Revision 3e9ee515e29584e1ddf9514433d32f6ec77901c9 authored by Ron Burkey on 24 May 2021, 15:51:44 UTC, committed by Ron Burkey on 24 May 2021, 15:51:44 UTC
1 parent 8b09643
RTB_OP_CODES.agc
### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: RTB_OP_CODES.agc
## Purpose: Part of the source code for Solarium build 55. This
## is for the Command Module's (CM) Apollo Guidance
## Computer (AGC), for Apollo 6.
## Assembler: yaYUL --block1
## Contact: Jim Lawton <jim DOT lawton AT gmail DOT com>
## Website: www.ibiblio.org/apollo/index.html
## Page Scans: www.ibiblio.org/apollo/ScansForConversion/Solarium055/
## Mod history: 2009-09-29 JL Adapted from corresponding Artemis072 file.
## 2016-12-28 RSB Proofed comment text using octopus/ProoferComments,
## and fixed errors found.
## Page 374
BANK 30
# ROUTINE TO LOAD TIME OF DAY INTO MPAC
LOADTIME TC READTIME
CS RUPTSTOR
TS MPAC
CS RUPTSTOR +1
TS MPAC +1
RELINT
CAF ZERO
TS NEWEQIND
TS MPAC +2
TC DPEXIT
## Page 375
# ROUTINE TO RESET THE PUSHDOWN POUNTER
FRESHPD CS FIXLOC
COM
TS PUSHLOC
TC RE-ENTER
## Page 376
# ROUTINE TO ZERO OUT THE FIRST 38 LOCS OF A VAC AREA
ZEROVAC CAF 37DEC
ZVLOOP TS TEM2
AD FIXLOC
TS Q
CAF ZERO
INDEX Q
TS 0
CCS TEM2
TC ZVLOOP
TC RE-ENTER
37DEC DEC 37
## Page 377
# ROUTINE TO CONVERT IS COMP. NOS. TO 1S COMP.
CDULOGIC CCS MPAC # THIS BASIC ROUTINE TESTS CDU ANGLES FOR
TC CDULOG1 # +OR-SIGN INCLUDING ZERO AND FORMS A DP
TC CDULOG1 # NUMBER CORRESPONDING TO ANGLE
TC +1
CS HALF # USE SMOVE 1
TC +2 # RTB
CDULOG1 CS ZERO # CDUXYZ
XCH OVCTR # CDULOGIC
XCH MPAC
EXTEND
MP HALF
XCH OVCTR
AD LP
XCH MPAC +1
XCH OVCTR
XCH MPAC
TC DPEXIT
## Page 378
# ROUTINE TO CONVERT 1S COMP. NOS. TO 2S COMP.
1STO2S CAF ZERO
XCH MPAC +1
DOUBLE
TS OVCTR
CAF ZERO
AD MPAC
AD MPAC
CCS A
AD ONE
TC +2
COM
ZYXR TS MPAC # AND MAYBE OVERFLOW.
TC DPEXIT
INDEX A # HANDLE OVERFLOW IN STANDARD ANGULAR WAY.
CAF LIMITS
AD MPAC # GUARANTEED NO OVERFLOW.
TC ZYXR
## Page 379
READPIPS INHINT
CS PIPAX
CS A
INDEX FIXLOC
TS VAC
CS PIPAY
CS A
INDEX FIXLOC
TS VAC +2
CS PIPAZ
CS A
INDEX FIXLOC
TS VAC +4
RELINT
CAF ZERO
INDEX FIXLOC
TS VAC +1
INDEX FIXLOC
TS VAC +3
INDEX FIXLOC
TS VAC +5
TS NEWEQIND # LOAD INDICATOR OFF.
VMODE CS ZERO
TC DPEXIT +1
PULSEIMU INDEX FIXLOC # ADDRESS OF GYRO COMMANDS SHOULD BE IN X1
CS X1
COM
TC BANKCALL
CADR GYRODPNT
TC RE-ENTER
## Page 380
SGNAGREE TC BANKCALL
CADR TPAGREE
TC DPEXIT
# ROUTINE TO COMPLETE OPTICS TRUNNION ANGLE CONVERSION FROM COUNTER
# READING TO DP REVOLUTIONS. CALLS TO TRUNLOG SHOULD BE IMMEDIATELY
# PRECEDED BY A CALL TO CDULOGIC. (NO NEED TO CHECK SXT POWER-ON BIT.)
TRUNLOG CAF 10DEGS # CORRECT FOR 20 DEG OFFSET (CDULOGIC
AD MPAC # ALREADY SHIFTED IT RIGHT ONE) AND SHIFT
TS MPAC # RIGHT TWO ADDITIONAL PLACES.
CAF QUARTER
TC SHORTMP
TC DANZIG # WITH PD IF AT END W/ NO ADDRESSES.
