Source Code
|
These source-code files are part of a reconstructed copy of Comanche 051, the
original release of the Apollo 11 Command Module (CM) Apollo Guidance Computer
(AGC) software.
The reconstruction began with source code of Comanche 055 previously transcribed
from a digitized copy of that program. The code was then updated by undoing
changes related to the R-2 lunar potential model, using hints from program
comments and change-indicating asterisks in the Comanche 055 listing as a guide.
The reconstruction was verified by matching memory-bank checksums to those listed
in drawing 2021153D. Note that page numbers in the reconstructed code match those
on the Comanche 055 printout, although the added code would likely have changed page
numbers for a real Comanche 051 listing.
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
|
022778,000002: ## Copyright: Public domain.
022779,000003: ## Filename: P11.agc
022780,000004: ## Purpose: A section of Comanche revision 051.
022781,000005: ## It is part of the reconstructed source code for the
022782,000006: ## original release of the flight software for the Command
022783,000007: ## Module's (CM) Apollo Guidance Computer (AGC) for Apollo 11.
022784,000008: ## The code has been recreated from a copy of Comanche 055. It
022785,000009: ## has been adapted such that the resulting bugger words
022786,000010: ## exactly match those specified for Comanche 51 in NASA drawing
022787,000011: ## 2021153D, which gives relatively high confidence that the
022788,000012: ## reconstruction is correct.
022789,000013: ## Reference: pp. 533-550
022790,000014: ## Assembler: yaYUL
022791,000015: ## Contact: Ron Burkey <info@sandroid.org>.
022792,000016: ## Website: www.ibiblio.org/apollo/index.html
022793,000017: ## Mod history: 2019-07-30 MAS Created from Comanche 55.
022794,000018:
|
|
Page 533
|
022796,000020:
022797,000021: # EARTH ORBIT INSERTION MONITOR PROGRAM
022798,000022: # *************************************
022799,000023:
022800,000024: # PROGRAM DESCRIPTION -P11-
022801,000025:
022802,000026: # MOD NO. 1
022803,000027: # MOD BY ELIASSEN
022804,000028:
022805,000029: # FUNCTIONAL DESCRIPTION
022806,000030:
022807,000031: # P11 IS INITIATED BY
022808,000032:
022809,000033: # A) GYROCOMPASS PRG P02 WHEN LIFTOFF DISCRETE IS RECEIVED OR
022810,000034: # B) BACKUP THRU VERB 75 ENTER
022811,000035:
022812,000036: # PROGRAM WILL
022813,000037: # 1. ZERO CMC CLOCK AT LIFTOFF (OR UPON RECEIPT OF BACKUP)
022814,000038: # 2. UPDATE TEPHEM TO TIME CMC CLOCK WAS ZEROED
022815,000039: # 3. INITIATE SERVICER AT PREREAD1
022816,000040: # 4. CHANGE MAJOR MODE TO 11
022817,000041: # 5. CLEAR DSKY IN CASE OF V 75
022818,000042: # 6. STORE LIFTOFF IMU-CDU ANGLES FOR ATT. ERROR DISPLAY
022819,000043: # 7. TERMINATE GYROCOMPASSING - -
022820,000044: # 8. COMPUTE INITIAL VECTORS RN, VN - - -
022821,000045: # 9. COMPUTE REFSMMAT FOR PRELAUNCH ALIGNMENT WHERE U ,U ,U ARE
022822,000046: # - - X Y Z
022823,000047: # U =UNIT(-R) LOCAL VERTICAL AT TIME OF LIFTOFF
022824,000048: # Z
022825,000049: # - - -
022826,000050: # U =UNIT(A), A=HOR VECTOR AT LAUNCH AZIMUTH
022827,000051: # X
022828,000052: # - - -
022829,000053: # U =U * U
022830,000054: # U Z X
022831,000055: # 10. SET REFSMMAT KNOWN FLAG
022832,000056: # 11. SET AVGEXIT IN SERVICER TO VHHDOT TO
022833,000057: # COMPUTE AND DISPLAY NOUN 62 EVERY 2 SECONDS
022834,000058:
022835,000059: # R1 V1 - INTERTIAL VELOCITY MAGNITUDE IN FPS
022836,000060: # R2 HDOT - RATE OF CHANGE OF VEHICLE VEL IN FPS
022837,000061: # R3 H - VEHICLE ALTITUDE ABOVE PAD IN NM
022838,000062: #
022839,000063: # 12. DISPLAY BODY AXES ATT. ERRORS ON FDAI NEEDLES
022840,000064:
022841,000065: # A) FROM L.O. TO RPSTART (APPROX. 0 TO +10SECS AFTER L.O.)
022842,000066: # DESIRED ATTITUDE IS AS STORED AT L.O.
022843,000067: # B) FROM RPSTART TO POLYSTOP (APPROX. +10 TO +133SECS AFTER LO)
022844,000068: # DESIRED ATTITUDE IS SPECIFIED BY CMC PITCH AND ROLL
022845,000069: # POLYNOMIALS DURING SATURN ROLLOUT AND PITCHOVER
|
|
Page 534
|
022847,000071: # THE DISPLAY IS RUN AS LOW PRIORITY JOB APPROX.
022848,000072: # EVERY 1/2 SEC OR LESS AND IS DISABLED UPON OVFLO OF TIME1
022849,000073:
022850,000074: # SUBROUTINES CALLED
022851,000075:
022852,000076: # 2PHSCHNG BANKCALL CALCGRA CDUTRIG CLEANDSP DANZIG
022853,000077: # DELAYJOB EARTHR ENDOFJOB FINDVAC IBNKCALL
022854,000078: # INTPRET LALOTORV NEEDLER NEWMODEX PHASCHNG
022855,000079: # POSTJUMP POWRSERS PREREAD1 REGODSPR S11.1
022856,000080: # SERVEXIT TASKOVER TCDANZIG V1ST02S WAITLIST
022857,000081:
022858,000082: # ASTRONAUT REQUESTS (IF ALTITUDE ABOVE 300,000 FT)
022859,000083:
022860,000084: # DSKY -
022861,000085: # MONITOR DISPLAY OF TIME TO PERIGEE R1 HOURS
022862,000086: # R2 MINUTES
022863,000087:
022864,000088: # DSKY -
022865,000089: # MONITOR DISPLAY OF R1 APOGEE ALTITUDE IN NAUTICAL MILES
022866,000090: # R2 PERIGEE ALTITUDE IN NAUTICAL MILES
022867,000091: # R3 TFF IN MINUTES/SECS
022868,000092:
022869,000093: # IF ASTRONAUT HAS REQUESTED ANY OF THESE DISPLAYS HE MUST
