1183 lines
26 KiB
Plaintext
1183 lines
26 KiB
Plaintext
# Copyright: Public domain.
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# Filename: INTEGRATION_INITIALIZATION.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: 1309-1333
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# Mod history: 2009-05-15 RSB Adapted from the Colossus249/ file of the
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# same name, using Comanche055 page images.
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# 2009-05-20 RSB Corrections: fixed an interpreter instruction,
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# fixed a SETLOC.
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# 2009-05-23 RSB In SETCOAST, corrected MOONTHIS to AMOONFLG.
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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 1309
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# 1.0 INTRODUCTION
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# ----------------
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#
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# FROM A USER'S POINT OF VIEW, ORBITAL INTEGRATION IS ESSENTIALLY THE SAME AS THE 278 INTEGRATION
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# PROGRAM. THE SAME ENTRANCES TO THE PROGRAM WILL BE MAINTAINED, THE SAME STALLING ROUTINE WILL BE USED AND
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# OUTPUT WILL STILL BE VIA THE PUSHLIST. THE PRIMARY DIFFERENCES TO A USER INVOLVE THE ADDED CAPABILITY OF
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# TERMINATING INTEGRATION AT A SPECIFIC FINAL RADIUS AND THE DIFFERENCE IN STATE VECTOR SCALING INSIDE AND OUTSIDE
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# THE LUNAR SPHERE OF INFLUENCE.
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#
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# IN ORDER TO MAKE THE CSM(LEM)PREC AND CSM(LEM)CONIC ENTRANCES SIMILAR TO FLIGHT 278, THE INTEGRATION PROGRAM
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# WILL ITSELF SET THE FINAL RADIUS (RFINAL) TO 0 SO THAT REACHING THE DESIRED TIME ONLY WILL TERMINATE
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# INTEGRATION. THE DP REGISTER RFINAL MUST BE SET BY USERS OF INTEGRVS AND INTEGRV, AND MUST BE DONE AFTER THE
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# CALL TC INTSTALL.
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#
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# WHEN THE LM IS ON THE LUNAR SURFACE (INDICATED BY LUNAR SURFACE FLAG SET) CALLS TO LEMCONIC, LEMPREC, AND
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# INTEGRV WITH VINFLAG = 0 WILL RESULT IN THE USE OF THE PLANETARY INERTIAL ORIENTATION SUBROUTINES TO PROVIDE
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# BOTH THE LM'S POSITION AND VELOCITY IN THE REFERENCE COORDINATE SYSTEM.
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# THE PROGRAM WILL PROVIDE OUTPUT AS IF INTEGRATION WAS USED. THAT IS, THE PUSHLIST WILL BE SET AS NOTED BELOW AND
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# THE PERMANENT STATE VECTOR UPDATED WHEN SPECIFIED BY AN INTEGRV CALL.
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#
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# USERS OF INTEGRVS DESIRING INTEGRATION (INTYPFLG = 0) SHOULD NOTE THAT THE OBLATENESS PERTURBATION COMPUTATION
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# IN LUNAR ORBIT IS TIME DEPENDENT. THEREFORE, THE USER SHOULD SUPPLY AN INITIAL STATE VECTOR VALID AT SOME REAL
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# TIME AND THE DESIRED TIME (TDEC1) ALSO AT SOME REAL TIME. FOR CONIC "INTEGRATION" THE USER MAY STILL USE ZERO
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# AS THE INITIAL TIME AND DELTA TIME AS THE DESIRED TIME.
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#
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# 2.0 CENTRAL DESCRIPTION
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# -----------------------
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#
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# THE INTEGRATION PROGRAM OPERATES AS A CLOSED INTERPRETIVE SUBROUTINE AND PERFORMS THESE FUNCTIONS --
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# 1) INTEGRATES (PRECISION OR CONIC) EITHER CSM OR LM STATE VECTOR
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# 2) INTEGRATES THE W-MATRIX
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# 3) PERMANENT OR TEMPORARY UPDATE OF THE STATE VECTOR
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#
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# THERE ARE SIX ENTRANCES TO THE INTEGRATION PROGRAM. FOUR OF THESE (CSMPREC, LEMPREC, CSMCONIC, LEMCONIC) SET
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# ALL THE FLAGS REQUIRED IN THE INTEGRATION PROGRAM ITSELF TO CAUSE THE PRECISION OR CONIC INTEGRATION (KEPLER) OF
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# THE LM OR CSM STATE VECTOR, AS THE NAMES SUGGEST. ONE ENTRANCE (INTEGRVS) PERMITS THE CALLING PROGRAM TO
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# PROVIDE A STATE VECTOR TO BE INTEGRATED. THE CALLING PROGRAM MUST SET THE FLAGS INDICATING (1) PRECISION OR
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# CONIC INTEGRATION, (2) IN OR OUT OF LUNAR SPHERE, (3) MIDCOURSE OR NOT, AND THE INTEGRATION PROGRAM COMPLETES
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# THE FLAG SETTING TO BYPASS W-MATRIX INTEGRATION. THE LAST ENTRANCE (INTEGRV, USED IN GENERAL BY THE
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# NAVIGATION PROGRAMS) PERMITS THE CALLER TO SET FIVE FLAGS (NOT MOONFLAG OR MIDFLAG) BUT NOT TO INPUT A STATE
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# VECTOR. ANY PROGRAM WHICH CALLS INTEGRVS OR INTEGRV MUST CALL INTSTALL BEFORE IT SETS THE INTEGRATION FLAGS
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# AND/OR STATE VECTOR.
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#
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# THREE SETS OF 42 REGISTERS AND 2 FLAGS ARE USED FOR THE STATE VECTORS. TWO SETS, WHICH MAY NOT BE OVERLAYED, ARE
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# USED FOR THE PERMANENT STATE VECTORS FOR THE CSM AND LM. THE THIRD SET, WHICH MAY BE OVERLAYED WHEN INTEGRATION
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# IS NOT BEING DONE, IS USED IN THE COMPUTATIONS.
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#
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# THE PERMANENT STATE VECTORS WILL BE PERIODICALLY UPDATED SO THAT THE VECTORS WILL NOT BE OLDER THAN 4 TIMESTEPS.
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# THE PERMANENT STATE VECTORS WILL ALSO BE UPDATED WHENEVER THE W-MATRIX IS INTEGRATED OR WHEN A CALLER OF INTEGRV
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# SETS STATEFLG (THE NAVIGATION PROGRAMS P20, P22.)
