GAP: ASSEMBLE REVISION 069 OF AGC PROGRAM LUMINARY BY NASA 2021112-011 19:02 NOV. 25,1968Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source-code files were transcribed from scans made from Don Eyles's personal
copy of Luminary 069. They were scanned at archive.org's Boston
facility, and the scanning was sponsored by Onno Hommes. The code was transcribed
from these scans by a team of volunteers who are referenced in the program
comments. Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". In some cases, where
similar code blocks exist in previously-transcribed AGC programs (primarily
Luminary 99, from Apollo 11) those code blocks were used as a starting point and
then corrected to agree with the Luminary 69 scans. The full scans are available
at the Virtual AGC
project's collection at archive.org, while more-convenient reduced-size (but reduced-quality)
images are available at
the main Virtual AGC website. Report any errors noted by creating an
issue report at the Virtual AGC
project's GitHub repository. Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 069 OF AGC PROGRAM LUMINARY BY NASA 2021112-011 19:02 NOV. 25,1968Note that the date is the date of the printout, not the date of the program revision. |
060997,000002: ## Copyright: Public domain.
060998,000003: ## Filename: DAPIDLER_PROGRAM.agc
060999,000004: ## Purpose: The main source file for Luminary revision 069.
061000,000005: ## It is part of the source code for the original release
061001,000006: ## of the flight software for the Lunar Module's (LM) Apollo
061002,000007: ## Guidance Computer (AGC) for Apollo 10. The actual flown
061003,000008: ## version was Luminary 69 revision 2, which included a
061004,000009: ## newer lunar gravity model and only affected module 2.
061005,000010: ## This file is intended to be a faithful transcription, except
061006,000011: ## that the code format has been changed to conform to the
061007,000012: ## requirements of the yaYUL assembler rather than the
061008,000013: ## original YUL assembler.
061009,000014: ## Reference: pp. 1405-1415
061010,000015: ## Assembler: yaYUL
061011,000016: ## Contact: Ron Burkey <info@sandroid.org>.
061012,000017: ## Website: www.ibiblio.org/apollo/index.html
061013,000018: ## Mod history: 2016-12-13 MAS Created from Luminary 99.
061014,000019: ## 2016-12-18 MAS Updated from comment-proofed Luminary 99 version.
061015,000020: ## 2016-12-23 RRB Updated for Luminary 69.
061016,000021: ## 2017-01-28 RSB Proofed comment text using octopus/prooferComments
061017,000022: ## and fixed errors found.
061018,000023:
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Page 1405 |
061020,000025: # THE DAPIDLER PROGRAM IS STARTED BY FRESH START AND RESTART. THE DAPIDLER PROGRAM IS DONE 10 TIMES
061021,000026: # PER SECOND UNTIL THE ASTRONAUT DESIRES THE DAP TO WAKE UP, AND THE IMU AND CDUS ARE READY FOR USE BY THE DAP.
061022,000027: # THE NECESSARY INITIALIZATION OF THE DAP IS DONE BY THE DAPIDLER PROGRAM.
061023,000028:
061024,000029: 16,2000 BANK 16
061025,000030: 16,2000 SETLOC DAPS1
061026,000031: 16,2000 BANK
061027,000032:
061028,000033: 16,2000 E6,1537 EBANK= AOSQ
061029,000034:
061030,000035: 16,2000 COUNT* $$/DAPID
061031,000036:
061032,000037: 16,2000 00006 CHEKBITS EXTEND
061033,000038: 16,2001 00031 READ CHAN31 # IF BOTH BIT13 AND BIT14 ARE ONE, THEN
061034,000039: 16,2002 40000 COM # THE MODE SELECT SWITCH IS IN THE OFF
061035,000040: 16,2003 74355 MASK BIT13-14 # POSITION, AND SO THE DAP SHOULD BE OFF,
061036,000041: 16,2004 00006 EXTEND # WITH NO ATTITUDE ERROR DISPLAY.
061037,000042: 16,2005 12154 BZF MOREIDLE
061038,000043:
061039,000044: 16,2006 41303 CS IMODES33
061040,000045: 16,2007 74746 MASK BIT6
061041,000046: 16,2010 10000 CCS A
061042,000047: 16,2011 12203 TCF JUMPDSP
061043,000048: 16,2012 41273 CS RCSFLAGS # IMU NOT USABLE. SET UP INITIALIZATION
061044,000049: 16,2013 74751 MASK BIT3 # FLAG FOR ATT ERROR DISPLAY ROUTINE.
