Source Code
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These source-code files are part of a reconstructed copy of Luminary 69/2,
the flown, final release of the Apollo 10 Lunar Module (LM) Apollo Guidance Computer (AGC) software.
The reconstruction is based on the source code of Luminary 69 — i.e., the
initial, unflown version, "revision 0" — of which
a contemporary listing was available. The code was then updated by incorporating the
differences between Luminary 69 and Luminary 69/2, known from other contemporary
documentation. The only such difference is the implementation in
Luminary 69/2 of the "R-2 Lunar Potential Model", the source code for which was taken
from program Luminary 99/1 (Apollo 11 LM), of which a contemporary listing was also available.
Finally, the now-reconstructed Luminary 69/2 was then validated by assembling it to
executable form and verifying that its memory banks had the correct checksums,
known from still other contemporary documentation.
Note that page numbers in the reconstructed code match those in the original Luminary 69
program listing, or in the ORBITAL INTEGRATION log section, in Luminary 99/1. Page numbers
would certainly differ somewhat in a contemporary Luminary 69/2 listing.
Moreover, annotations that were not present in the contemporary source code have been added
to the reconstructed code to justify each change in Luminary 69/2 relative to
Luminary 69. Here's a guide to the Apollo documentation referenced in those annotations:
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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060692,000002: ## Copyright: Public domain.
060693,000003: ## Filename: DAPIDLER_PROGRAM.agc
060694,000004: ## Purpose: A section of LUM69 revision 2.
060695,000005: ## It is part of the reconstructed source code for the flown
060696,000006: ## version of the flight software for the Lunar Module's (LM)
060697,000007: ## Apollo Guidance Computer (AGC) for Apollo 10. The code has
060698,000008: ## been recreated from a copy of Luminary revsion 069, using
060699,000009: ## changes present in Luminary 099 which were described in
060700,000010: ## Luminary memos 75 and 78. The code has been adapted such
060701,000011: ## that the resulting bugger words exactly match those specified
060702,000012: ## for LUM69 revision 2 in NASA drawing 2021152B, which gives
060703,000013: ## relatively high confidence that the reconstruction is correct.
060704,000014: ## Reference: pp. 1405-1415
060705,000015: ## Assembler: yaYUL
060706,000016: ## Contact: Ron Burkey <info@sandroid.org>.
060707,000017: ## Website: www.ibiblio.org/apollo/index.html
060708,000018: ## Mod history: 2019-07-27 MAS Created from Luminary 69.
060709,000019:
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Page 1405
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060711,000021: # THE DAPIDLER PROGRAM IS STARTED BY FRESH START AND RESTART. THE DAPIDLER PROGRAM IS DONE 10 TIMES
060712,000022: # PER SECOND UNTIL THE ASTRONAUT DESIRES THE DAP TO WAKE UP, AND THE IMU AND CDUS ARE READY FOR USE BY THE DAP.
060713,000023: # THE NECESSARY INITIALIZATION OF THE DAP IS DONE BY THE DAPIDLER PROGRAM.
060714,000024:
060715,000025: 16,2000 BANK 16
060716,000026: 16,2000 SETLOC DAPS1
060717,000027: 16,2000 BANK
060718,000028:
060719,000029: 16,2000 E6,1537 EBANK= AOSQ
060720,000030:
060721,000031: 16,2000 COUNT* $$/DAPID
060722,000032:
060723,000033: 16,2000 00006 CHEKBITS EXTEND
060724,000034: 16,2001 00031 READ CHAN31 # IF BOTH BIT13 AND BIT14 ARE ONE, THEN
060725,000035: 16,2002 40000 COM # THE MODE SELECT SWITCH IS IN THE OFF
060726,000036: 16,2003 74355 MASK BIT13-14 # POSITION, AND SO THE DAP SHOULD BE OFF,
060727,000037: 16,2004 00006 EXTEND # WITH NO ATTITUDE ERROR DISPLAY.
060728,000038: 16,2005 12154 BZF MOREIDLE
060729,000039:
060730,000040: 16,2006 41303 CS IMODES33
060731,000041: 16,2007 74746 MASK BIT6
060732,000042: 16,2010 10000 CCS A
060733,000043: 16,2011 12203 TCF JUMPDSP
060734,000044: 16,2012 41273 CS RCSFLAGS # IMU NOT USABLE. SET UP INITIALIZATION
060735,000045: 16,2013 74751 MASK BIT3 # FLAG FOR ATT ERROR DISPLAY ROUTINE.
