Revision e9fdba28bc24263664b236ea2fb026326c582d33 authored by Ron Burkey on 24 December 2017, 21:04:22 UTC, committed by Ron Burkey on 24 December 2017, 21:04:22 UTC
1 parent d7b4237
KALCMANU_STEERING.agc
### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: KALCMANU_STEERING.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. 627-631
## 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.
## 2017-06-13 RSB Transcribed
## 2017-06-22 RSB Proofed comment text with
## octopus/ProoferComments.
## Page 627
# GENERATION OF STEERING COMMANDS FOR DIGITAL AUTOPILOT FREE FALL MANEUVERS
# NEW COMMANDS WILL BE GENERATED EVERY ONE SECOND DURING THE MANEUVER
EBANK= TTEMP
NEWDELHI TC INTPRET
AXC,1 AXC,2
MIS # COMPUTE THE NEW MATRIX FROM S/C TO
KEL # STABLE MEMBER AXES
CALL
MXM3
VLOAD STADR
STOVL MIS +12D # CALCULATE NEW DESIRED CDU ANGLES
STADR
STOVL MIS +6D
STADR
STORE MIS
AXC,1 CALL
MIS
DCMTOCDU # PICK UP THE NEW CDU ANGLES FROM MATRIX
RTB
V1STO2S
STORE NCDU # NEW CDU ANGLES
BONCLR EXIT
32D
MANUSTAT # TO START MANEUVER
CAF TWO # +0 OTHERWISE
INCRDCDU TS SPNDX
INDEX SPNDX
CA BCDU # INITIAL CDU ANGLES
EXTEND # OR PREVIOUS DESIRED CDU ANGLES
INDEX SPNDX
MSU NCDU
EXTEND
MP DT/TAU
CCS A # CONVERT TO 2S COMPLEMENT
AD ONE
TCF +2
COM
INDEX SPNDX
TS DELDCDU # ANGLE INCREMENTS TO BE ADDED TO
INDEX SPNDX # CDUXD, CDUYD, CDUZD EVERY TENTH SECOND
CA NCDU # BY LEM DAP
INDEX SPNDX
XCH BCDU
INDEX SPNDX
TS CDUXD
CCS SPNDX
TCF INCRDCDU # LOOP FOR THREE AXES
## Page 628
# COMPARE PRESENT TIME WITH TIME TO TERMINATE MANEUVER
TMANUCHK EXTEND
DCS TIME2
DXCH TTEMP
EXTEND
DCA TM
DAS TTEMP # TM+T0-1-T
CCS TTEMP
TCF CONTMANU # (TM+T0)-T G 164 SEC
TCF +2
TCF OVERMANU # (TM+T0)-T L -164 SEC
CCS TTEMP +1
TCF CONTMANU # (TM+T0)-T G 1 SEC
TCF MANUOFF # (TM+T0)-T E 1 SEC
COM # (TM+T0)-T L 1 SEC
MANUOFF AD ONESEK +1 # (TM+T0)-T E 1 SEC
EXTEND
BZMF OVERMANU # THIS IS A SAFETY PLAY
MANUSTAL INHINT # PREPARE TO STOP THE MANEUVER
TC WAITLIST
EBANK= TTEMP
2CADR MANUSTOP
RELINT
TCF ENDOFJOB
DT/TAU DEC .1
MANUSTAT EXIT # INITIALIZATION ROUTINE
EXTEND # FOR AUTOMATIC MANEUVERS
DCA TIME2
DAS TM # TM+T0 MANEUVER COMPLETION TIME
EXTEND
DCS ONESEK
DAS TM # (TM+T0)-1
CA BRATE # X-AXIS MANEUVER RATE
TS OMEGAPD
CA BRATE +2 # Y-AXIS MANEUVER RATE
TS OMEGAQD
CA BRATE +4 # Z-AXIS MANEUVER RATE
TS OMEGARD
CA TIME1
AD ONESEK +1
XCH NEXTIME
TC FLAG2UP # SET BIT 11 OF FLAGWRD2
OCT 2000 # TO SIGNAL KALCMANU IN PROCESS
TCF INCRDCDU -1
ONESEK DEC 0
## Page 629
DEC 100
OVERMANU CAF ONE # SAFETY PLAY
TCF MANUSTAL
CONTMANU CS TIME1 # RESET FOR NEXT DCDU UPDATE
AD NEXTIME
CCS A
AD ONE
TCF MANUCALL
AD NEGMAX
COM
MANUCALL INHINT # CALL FOR NEXT UPDATE VIA WAITLIST
TC WAITLIST
EBANK= TTEMP
2CADR UPDTCALL
RELINT
CAF ONESEK +1 # INCREMENT TIME FOR NEXT UPDATE
ADS NEXTIME
TCF ENDOFJOB
UPDTCALL CAF PRIO34 # SATELLITE PROGRAM TO CALL FOR UPDATE
TC FINDVAC # OF STEERING COMMANDS
EBANK= TTEMP
2CADR NEWDELHI
TC TASKOVER
## Page 630
# ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
MANUSTOP CAF ZERO # ZERO MANEUVER RATES
TS DELDCDU2
TS OMEGARD
TS DELDCDU1
TS OMEGAQD
CA CPSI # SET DESIRED GIMBAL ANGLES TO
TS CDUZD # DESIRED FINAL GIMBAL ANGLES
CA CTHETA
TS CDUYD
CA STATE +2 # CHECK TO SEE IF A FINAL YAW NECESSARY
MASK BIT14
EXTEND
BZF KALCROLL
ENDROLL CA CPHI # NO FINAL YAW
TS CDUXD
CAF ZERO
TS OMEGAPD # I.E. MANEUVER DID NOT GO THRU
TS DELDCDU # GIMBAL LOCK ORIGINALLY
GOODMANU TC FLAG2DWN # RESET BIT 11 OF FLAGWRD2 TO SIGNAL END
OCT 2000 # OF KALCMANU
CAF THREE
TC POSTJUMP # RETURN UNDER WAITLIST VIA GOODEND
CADR GOODEND # AND WAKE UP USER
KALCROLL CA STATE +2 # STATE SWITCH NO. 33
MASK BIT12 # 0(OFF) = PERFORM A FINAL YAW
EXTEND # IF NECESSARY
BZF DOROLL # 1(ON) = IGNORE ANY FINAL YAW
TCF ENDROLL +2
DOROLL CA CPHI
EXTEND # PERFORM A FINAL ROLL TO
MSU CDUXD # COMPLETE AUTOMATIC MANEUVER
EXTEND
BZMF FROLLNEG
FROLLPOS TS L
CA ROLLRATE
TS OMEGAPD
CS DELFROLL
AD ONE
TS DELDCDU
TCF ROLLSTAL
FROLLNEG COM
TS L
CS ROLLRATE
TS OMEGAPD
CA DELFROLL
TS DELDCDU
ROLLSTAL CA L # ABS(CPHI-CDUXD)
## Page 631
EXTEND
MP INVRATE
EXTEND
BZMF ENDROLL
TC WAITLIST
EBANK= TTEMP
2CADR ENDROLL
TC TASKOVER
ROLLRATE DEC 720 # = 1.98 DEGREES/SEC
DELFROLL DEC 18 # MUST BE A WHOLE NUMBER
INVRATE DEC .555555
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