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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017439,000002: ## Copyright: Public domain.
017440,000003: ## Filename: RTB_OP_CODES.agc
017441,000004: ## Purpose: Part of the source code for Aurora (revision 12).
017442,000005: ## Assembler: yaYUL
017443,000006: ## Contact: Ron Burkey <info@sandroid.org>.
017444,000007: ## Website: https://www.ibiblio.org/apollo.
017445,000008: ## Pages: 425-430
017446,000009: ## Mod history: 2016-09-20 JL Created.
017447,000010: ## 2016-10-03 JL Transcribed pages 425-430.
017448,000011: ## 2016-10-16 HG Fix operand LASTXMCD -> LASTXCMD
017449,000012: ## RUPTREG12 -> RUPTREG2
017450,000013: ## 2016-12-08 RSB Proofed comments with octopus/ProoferComments
017451,000014: ## and fixed the errors found.
017452,000015:
017453,000016: ## This source code has been transcribed or otherwise adapted from
017454,000017: ## digitized images of a hardcopy from the private collection of
017455,000018: ## Don Eyles. The digitization was performed by archive.org.
017456,000019: ##
017457,000020: ## Notations on the hardcopy document read, in part:
017458,000021: ##
017459,000022: ## 473423A YUL SYSTEM FOR BLK2: REVISION 12 of PROGRAM AURORA BY DAP GROUP
017460,000023: ## NOV 10, 1966
017461,000024: ##
017462,000025: ## [Note that this is the date the hardcopy was made, not the
017463,000026: ## date of the program revision or the assembly.]
017464,000027: ##
017465,000028: ## The scan images (with suitable reduction in storage size and consequent
017466,000029: ## reduction in image quality) are available online at
017467,000030: ## https://www.ibiblio.org/apollo.
017468,000031: ## The original high-quality digital images are available at archive.org:
017469,000032: ## https://archive.org/details/aurora00dapg
017470,000033:
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Page 425 |
017472,000035: 15,3342 SETLOC ENDINFSS
017473,000036:
017474,000037: # LOAD TIME2, TIME1 INTO MPAC:
017475,000038:
017476,000039: 15,3342 00006 LOADTIME EXTEND
017477,000040: 15,3343 30025 DCA TIME2
017478,000041: 15,3344 16470 TCF SLOAD2
017479,000042:
017480,000043: # CONVERT THE SINGLE PRECISION 2'S COMPLEMENT NUMBER ARRIVING IN MPAC (SCALED IN HALF-REVOLUTIONS) TO A
017481,000044: # DP 1'S COMPLEMENT NUMBER SCALED IN REVOLUTIONS.
017482,000045:
017483,000046: 15,3345 10140 CDULOGIC CCS MPAC
017484,000047: 15,3346 37665 CAF ZERO
017485,000048: 15,3347 13352 TCF +3
017486,000049: 15,3350 13351 NOOP
017487,000050: 15,3351 47642 CS HALF
017488,000051:
017489,000052: 15,3352 54141 TS MPAC +1
017490,000053: 15,3353 37665 CAF ZERO
017491,000054: 15,3354 56140 XCH MPAC
017492,000055: 15,3355 00006 EXTEND
017493,000056: 15,3356 77642 MP HALF
017494,000057: 15,3357 20141 DAS MPAC
017495,000058: 15,3360 16472 TCF SLOAD2 +2 # C(A) = +0.
017496,000059:
017497,000060: # READ IMU CDUS INTO MPAC AS A VECTOR. ESPECIALLY USEFUL IN CONNECTION WITH SMNB, ETC.
017498,000061:
017499,000062: 15,3361 00004 READCDUS INHINT
017500,000063: 15,3362 30033 CA CDUY # IN ORDER Y Z X
017501,000064: 15,3363 54140 TS MPAC
017502,000065: 15,3364 30034 CA CDUZ
017503,000066: 15,3365 54143 TS MPAC +3
017504,000067: 15,3366 30032 CA CDUX
017505,000068: 15,3367 13376 TCF READPIPS +6 # COMMON CODING.
