Source Code

These source-code files were transcribed from scans made from Don Eyles's personal copy of Luminary 069. They were scanned at archive.org's Boston facility, and the scanning was sponsored by Onno Hommes. The code was transcribed from these scans by a team of volunteers who are referenced in the program comments. Comments from the original source code are prefixed with a single '#' symbol, whereas comments added later are prefixed by "##" or "###". In some cases, where similar code blocks exist in previously-transcribed AGC programs (primarily Luminary 99, from Apollo 11) those code blocks were used as a starting point and then corrected to agree with the Luminary 69 scans. The full scans are available at the Virtual AGC project's collection at archive.org, while more-convenient reduced-size (but reduced-quality) images are available at the main Virtual AGC website. Report any errors noted by creating an issue report at the Virtual AGC project's GitHub repository. Notations on the program listing read, in part:

	GAP:  ASSEMBLE REVISION 069 OF AGC PROGRAM LUMINARY BY NASA 2021112-011
	19:02 NOV. 25,1968
Note that the date is the date of the printout, not the date of the program revision.

060963,000002:                                                                                                  ## Copyright:   Public domain.
060964,000003:                                                                                                  ## Filename:    DAPIDLER_PROGRAM.agc
060965,000004:                                                                                                  ## Purpose:     The main source file for Luminary revision 069.
060966,000005:                                                                                                  ##              It is part of the source code for the original release
060967,000006:                                                                                                  ##              of the flight software for the Lunar Module's (LM) Apollo
060968,000007:                                                                                                  ##              Guidance Computer (AGC) for Apollo 10. The actual flown
060969,000008:                                                                                                  ##              version was Luminary 69 revision 2, which included a
060970,000009:                                                                                                  ##              newer lunar gravity model and only affected module 2.
060971,000010:                                                                                                  ##              This file is intended to be a faithful transcription, except
060972,000011:                                                                                                  ##              that the code format has been changed to conform to the
060973,000012:                                                                                                  ##              requirements of the yaYUL assembler rather than the
060974,000013:                                                                                                  ##              original YUL assembler.
060975,000014:                                                                                                  ## Reference:   pp. 1405-1415
060976,000015:                                                                                                  ## Assembler:   yaYUL
060977,000016:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
060978,000017:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
060979,000018:                                                                                                  ## Mod history: 2016-12-13 MAS  Created from Luminary 99.
060980,000019:                                                                                                  ##              2016-12-18 MAS  Updated from comment-proofed Luminary 99 version.
060981,000020:                                                                                                  ##              2016-12-23 RRB  Updated for Luminary 69.
060982,000021:                                                                                                  ##              2017-01-28 RSB  Proofed comment text using octopus/prooferComments
060983,000022:                                                                                                  ##                              and fixed errors found.
060984,000023: 

Page 1405

060986,000025:                                                                                                  #  THE DAPIDLER PROGRAM IS STARTED BY FRESH START AND RESTART.  THE DAPIDLER PROGRAM IS DONE 10 TIMES
060987,000026:                                                                                                  #  PER SECOND UNTIL THE ASTRONAUT DESIRES THE DAP TO WAKE UP, AND THE IMU AND CDUS ARE READY FOR USE BY THE DAP.
060988,000027:                                                                                                  #  THE NECESSARY INITIALIZATION OF THE DAP IS DONE BY THE DAPIDLER PROGRAM.
060989,000028: 
060990,000029: 16,2000                                           BANK     16                                    
060991,000030: 16,2000                                           SETLOC   DAPS1                                 
060992,000031: 16,2000                                           BANK                                           
060993,000032: 
060994,000033: 16,2000  E6,1537                                  EBANK=   AOSQ                                  
060995,000034: 
060996,000035: 16,2000                                           COUNT*   $$/DAPID                              
060997,000036: 
060998,000037: 16,2000           00006        CHEKBITS           EXTEND                                         
060999,000038: 16,2001           00031                           READ     CHAN31                                #  IF BOTH BIT13 AND BIT14 ARE ONE, THEN
061000,000039: 16,2002           40000                           COM                                            #  THE MODE SELECT SWITCH IS IN THE OFF
061001,000040: 16,2003           74355                           MASK     BIT13-14                              #  POSITION, AND SO THE DAP SHOULD BE OFF,
061002,000041: 16,2004           00006                           EXTEND                                         #  WITH NO ATTITUDE ERROR DISPLAY.
061003,000042: 16,2005           12154                           BZF      MOREIDLE                              
061004,000043: 
061005,000044: 16,2006           41303                           CS       IMODES33                              
061006,000045: 16,2007           74746                           MASK     BIT6                                  
061007,000046: 16,2010           10000                           CCS      A                                     
061008,000047: 16,2011           12203                           TCF      JUMPDSP                               
061009,000048: 16,2012           41273                           CS       RCSFLAGS                              #  IMU NOT USABLE.  SET UP INITIALIZATION
061010,000049: 16,2013           74751                           MASK     BIT3                                  #  FLAG FOR ATT ERROR DISPLAY ROUTINE.
061011,000050: 16,2014           27273                           ADS      RCSFLAGS                              
061012,000051: 16,2015           12160                           TCF      SHUTDOWN                              
061013,000052: 
061014,000053: 16,2016           34742        CHEKMORE           CAF      BIT10                                 #  BIT 10 OF 30 IS PGNCS CONTROL OF S/C
061015,000054: 16,2017           00006                           EXTEND                                         
061016,000055: 16,2020           02030                           RAND     CHAN30                                #  BITS IN 30 ARE INVERTED
061017,000056: 16,2021           10000                           CCS      A                                     
061018,000057: 16,2022           12154                           TCF      MOREIDLE                              
061019,000058: 
061020,000059: 16,2023           00002                           RETURN                                         
061021,000060: 