061045,000050: 16,2014 27273 ADS RCSFLAGS
061046,000051: 16,2015 12160 TCF SHUTDOWN
061047,000052:
061048,000053: 16,2016 34742 CHEKMORE CAF BIT10 # BIT 10 OF 30 IS PGNCS CONTROL OF S/C
061049,000054: 16,2017 00006 EXTEND
061050,000055: 16,2020 02030 RAND CHAN30 # BITS IN 30 ARE INVERTED
061051,000056: 16,2021 10000 CCS A
061052,000057: 16,2022 12154 TCF MOREIDLE
061053,000058:
061054,000059: 16,2023 00002 RETURN
061055,000060:
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Page 1406 |
061057,000062: # DAPIDLER ENTRY.
061058,000063:
061059,000064: 16,2024 22016 DAPIDLER LXCH BANKRUPT # INTERRUPT LEAD INS (CONTINUED)
061060,000065: 16,2025 00006 EXTEND
061061,000066: 16,2026 22012 QXCH QRUPT
061062,000067:
061063,000068: 16,2027 31273 CA RCSFLAGS
061064,000069: 16,2030 74737 MASK BIT13
061065,000070: 16,2031 10000 CCS A # CHECK IF 1/ACCJOB HAS BEEN SET UP SINCE
061066,000071: 16,2032 12041 TCF CHECKUP # THE LAST FRESH START OR RESTART.
061067,000072: 16,2033 34737 CA BIT13
061068,000073: 16,2034 27273 ADS RCSFLAGS # BIT 13 IS 1.
061069,000074: 16,2035 37714 CAF PRIO27
061070,000075: 16,2036 05072 TC NOVAC # SET UP JOB TO DO A LITTLE INITIALIZATION
061071,000076: 16,2037 E6,1537 EBANK= AOSQ # AND EXECUTE 1/ACCS.
061072,000077: 16,2037 02447 40106 2CADR 1/ACCSET # (WILL BRANCH TO MOREIDLE ON ACCSOKAY)
061073,000078:
061074,000079: 16,2041 02000 CHECKUP TC CHEKBITS # CHECK TO SEE IF LM DAP IS TO GO ON AND
061075,000080: # DO ERROR DISPLAY.
061076,000081:
061077,000082: 16,2042 30111 CAE DAPBOOLS # IF 1/ACCS HAS NOT BEEN COMPLETED, IDLE.
061078,000083: 16,2043 74751 MASK ACCSOKAY # NOTE: ONLY FRESH START AND RESTART
061079,000084: 16,2044 00006 EXTEND # KNOCK THIS BIT DOWN.
061080,000085: 16,2045 12154 BZF MOREIDLE
061081,000086:
061082,000087: 16,2046 04674 STARTDAP TC IBNKCALL # ZERO ATTITUDE ERROR AND DESIRED RATES.
061083,000088: 16,2047 40153 FCADR ZATTEROR
061084,000089: 16,2050 34755 CAF ZERO # ********** INITIALIZE: **********
061085,000090: 16,2051 55524 TS TJP
061086,000091: 16,2052 55525 TS TJU
061087,000092: 16,2053 55526 TS TJV
061088,000093: 16,2054 55417 TS OMEGAP # RATES IN BODY (PILOT) COORDINATES.
061089,000094: 16,2055 55420 TS OMEGAQ
061090,000095: 16,2056 55421 TS OMEGAR
061091,000096: 16,2057 55426 TS TRAPEDP
061092,000097: 16,2060 55427 TS TRAPEDQ
061093,000098: 16,2061 55430 TS TRAPEDR
061094,000099: 16,2062 55537 TS AOSQ # OFFSET ACCELERATION ESTIMATES.
061095,000100: 16,2063 55540 TS AOSQ +1
061096,000101: 16,2064 55541 TS AOSR
061097,000102: 16,2065 55542 TS AOSR +1
061098,000103: 16,2066 55422 TS ALPHAQ # COPIES OF OFFSET ESTIMATES FOR DOWNLIST.
061099,000104: 16,2067 55423 TS ALPHAR
061100,000105: 16,2070 55500 TS NEGUQ
061101,000106: 16,2071 55502 TS NEGUR
061102,000107: 16,2072 55545 TS AOSQTERM # QRAXIS RATE DERIVATION TERMS AND KALMAN
061103,000108: 16,2073 55546 TS AOSRTERM # FILTER INITIALIZATION TERMS.
