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
MP4-CONTINGENCY_ORBIT_INSERTION.agc
### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: MP4-CONTINGENCY_ORBIT_INSERTION.agc
## Purpose: A section of Sunburst revision 37, or Shepatin revision 0.
## It is part of an early development version of the software
## for Apollo Guidance Computer (AGC) on the unmanned Lunar
## Module (LM) flight Apollo 5. Sunburst 37 was the program
## upon which Don Eyles's offline development program Shepatin
## was based; the listing herein transcribed was actually for
## the equivalent revision 0 of Shepatin.
## 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. 654-665
## Assembler: yaYUL
## Contact: Ron Burkey <info@sandroid.org>.
## Website: www.ibiblio.org/apollo/index.html
## Mod history: 2017-05-24 MAS Created from Sunburst 120.
## 2017-06-14 RSB Transcribed.
## 2017-06-14 HG Fix operand WACHTHTD -> WACTTHTD
## TDECTEMP -> TDEC
## RUPREG3 -> RUPTREG3
## RUPREG1 -> RUPTREG1
## Remove constant 004CEK
## 2017-06-22 RSB Proofed comment text with
## octopus/ProoferComments.
## Page 654
BANK 33
EBANK= TDEC
# PROGRAM NAME- DATE-
# MISSION PHASE 4 2 DECEMBER 1966
# MOD NO- 20 LOG SECTION-
# MOD BY- SCHULENBERG MP4-CONTINGENCY ORBIT INSERTION
# FUNCTIONAL DESCRIPTION-
# CONTINGENCY ORBIT INSERTION IS CALLED BY GROUND IN EVENT OF PREMATURE SIVB SHUTDOWN AND ATTEMPTS TO
# EFFECT AN ORBITAL INSERTION USING THE DPS ENGINE AND THE GUIDANCE EQUATIONS USED FOR THE APS BURNS. THE
# PROGRAM LEAVES MISSION PHASE TIMERS INHIBITED AND LEAVES FURTHER CONTROLTO THE GROUND VIA UPLINK.
# CALLING SEQUENCE- SUBROUTINES CALLED-
# START MP4 WHEN ABORT FLAG1UP FLAG1DWN
# COMMAND MONITOR DETECTS MP4 FIXDELAY WAITLIST
# COMMAND VIA LGC UPLINK. VPATCHER KALCMANU
# ASCENT UL4JETON
# NORMAL EXIT MODES- LMP UL4JETOF
# TASKOVER (AWAITS EXECUTIVE ENGINEON
# FURTHER COMMANDS FROM GROUND) MIDTOAVE ENGINOFF
# ALARM EXIT MODES- BANKCALL ENGINOF1
# NONE IBNKCALL LASTBIAS
# ERASABLE INITIALIZATION REQUIRED-
# NONE
# OUTPUT- SAME AS FOR KALCMANU
# DEBRIS- SAME AS FOR KALCMANU
MP4JOB EXTEND
DCA WACTTHTD # TO ENABLE A RESTART
DXCH FLUSHREG
TC NEWMODEX # START CONTINGENCY ORBIT INSERTION
