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
ASCENT_GUIDANCE.agc
### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: ASCENT_GUIDANCE.agc
## Purpose: A log section of Zerlina 56, the final revision of
## Don Eyles's offline development program for the variable
## guidance period servicer. It also includes a new P66 with LPD
## (Landing Point Designator) capability, based on an idea of John
## Young's. Neither of these advanced features were actually flown,
## but Zerlina was also the birthplace of other big improvements to
## Luminary including the terrain model and new (Luminary 1E)
## analog display programs. Zerlina was branched off of Luminary 145,
## and revision 56 includes all changes up to and including Luminary
## 183. It is therefore quite close to the Apollo 14 program,
## Luminary 178, where not modified with new features.
## Reference: pp. 834-849
## Assembler: yaYUL
## Contact: Ron Burkey <info@sandroid.org>.
## Website: www.ibiblio.org/apollo/index.html
## Mod history: 2017-07-28 MAS Created from Luminary 210.
## 2017-08-20 MAS Updated for Zerlina 56.
## Page 834
BANK 34
SETLOC ASCFILT
BANK
EBANK= DVCNTR
COUNT* $$/ASENT
ATMAG TC PHASCHNG
OCT 06025
EBANK= DVCNTR
2CADR PIPCYCLE
TC INTPRET
BON
FLRCS
ASCENT
SLOAD DMP
ABDVACC
KPIP
STORE 6D
DSU
MINABDV
BMN CLEAR
ASCTERM4
SURFFLAG
CLEAR SLOAD
RENDWFLG
BIT3H
DDV EXIT
6D
DXCH MPAC
DXCH 1/DV3
DXCH 1/DV2
DXCH 1/DV1
DXCH 1/DV0
TC INTPRET
DLOAD DAD
1/DV0
1/DV1
DAD DAD
1/DV2
1/DV3
DMP DMP
VE
2SEC(9)
SL3 PDDL
TBUP
SR1 DAD
## Page 835
DSU
6SEC(18)
STODL TBUP
VE
SR1 DDV
TBUP
STCALL AT
ASCENT
BIT3H OCT 4
## Page 836
BANK 30
SETLOC ASENT
BANK
COUNT* $$/ASENT
ASCENT VLOAD ABVAL
R
STOVL /R/MAG
UNIT/R/
VXV UNIT
QAXIS
STORE ZAXIS1
DOT SL1
V # Z.V = ZDOT*2(-8).
STOVL ZDOT # ZDOT*2(-7)
ZAXIS1
VXV VSL1
UNIT/R/ # Z X UR = LAXIS*2(-2)
STORE LAXIS # LAXIS*2(-1)
DOT SL1
V # L.V = YDOT*2(-8).
STCALL YDOT # YDOT * 2(-7)
YCOMP
VLOAD
G1
DOT SL4
UNIT/R/ # G.UR*2(9) = GR*2(9).
PDVL VXV # STORE IN PDL(0) (2)
UNIT/R/ # LOAD UNIT/R/*2(-1).
V # UR*2(-1) X V*2(-7) = H/R*2(-8).
VSQ DDV # H(2)/R(2)*2(-16).
/R/MAG # H(2)/R(3)*2(9).
SL1 DAD
STADR
STORE GEFF # GEFF*2(10)M/CS/CS
BOFF CALL # IF P7071FLG = 1 (I.E. P70 OR P71)
P7071FLG # CALL ZDOTDCMP TO UPDATE ZDOTD
+2 # ON THE BASIS OF THE LAST RP.
ZDOTDCMP
+2 DLOAD DSU
ZDOTD
ZDOT
STORE DZDOT # DZDOT = (ZDOTD - ZDOT)*2(7)M/CS.
VXSC PDDL
ZAXIS1
YDOTD
## Page 837
DSU
YDOT
STORE DYDOT # DYDOT = (YDOTD - YDOT)*2(7)M/CS.
VXSC PDDL
LAXIS
RDOTD
DSU
RDOT
STORE DRDOT # DRDOT = (RDOTD - RDOT)*2(7)M/CS.
VXSC VAD
UNIT/R/
VAD VSL1
STADR
STORE VGVECT # VG = (DRDOT)R + (DYDOT)L + (DZDOT)Z.
