Reorganized files to separate Luminary099 source code from Comanche055 source code
This commit is contained in:
Clifford Richardson
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Comanche055/P11.s
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Comanche055/P11.s
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# Copyright: Public domain.
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# Filename: P11.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: Hartmuth Gutsche <hgutsche@xplornet.com>.
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# Website: www.ibiblio.org/apollo.
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# Pages: 533-550
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# Mod history: 2009-05-13 HG Started adapting from the Colossus249/ file
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# of the same name, using Comanche055 page
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# images 0533.jpg - 0550.jpg.
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# 2009-05-20 RSB Corrections: ERTHALT -> EARTHALT,
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# STATSW -> SATSW.
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# 2009-05-23 RSB At end of RESCALES, corrected TC 0 to TC Q.
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# Added an SBANK= prior to a 2CADR.
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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 533
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# EARTH ORBIT INSERTION MONITOR PROGRAM
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# *************************************
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#
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# PROGRAM DESCRIPTION -P11-
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#
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# MOD NO. 1
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# MOD BY ELIASSEN
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#
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# FUNCTIONAL DESCRIPTION
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#
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# P11 IS INITIATED BY
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#
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# A) GYROCOMPASS PRG P02 WHEN LIFTOFF DISCRETE IS RECEIVED OR
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# B) BACKUP THRU VERB 75 ENTER
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#
|
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# PROGRAM WILL
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# 1. ZERO CMC CLOCK AT LIFTOFF (OR UPON RECEIPT OF BACKUP)
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# 2. UPDATE TEPHEM TO TIME CMC CLOCK WAS ZEROED
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# 3. INITIATE SERVICER AT PREREAD1
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# 4. CHANGE MAJOR MODE TO 11
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# 5. CLEAR DSKY IN CASE OF V 75
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# 6. STORE LIFTOFF IMU-CDU ANGLES FOR ATT. ERROR DISPLAY
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# 7. TERMINATE GYROCOMPASSING __ __
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# 8. COMPUTE INITIAL VECTORS RN, VN _ _ _
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# 9. COMPUTE REFSMMAT FOR PRELAUNCH ALIGNMENT WHERE U ,U ,U ARE
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# _ _ X Y Z
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# U =(UNIT(-R) LOCAL VERTICAL AT TIME OF LIFTOFF
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# _Z _ _
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# U =UNIT(A), A=HOR VECTOR AT LAUNCH AZIMUTH
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# _X _ _
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# U =U * U
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# U Z X
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# 10. SET REFSMMAT KNOWN FLAG
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# 11. SET AVGEXIT IN SERVICER TO VHHDOT TO
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# COMPUTE AND DISPLAY NOUN 62 EVERY 2 SECONDS
|
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#
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# R1 V1 -- INERTIAL VELOCITY MAGNITUDE IN FPS
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# R2 HDOT -- RATE OF CHANGE OF VEHICLE VEL IN FPS
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# R3 H -- VEHICLE ALTITUDE ABOVE PAD IN NM
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#
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# 12. DISPLAY BODY AXES ATT. ERRORS ON FDAI NEEDLES
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#
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# A) FROM L.O. TO RPSTART (APPROX. 0 TO +10SECS AFTER L.O.)
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# DESIRED ATTITUDE IS AS STORED AT L.O.
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# B) FROM RPSTART TO POLYSTOP (APPROX. +10 TO +133SECS AFTER LO)
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# DESIRED ATTITUDE IS SPECIFIED BY CMC PITCH AND ROLL
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# POLYNOMIALS DURING SATURN ROLLOUT AND PITCHOVER
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# Page 534
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# THE DISPLAY IS RUN AS LOW PRIORITY JOB APPROX.
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# EVERY 1/2 SEC OR LESS AND IS DISABLED UPON OVFLO OF TIME1
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#
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# SUBROUTINES CALLED
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#
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# 2PHSCHNG BANKCALL CALCGRA CDUTRIG CLEANDSP DANZIG
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# DELAYJOB EARTHR ENDOFJOB FINDVAC IBNKCALL
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# INTPRET LALOTORV NEEDLER NEWMODEX PHASCHNG
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# POSTJUMP POWRSERS PREREAD1 REGODSPR S11.1
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# SERVEXIT TASKOVER TCDANZIG V1STO2S WAITLIST
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#
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# ASTRONAUT REQUESTS (IF ALTITUDE ABOVE 300,000 FT)
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#
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# DSKY --
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# MONITOR DISPLAY OF TIME TO PERIGEE R1 HOURS
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# R2 MINUTES
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#
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# DSKY --
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# MONITOR DISPLAY OF R1 APOGEE ALTITUDE IN NAUTICAL MILES
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# R2 PERIGEE ALTITUDE IN NAUTICAL MILES
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# R3 TFF IN MINUTES/SECS
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#
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# IF ASTRONAUT HAS REQUESTED ANY OF THESE DISPLAYS HE MUST
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# HIT PROCEED TO RETURN TO NORMAL NOUN 62 DISPLAY.
