Source Code

This is a reconstruction of the AGC program Luminary 99 Rev 0. It was the second release of the Lunar Module flight software targeted for use in Apollo 11, after Luminary 97. A bug (which had been around since at least Apollo 10, Luminary 69) was discovered in Rev 0 shortly before the Apollo 11 flight, resulting in a last minute revision into Rev 1, which is what actually flew rather than the Rev 0 presented here. A hardcopy of Rev 0 is known to exist — it belonged to AGC developer Allan Klumpp for many years — but unfortunately the Virtual AGC Project has not had access to that hardcopy. Thus the code you see here had been reconstructed (we believe accurately) rather than transcribed. The first step of the reconstruction of the Rev 0 source code was the transcription of the Rev 1 source code from a hardcopy in the MIT Museum collection. The process of reverting the active portion of the source code (i.e., other than program comments) from Rev 1 to Rev 0 was very minor, consisting only of moving the position of the STARTSB1 label in FRESH START AND RESTART. Allan had previously given us the checksums of the memory banks of Rev 0, and we have verified the program presented here has checksums identical to all banks of Allan's listing of Rev 0. The notations on Allan's Rev 0 program listing read, in part:

	GAP:  ASSEMBLE REVISION 099 OF AGC PROGRAM LUMINARY BY NASA 2021112-051

A single program comment is known to differ between Rev 0 and Rev 1, but these are harder to reconstruct and verify than changes to the active portion of the code. Thus it is possible that there are additional differences between the program comments in Rev 0 and Rev 1 that are unknown to us, and therefore are not reflected in the code presented here.

061776,000002:                                                                                                  ## Copyright:   Public domain.
061777,000003:                                                                                                  ## Filename:    DAPIDLER_PROGRAM.agc
061778,000004:                                                                                                  ## Purpose:     Part of the reconstructed source code for LMY99 Rev 0,
061779,000005:                                                                                                  ##              otherwise known as Luminary Rev 99, the second release
061780,000006:                                                                                                  ##              of the Apollo Guidance Computer (AGC) software for Apollo 11.
061781,000007:                                                                                                  ##              It differs from LMY99 Rev 1 (the flown version) only in the
061782,000008:                                                                                                  ##              placement of a single label. The corrections shown here have
061783,000009:                                                                                                  ##              been verified to have the same bank checksums as AGC developer
061784,000010:                                                                                                  ##              Allan Klumpp's copy of Luminary Rev 99, and so are believed
061785,000011:                                                                                                  ##              to be accurate. This file is intended to be a faithful 
061786,000012:                                                                                                  ##              recreation, except that the code format has been changed to 
061787,000013:                                                                                                  ##              conform to the requirements of the yaYUL assembler rather than 
061788,000014:                                                                                                  ##              the original YUL assembler.
061789,000015:                                                                                                  ##
061790,000016:                                                                                                  ## Assembler:   yaYUL
061791,000017:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
061792,000018:                                                                                                  ## Website:     www.ibiblio.org/apollo.
061793,000019:                                                                                                  ## Pages:       1410-1420
061794,000020:                                                                                                  ## Mod history: 2009-05-10 SN  (Sergio Navarro).  Started adapting
061795,000021:                                                                                                  ##                              from the Luminary131/ file of the same
061796,000022:                                                                                                  ##                              name, using Luminary099 page images.
061797,000023:                                                                                                  ##              2016-12-18 RSB  Proofed text comments with octopus/ProoferComments
061798,000024:                                                                                                  ##                              and corrected the errors found.
061799,000025:                                                                                                  ##              2017-01-28 RSB  Comment-text fixes identified for Luminary 69.
061800,000026:                                                                                                  ##              2017-08-01 MAS  Created from LMY99 Rev 1.
061801,000027: 
061802,000028:                                                                                                  ## This source code has been transcribed or otherwise adapted from
061803,000029:                                                                                                  ## digitized images of a hardcopy from the MIT Museum.  The digitization
061804,000030:                                                                                                  ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
061805,000031:                                                                                                  ## the Museum.  Many thanks to both.  The images (with suitable reduction
061806,000032:                                                                                                  ## in storage size and consequent reduction in image quality as well) are
061807,000033:                                                                                                  ## available online at www.ibiblio.org/apollo.  If for some reason you
061808,000034:                                                                                                  ## find that the images are illegible, contact me at info@sandroid.org
061809,000035:                                                                                                  ## about getting access to the (much) higher-quality images which Paul
061810,000036:                                                                                                  ## actually created.
061811,000037:                                                                                                  ##
061812,000038:                                                                                                  ## The code has been modified to match LMY99 Revision 0, otherwise
061813,000039:                                                                                                  ## known as Luminary Revision 99, the Apollo 11 software release preceeding
061814,000040:                                                                                                  ## the listing from which it was transcribed. It has been verified to
061815,000041:                                                                                                  ## contain the same bank checksums as AGC developer Allan Klumpp's listing
061816,000042:                                                                                                  ## of Luminary Revision 99 (for which we do not have scans).
061817,000043:                                                                                                  ##
061818,000044:                                                                                                  ## Notations on Allan Klumpp's listing read, in part:
061819,000045:                                                                                                  ##
061820,000046:                                                                                                  ##      ASSEMBLE REVISION 099 OF AGC PROGRAM LUMINARY BY NASA 2021112-51
061821,000047: 