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#
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# Page 1310
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# APPENDIX B OF THE USERS' GUIDE LISTS THE STATE VECTOR QUANTITIES.
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#
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# 2.1 RESTARTS
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#
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# PHASE CHANGES WILL BE MADE IN THE INTEGRATION PROGRAM ONLY FOR THE INTEGRV ENTRANCE (I.E., WHEN THE W-MATRIX IS
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# INTEGRATED OR PERMANENT STATE VECTOR IS UPDATED.) THE GROUP NUMBER USED WILL BE THAT FOR THE P20-25 PROGRAMS
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# (I.E., GROUP2) WINCE THE INTEGRV ENTRANCE WILL ONLY BE USED BY THESE PROGRAMS. IF A RESTART OCCURS DURING AN
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# INTEGRATION OF THE STATE VECTOR ONLY, THE RECOVERY WILL BE TO THE LAST PHASE IN THE CALLING PROGRAM. CALLING
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# PROGRAMS WHICH USE THE INTEGRV OR INTEGRVS ENTRANCE OF INTEGRATION WHOULD ENSURE THAT IF PHASE CHANGING IS DONE
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# THAT IT IS PRIOR TO SETTING THE INTEGRATION INPUTS IN THE PUSHLIST.
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# THIS IS BECAUSE THE PUSHLIST IS LOST DURING A RESTART.
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#
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# 2.2 SCALING
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#
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# THE INTEGRATION ROUTINE WILL MAINTAIN THE PERMANENT MEMORY STATE VECTORS IN THE SCALING AND UNITS DEFINED IN
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# APPENDIX B OF THE USERS' GUIDE. THE SCALING OF THE OUTPUT POSITION VECTOR DEPENDS ON THE ORIGIN OF THE COORDINATE
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# SYSTEM AT THE DESIRED INTEGRATION TIME. THE COORDINATE SYSTEM TRANSFORMATION WILL BE DONE AUTOMATICALLY ON
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# MULTIPLE TIMESTEP ENCKE INTEGRATION ONLY. THUS IT IS POSSIBLE TO HAVE OUTPUT FROM SUCCESSIVE INTEGRATIONS IN
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# DIFFERENT SCALING.
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# HOWEVER, RATT, VATT WILL ALWAYS BE SCALED THE SAME.
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#
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# 3.0 INPUT/OUTPUT
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# ----------------
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#
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# PROGRAM INPUTS ARE THE FLAGS DESCRIBED IN APPENDIX A AND THE PERMANENT STATE VECTOR QUANTITIES DESCRIBED IN
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# APPENDIX B OF THE USERS' GUIDE, PLUS THE DESIRED TIME TO INTEGRATE TO IN TDEC1 (A PUSH LIST LOCATION).
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# FOR INTEGRVS, THE RCV,VCV,TET OR THE TEMPORARY STATE VECTOR MUST BE SET, PLUS MOONFLAG AND MIDFLAG
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#
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# FOR SIMULATION THE FOLLOWING QUANTITIES MUST BE PRESET ---
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# EARTH MOON
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# 29 27
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# RRECTCSM(LEM) RECTIFIED POSITION VECTOR METERS 2 2
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#
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# 7 5
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# VRECTCSM(LEM) RECTIFIED VELOCITY VECTOR M/CSEC 2 2
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#
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# 28 28
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# TETCSM(LEM) TIME STATE VECTOR IS VALID CSEC 2 2
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# CUSTOMARILY 0, BUT NOTE LUNAR
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# ORBIT DEPENDENCE ON REAL TIME.
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#
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# 22 18
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# DELTAVCSM(LEM) POSITION DEVIATION METERS 2 2
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# 0 IF TCCSM(LEM) = 0
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#
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# 3 -1
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# NUVCSM(LEM) VELOCITY DEVIATION M/CSEC 2 2
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# 0 IF TCCSM(LEM) = 0
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# Page 1311
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# 29 27
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# RCVSM(LEM) CONIC POSITION METERS 2 2
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# EQUALS RRECTCSM(LEM) IF
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# TCCSM(LEM) = 0
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#
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# 7 5
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# VCVCSM(LEM) CONIC VELOCITY M/CSEC 2 2
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# EQUALS VRECTCSM(LEM) IF
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# TCCSM(LEM) = 0
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#
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# 28 28
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# TCCSM(LEM) TIME SINCE RECTIFICATION CSECS 2 2
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# CUSTOMARILY 0
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#
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# 1/2 17 16
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# XKEPCSM(LEM) RDOT OF KEPLER'S EQUATION M 2 2
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# 0 IF TCCSM(LEM) = 0
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#
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# CMOONFLG PERMANENT FLAGS CORRESPONDING 0 0
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# CMIDFLAG TO MOONFLAG AND MIDFLAG 0,1 0,1
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# LMOONFLG C = CSM, L = LM 0 0
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# LMIDFLG 0,1 0,1
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#
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# SURFFLAG LUNAR SURFACE FLAG 0,1 0,1
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#
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# IN ADDITION, IF (L)CMIDFLAG IS SET, THE INITIAL INPUT VALUES FOR LUNAR
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# SOLAR EPHEMERIDES SUBROUTINE AND PLANETARY INERTIAL ORIENTATION SUB-
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# ROUTINE MUST BE PRESET.
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#
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# OUTPUT
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# AFTER EVERY CALL TO INTEGRATION
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# EARTH MOON
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# 29 29
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# 0D RATT POSITION METERS 2 2
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#
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# 7 7
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# 6D VATT VELOCITY M/CSEC 2 2
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#
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# 28 28
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# 12D TAT TIME 2 2
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#
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# 29 27
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# 14D RATT1 POSITION METERS 2 2
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#
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# 7 5
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# 20D VATT1 VELOCITY M/CSEC 2 2
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#
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# 3 2 36 30
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# 26D MU(P) MU M /CS 2 2
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#
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# X1 MUTABLE ENTRY -2 -10D
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#
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# X2 COORDINT
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# X2 COORDINATE SYSTEM ORIGIN 0 2
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# (THIS, NOT MOONFLAG, SHOULD BE
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# Page 1312
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# USED TO DETERMINE ORIGIN.)
