GAP: ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061 16:27 JULY 14,1969Note 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 from the printout at the MIT Museum, with many thanks
to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing
it to us. The printout was digitally photographed by Paul Fjeld. A team of
volunteers transcribed the source code manually from these images or, where
appropriate, modified already-transcribed but similar source Luminary 131 (Apollo 13)
source code to agree with the images from the printout. Note that the page images
presented online are of reduced quality, and that higher-quality images
are available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061 16:27 JULY 14,1969Note that the date is the date of the printout, not the date of the program revision. |
060588,000002: ## Copyright: Public domain.
060589,000003: ## Filename: DAPIDLER_PROGRAM.agc
060590,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
060591,000005: ## It is part of the source code for the Lunar Module's (LM)
060592,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
060593,000007: ## Assembler: yaYUL
060594,000008: ## Contact: Ron Burkey <info@sandroid.org>.
060595,000009: ## Website: www.ibiblio.org/apollo.
060596,000010: ## Pages: 1410-1420
060597,000011: ## Mod history: 2009-05-10 SN (Sergio Navarro). Started adapting
060598,000012: ## from the Luminary131/ file of the same
060599,000013: ## name, using Luminary099 page images.
060600,000014: ## 2016-12-18 RSB Proofed text comments with octopus/ProoferComments
060601,000015: ## and corrected the errors found.
060602,000016: ## 2017-01-28 RSB Comment-text fixes identified for Luminary 69.
060603,000017: ##
060604,000018: ## This source code has been transcribed or otherwise adapted from
060605,000019: ## digitized images of a hardcopy from the MIT Museum. The digitization
060606,000020: ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
060607,000021: ## the Museum. Many thanks to both. The images (with suitable reduction
060608,000022: ## in storage size and consequent reduction in image quality as well) are
060609,000023: ## available online at www.ibiblio.org/apollo. If for some reason you
060610,000024: ## find that the images are illegible, contact me at info@sandroid.org
060611,000025: ## about getting access to the (much) higher-quality images which Paul
060612,000026: ## actually created.
060613,000027: ##
060614,000028: ## Notations on the hardcopy document read, in part:
060615,000029: ##
060616,000030: ## Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
060617,000031: ## 16:27 JULY 14, 1969
060618,000032:
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Page 1410 |
060620,000034: # THE DAPIDLER PROGRAM IS STARTED BY FRESH START AND RESTART. THE DAPIDLER PROGRAM IS DONE 10 TIMES
060621,000035: # PER SECOND UNTIL THE ASTRONAUT DESIRES THE DAP TO WAKE UP, AND THE IMU AND CDUS ARE READY FOR USE BY THE DAP.
060622,000036: # THE NECESSARY INITIALIZATION OF THE DAP IS DONE BY THE DAPIDLER PROGRAM.
060623,000037:
060624,000038: 16,2000 BANK 16
060625,000039: 16,2000 SETLOC DAPS1
060626,000040: 16,2000 BANK
060627,000041:
060628,000042: 16,2000 E6,1537 EBANK= AOSQ
060629,000043:
060630,000044: 16,2000 COUNT* $$/DAPID
060631,000045:
060632,000046: 16,2000 00006 CHEKBITS EXTEND
060633,000047: 16,2001 00031 READ CHAN31 # IF BOTH BIT13 AND BIT14 ARE ONE, THEN
060634,000048: 16,2002 40000 COM # THE MODE SELECT SWITCH IS IN THE OFF
060635,000049: 16,2003 74355 MASK BIT13-14 # POSITION, AND SO THE DAP SHOULD BE OFF,
060636,000050: 16,2004 00006 EXTEND # WITH NO ATTITUDE ERROR DISPLAY.
060637,000051: 16,2005 12157 BZF MOREIDLE
060638,000052:
060639,000053: 16,2006 41303 CS IMODES33
060640,000054: 16,2007 74746 MASK BIT6
060641,000055: 16,2010 10000 CCS A
060642,000056: 16,2011 12206 TCF JUMPDSP
060643,000057: 16,2012 41273 CS RCSFLAGS # IMU NOT USABLE. SET UP INITIALIZATION
060644,000058: 16,2013 74751 MASK BIT3 # FLAG FOR ATT ERROR DISPLAY ROUTINE.
