Notations on the program listing read, in part:
GAP: ASSEMBLE REVISION 116 OF AGC PROGRAM LUMINARY BY NASA 2021112-071 19:09 AUG. 11,1969Note 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 derive from a printout of Luminary 116 (the Apollo 12
Lunar Module guidance computer program), from the personal library of
original AGC developer Don Eyles, digitally photographed at archive.org,
financially sponsored by Ron Burkey, and transcribed to source code by a
team of volunteers. This colorized, syntax-highlighted form was created
by assembling that transcribed source code. Note that the full page images
are available on the
Virtual AGC project page at archive.org, while reduced-size images
are presented at the VirtualAGC project website. Report or fix any
transcription errors at
the Virtual AGC project code repository. Notations on the program listing read, in part: GAP: ASSEMBLE REVISION 116 OF AGC PROGRAM LUMINARY BY NASA 2021112-071 19:09 AUG. 11,1969Note that the date is the date of the printout, not the date of the program revision. |
059550,000002: ## Copyright: Public domain.
059551,000003: ## Filename: DAPIDLER_PROGRAM.agc
059552,000004: ## Purpose: A section of Luminary revision 116.
059553,000005: ## It is part of the source code for the Lunar Module's (LM)
059554,000006: ## Apollo Guidance Computer (AGC) for Apollo 12.
059555,000007: ## This file is intended to be a faithful transcription, except
059556,000008: ## that the code format has been changed to conform to the
059557,000009: ## requirements of the yaYUL assembler rather than the
059558,000010: ## original YUL assembler.
059559,000011: ## Reference: pp. 1400-1410
059560,000012: ## Assembler: yaYUL
059561,000013: ## Contact: Ron Burkey <info@sandroid.org>.
059562,000014: ## Website: www.ibiblio.org/apollo/index.html
059563,000015: ## Mod history: 2017-01-22 MAS Created from Luminary 99.
059564,000016: ## 2017-01-28 RSB Comment-text fixes identified for Luminary 69.
059565,000017: ## 2017-02-23 RRB Updated for Luminary 116.
059566,000018: ## 2017-03-01 HG Fix operator CAE -> CS
059567,000019: ## CAF -> CAE
059568,000020: ## 2017-03-10 RSB Proofed comment text via 3-way diff vs
059569,000021: ## Luminary 99 and 132.
059570,000022:
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Page 1400 |
059572,000024: # THE DAPIDLER PROGRAM IS STARTED BY FRESH START AND RESTART. THE DAPIDLER PROGRAM IS DONE 10 TIMES
059573,000025: # PER SECOND UNTIL THE ASTRONAUT DESIRES THE DAP TO WAKE UP, AND THE IMU AND CDUS ARE READY FOR USE BY THE DAP.
059574,000026: # THE NECESSARY INITIALIZATION OF THE DAP IS DONE BY THE DAPIDLER PROGRAM.
059575,000027:
059576,000028: 16,2000 BANK 16
059577,000029: 16,2000 SETLOC DAPS1
059578,000030: 16,2000 BANK
059579,000031:
059580,000032: 16,2000 E6,1537 EBANK= AOSQ
059581,000033:
059582,000034: 16,2000 COUNT* $$/DAPID
059583,000035:
059584,000036: 16,2000 00006 CHEKBITS EXTEND
059585,000037: 16,2001 00031 READ CHAN31 # IF BOTH BIT13 AND BIT14 ARE ONE, THEN
059586,000038: 16,2002 40000 COM # THE MODE SELECT SWITCH IS IN THE OFF
059587,000039: 16,2003 74355 MASK BIT13-14 # POSITION, AND SO THE DAP SHOULD BE OFF,
059588,000040: 16,2004 00006 EXTEND # WITH NO ATTITUDE ERROR DISPLAY.
059589,000041: 16,2005 12157 BZF MOREIDLE
059590,000042:
059591,000043: 16,2006 41300 CS IMODES33
059592,000044: 16,2007 74746 MASK BIT6
059593,000045: 16,2010 10000 CCS A
059594,000046: 16,2011 12206 TCF JUMPDSP
059595,000047: 16,2012 41262 CS RCSFLAGS # IMU NOT USABLE. SET UP INITIALIZATION
059596,000048: 16,2013 74751 MASK BIT3 # FLAG FOR ATT ERROR DISPLAY ROUTINE.
