Reorganized files to separate Luminary099 source code from Comanche055 source code
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Comanche055/ANGLFIND.s
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Comanche055/ANGLFIND.s
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# Copyright: Public domain.
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# Filename: ANGLFIND.agc
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# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
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# It is part of the source code for the Command Module's (CM)
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# Apollo Guidance Computer (AGC), for Apollo 11.
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# Assembler: yaYUL
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# Contact: Ron Burkey <info@sandroid.org>.
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# Website: www.ibiblio.org/apollo.
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# Pages: 399-411
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# Mod history: 2009-05-09 RSB Adapted from the Colossus249/ file
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# of the same name, using Comanche055 page
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# images.
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# 2009-05-22 RSB In NOGOM2, TC ZEROEROR corrected to
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# CADR ZEROEROR.
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#
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# This source code has been transcribed or otherwise adapted from digitized
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# images of a hardcopy from the MIT Museum. The digitization was performed
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# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
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# thanks to both. The images (with suitable reduction in storage size and
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# consequent reduction in image quality as well) are available online at
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# www.ibiblio.org/apollo. If for some reason you find that the images are
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# illegible, contact me at info@sandroid.org about getting access to the
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# (much) higher-quality images which Paul actually created.
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#
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# Notations on the hardcopy document read, in part:
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#
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# Assemble revision 055 of AGC program Comanche by NASA
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# 2021113-051. 10:28 APR. 1, 1969
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#
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# This AGC program shall also be referred to as
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# Colossus 2A
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# Page 399
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BANK 15
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SETLOC KALCMON1
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BANK
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|
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EBANK= BCDU
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|
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COUNT 22/KALC
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|
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KALCMAN3 TC INTPRET
|
||||
RTB
|
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READCDUK # PICK UP CURRENT CDU ANGLES
|
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STORE BCDU # STORE THE INITIAL S/C ANGLES
|
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AXC,2 TLOAD # COMPUTE THE TRANSFORMATION FROM
|
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MIS # INITIAL S/C AXES TO STABLE MEMBER AXES
|
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BCDU # (MIS)
|
||||
CALL
|
||||
CDUTODCM
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AXC,2 TLOAD # COMPUTE THE TRANSFORMATION FROM
|
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MFS # FINAL S/C AXES TO STABLE MEMBER AXES
|
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CPHI # (MFS)