061104,000109: 16,2074 55510 TS QACCDOT # DESCENT ACCELERATION DERIVATIVE EST.
061105,000110: 16,2075 55512 TS RACCDOT
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Page 1407 |
061107,000112: 16,2076 55501 TS ALLOWGTS # AOSTASK FLAG FOR QRAXIS RCS CONTROL USE.
061108,000113: 16,2077 55627 TS COTROLER # DO TRYGTS ON FIRST PASS (WILL GO TO RCS)
061109,000114: 16,2100 55631 TS INGTS # RECOGNIZE FIRST GTS PASS AS SUCH.
061110,000115: 16,2101 55630 TS QGIMTIMR # STOP GIMBAL DRIVES. (PROBABLY WOULD BE
061111,000116: 16,2102 55632 TS RGIMTIMR # GOOD ENOUGH JUST TO INACTIVATE TIMERS)
061112,000117: 16,2103 55456 TS OLDPMIN # MINIMUM IMPULSE MODE ERASABLES
061113,000118: 16,2104 55457 TS OLDQRMIN
061114,000119: 16,2105 4747 CALLGMBL EQUALS BIT5 # RCSFLAGS INITIALIZATION.
061115,000120: 16,2105 42177 CS MANFLAG
061116,000121: 16,2106 71273 MASK RCSFLAGS # NEGUQ(R) HAVE BEEN GENERATED.
061117,000122: 16,2107 55273 TS RCSFLAGS
061118,000123:
061119,000124: # SET UP "OLD" MEASURED CDU ANGLES:
061120,000125:
061121,000126: 16,2110 00006 EXTEND
061122,000127: 16,2111 30033 DCA CDUX # OLDXFORP AND OLDYFORP
061123,000128: 16,2112 53437 DXCH OLDXFORP
061124,000129: 16,2113 30034 CA CDUZ
061125,000130: 16,2114 55440 TS OLDZFORQ
061126,000131: 16,2115 41273 CS RCSFLAGS
061127,000132: 16,2116 74740 MASK BIT12
061128,000133: 16,2117 27273 ADS RCSFLAGS # BIT 12 SET TO 1.
061129,000134: 16,2120 34751 CA FOUR
061130,000135: 16,2121 55535 TS SKIPU
061131,000136: 16,2122 55536 TS SKIPV
061132,000137: 16,2123 34733 CA POSMAX
061133,000138: 16,2124 54031 TS TIME6
061134,000139: 16,2125 55464 TS T6NEXT
061135,000140: 16,2126 55466 TS T6FURTHA
061136,000141: 16,2127 34755 CA ZERO
061137,000142: 16,2130 55465 TS T6NEXT +1
061138,000143: 16,2131 55467 TS T6FURTHA +1
061139,000144: 16,2132 55463 TS NXT6ADR
061140,000145: 16,2133 55470 TS NEXTP
061141,000146: 16,2134 55471 TS NEXTU
061142,000147: 16,2135 55472 TS NEXTV
061143,000148: 16,2136 44363 CS TEN
061144,000149: 16,2137 55755 TS DAPZRUPT # JASK NOT IN PROGRESS, INITIALIZE NEG.
061145,000150: 16,2140 34752 CA TWO
061146,000151: 16,2141 55431 TS NPTRAPS
061147,000152: 16,2142 55432 TS NQTRAPS
061148,000153: 16,2143 55433 TS NRTRAPS
061149,000154: 16,2144 00006 EXTEND
061150,000155: 16,2145 32202 DCA PAXADIDL
061151,000156: 16,2146 53275 DXCH T5ADR
061152,000157: 16,2147 37726 SETTIME5 CAF MS100
061153,000158: 16,2150 54030 TS TIME5
061154,000159: 16,2151 15270 TCF RESUME
061155,000160: 16,2152 E6,1537 EBANK= AOSQ
061156,000161: 16,2152 02024 34106 IDLERADR 2CADR DAPIDLER
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Page 1408 |
061158,000163: 16,2154 04674 MOREIDLE TC IBNKCALL # CALCULATE Q,R-AXES ATTITUDE ERRORS.
061159,000164: 16,2155 36563 CADR QERRCALC
061160,000165:
061161,000166: 16,2156 04674 TC IBNKCALL
061162,000167: 16,2157 35425 CADR CALCPERR # CALCULATE P AXIS ATTITUDE ERRORS.
