Source Code
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These source-code files are part of a reconstructed copy of LUM69 Revision 2, the
flown Apollo 10 Lunar Module (LM) Apollo Guidance Computer (AGC) software.
The reconstruction began with source code of Luminary 69 revision 0 previously
transcribed from a digitized copy of that program. The code was then updated
by back-porting the R-2 lunar potential model from previously-transcribed source
code of Luminary 99. These required changes were described in the original
Luminary memos 75 and 78. The reconstructed code was verified by
matching memory-bank checksums to those listed in drawing 2021152G. Note that
page numbers in the reconstructed code match those on the Luminary 069 printout,
although the added code would likely have changed page numbers for a real LUM69
Revision 2 listing.
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.
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060476,000002: ## Copyright: Public domain.
060477,000003: ## Filename: DAPIDLER_PROGRAM.agc
060478,000004: ## Purpose: A section of LUM69 revision 2.
060479,000005: ## It is part of the reconstructed source code for the flown
060480,000006: ## version of the flight software for the Lunar Module's (LM)
060481,000007: ## Apollo Guidance Computer (AGC) for Apollo 10. The code has
060482,000008: ## been recreated from a copy of Luminary revsion 069, using
060483,000009: ## changes present in Luminary 099 which were described in
060484,000010: ## Luminary memos 75 and 78. The code has been adapted such
060485,000011: ## that the resulting bugger words exactly match those specified
060486,000012: ## for LUM69 revision 2 in NASA drawing 2021152B, which gives
060487,000013: ## relatively high confidence that the reconstruction is correct.
060488,000014: ## Reference: pp. 1405-1415
060489,000015: ## Assembler: yaYUL
060490,000016: ## Contact: Ron Burkey <info@sandroid.org>.
060491,000017: ## Website: www.ibiblio.org/apollo/index.html
060492,000018: ## Mod history: 2019-07-27 MAS Created from Luminary 69.
060493,000019:
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Page 1405
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060495,000021: # THE DAPIDLER PROGRAM IS STARTED BY FRESH START AND RESTART. THE DAPIDLER PROGRAM IS DONE 10 TIMES
060496,000022: # PER SECOND UNTIL THE ASTRONAUT DESIRES THE DAP TO WAKE UP, AND THE IMU AND CDUS ARE READY FOR USE BY THE DAP.
060497,000023: # THE NECESSARY INITIALIZATION OF THE DAP IS DONE BY THE DAPIDLER PROGRAM.
060498,000024:
060499,000025: 16,2000 BANK 16
060500,000026: 16,2000 SETLOC DAPS1
060501,000027: 16,2000 BANK
060502,000028:
060503,000029: 16,2000 E6,1537 EBANK= AOSQ
060504,000030:
060505,000031: 16,2000 COUNT* $$/DAPID
060506,000032:
060507,000033: 16,2000 00006 CHEKBITS EXTEND
060508,000034: 16,2001 00031 READ CHAN31 # IF BOTH BIT13 AND BIT14 ARE ONE, THEN
060509,000035: 16,2002 40000 COM # THE MODE SELECT SWITCH IS IN THE OFF
060510,000036: 16,2003 74355 MASK BIT13-14 # POSITION, AND SO THE DAP SHOULD BE OFF,
060511,000037: 16,2004 00006 EXTEND # WITH NO ATTITUDE ERROR DISPLAY.
060512,000038: 16,2005 12154 BZF MOREIDLE
060513,000039:
060514,000040: 16,2006 41303 CS IMODES33
060515,000041: 16,2007 74746 MASK BIT6
060516,000042: 16,2010 10000 CCS A
060517,000043: 16,2011 12203 TCF JUMPDSP
060518,000044: 16,2012 41273 CS RCSFLAGS # IMU NOT USABLE. SET UP INITIALIZATION
060519,000045: 16,2013 74751 MASK BIT3 # FLAG FOR ATT ERROR DISPLAY ROUTINE.
060520,000046: 16,2014 27273 ADS RCSFLAGS
060521,000047: 16,2015 12160 TCF SHUTDOWN
060522,000048:
060523,000049: 16,2016 34742 CHEKMORE CAF BIT10 # BIT 10 OF 30 IS PGNCS CONTROL OF S/C
060524,000050: 16,2017 00006 EXTEND
060525,000051: 16,2020 02030 RAND CHAN30 # BITS IN 30 ARE INVERTED
060526,000052: 16,2021 10000 CCS A
060527,000053: 16,2022 12154 TCF MOREIDLE
060528,000054:
060529,000055: 16,2023 00002 RETURN
060530,000056:
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Page 1406
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060532,000058: # DAPIDLER ENTRY.