022870,000094: # HIT PROCEED TO RETURN TO NORMAL NOUN 62 DISPLAY
022871,000095: # NORMAL EXIT MODE
022872,000096:
022873,000097: # ASTRONAUT VERB 37 ENTER 00 ENTER
022874,000098:
022875,000099: # ALARM MODES - NONE
022876,000100:
022877,000101: # ABORT EXIT MODES -
022878,000102:
022879,000103: # OUTPUT
022880,000104:
022881,000105: # TLIFTOFF (DP) TEPHEM (TP)
022882,000106: # REFSMMAT
022883,000107: # DSKY DISPLAY
022884,000108: # FDAI DISPLAY
022885,000109:
022886,000110: # ERASABLE INITIALIZATION
022887,000111:
022888,000112: # AZO, AXO, -AYO
022889,000113: # LATITUDE
022890,000114: # PADLONG
022891,000115: # TEPHEM
022892,000116: # PGNCSALT
022893,000117: # POLYNUM THRU POLYNUM +14D)
022894,000118: # RPSTART
022895,000119: # POLYSTOP
022896,000120: # FLAGS SET OR RESET
|
|
Page 535
|
022898,000122: # SET REFSMFLG
022899,000123: # SET DVMON IDLE FLAG
022900,000124: # CLEAR ERADFLAG
022901,000125:
022902,000126: # DEBRIS
022903,000127:
022904,000128: # LIFTTEMP
022905,000129: # POLYNUM THRU POLYNUM +7
022906,000130: # SPOLYARG
022907,000131: # BODY1, BODY2, BODY3
022908,000132: # VMAG2, ALTI, HDOT
022909,000133: # CENTRALS, CORE SET AND VAC AREAS
022910,000134:
022911,000135: 04,3303 COUNT 34/P11
022912,000136:
022913,000137: 04,3303 5035 BITS5-6 = SUPER011
022914,000138: 42,3606 BANK 42
022915,000139: 34,2000 SETLOC P11ONE
022916,000140: 34,2000 BANK
022917,000141:
022918,000142: 34,2002 E3,1706 EBANK= TEPHEM
022919,000143: 34,2002 35051 P11 CA EBANK3
022920,000144: 34,2003 54003 TS EBANK
022921,000145:
022922,000146: 34,2004 00006 EXTEND
022923,000147: 34,2005 32277 DCA REP11S # DIRECT RESTARTS TO REP11
022924,000148: 34,2006 52757 DXCH -PHASE3
022925,000149: 34,2007 45021 CS ZERO
022926,000150: 34,2010 22007 ZL
022927,000151: 34,2011 55265 TS LIFTTEMP
022928,000152: 34,2012 52763 DXCH -PHASE5 # INACTIVE GROUP 5, PRELAUNCH PROTECTION
022929,000153: 34,2013 00006 P11+7 EXTEND
022930,000154: 34,2014 32301 DCA REP11SA
022931,000155: 34,2015 53337 DXCH TLIFTOFF
022932,000156:
022933,000157: 34,2016 00006 EXTEND
022934,000158: 34,2017 30025 DCA TIME2
022935,000159: 34,2020 53266 DXCH LIFTTEMP # FOR RESTARTS
022936,000160:
022937,000161: 34,2021 35021 CA ZERO
022938,000162: 34,2022 22007 ZL
022939,000163: 34,2023 52025 DXCH TIME2
022940,000164: 34,2024 53337 REP11A-2 DXCH TLIFTOFF
022941,000165: 34,2025 52757 REP11A-1 DXCH -PHASE3 # RESET PHASE
022942,000166:
022943,000167: 34,2026 00004 REP11A INHINT
022944,000168: 34,2027 00006 EXTEND
022945,000169: 34,2030 31710 DCA TEPHEM +1
022946,000170: 34,2031 53271 DXCH TEPHEM1 +1
022947,000171: 34,2032 31706 CA TEPHEM
|
|
Page 536
|
022949,000173: 34,2033 57267 XCH TEPHEM1
022950,000174:
022951,000175: 34,2034 00006 EXTEND
022952,000176: 34,2035 31337 DCA TLIFTOFF
022953,000177: 34,2036 21271 DAS TEPHEM1 +1
022954,000178: 34,2037 27267 ADS TEPHEM1 # CORRECTOFOR OVERFLOW
022955,000179:
022956,000180: 34,2040 05412 TC PHASCHNG
022957,000181: 34,2041 05023 OCT 05023
022958,000182: 34,2042 22000 OCT 22000
022959,000183:
022960,000184: 34,2043 00004 INHINT
022961,000185: 34,2044 00006 EXTEND
022962,000186: 34,2045 31270 DCA TEPHEM1
022963,000187: 34,2046 53707 DXCH TEPHEM
022964,000188: 34,2047 31271 CA TEPHEM1 +2
022965,000189: 34,2050 57710 XCH TEPHEM +2
022966,000190:
022967,000191: 34,2051 32000 CAF EBDVCNT
022968,000192: 34,2052 54003 TS EBANK
022969,000193: 34,2053 E7,1431 EBANK= DVCNTR
022970,000194: 34,2053 04740 TC IBNKCALL
022971,000195: 34,2054 76722 CADR PREREAD1 # ZERO PIPS AND INITIALIZE AVERAGEG
022972,000196:
022973,000197: 34,2055 05412 TC PHASCHNG
022974,000198: 34,2056 05023 OCT 05023 # CONTINUE HERE ON RESTART
022975,000199: 34,2057 22000 OCT 22000
022976,000200:
022977,000201: 34,2060 35036 CAF .5SEC # START ATT ERROR DISPLAY
022978,000202: 34,2061 05245 TC WAITLIST # IN .5 SEC
022979,000203: 34,2062 E6,1704 EBANK= BODY3
022980,000204: 34,2062 02320 70066 2CADR ATERTASK
022981,000205:
022982,000206: 34,2064 05354 TC NEWMODEX # DISPLAY MM 11
022983,000207: 34,2065 00013 MM 11 B-14
022984,000208:
022985,000209: 34,2066 05546 TC UPFLAG
022986,000210: 34,2067 00022 ADRES NODOP01
022987,000211:
022988,000212: 34,2070 36214 CA POWDNCOD # SWITCH TO POWERED FLIGHT DOWNLIST
022989,000213: 34,2071 54332 TS DNLSTCOD
022990,000214:
022991,000215: 34,2072 04662 TC BANKCALL
022992,000216: 34,2073 20703 CADR CLEANDSP # CLEAR DSKY IN CASE OF V75
022993,000217:
022994,000218: 34,2074 05372 TC 2PHSCHNG
022995,000219: 34,2075 40514 OCT 40514 # PROTECT ATERTASK
022996,000220: 34,2076 00073 OCT 00073
022997,000221: 34,2077 32001 CAF EBQPLACE
|
|
Page 537
|
022999,000223: 34,2100 54003 TS EBANK
023000,000224:
023001,000225: 34,2101 E5,1426 EBANK= QPLACES
023002,000226: 34,2101 32302 CA P11XIT # SET EXIT FROM PROUT IN EARTHR
023003,000227: 34,2102 55426 TS QPLACES
023004,000228: 34,2103 06006 TC INTPRET
023005,000229: 34,2104 64375 VLOAD MXV
023006,000230: 34,2105 02467 THETAN
023007,000231: 34,2106 02672 XSM
023008,000232: 34,2107 53372 VSL1 VAD
023009,000233: 34,2110 02650 ERCOMP
023010,000234: 34,2111 16650 STODL ERCOMP
