805 lines
19 KiB
ArmAsm
805 lines
19 KiB
ArmAsm
# Copyright: Public domain.
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# Filename: SERVICER207.agc
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# Purpose: Part of the source code for Comanche, build 055. It
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# is part of the source code for the Command Module's
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# (CM) Apollo Guidance Computer (AGC), Apollo 11.
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# Assembler: yaYUL
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# Reference: pp. 819-836
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# Contact: Ron Burkey <info@sandroid.org>
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# Website: http://www.ibiblio.org/apollo.
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# Mod history: 2009-05-12 RSB Adapted from Colossus249 file of the same
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# name and Comanche 055 page images.
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#
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# The contents of the "Comanche055" files, in general, are transcribed
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# from scanned documents.
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#
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# Assemble revision 055 of AGC program Comanche by NASA
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# 2021113-051. April 1, 1969.
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#
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# This AGC program shall also be referred to as Colossus 2A
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#
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# Prepared by
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# Massachusetts Institute of Technology
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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 819
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# SERVICER207
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#
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# PROGRAM NAME: PREREAD, READACCS, SERVICER, AVERAGE G.
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# MOD NO. 00 BY M. HAMILTON DEC. 12, 1966
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#
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# FUNCTIONAL DESCRIPTION
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#
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# THE ROUTINES DESCRIBED BELOW ARE USED TO CALCULATE VALUES OF RN, VN, AND GDT/2 DURING ACCELERATED FLIGHT.
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# THE SEVERAL ROUTINES COMPRISE A PACKAGE AND ARE NOT MEANT TO BE USED AS SEPARATE SUBROUTINES.
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#
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# GENERAL REFERENCES TO SERVICER OR AVERAGE G ARE UNDERSTOOD TO REFER TO THE ENTIRE SET OF ROUTINES INCLUDING
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# RRADACCS, SERVICER, AVERAGE G, INTEREAD, SMOOTHER, AND ANY ADDITIONAL ROUTINES ATTACHED AT AVGEXIT (SEE BELOW).
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#
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# PROGRAMS INITIATING SERVICER ARE REQUIRED TO MAKE A WAITLIST CALL FOR PREREAD (OR, IF LIFTOFF, FOR BIBIBIAS)
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# AT 2 SECONDS BEFORE THE FIRST AVERAGE G UPDATE IN ORDER TO INITIALIZE THE SEQUENCE, WHICH WILL RECUR EVERY
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# 2 SECONDS FROM THAT TIME ON AS LONG AS AVEGFLAG REMAINS SET.
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#
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# THE USE OF ERASABLE AVGEXIT ALLOWS VARIOUS ROUTINES TO BE PERFORMED AS PART OF THE NORMAL CYCLE (SEE
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# EXPLANATION OF AVGEXIT BELOW).
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#
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# DESCRIPTIONS OF INDIVIDUAL ROUTINES FOLLOW.
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#
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# PREREAD
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#
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# PREVIOUSLY EXTRAPOLATED VALUES COPIED FROM RN1, VN1, AND PIPTIME1 INTO RN, VN, AND PIPTIME.
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# LASTBIAS JOB SCHEDULED.
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# PIPS READ AND CLEARED VIA PIPASR SUBROUTINE.
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# AVERAGE G FLAG SET ON.
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# DRIFT FLAG SET OFF.
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# V37 FLAG SET ON.
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# INITIALIZATION OF 1) THRUST MONITOR (DVMON) -- DVCNTR SET TO ONE.
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# 2) TOTAL ACCUMULATED DELV VALUE (DVTOTAL) -- SET TO ZERO.
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# 3) AXIS VECTOR (AXIS) -- SET TO (.5,0,0).
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# NORMLIZE JOB SCHEDULED.
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# READACCS TASH CALLED IN 2 SECONDS.
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#
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# NORMLIZE
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#
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# GDT/2 INITIALIZED VIA CALCGRAV ROUTINE.
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#
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# READACCS
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#
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# IF ONMON FLAG SET QUIKREAD ROUTINE IS PERFORMED BEFORE PIPASR ZEROS THE PIPA REGISTERS, AND THE 1/2 SEC
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# ONMONITOR LOOP IS INITIATED TO PROVIDE DOWNLINK INFORMATION DURING ENTRY.
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# PIPS READ AND CLEARED BY PIPASR SUBROUTINE.