060533,000059:
060534,000060: 16,2024 22016 DAPIDLER LXCH BANKRUPT # INTERRUPT LEAD INS (CONTINUED)
060535,000061: 16,2025 00006 EXTEND
060536,000062: 16,2026 22012 QXCH QRUPT
060537,000063:
060538,000064: 16,2027 31273 CA RCSFLAGS
060539,000065: 16,2030 74737 MASK BIT13
060540,000066: 16,2031 10000 CCS A # CHECK IF 1/ACCJOB HAS BEEN SET UP SINCE
060541,000067: 16,2032 12041 TCF CHECKUP # THE LAST FRESH START OR RESTART.
060542,000068: 16,2033 34737 CA BIT13
060543,000069: 16,2034 27273 ADS RCSFLAGS # BIT 13 IS 1.
060544,000070: 16,2035 37714 CAF PRIO27
060545,000071: 16,2036 05072 TC NOVAC # SET UP JOB TO DO A LITTLE INITIALIZATION
060546,000072: 16,2037 E6,1537 EBANK= AOSQ # AND EXECUTE 1/ACCS.
060547,000073: 16,2037 02447 40106 2CADR 1/ACCSET # (WILL BRANCH TO MOREIDLE ON ACCSOKAY)
060548,000074:
060549,000075: 16,2041 02000 CHECKUP TC CHEKBITS # CHECK TO SEE IF LM DAP IS TO GO ON AND
060550,000076: # DO ERROR DISPLAY.
060551,000077:
060552,000078: 16,2042 30111 CAE DAPBOOLS # IF 1/ACCS HAS NOT BEEN COMPLETED, IDLE.
060553,000079: 16,2043 74751 MASK ACCSOKAY # NOTE: ONLY FRESH START AND RESTART
060554,000080: 16,2044 00006 EXTEND # KNOCK THIS BIT DOWN.
060555,000081: 16,2045 12154 BZF MOREIDLE
060556,000082:
060557,000083: 16,2046 04674 STARTDAP TC IBNKCALL # ZERO ATTITUDE ERROR AND DESIRED RATES.
060558,000084: 16,2047 40153 FCADR ZATTEROR
060559,000085: 16,2050 34755 CAF ZERO # ********** INITIALIZE: **********
060560,000086: 16,2051 55524 TS TJP
060561,000087: 16,2052 55525 TS TJU
060562,000088: 16,2053 55526 TS TJV
060563,000089: 16,2054 55417 TS OMEGAP # RATES IN BODY (PILOT) COORDINATES.
060564,000090: 16,2055 55420 TS OMEGAQ
060565,000091: 16,2056 55421 TS OMEGAR
060566,000092: 16,2057 55426 TS TRAPEDP
060567,000093: 16,2060 55427 TS TRAPEDQ
060568,000094: 16,2061 55430 TS TRAPEDR
060569,000095: 16,2062 55537 TS AOSQ # OFFSET ACCELERATION ESTIMATES.
060570,000096: 16,2063 55540 TS AOSQ +1
060571,000097: 16,2064 55541 TS AOSR
060572,000098: 16,2065 55542 TS AOSR +1
060573,000099: 16,2066 55422 TS ALPHAQ # COPIES OF OFFSET ESTIMATES FOR DOWNLIST.
060574,000100: 16,2067 55423 TS ALPHAR
060575,000101: 16,2070 55500 TS NEGUQ
060576,000102: 16,2071 55502 TS NEGUR
060577,000103: 16,2072 55545 TS AOSQTERM # QRAXIS RATE DERIVATION TERMS AND KALMAN
060578,000104: 16,2073 55546 TS AOSRTERM # FILTER INITIALIZATION TERMS.
060579,000105: 16,2074 55510 TS QACCDOT # DESCENT ACCELERATION DERIVATIVE EST.
060580,000106: 16,2075 55512 TS RACCDOT
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Page 1407
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060582,000108: 16,2076 55501 TS ALLOWGTS # AOSTASK FLAG FOR QRAXIS RCS CONTROL USE.