023011,000235: 34,2112 01337 TLIFTOFF
023012,000236: 34,2113 52131 SSP GOTO
023013,000237: 34,2114 00052 S2
023014,000238: 34,2115 66424 CADR PROUT # RETURN FROM EARTHR
023015,000239: 34,2116 66373 EARTHR +3
023016,000240: 34,2117 22007 MATRXJOB ZL # STORE DP GIMBAL ANGLES FOR ATTITUDE
023017,000241: 34,2120 30032 CA CDUX # ERROR DISPLAY AFTER LIFTOFF
023018,000242: 34,2121 53760 DXCH OGC
023019,000243: 34,2122 22007 ZL
023020,000244: 34,2123 30033 CA CDUY
023021,000245: 34,2124 53762 DXCH IGC
023022,000246: 34,2125 22007 ZL
023023,000247: 34,2126 30034 CA CDUZ
023024,000248: 34,2127 53764 DXCH MGC
023025,000249: 34,2130 06006 TC INTPRET # -
023026,000250: 34,2131 74575 VLOAD VSR1 # SCALE OGC B-1
023027,000251: 34,2132 02760 OGC
023028,000252: 34,2133 02760 STORE OGC
023029,000253: 34,2134 77731 SSP # ZERO RTX2
023030,000254: 34,2135 03747 RTX2 # FOR
023031,000255: 34,2136 00000 0 # EARTH
023032,000256: 34,2137 65345 DLOAD PDDL
023033,000257: 34,2140 01273 PGNCSALT # ALTITUDE OF PGNCS
023034,000258: 34,2141 01264 PADLONG # LONGITUDE
023035,000259: 34,2142 55525 PDDL VDEF
023036,000260: 34,2143 02403 LATITUDE # GEODETIC LATITUDE
023037,000261: 34,2144 15104 STODL LAT # LAT,LONG,ALT ARE CONSECUTIVE
023038,000262: 34,2145 15335 HI6ZEROS # TIME = 0
023039,000263: 34,2146 45014 CLEAR CALL
023040,000264: 34,2147 00662 ERADFLAG
023041,000265: 34,2150 26441 LALOTORV # CONVERT TO POSITION VECTOR IN REF.COORDS
023042,000266:
023043,000267: 34,2151 35232 STCALL RN1 # -
023044,000268: 34,2152 70334 GETDOWN # RETURN WITH VECTOR FOR DOWN DIRECTION
023045,000269: 34,2153 53476 VCOMP UNIT
023046,000270: 34,2154 25752 STOVL REFSMMAT +12D # UNITZ = UNIT(GRAV)
023047,000271: 34,2155 01232 RN1
023048,000272: 34,2156 74235 VXV VXSC
|
|
Page 538
|
023050,000274: 34,2157 01714 UNITW # SCALED AT 1
023051,000275: 34,2160 30304 -ERTHRAT # V = EARTHRATE X R
023052,000276: 34,2161 77712 VSL4 # SCALE TO 2(7) M/CS
023053,000277: 34,2162 25240 STOVL VN1
023054,000278: 34,2163 01752 REFSMMAT +12D
023055,000279: 34,2164 53435 VXV UNIT
023056,000280: 34,2165 01714 UNITW # (REF3 X UNITW) = EAST
023057,000281: 34,2166 47206 PUSH VXV
023058,000282: 34,2167 01752 REFSMMAT +12D # (EAST X REF3) = -SOUTH
023059,000283: 34,2170 65256 UNIT PDDL
023060,000284: 34,2171 02634 LAUNCHAZ # COS(AZ)*SOUTH
023061,000285: 34,2172 74346 COS VXSC
023062,000286: 34,2173 77626 STADR
023063,000287: 34,2174 62041 STODL REFSMMAT # TEMPORARY STORAGE
023064,000288: 34,2175 02634 LAUNCHAZ
023065,000289: 34,2176 74356 SIN VXSC # SIN(AZ)*EAST
023066,000290: 34,2177 53455 VAD UNIT # SIN(AZ)*EAST - COS(AZ)*SOUTH = REF1
023067,000291: 34,2200 01736 REFSMMAT
023068,000292: 34,2201 01736 STORE REFSMMAT
023069,000293:
023070,000294: 34,2202 53435 VXV UNIT # (REF1 X REF3) = -REF3
023071,000295: 34,2203 01752 REFSMMAT +12D
023072,000296: 34,2204 77676 VCOMP
023073,000297: 34,2205 01744 STORE REFSMMAT +6
023074,000298: 34,2206 45345 DLOAD DSU
023075,000299: 34,2207 15333 DPHALF # 1/2 REV
023076,000300: 34,2210 02634 LAUNCHAZ
023077,000301: 34,2211 65215 DAD PDDL
023078,000302:
023079,000303: 34,2212 02401 AZIMUTH
023080,000304: 34,2213 03301 SATRLRT # SET SATRLRT = -SATRLRT IF
023081,000305: 34,2214 45565 SIGN STADR # (1/2REV -LAVNCHAZ +AZIMUTH) IS NEGATIVE
023082,000306: 34,2215 74476 STORE SATRLRT # FOR ROLL CALC IN FDAI ATT. ERROR DISPLAY
023083,000307: 34,2216 77414 SET EXIT
023084,000308: 34,2217 01462 REFSMFLG # SET REFSMMAT KNOWN FLAG
023085,000309:
023086,000310: 34,2220 05412 TC PHASCHNG
023087,000311: 34,2221 04023 OCT 04023
023088,000312:
023089,000313: 34,2222 00006 EXTEND
023090,000314: 34,2223 32306 DCA P11SCADR
023091,000315: 34,2224 53223 DXCH AVGEXIT # SET AVGEXIT
023092,000316:
023093,000317: 34,2225 37665 CA PRIO31 # 2 SECONDS AT 2(+8)
023094,000318: 34,2226 55074 TS 1/PIPADT
023095,000319:
023096,000320: 34,2227 E6,1501 EBANK= RCSFLAGS
023097,000321: 34,2227 35057 CA EBANK6
023098,000322: 34,2230 54003 TS EBANK
023099,000323:
023100,000324: 34,2231 00004 INHINT
|
|
Page 539
|
023102,000326: 34,2232 45021 CS ZERO
023103,000327: 34,2233 55063 TS TBASE5 # RESTART READACCS 2 SECONDS AFTER LIFTOFF
023104,000328:
023105,000329: 34,2234 40025 CS TIME1
023106,000330: 34,2235 65042 AD 2SECS # DO READACCS 2 SECONDS AFTER LIFTOFF
023107,000331:
023108,000332: 34,2236 10000 CCS A # CHECK TO INSURE DT IS POSITIVE
023109,000333: 34,2237 12242 TCF +3 # TIME POSITIVE
023110,000334: 34,2240 12242 TCF +2 # CANNOT GET HERE
023111,000335: 34,2241 35021 CA ZERO # TIME NEGATIVE - SET TO 1
023112,000336: 34,2242 65017 AD ONE # RESTORE TIME - OR MAKE POSITIVE
023113,000337:
023114,000338: 34,2243 05245 TC WAITLIST
023115,000339: 34,2244 E6,1661 EBANK= AOG
023116,000340: 34,2244 02744 76066 2CADR READACCS
023117,000341:
023118,000342: 34,2246 05372 TC 2PHSCHNG
023119,000343: 34,2247 00003 OCT 00003 # TURN OFF GROUP 3
023120,000344: 34,2250 00025 OCT 00025 # PROTECT NORMLIZE AND READACCS
023121,000345:
023122,000346: 34,2251 04701 TC POSTJUMP
023123,000347: 34,2252 77236 CADR NORMLIZE # DO NORMLIZE AND ENDOFJOB
023124,000348:
023125,000349:
