Source Code
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This is an attempt to recreate Luminary 99 Rev 2, otherwise known as LUM99R2, from Luminary 99 Rev 1 and ephemeris data from Luminary 116. The differences are confined to the last 10-12 lines of the CONTROLLED CONSTANTS. Luminary 99 Rev 1 source-code was transcribed from a printout in the MIT Museum, while Luminary 116 source code was transcribed from a printout belonging to Don Eyles. AGC developer James Kernan, the "rope mother" for the Apollo 11 Lunar Module's AGC, explains as follows: "At the last minute, Dan Lickly, our chief engineer, appeared with ephemerides updates and it took two tries to get it right. The result was that we created Lum99 Revision 1 and Lum99 Revision 2." It is suspected that the former is what's in the MIT Museum, and the latter is what we are trying to recreate here. As for which revision actually flew in Apollo 11, all of the other available surviving evidence points to Rev 1 rather than to Rev 2, so we're just not sure! |
059387,000002: ## Copyright: Public domain.
059388,000003: ## Filename: DAPIDLER_PROGRAM.agc
059389,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
059390,000005: ## It is part of the source code for the Lunar Module's (LM)
059391,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
059392,000007: ## Assembler: yaYUL
059393,000008: ## Contact: Ron Burkey <info@sandroid.org>.
059394,000009: ## Website: www.ibiblio.org/apollo.
059395,000010: ## Pages: 1410-1420
059396,000011: ## Mod history: 2009-05-10 SN (Sergio Navarro). Started adapting
059397,000012: ## from the Luminary131/ file of the same
059398,000013: ## name, using Luminary099 page images.
059399,000014: ## 2016-12-18 RSB Proofed text comments with octopus/ProoferComments
059400,000015: ## and corrected the errors found.
059401,000016: ## 2017-01-28 RSB Comment-text fixes identified for Luminary 69.
059402,000017: ## 2017-03-03 RSB Snapshot of Luminary 99 Rev 1.
059403,000018: ## 2017-03-15 RSB 5-way comment-text proofing using Luminary
059404,000019: ## 69/99/116/131/210 ... no problems found.
059405,000020:
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Page 1410 |
059407,000022: # THE DAPIDLER PROGRAM IS STARTED BY FRESH START AND RESTART. THE DAPIDLER PROGRAM IS DONE 10 TIMES
059408,000023: # PER SECOND UNTIL THE ASTRONAUT DESIRES THE DAP TO WAKE UP, AND THE IMU AND CDUS ARE READY FOR USE BY THE DAP.
059409,000024: # THE NECESSARY INITIALIZATION OF THE DAP IS DONE BY THE DAPIDLER PROGRAM.
059410,000025:
059411,000026: 16,2000 BANK 16
059412,000027: 16,2000 SETLOC DAPS1
059413,000028: 16,2000 BANK
059414,000029:
059415,000030: 16,2000 E6,1537 EBANK= AOSQ
059416,000031:
059417,000032: 16,2000 COUNT* $$/DAPID
059418,000033:
059419,000034: 16,2000 00006 CHEKBITS EXTEND
059420,000035: 16,2001 00031 READ CHAN31 # IF BOTH BIT13 AND BIT14 ARE ONE, THEN
059421,000036: 16,2002 40000 COM # THE MODE SELECT SWITCH IS IN THE OFF
059422,000037: 16,2003 74355 MASK BIT13-14 # POSITION, AND SO THE DAP SHOULD BE OFF,
059423,000038: 16,2004 00006 EXTEND # WITH NO ATTITUDE ERROR DISPLAY.
059424,000039: 16,2005 12157 BZF MOREIDLE
059425,000040:
059426,000041: 16,2006 41303 CS IMODES33
059427,000042: 16,2007 74746 MASK BIT6
059428,000043: 16,2010 10000 CCS A
059429,000044: 16,2011 12206 TCF JUMPDSP
059430,000045: 16,2012 41273 CS RCSFLAGS # IMU NOT USABLE. SET UP INITIALIZATION
059431,000046: 16,2013 74751 MASK BIT3 # FLAG FOR ATT ERROR DISPLAY ROUTINE.
