Source Code
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These source-code files were transcribed from a printout in Don Eyles's personal
collection, scanned by archive.org, and financially sponsored by Peter McDermott.
A team of volunteers performed the transcription and proof-reading. The scanned
page images are available at
the Virtual AGC Project website, as well as higher-quality (but much larger)
images at
the Virtual AGC Project's collection in the Internet Archive. Report any problems by creating
"issues" at
the Virtual AGC Project's GitHub Repository. Notations on the program listing read, in part: YUL SYSTEM FOR AGC: NEW PROGRAM SHEPATIN BY EYLES
DEC 13, 1966
THIS PROGRAM WAS ASSEMBLED AS A VERSION OF REVISION 37
OF PROGRAM SUNBURST BY LEM GROUP
Note that the date is the date of the printout, not the date of the program revision.
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020068,000002: ## Copyright: Public domain. 020069,000003: ## Filename: DAPIDLER_PROGRAM.agc 020070,000004: ## Purpose: A section of Sunburst revision 37, or Shepatin revision 0. 020071,000005: ## It is part of an early development version of the software 020072,000006: ## for Apollo Guidance Computer (AGC) on the unmanned Lunar 020073,000007: ## Module (LM) flight Apollo 5. Sunburst 37 was the program 020074,000008: ## upon which Don Eyles's offline development program Shepatin 020075,000009: ## was based; the listing herein transcribed was actually for 020076,000010: ## the equivalent revision 0 of Shepatin. 020077,000011: ## This file is intended to be a faithful transcription, except 020078,000012: ## that the code format has been changed to conform to the 020079,000013: ## requirements of the yaYUL assembler rather than the 020080,000014: ## original YUL assembler. 020081,000015: ## Reference: pp. 463-467 020082,000016: ## Assembler: yaYUL 020083,000017: ## Contact: Ron Burkey <info@sandroid.org>. 020084,000018: ## Website: www.ibiblio.org/apollo/index.html 020085,000019: ## Mod history: 2017-05-24 MAS Created from Sunburst 120. 020086,000020: ## 2017-05-30 HG Transcribed 020087,000021: ## 2017-06-03 HG Add missing constant DGBF 020088,000022: ## 2017-06-22 RSB Proofed comment text with 020089,000023: ## octopus/ProoferComments. 020090,000024:
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020092,000026: # THE DAPIDLER PROGRAM IS STARTED BY FRESH START AND RESTART. THE DAPIDLER PROGRAM IS DONE 10 TIMES 020093,000027: # PER SECOND UNTIL THE ASTRONAUT DESIRES THE DAP TO WAKE UP, AND THE IMU AND CDUS ARE READY FOR USE BY THE DAP. 020094,000028: # THE NECESSARY INITIALIZATION OF THE DAP IS DONE BY THE DAPIDLER PROGRAM. 020095,000029: # ADDITIONAL WORK MUST BE DONE ON DAPIDLER IN THE FUTURE. 020096,000030: 020097,000031: 020098,000032: 020099,000033: 16,2104 BANK 16 020100,000034: 16,2104 E6,1541 EBANK= DT 020101,000035: 020102,000036: 16,2104 37750 CHEKBITS CAF BIT6 020103,000037: 16,2105 70365 MASK IMODES30 020104,000038: 16,2106 10000 CCS A 020105,000039: 16,2107 12305 TCF MOREIDLE 020106,000040: 020107,000041: 16,2110 37752 CAF BIT4 020108,000042: 16,2111 67751 AD BIT5 020109,000043: 16,2112 00006 EXTEND 020110,000044: 16,2113 02012 RAND 12 020111,000045: 020112,000046: 16,2114 10000 CCS A 020113,000047: 16,2115 12305 TCF MOREIDLE 020114,000048: 020115,000049: 16,2116 37744 CAF BIT10 # BIT10 OF 30 IS PNGCS CONTROL OF S/C 020116,000050: 16,2117 00006 EXTEND 020117,000051: 16,2120 02030 RAND 30 # BITS IN 30 ARE INVERTED 020118,000052: 16,2121 10000 CCS A 020119,000053: 16,2122 12305 TCF MOREIDLE 020120,000054: 020121,000055: 16,2123 00006 EXTEND 020122,000056: 16,2124 00031 READ 31 # IF BOTH BIT13 AND BIT14 ARE ONE 020123,000057: 16,2125 40000 COM # THEN MODE SELECT SWITCH IS IN OFF 020124,000058: 16,2126 75226 MASK BIT13-14 # POSITION. 