924 lines
21 KiB
Plaintext
924 lines
21 KiB
Plaintext
# Copyright: Public domain.
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# Filename: P11.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: Hartmuth Gutsche <hgutsche@xplornet.com>.
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# Website: www.ibiblio.org/apollo.
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# Pages: 533-550
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# Mod history: 2009-05-13 HG Started adapting from the Colossus249/ file
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# of the same name, using Comanche055 page
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# images 0533.jpg - 0550.jpg.
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# 2009-05-20 RSB Corrections: ERTHALT -> EARTHALT,
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# STATSW -> SATSW.
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# 2009-05-23 RSB At end of RESCALES, corrected TC 0 to TC Q.
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# Added an SBANK= prior to a 2CADR.
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# 2010-08-24 JL Fixed page numbers. Added missing comment character on p537.
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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 533
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# EARTH ORBIT INSERTION MONITOR PROGRAM
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# *************************************
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#
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# PROGRAM DESCRIPTION -P11-
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#
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# MOD NO. 1
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# MOD BY ELIASSEN
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#
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# FUNCTIONAL DESCRIPTION
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#
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# P11 IS INITIATED BY
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#
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# A) GYROCOMPASS PRG P02 WHEN LIFTOFF DISCRETE IS RECEIVED OR
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# B) BACKUP THRU VERB 75 ENTER
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#
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# PROGRAM WILL
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# 1. ZERO CMC CLOCK AT LIFTOFF (OR UPON RECEIPT OF BACKUP)
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# 2. UPDATE TEPHEM TO TIME CMC CLOCK WAS ZEROED
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# 3. INITIATE SERVICER AT PREREAD1
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# 4. CHANGE MAJOR MODE TO 11
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# 5. CLEAR DSKY IN CASE OF V 75
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# 6. STORE LIFTOFF IMU-CDU ANGLES FOR ATT. ERROR DISPLAY
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# 7. TERMINATE GYROCOMPASSING __ __
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# 8. COMPUTE INITIAL VECTORS RN, VN _ _ _
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# 9. COMPUTE REFSMMAT FOR PRELAUNCH ALIGNMENT WHERE U ,U ,U ARE
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# _ _ X Y Z
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# U =(UNIT(-R) LOCAL VERTICAL AT TIME OF LIFTOFF
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# _Z _ _
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# U =UNIT(A), A=HOR VECTOR AT LAUNCH AZIMUTH
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# _X _ _
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# U =U * U
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# U Z X
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# 10. SET REFSMMAT KNOWN FLAG
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# 11. SET AVGEXIT IN SERVICER TO VHHDOT TO
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# COMPUTE AND DISPLAY NOUN 62 EVERY 2 SECONDS
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#
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# R1 V1 -- INERTIAL VELOCITY MAGNITUDE IN FPS
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# R2 HDOT -- RATE OF CHANGE OF VEHICLE VEL IN FPS
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# R3 H -- VEHICLE ALTITUDE ABOVE PAD IN NM
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#
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# 12. DISPLAY BODY AXES ATT. ERRORS ON FDAI NEEDLES
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#
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# A) FROM L.O. TO RPSTART (APPROX. 0 TO +10SECS AFTER L.O.)
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# DESIRED ATTITUDE IS AS STORED AT L.O.
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# B) FROM RPSTART TO POLYSTOP (APPROX. +10 TO +133SECS AFTER LO)
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# DESIRED ATTITUDE IS SPECIFIED BY CMC PITCH AND ROLL
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# POLYNOMIALS DURING SATURN ROLLOUT AND PITCHOVER
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# Page 534
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# THE DISPLAY IS RUN AS LOW PRIORITY JOB APPROX.
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# EVERY 1/2 SEC OR LESS AND IS DISABLED UPON OVFLO OF TIME1
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#
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# SUBROUTINES CALLED
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#
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# 2PHSCHNG BANKCALL CALCGRA CDUTRIG CLEANDSP DANZIG
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# DELAYJOB EARTHR ENDOFJOB FINDVAC IBNKCALL
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# INTPRET LALOTORV NEEDLER NEWMODEX PHASCHNG
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# POSTJUMP POWRSERS PREREAD1 REGODSPR S11.1
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# SERVEXIT TASKOVER TCDANZIG V1STO2S WAITLIST
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#
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# ASTRONAUT REQUESTS (IF ALTITUDE ABOVE 300,000 FT)
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#
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# DSKY --
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# MONITOR DISPLAY OF TIME TO PERIGEE R1 HOURS
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# R2 MINUTES
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#
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# DSKY --
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# MONITOR DISPLAY OF R1 APOGEE ALTITUDE IN NAUTICAL MILES
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# R2 PERIGEE ALTITUDE IN NAUTICAL MILES
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# R3 TFF IN MINUTES/SECS
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#
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# IF ASTRONAUT HAS REQUESTED ANY OF THESE DISPLAYS HE MUST
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# HIT PROCEED TO RETURN TO NORMAL NOUN 62 DISPLAY.
