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. |
060970,000002: ## Copyright: Public domain.
060971,000003: ## Filename: DAPIDLER_PROGRAM.agc
060972,000004: ## Purpose: The main source file for Luminary revision 069.
060973,000005: ## It is part of the source code for the original release
060974,000006: ## of the flight software for the Lunar Module's (LM) Apollo
060975,000007: ## Guidance Computer (AGC) for Apollo 10. The actual flown
060976,000008: ## version was Luminary 69 revision 2, which included a
060977,000009: ## newer lunar gravity model and only affected module 2.
060978,000010: ## This file is intended to be a faithful transcription, except
060979,000011: ## that the code format has been changed to conform to the
060980,000012: ## requirements of the yaYUL assembler rather than the
060981,000013: ## original YUL assembler.
060982,000014: ## Reference: pp. 1405-1415
060983,000015: ## Assembler: yaYUL
060984,000016: ## Contact: Ron Burkey <info@sandroid.org>.
060985,000017: ## Website: www.ibiblio.org/apollo/index.html
060986,000018: ## Mod history: 2016-12-13 MAS Created from Luminary 99.
060987,000019: ## 2016-12-18 MAS Updated from comment-proofed Luminary 99 version.
060988,000020: ## 2016-12-23 RRB Updated for Luminary 69.
060989,000021: ## 2017-01-28 RSB Proofed comment text using octopus/prooferComments
060990,000022: ## and fixed errors found.
060991,000023:
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Page 1405 |
060993,000025: # THE DAPIDLER PROGRAM IS STARTED BY FRESH START AND RESTART. THE DAPIDLER PROGRAM IS DONE 10 TIMES
060994,000026: # PER SECOND UNTIL THE ASTRONAUT DESIRES THE DAP TO WAKE UP, AND THE IMU AND CDUS ARE READY FOR USE BY THE DAP.
060995,000027: # THE NECESSARY INITIALIZATION OF THE DAP IS DONE BY THE DAPIDLER PROGRAM.
060996,000028:
060997,000029: 16,2000 BANK 16
060998,000030: 16,2000 SETLOC DAPS1
060999,000031: 16,2000 BANK
061000,000032:
061001,000033: 16,2000 E6,1537 EBANK= AOSQ
061002,000034:
061003,000035: 16,2000 COUNT* $$/DAPID
061004,000036:
061005,000037: 16,2000 00006 CHEKBITS EXTEND
061006,000038: 16,2001 00031 READ CHAN31 # IF BOTH BIT13 AND BIT14 ARE ONE, THEN
061007,000039: 16,2002 40000 COM # THE MODE SELECT SWITCH IS IN THE OFF
061008,000040: 16,2003 74355 MASK BIT13-14 # POSITION, AND SO THE DAP SHOULD BE OFF,
061009,000041: 16,2004 00006 EXTEND # WITH NO ATTITUDE ERROR DISPLAY.
061010,000042: 16,2005 12154 BZF MOREIDLE
061011,000043:
061012,000044: 16,2006 41303 CS IMODES33
061013,000045: 16,2007 74746 MASK BIT6
061014,000046: 16,2010 10000 CCS A
061015,000047: 16,2011 12203 TCF JUMPDSP
061016,000048: 16,2012 41273 CS RCSFLAGS # IMU NOT USABLE. SET UP INITIALIZATION
061017,000049: 16,2013 74751 MASK BIT3 # FLAG FOR ATT ERROR DISPLAY ROUTINE.
061018,000050: 16,2014 27273 ADS RCSFLAGS
061019,000051: 16,2015 12160 TCF SHUTDOWN
061020,000052:
061021,000053: 16,2016 34742 CHEKMORE CAF BIT10 # BIT 10 OF 30 IS PGNCS CONTROL OF S/C
061022,000054: 16,2017 00006 EXTEND
061023,000055: 16,2020 02030 RAND CHAN30 # BITS IN 30 ARE INVERTED
061024,000056: 16,2021 10000 CCS A
061025,000057: 16,2022 12154 TCF MOREIDLE
061026,000058:
061027,000059: 16,2023 00002 RETURN
061028,000060:
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Page 1406 |
061030,000062: # DAPIDLER ENTRY.
