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
MEASUREMENT_INCORPORATION.agc
### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: MEASUREMENT_INCORPORATION.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. 1140-1149
## 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.
## 2021-05-30 ABS ZEROD -> ZEROO
## Page 1140
# INCORP1--PERFORMS THE SIX DIMENSIONAL STATE VECTOR DEVIATION FOR POSITI
# ON AND VELOCITY OR THE NINE DIMENSIONAL DEVIATION OF POSITION,VELOCITY,A
# ND RADAR OR LANDMARK BIAS.THE OUTPUT OF THE BVECTOR ROUTINE ALONG WITH T
# HE ERROR TRANSITION MATRIX(W) ARE USED AS INPUT TO THE ROUTINE.THE DEVIA
# TION IS OBTAINED BY COMPUTING AN ESTIMATED TRACKING MEASUREMENT FROM THE
# CURRENT STATE VECTOR AND COMPARING IT WITH AN ACTUAL TRACKING MEASUREMEN
# T AND APPLYING A STATISTICAL WEIGHTING VECTOR.
# INPUT
# DMENFLG = 0 6DIMENSIONAL BVECTOR 1= 9DIMENSIONAL
# W = ERROR TRANSITION MATRIX 6X6 OR 9X9
# VARIANCE = VARIANCE (SCALAR)
# DELTAQ = MEASURED DEVIATION(SCALAR)
# BVECTOR = 6 OR 9 DIMENSIONAL BVECTOR
# OUTPUT
# DELTAX = STATE VECTOR DEVIATIONS 6 OR 9 DIMENSIONAL
# ZI = VECTOR USED FOR THE INCORPORATION 6 OR 9 DIMENSIONAL
# GAMMA = SCALAR
# OMEGA = OMEGA WEIGHTING VECTOR 6 OR 9 DIMENTIONAL
# CALLING SEQUENCE
# L CALL INCORP1
# NORMAL EXIT
# L+1 OF CALLING SEQUENCE
BANK 37
SETLOC MEASINC
BANK
COUNT* $$/INCOR
EBANK= W
INCORP1 STQ
EGRESS
AXT,1 SSP
54D
S1
18D # IX1 = 54 S1= 18
AXT,2 SSP
18D
S2
6 # IX2 = 18 S2=6
Z123 VLOAD MXV*
BVECTOR # BVECTOR (0)
W +54D,1
STORE ZI +18D,2
VLOAD
BVECTOR +6 # BVECTOR (1)
## Page 1141
MXV* VAD*
W +108D,1
ZI +18D,2
STORE ZI +18D,2
VLOAD
BVECTOR +12D # BVECTOR (2)
MXV* VAD*
W +162D,1
ZI +18D,2 # B(0)*W+B(1)*(W+54)+B(2)*(W+108)FIRST PAS
STORE ZI +18D,2 # ZI THEN Z2 THEN Z3
TIX,1
INCOR1
INCOR1 TIX,2 BON
Z123 # LOOP FOR Z1,Z2,Z3
DMENFLG
INCOR1A
VLOAD
ZEROVECS
STORE ZI +12D
INCOR1A SETPD VLOAD
0
ZI
VSQ RTB
TPMODE
PDVL VSQ
ZI +6
RTB TAD
TPMODE
PDVL VSQ
ZI +12D
RTB TAD
TPMODE
TAD AXT,2
VARIANCE
0
STORE TRIPA # ZI*2 + Z2*2 + Z3*2 + VARIANCE
TLOAD BOV
VARIANCE # CLEAR OVFIND
+1
STORE TEMPVAR # TEMP STORAGE FOR VARIANCE
BZE
INCOR1C
INCOR1B SL2 BOV
INCOR1C
STORE TEMPVAR
INCR,2 GOTO
DEC 1
INCOR1B
INCOR1C TLOAD ROUND
TRIPA
## Page 1142
DMP SQRT
TEMPVAR
