swh:1:snp:92f3f585b9ae79620ad8c41a332d6329b31fd381
Tip revision: 078c79d8734a9ed2860303a7c1662004284fe853 authored by Ron Burkey on 07 August 2022, 15:04:04 UTC
Fixed a potential string-overflow bug in yaASM. Removed timestamps from
Fixed a potential string-overflow bug in yaASM. Removed timestamps from
Tip revision: 078c79d
ERASABLE_ASSIGNMENTS.agc
### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: ERASABLE_ASSIGNMENTS.agc
## Purpose: A module for revision 0 of BURST120 (Sunburst).
## It is part of the source code for the Lunar Module's (LM)
## Apollo Guidance Computer (AGC) for Apollo 5.
## Assembler: yaYUL
## Contact: Ron Burkey <info@sandroid.org>.
## Website: www.ibiblio.org/apollo/index.html
## Mod history: 2016-09-30 RSB Created draft version.
## 2016-10-04 RSB Completed transcription.
## 2016-10-30 MAS A handful of corrections: EQUALSE->EQUALS
## PIPRFTRN->PIPRETRN
## Several instances of TIF->TTF
## GDOPRESS->GDUMPRES
## DRIVEACQ->DRIVFACQ
## And some uncommented comments.
## 2016-10-31 RSB Typos.
## 2016-11-01 RSB More typos.
## 2016-11-03 RSB Modified the SBANK= workaround.
## 2016-12-03 RSB Proofed comments using ProoferComments.py,
## resulting in 91 fixes to them (in 47 total pages).
## There were some additional fixes to whitespace and
## ##-style comments that I accidentally noticed
## along the way.
## 2016-12-04 RSB Another typo discovered with an improved ProoferComments.py.
## 2016-12-05 RSB Final few fixes with improved octopus/ProoferComments. This
## file is now completely proofed for textual content of comments.
## 2017-06-03 MAS Replaced an instance of P00H with POOH.
## 2021-05-30 ABS Removed LOWSUPER workaround that is no longer needed.
## Page 12
A EQUALS 0
L EQUALS 1 # L AND Q ARE BOTH CHANNELS AND REGISTERS.
Q EQUALS 2
EBANK EQUALS 3
FBANK EQUALS 4
Z EQUALS 5 # ADJACENT TO FBANK AND BBANK FOR DXCH Z
BBANK EQUALS 6 # (DTCB) AND DXCH FBANK (DTCF).
# REGISTER 7 IS A ZERO-SOURCE. USED BY ZL.
ARUPT EQUALS 10 # INTERRUPT STORAGE.
LRUPT EQUALS 11
QRUPT EQUALS 12
SAMPTIME EQUALS 13 # SAMPLED TIME 1 & 2.
ZRUPT EQUALS 15 # (13 AND 14 ARE SPARES.)
BANKRUPT EQUALS 16 # USUALLY HOLDS FBANK OR BBANK.
BRUPT EQUALS 17 # RESUME ADDRESS AS WELL.
CYR EQUALS 20
SR EQUALS 21
CYL EQUALS 22
EDOP EQUALS 23 # EDITS INTERPRETIVE OPERATION CODE PAIRS.
TIME2 EQUALS 24
TIME1 EQUALS 25
TIME3 EQUALS 26
TIME4 EQUALS 27
TIME5 EQUALS 30
TIME6 EQUALS 31
CDUX EQUALS 32
CDUY EQUALS 33
CDUZ EQUALS 34
OPTY EQUALS 35
OPTX EQUALS 36
PIPAX EQUALS 37
PIPAY EQUALS 40
PIPAZ EQUALS 41
BMAGX EQUALS 42
RHCP EQUALS 42
BMAGY EQUALS 43
RHCY EQUALS 43
BMAGZ EQUALS 44
RHCR EQUALS 44
INLINK EQUALS 45
RNRAD EQUALS 46
GYROCTR EQUALS 47
GYROCMD EQUALS 47
CDUXCMD EQUALS 50
CDUYCMD EQUALS 51
## Page 13
CDUZCMD EQUALS 52
OPTYCMD EQUALS 53
OPTXCMD EQUALS 54
EMSD EQUALS 55
THRUST EQUALS 55
LEMONM EQUALS 56
OUTLINK EQUALS 57
ALTM EQUALS 60
# VAC-RELATIVE INTERPRETER ASSIGNMENTS:
LVSQUARE EQUALS 34D # SQUARE OF VECTOR INPUT TO ABVAL AND UNIT
LV EQUALS 36D # LENGTH OF VECTOR INPUT TO UNIT.
X1 EQUALS 38D # INTERPRETIVE SPECIAL REGISTERS RELATIVE
X2 EQUALS 39D # TO THE WORK AREA.
S1 EQUALS 40D
S2 EQUALS 41D
QPRET EQUALS 42D
## Page 14
# GENERAL ERASABLE ASSIGNMENTS.
SETLOC 61
# THE FOLLOWING SET COMPRISES THE INTERRUPT TEMPORARY STORAGE POOL.
# ANY OF THESE MAY BE USED AS TEMPORARIES DURING INTERRUPT OR WITH INTERRUPT INHIBITED. THE ITEMP SERIES
# IS USED DURING CALLS TO THE EXECUTIVE AND WAITLIST - THE RUPTREGS ARE NOT.
ITEMP1 ERASE
WAITEXIT EQUALS ITEMP1
EXECTEM1 EQUALS ITEMP1
ITEMP2 ERASE
WAITBANK EQUALS ITEMP2
EXECTEM2 EQUALS ITEMP2
ITEMP3 ERASE
WAITADR EQUALS ITEMP3
NEWPRIO EQUALS ITEMP3
ITEMP4 ERASE
LOCCTR EQUALS ITEMP4
WAITTEMP EQUALS ITEMP4
ITEMP5 ERASE
NEWLOC EQUALS ITEMP5
ITEMP6 ERASE
# NEWLOC+1 EQUALS ITEMP6 DP ADDRESS.
SETLOC 67 # NEWJOB MUST BE IN LOCATION 67.
NEWJOB ERASE # ----
RUPTREG1 ERASE
RUPTREG2 ERASE
RUPTREG3 ERASE
RUPTREG4 ERASE
KEYTEMP1 EQUALS RUPTREG4
DSRUPTEM EQUALS RUPTREG4
RCSMONT1 EQUALS RUPTREG1 # FOUR TEMPORARIES USED BY RCSMONIT
RCSMONT2 EQUALS RCSMONT1 +1 # ROUTINE (PART OF T4RUPT). THEIR ORDER
RCSMONT3 EQUALS RCSMONT1 +2 # IS NOT IMPORTANT, & THEY DON'T EVEN HAVE
RCSMONT4 EQUALS RCSMONT1 +3 # TO BE ADJACENT LOCATIONS.
