Source Code

060057,000001: 060058,000002: 060059,000003: 060060,000004: 060061,000005: 060062,000006: 060063,000007: 060064,000008: 060065,000009: 060066,000010: 060067,000011: 060068,000012: 060069,000013: 060070,000014: 060071,000015: 060072,000016: 060073,000017: 060074,000018: 060075,000019: 060076,000020: 060077,000021: 060078,000022: 060079,000023: 060080,000024: 060081,000025: 060082,000026: 060083,000027: 060084,000028: 060085,000029: 060086,000030: 060087,000031: 060088,000032: 060089,000033: 060090,000034: 16,2000 060091,000035: 16,2000 060092,000036: 16,2000 060093,000037: 060094,000038: 16,2000 E6,1537 060095,000039: 060096,000040: 16,2000 060097,000041: < < # Copyright: Public domain. # Filename: DAPIDLER_PROGRAM.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey <info@sandroid.org>. # Website: www.ibiblio.org/apollo. # Pages: 1410-1420 # Mod history: 2009-05-10 SN (Sergio Navarro). Started adapting # from the Luminary131/ file of the same # name, using Luminary099 page images. # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # Notations on the hardcopy document read, in part: # Assemble revision 001 of AGC program LMY99 by NASA 2021112-61 # 16:27 JULY 14, 1969 # Page 1410 # THE DAPIDLER PROGRAM IS STARTED BY FRESH START AND RESTART. THE DAPIDLER PROGRAM IS DONE 10 TIMES # PER SECOND UNTIL THE ASTRONAUT DESIRES THE DAP TO WAKE UP, AND THE IMU AND CDUS ARE READY FOR USE BY THE DAP. # THE NECESSARY INITIALIZATION OF THE DAP IS DONE BY THE DAPIDLER PROGRAM. BANK 16 SETLOC DAPS1 BANK EBANK= AOSQ COUNT* $$/DAPID 453">060098,000042: 16,2000 00006 CHEKBITS EXTEND 00031 READ CHAN31 # IF BOTH BIT13 AND BIT14 ARE ONE, THEN 40000 COM # THE MODE SELECT SWITCH IS IN THE OFF 74355 MASK BIT13-14 # POSITION, AND SO THE DAP SHOULD BE OFF, 00006 EXTEND # WITH NO ATTITUDE ERROR DISPLAY. 12157 BZF MOREIDLE 41303 CS IMODES33 74746 MASK BIT6 10000 CCS A 12206 TCF JUMPDSP 41273 CS RCSFLAGS # IMU NOT USABLE. SET UP INITIALIZATION 74751 MASK BIT3 # FLAG FOR ATT ERROR DISPLAY ROUTINE. 27273 ADS RCSFLAGS 12163 TCF SHUTDOWN 245">060114,000058: 16,2016 34742 CHEKMORE CAF BIT10 # BIT 10 OF 30 IS PGNCS CONTROL OF S/C 00006 EXTEND 02030 RAND CHAN30 # BITS IN 30 ARE INVERTED 10000 CCS A 12157 TCF MOREIDLE 00002 RETURN # Page 1411 # DAPIDLER ENTRY. 552">060125,000069: 16,2024 22016 DAPIDLER LXCH BANKRUPT # INTERRUPT LEAD INS (CONTINUED) 00006 EXTEND 22012 QXCH QRUPT 31273 CA RCSFLAGS 74737 MASK BIT13 10000 CCS A # CHECK IF 1/ACCJOB HAS BEEN SET UP SINCE 12041 TCF CHECKUP # THE LAST FRESH START OR RESTART. 