:README.gl.md [GR]:README.gr.md [HI_IN]:README.hi_in.md [ID]:README.id.md [IT]:README.it.md [JA]:README.ja.md [KO_KR]:README.ko_kr.md [KU]:README.ku.md [LT]:README.lt.md [MM]:README.mm.md [MN]:README.mn.md [NE]:README.ne.md [NL]:README.nl.md [NO]:README.no.md [PL]:README.pl.md [PT_BR]:README.pt_br.md [RO]:README.ro.md [RU]:README.ru.md [SV]:README.sv.md [TR]:README.tr.md [UK]:README.uk.md [VI]:README.vi.md [ZH_CN]:README.zh_cn.md [ZH_TW]:README.zh_tw.md Codice sorgente dell'"Apollo 11 Guidance Computer (AGC)" utilizzato dal Modulo di Comando ("Comanche055") e dal Modulo Lunare (Luminary099). Digitalizzato dagli autori del "[Virtual AGC][3]" e dal "[MIT Museum][4]". L'obbiettivo è quello di avere un repository contenente il codice usato dalla missione Apollo 11. Di conseguenza, i PR sono i benvenuti per qualsiasi problema identificato, confrontando le trascrizioni in questo repository e le scansioni originali del codice del [Luminary 099][5] e del [Comanche 055][6], sono benvenute. ## Contribuire Per favore, leggere [CONTRIBUTING.it.md][7] prima di aprire una Pull Request (PR). ## Compilare Se sei interessato a compilare il codice sorgente originale dai un'occhiata a [Virtual AGC][8]. ## Crediti   |   :--------------- | :----- Copyright | Dominio Pubblico Comanche055 | Parte del codice sorgente del Colossus 2A, il modulo di comando (CM) dell'Apollo Guidance Computer (AGC) dell'Apollo 11
`Assemble revision 055 of AGC program Comanche by NASA`
`2021113-051. 10:28 APR. 1, 1969` Luminary099 | Parte del codice sorgente del Luminary 1A, il modulo lunare (LM) dell'Apollo Guidance Computer (AGC) dell'Apollo 11
`Assemble revision 001 of AGC program LMY99 by NASA`
`2021112-061. 16:27 JUL. 14, 1969` Assembler | yaYUL Contatti | Ron Burkey Website | www.ibiblio.org/apollo Digitalizzazione | Questo codice sorgente è stato trascritto utilizzando le copie cartacee del codice sorgente presenti al MIT Museum. La digitalizzazione è stata svolta da Paul Fjeld ed organizzata da Deborah Douglas del MIT Museum. Grazie mille ad entrambi. ### Contratto e Approvazioni *Derivato da [CONTRACT_AND_APPROVALS.agc]* Questo AGC deve fare riferimento al Colossus 2A. Questo programma è destinato all'uso nel CM (Modulo Di Comando) come specificato nel report `R-577`. Questo programma è stato sviluppato nell'ambito del progetto DSR `55-23870`, promosso dal "Manned Spacecraft Center of The National Aeronautics and Space Administration" attraverso il contratto `NAS 9-4065` siglato con "l'Instrumentation Laboratory, Massachusetts Institute of Technology, Cambridge, Mass". Presentato da | Ruolo | Data :------------------- | :---- | :--- Margaret H. Hamilton | Colossus Programming Leader
Apollo Guidance and Navigation | 28 Mar 69 Approvato da | Ruolo | Data :---------------- | :---- | :--- Daniel J. Lickly | Direttore, Mission Program Development
Apollo Guidance and Navigation Program | 28 Mar 69 Fred H. Martin | Colossus Project Manager
Apollo Guidance and Navigation Program | 28 Mar 69 Norman E. Sears | Director, Mission Development
Apollo Guidance and Navigation Program | 28 Mar 69 Richard H. Battin | Director, Mission Development
Apollo Guidance and Navigation Program | 28 Mar 69 David G. Hoag | Direttore
Apollo Guidance and Navigation Program | 28 Mar 69 Ralph R. Ragan | Vice direttore
Instrumentation Laboratory | 28 Mar 69 [CONTRACT_AND_APPROVALS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CONTRACT_AND_APPROVALS.agc [1]:https://flat.badgen.net/badge/NASA/Mission%20Overview/0B3D91 [2]:https://www.nasa.gov/mission_pages/apollo/missions/apollo11.html [3]:http://www.ibiblio.org/apollo/ [4]:http://web.mit.edu/museum/ [5]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [6]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [7]:https://github.com/chrislgarry/Apollo-11/blob/master/Translations/CONTRIBUTING.it.md [8]:https://github.com/rburkey2005/virtualagc [SWH]:https://flat.badgen.net/badge/Software%20Heritage/Archive/0B3D91 [SWH_URL]:https://archive.softwareheritage.org/browse/origin/https://github.com/chrislgarry/Apollo-11/ [Comanche]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/1 [ComancheMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/1 [Luminary]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/2 [LuminaryMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/2 ================================================ FILE: Translations/README.ja.md ================================================ # アポロ11号 [![NASA][1]][2] [![SWH]][SWH_URL] [![Comanche]][ComancheMilestone] [![Luminary]][LuminaryMilestone] 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA], [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdî][KU], [Lietuvių][LT], [Mongolian][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Română][RO], [Suomi][FI], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Беларуская мова][BE], [Русский][RU], [Українська][UK], [العربية][AR], [فارسی][FA], [नेपाली भाषा][NE] [हिंदी][HI_IN], [অসমীয়া][AS_IN], [বাংলা][BD_BN], [မြန်မာ][MM], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:README.ar.md [AS_IN]:README.as_in.md [AZ]:README.az.md [BD_BN]:README.bd_bn.md [BE]:README.be.md [CA]:README.ca.md [CZ]:README.cz.md [DA]:README.da.md [DE]:README.de.md [EN]:../README.md [ES]:README.es.md [FA]:README.fa.md [FI]:README.fi.md [FR]:README.fr.md [GL]:README.gl.md [GR]:README.gr.md [HI_IN]:README.hi_in.md [ID]:README.id.md [IT]:README.it.md [JA]:README.ja.md [KO_KR]:README.ko_kr.md [KU]:README.ku.md [LT]:README.lt.md [MM]:README.mm.md [MN]:README.mn.md [NE]:README.ne.md [NL]:README.nl.md [NO]:README.no.md [PL]:README.pl.md [PT_BR]:README.pt_br.md [RO]:README.ro.md [RU]:README.ru.md [SV]:README.sv.md [TR]:README.tr.md [UK]:README.uk.md [VI]:README.vi.md [ZH_CN]:README.zh_cn.md [ZH_TW]:README.zh_tw.md 司令船・機械船(Comanche055)および月着陸船(Luminary099)用のオリジナルのアポロ11号誘導コンピュータ(AGC)のソースコード。[Virtual AGC][3] と [MIT Museum][4] によってデジタル化された。このリポジトリは、オリジナルのアポロ11号のソースコードを完全に再現して保管することを目的としています。そのため、このリポジトリと [Luminary 099][5] および [Comanche 055][6] の間に発見された問題や見落としがある可能性のあるファイルに対してのPRは歓迎します。 ## 貢献 プルリクエストを開く前に [CONTRIBUTING.ja.md][7] をお読みください。 ## コンパイル もしコンパイルをご希望の場合 [Virtual AGC][8] を確認してください。 ## 権限   |   :---------- | :----- 著作権 | パブリックドメイン Comanche055 | アポロ11号用の司令船・機械船用のアポロ11号誘導コンピュータ、Colossus 2Aのソースコードの一部
`Assemble revision 055 of AGC program Comanche by NASA`
`2021113-051. 10:28 APR. 1, 1969` Luminary099 | アポロ11号用の月着陸船用のアポロ11号誘導コンピュータ、Luminary 1Aのソースコードの一部
`Assemble revision 001 of AGC program LMY99 by NASA`
`2021112-061. 16:27 JUL. 14, 1969` アセンブラ | yaYUL コンタクト | Ron Burkey ウェブサイト | www.ibiblio.org/apollo デジタル化 | このソースコードは、MIT Museumからハードコピーをデジタル化、移したものです。 デジタル化は Paul Fjeld によって行われ、 Deborah Douglas がまとめました。 ### 契約と承認 *[CONTRACT_AND_APPROVALS.agc] から派生* 本アポロ誘導コンピュータプログラムは、コロッサス 2Aから参照されます。 このプログラムは、`R-577` に指定された司令船モジュールに使用されます。このプロジェクトは、DSR project `55-23870` の元で準備され、NASAの有人宇宙船センターがMIT機械研究所との `NAS 9-4065` 契約により始まりました。 Submitted by | Role | Date :------------------- | :--- | :--- Margaret H. Hamilton | コロッサス プログラミングリーダー
アポロ誘導と航海 | 1969年3月28日 Approved by | Role | Date :---------------- | :--- | :--- Daniel J. Lickly | ディレクター、ミッションプログラムの開発
アポロ誘導と航法プログラム | 1969年3月28日 Fred H. Martin | コロッサス プロジェクトマネージャー
アポロ誘導と航法プログラム | 1969年3月28日 Norman E. Sears | ディレクター、ミッションプログラムの開発
アポロ誘導と航法プログラム | 1969年3月28日 Richard H. Battin | ディレクター、ミッションプログラムの開発
アポロ誘導と航法プログラム | 1969年3月28日 David G. Hoag | ディレクター
アポロ誘導と航法プログラム | 1969年3月28日 Ralph R. Ragan | 副ディレクター
機械研究所 | 1969年3月28日 [CONTRACT_AND_APPROVALS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CONTRACT_AND_APPROVALS.agc [1]:https://flat.badgen.net/badge/NASA/Mission%20Overview/0B3D91 [2]:https://www.nasa.gov/mission_pages/apollo/missions/apollo11.html [3]:http://www.ibiblio.org/apollo/ [4]:http://web.mit.edu/museum/ [5]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [6]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [7]:https://github.com/chrislgarry/Apollo-11/blob/master/Translations/CONTRIBUTING.ja.md [8]:https://github.com/rburkey2005/virtualagc [SWH]:https://flat.badgen.net/badge/Software%20Heritage/Archive/0B3D91 [SWH_URL]:https://archive.softwareheritage.org/browse/origin/https://github.com/chrislgarry/Apollo-11/ [Comanche]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/1 [ComancheMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/1 [Luminary]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/2 [LuminaryMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/2 ================================================ FILE: Translations/README.jv.md ================================================ # Apollo-11 [![NASA][1]][2] [![SWH]][SWH_URL] [![Comanche]][ComancheMilestone] [![Luminary]][LuminaryMilestone] 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Basa Jawa][JV], [Català][CA], [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdî][KU], [Lietuvių][LT], [Mongolian][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Română][RO], [Suomi][FI], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Беларуская мова][BE], [Русский][RU], [Українська][UK], [العربية][AR], [فارسی][FA], [नेपाली भाषा][NE] [हिंदी][HI_IN], [অসমীয়া][AS_IN], [বাংলা][BD_BN], [မြန်မာ][MM], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN], [മലയാളം][ML] [AR]:Translations/README.ar.md [AS_IN]:Translations/README.as_in.md [AZ]:Translations/README.az.md [BD_BN]:Translations/README.bd_bn.md [BE]:Translations/README.be.md [CA]:Translations/README.ca.md [CZ]:Translations/README.cz.md [DA]:Translations/README.da.md [DE]:Translations/README.de.md [EN]:README.md [ES]:Translations/README.es.md [FA]:Translations/README.fa.md [FI]:README.fi.md [FR]:Translations/README.fr.md [GL]:Translations/README.gl.md [GR]:Translations/README.gr.md [HI_IN]:Translations/README.hi_in.md [ID]:Translations/README.id.md [IT]:Translations/README.it.md [JA]:Translations/README.ja.md [JV]:Translations/README.jv.md [KO_KR]:Translations/README.ko_kr.md [KU]:Translations/README.ku.md [LT]:Translations/README.lt.md [MM]:Translations/README.mm.md [MN]:Translations/README.mn.md [NE]:Translations/README.ne.md [NL]:Translations/README.nl.md [NO]:Translations/README.no.md [PL]:Translations/README.pl.md [PT_BR]:Translations/README.pt_br.md [RO]:Translations/README.ro.md [RU]:Translations/README.ru.md [SV]:Translations/README.sv.md [TR]:Translations/README.tr.md [UK]:Translations/README.uk.md [VI]:Translations/README.vi.md [ZH_CN]:Translations/README.zh_cn.md [ZH_TW]:Translations/README.zh_tw.md [ML]:Translations/README.ml.md Kode sumber asli Apollo 11 guidance computer (AGC) kanggo Command Module (Comanche055) lan Lunar Module (Luminary099). Digitisasi déning kanca-kanca saka [Virtual AGC][3] lan [MIT Museum][4]. Tujuané yaiku ngumpulake kode sumber asli Apollo 11 nang repo iki. Mulane, PR ditrima kanggo saben revisi kesalahan antarané transkripsi nang repo iki karo hasil pindai asli [Luminary 099][5] lan [Comanche 055][6], uga yen ana file sing kélangan. ## Nyumbang Mangga diwaca dhisik [CONTRIBUTING.md][7] sadurunge nggawe pull request. ## Nglumpukake Yen kowe kepengin nyoba ngompile kode sumber asli, bukak [Virtual AGC][8]. ## Atribusi   |   :------------- | :----- Hak cipta | Domain publik Comanche055 | Bagéan saka kode sumber kanggo Colossus 2A, Guidance Computer (AGC) Modul Komando (CM) kanggo Apollo 11
`Assemble revisi 055 saka program AGC Comanche déning NASA`
`2021113-051. 10:28 APR. 1, 1969` Luminary099 | Bagéan saka kode sumber kanggo Luminary 1A, Guidance Computer (AGC) Modul Bulan (LM) kanggo Apollo 11
`Assemble revisi 001 saka program AGC LMY99 déning NASA`
`2021112-061. 16:27 JUL. 14, 1969` Assembler | yaYUL Kontak | Ron Burkey Situs web | www.ibiblio.org/apollo Digitalisasi | Kode sumber iki wis ditranskripsi utawa diadaptasi saka gambar digital salinan kertas saka MIT Museum. Proses digitisasi ditindakake déning Paul Fjeld, lan diatur déning Deborah Douglas saka Museum. Matur nuwun sanget kanggo loro-loroné. ### Kontrak lan Persetujuan *Asal saka [CONTRACT_AND_APPROVALS.agc]* Program AGC iki uga bakal disebut minangka Colossus 2A. Program iki dimaksudaké kanggo digunakaké ing Modul Komando kaya sing ditemtokaké ing laporan `R-577`. Program iki disiapaké ing ngisor proyek DSR `55-23870`, disponsori déning Manned Spacecraft Center saka The National Aeronautics and Space Administration liwat kontrak `NAS 9-4065` karo Instrumentation Laboratory, Massachusetts Institute of Technology, Cambridge, Mass. Dikirim déning | Peran | Tanggal :------------------- | :--- | :--- Margaret H. Hamilton | Pemimpin Program Colossus
Apollo Guidance lan Navigasi | 28 Mar 69 Disetujoni déning | Peran | Tanggal :------------------- | :--- | :--- Daniel J. Lickly | Direktur, Pangembangan Program Misi
Apollo Guidance lan Navigasi | 28 Mar 69 Fred H. Martin | Manajer Proyek Colossus
Apollo Guidance lan Navigasi | 28 Mar 69 Norman E. Sears | Direktur, Pangembangan Misi
Apollo Guidance lan Navigasi | 28 Mar 69 Richard H. Battin | Direktur, Pangembangan Misi
Apollo Guidance lan Navigasi | 28 Mar 69 David G. Hoag | Direktur