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# NORMAL EXIT MODE
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#
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# ASTRONAUT VERB 37 ENTER 00 ENTER
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#
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# ALARM MODES -- NONE
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#
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# ABORT EXIT MODES --
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#
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# OUTPUT
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#
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# TLIFTOFF (DP) TEPHEM (TP)
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# REFSMMAT
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# DSKY DISPLAY
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# FDAI DISPLAY
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#
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# ERASABLE INITIALIZATION
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#
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# AZO, AXO, -AYO
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# LATITUDE
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# PADLONG
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# TEPHEM
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# PGNCSALT
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# POLYNUM THRU POLYNUM +14D
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# RPSTART
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# POLYSTOP
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# FLAGS SET OR RESET
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# Page 535
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# SET REFSMFLG
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# SET DVMON IDLE FLAG
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# CLEAR ERADFLAG
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#
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# DEBRIS
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#
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# LIFTTEMP
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# POLYNUM THRU POLYNUM +7
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# SPOLYARG
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# BODY1, BODY2, BODY3
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# VMAG2, ALTI, HDOT
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# CENTRALS, CORE SET, AND VAC AREAS
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COUNT 34/P11
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BITS5-6 = SUPER011
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BANK 42
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SETLOC P11ONE
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BANK
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EBANK= TEPHEM
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P11 CA EBANK3
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TS EBANK
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EXTEND
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DCA REP11S # DIRECT RESTARTS TO REP11
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DXCH -PHASE3
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CS ZERO
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ZL
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TS LIFTTEMP
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DXCH -PHASE5 # INACTIVE GROUP 5, PRELAUNCH PROTECTION
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P11+7 EXTEND
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DCA REP11SA
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DXCH TLIFTOFF
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EXTEND
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DCA TIME2
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DXCH LIFTTEMP # FORE RESTARTS
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CA ZERO
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ZL
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DXCH TIME2
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REP11A-2 DXCH TLIFTOFF
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REP11A-1 DXCH -PHASE3 # RESET PHASE
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REP11A INHINT
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EXTEND
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DCA TEPHEM +1
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DXCH TEPHEM1 +1
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CA TEPHEM
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# Page 536
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XCH TEPHEM1
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EXTEND
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DCA TLIFTOFF
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DAS TEPHEM1 +1
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ADS TEPHEM1 # CORRECT FOR OVERFLOW
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TC PHASCHNG
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OCT 05023
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OCT 22000
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INHINT
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EXTEND
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DCA TEPHEM1
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DXCH TEPHEM
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CA TEPHEM1 +2
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XCH TEPHEM +2
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CAF EBDVCNT
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TS EBANK
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EBANK= DVCNTR
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TC IBNKCALL
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CADR PREREAD1 # ZERO PIPS AND INITIALIZE AVERAGEG
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TC PHASCHNG
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OCT 05023 # CONTINUE HERE ON RESTART
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OCT 22000
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CAF .5SEC # START ATT ERROR DISPLAY
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TC WAITLIST # IN .5 SEC
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EBANK= BODY3
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2CADR ATERTASK
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TC NEWMODEX # DISPLAY MM 11
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MM 11
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TC UPFLAG
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ADRES NODOP01
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CA POWDNCOD # SWITCH TO POWERED FLIGHT DOWNLIST
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TS DNLSTCOD
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TC BANKCALL
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CADR CLEANDSP # CLEAR DSKY IN CASE OF V75
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TC 2PHSCHNG
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OCT 40514 # PROTECT ATERTASK
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OCT 00073
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CAF EBQPLACE
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# Page 537
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TS EBANK
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EBANK= QPLACES
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CA P11XIT # SET EXIT FROM PROUT IN EARTHR
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TS QPLACES
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TC INTPRET
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VLOAD MXV
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THETAN
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XSM
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VSL1 VAD
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ERCOMP
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STODL ERCOMP
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TLIFTOFF
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SSP GOTO
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S2
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CADR PROUT # RETURN FROM EARTHR
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EARTHR +3
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MATRXJOB ZL # STORE DP GIMBAL ANGLES FOR ATTITUDE
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CA CDUX # ERROR DISPLAY AFTER LIFTOFF
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DXCH OGC
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ZL
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CA CDUY
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DXCH IGC
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ZL
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CA CDUZ
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DXCH MGC
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TC INTPRET # _
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VLOAD VSR1 # SCALE OGC B-1
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OGC
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STORE OGC
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SSP # ZERO RTX2
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RTX2 # FOR
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0 # EARTH
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DLOAD PDDL
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PGNCSALT # ALTITUDE OF PGNCS
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PADLONG # LONGITUDE
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PDDL VDEF
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LATITUDE # GEODETIC LATITUDE
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STODL LAT # LAT,LONG,ALT ARE CONSECUTIVE
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HI6ZEROS # TIME = 0
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CLEAR CALL
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ERADFLAG
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LALOTORV # CONVERT TO POSITION VECTOR IN REF. COORDS.