059432,000047: 16,2014 27273 ADS RCSFLAGS
059433,000048: 16,2015 12163 TCF SHUTDOWN
059434,000049:
059435,000050: 16,2016 34742 CHEKMORE CAF BIT10 # BIT 10 OF 30 IS PGNCS CONTROL OF S/C
059436,000051: 16,2017 00006 EXTEND
059437,000052: 16,2020 02030 RAND CHAN30 # BITS IN 30 ARE INVERTED
059438,000053: 16,2021 10000 CCS A
059439,000054: 16,2022 12157 TCF MOREIDLE
059440,000055:
059441,000056: 16,2023 00002 RETURN
059442,000057:
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Page 1411 |
059444,000059: # DAPIDLER ENTRY.
059445,000060:
059446,000061: 16,2024 22016 DAPIDLER LXCH BANKRUPT # INTERRUPT LEAD INS (CONTINUED)
059447,000062: 16,2025 00006 EXTEND
059448,000063: 16,2026 22012 QXCH QRUPT
059449,000064:
059450,000065: 16,2027 31273 CA RCSFLAGS
059451,000066: 16,2030 74737 MASK BIT13
059452,000067: 16,2031 10000 CCS A # CHECK IF 1/ACCJOB HAS BEEN SET UP SINCE
059453,000068: 16,2032 12041 TCF CHECKUP # THE LAST FRESH START OR RESTART.
059454,000069: 16,2033 34737 CA BIT13
059455,000070: 16,2034 27273 ADS RCSFLAGS # BIT 13 IS 1.
059456,000071: 16,2035 37715 CAF PRIO27
059457,000072: 16,2036 05072 TC NOVAC # SET UP JOB TO DO A LITTLE INITIALIZATION
059458,000073: 16,2037 E6,1537 EBANK= AOSQ # AND EXECUTE 1/ACCS.
059459,000074: 16,2037 02447 40106 2CADR 1/ACCSET # (WILL BRANCH TO MOREIDLE ON ACCSOKAY)
059460,000075:
059461,000076: 16,2041 02000 CHECKUP TC CHEKBITS # CHECK TO SEE IF LM DAP IS TO GO ON AND
059462,000077: # DO ERROR DISPLAY.
059463,000078:
059464,000079: 16,2042 30111 CAE DAPBOOLS # IF 1/ACCS HAS NOT BEEN COMPLETED, IDLE.
059465,000080: 16,2043 74751 MASK ACCSOKAY # NOTE: ONLY FRESH START AND RESTART
059466,000081: 16,2044 00006 EXTEND # KNOCK THIS BIT DOWN.
059467,000082: 16,2045 12157 BZF MOREIDLE
059468,000083:
059469,000084: 16,2046 04674 STARTDAP TC IBNKCALL # ZERO ATTITUDE ERROR AND DESIRED RATES.
059470,000085: 16,2047 40153 FCADR ZATTEROR
059471,000086: 16,2050 34755 CAF ZERO # ********** INITIALIZE: **********
059472,000087: 16,2051 55524 TS TJP
059473,000088: 16,2052 55525 TS TJU
059474,000089: 16,2053 55526 TS TJV
059475,000090: 16,2054 55421 TS OMEGAP # RATES IN BODY (PILOT) COORDINATES.
059476,000091: 16,2055 55422 TS OMEGAQ
059477,000092: 16,2056 55423 TS OMEGAR
059478,000093: 16,2057 55430 TS TRAPEDP
059479,000094: 16,2060 55431 TS TRAPEDQ
059480,000095: 16,2061 55432 TS TRAPEDR
059481,000096: 16,2062 55537 TS AOSQ # OFFSET ACCELERATION ESTIMATES.
059482,000097: 16,2063 55540 TS AOSQ +1
059483,000098: 16,2064 55541 TS AOSR
059484,000099: 16,2065 55542 TS AOSR +1
059485,000100: 16,2066 55424 TS ALPHAQ # COPIES OF OFFSET ESTIMATES FOR DOWNLIST.
059486,000101: 16,2067 55425 TS ALPHAR
059487,000102: 16,2070 55501 TS NEGUQ
059488,000103: 16,2071 55503 TS NEGUR
059489,000104: 16,2072 55545 TS AOSQTERM # QRAXIS RATE DERIVATION TERMS AND KALMAN
059490,000105: 16,2073 55546 TS AOSRTERM # FILTER INITIALIZATION TERMS.
059491,000106: 16,2074 55510 TS QACCDOT # DESCENT ACCELERATION DERIVATIVE EST.
059492,000107: 16,2075 55512 TS RACCDOT
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Page 1412 |
059494,000109: 16,2076 55502 TS ALLOWGTS # AOSTASK FLAG FOR QRAXIS RCS CONTROL USE.
