Source Code

016931,000001: 016932,000002: 016933,000003: 016934,000004: 016935,000005: 016936,000006: 016937,000007: 016938,000008: 016939,000009: 016940,000010: 016941,000011: 016942,000012: 016943,000013: 016944,000014: 016945,000015: 016946,000016: 016947,000017: 016948,000018: 016949,000019: 016950,000020: 016951,000021: 016952,000022: 016953,000023: 016954,000024: 016955,000025: 016956,000026: 016957,000027: 016958,000028: 016959,000029: 016960,000030: 016961,000031: 016962,000032: 34,2002 016963,000033: 27,2000 016964,000034: 27,2000 016965,000035: 016966,000036: 27,2000 016967,000037: 016968,000038: 27,2000 016969,000039: 016970,000040: 016971,000041: < 017270,000340: 27,2311 017271,000341: 27,2312 017272,000342: 35,2000 017273,000343: 27,2000 017274,000344: 27,2000 017275,000345: # Copyright: Public domain. # Filename: R60_62.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey <info@sandroid.org>. # Website: www.ibiblio.org/apollo. # Pages: 390-398 # Mod history: 2009-05-09 RSB Adapted from the Colossus249/ file # of the same name, using Comanche055 page # images. # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # Notations on the hardcopy document read, in part: # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # This AGC program shall also be referred to as # Colossus 2A # Page 390 BANK 34 SETLOC MANUVER BANK 1146 EBANK= TEMPR60 COUNT 27/R60 # CONFORMS TO GSOP CHAPTER FOUR REVISION LOGIC 09 JAN 18, 1968 >016972,000042: 27,2000 04711 R60CSM TC MAKECADR 55146 TS TEMPR60 # INSERT PRIODSP CHECK WITH R22 (V06N49) WITH JENNINGS BRODEUR E4E">016977,000047: 27,2002 35012 REDOMANN CAF BIT6 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET 10000 CCS A 12013 TCF TOBALL # YES 06006 TC INTPRET 77624 CALL 56126 VECPOINT # TO COMPUTE FINAL ANGLES 01156 STORE CPHI # STORE FINAL ANGLES -- CPHI, CTHETA, CPSI 77776 EXIT >016987,000057: 27,2013 32125 TOBALL CAF V06N18 04662 TC BANKCALL 21132 CADR GOPERF2R # DISPLAY PLEASE PERFORM AUTO MANEUVER 02114 TC R61TEST 02023 TC REDOMANC # PROCEED 12052 TCF ENDMANU1 # ENTER I.E., FINISHED WITH R60 02056 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS 05217 TC ENDOFJOB E43">016997,000067: 27,2023 35012 REDOMANC CAF BIT6 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET 10000 CCS A 12034 TCF TOBALLC # YES 06006 TC INTPRET 77624 CALL 56126 VECPOINT # TO COMPUTE FINAL ANGLES 01156 STORE CPHI # STORE ANGLES 77776 EXIT 3">017007,000077: 27,2034 34371 TOBALLC CAF PRIO30 # IS MODE AUTO AND CTL GNC # Page 391 00006 EXTEND 06031 RXOR CHAN31 77707 MASK 13,14,15 00006 EXTEND 12043 BZF +2 # AUTO, NON-FLASH N18 12013 TCF TOBALL # NOT AUTO 32125 CAF V06N18 # STATIC UP NON-FLASHING V06 N18 04662 TC BANKCALL 20676 CADR GODSPR 02056 TC CHKLINUS E56">017021,000091: 27,2047 04662 STARTMNV TC BANKCALL 17627 CADR GOMANUR 556">017023,000093: 27,2051 12013 ENDMANUV TCF TOBALL # FINISHED MANEUVER. 