061163,000168:
061164,000169: 16,2160 00006 SHUTDOWN EXTEND
061165,000170: 16,2161 32153 DCA IDLERADR
061166,000171: 16,2162 53275 DXCH T5ADR
061167,000172:
061168,000173: 16,2163 34755 CAF ZERO # KILL ANY POSSIBLE JET REQUESTS
061169,000174: 16,2164 55470 TS NEXTP
061170,000175: 16,2165 55471 TS NEXTU
061171,000176: 16,2166 55472 TS NEXTV
061172,000177: 16,2167 00006 EXTEND # COMMAND JETS OFF.
061173,000178: 16,2170 01005 WRITE CHAN5
061174,000179: 16,2171 00006 EXTEND
061175,000180: 16,2172 01006 WRITE CHAN6
061176,000181: 16,2173 42200 CS BGIM23 # TURN TRIM GIMBAL OFF
061177,000182: 16,2174 00006 EXTEND
061178,000183: 16,2175 03012 WAND CHAN12
061179,000184: 16,2176 12147 TCF SETTIME5 # RETURN IN 100 MSEC.
061180,000185:
061181,000186: 16,2177 03021 MANFLAG OCT 03021
061182,000187: 16,2200 07400 BGIM23 OCTAL 07400
061183,000188: 16,2201 E6,1417 EBANK= OMEGAP
061184,000189: 16,2201 02210 34106 PAXADIDL 2CADR PAXIS
061185,000190:
061186,000191: 16,2203 7726 MS100 = OCT37766
061187,000192: 16,2203 0061 COSMG = ITEMP1
061188,000193: 16,2203 00006 JUMPDSP EXTEND # TRANSFER TO BANK 20
061189,000194: 16,2204 32207 DCA DSPCADR # FOR ATTITUDE ERROR DISPLAYS
061190,000195: 16,2205 52006 DTCB
061191,000196:
061192,000197: 16,2206 E6,1757 EBANK= AK
061193,000198: 16,2206 02226 40106 DSPCADR 2CADR ALTDSPLY
061194,000199:
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Page 1409 |
061196,000201: 20,2226 BANK 20
061197,000202: 20,2000 SETLOC DAPS3
061198,000203: 20,2000 BANK
061199,000204: 20,2226 COUNT* $$/NEEDL
061200,000205:
061201,000206: # PROGRAM: ALTDSPLY
061202,000207: # MOD 0. 6 DEC 1967
061203,000208: # AUTHOR: CRAIG WORK, DON KEENE, MIT IL
061204,000209: # MOD 3 BY DON KEENE AUG 1, 1968 MOVED PROGRAM TO BANK 20
061205,000210:
061206,000211: # PROGRAM DESCRIPTION:
061207,000212: # ALTDSPLY REVERSES THE DSPLYALT BIT OF RCSFLAGS EACH TIME IT IS CALLED, WHICH IS PRESUMABLY EVERY 100 MS.
061208,000213: # IF THE REVERSED BIT IS ONE, NEEDLER IS CALLED TO DISPLAY ATTITUDE ERRORS. IF THE BIT IS ZERO, THE ATTITUDE ERR-
061209,000214: # ORS ARE CALCULATED AS 1) DAP FOLLOWING ERRORS, IF NEEDLFLG = 0, AND 2) TOTAL ATTITUDE ERRORS FOR NEEDLFLG = 1.
061210,000215:
061211,000216:
061212,000217: # WARNING: ALTDSPLY MAY ONLY BE CALLED WITH INTERRUPT INHIBITED.
061213,000218:
061214,000219: # WARNING: EBANK MUST BE SET TO 6 WHEN USING THIS ROUTINE.
061215,000220:
061216,000221: # INPUT: RCSFLAGS AND 1) IF NEEDLFLG = 0, INPUT PERROR, QERROR, RERROR.
061217,000222: # 2) IF NEEDLFLG = 1, INPUT CPHI,CTHETA,CPSI,CDUX,CDUY,CDUZ,M11,M21,M31,M22,M32. (GPMATRIX)
061218,000223:
061219,000224:
061220,000225: # OUTPUTS: RCSFLAGS WITH DSPLYALT REVERSED, AK, AK1, AK2, + NEEDLER OUTPUTS.