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# IF CM/DSTBY IS ON, ENTRY VARIABLES INITIALIZED AND SETJTAG TASK CALLED.
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# Page 820
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#
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# SERVICER207
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#
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# IF AVERAGEG FLAG ON READACCS CALLED TO RECYCLE IN 2 SECONDS.
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# IF AVERAGEG FLAG OFF AVERAGE G EXIT (AVGEXIT) SET TO 2CADR AVGEND FOR FINAL PASS.
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# SERVICER JOB SCHEDULED.
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# TEST CONNECTOR OUTBIT TURNED ON.
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#
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# ONMNITOR
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#
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# A SEQUENCE OF THREE PASSES THROUGH QUICREAD FOLLOWING A CALL TO READACCS WITH ONMONFLG SET AT 1/2
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# SEC INTERVALS. INTERVALS ARE COUNTED OUT BY PIPCTR, INITIALIZED AT 3 BY READACCS.
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#
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# QUIKREAD
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#
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# READS CURRENT PIPS INTO X,Y,ZPIPBUF. READS OLD X,Y,ZPIPBUF INTO X,Y,ZOLDBUF. VALUES ARE SENT TO
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# DOWNLIST DURING ENTRY.
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#
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# SERVICER
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#
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# DELV VALUES CHECKED TO DETECT RUNAWAY PIP:
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# IF BAD PIP 1) ALARM SENT.
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# 2) COMPENSATION, DVTOTAL ACCUMULATION, AND DVMON BYPASSED. CONTROL
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# TRANSFERRED TO AVERAGE G.
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# PIPS COMPENSATED VIA 1/PIPA SUBROUTINE.
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# DVTOTAL INCREMENTED BY ABSOLUTE VALUE OF DELV.
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# THRUST MONITOR (DVMON) PERFORMED UNLESS IDLE FLAG IS ON.
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# CONTROL TRANSFERRED TO AVERAGE Q.
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#
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# DVMON
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#
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# THRESHOLD VALUD (PLACED IN DVTHRUSH BY USER) CHECKED AGAINST ABSOLUTE VALUE OF DELV TO CHECK
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# THRUST LEVEL.
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#
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# IF THRUST 1) ULLAGE OFF ROUTINE PERFORMED.
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# 2) STEERING FLAG TURNED ON AT FIRST DETECTION OF THRUST
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# 3) CONTROL TRANSFERRED TO AVERAGE G.
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# IF NO THRUST 1) ON FIRST PASS THROUGH MONITOR, CONTROL TRANSFERRED TO AVERAGE G.
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# 2) ON SUBSEQUENT PASSES, CONTROL TRANSFERRED TO ENGINE FAIL ROUTINE IF THRUST
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# HAS FAILED FOR 3 CONSECUTIVE PASSES.
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#
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# ENGINE FAIL
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#
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# ENGFAIL1 TASK CALLED IN 2.5 SECONDS. THIS WILL RETURN CONTROL TO TIG-5 SO THAT THE IGNITION
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# SEQUENCE MAY BE REPEATED.
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# ENGINOF3 PERFORMED.
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# DAP SET UP FOR RCS.
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#
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# AVERAGE G
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# Page 821
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# RN1, VN1, GDT1/2 CALCULATED VIA CALCRVG ROUTINE BY UPDATING RN, VN WITH DELV AND AN AVERAGED VALUE
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# OF GDT/2
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# RN1, VN1, GDT1/2, PIPTIME1 COPIED INTO RN, VN, GDT/2, PIPTIME FOR RESTART PROTECTION.
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# CONTROL TRANSFERRED TO ADDRESS SPECIFIED BY USER (OR BY READACCS FOR LAST PASS) IN AVGEXIT.
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# LAST PASS (AVGEND) 1) FREE FALL GYRO COMPENSATION SET UP.
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# 2) DRIFT FLAG TURNED ON.
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# 3) STATE VECTOR TRANSFERRED VIA AVETOMID ROUTINE.
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# 4) ONMONITOR FLAG RESET.
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# 5) V37 FLAG RESET.
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# 6) TEST CONNECTOR OUTBIT RESET.
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# 7) CONTROL TRANSFERRED TO CANV37 TO CONTINUE MM CHANGE ROUTINE (R00).
