Quelle LANDING_ANALOG_DISPLAYS.agc
Sprache: Apollo
# Copyright: Public domain. # Filename: LANDING_ANALOG_DISPLAYS.agc # Purpose: Part of the source code for Luminary, build 099. It # is part of the source code for the Lunar Module's # (LM) Apollo Guidance Computer (AGC), Apollo 11. # Assembler: yaYUL # Reference: pp. 898-907 # Contact: Ron Burkey <info@sandroid.org>, # Fabrizio Bernardini <fabrizio@spacecraft.it> # Website: http://www.ibiblio.org/apollo. # Mod history: 05/06/09 FB Transcription Batch 4 Assignment. # # The contents of the "Luminary099" files, in general, are transcribed # from scanned documents. # # Assemble revision 001 of AGC program Luminary099 by NASA # 2021112-061. July 14, 1969. # # Prepared by # Massachusetts Institute of Technology # 75 Cambridge Parkway # Cambridge, Massachusetts # # under NASA contract NAS 9-4065. # # Refer directly to the online document mentioned above for further # information. Please report any errors to info@sandroid.org.
CS FLAGWRD7 # IS LANDING ANALOG DISPLAYS FLAG SET? MASK SWANDBIT CCS A TCF DISPRSET # NO. CA IMODES33 # BIT 7 = 0 (DO ALTRATE), =1 (DO ALT.) MASK BIT7 CCS A TCF ALTOUT
ALTROUT TC DISINDAT # CHECK MODE SELECT SWITCH AND DIDFLG. CS IMODES33 MASK BIT7 ADS IMODES33 # ALTERNATE ALTITUDE RATE WITH ALTITUDE. CAF BIT2 # RATE COMMAND IS EXECUTED BEFORE RANGE. EXTEND WOR CHAN14 # ALTRATE (BIT2 = 1), ALTITUDE (BIT2 = 0).
ARCOMP CA RUNIT # COMPUTE ALTRATE=RUNIT.VVECT M/CS *2(-6). EXTEND MP VVECT # MULTIPLY X-COMPONENTS. XCH RUPTREG1 # SAVE SINGLE PRECISION RESULT M/CS*2(-6). CA RUNIT +1# MULTIPLY Y-COMPONENTS. EXTEND MP VVECT +1 ADS RUPTREG1 # ACCUMULATE PARTIAL PRODUCTS. CA RUNIT +2# MULTIPLY Z-COMPONENTS. EXTEND MP VVECT +2 ADS RUPTREG1 # ALTITUDE RATE IN M/CS *2(-6). CA ARCONV # CONVERT ALTRATE TO BIT UNITS (.5FPS/BIT) EXTEND MP RUPTREG1
DDOUBL
DDOUBL XCH RUPTREG1 # ALTITUDE RATE IN BIT UNITS*2(-14). CA DALTRATE # ALTITUDE RATE COMPENSATION FACTOR. EXTEND MP DT AD RUPTREG1 TS ALTRATE # ALTITUDE RATE IN BIT UNITS*2(-14). CS ALTRATE # Page 899 EXTEND# CHECK POLARITY OF ALTITUDE RATE. BZMF +2 TCF DATAOUT # NEGATIVE - SEND POS. PULSES TO ALTM REG. CA ALTRATE # POSITIVE OR ZERO - SET SIGN BIT = 1 AND AD BIT15 # SEND TO ALTM REGISTER. *DO NOT SEND +0*
DATAOUT TS ALTM # ACTIVATE THE LANDING ANALOG DISPLAYS - - CAF BIT3 EXTEND WOR CHAN14 # BIT3 DRIVES THE ALT/ALTRATE METER. TCF TASKOVER # EXIT
ALTOUT TC DISINDAT # CHECK MODE SELECT SWITCH AND DIDFLG. CS BIT7 MASK IMODES33 TS IMODES33 # ALTERNATE ALTITUDE RATE WITH ALTITUDE. CS BIT2 EXTEND WAND CHAN14 CCS ALTBITS # =-1 IF OLD ALT. DATA TOBE EXTRAPOLATED. TCF +4 TCF +3 TCF OLDDATA TS ALTBITS # SET ALTBITS FROM -0 TO +0. CS ONE DXCH ALTBITS # SET ALTBITS=-1 FOR SWITCH USE NEXT PASS. DXCH ALTSAVE CA BIT10 # NEW ALTITUDE EXTRAPOLATION WITH ALTRATE. XCH Q LXCH7# ZL CA DT EXTEND
DV Q # RESCALE DT*2(-14) TO *2(-9) TIME IN CS. EXTEND MP ARTOA2 # .0021322 *2(+8) TCF OLDDATA +1# RATE APPLIES FOR DT CS.
