Revision e8f6021f9857810185cf237d9cd8e27c64ea6ecd authored by Mike Stewart on 18 September 2019, 23:18:33 UTC, committed by Mike Stewart on 18 September 2019, 23:18:33 UTC
1 parent 7dc25d6
KALMAN_FILTER.agc
### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: KALMAN_FILTER.agc
## Purpose: Part of the reconstructed source code for LMY99 Rev 0,
## otherwise known as Luminary Rev 99, the second release
## of the Apollo Guidance Computer (AGC) software for Apollo 11.
## It differs from LMY99 Rev 1 (the flown version) only in the
## placement of a single label. The corrections shown here have
## been verified to have the same bank checksums as AGC developer
## Allan Klumpp's copy of Luminary Rev 99, and so are believed
## to be accurate. This file is intended to be a faithful
## recreation, except that the code format has been changed to
## conform to the requirements of the yaYUL assembler rather than
## the original YUL assembler.
##
## 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.
## 2017-08-01 MAS Created from LMY99 Rev 1.
## 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.
##
## The code has been modified to match LMY99 Revision 0, otherwise
## known as Luminary Revision 99, the Apollo 11 software release preceeding
## the listing from which it was transcribed. It has been verified to
## contain the same bank checksums as AGC developer Allan Klumpp's listing
## of Luminary Revision 99 (for which we do not have scans).
##
## Notations on Allan Klumpp's listing read, in part:
##
## ASSEMBLE REVISION 099 OF AGC PROGRAM LUMINARY BY NASA 2021112-51
## 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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