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#
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# CALLING SEQUENCE
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#
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# PREREAD ENTERED DIRECTLY FROM TIG-30 VIA POSTJUMP.
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# READACCS CALLED AS WAITLIST TASK.
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#
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# SUBROUTINES CALLED
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#
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# UTILITY ROUTINES: PHASCHNG FLAGUP FLAGDOWN NOVAC FINDVAC WAITLIST ALARM NEWPHASE 2PHSCHNG
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#
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# OTHER: PIPASR 1/PIPA CALCGRAV CALCRVG AVETOMID
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#
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# NORMAL EXIT MODES
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#
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# ENDOFJOB TASKOVER CANV37
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#
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# AVGEXIT: THIS IS A DOUBLE PRECISION ERASABLE LOCATION BY WHICH CONTROL IS TRANSFERRED AT THE END
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# OF EACH CYCLE OF AVERAGE G.
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# THE 2CADR OF A ROUTINE TO BE PERFORMED AT THAT TIME (E.G., STEERING EQUATIONS TO BE REPORTED
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# AT 2 SECOND INTERVALS) MAY BE SET BY THE USER INTO AVGEXIT.
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# ALL SUCH ROUTINES SHOULD RETURN TO SERVEXIT, WHICH IS THE NORMAL EXIT FROM AVERAGE G.
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#
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# SERVEXIT: DOES A PHASE CHANGE FOR RESTART PROTECTION AND GOES TO ENDOFJOB.
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# THE 2CADR OF SERVEXIT IS SET INTO AVGEXIT BY THE USERI F NO OTHER ROUTINE (SEE ABOVE).
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#
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# AVGEND: LAST PASS OF AVERAGE G EXITS HERE, BYPASSING SPECIAL ROUTINE (SEE ABOVE UNDER READACCS).
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# FINAL EXIT IS TO CANV37. F AVERAGE G).
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#
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# OUTPUT
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#
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# DVTOTAL(2) PIPTIME(2) XPIPBUF(2) YPIPBUF(2) ZPIPBUF(2)
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# RN(6) REFERENCE COORD. SCALED AT 2(+29) M/CS
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# VN(6) REFERENCE COORD. SCALED AT 2(+7) M/CS
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# GDT/2(6) REFERENCE COORD. SCALED AT 2(+7) M/CS
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# DELV(6) STABLE MEMB. COORD. SCALED AT 2(+14)*5.85*10(-4) M/CS (KPIP1 USED TO GET DV/2 AT 2(+7))
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# Page 822
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# DELVREF(6) REFERENCE COORD. SCALED AT 2(+7) M/CS
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#
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# INITIALIZATION
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#
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# ONMONITOR FLAG SET BY ENTRY TO SHOW PIPBUF VALUES REQUIRED.
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# IDLE FLAG ON IF DVMON TO BE BYPASSED.
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# DVTHRUSH SET TO APPROPRIATE VALUE FOR DVMON.
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# AVGEXIT SET TO 2CADR OF ROUTINE, IF ANY, TO BE PERFORMED AFTER EACH CYCLE OF AVERAGE G. IF NO ROUTINE
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# TO BE DONE, AVGEXIT SET TO SERVEXIT.
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# VALUES NEEDED
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# REFSMMAT
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# UNITW: FULL UNIT VECTOR, IN REFERENCE COORD., OF EARTH'S ROTATIONAL VECTOR
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# RN1, VN1, PIPTIME1: IN REFERENCE COORD., CONSISTENT WITH TIME OF EXECUTION OF PREREAD.
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#
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# DEBRIS
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#
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# CENTRALS A, L, Q
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# OTHER INTERNAL: DVCNTR(1) PIPAGE(1) PIPCTR(1) AVGEXIT(2)
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# EXTERNAL: ITEMP1(1) ITEMP2(1) RUPTREG1(1) TEMX(1) TEMY(1) TEMZ(1)
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# USEFUL DEBRIS
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# RN1(0) VN1(0) GDT1/0 PIPTIME1(2?)
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# THESE LOCATIONS USED AS BUFFER STORAGE FOR NEWLY CALCULATED VALUES OF RN, VN, GDT/2,
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# AND PIPTIME DURING PERFORMANCE OF SERVICER ROUTINES.
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# UNITR: HALF UNIT VECTOR OF RN, REFERENCE COORD.
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# RMAG SCALED AT 2(+58) IN 36D.
