Apollo-11/LANDING_ANALOG_DISPLAYS.s

# Copyright:	Public domain.
# Filename:	LANDING_ANALOG_DISPLAYS.agc
# Purpose:	Part of the source code for Luminary, build 099. It
#		is part of the source code for the Lunar Module's
#		(LM) Apollo Guidance Computer (AGC), Apollo 11.
# Assembler:	yaYUL
# Reference:	pp. 898-907
# Contact:	Ron Burkey <info@sandroid.org>,
#  		Fabrizio Bernardini <fabrizio@spacecraft.it>
# Website:	http://www.ibiblio.org/apollo.
# Mod history:	05/06/09 FB	Transcription Batch 4 Assignment.
#
# The contents of the "Luminary099" files, in general, are transcribed 
# from scanned documents. 
#
#	Assemble revision 001 of AGC program Luminary099 by NASA
#	2021112-061.  July 14, 1969.  
#
#	Prepared by
#			Massachusetts Institute of Technology
#			75 Cambridge Parkway
#			Cambridge, Massachusetts
#
#	under NASA contract NAS 9-4065.
#
# Refer directly to the online document mentioned above for further
# information.  Please report any errors to info@sandroid.org.

# Page 898
		BANK	21
		SETLOC	R10
		BANK

		EBANK=	UNIT/R/
		COUNT*	$$/R10

LANDISP		LXCH	PIPCTR1		# UPDATE TBASE2 AND PIPCTR SIMULTANEOUSLY.
		CS	TIME1
		DXCH	TBASE2

		CS	FLAGWRD7	# IS LANDING ANALOG DISPLAYS FLAG SET?
		MASK	SWANDBIT
		CCS	A
		TCF	DISPRSET	# NO.
		CA	IMODES33	# BIT 7 = 0 (DO ALTRATE), =1 (DO ALT.)
		MASK	BIT7
		CCS	A
		TCF	ALTOUT
ALTROUT		TC	DISINDAT	# CHECK MODE SELECT SWITCH AND DIDFLG.
		CS	IMODES33
		MASK	BIT7
		ADS	IMODES33	# ALTERNATE ALTITUDE RATE WITH ALTITUDE.
		CAF	BIT2		# RATE COMMAND IS EXECUTED BEFORE RANGE.
		EXTEND
		WOR	CHAN14		# ALTRATE (BIT2 = 1), ALTITUDE (BIT2 = 0).
ARCOMP		CA	RUNIT		# COMPUTE ALTRATE = RUNIT.VVECT M/CS *(-6).
		EXTEND
		MP	VVECT		# MULTIPLY X-COMPONENTS.
		XCH	RUPTREG1	# SAVE SINGLE PRECISION RESULT M/CS*2(-6)
		CA	RUNIT +1	# MULTIPLY Y-COMPONENTS.
		EXTEND
		MP	VVECT +1
		ADS	RUPTREG1	# ACCUMULATE PARTIAL PRODUCTS.
		CA	RUNIT +2	# MULTIPLY Z-COMPONENTS.
		EXTEND
		MP	VVECT +2
		ADS	RUPTREG1	# ALTITUDE RATE IN M/CS *2(-6).
		CA	ARCONV		# CONVERT ALTRATE TO BIT UNITS (.5FPS/BIT)
		EXTEND
		MP	RUPTREG1
		DDOUBL
		DDOUBL
		XCH	RUPTREG1	# ALTITUDE RATE IN BIT UNITS*2(-14).
		CA	DALTRATE	# ALTITUDE RATE COMPENSATION FACTOR.
		EXTEND
		MP	DT
		AD	RUPTREG1
		TS	ALTRATE		# ALTITUDE RATE IN BIT UNITS*2(-14).
		CS	ALTRATE
# Page 899
		EXTEND			# CHECK POLARITY OF ALTITUDE RATE.
		BZMF	+2
		TCF	DATAOUT		# NEGATIVE -- SEND POS. PULSES TO ALTM REG.
		CA	ALTRATE		# POSITIVE OR ZERO -- SET SIGN BIT = 1 AND
		AD	BIT15		# SEND TO ALTM REGISTER.  *DO NOT SEND +0*
DATAOUT		TS	ALTM		# ACTIVATE THE LANDING ANALOG DISPLAYS
		CAF	BIT3
		EXTEND
		WOR	CHAN14		# BIT3 DRIVES THE ALT/ALTRATE METER.
		TCF	TASKOVER	# EXIT

