Source Code
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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.
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059884,000002: ## Copyright: Public domain.
059885,000003: ## Filename: DAPIDLER_PROGRAM.agc
059886,000004: ## Purpose: A section of Luminary revision 173.
059887,000005: ## It is part of the reconstructed source code for the second
059888,000006: ## (unflown) release of the flight software for the Lunar
059889,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 14.
059890,000008: ## The code has been recreated from a reconstructed copy of
059891,000009: ## Luminary 178, as well as Luminary memo 167 (revision 1).
059892,000010: ## It has been adapted such that the resulting bugger words
059893,000011: ## exactly match those specified for Luminary 173 in NASA
059894,000012: ## drawing 2021152N, which gives relatively high confidence
059895,000013: ## that the reconstruction is correct.
059896,000014: ## Reference: pp. 1398-1408
059897,000015: ## Assembler: yaYUL
059898,000016: ## Contact: Ron Burkey <info@sandroid.org>.
059899,000017: ## Website: www.ibiblio.org/apollo/index.html
059900,000018: ## Mod history: 2019-09-18 MAS Created from Luminary 178.
059901,000019:
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Page 1398
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059903,000021: # THE DAPIDLER PROGRAM IS STARTED BY FRESH START AND RESTART. THE DAPIDLER PROGRAM IS DONE 10 TIMES
059904,000022: # PER SECOND UNTIL THE ASTRONAUT DESIRES THE DAP TO WAKE UP, AND THE IMU AND CDUS ARE READY FOR USE BY THE DAP.
059905,000023: # THE NECESSARY INITIALIZATION OF THE DAP IS DONE BY THE DAPIDLER PROGRAM.
059906,000024: 16,2000 BANK 16
059907,000025: 16,2000 SETLOC DAPS1
059908,000026: 16,2000 BANK
059909,000027:
059910,000028: 16,2000 E6,1536 EBANK= AOSQ
059911,000029:
059912,000030: 16,2000 COUNT* $$/DAPID
059913,000031:
059914,000032: 16,2000 00006 CHEKBITS EXTEND
059915,000033: 16,2001 00031 READ CHAN31 # IF BOTH BIT13 AND BIT14 ARE ONE, THEN
059916,000034: 16,2002 40000 COM # THE MODE SELECT SWITCH IS IN THE OFF
059917,000035: 16,2003 74355 MASK BIT13-14 # POSITION, AND SO THE DAP SHOULD BE OFF,
059918,000036: 16,2004 00006 EXTEND # WITH NO ATTITUDE ERROR DISPLAY.
059919,000037: 16,2005 12157 BZF MOREIDLE
059920,000038:
059921,000039: 16,2006 41300 CS IMODES33
059922,000040: 16,2007 74746 MASK BIT6
059923,000041: 16,2010 10000 CCS A
059924,000042: 16,2011 12206 TCF JUMPDSP
059925,000043: 16,2012 41262 CS RCSFLAGS # IMU NOT USABLE. SET UP INITIALIZATION
059926,000044: 16,2013 74751 MASK BIT3 # FLAG FOR ATT ERROR DISPLAY ROUTINE.
059927,000045: 16,2014 27262 ADS RCSFLAGS
059928,000046: 16,2015 12163 TCF SHUTDOWN
059929,000047:
059930,000048: 16,2016 34742 CHEKMORE CAF BIT10 # BIT 10 OF 30 IS PGNCS CONTROL OF S/C
059931,000049: 16,2017 00006 EXTEND
059932,000050: 16,2020 02030 RAND CHAN30 # BITS IN 30 ARE INVERTED
059933,000051: 16,2021 10000 CCS A
059934,000052: 16,2022 12157 TCF MOREIDLE
059935,000053:
059936,000054: 16,2023 00002 RETURN
059937,000055:
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Page 1399
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059939,000057: # DAPIDLER ENTRY.
059940,000058:
059941,000059: 16,2024 22016 DAPIDLER LXCH BANKRUPT # INTERRUPT LEAD INS (CONTINUED)
059942,000060: 16,2025 00006 EXTEND
059943,000061: 16,2026 22012 QXCH QRUPT
059944,000062:
059945,000063: 16,2027 31262 CA RCSFLAGS
059946,000064: 16,2030 74737 MASK BIT13
059947,000065: 16,2031 10000 CCS A # CHECK IF 1/ACCJOB HAS BEEN SET UP SINCE
059948,000066: 16,2032 12041 TCF CHECKUP # THE LAST FRESH START OR RESTART.