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CALL
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CDUTODCM
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SECAD AXC,1 CALL # MIS AND MFS ARRAYS CALCULATED $2
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MIS
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TRANSPOS
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VLOAD
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STADR
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STOVL TMIS +12D
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STADR
|
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STOVL TMIS +6
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STADR
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STORE TMIS # TMIS = TRANSPOSE(MIS) SCALED BY 2
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AXC,1 AXC,2
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TMIS
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MFS
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CALL
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MXM3
|
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VLOAD STADR
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STOVL MFI +12D
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STADR
|
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STOVL MFI +6
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STADR
|
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STORE MFI # MFI = TMIS MFS (SCALED BY 4)
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SETPD CALL # TRANSPOSE MFI IN PD LIST
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18D
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TRNSPSPD
|
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VLOAD STADR
|
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STOVL TMFI +12D
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STADR
|
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STOVL TMFI +6
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# Page 400
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STADR
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STORE TMFI # TMFI = TRANSPOSE (MFI) SCALED BY 4
|
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|
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# CALCULATE COFSKEW AND MFISYM
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|
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DLOAD DSU
|
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TMFI +2
|
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MFI +2
|
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PDDL DSU # CALCULATE COF SCALED BY 2/SIN(AM)
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MFI +4
|
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TMFI +4
|
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PDDL DSU
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TMFI +10D
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MFI +10D
|
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VDEF
|
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STORE COFSKEW # EQUALS MFISKEW
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|
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# CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE
|
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|
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DLOAD DAD
|
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MFI
|
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MFI +16D
|
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DSU DAD
|
||||
DP1/4TH
|
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MFI +8D
|
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STORE CAM # CAM = (MFI0+MFI4+MFI8-1)/2 HALF-SCALE
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ARCCOS
|
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STORE AM # AM=ARCCOS(CAM) (AM SCALED BY 2)
|
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DSU BPL
|
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MINANG
|
||||
CHECKMAX
|
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EXIT # MANEUVER LESS THAN 0.25 DEG
|
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INHINT # GO DIRECTLY INTO ATTITUDE HOLD
|
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CS ONE # ABOUT COMMANDED ANGLES
|
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TS HOLDFLAG # NOGO WILL STOP ANY RATE AND SET UP FOR A
|
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TC LOADCDUD # GOOD RETURN
