Notations on the program listing read, in part:
GAP: ASSEMBLE REVISION 56 OF AGC PROGRAM ZERLINA BY ZOROASTER 9:12 OCT. 21,1970Note that the date is the date of the printout, not the date of the program revision.
Source Code
|
|
These source-code files were transcribed from a printout in Don Eyles's personal
collection, scanned by archive.org, and financially sponsored by Linden Sims.
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: GAP: ASSEMBLE REVISION 56 OF AGC PROGRAM ZERLINA BY ZOROASTER 9:12 OCT. 21,1970Note that the date is the date of the printout, not the date of the program revision. |
061256,000002: ## Copyright: Public domain.
061257,000003: ## Filename: DAPIDLER_PROGRAM.agc
061258,000004: ## Purpose: A log section of Zerlina 56, the final revision of
061259,000005: ## Don Eyles's offline development program for the variable
061260,000006: ## guidance period servicer. It also includes a new P66 with LPD
061261,000007: ## (Landing Point Designator) capability, based on an idea of John
061262,000008: ## Young's. Neither of these advanced features were actually flown,
061263,000009: ## but Zerlina was also the birthplace of other big improvements to
061264,000010: ## Luminary including the terrain model and new (Luminary 1E)
061265,000011: ## analog display programs. Zerlina was branched off of Luminary 145,
061266,000012: ## and revision 56 includes all changes up to and including Luminary
061267,000013: ## 183. It is therefore quite close to the Apollo 14 program,
061268,000014: ## Luminary 178, where not modified with new features.
061269,000015: ## Reference: pp. 1398-1408
061270,000016: ## Assembler: yaYUL
061271,000017: ## Contact: Ron Burkey <info@sandroid.org>.
061272,000018: ## Website: www.ibiblio.org/apollo/index.html
061273,000019: ## Mod history: 2017-07-28 MAS Created from Luminary 210.
061274,000020: ## 2017-08-20 MAS Updated for Zerlina 56.
061275,000021:
|
|
Page 1398 |
061277,000023: # THE DAPIDLER PROGRAM IS STARTED BY FRESH START AND RESTART. THE DAPIDLER PROGRAM IS DONE 10 TIMES
061278,000024: # PER SECOND UNTIL THE ASTRONAUT DESIRES THE DAP TO WAKE UP, AND THE IMU AND CDUS ARE READY FOR USE BY THE DAP.
061279,000025: # THE NECESSARY INITIALIZATION OF THE DAP IS DONE BY THE DAPIDLER PROGRAM.
061280,000026: 16,2000 BANK 16
061281,000027: 16,2000 SETLOC DAPS1
061282,000028: 16,2000 BANK
061283,000029:
061284,000030: 16,2000 E6,1536 EBANK= AOSQ
061285,000031:
061286,000032: 16,2000 COUNT* $$/DAPID
061287,000033:
061288,000034: # CHEKBITS IS CALLED EVERY 0.1 SEC AT THE BEGINNING OF THE DAP PASS, WHETHER THE AUTOPILOT IS ACTIVE OR IDLING.
061289,000035: # IT CHECKS FOR THE FOLLOWING
061290,000036: # A. IS THE PGNCS MODE SELECT SWITCH TURNED TO "OFF"?
061291,000037: # B. IS THE IMU UNAVAILABLE AS AN ATTITUDE REFERENCE?
061292,000038: # C. IS THE SPACECRAFT UNDER AGS CONTROL?
061293,000039:
061294,000040: # IF A OR B HOLD, THE FDAI NEEDLES CANNOT BE UPDATED AND A BIT IS SET TO INITIALIZE THE UPDATE ROUTINE. OTHER
061295,000041: # WISE, THE NEEDLES ARE UPDATED.
061296,000042:
061297,000043: # IF A OR B OR C ARE TRUE, THE DAP IS MADE TO IDLE THIS PASS. OTHERWISE, CONTROL IS TRANSFERRED BACK TO THE
061298,000044: # CALLER OF CHEKBITS.
061299,000045:
061300,000046: 16,2000 00006 CHEKBITS EXTEND
061301,000047: 16,2001 00031 READ CHAN31 # IF BOTH BIT13 AND BIT14 ARE ONE, THEN
061302,000048: 16,2002 40000 COM # THE MODE SELECT SWITCH IS IN THE OFF
061303,000049: 16,2003 74355 MASK BIT13-14 # POSITION, AND SO THE DAP SHOULD BE OFF,
061304,000050: 16,2004 00006 EXTEND # WITH NO ATTITUDE ERROR DISPLAY.
061305,000051: 16,2005 12012 BZF NONEEDLE
061306,000052:
061307,000053: 16,2006 41300 CS IMODES33 # IF IMU NOT USABLE, DAP SHOULD IDLE WITH
061308,000054: 16,2007 74746 MASK BIT6 # NO FDAI NEEDLE DISPLAY.
