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
POWERED_FLIGHT_SUBROUTINES.agc
### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: POWERED_FLIGHT_SUBROUTINES.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. 1248-1256
## 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.
## 2017-08-29 RSB Transcribed.
## 2021-05-30 ABS SINSLOC -> SINESLOC
## Page 1248
BANK 14 # SAME FBANK AS THE FINDCDUD SUB-PROGRAM
SETLOC POWFLITE
BANK
EBANK= DEXDEX
COUNT* $$/POWFL
# CDUTRIG, CDUTRIG1, CDUTRIG2, AND CD*TR*GS ALL COMPUTE THE SINES AND
# COSINES OF THREE 2'S COMPLEMENT ANGLES AND PLACE THE RESULT, DOUBLE
# PRECISION, IN THE SAME ORDER AS THE INPUTS, AT SINCDU AND COSCDU. AN
# ADDITIONAL OUTPUT IS THE 1'S COMPLEMENT ANGLES AT CDUSPOT. THESE
# ROUTINES GO OUT OF THEIR WAY TO LEAVE THE MPAC AREA AS THEY FIND IT,
# EXCEPT FOR THE GENERALLY UNIMPORTANT MPAC +2. THEY DIFFER ONLY IN
# WHERE THEY GET THE ANGLES, AND IN METHOD OF CALLING.
#
# CDUTRIG (AND CDUTRIG1, WHICH CAN BE CALLED IN BASIC) COMPUTE THE
# SINES AND COSINES FROM THE CURRENT CONTENTS OF THE CDU REGISTERS.
# THE CONTENTS OF CDUTEMP, ETC., ARE NOT TOUCHED SO THAT THEY MAY
# CONTINUE TO FORM A CONSISTENT SET WITH THE LATEST PIPA READINGS.
#
# CDUTRIG1 IS LIKE CDUTRIG EXCEPT THAT IT CAN BE CALLED IN BASIC.
#
# CD*TR*GS FINDS CDU VALUES IN CDUSPOT RATHER THAN IN CDUTEMP. THIS
# ALLOWS USERS TO MAKE TRANSFORMATIONS USING ARBITRARY ANGLES, OR REAL
# ANGLES IN AN ORDER OTHER THAN X Y Z. A CALL TO THIS ROUTINE IS
# NECESSARY IN PREPARATION FOR A CALL TO AX*SR*T IN EITHER OF ITS TWO
# MODES (SMNB OR NBSM). SINCE AX*SR*T EXPECTS TO FIND THE SINES AND
# COSINES IN THE ORDER Y Z X THE ANGLES MUST HAVE BEEN PLACED IN CDUSPOT
# IN THIS ORDER. CD*TR*GS NEED NOT BE REPEATED WHEN AX*SR*T IS CALLED
# MORE THAN ONCE, PROVIDED THE ANGLES HAVE NOT CHANGED. NOTE THAT SINCE
# IT CLOBBERS BUF2 (IN THE SINE AND COSINE ROUTINES) CD*TR*GS CANNOT BE
# CALLED USING BANKCALL. SORRY.
#
# CD*TR*G IS LIKE CD*TR*GS EXCEPT THAT IT CAN BE CALLED IN
# INTERPRETIVE.
CDUTRIG EXIT
TC CDUTRIGS
TC INTPRET
RVQ
CD*TR*G EXIT
TC CD*TR*GS
TC INTPRET
RVQ
CDUTRIGS CA CDUX
TS CDUSPOT +4
CA CDUY
TS CDUSPOT
## Page 1249
CA CDUZ
TS CDUSPOT +2
CD*TR*GS EXTEND
QXCH TEM2
CAF FOUR
TR*GL**P MASK SIX # MAKE IT EVEN AND SMALLER
TS TEM3
INDEX TEM3
CA CDUSPOT
DXCH MPAC # STORING 2'S COMP ANGLE, LOADING MPAC
DXCH VBUF +4 # STORING MPAC FOR LATER RESTORATION
