Source Code
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These source-code files are part of a reconstructed copy of Luminary 96, the
original release of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
The reconstruction began with reconstructed source code for Luminary 97. Changes
between revisions 96 and 97 were backed out, as described by anomal report LNY-59.
transcribed from a digitized copy of that program. The reconstruction was
verified by matching memory-bank checksums to those listed in drawing 2021152D.
Note that page numbers in the reconstructed code match those on the Luminary 099
revision 001 printout, although the added code would likely have changed page
numbers for a real Luminary 96 listing.
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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059200,000002: ## Copyright: Public domain.
059201,000003: ## Filename: DAPIDLER_PROGRAM.agc
059202,000004: ## Purpose: A section of Luminary revision 96.
059203,000005: ## It is part of the reconstructed source code for the
059204,000006: ## original release of the flight software for the Lunar
059205,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
059206,000008: ## The code has been recreated from a previously reconstructed
059207,000009: ## copy of Luminary 97 by undoing changes described in anomaly
059208,000010: ## report LNY-59. The code has been adapted such that the
059209,000011: ## resulting bugger words exactly match those specified for
059210,000012: ## Luminary 96 in NASA drawing 2021152D, which gives relatively
059211,000013: ## high confidence that the reconstruction is correct.
059212,000014: ## Reference: pp. 1410-1420
059213,000015: ## Assembler: yaYUL
059214,000016: ## Contact: Ron Burkey <info@sandroid.org>.
059215,000017: ## Website: www.ibiblio.org/apollo/index.html
059216,000018: ## Mod history: 2019-08-04 MAS Created from Luminary 97.
059217,000019:
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Page 1410
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059219,000021: # THE DAPIDLER PROGRAM IS STARTED BY FRESH START AND RESTART. THE DAPIDLER PROGRAM IS DONE 10 TIMES
059220,000022: # PER SECOND UNTIL THE ASTRONAUT DESIRES THE DAP TO WAKE UP, AND THE IMU AND CDUS ARE READY FOR USE BY THE DAP.
059221,000023: # THE NECESSARY INITIALIZATION OF THE DAP IS DONE BY THE DAPIDLER PROGRAM.
059222,000024:
059223,000025: 16,2000 BANK 16
059224,000026: 16,2000 SETLOC DAPS1
059225,000027: 16,2000 BANK
059226,000028:
059227,000029: 16,2000 E6,1537 EBANK= AOSQ
059228,000030:
059229,000031: 16,2000 COUNT* $$/DAPID
059230,000032:
059231,000033: 16,2000 00006 CHEKBITS EXTEND
059232,000034: 16,2001 00031 READ CHAN31 # IF BOTH BIT13 AND BIT14 ARE ONE, THEN
059233,000035: 16,2002 40000 COM # THE MODE SELECT SWITCH IS IN THE OFF
059234,000036: 16,2003 74355 MASK BIT13-14 # POSITION, AND SO THE DAP SHOULD BE OFF,
059235,000037: 16,2004 00006 EXTEND # WITH NO ATTITUDE ERROR DISPLAY.
059236,000038: 16,2005 12157 BZF MOREIDLE
059237,000039:
059238,000040: 16,2006 41303 CS IMODES33
059239,000041: 16,2007 74746 MASK BIT6
059240,000042: 16,2010 10000 CCS A
059241,000043: 16,2011 12206 TCF JUMPDSP
059242,000044: 16,2012 41273 CS RCSFLAGS # IMU NOT USABLE. SET UP INITIALIZATION
059243,000045: 16,2013 74751 MASK BIT3 # FLAG FOR ATT ERROR DISPLAY ROUTINE.
059244,000046: 16,2014 27273 ADS RCSFLAGS
059245,000047: 16,2015 12163 TCF SHUTDOWN
059246,000048:
059247,000049: 16,2016 34742 CHEKMORE CAF BIT10 # BIT 10 OF 30 IS PGNCS CONTROL OF S/C
059248,000050: 16,2017 00006 EXTEND
059249,000051: 16,2020 02030 RAND CHAN30 # BITS IN 30 ARE INVERTED
059250,000052: 16,2021 10000 CCS A
059251,000053: 16,2022 12157 TCF MOREIDLE
059252,000054:
059253,000055: 16,2023 00002 RETURN
059254,000056:
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Page 1411
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059256,000058: # DAPIDLER ENTRY.
