473423A YUL SYSTEM FOR BLK2: REVISION 12 of PROGRAM AURORA BY DAP GROUP NOV 10, 1966
Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source code files have been transcribed or otherwise adapted from
digitized images of a hardcopy from the private collection of
Don Eyles. The digitization was performed by archive.org, and
transcription was performed by a team of volunteers.
Note that the page images
presented online are of reduced quality, and that the original
high-quality images are available at archive.org.
Report any conversion errors or legibility problems in page images to info@sandroid.org.
Notations on the program listing read, in part:
473423A YUL SYSTEM FOR BLK2: REVISION 12 of PROGRAM AURORA BY DAP GROUP NOV 10, 1966
Note that the date is the date of the printout, not the date of the program revision.
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027092,000002: ## Copyright: Public domain.
027093,000003: ## Filename: AOSTASK.agc
027094,000004: ## Purpose: Part of the source code for Aurora (revision 12).
027095,000005: ## Assembler: yaYUL
027096,000006: ## Contact: Ron Burkey <info@sandroid.org>.
027097,000007: ## Website: https://www.ibiblio.org/apollo.
027098,000008: ## Pages: 0630-0634
027099,000009: ## Mod history: 2016-09-20 JL Created.
027100,000010: ## 2016-09-22 OH Initial Transcription
027101,000011: ## 2016-10-05 HG Add missing TS ITEMP1
027102,000012: ## Add missing page 634.
027103,000013: ## use new formatting
027104,000014: ## 2016-12-08 RSB Proofed comments with octopus/ProoferComments
027105,000015: ## and fixed the errors found.
027106,000016:
027107,000017: ## This source code has been transcribed or otherwise adapted from
027108,000018: ## digitized images of a hardcopy from the private collection of
027109,000019: ## Don Eyles. The digitization was performed by archive.org.
027110,000020:
027111,000021: ## Notations on the hardcopy document read, in part:
027112,000022:
027113,000023: ## 473423A YUL SYSTEM FOR BLK2: REVISION 12 of PROGRAM AURORA BY DAP GROUP
027114,000024: ## NOV 10, 1966
027115,000025:
027116,000026: ## [Note that this is the date the hardcopy was made, not the
027117,000027: ## date of the program revision or the assembly.]
027118,000028:
027119,000029: ## The scan images (with suitable reduction in storage size and consequent
027120,000030: ## reduction in image quality) are available online at
027121,000031: ## https://www.ibiblio.org/apollo.
027122,000032: ## The original high-quality digital images are available at archive.org:
027123,000033: ## https://archive.org/details/aurora00dapg
027124,000034:
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Page 0630 |
027126,000036: 25,3064 BANK 25
027127,000037: 25,3064 E6,1634 EBANK= AOSQ
027128,000038:
027129,000039: 25,3064 37650 AOSTASK CAF BIT8 # TEST POWERED ASCENT FLAG (BIT8/DAPBOOLS)
027130,000040: 25,3065 70765 MASK DAPBOOLS # 0- NOT POWERED ASCENT
027131,000041: 25,3066 00006 EXTEND # 1- POWERED ASCENT
027132,000042: 25,3067 13325 BZF COASTASC # END CYCLE OF TASKS DURING ASCENT COAST