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#
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# IN ADDITION TO THE ABOVE, THE PERMANENT STATE VECTOR IS UPDATED WHENEVER
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# STATEFLG WAS SET AND WHENEVER A W-MATRIX IS TO BE INTEGRATED. THE PUSH
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# COUNTER IS SET TO 0 AND OVERFLOW IS CLEARED BEFORE RETURNING TO THE
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# CALLING PROGRAM.
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#
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# 4.0 CALLING SEQUENCES AND SAMPLE CODE
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# -------------------------------------
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#
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# A) PRECISION ORBITAL INTEGRATION. CSMPREC, LEMPREC ENTRANCES
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# L-X STORE TIME TO 96T5791T5 T 95 PUS L9ST (T4531)
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# L CALL
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# L+1 CSMPREC (OR LEMPREC)
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# L+2 RETURN
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# INPUT 28
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# TDEC1 (PD 32D) TIME TO INTEGRATE TO...CENTISECONDS SCALED 2
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# OUTPUT
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# THE DATA LISTED IN SECTION 3.2 PLUS
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# RQVV POSITION VECTOR OF VEHICLE WITH RESPECT TO SECONDARY
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# BODY... METERS B-29 ONLY IF MIDFLAG = DIM0FLAG = 1
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# B) CONIC INTEGRATION. CSMCONIC, LEMCONIC ENTRANCES
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# L-X STORE TIME IN PUSH LIST (TDEC1)
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# L CALL
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# L+1 CSMCONIC (OR LEMCONIC)
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# INPUT/OUTPUT
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# SAME AS PRECISION INTEGRATION, EXCEPT RQVV NOT SET
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# C) INTEGRATE GIVEN STATE VECTOR. INTEGRVS ENTRANCE
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# CALL
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# INTSTALL
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# VLOAD
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# POSITION VECTOR
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# STOVL RCV
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# VELOCITY VECTOR
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# STODL VCV
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# TIME STATE VECTOR VALID
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# STODL TET
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# FINAL RADIUS
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# STORE RFINAL
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# SET(CLEAR) SET(CLEAR)
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# INTYPFLAG
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# MOONFLAG
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# SET(CLEAR) DLOAD
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# DESIRED TIME
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# STCALL TDEC1
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# INTEGRVS
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# INPUT
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# RCV POSITION VECTOR METERS
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# VCV VELOCITY VECTOR M/CSEC
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# TET TIME OF STATE VECTOR (MAY = 0) CSEC B-28
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# Page 1313
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# TDEC1 TIME TO INTEGRATE TO CSEC B-28 (PD 32D)
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# (MAY BE INCREMENT IF TET=0)
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# OUTPUT
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# SAME AS FOR PRECISION OR CONIC INTEGRATION,
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# DEPENDING ON INTYPFLG.
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# D) INTEGRATE STATE VECTOR. INTGRV ENTRANCE
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# L-X STORE TIME IN PUSH LIST (TDEC1) (MAY BE DONE AFTER CALL TO INTSTALL)
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# L-8 CALL
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# L-7
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# L-6 SET(CLEAR) SET(CLEAR)
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# L-5 VINTFLAG 1=CSM, 0=LM
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# L-4 INTYPFLAG 1=CONIC, 0=PRECISION
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# L-3 SET(CLEAR) SET(CLEAR)
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# L-2 DIM0FLAG 1=W-MATRIX, 0=NO W-MATRIX
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# L-1 D6OR9FLG 1=9X9, 0=6X6
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# L SET DLOAD
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# L+1 STATEFLG DESIRE PERMANENT UPDATE
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# L+2 FINAL RAD. OF STATE VECTOR
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# L+3 STCALL RFINAL
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# L+4 INTEGRV
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# L CALL NORMAL USE -- WILL UPDATE STATE
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# L+1 INTEGRV VECTOR IF DIM0FLAG=1. (STATEFLG IS
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# L+2 RETURN ALWAYS RESET IN INTEGRATION AFTER
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# IT USED.)
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# INPUT
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# TDEC1 (PD 32D) TIME TO INTEGRATE TO CSEC B-28
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# OUTPUT
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# SAME AS FOR PRECISION OR CONIC INTEGRATION
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# THE PROGRAM WILL SET MOONFLAG, MIDFLAG DEPENDING ON
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# THE PERMANENT STATE VECTOR REPRESENTATION.
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BANK 11
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SETLOC INTINIT
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BANK
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EBANK= RRECTCSM
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COUNT 13/INTIN
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STATEINT TC PHASCHNG
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OCT 00052
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CAF PRIO5
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TC FINDVAC
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EBANK= RRECTCSM
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2CADR STATINT1
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TC TASKOVER
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STATINT1 TC INTPRET
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BON RTB
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QUITFLAG
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NOINT # NO STATEINT IF V96
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LOADTIME
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# Page 1314
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STORE TDEC1
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CLEAR CALL
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V96ONFLG
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INTSTALL
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SET CALL
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NODOFLAG
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SETIFLGS
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GOTO
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STATEUP
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600SECS 2DEC 60000
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ENDINT CLEAR EXIT
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STATEFLG
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TC PHASCHNG
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OCT 20032
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EXTEND
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DCA 600SECS
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TC LONGCALL
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EBANK= RRECTHIS
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2CADR STATEINT
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TC ENDOFJOB
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SETIFLGS SET CLEAR
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STATEFLG
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INTYPFLG
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CLEAR CLEAR
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DIM0FLAG
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D6OR9FLG
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RVQ
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NOINT EXIT
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TC PHASCHNG
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OCT 2
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TC DOWNFLAG
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ADRES QUITFLAG
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TC ENDOFJOB
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# ATOPCSM TRANSFERS RRECT TO RRECT +41 TO RRECTCSM TO RRECTCSM +41
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#
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# CALLING SEQUENCE
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# L CALL
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# L+1 ATOPCSM
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#
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# NORMAL EXIT AT L+2
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ATOPCSM STQ RTB
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S2
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MOVEACSM
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SET CALL
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# Page 1315
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CMOONFLG
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SVDWN1
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BON CLRGO
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MOONFLAG
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S2
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CMOONFLG
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S2
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MOVEACSM TC SETBANK
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TS DIFEQCNT # INITIALIZE INDEX
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INDEX DIFEQCNT
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CA RRECT
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INDEX DIFEQCNT
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TS RRECTCSM
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CCS DIFEQCNT # IS TRANSFER COMPLETE
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TCF MOVEACSM +1 # NO-LOOP
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TC DANZIG # COMPLETE -- RETURN
