419 lines
9.7 KiB
ArmAsm
419 lines
9.7 KiB
ArmAsm
# Copyright: Public domain.
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# Filename: CSM_GEOMETRY.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: 285-296
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# Mod history: 2009-05-08 RSB Adapted from the Colossus249/ file of the
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# same name, using Comanche055 page images.
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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 285
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BANK 22
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SETLOC COMGEOM1
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BANK
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# THIS ROUTINE TAKES THE SHAFT AND TRUNNION ANGLES AS READ BY THE CM OPTICAL SYSTEM AND CONVERTS THEM INTO A UNIT
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# VECTOR REFERENCED TO THE NAVIGATION BASE COORDINATE SYSTEM AND COINCIDENT WITH THE SEXTANT LINE OF SIGHT.
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#
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# THE INPUTS ARE: 1) THE SEXTAND SHAFT AND TRUNNION ANGLES ARE STORED SP IN LOCATIONS 3 AND 5 RESPECTIVELY OF THE
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# MARK VAC AREA. 2) THE COMPLEMENT OF THE BASE ADDRESS OF THE MARK VAC AREA IS STORED SP AT LOCATION X1 OF YOUR
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# JOB VAC AREA.
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#
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# THE OUTPUT IS A HALF-UNIT VECTOR IN NAVIGATION BASE COORDINATES AND STORED AT LOCATION 32D OF THE VAC AREA. THE
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# OUTPUT IS ALSO AVAILABLE AT MPAC.
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COUNT 23/GEOM
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SXTNB SLOAD* RTB # PUSHDOWN 00,02,04,(17D-19D),32D-36D
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5,1 # TRUNNION = TA
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CDULOGIC
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RTB PUSH
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SXTLOGIC
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SIN SL1
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PUSH SLOAD* # PD2 = SIN(TA)
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3,1 # SHAFT = SA
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RTB PUSH # PD4 = SA
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CDULOGIC
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COS DMP
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2
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STODL STARM # COS(SA)SIN(TA)
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SIN DMP
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STADR
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STODL STARM +2 # SIN(SA)SIN(TA)
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COS
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STOVL STARM +4
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STARM # STARM = 32D
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MXV VSL1
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NB1NB2
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STORE 32D
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RVQ
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SXTLOGIC CAF 10DEGS- # CORRECT FOR 19.775 DEGREE OFFSET
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ADS MPAC
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CAF QUARTER
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TC SHORTMP
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TC DANZIG
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# Page 286
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# CALCSXA COMPUTES THE SEXTANT SHAFT AND TRUNNION ANGLES REQUIRED TO POSITION THE OPTICS SUCH THAT A STAR LINE-
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# OF-SIGHT LIES ALONG THE STAR VECTOR. THE ROUTINE TAKES THE GIVEN STAR VECTOR AND EXPRESSES IT AS A VECTOR REF-
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# ERENECED TO THE OPTICS COORDINATE SYSTEM. IN ADDITION IT SETS UP THREE UNIT VECTORS DEFINING THE X, Y, AND Z AXES
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# REFERENCED TO THE OPTICS COORDINATE SYSTEM.
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#
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# THE INPUTS ARE: 1) THE STAR VECTOR REFERRED TO THE PRESENT STABLE MEMMBER COORDINATES STORED AT STAR. 2) SAME ANGLE
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# INPUT AS *SMNB*, I.E., SINES AND COSINES OF THE CDU ANGLES, IN THE ORDER Y Z X, AT SINCDU AND COSCDU. A CALL
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# TO CDUTRIG WILL PROVIDE THIS INPUT.
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#
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# THE OUTPUT ARE THE SEXTANT SHAFT AND TRUNNION ANGLES STORED DP AT SAC AND PAC RESPECTIVELY. (LOW ORDER PART
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# EQUAL TO ZERO).
