Notations on the program listing read, in part:
GAP: ASSEMBLE REVISION 56 OF AGC PROGRAM ZERLINA BY ZOROASTER 9:12 OCT. 21,1970Note that the date is the date of the printout, not the date of the program revision.
Source Code
|
|
These source-code files were transcribed from a printout in Don Eyles's personal
collection, scanned by archive.org, and financially sponsored by Linden Sims.
A team of volunteers performed the transcription and proof-reading. The scanned
page images are available at
the Virtual AGC Project website, as well as higher-quality (but much larger)
images at
the Virtual AGC Project's collection in the Internet Archive. Report any problems by creating
"issues" at
the Virtual AGC Project's GitHub Repository. Notations on the program listing read, in part: GAP: ASSEMBLE REVISION 56 OF AGC PROGRAM ZERLINA BY ZOROASTER 9:12 OCT. 21,1970Note that the date is the date of the printout, not the date of the program revision. |
066002,000002: ## Copyright: Public domain.
066003,000003: ## Filename: SPS_BACK-UP_RCS_CONTROL.agc
066004,000004: ## Purpose: A log section of Zerlina 56, the final revision of
066005,000005: ## Don Eyles's offline development program for the variable
066006,000006: ## guidance period servicer. It also includes a new P66 with LPD
066007,000007: ## (Landing Point Designator) capability, based on an idea of John
066008,000008: ## Young's. Neither of these advanced features were actually flown,
066009,000009: ## but Zerlina was also the birthplace of other big improvements to
066010,000010: ## Luminary including the terrain model and new (Luminary 1E)
066011,000011: ## analog display programs. Zerlina was branched off of Luminary 145,
066012,000012: ## and revision 56 includes all changes up to and including Luminary
066013,000013: ## 183. It is therefore quite close to the Apollo 14 program,
066014,000014: ## Luminary 178, where not modified with new features.
066015,000015: ## Reference: pp. 1495-1498
066016,000016: ## Assembler: yaYUL
066017,000017: ## Contact: Ron Burkey <info@sandroid.org>.
066018,000018: ## Website: www.ibiblio.org/apollo/index.html
066019,000019: ## Mod history: 2017-07-28 MAS Created from Luminary 210.
066020,000020: ## 2017-08-29 RSB Transcribed.
066021,000021:
|
|
Page 1495 |
066023,000023: # PROGRAM NAME: SPSRCS
066024,000024:
066025,000025: # AUTHOR: EDGAR M. OSHIKA (AC ELECTRONICS)
066026,000026:
066027,000027: # MODIFIED: TO RETURN TO ALL AXES VIA Q BY P.S.WEISSMAN, OCT 7, 1968
066028,000028:
066029,000029: # MODIFIED TO IMPROVE BENDING STABILITY BY G.KALAN,FEB.14,1969
066030,000030: # FUNCTIONAL DESCRIPTION:
066031,000031:
066032,000032: # THIS PROGRAM CONTROLS THE FIRING OF ALL RCS JETS IN THE DOCKED CONFIGURATION ACCORDING TO THE FOLLOWING PHASE
066033,000033: # PLANE LOGIC.
066034,000034:
066035,000035: # 1. JET SENSE TEST (SPSRCS)
066036,000036:
066037,000037: # IF JETS ARE FIRING NEGATIVELY,SET OLDSENSE NEGATIVE AND CONTINUE
066038,000038: # IF JETS ARE FIRING POSITIVELY,SET OLDSENSE POSITIVE AND CONTINUE
066039,000039: # IF JETS ARE NOT FIRING,SET OLDSENSE TO ZERO AND GO TO OUTER RATE LIMIT TEST
066040,000040:
066041,000041: # 2. RATE DEAD BAND TEST
066042,000042:
066043,000043: # IF JETS ARE FIRING NEGATIVELY AND RATE IS GREATER THAN TARGET RATE,LEAVE
066044,000044: # JETS ON AND GO TO INHIBITION LOGIC. OTHERWISE,CONTINUE.
066045,000045: # IF JETS ARE FIRING POSITIVELY AND RATE IS LESS THAN TARGET RATE,LEAVE
066046,000046: # JETS ON AND GO TO INHIBITION LOGIC. OTHERWISE,CONTINUE.
066047,000047:
066048,000048: # 3. OUTER RATE LIMIT TEST (SPSSTART)
066049,000049:
066050,000050: # IF MAGNITUDE OF EDOT IS GREATER THAN 1.73 DEG/SEC SET JET FIRING TIME
066051,000051: # TO REDUCE RATE AND GO TO INHIBITION LOGIC. OTHERWISE,CONTINUE.
066052,000052:
066053,000053: # 4. COAST ZONE TEST
066054,000054:
066055,000055: # 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-
066056,000056: # TIVE AND CONTINUE. OTHERWISE,SET JET FIRING TIME TO ZERO AND CONTINUE.