027133,000043:
027134,000044: 25,3070 31671 CAE KCOEFCTR # TEST KCOEFCTR FOR INITIAL PASS
027135,000045: 25,3071 00006 EXTEND
027136,000046: 25,3072 13275 BZF ZEROCOEF # DISCONTINUITY SECTION FOR COEFFA
027137,000047:
027138,000048: 25,3073 63367 AD DEC-399 # TEST KCOEFCTR FOR CONSTANT RANGE
027139,000049: 25,3074 00006 EXTEND # ON BOTH K AND COEFFA
027140,000050: 25,3075 63077 BZMF +2
027141,000051: 25,3076 13301 TCF KONENOW
027142,000052:
027143,000053: 25,3077 33410 CAF 0.00125 # COEFFA = 0.00125(T) + 0.25
027144,000054: 25,3100 00006 EXTEND
027145,000055: 25,3101 71671 MP KCOEFCTR
027146,000056: 25,3102 37643 CAF BIT13
027147,000057: 25,3103 60001 AD L
027148,000058: 25,3104 54066 COEFFA TS ITEMP2
027149,000059:
027150,000060: 25,3105 33411 CAF 0.0014 # K = 0.0014(T) + 0.44
027151,000061: 25,3106 00006 EXTEND
027152,000062: 25,3107 71671 MP KCOEFCTR
027153,000063: 25,3110 33412 CAF 0.44
027154,000064: 25,3111 60001 AD L
027155,000065: 25,3112 54065 TS ITEMP1
027156,000066: 25,3113 40000 COM # (1-K),QR SCALED AT 1
027157,000067: 25,3114 67637 AD POSMAX # (1 BIT ERROR DOES NOT COMPOUND)
027158,000068: 25,3115 55657 TS (1-K)QR
027159,000069:
027160,000070: 25,3116 00006 EXTEND # (1-K)/8 IS (1-K) SCALED AT 8
027161,000071: 25,3117 77644 MP BIT12
027162,000072: 25,3120 55660 TS (1-K)/8
027163,000073:
027164,000074: 25,3121 30065 CAE ITEMP1 # WFORQR = K/DT SCALED AT 16
027165,000075: 25,3122 00006 EXTEND
027166,000076: 25,3123 73403 MP 10AT16WL # DT = .1 SECS
027167,000077: 25,3124 55656 TS WFORQR
027168,000078:
027169,000079: 25,3125 40065 CS ITEMP1 # FORM (.1-.05K) FROM K SCALED AT 1
027170,000080: 25,3126 00006 EXTEND # WHICH IS USED AS IS BUT SINCE THESUM
027171,000081: 25,3127 73375 MP .05AT.5 # IS TO BE SCALED AT 1/2, THE TWO
027172,000082: 25,3130 63376 AD .1AT.5 # CONSTANTS REFLECT THAT SCALE FACTOR
027173,000083: 25,3131 54065 TS ITEMP1
027174,000084:
027175,000085: 25,3132 30066 COEFFA1 CAE ITEMP2 # FORM COEFFA(AOSQ)
027176,000086: 25,3133 00006 EXTEND
027177,000087:
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Page 0631 |
027179,000089:
027180,000090: 25,3134 71634 MP AOSQ
027181,000091: 25,3135 55634 TS AOSQ # FIRST TERM OF NEW AOSQ, SCALED AT PI/2
027182,000092:
027183,000093: 25,3136 30066 CAE ITEMP2 # FORM COEFFA(AOSR)
027184,000094: 25,3137 00006 EXTEND
027185,000095: 25,3140 71635 MP AOSR
027186,000096: 25,3141 55635 TS AOSR # FIRST TERM OF NEW AOSR, SCALED AT PI/2
027187,000097:
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Next 5 lines were marked with a pencil as if they are highlighted |
027189,000099: 25,3142 40066 CS ITEMP2 # FORM .5(1-COEFFA) SCALED AT 2
027190,000100: 25,3143 00006 EXTEND # FROM COEFFA SCALED AT 1 WHICH IS THE
027191,000101: 25,3144 77643 MP BIT13 # SAME AS 2(COEFFA) SCALED AT 2
027192,000102: 25,3145 67643 AD BIT13 # SO MULTIPLY BY 1/4 TO GET .5(COEFFA)
027193,000103: 25,3146 54066 TS ITEMP2 # AND 1/4 IS 1/2 WHEN SCALED AT 2
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End marked lines |
