forked from chrislgarry/Apollo-11
-
Notifications
You must be signed in to change notification settings - Fork 0
/
SPS_BACK-UP_RCS_CONTROL.agc
196 lines (185 loc) · 5.77 KB
/
SPS_BACK-UP_RCS_CONTROL.agc
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
# Copyright: Public domain.
# Filename: SPS_BACK-UP_RCS_CONTROL.agc
# Purpose: Part of the source code for Luminary 1A build 099.
# It is part of the source code for the Lunar Module's (LM)
# Apollo Guidance Computer (AGC), for Apollo 11.
# Assembler: yaYUL
# Contact: Ron Burkey <info@sandroid.org>.
# Website: www.ibiblio.org/apollo.
# Pages: 1507-1510
# Mod history: 2009-05-27 RSB Adapted from the corresponding
# Luminary131 file, using page
# images from Luminary 1A.
#
# This source code has been transcribed or otherwise adapted from
# digitized images of a hardcopy from the MIT Museum. The digitization
# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
# the Museum. Many thanks to both. The images (with suitable reduction
# in storage size and consequent reduction in image quality as well) are
# available online at www.ibiblio.org/apollo. If for some reason you
# find that the images are illegible, contact me at info@sandroid.org
# about getting access to the (much) higher-quality images which Paul
# actually created.
#
# Notations on the hardcopy document read, in part:
#
# Assemble revision 001 of AGC program LMY99 by NASA 2021112-061
# 16:27 JULY 14, 1969
# Page 1507
# PROGRAM NAME: SPSRCS
# AUTHOR: EDGAR M. OSHIKA (AC ELECTRONICS)
# MODIFIED: TO RETURN TO ALL AXES VIA Q BY P. S. WEISSMAN, OCT 7, 1968
# MODIFIED TO IMPROVE BENDING STABILITY BY G. KALAN, FEB. 14, 1969
#
# FUNCTIONAL DESCRIPTION:
# THE PROGRAM CONTROLS THE FIRING OF ALL RCS JETS IN THE DOCKED CONFIGURATION ACCORDING TO THE FOLLOWING PHASE
# PLANE LOGIC.
#
# 1. JET SENSE TEST (SPSRCS)
# IF JETS ARE FIRING NEGATIVELY, SET OLDSENSE NEGATIVE AND CONTINUE
# IF JETS ARE FIRING POSITIVELY, SET OLDSENSE POSITIVE AND CONTINUE
# IF JETS ARE NOT FIRING, SET OLDSENSE TO ZERO AND GO TO OUTER RATE LIMIT TEST
#
# 2. RATE DEAD BAND TEST
# IF JETS ARE FIRING NEGATIVELY AND RATE IS GREATER THAN TARGET RATE, LEAVE
# JETS ON AND GO TO INHIBITION LOGIC. OTHERWISE, CONTINUE.
# IF JETS ARE FIRING POSITIVELY AND RATE IS LESS THAN TARGET RATE, LEAVE
# JETS ON AND GO TO INHIBITION LOGIC. OTHERWISE, CONTINUE.
#
# 3. OUTER RATE LIMIT TEST (SPSSTART)
# IF MAGNITUDE OF EDOT IS GREATER THAN 1.73 DEG/SEC SET JET FIRING TIME
# TO REDUCE RATE AND GO TO INHIBITION LOGIC. OTHERWISE, CONTINUE.
#
# 4. COAST ZONE TEST
# 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
# POSITIVE AND CONTINUE. OTHERWISE, SET JET FIRING TIME TO ZERO AND CONTINUE.
# 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
# AND CONTINUE. OTHERWISE, SET JET FIRING TIME TO ZERO AND CONTINUE.