DLOAD DMP # LOAD TGO
TGO # TGO GEFF
GEFF
VXSC VSL1
UNIT/R/ # TGO GEFF UR
BVSU
VGVECT # COMPENSATED FOR GEFF
STORE VGVECT # STORE FOR DOWNLINK
MXV VSL1 # GET VGBODY FOR N85 DISPLAY
XNBPIP
STOVL VGBODY
VGVECT
ABVAL BOFF # MAGNITUDE OF VGVECT
FLRCS # IF FLRCS=0,DO NORMAL GUIDANCE
MAINENG
DDV # USE TGO=VG/AT WITH RCS
AT/RCS
STCALL TGO # THIS WILL BE USED ON NEXT CYCLE
RPCOMP1 # COMPUTE NEW RP FOR NEXT CYCLE.
RTB
ASCTERM3
MAINENG DDV PUSH # VG/VE IN PDL(0) (2)
VE
SR1 BDSU # 1 - VG / 2 VE
NEARONE
DMP DMP # TBUP VG(1-KT VG/VE)/VE (0)
TBUP # = TGO
DSU # COMPENSATE FOR TAILOFF
TTO
STORE TGO
SR DCOMP
11D
STODL TTOGO # TGO*2(-28)CS
TGO
BON DSU
IDLEFLAG
## Page 838
T2TEST
4SEC(17) # ( TGO - 4 )*2(-17)CS.
BMN
ENGOFF
T2TEST DLOAD
TGO
DSU BMN # IF TGO - T2 NEG., GO TO CMPONENT
T2A
CMPONENT
DLOAD DSU
TBUP
TGO
DDV CALL # 1-TGO/TBUP
TBUP
LOGSUB
SL PUSH # -L IN PDL(0) (2)
5
BDDV BDSU # -TGO/L*2(-17)
TGO
TBUP # TBUP + TGO/L = D12*2(-17)
PUSH BON # STORE IN PDL(2) (4)
FLPC # IF FLPC = 1, GO TO CONST
NORATES
DLOAD DSU
TGO
T3
BPL SET # FLPC=1
RATES
FLPC
NORATES DLOAD
HI6ZEROS
STORE PRATE # B = 0
STCALL YRATE # D = 0
CONST # GO TO CONST
RATES DLOAD DSU
TGO
02D # TGO - D12 = D21*2(-17)
PUSH SL1 # IN PDL(4) (6)
BDSU SL3 # (1/2TGO - D21)*2(-13) = E * 2(-13)
TGO # (8)
PDDL DMP # IN PDL(6)
TGO
RDOT # RDOT TGO * 2(-24)
DAD DSU # R + RDOT TGO
/R/MAG # R + RDOT TGO - RCO
RCO # MPAC = - DR*2(-24).
PDDL DMP # -DR IN PDL(8) (10)
DRDOT
04D # D21 DRDOT*2(-24)
DAD SL2 # (D21 DRDOT-DR)*2(-22) (8)
## Page 839
DDV DDV
06D # (D21 DRDOT-DR)/E*2(-9)
TGO
STORE PRATE # B * 2(8)
BMN DLOAD # B>0 NOT PERMITTED
CHKBMAG
HI6ZEROS
STCALL PRATE
PROK
CHKBMAG SR4 DDV # B*2(4)
TBUP # (B / TAU) * 2(21)
DSU BPL
PRLIMIT # ( B/ TAU) * 2(21) MAX.