023126,000350: 34,2253 E3,1706 EBANK= TEPHEM
023127,000351: 34,2253 00004 REP11 INHINT
023128,000352: 34,2254 10763 CCS PHASE5
023129,000353: 34,2255 05217 TC ENDOFJOB
023130,000354:
023131,000355: 34,2256 11265 CCS LIFTTEMP
023132,000356: 34,2257 12263 TCF +4
023133,000357: 34,2260 12263 TCF +3
023134,000358: 34,2261 12263 TCF +2
023135,000359: 34,2262 12013 TCF P11+7
023136,000360:
023137,000361: 34,2263 41336 CS TLIFTOFF
023138,000362: 34,2264 00006 EXTEND
023139,000363: 34,2265 62273 BZMF ENDREP11
023140,000364:
023141,000365: 34,2266 10024 CCS TIME2 # ** TIME2 MUST BE NON-ZERO AT LIFTOFF **
023142,000366: 34,2267 12021 TCF REP11A -5 # T2,T1 NOT YET ZEROED, GO AND DO IT
023143,000367:
023144,000368: 34,2270 00006 EXTEND # T2,T1 ZEROED, SET TLIFTOFF
023145,000369: 34,2271 31266 DCA LIFTTEMP
023146,000370: 34,2272 12024 TCF REP11A-2
023147,000371:
023148,000372: 34,2273 00006 ENDREP11 EXTEND
023149,000373: 34,2274 32301 DCA REP11SA
023150,000374: 34,2275 12025 TCF REP11A-1
|
|
Page 540
|
023152,000376: 34,2276 77766 00011 REP11S 2OCT 7776600011
023153,000377:
023154,000378: 34,2300 77764 00013 REP11SA 2OCT 7776400013
023155,000379:
023156,000380: 34,2302 02451 P11XIT GENADR P11OUT
023157,000381: 34,2303 71704 41735 -ERTHRAT 2DEC* -7.292115138 E-7 B18* # - EARTH RATE AT 2(18)
023158,000382:
023159,000383: 34,2305 E6,1704 EBANK= BODY3
023160,000384: 34,2305 02307 70066 P11SCADR 2CADR VHHDOT
023161,000385:
023162,000386: 34,2307 6214 POWDNCOD EQUALS THREE
023163,000387:
023164,000388: 34,2307 E6,1704 EBANK= BODY3
023165,000389: # VHHDOT IS EXECUTED EVERY 2 SECONDS TO DISPLAY ON DSKY
023166,000390: # VI INERTIAL VELOCITY MAGNITUDE
023167,000391: # HDOT RATE OF CHANGE OF ALT ABOVE L PAD RADIUS
023168,000392: # H ALTITUDE ABOVE L PAD RADIUS
023169,000393:
023170,000394: 34,2307 06006 VHHDOT TC INTPRET
023171,000395: 34,2310 77624 CALL # LOAD VMAGI, ALTI,
023172,000396: 34,2311 70542 S11.1 # HDOT FOR DISPLAY
023173,000397: 34,2312 77776 EXIT
023174,000398: 34,2313 05412 TC PHASCHNG
023175,000399: 34,2314 00035 OCT 00035
023176,000400:
023177,000401: 34,2315 32622 CAF V06N62 # DISPLAY IN R1 R2 R3
023178,000402: 34,2316 04662 TC BANKCALL # VI HDOT H
023179,000403: 34,2317 20707 CADR REGODSP
023180,000404:
023181,000405: 34,2320 35006 ATERTASK CAF PRIO1 # ESTABLISH JOB TO DISPLAY ATT ERRORS
023182,000406: 34,2321 05147 TC FINDVAC # COMES HERE AT L.O. + .33 SEC
023183,000407: 34,2322 E6,1704 EBANK= BODY3
023184,000408: 34,2322 02345 70066 2CADR ATERJOB
023185,000409:
023186,000410: 34,2324 41501 CS RCSFLAGS # SET BIT3 FOR
023187,000411: 34,2325 75015 MASK BIT3 # NEEDLER
023188,000412: 34,2326 27501 ADS RCSFLAGS # INITIALIZATION PASS
023189,000413: 34,2327 04740 TC IBNKCALL # AND GO
023190,000414: 34,2330 42420 CADR NEEDLER # DO IT
023191,000415: 34,2331 35017 CA BIT1 # SET SW
023192,000416: 34,2332 55725 TS SATSW # FOR DISPLAY
023193,000417: 34,2333 05324 TC TASKOVER
023194,000418: 34,2334 40220 GETDOWN STQ SETPD
023195,000419: 34,2335 02242 INCORPEX
023196,000420: 34,2336 00001 0D
023197,000421: 34,2337 77745 DLOAD
023198,000422: 34,2340 15335 HI6ZEROS
|
|
Page 541
|
023200,000424: 34,2341 14007 STODL 6D
023201,000425: 34,2342 15333 DPHALF
023202,000426: 34,2343 34011 STCALL 8D
023203,000427: 34,2344 26446 LALOTORV +5
023204,000428: # THIS SECTION PROVIDES ATTITUDE ERROR DISPLAYS TO THE FDAI DURING SONE BOOST
023205,000429:
023206,000430: # COMPUTE DESIRED PITCH W.R.T. PAD LOCAL VERTICAL AT LIFTOFF
023207,000431: # 2 3 4 5 6
023208,000432: # PITCH = A0+A1T+A2T +A3T +A4T +A5T +A6T
023209,000433: # SCALED TO 32 REVS. -14
023210,000434: # IF TL = TIME IN SECS FROM L.O., THEN T = 100(TL-RPSTART)2
023211,000435: # WHERE TL GE RPSTART
023212,000436: # TL LE (-POLYSTOP + RPSTART)
023213,000437: # COMPUTE DESIRED ROLL WHERE ROLL EQUALS ANGLE FROM
023214,000438: # LAUNCHAZ TO -Z(S/C) AS SEEN FROM X(S/C).
023215,000439: # ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T IN REV
023216,000440: # SATRLRT = RATE OF ROLL IN REV/CENTI-SEC
023217,000441: # T, IN CENTI-SEC, IS DEFINED AS ABOVE, INCLUSIVE OF TIME RESTRICTIONS
023218,000442:
023219,000443: # FOR SIMPLICITY, LET P = 2*PI*PITCH
023220,000444: # R = 2*PI*ROLL
023221,000445:
023222,000446: # CONSTRUCT THE TRANSFORMATION MATRIX, TSMV, GIVING DESIRED S/C AXES IN
023223,000447: # TERMS OF SM COORDINATES. LET THE RESULTING ROWS EQUAL THE VECTORS XDC,
023224,000448: # YDC, AND ZDC.
023225,000449:
023226,000450: # * ( SIN(P) 0 -COS(P) ) (XDC)
023227,000451: # TSMV = (-SIN(R)*COS(P) -COS(R) -SIN(R)*SIN(P)) = (YDC)
023228,000452: # (-COS(R)*COS(P) SIN(R) -COS(R)*SIN(P)) (ZDC)
023229,000453:
023230,000454: # XDC,YDC,ZDC ARE USED AS INPUT TO CALCGTA FOR THE EXTRACTION OF THE
023231,000455: # EULER SET OF ANGLES WHICH WILL BRING THE SM INTO THE DESIRED
023232,000456: # ORIENTATION. THIS EULER SET, OGC, IGC, AND MGC, MAY BE IDENTIFIED
023233,000457: # AS THE DESIRED CDU ANGLES.
023234,000458:
023235,000459: # (XDC) (OGC)
023236,000460: # (YDC) ---) CALCGTA ---) (IGC)
023237,000461: # (ZDC) (MGC)
023238,000462: # -
023239,000463: # DEFINE THE VECTOR DELTACDU.