059257,000059:
059258,000060: 16,2024 22016 DAPIDLER LXCH BANKRUPT # INTERRUPT LEAD INS (CONTINUED)
059259,000061: 16,2025 00006 EXTEND
059260,000062: 16,2026 22012 QXCH QRUPT
059261,000063:
059262,000064: 16,2027 31273 CA RCSFLAGS
059263,000065: 16,2030 74737 MASK BIT13
059264,000066: 16,2031 10000 CCS A # CHECK IF 1/ACCJOB HAS BEEN SET UP SINCE
059265,000067: 16,2032 12041 TCF CHECKUP # THE LAST FRESH START OR RESTART.
059266,000068: 16,2033 34737 CA BIT13
059267,000069: 16,2034 27273 ADS RCSFLAGS # BIT 13 IS 1.
059268,000070: 16,2035 37715 CAF PRIO27
059269,000071: 16,2036 05072 TC NOVAC # SET UP JOB TO DO A LITTLE INITIALIZATION
059270,000072: 16,2037 E6,1537 EBANK= AOSQ # AND EXECUTE 1/ACCS.
059271,000073: 16,2037 02447 40106 2CADR 1/ACCSET # (WILL BRANCH TO MOREIDLE ON ACCSOKAY)
059272,000074:
059273,000075: 16,2041 02000 CHECKUP TC CHEKBITS # CHECK TO SEE IF LM DAP IS TO GO ON AND
059274,000076: # DO ERROR DISPLAY.
059275,000077:
059276,000078: 16,2042 30111 CAE DAPBOOLS # IF 1/ACCS HAS NOT BEEN COMPLETED, IDLE.
059277,000079: 16,2043 74751 MASK ACCSOKAY # NOTE: ONLY FRESH START AND RESTART
059278,000080: 16,2044 00006 EXTEND # KNOCK THIS BIT DOWN.
059279,000081: 16,2045 12157 BZF MOREIDLE
059280,000082:
059281,000083: 16,2046 04674 STARTDAP TC IBNKCALL # ZERO ATTITUDE ERROR AND DESIRED RATES.
059282,000084: 16,2047 40153 FCADR ZATTEROR
059283,000085: 16,2050 34755 CAF ZERO # ********** INITIALIZE: **********
059284,000086: 16,2051 55524 TS TJP
059285,000087: 16,2052 55525 TS TJU
059286,000088: 16,2053 55526 TS TJV
059287,000089: 16,2054 55421 TS OMEGAP # RATES IN BODY (PILOT) COORDINATES.
059288,000090: 16,2055 55422 TS OMEGAQ
059289,000091: 16,2056 55423 TS OMEGAR
059290,000092: 16,2057 55430 TS TRAPEDP
059291,000093: 16,2060 55431 TS TRAPEDQ
059292,000094: 16,2061 55432 TS TRAPEDR
059293,000095: 16,2062 55537 TS AOSQ # OFFSET ACCELERATION ESTIMATES.
059294,000096: 16,2063 55540 TS AOSQ +1
059295,000097: 16,2064 55541 TS AOSR
059296,000098: 16,2065 55542 TS AOSR +1
059297,000099: 16,2066 55424 TS ALPHAQ # COPIES OF OFFSET ESTIMATES FOR DOWNLIST.
059298,000100: 16,2067 55425 TS ALPHAR
059299,000101: 16,2070 55501 TS NEGUQ
059300,000102: 16,2071 55503 TS NEGUR
059301,000103: 16,2072 55545 TS AOSQTERM # QRAXIS RATE DERIVATION TERMS AND KALMAN
059302,000104: 16,2073 55546 TS AOSRTERM # FILTER INITIALIZATION TERMS.
059303,000105: 16,2074 55510 TS QACCDOT # DESCENT ACCELERATION DERIVATIVE EST.
059304,000106: 16,2075 55512 TS RACCDOT
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Page 1412
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059306,000108: 16,2076 55502 TS ALLOWGTS # AOSTASK FLAG FOR QRAXIS RCS CONTROL USE.
059307,000109: 16,2077 55631 TS COTROLER # DO TRYGTS ON FIRST PASS (WILL GO TO RCS)
059308,000110: 16,2100 55633 TS INGTS # RECOGNIZE FIRST GTS PASS AS SUCH.
