missing Luminary099 files retrieved from virtualagc at https://github.com/rburkey2005/virtualagc/tree/master/Luminary099
This commit is contained in:
Gary Young
391
Luminary099/PLANETARY_INERTIAL_ORIENTATION.agc
Normal file
391
Luminary099/PLANETARY_INERTIAL_ORIENTATION.agc
Normal file
@ -0,0 +1,391 @@
|
||||
# Copyright: Public domain.
|
||||
# Filename: PLANETARY_INERTIAL_ORIENTATION.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: Jim Lawton <jim.lawton@gmail.com>
|
||||
# Website: www.ibiblio.org/apollo.
|
||||
# Pages: 1140-1148
|
||||
# Mod history: 2009-05-28 JVL Updated from page images.
|
||||
#
|
||||
# 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 2021112-061
|
||||
# 16:27 JULY 14, 1969
|
||||
|
||||
# Page 1140
|
||||
# ***** RP-TO-R SUBROUTINE *****
|
||||
# SUBROUTINE TO CONVERT RP (VECTOR IN PLANETARY COORDINATE SYSTEM, EITHER
|
||||
# EARTH-FIXED OR MOON-FIXED) TO R (SAME VECTOR IN THE BASIC REF. SYSTEM)
|
||||
#
|
||||
# R = MT(T) * (RP + LP X RP) MT = M MATRIX TRANSPOSE
|
||||
#
|
||||
# CALLING SEQUENCE
|
||||
# L CALL
|
||||
# L+1 RP-TO-R
|
||||
#
|
||||
# SUBROUTINES USED
|
||||
# EARTHMX, MOONMX, EARTHL
|
||||
#
|
||||
# ITEMS AVAILABLE FROM LAUNCH DATA
|
||||
# 504LM = THE LIBRATION VECTOR L OF THE MOON AT TIME TIMSUBL, EXPRESSED
|
||||
# IN THE MOON-FIXED COORD. SYSTEM RADIANS B0
|
||||
#
|
||||
# ITEMS NECESSARY FOR SUBR. USED (SEE DESCRIPTION OF SUBR.)
|
||||
#
|
||||
# INPUT
|
||||
# MPAC = 0 FOR EARTH, NON-ZERO FOR MOON
|
||||
# 0-5D = RP VECTOR
|
||||
# 6-7D = TIME
|
||||
#
|
||||
# OUTPUT
|
||||
# MPAC = R VECTOR METERS B-29 FOR EARTH, B-27 FOR MOON
|
||||
|
||||
SETLOC PLANTIN1
|
||||
BANK
|
||||
|
||||
COUNT* $$/LUROT
|
||||
|
||||
RP-TO-R STQ BHIZ
|
||||
RPREXIT
|
||||
RPTORA
|
||||
CALL # COMPUTE M MATRIX FOR MOON
|
||||
MOONMX # LP=LM FOR MOON RADIANS B0
|
||||
VLOAD
|
||||
504LM
|
||||
RPTORB VXV VAD
|
||||
504RPR
|
||||
504RPR
|
||||
VXM GOTO
|
||||
MMATRIX # MPAC=R=MT(T)*(RP+LPXRP)