023240,000464:
023241,000465: # - (OGC) (CDUX)
023242,000466: # DELTACDU = (IGC) - (CDUY)
023243,000467: # (MGC) (CDUZ)
023244,000468: # - - * -
023245,000469: # COMPUTE ATTITUDE ERRORS, A, WHERE A = TGSC*DELTACDU
023246,000470:
023247,000471: # * (1 SIN(CDUZ) 0 ) THE GIMBAL ANGLES
|
|
Page 542
|
023249,000473: # TGSC = (0 COS(CDUX)*COS(CDUZ) SIN(CDUX)) = TO SPACECRAFT AXES
023250,000474: # (0 -SIN(CDUX)*COS(CDUZ) COS(CDUX)) CONVERSION MATRIX
023251,000475: # -
023252,000476: # THE ATTITUDE ERRORS, A, ARE STORED ONE HALF SINGLE PRECISION IN
023253,000477: # THE REGISTERS AK, AK1, AK2 AS INPUT TO NEEDLER, THE FDAI ATTITUDE
023254,000478: # ERROR DISPLAY ROUTINE.
023255,000479:
023256,000480: 34,2345 30102 ATERJOB CAE FLAGWRD6 # CHECK FLAGWRD6
023257,000481: 34,2346 74105 MASK OCT60000 # BITS 14, 15
023258,000482: 34,2347 00006 EXTEND
023259,000483: 34,2350 12352 BZF +2 # OK - CONTINUE
023260,000484: 34,2351 05217 TC ENDOFJOB # SATURN STICK ON - KILL JOB
023261,000485: 34,2352 35006 CAF BIT10 # CHECK IF S/C CONTROL
023262,000486: 34,2353 00006 EXTEND # OF SATURN PANEL
023263,000487: 34,2354 02030 RAND CHAN30 # SWITCH IS ON
023264,000488: 34,2355 00006 EXTEND
023265,000489: 34,2356 12510 BZF STRSAT # IT IS - GO STEER
023266,000490: 34,2357 11725 CCS SATSW # IT IS NOT - WAS IT ON LAST CYCLE
023267,000491: 34,2360 02363 TC ATTDISP # NO - CONTINUE
023268,000492: 34,2361 02513 TC ATRESET # YES - REINITIALIZE NEEDLER
023269,000493: 34,2362 02513 TC ATRESET # YES - REINITIALIZE NEEDLER
023270,000494: 34,2363 41702 ATTDISP CS RPSTART # PITCH/ROLL START TIME
023271,000495: 34,2364 60025 AD TIME1
023272,000496: 34,2365 00006 EXTEND
023273,000497: 34,2366 62615 BZMF NOPOLY # IF MINUS THEN ATTITUDE HOLD
023274,000498: 34,2367 54154 TS MPAC # MPAC = TIME1 - RPSTART
023275,000499: 34,2370 55707 TS SPOLYARG # SAVE FOR USE IN ROLL CALUCLATION
023276,000500: 34,2371 61703 AD POLYSTOP # NEG PITCHOVER TIME IN CSECS
023277,000501: 34,2372 00006 EXTEND
023278,000502: 34,2373 62375 BZMF +2
023279,000503: 34,2374 02615 TC NOPOLY # GO TO ATTITUDE HOLD
023280,000504: 34,2375 30024 CA TIME2
023281,000505: 34,2376 00006 EXTEND
023282,000506: 34,2377 62401 BZMF +2
023283,000507: 34,2400 02615 TC NOPOLY # GO TO ATTITUDE HOLD
023284,000508: 34,2401 31661 CAE POLYNUM
023285,000509: 34,2402 54001 TS L
023286,000510: 34,2403 32621 CAF COEFPOLY # EVALUATE PITCH POLYNOMIAL
023287,000511: 34,2404 07164 TC POWRSERS # SCALED TO 32 REVOLUTIONS
023288,000512: 34,2405 35021 CA ZERO # RETURN WITH PITCH(32REV)
023289,000513: 34,2406 54163 TS MODE # STORED IN MPAC, MPAC +1
023290,000514: 34,2407 06006 TC INTPRET
023291,000515: 34,2410 54201 SETPD SL # 32(PITCH(32REV)) = PITCH(REV)
023292,000516: 34,2411 00001 0
023293,000517: 34,2412 20206 5
023294,000518: 34,2413 77606 PUSH # LET P(RAD) = 2.PI.PITCH(REV)
023295,000519: 34,2414 77650 GOTO
023296,000520: 34,2415 76155 ATTDISP1 # AROUND SETLOC
|
|
Page 543
|
023298,000522: # *
023299,000523: # CONSTRUCT SM TO S/C MATRIX, TSMV
023300,000524:
023301,000525: 37,2000 SETLOC P11TWO
023302,000526: 37,2000 BANK # 36 IN COL., 34 IN DISK
023303,000527:
023304,000528: 37,2155 COUNT 36/P11
023305,000529:
023306,000530: 37,2155 57546 ATTDISP1 COS DCOMP
023307,000531: 37,2156 14017 STODL 14D # -.5*COS(P)
023308,000532: 37,2157 77756 SIN
023309,000533: 37,2160 14013 STODL 10D # .5*SIN(P)
023310,000534: 37,2161 15335 ZEROVECS
023311,000535: 37,2162 00015 STORE 12D # 0
023312,000536:
023313,000537: # EVALUATE ROLL = LAUNCHAZ-AZIMUTH-.5+SATRLRT*T
023314,000538: 37,2163 41335 SLOAD DMP
023315,000539: 37,2164 03310 SPOLYARG # TIME1 - RPSTART, CSECS B-14.
023316,000540: 37,2165 03301 SATRLRT
023317,000541: 37,2166 45261 SL DSU
023318,000542: 37,2167 20217 14D
023319,000543: 37,2170 15333 DPHALF
023320,000544: 37,2171 45215 DAD DSU # ASSUMING X(SM) ALONG LAUNCH AZIMUTH,
023321,000545: 37,2172 02634 LAUNCHAZ # LAUNCHAZ = ANGLE FROM NORTH TO X(SM).