059597,000049: 16,2014 27262 ADS RCSFLAGS
059598,000050: 16,2015 12163 TCF SHUTDOWN
059599,000051:
059600,000052: 16,2016 34742 CHEKMORE CAF BIT10 # BIT 10 OF 30 IS PGNCS CONTROL OF S/C
059601,000053: 16,2017 00006 EXTEND
059602,000054: 16,2020 02030 RAND CHAN30 # BITS IN 30 ARE INVERTED
059603,000055: 16,2021 10000 CCS A
059604,000056: 16,2022 12157 TCF MOREIDLE
059605,000057:
059606,000058: 16,2023 00002 RETURN
059607,000059:
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Page 1401 |
059609,000061: # DAPIDLER ENTRY.
059610,000062:
059611,000063: 16,2024 22016 DAPIDLER LXCH BANKRUPT # INTERRUPT LEAD INS (CONTINUED)
059612,000064: 16,2025 00006 EXTEND
059613,000065: 16,2026 22012 QXCH QRUPT
059614,000066:
059615,000067: 16,2027 31262 CA RCSFLAGS
059616,000068: 16,2030 74737 MASK BIT13
059617,000069: 16,2031 10000 CCS A # CHECK IF 1/ACCJOB HAS BEEN SET UP SINCE
059618,000070: 16,2032 12041 TCF CHECKUP # THE LAST FRESH START OR RESTART.
059619,000071: 16,2033 34737 CA BIT13
059620,000072: 16,2034 27262 ADS RCSFLAGS # BIT 13 IS 1.
059621,000073: 16,2035 37720 CAF PRIO27
059622,000074: 16,2036 05072 TC NOVAC # SET UP JOB TO DO A LITTLE INITIALIZATION
059623,000075: 16,2037 E6,1537 EBANK= AOSQ # AND EXECUTE 1/ACCS.
059624,000076: 16,2037 03637 42106 2CADR 1/ACCSET # (WILL BRANCH TO MOREIDLE ON ACCSOKAY)
059625,000077:
059626,000078: 16,2041 02000 CHECKUP TC CHEKBITS # CHECK TO SEE IF LM DAP IS TO GO ON AND
059627,000079: # DO ERROR DISPLAY.
059628,000080:
059629,000081: 16,2042 30111 CAE DAPBOOLS # IF 1/ACCS HAS NOT BEEN COMPLETED, IDLE.
059630,000082: 16,2043 74751 MASK ACCSOKAY # NOTE: ONLY FRESH START AND RESTART
059631,000083: 16,2044 00006 EXTEND # KNOCK THIS BIT DOWN.
059632,000084: 16,2045 12157 BZF MOREIDLE
059633,000085:
059634,000086: 16,2046 04674 STARTDAP TC IBNKCALL # ZERO ATTITUDE ERROR AND DESIRED RATES.
059635,000087: 16,2047 40154 FCADR ZATTEROR
059636,000088: 16,2050 34755 CAF ZERO # ********** INITIALIZE: **********
059637,000089: 16,2051 55524 TS TJP
059638,000090: 16,2052 55525 TS TJU
059639,000091: 16,2053 55526 TS TJV
059640,000092: 16,2054 55421 TS OMEGAP # RATES IN BODY (PILOT) COORDINATES.
059641,000093: 16,2055 55422 TS OMEGAQ
059642,000094: 16,2056 55423 TS OMEGAR
059643,000095: 16,2057 55430 TS TRAPEDP
059644,000096: 16,2060 55431 TS TRAPEDQ
059645,000097: 16,2061 55432 TS TRAPEDR
059646,000098: 16,2062 55537 TS AOSQ # OFFSET ACCELERATION ESTIMATES.
059647,000099: 16,2063 55540 TS AOSQ +1
059648,000100: 16,2064 55541 TS AOSR
059649,000101: 16,2065 55542 TS AOSR +1
059650,000102: 16,2066 55424 TS ALPHAQ # COPIES OF OFFSET ESTIMATES FOR DOWNLIST.
059651,000103: 16,2067 55425 TS ALPHAR
059652,000104: 16,2070 55501 TS NEGUQ
059653,000105: 16,2071 55503 TS NEGUR
059654,000106: 16,2072 55545 TS AOSQTERM # QRAXIS RATE DERIVATION TERMS AND KALMAN
059655,000107: 16,2073 55546 TS AOSRTERM # FILTER INITIALIZATION TERMS.
059656,000108: 16,2074 55510 TS QACCDOT # DESCENT ACCELERATION DERIVATIVE EST.
059657,000109: 16,2075 55512 TS RACCDOT
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Page 1402 |
059659,000111: 16,2076 55502 TS ALLOWGTS # AOSTASK FLAG FOR QRAXIS RCS CONTROL USE.
