GAP: ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061 16:27 JULY 14,1969Note 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 from the printout at the MIT Museum, with many thanks
to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing
it to us. The printout was digitally photographed by Paul Fjeld. A team of
volunteers transcribed the source code manually from these images or, where
appropriate, modified already-transcribed but similar source Luminary 131 (Apollo 13)
source code to agree with the images from the printout. Note that the page images
presented online are of reduced quality, and that higher-quality images
are available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061 16:27 JULY 14,1969Note that the date is the date of the printout, not the date of the program revision. |
034442,000002: ## Copyright: Public domain.
034443,000003: ## Filename: THROTTLE_CONTROL_ROUTINES.agc
034444,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
034445,000005: ## It is part of the source code for the Lunar Module's (LM)
034446,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
034447,000007: ## Assembler: yaYUL
034448,000008: ## Contact: HARTMUTH GUTSCHE <hgutsche@xplornet.com>.
034449,000009: ## Website: www.ibiblio.org/apollo.
034450,000010: ## Pages: 793-797
034451,000011: ## Mod history: 2009-05-20 HG Transcribed from page images.
034452,000012: ## 2010-12-31 JL Fixed page number comments.
034453,000013: ## 2016-12-16 RSB Proofed text comments with octopus/ProoferComments
034454,000014: ## and corrected the errors found.
034455,000015: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
034456,000016: ## side-by-side diff of Luminary 69/99/116/131/210.
034457,000017:
034458,000018: ## This source code has been transcribed or otherwise adapted from
034459,000019: ## digitized images of a hardcopy from the MIT Museum. The digitization
034460,000020: ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
034461,000021: ## the Museum. Many thanks to both. The images (with suitable reduction
034462,000022: ## in storage size and consequent reduction in image quality as well) are
034463,000023: ## available online at www.ibiblio.org/apollo. If for some reason you
034464,000024: ## find that the images are illegible, contact me at info@sandroid.org
034465,000025: ## about getting access to the (much) higher-quality images which Paul
034466,000026: ## actually created.
034467,000027: ##
034468,000028: ## Notations on the hardcopy document read, in part:
034469,000029: ##
034470,000030: ## Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
034471,000031: ## 16:27 JULY 14, 1969
034472,000032:
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Page 793 |
034474,000034: 31,2216 BANK 31
034475,000035: 31,2000 SETLOC FTHROT
034476,000036: 31,2000 BANK
034477,000037: 31,2216 E7,1612 EBANK= PIF
034478,000038: 31,2216 COUNT* $$/THROT
034479,000039:
034480,000040: # * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
034481,000041: # HERE FC, DESIRED THRUST, AND FP, PRESENT THRUST, UNWEIGHTED, ARE COMPUTED.
034482,000042:
034483,000043: 31,2216 31246 THROTTLE CA ABDELV # COMPUTE PRESENT ACCELERATION IN UNITS OF
034484,000044: 31,2217 00006 EXTEND # 2(-4) M/CS/CS, SAVING SERVICER TROUBLE
034485,000045: 31,2220 72417 MP /AF/CNST
034486,000046: 31,2221 00006 +3 EXTEND
034487,000047: 31,2222 23607 QXCH RTNHOLD
034488,000048: 31,2223 02400 AFDUMP TC MASSMULT
034489,000049: 31,2224 53470 DXCH FP # FP = PRESENT THRUST
034490,000050: 31,2225 00006 EXTEND
034491,000051: 31,2226 31464 DCA /AFC/
034492,000052: 31,2227 02400 TC MASSMULT
034493,000053: 31,2230 55615 TS FC # FC = THRUST DESIRED BY GUIDANCE
034494,000054: 31,2231 53466 DXCH FCODD # FCODD = WHAT IT IS GOING TO GET
034495,000055:
034496,000056: # IF IT HAS BEEN LESS THAN 3 SECONDS SINCE THE LAST THROTTLING, AUGMENT FP USING THE FWEIGHT CALCULATED THEN.