Page 1406

061023,000062:                                                                                                  #  DAPIDLER ENTRY.
061024,000063: 
061025,000064: 16,2024           22016        DAPIDLER           LXCH     BANKRUPT                              #  INTERRUPT LEAD INS (CONTINUED)
061026,000065: 16,2025           00006                           EXTEND                                         
061027,000066: 16,2026           22012                           QXCH     QRUPT                                 
061028,000067: 
061029,000068: 16,2027           31273                           CA       RCSFLAGS                              
061030,000069: 16,2030           74737                           MASK     BIT13                                 
061031,000070: 16,2031           10000                           CCS      A                                     #  CHECK IF 1/ACCJOB HAS BEEN SET UP SINCE
061032,000071: 16,2032           12041                           TCF      CHECKUP                               #  THE LAST FRESH START OR RESTART.
061033,000072: 16,2033           34737                           CA       BIT13                                 
061034,000073: 16,2034           27273                           ADS      RCSFLAGS                              #  BIT 13 IS 1.
061035,000074: 16,2035           37714                           CAF      PRIO27                                
061036,000075: 16,2036           05072                           TC       NOVAC                                 #  SET UP JOB TO DO A LITTLE INITIALIZATION
061037,000076: 16,2037  E6,1537                                  EBANK=   AOSQ                                  #        AND EXECUTE 1/ACCS.
061038,000077: 16,2037           02447 40106                     2CADR    1/ACCSET                              #  (WILL BRANCH TO MOREIDLE ON ACCSOKAY)
061039,000078: 
061040,000079: 16,2041           02000        CHECKUP            TC       CHEKBITS                              #  CHECK TO SEE IF LM DAP IS TO GO ON AND
061041,000080:                                                                                                  #        DO ERROR DISPLAY.
061042,000081: 
061043,000082: 16,2042           30111                           CAE      DAPBOOLS                              #  IF 1/ACCS HAS NOT BEEN COMPLETED, IDLE.
061044,000083: 16,2043           74751                           MASK     ACCSOKAY                              #        NOTE:   ONLY FRESH START AND RESTART
061045,000084: 16,2044           00006                           EXTEND                                         #                KNOCK THIS BIT DOWN.
061046,000085: 16,2045           12154                           BZF      MOREIDLE                              
061047,000086: 
061048,000087: 16,2046           04674        STARTDAP           TC       IBNKCALL                              #  ZERO ATTITUDE ERROR AND DESIRED RATES.
061049,000088: 16,2047           40153                           FCADR    ZATTEROR                              
061050,000089: 16,2050           34755                           CAF      ZERO                                  #  ********** INITIALIZE: **********
061051,000090: 16,2051           55524                           TS       TJP                                   
061052,000091: 16,2052           55525                           TS       TJU                                   
061053,000092: 16,2053           55526                           TS       TJV                                   
061054,000093: 16,2054           55417                           TS       OMEGAP                                #  RATES IN BODY (PILOT) COORDINATES.
061055,000094: 16,2055           55420                           TS       OMEGAQ                                
061056,000095: 16,2056           55421                           TS       OMEGAR                                
061057,000096: 16,2057           55426                           TS       TRAPEDP                               
061058,000097: 16,2060           55427                           TS       TRAPEDQ                               
061059,000098: 16,2061           55430                           TS       TRAPEDR                               
061060,000099: 16,2062           55537                           TS       AOSQ                                  #  OFFSET ACCELERATION ESTIMATES.
061061,000100: 16,2063           55540                           TS       AOSQ       +1                         
061062,000101: 16,2064           55541                           TS       AOSR                                  
061063,000102: 16,2065           55542                           TS       AOSR       +1                         
061064,000103: 16,2066           55422                           TS       ALPHAQ                                #  COPIES OF OFFSET ESTIMATES FOR DOWNLIST.
061065,000104: 16,2067           55423                           TS       ALPHAR                                
061066,000105: 16,2070           55500                           TS       NEGUQ                                 
061067,000106: 16,2071           55502                           TS       NEGUR                                 
061068,000107: 16,2072           55545                           TS       AOSQTERM                              #  QRAXIS RATE DERIVATION TERMS AND KALMAN
061069,000108: 16,2073           55546                           TS       AOSRTERM                              #  FILTER INITIALIZATION TERMS.
061070,000109: 16,2074           55510                           TS       QACCDOT                               #  DESCENT ACCELERATION DERIVATIVE EST.
061071,000110: 16,2075           55512                           TS       RACCDOT                               

