Source Code

These source-code files are part of a reconstructed copy of Luminary 173, the second (unflown) release of the Apollo 14 Lunar Module (LM) Apollo Guidance Computer (AGC) software.

The reconstruction began with reconstructed source code for Luminary 178. Changes between revision 173 and 178 were backed out, as described by Luminary memo 167 (revision 1). The reconstruction was verified by matching memory-bank checksums to those listed in drawing 2021152N. Note that page numbers in the reconstructed code match those for the baseline log section mentioned in each file's changelog; the page numbers for a real Luminary 173 listing would be different.

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.

059900,000002:                                                                                                  ## Copyright:   Public domain.
059901,000003:                                                                                                  ## Filename:    DAPIDLER_PROGRAM.agc
059902,000004:                                                                                                  ## Purpose:     A section of Luminary revision 173.
059903,000005:                                                                                                  ##              It is part of the reconstructed source code for the second
059904,000006:                                                                                                  ##              (unflown) release of the flight software for the Lunar
059905,000007:                                                                                                  ##              Module's (LM) Apollo Guidance Computer (AGC) for Apollo 14.
059906,000008:                                                                                                  ##              The code has been recreated from a reconstructed copy of
059907,000009:                                                                                                  ##              Luminary 178, as well as Luminary memo 167 (revision 1).
059908,000010:                                                                                                  ##              It has been adapted such that the resulting bugger words
059909,000011:                                                                                                  ##              exactly match those specified for Luminary 173 in NASA
059910,000012:                                                                                                  ##              drawing 2021152N, which gives relatively high confidence
059911,000013:                                                                                                  ##              that the reconstruction is correct.
059912,000014:                                                                                                  ## Reference:   pp. 1398-1408
059913,000015:                                                                                                  ## Assembler:   yaYUL
059914,000016:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
059915,000017:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
059916,000018:                                                                                                  ## Mod history: 2019-09-18 MAS  Created from Luminary 178.
059917,000019: 

Page 1398

059919,000021:                                                                                                  #  THE DAPIDLER PROGRAM IS STARTED BY FRESH START AND RESTART.             THE DAPIDLER PROGRAM IS DONE 10 TIMES
059920,000022:                                                                                                  #  PER SECOND UNTIL THE ASTRONAUT DESIRES THE DAP TO WAKE UP, AND THE IMU AND CDUS ARE READY FOR USE BY THE DAP.
059921,000023:                                                                                                  #  THE NECESSARY INITIALIZATION OF THE DAP IS DONE BY THE DAPIDLER PROGRAM.
059922,000024: 16,2000                                           BANK     16                                    
059923,000025: 16,2000                                           SETLOC   DAPS1                                 
059924,000026: 16,2000                                           BANK                                           
059925,000027: 
059926,000028: 16,2000  E6,1536                                  EBANK=   AOSQ                                  
059927,000029: 
059928,000030: 16,2000                                           COUNT*   $$/DAPID                              
059929,000031: 
059930,000032: 16,2000           00006        CHEKBITS           EXTEND                                         
059931,000033: 16,2001           00031                           READ     CHAN31                                #  IF BOTH BIT13 AND BIT14 ARE ONE, THEN
059932,000034: 16,2002           40000                           COM                                            #  THE MODE SELECT SWITCH IS IN THE OFF
059933,000035: 16,2003           74355                           MASK     BIT13-14                              #  POSITION, AND SO THE DAP SHOULD BE OFF,
059934,000036: 16,2004           00006                           EXTEND                                         #  WITH NO ATTITUDE ERROR DISPLAY.
059935,000037: 16,2005           12157                           BZF      MOREIDLE                              
059936,000038: 
059937,000039: 16,2006           41300                           CS       IMODES33                              
059938,000040: 16,2007           74746                           MASK     BIT6                                  
059939,000041: 16,2010           10000                           CCS      A                                     
059940,000042: 16,2011           12206                           TCF      JUMPDSP                               
059941,000043: 16,2012           41262                           CS       RCSFLAGS                              #  IMU NOT USABLE.  SET UP INITIALIZATION
059942,000044: 16,2013           74751                           MASK     BIT3                                  #  FLAG FOR ATT ERROR DISPLAY ROUTINE.
059943,000045: 16,2014           27262                           ADS      RCSFLAGS                              
059944,000046: 16,2015           12163                           TCF      SHUTDOWN                              
059945,000047: 
059946,000048: 16,2016           34742        CHEKMORE           CAF      BIT10                                 #  BIT 10 OF 30 IS PGNCS CONTROL OF S/C
059947,000049: 16,2017           00006                           EXTEND                                         
059948,000050: 16,2020           02030                           RAND     CHAN30                                #  BITS IN 30 ARE INVERTED
059949,000051: 16,2021           10000                           CCS      A                                     
059950,000052: 16,2022           12157                           TCF      MOREIDLE                              
059951,000053: 
059952,000054: 16,2023           00002                           RETURN                                         
059953,000055: 