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# NORMAL EXIT MODE
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#
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# ASTRONAUT VERB 37 ENTER 00 ENTER
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#
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# ALARM MODES -- NONE
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#
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# ABORT EXIT MODES --
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#
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# OUTPUT
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#
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# TLIFTOFF (DP) TEPHEM (TP)
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# REFSMMAT
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# DSKY DISPLAY
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# FDAI DISPLAY
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#
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# ERASABLE INITIALIZATION
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#
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# AZO, AXO, -AYO
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# LATITUDE
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# PADLONG
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# TEPHEM
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# PGNCSALT
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# POLYNUM THRU POLYNUM +14D
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# RPSTART
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# POLYSTOP
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# FLAGS SET OR RESET
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# Page 535
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# SET REFSMFLG
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# SET DVMON IDLE FLAG
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# CLEAR ERADFLAG
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#
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# DEBRIS
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#
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# LIFTTEMP
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# POLYNUM THRU POLYNUM +7
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# SPOLYARG
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# BODY1, BODY2, BODY3
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# VMAG2, ALTI, HDOT
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# CENTRALS, CORE SET, AND VAC AREAS
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COUNT 34/P11
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BITS5-6 = SUPER011
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BANK 42
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SETLOC P11ONE
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BANK
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EBANK= TEPHEM
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P11 CA EBANK3
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TS EBANK
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EXTEND
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DCA REP11S # DIRECT RESTARTS TO REP11
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DXCH -PHASE3
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CS ZERO
|
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ZL
|
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TS LIFTTEMP
|
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DXCH -PHASE5 # INACTIVE GROUP 5, PRELAUNCH PROTECTION
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P11+7 EXTEND
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DCA REP11SA
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DXCH TLIFTOFF
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|
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EXTEND
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DCA TIME2
|
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DXCH LIFTTEMP # FORE RESTARTS
|
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|
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CA ZERO
|
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ZL
|
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DXCH TIME2
|
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REP11A-2 DXCH TLIFTOFF
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REP11A-1 DXCH -PHASE3 # RESET PHASE
|
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|
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REP11A INHINT
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EXTEND
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DCA TEPHEM +1
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DXCH TEPHEM1 +1
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CA TEPHEM
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# Page 536
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XCH TEPHEM1
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EXTEND
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DCA TLIFTOFF
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DAS TEPHEM1 +1
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ADS TEPHEM1 # CORRECT FOR OVERFLOW
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TC PHASCHNG
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OCT 05023
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OCT 22000
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INHINT
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EXTEND
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DCA TEPHEM1
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DXCH TEPHEM
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CA TEPHEM1 +2
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XCH TEPHEM +2
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|
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CAF EBDVCNT
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TS EBANK
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EBANK= DVCNTR
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TC IBNKCALL
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CADR PREREAD1 # ZERO PIPS AND INITIALIZE AVERAGEG
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|
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TC PHASCHNG
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OCT 05023 # CONTINUE HERE ON RESTART
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OCT 22000
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|
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CAF .5SEC # START ATT ERROR DISPLAY
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TC WAITLIST # IN .5 SEC
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EBANK= BODY3
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2CADR ATERTASK
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|
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TC NEWMODEX # DISPLAY MM 11
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MM 11
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TC UPFLAG
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ADRES NODOP01
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CA POWDNCOD # SWITCH TO POWERED FLIGHT DOWNLIST
|
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TS DNLSTCOD
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TC BANKCALL
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CADR CLEANDSP # CLEAR DSKY IN CASE OF V75
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TC 2PHSCHNG
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OCT 40514 # PROTECT ATERTASK
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OCT 00073
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CAF EBQPLACE
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# Page 537
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TS EBANK
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|
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EBANK= QPLACES
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CA P11XIT # SET EXIT FROM PROUT IN EARTHR
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TS QPLACES
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TC INTPRET
|
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VLOAD MXV
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THETAN
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XSM
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VSL1 VAD
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ERCOMP
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STODL ERCOMP
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TLIFTOFF
|
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SSP GOTO
|
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S2
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CADR PROUT # RETURN FROM EARTHR
|
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EARTHR +3
|
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MATRXJOB ZL # STORE DP GIMBAL ANGLES FOR ATTITUDE
|
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CA CDUX # ERROR DISPLAY AFTER LIFTOFF
|
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DXCH OGC
|
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ZL
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CA CDUY
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DXCH IGC
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ZL
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||||
CA CDUZ
|
||||
DXCH MGC
|
||||
TC INTPRET _
|
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VLOAD VSR1 # SCALE OGC B-1
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OGC
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STORE OGC
|
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SSP # ZERO RTX2
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RTX2 # FOR
|
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0 # EARTH
|
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DLOAD PDDL
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PGNCSALT # ALTITUDE OF PGNCS
|
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PADLONG # LONGITUDE
|
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PDDL VDEF
|
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LATITUDE # GEODETIC LATITUDE
|
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STODL LAT # LAT,LONG,ALT ARE CONSECUTIVE
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HI6ZEROS # TIME = 0
|
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CLEAR CALL
|
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ERADFLAG
|
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LALOTORV # CONVERT TO POSITION VECTOR IN REF. COORDS.