059495,000110: 16,2077 55631 TS COTROLER # DO TRYGTS ON FIRST PASS (WILL GO TO RCS)
059496,000111: 16,2100 55633 TS INGTS # RECOGNIZE FIRST GTS PASS AS SUCH.
059497,000112: 16,2101 55632 TS QGIMTIMR # STOP GIMBAL DRIVES. (PROBABLY WOULD BE
059498,000113: 16,2102 55634 TS RGIMTIMR # GOOD ENOUGH JUST TO INACTIVATE TIMERS)
059499,000114: 16,2103 55460 TS OLDPMIN # MINIMUM IMPULSE MODE ERASABLES
059500,000115: 16,2104 55461 TS OLDQRMIN
059501,000116: 16,2105 55767 TS PJETCTR # INITIALIZE DOCKED JET INHIBITION
059502,000117: 16,2106 55770 TS UJETCTR # COUNTERS
059503,000118: 16,2107 55771 TS VJETCTR
059504,000119: 16,2110 4747 CALLGMBL EQUALS BIT5 # RCSFLAGS INITIALIZATION.
059505,000120: 16,2110 42202 CS MANFLAG
059506,000121: 16,2111 71273 MASK RCSFLAGS # NEGUQ(R) HAVE BEEN GENERATED.
059507,000122: 16,2112 55273 TS RCSFLAGS
059508,000123:
059509,000124: # SET UP "OLD" MEASURED CDU ANGLES:
059510,000125:
059511,000126: 16,2113 00006 EXTEND
059512,000127: 16,2114 30033 DCA CDUX # OLDXFORP AND OLDYFORP
059513,000128: 16,2115 53441 DXCH OLDXFORP
059514,000129: 16,2116 30034 CA CDUZ
059515,000130: 16,2117 55442 TS OLDZFORQ
059516,000131: 16,2120 41273 CS RCSFLAGS
059517,000132: 16,2121 74740 MASK BIT12
059518,000133: 16,2122 27273 ADS RCSFLAGS # BIT 12 SET TO 1.
059519,000134: 16,2123 34751 CA FOUR
059520,000135: 16,2124 55535 TS SKIPU
059521,000136: 16,2125 55536 TS SKIPV
059522,000137: 16,2126 34733 CA POSMAX
059523,000138: 16,2127 54031 TS TIME6
059524,000139: 16,2130 55466 TS T6NEXT
059525,000140: 16,2131 55470 TS T6FURTHA
059526,000141: 16,2132 34755 CA ZERO
059527,000142: 16,2133 55467 TS T6NEXT +1
059528,000143: 16,2134 55471 TS T6FURTHA +1
059529,000144: 16,2135 55465 TS NXT6ADR
059530,000145: 16,2136 55472 TS NEXTP
059531,000146: 16,2137 55473 TS NEXTU
059532,000147: 16,2140 55474 TS NEXTV
059533,000148: 16,2141 44363 CS TEN
059534,000149: 16,2142 55757 TS DAPZRUPT # JASK NOT IN PROGRESS, INITIALIZE NEG.
059535,000150: 16,2143 34752 CA TWO
059536,000151: 16,2144 55433 TS NPTRAPS
059537,000152: 16,2145 55434 TS NQTRAPS
059538,000153: 16,2146 55435 TS NRTRAPS
059539,000154: 16,2147 00006 EXTEND
059540,000155: 16,2150 32205 DCA PAXADIDL
059541,000156: 16,2151 53275 DXCH T5ADR
059542,000157: 16,2152 37727 SETTIME5 CAF MS100
059543,000158: 16,2153 54030 TS TIME5
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Page 1413 |
059545,000160: 16,2154 15270 TCF RESUME
059546,000161: 16,2155 E6,1537 EBANK= AOSQ
059547,000162: 16,2155 02024 34106 IDLERADR 2CADR DAPIDLER
059548,000163:
059549,000164: 16,2157 04674 MOREIDLE TC IBNKCALL # CALCULATE Q,R-AXES ATTITUDE ERRORS.
059550,000165: 16,2160 36626 CADR QERRCALC
059551,000166:
059552,000167: 16,2161 04674 TC IBNKCALL
059553,000168: 16,2162 35446 CADR CALCPERR # CALCULATE P AXIS ATTITUDE ERRORS.