061031,000063:
061032,000064: 16,2024 22016 DAPIDLER LXCH BANKRUPT # INTERRUPT LEAD INS (CONTINUED)
061033,000065: 16,2025 00006 EXTEND
061034,000066: 16,2026 22012 QXCH QRUPT
061035,000067:
061036,000068: 16,2027 31273 CA RCSFLAGS
061037,000069: 16,2030 74737 MASK BIT13
061038,000070: 16,2031 10000 CCS A # CHECK IF 1/ACCJOB HAS BEEN SET UP SINCE
061039,000071: 16,2032 12041 TCF CHECKUP # THE LAST FRESH START OR RESTART.
061040,000072: 16,2033 34737 CA BIT13
061041,000073: 16,2034 27273 ADS RCSFLAGS # BIT 13 IS 1.
061042,000074: 16,2035 37714 CAF PRIO27
061043,000075: 16,2036 05072 TC NOVAC # SET UP JOB TO DO A LITTLE INITIALIZATION
061044,000076: 16,2037 E6,1537 EBANK= AOSQ # AND EXECUTE 1/ACCS.
061045,000077: 16,2037 02447 40106 2CADR 1/ACCSET # (WILL BRANCH TO MOREIDLE ON ACCSOKAY)
061046,000078:
061047,000079: 16,2041 02000 CHECKUP TC CHEKBITS # CHECK TO SEE IF LM DAP IS TO GO ON AND
061048,000080: # DO ERROR DISPLAY.
061049,000081:
061050,000082: 16,2042 30111 CAE DAPBOOLS # IF 1/ACCS HAS NOT BEEN COMPLETED, IDLE.
061051,000083: 16,2043 74751 MASK ACCSOKAY # NOTE: ONLY FRESH START AND RESTART
061052,000084: 16,2044 00006 EXTEND # KNOCK THIS BIT DOWN.
061053,000085: 16,2045 12154 BZF MOREIDLE
061054,000086:
061055,000087: 16,2046 04674 STARTDAP TC IBNKCALL # ZERO ATTITUDE ERROR AND DESIRED RATES.
061056,000088: 16,2047 40153 FCADR ZATTEROR
061057,000089: 16,2050 34755 CAF ZERO # ********** INITIALIZE: **********
061058,000090: 16,2051 55524 TS TJP
061059,000091: 16,2052 55525 TS TJU
061060,000092: 16,2053 55526 TS TJV
061061,000093: 16,2054 55417 TS OMEGAP # RATES IN BODY (PILOT) COORDINATES.
061062,000094: 16,2055 55420 TS OMEGAQ
061063,000095: 16,2056 55421 TS OMEGAR
061064,000096: 16,2057 55426 TS TRAPEDP
061065,000097: 16,2060 55427 TS TRAPEDQ
061066,000098: 16,2061 55430 TS TRAPEDR
061067,000099: 16,2062 55537 TS AOSQ # OFFSET ACCELERATION ESTIMATES.
061068,000100: 16,2063 55540 TS AOSQ +1
061069,000101: 16,2064 55541 TS AOSR
061070,000102: 16,2065 55542 TS AOSR +1
061071,000103: 16,2066 55422 TS ALPHAQ # COPIES OF OFFSET ESTIMATES FOR DOWNLIST.
061072,000104: 16,2067 55423 TS ALPHAR
061073,000105: 16,2070 55500 TS NEGUQ
061074,000106: 16,2071 55502 TS NEGUR
061075,000107: 16,2072 55545 TS AOSQTERM # QRAXIS RATE DERIVATION TERMS AND KALMAN
061076,000108: 16,2073 55546 TS AOSRTERM # FILTER INITIALIZATION TERMS.
061077,000109: 16,2074 55510 TS QACCDOT # DESCENT ACCELERATION DERIVATIVE EST.
061078,000110: 16,2075 55512 TS RACCDOT
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Page 1407 |
061080,000112: 16,2076 55501 TS ALLOWGTS # AOSTASK FLAG FOR QRAXIS RCS CONTROL USE.
061081,000113: 16,2077 55627 TS COTROLER # DO TRYGTS ON FIRST PASS (WILL GO TO RCS)
061082,000114: 16,2100 55631 TS INGTS # RECOGNIZE FIRST GTS PASS AS SUCH.