ZDATA2 DXCH ALTSAVE TCF NEWDATA
OLDDATA CA ARTOA # RATE APPLIES FOR .5 SEC. (4X/SEC. CYCLE) EXTEND MP ALTRATE # EXTRAPOLATE WITH ALTITUDE RATE.
DDOUBL AD ALTSAVE +1 TS ALTSAVE +1 CAF ZERO ADS ALTSAVE CAF POSMAX # FORCE SIGN AGREEMENT ASSUMING A AD ONE # NON-NEGATIVE ALTSAVE. AD ALTSAVE +1# IF ALTSAVE IS NEGATIVE, ZERO ALTSAVE TS ALTSAVE +1# AND ALTSAVE +1 AT ZERODATA. # Page 900 CAF ZERO AD POSMAX AD ALTSAVE TS ALTSAVE # POSSIBLY SKIP TO NEWDATA. TCF ZERODATA
NEWDATA CCS ALTSAVE +1 TCF +4 TCF +3 CAF ZERO # SET NEGATIVE ALTSAVE +1 TO +0. TS ALTSAVE +1 CCS ALTSAVE # PROVIDE A 15 BIT UNSIGNED OUTPUT. CAF BIT15 # THE HI-ORDER PART IS +1 OR +0. AD ALTSAVE +1 TCF DATAOUT # DISPATCH UNSIGNED BITS TO ALTM REG.
DISINDAT EXTEND QXCH LADQSAVE # SAVE RETURN TO ALTROUT +1 OR ALTOUT +1 CAF BIT6 EXTEND# WISHETH THE ASTRONAUT THE ANALOG
RAND CHAN30 # DISPLAYS? I.E., CCS A # IS THE MODE SELECT SWITCH IN PGNCS? TCF DISPRSET # NO. ASTRONAUT REQUESTS NO INERTIAL DATA CS FLAGWRD1 # YES. CHECK STATUS OF DIDFLAG. MASK DIDFLBIT EXTEND BZF SPEEDRUN # SET. PERFORM DATA DISPLAY SEQUENCE. CS FLAGWRD1 # RESET. PERFORM INITIALIZATION FUNCTIONS. MASK DIDFLBIT ADS FLAGWRD1 # SET DIDFLAG. CS BIT7 MASK IMODES33 # TO DISPLAY ALTRATE FIRST AND ALT. SECOND TS IMODES33 CS FLAGWRD0 # ARE WE IN DESCENT TRAJECTORY? MASK R10FLBIT EXTEND BZF TASKOVER # NO CAF BIT8 # YES. EXTEND WOR CHAN12 # SET DISPLAY INERTIAL DATA OUTBIT. CAF ZERO TS TRAKLATV # LATERAL VELOCITY MONITOR FLAG TS TRAKFWDV # FORWARD VELOCITY MONITOR FLAG TS LATVMETR # LATVEL MONITOR METER TS FORVMETR # FORVEL MONITOR METER CAF BIT4 TC TWIDDLE ADRES INTLZE TCF TASKOVER
INTLZE CAF BIT2 EXTEND WOR CHAN12 # ENABLE RR ERROR COUNTER. # Page 901 CS IMODES33 MASK BIT8 ADS IMODES33 # SET INERTIAL DATA FLAG. TCF TASKOVER
SPEEDRUN CS PIPTIME +1# UPDATE THE VELOCITY VECTOR AD TIME1 # COMPUTE T - TN AD HALF # CORRECT FOR POSSIBLE OVERFLOW OF TIME1. AD HALF XCH DT # SAVE FOR LATER USE CA1SEC TS ITEMP5 # INITIALIZE FOR DIVISION LATER EXTEND DCA GDT/2# COMPUTE THE X-COMPONENT OF VELOCITY.
DDOUBL
DDOUBL EXTEND MP DT EXTEND
DV ITEMP5 XCH VVECT # VVECT = G(T-TN) M/CS *2(-5) EXTEND DCA V # M/CS *2(-7)
DDOUBL # RESCALE TO 2(-5)
DDOUBL ADS VVECT # VVECT = VN + G(T-TN) M/CS *2(-5) CA PIPAX # DELV CM/SEC *2(-14) AD PIPATMPX # IN CASE PIPAX HAS BEEN ZEROED EXTEND MP KPIP1(5) # DELV M/CS *2(-5) ADS VVECT # VVECT = VN + DELV + GN(T-TN) M/CS *2(-5) EXTEND DCA GDT/2 +2# COMPUTE THE Y-COMPONENT OF VELOCITY.
