648 lines
11 KiB
Plaintext
648 lines
11 KiB
Plaintext
# Copyright: Public domain.
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# Filename: ASCENT_GUIDNCE.agc
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# Purpose: Part of the source code for Luminary 1A build 099.
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# It is part of the source code for the Lunar Module's (LM)
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# Apollo Guidance Computer (AGC), for Apollo 11.
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# Assembler: yaYUL
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# Contact: Hartmuth Gutsche <hgutsche@xplornet.com>.
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# Website: www.ibiblio.org/apollo.
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# Pages: 843-856
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# Mod history: 2009-05-23 HG Transcribed from page images.
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# 2009-06-05 RSB Fixed a couple of typos.
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# 2009-06-07 RSB Corrected a typo.
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#
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# This source code has been transcribed or otherwise adapted from
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# digitized images of a hardcopy from the MIT Museum. The digitization
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# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
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# the Museum. Many thanks to both. The images (with suitable reduction
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# in storage size and consequent reduction in image quality as well) are
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# available online at www.ibiblio.org/apollo. If for some reason you
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# find that the images are illegible, contact me at info@sandroid.org
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# about getting access to the (much) higher-quality images which Paul
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# actually created.
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#
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# Notations on the hardcopy document read, in part:
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#
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# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
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# 16:27 JULY 14, 1969
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# Page 843
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BANK 34
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SETLOC ASCFILT
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BANK
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EBANK= DVCNTR
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COUNT* $$/ASENT
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ATMAG TC PHASCHNG
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OCT 00035
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TC INTPRET
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BON
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FLRCS
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ASCENT
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DLOAD DSU
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ABDVCONV
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MINABDV
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BMN CLEAR
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ASCTERM4
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SURFFLAG
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CLEAR SLOAD
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RENDWFLG
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BIT3H
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DDV EXIT
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ABDVCONV
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DXCH MPAC
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DXCH 1/DV3
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DXCH 1/DV2
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DXCH 1/DV1
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DXCH 1/DV0
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TC INTPRET
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DLOAD DAD
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1/DV0
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1/DV1
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DAD DAD
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1/DV2
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1/DV3
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DMP DMP
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VE
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2SEC(9)
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SL3 PDDL
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TBUP
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SR1 DAD
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DSU
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6SEC(18)
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STODL TBUP
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VE
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SR1 DDV
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TBUP
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STCALL AT
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# Page 844
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ASCENT
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BIT3H OCT 4
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# Page 845
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BANK 30
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SETLOC ASENT
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BANK
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COUNT* $$/ASENT
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ASCENT VLOAD ABVAL
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R
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STOVL /R/MAG
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ZAXIS1
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DOT SL1
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V # Z.V = ZDOT*2(-8).
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STOVL ZDOT # ZDOT*2(-7)
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ZAXIS1
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VXV VSL1
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UNIT/R/ # Z X UR = LAXIS*2(-2)
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STORE LAXIS # LAXIS*2(-1)
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DOT SL1
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V # L.V = YDOT*2(-8).
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STCALL YDOT # YDOT * 2(-7)
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YCOMP
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VLOAD
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GDT1/2 # LOAD GDT1/2*2(-7) M/CS.
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V/SC DOT
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2SEC(18)
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UNIT/R/ # G.UR*2(9) = GR*2(9).
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PDVL VXV # STORE IN PDL(0)
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UNIT/R/ # LOAD UNIT/R/ *2(-1)
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V # UR*2(-1) X V*2(-7) = H/R*2(-8).
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VSQ DDV # H(2)/R(2)*2(-16).
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/R/MAG # H(2)/R(3)*2(9).
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SL1 DAD
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STADR
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STODL GEFF # GEFF*2(10)m/CS/CS.
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ZDOTD
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DSU
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ZDOT
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STORE DZDOT # DZDOT = (ZDOTD - ZDOT) * 2(7) M/CS.
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VXSC PDDL
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ZAXIS1
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YDOTD
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DSU
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YDOT
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STORE DYDOT # DYDOT = (YDOTD - YDOT) *2(7) M/CS.
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VXSC PDDL
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LAXIS
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RDOTD
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# Page 846
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DSU
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RDOT
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STORE DRDOT # DRDOT = (RDOTD - RDOT) * 2(7) M/CS.