059949,000067: 16,2033 34737 CA BIT13
059950,000068: 16,2034 27262 ADS RCSFLAGS # BIT 13 IS 1.
059951,000069: 16,2035 37720 CAF PRIO27
059952,000070: 16,2036 05072 TC NOVAC # SET UP JOB TO DO A LITTLE INITIALIZATION
059953,000071: 16,2037 E6,1536 EBANK= AOSQ # AND EXECUTE 1/ACCS.
059954,000072: 16,2037 03630 42106 2CADR 1/ACCSET # (WILL BRANCH TO MOREIDLE ON ACCSOKAY)
059955,000073:
059956,000074:
059957,000075: 16,2041 02000 CHECKUP TC CHEKBITS # CHECK TO SEE IF LM DAP IS TO GO ON AND
059958,000076: # DO ERROR DISPLAY.
059959,000077:
059960,000078: 16,2042 30111 CAE DAPBOOLS # IF 1/ACCS HAS NOT BEEN COMPLETED, IDLE.
059961,000079: 16,2043 74751 MASK ACCSOKAY # NOTE: ONLY FRESH START AND RESTART
059962,000080: 16,2044 00006 EXTEND # KNOCK THIS BIT DOWN.
059963,000081: 16,2045 12157 BZF MOREIDLE
059964,000082:
059965,000083: 16,2046 04674 STARTDAP TC IBNKCALL # ZERO ATTITUDE ERROR AND DESIRED RATES.
059966,000084: 16,2047 40154 FCADR ZATTEROR
059967,000085: 16,2050 34755 CAF ZERO # ********** INITIALIZE: **********
059968,000086: 16,2051 55524 TS TJP
059969,000087: 16,2052 55525 TS TJU
059970,000088: 16,2053 55526 TS TJV
059971,000089: 16,2054 55421 TS OMEGAP # RATES IN BODY (PILOT) COORDINATES.
059972,000090: 16,2055 55422 TS OMEGAQ
059973,000091: 16,2056 55423 TS OMEGAR
059974,000092: 16,2057 55430 TS TRAPEDP
059975,000093: 16,2060 55431 TS TRAPEDQ
059976,000094: 16,2061 55432 TS TRAPEDR
059977,000095: 16,2062 55536 TS AOSQ # OFFSET ACCELERATION ESTIMATES.
059978,000096: 16,2063 55537 TS AOSQ +1
059979,000097: 16,2064 55540 TS AOSR
059980,000098: 16,2065 55541 TS AOSR +1
059981,000099: 16,2066 55424 TS ALPHAQ # COPIES OF OFFSET ESTIMATES FOR DOWNLIST.
059982,000100: 16,2067 55425 TS ALPHAR
059983,000101: 16,2070 55501 TS NEGUQ
059984,000102: 16,2071 55503 TS NEGUR
059985,000103: 16,2072 55544 TS AOSQTERM # QRAXIS RATE DERIVATION TERMS AND KALMAN
059986,000104: 16,2073 55545 TS AOSRTERM # FILTER INITIALIZATION TERMS.
059987,000105: 16,2074 55510 TS QACCDOT # DESCENT ACCELERATION DERIVATIVE EST.
059988,000106: 16,2075 55512 TS RACCDOT
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Page 1400
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059990,000108: 16,2076 55502 TS ALLOWGTS # AOSTASK FLAG FOR QRAXIS RCS CONTROL USE.
059991,000109: 16,2077 55630 TS COTROLER # DO TRYGTS ON FIRST PASS (WILL GO TO RCS)
059992,000110: 16,2100 55632 TS INGTS # RECOGNIZE FIRST GTS PASS AS SUCH.
059993,000111: 16,2101 55631 TS QGIMTIMR # STOP GIMBAL DRIVES. (PROBABLY WOULD BE
059994,000112: 16,2102 55633 TS RGIMTIMR # GOOD ENOUGH JUST TO INACTIVATE TIMERS)
059995,000113: 16,2103 55460 TS OLDPMIN # MINIMUM IMPULSE MODE ERASABLES
059996,000114: 16,2104 55461 TS OLDQRMIN
059997,000115: 16,2105 55766 TS PJETCTR # INITIALIZE DOCKED JET INHIBITION
059998,000116: 16,2106 55767 TS UJETCTR # COUNTERS
059999,000117: 16,2107 55770 TS VJETCTR
060000,000118: 16,2110 4747 CALLGMBL EQUALS BIT5 # RCSFLAGS INITIALIZATION.