059554,000169:
059555,000170: 16,2163 00006 SHUTDOWN EXTEND
059556,000171: 16,2164 32156 DCA IDLERADR
059557,000172: 16,2165 53275 DXCH T5ADR
059558,000173:
059559,000174: 16,2166 34755 CAF ZERO # KILL ANY POSSIBLE JET REQUESTS
059560,000175: 16,2167 55472 TS NEXTP
059561,000176: 16,2170 55473 TS NEXTU
059562,000177: 16,2171 55474 TS NEXTV
059563,000178: 16,2172 00006 EXTEND # COMMAND JETS OFF.
059564,000179: 16,2173 01005 WRITE CHAN5
059565,000180: 16,2174 00006 EXTEND
059566,000181: 16,2175 01006 WRITE CHAN6
059567,000182: 16,2176 42203 CS BGIM23 # TURN TRIM GIMBAL OFF
059568,000183: 16,2177 00006 EXTEND
059569,000184: 16,2200 03012 WAND CHAN12
059570,000185: 16,2201 12152 TCF SETTIME5 # RETURN IN 100 MSEC.
059571,000186:
059572,000187: 16,2202 03021 MANFLAG OCT 03021
059573,000188: 16,2203 07400 BGIM23 OCTAL 07400
059574,000189: 16,2204 E6,1421 EBANK= OMEGAP
059575,000190: 16,2204 02213 34106 PAXADIDL 2CADR PAXIS
059576,000191:
059577,000192: 16,2206 7727 MS100 = OCT37766
059578,000193: 16,2206 0061 COSMG = ITEMP1
059579,000194: 16,2206 00006 JUMPDSP EXTEND # TRANSFER TO BANK 20
059580,000195: 16,2207 32212 DCA DSPCADR # FOR ATTITUDE ERROR DISPLAYS
059581,000196: 16,2210 52006 DTCB
059582,000197:
059583,000198: 16,2211 E6,1761 EBANK= AK
059584,000199: 16,2211 02226 40106 DSPCADR 2CADR ALTDSPLY
059585,000200:
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Page 1414 |
059587,000202: 20,2226 BANK 20
059588,000203: 20,2000 SETLOC DAPS3
059589,000204: 20,2000 BANK
059590,000205: 20,2226 COUNT* $$/NEEDL
059591,000206:
059592,000207: # PROGRAM: ALTDSPLY
059593,000208: # MOD 0. 6 DEC 1967
059594,000209: # AUTHOR: CRAIG WORK, DON KEENE, MIT IL
059595,000210: # MOD 3 BY DON KEENE AUG 1, 1968 MOVED PROGRAM TO BANK 20
059596,000211:
059597,000212: # PROGRAM DESCRIPTION:
059598,000213: # ALTDSPLY REVERSES THE DSPLYALT BIT OF RCSFLAGS EACH TIME IT IS CALLED, WHICH IS PRESUMABLY EVERY 100 MS.
059599,000214: # IF THE REVERSED BIT IS ONE, NEEDLER IS CALLED TO DISPLAY ATTITUDE ERRORS. IF THE BIT IS ZERO, THE ATTITUDE ERR-
059600,000215: # ORS ARE CALCULATED AS 1) DAP FOLLOWING ERRORS, IF NEEDLFLG = 0, AND 2) TOTAL ATTITUDE ERRORS FOR NEEDLFLG = 1.
059601,000216:
059602,000217:
059603,000218: # WARNING: ALTDSPLY MAY ONLY BE CALLED WITH INTERRUPT INHIBITED.
059604,000219:
059605,000220: # WARNING: EBANK MUST BE SET TO 6 WHEN USING THIS ROUTINE.
059606,000221:
059607,000222: # INPUT: RCSFLAGS AND 1) IF NEEDLFLG = 0, INPUT PERROR, QERROR, RERROR.
059608,000223: # 2) IF NEEDLFLG = 1, INPUT CPHI,CTHETA,CPSI,CDUX,CDUY,CDUZ,M11,M21,M32,M22,M32. (GPMATRIX)
059609,000224:
059610,000225:
059611,000226: # OUTPUTS: RCSFLAGS WITH DSPLYALT REVERSED, AK, AK1, AK2, + NEEDLER OUTPUTS.
059612,000227:
059613,000228: # ENTRY: TCF ALTDSPLY
059614,000229:
059615,000230: # EXIT: TCF CHEKMORE
059616,000231:
059617,000232: # ALARM OR ABORT EXITS: NONE
059618,000233:
059619,000234: # SUBPROGRAMS CALLED: NEEDLER, OVERSUB2
059620,000235:
059621,000236: # DEBRIS: A, L, AND NEEDLER DEBRIS.