027195,000105:
027196,000106: 25,3147 41417 CS OMEGAQ # SAVE PRESENT OMEGAQ FOR NEXT PASS
027197,000107: 25,3150 57644 XCH OLDWFORQ # GET -(LAST OMEGAQ)
027198,000108: 25,3151 00006 EXTEND
027199,000109: 25,3152 61640 SU SUMRATEQ # FORM- W - W(OLD) - SUMRATE = SUM
027200,000110: 25,3153 61417 AD OMEGAQ # SCALED AT PI/4 RADIANS/SECOND
027201,000111: 25,3154 00006 EXTEND
027202,000112: 25,3155 70066 MP ITEMP2 # AOSQ = COEFFA(AOSQ)+.5(1-COEFFA)(SUM)
027203,000113: 25,3156 27634 ADS AOSQ # SCALED AT PI/2 RADIANS/SECOND(2)
027204,000114:
027205,000115: 25,3157 41421 CS OMEGAR # SAVE PRESENT OMEGAQ FOR NEXT PASS
027206,000116: 25,3160 57645 XCH OLDWFORR # GET -(LAST OMEGAR)
027207,000117: 25,3161 00006 EXTEND
027208,000118: 25,3162 61641 SU SUMRATER # FORM- W - W(OLD) - SUMRATE = SUM
027209,000119: 25,3163 61421 AD OMEGAR # SCALED AT PI/4 RADIANS/SECOND
027210,000120: 25,3164 00006 EXTEND
027211,000121: 25,3165 70066 MP ITEMP2 # AOSR = COEFFA(AOSR)+.5(1-COEFFA)(SUM)
027212,000122: 25,3166 27635 ADS AOSR # SCALED AT PI/2 RADIANS/SECOND(2)
027213,000123:
027214,000124: 25,3167 30065 CAE ITEMP1
027215,000125: 25,3170 00006 EXTEND # FORM TERM FOR RATE DERIVATION
027216,000126: 25,3171 71634 MP AOSQ # (.1-.05K)AOSQ
027217,000127: 25,3172 55642 TS AOSQTERM # SCALED AT PI/4 RADIANS/SECOND
027218,000128:
027219,000129: 25,3173 30065 CAE ITEMP1
027220,000130: 25,3174 00006 EXTEND # FORM TERM FOR RATE DERIVATION
027221,000131: 25,3175 71635 MP AOSR # (.1-.05K)AOSR
027222,000132: 25,3176 55643 TS AOSRTERM # SCALED AT PI/4 RADIANS/SECOND
027223,000133:
027224,000134: 25,3177 31634 CAE AOSQ # FORM AOS FOR U-AXIS
027225,000135: 25,3200 61635 AD AOSR
027226,000136: 25,3201 00006 EXTEND
027227,000137: 25,3202 73377 MP .707WL
027228,000138: 25,3203 55636 TS AOSU # SCALED AT PI/2 RADIANS/SECOND(2)
027229,000139:
027230,000140: 25,3204 41634 CS AOSQ # FORM AOS FOR V-AXIS
027231,000141: 25,3205 61635 AD AOSR
027232,000142:
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Page 0632 |
027234,000144: 25,3206 00006 EXTEND
027235,000145: 25,3207 73377 MP .707WL
027236,000146: 25,3210 55637 TS AOSV # SCALED AT PI/2 RADIANS/SECOND(2)
027237,000147:
027238,000148: 25,3211 36165 CAF THREE # SET UP LOOP FOR Q,R,U,V-AXES
027239,000149: 25,3212 54065 TS AXISCNTR
027240,000150:
027241,000151: 25,3213 50065 ALLAXES INDEX AXISCNTR
027242,000152: 25,3214 11634 CCS AOSQ # FORM ABSOLUTE VALUE OF AOS
027243,000153: 25,3215 67657 AD ONE
027244,000154: 25,3216 13220 TCF +2
027245,000155: 25,3217 67657 AD ONE
027246,000156: 25,3220 50065 INDEX AXISCNTR # SAVE IN ITEMP REGISTER (3-6)
027247,000157: 25,3221 54070 TS ABVLAOSQ # SCALED AT PI/2 RADIANS/SECOND(2)
027248,000158: 25,3222 63400 AD -.02R/S2 # -.02 RADIANS/SECOND(2) SCALED AT PI/2
027249,000159: 25,3223 00006 EXTEND
027250,000160: 25,3224 63263 BZMF CONSTMIN # USE 1/(.02) SEC(2)/RAD AS 1/AMIN
027251,000161: 25,3225 63413 AD +.02R/S2
027252,000162: 25,3226 54066 TS ITEMP2
027253,000163: 25,3227 37651 CAF BIT7
027254,000164: 25,3230 22007 ZL # SCALE FACTOR FOR .5ACCMIN.