060001,000119: 16,2110 42202 CS MANFLAG
060002,000120: 16,2111 71262 MASK RCSFLAGS # NEGUQ(R) HAVE BEEN GENERATED.
060003,000121: 16,2112 55262 TS RCSFLAGS
060004,000122:
060005,000123: # SET UP "OLD" MEASURED CDU ANGLES:
060006,000124:
060007,000125: 16,2113 00006 EXTEND
060008,000126: 16,2114 30033 DCA CDUX # OLDXFORP AND OLDYFORP
060009,000127: 16,2115 53441 DXCH OLDXFORP
060010,000128: 16,2116 30034 CA CDUZ
060011,000129: 16,2117 55442 TS OLDZFORQ
060012,000130: 16,2120 41262 CS RCSFLAGS
060013,000131: 16,2121 74740 MASK BIT12
060014,000132: 16,2122 27262 ADS RCSFLAGS # BIT 12 SET TO 1.
060015,000133: 16,2123 34751 CA FOUR
060016,000134: 16,2124 55534 TS SKIPU
060017,000135: 16,2125 55535 TS SKIPV
060018,000136: 16,2126 34733 CA POSMAX
060019,000137: 16,2127 54031 TS TIME6
060020,000138: 16,2130 55466 TS T6NEXT
060021,000139: 16,2131 55470 TS T6FURTHA
060022,000140: 16,2132 34755 CA ZERO
060023,000141: 16,2133 55467 TS T6NEXT +1
060024,000142: 16,2134 55471 TS T6FURTHA +1
060025,000143: 16,2135 55465 TS NXT6ADR
060026,000144: 16,2136 55472 TS NEXTP
060027,000145: 16,2137 55473 TS NEXTU
060028,000146: 16,2140 55474 TS NEXTV
060029,000147: 16,2141 44363 CS TEN
060030,000148: 16,2142 55756 TS DAPZRUPT # JASK NOT IN PROGRESS, INITIALIZE NEG.
060031,000149: 16,2143 34752 CA TWO
060032,000150: 16,2144 55433 TS NPTRAPS
060033,000151: 16,2145 55434 TS NQTRAPS
060034,000152: 16,2146 55435 TS NRTRAPS
060035,000153: 16,2147 00006 EXTEND
060036,000154: 16,2150 32205 DCA PAXADIDL
060037,000155: 16,2151 53264 DXCH T5ADR
060038,000156: 16,2152 37732 SETTIME5 CAF MS100
060039,000157: 16,2153 54030 TS TIME5
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Page 1401
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060041,000159: 16,2154 15301 TCF RESUME
060042,000160: 16,2155 E6,1536 EBANK= AOSQ
060043,000161: 16,2155 02024 34106 IDLERADR 2CADR DAPIDLER
060044,000162:
060045,000163: 16,2157 04674 MOREIDLE TC IBNKCALL # CALCULATE Q,R-AXES ATTITUDE ERRORS.
060046,000164: 16,2160 36655 CADR QERRCALC
060047,000165:
060048,000166: 16,2161 04674 TC IBNKCALL
060049,000167: 16,2162 35451 CADR CALCPERR # CALCULATE P AXIS ATTITUDE ERRORS.
060050,000168:
060051,000169: 16,2163 00006 SHUTDOWN EXTEND
060052,000170: 16,2164 32156 DCA IDLERADR
060053,000171: 16,2165 53264 DXCH T5ADR
060054,000172:
060055,000173: 16,2166 34755 CAF ZERO # KILL ANY POSSIBLE JET REQUESTS
060056,000174: 16,2167 55472 TS NEXTP
060057,000175: 16,2170 55473 TS NEXTU
060058,000176: 16,2171 55474 TS NEXTV
060059,000177: 16,2172 00006 EXTEND # COMMAND JETS OFF.
060060,000178: 16,2173 01005 WRITE CHAN5
060061,000179: 16,2174 00006 EXTEND
060062,000180: 16,2175 01006 WRITE CHAN6
060063,000181: 16,2176 42203 CS BGIM23 # TURN TRIM GIMBAL OFF
060064,000182: 16,2177 00006 EXTEND
060065,000183: 16,2200 03012 WAND CHAN12
060066,000184: 16,2201 12152 TCF SETTIME5 # RETURN IN 100 MSEC.