059309,000111: 16,2101 55632 TS QGIMTIMR # STOP GIMBAL DRIVES. (PROBABLY WOULD BE
059310,000112: 16,2102 55634 TS RGIMTIMR # GOOD ENOUGH JUST TO INACTIVATE TIMERS)
059311,000113: 16,2103 55460 TS OLDPMIN # MINIMUM IMPULSE MODE ERASABLES
059312,000114: 16,2104 55461 TS OLDQRMIN
059313,000115: 16,2105 55767 TS PJETCTR # INITIALIZE DOCKED JET INHIBITION
059314,000116: 16,2106 55770 TS UJETCTR # COUNTERS
059315,000117: 16,2107 55771 TS VJETCTR
059316,000118: 16,2110 4747 CALLGMBL EQUALS BIT5 # RCSFLAGS INITIALIZATION.
059317,000119: 16,2110 42202 CS MANFLAG
059318,000120: 16,2111 71273 MASK RCSFLAGS # NEGUQ(R) HAVE BEEN GENERATED.
059319,000121: 16,2112 55273 TS RCSFLAGS
059320,000122:
059321,000123: # SET UP "OLD" MEASURED CDU ANGLES:
059322,000124:
059323,000125: 16,2113 00006 EXTEND
059324,000126: 16,2114 30033 DCA CDUX # OLDXFORP AND OLDYFORP
059325,000127: 16,2115 53441 DXCH OLDXFORP
059326,000128: 16,2116 30034 CA CDUZ
059327,000129: 16,2117 55442 TS OLDZFORQ
059328,000130: 16,2120 41273 CS RCSFLAGS
059329,000131: 16,2121 74740 MASK BIT12
059330,000132: 16,2122 27273 ADS RCSFLAGS # BIT 12 SET TO 1.
059331,000133: 16,2123 34751 CA FOUR
059332,000134: 16,2124 55535 TS SKIPU
059333,000135: 16,2125 55536 TS SKIPV
059334,000136: 16,2126 34733 CA POSMAX
059335,000137: 16,2127 54031 TS TIME6
059336,000138: 16,2130 55466 TS T6NEXT
059337,000139: 16,2131 55470 TS T6FURTHA
059338,000140: 16,2132 34755 CA ZERO
059339,000141: 16,2133 55467 TS T6NEXT +1
059340,000142: 16,2134 55471 TS T6FURTHA +1
059341,000143: 16,2135 55465 TS NXT6ADR
059342,000144: 16,2136 55472 TS NEXTP
059343,000145: 16,2137 55473 TS NEXTU
059344,000146: 16,2140 55474 TS NEXTV
059345,000147: 16,2141 44363 CS TEN
059346,000148: 16,2142 55757 TS DAPZRUPT # JASK NOT IN PROGRESS, INITIALIZE NEG.
059347,000149: 16,2143 34752 CA TWO
059348,000150: 16,2144 55433 TS NPTRAPS
059349,000151: 16,2145 55434 TS NQTRAPS
059350,000152: 16,2146 55435 TS NRTRAPS
059351,000153: 16,2147 00006 EXTEND
059352,000154: 16,2150 32205 DCA PAXADIDL
059353,000155: 16,2151 53275 DXCH T5ADR
059354,000156: 16,2152 37727 SETTIME5 CAF MS100
059355,000157: 16,2153 54030 TS TIME5
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Page 1413
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059357,000159: 16,2154 15270 TCF RESUME
059358,000160: 16,2155 E6,1537 EBANK= AOSQ
059359,000161: 16,2155 02024 34106 IDLERADR 2CADR DAPIDLER
059360,000162:
059361,000163: 16,2157 04674 MOREIDLE TC IBNKCALL # CALCULATE Q,R-AXES ATTITUDE ERRORS.
059362,000164: 16,2160 36626 CADR QERRCALC
059363,000165:
059364,000166: 16,2161 04674 TC IBNKCALL
059365,000167: 16,2162 35446 CADR CALCPERR # CALCULATE P AXIS ATTITUDE ERRORS.
059366,000168:
059367,000169: 16,2163 00006 SHUTDOWN EXTEND
059368,000170: 16,2164 32156 DCA IDLERADR
059369,000171: 16,2165 53275 DXCH T5ADR
059370,000172:
059371,000173: 16,2166 34755 CAF ZERO # KILL ANY POSSIBLE JET REQUESTS
059372,000174: 16,2167 55472 TS NEXTP
059373,000175: 16,2170 55473 TS NEXTU
059374,000176: 16,2171 55474 TS NEXTV
059375,000177: 16,2172 00006 EXTEND # COMMAND JETS OFF.