ALTOUT		TC	DISINDAT	# CHECK MODE SELECT SWITCH AND DIDFLG.
		CS	BIT7
		MASK	IMODES33
		TS	IMODES33	# ALTERNATE ALTITUDE RATE WITH ALTITUDE.
		CS	BIT2
		EXTEND
		WAND	CHAN14
		CCS	ALTBITS		# = -1 IF OLD ALT. DATA TO BE EXTRAPOLATED.
		TCF	+4
		TCF	+3
		TCF	OLDDATA
		TS	ALTBITS		# SET ALTBITS FROM -0 TO +0.
		CS	ONE
		DXCH	ALTBITS		# SET ALTBITS = -1 FOR SWITCH USE NEXT PASS.
		DXCH	ALTSAVE
		CA	BIT10		# NEW ALTITUDE EXTRAPOLATION WITH ALTRATE.
		XCH	Q
		LXCH	7		# ZL
		CA	DT
		EXTEND
		DV	Q		# RESCALE DT*2(-14) TO *2(-9) TIME IN CS.
		EXTEND
		MP	ARTOA2		# .0021322 *2(+8)
		TCF	OLDDATA +1	# RATE APPLIES FOR DT CS.

ZDATA2		DXCH	ALTSAVE
		TCF	NEWDATA
OLDDATA		CA	ARTOA		# RATE APPLIES FOR .5 SEC. (4X/SEC. CYCLE)
		EXTEND
		MP	ALTRATE		# EXTRAPOLATE WITH ALTITUDE RATE.
		DDOUBL
		AD	ALTSAVE +1
		TS	ALTSAVE +1
		CAF	ZERO
		ADS	ALTSAVE
		CAF	POSMAX		# FORCE SIGN AGREEMENT ASSUMING A
		AD	ONE		# NON-NEGATIVE ALTSAVE.
		AD	ALTSAVE +1	# IF ALTSAVE IS NEGATIVE, ZERO ALTSAVE
		TS	ALTSAVE +1	# AND ALTSAVE +1 AT ZERODATA.
# Page 900
		CAF	ZERO
		AD	POSMAX
		AD	ALTSAVE
		TS	ALTSAVE		# POSSIBLY SKIP TO NEWDATA.
		TCF	ZERODATA
NEWDATA		CCS	ALTSAVE +1
		TCF	+4
		TCF	+3
		CAF	ZERO		# SET NEGATIVE ALTSAVE +1 TO +0.
		TS	ALTSAVE +1
		CCS	ALTSAVE		# PROVIDE A 15 BIT UNSIGNED OUTPUT.
		CAF	BIT15		# THE HI-ORDER PART IS +1 OR +0.
		AD	ALTSAVE +1
		TCF	DATAOUT		# DISPATCH UNSIGNED BITS TO ALTM REG.
DISINDAT	EXTEND
		QXCH	LADQSAVE	# SAVE RETURN TO ALTROUT +1 OR ALTOUT +1
		CAF	BIT6
		EXTEND			# WISHETH THE ASTRONAUT THE ANALOG
		RAND	CHAN30		# DISPLAYS?  I.E.,
		CCS	A		# IS THE MODE SELECT SWITCH IN PGNCS?
		TCF	DISPRSET	# NO.  ASTRONAUT REQUESTS NO INERTIAL DATA
		CS	FLAGWRD1	# YES.  CHECK STATUS OF DIDFLAG.
		MASK	DIDFLBIT
		EXTEND
		BZF	SPEEDRUN	# SET.  PERFORM DATA DISPLAY SEQUENCE.
		CS	FLAGWRD1	# RESET.  PERFORM INITIALIZATION FUNCTIONS.
		MASK	DIDFLBIT
		ADS	FLAGWRD1	# SET DIDFLAG.
		CS	BIT7
		MASK	IMODES33	# TO DISPLAY ALTRATE FIRST AND ALT. SECOND
		TS	IMODES33
		CS	FLAGWRD0	# ARE WE IN DESCENT TRAJECTORY?
		MASK	R10FLBIT
		EXTEND
		BZF	TASKOVER	# NO
		CAF	BIT8		# YES.
		EXTEND
		WOR	CHAN12		# SET DISPLAY INERTIAL DATA OUTBIT.
		CAF	ZERO
		TS	TRAKLATV	# LATERAL VELOCITY MONITOR FLAG
		TS	TRAKFWDV	# FORWARD VELOCITY MONITOR FLAG
		TS	LATVMETR	# LATVEL MONITOR METER
		TS	FORVMETR	# FORVEL MONITOR METER
		CAF	BIT4
		TC	TWIDDLE
		ADRES	INTLZE
		TCF	TASKOVER
INTLZE		CAF	BIT2
		EXTEND
		WOR	CHAN12		# ENABLE RR ERROR COUNTER.
# Page 901
		CS	IMODES33
		MASK	BIT8
		ADS	IMODES33	# SET INERTIAL DATA FLAG.
		TCF	TASKOVER