034497,000057:
034498,000058: 31,2232 41617 CS TTHROT # THIS CODING ASSUMES A FLATOUT WITHIN
034499,000059: 31,2233 60025 AD TIME1 # 80 SECONDS BEFORE FIRST THROTTLE CALL
034500,000060: 31,2234 74733 MASK POSMAX
034501,000061: 31,2235 40000 COM
034502,000062: 31,2236 65002 AD 3SECS
034503,000063: 31,2237 00006 EXTEND
034504,000064: 31,2240 62244 BZMF WHERETO # BRANCH IF (TIME1-TTHROT +1) > 3 SECONDS
034505,000065: 31,2241 00006 EXTEND
034506,000066: 31,2242 31611 DCA FWEIGHT
034507,000067: 31,2243 21470 DAS FP
034508,000068:
034509,000069: # THIS LOGIC DETERMINES THE THROTTLING IN THE REGION 10% - 94%. THE MANUAL THROTTLE, NOMINALLY SET AT
034510,000070: # MINIMUM BY ASTRONAUT OR MISSION CONTROL PROGRAMS, PROVIDES THE LOWER BOUND. A STOP IN THE THROTTLE HARDWARE
034511,000071: # PROVIDES THE UPPER.
034512,000072:
034513,000073: 31,2244 35014 WHERETO CA EBANK5 # INITIALIZE L*WCR*T AND H*GHCR*T FROM
034514,000074: 31,2245 54003 TS EBANK # PAD LOADED ERASABLES IN W-MATRIX
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Page 794 |
034516,000076: 31,2246 E5,1506 EBANK= LOWCRIT
034517,000077: 31,2246 00006 EXTEND
034518,000078: 31,2247 31507 DCA LOWCRIT
034519,000079: 31,2250 52131 DXCH L*WCR*T
034520,000080: 31,2251 35016 CA EBANK7
034521,000081: 31,2252 54003 TS EBANK
034522,000082: 31,2253 E7,1612 EBANK= PIF
034523,000083: 31,2253 44755 CS ZERO # INITIALIZE PIFPSET
034524,000084: 31,2254 55606 TS PIFPSET
034525,000085: 31,2255 40131 CS H*GHCR*T
034526,000086: 31,2256 61620 AD FCOLD
034527,000087: 31,2257 00006 EXTEND
034528,000088: 31,2260 62272 BZMF LOWFCOLD # BRANCH IF FCOLD < OR = HIGHCRIT
034529,000089: 31,2261 40130 CS L*WCR*T
034530,000090: 31,2262 61465 AD FCODD
034531,000091: 31,2263 00006 EXTEND
034532,000092: 31,2264 62267 BZMF FCOMPSET # BRANCH IF FC < OR = LOWCRIT
034533,000093: 31,2265 31467 CA FP # SEE NOTE 1
034534,000094: 31,2266 12277 TCF FLATOUT1
034535,000095:
034536,000096: 31,2267 42002 FCOMPSET CS FMAXODD # SEE NOTE 2
034537,000097: 31,2270 61467 AD FP
034538,000098: 31,2271 12301 TCF FLATOUT2
034539,000099:
034540,000100: 31,2272 40131 LOWFCOLD CS H*GHCR*T
034541,000101: 31,2273 61465 AD FCODD
034542,000102: 31,2274 00006 EXTEND
034543,000103: 31,2275 62302 BZMF DOPIF # BRANCH IF FC < OR = HIGHCRIT
034544,000104:
034545,000105: 31,2276 32003 CA FMAXPOS # NO: THROTTLE-UP
034546,000106: 31,2277 53466 FLATOUT1 DXCH FCODD
034547,000107: 31,2300 34737 CA FEXTRA
034548,000108: 31,2301 55606 FLATOUT2 TS PIFPSET
034549,000109:
034550,000110: # NOTE 1 FC IS SET EQUAL TO FP SO PIF WILL BE ZERO. THIS IS DESIRABLE
034551,000111: # AS THERE IS ACTUALLY NO THROTTLE CHANGE.