060645,000059: 16,2014 27273 ADS RCSFLAGS
060646,000060: 16,2015 12163 TCF SHUTDOWN
060647,000061:
060648,000062: 16,2016 34742 CHEKMORE CAF BIT10 # BIT 10 OF 30 IS PGNCS CONTROL OF S/C
060649,000063: 16,2017 00006 EXTEND
060650,000064: 16,2020 02030 RAND CHAN30 # BITS IN 30 ARE INVERTED
060651,000065: 16,2021 10000 CCS A
060652,000066: 16,2022 12157 TCF MOREIDLE
060653,000067:
060654,000068: 16,2023 00002 RETURN
060655,000069:
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Page 1411 |
060657,000071: # DAPIDLER ENTRY.
060658,000072:
060659,000073: 16,2024 22016 DAPIDLER LXCH BANKRUPT # INTERRUPT LEAD INS (CONTINUED)
060660,000074: 16,2025 00006 EXTEND
060661,000075: 16,2026 22012 QXCH QRUPT
060662,000076:
060663,000077: 16,2027 31273 CA RCSFLAGS
060664,000078: 16,2030 74737 MASK BIT13
060665,000079: 16,2031 10000 CCS A # CHECK IF 1/ACCJOB HAS BEEN SET UP SINCE
060666,000080: 16,2032 12041 TCF CHECKUP # THE LAST FRESH START OR RESTART.
060667,000081: 16,2033 34737 CA BIT13
060668,000082: 16,2034 27273 ADS RCSFLAGS # BIT 13 IS 1.
060669,000083: 16,2035 37715 CAF PRIO27
060670,000084: 16,2036 05072 TC NOVAC # SET UP JOB TO DO A LITTLE INITIALIZATION
060671,000085: 16,2037 E6,1537 EBANK= AOSQ # AND EXECUTE 1/ACCS.
060672,000086: 16,2037 02447 40106 2CADR 1/ACCSET # (WILL BRANCH TO MOREIDLE ON ACCSOKAY)
060673,000087:
060674,000088: 16,2041 02000 CHECKUP TC CHEKBITS # CHECK TO SEE IF LM DAP IS TO GO ON AND
060675,000089: # DO ERROR DISPLAY.
060676,000090:
060677,000091: 16,2042 30111 CAE DAPBOOLS # IF 1/ACCS HAS NOT BEEN COMPLETED, IDLE.
060678,000092: 16,2043 74751 MASK ACCSOKAY # NOTE: ONLY FRESH START AND RESTART
060679,000093: 16,2044 00006 EXTEND # KNOCK THIS BIT DOWN.
060680,000094: 16,2045 12157 BZF MOREIDLE
060681,000095:
060682,000096: 16,2046 04674 STARTDAP TC IBNKCALL # ZERO ATTITUDE ERROR AND DESIRED RATES.
060683,000097: 16,2047 40153 FCADR ZATTEROR
060684,000098: 16,2050 34755 CAF ZERO # ********** INITIALIZE: **********
060685,000099: 16,2051 55524 TS TJP
060686,000100: 16,2052 55525 TS TJU
060687,000101: 16,2053 55526 TS TJV
060688,000102: 16,2054 55421 TS OMEGAP # RATES IN BODY (PILOT) COORDINATES.
060689,000103: 16,2055 55422 TS OMEGAQ
060690,000104: 16,2056 55423 TS OMEGAR
060691,000105: 16,2057 55430 TS TRAPEDP
060692,000106: 16,2060 55431 TS TRAPEDQ
060693,000107: 16,2061 55432 TS TRAPEDR
060694,000108: 16,2062 55537 TS AOSQ # OFFSET ACCELERATION ESTIMATES.
060695,000109: 16,2063 55540 TS AOSQ +1
060696,000110: 16,2064 55541 TS AOSR
060697,000111: 16,2065 55542 TS AOSR +1
060698,000112: 16,2066 55424 TS ALPHAQ # COPIES OF OFFSET ESTIMATES FOR DOWNLIST.
060699,000113: 16,2067 55425 TS ALPHAR
060700,000114: 16,2070 55501 TS NEGUQ
060701,000115: 16,2071 55503 TS NEGUR
060702,000116: 16,2072 55545 TS AOSQTERM # QRAXIS RATE DERIVATION TERMS AND KALMAN
060703,000117: 16,2073 55546 TS AOSRTERM # FILTER INITIALIZATION TERMS.
060704,000118: 16,2074 55510 TS QACCDOT # DESCENT ACCELERATION DERIVATIVE EST.