Page 1407

061073,000112: 16,2076           55501                           TS       ALLOWGTS                              #  AOSTASK FLAG FOR QRAXIS RCS CONTROL USE.
061074,000113: 16,2077           55627                           TS       COTROLER                              #  DO TRYGTS ON FIRST PASS (WILL GO TO RCS)
061075,000114: 16,2100           55631                           TS       INGTS                                 #  RECOGNIZE FIRST GTS PASS AS SUCH.
061076,000115: 16,2101           55630                           TS       QGIMTIMR                              #  STOP GIMBAL DRIVES.  (PROBABLY WOULD BE
061077,000116: 16,2102           55632                           TS       RGIMTIMR                              #        GOOD ENOUGH JUST TO INACTIVATE TIMERS)
061078,000117: 16,2103           55456                           TS       OLDPMIN                               #  MINIMUM IMPULSE MODE ERASABLES
061079,000118: 16,2104           55457                           TS       OLDQRMIN                              
061080,000119: 16,2105     4747               CALLGMBL           EQUALS   BIT5                                  #  RCSFLAGS INITIALIZATION.
061081,000120: 16,2105           42177                           CS       MANFLAG                               
061082,000121: 16,2106           71273                           MASK     RCSFLAGS                              #  NEGUQ(R) HAVE BEEN GENERATED.
061083,000122: 16,2107           55273                           TS       RCSFLAGS                              
061084,000123: 
061085,000124:                                                                                                  #  SET UP "OLD" MEASURED CDU ANGLES:
061086,000125: 
061087,000126: 16,2110           00006                           EXTEND                                         
061088,000127: 16,2111           30033                           DCA      CDUX                                  #  OLDXFORP AND OLDYFORP
061089,000128: 16,2112           53437                           DXCH     OLDXFORP                              
061090,000129: 16,2113           30034                           CA       CDUZ                                  
061091,000130: 16,2114           55440                           TS       OLDZFORQ                              
061092,000131: 16,2115           41273                           CS       RCSFLAGS                              
061093,000132: 16,2116           74740                           MASK     BIT12                                 
061094,000133: 16,2117           27273                           ADS      RCSFLAGS                              #  BIT 12 SET TO 1.
061095,000134: 16,2120           34751                           CA       FOUR                                  
061096,000135: 16,2121           55535                           TS       SKIPU                                 
061097,000136: 16,2122           55536                           TS       SKIPV                                 
061098,000137: 16,2123           34733                           CA       POSMAX                                
061099,000138: 16,2124           54031                           TS       TIME6                                 
061100,000139: 16,2125           55464                           TS       T6NEXT                                
061101,000140: 16,2126           55466                           TS       T6FURTHA                              
061102,000141: 16,2127           34755                           CA       ZERO                                  
061103,000142: 16,2130           55465                           TS       T6NEXT     +1                         
061104,000143: 16,2131           55467                           TS       T6FURTHA   +1                         
061105,000144: 16,2132           55463                           TS       NXT6ADR                               
061106,000145: 16,2133           55470                           TS       NEXTP                                 
061107,000146: 16,2134           55471                           TS       NEXTU                                 
061108,000147: 16,2135           55472                           TS       NEXTV                                 
061109,000148: 16,2136           44363                           CS       TEN                                   
061110,000149: 16,2137           55755                           TS       DAPZRUPT                              #  JASK NOT IN PROGRESS, INITIALIZE NEG.
061111,000150: 16,2140           34752                           CA       TWO                                   
061112,000151: 16,2141           55431                           TS       NPTRAPS                               
061113,000152: 16,2142           55432                           TS       NQTRAPS                               
061114,000153: 16,2143           55433                           TS       NRTRAPS                               
061115,000154: 16,2144           00006                           EXTEND                                         
061116,000155: 16,2145           32202                           DCA      PAXADIDL                              
061117,000156: 16,2146           53275                           DXCH     T5ADR                                 
061118,000157: 16,2147           37726        SETTIME5           CAF      MS100                                 
061119,000158: 16,2150           54030                           TS       TIME5                                 
061120,000159: 16,2151           15270                           TCF      RESUME                                
061121,000160: 16,2152  E6,1537                                  EBANK=   AOSQ                                  
061122,000161: 16,2152           02024 34106  IDLERADR           2CADR    DAPIDLER                              

