https://github.com/virtualagc/virtualagc
Tip revision: 4e5d304eb7cd5589b924ffb8b423b6f15511b35d authored by Ron Burkey on 20 October 2018, 17:47:00 UTC
The sample Block I AGC program TRIVIUM, found at the very end of one of
The sample Block I AGC program TRIVIUM, found at the very end of one of
Tip revision: 4e5d304
ASCENT_GUIDANCE.agc
### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: ASCENT_GUIDANCE.agc
## Purpose: A section of Luminary revision 116.
## It is part of the source code for the Lunar Module's (LM)
## Apollo Guidance Computer (AGC) for Apollo 12.
## This file is intended to be a faithful transcription, except
## that the code format has been changed to conform to the
## requirements of the yaYUL assembler rather than the
## original YUL assembler.
## Reference: pp. 836-851
## Assembler: yaYUL
## Contact: Ron Burkey <info@sandroid.org>.
## Website: www.ibiblio.org/apollo/index.html
## Mod history: 2017-01-22 MAS Created from Luminary 99.
## 2017-03-14 RSB Comment-text fixes identified in 5-way
## side-by-side diff of Luminary 69/99/116/131/210.
## 2017-03-15 HG Transcribed
## Page 836
BANK 34
SETLOC ASCFILT
BANK
EBANK= DVCNTR
COUNT* $$/ASENT
ATMAG TC PHASCHNG
OCT 00035
TC INTPRET
BON
FLRCS
ASCENT
DLOAD DSU
ABDVCONV
MINABDV
BMN CLEAR
ASCTERM4
SURFFLAG
CLEAR SLOAD
RENDWFLG
BIT3H
DDV EXIT
ABDVCONV
DXCH MPAC
DXCH 1/DV3
DXCH 1/DV2
DXCH 1/DV1
DXCH 1/DV0
TC INTPRET
DLOAD DAD
1/DV0
1/DV1
DAD DAD
1/DV2
1/DV3
DMP DMP
VE
2SEC(9)
SL3 PDDL
TBUP
SR1 DAD
DSU
6SEC(18)
STODL TBUP
VE
SR1 DDV
TBUP
STCALL AT
## Page 837
ASCENT
BIT3H OCT 4
## Page 838
BANK 30
SETLOC ASENT
BANK
COUNT* $$/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) (2)
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
STORE GEFF # GEFF*2(10)M/CS/CS.
BOFF CALL # IF P7071FLG = 1 (I.E. P70 OR P71)
P7071FLG # CALL ZDOTCOMP TO UPDATE ZDOTD
+2 # ON THE BASIS OF THE LAST RP.
ZDOTCOMP
+2 DLOAD DSU
ZDOTD
ZDOT
STORE DZDOT # DZDOT = (ZDOTD - ZDOT)*2(7)M/CS.
VXSC PDDL
ZAXIS1
YDOTD
DSU
YDOT
## Page 839
STORE DYDOT # DYDOT = (YDOTD - YDOT)*2(7)M/CS.
VXSC PDDL
LAXIS
RDOTD
DSU
RDOT
STORE DRDOT # DRDOT = (RDOTD - RDOT)*2(7)M/CS.
VXSC VAD
UNIT/R/
VAD VSL1
STADR
STORE VGVECT # VG = (DRDOT)R + (DYDOT)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,DO NORMAL GUIDANCE
MAINENG
DDV # USE TGO=VG/AT WITH RCS
AT/RCS
STCALL TGO # THIS WILL BE USED ON NEXT CYCLE
RPCOMP1 # COMPUTE NEW RR FOR NEXT CYCLE.
GOTO
ASCTERM2
MAINENG DDV PUSH # VG/VE IN PDL(0) (2)
VE
SR1 BDSU # 1 - KT VG/VE
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.
