GAP: ASSEMBLE REVISION 069 OF AGC PROGRAM LUMINARY BY NASA 2021112-011 19:02 NOV. 25,1968Note 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 were transcribed from scans made from Don Eyles's personal
copy of Luminary 069. They were scanned at archive.org's Boston
facility, and the scanning was sponsored by Onno Hommes. The code was transcribed
from these scans by a team of volunteers who are referenced in the program
comments. Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". In some cases, where
similar code blocks exist in previously-transcribed AGC programs (primarily
Luminary 99, from Apollo 11) those code blocks were used as a starting point and
then corrected to agree with the Luminary 69 scans. The full scans are available
at the Virtual AGC
project's collection at archive.org, while more-convenient reduced-size (but reduced-quality)
images are available at
the main Virtual AGC website. Report any errors noted by creating an
issue report at the Virtual AGC
project's GitHub repository. Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 069 OF AGC PROGRAM LUMINARY BY NASA 2021112-011 19:02 NOV. 25,1968Note that the date is the date of the printout, not the date of the program revision. |
065540,000002: ## Copyright: Public domain.
065541,000003: ## Filename: SPS_BACK-UP_RCS_CONTROL.agc
065542,000004: ## Purpose: The main source file for Luminary revision 069.
065543,000005: ## It is part of the source code for the original release
065544,000006: ## of the flight software for the Lunar Module's (LM) Apollo
065545,000007: ## Guidance Computer (AGC) for Apollo 10. The actual flown
065546,000008: ## version was Luminary 69 revision 2, which included a
065547,000009: ## newer lunar gravity model and only affected module 2.
065548,000010: ## This file is intended to be a faithful transcription, except
065549,000011: ## that the code format has been changed to conform to the
065550,000012: ## requirements of the yaYUL assembler rather than the
065551,000013: ## original YUL assembler.
065552,000014: ## Reference: pp. 1500-1502
065553,000015: ## Assembler: yaYUL
065554,000016: ## Contact: Ron Burkey <info@sandroid.org>.
065555,000017: ## Website: www.ibiblio.org/apollo/index.html
065556,000018: ## Mod history: 2016-12-13 MAS Created from Luminary 99.
065557,000019: ## 2016-12-18 MAS Updated from comment-proofed Luminary 99 version.
065558,000020: ## 2017-01-22 HG Transcribed
065559,000021: ## 2017-01-28 RSB Proofed comment text using octopus/prooferComments
065560,000022: ## and fixed errors found.
065561,000023:
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Page 1500 |
065563,000025: # PROGRAM NAME: SPSRCS
065564,000026:
065565,000027: # AUTHOR: EDGAR M. OSHIKA (AC ELECTRONICS)
065566,000028:
065567,000029: # MODIFIED: TO RETURN TO ALL AXES VIA Q BY P. S. WEISSMAN, OCT 7, 1968
065568,000030:
065569,000031: # FUNCTIONAL DESCRIPTION:
065570,000032:
065571,000033: # THIS PROGRAM CONTROLS THE FIRING OF ALL RCS JETS IN THE DOCKED CONFIGURATION ACCORDING TO THE FOLLOWING PHASE
065572,000034: # PLANE LOGIC.
065573,000035:
065574,000036: # 1. OUTER RATE LIMIT (SPSRCS)
065575,000037:
065576,000038: # IF MAGNITUDE OF EDOT IS GREATER THAN 1.73 DEG/SEC SET JET FIRING TIME, TJ, TO REDUCE RATE AND THEN RETURN TO
065577,000039: # CALLING PROGRAM (REQUESTING 4 JETS FOR P-AXIS).
065578,000040: # OTHERWISE, CONTINUE.
065579,000041:
065580,000042: # 2. RATE DEAD BAND TEST ( JTONTEST)
065581,000043:
065582,000044: # IF JETS ARE FIRING NEGATIVE AND RATE IS GREATER THAN -0.101 DEG/SEC, LEAVE JETS ON AND RETURN,
065583,000045: # IF JETS ARE FIRING POSITIVE AND RATE IS LESS THAN +0.101 DEG/SEC, LEAVE JETS ON AND RETURN, OTHERWISE CONTINUE.
065584,000046:
065585,000047: # 3. COASTING TEST (SPSSTART)
065586,000048:
065587,000049: # 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-
065588,000050: # TIVE AND RETURN,
065589,000051: # 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
065590,000052: # AND RETURN,
065591,000053: # OTHERWISE, SET JET TIME ZERO AND RETURN.
065592,000054:
065593,000055: # THE MINIMUM PULSE WIDTH OF THIS CONTROLLER IS DETERMINED BY THE REPETITION RATE AT WHICH THIS ROUTINE IS CALLED
065594,000056: # AND IS NOMINALLY 100 MS FOR ALL AXES IN DRIFTING FLIGHT. DURING POWERED FLIGHT THE MINIMUM IS 100 MS FOR THE
065595,000057: # P AXIS AND 200 MS FOR THE CONTROL OF THE U AND V AXES.