061083,000115: 16,2101 55630 TS QGIMTIMR # STOP GIMBAL DRIVES. (PROBABLY WOULD BE
061084,000116: 16,2102 55632 TS RGIMTIMR # GOOD ENOUGH JUST TO INACTIVATE TIMERS)
061085,000117: 16,2103 55456 TS OLDPMIN # MINIMUM IMPULSE MODE ERASABLES
061086,000118: 16,2104 55457 TS OLDQRMIN
061087,000119: 16,2105 4747 CALLGMBL EQUALS BIT5 # RCSFLAGS INITIALIZATION.
061088,000120: 16,2105 42177 CS MANFLAG
061089,000121: 16,2106 71273 MASK RCSFLAGS # NEGUQ(R) HAVE BEEN GENERATED.
061090,000122: 16,2107 55273 TS RCSFLAGS
061091,000123:
061092,000124: # SET UP "OLD" MEASURED CDU ANGLES:
061093,000125:
061094,000126: 16,2110 00006 EXTEND
061095,000127: 16,2111 30033 DCA CDUX # OLDXFORP AND OLDYFORP
061096,000128: 16,2112 53437 DXCH OLDXFORP
061097,000129: 16,2113 30034 CA CDUZ
061098,000130: 16,2114 55440 TS OLDZFORQ
061099,000131: 16,2115 41273 CS RCSFLAGS
061100,000132: 16,2116 74740 MASK BIT12
061101,000133: 16,2117 27273 ADS RCSFLAGS # BIT 12 SET TO 1.
061102,000134: 16,2120 34751 CA FOUR
061103,000135: 16,2121 55535 TS SKIPU
061104,000136: 16,2122 55536 TS SKIPV
061105,000137: 16,2123 34733 CA POSMAX
061106,000138: 16,2124 54031 TS TIME6
061107,000139: 16,2125 55464 TS T6NEXT
061108,000140: 16,2126 55466 TS T6FURTHA
061109,000141: 16,2127 34755 CA ZERO
061110,000142: 16,2130 55465 TS T6NEXT +1
061111,000143: 16,2131 55467 TS T6FURTHA +1
061112,000144: 16,2132 55463 TS NXT6ADR
061113,000145: 16,2133 55470 TS NEXTP
061114,000146: 16,2134 55471 TS NEXTU
061115,000147: 16,2135 55472 TS NEXTV
061116,000148: 16,2136 44363 CS TEN
061117,000149: 16,2137 55755 TS DAPZRUPT # JASK NOT IN PROGRESS, INITIALIZE NEG.
061118,000150: 16,2140 34752 CA TWO
061119,000151: 16,2141 55431 TS NPTRAPS
061120,000152: 16,2142 55432 TS NQTRAPS
061121,000153: 16,2143 55433 TS NRTRAPS
061122,000154: 16,2144 00006 EXTEND
061123,000155: 16,2145 32202 DCA PAXADIDL
061124,000156: 16,2146 53275 DXCH T5ADR
061125,000157: 16,2147 37726 SETTIME5 CAF MS100
061126,000158: 16,2150 54030 TS TIME5
061127,000159: 16,2151 15270 TCF RESUME
061128,000160: 16,2152 E6,1537 EBANK= AOSQ
061129,000161: 16,2152 02024 34106 IDLERADR 2CADR DAPIDLER
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Page 1408 |
061131,000163: 16,2154 04674 MOREIDLE TC IBNKCALL # CALCULATE Q,R-AXES ATTITUDE ERRORS.
061132,000164: 16,2155 36563 CADR QERRCALC
061133,000165:
061134,000166: 16,2156 04674 TC IBNKCALL
061135,000167: 16,2157 35425 CADR CALCPERR # CALCULATE P AXIS ATTITUDE ERRORS.
061136,000168:
061137,000169: 16,2160 00006 SHUTDOWN EXTEND
061138,000170: 16,2161 32153 DCA IDLERADR
061139,000171: 16,2162 53275 DXCH T5ADR
061140,000172:
061141,000173: 16,2163 34755 CAF ZERO # KILL ANY POSSIBLE JET REQUESTS
061142,000174: 16,2164 55470 TS NEXTP
061143,000175: 16,2165 55471 TS NEXTU
061144,000176: 16,2166 55472 TS NEXTV
061145,000177: 16,2167 00006 EXTEND # COMMAND JETS OFF.