060736,000046: 16,2014 27273 ADS RCSFLAGS
060737,000047: 16,2015 12160 TCF SHUTDOWN
060738,000048:
060739,000049: 16,2016 34742 CHEKMORE CAF BIT10 # BIT 10 OF 30 IS PGNCS CONTROL OF S/C
060740,000050: 16,2017 00006 EXTEND
060741,000051: 16,2020 02030 RAND CHAN30 # BITS IN 30 ARE INVERTED
060742,000052: 16,2021 10000 CCS A
060743,000053: 16,2022 12154 TCF MOREIDLE
060744,000054:
060745,000055: 16,2023 00002 RETURN
060746,000056:
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Page 1406
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060748,000058: # DAPIDLER ENTRY.
060749,000059:
060750,000060: 16,2024 22016 DAPIDLER LXCH BANKRUPT # INTERRUPT LEAD INS (CONTINUED)
060751,000061: 16,2025 00006 EXTEND
060752,000062: 16,2026 22012 QXCH QRUPT
060753,000063:
060754,000064: 16,2027 31273 CA RCSFLAGS
060755,000065: 16,2030 74737 MASK BIT13
060756,000066: 16,2031 10000 CCS A # CHECK IF 1/ACCJOB HAS BEEN SET UP SINCE
060757,000067: 16,2032 12041 TCF CHECKUP # THE LAST FRESH START OR RESTART.
060758,000068: 16,2033 34737 CA BIT13
060759,000069: 16,2034 27273 ADS RCSFLAGS # BIT 13 IS 1.
060760,000070: 16,2035 37714 CAF PRIO27
060761,000071: 16,2036 05072 TC NOVAC # SET UP JOB TO DO A LITTLE INITIALIZATION
060762,000072: 16,2037 E6,1537 EBANK= AOSQ # AND EXECUTE 1/ACCS.
060763,000073: 16,2037 02447 40106 2CADR 1/ACCSET # (WILL BRANCH TO MOREIDLE ON ACCSOKAY)
060764,000074:
060765,000075: 16,2041 02000 CHECKUP TC CHEKBITS # CHECK TO SEE IF LM DAP IS TO GO ON AND
060766,000076: # DO ERROR DISPLAY.
060767,000077:
060768,000078: 16,2042 30111 CAE DAPBOOLS # IF 1/ACCS HAS NOT BEEN COMPLETED, IDLE.
060769,000079: 16,2043 74751 MASK ACCSOKAY # NOTE: ONLY FRESH START AND RESTART
060770,000080: 16,2044 00006 EXTEND # KNOCK THIS BIT DOWN.
060771,000081: 16,2045 12154 BZF MOREIDLE
060772,000082:
060773,000083: 16,2046 04674 STARTDAP TC IBNKCALL # ZERO ATTITUDE ERROR AND DESIRED RATES.
060774,000084: 16,2047 40153 FCADR ZATTEROR
060775,000085: 16,2050 34755 CAF ZERO # ********** INITIALIZE: **********
060776,000086: 16,2051 55524 TS TJP
060777,000087: 16,2052 55525 TS TJU
060778,000088: 16,2053 55526 TS TJV
060779,000089: 16,2054 55417 TS OMEGAP # RATES IN BODY (PILOT) COORDINATES.
060780,000090: 16,2055 55420 TS OMEGAQ
060781,000091: 16,2056 55421 TS OMEGAR
060782,000092: 16,2057 55426 TS TRAPEDP
060783,000093: 16,2060 55427 TS TRAPEDQ
060784,000094: 16,2061 55430 TS TRAPEDR
060785,000095: 16,2062 55537 TS AOSQ # OFFSET ACCELERATION ESTIMATES.
060786,000096: 16,2063 55540 TS AOSQ +1
060787,000097: 16,2064 55541 TS AOSR
060788,000098: 16,2065 55542 TS AOSR +1
060789,000099: 16,2066 55422 TS ALPHAQ # COPIES OF OFFSET ESTIMATES FOR DOWNLIST.
060790,000100: 16,2067 55423 TS ALPHAR
060791,000101: 16,2070 55500 TS NEGUQ
060792,000102: 16,2071 55502 TS NEGUR
060793,000103: 16,2072 55545 TS AOSQTERM # QRAXIS RATE DERIVATION TERMS AND KALMAN
060794,000104: 16,2073 55546 TS AOSRTERM # FILTER INITIALIZATION TERMS.