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# RMAGSQ SCALED AT 2(+58) IN 34D.
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# (RE/RMAG)SQ IN 32D
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BANK 27
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SETLOC SERVICES
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BANK
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EBANK= DVCNTR
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# ********************* PREREAD ***************************************
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COUNT 37/SERV
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PREREAD CAF PRIO21 # CALLER MUST PROTECT PREREAD
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TC NOVAC
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EBANK= NBDX
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2CADR LASTBIAS # DO LAST GYRO COMPENSATION IN FREE FALL
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# CALL-TO AND LASTBIAS ITSELF ARE NOT
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# PROTECTED. REREADAC SETS 1/PIPADT
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# TO 2.0 SECS IN CASE LASTBIAS LOST.
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# (REDUNDANT IF LASTBIAS IS AOK.)
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# Page 823
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REDO5.31 TC PREREAD1
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CAF PRIO32
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TC FINDVAC # SET UP NORMLIZE JOB REQUIRED PRIOR TO
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EBANK= DVCNTR # FIRST AVERAGE G PASS
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2CADR NORMLIZE
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CAF 2SECS
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TC WAITLIST
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EBANK= AOG
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2CADR READACCS
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CS TWO
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TC NEWPHASE
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OCT 5
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TCF TASKOVER
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PREREAD1 EXTEND
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QXCH RUPTREG1
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TC PIPASR # CLEAR + READ PIPS LAST TIME IN FREE FALL
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CAF ONE # SET UP PIPAGE FOR REREADAC IN CASE A
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TS PIPAGE # RESTART OCCURS BEFORE READACCS
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CS FLAGWRD1 # SET AVEG FLAG
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MASK BIT1
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ADS FLAGWRD1
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CA POSMAX
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MASK FLAGWRD2
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TS FLAGWRD2 # KNOCK DOWN DRIFT FLAG
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CS FLAGWRD7 # SET V37 FLAG
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MASK BIT6
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ADS FLAGWRD7
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CAF ZERO
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TS DVTOTAL # CLEAR DVTOTAL
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TS DVTOTAL +1
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TC RUPTREG1
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# Page 824
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# ********************* READACCS ***************************************
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EBANK= AOG
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READACCS TC PIPASR
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PIPSDONE CAF FIVE
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TS L
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COM
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DXCH -PHASE5
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REDO5.5 CAF ONE # SHOW PIPS HAVE BEEN READ
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TS PIPAGE
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CA TWO # SET PIPCTR FOR ONMINTOR
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TS PIPCTR # AFTER ABOVE PHASCHNG
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CS CM/FLAGS
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MASK BIT2 # CM/DSTBY
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CCS A
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TC CHEKAVEG
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CS PIPTIME1 +1
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TS TBASE6 # FOR RESTARTS
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EXTEND # CONTINUE FOR ENTRY DAP
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DCA AOG
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DXCH AOG/PIP
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CA AMG
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XCH AMG/PIP
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EXTEND
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DCA ROLL/180
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DXCH ROLL/PIP
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CA BETA/180
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XCH BETA/PIP
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CA CM/FLAGS
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MASK BIT12 # CM/DAPARM 93D BIT12
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EXTEND # DURING ENTRY, WHEN RCS DAP IS INACTIVE,
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BZF NOSAVPIP # SAVE PIPAS EACH 0.5 SEC FOR TM.
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CA 0.5SEC
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TC WAITLIST
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EBANK= XPIPBUF
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2CADR QUIKREAD
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# NO NEED TO RESTART PROTECT THIS.
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CA DELVX # SAVE PIPAS AS READ (BUT NOT COMPENSATED)
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XCH XPIPBUF
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TS XOLDBUF
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CA DELVY
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XCH YPIPBUF
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TS YOLDBUF
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# Page 825
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CA DELVZ
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XCH ZPIPBUF
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TS ZOLDBUF
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NOSAVPIP CA FIVE
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TS CM/GYMDT
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CA JTAGTIME # ACTIVATE CM/RCS AFTER PIPUP TO GO
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# IN JTAGTIME +5 CS.
