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This commit is contained in:
James Harris
2016-12-28 16:11:25 +00:00
parent 7c33b5996c
commit 4f3a1d4374
166 changed files with 5357 additions and 5357 deletions
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148
Comanche055/RCS-CSM_DIGITAL_AUTOPILOT.agc
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@ -16,13 +16,13 @@
# thanks to both. The images (with suitable reduction in storage size and
# consequent reduction in image quality as well) are available online at
# www.ibiblio.org/apollo. If for some reason you find that the images are
# illegible, contact me at info@sandroid.org about getting access to the
# illegible, contact me at info@sandroid.org about getting access to the
# (much) higher-quality images which Paul actually created.
#
# Notations on the hardcopy document read, in part:
#
# Assemble revision 055 of AGC program Comanche by NASA
# 2021113-051. 10:28 APR. 1, 1969
# 2021113-051. 10:28 APR. 1, 1969
#
# This AGC program shall also be referred to as
# Colossus 2A
@ -35,9 +35,9 @@
BANK 20
SETLOC DAPS3
BANK
COUNT 21/DAPRC
EBANK= KMPAC
REDORCS LXCH BANKRUPT # RESTART OF AUTOPILOT COMES HERE
CA T5PHASE # ON A T5 RUPT
@ -62,7 +62,7 @@ RCSATT LXCH BANKRUPT # SAVE BB
EXTEND
BZF SETT5 # IF G/C AUTOPILOT IS FULLY ENABLED,
# GO TO SETT5
CS RCSFLAGS # IF G/C AUTOPILOT IS NOT FULLY ENABLED,
MASK BIT14
ADS RCSFLAGS # SET NORATE FLAG,
@ -78,13 +78,13 @@ RCSATT LXCH BANKRUPT # SAVE BB
EXTEND
# Page 1003
BZF SETT5 # IF IN FREE MODE, GO TO SETT5.
TS T5PHASE # IF NOT IN FREE MODE,
CAF OCT37766 # SCHEDULE REINITIALIZATION (FRESHDAP)
TS TIME5 # IN 100 MS VIA T5RUPT
TCR ZEROJET # ZERO JET CHANNELS IN 14 MS VIA ZEROJET
TCF KMATRIX
DELTATT OCT 37770 # 80MS (TIME5)
DELTATT2 OCT 37776 # 20MS (TIME5)
@ -95,7 +95,7 @@ PRIO34A = PRIO34
