Source Code
|
These source code files are a reconstruction of Sundance, the Apollo 9 LM (Lunar Module) AGC
(Apollo Guidance Computer) flight software, created from binary dumps of original core rope
program modules, as follows:
Since only binary dumps (rather than listings) of Sundance are available as source material, all comments and labels are approximate. They have been taken from other AGC programs where possible, or, in some places, written from scratch to match what we believe would have been in the original listing. |
055563,000002: ## Copyright: Public domain.
055564,000003: ## Filename: DAPIDLER_PROGRAM.agc
055565,000004: ## Purpose: A section of a reconstructed, mixed version of Sundance
055566,000005: ## It is part of the reconstructed source code for the Lunar
055567,000006: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 9.
055568,000007: ## No original listings of this program are available;
055569,000008: ## instead, this file was created via disassembly of dumps
055570,000009: ## of various revisions of Sundance core rope modules.
055571,000010: ## Assembler: yaYUL
055572,000011: ## Contact: Ron Burkey <info@sandroid.org>.
055573,000012: ## Website: www.ibiblio.org/apollo/index.html
055574,000013: ## Mod history: 2020-06-17 MAS Created from Luminary 69.
055575,000014:
055576,000015: ## Sundance 302
055577,000016:
055578,000017: # THE DAPIDLER PROGRAM IS STARTED BY FRESH START AND RESTART. THE DAPIDLER PROGRAM IS DONE 10 TIMES
055579,000018: # PER SECOND UNTIL THE ASTRONAUT DESIRES THE DAP TO WAKE UP, AND THE IMU AND CDUS ARE READY FOR USE BY THE DAP.
055580,000019: # THE NECESSARY INITIALIZATION OF THE DAP IS DONE BY THE DAPIDLER PROGRAM.
055581,000020:
055582,000021: 16,2043 BANK 16
055583,000022: 16,2000 SETLOC DAPS1
055584,000023: 16,2000 BANK
055585,000024:
055586,000025: 16,2043 E6,1532 EBANK= AOSQ
055587,000026:
055588,000027: 16,2043 COUNT* $$/DAPID
055589,000028:
055590,000029: 16,2043 00006 CHEKBITS EXTEND
055591,000030: 16,2044 00031 READ CHAN31 # IF BOTH BIT13 AND BIT14 ARE ONE, THEN
055592,000031: 16,2045 40000 COM # THE MODE SELECT SWITCH IS IN THE OFF
055593,000032: 16,2046 74367 MASK BIT13-14 # POSITION, AND SO THE DAP SHOULD BE OFF,
055594,000033: 16,2047 00006 EXTEND # WITH NO ATTITUDE ERROR DISPLAY.
055595,000034: 16,2050 12206 BZF MOREIDLE
055596,000035:
055597,000036: 16,2051 41305 CS IMODES33
055598,000037: 16,2052 75021 MASK BIT6
055599,000038: 16,2053 10000 CCS A
055600,000039: 16,2054 12236 TCF ALTDSPLY
055601,000040: 16,2055 41275 CS RCSFLAGS # IMU NOT USABLE. SET UP INITIALIZATION
055602,000041: 16,2056 75024 MASK BIT3 # FLAG FOR ATT ERROR DISPLAY ROUTINE.
055603,000042: 16,2057 27275 ADS RCSFLAGS
055604,000043: 16,2060 12212 TCF SHUTDOWN
055605,000044:
055606,000045: 16,2061 35015 CHEKMORE CAF BIT10 # BIT 10 OF 30 IS PGNCS CONTROL OF S/C
055607,000046: 16,2062 00006 EXTEND
055608,000047: 16,2063 02030 RAND CHAN30 # BITS IN 30 ARE INVERTED
055609,000048: 16,2064 10000 CCS A
055610,000049: 16,2065 12206 TCF MOREIDLE
055611,000050:
055612,000051: 16,2066 00002 RETURN
055613,000052:
055614,000053: # DAPIDLER ENTRY.
