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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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124
Luminary099/IMU_COMPENSATION_PACKAGE.agc
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@@ -7,8 +7,8 @@
# Contact: Ron Burkey <info@sandroid.org>.
# Website: www.ibiblio.org/apollo.
# Pages: 326-337
# Mod history: 2009-05-16 RSB Adapted from the corresponding
# Luminary131 file, using page
# Mod history: 2009-05-16 RSB Adapted from the corresponding
# Luminary131 file, using page
# images from Luminary 1A.
# 2009-06-07 RSB Corrected a typo.
#
@@ -25,47 +25,47 @@
# Notations on the hardcopy document read, in part:
#
# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
# 16:27 JULY 14, 1969
# 16:27 JULY 14, 1969
# Page 326
BANK 7
SETLOC IMUCOMP
BANK
EBANK= NBDX
COUNT* $$/ICOMP
1/PIPA CAF LGCOMP # SAVE EBANK OF CALLING PROGRAM
XCH EBANK
TS MODE
CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
TCF +3
TCF +2
TCF IRIG1 # RETURN
1/PIPA1 CAF FOUR # PIPAZ, PIPAY, PIPAX
TS BUF +2
INDEX BUF +2
CA PIPASCF # (P.P.M.) X 2(-9)
EXTEND
INDEX BUF +2
MP DELVX # (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
TS Q # SAVE MAJOR PART
CA L # MINOR PART
EXTEND
MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
INDEX BUF +2
TS DELVX +1 # FRACTIONAL PIPA PULSES SCALED 2(+14)
CA Q # MAJOR PART
EXTEND
MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
INDEX BUF +2
INDEX BUF +2
DAS DELVX # (PIPAI) + (PIPAI)(SF)
INDEX BUF +2
CS PIPABIAS # (PIPA PULSES)/(CS) X 2(-5) * *
EXTEND
@@ -74,7 +74,7 @@
MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11 *
INDEX BUF +2
DAS DELVX # (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
CCS BUF +2 # PIPAZ, PIPAY, PIPAX
AD NEG1
TCF 1/PIPA1 +1
@@ -84,48 +84,48 @@
# Page 328
IRIGCOMP TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
TS BUF # INDEX COUNTER. IRIGX, IRIGY, IRIGZ.
TC IRIGX # COMPENSATE ACCELERATION TERMS
CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
TC DRIFTSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
TC IRIGY # COMPENSATE ACCELERATION TERMS
CS NBDY # (GYRO PULSES)/(CS) X 2(-5)
TC DRIFTSUB # +(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
TC IRIGZ # COMPENSATE ACCELERATION TERMS
CA NBDZ # (GYRO PULSES)/(CS) X 2(-5)
TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
TCF +2 # YES SEND OUT GYRO TORQUING COMMANDS.
TCF IRIG1 # NO RETURN
CA PRIO21 # PRIO GREATER THAN SERVICER.
TC NOVAC # SEND OUT GYRO TORQUING COMMANDS.
EBANK= NBDX
2CADR 1/GYRO
RELINT
IRIG1 CA MODE # RESTORE CALLER'S EBANK
TS EBANK
TCF SWRETURN
# Page 329
IRIGX EXTEND
IRIGX EXTEND
QXCH MPAC +2 # SAVE Q
EXTEND
DCS DELVX # (PIPA PULSES) X 2(+14)
DXCH MPAC
CA ADIAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
TC GCOMPSUB # -(ADIAX)(PIPAX) (GYRO PULSES) X 2(+14)
EXTEND #
EXTEND #
DCS DELVY # (PIPA PULSES) X 2(+14)
DXCH MPAC #
DXCH MPAC #
CS ADSRAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
TC GCOMPSUB # -(ADSRAX)(PIPAY) (GYRO PULSES) X 2(+14)
@@ -167,13 +167,13 @@ IRIGZ EXTEND
CA ADSRAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
# Page 330
TC GCOMPSUB # -(ADSRAZ)(PIPAY) (GYRO PULSES) X 2(+14)
EXTEND
DCS DELVZ # (PIPA PULSES) X 2(+14)
DXCH MPAC
CA ADIAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
TC GCOMPSUB # -(ADIAZ)(PIPAZ) (GYRO PULSES) X 2(+14)
# EXTEND # ***
# DCS DELVX # *** (PIPA PULSE) X 2(+14)
# DXCH MPAC # ***
@@ -222,7 +222,7 @@ DRIFTSUB EXTEND
MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
INDEX BUF
DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
CA MPAC +1 # NO MINOR PART
EXTEND
MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
@@ -230,7 +230,7 @@ DRIFTSUB EXTEND
CAF ZERO
INDEX BUF # ADD IN FRACTIONAL COMPENSATION
DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ
AD BUF
XCH BUF
@@ -238,23 +238,23 @@ DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ
