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
THRUST_MISSION_CONTROL_PROGRAM_TJS.agc
### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: THRUST_MISSION_CONTROL_PROGRAM_TJS.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. 763-776
## 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.
## 2017-06-03 MAS Transcribed.
## 2017-06-08 HG Fix operand SETDVCNT -> DVSELECT
## Remove non existent section
## 2017-06-23 RSB Proofed comment text with
## octopus/ProoferComments.
## Page 763
# **SERVICER ROUTINES**
# MOD NO. 00 MODIFICATION BY A. KOSMALA NOV. 1966
# *FUNCTIONAL DESCRIPTION*
# THE THRUST MISSION CONTROL PROGRAM TJS IS USED BY ALL MISSION PHASES WHICH INCLUDE A BURN.
# THE NORMAL ENTRY TO THE THRUST MISSION CONTROL PROGRAM IS THROUGH PREREAD. PREREAD SCHEDULES THE JOB
# LASTBIAS. BOOST PHASE ENTERS THE PREREAD ROUTINE AT BIBIBIAS, BYPASSING THE LASTBIAS JOB. PIPS ARE CLEARED,
# AVERAGE G FLAG IS SET, DRIFT FLAG IS UNSET. DV MONITOR AND FINDCUD ARE INITIALIZED, THE JOB NORMLIZE IS
# SCHEDULED, AND A WAITLIST CALL IS MADE TO START READACCS IN TWO SECONDS.
# NORMLIZE PERFORMS THE SCALING AND INITIALIZATION REQUIRED PRIOR TO THE FIRST ENTRY TO AVERAGE G.
# IN THE READACCS SECTION, THE ACCELEROMETERS ARE READ BY THE PIPASR SUBROUTINE. IF THE AVERAGE G FLAG IS
# SET, READACCS IS CALLED TO RECYCLE IN TWO SECONDS. IF THE AVERAGE G FLAG IS DOWN, AVERAGE G EXIT (AVEGEXIT)
# IS SET FOR THE FINAL PASS, AND READACCS IS NOT CALLED AGAIN. IN EITHER CASE, THE SERVICER JOB IS ESTABLISHED.
# THE SERVICER ROUTINE CHECKS FOR RUNAWAY PIPS (DELV GREATER THAN 3200 PULSES/SEC FOR 2 SEC) AND SENDS
# ALARM CODE 205 IF BAD PIP IS FOUND. PIPS ARE COMPENSATED IN 1/PIPA SUBROUTINE, MASS IS UPDATED BY MASSMON
# SUBROUTINE, AND CONTROL IS TRANSFERRED TO THE MONITOR SPECIFIED BY DVSELECT. DVSELECT IS SET BY THE BOOST
# PHASE TO BOOSTMON, AND BY THE ENGINEON ROUTINE TO PGNCSMON. USERS STARTING SERVICER BEFORE THE ENGINE IS
# TURNED ON SHOULD INSURE BYPASSING DVMON INITIALLY BY SETTING DVSELECT TO THE GENADR OF AVERAGE G.
# THE BOOST MONITOR (BOOSTMON) CHECKS DELV AGAINST THRSHLD+, THE THRESHOLD ACCELERATION FOR THE BOOST PHASE.
# IF DELV IS BELOW THRESHOLD, INDICATING TERMINATION OF BOOST, MISSION PHASE 6 IS SCHEDULED AS A JOB, DVSELECT
# IS ALTERED TO BYPASS BOOSTMON AND PROCEED DIRECTLY TO AVERAGE G.
# THE PGNCS MONITOR (PGNCSMON) COMPARES ACTUAL THRUST TO THE THRESHOLD VALUE FOR THE +X ACCELERATION
# (100 CM/SEC). IF THRUST IS FOUND BELOW THIS VALUE FOR TWO CYCLES (I.E., FOUR SECONDS) AS DETERMINED BY DVCNTR,
# A JOB IS SCHEDULED TO BRANCH TO THE LOCATION SPECIFIED BY DVMNEXIT, PREVIOUSLY SET BY THE USERS PROGRAM.