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VXSC VAD
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UNIT/R/
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VAD VSL1
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STADR
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STORE VGVECT # VG = (DRDOT)R + (DVDOT)L + (DZDOT)Z.
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DLOAD DMP # LOAD TGO
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TGO # TGO GEFF
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GEFF
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VXSC VSL1
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UNIT/R/ # TGO GEFF UR
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BVSU
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VGVECT # COMPENSATED FOR GEFF
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STORE VGVECT # STORE FOR DOWNLINK
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MXV VSL1 # GET VGBODY FOR N85 DISPLAY
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XNBPIP
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STOVL VGBODY
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VGVECT
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ABVAL BOFF # MAGNITUDE OF VGVECT
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FLRCS # IF FLRCS=0,D0 NORMAL GUIDANCE
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MAINENG
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DDV # USE TGO=VG/AT WITH RCS
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AT/RCS
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STCALL TGO # THIS WILL BE USED ON NEXT CYCLE
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ASCTERM2
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MAINENG DDV PUSH # VG/VE IN PDL(0) (2)
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VE
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DMP BDSU # 1 - KT VG/VE
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KT1
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NEARONE
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DMP DMP # TBUP VG(1-KT VG/VE)/VE (0)
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TBUP # = TGO
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DSU # COMPENSATE FOR TAILOFF
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TTO
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STORE TGO
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SR DCOMP
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11D
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STODL TTOGO # TGO *2(-28) CS
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TGO
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BON DSU
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IDLEFLAG
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T2TEST
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4SEC(17) # ( TGO - 4 )*2(-17) CS.
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BMN
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ENGOFF
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T2TEST DLOAD
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TGO
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DSU BMN # IF TGO - T2 NEG., GO TO CMPONENT
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# Page 847
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T2A
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CMPONENT
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DLOAD DSU
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TBUP
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TGO
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DDV CALL # 1- TGO/TBUP
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TBUP
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LOGSUB
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SL PUSH # -L IN PDL(0) (2)
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5
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BDDV BDSU # -TGO/L*2(-17)
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TGO
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TBUP # TBUP + TGO/L = D12*2(-17)
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PUSH BON # STORE IN PDL(2) (4)
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FLPC # IF FLPC = 1, GO TO CONST
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NORATES
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DLOAD DSU
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TGO
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T3
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BPL SET # FLPC=1
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RATES
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FLPC
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NORATES DLOAD
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HI6ZEROS
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STORE PRATE # B = 0
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STORE YRATE # D = 0
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GOTO
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CONST # GO TO CONST
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RATES DLOAD DSU
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TGO
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02D # TGO - D12 = D21*2(-17)
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PUSH SL1 # IN PDL(4) (6)
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BDSU SL3 # (1/2TGO - D21)*2(-13) = E * 2(-13)
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TGO # (8)
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PDDL DMP # IN PDL(6)
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TGO
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RDOT # RDOT TGO * 2(-24)
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DAD DSU # R + RDOT TGO
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/R/MAG # R + RDOT TGO - RCO
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RCO # MPAC = -DR *2(-24).
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PDDL DMP # -DR IN PDL(8) (10)
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DRDOT
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04D # D21 DRDOT*2(-24)
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DAD SL2 # (D21 DRDOT-DR)*2(-22) (8)
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DDV DDV
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06D # (D21 DRDOT-DR)/E*2(-9)
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TGO
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STORE PRATE # B * 2(8)
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BMN DLOAD # B>0 NOT PERMITTED
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CHKBMAG
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#Page 848
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HI6ZEROS
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STCALL PRATE
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PROK
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CHKBMAG SR4 DDV # B*2(4)
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TBUP # (B / TAU) * 2(21)
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DSU BPL
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PRLIMIT # ( B / TAU ) = 2(21) MAX.