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STCALL RN1 # _
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GETDOWN # RETURN WITH VECTOR FOR DOWN DIRECTION
|
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VCOMP UNIT
|
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STOVL REFSMMAT +12D # UNITZ = UNIT(GRAV)
|
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RN1
|
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VXV VXSC
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# Page 538
|
||||
UNITW # SCALED AT 1
|
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-ERTHRAT # V = EARTHRATE X R
|
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VSL4 # SCALE TO 2(7) M/CS
|
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STOVL VN1
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REFSMMAT +12D
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VXV UNIT
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UNITW # (REF3 X UNITW) = EAST
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PUSH VXV
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REFSMMAT +12D # (EAST X REF3) = -SOUTH
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UNIT PDDL
|
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LAUNCHAZ # COS(AZ)*SOUTH
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COS VXSC
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STADR
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STODL REFSMMAT # TEMPORARY STORAGE
|
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LAUNCHAZ
|
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SIN VXSC # SIN(AZ)*EAST
|
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VAD UNIT # SIN(AZ)*EAST - COS(AZ)*SOUTH = REF1
|
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REFSMMAT
|
||||
STORE REFSMMAT
|
||||
|
||||
VXV UNIT # (REF1 X REF3) = -REF3
|
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REFSMMAT +12D
|
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VCOMP
|
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STORE REFSMMAT +6
|
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DLOAD DSU
|
||||
DPHALF # 1/2 REV
|
||||
LAUNCHAZ
|
||||
DAD PDDL
|
||||
AZIMUTH
|
||||
SATRLRT # SET SATRLRT = -SATRLRT IF
|
||||
SIGN STADR # (1/2REV -LAVNCHAZ +AZIMUTH) IS NEGATIVE
|
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STORE SATRLRT # FOR ROLL CALC IN FDAI ATT. ERROR DISPLAY
|
||||
SET EXIT
|
||||
REFSMFLG # SET REFSMMAT KNOWN FLAG
|
||||
|
||||
TC PHASCHNG
|
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OCT 04023
|
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|
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EXTEND
|
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DCA P11SCADR
|
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DXCH AVGEXIT # SET AVGEXIT
|
||||
|
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CA PRIO31 # 2 SECONDS AT 2(+8)
|
||||
TS 1/PIPADT
|
||||
|
||||
EBANK= RCSFLAGS
|
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CA EBANK6
|
||||
TS EBANK
|
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|
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INHINT
|
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# Page 539
|
||||
CS ZERO
|
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TS TBASE5 # RESTART READACCS 2 SECONDS AFTER LIFTOFF
|
||||
|
||||
CS TIME1
|
||||
AD 2SECS # DO READACCS 2 SECONDS AFTER LIFTOFF
|
||||
|
||||
CCS A # CHECK TO INSURE DT IS POSITIVE
|
||||
TCF +3 # TIME POSITIVE
|
||||
TCF +2 # CANNOT GET HERE
|
||||
CA ZERO # TIME NEGATIVE -- SET TO 1
|
||||
AD ONE # RESTORE TIME -- OR MAKE POSITIVE
|
||||
|
||||
TC WAITLIST
|
||||
EBANK= AOG
|
||||
2CADR READACCS
|
||||
|
||||
TC 2PHSCHNG
|
||||
OCT 00003 # TURN OFF GROUP 3
|
||||
OCT 00025 # PROTECT NORMLIZE AND READACCS
|
||||
|
||||
TC POSTJUMP
|
||||
CADR NORMLIZE # DO NORMLIZE AND ENDOFJOB
|
||||
|
||||
|
||||
EBANK= TEPHEM
|
||||
REP11 INHINT
|
||||
CCS PHASE5
|
||||
TC ENDOFJOB
|
||||
|
||||
CCS LIFTTEMP
|
||||
TCF +4
|
||||
TCF +3
|
||||
TCF +2
|
||||
TCF P11+7
|
||||
|
||||
CS TLIFTOFF
|
||||
EXTEND
|
||||
BZMF ENDREP11
|
||||
|
||||
CCS TIME2 # ** TIME2 MUST BE NON-ZERO AT LIFTOFF **
|
||||
TCF REP11A -5 # T2,T1 NOT YET ZEROED, GO AND DO IT
|
||||
|
||||
EXTEND # T2,T1 ZEROED, SET TLIFTOFF
|
||||
DCA LIFTTEMP
|
||||
TCF REP11A-2
|
||||
|
||||
ENDREP11 EXTEND
|
||||
DCA REP11SA
|
||||
TCF REP11A-1
|
||||
#Page 540
|
||||
REP11S 2OCT 7776600011
|
||||
|
||||
REP11SA 2OCT 7776400013
|
||||
|
||||
P11XIT GENADR P11OUT
|
||||
-ERTHRAT 2DEC* -7.292115138 E-7 B18* # - EARTH RATE AT 2(18)
