2016-07-07 08:47:26 +00:00
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# Copyright: Public domain.
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# Filename: LANDING_ANALOG_DISPLAYS.agc
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# Purpose: Part of the source code for Luminary, build 099. It
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# is part of the source code for the Lunar Module's
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# (LM) Apollo Guidance Computer (AGC), Apollo 11.
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# Assembler: yaYUL
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# Reference: pp. 898-907
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# Contact: Ron Burkey <info@sandroid.org>,
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# Fabrizio Bernardini <fabrizio@spacecraft.it>
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# Website: http://www.ibiblio.org/apollo.
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# Mod history: 05/06/09 FB Transcription Batch 4 Assignment.
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#
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2016-12-28 16:11:25 +00:00
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# The contents of the "Luminary099" files, in general, are transcribed
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# from scanned documents.
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2016-07-07 08:47:26 +00:00
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#
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# Assemble revision 001 of AGC program Luminary099 by NASA
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2016-12-28 16:11:25 +00:00
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# 2021112-061. July 14, 1969.
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2016-07-07 08:47:26 +00:00
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#
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# Prepared by
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2016-07-11 12:35:15 +00:00
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# Massachusetts Institute of Technology
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2016-07-07 08:47:26 +00:00
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# 75 Cambridge Parkway
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# Cambridge, Massachusetts
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#
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# under NASA contract NAS 9-4065.
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#
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# Refer directly to the online document mentioned above for further
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# information. Please report any errors to info@sandroid.org.
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# Page 898
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BANK 21
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SETLOC R10
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BANK
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EBANK= UNIT/R/
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COUNT* $$/R10
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LANDISP LXCH PIPCTR1 # UPDATE TBASE2 AND PIPCTR SIMULTANEOUSLY.
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CS TIME1
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DXCH TBASE2
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CS FLAGWRD7 # IS LANDING ANALOG DISPLAYS FLAG SET?
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MASK SWANDBIT
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CCS A
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TCF DISPRSET # NO.
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CA IMODES33 # BIT 7 = 0 (DO ALTRATE), =1 (DO ALT.)
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MASK BIT7
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CCS A
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TCF ALTOUT
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ALTROUT TC DISINDAT # CHECK MODE SELECT SWITCH AND DIDFLG.
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CS IMODES33
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MASK BIT7
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ADS IMODES33 # ALTERNATE ALTITUDE RATE WITH ALTITUDE.
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CAF BIT2 # RATE COMMAND IS EXECUTED BEFORE RANGE.
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EXTEND
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WOR CHAN14 # ALTRATE (BIT2 = 1), ALTITUDE (BIT2 = 0).
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ARCOMP CA RUNIT # COMPUTE ALTRATE = RUNIT.VVECT M/CS *(-6).
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EXTEND
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MP VVECT # MULTIPLY X-COMPONENTS.
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XCH RUPTREG1 # SAVE SINGLE PRECISION RESULT M/CS*2(-6)
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CA RUNIT +1 # MULTIPLY Y-COMPONENTS.
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EXTEND
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MP VVECT +1
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ADS RUPTREG1 # ACCUMULATE PARTIAL PRODUCTS.
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CA RUNIT +2 # MULTIPLY Z-COMPONENTS.
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EXTEND
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MP VVECT +2
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ADS RUPTREG1 # ALTITUDE RATE IN M/CS *2(-6).
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CA ARCONV # CONVERT ALTRATE TO BIT UNITS (.5FPS/BIT)
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EXTEND
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MP RUPTREG1
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DDOUBL
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DDOUBL
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XCH RUPTREG1 # ALTITUDE RATE IN BIT UNITS*2(-14).
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CA DALTRATE # ALTITUDE RATE COMPENSATION FACTOR.
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EXTEND
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MP DT
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AD RUPTREG1
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TS ALTRATE # ALTITUDE RATE IN BIT UNITS*2(-14).
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CS ALTRATE
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# Page 899
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EXTEND # CHECK POLARITY OF ALTITUDE RATE.
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BZMF +2
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TCF DATAOUT # NEGATIVE -- SEND POS. PULSES TO ALTM REG.
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CA ALTRATE # POSITIVE OR ZERO -- SET SIGN BIT = 1 AND
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AD BIT15 # SEND TO ALTM REGISTER. *DO NOT SEND +0*
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DATAOUT TS ALTM # ACTIVATE THE LANDING ANALOG DISPLAYS
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CAF BIT3
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EXTEND
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WOR CHAN14 # BIT3 DRIVES THE ALT/ALTRATE METER.