060795,000105: 16,2074 55510 TS QACCDOT # DESCENT ACCELERATION DERIVATIVE EST.
060796,000106: 16,2075 55512 TS RACCDOT
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Page 1407
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060798,000108: 16,2076 55501 TS ALLOWGTS # AOSTASK FLAG FOR QRAXIS RCS CONTROL USE.
060799,000109: 16,2077 55627 TS COTROLER # DO TRYGTS ON FIRST PASS (WILL GO TO RCS)
060800,000110: 16,2100 55631 TS INGTS # RECOGNIZE FIRST GTS PASS AS SUCH.
060801,000111: 16,2101 55630 TS QGIMTIMR # STOP GIMBAL DRIVES. (PROBABLY WOULD BE
060802,000112: 16,2102 55632 TS RGIMTIMR # GOOD ENOUGH JUST TO INACTIVATE TIMERS)
060803,000113: 16,2103 55456 TS OLDPMIN # MINIMUM IMPULSE MODE ERASABLES
060804,000114: 16,2104 55457 TS OLDQRMIN
060805,000115: 16,2105 4747 CALLGMBL EQUALS BIT5 # RCSFLAGS INITIALIZATION.
060806,000116: 16,2105 42177 CS MANFLAG
060807,000117: 16,2106 71273 MASK RCSFLAGS # NEGUQ(R) HAVE BEEN GENERATED.
060808,000118: 16,2107 55273 TS RCSFLAGS
060809,000119:
060810,000120: # SET UP "OLD" MEASURED CDU ANGLES:
060811,000121:
060812,000122: 16,2110 00006 EXTEND
060813,000123: 16,2111 30033 DCA CDUX # OLDXFORP AND OLDYFORP
060814,000124: 16,2112 53437 DXCH OLDXFORP
060815,000125: 16,2113 30034 CA CDUZ
060816,000126: 16,2114 55440 TS OLDZFORQ
060817,000127: 16,2115 41273 CS RCSFLAGS
060818,000128: 16,2116 74740 MASK BIT12
060819,000129: 16,2117 27273 ADS RCSFLAGS # BIT 12 SET TO 1.
060820,000130: 16,2120 34751 CA FOUR
060821,000131: 16,2121 55535 TS SKIPU
060822,000132: 16,2122 55536 TS SKIPV
060823,000133: 16,2123 34733 CA POSMAX
060824,000134: 16,2124 54031 TS TIME6
060825,000135: 16,2125 55464 TS T6NEXT
060826,000136: 16,2126 55466 TS T6FURTHA
060827,000137: 16,2127 34755 CA ZERO
060828,000138: 16,2130 55465 TS T6NEXT +1
060829,000139: 16,2131 55467 TS T6FURTHA +1
060830,000140: 16,2132 55463 TS NXT6ADR
060831,000141: 16,2133 55470 TS NEXTP
060832,000142: 16,2134 55471 TS NEXTU
060833,000143: 16,2135 55472 TS NEXTV
060834,000144: 16,2136 44363 CS TEN
060835,000145: 16,2137 55755 TS DAPZRUPT # JASK NOT IN PROGRESS, INITIALIZE NEG.
060836,000146: 16,2140 34752 CA TWO
060837,000147: 16,2141 55431 TS NPTRAPS
060838,000148: 16,2142 55432 TS NQTRAPS
060839,000149: 16,2143 55433 TS NRTRAPS
060840,000150: 16,2144 00006 EXTEND
060841,000151: 16,2145 32202 DCA PAXADIDL
060842,000152: 16,2146 53275 DXCH T5ADR
060843,000153: 16,2147 37726 SETTIME5 CAF MS100
060844,000154: 16,2150 54030 TS TIME5
060845,000155: 16,2151 15270 TCF RESUME
060846,000156: 16,2152 E6,1537 EBANK= AOSQ
060847,000157: 16,2152 02024 34106 IDLERADR 2CADR DAPIDLER
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Page 1408
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060849,000159: 16,2154 04674 MOREIDLE TC IBNKCALL # CALCULATE Q,R-AXES ATTITUDE ERRORS.
060850,000160: 16,2155 36563 CADR QERRCALC
060851,000161:
060852,000162: 16,2156 04674 TC IBNKCALL
060853,000163: 16,2157 35425 CADR CALCPERR # CALCULATE P AXIS ATTITUDE ERRORS.