Page 1399

059955,000057:                                                                                                  #  DAPIDLER ENTRY.
059956,000058: 
059957,000059: 16,2024           22016        DAPIDLER           LXCH     BANKRUPT                              #  INTERRUPT LEAD INS (CONTINUED)
059958,000060: 16,2025           00006                           EXTEND                                         
059959,000061: 16,2026           22012                           QXCH     QRUPT                                 
059960,000062: 
059961,000063: 16,2027           31262                           CA       RCSFLAGS                              
059962,000064: 16,2030           74737                           MASK     BIT13                                 
059963,000065: 16,2031           10000                           CCS      A                                     #  CHECK IF 1/ACCJOB HAS BEEN SET UP SINCE
059964,000066: 16,2032           12041                           TCF      CHECKUP                               #  THE LAST FRESH START OR RESTART.
059965,000067: 16,2033           34737                           CA       BIT13                                 
059966,000068: 16,2034           27262                           ADS      RCSFLAGS                              #  BIT 13 IS 1.
059967,000069: 16,2035           37720                           CAF      PRIO27                                
059968,000070: 16,2036           05072                           TC       NOVAC                                 #  SET UP JOB TO DO A LITTLE INITIALIZATION
059969,000071: 16,2037  E6,1536                                  EBANK=   AOSQ                                  #    AND EXECUTE 1/ACCS.
059970,000072: 16,2037           03630 42106                     2CADR    1/ACCSET                              #  (WILL BRANCH TO MOREIDLE ON ACCSOKAY)
059971,000073: 
059972,000074: 
059973,000075: 16,2041           02000        CHECKUP            TC       CHEKBITS                              #  CHECK TO SEE IF LM DAP IS TO GO ON AND
059974,000076:                                                                                                  #    DO ERROR DISPLAY.
059975,000077: 
059976,000078: 16,2042           30111                           CAE      DAPBOOLS                              #  IF 1/ACCS HAS NOT BEEN COMPLETED, IDLE.
059977,000079: 16,2043           74751                           MASK     ACCSOKAY                              #    NOTE: ONLY FRESH START AND RESTART
059978,000080: 16,2044           00006                           EXTEND                                         #          KNOCK THIS BIT DOWN.
059979,000081: 16,2045           12157                           BZF      MOREIDLE                              
059980,000082: 
059981,000083: 16,2046           04674        STARTDAP           TC       IBNKCALL                              #  ZERO ATTITUDE ERROR AND DESIRED RATES.
059982,000084: 16,2047           40154                           FCADR    ZATTEROR                              
059983,000085: 16,2050           34755                           CAF      ZERO                                  #  ********** INITIALIZE: **********
059984,000086: 16,2051           55524                           TS       TJP                                   
059985,000087: 16,2052           55525                           TS       TJU                                   
059986,000088: 16,2053           55526                           TS       TJV                                   
059987,000089: 16,2054           55421                           TS       OMEGAP                                #  RATES IN BODY (PILOT) COORDINATES.
059988,000090: 16,2055           55422                           TS       OMEGAQ                                
059989,000091: 16,2056           55423                           TS       OMEGAR                                
059990,000092: 16,2057           55430                           TS       TRAPEDP                               
059991,000093: 16,2060           55431                           TS       TRAPEDQ                               
059992,000094: 16,2061           55432                           TS       TRAPEDR                               
059993,000095: 16,2062           55536                           TS       AOSQ                                  #  OFFSET ACCELERATION ESTIMATES.
059994,000096: 16,2063           55537                           TS       AOSQ       +1                         
059995,000097: 16,2064           55540                           TS       AOSR                                  
059996,000098: 16,2065           55541                           TS       AOSR       +1                         
059997,000099: 16,2066           55424                           TS       ALPHAQ                                #  COPIES OF OFFSET ESTIMATES FOR DOWNLIST.
059998,000100: 16,2067           55425                           TS       ALPHAR                                
059999,000101: 16,2070           55501                           TS       NEGUQ                                 
060000,000102: 16,2071           55503                           TS       NEGUR                                 
060001,000103: 16,2072           55544                           TS       AOSQTERM                              #  QRAXIS RATE DERIVATION TERMS AND KALMAN
060002,000104: 16,2073           55545                           TS       AOSRTERM                              #  FILTER INITIALIZATION TERMS.
060003,000105: 16,2074           55510                           TS       QACCDOT                               #  DESCENT ACCELERATION DERIVATIVE EST.
060004,000106: 16,2075           55512                           TS       RACCDOT                               