SL* TAD
0,2
TRIPA
NORM INCR,2
X2
DEC -2
SXA,2 AXT,2
NORMGAM # NORMALIZATION COUNT -2 FOR GAMMA
162D
BDDV SETPD
DP1/4TH
0
STORE GAMMA
TLOAD NORM
TRIPA
X1
DLOAD PDDL # PD 0-1 = NORM (A)
MPAC
DELTAQ
NORM
S1
XSU,1 SR1
S1
DDV PUSH # PD 0-1 = DELTAQ/A
GOTO
NEWZCOMP
-3 SSP
S2
54D
INCOR2 VLOAD VXM* # COMPUTE OMEGA1,2,3
ZI
W +162D,2
PUSH VLOAD
ZI +6
VXM* VAD
W +180D,2
PUSH VLOAD
ZI +12D
VXM* VAD
W +198D,2
PUSH TIX,2 # PD 2-7=OMEGA1,8-13=OMEGA2,14-19=OMEGA3
INCOR2
VLOAD STADR
STORE OMEGA +12D
VLOAD STADR
STORE OMEGA +6
VLOAD STADR
STORE OMEGA
## Page 1143
BON VLOAD
DMENFLG
INCOR2AB
ZEROVECS
STORE OMEGA +12D
INCOR2AB AXT,2 SSP
18D
S2
6
INCOR3 VLOAD*
OMEGA +18D,2
VXSC VSL*
0 # DELTAQ/A
0,1
STORE DELTAX +18D,2
TIX,2 VLOAD
INCOR3
DELTAX +6
VSL3
STORE DELTAX +6
GOTO
EGRESS
## Page 1144
# INCORP2 -INCORPORATES THE COMPUTED STATE VECTOR DEVIATIONS INTO THE
# ESTIMATED STATE VECTOR. THE STATE VECTOR UPDATED MAY BE FOR EITHER THE
# LEM OR THE CSM.DETERMINED BY FLAG VEHUPFLG.(ZERO = LEM) (1 = CSM)
# INPUT
# PERMANENT STATE VECTOR FOR EITHER THE LEM OR CSM
# VEHUPFLG = UPDATE VEHICLE 0=LEM 1=CSM
# W = ERROR TRANSITION MATRIX
# DELTAX = COMPUTED STATE VECTOR DEVIATIONS
# DMENFLG = SIZE OF W MATRIX (ZERO =6X6) (1=9X9)
# GAMMA = SCALAR FOR INCORPORATION
# ZI = VECTOR USED IN INCORPORATION
# OMEGA = WEIGHTING VECTOR
# OUTPUT
# UPDATED PERMANENT STATE VECTOR
# CALLING SEQUENCE
# L CALL INCORP2
# NORMAL EXIT
# L+1 OF CALLING SEQUENCE
SETLOC MEASINC1
BANK
COUNT* $$/INCOR
INCORP2 STQ CALL
EGRESS
INTSTALL
VLOAD VXSC # CALC. GAMMA * OMEGA1,2,3
OMEGA
GAMMA
STOVL OMEGAM1
OMEGA +6
VXSC
GAMMA
STOVL OMEGAM2
OMEGA +12D
VXSC
GAMMA
STORE OMEGAM3
EXIT
CAF 54DD # INITIAL IX 1 SETTING FOR W MATRIX
TS WIXA
TS WIXB
CAF ZERO
TS ZIXA # INITIAL IX 2 SETTING FOR Z COMPONENT
TS ZIXB
FAZA TC PHASCHNG
## Page 1145
OCT 04022
TC UPFLAG
ADRES REINTFLG
FAZA1 CA WIXB # START FIRST PHASE OF INCORP2
TS WIXA # TO UPDATE 6 OR 9 DIM. W MATRIX IN TEMP
CA ZIXB
TS ZIXA
TC INTPRET
LXA,1 LXA,2
WIXA
ZIXA
SSP DLOAD*
S1
6
ZI,2
DCOMP NORM # CALC UPPER 3X9 PARTITION OF W MATRIX
S2
VXSC XCHX,2
OMEGAM1
S2
LXC,2 XAD,2
X2
NORMGAM
VSL* XCHX,2
0,2
S2
VAD*
W +54D,1
STORE HOLDW
DLOAD* DCOMP # CALC MIDDLE 3X9 PARTITION OF W MATRIX
ZI,2
NORM VXSC
S2
OMEGAM2
XCHX,2 LXC,2
S2