Apollo Guidance lan Navigasi | 28 Mar 69 Ralph R. Ragan | Wakil Direktur
Instrumentation Laboratory | 28 Mar 69 [CONTRACT_AND_APPROVALS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CONTRACT_AND_APPROVALS.agc [1]:https://flat.badgen.net/badge/NASA/Mission%20Overview/0B3D91 [2]:https://www.nasa.gov/mission_pages/apollo/missions/apollo11.html [3]:http://www.ibiblio.org/apollo/ [4]:http://web.mit.edu/museum/ [5]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [6]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [7]:https://github.com/chrislgarry/Apollo-11/blob/master/CONTRIBUTING.md [8]:https://github.com/rburkey2005/virtualagc [SWH]:https://flat.badgen.net/badge/Software%20Heritage/Archive/0B3D91 [SWH_URL]:https://archive.softwareheritage.org/browse/origin/https://github.com/chrislgarry/Apollo-11/ [Comanche]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/1 [ComancheMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/1 [Luminary]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/2 [LuminaryMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/2 ================================================ FILE: Translations/README.ko_kr.md ================================================ # Apollo-11 [![NASA][1]][2] [![SWH]][SWH_URL] [![Comanche]][ComancheMilestone] [![Luminary]][LuminaryMilestone] 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA], [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdî][KU], [Lietuvių][LT], [Mongolian][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Română][RO], [Suomi][FI], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Беларуская мова][BE], [Русский][RU], [Українська][UK], [العربية][AR], [فارسی][FA], [नेपाली भाषा][NE] [हिंदी][HI_IN], [অসমীয়া][AS_IN], [বাংলা][BD_BN], [မြန်မာ][MM], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:README.ar.md [AS_IN]:README.as_in.md [AZ]:README.az.md [BD_BN]:README.bd_bn.md [BE]:README.be.md [CA]:README.ca.md [CZ]:README.cz.md [DA]:README.da.md [DE]:README.de.md [EN]:../README.md [ES]:README.es.md [FA]:README.fa.md [FI]:README.fi.md [FR]:README.fr.md [GL]:README.gl.md [GR]:README.gr.md [HI_IN]:README.hi_in.md [ID]:README.id.md [IT]:README.it.md [JA]:README.ja.md [KO_KR]:README.ko_kr.md [KU]:README.ku.md [LT]:README.lt.md [MM]:README.mm.md [MN]:README.mn.md [NE]:README.ne.md [NL]:README.nl.md [NO]:README.no.md [PL]:README.pl.md [PT_BR]:README.pt_br.md [RO]:README.ro.md [RU]:README.ru.md [SV]:README.sv.md [TR]:README.tr.md [UK]:README.uk.md [VI]:README.vi.md [ZH_CN]:README.zh_cn.md [ZH_TW]:README.zh_tw.md 사령선 모듈 (Comanche055) 및 달 착륙선 모듈 (Luminary099)을 위한 아폴로 11호 유도 컴퓨터(AGC)의 소스코드입니다. [Virtual AGC][3] 및 [MIT Museum][4]에 의해 디지털화되었습니다. 이 레포지토리는 아폴로 11호의 원본 소스코드를 완벽하게 재현하여 보관하는 것을 목표로 합니다. 따라서 원본과 본 디지털본 간에 발견된 모든 이슈, 또한 빠뜨렸을 듯한 파일들에 대해 PR을 환영합니다. ## 기여하기 PR을 열기 전에 [CONTRIBUTING.ko_kr.md][7] 을 읽어보시기 바랍니다. ## 컴파일 만약 컴파일을 원하신다면 [Virtual AGC][8] 을 확인하여 보십시오. ## 권한   |   :---------- | :----- 저작권 | 퍼블릭 도메인 Comanche055 | Part of the source code for Colossus 2A, the Command Module's (CM) Apollo Guidance Computer (AGC) for Apollo 11
`Assemble revision 055 of AGC program Comanche by NASA`
`2021113-051. 10:28 APR. 1, 1969` Luminary099 | Part of the source code for Luminary 1A, the Lunar Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11
`Assemble revision 001 of AGC program LMY99 by NASA`
`2021112-061. 16:27 JUL. 14, 1969` 어셈블러 | yaYUL 연락처 | Ron Burkey 웹사이트 | www.ibiblio.org/apollo 디지털화 | 이 소스코드는 MIT Museum에서 하드 카피본을 디지털화, 옮긴 것입니다. 디지털화는 Paul Fjeld에 의해 이루어졌으며, Deborah Douglas가 정리하였습니다. 두 분께 깊은 감사를 표합니다. ### Contract and Approvals *[CONTRACT_AND_APPROVALS.agc] 에서 파생 됨* 본 아폴로 유도 컴퓨터 프로그램은 다음에 의해 참조됩니다 : 콜로서스 2A 이 프로그램은 R-577에 명세된 사령선 모듈에 사용됩니다. DSR 프로젝트 55-23870에 의해 준비되었으며, NASA 유인 우주선 센터가 MIT 기계 연구소와의 NAS 9-4065 계약에 의해 스폰싱 하였습니다. 제출됨 | Role | 일시 :------------------- | :--- | :-- Margaret H. Hamilton | 콜로서스 프로그래밍 리더
아폴로 유도 및 항해 | 1969년 3월 28일 승인됨 | Role | 일시 :---------------- | :--- | :-- Daniel J. Lickly | 감독, 임무 프로그램 개발
아폴로 유도 및 항법 프로그램 | 1969년 3월 28일 Fred H. Martin | 콜로서스 프로젝트 매니저
아폴로 유도 및 항법 프로그램 | 1969년 3월 28일 Norman E. Sears | 감독, 임무 개발
아폴로 유도 및 항법 프로그램 | 1969년 3월 28일 Richard H. Battin | 감독, 임무 개발
아폴로 유도 및 항법 프로그램 | 1969년 3월 28일 David G. Hoag | 감독
아폴로 유도 및 항법 프로그램 | 1969년 3월 28일 Ralph R. Ragan | 부감독
기계 연구소 | 1969년 3월 28일 [CONTRACT_AND_APPROVALS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CONTRACT_AND_APPROVALS.agc [1]:https://flat.badgen.net/badge/NASA/Mission%20Overview/0B3D91 [2]:https://www.nasa.gov/mission_pages/apollo/missions/apollo11.html [3]:http://www.ibiblio.org/apollo/ [4]:http://web.mit.edu/museum/ [5]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [6]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [7]:https://github.com/chrislgarry/Apollo-11/blob/master/Translations/CONTRIBUTING.ko_kr.md [8]:https://github.com/rburkey2005/virtualagc [SWH]:https://flat.badgen.net/badge/Software%20Heritage/Archive/0B3D91 [SWH_URL]:https://archive.softwareheritage.org/browse/origin/https://github.com/chrislgarry/Apollo-11/ [Comanche]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/1 [ComancheMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/1 [Luminary]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/2 [LuminaryMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/2 ================================================ FILE: Translations/README.ku.md ================================================ # Apollo-11 [![NASA][1]][2] [![SWH]][SWH_URL] [![Comanche]][ComancheMilestone] [![Luminary]][LuminaryMilestone] 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA], [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdî][KU], [Lietuvių][LT], [Mongolian][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Română][RO], [Suomi][FI], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Беларуская мова][BE], [Русский][RU], [Українська][UK], [العربية][AR], [فارسی][FA], [नेपाली भाषा][NE] [हिंदी][HI_IN], [অসমীয়া][AS_IN], [বাংলা][BD_BN], [မြန်မာ][MM], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:README.ar.md [AS_IN]:README.as_in.md [AZ]:README.az.md [BD_BN]:README.bd_bn.md [BE]:README.be.md [CA]:README.ca.md [CZ]:README.cz.md [DA]:README.da.md [DE]:README.de.md [EN]:../README.md [ES]:README.es.md [FA]:README.fa.md [FI]:README.fi.md [FR]:README.fr.md [GL]:README.gl.md [GR]:README.gr.md [HI_IN]:README.hi_in.md [ID]:README.id.md [IT]:README.it.md [JA]:README.ja.md [KO_KR]:README.ko_kr.md [KU]:README.ku.md [LT]:README.lt.md [MM]:README.mm.md [MN]:README.mn.md [NE]:README.ne.md [NL]:README.nl.md [NO]:README.no.md [PL]:README.pl.md [PT_BR]:README.pt_br.md [RO]:README.ro.md [RU]:README.ru.md [SV]:README.sv.md [TR]:README.tr.md [UK]:README.uk.md [VI]:README.vi.md [ZH_CN]:README.zh_cn.md [ZH_TW]:README.zh_tw.md Koda xwerû ya kompûterê rêbernameya Apollo 11 (AGC) ya orîjînal ji bo Wesayîta Rêvebirinê (Comanche055) û Wesayîta Hêvê (Luminary099). Hat jimarekirin ji aliyê [Virtual AGC][3] û [MIT Museum][4] va. Armanc ew e ku bibe wek depoyekê ji bo koda xwerû ya orîjînal ya Apollo 11. Ji bo wê yekê, daxwazê kişandinê tên pêşwazîkirin ji bo her pirsgirêkekî ku tê nîşankirin di nava vê depoyê de û kopiyên orîjînal yê [Luminary 099][5] û [Comanche 055][6], herweha çi dosya ku min ji bîr kirî. ## Beşdarbûn Ji kerema xwe re [CONTRIBUTING.ku.md][7] bixîne berî ku tu daxwaza kişandinê veke. ## Berhevkirin Ger hûn eleqedarbin ji bo berhevkirina koda xwerû ya orîjînal, lêkolîn li ser [Virtual AGC][8] bikin. ## Atribîbûn   |   :------------- | :----- Mafê mafdariyê | Qada giştî Comanche055 | Beşek ji koda xwerû ji bo Colossus 2A, Kompûterê rêvebirinê (AGC) yê Wesaîta Rêvebirinê (CM) ya Apollo 11
`Assemble revision 055 of AGC program Comanche by NASA`
`2021113-051. 10:28 APR. 1, 1969` Luminary099 | Beşek ji koda xwerû ji bo Luminary 1A, Kompûterê rêvebirinê (AGC) yê Wesaîta Hêvê (LM) ya Apollo 11
`Assemble revision 001 of AGC program LMY99 by NASA`
`2021112-061. 16:27 JUL. 14, 1969` Asêmbler | yaYUL Têkelî | Ron Burkey Malper | www.ibiblio.org/apollo Dîjîtalîzekirin | Ev koda xwerû hat hatine veguhastin an jî bi rengek din adaptandkirin ji dîmenên dîjîtal ên kaxezek ji Muzexaneya MIT. Dîjîtalîzekirin ji aliyê Paul Fjeld hat pêkanîn, û ji aliyê Deborah Douglas ya Muzexanê ve hat arasteyî kirin. Gelek spas ji herduyan re. ### Peyman û Erêkirin *Ji [CONTRACT_AND_APPROVALS.agc]* Ev bernamê AGC wekî Colossus 2A jî tê navnîşankirin. Ev bername ji bo karanîna di CM de ye, wekî ku di rapora `R-577` de tê diyar kirin. Ev bername di bin projeya DSR `55-23870` de hatiye amade kirin, hatiye sponsorkirin ji hêla Navenda Manned Spacecraft ya Aeronautics ya netewî Rêveberiya Cîhanê ve bi peymana `NAS 9-4065` bi Laboratoriya Instrumentation, Enstîtuya Teknîkî ya Massachusetts, Cambridge, Mass. Pêşkêşkirin ji hêla | Rol | Dîrok :------------------- | :--- | :--- Margaret H. Hamilton | Rêberê Bernameya Colossus
Rêbernameya û Rêserbirina Apollo | 28 Adar 1969 Pejirandin ji hêla | Rol | Dîrok :---------------- | :--- | :--- Daniel J. Lickly | Derhêner, Pêşveçûna Bernameya Mîsyonê
Bernameyê Apollo yê Rêbernamê û Rêserbirinê | 28 Adar 1969 Fred H. Martin | Rêveberê Pirojeyê Colossus
Bernameyê Apollo yê Rêbernamê û Rêserbirinê | 28 Adar 1969 Norman E. Sears | Derhêner, Pêşveçûna Mîsyonê
Bernameyê Apollo yê Rêbernamê û Rêserbirinê | 28 Adar 1969 Richard H. Battin | Derhêner, Pêşveçûna Mîsyonê
Bernameyê Apollo yê Rêbernamê û Rêserbirinê | 28 Adar 1969 David G. Hoag | Derhêner
Bernameyê Apollo yê Rêbernamê û Rêserbirinê | 28 Adar 1969 Ralph R. Ragan | Cîgirê Rêvebir
Laboratoriya Instrumentation | 28 Adar 1969 [CONTRACT_AND_APPROVALS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CONTRACT_AND_APPROVALS.agc [1]:https://flat.badgen.net/badge/NASA/Mission%20Overview/0B3D91 [2]:https://www.nasa.gov/mission_pages/apollo/missions/apollo11.html [3]:http://www.ibiblio.org/apollo/ [4]:http://web.mit.edu/museum/ [5]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [6]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [7]:https://github.com/chrislgarry/Apollo-11/blob/master/Translations/CONTRIBUTING.ku.md [8]:https://github.com/rburkey2005/virtualagc [SWH]:https://flat.badgen.net/badge/Software%20Heritage/Archive/0B3D91 [SWH_URL]:https://archive.softwareheritage.org/browse/origin/https://github.com/chrislgarry/Apollo-11/ [Comanche]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/1 [ComancheMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/1 [Luminary]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/2 [LuminaryMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/2 ================================================ FILE: Translations/README.lt.md ================================================ # Apollo-11 [![NASA][1]][2] [![SWH]][SWH_URL] [![Comanche]][ComancheMilestone] [![Luminary]][LuminaryMilestone] 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA], [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdî][KU], [Lietuvių][LT], [Mongolian][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Română][RO], [Suomi][FI], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Беларуская мова][BE], [Русский][RU], [Українська][UK], [العربية][AR], [فارسی][FA], [नेपाली भाषा][NE] [हिंदी][HI_IN], [অসমীয়া][AS_IN], [বাংলা][BD_BN], [မြန်မာ][MM], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:README.ar.md [AS_IN]:README.as_in.md [AZ]:README.az.md [BD_BN]:README.bd_bn.md [BE]:README.be.md [CA]:README.ca.md [CZ]:README.cz.md [DA]:README.da.md [DE]:README.de.md [EN]:../README.md [ES]:README.es.md [FA]:README.fa.md [FI]:README.fi.md [FR]:README.fr.md [GL]:README.gl.md [GR]:README.gr.md [HI_IN]:README.hi_in.md [ID]:README.id.md [IT]:README.it.md [JA]:README.ja.md [KO_KR]:README.ko_kr.md [KU]:README.ku.md [LT]:README.lt.md [MM]:README.mm.md [MN]:README.mn.md [NE]:README.ne.md [NL]:README.nl.md [NO]:README.no.md [PL]:README.pl.md [PT_BR]:README.pt_br.md [RO]:README.ro.md [RU]:README.ru.md [SV]:README.sv.md [TR]:README.tr.md [UK]:README.uk.md [VI]:README.vi.md [ZH_CN]:README.zh_cn.md [ZH_TW]:README.zh_tw.md Originalus Apollo 11 Orientavimo Kompiuterio (AGC) Valdymo Modulio (Comanche055) ir Mėnulio Modulio (Luminary099) šaltinio kodas. Suskaitmenintas žmonių iš [Virtualaus AGC][3] ir [MIT Muziejaus][4]. Šios saugyklos tikslas yra būti originaliu Apollo 11 šaltinio kodu. Taigi, PRs yra laukiami bet kokiais klausimais tarp transkripcijų šioje saugykloje ir originalių skenuočių [Luminary 099][5] ir [Comanche 055][6], taip pat mano visiems praleistiems failams. ## Prisidėjimas Prašome perskaityti [CONTRIBUTING.md][7] prieš sukuriant PR. ## Kompiliavimas Jeigu jūs norite sukompiliuoti originalų šaltinio kodą, patikrinkite [Virtualų AGC][8]. ## Atribucija   |   :------------- | :----- Autorių teisės | Viešas naudojimas Comanche055 | Dalis Colossus 2A, Valdymo Modulio (CM) Apollo Orientavimosi Kompiuterio (AGC) Apollo 11 šaltinio kodo.
`Surinkimo revizija 055 iš AGC programos Comanche pateikta NASA`
`2021113-051. 10:28 APR. 1, 1969` Luminary099 | Dalis Luminary 1A, Mėnulio Modulio (LM), Apollo Orientavimosi Kompiuterio (AGC) Apollo 11 šaltinio kodo.
