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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023463,000002: ## Copyright: Public domain.
023464,000003: ## Filename: DAPIDLER_PROGRAM.agc
023465,000004: ## Purpose: Part of the source code for Aurora (revision 12).
023466,000005: ## Assembler: yaYUL
023467,000006: ## Contact: Ron Burkey <info@sandroid.org>.
023468,000007: ## Website: https://www.ibiblio.org/apollo.
023469,000008: ## Pages: 557-561
023470,000009: ## Mod history: 2016-09-20 JL Created.
023471,000010: ## 2016-10-15 HG FIx operand IZZMASK -> IZZTASK
023472,000011: ## 2016-12-08 RSB Proofed comments with octopus/ProoferComments
023473,000012: ## and fixed the errors found.
023474,000013:
023475,000014: ## This source code has been transcribed or otherwise adapted from
023476,000015: ## digitized images of a hardcopy from the private collection of
023477,000016: ## Don Eyles. The digitization was performed by archive.org.
023478,000017:
023479,000018: ## Notations on the hardcopy document read, in part:
023480,000019:
023481,000020: ## 473423A YUL SYSTEM FOR BLK2: REVISION 12 of PROGRAM AURORA BY DAP GROUP
023482,000021: ## NOV 10, 1966
023483,000022:
023484,000023: ## [Note that this is the date the hardcopy was made, not the
023485,000024: ## date of the program revision or the assembly.]
023486,000025:
023487,000026: ## The scan images (with suitable reduction in storage size and consequent
023488,000027: ## reduction in image quality) are available online at
023489,000028: ## https://www.ibiblio.org/apollo.
023490,000029: ## The original high-quality digital images are available at archive.org:
023491,000030: ## https://archive.org/details/aurora00dapg
023492,000031:
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Page 557 |
023494,000033: # THE DAPIDLER PROGRAM IS STARTED BY FRESH START AND RESTART. THE DAPIDLER PROGRAM IS DONE 10 TIMES
023495,000034: # PER SECOND UNTIL THE ASTRONAUT DESIRES THE DAP TO WAKE UP, AND THE IMU AND CDUS ARE READY FOR USE BY THE DAP.
023496,000035: # THE NECESSARY INITIALIZATION OF THE DAP IS DONE BY THE DAPIDLER PROGRAM.
023497,000036: # ADDITIONAL WORK MUST BE DONE ON DAPIDLER IN THE FUTURE.
023498,000037:
023499,000038:
023500,000039:
023501,000040: 23,3141 22016 DAPIDLER LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED)
023502,000041: 23,3142 00006 EXTEND
023503,000042: 23,3143 22012 QXCH QRUPT
023504,000043:
023505,000044: 23,3144 37652 CAF BIT6
023506,000045: 23,3145 70367 MASK IMODES30
023507,000046: 23,3146 10000 CCS A
023508,000047: 23,3147 13354 TCF MOREIDLE
023509,000048:
023510,000049: 23,3150 37654 CAF BIT4
023511,000050: 23,3151 67653 AD BIT5
023512,000051: 23,3152 00006 EXTEND
023513,000052: 23,3153 02012 RAND 12
023514,000053: 23,3154 10000 CCS A
023515,000054: 23,3155 13354 TCF MOREIDLE
023516,000055:
023517,000056: 23,3156 37646 CAF BIT10 # BIT10 OF 30 IS PNGCS CONTROL OF S/C
023518,000057: 23,3157 00006 EXTEND
023519,000058: 23,3160 02030 RAND 30 # BITS IN 30 ARE INVERTED
023520,000059: 23,3161 10000 CCS A
023521,000060: 23,3162 13354 TCF MOREIDLE
023522,000061:
023523,000062: 23,3163 37643 CAF BIT13 # ATTITUDE HOLD BIT. INVERTED.