531">017025,000095: 27,2052 05560 ENDMANU1 TC DOWNFLAG # RESET 3-AXIS FLAG 00124 ADRES 3AXISFLG # BIT 6 FLAG 5 31146 CAE TEMPR60 04704 TC BANKJUMP 553">017030,000100: 27,2056 40100 CHKLINUS CS FLAGWRD4 75004 MASK BIT12 # IS PRIORITY DISPLAY FLAG SET? 10000 CCS A 00002 TC Q # NO -- EXIT 30002 CA Q 54156 TS MPAC +2 # SAVE RETURN 46214 CS THREE # OBTAIN LOCATION FOR RESTART 60133 AD BUF2 # HOLD Q OF LAST DISPLAY 55053 TS TBASE1 05412 TC PHASCHNG 00071 OCT 71 # 1.7SPOT FOR RELINUS 35011 CAF BIT7 05526 TC LINUS # GO SET BITS FOR PRIORITY DISPLAY 00156 TC MPAC +2 3">017047,000117: 27,2074 35013 RELINUS CAF BIT5 # IS TRACK FLAG ON 70075 MASK FLAGWRD1 00006 EXTEND 12111 BZF GOREDO20 # NO 05546 TC UPFLAG 00077 ADRES PDSPFLAG # R60 PRIODSP FLAG 05546 TC UPFLAG 00024 ADRES TARG1FLG # FOR R52 35021 CAF ZERO # RESET TO ZERO, SINCE # Page 392 55303 TS OPTIND # OPTIND WAS SET TO -1 BY V379 35066 CAF PRIO14 # RESTORE ORIGINAL PRIORITY 05210 TC PRIOCHNG 01053 TC TBASE1 230">017067,000137: 27,2111 05412 GOREDO20 TC PHASCHNG 00111 OCT 111 # 1.11 FOR PIKUP20 05217 TC ENDOFJOB 4">017072,000142: 27,2114 31011 R61TEST CA MODREG # ARE WE IN P00. IF YES THIS MUST BE 00006 EXTEND # VERB49 OR VERB89 SO DO ENDEXT. 12052 BZF ENDMANU1 # RESET 3-AXIS & RETURN. USER DOES ENDEXT 30100 CA FLAGWRD4 # ARE WE IN R61 (P20) 75004 MASK BIT12 00006 EXTEND 14106 BZF GOTOP00H # NO 04622 TC GOTOV56 # YES 7">017081,000151: 27,2124 20100 BIT14+7 OCT 20100 >017082,000152: 27,2125 01422 V06N18 VN 0618 # Page 393 # PROGRAM DESCRIPTION -- VECPOINT # THIS INTERPRETIVE SUBROUTINE MAY BE USED TO POINT A SPACECRAFT AXIS IN A DESIRED DIRECTION. THE AXIS # TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN SUCCESSIVE LOCATIONS OF ERASABLE MEMORY # BEGINNING WITH THE LOCATION CALLED SCAXIS. THE COMPONENTS OF THIS VECTOR ARE GIVEN IN SPACECRAFT COORDINATES. # THE DIRECTION IN WHICH THIS AXIS IS TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN # SUCCESSIVE LOCATIONS OF ERASABLE MEMORY BEGINNING WITH THE ADDRESS CALLED POINTVSM. THE COMPONENTS OF THIS # VECTOR ARE GIVEN IN STABLE MEMBER COORDINATES. WITH THIS INFORMTION VECPOINT COMPUTES A SET OF THREE GIMBAL # ANGLES (2'S COMPLEMENT) CORRESPONDING TO THE CROSS-PRODUCT ROTATION BETWEEN SCAXIS AND POINTVSM AND STORES THEM # IN T(MPAC) BEFORE RETURNING TO THE CALLER. # THIS ROTATION, HOWEVER, MAY BRING THE S/C INTO GIMBAL LOCK. WHEN POINTING A VECTOR IN THE Y-Z PLANE, # THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROGLEM BY ROTATING THE CROSS- # PRODUCT ATTITUDE ABOUT POINTVSM BY A FIXED AMOUNT SUFFICIENT TO ROTATE THE DESIRED S/C ATTITUDE OUT OF GIMBAL # LOCK. IF THE AXIS TO BE POINTED IS MORE THAN 40.6 DEGREES BUT LESS THAN 60.5 DEG FROM THE +X (OR -X) AXIS, # THE ADDITIONAL ROTATION TO AVOID GIMBAL LOCK IS 35 DEGREES. IF THE AXIS IS MORE THAN 60.5 DEGREES FROM +X (OR -X) # THE ADDITIONAL ROTATION IS 35 DEGREES. THE GIMBAL ANGLES CORRESPONDING TO THIS ATTITUDE ARE THEN COMPUTED AND # STORED AS 2'S COMPLEMENT ANGLES N T(MPAC) BEFORE RETURNING TO THE CALLER. # WHEN POINTING THE X-AXIS, OR THE THRUST VECTOR, OR ANY VECTOR WITHIN 40.6 DEG OF THE X-AXIS, VECPOINT # CANNOT CORRECT FOR A CROSS-PRODUCT ROTATION INTO GIMBAL