|
||||
RPRPXXXX # RESET PUSHLOC TO 0 BEFORE EXITING
|
||||
RPTORA CALL # EARTH COMPUTATIONS
|
||||
EARTHMX # M MATRIX B-1
|
||||
CALL
|
||||
EARTHL # L VECTOR RADIANS B0
|
||||
MXV VSL1 # LP=M(T)*L RAD B-0
|
||||
MMATRIX
|
||||
# Page 1141
|
||||
GOTO
|
||||
RPTORB
|
||||
SETLOC PLANTIN
|
||||
BANK
|
||||
COUNT* $$/LUROT
|
||||
|
||||
# Page 1142
|
||||
# ***** R-TO-RP SUBROUTINE *****
|
||||
# SUBROUTINE TO CONVERT R (VECTOR IN REFERENCE COORD. SYSTEM) TO RP
|
||||
# (VECTOR IN PLANETARY COORD SYSTEM) EITHER EARTH-FIXED OR MOON-FIXED
|
||||
#
|
||||
# RP = M(T) * (R - L X R)
|
||||
#
|
||||
# CALLING SEQUENCE
|
||||
# L CALL
|
||||
# L+1 R-TO-RP
|
||||
#
|
||||
# SUBROUTINES USED
|
||||
# EARTHMX, MOONMX, EARTHL
|
||||
#
|
||||
# INPUT
|
||||
# MPAC = 0 FOR EARTH, NON-ZERO FOR MOON
|
||||
# 0-5D = R VECTOR
|
||||
# 6-7D = TIME
|
||||
#
|
||||
# ITEMS AVAILABLE FROM LAUNCH DATA
|
||||
# 504LM = THE LIBRATION VECTOR L OF THE MOON AT TIME TIMSUBL, EXPRESSED
|
||||
# IN THE MOON-FIXED COORD. SYSTEM RADIANS B0
|
||||
#
|
||||
# ITEMS NECESSARY FOR SUBROUTINES USED (SEE DESCRIPTION OF SUBR.)
|
||||
#
|
||||
# OUTPUT
|
||||
# MPAC = RP VECTOR METERS B-29 FOR EARTH, B-27 FOR MOON
|
||||
|
||||
R-TO-RP STQ BHIZ
|
||||
RPREXIT
|
||||
RTORPA
|
||||
CALL
|
||||
MOONMX
|
||||
VLOAD VXM
|
||||
504LM # LP=LM
|
||||
MMATRIX
|
||||
VSL1 # L = MT(T)*LP RADIANS B0
|
||||
RTORPB VXV BVSU
|
||||
504RPR
|
||||
504RPR
|
||||
MXV # M(T)*(R-LXR) B-2
|
||||
MMATRIX
|
||||
RPRPXXXX VSL1 SETPD
|
||||
0D
|
||||
GOTO
|
||||
RPREXIT
|
||||
RTORPA CALL # EARTH COMPUTATIONS
|
||||
EARTHMX
|
||||
CALL
|
||||
EARTHL
|
||||
GOTO # MPAC=L=(-AX,-AY,0) RAD B-0
|
||||
RTORPB
|
||||
|
||||
# Page 1143
|
||||
# ***** MOONMX SUBROUTINE *****
|
||||
# SUBROUTINE TO COMPUTE THE TRANSFORMATION MATRIX M FOR THE MOON
|
||||
#
|
||||
# CALLING SEQUENCE
|
||||
# L CALL
|
||||
# L+1 MOONMX
|
||||
#
|
||||
# SUBROUTINES USED
|
||||
# NEWANGLE
|
||||
#
|
||||
# INPUT
|
||||
# 6-7D = TIME
|
||||
#
|
||||
# ITEMS AVAILABLE FROM LAUNCH DATA
|
||||
# BSUBO, BDOT
|
||||
# TIMSUBO, NODIO, NODDOT, FSUBO, FDOT
|
||||
# COSI = COS(I) B-1
|
||||
# SINI = SIN(I) B-1
|
||||
# I IS THE ANGLE BETWEEN THE MEAN LUNAR EQUATORIAL PLANE AND THE
|
||||
# PLANE OF THE ECLIPTIC (1 DEGREE 32.1 MINUTES)
|
||||
#
|
||||
# OUTPUT
|
||||
# MMATRIX = 3X3 M MATRIX B-1 (STORED IN VAC AREA)
|
||||
|
||||
MOONMX STQ SETPD
|
||||
EARTHMXX
|
||||
8D
|
||||
AXT,1 # B REQUIRES SL 0, SL 5 IN NEWANGLE
|
||||
5
|
||||
DLOAD PDDL # PD 10D 8-9D=BSUBO
|
||||
BSUBO # 10-11D=BDOT
|
||||
BDOT
|
||||
PUSH CALL # PD 12D
|
||||
NEWANGLE # EXIT WITH PD 8D AND MPAC= B REVS B0
|
||||
PUSH COS # PD 10D
|
||||
STODL COB # PD 8D COS(B) B-1
|
||||
SIN # SIN(B) B-1
|
||||
STODL SOB # SETUP INPUT FOR NEWANGLE
|
||||
FSUBO # 8-9D=FSUBO
|
||||
PDDL PUSH # PD 10D THEN 12D 10-11D=FDOT
|
||||
FDOT
|
||||
AXT,1 CALL # F REQUIRES SL 1, SL 6 IN NEWANGLE.