060583,000109: 16,2077 55627 TS COTROLER # DO TRYGTS ON FIRST PASS (WILL GO TO RCS)
060584,000110: 16,2100 55631 TS INGTS # RECOGNIZE FIRST GTS PASS AS SUCH.
060585,000111: 16,2101 55630 TS QGIMTIMR # STOP GIMBAL DRIVES. (PROBABLY WOULD BE
060586,000112: 16,2102 55632 TS RGIMTIMR # GOOD ENOUGH JUST TO INACTIVATE TIMERS)
060587,000113: 16,2103 55456 TS OLDPMIN # MINIMUM IMPULSE MODE ERASABLES
060588,000114: 16,2104 55457 TS OLDQRMIN
060589,000115: 16,2105 4747 CALLGMBL EQUALS BIT5 # RCSFLAGS INITIALIZATION.
060590,000116: 16,2105 42177 CS MANFLAG
060591,000117: 16,2106 71273 MASK RCSFLAGS # NEGUQ(R) HAVE BEEN GENERATED.
060592,000118: 16,2107 55273 TS RCSFLAGS
060593,000119:
060594,000120: # SET UP "OLD" MEASURED CDU ANGLES:
060595,000121:
060596,000122: 16,2110 00006 EXTEND
060597,000123: 16,2111 30033 DCA CDUX # OLDXFORP AND OLDYFORP
060598,000124: 16,2112 53437 DXCH OLDXFORP
060599,000125: 16,2113 30034 CA CDUZ
060600,000126: 16,2114 55440 TS OLDZFORQ
060601,000127: 16,2115 41273 CS RCSFLAGS
060602,000128: 16,2116 74740 MASK BIT12
060603,000129: 16,2117 27273 ADS RCSFLAGS # BIT 12 SET TO 1.
060604,000130: 16,2120 34751 CA FOUR
060605,000131: 16,2121 55535 TS SKIPU
060606,000132: 16,2122 55536 TS SKIPV
060607,000133: 16,2123 34733 CA POSMAX
060608,000134: 16,2124 54031 TS TIME6
060609,000135: 16,2125 55464 TS T6NEXT
060610,000136: 16,2126 55466 TS T6FURTHA
060611,000137: 16,2127 34755 CA ZERO
060612,000138: 16,2130 55465 TS T6NEXT +1
060613,000139: 16,2131 55467 TS T6FURTHA +1
060614,000140: 16,2132 55463 TS NXT6ADR
060615,000141: 16,2133 55470 TS NEXTP
060616,000142: 16,2134 55471 TS NEXTU
060617,000143: 16,2135 55472 TS NEXTV
060618,000144: 16,2136 44363 CS TEN
060619,000145: 16,2137 55755 TS DAPZRUPT # JASK NOT IN PROGRESS, INITIALIZE NEG.
060620,000146: 16,2140 34752 CA TWO
060621,000147: 16,2141 55431 TS NPTRAPS
060622,000148: 16,2142 55432 TS NQTRAPS
060623,000149: 16,2143 55433 TS NRTRAPS
060624,000150: 16,2144 00006 EXTEND
060625,000151: 16,2145 32202 DCA PAXADIDL
060626,000152: 16,2146 53275 DXCH T5ADR
060627,000153: 16,2147 37726 SETTIME5 CAF MS100
060628,000154: 16,2150 54030 TS TIME5
060629,000155: 16,2151 15270 TCF RESUME
060630,000156: 16,2152 E6,1537 EBANK= AOSQ
060631,000157: 16,2152 02024 34106 IDLERADR 2CADR DAPIDLER
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Page 1408
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060633,000159: 16,2154 04674 MOREIDLE TC IBNKCALL # CALCULATE Q,R-AXES ATTITUDE ERRORS.
060634,000160: 16,2155 36563 CADR QERRCALC
060635,000161:
060636,000162: 16,2156 04674 TC IBNKCALL
060637,000163: 16,2157 35425 CADR CALCPERR # CALCULATE P AXIS ATTITUDE ERRORS.
060638,000164:
060639,000165: 16,2160 00006 SHUTDOWN EXTEND
060640,000166: 16,2161 32153 DCA IDLERADR
060641,000167: 16,2162 53275 DXCH T5ADR
060642,000168:
060643,000169: 16,2163 34755 CAF ZERO # KILL ANY POSSIBLE JET REQUESTS
060644,000170: 16,2164 55470 TS NEXTP
060645,000171: 16,2165 55471 TS NEXTU
060646,000172: 16,2166 55472 TS NEXTV
060647,000173: 16,2167 00006 EXTEND # COMMAND JETS OFF.