LOCK. IN THIS CASE A PLATFORM REALIGNMENT WOULD BE # REQUIRED TO POINT THE VECTOR IN THE DESIRED DIRECTION. AT PRESENT NO INDICATION IS GIVEN FOR THIS SITUATION # EXCEPT THAT THE FINAL MIDDLE GIMBAL ANGLE IN MPAC +2 IS GREATER THAN 59 DEGREES. # CALLING SEQUENCE # 1) LOAD SCAXIS, POINTVSM # 2) CALL # VECPOINT # RETURNS WITH # 1) DESIRED OUTER GIMBAL ANGLE IN MPAC # 2) DESIRED INNER GIMBAL ANGLE IN MPAC +1 # 3) DESIRED MIDDLE GIMBAL ANGLE IN MPAC +2 # ERASABLES USED -- # 1) SCAXIS 6 # 2) POINTVSM 6 # 3) MIS 18 # 4) DEL 18 # 5) COF 6 # 6) VECQTEMP 1 # 7) ALL OF VAC AREA 43 # TOTAL 99 SETLOC VECPT BANK # Page 394 EBANK= BCDU COUNT 27/VECPT E54">017140,000210: 27,2126 40020 VECPOINT STQ BOV # SAVE RETURN ADDRESS 03310 VECQTEMP 56131 VECLEAR # AND CLEAR OVFIND 2">017143,000213: 27,2131 47164 VECLEAR AXC,2 RTB 03320 MIS # READ THE PRESENT CDU ANGLES AND 44376 READCDUK # STORE THEM IN PD25, 26, 27 34032 STCALL 25D 44405 CDUTODCM # S/C AXES TO STABLE MEMBER AXES (MIS) 61375 VLOAD VXM 03357 POINTVSM # RESOLVE THE POINTING DIRECTION VF INTO 03321 MIS # INITIAL S/C AXES (VF = POINTVSM) 77656 UNIT 00035 STORE 28D # PD 28 29 30 31 32 33 53435 VXV UNIT # TAKE THE CROSS PRODUCT VF X VI 03351 SCAXIS # WHERE VI = SCAXIS 57400 BOV VCOMP 56256 PICKAXIS 17343 STODL COF # CHECK MAGNITUDE 00045 36D # OF CROSS PRODUCT 50025 DSU BMN # VECTOR, IF LESS 16327 DPB-14 # THAN B-14 ASSUME 56256 PICKAXIS # UNIT OPERATION 50375 VLOAD DOT # INVALID. 03351 SCAXIS 00035 28D 65552 SL1 ARCCOS 458">017167,000237: 27,2160 77624 COMPMATX CALL # NO COMPUTE THE TRANSFORMATION FROM 44530 DELCOMP # FINAL S/C AXES TO INITIAL S/C AXES MFI 75160 AXC,1 AXC,2 03320 MIS # COMPUTE THE TRANSFORMATION FROM FINAL 03425 DEL # S/C AXES TO STABLE MEMBER AXES 77624 CALL # MFS = MIS MFI 44304 MXM3 # (IN PD LIST) 51545 DLOAD ABS 00007 6 # MFS6 = SIN(CPSI) $2 50025 DSU BMN 16314 SINGIMLC # = SIN(59 DEGS) $2 56246 FINDGIMB # /CPSI/ LESS THAN 59 DEGS. # I.E., DESIRED ATTITUDE NOT IN GIMBAL LOCK 51545 DLOAD ABS # CHECK TO SEE IF WE ARE POINTING 03351 SCAXIS # THE THRUST AXIS 51025 DSU BPL 16316 SINVEC1 # SIN 49.4 DEGS $2 # Page 395 56246 FINDGIMB # IF SO, WE ARE TRYING TO POINT IT INTO 77775 VLOAD # GIMBAL LOCK, ABORT COULD GO HERE 77626 STADR 50442 STOVL MIS +12D 77626 STADR # STORE MFS (IN PD LIST) IN MIS 50450 STOVL MIS +6 77626 STADR 50456 STOVL MIS 03327 MIS +6 # INNER GIMBAL AXIS IN FINAL S/C AXES 57444 BPL VCOMP # LOCATE THE IG AXIS DIRECTION CLOSEST TO 56213 IGSAMEX # FINAL X S/C AXIS 8">017199,000269: 27,2213 50035 IGSAMEX VXV BMN # FIND THE SHORTEST WAY OF ROTATING THE 03351 SCAXIS # S/C OUT OF GIMBAL LOCK BY A ROTATION 56222 U=SCAXIS # ABOUT +- SCAXIS, I.E., IF (IG (SGN MFS3) # X SCAXIS . XF) LESS THAN Q, U = SCAXIS # OTHERWISE U = -SCAXIS. 