|
||||
TCF NOGO
|
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|
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CHECKMAX DLOAD DSU
|
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AM
|
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MAXANG
|
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BPL VLOAD
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ALTCALC # UNIT
|
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COFSKEW # COFSKEW
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UNIT
|
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STORE COF # COF IS THE MANEUVER AXIS
|
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GOTO # SEE IF MANEUVER GOES THRU GIMBAL LOCK
|
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LOCSKIRT
|
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ALTCALC VLOAD VAD # IF AM GREATER THAN 170 DEGREES
|
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MFI
|
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# Page 401
|
||||
TMFI
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VSR1
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STOVL MFISYM
|
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MFI +6
|
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VAD VSR1
|
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TMFI +6
|
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STOVL MFISYM +6
|
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MFI +12D
|
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VAD VSR1
|
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TMFI +12D
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STORE MFISYM +12D # MFISYM=(MFI+TMFI)/2 SCALED BY 4
|
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|
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# CALCULATE COF
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|
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DLOAD SR1
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CAM
|
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PDDL DSU # PD0 CAM $4
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DPHALF
|
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CAM
|
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BOVB PDDL # PD2 1 - CAM $2
|
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SIGNMPAC
|
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MFISYM +16D
|
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DSU DDV
|
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0
|
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2
|
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SQRT PDDL # COFZ = SQRT(MFISYM8-CAM)/(1-CAM)
|
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MFISYM +8D # $ ROOT 2
|
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DSU DDV
|
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0
|
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2
|
||||
SQRT PDDL # COFY = SQRT(MFISYM4-CAM)/(1-CAM) $ROOT2
|
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MFISYM
|
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DSU DDV
|
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0
|
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2
|
||||
SQRT VDEF # COFX = SQRT(MFISYM-CAM)/(1-CAM) $ROOT 2
|
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UNIT
|
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STORE COF
|
||||
|
||||
# DETERMINE LARGEST COF AND ADJUST ACCORDINGLY
|
||||
|
||||
COFMAXGO DLOAD DSU
|
||||
COF
|
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COF +2
|
||||
BMN DLOAD # COFY G COFX
|
||||
COMP12
|
||||
COF
|
||||
DSU BMN
|
||||
COF +4
|
||||
# Page 402
|
||||
METHOD3 # COFZ G COFX OR COFY
|
||||
GOTO
|
||||
METHOD1 # COFX G COFY OR COFZ
|
||||
COMP12 DLOAD DSU
|
||||
COF +2
|
||||
COF +4
|
||||
BMN
|
||||
METHOD3 # COFZ G COFY OR COFX
|
||||
|
||||
METHOD2 DLOAD BPL # COFY MAX
|
||||
COFSKEW +2 # UY
|
||||
U2POS
|
||||
VLOAD VCOMP
|
||||
COF
|
||||
STORE COF
|
||||
U2POS DLOAD BPL
|
||||
MFISYM +2 # UX UY
|
||||
OKU21
|
||||
DLOAD DCOMP # SIGN OF UX OPPOSITE TO UY
|
||||
COF
|
||||
STORE COF
|
||||
OKU21 DLOAD BPL
|
||||
MFISYM +10D # UY UZ
|
||||
LOCSKIRT
|
||||
DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
|
||||
COF +4
|
||||
STORE COF +4
|
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GOTO
|
||||
LOCSKIRT
|
||||
METHOD1 DLOAD BPL # COFX MAX
|
||||
COFSKEW # UX
|
||||
U1POS
|
||||
VLOAD VCOMP
|
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COF