017506,000069:
017507,000070: # READ THE PIPS INTO MPAC WITHOUT CHANGING THEM:
017508,000071:
017509,000072: 15,3370 00004 READPIPS INHINT
017510,000073: 15,3371 30037 CA PIPAX
017511,000074: 15,3372 54140 TS MPAC
017512,000075: 15,3373 30040 CA PIPAY
017513,000076: 15,3374 54143 TS MPAC +3
017514,000077: 15,3375 30041 CA PIPAZ
017515,000078: 15,3376 00003 RELINT
017516,000079: 15,3377 54145 TS MPAC +5
017517,000080:
017518,000081: 15,3400 37665 CAF ZERO
017519,000082: 15,3401 54141 TS MPAC +1
017520,000083: 15,3402 54144 TS MPAC +4
017521,000084: 15,3403 54146 TS MPAC +6
017522,000085:
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Page 426 |
017524,000087: 15,3404 47657 VECMODE CS ONE
017525,000088: 15,3405 16013 TCF NEWMODE
017526,000089:
017527,000090: # FORCE TP SIGN AGREEMENT IN MPAC:
017528,000091:
017529,000092: 15,3406 07235 SGNAGREE TC TPAGREE
017530,000093: 15,3407 16014 TCF DANZIG
017531,000094:
017532,000095: # CONVERT THE DP 1'S COMPLEMENT ANGLE SCALED IN REVOLUTIONS TO A SINGLE PRECISION 2'S COMPLEMENT ANGLE
017533,000096: # SCALED IN HALF-REVOLUTIONS.
017534,000097:
017535,000098: 15,3410 03440 1STO2S TC 1TO2SUB
017536,000099: 15,3411 37665 CAF ZERO
017537,000100: 15,3412 54141 TS MPAC +1
017538,000101: 15,3413 16013 TCF NEWMODE
017539,000102:
017540,000103: # DO 1STO2S ON A VECTOR OF ANGLES:
017541,000104:
017542,000105: 15,3414 03440 V1STO2S TC 1TO2SUB # ANSWER ARRIVES IN A AND MPAC.
017543,000106:
017544,000107: 15,3415 52146 DXCH MPAC +5
017545,000108: 15,3416 52141 DXCH MPAC
017546,000109: 15,3417 03440 TC 1TO2SUB
017547,000110: 15,3420 54142 TS MPAC +2
017548,000111:
017549,000112: 15,3421 52144 DXCH MPAC +3
017550,000113: 15,3422 52141 DXCH MPAC
017551,000114: 15,3423 03440 TC 1TO2SUB
017552,000115: 15,3424 54141 TS MPAC +1
017553,000116:
017554,000117: 15,3425 30145 CA MPAC +5
017555,000118: 15,3426 54140 TS MPAC
017556,000119:
017557,000120: 15,3427 37657 CAF ONE # MODE IS TP.
017558,000121: 15,3430 16013 TCF NEWMODE
017559,000122:
017560,000123: # V1STO2S FOR 2 COMPONENT VECTOR, USED BY RR.
017561,000124:
017562,000125: 15,3431 03440 2V1STO2S TC 1TO2SUB
017563,000126: 15,3432 52144 DXCH MPAC +3
017564,000127: 15,3433 52141 DXCH MPAC
017565,000128: 15,3434 03440 TC 1TO2SUB
017566,000129: 15,3435 54001 TS L
017567,000130: 15,3436 30143 CA MPAC +3
017568,000131: 15,3437 16470 TCF SLOAD2
017569,000132:
017570,000133: # SUBROUTINE TO DO DOUBLING AND 1'S TO 2'S COMVERSION:
017571,000134:
017572,000135: 15,3440 52141 1TO2SUB DXCH MPAC # FINAL MPAC +1 UNSPECIFIED.
017573,000136: 15,3441 20001 DDOUBL
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Page 427 |
017575,000138: 15,3442 10000 CCS A
017576,000139: 15,3443 67657 AD ONE
017577,000140: 15,3444 13446 TCF +2
017578,000141: 15,3445 40000 COM # THIS WAS REVERSE OF MSU.