Page 1408

061124,000163: 16,2154           04674        MOREIDLE           TC       IBNKCALL                              #  CALCULATE Q,R-AXES ATTITUDE ERRORS.
061125,000164: 16,2155           36563                           CADR     QERRCALC                              
061126,000165: 
061127,000166: 16,2156           04674                           TC       IBNKCALL                              
061128,000167: 16,2157           35425                           CADR     CALCPERR                              #  CALCULATE P AXIS ATTITUDE ERRORS.
061129,000168: 
061130,000169: 16,2160           00006        SHUTDOWN           EXTEND                                         
061131,000170: 16,2161           32153                           DCA      IDLERADR                              
061132,000171: 16,2162           53275                           DXCH     T5ADR                                 
061133,000172: 
061134,000173: 16,2163           34755                           CAF      ZERO                                  #  KILL ANY POSSIBLE JET REQUESTS
061135,000174: 16,2164           55470                           TS       NEXTP                                 
061136,000175: 16,2165           55471                           TS       NEXTU                                 
061137,000176: 16,2166           55472                           TS       NEXTV                                 
061138,000177: 16,2167           00006                           EXTEND                                         #  COMMAND JETS OFF.
061139,000178: 16,2170           01005                           WRITE    CHAN5                                 
061140,000179: 16,2171           00006                           EXTEND                                         
061141,000180: 16,2172           01006                           WRITE    CHAN6                                 
061142,000181: 16,2173           42200                           CS       BGIM23                                #  TURN TRIM GIMBAL OFF
061143,000182: 16,2174           00006                           EXTEND                                         
061144,000183: 16,2175           03012                           WAND     CHAN12                                
061145,000184: 16,2176           12147                           TCF      SETTIME5                              #  RETURN IN 100 MSEC.
061146,000185: 
061147,000186: 16,2177           03021        MANFLAG            OCT      03021                                 
061148,000187: 16,2200           07400        BGIM23             OCTAL    07400                                 
061149,000188: 16,2201  E6,1417                                  EBANK=   OMEGAP                                
061150,000189: 16,2201           02210 34106  PAXADIDL           2CADR    PAXIS                                 
061151,000190: 
061152,000191: 16,2203     7726               MS100              =        OCT37766                              
061153,000192: 16,2203     0061               COSMG              =        ITEMP1                                
061154,000193: 16,2203           00006        JUMPDSP            EXTEND                                         #  TRANSFER TO BANK 20
061155,000194: 16,2204           32207                           DCA      DSPCADR                               #  FOR ATTITUDE ERROR DISPLAYS
061156,000195: 16,2205           52006                           DTCB                                           
061157,000196: 
061158,000197: 16,2206  E6,1757                                  EBANK=   AK                                    
061159,000198: 16,2206           02226 40106  DSPCADR            2CADR    ALTDSPLY                              
061160,000199: 

Page 1409

061162,000201: 20,2226                                           BANK     20                                    
061163,000202: 20,2000                                           SETLOC   DAPS3                                 
061164,000203: 20,2000                                           BANK                                           
061165,000204: 20,2226                                           COUNT*   $$/NEEDL                              
061166,000205: 
061167,000206:                                                                                                  #  PROGRAM:      ALTDSPLY
061168,000207:                                                                                                  #  MOD 0.        6 DEC 1967
061169,000208:                                                                                                  #  AUTHOR:       CRAIG WORK, DON KEENE, MIT IL
061170,000209:                                                                                                  #  MOD 3 BY DON KEENE AUG 1, 1968 MOVED PROGRAM TO BANK 20
061171,000210: 
061172,000211:                                                                                                  #  PROGRAM DESCRIPTION:
061173,000212:                                                                                                  #        ALTDSPLY REVERSES THE DSPLYALT BIT OF RCSFLAGS EACH TIME IT IS CALLED, WHICH IS PRESUMABLY EVERY 100 MS.
061174,000213:                                                                                                  #        IF THE REVERSED BIT IS ONE, NEEDLER IS CALLED TO DISPLAY ATTITUDE ERRORS.  IF THE BIT IS ZERO, THE ATTITUDE ERR-
061175,000214:                                                                                                  #        ORS ARE CALCULATED AS 1) DAP FOLLOWING ERRORS, IF NEEDLFLG = 0, AND 2) TOTAL ATTITUDE ERRORS FOR NEEDLFLG = 1.
061176,000215: 
061177,000216: 
061178,000217:                                                                                                  #  WARNING:      ALTDSPLY MAY ONLY BE CALLED WITH INTERRUPT INHIBITED.
061179,000218: 
061180,000219:                                                                                                  #  WARNING:      EBANK MUST BE SET TO 6 WHEN USING THIS ROUTINE.
061181,000220: 
061182,000221:                                                                                                  #  INPUT:        RCSFLAGS AND    1) IF NEEDLFLG = 0, INPUT PERROR, QERROR, RERROR.
061183,000222:                                                                                                  #                                2) IF NEEDLFLG = 1, INPUT CPHI,CTHETA,CPSI,CDUX,CDUY,CDUZ,M11,M21,M31,M22,M32.  (GPMATRIX)
061184,000223: 
061185,000224: 
061186,000225:                                                                                                  #  OUTPUTS:      RCSFLAGS WITH DSPLYALT REVERSED, AK, AK1, AK2, + NEEDLER OUTPUTS.
061187,000226: 
061188,000227:                                                                                                  #  ENTRY:        TCF     ALTDSPLY
061189,000228: 
061190,000229:                                                                                                  #  EXIT:         TCF     CHEKMORE
061191,000230: 
061192,000231:                                                                                                  #  ALARM OR ABORT EXITS: NONE
061193,000232: 
061194,000233:                                                                                                  #  SUBPROGRAMS CALLED:  NEEDLER, OVERSUB2
061195,000234: 
061196,000235:                                                                                                  #  DEBRIS:       A, L, AND NEEDLER DEBRIS.
061197,000236: 
061198,000237: 20,2226           31273        ALTDSPLY           CA       RCSFLAGS                              #  INVERT THE DISPLAY ALTERNATION BIT.
061199,000238: 20,2227           54001                           TS       L                                     
061200,000239: 20,2230           34750                           CA       DSPLYALT                              
061201,000240: 20,2231           00006                           EXTEND                                         
061202,000241: 20,2232           06001                           RXOR     LCHAN                                 
061203,000242: 20,2233           55273                           TS       RCSFLAGS                              
061204,000243: 
061205,000244: 20,2234           74750                           MASK     DSPLYALT                              
061206,000245: 20,2235           10000                           CCS      A                                     #  IS ALTERNATION FLAG ZERO?
061207,000246: 20,2236           12322                           TCF      NEEDLER                               
061208,000247: 
061209,000248: 20,2237           30074                           CAE      FLAGWRD0                              #  NEEDLFLG WILL INDICATE TOTAL OR DAP AT-