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TC WAITLIST
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EBANK= AOG
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2CADR SETJTAG
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CS THREE # 1.3SPOT FOR SETJTAG
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TC NEWPHASE
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OCT 1
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CAF OCT37
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TS L
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COM
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DXCH -PHASE5
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CHEKAVEG CS FLAGWRD1
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MASK BIT1
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CCS A # IF AVEG FLAG DOWN SET FINAL EXIT AVEG
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TC AVEGOUT
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CAF 2SECS
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TC WAITLIST
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EBANK= AOG
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2CADR READACCS
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MAKESERV CAF PRIO20 # ESTABLISH SERVICER ROUTINE
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TC FINDVAC
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EBANK= DVCNTR
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2CADR SERVICER
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CS FOUR # RESTART SERVICER AND READACCS
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TC NEWPHASE
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OCT 5
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CAF BIT9
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EXTEND
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WOR DSALMOUT # TURN TEST CONNECTOR OUTBIT ON
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TCF TASKOVER # END PREVIOUS READACCS WAITLIST TASK
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# Page 826
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AVEGOUT EXTEND
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DCA AVOUTCAD
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DXCH AVGEXIT
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TCF MAKESERV
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EBANK= DVCNTR
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AVOUTCAD 2CADR AVGEND
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# Page 827
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# ROUTINE NAME: ONMNITOR
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# MOD 04 BY BAIRNSFATHER 30 APR 1968 REDO ONMNITOR TO SAVE PIPS EACH 0.5 SEC FOR TM,ENTRY.
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# MOD 03 BY FISHER DECEMBER 1967
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# MOD 02 BY RYE SEPT 1967
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# MOD 01 BY KOSMALA 23 MAR 1967
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# MOD 00 BY KOSMALA 27 FEB 1967
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#
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# FUNCTIONAL DESCRIPTION
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#
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# THE PURPOSE OF ONMONITOR IS TO PROVIDE 1/2 SEC. READING OF PIPAS FOR DOWNLIST DURING ENTRY.
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# X,Y,XPIPBUF CONTAIN PRESET VALUES X,Y,ZOLDBUF CONTAIN VALUES FROM PREVIOUS READING.
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#
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# CALLING SEQUENCE
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#
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# CALL AS WAITLIST TASK. TERMINATES ITSELF IN TASKOVER
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#
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# INITIALIZATION
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#
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# PIPCTR = 2 (FOR DT = 0.5 SEC)
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# X,Y,ZPIPBUF SET TO PREVIOUS PIPAX,Y,Z
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#
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# OUTPUT
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#
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# X,Y,ZPIPBUF, X,Y,ZOLDBUF
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#
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# DEBRIS
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#
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# X,Y,ZPIPBUF CONTAIN LAST PIPAX,Y,Z VALUES
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# X,Y,ZOLDBUF CONTAIN LAST-BUT-ONE PIPAX,Y,Z VALUES
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# RUPTREG1
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# PIPCTR
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ONMNITOR TS PIPCTR
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TC FIXDELAY # WAIT
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0.5SEC DEC 50
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QUIKREAD CAF TWO
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TS RUPTREG1
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INDEX A
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CA PIPAX # SAVE ACTUAL PIPAS FOR TM.
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INDEX RUPTREG1
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XCH XPIPBUF # UPDATE X,Y,ZPIPBUF
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INDEX RUPTREG1
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TS XOLDBUF # AND X,Y,ZOLDBUF
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CHKCTR CCS RUPTREG1
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TCF QUIKREAD +1 # LOOP AGAIN
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CCS PIPCTR
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TCF ONMNITOR
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TC TASKOVER
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# Page 828
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# ********************* SERVICER ***************************************
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EBANK= DVCNTR
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SERVICER CAF TWO
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INHINT
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PIPCHECK TS RUPTREG1
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DOUBLE
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INDEX A
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CCS DELVX
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TC +2
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TC PIPLOOP
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AD -MAXDELV # DO PIPA-SATURATION TEST BEFORE
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EXTEND
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BZMF PIPLOOP # COMPENSATION.