060705,000119: 16,2075 55512 TS RACCDOT
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Page 1412 |
060707,000121: 16,2076 55502 TS ALLOWGTS # AOSTASK FLAG FOR QRAXIS RCS CONTROL USE.
060708,000122: 16,2077 55631 TS COTROLER # DO TRYGTS ON FIRST PASS (WILL GO TO RCS)
060709,000123: 16,2100 55633 TS INGTS # RECOGNIZE FIRST GTS PASS AS SUCH.
060710,000124: 16,2101 55632 TS QGIMTIMR # STOP GIMBAL DRIVES. (PROBABLY WOULD BE
060711,000125: 16,2102 55634 TS RGIMTIMR # GOOD ENOUGH JUST TO INACTIVATE TIMERS)
060712,000126: 16,2103 55460 TS OLDPMIN # MINIMUM IMPULSE MODE ERASABLES
060713,000127: 16,2104 55461 TS OLDQRMIN
060714,000128: 16,2105 55767 TS PJETCTR # INITIALIZE DOCKED JET INHIBITION
060715,000129: 16,2106 55770 TS UJETCTR # COUNTERS
060716,000130: 16,2107 55771 TS VJETCTR
060717,000131: 16,2110 4747 CALLGMBL EQUALS BIT5 # RCSFLAGS INITIALIZATION.
060718,000132: 16,2110 42202 CS MANFLAG
060719,000133: 16,2111 71273 MASK RCSFLAGS # NEGUQ(R) HAVE BEEN GENERATED.
060720,000134: 16,2112 55273 TS RCSFLAGS
060721,000135:
060722,000136: # SET UP "OLD" MEASURED CDU ANGLES:
060723,000137:
060724,000138: 16,2113 00006 EXTEND
060725,000139: 16,2114 30033 DCA CDUX # OLDXFORP AND OLDYFORP
060726,000140: 16,2115 53441 DXCH OLDXFORP
060727,000141: 16,2116 30034 CA CDUZ
060728,000142: 16,2117 55442 TS OLDZFORQ
060729,000143: 16,2120 41273 CS RCSFLAGS
060730,000144: 16,2121 74740 MASK BIT12
060731,000145: 16,2122 27273 ADS RCSFLAGS # BIT 12 SET TO 1.
060732,000146: 16,2123 34751 CA FOUR
060733,000147: 16,2124 55535 TS SKIPU
060734,000148: 16,2125 55536 TS SKIPV
060735,000149: 16,2126 34733 CA POSMAX
060736,000150: 16,2127 54031 TS TIME6
060737,000151: 16,2130 55466 TS T6NEXT
060738,000152: 16,2131 55470 TS T6FURTHA
060739,000153: 16,2132 34755 CA ZERO
060740,000154: 16,2133 55467 TS T6NEXT +1
060741,000155: 16,2134 55471 TS T6FURTHA +1
060742,000156: 16,2135 55465 TS NXT6ADR
060743,000157: 16,2136 55472 TS NEXTP
060744,000158: 16,2137 55473 TS NEXTU
060745,000159: 16,2140 55474 TS NEXTV
060746,000160: 16,2141 44363 CS TEN
060747,000161: 16,2142 55757 TS DAPZRUPT # JASK NOT IN PROGRESS, INITIALIZE NEG.
060748,000162: 16,2143 34752 CA TWO
060749,000163: 16,2144 55433 TS NPTRAPS
060750,000164: 16,2145 55434 TS NQTRAPS
060751,000165: 16,2146 55435 TS NRTRAPS
060752,000166: 16,2147 00006 EXTEND
060753,000167: 16,2150 32205 DCA PAXADIDL
060754,000168: 16,2151 53275 DXCH T5ADR
060755,000169: 16,2152 37727 SETTIME5 CAF MS100
060756,000170: 16,2153 54030 TS TIME5
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Page 1413 |
060758,000172: 16,2154 15270 TCF RESUME
060759,000173: 16,2155 E6,1537 EBANK= AOSQ
060760,000174: 16,2155 02024 34106 IDLERADR 2CADR DAPIDLER
060761,000175:
060762,000176: 16,2157 04674 MOREIDLE TC IBNKCALL # CALCULATE Q,R-AXES ATTITUDE ERRORS.
060763,000177: 16,2160 36626 CADR QERRCALC
060764,000178:
060765,000179: 16,2161 04674 TC IBNKCALL
060766,000180: 16,2162 35446 CADR CALCPERR # CALCULATE P AXIS ATTITUDE ERRORS.