# CHECK PHASE OF T5 PROGRAM
#
# BECAUSE OF THE LENGTH OF THE T5 PROGRAM,IT HAS BEEN DIVIDED INTO
# BECAUSE OF THE LENGTH OF THE T5 PROGRAM,IT HAS BEEN DIVIDED INTO
# THREE PARTS, T5PHASE1, T5PHASE2, AND THE JET SELECTION LOGIC,
# TO ALLOW FOR THE EXECUTION OF OTHER
# INTERRUPTS. T5PHASE IS ALSO USED IN THE INITIALIZATION OF THE AUTOPILOT
@ -112,7 +112,7 @@ SETT5 CCS T5PHASE
TCF FRESHDAP # TURN ON AUTOPILOT
TCF T5PHASE2 # BRANCH TO PHASE2 OF PROGRAM
TCF REDAP # RESTART AUTOPILOT
TS T5PHASE # PHASE 1 RESET FOR PHASE 2
CA TIME5
TS T5TIME # USED IN COMPENSATING FOR DELAYS IN T5
@ -145,7 +145,7 @@ RATEFILT CA RCSFLAGS # SEE IF RATEFILTER HAS BEEN INITIALIZED
EXTEND # IF SO, PROCEED WITH RATE DERIVATION
BZF +2
TCF KMATRIX # IF NOT, SKIP RATE DERIVATION
# RATE FILTER TIMING = 7.72 MS
#
# RATE FILTER EQUATIONS
@ -183,7 +183,7 @@ DRHOLOOP TS SPNDX
DAS DRHO
CCS SPNDX
TCF DRHOLOOP
CA CDUX # MEASURED BODY RATES--
XCH RHO
EXTEND
@ -268,9 +268,9 @@ KMATRIX CA ATTSEC
TC NOVAC # MATRIX FROM GIMBAL AXES TO BODY AXES
EBANK= KMPAC
2CADR AMBGUPDT
CAF NINE
TENTHSEK TS ATTSEC
# Page 1007
@ -336,7 +336,7 @@ DELOOP TS SPNDX
DXCH CDUXD
CCS SPNDX
TCF DELOOP
# Page 1009
# RCS-CSM AUTOPILOT ATTITUDE ERROR DISPLAY
#
@ -373,7 +373,7 @@ DACNDLS CS RCSFLAGS # ALTERNATE BETWEEN FDAIDSP1 AND FDAIDSP2
MASK BIT4
EXTEND
BZF FDAIDSP2
FDAIDSP1 ADS RCSFLAGS
TC NEEDLER
KRESUME1 TCF RESUME # END PHASE 1
@ -445,7 +445,7 @@ NEEDLER CAF BIT4 # CHECK FOR COARSE ALIGN ENABLE
MASK BIT3
ADS RCSFLAGS
TC Q
NEEDLER1 CA RCSFLAGS
MASK SIX
EXTEND
@ -453,7 +453,7 @@ NEEDLER1 CA RCSFLAGS
MASK BIT3
EXTEND
BZF NEEDLER2 # BIT3 = 0, BIT2 = 1
CS BIT6 # FIRST PASS BIT3 = 1
EXTEND # DISABLE IMU ERROR COUNTER TO ZERO DACS
WAND CHAN12 # MUST WAIT AT LEAST 60 MS. BEFORE
@ -462,7 +462,7 @@ NEEDLE11 CS ZERO # ENABLING COUNTERS.
TS AK1
TS AK2
TS EDRIVEX # ZERO THE DISPLAY REGISTERS
TS EDRIVEY
TS EDRIVEY
TS EDRIVEZ
TS CDUXCMD # ZERO THE OUT COUNTERS
TS CDUYCMD
@ -472,7 +472,7 @@ NEEDLE11 CS ZERO # ENABLING COUNTERS.
