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
MISSION_PHASE_8_-_DPS_COLD_SOAK.agc
### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: MISSION_PHASE_8_-_DPS_COLD_SOAK.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. 676-683
## 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.
## 2017-06-15 HG Fix vlaue OCT 00054 -> OCT 00034
## 2017-06-22 RSB Proofed comment text with
## octopus/ProoferComments.
## Page 676
BANK 27
EBANK= RATEINDX
# PROGRAM DESCRIPTION- DATE- 07 DEC 66
# MOD NO- 4 LOG SECTION-
# MOD BY- ELIASSEN MISSION PHASE 8 - DPS COLD SOAK
# FUNCTIONAL DESCRIPTION-
# 0/54/23 START MISSION PHASE 8 WHEN MISSION TIMER 4 COUNTS TO ZERO.
# CHANGE MAJOR MODE TO 15.
# DO DFI T/M CALIBRATION (14 SECONDS).
# WAIT 1 SECOND
# 0/54/38 LMP COMMANDS-
# LANDING RADAR POWER ON*
# RADAR SELF TEST ON*
# CALL TO CALCULATE REQUIRED ATTITUDE
# FOR DPS COLD SOAK -
# LM X-AXIS NORMAL TO THE ECLIPTIC PLANE
# AND BISECTOR OF LM +Z/-Y AXES TOWARD THE SUN.
# CHANGE THE ATTITUDE OF THE
# SPACECRAFT TO THAT REQUIRED FOR DPS COLD SOAK
# USING KALCMANU ROUTINE - MANEUVER RATE= 5 DEG/SEC.
# WAIT 60 SECONDS
# LMP COMMAND-
# RADAR SELF TEST OFF*
# WAIT 60 SECONDS
# 0/56/38 LMP COMMAND-
# LANDING RADAR POWER OFF*
# WAIT 15 SECONDS
# 0/56/53 VERIFY THAT MANEUVER IS COMPLETE.
# (IF NOT GO TO CURTAINS)
# SET MAXIMUM DEADBAND FOR LM-DAP.
# CALL SCHEDULE ENTRY ROUTINE FOR DPS 1 WITH
# J=2
# MP=9
# DT= 2H 59M 14S
## Page 677
# SUBROUTINES CALLED-
# FINDVAC, ENDOFJOB
# WAITLIST, TASKOVER
# NEWMODEX, MPENTRY, PHASCHNG, 2PHSCHNG
# INTPRET, BANKCALL, IBNKCALL, ATTSTALL, CURTAINS, POOH
# FLAG1DWN, FLAG2DWN, SETMINDB, SETMAXDB
# KALCMAN3, DCMTOCDU, V1STO2S
# 1LMP, 1LMP+DT, 2LMP+DT
# NORMAL EXIT MODES-
# TC ENDOFJOB/TASKOVER
# ALARM OR ABORT EXIT MODES- NONE
# OUTPUT- (INTERFACE, DISPLAYS, MEANINGFUL INFORMATION LEFT IN ERASABLE)
# SAME AS FOR KALCMANU
# ERASABLE INITIALIZATION REQUIRED-
# TEPHEM IN CENTISECONDS TRIPLE PRECISION
# MP8TO9 DT FOR CALLING MP9- IN SECONDS(SEE ABOVE)
# DEBRIS- (ERASABLE LOCATIONS DESTROYED BY THIS PROGRAM)
# SAME AS FOR KALCMANU
PRIOKM EQUALS PRIO20 # PRIORITY FOR KALCMANU PHASE 8 + 16
MP8JOB TC NEWMODEX # UPDATE PROGRAM NUMBER
OCT 15 # ON DSKY
CAF 8BOOLS # ASSURE PROPER
TS DAPBOOLS # INITIALIZATION
TC BANKCALL # OF LM DAP
FCADR SETMINDB # FOR MP8
TC PHASCHNG
OCT 05012
OCT 77777
CAF ONE # ESTABLISH TASK TO
INHINT # PERFORM DFI T/M CAL.