061309,000055: 16,2010 10000 CCS A
061310,000056: 16,2011 12206 TCF JUMPDSP
061311,000057: 16,2012 41262 NONEEDLE CS RCSFLAGS # SET FLAG TO INITIALIZE NEEDLE DISPLAY.
061312,000058: 16,2013 74751 MASK BIT3
061313,000059: 16,2014 27262 ADS RCSFLAGS
061314,000060: 16,2015 12163 TCF SHUTDOWN
061315,000061:
061316,000062: 16,2016 34742 CHEKMORE CAF BIT10 # BIT 10 OF 30 IS PGNCS CONTROL OF S/C
061317,000063: 16,2017 00006 EXTEND
061318,000064: 16,2020 02030 RAND CHAN30 # BITS IN 30 ARE INVERTED
061319,000065: 16,2021 10000 CCS A
061320,000066: 16,2022 12157 TCF MOREIDLE
061321,000067:
061322,000068: 16,2023 00002 RETURN
061323,000069:
|
|
Page 1399 |
061325,000071: # DAPIDLER ENTRY.
061326,000072:
061327,000073: 16,2024 22016 DAPIDLER LXCH BANKRUPT # INTERRUPT LEAD INS (CONTINUED)
061328,000074: 16,2025 00006 EXTEND
061329,000075: 16,2026 22012 QXCH QRUPT
061330,000076:
061331,000077: 16,2027 31262 CA RCSFLAGS
061332,000078: 16,2030 74737 MASK BIT13
061333,000079: 16,2031 10000 CCS A # CHECK IF 1/ACCJOB HAS BEEN SET UP SINCE
061334,000080: 16,2032 12041 TCF CHECKUP # THE LAST FRESH START OR RESTART.
061335,000081: 16,2033 34737 CA BIT13
061336,000082: 16,2034 27262 ADS RCSFLAGS # BIT 13 IS 1.
061337,000083: 16,2035 37727 CAF PRIO27
061338,000084: 16,2036 05072 TC NOVAC # SET UP JOB TO DO A LITTLE INITIALIZATION
061339,000085: 16,2037 E6,1536 EBANK= AOSQ # AND EXECUTE 1/ACCS.
061340,000086: 16,2037 03550 42106 2CADR 1/ACCSET # (WILL BRANCH TO MOREIDLE ON ACCSOKAY)
061341,000087:
061342,000088:
061343,000089: 16,2041 02000 CHECKUP TC CHEKBITS # CHECK TO SEE IF LM DAP IS TO GO ON AND
061344,000090: # DO ERROR DISPLAY.
061345,000091:
061346,000092: 16,2042 30111 CAE DAPBOOLS # IF 1/ACCS HAS NOT BEEN COMPLETED, IDLE.
061347,000093: 16,2043 74751 MASK ACCSOKAY # NOTE: ONLY FRESH START AND RESTART
061348,000094: 16,2044 00006 EXTEND # KNOCK THIS BIT DOWN.
061349,000095: 16,2045 12157 BZF MOREIDLE
061350,000096:
061351,000097: 16,2046 04674 STARTDAP TC IBNKCALL # ZERO ATTITUDE ERROR AND DESIRED RATES.
061352,000098: 16,2047 40154 FCADR ZATTEROR
061353,000099: 16,2050 34755 CAF ZERO # ********** INITIALIZE: **********
061354,000100: 16,2051 55524 TS TJP
061355,000101: 16,2052 55525 TS TJU
061356,000102: 16,2053 55526 TS TJV
061357,000103: 16,2054 55421 TS OMEGAP # RATES IN BODY (PILOT) COORDINATES.
061358,000104: 16,2055 55422 TS OMEGAQ
061359,000105: 16,2056 55423 TS OMEGAR
061360,000106: 16,2057 55430 TS TRAPEDP
061361,000107: 16,2060 55431 TS TRAPEDQ
061362,000108: 16,2061 55432 TS TRAPEDR
061363,000109: 16,2062 55536 TS AOSQ # OFFSET ACCELERATION ESTIMATES.
061364,000110: 16,2063 55537 TS AOSQ +1
061365,000111: 16,2064 55540 TS AOSR
061366,000112: 16,2065 55541 TS AOSR +1
061367,000113: 16,2066 55424 TS ALPHAQ # COPIES OF OFFSET ESTIMATES FOR DOWNLIST.
061368,000114: 16,2067 55425 TS ALPHAR
061369,000115: 16,2070 55501 TS NEGUQ
061370,000116: 16,2071 55503 TS NEGUR
061371,000117: 16,2072 55544 TS AOSQTERM # QRAXIS RATE DERIVATION TERMS AND KALMAN
061372,000118: 16,2073 55545 TS AOSRTERM # FILTER INITIALIZATION TERMS.
