https://github.com/virtualagc/virtualagc
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 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
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
The sample Block I AGC program TRIVIUM, found at the very end of one of
Tip revision: 4e5d304
IMU_PERFORMANCE_TESTS_2.agc
### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: IMU_PERFORMANCE_TESTS_2.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: 2009-10-04 JL Created.
## 2009-10-30 JL Fixed filename comment.
## 2016-08-20 RSB Typos.
## 2016-08-23 RSB More of the same.
## 2016-12-28 RSB Proofed comment text using octopus/ProoferComments,
## and fixed errors found.
## Page 426
SETLOC 70000
MISALIGN TC BANKCALL
CADR OGCZERO
TC GRABDSP
TC PREGBSY
CAF 11DEC
TS PTS
CAF ZERO
TS PTS +1
BBB TS NDXCTR
INDEX NDXCTR
CS GENPL +68D
INDEX NDXCTR
AD GENPL +74D
INDEX NDXCTR
TS GENPL +74D
CAF 63DEC
AD NDXCTR
CCS A
CS THREE
AD NDXCTR
TC BBB
CCCC TS NDXCTR
TC INTPRET
LXA,1 0
NDXCTR
DMOVE* 1
DSU
GENPL +72D,1
GENPL
STORE GENPL +72D,1
EXIT 0
CS NDXCTR
AD 69DEC
CCS A
CAF THREE
AD NDXCTR
TC CCCC
TS GENPL
TS GENPL +1
TS RUN
CAF THREE
DDDD TS NDXCTR
TC INTPRET
LXA,1 0
NDXCTR
DSU* 0
GENPL +72D,1
GENPL +66D,1
NOLOD 1
## Page 427
TSRT DAD*
1
GENPL +66D,1
STORE GENPL +72D,1
NOLOD 1
TSLT DAD
2
OGC
STORE OGC
DMOVE* 2
TSLT DSQ
DAD
GENPL +72D,1
4
MGC
STORE MGC
EXIT 0
CS RUN
COM
AD NDXCTR
COM
AD 63DEC
CCS A
CAF SIX
AD NDXCTR
TC DDDD
AD RUN
EEEE TS NDXCTR
INDEX NDXCTR
CS GENPL +11D
COM
TS TEMDELV
CAF ZERO
TS TEMDELV +1
TC INTPRET
LXC,1 0
NDXCTR
DMOVE 0
-
NOLOD 2
TSLT BDDV
DAD
5
TEMDELV
IGC
STORE IGC
TSLT 1
BDDV
-
3
## Page 428
TEMDELV
DMOVE* 2
TSLT DMP
DAD
GENPL +9D,1
4
-
GENPL
STORE GENPL
EXIT 0
CS NDXCTR
AD 63DEC
AD RUN
AD NEG3
CCS A
CAF SIX
AD NDXCTR
TC EEEE
TC INTPRET
DMP 0
OGC
GENPL
DMP 1
DSU
MGC
IGC
DSQ 1
TSRT
OGC
1
TSLT 2
DMP DSU
BDDV DMP
PTS
11
MGC
-
-
K
STORE DSPTEM2
EXIT 0
TC BANKCALL
CADR FLASHON
CAF V06N66E
TC NVSUB
TC PRENVBSY
TC ENDIDLE
TC ENDTEST1
CAF THREE
TS RUN
## Page 429
TC BANKCALL
CADR OGCZERO
CAF ZERO
TS GENPL
TS GENPL +1
TC DDDD
K 2DEC 1.233 E3 B-14
63DEC DEC 63
69DEC DEC 69
ENDTEST1 TC BANKCALL
CADR ENDTEST
## Page 430
FINDNAVB TC MAKECADR
TS RETAA
TC BANKCALL
CADR MKRELEAS
CAF ONE
TS DSPTEM1