|
||||
STORE COF
|
||||
U1POS DLOAD BPL
|
||||
MFISYM +2 # UX UY
|
||||
OKU12
|
||||
DLOAD DCOMP
|
||||
COF +2 # SIGN OF UY OPPOSITE TO UX
|
||||
STORE COF +2
|
||||
OKU12 DLOAD BPL
|
||||
MFISYM +4 # UX UZ
|
||||
LOCSKIRT
|
||||
DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
|
||||
COF +4
|
||||
STORE COF +4
|
||||
GOTO
|
||||
LOCSKIRT
|
||||
METHOD3 DLOAD BPL # COFZ MAX
|
||||
# Page 403
|
||||
COFSKEW +4 # UZ
|
||||
U3POS
|
||||
VLOAD VCOMP
|
||||
COF
|
||||
STORE COF
|
||||
U3POS DLOAD BPL
|
||||
MFISYM +4 # UX UZ
|
||||
OKU31
|
||||
DLOAD DCOMP
|
||||
COF # SIGN OF UX OPPOSITE TO UZ
|
||||
STORE COF
|
||||
OKU31 DLOAD BPL
|
||||
MFISYM +10D # UY UZ
|
||||
LOCSKIRT
|
||||
DLOAD DCOMP
|
||||
COF +2 # SIGN OF UY OPPOSITE TO UZ
|
||||
STORE COF +2
|
||||
GOTO
|
||||
LOCSKIRT
|
||||
|
||||
# Page 404
|
||||
# MATRIX OPERATIONS
|
||||
|
||||
MXM3 SETPD # MXM3 MULTIPLIES 2 3X3 MATRICES
|
||||
0 # AND LEAVES RESULT IN PD LIST
|
||||
DLOAD* PDDL* # ADDRESS OF 1ST MATRIX IN XR1
|
||||
12D,2 # ADDRESS OF 2ND MATRIX IN XR2
|
||||
6,2
|
||||
PDDL* VDEF # DEFINE VECTOR M2(COL 1)
|
||||
0,2
|
||||
MXV* PDDL* # M1XM2(COL 1) IN PD
|
||||
0,1
|
||||
14D,2
|
||||
PDDL* PDDL*
|
||||
8D,2
|
||||
2,2
|
||||
VDEF MXV* # DEFINE VECTOR M2(COL 2)
|
||||
0,1
|
||||
PDDL* PDDL* # M1XM2(COL2) IN PD
|
||||
16D,2
|
||||
10D,2
|
||||
PDDL* VDEF # DEFINE VECTOR M2(COL 3)
|
||||
4,2
|
||||
MXV* PUSH # M1XM2(COL 3) IN PD
|
||||
0,1
|
||||
GOTO
|
||||
TRNSPSPD # REVERSE ROWS AND COLS IN PD AND
|
||||
|
||||
# RETURN WITH M1XM2 IN PD LIST
|
||||
TRANSPOS SETPD VLOAD* # TRANSPOS TRANSPOSES A 3X3 MATRIX
|
||||
0 # AND LEAVES RESULT IN PD LIST
|
||||
0,1 # MATRIX ADDRESS IN XR1
|
||||
PDVL* PDVL*
|
||||
6,1
|
||||
12D,1
|
||||
PUSH # MATRIX IN PD
|
||||
TRNSPSPD DLOAD PDDL # ENTER WITH MATRIX IN PD LIST
|
||||
2
|
||||
6
|
||||
STODL 2
|
||||
STADR
|
||||
STODL 6
|
||||
4
|
||||
PDDL
|
||||
12D
|
||||
STODL 4
|
||||
STADR
|
||||
STODL 12D
|
||||
10D
|
||||
PDDL
|
||||
# Page 405
|
||||
14D
|
||||
STODL 10D
|
||||
STADR
|
||||
STORE 14D
|
||||
RVQ # RETURN WITH TRANSPOSED MATRIX IN PD LIST
|
||||
MINANG DEC .00069375
|
||||
MAXANG DEC .472222
|
||||
|
||||
# GIMBAL LOCK CONSTANTS
|
||||
|
||||
# D = MGA CORRESPONDING TO GIMBAL LOCK = 60 DEGREES
|
||||
# NGL = BUFFER ANGLE (TO AVOID DIVISIONS BY ZERO) = 2 DEGREES
|
||||
|
||||
SD DEC .433015 # = SIN(D) $2
|
||||
K3S1 DEC .86603 # = SIN(D) $2
|
||||
K4 DEC -.25 # = -COS(D) $2
|
||||
K4SQ DEC .125 # = COS(D)COS(D) $2
|
||||
SNGLCD DEC .008725 # = SIN(NGL)COS(D) $2
|
||||
CNGL DEC .499695 # = COS(NGL) $2
|
||||
READCDUK INHINT # LOAD T(MPAC) WITH THE CURRENT CDU ANGLES
|
||||
CA CDUZ
|
||||
TS MPAC +2
|
||||
EXTEND
|
||||
DCA CDUX
|
||||
RELINT
|
||||
TCF TLOAD +6
|
||||
BANK 16
|
||||
SETLOC KALCMON2
|
||||
BANK
|
||||
|
||||
COUNT* $$/KALC
|
||||
|
||||
CDUTODCM AXT,1 SSP # SUBROUTINE TO COMPUTE DIRECTION COSINE
|
||||
OCT 3 # MATRIX RELATING S/C AXES TO STARLE
|
||||
S1 # MEMBER AXES FROM 3 CDU ANGLES IN T(MPAC)
|
||||
OCT 1 # SET XR1, S1, AND PD FOR LOOP
|
||||
STORE 7
|
||||
SETPD
|
||||
0
|
||||
LOOPSIN SLOAD* RTB
|
||||
10D,1
|
||||
CDULOGIC
|
||||
STORE 10D # LOAD PD WITH 0 SIN(PHI)
|
||||
SIN PDDL # 2 COS(PHI)
|
||||
10D # 4 SIN(THETA)
|
||||
COS PUSH # 6 COS(THETA)
|
||||
TIX,1 DLOAD # 8 SIN(PSI)
|
||||
LOOPSIN # 10 COS(PSI)
|
||||
6
|
||||
DMP SL1
|
||||
10D
|
||||
# Page 406
|
||||
STORE 0,2
|
||||
DLOAD
|
||||
4
|
||||
DMP PDDL
|
||||
0 # (PD6 SIN(THETA)SIN(PHI))
|
||||
6
|
||||
DMP DMP
|
||||
8D
|
||||
2
|
||||
SL1 BDSU
|
||||
12D
|
||||
SL1
|
||||
STORE 2,2
|
||||
DLOAD
|
||||
2
|
||||
DMP PDDL # (PD7 COS(PHI)SIN(THETA)) SCALED 4
|
||||
4
|
||||
6
|
||||
DMP DMP
|
||||
8D
|
||||
0
|
||||
SL1
|
||||
DAD SL1
|
||||
14D
|
||||
STORE 4,2
|
||||
DLOAD
|
||||
8D
|
||||
STORE 6,2
|
||||
DLOAD
|
||||
10D
|
||||
DMP SL1
|
||||
2
|
||||
STORE 8D,2
|
||||
DLOAD
|
||||
10D
|
||||
DMP DCOMP
|
||||
0
|
||||
SL1
|
||||
STORE 10D,2
|
||||
DLOAD
|
||||
4
|
||||
DMP DCOMP
|
||||
10D
|
||||
SL1
|
||||
STORE 12D,2
|
||||
DLOAD
|
||||
DMP SL1 # (PUSH UP 7)
|
||||
8D
|
||||
PDDL DMP # (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE 4
|
||||
6
|
||||
# Page 407
|
||||
0
|
||||
DAD SL1 # (PUSH UP 7)
|
||||
STADR # C7=COS(PHI)SIN(THETA)SIN(PSI)
|
||||
STORE 14D,2
|
||||
DLOAD
|
||||
DMP SL1 # (PUSH UP 6)
|
||||
8D
|
||||
PDDL DMP # (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE 4
|
||||
6
|
||||
2
|
||||
DSU SL1 # (PUSH UP 6)
|
||||
STADR
|
||||
STORE 16D,2 # C8=-SIN(THETA)SIN(PHI)SIN(PSI)
|
||||
RVQ # +COS(THETA)COS(PHI)