061373,000119: 16,2074 55510 TS QACCDOT # DESCENT ACCELERATION DERIVATIVE EST.
061374,000120: 16,2075 55512 TS RACCDOT
|
|
Page 1400 |
061376,000122: 16,2076 55502 TS ALLOWGTS # AOSTASK FLAG FOR QRAXIS RCS CONTROL USE.
061377,000123: 16,2077 55630 TS COTROLER # DO TRYGTS ON FIRST PASS (WILL GO TO RCS)
061378,000124: 16,2100 55632 TS INGTS # RECOGNIZE FIRST GTS PASS AS SUCH.
061379,000125: 16,2101 55631 TS QGIMTIMR # STOP GIMBAL DRIVES. (PROBABLY WOULD BE
061380,000126: 16,2102 55633 TS RGIMTIMR # GOOD ENOUGH JUST TO INACTIVATE TIMERS)
061381,000127: 16,2103 55460 TS OLDPMIN # MINIMUM IMPULSE MODE ERASABLES
061382,000128: 16,2104 55461 TS OLDQRMIN
061383,000129: 16,2105 55766 TS PJETCTR # INITIALIZE DOCKED JET INHIBITION
061384,000130: 16,2106 55767 TS UJETCTR # COUNTERS
061385,000131: 16,2107 55770 TS VJETCTR
061386,000132: 16,2110 4747 CALLGMBL EQUALS BIT5 # RCSFLAGS INITIALIZATION.
061387,000133: 16,2110 42202 CS MANFLAG
061388,000134: 16,2111 71262 MASK RCSFLAGS # NEGUQ(R) HAVE BEEN GENERATED.
061389,000135: 16,2112 55262 TS RCSFLAGS
061390,000136:
061391,000137: # SET UP "OLD" MEASURED CDU ANGLES:
061392,000138:
061393,000139: 16,2113 00006 EXTEND
061394,000140: 16,2114 30033 DCA CDUX # OLDXFORP AND OLDYFORP
061395,000141: 16,2115 53441 DXCH OLDXFORP
061396,000142: 16,2116 30034 CA CDUZ
061397,000143: 16,2117 55442 TS OLDZFORQ
061398,000144: 16,2120 41262 CS RCSFLAGS
061399,000145: 16,2121 74740 MASK BIT12
061400,000146: 16,2122 27262 ADS RCSFLAGS # BIT 12 SET TO 1.
061401,000147: 16,2123 34751 CA FOUR
061402,000148: 16,2124 55534 TS SKIPU
061403,000149: 16,2125 55535 TS SKIPV
061404,000150: 16,2126 34733 CA POSMAX
061405,000151: 16,2127 54031 TS TIME6
061406,000152: 16,2130 55466 TS T6NEXT
061407,000153: 16,2131 55470 TS T6FURTHA
061408,000154: 16,2132 34755 CA ZERO
061409,000155: 16,2133 55467 TS T6NEXT +1
061410,000156: 16,2134 55471 TS T6FURTHA +1
061411,000157: 16,2135 55465 TS NXT6ADR
061412,000158: 16,2136 55472 TS NEXTP
061413,000159: 16,2137 55473 TS NEXTU
061414,000160: 16,2140 55474 TS NEXTV
061415,000161: 16,2141 44363 CS TEN
061416,000162: 16,2142 55756 TS DAPZRUPT # JASK NOT IN PROGRESS, INITIALIZE NEG.
061417,000163: 16,2143 34752 CA TWO
061418,000164: 16,2144 55433 TS NPTRAPS
061419,000165: 16,2145 55434 TS NQTRAPS
061420,000166: 16,2146 55435 TS NRTRAPS
061421,000167: 16,2147 00006 EXTEND
061422,000168: 16,2150 32205 DCA PAXADIDL
061423,000169: 16,2151 53264 DXCH T5ADR
061424,000170: 16,2152 37741 SETTIME5 CAF MS100
061425,000171: 16,2153 54030 TS TIME5
|
|
Page 1401 |
061427,000173: 16,2154 15301 TCF RESUME
061428,000174: 16,2155 E6,1536 EBANK= AOSQ
061429,000175: 16,2155 02024 34106 IDLERADR 2CADR DAPIDLER
061430,000176:
061431,000177: 16,2157 04674 MOREIDLE TC IBNKCALL # CALCULATE Q,R-AXES ATTITUDE ERRORS.
061432,000178: 16,2160 36655 CADR QERRCALC
061433,000179:
061434,000180: 16,2161 04674 TC IBNKCALL
061435,000181: 16,2162 35451 CADR CALCPERR # CALCULATE P AXIS ATTITUDE ERRORS.