Page 1400

060006,000108: 16,2076           55502                           TS       ALLOWGTS                              #  AOSTASK FLAG FOR QRAXIS RCS CONTROL USE.
060007,000109: 16,2077           55630                           TS       COTROLER                              #  DO TRYGTS ON FIRST PASS (WILL GO TO RCS)
060008,000110: 16,2100           55632                           TS       INGTS                                 #  RECOGNIZE FIRST GTS PASS AS SUCH.
060009,000111: 16,2101           55631                           TS       QGIMTIMR                              #  STOP GIMBAL DRIVES.  (PROBABLY WOULD BE
060010,000112: 16,2102           55633                           TS       RGIMTIMR                              #    GOOD ENOUGH JUST TO INACTIVATE TIMERS)
060011,000113: 16,2103           55460                           TS       OLDPMIN                               #  MINIMUM IMPULSE MODE ERASABLES
060012,000114: 16,2104           55461                           TS       OLDQRMIN                              
060013,000115: 16,2105           55766                           TS       PJETCTR                               #  INITIALIZE DOCKED JET INHIBITION
060014,000116: 16,2106           55767                           TS       UJETCTR                               #  COUNTERS
060015,000117: 16,2107           55770                           TS       VJETCTR                               
060016,000118: 16,2110     4747               CALLGMBL           EQUALS   BIT5                                  #  RCSFLAGS INITIALIZATION.
060017,000119: 16,2110           42202                           CS       MANFLAG                               
060018,000120: 16,2111           71262                           MASK     RCSFLAGS                              #  NEGUQ(R) HAVE BEEN GENERATED.
060019,000121: 16,2112           55262                           TS       RCSFLAGS                              
060020,000122: 
060021,000123:                                                                                                  #  SET UP "OLD" MEASURED CDU ANGLES:
060022,000124: 
060023,000125: 16,2113           00006                           EXTEND                                         
060024,000126: 16,2114           30033                           DCA      CDUX                                  #  OLDXFORP AND OLDYFORP
060025,000127: 16,2115           53441                           DXCH     OLDXFORP                              
060026,000128: 16,2116           30034                           CA       CDUZ                                  
060027,000129: 16,2117           55442                           TS       OLDZFORQ                              
060028,000130: 16,2120           41262                           CS       RCSFLAGS                              
060029,000131: 16,2121           74740                           MASK     BIT12                                 
060030,000132: 16,2122           27262                           ADS      RCSFLAGS                              #  BIT 12 SET TO 1.
060031,000133: 16,2123           34751                           CA       FOUR                                  
060032,000134: 16,2124           55534                           TS       SKIPU                                 
060033,000135: 16,2125           55535                           TS       SKIPV                                 
060034,000136: 16,2126           34733                           CA       POSMAX                                
060035,000137: 16,2127           54031                           TS       TIME6                                 
060036,000138: 16,2130           55466                           TS       T6NEXT                                
060037,000139: 16,2131           55470                           TS       T6FURTHA                              
060038,000140: 16,2132           34755                           CA       ZERO                                  
060039,000141: 16,2133           55467                           TS       T6NEXT     +1                         
060040,000142: 16,2134           55471                           TS       T6FURTHA   +1                         
060041,000143: 16,2135           55465                           TS       NXT6ADR                               
060042,000144: 16,2136           55472                           TS       NEXTP                                 
060043,000145: 16,2137           55473                           TS       NEXTU                                 
060044,000146: 16,2140           55474                           TS       NEXTV                                 
060045,000147: 16,2141           44363                           CS       TEN                                   
060046,000148: 16,2142           55756                           TS       DAPZRUPT                              #  JASK NOT IN PROGRESS, INITIALIZE NEG.
060047,000149: 16,2143           34752                           CA       TWO                                   
060048,000150: 16,2144           55433                           TS       NPTRAPS                               
060049,000151: 16,2145           55434                           TS       NQTRAPS                               
060050,000152: 16,2146           55435                           TS       NRTRAPS                               
060051,000153: 16,2147           00006                           EXTEND                                         
060052,000154: 16,2150           32205                           DCA      PAXADIDL                              
060053,000155: 16,2151           53264                           DXCH     T5ADR                                 
060054,000156: 16,2152           37732        SETTIME5           CAF      MS100                                 
060055,000157: 16,2153           54030                           TS       TIME5                                 

Page 1401

060057,000159: 16,2154           15301                           TCF      RESUME                                
060058,000160: 16,2155  E6,1536                                  EBANK=   AOSQ                                  
060059,000161: 16,2155           02024 34106  IDLERADR           2CADR    DAPIDLER                              
060060,000162: 
060061,000163: 16,2157           04674        MOREIDLE           TC       IBNKCALL                              #  CALCULATE Q,R-AXES ATTITUDE ERRORS.
060062,000164: 16,2160           36655                           CADR     QERRCALC                              
060063,000165: 
060064,000166: 16,2161           04674                           TC       IBNKCALL                              
060065,000167: 16,2162           35451                           CADR     CALCPERR                              #  CALCULATE P AXIS ATTITUDE ERRORS.
060066,000168: 
060067,000169: 16,2163           00006        SHUTDOWN           EXTEND                                         
060068,000170: 16,2164           32156                           DCA      IDLERADR                              
060069,000171: 16,2165           53264                           DXCH     T5ADR                                 
060070,000172: 
060071,000173: 16,2166           34755                           CAF      ZERO                                  #  KILL ANY POSSIBLE JET REQUESTS
060072,000174: 16,2167           55472                           TS       NEXTP                                 
060073,000175: 16,2170           55473                           TS       NEXTU                                 
060074,000176: 16,2171           55474                           TS       NEXTV                                 
060075,000177: 16,2172           00006                           EXTEND                                         #  COMMAND JETS OFF.
060076,000178: 16,2173           01005                           WRITE    CHAN5                                 
060077,000179: 16,2174           00006                           EXTEND                                         
060078,000180: 16,2175           01006                           WRITE    CHAN6                                 
060079,000181: 16,2176           42203                           CS       BGIM23                                #  TURN TRIM GIMBAL OFF
060080,000182: 16,2177           00006                           EXTEND                                         
060081,000183: 16,2200           03012                           WAND     CHAN12                                
060082,000184: 16,2201           12152                           TCF      SETTIME5                              #  RETURN IN 100 MSEC.
060083,000185: 
060084,000186: 16,2202           03021        MANFLAG            OCT      03021                                 
060085,000187: 16,2203           07400        BGIM23             OCTAL    07400                                 
060086,000188: 16,2204  E6,1421                                  EBANK=   OMEGAP                                
060087,000189: 16,2204           02213 34106  PAXADIDL           2CADR    PAXIS                                 
060088,000190: 
060089,000191: 16,2206     7732               MS100              =        OCT37766                              
060090,000192: 16,2206     0061               COSMG              =        ITEMP1                                
060091,000193: 16,2206           00006        JUMPDSP            EXTEND                                         #  TRANSFER TO BANK 20
060092,000194: 16,2207           32212                           DCA      DSPCADR                               #  FOR ATTITUDE ERROR DISPLAYS
060093,000195: 16,2210           52006                           DTCB                                           
060094,000196: 
060095,000197: 16,2211  E6,1760                                  EBANK=   AK                                    
060096,000198: 16,2211           02227 40106  DSPCADR            2CADR    ALTDSPLY                              
060097,000199: 