059622,000237:
059623,000238: 20,2226 31273 ALTDSPLY CA RCSFLAGS # INVERT THE DISPLAY ALTERNATION BIT.
059624,000239: 20,2227 54001 TS L
059625,000240: 20,2230 34750 CA DSPLYALT
059626,000241: 20,2231 00006 EXTEND
059627,000242: 20,2232 06001 RXOR LCHAN
059628,000243: 20,2233 55273 TS RCSFLAGS
059629,000244:
059630,000245: 20,2234 74750 MASK DSPLYALT
059631,000246: 20,2235 10000 CCS A # IS ALTERNATION FLAG ZERO?
059632,000247: 20,2236 12322 TCF NEEDLER
059633,000248:
059634,000249: 20,2237 30074 CAE FLAGWRD0 # NEEDLFLG WILL INDICATE TOTAL OR DAP AT-
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Page 1415 |
059636,000251: 20,2240 74750 MASK NEEDLBIT # TITUDE ERROR DISPLAY REQUEST.
059637,000252: 20,2241 10000 CCS A
059638,000253: 20,2242 12252 TCF DSPLYTOT # TOTAL ERROR IS NEEDED IN AK, AK +1, AK +2
059639,000254:
059640,000255: 20,2243 41450 CS QERROR # YES. DISPLAY ATT ERRORS ON THE ,-BALL.
059641,000256: 20,2244 55762 TS AK +1 # ERROR COMPLEMENTS ARE INPUT TO NEEDLER.
059642,000257: 20,2245 41452 CS RERROR
059643,000258: 20,2246 55763 TS AK +2
059644,000259: 20,2247 41464 CS PERROR
059645,000260: 20,2250 57761 XCH AK
059646,000261:
059647,000262: 20,2251 12442 TCF RETNMORE # DISPLAY THESE THE NEXT TIME THROUGH
059648,000263:
059649,000264: # CALCULATE GIMBAL ANGLE TOTAL ERRORS, RESOLVE INTO PILOT AXES, STORE TOTAL ERRORS FOR NEEDLER. Q-AXIS FIRST.
059650,000265:
059651,000266: 20,2252 00006 DSPLYTOT EXTEND
059652,000267: 20,2253 22061 QXCH ITEMP1 # SAVE Q FOR CHEKBITS RETURN.
059653,000268:
059654,000269: 20,2254 30322 CA CTHETA # DESIRED ATTITUDE, Y-AXIS, 2'S COMP.
059655,000270: 20,2255 00006 EXTEND # SUBTRACT CURRENT ATTITUDE.
059656,000271: 20,2256 20033 MSU CDUY # DIFFERENCE SCALED AT PI, 1'S COMP.
059657,000272: 20,2257 55761 TS AK # SAVE FOR R-ERROR CALCULATION.
059658,000273: 20,2260 00006 EXTEND
059659,000274: 20,2261 71415 MP M21 # (CHTETA-CDUY)*M21 SCALED AT PI RADIANS.
059660,000275: 20,2262 57762 XCH AK +1 # STORE FIRST TERM OF Q ERROR.
059661,000276: 20,2263 30323 CA CPSI # DESIRED ATTITUDE, Z-AXIS, 2'S COMP.
059662,000277: 20,2264 00006 EXTEND # SUBTRACT CURRENT ATTITUDE.
059663,000278: 20,2265 20034 MSU CDUZ # DIFFERENCE SCALED AT PI, 1'S COMP.
059664,000279: 20,2266 55763 TS AK +2 # SAVE Z-AXIS TERM FOR R ERROR CALCULATION
059665,000280: 20,2267 00006 EXTEND
059666,000281: 20,2270 71417 MP M22 # (CPSI-CDUZ)*M22, SCALED AT PI RADIANS.
059667,000282: 20,2271 61762 AD AK +1 # Q ERROR COMPLETE , AT PI RAD.
059668,000283: 20,2272 02435 TC OVERSUB2 # PIN NEEDLES IN CASE OF OVERFLOW.
059669,000284: 20,2273 55762 TS AK +1
059670,000285:
059671,000286: # R ERROR CALCULATION NEXT.
059672,000287:
059673,000288: 20,2274 31761 CA AK # Y-AXIS DIFFERENCE STORED BY Q-AXIS CALC.