# DVSELECT IS ALTERED TO BYPASS PGNCSMON, AND CONTROL IS TRANSFERRED TO AVERAGE G.
# THE AVERAGE G ROUTINE UPDATES RN, VN, AND GDT/2 VECTORS, USING THE SUBROUTINE CALCRVG. THE NORMAL EXIT IS
# THROUGH AVEGEXIT, WHICH MUST PREVIOUSLY HAVE BEEN SET BY THE USER. THE FINAL EXIT, SET INTO AVEGEXIT BY
# READACCS WHEN IT FINDS THE AVERAGE G FLAG DOWN, SETS UP FREE FALL GYRO COMPENSATION, SETS THE DRIFT FLAG ON,
# PERFORMS AVETOMID ROUTINE, AND TRANSFERS CONTROL TO POOH, THUS CLEARING ALL ACTIVITY UNTIL A NEW MISSION
# PHASE IS DUE.
# ***** WARNING TO USERS *****
# THE USER MUST SET DVMNEXIT TO THE 2CADR OF A JOB TO BE PERFORMED WHEN ENGINE SHUTDOWN IS DETECTED BY SERVICER.
# IN GENERAL, THE AVERAGE G FLAG WILL BE TURNED OFF BY THE USER AT THAT TIME, ALLOWING JUST ONE MORE PASS THROUGH
# AVERAGE G. ALL ACTIVITY OF THE USERS MISSION PHASE MUST HAVE BEEN COMPLETED BEFORE THIS LAST PASS THROUGH
# AVERAGE G, DUE TO THE PERFORMANCE OF POOH AS DESCRIBED ABOVE.
# AVGEXIT MUST BE SET BY THE USER TO THE 2CADR OF THE JOB (E.G., STEERING) TO BE PERFORMED AFTER EACH PASS
## Page 764
# THROUGH AVERAGE G. IF NO OTHER JOB IS TO BE DONE, AVEGEXIT SHOULD BE SET TO SERVEXIT.
# USER MUST INITIALIZE DVSELECT TO THE GENADR OF AVERAGE G UNLESS THE ENGINEON ROUTINE HAS BEEN PERFORMED
# BEFORE THE START OF SERVICER.
# USERS (EXCEPT FOR BOOST PHASE) MUST PERFORM MTDTOAVE ROUTINE BEFORE STARTING PREREAD.
# CALLING SEQUENCE IS NORMAL WAITLIST CALL FOR PREREAD. (READACCS WILL START TWO SECONDS LATER.)
## Page 765
# SUBROUTINES CALLED
# LASTBIAS PIPASR FLAG1UP FLAG2DWN NORMLIZE READACCS SERVICER 1/PIPA MASSMON AVERAGE G CALCRVG
# PHASCHNG AVETOMID POOH
# NORMAL EXIT MODES .. AVEGEXIT, DVMNEXIT, TASKOVER, ENDOFJOB.
# ALARM CODE 205 GIVEN IF RUNAWAY PIP. PROGRAM THEN CONTINUES IN NORMAL SEQUENCE.
# ERASABLE INITIALIZATION REQUIRED
# MASS .. INITIALIZED IN ERASABLE LOAD
# RAVEGON AND VAVEGON .. INITIALIZED IN ERASABLE LOAD - UPDATED BEFORE EACH CALL FOR PREREAD.
# OUTPUT
# DELV(6) RN(6) VN(6) GDT/2(6) CDUTEMP(6) MASS(2) DELAREA(2) PIPTIME(2) OLDBT1(1)
# DEBRIS
# CENTRALS ... A, L, Q
# OTHER .... DVCNTR, ITEMP1, ITEMP2, RN1(6), VN1(6), GDT1/2(6), DAREATMP(2), MASSTEMP(2), PIPAGE, TEMX,
# TEMY, TEMZ, TEMXY, PIPCTR
# *** THRUST MISSION CONTROL IS RESTART PROTECTED AND USES RESTART GROUP 5. ***
BANK 30
EBANK= DVCNTR
# ************************************* PREREAD **************************************************************
PREREAD TC PHASCHNG