027255,000165: 25,3231 00006 EXTEND
027256,000166: 25,3232 10066 DV ITEMP2
027257,000167: 25,3233 50065 ACCMINVL INDEX AXISCNTR
027258,000168: 25,3234 55651 TS .5ACCMNQ # SCALED AT 2(+8)/PI
027259,000169:
027260,000170: 25,3235 33400 CAF -.02R/S2 # CALCULATE ONE OF THE FOLLOWING (4) SUMS:
027261,000171: 25,3236 00006 EXTEND # 2JETAC(Q,R)-ABAOS(Q,R)-.02RAD/SEC(2) OR
027262,000172: 25,3237 50065 INDEX AXISCNTR # 1JETAC(U,V)-ABAOS(1,V)-.02RAD/SEC(2)
027263,000173: 25,3240 60070 SU ABVLAOSQ # EACH SUM HAS EACH TERM SCALED AT PI/2
027264,000174: 25,3241 50065 INDEX AXISCNTR # THE "OUTER LOOP" IS DEFINED TO CALCULATE
027265,000175: 25,3242 61630 AD 1JACCQ # THE VALUES 1JACCQ, 1JACCR SCALED AT PI/4
027266,000176: 25,3243 00006 EXTEND # AND 1JACCU, 1JACCV SCALED AT PI/2 WHERE
027267,000177: 25,3244 63265 BZMF DEMANDAC # 1JACCU = 2(.707)(1JACCQ+1JACCR) AND
027268,000178: 25,3245 37665 CAF ZERO # 1JACCV = 2(.707)(1JACCQ+1JACCR)
027269,000179: 25,3246 50065 INDEX AXISCNTR # WHERE THE CALCULATIONS USE THE FACT THAT
027270,000180: 25,3247 55665 TS QMANDACC # 1JACC(Q,R) AT PI/4 = 2JACC(Q,R) AT PI/2
027271,000181: 25,3250 50065 INDEX AXISCNTR # MANDACC(Q,R)=1 MEANS USE 4 JETS, 0 FOR 2
027272,000182: 25,3251 31445 CAE 1/2JTSQ # MANDACC(U,V)=1 MEANS USE 2 JETS, 0 FOR 1
027273,000183: 25,3252 00006 EXTEND
027274,000184: 25,3253 77642 MP BIT14
027275,000185: 25,3254 50065 AXISLOOP INDEX AXISCNTR # SET UP 1/NJTSX TO 1/2JTSX FOR URGENCY
027276,000186: 25,3255 55661 TS 1/NJTSQ # (DOES NOT COUNT FOR U,V-AXES)
027277,000187:
027278,000188: 25,3256 10065 CCS AXISCNTR # DECREMENT LOOP COUNTER AND TEST FOR END
027279,000189: 25,3257 13261 TCF +2
027280,000190: 25,3260 13313 TCF NEXTCALL # FINISHED LOOP
027281,000191:
027282,000192: 25,3261 54065 TS AXISCNTR
027283,000193: 25,3262 13213 TCF ALLAXES # CONTINUE LOOP
027284,000194:
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Page 0633 |
027286,000196: 25,3263 33402 CONSTMIN CAF AMINCNST # 1/AMIN = 1/(.02) SEC(2)/RAD AT 2(8)/PI
027287,000197: 25,3264 13233 TCF ACCMINVL
027288,000198:
027289,000199: 25,3265 37637 DEMANDAC CAF POSMAX # SET MANDATORY HIGH ACCELERATION FLAG TO
027290,000200: 25,3266 50065 INDEX AXISCNTR # OVER-RIDE 2 JET DECISION FOR Q,R-AXES OR
027291,000201: 25,3267 55665 TS QMANDACC # 2 JET OPTIONAL DECISION FOR U,V-AXES
027292,000202: 25,3270 50065 INDEX AXISCNTR # FORM 1/4JTSX VALUE FOR USE IN URGENCY
027293,000203: 25,3271 31445 CAE 1/2JTSQ # FROM 1/2JTSX