020125,000059: 16,2127 00006 EXTEND 020126,000060: 16,2130 12305 BZF MOREIDLE # HENCE DAP SHOULD BE OFF. 020127,000061: 020128,000062: 16,2131 37743 CAF GODAPGO 020129,000063: 16,2132 70077 MASK DAPBOOLS 020130,000064: 16,2133 00006 EXTEND 020131,000065: 16,2134 12305 BZF MOREIDLE 020132,000066: 020133,000067: 16,2135 00002 RETURN 020134,000068:
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020136,000070: # DAPIDLER ENTRY. 020137,000071: 020138,000072: 16,2136 22016 DAPIDLER LXCH BANKRUPT # INTERRUPT LEAD INS (CONTINUED) 020139,000073: 16,2137 00006 EXTEND 020140,000074: 16,2140 22012 QXCH QRUPT 020141,000075: 020142,000076: 16,2141 02104 TC CHEKBITS # CHECK TO SEE IF LM DAP IS TO GO ON. 020143,000077: 020144,000078: # THIS SUBROUTINE CALL PERFORMS THE FOLLOWING INITIALIZATION FUNCTIONS: 020145,000079: # 1. THE DESIRED RATE VECTOR IS ZEROED. 020146,000080: # 2. THE DELCDU VECTOR IS ZEROED. 020147,000081: # 3. THE DESIRED CDU REGISTERS ARE SET EQUAL TO THE CDU REGISTERS. 020148,000082: 020149,000083: 16,2142 02057 STARTDAP TC STOPRATE # USE DAP INTERFACE SUBROUTINE 020150,000084: 020151,000085: # THIS SUBROUTINE CALL PERFORMS THE FOLLOWING INITIALIZATION FUNCTIONS: 020152,000086: # 1. THE MINIMUM IMPULSE DEADBANDS ARE SET. 020153,000087: # 2. THE OFFSET ACCELERATION ESTIMATES ARE ZEROED. 020154,000088: # 3. THE RATE DERIVATION ACCELERATION TERMS ARE ZEROED. 020155,000089: # 4. THE NJ FLAGS ARE CLEARED. 020156,000090: # 5. THE URGENCY FUNCTION CORRECTION RATIOS ARE SET TO ONE. 020157,000091: 020158,000092: 16,2143 05307 TC IBNKCALL 020159,000093: 16,2144 40057 FCADR ALLCOAST 020160,000094: 020161,000095: 16,2145 37761 CAF ZERO # ********** INITIALIZE: ********** 020162,000096: 020163,000097: 16,2146 54031 TS TIME6 # T6RUPT CLOCK 020164,000098: 16,2147 55610 TS TP # RATE DERIVATION DTS 020165,000099: 16,2150 55611 TS TQR 020166,000100: 16,2151 55463 TS LASTPER # ATTITUDE ERROR RECORDS FOR EIGHTBALL. 020167,000101: 16,2152 55464 TS LASTQER 020168,000102: 16,2153 55465 TS LASTRER 020169,000103: 16,2154 55466 TS PERROR 020170,000104: 16,2155 55467 TS QERROR 020171,000105: 16,2156 55470 TS RERROR 020172,000106: 16,2157 55416 TS OMEGAP # RATES IN BODY (PILOT) COORDINATES. 020173,000107: 16,2160 55417 TS OMEGAQ 020174,000108: 16,2161 55421 TS OMEGAR 020175,000109: 16,2162 55002 TS T6NEXT # JTLST VARIABLES. 020176,000110: 16,2163 55003 TS T6NEXT +1 020177,000111: 16,2164 55473 TS ADDT6JTS 020178,000112: 16,2165 55474 TS ADDTLT6 020179,000113: 16,2166 55007 TS DELAYCTR # MINIMUM IMPULSE RHC MODE COUNTER. 020180,000114: 16,2167 55420 TS ALPHAQ # DESCENT ACCELERATION ESTIMATES. 020181,000115: 16,2170 55422 TS ALPHAR 020182,000116: 16,2171 55514 TS DISPLACT # EIGHTBALL ROUTINE SWITCH. 020183,000117: 16,2172 55636 TS (1-K) # K=1 FIRST PASS. 020184,000118: 16,2173 55637 TS (1-K)/8 020185,000119: 020186,000120: 16,2174 55502 TS CH5MASK # TEMP. INIT. FOR FAILURE MONITOR 020187,000121:
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020189,000123: 16,2175 55503 TS CH6MASK 020190,000124: 020191,000125: 020192,000126: 020193,000127: # SET UP "OLD" MEASURED CDU ANGLES: 020194,000128: 020195,000129: 16,2176 00006 EXTEND 020196,000130: 16,2177 30033 DCA CDUX # OLDXFORP AND OLDYFORP 020197,000131: 020198,000132: 16,2200 53427 DXCH OLDXFORP 020199,000133: 16,2201 00006 EXTEND 020200,000134: 16,2202 30034 DCA CDUY # OLDYFORQ AND OLDZFORQ 020201,000135: 16,2203 53431 DXCH OLDYFORQ 020202,000136: 020203,000137: 16,2204 32331 CAF 0.62170 020204,000138: 16,2205 55455 TS 4JETTORK 020205,000139: 16,2206 32332 CAF .68387 # 2200 FT LBS. SCALED AT 2(10) X PI. 020206,000140: 16,2207 55456 TS JETTORK4 # QR AXIS JET TORQUE FOR 4 JETS. 020207,000141: # SET UP THE TORQUE VECTOR RECONSTRUCTION SWITCHES: 020208,000142: 020209,000143: 16,2210 00006 EXTEND 020210,000144: 16,2211 32343 DCA VISNORMQ # PJUMPADR AND QJUMPADR 020211,000145: 16,2212 53647 DXCH PJUMPADR 020212,000146: 020213,000147: # SET UP INITIAL VALUES FOR WFORP AND WFORQR: 020214,000148: 020215,000149: 16,2213 00006 EXTEND # SCALED AT 16: 020216,000150: 16,2214 32345 DCA WFORPQRK # WFORP = K/DT = K/.1 = 1/.1 = 0.625 020217,000151: 16,2215 53635 DXCH WFORP # WFORQR = K/DT = K/.15 = 1/.15 = 0.41667 020218,000152: 020219,000153: # SET UP WAITLIST CALL TO RESET WFORP AND WFORQR: 020220,000154: 020221,000155: 16,2216 32340 CAF 180MS 020222,000156: 16,2217 05701 TC WAITLIST 020223,000157: 16,2220 E6,1635 EBANK= WFORQR 020224,000158: 16,2220 03322 40006 2CADR WCHANGER 020225,000159: 020226,000160: 16,2222 37755 CAF ONE 020227,000161: 16,2223 05701 TC WAITLIST 020228,000162: 16,2224 E6,1452 EBANK= IXX 020229,000163: 16,2224 02441 54006 2CADR IXXTASK 020230,000164: 020231,000165: 16,2226 37755 CA ONE 020232,000166: 16,2227 05701 TC WAITLIST 020233,000167: 16,2230 E6,1453 EBANK= IYY 020234,000168: 16,2230 02452 54006 2CADR IYYTASK 020235,000169: 020236,000170: 16,2232 37755 CA ONE 020237,000171: 16,2233 05701 TC WAITLIST 020238,000172: 16,2234 E6,1454 EBANK= IZZ 020239,000173: 16,2234 02463 54006 2CADR IZZTASK 020240,000174:
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020242,000176: # THIS SECTION COMPUTES THE RATE OF CHANGE OF ACCELERATION DUE TO THE 020243,000177: # ROTATION OF THE GIMBAL ENGINE. THE EQUATION IMPLEMENTED IN BOTH THE 020244,000178: # Y-X PLANE AND THE Z-X PLANE IS -- D(ALPHA)/DT = T L/I * D(DELTA)/DT 020245,000179: # WHERE ---- 020246,000180: # T = ENGINE THRUST COMMAND 020247,000181: # L = PIVOT TO CG DISTANCE OF THE GIMBAL ENGINE 020248,000182: # I = INERTIA 020249,000183: # DELTA = GIMBAL ENGINE ANGLE MEASURED FROM THE X AXIS. 020250,000184: 020251,000185: 16,2236 32334 CAF DELTADOT # 0.2 DEG/SEC SCALED AT PI/64 020252,000186: 16,2237 00006 EXTEND 020253,000187: 16,2240 71451 MP L,PVT-CG # GIMBAL PIVOT TO C.G. DISTANCE ,SCALE=8. 020254,000188: 16,2241 00006 EXTEND 020255,000189: 16,2242 71523 MP THRSTCMD # COMMANDED THRUST SCALED AT 2(14) =16384. 