060648,000174: 16,2170 01005 WRITE CHAN5
060649,000175: 16,2171 00006 EXTEND
060650,000176: 16,2172 01006 WRITE CHAN6
060651,000177: 16,2173 42200 CS BGIM23 # TURN TRIM GIMBAL OFF
060652,000178: 16,2174 00006 EXTEND
060653,000179: 16,2175 03012 WAND CHAN12
060654,000180: 16,2176 12147 TCF SETTIME5 # RETURN IN 100 MSEC.
060655,000181:
060656,000182: 16,2177 03021 MANFLAG OCT 03021
060657,000183: 16,2200 07400 BGIM23 OCTAL 07400
060658,000184: 16,2201 E6,1417 EBANK= OMEGAP
060659,000185: 16,2201 02210 34106 PAXADIDL 2CADR PAXIS
060660,000186:
060661,000187: 16,2203 7726 MS100 = OCT37766
060662,000188: 16,2203 0061 COSMG = ITEMP1
060663,000189: 16,2203 00006 JUMPDSP EXTEND # TRANSFER TO BANK 20
060664,000190: 16,2204 32207 DCA DSPCADR # FOR ATTITUDE ERROR DISPLAYS
060665,000191: 16,2205 52006 DTCB
060666,000192:
060667,000193: 16,2206 E6,1757 EBANK= AK
060668,000194: 16,2206 02226 40106 DSPCADR 2CADR ALTDSPLY
060669,000195:
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Page 1409
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060671,000197: 20,2226 BANK 20
060672,000198: 20,2000 SETLOC DAPS3
060673,000199: 20,2000 BANK
060674,000200: 20,2226 COUNT* $$/NEEDL
060675,000201:
060676,000202: # PROGRAM: ALTDSPLY
060677,000203: # MOD 0. 6 DEC 1967
060678,000204: # AUTHOR: CRAIG WORK, DON KEENE, MIT IL
060679,000205: # MOD 3 BY DON KEENE AUG 1, 1968 MOVED PROGRAM TO BANK 20
060680,000206:
060681,000207: # PROGRAM DESCRIPTION:
060682,000208: # ALTDSPLY REVERSES THE DSPLYALT BIT OF RCSFLAGS EACH TIME IT IS CALLED, WHICH IS PRESUMABLY EVERY 100 MS.
060683,000209: # IF THE REVERSED BIT IS ONE, NEEDLER IS CALLED TO DISPLAY ATTITUDE ERRORS. IF THE BIT IS ZERO, THE ATTITUDE ERR-
060684,000210: # ORS ARE CALCULATED AS 1) DAP FOLLOWING ERRORS, IF NEEDLFLG = 0, AND 2) TOTAL ATTITUDE ERRORS FOR NEEDLFLG = 1.
060685,000211:
060686,000212:
060687,000213: # WARNING: ALTDSPLY MAY ONLY BE CALLED WITH INTERRUPT INHIBITED.
060688,000214:
060689,000215: # WARNING: EBANK MUST BE SET TO 6 WHEN USING THIS ROUTINE.
060690,000216:
060691,000217: # INPUT: RCSFLAGS AND 1) IF NEEDLFLG = 0, INPUT PERROR, QERROR, RERROR.
060692,000218: # 2) IF NEEDLFLG = 1, INPUT CPHI,CTHETA,CPSI,CDUX,CDUY,CDUZ,M11,M21,M31,M22,M32. (GPMATRIX)
060693,000219:
060694,000220:
060695,000221: # OUTPUTS: RCSFLAGS WITH DSPLYALT REVERSED, AK, AK1, AK2, + NEEDLER OUTPUTS.
060696,000222:
060697,000223: # ENTRY: TCF ALTDSPLY
060698,000224:
060699,000225: # EXIT: TCF CHEKMORE
060700,000226:
060701,000227: # ALARM OR ABORT EXITS: NONE
060702,000228:
060703,000229: # SUBPROGRAMS CALLED: NEEDLER, OVERSUB2
060704,000230:
060705,000231: # DEBRIS: A, L, AND NEEDLER DEBRIS.