Page 1402

060099,000201: 20,2227                                           BANK     20                                    
060100,000202: 20,2000                                           SETLOC   DAPS3                                 
060101,000203: 20,2000                                           BANK                                           
060102,000204: 20,2227                                           COUNT*   $$/NEEDL                              
060103,000205: 
060104,000206:                                                                                                  #  PROGRAM: ALTDSPLY
060105,000207: 
060106,000208:                                                                                                  #  MOD 0.  6 DEC 1967
060107,000209: 
060108,000210:                                                                                                  #  AUTHOR:  CRAIG WORK, DON KEENE, MIT IL
060109,000211: 
060110,000212:                                                                                                  #  MOD 3 BY DON KEENE AUG 1, 1968 MOVED PROGRAM TO BANK 20
060111,000213: 
060112,000214:                                                                                                  #  PROGRAM DESCRIPTION:
060113,000215: 
060114,000216:                                                                                                  #  ALTDSPLY REVERSES THE DSPLYALT BIT OF RCSFLAGS EACH TIME IT IS CALLED, WHICH IS PRESUMABLY EVERY 100 MS.
060115,000217:                                                                                                  #  IF THE REVERSED BIT IS ONE, NEEDLER IS CALLED TO DISPLAY ATTITUDE ERRORS.  IF THE BIT IS ZERO, THE ATTITUDE ERR-
060116,000218:                                                                                                  #  ORS ARE CALCULATED AS 1) ESTIMATED RATES (FOLLOWING) IF NEED2FLG = 1, OTHERWISE AS 2) DAP FOLLOWING ERRORS FOR
060117,000219:                                                                                                  #  NEEDLFLG = 0 AND 3) TOTAL ATTITUDE ERRORS FOR NEEDLFLG = 1.
060118,000220: 
060119,000221:                                                                                                  #  WARNING:  ALTDSPLY MAY ONLY BE CALLED WITH INTERRUPT INHIBITED.
060120,000222: 
060121,000223:                                                                                                  #  WARNING:  EBANK MUST BE SET TO 6 WHEN USING THIS ROUTINE.
060122,000224: 
060123,000225:                                                                                                  #  INPUT:  RCSFLAGS AND 1) IF NEEDLFLG=0, INPUT PERROR,QERROR,RERROR.
060124,000226:                                                                                                  #                       2) IF NEEDLFLG=1, INPUT CPHI,CTHETA,CPSI,CDUX,CDUY,CDUZ,M11,M21,M32,M22,M32. (GPMATRIX)
060125,000227: 
060126,000228:                                                                                                  #               3) IF NEED2FLG = 1, INPUT OMEGAP, OMEGAQ, AND OMEGAR.
060127,000229: 
060128,000230:                                                                                                  #  OUTPUTS:  RCSFLAGS WITH DSPLYALT REVERSED,AK,AK1,AK2,+ NEEDLER OUTPUTS.
060129,000231: 
060130,000232:                                                                                                  #  ENTRY:   TCF    ALTDSPLY
060131,000233: 
060132,000234:                                                                                                  #  EXIT:    TCF    CHEKMORE
060133,000235: 
060134,000236:                                                                                                  #  ALARM OR ABORT EXITS:  NONE
060135,000237: 
060136,000238:                                                                                                  #  SUBPROGRAMS CALLED: NEEDLER, OVERSUB2
060137,000239: 
060138,000240:                                                                                                  #  DEBRIS:  A,L,AND NEEDLER DEBRIS.
060139,000241: 
060140,000242: 20,2227           31262        ALTDSPLY           CA       RCSFLAGS                              #  INVERT THE DISPLAY ALTERNATION BIT.
060141,000243: 20,2230           54001                           TS       L                                     
060142,000244: 20,2231           34750                           CA       DSPLYALT                              
060143,000245: 20,2232           00006                           EXTEND                                         
060144,000246: 20,2233           06001                           RXOR     LCHAN                                 
060145,000247: 20,2234           55262                           TS       RCSFLAGS                              
060146,000248: 
060147,000249: 20,2235           74750                           MASK     DSPLYALT                              
060148,000250: 20,2236           10000                           CCS      A                                     #  IS ALTERNATION FLAG ZERO?