034552,000112:
034553,000113: # NOTE2 HERE, SINCE WE ARE ABOUT TO RETURN TO THE THROTTLEABLE REGION
034554,000114: # (BELOW 55%) THE QUANTITY -(FMAXODD-FP) IS COMPUTED AND PUT
034555,000115: # INTO PIFPSET TO COMPENSATE FOR THE DIFFERENCE BETWEEN THE
034556,000116: # NUMBER OF BITS CORRESPONDING TO FULL THROTTLE (FMAXODD) AND THE
034557,000117: # NUMBER CORRESPONDING TO ACTUAL THRUST (FP). THUS THE TOTAL
034558,000118: # THROTTLE COMMAND PIF = FC - FP - (FMAXODD - FP) = FC - FMAXODD.
034559,000119:
034560,000120: 31,2302 03740 DOPIF TC FASTCHNG
034561,000121: 31,2303 00006 EXTEND
034562,000122: 31,2304 31466 DCA FCODD
034563,000123: 31,2305 55620 TS FCOLD
034564,000124: 31,2306 53613 DXCH PIF
034565,000125: 31,2307 00006 EXTEND
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Page 795 |
034567,000127: 31,2310 41470 DCS FP
034568,000128: 31,2311 21613 DAS PIF # PIF = FC - FP, NEVER EQUALS +0
034569,000129:
034570,000130: 31,2312 31612 DOIT CA PIF
034571,000131: 31,2313 61606 AD PIFPSET # ADD IN PIFPSET, WITHOUT CHANGING PIF
034572,000132: 31,2314 55614 TS PSEUDO55
034573,000133: 31,2315 54055 TS THRUST
034574,000134: 31,2316 34750 CAF BIT4
034575,000135: 31,2317 00006 EXTEND
034576,000136: 31,2320 05014 WOR CHAN14
034577,000137: 31,2321 30025 CA TIME1
034578,000138: 31,2322 55617 TS TTHROT
034579,000139:
034580,000140: # SINCE /AF/ IS NOT AN INSTANTANEOUS ACCELERATION, BUT RATHER AN "AVERAGE" OF THE ACCELERATION LEVELS DURING
034581,000141: # THE PRECEEDING PIPA INTERVAL, AND SINCE FP IS COMPUTED DIRECTLY FROM /AF/, FP IN ORDER TO CORRESPOND TO THE
034582,000142: # ACTUAL THRUST LEVEL AT THE END OF THE INTERVAL MUST BE WEIGHTED BY
034583,000143:
034584,000144: # PIF(PPROCESS + TL) PIF /PIF/
034585,000145: # FWEIGHT = ------------------ + -------------
034586,000146: # PGUID 2 PGUID FRATE
034587,000147:
034588,000148: # WHERE PPROCESS IS THE TIME BETWEEN PIPA READING AND THE START OF THROTTLING, PGUID IS THE GUIDANCE PERIOD, AND
034589,000149: # FRATE IS THE THROTTLING RATE (32 UNITS PER CENTISECOND). PGUID IS EITHER 1 OR 2 SECONDS. THE "TL" IN THE
034590,000150: # FIRST TERM REPRESENTS THE ENGINE'S RESPONSE LAG. HERE FWEIGHT IS COMPUTED FOR USE NEXT PASS.
034591,000151:
034592,000152: 31,2323 31762 CA THISTPIP +1 # INITIALIZE FWEIGHT COMP AS IF FOR P66
034593,000153: 31,2324 54130 TS BUF
034594,000154:
034595,000155: 31,2325 41011 CS MODREG # ARE WE IN FACT IN P66?
034596,000156: 31,2326 62501 AD DEC66
034597,000157: 31,2327 00006 EXTEND
034598,000158: 31,2330 12335 BZF FWCOMP # YES
034599,000159:
034600,000160: 31,2331 31235 CA PIPTIME +1 # NO: INITIALIZE FOR TWO SECOND PERIOD
034601,000161: 31,2332 54130 TS BUF
034602,000162: 31,2333 35003 CAF 4SECS
034603,000163: 31,2334 12336 TCF FWCOMP +1
034604,000164:
034605,000165: 31,2335 35000 FWCOMP CAF 2SECS
034606,000166: 31,2336 54002 +1 TS Q
034607,000167: 31,2337 00006 EXTEND
034608,000168: 31,2340 74746 MP BIT6
034609,000169: 31,2341 22131 LXCH BUF +1
034610,000170: 31,2342 40130 CS BUF # TIME OF LAST PIPA READING.