|
||||
|
||||
EBANK= BODY3
|
||||
P11SCADR 2CADR VHHDOT
|
||||
|
||||
POWDNCOD EQUALS THREE
|
||||
|
||||
EBANK= BODY3
|
||||
# VHHDOT IS EXECUTED EVERY 2 SECONDS TO DISPLAY ON DSKY
|
||||
# VI INERTIAL VELOCITY MAGNITUDE
|
||||
# HDOT RATE OF CHANGE OF ALT ABOVE L PAD RADIUS
|
||||
# H ALTITUDE ABOVE L PAD RADIUS
|
||||
|
||||
VHHDOT TC INTPRET
|
||||
CALL # LOAD VMAGI, ALTI,
|
||||
S11.1 # HDOT FOR DISPLAY
|
||||
EXIT
|
||||
TC PHASCHNG
|
||||
OCT 00035
|
||||
|
||||
CAF V06N62 # DISPLAY IN R1 R2 R3
|
||||
TC BANKCALL # VI HDOT H
|
||||
CADR REGODSP
|
||||
|
||||
ATERTASK CAF PRIO1 # ESTABLISH JOB TO DISPLAY ATT ERRORS
|
||||
TC FINDVAC # COMES HERE AT L.O. + .33 SEC
|
||||
EBANK= BODY3
|
||||
2CADR ATERJOB
|
||||
|
||||
CS RCSFLAGS # SET BIT3 FOR
|
||||
MASK BIT3 # NEEDLER
|
||||
ADS RCSFLAGS # INITIALIZATION PASS
|
||||
TC IBNKCALL # AND GO
|
||||
CADR NEEDLER # DO IT
|
||||
CA BIT1 # SET SW
|
||||
TS SATSW # FOR DISPLAY
|
||||
TC TASKOVER
|
||||
GETDOWN STQ SETPD
|
||||
INCORPEX
|
||||
0D
|
||||
DLOAD
|
||||
HI6ZEROS
|
||||
#Page 541
|
||||
STODL 6D
|
||||
DPHALF
|
||||
STCALL 8D
|
||||
LALOTORV +5
|
||||
# THIS SECTION PROVIDES ATTITUDE ERROR DISPLAYS TO THE FDAI DURING SONE BOOST
|
||||
#
|
||||
# COMPUTE DESIRED PITCH W.R.T. PAD LOCAL VERTICAL AT LIFTOFF
|
||||
# 2 3 4 5 6
|
||||
# PITCH = A0+A1T+A2T +A3T +A4T +A5T +A6T
|
||||
# SCALED TO 32 REVS. -14
|
||||
# IF TL = TIME IN SECS FROM L.O., THEN T = 100(TL-RPSTART0)2
|
||||
# WHERE TL GE RPSTART
|
||||
# TL LE (-POLYSTOP + RPSTART)
|
||||
# COMPUTE DESIRED ROLL WEHRE ROLL EQUALS ANGLE FROM
|
||||
# LAUNCHAZ TO -Z(S/C) AS SEEN FROM X(S/C).
|
||||
# ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T IN REV
|
||||
# SATRLRT = RATE OF ROLL IN REV/CENTI-SEC
|
||||
# T, IN CENTI-SEC, IS DEFINED AS ABOVE, INCLUSIVE OF TIME RESTRICTIONS
|
||||
#
|
||||
# FOR SIMPLICITY, LET P = 2*PI*PITCH
|
||||
# R = 2*PI*ROLL
|
||||
#
|
||||
# CONSTRUCT THE TRANSFORMATION MATRIX, TSMV, GIVING DESIRED S/C AXES IN
|
||||
# TERMS OF SM COORDINATES. LET THE RESULTING ROWS EQUAL THE VECTORS XDC,
|
||||
# YDC, AND ZDC.
|
||||
#
|
||||
# * ( SIN(P) 0 -COS(P) ) (XDC)
|
||||
# TSMV = (-SIN(R)*COS(P) -COS(R) -SIN(R)*SIN(P)) = (YDC)
|
||||
# (-COS(R)*COS(P) SIN(R) -COS(R)*SIN(P)) (ZDC)
|
||||
#
|
||||
# XDC,YDC,ZDC ARE USED AS INPUT TO CALCGTA FOR THE EXTRACTION OF THE
|
||||
# EULER SET OF ANGLES WHICH WILL BRING THE SM INTO THE DESIRED
|
||||
# ORIENTATION. THIS EULER SET, OGC, IGC, AND MGC, MAY BE IDENTIFIED
|
||||
# AS THE DESIRED CDU ANGLES.
|
||||
#
|
||||
# (XDC) (OGC)
|
||||
# (YDC) ---) CALCGTA ---) (IGC)
|