OCT 72
CAF FOUR # SIGNAL START OF MISSION PHASE 4
TS PHASENUM
TC FLAG1DWN # TERMINATE AVEG AND DO AUTO AVETOMID
OCT 1
INHINT
CAF BIT1
TC WAITLIST # SHORT WAITLIST TO INITIALIZE LMP COMMAND
EBANK= TDEC
2CADR ABORTPRR
TCF ENDOFJOB # END MP4JOB
## Page 655
# RCS ABORT PRESSURIZATION ROUTINE
ABORTPRR CAF ZERO # INSURE RCS JETS OFF
EXTEND
WRITE 5
TC FIXDELAY
DEC 100 # DELAY ONE SECOND
TC 2LMP+DT
DEC 188 # RCS MAIN S/O VALVES, SYS A-OPEN**
DEC 190 # RCS MAIN S/O VALVES, SYS B-OPEN**
DEC 100 # DELAY ONE SECOND
TC 1LMP+DT
DEC 4 # ED BATTERY ACTIVATION-ON
DEC 100 # DELAY ONE SECOND
TC 2LMP+DT
DEC 189 # RCS MAIN S/O VALVES, SYS A-OPEN RESET
DEC 191 # RCS MAIN S/O VALVES, SYS B-OPEN RESET
DEC 100 # DELAY ONE SECOND
TC 1LMP+DT
DEC 6 # RCS PRESSURE-FIRE**
DEC 100 # DELAY ONE SECOND
TC 1LMP+DT
DEC 5 # ED BATTERY ACTIVATION-SAFE
DEC 100 # DELAY ONE SECOND
TC 1LMP+DT
DEC 7 # RCS PRESSURE - FIRE RESET
DEC 400 # DELAY FOUR SECONDS
# END RCS ABORT PRESSURIZATION ROUTINE
TUMBLCHK CA FLAGWRD1
MASK BIT13
EXTEND
BZF NOTUMBL
TC FIXDELAY
DEC 50 # DELAY .5 SECS AND CHECK AGAIN
TCF TUMBLCHK
NOTUMBL TC FLAG1DWN # IF NO TUMBLING-TERMINATE MONITOR
OCT 20000 # TERMINATE TUMBLE MONITOR
TC FLAG2DWN # TERMINATE ABORT COMMAND MONITOR
## Page 656
OCT 00400
TIG4-51 EXTEND
DCA TIME2 # GET CURRENT TIME
DXCH TDEC
CAF 021CEK # UPDATE STATE TO TIG4-30
TS L
CAF ZERO
DAS TDEC
# BEGIN ABORT LEM/S4B SEPARATION PROCEDURE
MP4SEP CAF MASSADR # DECLARE EBANK= 5
TS EBANK
EBANK= MASSES
EXTEND
DCA LEMMASS1 # INITIALIZE MASS MONITOR
DXCH MASS
CAF ZERO # INITIALIZE DELAREA FOR MASS MONITOR
TS DELAREA
TS DELAREA +1
CAF TDECADR # DECLARE EBANK= 4
TS EBANK
EBANK= TDEC
CAF XTRANSON # +X TRANSLATION- ON (PRE-DAP)
EXTEND
WRITE 5
TC IBNKCALL # +X TRANSLATION-ON (4JET)
CADR ULLAGE
TC 1LMP+DT
DEC 58 # LEM/SIVB SEPARATE - ARM ON
DEC 50 # DELAY 500 MS.
CS DAPBOOLS
MASK GODAPGO # TURN ON THE DAP
ADS DAPBOOLS
TC IBNKCALL
CADR SETMAXDB
TC FIXDELAY # WAIT FOR 300 MS.
DEC 50 # DELAY 500 MS.
## Page 657
TC IBNKCALL # HOLD VEHICLE ATTITUDE RATE
CADR HOLDRATE
TC 1LMP+DT
DEC 90 # LEM/SIVB SEPARATE- COMMAND
DEC 10 # DELAY 100 MS.
TC IBNKCALL
CADR SETMINDB
TC FIXDELAY
DEC 90 # DELAY 900 MS.
