# Copyright:	Public domain.
# Filename:	IMU_COMPENSATION_PACKAGE.agc
# Purpose:	Part of the source code for Colossus 2A, AKA Comanche 055.
#		It is part of the source code for the Command Module's (CM)
#		Apollo Guidance Computer (AGC), for Apollo 11.
# Assembler:	yaYUL
# Contact:	Ron Burkey <info@sandroid.org>.
# Website:	www.ibiblio.org/apollo.
# Pages:	297-306
# Mod history:	2009-05-08 RSB	Adapted from the Colossus249/ file of the
#				same name, using Comanche055 page images/
#		2009-05-21 RSB	In IRIGZ, PRIO17 corrected to PRIO21.
#
# 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 055 of AGC program Comanche by NASA
#	2021113-051.  10:28 APR. 1, 1969  
#
#	This AGC program shall also be referred to as
#			Colossus 2A

# Page 297
		BANK	7
		SETLOC	IMUCOMP
		BANK	
		EBANK=	NBDX
		
		COUNT	06/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
		
		INHINT			# ASSURE COMPLETE COMPENSATION OF DELV'S
					# FOR DOWNLINK.
		
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	
		DAS	DELVX		# (PIPAI) + (PIPAI)(SF)
		
		INDEX	BUF +2
		CS	PIPABIAS	# (PIPA PULSES)/(CS) X 2(-8)			*
		EXTEND
		MP	1/PIPADT	# (CS) X 2(+8) NOW (PIPA PULSES) X 2(+0)	*
		EXTEND
		MP	BIT1		# SCALE 2(+14) SHIFT RIGHT 14			*
		INDEX	BUF +2
		DAS	DELVX		# (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
		
		CCS	BUF +2		# PIPAZ, PIPAY, PIPAX
# Page 298
		AD	NEG1
		TCF	1/PIPA1 +1
		NOOP			# LESS THAN ZERO IMPOSSIBLE
		RELINT
# Page 299

IRIGCOMP	TS	GCOMPSW		# INDICATE COMMANDS 2 PULSES OR LESS.
		TS	BUF		# INDEX COUNTER.  IRIGX, IRIGY, IRIGZ.
		
IRIGX		EXTEND	
		DCS	DELVX		# (PIPA PULSES) X 2(+14)
		DXCH	MPAC
		CA	ADIAX		# (GYRO PULSES)/(PIPA PULSE) X 2(-3)		*
		TC	GCOMPSUB	# -(ADIAX)(PIPAX)	(GYRO PULSES) X 2(+14)
		
		EXTEND			# 
		DCS	DELVY		# 	(PIPA PULSES) X 2(+14)
		DXCH	MPAC		# 
		CS	ADSRAX		# 	(GYRO PULSES)/(PIPA PULSE) X 2(-3)	*
		TC	GCOMPSUB	# 	-(ADSRAX)(PIPAY)	(GYRO PULSES) X 2(+14)

#		EXTEND			# ***
#		DCS	DELVY		# ***	(PIPA PULSES) X 2(+14)
#		DXCH	MPAC		# ***
#		CA	ADOAX		# ***	(GYRO PULSES)/(PIPA PULSE) X 2(-3)	*
#		TC	GCOMPSUB	# ***	-(ADOAX)(PIPAZ)		(GYRO PULSES) X 2(+14)

		CS	NBDX		# 	(GYRO PULSES)/(CS) X 2(-3)
		TC	DRIFTSUB	#	-(NBDX)(DELTAT)	(GYRO PULSES) X 2(+14)

IRIGY		EXTEND
		DCS	DELVY		# (PIPA PULSES) X 2(+14)
		DXCH	MPAC
		CA	ADIAY		# (GYRO PULSES)/(PIPA PULSE) X 2(-3)		*
		TC	GCOMPSUB	# -(ADIAY)(PIPAY)	(GYRO PULSES) X 2(+14)

		EXTEND
		DCS	DELVZ		# (PIPA PULSES) X 2(+14)
		DXCH	MPAC
		CS	ADSRAY		# (GYRO PULSES)/(PIPA PULSE) X 2(-3)		*
		TC	GCOMPSUB	# +(ADSRAY)(PIPAZ)	(GYRO PULSES) X 2(+14)