||||
# (ZDC) (MGC)
|
||||
# _
|
||||
# DEFINE THE VECTOR DELTACDU.
|
||||
#
|
||||
# _ (OGC) (CDUX)
|
||||
# DELTACDU = (IGC) - (CDUY)
|
||||
# (MGC) (CDUZ)
|
||||
# _ _ * _
|
||||
# COMPUTE ATTITUDE ERRORS, A, WHERE A = TGSC*DELTACDU
|
||||
#
|
||||
# * (1 SIN(CDUZ) 0 ) THE GIMBAL ANGLES
|
||||
#Page 542
|
||||
# TGSC = (0 COS(CDUX)*COS(CDUZ) SIN(CDUX)) = TO SPACECRAFT AXES
|
||||
# (0 -SIN(CDUX)*COS(CDUZ) COS(CDUX)) CONVERSION MATRIX
|
||||
# _
|
||||
# THE ATTITUDE ERRORS, A, ARE STORED ONE HALF SINGLE PRECISION IN
|
||||
# THE REGISTERS AK, AK1, AK2 AS INPUT TO NEEDLER, THE FDAI ATTITUDE
|
||||
# ERROR DISPLAY ROUTINE.
|
||||
|
||||
ATERJOB CAE FLAGWRD6 # CHECK FLAGWRD6
|
||||
MASK OCT60000 # BITS 14, 15
|
||||
EXTEND
|
||||
BZF +2 # OK -- CONTINUE
|
||||
TC ENDOFJOB # STAURN STICK ON -- KILL JOB
|
||||
CAF BIT10 # CHECK IF S/C CONTROL
|
||||
EXTEND # OF SATURN PANEL
|
||||
RAND CHAN30 # SWITCH IS ON
|
||||
EXTEND
|
||||
BZF STRSAT # IT IS -- GO STEER
|
||||
CCS SATSW # IT IS NOT -- WAS IT ON LAST CYCLE
|
||||
TC ATTDISP # NO -- CONTINUE
|
||||
TC ATRESET # YES -- REINITIALIZE NEEDLER
|
||||
TC ATRESET # YES -- REINITIALIZE NEEDLER
|
||||
ATTDISP CS RPSTART # PITCH/ROLL START TIME
|
||||
AD TIME1
|
||||
EXTEND
|
||||
BZMF NOPOLY # IF MINUS THEN ATTITUDE HOLD
|
||||
TS MPAC # MPAC = TIME1 - RPSTART
|
||||
TS SPOLYARG # SAVE FOR USE IN ROLL CALCULATION
|
||||
AD POLYSTOP # NEG PITCHOVER TIME IN CSECS
|
||||
EXTEND
|
||||
BZMF +2
|
||||
TC NOPOLY # GO TO ATTITUDE HOLD
|
||||
CA TIME2
|
||||
EXTEND
|
||||
BZMF +2
|
||||
TC NOPOLY # GO TO ATTITUDE HOLD
|
||||
CAE POLYNUM
|
||||
TS L
|
||||
CAF COEFPOLY # EVALUATE PITCH POLYNOMIAL
|
||||
TC POWRSERS # SCALED TO 32 REVOLUTIONS
|
||||
CA ZERO # RETURN WITH PITCH(32REV)
|
||||
TS MODE # STORED MPAC, MPAC +1
|
||||
TC INTPRET
|
||||
SETPD SL # 32(PITCH(32REV)) = PITCH(REV)
|
||||
0
|
||||
5
|
||||
PUSH # LET P(RAD) = 2*PI*PITCH(REV)
|
||||
GOTO
|
||||
ATTDISP1 # AROUND SETLOC
|
||||
#Page 543
|
||||
# *
|
||||
# CONSTRUCT SM TO S/C MATRIX, TSMV
|
||||
|
||||
SETLOC P11TWO
|
||||
BANK # 36 IN COL., 34 IN DISK
|
||||
|
||||
COUNT 36/P11
|
||||
|
||||
ATTDISP1 COS DCOMP
|
||||
STODL 14D # -.5*COS(P)
|
||||
SIN
|
||||
STODL 10D # .5*SIN(P)
|
||||
ZEROVECS
|
||||
STORE 12D # 0
|
||||
|
||||
# EVALUATE ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T
|
||||
SLOAD DMP
|
||||
SPOLYARG # TIME1 - RSPSTART, CSECS B-14.
|
||||
SATRLRT
|
||||
SL DSU
|
||||
14D
|
||||
DPHALF
|
||||
DAD DSU # ASSUMING X(SM) ALONG LAUNCH AZIMUTH,
|
||||
LAUNCHAZ # LAUNCHAZ = ANGLE FROM NORTH TO X(SM).