060767,000181:
060768,000182: 16,2163 00006 SHUTDOWN EXTEND
060769,000183: 16,2164 32156 DCA IDLERADR
060770,000184: 16,2165 53275 DXCH T5ADR
060771,000185:
060772,000186: 16,2166 34755 CAF ZERO # KILL ANY POSSIBLE JET REQUESTS
060773,000187: 16,2167 55472 TS NEXTP
060774,000188: 16,2170 55473 TS NEXTU
060775,000189: 16,2171 55474 TS NEXTV
060776,000190: 16,2172 00006 EXTEND # COMMAND JETS OFF.
060777,000191: 16,2173 01005 WRITE CHAN5
060778,000192: 16,2174 00006 EXTEND
060779,000193: 16,2175 01006 WRITE CHAN6
060780,000194: 16,2176 42203 CS BGIM23 # TURN TRIM GIMBAL OFF
060781,000195: 16,2177 00006 EXTEND
060782,000196: 16,2200 03012 WAND CHAN12
060783,000197: 16,2201 12152 TCF SETTIME5 # RETURN IN 100 MSEC.
060784,000198:
060785,000199: 16,2202 03021 MANFLAG OCT 03021
060786,000200: 16,2203 07400 BGIM23 OCTAL 07400
060787,000201: 16,2204 E6,1421 EBANK= OMEGAP
060788,000202: 16,2204 02213 34106 PAXADIDL 2CADR PAXIS
060789,000203:
060790,000204: 16,2206 7727 MS100 = OCT37766
060791,000205: 16,2206 0061 COSMG = ITEMP1
060792,000206: 16,2206 00006 JUMPDSP EXTEND # TRANSFER TO BANK 20
060793,000207: 16,2207 32212 DCA DSPCADR # FOR ATTITUDE ERROR DISPLAYS
060794,000208: 16,2210 52006 DTCB
060795,000209:
060796,000210: 16,2211 E6,1761 EBANK= AK
060797,000211: 16,2211 02226 40106 DSPCADR 2CADR ALTDSPLY
060798,000212:
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Page 1414 |
060800,000214: 20,2226 BANK 20
060801,000215: 20,2000 SETLOC DAPS3
060802,000216: 20,2000 BANK
060803,000217: 20,2226 COUNT* $$/NEEDL
060804,000218:
060805,000219: # PROGRAM: ALTDSPLY
060806,000220: # MOD 0. 6 DEC 1967
060807,000221: # AUTHOR: CRAIG WORK, DON KEENE, MIT IL
060808,000222: # MOD 3 BY DON KEENE AUG 1, 1968 MOVED PROGRAM TO BANK 20
060809,000223:
060810,000224: # PROGRAM DESCRIPTION:
060811,000225: # ALTDSPLY REVERSES THE DSPLYALT BIT OF RCSFLAGS EACH TIME IT IS CALLED, WHICH IS PRESUMABLY EVERY 100 MS.
060812,000226: # IF THE REVERSED BIT IS ONE, NEEDLER IS CALLED TO DISPLAY ATTITUDE ERRORS. IF THE BIT IS ZERO, THE ATTITUDE ERR-
060813,000227: # ORS ARE CALCULATED AS 1) DAP FOLLOWING ERRORS, IF NEEDLFLG = 0, AND 2) TOTAL ATTITUDE ERRORS FOR NEEDLFLG = 1.
060814,000228:
060815,000229:
060816,000230: # WARNING: ALTDSPLY MAY ONLY BE CALLED WITH INTERRUPT INHIBITED.
060817,000231:
060818,000232: # WARNING: EBANK MUST BE SET TO 6 WHEN USING THIS ROUTINE.
060819,000233:
060820,000234: # INPUT: RCSFLAGS AND 1) IF NEEDLFLG = 0, INPUT PERROR, QERROR, RERROR.
060821,000235: # 2) IF NEEDLFLG = 1, INPUT CPHI,CTHETA,CPSI,CDUX,CDUY,CDUZ,M11,M21,M32,M22,M32. (GPMATRIX)
060822,000236:
060823,000237:
060824,000238: # OUTPUTS: RCSFLAGS WITH DSPLYALT REVERSED, AK, AK1, AK2, + NEEDLER OUTPUTS.