#		EXTEND			# ***
#		DCS	DELVX		# ***	(PIPA PULSES) X 2(+14)
#		DXCH	MPAC		# ***
#		CA	ADOAY		# ***	(GYRO PULSES)/(PIPA PULS) X 2(-3)	*
#		TC	GCOMPSUB	# ***	-(ADOAY)(/PIPAX)	(GYRO PULSES) X 2(+14)

		CS	NBDY		# 	(GYRO PULSES)/(CS) X 2(-5)
		TC	DRIFTSUB	#	-(NBDY)(DELTAT)	(GYRO PULSES) X 2(+14)

IRIGZ		EXTEND
		DCS	DELVY		# (PIPA PULSES) X 2(-14)
		DXCH	MPAC
		CA	ADSRAZ		# (GYRO PULSES)/(PIPA PULSE) X 2(-3)		*
# Page 300
		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(-3)		*
		TC	GCOMPSUB	# -(ADIAZ)(PIPAZ)	(GYRO PULSES) X 2(+14)
		
#		EXTEND			# ***
#		DCS	DELVX		# ***	(PIPA PULSE) X 2(+14)
#		DXCH	MPAC		# ***
#		CS	ADOAZ		# ***	(GYRO PULSES)/(PIPA PULSE) X 2(-3)	*
#		TC	GCOMPSUB	# ***	+(ADOAZ)(PIPAX)	(GYRO PULSES) X 2(+14)

		CA	NBDZ		#	(GYRO PULSES)/(CS) X 2(-5)
		TC	DRIFTSUB	#	+(NBDZ)(DELTAT)	(GYRO PULSES) X 2(+14)

# Page 301
		CCS	GCOMPSW		# ARE GYRO COMMANDS GREATER THAN 2 PULSES
		TCF	+2		# YES	
		TCF	IRIG1		# NO	
		
		CA	PRIO21		# HIGHER THAN SERVICER -- LESS THAN PRELAUNCH
		TC	NOVAC	
		EBANK=	NBDX
		2CADR	1/GYRO
		
		RELINT
IRIG1		CA	MODE		# SET EBANK FOR RETURN
		TS	EBANK
		TCF	SWRETURN

GCOMPSUB	XCH	MPAC		# ADIA OR ADSRA COEFFICIENT ARRIVES IN A
		EXTEND			# C(MPAC) = (PIPA PULSES) X 2(+14)
		MP	MPAC		# (GYRO PULSES)/(PIPA PULSE) X 2(-3)		*
		DXCH	VBUF		# NOW = (GYRO PULSES) X 2(+11)			*

		CA	MPAC +1		# MINOR PART OF PIPA PULSES
		EXTEND
		MP	MPAC		# ADIA OR ADSRA
		TS	L
		CAF	ZERO
		DAS	VBUF		# NOW = (GYRO PULSES) X 2(+11)			*

		CA	VBUF		# PARTIAL RESULT -- MAJOR
		EXTEND
		MP	BIT12		# SCALE 2(+3)	SHIFT RIGHT 3			*
		INDEX	BUF		# RESULT = (GYRO PULSES) X 2(+14)
		DAS	GCOMP		# HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI)

		CA	VBUF +1		# PARTIAL RESULT -- MINOR
		EXTEND
		MP	BIT12		# SCALE 2(+3)	SHIFT RIGHT 3			*
		TS	L
		CAF	ZERO
		INDEX	BUF		# RESULT = (GYRO PULSES) X 2(+14)
		DAS	GCOMP		# (ADIA)(PIPAI) OR (ADSRA)(PIPAI)

		TC	Q

# Page 302
DRIFTSUB	EXTEND
		QXCH	BUF +1

		EXTEND			# C(A) = NBD	(GYRO PULSES)/(CS) X 2(-5)
		MP	1/PIPADT	# (CS) X 2(+8)	NO (GYRO PULSES) X 2(+3)
		LXCH	MPAC +1		# SAVE FOR FRACTIONAL COMPENSATION
		EXTEND
		MP	BIT4		# SCALE 2(+11)	SHIFT RIGHT 11
		INDEX	BUF
		DAS	GCOMP		# HI(NBD)(DELTAT)	(GYRO PULSES) X 2(+14)
		