|
||||
AZIMUTH # AZIMUTH = -ANGLE FROM NORTH TO Z(S/C)
|
||||
RTB # DETERMINE IF ROLLOUT
|
||||
RLTST # IS COMPLETED
|
||||
ATTDISPR PUSH COS # CONTINUE COMPUTING TSMV
|
||||
PUSH # LET R(RAD) = 2*PI*ROLL(REV)
|
||||
DMP SL1
|
||||
14D
|
||||
STODL 22D # -.5*COS(R)*COS(P)
|
||||
DCOMP
|
||||
STORE 18D # -.5*COS(R)
|
||||
DMP SL1
|
||||
10D
|
||||
STODL 26D # -.5*COS(R)*SIN(P)
|
||||
SIN PUSH
|
||||
STORE 24D # .5*SIN(R)
|
||||
DMP SL1
|
||||
14D
|
||||
STODL 16D # -.5*SIN(R)*COS(P)
|
||||
DCOMP
|
||||
DMP SL1
|
||||
10D
|
||||
STOVL 20D # -.5*SIN(R)*SIN(P)
|
||||
10D
|
||||
|
||||
# FROM TSMV FIND THE HALF UNIT VECTORS XDC,YDC,ZDC = INPUT TO CALCGTA
|
||||
# Page 544
|
||||
UNIT
|
||||
STOVL XDC # XDC = .5*UNIT(SIN(P),0,-COS(P))
|
||||
16D
|
||||
UNIT
|
||||
STOVL YDC # YDC = .5*UNIT(-SIN(R)*COS(P),-COS(R),
|
||||
22D # -SIN(R)*SIN(P))
|
||||
UNIT
|
||||
STCALL ZDC # ZDC = .5*UNIT(-COS(R)*COS(P),SIN(R),
|
||||
CALCGTA # -COS(R)*SIN(P))
|
||||
|
||||
# CALL CALCGTA TO COMPUTE DESIRED SM ORIENTATION OGC,IGC, AND MGC
|
||||
# _ _ _
|
||||
# FIND DIFFERENCE VECTOR DELTACDU = OGC-CDUX
|
||||
#
|
||||
# ENTER HERE IF ATTITUDE HOLD
|
||||
|
||||
NOPOLYM VLOAD PUSH # OGC IGC
|
||||
OGC # CHANGE IGC TO MGC FOR COMPATIBILITY
|
||||
PUSH CALL # MGC OGC
|
||||
CDUTRIG # WITH Y,Z,X ORDER OF CDUSPOT
|
||||
VLOAD RTB # _ DPHI OGC-CDUX , PD4
|
||||
2 # DELTACDU = DTHETA = IGC-CDUY , 0
|
||||
V1STO2S # DPSI MGC-CDUZ , 2
|
||||
STOVL BOOSTEMP
|
||||
ZEROVECS
|
||||
STOVL 0
|
||||
CDUSPOT
|
||||
RTB RTB
|
||||
V1STO2S
|
||||
DELSTOR
|
||||
STODL 10D
|
||||
SINCDUZ
|
||||
DMP SL1
|
||||
0
|
||||
DAD SR2 # CHANGE SCALE OF AK TO 2REVS
|
||||
4
|
||||
GOTO
|
||||
ATTDISP2
|
||||
|
||||
SETLOC P11ONE
|
||||
BANK
|
||||
COUNT 34/P11
|
||||
|
||||
ATTDISP2 STODL 16D # 16D, .5(DPHI + DTHETA*SIN(CDUZ))
|
||||
COSCDUZ
|
||||
DMP PUSH
|
||||
0
|
||||
DMP SL1
|
||||
COSCDUX
|
||||
PDDL DMP
|
||||
# Page 545
|
||||
SINCDUX
|
||||
2
|
||||
DAD SL1
|
||||
STADR
|
||||
STODL 17D # 17D, .5(DTHETA*COS(CDUX)*COS(CDUZ)
|
||||
DMP SL1 # +DPSI*SIN(CDUX))
|
||||
SINCDUX
|
||||
PDDL DMP
|
||||
COSCDUX
|
||||
2
|
||||
DSU SL1
|
||||
STADR
|
||||
STORE 18D # 18D, .5(-DTHETA*SIN(CDUX)*COS(CDUZ)
|
||||
TLOAD # +DPSI*COS(CDUX))
|
||||
16D
|
||||
STORE AK # STORE ATTITUDE ERRORS IN AK,AK1,AK2
|
||||
EXIT
|
||||
|
||||
CA SATSW
|
||||
CCS A # CHK TAKEOVER STATUS
|
||||
TC SATOUT # POS -- DISPLAY ONLY
|
||||
TC AKLOAD # 0 STORE BIAS
|
||||
STEERSAT TC INTPRET # NEG STEER L/V
|
||||
TLOAD TAD
|
||||
BIASAK
|
||||
AK
|
||||
STORE AK # AKS = AKS - STORED BIAS
|
||||
EXIT
|
||||
CA AK
|
||||
TC RESCALES
|
||||
TS AK
|
||||
CA AK1
|
||||
TC RESCALES
|
||||
TS AK1
|
||||
CA AK2
|
||||
TC RESCALES
|
||||
TS AK2
|
||||
# DISPLAY ATTITUDE ERRORS ON FDAI VIA NEEDLER
|
||||
|
||||
SATOUT TC BANKCALL
|
||||
CADR NEEDLER
|
||||
ATERSET CAF OCT31 # DELAY .25 SEC
|
||||
TC BANKCALL # EXECUTION + DELAY = .56SEC APPROX
|
||||
CADR DELAYJOB
|
||||
TC ATERJOB # END OF ATT ERROR DISPLAY CYCLE
|
||||
|
||||
AKLOAD CS AK # STORE AKS
|
||||
TS BIASAK # INTO BIAS
|
||||
CS AK1 # COMPLEMENTED
|
||||
TS BIASAK +1
|
||||
# Page 546
|
||||
CS AK2
|
||||
TS BIASAK +2
|
||||
CS BIT1 # SET SW
|
||||
TS SATSW # TO STEER
|
||||
TC STEERSAT # GO STEER
|
||||
STRSAT CA SATSW # CHECK IF NEDLER
|
||||
EXTEND # HAS BEEN INITIALIZED
|
||||
BZMF ATTDISP # YES -- CONTINUE
|
||||
ATRESET CS RCSFLAGS # NO -- SET
|
||||
MASK BIT3 # INITIALIZATION SW
|
||||
ADS RCSFLAGS # FOR NEDLER
|
||||
TC BANKCALL # AND GO
|
||||
CADR NEEDLER # DO IT
|
||||
CAF REVCNT # OCT 6
|
||||
TC BANKCALL # DELAY JOB
|
||||
CADR DELAYJOB # 60 MS --WAIT TILL IMUERRCNTR ZEROED
|
||||
CCS SATSW # CHECK SW STATUS
|
||||
TC TAKEON # POS STEER INIT.