SPEEDRUN	CS	PIPTIME +1	# UPDATE THE VELOCITY VECTOR
		AD	TIME1		# COMPUTE T - TN
		AD	HALF		# CORRECT FOR POSSIBLE OVERFLOW OF TIME1.
		AD	HALF
		XCH	DT		# SAVE FOR LATER USE
		CA	1SEC
		TS	ITEMP5		# INITIALIZE FOR DIVISION LATER
		EXTEND
		DCA	GDT/2		# COMPUTE THE X-COMPONENT OF VELOCITY.
		DDOUBL
		DDOUBL
		EXTEND
		MP	DT
		EXTEND
		DV	ITEMP5
		XCH	VVECT		# VVECT = G(T-TN) M/CS *2(-5)
		EXTEND
		DCA	V		# M/CS *2(-7)
		DDOUBL			# RESCALE TO 2(-5)
		DDOUBL
		ADS	VVECT		# VVECT = VN + G(T-TN) M/CS *2(-5)
		CA	PIPAX		# DELV CM/SEC *2(-14)
		AD	PIPATMPX	# IN CASE PIPAX HAS BEEN ZEROED
		EXTEND
		MP	KPIP1(5)	# DELV M/CS *2(-5)
		ADS	VVECT		# VVECT = VN + DELV + GN(T-TN) M/CS *2(-5)
		EXTEND
		DCA	GDT/2 +2	# COMPUTE THE Y-COMPONENT OF VELOCITY.
		DDOUBL
		DDOUBL
		EXTEND
		MP	DT
		EXTEND
		DV	ITEMP5
		XCH	VVECT +1
		EXTEND
		DCA	V +2
		DDOUBL
		DDOUBL
		ADS	VVECT +1
		CA	PIPAY
		AD	PIPATMPY
		EXTEND
		MP	KPIP1(5)
		ADS	VVECT +1
# Page 902
		EXTEND
		DCA	GDT/2 +4	# COMPUTE THE Z-COMPONENT OF VELOCITY.
		DDOUBL
		DDOUBL
		EXTEND
		MP	DT
		EXTEND
		DV	ITEMP5
		XCH	VVECT +2
		EXTEND
		DCA	V +4
		DDOUBL
		DDOUBL
		ADS	VVECT +2
		CA	PIPAZ
		AD	PIPATMPZ
		EXTEND
		MP	KPIP1(5)
		ADS	VVECT +2

		CAF	BIT3		# PAUSE 40 MS TO LET OTHER RUPTS IN.
		TC	VARDELAY

		CS	FLAGWRD0	# ARE WE IN DESCENT TRAJECTORY?
		MASK	R10FLBIT
		CCS	A
		TCF	+2		# YES.
		TC	LADQSAVE	# NO.

		CA	DELVS		# HI X OF VELOCITY CORRECTION TERM.
		AD	VVECT		# HI X OF UPDATED VELOCITY VECTOR.
		TS	ITEMP1		# = VX - DVX M/CS *2(-5).
		CA	DELVS +2	#    Y
		AD	VVECT +1	#    Y
		TS	ITEMP2		# = VY - DVY M/CS *2(-5)
		CA	DELVS +4	#    Z
		AD	VVECT +2	#    Z
		TS	ITEMP3		# = VZ - DVZ M/CS *2(-5)
		CA	ITEMP1		# COMPUTE VHY, VELOCITY DIRECTED ALONG THE
		EXTEND			# Y-COORDINATE.
		MP	UHYP		# HI X OF CROSS-RANGE HALF-UNIT VECTOR
		XCH	RUPTREG1
		CA	ITEMP2
		EXTEND
		MP	UHYP +2		# Y
		ADS	RUPTREG1	# ACCUMULATE PARTIAL PRODUCTS.
		CA	ITEMP3
		EXTEND
		MP	UHYP +4		# Z
		ADS	RUPTREG1
# Page 903
		CA	RUPTREG1
		DOUBLE
		XCH	VHY		# VHY=VMP.UHYP M/CS*2(-5).
		CA	ITEMP1		# NO COMPUTE VHZ, VELOCITY DIRECTED ALONG
		EXTEND			# THE Z-COORDINATE.
		MP	UHZP		# HI X OF DOWN-RANGE HALF-UNIT VECTOR.
		XCH	RUPTREG1
		CA	ITEMP2
		EXTEND
		MP	UHZP +2		# Y
		ADS	RUPTREG1	# ACCUMULATE PARTIAL PRODUCTS.
		CA	ITEMP3
		EXTEND
		MP	UHZP +4		# Z
		ADS	RUPTREG1
		CA	RUPTREG1
		DOUBLE
		XCH	VHZ		# VHZ = VMP.UHZP M/CS*2(-5).
GET22/32	CAF	EBANK6		# GET SIN(AOG),COS(AOG) FROM GPMATRIX.
		TS	EBANK
		EBANK=	M22
		CA	M22
		TS	ITEMP3
		CA	M32
		TS	ITEMP4
		CAF	EBANK7
		TS	EBANK
		EBANK=	UNIT/R/
LATFWDV		CA	ITEMP4		# COMPUTE LATERAL AND FORWARD VELOCITIES.
		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

# ******************************************************************************