Page 1410

061823,000049:                                                                                                  #  THE DAPIDLER PROGRAM IS STARTED BY FRESH START AND RESTART.  THE DAPIDLER PROGRAM IS DONE 10 TIMES
061824,000050:                                                                                                  #  PER SECOND UNTIL THE ASTRONAUT DESIRES THE DAP TO WAKE UP, AND THE IMU AND CDUS ARE READY FOR USE BY THE DAP.
061825,000051:                                                                                                  #  THE NECESSARY INITIALIZATION OF THE DAP IS DONE BY THE DAPIDLER PROGRAM.
061826,000052: 
061827,000053: 16,2000                                           BANK     16                                    
061828,000054: 16,2000                                           SETLOC   DAPS1                                 
061829,000055: 16,2000                                           BANK                                           
061830,000056: 
061831,000057: 16,2000  E6,1537                                  EBANK=   AOSQ                                  
061832,000058: 
061833,000059: 16,2000                                           COUNT*   $$/DAPID                              
061834,000060: 
061835,000061: 16,2000           00006        CHEKBITS           EXTEND                                         
061836,000062: 16,2001           00031                           READ     CHAN31                                #  IF BOTH BIT13 AND BIT14 ARE ONE, THEN
061837,000063: 16,2002           40000                           COM                                            #  THE MODE SELECT SWITCH IS IN THE OFF
061838,000064: 16,2003           74355                           MASK     BIT13-14                              #  POSITION, AND SO THE DAP SHOULD BE OFF,
061839,000065: 16,2004           00006                           EXTEND                                         #  WITH NO ATTITUDE ERROR DISPLAY.
061840,000066: 16,2005           12157                           BZF      MOREIDLE                              
061841,000067: 
061842,000068: 16,2006           41303                           CS       IMODES33                              
061843,000069: 16,2007           74746                           MASK     BIT6                                  
061844,000070: 16,2010           10000                           CCS      A                                     
061845,000071: 16,2011           12206                           TCF      JUMPDSP                               
061846,000072: 16,2012           41273                           CS       RCSFLAGS                              #  IMU NOT USABLE.  SET UP INITIALIZATION
061847,000073: 16,2013           74751                           MASK     BIT3                                  #  FLAG FOR ATT ERROR DISPLAY ROUTINE.
061848,000074: 16,2014           27273                           ADS      RCSFLAGS                              
061849,000075: 16,2015           12163                           TCF      SHUTDOWN                              
061850,000076: 
061851,000077: 16,2016           34742        CHEKMORE           CAF      BIT10                                 #  BIT 10 OF 30 IS PGNCS CONTROL OF S/C
061852,000078: 16,2017           00006                           EXTEND                                         
061853,000079: 16,2020           02030                           RAND     CHAN30                                #  BITS IN 30 ARE INVERTED
061854,000080: 16,2021           10000                           CCS      A                                     
061855,000081: 16,2022           12157                           TCF      MOREIDLE                              
061856,000082: 
061857,000083: 16,2023           00002                           RETURN                                         
061858,000084: 

Page 1411

061860,000086:                                                                                                  #  DAPIDLER ENTRY.
061861,000087: 
061862,000088: 16,2024           22016        DAPIDLER           LXCH     BANKRUPT                              #  INTERRUPT LEAD INS (CONTINUED)
061863,000089: 16,2025           00006                           EXTEND                                         
061864,000090: 16,2026           22012                           QXCH     QRUPT                                 
061865,000091: 
061866,000092: 16,2027           31273                           CA       RCSFLAGS                              
061867,000093: 16,2030           74737                           MASK     BIT13                                 
061868,000094: 16,2031           10000                           CCS      A                                     #  CHECK IF 1/ACCJOB HAS BEEN SET UP SINCE
061869,000095: 16,2032           12041                           TCF      CHECKUP                               #  THE LAST FRESH START OR RESTART.
061870,000096: 16,2033           34737                           CA       BIT13                                 
061871,000097: 16,2034           27273                           ADS      RCSFLAGS                              #  BIT 13 IS 1.
061872,000098: 16,2035           37715                           CAF      PRIO27                                
061873,000099: 16,2036           05072                           TC       NOVAC                                 #  SET UP JOB TO DO A LITTLE INITIALIZATION
061874,000100: 16,2037  E6,1537                                  EBANK=   AOSQ                                  #        AND EXECUTE 1/ACCS.
061875,000101: 16,2037           02447 40106                     2CADR    1/ACCSET                              #  (WILL BRANCH TO MOREIDLE ON ACCSOKAY)
061876,000102: 
061877,000103: 16,2041           02000        CHECKUP            TC       CHEKBITS                              #  CHECK TO SEE IF LM DAP IS TO GO ON AND
061878,000104:                                                                                                  #        DO ERROR DISPLAY.
061879,000105: 
061880,000106: 16,2042           30111                           CAE      DAPBOOLS                              #  IF 1/ACCS HAS NOT BEEN COMPLETED, IDLE.
061881,000107: 16,2043           74751                           MASK     ACCSOKAY                              #        NOTE:   ONLY FRESH START AND RESTART
061882,000108: 16,2044           00006                           EXTEND                                         #                KNOCK THIS BIT DOWN.
061883,000109: 16,2045           12157                           BZF      MOREIDLE                              
061884,000110: 
061885,000111: 16,2046           04674        STARTDAP           TC       IBNKCALL                              #  ZERO ATTITUDE ERROR AND DESIRED RATES.
061886,000112: 16,2047           40153                           FCADR    ZATTEROR                              
061887,000113: 16,2050           34755                           CAF      ZERO                                  #  ********** INITIALIZE: **********
061888,000114: 16,2051           55524                           TS       TJP                                   
061889,000115: 16,2052           55525                           TS       TJU                                   
061890,000116: 16,2053           55526                           TS       TJV                                   
061891,000117: 16,2054           55421                           TS       OMEGAP                                #  RATES IN BODY (PILOT) COORDINATES.
061892,000118: 16,2055           55422                           TS       OMEGAQ                                
061893,000119: 16,2056           55423                           TS       OMEGAR                                
061894,000120: 16,2057           55430                           TS       TRAPEDP                               
061895,000121: 16,2060           55431                           TS       TRAPEDQ                               
061896,000122: 16,2061           55432                           TS       TRAPEDR                               
061897,000123: 16,2062           55537                           TS       AOSQ                                  #  OFFSET ACCELERATION ESTIMATES.
061898,000124: 16,2063           55540                           TS       AOSQ       +1                         
061899,000125: 16,2064           55541                           TS       AOSR                                  
061900,000126: 16,2065           55542                           TS       AOSR       +1                         
061901,000127: 16,2066           55424                           TS       ALPHAQ                                #  COPIES OF OFFSET ESTIMATES FOR DOWNLIST.
061902,000128: 16,2067           55425                           TS       ALPHAR                                
061903,000129: 16,2070           55501                           TS       NEGUQ                                 
061904,000130: 16,2071           55503                           TS       NEGUR                                 
061905,000131: 16,2072           55545                           TS       AOSQTERM                              #  QRAXIS RATE DERIVATION TERMS AND KALMAN
061906,000132: 16,2073           55546                           TS       AOSRTERM                              #  FILTER INITIALIZATION TERMS.
061907,000133: 16,2074           55510                           TS       QACCDOT                               #  DESCENT ACCELERATION DERIVATIVE EST.
061908,000134: 16,2075           55512                           TS       RACCDOT                               