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TC ALARM
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OCT 00205 # SATURATED-PIPA ALARM ***CHANGE LATER
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TC AVERAGEG
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PIPLOOP CCS RUPTREG1
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TCF PIPCHECK
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TC PHASCHNG # RESTART REREADAC + SERVICER
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OCT 16035
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OCT 20000
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EBANK= DVCNTR
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2CADR DVTOTUP
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TC BANKCALL # PIPA COMPENSATION CALL
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CADR 1/PIPA
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DVTOTUP TC INTPRET
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VLOAD ABVAL # GET ABS VALUE OF DELV
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DELV
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DMP EXIT
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KPIP1 # SCALE AT 2(+7)
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EXTEND
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DCA MPAC
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DAS DVTOTAL # ACCUMULATE DVTOTAL
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AVERAGEG TC PHASCHNG
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OCT 10035
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TC INTPRET
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CALL
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# Page 829
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CALCRVG
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EXIT
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TC PHASCHNG
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OCT 10035
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CAF OCT31 # COPY RN1,VN1,GOT102,GOBL1/2,PIPTIME1
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TC GENTRAN # INTO RN, VN, GDT/12, GOBL/2,PIPTIME
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ADRES RN1
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ADRES RN
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RELINT # GENTRAN DOES AN INHINT
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TC PHASCHNG
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OCT 10035
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EXTEND
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DCA AVGEXIT
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DXCH Z # AVERAGEG EXIT
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AVGEND CA PIPTIME +1 # FINAL AVERAGE G EXIT
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TS OLDBT1 # SET UP FREE FALL GYRO COMPENSATION
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TC UPFLAG # SET DRIFTFLG
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ADRES DRIFTFLG # BIT 15 FLAG 2
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TC 2PHSCHNG
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OCT 5 # GROUP 5 OFF
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OCT 05022 # GROUP 2 ON FOR AVETOMID
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OCT 20000
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TC INTPRET
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CALL
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AVETOMID # CONVERT STATE VECTOR TO REFERENCE SCALE.
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EXIT
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CAF ZERO # ZERO MARK COUNTERS.
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TS VHFCNT
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TS TRKMKCNT
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TC BANKCALL
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CADR PIPFREE
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CS BIT9
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TS MRKBUF2 # INVALIDATE MARK BUFFER
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EXTEND
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WAND DSALMOUT
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TC DOWNFLAG
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ADRES CM/DSTBY
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TC DOWNFLAG
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ADRES V37FLAG
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# Page 830
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CAF BIT7 # RESTORE GROUP 1 + 2 IF P20 IS RUNNING.
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MASK FLAGWRD0
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EXTEND
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BZF +4
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TC 2PHSCHNG
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OCT 111 # 1.11SPOT
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OCT 132 # 2.13SPOT
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TC POSTJUMP
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CADR CANV37
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SERVEXIT TC PHASCHNG
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OCT 00035 # A, 5.3 = REREADAC (ONLY)
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TCF ENDOFJOB
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DVTHRUSH EQUALS ELEVEN # 15 PERCENT OF 2SEC PIPA ACCUMULATION,
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# FOR 503-FULL CSM/LEM....DELV SC.AT
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# 5.85 CM/SEC.
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-MAXDELV DEC -6398 # 3200 PPS FOR 2 SEC CCS TAKES 1
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JTAGTIME DEC 120 # = 1 SEC + T CDU, T CDU = .1 SEC
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2.5SEC DEC 250
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MDOTFAIL DEC 144.0 B-16 # 5 SEC MASS LOSS AT 28.8 KG/SEC
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# SHOULD BE 2-4 SECS FOR NO START
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# 6-8 SECS FOR FAILURE
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# Page 831
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# NORMLIZE PERFORMS THE INITIALIZATION REQUIRED PRIOR TO THE FIRST ENTRY TO AVERAGEG, AND SCALES RN SO THAT IT
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# HAS 1 LEADING BINARY ZERO. IN MOST MISSIONS, RN WILL BE SCALED AT 2(+29), BUT IN THE 206 MISSION, RN WILL BE
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# SCALED AT 2(+24) M.
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NORMLIZE CAF THIRTEEN # SET UP TO COPY 14 REGS: RN1,VN1,PIPTIME1
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TC GENTRAN # INTO RN,VN,PIPTIME
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ADRES RN1 # FROM HERE
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ADRES RN # TO HERE
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RELINT
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TC INTPRET
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VLOAD CALL # LOAD RN FOR CALCGRAV
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RN
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CALCGRAV # INITIALIZE UNITR RMAG GDT1
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STOVL GDT/2
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GOBL1/2
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STORE GOBL/2
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EXIT
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TCF ENDOFJOB
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# Page 832
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# ***** PIPA READER *****
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# MOD NO. 00 BY D. LICKLY DEC. 9 1966
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#
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# FUNCTIONAL DESCRIPTION
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#
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# SUBROUTINE TO READ PIPA COUNTERS, TRYING TO BE VERY CAREFUL SO THAT IT WILL BE RESTARTABLE.