017579,000142:
017580,000143: 15,3446 54140 TS MPAC # AND SKIP ON OVERFLOW.
017581,000144: 15,3447 00002 TC Q
017582,000145:
017583,000146: 15,3450 50000 INDEX A # OVERFLOW UNCORRECT AND IN MSU.
017584,000147: 15,3451 37640 CAF LIMITS
017585,000148: 15,3452 26140 ADS MPAC
017586,000149: 15,3453 00002 TC Q
017587,000150:
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Page 428 |
017589,000152: # SUBROUTINE TO INCREMENT CDUS
017590,000153: 15,3454 33467 INCRCDUS CAF LOCTHETA
017591,000154: 15,3455 54114 TS BUF # PLACE ADRES(THETA) IN BUF.
017592,000155: 15,3456 30140 CAE MPAC # INCREMENT IN 1S COMPL.
017593,000156: 15,3457 03470 TC CDUINC
017594,000157:
017595,000158: 15,3460 24114 INCR BUF
017596,000159: 15,3461 30143 CAE MPAC +3
017597,000160: 15,3462 03470 TC CDUINC
017598,000161:
017599,000162: 15,3463 24114 INCR BUF
017600,000163: 15,3464 30145 CAE MPAC +5
017601,000164: 15,3465 03470 TC CDUINC
017602,000165:
017603,000166: 15,3466 13404 TCF VECMODE
017604,000167:
017605,000168: 15,3467 00400 LOCTHETA ADRES THETAD
017606,000169:
017607,000170: # THE FOLLOWING ROUTINE INCREMENTS IN 2S COMPLEMENT THE REGISTER WHOSE ADDRESS IS IN BUF BY THE 1S COMPL.
017608,000171: # QUANTITY FOUND IN TEM2. THIS MAY BE USED TO INCREMENT DESIRED IMU AND OPTICS CDU ANGLES OR ANY OTHER 2S COMPL.
017609,000172: # (+0 UNEQUAL TO -0) QUANTITY. MAY BE CALLED BY BANKCALL/SWCALL.
017610,000173:
017611,000174: 15,3470 54126 CDUINC TS TEM2 # 1S COMPL.QUANT. ARRIVES IN ACC. STORE IT
017612,000175: 15,3471 50114 INDEX BUF
017613,000176: 15,3472 10000 CCS 0 # CHANGE 2S COMPL. ANGLE(IN BUF)INTO 1S
017614,000177: 15,3473 67657 AD ONE
017615,000178: 15,3474 13500 TCF +4
017616,000179: 15,3475 67657 AD ONE
017617,000180: 15,3476 67657 AD ONE # OVERFLOW HERE IF 2S COMPL. IS 180 DEG.
017618,000181: 15,3477 40000 COM
017619,000182:
017620,000183: 15,3500 60126 AD TEM2 # ADD IN INCREMENT. WILL OVERFLOW IF RE-
017621,000184: # SULT MOVES FROM 2ND TO 3D QUAD.(OR BACK)
017622,000185: 15,3501 10000 CCS A # BACK TO 2S COMPL.
017623,000186: 15,3502 67657 AD ONE
017624,000187: 15,3503 13505 TCF +2
017625,000188: 15,3504 40000 COM
017626,000189: 15,3505 54126 TS TEM2 # STORE 14BIT QUANTITY WITH PRESENT SIGN
017627,000190: 15,3506 13512 TCF +4
017628,000191: 15,3507 50000 INDEX A # OVERFLOW MEANS CORRECT 14BIT VALUE,WRONG
017629,000192: # SIGN.
017630,000193: 15,3510 37640 CAF LIMITS # FIX IT,BY ADDING IN 37777 OR 40000
017631,000194: 15,3511 60126 AD TEM2
017632,000195:
017633,000196: 15,3512 50114 INDEX BUF
017634,000197: 15,3513 54000 TS 0 # STORE NEW ANGLE IN 2S COMPLEMENT.