059376,000178: 16,2173 01005 WRITE CHAN5
059377,000179: 16,2174 00006 EXTEND
059378,000180: 16,2175 01006 WRITE CHAN6
059379,000181: 16,2176 42203 CS BGIM23 # TURN TRIM GIMBAL OFF
059380,000182: 16,2177 00006 EXTEND
059381,000183: 16,2200 03012 WAND CHAN12
059382,000184: 16,2201 12152 TCF SETTIME5 # RETURN IN 100 MSEC.
059383,000185:
059384,000186: 16,2202 03021 MANFLAG OCT 03021
059385,000187: 16,2203 07400 BGIM23 OCTAL 07400
059386,000188: 16,2204 E6,1421 EBANK= OMEGAP
059387,000189: 16,2204 02213 34106 PAXADIDL 2CADR PAXIS
059388,000190:
059389,000191: 16,2206 7727 MS100 = OCT37766
059390,000192: 16,2206 0061 COSMG = ITEMP1
059391,000193: 16,2206 00006 JUMPDSP EXTEND # TRANSFER TO BANK 20
059392,000194: 16,2207 32212 DCA DSPCADR # FOR ATTITUDE ERROR DISPLAYS
059393,000195: 16,2210 52006 DTCB
059394,000196:
059395,000197: 16,2211 E6,1761 EBANK= AK
059396,000198: 16,2211 02226 40106 DSPCADR 2CADR ALTDSPLY
059397,000199:
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Page 1414
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059399,000201: 20,2226 BANK 20
059400,000202: 20,2000 SETLOC DAPS3
059401,000203: 20,2000 BANK
059402,000204: 20,2226 COUNT* $$/NEEDL
059403,000205:
059404,000206: # PROGRAM: ALTDSPLY
059405,000207: # MOD 0. 6 DEC 1967
059406,000208: # AUTHOR: CRAIG WORK, DON KEENE, MIT IL
059407,000209: # MOD 3 BY DON KEENE AUG 1, 1968 MOVED PROGRAM TO BANK 20
059408,000210:
059409,000211: # PROGRAM DESCRIPTION:
059410,000212: # ALTDSPLY REVERSES THE DSPLYALT BIT OF RCSFLAGS EACH TIME IT IS CALLED, WHICH IS PRESUMABLY EVERY 100 MS.
059411,000213: # IF THE REVERSED BIT IS ONE, NEEDLER IS CALLED TO DISPLAY ATTITUDE ERRORS. IF THE BIT IS ZERO, THE ATTITUDE ERR-
059412,000214: # ORS ARE CALCULATED AS 1) DAP FOLLOWING ERRORS, IF NEEDLFLG = 0, AND 2) TOTAL ATTITUDE ERRORS FOR NEEDLFLG = 1.
059413,000215:
059414,000216:
059415,000217: # WARNING: ALTDSPLY MAY ONLY BE CALLED WITH INTERRUPT INHIBITED.
059416,000218:
059417,000219: # WARNING: EBANK MUST BE SET TO 6 WHEN USING THIS ROUTINE.
059418,000220:
059419,000221: # INPUT: RCSFLAGS AND 1) IF NEEDLFLG = 0, INPUT PERROR, QERROR, RERROR.
059420,000222: # 2) IF NEEDLFLG = 1, INPUT CPHI,CTHETA,CPSI,CDUX,CDUY,CDUZ,M11,M21,M32,M22,M32. (GPMATRIX)
059421,000223:
059422,000224:
059423,000225: # OUTPUTS: RCSFLAGS WITH DSPLYALT REVERSED, AK, AK1, AK2, + NEEDLER OUTPUTS.
059424,000226:
059425,000227: # ENTRY: TCF ALTDSPLY
059426,000228:
059427,000229: # EXIT: TCF CHEKMORE
059428,000230:
059429,000231: # ALARM OR ABORT EXITS: NONE
059430,000232:
059431,000233: # SUBPROGRAMS CALLED: NEEDLER, OVERSUB2
059432,000234:
059433,000235: # DEBRIS: A, L, AND NEEDLER DEBRIS.