059660,000112: 16,2077 55631 TS COTROLER # DO TRYGTS ON FIRST PASS (WILL GO TO RCS)
059661,000113: 16,2100 55633 TS INGTS # RECOGNIZE FIRST GTS PASS AS SUCH.
059662,000114: 16,2101 55632 TS QGIMTIMR # STOP GIMBAL DRIVES. (PROBABLY WOULD BE
059663,000115: 16,2102 55634 TS RGIMTIMR # GOOD ENOUGH JUST TO INACTIVATE TIMERS)
059664,000116: 16,2103 55460 TS OLDPMIN # MINIMUM IMPULSE MODE ERASABLES
059665,000117: 16,2104 55461 TS OLDQRMIN
059666,000118: 16,2105 55767 TS PJETCTR # INITIALIZE DOCKED JET INHIBITION
059667,000119: 16,2106 55770 TS UJETCTR # COUNTERS
059668,000120: 16,2107 55771 TS VJETCTR
059669,000121: 16,2110 4747 CALLGMBL EQUALS BIT5 # RCSFLAGS INITIALIZATION.
059670,000122: 16,2110 42202 CS MANFLAG
059671,000123: 16,2111 71262 MASK RCSFLAGS # NEGUQ(R) HAVE BEEN GENERATED.
059672,000124: 16,2112 55262 TS RCSFLAGS
059673,000125:
059674,000126: # SET UP "OLD" MEASURED CDU ANGLES:
059675,000127:
059676,000128: 16,2113 00006 EXTEND
059677,000129: 16,2114 30033 DCA CDUX # OLDXFORP AND OLDYFORP
059678,000130: 16,2115 53441 DXCH OLDXFORP
059679,000131: 16,2116 30034 CA CDUZ
059680,000132: 16,2117 55442 TS OLDZFORQ
059681,000133: 16,2120 41262 CS RCSFLAGS
059682,000134: 16,2121 74740 MASK BIT12
059683,000135: 16,2122 27262 ADS RCSFLAGS # BIT 12 SET TO 1.
059684,000136: 16,2123 34751 CA FOUR
059685,000137: 16,2124 55535 TS SKIPU
059686,000138: 16,2125 55536 TS SKIPV
059687,000139: 16,2126 34733 CA POSMAX
059688,000140: 16,2127 54031 TS TIME6
059689,000141: 16,2130 55466 TS T6NEXT
059690,000142: 16,2131 55470 TS T6FURTHA
059691,000143: 16,2132 34755 CA ZERO
059692,000144: 16,2133 55467 TS T6NEXT +1
059693,000145: 16,2134 55471 TS T6FURTHA +1
059694,000146: 16,2135 55465 TS NXT6ADR
059695,000147: 16,2136 55472 TS NEXTP
059696,000148: 16,2137 55473 TS NEXTU
059697,000149: 16,2140 55474 TS NEXTV
059698,000150: 16,2141 44363 CS TEN
059699,000151: 16,2142 55757 TS DAPZRUPT # JASK NOT IN PROGRESS, INITIALIZE NEG.
059700,000152: 16,2143 34752 CA TWO
059701,000153: 16,2144 55433 TS NPTRAPS
059702,000154: 16,2145 55434 TS NQTRAPS
059703,000155: 16,2146 55435 TS NRTRAPS
059704,000156: 16,2147 00006 EXTEND
059705,000157: 16,2150 32205 DCA PAXADIDL
059706,000158: 16,2151 53264 DXCH T5ADR
059707,000159: 16,2152 37732 SETTIME5 CAF MS100
059708,000160: 16,2153 54030 TS TIME5
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Page 1403 |
059710,000162: 16,2154 15270 TCF RESUME
059711,000163: 16,2155 E6,1537 EBANK= AOSQ
059712,000164: 16,2155 02024 34106 IDLERADR 2CADR DAPIDLER
059713,000165:
059714,000166: 16,2157 04674 MOREIDLE TC IBNKCALL # CALCULATE Q,R-AXES ATTITUDE ERRORS.
059715,000167: 16,2160 36655 CADR QERRCALC
059716,000168:
059717,000169: 16,2161 04674 TC IBNKCALL
059718,000170: 16,2162 35452 CADR CALCPERR # CALCULATE P AXIS ATTITUDE ERRORS.
059719,000171:
059720,000172: 16,2163 00006 SHUTDOWN EXTEND
059721,000173: 16,2164 32156 DCA IDLERADR
059722,000174: 16,2165 53264 DXCH T5ADR
059723,000175:
059724,000176: 16,2166 34755 CAF ZERO # KILL ANY POSSIBLE JET REQUESTS
059725,000177: 16,2167 55472 TS NEXTP
059726,000178: 16,2170 55473 TS NEXTU
059727,000179: 16,2171 55474 TS NEXTV
059728,000180: 16,2172 00006 EXTEND # COMMAND JETS OFF.