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PROK
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DLOAD DMP
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PRLIMIT
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TBUP # B MAX. * 2(4)
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SL4 # BMAX*2(8)
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STORE PRATE
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PROK DLOAD
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TGO
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DMP DAD # YDOT TGO
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YDOT
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Y # Y + YDOT TGO
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DSU PDDL # Y + YDOT TGO - YCO
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YCO # MPAC = - DY*(-24.) IN PDL(8) (10)
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DYDOT
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DMP DAD # D21 DYDOT - DY (8)
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04D
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SL2 DDV # (D21 DYDOT - DY)/E*2(-9)
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DDV SETPD # (D21 DYDOT - DY)/E TGO*2(8)
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TGO # = D*2(8)
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04
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STORE YRATE
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CONST DLOAD DMP # LOAD B*2(8)
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PRATE # B D12*2(-9)
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02D
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PDDL DDV # D12 B IN PDL(4) (6)
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DRDOT # LOAD DRDOT*2(-7)
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00D # -DRDOT/L*2(-7)
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SR2 DSU # (-DRDOT/L-D12 B)=A*2(-9) (4)
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STADR
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STODL PCONS
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YRATE # D*2(8)
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DMP PDDL # D12 D,EXCH WITH -L IN PDL(0) (2,2)
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BDDV SR2 # -DYDOT/L*2(-9)
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DYDOT
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DSU # (-DYDOT/L-D12 D)=C*2(-9)
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00D
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STORE YCONS
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CMPONENT SETPD DLOAD
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00D
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100CS
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DMP
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PRATE # B(T-T0)*2(-9)
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DAD DDV # (A+B(T-T0))*2(-9)
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# Page 849
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PCONS # (A+B(T-T0))/TBUP*2(8)
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TBUP
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SL1 DSU
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GEFF # ATR*2(9)
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STODL ATR
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100CS
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DMP DAD
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YRATE
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YCONS # (C+D(T-T0))*2(-9)
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DDV SL1
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TBUP
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STORE ATY # ATY*2(9)
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VXSC PDDL # ATY UY*2(8) (6)
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LAXIS
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ATR
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VXSC VAD
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UNIT/R/
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VSL1 PUSH # AH*2(9) IN PDL(0) (6)
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ABVAL PDDL # AH(2) IN PDL(34)
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AT # AHMAG IN PDL(6) (8)
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DSQ DSU # (AT(2)-AH(2))*2(18)
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34D # =ATP2*2(18)
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PDDL PUSH # (12)
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AT
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DSQ DSU # (AT(2)KR(2)-AH(2))*2(18) (10)
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34D # =ATP3*2(18)
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BMN DLOAD # IF ATP3 NEG,GO TO NO-ATP
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NO-ATP # LOAD ATP2, IF ATP3 POS
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8D
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SQRT GOTO # ATP*2(9)
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AIMER
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NO-ATP DLOAD BDDV # KR AT/AH = KH (8)
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6D
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VXSC # KH AG*2(9)
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00D
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STODL 00D # STORE NEW AH IN PDL(0)
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HI6ZEROS
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AIMER SIGN
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DZDOT
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STORE ATP
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VXSC
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ZAXIS1 # ATP ZAXIS *2(8).
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VSL1 VAD # AT*2(0)
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00D
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STORE UNFC/2 # WILL BE OVERWRITTEN IF IN VERT. RISE.
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SETPD BON
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00D
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FLPI
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P12RET
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BON
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# Page 850
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FLVR
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CHECKALT
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MAINLINE VLOAD VCOMP
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UNIT/R/
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STODL UNWC/2
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TXO
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DSU BPL
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PIPTIME
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ASCTERM
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BON
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ROTFLAG
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ANG1CHEK
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CLRXFLAG CLEAR CLEAR
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NOR29FLG # START r29 IN ASCENT PHASE.
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XOVINFLG # ALLOW X-AXIS OVERRIDE
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ASCTERM EXIT
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CA FLAGWRD9
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MASK FLRCSBIT
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CCS A
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TCF ASCTERM3
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TC INTPRET
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CALL
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FINDCDUW -2
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ASCTERM1 EXIT
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+1 CA FLAGWRD9 # INSURE THAT THE NOUN 63 DISPLAY IS
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MASK FLRCSBIT # BYPASSED IF WE ARE IN THE RCS TRIMMING
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CCS A # MODE OF OPERATION
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TCF ASCTERM3
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CA FLAGWRD8 # BYPASS DISPLAYS IF ENGINE FAILURE IS
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MASK FLUNDBIT # INDICATED.