060825,000239:
060826,000240: # ENTRY: TCF ALTDSPLY
060827,000241:
060828,000242: # EXIT: TCF CHEKMORE
060829,000243:
060830,000244: # ALARM OR ABORT EXITS: NONE
060831,000245:
060832,000246: # SUBPROGRAMS CALLED: NEEDLER, OVERSUB2
060833,000247:
060834,000248: # DEBRIS: A, L, AND NEEDLER DEBRIS.
060835,000249:
060836,000250: 20,2226 31273 ALTDSPLY CA RCSFLAGS # INVERT THE DISPLAY ALTERNATION BIT.
060837,000251: 20,2227 54001 TS L
060838,000252: 20,2230 34750 CA DSPLYALT
060839,000253: 20,2231 00006 EXTEND
060840,000254: 20,2232 06001 RXOR LCHAN
060841,000255: 20,2233 55273 TS RCSFLAGS
060842,000256:
060843,000257: 20,2234 74750 MASK DSPLYALT
060844,000258: 20,2235 10000 CCS A # IS ALTERNATION FLAG ZERO?
060845,000259: 20,2236 12322 TCF NEEDLER
060846,000260:
060847,000261: 20,2237 30074 CAE FLAGWRD0 # NEEDLFLG WILL INDICATE TOTAL OR DAP AT-
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Page 1415 |
060849,000263: 20,2240 74750 MASK NEEDLBIT # TITUDE ERROR DISPLAY REQUEST.
060850,000264: 20,2241 10000 CCS A
060851,000265: 20,2242 12252 TCF DSPLYTOT # TOTAL ERROR IS NEEDED IN AK, AK +1, AK +2
060852,000266:
060853,000267: 20,2243 41450 CS QERROR # YES. DISPLAY ATT ERRORS ON THE ,-BALL.
060854,000268: 20,2244 55762 TS AK +1 # ERROR COMPLEMENTS ARE INPUT TO NEEDLER.
060855,000269: 20,2245 41452 CS RERROR
060856,000270: 20,2246 55763 TS AK +2
060857,000271: 20,2247 41464 CS PERROR
060858,000272: 20,2250 57761 XCH AK
060859,000273:
060860,000274: 20,2251 12442 TCF RETNMORE # DISPLAY THESE THE NEXT TIME THROUGH
060861,000275:
060862,000276: # CALCULATE GIMBAL ANGLE TOTAL ERRORS, RESOLVE INTO PILOT AXES, STORE TOTAL ERRORS FOR NEEDLER. Q-AXIS FIRST.
060863,000277:
060864,000278: 20,2252 00006 DSPLYTOT EXTEND
060865,000279: 20,2253 22061 QXCH ITEMP1 # SAVE Q FOR CHEKBITS RETURN.
060866,000280:
060867,000281: 20,2254 30322 CA CTHETA # DESIRED ATTITUDE, Y-AXIS, 2'S COMP.
060868,000282: 20,2255 00006 EXTEND # SUBTRACT CURRENT ATTITUDE.
060869,000283: 20,2256 20033 MSU CDUY # DIFFERENCE SCALED AT PI, 1'S COMP.
060870,000284: 20,2257 55761 TS AK # SAVE FOR R-ERROR CALCULATION.
060871,000285: 20,2260 00006 EXTEND
060872,000286: 20,2261 71415 MP M21 # (CHTETA-CDUY)*M21 SCALED AT PI RADIANS.
060873,000287: 20,2262 57762 XCH AK +1 # STORE FIRST TERM OF Q ERROR.
060874,000288: 20,2263 30323 CA CPSI # DESIRED ATTITUDE, Z-AXIS, 2'S COMP.
060875,000289: 20,2264 00006 EXTEND # SUBTRACT CURRENT ATTITUDE.
060876,000290: 20,2265 20034 MSU CDUZ # DIFFERENCE SCALED AT PI, 1'S COMP.
060877,000291: 20,2266 55763 TS AK +2 # SAVE Z-AXIS TERM FOR R ERROR CALCULATION
060878,000292: 20,2267 00006 EXTEND
060879,000293: 20,2270 71417 MP M22 # (CPSI-CDUZ)*M22, SCALED AT PI RADIANS.
060880,000294: 20,2271 61762 AD AK +1 # Q ERROR COMPLETE , AT PI RAD.
060881,000295: 20,2272 02435 TC OVERSUB2 # PIN NEEDLES IN CASE OF OVERFLOW.
060882,000296: 20,2273 55762 TS AK +1
060883,000297:
060884,000298: # R ERROR CALCULATION NEXT.