023322,000546: 37,2173 02401 AZIMUTH # AZIMUTH = -ANGLE FROM NORTH TO Z(S/C)
023323,000547: 37,2174 77634 RTB # DETERMINE IF ROLLOUT
023324,000548: 37,2175 70604 RLTST # IS COMPLETED
023325,000549: 37,2176 71406 ATTDISPR PUSH COS # CONTINUE COMPUTING TSMV
023326,000550: 37,2177 77606 PUSH # LET R(RAD) = 2*PI*ROLL(REV)
023327,000551: 37,2200 72405 DMP SL1
023328,000552: 37,2201 00017 14D
023329,000553: 37,2202 14027 STODL 22D # -.5*COS(R)*COS(P)
023330,000554: 37,2203 77676 DCOMP
023331,000555: 37,2204 00023 STORE 18D # -.5*COS(R)
023332,000556: 37,2205 72405 DMP SL1
023333,000557: 37,2206 00013 10D
023334,000558: 37,2207 14033 STODL 26D # -.5*COS(R)*SIN(P)
023335,000559: 37,2210 41556 SIN PUSH
023336,000560: 37,2211 00031 STORE 24D # .5*SIN(R)
023337,000561: 37,2212 72405 DMP SL1
023338,000562: 37,2213 00017 14D
023339,000563: 37,2214 14021 STODL 16D # -.5*SIN(R)*COS(P)
023340,000564: 37,2215 77676 DCOMP
023341,000565: 37,2216 72405 DMP SL1
023342,000566: 37,2217 00013 10D
023343,000567: 37,2220 24025 STOVL 20D # -.5*SIN(R)*SIN(P)
023344,000568: 37,2221 00013 10D
023345,000569:
023346,000570: # FROM TSMV FIND THE HALF UNIT VECTORS XDC,YDC,ZDC = INPUT TO CALCGTA
|
|
Page 544
|
023348,000572: 37,2222 77656 UNIT
023349,000573: 37,2223 26714 STOVL XDC # XDC = .5*UNIT(SIN(P),0,-COS(P))
023350,000574: 37,2224 00021 16D
023351,000575: 37,2225 77656 UNIT
023352,000576: 37,2226 26722 STOVL YDC # YDC = .5*UNIT(-SIN(R)*COS(P),-COS(R),
023353,000577: 37,2227 00027 22D # -SIN(R)*SIN(P))
023354,000578: 37,2230 77656 UNIT
023355,000579: 37,2231 36730 STCALL ZDC # ZDC = .5*UNIT(-COS(R)*COS(P),SIN(R),
023356,000580: 37,2232 47205 CALCGTA # -COS(R)*SIN(P))
023357,000581:
023358,000582: # CALL CALCGTA TO COMPUTE DESIRED SM ORIENTATION OGC,IGC, AND MGC
023359,000583: # - - -
023360,000584: # FIND DIFFERENCE VECTOR DELTACDU = OGC-CDUX
023361,000585: #
023362,000586: # ENTER HERE IF ATTITUDE HOLD
023363,000587:
023364,000588: 37,2233 41575 NOPOLYM VLOAD PUSH # OGC IGC
023365,000589: 37,2234 02760 OGC # CHANGE IGC TO MGC FOR COMPATIBILITY
023366,000590: 37,2235 45006 PUSH CALL # MGC OGC
023367,000591: 37,2236 47477 CDUTRIG # WITH Y,Z,X ORDER OF CDUSPOT
023368,000592: 37,2237 47175 VLOAD RTB # - DPHI OGC-CDUX , PD4
023369,000593: 37,2240 00003 2 # DELTACDU = DTHETA = IGC-CDUY , 0
023370,000594: 37,2241 45552 V1STO2S # DPSI MGC-CDUZ , 2
023371,000595: 37,2242 27317 STOVL BOOSTEMP
023372,000596: 37,2243 15335 ZEROVECS
023373,000597: 37,2244 24001 STOVL 0
023374,000598: 37,2245 00767 CDUSPOT
023375,000599: 37,2246 47034 RTB RTB
023376,000600: 37,2247 45552 V1STO2S
023377,000601: 37,2250 70564 DELSTOR
023378,000602: 37,2251 14013 STODL 10D
023379,000603: 37,2252 00741 SINCDUZ
023380,000604: 37,2253 72405 DMP SL1
023381,000605: 37,2254 00001 0
023382,000606: 37,2255 60415 DAD SR2 # CHANGE SCALE OF AK TO 2REVS
023383,000607: 37,2256 00005 4
023384,000608: 37,2257 77650 GOTO
023385,000609: 37,2260 70416 ATTDISP2
023386,000610:
023387,000611: 34,2000 SETLOC P11ONE
023388,000612: 34,2000 BANK
023389,000613: 34,2416 COUNT 34/P11
023390,000614:
023391,000615: 34,2416 14021 ATTDISP2 STODL 16D # 16D, .5(DPHI + DTHETA*SIN(CDUZ))
023392,000616: 34,2417 00747 COSCDUZ
023393,000617: 34,2420 41405 DMP PUSH
023394,000618: 34,2421 00001 0
023395,000619: 34,2422 72405 DMP SL1
023396,000620: 34,2423 00751 COSCDUX
023397,000621: 34,2424 41325 PDDL DMP
|
|
Page 545
|
023399,000623: 34,2425 00743 SINCDUX
023400,000624: 34,2426 00003 2
023401,000625: 34,2427 72415 DAD SL1
023402,000626: 34,2430 77626 STADR
023403,000627: 34,2431 63755 STODL 17D # 17D, .5(DTHETA*COS(CDUX)*COS(CDUZ)
023404,000628: 34,2432 72405 DMP SL1 # +DPSI*SIN(CDUX))
023405,000629: 34,2433 00743 SINCDUX
023406,000630: 34,2434 41325 PDDL DMP
023407,000631: 34,2435 00751 COSCDUX
023408,000632: 34,2436 00003 2
023409,000633: 34,2437 72425 DSU SL1
023410,000634: 34,2440 77626 STADR
023411,000635: 34,2441 77754 STORE 18D # 18D, .5(-DTHETA*SIN(CDUX)*COS(CDUZ)
023412,000636: 34,2442 77751 TLOAD # +DPSI*COS(CDUX))
023413,000637: 34,2443 00021 16D
023414,000638: 34,2444 03077 STORE AK # STORE ATTITUDE ERRORS IN AK,AK1,AK2
023415,000639: 34,2445 77776 EXIT
023416,000640:
023417,000641: 34,2446 31725 CA SATSW
023418,000642: 34,2447 10000 CCS A # CHK TAKEOVER STATUS
023419,000643: 34,2450 02471 TC SATOUT # POS - DISPLAY ONLY
023420,000644: 34,2451 02477 TC AKLOAD # 0 STORE BIAS
023421,000645: 34,2452 06006 STEERSAT TC INTPRET # NEG STEER L/V
023422,000646: 34,2453 76351 TLOAD TAD
023423,000647: 34,2454 03327 BIASAK
023424,000648: 34,2455 03077 AK
023425,000649: 34,2456 03077 STORE AK # AKS = AKS - STORED BIAS
023426,000650: 34,2457 77776 EXIT
023427,000651: 34,2460 31476 CA AK
023428,000652: 34,2461 02623 TC RESCALES
023429,000653: 34,2462 55476 TS AK
023430,000654: 34,2463 31477 CA AK1
023431,000655: 34,2464 02623 TC RESCALES
023432,000656: 34,2465 55477 TS AK1
023433,000657: 34,2466 31500 CA AK2
023434,000658: 34,2467 02623 TC RESCALES
023435,000659: 34,2470 55500 TS AK2
023436,000660: # DISPLAY ATTITUDE ERRORS ON FDAI VIA NEEDLER
023437,000661:
023438,000662: 34,2471 04662 SATOUT TC BANKCALL
023439,000663: 34,2472 42420 CADR NEEDLER
023440,000664: 34,2473 34113 ATERSET CAF OCT31 # DELAY .25 SEC
023441,000665: 34,2474 04662 TC BANKCALL # EXECUTION + DELAY = .56SEC APPROX
023442,000666: 34,2475 01732 CADR DELAYJOB
023443,000667: 34,2476 02345 TC ATERJOB # END OF ATT ERROR DISPLAY CYCLE
023444,000668:
023445,000669: 34,2477 41476 AKLOAD CS AK # STORE AKS
023446,000670: 34,2500 55726 TS BIASAK # INTO BIAS
023447,000671: 34,2501 41477 CS AK1 # COMPLEMENTED
023448,000672: 34,2502 55727 TS BIASAK +1
|
|
Page 546
|
023450,000674: 34,2503 41500 CS AK2
023451,000675: 34,2504 55730 TS BIASAK +2
023452,000676: 34,2505 45017 CS BIT1 # SET SW
023453,000677: 34,2506 55725 TS SATSW # TO STEER
023454,000678: 34,2507 02452 TC STEERSAT # GO STEER
023455,000679: 34,2510 31725 STRSAT CA SATSW # CHECK IF NEEDLER
023456,000680: 34,2511 00006 EXTEND # HAS BEEN INITIALIZED
023457,000681: 34,2512 62363 BZMF ATTDISP # YES - CONTINUE
023458,000682: 34,2513 41501 ATRESET CS RCSFLAGS # NO - SET
023459,000683: 34,2514 75015 MASK BIT3 # INITIALIZATION SW
023460,000684: 34,2515 27501 ADS RCSFLAGS # FOR NEEDLER
023461,000685: 34,2516 04662 TC BANKCALL # AND GO
023462,000686: 34,2517 42420 CADR NEEDLER # DO IT
023463,000687: 34,2520 36211 CAF REVCNT # OCT 6
023464,000688: 34,2521 04662 TC BANKCALL # DELAY JOB
023465,000689: 34,2522 01732 CADR DELAYJOB # 60 MS -WAIT TILL IMUERRCNTR ZEROED
023466,000690: 34,2523 11725 CCS SATSW # CHECK SW STATUS
023467,000691: 34,2524 02534 TC TAKEON # POS STEER INIT.
