missing Luminary099 files retrieved from virtualagc at https://github.com/rburkey2005/virtualagc/tree/master/Luminary099
This commit is contained in:
Gary Young
229
Luminary099/KALCMANU_STEERING.agc
Normal file
229
Luminary099/KALCMANU_STEERING.agc
Normal file
@ -0,0 +1,229 @@
|
||||
# Copyright: Public domain.
|
||||
# Filename: KALCMANU_STEERING.agc
|
||||
# Purpose: Part of the source code for Luminary 1A build 099.
|
||||
# It is part of the source code for the Lunar Module's (LM)
|
||||
# Apollo Guidance Computer (AGC), for Apollo 11.
|
||||
# Assembler: yaYUL
|
||||
# Contact: Ron Burkey <info@sandroid.org>.
|
||||
# Website: www.ibiblio.org/apollo.
|
||||
# Pages: 365-369
|
||||
# Mod history: 2009-05-17 RSB Adapted from the corresponding
|
||||
# Luminary131 file, using page
|
||||
# images from Luminary 1A.
|
||||
# 2011-01-06 JL Added missing comment characters.
|
||||
#
|
||||
# This source code has been transcribed or otherwise adapted from
|
||||
# digitized images of a hardcopy from the MIT Museum. The digitization
|
||||
# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
|
||||
# the Museum. Many 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 (much) higher-quality images which Paul
|
||||
# actually created.
|
||||
#
|
||||
# Notations on the hardcopy document read, in part:
|
||||
#
|
||||
# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
|
||||
# 16:27 JULY 14, 1969
|
||||
|
||||
# Page 365
|
||||
# GENERATION OF STEERING COMMANDS FOR DIGITAL AUTOPILOT FREE FALL MANEUVERS
|
||||
#
|
||||
# NEW COMMANDS WILL BE GENERATED EVERY ONE SECOND DURING THE MANEUVER
|
||||
|
||||
EBANK= TTEMP
|
||||
|
||||
NEWDELHI TC BANKCALL # CHECK FOR AUTO STABILIZATION
|
||||
CADR ISITAUTO # ONLY
|
||||
CCS A
|
||||
TCF NOGO -2
|
||||
NEWANGL TC INTPRET
|
||||
AXC,1 AXC,2
|
||||
MIS # COMPUTE THE NEW MATRIX FROM S/C TO
|
||||
KEL # STABLE MEMBER AXES
|
||||
CALL
|
||||
MXM3
|
||||
VLOAD STADR
|
||||
STOVL MIS +12D # CALCULATE NEW DESIRED CDU ANGLES
|
||||
STADR
|
||||
STOVL MIS +6D
|
||||
STADR
|
||||
STORE MIS
|
||||
AXC,1 CALL
|
||||
MIS
|
||||
DCMTOCDU # PICK UP THE NEW CDU ANGLES FROM MATRIX
|
||||
RTB
|
||||
V1STO2S
|
||||
STORE NCDU # NEW CDU ANGLES
|
||||
BONCLR EXIT
|
||||
CALCMAN2
|
||||
MANUSTAT # TO START MANEUVER
|
||||
CAF TWO # +0 OTHERWISE
|
||||
INCRDCDU TS SPNDX
|
||||
INDEX SPNDX
|
||||
CA BCDU # INITIAL CDU ANGLES
|
||||
EXTEND # OR PREVIOUS DESIRED CDU ANGLES
|
||||
INDEX SPNDX
|
||||
MSU NCDU
|
||||
EXTEND
|
||||
|
||||
# The following 2 lines seem to have no purpose at all.
|
||||
# I am removing them because they only serve to confuse
|
||||
# the assembler by getting in between EXTEND and MP.
|
||||
# --- RSB 2009.
|
||||
#SETLOC KALCMON1
|
||||
#BANK
|
||||
|
||||
MP DT/TAU
|
||||
CCS A # CONVERT TO 2'S COMPLEMENT
|
||||
AD ONE
|
||||
TCF +2
|
||||
COM
|
||||
INDEX SPNDX
|
||||
TS DELDCDU # ANGLE INCREMENTS TO BE ADDED TO
|
||||
INDEX SPNDX # CDUXD, CDUYD, CDUZD EVERY TENTH SECOND
|
||||
# Page 366
|
||||
CA NCDU # BY LEM DAP
|
||||
INDEX SPNDX
|
||||
XCH BCDU
|
||||
INDEX SPNDX
|
||||
TS CDUXD
|
||||
CCS SPNDX
|
||||