061221,000226:
061222,000227: # ENTRY: TCF ALTDSPLY
061223,000228:
061224,000229: # EXIT: TCF CHEKMORE
061225,000230:
061226,000231: # ALARM OR ABORT EXITS: NONE
061227,000232:
061228,000233: # SUBPROGRAMS CALLED: NEEDLER, OVERSUB2
061229,000234:
061230,000235: # DEBRIS: A, L, AND NEEDLER DEBRIS.
061231,000236:
061232,000237: 20,2226 31273 ALTDSPLY CA RCSFLAGS # INVERT THE DISPLAY ALTERNATION BIT.
061233,000238: 20,2227 54001 TS L
061234,000239: 20,2230 34750 CA DSPLYALT
061235,000240: 20,2231 00006 EXTEND
061236,000241: 20,2232 06001 RXOR LCHAN
061237,000242: 20,2233 55273 TS RCSFLAGS
061238,000243:
061239,000244: 20,2234 74750 MASK DSPLYALT
061240,000245: 20,2235 10000 CCS A # IS ALTERNATION FLAG ZERO?
061241,000246: 20,2236 12322 TCF NEEDLER
061242,000247:
061243,000248: 20,2237 30074 CAE FLAGWRD0 # NEEDLFLG WILL INDICATE TOTAL OR DAP AT-
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061245,000250: 20,2240 74750 MASK NEEDLBIT # TITUDE ERROR DISPLAY REQUEST.
061246,000251: 20,2241 10000 CCS A
061247,000252: 20,2242 12252 TCF DSPLYTOT # TOTAL ERROR IS NEEDED IN AK, AK +1, AK +2
061248,000253:
061249,000254: 20,2243 41446 CS QERROR # YES. DISPLAY ATT ERRORS ON THE ,-BALL.
061250,000255: 20,2244 55760 TS AK +1 # ERROR COMPLEMENTS ARE INPUT TO NEEDLER.
061251,000256: 20,2245 41450 CS RERROR
061252,000257: 20,2246 55761 TS AK +2
061253,000258: 20,2247 41462 CS PERROR
061254,000259: 20,2250 57757 XCH AK
061255,000260:
061256,000261: 20,2251 12442 TCF RETNMORE # DISPLAY THESE THE NEXT TIME THROUGH
061257,000262:
061258,000263: # CALCULATE GIMBAL ANGLE TOTAL ERRORS, RESOLVE INTO PILOT AXES, STORE TOTAL ERRORS FOR NEEDLER. Q-AXIS FIRST.
061259,000264:
061260,000265: 20,2252 00006 DSPLYTOT EXTEND
061261,000266: 20,2253 22061 QXCH ITEMP1 # SAVE Q FOR CHEKBITS RETURN.
061262,000267:
061263,000268: 20,2254 30322 CA CTHETA # DESIRED ATTITUDE, Y-AXIS, 2'S COMP.
061264,000269: 20,2255 00006 EXTEND # SUBTRACT CURRENT ATTITUDE.
061265,000270: 20,2256 20033 MSU CDUY # DIFFERENCE SCALED AT PI, 1'S COMP.
061266,000271: 20,2257 55757 TS AK # SAVE FOR R-ERROR CALCULATION.
061267,000272: 20,2260 00006 EXTEND
061268,000273: 20,2261 71413 MP M21 # (CHTETA-CDUY)*M21 SCALED AT PI RADIANS.
061269,000274: 20,2262 57760 XCH AK +1 # STORE FIRST TERM OF Q ERROR.
061270,000275: 20,2263 30323 CA CPSI # DESIRED ATTITUDE, Z-AXIS, 2'S COMP.
061271,000276: 20,2264 00006 EXTEND # SUBTRACT CURRENT ATTITUDE.
061272,000277: 20,2265 20034 MSU CDUZ # DIFFERENCE SCALED AT PI, 1'S COMP.
061273,000278: 20,2266 55761 TS AK +2 # SAVE Z-AXIS TERM FOR R ERROR CALCULATION
061274,000279: 20,2267 00006 EXTEND
061275,000280: 20,2270 71415 MP M22 # (CPSI-CDUZ)*M22, SCALED AT PI RADIANS.
061276,000281: 20,2271 61760 AD AK +1 # Q ERROR COMPLETE , AT PI RAD.
061277,000282: 20,2272 02435 TC OVERSUB2 # PIN NEEDLES IN CASE OF OVERFLOW.
061278,000283: 20,2273 55760 TS AK +1
061279,000284:
061280,000285: # R ERROR CALCULATION NEXT.