060854,000164:
060855,000165: 16,2160 00006 SHUTDOWN EXTEND
060856,000166: 16,2161 32153 DCA IDLERADR
060857,000167: 16,2162 53275 DXCH T5ADR
060858,000168:
060859,000169: 16,2163 34755 CAF ZERO # KILL ANY POSSIBLE JET REQUESTS
060860,000170: 16,2164 55470 TS NEXTP
060861,000171: 16,2165 55471 TS NEXTU
060862,000172: 16,2166 55472 TS NEXTV
060863,000173: 16,2167 00006 EXTEND # COMMAND JETS OFF.
060864,000174: 16,2170 01005 WRITE CHAN5
060865,000175: 16,2171 00006 EXTEND
060866,000176: 16,2172 01006 WRITE CHAN6
060867,000177: 16,2173 42200 CS BGIM23 # TURN TRIM GIMBAL OFF
060868,000178: 16,2174 00006 EXTEND
060869,000179: 16,2175 03012 WAND CHAN12
060870,000180: 16,2176 12147 TCF SETTIME5 # RETURN IN 100 MSEC.
060871,000181:
060872,000182: 16,2177 03021 MANFLAG OCT 03021
060873,000183: 16,2200 07400 BGIM23 OCTAL 07400
060874,000184: 16,2201 E6,1417 EBANK= OMEGAP
060875,000185: 16,2201 02210 34106 PAXADIDL 2CADR PAXIS
060876,000186:
060877,000187: 16,2203 7726 MS100 = OCT37766
060878,000188: 16,2203 0061 COSMG = ITEMP1
060879,000189: 16,2203 00006 JUMPDSP EXTEND # TRANSFER TO BANK 20
060880,000190: 16,2204 32207 DCA DSPCADR # FOR ATTITUDE ERROR DISPLAYS
060881,000191: 16,2205 52006 DTCB
060882,000192:
060883,000193: 16,2206 E6,1757 EBANK= AK
060884,000194: 16,2206 02226 40106 DSPCADR 2CADR ALTDSPLY
060885,000195:
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Page 1409
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060887,000197: 20,2226 BANK 20
060888,000198: 20,2000 SETLOC DAPS3
060889,000199: 20,2000 BANK
060890,000200: 20,2226 COUNT* $$/NEEDL
060891,000201:
060892,000202: # PROGRAM: ALTDSPLY
060893,000203: # MOD 0. 6 DEC 1967
060894,000204: # AUTHOR: CRAIG WORK, DON KEENE, MIT IL
060895,000205: # MOD 3 BY DON KEENE AUG 1, 1968 MOVED PROGRAM TO BANK 20
060896,000206:
060897,000207: # PROGRAM DESCRIPTION:
060898,000208: # ALTDSPLY REVERSES THE DSPLYALT BIT OF RCSFLAGS EACH TIME IT IS CALLED, WHICH IS PRESUMABLY EVERY 100 MS.
060899,000209: # IF THE REVERSED BIT IS ONE, NEEDLER IS CALLED TO DISPLAY ATTITUDE ERRORS. IF THE BIT IS ZERO, THE ATTITUDE ERR-
060900,000210: # ORS ARE CALCULATED AS 1) DAP FOLLOWING ERRORS, IF NEEDLFLG = 0, AND 2) TOTAL ATTITUDE ERRORS FOR NEEDLFLG = 1.
060901,000211:
060902,000212:
060903,000213: # WARNING: ALTDSPLY MAY ONLY BE CALLED WITH INTERRUPT INHIBITED.
060904,000214:
060905,000215: # WARNING: EBANK MUST BE SET TO 6 WHEN USING THIS ROUTINE.
060906,000216:
060907,000217: # INPUT: RCSFLAGS AND 1) IF NEEDLFLG = 0, INPUT PERROR, QERROR, RERROR.
060908,000218: # 2) IF NEEDLFLG = 1, INPUT CPHI,CTHETA,CPSI,CDUX,CDUY,CDUZ,M11,M21,M31,M22,M32. (GPMATRIX)
060909,000219:
060910,000220:
060911,000221: # OUTPUTS: RCSFLAGS WITH DSPLYALT REVERSED, AK, AK1, AK2, + NEEDLER OUTPUTS.