## Page 15
# FLAG & SWITCH RESERVATIONS.
STATE ERASE +7 # 120 SWITCHES
FLAGWRD1 EQUALS STATE +1
FLAGWRD2 EQUALS STATE +2
DAPBOOLS EQUALS STATE +3
FLAGWRD4 EQUALS STATE +4
LMPJFAIL EQUALS STATE +5
CH5MASK EQUALS STATE +6
CH6MASK EQUALS STATE +7
# INTERPRETIVE SWITCH BIT ASSIGNMENTS:
WMATFLAG EQUALS 0
JSWITCH EQUALS 1
MIDFLAG EQUALS 2
MOONFLAG EQUALS 3
NBSMBIT EQUALS 4
COAROFIN EQUALS 5
IMUSE EQUALS 7
RRUSE EQUALS 8D
RRNBSW EQUALS 9D
LOKONSW EQUALS 10D
SIVBGONE EQUALS 26D
GRRFLAG EQUALS 28D
CONVSW EQUALS 60D
DONESW EQUALS 61D
ITERSW EQUALS 62D
GUESSW EQUALS 63D
PIESW EQUALS 64D
MOONSW EQUALS 65D
ESCPSW EQUALS MOONSW
SMANGLSW EQUALS MOONSW
BAKTO4 EQUALS 66D
DIRECT EQUALS 67D
PASS EQUALS 68D
HC EQUALS 69D
INTEGRSW EQUALS 70D
ENGOFFSW EQUALS 71D
# NOTE THAT FLAGWRD1 AND FLAGWRD2 CORRESPOND TO INTERPRETIVE SWITCHES 15D THROUGH 44D. DAPBOOLS AND
# FLAGWRD4 CORRESPOND TO INTERPRETIVE SWITCHES 45D THROUGH 74D.
# BIT FLAGWORD SWITCH SWITCH ON-STATE OFF-STATE
# LOCATION NUMBER SYMBOL NUMBER SYMBOL INDICATES INDICATES
# -------- -------- -------- ------ ------ --------- ---------
## Page 16
# STATE 1 14 AVAILABLE
# 2 13 AVAILABLE
# 3 12 AVAILABLE
# 4 11 AVAILABLE
# 5 LOKONFLG 10 LOKONSW RADAR LOCK-ON REQUEST NO RADAR LOCK-ON REQUEST
# (LOCKED ON 0)
# 6 9 RRNBSW RADAR TARGET IN NAVIGATION RADAR TARGET IN STABLE MEMBER
# BASE COORDINATES COORDINATES
# 7 RRUSEFLG 8 RRUSE RENDEZVOUS RADAR IN USE RENDEZVOUS RADAR NOT IN USE
# (LOCKED ON 0)
# 8 IMUSEFLG 7 IMUSE IMU IN USE IMU NOT IN USE
# 9 6 AVAILABLE
# 10 5 COAROFIN VECTOR IN NAVIGATION BASE VECTOR IN STABLE MEMBER
# COORDINATES COORDINATES
# 11 4 NBSMBIT STAR POSITION IN NAVIGATION STAR POSITION IN STABLE
# BASE COORDINATES MEMBER COORDINATES
# 12 3 MOONFLAG LUNAR ORBIT EARTH ORBIT (LOCKED ON 0)
# 13 2 MIDFLAG MID-COURSE ORBIT EARTH OR LUNAR LOCAL ORBIT
# (LOCKED ON 0)
# 14 1 JSWITCH W-MATRIX BEING EXTRAPOLATED STATE VECTOR BEING
# EXTRAPOLATED (LOCKED ON 0)
# 15 0 WMATFLAG W-MATRIX TO BE EXTRAPOLATED NO W-MATRIX EXTRAPOLATION
# (LOCKED ON 0)
# FLAGWRD1 1 29 AVERAGE G INTEGRATING AVERAGE G NOT INTEGRATING
# 2 28 GUIDANCE REFERENCE RELEASE GUIDANCE REFERENCE RELEASE
# HAS OCCURRED HAS NOT OCCURRED
# _ _
# 3 27 CCC FAILURE. NO FURTHER UPLINK ERROR RESET OR NO CCC
# UPLINK COMMANDS EXCEPT FAILURE
# ERROR RESET ACCEPTED
# 4 26 SIVBGONE SIVB JETTISONED SIVB ATTACHED
# 5 ENGINBIT 25 TO DV MONITOR ENGINE SHOULD TO DV MONITOR ENGINE SHOULD
# BE ON BE OFF
# 6 24 GO TO ENDOFJOB AT AVGEND GO TO POOH AT AVGEND
# 7 23 AVAILABLE
# 8 22 FINE ALIGN INHIBITED DUE TO FINE ALIGN ALLOWED
# GIMBAL LOCK
# 9 21 AVAILABLE
# 10 20 AVAILABLE
# 11 19 AVAILABLE
# 12 18 NORMAL RESTART ALLOWED FAKE START ALLOWED
# 13 17 EXCESSIVE TUMBLING NO EXCESSIVE TUMBLING
# 14 16 TUMBLE MONITOR ON TUMBLE MONITOR OFF
# 15 15 AVAILABLE
## Page 17
# FLAGWRD2 1 44 RCS COLD SOAK INHIBIT RCS COLD SOAK ALLOWED
# (CAN BE SET TO 0 ONLY BY
# UPDATE V73)
# 2 43 DPS COLD SOAK INHIBIT DPS COLD SOAK ALLOWED
# 3 42 RCS TESTING INHIBIT RCS TESTING ALLOWED (CAN BE
# SET TO 0 ONLY BY UPDATE V73)
# 4 41 TRIM GIMBAL DISENABLED DUE TRIM GIMBAL ALLOWED
# TO THROTTLING
# 5 40 MISSION PHASE TIMERS ENABLED MISSION PHASE TIMERS NOT
# ENABLED
# 6 39 V33 VERIFICATION OF UPDATE V33 VERIFICATION OF UPDATE
# PROGRAM WHEN INVERTED PROGRAM WHEN INVERTED
# 7 38 ORBITAL INTEGRATION ORBITAL INTEGRATION NOT
# INTEGRATING INTEGRATING
# 8 37 ASC FEED TEST IN PROCESS ASC FEED TEST NOT IN PROCESS
# 9 36 ABORT COMMAND MONITOR ENABLED ABORT COMMAND MONITOR NOT
# ENABLED
# 10 35 ABORT COMMAND RECEIVED AND ABORT COMMAND NOT RECEIVED OR
# ACCEPTED NOT ACCEPTED
# 11 34 KALCMANU IN PROCESS KALCMANU NOT IN PROCESS
# 12 33 IGNORE FINAL YAW FINAL YAW ADJUSTMENT REQUIRED
# 13 32 START UPDATE PROCESS FOR UPDATE PROCESS FOR DESIRED CDU
# DESIRED CDU ANGLES IN ANGLES CONTINUES DURING
# KALCMANU KALCMANU
# 14 31 NO FINAL YAW REQUIRED FOR FINAL YAW REQUIRED FOR THREE
# THREE AXIS ALIGNMENT AXIS ALIGNMENT
# 15 30 SPACECRAFT IN NON-ACCELERATED SPACECRAFT IN ACCELERATED
# FLIGHT FLIGHT
# DAPBOOLS 1 - 15 45 - 39 DEFINED IN LOG SECTION "DAP INTERFACE SUBROUTINES"
# FLAGWRD4 1 74 AVAILABLE
# 2 73 AVAILABLE
# 3 72 AVAILABLE
# 4 71 ENGOFFSW ENGINE OFF COMMAND HAS BEEN ENGINE OFF COMMAND HAS NOT
# SENT AND FURTHER COMMANDS BEEN SENT AND COMMAND IS
# ARE PROHIBITED ALLOWED
# 5 70 INTEGRSW IGNITION STATE DELAYED NORMAL IGNITION STATE
# 6 69 HC RCO NOT CONTROLLED RCO CONSTRAINED
# 7 68 PASS BYPASS TCO CALC IN ASCENT DO TCO CALCULATION
# 8 67 DIRECT ASCENT EQ SET FOR MP 13 ASCENT EQ SET FOR MP 4
# 9 66 BAKTO4 TGO ESTIMATOR USED IN MP4 TGO ESTIMATOR USED IN ASCENT
# STEERING
## RSB 2016 — Yes, the following three lines are all 10/65 in the program listing.
# 10 65 MOONSW INSIDE MOONSPHERE OUTSIDE MOONSPHERE
# (LOCKED ON 0)
# 10 65 ESCPSW HYPERBOLIC TRAJECTORY ELLIPTICAL ORBIT (LOCKED ON 0)
## Page 18
# 10 65 SMANGLSW NORMALIZED TIME TIME SCALED +7 (LOCKED ON 0)
# 11 64 PIESW TRANSFER ANGLE GREATER THAN TRANSFER ANGLE LESS THAN
# 180 DEGREES 180 DEGREES
# 12 63 GUESSW GUESS IS AVAILABLE LAMBERT COMPUTES GUESS
# 13 62 ITERSW FIRST LAMBERT ITERATION OTHER THAN FIRST LAMBERT
# ITERATION
# 14 61 DONESW LAMBERT ROUTINE COMPLETION LAMBERT ROUTINE NOT COMPLETE
# 15 60 CONVSW LAMBERT ROUTINE LAMBERT ROUTINE CONVERGENCE
# NON-CONVERGENCE
## Page 19
# THE FOLLOWING ARE EXECUTIVE TEMPORARIES WHICH MAY BE USED BETWEEN CCS NEWJOB INQUIRIES.
INTB15+ ERASE # REFLECTS 15TH BIT OF INDEXABLE ADDRESSES
DSEXIT = INTB15+ # RETURN FOR DSPIN
EXITEM = INTB15+ # RETURN FOR SCALE FACTOR ROUTINE SELECT
BLANKRET = INTB15+ # RETURN FOR 2BLANK
INTBIT15 ERASE # SIMILAR TO ABOVE.
WRDRET = INTBIT15 # RETURN FOR 5BLANK
WDRET = INTBIT15 # RETURN FOR DSPWD
DECRET = INTBIT15 # RETURN FOR PUTCOM(DEC LOAD)
21/22REG = INTBIT15 # TEMP FOR CHARIN
# THE REGISTERS BETWEEN ADDRWD AND PRIORITY MUST STAY IN THE FOLLOWING ORDER FOR INTERPRETIVE TRACE.
ADDRWD ERASE # 12 BIT INTERPRETIVE OPERAND SUB-ADDRESS.
POLISH ERASE # HOLDS CADR MADE FROM POLISH ADDRESS.
UPDATRET = POLISH # RETURN FOR UPDATNN, UPDATVB
CHAR = POLISH # TEMP FOR CHARIN
ERCNT = POLISH # COUNTER FOR ERROR LIGHT RESET
DECOUNT = POLISH # COUNTER FOR SCALING AND DISPLAY (DEC)
PWRPTR = POLISH # ROOTPSRS PWR TABL POINTER
FIXLOC ERASE # WORK AREA ADDRESS.
OVFIND ERASE # SET NON-ZERO ON OVERFLOW.
VBUF ERASE +5 # TEMPORARY STORAGE USED FOR VECTORS.
SGNON = VBUF # TEMP FOR +,- ON
NOUNTEM = VBUF # COUNTER FOR MIXNOUN FETCH
DISTEM = VBUF # COUNTER FOR OCTAL DISPLAY VERBS
DECTEM = VBUF # COUNTER FOR FETCH (DEC DISPLAY VERBS)
SGNOFF = VBUF +1 # TEMP FOR +,- ON
NVTEMP = VBUF +1 # TEMP FOR NVSUB
SFTEMP1 = VBUF +1 # STORAGE FOR SF CONST HI PART (=SFTEMP2-1)
CODE = VBUF +2 # FOR DSPIN
SFTEMP2 = VBUF +2 # STORAGE FOR SF CONST LO PART (=SFTEMP1+1)
DXCRIT = VBUF +2 # ROOTPSRS CRITERION FOR ENDING ITERS HI
MIXTEMP = VBUF +3 # FOR MIXNOUN DATA
# ALSO MIXTEMP+1 = VBUF+4, MIXTEMP+2 = VBUF+5.
SIGNRET = VBUF +3 # RETURN FOR +,- ON
DXCRIT+1 = VBUF +3 # ROOTPSRS CRITERION FOR ENDING ITERS LO
ROOTPS = VBUF +4 # ROOTPSRS ROOT HI ORDER
ROOTPS+1 = VBUF +5 # ROOTPSRS ROOT LO ORDER
## Page 20
BUF ERASE +2 # TEMPORARY SCALAR STORAGE.
INDEXLOC EQUALS BUF # CONTAINS ADDRESS OF SPECIFIED INDEX.
SWWORD EQUALS BUF # ADDRESS OF SWITCH WORD.
SWBIT EQUALS BUF +1 # SWITCH BIT WITHIN SWITCH WORD.
RETROOT = BUF +2 # ROOTPSRS RETURN ADDRESS OF USER
BUF2 ERASE +1
MPTEMP ERASE # TEMPORARY USED IN MULTIPLY AND SHIFT
DMPNTEMP = MPTEMP # DMPNSUB TEMPORARY
DOTINC ERASE # COMPONENT INCREMENT FOR DOT SUBROUTINE.
DVSIGN EQUALS DOTINC # DETERMINES SIGN OF DDV RESULT.
ESCAPE EQUALS DOTINC # USED IN ARCSIN/ARCCOS.
ENTRET = DOTINC # EXIT FROM ENTER
DOTRET ERASE # RETURN FROM DOT SUBROUTINE.
DVNORMCT EQUALS DOTRET # DIVIDEND NORMALIZATION COUNT IN DDV.
ESCAPE2 EQUALS DOTRET # ALTERNATE ARCSIN/ARCCOS SWITCH.
WDCNT = DOTRET # CHAR COUNTER FOR DSPWD
INREL = DOTRET # INPUT BUFFER SELECTOR ( X,Y,Z, REG )
MATINC ERASE # VECTOR INCREMENT IN MXV AND VXM.
MAXDVSW EQUALS MATINC # +0 IF DP QUOTIENT IS NEAR ONE - ELSE -1.
POLYCNT EQUALS MATINC # POLYNOMIAL LOOP COUNTER
DSPMMTEM = MATINC # DSPCOUNT SAVE FOR DSPMM
MIXBR = MATINC # INDICATOR FOR MIXED OR NORMAL NOUN
PWRCNT = MATINC # ROOTPSRS DER TABL LOOP COUNTER
TEM1 ERASE # EXEC TEMP
POLYRET = TEM1
DSREL = TEM1 # REL ADDRESS FOR DSPIN
DERPTR = TEM1 # ROOTPSRS DER TABL POINTER
# THE FOLLOWING 10 REGISTERS ARE USED FOR TEMPORARY STORAGE OF THE DERIVATIVE COEFFICIENT TABLE OF
# SUBROUTINE ROOTPSRS. THEY MUST REMAIN WITHOUT INTERFERENCE WITH ITS SUBROUTINES WHICH ARE POWRSERS (POLY),
# DMPSUB, DMPNSUB, SHORTMP, DDV/BDDV, ABS, AND USPRCADR.
TEM2 ERASE # EXEC TEMP
DSMAG = TEM2 # MAGNITUDE STORE FOR DSPIN
IDADDTEM = TEM2 # MIXNOUN INDIRECT ADDRESS STORAGE
DERCOF+8 = MPAC -12 # ROOTPSRS DER COF N-4 HI ORDER
TEM3 ERASE # EXEC TEMP
COUNT = TEM3 # FOR DSPIN
DERCOF-7 = MPAC -11 # ROOTPSRS DER COF N-4 LO ORDER
TEM4 ERASE # EXEC TEMP
## Page 21
LSTPTR = TEM4 # LIST POINTER FOR GRABUSY
RELRET = TEM4 # RETURN FOR RELDSP
FREERET = TEM4 # RETURN FOR FREEDSP
DERCOF-6 = MPAC -10 # ROOTPSRS DER COF N-3 HI ORDER
TEM5 ERASE # EXEC TEMP
NOUNADD = TEM5 # TEMP STORAGE FOR NOUN ADDRESS
DERCOF-5 = MPAC -7 # ROOTPSRS DER COF N-3 LO ORDER
NNADTEM ERASE # TEMP FOR NOUN ADDRESS TABLE ENTRY
DERCOF-4 = MPAC -6 # ROOTPSRS DER COF N-2 HI ORDER
NNTYPTEM ERASE # TEMP FOR NOUN TYPE TABLE ENTRY
DERCOF-3 = MPAC -5 # ROOTPSRS DER COF N-2 LO ORDER
IDAD1TEM ERASE # TEMP FOR INDIR ADRESS TABLE ENTRY (MIXNN)
# MUST = IDAD2TEM-1, = IDAD3TEM-2.
DERCOF-2 = MPAC -4 # ROOTPSRS DER COF N-1 HI ORDER
IDAD2TEM ERASE # TEMP FOR INDIR ADRESS TABLE ENTRY (MIXNN)
# MUST = IDAD1TEM+1, = IDAD3TEM-1.
DERCOF-1 = MPAC -3 # ROOTPSRS DER COF N-1 LO ORDER
IDAD3TEM ERASE # TEMP FOR INDIR ADRESS TABLE ENTRY (MIXNN)
# MUST = IDAD1TEM+2, = IDAD2TEM+1.
DERCOFN = MPAC -2 # ROOTPSRS DER COF N HI ORDER
RUTMXTEM ERASE # TEMP FOR SF ROUT TABLE ENTRY (MIXNN ONLY)
DERCOF+1 = MPAC -1 # ROOTPSRS DER COF N LO ORDER
# STORAGE USED BY THE EXECUTIVE.
MPAC ERASE +6 # MULTI-PURPOSE ACCUMULATOR.