34737 CA BIT13 27273 ADS RCSFLAGS # BIT 13 IS 1. 37715 CAF PRIO27 05072 TC NOVAC # SET UP JOB TO DO A LITTLE INITIALIZATION EBANK= AOSQ # AND EXECUTE 1/ACCS. 02447 40106 2CADR 1/ACCSET # (WILL BRANCH TO MOREIDLE ON ACCSOKAY) 0">060140,000084: 16,2041 02000 CHECKUP TC CHEKBITS # CHECK TO SEE IF LM DAP IS TO GO ON AND # DO ERROR DISPLAY. 30111 CAE DAPBOOLS # IF 1/ACCS HAS NOT BEEN COMPLETED, IDLE. 74751 MASK ACCSOKAY # NOTE: ONLY FRESH START AND RESTART 00006 EXTEND # KNOCK THIS BIT DOWN. 12157 BZF MOREIDLE 150">060148,000092: 16,2046 04674 STARTDAP TC IBNKCALL # ZERO ATTITUDE ERROR AND DESIRED RATES. 40153 FCADR ZATTEROR 34755 CAF ZERO # ************ INITIALIZE: ************* 55524 TS TJP 55525 TS TJU 55526 TS TJV 55421 TS OMEGAP # RATES IN BODY (PILOT) COORDINATES. 55422 TS OMEGAQ 55423 TS OMEGAR 55430 TS TRAPEDP 55431 TS TRAPEDQ 55432 TS TRAPEDR 55537 TS AOSQ # OFFSET ACCELERATION ESTIMATES. 55540 TS AOSQ +1 55541 TS AOSR 55542 TS AOSR +1 55424 TS ALPHAQ # COPIES OF OFFSET ESTIMATES FOR DOWNLIST. 55425 TS ALPHAR 55501 TS NEGUQ 55503 TS NEGUR 55545 TS AOSQTERM # QRAXIS RATE DERIVATION TERMS AND KALMAN 55546 TS AOSRTERM # FILTER INITIALIZATION TERMS. 55510 TS QACCDOT # DESCENT ACCELERATION DERIVATIVE EST. 55512 TS RACCDOT # Page 1412 55502 TS ALLOWGTS # AOSTASK FLAG FOR QRAXIS RCS CONTROL USE. 55631 TS COTROLER # DO TRYGTS ON FIRST PASS (WILL GO TO RCS) 55633 TS INGTS # RECOGNIZE FIRST GTS PASS AS SUCH. 55632 TS QGIMTIMR # STOP GIMBAL DRIVES. (PROBABLY WOULD BE 55634 TS RGIMTIMR # GOOD ENOUGH JUST TO INACTIVATE TIMERS) 55460 TS OLDPMIN # MINIMUM IMPULSE MODE ERASABLES 55461 TS OLDQRMIN 55767 TS PJETCTR # INITIALIZE DOCKED JET INHIBITION 55770 TS UJETCTR # COUNTERS 55771 TS VJETCTR 24C">060183,000127: 16,2110 4747 CALLGMBL EQUALS BIT5 # RCSFLAGS INITIALIZATION. 42202 CS MANFLAG 71273 MASK RCSFLAGS # NEGUQ(R) HAVE BEEN GENERATED. 55273 TS RCSFLAGS # SET UP "OLD" MEASURED CDU ANGLES: 00006 EXTEND 30033 DCA CDUX # OLDXFORP AND OLDYFORP 53441 DXCH OLDXFORP 30034 CA CDUZ 55442 TS OLDZFORQ 41273 CS RCSFLAGS 74740 MASK BIT12 27273 ADS RCSFLAGS # BIT 12 SET TO 1. 