060912,000222:
060913,000223: # ENTRY: TCF ALTDSPLY
060914,000224:
060915,000225: # EXIT: TCF CHEKMORE
060916,000226:
060917,000227: # ALARM OR ABORT EXITS: NONE
060918,000228:
060919,000229: # SUBPROGRAMS CALLED: NEEDLER, OVERSUB2
060920,000230:
060921,000231: # DEBRIS: A, L, AND NEEDLER DEBRIS.
060922,000232:
060923,000233: 20,2226 31273 ALTDSPLY CA RCSFLAGS # INVERT THE DISPLAY ALTERNATION BIT.
060924,000234: 20,2227 54001 TS L
060925,000235: 20,2230 34750 CA DSPLYALT
060926,000236: 20,2231 00006 EXTEND
060927,000237: 20,2232 06001 RXOR LCHAN
060928,000238: 20,2233 55273 TS RCSFLAGS
060929,000239:
060930,000240: 20,2234 74750 MASK DSPLYALT
060931,000241: 20,2235 10000 CCS A # IS ALTERNATION FLAG ZERO?
060932,000242: 20,2236 12322 TCF NEEDLER
060933,000243:
060934,000244: 20,2237 30074 CAE FLAGWRD0 # NEEDLFLG WILL INDICATE TOTAL OR DAP AT-
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Page 1410
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060936,000246: 20,2240 74750 MASK NEEDLBIT # TITUDE ERROR DISPLAY REQUEST.
060937,000247: 20,2241 10000 CCS A
060938,000248: 20,2242 12252 TCF DSPLYTOT # TOTAL ERROR IS NEEDED IN AK, AK +1, AK +2
060939,000249:
060940,000250: 20,2243 41446 CS QERROR # YES. DISPLAY ATT ERRORS ON THE ,-BALL.
060941,000251: 20,2244 55760 TS AK +1 # ERROR COMPLEMENTS ARE INPUT TO NEEDLER.
060942,000252: 20,2245 41450 CS RERROR
060943,000253: 20,2246 55761 TS AK +2
060944,000254: 20,2247 41462 CS PERROR
060945,000255: 20,2250 57757 XCH AK
060946,000256:
060947,000257: 20,2251 12442 TCF RETNMORE # DISPLAY THESE THE NEXT TIME THROUGH
060948,000258:
060949,000259: # CALCULATE GIMBAL ANGLE TOTAL ERRORS, RESOLVE INTO PILOT AXES, STORE TOTAL ERRORS FOR NEEDLER. Q-AXIS FIRST.
060950,000260:
060951,000261: 20,2252 00006 DSPLYTOT EXTEND
060952,000262: 20,2253 22061 QXCH ITEMP1 # SAVE Q FOR CHEKBITS RETURN.
060953,000263:
060954,000264: 20,2254 30322 CA CTHETA # DESIRED ATTITUDE, Y-AXIS, 2'S COMP.
060955,000265: 20,2255 00006 EXTEND # SUBTRACT CURRENT ATTITUDE.
060956,000266: 20,2256 20033 MSU CDUY # DIFFERENCE SCALED AT PI, 1'S COMP.
060957,000267: 20,2257 55757 TS AK # SAVE FOR R-ERROR CALCULATION.
060958,000268: 20,2260 00006 EXTEND
060959,000269: 20,2261 71413 MP M21 # (CHTETA-CDUY)*M21 SCALED AT PI RADIANS.
060960,000270: 20,2262 57760 XCH AK +1 # STORE FIRST TERM OF Q ERROR.
060961,000271: 20,2263 30323 CA CPSI # DESIRED ATTITUDE, Z-AXIS, 2'S COMP.
060962,000272: 20,2264 00006 EXTEND # SUBTRACT CURRENT ATTITUDE.
060963,000273: 20,2265 20034 MSU CDUZ # DIFFERENCE SCALED AT PI, 1'S COMP.
060964,000274: 20,2266 55761 TS AK +2 # SAVE Z-AXIS TERM FOR R ERROR CALCULATION
060965,000275: 20,2267 00006 EXTEND
060966,000276: 20,2270 71415 MP M22 # (CPSI-CDUZ)*M22, SCALED AT PI RADIANS.
060967,000277: 20,2271 61760 AD AK +1 # Q ERROR COMPLETE , AT PI RAD.
060968,000278: 20,2272 02435 TC OVERSUB2 # PIN NEEDLES IN CASE OF OVERFLOW.
060969,000279: 20,2273 55760 TS AK +1
060970,000280:
060971,000281: # R ERROR CALCULATION NEXT.