055615,000054:
055616,000055: 16,2067 22016 DAPIDLER LXCH BANKRUPT # INTERRUPT LEAD INS (CONTINUED)
055617,000056: 16,2070 00006 EXTEND
055618,000057: 16,2071 22012 QXCH QRUPT
055619,000058:
055620,000059: 16,2072 11631 CCS ACCSET # CHECK IF 1/ACCJOB HAS BEEN SET UP SINCE
055621,000060: 16,2073 12101 TCF CHECKUP # THE LAST FRESH START OR RESTART.
055622,000061: 16,2074 37667 CAF PRIO27
055623,000062: 16,2075 55631 TS ACCSET # ACCSET IS POSITIVE.
055624,000063: 16,2076 05142 TC NOVAC # SET UP JOB TO DO A LITTLE INITIALIZATION
055625,000064: 16,2077 E6,1532 EBANK= AOSQ # AND EXECUTE 1/ACCS.
055626,000065: 16,2077 02305 40106 1/ACCSAD 2CADR 1/ACCSET # (WILL BRANCH TO MOREIDLE ON ACCSOKAY)
055627,000066:
055628,000067: 16,2101 02043 CHECKUP TC CHEKBITS # CHECK TO SEE IF LM DAP IS TO GO ON AND
055629,000068: # DO ERROR DISPLAY.
055630,000069:
055631,000070: 16,2102 31102 CAE DAPBOOLS # IF 1/ACCS HAS NOT BEEN COMPLETED, IDLE.
055632,000071: 16,2103 75024 MASK ACCSOKAY # NOTE: ONLY FRESH START AND RESTART
055633,000072: 16,2104 00006 EXTEND # KNOCK THIS BIT DOWN.
055634,000073: 16,2105 12206 BZF MOREIDLE
055635,000074:
055636,000075: 16,2106 04737 STARTDAP TC IBNKCALL # ZERO ATTITUDE ERROR AND DESIRED RATES.
055637,000076: 16,2107 40232 FCADR ZATTEROR
055638,000077: 16,2110 35030 CAF ZERO # ********** INITIALIZE: **********
055639,000078: 16,2111 55516 TS TJP
055640,000079: 16,2112 55517 TS TJU
055641,000080: 16,2113 55520 TS TJV
055642,000081: 16,2114 55417 TS OMEGAP # RATES IN BODY (PILOT) COORDINATES.
055643,000082: 16,2115 55420 TS OMEGAQ
055644,000083: 16,2116 55421 TS OMEGAR
055645,000084: 16,2117 55426 TS TRAPEDP
055646,000085: 16,2120 55427 TS TRAPEDQ
055647,000086: 16,2121 55430 TS TRAPEDR
055648,000087: 16,2122 55532 TS AOSQ # OFFSET ACCELERATION ESTIMATES.
055649,000088: 16,2123 55533 TS AOSQ +1
055650,000089: 16,2124 55534 TS AOSR
055651,000090: 16,2125 55535 TS AOSR +1
055652,000091: 16,2126 55422 TS ALPHAQ # COPIES OF OFFSET ESTIMATES FOR DOWNLIST.
055653,000092: 16,2127 55423 TS ALPHAR
055654,000093: 16,2130 55540 TS AOSQTERM # QRAXIS RATE DERIVATION TERMS AND KALMAN
055655,000094: 16,2131 55541 TS AOSRTERM # FILTER INITIALIZATION TERMS.
055656,000095: 16,2132 55510 TS QACCDOT # DESCENT ACCELERATION DERIVATIVE EST.
055657,000096: 16,2133 55512 TS RACCDOT
055658,000097: 16,2134 55624 TS ALLOWGTS # AOSTASK FLAG FOR QRAXIS RCS CONTROL USE.
055659,000098: 16,2135 55625 TS COTROLER # DO TRYGTS ON FIRST PASS (WILL GO TO RCS)
055660,000099: 16,2136 55627 TS INGTS # RECOGNIZE FIRST GTS PASS AS SUCH.