TC WAITLIST
EBANK= RATEINDX
2CADR MP8TASK
RELINT
TC ENDOFJOB
MP8TASK TC 1LMP+DT # LMP COMMAND
DEC 236 # DFI T/M CALIBRATE ON*
DEC 1200 # 12 SECONDS DELAY
TC 2LMP+DT # LMP COMMANDS
DEC 237 # DFI T/M CALIBRATE OFF*
DEC 198 # MASTER C+W ALARM RESET** COMMAND
DEC 200 # 2 SECONDS DELAY
## Page 678
TC 1LMP+DT # LMP COMMAND
DEC 199 # MASTER C+W ALARM RESET- COMMAND RESET
DEC 100 # 1 SECOND
M8RADON CAF PRIO10 # SET UP JOB TO CALCULATE
TC FINDVAC # REQ CDU ANGLES
EBANK= RATEINDX
2CADR COLDSOAK
TC 2PHSCHNG
OCT 00034
OCT 05012
OCT 77777
TC 2LMP+DT # LMP COMMANDS
DEC 182 # LANDING RADAR POWER ON*
DEC 26 # RADAR SELF TEST ON*
DEC 6000 # WAIT 1 MIN
TC 1LMP+DT # LMP COMMAND
DEC 27 # RADAR SELF TEST OFF*
DEC 6000 # WAIT 1 MIN
TC 1LMP+DT
DEC 183 # LANDING RADAR POWER OFF*
DEC 1500 # 15 SECONDS
CAF PRIO35 # SET UP JOB TO
TC NOVAC # END MISSION PHASE
EBANK= LST1
2CADR MP9CALL
TC TASKOVER
MP9CALL CA FLAGWRD2 # CHECK IF MANEUVER
MASK BIT11 # WAS COMPLETED
EXTEND
BZF +2
TC CURTAINS # MANEUVER NOT COMPLETED
TC BANKCALL
CADR ATTSTALL
TC CURTAINS # SICK RETURN
# SET LM-DAP DEADBAND TO MAX-
TC BANKCALL
CADR SETMAXDB
# CALL MISSION PHASE 9
TC MPENTRY # MANEUVER SUCCESSFUL
## Page 679
DEC 2 # J=2
DEC 9 # MP=9
ADRES MP8TO9 # DT = 2H 59M 14S
TC POOH # END OF MISSION PHASE 8
## Page 680
# CALCULATE CDU ANGLES FOR REQUIRED
# COLDSOAK ATTITUDE - LEM X-AXIS NORMAL TO THE
# ECLIPTIC AND BISECTOR OF -Y/+Z AXES TOWARD THE SUN.
CSRET EQUALS MPAC
COLDSOAK TC INTPRET
SETPD
0
# CALCULATE TRANSFORMATION MATRIX FROM RCS COLD SOAK ATTITUDE
# TO STABLE MEMBER COORDINATES. CONVERT TO CDU ANGLES.
DLOAD SR
TIME2
14D
TAD DDV
TEPHEM # TIME IN CENTISEC SINCE PRECEDING JUNE 30
CSPERDAY # CENTISEC PER DAY
PUSH # T/2**9 = (DAYS SINCE JUNE 30TH)/2**9
# COMPUTE SIN(2*PI*T/365.25), COS(2*PI*T/365.25) WHERE
# T= NUMBER OF DAYS SINCE MIDNIGHT OF PRECEDING JUNE 30TH.
ALTA DSU BPL # DIMINISH T/2**9 BY 365.25/2**9
ONEYR # UNTIL A NEGATIVE RESULT OCCURS.
ALTA
DAD DDV # ADD BACK 365.25/2**9 ONCE.
ONEYR # LET Y=RESULT
ONEYR # Y/365.25 IS LESS THAN ONE AND POSITIVE.
PUSH SIN # .5*SIN(2*PI*Y/365.25)
PDDL COS # .5*COS(2*PI*Y/365.25)
# COMPUTE (1/8 +LOS) IN REVOLUTIONS WHERE
# LOS= LOS0+LOSR*T-C0Y*SIN(2*PI*Y/365.25)-C1Y*COS(2*PI*Y/365.25) .
# LOS = LONGITUDE OF SUN IN PLANE OF ECLIPTIC.
DMP PDDL
C1Y # .5*C1Y*COS/2
DMP DAD
C0Y # (C0Y*SIN +C1Y*COS)/4
PDDL # T/2**9
DMP SL
LOSR # LOSR*T/2**9
7 # LOSR*T/4
DSU # (LOSR*T-C0Y*SIN-C1Y*COS)/4
DAD DAD
LOS0 # LOS/4= (LOS0+LOSR*T-C0Y*SIN-C1Y*COS)/4
EGHTH # (1/8 +LOS)/4 , 1/8 REV = 45 DEG
ALTB DSU BPL # DIMINISH (1/8 +LOS)/4 REVS BY (1REV)/4
ONEREV # UNTIL A NEGATIVE RESULT OCCURS.