34751 CA FOUR 55535 TS SKIPU 55536 TS SKIPV 34733 CA POSMAX 54031 TS TIME6 55466 TS T6NEXT 55470 TS T6FURTHA 34755 CA ZERO 55467 TS T6NEXT +1 55471 TS T6FURTHA +1 55465 TS NXT6ADR 55472 TS NEXTP 55473 TS NEXTU 55474 TS NEXTV 44363 CS TEN 55757 TS DAPZRUPT # JASK NOT IN PROGRESS, INITIALIZE NEG. 34752 CA TWO 55433 TS NPTRAPS 55434 TS NQTRAPS 55435 TS NRTRAPS 00006 EXTEND 32205 DCA PAXADIDL 53275 DXCH T5ADR 535">060221,000165: 16,2152 37727 SETTIME5 CAF MS100 54030 TS TIME5 # Page 1413 15270 TCF RESUME EBANK= AOSQ 452">060226,000170: 16,2155 02024 34106 IDLERADR 2CADR DAPIDLER C45">060228,000172: 16,2157 04674 MOREIDLE TC IBNKCALL # CALCULATE Q,R-AXES ATTITUDE ERRORS. 36626 CADR QERRCALC 04674 TC IBNKCALL 35446 CADR CALCPERR # CALCULATE P AXIS ATTITUDE ERRORS. 74E">060234,000178: 16,2163 00006 SHUTDOWN EXTEND 32156 DCA IDLERADR 53275 DXCH T5ADR 34755 CAF ZERO # KILL ANY POSSIBLE JET REQUESTS 55472 TS NEXTP 55473 TS NEXTU 55474 TS NEXTV 00006 EXTEND # COMMAND JETS OFF. 01005 WRITE CHAN5 00006 EXTEND 01006 WRITE CHAN6 42203 CS BGIM23 # TURN TRIM GIMBAL OFF 00006 EXTEND 03012 WAND CHAN12 12152 TCF SETTIME5 # RETURN IN 100 MSEC. 7">060251,000195: 16,2202 03021 MANFLAG OCT 03021 >060252,000196: 16,2203 07400 BGIM23 OCTAL 07400 EBANK= OMEGAP 44C">060254,000198: 16,2204 02213 34106 PAXADIDL 2CADR PAXIS /a>060256,000200: 16,2206 7727 MS100 = OCT37766 /a>060257,000201: 16,2206 0061 COSMG = ITEMP1 0">060258,000202: 16,2206 00006 JUMPDSP EXTEND # TRANSFER TO BANK 20 32212 DCA DSPCADR # FOR ATTITUDE ERROR DISPLAYS 52006 DTCB EBANK= AK 2">060263,000207: 16,2211 02226 40106 DSPCADR 2CADR ALTDSPLY # Page 1414 BANK 20 SETLOC DAPS3 BANK COUNT* $$/NEEDL # PROGRAM: ALTDSPLY # MOD 0. 6 DEC 1967 # AUTHOR: CRAIG WORK, DON KEENE, MIT IL # MOD 3 BY DON KEENE AUG 1, 1968 -- MOVED PROGRAM TO BANK 20 # PROGRAM DESCRIPTION: # ALTDSPLY REVERSES THE DSPLYALT BIT OF RCSFLAGS EACH TIME IT IS CALLED, WHICH IS PRESUMABLY EVERY 100 MS. # IF THE REVERSED BIT IS ONE, NEEDLER IS CALLED TO DISPLAY ATTITUDE ERRORS. IF THE BIT IS ZERO, THE ATTITUDE ERR- # ORS ARE CALCULATED AS 1) DAP FOLLOWING ERRORS, IF NEEDLFLG = 0, AND 2) TOTAL ATTITUDE ERRORS FOR NEEDLFLG = 1. # WARNING: ALTDSPLY MAY ONLY BE CALLED WITH INTERRUPT INHIBITED # WARNING: EBANK MUST BE SET TO 6 WHEN USING THIS ROUTINE. # INPUT: RCSFLAGS AND 1) IF NEEDLFLG = 0, INPUT PERROR, QERROR, RERROR. # 2) IF NEEDLFLG = 1, INPUT CPHI,CTHETA,CPSI,CDUX,CDUY,CDUZ,M11,M21,M32,M22,M32. (GPMATRIX) # OUTPUTS: RCSFLAGS WITH DSPLYALT REVERSED, AK, AK1, AK2, + NEEDLER OUTPUTS. # ENTRY: TCF ALTDSPLY # EXIT: TCF CHEKMORE # ALARM OR ABORT EXITS: NONE # SUBPROGRAMS CALLED: NEEDLER, OVERSUB2 # DEBRIS: A, L, AND NEEDLER DEBRIS. C59">060302,000246: 20,2226 31273 ALTDSPLY CA RCSFLAGS # INVERT THE DISPLAY ALTERNATION BIT. 54001 TS L 34750 CA DSPLYALT 00006 EXTEND 06001 RXOR LCHAN 55273 TS RCSFLAGS 74750 MASK DSPLYALT 10000 CCS A # IS ALTERNATION FLAG ZERO? 12322 TCF NEEDLER 30074 CAE FLAGWRD0 # NEEDLFLG WILL INDICATE TOTAL OR DAP AT- # Page 1415 74750 MASK NEEDLBIT # TITUDE ERROR DISPLAY REQUEST. 