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TCF TASKOVER # EXIT
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ALTOUT TC DISINDAT # CHECK MODE SELECT SWITCH AND DIDFLG.
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CS BIT7
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MASK IMODES33
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TS IMODES33 # ALTERNATE ALTITUDE RATE WITH ALTITUDE.
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CS BIT2
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EXTEND
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WAND CHAN14
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CCS ALTBITS # = -1 IF OLD ALT. DATA TO BE EXTRAPOLATED.
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TCF +4
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TCF +3
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TCF OLDDATA
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TS ALTBITS # SET ALTBITS FROM -0 TO +0.
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CS ONE
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DXCH ALTBITS # SET ALTBITS = -1 FOR SWITCH USE NEXT PASS.
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DXCH ALTSAVE
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CA BIT10 # NEW ALTITUDE EXTRAPOLATION WITH ALTRATE.
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XCH Q
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LXCH 7 # ZL
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CA DT
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EXTEND
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DV Q # RESCALE DT*2(-14) TO *2(-9) TIME IN CS.
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EXTEND
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MP ARTOA2 # .0021322 *2(+8)
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TCF OLDDATA +1 # RATE APPLIES FOR DT CS.
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ZDATA2 DXCH ALTSAVE
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TCF NEWDATA
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OLDDATA CA ARTOA # RATE APPLIES FOR .5 SEC. (4X/SEC. CYCLE)
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EXTEND
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MP ALTRATE # EXTRAPOLATE WITH ALTITUDE RATE.
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DDOUBL
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AD ALTSAVE +1
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TS ALTSAVE +1
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CAF ZERO
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ADS ALTSAVE
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CAF POSMAX # FORCE SIGN AGREEMENT ASSUMING A
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AD ONE # NON-NEGATIVE ALTSAVE.
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AD ALTSAVE +1 # IF ALTSAVE IS NEGATIVE, ZERO ALTSAVE
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TS ALTSAVE +1 # AND ALTSAVE +1 AT ZERODATA.
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# Page 900
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CAF ZERO
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AD POSMAX
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AD ALTSAVE
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TS ALTSAVE # POSSIBLY SKIP TO NEWDATA.
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TCF ZERODATA
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NEWDATA CCS ALTSAVE +1
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TCF +4
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TCF +3
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CAF ZERO # SET NEGATIVE ALTSAVE +1 TO +0.
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TS ALTSAVE +1
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CCS ALTSAVE # PROVIDE A 15 BIT UNSIGNED OUTPUT.
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CAF BIT15 # THE HI-ORDER PART IS +1 OR +0.
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AD ALTSAVE +1
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TCF DATAOUT # DISPATCH UNSIGNED BITS TO ALTM REG.
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DISINDAT EXTEND
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QXCH LADQSAVE # SAVE RETURN TO ALTROUT +1 OR ALTOUT +1
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CAF BIT6
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EXTEND # WISHETH THE ASTRONAUT THE ANALOG
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RAND CHAN30 # DISPLAYS? I.E.,
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CCS A # IS THE MODE SELECT SWITCH IN PGNCS?
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TCF DISPRSET # NO. ASTRONAUT REQUESTS NO INERTIAL DATA
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CS FLAGWRD1 # YES. CHECK STATUS OF DIDFLAG.
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MASK DIDFLBIT
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EXTEND
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BZF SPEEDRUN # SET. PERFORM DATA DISPLAY SEQUENCE.
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CS FLAGWRD1 # RESET. PERFORM INITIALIZATION FUNCTIONS.
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MASK DIDFLBIT
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ADS FLAGWRD1 # SET DIDFLAG.
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CS BIT7
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MASK IMODES33 # TO DISPLAY ALTRATE FIRST AND ALT. SECOND
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TS IMODES33
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CS FLAGWRD0 # ARE WE IN DESCENT TRAJECTORY?
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MASK R10FLBIT
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EXTEND
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BZF TASKOVER # NO
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CAF BIT8 # YES.
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EXTEND
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WOR CHAN12 # SET DISPLAY INERTIAL DATA OUTBIT.
