swh:1:snp:cdcd2bc43331a436e8c659ba93175ef7d7eb339b
Tip revision: 4e5d304eb7cd5589b924ffb8b423b6f15511b35d authored by Ron Burkey on 20 October 2018, 17:47:00 UTC
The sample Block I AGC program TRIVIUM, found at the very end of one of
The sample Block I AGC program TRIVIUM, found at the very end of one of
Tip revision: 4e5d304
DIGITAL_AUTOPILOT_ERASABLE.agc
### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: DIGITAL_AUTOPILOT_ERASABLE.agc
## Purpose: Part of the source code for Aurora (revision 12).
## Assembler: yaYUL
## Contact: Ron Burkey <info@sandroid.org>.
## Website: https://www.ibiblio.org/apollo.
## Pages: 535-541
## Mod history: 2016-09-20 JL Created.
## 2016-09-30 MAS Began.
## 2016-10-01 MAS Completed transcription.
## 2016-10-04 HG Capitalize SETLOC`
## 2016-12-08 RSB Proofed comments with octopus/ProoferComments
## but no errors found.
## This source code has been transcribed or otherwise adapted from
## digitized images of a hardcopy from the private collection of
## Don Eyles. The digitization was performed by archive.org.
## Notations on the hardcopy document read, in part:
## 473423A YUL SYSTEM FOR BLK2: REVISION 12 of PROGRAM AURORA BY DAP GROUP
## NOV 10, 1966
## [Note that this is the date the hardcopy was made, not the
## date of the program revision or the assembly.]
## The scan images (with suitable reduction in storage size and consequent
## reduction in image quality) are available online at
## https://www.ibiblio.org/apollo.
## The original high-quality digital images are available at archive.org:
## https://archive.org/details/aurora00dapg
## Page 535
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
DB ERASE # ANGLE DEADBAND SCALED AT PI RADIANS
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
OMEGAPD ERASE +2 # DESIRED VEHICLE RATES DETERMINED BY THE
OMEGAQD EQUALS OMEGAPD +1 # "OUTER LOOP" USED TO CALCULATE EDOT
OMEGARD EQUALS OMEGAPD +2 # SCALED AT PI/4 RADIANS/SECOND
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 536
# 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.
TPSIG ERASE
PRATECOM ERASE
EDOTGEN ERASE
RATEDIF ERASE
1/2JTSP ERASE
1/2JTSQ ERASE
1/2JTSR ERASE
1/2JETSU ERASE
1/2JETSV ERASE
FPQR ERASE
MINRA ERASE
MINRASQ ERASE
HDAP ERASE
U ERASE
DENOM ERASE
RATIO ERASE
TJSR ERASE
IXX ERASE
IYY ERASE
IZZ ERASE
4JETTORK ERASE
JETTORK4 ERASE
COSMG ERASE
DELTAP EQUALS ITEMP2
FPQRMIN ERASE
NJET ERASE
1/NJETAC 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
## Page 537
# (JTSONNOW), AND JET BITS WRITTEN AT T6 RUPT (JTSATCHG).
JTSONNOW ERASE
JTSATCHG ERASE
ADDT6JTS ERASE
ADDTLT6 ERASE
TOFJTCHG ERASE
-RATEDB ERASE
-2JETLIM ERASE
# RCS FAILURE MONITOR ERASABLE - PROGRAM ON T4RUPT 4 TIMES/SECOND
# *** FAILSW CAPABILITY FOR CHECKOUT ONLY ***
FAILSW ERASE # IF POSITIVE NO RCSMONIT, OTHERWISE 0
LASTFAIL ERASE # LAST FAILURE CHANNEL RECORD, -0 INITIAL
CH5MASK ERASE # MASKS FOR TURNING ON P/Q,R JETS
CH6MASK ERASE # IN OUTPUT CHANNELS 5 AND 6
FAILCTR EQUALS ITEMP1 # BIT POSITION COUNTER (INTERNAL)