`Surinkimo revizija 001 iš AGC programos LMY99 pateikta NASA`
`2021112-061. 16:27 JUL. 14, 1969` Surinkėjas | yaYUL Kontaktai | Ron Burkey Interneto puslapis | www.ibiblio.org/apollo Skaitmenizacija | Šis šaltinio kodas buvo transkribuotas ar kitaip pritaikytas iš suskaitmenintų MIT muziejaus popierinių nuotraukų. Skaitmeninimą atliko Paul Fjeld, o jį organizavo Deborah Douglas iš muziejaus. Labai ačiū abiem. ### Sutartis ir patvirtinimai *Kilo iš [CONTRACT_AND_APPROVALS.agc]* Ši AGC programa taip pat vadinama Colossus 2A. Ši programa yra skirta naudoti CM, kaip nurodyta ataskaitoje `R-577`. Ši programa buvo parengta pagal DSR projektą `55-23870`, remiamą Nacionalinės Aeronautikos ir Kosmoso Administracijos Pilotuojamų Erdvėlaivių Centro, sudarant sutartį `NAS 9-4065` su Masačusetso Technologijų Instituto Instrumentavimo Laboratorija, Kembridžas, Mišios. Pateikė | Funkcija | Data :------------------- | :--- | :--- Margaret H. Hamilton | Colossus Programavimo Vadovė
Apollo Orientavimasis ir Navigacija | Kovo 28, 1969 Patvirtino | Funkcija | Data :---------------- | :--- | :--- Daniel J. Lickly | Misijos Programos Plėtros Direktorius
Apollo Orientavimo ir Navigacijos Programa | Kovo 28, 1969 Fred H. Martin | Colossus Projektų Vadovas
Apollo Orientavimasi ir Navigacijos Programa | Kovo 28, 1969 Norman E. Sears | Misijos Vystymo Direktorius
Apollo Orientavimasi ir Navigacijos Programa | Kovo 28, 1969 Richard H. Battin | isijos Vystymo Direktorius
Apollo Orientavimasi ir Navigacijos Programa | Kovo 28, 1969 David G. Hoag | Direktorius
Apollo Orientavimo ir Navigacijos Programa | Kovo 28, 1969 Ralph R. Ragan | Direktoriaus Pavaduotojas
Instrumentavimo Laboratorija | Kovo 28, 1969 [CONTRACT_AND_APPROVALS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CONTRACT_AND_APPROVALS.agc [1]:https://flat.badgen.net/badge/NASA/Mission%20Overview/0B3D91 [2]:https://www.nasa.gov/mission_pages/apollo/missions/apollo11.html [3]:http://www.ibiblio.org/apollo/ [4]:http://web.mit.edu/museum/ [5]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [6]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [7]:https://github.com/chrislgarry/Apollo-11/blob/master/CONTRIBUTING.md [8]:https://github.com/rburkey2005/virtualagc [SWH]:https://flat.badgen.net/badge/Software%20Heritage/Archive/0B3D91 [SWH_URL]:https://archive.softwareheritage.org/browse/origin/https://github.com/chrislgarry/Apollo-11/ [Comanche]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/1 [ComancheMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/1 [Luminary]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/2 [LuminaryMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/2 ================================================ FILE: Translations/README.ml.md ================================================ # അപ്പോളോ-11 [![NASA][1]][2] [![SWH]][SWH_URL] [![Comanche]][ComancheMilestone] [![Luminary]][LuminaryMilestone] 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA], [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdî][KU], [Lietuvių][LT], [Mongolian][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Română][RO], [Suomi][FI], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Беларуская мова][BE], [Русский][RU], [Українська][UK], [العربية][AR], [فارسی][FA], [नेपाली भाषा][NE] [हिंदी][HI_IN], [অসমীয়া][AS_IN], [বাংলা][BD_BN], [မြန်မာ][MM], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN], [മലയാളം][ML] [AR]:Translations/README.ar.md [AS_IN]:Translations/README.as_in.md [AZ]:Translations/README.az.md [BD_BN]:Translations/README.bd_bn.md [BE]:Translations/README.be.md [CA]:Translations/README.ca.md [CZ]:Translations/README.cz.md [DA]:Translations/README.da.md [DE]:Translations/README.de.md [EN]:README.md [ES]:Translations/README.es.md [FA]:Translations/README.fa.md [FI]:README.fi.md [FR]:Translations/README.fr.md [GL]:Translations/README.gl.md [GR]:Translations/README.gr.md [HI_IN]:Translations/README.hi_in.md [ID]:Translations/README.id.md [IT]:Translations/README.it.md [JA]:Translations/README.ja.md [KO_KR]:Translations/README.ko_kr.md [KU]:Translations/README.ku.md [LT]:Translations/README.lt.md [MM]:Translations/README.mm.md [MN]:Translations/README.mn.md [NE]:Translations/README.ne.md [NL]:Translations/README.nl.md [NO]:Translations/README.no.md [PL]:Translations/README.pl.md [PT_BR]:Translations/README.pt_br.md [RO]:Translations/README.ro.md [RU]:Translations/README.ru.md [SV]:Translations/README.sv.md [TR]:Translations/README.tr.md [UK]:Translations/README.uk.md [VI]:Translations/README.vi.md [ZH_CN]:Translations/README.zh_cn.md [ZH_TW]:Translations/README.zh_tw.md [ML]:Translations/README.ml.md അപ്പോളോ 11-ന്റെ കമാൻഡ് മൊഡ്യൂളിനായുള്ള (Comanche055) ലൂണാർ മൊഡ്യൂളിനായുള്ള (Luminary099) ഗൈഡൻസ് കമ്പ്യൂട്ടർ (AGC) സോഴ്സ് കോഡ്. ഇത് [Virtual AGC][3] -ലെയും [MIT Museum][4] -ലെയും ആളുകൾ ഡിജിറ്റൈസ് ചെയ്തതാണ്. അപ്പോളോ 11-ന്റെ ഒറിജിനൽ സോഴ്സ് കോഡിനായുള്ള ഒരു ശേഖരം (repo) ആവുക എന്നതാണ് ഇതിന്റെ ലക്ഷ്യം. അതിനാൽ, ഈ ശേഖരത്തിലെ ട്രാൻസ്ക്രിപ്ഷനുകളും [Luminary 099][5], [Comanche 055][6] എന്നിവയുടെ യഥാർത്ഥ സോഴ്സ് സ്കാനുകളും തമ്മിലുള്ള പൊരുത്തക്കേടുകൾ (issues), അതുപോലെ ഞാൻ വിട്ടുപോയേക്കാവുന്ന ഫയലുകൾ എന്നിവ കണ്ടെത്തിയാൽ PR-കൾ (പുൾ റിക്വസ്റ്റുകൾ) സ്വാഗതം ചെയ്യുന്നു. ## സംഭാവന ചെയ്യുന്നതിന് ഒരു പുൾ റിക്വസ്റ്റ് തുറക്കുന്നതിന് മുമ്പ് ദയവായി [CONTRIBUTING.md][7] വായിക്കുക. ## കംപൈൽ ചെയ്യുന്നതിന് യഥാർത്ഥ സോഴ്സ് കോഡ് കംപൈൽ ചെയ്യാൻ നിങ്ങൾക്ക് താൽപ്പര്യമുണ്ടെങ്കിൽ, [Virtual AGC][8] പരിശോധിക്കുക. ## കടപ്പാട് |   |   | | :------------- | :----- | | പകർപ്പവകാശം | പബ്ലിക് ഡൊമെയ്‌ൻ | | Comanche055 | Apollo 11-ന്റെ കമാൻഡ് മൊഡ്യൂളിന്റെ (CM) അപ്പോളോ ഗൈഡൻസ് കമ്പ്യൂട്ടറിനായുള്ള (AGC) Colossus 2A-യുടെ സോഴ്സ് കോഡിന്റെ ഭാഗം
`Assemble revision 055 of AGC program Comanche by NASA`
`2021113-051. 10:28 APR. 1, 1969` | | Luminary099 | Apollo 11-ന്റെ ലൂണാർ മൊഡ്യൂളിന്റെ (LM) അപ്പോളോ ഗൈഡൻസ് കമ്പ്യൂട്ടറിനായുള്ള (AGC) Luminary 1A-യുടെ സോഴ്സ് കോഡിന്റെ ഭാഗം
`Assemble revision 001 of AGC program LMY99 by NASA`
`2021112-061. 16:27 JUL. 14, 1969` | | അസംബ്ലർ | yaYUL | | ബന്ധപ്പെടാനുള്ളവർ | Ron Burkey | | വെബ്സൈറ്റ് | www.ibiblio.org/apollo | | ഡിജിറ്റലൈസേഷൻ | MIT മ്യൂസിയത്തിൽ നിന്നുള്ള ഹാർഡ്‌കോപ്പിയുടെ ഡിജിറ്റൈസ് ചെയ്ത ചിത്രങ്ങളിൽ നിന്ന് ഈ സോഴ്സ് കോഡ് പകർത്തിയെഴുതിയതോ അല്ലെങ്കിൽ മറ്റേതെങ്കിലും രീതിയിൽ രൂപപ്പെടുത്തിയെടുത്തതോ ആണ്. ഈ ഡിജിറ്റൈസേഷൻ നടത്തിയത് Paul Fjeld ആണ്, മ്യൂസിയത്തിലെ Deborah Douglas ഇതിന് സൗകര്യമൊരുക്കി. ഇരുവർക്കും ഒരായിരം നന്ദി. | ### കരാറും അംഗീകാരങ്ങളും *[CONTRACT_AND_APPROVALS.agc]-ൽ നിന്ന് എടുത്തത്* ഈ AGC പ്രോഗ്രാം Colossus 2A എന്നും അറിയപ്പെടും. ഈ പ്രോഗ്രാം `R-577` എന്ന റിപ്പോർട്ടിൽ പ്രതിപാദിച്ചിട്ടുള്ളതുപോലെ കമാൻഡ് മൊഡ്യൂളിൽ ഉപയോഗിക്കാൻ ഉദ്ദേശിച്ചുള്ളതാണ്. മസാച്യുസെറ്റ്സ് ഇൻസ്റ്റിറ്റ്യൂട്ട് ഓഫ് ടെക്നോളജി, കേംബ്രിഡ്ജ്, മാസ്. എന്നിവിടങ്ങളിലെ ഇൻസ്ട്രുമെന്റേഷൻ ലബോറട്ടറിയുമായി നാഷണൽ എയറോനോട്ടിക്സ് ആൻഡ് സ്പേസ് അഡ്മിനിസ്ട്രേഷന്റെ മാൻഡ് സ്പേസ്ക്രാഫ്റ്റ് സെന്റർ `NAS 9-4065` എന്ന കരാറിലൂടെ സ്പോൺസർ ചെയ്ത `55-23870` എന്ന DSR പ്രോജക്ടിന് കീഴിലാണ് ഈ പ്രോഗ്രാം തയ്യാറാക്കിയത്. | സമർപ്പിച്ചത് | പദവി | തീയതി | | :------------------- | :--- | :--- | | Margaret H. Hamilton | കൊളോസസ് പ്രോഗ്രാമിംഗ് ലീഡർ
അപ്പോളോ ഗൈഡൻസ് ആൻഡ് നാവിഗേഷൻ | 28 മാർച്ച് 69 | | അംഗീകരിച്ചത് | പദവി | തീയതി | | :---------------- | :--- | :--- | | Daniel J. Lickly | ഡയറക്ടർ, മിഷൻ പ്രോഗ്രാം ഡെവലപ്‌മെന്റ്
അപ്പോളോ ഗൈഡൻസ് ആൻഡ് നാവിഗേഷൻ പ്രോഗ്രാം | 28 മാർച്ച് 69 | | Fred H. Martin | കൊളോസസ് പ്രോജക്ട് മാനേജർ
അപ്പോളോ ഗൈഡൻസ് ആൻഡ് നാവിഗേഷൻ പ്രോഗ്രാം | 28 മാർച്ച് 69 | | Norman E. Sears | ഡയറക്ടർ, മിഷൻ ഡെവലപ്‌മെന്റ്
അപ്പോളോ ഗൈഡൻസ് ആൻഡ് നാവിഗേഷൻ പ്രോഗ്രാം | 28 മാർച്ച് 69 | | Richard H. Battin | ഡയറക്ടർ, മിഷൻ ഡെവലപ്‌മെന്റ്
അപ്പോളോ ഗൈഡൻസ് ആൻഡ് നാവിഗേഷൻ പ്രോഗ്രാം | 28 മാർച്ച് 69 | | David G. Hoag | ഡയറക്ടർ
അപ്പോളോ ഗൈഡൻസ് ആൻഡ് നാവിഗേഷൻ പ്രോഗ്രാം | 28 മാർച്ച് 69 | | Ralph R. Ragan | ഡെപ്യൂട്ടി ഡയറക്ടർ
ഇൻസ്ട്രുമെന്റേഷൻ ലബോറട്ടറി | 28 മാർച്ച് 69 | [CONTRACT_AND_APPROVALS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CONTRACT_AND_APPROVALS.agc [1]:https://flat.badgen.net/badge/NASA/Mission%20Overview/0B3D91 [2]:https://www.nasa.gov/mission_pages/apollo/missions/apollo11.html [3]:http://www.ibiblio.org/apollo/ [4]:http://web.mit.edu/museum/ [5]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [6]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [7]:https://github.com/chrislgarry/Apollo-11/blob/master/CONTRIBUTING.md [8]:https://github.com/rburkey2005/virtualagc [SWH]:https://flat.badgen.net/badge/Software%20Heritage/Archive/0B3D91 [SWH_URL]:https://archive.softwareheritage.org/browse/origin/https://github.com/chrislgarry/Apollo-11/ [Comanche]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/1 [ComancheMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/1 [Luminary]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/2 [LuminaryMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/2 ================================================ FILE: Translations/README.mm.md ================================================ # Apollo-11 [![NASA][1]][2] [![SWH]][SWH_URL] [![Comanche]][ComancheMilestone] [![Luminary]][LuminaryMilestone] 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA], [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdî][KU], [Lietuvių][LT], [Mongolian][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Română][RO], [Suomi][FI], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Беларуская мова][BE], [Русский][RU], [Українська][UK], [العربية][AR], [فارسی][FA], [नेपाली भाषा][NE] [हिंदी][HI_IN], [অসমীয়া][AS_IN], [বাংলা][BD_BN], [မြန်မာ][MM], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:README.ar.md [AS_IN]:README.as_in.md [AZ]:README.az.md [BD_BN]:README.bd_bn.md [BE]:README.be.md [CA]:README.ca.md [CZ]:README.cz.md [DA]:README.da.md [DE]:README.de.md [EN]:../README.md [ES]:README.es.md [FA]:README.fa.md [FI]:README.fi.md [FR]:README.fr.md [GL]:README.gl.md [GR]:README.gr.md [HI_IN]:README.hi_in.md [ID]:README.id.md [IT]:README.it.md [JA]:README.ja.md [KO_KR]:README.ko_kr.md [KU]:README.ku.md [LT]:README.lt.md [MM]:README.mm.md [MN]:README.mn.md [NE]:README.ne.md [NL]:README.nl.md [NO]:README.no.md [PL]:README.pl.md [PT_BR]:README.pt_br.md [RO]:README.ro.md [RU]:README.ru.md [SV]:README.sv.md [TR]:README.tr.md [UK]:README.uk.md [VI]:README.vi.md [ZH_CN]:README.zh_cn.md [ZH_TW]:README.zh_tw.md မူရင်း Apollo 11​​ ထိန်းချုပ်မှု ကွန်ပျူတာ (AGC) တွင်ပါဝင်သော ကွပ်ကဲမှုအစိတ်အပိုင်း (Comanche055) နဲ့ လပေါ်တွင်ဆင်းသက်သည့် အစိတ်အပိုင်း (Luminary099) တို့ရဲ့ ကုဒ်။ [Virtual AGC][3] နှင့် [MIT Museum][4] အကူအညီဖြင့် ဒီဂျစ်တယ်ပုံစံသို့ ပြောင်းထားခြင်းဖြစ်သည်။​ မူရင်း Apollo 11 ကုဒ်များ သိမ်းစည်းထားသော ရီပိုတစ်ခုဖြစ်လာစေရန်ရည်ရွယ်သည်။ ဒါကြောင့် [Luminary 099][5] နဲ့ [Comanche 055][6] တို့ရဲ့ အရင်းအမြစ်စာတမ်းများနဲ့ ဒီရီပိုကြား ကွဲလွဲချက်များတွေ့ရင် Pull Request (PR) တွေဖွင့်ပေးဖို့ ကြိုဆိုပါတယ်။ ကျွန်တော် ကျန်ခဲ့တဲ့ ဖိုင်လ်လေးတွေရှိရင်လည်း ပြောပေးကြပါဉီး။ ## ပါဝင်ကူညီပေးခြင်း Pull Request မဖွင့်ခင် [CONTRIBUTING.md][7] ကိုတော့ဖတ်ပေးနော်။ ## Compiling မူလကုဒ်ကို ကွန်ပိုင်းချင်တယ်ဆိုရင်တော့ [Virtual AGC][8] မှာစမ်းကြည့်လို့ရတယ်နော် ## မှီညှမ်းခြင်း   |   :------------------ | :----- မူပိုင်ခွင့် | မူပိုင်မဲ့ အများပိုင် Comanche055 | Colossus 2A ၏ ကုဒ်အစိတ်အပိုင်း၊ Apollo 11 အတွက် ကွပ်ကဲမှုအစိတ်အပိုင်း (CM) ၏ Apollo ထိန်းချုပ်မှု ကွန်ပျူတာ (AGC)
`Assemble revision 055 of AGC program Comanche by NASA`
`2021113-051. 10:28 APR. 1, 1969` Luminary099 | Luminary 1A ၏ ကုဒ်အစိတ်အပိုင်း၊ Apollo 11 တွင် လပေါ်တွင်ဆင်းသက်သည့် အစိတ်အပိုင်း (LM) ၏ Apollo ထိန်းချုပ်မှု ကွန်ပျူတာ (AGC)
`Assemble revision 001 of AGC program LMY99 by NASA`
`2021112-061. 16:27 JUL. 14, 1969` Assembler | yaYUL ဆက်သွယ်ရန် | Ron Burkey ဝဘ်ဆိုက်စာမျက်နှာ | www.ibiblio.org/apollo ဒစ်ဂျစ်တယ်ပုံစံပြောင်းလဲခြင်း | ဤကုဒ်ကို MIT ပြတိုက် (MIT Musem) မှ စာတမ်းများကို ဒီဂျစ်တယ်ပုံများဖမ်းပြီး၊ ထိုမှတစ်ဆင့် ကုဒ်အသွင်သို့ ပြောင်းလဲထားခြင်းဖြစ်သည်။ ဒီဂျစ်တယ်ပုံစံပြောင်းလဲခြင်း ကို Paul Fjeld မှပြုလုပ်ပေးခဲ့ပြီး၊ ပြတိုက်မှ Deborah Douglas ကစီစဉ်ပေးခဲ့သည်။ နှစ်ယောက်လုံးကို ကျေးဇူးအများကြီးတင်ပါတယ်။ ### စာချုပ်နှင့် ခွင့်ပြုချုက်များ *Derived from [CONTRACT_AND_APPROVALS.agc]* ဤ AGC ပရိုဂရမ် ကို Colossus 2A ဟူ၍ ခေါ်ဝေါ်မည်။ ဤပရိုဂရမ် ကို CM တွင် `R-577` တင်ပြချက်အတိုင်း အသုံးပြုရန် ရည်ရွယ်ထားသည်။ Instrumentation Laboratory, Massachusetts Institute of Technology, Cambridge, Mass တို့နှင့်ချုပ်ခဲ့သော စာချုပ် `NAS 9-4065` အရ Manned Spacecraft Center of The National Aeronautics and Space Administration ၏ ထောက်ပံ့မှုဖြင့် DSR ပရောဂျက် `55-23870` လက်အောက်တွင် ဤပရိုဂရမ်ကို ပြင်ဆင်ခဲ့ခြင်းဖြစ်သည်။ တင်ပြခဲ့သူ | ရာထူး | ရက်စွဲ :------------------- | :--- | :--- Margaret H. Hamilton | Colossus ပရိုဂရမ် ခေါင်းဆောင်
Apollo ထိန်းချုပ်မှုနဲ့ ရွေ့လျားခြင်း ပရိုဂရမ် | ၂၈ မတ်လ ၁၉၆၉ ထောက်ခံ ခွင့်ပြုခဲ့သူ | ရာထူး | ရက်စွဲ :---------------- | :--- | :--- Daniel J. Lickly | ဒါရိုက်တာ, Mission ပရိုဂရမ် ဖော်ဆောင်မှု
Apollo ထိန်းချုပ်မှုနဲ့ ရွေ့လျားခြင်း ပရိုဂရမ် | ၂၈ မတ်လ ၁၉၆၉ Fred H. Martin | Colossus ပရောဂျက် မန်နေဂျာ
Apollo ထိန်းချုပ်မှုနဲ့ ရွေ့လျားခြင်း ပရိုဂရမ် | ၂၈ မတ်လ ၁၉၆၉ Norman E. Sears | ညွှန်ကြားရေးမှူး, Mission ဖော်ဆောင်မှု
Apollo ထိန်းချုပ်မှုနဲ့ ရွေ့လျားခြင်း ပရိုဂရမ် | ၂၈ မတ်လ ၁၉၆၉ Richard H. Battin | ညွှန်ကြားရေးမှူး, Mission ဖော်ဆောင်မှု
Apollo ထိန်းချုပ်မှုနဲ့ ရွေ့လျားခြင်း ပရိုဂရမ် | ၂၈ မတ်လ ၁၉၆၉ David G. Hoag | ညွှန်ကြားရေးမှူး
Apollo ထိန်းချုပ်မှုနဲ့ ရွေ့လျားခြင်း ပရိုဂရမ် | ၂၈ မတ်လ ၁၉၆၉ Ralph R. Ragan | ဒုတိယညွှန်ကြားရေးမှူး
Instrumentation Laboratory | ၂၈ မတ်လ ၁၉၆၉ [CONTRACT_AND_APPROVALS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CONTRACT_AND_APPROVALS.agc [1]:https://flat.badgen.net/badge/NASA/Mission%20Overview/0B3D91 [2]:https://www.nasa.gov/mission_pages/apollo/missions/apollo11.html [3]:http://www.ibiblio.org/apollo/ [4]:http://web.mit.edu/museum/ [5]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [6]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [7]:https://github.com/chrislgarry/Apollo-11/blob/master/CONTRIBUTING.md [8]:https://github.com/rburkey2005/virtualagc [SWH]:https://flat.badgen.net/badge/Software%20Heritage/Archive/0B3D91 [SWH_URL]:https://archive.softwareheritage.org/browse/origin/https://github.com/chrislgarry/Apollo-11/ [Comanche]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/1 [ComancheMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/1 [Luminary]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/2 [LuminaryMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/2 ================================================ FILE: Translations/README.mn.md ================================================ # アポロ11号 [![NASA][1]][2] [![SWH]][SWH_URL] [![Comanche]][ComancheMilestone] [![Luminary]][LuminaryMilestone] 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA], [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdî][KU], [Lietuvių][LT], [Mongolian][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Română][RO], [Suomi][FI], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Беларуская мова][BE], [Русский][RU], [Українська][UK], [العربية][AR], [فارسی][FA], [नेपाली भाषा][NE] [हिंदी][HI_IN], [অসমীয়া][AS_IN], [বাংলা][BD_BN], [မြန်မာ][MM], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:README.ar.md [AS_IN]:README.as_in.md [AZ]:README.az.md [BD_BN]:README.bd_bn.md [BE]:README.be.md [CA]:README.ca.md [CZ]:README.cz.md [DA]:README.da.md [DE]:README.de.md [EN]:../README.md [ES]:README.es.md [FA]:README.fa.md [FI]:README.fi.md [FR]:README.fr.md [GL]:README.gl.md [GR]:README.gr.md [HI_IN]:README.hi_in.md [ID]:README.id.md [IT]:README.it.md [JA]:README.ja.md [KO_KR]:README.ko_kr.md [KU]:README.ku.md [LT]:README.lt.md [MM]:README.mm.md [MN]:README.mn.md [NE]:README.ne.md [NL]:README.nl.md [NO]:README.no.md [PL]:README.pl.md [PT_BR]:README.pt_br.md [RO]:README.ro.md [RU]:README.ru.md [SV]:README.sv.md [TR]:README.tr.md [UK]:README.uk.md [VI]:README.vi.md [ZH_CN]:README.zh_cn.md [ZH_TW]:README.zh_tw.md Комманд болон Лунар модуль (Comanche055 болон Luminary099) -ийн анхны Apollo 11 удирдлагын компьютер (AGC) -ийн эх код. [Virtual AGC][3] болон [MIT Museum][4] -аар дижитал хэлбэрт оруулсан. Энэ репозитор нь анхны Apollo 11 эх кодыг бүрэн сэргээж хадгалах зорилготой. Тиймээс, энэ репозитор болон [Luminary 099][5] болон [Comanche 055][6] -ийн хооронд илэрсэн асуудал эсвэл алдаатай файлуудын талаар PR-ийг хүлээн авна. ## Хувь нэмэр оруулах Пулл реквест нээхээс өмнө [CONTRIBUTING.ja.md][7] -ийг уншина уу. ## Компайл хийх Хэрэв компайл хийхийг хүсвэл [Virtual AGC][8] -ийг шалгана уу. ## Зөвшөөрөл   |   :---------- | :----- Зохиогчийн эрх | Олон нийтийн өмч Comanche055 | Apollo 11-ийн команд болон сервис модульд зориулсан Apollo 11 удирдлагын компьютер, Colossus 2A-ийн эх кодын хэсэг