055661,000100: 16,2137 55626 TS QGIMTIMR # STOP GIMBAL DRIVES. (PROBABLY WOULD BE
055662,000101: 16,2140 55630 TS RGIMTIMR # GOOD ENOUGH JUST TO INACTIVATE TIMERS)
055663,000102: 16,2141 55443 TS OLDPMIN # MINIMUM IMPULSE MODE ERASABLES
055664,000103: 16,2142 55444 TS OLDQRMIN
055665,000104:
055666,000105: # SET UP "OLD" MEASURED CDU ANGLES:
055667,000106:
055668,000107: 16,2143 00006 EXTEND
055669,000108: 16,2144 30033 DCA CDUX # OLDXFORP AND OLDYFORP
055670,000109: 16,2145 53437 DXCH OLDXFORP
055671,000110: 16,2146 30034 CA CDUZ
055672,000111: 16,2147 55440 TS OLDZFORQ
055673,000112: 16,2150 32234 CAF CHKVISAD
055674,000113: 16,2151 55527 TS PJUMPADR
055675,000114: 16,2152 35024 CA FOUR
055676,000115: 16,2153 55530 TS SKIPU
055677,000116: 16,2154 55531 TS SKIPV
055678,000117: 16,2155 35006 CA POSMAX
055679,000118: 16,2156 54031 TS TIME6
055680,000119: 16,2157 55454 TS T6NEXT
055681,000120: 16,2160 55456 TS T6FURTHA
055682,000121: 16,2161 35030 CA ZERO
055683,000122: 16,2162 55455 TS T6NEXT +1
055684,000123: 16,2163 55457 TS T6FURTHA +1
055685,000124: 16,2164 55453 TS NXT6ADR
055686,000125: 16,2165 55460 TS NEXTP
055687,000126: 16,2166 55461 TS NEXTU
055688,000127: 16,2167 55462 TS NEXTV
055689,000128: 16,2170 44375 CS TEN
055690,000129: 16,2171 55752 TS DAPZRUPT # JASK NOT IN PROGRESS, INITIALIZE NEG.
055691,000130: 16,2172 35025 CA TWO
055692,000131: 16,2173 55431 TS NPTRAPS
055693,000132: 16,2174 55432 TS NQTRAPS
055694,000133: 16,2175 55433 TS NRTRAPS
055695,000134: 16,2176 00006 EXTEND
055696,000135: 16,2177 32233 DCA PAXADIDL
055697,000136: 16,2200 53277 DXCH T5ADR
055698,000137: 16,2201 37701 SETTIME5 CAF MS100
055699,000138: 16,2202 54030 TS TIME5
055700,000139: 16,2203 15330 TCF RESUME
055701,000140: 16,2204 E6,1532 EBANK= AOSQ
055702,000141: 16,2204 02067 34106 IDLERADR 2CADR DAPIDLER
055703,000142: 16,2206 04737 MOREIDLE TC IBNKCALL # CALCULATE Q,R-AXES ATTITUDE ERRORS.
055704,000143: 16,2207 36426 CADR QERRCALC
055705,000144:
055706,000145: 16,2210 04737 TC IBNKCALL
055707,000146: 16,2211 35476 CADR CALCPERR # CALCULATE P AXIS ATTITUDE ERRORS.
055708,000147:
055709,000148: 16,2212 00006 SHUTDOWN EXTEND
055710,000149: 16,2213 32205 DCA IDLERADR
055711,000150: 16,2214 53277 DXCH T5ADR
055712,000151:
055713,000152: 16,2215 35030 CAF ZERO # KILL ANY POSSIBLE JET REQUESTS
055714,000153: 16,2216 55460 TS NEXTP
055715,000154: 16,2217 55461 TS NEXTU
055716,000155: 16,2220 55462 TS NEXTV
055717,000156: 16,2221 00006 EXTEND # COMMAND JETS OFF.