065596,000058:
065597,000059: # CALLING SEQUENCE:
065598,000060:
065599,000061: # TC SPSRCS FROM Q,R AXES RCS AUTOPILOT
065600,000062: # INHINT FROM P-AXIS RCS AUTOPILOT
065601,000063: # TC IBNKCALL
065602,000064: # CADR SPSRCS
065603,000065:
065604,000066:
065605,000067: # EXIT:
065606,000068:
065607,000069: # TC Q
065608,000070: # ALARM/ABORT MODE: NONE
065609,000071:
065610,000072: # SUBROUTINES CALLED: NONE
065611,000073:
065612,000074: # INPUT: E, EDOT
065613,000075:
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065615,000077: # TJP, TJV, TJU TJ MUST NOT BE NEGATIVE ZERO
065616,000078:
065617,000079: # OUTPUT: TJP, TJV, TJU
065618,000080: # NUMBERT = 6, WHEN RATE LIMITING P AXIS.
065619,000081:
065620,000082:
065621,000083: 17,3700 BANK 17
065622,000084: 17,2000 SETLOC DAPS2
065623,000085: 17,2000 BANK
065624,000086:
065625,000087: 17,3700 COUNT* $$/DAPBU
065626,000088:
065627,000089: 17,3700 E6,1525 EBANK= TJU
065628,000090: 17,3700 31425 SPSRCS CA EDOT
065629,000091: 17,3701 00006 EXTEND
065630,000092: 17,3702 74766 MP RATELIM1 # OUTER RATE LIMIT = 1.73 DEG/SEC
065631,000093: 17,3703 00006 EXTEND
065632,000094: 17,3704 13717 BZF JTONTEST
065633,000095:
065634,000096: 17,3705 54001 TS L
065635,000097: 17,3706 36241 CA SIX
065636,000098: 17,3707 55741 TS NUMBERT
065637,000099: 17,3710 10001 CCS L
065638,000100: 17,3711 13753 TCF NEGTHRST
065639,000101: 17,3712 05677 TC CCSHOLE # **TEMP ** FILL WITH A CONSTANT
065640,000102: 17,3713 17,3664 RATELIM2 = .1AT4 # = OCT 00632, 1.125 DEG/SEC
065641,000103: 17,3713 34736 POSTHRST CA HALF
065642,000104:
065643,000105: 17,3714 51476 NDX AXISCTR
065644,000106: 17,3715 55525 TS TJU
065645,000107: 17,3716 00002 TC Q
065646,000108:
065647,000109: 17,3717 51476 JTONTEST NDX AXISCTR
065648,000110: 17,3720 11525 CCS TJU
065649,000111: 17,3721 13725 TCF +4
065650,000112: 17,3722 13737 TCF SPSSTART
065651,000113: 17,3723 31425 CA EDOT
065652,000114: 17,3724 13726 TCF +2
065653,000115:
065654,000116: 17,3725 41425 +4 CS EDOT
065655,000117: 17,3726 22000 LXCH A
065656,000118: 17,3727 40111 CS DAPBOOLS # IF DRIFTBIT = 1, USE ZERO TARGET RATE
065657,000119: 17,3730 74744 MASK DRIFTBIT # IF DRIFTBIT = 0, USE 0.10 RATE TARGET
065658,000120: 17,3731 10000 CCS A
065659,000121: 17,3732 34767 CA RATEDB1
065660,000122: 17,3733 60001 AD L
065661,000123: 17,3734 00006 EXTEND
065662,000124: 17,3735 63737 BZMF +2
065663,000125: 17,3736 13716 TCF POSTHRST +3
065664,000126:
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065666,000128: 17,3737 31425 SPSSTART CA EDOT
065667,000129: 17,3740 61750 AD E
065668,000130: 17,3741 00006 EXTEND
065669,000131: 17,3742 71411 MP DKDB # PAD LOADED DEADBAND. FRESHSTART: 1.4 DEG
065670,000132: 17,3743 00006 EXTEND
065671,000133: 17,3744 13761 BZF TJZERO
065672,000134:
065673,000135: 17,3745 00006 EXTEND
065674,000136: 17,3746 63755 BZMF +7
065675,000137: 17,3747 31425 CA EDOT
065676,000138: 17,3750 63664 AD RATELIM2
065677,000139: 17,3751 00006 EXTEND
065678,000140: 17,3752 63761 BZMF TJZERO
065679,000141: 17,3753 44736 NEGTHRST CS HALF
065680,000142: 17,3754 13714 TCF POSTHRST +1
065681,000143: 17,3755 43664 +7 CS RATELIM2
065682,000144: 17,3756 61425 AD EDOT
065683,000145: 17,3757 00006 EXTEND
065684,000146: 17,3760 63713 BZMF POSTHRST
065685,000147: 17,3761 34755 TJZERO CA ZERO
065686,000148: 17,3762 13714 TCF POSTHRST +1
065687,000149:
065688,000150:
065689,000151: 17,3763 4766 RATELIM1 = CALLCODE # = 00032, CORRESPONDING TO 1.73 DEG/SEC
065690,000152: 17,3763 4767 RATEDB1 = TBUILDFX # = 00045, CORRESPONDS TO 0.101 DEG/SEC
End of include-file SPS_BACK-UP_RCS_CONTROL.agc. Parent file is MAIN.agc