|
||||
4
|
||||
NEWANGLE # EXIT WITH PD 8D AND MPAC= F REVS B0
|
||||
STODL AVECTR +2 # SAVE F TEMP
|
||||
NODIO # 8-9D=NODIO
|
||||
PDDL PUSH # PD 10D THEN 12D 10-11D=NODDOT
|
||||
NODDOT # MPAC=T
|
||||
AXT,1 CALL # NODE REQUIRES SL 0, SL 5 IN NEWANGLE
|
||||
5
|
||||
NEWANGLE # EXIT WITH PD 8D AND MPAC= NODI REVS B0
|
||||
# Page 1144
|
||||
PUSH COS # PD 10D 8-9D= NODI REVS B0
|
||||
PUSH # PD 12D 10-11D= COS(NODI) B-1
|
||||
STORE AVECTR
|
||||
DMP SL1R
|
||||
COB # COS(NODI) B-1
|
||||
STODL BVECTR +2 # PD 10D 20-25D=AVECTR= COB*SIN(NODI)
|
||||
DMP SL1R # SOB*SIN(NODI)
|
||||
SOB
|
||||
STODL BVECTR +4 # PD 8D
|
||||
SIN PUSH # PD 10D -SIN(NODI) B-1
|
||||
DCOMP # 26-31D=BVECTR= COB*COS(NODI)
|
||||
STODL BVECTR # PD 8D SOB*COS(NODI)
|
||||
AVECTR +2 # MOVE F FROM TEMP LOC. TO 504F
|
||||
STODL 504F
|
||||
DMP SL1R
|
||||
COB
|
||||
GOTO
|
||||
MOONMXA
|
||||
|
||||
BANK 25
|
||||
SETLOC PLANTIN3
|
||||
BANK
|
||||
COUNT* $$/LUROT
|
||||
|
||||
MOONMXA STODL AVECTR +2
|
||||
SINNODI # 8-9D=SIN(NODI) B-1
|
||||
DMP SL1R
|
||||
SOB
|
||||
STODL AVECTR +4 # 0
|
||||
HI6ZEROS # 8-13D= CVECTR= -SOB B-1
|
||||
PDDL DCOMP # PD 10D COB
|
||||
SOB
|
||||
PDDL PDVL # PD 12D THEN PD 14D
|
||||
COB
|
||||
BVECTR
|
||||
VXSC PDVL # PD 20D BVECTR*SINI B-2
|
||||
SINI
|
||||
CVECTR
|
||||
VXSC VAD # PD 14D CVECTR*COSI B-2
|
||||
COSI
|
||||
VSL1
|
||||
STOVL MMATRIX +12D # PD 8D M2=BVECTR*SINI+CVECTR*COSI B-1
|
||||
VXSC PDVL # PD 14D
|
||||
SINI # CVECTR*SINI B-2
|
||||
BVECTR
|
||||
VXSC VSU # PD 8D BVECTR*COSI B-2
|
||||
COSI
|
||||
VSL1 PDDL # PD 14D
|
||||
504F # 8-13D=DVECTR=BVECTR*COSI-CVECTR*SINI B-1
|
||||
COS VXSC
|
||||
# Page 1145
|
||||
DVECTR
|
||||
PDDL SIN # PD 20D 14-19D= DVECTR*COSF B-2
|
||||
504F
|
||||
VXSC VSU # PD 14D AVECTR*SINF B-2
|
||||
AVECTR
|
||||
VSL1
|
||||
STODL MMATRIX +6 # M1= AVECTR*SINF-DVECTR*COSF B-1
|
||||
504F
|
||||
SIN VXSC # PD 8D
|
||||
PDDL COS # PD 14D 8-13D=DVECTR*SINF B-2
|
||||
504F
|
||||
VXSC VAD # PD 8D AVECTR*COSF B-2
|
||||
AVECTR
|
||||
VSL1 VCOMP
|
||||
STCALL MMATRIX # M0= -(AVECTR*COSF+DVECTR*SINF) B-1
|
||||
EARTHMXX
|
||||
|
||||
# COMPUTE X=X0+(XDOT)(T+T0)
|
||||
# 8-9D= X0 (REVS B-0), PUSHLOC SET AT 12D
|
||||
# 10-11D=XDOT (REVS/CSEC) SCALED B+23 FOR WEARTH,B+28 FOR NODDOT AND BDOT
|
||||
# AND B+27 FOR FDOT
|
||||
# X1=DIFFERENCE IN 23 AND SCALING OF XDOT, =0 FOR WEARTH, 5 FOR NDDOT AND
|
||||
# BDOT AND 4 FOR FDOT
|
||||
# 6-7D=T (CSEC B-28), TIMSUBO= (CSEC B-42 TRIPLE PREC.)
|
||||
|
||||
NEWANGLE DLOAD SR # ENTER PD 12D
|
||||
6D
|
||||
14D
|
||||
TAD TLOAD # CHANGE MODE TO TP
|
||||
TIMSUBO
|
||||
MPAC
|
||||
STODL TIMSUBM # T+T0 CSEC B-42
|
||||
TIMSUBM +1
|
||||
DMP # PD 10D MULT BY XDOT IN 10-11D
|
||||
SL* DAD # PD 8D ADD X0 IN 8-9D AFTER SHIFTING
|
||||
5,1 # SUCH THAT SCALING IS B-0
|
||||
PUSH SLOAD # PD 10D SAVE PARTIAL (X0+XDOT*T) IN 8-9D
|
||||
TIMSUBM
|
||||
SL DMP
|
||||
9D
|
||||
10D # XDOT
|
||||
SL* DAD # PD 8D SHIFT SUCH THAT THIS PART OF X
|
||||
10D,1 # IS SCALED REVS/CSEC B-0
|
||||
BOV # TURN OFF OVERFLOW IF SET BY SHIFT
|
||||
+1 # INSTRUCTION BEFORE EXITING.