X2
XAD,2 VSL*
NORMGAM
0,2
XCHX,2 VAD*
S2
W +108D,1
STORE HOLDW +6
BOFF
DMENFLG # BRANCH IF 6 DIMENSIONAL
FAZB
DLOAD* DCOMP # CALC LOWER 3X9 PARTITION OF W MATRIX
ZI,2
NORM VXSC
## Page 1146
S2
OMEGAM3
XCHX,2 LXC,2
S2
X2
XAD,2 VSL*
NORMGAM
0,2
XCHX,2 VAD*
S2
W +162D,1
STORE HOLDW +12D
FAZB CALL
GRP2PC
EXIT
FAZB1 CA WIXA # START 2ND PHASE OF INCORP2 TO TRANSFER
AD 6DD # TEMP REG TO PERM W MATRIX
TS WIXB
CA ZIXA
AD MINUS2
TS ZIXB
TC INTPRET
LXA,1 SSP
WIXA
S1
6
VLOAD
HOLDW
STORE W +54D,1
VLOAD
HOLDW +6
STORE W +108D,1
BOFF VLOAD
DMENFLG
FAZB5
HOLDW +12D
STORE W +162D,1
FAZB2 TIX,1 GOTO
+2
FAZC # DONE WITH W MATRIX. UPDATE STATE VECTOR
RTB
FAZA
FAZB5 SLOAD DAD
ZIXB
12DD
BHIZ GOTO
FAZC
FAZB2
FAZC CALL
GRP2PC
## Page 1147
VLOAD VAD # START 3RD PHASE OF INCORP2
X789 # 7TH,8TH,9TH,COMPONENT OF STATE VECTOR
DELTAX +12D # INCORPORATION FOR X789
STORE TX789
BON RTB
VEHUPFLG
DOCSM
MOVEPLEM
FAZAB BOVB AXT,2
TCDANZIG
0
BOFF AXT,2
MOONTHIS
+2
2
VLOAD VSR*
DELTAX # B27 IF MOON ORBIT, B29 IF EARTH
0 -7,2
VAD BOV
TDELTAV
FAZAB1
STOVL TDELTAV
DELTAX +6 # B5 IF MOON ORBIT, B7 IF EARTH
VSR* VAD
0 -4,2
TNUV
BOV
FAZAB2
STCALL TNUV
FAZAB3
FAZAB1 VLOAD VAD
RCV
DELTAX
STORE RCV
FAZAB2 VLOAD VAD
VCV
DELTAX +6
STORE VCV
SXA,2 CALL
PBODY
RECTIFY
FAZAB3 CALL
GRP2PC
BON RTB
VEHUPFLG
DOCSM1
MOVEALEM
CALL
SVDWN2 # STORE DOWNLINK STATE VECTOR
FAZAB4 CALL
## Page 1148
GRP2PC # PHASE CHANGE
BOFF VLOAD
DMENFLG
FAZAB5 # 6 DIMENSIONAL
TX789 # 9 DIMENSIONAL
STORE X789
FAZAB5 LXA,1 SXA,1
EGRESS
QPRET
EXIT
TC POSTJUMP # EXIT
CADR INTWAKE
DOCSM RTB GOTO
MOVEPCSM
FAZAB
DOCSM1 RTB CALL
MOVEACSM
SVDWN1 # STORE DOWNLINK STATE VECTOR
GOTO
FAZAB4
ZEROO = ZEROVECS
54DD DEC 54
6DD DEC -6
12DD DEC 12
SETLOC RENDEZ
BANK
COUNT* $$/INCOR
NEWZCOMP VLOAD ABVAL
ZI
STOVL NORMZI
ZI +6
ABVAL PUSH
DSU BMN
NORMZI
+3
DLOAD STADR
STORE NORMZI
VLOAD ABVAL
ZI +12D
PUSH DSU
NORMZI
BMN DLOAD
+3
STADR
STORE NORMZI # LARGEST ABVAL
DLOAD SXA,1
NORMZI
NORMZI # SAVE X1
NORM INCR,1
## Page 1149
X1
DEC 2
VLOAD VSL*
ZI
0,1
STOVL ZI
ZI +6
VSL*
0,1
STOVL ZI +6
ZI +12D
VSL* SXA,1
0,1
NORMZI +1 # SAVE SHIFT
STORE ZI +12D
LXA,1 XSU,1
NORMGAM
NORMZI +1
XSU,1
NORMZI +1
SXA,1 LXC,1
NORMGAM
NORMZI +1
XAD,1 SETPD
NORMZI
2D
GOTO
INCOR2 -3
NORMZI = 36D
Computing file changes ...