## Page 840
BMN
ENGOFF
T2TEST DLOAD
TGO
DSU BMN # IF TGO - T2 NEG., GO TO CMPONENT
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
STCALL YRATE # D = 0
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)
## Page 841
TGO
STORE PRATE # B * 2(8)
BMN DLOAD # B>0 NOT PERMITTED
CHKBMAG
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*2(-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 BOFF
00D
## Page 842
P7071FLG
+3 # IF P7071FLG = 1 (I.E. P70 OR P71)
CALL # COMPUTE NEW RP FOR NEXT CYCLE.
RPCOMP2
+3 DLOAD DMP
100CS
PRATE # B(T-T0)*2(-9)
DAD DDV # (A+B(T-T0))*2(-9)
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 # (0)
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 AH*2(9)
00D
STODL 00D # STORE NEW AH IN PDL(0)
HI6ZEROS
AIMER SIGN
DZDOT
STORE ATP
VXSC
ZAXIS1 # ATP ZAXIS *2(8).
## Page 843
VSL1 VAD # AT*2(9)
00D
STORE UNFC/2 # WILL BE OVERWRITTEN IF IN VERT. RISE.
SETPD BON
00D
FLPI
P12RET
BON
FLVR
CHECKALT
MAINLINE VLOAD VCOMP
UNIT/R/
STODL UNWC/2
TXO
DSU BPL
PIPTIME
ASCTERM
BON
ROTFLAG
ANG1CHEK
CLRXFLAG CLEAR BON # ALLOW X-AXIS OVERRIDE
XOVINFLG
P7071FLG # ONLY ACTIVATE R29 IF IN P12
ASCTERM
CLEAR
NOR29FLG
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 GODSP
ASCTERM2 EXIT
ASCTERM3 TCF ENDOFJOB
ASCTERM4 EXIT
INHINT
## Page 844
TC IBNKCALL # NO GUIDANCE THIS CYCLE -- HENCE ZERO
CADR STOPRATE # THE DAP COMMANDED RATES.
TCF ASCTERM1 +1
CHECKALT DLOAD DSU
/R/MAG
/LAND/
DSU BMN # IF H LT 25K CHECK Z AXIS ORIENTATION.
25KFT
CHECKYAW
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
## Page 845
CHECKYAW SET
XOVINFLG # PROHIBIT X-AXIS OVERRIDE
DLOAD VXSC
ATY
LAXIS
PDDL VXSC
ATP
ZAXIS1
VAD UNIT
PDDL DSU
RDOT
40FPS
BPL GOTO
EXITVR1
KEEPVR
BANK 5
SETLOC ASENT3
BANK
COUNT* $$/ASENT
40FPS 2DEC 0.12192 B-7
BANK 34
SETLOC ASENT8
BANK
COUNT* $$/ASENT
KEEPVR VLOAD STADR # RECALL LOSVEC FROM PUSHLIST
STORE UNWC/2
KEEPVR1 VLOAD
UNIT/R/
STCALL UNFC/2
ASCTERM
BANK 14
SETLOC ASENT4
BANK
COUNT* $$/ASENT
ENGOFF RTB
LOADTIME
DSU DAD
PIPTIME
TTOGO
DCOMP EXIT
TC TPAGREE # FORCE SIGN AGREEMENT ON MPAC, MPAC +1.
CAF EBANK7
TS EBANK
## Page 846
EBANK= TGO
INHINT
CCS MPAC +1
TCF +3 # C(A) = DT - 1 BIT
TCF +2 # C(A) = 0
CAF ZERO # C(A) = 0
AD BIT1 # C(A) = 1 BIT OR DT.
TS ENGOFFDT
TC TWIDDLE
ADRES ENGOFF1
TC PHASCHNG
OCT 47014
-GENADR ENGOFFDT
EBANK= TGO
2CADR ENGOFF1
TC INTPRET
SET GOTO
IDLEFLAG # DISABLE DELTA-V MONITOR
T2TEST
ENGOFF1 TC IBNKCALL # SHUT OFF THE ENGINE.