|
||||
TC +1 # 0 RETURN TO DISPLAY
|
||||
CA BIT1 # NEG RETURN TO DISPLAY
|
||||
TS SATSW # SW = DISPLAY ON
|
||||
CS BIT9 # DISABLE
|
||||
EXTEND # SIVB
|
||||
WAND CHAN12 # TAKEOVER
|
||||
TC SATOUT # DISPLAY
|
||||
TAKEON CAF BIT9 # ENABLE
|
||||
EXTEND # SIVB
|
||||
WOR CHAN12 # TAKEOVER
|
||||
CA ZERO # INDICATE NEEDLER
|
||||
TS SATSW # WAS INITIALIZED
|
||||
TC SATOUT
|
||||
S11.1 VLOAD ABVAL
|
||||
VN
|
||||
STOVL VMAGI # VI SCALED 2(7) IN METERS/CSEC
|
||||
RN
|
||||
UNIT DOT
|
||||
VN
|
||||
SL1
|
||||
STODL HDOT
|
||||
RPAD
|
||||
BOF VLOAD
|
||||
AMOONFLG
|
||||
EARTHALT
|
||||
RLS
|
||||
ABVAL SR2
|
||||
EARTHALT BDSU
|
||||
36D
|
||||
STORE ALTI
|
||||
RVQ
|
||||
DELSTOR CA BOOSTEMP
|
||||
# Page 547
|
||||
EXTEND # STORE DELTACDU INTO PDL 0,2,4
|
||||
MSU MPAC
|
||||
INDEX FIXLOC
|
||||
TS 0
|
||||
CA BOOSTEMP +1
|
||||
EXTEND
|
||||
MSU MPAC +1
|
||||
INDEX FIXLOC
|
||||
TS 2
|
||||
CA BOOSTEMP +2
|
||||
EXTEND
|
||||
MSU MPAC +2
|
||||
INDEX FIXLOC
|
||||
TS 4
|
||||
TCF DANZIG
|
||||
RLTST CA MPAC # DETERMINE IF ROLLOUT
|
||||
EXTEND # IS COMPLETED
|
||||
MP SATRLRT +1
|
||||
EXTEND
|
||||
BZMF DANZIG # UNLIKE SIGNS STILL ROLLING
|
||||
EXTEND # ROLLOUT COMPLETED
|
||||
DCA MBDYTCTL +2 # ZERO OUT ROLL CONTRIBUTION
|
||||
DXCH MPAC
|
||||
TC DANZIG
|
||||
NOPOLY TC INTPRET # COMES HERE IF
|
||||
SETPD GOTO # ATTITUDE HOLD
|
||||
0
|
||||
NOPOLYM
|
||||
COEFPOLY ADRES POLYLOC
|
||||
V06N62 VN 0662
|
||||
RESCALES EXTEND # RESCALE AK S FOR
|
||||
MP SATSCALE # NEW HARDWARE
|
||||
DDOUBL # SCALING FOR
|
||||
DDOUBL # STEERING
|
||||
TC Q # SATURN
|
||||
|
||||
# SATURN TAKEOVER FUNCTION
|
||||
# ************************
|
||||
#
|
||||
# PROGRAM DESCRIPTION
|
||||
#
|
||||
# MOD NUMBER 1
|
||||
# MOD BY ELIASSEN
|
||||
#
|
||||
# FUNCTIONAL DESCRIPTION
|
||||
#
|
||||
# DURING THE COASTING PHASE OF SIVB ATTACHED, THE
|
||||
# ASTRONAUT MAY REQUEST SATURN TAKEOVER THROUGH
|
||||
# EXTENDED VERB 46 (BITS 13,14 OF DAPDATR1 SET ).
|
||||
# THE CMC REGARDS RHC COMMANDS AS BODY-AXES RATE
|
||||
# COMMANDS AND IT TRANSMITS THESE TO SATURN AS DC
|
||||
#Page 548
|
||||
# VOLTAGES. THE VALUE OF THE CONSTANT RATE COMMAND
|
||||
# IS 0.5 DEG/SEC. AN ABSENCE OF RHC ACTIVITY RE-
|
||||
# SULTS IN A ZERO RATE COMMAND.
|
||||
#
|
||||
# THE FDAI ERROR NEEDLES WILL INDICATE THE VALUE
|
||||
# OF THE RATE COMMAND.
|
||||
#
|
||||
# CALLING SEQUENCE
|
||||
#
|
||||
# DAPFIG +9D TC POSTJUMP
|
||||
# CADR SATSTKON
|
||||
#
|
||||
# SUBROUTINES CALLED
|
||||
#
|
||||
# ENDEXT
|
||||
# IBNKCALL
|
||||
# STICKCHK
|
||||
# NEEDLER
|
||||
# T5RUPT
|
||||
# RESUME
|
||||
#
|
||||
# ASTRONAUT REQUESTS
|
||||
#
|
||||
# ENTRY -- VERB 46 ENTER
|
||||
# (CONDITION -- BITS 13, 14 OF DAPDATR1 SET)
|