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STCALL RN1 # _
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GETDOWN # RETURN WITH VECTOR FOR DOWN DIRECTION
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VCOMP UNIT
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STOVL REFSMMAT +12D # UNITZ = UNIT(GRAV)
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RN1
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VXV VXSC
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# Page 538
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UNITW # SCALED AT 1
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-ERTHRAT # V = EARTHRATE X R
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VSL4 # SCALE TO 2(7) M/CS
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STOVL VN1
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REFSMMAT +12D
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VXV UNIT
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UNITW # (REF3 X UNITW) = EAST
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PUSH VXV
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REFSMMAT +12D # (EAST X REF3) = -SOUTH
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UNIT PDDL
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LAUNCHAZ # COS(AZ)*SOUTH
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COS VXSC
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STADR
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STODL REFSMMAT # TEMPORARY STORAGE
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LAUNCHAZ
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SIN VXSC # SIN(AZ)*EAST
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VAD UNIT # SIN(AZ)*EAST - COS(AZ)*SOUTH = REF1
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REFSMMAT
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STORE REFSMMAT
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VXV UNIT # (REF1 X REF3) = -REF3
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REFSMMAT +12D
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VCOMP
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STORE REFSMMAT +6
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DLOAD DSU
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DPHALF # 1/2 REV
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LAUNCHAZ
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DAD PDDL
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AZIMUTH
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SATRLRT # SET SATRLRT = -SATRLRT IF
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SIGN STADR # (1/2REV -LAVNCHAZ +AZIMUTH) IS NEGATIVE
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STORE SATRLRT # FOR ROLL CALC IN FDAI ATT. ERROR DISPLAY
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SET EXIT
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REFSMFLG # SET REFSMMAT KNOWN FLAG
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TC PHASCHNG
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OCT 04023
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EXTEND
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DCA P11SCADR
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DXCH AVGEXIT # SET AVGEXIT
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CA PRIO31 # 2 SECONDS AT 2(+8)
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TS 1/PIPADT
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EBANK= RCSFLAGS
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CA EBANK6
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TS EBANK
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INHINT
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# Page 539
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CS ZERO
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TS TBASE5 # RESTART READACCS 2 SECONDS AFTER LIFTOFF
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CS TIME1
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AD 2SECS # DO READACCS 2 SECONDS AFTER LIFTOFF
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CCS A # CHECK TO INSURE DT IS POSITIVE
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TCF +3 # TIME POSITIVE
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TCF +2 # CANNOT GET HERE
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CA ZERO # TIME NEGATIVE -- SET TO 1
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AD ONE # RESTORE TIME -- OR MAKE POSITIVE
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TC WAITLIST
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EBANK= AOG
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2CADR READACCS
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TC 2PHSCHNG
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OCT 00003 # TURN OFF GROUP 3
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OCT 00025 # PROTECT NORMLIZE AND READACCS
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TC POSTJUMP
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CADR NORMLIZE # DO NORMLIZE AND ENDOFJOB
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EBANK= TEPHEM
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REP11 INHINT
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CCS PHASE5
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TC ENDOFJOB
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CCS LIFTTEMP
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TCF +4
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TCF +3
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TCF +2
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TCF P11+7
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CS TLIFTOFF
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EXTEND
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BZMF ENDREP11
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CCS TIME2 # ** TIME2 MUST BE NON-ZERO AT LIFTOFF **
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TCF REP11A -5 # T2,T1 NOT YET ZEROED, GO AND DO IT
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EXTEND # T2,T1 ZEROED, SET TLIFTOFF
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DCA LIFTTEMP
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TCF REP11A-2
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ENDREP11 EXTEND
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DCA REP11SA
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TCF REP11A-1
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# Page 540
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REP11S 2OCT 7776600011
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REP11SA 2OCT 7776400013
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P11XIT GENADR P11OUT
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-ERTHRAT 2DEC* -7.292115138 E-7 B18* # - EARTH RATE AT 2(18)
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EBANK= BODY3
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P11SCADR 2CADR VHHDOT
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POWDNCOD EQUALS THREE