061436,000182:
061437,000183: 16,2163 00006 SHUTDOWN EXTEND
061438,000184: 16,2164 32156 DCA IDLERADR
061439,000185: 16,2165 53264 DXCH T5ADR
061440,000186:
061441,000187: 16,2166 34755 CAF ZERO # KILL ANY POSSIBLE JET REQUESTS
061442,000188: 16,2167 55472 TS NEXTP
061443,000189: 16,2170 55473 TS NEXTU
061444,000190: 16,2171 55474 TS NEXTV
061445,000191: 16,2172 00006 EXTEND # COMMAND JETS OFF.
061446,000192: 16,2173 01005 WRITE CHAN5
061447,000193: 16,2174 00006 EXTEND
061448,000194: 16,2175 01006 WRITE CHAN6
061449,000195: 16,2176 42203 CS BGIM23 # TURN TRIM GIMBAL OFF
061450,000196: 16,2177 00006 EXTEND
061451,000197: 16,2200 03012 WAND CHAN12
061452,000198: 16,2201 12152 TCF SETTIME5 # RETURN IN 100 MSEC.
061453,000199:
061454,000200: 16,2202 03021 MANFLAG OCT 03021
061455,000201: 16,2203 07400 BGIM23 OCTAL 07400
061456,000202: 16,2204 E6,1421 EBANK= OMEGAP
061457,000203: 16,2204 02213 34106 PAXADIDL 2CADR PAXIS
061458,000204:
061459,000205: 16,2206 7741 MS100 = OCT37766
061460,000206: 16,2206 0061 COSMG = ITEMP1
061461,000207: 16,2206 00006 JUMPDSP EXTEND # TRANSFER TO BANK 20
061462,000208: 16,2207 32212 DCA DSPCADR # FOR ATTITUDE ERROR DISPLAYS
061463,000209: 16,2210 52006 DTCB
061464,000210:
061465,000211: 16,2211 E6,1760 EBANK= AK
061466,000212: 16,2211 02227 40106 DSPCADR 2CADR ALTDSPLY
061467,000213:
|
|
Page 1402 |
061469,000215: 20,2227 BANK 20
061470,000216: 20,2000 SETLOC DAPS3
061471,000217: 20,2000 BANK
061472,000218: 20,2227 COUNT* $$/NEEDL
061473,000219:
061474,000220: # PROGRAM: ALTDSPLY
061475,000221:
061476,000222: # MOD 0. 6 DEC 1967
061477,000223:
061478,000224: # AUTHOR: CRAIG WORK, DON KEENE, MIT IL
061479,000225:
061480,000226: # MOD 3 BY DON KEENE AUG 1, 1968 MOVED PROGRAM TO BANK 20
061481,000227:
061482,000228: # PROGRAM DESCRIPTION:
061483,000229:
061484,000230: # ALTDSPLY REVERSES THE DSPLYALT BIT OF RCSFLAGS EACH TIME IT IS CALLED, WHICH IS PRESUMABLY EVERY 100 MS.
061485,000231: # IF THE REVERSED BIT IS ONE, NEEDLER IS CALLED TO DISPLAY ATTITUDE ERRORS. IF THE BIT IS ZERO, THE ATTITUDE ERR-
061486,000232: # ORS ARE CALCULATED AS 1) ESTIMATED RATES (FOLLOWING) IF NEED2FLG = 1, OTHERWISE AS 2) DAP FOLLOWING ERRORS FOR
061487,000233: # NEEDLFLG = 0 AND 3) TOTAL ATTITUDE ERRORS FOR NEEDLFLG = 1.
061488,000234:
061489,000235: # WARNING: ALTDSPLY MAY ONLY BE CALLED WITH INTERRUPT INHIBITED.
061490,000236:
061491,000237: # WARNING: EBANK MUST BE SET TO 6 WHEN USING THIS ROUTINE.
061492,000238:
061493,000239: # INPUT: RCSFLAGS AND 1) IF NEEDLFLG=0, INPUT PERROR,QERROR,RERROR.
061494,000240: # 2) IF NEEDLFLG=1, INPUT CPHI,CTHETA,CPSI,CDUX,CDUY,CDUZ,M11,M21,M32,M22,M32. (GPMATRIX)
061495,000241:
061496,000242: # 3) IF NEED2FLG = 1, INPUT OMEGAP, OMEGAQ, AND OMEGAR.
061497,000243:
061498,000244: # OUTPUTS: RCSFLAGS WITH DSPLYALT REVERSED,AK,AK1,AK2,+ NEEDLER OUTPUTS.
061499,000245:
061500,000246: # ENTRY: TCF ALTDSPLY
061501,000247:
061502,000248: # EXIT: TCF CHEKMORE
061503,000249:
061504,000250: # ALARM OR ABORT EXITS: NONE
061505,000251:
061506,000252: # SUBPROGRAMS CALLED: NEEDLER, OVERSUB2
061507,000253:
061508,000254: # DEBRIS: A,L,AND NEEDLER DEBRIS.