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CAF ZERO
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TS TRAKLATV # LATERAL VELOCITY MONITOR FLAG
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TS TRAKFWDV # FORWARD VELOCITY MONITOR FLAG
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TS LATVMETR # LATVEL MONITOR METER
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TS FORVMETR # FORVEL MONITOR METER
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CAF BIT4
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TC TWIDDLE
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ADRES INTLZE
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TCF TASKOVER
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INTLZE CAF BIT2
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EXTEND
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WOR CHAN12 # ENABLE RR ERROR COUNTER.
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# Page 901
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CS IMODES33
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MASK BIT8
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ADS IMODES33 # SET INERTIAL DATA FLAG.
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TCF TASKOVER
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SPEEDRUN CS PIPTIME +1 # UPDATE THE VELOCITY VECTOR
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AD TIME1 # COMPUTE T - TN
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AD HALF # CORRECT FOR POSSIBLE OVERFLOW OF TIME1.
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AD HALF
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XCH DT # SAVE FOR LATER USE
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CA 1SEC
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TS ITEMP5 # INITIALIZE FOR DIVISION LATER
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EXTEND
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DCA GDT/2 # COMPUTE THE X-COMPONENT OF VELOCITY.
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DDOUBL
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DDOUBL
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EXTEND
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MP DT
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EXTEND
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DV ITEMP5
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XCH VVECT # VVECT = G(T-TN) M/CS *2(-5)
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EXTEND
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DCA V # M/CS *2(-7)
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DDOUBL # RESCALE TO 2(-5)
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DDOUBL
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ADS VVECT # VVECT = VN + G(T-TN) M/CS *2(-5)
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CA PIPAX # DELV CM/SEC *2(-14)
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AD PIPATMPX # IN CASE PIPAX HAS BEEN ZEROED
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EXTEND
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MP KPIP1(5) # DELV M/CS *2(-5)
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ADS VVECT # VVECT = VN + DELV + GN(T-TN) M/CS *2(-5)
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EXTEND
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DCA GDT/2 +2 # COMPUTE THE Y-COMPONENT OF VELOCITY.
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DDOUBL
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DDOUBL
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EXTEND
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MP DT
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EXTEND
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DV ITEMP5
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XCH VVECT +1
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EXTEND
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DCA V +2
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DDOUBL
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DDOUBL
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ADS VVECT +1
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CA PIPAY
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AD PIPATMPY
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EXTEND
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MP KPIP1(5)
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ADS VVECT +1
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# Page 902
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EXTEND
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DCA GDT/2 +4 # COMPUTE THE Z-COMPONENT OF VELOCITY.
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DDOUBL
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DDOUBL
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EXTEND
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MP DT
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EXTEND
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DV ITEMP5
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XCH VVECT +2
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EXTEND
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DCA V +4
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DDOUBL
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DDOUBL
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ADS VVECT +2
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CA PIPAZ
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AD PIPATMPZ
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EXTEND
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MP KPIP1(5)
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ADS VVECT +2
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CAF BIT3 # PAUSE 40 MS TO LET OTHER RUPTS IN.
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TC VARDELAY
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CS FLAGWRD0 # ARE WE IN DESCENT TRAJECTORY?
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MASK R10FLBIT
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CCS A
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TCF +2 # YES.
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TC LADQSAVE # NO.
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CA DELVS # HI X OF VELOCITY CORRECTION TERM.
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AD VVECT # HI X OF UPDATED VELOCITY VECTOR.
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TS ITEMP1 # = VX - DVX M/CS *2(-5).
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CA DELVS +2 # Y
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AD VVECT +1 # Y
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TS ITEMP2 # = VY - DVY M/CS *2(-5)
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CA DELVS +4 # Z
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AD VVECT +2 # Z
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TS ITEMP3 # = VZ - DVZ M/CS *2(-5)
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CA ITEMP1 # COMPUTE VHY, VELOCITY DIRECTED ALONG THE
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EXTEND # Y-COORDINATE.
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MP UHYP # HI X OF CROSS-RANGE HALF-UNIT VECTOR
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XCH RUPTREG1
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CA ITEMP2
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EXTEND
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MP UHYP +2 # Y
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ADS RUPTREG1 # ACCUMULATE PARTIAL PRODUCTS.
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CA ITEMP3
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EXTEND
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MP UHYP +4 # Z
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ADS RUPTREG1
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# Page 903
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CA RUPTREG1
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DOUBLE
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XCH VHY # VHY=VMP.UHYP M/CS*2(-5).
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CA ITEMP1 # NO COMPUTE VHZ, VELOCITY DIRECTED ALONG
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EXTEND # THE Z-COORDINATE.