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CALCSXA ITA VLOAD # PUSHDOWN 00-26D, 28D, 30D, 32D-36D
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28D
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STAR
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CALL
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*SMNB*
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MXV VSL1
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NB2NB1
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STOVL STAR
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HIUNITX
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STOVL XNB1
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HIUNITY
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STOVL YNB1
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HIUNITZ
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STCALL ZNB1
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SXTANG1
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# Page 287
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# SXTANG COMPUTES THE SEXTANT SHAFT AND TRUNNION ANGLES REQUIRED TO POSITION THE OPTICS SUCH THAT A STAR LINE-OF-
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# SIGHT LIES ALONG THE STAR VECTOR.
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#
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# THE INPUTS ARE: 1) THE STAR VECTOR REFERRED TO ANY COORDINATE SYSTEM STORED AT STAR. 2) THE NAVIGATION BASE
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# COORDINATES REFERRED TO THE SAME COORDINATE SYSTEM. THESE THREE HALF-UNIT VECTORS ARE STROED AT XNB, YNB,AND
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# ZNB.
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#
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# THE OUTPUTS ARE THE SEXTANT SHAFT AND TRUNNION ANGLES STORED DP AT SAC AND PAC RESPECTIVELY. (LOW ORDER PART
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# EQUAL TO ZERO).
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SXTANG ITA RTB # PUSHDOWN 16D,18D,22D-26D,28D
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28D
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TRANSP1 # EREF WRT NB2
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VLOAD MXV
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XNB
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NB2NB1
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VSL1
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STOVL XNB1
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YNB
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MXV VSL1
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NB2NB1
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STOVL YNB1
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ZNB
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MXV VSL1
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NB2NB1
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STORE ZNB1
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RTB RTB
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TRANSP1
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TRANSP2
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SXTANG1 VLOAD VXV
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ZNB1
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STAR
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BOV
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+1
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UNIT BOV
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ZNB=S1
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STORE PDA # PDA = UNIT(ZNB X S)
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DOT DCOMP
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XNB1
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STOVL SINTH # SIN(SA) = PDA . -XNB
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PDA
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DOT
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YNB1
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STCALL COSTH # COS(SA) = PDA . YNB
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ARCTRIG
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# Page 288
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RTB
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1STO2S
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STOVL SAC
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STAR
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BOV
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+1
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DOT SL1
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ZNB1
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ACOS
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BMN SL2
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SXTALARM # TRUNNION ANGLE NEGATIVE
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BOV DSU
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SXTALARM # TRUNNION ANGLE GREATER THAN 90 DEGREES
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20DEG-
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RTB
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1STO2S
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STORE PAC # FOR FLIGHT USE, CULTFLAG IS ON IF
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CLRGO # TRUNION IS GREATER THAN 90 DEG
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CULTFLAG
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28D
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SXTALARM SETGO # ALARM HAS BEEN REMOVED FROM THIS
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CULTFLAG
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28D # SUBROUTINE, ALARM WILL BE SET BY MPI
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ZNB=S1 DLOAD
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270DEG
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STODL SAC
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20DEGS-
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STORE PAC
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CLRGO
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CULTFLAG
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28D
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# Page 289
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# THESE TWO ROUTINES COMPUTE THE ACTUAL STATE VECTOR FOR LM, CSM BY ADDING
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# THE CONIC R,V AND THE DEVIATIONS R,V. THE STATE VECTORS ARE CONVERTED TO
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# METERS B-29 AND METERS/CSEC B-7 AND STORED APPROPRIATELY IN RN,VN OR
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# R-OTHER, V-OTHER FOR DOWNLINK. THE ROUTINES NAMES ARE SWITCHED IN THE
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# OTHER VEHICLES COMPUTER.