TC USPRCADR
CADR CDULOGIC
EXTEND
DCA MPAC
INDEX TEM3
DXCH CDUSPOT # STORING 1'S COMPLEMENT ANGLE
TC USPRCADR
CADR COSINE
DXCH MPAC
INDEX TEM3
DXCH COSCDU # STORING COSINE
EXTEND
INDEX TEM3
DCA CDUSPOT # LOADING 1'S COMPLEMENT ANGLE
TC USPRCADR
CADR SINE +1 # SINE +1 EXPECTS ARGUMENT IN A AND L
DXCH VBUF +4 # BRINGING UP PRIOR MPAC TO BE RESTORED
DXCH MPAC
INDEX TEM3
DXCH SINCDU
CCS TEM3
TCF TR*GL**P
TC TEM2
## Page 1250
# ****************************************************************************************************************
# QUICTRIG, INTENDED FOR GUIDANCE CYCLE USE WHERE TIME IS CRITICAL, IS A MUCH FASTER VERSION OF CD*TR*GS.
# QUICTRIG COMPUTES AND STORES THE SINES AND COSINES OF THE 2'S COMPLEMENT ANGLES AT CDUSPOT, CDUSPOT +2,
# AND CDUSPOT +4. UNLIKE CD*TR*GS, QUICTRIG DOES NOT LEAVE THE 1'S COMPLEMENT VERSIONS OF THE ANGLES IN
# CDUSPOT. QUICTRIG'S EXECUTION TIME IS 4.1 MS; THIS IS 10 TIMES AS FAST AS CD*TR*GS. QUICTRIG MAY BE
# CALLED FROM INTERPRETIVE AS AN RTB OP-CODE, OR FROM BASIC VIA BANKCALL OR IBNKCALL.
QTPROLOG INHINT
CA CDUX
TS CDUSPOTX
CA CDUY
TS CDUSPOTY
CA CDUZ
TS CDUSPOTZ
QUICTRIG INHINT # INHINT SINCE DAP USES THE SAME TEMPS
EXTEND
QXCH ITEMP1
CAF FOUR
+4 MASK SIX
TS ITEMP2
INDEX ITEMP2
CA CDUSPOT
TC SPSIN
EXTEND
MP BIT14 # SCALE DOWN TO MATCH INTERPRETER OUTPUTS
INDEX ITEMP2
DXCH SINCDU
INDEX ITEMP2
CA CDUSPOT
TC SPCOS
EXTEND
MP BIT14
INDEX ITEMP2
DXCH COSCDU
CCS ITEMP2
TCF QUICTRIG +4
CA ITEMP1
RELINT
TC A
## Page 1251
# ****************************************************************************************************************
# THESE INTERFACE ROUTINES MAKE IT POSSIBLE TO CALL AX*SR*T, ETC., IN
# INTERPRETIVE. LATER, WHERE POSSIBLE, THEY WILL BE ELIMINATED.
#
# THESE INTERFACE ROUTINES ARE PERMANENT. ALL RESTORE USER'S EBANK
# SETTING. ALL ARE STRICT INTERPRETIVE SUBROUTINES, CALLED USING "CALL",
# RETURNING VIA QPRET. ALL EXPECT AND RETURN THE VECTOR TO BE TRANSFOR-
# MED INTERPRETER-STYLE IN MPAC; COMPONENTS AT MPAC, MPAC +3, AND MPAC +5.
#
# TRG*SMNB AND TRG*NBSM BOTH EXPECT TO SEE THE 2'S COMPLEMENT ANGLES
# AT CDUSPOT (ORDER Y Z X, AT CDUSPOT, CDUSPOT +2, AND CDUSPOT +4; ODD
# LOCATIONS NEED NOT BE ZEROED). TRG*NBSM DOES THE NB TO SM TRANSFOR-
# MATION; TRG*SMNB, VICE VERSA.
#
# CDU*NBSM DOES ITS TRANSFORMATION USING THE PRESENT CONTENTS OF
# THE CDU COUNTERS. OTHERWISE IT IS LIKE TRG*NBSM.
#
# CDU*SMNB IS THE COMPLEMENT OF CDU*NBSM.
CDU*SMNB EXIT
