Co-authored-by: James Harris <wopian@wopian.me>
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@ -27,10 +27,9 @@
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# 16:27 JULY 14, 1969
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# Page 1410
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# THE DAPIDLER PROGRAM IS STARTED BY FRESH START AND RESTART. THE DAPIDLER PROGRAM IS DONE 10 TIMES
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# THE DAPIDLER PROGRAM IS STARTED BY FRESH START AND RESTART. THE DAPIDLER PROGRAM IS DONE 10 TIMES
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# PER SECOND UNTIL THE ASTRONAUT DESIRES THE DAP TO WAKE UP, AND THE IMU AND CDUS ARE READY FOR USE BY THE DAP.
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# THE NECESSARY INITIALIZATION OF THE DAP IS DONE BY THE DAPIDLER PROGRAM.
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BANK 16
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SETLOC DAPS1
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BANK
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@ -78,20 +77,20 @@ DAPIDLER LXCH BANKRUPT # INTERRUPT LEAD INS (CONTINUED)
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ADS RCSFLAGS # BIT 13 IS 1.
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CAF PRIO27
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TC NOVAC # SET UP JOB TO DO A LITTLE INITIALIZATION
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EBANK= AOSQ # AND EXECUTE 1/ACCS.
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EBANK= AOSQ # AND EXECUTE 1/ACCS.
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2CADR 1/ACCSET # (WILL BRANCH TO MOREIDLE ON ACCSOKAY)
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CHECKUP TC CHEKBITS # CHECK TO SEE IF LM DAP IS TO GO ON AND
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# DO ERROR DISPLAY.
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# DO ERROR DISPLAY.
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CAE DAPBOOLS # IF 1/ACCS HAS NOT BEEN COMPLETED, IDLE.
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MASK ACCSOKAY # NOTE: ONLY FRESH START AND RESTART
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EXTEND # KNOCK THIS BIT DOWN.
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MASK ACCSOKAY # NOTE: ONLY FRESH START AND RESTART
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EXTEND # KNOCK THIS BIT DOWN.
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BZF MOREIDLE
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STARTDAP TC IBNKCALL # ZERO ATTITUDE ERROR AND DESIRED RATES.
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FCADR ZATTEROR
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CAF ZERO # ************ INITIALIZE: *************
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CAF ZERO # ********** INITIALIZE: **********
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TS TJP
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TS TJU
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TS TJV
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@ -118,7 +117,7 @@ STARTDAP TC IBNKCALL # ZERO ATTITUDE ERROR AND DESIRED RATES.
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TS COTROLER # DO TRYGTS ON FIRST PASS (WILL GO TO RCS)
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TS INGTS # RECOGNIZE FIRST GTS PASS AS SUCH.
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TS QGIMTIMR # STOP GIMBAL DRIVES. (PROBABLY WOULD BE
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TS RGIMTIMR # GOOD ENOUGH JUST TO INACTIVATE TIMERS)
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TS RGIMTIMR # GOOD ENOUGH JUST TO INACTIVATE TIMERS)
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TS OLDPMIN # MINIMUM IMPULSE MODE ERASABLES
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TS OLDQRMIN
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TS PJETCTR # INITIALIZE DOCKED JET INHIBITION
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@ -212,36 +211,38 @@ DSPCADR 2CADR ALTDSPLY
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BANK
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COUNT* $$/NEEDL
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# PROGRAM: ALTDSPLY
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# MOD 0. 6 DEC 1967
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# AUTHOR: CRAIG WORK, DON KEENE, MIT IL
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# MOD 3 BY DON KEENE AUG 1, 1968 -- MOVED PROGRAM TO BANK 20
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# PROGRAM: ALTDSPLY
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#
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# MOD 0. 6 DEC 1967
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#
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# AUTHOR: CRAIG WORK, DON KEENE, MIT IL
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#
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# MOD 3 BY DON KEENE AUG 1, 1968 MOVED PROGRAM TO BANK 20
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#
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# PROGRAM DESCRIPTION:
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# ALTDSPLY REVERSES THE DSPLYALT BIT OF RCSFLAGS EACH TIME IT IS CALLED, WHICH IS PRESUMABLY EVERY 100 MS.
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# IF THE REVERSED BIT IS ONE, NEEDLER IS CALLED TO DISPLAY ATTITUDE ERRORS. IF THE BIT IS ZERO, THE ATTITUDE ERR-
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# ORS ARE CALCULATED AS 1) DAP FOLLOWING ERRORS, IF NEEDLFLG = 0, AND 2) TOTAL ATTITUDE ERRORS FOR NEEDLFLG = 1.
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#
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# ALTDSPLY REVERSES THE DSPLYALT BIT OF RCSFLAGS EACH TIME IT IS CALLED, WHICH IS PRESUMABLY EVERY 100 MS.
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# IF THE REVERSED BIT IS ONE, NEEDLER IS CALLED TO DISPLAY ATTITUDE ERRORS. IF THE BIT IS ZERO, THE ATTITUDE ERR-
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# ORS ARE CALCULATED AS 1) DAP FOLLOWING ERRORS, IF NEEDLFLG = 0, AND 2) TOTAL ATTITUDE ERRORS FOR NEEDLFLG = 1.