060972,000282:
060973,000283: 20,2274 31757 CA AK # Y-AXIS DIFFERENCE STORED BY Q-AXIS CALC.
060974,000284: 20,2275 00006 EXTEND
060975,000285: 20,2276 71414 MP M31 # (CTHETA-CDUY)*M31, SCALED AT PI RADIANS.
060976,000286: 20,2277 57761 XCH AK +2 # FIRST TERM OF R ERROR.
060977,000287: # Z-AXIS DIFFERENCE, STORED BY A CALC. IS
060978,000288: 20,2300 00006 EXTEND # RECOVERED BY THE EXCHANGE.
060979,000289: 20,2301 71416 MP M32 # (CPSI-CDUZ)*M32, SCALED AT PI RADIANS.
060980,000290: 20,2302 61761 AD AK +2 # R ERROR COMPLETE , AT PI RAD.
060981,000291: 20,2303 02435 TC OVERSUB2 # PIN NEEDLES IN CASE OF OVERFLOW.
060982,000292: 20,2304 55761 TS AK +2
060983,000293:
060984,000294: # NOW CALCULATE P ERROR. (NOTE THAT M13 = 1, SCALED AT 1, SO THE MULTIPLICATION IS BY-PASSED.)
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Page 1411
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060986,000296: 20,2305 31757 CA AK # Y-AXIS DIFFERENCE STORED BY Q AXIS CALC.
060987,000297: 20,2306 00006 EXTEND
060988,000298: 20,2307 71412 MP M11 # (CTHETA-CDUY)*M11 SCALED AT PI RADIANS.
060989,000299: 20,2310 57757 XCH AK # FIRST TERM OF P ERROR IN AK, AT PI RAD.
060990,000300: 20,2311 30321 CAE CPHI # DESIRED ATTITUDE, X-AXIS, 2'S COMP.
060991,000301: 20,2312 00006 EXTEND # SUBTRACT CURRENT X ATTITUDE.
060992,000302: 20,2313 20032 MSU CDUX # X-AXIS DIFFERENCE, 1'S COMP, AT PI RAD.
060993,000303:
060994,000304: # M13 = 1, SO BYPASS THE MULTIPLICATION.
060995,000305: # EXTEND
060996,000306: # MP M13 (CPHI-CDUX)*M13 SCALED AT PI RADIANS.
060997,000307:
060998,000308: 20,2314 61757 AD AK # P ERROR COMPLETE , SCALED AT PI RAD
060999,000309: 20,2315 02435 TC OVERSUB2 # PIN NEEDLES IN CASE OF OVERFLOW.
061000,000310: 20,2316 55757 TS AK
061001,000311:
061002,000312: 20,2317 00006 EXTEND
061003,000313: 20,2320 22061 QXCH ITEMP1 # RESTORE Q FOR CHEKBITS RETURN.
061004,000314:
061005,000315: 20,2321 12442 TCF RETNMORE # DISPLAY THESE THE NEXT TIME THROUGH
061006,000316:
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Page 1412
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061008,000318: # FDAI ATTITUDE ERROR DISPLAY SUBROUTINE
061009,000319:
061010,000320: # PROGRAM DESCRIPTION: D. KEENE 5/24/67
061011,000321: # MOD 1 BY CRAIG WORK, 12 DEC 67
061012,000322: # MOD 2 BY CRAIG WORK, 6 APRIL 68 CONVERTS ATTITUDE ERROR DISPLAY SCALING FROM 16 7/8 DEG. TO 42 3/16 DEGREES.
061013,000323:
061014,000324: # THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS)
061015,000325: # IN THE CDUS. CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT
061016,000326: # OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES
061017,000327: # THE DACS.
061018,000328:
061019,000329: # CALLING SEQUENCE:
061020,000330: # DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE
061021,000331: # TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM:
061022,000332: # CS RCSFLAGS IN EBANK6
061023,000333: # MASK BIT3
061024,000334: # ADS RCSFLAGS
061025,000335: # THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANSFERED TO THE FOLLOWING LOCATIONS IN EBANK6:
061026,000336: # AK SCALED 180 DEGREES NOTE: THESE LOCATIONS ARE SUBJECT
061027,000337: # AK1 SCALED 180 DEGREES TO CHANGE
061028,000338: # AK2 SCALED 180 DEGREES
061029,000339: # FULL SCALED DEFLECTION OF THE NEEDLES CORRESPONDS TO 5 1/16 DEGREES, WHILE 384 BITS IN THE IMU ERROR COUNTER
061030,000340: # CORRESPONDS TO 42 3/16 DEGREES. (DAC MAXIMUM CAPACITY IS 384 BITS.) 46 BITS EFFECTIVELY PIN THE NEEDLES.