023524,000063: 23,3164 00006 EXTEND
023525,000064: 23,3165 02031 RAND 31
023526,000065: 23,3166 00006 EXTEND
023527,000066: 23,3167 13175 BZF STARTDAP
023528,000067:
023529,000068: 23,3170 37642 CA BIT14
023530,000069: 23,3171 00006 EXTEND
023531,000070: 23,3172 02031 RAND 31
023532,000071: 23,3173 10000 CCS A
023533,000072: 23,3174 13354 TCF MOREIDLE
023534,000073:
023535,000074: 23,3175 37665 STARTDAP CAF ZERO
023536,000075: 23,3176 54031 TS TIME6
023537,000076: 23,3177 55545 TS TIMEOFFQ
023538,000077: 23,3200 55546 TS TIMEOFFR
023539,000078: 23,3201 55473 TS LASTPER
023540,000079: 23,3202 55474 TS LASTQER
023541,000080: 23,3203 55475 TS LASTRER
023542,000081: 23,3204 55476 TS PERROR # INITIALIZE TEMPS FOR ATT ERROR DISPLAY
023543,000082: 23,3205 55477 TS QERROR
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Page 558 |
023545,000084: 23,3206 55500 TS RERROR
023546,000085: 23,3207 54766 TS T6NEXT
023547,000086: 23,3210 54767 TS T6NEXT +1
023548,000087: 23,3211 54773 TS DELAYCTR
023549,000088: 23,3212 55615 TS JETRATE
023550,000089: 23,3213 55616 TS JETRATEQ
023551,000090: 23,3214 55617 TS JETRATER
023552,000091: 23,3215 55642 TS AOSQTERM
023553,000092: 23,3216 55643 TS AOSRTERM
023554,000093: 23,3217 55512 TS CH5MASK
023555,000094: 23,3220 55513 TS CH6MASK
023556,000095: 23,3221 54066 TS DELTAP
023557,000096: 23,3222 55416 TS OMEGAP
023558,000097: 23,3223 55417 TS OMEGAQ
023559,000098: 23,3224 55421 TS OMEGAR
023560,000099: 23,3225 55426 TS OMEGAPD
023561,000100: 23,3226 55427 TS OMEGAQD
023562,000101: 23,3227 55430 TS OMEGARD
023563,000102: 23,3230 55626 TS TQR
023564,000103: 23,3231 55620 TS NO.QJETS
023565,000104: 23,3232 55621 TS NO.RJETS
023566,000105: ## HANDWRITTEN NOTATION:
023567,000106: ## TS (1-K)GR
023568,000107: ## (1-K)/8
023569,000108: 23,3233 33375 CAF 0.62170
023570,000109: 23,3234 55464 TS 4JETTORK
023571,000110: 23,3235 33377 CAF .68387 # 2200 FT LBS. SCALED AT 2(10) X PI.
023572,000111: 23,3236 55465 TS JETTORK4 # QR AXIS JET TORQUE FOR 4 JETS.
023573,000112: 23,3237 30032 CA CDUX
023574,000113: 23,3240 55431 TS OLDXFORP
023575,000114: 23,3241 54774 TS CDUXD
023576,000115: 23,3242 30033 CA CDUY
023577,000116: 23,3243 55432 TS OLDYFORP
023578,000117: 23,3244 55433 TS OLDYFORQ
023579,000118: 23,3245 54775 TS CDUYD
023580,000119: 23,3246 30034 CA CDUZ
023581,000120: 23,3247 55434 TS OLDZFORQ
023582,000121: 23,3250 54776 TS CDUZD
023583,000122: 23,3251 37652 CAF BIT6 # ENABLE CDU ERR CNTR FOR ATT ERROR DISPLA
023584,000123: 23,3252 00006 EXTEND
023585,000124: 23,3253 05012 WOR 12
023586,000125:
023587,000126: 23,3254 33361 CA VISFZADR
023588,000127: 23,3255 55613 TS PJUMPADR
023589,000128: 23,3256 33410 CA .075DEC # INITIALIZE 100 MS JET PULSE TORQUE TERMS
023590,000129: 23,3257 55622 TS 100MSPTQ # TO VALUES WHEN K = 1/2.
023591,000130: 23,3260 55623 TS QR.1STOQ # AOSTASK MUST VARY THESE AS K VARIES.
023592,000131: # ****** JON ADDELSTON TAKE NOT OF THE ABOVE COMMENT - DICK GRAN.