DDOUBL
DDOUBL EXTEND MP DT EXTEND
DV ITEMP5 XCH VVECT +1 EXTEND DCA V +2
DDOUBL
DDOUBL ADS VVECT +1 CA PIPAY AD PIPATMPY EXTEND MP KPIP1(5) ADS VVECT +1 # Page 902 EXTEND DCA GDT/2 +4# COMPUTE THE Z-COMPONENT OF VELOCITY.
DDOUBL
DDOUBL EXTEND MP DT EXTEND
DV ITEMP5 XCH VVECT +2 EXTEND DCA V +4
DDOUBL
DDOUBL ADS VVECT +2 CA PIPAZ AD PIPATMPZ EXTEND MP KPIP1(5) ADS VVECT +2
CAF BIT3 # PAUSE 40 MS TO LET OTHER RUPTS IN. TC VARDELAY
CS FLAGWRD0 # ARE WE IN DESCENT TRAJECTORY? MASK R10FLBIT CCS A TCF +2# YES. TC LADQSAVE # NO.
CA DELVS # HI X OF VELOCITY CORRECTION TERM. AD VVECT # HI X OF UPDATED VELOCITY VECTOR. TS ITEMP1 # = VX - DVX M/CS*2(-5). CA DELVS +2# Y AD VVECT +1# Y TS ITEMP2 # = VY - DVY M/CS*2(-5). CA DELVS +4# Z AD VVECT +2# Z TS ITEMP3 # = VZ - DVZ M/CS*2(-5). CA ITEMP1 # COMPUTE VHY, VELOCITY DIRECTED ALONG THE EXTEND# Y-COORDINATE. MP UHYP # HI X OF CROSS-RANGE HALF-UNIT VECTOR. XCH RUPTREG1 CA ITEMP2 EXTEND MP UHYP +2# Y ADS RUPTREG1 # ACCUMULATE PARTIAL PRODUCTS. CA ITEMP3 EXTEND MP UHYP +4# Z ADS RUPTREG1 # Page 903 CA RUPTREG1 DOUBLE XCH VHY # VHY=VMP.UHYP M/CS*2(-5). CA ITEMP1 # NO COMPUTE VHZ, VELOCITY DIRECTED ALONG EXTEND# THE Z-COORDINATE. MP UHZP # HI X OF DOWN-RANGE HALF-UNIT VECTOR. XCH RUPTREG1 CA ITEMP2 EXTEND MP UHZP +2# Y ADS RUPTREG1 # ACCUMULATE PARTIAL PRODUCTS. CA ITEMP3 EXTEND MP UHZP +4# Z ADS RUPTREG1 CA RUPTREG1 DOUBLE XCH VHZ # VHZ = VMP.UHZP M/CS*2(-5).
GET22/32CAF EBANK6 # GET SIN(AOG),COS(AOG) FROM GPMATRIX. TSEBANK EBANK= M22 CA M22 TS ITEMP3 CA M32 TS ITEMP4 CAF EBANK7 TSEBANK EBANK= UNIT/R/
LATFWDV CA ITEMP4 # COMPUTE LATERAL AND FORWARD VELOCITIES. EXTEND MP VHY XCH RUPTREG1 CA ITEMP3 EXTEND MP VHZ ADS RUPTREG1 # =VHY(COS)AOG+VHZ(SIN)AOG M/CS *2(-5) CA VELCONV # CONVERT LATERAL VELOCITY TO BIT UNITS. EXTEND MP RUPTREG1
DDOUBL XCH LATVEL # LATERAL VELOCITY IN BIT UNITS *2(-14). CA ITEMP4 # COMPUTE FORWARD VELOCITY. EXTEND MP VHZ XCH RUPTREG1 CA ITEMP3 EXTEND MP VHY CS A ADS RUPTREG1 # =VHZ(COS)AOG-VHY(SIN)AOG M/CS *2(-5). # Page 904 CA VELCONV # CONVERT FORWARD VELOCITY TO BIT UNITS. EXTEND MP RUPTREG1
DDOUBL XCH FORVEL # FORWARD VELOCITY IN BIT UNITS *2(-14).