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EBANK= BODY3
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# VHHDOT IS EXECUTED EVERY 2 SECONDS TO DISPLAY ON DSKY
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# VI INERTIAL VELOCITY MAGNITUDE
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# HDOT RATE OF CHANGE OF ALT ABOVE L PAD RADIUS
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# H ALTITUDE ABOVE L PAD RADIUS
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VHHDOT TC INTPRET
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CALL # LOAD VMAGI, ALTI,
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S11.1 # HDOT FOR DISPLAY
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EXIT
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TC PHASCHNG
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OCT 00035
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CAF V06N62 # DISPLAY IN R1 R2 R3
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TC BANKCALL # VI HDOT H
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CADR REGODSP
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ATERTASK CAF PRIO1 # ESTABLISH JOB TO DISPLAY ATT ERRORS
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TC FINDVAC # COMES HERE AT L.O. + .33 SEC
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EBANK= BODY3
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2CADR ATERJOB
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CS RCSFLAGS # SET BIT3 FOR
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MASK BIT3 # NEEDLER
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ADS RCSFLAGS # INITIALIZATION PASS
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TC IBNKCALL # AND GO
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CADR NEEDLER # DO IT
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CA BIT1 # SET SW
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TS SATSW # FOR DISPLAY
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TC TASKOVER
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GETDOWN STQ SETPD
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INCORPEX
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0D
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DLOAD
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HI6ZEROS
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# Page 541
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STODL 6D
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DPHALF
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STCALL 8D
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LALOTORV +5
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# THIS SECTION PROVIDES ATTITUDE ERROR DISPLAYS TO THE FDAI DURING SONE BOOST
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#
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# COMPUTE DESIRED PITCH W.R.T. PAD LOCAL VERTICAL AT LIFTOFF
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# 2 3 4 5 6
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# PITCH = A0+A1T+A2T +A3T +A4T +A5T +A6T
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# SCALED TO 32 REVS. -14
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# IF TL = TIME IN SECS FROM L.O., THEN T = 100(TL-RPSTART0)2
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# WHERE TL GE RPSTART
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# TL LE (-POLYSTOP + RPSTART)
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# COMPUTE DESIRED ROLL WEHRE ROLL EQUALS ANGLE FROM
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# LAUNCHAZ TO -Z(S/C) AS SEEN FROM X(S/C).
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# ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T IN REV
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# SATRLRT = RATE OF ROLL IN REV/CENTI-SEC
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# T, IN CENTI-SEC, IS DEFINED AS ABOVE, INCLUSIVE OF TIME RESTRICTIONS
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#
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# FOR SIMPLICITY, LET P = 2*PI*PITCH
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# R = 2*PI*ROLL
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#
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# CONSTRUCT THE TRANSFORMATION MATRIX, TSMV, GIVING DESIRED S/C AXES IN
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# TERMS OF SM COORDINATES. LET THE RESULTING ROWS EQUAL THE VECTORS XDC,
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# YDC, AND ZDC.
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#
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# * ( SIN(P) 0 -COS(P) ) (XDC)
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# TSMV = (-SIN(R)*COS(P) -COS(R) -SIN(R)*SIN(P)) = (YDC)
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# (-COS(R)*COS(P) SIN(R) -COS(R)*SIN(P)) (ZDC)
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#
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# XDC,YDC,ZDC ARE USED AS INPUT TO CALCGTA FOR THE EXTRACTION OF THE
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# EULER SET OF ANGLES WHICH WILL BRING THE SM INTO THE DESIRED
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# ORIENTATION. THIS EULER SET, OGC, IGC, AND MGC, MAY BE IDENTIFIED
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# AS THE DESIRED CDU ANGLES.
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#
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# (XDC) (OGC)
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# (YDC) ---) CALCGTA ---) (IGC)
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# (ZDC) (MGC)
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# _
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# DEFINE THE VECTOR DELTACDU.
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#
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# _ (OGC) (CDUX)
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# DELTACDU = (IGC) - (CDUY)
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# (MGC) (CDUZ)
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# _ _ * _
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# COMPUTE ATTITUDE ERRORS, A, WHERE A = TGSC*DELTACDU
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#
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# * (1 SIN(CDUZ) 0 ) THE GIMBAL ANGLES
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# Page 542
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# TGSC = (0 COS(CDUX)*COS(CDUZ) SIN(CDUX)) = TO SPACECRAFT AXES
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# (0 -SIN(CDUX)*COS(CDUZ) COS(CDUX)) CONVERSION MATRIX
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# _
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# THE ATTITUDE ERRORS, A, ARE STORED ONE HALF SINGLE PRECISION IN
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# THE REGISTERS AK, AK1, AK2 AS INPUT TO NEEDLER, THE FDAI ATTITUDE
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# ERROR DISPLAY ROUTINE.