023468,000692: 34,2525 02526 TC +1 # 0 RETURN TO DISPLAY
023469,000693: 34,2526 35017 CA BIT1 # NEG RETURN TO DISPLAY
023470,000694: 34,2527 55725 TS SATSW # SW = DISPLAY ONLY
023471,000695: 34,2530 45007 CS BIT9 # DISABLE
023472,000696: 34,2531 00006 EXTEND # SIVB
023473,000697: 34,2532 03012 WAND CHAN12 # TAKEOVER
023474,000698: 34,2533 02471 TC SATOUT # DISPLAY
023475,000699: 34,2534 35007 TAKEON CAF BIT9 # ENABLE
023476,000700: 34,2535 00006 EXTEND # SIVB
023477,000701: 34,2536 05012 WOR CHAN12 # TAKEOVER
023478,000702: 34,2537 35021 CA ZERO # INDICATE NEEDLER
023479,000703: 34,2540 55725 TS SATSW # WAS INITIALIZED
023480,000704: 34,2541 02471 TC SATOUT
023481,000705: 34,2542 51575 S11.1 VLOAD ABVAL
023482,000706: 34,2543 01177 VN
023483,000707: 34,2544 27723 STOVL VMAGI # VI SCALED 2(7) IN METERS/CSEC
023484,000708: 34,2545 01171 RN
023485,000709: 34,2546 50256 UNIT DOT
023486,000710: 34,2547 01177 VN
023487,000711: 34,2550 77752 SL1
023488,000712: 34,2551 17737 STODL HDOT
023489,000713: 34,2552 05152 RPAD
023490,000714: 34,2553 77214 BOF VLOAD
023491,000715: 34,2554 00355 AMOONFLG
023492,000716: 34,2555 70560 EARTHALT
023493,000717: 34,2556 02026 RLS
023494,000718: 34,2557 60446 ABVAL SR2
023495,000719: 34,2560 77621 EARTHALT BDSU
023496,000720: 34,2561 00045 36D
023497,000721: 34,2562 03735 STORE ALTI
023498,000722: 34,2563 77616 RVQ
023499,000723: 34,2564 31716 DELSTOR CA BOOSTEMP
|
|
Page 547
|
023501,000725: 34,2565 00006 EXTEND # STORE DELTACDU INTO PDL 0,2,4
023502,000726: 34,2566 20154 MSU MPAC
023503,000727: 34,2567 50120 INDEX FIXLOC
023504,000728: 34,2570 54000 TS 0
023505,000729: 34,2571 31717 CA BOOSTEMP +1
023506,000730: 34,2572 00006 EXTEND
023507,000731: 34,2573 20155 MSU MPAC +1
023508,000732: 34,2574 50120 INDEX FIXLOC
023509,000733: 34,2575 54002 TS 2
023510,000734: 34,2576 31720 CA BOOSTEMP +2
023511,000735: 34,2577 00006 EXTEND
023512,000736: 34,2600 20156 MSU MPAC +2
023513,000737: 34,2601 50120 INDEX FIXLOC
023514,000738: 34,2602 54004 TS 4
023515,000739: 34,2603 16030 TCF DANZIG
023516,000740: 34,2604 30154 RLTST CA MPAC # DETERMINE IF ROLLOUT
023517,000741: 34,2605 00006 EXTEND # IS COMPLETED
023518,000742: 34,2606 71701 MP SATRLRT +1
023519,000743: 34,2607 00006 EXTEND
023520,000744: 34,2610 66030 BZMF DANZIG # UNLIKE SIGNS STILL ROLLING
023521,000745: 34,2611 00006 EXTEND # ROLLOUT COMPLETED
023522,000746: 34,2612 33672 DCA MBDYTCTL +2 # ZERO OUT ROLL CONTRIBUTION
023523,000747: 34,2613 52155 DXCH MPAC
023524,000748: 34,2614 06030 TC DANZIG
023525,000749: 34,2615 06006 NOPOLY TC INTPRET # COMES HERE IF
023526,000750: 34,2616 52001 SETPD GOTO # ATTITUDE HOLD
023527,000751: 34,2617 00001 0
023528,000752: 34,2620 76233 NOPOLYM
023529,000753: 34,2621 01673 COEFPOLY ADRES POLYLOC
023530,000754: 34,2622 01476 V06N62 VN 0662
023531,000755: 34,2623 00006 RESCALES EXTEND # RESCALE AK S FOR
023532,000756: 34,2624 71731 MP SATSCALE # NEW HARDWARE
023533,000757: 34,2625 20001 DDOUBL # SCALING FOR
023534,000758: 34,2626 20001 DDOUBL # STEERING
023535,000759: 34,2627 00002 TC Q # SATURN
023536,000760:
023537,000761: # SATURN TAKEOVER FUNCTION
023538,000762: # ************************
023539,000763: #
023540,000764: # PROGRAM DESCRIPTION
023541,000765:
023542,000766: # MOD NUMBER 1
023543,000767: # MOD BY ELIASSEN
023544,000768:
023545,000769: # FUNCTIONAL DESCRIPTION
023546,000770:
023547,000771: # DURING THE COASTING PHASE OF SIVB ATTACHED, THE
023548,000772: # ASTRONAUT MAY REQUEST SATURN TAKEOVER THROUGH
023549,000773: # EXTENDED VERB 46 (BITS 13,14 OF DAPDATR1 SET ).
023550,000774: # THE CMC REGARDS RHC COMMANDS AS BODY-AXES RATE
023551,000775: # COMMANDS AND IT TRANSMITS THESE TO SATURN AS DC
|
|
Page 548
|
023553,000777: # VOLTAGES. THE VALUE OF THE CONSTANT RATE COMMAND
023554,000778: # IS 0.5 DEG/SEC. AN ABSENCE OF RHC ACTIVITY RE-
023555,000779: # SULTS IN A ZERO RATE COMMAND.
023556,000780:
023557,000781: # THE FDAI ERROR NEEDLES WILL INDICATE THE VALUE
023558,000782: # OF THE RATE COMMAND.