|
||||
RVQ # MPAC=X= X0+(XDOT)(T+T0) REVS B0
|
||||
|
||||
# Page 1146
|
||||
# ***** EARTHMX SUBROUTINE *****
|
||||
# SUBROUTINE TO COMPUTE THE TRANSFORMATION MATRIX M FOR THE EARTH
|
||||
#
|
||||
# CALLING SEQUENCE
|
||||
# L CALL
|
||||
# L+1 EARTHMX
|
||||
#
|
||||
# SUBROUTINE USED
|
||||
# NEWANGLE
|
||||
#
|
||||
# INPUT
|
||||
# INPUT AVAILABLE FROM LAUNCH DATA AZO REVS B-0
|
||||
# TEPHEM CSEC B-42
|
||||
# 6-7D= TIME CSEC B-28
|
||||
#
|
||||
# OUTPUT
|
||||
# MMATRIX= 3X3 M MATRIX B-1 (STORED IN VAC AREA)
|
||||
|
||||
BANK 26
|
||||
SETLOC PLANTIN1
|
||||
BANK
|
||||
COUNT* $$/LUROT
|
||||
|
||||
EARTHMX STQ SETPD # SET 8-9D=AZO
|
||||
EARTHMXX
|
||||
8D # 10-11D=WEARTH
|
||||
AXT,1 # FOR SL 5, AND SL 10 IN NEWANGLE
|
||||
0
|
||||
DLOAD PDDL # LEAVING PD SET AT 12D FOR NEWANGLE
|
||||
AZO
|
||||
WEARTH
|
||||
PUSH CALL
|
||||
NEWANGLE
|
||||
SETPD PUSH # 18-19D=504AZ
|
||||
18D # COS(AZ) SIN(AZ) 0
|
||||
COS PDDL # 20-37D= MMATRIX= -SIN(AZ) COS(AZ) 0 B-1
|
||||
504AZ # 0 0 1
|
||||
SIN PDDL
|
||||
HI6ZEROS
|
||||
PDDL SIN
|
||||
504AZ
|
||||
DCOMP PDDL
|
||||
504AZ
|
||||
COS PDVL
|
||||
HI6ZEROS
|
||||
PDDL PUSH
|
||||
HIDPHALF
|
||||
GOTO
|
||||
EARTHMXX
|
||||
|
||||
# Page 1147
|
||||
# ***** EARTHL SUBROUTINE *****
|
||||
# SUBROUTINE TO COMPUTE L VECTOR FOR EARTH
|
||||
#
|
||||
# CALLING SEQUENCE
|
||||
# L CALL
|
||||
# L+1 EARTHL
|
||||
#
|
||||
# INPUT
|
||||
# AXO,AYO SET AT LAUNCH TIME WITH AYO IMMEDIATELY FOLLOWING AXO IN CORE
|
||||
#
|
||||
# OUTPUT
|
||||
# -AX
|
||||
# MPAC= -AY RADIANS B-0
|
||||
# 0
|
||||
|
||||
BANK 06
|
||||
SETLOC EARTHLOC
|
||||
BANK
|
||||
COUNT* $$/LUROT
|
||||
|
||||
EARTHL DLOAD DCOMP
|
||||
AXO
|
||||
STODL 504LPL
|
||||
-AYO
|
||||
STODL 504LPL +2
|
||||
LO6ZEROS
|
||||
STOVL 504LPL +4
|
||||
504LPL
|
||||
RVQ
|
||||
|
||||
# Page 1148
|
||||
# CONSTANTS AND ERASABLE ASSIGNMENTS
|
||||
|
||||
1B1 = DP1/2 # 1 SCALED B-1
|
||||
RPREXIT = S1 # R-TO-RP AND RP-TO-R SUBR EXIT
|
||||
EARTHMXX = S2 # EARTHMX, MOONMX SUBR. EXITS
|
||||
504RPR = 0D # 6 REGS R OR RP VECTOR
|
||||
SINNODI = 8D # 2 SIN(NODI)
|
||||
DVECTR = 8D # 6 D VECTOR MOON
|
||||
CVECTR = 8D # 6 C VECTR MOON
|
||||
504AZ = 18D # 2 AZ
|
||||
TIMSUBM = 14D # 3 TIME SUB M (MOON) T+T0 IN GETAZ
|
||||
504LPL = 14D # 6 L OR LP VECTOR
|
||||
AVECTR = 20D # 6 A VECTOR (MOON)
|
||||
BVECTR = 26D # 6 B VECTOR (MOON)
|
||||
MMATRIX = 20D # 18 M MATRIX
|
||||
COB = 32D # 2 COS(B) B-1
|
||||
SOB = 34D # 2 SIN(B) B-1
|
||||
504F = 6D # 2 F(MOON)
|
||||
|
||||
Reference in New Issue
Block a user