Page 1412

061910,000136: 16,2076           55502                           TS       ALLOWGTS                              #  AOSTASK FLAG FOR QRAXIS RCS CONTROL USE.
061911,000137: 16,2077           55631                           TS       COTROLER                              #  DO TRYGTS ON FIRST PASS (WILL GO TO RCS)
061912,000138: 16,2100           55633                           TS       INGTS                                 #  RECOGNIZE FIRST GTS PASS AS SUCH.
061913,000139: 16,2101           55632                           TS       QGIMTIMR                              #  STOP GIMBAL DRIVES.  (PROBABLY WOULD BE
061914,000140: 16,2102           55634                           TS       RGIMTIMR                              #        GOOD ENOUGH JUST TO INACTIVATE TIMERS)
061915,000141: 16,2103           55460                           TS       OLDPMIN                               #  MINIMUM IMPULSE MODE ERASABLES
061916,000142: 16,2104           55461                           TS       OLDQRMIN                              
061917,000143: 16,2105           55767                           TS       PJETCTR                               #  INITIALIZE DOCKED JET INHIBITION
061918,000144: 16,2106           55770                           TS       UJETCTR                               #  COUNTERS
061919,000145: 16,2107           55771                           TS       VJETCTR                               
061920,000146: 16,2110     4747               CALLGMBL           EQUALS   BIT5                                  #  RCSFLAGS INITIALIZATION.
061921,000147: 16,2110           42202                           CS       MANFLAG                               
061922,000148: 16,2111           71273                           MASK     RCSFLAGS                              #  NEGUQ(R) HAVE BEEN GENERATED.
061923,000149: 16,2112           55273                           TS       RCSFLAGS                              
061924,000150: 
061925,000151:                                                                                                  #  SET UP "OLD" MEASURED CDU ANGLES:
061926,000152: 
061927,000153: 16,2113           00006                           EXTEND                                         
061928,000154: 16,2114           30033                           DCA      CDUX                                  #  OLDXFORP AND OLDYFORP
061929,000155: 16,2115           53441                           DXCH     OLDXFORP                              
061930,000156: 16,2116           30034                           CA       CDUZ                                  
061931,000157: 16,2117           55442                           TS       OLDZFORQ                              
061932,000158: 16,2120           41273                           CS       RCSFLAGS                              
061933,000159: 16,2121           74740                           MASK     BIT12                                 
061934,000160: 16,2122           27273                           ADS      RCSFLAGS                              #  BIT 12 SET TO 1.
061935,000161: 16,2123           34751                           CA       FOUR                                  
061936,000162: 16,2124           55535                           TS       SKIPU                                 
061937,000163: 16,2125           55536                           TS       SKIPV                                 
061938,000164: 16,2126           34733                           CA       POSMAX                                
061939,000165: 16,2127           54031                           TS       TIME6                                 
061940,000166: 16,2130           55466                           TS       T6NEXT                                
061941,000167: 16,2131           55470                           TS       T6FURTHA                              
061942,000168: 16,2132           34755                           CA       ZERO                                  
061943,000169: 16,2133           55467                           TS       T6NEXT     +1                         
061944,000170: 16,2134           55471                           TS       T6FURTHA   +1                         
061945,000171: 16,2135           55465                           TS       NXT6ADR                               
061946,000172: 16,2136           55472                           TS       NEXTP                                 
061947,000173: 16,2137           55473                           TS       NEXTU                                 
061948,000174: 16,2140           55474                           TS       NEXTV                                 
061949,000175: 16,2141           44363                           CS       TEN                                   
061950,000176: 16,2142           55757                           TS       DAPZRUPT                              #  JASK NOT IN PROGRESS, INITIALIZE NEG.
061951,000177: 16,2143           34752                           CA       TWO                                   
061952,000178: 16,2144           55433                           TS       NPTRAPS                               
061953,000179: 16,2145           55434                           TS       NQTRAPS                               
061954,000180: 16,2146           55435                           TS       NRTRAPS                               
061955,000181: 16,2147           00006                           EXTEND                                         
061956,000182: 16,2150           32205                           DCA      PAXADIDL                              
061957,000183: 16,2151           53275                           DXCH     T5ADR                                 
061958,000184: 16,2152           37727        SETTIME5           CAF      MS100                                 
061959,000185: 16,2153           54030                           TS       TIME5                                 