|
||||
ENDOCM EQUALS
|
||||
|
||||
BANK 15
|
||||
SETLOC KALCMON1
|
||||
BANK
|
||||
|
||||
# CALCULATION OF THE MATRIX DEL.......
|
||||
#
|
||||
# * * __T *
|
||||
# DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A) SCALED 1
|
||||
#
|
||||
# _
|
||||
# WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION.
|
||||
# A IS THE ANGLE OF ROTATION (DP SCALED 2).
|
||||
# _
|
||||
# UPON ENTRY THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC.
|
||||
|
||||
COUNT 22/KALC
|
||||
|
||||
DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
|
||||
0
|
||||
SIN PDDL # PD0 = SIN(A)
|
||||
COS PUSH # PD2 = COS(A)
|
||||
SR2 PDDL # PD2 = COS(A) $8
|
||||
BDSU BOVB # PD4 = 1-COS(A) $2
|
||||
DPHALF
|
||||
SIGNMPAC
|
||||
|
||||
# COMPUTE THE DIAGONAL COMPONENTS OF DEL
|
||||
|
||||
PDDL
|
||||
COF
|
||||
DSQ DMP
|
||||
4
|
||||
DAD SL3
|
||||
# Page 408
|
||||
2
|
||||
BOVB
|
||||
SIGNMPAC
|
||||
STODL DEL # UX UX(U-COS(A)) +COS(A) $1
|
||||
COF +2
|
||||
DSQ DMP
|
||||
4
|
||||
DAD SL3
|
||||
2
|
||||
BOVB
|
||||
SIGNMPAC
|
||||
STODL DEL +8D # UY UY(1-COS(A)) +COS(A) $1
|
||||
COF +4
|
||||
DSQ DMP
|
||||
4
|
||||
DAD SL3
|
||||
2
|
||||
BOVB
|
||||
SIGNMPAC
|
||||
STORE DEL +16D # UZ UZ(1-COS(A)) +COS(A) $1
|
||||
|
||||
# COMPUTE THE OFF-DIAGONAL TERMS OF DEL
|
||||
|
||||
DLOAD DMP
|
||||
COF
|
||||
COF +2
|
||||
DMP SL1
|
||||
4
|
||||
PDDL DMP # D6 UX UY (1-COS A) $ 4
|
||||
COF +4
|
||||
0
|
||||
PUSH DAD # D8 UZ SIN A $ 4
|
||||
6
|
||||
SL2 BOVB
|
||||
SIGNMPAC
|
||||
STODL DEL +6
|
||||
BDSU SL2
|
||||
BOVB
|
||||
SIGNMPAC
|
||||
STODL DEL +2
|
||||
COF
|
||||
DMP DMP
|
||||
COF +4
|
||||
4
|
||||
SL1 PDDL # D6 UX UZ (1-COS A) $ 4
|
||||
COF +2
|
||||
DMP PUSH # D8 UY SIN(A)
|
||||
0
|
||||
DAD SL2
|
||||
6
|
||||
# Page 409
|
||||
BOVB
|
||||
SIGNMPAC
|
||||
STODL DEL +4 # UX UZ (1-COS(A))+UY SIN(A)
|
||||
BDSU SL2
|
||||
BOVB
|
||||
SIGNMPAC
|
||||
STODL DEL +12D # UX UZ (U-COS(A))-UY SIGN(A)
|
||||
COF +2
|
||||
DMP DMP
|
||||
COF +4
|
||||
4
|
||||
SL1 PDDL # D6 UY UZ (1-COS(A)) $ 4
|
||||
COF
|
||||
DMP PUSH # D6 UX SIN(A)
|
||||
0
|
||||
DAD SL2
|
||||
6
|
||||
BOVB
|
||||
SIGNMPAC
|
||||
STODL DEL +14D # UY UZ(1-COS(A)) +UX SIN(A)
|
||||
BDSU SL2
|
||||
BOVB
|
||||
SIGNMPAC
|
||||