059434,000236:
059435,000237: 20,2226 31273 ALTDSPLY CA RCSFLAGS # INVERT THE DISPLAY ALTERNATION BIT.
059436,000238: 20,2227 54001 TS L
059437,000239: 20,2230 34750 CA DSPLYALT
059438,000240: 20,2231 00006 EXTEND
059439,000241: 20,2232 06001 RXOR LCHAN
059440,000242: 20,2233 55273 TS RCSFLAGS
059441,000243:
059442,000244: 20,2234 74750 MASK DSPLYALT
059443,000245: 20,2235 10000 CCS A # IS ALTERNATION FLAG ZERO?
059444,000246: 20,2236 12322 TCF NEEDLER
059445,000247:
059446,000248: 20,2237 30074 CAE FLAGWRD0 # NEEDLFLG WILL INDICATE TOTAL OR DAP AT-
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Page 1415
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059448,000250: 20,2240 74750 MASK NEEDLBIT # TITUDE ERROR DISPLAY REQUEST.
059449,000251: 20,2241 10000 CCS A
059450,000252: 20,2242 12252 TCF DSPLYTOT # TOTAL ERROR IS NEEDED IN AK, AK +1, AK +2
059451,000253:
059452,000254: 20,2243 41450 CS QERROR # YES. DISPLAY ATT ERRORS ON THE ,-BALL.
059453,000255: 20,2244 55762 TS AK +1 # ERROR COMPLEMENTS ARE INPUT TO NEEDLER.
059454,000256: 20,2245 41452 CS RERROR
059455,000257: 20,2246 55763 TS AK +2
059456,000258: 20,2247 41464 CS PERROR
059457,000259: 20,2250 57761 XCH AK
059458,000260:
059459,000261: 20,2251 12442 TCF RETNMORE # DISPLAY THESE THE NEXT TIME THROUGH
059460,000262:
059461,000263: # CALCULATE GIMBAL ANGLE TOTAL ERRORS, RESOLVE INTO PILOT AXES, STORE TOTAL ERRORS FOR NEEDLER. Q-AXIS FIRST.
059462,000264:
059463,000265: 20,2252 00006 DSPLYTOT EXTEND
059464,000266: 20,2253 22061 QXCH ITEMP1 # SAVE Q FOR CHEKBITS RETURN.
059465,000267:
059466,000268: 20,2254 30322 CA CTHETA # DESIRED ATTITUDE, Y-AXIS, 2'S COMP.
059467,000269: 20,2255 00006 EXTEND # SUBTRACT CURRENT ATTITUDE.
059468,000270: 20,2256 20033 MSU CDUY # DIFFERENCE SCALED AT PI, 1'S COMP.
059469,000271: 20,2257 55761 TS AK # SAVE FOR R-ERROR CALCULATION.
059470,000272: 20,2260 00006 EXTEND
059471,000273: 20,2261 71415 MP M21 # (CHTETA-CDUY)*M21 SCALED AT PI RADIANS.
059472,000274: 20,2262 57762 XCH AK +1 # STORE FIRST TERM OF Q ERROR.
059473,000275: 20,2263 30323 CA CPSI # DESIRED ATTITUDE, Z-AXIS, 2'S COMP.
059474,000276: 20,2264 00006 EXTEND # SUBTRACT CURRENT ATTITUDE.
059475,000277: 20,2265 20034 MSU CDUZ # DIFFERENCE SCALED AT PI, 1'S COMP.
059476,000278: 20,2266 55763 TS AK +2 # SAVE Z-AXIS TERM FOR R ERROR CALCULATION
059477,000279: 20,2267 00006 EXTEND
059478,000280: 20,2270 71417 MP M22 # (CPSI-CDUZ)*M22, SCALED AT PI RADIANS.
059479,000281: 20,2271 61762 AD AK +1 # Q ERROR COMPLETE , AT PI RAD.
059480,000282: 20,2272 02435 TC OVERSUB2 # PIN NEEDLES IN CASE OF OVERFLOW.
059481,000283: 20,2273 55762 TS AK +1
059482,000284:
059483,000285: # R ERROR CALCULATION NEXT.
059484,000286:
059485,000287: 20,2274 31761 CA AK # Y-AXIS DIFFERENCE STORED BY Q-AXIS CALC.
059486,000288: 20,2275 00006 EXTEND
059487,000289: 20,2276 71416 MP M31 # (CTHETA-CDUY)*M31, SCALED AT PI RADIANS.