PROK
DLOAD DMP
PRLIMIT
TBUP # B MAX. * 2(4)
SL4 # BMAX*2(8)
STORE PRATE
PROK DLOAD
TGO
DMP DAD # YDOT TGO
YDOT
Y # Y + YDOT TGO
DSU PDDL # Y + YDOT TGO - YCO
YCO # MPAC = - DY*2(-24.) IN PDL(8) (10)
DYDOT
DMP DAD # D21 DYDOT - DY (8)
04D
SL2 DDV # (D21 DYDOT - DY)/E*2(-9)
DDV SETPD # (D21 DYDOT - DY)/E TGO*2(8)
TGO # = D*2(8)
04
STORE YRATE
CONST DLOAD DMP # LOAD B*2(8)
PRATE # B D12*2(-9)
02D
PDDL DDV # D12 B IN PDL(4) (6)
DRDOT # LOAD DRDOT*2(-7)
00D # -DRDOT/L*2(-7)
SR2 DSU # (-DRDOT/L-D12 B)=A*2(-9) (4)
STADR
STODL PCONS
YRATE # D*2(8)
DMP PDDL # D12 D,EXCH WITH -L IN PDL(0) (2,2)
BDDV SR2 # -DYDOT/L*2(-9)
DYDOT
DSU # (-DYDOT/L-D12 D)=C*2(-9)
00D
STORE YCONS
## Page 840
CMPONENT SETPD BOFF
00D
P7071FLG
+3 # IF P7071FLG = 1 (I.E. P70 OR P71)
CALL # COMPUTE NEW RP FOR NEXT CYCLE.
RPCOMP2
+3 DLOAD DMP
100CS
PRATE # B(T-T0)*2(-9)
DAD DDV # (A+B(T-T0))*2(-9)
PCONS # (A+B(T-T0))/TBUP*2(8)
TBUP
SL1 DSU
GEFF # ATR*2(9)
STODL ATR
100CS
DMP DAD
YRATE
YCONS # (C+D(T-T0))*2(-9)
DDV SL1
TBUP
STORE ATY # ATY*2(9)
VXSC PDDL # ATY UY*2(8) (6)
LAXIS
ATR
VXSC VAD # (0)
UNIT/R/
VSL1 PUSH # AH*2(9) IN PDL(0) (6)
ABVAL PDDL # AH(2) IN PDL(34)
AT # AHMAG IN PDL(6) (8)
DSQ DSU # (AT(2)-AH(2))*2(18)
34D # =ATP2*2(18)
PDDL PUSH # (12)
AT
DSQ DSU # (AT(2)KR(2)-AH(2))*2(18) (10)
34D # =ATP3*2(18)
BMN DLOAD # IF ATP3 NEG,GO TO NO-ATP
NO-ATP # LOAD ATP2,IF ATP3 POS
8D
SQRT GOTO # ATP*2(9)
AIMER
NO-ATP DLOAD BDDV # KR AT/AH = KH (8)
6D
VXSC # KH AH*2(9)
00D
STODL 00D # STORE NEW AH IN PDL(0)
HI6ZEROS
AIMER SIGN
DZDOT
STORE ATP
## Page 841
VXSC
ZAXIS1 # ATP ZAXIS *2(8).
VSL1 VAD # AT*2(9)
00D
STORE UNFC/2 # WILL BE OVERWRITTEN IF IN VERT. RISE.
SETPD BON
00D
FLPI
P12RET
BON
FLVR
CHECKALT
MAINLINE VLOAD VCOMP
UNIT/R/
STODL UNWC/2
TXO
DSU BPL
PIPTIME
ASCTERM
BON
ROTFLAG
ANG1CHEK
CLRXFLAG CLEAR
XOVINFLG # (XOVINFLG)
ASCTERM EXIT
CA FLAGWRD9
MASK FLRCSBIT
CCS A
TCF ASCTERM3
TC INTPRET
CALL
FINDCDUW -2
ASCTERM1 EXIT
+1 CA FLAGWRD9 # INSURE THAT THE NOUN 63 DISPLAY IS
MASK FLRCSBIT # BYPASSED IF WE ARE IN THE RCS TRIMMING
CCS A # MODE OF OPERATION
TCF ASCTERM3
CA FLAGWRD8 # BYPASS DISPLAYS IF ENGINE FAILURE IS
MASK FLUNDBIT # INDICATED.
CCS A
TCF ASCTERM3
CAF PRIO23 # RAISE PRIORITY SO MAKEPLAY WILL BE SET
TC PRIOCHNG # UP AT A HIGHER PRIORITY THAN SERVICER
CAF V06N94
TC BANKCALL
CADR REGODSPR
CAF PRIO20 # RETURN TO NORMAL SERVICER PRIORITY
TC PRIOCHNG
ASCTERM3 TC POSTJUMP
CADR PIPCYCLE
## Page 842
ASCTERM4 EXIT
INHINT
TC IBNKCALL # NO GUIDANCE THIS CYCLE -- HENCE ZERO
CADR STOPRATE # THE DAP COMMANDED RATES.