MODE ERASE # +1 FOR TP, +0 FOR DP, OR -1 FOR VECTOR.
LOC ERASE # LOCATION ASSOCIATED WITH JOB.
BANKSET ERASE # USUALLY CONTAINS BBANK SETTING.
PUSHLOC ERASE # WORD OF PACKED INTERPRETIVE PARAMETERS.
PRIORITY ERASE # PRIORITY OF PRESENT JOB AND WORK AREA.
ERASE +71D # SEVEN SETS OF 12 REGISTERS EACH.
## Page 22
# THE FOLLOWING REGISTERS ARE RESERVED FOR PINBALL
# RESERVED FOR PINBALL EXECUTIVE ACTION
DSPCOUNT ERASE # DISPLAY POSITION INDICATOR
DECBRNCH ERASE # +DEC, -DEC, OCT INDICATOR
VERBREG ERASE # VERB CODE
NOUNREG ERASE # NOUN CODE
XREG ERASE # R1 INPUT BUFFER
YREG ERASE # R2 INPUT BUFFER
ZREG ERASE # R3 INPUT BUFFER
XREGLP ERASE # LO PART OF XREG (FOR DEC CONV ONLY)
YREGLP ERASE # LO PART OF YREG (FOR DEC CONV ONLY)
ZREGLP ERASE # LO PART OF ZREG (FOR DEC CONV ONLY)
MODREG ERASE # MODE CODE
DSPLOCK ERASE # KEYBOARD/SUBROUTINE CALL INTERLOCK
REQRET ERASE # RETURN REGISTER FOR LOAD
LOADSTAT ERASE # STATUS INDICATOR FOR LOADTST
CLPASS ERASE # PASS INDICATOR CLEAR
NOUT ERASE # ACTIVITY COUNTER FOR DSPTAB
NOUNCADR ERASE # MACHINE CADR FOR NOUN
MONSAVE ERASE # N/V CODE FOR MONITOR. (= MONSAVE1-1)
MONSAVE1 ERASE # NOUNCADR FOR MONITOR (MATBS) =MONSAVE +1
DSPTAB ERASE +11D # 0-10D, DISPLAY PANEL BUFF. 11D, C/S LTS.
CADRSTOR ERASE # ENDIDLE STORAGE
GRABLOCK ERASE # INTERNAL INTERLOCK FOR DISPLAY SYSTEM
NVQTEM ERASE # NVSUB STORAGE FOR CALLING ADDRESS
# MUST = NVBNKTEM-1
NVBNKTEM ERASE # NVSUB STORAGE FOR CALLING BANK
# MUST = NVQTEM+1
DSPLIST ERASE +2 # WAITING LIST FOR DSP SYST INTERNAL USE
EXTVBACT ERASE # EXTENDED VERB ACTIVITY INTERLOCK
DSPTEM1 ERASE +2 # BUFFER STORAGE AREA 1 (MOSTLY FOR TIME)
DSPTEM2 ERASE +2 # BUFFER STORAGE AREA 2 (MOSTLY FOR DEG)
# END OF ERASABLES RESERVED FOR PINBALL EXECUTIVE ACTION
# RESERVED FOR PINBALL INTERRUPT ACTION
DSPCNT ERASE # COUNTER FOR DSPOUT
# RECEPTION OF A BAD MESSAGE IN UPLINK)
## RSB 2016 — Yes, the line above has no opening (.
# END OF ERASABLES RESERVED FOR PINBALL INTERRUPT ACTION
## Page 23
# ASSIGNMENTS FOR T4RUPT PROGRAM
T4LOC ERASE
DSRUPTSW ERASE
DIDFLG ERASE
ALT ERASE +1
ALTRATE ERASE
FINALT ERASE +1 # (MAY NOT BE REQUIRED FOR FLIGHTS).
LGYRO ERASE
FORVEL ERASE
LATVEL ERASE
LASTYCMD ERASE
LASTXCMD ERASE
ALTSAVE ERASE +1
# END OF T4RUPT ASSIGNMENTS
IMODES30 ERASE
IMODES33 ERASE
MODECADR ERASE +3
IMUCADR EQUALS MODECADR
AOTCADR EQUALS MODECADR +1
OPTCADR EQUALS AOTCADR
RADCADR EQUALS MODECADR +2
ATTCADR EQUALS MODECADR +3
MARKSTAT ERASE
XYMARK ERASE
DB ERASE
# START CODING FOR MODULE 3 REMAKE, AUGUST 1967***START CODING FOR MODULE 3 REMAKE, AUGUST 1967******************
/TEMP1/ ERASE
SMARTFLG ERASE # ANY PNZ VALUE REQUESTS SMARTJOB.
# **END CODING FOR MODULE 3 REMAKE, AUGUST 1967****END CODING FOR MODULE 3 REMAKE, AUGUST 1967******************
SETLOC 400
THETAD ERASE +2
DELVX ERASE +5
# DOWNLINK LIST ADDRESS.
DNLSTADR ERASE
# RADAR ERASABLE
## Page 24
RADMODES ERASE
SAMPLIM ERASE
SAMPLSUM ERASE +1
SAMPSUM EQUALS SAMPLSUM
OPTYHOLD ERASE +1
TIMEHOLD ERASE +1
RRTARGET EQUALS SAMPLSUM # HALF UNIT VECTOR IN SM OR NB AXES.
TANG ERASE +1 # DESIRED TRUNNION AND SHAFT ANGLES.
MODEA EQUALS TANG
MODEB ERASE +1 # DODES CLOBBERS TANG +2.
NSAMP EQUALS MODEB
DESRET ERASE
OLDATAGD EQUALS DESRET # USED IN DATA READING ROUTINES.
DESCOUNT ERASE
# END OF RADAR ERASABLE ASSIGNMENTS
VAC1USE ERASE
VAC1 ERASE +42D
VAC2USE ERASE
VAC2 ERASE +42D
VAC3USE ERASE
VAC3 ERASE +42D
VAC4USE ERASE
VAC4 ERASE +42D
VAC5USE ERASE
VAC5 ERASE +42D
PHASENUM ERASE
1/PIPADT ERASE # TIME BASE OR DT FOR IMU COMP IN C.S.
OLDBT1 EQUALS 1/PIPADT # ADJACENT TO PHASENUM FOR DOWNLINK.
# KALCMANU-DAP INTERFACE:
CDUXD ERASE +2 # CDU DESIRED REGISTERS:
CDUYD EQUALS CDUXD +1 # SCALED AT PI RADIANS (180 DEGREES)
CDUZD EQUALS CDUXD +2 # (STORED IN 2' COMPLEMENT)
DELCDUX ERASE +2 # NEGATIVE OF DESIRED 100MS CDU INCREMENT:
DELCDUY EQUALS DELCDUX +1 # SCALED AT PI RADIANS (180 DEGREES)
DELCDUZ EQUALS DELCDUX +2 # (STORED IN 2' COMPLEMENT)
OMEGAPD ERASE +2 # ATTITUDE MANEUVER DESIRED RATES
OMEGAQD EQUALS OMEGAPD +1 # (NOT EXPLICITLY REFERENCED IN GTS CNTRL)
OMEGARD EQUALS OMEGAPD +2 # SCALED AT PI/4 RADIANS/SECOND
SETLOC 1000
T5ADR ERASE +1 # GENADR OF NEXT LM DAP T5RUPT. * 2CADR *
## Page 25
# BBCON OF NXT LM DAP T5RUPT. * 2CADR *
T6NEXT ERASE +1 # LIST OF TIME6 DT-S FOR JET LIST PROGRAM
T6NEXTJT ERASE +2 # LIST OF JET POLICIES FOR JTLST PROGRAM
DELAYCTR ERASE # COUNTER FOR MINIMUM IMPULSE USE OF RHC
## Page 26
# ERASABLE ASSIGNMENTS FOR AVERAGE G INTEGRATOR:
RN ERASE +5
VN ERASE +5
GDT/2 ERASE +5
UNITR ERASE +5
UNITW ERASE +5
RMAG ERASE +1
DELV EQUALS DELVX
RN1 ERASE +5
VN1 ERASE +5
GDT1/2 ERASE +5
AVGEXIT ERASE +1
AVGOUTF ERASE +1
DVMNEXIT = AVGOUTF
# WAITLIST REPEAT FLAG:
RUPTAGN ERASE
KEYTEMP2 = RUPTAGN # TEMP FOR KEYRUPT, UPRUPT
# PHASE TABLE AND RESTART COUNTER.
## Page 27
# THE FOLLOWING ARE TO LOCATED IN UNSWITCHED ERRASSIBLE
# TBASE(I) ARE USED IN WAITLIST RESTARTS
# PHSPRDT(I) ARE USED TO STORE EITHER PRIORITY OR DELTA TIME FOR VARIABLE RESTARTS
# PHASE(I) AND -PHASE(I) ARE USED TO STORE THE PHASE INFORMATION AND PHASE INFORMATION COMPLEMENTED FOR EACH OF TH
# GROUPS
-PHASE1 ERASE
PHASE1 ERASE
-PHASE2 ERASE
PHASE2 ERASE
-PHASE3 ERASE
PHASE3 ERASE
-PHASE4 ERASE
PHASE4 ERASE
-PHASE5 ERASE
PHASE5 ERASE
-PHASE6 ERASE
PHASE6 ERASE
TBASE1 ERASE
PHSPRDT1 ERASE
TBASE2 ERASE
PHSPRDT2 ERASE
TBASE3 ERASE
PHSPRDT3 ERASE
TBASE4 ERASE
PHSPRDT4 ERASE
TBASE5 ERASE
PHSPRDT5 ERASE
TBASE6 ERASE
PHSPRDT6 ERASE
RSTRTWRD ERASE # EACH BIT INDICATES RESTARTABILITY OF A
# PARTICULAR MISSION PHASE.
# ON BIT = YES IT IS RESTARTABLE.
# BIT NO. = MISSION PHASE NO.
# ERASABLE FOR SINGLE PRECISION SUBROUTINES.
HALFY ERASE
ROOTRET ERASE
SQRARG ERASE
TEMK EQUALS HALFY
SQ EQUALS ROOTRET
# ERASABLE ASSIGNMETNS FOR LMP ROUTINES
LMPCMD ERASE +7 # CIRCULAR BUFFER OF LAST 8 COMMANDS.
LMPIN ERASE # POINTS TO NEXT AVAILABLE INPUT SLOT.
## Page 28
LMPOUT ERASE # POINTS TO NEXT OUTPUT LOCATION IN BUFFER
LMPOUTT ERASE # INTERRIM STORAGE FOR THE ABOVE.
LMPRET ERASE # 2CADR RETURN ADDRESS FOR SUBROUTINES.
LMPBBANK ERASE
SAVDT ERASE
LONGCADR ERASE +1 # UNSWITCHED ERASABLE FOR LONGCALC
LONGTIME ERASE +1
CMEMORY ERASE +4
TEMX EQUALS CMEMORY
TEMY EQUALS CMEMORY +1D
TEMZ EQUALS CMEMORY +2D
TEMXY EQUALS CMEMORY +3D
PIPAGE EQUALS CMEMORY +4D
JETRESET ERASE # MAINTAINED BY RCSMONIT.
THISCH32 ERASE # DITTO
# STORAGE FOR FOR MISSION TIMER/PHASE REGISTER PAIRS.
MTIMER4 ERASE
MTIMER3 ERASE
MTIMER2 ERASE
MTIMER1 ERASE
MPHASE4 ERASE
MPHASE3 ERASE
MPHASE2 ERASE
MPHASE1 ERASE
MTIMER4T ERASE +3 # RESTART STORAGE AREAS FOR THE ABOVE.
MDUETEMP ERASE
STATECTR ERASE # TIMER FOR INTERNAL STATE VECTOR UPDATES.
UPPHASE ERASE # NEW PHASE AS SENT UP THE UPLINK.