066057,000057: # IF STATE IS ABOVE LINE E + 4X EDOT > +1.4 DEG AND EDOT IS GREATER THAN -1.30 DEG/SEC, SET JET TIME NEGATIVE
066058,000058: # AND CONTINUE. OTHERWISE,SET JET FIRING TIME TO ZERO AND CONTINUE.
066059,000059:
066060,000060: # 5. INHIBITION LOGIC
066061,000061:
066062,000062: # IF OLDSENSE IS NON-ZERO:
066063,000063: # A) RETURN IF JET TIME HAS SAME SIGN AS OLDSENSE
066064,000064: # B) SET INHIBITION COUNTER*AND RETURN IF JET TIME IS ZERO
066065,000065: # C) SET INHIBITION COUNTER,*SET JET TIME TO ZERO AND RETURN IF SIGN
066066,000066: # OF JET TIME IS OPPOSITE TO THAT OF OLDSENSE
066067,000067:
066068,000068: # IF OLDSENSE IS ZERO:
066069,000069: # A) RETURN IF INHIBITION COUNTER IS NOT POSITIVE
066070,000070: # B) SET JET TIME TO ZERO AND RETURN IF INHIBITION COUNTER IS POSITIVE
066071,000071: # *NOTE: INHIBITION COUNTERS CAN BE SET TO 4 OR 10 FOR THE P,AND UV AXES,
066072,000072: # RESPECTIVELY,IN SPSRCS. THEY ARE DECREMENTED BY ONE AT THE BEGINNING OF
|
|
Page 1496 |
066074,000074: # EACH DAP PASS.
066075,000075:
066076,000076: # THE MINIMUM PULSE WIDTH OF THIS CONTROLLER IS DETERMINED BY THE REPETITION RATE AT WHICH THIS ROUTINE IS CALLED
066077,000077: # AND IS NOMINALLY 100 MS FOR ALL AXES IN DRIFTING FLIGHT. DURING POWERED FLIGHT THE MINIMUM IS 100 MS FOR THE
066078,000078: # P AXIS AND 200 MS FOR THE CONTROL OF THE U AND V AXES.
066079,000079:
066080,000080: # CALLING SEQUENCE:
066081,000081:
066082,000082: # INHINT
066083,000083: # TC IBNKCALL
066084,000084: # CADR SPSRCS
066085,000085:
066086,000086:
066087,000087: # EXIT:
066088,000088: # TC Q
066089,000089: # ALARM/ABORT MODE: NONE
066090,000090:
066091,000091: # SUBROUTINES CALLED: NONE
066092,000092:
066093,000093: # INPUT: E,EDOT
066094,000094: # TJP, TJV, TJU TJ MUST NOT BE NEGATIVE ZERO
066095,000095:
066096,000096: # OUTPUT: TJP, TJV, TJU
066097,000097:
066098,000098:
066099,000099: 21,3560 BANK 21
066100,000100: 21,2000 SETLOC DAPS4
066101,000101: 21,2000 BANK
066102,000102:
066103,000103: 21,3560 COUNT* $$/DAPBU
066104,000104:
066105,000105: 21,3560 E6,1525 EBANK= TJU
066106,000106: 21,3560 00632 RATELIM2 OCT 00632 # 1.125 DEG/SEC
066107,000107: 21,3561 34736 POSTHRST CA HALF
066108,000108:
066109,000109: 21,3562 51505 NDX AXISCTR
066110,000110: 21,3563 55525 TS TJU
066111,000111: 21,3564 11744 CCS OLDSENSE
066112,000112: 21,3565 13605 TCF POSCHECK # JETS FIRING POSITIVELY
066113,000113: 21,3566 13610 TCF CTRCHECK # JETS OFF. CHECK INHIBITION CTR
066114,000114: 21,3567 51505 NEGCHECK INDEX AXISCTR # JETS FIRING NEGATIVELY
066115,000115: 21,3570 41525 CS TJU
066116,000116: 21,3571 10000 CCS A
066117,000117: 21,3572 00002 TC Q # RETURN
066118,000118: 21,3573 13575 TCF +2
066119,000119: 21,3574 13575 TCF +1 # JETS COMMANDED OFF.SET CTR AND RETURN
066120,000120: 21,3575 51505 SETCTR INDEX AXISCTR # JET FIRING REVERSAL COMMANDED. SET CTR,
066121,000121: 21,3576 33617 CA UTIME # SET JET TIME TO ZERO,AND RETURN
|
|
Page 1497 |
066123,000123: 21,3577 51505 INDEX AXISCTR
066124,000124: 21,3600 55767 TS UJETCTR
066125,000125: 21,3601 34755 ZAPTJ CA ZERO
066126,000126: 21,3602 51505 INDEX AXISCTR
066127,000127: 21,3603 55525 TS TJU