TCF ASCTERM1 +1
CHECKALT DLOAD DSU
/R/MAG
/LAND/
DSU BMN # IF H LT 25K CHECK Z AXIS ORIENTATION.
25KFT
CHECKYAW
EXITVR CLEAR BON
FLVR
ROTFLAG
MAINLINE
DLOAD DAD
PIPTIME
10SECS
STCALL TXO
MAINLINE
EXITVR1 CLRGO
ROTFLAG
EXITVR
SETLOC ASENT1
BANK
COUNT* $$/ASENT
ANG1CHEK VLOAD UNIT
UNFC/2
DOT
XNBPIP
DSU BPL
COSTHET1
OFFROT
VLOAD DOT
XNBPIP
UNIT/R/
DSU BMN
COSTHET2
KEEPVR1
OFFROT CLRGO
ROTFLAG
CLRXFLAG
BANK 7
SETLOC ASENT1
BANK
COUNT* $$/ASENT
## Page 843
SETXFLAG = CHECKYAW
CHECKYAW SET
XOVINFLG # PROHIBIT X-AXIS OVERRIDE
DLOAD VXSC
ATY
LAXIS
PDDL VXSC
ATP
ZAXIS1
VAD UNIT
PDDL DSU
RDOT
40FPS
BPL GOTO
EXITVR1
KEEPVR
40FPS 2DEC 0.12192 B-7
BANK 34
SETLOC ASENT8
BANK
COUNT* $$/ASENT
KEEPVR VLOAD STADR # RECALL LOSVEC FROM PUSHLIST
STORE UNWC/2
KEEPVR1 VLOAD
UNIT/R/
STCALL UNFC/2
ASCTERM
BANK 14
SETLOC ASENT4
BANK
COUNT* $$/ASENT
ENGOFF RTB
LOADTIME
DSU DAD
PIPTIME
TTOGO
DCOMP EXIT
TC TPAGREE # FORCE SIGN AGREEMENT ON MPAC, MPAC +1.
CAF EBANK7
TS EBANK
EBANK= TGO
INHINT
CCS MPAC +1
## Page 844
TCF +3 # C(A) = DT - 1 BIT
TCF +2 # C(A) = 0
CAF ZERO # C(A) = 0
AD BIT1 # C(A) = 1 BIT OR DT.
TS ENGOFFDT
TC TWIDDLE
ADRES ENGOFF1
TC PHASCHNG
OCT 47014
-GENADR ENGOFFDT
EBANK= TGO
2CADR ENGOFF1
TC INTPRET
SET GOTO
IDLEFLAG # DISABLE DELTA-V MONITOR
T2TEST
ENGOFF1 TC IBNKCALL # SHUT OFF THE ENGINE.
CADR ENGINOF2
CAF PRIO17 # SET UP A JOB FOR THE ASCENT GUIDANCE
TC NOVAC
EBANK= WHICH
2CADR CUTOFF
TC PHASCHNG
OCT 07024
OCT 17000
EBANK= TGO
2CADR CUTOFF
TCF TASKOVER
CUTOFF TC UPFLAG # SET FLRCS FLAG.
ADRES FLRCS
-5 CAF V16N63
TC BANKCALL
CADR GOFLASH
TCF +3
TCF CUTOFF1
TCF -5
+3 TC POSTJUMP
CADR TERMASC
CUTOFF1 INHINT
TC IBNKCALL # ZERO ATTITUDE ERRORS BEFORE REDUCING DB.
CADR ZATTEROR
## Page 845
TC IBNKCALL
CADR SETMINDB
TC POSTJUMP
CADR CUTOFF2
V16N63 VN 1663
BANK 34
SETLOC ASENT8
BANK
COUNT* $$/ASENT
CUTOFF2 TC PHASCHNG
OCT 04024
CAF V16N85C
TC BANKCALL
CADR GOFLASH
TCF TERMASC
TCF +2 # PROCEED
TCF CUTOFF2
TERMASC TC PHASCHNG
OCT 04024
INHINT # RESTORE DEADBAND DESIRED BY ASTRONAUT.