060067,000185:
060068,000186: 16,2202 03021 MANFLAG OCT 03021
060069,000187: 16,2203 07400 BGIM23 OCTAL 07400
060070,000188: 16,2204 E6,1421 EBANK= OMEGAP
060071,000189: 16,2204 02213 34106 PAXADIDL 2CADR PAXIS
060072,000190:
060073,000191: 16,2206 7732 MS100 = OCT37766
060074,000192: 16,2206 0061 COSMG = ITEMP1
060075,000193: 16,2206 00006 JUMPDSP EXTEND # TRANSFER TO BANK 20
060076,000194: 16,2207 32212 DCA DSPCADR # FOR ATTITUDE ERROR DISPLAYS
060077,000195: 16,2210 52006 DTCB
060078,000196:
060079,000197: 16,2211 E6,1760 EBANK= AK
060080,000198: 16,2211 02227 40106 DSPCADR 2CADR ALTDSPLY
060081,000199:
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Page 1402
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060083,000201: 20,2227 BANK 20
060084,000202: 20,2000 SETLOC DAPS3
060085,000203: 20,2000 BANK
060086,000204: 20,2227 COUNT* $$/NEEDL
060087,000205:
060088,000206: # PROGRAM: ALTDSPLY
060089,000207:
060090,000208: # MOD 0. 6 DEC 1967
060091,000209:
060092,000210: # AUTHOR: CRAIG WORK, DON KEENE, MIT IL
060093,000211:
060094,000212: # MOD 3 BY DON KEENE AUG 1, 1968 MOVED PROGRAM TO BANK 20
060095,000213:
060096,000214: # PROGRAM DESCRIPTION:
060097,000215:
060098,000216: # ALTDSPLY REVERSES THE DSPLYALT BIT OF RCSFLAGS EACH TIME IT IS CALLED, WHICH IS PRESUMABLY EVERY 100 MS.
060099,000217: # IF THE REVERSED BIT IS ONE, NEEDLER IS CALLED TO DISPLAY ATTITUDE ERRORS. IF THE BIT IS ZERO, THE ATTITUDE ERR-
060100,000218: # ORS ARE CALCULATED AS 1) ESTIMATED RATES (FOLLOWING) IF NEED2FLG = 1, OTHERWISE AS 2) DAP FOLLOWING ERRORS FOR
060101,000219: # NEEDLFLG = 0 AND 3) TOTAL ATTITUDE ERRORS FOR NEEDLFLG = 1.
060102,000220:
060103,000221: # WARNING: ALTDSPLY MAY ONLY BE CALLED WITH INTERRUPT INHIBITED.
060104,000222:
060105,000223: # WARNING: EBANK MUST BE SET TO 6 WHEN USING THIS ROUTINE.
060106,000224:
060107,000225: # INPUT: RCSFLAGS AND 1) IF NEEDLFLG=0, INPUT PERROR,QERROR,RERROR.
060108,000226: # 2) IF NEEDLFLG=1, INPUT CPHI,CTHETA,CPSI,CDUX,CDUY,CDUZ,M11,M21,M32,M22,M32. (GPMATRIX)
060109,000227:
060110,000228: # 3) IF NEED2FLG = 1, INPUT OMEGAP, OMEGAQ, AND OMEGAR.
060111,000229:
060112,000230: # OUTPUTS: RCSFLAGS WITH DSPLYALT REVERSED,AK,AK1,AK2,+ NEEDLER OUTPUTS.
060113,000231:
060114,000232: # ENTRY: TCF ALTDSPLY
060115,000233:
060116,000234: # EXIT: TCF CHEKMORE
060117,000235:
060118,000236: # ALARM OR ABORT EXITS: NONE
060119,000237:
060120,000238: # SUBPROGRAMS CALLED: NEEDLER, OVERSUB2
060121,000239:
060122,000240: # DEBRIS: A,L,AND NEEDLER DEBRIS.
060123,000241:
060124,000242: 20,2227 31262 ALTDSPLY CA RCSFLAGS # INVERT THE DISPLAY ALTERNATION BIT.
060125,000243: 20,2230 54001 TS L
060126,000244: 20,2231 34750 CA DSPLYALT
060127,000245: 20,2232 00006 EXTEND
060128,000246: 20,2233 06001 RXOR LCHAN
060129,000247: 20,2234 55262 TS RCSFLAGS
060130,000248:
060131,000249: 20,2235 74750 MASK DSPLYALT
060132,000250: 20,2236 10000 CCS A # IS ALTERNATION FLAG ZERO?