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Page 559 |
023594,000133: 23,3261 33400 CA 10AT16
023595,000134: 23,3262 55655 TS WFORP ## HANDWRITTEN NOTATION:
023596,000135: 23,3263 33401 CA 6.6AT16 ## <<-THIS INSTRUCTION IS CROSSED OUT, BUT THEN
023597,000136: ## THERE IS A NOTATION "GOOD AS IS"
023598,000137: 23,3264 55656 TS WFORQR
023599,000138:
023600,000139: 23,3265 37657 CAF ONE
023601,000140: 23,3266 04536 TC WAITLIST
023602,000141: 23,3267 03525 52006 2CADR IXXTASK
023603,000142:
023604,000143: 23,3271 37657 CA ONE
023605,000144: 23,3272 04536 TC WAITLIST
023606,000145: 23,3273 03536 52006 2CADR IYYTASK
023607,000146: ## HANDWRITTEN NOTATION:
023608,000147: ## CAF IPOMS
023609,000148: ## TC WAITLIST
023610,000149: ## 2CADR WCHANGER
023611,000150: 23,3275 37657 CA ONE
023612,000151: 23,3276 04536 TC WAITLIST
023613,000152: 23,3277 03547 52006 2CADR IZZTASK
023614,000153:
023615,000154: # THIS SECTION COMPUTES THE RATE OF CHANGE OF ACCELERATION DUE TO THE
023616,000155: # ROTATION OF THE GIMBAL ENGINE. THE EQUATION IMPLEMENTED IN BOTH THE
023617,000156: # Y-X PLANE AND THE Z-X PLANE IS -- D(ALPHA)/DT = T L/I * D(DELTA)/DT
023618,000157: # WHERE ----
023619,000158: # T = ENGINE THRUST COMMAND
023620,000159: # L = PIVOT TO CG DISTANCE OF THE GIMBAL ENGINE
023621,000160: # I = INERTIA
023622,000161: # DELTA = GIMBAL ENGINE ANGLE MEASURED FROM THE X AXIS.
023623,000162:
023624,000163: 23,3301 33403 CAF DELTADOT # 0.2 DEG/SEC SCALED AT PI/64
023625,000164: 23,3302 00006 EXTEND
023626,000165: 23,3303 71526 MP L,PVT-CG # GIMBAL PIVOT TO C.G. DISTANCE ,SCALE=8.
023627,000166: 23,3304 00006 EXTEND
023628,000167: 23,3305 71533 MP THRSTCMD # COMMANDED THRUST SCALED AT 2(14) =16384.
023629,000168: 23,3306 52066 DXCH ITEMP1
023630,000169: 23,3307 00006 EXTEND
023631,000170: 23,3310 30066 DCA ITEMP1
023632,000171: 23,3311 00006 EXTEND
023633,000172: 23,3312 11463 DV IZZ # AT 2(18)
023634,000173: 23,3313 55543 TS ACCDOTR # AT PI/2(7)
023635,000174: 23,3314 52066 DXCH ITEMP1
023636,000175: 23,3315 00006 EXTEND
023637,000176: 23,3316 11462 DV IYY # AT 2(18)
023638,000177: 23,3317 55541 TS ACCDOTQ # AT PI/2(7)
023639,000178:
023640,000179: 23,3320 00006 EXTEND # .3ACCDOTQ AT PI/2(8)
023641,000180: 23,3321 73404 MP DGBF
023642,000181: 23,3322 55535 TS KQ
023643,000182: 23,3323 00006 EXTEND
023644,000183: 23,3324 70000 SQUARE
023645,000184: 23,3325 55536 TS KQ2 # KQ(2)
023646,000185:
023647,000186: 23,3326 31543 CAE ACCDOTR # .3ACCDOTR AT PI/2(8)
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Page 560 |
023649,000188: 23,3327 00006 EXTEND
023650,000189: 23,3330 73404 MP DGBF
023651,000190: 23,3331 55537 TS KR
023652,000191: 23,3332 00006 EXTEND
