274 lines
7.6 KiB
Plaintext
274 lines
7.6 KiB
Plaintext
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# Copyright: Public domain.
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# Filename: TVCEXECUTIVE.agc
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# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
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# It is part of the source code for the Command Module's (CM)
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# Apollo Guidance Computer (AGC), for Apollo 11.
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# Assembler: yaYUL
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# Contact: Ron Burkey <info@sandroid.org>.
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# Website: www.ibiblio.org/apollo.
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# Pages: 945-950
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# Mod history: 2009-05-12 RSB Adapted from the Colossus249/ file of the
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# same name, using Comanche055 page images.
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# 2009-05-20 RSB Corrections: CAE -> CAF in one place.
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# 2009-05-21 RSB In 1SHOTCHK, a CAF SEVEN was corrected to
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# CAF SIX.
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#
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# This source code has been transcribed or otherwise adapted from digitized
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# images of a hardcopy from the MIT Museum. The digitization was performed
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# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
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# thanks to both. The images (with suitable reduction in storage size and
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# consequent reduction in image quality as well) are available online at
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# www.ibiblio.org/apollo. If for some reason you find that the images are
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# illegible, contact me at info@sandroid.org about getting access to the
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# (much) higher-quality images which Paul 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 055 of AGC program Comanche by NASA
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# 2021113-051. 10:28 APR. 1, 1969
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#
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# This AGC program shall also be referred to as
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# Colossus 2A
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# Page 945
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# PROGRAM NAME.... TVCEXECUTIVE, CONSISTING OF TVCEXEC, NEEDLEUP, VARGAINS
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# 1SHOTCHK, REPCHEK, CG.CORR, COPYCYCLES, ETC.
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# LOG SECTION.... TVCEXECUTIVE SUBROUTINE ....DAPCSM
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# MOD BY SCHLUNDT 21 OCTOBER 1968
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#
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# FUNCTIONAL DESCRIPTION....
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# *A SELF-PERPETUATING WAITLIST TASK AT 1/2 SECOND INTERVALS WHICH:
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# PREPARES THE ROLL WITH OGA (CDUX)
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# PREPARES THE ROLL FDAI NEEDLE (FLY-TO OGA ERROR)
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# PREPARES THE ROLL PHASE PLANE OGAERR (FLY-FROM OGA ERROR)
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# PREPARES THE TVC ROLLDAP TASK WAITLIST CALL (3 CS DELAY)
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# UPDATES THE NEEDLES DISPLAY
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# UPDATES THE VEHICLE MASS AND CALLS MASSPROP TO UPDATE INERTIA DATA
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# UPDATES PITCH, YAW, AND ROLL DAP GAINS FROM MASSPROP DATA
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# PERFORMS ONE-SHOT CORRECTION FOR TMC LOOP 0-3 SEC AFTER IGNITION
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# PERFORMS REPETITIVE UPDATES FOR THE TMC LOOP AFTER THE ONE-SHOT CORR.
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#
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# CALLING SEQUENCE....
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# *TVCEXEC CALLED AS A WAITLIST TASK, IN PARTICULAR BY TVCINIT4 AND BY
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# ITSELF, BOTH AT 1/2 SECOND INTERVALS
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#
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# NORMAL EXIT MODE.... TASKOVER
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#
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# ALARM OR ABORT EXIT MODES.... NONE
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#
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# SUBROUTINES CALLED....NEEDLER, S40.15, MASSPROP, TASKOVER, IBNKCALL
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#
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# OTHER INTERFACES....
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# *TVCRESTART PACKAGE FOR RESTARTS
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# *PITCHDAP, YAWDAP FOR VARIABLE GAINS AND ENGINE TRIM ANGLES
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#
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# ERASABLE INITIALIZATION REQUIRED....
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# *SEE TVCDAPON....TVCINIT4
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# *VARK AND 1/CONACC (S40.15 OF R03)
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# *PAD LOAD EREPFRAC
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# *BITS 15,14 OF FLAGWRD6 (T5 BITS)
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# *TVCEXPHS FOR RESTARTS
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# *ENGINE-ON BIT (11.13) FOR RESTARTS
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# *CDUX, OGAD
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#
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# OUTPUT....