10000 CCS A 12252 TCF DSPLYTOT # TOTAL ERROR IS NEEDED IN AK, AK +1, AK +2 41450 CS QERROR # YES. DISPLAY ATT ERRORS ON THE -BALL. 55762 TS AK +1 # ERROR COMPLEMENTS ARE INPUT TO NEEDLER. 41452 CS RERROR 55763 TS AK +2 41464 CS PERROR 57761 XCH AK 12442 TCF RETNMORE # DISPLAY THESE THE NEXT TIME THROUGH # CALCULATE GIMBAL ANGLE TOTAL ERRORS, RESOLVE INTO PILOT AXES, STORE TOTAL ERRORS FOR NEEDLER. Q-AXIS FIRST. F54">060330,000274: 20,2252 00006 DSPLYTOT EXTEND 22061 QXCH ITEMP1 # SAVE Q FOR CHEKBITS RETURN. 30322 CA CTHETA # DESIRED ATTITUDE, Y-AXIS, 2'S COMP. 00006 EXTEND # SUBTRACT CURRENT ATTITUDE. 20033 MSU CDUY # DIFFERENCE SCALED AT PI, 1'S COMP. 55761 TS AK # SAVE FOR R-ERROR CALCULATION. 00006 EXTEND 71415 MP M21 # (CTHETA-CDUY)*M21 SCALED AT PI RADIANS. 57762 XCH AK +1 # STORE FIRST TERM OF Q ERROR. 30323 CA CPSI # DESIRED ATTITUDE, Z-AXIS, 2'S COMP. 00006 EXTEND # SUBTRACT CURRENT ATTITUDE. 20034 MSU CDUZ # DIFFERENCE SCALED AT PI, 1'S COMP. 55763 TS AK +2 # SAVE Z-AXIS TERM FOR R ERROR CALCULATION 00006 EXTEND 71417 MP M22 # (CPSI-CDUZ)*M22, SCALED AT PI RADIANS. 61762 AD AK +1 # Q ERROR COMPLETE , AT PI RAD. 02435 TC OVERSUB2 # PIN NEEDLES IN CASE OF OVERFLOW 55762 TS AK +1 # R ERROR CALCULATION NEXT. 31761 CA AK # Y-AXIS DIFFERENCE STORED BY Q-AXIS CALC. 00006 EXTEND 71416 MP M31 # (CTHETA-CDUY)*M31, SCALED AT PI RADIANS. 57763 XCH AK +2 # FIRST TERM OF R ERROR. # Z-AXIS DIFFERENCE, STORED BY A CALC. IS 00006 EXTEND # RECOVERED BY THE EXCHANGE. 71420 MP M32 # (CPSI-CDUZ)*M32, SCALED AT PI RADIANS. 61763 AD AK +2 # R ERROR COMPLETE , AT PI RAD. 02435 TC OVERSUB2 # PIN NEEDLES IN CASE OF OVERFLOW. 55763 TS AK +2 # NOW CALCULATE P ERROR. (NOTE THAT M13 = 1, SCALED AT 1, SO THE MULTIPLICATION IS BY-PASSED.) # Page 1416 31761 CA AK # Y-AXIS DIFFERENCE STORED BY Q AXIS CALC. 00006 EXTEND 71414 MP M11 # (CTHETA-CDUY)*M11 SCALED AT PI RADIANS. 57761 XCH AK # FIRST TERM OF P ERROR IN AK, AT PI RAD. 30321 CAE CPHI # DESIRED ATTITUDE, X-AXIS, 2'S COMP. 00006 EXTEND # SUBTRACT CURRENT X ATTITUDE. 