061031,000341:
061032,000342: # A CALL TO NEEDLER WILL THEN UPDATE THE DISPLAY:
061033,000343: # INHINT
061034,000344: # TC IBNKCALL NOTE: EBANK SHOULD BE SET TO E6
061035,000345: # CADR NEEDLER
061036,000346: # RELINT
061037,000347: # THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED. AT LEAST 3 PASSES THRU THE PROGRAM ARE
061038,000348: # REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS.
061039,000349: # NOTE: EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50 MS TO ASSURE PROPER RELAY SEQUENCING.
061040,000350:
061041,000351: # ERASABLE USED:
061042,000352: # AK CDUXCMD
061043,000353: # AK1 CDUYCMD
061044,000354: # AK2 CDUZCMD
061045,000355: # EDRIVEX A,L,Q
061046,000356: # EDRIVEY T5TEMP
061047,000357: # EDRIVEZ DINDX
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Page 1413
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061049,000359:
061050,000360: # SWITCHES: RCSFLAGS BITS 3,2
061051,000361:
061052,000362: # I/O CHANNELS: CHAN12 BIT 4 (COARSE ALIGN - READ ONLY)
061053,000363: # CHAN12 BIT 6 (IMU ERROR COUNTER ENABLE)
061054,000364: # CHAN14 BIT 13,14,15 (DAC ACTIVITY)
061055,000365:
061056,000366: # SIGN CONVENTION< AK = THETAC - THETA
061057,000367: # WHERE THETAC = COMMAND ANGLE
061058,000368: # THETA = PRESENT ANGLE
061059,000369:
061060,000370: 20,2322 31273 NEEDLER CA RCSFLAGS
061061,000371: 20,2323 76241 MASK SIX
061062,000372: 20,2324 00006 EXTEND
061063,000373: 20,2325 12362 BZF NEEDLES3
061064,000374: 20,2326 74751 MASK BIT3
061065,000375: 20,2327 00006 EXTEND
061066,000376: 20,2330 12353 BZF NEEDLER2 # BIT3 = 0, BIT2 = 1
061067,000377:
061068,000378: 20,2331 44746 CS BIT6 # FIRST PASS BIT3 = 1
061069,000379: 20,2332 00006 EXTEND # DISABLE IMU ERROR COUNTER TO ZERO DACS
061070,000380: 20,2333 03012 WAND CHAN12 # MUST WAIT AT LEAST 60 MS BEFORE
061071,000381: 20,2334 44755 NEEDLE11 CS ZERO # ENABLING COUNTERS.
061072,000382: 20,2335 55757 TS AK # ZERO THE INPUTS ON FIRST PASS
061073,000383: 20,2336 55760 TS AK1
061074,000384: 20,2337 55761 TS AK2
061075,000385: 20,2340 55762 TS EDRIVEX # ZERO THE DISPLAY REGISTERS
061076,000386: 20,2341 55763 TS EDRIVEY
061077,000387: 20,2342 55764 TS EDRIVEZ
061078,000388: 20,2343 54050 TS CDUXCMD # ZERO THE OUT COUNTERS
061079,000389: 20,2344 54051 TS CDUYCMD
061080,000390: 20,2345 54052 TS CDUZCMD
061081,000391: 20,2346 46241 CS SIX # RESET RCSFLAGS FOR PASS2
061082,000392: 20,2347 71273 MASK RCSFLAGS
061083,000393: 20,2350 64752 AD BIT2
061084,000394: 20,2351 55273 TS RCSFLAGS
061085,000395: 20,2352 12442 TCF RETNMORE
061086,000396:
061087,000397: 20,2353 34746 NEEDLER2 CAF BIT6 # ENABLE IMU ERROR COUNTERS
061088,000398: 20,2354 00006 EXTEND
061089,000399: 20,2355 05012 WOR CHAN12
061090,000400: 20,2356 46241 CS SIX # RESET RCSFLAGS TO DISPLAY ATTITUDE
061091,000401: 20,2357 71273 MASK RCSFLAGS # ERRORS WAIT AT LEAST 4 MS FOR
061092,000402: 20,2360 55273 TS RCSFLAGS # RELAY CLOSURE
061093,000403: 20,2361 12442 TCF RETNMORE
061094,000404:
061095,000405: 20,2362 34746 NEEDLES3 CAF BIT6 # CHECK TO SEE IF IMU ERROR COUNTER
061096,000406: 20,2363 00006 EXTEND # IS ENABLED
061097,000407: 20,2364 02012 RAND CHAN12
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Page 1414
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061099,000409: 20,2365 10000 CCS A # IF NOT, RE-INITIALIZE NEEDLER.