CS MAXVBITS # ACC.=-199.9989 FT./SEC. TS ITEMP6 # -547 BIT UNITS (OCTAL) AT 0.5571 FPS/BIT
CAF ONE # LOOP TWICE.
VMONITOR TS ITEMP5 # FORWARD AND LATERAL VELOCITY LANDING INDEX ITEMP5 # ANALOG DISPLAYS MONITOR. CCS LATVEL TCF +4 TCF LVLIMITS TCF +8D TCF LVLIMITS INDEX ITEMP5 CS LATVEL AD MAXVBITS # +199.9989 FT.SEC. EXTEND BZMF CHKLASTY TCF LVLIMITS INDEX ITEMP5 CA LATVEL AD MAXVBITS EXTEND BZMF +2 TCF LVLIMITS
CHKLASTY INDEX ITEMP5 CCS LATVMETR TCF +4 TCF LASTOK TCF +7 TCF LASTOK INDEX ITEMP5 CA LATVEL EXTEND BZMF LASTPOSY +5 TCF +5 INDEX ITEMP5 CS LATVEL EXTEND BZMF LASTNEGY +4
LASTOK INDEX ITEMP5 CCS TRAKLATV TCF LASTPOSY TCF +2 TCF LASTNEGY INDEX ITEMP5 # Page 905 CA LATVEL EXTEND BZMF NEGVMAXY TCF POSVMAXY
LASTPOSY INDEX ITEMP5 CA LATVEL EXTEND BZMF +2 TCF POSVMAXY CS MAXVBITS TCF ZEROLSTY
POSVMAXY INDEX ITEMP5 CS LATVMETR AD MAXVBITS INDEX ITEMP5 XCH RUPTREG3 CAF ONE TCF ZEROLSTY +3
LASTNEGY INDEX ITEMP5 CA LATVEL EXTEND BZMF NEGVMAXY CA MAXVBITS TCF ZEROLSTY
NEGVMAXY INDEX ITEMP5 CA LATVMETR AD MAXVBITS
COM INDEX ITEMP5 XCH RUPTREG3 CS ONE TCF ZEROLSTY +3
LVLIMITS INDEX ITEMP5 CCS TRAKLATV TCF LATVPOS TCF +2 TCF LATVNEG INDEX ITEMP5 CS LATVMETR EXTEND BZMF +2 TCF NEGLMLV INDEX ITEMP5 CS LATVEL EXTEND BZMF LVMINLM AD ITEMP6 INDEX ITEMP5 AD LATVMETR EXTEND # Page 906 BZMF LVMINLM INDEX ITEMP5 AD LATVEL EXTEND INDEX ITEMP5
SU LATVMETR TCF ZEROLSTY
LATVPOS INDEX ITEMP5 CS LATVEL EXTEND BZMF LVMINLM TCF +5
LATVNEG INDEX ITEMP5 CA LATVEL EXTEND BZMF LVMINLM INDEX ITEMP5 CS LATVMETR TCF ZEROLSTY
NEGLMLV INDEX ITEMP5 CA LATVEL EXTEND BZMF LVMINLM CA MAXVBITS INDEX ITEMP5 AD LATVMETR
COM INDEX ITEMP5 AD LATVEL EXTEND BZMF LVMINLM EXTEND INDEX ITEMP5
SU LATVEL INDEX ITEMP5 AD LATVMETR
COM TCF ZEROLSTY
LVMINLM INDEX ITEMP5 CS LATVMETR INDEX ITEMP5 AD LATVEL
ZEROLSTY INDEX ITEMP5 XCH RUPTREG3 CAF ZERO INDEX ITEMP5 TS TRAKLATV INDEX ITEMP5 CA RUPTREG3 AD NEG0 # AVOIDS +0 DINC HARDWARE MALFUNCTION # Page 907 INDEX ITEMP5 TS CDUTCMD INDEX ITEMP5 CA RUPTREG3 INDEX ITEMP5 ADS LATVMETR CCS ITEMP5 # FIRST MONITOR FORWARD THEN LATERAL VEL. TCF VMONITOR
CAF BITSET # DRIVE THE X-POINTER DISPLAY. EXTEND WOR CHAN14 TC LADQSAVE # GO TO ALTROUT +1 OR TO ALTOUT +1
ZERODATA CAF ZERO # ZERO ALTSAVE AND ALTSAVE +1 - - - TS L # NO NEGATIVE ALTITUDES ALLOWED. TCF ZDATA2
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