Source Code
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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. 25,1968Note 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:
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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:
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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
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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
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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:
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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-
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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.)
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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:
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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
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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
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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
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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