Page 1410

061211,000250: 20,2240           74750                           MASK     NEEDLBIT                              #  TITUDE ERROR DISPLAY REQUEST.
061212,000251: 20,2241           10000                           CCS      A                                     
061213,000252: 20,2242           12252                           TCF      DSPLYTOT                              #  TOTAL ERROR IS NEEDED IN AK, AK +1, AK +2
061214,000253: 
061215,000254: 20,2243           41446                           CS       QERROR                                #  YES.  DISPLAY ATT ERRORS ON THE ,-BALL.
061216,000255: 20,2244           55760                           TS       AK         +1                         #  ERROR COMPLEMENTS ARE INPUT TO NEEDLER.
061217,000256: 20,2245           41450                           CS       RERROR                                
061218,000257: 20,2246           55761                           TS       AK         +2                         
061219,000258: 20,2247           41462                           CS       PERROR                                
061220,000259: 20,2250           57757                           XCH      AK                                    
061221,000260: 
061222,000261: 20,2251           12442                           TCF      RETNMORE                              #  DISPLAY THESE THE NEXT TIME THROUGH
061223,000262: 
061224,000263:                                                                                                  #  CALCULATE GIMBAL ANGLE TOTAL ERRORS, RESOLVE INTO PILOT AXES, STORE TOTAL ERRORS FOR NEEDLER.  Q-AXIS FIRST.
061225,000264: 
061226,000265: 20,2252           00006        DSPLYTOT           EXTEND                                         
061227,000266: 20,2253           22061                           QXCH     ITEMP1                                #  SAVE Q FOR CHEKBITS RETURN.
061228,000267: 
061229,000268: 20,2254           30322                           CA       CTHETA                                #  DESIRED ATTITUDE, Y-AXIS, 2'S COMP.
061230,000269: 20,2255           00006                           EXTEND                                         #  SUBTRACT CURRENT ATTITUDE.
061231,000270: 20,2256           20033                           MSU      CDUY                                  #  DIFFERENCE SCALED AT PI, 1'S COMP.
061232,000271: 20,2257           55757                           TS       AK                                    #  SAVE FOR R-ERROR CALCULATION.
061233,000272: 20,2260           00006                           EXTEND                                         
061234,000273: 20,2261           71413                           MP       M21                                   #  (CHTETA-CDUY)*M21 SCALED AT PI RADIANS.
061235,000274: 20,2262           57760                           XCH      AK         +1                         #  STORE FIRST TERM OF Q ERROR.
061236,000275: 20,2263           30323                           CA       CPSI                                  #  DESIRED ATTITUDE, Z-AXIS, 2'S COMP.
061237,000276: 20,2264           00006                           EXTEND                                         #  SUBTRACT CURRENT ATTITUDE.
061238,000277: 20,2265           20034                           MSU      CDUZ                                  #  DIFFERENCE SCALED AT PI, 1'S COMP.
061239,000278: 20,2266           55761                           TS       AK         +2                         #  SAVE Z-AXIS TERM FOR R ERROR CALCULATION
061240,000279: 20,2267           00006                           EXTEND                                         
061241,000280: 20,2270           71415                           MP       M22                                   #  (CPSI-CDUZ)*M22, SCALED AT PI RADIANS.
061242,000281: 20,2271           61760                           AD       AK         +1                         #  Q ERROR COMPLETE         , AT PI RAD.
061243,000282: 20,2272           02435                           TC       OVERSUB2                              #  PIN NEEDLES IN CASE OF OVERFLOW.
061244,000283: 20,2273           55760                           TS       AK         +1                         
061245,000284: 
061246,000285:                                                                                                  #  R ERROR CALCULATION NEXT.
061247,000286: 
061248,000287: 20,2274           31757                           CA       AK                                    #  Y-AXIS DIFFERENCE STORED BY Q-AXIS CALC.
061249,000288: 20,2275           00006                           EXTEND                                         
061250,000289: 20,2276           71414                           MP       M31                                   #  (CTHETA-CDUY)*M31, SCALED AT PI RADIANS.
061251,000290: 20,2277           57761                           XCH      AK         +2                         #  FIRST TERM OF R ERROR.
061252,000291:                                                                                                  #  Z-AXIS DIFFERENCE, STORED BY A CALC. IS
061253,000292: 20,2300           00006                           EXTEND                                         #  RECOVERED BY THE EXCHANGE.
061254,000293: 20,2301           71416                           MP       M32                                   #  (CPSI-CDUZ)*M32, SCALED AT PI RADIANS.
061255,000294: 20,2302           61761                           AD       AK         +2                         #  R ERROR COMPLETE         , AT PI RAD.
061256,000295: 20,2303           02435                           TC       OVERSUB2                              #  PIN NEEDLES IN CASE OF OVERFLOW.
061257,000296: 20,2304           55761                           TS       AK         +2                         
061258,000297: 
061259,000298:                                                                                                  #  NOW CALCULATE P ERROR.  (NOTE THAT M13 = 1, SCALED AT 1, SO THE MULTIPLICATION IS BY-PASSED.)