059729,000181: 16,2173 01005 WRITE CHAN5
059730,000182: 16,2174 00006 EXTEND
059731,000183: 16,2175 01006 WRITE CHAN6
059732,000184: 16,2176 42203 CS BGIM23 # TURN TRIM GIMBAL OFF
059733,000185: 16,2177 00006 EXTEND
059734,000186: 16,2200 03012 WAND CHAN12
059735,000187: 16,2201 12152 TCF SETTIME5 # RETURN IN 100 MSEC.
059736,000188:
059737,000189: 16,2202 03021 MANFLAG OCT 03021
059738,000190: 16,2203 07400 BGIM23 OCTAL 07400
059739,000191: 16,2204 E6,1421 EBANK= OMEGAP
059740,000192: 16,2204 02213 34106 PAXADIDL 2CADR PAXIS
059741,000193:
059742,000194: 16,2206 7732 MS100 = OCT37766
059743,000195: 16,2206 0061 COSMG = ITEMP1
059744,000196: 16,2206 00006 JUMPDSP EXTEND # TRANSFER TO BANK 20
059745,000197: 16,2207 32212 DCA DSPCADR # FOR ATTITUDE ERROR DISPLAYS
059746,000198: 16,2210 52006 DTCB
059747,000199:
059748,000200: 16,2211 E6,1761 EBANK= AK
059749,000201: 16,2211 02227 40106 DSPCADR 2CADR ALTDSPLY
059750,000202:
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Page 1404 |
059752,000204: 20,2227 BANK 20
059753,000205: 20,2000 SETLOC DAPS3
059754,000206: 20,2000 BANK
059755,000207: 20,2227 COUNT* $$/NEEDL
059756,000208:
059757,000209: # PROGRAM: ALTDSPLY
059758,000210: # MOD 0. 6 DEC 1967
059759,000211: # AUTHOR: CRAIG WORK, DON KEENE, MIT IL
059760,000212: # MOD 3 BY DON KEENE AUG 1, 1968 MOVED PROGRAM TO BANK 20
059761,000213:
059762,000214: # PROGRAM DESCRIPTION:
059763,000215: # ALTDSPLY REVERSES THE DSPLYALT BIT OF RCSFLAGS EACH TIME IT IS CALLED, WHICH IS PRESUMABLY EVERY 100 MS.
059764,000216: # IF THE REVERSED BIT IS ONE, NEEDLER IS CALLED TO DISPLAY ATTITUDE ERRORS. IF THE BIT IS ZERO, THE ATTITUDE ERR-
059765,000217: # ORS ARE CALCULATED AS 1) ESTIMATED RATES (FOLLOWING) IF NEED2FLG = 1, OTHERWISE AS 2) DAP FOLLOWING ERRORS FOR
059766,000218: # NEEDLFLG = 0 AND 3) TOTAL ATTITUDE ERRORS FOR NEEDLFLG = 1.
059767,000219:
059768,000220: # WARNING: ALTDSPLY MAY ONLY BE CALLED WITH INTERRUPT INHIBITED.
059769,000221:
059770,000222: # WARNING: EBANK MUST BE SET TO 6 WHEN USING THIS ROUTINE.
059771,000223:
059772,000224: # INPUT: RCSFLAGS AND 1) IF NEEDLFLG = 0, INPUT PERROR, QERROR, RERROR.
059773,000225: # 2) IF NEEDLFLG = 1, INPUT CPHI,CTHETA,CPSI,CDUX,CDUY,CDUZ,M11,M21,M32,M22,M32. (GPMATRIX)
059774,000226: # 3) IF NEED2FLG = 1, INPUT OMEGAP, OMEGAQ, AND OMEGAR.
059775,000227:
059776,000228: # OUTPUTS: RCSFLAGS WITH DSPLYALT REVERSED,AK,AK1,AK2,+ NEEDLER OUTPUTS.
059777,000229:
059778,000230: # ENTRY: TCF ALTDSPLY
059779,000231:
059780,000232: # EXIT: TCF CHEKMORE
059781,000233:
059782,000234: # ALARM OR ABORT EXITS: NONE
059783,000235:
059784,000236: # SUBPROGRAMS CALLED: NEEDLER, OVERSUB2
059785,000237:
059786,000238: # DEBRIS: A,L,AND NEEDLER DEBRIS.