061146,000178: 16,2170 01005 WRITE CHAN5
061147,000179: 16,2171 00006 EXTEND
061148,000180: 16,2172 01006 WRITE CHAN6
061149,000181: 16,2173 42200 CS BGIM23 # TURN TRIM GIMBAL OFF
061150,000182: 16,2174 00006 EXTEND
061151,000183: 16,2175 03012 WAND CHAN12
061152,000184: 16,2176 12147 TCF SETTIME5 # RETURN IN 100 MSEC.
061153,000185:
061154,000186: 16,2177 03021 MANFLAG OCT 03021
061155,000187: 16,2200 07400 BGIM23 OCTAL 07400
061156,000188: 16,2201 E6,1417 EBANK= OMEGAP
061157,000189: 16,2201 02210 34106 PAXADIDL 2CADR PAXIS
061158,000190:
061159,000191: 16,2203 7726 MS100 = OCT37766
061160,000192: 16,2203 0061 COSMG = ITEMP1
061161,000193: 16,2203 00006 JUMPDSP EXTEND # TRANSFER TO BANK 20
061162,000194: 16,2204 32207 DCA DSPCADR # FOR ATTITUDE ERROR DISPLAYS
061163,000195: 16,2205 52006 DTCB
061164,000196:
061165,000197: 16,2206 E6,1757 EBANK= AK
061166,000198: 16,2206 02226 40106 DSPCADR 2CADR ALTDSPLY
061167,000199:
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Page 1409 |
061169,000201: 20,2226 BANK 20
061170,000202: 20,2000 SETLOC DAPS3
061171,000203: 20,2000 BANK
061172,000204: 20,2226 COUNT* $$/NEEDL
061173,000205:
061174,000206: # PROGRAM: ALTDSPLY
061175,000207: # MOD 0. 6 DEC 1967
061176,000208: # AUTHOR: CRAIG WORK, DON KEENE, MIT IL
061177,000209: # MOD 3 BY DON KEENE AUG 1, 1968 MOVED PROGRAM TO BANK 20
061178,000210:
061179,000211: # PROGRAM DESCRIPTION:
061180,000212: # ALTDSPLY REVERSES THE DSPLYALT BIT OF RCSFLAGS EACH TIME IT IS CALLED, WHICH IS PRESUMABLY EVERY 100 MS.
061181,000213: # IF THE REVERSED BIT IS ONE, NEEDLER IS CALLED TO DISPLAY ATTITUDE ERRORS. IF THE BIT IS ZERO, THE ATTITUDE ERR-
061182,000214: # ORS ARE CALCULATED AS 1) DAP FOLLOWING ERRORS, IF NEEDLFLG = 0, AND 2) TOTAL ATTITUDE ERRORS FOR NEEDLFLG = 1.
061183,000215:
061184,000216:
061185,000217: # WARNING: ALTDSPLY MAY ONLY BE CALLED WITH INTERRUPT INHIBITED.
061186,000218:
061187,000219: # WARNING: EBANK MUST BE SET TO 6 WHEN USING THIS ROUTINE.
061188,000220:
061189,000221: # INPUT: RCSFLAGS AND 1) IF NEEDLFLG = 0, INPUT PERROR, QERROR, RERROR.
061190,000222: # 2) IF NEEDLFLG = 1, INPUT CPHI,CTHETA,CPSI,CDUX,CDUY,CDUZ,M11,M21,M31,M22,M32. (GPMATRIX)
061191,000223:
061192,000224:
061193,000225: # OUTPUTS: RCSFLAGS WITH DSPLYALT REVERSED, AK, AK1, AK2, + NEEDLER OUTPUTS.
061194,000226:
061195,000227: # ENTRY: TCF ALTDSPLY
061196,000228:
061197,000229: # EXIT: TCF CHEKMORE
061198,000230:
061199,000231: # ALARM OR ABORT EXITS: NONE
061200,000232:
061201,000233: # SUBPROGRAMS CALLED: NEEDLER, OVERSUB2
061202,000234:
061203,000235: # DEBRIS: A, L, AND NEEDLER DEBRIS.
061204,000236:
061205,000237: 20,2226 31273 ALTDSPLY CA RCSFLAGS # INVERT THE DISPLAY ALTERNATION BIT.