TCF INCRDCDU # LOOP FOR THREE AXES
|
||||
|
||||
RELINT
|
||||
|
||||
# COMPARE PRESENT TIME WTIH TIME TO TERMINATE MANEUVER
|
||||
|
||||
TMANUCHK TC TIMECHK
|
||||
TCF CONTMANU
|
||||
CAF ONE
|
||||
MANUSTAL INHINT # END MAJOR PART OF MANEUVER WITHIN 1 SEC
|
||||
TC WAITLIST # UNDER WAITLIST CALL TO MANUSTOP
|
||||
EBANK= TTEMP
|
||||
2CADR MANUSTOP
|
||||
|
||||
RELINT
|
||||
TCF ENDOFJOB
|
||||
|
||||
TIMECHK EXTEND
|
||||
DCS TIME2
|
||||
DXCH TTEMP
|
||||
EXTEND
|
||||
DCA TM
|
||||
DAS TTEMP
|
||||
CCS TTEMP
|
||||
TC Q
|
||||
TCF +2
|
||||
TCF 2NDRETRN
|
||||
CCS TTEMP +1
|
||||
TC Q
|
||||
TCF MANUOFF
|
||||
COM
|
||||
MANUOFF AD ONESEK +1
|
||||
EXTEND
|
||||
BZMF 2NDRETRN
|
||||
INCR Q
|
||||
2NDRETRN INCR Q
|
||||
TC Q
|
||||
|
||||
DT/TAU DEC .1
|
||||
|
||||
MANUSTAT EXIT # INITIALIZATION ROUTINE
|
||||
EXTEND # FOR AUTOMATIC MANEUVERS
|
||||
DCA TIME2
|
||||
# Page 367
|
||||
DAS TM # TM+TO MANEUVER COMPLETION TIME
|
||||
EXTEND
|
||||
DCS ONESEK
|
||||
DAS TM # (TM+TO)-1
|
||||
INHINT
|
||||
CAF TWO
|
||||
RATEBIAS TS KSPNDX
|
||||
DOUBLE
|
||||
TS KDPNDX
|
||||
INDEX A
|
||||
CA BRATE
|
||||
INDEX KSPNDX # STORE MANEUVER RATE IN
|
||||
TS OMEGAPD # OMEGAPD, OMEGAQD, OMEGARD
|
||||
EXTEND
|
||||
BZMF +2 # COMPUTE ATTITUDE ERROR
|
||||
COM # OFFSET = (WX)ABS(WX)/2AJX
|
||||
EXTEND # WHERE AJX= 2-JET ACCELERATION
|
||||
MP BIASCALE # = -1/16
|
||||
EXTEND
|
||||
INDEX KDPNDX
|
||||
MP BRATE
|
||||
EXTEND
|
||||
INDEX KSPNDX
|
||||
DV 1JACC # = AJX $ 90 DEG/SEC-SEC
|
||||
INDEX KSPNDX
|
||||
TS DELPEROR # $ 180 DEG
|
||||
CCS KSPNDX
|
||||
TCF RATEBIAS
|
||||
|
||||
CA TIME1
|
||||
AD ONESEK +1
|
||||
XCH NEXTIME
|
||||
TCF INCRDCDU -1
|
||||
|
||||
ONESEK DEC 0
|
||||
DEC 100
|
||||
|
||||
BIASCALE OCT 75777 # = -1/16
|
||||
|
||||
CONTMANU CS TIME1 # RESET FOR NEXT DCDU UPDATE
|
||||
AD NEXTIME
|
||||
CCS A
|
||||
AD ONE
|
||||
TCF MANUCALL
|
||||
AD NEGMAX
|
||||
COM
|
||||
MANUCALL INHINT # CALL FOR NEXT UPDATE VIA WAITLIST
|
||||
TC WAITLIST
|
||||
EBANK= TTEMP
|
||||
2CADR UPDTCALL
|
||||
# Page 368
|
||||
CAF ONESEK +1 # INCREMENT TIME FOR NEXT UPDATE
|
||||
ADS NEXTIME
|
||||
TCF ENDOFJOB
|
||||
|
||||
UPDTCALL CAF PRIO26 # SATELLITE PROGRAM TO CALL FOR UPDATE
|
||||
TC FINDVAC # OF STEERING COMMANDS
|
||||
EBANK= TTEMP
|
||||
2CADR NEWDELHI
|
||||
|
||||
TC TASKOVER
|
||||
|
||||
# Page 369
|
||||
# ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
|
||||
|
||||
MANUSTOP CAF ZERO # ZERO MANEUVER RATES
|
||||
TS DELDCDU2
|
||||
TS OMEGARD
|
||||
TS DELREROR
|
||||
TS DELDCDU1
|
||||
TS OMEGAQD
|
||||
TS DELQEROR
|
||||
CA CPSI # SET DESIRED GIMBAL ANGLES TO
|
||||
TS CDUZD # DESIRED FINAL GIMBAL ANGLES
|
||||
CA CTHETA
|
||||
TS CDUYD
|
||||
ENDROLL CA CPHI # NO FINAL YAW
|
||||
TS CDUXD
|
||||
CAF ZERO
|
||||
TS OMEGAPD # I.E., MANEUVER DID NOT GO THRU
|
||||
TS DELDCDU # GIMBAL LOCK ORIGINALLY
|
||||
TS DELPEROR
|
||||
GOODMANU CA ATTPRIO # RESTORE USERS PRIO
|
||||
TS NEWPRIO
|
||||
|
||||
CA ZERO # ZERO ATTCADR
|
||||
DXCH ATTCADR
|
||||
|
||||
TC SPVAC # RETURN TO USER
|
||||
|
||||
TC TASKOVER
|
||||
|
||||
|
||||
Reference in New Issue
Block a user