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ATERJOB CAE FLAGWRD6 # CHECK FLAGWRD6
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MASK OCT60000 # BITS 14, 15
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EXTEND
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BZF +2 # OK -- CONTINUE
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TC ENDOFJOB # STAURN STICK ON -- KILL JOB
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CAF BIT10 # CHECK IF S/C CONTROL
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EXTEND # OF SATURN PANEL
|
|
RAND CHAN30 # SWITCH IS ON
|
|
EXTEND
|
|
BZF STRSAT # IT IS -- GO STEER
|
|
CCS SATSW # IT IS NOT -- WAS IT ON LAST CYCLE
|
|
TC ATTDISP # NO -- CONTINUE
|
|
TC ATRESET # YES -- REINITIALIZE NEEDLER
|
|
TC ATRESET # YES -- REINITIALIZE NEEDLER
|
|
ATTDISP CS RPSTART # PITCH/ROLL START TIME
|
|
AD TIME1
|
|
EXTEND
|
|
BZMF NOPOLY # IF MINUS THEN ATTITUDE HOLD
|
|
TS MPAC # MPAC = TIME1 - RPSTART
|
|
TS SPOLYARG # SAVE FOR USE IN ROLL CALCULATION
|
|
AD POLYSTOP # NEG PITCHOVER TIME IN CSECS
|
|
EXTEND
|
|
BZMF +2
|
|
TC NOPOLY # GO TO ATTITUDE HOLD
|
|
CA TIME2
|
|
EXTEND
|
|
BZMF +2
|
|
TC NOPOLY # GO TO ATTITUDE HOLD
|
|
CAE POLYNUM
|
|
TS L
|
|
CAF COEFPOLY # EVALUATE PITCH POLYNOMIAL
|
|
TC POWRSERS # SCALED TO 32 REVOLUTIONS
|
|
CA ZERO # RETURN WITH PITCH(32REV)
|
|
TS MODE # STORED MPAC, MPAC +1
|
|
TC INTPRET
|
|
SETPD SL # 32(PITCH(32REV)) = PITCH(REV)
|
|
0
|
|
5
|
|
PUSH # LET P(RAD) = 2*PI*PITCH(REV)
|
|
GOTO
|
|
ATTDISP1 # AROUND SETLOC
|
|
# Page 543
|
|
# *
|
|
# CONSTRUCT SM TO S/C MATRIX, TSMV
|
|
|
|
SETLOC P11TWO
|
|
BANK # 36 IN COL., 34 IN DISK
|
|
|
|
COUNT 36/P11
|
|
|
|
ATTDISP1 COS DCOMP
|
|
STODL 14D # -.5*COS(P)
|
|
SIN
|
|
STODL 10D # .5*SIN(P)
|
|
ZEROVECS
|
|
STORE 12D # 0
|
|
|
|
# EVALUATE ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T
|
|
SLOAD DMP
|
|
SPOLYARG # TIME1 - RSPSTART, CSECS B-14.
|
|
SATRLRT
|
|
SL DSU
|
|
14D
|
|
DPHALF
|
|
DAD DSU # ASSUMING X(SM) ALONG LAUNCH AZIMUTH,
|
|
LAUNCHAZ # LAUNCHAZ = ANGLE FROM NORTH TO X(SM).
|
|
AZIMUTH # AZIMUTH = -ANGLE FROM NORTH TO Z(S/C)
|
|
RTB # DETERMINE IF ROLLOUT
|
|
RLTST # IS COMPLETED
|
|
ATTDISPR PUSH COS # CONTINUE COMPUTING TSMV
|
|
PUSH # LET R(RAD) = 2*PI*ROLL(REV)
|
|
DMP SL1
|
|
14D
|
|
STODL 22D # -.5*COS(R)*COS(P)
|
|
DCOMP
|
|
STORE 18D # -.5*COS(R)
|
|
DMP SL1
|
|
10D
|
|
STODL 26D # -.5*COS(R)*SIN(P)
|
|
SIN PUSH
|
|
STORE 24D # .5*SIN(R)
|
|
DMP SL1
|
|
14D
|
|
STODL 16D # -.5*SIN(R)*COS(P)
|
|
DCOMP
|
|
DMP SL1
|
|
10D
|
|
STOVL 20D # -.5*SIN(R)*SIN(P)
|
|
10D
|
|
|
|
# FROM TSMV FIND THE HALF UNIT VECTORS XDC,YDC,ZDC = INPUT TO CALCGTA
|
|