#
# 5. INHIBITION LOGIC
# IF OLDSENSE IS NON-ZERO:
# A) RETURN IF JET TIME AS THE SAME SIGN AS OLDSENSE
# B) SET INHIBITION COUNTER* AND RETURN IF JET TIME IS ZERO
# C) SET INHIBITION COUNTER,* SET JET TIME TO ZERO AND RETURN IF SIGN
# OF JET TIME IS OPPOSITE TO THAT OF OLDSENSE
# IF OLDSENSE IS ZERO:
# A) RETURN IF INHIBITION COUNTER IS NOT POSITIVE
# B) SET JET TIME TO ZERO AND RETURN IF INHIBITION COUNTER IS POSITIVE
# *NOTE: INHIBITION COUNTERS CAN BE SET TO 4 OR 10 FOR THE P AND UV AXES,
# RESPECTIVELY, IN SPSRCS. THEY ARE DECREMENTED BY ONE AT THE BEGINNING OF
# Page 1508
# EACH DAP PASS.
#
# THE MINIMUM PULSE WIDTH OF THIS CONTROLLER IS DETERMINED BY THE REPETITION RATE AT WHICH THIS ROUTINE IS CALLED
# AND IS NOMINALLY 100 MS FOR ALL AXES IN DRIFTING FLIGHT. DURING POWERED FLIGHT THE MINIMUM IS 100 MS FOR THE
# P AXIS AND 200 MS FOR THE CONTROL OF THE U AND V AXES.
#
# CALLING SEQUENCE:
# INHINT
# TC IBNKCALL
# CADR SPSRCE
#
# EXIT:
# TC Q
#
# ALARM/ABORT MODE: NONE
#
# SUBROUTINES CALLED: NONE
#
# INPUT: E, EDOT
# TJP, TJV, TJU TJ MUST NOT BE NEGATIVE ZERO
#
# OUTPUT: TJP, TJV, TJU
BANK 21
SETLOC DAPS4
BANK
COUNT* $$/DAPBU
EBANK= TJU
RATELIM2 OCT 00632 # 1.125 DEG/SEC
POSTHRST CA HALF
NDX AXISCTR
TS TJU
CCS OLDSENSE
TCF POSCHECK # JETS FIRING POSITIVELY
TCF CTRCHECK # JETS OFF. CHECK INHIBITION CTR
NEGCHECK INDEX AXISCTR # JETS FIRING NEGATIVELY
CS TJU
CCS A
TC Q # RETURN
TCF +2
TCF +1 # JETS COMMANDED OFF. SET CTR AND RETURN
SETCTR INDEX AXISCTR # JET FIRING REVERSAL COMMANDED. SET CTR,
CA UTIME # SET JET TIME TO ZERO, AND RETURN
# Page 1509
INDEX AXISCTR
TS UJETCTR
ZAPTJ CA ZERO
INDEX AXISCTR
TS TJU
TC Q
POSCHECK INDEX AXISCTR
CA TJU
TCF NEGCHECK +2
CTRCHECK INDEX AXISCTR # CHECK JET INHIBITION COUNTER
CCS UJETCTR
TCF +2
TC Q # CTR IS NOT POSITIVE. RETURN
TCF ZAPTJ # CTR IS POSITIVE. INHIBIT FIRINGS
TC Q # CTR IS NOT POSITIVE. RETURN
OCT 00004
UTIME OCT 00012
OCT 00012
OLDSENSE EQUALS DAPTREG1
NEGFIRE CS ONE # JETS FIRING NEGATIVELY
TS OLDSENSE
CA EDOT
TCF +4
PLUSFIRE CA ONE
TS OLDSENSE
CS EDOT # RATE DEAD BAND TEST
LXCH A
CS DAPBOOLS # IF DRIFTBIT = 1, USE ZERO TARGET RATE
MASK DRIFTBIT # IF DRIFTBIT = 0, USE 0.10 RATE TARGET
CCS A
CA RATEDB1
AD L
EXTEND
BZMF SPSSTART
TCF POSTHRST +3
SPSRCS INDEX AXISCTR # JET SENSE TEST
CCS TJU
TCF PLUSFIRE # JETS FIRING POSITIVELY
TCF +2
TCF NEGFIRE # JETS FIRING NEGATIVELY
TS OLDSENSE # JETS OFF
SPSSTART CA EDOT # OUTER RATE LIMIT TEST
EXTEND
MP RATELIM1
CCS A
TCF NEGTHRST # OUTER RATE LIMIT EXCEEDED
TCF +2
TCF POSTHRST # OUTER RATE LIMIT EXCEEDED
CA EDOT # COAST ZONE TEST
# Page 1510
AD E
EXTEND
MP DKDB # PAD LOADED DEADBAND. FRESHSTART: 1.4 DEG
EXTEND
BZF TJZERO
EXTEND
BZMF +7
CA EDOT
AD RATELIM2
EXTEND
BZMF TJZERO
NEGTHRST CS HALF
TCF POSTHRST +1
+7 CS RATELIM2
AD EDOT
EXTEND
BZMF POSTHRST
TJZERO CA ZERO
TCF POSTHRST +1
RATELIM1 = CALLCODE # = 00032, CORRESPONDING TO 1.73 DEG/SEC
RATEDB1 = TBUILDFX # = 00045, CORRESPONDS TO 0.101 DEG/SEC
# *** END OF LMDAP .015 ***