061206,000238: 20,2227 54001 TS L
061207,000239: 20,2230 34750 CA DSPLYALT
061208,000240: 20,2231 00006 EXTEND
061209,000241: 20,2232 06001 RXOR LCHAN
061210,000242: 20,2233 55273 TS RCSFLAGS
061211,000243:
061212,000244: 20,2234 74750 MASK DSPLYALT
061213,000245: 20,2235 10000 CCS A # IS ALTERNATION FLAG ZERO?
061214,000246: 20,2236 12322 TCF NEEDLER
061215,000247:
061216,000248: 20,2237 30074 CAE FLAGWRD0 # NEEDLFLG WILL INDICATE TOTAL OR DAP AT-
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Page 1410 |
061218,000250: 20,2240 74750 MASK NEEDLBIT # TITUDE ERROR DISPLAY REQUEST.
061219,000251: 20,2241 10000 CCS A
061220,000252: 20,2242 12252 TCF DSPLYTOT # TOTAL ERROR IS NEEDED IN AK, AK +1, AK +2
061221,000253:
061222,000254: 20,2243 41446 CS QERROR # YES. DISPLAY ATT ERRORS ON THE ,-BALL.
061223,000255: 20,2244 55760 TS AK +1 # ERROR COMPLEMENTS ARE INPUT TO NEEDLER.
061224,000256: 20,2245 41450 CS RERROR
061225,000257: 20,2246 55761 TS AK +2
061226,000258: 20,2247 41462 CS PERROR
061227,000259: 20,2250 57757 XCH AK
061228,000260:
061229,000261: 20,2251 12442 TCF RETNMORE # DISPLAY THESE THE NEXT TIME THROUGH
061230,000262:
061231,000263: # CALCULATE GIMBAL ANGLE TOTAL ERRORS, RESOLVE INTO PILOT AXES, STORE TOTAL ERRORS FOR NEEDLER. Q-AXIS FIRST.
061232,000264:
061233,000265: 20,2252 00006 DSPLYTOT EXTEND
061234,000266: 20,2253 22061 QXCH ITEMP1 # SAVE Q FOR CHEKBITS RETURN.
061235,000267:
061236,000268: 20,2254 30322 CA CTHETA # DESIRED ATTITUDE, Y-AXIS, 2'S COMP.
061237,000269: 20,2255 00006 EXTEND # SUBTRACT CURRENT ATTITUDE.
061238,000270: 20,2256 20033 MSU CDUY # DIFFERENCE SCALED AT PI, 1'S COMP.
061239,000271: 20,2257 55757 TS AK # SAVE FOR R-ERROR CALCULATION.
061240,000272: 20,2260 00006 EXTEND
061241,000273: 20,2261 71413 MP M21 # (CHTETA-CDUY)*M21 SCALED AT PI RADIANS.
061242,000274: 20,2262 57760 XCH AK +1 # STORE FIRST TERM OF Q ERROR.
061243,000275: 20,2263 30323 CA CPSI # DESIRED ATTITUDE, Z-AXIS, 2'S COMP.
061244,000276: 20,2264 00006 EXTEND # SUBTRACT CURRENT ATTITUDE.
061245,000277: 20,2265 20034 MSU CDUZ # DIFFERENCE SCALED AT PI, 1'S COMP.
061246,000278: 20,2266 55761 TS AK +2 # SAVE Z-AXIS TERM FOR R ERROR CALCULATION
061247,000279: 20,2267 00006 EXTEND
061248,000280: 20,2270 71415 MP M22 # (CPSI-CDUZ)*M22, SCALED AT PI RADIANS.
061249,000281: 20,2271 61760 AD AK +1 # Q ERROR COMPLETE , AT PI RAD.
061250,000282: 20,2272 02435 TC OVERSUB2 # PIN NEEDLES IN CASE OF OVERFLOW.
061251,000283: 20,2273 55760 TS AK +1
061252,000284:
061253,000285: # R ERROR CALCULATION NEXT.
061254,000286:
061255,000287: 20,2274 31757 CA AK # Y-AXIS DIFFERENCE STORED BY Q-AXIS CALC.
061256,000288: 20,2275 00006 EXTEND
061257,000289: 20,2276 71414 MP M31 # (CTHETA-CDUY)*M31, SCALED AT PI RADIANS.
061258,000290: 20,2277 57761 XCH AK +2 # FIRST TERM OF R ERROR.