# Page 544
|
|
UNIT
|
|
STOVL XDC # XDC = .5*UNIT(SIN(P),0,-COS(P))
|
|
16D
|
|
UNIT
|
|
STOVL YDC # YDC = .5*UNIT(-SIN(R)*COS(P),-COS(R),
|
|
22D # -SIN(R)*SIN(P))
|
|
UNIT
|
|
STCALL ZDC # ZDC = .5*UNIT(-COS(R)*COS(P),SIN(R),
|
|
CALCGTA # -COS(R)*SIN(P))
|
|
|
|
# CALL CALCGTA TO COMPUTE DESIRED SM ORIENTATION OGC,IGC, AND MGC
|
|
# _ _ _
|
|
# FIND DIFFERENCE VECTOR DELTACDU = OGC-CDUX
|
|
#
|
|
# ENTER HERE IF ATTITUDE HOLD
|
|
|
|
NOPOLYM VLOAD PUSH # OGC IGC
|
|
OGC # CHANGE IGC TO MGC FOR COMPATIBILITY
|
|
PUSH CALL # MGC OGC
|
|
CDUTRIG # WITH Y,Z,X ORDER OF CDUSPOT
|
|
VLOAD RTB # _ DPHI OGC-CDUX , PD4
|
|
2 # DELTACDU = DTHETA = IGC-CDUY , 0
|
|
V1STO2S # DPSI MGC-CDUZ , 2
|
|
STOVL BOOSTEMP
|
|
ZEROVECS
|
|
STOVL 0
|
|
CDUSPOT
|
|
RTB RTB
|
|
V1STO2S
|
|
DELSTOR
|
|
STODL 10D
|
|
SINCDUZ
|
|
DMP SL1
|
|
0
|
|
DAD SR2 # CHANGE SCALE OF AK TO 2REVS
|
|
4
|
|
GOTO
|
|
ATTDISP2
|
|
|
|
SETLOC P11ONE
|
|
BANK
|
|
COUNT 34/P11
|
|
|
|
ATTDISP2 STODL 16D # 16D, .5(DPHI + DTHETA*SIN(CDUZ))
|
|
COSCDUZ
|
|
DMP PUSH
|
|
0
|
|
DMP SL1
|
|
COSCDUX
|
|
PDDL DMP
|
|
# Page 545
|
|
SINCDUX
|
|
2
|
|
DAD SL1
|
|
STADR
|
|
STODL 17D # 17D, .5(DTHETA*COS(CDUX)*COS(CDUZ)
|
|
DMP SL1 # +DPSI*SIN(CDUX))
|
|
SINCDUX
|
|
PDDL DMP
|
|
COSCDUX
|
|
2
|
|
DSU SL1
|
|
STADR
|
|
STORE 18D # 18D, .5(-DTHETA*SIN(CDUX)*COS(CDUZ)
|
|
TLOAD # +DPSI*COS(CDUX))
|
|
16D
|
|
STORE AK # STORE ATTITUDE ERRORS IN AK,AK1,AK2
|
|
EXIT
|
|
|
|
CA SATSW
|
|
CCS A # CHK TAKEOVER STATUS
|
|
TC SATOUT # POS -- DISPLAY ONLY
|
|
TC AKLOAD # 0 STORE BIAS
|
|
STEERSAT TC INTPRET # NEG STEER L/V
|
|
TLOAD TAD
|
|
BIASAK
|
|
AK
|
|
STORE AK # AKS = AKS - STORED BIAS
|
|
EXIT
|
|
CA AK
|
|
TC RESCALES
|
|
TS AK
|
|
CA AK1
|
|
TC RESCALES
|
|
TS AK1
|
|
CA AK2
|
|
TC RESCALES
|
|
TS AK2
|
|
# DISPLAY ATTITUDE ERRORS ON FDAI VIA NEEDLER
|
|
|
|
SATOUT TC BANKCALL
|
|
CADR NEEDLER
|
|
ATERSET CAF OCT31 # DELAY .25 SEC
|
|
TC BANKCALL # EXECUTION + DELAY = .56SEC APPROX
|
|
CADR DELAYJOB
|
|
TC ATERJOB # END OF ATT ERROR DISPLAY CYCLE
|
|
|
|
AKLOAD CS AK # STORE AKS
|
|
TS BIASAK # INTO BIAS
|
|
CS AK1 # COMPLEMENTED
|
|
TS BIASAK +1
|
|
# Page 546
|
|
CS AK2
|
|
TS BIASAK +2
|
|
CS BIT1 # SET SW
|
|
TS SATSW # TO STEER
|
|
TC STEERSAT # GO STEER
|
|
STRSAT CA SATSW # CHECK IF NEDLER
|
|
EXTEND # HAS BEEN INITIALIZED
|
|
BZMF ATTDISP # YES -- CONTINUE
|
|
ATRESET CS RCSFLAGS # NO -- SET
|
|
MASK BIT3 # INITIALIZATION SW
|
|
ADS RCSFLAGS # FOR NEDLER
|
|
TC BANKCALL # AND GO
|
|
CADR NEEDLER # DO IT
|
|
CAF REVCNT # OCT 6
|
|
TC BANKCALL # DELAY JOB
|
|
CADR DELAYJOB # 60 MS --WAIT TILL IMUERRCNTR ZEROED
|
|
CCS SATSW # CHECK SW STATUS
|
|
TC TAKEON # POS STEER INIT.