060706,000232:
060707,000233: 20,2226 31273 ALTDSPLY CA RCSFLAGS # INVERT THE DISPLAY ALTERNATION BIT.
060708,000234: 20,2227 54001 TS L
060709,000235: 20,2230 34750 CA DSPLYALT
060710,000236: 20,2231 00006 EXTEND
060711,000237: 20,2232 06001 RXOR LCHAN
060712,000238: 20,2233 55273 TS RCSFLAGS
060713,000239:
060714,000240: 20,2234 74750 MASK DSPLYALT
060715,000241: 20,2235 10000 CCS A # IS ALTERNATION FLAG ZERO?
060716,000242: 20,2236 12322 TCF NEEDLER
060717,000243:
060718,000244: 20,2237 30074 CAE FLAGWRD0 # NEEDLFLG WILL INDICATE TOTAL OR DAP AT-
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Page 1410
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060720,000246: 20,2240 74750 MASK NEEDLBIT # TITUDE ERROR DISPLAY REQUEST.
060721,000247: 20,2241 10000 CCS A
060722,000248: 20,2242 12252 TCF DSPLYTOT # TOTAL ERROR IS NEEDED IN AK, AK +1, AK +2
060723,000249:
060724,000250: 20,2243 41446 CS QERROR # YES. DISPLAY ATT ERRORS ON THE ,-BALL.
060725,000251: 20,2244 55760 TS AK +1 # ERROR COMPLEMENTS ARE INPUT TO NEEDLER.
060726,000252: 20,2245 41450 CS RERROR
060727,000253: 20,2246 55761 TS AK +2
060728,000254: 20,2247 41462 CS PERROR
060729,000255: 20,2250 57757 XCH AK
060730,000256:
060731,000257: 20,2251 12442 TCF RETNMORE # DISPLAY THESE THE NEXT TIME THROUGH
060732,000258:
060733,000259: # CALCULATE GIMBAL ANGLE TOTAL ERRORS, RESOLVE INTO PILOT AXES, STORE TOTAL ERRORS FOR NEEDLER. Q-AXIS FIRST.
060734,000260:
060735,000261: 20,2252 00006 DSPLYTOT EXTEND
060736,000262: 20,2253 22061 QXCH ITEMP1 # SAVE Q FOR CHEKBITS RETURN.
060737,000263:
060738,000264: 20,2254 30322 CA CTHETA # DESIRED ATTITUDE, Y-AXIS, 2'S COMP.
060739,000265: 20,2255 00006 EXTEND # SUBTRACT CURRENT ATTITUDE.
060740,000266: 20,2256 20033 MSU CDUY # DIFFERENCE SCALED AT PI, 1'S COMP.
060741,000267: 20,2257 55757 TS AK # SAVE FOR R-ERROR CALCULATION.
060742,000268: 20,2260 00006 EXTEND
060743,000269: 20,2261 71413 MP M21 # (CHTETA-CDUY)*M21 SCALED AT PI RADIANS.
060744,000270: 20,2262 57760 XCH AK +1 # STORE FIRST TERM OF Q ERROR.
060745,000271: 20,2263 30323 CA CPSI # DESIRED ATTITUDE, Z-AXIS, 2'S COMP.
060746,000272: 20,2264 00006 EXTEND # SUBTRACT CURRENT ATTITUDE.
060747,000273: 20,2265 20034 MSU CDUZ # DIFFERENCE SCALED AT PI, 1'S COMP.
060748,000274: 20,2266 55761 TS AK +2 # SAVE Z-AXIS TERM FOR R ERROR CALCULATION
060749,000275: 20,2267 00006 EXTEND
060750,000276: 20,2270 71415 MP M22 # (CPSI-CDUZ)*M22, SCALED AT PI RADIANS.
060751,000277: 20,2271 61760 AD AK +1 # Q ERROR COMPLETE , AT PI RAD.
060752,000278: 20,2272 02435 TC OVERSUB2 # PIN NEEDLES IN CASE OF OVERFLOW.
060753,000279: 20,2273 55760 TS AK +1
060754,000280:
060755,000281: # R ERROR CALCULATION NEXT.
060756,000282:
060757,000283: 20,2274 31757 CA AK # Y-AXIS DIFFERENCE STORED BY Q-AXIS CALC.
060758,000284: 20,2275 00006 EXTEND
060759,000285: 20,2276 71414 MP M31 # (CTHETA-CDUY)*M31, SCALED AT PI RADIANS.