FAILTEMP EQUALS ITEMP2 # TEMPORARY RECORD OF FAILED BITS
# Q,R AXIS ERASABLES
DELQ EQUALS ITEMP2
DELTAR EQUALS ITEMP3
TJETADR ERASE
URGENCYQ ERASE
URGENCYR ERASE
A+B ERASE
A-B ERASE
TERMA ERASE
TERMB ERASE
POLRELOC ERASE
LOOPCTR ERASE
POLTEST ERASE
## Page 538
# 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.
L,PVT-CG ERASE # TRIM GIMBAL PIVOT TO CG DIST AT 8 FEET
MULTFLAG ERASE # INDICATOR FOR SPDPMULT ROUTINE
FUNCTION ERASE +1 # D.P. WORD FOR DRIVE FUNCTIONS
NEGUQ ERASE +2 # NEGATIVE OF Q-AXIS GIMBAL DRIVE
THRSTCMD EQUALS NEGUQ +1 # THRUST COMMAND AT 16384 LBS (SEPARATOR)
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
KR EQUALS KQ +2 # .3ACCDOTR 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 539
# 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 1S 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 P1
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
PJUMPADR ERASE
QJUMPADR ERASE
# TORQUE VECTOR RECONSTRUCTION VARIABLES:
## There is a line here saying "* DELETE". Presumably this indicates a change from the last revision.
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
100MSPTQ ERASE
## Page 540
QR.1STOQ ERASE
NO.PJETS ERASE
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
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)
# ASCENT VARIABLES:
AOSQ ERASE +3 # ASCENT OFFSET ACCELERATIONS
AOSR EQUALS AOSQ +1 # ESTIMATED EVERY 2 SECONDS BY AOSTASK
AOSU EQUALS AOSQ +2 # U,V-ACCS ARE FORMED BY VECTOR ADDITION
AOSV EQUALS AOSQ +3 # SCALED AT PI/2 RADIANS/SECOND
## The above line has "(2)" written after "radians/second" in pen.
ABVLAOSQ EQUALS ITEMP3 # ASCENT OFFSET ACCELERATIONS (ABVAL)
ABVLAOSR EQUALS ABVLAOSQ +1 # SCALED AT PI/2 RADIANS/SECOND(2)
ABVLAOSU EQUALS ABVLAOSQ +2
ABVLAOSV EQUALS ABVLAOSQ +3
SUMRATEQ ERASE +1 # SUM OF UN-WEIGHTED JETRATE TERMS
SUMRATER EQUALS SUMRATEQ +1 # SCALED AT PI/4 RADIANS/SECOND
AOSQTERM ERASE +1 # (.1-.05K)AOS
AOSRTERM EQUALS AOSQTERM +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)
# 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)QR ERASE +1 # 1-K SCALED AT 1
(1-K)/8 EQUALS (1-K)QR +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
## Page 541
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
QMANDACC ERASE +3 # ASCENT FLAGS
RMANDACC EQUALS QMANDACC +1 # 0: INDICATES NO OVER-RIDE OF 2 JETS
UMANDACC EQUALS QMANDACC +2 # 1: INDICATES USE 4 INSTEAD OF 2 JETS
VMANDACC EQUALS QMANDACC +3 # (ALWAYS ZERO FOR DESCENT)
KCOEFCTR ERASE # COUNTER FOR ASCENT DAP
# THE SAVE RATE INDEX AND THE THREE DELCDUS ARE LOCATED HERE TEMPORARILY, AWAITING MORE LOGICAL PLACEMENT WHEN THE
# DAP IS ASSEMBLED INTO SUNBURST
DLCDUIDX ERASE # SAVE RATE INDEX, = 1, 0
DELCDUX ERASE
DELCDUY ERASE # DELCDUS ARE SCALED AT P1, LIKE THE CDUS
DELCDUZ ERASE