UPDT ERASE # NEW DT AS SENT UP THE UPLINK.
UPINDEX ERASE # INDEX OF TIMER MODIFIED BY UPLINK.
UPGET ERASE +1 # GET FOR UPLINK REQUEST.
MRETURN ERASE # RETURN REGISTER.
# PMEMORY ASSIGNMENTS
PMEMORY ERASE +85D
REFRRECT EQUALS PMEMORY +00D # STATE VECTORS FOR ORBITAL INTEGRATION
REFVRECT EQUALS PMEMORY +06D
## Page 29
DELTAV EQUALS PMEMORY +12D # STATE DEVIATIONS
NUV EQUALS PMEMORY +18D
REFRCV EQUALS PMEMORY +24D
REFVCV EQUALS PMEMORY +30D
REFTC = REFTCV
REFTCV EQUALS PMEMORY +36D
TE EQUALS PMEMORY +38D # TET,TIME CORRESPONDING TO LEM STATE
REFXKEP EQUALS PMEMORY +40D # ROOT TO KEPLER EQUATIONS
REFSMMAT EQUALS PMEMORY +42D # TRANSFORMATION MATRIX BETWEEN SM AND REF
PIPRETRN EQUALS PMEMORY +60D
TDECTEMP EQUALS PIPRETRN
PIPTIME EQUALS PMEMORY +62D
DVSELECT EQUALS PMEMORY +64D
TEVENT EQUALS PMEMORY +65D
MASS EQUALS PMEMORY +72D
CDUTEMP EQUALS PMEMORY +80D # VECTOR USED IN FINDCDUD
/ACF/ EQUALS PMEMORY +74D
/AF/ EQUALS PMEMORY +76D
PCNTF EQUALS PMEMORY +75D
STATIME EQUALS PMEMORY +78D # DP DOWNLINK TIME-DONT VIOLATE THESE REGS
SLOSHCTR ERASE # ERASABLE USED BY GIMBLMON FOR A COUNTR
## In the hardcopy, there is a hand-drawn arrow pointing to the word "on".
STARTDVC ERASE # VALUE FOR DVCNTR FOR ENGINE ON
STOPDVC ERASE # VALUE FOR DVCNTR FOR ENGINE OFF
SETDVCNT ERASE # CONTENTS WILL BE LOADED INTO DVCNTR
RSDTTEMP ERASE # SP TEMP USED FOR RESTART DT'S.
TPRELTER ERASE +1 # TIME OF PRELAUNCH TERMINATION
DAPOFFDT ERASE # TIME FROM TIG+26 IN MP11 TO TURN DAP OFF
OLDDVSEL ERASE
## Page 30
# ASSIGNMENTS RESERVED EXCLUSIVELY FOR SELF-CHECK
SELFERAS ERASE 1353 - 1377
ERESTORE EQUALS 1353
SELFRET EQUALS 1354
SMODE EQUALS 1355
REDOCTR EQUALS 1356 # DO NOT CHANGE THE ORDER OF REGISTERS RE-
SFAIL EQUALS 1357 # DOCTR THRU SCOUNT (NOUNS AND DOWNLINK).
FAILREG EQUALS 1360
ALMCADR EQUALS 1363
ERCOUNT EQUALS 1365
SCOUNT = 1366
SKEEP1 = 1371
SKEEP2 = 1372
SKEEP3 = 1373
SKEEP4 = 1374
SKEEP5 = 1375
SKEEP6 = 1376
SKEEP7 = 1377
# WAITLIST TASK LISTS
SETLOC 1400
LST1 ERASE +7 # DELTA T'S.
LST2 ERASE +17D # 2CADR TASK ADDRESSES.
LONGBASE ERASE +1 # ERASABLE FOR LONGCALL
LONGEXIT ERASE +1
# IMU COMPENSATION PARAMETERS:
PBIASX ERASE # PIPA BIAS AND PIPA SCALE FACTOR TERMS
PIPABIAS = PBIASX # INTERMIXED.
PIPASCFX ERASE
PIPASCF = PIPASCFX
PBIASY ERASE
PIPASCFY ERASE
PBIASZ ERASE
PIPASCFZ ERASE
NBDX ERASE # GYRO BIAS DRIFTS
GBIASX = NBDX
NBDY ERASE
NBDZ ERASE
ADIAX ERASE # ACCELERATION SENSITIVE DRIFT ALONG THE
ADIAY ERASE # INPUT AXIS
ADIAZ ERASE
## Page 31
ADSRAX ERASE # ACCELERATION SENSITIVE DRIFT ALONG THE
ADSRAY ERASE # SPIN REFERENCE AXIS
ADSRAZ ERASE
GCOMP ERASE +5 # CONTAINS COMPENSATING TORQUES
GCOMPSW ERASE
COMMAND EQUALS GCOMP
CDUIND EQUALS GCOMP +3
# STORAGE FOR RR TASKS.
RRRET ERASE
RDES ERASE
RRINDEX ERASE
# AOT CALIBRATIONS IN AZIMUTH AND ELEVATION AT DETENTS
AOTAZ ERASE +2
AOTEL ERASE +2
# ASSIGNMENTS FOR PRESENTLY UNUSED NOUNS.
AZANG EQUALS # DELETE WHEN OPTICAL TRACKER NOUNS GONE.
ELANG EQUALS
DESLOTSY EQUALS
DESLOTSX EQUALS
ROLL ERASE +2
LANDMARK ERASE +5
# THE FOLLOWING REGS ARE USED BY THE STANDBY VERBS
TIMESAV ERASE +1
SCALSAV ERASE +1
TIMAR ERASE +1
TIMEDIFF ERASE +1
# THE FOLLOWING MAY BE PLACED IN SWITCHED ERRASSIBLE
# PHSNAME(I) AND PHSBB(I) STORE THE 2CADR FOR VARIABLE RESTARTS FOR EACH OF THE GROUPS
PHSNAME1 ERASE
PHSBB1 ERASE
PHSNAME2 ERASE
PHSBB2 ERASE
PHSNAME3 ERASE
PHSBB3 ERASE
PHSNAME4 ERASE
PHSBB4 ERASE
PHSNAME5 ERASE
PHSBB5 ERASE
PHSNAME6 ERASE
PHSBB6 ERASE
## Page 32
BCDU ERASE +2
MIS ERASE +17D
MFS ERASE +17D
TMIS ERASE +17D
TMFI EQUALS TMIS
COF ERASE +5
CPHI ERASE
CTHETA ERASE
CPSI ERASE
MFI EQUALS MFS
COFSKEW ERASE +5
AM ERASE +1
MFISYM EQUALS TMIS
CAM ERASE +1
C2SQP EQUALS K2
C2SQM EQUALS K2 +2
C2PP EQUALS K2 +4
C2MP EQUALS K3
C1PP EQUALS K3 +2
C1MP EQUALS K3 +4
P21 EQUALS K1
D21 EQUALS K1 +2
G21 EQUALS K1 +4
RAD ERASE +1
RSQ ERASE +1
E1 EQUALS MFS
E2 EQUALS MFS +6
IG EQUALS COFSKEW
OGF EQUALS TMIS +12D
K1 EQUALS TMIS
K2 EQUALS TMIS +6
K3 EQUALS TMIS +12D
KEL EQUALS MFS
RATEINDX ERASE
SPNDX ERASE
MYNDX ERASE
BRATE EQUALS COFSKEW
TM EQUALS CAM
NCDU EQUALS TMIS
NEXTIME EQUALS TMIS +3
DELDCDU EQUALS DELCDUX
DELDCDU1 EQUALS DELCDUY
DELDCDU2 EQUALS DELCDUZ
TTEMP EQUALS TMIS +4
POINTVSM ERASE +5
SCAXIS ERASE +5
TF ERASE +1
COGAVAIL ERASE +1
SPLOC ERASE +2
UNR1 ERASE +5
## Page 33
R0VEC ERASE +5
V0VEC EQUALS VDVECT
UNNORM ERASE +5
INDEP ERASE +1
TWEEKIT ERASE +1
DEPVAR ERASE +1
PREVDEP ERASE +1
DELDEP ERASE +1
DELINDEP ERASE +1
MININDEP EQUALS 22D
MAXINDEP EQUALS 26D
# RESTRTCS-RESTRTCS +77D IS USED FOR RESTART PROTECTION DURING PRELAUNCH
RESTRTCS = 1600
# ERASABLE FOR MISSION PHASE TWO
TGRR ERASE +1 # TIME OF GUIDANCE REFERENCE RELEASE
TLIFTOFF ERASE +1 # TIME OF LIFTOFF
DT-LIFT ERASE # DT FROM GRR TO LIFTOFF
ABORTNDX EQUALS DT-LIFT
DT-LETJT ERASE +1 # DT FROM LIFTOFF TO POST-LET JETTISON
AZGR ERASE +1 # PAD 37B VERTICAL TO REF X-Z PLANE.
TILT ERASE +1 # Y ABOUT Z IN REVS.
ZSMAZ ERASE +1 # Z FROM NORTH IN REVS.
TEPHEM ERASE +2 # TP CS FROM 00:00:00 JULY 1 TO 00:00:00
AZ0 ERASE +1 # ANGLE BETWEEN GREENWICH AND X-Z PLANE
P37BLAT ERASE +1 # LAUNCH PAD LATITUDE
P37BLONG ERASE +1 # LAUNCH PAD LONGITUDE
# OF LAUNCH DAY.
DELVBUF ERASE +5 # HOLDS VEL CORR WHEN L/O CAUGHT BY DVMON.
GLIFTOFF EQUALS DELVBUF # WRITTEN OVER VIA DELVBUF AFTER GRR SET
MP6TO7 ERASE # ERASABLE FOR MP6
MP8TO9 ERASE # ERASABLE FOR MISSION PHASE 8
RSBB&Q ERASE +1 # WILL BE FILLED WITH BB AND Q ON RESTART.