Page 1403

060150,000252: 20,2237           12336                           TCF      NEEDLER                               
060151,000253: 
060152,000254: 20,2240           40074                           CS       FLAGWRD0                              #  CHECK FOR RATE DISPLAY TO ERROR NEEDLES
060153,000255: 20,2241           74735                           MASK     NEED2BIT                              #  VIA EXTENDED VERB 60
060154,000256: 20,2242           00006                           EXTEND                                         
060155,000257: 20,2243           12257                           BZF      DISPRATE                              
060156,000258: 
060157,000259: 20,2244           30074                           CAE      FLAGWRD0                              #  NEEDLFLG WILL INDICATE TOTAL OR DAP AT-
060158,000260: 20,2245           74750                           MASK     NEEDLBIT                              #  TITUDE ERROR DISPLAY REQUEST.
060159,000261: 20,2246           10000                           CCS      A                                     
060160,000262: 20,2247           12266                           TCF      DSPLYTOT                              #  TOTAL ERROR IS NEEDED IN AK,AK +1,AK +2
060161,000263: 
060162,000264: 20,2250           41450                           CS       QERROR                                #  YES. DISPLAY ATT ERRORS ON THE ,-BALL.
060163,000265: 20,2251           55761                           TS       AK         +1                         #  ERROR COMPLEMENTS ARE INPUT TO NEEDLER.
060164,000266: 20,2252           41452                           CS       RERROR                                
060165,000267: 20,2253           55762                           TS       AK         +2                         
060166,000268: 20,2254           41464                           CS       PERROR                                
060167,000269: 20,2255           57760                           XCH      AK                                    
060168,000270: 
060169,000271: 20,2256           12456                           TCF      RETNMORE                              #  DISPLAY THESE THE NEXT TIME THROUGH
060170,000272: 
060171,000273: 20,2257           41422        DISPRATE           CS       OMEGAQ                                #  LOAD ESTIMATED RATES (FOLLOWING)
060172,000274: 20,2260           55761                           TS       AK         +1                         
060173,000275: 20,2261           41423                           CS       OMEGAR                                
060174,000276: 20,2262           55762                           TS       AK         +2                         
060175,000277: 20,2263           41421                           CS       OMEGAP                                
060176,000278: 20,2264           57760                           XCH      AK                                    
060177,000279: 20,2265           12456                           TCF      RETNMORE                              
060178,000280: 
060179,000281:                                                                                                  #  CALCULATE GIMBAL ANGLE TOTAL ERRORS, RESOLVE INTO PILOT AXES, STORE TOTAL ERRORS FOR NEEDLER.  Q-AXIS FIRST.
060180,000282: 
060181,000283: 20,2266           00006        DSPLYTOT           EXTEND                                         
060182,000284: 20,2267           22061                           QXCH     ITEMP1                                #  SAVE Q FOR CHEKBITS RETURN.
060183,000285: 
060184,000286: 20,2270           30322                           CA       CTHETA                                #  DESIRED ATTITUDE, Y-AXIS, 2'S COMP.
060185,000287: 20,2271           00006                           EXTEND                                         #  SUBTRACT CURRENT ATTITUDE.
060186,000288: 20,2272           20033                           MSU      CDUY                                  #  DIFFERENCE SCALED AT PI, 1'S COMP.
060187,000289: 20,2273           55760                           TS       AK                                    #  SAVE FOR R-ERROR CALCULATION.
060188,000290: 20,2274           00006                           EXTEND                                         
060189,000291: 20,2275           71415                           MP       M21                                   #  (CHTETA-CDUY)*M21 SCALED AT PI RADIANS.
060190,000292: 20,2276           57761                           XCH      AK         +1                         #  STORE FIRST TERM OF Q ERROR.
060191,000293: 20,2277           30323                           CA       CPSI                                  #  DESIRED ATTITUDE, Z-AXIS, 2'S COMP.
060192,000294: 20,2300           00006                           EXTEND                                         #  SUBTRACT CURRENT ATTITUDE.
060193,000295: 20,2301           20034                           MSU      CDUZ                                  #  DIFFERENCE SCALED AT PI, 1'S COMP.
060194,000296: 20,2302           55762                           TS       AK         +2                         #  SAVE Z-AXIS TERM FOR R ERROR CALCULATION
060195,000297: 20,2303           00006                           EXTEND                                         
060196,000298: 20,2304           71417                           MP       M22                                   #  (CPSI-CDUZ)*M22, SCALED AT PI RADIANS.
060197,000299: 20,2305           61761                           AD       AK         +1                         #  Q ERROR COMPLETE         , AT PI RAD.
060198,000300: 20,2306           02451                           TC       OVERSUB2                              #  PIN NEEDLES IN CASE OF OVERFLOW.
060199,000301: 20,2307           55761                           TS       AK         +1                         
060200,000302: 