Page 1411

061261,000300: 20,2305           31757                           CA       AK                                    #  Y-AXIS DIFFERENCE STORED BY Q AXIS CALC.
061262,000301: 20,2306           00006                           EXTEND                                         
061263,000302: 20,2307           71412                           MP       M11                                   #  (CTHETA-CDUY)*M11 SCALED AT PI RADIANS.
061264,000303: 20,2310           57757                           XCH      AK                                    #  FIRST TERM OF P ERROR IN AK, AT PI RAD.
061265,000304: 20,2311           30321                           CAE      CPHI                                  #  DESIRED ATTITUDE, X-AXIS, 2'S COMP.
061266,000305: 20,2312           00006                           EXTEND                                         #  SUBTRACT CURRENT X ATTITUDE.
061267,000306: 20,2313           20032                           MSU      CDUX                                  #  X-AXIS DIFFERENCE, 1'S COMP, AT PI RAD.
061268,000307: 
061269,000308:                                                                                                  #  M13 = 1, SO BYPASS THE MULTIPLICATION.
061270,000309:                                                                                                  #                EXTEND
061271,000310:                                                                                                  #                MP      M13             (CPHI-CDUX)*M13 SCALED AT PI RADIANS.
061272,000311: 
061273,000312: 20,2314           61757                           AD       AK                                    #  P ERROR COMPLETE      , SCALED AT PI RAD
061274,000313: 20,2315           02435                           TC       OVERSUB2                              #  PIN NEEDLES IN CASE OF OVERFLOW.
061275,000314: 20,2316           55757                           TS       AK                                    
061276,000315: 
061277,000316: 20,2317           00006                           EXTEND                                         
061278,000317: 20,2320           22061                           QXCH     ITEMP1                                #  RESTORE Q FOR CHEKBITS RETURN.
061279,000318: 
061280,000319: 20,2321           12442                           TCF      RETNMORE                              #  DISPLAY THESE THE NEXT TIME THROUGH
061281,000320: 

Page 1412

061283,000322:                                                                                                  #  FDAI ATTITUDE ERROR DISPLAY SUBROUTINE
061284,000323: 
061285,000324:                                                                                                  #  PROGRAM DESCRIPTION:          D. KEENE        5/24/67
061286,000325:                                                                                                  #  MOD 1 BY CRAIG WORK, 12 DEC 67
061287,000326:                                                                                                  #  MOD 2 BY CRAIG WORK, 6 APRIL 68 CONVERTS ATTITUDE ERROR DISPLAY SCALING FROM 16 7/8 DEG. TO 42 3/16 DEGREES.
061288,000327: 
061289,000328:                                                                                                  #  THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS)
061290,000329:                                                                                                  #  IN THE CDUS.  CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT
061291,000330:                                                                                                  #  OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES
061292,000331:                                                                                                  #  THE DACS.
061293,000332: 
061294,000333:                                                                                                  #  CALLING SEQUENCE:
061295,000334:                                                                                                  #        DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE
061296,000335:                                                                                                  #        TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM:
061297,000336:                                                                                                  #                CS      RCSFLAGS        IN EBANK6
061298,000337:                                                                                                  #                MASK    BIT3
061299,000338:                                                                                                  #                ADS     RCSFLAGS
061300,000339:                                                                                                  #        THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANSFERED TO THE FOLLOWING LOCATIONS IN EBANK6:
061301,000340:                                                                                                  #                AK      SCALED 180 DEGREES      NOTE:   THESE LOCATIONS ARE SUBJECT
061302,000341:                                                                                                  #                AK1     SCALED 180 DEGREES              TO CHANGE
061303,000342:                                                                                                  #                AK2     SCALED 180 DEGREES
061304,000343:                                                                                                  #        FULL SCALED DEFLECTION OF THE NEEDLES CORRESPONDS TO 5 1/16 DEGREES, WHILE 384 BITS IN THE IMU ERROR COUNTER
061305,000344:                                                                                                  #        CORRESPONDS TO 42 3/16 DEGREES.  (DAC MAXIMUM CAPACITY IS 384 BITS.)  46 BITS EFFECTIVELY PIN THE NEEDLES.
061306,000345: 
061307,000346:                                                                                                  #        A CALL TO NEEDLER WILL THEN UPDATE THE DISPLAY:
061308,000347:                                                                                                  #                INHINT
061309,000348:                                                                                                  #                TC      IBNKCALL        NOTE:  EBANK SHOULD BE SET TO E6
061310,000349:                                                                                                  #                CADR    NEEDLER
061311,000350:                                                                                                  #                RELINT
061312,000351:                                                                                                  #        THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED.  AT LEAST 3 PASSES THRU THE PROGRAM ARE
061313,000352:                                                                                                  #        REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS.
061314,000353:                                                                                                  #        NOTE:  EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50 MS TO ASSURE PROPER RELAY SEQUENCING.
061315,000354: 
061316,000355:                                                                                                  #  ERASABLE USED:
061317,000356:                                                                                                  #        AK              CDUXCMD
061318,000357:                                                                                                  #        AK1             CDUYCMD
061319,000358:                                                                                                  #        AK2             CDUZCMD
061320,000359:                                                                                                  #        EDRIVEX         A,L,Q
061321,000360:                                                                                                  #        EDRIVEY         T5TEMP
061322,000361:                                                                                                  #        EDRIVEZ         DINDX