## Page 34
# ERASABLE ASSIGNMENTS FOR EBANK 4
SETLOC 2000
AMEMORY ERASE +150D
# THE FOLLOWING A MEMORY LOCATIONS ARE USED BY MID-COURSE NAVIGATION
# CAUTION: ORBITAL INTEGRATION REGISTERS RAVEGON, VAVEGON AND SECOND DPS GUIDANCE REGISTERS TPIP, TTF/4,
# TTF/4TMP, TULLG ARE ALL IN USE SIMULTANEOUSLY AND MUST NOT CONFLICT.
RRECT EQUALS AMEMORY +000D
RIGNTION EQUALS AMEMORY +000D
VRECT EQUALS AMEMORY +006D
VIGNTION EQUALS AMEMORY +006D
TDELTAV EQUALS AMEMORY +012D
NEWDLTAV EQUALS AMEMORY +012D
TNUV EQUALS AMEMORY +018D
NEWNUV EQUALS AMEMORY +018D
RCV EQUALS AMEMORY +024D
FOUNDR EQUALS AMEMORY +024D
VCV EQUALS AMEMORY +030D
FOUNDV EQUALS AMEMORY +030D
TC EQUALS AMEMORY +036D
TET EQUALS AMEMORY +038D
XKEP EQUALS AMEMORY +040D
ALPHAV EQUALS AMEMORY +042D
DELR EQUALS AMEMORY +042D
BETAV EQUALS AMEMORY +048D
DELVEL EQUALS AMEMORY +048D
PHIV EQUALS AMEMORY +054D
BVECTOR EQUALS AMEMORY +054D
PSIV EQUALS AMEMORY +060D
FV EQUALS AMEMORY +066D
VECTAB EQUALS AMEMORY +072D
TAVEGON EQUALS AMEMORY +072D
TRESUME EQUALS AMEMORY +074D
RAVEGON EQUALS AMEMORY +076D
VAVEGON EQUALS AMEMORY +082D
RIG-2SEC EQUALS AMEMORY +088D
ALPHAM EQUALS AMEMORY +108D
BETAM EQUALS AMEMORY +110D
TAU EQUALS AMEMORY +112D
GIVENT EQUALS AMEMORY +112D
DT/2 EQUALS AMEMORY +114D
H EQUALS AMEMORY +116D
TDEC EQUALS AMEMORY +118D
## Page 35
ENGOFFDT EQUALS TDEC
FBRANCH EQUALS AMEMORY +120D
HBRANCH EQUALS AMEMORY +121D
GMODE EQUALS AMEMORY +122D
QREADY EQUALS AMEMORY +123D
MEASQ EQUALS AMEMORY +124D
DELTAQ EQUALS AMEMORY +126D
MEASMODE EQUALS AMEMORY +128D
NVCODE EQUALS AMEMORY +129D
MIDEXIT EQUALS AMEMORY +130D
DSPRTRN EQUALS AMEMORY +130D
INCORPEX EQUALS AMEMORY +131D
STEPEXIT EQUALS AMEMORY +132D
DIFEQCNT EQUALS AMEMORY +133D
NORMGAM EQUALS AMEMORY +133D
SCALEA EQUALS AMEMORY +134D
SCALEB EQUALS AMEMORY +135D
YV EQUALS AMEMORY +139D
ZV EQUALS AMEMORY +145D
## Page 36
# VARIABLES FOR SECOND DPS GUIDANCE
# CAUTION: ORBITAL INTEGRATION REGISTERS RAVEGON, VAVEGON AND SECOND DPS GUIDANCE REGISTERS TPIP, TTF/4,
# TTF/4TMP, TULLG ARE ALL IN USE SIMULTANEOUSLY AND MUST NOT CONFLICT.
# 2DPS PRESENTLY RECEIVES CERTAIN VARIABLES FROM THE ORBITAL INTEGRATION PROGRAM IN REGISTERS USED IN COMMON BY
# THE TWO PROGRAMS, THESE VARIABLES ARE TET, RIGNTION, VIGNTION. 2DPS CAREFULLY TRANSFERS THESE VARIABLES TO
# REGISTERS OF PROGRAM CALCRVG BEFORE WRITING INTO THE REGISTERS IN WHICH THESE VARIABLES ARRIVE.
# SOME TIME SHARING OF 2DPS REGISTERS BY 2DPS VARIABLES HAS BEEN ARRANGED. MORE IS POSSIBLE.
# BUT IT BECOMES INCREASINGLY DIFFICULT TO PROVE RESTARTABILITY.
E2DPS = AMEMORY
# CONTROL VARIABLES
NDX2DPS = E2DPS
NDXBR = NDX2DPS +1
FLPASS0 = NDXBR +1
COUNTFC = FLPASS0 +1
COUNTFCT = COUNTFC +1
# ADDRESS VARIABLES
AVGXTEMP = COUNTFCT +1
RETNTLZ = AVGXTEMP +1
RETXIGN1 = RETNTLZ +1
RETTHRT = RETXIGN1 +1
# COORDINATE FRAME VECTORS AND MATRICES
CLT/2 = RETTHRT +1
# TABLES
TABLTTF = CLT/2 +22
# STATE VARIABLES
PIPTIMET = TABLTTF +11
TPIP = PIPTIMET +2 # SEE CAUTION ABOVE
TPIPOLD = TPIP +2
TTF/4 = TPIPOLD +2 # SEE CAUTION ABOVE
TTF/4TMP = TTF/4 +2 # SEE CAUTION ABOVE
TULLG = TTF/4TMP +2 # SEE CAUTION ABOVE
R = TULLG +2
V = R +6
VL = V +6
RP2 = VL +6
MAP2 = RP2 +2
## Page 37
RC = MAP2 +2
RS = RC +2
RTEMP = RS
VS = RS +6
VTEMP = VS
CRS2 = VS +6
SRS2 = CRS2 +2
TRS2 = SRS2 +2
ASPRT = TRS2 +2
GDOTM1T = ASPRT
# AFC CALCULATION VARIABLES, QUADRATIC AND LINEAR
ACS = ASPRT +6
AFCS = ACS +6
AFC = AFCS +6
/AFC/ = AFC +6
/AFC/OLD = /AFC/ +2
UNAFC/2 = /AFC/OLD +2
UNAFC/20 = UNAFC/2 +6
ADLINS = UNAFC/20
GDUMPRES = UNAFC/20 +6
ADELLINS = GDUMPRES
GDOTM1 = GDUMPRES +6
TTFLIN/4 = GDOTM1
# ASSIGNMENTS WITHIN THE WORK AREA
PDUM = 6
RDUM = 10
VDUM = 16
ADUM = 40 # ONLY ADUM CAN USE THE AREA DESTROYED BY
JDUM = 24 # TAKING THE UNIT OF RDUM IN SUBR GDUMCL.
GDUM = 32 # PLACE GDUM TO PRESERVE /RDUM/ FOR OTHERS
# COMPLETES SECOND DPS ERASABLES (EXCEPT FOR CPT6/2 WHICH IS ASSIGNED ELSEWHERE)
## Page 38
# ERASABLES FOR ASCENT GUIDANCE
# ERASABLES FOR PREAPS2
PAXIS1 EQUALS AMEMORY # VECTOR
QAXIS EQUALS AMEMORY +6D # VECTOR
SAXIS EQUALS AMEMORY +12D # VECTOR
AT EQUALS AMEMORY +18D # DP * DO *
VE EQUALS AMEMORY +20D # DP * NOT *
TBUP EQUALS AMEMORY +22D # DP * CHANGE *
ATMEAS EQUALS AMEMORY +24D # VECTOR* THE ORDER *
KR1 EQUALS AMEMORY +30D # DP * OF *
RDOTD EQUALS AMEMORY +32D # DP * THESE *
YDOTD EQUALS AMEMORY +34D # DP * LOCATIONS*
ZDOTD EQUALS AMEMORY +36D # DP *************
RRETURN EQUALS AMEMORY +38D # DP
ASCRET EQUALS AMEMORY +40D # SP
# ERASABLES FOR ASCENT
LAMPRIO EQUALS AMEMORY +41D # SP
TCO EQUALS AMEMORY +42D # DP
TREF EQUALS AMEMORY +44D # DP
VTO EQUALS AMEMORY +46D #
KR EQUALS AMEMORY +48D # DP
YCONS EQUALS AMEMORY +52D # DP
YDOT EQUALS AMEMORY +54D # DP
LAXIS EQUALS AMEMORY +56D # VECTOR
ZAXIS EQUALS AMEMORY +62D # VECTOR
ZDOT EQUALS AMEMORY +68D # DP
TIME EQUALS AMEMORY +70D # DP
GEFF EQUALS AMEMORY +72D # DP
PCONS EQUALS AMEMORY +74D # DP
# *** THE REGISTERS AMEMORY +76D THRU AMEMORY +87D CONTAIN RAVEGON AND VAVEGON, AND MUST NOT BE USED BY THE
# ASCENT EQUATIONS. *********
PRATE EQUALS AMEMORY +88D # DP
H1 EQUALS AMEMORY +90D # VECTOR
TGO EQUALS AMEMORY +96D # DP
TFL EQUALS AMEMORY +98D # DP
RDOT EQUALS AMEMORY +102D # DP
RY EQUALS AMEMORY +104D # DP
URCO EQUALS AMEMORY +106D # VECTOR
## Page 39
# ERASABLES FOR THRUST MAGNITUDE FILTER
1/DV1 EQUALS ATMEAS
1/DV2 EQUALS ATMEAS +2
1/DV3 EQUALS ATMEAS +4
RCOV = RD
# MORE OF THESE ARE IN E7.
## Page 40
# ERASABLES USED IN ORBITAL INTEGRATION
PBODY ERASE # USED IN ORBITAL INTEGRATION
W EQUALS PBODY +1 # UNUSED IN 206, BUT REFERRED TO BY
# ORBITAL INTEGRATION
AVMIDRTN ERASE +1 # RETURN ADDRESS FROM AVETOMID OR MIDTOAVE
# THE FOLLOWING ARE USED BY FINDCDUD
AXISD ERASE +5 # VECTOR
AXIS ERASE +5 # VECTOR
COSCDU ERASE +5 # VECTOR
SINCDU ERASE +5 # VECTOR
RETSAVE = PIPRETRN
# ERASABLES FOR MISSION PHASES 7,9,11,13
# MISSION PHASE 7
DT2TEMP ERASE
DT2TEMPD ERASE +1
# MISSION PHASE 9
SHJUMP1 EQUALS DT2TEMP # HOLDS ADDRESS FOR NEXT COMPUTATION
TDI ERASE +1 # DESCENT INJECTION CUTOFF TIME
TTHRUST EQUALS DT2TEMPD # DPS1 MANEUVER THRUST TIME
TIGN ERASE +1 # DPS1 IGNITION TIME
UNITVG ERASE +5 # UNIT VECTOR OF VELOCITY-TO-BE-GAINED
# MISSION PHASES 11 AND 13
MPRETRN EQUALS DT2TEMP
DT11TEMP EQUALS DT2TEMPD
## Page 41
# ERASABLE STORAGE FOR UPDATES - NON SHARABLE
STBUFF ERASE +15
STCOUNT ERASE
UPOLDMOD ERASE
UPTEMP ERASE
UPTEMP1 ERASE
UPVERB ERASE
COMPNUMB ERASE
# ERASABLE STORAGE FOR DOWNLINK - LIMITED SHARING POSSIBLE
VDVECT ERASE +5 # VELOCITY DESIRED
DOWN2DPS = VDVECT
VGVECT ERASE +5 # VELOCITY TO BE GAINED
RD ERASE +5 # POSITION DESIRED
TTGO ERASE +1 # TIME TO GO IN CENTISECONDS.
# EBANK 4 NON SHARABLE ERASABLE LOAD STORAGE
E4LOAD ERASE 2351 - 2377
MPDTO8 EQUALS E4LOAD # DELTA TIME FROM MP7 TO MP8
MP9-11DT EQUALS E4LOAD +1 # DELTA TIME FROM MP9 TO MP11
MP11TO13 EQUALS E4LOAD +2 # DELTA TIME FROM MP11 TO MP13
RP EQUALS E4LOAD +3 # DP TARGET PARAMETER FOR DPS1 BURN
CPT6/2 EQUALS E4LOAD +5 # VECTOR TARGET PARAMETER FOR DPS2 BURN
R1VEC EQUALS E4LOAD +13 # VECTOR TARGET PARAMETER FOR APS2 BURN
TINT EQUALS E4LOAD +21 # DP TARGET PARAMETER FOR APS2 BURN
RCO EQUALS E4LOAD +23 # DP TARGET PARAMETER FOR APS2 TURN
TIGNTION EQUALS E4LOAD +25 # DP TIME OF STATE (VPATCHER).
