197 lines
5.8 KiB
Plaintext
197 lines
5.8 KiB
Plaintext
# Copyright: Public domain.
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# Filename: SPS_BACK-UP_RCS_CONTROL.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: Ron Burkey <info@sandroid.org>.
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# Website: www.ibiblio.org/apollo.
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# Pages: 1507-1510
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# Mod history: 2009-05-27 RSB Adapted from the corresponding
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# Luminary131 file, using page
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# images from Luminary 1A.
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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 1507
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# PROGRAM NAME: SPSRCS
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# AUTHOR: EDGAR M. OSHIKA (AC ELECTRONICS)
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# MODIFIED: TO RETURN TO ALL AXES VIA Q BY P. S. WEISSMAN, OCT 7, 1968
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# MODIFIED TO IMPROVE BENDING STABILITY BY G. KALAN, FEB. 14, 1969
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#
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# FUNCTIONAL DESCRIPTION:
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# THE PROGRAM CONTROLS THE FIRING OF ALL RCS JETS IN THE DOCKED CONFIGURATION ACCORDING TO THE FOLLOWING PHASE
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# PLANE LOGIC.
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#
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# 1. JET SENSE TEST (SPSRCS)
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# IF JETS ARE FIRING NEGATIVELY, SET OLDSENSE NEGATIVE AND CONTINUE
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# IF JETS ARE FIRING POSITIVELY, SET OLDSENSE POSITIVE AND CONTINUE
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# IF JETS ARE NOT FIRING, SET OLDSENSE TO ZERO AND GO TO OUTER RATE LIMIT TEST
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#
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# 2. RATE DEAD BAND TEST
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# IF JETS ARE FIRING NEGATIVELY AND RATE IS GREATER THAN TARGET RATE, LEAVE
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# JETS ON AND GO TO INHIBITION LOGIC. OTHERWISE, CONTINUE.
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# IF JETS ARE FIRING POSITIVELY AND RATE IS LESS THAN TARGET RATE, LEAVE
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# JETS ON AND GO TO INHIBITION LOGIC. OTHERWISE, CONTINUE.
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#
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# 3. OUTER RATE LIMIT TEST (SPSSTART)
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# IF MAGNITUDE OF EDOT IS GREATER THAN 1.73 DEG/SEC SET JET FIRING TIME
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# TO REDUCE RATE AND GO TO INHIBITION LOGIC. OTHERWISE, CONTINUE.
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#
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# 4. COAST ZONE TEST
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# IF STATE (E,EDOT) IS BELOW LINE E + 4 X EDOT > -1.4 DEG AND EDOT IS LESS THAN 1.30 DEG/SEC SET JET TIME
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# POSITIVE AND CONTINUE. OTHERWISE, SET JET FIRING TIME TO ZERO AND CONTINUE.
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# IF STATE IS ABOVE LINE E + 4 X EDOT > +1.4 DEG AND EDOT IS GREATER THAN -1.30 DEG/SEC, SET JET TIME NEGATIVE
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# AND CONTINUE. OTHERWISE, SET JET FIRING TIME TO ZERO AND CONTINUE.
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#
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# 5. INHIBITION LOGIC
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# IF OLDSENSE IS NON-ZERO:
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# A) RETURN IF JET TIME AS THE SAME SIGN AS OLDSENSE
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# B) SET INHIBITION COUNTER* AND RETURN IF JET TIME IS ZERO
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# C) SET INHIBITION COUNTER,* SET JET TIME TO ZERO AND RETURN IF SIGN
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# OF JET TIME IS OPPOSITE TO THAT OF OLDSENSE
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# IF OLDSENSE IS ZERO:
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# A) RETURN IF INHIBITION COUNTER IS NOT POSITIVE
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# B) SET JET TIME TO ZERO AND RETURN IF INHIBITION COUNTER IS POSITIVE
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# *NOTE: INHIBITION COUNTERS CAN BE SET TO 4 OR 10 FOR THE P AND UV AXES,
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# RESPECTIVELY, IN SPSRCS. THEY ARE DECREMENTED BY ONE AT THE BEGINNING OF
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# Page 1508
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# EACH DAP PASS.
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#
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# THE MINIMUM PULSE WIDTH OF THIS CONTROLLER IS DETERMINED BY THE REPETITION RATE AT WHICH THIS ROUTINE IS CALLED
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# AND IS NOMINALLY 100 MS FOR ALL AXES IN DRIFTING FLIGHT. DURING POWERED FLIGHT THE MINIMUM IS 100 MS FOR THE
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# P AXIS AND 200 MS FOR THE CONTROL OF THE U AND V AXES.