CADR ENGINOF2
CAF PRIO17 # SET UP A JOB FOR THE ASCENT GUIDANCE
TC FINDVAC # POSTBURN LOGIC.
EBANK= WHICH
2CADR CUTOFF
TC PHASCHNG
OCT 07024
OCT 17000
EBANK= TGO
2CADR CUTOFF
TCF TASKOVER
CUTOFF TC UPFLAG # SET FLRCS FLAG.
ADRES FLRCS
-5 CAF V16N63
TC BANKCALL
CADR GOFLASH
TCF +3
TCF CUTOFF1
TCF -5
+3 TC POSTJUMP
CADR TERMASC
## Page 847
CUTOFF1 INHINT
TC IBNKCALL # ZERO ATTITUDE ERRORS BEFORE REDUCING DB.
CADR ZATTEROR
TC IBNKCALL
CADR SETMINDB
TC POSTJUMP
CADR CUTOFF2
V16N63 VN 1663
BANK 34
SETLOC ASENT8
BANK
COUNT* $$/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
RPCOMP1 DLOAD # FLRCS = 1 (TRIM MODE)
HI6ZEROS
STORE PCONS # SET PCONS = PRATE = 0 SO THAT
STORE PRATE # RF = R + RDOT TGO
RPCOMP2 DLOAD DMP # FLRCS =C (GUIDANCE MODE)
PRATE # LEAVE FCONS AND PRATE ALONE SO THAT
TGO # RF = R + RDOT TGO + (FCONS*TGC**2)/
DMP DAD # (2 TBUP) + (PRATE*TGO**3)/(6 TBUP)
THIRD
PCONS
DMP DMP
TGO
TGO
DDV SL1
## Page 848
TBUP
DAD PDDL
/R/MAG
RDOT
DMP DAD
TGO
STADR
STORE RP
RVQ
ZDOTCOMP STQ CALL # COMPUTE CETRAL ANGLE (0)
ASCSAVE
THETCOMP
DMP DAD
KPARM
JPARM
DSU PUSH # RA IN MPAC AND IN PUSHLIST (2)
RP
DSU BPL
RAMIN
+3
DLOAD PDDL # RA < RAMIN. SET RA = RAMIN. (2)
RAMIN
+3 DLOAD DMP
0D
MUM(-37)
PDDL
DAD DMP
RP
RP
BDDV SQRT # (0)
STADR
STCALL ZDOTD # UPDATE ZDOTD FOR GUIDANCE AND DOWNLINK.
ASCSAVE
THETCOMP VLOAD UNIT
R
PDVL UNIT # (6)
R(CSM)
PUSH VXV # (12)
0D
DOT
WM
STOVL 30D # (6)
DOT SL1 # (0)
ARCCOS SIGN
30D
RVQ
ASCSAVE = CG
## Page 849
BANK 27
SETLOC ASENT1
BANK
COUNT* $$/ASENT
YCOMP VLOAD DOT
UNIT/R/
QAXIS
SL2 DMP
RCO
STORE Y
RVQ
BANK 30
SETLOC ASENT
BANK
## Page 850
# ASCENT GUIDANCE CONSTANTS
100CS EQUALS 2SEC(18)
T2A EQUALS 2SEC(17)
4SEC(17) 2DEC 400 B-17
2SEC(17) 2DEC 200 B-17
T3 2DEC 1000 B-17
6SEC(18) 2DEC 600 B-18
BIT4H OCT 10
2SEC(9) 2DEC 200 B-9
V06N63* VN 0663
V06N76 VN 0676
V06N33A VN 0633
BANK 33
SETLOC ASENT6
BANK
COUNT* $$/ASENT
PRLIMIT 2DEC -.0639 # (B/TBUP)MIN=-.1FT.SEC(-3)
MINABDV 2DEC .0356 B-5 # 10 PERCENT BIGGER THAN GRAVITY
25KFT 2DEC 7620 B-24
1/DV0 = MASS1
## Page 851
# 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