OCT 07015
OCT 77777
EBANK= DVCNTR
## Page 766
2CADR BIBIBIAS # SKIP LASTBIAS AFTER RESTART
CAF PRIO32
TC NOVAC
EBANK= NBDX
2CADR LASTBIAS # DO LAST GYRO COMPENSATION IN FREE FALL
BIBIBIAS EXTEND
DCA PIP2CADR # CLEAR + READ PIPS LAST TIME IN FREE FALL
DXCH Z
TC FLAG1UP # SET AVEG FLAG
OCT 1
TC FLAG2DWN # KNOCK DOWN DRIFT FLAG
OCT 40000
CAF ONE # INITIALIZE DV MONITOR
TS DVCNTR
CAF EBANK4
TS EBANK
EBANK= AXIS # CORCT IS DEAD, LONG LIVE AXIS
CAF BIT14 # INITIALIZE AXIS TO (0.5,0,0)
TS AXIS # FOR FINDCDUD
CAF ZERO
TS AXIS +1
TS AXIS +2
TS AXIS +3
TS AXIS +4
TS AXIS +5
CAF PRIO21 # SET UP TO DO NORMLIZE REQUIRED PRIOR
TC FINDVAC # TO FIRST ENTRY TO AVERAGE G.
EBANK= RAVEGON
2CADR NORMLIZE
CAF 200DEC
TC WAITLIST
EBANK= DVCNTR
2CADR READACCS
TC PHASCHNG
OCT 40025
TCF TASKOVER
## Page 767
# ************************************* READACCS *************************************************************
EBANK= NEGXDV
READACCS EXTEND
DCA PIP2CADR
DXCH Z # CALL PIPASR
CCS PHASE5 # LAST PASS CHECK
TCF +2
TCF TASKOVER
CS PHASE5 # THESE 4 INSTRUCTIONS ONLY IN FOR
AD FIVE # FAKESTART. REMOVE IF REAL RESTARTS
EXTEND # RETURN.
BZF TASKOVER
PIPSDONE TC PHASCHNG
OCT 05015
OCT 77777
CAF TWO # SHOW PIPS HAVE BEEN READ FOR REREADAC
TS PIPAGE
CHEKAVEG CS FLAGWRD1
MASK BIT1
CCS A # IF AVEG FLAG DOWN SET FINAL EXIT AVEG
TC AVEGOUT
CAF 200DEC # READ PIPS AT 2 SECOND INTERVALS
TC WAITLIST
EBANK= BMEMORY
2CADR READACCS
MAKESERV CAF PRIO20 # ESTABLISH SERVICER ROUTINE
TC FINDVAC
EBANK= BMEMORY
2CADR SERVICER
TC PHASCHNG # RESTART SERVICER AND READACCS
OCT 40065 # SEE RESTART TABLES
TCF TASKOVER # END PREVIOUS READACCS WAITLIST TASK
EBANK= BMEMORY
PIP2CADR 2CADR PIPASR
AVEGOUT EXTEND
DCA AVOUTCAD
DXCH AVGEXIT
TCF MAKESERV
EBANK= BMEMORY
AVOUTCAD 2CADR AVGEND
## Page 768
# ************************************* SERVICER *************************************************************
#
# DO SAVEM AND RESTOREM LATER IF NORMAL RESTARTS SHOULD EVER RETURN
SERVICER CAF TWO
PIPCHECK TS PIPCTR
DOUBLE
INDEX A
CCS DELVX
TC +2
TC PIPLOOP
AD -MAXDELV # DO PIPA-SATURATION TEST BEFORE
EXTEND
BZMF PIPLOOP # COMPENSATION.
TC ALARM
OCT 00205 # SATURATED-PIPA ALARM
TC AVERAGEG
PIPLOOP CCS PIPCTR
TCF PIPCHECK
TC PHASCHNG # RESTART REREADAC + SERVICER
OCT 16035
OCT 20000
EBANK= BMEMORY
2CADR GOMASS
TC BANKCALL # PIPA COMPENSATION CALL
CADR 1/PIPA
GOMASS TC INTPRET
VLOAD ABVAL
DELV
STCALL ABDELV
MASSMON
EXIT
TC DVSELECT
AGSMON EQUALS AVERAGEG
-MAXDELV DEC -6398 # 3200 PULSES/SEC FOR 2 SEC. CCS TAKES 1.