AD BIT2
TS RCSFLAGS
TC Q # END PASS1
NEEDLER2 CAF BIT6 # ENABLE IMU ERROR COUNTERS
EXTEND
WOR CHAN12
@ -481,7 +481,7 @@ NEEDLER2 CAF BIT6 # ENABLE IMU ERROR COUNTERS
MASK RCSFLAGS # ERRORS WAIT AT LEAST 4 MS FOR
TS RCSFLAGS # RELAY CLOSURE
TC Q
NEEDLES3 CAF BIT6 # CHECK TO SEE IF IMU ERROR COUNTER
EXTEND # IS ENABLED
RAND CHAN12
@ -518,7 +518,7 @@ DACLOOP TS SPNDX
EXTEND
WOR CHAN14 # SET DAC ACTIVITY BITS
TC Q
REINIT CAF DELAY200 # ........TILT LOGIC
TS TIME5 # REINITIALIZE DAP IN 200MS
TS T5PHASE
@ -527,10 +527,10 @@ DELAY200 DEC 16364 # 200MS
DEC -384
# Page 1013
# Page 1013
DACLIMIT DEC 16000
DEC 384
# Page 1014
# INITIALIZATION PROGRAM FOR RCS-CSM AUTOPILOT
#
@ -549,13 +549,13 @@ DACLIMIT DEC 16000
FRESHDAP CAF ONE # RESET HOLDFLAG TO STOP AUTOMATIC
TS HOLDFLAG # STEERING AND PREPARE TO PICK UP AN
# ATTITUDE HOLD REFERENCE
REDAP TC IBNKCALL # DECODE DAPDATR1, DAPDATR2 FOR DEADBANDS
CADR S41.2 # RATES, QUADFAILS, QUAD MANAGEMENT
TC IBNKCALL # DECODE IXX, IAVG, AND CONVERT
CADR S40.14 # TO AUTOPILOT GAINS
CAF NO.T5VAR # NO. LOCATIONS TO BE ZEROED MINUS ONE
ZEROT5 TS SPNDX # ZERO ALL NECESSARY ERASABLE REGISTERS
CAF ZERO
@ -564,23 +564,23 @@ ZEROT5 TS SPNDX # ZERO ALL NECESSARY ERASABLE REGISTERS
CCS SPNDX
TCF ZEROT5
TCR ZEROJET
CS ZERO
TS CHANTEMP # INITIALIZE MINIMUM IMPULSE CONTROL
TS CH31TEMP # INITIALIZE RHC POSITION MEMORY FOR
# MANUAL RATE MODES
CAF =.24
TS SLOPE # INITIALIZE SWITCHING LOGIC SLOPE
CAF FOUR
TS T5TIME # PHASE 0 RESETS FOR PHASE 2 INTERRUPT IN
# 60 MS. PHASE 2 RESETS FOR PHASE 1 RUPT
# IN (80MS - T5TIME(40MS)). THEREFORE
# PHASE 1 (RATEFILTER) BEGINS CYCLING 100
# MS FROM NOW AND EVERY 100MS THEREAFTER.
CAF ELEVEN
TS ATTKALMN # RESET TO PICK UP KALMAN FILTER TAINS
# TO INITIALIZE THE S/C ANGULAR RATES
@ -593,7 +593,7 @@ ZEROT5 TS SPNDX # ZERO ALL NECESSARY ERASABLE REGISTERS
TS RHO2
CAF ZERO # RESET AUTOPILOT TO BEGIN EXECUTING
TS T5PHASE # PHASE2 OF PROGRAM
CS IMODES33 # CHECK IMU STATUS
MASK BIT6 # IF BIT6 = 0 IMU IN FINE ALIGN
CCS A # IF BIT6 = 1 IMU NOT READY
@ -602,12 +602,12 @@ ZEROT5 TS SPNDX # ZERO ALL NECESSARY ERASABLE REGISTERS
CAF RCSINITB # PROVIDE FREE CONTROL ONLY
TCF RCSSWIT # DON'T START UP RATE FILTER
# SIGNAL NO RATE FILTER
IMUAOK CAF PRIO34 # START MATRIX INITIALIZATION
TC NOVAC # BYPASS IF IMU NOT IN FINE ALIGN
EBANK= KMPAC
2CADR AMBGUPDT
CAF RCSINIT # CLEAR BIT14 --ASSUME WE HAVE A GOOD IMU
RCSSWIT TS RCSFLAGS # CLEAR BIT1 --INITIALIZE T6 PROGRAM
# SET BIT3 --INITIALIZE NEEDLES
@ -619,7 +619,7 @@ RCSSWIT TS RCSFLAGS # CLEAR BIT1 --INITIALIZE T6 PROGRAM
TC RESUME # PICK UP THE KALMAN FILTER GAINS. RATE
# FILTER WILL BEGIN OPERATING ZOOMS FROM
# NOW
# CONSTANTS USED IN INITIALIZATION PROGRAM
NO.T5VAR DEC 36
@ -633,22 +633,22 @@ T6ADDR 2CADR T6START