`Assemble revision 055 of AGC program Comanche by NASA`
`2021113-051. 10:28 APR. 1, 1969` Luminary099 | Apollo 11-ийн лунар модульд зориулсан Apollo 11 удирдлагын компьютер, Luminary 1A-ийн эх кодын хэсэг
`Assemble revision 001 of AGC program LMY99 by NASA`
`2021112-061. 16:27 JUL. 14, 1969` Ассемблер | yaYUL Холбоо барих | Ron Burkey Вэбсайт | www.ibiblio.org/apollo Дижитал хэлбэрт оруулсан | Энэ эх кодыг MIT Museum-аас хатуу хуулбараас дижитал хэлбэрт оруулсан. Дижитал хэлбэрт оруулсан Paul Fjeld, эмхэтгэсэн Deborah Douglas. ### Гэрээ болон батламж *[CONTRACT_AND_APPROVALS.agc] -аас үүссэн* Энэ Apollo удирдлагын компьютерийн програм нь Colossus 2A-аас лавлагаа авсан. Энэ програм нь `R-577`-д заасан команд модульд ашиглагдана. Энэ төсөл нь DSR төсөл `55-23870`-ийн хүрээнд бэлтгэгдсэн бөгөөд NASA-ийн Хүнтэй сансрын төв болон MIT-ийн Механик судалгааны лабораторийн хооронд `NAS 9-4065` гэрээгээр эхэлсэн. Оруулсан хүн | Үүрэг | Огноо :------------------- | :--- | :--- Margaret H. Hamilton | Colossus програмчлалын удирдагч
Apollo удирдлага болон навигаци | 1969 оны 3-р сарын 28 Баталсан хүн | Үүрэг | Огноо :---------------- | :--- | :--- Daniel J. Lickly | Захирал, Миссионы програм хөгжүүлэлт
Apollo удирдлага болон навигаци | 1969 оны 3-р сарын 28 Fred H. Martin | Colossus төслийн менежер
Apollo удирдлага болон навигаци | 1969 оны 3-р сарын 28 Norman E. Sears | Захирал, Миссионы програм хөгжүүлэлт
Apollo удирдлага болон навигаци | 1969 оны 3-р сарын 28 Richard H. Battin | Захирал, Миссионы програм хөгжүүлэлт
Apollo удирдлага болон навигаци | 1969 оны 3-р сарын 28 David G. Hoag | Захирал
Apollo удирдлага болон навигаци | 1969 оны 3-р сарын 28 Ralph R. Ragan | Дэд захирал
Механик судалгааны лаборатори | 1969 оны 3-р сарын 28 [CONTRACT_AND_APPROVALS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CONTRACT_AND_APPROVALS.agc [1]:https://flat.badgen.net/badge/NASA/Mission%20Overview/0B3D91 [2]:https://www.nasa.gov/mission_pages/apollo/missions/apollo11.html [3]:http://www.ibiblio.org/apollo/ [4]:http://web.mit.edu/museum/ [5]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [6]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [7]:https://github.com/chrislgarry/Apollo-11/blob/master/Translations/CONTRIBUTING.ja.md [8]:https://github.com/rburkey2005/virtualagc [SWH]:https://flat.badgen.net/badge/Software%20Heritage/Archive/0B3D91 [SWH_URL]:https://archive.softwareheritage.org/browse/origin/https://github.com/chrislgarry/Apollo-11/ [Comanche]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/1 [ComancheMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/1 [Luminary]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/2 [LuminaryMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/2 ================================================ FILE: Translations/README.ne.md ================================================ # अपोलो -11 [![NASA][1]][2] [![SWH]][SWH_URL] [![Comanche]][ComancheMilestone] [![Luminary]][LuminaryMilestone] 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA], [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdî][KU], [Lietuvių][LT], [Mongolian][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Română][RO], [Suomi][FI], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Беларуская мова][BE], [Русский][RU], [Українська][UK], [العربية][AR], [فارسی][FA], [नेपाली भाषा][NE] [हिंदी][HI_IN], [অসমীয়া][AS_IN], [বাংলা][BD_BN], [မြန်မာ][MM], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:README.ar.md [AS_IN]:README.as_in.md [AZ]:README.az.md [BD_BN]:README.bd_bn.md [BE]:README.be.md [CA]:README.ca.md [CZ]:README.cz.md [DA]:README.da.md [DE]:README.de.md [EN]:../README.md [ES]:README.es.md [FA]:README.fa.md [FI]:README.fi.md [FR]:README.fr.md [GL]:README.gl.md [GR]:README.gr.md [HI_IN]:README.hi_in.md [ID]:README.id.md [IT]:README.it.md [JA]:README.ja.md [KO_KR]:README.ko_kr.md [KU]:README.ku.md [LT]:README.lt.md [MM]:README.mm.md [MN]:README.mn.md [NE]:README.ne.md [NL]:README.nl.md [NO]:README.no.md [PL]:README.pl.md [PT_BR]:README.pt_br.md [RO]:README.ro.md [RU]:README.ru.md [SV]:README.sv.md [TR]:README.tr.md [UK]:README.uk.md [VI]:README.vi.md [ZH_CN]:README.zh_cn.md [ZH_TW]:README.zh_tw.md अपोलो ११ मार्गदर्शन कम्प्यूटर (Apollo 11 Guidance computer, AGC) कमाण्ड मोड्यूल (Comanche055) र चंद्र मोड्युल (Luminary099) को लागी स्रोत कोड। मान्छेहरू द्वारा अंकित [Virtual AGC][3] र [MIT Museum][4] लक्ष्य मूल अपोलो ११ स्रोत कोडका लागि रेपो हुनु हो। त्यस्तै, PR हरू यस भण्डारमा ट्रान्सक्रिप्शन र मूल स्रोत स्क्यानका बीच पहिचान गरिएको कुनै पनि मुद्दाहरूको लागि स्वागत छ [Luminary 099][5] र [Comanche 055][6] साथै कुनै पनि फाईलहरू मैले छुटेको हुन सक्छु। ## योगदान कृपया[CONTRIBUTING.md][7] एक पुल अनुरोध खोल्न अघि पढ्नुहोस्। ## कम्पाइल गर्दै यदि तपाईं मूल स्रोत कोड कम्पाइल गर्न रूचि राख्नुहुन्छ भने,[Virtual AGC][8] को जाँच गर्नुहोस्। ## एट्रिब्युसन   |   :---------- | :----- कॉपीराइट | पब्लिक डोमेन Comanche055 | कोलोसस २ ए को लागी स्रोत कोड को अंश, कमाण्ड मोड्युल (सीएम) अपोलो गाइडन्स कम्प्युटर (AGC) अपोलो ११ को लागी
`AGC प्रोग्राम Comanche को NASA द्वारा संशोधन ० 055 सम्मिलित`
`2021113-051. 10:28 APR. 1, 1969` Luminary099 | ल्यूमिनरी १ए, अपोलो ११ के चंद्र भाग (LM) के लिए निर्देशरण संगड़क यंत्र (AGC) के नियमसंग्रह का हिस्सा।
`Luminary 1A को लागि स्रोत कोडको भाग, चंद्र मोड्युलको (LM) अपोलो गाइडन्स कम्प्युटर (AGC) अपोलो ११ को लागि`
`2021112-061. 16:27 JUL. 14, 1969` Assembler | yaYUL संपर्क | रोन बुर्की (Ron Burkey) वेबसाइट | www.ibiblio.org/apollo डिजिटलीकरण | यो स्रोत कोड ट्रान्सक्रिप्ट गरिएको छ वा अन्यथा एमआईटी संग्रहालयबाट हार्डकपीको डिजिटलाइज्ड छविहरूबाट रूपान्तरण गरिएको छ। डिजिटलाइजेशन फिल फेजेल(Paul Fjeld)द्वारा गरिएको थियो, र संग्रहालयको डेबोरा डगलस (Deborah Douglas) द्वारा व्यवस्था गरिएको थियो। दुबैलाई धेरै धन्यवाद। ### सम्झौता र अनुमोदन *[CONTRACT_AND_APPROVALS.agc] बाट व्युत्पन्न* यो एजीसी प्रोग्रामलाई कलसस २(Colossus 2A.) ए पनि मानिन्छ। यो कार्यक्रम सीएममा प्रयोगको लागि अभिप्राय आर-577 (`R-577`) report रिपोर्टमा निर्दिष्ट गरिएको छ। यो कार्यक्रम डीएसआर प्रोजेक्ट `55-23879` अन्तर्गत तयार गरिएको हो जुन राष्ट्रिय एयरोनटिक्स एण्ड स्पेस एडमिनिस्ट्रेशनको म्यानड स्पेसक्राफ्ट सेन्टर द्वारा अनुबन्धित एनएएस--65०।। मैसाचुसेट्स इन्स्टिच्युट अफ टेक्नोलोजी, क्याम्ब्रिज, माससँग अनुबन्धित एनएएस 9-4065 (`NAS 9-4065`) को माध्यमबाट प्रायोजित गरिएको थियो। बुझाउने | भूमिका | मिति :------------------- | :---- | :--- Margaret H. Hamilton | कोलोसस(Colossus) प्रोग्रामिंग लीडर
अपोलो गाइडेंस एंड नेविगेशन | २८ मार्च ६९ द्वारा स्वीकृत | भूमिका | मिति :---------------- | :---- | :--- Daniel J. Lickly | निदेशक, मिशन कार्यक्रम विकास
अपोलो गाइडेंस एंड नेविगेशन प्रोग्राम | २८ मार्च ६९ Fred H. Martin | कोलोसस(Colossus) प्रोजेक्ट मैनेजर
अपोलो गाइडेंस एंड नेविगेशन प्रोग्राम | २८ मार्च ६९ Norman E. Sears | निदेशक, मिशन विकास
अपोलो गाइडेंस एंड नेविगेशन प्रोग्राम | २८ मार्च ६९ Richard H. Battin | निदेशक, मिशन विकास
अपोलो गाइडेंस एंड नेविगेशन प्रोग्राम | २८ मार्च ६९ David G. Hoag | निदेशक
अपोलो गाइडेंस एंड नेविगेशन प्रोग्राम | २८ मार्च ६९ Ralph R. Ragan | उप निदेशक
इंस्ट्रुमेंटेशन प्रयोगशाला | २८ मार्च ६९ [CONTRACT_AND_APPROVALS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CONTRACT_AND_APPROVALS.agc [1]:https://flat.badgen.net/badge/NASA/Mission%20Overview/0B3D91 [2]:https://www.nasa.gov/mission_pages/apollo/missions/apollo11.html [3]:http://www.ibiblio.org/apollo/ [4]:http://web.mit.edu/museum/ [5]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [6]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [7]:https://github.com/chrislgarry/Apollo-11/blob/master/CONTRIBUTING.md [8]:https://github.com/rburkey2005/virtualagc [SWH]:https://flat.badgen.net/badge/Software%20Heritage/Archive/0B3D91 [SWH_URL]:https://archive.softwareheritage.org/browse/origin/https://github.com/chrislgarry/Apollo-11/ [Comanche]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/1 [ComancheMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/1 [Luminary]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/2 [LuminaryMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/2 ================================================ FILE: Translations/README.nl.md ================================================ # Apollo-11 [![NASA][1]][2] [![SWH]][SWH_URL] [![Comanche]][ComancheMilestone] [![Luminary]][LuminaryMilestone] 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA], [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdî][KU], [Lietuvių][LT], [Mongolian][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Română][RO], [Suomi][FI], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Беларуская мова][BE], [Русский][RU], [Українська][UK], [العربية][AR], [فارسی][FA], [नेपाली भाषा][NE] [हिंदी][HI_IN], [অসমীয়া][AS_IN], [বাংলা][BD_BN], [မြန်မာ][MM], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:README.ar.md [AS_IN]:README.as_in.md [AZ]:README.az.md [BD_BN]:README.bd_bn.md [BE]:README.be.md [CA]:README.ca.md [CZ]:README.cz.md [DA]:README.da.md [DE]:README.de.md [EN]:../README.md [ES]:README.es.md [FA]:README.fa.md [FI]:README.fi.md [FR]:README.fr.md [GL]:README.gl.md [GR]:README.gr.md [HI_IN]:README.hi_in.md [ID]:README.id.md [IT]:README.it.md [JA]:README.ja.md [KO_KR]:README.ko_kr.md [KU]:README.ku.md [LT]:README.lt.md [MM]:README.mm.md [MN]:README.mn.md [NE]:README.ne.md [NL]:README.nl.md [NO]:README.no.md [PL]:README.pl.md [PT_BR]:README.pt_br.md [RO]:README.ro.md [RU]:README.ru.md [SV]:README.sv.md [TR]:README.tr.md [UK]:README.uk.md [VI]:README.vi.md [ZH_CN]:README.zh_cn.md [ZH_TW]:README.zh_tw.md Originele broncode voor de Apollo 11 besturingscomputer (AGC). Broncode voor de besturingsmodule (Comanche055) en maanmodule (Luminary099). Gedigitalizeerd door [Virtual GC][3] en het [MIT Museum][4]. Het doel is om een repository te zijn van de oorspronkelijke Apollo 11 broncode en dus zijn PRs welkom voor elk probleem in de overgenomen broncode van [Luminary 099][5] en [Comanche 055][6] en elk bestand dat ik vergeten ben. ## Bijdragen Lees alsjeblieft [CONTRIBUTING.nl.md][7] voordat je een pull request opent. ## Compileren Als je geinteresseerd bent in het compileren van de originele broncode bekijk dan [Virtual AGC][8]. ## Toebedeling   |   :------------- | :----- Copyright | Publiek domein Comanche055 | Onderdeel van de broncode voor Colossus 2A, de Apollo besturingscomputer (AGC) van de besturingsmodule (CM) voor Apollo 11
`Assemble revision 055 of AGC program Comanche by NASA`
`2021113-051. 10:28 APR. 1, 1969` Luminary099 | Onderdeel van de broncode voor Luminary 1A, de Apollo besturingscomputer (AGC) van de maanmodule (LM) voor Apollo 11
`Assemble revision 001 of AGC program LMY99 by NASA`
`2021112-061. 16:27 JUL. 14, 1969` Samensteller | yaYUL Contact | Ron Burkey Website | www.ibiblio.org/apollo Digitalizering | Deze broncode is overgeschreven of anderszins overgenomen van gedigitalizeerde afbeeldingen van een boek van het MIT Museum. Deze digitalizering is uitgevoerd door Paul Fjeld en geregeld door Deborah Douglas van het voorgenoemde museum. Hartelijk dank aan beiden. ### Contract en Goedkeuring *Afgeleid van [CONTRACT_AND_APPROVALS.agc]* Dit AGC programma zal worden benoemd als Colossus 2A. Dit programma is bedoeld voor gebruik in de CM zoals vastgesteld in rapport `R-577`. Dit programma is voorbereid onder DSR project `55-23870`, gesponsord door het Manned Spacecraft Center van de National Aeronautics and Space Administration via contract `NAS 9-4065` met het Instrumentation Laboratory, Massachusetts Instute of Technology, Cambridge, Mass. Ingediend door | Rol | Datum :------------------- | :-- | :---- Margaret H. Hamilton | Colossus Programming Leader
Apollo Guidance and Navigation | 28 maart. 1969 Goedgekeurd door | Rol | Datum :---------------- | :-- | :---- Daniel J. Lickly | Directeur, Mission Program Development
Apollo Guidance and Navigation Program | 28 maart. 1969 Fred H. Martin | Colossus projectmanager
Apollo Guidance and Navigation Program | 28 maart. 1969 Norman E. Sears | Directeur, Mission Development
Apollo Guidance and Navigation Program | 28 maart. 1969 Richard H. Battin | Directeur, Mission Development
Apollo Guidance and Navigation Program | 28 maart. 1969 David G. Hoag | Directeur
Apollo Guidance and Navigation Program | 28 maart. 1969 Ralph R. Ragan | Adjunct-directeur
Instrumentation Laboratory | 28 maart. 1969 [CONTRACT_AND_APPROVALS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CONTRACT_AND_APPROVALS.agc [1]:https://flat.badgen.net/badge/NASA/Mission%20Overview/0B3D91 [2]:https://www.nasa.gov/mission_pages/apollo/missions/apollo11.html [3]:http://www.ibiblio.org/apollo/ [4]:http://web.mit.edu/museum/ [5]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [6]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [7]:https://github.com/chrislgarry/Apollo-11/blob/master/Translations/CONTRIBUTING.nl.md [8]:https://github.com/rburkey2005/virtualagc [SWH]:https://flat.badgen.net/badge/Software%20Heritage/Archive/0B3D91 [SWH_URL]:https://archive.softwareheritage.org/browse/origin/https://github.com/chrislgarry/Apollo-11/ [Comanche]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/1 [ComancheMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/1 [Luminary]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/2 [LuminaryMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/2 ================================================ FILE: Translations/README.no.md ================================================ # Apollo-11 [![NASA][1]][2] [![SWH]][SWH_URL] [![Comanche]][ComancheMilestone] [![Luminary]][LuminaryMilestone] 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA], [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdî][KU], [Lietuvių][LT], [Mongolian][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Română][RO], [Suomi][FI], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Беларуская мова][BE], [Русский][RU], [Українська][UK], [العربية][AR], [فارسی][FA], [नेपाली भाषा][NE] [हिंदी][HI_IN], [অসমীয়া][AS_IN], [বাংলা][BD_BN], [မြန်မာ][MM], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:README.ar.md [AS_IN]:README.as_in.md [AZ]:README.az.md [BD_BN]:README.bd_bn.md [BE]:README.be.md [CA]:README.ca.md [CZ]:README.cz.md [DA]:README.da.md [DE]:README.de.md [EN]:../README.md [ES]:README.es.md [FA]:README.fa.md [FI]:README.fi.md [FR]:README.fr.md [GL]:README.gl.md [GR]:README.gr.md [HI_IN]:README.hi_in.md [ID]:README.id.md [IT]:README.it.md [JA]:README.ja.md [KO_KR]:README.ko_kr.md [KU]:README.ku.md [LT]:README.lt.md [MM]:README.mm.md [MN]:README.mn.md [NE]:README.ne.md [NL]:README.nl.md [NO]:README.no.md [PL]:README.pl.md [PT_BR]:README.pt_br.md [RO]:README.ro.md [RU]:README.ru.md [SV]:README.sv.md [TR]:README.tr.md [UK]:README.uk.md [VI]:README.vi.md [ZH_CN]:README.zh_cn.md [ZH_TW]:README.zh_tw.md Original kildekode til Apollo 11’s veiledningsdatamaskin for kommando ( Comanche055 ) og måne ( Luminary099 ) modulene. Digitalisert av folkene fra [Virtual AGC][3] og [MIT Museum][4]. Målet er å være et depot for den originale Apollo 11 kildekoden. «Pull Requests» er ønskelige for feil som måtte finnes i oversettelser i dette depotet og de originale bildene av kildekoden til Luminary 099 og Comanche 055, samt bortglemte filer. ## Bidra Venligst les [CONTRIBUTING.no.md][7] før en "pull request" åpnes. ## Kompilere Hvis du er interessert i å kompilere den originale kildekoden, så sjekk [Virtual AGC][8]. ## Bidragsytere   |   :------------- | :----- Opphavsrett | Public domain Comanche055 | Deler av kildekoden til Colossus 2A, kommando modulen ( CM ) til Apollo Veiledningsdatamaskin ( AGC ) til Apollo 11