061259,000291: # Z-AXIS DIFFERENCE, STORED BY A CALC. IS
061260,000292: 20,2300 00006 EXTEND # RECOVERED BY THE EXCHANGE.
061261,000293: 20,2301 71416 MP M32 # (CPSI-CDUZ)*M32, SCALED AT PI RADIANS.
061262,000294: 20,2302 61761 AD AK +2 # R ERROR COMPLETE , AT PI RAD.
061263,000295: 20,2303 02435 TC OVERSUB2 # PIN NEEDLES IN CASE OF OVERFLOW.
061264,000296: 20,2304 55761 TS AK +2
061265,000297:
061266,000298: # NOW CALCULATE P ERROR. (NOTE THAT M13 = 1, SCALED AT 1, SO THE MULTIPLICATION IS BY-PASSED.)
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Page 1411 |
061268,000300: 20,2305 31757 CA AK # Y-AXIS DIFFERENCE STORED BY Q AXIS CALC.
061269,000301: 20,2306 00006 EXTEND
061270,000302: 20,2307 71412 MP M11 # (CTHETA-CDUY)*M11 SCALED AT PI RADIANS.
061271,000303: 20,2310 57757 XCH AK # FIRST TERM OF P ERROR IN AK, AT PI RAD.
061272,000304: 20,2311 30321 CAE CPHI # DESIRED ATTITUDE, X-AXIS, 2'S COMP.
061273,000305: 20,2312 00006 EXTEND # SUBTRACT CURRENT X ATTITUDE.
061274,000306: 20,2313 20032 MSU CDUX # X-AXIS DIFFERENCE, 1'S COMP, AT PI RAD.
061275,000307:
061276,000308: # M13 = 1, SO BYPASS THE MULTIPLICATION.
061277,000309: # EXTEND
061278,000310: # MP M13 (CPHI-CDUX)*M13 SCALED AT PI RADIANS.
061279,000311:
061280,000312: 20,2314 61757 AD AK # P ERROR COMPLETE , SCALED AT PI RAD
061281,000313: 20,2315 02435 TC OVERSUB2 # PIN NEEDLES IN CASE OF OVERFLOW.
061282,000314: 20,2316 55757 TS AK
061283,000315:
061284,000316: 20,2317 00006 EXTEND
061285,000317: 20,2320 22061 QXCH ITEMP1 # RESTORE Q FOR CHEKBITS RETURN.
061286,000318:
061287,000319: 20,2321 12442 TCF RETNMORE # DISPLAY THESE THE NEXT TIME THROUGH
061288,000320:
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Page 1412 |
061290,000322: # FDAI ATTITUDE ERROR DISPLAY SUBROUTINE
061291,000323:
061292,000324: # PROGRAM DESCRIPTION: D. KEENE 5/24/67
061293,000325: # MOD 1 BY CRAIG WORK, 12 DEC 67
061294,000326: # MOD 2 BY CRAIG WORK, 6 APRIL 68 CONVERTS ATTITUDE ERROR DISPLAY SCALING FROM 16 7/8 DEG. TO 42 3/16 DEGREES.
061295,000327:
061296,000328: # THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS)
061297,000329: # IN THE CDUS. CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT
061298,000330: # OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES
061299,000331: # THE DACS.
061300,000332:
061301,000333: # CALLING SEQUENCE:
061302,000334: # DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE
061303,000335: # TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM:
061304,000336: # CS RCSFLAGS IN EBANK6
061305,000337: # MASK BIT3
061306,000338: # ADS RCSFLAGS
061307,000339: # THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANSFERED TO THE FOLLOWING LOCATIONS IN EBANK6:
061308,000340: # AK SCALED 180 DEGREES NOTE: THESE LOCATIONS ARE SUBJECT
061309,000341: # AK1 SCALED 180 DEGREES TO CHANGE
061310,000342: # AK2 SCALED 180 DEGREES
061311,000343: # FULL SCALED DEFLECTION OF THE NEEDLES CORRESPONDS TO 5 1/16 DEGREES, WHILE 384 BITS IN THE IMU ERROR COUNTER
061312,000344: # CORRESPONDS TO 42 3/16 DEGREES. (DAC MAXIMUM CAPACITY IS 384 BITS.) 46 BITS EFFECTIVELY PIN THE NEEDLES.