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# PTOACSM TRANSFERS RRECTCSM TO RRECTCSM +41 TO RRECT TO RRECT +41
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#
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# CALLING SEQUENCE
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# L CALL
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# PTOACSM
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#
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# NORMAL EXIT AT L+2
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PTOACSM RTB BON
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MOVEPCSM
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CMOONFLG
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SETMOON
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CLRMOON CLEAR SSP
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MOONFLAG
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PBODY
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0
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RVQ
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SETMOON SET SSP
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MOONFLAG
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PBODY
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2
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RVQ
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MOVEPCSM TC SETBANK
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TS DIFEQCNT
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INDEX DIFEQCNT
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CA RRECTCSM
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INDEX DIFEQCNT
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TS RRECT
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CCS DIFEQCNT
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TCF MOVEPCSM +1
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TC DANZIG
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# Page 1316
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# ATOPLEM TRANSFERS RRECT TO RRECT +41 TO RRECTLEM TO RRECTLEM +41
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ATOPLEM STQ RTB
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S2
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MOVEALEM
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SET CALL
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LMOONFLG
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SVDWN2
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BON CLRGO
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MOONFLAG
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S2
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LMOONFLG
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S2
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MOVEALEM TC SETBANK
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TS DIFEQCNT
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INDEX DIFEQCNT
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CA RRECT
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INDEX DIFEQCNT
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TS RRECTLEM
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CCS DIFEQCNT
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TCF MOVEALEM +1
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TC DANZIG
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# PTOALEM TRANSFERS RRECTLEM TO RRECTLEM +41 TO RRECT TO RRECT +41
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PTOALEM BON RTB
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SURFFLAG
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USEPIOS
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MOVEPLEM
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BON GOTO
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LMOONFLG
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SETMOON
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CLRMOON
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MOVEPLEM TC SETBANK
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TS DIFEQCNT
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INDEX DIFEQCNT
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CA RRECTLEM
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INDEX DIFEQCNT
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TS RRECT
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CCS DIFEQCNT
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TCF MOVEPLEM +1
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TC DANZIG
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USEPIOS SETPD VLOAD
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0
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RLS
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PDDL PUSH
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TDEC1
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# Page 1317
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STODL TET
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5/8
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CALL