TC CDUTRIGS
TCF C*MM*N1
TRG*SMNB EXIT
TC CD*TR*GS
C*MM*N1 TC MPACVBUF # AX*SR*T EXPECTS VECTOR IN VBUF
CS THREE # SIGNAL FOR SM TO NB TRANSFORMATION
C*MM*N2 TC AX*SR*T
TC INTPRET
VLOAD RVQ
VBUF
CDU*NBSM EXIT
TC CDUTRIGS
TCF C*MM*N3
TRG*NBSM EXIT
TC CD*TR*GS
C*MM*N3 TC MPACVBUF # FOR AX*SR*T
CA THREE # SIGNAL FOR NB TO SM TRANSFORMATION
TCF C*MM*N2
# *NBSM* AND *SMNB* EXPECT TO SEE THE SINES AND COSINES (AT SINCDU
# AND COSCDU) RATHER THAN THE ANGLES THEMSELVES. OTHERWISE THEY ARE
# LIKE TRG*NBSM AND TRG*SMNB.
#
# NOTE THAT JUST AS CD*TR*GS NEED BE CALLED ONLY ONCE FOR EACH SERIES
# OF TRANSFORMATIONS USING THE SAME ANGLES, SO TOO ONLY ONE OF TRG*NBSM
## Page 1252
# AND TRG*SMNB NEED BE CALLED FOR EACH SERIES. FOR SUBSEQUENT TRANSFOR-
# MATIONS USE *NBSM* AND *SMNB*.
*SMNB* EXIT
TCF C*MM*N1
*NBSM* EXIT
TCF C*MM*N3
# AX*SR*T COMBINES THE OLD SMNB AND NBSM. FOR THE NB TO SM
# TRANSFORMATION, ENTER WITH +3 IN A. FOR SM TO NB, ENTER WITH -3.
# THE VECTOR TO BE TRANSFORMED ARRIVES, AND IS RETURNED, IN VBUF.
# AX*SR*T EXPECTS TO FIND THE SINES AND COSINES OF THE ANGLES OF ROTATION
# AT SINCDU AND COSCDU, IN THE ORDER Y Z X. A CALL TO CD*TR*GS, WITH
# THE 2'S COMPLEMENT ANGLES (ORDER Y Z X) AT CDUSPOT, WILL TAKE CARE OF
# THIS. HERE IS A SAMPLE CALLING SEQUENCE:-
# TC CDUTRIGS
# CS THREE ("CA THREE" FOR NBSM)
# TC AX*SR*T
# THE CALL TO CD*TR*GS NEED NOT BE REPEATED, WHEN AX*SR*T IS CALLED MORE
# THAN ONCE, UNLESS THE ANGLES HAVE CHANGED.
#
# AX*SR*T IS GUARANTEED SAFE ONLY FOR VECTORS OF MAGNITUDE LESS THAN
# UNITY. A LOOK AT THE CASE IN WHICH A VECTOR OF GREATER MAGNITUDE
# HAPPENS TO LIE ALONG AN AXIS OF THE SYSTEM TO WHICH IT IS TO BE TRANS-
# FORMED CONVINCES ONE THAT THIS IS A RESTRICTION WHICH MUST BE ACCEPTED.
AX*SR*T TS DEXDEX # WHERE IT BECOMES THE INDEX OF INDEXES
EXTEND
QXCH RTNSAVER
R*TL**P CCS DEXDEX # +3 --> 0 -3 --> 2
CS DEXDEX # THUS: +2 --> 1 -2 --> 1
AD THREE # +1 --> 2 -1 --> 0
EXTEND
INDEX A
DCA INDEXI
DXCH DEXI
CA ONE
TS BUF
EXTEND
INDEX DEX1
DCS VBUF
TCF LOOP1 # REALLY BE A SUBTRACT, AND VICE VERSA
LOOP2 DXCH BUF # LOADING VECTOR COMPONENT, STORING INDEX
## Page 1253
LOOP1 DXCH MPAC
CA SINESLOC
AD DEX1
TS ADDRWD
TC DMPSUB # MULTIPLY BY SIN(CDUANGLE)
CCS DEXDEX
DXCH MPAC # NBSM CASE
TCF +3
EXTEND # SMNB CASE
DCS MPAC
DXCH TERM1TMP
CA SIX # SINCDU AND COSCDU (EACH 6 WORDS) MUST
