2016-07-07 08:47:26 +00:00
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# Copyright: Public domain.
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# Filename: AGS_INITIALIZATION.agc
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# Purpose: Part of the source code for Luminary 1A build 099.
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# It is part of the source code for the Lunar Module's (LM)
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# Apollo Guidance Computer (AGC), for Apollo 11.
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# Assembler: yaYUL
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# Contact: Hartmuth Gutsche <hgutsche@xplornet.com>.
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# Website: www.ibiblio.org/apollo.
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# Pages: 206-210
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# Mod history: 2009-05-19 HG Transcribed from page images.
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#
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# This source code has been transcribed or otherwise adapted from
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# digitized images of a hardcopy from the MIT Museum. The digitization
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# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
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# the Museum. Many thanks to both. The images (with suitable reduction
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# in storage size and consequent reduction in image quality as well) are
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# available online at www.ibiblio.org/apollo. If for some reason you
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# find that the images are illegible, contact me at info@sandroid.org
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# about getting access to the (much) higher-quality images which Paul
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# actually created.
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#
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# Notations on the hardcopy document read, in part:
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#
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# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
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# 16:27 JULY 14, 1969
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# Page 206
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2016-07-08 22:13:42 +00:00
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# PROGRAM NAME: AGS INITIALIZATION (R47)
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2016-07-07 08:47:26 +00:00
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#
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# WRITTEN BY: RHODE/KILROY/FOLLETT
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#
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# MOD NO.: 0
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# DATE: 23 MARCH 1967
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# MOD BY: KILROY
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#
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# MOD NO.: 1
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# DATE: 28 OCTOBER 1967
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# MOD BY: FOLLETT
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#
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# FUNCT. DESC.: (1) TO PROVIDE THE AGS ABORT ELECTRONICS ASSEMBLY (AEA) WITH THE LEM AND CSM STATE VECTORS
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# (POSITION,VELOCITY,TIME) IN LEM IMU COORDINATES BY MEANS OF THE LGC DIGITAL DOWNLINK.
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#
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# (2) TO ZERO THE ICDU, LGC, AND AEA GIMBAL ANGLE COUNTER SIMULTANEOUSLY IN ORDER TO ESTABLISH A
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# COMMON ZERO REFERENCE FOR THE MEASUREMENT OF GIMBAL (EULER) ANGLES WHICH DEFINE LEM ATTITUDE
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#
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# (3) TO ESTABLISH THE GROUND ELAPSED TIME OF AEA CLOCK ZERO. (IF AN AEA CLOCK ZERO IS
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# REQUESTED DURING THIS PROGRAM
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#
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# LOG SECTION: AGS INITIALIZATION
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#
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# CALLING SEQ: PROGRAM IS ENTERED WHEN ASTRONAUT KEYS V47E ON DSKY.
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# R47 MAY BE CALLED AT ANY TIME EXCEPT WHEN ANOTHER EXTENDED VERB IS IN PROGRESS
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#
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# SUBROUTINES
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# CALLED:
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#
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# NORMAL EXIT: ENDEXT
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#
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# ALARM/ABORT: ALARM -- BAD REFSMMAT -- CODE:220
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# OPERATOR ERROR IF V47 SELECTED DURING ANOTHER EXTENDED VERB.
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#
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# ERASABLES
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# USED: SAMPTIME (2) TIME OF :ENTER: KEYSTROKE
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# AGSK (2) GROUND ELAPSED TIME OF THE AEA CLOCK :ZERO:
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# AGSBUFF (140) CONTAINS AGS INITIALIZATION DATA (SEE :OUTPUT: BELOW)
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# AGSWORD (1) PREVIOUS DOWNLIST SAVED HERE
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EBANK= AGSBUFF
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BANK 40
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SETLOC R47
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BANK
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COUNT* $$/R47
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AGSINIT CAF REFSMBIT
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MASK FLAGWRD3 # CHECK REFSMFLG.
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CCS A
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# Page 207
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TC REDSPTEM # REFSMMAT IS OK
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TC ALARM # REFSMMAT IS BAD
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OCT 220
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TC ENDEXT
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NEWAGS EXTEND
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DCA SAMPTIME # TIME OF THE :ENTER: KEYSTROKE
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DXCH AGSK # BECOMES NEW AEA CLOCK :ZERO:
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REDSPTEM EXTEND
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DCA AGSK
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DXCH DSPTEMX
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AGSDISPK CAF V06N16
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TC BANKCALL # R1 = 00XXX. HRS., R2 = 000XX MIN.,
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CADR GOMARKF # R3 = 0XX.XX SEC.
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TC ENDEXT # TERMINATE RETURN
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TC AGSVCALC # PROCEED RETURN
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CS BIT6 # IS ENTER VIA A V32
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AD MPAC
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EXTEND
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BZF NEWAGS # YES, USE KEYSTROKE TIME FOR NEW AGSK
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EXTEND # NO, NEW AGSK LOADED VIA V25
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DCA DSPTEMX # LOADED INTO DSPTEMX BY KEYING
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TC REDSPTEM -1 # V25E FOLLOWED BY HRS.,MINS.,SECS.