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MP UHZP # HI X OF DOWN-RANGE HALF-UNIT VECTOR.
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XCH RUPTREG1
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CA ITEMP2
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EXTEND
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MP UHZP +2 # Y
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ADS RUPTREG1 # ACCUMULATE PARTIAL PRODUCTS.
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CA ITEMP3
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EXTEND
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MP UHZP +4 # Z
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ADS RUPTREG1
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CA RUPTREG1
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DOUBLE
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XCH VHZ # VHZ = VMP.UHZP M/CS*2(-5).
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GET22/32 CAF EBANK6 # GET SIN(AOG),COS(AOG) FROM GPMATRIX.
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TS EBANK
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EBANK= M22
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CA M22
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TS ITEMP3
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CA M32
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TS ITEMP4
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CAF EBANK7
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TS EBANK
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EBANK= UNIT/R/
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LATFWDV CA ITEMP4 # COMPUTE LATERAL AND FORWARD VELOCITIES.
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|
|
|
EXTEND
|
|
|
|
|
MP VHY
|
|
|
|
|
XCH RUPTREG1
|
|
|
|
|
CA ITEMP3
|
|
|
|
|
EXTEND
|
|
|
|
|
MP VHZ
|
|
|
|
|
ADS RUPTREG1 # = VHY(COS)AOG+VHZ(SIN)AOG M/CS *2(-5)
|
|
|
|
|
CA VELCONV # CONVERT LATERAL VELOCITY TO BIT UNITS.
|
|
|
|
|
EXTEND
|
|
|
|
|
MP RUPTREG1
|
|
|
|
|
DDOUBL
|
|
|
|
|
XCH LATVEL # LATERAL VELOCITY IN BIT UNITS *2(-14).
|
|
|
|
|
CA ITEMP4 # COMPUTE FORWARD VELOCITY.
|
|
|
|
|
EXTEND
|
|
|
|
|
MP VHZ
|
|
|
|
|
XCH RUPTREG1
|
|
|
|
|
CA ITEMP3
|
|
|
|
|
EXTEND
|
|
|
|
|
MP VHY
|
|
|
|
|
CS A
|
|
|
|
|
ADS RUPTREG1 # =VHZ(COS)AOG-VHY(SIN)AOG M/CS *2(-5).
|
|
|
|
|
# Page 904
|
|
|
|
|
CA VELCONV # CONVERT FORWARD VELOCITY TO BIT UNITS.
|
|
|
|
|
EXTEND
|
|
|
|
|
MP RUPTREG1
|
|
|
|
|
DDOUBL
|
|
|
|
|
XCH FORVEL # FORWARD VELOCITY IN BIT UNITS *2(-14).
|
|
|
|
|
|
|
|
|
|
CS MAXVBITS # ACC.=-199.9989 FT./SEC.
|
|
|
|
|
TS ITEMP6 # -547 BIT UNITS (OCTAL) AT 0.5571 FPS/BIT
|
|
|
|
|
|
|
|
|
|
CAF ONE # LOOP TWICE.
|
|
|
|
|
VMONITOR TS ITEMP5 # FORWARD AND LATERAL VELOCITY LANDING
|
|
|
|
|
INDEX ITEMP5 # ANALOG DISPLAYS MONITOR.
|
|
|
|
|
CCS LATVEL
|
|
|
|
|
TCF +4
|
|
|
|
|
TCF LVLIMITS
|
|
|
|
|
TCF +8D
|
|
|
|
|
TCF LVLIMITS
|
|
|
|
|
INDEX ITEMP5
|
|
|
|
|
CS LATVEL
|
|
|
|
|
AD MAXVBITS # +199.9989 FT.SEC.