ADS ADDRWD # BE CONSECUTIVE AND IN THAT ORDER
EXTEND
INDEX BUF
INDEX DEX1
DCA VBUF
DXCH MPAC
TC DMPSUB # MULTIPLY BY COS(CDUANGLE)
DXCH MPAC
DAS TERM1TMP
DXCH TERM1TMP
DDOUBL
INDEX BUF
INDEX DEX1
DXCH VBUF
DXCH BUF # LOADING INDEX, STORING VECTOR COMPONENT
CCS A # 'CAUSE THAT'S WHERE THE INDEX NOW IS
TCF LOOP2
EXTEND
DIM DEXDEX # DECREMENT MAGNITUDE PRESERVING SIGN
TSTPOINT CCS DEXDEX # ONLY THE BRANCHING FUNCTION IS USED
TCF R*TL**P
TC RTNSAVER
TCF R*TL**P
TC RTNSAVER
SINESLOC ADRES SINCDU # FOR USE IN SETTING ADDRWD
INDEXI DEC 4 # ********** DON'T **********
DEC 2 # ********** TOUCH **********
DEC 0 # ********** THESE **********
## Page 1254
DEC 4 # ********** CONSTANTS **********
# ****************************************************************************************************************
BANK 10
SETLOC FLESHLOC
BANK
COUNT* $$/POWFL
# ROUTINE FLESHPOT COMPUTES THE BODY-STABLE MEMBER TRANSFORMATION MATRIX (COMMONLY CALLED XNB) AND STORES
# IT IN THE LOCATIONS SPECIFIED BY THE ECADR ENTERING IN A.
CALCSMSC EXIT
TC BANKCALL
CADR FLESHPOT -1
TC INTPRET
RVQ
XNBECADR ECADR XNB
-1 CAF XNBECADR
FLESHPOT TS TEM2
XCH EBANK
XCH TEM2
MASK LOW8
AD OCT1400
TS TEM1
EXTEND
DCA COSCDUY
DXCH MPAC
TC DMP
ADRES COSCDUZ
DXCH MPAC
DDOUBL
INDEX TEM1
DXCH 0 # = COSY COSZ
EXTEND
DCA SINCDUZ
INDEX TEM1
DXCH 2 # = SINZ
EXTEND
DCS SINCDUY
DXCH MPAC
TC DMPSUB # ADDRWD SET TO COSCDUZ
## Page 1255
DXCH MPAC
DDOUBL
INDEX TEM1
DXCH 4 # = - SINY COSZ
EXTEND
DCS SINCDUX
DXCH MPAC
TC DMPSUB # ADDRWD SET TO COSCDUZ STILL
DXCH MPAC
DDOUBL
DXCH MPAC +3
EXTEND
DCS SINCDUX
DXCH MPAC
TC DMP
ADRES SINCDUZ
EXTEND
DCS MPAC
DXCH MPAC +5
TC DMP
ADRES SINCDUY
DXCH MPAC
DDOUBL
DDOUBL
DXCH MPAC +5
DXCH MPAC
TC DMP
ADRES COSCDUY
DXCH MPAC
DDOUBL
DDOUBL
DXCH BUF
EXTEND
DCA COSCDUY
DXCH MPAC
TC DMP
ADRES COSCDUX
DXCH MPAC
DDOUBL
DAS MPAC +5
EXTEND
DCA SINCDUY
DXCH MPAC
TC DMPSUB # ADDRWD SET TO COSCDUX
DXCH MPAC
## Page 1256
DDOUBL
DAS BUF
DXCH BUF
DXCH MPAC
EXTEND
DCA MPAC
INDEX TEM1
DXCH 14 # = SINY COSX + SINX SINZ COSY
EXTEND
DCA MPAC +3
INDEX TEM1
DXCH 16 # = - SINX COSZ
EXTEND
DCA MPAC +5
INDEX TEM1
DXCH 20 # = COSX COSY - SINX SINY SINZ
CA TEM1
TS ADDRWD
EXTEND
DCA Z
AD FOUR
DXCH LOC
CAF BIT8
TS EDOP
TCF VXV
DXCH MPAC
DDOUBL
INDEX TEM1
DXCH 6
DXCH MPAC +3
DDOUBL
INDEX TEM1
DXCH 10
DXCH MPAC +5
DDOUBL
INDEX TEM1
DXCH 12
CA TEM2
TS EBANK
TCF SWRETURN
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