061281,000286:
061282,000287: 20,2274 31757 CA AK # Y-AXIS DIFFERENCE STORED BY Q-AXIS CALC.
061283,000288: 20,2275 00006 EXTEND
061284,000289: 20,2276 71414 MP M31 # (CTHETA-CDUY)*M31, SCALED AT PI RADIANS.
061285,000290: 20,2277 57761 XCH AK +2 # FIRST TERM OF R ERROR.
061286,000291: # Z-AXIS DIFFERENCE, STORED BY A CALC. IS
061287,000292: 20,2300 00006 EXTEND # RECOVERED BY THE EXCHANGE.
061288,000293: 20,2301 71416 MP M32 # (CPSI-CDUZ)*M32, SCALED AT PI RADIANS.
061289,000294: 20,2302 61761 AD AK +2 # R ERROR COMPLETE , AT PI RAD.
061290,000295: 20,2303 02435 TC OVERSUB2 # PIN NEEDLES IN CASE OF OVERFLOW.
061291,000296: 20,2304 55761 TS AK +2
061292,000297:
061293,000298: # NOW CALCULATE P ERROR. (NOTE THAT M13 = 1, SCALED AT 1, SO THE MULTIPLICATION IS BY-PASSED.)
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Page 1411 |
061295,000300: 20,2305 31757 CA AK # Y-AXIS DIFFERENCE STORED BY Q AXIS CALC.
061296,000301: 20,2306 00006 EXTEND
061297,000302: 20,2307 71412 MP M11 # (CTHETA-CDUY)*M11 SCALED AT PI RADIANS.
061298,000303: 20,2310 57757 XCH AK # FIRST TERM OF P ERROR IN AK, AT PI RAD.
061299,000304: 20,2311 30321 CAE CPHI # DESIRED ATTITUDE, X-AXIS, 2'S COMP.
061300,000305: 20,2312 00006 EXTEND # SUBTRACT CURRENT X ATTITUDE.
061301,000306: 20,2313 20032 MSU CDUX # X-AXIS DIFFERENCE, 1'S COMP, AT PI RAD.
061302,000307:
061303,000308: # M13 = 1, SO BYPASS THE MULTIPLICATION.
061304,000309: # EXTEND
061305,000310: # MP M13 (CPHI-CDUX)*M13 SCALED AT PI RADIANS.
061306,000311:
061307,000312: 20,2314 61757 AD AK # P ERROR COMPLETE , SCALED AT PI RAD
061308,000313: 20,2315 02435 TC OVERSUB2 # PIN NEEDLES IN CASE OF OVERFLOW.
061309,000314: 20,2316 55757 TS AK
061310,000315:
061311,000316: 20,2317 00006 EXTEND
061312,000317: 20,2320 22061 QXCH ITEMP1 # RESTORE Q FOR CHEKBITS RETURN.
061313,000318:
061314,000319: 20,2321 12442 TCF RETNMORE # DISPLAY THESE THE NEXT TIME THROUGH
061315,000320:
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Page 1412 |
061317,000322: # FDAI ATTITUDE ERROR DISPLAY SUBROUTINE
061318,000323:
061319,000324: # PROGRAM DESCRIPTION: D. KEENE 5/24/67
061320,000325: # MOD 1 BY CRAIG WORK, 12 DEC 67
061321,000326: # MOD 2 BY CRAIG WORK, 6 APRIL 68 CONVERTS ATTITUDE ERROR DISPLAY SCALING FROM 16 7/8 DEG. TO 42 3/16 DEGREES.
061322,000327:
061323,000328: # THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS)
061324,000329: # IN THE CDUS. CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT
061325,000330: # OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES
061326,000331: # THE DACS.
061327,000332:
061328,000333: # CALLING SEQUENCE:
061329,000334: # DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE
061330,000335: # TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM:
061331,000336: # CS RCSFLAGS IN EBANK6
061332,000337: # MASK BIT3
061333,000338: # ADS RCSFLAGS
061334,000339: # THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANSFERED TO THE FOLLOWING LOCATIONS IN EBANK6:
061335,000340: # AK SCALED 180 DEGREES NOTE: THESE LOCATIONS ARE SUBJECT
061336,000341: # AK1 SCALED 180 DEGREES TO CHANGE
061337,000342: # AK2 SCALED 180 DEGREES
061338,000343: # FULL SCALED DEFLECTION OF THE NEEDLES CORRESPONDS TO 5 1/16 DEGREES, WHILE 384 BITS IN THE IMU ERROR COUNTER
061339,000344: # CORRESPONDS TO 42 3/16 DEGREES. (DAC MAXIMUM CAPACITY IS 384 BITS.) 46 BITS EFFECTIVELY PIN THE NEEDLES.