20032 MSU CDUX # X-AXIS DIFFERENCE, 1'S COMP, AT PI RAD. # M13 = 1, SO BYPASS THE MULTIPLICATION. # EXTEND # MP M13 # (CPHI-CDUX)*M13 SCALED AT PI RADIANS. 61761 AD AK # P ERROR COMPLETE , SCALED AT PI RAD 02435 TC OVERSUB2 # PIN NEEDLES IN CASE OF OVERFLOW. 55761 TS AK 00006 EXTEND 22061 QXCH ITEMP1 # RESTORE Q FOR CHEKBITS RETURN. 12442 TCF RETNMORE # DISPLAY THESE THE NEXT TIME THROUGH # Page 1417 # FDAI ATTITUDE ERROR DISPLAY SUBROUTINE # PROGRAM DESCRIPTION: D. KEENE 5/24/67 # MOD 1 BY CRAIG WORK, 12 DEC 67 # MOD 2 BY CRAIG WORK, 6 APRIL 68, CONVERTS ATTITUDE ERROR DISPLAY SCALING FROM 16 7/8 DEG. TO 42 3/16 DEGREES. # THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS) # IN THE CDUS. CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT # OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES # THE DACS. # CALLING SEQUENCE: # DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE # TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM: # CS RCSFLAGS # IN EBANK6 # MASK BIT3 # ADS RCSFLAGS # THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANSFERRED TO THE FOLLOWING LOCATIONS IN EBANK6: # AK SCALED 180 DEGREES NOTE: THESE LOCATIONS ARE SUBJECT # AK1 SCALED 180 DEGREES TO CHANGE # AK2 SCALED 180 DEGREES # FULL SCALED DEFLECTION OF THE NEEDLES CORRESPONDS TO 5 1/16 DEGREES, WHILE 384 BITS IN THE IMU ERROR COUNTER # CORRESPONDS TO 42 3/16 DEGREES. (DAC MAXIMUM CAPACITY IS 384 BITS.) 46 BITS EFFECTIVELY PIN THE NEEDLES. # A CALL TO NEEDLER WILL THE UPDATE THE DISPLAY: # INHINT # TC IBNKCALL # NOTE: EBANK SHOULD BE SET TO E6 # CADR NEEDLER # RELINT # THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED. AT LEAST 3 PASSES THRU THE PROGRAM ARE # REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS. # NOTE: EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50 MS. TO ASSURE PROPER RELAY SEQUENCING. # ERASABLES USED: # AK CDUXCMD # AK1 CDUYCMD # AK2 CDUZCMD # EDRIVEX A,L,Q # EDRIVEY T5TEMP # EDRIVEZ DINDX # Page 1418 # SWITCHES: RCSFLAGS BITS 3,2 # I/O CHANNELS: CHAN12 BIT 4 (COARSE ALIGN -- READ ONLY) # CHAN12 BIT 6 (IMU ERROR COUNTER ENABLE) # CHAN14 BIT 13,14,15 (DAC ACTIVITY) # SIGN CONVENTION: AK = THETAC - THETA # WHERE THETAC = COMMAND ANGLE # THETA = PRESENT ANGLE 2">060439,000383: 20,2322 31273 NEEDLER CA RCSFLAGS 76242 MASK SIX 00006 EXTEND 12362 BZF NEEDLES3 74751 MASK BIT3 00006 EXTEND 12353 BZF NEEDLER2 # BIT3 = 0, BIT2 = 1 44746 CS BIT6 # FIRST PASS BIT3 = 1 00006 EXTEND # DISABLE IMU ERROR COUNTER TO ZERO DACS 03012 WAND CHAN12 # MUST WAIT AT LEAST 60 MS BEFORE 131">060450,000394: 20,2334 44755 NEEDLE11 CS ZERO # ENABLING COUNTERS. 