		CA	MPAC +1		# NOW MINOR PART
		EXTEND
		MP	BIT4		# SCALE 2(+11)		SHIFT RIGHT 11
		TS	L
		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
		INDEX	A
		CCS	GCOMP		# ARE GYRO COMMANDS 1 PULSE OR GREATER
		TCF	+2		# YES
		TC	BUF +1		# NO
		
		MASK	NEGONE
		CCS	A		# ARE GYRO COMMANDS GREATER THAN 2 PULSES
		TS	GCOMPSW		# YES -- SET GCOMPSW POSITIVE
		TC	BUF +1		# NO
		
# Page 303
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
		EXTEND
		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
LGCOMP		ECADR	GCOMP		# LESS THAN ZERO IMPOSSIBLE

		CAF	LGCOMP
		TC	BANKCALL
		CADR	IMUPULSE	# CALL GYRO TORQUING ROUTINE
		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
		
V06N30S		VN	0630
		TCF	ENDOFJOB

# Page 304		
NBDONLY		CCS	GCOMPSW		# BYPASS IF GCOMPSW NEGATIVE
		TCF	+3
		TCF	+2
		TCF	ENDOFJOB

		INHINT
		CCS	FLAGWRD2	# PREREAD T3RUPT MAY COINCIDE
		TCF	ENDOFJOB
		TCF	ENDOFJOB
		TCF	+1
		
		CA	TIME1		# (CS) X 2(+14)
		XCH	1/PIPADT	# PREVIOUS TIME
		RELINT
		COM
		AD	1/PIPADT
NBD2		CCS	A		# CALCULATE ELAPSED TIME.
		AD	ONE		# NO TIME1 OVERFLOW
		TCF	NBD3		# RESTORE TIME DIFFERENCE AND JUMP
		TCF	+2		# TIME1 OVERFLOW
		TCF	ENDOFJOB	# IF ELAPSED TIME = 0 (DIFFERENCE = -0)
		
		COM			# CALCULATE ABSOLUTE DIFFERENCE
		AD	POSMAX

NBD3		EXTEND			# C(A) = DELTAT		(CS) X 2(+14)
		MP	BIT10		# SHIFT RIGHT 5
		DXCH	VBUF 
		EXTEND
		DCA	VBUF
		DXCH	MPAC		# DELTAT NOW SCALED (CS) X 2(+19)
		
		CAF	ZERO
		TS	GCOMPSW		# INDICATE COMMANDS 2 PULSES OR LESS.
		TS	BUF		# INDEX X, Y, Z.
		
		CS	NBDX		# (GYRO PULSES)/(CS) X 2(-5)
		TC	FBIASSUB	# -(NBOX)(DELTAT) 	(GYRO PULSES) X 2(+14)
		
		EXTEND
		DCS	VBUF 
		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)
		
		EXTEND
		DCS	VBUF 
		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)
# Page 305		
		CCS	GCOMPSW		# ARE GYRO COMMANDS GREATER THAN 2 PULSES
		TCF	1/GYRO		# YES
		TCF	ENDOFJOB	# NO

# Page 306
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		# NO FRACTIONAL PART
		EXTEND
		MP	MPAC +1
		TS	L
		CAF	ZERO
		INDEX	BUF
		DAS	GCOMP		# (NBD)(DELTAT)		(GYRO PULSES) X 2(+14)
		
		TCF	DRFTSUB2	# CHECK MAGNITUDE OF COMPENSATION
		
LASTBIAS	TC	BANKCALL
		CADR	PIPUSE
		
		CCS	GCOMPSW		# BYPASS IF GCOMPSW NEGATIVE
		TCF	+3
		TCF	+2
		TCF	ENDOFJOB
		
		CAF	PRIO31		# 2 SECONDS SCALED (CS) X 2(+8)
		XCH	1/PIPADT
		COM
		AD	PIPTIME1 +1	# TIME AT PIPA1 =0
		TCF	NBD2
		