023559,000783:
023560,000784: # CALLING SEQUENCE
023561,000785:
023562,000786: # DAPFIG +9D TC POSTJUMP
023563,000787: # CADR SATSTKON
023564,000788:
023565,000789: # SUBROUTINES CALLED
023566,000790:
023567,000791: # ENDEXT
023568,000792: # IBNKCALL
023569,000793: # STICKCHK
023570,000794: # NEEDLER
023571,000795: # T5RUPT
023572,000796: # RESUME
023573,000797:
023574,000798: # ASTRONAUT REQUESTS
023575,000799:
023576,000800: # ENTRY - VERB 46 ENTER
023577,000801: # (CONDITION - BITS 13, 14 OF DAPDATR1 SET)
023578,000802:
023579,000803: # EXIT - VERB 48 ENTER (FLASH V06N46)
023580,000804: # VERB 21 ENTER AXXXX ENTER WHERE A=0 OR 1
023581,000805: # VERB 34 ENTER
023582,000806: # VERB 46 ENTER
023583,000807:
023584,000808: # NORMAL EXIT MODE
023585,000809:
023586,000810: # VERB 46 ENTER (SEE ASTRONAUT ABOVE)
023587,000811:
023588,000812: # ALARM OR ABORT EXIT MODES
023589,000813:
023590,000814: # NONE
023591,000815:
023592,000816: # OUTPUT
023593,000817:
023594,000818: # SATURN RATES IN CDUXCMD, CDUYCMD, CDUZCMD
023595,000819:
023596,000820: # ERASABLE INITIALIZATION
023597,000821:
023598,000822: # DAPDATR1 (BITS 13, 14 MUST BE SET)
023599,000823:
023600,000824: # DEBRIS
023601,000825:
023602,000826: # CENTRALS
|
|
Page 549
|
023604,000828: # CDUXCMD, CDUYCMD, CDUZCMD
023605,000829:
023606,000830: 43,3215 BANK 43
023607,000831: 43,2000 SETLOC EXTVERBS
023608,000832: 43,2000 BANK
023609,000833:
023610,000834: 43,3215 COUNT 23/STTKE
023611,000835: 43,3215 00006 SATSTKON EXTEND
023612,000836: 43,3216 33233 DCA 2REDOSAT
023613,000837: 43,3217 00004 INHINT
023614,000838: 43,3220 53313 DXCH T5LOC
023615,000839: 43,3221 34777 CAF POSMAX
023616,000840: 43,3222 54030 TS TIME5
023617,000841: 43,3223 40102 CS FLAGWRD6 # TURN ON BITS 15,14 OF
023618,000842: 43,3224 74105 MASK RELTAB11 # FLAGWRD6
023619,000843: 43,3225 26102 ADS FLAGWRD6 # SATSTICK CONTROL OF T5
023620,000844: 43,3226 04740 TC IBNKCALL # ZERO JET CHANNELS IN 14 MS AND THEN
023621,000845: 43,3227 42632 CADR ZEROJET # LEAVE THE T6 CLOCK DISABLED
023622,000846: 43,3230 00003 RELINT
023623,000847: 43,3231 02121 TC GOPIN # EXIT THUS BECAUSE WE CAME VIA V46
023624,000848:
023625,000849: 43,3232 E6,1704 EBANK= BODY3
023626,000850: 43,3232 02765 46106 2REDOSAT 2CADR REDOSAT
023627,000851:
023628,000852:
023629,000853: 43,3234 30,2000 SBANK= LOWSUPER
023630,000854: 32,2017 BANK 32
023631,000855: 23,2000 SETLOC P11FOUR
023632,000856: 23,2000 BANK
023633,000857:
023634,000858: 23,2765 22016 REDOSAT LXCH BANKRUPT # ALSO COMES HERE FOR RESTARTS
023635,000859: 23,2766 00006 EXTEND
023636,000860: 23,2767 22012 QXCH QRUPT
023637,000861: 23,2770 41501 CS RCSFLAGS # TURN ON BIT3 OF RCSFLAGX
023638,000862: 23,2771 75015 MASK BIT3 # FOR
023639,000863: 23,2772 27501 ADS RCSFLAGS # NEEDLER INITIALIZATION
023640,000864: 23,2773 04740 TC IBNKCALL
023641,000865: 23,2774 42420 CADR NEEDLER # DISABLE IMU ERR COUNTERS ETC.
023642,000866: 23,2775 35007 CAF BIT9 # SIVB
023643,000867: 23,2776 00006 EXTEND # TAKEOVER
023644,000868: 23,2777 05012 WOR CHAN12 # ENABLE
023645,000869: 23,3000 00006 EXTEND # SET UP T5 CYCLE
023646,000870: 23,3001 33042 DCA 2SATSTCK
023647,000871: 23,3002 53313 DXCH T5LOC
023648,000872: 23,3003 33040 CAF 100MST5 # IN 100 MSECS
023649,000873: 23,3004 54030 TS TIME5
023650,000874: 23,3005 15333 TCF RESUME # END OF SATURN STICK INITIALIZATION
023651,000875:
023652,000876: # THIS SECTION IS EXECUTED EVERY 100 MSECS
|
|
Page 550
|
023654,000878: 23,3006 22016 SATSTICK LXCH BANKRUPT
023655,000879: 23,3007 00006 EXTEND
023656,000880: 23,3010 22012 QXCH QRUPT
023657,000881:
023658,000882: 23,3011 33041 CAF 2SATSTCK # SET UP RUPT
023659,000883: 23,3012 55312 TS T5LOC # LO ORDER LOC SET
023660,000884: 23,3013 33040 CAF 100MST5 # 100 MSECS
023661,000885: 23,3014 54030 TS TIME5
023662,000886: 23,3015 33037 CAF STIKBITS
023663,000887: 23,3016 00006 EXTEND
023664,000888: 23,3017 06031 RXOR CHAN31 # CHECK IF MAN ROT BITS SAME
023665,000889: 23,3020 73037 MASK STIKBITS
023666,000890: 23,3021 04740 TC IBNKCALL # SET RATE INDICES
023667,000891: 23,3022 43130 CADR STICKCHK # FOR PITCH YAW AND ROLL
023668,000892:
023669,000893: 23,3023 51656 INDEX RMANNDX # SET SATURN RATES
023670,000894: 23,3024 31721 CA SATRATE
023671,000895: 23,3025 55476 TS AK # ROLL
023672,000896: 23,3026 51657 INDEX PMANNDX
023673,000897: 23,3027 31721 CA SATRATE
023674,000898: 23,3030 55477 TS AK1 # PITCH
023675,000899: 23,3031 51660 INDEX YMANNDX
023676,000900: 23,3032 31721 CA SATRATE
023677,000901: 23,3033 55500 TS AK2 # YAW
023678,000902:
023679,000903: 23,3034 04740 TC IBNKCALL # FOR SATURN INTERFACE AND FDAI DISPLAY
023680,000904: 23,3035 42420 CADR NEEDLER
023681,000905: 23,3036 15333 TCF RESUME # END OF SATURN STICK CONTROL
023682,000906:
023683,000907: 23,3037 00077 STIKBITS OCT 00077
023684,000908: 23,3040 37766 100MST5 DEC 16374 B-14
023685,000909: 23,3041 E6,1704 EBANK= BODY3
023686,000910: 23,3041 03006 46066 2SATSTCK 2CADR SATSTICK
End of include-file P11.agc. Parent file is MAIN.agc