059787,000239:
059788,000240: 20,2227 31262 ALTDSPLY CA RCSFLAGS # INVERT THE DISPLAY ALTERNATION BIT.
059789,000241: 20,2230 54001 TS L
059790,000242: 20,2231 34750 CA DSPLYALT
059791,000243: 20,2232 00006 EXTEND
059792,000244: 20,2233 06001 RXOR LCHAN
059793,000245: 20,2234 55262 TS RCSFLAGS
059794,000246:
059795,000247: 20,2235 74750 MASK DSPLYALT
059796,000248: 20,2236 10000 CCS A # IS ALTERNATION FLAG ZERO?
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Page 1405 |
059798,000250: 20,2237 12336 TCF NEEDLER
059799,000251:
059800,000252: 20,2240 40074 CS FLAGWRD0 # CHECK FOR RATE DISPLAY TO ERROR NEEDLES
059801,000253: 20,2241 74735 MASK NEED2BIT # VIA EXTENDED VERB 60
059802,000254: 20,2242 00006 EXTEND
059803,000255: 20,2243 12257 BZF DISPRATE
059804,000256:
059805,000257: 20,2244 30074 CAE FLAGWRD0 # NEEDLFLG WILL INDICATE TOTAL OR DAP AT-
059806,000258: 20,2245 74750 MASK NEEDLBIT # TITUDE ERROR DISPLAY REQUEST.
059807,000259: 20,2246 10000 CCS A
059808,000260: 20,2247 12266 TCF DSPLYTOT # TOTAL ERROR IS NEEDED IN AK,AK +1,AK +2
059809,000261:
059810,000262: 20,2250 41450 CS QERROR # YES. DISPLAY ATT ERRORS ON THE ,-BALL.
059811,000263: 20,2251 55762 TS AK +1 # ERROR COMPLEMENTS ARE INPUT TO NEEDLER.
059812,000264: 20,2252 41452 CS RERROR
059813,000265: 20,2253 55763 TS AK +2
059814,000266: 20,2254 41464 CS PERROR
059815,000267: 20,2255 57761 XCH AK
059816,000268:
059817,000269: 20,2256 12456 TCF RETNMORE # DISPLAY THESE THE NEXT TIME THROUGH
059818,000270:
059819,000271: 20,2257 41422 DISPRATE CS OMEGAQ # LOAD ESTIMATED RATES (FOLLOWING)
059820,000272: 20,2260 55762 TS AK +1
059821,000273: 20,2261 41423 CS OMEGAR
059822,000274: 20,2262 55763 TS AK +2
059823,000275: 20,2263 41421 CS OMEGAP
059824,000276: 20,2264 57761 XCH AK
059825,000277: 20,2265 12456 TCF RETNMORE
059826,000278:
059827,000279: # CALCULATE GIMBAL ANGLE TOTAL ERRORS, RESOLVE INTO PILOT AXES, STORE TOTAL ERRORS FOR NEEDLER. Q-AXIS FIRST.
059828,000280:
059829,000281: 20,2266 00006 DSPLYTOT EXTEND
059830,000282: 20,2267 22061 QXCH ITEMP1 # SAVE Q FOR CHEKBITS RETURN.
059831,000283:
059832,000284: 20,2270 30322 CA CTHETA # DESIRED ATTITUDE, Y-AXIS, 2'S COMP.
059833,000285: 20,2271 00006 EXTEND # SUBTRACT CURRENT ATTITUDE.
059834,000286: 20,2272 20033 MSU CDUY # DIFFERENCE SCALED AT PI, 1'S COMP.
059835,000287: 20,2273 55761 TS AK # SAVE FOR R-ERROR CALCULATION.
059836,000288: 20,2274 00006 EXTEND
059837,000289: 20,2275 71415 MP M21 # (CHTETA-CDUY)*M21 SCALED AT PI RADIANS.
059838,000290: 20,2276 57762 XCH AK +1 # STORE FIRST TERM OF Q ERROR.
059839,000291: 20,2277 30323 CA CPSI # DESIRED ATTITUDE, Z-AXIS, 2'S COMP.
059840,000292: 20,2300 00006 EXTEND # SUBTRACT CURRENT ATTITUDE.
059841,000293: 20,2301 20034 MSU CDUZ # DIFFERENCE SCALED AT PI, 1'S COMP.
059842,000294: 20,2302 55763 TS AK +2 # SAVE Z-AXIS TERM FOR R ERROR CALCULATION
059843,000295: 20,2303 00006 EXTEND
059844,000296: 20,2304 71417 MP M22 # (CPSI-CDUZ)*M22, SCALED AT PI RADIANS.