Page 1413

061961,000187: 16,2154           15270                           TCF      RESUME                                
061962,000188: 16,2155  E6,1537                                  EBANK=   AOSQ                                  
061963,000189: 16,2155           02024 34106  IDLERADR           2CADR    DAPIDLER                              
061964,000190: 
061965,000191: 16,2157           04674        MOREIDLE           TC       IBNKCALL                              #  CALCULATE Q,R-AXES ATTITUDE ERRORS.
061966,000192: 16,2160           36626                           CADR     QERRCALC                              
061967,000193: 
061968,000194: 16,2161           04674                           TC       IBNKCALL                              
061969,000195: 16,2162           35446                           CADR     CALCPERR                              #  CALCULATE P AXIS ATTITUDE ERRORS.
061970,000196: 
061971,000197: 16,2163           00006        SHUTDOWN           EXTEND                                         
061972,000198: 16,2164           32156                           DCA      IDLERADR                              
061973,000199: 16,2165           53275                           DXCH     T5ADR                                 
061974,000200: 
061975,000201: 16,2166           34755                           CAF      ZERO                                  #  KILL ANY POSSIBLE JET REQUESTS
061976,000202: 16,2167           55472                           TS       NEXTP                                 
061977,000203: 16,2170           55473                           TS       NEXTU                                 
061978,000204: 16,2171           55474                           TS       NEXTV                                 
061979,000205: 16,2172           00006                           EXTEND                                         #  COMMAND JETS OFF.
061980,000206: 16,2173           01005                           WRITE    CHAN5                                 
061981,000207: 16,2174           00006                           EXTEND                                         
061982,000208: 16,2175           01006                           WRITE    CHAN6                                 
061983,000209: 16,2176           42203                           CS       BGIM23                                #  TURN TRIM GIMBAL OFF
061984,000210: 16,2177           00006                           EXTEND                                         
061985,000211: 16,2200           03012                           WAND     CHAN12                                
061986,000212: 16,2201           12152                           TCF      SETTIME5                              #  RETURN IN 100 MSEC.
061987,000213: 
061988,000214: 16,2202           03021        MANFLAG            OCT      03021                                 
061989,000215: 16,2203           07400        BGIM23             OCTAL    07400                                 
061990,000216: 16,2204  E6,1421                                  EBANK=   OMEGAP                                
061991,000217: 16,2204           02213 34106  PAXADIDL           2CADR    PAXIS                                 
061992,000218: 
061993,000219: 16,2206     7727               MS100              =        OCT37766                              
061994,000220: 16,2206     0061               COSMG              =        ITEMP1                                
061995,000221: 16,2206           00006        JUMPDSP            EXTEND                                         #  TRANSFER TO BANK 20
061996,000222: 16,2207           32212                           DCA      DSPCADR                               #  FOR ATTITUDE ERROR DISPLAYS
061997,000223: 16,2210           52006                           DTCB                                           
061998,000224: 
061999,000225: 16,2211  E6,1761                                  EBANK=   AK                                    
062000,000226: 16,2211           02226 40106  DSPCADR            2CADR    ALTDSPLY                              
062001,000227: 