## Page 42
# ERASABLES FOR MASS UPDATE (A PART OF AVERAGE G) AND THROTTLE CONTROL
# INITIAL VALUES FOR MASS: THESE ERASABLES ARE SACROSANCT.
LEMMASS2 ERASE 3776 - 3777
LEMMASS1 = MPAC # *******TEMPORARY************************
# ERASABLES FOR MASS UPDATE ROUTINE
EVEX = SAVERASE +30D
VEXDEX = EVEX
PREFORCE = EVEX +1
VEXNOM = EVEX +3
DELAREA = EVEX +5
AREARATE = EVEX +7
NEGVEX = EVEX +11
DAREATMP = EVEX +13
MASSTEMP = EVEX +15
MINIMASS = EVEX +17
ETHROT = SAVERASE +47D
FOLD = ETHROT
FCOLD = ETHROT +2
FC = ETHROT +3
PIF = ETHROT +5
PIFPSET = ETHROT +7
RTNHOLD = ETHROT +7
FWEIGHT = ETHROT +11
## Page 43
# THE FOLLOWING ERASABLE REGISTERS ARE USED BY THE ENTRY AND INITIALIZATION JOB OF THE FCS TEST FOR LEM.
FCSCNTR EQUALS AMEMORY +000D
# THE FOLLOWING ERASABLE REGISTERS ARE USED BY THE JETSET TASK.
# (OPTIMUM PRELAUNCH A C USES JETSTEP-JETSTEP +77D FOR RESTART PROOF)
XJBUF EQUALS AMEMORY +001D
YZJBUF EQUALS AMEMORY +002D
JFBUF EQUALS AMEMORY +003D
FCNTR EQUALS AMEMORY +004D
THBUF EQUALS AMEMORY +005D
OFFTMBUF EQUALS AMEMORY +006D
JETSTEP EQUALS AMEMORY +007D
NTIMES EQUALS AMEMORY +008D
NEXTTIME EQUALS AMEMORY +016D
JETONTM EQUALS AMEMORY +024D
XJETS EQUALS AMEMORY +032D
YZJETS EQUALS AMEMORY +040D
JETOFFTM EQUALS AMEMORY +048D
# THE FOLLOWING ERASABLE REGISTERS ARE USED BY THE ENGINE ON-OFF TASK.
ENGSTEP EQUALS AMEMORY +056D
CYLTIMES EQUALS AMEMORY +057D
NEXTCYLT EQUALS AMEMORY +060D
ONTIME EQUALS AMEMORY +063D
OFFTIME EQUALS AMEMORY +066D
OFFTIMER EQUALS AMEMORY +069D
# THE FOLLOWING ERASABLE REGISTERS ARE USED BY THE TRIM TASK.
TRIMSTEP EQUALS AMEMORY +072D
NUMTIMES EQUALS AMEMORY +073D
STEPDLYT EQUALS AMEMORY +085D
TRIMONT EQUALS AMEMORY +097D
TRIMOFFT EQUALS AMEMORY +109D
TRIMIND EQUALS AMEMORY +121D
# THE FOLLOWING ERASABLE REGISTERS ARE USED BY THE THROTTLE TASK.
THRTSTEP EQUALS AMEMORY +133D
DOTIMES EQUALS AMEMORY +134D
DELAY EQUALS AMEMORY +140D
THR1TIME EQUALS AMEMORY +146D
THCOMM1 EQUALS AMEMORY +152D
## Page 44
THCOMM2 EQUALS AMEMORY +158D
# THE FOLLOWING ERASABLE REGISTERS ARE USED BY THE INTERFACE LOOK TASK.
30BUF1 EQUALS AMEMORY +164D
30BUF0 EQUALS AMEMORY +168D
QUITLOOK EQUALS AMEMORY +172D
CHCNTR EQUALS AMEMORY +173D
SETLOC 2400
# THE FOLLOWING ERASABLE LOCATIONS ARE UTILIZED BY THE IN-FLIGHT ALIGNMENT ROUTINES
XSM ERASE +17D
YSM = XSM +6
ZSM = XSM +12D
XDC ERASE +17D
YDC = XDC +6
ZDC = XDC +12D
XNB = XDC
YNB = XDC +6
ZNB = XDC +12D
STARAD ERASE +17D
STAR ERASE +5
SAC ERASE +1
PAC ERASE +1
OGC ERASE +1
IGC ERASE +1
MGC ERASE +1
ZPRIME = 22D
PDA = 22D
COSTH = 16D
SINTH = 18D
THETA = 20D
STARM = 32D
# THE FOLLOWING ERASABLE LOCATIONS ARE UTILIZED BY THE SYSTEM TESTS
AZIMUTH ERASE +1
LATITUDE ERASE +1
EROPTN ERASE
ERVECTOR ERASE +5
GYROD ERASE +5
LENGTHOT ERASE
LOSVEC ERASE +5
NBPOS ERASE
NDXCTR ERASE
PIPANO ERASE
## Page 45
PIPINDEX ERASE
PIPNDX ERASE +1
POSITON ERASE
QPLAC ERASE
QPLACE ERASE
QPLACES ERASE
RUN ERASE
STOREPL ERASE
SOUTHDR ERASE
TAZEL1 ERASE +5
TEMPTIME ERASE +1
TESTNO ERASE
TMARK ERASE +1
SHAFTA ERASE
TRUNA ERASE
GENPL ERASE +134D
CDUTIMEI = GENPL
CDUTIMEF = GENPL +2
CDUDANG = GENPL +4
CDUREADF = GENPL +5
CDUREADI = GENPL +6
CDULIMIT = GENPL +7
TEMPADD = GENPL +4
TEMP = GENPL +5
NOBITS = GENPL +6
CHAN = GENPL +7
LOS1 = GENPL +8D
LOS2 = GENPL +14D
CALCDIR EQUALS GENPL +20D
CDUFLAG EQUALS GENPL +21D
GYTOBETQ EQUALS GENPL +22D
OPTNREG EQUALS GENPL +23D
SAVE EQUALS GENPL +24D # THREE CONSEC LOC
SFCONST1 EQUALS GENPL +27D
TIMER EQUALS GENPL +28D
DATAPL EQUALS GENPL +30D
RDSP EQUALS GENPL # FIX LATER POSSIBLY KEEP1
MASKREG EQUALS GENPL +64D
CDUNDX EQUALS GENPL +66D
RESULTCT EQUALS GENPL +67D
COUNTPL EQUALS GENPL +70D
CDUANG EQUALS GENPL +71D
AINLA = GENPL # 110 DEC OR 156 OCT LOCATIONS
## Page 46
WANGO EQUALS AINLA # VERT ERATE
WANGI EQUALS AINLA +2D # HORIZONTAL ERATE
WANGT EQUALS AINLA +4D # T
TORQNDX = WANGT
DRIFTT EQUALS AINLA +6D
ALX1S EQUALS AINLA +8D
CMPX1 EQUALS AINLA +9D # IND
ALK EQUALS AINLA +10D # GAINS
VLAUNS EQUALS AINLA +22D
THETAX = VLAUNS
WPLATO EQUALS AINLA +24D
INTY EQUALS AINLA +28D # SOUTH PIP INTE
ANGZ EQUALS AINLA +30D # EAST AXIS
INTZ EQUALS AINLA +32D # EAST PIP I
ANGY EQUALS AINLA +34D # SOUTH
THETAN = INTY
ANGX EQUALS AINLA +36D # VE
DRIFTO EQUALS AINLA +38D # VERT
DRIFTI EQUALS AINLA +40D # SOU
VLAUN EQUALS AINLA +44D
FILDELV = VLAUN
ACCWD EQUALS AINLA +46D
INTVEC = ACCWD
POSNV EQUALS AINLA +52D
DPIPAY EQUALS AINLA +54D # SOUTH
DPIPAZ EQUALS AINLA +58D # NORTH PIP INCREMENT
ALTIM EQUALS AINLA +60D
ALTIMS EQUALS AINLA +61D # INDEX
ALDK EQUALS AINLA +62D # TIME CONSTAN
DELM EQUALS AINLA +76D
WPLATI EQUALS AINLA +84D
GEOSAVED EQUALS AINLA +86D
PREMTRXC EQUALS AINLA +87D
PRELMTRX EQUALS AINLA +88D
TRANSM1 = PRELMTRX
GEOCOMPS EQUALS AINLA +106D
OLDGT EQUALS AINLA +107D
1SECXT EQUALS AINLA +108D
GTSWTLST EQUALS AINLA +109D
ERECTIME EQUALS AINLA +110D
GEOMTRX EQUALS AINLA +111D
ERCOMP EQUALS AINLA +129D
ZERONDX EQUALS AINLA +135D
BMEMORY EQUALS GENPL
DELVY EQUALS DELVX +2
DELVZ EQUALS DELVX +4
## Page 47
# TUMBLE MONITOR
PCDUX EQUALS E
PCDUY EQUALS EDOT(2)
PCDUZ EQUALS ER
DCDUY EQUALS OMEGAQ
DCDUZ EQUALS OMEGAR
OMEGA EQUALS EDOTP
SETLOC 3400
# DOWNLINK STORAGE.
LDATALST ERASE
DNTMGOTO ERASE
TMINDEX ERASE
DNCDUCNT ERASE
DNCDUN ERASE # DNCDUN +1 CDU SAMPLES ARE DOWNLINKED.
CDULMIT ERASE
DNQ ERASE # RETURN ADDRESS OF DOWNLINK SUBROUTINES
DNTMBUFF ERASE +21D # SNAPSHOT BUFFER.
# ************************************************************************
# ERASABLE INJECTION PARAMETERS FOR MISSION PHASE 4. PRELOADED.
RINJECT ERASE +1 # INJECTION RADIUS DESIRED. THIS QUANTITY
# DETERMINES THE PERIGEE. MUST BE IN METERS * 2(-25)
VINJECT ERASE +1 # INJECTION VELOCITY DESIRED. THIS QUANTI
# TY DETERMINES APOGEE. MUST BE IN METERS/CENTISECONDS * 2(-7)
# ************************************************************************
# RADAR TEST STORAGE.
RTSTDEX ERASE
RTSTMAX ERASE # 66 FOR HI SPEED, 6 FOR LOW SPEED RR,
# AND 18 FOR LOW SPEED LR.
RTSTBASE ERASE # USED FOR CYCLIC SAMPLING.
RTSTLOC ERASE # GOES 0(6)RTSTMAX
RSTKLOC = RTSTLOC
RSAMPDT ERASE # PNZ FOR CYCLIC SAMPLING, -1 FOR HI SPEED
# INSERT +0 HERE MANUALLY TO TERMINATE TST
RFAILCNT ERASE
RSTACK ERASE +71D # BUFFERS FOR RADAR TESTING.
# STORAGE FOR INBIT SCANNER.
LAST30 ERASE +2 # LAST SAMPLED INBITS.
MSGCNT ERASE
## Page 48
# THE COMPTORK REGISTERS ARE REDUNDANT WITH THETAN FOR DOWNLINK PURPOSES.
COMPTORK ERASE +5 # V, S, E GYROCOMPASS GYRO TORQUES.
VTO-DPS ERASE +1 # FOR MP 4
VTAILOFF ERASE +1 # FOR MP 9
VTO-APS ERASE +1 # FOR MP 13
TGONOM ERASE +1 # FOR MP 13
COS27 ERASE +1 # FOR MP 13
SIN27 ERASE +1 # FOR MP 13
VCONOM ERASE +5 # FOR MP 13
RCOTEMPV ERASE +5 # FOR MP 13
TAG5 ERASE +1 # FOR MP 13
ABDVCONV ERASE +2 # FOR MP 11
KT ERASE +1 # FOR MP 4 & 13.
