Source Code

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.

023454,000002:                                                                                                  ## Copyright:    Public domain.
023455,000003:                                                                                                  ## Filename:     DAPIDLER_PROGRAM.agc
023456,000004:                                                                                                  ## Purpose:      Part of the source code for Aurora (revision 12).
023457,000005:                                                                                                  ## Assembler:    yaYUL
023458,000006:                                                                                                  ## Contact:      Ron Burkey <info@sandroid.org>.
023459,000007:                                                                                                  ## Website:      https://www.ibiblio.org/apollo.
023460,000008:                                                                                                  ## Pages:        557-561
023461,000009:                                                                                                  ## Mod history:  2016-09-20 JL   Created.
023462,000010:                                                                                                  ##               2016-10-15 HG   FIx operand IZZMASK -> IZZTASK
023463,000011:                                                                                                  ##               2016-12-08 RSB  Proofed comments with octopus/ProoferComments
023464,000012:                                                                                                  ##                               and fixed the errors found.
023465,000013: 
023466,000014:                                                                                                  ## This source code has been transcribed or otherwise adapted from
023467,000015:                                                                                                  ## digitized images of a hardcopy from the private collection of 
023468,000016:                                                                                                  ## Don Eyles.  The digitization was performed by archive.org.
023469,000017: 
023470,000018:                                                                                                  ## Notations on the hardcopy document read, in part:
023471,000019: 
023472,000020:                                                                                                  ##       473423A YUL SYSTEM FOR BLK2: REVISION 12 of PROGRAM AURORA BY DAP GROUP
023473,000021:                                                                                                  ##       NOV 10, 1966
023474,000022: 
023475,000023:                                                                                                  ##       [Note that this is the date the hardcopy was made, not the
023476,000024:                                                                                                  ##       date of the program revision or the assembly.]
023477,000025: 
023478,000026:                                                                                                  ## The scan images (with suitable reduction in storage size and consequent 
023479,000027:                                                                                                  ## reduction in image quality) are available online at 
023480,000028:                                                                                                  ##       https://www.ibiblio.org/apollo.  
023481,000029:                                                                                                  ## The original high-quality digital images are available at archive.org:
023482,000030:                                                                                                  ##       https://archive.org/details/aurora00dapg
023483,000031: 

Page 557

023485,000033:                                                                                                  #  THE DAPIDLER PROGRAM IS STARTED BY FRESH START AND RESTART.             THE DAPIDLER PROGRAM IS DONE 10 TIMES
023486,000034:                                                                                                  #  PER SECOND UNTIL THE ASTRONAUT DESIRES THE DAP TO WAKE UP, AND THE IMU AND CDUS ARE READY FOR USE BY THE DAP.
023487,000035:                                                                                                  #  THE NECESSARY INITIALIZATION OF THE DAP IS DONE BY THE DAPIDLER PROGRAM.
023488,000036:                                                                                                  #  ADDITIONAL WORK MUST BE DONE ON DAPIDLER IN THE FUTURE.
023489,000037: 
023490,000038: 
023491,000039: 
023492,000040: 23,3141           22016        DAPIDLER           LXCH     BANKRUPT                              #  INTERRUPT LEAD IN (CONTINUED)
023493,000041: 23,3142           00006                           EXTEND                                         
023494,000042: 23,3143           22012                           QXCH     QRUPT                                 
023495,000043: 
023496,000044: 23,3144           37652                           CAF      BIT6                                  
023497,000045: 23,3145           70367                           MASK     IMODES30                              
023498,000046: 23,3146           10000                           CCS      A                                     
023499,000047: 23,3147           13354                           TCF      MOREIDLE                              
023500,000048: 
023501,000049: 23,3150           37654                           CAF      BIT4                                  
023502,000050: 23,3151           67653                           AD       BIT5                                  
023503,000051: 23,3152           00006                           EXTEND                                         
023504,000052: 23,3153           02012                           RAND     12                                    
023505,000053: 23,3154           10000                           CCS      A                                     
023506,000054: 23,3155           13354                           TCF      MOREIDLE                              
023507,000055: 
023508,000056: 23,3156           37646                           CAF      BIT10                                 #  BIT10 OF 30 IS PNGCS CONTROL OF S/C
023509,000057: 23,3157           00006                           EXTEND                                         
023510,000058: 23,3160           02030                           RAND     30                                    #  BITS IN 30 ARE INVERTED
023511,000059: 23,3161           10000                           CCS      A                                     
023512,000060: 23,3162           13354                           TCF      MOREIDLE                              
023513,000061: 
023514,000062: 23,3163           37643                           CAF      BIT13                                 #  ATTITUDE HOLD BIT. INVERTED.
023515,000063: 23,3164           00006                           EXTEND                                         
023516,000064: 23,3165           02031                           RAND     31                                    
023517,000065: 23,3166           00006                           EXTEND                                         
023518,000066: 23,3167           13175                           BZF      STARTDAP                              
023519,000067: 
023520,000068: 23,3170           37642                           CA       BIT14                                 
023521,000069: 23,3171           00006                           EXTEND                                         
023522,000070: 23,3172           02031                           RAND     31                                    
023523,000071: 23,3173           10000                           CCS      A                                     
023524,000072: 23,3174           13354                           TCF      MOREIDLE                              
023525,000073: 
023526,000074: 23,3175           37665        STARTDAP           CAF      ZERO                                  
023527,000075: 23,3176           54031                           TS       TIME6                                 
023528,000076: 23,3177           55545                           TS       TIMEOFFQ                              
023529,000077: 23,3200           55546                           TS       TIMEOFFR                              
023530,000078: 23,3201           55473                           TS       LASTPER                               
023531,000079: 23,3202           55474                           TS       LASTQER                               
023532,000080: 23,3203           55475                           TS       LASTRER                               
023533,000081: 23,3204           55476                           TS       PERROR                                #  INITIALIZE TEMPS FOR ATT ERROR DISPLAY
023534,000082: 23,3205           55477                           TS       QERROR                                