061313,000345:
061314,000346: # A CALL TO NEEDLER WILL THEN UPDATE THE DISPLAY:
061315,000347: # INHINT
061316,000348: # TC IBNKCALL NOTE: EBANK SHOULD BE SET TO E6
061317,000349: # CADR NEEDLER
061318,000350: # RELINT
061319,000351: # THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED. AT LEAST 3 PASSES THRU THE PROGRAM ARE
061320,000352: # REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS.
061321,000353: # NOTE: EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50 MS TO ASSURE PROPER RELAY SEQUENCING.
061322,000354:
061323,000355: # ERASABLE USED:
061324,000356: # AK CDUXCMD
061325,000357: # AK1 CDUYCMD
061326,000358: # AK2 CDUZCMD
061327,000359: # EDRIVEX A,L,Q
061328,000360: # EDRIVEY T5TEMP
061329,000361: # EDRIVEZ DINDX
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Page 1413 |
061331,000363:
061332,000364: # SWITCHES: RCSFLAGS BITS 3,2
061333,000365:
061334,000366: # I/O CHANNELS: CHAN12 BIT 4 (COARSE ALIGN - READ ONLY)
061335,000367: # CHAN12 BIT 6 (IMU ERROR COUNTER ENABLE)
061336,000368: # CHAN14 BIT 13,14,15 (DAC ACTIVITY)
061337,000369:
061338,000370: # SIGN CONVENTION< AK = THETAC - THETA
061339,000371: # WHERE THETAC = COMMAND ANGLE
061340,000372: # THETA = PRESENT ANGLE
061341,000373:
061342,000374: 20,2322 31273 NEEDLER CA RCSFLAGS
061343,000375: 20,2323 76241 MASK SIX
061344,000376: 20,2324 00006 EXTEND
061345,000377: 20,2325 12362 BZF NEEDLES3
061346,000378: 20,2326 74751 MASK BIT3
061347,000379: 20,2327 00006 EXTEND
061348,000380: 20,2330 12353 BZF NEEDLER2 # BIT3 = 0, BIT2 = 1
061349,000381:
061350,000382: 20,2331 44746 CS BIT6 # FIRST PASS BIT3 = 1
061351,000383: 20,2332 00006 EXTEND # DISABLE IMU ERROR COUNTER TO ZERO DACS
061352,000384: 20,2333 03012 WAND CHAN12 # MUST WAIT AT LEAST 60 MS BEFORE
061353,000385: 20,2334 44755 NEEDLE11 CS ZERO # ENABLING COUNTERS.
061354,000386: 20,2335 55757 TS AK # ZERO THE INPUTS ON FIRST PASS
061355,000387: 20,2336 55760 TS AK1
061356,000388: 20,2337 55761 TS AK2
061357,000389: 20,2340 55762 TS EDRIVEX # ZERO THE DISPLAY REGISTERS
061358,000390: 20,2341 55763 TS EDRIVEY
061359,000391: 20,2342 55764 TS EDRIVEZ
061360,000392: 20,2343 54050 TS CDUXCMD # ZERO THE OUT COUNTERS
061361,000393: 20,2344 54051 TS CDUYCMD
061362,000394: 20,2345 54052 TS CDUZCMD
061363,000395: 20,2346 46241 CS SIX # RESET RCSFLAGS FOR PASS2
061364,000396: 20,2347 71273 MASK RCSFLAGS
061365,000397: 20,2350 64752 AD BIT2
061366,000398: 20,2351 55273 TS RCSFLAGS
061367,000399: 20,2352 12442 TCF RETNMORE
061368,000400:
061369,000401: 20,2353 34746 NEEDLER2 CAF BIT6 # ENABLE IMU ERROR COUNTERS
061370,000402: 20,2354 00006 EXTEND
061371,000403: 20,2355 05012 WOR CHAN12
061372,000404: 20,2356 46241 CS SIX # RESET RCSFLAGS TO DISPLAY ATTITUDE
061373,000405: 20,2357 71273 MASK RCSFLAGS # ERRORS WAIT AT LEAST 4 MS FOR
061374,000406: 20,2360 55273 TS RCSFLAGS # RELAY CLOSURE
061375,000407: 20,2361 12442 TCF RETNMORE
061376,000408:
061377,000409: 20,2362 34746 NEEDLES3 CAF BIT6 # CHECK TO SEE IF IMU ERROR COUNTER
061378,000410: 20,2363 00006 EXTEND # IS ENABLED
061379,000411: 20,2364 02012 RAND CHAN12
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Page 1414 |
061381,000413: 20,2365 10000 CCS A # IF NOT, RE-INITIALIZE NEEDLER.
