# 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.