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RP-TO-R
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STOVL RCV
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ZUNIT
|
|
STODL 0D
|
|
TET
|
|
STODL 6D
|
|
5/8
|
|
SET CALL # NEEDED FOR SETTING X1 ON EXIT
|
|
MOONFLAG
|
|
RP-TO-R
|
|
VXV VXSC
|
|
RCV
|
|
OMEGMOON
|
|
STOVL VCV
|
|
ZEROVEC
|
|
STORE TDELTAV
|
|
AXT,2 SXA,2
|
|
2
|
|
PBODY
|
|
STCALL TNUV
|
|
A-PCHK
|
|
OMEGMOON 2DEC* 2.66169947 E-8 B+23*
|
|
|
|
SETBANK CAF INTBANK
|
|
TS BBANK
|
|
CAF FORTYONE
|
|
TC Q
|
|
EBANK= RRECTCSM
|
|
INTBANK BBCON INTEGRV
|
|
|
|
# SPECIAL PURPOSE ENTRIES TO ORBITAL INTEGRATION. THESE ROUTINES PROVIDE ENTRANCES TO INTEGRATION WITH
|
|
# APPROPRIATE SWITCHES SET OR CLEARED FOR THE DESIRED INTEGRATION.
|
|
#
|
|
# CSMPREC AND LEMPREC PERFORM ORBIT INTEGRATION BY THE ENCKE METHOD TO THE TIME INDICATED IN TDEC1.
|
|
# ACCELERATIONS DUE TO OBLATENESS ARE INCLUDED. NO W-MATRIX INT. IS DONE.
|
|
# THE PERMANENT STATE VECTOR IS NOT UPDATED.
|
|
# CSMCONIC AND LEMCONIC PERFORM ORBIT INTEG. BY KEPLER'S METHOD TO THE TIME INDICATED IN TDEC1.
|
|
# NO DISTURBING ACCELERATIONS ARE INCLUDED. IN THE PROGRAM FLOW THE GIVEN
|
|
# STATE VECTOR IS RECTIFIED BEFORE SOLUTION OF KEPLER'S EQUATION.
|
|
#
|
|
# THE ROUTINES ASSUME THAT THE CSM (LEM) STATE VECTOR IN P-MEM IS VALID.
|
|
# SWITCHES SET PRIOR TO ENTRY TO THE MAIN INTEG. PROG ARE AS FOLLOWS:
|
|
# CSMPREC CSMCONIC LEMPREC LEMCONIC
|
|
# VINTFLAG SET SET CLEAR CLEAR
|
|
# INTYPFLG CLEAR SET CLEAR SET
|
|
# DIM0FLAG CLEAR CLEAR CLEAR CLEAR
|
|
# Page 1318
|
|
#
|
|
# CALLING SEQUENCE
|
|
# L-X STORE TDEC1
|
|
# L CALL (STCALL TDEC1)
|
|
# L+1 CSMPREC (CSMCONIC, LEMPREC, LEMCONIC)
|
|
#
|
|
# NORMAL EXIT TO L+2
|
|
#
|
|
# SUBROUTINES CALLED
|
|
# INTEGRV1
|
|
# PRECOUT FOR CSMPREC AND LEMPREC
|
|
# CONICOUT FOR CSMCONIC AND LEMCONIC
|
|
#
|
|
# OUTPUT -- SEE PAGE 2 OF THIS LOG SECTION
|
|
#
|
|
# INPUT
|
|
# TDEC1 TIME TO INTEGRATE TO. CSECS B-28
|
|
|
|
CSMPREC STQ CALL
|
|
X1
|
|
INTSTALL
|
|
SXA,1 SET
|
|
IRETURN
|
|
VINTFLAG
|
|
|
|
IFLAGP SET CLEAR
|
|
PRECIFLG
|
|
DIM0FLAG
|
|
CLRGO
|
|
INTYPFLG
|
|
INTEGRV1
|
|
LEMPREC STQ CALL
|
|
X1
|
|
INTSTALL
|
|
SXA,1 CLRGO
|
|
IRETURN
|
|
VINTFLAG
|
|
IFLAGP
|
|
|
|
CSMCONIC STQ CALL
|
|
X1
|
|
INTSTALL
|
|
SXA,1 SET
|
|
IRETURN
|
|
VINTFLAG
|
|
IFLAGC CLEAR SETGO
|
|
DIM0FLAG
|
|
INTYPFLG
|
|
INTEGRV1
|
|
LEMCONIC STQ CALL
|
|
X1
|
|
# Page 1319
|
|
INTSTALL
|
|
SXA,1 CLRGO
|
|
IRETURN
|
|
VINTFLAG
|
|
IFLAGC
|
|
|
|
INTEGRVS SET SSP
|
|
PRECIFLG
|
|
PBODY
|
|
0
|
|
BOF SSP
|
|
MOONFLAG
|
|
+3
|
|
PBODY
|
|
2
|
|
STQ VLOAD
|
|
IRETURN
|
|
ZEROVEC
|
|
STORE TDELTAV
|
|
STCALL TNUV
|
|
RECTIFY
|
|
CLEAR SET
|
|
DIM0FLAG
|
|
NEWIFLG
|
|
SETGO
|
|
RPQFLAG
|
|
ALOADED
|
|
|
|
# INTEGRV IS AN ENTRY TO ORBIT INTEGRATION WHICH PERMITS THE CALLER,
|
|
# NORMALLY THE NAVIGATION PROGRAM, TO SET THE INTEG. FLAGS. THE ROUTINE
|
|
# IS ENTERED AT INTEGRV1 BY CSMPREC ET. AL. AND AT ALOADED BY INTEGRVS.
|
|
# THE ROUTINE SETS UP A-MEMORY IF ENTERED AT INTEGRV,1 AND SETS THE INTEG.
|
|
# PROGRAM FOR PRECISION OR CONIC.
|
|
#
|
|
# THE CALLER MUST FIRST CALL INTSTALL TO CHECK IF INTEG. IS IN USE BEFORE
|
|
# SETTING ANY FLAGS.
|
|
#
|
|
# THE FLAGS WHICH SHOULD BE SET OR CLEARED ARE
|
|
# VINTFLAG (IGNORED WHEN ENTERED FROM INTEGRVS)
|
|
# INTYPFLG
|
|
# DIM0FLAG
|
|
# D6OR9FLG
|
|
#
|
|
# CALLING SEQUENCE
|
|
# L-X CALL
|
|
# L-Y INTSTALL
|
|
# L-1 SET OR CLEAR ALL FOUR FLAGS. ALSO CAN SET STATEFLG IF DESIRED
|
|
# AND DIM0FLAG IS CLEAR.
|
|
# L CALL
|
|
# L+1 INTEGRV
|
|
#
|
|
# INITIALIZATION
|
|
# FLAGS AS ABOVE
|
|
# STORE TIME TO INTEGRATE TO IN TDEC1
|
|
#
|
|
# Page 1320
|
|
# OUTPUT
|
|
# RATT AS
|
|
# VATT DEFINED
|
|
# TAT BEFORE
|
|
|
|
INTEGRV STQ
|
|
IRETURN
|
|
INTEGRV1 SET SET
|
|
RPQFLAG
|
|
NEWIFLG
|
|
INTEGRV2 SSP
|
|
QPRET
|
|
ALOADED
|
|
BON GOTO
|
|
VINTFLAG
|
|
PTOACSM
|
|
PTOALEM
|
|
SETLOC INTINIT1
|
|
BANK
|
|
ALOADED DLOAD
|
|
TDEC1
|
|
STORE TDEC
|
|
BOFF GOTO
|
|
INTYPFLG
|
|
TESTLOOP
|
|
RVCON
|
|
SETLOC INTINIT
|
|
BANK
|
|
A-PCHK BOF CALL
|
|
MIDFLAG
|
|
ANDOUT # DON'T MAKE ORIGIN CHANGE CHECK
|
|
CHKSWTCH
|
|
BPL CALL
|
|
ANDOUT # NO ORIGIN CHANGE
|
|
ORIGCHNG # MAKE THE SWITCH
|
|
ANDOUT BOFCLR EXIT
|
|
STATEFLG
|
|
RECTOUT
|
|
TC PHASCHNG
|
|
OCT 04022
|
|
TC UPFLAG # PHASE CHANGE HAS OCCURRED BETWEEN
|
|
ADRES REINTFLG # INTSTALL AND INTWAKE
|
|
TC INTPRET
|
|
SSP
|
|
QPRET
|
|
PHEXIT
|
|
BON GOTO
|
|
VINTFLAG
|
|
ATOPCSM
|
|
# Page 1321
|
|
ATOPLEM
|
|
PHEXIT CALL
|
|
GRP2PC
|
|
RECTOUT SETPD CALL
|
|
0
|
|
RECTIFY
|
|
VLOAD VSL*
|
|
RRECT
|
|
0,2
|
|
PDVL VSL* # RATT TO PD0
|
|
VRECT
|
|
0,2
|
|
PDDL PDVL # VATT TO PD6 TAT TO PD12
|
|
TET
|
|
RRECT
|
|
PDVL PDDL*
|
|
VRECT
|
|
MUEARTH,2
|
|
PUSH AXT,1
|
|
DEC -10
|
|
BON AXT,1
|
|
MOONFLAG
|
|
+2
|
|
DEC -2
|
|
INTEXIT SETPD BOV
|
|
0
|
|
+1
|
|
CLEAR
|
|
MIDAVFLG
|
|
CLEAR CLEAR
|
|
AVEMIDSW # ALLOW UPDATE OF DOWNLINK STATE VECTOR
|
|
PRECIFLG
|
|
SLOAD EXIT
|
|
IRETURN
|
|
CA MPAC
|
|
INDEX FIXLOC
|
|
TS QPRET
|
|
TC INTWAKE
|
|
|
|
# RVCON SETS UP ORBIT INTEGRATION TO DO A CONIC SOLUTION FOR POSITION AND
|
|
# VELOCITY FOR THE INTERVAL (TET-TDEC)
|
|
|
|
RVCON DLOAD DSU
|
|
TDEC
|
|
TET
|
|
STCALL TAU.