059488,000290: 20,2277 57763 XCH AK +2 # FIRST TERM OF R ERROR.
059489,000291: # Z-AXIS DIFFERENCE, STORED BY A CALC. IS
059490,000292: 20,2300 00006 EXTEND # RECOVERED BY THE EXCHANGE.
059491,000293: 20,2301 71420 MP M32 # (CPSI-CDUZ)*M32, SCALED AT PI RADIANS.
059492,000294: 20,2302 61763 AD AK +2 # R ERROR COMPLETE , AT PI RAD.
059493,000295: 20,2303 02435 TC OVERSUB2 # PIN NEEDLES IN CASE OF OVERFLOW.
059494,000296: 20,2304 55763 TS AK +2
059495,000297:
059496,000298: # NOW CALCULATE P ERROR. (NOTE THAT M13 = 1, SCALED AT 1, SO THE MULTIPLICATION IS BY-PASSED.)
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Page 1416
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059498,000300: 20,2305 31761 CA AK # Y-AXIS DIFFERENCE STORED BY Q AXIS CALC.
059499,000301: 20,2306 00006 EXTEND
059500,000302: 20,2307 71414 MP M11 # (CTHETA-CDUY)*M11 SCALED AT PI RADIANS.
059501,000303: 20,2310 57761 XCH AK # FIRST TERM OF P ERROR IN AK, AT PI RAD.
059502,000304: 20,2311 30321 CAE CPHI # DESIRED ATTITUDE, X-AXIS, 2'S COMP.
059503,000305: 20,2312 00006 EXTEND # SUBTRACT CURRENT X ATTITUDE.
059504,000306: 20,2313 20032 MSU CDUX # X-AXIS DIFFERENCE, 1'S COMP, AT PI RAD.
059505,000307:
059506,000308: # M13 = 1, SO BYPASS THE MULTIPLICATION.
059507,000309: # EXTEND
059508,000310: # MP M13 (CPHI-CDUX)*M13 SCALED AT PI RADIANS.
059509,000311:
059510,000312: 20,2314 61761 AD AK # P ERROR COMPLETE , SCALED AT PI RAD
059511,000313: 20,2315 02435 TC OVERSUB2 # PIN NEEDLES IN CASE OF OVERFLOW.
059512,000314: 20,2316 55761 TS AK
059513,000315:
059514,000316: 20,2317 00006 EXTEND
059515,000317: 20,2320 22061 QXCH ITEMP1 # RESTORE Q FOR CHEKBITS RETURN.
059516,000318:
059517,000319: 20,2321 12442 TCF RETNMORE # DISPLAY THESE THE NEXT TIME THROUGH
059518,000320:
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Page 1417
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059520,000322: # FDAI ATTITUDE ERROR DISPLAY SUBROUTINE
059521,000323:
059522,000324: # PROGRAM DESCRIPTION: D. KEENE 5/24/67
059523,000325: # MOD 1 BY CRAIG WORK, 12 DEC 67
059524,000326: # MOD 2 BY CRAIG WORK, 6 APRIL 68 CONVERTS ATTITUDE ERROR DISPLAY SCALING FROM 16 7/8 DEG. TO 42 3/16 DEGREES.
059525,000327:
059526,000328: # THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS)
059527,000329: # IN THE CDUS. CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT
059528,000330: # OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES
059529,000331: # THE DACS.
059530,000332:
059531,000333: # CALLING SEQUENCE:
059532,000334: # DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE
059533,000335: # TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM:
059534,000336: # CS RCSFLAGS IN EBANK6
059535,000337: # MASK BIT3
059536,000338: # ADS RCSFLAGS
059537,000339: # THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANSFERED TO THE FOLLOWING LOCATIONS IN EBANK6:
059538,000340: # AK SCALED 180 DEGREES NOTE: THESE LOCATIONS ARE SUBJECT
059539,000341: # AK1 SCALED 180 DEGREES TO CHANGE
059540,000342: # AK2 SCALED 180 DEGREES
059541,000343: # FULL SCALED DEFLECTION OF THE NEEDLES CORRESPONDS TO 5 1/16 DEGREES, WHILE 384 BITS IN THE IMU ERROR COUNTER
059542,000344: # CORRESPONDS TO 42 3/16 DEGREES. (DAC MAXIMUM CAPACITY IS 384 BITS.) 46 BITS EFFECTIVELY PIN THE NEEDLES.