`Assemble revision 055 of AGC program Comanche by NASA`
`2021113-051. 10:28 APR. 1, 1969` Luminary099 | Deler av kilde koden til Luminary 1A, the Lunar Module's ( LM ) Apollo Veiledningsdatamaskin ( AGC ) til Apollo 11
`Assemble revision 001 of AGC program LMY99 by NASA`
`2021112-061. 16:27 JUL. 14, 1969` Assembler | yaYUL Kontakt | Ron Burkey Webside | www.ibiblio.org/apollo Digitalisering | Denne kildekoden er avskrevet og tilpasset fra de digitaliserte bildene som finnes på MIT-Museet. Digitaliseringen er utført av Paul Fjeld, og sortert av Deborah Douglas som jobber på Museet. Takk til dere begge. ### Kontrakt og godkjenninger *Fra [CONTRACT_AND_APPROVALS.agc]* Dette AGC-programmet skal også refereres til som Colossus 2A. Dette programmet er tiltenkt brukt i kommandomodulen, som spesifisert i rapporten `R-577`. Programmet ble laget under DSR-prosjekt `55-23870`, som var sponset av «Manned Spacecraft Center of The National Aeronautics and Space Administration» via kontrakt `NAS 9-4065` med instrumentasjonslaboratoriet ved «Massachusetts Institute of Technology, Cambridge, Mass» Innsendt av | Rolle | Dato :------------------- | :---- | :--- Margaret H. Hamilton | Colossus Programming Leader
Apollo Guidance and Navigation | 28 Mar 69 Godkjent av | Rolle | Dato :---------------- | :---- | :--- Daniel J. Lickly | Director, Mission Program Development
Apollo Guidance and Navigation Program | 28 Mar 69 Fred H. Martin | Colossus Project Manager
Apollo Guidance and Navigation Program | 28 Mar 69 Norman E. Sears | Director, Mission Development
Apollo Guidance and Navigation Program | 28 Mar 69 Richard H. Battin | Director, Mission Development
Apollo Guidance and Navigation Program | 28 Mar 69 David G. Hoag | Director
Apollo Guidance and Navigation Program | 28 Mar 69 Ralph R. Ragan | Deputy Director
Instrumentation Laboratory | 28 Mar 69 [CONTRACT_AND_APPROVALS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CONTRACT_AND_APPROVALS.agc [1]:https://flat.badgen.net/badge/NASA/Mission%20Overview/0B3D91 [2]:https://www.nasa.gov/mission_pages/apollo/missions/apollo11.html [3]:http://www.ibiblio.org/apollo/ [4]:http://web.mit.edu/museum/ [5]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [6]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [7]:https://github.com/chrislgarry/Apollo-11/blob/master/Translations/CONTRIBUTING.no.md [8]:https://github.com/rburkey2005/virtualagc [SWH]:https://flat.badgen.net/badge/Software%20Heritage/Archive/0B3D91 [SWH_URL]:https://archive.softwareheritage.org/browse/origin/https://github.com/chrislgarry/Apollo-11/ [Comanche]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/1 [ComancheMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/1 [Luminary]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/2 [LuminaryMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/2 ================================================ FILE: Translations/README.pl.md ================================================ # Apollo-11 [![NASA][1]][2] [![SWH]][SWH_URL] [![Comanche]][ComancheMilestone] [![Luminary]][LuminaryMilestone] 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA], [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdî][KU], [Lietuvių][LT], [Mongolian][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Română][RO], [Suomi][FI], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Беларуская мова][BE], [Русский][RU], [Українська][UK], [العربية][AR], [فارسی][FA], [नेपाली भाषा][NE] [हिंदी][HI_IN], [অসমীয়া][AS_IN], [বাংলা][BD_BN], [မြန်မာ][MM], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:README.ar.md [AS_IN]:README.as_in.md [AZ]:README.az.md [BD_BN]:README.bd_bn.md [BE]:README.be.md [CA]:README.ca.md [CZ]:README.cz.md [DA]:README.da.md [DE]:README.de.md [EN]:../README.md [ES]:README.es.md [FA]:README.fa.md [FI]:README.fi.md [FR]:README.fr.md [GL]:README.gl.md [GR]:README.gr.md [HI_IN]:README.hi_in.md [ID]:README.id.md [IT]:README.it.md [JA]:README.ja.md [KO_KR]:README.ko_kr.md [KU]:README.ku.md [LT]:README.lt.md [MM]:README.mm.md [MN]:README.mn.md [NE]:README.ne.md [NL]:README.nl.md [NO]:README.no.md [PL]:README.pl.md [PT_BR]:README.pt_br.md [RO]:README.ro.md [RU]:README.ru.md [SV]:README.sv.md [TR]:README.tr.md [UK]:README.uk.md [VI]:README.vi.md [ZH_CN]:README.zh_cn.md [ZH_TW]:README.zh_tw.md Oryginalny kod źródłowy komputera pokładowego Apollo 11 (AGC) dla modułu dowodzenia (Comanche055) i modułu księżycowego (Luminary099). Zdigitalizowany przez ludzi z [Virtual AGC][3] i [MIT Museum][4]. Celem jest ukazanie repozytorium dla oryginalnego kodu źródłowego Apollo 11. Z tego powodu, PRy są mile widziane dla każdego przekłamania między transkrypcją w tym repozytorium a oryginalnymi skanami dla [Luminary 099][5] i [Comanche 055][6], jak również dla każdego pliku który mogłem przegapić. ## Kontrybucje Proszę przeczytaj [CONTRIBUTING.pl.md][7] zanim otworzysz nowy pull request. ## Kompilowanie Jeżeli jesteś zainteresowany skompilowaniem oryginalnego kodu źródłowego, odwiedź [Virtual AGC][8]. ## Przypisania   |   :----------------- | :----- Prawa autorskiego | Domena publiczna Comanche055 | Część kodu źródłowego dla Colossus 2A, modułu dowodzenia (CM) komputera pokładowego (AGC) dla Apollo 11
`Assemble revision 055 of AGC program Comanche by NASA`
`2021113-051. 10:28 APR. 1, 1969` Luminary099 | Część kodu źródłowego dla Luminary 1A, modułu księżycowego (LM) komputera pokładowego (AGC) dla Apollo 11
`Assemble revision 001 of AGC program LMY99 by NASA`
`2021112-061. 16:27 JUL. 14, 1969` Assembler | yaYUL Kontakt | Ron Burkey Strona internetowa | www.ibiblio.org/apollo Digitalizacja | Ten kod źródłowy został przepisany lub w inny sposób przystosowany ze zdigitalizowanych skanów wersji papierowej z MIT Museum. Digitalizacja została wykonana przez Paul Fjeld, i przygotowana przez Deborah Douglas z Museum. Dziękujemy im obojgu. ### Umowy i zatwierdzenia *Pochodzące z [CONTRACT_AND_APPROVALS.agc]* Ten program AGC będzie również określany jako Colossus 2A Ten program jest przeznaczony do użycia w CM, jak zostało opisane w raporcie `R-577`. Ten program został przygotowany w projekcie DSR `55-23870` i zasponsorowany przez Manned Spacecraft Center of The National Aeronautics and Space Administration za pośrednictwem kontraktu `NAS 9-4065` z Instrumentation Laboratory, Massachusetts Institute of Technology, Cambridge, Mass. Złożone przez | Rola | Data :------------------- | :--- | :--- Margaret H. Hamilton | Colossus Programming Leader
Apollo Guidance and Navigation | 28 Mar 69 Zatwierdzone przez | Rola | Data :----------------- | :--- | :--- Daniel J. Lickly | Director, Mission Program Development
Apollo Guidance and Navigation Program | 28 Mar 69 Fred H. Martin | Colossus Project Manager
Apollo Guidance and Navigation Program | 28 Mar 69 Norman E. Sears | Director, Mission Development
Apollo Guidance and Navigation Program | 28 Mar 69 Richard H. Battin | Director, Mission Development
Apollo Guidance and Navigation Program | 28 Mar 69 David G. Hoag | Director
Apollo Guidance and Navigation Program | 28 Mar 69 Ralph R. Ragan | Deputy Director
Instrumentation Laboratory | 28 Mar 69 [CONTRACT_AND_APPROVALS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CONTRACT_AND_APPROVALS.agc [1]:https://flat.badgen.net/badge/NASA/Mission%20Overview/0B3D91 [2]:https://www.nasa.gov/mission_pages/apollo/missions/apollo11.html [3]:http://www.ibiblio.org/apollo/ [4]:http://web.mit.edu/museum/ [5]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [6]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [7]:https://github.com/chrislgarry/Apollo-11/blob/master/Translations/CONTRIBUTING.pl.md [8]:https://github.com/rburkey2005/virtualagc [SWH]:https://flat.badgen.net/badge/Software%20Heritage/Archive/0B3D91 [SWH_URL]:https://archive.softwareheritage.org/browse/origin/https://github.com/chrislgarry/Apollo-11/ [Comanche]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/1 [ComancheMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/1 [Luminary]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/2 [LuminaryMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/2 ================================================ FILE: Translations/README.pt_br.md ================================================ # Apollo-11 [![NASA][1]][2] [![SWH]][SWH_URL] [![Comanche]][ComancheMilestone] [![Luminary]][LuminaryMilestone] 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA], [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdî][KU], [Lietuvių][LT], [Mongolian][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Română][RO], [Suomi][FI], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Беларуская мова][BE], [Русский][RU], [Українська][UK], [العربية][AR], [فارسی][FA], [नेपाली भाषा][NE] [हिंदी][HI_IN], [অসমীয়া][AS_IN], [বাংলা][BD_BN], [မြန်မာ][MM], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:README.ar.md [AS_IN]:README.as_in.md [AZ]:README.az.md [BD_BN]:README.bd_bn.md [BE]:README.be.md [CA]:README.ca.md [CZ]:README.cz.md [DA]:README.da.md [DE]:README.de.md [EN]:../README.md [ES]:README.es.md [FA]:README.fa.md [FI]:README.fi.md [FR]:README.fr.md [GL]:README.gl.md [GR]:README.gr.md [HI_IN]:README.hi_in.md [ID]:README.id.md [IT]:README.it.md [JA]:README.ja.md [KO_KR]:README.ko_kr.md [KU]:README.ku.md [LT]:README.lt.md [MM]:README.mm.md [MN]:README.mn.md [NE]:README.ne.md [NL]:README.nl.md [NO]:README.no.md [PL]:README.pl.md [PT_BR]:README.pt_br.md [RO]:README.ro.md [RU]:README.ru.md [SV]:README.sv.md [TR]:README.tr.md [UK]:README.uk.md [VI]:README.vi.md [ZH_CN]:README.zh_cn.md [ZH_TW]:README.zh_tw.md Código fonte do Computador de Orientação da Apollo 11 (AGC) para o Módulo de Comando (Comanche055) e Módulo Lunar (Luminary099). Digitalizado pelo pessoal da [Virtual AGC][3] e [Museu do MIT][4]. O objetivo é ser um repositório para o código fonte original da Apollo 11. Como tal, os PRs são bem-vindos para quaisquer problemas identificados entre as transcrições neste repositório e as verificações do código fonte original para [Luminary 099][5] e [Comanche 055][6], bem como quaisquer arquivos que eu possa ter perdido. ## Contribuindo Leia [CONTRIBUTING.pt_br.md][7] antes de abrir um pull request. ## Compilando Se você estiver interessado em compilar o código-fonte original, faça o check-out [Virtual AGC][8]. ## Atribuição   |   :---------------- | :----- Direitos Autorais | Domínio público. Comanche055 | Parte do código-fonte do Colossus 2A, o Módulo de Comando (CM) do Computador de Orientação Apollo (AGC) para a Apollo 11
`Assemble revision 055 of AGC program Comanche by NASA`
`2021113-051. 10:28 APR. 1, 1969` Luminary099 | Parte do código-fonte do Luminary 1A, Módulo Lunar (LM) do Computador de Orientação Apollo (AGC) para a Apollo 11
`Assemble revision 001 of AGC program LMY99 by NASA`
`2021112-061. 16:27 JUL. 14, 1969` Assembler | yaYUL Contato | Ron Burkey Website | www.ibiblio.org/apollo Digitalização | Este código fonte foi transcrito ou adaptado de outra forma a partir de imagens de uma cópia impressa do Museu do MIT. A digitalização foi realizada por Paul Fjeld, e organizado por Deborah Douglas do Museu. Muitos agradecimentos a ambos. ### Contrato e Aprovação *Derivado de [CONTRACT_AND_APPROVALS.agc]* Este programa AGC também deve ser referido como Colossus 2A. Este programa é destinado ao uso no CM, conforme especificado no relatório `R-577`. Este programa foi preparado sob o projeto DSR `55-23870`, patrocinado pelo Centro de Naves Espaciais Tripuladas da Administração Nacional da Aeronáutica e do Espaço - NASA - através do contrato `NAS 9-4065` com o Laboratório de Instrumentação, Instituto de Tecnologia de Massachusetts - MIT, Cambridge, Mass. Enviado por | Função | Data :------------------- | :----- | :--- Margaret H. Hamilton | Líder de Programação Colossus
Orientação e Navegação da Apollo | 28 Mar 69 Aprovado por | Função | Data :---------------- | :----- | :--- Daniel J. Lickly | Diretor, Programa Desenvolvimento da Missão
Programa de Orientação e Navegação da Apollo | 28 Mar 69 Fred H. Martin | Gestor de Projeto Colossus
Programa de Orientação e Navegação da Apollo | 28 Mar 69 Norman E. Sears | Diretor, Desenvolvimento da Missão
Programa de Orientação e Navegação da Apollo | 28 Mar 69 Richard H. Battin | Diretor, Desenvolvimento da Missão
Programa de Orientação e Navegação da Apollo | 28 Mar 69 David G. Hoag | Diretor
Programa de Orientação e Navegação da Apollo | 28 Mar 69 Ralph R. Ragan | Vice Diretor