|
|
|
|
|
EXTEND
|
|
|
|
|
BZMF CHKLASTY
|
|
|
|
|
TCF LVLIMITS
|
|
|
|
|
INDEX ITEMP5
|
|
|
|
|
CA LATVEL
|
|
|
|
|
AD MAXVBITS
|
|
|
|
|
EXTEND
|
|
|
|
|
BZMF +2
|
|
|
|
|
TCF LVLIMITS
|
|
|
|
|
CHKLASTY INDEX ITEMP5
|
|
|
|
|
CCS LATVMETR
|
|
|
|
|
TCF +4
|
|
|
|
|
TCF LASTOK
|
|
|
|
|
TCF +7
|
|
|
|
|
TCF LASTOK
|
|
|
|
|
INDEX ITEMP5
|
|
|
|
|
CA LATVEL
|
|
|
|
|
EXTEND
|
|
|
|
|
BZMF LASTPOSY +5
|
|
|
|
|
TCF +5
|
|
|
|
|
INDEX ITEMP5
|
|
|
|
|
CS LATVEL
|
|
|
|
|
EXTEND
|
|
|
|
|
BZMF LASTNEGY +4
|
|
|
|
|
LASTOK INDEX ITEMP5
|
|
|
|
|
CCS TRAKLATV
|
|
|
|
|
TCF LASTPOSY
|
|
|
|
|
TCF +2
|
|
|
|
|
TCF LASTNEGY
|
|
|
|
|
INDEX ITEMP5
|
|
|
|
|
# Page 905
|
|
|
|
|
CA LATVEL
|
|
|
|
|
EXTEND
|
|
|
|
|
BZMF NEGVMAXY
|
|
|
|
|
TCF POSVMAXY
|
|
|
|
|
LASTPOSY INDEX ITEMP5
|
|
|
|
|
CA LATVEL
|
|
|
|
|
EXTEND
|
|
|
|
|
BZMF +2
|
|
|
|
|
TCF POSVMAXY
|
|
|
|
|
CS MAXVBITS
|
|
|
|
|
TCF ZEROLSTY
|
|
|
|
|
POSVMAXY INDEX ITEMP5
|
|
|
|
|
CS LATVMETR
|
|
|
|
|
AD MAXVBITS
|
|
|
|
|
INDEX ITEMP5
|
|
|
|
|
XCH RUPTREG3
|
|
|
|
|
CAF ONE
|
|
|
|
|
TCF ZEROLSTY +3
|
|
|
|
|
LASTNEGY INDEX ITEMP5
|
|
|
|
|
CA LATVEL
|
|
|
|
|
EXTEND
|
|
|
|
|
BZMF NEGVMAXY
|
|
|
|
|
CA MAXVBITS
|
|
|
|
|
TCF ZEROLSTY
|
|
|
|
|
NEGVMAXY INDEX ITEMP5
|
|
|
|
|
CA LATVMETR
|
|
|
|
|
AD MAXVBITS
|
|
|
|
|
COM
|
|
|
|
|
INDEX ITEMP5
|
|
|
|
|
XCH RUPTREG3
|
|
|
|
|
CS ONE
|
|
|
|
|
TCF ZEROLSTY +3
|
|
|
|
|
LVLIMITS INDEX ITEMP5
|
|
|
|
|
CCS TRAKLATV
|
|
|
|
|
TCF LATVPOS
|
|
|
|
|
TCF +2
|
|
|
|
|
TCF LATVNEG
|
|
|
|
|
INDEX ITEMP5
|
|
|
|
|
CS LATVMETR
|
|
|
|
|
EXTEND
|
|
|
|
|
BZMF +2
|
|
|
|
|
TCF NEGLMLV
|
|
|
|
|
INDEX ITEMP5
|
|
|
|
|
|
|
|
|
|
CS LATVEL
|
|
|
|
|
EXTEND
|
|
|
|
|
BZMF LVMINLM
|
|
|
|
|
AD ITEMP6
|
|
|
|
|
INDEX ITEMP5
|
|
|
|
|
AD LATVMETR
|
|
|
|
|
EXTEND
|
|
|
|
|
# Page 906
|
|
|
|
|
BZMF LVMINLM
|
|
|
|
|
INDEX ITEMP5
|
|
|
|
|
AD LATVEL
|
|
|
|
|
EXTEND
|
|
|
|
|
INDEX ITEMP5
|
|
|
|
|
SU LATVMETR
|
|
|
|
|
TCF ZEROLSTY
|
|
|
|
|
LATVPOS INDEX ITEMP5
|
|
|
|
|
CS LATVEL
|
|
|
|
|
EXTEND
|
|
|
|
|
BZMF LVMINLM
|
|
|
|
|
TCF +5
|
|
|
|
|
LATVNEG INDEX ITEMP5
|
|
|
|
|
CA LATVEL
|
|
|
|
|
EXTEND
|
|
|
|
|
BZMF LVMINLM
|
|
|
|
|
INDEX ITEMP5
|
|
|
|
|
CS LATVMETR
|
|
|
|
|
TCF ZEROLSTY
|
|
|
|
|
NEGLMLV INDEX ITEMP5
|
|
