Source Code
|
These source-code files are part of a reconstructed copy of Luminary 98, a
development version of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
The reconstruction began with source code of Luminary 99 revision 1 previously
transcribed from a digitized copy of that program. The code was then updated
by undoing changes described in original Luminary memo 85, using asterisks
indicating changed lines in the listing as a guide. While no listing of this
version is known to exist, nor are the memory-bank checksums available,
the reconstruction is believed to be correct because it was an an intermediate
step in reconstructing Luminary 97 whose reconstruction was
verified by matching memory-bank checksums to those listed in drawing 2021152G.
Note that page numbers in the reconstructed code match those on the Luminary 099
revision 001 printout, although the added code would likely have changed page
numbers for a real Luminary 98 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.
|
063674,000002: ## Copyright: Public domain.
063675,000003: ## Filename: SPS_BACK-UP_RCS_CONTROL.agc
063676,000004: ## Purpose: A section of Luminary revision 98.
063677,000005: ## It is part of the reconstructed source code for the a
063678,000006: ## development version of the flight software for the Lunar
063679,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
063680,000008: ## The code has been recreated from a copy of Luminary 99
063681,000009: ## revision 001, using asterisks indicating changed lines in
063682,000010: ## the listing and Luminary Memo #85, which lists changes between
063683,000011: ## Luminary 98 and 99.
063684,000012: ## Reference: pp. 1507-1510
063685,000013: ## Assembler: yaYUL
063686,000014: ## Contact: Ron Burkey <info@sandroid.org>.
063687,000015: ## Website: www.ibiblio.org/apollo/index.html
063688,000016: ## Mod history: 2019-07-28 MAS Created from Luminary 99.
063689,000017:
|
|
Page 1507
|
063691,000019: # PROGRAM NAME: SPSRCS
063692,000020: # AUTHOR: EDGAR M. OSHIKA (AC ELECTRONICS)
063693,000021: # MODIFIED: TO RETURN TO ALL AXES VIA Q BY P. S. WEISSMAN, OCT 7, 1968
063694,000022: # MODIFIED TO IMPROVE BENDING STABILITY BY G. KALAN, FEB. 14, 1969
063695,000023:
063696,000024: # FUNCTIONAL DESCRIPTION:
063697,000025: # THIS PROGRAM CONTROLS THE FIRING OF ALL RCS JETS IN THE DOCKED CONFIGURATION ACCORDING TO THE FOLLOWING PHASE
063698,000026: # PLANE LOGIC.
063699,000027:
063700,000028: # 1. JET SENSE TEST (SPSRCS)
063701,000029: # IF JETS ARE FIRING NEGATIVELY, SET OLDSENSE NEGATIVE AND CONTINUE
063702,000030: # IF JETS ARE FIRING POSITIVELY, SET OLDSENSE POSITIVE AND CONTINUE
063703,000031: # IF JETS ARE NOT FIRING, SET OLDSENSE TO ZERO AND GO TO OUTER RATE LIMIT TEST
063704,000032:
063705,000033: # 2. RATE DEAD BAND TEST
063706,000034: # IF JETS ARE FIRING NEGATIVELY AND RATE IS GREATER THAN TARGET RATE, LEAVE
063707,000035: # JETS ON AND GO TO INHIBITION LOGIC. OTHERWISE, CONTINUE.
063708,000036: # IF JETS ARE FIRING POSITIVELY AND RATE IS LESS THAN TARGET RATE, LEAVE
063709,000037: # JETS ON AND GO TO INHIBITION LOGIC. OTHERWISE, CONTINUE.
063710,000038:
063711,000039: # 3. OUTER RATE LIMIT TEST (SPSSTART)
063712,000040: # IF MAGNITUDE OF EDOT IS GREATER THAN 1.73 DEG/SEC SET JET FIRING TIME
063713,000041: # TO REDUCE RATE AND GO TO INHIBITION LOGIC. OTHERWISE, CONTINUE.
063714,000042:
063715,000043: # 4. COAST ZONE TEST
063716,000044: # IF STATE (E,EDOT) IS BELOW LINE E + 4 X EDOT > -1.4 DEG AND EDOT IS LESS THAN 1.30 DEG/SEC SET JET TIME POSI-
063717,000045: # TIVE AND CONTINUE. OTHERWISE, SET JET FIRING TIME TO ZERO AND CONTINUE.
063718,000046: # IF STATE IS ABOVE LINE E + 4 X EDOT > +1.4 DEG AND EDOT IS GREATER THAN -1.30 DEG/SEC, SET JET TIME NEGATIVE
063719,000047: # AND CONTINUE. OTHERWISE, SET JET FIRING TIME TO ZERO AND CONTINUE.