061509,000255:
061510,000256: 20,2227 31262 ALTDSPLY CA RCSFLAGS # INVERT THE DISPLAY ALTERNATION BIT.
061511,000257: 20,2230 54001 TS L
061512,000258: 20,2231 34750 CA DSPLYALT
061513,000259: 20,2232 00006 EXTEND
061514,000260: 20,2233 06001 RXOR LCHAN
061515,000261: 20,2234 55262 TS RCSFLAGS
061516,000262:
061517,000263: 20,2235 74750 MASK DSPLYALT
061518,000264: 20,2236 10000 CCS A # IS ALTERNATION FLAG ZERO?
|
|
Page 1403 |
061520,000266: 20,2237 12336 TCF NEEDLER
061521,000267:
061522,000268: 20,2240 40074 CS FLAGWRD0 # CHECK FOR RATE DISPLAY TO ERROR NEEDLES
061523,000269: 20,2241 74735 MASK NEED2BIT # VIA EXTENDED VERB 60
061524,000270: 20,2242 00006 EXTEND
061525,000271: 20,2243 12257 BZF DISPRATE
061526,000272:
061527,000273: 20,2244 30074 CAE FLAGWRD0 # NEEDLFLG WILL INDICATE TOTAL OR DAP AT-
061528,000274: 20,2245 74750 MASK NEEDLBIT # TITUDE ERROR DISPLAY REQUEST.
061529,000275: 20,2246 10000 CCS A
061530,000276: 20,2247 12266 TCF DSPLYTOT # TOTAL ERROR IS NEEDED IN AK,AK +1,AK +2
061531,000277:
061532,000278: 20,2250 41450 CS QERROR # YES. DISPLAY ATT ERRORS ON THE ,-BALL.
061533,000279: 20,2251 55761 TS AK +1 # ERROR COMPLEMENTS ARE INPUT TO NEEDLER.
061534,000280: 20,2252 41452 CS RERROR
061535,000281: 20,2253 55762 TS AK +2
061536,000282: 20,2254 41464 CS PERROR
061537,000283: 20,2255 57760 XCH AK
061538,000284:
061539,000285: 20,2256 12456 TCF RETNMORE # DISPLAY THESE THE NEXT TIME THROUGH
061540,000286:
061541,000287: 20,2257 41422 DISPRATE CS OMEGAQ # LOAD ESTIMATED RATES (FOLLOWING)
061542,000288: 20,2260 55761 TS AK +1
061543,000289: 20,2261 41423 CS OMEGAR
061544,000290: 20,2262 55762 TS AK +2
061545,000291: 20,2263 41421 CS OMEGAP
061546,000292: 20,2264 57760 XCH AK
061547,000293: 20,2265 12456 TCF RETNMORE
061548,000294:
061549,000295: # CALCULATE GIMBAL ANGLE TOTAL ERRORS, RESOLVE INTO PILOT AXES, STORE TOTAL ERRORS FOR NEEDLER. Q-AXIS FIRST.
061550,000296:
061551,000297: 20,2266 00006 DSPLYTOT EXTEND
061552,000298: 20,2267 22061 QXCH ITEMP1 # SAVE Q FOR CHEKBITS RETURN.
061553,000299:
061554,000300: 20,2270 30322 CA CTHETA # DESIRED ATTITUDE, Y-AXIS, 2'S COMP.
061555,000301: 20,2271 00006 EXTEND # SUBTRACT CURRENT ATTITUDE.
061556,000302: 20,2272 20033 MSU CDUY # DIFFERENCE SCALED AT PI, 1'S COMP.
061557,000303: 20,2273 55760 TS AK # SAVE FOR R-ERROR CALCULATION.
061558,000304: 20,2274 00006 EXTEND
061559,000305: 20,2275 71415 MP M21 # (CHTETA-CDUY)*M21 SCALED AT PI RADIANS.
061560,000306: 20,2276 57761 XCH AK +1 # STORE FIRST TERM OF Q ERROR.
061561,000307: 20,2277 30323 CA CPSI # DESIRED ATTITUDE, Z-AXIS, 2'S COMP.
061562,000308: 20,2300 00006 EXTEND # SUBTRACT CURRENT ATTITUDE.
061563,000309: 20,2301 20034 MSU CDUZ # DIFFERENCE SCALED AT PI, 1'S COMP.
061564,000310: 20,2302 55762 TS AK +2 # SAVE Z-AXIS TERM FOR R ERROR CALCULATION
061565,000311: 20,2303 00006 EXTEND
061566,000312: 20,2304 71417 MP M22 # (CPSI-CDUZ)*M22, SCALED AT PI RADIANS.