Page 558

023536,000084: 23,3206           55500                           TS       RERROR                                
023537,000085: 23,3207           54766                           TS       T6NEXT                                
023538,000086: 23,3210           54767                           TS       T6NEXT     +1                         
023539,000087: 23,3211           54773                           TS       DELAYCTR                              
023540,000088: 23,3212           55615                           TS       JETRATE                               
023541,000089: 23,3213           55616                           TS       JETRATEQ                              
023542,000090: 23,3214           55617                           TS       JETRATER                              
023543,000091: 23,3215           55642                           TS       AOSQTERM                              
023544,000092: 23,3216           55643                           TS       AOSRTERM                              
023545,000093: 23,3217           55512                           TS       CH5MASK                               
023546,000094: 23,3220           55513                           TS       CH6MASK                               
023547,000095: 23,3221           54066                           TS       DELTAP                                
023548,000096: 23,3222           55416                           TS       OMEGAP                                
023549,000097: 23,3223           55417                           TS       OMEGAQ                                
023550,000098: 23,3224           55421                           TS       OMEGAR                                
023551,000099: 23,3225           55426                           TS       OMEGAPD                               
023552,000100: 23,3226           55427                           TS       OMEGAQD                               
023553,000101: 23,3227           55430                           TS       OMEGARD                               
023554,000102: 23,3230           55626                           TS       TQR                                   
023555,000103: 23,3231           55620                           TS       NO.QJETS                              
023556,000104: 23,3232           55621                           TS       NO.RJETS                              
023557,000105:                                                                                                  ## HANDWRITTEN NOTATION:
023558,000106:                                                                                                  ## TS  (1-K)GR
023559,000107:                                                                                                  ##     (1-K)/8
023560,000108: 23,3233           33375                           CAF      0.62170                               
023561,000109: 23,3234           55464                           TS       4JETTORK                              
023562,000110: 23,3235           33377                           CAF      .68387                                #  2200 FT LBS. SCALED AT 2(10) X PI.
023563,000111: 23,3236           55465                           TS       JETTORK4                              #  QR AXIS JET TORQUE FOR 4 JETS.
023564,000112: 23,3237           30032                           CA       CDUX                                  
023565,000113: 23,3240           55431                           TS       OLDXFORP                              
023566,000114: 23,3241           54774                           TS       CDUXD                                 
023567,000115: 23,3242           30033                           CA       CDUY                                  
023568,000116: 23,3243           55432                           TS       OLDYFORP                              
023569,000117: 23,3244           55433                           TS       OLDYFORQ                              
023570,000118: 23,3245           54775                           TS       CDUYD                                 
023571,000119: 23,3246           30034                           CA       CDUZ                                  
023572,000120: 23,3247           55434                           TS       OLDZFORQ                              
023573,000121: 23,3250           54776                           TS       CDUZD                                 
023574,000122: 23,3251           37652                           CAF      BIT6                                  #  ENABLE CDU ERR CNTR FOR ATT ERROR DISPLA
023575,000123: 23,3252           00006                           EXTEND                                         
023576,000124: 23,3253           05012                           WOR      12                                    
023577,000125: 
023578,000126: 23,3254           33361                           CA       VISFZADR                              
023579,000127: 23,3255           55613                           TS       PJUMPADR                              
023580,000128: 23,3256           33410                           CA       .075DEC                               #  INITIALIZE 100 MS JET PULSE TORQUE TERMS
023581,000129: 23,3257           55622                           TS       100MSPTQ                              #    TO VALUES WHEN K = 1/2.
023582,000130: 23,3260           55623                           TS       QR.1STOQ                              #  AOSTASK MUST VARY THESE AS K VARIES.
023583,000131:                                                                                                  #  ****** JON ADDELSTON TAKE NOT OF THE ABOVE COMMENT - DICK GRAN.

