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25 December 2018, 16:55:25 UTC
Revision 4e5d304eb7cd5589b924ffb8b423b6f15511b35d authored by Ron Burkey on 20 October 2018, 17:47:00 UTC, committed by Ron Burkey on 20 October 2018, 17:47:00 UTC 
The sample Block I AGC program TRIVIUM, found at the very end of one of
 
the recently-added documents about YUL, was transcribed.  Because the
original program contained a deliberate error in YUL (as well as some
constructs that have unintentionally become errors in yaYUL), I've
provided it in two forms:  TRIVIUM (which matches the original scan,
to the extent feasible) and TRIVIUM-repaired (which has the deliberate
and unintentional errors fixed, but otherwise retains the identical
functionality of the original).
1 parent c6c292e
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Tip revision: 4e5d304eb7cd5589b924ffb8b423b6f15511b35d authored by Ron Burkey on 20 October 2018, 17:47:00 UTC
The sample Block I AGC program TRIVIUM, found at the very end of one of
Tip revision: 4e5d304
KALMAN_FILTER.agc 
### FILE="Main.annotation"
## Copyright:	Public domain.
## Filename:	KALMAN_FILTER.agc
## Purpose: 	Part of the source code for Luminary 1A build 099.
##		It is part of the source code for the Lunar Module's (LM)
##		Apollo Guidance Computer (AGC), for Apollo 11.
## Assembler:	yaYUL
## Contact:	Ron Burkey <info@sandroid.org>.
## Website:	www.ibiblio.org/apollo.
## Pages:	1470-1471
## Mod history:	2009-05-27 RSB	Adapted from the corresponding 
##				Luminary131 file, using page 
##				images from Luminary 1A.
##		2016-12-18 RSB	Proofed text comments with octopus/ProoferComments
##				but no errors found.
##
## This source code has been transcribed or otherwise adapted from
## digitized images of a hardcopy from the MIT Museum.  The digitization
## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
## the Museum.  Many thanks to both.  The images (with suitable reduction
## in storage size and consequent reduction in image quality as well) are
## available online at www.ibiblio.org/apollo.  If for some reason you
## find that the images are illegible, contact me at info@sandroid.org
## about getting access to the (much) higher-quality images which Paul
## actually created.
##
## Notations on the hardcopy document read, in part:
##
##	Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
##	16:27 JULY 14, 1969 

## Page 1470
		EBANK=	NO.UJETS
		BANK	16
		SETLOC	DAPS1
		BANK

		COUNT*	$$/DAP

RATELOOP	CA	TWO
		TS	DAPTEMP6
		DOUBLE
		TS	Q
		INDEX	DAPTEMP6
		CCS	TJP
		TCF	+2
		TCF	LOOPRATE
		AD	-100MST6
		EXTEND
		BZMF	SMALLTJU
		INDEX	DAPTEMP6
		CCS	TJP
		CA	-100MST6
		TCF	+2
		CS	-100MST6
		INDEX	DAPTEMP6
		ADS	TJP
		INDEX	DAPTEMP6
		CCS	TJP
		CS	-100MS		# 0.1 AT 1
		TCF	+2
		CA	-100MS
LOOPRATE	EXTEND
		INDEX	DAPTEMP6
		MP	NO.PJETS
		CA	L
		INDEX	DAPTEMP6
		TS	DAPTEMP1	# SIGNED TORQUE AT 1 JET-SEC FOR FILTER
		EXTEND
		MP	BIT10		# RESCALE TO 32; ONE BIT ABOUT 2 JET-MSEC
		EXTEND
		BZMF	NEGTORK
STORTORK	INDEX	Q		# INCREMENT DOWNLIST REGISTER.
		ADS	DOWNTORK	#	NOTE:  NOT INITIALIZED; OVERFLOWS.

		CCS	DAPTEMP6
		TCF	RATELOOP +1
		TCF	ROTORQUE
SMALLTJU	CA	ZERO
		INDEX	DAPTEMP6
		XCH	TJP
		EXTEND
## Page 1471
		MP	ELEVEN		# 10.24 PLUS
		CA	L
		TCF	LOOPRATE
ROTORQUE	CA	DAPTEMP2
		AD	DAPTEMP3
		EXTEND
		MP	1JACCR
		TS	JETRATER
		CS	DAPTEMP3
		AD	DAPTEMP2
		EXTEND
		MP	1JACCQ
		TS	JETRATEQ
		TCF	BACKP
-100MST6	DEC	-160

NEGTORK		COM
		INCR	Q
		TCF	STORTORK
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