TIG4-49 TC 1LMP+DT
DEC 59 # LEM/S4B SEPARATE-ARM-OFF
DEC 100 # DELAY ONE SECOND
TIG4-48 TC 1LMP
DEC 91 # LEM/S4B SEPARATE-COMMAND RESET
# END LEM/S4B SEPARATION ROUTINE
CAF 007CEK
TC WAITLIST
EBANK= TDEC
2CADR TIG4-41
CAF PRIO27 # START NEW JOB FOR CALCULATIONS
TC FINDVAC
EBANK= TDEC
2CADR LONGJOB
TCF TASKOVER # END TIG4-48 TASK
LONGJOB EXTEND
DCA ORBINTAD # DO ORBITAL INTEGRATION
DXCH Z
PRECOI CAF KALC4AD
TS ASCRET
TC INTPRET
CALL
VPATCHER # RESCALE AND LOAD IGN STATES IN RN AND VN
DLOAD
RCRIT # RCRIT=INJECTION ALTITUDE*2(-25)
STOVL RCO
VN # VN FROM VPATCHER=VIGNTION*2(-7) M/CS
VXV UNIT
RN # RN FROM VPATCHER=RIGNTION*2(N-29) M
STOVL QAXIS # UNIT HORIZONTAL VECTOR NORMAL TO ORBIT
## Page 658
UNITR # UNITR FROM AVEG=UNIT(RIGNTION)*2(-1) M
STORE PAXIS1
VXV VSL1
QAXIS
STOVL SAXIS # UNIT HORIZONTAL VECTOR PARALLEL TO ORBIT
ABLOCK
STOVL AT
BBLOCK
STOVL ATMEAS
CBLOCK
STODL RDOTD
KR1EST
STODL KR1 # LOAD ATTITUDE LIMITING PARAMETER
TGOEST
STORE TGO
CLEAR CLEAR
DIRECT
PASS
VLOAD DOT
SAXIS
VN # ZDOT*2(-8)
SL1 # *2(-7)
STOVL ZDOT
PAXIS1
DOT SL1 # RDOT*2(-8)
VN # *2(-7)
STODL RDOT
DP0
STORE GEFF # GEFF=0
STORE YDOT # YDOT=0
SET GOTO
56D # SET FOR RETURN
GAIN +1 # GO TO USE ASCENT TGO SECTION
TKNOWN DLOAD DAD
RDOTD
RDOT # (RDOT+RDOTD)*2(-7)
SR1 DMP # .5RDOTAVE*2(-7)
TGO # RGO*2(-24),SINCE TGO IS *2(-17)
DAD SR1 # RFREE IS RCO FOR NO R-CONTROL,*2(-24)
RMAG # *2(-25)
DSU BPL
RCO
FREE-R
CLEAR GOTO # IF RFREE SMTHAN RCO, CONSTRAIN RCO
HC
ASCENT
FREE-R SET GOTO
HC # IF RFREE GRTHAN RCO, FREE RCO
ASCENT
PREKALC4 VLOAD
## Page 659
UT # GET UT FROM ASCENT OUTPUT REGISTER
STOVL POINTVSM # KALCMANU INPUT REGISTER
BODYVECT # LOAD BODY AXES VECTOR IN SM COORDS
STORE SCAXIS # KALCMANU INPUT VECTOR
SET SSP
33D
RATEINDX
6 # 10 DEG/SEC.