060885,000299:
060886,000300: 20,2274 31761 CA AK # Y-AXIS DIFFERENCE STORED BY Q-AXIS CALC.
060887,000301: 20,2275 00006 EXTEND
060888,000302: 20,2276 71416 MP M31 # (CTHETA-CDUY)*M31, SCALED AT PI RADIANS.
060889,000303: 20,2277 57763 XCH AK +2 # FIRST TERM OF R ERROR.
060890,000304: # Z-AXIS DIFFERENCE, STORED BY A CALC. IS
060891,000305: 20,2300 00006 EXTEND # RECOVERED BY THE EXCHANGE.
060892,000306: 20,2301 71420 MP M32 # (CPSI-CDUZ)*M32, SCALED AT PI RADIANS.
060893,000307: 20,2302 61763 AD AK +2 # R ERROR COMPLETE , AT PI RAD.
060894,000308: 20,2303 02435 TC OVERSUB2 # PIN NEEDLES IN CASE OF OVERFLOW.
060895,000309: 20,2304 55763 TS AK +2
060896,000310:
060897,000311: # NOW CALCULATE P ERROR. (NOTE THAT M13 = 1, SCALED AT 1, SO THE MULTIPLICATION IS BY-PASSED.)
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Page 1416 |
060899,000313: 20,2305 31761 CA AK # Y-AXIS DIFFERENCE STORED BY Q AXIS CALC.
060900,000314: 20,2306 00006 EXTEND
060901,000315: 20,2307 71414 MP M11 # (CTHETA-CDUY)*M11 SCALED AT PI RADIANS.
060902,000316: 20,2310 57761 XCH AK # FIRST TERM OF P ERROR IN AK, AT PI RAD.
060903,000317: 20,2311 30321 CAE CPHI # DESIRED ATTITUDE, X-AXIS, 2'S COMP.
060904,000318: 20,2312 00006 EXTEND # SUBTRACT CURRENT X ATTITUDE.
060905,000319: 20,2313 20032 MSU CDUX # X-AXIS DIFFERENCE, 1'S COMP, AT PI RAD.
060906,000320:
060907,000321: # M13 = 1, SO BYPASS THE MULTIPLICATION.
060908,000322: # EXTEND
060909,000323: # MP M13 (CPHI-CDUX)*M13 SCALED AT PI RADIANS.
060910,000324:
060911,000325: 20,2314 61761 AD AK # P ERROR COMPLETE , SCALED AT PI RAD
060912,000326: 20,2315 02435 TC OVERSUB2 # PIN NEEDLES IN CASE OF OVERFLOW.
060913,000327: 20,2316 55761 TS AK
060914,000328:
060915,000329: 20,2317 00006 EXTEND
060916,000330: 20,2320 22061 QXCH ITEMP1 # RESTORE Q FOR CHEKBITS RETURN.
060917,000331:
060918,000332: 20,2321 12442 TCF RETNMORE # DISPLAY THESE THE NEXT TIME THROUGH
060919,000333:
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Page 1417 |
060921,000335: # FDAI ATTITUDE ERROR DISPLAY SUBROUTINE
060922,000336:
060923,000337: # PROGRAM DESCRIPTION: D. KEENE 5/24/67
060924,000338: # MOD 1 BY CRAIG WORK, 12 DEC 67
060925,000339: # MOD 2 BY CRAIG WORK, 6 APRIL 68 CONVERTS ATTITUDE ERROR DISPLAY SCALING FROM 16 7/8 DEG. TO 42 3/16 DEGREES.
060926,000340:
060927,000341: # THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS)
060928,000342: # IN THE CDUS. CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT
060929,000343: # OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES
060930,000344: # THE DACS.
060931,000345:
060932,000346: # CALLING SEQUENCE:
060933,000347: # DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE
060934,000348: # TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM:
060935,000349: # CS RCSFLAGS IN EBANK6
060936,000350: # MASK BIT3
060937,000351: # ADS RCSFLAGS
060938,000352: # THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANSFERED TO THE FOLLOWING LOCATIONS IN EBANK6:
060939,000353: # AK SCALED 180 DEGREES NOTE: THESE LOCATIONS ARE SUBJECT
060940,000354: # AK1 SCALED 180 DEGREES TO CHANGE
060941,000355: # AK2 SCALED 180 DEGREES
060942,000356: # FULL SCALED DEFLECTION OF THE NEEDLES CORRESPONDS TO 5 1/16 DEGREES, WHILE 384 BITS IN THE IMU ERROR COUNTER
060943,000357: # CORRESPONDS TO 42 3/16 DEGREES. (DAC MAXIMUM CAPACITY IS 384 BITS.) 46 BITS EFFECTIVELY PIN THE NEEDLES.