TC IBNKCALL
CADR RESTORDB
TC DOWNFLAG # DISALLOW ABORTS AT THIS TIME.
ADRES LETABORT
TCF GOTOPOOH
V16N85C VN 1685
RPCOMP1 DLOAD # FLRCS = 1 (TRIM MODE)
HI6ZEROS
STORE PCONS # SET PCONS = PRATE = 0 SO THAT
STORE PRATE # RP = R + RDOT TGO
RPCOMP2 DLOAD DMP # FLRCS = 0 (GUIDANCE MODE)
PRATE # LEAVE PCONS AND PRATE ALONE SO THAT
TGO # RP = R + RDOT TGO + (PCONS*TGO**2)/
DMP DAD # (2 TBUP) + (PRATE*TGO**3)/(6 TBUP)
THIRD
PCONS
DMP DMP
TGO
TGO
DDV SL1
TBUP
DAD PDDL
/R/MAG
## Page 846
RDOT
DMP DAD
TGO
STADR
STORE RP
RVQ
ZDOTDCMP STQ CALL # COMPUTE CENTRAL ANGLE (0)
ASCSAVE
THETCOMP
DMP DAD # CENTRAL ANGLE IN MPAC
KPARM
JPARM
DSU PUSH # RA IN MPAC AND IN PUSHLIST (2)
RP
DSU BPL
RAMIN
+3
DLOAD PDDL # RA < RAMIN. SET RA = RAMIN. (2)
RAMIN
+3 DLOAD DMP
0D
MUM(-37)
PDDL
DAD DMP
RP
RP
BDDV SQRT # (0)
STADR
STCALL ZDOTD # UPDATE ZDOTD FOR GUIDANCE AND DOWNLINK.
ASCSAVE
THETCOMP VLOAD UNIT
R
PDVL UNIT # (6)
R(CSM)
PUSH VXV # (12)
0D
DOT
WM
STOVL 30D # (6)
DOT SL1 # (0)
ARCCOS SIGN
30D
RVQ
BANK 27
SETLOC ASENT1
BANK
COUNT* $$/ASENT
## Page 847
YCOMP VLOAD DOT
UNIT/R/
QAXIS
SL2 DMP
RCO
STORE Y
RVQ
BANK 30
SETLOC ASENT
BANK
## Page 848
# ASCENT GUIDANCE CONSTANTS
100CS EQUALS 2SEC(18)
T2A EQUALS 2SEC(17)
4SEC(17) 2DEC 400 B-17
2SEC(17) 2DEC 200 B-17
T3 2DEC 1000 B-17
6SEC(18) 2DEC 600 B-18
2SEC(9) 2DEC 200 B-9
V06N94 VN 0694
V06N76 VN 0676
V06N33A VN 0633
BANK 33
SETLOC ASENT6
BANK
COUNT* $$/ASENT
PRLIMIT 2DEC -.0639 # (B/TBUP)MIN=-.1FT.SEC(-3)
MINABDV 2DEC .0356 B-5 # 10 PERCENT BIGGER THAN GRAVITY
25KFT 2DEC 7620 B-24
## Page 849
# THE LOGARITHM SUBROUTINE
BANK 24
SETLOC FLOGSUB
BANK
# INPUT ..... X IN MPAC
# OUTPUT ..... -LOG(X) IN MPAC
LOGSUB NORM BDSU
MPAC +6
NEARONE
EXIT
TC POLY
DEC 6
2DEC .0000000060
2DEC -.0312514377
2DEC -.0155686771
2DEC -.0112502068
2DEC -.0018545108
2DEC -.0286607906
2DEC .0385598563
2DEC -.0419361902
CAF ZERO
TS MPAC +2
EXTEND
DCA CLOG2/32
DXCH MPAC
DXCH BUF +1
CA MPAC +6
TC SHORTMP
DXCH MPAC +1
DXCH MPAC
DXCH BUF +1
DAS MPAC
TC INTPRET
DCOMP RVQ
CLOG2/32 2DEC .0216608494
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