061100,000410: 20,2366 12373 TCF NEEDLES
061101,000411:
061102,000412: 20,2367 41273 CS RCSFLAGS # SET UP INITIALIZATION FLAG IN RCSFLAGS.
061103,000413: 20,2370 74751 MASK BIT3
061104,000414: 20,2371 27273 ADS RCSFLAGS
061105,000415: 20,2372 12442 TCF RETNMORE
061106,000416:
061107,000417: 20,2373 34752 NEEDLES CAF TWO
061108,000418: 20,2374 54063 DACLOOP TS DINDX
061109,000419: 20,2375 42434 CS ONETENTH # RESCALE INPUTS TO + OR - 1800 DEGREES.
061110,000420: 20,2376 00006 EXTEND
061111,000421: 20,2377 50063 INDEX DINDX
061112,000422: 20,2400 71757 MP AK
061113,000423: 20,2401 54001 TS L
061114,000424: 20,2402 10000 CCS A
061115,000425: 20,2403 32432 CA DACLIMIT
061116,000426: 20,2404 12406 TCF +2
061117,000427: 20,2405 42432 CS DACLIMIT
061118,000428: 20,2406 60001 AD L
061119,000429: 20,2407 54061 TS T5TEMP # OVFLO CHK
061120,000430: 20,2410 12414 TCF +4
061121,000431: 20,2411 50000 INDEX A # ON OVERFLOW LIMIT OUTPUT TO +-384
061122,000432: 20,2412 32432 CAF DACLIMIT
061123,000433: 20,2413 54001 TS L
061124,000434: 20,2414 50063 INDEX DINDX
061125,000435: 20,2415 41762 CS EDRIVEX # CURRENT VALUE OF DAC
061126,000436: 20,2416 60001 AD L
061127,000437: 20,2417 50063 INDEX DINDX
061128,000438: 20,2420 26050 ADS CDUXCMD
061129,000439: 20,2421 50063 INDEX DINDX
061130,000440: 20,2422 23762 LXCH EDRIVEX
061131,000441: 20,2423 10063 CCS DINDX
061132,000442: 20,2424 12374 TCF DACLOOP
061133,000443: 20,2425 37737 CAF 13,14,15
061134,000444: 20,2426 00006 EXTEND
061135,000445: 20,2427 05014 WOR CHAN14 # SET DAC ACTIVITY BITS
061136,000446: 20,2430 12442 TCF RETNMORE
061137,000447:
061138,000448: 20,2431 77177 DEC -384 B-14
061139,000449: 20,2432 37200 DACLIMIT DEC 16000 B-14
061140,000450: 20,2433 00600 DEC 384 B-14
061141,000451:
061142,000452: 20,2434 03146 ONETENTH OCT 03146 # DECIMAL +0.1, SCALED AT 1.
061143,000453: 20,2435 4750 DSPLYALT EQUALS BIT4 # 100 MS ALTERNATION BIT IN RCSFLAGS
061144,000454:
061145,000455: 20,2435 54007 OVERSUB2 TS 7 # RETURNS A UNCHANGED OR LIMITED TO
061146,000456: 20,2436 00002 TC Q # POSMAX OR NEGMAX IF A HAS OVERFLOW
061147,000457: 20,2437 50000 INDEX A
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Page 1415
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061149,000459: 20,2440 44734 CS LIMITS # DUPLICATE CODING IN BANK 16
061150,000460: 20,2441 00002 TC Q
061151,000461:
061152,000462: 20,2442 00006 RETNMORE EXTEND # RETURN TO CHEKMORE
061153,000463: 20,2443 32446 DCA MORECADR
061154,000464: 20,2444 52006 DTCB
061155,000465:
061156,000466: 20,2445 E6,1537 EBANK= AOSQ
061157,000467: 20,2445 02016 34106 MORECADR 2CADR CHEKMORE
061158,000468:
End of include-file DAPIDLER_PROGRAM.agc. Parent file is MAIN.agc