|
|
RECTIFY
|
|
CALL
|
|
KEPPREP
|
|
DLOAD DAD
|
|
TC
|
|
# Page 1322
|
|
TET
|
|
STCALL TET
|
|
RECTOUT
|
|
|
|
# Page 1323
|
|
TESTLOOP BOF CLRGO
|
|
QUITFLAG
|
|
+3
|
|
STATEFLG
|
|
INTEXIT # STOP INTEGRATION
|
|
+3 SETPD LXA,2
|
|
10D
|
|
PBODY
|
|
VLOAD ABVAL
|
|
RCV
|
|
PUSH CLEAR # RC TO 10D
|
|
MIDFLAG
|
|
DSU* BMN # MIDFLAG=0 IF R G.T. RMP
|
|
RME,2
|
|
+3
|
|
SET
|
|
MIDFLAG
|
|
NORFINAL DLOAD DMP
|
|
10D
|
|
34D
|
|
SR1R DDV*
|
|
MUEARTH,2
|
|
SQRT DMP
|
|
.3D
|
|
SR3 SR4 # DT IS TRUNCATED TO A MULTIPLE
|
|
DLOAD SL
|
|
MPAC
|
|
15D # OF 128 CSECS.
|
|
PUSH BOV
|
|
MAXDT
|
|
BDSU BMN
|
|
DT/2MAX
|
|
MAXDT
|
|
DT/2COMP DLOAD DSU
|
|
TDEC
|
|
TET
|
|
RTB SL
|
|
SGNAGREE
|
|
8D
|
|
STORE DT/2 # B-19
|
|
BOV ABS
|
|
GETMAXDT
|
|
DSU BMN # IS TIME TO INTEG. TO GR THAN MAXTIME
|
|
12D
|
|
P00HCHK
|
|
USEMAXDT DLOAD SIGN
|
|
12D
|
|
DT/2
|
|
# Page 1324
|
|
STCALL DT/2
|
|
P00HCHK
|
|
MAXDT DLOAD PDDL # EXCHANGE DT/2MAX WITH COMPUTED MAX.
|
|
DT/2MAX
|
|
GOTO
|
|
DT/2COMP
|
|
GETMAXDT RTB
|
|
SIGNMPAC
|
|
STCALL DT/2
|
|
USEMAXDT
|
|
P00HCHK DLOAD ABS
|
|
DT/2
|
|
DSU BMN
|
|
DT/2MIN
|
|
A-PCHK
|
|
SLOAD BHIZ
|
|
MODREG
|
|
+3
|
|
GOTO
|
|
TIMESTEP
|
|
BON # WAS THIS CALL VIA CSM(LEM)PREC
|
|
PRECIFLG
|
|
TIMESTEP # YES
|
|
DLOAD DSU
|
|
DT/2
|
|
12D
|
|
BMN BOFCLR
|
|
A-PCHK
|
|
NEWIFLG
|
|
TIMESTEP
|
|
DLOAD DSU
|
|
TDEC
|
|
TET
|
|
BMN # NO BACKWARD INTEGRATION
|
|
INTEXIT
|
|
PDDL SR4
|
|
DT/2 # IS 4(DT) LS (TDEC - TET)
