Revision c889f392c435278e913bd6f00367bf3fea9327ba authored by Mike Stewart on 28 July 2019, 00:48:04 UTC, committed by Mike Stewart on 28 July 2019, 00:48:04 UTC
RTB_OP_CODES.agc
### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: RTB_OP_CODES.agc
## Purpose: A section of Sunburst revision 37, or Shepatin revision 0.
## It is part of an early development version of the software
## for Apollo Guidance Computer (AGC) on the unmanned Lunar
## Module (LM) flight Apollo 5. Sunburst 37 was the program
## upon which Don Eyles's offline development program Shepatin
## was based; the listing herein transcribed was actually for
## the equivalent revision 0 of Shepatin.
## This file is intended to be a faithful transcription, except
## that the code format has been changed to conform to the
## requirements of the yaYUL assembler rather than the
## original YUL assembler.
## Reference: pp. 342-347
## Assembler: yaYUL
## Contact: Ron Burkey <info@sandroid.org>.
## Website: www.ibiblio.org/apollo/index.html
## Mod history: 2017-05-24 MAS Created from Sunburst 120.
## 2017-06-06 HG Transcribed
## 2017-06-22 RSB Proofed comment text with
## octopus/ProoferComments.
## Page 342
BANK 15
# LOAD TIME2, TIME1 INTO MPAC:
LOADTIME EXTEND
DCA TIME2
TCF SLOAD2
# CONVERT THE SINGLE PRECISION 2'S COMPLEMENT NUMBER ARRIVING IN MPAC (SCALED IN HALF-REVOLUTIONS) TO A
# DP 1'S COMPLEMENT NUMBER SCALED IN REVOLUTIONS.
CDULOGIC CCS MPAC
CAF ZERO
TCF +3
NOOP
CS HALF
TS MPAC +1
CAF ZERO
XCH MPAC
EXTEND
MP HALF
DAS MPAC
TCF SLOAD2 +2 # C(A) = +0.
# READ IMU CDUS INTO MPAC AS A VECTOR. ESPECIALLY USEFUL IN CONNECTION WITH SMNB, ETC.
READCDUS INHINT
CA CDUY # IN ORDER Y Z X
TS MPAC
CA CDUZ
TS MPAC +3
CA CDUX
TCF READPIPS +6 # COMMON CODING.
# READ THE PIPS INTO MPAC WITHOUT CHANGING THEM:
READPIPS INHINT
CA PIPAX
TS MPAC
CA PIPAY
TS MPAC +3
CA PIPAZ
RELINT
TS MPAC +5
CAF ZERO
TS MPAC +1
TS MPAC +4
TS MPAC +6
## Page 343
VECMODE CS ONE
TCF NEWMODE
# FORCE TP SIGN AGREEMENT IN MPAC:
SGNAGREE TC TPAGREE
TCF DANZIG
# CONVERT THE DP 1'S COMPLEMENT ANGLE SCALED IN REVOLUTIONS TO A SINGLE PRECISION 2'S COMPLEMENT ANGLE
# SCALED IN HALF-REVOLUTIONS.
1STO2S TC 1TO2SUB
CAF ZERO
TS MPAC +1
TCF NEWMODE
# DO 1STO2S ON A VECTOR OF ANGLES:
V1STO2S TC 1TO2SUB # ANSWER ARRIVES IN A AND MPAC.
DXCH MPAC +5
DXCH MPAC
TC 1TO2SUB
TS MPAC +2
DXCH MPAC +3
DXCH MPAC
TC 1TO2SUB
TS MPAC +1
CA MPAC +5
TS MPAC
TPMODE CAF ONE # MODE IS TP.
TCF NEWMODE
# V1STO2S FOR 2 COMPONENT VECTOR, USED BY RR.
2V1STO2S TC 1TO2SUB
DXCH MPAC +3
DXCH MPAC
TC 1TO2SUB
TS L
CA MPAC +3
TCF SLOAD2
# SUBROUTINE TO DO DOUBLING AND 1'S TO 2'S COMVERSION:
1TO2SUB DXCH MPAC # FINAL MPAC +1 UNSPECIFIED.