Page 1414

062003,000229: 20,2226                                           BANK     20                                    
062004,000230: 20,2000                                           SETLOC   DAPS3                                 
062005,000231: 20,2000                                           BANK                                           
062006,000232: 20,2226                                           COUNT*   $$/NEEDL                              
062007,000233: 
062008,000234:                                                                                                  #  PROGRAM:      ALTDSPLY
062009,000235:                                                                                                  #  MOD 0.        6 DEC 1967
062010,000236:                                                                                                  #  AUTHOR:       CRAIG WORK, DON KEENE, MIT IL
062011,000237:                                                                                                  #  MOD 3 BY DON KEENE AUG 1, 1968 MOVED PROGRAM TO BANK 20
062012,000238: 
062013,000239:                                                                                                  #  PROGRAM DESCRIPTION:
062014,000240:                                                                                                  #        ALTDSPLY REVERSES THE DSPLYALT BIT OF RCSFLAGS EACH TIME IT IS CALLED, WHICH IS PRESUMABLY EVERY 100 MS.
062015,000241:                                                                                                  #        IF THE REVERSED BIT IS ONE, NEEDLER IS CALLED TO DISPLAY ATTITUDE ERRORS.  IF THE BIT IS ZERO, THE ATTITUDE ERR-
062016,000242:                                                                                                  #        ORS ARE CALCULATED AS 1) DAP FOLLOWING ERRORS, IF NEEDLFLG = 0, AND 2) TOTAL ATTITUDE ERRORS FOR NEEDLFLG = 1.
062017,000243: 
062018,000244: 
062019,000245:                                                                                                  #  WARNING:      ALTDSPLY MAY ONLY BE CALLED WITH INTERRUPT INHIBITED.
062020,000246: 
062021,000247:                                                                                                  #  WARNING:      EBANK MUST BE SET TO 6 WHEN USING THIS ROUTINE.
062022,000248: 
062023,000249:                                                                                                  #  INPUT:        RCSFLAGS AND    1) IF NEEDLFLG = 0, INPUT PERROR, QERROR, RERROR.
062024,000250:                                                                                                  #                                2) IF NEEDLFLG = 1, INPUT CPHI,CTHETA,CPSI,CDUX,CDUY,CDUZ,M11,M21,M32,M22,M32.  (GPMATRIX)
062025,000251: 
062026,000252: 
062027,000253:                                                                                                  #  OUTPUTS:      RCSFLAGS WITH DSPLYALT REVERSED, AK, AK1, AK2, + NEEDLER OUTPUTS.
062028,000254: 
062029,000255:                                                                                                  #  ENTRY:        TCF     ALTDSPLY
062030,000256: 
062031,000257:                                                                                                  #  EXIT:         TCF     CHEKMORE
062032,000258: 
062033,000259:                                                                                                  #  ALARM OR ABORT EXITS: NONE
062034,000260: 
062035,000261:                                                                                                  #  SUBPROGRAMS CALLED:  NEEDLER, OVERSUB2
062036,000262: 
062037,000263:                                                                                                  #  DEBRIS:       A, L, AND NEEDLER DEBRIS.
062038,000264: 
062039,000265: 20,2226           31273        ALTDSPLY           CA       RCSFLAGS                              #  INVERT THE DISPLAY ALTERNATION BIT.
062040,000266: 20,2227           54001                           TS       L                                     
062041,000267: 20,2230           34750                           CA       DSPLYALT                              
062042,000268: 20,2231           00006                           EXTEND                                         
062043,000269: 20,2232           06001                           RXOR     LCHAN                                 
062044,000270: 20,2233           55273                           TS       RCSFLAGS                              
062045,000271: 
062046,000272: 20,2234           74750                           MASK     DSPLYALT                              
062047,000273: 20,2235           10000                           CCS      A                                     #  IS ALTERNATION FLAG ZERO?
062048,000274: 20,2236           12322                           TCF      NEEDLER                               
062049,000275: 
062050,000276: 20,2237           30074                           CAE      FLAGWRD0                              #  NEEDLFLG WILL INDICATE TOTAL OR DAP AT-

Page 1415

062052,000278: 20,2240           74750                           MASK     NEEDLBIT                              #  TITUDE ERROR DISPLAY REQUEST.
062053,000279: 20,2241           10000                           CCS      A                                     
062054,000280: 20,2242           12252                           TCF      DSPLYTOT                              #  TOTAL ERROR IS NEEDED IN AK, AK +1, AK +2
062055,000281: 
062056,000282: 20,2243           41450                           CS       QERROR                                #  YES.  DISPLAY ATT ERRORS ON THE ,-BALL.
062057,000283: 20,2244           55762                           TS       AK         +1                         #  ERROR COMPLEMENTS ARE INPUT TO NEEDLER.
062058,000284: 20,2245           41452                           CS       RERROR                                
062059,000285: 20,2246           55763                           TS       AK         +2                         
062060,000286: 20,2247           41464                           CS       PERROR                                
062061,000287: 20,2250           57761                           XCH      AK                                    
062062,000288: 
062063,000289: 20,2251           12442                           TCF      RETNMORE                              #  DISPLAY THESE THE NEXT TIME THROUGH
062064,000290: 
062065,000291:                                                                                                  #  CALCULATE GIMBAL ANGLE TOTAL ERRORS, RESOLVE INTO PILOT AXES, STORE TOTAL ERRORS FOR NEEDLER.  Q-AXIS FIRST.
062066,000292: 
062067,000293: 20,2252           00006        DSPLYTOT           EXTEND                                         
062068,000294: 20,2253           22061                           QXCH     ITEMP1                                #  SAVE Q FOR CHEKBITS RETURN.
062069,000295: 
062070,000296: 20,2254           30322                           CA       CTHETA                                #  DESIRED ATTITUDE, Y-AXIS, 2'S COMP.
062071,000297: 20,2255           00006                           EXTEND                                         #  SUBTRACT CURRENT ATTITUDE.
062072,000298: 20,2256           20033                           MSU      CDUY                                  #  DIFFERENCE SCALED AT PI, 1'S COMP.
062073,000299: 20,2257           55761                           TS       AK                                    #  SAVE FOR R-ERROR CALCULATION.
062074,000300: 20,2260           00006                           EXTEND                                         
062075,000301: 20,2261           71415                           MP       M21                                   #  (CHTETA-CDUY)*M21 SCALED AT PI RADIANS.
062076,000302: 20,2262           57762                           XCH      AK         +1                         #  STORE FIRST TERM OF Q ERROR.
062077,000303: 20,2263           30323                           CA       CPSI                                  #  DESIRED ATTITUDE, Z-AXIS, 2'S COMP.
062078,000304: 20,2264           00006                           EXTEND                                         #  SUBTRACT CURRENT ATTITUDE.
062079,000305: 20,2265           20034                           MSU      CDUZ                                  #  DIFFERENCE SCALED AT PI, 1'S COMP.
062080,000306: 20,2266           55763                           TS       AK         +2                         #  SAVE Z-AXIS TERM FOR R ERROR CALCULATION
062081,000307: 20,2267           00006                           EXTEND                                         
062082,000308: 20,2270           71417                           MP       M22                                   #  (CPSI-CDUZ)*M22, SCALED AT PI RADIANS.
062083,000309: 20,2271           61762                           AD       AK         +1                         #  Q ERROR COMPLETE         , AT PI RAD.
062084,000310: 20,2272           02435                           TC       OVERSUB2                              #  PIN NEEDLES IN CASE OF OVERFLOW.
062085,000311: 20,2273           55762                           TS       AK         +1                         
062086,000312: 
062087,000313:                                                                                                  #  R ERROR CALCULATION NEXT.
062088,000314: 
062089,000315: 20,2274           31761                           CA       AK                                    #  Y-AXIS DIFFERENCE STORED BY Q-AXIS CALC.
062090,000316: 20,2275           00006                           EXTEND                                         
062091,000317: 20,2276           71416                           MP       M31                                   #  (CTHETA-CDUY)*M31, SCALED AT PI RADIANS.
062092,000318: 20,2277           57763                           XCH      AK         +2                         #  FIRST TERM OF R ERROR.
062093,000319:                                                                                                  #  Z-AXIS DIFFERENCE, STORED BY A CALC. IS
062094,000320: 20,2300           00006                           EXTEND                                         #  RECOVERED BY THE EXCHANGE.
062095,000321: 20,2301           71420                           MP       M32                                   #  (CPSI-CDUZ)*M32, SCALED AT PI RADIANS.
062096,000322: 20,2302           61763                           AD       AK         +2                         #  R ERROR COMPLETE         , AT PI RAD.
062097,000323: 20,2303           02435                           TC       OVERSUB2                              #  PIN NEEDLES IN CASE OF OVERFLOW.
062098,000324: 20,2304           55763                           TS       AK         +2                         
062099,000325: 
062100,000326:                                                                                                  #  NOW CALCULATE P ERROR.  (NOTE THAT M13 = 1, SCALED AT 1, SO THE MULTIPLICATION IS BY-PASSED.)