ALTB
## Page 681
DAD SL2 # ADD BACK (1REV)/4 .
ONEREV # AND MULTIPLY BY FOUR.
PUSH # (1/8 +LOS) POSITIVE AND LESS THAN ONE.
# CONSTRUCT TRANSFORMATION MATRIX FROM RCS COLD SOAK ATTITUDE
# TO EARTH REFERENCE COORDINATES. MATRIX IS SCALED BY -1 .
# MATRIX TRANSPOSE IS STORED STARTING IN FIRST LOCATION OF PUSHDOWN LIST.
# OBL= OBLIQUITY= ANGLE BETWEEN ECLIPTIC AND EQUATORIAL PLANES.
# DEFINE LOSR= 2*PI*LOS
COS DCOMP
STORE 6 # -.5*COS(PI/4+LOSR)
DMP
COSOBL
STORE 14D # -.5*COS(PI/4+LOSR)*COS(OBL)
DMP
TANOBL
STODL 16D # -.5*COS(PI/4+LOSR)*SIN(OBL)
0
SIN
STORE 12D # .5*SIN(PI/4+LOSR)
DMP DCOMP
COSOBL
STORE 8D # -.5*SIN(PI/4+LOSR)*COS(OBL)
DMP
TANOBL
STODL 10D # -.5*SIN(PI/4+LOSR)*SIN(OBL)
COSOBL
SR1
STODL 4 # .5*COS(OBL)
SINOBL
SR1 DCOMP
STODL 2 # -.5*SIN(OBL)
DPZRO
STORE 0 # 0
# PERFORM THE MATRIX MULTIPLICATION (REFSMMAT)X(RCS TO REF MATRIX)
VLOAD MXV
0
REFSMMAT
VSL1
STOVL 0
6
MXV VSL1
REFSMMAT
STOVL 6
12D
MXV VSL1
REFSMMAT
## Page 682
STORE 12D
EXIT
# TRANSPOSE RESULTING DIRECTION COSINE MATRIX.
INDEX FIXLOC
DXCH 2
INDEX FIXLOC
DXCH 6
INDEX FIXLOC
DXCH 2
INDEX FIXLOC
DXCH 4
INDEX FIXLOC
DXCH 12D
INDEX FIXLOC
DXCH 4
INDEX FIXLOC
DXCH 10D
INDEX FIXLOC
DXCH 14D
INDEX FIXLOC
DXCH 10D
TC INTPRET
# CALL ROUTINE TO CONVERT DIRECTION COSINE MATRIX TO CDU ANGLES.
SETPD AXC,1
18D
0
CALL
DCMTOCDU
# CONVERT CDU ANGLES FROM ONES TO TWOS COMPLEMENT.
SSP RTB
RATEINDX
4 # CODE FOUR = MANEUVER RATE OF 5 DEG/SEC.
V1STO2S # STORE CDU ANGLES IN CONSECUTIVE
STORE CPHI # LOCATIONS CPHI,CTHETA,CPSI.
EXIT
# SET UP PARAMETERS FOR KALCMANU MANEUVER ROUTINE
TC FLAG2DWN # RESET STATE SWITCH 33 (BIT 12)
OCT 04000 # FOR FINAL ROLL , IF ANY.
TC FLAG2UP # SET BIT FOR KALCMANU
OCT 02000 # BIT 11
COLDSK1 CAF PRIOKM # SCHEDULE KALCMANU
INHINT
## Page 683
TC FINDVAC
EBANK= RATEINDX
2CADR KALCMAN3
TC ENDOFJOB
LOS0 2DEC .273926331 B-2 # 1966-67,IN REVOLUTIONS
LOSR 2DEC .0027378507 # 1966-67,IN REVOLUTIONS
C0Y 2DEC .304044828 B-1 # 1966-67,IN REVOLUTIONS
C1Y 2DEC -.023040861 B-1 # 1966-67,IN REVOLUTIONS
SINOBL 2DEC .397845753 # 1966-67
COSOBL 2DEC .917452318 # 1966-67
TANOBL 2DEC .433641885 # 1966-67
DPZRO 2DEC 0
ONEREV 2DEC .999999999 B-2
EGHTH 2DEC .125 B-2
ONEYR 2DEC 365.25 B-9
CSPERDAY 2DEC 8640000 B-33 # CENTISEC PER DAY
8BOOLS OCT 42032 # COURTESY G. C. 11/16/66
# END OF MISSION PHASE 8