|
|
TC +1 # 0 RETURN TO DISPLAY
|
|
CA BIT1 # NEG RETURN TO DISPLAY
|
|
TS SATSW # SW = DISPLAY ON
|
|
CS BIT9 # DISABLE
|
|
EXTEND # SIVB
|
|
WAND CHAN12 # TAKEOVER
|
|
TC SATOUT # DISPLAY
|
|
TAKEON CAF BIT9 # ENABLE
|
|
EXTEND # SIVB
|
|
WOR CHAN12 # TAKEOVER
|
|
CA ZERO # INDICATE NEEDLER
|
|
TS SATSW # WAS INITIALIZED
|
|
TC SATOUT
|
|
S11.1 VLOAD ABVAL
|
|
VN
|
|
STOVL VMAGI # VI SCALED 2(7) IN METERS/CSEC
|
|
RN
|
|
UNIT DOT
|
|
VN
|
|
SL1
|
|
STODL HDOT
|
|
RPAD
|
|
BOF VLOAD
|
|
AMOONFLG
|
|
EARTHALT
|
|
RLS
|
|
ABVAL SR2
|
|
EARTHALT BDSU
|
|
36D
|
|
STORE ALTI
|
|
RVQ
|
|
DELSTOR CA BOOSTEMP
|
|
# Page 547
|
|
EXTEND # STORE DELTACDU INTO PDL 0,2,4
|
|
MSU MPAC
|
|
INDEX FIXLOC
|
|
TS 0
|
|
CA BOOSTEMP +1
|
|
EXTEND
|
|
MSU MPAC +1
|
|
INDEX FIXLOC
|
|
TS 2
|
|
CA BOOSTEMP +2
|
|
EXTEND
|
|
MSU MPAC +2
|
|
INDEX FIXLOC
|
|
TS 4
|
|
TCF DANZIG
|
|
RLTST CA MPAC # DETERMINE IF ROLLOUT
|
|
EXTEND # IS COMPLETED
|
|
MP SATRLRT +1
|
|
EXTEND
|
|
BZMF DANZIG # UNLIKE SIGNS STILL ROLLING
|
|
EXTEND # ROLLOUT COMPLETED
|
|
DCA MBDYTCTL +2 # ZERO OUT ROLL CONTRIBUTION
|
|
DXCH MPAC
|
|
TC DANZIG
|
|
NOPOLY TC INTPRET # COMES HERE IF
|
|
SETPD GOTO # ATTITUDE HOLD
|
|
0
|
|
NOPOLYM
|
|
COEFPOLY ADRES POLYLOC
|
|
V06N62 VN 0662
|
|
RESCALES EXTEND # RESCALE AK S FOR
|
|
MP SATSCALE # NEW HARDWARE
|
|
DDOUBL # SCALING FOR
|
|
DDOUBL # STEERING
|
|
TC Q # SATURN
|
|
|
|
# SATURN TAKEOVER FUNCTION
|
|
# ************************
|
|
#
|
|
# PROGRAM DESCRIPTION
|
|
#
|
|
# MOD NUMBER 1
|
|
# MOD BY ELIASSEN
|
|
#
|
|
# FUNCTIONAL DESCRIPTION
|
|
#
|
|
# DURING THE COASTING PHASE OF SIVB ATTACHED, THE
|
|
# ASTRONAUT MAY REQUEST SATURN TAKEOVER THROUGH
|
|
# EXTENDED VERB 46 (BITS 13,14 OF DAPDATR1 SET ).
|
|
# THE CMC REGARDS RHC COMMANDS AS BODY-AXES RATE
|
|
# COMMANDS AND IT TRANSMITS THESE TO SATURN AS DC
|
|
# Page 548
|
|
# VOLTAGES. THE VALUE OF THE CONSTANT RATE COMMAND
|
|
# IS 0.5 DEG/SEC. AN ABSENCE OF RHC ACTIVITY RE-
|
|
# SULTS IN A ZERO RATE COMMAND.
|
|
#
|
|
# THE FDAI ERROR NEEDLES WILL INDICATE THE VALUE
|
|
# OF THE RATE COMMAND.
|
|
#
|
|
# CALLING SEQUENCE
|
|
#
|
|
# DAPFIG +9D TC POSTJUMP
|
|
# CADR SATSTKON
|
|
#
|
|
# SUBROUTINES CALLED
|
|
#
|
|
# ENDEXT
|
|
# IBNKCALL
|
|
# STICKCHK
|
|
# NEEDLER
|
|
# T5RUPT
|
|
# RESUME
|
|
#
|
|
# ASTRONAUT REQUESTS
|
|
#
|
|
# ENTRY -- VERB 46 ENTER
|
|
# (CONDITION -- BITS 13, 14 OF DAPDATR1 SET)
|