CAF V01N30E # MARK ON TARGET 1
TC NVSUB
TC PRENVBSY
CAF ONE
TC BANKCALL
CADR SXTMARK
TC BANKCALL
CADR OPTSTALL
TC ENDTEST1
INDEX MARKSTAT
CS 0
CS A
TS VACADR # TIME OF MARK
INDEX MARKSTAT
CS 1
CS A
TS VACADR +1
CS MARKSTAT
TS MKSTAT1
TC BANKCALL
CADR MKRELEAS
CAF TWO
TS DSPTEM1
CAF V01N30E # MARK ON TARGET 4
TC NVSUB
TC PRENVBSY
CAF ONE
TC BANKCALL
CADR SXTMARK
CCS COAROFIN # COARSE ALIGN OR FINE ALIGN MARKS
TC CLGNMARK
CS MKSTAT1
AD TWO
INDEX FIXLOC
TS S1 # BASE ADDRESS GIMBAL ANGLES
TC INTPRET # OPT-NB-SM TARGET 1
LXA,1 0
MKSTAT1
ITC 0
SXTNB
VSLT 1
ITC
STARM
0
## Page 431
NBSM
NOLOD 0
STORE STARAD
DMOVE 0
VACADR
STORE TMARK
EXIT 0
EARRTCOM TC INTPRET # COMPENSATE BETWEEN FINE ALIGN MARKS
ITC 0
EARTHR
ITC 0
OUTGYR
EXIT 0
TC BANKCALL
CADR IMUSTALL
TC ENDTEST1
CCS OPTCADR
TC +3
TC EARRTCOM
TC +1
TC BANKCALL
CADR OPTSTALL
TC ENDTEST1
CAF TWO
AD MARKSTAT
INDEX FIXLOC
TS S1 # BASE ADDRESS GIMBAL ANGLES
TC INTPRET # OPT-NB-SM TARGET 4
LXC,1 0
MARKSTAT
ITC 0
SXTNB
VSLT 1
ITC
STARM
0
NBSM
NOLOD 0
STORE STARAD +6
ITC 0
MATXDET
CLGNMARK TC INTPRET # OPT-NB TARGET 1
LXA,1 0
MKSTAT1
ITC 0
SXTNB
VMOVE 0
STARM
## Page 432
STORE STARAD
EXIT 0
TC BANKCALL
CADR OPTSTALL
TC ENDTEST1
TC INTPRET # OPT-NB TARGET 4
LXC,1 0
MARKSTAT
ITC 0
SXTNB
VMOVE 0
STARM
STORE STARAD +6
MATXDET VMOVE 0 # CALCULATE TRANSFORMATION MATRIX
TAR1POS
STORE 6
VMOVE 0
TAR1POS +6
STORE 12D
ITC 0
AXISGEN
VMOVE 0
XDC
STORE STARAD
VMOVE 0
YDC
STORE STARAD +6
VMOVE 0
ZDC
STORE STARAD +12D
EXIT 0
XCH RETAA
TC BANKJUMP
## Page 433
PUTPOSX TC MAKECADR
TS RETAA
TC INTPRET
ITC 0
CALCGA
EXIT 0
TC BANKCALL
CADR IMUCOARS # INITIATE COARSE ALIGN MODE
TC BANKCALL
CADR IMUSTALL # WAIT FOR IMUCOARS COMPLETION
TC ENDTEST1
XCH RETAA
TC BANKJUMP
SMDCALC TC MAKECADR
TS RETAA
TC INTPRET
MXV 1
VSLT
XSM
STARAD
1
STORE XDC
MXV 1
VSLT
YSM
STARAD
1
STORE YDC
VXV 1
VSLT
XDC
YDC
1
STORE ZDC
ITC 0
CALCGTA
ITC 0
OUTGYR
EXIT 0
XCH RETAA
TC BANKJUMP
## Page 434
LATAZCHK TC MAKECADR
TS RETAA
TC INTPRET # CHECK LATITUDE AND NAVBASE AZIMUTH
TSLT 0
LATITUDE
2
STORE DSPTEM1 +1
DMOVE 1
RTB EXIT
AZIMUTH
1STO2S
XCH MPAC
TS DSPTEM1
TC BANKCALL
CADR LATAZCK1
TC INTPRET
SMOVE 1
RTB
DSPTEM1
CDULOGIC
STORE AZIMUTH
SMOVE 1
TSRT
DSPTEM1 +1
2
STORE LATITUDE
EXIT 0
XCH RETAA
TC BANKJUMP
## Page 435
TARGSM TC INTPRET