PLUSXDVA DEC 90 # 90 CM/SEC = ASCENT THRESHOLD
200DEC DEC 200
PLUSXDVD DEC 50 # 50 CM/SEC = DESCENT THRESHOLD
PGNCSMON CAF BIT2 # CHECK CHANNEL 30 TO SEE IF STAGING HAS
## Page 769
EXTEND # OCCURRED. IF BIT2 IS ON WE ARE UNSTAGED
RAND 30 # AND DESCENT PLUSXDV IS USED -- OTHERWISE
INDEX A # THE ASCENT PLUSXDV IS EMPLOYED.
CS PLUSXDVA
AD ABDELV # ACCELERATION
EXTEND
BZMF THRUSTLO
RESETDV CAF ONE
TS DVCNTR # THRUST OK. RESET DV MONITOR AND
TCF AVERAGEG # BRANCH TO AVERAGEG
THRUSTLO CA DVCNTR
EXTEND
BZMF NODV
TC PHASCHNG
OCT 12035
EBANK= DVCNTR
2CADR AVERAGEG
EXTEND
DIM DVCNTR
TCF AVERAGEG
NODV CAF PRIO30 # SET UP HIGH PRIO FINDVAC TO DVEXIT
INHINT
TC FINDVAC
EBANK= DVCNTR
2CADR DVEXIT
TCF DVMNKILL -1 # AND REMOVE DV MONITOR
DVEXIT EXTEND # BRANCH TO SELECTED LOCATION
DCA DVMNEXIT
DXCH Z
BOOSTMON CS ABDELV # COMPARE ABDELV TO THRSHLD+ TO DETECT
AD THRSHLD+ # BOOSTER SHUTDOWN
EXTEND
BZMF RESETDV
INHINT # SHUTDOWN HAS OCCURRED
CAF PRIO20
TC NOVAC # SET UP MISSION PHASE 6 JOB
EBANK= BMEMORY
2CADR MP6JOB # NO VAC AREA NEEDED
-1 RELINT
DVMNKILL CAF AVEGADDR # REMOVE DV MONITOR FROM SERVICER
TS DVSELECT
## Page 770
AVEGADDR TC AVERAGEG
THRSHLD+ 2DEC 0. # TEMPORARY **************** PLEASE PATCH
# ********************************* FLAG SUBROUTINES *********************************************************
BLOCK 03
# THE FLAG SUBROUTINES ARE USED TO SET OR RESET FLAGS (BITS) IN FLAGWRD1 AND FLAGWRD2. THE BIT(S) TO BE SET OR
# RESET IS(ARE) INDICATED BY THE OCTAL NUMBER FOLLOWING THE TC CALL. THE CALLING SEQUENCES ARE -
# TC FLAG1UP SET BIT(S) IN FLAGWRD1 CORRESPONDING TO
# OCT XXXXX THE 1 BITS IN NUMBER XXXXX.
# TC FLAG1DWN RESET BIT(S) IN FLAGWRD1 CORRESPONDING
# OCT XXXXX TO THE 1 BITS IN NUMBER XXXXX.
# THE CALLING SEQUENCES FOR FLAGWRD2 ARE SIMILAR.
# NOTE THAT FLAGWRD1 AND FLAGWRD2 CORRESPOND TO INTERPRETIVE SWITCHES 15D THROUGH 44D.
# FLAGWORD BITS ARE DEFINED IN LOG SECTION "ERASABLE ASSIGNMENTS"
FLAG1UP INHINT # SET FLAG 1 SUBROUTINE
CS FLAGWRD1
INDEX Q
MASK 0
ADS FLAGWRD1
RELINT
TCF Q+1
FLAG2UP INHINT # SET FLAG 2 SUBROUTINE
CS FLAGWRD2
INDEX Q
MASK 0
ADS FLAGWRD2
RELINT
TCF Q+1
FLAG1DWN INDEX Q # RESET FLAG 1 SUBROUTINE
CS 0
INHINT