|
#
|
|
# EXIT -- VERB 48 ENTER (FLASH V06N46)
|
|
# VERB 21 ENTER AXXXX ENTER WHERE A=0 OR 1
|
|
# VERB 34 ENTER
|
|
# VERB 46 ENTER
|
|
#
|
|
# NORMAL EXIT MODE
|
|
#
|
|
# VERB 46 ENTER (SEE ASTRONAUT ABOVE)
|
|
#
|
|
# ALARM OR ABORT EXIT MODES
|
|
#
|
|
# NONE
|
|
#
|
|
# OUTPUT
|
|
#
|
|
# SATURN RATES IN CDUXCMD, CDUYCMD, CDUZCMD
|
|
#
|
|
# ERASABLE INITIALIZATION
|
|
#
|
|
# DAPDATR1 (BITS 13, 14 MUST BE SET)
|
|
#
|
|
# DEBRIS
|
|
#
|
|
# CENTRALS
|
|
# Page 549
|
|
# CDUXCMD, CDUYCMD, CDUZCMD
|
|
|
|
BANK 43
|
|
SETLOC EXTVERBS
|
|
BANK
|
|
|
|
COUNT 23/STTKE
|
|
SATSTKON EXTEND
|
|
DCA 2REDOSAT
|
|
INHINT
|
|
DXCH T5LOC
|
|
CAF POSMAX
|
|
TS TIME5
|
|
CS FLAGWRD6 # TURN ON BITS 15,14 OF
|
|
MASK RELTAB11 # FLAGWRD6
|
|
ADS FLAGWRD6 # SATSTICK CONTROL OF T5
|
|
TC IBNKCALL # ZERO JET CHANNELS IN 14 MS AND THEN
|
|
CADR ZEROJET # LEAVE THE T6 CLOCK DISABLED
|
|
RELINT
|
|
TC GOPIN # EXIT THUS BECAUSE WE CAME VIA V46
|
|
|
|
SBANK= PINSUPER # Added RSB 2009
|
|
EBANK= BODY3
|
|
2REDOSAT 2CADR REDOSAT
|
|
|
|
|
|
SBANK= LOWSUPER
|
|
BANK 32
|
|
SETLOC P11FOUR
|
|
BANK
|
|
|
|
REDOSAT LXCH BANKRUPT # ALSO COMES HERE FOR RESTARTS
|
|
EXTEND
|
|
QXCH QRUPT
|
|
CS RCSFLAGS # TURN ON BIT3 OF RCSFLAGX
|
|
MASK BIT3 # FOR
|
|
ADS RCSFLAGS # NEEDLER INITIALIZATION
|
|
TC IBNKCALL
|
|
CADR NEEDLER # DISABLE IMU ERR COUNTERS ETC.
|
|
CAF BIT9 # SIVB
|
|
EXTEND # TAKEOVER
|
|
WOR CHAN12 # ENABLE
|
|
EXTEND # SET UP T5 CYCLE
|
|
DCA 2SATSTCK
|
|
DXCH T5LOC
|
|
CAF 100MST5 # IN 100 MSECS
|
|
TS TIME5
|
|
TCF RESUME # END OF SATURN STICK INITIALIZATION
|
|
|
|
# THIS SECTION IS EXECUTED EVERY 100 MSECS.
|
|
# Page 550
|
|
SATSTICK LXCH BANKRUPT
|
|
EXTEND
|
|
QXCH QRUPT
|
|
|
|
CAF 2SATSTCK # SET UP RUPT
|
|
TS T5LOC # LO ORDER LOC SET
|
|
CAF 100MST5 # 100 MSECS
|
|
TS TIME5
|
|
CAF STIKBITS
|
|
EXTEND
|
|
RXOR CHAN31 # CHECK IF MAN ROT BITS SAME
|
|
MASK STIKBITS
|
|
TC IBNKCALL # SET RATE INDICES
|
|
CADR STICKCHK # FOR PITCH YAW AND ROLL
|
|
|
|
INDEX RMANNDX # SET SATURN RATES
|
|
CA SATRATE
|
|
TS AK # ROLL
|
|
INDEX PMANNDX
|
|
CA SATRATE
|
|
TS AK1 # PITCH
|
|
INDEX YMANNDX
|
|
CA SATRATE
|
|
TS AK2 # YAW
|
|
|
|
TC IBNKCALL # FOR SATURN INTERFACE AND FDAI DISPLAY
|
|
CADR NEEDLER
|
|
TCF RESUME # END OF SATURN STICK CONTROL
|
|
|
|
STIKBITS OCT 00077
|
|
100MST5 DEC 16374
|
|
EBANK= BODY3
|
|
2SATSTCK 2CADR SATSTICK
|