063720,000048:
063721,000049: # 5. INHIBITION LOGIC
063722,000050: # IF OLDSENSE IS NON-ZERO:
063723,000051: # A) RETURN IF JET TIME HAS SAME SIGN AS OLDSENSE
063724,000052: # B) SET INHIBITION COUNTER* AND RETURN IF JET TIME IS ZERO
063725,000053: # C) SET INHIBITION COUNTER,* SET JET TIME TO ZERO AND RETURN IF SIGN
063726,000054: # OF JET TIME IS OPPOSITE TO THAT OF OLDSENSE
063727,000055: # IF OLDSENSE IS ZERO:
063728,000056: # A) RETURN IF INHIBITION COUNTER IS NOT POSITIVE
063729,000057: # B) SET JET TIME TO ZERO AND RETURN IF INHIBITION COUNTER IS POSITIVE
063730,000058: # *NOTE: INHIBITION COUNTERS CAN BE SET TO 4 OR 10 FOR THE P, AND UV AXES,
063731,000059: # RESPECTIVELY, IN SPSRCS. THEY ARE DECREMENTED BY ONE AT THE BEGINNING OF
|
|
Page 1508
|
063733,000061: # EACH DAP PASS.
063734,000062:
063735,000063: # THE MINIMUM PULSE WIDTH OF THIS CONTROLLER IS DETERMINED BY THE REPETITION RATE AT WHICH THIS ROUTINE IS CALLED
063736,000064: # AND IS NOMINALLY 100 MS FOR ALL AXES IN DRIFTING FLIGHT. DURING POWERED FLIGHT THE MINIMUM IS 100 MS FOR THE
063737,000065: # P AXIS AND 200 MS FOR THE CONTROL OF THE U AND V AXES.
063738,000066:
063739,000067: # CALLING SEQUENCE:
063740,000068: # INHINT
063741,000069: # TC IBNKCALL
063742,000070: # CADR SPSRCS
063743,000071:
063744,000072: # EXIT:
063745,000073: # TC Q
063746,000074:
063747,000075: # ALARM/ABORT MODE: NONE
063748,000076:
063749,000077: # SUBROUTINES CALLED: NONE
063750,000078:
063751,000079: # INPUT: E, EDOT
063752,000080: # TJP, TJV, TJU TJ MUST NOT BE NEGATIVE ZERO
063753,000081:
063754,000082: # OUTPUT: TJP, TJV, TJU
063755,000083:
063756,000084: 21,3646 BANK 21
063757,000085: 21,2000 SETLOC DAPS4
063758,000086: 21,2000 BANK
063759,000087:
063760,000088: 21,3646 COUNT* $$/DAPBU
063761,000089:
063762,000090: 21,3646 E6,1525 EBANK= TJU
063763,000091: 21,3646 00632 RATELIM2 OCT 00632 # 1.125 DEG/SEC
063764,000092: 21,3647 34736 POSTHRST CA HALF
063765,000093:
063766,000094: 21,3650 51505 NDX AXISCTR
063767,000095: 21,3651 55525 TS TJU
063768,000096: 21,3652 11745 CCS OLDSENSE
063769,000097: 21,3653 13673 TCF POSCHECK # JETS FIRING POSITIVELY
063770,000098: 21,3654 13676 TCF CTRCHECK # JETS OFF. CHECK INHIBITION CTR
063771,000099: 21,3655 51505 NEGCHECK INDEX AXISCTR # JETS FIRING NEGATIVELY
063772,000100: 21,3656 41525 CS TJU
063773,000101: 21,3657 10000 CCS A
063774,000102: 21,3660 00002 TC Q # RETURN
063775,000103: 21,3661 13663 TCF +2
063776,000104: 21,3662 13663 TCF +1 # JETS COMMANDED OFF. SET CTR AND RETURN
063777,000105: 21,3663 51505 SETCTR INDEX AXISCTR # JET FIRING REVERSAL COMMANDED. SET CTR,
063778,000106: 21,3664 33705 CA UTIME # SET JET TIME TO ZERO, AND RETURN
|
|
Page 1509
|
063780,000108: 21,3665 51505 INDEX AXISCTR
063781,000109: 21,3666 55770 TS UJETCTR
063782,000110: 21,3667 34755 ZAPTJ CA ZERO
063783,000111: 21,3670 51505 INDEX AXISCTR
063784,000112: 21,3671 55525 TS TJU
063785,000113: 21,3672 00002 TC Q
063786,000114: 21,3673 51505 POSCHECK INDEX AXISCTR
063787,000115: 21,3674 31525 CA TJU
063788,000116: 21,3675 13657 TCF NEGCHECK +2
063789,000117: 21,3676 51505 CTRCHECK INDEX AXISCTR # CHECK JET INHIBITION COUNTER