ITC 0
ERTHRVEN
ITC 0
PROCTARG
VMOVE 0
TARGET1
STORE TAR1POS
VMOVE 0
TARGET1 +6
STORE TAR1POS +6
ITC 0
MAKEXSM
EXIT 0
TC BANKCALL
CADR POSLOAD
## Page 436
ALGNINIT RTB 0
ZEROVAC
DMOVE 0
ZERODP
COS 1
COMP
LATITUDE
SIN 1
VDEF VXSC # (SIN,-COS,0)
LATITUDE
OMEG/MS
STORE VMARK
RTB 0
LOADTIME
STORE TMARK
ITCQ 0
## Page 437
EARTHR RTB 0
LOADTIME
STORE S1
NOLOD 3
DSU TSLT
VXSC MXV
VAD
TMARK
10D
VMARK
XSM
OGC
STORE OGC
DMOVE 0
S1
STORE TMARK
ITCQ 0
## Page 438
OUTGYR AXT,1 1
AST,1 AXT,2
6
2
0
OUTGYR1 TSRT* 0
OGC +6,1
8D,2
STORE GYROD +6,1
TSLT* 1
BDSU*
GYROD +6,1
8D,2
OGC +6,1
STORE OGC +6,1
TIX,1 0
OUTGYR1
AXT,1 1
RTB ITCQ
GYROD
PULSEIMU
STORRSLT TC MAKECADR
TS RETAA
TC INTPRET
LXC,1 0
NDXCTR
NOLOD 2
TSLT DMP
RTB
8D
SCALFTR
SGNAGREE
STORE GENPL,1
EXIT 0
XCH STOREPL
INDEX NDXCTR
TS GENPL +2
CS NDXCTR
AD MAXPTS2
CCS A
CAF THREE
AD NDXCTR
TC +4
CCS EROPTN
## Page 439
TC ENDTEST1
TC MISALIGN
## Page 440
TS NDXCTR
XCH RETAA
TC BANKJUMP
## Page 441
TJLAL AXT,1 1
AST,1
6
2
TJLAL1 DSU* 1
DMP DAD*
DELVX +6,1
FILDELX +6,1
VRECTC3
FILDELX +6,1
STORE FILDELX +6,1
TIX,1 0
TJLAL1
ITCQ 0
## Page 442
FALNE1 CAF TWO
AD FLNDX
INDEX FIXLOC
TS S1
TC INTPRET
MXV 1
VSLT ITC
XSM
STARAD
1
NBSM
NOLOD 0
STORE XDC
MXV 1
VSLT ITC
YSM
STARAD
1
NBSM
NOLOD 0
STORE YDC
VXV 1
VSLT
XDC
YDC
1
STORE ZDC
ITC 0
CALCGTA
ITC 0
OUTGYR
EXIT 0
TC BANKCALL
CADR IMUSTALL
TC ENDTEST1
TC BANKCALL
CADR FALNED
## Page 443
VERTRECT NOLOD 1
VXM VSLT
XSM
1
STORE 0
DMOVE 0
VAC +2
COMP 0
VAC +4
SMOVE 1
VDEF
ZERODP
NOLOD 1
VXSC VSLT
INTCON1
1
VSU 3
BOV VXSC
VSLT VAD
MXV VAD
0
18D
ERECTND
INTCON1
1
-
XSM
OGC
STORE OGC
VMOVE 0
STORE 18D
ERECTND ITCQ 0
## Page 444
POSNJUMP INDEX POSITON
TC +1
TC ENDTEST1
TC POS1
TC POS2
TC POS3
TC POS4
TC BANKCALL
CADR POSNRETN
POS1 CS ONE
TS PIPNDX
CS TWO
TS PIPNDX +1
TC POS1 -2
POS2 TC INTPRET
VMOVE 1
COMP
XSM
VMOVE 0
ZSM
STORE XSM
VMOVE 0
-
STORE ZSM
EXIT 0
CS ZERO
TS PIPNDX
CS ONE
TS PIPNDX +1
TC POS1 -2
POS3 TC INTPRET
VMOVE 0
XSM
VMOVE 0
ZSM
VMOVE 0
YSM
STORE ZSM
VMOVE 0
-
STORE XSM
VMOVE 0
-
## Page 445
STORE YSM
EXIT 0
CS ZERO
TS PIPNDX
CS TWO
TS PIPNDX +1
TC POS1 -2
## Page 446
POS4 TC INTPRET
VXV 1
UNIT
YSM
ZSM
STORE XSM
EXIT 0
TC POS1 -2
NBPOSPL CAF MTRXLD
TS OVCTR # ZERO STARAD
CAF ZERO
INDEX OVCTR
TS STARAD
CCS OVCTR
TC NBPOSPL +1