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#
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# CALLING SEQUENCE:
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# INHINT
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# TC IBNKCALL
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# CADR SPSRCE
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#
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# EXIT:
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# TC Q
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#
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# ALARM/ABORT MODE: NONE
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#
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# SUBROUTINES CALLED: NONE
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#
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# INPUT: E, EDOT
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# TJP, TJV, TJU TJ MUST NOT BE NEGATIVE ZERO
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#
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# OUTPUT: TJP, TJV, TJU
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BANK 21
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SETLOC DAPS4
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BANK
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COUNT* $$/DAPBU
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EBANK= TJU
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RATELIM2 OCT 00632 # 1.125 DEG/SEC
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POSTHRST CA HALF
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NDX AXISCTR
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TS TJU
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CCS OLDSENSE
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TCF POSCHECK # JETS FIRING POSITIVELY
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TCF CTRCHECK # JETS OFF. CHECK INHIBITION CTR
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NEGCHECK INDEX AXISCTR # JETS FIRING NEGATIVELY
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CS TJU
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CCS A
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TC Q # RETURN
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TCF +2
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TCF +1 # JETS COMMANDED OFF. SET CTR AND RETURN
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SETCTR INDEX AXISCTR # JET FIRING REVERSAL COMMANDED. SET CTR,
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CA UTIME # SET JET TIME TO ZERO, AND RETURN
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# Page 1509
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INDEX AXISCTR
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TS UJETCTR
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ZAPTJ CA ZERO
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INDEX AXISCTR
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TS TJU
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TC Q
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POSCHECK INDEX AXISCTR
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CA TJU
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TCF NEGCHECK +2
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CTRCHECK INDEX AXISCTR # CHECK JET INHIBITION COUNTER
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CCS UJETCTR
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TCF +2
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TC Q # CTR IS NOT POSITIVE. RETURN
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TCF ZAPTJ # CTR IS POSITIVE. INHIBIT FIRINGS
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TC Q # CTR IS NOT POSITIVE. RETURN
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OCT 00004
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UTIME OCT 00012
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OCT 00012
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OLDSENSE EQUALS DAPTREG1
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NEGFIRE CS ONE # JETS FIRING NEGATIVELY
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TS OLDSENSE
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CA EDOT
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TCF +4
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PLUSFIRE CA ONE
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TS OLDSENSE
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CS EDOT # RATE DEAD BAND TEST
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LXCH A
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CS DAPBOOLS # IF DRIFTBIT = 1, USE ZERO TARGET RATE
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MASK DRIFTBIT # IF DRIFTBIT = 0, USE 0.10 RATE TARGET
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CCS A
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CA RATEDB1
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AD L
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EXTEND
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BZMF SPSSTART
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TCF POSTHRST +3
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SPSRCS INDEX AXISCTR # JET SENSE TEST
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CCS TJU
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TCF PLUSFIRE # JETS FIRING POSITIVELY
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TCF +2
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TCF NEGFIRE # JETS FIRING NEGATIVELY
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TS OLDSENSE # JETS OFF
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SPSSTART CA EDOT # OUTER RATE LIMIT TEST
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EXTEND
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MP RATELIM1
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CCS A
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TCF NEGTHRST # OUTER RATE LIMIT EXCEEDED
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TCF +2
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TCF POSTHRST # OUTER RATE LIMIT EXCEEDED
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CA EDOT # COAST ZONE TEST
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# Page 1510
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AD E
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EXTEND
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MP DKDB # PAD LOADED DEADBAND. FRESHSTART: 1.4 DEG
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EXTEND
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BZF TJZERO
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EXTEND
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BZMF +7
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CA EDOT
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AD RATELIM2
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EXTEND
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BZMF TJZERO
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NEGTHRST CS HALF
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TCF POSTHRST +1
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+7 CS RATELIM2
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AD EDOT
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EXTEND
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BZMF POSTHRST
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TJZERO CA ZERO
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TCF POSTHRST +1
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RATELIM1 = CALLCODE # = 00032, CORRESPONDING TO 1.73 DEG/SEC
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RATEDB1 = TBUILDFX # = 00045, CORRESPONDS TO 0.101 DEG/SEC
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# *** END OF LMDAP .015 ***
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