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Page 1403
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060134,000252: 20,2237 12336 TCF NEEDLER
060135,000253:
060136,000254: 20,2240 40074 CS FLAGWRD0 # CHECK FOR RATE DISPLAY TO ERROR NEEDLES
060137,000255: 20,2241 74735 MASK NEED2BIT # VIA EXTENDED VERB 60
060138,000256: 20,2242 00006 EXTEND
060139,000257: 20,2243 12257 BZF DISPRATE
060140,000258:
060141,000259: 20,2244 30074 CAE FLAGWRD0 # NEEDLFLG WILL INDICATE TOTAL OR DAP AT-
060142,000260: 20,2245 74750 MASK NEEDLBIT # TITUDE ERROR DISPLAY REQUEST.
060143,000261: 20,2246 10000 CCS A
060144,000262: 20,2247 12266 TCF DSPLYTOT # TOTAL ERROR IS NEEDED IN AK,AK +1,AK +2
060145,000263:
060146,000264: 20,2250 41450 CS QERROR # YES. DISPLAY ATT ERRORS ON THE ,-BALL.
060147,000265: 20,2251 55761 TS AK +1 # ERROR COMPLEMENTS ARE INPUT TO NEEDLER.
060148,000266: 20,2252 41452 CS RERROR
060149,000267: 20,2253 55762 TS AK +2
060150,000268: 20,2254 41464 CS PERROR
060151,000269: 20,2255 57760 XCH AK
060152,000270:
060153,000271: 20,2256 12456 TCF RETNMORE # DISPLAY THESE THE NEXT TIME THROUGH
060154,000272:
060155,000273: 20,2257 41422 DISPRATE CS OMEGAQ # LOAD ESTIMATED RATES (FOLLOWING)
060156,000274: 20,2260 55761 TS AK +1
060157,000275: 20,2261 41423 CS OMEGAR
060158,000276: 20,2262 55762 TS AK +2
060159,000277: 20,2263 41421 CS OMEGAP
060160,000278: 20,2264 57760 XCH AK
060161,000279: 20,2265 12456 TCF RETNMORE
060162,000280:
060163,000281: # CALCULATE GIMBAL ANGLE TOTAL ERRORS, RESOLVE INTO PILOT AXES, STORE TOTAL ERRORS FOR NEEDLER. Q-AXIS FIRST.
060164,000282:
060165,000283: 20,2266 00006 DSPLYTOT EXTEND
060166,000284: 20,2267 22061 QXCH ITEMP1 # SAVE Q FOR CHEKBITS RETURN.
060167,000285:
060168,000286: 20,2270 30322 CA CTHETA # DESIRED ATTITUDE, Y-AXIS, 2'S COMP.
060169,000287: 20,2271 00006 EXTEND # SUBTRACT CURRENT ATTITUDE.
060170,000288: 20,2272 20033 MSU CDUY # DIFFERENCE SCALED AT PI, 1'S COMP.
060171,000289: 20,2273 55760 TS AK # SAVE FOR R-ERROR CALCULATION.
060172,000290: 20,2274 00006 EXTEND
060173,000291: 20,2275 71415 MP M21 # (CHTETA-CDUY)*M21 SCALED AT PI RADIANS.
060174,000292: 20,2276 57761 XCH AK +1 # STORE FIRST TERM OF Q ERROR.
060175,000293: 20,2277 30323 CA CPSI # DESIRED ATTITUDE, Z-AXIS, 2'S COMP.
060176,000294: 20,2300 00006 EXTEND # SUBTRACT CURRENT ATTITUDE.
060177,000295: 20,2301 20034 MSU CDUZ # DIFFERENCE SCALED AT PI, 1'S COMP.
060178,000296: 20,2302 55762 TS AK +2 # SAVE Z-AXIS TERM FOR R ERROR CALCULATION
060179,000297: 20,2303 00006 EXTEND
060180,000298: 20,2304 71417 MP M22 # (CPSI-CDUZ)*M22, SCALED AT PI RADIANS.
060181,000299: 20,2305 61761 AD AK +1 # Q ERROR COMPLETE , AT PI RAD.
060182,000300: 20,2306 02451 TC OVERSUB2 # PIN NEEDLES IN CASE OF OVERFLOW.
060183,000301: 20,2307 55761 TS AK +1
060184,000302:
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Page 1404
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060186,000304: # R ERROR CALCULATION NEXT.
060187,000305:
060188,000306: 20,2310 31760 CA AK # Y-AXIS DIFFERENCE STORED BY Q-AXIS CALC.
060189,000307: 20,2311 00006 EXTEND
060190,000308: 20,2312 71416 MP M31 # (CTHETA-CDUY)*M31, SCALED AT PI RADIANS.