DDOUBL
## Page 344
CCS A
AD ONE
TCF +2
COM # THIS WAS REVERSE OF MSU.
TS MPAC # AND SKIP ON OVERFLOW.
TC Q
INDEX A # OVERFLOW UNCORRECT AND IN MSU.
CAF LIMITS
ADS MPAC
TC Q
## Page 345
# SUBROUTINE TO INCREMENT CDUS
INCRCDUS CAF LOCTHETA
TS BUF # PLACE ADRES(THETA) IN BUF.
CAE MPAC # INCREMENT IN 1S COMPL.
TC CDUINC
INCR BUF
CAE MPAC +3
TC CDUINC
INCR BUF
CAE MPAC +5
TC CDUINC
TCF VECMODE
LOCTHETA ADRES THETAD
# THE FOLLOWING ROUTINE INCREMENTS IN 2S COMPLEMENT THE REGISTER WHOSE ADDRESS IS IN BUF BY THE 1S COMPL.
# QUANTITY FOUND IN TEM2. THIS MAY BE USED TO INCREMENT DESIRED IMU AND OPTICS CDU ANGLES OR ANY OTHER 2S COMPL.
# (+0 UNEQUAL TO -0) QUANTITY. MAY BE CALLED BY BANKCALL/SWCALL.
CDUINC TS TEM2 # 1S COMPL.QUANT. ARRIVES IN ACC. STORE IT
INDEX BUF
CCS 0 # CHANGE 2S COMPL. ANGLE(IN BUF)INTO 1S
AD ONE
TCF +4
AD ONE
AD ONE # OVERFLOW HERE IF 2S COMPL. IS 180 DEG.
COM
AD TEM2 # ADD IN INCREMENT. WILL OVERFLOW IF RE-
# SULT MOVES FROM 2ND TO 3D QUAD.(OR BACK)
CCS A # BACK TO 2S COMPL.
AD ONE
TCF +2
COM
TS TEM2 # STORE 14BIT QUANTITY WITH PRESENT SIGN
TCF +4
INDEX A # OVERFLOW MEANS CORRECT 14BIT VALUE,WRONG
# SIGN.
CAF LIMITS # FIX IT,BY ADDING IN 37777 OR 40000
AD TEM2
INDEX BUF
TS 0 # STORE NEW ANGLE IN 2S COMPLEMENT.
TC Q
## Page 346
# RTB TO TORQUE GYROS, EXCEPT FOR THE CALL TO IMUSTALL. ECADR OF COMMANDS ARRIVES IN X1.
PULSEIMU INDEX FIXLOC # ADDRESS OF GYRO COMMANDS SHOULD BE IN X1
CA X1
TC BANKCALL
CADR IMUPULSE
TCF DANZIG
## Page 347
# THE FOLLOWING ROUTINE IS USED ONLY IN BENCH TESTING THE RR.
RRSIM TC FIXDELAY
DEC 50
RRSIM2 CAF BIT2 # SEE IF RR ECTR ENABLED.
EXTEND
RAND 12
EXTEND
BZF RRSIM
CA TEM2 # SAVE EXEC TEMPS SINCE IN RUPT.
TS RUPTREG1
CAF LOPTY
XCH BUF
TS RUPTREG2
CA LASTYCMD # ECTR.
DOUBLE
EXTEND
MP RRSIMG
TC CDUINC
INCR BUF
CA OPTY # SHAFT CMD IS DIVIDED BY THE ABS VALUE OF
EXTEND # THE COS OF THE TRUNNION ANGLE.
MSU 7 # TO 1S COMPLEMENT.
TC SPCOS # *
EXTEND # SPCOS NOW GIVES COS SCALED AT 1 *
MP BIT14 # (A DAP GROUP FIX) *
CCS A
TCF +3
TCF +2
TCF +1
AD ONE
TS ITEMP1
CA LASTXCMD # SHAFT RATE DEPENDS ON TRUNNION.
EXTEND
MP RRSIMG
EXTEND
DV ITEMP1
TC CDUINC
CA RUPTREG1
TS TEM2
CA RUPTREG2
TS BUF
TCF RRSIM
LOPTY ADRES OPTY
RRSIMG DEC .59259
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