57575 VLOAD VCOMP 03351 SCAXIS 37343 STCALL COF # ROTATE ABOUT -SCAXIS 56225 CHEKAXIS 953">017209,000279: 27,2222 77775 U=SCAXIS VLOAD 03351 SCAXIS 03343 STORE COF # ROTATE ABOUT + SCAXIS 953">017212,000282: 27,2225 51545 CHEKAXIS DLOAD ABS 03351 SCAXIS # SEE IF WE ARE POINTING THE AOT 51025 DSU BPL 16320 SINVEC2 # SIN 29.5 DEGS $2 56235 PICKANG1 # IF SO, ROTATE 50 DEGS ABOUT +- SCAXIS 52145 DLOAD GOTO # IF NOT, MUST BE POINTING THE TRANSPONDER 16324 VECANG2 # OR SOME VECTOR IN THE Y, OR Z PLANE 56237 COMPMFSN # IN THIS CASE ROTATE 35 DEGS TO GET OUT # OF GIMBAL LOCK (VECANG2 $360) 731">017221,000291: 27,2235 77745 PICKANG1 DLOAD 16322 VECANG1 # = 50 DEGS. $360 34E">017223,000293: 27,2237 77624 COMPMFSN CALL 44530 DELCOMP # COMPUTE THE ROTATION ABOUT SCAXIS TO 75160 AXC,1 AXC,2 # BRING MFS OUT OF GIMBAL LOCK 03320 MIS 03425 DEL 77624 CALL # COMPUTE THE NEW TRANSFORMATION FROM 44304 MXM3 # DESIRED S/C AXES TO STABLE MEMBER AXES # WHICH WILL ALIGN VI WITH VF AND AVOID # GIMBAL LOCK D42">017232,000302: 27,2246 45160 FINDGIMB AXC,1 CALL 00000 0 # EXTRACT THE COMMANDED CDU ANGLES FROM 44655 DCMTOCDU # THIS MATRIX 40234 RTB SETPD 45552 V1STO2S # CONVERT TO 2'S COMPLEMENT # Page 396 00001 0 77650 GOTO 03310 VECQTEMP # RETURN TO CALLER 953">017242,000312: 27,2256 50375 PICKAXIS VLOAD DOT # IF VF X VI = 0, FIND VF, VI 00035 28D 03351 SCAXIS 72240 BMN TLOAD 56266 ROT180 00032 25D 77650 GOTO # IF VF = VI, CDU DESIRED = PRESENT CDU 03310 VECQTEMP # PRESENT CDU ANGLES >017251,000321: 27,2266 47375 ROT180 VLOAD VXV # IF VF, VI ANTI-PARALLEL, 180 DEG ROTATION 03327 MIS +6 # IS REQUIRED. Y STABLE MEMBER AXIS IN 15333 HIUNITX # INITIAL S/C AXES. 47256 UNIT VXV # FIND Y(SM) X X(I) 03351 SCAXIS # FIND UNIT(VI X UNIT(Y(SM) X X(I))) 40056 UNIT BOV # I.E., PICK A VECTOR IN THE PLANE OF X(I), 56310 PICKX # Y(SM) PERPENDICULAR TO VI 17343 STODL COF 00045 36D # CHECK MAGNITUDE 50025 DSU BMN # OF THIS VECTOR. 16327 DPB-14 # IF LESS THAN B-14, 56310 PICKX # PICK X-AXIS. 77775 VLOAD 03343 COF >017265,000335: 27,2304 17343 XROT STODL COF 15333 HIDPHALF 77650 GOTO 56160 COMPMATX /a>017269,000339: 27,2310 52175 PICKX VLOAD GOTO # PICK THE XAXIS IN THIS CASE 15333 HIUNITX 56304 XROT BANK 35 SETLOC MANUVER1 BANK C43">017276,000346: 27,2313 15555 35172 SINGIMLC 2DEC .4285836003 # = SIN(59) $2 1">017278,000348: 27,2315 14113 36326 SINVEC1 2DEC .3796356537 # = SIN(49.4) $2 2">017280,000350: 27,2317 07701 35703 SINVEC2 2DEC .2462117800 # = SIN(29.5) $2 1">017282,000352: 27,2321 04343 21616 VECANG1 2DEC .1388888889 # = 50 DEGREES $360 2">017284,000354: 27,2323 03070 34344 VECANG2 2DEC .09722222222 # = 35 DEGREES $360 >017287,000357: 27,2325 00000 1BITDP OCT 0 # KEEP THIS BEFORE DPB(-14) ******** >017288,000358: 27,2326 00001 DPB-14 OCT 00001 # Page 397 00000 OCT 00000 BANK 34 SETLOC MANUVER BANK # Page 398 # ROUTINE FOR INITIATING AUTOMATIC MANEUVER VIA KEYBOARD (V49) 1155 EBANK= CPHI COUNT 27/R62 0">017302,000372: 27,2330 35052 R62DISP CAF V06N22 # DISPLAY COMMAND ICDUS CPHI, CTHETA, CPHI 04662 TC BANKCALL 20720 CADR GOFLASH 15534 TCF ENDEXT 12336 TCF GOMOVE # PROCEED 12330 TCF R62DISP # ENTER # ASTRONAUT MAY LOAD NEW ICDUS AT THIS # POINT. >017311,000381: 27,2336 05546 GOMOVE TC UPFLAG # SET FOR 3-AXIS MANEUVER 00124 ADRES 3AXISFLG 04662 TC BANKCALL 56000 CADR R60CSM 15534 TCF ENDEXT Parent file is MAIN.agc