TC INTPRET # SETS UP AZIMUTH AND VERTICAL VECTORS
RTB 0 # FOR AXISGEN,RESULTS TO BE USED IN CALCGA
ZEROVAC # TO COMPUTE COARSE ALIGN ANGLES
AXC,1 1
XSU,1 VMOVE*
SCNBAZ
NBPOS
0,1
STORE STARAD # AZIMUTH IN NB COORDS
AXC,1 1
XSU,1 VMOVE*
SCNBVER
NBPOS
0,1
STORE STARAD +6 # VERTICAL IN NB COORDS
COS 1
COMP
AZIMUTH
STORE 8D
SIN 0
AZIMUTH
STORE 10D # AZIMUTH IN CER
VMOVE 0
LABNBVER
STORE 12D # VERTICAL IN CER
ITC 0
AXISGEN
VMOVE 0
XDC
## Page 447
STORE STARAD
VMOVE 0
YDC
STORE STARAD +6
VMOVE 0
ZDC
STORE STARAD +12D
EXIT 0
TC BANKCALL
CADR POSSET
## Page 448
RESULTS CCS TESTNDX
TC CDUCALC
TC PIPCALC
TC CDUCALC
SFCALC CS DATAPL +4
AD DATAPL +8D
TS DATAPL
TC INTPRET
TSU 1
TSLT ROUND
DATAPL +9D
DATAPL +5
14D
SMOVE 2
DMP DDV
RTB
DATAPL
DC585
0
SGNAGREE
STORE DSPTEM2
EXIT 0
TC GRABDSP
TC PREGBSY
TC BANKCALL
CADR FINISH
## Page 449
CDUCALC TC INTPRET
DSU 2
BDDV DMP
RTB
DATAPL +2
DATAPL
GENPL +76D
ERUNITS # 2DEC.66666
SGNAGREE
STORE DSPTEM2
EXIT 0
TC GRABDSP
TC PREGBSY
TC BANKCALL
CADR FINISH
## Page 450
PIPCALC TC INTPRET
RTB 0
FRESHPD
TSU 1
TSLT ROUND
GENPL +4
DATAPL +1
11D
DSQ 0
0 # T1(2) IN 2,3
DMP 1
VDEF
0
2
STORE GENPL +25D
TSU 1
TSLT ROUND
GENPL +9D
DATAPL +1
11D
DSQ 0
0
DMP 1 # T2(2) IN 6
VDEF
0
2
STORE GENPL +31D
TSU 1
TSLT ROUND
GENPL +14D
DATAPL +1D
11D
DSQ 0
0
DMP 1
VDEF
0
2
STORE GENPL +37D
VXV 1
DOT
GENPL +31D
GENPL +37D
GENPL +25D
STORE GENPL +45D # D2
DMOVE 0
GENPL +7
STORE GENPL +25D
DMOVE 0
GENPL +12D
## Page 451
STORE GENPL +31D
DMOVE 0
GENPL +17D
STORE GENPL +37D
VXV 2
DOT DDV
DMP RTB
GENPL +31D
GENPL +37D
GENPL +25D
GENPL +45D
ERUNITS2
SGNAGREE
STORE DSPTEM2
EXIT 0
TC GRABDSP
TC PREGBSY
TC BANKCALL
CADR FINISH
## Page 452
CHKCALC TC INTPRET
RTB 1
RTB
ZEROVAC
FRESHPD
TSU 1
TSLT ROUND
DATAPL +17D
DATAPL +2
12D
DSU 2
TSLT DMP
DDV
DATAPL +15D
DATAPL
12D
DC585 # GZ IN 0,1
TSU 1
TSLT ROUND
DATAPL +22D
DATAPL +7
12D
DSU 2
TSLT DMP
DDV
DATAPL +20D
DATAPL +5
12D
DC585 # GY IN 2,3
TSU 1
TSLT ROUND
DATAPL +27D
DATAPL +12D
12D
STORE TESTTIME
DSU 2
TSLT DMP
DDV VDEF
DATAPL +25D
DATAPL +10D
12D
DC585
TESTTIME # G IN 0,1,2,3,4,5
ABVAL 1
TSLT RTB
0
1
SGNAGREE
STORE DSPTEM2
EXIT 0
## Page 453
TC GRABDSP
TC PREGBSY
TC BANKCALL
CADR SHOW
TC INTPRET
DMOVE 0
DATAPL +32D
DMOVE 0
DATAPL +30D
DMOVE 2
VDEF UNIT
VSLT