059845,000297: 20,2305 61762 AD AK +1 # Q ERROR COMPLETE , AT PI RAD.
059846,000298: 20,2306 02451 TC OVERSUB2 # PIN NEEDLES IN CASE OF OVERFLOW.
059847,000299: 20,2307 55762 TS AK +1
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Page 1406 |
059849,000301: # R ERROR CALCULATION NEXT.
059850,000302:
059851,000303: 20,2310 31761 CA AK # Y-AXIS DIFFERENCE STORED BY Q-AXIS CALC.
059852,000304: 20,2311 00006 EXTEND
059853,000305: 20,2312 71416 MP M31 # (CTHETA-CDUY)*M31, SCALED AT PI RADIANS.
059854,000306: 20,2313 57763 XCH AK +2 # FIRST TERM OF R ERROR.
059855,000307: # Z-AXIS DIFFERENCE, STORED BY A CALC. IS
059856,000308: 20,2314 00006 EXTEND # RECOVERED BY THE EXCHANGE.
059857,000309: 20,2315 71420 MP M32 # (CPSI-CDUZ)*M32, SCALED AT PI RADIANS.
059858,000310: 20,2316 61763 AD AK +2 # R ERROR COMPLETE , AT PI RAD.
059859,000311: 20,2317 02451 TC OVERSUB2 # PIN NEEDLES IN CASE OF OVERFLOW.
059860,000312: 20,2320 55763 TS AK +2
059861,000313:
059862,000314: # NOW CALCULATE P ERROR. (NOTE THAT M13 = 1, SCALED AT 1, SO THE MULTIPLICATION IS BY-PASSED.)
059863,000315:
059864,000316: 20,2321 31761 CA AK # Y-AXIS DIFFERENCE STORED BY Q AXIS CALC.
059865,000317: 20,2322 00006 EXTEND
059866,000318: 20,2323 71414 MP M11 # (CTHETA-CDUY)*M11 SCALED AT PI RADIANS.
059867,000319: 20,2324 57761 XCH AK # FIRST TERM OF P ERROR IN AK, AT PI RAD.
059868,000320: 20,2325 30321 CAE CPHI # DESIRED ATTITUDE, X-AXIS, 2'S COMP.
059869,000321: 20,2326 00006 EXTEND # SUBTRACT CURRENT X ATTITUDE.
059870,000322: 20,2327 20032 MSU CDUX # X-AXIS DIFFERENCE, 1'S COMP, AT PI RAD.
059871,000323:
059872,000324: # M13 = 1, SO BYPASS THE MULTIPLICATION.
059873,000325: # EXTEND
059874,000326: # MP M13 (CPHI-CDUX)*M13 SCALED AT PI RADIANS.
059875,000327:
059876,000328: 20,2330 61761 AD AK # P ERROR COMPLETE , SCALED AT PI RAD
059877,000329: 20,2331 02451 TC OVERSUB2 # PIN NEEDLES IN CASE OF OVERFLOW.
059878,000330: 20,2332 55761 TS AK
059879,000331:
059880,000332: 20,2333 00006 EXTEND
059881,000333: 20,2334 22061 QXCH ITEMP1 # RESTORE Q FOR CHEKBITS RETURN.
059882,000334:
059883,000335: 20,2335 12456 TCF RETNMORE # DISPLAY THESE THE NEXT TIME THROUGH
059884,000336:
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Page 1407 |
059886,000338: # FDAI ATTITUDE ERROR DISPLAY SUBROUTINE
059887,000339:
059888,000340: # PROGRAM DESCRIPTION: D. KEENE 5/24/67
059889,000341: # MOD 1 BY CRAIG WORK, 12 DEC 67
059890,000342: # MOD 2 BY CRAIG WORK, 6 APRIL 68 CONVERTS ATTITUDE ERROR DISPLAY SCALING FROM 16 7/8 DEG. TO 42 3/16 DEGREES.
059891,000343:
059892,000344: # THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS)
059893,000345: # IN THE CDUS. CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT
059894,000346: # OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES
059895,000347: # THE DACS.