059543,000345:
059544,000346: # A CALL TO NEEDLER WILL THEN UPDATE THE DISPLAY:
059545,000347: # INHINT
059546,000348: # TC IBNKCALL NOTE: EBANK SHOULD BE SET TO E6
059547,000349: # CADR NEEDLER
059548,000350: # RELINT
059549,000351: # THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED. AT LEAST 3 PASSES THRU THE PROGRAM ARE
059550,000352: # REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS.
059551,000353: # NOTE: EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50 MS TO ASSURE PROPER RELAY SEQUENCING.
059552,000354:
059553,000355: # ERASABLE USED:
059554,000356: # AK CDUXCMD
059555,000357: # AK1 CDUYCMD
059556,000358: # AK2 CDUZCMD
059557,000359: # EDRIVEX A,L,Q
059558,000360: # EDRIVEY T5TEMP
059559,000361: # EDRIVEZ DINDX
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Page 1418
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059561,000363:
059562,000364: # SWITCHES: RCSFLAGS BITS 3,2
059563,000365:
059564,000366: # I/O CHANNELS: CHAN12 BIT 4 (COARSE ALIGN - READ ONLY)
059565,000367: # CHAN12 BIT 6 (IMU ERROR COUNTER ENABLE)
059566,000368: # CHAN14 BIT 13,14,15 (DAC ACTIVITY)
059567,000369:
059568,000370: # SIGN CONVENTION< AK = THETAC - THETA
059569,000371: # WHERE THETAC = COMMAND ANGLE
059570,000372: # THETA = PRESENT ANGLE
059571,000373:
059572,000374: 20,2322 31273 NEEDLER CA RCSFLAGS
059573,000375: 20,2323 76242 MASK SIX
059574,000376: 20,2324 00006 EXTEND
059575,000377: 20,2325 12362 BZF NEEDLES3
059576,000378: 20,2326 74751 MASK BIT3
059577,000379: 20,2327 00006 EXTEND
059578,000380: 20,2330 12353 BZF NEEDLER2 # BIT3 = 0, BIT2 = 1
059579,000381:
059580,000382: 20,2331 44746 CS BIT6 # FIRST PASS BIT3 = 1
059581,000383: 20,2332 00006 EXTEND # DISABLE IMU ERROR COUNTER TO ZERO DACS
059582,000384: 20,2333 03012 WAND CHAN12 # MUST WAIT AT LEAST 60 MS BEFORE
059583,000385: 20,2334 44755 NEEDLE11 CS ZERO # ENABLING COUNTERS.
059584,000386: 20,2335 55761 TS AK # ZERO THE INPUTS ON FIRST PASS
059585,000387: 20,2336 55762 TS AK1
059586,000388: 20,2337 55763 TS AK2
059587,000389: 20,2340 55764 TS EDRIVEX # ZERO THE DISPLAY REGISTERS
059588,000390: 20,2341 55765 TS EDRIVEY
059589,000391: 20,2342 55766 TS EDRIVEZ
059590,000392: 20,2343 54050 TS CDUXCMD # ZERO THE OUT COUNTERS
059591,000393: 20,2344 54051 TS CDUYCMD
059592,000394: 20,2345 54052 TS CDUZCMD
059593,000395: 20,2346 46242 CS SIX # RESET RCSFLAGS FOR PASS2
059594,000396: 20,2347 71273 MASK RCSFLAGS
059595,000397: 20,2350 64752 AD BIT2
059596,000398: 20,2351 55273 TS RCSFLAGS
059597,000399: 20,2352 12442 TCF RETNMORE
059598,000400:
059599,000401: 20,2353 34746 NEEDLER2 CAF BIT6 # ENABLE IMU ERROR COUNTERS
059600,000402: 20,2354 00006 EXTEND
059601,000403: 20,2355 05012 WOR CHAN12
059602,000404: 20,2356 46242 CS SIX # RESET RCSFLAGS TO DISPLAY ATTITUDE
059603,000405: 20,2357 71273 MASK RCSFLAGS # ERRORS WAIT AT LEAST 4 MS FOR
059604,000406: 20,2360 55273 TS RCSFLAGS # RELAY CLOSURE
059605,000407: 20,2361 12442 TCF RETNMORE
059606,000408:
059607,000409: 20,2362 34746 NEEDLES3 CAF BIT6 # CHECK TO SEE IF IMU ERROR COUNTER
059608,000410: 20,2363 00006 EXTEND # IS ENABLED
059609,000411: 20,2364 02012 RAND CHAN12
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Page 1419
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059611,000413: 20,2365 10000 CCS A # IF NOT, RE-INITIALIZE NEEDLER.