061567,000313: 20,2305 61761 AD AK +1 # Q ERROR COMPLETE , AT PI RAD.
061568,000314: 20,2306 02451 TC OVERSUB2 # PIN NEEDLES IN CASE OF OVERFLOW.
061569,000315: 20,2307 55761 TS AK +1
061570,000316:
|
|
Page 1404 |
061572,000318: # R ERROR CALCULATION NEXT.
061573,000319:
061574,000320: 20,2310 31760 CA AK # Y-AXIS DIFFERENCE STORED BY Q-AXIS CALC.
061575,000321: 20,2311 00006 EXTEND
061576,000322: 20,2312 71416 MP M31 # (CTHETA-CDUY)*M31, SCALED AT PI RADIANS.
061577,000323: 20,2313 57762 XCH AK +2 # FIRST TERM OF R ERROR.
061578,000324: # Z-AXIS DIFFERENCE, STORED BY A CALC. IS
061579,000325: 20,2314 00006 EXTEND # RECOVERED BY THE EXCHANGE.
061580,000326: 20,2315 71420 MP M32 # (CPSI-CDUZ)*M32, SCALED AT PI RADIANS.
061581,000327: 20,2316 61762 AD AK +2 # R ERROR COMPLETE , AT PI RAD.
061582,000328: 20,2317 02451 TC OVERSUB2 # PIN NEEDLES IN CASE OF OVERFLOW.
061583,000329: 20,2320 55762 TS AK +2
061584,000330:
061585,000331: # NOW CALCULATE P ERROR. (NOTE THAT M13 = 1, SCALED AT 1, SO THE MULTIPLICATION IS BY-PASSED.)
061586,000332:
061587,000333: 20,2321 31760 CA AK # Y-AXIS DIFFERENCE STORED BY Q AXIS CALC.
061588,000334: 20,2322 00006 EXTEND
061589,000335: 20,2323 71414 MP M11 # (CTHETA-CDUY)*M11 SCALED AT PI RADIANS.
061590,000336: 20,2324 57760 XCH AK # FIRST TERM OF P ERROR IN AK, AT PI RAD.
061591,000337: 20,2325 30321 CAE CPHI # DESIRED ATTITUDE, X-AXIS, 2'S COMP.
061592,000338: 20,2326 00006 EXTEND # SUBTRACT CURRENT X ATTITUDE.
061593,000339: 20,2327 20032 MSU CDUX # X-AXIS DIFFERENCE, 1'S COMP, AT PI RAD.
061594,000340:
061595,000341: # M13 = 1, SO BYPASS THE MULTIPLICATION.
061596,000342: # EXTEND
061597,000343: # MP M13 (CPHI-CDUX)*M13 SCALED AT PI RADIANS.
061598,000344:
061599,000345: 20,2330 61760 AD AK # P ERROR COMPLETE , SCALED AT PI RAD
061600,000346: 20,2331 02451 TC OVERSUB2 # PIN NEEDLES IN CASE OF OVERFLOW.
061601,000347: 20,2332 55760 TS AK
061602,000348:
061603,000349: 20,2333 00006 EXTEND
061604,000350: 20,2334 22061 QXCH ITEMP1 # RESTORE Q FOR CHEKBITS RETURN.
061605,000351:
061606,000352: 20,2335 12456 TCF RETNMORE # DISPLAY THESE THE NEXT TIME THROUGH
061607,000353:
|
|
Page 1405 |
061609,000355: # FDAI ATTITUDE ERROR DISPLAY SUBROUTINE
061610,000356:
061611,000357: # PROGRAM DESCRIPTION: D. KEENE 5/24/67
061612,000358:
061613,000359: # MOD 1 BY CRAIG WORK, 12 DEC 67
061614,000360:
061615,000361: # MOD 2 BY CRAIG WORK, 6 APRIL 68 CONVERTS ATTITUDE ERROR DISPLAY SCALING FROM 16 7/8 DEG. TO 42 3/16 DEGREES.
061616,000362:
061617,000363: # THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS)
061618,000364: # IN THE CDUS. CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT
061619,000365: # OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES
061620,000366: # THE DACS.