060760,000286: 20,2277 57761 XCH AK +2 # FIRST TERM OF R ERROR.
060761,000287: # Z-AXIS DIFFERENCE, STORED BY A CALC. IS
060762,000288: 20,2300 00006 EXTEND # RECOVERED BY THE EXCHANGE.
060763,000289: 20,2301 71416 MP M32 # (CPSI-CDUZ)*M32, SCALED AT PI RADIANS.
060764,000290: 20,2302 61761 AD AK +2 # R ERROR COMPLETE , AT PI RAD.
060765,000291: 20,2303 02435 TC OVERSUB2 # PIN NEEDLES IN CASE OF OVERFLOW.
060766,000292: 20,2304 55761 TS AK +2
060767,000293:
060768,000294: # NOW CALCULATE P ERROR. (NOTE THAT M13 = 1, SCALED AT 1, SO THE MULTIPLICATION IS BY-PASSED.)
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Page 1411
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060770,000296: 20,2305 31757 CA AK # Y-AXIS DIFFERENCE STORED BY Q AXIS CALC.
060771,000297: 20,2306 00006 EXTEND
060772,000298: 20,2307 71412 MP M11 # (CTHETA-CDUY)*M11 SCALED AT PI RADIANS.
060773,000299: 20,2310 57757 XCH AK # FIRST TERM OF P ERROR IN AK, AT PI RAD.
060774,000300: 20,2311 30321 CAE CPHI # DESIRED ATTITUDE, X-AXIS, 2'S COMP.
060775,000301: 20,2312 00006 EXTEND # SUBTRACT CURRENT X ATTITUDE.
060776,000302: 20,2313 20032 MSU CDUX # X-AXIS DIFFERENCE, 1'S COMP, AT PI RAD.
060777,000303:
060778,000304: # M13 = 1, SO BYPASS THE MULTIPLICATION.
060779,000305: # EXTEND
060780,000306: # MP M13 (CPHI-CDUX)*M13 SCALED AT PI RADIANS.
060781,000307:
060782,000308: 20,2314 61757 AD AK # P ERROR COMPLETE , SCALED AT PI RAD
060783,000309: 20,2315 02435 TC OVERSUB2 # PIN NEEDLES IN CASE OF OVERFLOW.
060784,000310: 20,2316 55757 TS AK
060785,000311:
060786,000312: 20,2317 00006 EXTEND
060787,000313: 20,2320 22061 QXCH ITEMP1 # RESTORE Q FOR CHEKBITS RETURN.
060788,000314:
060789,000315: 20,2321 12442 TCF RETNMORE # DISPLAY THESE THE NEXT TIME THROUGH
060790,000316:
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Page 1412
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060792,000318: # FDAI ATTITUDE ERROR DISPLAY SUBROUTINE
060793,000319:
060794,000320: # PROGRAM DESCRIPTION: D. KEENE 5/24/67
060795,000321: # MOD 1 BY CRAIG WORK, 12 DEC 67
060796,000322: # MOD 2 BY CRAIG WORK, 6 APRIL 68 CONVERTS ATTITUDE ERROR DISPLAY SCALING FROM 16 7/8 DEG. TO 42 3/16 DEGREES.
060797,000323:
060798,000324: # THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS)
060799,000325: # IN THE CDUS. CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT
060800,000326: # OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES
060801,000327: # THE DACS.
060802,000328:
060803,000329: # CALLING SEQUENCE:
060804,000330: # DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE
060805,000331: # TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM:
060806,000332: # CS RCSFLAGS IN EBANK6
060807,000333: # MASK BIT3
060808,000334: # ADS RCSFLAGS
060809,000335: # THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANSFERED TO THE FOLLOWING LOCATIONS IN EBANK6:
060810,000336: # AK SCALED 180 DEGREES NOTE: THESE LOCATIONS ARE SUBJECT
060811,000337: # AK1 SCALED 180 DEGREES TO CHANGE
060812,000338: # AK2 SCALED 180 DEGREES
060813,000339: # FULL SCALED DEFLECTION OF THE NEEDLES CORRESPONDS TO 5 1/16 DEGREES, WHILE 384 BITS IN THE IMU ERROR COUNTER
060814,000340: # CORRESPONDS TO 42 3/16 DEGREES. (DAC MAXIMUM CAPACITY IS 384 BITS.) 46 BITS EFFECTIVELY PIN THE NEEDLES.