059612,000414: 20,2366 12373 TCF NEEDLES
059613,000415:
059614,000416: 20,2367 41273 CS RCSFLAGS # SET UP INITIALIZATION FLAG IN RCSFLAGS.
059615,000417: 20,2370 74751 MASK BIT3
059616,000418: 20,2371 27273 ADS RCSFLAGS
059617,000419: 20,2372 12442 TCF RETNMORE
059618,000420:
059619,000421: 20,2373 34752 NEEDLES CAF TWO
059620,000422: 20,2374 54063 DACLOOP TS DINDX
059621,000423: 20,2375 42434 CS ONETENTH # RESCALE INPUTS TO + OR - 1800 DEGREES.
059622,000424: 20,2376 00006 EXTEND
059623,000425: 20,2377 50063 INDEX DINDX
059624,000426: 20,2400 71761 MP AK
059625,000427: 20,2401 54001 TS L
059626,000428: 20,2402 10000 CCS A
059627,000429: 20,2403 32432 CA DACLIMIT
059628,000430: 20,2404 12406 TCF +2
059629,000431: 20,2405 42432 CS DACLIMIT
059630,000432: 20,2406 60001 AD L
059631,000433: 20,2407 54061 TS T5TEMP # OVFLO CHK
059632,000434: 20,2410 12414 TCF +4
059633,000435: 20,2411 50000 INDEX A # ON OVERFLOW LIMIT OUTPUT TO +-384
059634,000436: 20,2412 32432 CAF DACLIMIT
059635,000437: 20,2413 54001 TS L
059636,000438: 20,2414 50063 INDEX DINDX
059637,000439: 20,2415 41764 CS EDRIVEX # CURRENT VALUE OF DAC
059638,000440: 20,2416 60001 AD L
059639,000441: 20,2417 50063 INDEX DINDX
059640,000442: 20,2420 26050 ADS CDUXCMD
059641,000443: 20,2421 50063 INDEX DINDX
059642,000444: 20,2422 23764 LXCH EDRIVEX
059643,000445: 20,2423 10063 CCS DINDX
059644,000446: 20,2424 12374 TCF DACLOOP
059645,000447: 20,2425 37740 CAF 13,14,15
059646,000448: 20,2426 00006 EXTEND
059647,000449: 20,2427 05014 WOR CHAN14 # SET DAC ACTIVITY BITS
059648,000450: 20,2430 12442 TCF RETNMORE
059649,000451:
059650,000452: 20,2431 77177 DEC -384 B-14
059651,000453: 20,2432 37200 DACLIMIT DEC 16000 B-14
059652,000454: 20,2433 00600 DEC 384 B-14
059653,000455:
059654,000456: 20,2434 03146 ONETENTH OCT 03146 # DECIMAL +0.1, SCALED AT 1.
059655,000457: 20,2435 4750 DSPLYALT EQUALS BIT4 # 100 MS ALTERNATION BIT IN RCSFLAGS
059656,000458:
059657,000459: 20,2435 54007 OVERSUB2 TS 7 # RETURNS A UNCHANGED OR LIMITED TO
059658,000460: 20,2436 00002 TC Q # POSMAX OR NEGMAX IF A HAS OVERFLOW
059659,000461: 20,2437 50000 INDEX A
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Page 1420
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059661,000463: 20,2440 44734 CS LIMITS # DUPLICATE CODING IN BANK 16
059662,000464: 20,2441 00002 TC Q
059663,000465:
059664,000466: 20,2442 00006 RETNMORE EXTEND # RETURN TO CHEKMORE
059665,000467: 20,2443 32446 DCA MORECADR
059666,000468: 20,2444 52006 DTCB
059667,000469:
059668,000470: 20,2445 E6,1537 EBANK= AOSQ
059669,000471: 20,2445 02016 34106 MORECADR 2CADR CHEKMORE
059670,000472:
End of include-file DAPIDLER_PROGRAM.agc. Parent file is MAIN.agc