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CCS A
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TCF ASCTERM3
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CAF V06N63*
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TC BANKCALL
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CADR GODSPR
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TCF ASCTERM3
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ASCTERM2 EXIT
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ASCTERM3 TCF ENDOFJOB
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ASCTERM4 EXIT
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INHINT
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TC IBNKCALL # NO GUIDANCE THIS CYCLE -- HENCE ZERO
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CADR ZATTEROR # THE DAP COMMANDED ERRORS.
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TCF ASCTERM1 +1
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CHECKALT DLOAD DSU
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/R/MAG
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/LAND/
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DSU BMN # IF H LT 25K CHECK Z AXIS ORIENTATION
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25KFT
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CHECKYAW
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# Page 851
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EXITVR CLEAR BON
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FLVR
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ROTFLAG
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MAINLINE
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DLOAD DAD
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PIPTIME
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10SECS
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STCALL TXO
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MAINLINE
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EXITVR1 CLRGO
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ROTFLAG
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EXITVR
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SETLOC ASENT1
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BANK
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COUNT* $$/ASENT
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ANG1CHEK VLOAD DOT
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UNFC/2
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XNBPIP
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DSU BPL
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COSTHET1
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OFFROT
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VLOAD DOT
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XNBPIP
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UNIT/R/
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DSU BMN
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COSTHET2
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KEEPVR1
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OFFROT CLRGO
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ROTFLAG
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CLRXFLAG
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BANK 7
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SETLOC ASENT2
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BANK
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COUNT* $$/ASENT
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SETXFLAG = CHECKYAW
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CHECKYAW SET
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XOVINFLG # PROHIBIT X-AXIS OVERRIDE
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DLOAD VXSC
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ATY
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LAXIS
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PDDL VXSC
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ATP
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ZAXIS1
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VAD UNIT
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PUSH DOT
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# Page 852
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YNBPIP
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ABS DSU
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SIN5DEG
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BPL DLOAD
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KEEPVR
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RDOT
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DSU BPL
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40FPS
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EXITVR1
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GOTO
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KEEPVR
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BANK 5
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SETLOC ASENT3
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BANK
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COUNT* $$/ASENT
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SIN5DEG 2DEC 0.08716 B-2
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40FPS 2DEC 0.12192 B-7
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BANK 14
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SETLOC ASENT4
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BANK
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COUNT* $$/ASENT
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KEEPVR VLOAD STADR # RECALL LOSVEC FROM PUSHLIST
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STORE UNWC/2
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KEEPVR1 VLOAD
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UNIT/R/
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STCALL UNFC/2
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ASCTERM
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ENGOFF RTB
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LOADTIME
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DSU DAD
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PIPTIME
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TTOGO
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DCOMP EXIT
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TC TPAGREE # FORCE SIGN AGREEMENT ON MPAC, MPAC +1.
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CAF EBANK7
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TS EBANK
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EBANK= TGO
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INHINT
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CCS MPAC +1
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TCF +3 # C(A) = DT - 1 BIT
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TCF +2 # C(A) = 0
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CAF ZERO # C(A) = 0
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AD BIT1 # C(A) = 1 BIT OR DT.
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# Page 853
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TS ENGOFFDT
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TC TWIDDLE
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ADRES ENGOFF1
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TC PHASCHNG
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OCT 47014
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-GENADR ENGOFFDT
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EBANK= TGO
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2CADR ENGOFF1
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TC INTPRET
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SET GOTO
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IDLEFLAG # DISABLE DELTA-V MONITOR
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T2TEST
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ENGOFF1 TC IBNKCALL # SHUT OFF THE ENGINE.
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CADR ENGINOF2
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CAF PRIO17 # SET UP A JOB FOR THE ASCENT GUIDANCE
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TC FINDVAC # POSTBURN LOGIC.
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EBANK= WHICH
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2CADR CUTOFF
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TC PHASCHNG
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OCT 07024
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OCT 17000
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EBANK= TGO
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2CADR CUTOFF
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TCF TASKOVER
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CUTOFF TC UPFLAG # SET FLRCS FLAG.