|
|
SR2R BDSU
|
|
BMN GOTO
|
|
INTEXIT
|
|
TIMESTEP
|
|
DT/2MIN 2DEC 3 B-20
|
|
|
|
DT/2MAX 2DEC 4000 E2 B-20
|
|
|
|
INTSTALL EXIT
|
|
CAF ZERO
|
|
ALLSTALL TS L
|
|
CA RASFLAG
|
|
INDEX L
|
|
# Page 1325
|
|
MASK INTBITAB # IS THIS STALL AREA FREE
|
|
EXTEND
|
|
BZF OKTOGRAB # YES
|
|
INDEX L
|
|
CAF WAKESTAL
|
|
TC JOBSLEEP
|
|
INTWAKE0 EXIT
|
|
TCF INTWAKE1
|
|
|
|
INTWAKE CS RASFLAG # IS THIS INTSTALLED ROUTINE TO BE
|
|
MASK REINTBIT # RESTARTED
|
|
CCS A
|
|
TC INTWAKE1 # NO
|
|
|
|
INDEX FIXLOC
|
|
CA QPRET
|
|
TS TBASE2 # YES, DON'T RESTART WITH SOMEONE ELSE'S Q
|
|
|
|
TC PHASCHNG
|
|
OCT 04022
|
|
|
|
CA TBASE2
|
|
INDEX FIXLOC
|
|
TS QPRET
|
|
|
|
CAF REINTBIT
|
|
MASK RASFLAG
|
|
EXTEND
|
|
BZF GOBAC # DON'T INTWAKE IF WE CAME HERE VIA RESTART
|
|
|
|
INTWAKE1 CAF ZERO
|
|
WAKE TS STALTEM # INDEX OF ANY STALL USER
|
|
WAKE1 INDEX STALTEM
|
|
CAF WAKESTAL
|
|
INHINT
|
|
TC JOBWAKE
|
|
CCS LOCCTR
|
|
TCF WAKE1 # MAY BE MORE TO WAKE UP
|
|
FORTYONE DEC 41
|
|
INDEX STALTEM
|
|
CS INTBITAB
|
|
MASK RASFLAG
|
|
TS RASFLAG # RELEASE STALL AREA
|
|
RELINT
|
|
TCF GOBAC
|
|
OKTOGRAB INDEX L # NO, WAIT UNTIL AVAILABLE
|
|
CAF INTFLBIT
|
|
ADS RASFLAG
|
|
GOBAC TC INTPRET
|
|
RVQ
|
|
# Page 1326
|
|
ERASTAL1 EXIT
|
|
CAF ONE
|
|
TCF ALLSTALL
|
|
ERASTAL2 EXIT
|
|
CAF TWO
|
|
TCF ALLSTALL
|
|
ERASWAK1 CAF ONE
|
|
TCF WAKE
|
|
ERASWAK2 CAF TWO
|
|
TCF WAKE
|
|
WAKESTAL CADR INTSTALL +1
|
|
CADR ERASTAL1 +1
|
|
CADR ERASTAL2 +1
|
|
STALTEM EQUALS MPAC
|
|
INTBITAB OCT 20100
|
|
OCT 10040
|
|
OCT 04020
|
|
|
|
# Page 1327
|
|
# AVETOMID
|
|
#
|
|
# THIS ROUTINE PERFORMS THE TRANSITION FROM A THRUSTING PHASE TO THE COAST
|
|
# PHASE BY INITIALIZING THIS VEHICLE'S PERMANENT STATE VECTOR WITH THE
|
|
# VALUES LEFT BY THE AVERAGEG ROUTINE IN RN,VN,PIPTIME.
|
|
#
|
|
# BEFORE THIS IS DONE THE W-MATRIX, IF IT'S VALID (OR WFLAG OR RENDWFLT IS
|
|
# SET) IS INTEGRATED FORWARD TO PIPTIME WITH THE PRE-THRUST STATE VECTOR.
|
|
#
|
|
# IN ADDITION, THE OTHER VEHICLE IS INTEGRATED (PERMANENT) TO PIPTIME.
|
|
#
|
|
# FINALLY TRKMKCNT IS ZEROED.
|
|
|
|
SETLOC INTINIT2
|
|
BANK
|
|
|
|
COUNT* $$/INTIN
|
|
AVETOMID STQ BON
|
|
EGRESS
|
|
RENDWFLG
|
|
INT/W # W-MATRIX VALID, GO INTEGRATE IT
|
|
BON
|
|
ORBWFLAG
|
|
INT/W # W-MATRIX VALID, GO INTEGRATE IT.
|
|
|
|
SETCOAST AXT,2 CALL # NOW MOVE PROPERLY SCALED RN,UN AS WELL AS
|
|
2 # PIPTIME TO INTEGRATION ERASABLES.
|
|
INTSTALL
|
|
BON AXT,2
|
|
AMOONFLG
|
|
+2
|
|
0
|
|
VLOAD VSR*
|
|
RN
|
|
0,2
|
|
STORE RRECT
|
|
STODL RCV
|
|
PIPTIME
|
|
STOVL TET
|
|
VN
|
|
VSR* CALL
|
|
0,2
|
|
MINIRECT # FINISH SETTING UP STATE VECTOR
|
|
RTB SSP
|
|
MOVATHIS # PUT TEMP STATE VECTOR INTO PERMANENT
|
|
TRKMKCNT
|
|
0
|
|
SET BON
|
|
CMOONFLG
|
|
# Page 1328
|
|
AMOONFLG
|
|
+3
|
|
CLEAR
|
|
CMOONFLG
|
|
|
|
BON DLOAD # NOW DO LM
|
|
SURFFLAG
|
|
FAZAB5 # NO COASTING LM
|
|
PIPTIME
|
|
STCALL TDEC1
|
|
SETIFLGS
|
|
CLEAR CALL
|
|
VINTFLAG
|
|
INTEGRV
|
|
GOTO
|
|
EGRESS
|
|
INT/W DLOAD CALL
|
|
PIPTIME # INTEGRATE W THRU BURN
|
|
INTSTALL
|
|
SET SET
|
|
DIM0FLAG # DO W-MATRIX
|
|
AVEMIDSW # SO WON'T CLOBBER RN,VN,PIPTIME
|
|
CLEAR SET
|
|
D6OR9FLG
|
|
VINTFLAG
|
|
STCALL TDEC1
|
|
INTEGRV
|
|
GOTO
|
|
SETCOAST
|
|
|
|
# Page 1329
|
|
# MIDTOAV1
|
|
#
|
|
# THIS ROUTINE INTEGRATES (PRECISION) TO THE TIME SPECIFIED IN TDEC1.
|
|
# IF, AT THE END OF AN INTEGRATION TIME STEP, CURRENT TIME PLUS A DELTA
|
|
# TIME (SEE TIMEDELT.....BASED ON THE COMPUTATION TIME FOR ONE TIME STEP)
|
|
# IS GREATER THAN THE DESIRED TIME, ALARM 1703 IS SET AND THE INTEGRATION
|
|
# IS DONE TO THE CURRENT TIME.
|
|
# RETURN IS IN BASIC TO THE RETURN ADDRESS PLUS ONE.
|
|
#
|
|
# IF THE INTEGRATION IS FINISHED TO THE DESIRED TIME, RETURN IS IN BASIC
|
|
# TO THE RETURN ADDRESS.
|
|
#
|
|
# IN EITHER CASE, BEFORE RETURNING, THE EXTRAPOLATED STATE VECTOR IS TRANSFERRED
|
|
# FROM R,VATT TO R,VN1 -- PIPTIME1 IS SET TO THE FINISHING INTEGRATION
|
|
# TIME AND MPAC IS SET TO THE DELTA TIME --
|
|
# TAT MINUS CURRENT TIME
|
|
|
|
# MIDTOAV2
|
|
#
|
|
# THIS ROUTINE INTEGRATES THIS VEHICLE'S STATE VECTOR TO THE CURRENT TIME PLUS
|
|
# INCREMENTS OF TIMEDELT SUCH THAT THE DIFFERENCE BETWEEN CURRENT TIME
|
|
# AND THE STATE VECTOR TIME AT THE END OF THE LAST STEP IS AT LEAST 5.6
|
|
# SECS.
|
|
# NO INPUTS ARE REQUIRED OF THE CALLER. RETURN IS IN BASIC TO THE RETURN
|
|
# ADDRESS WITH THE ABOVE TRANSFERS TO R,VN1 -- PIPTIME1 -- AND MPAC DONE
|
|
|
|
SETLOC INTINIT
|
|
BANK
|
|
EBANK= IRETURN1
|
|
MIDTOAV2 STQ CALL
|
|
IRETURN1
|
|
INTSTALL
|
|
DLOAD CLEAR
|
|
TIMEDELT
|
|
MID1FLAG
|
|
STCALL T-TO-ADD
|
|
ENTMID2
|
|
|
|
MIDTOAV1 STQ CALL
|
|
IRETURN1
|
|
INTSTALL
|
|
SET RTB
|
|
MID1FLAG
|
|
LOADTIME
|
|
DAD BDSU # INITIAL CHECK, IS TDEC1 IN THE FUTURE
|
|
TIMEDELT
|
|
TDEC1
|
|
BPL CALL
|
|
ENTMID1
|
|
# Page 1330
|
|
NOTIME # NO, SET ALARM, SWITCH TO MIDTOAV2
|
|
|
|
ENTMID2 RTB DAD
|
|
LOADTIME
|
|
T-TO-ADD
|
|
STORE TDEC1
|
|
|
|
ENTMID1 CLEAR CALL
|
|
DIM0FLAG # NO W-MATRIX
|
|
THISVINT
|
|
CLEAR SET
|
|
INTYPFLG
|
|
MIDAVFLG # LET INTEG. KNOW THE CALL IS FOR MIDTOAV.