Page 1416

062102,000328: 20,2305           31761                           CA       AK                                    #  Y-AXIS DIFFERENCE STORED BY Q AXIS CALC.
062103,000329: 20,2306           00006                           EXTEND                                         
062104,000330: 20,2307           71414                           MP       M11                                   #  (CTHETA-CDUY)*M11 SCALED AT PI RADIANS.
062105,000331: 20,2310           57761                           XCH      AK                                    #  FIRST TERM OF P ERROR IN AK, AT PI RAD.
062106,000332: 20,2311           30321                           CAE      CPHI                                  #  DESIRED ATTITUDE, X-AXIS, 2'S COMP.
062107,000333: 20,2312           00006                           EXTEND                                         #  SUBTRACT CURRENT X ATTITUDE.
062108,000334: 20,2313           20032                           MSU      CDUX                                  #  X-AXIS DIFFERENCE, 1'S COMP, AT PI RAD.
062109,000335: 
062110,000336:                                                                                                  #  M13 = 1, SO BYPASS THE MULTIPLICATION.
062111,000337:                                                                                                  #                EXTEND
062112,000338:                                                                                                  #                MP      M13             (CPHI-CDUX)*M13 SCALED AT PI RADIANS.
062113,000339: 
062114,000340: 20,2314           61761                           AD       AK                                    #  P ERROR COMPLETE      , SCALED AT PI RAD
062115,000341: 20,2315           02435                           TC       OVERSUB2                              #  PIN NEEDLES IN CASE OF OVERFLOW.
062116,000342: 20,2316           55761                           TS       AK                                    
062117,000343: 
062118,000344: 20,2317           00006                           EXTEND                                         
062119,000345: 20,2320           22061                           QXCH     ITEMP1                                #  RESTORE Q FOR CHEKBITS RETURN.
062120,000346: 
062121,000347: 20,2321           12442                           TCF      RETNMORE                              #  DISPLAY THESE THE NEXT TIME THROUGH
062122,000348: 