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#
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# INPUT
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# STATE VECTOR IN TEMPORARY STORAGE AREA
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# IF STATE VECTOR IS SCALED POS B27 AND VEL B5
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# SET X2 TO +2
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# IF STATE VECTOR IS SCALED POS B29 AND VEL B7
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# SET X2 TO 0
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#
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# OUTPUT
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# R(T) IN RN, V(T) IN VN, T IN PIPTIME
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# OR
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# R(T) IN R-OTHER, V(T) IN V-OTHER (T IS DEFINED BY T-OTHER)
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BANK 23
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SETLOC COMGEOM2
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BANK
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COUNT 10/GEOM
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SVDWN1 BOF RVQ # SW=1=AVETOMID DOING W-MATRIX INTEG
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AVEMIDSW
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+1
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VLOAD VSL*
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TDELTAV
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0 -7,2
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VAD VSL*
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RCV
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0,2
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STOVL RN
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TNUV
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VSL* VAD
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0 -4,2
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VCV
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VSL*
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0,2
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STODL VN
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TET
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STORE PIPTIME
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RVQ
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SVDWN2 VLOAD VSL*
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TDELTAV
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0 -7,2
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VAD VSL*
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RCV
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# Page 290
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0,2
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STOVL R-OTHER
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TNUV
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VSL* VAD
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0 -4,2
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VCV
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VSL*
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0,2
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STORE V-OTHER
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RVQ
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# Page 291
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# SUBROUTINE TO COMPUTE THE NATURAL LOG OF C(MPAC, MPAC +1).
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#
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# ENTRY: CALL
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# LOG
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#
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# SUBROUTINE RETURNS WITH -LOG IN DP MPAC.
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#
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# EBANK IS ARBITRARY.
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BANK 14
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SETLOC POWFLIT2
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BANK
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COUNT 23/GEOM
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LOG NORM BDSU # GENERATES LOG BY SHIFTING ARG
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MPAC +3 # UNTIL IT LIES BETWEEN .5 AND 1.
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NEARLY1 # THE LOG OF THIS PART IS FOUND AND THE
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EXIT # LOG OF THE SHIFTED PART IS COMPUTED
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TC POLY # AND ADDED IN. SHIFT COUNT STORED
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DEC 2 # (N-1, SUPPLIED BY SMERZH)
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2DEC 0 # IN MPAC +3.
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2DEC .031335467
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2DEC .0130145859
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2DEC .0215738898
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CAF ZERO
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TS MPAC +2
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EXTEND
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DCA CLOG2/32
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DXCH MPAC
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DXCH MPAC +3
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COM # LOAD POSITIVE SHIFT COUNT IN A.
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TC SHORTMP # MULTIPLY BY SHIFT COUNT.
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DXCH MPAC +1
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DXCH MPAC
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DXCH MPAC +3
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DAS MPAC
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TC INTPRET # RESULT IN MPAC, MPAC +1
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RVQ
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NEARLY1 2DEC .999999999
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# Page 292
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CLOG2/32 2DEC .0216608494
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# Page 293
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# SUBROUTINE NAME: EARTH ROTATOR (EARROT1 OR EARROT2) DATE: 15 FEB 67
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# MOD NO: N +1 LOG SECTION: POWERED FLIGHT SUBROS
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# MOD BY: ENTRY GROUP (BAIRNSFATHER)
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#
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# FUNCTIONAL DESCRIPTION: THIS ROUTINE PROJECTS THE INITIAL EARTH TARGET VECTOR RTINIT AHEAD THROUGH
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# THE ESTIMATED TIME OF FLIGHT. INITIAL CALL RESOLVES THE INITIAL TARGET VECTOR RTINIT INTO EASTERLY
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# AND NORMAL COMPONENTS RTEAST AND RTNORM. INITIAL AND SUBSEQUENT CALLS ROTATE THIS VECTOR
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# ABOUT THE (FULL) UNIT POLAR AXIS UNITW THROUGH THE ANGLE WIE DTEAROT TO OBTAIN THE ROTATED
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# TARGET VECTOR RT. ALL VECTORS EXCEPT UNITW ARE HALF UNIT.