DATAPL +10D
1 # V1 IN 6,7,8,9,10,11
DMOVE 0
DATAPL +36D
DMOVE 0
DATAPL +34D
DMOVE 2
VDEF UNIT
VSLT
DATAPL +25D
1 # V2 IN 12,13,14,15,1 ,17
VXV 3
ABVAL TSLT
DDV DMP
RTB
6
12D
1
TESTTIME
ERUNITS1
SGNAGREE
STORE DSPTEM2
EXIT 0
TC BANKCALL
CADR SHOW
TC ENDTEST1
## Page 454
STOPHOR TC MAKECADR
TS RETAA
TC INTPRET
ITC 0
EARTHR
ITC 0
OUTGYR
EXIT 0
TC BANKCALL
CADR IMUSTALL
TC ENDTEST1
XCH RETAA
TC BANKJUMP
## Page 455
SCRINTP TC MAKECADR
TS RETAA
TC INTPRET
NOLOD 1
TSU
DATAPL +5
STORE 0 # T1:T0
NOLOD 1
TAD
DATAPL +5
STORE DATAPL +5 # TN
TMOVE 2
TSLT ROUND
DMP DAD
0
12D
GENPL
GENPL +2
STORE GENPL +2
EXIT 0
CCS COUNTPL
TC SUMSUM1
TC INTPRET
LXC,1 0
RESULTCT # FIRST=4
TMOVE 0 # SECOND=9
DATAPL +5
STORE GENPL,1
DMOVE 0
GENPL +2
STORE GENPL +3,1
EXIT 0
XCH RETAA
TC BANKJUMP
SUMSUM1 TC BANKCALL
CADR SUMSUM
## Page 456
FALNED1 TC INTPRET
ITC 0
ALGNINIT
EXIT 0
CCS TESTNDX
TC LABTEST1
TC +2
TC +1
TC BANKCALL
CADR OGCZERO
TC BANKCALL
CADR FLTRZERO
FRECT CAF BIT7
TS STOREPL
CAF ZERO # VERTICAL ERECTION BY NULLING PIPAS
TS PIPAX
TS PIPAY
TS PIPAZ
WARTNEW CAF TEN # CALL A SPADE A SPADE...HOMER
TS COUNTPL
INHINT
CAF 50DEC
TC WAITLIST
CADR WARTNEW1
CAF WART2ADR
TC JOBSLEEP
WART2ADR CADR WART2NEW
WARTNEW1 CAF WART2ADR
TC JOBWAKE
TC TASKOVER
WART2NEW TC INTPRET
RTB 0
READPIPS
STORE DELVX
ITC 0
TJLAL
EXIT 0
CCS COUNTPL
TC WARTNEW +1
TC INTPRET
VMOVE 1
ITC
FILDELX
VERTRECT
ITC 0
EARTHR
ITC 0
OUTGYR
EXIT 0
TC BANKCALL
## Page 457
CADR IMUSTALL
TC ENDTEST1
CCS STOREPL
TC FRECT +1
TC BANKCALL
CADR TSTJUMP
LABTEST1 TC BANKCALL
CADR LABTEST
## Page 458
SCNBAZ 2DEC -.27232 # AZIMUTH OF NB IS ERAD IN AS Z AXIS EAST
2DEC 0
2DEC .4194335
LABNBAZ 2DEC 0
2DEC 0
2DEC .5
LABNBAZ1 2DEC 0
2DEC 0
SCNBVER 2DEC .4194335
2DEC 0
2DEC .27232
LABNBVER 2DEC .5
2DEC 0
2DEC 0
LBNBVER1 2DEC 0
2DEC -.5
V06N66E OCT 00666
V01N30E OCT 00130
OMEG/MS 2DEC .12169524
SCALFTR 2DEC .64
INTCON1 DEC 40 B+8
DEC 0
FLNDX ADRES GENPL
MTRXLD DEC 17
DC585 2DEC 585 B+14
ERUNITS 2DEC 4308205 B-28 # CONSTANT CORRECTED FOR SIDEREAL RATE
ERUNITS2 2DEC 38357 B-28
VRECTC3 2DEC .1
## Page 459
ERUNITS1 2DEC 685683 B-28
## Page 460
ERTHRVEN RTB 0
ZEROVAC
COS 0
LATITUDE
DMOVE 0
ZERODP
SIN 1
VDEF VXSC
LATITUDE
OMEG/MS
STORE VMARK
ITCQ 0
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