Page 1413

061324,000363: 
061325,000364:                                                                                                  #  SWITCHES:             RCSFLAGS  BITS 3,2
061326,000365: 
061327,000366:                                                                                                  #  I/O CHANNELS:         CHAN12  BIT 4 (COARSE ALIGN - READ ONLY)
061328,000367:                                                                                                  #                        CHAN12  BIT 6 (IMU ERROR COUNTER ENABLE)
061329,000368:                                                                                                  #                        CHAN14  BIT 13,14,15 (DAC ACTIVITY)
061330,000369: 
061331,000370:                                                                                                  #  SIGN CONVENTION<      AK = THETAC - THETA
061332,000371:                                                                                                  #                        WHERE   THETAC = COMMAND ANGLE
061333,000372:                                                                                                  #                                THETA = PRESENT ANGLE
061334,000373: 
061335,000374: 20,2322           31273        NEEDLER            CA       RCSFLAGS                              
061336,000375: 20,2323           76241                           MASK     SIX                                   
061337,000376: 20,2324           00006                           EXTEND                                         
061338,000377: 20,2325           12362                           BZF      NEEDLES3                              
061339,000378: 20,2326           74751                           MASK     BIT3                                  
061340,000379: 20,2327           00006                           EXTEND                                         
061341,000380: 20,2330           12353                           BZF      NEEDLER2                              #  BIT3 = 0, BIT2 = 1
061342,000381: 
061343,000382: 20,2331           44746                           CS       BIT6                                  #  FIRST PASS BIT3 = 1
061344,000383: 20,2332           00006                           EXTEND                                         #  DISABLE IMU ERROR COUNTER TO ZERO DACS
061345,000384: 20,2333           03012                           WAND     CHAN12                                #  MUST WAIT AT LEAST 60 MS BEFORE
061346,000385: 20,2334           44755        NEEDLE11           CS       ZERO                                  #  ENABLING COUNTERS.
061347,000386: 20,2335           55757                           TS       AK                                    #  ZERO THE INPUTS ON FIRST PASS
061348,000387: 20,2336           55760                           TS       AK1                                   
061349,000388: 20,2337           55761                           TS       AK2                                   
061350,000389: 20,2340           55762                           TS       EDRIVEX                               #  ZERO THE DISPLAY REGISTERS
061351,000390: 20,2341           55763                           TS       EDRIVEY                               
061352,000391: 20,2342           55764                           TS       EDRIVEZ                               
061353,000392: 20,2343           54050                           TS       CDUXCMD                               #  ZERO THE OUT COUNTERS
061354,000393: 20,2344           54051                           TS       CDUYCMD                               
061355,000394: 20,2345           54052                           TS       CDUZCMD                               
061356,000395: 20,2346           46241                           CS       SIX                                   #  RESET RCSFLAGS FOR PASS2
061357,000396: 20,2347           71273                           MASK     RCSFLAGS                              
061358,000397: 20,2350           64752                           AD       BIT2                                  
061359,000398: 20,2351           55273                           TS       RCSFLAGS                              
061360,000399: 20,2352           12442                           TCF      RETNMORE                              
061361,000400: 
061362,000401: 20,2353           34746        NEEDLER2           CAF      BIT6                                  #  ENABLE IMU ERROR COUNTERS
061363,000402: 20,2354           00006                           EXTEND                                         
061364,000403: 20,2355           05012                           WOR      CHAN12                                
061365,000404: 20,2356           46241                           CS       SIX                                   #  RESET RCSFLAGS TO DISPLAY ATTITUDE
061366,000405: 20,2357           71273                           MASK     RCSFLAGS                              #  ERRORS    WAIT AT LEAST 4 MS FOR
061367,000406: 20,2360           55273                           TS       RCSFLAGS                              #  RELAY CLOSURE
061368,000407: 20,2361           12442                           TCF      RETNMORE                              
061369,000408: 
061370,000409: 20,2362           34746        NEEDLES3           CAF      BIT6                                  #  CHECK TO SEE IF IMU ERROR COUNTER
061371,000410: 20,2363           00006                           EXTEND                                         #  IS ENABLED
061372,000411: 20,2364           02012                           RAND     CHAN12                                