063790,000118: 21,3677 11770 CCS UJETCTR
063791,000119: 21,3700 13702 TCF +2
063792,000120: 21,3701 00002 TC Q # CTR IS NOT POSITIVE. RETURN
063793,000121: 21,3702 13667 TCF ZAPTJ # CTR IS POSITIVE. INHIBIT FIRINGS
063794,000122: 21,3703 00002 TC Q # CTR IS NOT POSITIVE. RETURN
063795,000123: 21,3704 00004 OCT 00004
063796,000124: 21,3705 00012 UTIME OCT 00012
063797,000125: 21,3706 00012 OCT 00012
063798,000126: 21,3707 E6,1745 OLDSENSE EQUALS DAPTREG1
063799,000127: 21,3707 44753 NEGFIRE CS ONE # JETS FIRING NEGATIVELY
063800,000128: 21,3710 55745 TS OLDSENSE
063801,000129: 21,3711 31427 CA EDOT
063802,000130: 21,3712 13716 TCF +4
063803,000131: 21,3713 34753 PLUSFIRE CA ONE
063804,000132: 21,3714 55745 TS OLDSENSE
063805,000133: 21,3715 41427 CS EDOT # RATE DEAD BAND TEST
063806,000134: 21,3716 22000 LXCH A
063807,000135: 21,3717 40111 CS DAPBOOLS # IF DRIFTBIT = 1, USE ZERO TARGET RATE
063808,000136: 21,3720 74744 MASK DRIFTBIT # IF DRIFTBIT = 0, USE 0.10 RATE TARGET
063809,000137: 21,3721 10000 CCS A
063810,000138: 21,3722 34767 CA RATEDB1
063811,000139: 21,3723 60001 AD L
063812,000140: 21,3724 00006 EXTEND
063813,000141: 21,3725 63735 BZMF SPSSTART
063814,000142: 21,3726 13652 TCF POSTHRST +3
063815,000143:
063816,000144: 21,3727 51505 SPSRCS INDEX AXISCTR # JET SENSE TEST
063817,000145: 21,3730 11525 CCS TJU
063818,000146: 21,3731 13713 TCF PLUSFIRE # JETS FIRING POSITIVELY
063819,000147: 21,3732 13734 TCF +2
063820,000148: 21,3733 13707 TCF NEGFIRE # JETS FIRING NEGATIVELY
063821,000149: 21,3734 55745 TS OLDSENSE # JETS OFF
063822,000150: 21,3735 31427 SPSSTART CA EDOT # OUTER RATE LIMIT TEST
063823,000151: 21,3736 00006 EXTEND
063824,000152: 21,3737 74766 MP RATELIM1
063825,000153: 21,3740 10000 CCS A
063826,000154: 21,3741 13760 TCF NEGTHRST # OUTER RATE LIMIT EXCEEDED
063827,000155: 21,3742 13744 TCF +2
063828,000156: 21,3743 13647 TCF POSTHRST # OUTER RATE LIMIT EXCEEDED
063829,000157: 21,3744 31427 CA EDOT # COAST ZONE TEST
|
|
Page 1510
|
063831,000159: 21,3745 61752 AD E
063832,000160: 21,3746 00006 EXTEND
063833,000161: 21,3747 71411 MP DKDB # PAD LOADED DEADBAND. FRESHSTART: 1.4 DEG
063834,000162: 21,3750 00006 EXTEND
063835,000163: 21,3751 13766 BZF TJZERO
063836,000164:
063837,000165: 21,3752 00006 EXTEND
063838,000166: 21,3753 63762 BZMF +7
063839,000167: 21,3754 31427 CA EDOT
063840,000168: 21,3755 63646 AD RATELIM2
063841,000169: 21,3756 00006 EXTEND
063842,000170: 21,3757 63766 BZMF TJZERO
063843,000171: 21,3760 44736 NEGTHRST CS HALF
063844,000172: 21,3761 13650 TCF POSTHRST +1
063845,000173: 21,3762 43646 +7 CS RATELIM2
063846,000174: 21,3763 61427 AD EDOT
063847,000175: 21,3764 00006 EXTEND
063848,000176: 21,3765 63647 BZMF POSTHRST
063849,000177: 21,3766 34755 TJZERO CA ZERO
063850,000178: 21,3767 13650 TCF POSTHRST +1
063851,000179:
063852,000180: 21,3770 4766 RATELIM1 = CALLCODE # = 00032, CORRESPONDING TO 1.73 DEG/SEC
063853,000181: 21,3770 4767 RATEDB1 = TBUILDFX # = 00045, CORRESPONDS TO 0.101 DEG/SEC
063854,000182:
End of include-file SPS_BACK-UP_RCS_CONTROL.agc. Parent file is MAIN.agc