10DEGS DEC 3600 # HALF OF SXT TRUNION OFFSET
## Page 381
INCRCDUS CAF LOCTHETA
TS BUF
CAF TWO
INCRCDU2 TS BUF +1
DOUBLE
AD VACLOC
INDEX A
CS 0
COM
TC BANKCALL
CADR CDUINC
CCS BUF
TS BUF
CCS BUF +1
TC INCRCDU2
TC VMODE
LOCTHETA ADRES THETAD +2
## Page 382
# LOG FUNCTION SUBROUTINE
#
# INPUT... X (IN IMPAC)
# OUTPUT... -LN(X)/32 ( IN MPAC. SCALED BY 32TO FIT LOG OF 2EXP-28.
LOG TC SWAPLOC # CALLED BY RTB LOG
TC INTPRET
NOLOD 2 # GENERATES LOG BY SHIFTING ARG UNTIL
TSLC BDSU # IT LIES BETWEEN .5 AND1. THE LOG OF
EXIT # THIS PART IS FOUND AND THE LOG OF THE
# SHIFTED PART IS COMPUTED AND ADDED IN.
31D # SHIFT COUNT STORED IN LOC 31 OF VAC AREA
NEARONE
TC POLY # GETS LOG OF PRINCIPLE PART.
DEC 6
2DEC 0
2DEC .031335467
2DEC .0130145859
2DEC .0215738898
CAF ZERO
TS MPAC +2
CAF CLOG1/2 +1
XCH MPAC +1
TS LOGTEM +1
CAF CLOG1/2
XCH MPAC
XCH LOGTEM
INDEX FIXLOC
CS 31D # LOAD POSITIVE SHIFT COUNT IN A.
TC SHORTMP2 # MULTIPLY BY SHIFT COUNT.
XCH MPAC +2
XCH MPAC +1
XCH MPAC # RESULT WAS IN MPAC +1 AND MPAC +2.
TC DAD # ADD IN PREVIOUS RESULT. LEFT IN LOGTEM.
ADRES LOGTEM
TC SWAPLOC
TC DPEXIT
CLOG1/2 2DEC .0216608494
## Page 383
# SUBROUTINE TO COMPUTE THE ARCTAN OF THE RATIO OF TWO FUNCTIONS.
#
# CALLED AS THOUGH A BASIC SUBR... RTB ARCTAN
ARCTAN TC SWAPLOC # ARCTAN COMPUTES ARCTAN(VACZ/VACX)
TC INTPRET # ---------
INATAN DSQ 0 # RESULT HAS VALUE BETWEEN + AND - 1/2
VACZ # (180 DEG. SCALED) IS LEFT IN MPAC.
DSQ 4
DAD BOV
BZE SQRT
BDDV BOV
TSRT ASIN
VACX
-
2BIG
ATAN0/0
VACZ
ATAN=90
1 # AND PUSH IT DOWN
BMN 2
LODON DMOVE
EXIT
VACX
NEGVX
- # (INACTIVE NEEDED FOR PUSH-UP).
ATANDUN TC SWAPLOC
TC DPEXIT
NEGVX COMP 2 # IF VACX NEGATIVE, CHNAGE RESULT.
BPL DAD
RTB
-
NEGOUT
HALVE
ATANDUN
NEGOUT NOLOD 1
DSU RTB
HALVE
ATANDUN
2BIG NOLOD 1
VSRT ITC
1
INATAN
## Page 384
ATAN0/0 DMOVE 1
RTB
3ZEROS # WHAT SHOULD ARCTAN(0/0) =
ATANDUN
ATAN=90 SIGN 1
RTB
FOURTH
VACZ
ATANDUN
## Page 385
# BASIC SUBROUTINE TO SAVE INTERPRETER REGISTERS (SAME BANK AS RTBS).
SWAPLOC XCH LOC # SUBROUTINE TO SWAP LOC, ADRLOC, AND
INDEX FIXLOC # ORDER REGISTERS WITH LOCATIONS 28,
XCH 28D # 29, AND 30 IN TEMP AREA.
TS LOC
XCH ADRLOC # USEFUL FOR USING INTERPRETER IN SUBROUT
INDEX FIXLOC # AND THEN ABLE TO CONTINUE IN MIDDLE OF
XCH 29D # CURRENT EQUATIONS.
TS ADRLOC # USE... TC SWAPLOC
CS BANKSET # PACK INTERPRETIVE BANK AND ORDER IN 30D.
AD ORDER
INDEX FIXLOC # .........