027294,000204: 25,3272 00006 EXTEND # (DOES NOT COUNT FOR U,V-AXES)
027295,000205: 25,3273 77643 MP BIT13
027296,000206: 25,3274 13254 TCF AXISLOOP
027297,000207:
027298,000208: 25,3275 37656 ZEROCOEF CAF TWO # INITIALIZE TIME SETTING
027299,000209: 25,3276 55671 TS KCOEFCTR
027300,000210: 25,3277 37665 CAF ZERO
027301,000211: 25,3300 13104 TCF COEFFA
027302,000212:
027303,000213: 25,3301 37665 KONENOW CAF ZERO # K=1, SO 1-K AT EITHER SCALING IS ZERO
027304,000214: 25,3302 22007 ZL # EXTEND, DCA DPZERO IS FASTER BUT WASTES
027305,000215: 25,3303 53660 DXCH (1-K)QR # STORAGE IN SWITCHED FIXED UNLESS IN FF
027306,000216: 25,3304 33403 CAF 10AT16WL # WFORQR = K/DT = 10K = 10
027307,000217: 25,3305 55656 TS WFORQR # SCALED AT 16
027308,000218: 25,3306 33375 CAF .05AT.5 # SAVE (.1-.05K) SCALED AT 1/2
027309,000219: 25,3307 54065 TS ITEMP1 # FOR AOSTERMS
027310,000220: 25,3310 33404 CAF .75 # SET COEFFA = .75
027311,000221: 25,3311 54066 TS ITEMP2
027312,000222: 25,3312 13132 TCF COEFFA1
027313,000223: 25,3313 33405 NEXTCALL CAF 2SECSAOS # SET UP WAITLIST CALL FOR TWO SECS
027314,000224: 25,3314 04536 TC WAITLIST
027315,000225: 25,3315 03064 52006 2CADR AOSTASK
027316,000226:
027317,000227: 25,3317 37656 CAF TWO # INCREMENT TIME COUNTER
027318,000228: 25,3320 27671 ADS KCOEFCTR
027319,000229: 25,3321 37665 CAF ZERO # ZERO SUMMED RATES
027320,000230: 25,3322 55640 TS SUMRATEQ
027321,000231: 25,3323 55641 TS SUMRATER
027322,000232: 25,3324 14602 TCF TASKOVER
027323,000233:
027324,000234: 25,3325 33406 COASTASC CAF 0.3125WL
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Next line has red markup pointing to: WFORQR <--- WFORP |
027326,000236: 25,3326 55656 TS WFORQR
027327,000237: 25,3327 00006 EXTEND
027328,000238: 25,3330 33415 DCA (1-K)S
027329,000239: 25,3331 53660 DXCH (1-K)QR
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Next 4 lines circled in red also some faint markup pointing to ?? as if something is wrong or not clear what the code is doing |
027332,000242: 25,3332 37655 CAF BIT3
027333,000243: 25,3333 70765 MASK DAPBOOLS
027334,000244: 25,3334 67655 AD BIT3
027335,000245: 25,3335 54765 TS DAPBOOLS
027336,000246: 25,3336 33402 CAF 0.30680
027337,000247: 25,3337 55650 TS .5ACCMNE
027338,000248: 25,3340 55651 TS .5ACCMNQ
027339,000249:
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Page 634 |
027341,000251: 25,3341 55652 TS .5ACCMNR
027342,000252: 25,3342 55653 TS .5ACCMNU
027343,000253: 25,3343 55654 TS .5ACCMNV