CCS GCOMP # ARE GYRO COMMANDS 1 PULSE OR GREATER
TCF +2 # YES
TC BUF +1 # NO
MASK COMPCHK # DEC -1
CCS A # ARE GYRO COMMANDS GREATER THAN 2 PULSES
TS GCOMPSW # YES -- SET GCOMPSW POSITIVE
TC BUF +1 # NO
# Page 333
1/GYRO CAF FOUR # PIPAZ, PIPAY, PIPAX
TS BUF
INDEX BUF # SCALE GYRO COMMANDS FOR IMUPULSE
CA GCOMP +1 # FRACTIONAL PULSES
EXTEND
MP BIT8 # SHIFT RIGHT 7
INDEX BUF
TS GCOMP +1 # FRACTIONAL PULSES SCALED
CAF ZERO # SET GCOMP = 0 FOR DAS INSTRUCTION
INDEX BUF
XCH GCOMP # GYRO PULSES
@@ -262,7 +262,7 @@ DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ
MP BIT8 # SHIFT RIGHT 7
INDEX BUF
DAS GCOMP # ADD THESE TO FRACTIONAL PULSES ABOVE
CCS BUF # PIPAZ, PIPAY, PIPAX
AD NEG1
TCF 1/GYRO +1
@@ -274,23 +274,23 @@ LGCOMP ECADR GCOMP # LESS THAN ZERO IMPOSSIBLE
TC BANKCALL
CADR IMUSTALL # WAIT FOR PULSES TO GET OUT
TCF ENDOFJOB # TEMPORARY
GCOMP1 CAF FOUR # PIPAZ, PIPAY, PIPAX
TS BUF
INDEX BUF # RESCALE
CA GCOMP +1
EXTEND
MP BIT8 # SHIFT MINOR PART LEFT 7 -- MAJOR PART = 0
INDEX BUF
LXCH GCOMP +1 # BITS 8-14 OF MINOR PART WERE = 0
CCS BUF # PIPAZ, PIPAY, PIPAX
AD NEG1
TCF GCOMP1 +1
COMPCHK DEC -1 # LESS THAN ZERO IMPOSSIBLE
TCF ENDOFJOB
# Page 334
NBDONLY CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
TCF +3
@@ -302,16 +302,16 @@ NBDONLY CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
TCF ENDOFJOB
TCF ENDOFJOB
TCF +1
CA FLAGWRD8 # IF SURFACE FLAG IS SET, SET TEM1
MASK BIT8 # POSITIVE SO THAT THE ACCELERATION TERMS
TS TEM1 # WILL BE COMPENSATED.
EXTEND
BZF +3 # ARE WE ON THE SURFACE
TC IBNKCALL # ON THE SURFACE
CADR PIPASR +3 # READ PIPAS, BUT DO NOT SCALE THEM
CA TIME1 # (CS) X 2(+14)
XCH 1/PIPADT # PREVIOUS TIME
RELINT
@@ -321,25 +321,25 @@ NBD2 AD HALF # CORRECT FOR POSSIBLE TIME1 TICK
AD HALF
XCH L # IF TIME1 DID NOT DICK, REMOVE RESULTING
XCH L # OVERFLOW.
NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14)
MP BIT10 # SHIFT RIGHT 5
DXCH VBUF +2
CA ZERO
TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
TS BUF # INDEX X, Y, Z.
CCS TEM1 # IF SURFACE FLAG IS SET,
TC IRIGX # COMPENSATE ACCELERATION TERMS.
EXTEND
DCA VBUF +2
DXCH MPAC # DELTAT NOW SCALED (CS) X 2(+19)
CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
TC FBIASSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
CCS TEM1 # IF SURFACE FLAG IS SET,
TC IRIGY # COMPENSATE ACCELERATION TERMS.
# Page 335
@@ -348,16 +348,16 @@ NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14)
DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
CA NBDY # (GYRO PULSES)/(CS) X 2(-5)
TC FBIASSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
CCS TEM1 # IF SURFACE FLAG IS SET,
TC IRIGZ # COMPENSATE ACCELERATION TERMS
EXTEND
DCS VBUF +2
DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
CS NBDZ # (GYRO PULSES)/(CS) X 2(-5)
TC FBIASSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
TCF 1/GYRO # YES
TCF ENDOFJOB # NO
@@ -365,13 +365,13 @@ NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14)
# Page 336
FBIASSUB XCH Q
TS BUF +1
CA Q # NBD SCALED (GYRO PULSES)/(CS) X 2(-5)
EXTEND
MP MPAC # DELTAT SCALED (CS) X 2(+19)
INDEX BUF
DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
CA Q # NOW FRACTIONAL PART
EXTEND
MP MPAC +1
@@ -379,17 +379,17 @@ FBIASSUB XCH Q
CAF ZERO
INDEX BUF
DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
TCF DRFTSUB2 # CHECK MAGNITUDE OF COMPENSATION
LASTBIAS TC BANKCALL
CADR PIPUSE1
CCS GCOMPSW
TCF +3
TCF +2
TCF ENDOFJOB
CA FLAGWRD8 # IF SURFACE FLAG IS SET, SET TEM1
MASK SURFFBIT # POSITIVE SO THAT THE ACCELERATION TERMS
TS TEM1 # WILL BE COMPENSATED.
@@ -399,11 +399,11 @@ LASTBIAS TC BANKCALL
COM
AD PIPTIME +1
TCF NBD2
GCOMPZER CAF LGCOMP # ROUTINE TO ZERO GCOMP BEFORE FIRST
XCH EBANK # CALL TO 1/PIPA
TS MODE
CAF ZERO
TS GCOMPSW
TS GCOMP
@@ -413,6 +413,6 @@ GCOMPZER CAF LGCOMP # ROUTINE TO ZERO GCOMP BEFORE FIRST
TS GCOMP +4
# Page 337
TS GCOMP +5
TCF IRIG1 # RESTORE EBANK AND RETURN