060944,000358:
060945,000359: # A CALL TO NEEDLER WILL THEN UPDATE THE DISPLAY:
060946,000360: # INHINT
060947,000361: # TC IBNKCALL NOTE: EBANK SHOULD BE SET TO E6
060948,000362: # CADR NEEDLER
060949,000363: # RELINT
060950,000364: # THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED. AT LEAST 3 PASSES THRU THE PROGRAM ARE
060951,000365: # REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS.
060952,000366: # NOTE: EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50 MS TO ASSURE PROPER RELAY SEQUENCING.
060953,000367:
060954,000368: # ERASABLE USED:
060955,000369: # AK CDUXCMD
060956,000370: # AK1 CDUYCMD
060957,000371: # AK2 CDUZCMD
060958,000372: # EDRIVEX A,L,Q
060959,000373: # EDRIVEY T5TEMP
060960,000374: # EDRIVEZ DINDX
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Page 1418 |
060962,000376:
060963,000377: # SWITCHES: RCSFLAGS BITS 3,2
060964,000378:
060965,000379: # I/O CHANNELS: CHAN12 BIT 4 (COARSE ALIGN - READ ONLY)
060966,000380: # CHAN12 BIT 6 (IMU ERROR COUNTER ENABLE)
060967,000381: # CHAN14 BIT 13,14,15 (DAC ACTIVITY)
060968,000382:
060969,000383: # SIGN CONVENTION< AK = THETAC - THETA
060970,000384: # WHERE THETAC = COMMAND ANGLE
060971,000385: # THETA = PRESENT ANGLE
060972,000386:
060973,000387: 20,2322 31273 NEEDLER CA RCSFLAGS
060974,000388: 20,2323 76242 MASK SIX
060975,000389: 20,2324 00006 EXTEND
060976,000390: 20,2325 12362 BZF NEEDLES3
060977,000391: 20,2326 74751 MASK BIT3
060978,000392: 20,2327 00006 EXTEND
060979,000393: 20,2330 12353 BZF NEEDLER2 # BIT3 = 0, BIT2 = 1
060980,000394:
060981,000395: 20,2331 44746 CS BIT6 # FIRST PASS BIT3 = 1
060982,000396: 20,2332 00006 EXTEND # DISABLE IMU ERROR COUNTER TO ZERO DACS
060983,000397: 20,2333 03012 WAND CHAN12 # MUST WAIT AT LEAST 60 MS BEFORE
060984,000398: 20,2334 44755 NEEDLE11 CS ZERO # ENABLING COUNTERS.
060985,000399: 20,2335 55761 TS AK # ZERO THE INPUTS ON FIRST PASS
060986,000400: 20,2336 55762 TS AK1
060987,000401: 20,2337 55763 TS AK2
060988,000402: 20,2340 55764 TS EDRIVEX # ZERO THE DISPLAY REGISTERS
060989,000403: 20,2341 55765 TS EDRIVEY
060990,000404: 20,2342 55766 TS EDRIVEZ
060991,000405: 20,2343 54050 TS CDUXCMD # ZERO THE OUT COUNTERS
060992,000406: 20,2344 54051 TS CDUYCMD
060993,000407: 20,2345 54052 TS CDUZCMD
060994,000408: 20,2346 46242 CS SIX # RESET RCSFLAGS FOR PASS2
060995,000409: 20,2347 71273 MASK RCSFLAGS
060996,000410: 20,2350 64752 AD BIT2
060997,000411: 20,2351 55273 TS RCSFLAGS
060998,000412: 20,2352 12442 TCF RETNMORE
060999,000413:
061000,000414: 20,2353 34746 NEEDLER2 CAF BIT6 # ENABLE IMU ERROR COUNTERS
061001,000415: 20,2354 00006 EXTEND
061002,000416: 20,2355 05012 WOR CHAN12
061003,000417: 20,2356 46242 CS SIX # RESET RCSFLAGS TO DISPLAY ATTITUDE
061004,000418: 20,2357 71273 MASK RCSFLAGS # ERRORS WAIT AT LEAST 4 MS FOR
061005,000419: 20,2360 55273 TS RCSFLAGS # RELAY CLOSURE
061006,000420: 20,2361 12442 TCF RETNMORE
061007,000421:
061008,000422: 20,2362 34746 NEEDLES3 CAF BIT6 # CHECK TO SEE IF IMU ERROR COUNTER
061009,000423: 20,2363 00006 EXTEND # IS ENABLED
061010,000424: 20,2364 02012 RAND CHAN12
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Page 1419 |
061012,000426: 20,2365 10000 CCS A # IF NOT, RE-INITIALIZE NEEDLER.