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# THE EQUATIONS ARE:
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# _ _ _ _
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# RT = RTINIT + RTNORM (COS(WT) - 1) + RTEAST SIN(WT)
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#
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# WHERE WT = WIE DTEAROT
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#
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# RTINIT = INITIAL TARGET VECTOR
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# _ _ _
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# RTEAST = UNITW * RTINIT
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# _ _ _
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# RTNORM = RTEAST * UNITW
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#
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# FOR CONTINUOUS UPDATING, ONLY ONE ENTRY TO EARROT1 IS REQUIRED, WITH SUBSEQUENT ENTRIES AT EARROT2.
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#
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# CALLING SEQUENCE: FIRST CALL SUBSEQUENT CALL
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# STCALL DTEAROT STCALL DTEAROT
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# EARROT1 EARROT2
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# C(MPAC) UNSPECIFIED C(MPAC) = DTEAROT
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# PUSHLOC = PDL+0, ARBITRARY. 6 LOCATIONS USED.
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#
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# SUBROUTINES USED: NONE
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#
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# NORMAL EXIT MODES: RVQ
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#
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# ALARMS: NONE
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#
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# OUTPUT: RTEAST (-1) .5 UNIT VECTOR EAST, COMPNT OF RTINIT LEFT BY FIRST CALL
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# RTNORM (-1) .5 UNIT VECTOR NORML, COMPNT OF RTINIT LEFT BY FIRST CALL
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# RT (-1) .5 UNIT TARGET VECTOR, ROTATED LEFT BY ALL CALLS
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# DTEAROT (-28) CS MAY BE CHANGED BY EARROT2, IF OVER 1 DAY
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#
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# ERASABLE INITIALIZATION REQUIRED:
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# UNITW (0) UNIT POLAR VECTOR PAD LOADED
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# RTINIT (-1) .5 UNIT INITIAL TARGET VECTOR LEFT BY ENTRY
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# DTEAROT (-28) CS TIME OF FLIGHT LEFT BY CALLER
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#
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# DEBRIS: QPRET, PDL+0 ... PDL+5
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# Page 294
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EBANK= RTINIT
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EARROT1 VLOAD VXV
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UNITW # FULL UNIT VECTOR
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RTINIT # .5 UNIT
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STORE RTEAST # .5 UNIT
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VXV
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UNITW # FULL UNIT
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STODL RTNORM # .5 UNIT
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DTEAROT # (-28) CS
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EARROT2 BOVB DDV
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TCDANZIG # RESET OVFIND, IF ON
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1/WIE
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BOV PUSH
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OVERADAY
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COS DSU
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HIDPHALF
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VXSC PDDL # XCH W PUSH LIST
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RTNORM # .5 UNIT
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SIN VXSC
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RTEAST # .5 UNIT
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VAD VSL1
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VAD UNIT # INSURE THAT RT IS "UNIT".
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RTINIT # .5 UNIT
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STORE RT # .5 UNIT TARGET VECTOR
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RVQ
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OVERADAY DLOAD SIGN
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1/WIE
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DTEAROT
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BDSU
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DTEAROT
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STORE DTEAROT
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GOTO
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EARROT2
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#WIE 2DEC .1901487997
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1/WIE 2DEC 8616410
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NB2NB1 2DEC +.8431756920 B-1
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2DEC 0
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2DEC -.5376381241 B-1
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# Page 295
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ZERINFLT 2DEC 0
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HALFNFLT 2DEC .5
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2DEC 0
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2DEC +.5376381241 B-1
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2DEC 0
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2DEC +.8431756920 B-1
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NB1NB2 2DEC +.8431756920 B-1
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2DEC 0
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2DEC +.5376381241 B-1
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2DEC 0
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2DEC .5
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2DEC 0
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2DEC -.5376381241 B-1
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2DEC 0
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2DEC +.8431756920 B-1
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# Page 296
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10DEGS- DEC 3600
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270DEG OCT 60000 # SHAFT 270 DEGREES 25 COMP.
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OCT 00000
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20DEGS- DEC -07199
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DEC -00000
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20DEG- DEC 03600
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DEC 00000
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