XCH 30D # TC SWAPLOC
TS ORDER # TC DANZIG
MASK LOW7
XCH ORDER
MASK BANKMASK
COM
TS BANKSET
TC Q
## Page 386
# SUBROUTINE TO SET MPACS TO POS OR NEG MAX DEPENDING ON SIGN MPAC
SIGNMPAC CCS MPAC
TC SETPOS
TC SETPOS
TC +1
CAF NEGSIGN
TS MPAC
TS MPAC +1
TS MPAC +2
CAF ZERO
TS NEWEQIND
TC DPEXIT
SETPOS CAF POSMAX
TC -7
## Page 387
V1STO2S CAF TWO # THIS ROUTINE TAKES GIMBAL ANGLES SCALED
TS VBUF # 2PI IN THE VAC AND LEAVES 2S COMPLIMENT
DOUBLE # ANSWERS IN MPAC.....MPAC +2
AD VACLOC # BASE ADDRESS OF VECTOR ACCUMULATOR
TS VBUF +1
INDEX VBUF +1
CS Q
COM
DOUBLE
TS OVCTR # SKIPS ON OVERFLOW
CAF ZERO
INDEX VBUF +1
AD A
INDEX VBUF +1
AD A
CCS A # TEZT FOR NEGATIVE MAJOR PART
AD ONE
TC +2
COM
ZYXW INDEX VBUF
TS MPAC
TC ZYXWV
INDEX A
CAF LIMITS # NORMAL PROCEDURE FOR ANGLE OVERFLOW
INDEX VBUF
AD MPAC
TC ZYXW
ZYXWV CCS VBUF
TC V1STO2S +1
TS NEWEQIND
CS TWO
TC DPEXIT +1
V2STOD1S CAF TWO # THIS ROUTINE TAKES CDU ANGLES IN MPAC...
TS VBUF # MPAC +2 AND CONVERTS TO ANGLES SCALED
DOUBLE # 2PI IN THE VAC LOCATIONS
AD VACLOC
TS VBUF +1
INDEX VBUF
CS MPAC
EXTEND
MP NEG1/2
TS VBUF +2 # UNCORRECTED UPPER PARTS
CCS LP # TEST SIGN OF LOWER WORD
CAF ZERO
TC +3 # POSITIVE CASE OK
TC +1
## Page 388
CS HALF # NEGATIVE CASE
AD LP # CORRECT LOWER WORD
INDEX VBUF +1
TS Q # STORE LOWER WORD
CAF ZERO # DEAL WITH OVERFLOW STANDARD WAY
AD VBUF +2
INDEX VBUF +1
TS A # STORE UPPER WORD
CCS VBUF
TC V2STOD1S +1
CS ZERO
TS MODE
TC DANZIG
## Page 389
# ROUTINE TO FREE DSKY
DSPFREE TC FREEDSP
TC RE-ENTER
## Page 390
# FINAGLE TO GET OGC CORRECTED TO NEAREST POINT ON 16 SPEED.
CDUXFIX CS OGC # INTERPRETIVE SCALING. (REVS)
EXTEND
MP BIT12 # MULTIPLY BY 1/8 TH.
TS MPAC +1 # SAVE RESULT.
CAF BIT11 # 1/16 TH.
AD THETAD # TO FIND NEAREST ZERO POINT.
MASK HI4 # DROPS BACK TO LOWER (MORE NEG) 1/8TH.
TS K1ROLL
TC +3 # SKIPS THIS IF ADDITION OVERFLEW.
CAF POSMAX # IN THAT CASE, USE POSMAX.
TS K1ROLL
CS K1ROLL # THE CURRENT NEAREST ZERO POINT ON 16 SPD
AD THETAD # DELTA FROM ZERO POINT.
AD MPAC +1 # MINUS NEW COMMAND
# A = DELTHETAD -DELNEWCOMMAND
AD BIT11 # PLUS 1/16 TH. (180 DEG SCALED.)
CCS A # IF NEG, CHANGE IS MORE THAN + 180 DEG.
TC CHECKNEG # OK, CHECK OTHER WAY.
NEG1/8+1 OCT 74000
CS BIT12 # CHANGE TOO BIG, MOVE TO NEXT LOWER 0-PT.
NEWBIAS AD K1ROLL # (NEG ZERO OF CCS COMES HERE ALSO, SO..)
TS K1ROLL
TC GETNUOGC # SKIPPING ON OVERFLOW.
INDEX A
CS LIMITS
TC NEWBIAS +1 # AND SET PROPER LIMIT VALUE.
CHECKNEG AD NEG1/8+1
CCS A # CHECK OTHER SIDE.
CAF BIT12 # ADD 108 TH TO K1ROLL.
TC NEWBIAS # (+ 0 IMPOSSIBLE.)
TC +1 # NO NEED TO CHANGE BIAS.
GETNUOGC CS MPAC +1 # NEW DELTA.
AD K1ROLL # AS MODIFIES IF IT WAS NEC.
TS MPAC
TC +4 # DETECT OVERFLOW.
INDEX A
CAF LIMITS # GO TO POSMAX FROM NEGMAX. (AND VICEVERSA
AD MPAC # AND GET NEW ANGLE.
EXTEND
MP BIT14 # RESCALE TO REVS.
TS OGC
## Page 391
TC RE-ENTER # TO NEXT EQUATION WITHOUT PUSHING DOWN.
HI4 OCT 74000
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