055718,000157: 16,2222 01005 WRITE CHAN5
055719,000158: 16,2223 00006 EXTEND
055720,000159: 16,2224 01006 WRITE CHAN6
055721,000160: 16,2225 42231 CS BGIM23 # TURN TRIM GIMBAL OFF
055722,000161: 16,2226 00006 EXTEND
055723,000162: 16,2227 03012 WAND CHAN12
055724,000163: 16,2230 12201 TCF SETTIME5 # RETURN IN 100 MSEC.
055725,000164:
055726,000165: 16,2231 07400 BGIM23 OCTAL 07400
055727,000166: 16,2232 E6,1417 EBANK= OMEGAP
055728,000167: 16,2232 02444 34106 PAXADIDL 2CADR PAXIS
055729,000168:
055730,000169: 16,2234 03112 CHKVISAD ADRES CHKVISFZ
055731,000170: 16,2235 02077 ACCSETAD ADRES 1/ACCSAD
055732,000171:
055733,000172: 16,2236 7701 MS100 = OCT37766
055734,000173: 16,2236 0061 COSMG = ITEMP1
055735,000174:
055736,000175: # PROGRAM: ALTDSPLY
055737,000176: # MOD 0. 6 DEC 1967
055738,000177: # AUTHOR: CRAIG WORK, DON KEENE, MIT IL
055739,000178: # MOD 3 BY DON KEENE AUG 1, 1968 MOVED PROGRAM TO BANK 20
055740,000179:
055741,000180: # PROGRAM DESCRIPTION:
055742,000181: # ALTDSPLY REVERSES THE DSPLYALT BIT OF RCSFLAGS EACH TIME IT IS CALLED, WHICH IS PRESUMABLY EVERY 100 MS.
055743,000182: # IF THE REVERSED BIT IS ONE, NEEDLER IS CALLED TO DISPLAY ATTITUDE ERRORS. IF THE BIT IS ZERO, THE ATTITUDE ERR-
055744,000183: # ORS ARE CALCULATED AS 1) DAP FOLLOWING ERRORS, IF NEEDLFLG = 0, AND 2) TOTAL ATTITUDE ERRORS FOR NEEDLFLG = 1.
055745,000184:
055746,000185:
055747,000186: # WARNING: ALTDSPLY MAY ONLY BE CALLED WITH INTERRUPT INHIBITED.
055748,000187:
055749,000188: # WARNING: EBANK MUST BE SET TO 6 WHEN USING THIS ROUTINE.
055750,000189:
055751,000190: # INPUT: RCSFLAGS AND 1) IF NEEDLFLG = 0, INPUT PERROR, QERROR, RERROR.
055752,000191: # 2) IF NEEDLFLG = 1, INPUT CPHI,CTHETA,CPSI,CDUX,CDUY,CDUZ,M11,M21,M31,M22,M32. (GPMATRIX)
055753,000192:
055754,000193:
055755,000194: # OUTPUTS: RCSFLAGS WITH DSPLYALT REVERSED, AK, AK1, AK2, + NEEDLER OUTPUTS.
055756,000195:
055757,000196: # ENTRY: TCF ALTDSPLY
055758,000197:
055759,000198: # EXIT: TCF CHEKMORE
055760,000199:
055761,000200: # ALARM OR ABORT EXITS: NONE
055762,000201:
055763,000202: # SUBPROGRAMS CALLED: NEEDLER, OVERSUB2
055764,000203:
055765,000204: # DEBRIS: A, L, AND NEEDLER DEBRIS.
055766,000205:
055767,000206: 16,2236 31275 ALTDSPLY CA RCSFLAGS # INVERT THE DISPLAY ALTERNATION BIT.
055768,000207: 16,2237 54001 TS L
055769,000208: 16,2240 35023 CA DSPLYALT
055770,000209: 16,2241 00006 EXTEND
055771,000210: 16,2242 06001 RXOR LCHAN
055772,000211: 16,2243 55275 TS RCSFLAGS
055773,000212:
055774,000213: 16,2244 75023 MASK DSPLYALT
055775,000214: 16,2245 10000 CCS A # IS ALTERNATION FLAG ZERO?