034611,000171: 31,2343 60025 AD TIME1
034612,000172: 31,2344 62004 AD THROTLAG # COMPENSATE FOR ENGINE RESPONSE LAG
034613,000173: 31,2345 74357 MASK LOW8 # MAKE SURE SMALL AND POSITIVE
034614,000174: 31,2346 22007 ZL
034615,000175: 31,2347 00006 EXTEND
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Page 796 |
034617,000177: 31,2350 10002 DV Q
034618,000178: 31,2351 00006 EXTEND
034619,000179: 31,2352 71612 MP PIF
034620,000180: 31,2353 60000 DOUBLE
034621,000181: 31,2354 53611 DXCH FWEIGHT
034622,000182: 31,2355 11612 CCS PIF
034623,000183: 31,2356 64753 AD ONE
034624,000184: 31,2357 12361 TCF +2
034625,000185: 31,2360 64753 AD ONE
034626,000186: 31,2361 00006 EXTEND
034627,000187: 31,2362 71612 MP PIF
034628,000188: 31,2363 00006 EXTEND
034629,000189: 31,2364 10131 DV BUF +1
034630,000190: 31,2365 22007 ZL
034631,000191: 31,2366 21611 DAS FWEIGHT
034632,000192:
034633,000193: 31,2367 01607 THDUMP TC RTNHOLD
034634,000194:
034635,000195: # FLATOUT THROTTLES UP THE DESCENT ENGINE, AND IS CALLED AS A BASIC SUBROUTINE.
034636,000196:
034637,000197: 31,2370 34737 FLATOUT CAF BIT13 # 4096 PULSES
034638,000198: 31,2371 55606 WHATOUT TS PIFPSET # USE PIFPSET SO FWEIGHT WILL BE ZERO
034639,000199: 31,2372 44755 CS ZERO
034640,000200: 31,2373 55620 TS FCOLD
034641,000201: 31,2374 55612 TS PIF
034642,000202: 31,2375 00006 EXTEND
034643,000203: 31,2376 23607 QXCH RTNHOLD
034644,000204: 31,2377 12312 TCF DOIT
034645,000205:
034646,000206: # MASSMULT SCALES ACCELERATION, ARRIVING IN A AND L IN UNITS OF 2(-4) M/CS/CS, TO FORCE IN PULSE UNITS.
034647,000207:
034648,000208: 31,2400 00006 MASSMULT EXTEND
034649,000209: 31,2401 22130 QXCH BUF
034650,000210: 31,2402 52155 DXCH MPAC
034651,000211: 31,2403 07103 TC DMP
034652,000212: 31,2404 01244 ADRES MASS
034653,000213: 31,2405 07103 TC DMP # LEAVES PROPERLY SCALED FORCE IM MPAC
034654,000214: 31,2406 02005 ADRES SCALEFAC
034655,000215: 31,2407 07257 TC TPAGREE
034656,000216: 31,2410 30154 CA MPAC
034657,000217: 31,2411 00006 EXTEND
034658,000218: 31,2412 12415 BZF +3
034659,000219: 31,2413 34733 CAF POSMAX
034660,000220: 31,2414 00130 TC BUF
034661,000221: 31,2415 52156 DXCH MPAC +1
034662,000222: 31,2416 00130 TC BUF
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Page 797 |
034664,000224: # CONSTANTS:-
034665,000225:
034666,000226: 31,2417 4737 FEXTRA = BIT13 # FEXT +5.13309020 E+4
034667,000227:
034668,000228: 31,2417 04143 /AF/CNST DEC .13107
034669,000229:
034670,000230: # * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
End of include-file THROTTLE_CONTROL_ROUTINES.agc. Parent file is MAIN.agc