|
|
|
CA LATVEL
|
|
|
|
|
EXTEND
|
|
|
|
|
BZMF LVMINLM
|
|
|
|
|
CA MAXVBITS
|
|
|
|
|
INDEX ITEMP5
|
|
|
|
|
AD LATVMETR
|
|
|
|
|
COM
|
|
|
|
|
INDEX ITEMP5
|
|
|
|
|
AD LATVEL
|
|
|
|
|
EXTEND
|
|
|
|
|
BZMF LVMINLM
|
|
|
|
|
EXTEND
|
|
|
|
|
INDEX ITEMP5
|
|
|
|
|
SU LATVEL
|
|
|
|
|
INDEX ITEMP5
|
|
|
|
|
AD LATVMETR
|
|
|
|
|
COM
|
|
|
|
|
TCF ZEROLSTY
|
|
|
|
|
LVMINLM INDEX ITEMP5
|
|
|
|
|
CS LATVMETR
|
|
|
|
|
INDEX ITEMP5
|
|
|
|
|
AD LATVEL
|
|
|
|
|
ZEROLSTY INDEX ITEMP5
|
|
|
|
|
XCH RUPTREG3
|
|
|
|
|
CAF ZERO
|
|
|
|
|
INDEX ITEMP5
|
|
|
|
|
TS TRAKLATV
|
|
|
|
|
INDEX ITEMP5
|
|
|
|
|
CA RUPTREG3
|
|
|
|
|
AD NEG0 # AVOIDS +0 DINC HARDWARE MALFUNCTION
|
|
|
|
|
# Page 907
|
|
|
|
|
INDEX ITEMP5
|
|
|
|
|
TS CDUTCMD
|
|
|
|
|
INDEX ITEMP5
|
|
|
|
|
CA RUPTREG3
|
|
|
|
|
INDEX ITEMP5
|
|
|
|
|
ADS LATVMETR
|
|
|
|
|
CCS ITEMP5 # FIRST MONITOR FORWARD THEN LATERAL VEL.
|
|
|
|
|
TCF VMONITOR
|
|
|
|
|
|
|
|
|
|
CAF BITSET # DRIVE THE X-POINTER DISPLAY.
|
|
|
|
|
EXTEND
|
|
|
|
|
WOR CHAN14
|
|
|
|
|
TC LADQSAVE # GO TO ALTROUT +1 OR TO ALTOUT +1
|
|
|
|
|
ZERODATA CAF ZERO # ZERO ALTSAVE AND ALTSAVE +1
|
|
|
|
|
TS L # NO NEGATIVE ALTITUDES ALLOWED.
|
|
|
|
|
TCF ZDATA2
|
|
|
|
|
|
|
|
|
|
# ****************************************************************************
|
|
|
|
|
|
|
|
|
|
DISPRSET CS FLAGWRD0 # ARE WE IN DESCENT TRAJECTORY?
|
|
|
|
|
MASK R10FLBIT
|
|
|
|
|
EXTEND
|
|
|
|
|
BZF ABORTON # NO.
|
|
|
|
|
CAF BIT8 # YES.
|
|
|
|
|
MASK IMODES33 # CHECK IF INERTIAL DATA JUST DISPLAYED.
|
|
|
|
|
CCS A
|
|
|
|
|
CAF BIT2 # YES. DISABLE RR ERROR COUNTER
|
|
|
|
|
AD BIT8 # NO. REMOVE DISPLAY INERTIAL DATA
|
|
|
|
|
COM
|
|
|
|
|
EXTEND
|
|
|
|
|
WAND CHAN12
|
|
|
|
|
ABORTON CS BITS8/7 # RESET INERTIAL DATA, INTERLEAVE FLAGS.
|
|
|
|
|
MASK IMODES33
|
|
|
|
|
TS IMODES33
|
|
|
|
|
CS DIDFLBIT
|
|
|
|
|
MASK FLAGWRD1
|
|
|
|
|
TS FLAGWRD1 # RESET DIDFLAG.
|
|
|
|
|
TCF TASKOVER
|
|
|
|
|
|
|
|
|
|
# ******************************************************************************
|
|
|
|
|
|
|
|
|
|
BITS8/7 OCT 00300 # INERTIAL DATA AND INTERLEAVE FLAGS.
|
|
|
|
|
BITSET = PRIO6
|
|
|
|
|
|
|
|
|
|
# ******************************************************************************
|
|
|
|
|
|
|
|
|
|
|