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ADRES FLRCS
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-5 CAF V16N63
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TC BANKCALL
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CADR GOFLASH
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TCF +3
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TCF CUTOFF1
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TCF -5
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+3 TC POSTJUMP
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CADR TERMASC
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CUTOFF1 INHINT
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TC IBNKCALL # ZERO ATTITUDE ERRORS BEFORE REDUCINT DB.
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CADR ZATTEROR
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TC IBNKCALL
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CADR SETMINDB
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TC POSTJUMP
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CADR CUTOFF2
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# Page 854
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V16N63 VN 1663
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BANK 30
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SETLOC ASENT5
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BANK
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COUNT* $$/ASENT
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CUTOFF2 TC PHASCHNG
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OCT 04024
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CAF V16N85C
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TC BANKCALL
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CADR GOFLASH
|
|
TCF TERMASC
|
|
TCF +2 # PROCEED
|
|
TCF CUTOFF2
|
|
|
|
TERMASC TC PHASCHNG
|
|
OCT 04024
|
|
|
|
INHINT # RESTORE DEADBAND DESIRED BY ASTRONAUT.
|
|
TC IBNKCALL
|
|
CADR RESTORDB
|
|
TC DOWNFLAG # DISALLOW ABORTS AT THIS TIME.
|
|
ADRES LETABORT
|
|
TCF GOTOP00H
|
|
|
|
V16N85C VN 1685
|
|
|
|
BANK 27
|
|
SETLOC ASENT1
|
|
BANK
|
|
COUNT* $$/ASENT
|
|
|
|
YCOMP VLOAD DOT
|
|
UNIT/R/
|
|
QAXIS
|
|
SL2 DMP
|
|
RCO
|
|
STORE Y
|
|
RVQ
|
|
|
|
BANK 30
|
|
SETLOC ASENT
|
|
BANK
|
|
# Page 855
|
|
100CS EQUALS 2SEC(18)
|
|
T2A EQUALS 2SEC(17)
|
|
4SEC(17) 2DEC 400 B-17
|
|
2SEC(17) 2DEC 200 B-17
|
|
T3 2DEC 1000 B-17
|
|
6SEC(18) 2DEC 600 B-18
|
|
BIT4H OCT 10
|
|
2SEC(9) 2DEC 200 B-9
|
|
V06N63* VN 0663
|
|
V06N76 VN 0676
|
|
V06N33A VN 0633
|
|
|
|
BANK 33
|
|
SETLOC ASENT6
|
|
BANK
|
|
COUNT* $$/ASENT
|
|
|
|
KT1 2DEC 0.5000
|
|
PRLIMIT 2DEC -.0639 # (B/TBUP)MIN=-.1FT.SEC(-3)
|
|
MINABDV 2DEC .0356 B-5 # 10 PERCENT BIGGER THAN GRAVITY
|
|
1/DV0 = MASS1
|
|
|
|
# Page 856
|
|
# THE LOGARITHM SUBROUTINE
|
|
|
|
BANK 24
|
|
SETLOC FLOGSUB
|
|
BANK
|
|
|
|
# INPUT ..... X IN MPAC
|
|
# OUTPUT ..... -LOG(X) IN MPAC
|
|
|
|
LOGSUB NORM BDSU
|
|
MPAC +6
|
|
NEARONE
|
|
EXIT
|
|
TC POLY
|
|
DEC 6
|
|
2DEC .0000000060
|
|
2DEC -.0312514377
|
|
2DEC -.0155686771
|
|
2DEC -.0112502068
|
|
2DEC -.0018545108
|
|
2DEC -.0286607906
|
|
2DEC .0385598563
|
|
2DEC -.0419361902
|
|
|
|
CAF ZERO
|
|
TS MPAC +2
|
|
EXTEND
|
|
DCA CLOG2/32
|
|
DXCH MPAC
|
|
DXCH BUF +1
|
|
CA MPAC +6
|
|
TC SHORTMP
|
|
DXCH MPAC +1
|
|
DXCH MPAC
|
|
DXCH BUF +1
|
|
DAS MPAC
|
|
TC INTPRET
|
|
DCOMP RVQ
|
|
|
|
CLOG2/32 2DEC .0216608494
|
|
|