Page 1404

060202,000304:                                                                                                  #  R ERROR CALCULATION NEXT.
060203,000305: 
060204,000306: 20,2310           31760                           CA       AK                                    #  Y-AXIS DIFFERENCE STORED BY Q-AXIS CALC.
060205,000307: 20,2311           00006                           EXTEND                                         
060206,000308: 20,2312           71416                           MP       M31                                   #  (CTHETA-CDUY)*M31, SCALED AT PI RADIANS.
060207,000309: 20,2313           57762                           XCH      AK         +2                         #  FIRST TERM OF R ERROR.
060208,000310:                                                                                                  #  Z-AXIS DIFFERENCE, STORED BY A CALC. IS
060209,000311: 20,2314           00006                           EXTEND                                         #  RECOVERED BY THE EXCHANGE.
060210,000312: 20,2315           71420                           MP       M32                                   #  (CPSI-CDUZ)*M32, SCALED AT PI RADIANS.
060211,000313: 20,2316           61762                           AD       AK         +2                         #  R ERROR COMPLETE         , AT PI RAD.
060212,000314: 20,2317           02451                           TC       OVERSUB2                              #  PIN NEEDLES IN CASE OF OVERFLOW.
060213,000315: 20,2320           55762                           TS       AK         +2                         
060214,000316: 
060215,000317:                                                                                                  #  NOW CALCULATE P ERROR.  (NOTE THAT M13 = 1, SCALED AT 1, SO THE MULTIPLICATION IS BY-PASSED.)
060216,000318: 
060217,000319: 20,2321           31760                           CA       AK                                    #  Y-AXIS DIFFERENCE STORED BY Q AXIS CALC.
060218,000320: 20,2322           00006                           EXTEND                                         
060219,000321: 20,2323           71414                           MP       M11                                   #  (CTHETA-CDUY)*M11 SCALED AT PI RADIANS.
060220,000322: 20,2324           57760                           XCH      AK                                    #  FIRST TERM OF P ERROR IN AK, AT PI RAD.
060221,000323: 20,2325           30321                           CAE      CPHI                                  #  DESIRED ATTITUDE, X-AXIS, 2'S COMP.
060222,000324: 20,2326           00006                           EXTEND                                         #  SUBTRACT CURRENT X ATTITUDE.
060223,000325: 20,2327           20032                           MSU      CDUX                                  #  X-AXIS DIFFERENCE, 1'S COMP, AT PI RAD.
060224,000326: 
060225,000327:                                                                                                  #  M13 = 1, SO BYPASS THE MULTIPLICATION.
060226,000328:                                                                                                  #           EXTEND
060227,000329:                                                                                                  #           MP     M13             (CPHI-CDUX)*M13 SCALED AT PI RADIANS.
060228,000330: 
060229,000331: 20,2330           61760                           AD       AK                                    #  P ERROR COMPLETE      , SCALED AT PI RAD
060230,000332: 20,2331           02451                           TC       OVERSUB2                              #  PIN NEEDLES IN CASE OF OVERFLOW.
060231,000333: 20,2332           55760                           TS       AK                                    
060232,000334: 
060233,000335: 20,2333           00006                           EXTEND                                         
060234,000336: 20,2334           22061                           QXCH     ITEMP1                                #  RESTORE Q FOR CHEKBITS RETURN.
060235,000337: 
060236,000338: 20,2335           12456                           TCF      RETNMORE                              #  DISPLAY THESE THE NEXT TIME THROUGH
060237,000339: 

Page 1405

060239,000341:                                                                                                  #  FDAI ATTITUDE ERROR DISPLAY SUBROUTINE
060240,000342: 
060241,000343:                                                                                                  #  PROGRAM DESCRIPTION:    D. KEENE   5/24/67
060242,000344: 
060243,000345:                                                                                                  #  MOD 1 BY CRAIG WORK, 12 DEC 67
060244,000346: 
060245,000347:                                                                                                  #  MOD 2 BY CRAIG WORK, 6 APRIL 68 CONVERTS ATTITUDE ERROR DISPLAY SCALING FROM 16 7/8 DEG. TO 42 3/16 DEGREES.
060246,000348: 
060247,000349:                                                                                                  #      THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS)
060248,000350:                                                                                                  #  IN THE CDUS.  CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT
060249,000351:                                                                                                  #  OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES
060250,000352:                                                                                                  #  THE DACS.
060251,000353: 
060252,000354: 
060253,000355:                                                                                                  #  CALLING SEQUENCE:
060254,000356: 
060255,000357:                                                                                                  #      DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE
060256,000358:                                                                                                  #  TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM:
060257,000359: 
060258,000360:                                                                                                  #           CS     RCSFLAGS        IN EBANK6
060259,000361:                                                                                                  #           MASK   BIT3
060260,000362:                                                                                                  #           ADS    RCSFLAGS
060261,000363: 
060262,000364:                                                                                                  #  THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANSFERED TO THE FOLLOWING LOCATIONS IN EBANK6:
060263,000365: 
060264,000366:                                                                                                  #           AK     SCALED 180 DEGREES  NOTE: THESE LOCATIONS ARE SUBJECT
060265,000367:                                                                                                  #           AK1    SCALED 180 DEGREES        TO CHANGE
060266,000368:                                                                                                  #           AK2    SCALED 180 DEGREES
060267,000369: 
060268,000370:                                                                                                  #  FULL SCALED DEFLECTION OF THE NEEDLES CORRESPONDS TO 5 1/16 DEGREES, WHILE 384 BITS IN THE IMU ERROR COUNTER
060269,000371:                                                                                                  #  CORRESPONDS TO 42 3/16 DEGREES.  (DAC MAXIMUM CAPACITY IS 384 BITS.) 46 BITS EFFECTIVELY PIN THE NEEDLES.
060270,000372: 
060271,000373:                                                                                                  #  FOR RATE DISPLAY, FULL SCALE NEEDLE DEFLECTION IS 1 17/64 DEG/SEC, AND A FULL COUNTER IS ABOUT 10.5 DEG/SEC.
060272,000374:                                                                                                  #  A CALL TO NEEDLER WILL THEN UPDATE THE DISPLAY:
060273,000375: 
060274,000376:                                                                                                  #           INHINT
060275,000377:                                                                                                  #           TC     IBNKCALL        NOTE: EBANK SHOULD BE SET TO E6
060276,000378:                                                                                                  #           CADR   NEEDLER
060277,000379:                                                                                                  #           RELINT
060278,000380: 
060279,000381:                                                                                                  #      THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED.  AT LEAST 3 PASSES THRU THE PROGRAM ARE
060280,000382:                                                                                                  #  REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS.
060281,000383:                                                                                                  #  NOTE: EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50MS TO ASSURE PROPER RELAY SEQUENCING.
060282,000384: 
060283,000385:                                                                                                  #  ERASABLE USED:
060284,000386:                                                                                                  #                       AK        CDUXCMD
060285,000387:                                                                                                  #                       AK1       CDUYCMD
060286,000388:                                                                                                  #                       AK2       CDUZCMD
060287,000389:                                                                                                  #                       EDRIVEX   A,L,Q
060288,000390:                                                                                                  #                       EDRIVEY   T5TEMP