Page 1417

062124,000350:                                                                                                  #  FDAI ATTITUDE ERROR DISPLAY SUBROUTINE
062125,000351: 
062126,000352:                                                                                                  #  PROGRAM DESCRIPTION:          D. KEENE        5/24/67
062127,000353:                                                                                                  #  MOD 1 BY CRAIG WORK, 12 DEC 67
062128,000354:                                                                                                  #  MOD 2 BY CRAIG WORK, 6 APRIL 68 CONVERTS ATTITUDE ERROR DISPLAY SCALING FROM 16 7/8 DEG. TO 42 3/16 DEGREES.
062129,000355: 
062130,000356:                                                                                                  #  THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS)
062131,000357:                                                                                                  #  IN THE CDUS.  CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT
062132,000358:                                                                                                  #  OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES
062133,000359:                                                                                                  #  THE DACS.
062134,000360: 
062135,000361:                                                                                                  #  CALLING SEQUENCE:
062136,000362:                                                                                                  #        DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE
062137,000363:                                                                                                  #        TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM:
062138,000364:                                                                                                  #                CS      RCSFLAGS        IN EBANK6
062139,000365:                                                                                                  #                MASK    BIT3
062140,000366:                                                                                                  #                ADS     RCSFLAGS
062141,000367:                                                                                                  #        THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANSFERED TO THE FOLLOWING LOCATIONS IN EBANK6:
062142,000368:                                                                                                  #                AK      SCALED 180 DEGREES      NOTE:   THESE LOCATIONS ARE SUBJECT
062143,000369:                                                                                                  #                AK1     SCALED 180 DEGREES              TO CHANGE
062144,000370:                                                                                                  #                AK2     SCALED 180 DEGREES
062145,000371:                                                                                                  #        FULL SCALED DEFLECTION OF THE NEEDLES CORRESPONDS TO 5 1/16 DEGREES, WHILE 384 BITS IN THE IMU ERROR COUNTER
062146,000372:                                                                                                  #        CORRESPONDS TO 42 3/16 DEGREES.  (DAC MAXIMUM CAPACITY IS 384 BITS.)  46 BITS EFFECTIVELY PIN THE NEEDLES.
062147,000373: 
062148,000374:                                                                                                  #        A CALL TO NEEDLER WILL THEN UPDATE THE DISPLAY:
062149,000375:                                                                                                  #                INHINT
062150,000376:                                                                                                  #                TC      IBNKCALL        NOTE:  EBANK SHOULD BE SET TO E6
062151,000377:                                                                                                  #                CADR    NEEDLER
062152,000378:                                                                                                  #                RELINT
062153,000379:                                                                                                  #        THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED.  AT LEAST 3 PASSES THRU THE PROGRAM ARE
062154,000380:                                                                                                  #        REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS.
062155,000381:                                                                                                  #        NOTE:  EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50 MS TO ASSURE PROPER RELAY SEQUENCING.
062156,000382: 
062157,000383:                                                                                                  #  ERASABLE USED:
062158,000384:                                                                                                  #        AK              CDUXCMD
062159,000385:                                                                                                  #        AK1             CDUYCMD
062160,000386:                                                                                                  #        AK2             CDUZCMD
062161,000387:                                                                                                  #        EDRIVEX         A,L,Q
062162,000388:                                                                                                  #        EDRIVEY         T5TEMP
062163,000389:                                                                                                  #        EDRIVEZ         DINDX

Page 1418

062165,000391: 
062166,000392:                                                                                                  #  SWITCHES:             RCSFLAGS  BITS 3,2
062167,000393: 
062168,000394:                                                                                                  #  I/O CHANNELS:         CHAN12  BIT 4 (COARSE ALIGN - READ ONLY)
062169,000395:                                                                                                  #                        CHAN12  BIT 6 (IMU ERROR COUNTER ENABLE)
062170,000396:                                                                                                  #                        CHAN14  BIT 13,14,15 (DAC ACTIVITY)
062171,000397: 
062172,000398:                                                                                                  #  SIGN CONVENTION<      AK = THETAC - THETA
062173,000399:                                                                                                  #                        WHERE   THETAC = COMMAND ANGLE
062174,000400:                                                                                                  #                                THETA = PRESENT ANGLE
062175,000401: 
062176,000402: 20,2322           31273        NEEDLER            CA       RCSFLAGS                              
062177,000403: 20,2323           76242                           MASK     SIX                                   
062178,000404: 20,2324           00006                           EXTEND                                         
062179,000405: 20,2325           12362                           BZF      NEEDLES3                              
062180,000406: 20,2326           74751                           MASK     BIT3                                  
062181,000407: 20,2327           00006                           EXTEND                                         
062182,000408: 20,2330           12353                           BZF      NEEDLER2                              #  BIT3 = 0, BIT2 = 1
062183,000409: 
062184,000410: 20,2331           44746                           CS       BIT6                                  #  FIRST PASS BIT3 = 1
062185,000411: 20,2332           00006                           EXTEND                                         #  DISABLE IMU ERROR COUNTER TO ZERO DACS
062186,000412: 20,2333           03012                           WAND     CHAN12                                #  MUST WAIT AT LEAST 60 MS BEFORE
062187,000413: 20,2334           44755        NEEDLE11           CS       ZERO                                  #  ENABLING COUNTERS.
062188,000414: 20,2335           55761                           TS       AK                                    #  ZERO THE INPUTS ON FIRST PASS
062189,000415: 20,2336           55762                           TS       AK1                                   
062190,000416: 20,2337           55763                           TS       AK2                                   
062191,000417: 20,2340           55764                           TS       EDRIVEX                               #  ZERO THE DISPLAY REGISTERS
062192,000418: 20,2341           55765                           TS       EDRIVEY                               
062193,000419: 20,2342           55766                           TS       EDRIVEZ                               
062194,000420: 20,2343           54050                           TS       CDUXCMD                               #  ZERO THE OUT COUNTERS
062195,000421: 20,2344           54051                           TS       CDUYCMD                               
062196,000422: 20,2345           54052                           TS       CDUZCMD                               
062197,000423: 20,2346           46242                           CS       SIX                                   #  RESET RCSFLAGS FOR PASS2
062198,000424: 20,2347           71273                           MASK     RCSFLAGS                              
062199,000425: 20,2350           64752                           AD       BIT2                                  
062200,000426: 20,2351           55273                           TS       RCSFLAGS                              
062201,000427: 20,2352           12442                           TCF      RETNMORE                              
062202,000428: 
062203,000429: 20,2353           34746        NEEDLER2           CAF      BIT6                                  #  ENABLE IMU ERROR COUNTERS
062204,000430: 20,2354           00006                           EXTEND                                         
062205,000431: 20,2355           05012                           WOR      CHAN12                                
062206,000432: 20,2356           46242                           CS       SIX                                   #  RESET RCSFLAGS TO DISPLAY ATTITUDE
062207,000433: 20,2357           71273                           MASK     RCSFLAGS                              #  ERRORS    WAIT AT LEAST 4 MS FOR
062208,000434: 20,2360           55273                           TS       RCSFLAGS                              #  RELAY CLOSURE
062209,000435: 20,2361           12442                           TCF      RETNMORE                              
062210,000436: 
062211,000437: 20,2362           34746        NEEDLES3           CAF      BIT6                                  #  CHECK TO SEE IF IMU ERROR COUNTER
062212,000438: 20,2363           00006                           EXTEND                                         #  IS ENABLED
062213,000439: 20,2364           02012                           RAND     CHAN12                                