059674,000289: 20,2275 00006 EXTEND
059675,000290: 20,2276 71416 MP M31 # (CTHETA-CDUY)*M31, SCALED AT PI RADIANS.
059676,000291: 20,2277 57763 XCH AK +2 # FIRST TERM OF R ERROR.
059677,000292: # Z-AXIS DIFFERENCE, STORED BY A CALC. IS
059678,000293: 20,2300 00006 EXTEND # RECOVERED BY THE EXCHANGE.
059679,000294: 20,2301 71420 MP M32 # (CPSI-CDUZ)*M32, SCALED AT PI RADIANS.
059680,000295: 20,2302 61763 AD AK +2 # R ERROR COMPLETE , AT PI RAD.
059681,000296: 20,2303 02435 TC OVERSUB2 # PIN NEEDLES IN CASE OF OVERFLOW.
059682,000297: 20,2304 55763 TS AK +2
059683,000298:
059684,000299: # NOW CALCULATE P ERROR. (NOTE THAT M13 = 1, SCALED AT 1, SO THE MULTIPLICATION IS BY-PASSED.)
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Page 1416 |
059686,000301: 20,2305 31761 CA AK # Y-AXIS DIFFERENCE STORED BY Q AXIS CALC.
059687,000302: 20,2306 00006 EXTEND
059688,000303: 20,2307 71414 MP M11 # (CTHETA-CDUY)*M11 SCALED AT PI RADIANS.
059689,000304: 20,2310 57761 XCH AK # FIRST TERM OF P ERROR IN AK, AT PI RAD.
059690,000305: 20,2311 30321 CAE CPHI # DESIRED ATTITUDE, X-AXIS, 2'S COMP.
059691,000306: 20,2312 00006 EXTEND # SUBTRACT CURRENT X ATTITUDE.
059692,000307: 20,2313 20032 MSU CDUX # X-AXIS DIFFERENCE, 1'S COMP, AT PI RAD.
059693,000308:
059694,000309: # M13 = 1, SO BYPASS THE MULTIPLICATION.
059695,000310: # EXTEND
059696,000311: # MP M13 (CPHI-CDUX)*M13 SCALED AT PI RADIANS.
059697,000312:
059698,000313: 20,2314 61761 AD AK # P ERROR COMPLETE , SCALED AT PI RAD
059699,000314: 20,2315 02435 TC OVERSUB2 # PIN NEEDLES IN CASE OF OVERFLOW.
059700,000315: 20,2316 55761 TS AK
059701,000316:
059702,000317: 20,2317 00006 EXTEND
059703,000318: 20,2320 22061 QXCH ITEMP1 # RESTORE Q FOR CHEKBITS RETURN.
059704,000319:
059705,000320: 20,2321 12442 TCF RETNMORE # DISPLAY THESE THE NEXT TIME THROUGH
059706,000321:
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Page 1417 |
059708,000323: # FDAI ATTITUDE ERROR DISPLAY SUBROUTINE
059709,000324:
059710,000325: # PROGRAM DESCRIPTION: D. KEENE 5/24/67
059711,000326: # MOD 1 BY CRAIG WORK, 12 DEC 67
059712,000327: # MOD 2 BY CRAIG WORK, 6 APRIL 68 CONVERTS ATTITUDE ERROR DISPLAY SCALING FROM 16 7/8 DEG. TO 42 3/16 DEGREES.
059713,000328:
059714,000329: # THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS)
059715,000330: # IN THE CDUS. CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT
059716,000331: # OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES
059717,000332: # THE DACS.
059718,000333:
059719,000334: # CALLING SEQUENCE:
059720,000335: # DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE
059721,000336: # TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM:
059722,000337: # CS RCSFLAGS IN EBANK6
059723,000338: # MASK BIT3
059724,000339: # ADS RCSFLAGS
059725,000340: # THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANSFERED TO THE FOLLOWING LOCATIONS IN EBANK6:
059726,000341: # AK SCALED 180 DEGREES NOTE: THESE LOCATIONS ARE SUBJECT
059727,000342: # AK1 SCALED 180 DEGREES TO CHANGE
059728,000343: # AK2 SCALED 180 DEGREES
059729,000344: # FULL SCALED DEFLECTION OF THE NEEDLES CORRESPONDS TO 5 1/16 DEGREES, WHILE 384 BITS IN THE IMU ERROR COUNTER
059730,000345: # CORRESPONDS TO 42 3/16 DEGREES. (DAC MAXIMUM CAPACITY IS 384 BITS.) 46 BITS EFFECTIVELY PIN THE NEEDLES.