ZEROJET CAF ELEVEN # ZERO BLAST2, BLAST1, BLAST, YWORD2,
TS SPNDX # YWORD1, PWORD2, PWORD1, RWORD2,
CAF ZERO # AND RWORD1
# Page 1016
INDEX SPNDX
TS RWORD1
CCS SPNDX
TCF ZEROJET +1
CAF FOUR
TS BLAST1 +1
CAF ELEVEN
TS BLAST2 +1
CS BIT1
MASK RCSFLAGS
TS RCSFLAGS # RESET BIT1 OF RCSFLAGS TO 0
EXTEND
DCA T6ADDR
DXCH T6LOC
@ -657,18 +657,18 @@ ZEROJET CAF ELEVEN # ZERO BLAST2, BLAST1, BLAST, YWORD2,
CAF BIT15
EXTEND
WOR CHAN13
TC Q
T5PHASE2 CCS ATTKALMN # IF (+) INITIALIZE RATE ESTIMATE
TCF KALUPDT
TCF +2 # ONLY IF ATTKALMN POSITIVE
TCF +1
CA DELTATT2 # RESET FOR PHASE3 IN 20 MS
XCH TIME5 # (JET SELECTION LOGIC)
ADS T5TIME # TO COMPENSATE FOR DELAYS IN T5RUPT
CA RCSFLAGS # IF A HIGH RATE AUTO MANEUVER IS IN
MASK BIT15 # PROGRESS (BIT 15 OF RCSFLAGS SET), SET
EXTEND # ATTKALMN TO -1
@ -682,7 +682,7 @@ NOHIAUTO TS ATTKALMN
CS OCT01760 # RESET FORCED FIRING BITS (BITS 10 TO 5
MASK RCSFLAGS # OF RCSFLAGS) TO ZERO
TS RCSFLAGS
EXTEND
READ CHAN31
TS L
@ -692,10 +692,10 @@ NOHIAUTO TS ATTKALMN
MASK MANROT # = OCT00077
EXTEND
BZMF NOCHANGE
LXCH A
TS CH31TEMP # SAVE CONTENTS OF CHANNEL 31 IN CH31TEMP
CA L
EXTEND
MP BIT5 # PUT BITS 6-1 OF A IN BITS 10-5 OF L
@ -704,18 +704,18 @@ NOHIAUTO TS ATTKALMN
# CHANGES IN COMMAND. BITS 10,9 FOR
# ROLL, BITS 8,7 FOR YAW, BITS 6,5 FOR
# PITCH
CS RCSFLAGS # SET RATE DAMPING FLAGS (BITS 13,12, AND
MASK OCT16000 # 11 OF RCSFLAGS)
ADS RCSFLAGS
NOCHANGE CS CH31TEMP
MASK MANROT
EXTEND
BZMF AHFNOROT # IF NO MANUAL COMMANDS, GO TO AHFNOROT
TS HOLDFLAG # SET HOLDFLAG +
TC STICKCHK # WHEN THE RHC IS OUT OF DETENT, PMANNDX,
# YMANNDX, AND RMANNDX ARE ALL SET, BY
# MEANS OF STICKCHK, TO 0, 1, OR 2 FOR NO,
@ -730,29 +730,29 @@ NOCHANGE CS CH31TEMP
# LEFT SET TO THEIR LAST OUT OF DETENT
# Page 1018
# VALUES.
CS FLAGWRD1 # SET STIKFLAG TO INFORM STEERING
MASK BIT14 # PROGRAMS (P20) THAT ASTRONAUT HAS
ADS FLAGWRD1 # ASSUMED ROTATIONAL CONTROL OF SPACECRAFT
CAF BIT14
EXTEND
RAND CHAN31
EXTEND
BZMF FREEFUNC
CA RCSFLAGS # EXAMINE RCSFLAGS TO SEE IF RATE FILTER
MASK BIT14 # HAS BEEN INITIALIZED
CCS A # IF SO, PROCEED WITH MANUAL RATE COMMANDS
TCF REINIT # .....TILT, RECYCLE TO INITIALIZE FILTER
CS FIVE # IF MANUAL MANEUVER IS AT HIGH RTE, SET
AD RATEINDX # ATTKALMN TO -1.
EXTEND # OTHERWISE, LEAVE ATTKALMN ALONE.
BZMF +3
CS ONE
TS ATTKALMN
CAF TWO # AUTO-HOLD MANUAL ROTATION
SETWBODY TS SPNDX
DOUBLE
@ -762,7 +762,7 @@ SETWBODY TS SPNDX
EXTEND # = 2 - ROTATION
BZF NORATE # IF NO ROTATION COMMAND ON THIS AXIS,
# GO TO NORATE.
AD RATEINDX # RATEINDX = 0 0.05 DEG/SEC
TS Q # = 2 0.2 DEG/SEC
INDEX Q # = 4 0.5 DEG/SEC
@ -771,7 +771,7 @@ SETWBODY TS SPNDX
MP BIT9 # MULTIPLY MANTABLE BY 2 TO THE -6
INDEX DPNDX # TO GET COMMANDED RATE.
DXCH WBODY # SET WBODY TO COMMANDED RATE.