059896,000348:
059897,000349: # CALLING SEQUENCE:
059898,000350: # DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE
059899,000351: # TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM:
059900,000352: # CS RCSFLAGS IN EBANK6
059901,000353: # MASK BIT3
059902,000354: # ADS RCSFLAGS
059903,000355: # THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANSFERED TO THE FOLLOWING LOCATIONS IN EBANK6:
059904,000356: # AK SCALED 180 DEGREES NOTE: THESE LOCATIONS ARE SUBJECT
059905,000357: # AK1 SCALED 180 DEGREES TO CHANGE
059906,000358: # AK2 SCALED 180 DEGREES
059907,000359: # FULL SCALED DEFLECTION OF THE NEEDLES CORRESPONDS TO 5 1/16 DEGREES, WHILE 384 BITS IN THE IMU ERROR COUNTER
059908,000360: # CORRESPONDS TO 42 3/16 DEGREES. (DAC MAXIMUM CAPACITY IS 384 BITS.) 46 BITS EFFECTIVELY PIN THE NEEDLES.
059909,000361:
059910,000362: # A CALL TO NEEDLER WILL THEN UPDATE THE DISPLAY:
059911,000363: # INHINT
059912,000364: # TC IBNKCALL NOTE: EBANK SHOULD BE SET TO E6
059913,000365: # CADR NEEDLER
059914,000366: # RELINT
059915,000367: # THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED. AT LEAST 3 PASSES THRU THE PROGRAM ARE
059916,000368: # REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS.
059917,000369: # NOTE: EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50 MS TO ASSURE PROPER RELAY SEQUENCING.
059918,000370:
059919,000371: # ERASABLE USED:
059920,000372: # AK CDUXCMD
059921,000373: # AK1 CDUYCMD
059922,000374: # AK2 CDUZCMD
059923,000375: # EDRIVEX A,L,Q
059924,000376: # EDRIVEY T5TEMP
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059926,000378: # EDRIVEZ DINDX
059927,000379:
059928,000380:
059929,000381: # SWITCHES: RCSFLAGS BITS 3,2
059930,000382:
059931,000383: # I/O CHANNELS: CHAN12 BIT 4 (COARSE ALIGN - READ ONLY)
059932,000384: # CHAN12 BIT 6 (IMU ERROR COUNTER ENABLE)
059933,000385: # CHAN14 BIT 13,14,15 (DAC ACTIVITY)
059934,000386:
059935,000387: # SIGN CONVENTION< AK = THETAC - THETA
059936,000388: # WHERE THETAC = COMMAND ANGLE
059937,000389: # THETA = PRESENT ANGLE
059938,000390:
059939,000391: 20,2336 31262 NEEDLER CA RCSFLAGS
059940,000392: 20,2337 76245 MASK SIX
059941,000393: 20,2340 00006 EXTEND
059942,000394: 20,2341 12376 BZF NEEDLES3
059943,000395: 20,2342 74751 MASK BIT3
059944,000396: 20,2343 00006 EXTEND
059945,000397: 20,2344 12367 BZF NEEDLER2 # BIT3 = 0, BIT2 = 1
059946,000398:
059947,000399: 20,2345 44746 CS BIT6 # FIRST PASS BIT3 = 1
059948,000400: 20,2346 00006 EXTEND # DISABLE IMU ERROR COUNTER TO ZERO DACS
059949,000401: 20,2347 03012 WAND CHAN12 # MUST WAIT AT LEAST 60 MS BEFORE
059950,000402: 20,2350 44755 NEEDLE11 CS ZERO # ENABLING COUNTERS.
059951,000403: 20,2351 55761 TS AK # ZERO THE INPUTS ON FIRST PASS
059952,000404: 20,2352 55762 TS AK1
059953,000405: 20,2353 55763 TS AK2
059954,000406: 20,2354 55764 TS EDRIVEX # ZERO THE DISPLAY REGISTERS
059955,000407: 20,2355 55765 TS EDRIVEY
059956,000408: 20,2356 55766 TS EDRIVEZ
059957,000409: 20,2357 54050 TS CDUXCMD # ZERO THE OUT COUNTERS
059958,000410: 20,2360 54051 TS CDUYCMD
059959,000411: 20,2361 54052 TS CDUZCMD
059960,000412: 20,2362 46245 CS SIX # RESET RCSFLAGS FOR PASS2
059961,000413: 20,2363 71262 MASK RCSFLAGS
059962,000414: 20,2364 64752 AD BIT2
059963,000415: 20,2365 55262 TS RCSFLAGS
059964,000416: 20,2366 12456 TCF RETNMORE
059965,000417:
059966,000418: 20,2367 34746 NEEDLER2 CAF BIT6 # ENABLE IMU ERROR COUNTERS
059967,000419: 20,2370 00006 EXTEND
059968,000420: 20,2371 05012 WOR CHAN12
059969,000421: 20,2372 46245 CS SIX # RESET RCSFLAGS TO DISPLAY ATTITUDE
059970,000422: 20,2373 71262 MASK RCSFLAGS # ERRORS WAIT AT LEAST 4 MS FOR
059971,000423: 20,2374 55262 TS RCSFLAGS # RELAY CLOSURE
059972,000424: 20,2375 12456 TCF RETNMORE
059973,000425:
059974,000426: 20,2376 34746 NEEDLES3 CAF BIT6 # CHECK TO SEE IF IMU ERROR COUNTER
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Page 1409 |
059976,000428: 20,2377 00006 EXTEND # IS ENABLED
059977,000429: 20,2400 02012 RAND CHAN12
059978,000430: 20,2401 10000 CCS A # IF NOT, RE-INITIALIZE NEEDLER.