# BMEMORY USED FOR CONSECUTIVE ASSIGNMENTS FOR SERVICER RESTART
SAVERASE EQUALS 2506
DVTOTAL EQUALS SAVERASE +000D
DVCNTR EQUALS SAVERASE +003D
PIPCTR EQUALS SAVERASE +004D
VR EQUALS SAVERASE +005D
VGCNTR EQUALS SAVERASE +012D
ERRORSJM EQUALS SAVERASE +013D
DIFFANG EQUALS SAVERASE +019D
STREXIT EQUALS SAVERASE +021D
ABDELV EQUALS SAVERASE +022D
SWITCH EQUALS SAVERASE +24D
NEGXDV EQUALS SAVERASE +25D
## Page 49
# EBANK-6 ASSIGNMENTS.
# (DIGITAL AUTOPILOT USES ALL OF EBANK-6)
SETLOC 3000
# AXIS TRANSFORMATION MATRIX - PILOT TO GIMBAL AXES:
MR12 ERASE # SCALED AT 2 THESE FOUR P-G MATRIX ELE-
MR22 ERASE # SCALED AT 1 MENTS ARE IN THIS ORDER TO
MR13 ERASE # SCALED AT 2 COMPUTE RATE HOLD DELCDUS
MR23 ERASE # SCALED AT 1 WITH AN INDEXED LOOP
# AXIS TRANSFORMATION MATRIX - GIMBAL TO PILOT AXES:
M11 ERASE # SCALED AT 1
M21 ERASE # SCALED AT 1
M31 ERASE
M22 EQUALS MR22 # SCALED AT 1
M32 EQUALS MR23 # SCALED AT 1
# ANGLE MEASUREMENTS.
EDOT ERASE +1 # ERROR IN ANGULAR RATE:
EDOT(R) EQUALS EDOT +1 # SCALED DOWN TO PI/16 RADIANS/SECOND
E ERASE +1 # ANGLE ERROR SCALED AT PI RADIANS
EDOT(2) EQUALS E +1 # ERROR RATE SQUARED SCALED AT PI(2)/16
EQ EQUALS E # THIS PAIR OF NAMES IS USED TO REFER TO
EDOT(2)Q EQUALS EDOT(2) # THE ABOVE ERASABLES AS Q-AXIS DATA
ER ERASE +1 # THIS PAIR OF NAMES REFERS TO LOCATIONS
EDOT(2)R EQUALS ER +1 # FOR THE R-AXIS DATA: INTERCHANGES WITH Q
OMEGAP ERASE +4 # BODY-AXIS ROT. RATES SCALED AT PI/4 AND
OMEGAQ EQUALS OMEGAP +1 # BODY-AXIS ACCELERATIONS SCALED AT PI/8
ALPHAQ EQUALS OMEGAP +2 # (IN DESCENT) OR PI/2 (IN ASCENT)
OMEGAR EQUALS OMEGAP +3 # THESE W,A PAIRS ARE NEEDED, ALPHAP HAS
ALPHAR EQUALS OMEGAP +4 # NO USE IN THE DIGITAL AUTOPILOT
EDOTP ERASE +2 # ERRORS IN ANGULAR RATE:
EDOTQ EQUALS EDOTP +1 # EDOT = 3MEGA - OMEGA(DESIRED)
EDOTR EQUALS EDOTP +2 # SCALED AT PI/4 RADIANS/SECOND
QRATEDIF EQUALS EDOTQ # ALTERNATIVE NAMES:
RRATEDIF EQUALS EDOTR # DELETE WHEN NO. OF REFERENCES = 0
OLDXFORP ERASE +3 # STORED CDU READINGS FOR P AND Q,R RATE
OLDYFORP EQUALS OLDXFORP +1 # DERIVATIONS: SCALED AT PI RADIANS (2'S)
OLDYFORQ EQUALS OLDXFORP +2 # (THERE MUST BE TWO REGISTERS FOR CDUY
OLDZFORQ EQUALS OLDXFORP +3 # SINCE P AND Q,R ARE NOT IN PHASE)
## Page 50
# RHC INPUTS SCALED AT PI/4 RAD/SEC.
PCOM ERASE
RCOM ERASE
YCOM ERASE
# RHC COUNTER REGISTERS.
P-RHCCTR EQUALS 43
Q-RHCCTR EQUALS 42
R-RHCCTR EQUALS 44
# OTHER VARIABLES.
TJETSIGN ERASE # =+/-BIT1 TO SHOW SIGN OF P-AXIS ROTATION
PRATECOM ERASE
EDOTGEN ERASE
RATEDIF ERASE
1/2JTSP ERASE
FPQR ERASE
MINRA ERASE
MINRASQ ERASE
HDAP ERASE
FCT1 EQUALS HDAP
U ERASE
DENOM ERASE
RATIO ERASE
L,PVT-CG ERASE
TEMPINER ERASE
IXX ERASE
IYY ERASE
IZZ ERASE
4JETTORK ERASE
JETTORK4 ERASE
COSMG ERASE
DELTAP EQUALS ITEMP2
FPQRMIN ERASE
NJET ERASE
PRATEDIF ERASE
LASTPER ERASE # THESE 6 REG USED FOR ATT ERR DISPLAY
LASTQER ERASE
LASTRER ERASE
PERROR ERASE
QERROR ERASE
RERROR ERASE
# JET STATE CHANGE VARIABLES- TIME (TOFJTCHG),JET BITS WRITTEN NOW
# (JTSONNOW), AND JET BITS WRITTEN AT T6 RUPT (JTSATCHG).
JTSONNOW ERASE
## Page 51
JTSATCHG ERASE
ADDT6JTS ERASE
ADDTLT6 ERASE
TOFJTCHG ERASE
URGLMS ERASE +1 # THESE TWO ADJACENT REGISTERS HOLD THE
URGLM1 EQUALS URGLMS # ASCENT OR DESCENT 4-JET URGENCY LIMIT
URGLM2 EQUALS URGLMS +1 # SCALED AT 2(+9) AND 2(+4) SECS, RESPECT.
-2JETLIM ERASE +1 # RATE COMMAND 4-JET RATE DIFFERENCE LIMIT
-RATEDB EQUALS -2JETLIM +1 # AND RATE DEADBAND FOR ASCENT OR DESCENT
# Q,R AXIS ERASABLES
DELQ EQUALS ITEMP2
URGENCYQ ERASE +1
URGENCYR ERASE +1
URGLIMIT = ITEMP6
A+B ERASE
A-B ERASE
TERMA ERASE
TERMB ERASE +1
INVACCSQ ERASE +1
DISPLACT ERASE # FLAG FOR EIGHTBALL ATT. ERROR DISPLAY.
POLTEST ERASE
## Page 52
# TRIM GIMBAL CONTROL LAW ERASABLES:
# THE FOLLOWING ASSIGNMENTS OF RUPTREGS AND ITEMPS HAS BEEN MADE IN AN EFFORT TO OPTIMIZE USE OF ERASABLES:
K2THETA EQUALS RUPTREG1 # D.P. K(2)THETA AND "NEGUSUM"
ETHETA EQUALS RUPTREG2 # S.P. ERROR ANGLE SCALED AT PI/64 RADIANS
A2CNTRAL EQUALS RUPTREG3 # D.P. ALPHA(2) SCALED AT PI(2)/64 R/S(2)
SF1 EQUALS RUPTREG3 # S.P. VARIABLE SCALE FACTORS WHICH ARE
SF2 EQUALS RUPTREG4 # S.P. - REALLY SINGLE BITS (OR ZERO)
OMEGA.K EQUALS ITEMP1 # D.P. OMEGA*K SUPERCEDES K AND K(2)
KCENTRAL EQUALS ITEMP1 # S.P. K FROM KQ OR KR FIRST AT PI/2(8)
K2CNTRAL EQUALS ITEMP2 # S.P. K(2) FROM Q OR R 1ST AT PI(2)/2(16)
WCENTRAL EQUALS ITEMP3 # S.P. OMEGA SCALED AT PI/4 RADIANS/SECOND
ACENTRAL EQUALS ITEMP4 # S.P. ALPHA SCALED AT PI/8 RAD/SEC(2)
DEL EQUALS ITEMP5 # S.P. SGN(FUNCTION)
QRCNTR EQUALS ITEMP6 # S.P. COUNTER: Q,Y=0, R,Z=2
# THE ABOVE QUANTITIES ARE ONLY NEEDED ON A VERY TEMPORARY BASIS AND HAVE BEEN PROVEN TO BE NON-CONFLICTING.
TJSR ERASE
MULTFLAG ERASE # INDICATOR FOR SPDPMULT ROUTINE
FUNCTION ERASE +1 # D.P. WORD FOR DRIVE FUNCTIONS
NEGUQ ERASE +2 # NEGATIVE OF Q-AXIS GIMBAL DRIVE
NEGUR EQUALS NEGUQ +2 # NEGATIVE OF R-AXIS GIMBAL DRIVE
KQ ERASE +3 # .3ACCDOTQ SCALED AT PI/2(8)
KQ2 EQUALS KQ +1 # KQ2 = KQ*KQ
KRDAP EQUALS KQ +2 # .3 ACCDOTR SCALED AT PI/2(8)
KR2 EQUALS KQ +3 # KR2 = KR*KR
ACCDOTQ ERASE +3 # Q-JERK SCALED AT PI/2(7) UNSIGNED
QACCDOT EQUALS ACCDOTQ +1 # Q-JERK SCALED AT PI/2(7) SIGNED
ACCDOTR EQUALS ACCDOTQ +2 # R-JERK SCALED AT PI/2(7) UNSIGNED
RACCDOT EQUALS ACCDOTQ +3 # R-JERK SCALED AT PI/2(7) SIGNED
QDIFF EQUALS QERROR # ATTITUDE ERRORS:
RDIFF EQUALS RERROR # SCALED AT PI RADIANS
TIMEOFFQ ERASE # TIMES TO GO UNTIL TRIM GIMBAL TURN-OFF,
TIMEOFFR ERASE # ZERO MEANS NO ACTION, SCALED AS WAITLIST
## Page 53
# KALMAN FILTER ERASABLES.
STORCDUY ERASE # THIS S.P. PAIR IS USED TO SAVE CDUY,Z
STORCDUZ ERASE # FOR THE GTS RUPT
CDU EQUALS RUPTREG3 # RUPTREG3,4 USED AS D.P. WORD FOR CDU
# VALUE WITHIN FILTER IS COMP AT 2PI RAD
CDUDOT EQUALS ITEMP1 # ITEMP1,2 USED AS D.P. WORD FOR CDUDOT
# VALUE WITHIN FILTER SCALED AT PI/4
CDU2DOT EQUALS ITEMP3 # ITEMP3,4 USED AS D.P. WORD FOR CDU2DOT
# VALUE WITHIN FILTER SCALED AT PI/8
DT ERASE # TIME ELAPSED SCALED AT 1/8: NOMINAL=50MS
DAPTIME ERASE # USED TO RECORD LAST TIME FROM CHANNEL 4
STEERADR ERASE # DTCALC SWITCH IN FILTER INITIALIZATION
DPDIFF ERASE +1 # D.P. WEIGHTING VECTOR FACTOR AT PI
WPOINTER ERASE # POINTER TO WEIGHTING VECTOR TABLE
W0 ERASE +2 # THETA WEIGHT
W1 EQUALS W0 +1 # OMEGA WEIGHT
W2 EQUALS W1 +1 # ALPHA WEIGHT
CDUYFIL ERASE +1 # Y-AXIS D.P. FILTERED THETA AT 2PI
CDUZFIL ERASE +1 # Z-AXIS D.P. FILTERED THETA AT 2PI
DCDUYFIL ERASE +1 # Y-AXIS D.P. FILTERED OMEGA AT PI/4
DCDUZFIL ERASE +1 # Z-AXIS D.P. FILTERED OMEGA AT PI/4
D2CDUYFL ERASE +1 # Y-AXIS D.P. FILTERED ALPHA AT PI/8
D2CDUZFL ERASE +1 # Z-AXIS D.P. FILTERED ALPHA AT PI/8
Y3DOT ERASE # Y-AXIS S.P. JERK AT PI/2(7)
CDU3DOT ERASE # LOOP REGISTER (SPACER)
Z3DOT ERASE # Z-AXIS S.P. JERK AT PI/2(7)
PFILTADR ERASE +1 # 2CADR FOR FILTER RUPT 30 MS AFTER P-AXIS
PFRPTLST ERASE +7 # POST FILTER RUPT LIST
# TORQUE VECTOR RECONSTRUCTION VARIABLES:
JETRATE ERASE +2 # WEIGHTED RATES DUE TO JETS APPLIED IN
JETRATEQ EQUALS JETRATE +1 # THE LAST CONTROL SAMPLE PERIOD OF 100 MS
JETRATER EQUALS JETRATE +2 # SCALED AT PI/4 RADIANS/SECOND
NO.QJETS ERASE +1 # NUMBER OF Q AND R JETS THAT ARE GIVEN
NO.RJETS EQUALS NO.QJETS +1 # BY THE JET SELECT LOGIC
TP ERASE +1 # TIME CALCULATED BY TJETLAW FOR P, QR
TQR EQUALS TP +1 # SCALED AS TIME6, THEN TQR RESCALED TO 1
1JACC ERASE +4 # ACCELERATIONS DUE TO 1 JET TORQUING
## Page 54
1JACCQ EQUALS 1JACC +1 # SCALED AT PI/4 RADIANS/SECOND
1JACCR EQUALS 1JACC +2
1JACCU EQUALS 1JACC +3 # FOR U,V-AXES THE SCALE FACTOR IS DIFF:
1JACCV EQUALS 1JACC +4 # SCALED AT PI/2 RADIANS/SECOND (FOR ASC)
INERCTR ERASE
INERCTRX ERASE
# ASCENT VARIABLES:
SAVRATEQ ERASE +1 # UN-WEIGHTED JETRATE FOR LAST CSP BEFORE
SAVRATER EQUALS SAVRATEQ +1 # AOSTASK. INITIAL VALUES FOR SJMRATES.