060191,000309: 20,2313 57762 XCH AK +2 # FIRST TERM OF R ERROR.
060192,000310: # Z-AXIS DIFFERENCE, STORED BY A CALC. IS
060193,000311: 20,2314 00006 EXTEND # RECOVERED BY THE EXCHANGE.
060194,000312: 20,2315 71420 MP M32 # (CPSI-CDUZ)*M32, SCALED AT PI RADIANS.
060195,000313: 20,2316 61762 AD AK +2 # R ERROR COMPLETE , AT PI RAD.
060196,000314: 20,2317 02451 TC OVERSUB2 # PIN NEEDLES IN CASE OF OVERFLOW.
060197,000315: 20,2320 55762 TS AK +2
060198,000316:
060199,000317: # NOW CALCULATE P ERROR. (NOTE THAT M13 = 1, SCALED AT 1, SO THE MULTIPLICATION IS BY-PASSED.)
060200,000318:
060201,000319: 20,2321 31760 CA AK # Y-AXIS DIFFERENCE STORED BY Q AXIS CALC.
060202,000320: 20,2322 00006 EXTEND
060203,000321: 20,2323 71414 MP M11 # (CTHETA-CDUY)*M11 SCALED AT PI RADIANS.
060204,000322: 20,2324 57760 XCH AK # FIRST TERM OF P ERROR IN AK, AT PI RAD.
060205,000323: 20,2325 30321 CAE CPHI # DESIRED ATTITUDE, X-AXIS, 2'S COMP.
060206,000324: 20,2326 00006 EXTEND # SUBTRACT CURRENT X ATTITUDE.
060207,000325: 20,2327 20032 MSU CDUX # X-AXIS DIFFERENCE, 1'S COMP, AT PI RAD.
060208,000326:
060209,000327: # M13 = 1, SO BYPASS THE MULTIPLICATION.
060210,000328: # EXTEND
060211,000329: # MP M13 (CPHI-CDUX)*M13 SCALED AT PI RADIANS.
060212,000330:
060213,000331: 20,2330 61760 AD AK # P ERROR COMPLETE , SCALED AT PI RAD
060214,000332: 20,2331 02451 TC OVERSUB2 # PIN NEEDLES IN CASE OF OVERFLOW.
060215,000333: 20,2332 55760 TS AK
060216,000334:
060217,000335: 20,2333 00006 EXTEND
060218,000336: 20,2334 22061 QXCH ITEMP1 # RESTORE Q FOR CHEKBITS RETURN.
060219,000337:
060220,000338: 20,2335 12456 TCF RETNMORE # DISPLAY THESE THE NEXT TIME THROUGH
060221,000339:
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Page 1405
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060223,000341: # FDAI ATTITUDE ERROR DISPLAY SUBROUTINE
060224,000342:
060225,000343: # PROGRAM DESCRIPTION: D. KEENE 5/24/67
060226,000344:
060227,000345: # MOD 1 BY CRAIG WORK, 12 DEC 67
060228,000346:
060229,000347: # MOD 2 BY CRAIG WORK, 6 APRIL 68 CONVERTS ATTITUDE ERROR DISPLAY SCALING FROM 16 7/8 DEG. TO 42 3/16 DEGREES.
060230,000348:
060231,000349: # THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS)
060232,000350: # IN THE CDUS. CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT
060233,000351: # OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES
060234,000352: # THE DACS.
060235,000353:
060236,000354:
060237,000355: # CALLING SEQUENCE:
060238,000356:
060239,000357: # DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE
060240,000358: # TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM:
060241,000359:
060242,000360: # CS RCSFLAGS IN EBANK6
060243,000361: # MASK BIT3
060244,000362: # ADS RCSFLAGS
060245,000363:
060246,000364: # THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANSFERED TO THE FOLLOWING LOCATIONS IN EBANK6:
060247,000365:
060248,000366: # AK SCALED 180 DEGREES NOTE: THESE LOCATIONS ARE SUBJECT
060249,000367: # AK1 SCALED 180 DEGREES TO CHANGE
060250,000368: # AK2 SCALED 180 DEGREES
060251,000369:
060252,000370: # FULL SCALED DEFLECTION OF THE NEEDLES CORRESPONDS TO 5 1/16 DEGREES, WHILE 384 BITS IN THE IMU ERROR COUNTER
060253,000371: # CORRESPONDS TO 42 3/16 DEGREES. (DAC MAXIMUM CAPACITY IS 384 BITS.) 46 BITS EFFECTIVELY PIN THE NEEDLES.