061621,000367:
061622,000368:
061623,000369: # CALLING SEQUENCE:
061624,000370:
061625,000371: # DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE
061626,000372: # TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM:
061627,000373:
061628,000374: # CS RCSFLAGS IN EBANK6
061629,000375: # MASK BIT3
061630,000376: # ADS RCSFLAGS
061631,000377:
061632,000378: # THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANSFERED TO THE FOLLOWING LOCATIONS IN EBANK6:
061633,000379:
061634,000380: # AK SCALED 180 DEGREES NOTE: THESE LOCATIONS ARE SUBJECT
061635,000381: # AK1 SCALED 180 DEGREES TO CHANGE
061636,000382: # AK2 SCALED 180 DEGREES
061637,000383:
061638,000384: # FULL SCALED DEFLECTION OF THE NEEDLES CORRESPONDS TO 5 1/16 DEGREES, WHILE 384 BITS IN THE IMU ERROR COUNTER
061639,000385: # CORRESPONDS TO 42 3/16 DEGREES. (DAC MAXIMUM CAPACITY IS 384 BITS.) 46 BITS EFFECTIVELY PIN THE NEEDLES.
061640,000386:
061641,000387: # FOR RATE DISPLAY, FULL SCALE NEEDLE DEFLECTION IS 1 17/64 DEG/SEC, AND A FULL COUNTER IS ABOUT 10.5 DEG/SEC.
061642,000388: # A CALL TO NEEDLER WILL THEN UPDATE THE DISPLAY:
061643,000389:
061644,000390: # INHINT
061645,000391: # TC IBNKCALL NOTE: EBANK SHOULD BE SET TO E6
061646,000392: # CADR NEEDLER
061647,000393: # RELINT
061648,000394:
061649,000395: # THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED. AT LEAST 3 PASSES THRU THE PROGRAM ARE
061650,000396: # REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS.
061651,000397: # NOTE: EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50MS TO ASSURE PROPER RELAY SEQUENCING.
061652,000398:
061653,000399: # ERASABLE USED:
061654,000400: # AK CDUXCMD
061655,000401: # AK1 CDUYCMD
061656,000402: # AK2 CDUZCMD
061657,000403: # EDRIVEX A,L,Q
061658,000404: # EDRIVEY T5TEMP
|
|
Page 1406 |
061660,000406: # EDRIVEZ DINDX
061661,000407:
061662,000408: # SWITCHES: RCSFLAGS BITS 3,2
061663,000409:
061664,000410: # I/O CHANNELS: CHAN12 BIT 4 (COARSE ALIGN - READ ONLY)
061665,000411: # CHAN12 BIT 6 (IMU ERROR COUNTER ENABLE)
061666,000412: # CHAN14 BIT 13,14,15 (DAC ACTIVITY)
061667,000413:
061668,000414:
061669,000415: # SIGN CONVENTION< AK = THETAC - THETA
061670,000416: # WHERE THETAC = COMMAND ANGLE
061671,000417: # THETA = PRESENT ANGLE
061672,000418:
061673,000419:
061674,000420: 20,2336 31262 NEEDLER CA RCSFLAGS
061675,000421: 20,2337 76254 MASK SIX
061676,000422: 20,2340 00006 EXTEND
061677,000423: 20,2341 12376 BZF NEEDLES3
061678,000424: 20,2342 74751 MASK BIT3
061679,000425: 20,2343 00006 EXTEND
061680,000426: 20,2344 12367 BZF NEEDLER2 # BIT3 = 0, BIT2 = 1
061681,000427:
061682,000428: 20,2345 44746 CS BIT6 # FIRST PASS BIT3 = 1
061683,000429: 20,2346 00006 EXTEND # DISABLE IMU ERROR COUNTER TO ZERO DACS
061684,000430: 20,2347 03012 WAND CHAN12 # MUST WAIT AT LEAST 60 MS BEFORE
061685,000431: 20,2350 44755 NEEDLE11 CS ZERO # ENABLING COUNTERS.
061686,000432: 20,2351 55760 TS AK # ZERO THE INPUTS ON FIRST PASS
061687,000433: 20,2352 55761 TS AK1
061688,000434: 20,2353 55762 TS AK2
061689,000435: 20,2354 55763 TS EDRIVEX # ZERO THE DISPLAY REGISTERS
061690,000436: 20,2355 55764 TS EDRIVEY
061691,000437: 20,2356 55765 TS EDRIVEZ
061692,000438: 20,2357 54050 TS CDUXCMD # ZERO THE OUT COUNTERS
061693,000439: 20,2360 54051 TS CDUYCMD
061694,000440: 20,2361 54052 TS CDUZCMD
061695,000441: 20,2362 46254 CS SIX # RESET RCSFLAGS FOR PASS2
061696,000442: 20,2363 71262 MASK RCSFLAGS
061697,000443: 20,2364 64752 AD BIT2
061698,000444: 20,2365 55262 TS RCSFLAGS
061699,000445: 20,2366 12456 TCF RETNMORE
061700,000446:
061701,000447: 20,2367 34746 NEEDLER2 CAF BIT6 # ENABLE IMU ERROR COUNTERS
061702,000448: 20,2370 00006 EXTEND
061703,000449: 20,2371 05012 WOR CHAN12
061704,000450: 20,2372 46254 CS SIX # RESET RCSFLAGS TO DISPLAY ATTITUDE
061705,000451: 20,2373 71262 MASK RCSFLAGS # ERRORS WAIT ATLEAST 4 MS FOR
061706,000452: 20,2374 55262 TS RCSFLAGS # RELAY CLOSURE
061707,000453: 20,2375 12456 TCF RETNMORE
061708,000454:
061709,000455: 20,2376 34746 NEEDLES3 CAF BIT6 # CHECK TO SEE IF IMU ERROR COUNTER
|
|
Page 1407 |
061711,000457: 20,2377 00006 EXTEND # IS ENABLED
061712,000458: 20,2400 02012 RAND CHAN12
061713,000459: 20,2401 10000 CCS A # IF NOT, RE-INITIALIZE NEEDLER.