EXIT
TCF ENDOFJOB # END LONGJOB
TIG4-41 CAF AVGENADR # GENADR OF AVERAGEG
TS DVSELECT
EXTEND
DCA EXITADR # SET AVEG TO EXIT TO END OF JOB UNTIL
DXCH AVGEXIT # IT IS RESET TO ATMAG
EXTEND
DCA MP4TM1AD # SET MONITOR EXIT
DXCH DVMNEXIT
TC 1LMP+DT
DEC 4 # ED BATTERY ACTIVATION-ON
DEC 400 # DELAY 4 SECONDS
TIG4-37 TC IBNKCALL # +X TRANSLATION- OFF
CADR NOULLAGE
TC IBNKCALL
CADR STOPRATE # HOLD VEHICLE ATTITUDE
TC FIXDELAY
DEC 100 # DELAY ONE SECOND
TIG4-36 TC 1LMP
DEC 8 # LANDING GEAR DEPLOY-FIRE
CAF 002CEK
TC WAITLIST
EBANK= TDEC
2CADR TIG4-34
CAF PRIO30 # CALL KALCMANU
TC FINDVAC
EBANK= MIS
2CADR VECPOINT
## Page 660
TCF TASKOVER # END TIG4-36 TASK
TIG4-34 CS 030CEK # SET PREREAD CALL (AUTO LASTBIAS)
TC TASKSETR
TC WAITLIST
EBANK= DVTOTAL
2CADR PREREAD
TC 1LMP+DT
DEC 9 # LANDING GEAR DEPLOY- FIRE RESET
DEC 402 # DELAY 4 SECONDS
TIG4-30 TC ENGINOF1 # REMOVE EXTRANEOUS ENGINE DISCRETES
TC 2LMP+DT
DEC 150 # ENGINE SELECT- DESC ARM
DEC 86 # MANUAL THROTTLE- ON 10 PERCENT
DEC 1398 # DELAY 14 SECONDS
TIG4-16 TC 2LMP+DT
DEC 228 # DPS PQGS ARM NO 1 - ENABLE
DEC 196 # DPS PQGS ARM NO 2- ENABLE
DEC 100
TIG4-15 TC 2LMP+DT
DEC 244 # DPS PQGS NO 1- ON
DEC 212 # DPS PQGS NO 2- ON
DEC 750 # DELAY 7.5 SECONDS
TIG4-7.5 TC IBNKCALL # +X TRANSLATION- ON
CADR ULLAGE
TC FIXDELAY
DEC 750 # DELAY 7.5 SECONDS
CAF PRIO31 # SET UP JOB FOR ATTSTAL
TC NOVAC
EBANK= TDEC
2CADR IGNTEST
TCF TASKOVER
IGNTEST TC BANKCALL # WE WAIT UNTIL KALCMANU IS HAPPY
CADR ATTSTALL
TC CURTAINS
MP4IGN TC ENGINEON # IGNITE DPS ENGINE
CAF THRSTADR # DECLARE EBANK= 6
TS EBANK
## Page 661
EBANK= THRSTCMD
CAF 10PERTHR # REPORT EXPECTED THRUST TO DAP
TS THRSTCMD
INHINT
CAF 003CEK
TC WAITLIST
EBANK= TDEC
2CADR MP4IGN+3
TCF ENDOFJOB
MP4IGN+3 TC IBNKCALL # +X TRANSLATION- OFF
CADR NOULLAGE
TC 1LMP+DT
DEC 5 # ED BATTERY ACTIVATION- SAFE
DEC 2300 # DELAY 23 SECONDS
MAXTHRST CAF POSMAX # CALL FOR 92.5 PERCENT THRUST
TS PCNTF
EXTEND
DCA PCNTFMAD
DTCB
CAF 92PERTHR # REPORT EXPECTED THRUST TO DAP
TS THRSTCMD
CAF TDECADR # DECLARE EBANK= 4
TS EBANK
EBANK= TDEC
TC FIXDELAY
DEC 100 # DELAY ONE SECOND
GUIDANCE EXTEND # TUNE IN ASCENT GUIDANCE
DCA ATMAG4
DXCH AVGEXIT
CAF CDUJOBAD
TS ASCRET
TCF TASKOVER
MP4TERM1 EXTEND
DCA EXITADR # RESET AVERAGE G EXIT
DXCH AVGEXIT
TC BANKCALL
## Page 662
CADR STOPRATE # HOLD VEHICLE ATTITUDE
INHINT
CAF 005CEK
TC WAITLIST
EBANK= TDEC
2CADR TCO+5
TCF ENDOFJOB
TCO+5 TC 2LMP+DT
DEC 151 # ENGINE SELECT-DESC ARM-OFF
DEC 87 # MANUAL THROTTLE-RESET (30 PERCENT)
DEC 100 # DELAY ONE SECOND
TC IBNKCALL # SET MAXIMUM DEADBAND
CADR SETMAXDB
TC FIXDELAY
DEC 900 # DELAY NINE SECONDS
TCO+15 TC 2LMP+DT
DEC 245 # DPS PQGS NO 1- OFF
DEC 213 # DPS PQGS NO 2- OFF
DEC 100
TC 2LMP+DT
DEC 229 # DPS PQGS ARM NO 1- DISABLE
DEC 197 # DPS PQGS ARM NO 2- DISABLE
DEC 1400 # DELAY 14 SECONDS
TC FLAG1DWN # TERMINATE AVEG AND DO AUTO AVETOMID
OCT 1
CS FOUR # ALLOW AVEG TO POOH IF IT WANTS TO.