MASK FLAGWRD1
TS FLAGWRD1
RELINT
TCF Q+1
## Page 771
FLAG2DWN INDEX Q # RESET FLAG 2 SUBROUTINE
CS 0
INHINT
MASK FLAGWRD2
TS FLAGWRD2
RELINT
TCF Q+1
EBANK= TDEC
# ******************************************ENGINE ON-OFF ROUTINES**********************************************
# ALL BLOCK 2 COMPUTERS HAVE THE ENGINE-ON AND ENGINE-OFF DISCRETES IN BITS 13 AND 14 RESPECTIVELY OF CHANNEL 11.
# IF LEM DESCENT ENGINE SEES A 1,1 CONDITION (BOTH OUTPUT TRANSISTORS CONDUCTING) OR A 0,0 CONDITION (BOTH OUTPUT
# TRANSISTORS NON-CONDUCTING) THEY WILL IGNORE THE SIGNAL AND REMAIN IN THE STATE THEY WERE PREVIOUSLY IN. THIS
# ALLOWS THE COMPUTER TO ZERO ALL THE OUTPUT BITS DURING A RESTART AND NOT SHUT THE ENGINE OFF. THERE IS NO TIME
# LIMIT AS TO HOW LONG AN IMPROPER STATE (1,1) OR (0,0) CAN LAST WITH DESCENT ENGINE.
# THE LEM ASCENT ENGINE WILL BE TURNED ON BY AN ERRONEOUS 1,1 CONDITION WHICH LASTS LONGER THAN 1 MILLISECOND,
# THEREFORE THE LGC MUST BE PROGRAMMED TO SET THE BITS TO THE PROPER STATE WITHIN 0.5 MILLISECOND FOLLOWING
# RECOVERY FROM A RESTART
# ENGINE ON AND OFF COMMANDS ARE NOTED IN THE EVENT REGISTERS FOR
# DOWNLINK. IF IT IS DESIRED TO SIMPLY ENSURE ENGINE OFF PRIOR TO AN
# ENGINE ARM COMMAND, ENGINEOF1 SHOULD BE USED SO THAT EVENT IS NOT
# ENTERED IN DOWNLINK.
ENGINEON EXTEND
DCA TIME2 # ENG ON EVENT NOTED IN DOWNLINK
DXCH TEVENT
CA PGNSCADR # SET DVMONITOR TO EXPECT THRUST
TS DVSELECT
CS PRIO30 # ENGINE ON BIT13. ENGINE OFF BIT14
EXTEND
RAND 11
AD BIT13
EXTEND
WRITE 11
TC Q
PGNSCADR GENADR PGNCSMON
ENGINOFF EXTEND
DCA TIME2 # NOTE ENGINE OFF EVENT TO DOWNLINK
DXCH TEVENT
ENGINOF1 CS PRIOR30 # NO DWNLINK HERE
## Page 772
EXTEND
RAND 11
AD BIT14
EXTEND
WRITE 11
TC Q # RETURN
PRIOR30 EQUALS PRIO30
QTEMP EQUALS TEMX
BANK 30
#
EBANK= DVTOTAL
AVERAGEG TC INTPRET
CALL
CALCRVG
EXIT
TC PHASCHNG
OCT 10035
COPYCYCL INHINT
CAF EIGHT
TS ITEMP1
DOUBLE
TS ITEMP2
EXTEND
INDEX ITEMP2
DCA RN1
INDEX ITEMP2
DXCH RN
CCS ITEMP1
TCF COPYCYCL +2
EXTEND
DCA DAREATMP
DXCH DELAREA
EXTEND
DCA MASSTEMP
DXCH MASS
EXTEND
DCA PIPTIME
DXCH STATIME # STATE VECTOR TIME FOR DWNLINK
RELINT
TC PHASCHNG
OCT 10035
## Page 773
EXTEND
DCA AVGEXIT
DXCH Z # AVERAGEG EXIT