061714,000460: 20,2402 12407 TCF NEEDLES
061715,000461:
061716,000462: 20,2403 41262 CS RCSFLAGS # SET UP INITIALIZATION FLAG IN RCSFLAGS.
061717,000463: 20,2404 74751 MASK BIT3
061718,000464: 20,2405 27262 ADS RCSFLAGS
061719,000465: 20,2406 12456 TCF RETNMORE
061720,000466:
061721,000467: 20,2407 34752 NEEDLES CAF TWO
061722,000468: 20,2410 54063 DACLOOP TS DINDX
061723,000469: 20,2411 42450 CS ONETENTH # RESCALE INPUTS TO + OR - 1800 DEGREES.
061724,000470: 20,2412 00006 EXTEND
061725,000471: 20,2413 50063 INDEX DINDX
061726,000472: 20,2414 71760 MP AK
061727,000473: 20,2415 54001 TS L
061728,000474: 20,2416 10000 CCS A
061729,000475: 20,2417 32446 CA DACLIMIT
061730,000476: 20,2420 12422 TCF +2
061731,000477: 20,2421 42446 CS DACLIMIT
061732,000478: 20,2422 60001 AD L
061733,000479: 20,2423 54061 TS T5TEMP # OVFLO CHK
061734,000480: 20,2424 12430 TCF +4
061735,000481: 20,2425 50000 INDEX A # ON OVERFLOW LIMIT OUTPUT TO +-384
061736,000482: 20,2426 32446 CAF DACLIMIT
061737,000483: 20,2427 54001 TS L
061738,000484: 20,2430 50063 INDEX DINDX
061739,000485: 20,2431 41763 CS EDRIVEX # CURRENT VALUE OF DAC
061740,000486: 20,2432 60001 AD L
061741,000487: 20,2433 50063 INDEX DINDX
061742,000488: 20,2434 26050 ADS CDUXCMD
061743,000489: 20,2435 50063 INDEX DINDX
061744,000490: 20,2436 23763 LXCH EDRIVEX
061745,000491: 20,2437 10063 CCS DINDX
061746,000492: 20,2440 12410 TCF DACLOOP
061747,000493: 20,2441 37752 CAF 13,14,15
061748,000494: 20,2442 00006 EXTEND
061749,000495: 20,2443 05014 WOR CHAN14 # SET DAC ACTIVITY BITS
061750,000496: 20,2444 12456 TCF RETNMORE
061751,000497:
061752,000498: 20,2445 77177 DEC -384 B-14
061753,000499: 20,2446 37200 DACLIMIT DEC 16000 B-14
061754,000500: 20,2447 00600 DEC 384 B-14
061755,000501:
061756,000502: 20,2450 03146 ONETENTH OCT 03146 # DECIMAL +0.1, SCALED AT 1.
061757,000503: 20,2451 4750 DSPLYALT EQUALS BIT4 # 100 MS ALTERNATION BIT IN RCSFLAGS
061758,000504:
061759,000505:
061760,000506: 20,2451 54007 OVERSUB2 TS 7 # RETURNS A UNCHANGED OR LIMITED TO
|
|
Page 1408 |
061762,000508: 20,2452 00002 TC Q # POSMAX OR NEGMAX IF A HAS OVERFLOW
061763,000509: 20,2453 50000 INDEX A
061764,000510: 20,2454 44734 CS LIMITS # DUPLICATE CODING IN BANK 16
061765,000511: 20,2455 00002 TC Q
061766,000512:
061767,000513:
061768,000514: 20,2456 00006 RETNMORE EXTEND # RETURN TO CHEKMORE
061769,000515: 20,2457 32462 DCA MORECADR
061770,000516: 20,2460 52006 DTCB
061771,000517:
061772,000518: 20,2461 E6,1536 EBANK= AOSQ
061773,000519: 20,2461 02016 34106 MORECADR 2CADR CHEKMORE
061774,000520:
End of include-file DAPIDLER_PROGRAM.agc. Parent file is MAIN.agc