055776,000215: 16,2246 12331 TCF NEEDLER
055777,000216:
055778,000217: 16,2247 30074 CAE FLAGWRD0 # NEEDLFLG WILL INDICATE TOTAL OR DAP AT-
055779,000218: 16,2250 75023 MASK NEEDLBIT # TITUDE ERROR DISPLAY REQUEST.
055780,000219: 16,2251 10000 CCS A
055781,000220: 16,2252 12261 TCF DSPLYTOT # TOTAL ERROR IS NEEDED IN AK, AK +1, AK +2
055782,000221:
055783,000222: 16,2253 00006 EXTEND
055784,000223: 16,2254 41452 DCS QERROR # YES. DISPLAY ATT ERRORS ON THE ,-BALL.
055785,000224: 16,2255 53756 DXCH AK +1 # ERROR COMPLEMENTS ARE INPUT TO NEEDLER.
055786,000225: 16,2256 41450 CS PERROR
055787,000226: 16,2257 57754 XCH AK
055788,000227:
055789,000228: 16,2260 12061 TCF CHEKMORE # DISPLAY THESE THE NEXT TIME THROUGH
055790,000229:
055791,000230: # CALCULATE GIMBAL ANGLE TOTAL ERRORS, RESOLVE INTO PILOT AXES, STORE TOTAL ERRORS FOR NEEDLER. Q-AXIS FIRST.
055792,000231:
055793,000232: 16,2261 00006 DSPLYTOT EXTEND
055794,000233: 16,2262 22061 QXCH ITEMP1 # SAVE Q FOR CHEKBITS RETURN.
055795,000234:
055796,000235: 16,2263 31207 CA CTHETA # DESIRED ATTITUDE, Y-AXIS, 2'S COMP.
055797,000236: 16,2264 00006 EXTEND # SUBTRACT CURRENT ATTITUDE.
055798,000237: 16,2265 20033 MSU CDUY # DIFFERENCE SCALED AT PI, 1'S COMP.
055799,000238: 16,2266 55754 TS AK # SAVE FOR R-ERROR CALCULATION.
055800,000239: 16,2267 00006 EXTEND
055801,000240: 16,2270 71413 MP M21 # (CHTETA-CDUY)*M21 SCALED AT PI RADIANS.
055802,000241: 16,2271 57755 XCH AK +1 # STORE FIRST TERM OF Q ERROR.
055803,000242: 16,2272 31210 CA CPSI # DESIRED ATTITUDE, Z-AXIS, 2'S COMP.
055804,000243: 16,2273 00006 EXTEND # SUBTRACT CURRENT ATTITUDE.
055805,000244: 16,2274 20034 MSU CDUZ # DIFFERENCE SCALED AT PI, 1'S COMP.
055806,000245: 16,2275 55756 TS AK +2 # SAVE Z-AXIS TERM FOR R ERROR CALCULATION
055807,000246: 16,2276 00006 EXTEND
055808,000247: 16,2277 71415 MP M22 # (CPSI-CDUZ)*M22, SCALED AT PI RADIANS.
055809,000248: 16,2300 61755 AD AK +1 # Q ERROR COMPLETE , AT PI RAD.
055810,000249: 16,2301 02524 TC OVERSUB # PIN NEEDLES IN CASE OF OVERFLOW.
055811,000250: 16,2302 55755 TS AK +1
055812,000251:
055813,000252: # R ERROR CALCULATION NEXT.
055814,000253:
055815,000254: 16,2303 31754 CA AK # Y-AXIS DIFFERENCE STORED BY Q-AXIS CALC.
055816,000255: 16,2304 00006 EXTEND
055817,000256: 16,2305 71414 MP M31 # (CTHETA-CDUY)*M31, SCALED AT PI RADIANS.
055818,000257: 16,2306 57756 XCH AK +2 # FIRST TERM OF R ERROR.