CA RCSFLAGS
MASK OCT16000 # IS RATE DAMPING COMPLETED (BITS 13,12 AND
EXTEND # 11 OF RCSFLAGS ALL ZERO.) IF SO, GO TO
@ -784,7 +784,7 @@ ZEROER CA ZERO # ZEROER ZEROS MERRORS
INDEX DPNDX
DXCH MERRORX
TCF SPNDXCHK
NORATE ZL
INDEX DPNDX
DXCH WBODY # ZERO WBODY FOR THIS AXIS
@ -793,14 +793,14 @@ NORATE ZL
EXTEND # IS RATE DAMPING COMPLETED
BZF SPNDXCHK # YES, KEEP CURRENT MERRORX GO TO SPNDXCHK
TCF ZEROER # NO, GO TO ZEROER
MERUPDAT INDEX Q # MERRORX=MERRORX+MEASURED CHANGE IN ANGLE
CS MANTABLE -1 # -COMMANDED CHANGE IN ANGLE
EXTEND # THE ADDITION OF MEASURED CHANGE IN ANGLE
MP BIT7 # HAS ALREADY BEEN DONE IN THE RATE FILTER
INDEX DPNDX # COMMANDED CHANGE IN ANGLE = WBODY TIMES
DAS MERRORX # .1SEC = MANTABLE ENTRY TIMES 2 TO THE -8
SPNDXCHK INDEX DPNDX
CA MERRORX
INDEX SPNDX
@ -808,7 +808,7 @@ SPNDXCHK INDEX DPNDX
CCS SPNDX
TCF SETWBODY
TCF JETS
OCT01760 OCT 01760 # FORCED FIRING BITS MASK
OCT01400 OCT 01400 # ROLL FORCED FIRING MASK ORDER OF
@ -838,18 +838,18 @@ FREEFUNC INDEX RMANNDX # ACCELERATION
CA FREETAU # (+3) 0 SEC
TS TAU2
TCF T6PROGM
FREETAU DEC 0
DEC 480
DEC -480
DEC 0
T6PROGM CAF ZERO # FOR MANUAL ROTATIONS
TS ERRORX
TS ERRORY
TS ERRORZ
TCF T6PROG
# Page 1021
DEC .2112 # FILTER GAIN FOR TRANSLATION, LEM ON
DEC .8400 # FILTER GAIN FOR TRANSLATION 2(ZETA)WN DT
@ -865,7 +865,7 @@ GAIN1 DEC .0640 # KALMAN FILTER GAINS FOR INITIALIZATION
DEC .6933
DEC .8151
DEC .9342
DEC .0174 # FILTER GAIN FOR TRANSLATION, LEM ON
DEC .3600 # FILTER GAIN FOR TRANSLATION (WN)(WN)DT
DEC .0174 # FILTER GAIN FOR 4 DEGREE/SEC MANEUVERS
@ -896,7 +896,7 @@ STICKCHK TS T5TEMP
TC Q
KALUPDT TS ATTKALMN # INITIALIZATION OF ATTITUDE RATES USING
# KALMAN FILTER TAKES 1.1 SEC
CA DELTATT # =1SEC - 80MS
AD T5TIME # + DELAYS
# Page 1022
@ -904,15 +904,15 @@ KALUPDT TS ATTKALMN # INITIALIZATION OF ATTITUDE RATES USING
TCF +3
CAF DELTATT2 # SAFETY PLAY TO ASSURE
TS TIME5 # A T5RUPT
KRESUME2 CS ZERO # RESET FOR PHASE1
TS T5PHASE # RESUME INTERRUPTED PROGRAM
TCF RESUME
FDAIDSP2 CS BIT4 # RESET FOR FDAIDSP1
MASK RCSFLAGS
TS RCSFLAGS
CS FLAGWRD0 # ON - DISPLAY ONE OF THE TOTAL ATTITUDE
MASK BIT9 # ERRORS
EXTEND
@ -923,7 +923,7 @@ FDAIDSP2 CS BIT4 # RESET FOR FDAIDSP1
CS ERRORZ
TS AK2
TCF RESUME # END PHASE 1
FDAITOTL CA FLAGWRD9
MASK BIT6
EXTEND
@ -933,7 +933,7 @@ WRTN22 EXTEND # OTHERWISE, CONTINUE ON TO WRTN22 AND
DCA CTHETA # GET SET TO COMPUTE TOTAL ATTITUDE
DXCH WTEMP # ERROR WRT N22 BY PICKING UP THE THREE
CA CPHI # COMPONENTS OF N22
GETAKS EXTEND # COMPUTE TOTAL ATTITUDE ERROR FOR
MSU CDUX # DISPLAY ON FDAI ERROR NEEDLES
TS AK
@ -965,12 +965,12 @@ GETAKS EXTEND # COMPUTE TOTAL ATTITUDE ERROR FOR
MP AMGB8
ADS AK2
TCF RESUME # END PHASE1 OF RCS DAP
WRTN17 EXTEND # GET SET TO COMPUTE TOTAL ASTRONAUT
DCA CPHIX +1 # ATTITUDE ERROR WRT N17 BY PICKING UP
DXCH WTEMP # THE THREE COMPONENTS OF N17
CA CPHIX
TCF GETAKS
# Page 1024 (empty page)