Laboratório de Instrumentação | 28 Mar 69 [CONTRACT_AND_APPROVALS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CONTRACT_AND_APPROVALS.agc [1]:https://flat.badgen.net/badge/NASA/Mission%20Overview/0B3D91 [2]:https://www.nasa.gov/mission_pages/apollo/missions/apollo11.html [3]:http://www.ibiblio.org/apollo/ [4]:http://web.mit.edu/museum/ [5]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [6]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [7]:https://github.com/chrislgarry/Apollo-11/blob/master/Translations/CONTRIBUTING.pt_br.md [8]:https://github.com/rburkey2005/virtualagc [SWH]:https://flat.badgen.net/badge/Software%20Heritage/Archive/0B3D91 [SWH_URL]:https://archive.softwareheritage.org/browse/origin/https://github.com/chrislgarry/Apollo-11/ [Comanche]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/1 [ComancheMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/1 [Luminary]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/2 [LuminaryMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/2 ================================================ FILE: Translations/README.ro.md ================================================ # Apollo-11 [![NASA][1]][2] [![SWH]][SWH_URL] [![Comanche]][ComancheMilestone] [![Luminary]][LuminaryMilestone] 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA], [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdî][KU], [Lietuvių][LT], [Mongolian][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Română][RO], [Suomi][FI], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Беларуская мова][BE], [Русский][RU], [Українська][UK], [العربية][AR], [فارسی][FA], [नेपाली भाषा][NE] [हिंदी][HI_IN], [অসমীয়া][AS_IN], [বাংলা][BD_BN], [မြန်မာ][MM], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:README.ar.md [AS_IN]:README.as_in.md [AZ]:README.az.md [BD_BN]:README.bd_bn.md [BE]:README.be.md [CA]:README.ca.md [CZ]:README.cz.md [DA]:README.da.md [DE]:README.de.md [EN]:../README.md [ES]:README.es.md [FA]:README.fa.md [FI]:README.fi.md [FR]:README.fr.md [GL]:README.gl.md [GR]:README.gr.md [HI_IN]:README.hi_in.md [ID]:README.id.md [IT]:README.it.md [JA]:README.ja.md [KO_KR]:README.ko_kr.md [KU]:README.ku.md [LT]:README.lt.md [MM]:README.mm.md [MN]:README.mn.md [NE]:README.ne.md [NL]:README.nl.md [NO]:README.no.md [PL]:README.pl.md [PT_BR]:README.pt_br.md [RO]:README.ro.md [RU]:README.ru.md [SV]:README.sv.md [TR]:README.tr.md [UK]:README.uk.md [VI]:README.vi.md [ZH_CN]:README.zh_cn.md [ZH_TW]:README.zh_tw.md Codul sursă original al computerului de orientare Apollo 11 (AGC) pentru modulul de comandă (Comanche055) și modulul lunar (Luminary099). Digitalizat de persoanele de la [Virtual AGC][3] și [MIT Museum][4]. Scopul este de a avea un repo pentru codul sursă original Apollo 11. Prin urmare, PR-urile sunt bine venite pentru orice problemă identificată între transcrierile din acest repository și scanările originale pentru [Luminary 099][5] și [Comanche 055][6], precum și pentru alte fișiere pe care aș fi putut să le uit. ## Contribuire Citiți [CONTRIBUTING.md][7] înainte de a deschide un pull request. ## Compilare Dacă sunteți interesat de compilarea codului sursă original vizitați [Virtual AGC][8]. ## Credite   |   :----------- | :----- Copyright | Domeniu public Comanche055 | Parte din codul sursă pentru Colossus 2A, modulul de comanda (CM) pentru computerul de orientare (AGC) pentru Apollo 11
`Assemble revision 055 of AGC program Comanche by NASA`
`2021113-051. 10:28 APR. 1, 1969` Luminary099 | Parte din codul sursă pentru Luminary 1A, modulul lunar (LM) pentru computerul de orientare (AGC) pentru Apollo 11
`Assemble revision 001 of AGC program LMY99 by NASA`
`2021112-061. 16:27 JUL. 14, 1969` Assembler | yaYUL Contact | Ron Burkey Website | www.ibiblio.org/apollo Digitalizare | Acest cod sursă a fost transcris sau adaptat altfel din imagini digitalizate ale unei hârtii tipărite de la MIT Museum. Digitizarea a fost realizată de Paul Fjeld și a fost organizată de către Deborah Douglas de la MIT Museum. Multe mulțumiri amândurora. ### Contract și Aprobări *Derivat din [CONTRACT_AND_APPROVALS.agc]* Acest program AGC va fi denumit, de asemenea, Colossus 2A. Acest program este destinat utilizării în CM (modulul de comandă) așa cum este specificat în raportul `R-577`. Acest program a fost dezvoltat ca parte a proiectului DSR `55-23870`, sponsorizat de Manned Spacecraft Center of The National Aeronautics and Space Administration prin contractul `NAS 9-4065` semnat de Instrumentation Laboratory, Massachusetts Institute of Technology, Cambridge, Mass. Trimis de | Rol | Data :------------------- | :-- | :--- Margaret H. Hamilton | Colossus Programming Leader
Apollo Guidance and Navigation | 28 Mar 69 Aprobat de | Rol | Data :---------------- | :-- | :--- Daniel J. Lickly | Director, Mission Program Development
Apollo Guidance and Navigation Program | 28 Mar 69 Fred H. Martin | Colossus Project Manager
Apollo Guidance and Navigation Program | 28 Mar 69 Norman E. Sears | Director, Mission Development
Apollo Guidance and Navigation Program | 28 Mar 69 Richard H. Battin | Director, Mission Development
Apollo Guidance and Navigation Program | 28 Mar 69 David G. Hoag | Director
Apollo Guidance and Navigation Program | 28 Mar 69 Ralph R. Ragan | Deputy Director
Instrumentation Laboratory | 28 Mar 69 [CONTRACT_AND_APPROVALS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CONTRACT_AND_APPROVALS.agc [1]:https://flat.badgen.net/badge/NASA/Mission%20Overview/0B3D91 [2]:https://www.nasa.gov/mission_pages/apollo/missions/apollo11.html [3]:http://www.ibiblio.org/apollo/ [4]:http://web.mit.edu/museum/ [5]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [6]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [7]:https://github.com/chrislgarry/Apollo-11/blob/master/CONTRIBUTING.md [8]:https://github.com/rburkey2005/virtualagc [SWH]:https://flat.badgen.net/badge/Software%20Heritage/Archive/0B3D91 [SWH_URL]:https://archive.softwareheritage.org/browse/origin/https://github.com/chrislgarry/Apollo-11/ [Comanche]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/1 [ComancheMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/1 [Luminary]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/2 [LuminaryMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/2 ================================================ FILE: Translations/README.ru.md ================================================ # Аполлон-11 [![NASA][1]][2] [![SWH]][SWH_URL] [![Comanche]][ComancheMilestone] [![Luminary]][LuminaryMilestone] 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA], [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdî][KU], [Lietuvių][LT], [Mongolian][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Română][RO], [Suomi][FI], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Беларуская мова][BE], [Русский][RU], [Українська][UK], [العربية][AR], [فارسی][FA], [नेपाली भाषा][NE] [हिंदी][HI_IN], [অসমীয়া][AS_IN], [বাংলা][BD_BN], [မြန်မာ][MM], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:README.ar.md [AS_IN]:README.as_in.md [AZ]:README.az.md [BD_BN]:README.bd_bn.md [BE]:README.be.md [CA]:README.ca.md [CZ]:README.cz.md [DA]:README.da.md [DE]:README.de.md [EN]:../README.md [ES]:README.es.md [FA]:README.fa.md [FI]:README.fi.md [FR]:README.fr.md [GL]:README.gl.md [GR]:README.gr.md [HI_IN]:README.hi_in.md [ID]:README.id.md [IT]:README.it.md [JA]:README.ja.md [KO_KR]:README.ko_kr.md [KU]:README.ku.md [LT]:README.lt.md [MM]:README.mm.md [MN]:README.mn.md [NE]:README.ne.md [NL]:README.nl.md [NO]:README.no.md [PL]:README.pl.md [PT_BR]:README.pt_br.md [RO]:README.ro.md [RU]:README.ru.md [SV]:README.sv.md [TR]:README.tr.md [UK]:README.uk.md [VI]:README.vi.md [ZH_CN]:README.zh_cn.md [ZH_TW]:README.zh_tw.md Оригинальный исходный код бортового управляющего компьютера Аполлон 11 (AGC) для командного модуля (Comanche055) и лунного модуля (Luminary099). Оцифровано людьми из [Virtual AGC][3] и [MIT Museum][4]. Цель - это создание репозитория с оригинальным исходным кодом миссии Аполлон 11. Таким образом приветствуются pull requests (PRs) с исправлениями для любых найденных ошибок в файлах этого репозитория и оригинальных сканах исходного кода для [Luminary 099][5] и [Comanche 055][6], так же как и для любых файлов, которые я мог пропустить. ## Сотрудничество Пожалуйста, прочитайте [CONTRIBUTING.md][7] перед тем как открывать pull request. ## Компиляция Если вы заинтересованы в компилировании данного исходного кода, смотрите инструкции здесь [Virtual AGC][8]. ## Атрибуция   |   :-------------- | :----- Авторское право | Общественное достояние Comanche055 | Часть исходного кода для Colossus 2A, командного модуля (CM) бортового управляющего компьютера Аполлон (AGC) для миссии Аполлон 11
`Assemble revision 055 of AGC program Comanche by NASA`
`2021113-051. 10:28 Апрель. 1, 1969` Luminary099 | Часть исходного кода для Luminary 1A, лунного модуля (LM) бортового управляющего компьютера Аполлон (AGC) для миссии Аполлон 11
`Assemble revision 001 of AGC program LMY99 by NASA`
`2021112-061. 16:27 Июль. 14, 1969` Ассемблер | yaYUL Контакты | Ron Burkey Вебсайт | www.ibiblio.org/apollo Оцифровка | Исходный код был расшифрован или иным способом адаптирован из оцифрованных изображений печатных копий из музея университета MIT. Оцифровку выполнил Paul Fjeld, упорядочила Deborah Douglas из музея. Огромная благодарность обоим. ### Договор и разрешения *Получено из [CONTRACT_AND_APPROVALS.agc]* Эта AGC программа также должна быть упомянута как Colossus 2A. Эта программа предназначена для использования в командном модуле (CM) как указано в отчете `R-577`. Программа была подготовлена в рамках проекта DSR `55-23870`, при поддержке центра пилотируемых космических кораблей NASA по договору `NAS 9-4065` с участием лаборатории приборостроения, Массачусетского технологического университета (MIT), Кембридж, Массачусетс. Представлено | Роль | Дата :------------------- | :--- | :--- Margaret H. Hamilton | Ведущий программист Colossus
Управление и навигация Аполлон | 28 Март 69 Подтверждено | Роль | Дата :---------------- | :--- | :--- Daniel J. Lickly | Директор, Разработка программы миссии
Программа управления и навигации Аполлона | 28 Март 69 Fred H. Martin | Проектный менеджер Colossus
Программа управления и навигации Аполлона | 28 Март 69 Norman E. Sears | Директор, Разработка миссии
Программа управления и навигации Аполлона | 28 Март 69 Richard H. Battin | Директор, Разработка миссии
Программа управления и навигации Аполлона | 28 Март 69 David G. Hoag | Директор
Программа управления и навигации Аполлона | 28 Март 69 Ralph R. Ragan | Заместитель директора
Лаборатория приборостроения| 28 Март 69 [CONTRACT_AND_APPROVALS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CONTRACT_AND_APPROVALS.agc [1]:https://flat.badgen.net/badge/NASA/Mission%20Overview/0B3D91 [2]:https://www.nasa.gov/mission_pages/apollo/missions/apollo11.html [3]:http://www.ibiblio.org/apollo/ [4]:http://web.mit.edu/museum/ [5]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [6]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [7]:https://github.com/chrislgarry/Apollo-11/blob/master/CONTRIBUTING.md [8]:https://github.com/rburkey2005/virtualagc [SWH]:https://flat.badgen.net/badge/Software%20Heritage/Archive/0B3D91 [SWH_URL]:https://archive.softwareheritage.org/browse/origin/https://github.com/chrislgarry/Apollo-11/ [Comanche]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/1 [ComancheMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/1 [Luminary]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/2 [LuminaryMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/2 ================================================ FILE: Translations/README.si.md ================================================ # ඇපොලෝ-11 [![NASA][1]][2] [![SWH]][SWH_URL] [![Comanche]][ComancheMilestone] [![Luminary]][LuminaryMilestone] 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA], [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdî][KU], [Lietuvių][LT], [Mongolian][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Română][RO], [Suomi][FI], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Беларуская мова][BE], [Русский][RU], [Українська][UK], [العربية][AR], [فارسی][FA], [नेपाली भाषा][NE] [हिंदी][HI_IN], [অসমীয়া][AS_IN], [বাংলা][BD_BN], [မြန်မာ][MM], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN], [മലയാളം][ML], [සිංහල][SI] [AR]:Translations/README.ar.md [AS_IN]:Translations/README.as_in.md [AZ]:Translations/README.az.md [BD_BN]:Translations/README.bd_bn.md [BE]:Translations/README.be.md [CA]:Translations/README.ca.md [CZ]:Translations/README.cz.md [DA]:Translations/README.da.md [DE]:Translations/README.de.md [EN]:README.md [ES]:Translations/README.es.md [FA]:Translations/README.fa.md [FI]:Translations/README.fi.md [FR]:Translations/README.fr.md [GL]:Translations/README.gl.md [GR]:Translations/README.gr.md [HI_IN]:Translations/README.hi_in.md [ID]:Translations/README.id.md [IT]:Translations/README.it.md [JA]:Translations/README.ja.md [KO_KR]:Translations/README.ko_kr.md [KU]:Translations/README.ku.md [LT]:Translations/README.lt.md [MM]:Translations/README.mm.md [MN]:Translations/README.mn.md [NE]:Translations/README.ne.md [NL]:Translations/README.nl.md [NO]:Translations/README.no.md [PL]:Translations/README.pl.md [PT_BR]:Translations/README.pt_br.md [RO]:Translations/README.ro.md [RU]:Translations/README.ru.md [SV]:Translations/README.sv.md [TR]:Translations/README.tr.md [UK]:Translations/README.uk.md [VI]:Translations/README.vi.md [ZH_CN]:Translations/README.zh_cn.md [ZH_TW]:Translations/README.zh_tw.md [ML]:Translations/README.ml.md [SI]:Translations/README.si.md මුල් ඇපොලෝ 11 මගගැසීම් පරිගණකය (AGC) සඳහා වූ මූලාශ්‍ර කේතය — Command Module (Comanche055) සහ Lunar Module (Luminary099) සඳහා. මෙය [Virtual AGC][3] සහ [MIT Museum][4] හි කණ්ඩායම් විසින් ඩිජිටල් කර ඇත. මෙම repository එකේ අරමුණ වන්නේ මුල් ඇපොලෝ 11 මූලාශ්‍ර කේතය එකතැන් කිරීමයි. එබැවින්, මෙම repository එකේ ලියවිලි සහ මුල් Luminary 099 සහ Comanche 055 ස්කෑන් අතර වෙනසක් හෝ දෝෂයක් ඔබ සොයා ගත්තේ නම්, හෝ මම අමතක කළ ගොනු ඇත්නම්, ඒ සඳහා Pull Request (PR) එකක් යැවීමට සාදරයෙන් පිළිගනිමු. ## දායකත්වය (Contributing) Pull Request එකක් යැවීමට පෙර කරුණාකර [CONTRIBUTING.md][7] කියවා බලන්න. ## සංයුක්ත කිරීම (Compiling) ඔබට මුල් මූලාශ්‍ර කේතය compile කිරීමට අවශ්‍ය නම්, [Virtual AGC][8] බලන්න. ## ස්තුති හා ප්‍රශංසා (Attribution) |   |   | | :------------- | :----- | | පිටපත් හිමිකම (Copyright) | Public domain | | Comanche055 | Apollo 11 හි Command Module (CM) සඳහා වූ Colossus 2A මූලාශ්‍ර කේත කොටසක්
`Assemble revision 055 of AGC program Comanche by NASA`
`2021113-051. 10:28 APR. 1, 1969` | | Luminary099 | Apollo 11 හි Lunar Module (LM) සඳහා වූ Luminary 1A මූලාශ්‍ර කේත කොටසක්
`Assemble revision 001 of AGC program LMY99 by NASA`
`2021112-061. 16:27 JUL. 14, 1969` | | අසැම්බ්ලර් (Assembler) | yaYUL | | සම්බන්ධවිය හැකි පුද්ගලයා | Ron Burkey | | වෙබ් අඩවිය | www.ibiblio.org/apollo | | ඩිජිටල් කිරීම | මෙම මූලාශ්‍ර කේතය MIT Museum හි hardcopy පිටපත් වලින් ඩිජිටල් කර අලුත් විධියකට පරිවර්තනය කර ඇත. ඩිජිටල් කිරීම සිදුකළේ Paul Fjeld විසින්ය, සහ Deborah Douglas විසින් MIT Museum වෙනුවෙන් ඒ සඳහා සහය දැක්වීය. දෙදෙනාටම ස්තුතියි. | ### ගිවිසුම් සහ අනුමත කිරීම් (Contract and Approvals) *[CONTRACT_AND_APPROVALS.agc] සිට ආදේශ කර ඇත* මෙම AGC වැඩසටහන **Colossus 2A** ලෙසද හැඳින්වේ. මෙය Command Module තුළ භාවිතය සඳහා අදහස් කර ඇති වැඩසටහනකි, එය `R-577` වාර්තාවේ විස්තර කර ඇත. මෙම වැඩසටහන DSR project `55-23870` යටතේ, NASA විසින් MIT හි Instrumentation Laboratory වෙත ලබාදුන් `NAS 9-4065` ගිවිසුම යටතේ සකස් කරන ලදී. | ඉදිරිපත් කළේ | භූමිකාව | දිනය | | :------------------- | :--- | :--- | | Margaret H. Hamilton | Colossus Programming Leader
Apollo Guidance and Navigation | 28 Mar 69 | | අනුමත කළේ | භූමිකාව | දිනය | | :---------------- | :--- | :--- | | Daniel J. Lickly | Director, Mission Program Development
Apollo Guidance and Navigation Program | 28 Mar 69 | | Fred H. Martin | Colossus Project Manager
Apollo Guidance and Navigation Program | 28 Mar 69 | | Norman E. Sears | Director, Mission Development
Apollo Guidance and Navigation Program | 28 Mar 69 | | Richard H. Battin | Director, Mission Development
Apollo Guidance and Navigation Program | 28 Mar 69 | | David G. Hoag | Director
Apollo Guidance and Navigation Program | 28 Mar 69 | | Ralph R. Ragan | Deputy Director