055819,000258: # Z-AXIS DIFFERENCE, STORED BY A CALC. IS
055820,000259: 16,2307 00006 EXTEND # RECOVERED BY THE EXCHANGE.
055821,000260: 16,2310 71416 MP M32 # (CPSI-CDUZ)*M32, SCALED AT PI RADIANS.
055822,000261: 16,2311 61756 AD AK +2 # R ERROR COMPLETE , AT PI RAD.
055823,000262: 16,2312 02524 TC OVERSUB # PIN NEEDLES IN CASE OF OVERFLOW.
055824,000263: 16,2313 55756 TS AK +2
055825,000264:
055826,000265: # NOW CALCULATE P ERROR. (NOTE THAT M13 = 1, SCALED AT 1, SO THE MULTIPLICATION IS BY-PASSED.)
055827,000266: 16,2314 31754 CA AK # Y-AXIS DIFFERENCE STORED BY Q AXIS CALC.
055828,000267: 16,2315 00006 EXTEND
055829,000268: 16,2316 71412 MP M11 # (CTHETA-CDUY)*M11 SCALED AT PI RADIANS.
055830,000269: 16,2317 57754 XCH AK # FIRST TERM OF P ERROR IN AK, AT PI RAD.
055831,000270: 16,2320 31206 CAE CPHI # DESIRED ATTITUDE, X-AXIS, 2'S COMP.
055832,000271: 16,2321 00006 EXTEND # SUBTRACT CURRENT X ATTITUDE.
055833,000272: 16,2322 20032 MSU CDUX # X-AXIS DIFFERENCE, 1'S COMP, AT PI RAD.
055834,000273:
055835,000274: # M13 = 1, SO BYPASS THE MULTIPLICATION.
055836,000275: # EXTEND
055837,000276: # MP M13 (CPHI-CDUX)*M13 SCALED AT PI RADIANS.
055838,000277:
055839,000278: 16,2323 61754 AD AK # P ERROR COMPLETE , SCALED AT PI RAD
055840,000279: 16,2324 02524 TC OVERSUB # PIN NEEDLES IN CASE OF OVERFLOW.
055841,000280: 16,2325 55754 TS AK
055842,000281:
055843,000282: 16,2326 00006 EXTEND
055844,000283: 16,2327 22061 QXCH ITEMP1 # RESTORE Q FOR CHEKBITS RETURN.
055845,000284:
055846,000285: 16,2330 12061 TCF CHEKMORE # DISPLAY THESE THE NEXT TIME THROUGH
055847,000286:
055848,000287: # FDAI ATTITUDE ERROR DISPLAY SUBROUTINE
055849,000288:
055850,000289: # PROGRAM DESCRIPTION: D. KEENE 5/24/67
055851,000290: # MOD 1 BY CRAIG WORK, 12 DEC 67
055852,000291: # MOD 2 BY CRAIG WORK, 6 APRIL 68 CONVERTS ATTITUDE ERROR DISPLAY SCALING FROM 16 7/8 DEG. TO 42 3/16 DEGREES.
055853,000292:
055854,000293: # THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS)
055855,000294: # IN THE CDUS. CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT
055856,000295: # OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES
055857,000296: # THE DACS.
055858,000297:
055859,000298: # CALLING SEQUENCE:
055860,000299: # DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE
055861,000300: # TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM:
055862,000301: # CS RCSFLAGS IN EBANK6
055863,000302: # MASK BIT3
055864,000303: # ADS RCSFLAGS
055865,000304: # THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANSFERED TO THE FOLLOWING LOCATIONS IN EBANK6:
055866,000305: # AK SCALED 180 DEGREES NOTE: THESE LOCATIONS ARE SUBJECT
055867,000306: # AK1 SCALED 180 DEGREES TO CHANGE
055868,000307: # AK2 SCALED 180 DEGREES
055869,000308: # FULL SCALED DEFLECTION OF THE NEEDLES CORRESPONDS TO 5 1/16 DEGREES, WHILE 384 BITS IN THE IMU ERROR COUNTER
055870,000309: # CORRESPONDS TO 42 3/16 DEGREES. (DAC MAXIMUM CAPACITY IS 384 BITS.) 46 BITS EFFECTIVELY PIN THE NEEDLES.