||||
#
|
||||
# EXIT -- VERB 48 ENTER (FLASH V06N46)
|
||||
# VERB 21 ENTER AXXXX ENTER WHERE A=0 OR 1
|
||||
# VERB 34 ENTER
|
||||
# VERB 46 ENTER
|
||||
#
|
||||
# NORMAL EXIT MODE
|
||||
#
|
||||
# VERB 46 ENTER (SEE ASTRONAUT ABOVE)
|
||||
#
|
||||
# ALARM OR ABORT EXIT MODES
|
||||
#
|
||||
# NONE
|
||||
#
|
||||
# OUTPUT
|
||||
#
|
||||
# SATURN RATES IN CDUXCMD, CDUYCMD, CDUZCMD
|
||||
#
|
||||
# ERASABLE INITIALIZATION
|
||||
#
|
||||
# DAPDATR1 (BITS 13, 14 MUST BE SET)
|
||||
#
|
||||
# DEBRIS
|
||||
#
|
||||
# CENTRALS
|
||||
#Page 549
|
||||
# CDUXCMD, CDUYCMD, CDUZCMD
|
||||
|
||||
BANK 43
|
||||
SETLOC EXTVERBS
|
||||
BANK
|
||||
|
||||
COUNT 23/STTKE
|
||||
SATSTKON EXTEND
|
||||
DCA 2REDOSAT
|
||||
INHINT
|
||||
DXCH T5LOC
|
||||
CAF POSMAX
|
||||
TS TIME5
|
||||
CS FLAGWRD6 # TURN ON BITS 15,14 OF
|
||||
MASK RELTAB11 # FLAGWRD6
|
||||
ADS FLAGWRD6 # SATSTICK CONTROL OF T5
|
||||
TC IBNKCALL # ZERO JET CHANNELS IN 14 MS AND THEN
|
||||
CADR ZEROJET # LEAVE THE T6 CLOCK DISABLED
|
||||
RELINT
|
||||
TC GOPIN # EXIT THUS BECAUSE WE CAME VIA V46
|
||||
|
||||
SBANK= PINSUPER # Added RSB 2009
|
||||
EBANK= BODY3
|
||||
2REDOSAT 2CADR REDOSAT
|
||||
|
||||
|
||||
SBANK= LOWSUPER
|
||||
BANK 32
|
||||
SETLOC P11FOUR
|
||||
BANK
|
||||
|
||||
REDOSAT LXCH BANKRUPT # ALSO COMES HERE FOR RESTARTS
|
||||
EXTEND
|
||||
QXCH QRUPT
|
||||
CS RCSFLAGS # TURN ON BIT3 OF RCSFLAGX
|
||||
MASK BIT3 # FOR
|
||||
ADS RCSFLAGS # NEEDLER INITIALIZATION
|
||||
TC IBNKCALL
|
||||
CADR NEEDLER # DISABLE IMU ERR COUNTERS ETC.
|
||||
CAF BIT9 # SIVB
|
||||
EXTEND # TAKEOVER
|
||||
WOR CHAN12 # ENABLE
|
||||
EXTEND # SET UP T5 CYCLE
|
||||
DCA 2SATSTCK
|
||||
DXCH T5LOC
|
||||
CAF 100MST5 # IN 100 MSECS
|
||||
TS TIME5
|
||||
TCF RESUME # END OF SATURN STICK INITIALIZATION
|
||||
|
||||
# THIS SECTION IS EXECUTED EVERY 100 MSECS.
|
||||
#Page 550
|
||||
SATSTICK LXCH BANKRUPT
|
||||
EXTEND
|
||||
QXCH QRUPT
|
||||
|
||||
CAF 2SATSTCK # SET UP RUPT
|
||||
TS T5LOC # LO ORDER LOC SET
|
||||
CAF 100MST5 # 100 MSECS
|
||||
TS TIME5
|
||||
CAF STIKBITS
|
||||
EXTEND
|
||||
RXOR CHAN31 # CHECK IF MAN ROT BITS SAME
|
||||
MASK STIKBITS
|
||||
TC IBNKCALL # SET RATE INDICES
|
||||
CADR STICKCHK # FOR PITCH YAW AND ROLL
|
||||
|
||||
INDEX RMANNDX # SET SATURN RATES
|
||||
CA SATRATE
|
||||
TS AK # ROLL
|
||||
INDEX PMANNDX
|
||||
CA SATRATE
|
||||
TS AK1 # PITCH
|
||||
INDEX YMANNDX
|
||||
CA SATRATE
|
||||
TS AK2 # YAW
|
||||
|
||||
TC IBNKCALL # FOR SATURN INTERFACE AND FDAI DISPLAY
|
||||
CADR NEEDLER
|
||||
TCF RESUME # END OF SATURN STICK CONTROL
|
||||
|
||||
STIKBITS OCT 00077
|
||||
100MST5 DEC 16374
|
||||
EBANK= BODY3
|
||||
2SATSTCK 2CADR SATSTICK
|
||||
Reference in New Issue
Block a user