059731,000346:
059732,000347: # A CALL TO NEEDLER WILL THEN UPDATE THE DISPLAY:
059733,000348: # INHINT
059734,000349: # TC IBNKCALL NOTE: EBANK SHOULD BE SET TO E6
059735,000350: # CADR NEEDLER
059736,000351: # RELINT
059737,000352: # THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED. AT LEAST 3 PASSES THRU THE PROGRAM ARE
059738,000353: # REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS.
059739,000354: # NOTE: EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50 MS TO ASSURE PROPER RELAY SEQUENCING.
059740,000355:
059741,000356: # ERASABLE USED:
059742,000357: # AK CDUXCMD
059743,000358: # AK1 CDUYCMD
059744,000359: # AK2 CDUZCMD
059745,000360: # EDRIVEX A,L,Q
059746,000361: # EDRIVEY T5TEMP
059747,000362: # EDRIVEZ DINDX
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Page 1418 |
059749,000364:
059750,000365: # SWITCHES: RCSFLAGS BITS 3,2
059751,000366:
059752,000367: # I/O CHANNELS: CHAN12 BIT 4 (COARSE ALIGN - READ ONLY)
059753,000368: # CHAN12 BIT 6 (IMU ERROR COUNTER ENABLE)
059754,000369: # CHAN14 BIT 13,14,15 (DAC ACTIVITY)
059755,000370:
059756,000371: # SIGN CONVENTION< AK = THETAC - THETA
059757,000372: # WHERE THETAC = COMMAND ANGLE
059758,000373: # THETA = PRESENT ANGLE
059759,000374:
059760,000375: 20,2322 31273 NEEDLER CA RCSFLAGS
059761,000376: 20,2323 76242 MASK SIX
059762,000377: 20,2324 00006 EXTEND
059763,000378: 20,2325 12362 BZF NEEDLES3
059764,000379: 20,2326 74751 MASK BIT3
059765,000380: 20,2327 00006 EXTEND
059766,000381: 20,2330 12353 BZF NEEDLER2 # BIT3 = 0, BIT2 = 1
059767,000382:
059768,000383: 20,2331 44746 CS BIT6 # FIRST PASS BIT3 = 1
059769,000384: 20,2332 00006 EXTEND # DISABLE IMU ERROR COUNTER TO ZERO DACS
059770,000385: 20,2333 03012 WAND CHAN12 # MUST WAIT AT LEAST 60 MS BEFORE
059771,000386: 20,2334 44755 NEEDLE11 CS ZERO # ENABLING COUNTERS.
059772,000387: 20,2335 55761 TS AK # ZERO THE INPUTS ON FIRST PASS
059773,000388: 20,2336 55762 TS AK1
059774,000389: 20,2337 55763 TS AK2
059775,000390: 20,2340 55764 TS EDRIVEX # ZERO THE DISPLAY REGISTERS
059776,000391: 20,2341 55765 TS EDRIVEY
059777,000392: 20,2342 55766 TS EDRIVEZ
059778,000393: 20,2343 54050 TS CDUXCMD # ZERO THE OUT COUNTERS
059779,000394: 20,2344 54051 TS CDUYCMD
059780,000395: 20,2345 54052 TS CDUZCMD
059781,000396: 20,2346 46242 CS SIX # RESET RCSFLAGS FOR PASS2
059782,000397: 20,2347 71273 MASK RCSFLAGS
059783,000398: 20,2350 64752 AD BIT2
059784,000399: 20,2351 55273 TS RCSFLAGS
059785,000400: 20,2352 12442 TCF RETNMORE
059786,000401:
059787,000402: 20,2353 34746 NEEDLER2 CAF BIT6 # ENABLE IMU ERROR COUNTERS
059788,000403: 20,2354 00006 EXTEND
059789,000404: 20,2355 05012 WOR CHAN12
059790,000405: 20,2356 46242 CS SIX # RESET RCSFLAGS TO DISPLAY ATTITUDE
059791,000406: 20,2357 71273 MASK RCSFLAGS # ERRORS WAIT AT LEAST 4 MS FOR
059792,000407: 20,2360 55273 TS RCSFLAGS # RELAY CLOSURE
059793,000408: 20,2361 12442 TCF RETNMORE
059794,000409:
059795,000410: 20,2362 34746 NEEDLES3 CAF BIT6 # CHECK TO SEE IF IMU ERROR COUNTER
059796,000411: 20,2363 00006 EXTEND # IS ENABLED
059797,000412: 20,2364 02012 RAND CHAN12
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Page 1419 |
059799,000414: 20,2365 10000 CCS A # IF NOT, RE-INITIALIZE NEEDLER.