027344,000254: 25,3344 00006 EXTEND
027345,000255: 25,3345 31446 DCA 1/2JTSQ
027346,000256: 25,3346 53662 DXCH 1/NJTSQ
027347,000257: 25,3347 00006 EXTEND
027348,000258: 25,3350 31450 DCA 1/2JETSU
027349,000259: 25,3351 53664 DXCH 1/NJTSU
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Note: the next three instructions are bracketed with a black pencil mark to the left of the instruction parameter |
027351,000261: 25,3352 33407 CAF 0.00167A
027352,000262: 25,3353 55647 TS MINIMPDB
027353,000263: 25,3354 55646 TS DBMINIMP
027354,000264: 25,3355 37665 CAF ZERO
027355,000265: 25,3356 55634 TS AOSQ
027356,000266: 25,3357 55635 TS AOSR
027357,000267: 25,3360 55642 TS AOSQTERM
027358,000268: 25,3361 55643 TS AOSRTERM
027359,000269: 25,3362 55665 TS QMANDACC
027360,000270: 25,3363 55666 TS RMANDACC
027361,000271: 25,3364 55667 TS UMANDACC
027362,000272: 25,3365 55670 TS VMANDACC
027363,000273: 25,3366 14602 TCF TASKOVER
027364,000274:
027365,000275: 25,3367 0065 AXISCNTR EQUALS ITEMP1
027366,000276: 25,3367 77160 DEC-399 DEC -399 B-14 # BOUND FOR CONSTANT RANGE: T.GE.400 SECS.
027367,000277: 25,3370 00024 0.0012 DEC 0.0012
027368,000278: 25,3371 20510 0.52 DEC 0.52
027369,000279: 25,3372 77537 DEC-160 DEC -160 B-14
027370,000280: 25,3373 00047 0.0024 DEC 0.0024
027371,000281: 25,3374 13555 0.366 DEC 0.366
027372,000282: 25,3375 03146 .05AT.5 DEC 0.1
027373,000283: 25,3376 06315 .1AT.5 DEC 0.2
027374,000284: 25,3377 26501 .707WL DEC 0.70711 ## Note: the following appears handrwiten
027375,000285: 25,3400 77456 -.02R/S2 DEC -.01273 ## in red ink in the comments column
027376,000286: 25,3401 00641 .04R/S2 DEC 0.02546 ## WCHANGER CAF 0.3/25WL
027377,000287: 25,3402 11643 0.30680 DEC 0.30680 ## TS WFORP
027378,000288: 25,3403 24000 10AT16WL DEC 0.625 ## TS WFORQR
027379,000289: 25,3404 30000 .75 DEC 0.75 ## EXTEND
027380,000290: 25,3405 25,3402 AMINCNST EQUALS 0.30680 ## DCA (1-K)S
027381,000291: 25,3405 00310 2SECSAOS DEC 200 B-14 ## DXCH (1-K)QR
027382,000292: 25,3406 12000 0.3125WL DEC 0.3125
027383,000293: 25,3407 00033 0.00167A DEC 0.00167
027384,000294: 25,3410 00024 0.00125 DEC 0.00125
027385,000295: 25,3411 00027 0.0014 DEC 0.0014
027386,000296: 25,3412 16051 0.44 DEC 0.44
027387,000297: 25,3413 00321 +.02R/S2 DEC 0.01273
027388,000298: 25,3414 20000 (1-K)S DEC 0.5
027389,000299: 25,3415 02000 DEC 0.0625
027390,000300:
027391,000301:
027392,000302:
027393,000303:
End of include-file AOSTASK.agc. Parent file is MAIN.agc