061340,000345:
061341,000346: # A CALL TO NEEDLER WILL THEN UPDATE THE DISPLAY:
061342,000347: # INHINT
061343,000348: # TC IBNKCALL NOTE: EBANK SHOULD BE SET TO E6
061344,000349: # CADR NEEDLER
061345,000350: # RELINT
061346,000351: # THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED. AT LEAST 3 PASSES THRU THE PROGRAM ARE
061347,000352: # REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS.
061348,000353: # NOTE: EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50 MS TO ASSURE PROPER RELAY SEQUENCING.
061349,000354:
061350,000355: # ERASABLE USED:
061351,000356: # AK CDUXCMD
061352,000357: # AK1 CDUYCMD
061353,000358: # AK2 CDUZCMD
061354,000359: # EDRIVEX A,L,Q
061355,000360: # EDRIVEY T5TEMP
061356,000361: # EDRIVEZ DINDX
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Page 1413 |
061358,000363:
061359,000364: # SWITCHES: RCSFLAGS BITS 3,2
061360,000365:
061361,000366: # I/O CHANNELS: CHAN12 BIT 4 (COARSE ALIGN - READ ONLY)
061362,000367: # CHAN12 BIT 6 (IMU ERROR COUNTER ENABLE)
061363,000368: # CHAN14 BIT 13,14,15 (DAC ACTIVITY)
061364,000369:
061365,000370: # SIGN CONVENTION< AK = THETAC - THETA
061366,000371: # WHERE THETAC = COMMAND ANGLE
061367,000372: # THETA = PRESENT ANGLE
061368,000373:
061369,000374: 20,2322 31273 NEEDLER CA RCSFLAGS
061370,000375: 20,2323 76241 MASK SIX
061371,000376: 20,2324 00006 EXTEND
061372,000377: 20,2325 12362 BZF NEEDLES3
061373,000378: 20,2326 74751 MASK BIT3
061374,000379: 20,2327 00006 EXTEND
061375,000380: 20,2330 12353 BZF NEEDLER2 # BIT3 = 0, BIT2 = 1
061376,000381:
061377,000382: 20,2331 44746 CS BIT6 # FIRST PASS BIT3 = 1
061378,000383: 20,2332 00006 EXTEND # DISABLE IMU ERROR COUNTER TO ZERO DACS
061379,000384: 20,2333 03012 WAND CHAN12 # MUST WAIT AT LEAST 60 MS BEFORE
061380,000385: 20,2334 44755 NEEDLE11 CS ZERO # ENABLING COUNTERS.
061381,000386: 20,2335 55757 TS AK # ZERO THE INPUTS ON FIRST PASS
061382,000387: 20,2336 55760 TS AK1
061383,000388: 20,2337 55761 TS AK2
061384,000389: 20,2340 55762 TS EDRIVEX # ZERO THE DISPLAY REGISTERS
061385,000390: 20,2341 55763 TS EDRIVEY
061386,000391: 20,2342 55764 TS EDRIVEZ
061387,000392: 20,2343 54050 TS CDUXCMD # ZERO THE OUT COUNTERS
061388,000393: 20,2344 54051 TS CDUYCMD
061389,000394: 20,2345 54052 TS CDUZCMD
061390,000395: 20,2346 46241 CS SIX # RESET RCSFLAGS FOR PASS2
061391,000396: 20,2347 71273 MASK RCSFLAGS
061392,000397: 20,2350 64752 AD BIT2
061393,000398: 20,2351 55273 TS RCSFLAGS
061394,000399: 20,2352 12442 TCF RETNMORE
061395,000400:
061396,000401: 20,2353 34746 NEEDLER2 CAF BIT6 # ENABLE IMU ERROR COUNTERS
061397,000402: 20,2354 00006 EXTEND
061398,000403: 20,2355 05012 WOR CHAN12
061399,000404: 20,2356 46241 CS SIX # RESET RCSFLAGS TO DISPLAY ATTITUDE
061400,000405: 20,2357 71273 MASK RCSFLAGS # ERRORS WAIT AT LEAST 4 MS FOR
061401,000406: 20,2360 55273 TS RCSFLAGS # RELAY CLOSURE
061402,000407: 20,2361 12442 TCF RETNMORE
061403,000408:
061404,000409: 20,2362 34746 NEEDLES3 CAF BIT6 # CHECK TO SEE IF IMU ERROR COUNTER
061405,000410: 20,2363 00006 EXTEND # IS ENABLED
061406,000411: 20,2364 02012 RAND CHAN12
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Page 1414 |
061408,000413: 20,2365 10000 CCS A # IF NOT, RE-INITIALIZE NEEDLER.