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# PIPA READINGS ARE STORED IN THE VECTOR DELV. THE HIGH ORDER PART OF EACH COMPONENT CONTAINS THE PIPA READING,
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# RESTARTS BEGIN AT REREADAC.
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#
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# AT THE END OF THE PIPA READER THE CDUS ARE READ AND STORED AS A
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# VECTOR IN CDUTEMP. THE HIGH ORDER PART OF EACH COMPONENT CONTAINS
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# THE CDU READING IN 2'S COMP IN THE ORDER CDUX,Y,Z. THE THRUST
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# VECTOR ESTIMATOR IN FINDCDUD REQUIRES THE CDUS BE READ AT PIPTIME.
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#
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# CALLING SEQUENCE AND EXIT
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#
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# CALL VIA TC, ISWCALL, ETC.
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#
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# EXIT IS VIA Q.
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#
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# INPUT
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#
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# INPUT IS THROUGH THE COUNTERS PIPAX, PIPAY, PIPAZ, AND TIME2.
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#
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# OUTPUT
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#
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# HIGH ORDER COMPONENTS OF THE VECTOR DELV CONTAIN THE PIPA READINGS.
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#
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# PIPTIME CONTAINS TIME OF PIPA READING.
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#
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# DEBRIS (ERASABLE LOCATIONS DESTROYED BY THE PROGRAM)
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#
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# LOW ORDER DELV'S ARE ZEROED FOR TM INDICATION.
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# TEMX TEMY TEMZ PIPAGE
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PIPASR EXTEND
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DCA TIME2
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DXCH PIPTIME1 # CURRENT TIME POSITIVE VALUE
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CS ZERO # INITIALIZE THESE AT NEG ZERO.
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TS TEMX
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TS TEMY
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TS TEMZ
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# Page 833
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CA ZERO
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TS DELVZ # OTHER DELVS OK INCLUDING LOW ORDER
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TS DELVY
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TS DELVX +1 # LOW ORDER DELV'S ARE ZEROED FOR TM: THIS
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TS DELVY +1 # IF DNLNK=D LOW ORDER DELVS ARE NZ, THEY
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TS DELVZ +1 # CONTAIN PROPER COMPENSATION. IF=0, THEN
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# THE TM VALUES ARE BEFORE COMPENSATION.
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TS PIPAGE # SHOW PIPA READING IN PROGRESS
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REPIP1 EXTEND
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DCS PIPAX # X AND Y PIPS READ
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DXCH TEMX
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DXCH PIPAX # PIPAS SET TO NEG ZERO AS READ.
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TS DELVX
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LXCH DELVY
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REPIP3 CS PIPAZ # REPEAT PROCESS FOR Z PIP
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XCH TEMZ
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XCH PIPAZ
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DODELVZ TS DELVZ
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TC Q
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EBANK= AOG
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REREADAC CCS PHASE5 # LAST PASS CHECK
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TCF +2
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TCF TASKOVER
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CAF PRIO31 # RESTART MAY HAVE WIPED OUT LASTBIAS, AN
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TS 1/PIPADT # UNPROTECTED NOVAC FROM PREREAD,
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# WHICH SET(S) UP 1/PIPADT (THUSLY)
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# FOR NON-COASTING COMPENSATION....BE
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# SURE 1/PIPADT IS AOK. (PRIO31 IS
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# 2.0SEC SC.AT B+8(CS)
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CCS PIPAGE
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TCF READACCS # PIP READING NOT STARTED. GO TO BEGINNING
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CAF DONEADR # SET UP RETURN FROM PIPASR
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TS Q
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CCS DELVZ
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TC Q # Z DONE, GO DO CDUS
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TCF +3 # Z NOT DONE, CHECK Y.
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TC Q
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TC Q
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# Page 834
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ZL
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CCS DELVY
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TCF +3
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TCF CHKTEMX # Y NOT DONE, CHECK X.
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TCF +1
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LXCH PIPAZ # Y DONE, ZERO Z PIP.
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CCS TEMZ
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CS TEMZ # TEMZ NOT = -0, CONTAINS -PIPAZ VALUE.