061013,000427: 20,2366 12373 TCF NEEDLES
061014,000428:
061015,000429: 20,2367 41273 CS RCSFLAGS # SET UP INITIALIZATION FLAG IN RCSFLAGS.
061016,000430: 20,2370 74751 MASK BIT3
061017,000431: 20,2371 27273 ADS RCSFLAGS
061018,000432: 20,2372 12442 TCF RETNMORE
061019,000433:
061020,000434: 20,2373 34752 NEEDLES CAF TWO
061021,000435: 20,2374 54063 DACLOOP TS DINDX
061022,000436: 20,2375 42434 CS ONETENTH # RESCALE INPUTS TO + OR - 1800 DEGREES.
061023,000437: 20,2376 00006 EXTEND
061024,000438: 20,2377 50063 INDEX DINDX
061025,000439: 20,2400 71761 MP AK
061026,000440: 20,2401 54001 TS L
061027,000441: 20,2402 10000 CCS A
061028,000442: 20,2403 32432 CA DACLIMIT
061029,000443: 20,2404 12406 TCF +2
061030,000444: 20,2405 42432 CS DACLIMIT
061031,000445: 20,2406 60001 AD L
061032,000446: 20,2407 54061 TS T5TEMP # OVFLO CHK
061033,000447: 20,2410 12414 TCF +4
061034,000448: 20,2411 50000 INDEX A # ON OVERFLOW LIMIT OUTPUT TO +-384
061035,000449: 20,2412 32432 CAF DACLIMIT
061036,000450: 20,2413 54001 TS L
061037,000451: 20,2414 50063 INDEX DINDX
061038,000452: 20,2415 41764 CS EDRIVEX # CURRENT VALUE OF DAC
061039,000453: 20,2416 60001 AD L
061040,000454: 20,2417 50063 INDEX DINDX
061041,000455: 20,2420 26050 ADS CDUXCMD
061042,000456: 20,2421 50063 INDEX DINDX
061043,000457: 20,2422 23764 LXCH EDRIVEX
061044,000458: 20,2423 10063 CCS DINDX
061045,000459: 20,2424 12374 TCF DACLOOP
061046,000460: 20,2425 37740 CAF 13,14,15
061047,000461: 20,2426 00006 EXTEND
061048,000462: 20,2427 05014 WOR CHAN14 # SET DAC ACTIVITY BITS
061049,000463: 20,2430 12442 TCF RETNMORE
061050,000464:
061051,000465: 20,2431 77177 DEC -384 B-14
061052,000466: 20,2432 37200 DACLIMIT DEC 16000 B-14
061053,000467: 20,2433 00600 DEC 384 B-14
061054,000468:
061055,000469: 20,2434 03146 ONETENTH OCT 03146 # DECIMAL +0.1, SCALED AT 1.
061056,000470: 20,2435 4750 DSPLYALT EQUALS BIT4 # 100 MS ALTERNATION BIT IN RCSFLAGS
061057,000471:
061058,000472: 20,2435 54007 OVERSUB2 TS 7 # RETURNS A UNCHANGED OR LIMITED TO
061059,000473: 20,2436 00002 TC Q # POSMAX OR NEGMAX IF A HAS OVERFLOW
061060,000474: 20,2437 50000 INDEX A
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Page 1420 |
061062,000476: 20,2440 44734 CS LIMITS # DUPLICATE CODING IN BANK 16
061063,000477: 20,2441 00002 TC Q
061064,000478:
061065,000479: 20,2442 00006 RETNMORE EXTEND # RETURN TO CHEKMORE
061066,000480: 20,2443 32446 DCA MORECADR
061067,000481: 20,2444 52006 DTCB
061068,000482:
061069,000483: 20,2445 E6,1537 EBANK= AOSQ
061070,000484: 20,2445 02016 34106 MORECADR 2CADR CHEKMORE
061071,000485:
End of include-file DAPIDLER_PROGRAM.agc. Parent file is MAIN.agc