Page 1419

062215,000441: 20,2365           10000                           CCS      A                                     #  IF NOT, RE-INITIALIZE NEEDLER.
062216,000442: 20,2366           12373                           TCF      NEEDLES                               
062217,000443: 
062218,000444: 20,2367           41273                           CS       RCSFLAGS                              #  SET UP INITIALIZATION FLAG IN RCSFLAGS.
062219,000445: 20,2370           74751                           MASK     BIT3                                  
062220,000446: 20,2371           27273                           ADS      RCSFLAGS                              
062221,000447: 20,2372           12442                           TCF      RETNMORE                              
062222,000448: 
062223,000449: 20,2373           34752        NEEDLES            CAF      TWO                                   
062224,000450: 20,2374           54063        DACLOOP            TS       DINDX                                 
062225,000451: 20,2375           42434                           CS       ONETENTH                              #  RESCALE INPUTS TO + OR - 1800 DEGREES.
062226,000452: 20,2376           00006                           EXTEND                                         
062227,000453: 20,2377           50063                           INDEX    DINDX                                 
062228,000454: 20,2400           71761                           MP       AK                                    
062229,000455: 20,2401           54001                           TS       L                                     
062230,000456: 20,2402           10000                           CCS      A                                     
062231,000457: 20,2403           32432                           CA       DACLIMIT                              
062232,000458: 20,2404           12406                           TCF      +2                                    
062233,000459: 20,2405           42432                           CS       DACLIMIT                              
062234,000460: 20,2406           60001                           AD       L                                     
062235,000461: 20,2407           54061                           TS       T5TEMP                                #  OVFLO CHK
062236,000462: 20,2410           12414                           TCF      +4                                    
062237,000463: 20,2411           50000                           INDEX    A                                     #  ON OVERFLOW LIMIT OUTPUT TO +-384
062238,000464: 20,2412           32432                           CAF      DACLIMIT                              
062239,000465: 20,2413           54001                           TS       L                                     
062240,000466: 20,2414           50063                           INDEX    DINDX                                 
062241,000467: 20,2415           41764                           CS       EDRIVEX                               #  CURRENT VALUE OF DAC
062242,000468: 20,2416           60001                           AD       L                                     
062243,000469: 20,2417           50063                           INDEX    DINDX                                 
062244,000470: 20,2420           26050                           ADS      CDUXCMD                               
062245,000471: 20,2421           50063                           INDEX    DINDX                                 
062246,000472: 20,2422           23764                           LXCH     EDRIVEX                               
062247,000473: 20,2423           10063                           CCS      DINDX                                 
062248,000474: 20,2424           12374                           TCF      DACLOOP                               
062249,000475: 20,2425           37740                           CAF      13,14,15                              
062250,000476: 20,2426           00006                           EXTEND                                         
062251,000477: 20,2427           05014                           WOR      CHAN14                                #  SET DAC ACTIVITY BITS
062252,000478: 20,2430           12442                           TCF      RETNMORE                              
062253,000479: 
062254,000480: 20,2431           77177                           DEC      -384       B-14                       
062255,000481: 20,2432           37200        DACLIMIT           DEC      16000      B-14                       
062256,000482: 20,2433           00600                           DEC      384        B-14                       
062257,000483: 
062258,000484: 20,2434           03146        ONETENTH           OCT      03146                                 #  DECIMAL +0.1, SCALED AT 1.
062259,000485: 20,2435     4750               DSPLYALT           EQUALS   BIT4                                  #  100 MS ALTERNATION BIT IN RCSFLAGS
062260,000486: 
062261,000487: 20,2435           54007        OVERSUB2           TS       7                                     #  RETURNS A UNCHANGED OR LIMITED TO
062262,000488: 20,2436           00002                           TC       Q                                     #  POSMAX OR NEGMAX IF A HAS OVERFLOW
062263,000489: 20,2437           50000                           INDEX    A                                     

Page 1420

062265,000491: 20,2440           44734                           CS       LIMITS                                #  DUPLICATE CODING IN BANK 16
062266,000492: 20,2441           00002                           TC       Q                                     
062267,000493: 
062268,000494: 20,2442           00006        RETNMORE           EXTEND                                         #  RETURN TO CHEKMORE
062269,000495: 20,2443           32446                           DCA      MORECADR                              
062270,000496: 20,2444           52006                           DTCB                                           
062271,000497: 
062272,000498: 20,2445  E6,1537                                  EBANK=   AOSQ                                  
062273,000499: 20,2445           02016 34106  MORECADR           2CADR    CHEKMORE                              
062274,000500: 

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