061409,000414: 20,2366 12373 TCF NEEDLES
061410,000415:
061411,000416: 20,2367 41273 CS RCSFLAGS # SET UP INITIALIZATION FLAG IN RCSFLAGS.
061412,000417: 20,2370 74751 MASK BIT3
061413,000418: 20,2371 27273 ADS RCSFLAGS
061414,000419: 20,2372 12442 TCF RETNMORE
061415,000420:
061416,000421: 20,2373 34752 NEEDLES CAF TWO
061417,000422: 20,2374 54063 DACLOOP TS DINDX
061418,000423: 20,2375 42434 CS ONETENTH # RESCALE INPUTS TO + OR - 1800 DEGREES.
061419,000424: 20,2376 00006 EXTEND
061420,000425: 20,2377 50063 INDEX DINDX
061421,000426: 20,2400 71757 MP AK
061422,000427: 20,2401 54001 TS L
061423,000428: 20,2402 10000 CCS A
061424,000429: 20,2403 32432 CA DACLIMIT
061425,000430: 20,2404 12406 TCF +2
061426,000431: 20,2405 42432 CS DACLIMIT
061427,000432: 20,2406 60001 AD L
061428,000433: 20,2407 54061 TS T5TEMP # OVFLO CHK
061429,000434: 20,2410 12414 TCF +4
061430,000435: 20,2411 50000 INDEX A # ON OVERFLOW LIMIT OUTPUT TO +-384
061431,000436: 20,2412 32432 CAF DACLIMIT
061432,000437: 20,2413 54001 TS L
061433,000438: 20,2414 50063 INDEX DINDX
061434,000439: 20,2415 41762 CS EDRIVEX # CURRENT VALUE OF DAC
061435,000440: 20,2416 60001 AD L
061436,000441: 20,2417 50063 INDEX DINDX
061437,000442: 20,2420 26050 ADS CDUXCMD
061438,000443: 20,2421 50063 INDEX DINDX
061439,000444: 20,2422 23762 LXCH EDRIVEX
061440,000445: 20,2423 10063 CCS DINDX
061441,000446: 20,2424 12374 TCF DACLOOP
061442,000447: 20,2425 37737 CAF 13,14,15
061443,000448: 20,2426 00006 EXTEND
061444,000449: 20,2427 05014 WOR CHAN14 # SET DAC ACTIVITY BITS
061445,000450: 20,2430 12442 TCF RETNMORE
061446,000451:
061447,000452: 20,2431 77177 DEC -384 B-14
061448,000453: 20,2432 37200 DACLIMIT DEC 16000 B-14
061449,000454: 20,2433 00600 DEC 384 B-14
061450,000455:
061451,000456: 20,2434 03146 ONETENTH OCT 03146 # DECIMAL +0.1, SCALED AT 1.
061452,000457: 20,2435 4750 DSPLYALT EQUALS BIT4 # 100 MS ALTERNATION BIT IN RCSFLAGS
061453,000458:
061454,000459: 20,2435 54007 OVERSUB2 TS 7 # RETURNS A UNCHANGED OR LIMITED TO
061455,000460: 20,2436 00002 TC Q # POSMAX OR NEGMAX IF A HAS OVERFLOW
061456,000461: 20,2437 50000 INDEX A
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Page 1415 |
061458,000463: 20,2440 44734 CS LIMITS # DUPLICATE CODING IN BANK 16
061459,000464: 20,2441 00002 TC Q
061460,000465:
061461,000466: 20,2442 00006 RETNMORE EXTEND # RETURN TO CHEKMORE
061462,000467: 20,2443 32446 DCA MORECADR
061463,000468: 20,2444 52006 DTCB
061464,000469:
061465,000470: 20,2445 E6,1537 EBANK= AOSQ
061466,000471: 20,2445 02016 34106 MORECADR 2CADR CHEKMORE
061467,000472:
End of include-file DAPIDLER_PROGRAM.agc. Parent file is MAIN.agc