023653,000192: 23,3333 70000 SQUARE
023654,000193: 23,3334 55540 TS KR2
023655,000194:
023656,000195: 23,3335 33406 CAF .5ACCMIN
023657,000196: 23,3336 55651 TS .5ACCMNQ # INITIALIZE FOR DESCENT
023658,000197: 23,3337 55652 TS .5ACCMNR
023659,000198: 23,3340 55653 TS .5ACCMNU
023660,000199: 23,3341 55654 TS .5ACCMNV
023661,000200:
023662,000201: 23,3342 55650 TS .5ACCMNE # (QUIRK FIX)
023663,000202:
023664,000203: 23,3343 33407 CAF DBMNMP # SET UP DESCENT MINIMUM IMPULSE DEADBANDS
023665,000204: 23,3344 55646 TS DBMINIMP # (DUPLICATES MONITOR FUNCTION)
023666,000205: 23,3345 55647 TS MINIMPDB
023667,000206:
023668,000207: 23,3346 00006 EXTEND # SET UP P-AXIS TO GO TO DUMMYFIL
023669,000208: 23,3347 33372 DCA DF2CADR
023670,000209: 23,3350 53602 DXCH PFILTADR
023671,000210:
023672,000211: 23,3351 00006 EXTEND
023673,000212: 23,3352 33370 DCA PAXADIDL
023674,000213: 23,3353 52346 DXCH T5ADR
023675,000214: 23,3354 33373 MOREIDLE CAF MS100
023676,000215: 23,3355 54030 TS TIME5
023677,000216: 23,3356 14606 TCF RESUME
023678,000217: 23,3357 03141 46006 IDLERADR 2CADR DAPIDLER
023679,000218:
023680,000219: 23,3361 23,3357 GOIDLADR EQUALS IDLERADR
023681,000220:
023682,000221:
023683,000222: 23,3361 02213 VISFZADR GENADR CHKVISFZ
023684,000223: 23,3362 33402 WCHANGER CA 0.31250 # CHANGE WFORP AND WFORQR
023685,000224: 23,3363 55655 TS WFORP # TO REFLECT 100 MS INTERVAL
023686,000225: 23,3364 55656 TS WFORQR # WHICH CAUSES SMOOTHING IN RATE FILTER.
023687,000226: 23,3365 14602 TCF TASKOVER # BETWEEN 1ST QR AND 2ND P AFTER STARTDAP
023688,000227: 23,3366 26501 .707P DEC .70711 # SQUARE ROOT OF 1/2
023689,000228: 23,3367 02055 46006 PAXADIDL 2CADR PAXIS
023690,000229: 23,3371 02544 54006 DF2CADR 2CADR DUMMYFIL
023691,000230: 23,3373 37766 MS100 OCTAL 37766
023692,000231: 23,3374 00033 0.00167 DEC 0.00167
023693,000232: 23,3375 23712 0.62170 DEC 0.62170
023694,000233: 23,3376 00022 180MS OCTAL 00022 # 18 BITS
023695,000234: 23,3377 25705 .68387 DEC 0.68387
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023697,000236: 23,3400 24000 10AT16 DEC 0.62500
023698,000237: 23,3401 15146 6.6AT16 DEC 0.4125 # *** IS THIS NEEDED
023699,000238: 23,3402 12000 0.31250 DEC 0.31250
023700,000239:
023701,000240: 23,3403 02215 DELTADOT DEC 0.07111 # 0.2 DEG/SEC SCALED AT PI/64
023702,000241: 23,3404 23146 DGBF DEC 0.6
023703,000242: 23,3405 70000 OCT70000 OCT 70000
023704,000243: 23,3406 11643 .5ACCMIN DEC 0.30680
023705,000244: 23,3407 00033 DBMNMP DEC 0.00167 # .3 DEGREES SCALED AT PI RADIANS
023706,000245: 23,3410 02315 .075DEC DEC 0.07500 # = T(1-K + KT/(2CSP) ) WHEN T = .1,K=.5
023707,000246: 23,3411 ENDDAP23 EQUALS
End of include-file DAPIDLER_PROGRAM.agc. Parent file is MAIN.agc