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# *ROLL DAP OGANOW, FDAI NEEDLE= (AK). AND PHASE PLANE OGAERR
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# *VARIABLE GAINS FOR PITCH/YAW AND ROLL TVC DAPS
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# *SINGLE-SHOT AND REPETITIVE CORRECTIONS TO ENGINE TRIM ANGLES
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# PACTOFF AND YACTOFF
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#
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# DEBRIS.... MUCH, BUT SHAREABLE WITH RCS/ENTRY, ALL IN EBANK6
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# Page 946
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BANK 16
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SETLOC DAPROLL
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BANK
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EBANK= BZERO
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COUNT* $$/TVCX
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TVCEXEC CS FLAGWRD6 # CHECK FOR TERMINATION (BITS 15,14 READ
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MASK OCT60000 # 10 FROM TVCDAPON TO RCSDAPON)
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EXTEND
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BZMF TVCEXFIN # TERMINATE
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CAF .5SEC # W.L. CALL TO PERPETUATE TVCEXEC
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TC WAITLIST
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EBANK= BZERO
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2CADR TVCEXEC
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ROLLPREP CAE CDUX # UPDATE ROLL LADDERS (NO NEED TO RESTART-
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XCH OGANOW # PROTECT, SINCE ROLL DAPS RE-START)
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XCH OGAPAST
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CAE OGAD # PREPARE ROLL FDAI NEEDLE WTIH FLY-TO
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EXTEND # ERROR (COMMAND - MEASURED)
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MSU OGANOW
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TS AK # FLY-TO OGA ERROR, SC.AT B-1 REVS
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EXTEND # PREPARE ROLL DAP PHASE PLANE OGAERR
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MP -BIT14
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TS OGAERR # PHASE-PLANE (FLY-FROM) OGAERROR,
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# SC.AT B+0 REVS
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CAF THREE # SET UP ROLL DAP TASK (ALLOW SOME TIME)
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TC WAITLIST
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EBANK= BZERO
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2CADR ROLLDAP
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NEEDLEUP TC IBNKCALL # DO A NEEDLES UPDATE (RETURNS AFTER CADR)
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CADR NEEDLER # (NEEDLES RESTARTS ITSELF)
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VARGAINS CAF BIT13 # CHECK ENGINE-ON BIT TO INHIBIT VARIABLE
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EXTEND # GAINS AND MASS IF ENGINE OFF
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RAND DSALMOUT # CHANNEL 11
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CCS A
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TCF +4 # ON, SO OK TO UPDATE GAINS AND MASS
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+5 CAF TWO # OFF, SO BYPASS MASS/GAIN UPDATES,
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TS TVCEXPHS # ALSO ENTRY FROM CCS BELOW WITH
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TCF 1SHOTCHK # VCNTR = -0 (V97 R40 ENGFAIL)
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CCS VCNTR # TEST FOR GAIN OF UPDATE TIME
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TCF +4 # NOT YET
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# Page 947
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TCF GAINCHNG # NOW
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TCF +0 # NOT USED
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TCF VARGAINS +5 # NO, LOTHRUST (S40.6 R40)
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+4 TS VCNTRTMP # PROTECT VCNTR AND
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CAE CSMMASS # CSMMASS DURING AN IMPULSIVE BURN
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TS MASSTMP
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TCF EXECCOPY
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GAINCHNG TC IBNKCALL # UPDATE IXX, IAVG, IAVG/TLX
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CADR FIXCW # MASSPROP ENTRY (ALREADY INITIALIZED)
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TC IBNKCALL # UPDATE 1/CONACC, VARK
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CADR S40.15 # (S40.15 IS IN TVCINITIALIZE)
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CS TENMDOT # UPDATE MASS FOR NEXT 10 SEC. OF BURN
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AD CSMMASS
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TS MASSTMP # KG B+16
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CAF NINETEEN # RESET THE VARIABLE-GAIN UPDATE COUNTER
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TS VCNTRTMP
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EXECCOPY INCR TVCEXPHS # RESTART-PROTECT TEH COPYCYCLE (1)
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CAE MASSTMP # CSMMASS KG B+16
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TS CSMMASS
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CAE VCNTRTMP # VCNTR
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TS VCNTR
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TS V97VCNTR # FOR ENGFAIL (R41) MASS UPATES AT SPSOFF
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INCR TVCEXPHS # COPYCYCLE OVER (2)
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1SHOTCHK CCS CNTR # CHECK FOR ONE-SHOT OR REPCORR
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TCF +4 # NOT YET
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TCF 1SHOTOK # NOW
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TCF REPCHEK # ONE-SHOT OVER, ON TO REPCORR
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TCF 1SHOTOK # NOW (ONE-SHOT ONLY, NO REPCORR)
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+4 TS CNTRTMP # COUNT DOWN
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CAF SIX # SETUP TVCEXPHS FOR ENTRY AT CNTRCOPY