Instrumentation Laboratory | 28 Mar 69 | [CONTRACT_AND_APPROVALS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CONTRACT_AND_APPROVALS.agc [1]:https://flat.badgen.net/badge/NASA/Mission%20Overview/0B3D91 [2]:https://www.nasa.gov/mission_pages/apollo/missions/apollo11.html [3]:http://www.ibiblio.org/apollo/ [4]:http://web.mit.edu/museum/ [5]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [6]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [7]:https://github.com/chrislgarry/Apollo-11/blob/master/CONTRIBUTING.md [8]:https://github.com/rburkey2005/virtualagc [SWH]:https://flat.badgen.net/badge/Software%20Heritage/Archive/0B3D91 [SWH_URL]:https://archive.softwareheritage.org/browse/origin/https://github.com/chrislgarry/Apollo-11/ [Comanche]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/1 [ComancheMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/1 [Luminary]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/2 [LuminaryMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/2 ================================================ FILE: Translations/README.sv.md ================================================ # Apollo-11 [![NASA][1]][2] [![SWH]][SWH_URL] [![Comanche]][ComancheMilestone] [![Luminary]][LuminaryMilestone] 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA], [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdî][KU], [Lietuvių][LT], [Mongolian][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Română][RO], [Suomi][FI], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Беларуская мова][BE], [Русский][RU], [Українська][UK], [العربية][AR], [فارسی][FA], [नेपाली भाषा][NE] [हिंदी][HI_IN], [অসমীয়া][AS_IN], [বাংলা][BD_BN], [မြန်မာ][MM], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:README.ar.md [AS_IN]:README.as_in.md [AZ]:README.az.md [BD_BN]:README.bd_bn.md [BE]:README.be.md [CA]:README.ca.md [CZ]:README.cz.md [DA]:README.da.md [DE]:README.de.md [EN]:../README.md [ES]:README.es.md [FA]:README.fa.md [FI]:README.fi.md [FR]:README.fr.md [GL]:README.gl.md [GR]:README.gr.md [HI_IN]:README.hi_in.md [ID]:README.id.md [IT]:README.it.md [JA]:README.ja.md [KO_KR]:README.ko_kr.md [KU]:README.ku.md [LT]:README.lt.md [MM]:README.mm.md [MN]:README.mn.md [NE]:README.ne.md [NL]:README.nl.md [NO]:README.no.md [PL]:README.pl.md [PT_BR]:README.pt_br.md [RO]:README.ro.md [RU]:README.ru.md [SV]:README.sv.md [TR]:README.tr.md [UK]:README.uk.md [VI]:README.vi.md [ZH_CN]:README.zh_cn.md [ZH_TW]:README.zh_tw.md Original Apollo 11 guidance computer (AGC) källkod för Command Module (Comanche055) och Lunar Module (Luminary099). Digitaliserad av folket på [Virtual AGC][3] och [MIT Museum][4]. Målet är att vara ett kodarkiv för den ursprungliga Apollo 11-källkoden. Som sådan är PR:er välkomna för alla problem som identifieras mellan transkriptionerna i detta arkiv och de ursprungliga källsökningarna för [Luminary 099][5] och [Comanche 055][6], såväl bortglömda filer. ## Bidra Läs [CONTRIBUTING.sv.md][7] innan du öppnar en "pull request". ## Kompilering Om du är intresserad av att kompilera den ursprungliga källkoden, kolla ut [Virtuell AGC][8]. ## Tillskrivning   |   :------------- | :----- Upphovsrätt | Allmän egendom Comanche055 | En del av källkoden för Colossus 2A, Command Modules (CM) Apollo Guidance Computer (AGC) för Apollo 11
`Assemble revision 055 of AGC program Comanche by NASA`
`2021113-051. 10:28 APR. 1, 1969` Luminary099 | En del av källkoden för Luminary 1A, Lunar Modules (LM) Apollo Guidance Computer (AGC) för Apollo 11
`Assemble revision 001 of AGC program LMY99 by NASA`
`2021112-061. 16:27 JUL. 14, 1969` Assemblerare | yaYUL Kontakt | Ron Burkey Webbplats | www.ibiblio.org/apollo Digitalisering | Denna källkod har transkriberats eller på annat sätt anpassats från digitaliserade bilder av en papperskopia från MIT Museum. Digitaliseringen utfördes av Paul Fjeld och arrangerades av Deborah Douglas från museet. Stort tack till båda. ### Kontrakt och godkännanden *Härrör från [CONTRACT_AND_APPROVALS.agc]* Detta AGC-program kommer också att kallas Colossus 2A. Det här programmet är avsett för användning i kommandomodulen som specificeras i rapporten `R-577`. Detta program förbereddes under DSR-projektet `55-23870`, sponsrat av Manned Spacecraft Center vid National Aeronautics and Space Administration genom kontraktet `NAS 9-4065` med Instrumentation Laboratory, Massachusetts Institute of Technology, Cambridge, Mass. Inskickad av | Roll | Datum :------------------- | :--- | :--- Margaret H. Hamilton | Colossus Programming Leader
Apollo Guidance and Navigation | 28 Mar 69 Godkänd av | Roll | Datum :---------------- | :--- | :--- Daniel J. Lickly | Director, Mission Program Development
Apollo Guidance and Navigation Program | 28 Mar 69 Fred H. Martin | Colossus Project Manager
Apollo Guidance and Navigation Program | 28 Mar 69 Norman E. Sears | Director, Mission Development
Apollo Guidance and Navigation Program | 28 Mar 69 Richard H. Battin | Director, Mission Development
Apollo Guidance and Navigation Program | 28 Mar 69 David G. Hoag | Director
Apollo Guidance and Navigation Program | 28 Mar 69 Ralph R. Ragan | Deputy Director
Instrumentation Laboratory | 28 Mar 69 [CONTRACT_AND_APPROVALS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CONTRACT_AND_APPROVALS.agc [1]:https://flat.badgen.net/badge/NASA/Mission%20Overview/0B3D91 [2]:https://www.nasa.gov/mission_pages/apollo/missions/apollo11.html [3]:http://www.ibiblio.org/apollo/ [4]:http://web.mit.edu/museum/ [5]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [6]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [7]:https://github.com/chrislgarry/Apollo-11/blob/master/Translations/CONTRIBUTING.sv.md [8]:https://github.com/rburkey2005/virtualagc [SWH]:https://flat.badgen.net/badge/Software%20Heritage/Archive/0B3D91 [SWH_URL]:https://archive.softwareheritage.org/browse/origin/https://github.com/chrislgarry/Apollo-11/ [Comanche]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/1 [ComancheMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/1 [Luminary]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/2 [LuminaryMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/2 ================================================ FILE: Translations/README.tr.md ================================================ # Apollo-11 [![NASA][1]][2] [![SWH]][SWH_URL] [![Comanche]][ComancheMilestone] [![Luminary]][LuminaryMilestone] 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA], [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdî][KU], [Lietuvių][LT], [Mongolian][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Română][RO], [Suomi][FI], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Беларуская мова][BE], [Русский][RU], [Українська][UK], [العربية][AR], [فارسی][FA], [नेपाली भाषा][NE] [हिंदी][HI_IN], [অসমীয়া][AS_IN], [বাংলা][BD_BN], [မြန်မာ][MM], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:README.ar.md [AS_IN]:README.as_in.md [AZ]:README.az.md [BD_BN]:README.bd_bn.md [BE]:README.be.md [CA]:README.ca.md [CZ]:README.cz.md [DA]:README.da.md [DE]:README.de.md [EN]:../README.md [ES]:README.es.md [FA]:README.fa.md [FI]:README.fi.md [FR]:README.fr.md [GL]:README.gl.md [GR]:README.gr.md [HI_IN]:README.hi_in.md [ID]:README.id.md [IT]:README.it.md [JA]:README.ja.md [KO_KR]:README.ko_kr.md [KU]:README.ku.md [LT]:README.lt.md [MM]:README.mm.md [MN]:README.mn.md [NE]:README.ne.md [NL]:README.nl.md [NO]:README.no.md [PL]:README.pl.md [PT_BR]:README.pt_br.md [RO]:README.ro.md [RU]:README.ru.md [SV]:README.sv.md [TR]:README.tr.md [UK]:README.uk.md [VI]:README.vi.md [ZH_CN]:README.zh_cn.md [ZH_TW]:README.zh_tw.md Orijinal Apollo 11 Yönlendirme Bilgisayarı'nın (AGC) Komuta Modülü (Comanche055) ve Ay Modülü (Luminary099)'nün kaynak kodu. [Virtual AGC][3] ve [MIT Museum][4] çalışanları tarafından sayısallaştırılmıştır. Amaç orijinal Apollo 11 kaynak kodunu içeren bir repo oluşturmak. Bu yüzden, bu repodaki transkriptler ile orijinal [Luminary 099][5] ve [Comanche 055][6] kaynak taramaları arasında tespit edilen hatalarla ilgili veya benim kaçırdığım herhangi bir dosya hakkında yollanacak pull request'lere açığız. ## Katkıda Bulunma Lütfen pull request açmadan [CONTRIBUTING.tr.md][7] dosyasını okuyun. ## Derleme Eğer orijinal kaynak kodu derlemek isterseniz, [Virtual AGC][8] projesine bakabilirsiniz. ## Nitelikler   |   :-------------- | :----- Lisans | Kamu malı - ABD hükümeti çalışması Comanche055 | Apollo Yönlendirme Bilgisayarı (AGC)'nin Komuta Modülü (CM) olan Colossus 2A'nın kaynak kodunun bir parçası.
`AGC programı Comanche'nin NASA tarafından yapılan 055 sayılı birleştirme revizyonu`
`2021113-051. 10:28 NİS. 1, 1969` Luminary099 | Apollo Yönlendirme Bilgisayarı (AGC)'nin Ay Modülü (LM) olan Luminary 1A'in kaynak kodunun bir parçası.
`AGC Programı LMY99'un NASA tarafından yapılan 001 sayılı birleştirme revizyonu`
`2021112-061. 16:27 TEM. 14, 1969` Derleyici | yaYUL İletişim | Ron Burkey Internet Sitesi | www.ibiblio.org/apollo Sayısallaştırma | Bu kaynak kodu MIT Müzesi'ndeki basılı kopyaların fotoğraflarından uyarlanmış veya aktarılmıştır. Sayısallaştırma Müze çalışanı Deborah Douglas tarafından ayarlanmış, Paul Fjeld tarafından yapılmıştır. İkisine de çok teşekkürler. ### İletişim ve Onaylar *[CONTRACT_AND_APPROVALS.agc]'den alınmıştır.* Bu AGC programı Colossus 2A olarak da bilinir. Rapor `R-577`'de belirtildiği gibi, bu program CM için kullanım amacıyla hazırlanmıştır. Bu program DSR `55-23870` projesi altında, Ulusal Havacılık ve Uzay İdaresi Uzay Aracı Merkezi'nin sponsorluğunda, Cambridge Mass Massachusetts Teknoloji Enstitüsü Enstrümantasyon Laboratuvarı ile yapılan `NAS 9-4065` anlaşması ile hazırlanmıştır. Gönderen | Mevkisi | Tarih :------------------- | :------ | :---- Margaret H. Hamilton | Colossus Programlama Lideri
Apollo Yönlendirme ve Navigasyon | 28 Mar 69 Onaylayan | Mevkisi | Tarih :---------------- | :------ | :---- Daniel J. Lickly | Direktör, Görev Programı Geliştirme
Apollo Yönlendirme ve Navigasyon Programı | 28 Mart 1969 Fred H. Martin | Colossus Proje Yöneticisi
Apollo Yönlendirme ve Navigasyon Programı | 28 Mart 1969 Norman E. Sears | Direktör, Görev Geliştirme
Apollo Yönlendirme ve Navigasyon Programı | 28 Mart 1969 Richard H. Battin | Direktör, Görev Geliştirme
Apollo Yönlendirme ve Navigasyon Programı | 28 Mart 1969 David G. Hoag | Direktör
Apollo Yönlendirme ve Navigasyon Programı | 28 Mart 1969 Ralph R. Ragan | Direktör Yardımcısı
Enstrümantasyon Laboratuvarı | 28 Mart 1969 [CONTRACT_AND_APPROVALS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CONTRACT_AND_APPROVALS.agc [1]:https://flat.badgen.net/badge/NASA/Mission%20Overview/0B3D91 [2]:https://www.nasa.gov/mission_pages/apollo/missions/apollo11.html [3]:http://www.ibiblio.org/apollo/ [4]:http://web.mit.edu/museum/ [5]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [6]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [7]:https://github.com/chrislgarry/Apollo-11/blob/master/Translations/CONTRIBUTING.tr.md [8]:https://github.com/rburkey2005/virtualagc [SWH]:https://flat.badgen.net/badge/Software%20Heritage/Archive/0B3D91 [SWH_URL]:https://archive.softwareheritage.org/browse/origin/https://github.com/chrislgarry/Apollo-11/ [Comanche]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/1 [ComancheMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/1 [Luminary]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/2 [LuminaryMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/2 ================================================ FILE: Translations/README.uk.md ================================================ # Аполлон-11 [![NASA][1]][2] [![SWH]][SWH_URL] [![Comanche]][ComancheMilestone] [![Luminary]][LuminaryMilestone] 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA], [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdî][KU], [Lietuvių][LT], [Mongolian][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Română][RO], [Suomi][FI], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Беларуская мова][BE], [Русский][RU], [Українська][UK], [العربية][AR], [فارسی][FA], [नेपाली भाषा][NE] [हिंदी][HI_IN], [অসমীয়া][AS_IN], [বাংলা][BD_BN], [မြန်မာ][MM], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:README.ar.md [AS_IN]:README.as_in.md [AZ]:README.az.md [BD_BN]:README.bd_bn.md [BE]:README.be.md [CA]:README.ca.md [CZ]:README.cz.md [DA]:README.da.md [DE]:README.de.md [EN]:../README.md [ES]:README.es.md [FA]:README.fa.md [FI]:README.fi.md [FR]:README.fr.md [GL]:README.gl.md [GR]:README.gr.md [HI_IN]:README.hi_in.md [ID]:README.id.md [IT]:README.it.md [JA]:README.ja.md [KO_KR]:README.ko_kr.md [KU]:README.ku.md [LT]:README.lt.md [MM]:README.mm.md [MN]:README.mn.md [NE]:README.ne.md [NL]:README.nl.md [NO]:README.no.md [PL]:README.pl.md [PT_BR]:README.pt_br.md [RO]:README.ro.md [RU]:README.ru.md [SV]:README.sv.md [TR]:README.tr.md [UK]:README.uk.md [VI]:README.vi.md [ZH_CN]:README.zh_cn.md [ZH_TW]:README.zh_tw.md Оригінальний вихідний код бортового навігаційного комп’ютера Аполлон 11 (AGC) для командного модулю (Comanche055) і місячного модулю (Luminary099). Оцифровано співробітниками з [Virtual AGC][3] та [MIT Museum][4]. Мета полягає у створенні репозиторію для оригінального вихідного коду Аполлону 11. Таким чином, PR вітаються щодо будь-яких проблем, виявлених між розшифровками в цьому сховищі та сканованим оригінальними вихідним кодом для [Luminary 099][5] та [Comanche 055][6], а також будь-яких файлів, які я можу пропустити. ## Внесок Будь ласка, прочитайте [CONTRIBUTING.md][7] перш ніж відкривати запит на pull request. ## Компіляція Якщо ви зацікавлені в компіляції оригінального вихідного коду, перевірте [Virtual AGC][8]. ## Атрибути   |   :-------------- | :----- Авторське право | Суспільне надбання Comanche055 | Частина вихідного коду для Colossus 2A, командного модулю (CM) комп’ютера керування Apollo Guidance Computer (AGC) для Аполлону 11
`Збірна версія 055 програми AGC Comanche від NASA`
`2021113-051. 10:28 APR. 1, 1969` Luminary099 | Частина вихідного коду для 1A, місячного модулю (LM) комп’ютера керування Apollo Guidance Computer (AGC) для Аполлону 11
`Збірна версія 001 програми AGC LMY99 від NASA`
`2021112-061. 16:27 JUL. 14, 1969` Ассемблер | yaYUL Контакт | Ron Burkey Вебсайт | www.ibiblio.org/apollo Оцифрування | Цей вихідний код було переписано або іншим чином адаптовано з оцифрованих зображень друкованої копії з Музею MIT. Оцифровку виконав Paul Fjeld, а організувала Deborah Douglas з Музею. Велика подяка обом. ### Контракт і погодження *Отримано з [CONTRACT_AND_APPROVALS.agc]* Ця програма AGC також має назву Colossus 2A. Ця програма призначена для використання у командному модулі (CM), як зазначено у звіті `R-577`. Її було підготовано в рамках проекту DSR `55-23870`, який спонсорується Центром пілотованих космічних кораблів Національного управління з аеронавтики та дослідження космічного простору за контрактом `NAS 9-4065` спільно із Лабораторією приладобудування Массачусетського технологічного інституту, Кембридж, Массачусетс. Надано | Роль | Дата :------------------- | :--- | :--- Margaret H. Hamilton | Керівниця програмування Colossus
Навігація та орієнтування Аполлону | 28 Бер 69 Затверджено | Роль | Дата :---------------- | :--- | :--- Daniel J. Lickly | Директор, Розробка програми місії
Програма навігації та орієнтування Аполлону | 28 Бер 69 Fred H. Martin | Керівник проекту Colossus
Програма навігації та орієнтування Аполлону | 28 Бер 69 Norman E. Sears | Директор, розробка місії
Програма навігації та орієнтування Аполлону | 28 Бер 69 Richard H. Battin | Директор, розробка місії
Програма навігації та орієнтування Аполлону | 28 Бер 69 David G. Hoag | Директор
Програма навігації та орієнтування Аполлону | 28 Бер 69 Ralph R. Ragan | Заступник директора