055871,000310:
055872,000311: # A CALL TO NEEDLER WILL THEN UPDATE THE DISPLAY:
055873,000312: # INHINT
055874,000313: # TC IBNKCALL NOTE: EBANK SHOULD BE SET TO E6
055875,000314: # CADR NEEDLER
055876,000315: # RELINT
055877,000316: # THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED. AT LEAST 3 PASSES THRU THE PROGRAM ARE
055878,000317: # REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS.
055879,000318: # NOTE: EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50 MS TO ASSURE PROPER RELAY SEQUENCING.
055880,000319:
055881,000320: # ERASABLE USED:
055882,000321: # AK CDUXCMD
055883,000322: # AK1 CDUYCMD
055884,000323: # AK2 CDUZCMD
055885,000324: # EDRIVEX A,L,Q
055886,000325: # EDRIVEY T5TEMP
055887,000326: # EDRIVEZ DINDX
055888,000327:
055889,000328: # SWITCHES: RCSFLAGS BITS 3,2
055890,000329:
055891,000330: # I/O CHANNELS: CHAN12 BIT 4 (COARSE ALIGN - READ ONLY)
055892,000331: # CHAN12 BIT 6 (IMU ERROR COUNTER ENABLE)
055893,000332: # CHAN14 BIT 13,14,15 (DAC ACTIVITY)
055894,000333:
055895,000334: # SIGN CONVENTION< AK = THETAC - THETA
055896,000335: # WHERE THETAC = COMMAND ANGLE
055897,000336: # THETA = PRESENT ANGLE
055898,000337:
055899,000338: 16,2331 31275 NEEDLER CA RCSFLAGS
055900,000339: 16,2332 76216 MASK SIX
055901,000340: 16,2333 00006 EXTEND
055902,000341: 16,2334 12371 BZF NEEDLES3
055903,000342: 16,2335 75024 MASK BIT3
055904,000343: 16,2336 00006 EXTEND
055905,000344: 16,2337 12362 BZF NEEDLER2 # BIT3 = 0, BIT2 = 1
055906,000345:
055907,000346: 16,2340 45021 CS BIT6 # FIRST PASS BIT3 = 1
055908,000347: 16,2341 00006 EXTEND # DISABLE IMU ERROR COUNTER TO ZERO DACS
055909,000348: 16,2342 03012 WAND CHAN12 # MUST WAIT AT LEAST 60 MS BEFORE
055910,000349: 16,2343 45030 NEEDLE11 CS ZERO # ENABLING COUNTERS.
055911,000350: 16,2344 55754 TS AK # ZERO THE INPUTS ON FIRST PASS
055912,000351: 16,2345 55755 TS AK1
055913,000352: 16,2346 55756 TS AK2
055914,000353: 16,2347 55757 TS EDRIVEX # ZERO THE DISPLAY REGISTERS
055915,000354: 16,2350 55760 TS EDRIVEY
055916,000355: 16,2351 55761 TS EDRIVEZ
055917,000356: 16,2352 54050 TS CDUXCMD # ZERO THE OUT COUNTERS
055918,000357: 16,2353 54051 TS CDUYCMD
055919,000358: 16,2354 54052 TS CDUZCMD
055920,000359: 16,2355 46216 CS SIX # RESET RCSFLAGS FOR PASS2
055921,000360: 16,2356 71275 MASK RCSFLAGS
055922,000361: 16,2357 65025 AD BIT2
055923,000362: 16,2360 55275 TS RCSFLAGS
055924,000363: 16,2361 12061 TCF CHEKMORE
055925,000364:
055926,000365: 16,2362 35021 NEEDLER2 CAF BIT6 # ENABLE IMU ERROR COUNTERS
055927,000366: 16,2363 00006 EXTEND
055928,000367: 16,2364 05012 WOR CHAN12
055929,000368: 16,2365 46216 CS SIX # RESET RCSFLAGS TO DISPLAY ATTITUDE
055930,000369: 16,2366 71275 MASK RCSFLAGS # ERRORS WAIT AT LEAST 4 MS FOR
055931,000370: 16,2367 55275 TS RCSFLAGS # RELAY CLOSURE
055932,000371: 16,2370 12061 TCF CHEKMORE
055933,000372:
055934,000373: 16,2371 35021 NEEDLES3 CAF BIT6 # CHECK TO SEE IF IMU ERROR COUNTER
055935,000374: 16,2372 00006 EXTEND # IS ENABLED
055936,000375: 16,2373 02012 RAND CHAN12
055937,000376: 16,2374 10000 CCS A # IF NOT, RE-INITIALIZE NEEDLER.