|
|
CALL
|
|
INTEGRV # GO INTEGRATE
|
|
SXA,2 SXA,1
|
|
RTX2
|
|
RTX1
|
|
CLEAR SLOAD
|
|
AMOONFLG
|
|
RTX2
|
|
BZE SET
|
|
+2
|
|
AMOONFLG
|
|
VLOAD
|
|
RATT
|
|
STOVL RN1
|
|
VATT
|
|
STODL VN1
|
|
TAT
|
|
STORE PIPTIME1
|
|
EXIT
|
|
|
|
INHINT
|
|
EXTEND
|
|
DCS TIME2
|
|
DAS MPAC
|
|
TC TPAGREE
|
|
|
|
CA IRETURN1
|
|
TC BANKJUMP
|
|
CKMID2 BOF RTB
|
|
MID1FLAG
|
|
MID2
|
|
LOADTIME
|
|
DAD BDSU
|
|
TIMEDELT
|
|
TDEC
|
|
BPL CALL
|
|
TESTLOOP # YES
|
|
# Page 1331
|
|
NOTIME
|
|
|
|
TIMEINC RTB DAD
|
|
LOADTIME
|
|
T-TO-ADD
|
|
STCALL TDEC
|
|
TESTLOOP
|
|
|
|
MID2 DLOAD DSU
|
|
TDEC
|
|
TET
|
|
ABS DSU
|
|
3CSECS
|
|
BPL
|
|
TIMEINC
|
|
|
|
RTB BDSU # SEE IF 5.6 SECS. AVAILABLE TO CALLER
|
|
LOADTIME
|
|
TET
|
|
DSU BPL
|
|
5.6SECS
|
|
A-PCHK # YES. GET OUT.
|
|
|
|
DLOAD DAD # NO. ADD TIMEDELT TO T-TO-ADD AND TRY
|
|
T-TO-ADD # AGAIN.
|
|
TIMEDELT
|
|
STCALL T-TO-ADD
|
|
TIMEINC
|
|
NOTIME CLEAR EXIT # TOO LATE
|
|
MID1FLAG
|
|
INCR IRETURN1 # SET ERROR EXIT (CALLOC +2)
|
|
TC ALARM # INSUFFICIENT TIME FOR INTEGRATION --
|
|
OCT 1703 # TIG WILL BE SLIPPED...
|
|
TC INTPRET
|
|
DLOAD
|
|
TIMEDELT
|
|
STORE T-TO-ADD
|
|
RVQ
|
|
|
|
3CSECS 2DEC 3
|
|
|
|
TIMEDELT 2DEC 1250
|
|
|
|
5.6SECS 2DEC 560
|
|
|
|
BANK 27
|
|
SETLOC UPDATE2
|
|
BANK
|
|
EBANK= INTWAKUQ
|
|
|
|
# Page 1332
|
|
COUNT* $$/INTIN
|
|
|
|
INTWAKUQ = INTWAK1Q # TEMPORARY UNTIL NAME OF INTWAK1Q IS CHNG
|
|
|
|
INTWAKEU RELINT
|
|
EXTEND
|
|
QXCH INTWAKUQ # SAVE Q FOR RETURN
|
|
|
|
TC INTPRET
|
|
|
|
SLOAD BZE # IS THIS A CSM/LEM STATE VECTOR UPDATE
|
|
UPSVFLAG # REQUEST. IF NOT GO TO INTWAKUP.
|
|
INTWAKUP
|
|
|
|
VLOAD # MOVE PRECT(6) AND VRECT(6) INTO
|
|
RRECT # RCV(6) AND VCV(6) RESPECTIVELY.
|
|
STOVL RCV
|
|
VRECT # NOW GO TO `RECTIFY +13D' TO
|
|
CALL # STORE VRECT INTO VCV AND ZERO OUT
|
|
RECTIFY +13D # TDELTAV(6),TNUV(6),TC(2), AND XKEP(2)
|
|
SLOAD ABS # COMPARE ABSOLUTE VALUE OF `UPSVFLAG'
|
|
UPSVFLAG # TO `UPDATE MOON STATE VECTOR CODE'
|
|
DSU BZE # TO DETERMINE WHETHER THE STATE VECTOR TO
|
|
UPMNSVCD # BE UPDATED IS IN THE EARTH OR LUNAR
|
|
INTWAKEM # SPHERE OF INFLUENCE........
|
|
AXT,2 CLRGO # EARTH SPHERE OF INFLUENCE.
|
|
DEC 0
|
|
MOONFLAG
|
|
INTWAKEC
|
|
INTWAKEM AXT,2 SET # LUNAR SPHERE OF INFLUENCE.
|
|
DEC 2
|
|
MOONFLAG
|
|
INTWAKEC SLOAD BMN # COMMON CODING AFTER X2 INITIALIZED AND
|
|
# MOONFLAG SET (OR CLEARED).
|
|
UPSVFLAG # IS THIS A REQUEST FOR A LEM OR CSM
|
|
INTWAKLM # STATE VECTOR UPDATE......
|
|
CALL # UPDATE CSM STATE VECTOR
|
|
ATOPCSM
|
|
|
|
CLEAR GOTO
|
|
ORBWFLAG
|
|
INTWAKEX
|
|
|
|
INTWAKLM CALL # UPDATE LM STATE VECTOR
|
|
ATOPLEM
|
|
|
|
INTWAKEX CLEAR
|
|
RENDWFLG
|
|
|
|
INTWAKUP SSP CALL # REMOVE `UPDATE STATE VECTOR INDICATOR'
|
|
# Page 1333
|
|
UPSVFLAG
|
|
0
|
|
INTWAKE0 # RELEASE `GRAB' OF ORBIT INTEG.
|
|
EXIT
|
|
|
|
TC PHASCHNG
|
|
OCT 04026
|
|
TC INTWAKUQ
|
|
|
|
UPMNSVCD OCT 2
|
|
OCT 0
|
|
|
|
GRP2PC STQ EXIT
|
|
GRP2SVQ
|
|
TC PHASCHNG
|
|
OCT 04022
|
|
TC INTPRET
|
|
GOTO
|
|
GRP2SVQ
|
|
|
|
|
|
|