060254,000372:
060255,000373: # FOR RATE DISPLAY, FULL SCALE NEEDLE DEFLECTION IS 1 17/64 DEG/SEC, AND A FULL COUNTER IS ABOUT 10.5 DEG/SEC.
060256,000374: # A CALL TO NEEDLER WILL THEN UPDATE THE DISPLAY:
060257,000375:
060258,000376: # INHINT
060259,000377: # TC IBNKCALL NOTE: EBANK SHOULD BE SET TO E6
060260,000378: # CADR NEEDLER
060261,000379: # RELINT
060262,000380:
060263,000381: # THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED. AT LEAST 3 PASSES THRU THE PROGRAM ARE
060264,000382: # REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS.
060265,000383: # NOTE: EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50MS TO ASSURE PROPER RELAY SEQUENCING.
060266,000384:
060267,000385: # ERASABLE USED:
060268,000386: # AK CDUXCMD
060269,000387: # AK1 CDUYCMD
060270,000388: # AK2 CDUZCMD
060271,000389: # EDRIVEX A,L,Q
060272,000390: # EDRIVEY T5TEMP
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Page 1406
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060274,000392: # EDRIVEZ DINDX
060275,000393:
060276,000394: # SWITCHES: RCSFLAGS BITS 3,2
060277,000395:
060278,000396: # I/O CHANNELS: CHAN12 BIT 4 (COARSE ALIGN - READ ONLY)
060279,000397: # CHAN12 BIT 6 (IMU ERROR COUNTER ENABLE)
060280,000398: # CHAN14 BIT 13,14,15 (DAC ACTIVITY)
060281,000399:
060282,000400:
060283,000401: # SIGN CONVENTION< AK = THETAC - THETA
060284,000402: # WHERE THETAC = COMMAND ANGLE
060285,000403: # THETA = PRESENT ANGLE
060286,000404:
060287,000405:
060288,000406: 20,2336 31262 NEEDLER CA RCSFLAGS
060289,000407: 20,2337 76245 MASK SIX
060290,000408: 20,2340 00006 EXTEND
060291,000409: 20,2341 12376 BZF NEEDLES3
060292,000410: 20,2342 74751 MASK BIT3
060293,000411: 20,2343 00006 EXTEND
060294,000412: 20,2344 12367 BZF NEEDLER2 # BIT3 = 0, BIT2 = 1
060295,000413:
060296,000414: 20,2345 44746 CS BIT6 # FIRST PASS BIT3 = 1
060297,000415: 20,2346 00006 EXTEND # DISABLE IMU ERROR COUNTER TO ZERO DACS
060298,000416: 20,2347 03012 WAND CHAN12 # MUST WAIT AT LEAST 60 MS BEFORE
060299,000417: 20,2350 44755 NEEDLE11 CS ZERO # ENABLING COUNTERS.
060300,000418: 20,2351 55760 TS AK # ZERO THE INPUTS ON FIRST PASS
060301,000419: 20,2352 55761 TS AK1
060302,000420: 20,2353 55762 TS AK2
060303,000421: 20,2354 55763 TS EDRIVEX # ZERO THE DISPLAY REGISTERS
060304,000422: 20,2355 55764 TS EDRIVEY
060305,000423: 20,2356 55765 TS EDRIVEZ
060306,000424: 20,2357 54050 TS CDUXCMD # ZERO THE OUT COUNTERS
060307,000425: 20,2360 54051 TS CDUYCMD
060308,000426: 20,2361 54052 TS CDUZCMD
060309,000427: 20,2362 46245 CS SIX # RESET RCSFLAGS FOR PASS2
060310,000428: 20,2363 71262 MASK RCSFLAGS
060311,000429: 20,2364 64752 AD BIT2
060312,000430: 20,2365 55262 TS RCSFLAGS
060313,000431: 20,2366 12456 TCF RETNMORE
060314,000432:
060315,000433: 20,2367 34746 NEEDLER2 CAF BIT6 # ENABLE IMU ERROR COUNTERS
060316,000434: 20,2370 00006 EXTEND
060317,000435: 20,2371 05012 WOR CHAN12
060318,000436: 20,2372 46245 CS SIX # RESET RCSFLAGS TO DISPLAY ATTITUDE
060319,000437: 20,2373 71262 MASK RCSFLAGS # ERRORS WAIT ATLEAST 4 MS FOR
060320,000438: 20,2374 55262 TS RCSFLAGS # RELAY CLOSURE
060321,000439: 20,2375 12456 TCF RETNMORE
060322,000440:
060323,000441: 20,2376 34746 NEEDLES3 CAF BIT6 # CHECK TO SEE IF IMU ERROR COUNTER
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Page 1407
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060325,000443: 20,2377 00006 EXTEND # IS ENABLED
060326,000444: 20,2400 02012 RAND CHAN12
060327,000445: 20,2401 10000 CCS A # IF NOT, RE-INITIALIZE NEEDLER.