017635,000198: 15,3514 00002 TC Q
017636,000199:
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Page 429 |
017638,000201: # RTB TO TORQUE GYROS, EXCEPT FOR THE CALL TO IMUSTALL. ECADR OF COMMANDS ARRIVES IN X1.
017639,000202:
017640,000203: 15,3515 50104 PULSEIMU INDEX FIXLOC # ADDRESS OF GYRO COMMANDS SHOULD BE IN X1
017641,000204: 15,3516 30046 CA X1
017642,000205: 15,3517 04063 TC BANKCALL
017643,000206: 15,3520 26317 CADR IMUPULSE
017644,000207: 15,3521 16014 TCF DANZIG
017645,000208:
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Page 430 |
017647,000210: # THE FOLLOWING ROUTINE IS USED ONLY IN BENCH TESTING THE RR.
017648,000211:
017649,000212: 15,3522 04554 RRSIM TC FIXDELAY
017650,000213: 15,3523 00062 DEC 50 B-14
017651,000214:
017652,000215: 15,3524 37656 RRSIM2 CAF BIT2 # SEE IF RR ECTR ENABLED.
017653,000216: 15,3525 00006 EXTEND
017654,000217: 15,3526 02012 RAND 12
017655,000218: 15,3527 00006 EXTEND
017656,000219: 15,3530 13522 BZF RRSIM
017657,000220:
017658,000221: 15,3531 30126 CA TEM2 # SAVE EXEC TEMPS SINCE IN RUPT.
017659,000222: 15,3532 54074 TS RUPTREG1
017660,000223: 15,3533 33573 CAF LOPTY
017661,000224: 15,3534 56114 XCH BUF
017662,000225: 15,3535 54075 TS RUPTREG2
017663,000226: 15,3536 30362 CA LASTYCMD # ECTR.
017664,000227: 15,3537 60000 DOUBLE
017665,000228: 15,3540 00006 EXTEND
017666,000229: 15,3541 73574 MP RRSIMG
017667,000230: 15,3542 03470 TC CDUINC
017668,000231: 15,3543 24114 INCR BUF
017669,000232: 15,3544 30035 CA OPTY # SHAFT CMD IS DIVIDED BY THE ABS VALUE OF
017670,000233: 15,3545 00006 EXTEND # THE COS OF THE TRUNNION ANGLE.
017671,000234: 15,3546 20007 MSU 7 # TO 1S COMPLEMENT.
017672,000235: 15,3547 04232 TC SPCOS # *
017673,000236: 15,3550 00006 EXTEND # SPCOS NOW GIVES COS SCALED AT 1 *
017674,000237: 15,3551 77642 MP BIT14 # (A DAP GROUP FIX) *
017675,000238: 15,3552 10000 CCS A
017676,000239: 15,3553 13556 TCF +3
017677,000240: 15,3554 13556 TCF +2
017678,000241: 15,3555 13556 TCF +1
017679,000242: 15,3556 67657 AD ONE
017680,000243: 15,3557 54065 TS ITEMP1
017681,000244:
017682,000245: 15,3560 30363 CA LASTXCMD # SHAFT RATE DEPENDS ON TRUNNION.
017683,000246: 15,3561 00006 EXTEND
017684,000247: 15,3562 73574 MP RRSIMG
017685,000248: 15,3563 00006 EXTEND
017686,000249: 15,3564 10065 DV ITEMP1
017687,000250: 15,3565 03470 TC CDUINC
017688,000251: 15,3566 30074 CA RUPTREG1
017689,000252: 15,3567 54126 TS TEM2
017690,000253: 15,3570 30075 CA RUPTREG2
017691,000254: 15,3571 54114 TS BUF
017692,000255: 15,3572 13522 TCF RRSIM
017693,000256:
017694,000257: 15,3573 00035 LOPTY ADRES OPTY
017695,000258: 15,3574 22755 RRSIMG DEC .59259
017696,000259: 15,3575 ENDRTBSS EQUALS
End of include-file RTB_OP_CODES.agc. Parent file is MAIN.agc