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TS TVCEXPHS
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TCF CNTRCOPY
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REPCHEK CAE REPFRAC # CHECK FOR REPETITIVE UPDATES
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EXTEND
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BZMF TVCEXFIN # NO (NEG OR +-ZERO)
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TS TEMPDAP +1 # YES, SET UP CORRECTION FUNCTION
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CAF FOUR # SET UP TVCEXPHS FOR ENTRY AT CORSETUP
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TS TVCEXPHS
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TCF CORSETUP
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# Page 948
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1SHOTOK CAF BIT13 # CHECK ENGINE-ON BIT, NOT PERMITTING
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EXTEND # SWITCHOVER DURING ENGINE-SHUTDOWN
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RAND DSALMOUT
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CCS A
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TCF +2 # ONE-SHOT OK
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TCF TVCEXFIN # NO, TERMINATE
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INCR TVCEXPHS # (3)
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# RSB 2009. The following instruction was previously "CAE FCORFRAC", but FCORFRAC
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# is not in erasable memory as implied by the use of CAE. I've accordingly changed
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# it to CAF instead to indicate fixed memory.
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TEMPSET CAF FCORFRAC # SET UP CORRECTION FRACTION
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TS TEMPDAP +1
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INCR TVCEXPHS # ENTRY FROM REPCHECK AT NEXT LOCATION (4)
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CORSETUP CAE DAPDATR1 # CHECK FOR LEM-OFF/ON
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MASK BIT13 # (NOTE, SHOWS LEM-OFF)
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EXTEND
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BZF +2 # LEM IS ON, PICK UP TEMPDAP+1
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CAE TEMPDAP +1 # LEM IS OFF, PICK UP 2(TEMPDAP+1)
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AD TEMPDAP +1
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TS TEMPDAP # CG.CORR USES TEMPDAP
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CAF NEGONE # SET UP FOR CNTR = -1 (SWTCHOVR DONE)
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TS CNTRTMP # (COPYCYCLE AT "CNTRCOPY")
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CG.CORR EXTEND # PITCH TMC LOOP
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DCA PDELOFF
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DXCH PACTTMP
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EXTEND
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DCS PDELOFF
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DDOUBL
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DDOUBL
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DXCH TTMP1
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EXTEND
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DCA DELPBAR
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DDOUBL
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DDOUBL
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DAS TTMP1
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EXTEND
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DCA TTMP1
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EXTEND
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MP TEMPDAP
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DAS PACTTMP
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EXTEND # YAW TMC LOOP
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DCA YDELOFF
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DXCH YACTTMP
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EXTEND
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DCS YDELOFF
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DDOUBL
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# Page 949
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DDOUBL
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DXCH TTMP1
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EXTEND
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DCA DELYBAR
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DDOUBL
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DDOUBL
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DAS TTMP1
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EXTEND
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DCA TTMP1
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EXTEND
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MP TEMPDAP
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DAS YACTTMP
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CORCOPY INCR TVCEXPHS # RESTART-PROTECT THE COPYCYCLE (5)
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EXTEND # TRIM-ESTIMATES, AND
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DCA PACTTMP
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TS PACTOFF # TRIMS
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DXCH PDELOFF
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EXTEND
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DCA YACTTMP
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TS YACTOFF
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DXCH YDELOFF
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INCR TVCEXPHS # ENTRY FROM 1SHOTCHK AT NEXT LOCATION (6)
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CNTRCOPY CAE CNTRTMP # UPDATE CNTR (RESTARTS OK, FOLLOWS CPYCY)
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TS CNTR
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TVCEXFIN CAF ZERO # RESET TVCEXPHS
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TS TVCEXPHS
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TCF TASKOVER # TVCEXECUTIVE FINISHED
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FCORFRAC OCT 10000 # ONE-SHOT CORRECTION FRACTION
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# Page 950 (page is empty)
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