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TCF DODELVZ
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TCF -2
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LXCH DELVZ # TEMZ = -0, L HAS ZPIP VALUE.
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TC Q
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CHKTEMX CCS TEMX # HAS THIS CHANGED
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CS TEMX # YES
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TCF +3 # YES
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TCF -2 # YES
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TCF REPIP1 # NO
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TS DELVX
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CS TEMY
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TS DELVY
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CS ZERO # ZERO X AND Y PIPS
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DXCH PIPAX # L STILL ZERO FROM ABOVE
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TCF REPIP3
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DONEADR GENADR PIPSDONE
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# Page 835
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#*********************************************************************************************
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#
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# ROUTINE CALCRVG INTEGRATES THE EQUATIONS OF MOTION BY AVERAGING THE THRUST AND GRAVITATIONAL
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# ACCELERATIONS OVER A TIME INTERVAL OF 2 SECONDS.
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#
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# FOR THE EARTH-CENTERED GRAVITATIONAL FIELD, THE PERTURBATION DUE TO OBLATENESS IS COMPUTED TO THE FIRST
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# HARMONIC COEFFICIENT J.
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#
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# ROUTINE CALCRVG REQUIRES...
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# 1) THRUST ACCELERATION INCREMENTS IN DELV SCALED SAME AS PIPAX,Y,Z IN STABLE MEMBER COORDS.
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# 2) VN SCALED 2(+7) M/CS IN REFERENCE COORDS.
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# 3) RN SCALED AT 2(+29) METERS IN REFERENCE COORDS.
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# 4) UNITW THE EARTH'S UNIT ROTATIONAL VECTOR (SCALED AS A FULL UNIT VECTOR) IN REFERENCE COORDS.
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#
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# IT LEAVES RN1 UPDATED (SCALED AT 2(+29)M, VN1 (SCALED AT 2(+7)M/CS), AND GDT1/2 (SCALED AT 2(+7)M/CS). ALSO HALF
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# UNIT VECTOR UNITR, RMAG IN 36D SCALED AT 2(+29)M, R MAG SQ. IN 34D SCALED AT 2(+58) M SQ.
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CALCGRAV UNIT PUSH # ENTER WITH RN IN MPAC
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STORE UNITR
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LXC,1 SLOAD
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RTX2
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X1
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BMN VLOAD
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ITISMOON
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DOT PUSH
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UNITW
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DSQ BDSU
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DP1/20
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PDDL DDV
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RESQ
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34D # (RN)SQ
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STORE 32D # TEMP FOR (RE/RN)SQ
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DMP DMP
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20J
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VXSC PDDL
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UNITR
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DMP DMP
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2J
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32D
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VXSC VAD
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UNITW
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STADR
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STORE GOBL1/2
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VAD PUSH
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UNITR
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ITISMOON DLOAD NORM
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34D
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X2
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BDDV* SLR*
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# Page 836
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-MUDT(E),1
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0 -21D,2
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VXSC STADR
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STORE GDT1/2 # SCALED AT 2(+7) M/CS
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RVQ
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CALCRVG VLOAD VXSC
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DELV
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KPIP1
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VXM VSL1
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REFSMMAT
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STORE DELVREF # DELV IN REF COORDS AT 2(+7)
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VSR1 PUSH
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VAD PUSH # (DV-OLDGDT)/2 TO PD SCALED AT 2(+7)M/CS
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GDT/2
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VAD VXSC
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VN
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2SEC(22)
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VAD STQ
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RN
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31D
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STCALL RN1 # TEMP STORAGE OF RN SCALED 2(+29)M
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CALCGRAV
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VAD VAD
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VAD
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VN
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STCALL VN1 # TEMP STORAGE OF VN SCALED 2(+7) M/CS.
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31D
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KPIP 2DEC .1024 # SCALES DELV TO 2(+4)
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KPIP1 2DEC 0.074880 # 207 DELV SCALING. 1 PULSE = 5.85 CM/SEC.
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-MUDT(E) 2DEC* -7.9720645 E+12 B-44*
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-MUDT(M) 2DEC* -9.805556 E+10 B-44*
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2SEC(22) 2DEC 200 B-22
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DP1/20 2DEC 0.05
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RESQ 2DEC* 40.6809913 E12 B-59*
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20J 2DEC* 3.24692010 E-2 B1*
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2J 2DEC* 3.24692010 E-3 B1*
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