061382,000414: 20,2366 12373 TCF NEEDLES
061383,000415:
061384,000416: 20,2367 41273 CS RCSFLAGS # SET UP INITIALIZATION FLAG IN RCSFLAGS.
061385,000417: 20,2370 74751 MASK BIT3
061386,000418: 20,2371 27273 ADS RCSFLAGS
061387,000419: 20,2372 12442 TCF RETNMORE
061388,000420:
061389,000421: 20,2373 34752 NEEDLES CAF TWO
061390,000422: 20,2374 54063 DACLOOP TS DINDX
061391,000423: 20,2375 42434 CS ONETENTH # RESCALE INPUTS TO + OR - 1800 DEGREES.
061392,000424: 20,2376 00006 EXTEND
061393,000425: 20,2377 50063 INDEX DINDX
061394,000426: 20,2400 71757 MP AK
061395,000427: 20,2401 54001 TS L
061396,000428: 20,2402 10000 CCS A
061397,000429: 20,2403 32432 CA DACLIMIT
061398,000430: 20,2404 12406 TCF +2
061399,000431: 20,2405 42432 CS DACLIMIT
061400,000432: 20,2406 60001 AD L
061401,000433: 20,2407 54061 TS T5TEMP # OVFLO CHK
061402,000434: 20,2410 12414 TCF +4
061403,000435: 20,2411 50000 INDEX A # ON OVERFLOW LIMIT OUTPUT TO +-384
061404,000436: 20,2412 32432 CAF DACLIMIT
061405,000437: 20,2413 54001 TS L
061406,000438: 20,2414 50063 INDEX DINDX
061407,000439: 20,2415 41762 CS EDRIVEX # CURRENT VALUE OF DAC
061408,000440: 20,2416 60001 AD L
061409,000441: 20,2417 50063 INDEX DINDX
061410,000442: 20,2420 26050 ADS CDUXCMD
061411,000443: 20,2421 50063 INDEX DINDX
061412,000444: 20,2422 23762 LXCH EDRIVEX
061413,000445: 20,2423 10063 CCS DINDX
061414,000446: 20,2424 12374 TCF DACLOOP
061415,000447: 20,2425 37737 CAF 13,14,15
061416,000448: 20,2426 00006 EXTEND
061417,000449: 20,2427 05014 WOR CHAN14 # SET DAC ACTIVITY BITS
061418,000450: 20,2430 12442 TCF RETNMORE
061419,000451:
061420,000452: 20,2431 77177 DEC -384 B-14
061421,000453: 20,2432 37200 DACLIMIT DEC 16000 B-14
061422,000454: 20,2433 00600 DEC 384 B-14
061423,000455:
061424,000456: 20,2434 03146 ONETENTH OCT 03146 # DECIMAL +0.1, SCALED AT 1.
061425,000457: 20,2435 4750 DSPLYALT EQUALS BIT4 # 100 MS ALTERNATION BIT IN RCSFLAGS
061426,000458:
061427,000459: 20,2435 54007 OVERSUB2 TS 7 # RETURNS A UNCHANGED OR LIMITED TO
061428,000460: 20,2436 00002 TC Q # POSMAX OR NEGMAX IF A HAS OVERFLOW
061429,000461: 20,2437 50000 INDEX A
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Page 1415 |
061431,000463: 20,2440 44734 CS LIMITS # DUPLICATE CODING IN BANK 16
061432,000464: 20,2441 00002 TC Q
061433,000465:
061434,000466: 20,2442 00006 RETNMORE EXTEND # RETURN TO CHEKMORE
061435,000467: 20,2443 32446 DCA MORECADR
061436,000468: 20,2444 52006 DTCB
061437,000469:
061438,000470: 20,2445 E6,1537 EBANK= AOSQ
061439,000471: 20,2445 02016 34106 MORECADR 2CADR CHEKMORE
061440,000472:
End of include-file DAPIDLER_PROGRAM.agc. Parent file is MAIN.agc