060815,000341:
060816,000342: # A CALL TO NEEDLER WILL THEN UPDATE THE DISPLAY:
060817,000343: # INHINT
060818,000344: # TC IBNKCALL NOTE: EBANK SHOULD BE SET TO E6
060819,000345: # CADR NEEDLER
060820,000346: # RELINT
060821,000347: # THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED. AT LEAST 3 PASSES THRU THE PROGRAM ARE
060822,000348: # REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS.
060823,000349: # NOTE: EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50 MS TO ASSURE PROPER RELAY SEQUENCING.
060824,000350:
060825,000351: # ERASABLE USED:
060826,000352: # AK CDUXCMD
060827,000353: # AK1 CDUYCMD
060828,000354: # AK2 CDUZCMD
060829,000355: # EDRIVEX A,L,Q
060830,000356: # EDRIVEY T5TEMP
060831,000357: # EDRIVEZ DINDX
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Page 1413
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060833,000359:
060834,000360: # SWITCHES: RCSFLAGS BITS 3,2
060835,000361:
060836,000362: # I/O CHANNELS: CHAN12 BIT 4 (COARSE ALIGN - READ ONLY)
060837,000363: # CHAN12 BIT 6 (IMU ERROR COUNTER ENABLE)
060838,000364: # CHAN14 BIT 13,14,15 (DAC ACTIVITY)
060839,000365:
060840,000366: # SIGN CONVENTION< AK = THETAC - THETA
060841,000367: # WHERE THETAC = COMMAND ANGLE
060842,000368: # THETA = PRESENT ANGLE
060843,000369:
060844,000370: 20,2322 31273 NEEDLER CA RCSFLAGS
060845,000371: 20,2323 76241 MASK SIX
060846,000372: 20,2324 00006 EXTEND
060847,000373: 20,2325 12362 BZF NEEDLES3
060848,000374: 20,2326 74751 MASK BIT3
060849,000375: 20,2327 00006 EXTEND
060850,000376: 20,2330 12353 BZF NEEDLER2 # BIT3 = 0, BIT2 = 1
060851,000377:
060852,000378: 20,2331 44746 CS BIT6 # FIRST PASS BIT3 = 1
060853,000379: 20,2332 00006 EXTEND # DISABLE IMU ERROR COUNTER TO ZERO DACS
060854,000380: 20,2333 03012 WAND CHAN12 # MUST WAIT AT LEAST 60 MS BEFORE
060855,000381: 20,2334 44755 NEEDLE11 CS ZERO # ENABLING COUNTERS.
060856,000382: 20,2335 55757 TS AK # ZERO THE INPUTS ON FIRST PASS
060857,000383: 20,2336 55760 TS AK1
060858,000384: 20,2337 55761 TS AK2
060859,000385: 20,2340 55762 TS EDRIVEX # ZERO THE DISPLAY REGISTERS
060860,000386: 20,2341 55763 TS EDRIVEY
060861,000387: 20,2342 55764 TS EDRIVEZ
060862,000388: 20,2343 54050 TS CDUXCMD # ZERO THE OUT COUNTERS
060863,000389: 20,2344 54051 TS CDUYCMD
060864,000390: 20,2345 54052 TS CDUZCMD
060865,000391: 20,2346 46241 CS SIX # RESET RCSFLAGS FOR PASS2
060866,000392: 20,2347 71273 MASK RCSFLAGS
060867,000393: 20,2350 64752 AD BIT2
060868,000394: 20,2351 55273 TS RCSFLAGS
060869,000395: 20,2352 12442 TCF RETNMORE
060870,000396:
060871,000397: 20,2353 34746 NEEDLER2 CAF BIT6 # ENABLE IMU ERROR COUNTERS
060872,000398: 20,2354 00006 EXTEND
060873,000399: 20,2355 05012 WOR CHAN12
060874,000400: 20,2356 46241 CS SIX # RESET RCSFLAGS TO DISPLAY ATTITUDE
060875,000401: 20,2357 71273 MASK RCSFLAGS # ERRORS WAIT AT LEAST 4 MS FOR
060876,000402: 20,2360 55273 TS RCSFLAGS # RELAY CLOSURE
060877,000403: 20,2361 12442 TCF RETNMORE
060878,000404:
060879,000405: 20,2362 34746 NEEDLES3 CAF BIT6 # CHECK TO SEE IF IMU ERROR COUNTER
060880,000406: 20,2363 00006 EXTEND # IS ENABLED
060881,000407: 20,2364 02012 RAND CHAN12
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Page 1414
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060883,000409: 20,2365 10000 CCS A # IF NOT, RE-INITIALIZE NEEDLER.