066128,000128: 21,3604 00002 TC Q
066129,000129: 21,3605 51505 POSCHECK INDEX AXISCTR
066130,000130: 21,3606 31525 CA TJU
066131,000131: 21,3607 13571 TCF NEGCHECK +2
066132,000132: 21,3610 51505 CTRCHECK INDEX AXISCTR # CHECK JET INHIBITION COUNTER
066133,000133: 21,3611 11767 CCS UJETCTR
066134,000134: 21,3612 13614 TCF +2
066135,000135: 21,3613 00002 TC Q # CTR IS NOT POSITIVE. RETURN
066136,000136: 21,3614 13601 TCF ZAPTJ # CTR IS POSITIVE.INHIBIT FIRINGS
066137,000137: 21,3615 00002 TC Q # CTR IS NOT POSITIVE.RETURN
066138,000138: 21,3616 00004 OCT 00004
066139,000139: 21,3617 00012 UTIME OCT 00012
066140,000140: 21,3620 00012 OCT 00012
066141,000141: 21,3621 44753 NEGFIRE CS ONE # JETS FIRING NEGATIVELY
066142,000142: 21,3622 55744 TS OLDSENSE
066143,000143: 21,3623 31427 CA EDOT
066144,000144: 21,3624 13630 TCF +4
066145,000145: 21,3625 34753 PLUSFIRE CA ONE
066146,000146: 21,3626 55744 TS OLDSENSE
066147,000147: 21,3627 41427 CS EDOT # RATE DEAD BAND TEST
066148,000148: 21,3630 22000 LXCH A
066149,000149: 21,3631 40111 CS DAPBOOLS # IF DRIFTBIT = 1, USE ZERO TARGET RATE
066150,000150: 21,3632 74744 MASK DRIFTBIT # IF DRIFTBIT = 0, USE 0.10 RATE TARGET
066151,000151: 21,3633 10000 CCS A
066152,000152: 21,3634 34767 CA RATEDB1
066153,000153: 21,3635 60001 AD L
066154,000154: 21,3636 00006 EXTEND
066155,000155: 21,3637 63647 BZMF SPSSTART
066156,000156: 21,3640 13564 TCF POSTHRST +3
066157,000157:
066158,000158: 21,3641 51505 SPSRCS INDEX AXISCTR # JET SENSE TEST
066159,000159: 21,3642 11525 CCS TJU
066160,000160: 21,3643 13625 TCF PLUSFIRE # JETS FIRING POSITIVELY
066161,000161: 21,3644 13646 TCF +2
066162,000162: 21,3645 13621 TCF NEGFIRE # JETS FIRING NEGATIVELY
066163,000163: 21,3646 55744 TS OLDSENSE # JETS OFF
066164,000164: 21,3647 31427 SPSSTART CA EDOT # OUTER RATE LIMIT TEST
066165,000165: 21,3650 00006 EXTEND
066166,000166: 21,3651 74766 MP RATELIM1
066167,000167: 21,3652 10000 CCS A
066168,000168: 21,3653 13672 TCF NEGTHRST # OUTER RATE LIMIT EXCEEDED
066169,000169: 21,3654 13656 TCF +2
066170,000170: 21,3655 13561 TCF POSTHRST # OUTER RATE LIMIT EXCEEDED
066171,000171: 21,3656 31427 CA EDOT # COAST ZONE TEST
066172,000172: 21,3657 61751 AD E
|
|
Page 1498 |
066174,000174: 21,3660 00006 EXTEND
066175,000175: 21,3661 71411 MP DKDB # PAD LOADED DEADBAND. FRESHSTART: 1.4 DEG
066176,000176: 21,3662 00006 EXTEND
066177,000177: 21,3663 13700 BZF TJZERO
066178,000178:
066179,000179: 21,3664 00006 EXTEND
066180,000180: 21,3665 63674 BZMF +7
066181,000181: 21,3666 31427 CA EDOT
066182,000182: 21,3667 63560 AD RATELIM2
066183,000183: 21,3670 00006 EXTEND
066184,000184: 21,3671 63700 BZMF TJZERO
066185,000185: 21,3672 44736 NEGTHRST CS HALF
066186,000186: 21,3673 13562 TCF POSTHRST +1
066187,000187: 21,3674 43560 +7 CS RATELIM2
066188,000188: 21,3675 61427 AD EDOT
066189,000189: 21,3676 00006 EXTEND
066190,000190: 21,3677 63561 BZMF POSTHRST
066191,000191: 21,3700 34755 TJZERO CA ZERO
066192,000192: 21,3701 13562 TCF POSTHRST +1
066193,000193:
066194,000194:
066195,000195: 21,3702 4766 RATELIM1 = CALLCODE # = 00032, CORRESPONDING TO 1.73 DEG/SEC
066196,000196: 21,3702 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