STORE DEL +10D # UY UZ(1-COS(A)) -UX SIN(A)
|
||||
RVQ
|
||||
|
||||
# DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
|
||||
# X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2)
|
||||
# LEAVES CDU ANGLES SCALED 2PI IN V(MPAC)
|
||||
# COS(MGA) WILL BE LEFT IN S1 (SCALED 1)
|
||||
#
|
||||
# THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS ***
|
||||
#
|
||||
# C =COS(THETA)COS(PSI)
|
||||
# 0
|
||||
#
|
||||
# C =-COS(THETA)SIN(PSI)COS(PHI)+SIN(THETA)SIN(PHI)
|
||||
# 1
|
||||
#
|
||||
# C =COS(THETA)SIN(PSI)SIN(PHI)+SIN(THETA)COS(PHI)
|
||||
# 2
|
||||
#
|
||||
# C =SIN(PSI)
|
||||
# 3
|
||||
#
|
||||
# C =COS(PSI)COS(PHI)
|
||||
# 4
|
||||
#
|
||||
# C =-COS(PSI)SIN(PHI)
|
||||
# 5
|
||||
#
|
||||
# C =-SIN(THETA)COS(PSI)
|
||||
# 6
|
||||
#
|
||||
# C =SIN(THETA)SIN(PSI)COS(PHI)+COS(THETA)SIN(PHI)
|
||||
# 7
|
||||
# Page 410
|
||||
# C =-SIN(THETA)SIN(PSI)SIN(PHI)+COS(THETA)COS(PHI)
|
||||
# 8
|
||||
#
|
||||
# WHERE PHI = OGA
|
||||
# THETA = IGA
|
||||
# PSI = MGA
|
||||
|
||||
DCMTOCDU DLOAD* ARCSIN
|
||||
6,1
|
||||
PUSH COS # PD +0 PSI
|
||||
SL1 BOVB
|
||||
SIGNMPAC
|
||||
STORE S1
|
||||
DLOAD* DCOMP
|
||||
12D,1
|
||||
DDV ARCSIN
|
||||
S1
|
||||
PDDL* BPL # PD +2 THETA
|
||||
0,1 # MUST CHECK THE SIGN OF COS(THETA)
|
||||
OKTHETA # TO DETERMINE THE PROPER QUADRANT
|
||||
DLOAD DCOMP
|
||||
BPL DAD
|
||||
SUHALFA
|
||||
DPHALF
|
||||
GOTO
|
||||
CALCPHI
|
||||
SUHALFA DSU
|
||||
DPHALF
|
||||
CALCPHI PUSH
|
||||
OKTHETA DLOAD* DCOMP
|
||||
10D,1
|
||||
DDV ARCSIN
|
||||
S1
|
||||
PDDL* BPL # PUSH DOWN PHI
|
||||
8D,1
|
||||
OKPHI
|
||||
DLOAD DCOMP # PUSH UP PHI
|
||||
BPL DAD
|
||||
SUHALFAP
|
||||
DPHALF
|
||||
GOTO
|
||||
VECOFANG
|
||||
SUHALFAP DSU GOTO
|
||||
DPHALF
|
||||
VECOFANG
|
||||
OKPHI DLOAD # PUSH UP PHI
|
||||
VECOFANG VDEF RVQ
|
||||
|
||||
# Page 411
|
||||
# ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
|
||||
|
||||
NOGOM2 INHINT # THIS LOCATION ACCESSED BY A BZMF NOGO -2
|
||||
TC BANKCALL
|
||||
CADR ZEROERROR
|
||||
|
||||
NOGO INHINT
|
||||
TC STOPRATE
|
||||
|
||||
# TERMINATE MANEUVER
|
||||
CAF TWO # NOTE: ALL RETURNS ARE NOW MADE VIA
|
||||
TC WAITLIST # GOODEND
|
||||
EBANK= BCDU
|
||||
2CADR ENDMANU
|
||||
|
||||
TCF ENDOFJOB
|
||||
|
Reference in New Issue
Block a user