060884,000410: 20,2366 12373 TCF NEEDLES
060885,000411:
060886,000412: 20,2367 41273 CS RCSFLAGS # SET UP INITIALIZATION FLAG IN RCSFLAGS.
060887,000413: 20,2370 74751 MASK BIT3
060888,000414: 20,2371 27273 ADS RCSFLAGS
060889,000415: 20,2372 12442 TCF RETNMORE
060890,000416:
060891,000417: 20,2373 34752 NEEDLES CAF TWO
060892,000418: 20,2374 54063 DACLOOP TS DINDX
060893,000419: 20,2375 42434 CS ONETENTH # RESCALE INPUTS TO + OR - 1800 DEGREES.
060894,000420: 20,2376 00006 EXTEND
060895,000421: 20,2377 50063 INDEX DINDX
060896,000422: 20,2400 71757 MP AK
060897,000423: 20,2401 54001 TS L
060898,000424: 20,2402 10000 CCS A
060899,000425: 20,2403 32432 CA DACLIMIT
060900,000426: 20,2404 12406 TCF +2
060901,000427: 20,2405 42432 CS DACLIMIT
060902,000428: 20,2406 60001 AD L
060903,000429: 20,2407 54061 TS T5TEMP # OVFLO CHK
060904,000430: 20,2410 12414 TCF +4
060905,000431: 20,2411 50000 INDEX A # ON OVERFLOW LIMIT OUTPUT TO +-384
060906,000432: 20,2412 32432 CAF DACLIMIT
060907,000433: 20,2413 54001 TS L
060908,000434: 20,2414 50063 INDEX DINDX
060909,000435: 20,2415 41762 CS EDRIVEX # CURRENT VALUE OF DAC
060910,000436: 20,2416 60001 AD L
060911,000437: 20,2417 50063 INDEX DINDX
060912,000438: 20,2420 26050 ADS CDUXCMD
060913,000439: 20,2421 50063 INDEX DINDX
060914,000440: 20,2422 23762 LXCH EDRIVEX
060915,000441: 20,2423 10063 CCS DINDX
060916,000442: 20,2424 12374 TCF DACLOOP
060917,000443: 20,2425 37737 CAF 13,14,15
060918,000444: 20,2426 00006 EXTEND
060919,000445: 20,2427 05014 WOR CHAN14 # SET DAC ACTIVITY BITS
060920,000446: 20,2430 12442 TCF RETNMORE
060921,000447:
060922,000448: 20,2431 77177 DEC -384 B-14
060923,000449: 20,2432 37200 DACLIMIT DEC 16000 B-14
060924,000450: 20,2433 00600 DEC 384 B-14
060925,000451:
060926,000452: 20,2434 03146 ONETENTH OCT 03146 # DECIMAL +0.1, SCALED AT 1.
060927,000453: 20,2435 4750 DSPLYALT EQUALS BIT4 # 100 MS ALTERNATION BIT IN RCSFLAGS
060928,000454:
060929,000455: 20,2435 54007 OVERSUB2 TS 7 # RETURNS A UNCHANGED OR LIMITED TO
060930,000456: 20,2436 00002 TC Q # POSMAX OR NEGMAX IF A HAS OVERFLOW
060931,000457: 20,2437 50000 INDEX A
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Page 1415
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060933,000459: 20,2440 44734 CS LIMITS # DUPLICATE CODING IN BANK 16
060934,000460: 20,2441 00002 TC Q
060935,000461:
060936,000462: 20,2442 00006 RETNMORE EXTEND # RETURN TO CHEKMORE
060937,000463: 20,2443 32446 DCA MORECADR
060938,000464: 20,2444 52006 DTCB
060939,000465:
060940,000466: 20,2445 E6,1537 EBANK= AOSQ
060941,000467: 20,2445 02016 34106 MORECADR 2CADR CHEKMORE
060942,000468:
End of include-file DAPIDLER_PROGRAM.agc. Parent file is MAIN.agc