Page 559

023585,000133: 23,3261           33400                           CA       10AT16                                
023586,000134: 23,3262           55655                           TS       WFORP                                 ## HANDWRITTEN NOTATION:
023587,000135: 23,3263           33401                           CA       6.6AT16                               ## <<-THIS INSTRUCTION IS CROSSED OUT, BUT THEN
023588,000136:                                                                                                  ## THERE IS A NOTATION "GOOD AS IS"
023589,000137: 23,3264           55656                           TS       WFORQR                                
023590,000138: 
023591,000139: 23,3265           37657                           CAF      ONE                                   
023592,000140: 23,3266           04536                           TC       WAITLIST                              
023593,000141: 23,3267           03525 52006                     2CADR    IXXTASK                               
023594,000142: 
023595,000143: 23,3271           37657                           CA       ONE                                   
023596,000144: 23,3272           04536                           TC       WAITLIST                              
023597,000145: 23,3273           03536 52006                     2CADR    IYYTASK                               
023598,000146:                                                                                                  ## HANDWRITTEN NOTATION:
023599,000147:                                                                                                  ##   CAF      IPOMS
023600,000148:                                                                                                  ##   TC       WAITLIST
023601,000149:                                                                                                  ##   2CADR    WCHANGER
023602,000150: 23,3275           37657                           CA       ONE                                   
023603,000151: 23,3276           04536                           TC       WAITLIST                              
023604,000152: 23,3277           03547 52006                     2CADR    IZZTASK                               
023605,000153: 
023606,000154:                                                                                                  #  THIS SECTION COMPUTES THE RATE OF CHANGE OF ACCELERATION DUE TO THE
023607,000155:                                                                                                  #    ROTATION OF THE GIMBAL ENGINE. THE EQUATION IMPLEMENTED IN BOTH THE
023608,000156:                                                                                                  #    Y-X PLANE AND THE Z-X PLANE IS -- D(ALPHA)/DT = T L/I * D(DELTA)/DT
023609,000157:                                                                                                  #    WHERE ----
023610,000158:                                                                                                  #              T = ENGINE THRUST COMMAND
023611,000159:                                                                                                  #              L = PIVOT TO CG DISTANCE OF THE GIMBAL ENGINE
023612,000160:                                                                                                  #              I = INERTIA
023613,000161:                                                                                                  #              DELTA = GIMBAL ENGINE ANGLE MEASURED FROM THE X AXIS.
023614,000162: 
023615,000163: 23,3301           33403                           CAF      DELTADOT                              #  0.2 DEG/SEC SCALED AT PI/64
023616,000164: 23,3302           00006                           EXTEND                                         
023617,000165: 23,3303           71526                           MP       L,PVT-CG                              #  GIMBAL PIVOT TO C.G. DISTANCE ,SCALE=8.
023618,000166: 23,3304           00006                           EXTEND                                         
023619,000167: 23,3305           71533                           MP       THRSTCMD                              #  COMMANDED THRUST SCALED AT 2(14) =16384.
023620,000168: 23,3306           52066                           DXCH     ITEMP1                                
023621,000169: 23,3307           00006                           EXTEND                                         
023622,000170: 23,3310           30066                           DCA      ITEMP1                                
023623,000171: 23,3311           00006                           EXTEND                                         
023624,000172: 23,3312           11463                           DV       IZZ                                   #  AT 2(18)
023625,000173: 23,3313           55543                           TS       ACCDOTR                               #  AT PI/2(7)
023626,000174: 23,3314           52066                           DXCH     ITEMP1                                
023627,000175: 23,3315           00006                           EXTEND                                         
023628,000176: 23,3316           11462                           DV       IYY                                   #  AT 2(18)
023629,000177: 23,3317           55541                           TS       ACCDOTQ                               #  AT PI/2(7)
023630,000178: 
023631,000179: 23,3320           00006                           EXTEND                                         #  .3ACCDOTQ AT PI/2(8)
023632,000180: 23,3321           73404                           MP       DGBF                                  
023633,000181: 23,3322           55535                           TS       KQ                                    
023634,000182: 23,3323           00006                           EXTEND                                         
023635,000183: 23,3324           70000                           SQUARE                                         
023636,000184: 23,3325           55536                           TS       KQ2                                   #  KQ(2)
023637,000185: 
023638,000186: 23,3326           31543                           CAE      ACCDOTR                               #  .3ACCDOTR AT PI/2(8)