Page 1406

060290,000392:                                                                                                  #                       EDRIVEZ   DINDX
060291,000393: 
060292,000394:                                                                                                  #  SWITCHES:            RCSFLAGS  BITS 3,2
060293,000395: 
060294,000396:                                                                                                  #  I/O CHANNELS:        CHAN12    BIT 4 (COARSE ALIGN - READ ONLY)
060295,000397:                                                                                                  #                       CHAN12    BIT 6 (IMU ERROR COUNTER ENABLE)
060296,000398:                                                                                                  #                       CHAN14    BIT 13,14,15 (DAC ACTIVITY)
060297,000399: 
060298,000400: 
060299,000401:                                                                                                  #  SIGN CONVENTION<   AK = THETAC - THETA
060300,000402:                                                                                                  #            WHERE    THETAC = COMMAND ANGLE
060301,000403:                                                                                                  #                     THETA  = PRESENT ANGLE
060302,000404: 
060303,000405: 
060304,000406: 20,2336           31262        NEEDLER            CA       RCSFLAGS                              
060305,000407: 20,2337           76245                           MASK     SIX                                   
060306,000408: 20,2340           00006                           EXTEND                                         
060307,000409: 20,2341           12376                           BZF      NEEDLES3                              
060308,000410: 20,2342           74751                           MASK     BIT3                                  
060309,000411: 20,2343           00006                           EXTEND                                         
060310,000412: 20,2344           12367                           BZF      NEEDLER2                              #  BIT3 = 0, BIT2 = 1
060311,000413: 
060312,000414: 20,2345           44746                           CS       BIT6                                  #  FIRST PASS BIT3 = 1
060313,000415: 20,2346           00006                           EXTEND                                         #  DISABLE IMU ERROR COUNTER TO ZERO DACS
060314,000416: 20,2347           03012                           WAND     CHAN12                                #  MUST WAIT AT LEAST 60 MS BEFORE
060315,000417: 20,2350           44755        NEEDLE11           CS       ZERO                                  #  ENABLING COUNTERS.
060316,000418: 20,2351           55760                           TS       AK                                    #  ZERO THE INPUTS ON FIRST PASS
060317,000419: 20,2352           55761                           TS       AK1                                   
060318,000420: 20,2353           55762                           TS       AK2                                   
060319,000421: 20,2354           55763                           TS       EDRIVEX                               #  ZERO THE DISPLAY REGISTERS
060320,000422: 20,2355           55764                           TS       EDRIVEY                               
060321,000423: 20,2356           55765                           TS       EDRIVEZ                               
060322,000424: 20,2357           54050                           TS       CDUXCMD                               #  ZERO THE OUT COUNTERS
060323,000425: 20,2360           54051                           TS       CDUYCMD                               
060324,000426: 20,2361           54052                           TS       CDUZCMD                               
060325,000427: 20,2362           46245                           CS       SIX                                   #  RESET RCSFLAGS FOR PASS2
060326,000428: 20,2363           71262                           MASK     RCSFLAGS                              
060327,000429: 20,2364           64752                           AD       BIT2                                  
060328,000430: 20,2365           55262                           TS       RCSFLAGS                              
060329,000431: 20,2366           12456                           TCF      RETNMORE                              
060330,000432: 
060331,000433: 20,2367           34746        NEEDLER2           CAF      BIT6                                  #  ENABLE IMU ERROR COUNTERS
060332,000434: 20,2370           00006                           EXTEND                                         
060333,000435: 20,2371           05012                           WOR      CHAN12                                
060334,000436: 20,2372           46245                           CS       SIX                                   #  RESET RCSFLAGS TO DISPLAY ATTITUDE
060335,000437: 20,2373           71262                           MASK     RCSFLAGS                              #  ERRORS    WAIT ATLEAST 4 MS FOR
060336,000438: 20,2374           55262                           TS       RCSFLAGS                              #  RELAY CLOSURE
060337,000439: 20,2375           12456                           TCF      RETNMORE                              
060338,000440: 
060339,000441: 20,2376           34746        NEEDLES3           CAF      BIT6                                  #  CHECK TO SEE IF IMU ERROR COUNTER