059979,000431: 20,2402 12407 TCF NEEDLES
059980,000432:
059981,000433: 20,2403 41262 CS RCSFLAGS # SET UP INITIALIZATION FLAG IN RCSFLAGS.
059982,000434: 20,2404 74751 MASK BIT3
059983,000435: 20,2405 27262 ADS RCSFLAGS
059984,000436: 20,2406 12456 TCF RETNMORE
059985,000437:
059986,000438: 20,2407 34752 NEEDLES CAF TWO
059987,000439: 20,2410 54063 DACLOOP TS DINDX
059988,000440: 20,2411 42450 CS ONETENTH # RESCALE INPUTS TO + OR - 1800 DEGREES.
059989,000441: 20,2412 00006 EXTEND
059990,000442: 20,2413 50063 INDEX DINDX
059991,000443: 20,2414 71761 MP AK
059992,000444: 20,2415 54001 TS L
059993,000445: 20,2416 10000 CCS A
059994,000446: 20,2417 32446 CA DACLIMIT
059995,000447: 20,2420 12422 TCF +2
059996,000448: 20,2421 42446 CS DACLIMIT
059997,000449: 20,2422 60001 AD L
059998,000450: 20,2423 54061 TS T5TEMP # OVFLO CHK
059999,000451: 20,2424 12430 TCF +4
060000,000452: 20,2425 50000 INDEX A # ON OVERFLOW LIMIT OUTPUT TO +-384
060001,000453: 20,2426 32446 CAF DACLIMIT
060002,000454: 20,2427 54001 TS L
060003,000455: 20,2430 50063 INDEX DINDX
060004,000456: 20,2431 41764 CS EDRIVEX # CURRENT VALUE OF DAC
060005,000457: 20,2432 60001 AD L
060006,000458: 20,2433 50063 INDEX DINDX
060007,000459: 20,2434 26050 ADS CDUXCMD
060008,000460: 20,2435 50063 INDEX DINDX
060009,000461: 20,2436 23764 LXCH EDRIVEX
060010,000462: 20,2437 10063 CCS DINDX
060011,000463: 20,2440 12410 TCF DACLOOP
060012,000464: 20,2441 37743 CAF 13,14,15
060013,000465: 20,2442 00006 EXTEND
060014,000466: 20,2443 05014 WOR CHAN14 # SET DAC ACTIVITY BITS
060015,000467: 20,2444 12456 TCF RETNMORE
060016,000468:
060017,000469: 20,2445 77177 DEC -384 B-14
060018,000470: 20,2446 37200 DACLIMIT DEC 16000 B-14
060019,000471: 20,2447 00600 DEC 384 B-14
060020,000472:
060021,000473: 20,2450 03146 ONETENTH OCT 03146 # DECIMAL +0.1, SCALED AT 1.
060022,000474: 20,2451 4750 DSPLYALT EQUALS BIT4 # 100 MS ALTERNATION BIT IN RCSFLAGS
060023,000475:
060024,000476: 20,2451 54007 OVERSUB2 TS 7 # RETURNS A UNCHANGED OR LIMITED TO
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060026,000478: 20,2452 00002 TC Q # POSMAX OR NEGMAX IF A HAS OVERFLOW
060027,000479: 20,2453 50000 INDEX A
060028,000480: 20,2454 44734 CS LIMITS # DUPLICATE CODING IN BANK 16
060029,000481: 20,2455 00002 TC Q
060030,000482:
060031,000483: 20,2456 00006 RETNMORE EXTEND # RETURN TO CHEKMORE
060032,000484: 20,2457 32462 DCA MORECADR
060033,000485: 20,2460 52006 DTCB
060034,000486:
060035,000487: 20,2461 E6,1537 EBANK= AOSQ
060036,000488: 20,2461 02016 34106 MORECADR 2CADR CHEKMORE
060037,000489:
End of include-file DAPIDLER_PROGRAM.agc. Parent file is MAIN.agc