055938,000377: 16,2375 12402 TCF NEEDLES
055939,000378:
055940,000379: 16,2376 41275 CS RCSFLAGS # SET UP INITIALIZATION FLAG IN RCSFLAGS.
055941,000380: 16,2377 75024 MASK BIT3
055942,000381: 16,2400 27275 ADS RCSFLAGS
055943,000382: 16,2401 12061 TCF CHEKMORE
055944,000383:
055945,000384: 16,2402 35025 NEEDLES CAF TWO
055946,000385: 16,2403 54063 DACLOOP TS DINDX
055947,000386: 16,2404 42443 CS ONETENTH # RESCALE INPUTS TO + OR - 1800 DEGREES.
055948,000387: 16,2405 00006 EXTEND
055949,000388: 16,2406 50063 INDEX DINDX
055950,000389: 16,2407 71754 MP AK
055951,000390: 16,2410 54001 TS L
055952,000391: 16,2411 10000 CCS A
055953,000392: 16,2412 32441 CA DACLIMIT
055954,000393: 16,2413 12415 TCF +2
055955,000394: 16,2414 42441 CS DACLIMIT
055956,000395: 16,2415 60001 AD L
055957,000396: 16,2416 54061 TS T5TEMP # OVFLO CHK
055958,000397: 16,2417 12423 TCF +4
055959,000398: 16,2420 50000 INDEX A # ON OVERFLOW LIMIT OUTPUT TO +-384
055960,000399: 16,2421 32441 CAF DACLIMIT
055961,000400: 16,2422 54001 TS L
055962,000401: 16,2423 50063 INDEX DINDX
055963,000402: 16,2424 41757 CS EDRIVEX # CURRENT VALUE OF DAC
055964,000403: 16,2425 60001 AD L
055965,000404: 16,2426 50063 INDEX DINDX
055966,000405: 16,2427 26050 ADS CDUXCMD
055967,000406: 16,2430 50063 INDEX DINDX
055968,000407: 16,2431 23757 LXCH EDRIVEX
055969,000408: 16,2432 10063 CCS DINDX
055970,000409: 16,2433 12403 TCF DACLOOP
055971,000410: 16,2434 37711 CAF 13,14,15
055972,000411: 16,2435 00006 EXTEND
055973,000412: 16,2436 05014 WOR CHAN14 # SET DAC ACTIVITY BITS
055974,000413: 16,2437 12061 TCF CHEKMORE
055975,000414:
055976,000415: 16,2440 77177 DEC -384 B-14
055977,000416: 16,2441 37200 DACLIMIT DEC 16000 B-14
055978,000417: 16,2442 00600 DEC 384 B-14
055979,000418:
055980,000419: 16,2443 03146 ONETENTH OCT 03146 # DECIMAL +0.1, SCALED AT 1.
055981,000420: 16,2444 5023 DSPLYALT EQUALS BIT4 # 100 MS ALTERNATION BIT IN RCSFLAGS
End of include-file DAPIDLER_PROGRAM.agc. Parent file is MAIN.agc