https://github.com/virtualagc/virtualagc
Revision 078c79d8734a9ed2860303a7c1662004284fe853 authored by Ron Burkey on 07 August 2022, 15:04:04 UTC, committed by Ron Burkey on 07 August 2022, 15:04:04 UTC
assembly listings from yaASM and yaLEMAP. Added some debugging messages to 'make install'. Tweaked debugging messages that VirtualAGC embeds in 'simulate'. Verified buildability in Mint 21, 20, 19, 17, and verified buildability using clang in Mint 17.
1 parent 6bb1acc
Tip revision: 078c79d8734a9ed2860303a7c1662004284fe853 authored by Ron Burkey on 07 August 2022, 15:04:04 UTC
Fixed a potential string-overflow bug in yaASM. Removed timestamps from
Fixed a potential string-overflow bug in yaASM. Removed timestamps from
Tip revision: 078c79d
IMU_COMPENSATION_PACKAGE.agc
### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: IMU_COMPENSATION_PACKAGE.agc
## Purpose: A section of Luminary revision 173.
## It is part of the reconstructed source code for the second
## (unflown) release of the flight software for the Lunar
## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 14.
## The code has been recreated from a reconstructed copy of
## Luminary 178, as well as Luminary memo 167 (revision 1).
## It has been adapted such that the resulting bugger words
## exactly match those specified for Luminary 173 in NASA
## drawing 2021152N, which gives relatively high confidence
## that the reconstruction is correct.
## Reference: pp. 331-342
## Assembler: yaYUL
## Contact: Ron Burkey <info@sandroid.org>.
## Website: www.ibiblio.org/apollo/index.html
## Mod history: 2019-09-18 MAS Created from Luminary 178.
## Page 331
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(-3) *
EXTEND
MP 1/PIPADT # (CS) X 2(+8) NOW (PIPA PULSES) X 2(+5)*
EXTEND
MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9 *
INDEX BUF +2
DAS DELVX # (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
CCS BUF +2 # PIPAZ, PIPAY, PIPAX
AD NEG1
TCF 1/PIPA1 +1
## Page 332
NOOP # LESS THAN ZERO IMPOSSIBLE
## Page 333
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 334
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 335
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 336
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 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 6 *
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 337
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 338
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 339
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 # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
CCS TEM1 # IF SURFACE FLAG IS SET,
TC IRIGY # COMPENSATE ACCELERATION TERMS.
## Page 340
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 341
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 342
TS GCOMP +5
TCF IRIG1 # RESTORE EBANK AND RETURN
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