AVGEND CA PIPTIME +1 # FINAL AVERAGE G EXIT
TS OLDBT1 # SET UP FREE FALL GYRO COMPENSATION
TC FLAG2UP # SET DRIFT FLAG
OCT 40000
EXTEND
DCA AVEMIDAD # TRANSFER STATE VECTOR VIA AVETOMID
DXCH Z
TC PHASCHNG
OCT 55 # *** MEANS INACTIVE ONLY FOR FAKESTRT
CS FOUR
AD PHASENUM
EXTEND
BZF ENDOFJOB
TCF POOH
SERVEXIT TC PHASCHNG
OCT 00035
TCF ENDOFJOB
EBANK= AVMIDRTN
AVEMIDAD 2CADR AVETOMID
## Page 774
# NORMLIZE PERFORMS THE INITIALIZATION REQUIRED PRIOR TO THE FIRST ENTRY TO AVERAGEG, AND SCALES RN SO THAT IT
# HAS 1 LEADING BINARY ZERO. IN MOST MISSIONS, RN WILL BE SCALED AT 2(+29), BUT IN THE 206 MISSION, RN WILL BE
# SCALED AT 2(+24)M. TIME OF RN,VN IS IN STATIME FOR DWNLINK
EBANK= RAVEGON
NORMLIZE INHINT
EBANK= TDEC
CAF EBANK4
XCH EBANK
TS RUPTREG2
CAF ELEVEN # INITIALIZE INDEX-DEC 11
TS RUPTREG1
INDEX RUPTREG1
CA RAVEGON
INDEX RUPTREG1
TS RN # STORE RN, VN
CCS RUPTREG1
TCF NORMLIZE +2
EXTEND
DCA TAVEGON
DXCH STATIME # STATE TIME FOR DWNLINK
CA RUPTREG2
TS EBANK
RELINT
TC INTPRET
CALL
CALCGRAV # INITIALIZE UNITR RMAG GDT1
STORE GDT/2
EXIT
TCF ENDOFJOB
## Page 775
# VPATCHER IS AN ADAPTATION OF NORMLIZE WHICH IS CALLED AFTER MIDTOAVE HAS BEEN PERFORMED AND PRIOR TO
# PREBURN PROGRAMS THAT REQUIRE IGNITION STATE POSITION, VELOCITY, AND GRAVITY VECTORS IN REGISTERS RN,VN, AND
# GDT/2. THE REGISTERS ARE RE-INITIALIZED BY NORMLIZE WHEN PREREAD CALLEDRED BY NORMLIZE WHEN PREREAD IS CALLED
# NAME= DATE=
# VPATCHER 20 OCTOBER 1966
# PROGRAMMER SUBROUTINES CALLED
# SCHULENBERG CALCGRAV
# CALLING SEQUENCE
# IF IN BASIC L-1 TC INTPRET
# L CALL VPATCHER
# L+1 EXIT
# NORMAL EXIT
# AT L+1 OF CALLING SEQUENCE
# DEBRIS
# RN, VN, GDT/2, UNITR, RMAG
# OUTPUT
# RIGNITION IN RN*2(+24)M
# VIGNITION IN VN*2(+7)M/CS
# GDT/2 AT IGNITION IN GDT/2*2(+7)M/CS
# UNIT RIGNITION IN UNITR *2(+1)M
# RMAG AT 2(+24)M
VPATCHER STQ
QTEMP
EXIT
INHINT
EBANK= TDEC
CAF EBANK4
XCH EBANK
TS RUPTREG2
CAF ELEVEN # INITIALIZE INDEX TO DEC 11
VPATLOOP TS RUPTREG1
INDEX RUPTREG1
CA RIGNTION
INDEX RUPTREG1
TS RN # STORE RN,VN
CCS RUPTREG1
TCF VPATLOOP
EXTEND
DCA TIGN
DXCH STATIME # STATE TIME FOR DWNLINK
CA RUPTREG2
TS EBANK
RELINT
TC INTPRET
## Page 776
CALL
CALCGRAV
STORE GDT/2
GOTO
QTEMP