020256,000190: 020257,000191: 16,2243 52062 DXCH ITEMP1 020258,000192: 16,2244 00006 EXTEND 020259,000193: 16,2245 30062 DCA ITEMP1 020260,000194: 16,2246 00006 EXTEND 020261,000195: 16,2247 11454 DV IZZ # AT 2(18) 020262,000196: 16,2250 55533 TS ACCDOTR # AT PI/2(7) 020263,000197: 16,2251 52062 DXCH ITEMP1 020264,000198: 16,2252 00006 EXTEND 020265,000199: 16,2253 11453 DV IYY # AT 2(18) 020266,000200: 16,2254 55531 TS ACCDOTQ # AT PI/2(7) 020267,000201: 020268,000202: 16,2255 00006 EXTEND # .3ACCDOTQ AT PI/2(8) 020269,000203: 16,2256 72335 MP DGBF 020270,000204: 16,2257 55525 TS KQ 020271,000205: 16,2260 00006 EXTEND 020272,000206: 16,2261 70000 SQUARE 020273,000207: 16,2262 55526 TS KQ2 # KQ(2) 020274,000208: 020275,000209: 16,2263 31533 CAE ACCDOTR # .3ACCDOTR AT PI/2(8) 020276,000210: 16,2264 00006 EXTEND 020277,000211: 16,2265 72335 MP DGBF 020278,000212: 16,2266 55527 TS KRDAP 020279,000213: 16,2267 00006 EXTEND 020280,000214: 020281,000215: 16,2270 70000 SQUARE 020282,000216: 16,2271 55530 TS KR2 020283,000217: 020284,000218: 020285,000219: 16,2272 00006 EXTEND # SET UP P-AXIS TO GO TO DUMMYFIL 020286,000220: 16,2273 32326 DCA DF2CADR 020287,000221: 16,2274 53572 DXCH PFILTADR 020288,000222: 020289,000223: 16,2275 00006 EXTEND 020290,000224: 16,2276 32324 DCA PAXADIDL 020291,000225: 16,2277 53001 DXCH T5ADR 020292,000226: 16,2300 32327 SETTIME5 CAF MS100 020293,000227: 16,2301 54030 TS TIME5 020294,000228: 16,2302 15751 TCF RESUME 020295,000229:
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020297,000231: 16,2303 E6,1541 EBANK= DT 020298,000232: 16,2303 02136 34006 IDLERADR 2CADR DAPIDLER # DAP SHOULD BE OFF 020299,000233: 16,2305 00006 MOREIDLE EXTEND 020300,000234: 16,2306 32304 DCA IDLERADR 020301,000235: 16,2307 53001 DXCH T5ADR 020302,000236: 020303,000237: 16,2310 37761 CAF ZERO # COMMAND JETS OFF 020304,000238: 16,2311 00006 EXTEND 020305,000239: 16,2312 01005 WRITE 5 020306,000240: 16,2313 00006 EXTEND 020307,000241: 16,2314 01006 WRITE 6 020308,000242: 020309,000243: 16,2315 42321 CS BGIM23 # TURN TRIM GIMBAL OFF 020310,000244: 16,2316 00006 EXTEND 020311,000245: 16,2317 03012 WAND 12 020312,000246: 020313,000247: 16,2320 12300 TCF SETTIME5 020314,000248: 020315,000249: 16,2321 07400 BGIM23 OCTAL 07400 020316,000250: 16,2322 26501 .707P DEC .70711 # SQUARE ROOT OF 1/2 020317,000251: 16,2323 E6,1416 EBANK= OMEGAP 020318,000252: 16,2323 02346 34006 PAXADIDL 2CADR PAXIS 020319,000253: 020320,000254: 16,2325 E6,1420 EBANK= ALPHAQ 020321,000255: 16,2325 03631 34006 DF2CADR 2CADR DUMMYFIL 020322,000256: 020323,000257: 16,2327 37766 MS100 OCTAL 37766 020324,000258: 16,2330 00033 0.00167 DEC 0.00167 020325,000259: 16,2331 23712 0.62170 DEC 0.62170 020326,000260: 16,2332 25705 .68387 DEC 0.68387 020327,000261: 16,2333 12000 0.31250 DEC 0.31250 020328,000262: 020329,000263: 16,2334 02215 DELTADOT DEC 0.07111 # 0.2 DEG/SEC SCALED AT PI/64 020330,000264: 16,2335 23146 DGBF DEC 0.6 020331,000265: 16,2336 11643 .5ACCMIN DEC 0.30680 020332,000266: 16,2337 00033 DBMNMP DEC 0.00167 # .3 DEGREES SCALED AT PI RADIANS 020333,000267: # TORQUE AND WEIGHTING CONSTANTS: 020334,000268: 020335,000269: 16,2340 00022 180MS DEC 18 B-14 # 180 MS WAITLIST DT. 020336,000270: 16,2341 02315 .075DEC DEC 0.075 # 100 MS JET PULSE TORQUE TERM WITH K = .5 020337,000271: 16,2342 02454 VISNORMQ GENADR CHKVISFZ # D.P. GENADR FOR INITIALIZATION OF THE 020338,000272: 16,2343 02077 GENADR NORMALQ # TORQUE VECTOR RECONSTRUCTION SWITCHES. 020339,000273: 020340,000274: 16,2344 24000 10AT16 DEC 0.625 # INITIAL VALUE FOR WFORP. 020341,000275: 16,2345 15253 6.6AT16 DEC 0.41667 # INITIAL VALUE FOR WFORQR. 020342,000276: 16,2346 16,2344 WFORPQRK EQUALS 10AT16 # D.P. NAME FOR BOTH CONSTANTS. End of include-file DAPIDLER_PROGRAM.agc. Parent file is MAIN.agc