060328,000446: 20,2402 12407 TCF NEEDLES
060329,000447:
060330,000448: 20,2403 41262 CS RCSFLAGS # SET UP INITIALIZATION FLAG IN RCSFLAGS.
060331,000449: 20,2404 74751 MASK BIT3
060332,000450: 20,2405 27262 ADS RCSFLAGS
060333,000451: 20,2406 12456 TCF RETNMORE
060334,000452:
060335,000453: 20,2407 34752 NEEDLES CAF TWO
060336,000454: 20,2410 54063 DACLOOP TS DINDX
060337,000455: 20,2411 42450 CS ONETENTH # RESCALE INPUTS TO + OR - 1800 DEGREES.
060338,000456: 20,2412 00006 EXTEND
060339,000457: 20,2413 50063 INDEX DINDX
060340,000458: 20,2414 71760 MP AK
060341,000459: 20,2415 54001 TS L
060342,000460: 20,2416 10000 CCS A
060343,000461: 20,2417 32446 CA DACLIMIT
060344,000462: 20,2420 12422 TCF +2
060345,000463: 20,2421 42446 CS DACLIMIT
060346,000464: 20,2422 60001 AD L
060347,000465: 20,2423 54061 TS T5TEMP # OVFLO CHK
060348,000466: 20,2424 12430 TCF +4
060349,000467: 20,2425 50000 INDEX A # ON OVERFLOW LIMIT OUTPUT TO +-384
060350,000468: 20,2426 32446 CAF DACLIMIT
060351,000469: 20,2427 54001 TS L
060352,000470: 20,2430 50063 INDEX DINDX
060353,000471: 20,2431 41763 CS EDRIVEX # CURRENT VALUE OF DAC
060354,000472: 20,2432 60001 AD L
060355,000473: 20,2433 50063 INDEX DINDX
060356,000474: 20,2434 26050 ADS CDUXCMD
060357,000475: 20,2435 50063 INDEX DINDX
060358,000476: 20,2436 23763 LXCH EDRIVEX
060359,000477: 20,2437 10063 CCS DINDX
060360,000478: 20,2440 12410 TCF DACLOOP
060361,000479: 20,2441 37743 CAF 13,14,15
060362,000480: 20,2442 00006 EXTEND
060363,000481: 20,2443 05014 WOR CHAN14 # SET DAC ACTIVITY BITS
060364,000482: 20,2444 12456 TCF RETNMORE
060365,000483:
060366,000484: 20,2445 77177 DEC -384 B-14
060367,000485: 20,2446 37200 DACLIMIT DEC 16000 B-14
060368,000486: 20,2447 00600 DEC 384 B-14
060369,000487:
060370,000488: 20,2450 03146 ONETENTH OCT 03146 # DECIMAL +0.1, SCALED AT 1.
060371,000489: 20,2451 4750 DSPLYALT EQUALS BIT4 # 100 MS ALTERNATION BIT IN RCSFLAGS
060372,000490:
060373,000491:
060374,000492: 20,2451 54007 OVERSUB2 TS 7 # RETURNS A UNCHANGED OR LIMITED TO
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Page 1408
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060376,000494: 20,2452 00002 TC Q # POSMAX OR NEGMAX IF A HAS OVERFLOW
060377,000495: 20,2453 50000 INDEX A
060378,000496: 20,2454 44734 CS LIMITS # DUPLICATE CODING IN BANK 16
060379,000497: 20,2455 00002 TC Q
060380,000498:
060381,000499:
060382,000500: 20,2456 00006 RETNMORE EXTEND # RETURN TO CHEKMORE
060383,000501: 20,2457 32462 DCA MORECADR
060384,000502: 20,2460 52006 DTCB
060385,000503:
060386,000504: 20,2461 E6,1536 EBANK= AOSQ
060387,000505: 20,2461 02016 34106 MORECADR 2CADR CHEKMORE
060388,000506:
End of include-file DAPIDLER_PROGRAM.agc. Parent file is MAIN.agc