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# DISPLAY THE NEW K.
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AGSVCALC TC INTPRET
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SET
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NODOFLAG # DON'T ALLOW V37
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SET EXIT
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XDSPFLAG
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CAF V06N16
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TC BANKCALL
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CADR EXDSPRET
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TC INTPRET # EXTRAPOLATE LEM AND CSM STATE VECTORS
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RTB # TO THE PRESENT TIME
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LOADTIME # LOAD MPAC WITH TIME2,TIME1
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STCALL TDEC1 # CALCULATE LEM STATE VECTOR
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LEMPREC
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CALL # CALL ROUTINE TO CONVERT TO SM COORDS AND
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SCALEVEC # PROVIDE PROPER SCALING
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STODL AGSBUFF # (LEMPREC AND CSMPREC LEAVE TDEC1 IN TAT)
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TAT # TAT = TIME TO WHICH RATT1 AND VATT1 ARE
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STCALL TDEC1 # COMPUTED (CSEC SINCE CLOCK START B-28).
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CSMPREC # CALCULATE CSM STATE VECTOR FOR SAME TIME
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CALL
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SCALEVEC
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# Page 208
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STODL AGSBUFF +6
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TAT
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DSU DDV # CALCULATE AND STORE THE TIME
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AGSK
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TSCALE
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STORE AGSBUFF +12D
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EXIT
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CAF LAGSLIST
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TS DNLSTCOD
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CAF 20SEC # DELAY FOR 20 SEC WHILE THE AGS
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TC BANKCALL # DOWNLIST IS TRANSMITTED
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CADR DELAYJOB
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CA AGSWORD
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TS DNLSTCOD # RETURN TO THE OLD DOWNLIST
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CAF IMUSEBIT
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MASK FLAGWRD0 # CHECK IMUSE FLAG.
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CCS A
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TC AGSEND # IMU IS BEING USED -- DO NOT ZERO
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CKSTALL CCS IMUCADR # CHECK FOR IMU USAGE WHICH AVOIDS THE
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TCF +3 # IMUSE BIT: I.E., IMU COMPENSATION.
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TCF +6 # FREE. GO AHEAD WITH THE IMU ZERO.
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TCF +1
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+3 CAF TEN # WAIT .1 SEC AND TRY AGAIN.
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TC BANKCALL
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CADR DELAYJOB
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TCF CKSTALL
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+6 TC BANKCALL # IMU IS NOT IN USE
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CADR IMUZERO # SET IMU ZERO DISCRETE FOR 320 MSECS.
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TC BANKCALL # WAIT 3 SEC FOR COUNTERS TO INCREMENT
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CADR IMUSTALL
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TC AGSEND
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AGSEND TC DOWNFLAG # ALLOW V37
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ADRES NODOFLAG
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CAF V50N16
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TC BANKCALL
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CADR GOMARK3
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TCF ENDEXT
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TCF ENDEXT
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TC ENDEXT
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SCALEVEC VLOAD MXV
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VATT1
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REFSMMAT
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VXSC VSL2
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VSCALE
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# Page 209
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VAD VAD # THIS SECTION ROUNDS THE VECTOR, AND
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AGSRND1 # CORRECTS FOR THE FACT THAT THE AGS
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AGSRND2 # IS A 2'S COMPLEMENT MACHINE WHILE THE
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RTB # LGC IS A 1'S COMPLEMENT MACHINE.
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VECSGNAG
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STOVL VATT1
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RATT1
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MXV VXSC
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REFSMMAT
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RSCALE
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VSL8 VAD # AGAIN THIS SECTION ROUNDS. TWO VECTORS
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AGSRND1 # ARE ADDED TO DEFEAT ALSIGNAG IN THE
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VAD RTB # CASE OF A HIGH-ORDER ZERO COUPLED WITH
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AGSRND2 # A LOW ORDER NEGATIVE PART.
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VECSGNAG
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LXA,1
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VATT1
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SXA,1 LXA,1
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MPAC +1
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VATT1 +2
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SXA,1 LXA,1
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MPAC +4
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VATT1 +4
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SXA,1 RVQ
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MPAC +6
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LAGSLIST = ONE
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V01N14 VN 0114
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V50N00A VN 5000
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V00N25 EQUALS OCT31
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V06N16 VN 0616
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V00N34 EQUALS 34DEC
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V50N16 VN 5016
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TSCALE 2DEC 100 B-10 # CSEC TO SEC SCALE FACTOR
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20SEC DEC 2000
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RSCALE 2DEC 3.280839 B-3 # METERS TO FEET SCALE FACTOR
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VSCALE 2DEC 3.280839 E2 B-9 # METERS/CS TO FEET/SEC SCALE FACTOR
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AGSRND1 2OCT 0000060000
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2OCT 0000060000
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2OCT 0000060000
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AGSRND2 2OCT 0000037777
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2OCT 0000037777
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2016-07-07 15:09:46 +00:00
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S
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# Page 210
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2016-07-07 08:47:26 +00:00
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2OCT 0000037777
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SBANK= LOWSUPER # FOR SUBSEQUENT LOW 2CADRS.
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