TS PHASENUM
TCF TASKOVER
# ************************************************************************
# TIME INCREMENTS FOR WAITLISTS IN MP4 - XXXXXCEK = DEC XXXXX00 CS
# ************************************************************************
002CEK DEC 200
003CEK DEC 300
005CEK DEC 500
007CEK DEC 700
## Page 663
021CEK DEC 2100
030CEK DEC 3000
XTRANSON OCT 00252 # CHANNEL 5 CODE FOR 4-JET TRANSLATION
10PERTHR DEC 1050
92PERTHR DEC 9710
# ************************************************************************
# CONSTANTS FOR PRECOI CALCULATIONS AND FOR INITIALIZATION OF ASCENT EO.
# ************************************************************************
ABLOCK 2DEC 2.8420 E-4 B9 # MAXACC92
2DEC 3.3788 E-2 B4 # 1/EXVEL
2DEC 1.0413 E5 B-17 # TBUP4
BBLOCK 2DEC 0 # ACCSTEP
2DEC 0 # ACCSTEP +2
KREST 2DEC 0.95
KR1EST 2DEC 0.31
TGOEST 2DEC 50000 B-17
BODYVECT 2DEC .5
CBLOCK 2DEC 0 # RDOTD
2DEC 0 # YDOTD
2DEC 7.8397245 E1 B-7
RCRIT 2DEC* 6.5355846 E6 B-24*
# ************************************************************************
# GENADRS, ECADRS, AND 2CADRS USED IN MP4
# ************************************************************************
AVGENADR GENADR AVERAGEG
TDECADR ECADR TDEC # FOR EBANK= 4
MASSADR ECADR MASSES # FOR EBANK= 5
## Page 664
THRSTADR ECADR THRSTCMD # FOR EBANK= 6
EBANK= TDEC
MP4TM1AD 2CADR MP4TERM1
EBANK= TDEC
EXITADR 2CADR SERVEXIT
EBANK= AMEMORY
ORBINTAD 2CADR MIDTOAVE
EBANK= ETHROT
PCNTFMAD 2CADR PCNTFMAX
EBANK= TDEC
ATMAG4 2CADR ATMAG
EBANK= TDEC
WACTTHTD 2CADR ENDOFJOB
KALC4AD FCADR PREKALC4
CDUJOBAD FCADR FINDCDUD
# ************************************************************************
# TASKSETR SUBROUTINE - NOT YET AVAILABLE TO OTHER FIXED BANKS
# ************************************************************************
TASKSETR INHINT
EXTEND
QXCH TEMX
TS L
CAF ZERO
DXCH MPAC
DXCH RUPTREG1
CAF ZERO
XCH MPAC +2
TS RUPTREG3
EXTEND
DCS TIME2
DAS MPAC
CA EBANK
TS TEMY
CAF TDECADR
TS EBANK
EXTEND
DCA TDEC
DAS MPAC
TC TPAGREE
CA RUPTREG3
## Page 665
TS MPAC +2
DXCH RUPTREG1
DXCH MPAC
EXTEND
BZF +3
TC ABORT
OCT 00404
XCH L
EXTEND
BZMF -4
LXCH TEMY
LXCH EBANK
RELINT
TC TEMX
# ************************************************************************