Лабораторія приладобудування | 28 Бер 69 [CONTRACT_AND_APPROVALS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CONTRACT_AND_APPROVALS.agc [1]:https://flat.badgen.net/badge/NASA/Mission%20Overview/0B3D91 [2]:https://www.nasa.gov/mission_pages/apollo/missions/apollo11.html [3]:http://www.ibiblio.org/apollo/ [4]:http://web.mit.edu/museum/ [5]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [6]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [7]:https://github.com/chrislgarry/Apollo-11/blob/master/CONTRIBUTING.md [8]:https://github.com/rburkey2005/virtualagc [SWH]:https://flat.badgen.net/badge/Software%20Heritage/Archive/0B3D91 [SWH_URL]:https://archive.softwareheritage.org/browse/origin/https://github.com/chrislgarry/Apollo-11/ [Comanche]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/1 [ComancheMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/1 [Luminary]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/2 [LuminaryMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/2 ================================================ FILE: Translations/README.vi.md ================================================ # Apollo-11 [![NASA][1]][2] [![SWH]][SWH_URL] [![Comanche]][ComancheMilestone] [![Luminary]][LuminaryMilestone] 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA], [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdî][KU], [Lietuvių][LT], [Mongolian][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Română][RO], [Suomi][FI], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Беларуская мова][BE], [Русский][RU], [Українська][UK], [العربية][AR], [فارسی][FA], [नेपाली भाषा][NE] [हिंदी][HI_IN], [অসমীয়া][AS_IN], [বাংলা][BD_BN], [မြန်မာ][MM], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:README.ar.md [AS_IN]:README.as_in.md [AZ]:README.az.md [BD_BN]:README.bd_bn.md [BE]:README.be.md [CA]:README.ca.md [CZ]:README.cz.md [DA]:README.da.md [DE]:README.de.md [EN]:../README.md [ES]:README.es.md [FA]:README.fa.md [FI]:README.fi.md [FR]:README.fr.md [GL]:README.gl.md [GR]:README.gr.md [HI_IN]:README.hi_in.md [ID]:README.id.md [IT]:README.it.md [JA]:README.ja.md [KO_KR]:README.ko_kr.md [KU]:README.ku.md [LT]:README.lt.md [MM]:README.mm.md [MN]:README.mn.md [NE]:README.ne.md [NL]:README.nl.md [NO]:README.no.md [PL]:README.pl.md [PT_BR]:README.pt_br.md [RO]:README.ro.md [RU]:README.ru.md [SV]:README.sv.md [TR]:README.tr.md [UK]:README.uk.md [VI]:README.vi.md [ZH_CN]:README.zh_cn.md [ZH_TW]:README.zh_tw.md Mã nguồn của máy tính hướng dẫn Apollo 11 (AGC) thông qua Command Module (Comanche055) và Lunar Module (Luminary099). Được số hóa bởi những người ở [Virtual AGC][3] và [Bảo tàng MIT][4]. Mục tiêu là tạo ra một repo lưu trữ mã nguồn cho Apollo 11. Do vậy, yêu cầu đóng góp (pull request) là một điều bình thường cho bất kì một vấn đề được xác định giữa các bản dịch trong repo này và nguồn gốc quét mã cho [Luminary 099][5] và [Comanche 055][6], cũng như bất kì file nào mà chúng tôi có thể bỏ lỡ. ## Đóng góp Hãy đọc [CONTRIBUTING.md][7] trước khi bạn mở một pull request. ## Biên dịch Nếu bạn quan tâm đến việc biên dịch mã nguồn, hãy kiểm tra [Virtual AGC][8]. ## Ghi nhận công sức và đóng góp   |   :---------- | :----- Bản quyền | Tài nguyên công cộng Comanche055 | Một phần của mã nguồn cho Colossus 2A, Command Module's (CM) Apollo Guidance Computer (AGC) cho Apollo 11
`Tập hợp sửa đổi 055 của AGC chương trình Comanche bởi NASA`
`2021113-051. 10:28 APR. 1, 1969` Luminary099 | Một phần của mã nguồn cho Luminary 1A, Lunar Module's (LM) Apollo Guidance Computer (AGC) cho Apollo 11
`Tập hợp sửa đổi 001 của AGC chương trình LMY99 bởi NASA`
`2021112-061. 16:27 JUL. 14, 1969` Assembler | yaYUL Liên hệ | Ron Burkey Website | www.ibiblio.org/apollo Số hóa | Mã nguồn này đã được sao chép hoặc chuyển thể từ các hình ảnh số hóa trong đĩa cứng từ Bảo tàng MIT. Việc số hóa được thực hiện bởi Paul Fjeld và được sắp xếp bởi Deborah Douglas của Bảo tàng. Rất cám ơn cả hai. ### Hợp đồng và Phê duyệt *Có nguồn gốc từ [CONTRACT_AND_APPROVALS.agc]* Chương trình AGC này cũng sẽ được gọi là Colossus 2A. Chương trình này được thiết kế để sử dụng trong Mô-đun Chỉ huy (Command Module) như được chỉ định trong báo cáo `R-577`. Chương trình này được chuẩn bị theo dự án DSR `55-23870`, được tài trợ bởi Trung tâm tàu vũ trụ có người lái của Cơ quan hàng không vũ trụ quốc gia (Manned Spacecraft Center of The National Aeronautics and Space Administration) thông qua hợp đồng `NAS 9-4065` với Phòng thí nghiệm thiết bị (Instrumentation Laboratory), Viện công nghệ Massachusetts (Massachusetts Institute of Technology), Cambridge, Mass. Gửi bởi | Vai trò | Ngày :------------------- | :------ | :--- Margaret H. Hamilton | Trưởng nhóm lập trình Colossus
Hướng dẫn và định hướng Apollo | 28 Mar 69 Được chấp nhận bởi | Vai trò | Ngày :---------------- | :------ | :--- Daniel J. Lickly | Giám đốc, Nhiệm vụ phát triên chương trình
Hướng dẫn và định hướng chương trình Apollo | 28 Mar 69 Fred H. Martin | Quản lý dự án Colossus
Hướng dẫn và định hướng chương trình Apollo | 28 Mar 69 Norman E. Sears | Giám đốc, Nhiệm vụ phát triển
Hướng dẫn và định hướng chương trình Apollo | 28 Mar 69 Richard H. Battin | Giám đốc, Nhiệm vụ phát triển
Hướng dẫn và định hướng chương trình Apollo | 28 Mar 69 David G. Hoag | Giám đốc
Hướng dẫn và định hướng chương trình Apollo | 28 Mar 69 Ralph R. Ragan | Phó Giám đốc
Phòng thí nghiệm thiết bị | 28 Mar 69 [CONTRACT_AND_APPROVALS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CONTRACT_AND_APPROVALS.agc [1]:https://flat.badgen.net/badge/NASA/Mission%20Overview/0B3D91 [2]:https://www.nasa.gov/mission_pages/apollo/missions/apollo11.html [3]:http://www.ibiblio.org/apollo/ [4]:http://web.mit.edu/museum/ [5]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [6]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [7]:https://github.com/chrislgarry/Apollo-11/blob/master/CONTRIBUTING.md [8]:https://github.com/rburkey2005/virtualagc [SWH]:https://flat.badgen.net/badge/Software%20Heritage/Archive/0B3D91 [SWH_URL]:https://archive.softwareheritage.org/browse/origin/https://github.com/chrislgarry/Apollo-11/ [Comanche]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/1 [ComancheMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/1 [Luminary]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/2 [LuminaryMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/2 ================================================ FILE: Translations/README.zh_cn.md ================================================ # 阿波罗 11 号 [![NASA][1]][2] [![SWH]][SWH_URL] [![Comanche]][ComancheMilestone] [![Luminary]][LuminaryMilestone] 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA], [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdî][KU], [Lietuvių][LT], [Mongolian][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Română][RO], [Suomi][FI], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Беларуская мова][BE], [Русский][RU], [Українська][UK], [العربية][AR], [فارسی][FA], [नेपाली भाषा][NE] [हिंदी][HI_IN], [অসমীয়া][AS_IN], [বাংলা][BD_BN], [မြန်မာ][MM], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:README.ar.md [AS_IN]:README.as_in.md [AZ]:README.az.md [BD_BN]:README.bd_bn.md [BE]:README.be.md [CA]:README.ca.md [CZ]:README.cz.md [DA]:README.da.md [DE]:README.de.md [EN]:../README.md [ES]:README.es.md [FA]:README.fa.md [FI]:README.fi.md [FR]:README.fr.md [GL]:README.gl.md [GR]:README.gr.md [HI_IN]:README.hi_in.md [ID]:README.id.md [IT]:README.it.md [JA]:README.ja.md [KO_KR]:README.ko_kr.md [KU]:README.ku.md [LT]:README.lt.md [MM]:README.mm.md [MN]:README.mn.md [NE]:README.ne.md [NL]:README.nl.md [NO]:README.no.md [PL]:README.pl.md [PT_BR]:README.pt_br.md [RO]:README.ro.md [RU]:README.ru.md [SV]:README.sv.md [TR]:README.tr.md [UK]:README.uk.md [VI]:README.vi.md [ZH_CN]:README.zh_cn.md [ZH_TW]:README.zh_tw.md 阿波罗 11 号制导计算机（AGC）中指令模块（Comanche055）和登月模块（Luminary099）原始代码。由 [虚拟 AGC][3] 和 [MIT 科学博物馆][4] 的伙计们完成电子化。本仓库存在的目的是存储阿波罗 11 号原始代码。当然，倘若在本仓库或原始代码扫描件 [Luminary 099][5] 及 [Comanche 055][6] 发现问题，或者任何我可能漏掉的文件，欢迎提交 PR。 ## 贡献 在提交 pull request 之前，请先阅读 [CONTRIBUTING.zh_cn.md][7]。 ## 编译 如果您对编译原始代码有兴趣的话，请查阅 [虚拟 AGC][8] 的文档。 ## 归属   |   :---------- | :----- 版权 | 公共领域。 Comanche055 | 阿波罗 11 号制导计算机（AGC）中的指令模块（CM）, Colossus 2A 的部分源代码
`Assemble revision 055 of AGC program Comanche by NASA`
`2021113-051. 10:28 APR. 1, 1969` Luminary099 | 阿波罗 11 号制导计算机（AGC）中的登月模块（LM）, Luminary 1A 的部分源代码
`Assemble revision 001 of AGC program LMY99 by NASA`
`2021112-061. 16:27 JUL. 14, 1969` 汇编程序 | yaYUL 联系人 | Ron Burkey 网站 | www.ibiblio.org/apollo 数字化 | 该源代码从 MIT 科学博物馆的印刷本电子化图片抄录、改编而来。电子化工作由 Paul Fjeld 完成，并由该馆的 Deborah Douglas 进一步整理。由衷地感激两位。 ### 协议与许可 *派生于 [CONTRACT_AND_APPROVALS.agc]* 本 AGC 程序亦可称为：Colossus 2A 根据第 R-577 报告，本程序被用于指令模块。本程序是在 DSR 项目 55-23870 下编写的。该项目由（美国）国家航空航天局载人航天中心与位于马萨诸塞州剑桥的麻省理工学院 The Instrumentation Laboratory 实验室签属的第 NAS 9-4065 号合同进行资助。 提交者 | Role | 日期 :------------------- | :--- | :-- Margaret H. Hamilton | Colossus 程序设计负责人
阿波罗制导 | 1969 年 3 月 28 日 核准人 | Role | 日期 :---------------- | :--- | :-- Daniel J. Lickly | 负责人、任务程序开发
阿波罗制导程序 | 1969 年 3 月 28 日 Fred H. Martin | Colossus 项目经理
阿波罗制导程序 | 1969 年 3 月 28 日 Norman E. Sears | 负责人、任务开发
阿波罗制导程序 | 1969 年 3 月 28 日 Richard H. Battin | 负责人、任务开发
阿波罗制导程序 | 1969 年 3 月 28 日 David G. Hoag | 负责人
阿波罗制导程序 | 1969 年 3 月 28 日 Ralph R. Ragan | 副负责人
Instrumentation Laboratory | 1969 年 3 月 28 日 [CONTRACT_AND_APPROVALS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CONTRACT_AND_APPROVALS.agc [1]:https://flat.badgen.net/badge/NASA/Mission%20Overview/0B3D91 [2]:https://www.nasa.gov/mission_pages/apollo/missions/apollo11.html [3]:http://www.ibiblio.org/apollo/ [4]:http://web.mit.edu/museum/ [5]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [6]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [7]:https://github.com/chrislgarry/Apollo-11/blob/master/Translations/CONTRIBUTING.zh_cn.md [8]:https://github.com/rburkey2005/virtualagc [SWH]:https://flat.badgen.net/badge/Software%20Heritage/Archive/0B3D91 [SWH_URL]:https://archive.softwareheritage.org/browse/origin/https://github.com/chrislgarry/Apollo-11/ [Comanche]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/1 [ComancheMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/1 [Luminary]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/2 [LuminaryMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/2 ================================================ FILE: Translations/README.zh_tw.md ================================================ # 阿波羅 11 號 [![NASA][1]][2] [![SWH]][SWH_URL] [![Comanche]][ComancheMilestone] [![Luminary]][LuminaryMilestone] 🌐 [Azerbaijani][AZ], [bahasa Indonesia][ID], [Català][CA], [Čeština][CZ], [Dansk][DA], [Deutsch][DE], [English][EN], [Español][ES], [Français][FR], [Galego][GL], [Italiano][IT], [Kurdî][KU], [Lietuvių][LT], [Mongolian][MN], [Nederlands][NL], [Norsk][NO], [Polski][PL], [Português][PT_BR], [Română][RO], [Suomi][FI], [Svenska][SV], [tiếng Việt][VI], [Türkçe][TR], [Ελληνικά][GR], [Беларуская мова][BE], [Русский][RU], [Українська][UK], [العربية][AR], [فارسی][FA], [नेपाली भाषा][NE] [हिंदी][HI_IN], [অসমীয়া][AS_IN], [বাংলা][BD_BN], [မြန်မာ][MM], [한국어][KO_KR], [日本語][JA], [正體中文][ZH_TW], [简体中文][ZH_CN] [AR]:README.ar.md [AS_IN]:README.as_in.md [AZ]:README.az.md [BD_BN]:README.bd_bn.md [BE]:README.be.md [CA]:README.ca.md [CZ]:README.cz.md [DA]:README.da.md [DE]:README.de.md [EN]:../README.md [ES]:README.es.md [FA]:README.fa.md [FI]:README.fi.md [FR]:README.fr.md [GL]:README.gl.md [GR]:README.gr.md [HI_IN]:README.hi_in.md [ID]:README.id.md [IT]:README.it.md [JA]:README.ja.md [KO_KR]:README.ko_kr.md [KU]:README.ku.md [LT]:README.lt.md [MM]:README.mm.md [MN]:README.mn.md [NE]:README.ne.md [NL]:README.nl.md [NO]:README.no.md [PL]:README.pl.md [PT_BR]:README.pt_br.md [RO]:README.ro.md [RU]:README.ru.md [SV]:README.sv.md [TR]:README.tr.md [UK]:README.uk.md [VI]:README.vi.md [ZH_CN]:README.zh_cn.md [ZH_TW]:README.zh_tw.md 最初用於阿波羅 11 號的導航電腦 (Apollo 11 Guidance computer, AGC) 裡頭駕駛艙 (Comanche055) 和登月艙 (Luminary099) 的原始程式碼，由 [Virtual AGC](http://www.ibiblio.org/apollo/) 及 [MIT Museum](http://web.mit.edu/museum/) 的工作人員進行數位化，著眼於建立阿波羅 11 號原始程式碼的封存。正因如此，若您發現文件抄錄或於查看 [Luminary 099](http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/) 和 [Comanche 055](http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/) 這兩部分原始程式碼過程中遇到問題的話，歡迎提交 pull request。當然，也包括那些我可能遺忘的檔案。 ## 編譯 若您對編譯原始程式碼有興趣，請見 [Virtual AGC](https://github.com/rburkey2005/virtualagc)。 ## 資訊和專案屬性   |   :---------- | :----- 授權聲明 | 公有領域 (Public domain) Comanche055 | Part of the source code for Colossus 2A, the Command Module's (CM) Apollo Guidance Computer (AGC) for Apollo 11
`Assemble revision 055 of AGC program Comanche by NASA`
`2021113-051. 10:28 APR. 1, 1969` Luminary099 | Part of the source code for Luminary 1A, the Lunar Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11
`Assemble revision 001 of AGC program LMY99 by NASA`
`2021112-061. 16:27 JUL. 14, 1969` 組譯器 | yaYUL 連絡人 | Ron Burkey 網站 | www.ibiblio.org/apollo 數位化 | 這份原始程式碼整理自 MIT Museum 的數位化影像複印本。數位化由 Paul Fjeld 完成，並經過 MIT Museum 的 Deborah Douglas 整理，在此衷心感激兩位。 ### 合約和表揚（Contract and Approvals） *源自 [CONTRACT_AND_APPROVALS.agc]* 該 AGC 程式也可被稱作: COLOSSUS 2A 如同 R-577 報告指出，該程式主要用於阿波羅駕駛艙。此外，該程式是由 DSR 計劃 55-23870 籌劃，並由(美國)國家航空暨太空總署旗下的載人太空船中心經由合約 NAS 9-4065 資助。該合約是由(美國)實驗儀器公司、麻省理工學院、劍橋大學以及 MASS 共同簽定。 提交者 | Role | 日期 :------------------- | :--- | :-- Margaret H. Hamilton | Colossus 程式設計負責人
阿波羅導引導航系統 | 1969 年 3 月 28 日 核准人 | Role | 日期 :---------------- | :--- | :-- Daniel J. Lickly | 負責人、任務程式開發
阿波羅導引導航程式 | 1969 年 3 月 28 日 Fred H. Martin | Colossus 專案經理
阿波羅導引導航程式 | 1969 年 3 月 28 日 Norman E. Sears | 負責人、任務開發
阿波羅導引導航程式 | 1969 年 3 月 28 日 Richard H. Battin | 負責人、任務開發
阿波羅導引導航程式 | 1969 年 3 月 28 日 David G. Hoag | 負責人
阿波羅導引導航程式 | 1969 年 3 月 28 日 Ralph R. Ragan | 副負責人
(美國)實驗儀器公司 | 1969 年 3 月 28 日 [CONTRACT_AND_APPROVALS.agc]:https://github.com/chrislgarry/Apollo-11/blob/master/Comanche055/CONTRACT_AND_APPROVALS.agc [1]:https://flat.badgen.net/badge/NASA/Mission%20Overview/0B3D91 [2]:https://www.nasa.gov/mission_pages/apollo/missions/apollo11.html [3]:http://www.ibiblio.org/apollo/ [4]:http://web.mit.edu/museum/ [5]:http://www.ibiblio.org/apollo/ScansForConversion/Luminary099/ [6]:http://www.ibiblio.org/apollo/ScansForConversion/Comanche055/ [7]:https://github.com/chrislgarry/Apollo-11/blob/master/CONTRIBUTING.md [8]:https://github.com/rburkey2005/virtualagc [SWH]:https://flat.badgen.net/badge/Software%20Heritage/Archive/0B3D91 [SWH_URL]:https://archive.softwareheritage.org/browse/origin/https://github.com/chrislgarry/Apollo-11/ [Comanche]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/1 [ComancheMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/1 [Luminary]:https://flat.badgen.net/github/milestones/chrislgarry/Apollo-11/2 [LuminaryMilestone]:https://github.com/chrislgarry/Apollo-11/milestone/2 ================================================ FILE: package.json ================================================ { "scripts": { "lint": "markdownlint-cli2 *.md translations/*.md Comanche055/*.md Luminary099/*.md --config .markdownlint.yml", "lint:fix": "markdownlint-cli2 *.md translations/*.md Comanche055/*.md Luminary099/*.md --config .markdownlint.yml --fix" }, "dependencies": {}, "devDependencies": { "markdownlint-cli2": "^0.16.0" } }