Page 560

023640,000188: 23,3327           00006                           EXTEND                                         
023641,000189: 23,3330           73404                           MP       DGBF                                  
023642,000190: 23,3331           55537                           TS       KR                                    
023643,000191: 23,3332           00006                           EXTEND                                         
023644,000192: 23,3333           70000                           SQUARE                                         
023645,000193: 23,3334           55540                           TS       KR2                                   
023646,000194: 
023647,000195: 23,3335           33406                           CAF      .5ACCMIN                              
023648,000196: 23,3336           55651                           TS       .5ACCMNQ                              #  INITIALIZE FOR DESCENT
023649,000197: 23,3337           55652                           TS       .5ACCMNR                              
023650,000198: 23,3340           55653                           TS       .5ACCMNU                              
023651,000199: 23,3341           55654                           TS       .5ACCMNV                              
023652,000200: 
023653,000201: 23,3342           55650                           TS       .5ACCMNE                              #  (QUIRK FIX)
023654,000202: 
023655,000203: 23,3343           33407                           CAF      DBMNMP                                #  SET UP DESCENT MINIMUM IMPULSE DEADBANDS
023656,000204: 23,3344           55646                           TS       DBMINIMP                              #  (DUPLICATES MONITOR FUNCTION)
023657,000205: 23,3345           55647                           TS       MINIMPDB                              
023658,000206: 
023659,000207: 23,3346           00006                           EXTEND                                         #  SET UP P-AXIS TO GO TO DUMMYFIL
023660,000208: 23,3347           33372                           DCA      DF2CADR                               
023661,000209: 23,3350           53602                           DXCH     PFILTADR                              
023662,000210: 
023663,000211: 23,3351           00006                           EXTEND                                         
023664,000212: 23,3352           33370                           DCA      PAXADIDL                              
023665,000213: 23,3353           52346                           DXCH     T5ADR                                 
023666,000214: 23,3354           33373        MOREIDLE           CAF      MS100                                 
023667,000215: 23,3355           54030                           TS       TIME5                                 
023668,000216: 23,3356           14606                           TCF      RESUME                                
023669,000217: 23,3357           03141 46006  IDLERADR           2CADR    DAPIDLER                              
023670,000218: 
023671,000219: 23,3361  23,3357               GOIDLADR           EQUALS   IDLERADR                              
023672,000220: 
023673,000221: 
023674,000222: 23,3361           02213        VISFZADR           GENADR   CHKVISFZ                              
023675,000223: 23,3362           33402        WCHANGER           CA       0.31250                               #  CHANGE WFORP AND WFORQR
023676,000224: 23,3363           55655                           TS       WFORP                                 #  TO REFLECT 100 MS INTERVAL
023677,000225: 23,3364           55656                           TS       WFORQR                                #  WHICH CAUSES SMOOTHING IN RATE FILTER.
023678,000226: 23,3365           14602                           TCF      TASKOVER                              #  BETWEEN 1ST QR AND 2ND P AFTER STARTDAP
023679,000227: 23,3366           26501        .707P              DEC      .70711                                #  SQUARE ROOT OF 1/2
023680,000228: 23,3367           02055 46006  PAXADIDL           2CADR    PAXIS                                 
023681,000229: 23,3371           02544 54006  DF2CADR            2CADR    DUMMYFIL                              
023682,000230: 23,3373           37766        MS100              OCTAL    37766                                 
023683,000231: 23,3374           00033        0.00167            DEC      0.00167                               
023684,000232: 23,3375           23712        0.62170            DEC      0.62170                               
023685,000233: 23,3376           00022        180MS              OCTAL    00022                                 #  18 BITS                
023686,000234: 23,3377           25705        .68387             DEC      0.68387                               

Page 561

023688,000236: 23,3400           24000        10AT16             DEC      0.62500                               
023689,000237: 23,3401           15146        6.6AT16            DEC      0.4125                                #  *** IS THIS NEEDED
023690,000238: 23,3402           12000        0.31250            DEC      0.31250                               
023691,000239: 
023692,000240: 23,3403           02215        DELTADOT           DEC      0.07111                               #  0.2 DEG/SEC SCALED AT PI/64
023693,000241: 23,3404           23146        DGBF               DEC      0.6                                   
023694,000242: 23,3405           70000        OCT70000           OCT      70000                                 
023695,000243: 23,3406           11643        .5ACCMIN           DEC      0.30680                               
023696,000244: 23,3407           00033        DBMNMP             DEC      0.00167                               #  .3 DEGREES SCALED AT PI RADIANS
023697,000245: 23,3410           02315        .075DEC            DEC      0.07500                               #  = T(1-K + KT/(2CSP) ) WHEN T = .1,K=.5
023698,000246: 23,3411                        ENDDAP23           EQUALS                                         

End of include-file DAPIDLER_PROGRAM.agc.  Parent file is MAIN.agc