Page 1414

061374,000413: 20,2365           10000                           CCS      A                                     #  IF NOT, RE-INITIALIZE NEEDLER.
061375,000414: 20,2366           12373                           TCF      NEEDLES                               
061376,000415: 
061377,000416: 20,2367           41273                           CS       RCSFLAGS                              #  SET UP INITIALIZATION FLAG IN RCSFLAGS.
061378,000417: 20,2370           74751                           MASK     BIT3                                  
061379,000418: 20,2371           27273                           ADS      RCSFLAGS                              
061380,000419: 20,2372           12442                           TCF      RETNMORE                              
061381,000420: 
061382,000421: 20,2373           34752        NEEDLES            CAF      TWO                                   
061383,000422: 20,2374           54063        DACLOOP            TS       DINDX                                 
061384,000423: 20,2375           42434                           CS       ONETENTH                              #  RESCALE INPUTS TO + OR - 1800 DEGREES.
061385,000424: 20,2376           00006                           EXTEND                                         
061386,000425: 20,2377           50063                           INDEX    DINDX                                 
061387,000426: 20,2400           71757                           MP       AK                                    
061388,000427: 20,2401           54001                           TS       L                                     
061389,000428: 20,2402           10000                           CCS      A                                     
061390,000429: 20,2403           32432                           CA       DACLIMIT                              
061391,000430: 20,2404           12406                           TCF      +2                                    
061392,000431: 20,2405           42432                           CS       DACLIMIT                              
061393,000432: 20,2406           60001                           AD       L                                     
061394,000433: 20,2407           54061                           TS       T5TEMP                                #  OVFLO CHK
061395,000434: 20,2410           12414                           TCF      +4                                    
061396,000435: 20,2411           50000                           INDEX    A                                     #  ON OVERFLOW LIMIT OUTPUT TO +-384
061397,000436: 20,2412           32432                           CAF      DACLIMIT                              
061398,000437: 20,2413           54001                           TS       L                                     
061399,000438: 20,2414           50063                           INDEX    DINDX                                 
061400,000439: 20,2415           41762                           CS       EDRIVEX                               #  CURRENT VALUE OF DAC
061401,000440: 20,2416           60001                           AD       L                                     
061402,000441: 20,2417           50063                           INDEX    DINDX                                 
061403,000442: 20,2420           26050                           ADS      CDUXCMD                               
061404,000443: 20,2421           50063                           INDEX    DINDX                                 
061405,000444: 20,2422           23762                           LXCH     EDRIVEX                               
061406,000445: 20,2423           10063                           CCS      DINDX                                 
061407,000446: 20,2424           12374                           TCF      DACLOOP                               
061408,000447: 20,2425           37737                           CAF      13,14,15                              
061409,000448: 20,2426           00006                           EXTEND                                         
061410,000449: 20,2427           05014                           WOR      CHAN14                                #  SET DAC ACTIVITY BITS
061411,000450: 20,2430           12442                           TCF      RETNMORE                              
061412,000451: 
061413,000452: 20,2431           77177                           DEC      -384       B-14                       
061414,000453: 20,2432           37200        DACLIMIT           DEC      16000      B-14                       
061415,000454: 20,2433           00600                           DEC      384        B-14                       
061416,000455: 
061417,000456: 20,2434           03146        ONETENTH           OCT      03146                                 #  DECIMAL +0.1, SCALED AT 1.
061418,000457: 20,2435     4750               DSPLYALT           EQUALS   BIT4                                  #  100 MS ALTERNATION BIT IN RCSFLAGS
061419,000458: 
061420,000459: 20,2435           54007        OVERSUB2           TS       7                                     #  RETURNS A UNCHANGED OR LIMITED TO
061421,000460: 20,2436           00002                           TC       Q                                     #  POSMAX OR NEGMAX IF A HAS OVERFLOW
061422,000461: 20,2437           50000                           INDEX    A                                     

Page 1415

061424,000463: 20,2440           44734                           CS       LIMITS                                #  DUPLICATE CODING IN BANK 16
061425,000464: 20,2441           00002                           TC       Q                                     
061426,000465: 
061427,000466: 20,2442           00006        RETNMORE           EXTEND                                         #  RETURN TO CHEKMORE
061428,000467: 20,2443           32446                           DCA      MORECADR                              
061429,000468: 20,2444           52006                           DTCB                                           
061430,000469: 
061431,000470: 20,2445  E6,1537                                  EBANK=   AOSQ                                  
061432,000471: 20,2445           02016 34106  MORECADR           2CADR    CHEKMORE                              
061433,000472: 

End of include-file DAPIDLER_PROGRAM.agc.  Parent file is MAIN.agc