059800,000415: 20,2366 12373 TCF NEEDLES
059801,000416:
059802,000417: 20,2367 41273 CS RCSFLAGS # SET UP INITIALIZATION FLAG IN RCSFLAGS.
059803,000418: 20,2370 74751 MASK BIT3
059804,000419: 20,2371 27273 ADS RCSFLAGS
059805,000420: 20,2372 12442 TCF RETNMORE
059806,000421:
059807,000422: 20,2373 34752 NEEDLES CAF TWO
059808,000423: 20,2374 54063 DACLOOP TS DINDX
059809,000424: 20,2375 42434 CS ONETENTH # RESCALE INPUTS TO + OR - 1800 DEGREES.
059810,000425: 20,2376 00006 EXTEND
059811,000426: 20,2377 50063 INDEX DINDX
059812,000427: 20,2400 71761 MP AK
059813,000428: 20,2401 54001 TS L
059814,000429: 20,2402 10000 CCS A
059815,000430: 20,2403 32432 CA DACLIMIT
059816,000431: 20,2404 12406 TCF +2
059817,000432: 20,2405 42432 CS DACLIMIT
059818,000433: 20,2406 60001 AD L
059819,000434: 20,2407 54061 TS T5TEMP # OVFLO CHK
059820,000435: 20,2410 12414 TCF +4
059821,000436: 20,2411 50000 INDEX A # ON OVERFLOW LIMIT OUTPUT TO +-384
059822,000437: 20,2412 32432 CAF DACLIMIT
059823,000438: 20,2413 54001 TS L
059824,000439: 20,2414 50063 INDEX DINDX
059825,000440: 20,2415 41764 CS EDRIVEX # CURRENT VALUE OF DAC
059826,000441: 20,2416 60001 AD L
059827,000442: 20,2417 50063 INDEX DINDX
059828,000443: 20,2420 26050 ADS CDUXCMD
059829,000444: 20,2421 50063 INDEX DINDX
059830,000445: 20,2422 23764 LXCH EDRIVEX
059831,000446: 20,2423 10063 CCS DINDX
059832,000447: 20,2424 12374 TCF DACLOOP
059833,000448: 20,2425 37740 CAF 13,14,15
059834,000449: 20,2426 00006 EXTEND
059835,000450: 20,2427 05014 WOR CHAN14 # SET DAC ACTIVITY BITS
059836,000451: 20,2430 12442 TCF RETNMORE
059837,000452:
059838,000453: 20,2431 77177 DEC -384 B-14
059839,000454: 20,2432 37200 DACLIMIT DEC 16000 B-14
059840,000455: 20,2433 00600 DEC 384 B-14
059841,000456:
059842,000457: 20,2434 03146 ONETENTH OCT 03146 # DECIMAL +0.1, SCALED AT 1.
059843,000458: 20,2435 4750 DSPLYALT EQUALS BIT4 # 100 MS ALTERNATION BIT IN RCSFLAGS
059844,000459:
059845,000460: 20,2435 54007 OVERSUB2 TS 7 # RETURNS A UNCHANGED OR LIMITED TO
059846,000461: 20,2436 00002 TC Q # POSMAX OR NEGMAX IF A HAS OVERFLOW
059847,000462: 20,2437 50000 INDEX A
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Page 1420 |
059849,000464: 20,2440 44734 CS LIMITS # DUPLICATE CODING IN BANK 16
059850,000465: 20,2441 00002 TC Q
059851,000466:
059852,000467: 20,2442 00006 RETNMORE EXTEND # RETURN TO CHEKMORE
059853,000468: 20,2443 32446 DCA MORECADR
059854,000469: 20,2444 52006 DTCB
059855,000470:
059856,000471: 20,2445 E6,1537 EBANK= AOSQ
059857,000472: 20,2445 02016 34106 MORECADR 2CADR CHEKMORE
059858,000473:
End of include-file DAPIDLER_PROGRAM.agc. Parent file is MAIN.agc