Page 1407

060341,000443: 20,2377           00006                           EXTEND                                         #  IS ENABLED
060342,000444: 20,2400           02012                           RAND     CHAN12                                
060343,000445: 20,2401           10000                           CCS      A                                     #  IF NOT, RE-INITIALIZE NEEDLER.
060344,000446: 20,2402           12407                           TCF      NEEDLES                               
060345,000447: 
060346,000448: 20,2403           41262                           CS       RCSFLAGS                              #  SET UP INITIALIZATION FLAG IN RCSFLAGS.
060347,000449: 20,2404           74751                           MASK     BIT3                                  
060348,000450: 20,2405           27262                           ADS      RCSFLAGS                              
060349,000451: 20,2406           12456                           TCF      RETNMORE                              
060350,000452: 
060351,000453: 20,2407           34752        NEEDLES            CAF      TWO                                   
060352,000454: 20,2410           54063        DACLOOP            TS       DINDX                                 
060353,000455: 20,2411           42450                           CS       ONETENTH                              #  RESCALE INPUTS TO + OR - 1800 DEGREES.
060354,000456: 20,2412           00006                           EXTEND                                         
060355,000457: 20,2413           50063                           INDEX    DINDX                                 
060356,000458: 20,2414           71760                           MP       AK                                    
060357,000459: 20,2415           54001                           TS       L                                     
060358,000460: 20,2416           10000                           CCS      A                                     
060359,000461: 20,2417           32446                           CA       DACLIMIT                              
060360,000462: 20,2420           12422                           TCF      +2                                    
060361,000463: 20,2421           42446                           CS       DACLIMIT                              
060362,000464: 20,2422           60001                           AD       L                                     
060363,000465: 20,2423           54061                           TS       T5TEMP                                #  OVFLO CHK
060364,000466: 20,2424           12430                           TCF      +4                                    
060365,000467: 20,2425           50000                           INDEX    A                                     #  ON OVERFLOW LIMIT OUTPUT TO +-384
060366,000468: 20,2426           32446                           CAF      DACLIMIT                              
060367,000469: 20,2427           54001                           TS       L                                     
060368,000470: 20,2430           50063                           INDEX    DINDX                                 
060369,000471: 20,2431           41763                           CS       EDRIVEX                               #  CURRENT VALUE OF DAC
060370,000472: 20,2432           60001                           AD       L                                     
060371,000473: 20,2433           50063                           INDEX    DINDX                                 
060372,000474: 20,2434           26050                           ADS      CDUXCMD                               
060373,000475: 20,2435           50063                           INDEX    DINDX                                 
060374,000476: 20,2436           23763                           LXCH     EDRIVEX                               
060375,000477: 20,2437           10063                           CCS      DINDX                                 
060376,000478: 20,2440           12410                           TCF      DACLOOP                               
060377,000479: 20,2441           37743                           CAF      13,14,15                              
060378,000480: 20,2442           00006                           EXTEND                                         
060379,000481: 20,2443           05014                           WOR      CHAN14                                #  SET DAC ACTIVITY BITS
060380,000482: 20,2444           12456                           TCF      RETNMORE                              
060381,000483: 
060382,000484: 20,2445           77177                           DEC      -384       B-14                       
060383,000485: 20,2446           37200        DACLIMIT           DEC      16000      B-14                       
060384,000486: 20,2447           00600                           DEC      384        B-14                       
060385,000487: 
060386,000488: 20,2450           03146        ONETENTH           OCT      03146                                 #  DECIMAL  +0.1, SCALED AT 1.
060387,000489: 20,2451     4750               DSPLYALT           EQUALS   BIT4                                  #  100 MS ALTERNATION BIT IN RCSFLAGS
060388,000490: 
060389,000491: 
060390,000492: 20,2451           54007        OVERSUB2           TS       7                                     #  RETURNS  A  UNCHANGED  OR LIMITED TO

Page 1408

060392,000494: 20,2452           00002                           TC       Q                                     #  POSMAX OR NEGMAX IF A HAS OVERFLOW
060393,000495: 20,2453           50000                           INDEX    A                                     
060394,000496: 20,2454           44734                           CS       LIMITS                                #  DUPLICATE CODING IN BANK 16
060395,000497: 20,2455           00002                           TC       Q                                     
060396,000498: 
060397,000499: 
060398,000500: 20,2456           00006        RETNMORE           EXTEND                                         #  RETURN TO CHEKMORE
060399,000501: 20,2457           32462                           DCA      MORECADR                              
060400,000502: 20,2460           52006                           DTCB                                           
060401,000503: 
060402,000504: 20,2461  E6,1536                                  EBANK=   AOSQ                                  
060403,000505: 20,2461           02016 34106  MORECADR           2CADR    CHEKMORE                              
060404,000506: 

End of include-file DAPIDLER_PROGRAM.agc.  Parent file is MAIN.agc