SUMRATEQ ERASE +1 # SUM OF UN-WEIGHTED JETRATE TERMS
SUMRATER EQUALS SUMRATEQ +1 # SCALED AT PI/4 RADIANS/SECOND
OLDWFORQ ERASE +1 # OMEGA VALUE 2 SECONDS AGO
OLDWFORR EQUALS OLDWFORQ +1 # SCALED AT PI/4 RADIANS/SECOND
DBMINIMP ERASE +1 # MINIMUM IMPULSE DEADBANDS (EQUAL IN DESC
MINIMPDB EQUALS DBMINIMP +1 # AT .3 DEG, 0,-DB RESPECTIVELY FOR ASC)
DBMNMPAX ERASE # P-AXIS VALUE: SCALED AT PI RADIANS.
.5ACCMNE ERASE +4 # (1/2)(1/ACCMIN) WHICH IS THE INVERSE OF
.5ACCMNQ EQUALS .5ACCMNE +1 # THE MINIMUM ACCELERATION (A CONSTANT FOR
.5ACCMNR EQUALS .5ACCMNE +2 # DESCENT AND A VARIABLE FOR ASCENT DAP)
.5ACCMNU EQUALS .5ACCMNE +3 # SCALED AT 2(+8)/PI
.5ACCMNV EQUALS .5ACCMNE +4 # IN UNITS OF SECONDS(2)/RADIAN
WFORP ERASE +1 # W = K/(NOMINAL DT)
WFORQR EQUALS WFORP +1 # SCALED AT 16
(1-K) ERASE +1 # 1-K SCALED AT 1
(1-K)/8 EQUALS (1-K) +1 # 1-K SCALED AT 8
1/NJTSQ ERASE +3 # 1/NJETACC FOR EACH AXIS
1/NJTSR EQUALS 1/NJTSQ +1 # FOR DESCENT THIS IS ALWAYS 1/2JTS
1/NJTSU EQUALS 1/NJTSQ +2 # FOR ASCENT WITH HIGH OFFSET: 1/4JTS
1/NJTSV EQUALS 1/NJTSQ +3 # SCALED AT 2(8)/PI SEC(2)/RAD
KCOEFCTR ERASE # COUNTER FOR ASCENT DAP
DLCDUIDX ERASE # SAVE RATE INDEX, = 1, 0
PJUMPADR ERASE +1
QJUMPADR EQUALS PJUMPADR +1 # IN THE LM DAP T5RUPTS TO SKIP P-AXIS
CH5TEMP ERASE
-.06R/S2 ERASE # DESCENT VAL.=0, ASCENT VAL.= -.06 RAD/S
100MSPTQ ERASE
## Page 55
QR.1ST0Q = 100MSPTQ
NO.PJETS ERASE
# THE FOLLOWING LM DAP ERASABLES ARE ZEROED IN THE STARTDAP SECTION OF THE DAPIDLER PROGRAM AND THE COASTASC
# SECTION OF THE AOSTASK. THE ORDER MUST BE PRESERVED FOR THE INDEXING METHODS WHICH ARE EMPLOYED IN THOSE
# SECTIONS AND ELSEWHERE.
AOSQ ERASE +3 # ASCENT OFFSET ACCELERATION ESTIMATES:
AOSR EQUALS AOSQ +1 # ESTIMATED EVERY 2 SECONDS BY AOSTASK.
AOSU EQUALS AOSQ +2 # U,V-AXES ACCS FORMED BY VECTOR ADDITION.
AOSV EQUALS AOSQ +3 # SCALED AT PI/2 RADIANS/SECOND(2).
AOSQTERM ERASE +1 # (.1-.05K)AOS
AOSRTERM EQUALS AOSQTERM +1 # SCALED AT PI/4 RADIANS/SECOND.
NJ+Q ERASE +7 # 2 JET OVER-RIDE FLAGS:
NJ-Q EQUALS NJ+Q +1 # WHENEVER THE OFFSET ACCELERATION ABOUT
NJ+R EQUALS NJ+Q +2 # AN AXIS IS SO HIGH THAT 2 JETS COULD NOT
NJ-R EQUALS NJ+Q +3 # CONTROL ATTITUDE SUCCESSFULLY, THEN NJ
NJ+U EQUALS NJ+Q +4 # FOR THAT AXIS (IN THE DIRECTION OPPOSING
NJ-U EQUALS NJ+Q +5 # AOS) IS SET TO 1. OTHERWISE, THE VALUE
NJ+V EQUALS NJ+Q +6 # IS ZERO. THESE FLAGS PREVENT TWO JETS
NJ-V EQUALS NJ+Q +7 # FROM BEING REQUESTED TO FIGHT THE AOS.
1/NET+2Q ERASE +15D
1/NET+4Q EQUALS 1/NET+2Q +1
1/NET-2Q EQUALS 1/NET+2Q +2
1/NET-4Q EQUALS 1/NET+2Q +3
1/NET+2R EQUALS 1/NET+2Q +4
1/NET+4R EQUALS 1/NET+2Q +5
1/NET-2R EQUALS 1/NET+2Q +6
1/NET-4R EQUALS 1/NET+2Q +7
1/NET+1U EQUALS 1/NET+2Q +8D
1/NET+2U EQUALS 1/NET+2Q +9D
1/NET-1U EQUALS 1/NET+2Q +10D
1/NET-2U EQUALS 1/NET+2Q +11D
1/NET+1V EQUALS 1/NET+2Q +12D
1/NET+2V EQUALS 1/NET+2Q +13D
1/NET-1V EQUALS 1/NET+2Q +14D
1/NET-2V EQUALS 1/NET+2Q +15D
SIGNTAG ERASE
1/NETACS EQUALS 1/NET+1U
1/ACCQ ERASE +1 # INVERSE NET ACCELERATIONS FOR URGENCY.
1/ACCR EQUALS 1/ACCQ +1 # SCALED AT 2(+8)/PI SECONDS(2)/RADIAN.
1/AMINQ ERASE +1 # INVERSE MIN ACCELERATIONS FOR URGENCY.
1/AMINR EQUALS 1/AMINQ +1 # SCALED AT 2(+8)/PI SECONDS(2)/RADIAN.
## Page 56
1/AMINU ERASE
1/AMINV ERASE
URGRATQ ERASE +1 # URGENCY FUNCTION CORRECTION FACTOR RATIO
URGRATR EQUALS URGRATQ +1 # SCALED AT 1.
SRTEMP ERASE # SCRATCH CELLS FOR DAPSQRT
SQRTTEMP ERASE # SCRATCH CELLS FOR DAPSQRT
SQRTTEMQ ERASE # SCRATCH CELLS FOR DAPSQRT
AOSCOUNT ERASE
QUOTTEMP EQUALS SRTEMP # SCRATCH CELL FOR Q,R-AXIS TJETLAW.
QACDOTMP ERASE +2 # Q(R)ACCDOT VALUES STORED HERE BETWEEN
RACDOTMP EQUALS QACDOTMP +2 # GTS,DGTS BEFORE THE FILTER CAN USE THEM
# SPACING BETWEEN RACDOTMP AND QACDOTMP IS USED IN INDEXING.
PASSCTR ERASE # COUNT REQUIRED KALMAN FILTER PASSES LEFT
SLECTLAW ERASE # CONTROL FLOW SWITCHING CELL.
HOLDCDUY ERASE +1 # TWO CELLS HOLD CDUS DURING INITIAL RATE
HOLDCDUZ EQUALS HOLDCDUY +1 # CALCULATION IN KALMAN FILTER.
STEERAD2 ERASE # CONTROL FLOW SWITCHING CELL.
COUNTBOX ERASE # LOAD FOR INITIALIZING PASSCTR.
# START CODING FOR MODULE 3 REMAKE, AUGUST 1967***START CODING FOR MODULE 3 REMAKE, AUGUST 1967*******************
TRIMCNTR ERASE # COUNTER TO ENSURE A GTS PASS SHORTLY
# BEFORE THROTTLE-UP, (LOADED NEGATIVE)
GTSMNITR ERASE # FLAG TO FORCE A GTS PASS SOON AFTER DPS
# ENGINE-ON. (LOADED +0)
# PARAMETERS IN ERASABLE LOAD:
FORCETRM ERASE # PLACED IN TRIMCNTR WHEN DPS TURNED ON.
DRIVELIM ERASE # MAX GIMBAL DRIVE TIME SCALED AT 16 SEC.
DRIVFACQ ERASE +2 # RESCALING AND DAMPING FACTORS FOR GIMBAL
DRIVFACR = DRIVFACQ +2 # DRIVE TIMES.
QGIMTIMR ERASE +1 # GIMBAL DRIVE TIMERS
RGIMTIMR = QGIMTIMR +1
MAXTIME ERASE
/TEMP2/ ERASE
/TEMP3/ ERASE +1
/TEMP5/ ERASE +1
TMINAPS ERASE
SIMPCNTR ERASE # POSITIVE FOR GTS SIMPCTRL, DECISECONDS
SIMPINIT ERASE # INITIALIZES SIMPCNTR. DECISECONDS
BIGBOX ERASE # USED FOR PASSCTR DURING FORCED SIMPCNTRL
# **END CODING FOR MODULE 3 REMAKE, AUGUST 1967*****END CODING FOR MODULE 3 REMAKE, AUGUST 1967*******************
## Page 57
# ITEMP AND RUPTREG ASSIGNMENTS IN LM DAP:
# FOR EIGHTBAL SECTION:
AXISCNTR EQUALS ITEMP1 # LOOPCTR AND VARIABLE INDEXER.
TEMPERR EQUALS ITEMP2 # TEMPORARY STORAGE FOR BOUNDED ERROR.
# FOR P-AXIS PROGRAM:
REL EQUALS ITEMP5 # TABLE INDEX USED BY P JET SELECT ROUTINE
CTR EQUALS ITEMP6 # TABLE ENTRY COUNTER USED BY P JET SELECT
# FOR POLTYPEP PROGRAM:
TRANONLY EQUALS RUPTREG1 # FLAG FOR PURE TRANSLATION REQUESTS
ANYTRANS EQUALS RUPTREG2 # FLAG TO INDICATE DIRECTION OF TRAN..
TRANSNOW EQUALS RUPTREG3 # FLAG TO INDICATE TRANS. W/ ROT. POSSIBLE
TRANSAVE EQUALS RUPTREG4 # FLAG AND HOLDER FOR SAVED TRANS. POLICY
NETACNDX EQUALS ITEMP1 # INDEX TO INDICATE AXIS, NO., AND DIRECT.
TJETADR EQUALS ITEMP2 # GENADR OF RETURN TO TJETLAW
POLRELOC EQUALS ITEMP3 # POLICY TABLE INDEX (RELATIVE ADDRESS)
LOOPCTR EQUALS ITEMP4 # NUMBER OF ALTERNATE POLICIES.
THISPOLY EQUALS ITEMP5 # STORED POLICY TO ELIMINATE INDEXING.
1/NETACC EQUALS ITEMP6 # INV. NET ACC. FOR TJETLAW.
1/NJETAC = 1/NETACC
1/2JTSQ = 1/NET+2Q
1/2JTSR = 1/NET+2R
1/2JETSU = 1/NET+2U
1/2JETSV = 1/NET+2V
# FOR AOSTASK PROGRAM:
K EQUALS ITEMP1
.1-.05K EQUALS ITEMP1
COEFFA EQUALS ITEMP2
.5-.5COF EQUALS ITEMP2
# MPAC DESIGNATIONS FOR AOSJOB:
JOBAXES EQUALS MPAC # ADJACENT ENTRY INDEXER.
NJPLACE EQUALS MPAC +1 # ONE APART ENTRY INDEXER.
TABPLACE EQUALS MPAC +2 # THREE APART ENTRY INDEXER.
TEMPAOS EQUALS MPAC +3 # - AOS TEMPORARY STORAGE (SCALED AT PI/2)
TEMPACC EQUALS MPAC +4 # JET ACCELERATION TEMP. (SCALED AT PI/2)
TEMPNET EQUALS MPAC +5 # NET ACCELERATION TEMP. (SCALED AT PI/2)
ABVLAOSQ EQUALS MPAC +6 # -ABVAL(AOSQ) SCALED AT PI/2 RAD/SEC(2).
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ABVLAOSR EQUALS MPAC +7 # -ABVAL(AOSR) SCALED AT PI/2 RAD/SEC(2).