55761 TS AK # ZERO THE INPUTS ON FIRST PASS 55762 TS AK1 55763 TS AK2 55764 TS EDRIVEX # ZERO THE DISPLAY REGISTERS 55765 TS EDRIVEY 55766 TS EDRIVEZ 54050 TS CDUXCMD # ZERO THE OUT COUNTERS 54051 TS CDUYCMD 54052 TS CDUZCMD 46242 CS SIX # RESET RCSFLAGS FOR PASS2 71273 MASK RCSFLAGS 64752 AD BIT2 55273 TS RCSFLAGS 12442 TCF RETNMORE 232">060466,000410: 20,2353 34746 NEEDLER2 CAF BIT6 # ENABLE IMU ERROR COUNTERS 00006 EXTEND 05012 WOR CHAN12 46242 CS SIX # RESET RCSFLAGS TO DISPLAY ATTITUDE 71273 MASK RCSFLAGS # ERRORS. WAIT AT LEAST 4 MS FOR 55273 TS RCSFLAGS # RELAY CLOSURE. 12442 TCF RETNMORE 333">060474,000418: 20,2362 34746 NEEDLES3 CAF BIT6 # CHECK TO SEE IF IMU ERROR COUNTER 00006 EXTEND # IS ENABLED 02012 RAND CHAN12 # Page 1419 10000 CCS A # IF NOT, RE-INITIALIZE NEEDLER. 12373 TCF NEEDLES 41273 CS RCSFLAGS # SET UP INITIALIZATION FLAG IN RCSFLAGS. 74751 MASK BIT3 27273 ADS RCSFLAGS 12442 TCF RETNMORE 3">060486,000430: 20,2373 34752 NEEDLES CAF TWO 0">060487,000431: 20,2374 54063 DACLOOP TS DINDX 42434 CS ONETENTH # RESCALE INPUTS TO + OR - 1800 DEGREES. 00006 EXTEND 50063 INDEX DINDX 71761 MP AK 54001 TS L 10000 CCS A 32432 CA DACLIMIT 12406 TCF +2 42432 CS DACLIMIT 60001 AD L 54061 TS T5TEMP # OVFLO CHK 12414 TCF +4 50000 INDEX A # ON OVERFLOW LIMIT OUTPUT TO +-384 32432 CAF DACLIMIT 54001 TS L 50063 INDEX DINDX 41764 CS EDRIVEX # CURRENT VALUE OF DAC 60001 AD L 50063 INDEX DINDX 26050 ADS CDUXCMD 50063 INDEX DINDX 23764 LXCH EDRIVEX 10063 CCS DINDX 12374 TCF DACLOOP 37740 CAF 13,14,15 00006 EXTEND 05014 WOR CHAN14 # SET DAC ACTIVITY BITS 12442 TCF RETNMORE 77177 DEC -384 B-14 954">060518,000462: 20,2432 37200 DACLIMIT DEC 16000 B-14 00600 DEC 384 B-14 448">060521,000465: 20,2434 03146 ONETENTH OCT 03146 # DECIMAL +0.1, SCALED AT 1. C54">060522,000466: 20,2435 4750 DSPLYALT EQUALS BIT4 # 100 MS ALTERNATION BIT IN RCSFLAGS 232">060524,000468: 20,2435 54007 OVERSUB2 TS 7 # RETURNS A UNCHANGED OR LIMITED TO 00002 TC Q # POSMAX OR NEGMAX IF A HAS OVERFLOW 50000 INDEX A # Page 1420 44734 CS LIMITS # DUPLICATE CODING IN BANK 16 00002 TC Q 245">060531,000475: 20,2442 00006 RETNMORE EXTEND # RETURN TO CHEKMORE 32446 DCA MORECADR 52006 DTCB EBANK= AOSQ 452">060536,000480: 20,2445 02016 34106 MORECADR 2CADR CHEKMORE DAPIDLER_PROGRAM.agc. Parent file is MAIN.agc