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#
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# WARNING: ALTDSPLY MAY ONLY BE CALLED WITH INTERRUPT INHIBITED
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# WARNING: ALTDSPLY MAY ONLY BE CALLED WITH INTERRUPT INHIBITED.
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#
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# WARNING: EBANK MUST BE SET TO 6 WHEN USING THIS ROUTINE.
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# WARNING: EBANK MUST BE SET TO 6 WHEN USING THIS ROUTINE.
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#
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# INPUT: RCSFLAGS AND 1) IF NEEDLFLG = 0, INPUT PERROR, QERROR, RERROR.
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# 2) IF NEEDLFLG = 1, INPUT CPHI,CTHETA,CPSI,CDUX,CDUY,CDUZ,M11,M21,M32,M22,M32. (GPMATRIX)
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# INPUT: RCSFLAGS AND 1) IF NEEDLFLG=0, INPUT PERROR,QERROR,RERROR.
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# 2) IF NEEDLFLG=1, INPUT CPHI,CTHETA,CPSI,CDUX,CDUY,CDUZ,M11,M21,M32,M22,M32. (GPMATRIX)
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#
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# OUTPUTS: RCSFLAGS WITH DSPLYALT REVERSED,AK,AK1,AK2,+ NEEDLER OUTPUTS.
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#
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# OUTPUTS: RCSFLAGS WITH DSPLYALT REVERSED, AK, AK1, AK2, + NEEDLER OUTPUTS.
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# ENTRY: TCF ALTDSPLY
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#
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# ENTRY: TCF ALTDSPLY
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# EXIT: TCF CHEKMORE
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#
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# EXIT: TCF CHEKMORE
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# ALARM OR ABORT EXITS: NONE
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#
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# ALARM OR ABORT EXITS: NONE
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# SUBPROGRAMS CALLED: NEEDLER, OVERSUB2
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#
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# SUBPROGRAMS CALLED: NEEDLER, OVERSUB2
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#
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# DEBRIS: A, L, AND NEEDLER DEBRIS.
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# DEBRIS: A,L,AND NEEDLER DEBRIS.
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ALTDSPLY CA RCSFLAGS # INVERT THE DISPLAY ALTERNATION BIT.
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TS L
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@ -258,9 +259,9 @@ ALTDSPLY CA RCSFLAGS # INVERT THE DISPLAY ALTERNATION BIT.
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# Page 1415
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MASK NEEDLBIT # TITUDE ERROR DISPLAY REQUEST.
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CCS A
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TCF DSPLYTOT # TOTAL ERROR IS NEEDED IN AK, AK +1, AK +2
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TCF DSPLYTOT # TOTAL ERROR IS NEEDED IN AK,AK +1,AK +2
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CS QERROR # YES. DISPLAY ATT ERRORS ON THE -BALL.
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CS QERROR # YES. DISPLAY ATT ERRORS ON THE ,-BALL.
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TS AK +1 # ERROR COMPLEMENTS ARE INPUT TO NEEDLER.
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CS RERROR
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TS AK +2
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@ -279,9 +280,9 @@ DSPLYTOT EXTEND
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MSU CDUY # DIFFERENCE SCALED AT PI, 1'S COMP.
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TS AK # SAVE FOR R-ERROR CALCULATION.
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EXTEND
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MP M21 # (CTHETA-CDUY)*M21 SCALED AT PI RADIANS.
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MP M21 # (CHTETA-CDUY)*M21 SCALED AT PI RADIANS.
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XCH AK +1 # STORE FIRST TERM OF Q ERROR.
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CA CPSI # DESIRED ATTITUDE, Z-AXIS, 2'S COMP.
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CA CPSI # DESIRED ATTITUDE,Z-AXIS, 2'S COMP.
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EXTEND # SUBTRACT CURRENT ATTITUDE.
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MSU CDUZ # DIFFERENCE SCALED AT PI, 1'S COMP.
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TS AK +2 # SAVE Z-AXIS TERM FOR R ERROR CALCULATION
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@ -316,7 +317,7 @@ DSPLYTOT EXTEND
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# M13 = 1, SO BYPASS THE MULTIPLICATION.
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# EXTEND
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# MP M13 # (CPHI-CDUX)*M13 SCALED AT PI RADIANS.
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# MP M13 (CPHI-CDUX)*M13 SCALED AT PI RADIANS.
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AD AK # P ERROR COMPLETE , SCALED AT PI RAD
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TC OVERSUB2 # PIN NEEDLES IN CASE OF OVERFLOW.
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@ -330,55 +331,67 @@ DSPLYTOT EXTEND
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# Page 1417
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# FDAI ATTITUDE ERROR DISPLAY SUBROUTINE
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#
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# PROGRAM DESCRIPTION: D. KEENE 5/24/67
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# MOD 1 BY CRAIG WORK, 12 DEC 67
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# MOD 2 BY CRAIG WORK, 6 APRIL 68, CONVERTS ATTITUDE ERROR DISPLAY SCALING FROM 16 7/8 DEG. TO 42 3/16 DEGREES.
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# PROGRAM DESCRIPTION: D. KEENE 5/24/67
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#
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# THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS)
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# MOD 1 BY CRAIG WORK, 12 DEC 67
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#
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# MOD 2 BY CRAIG WORK, 6 APRIL 68 CONVERTS ATTITUDE ERROR DISPLAY SCALING FROM 16 7/8 DEG. TO 42 3/16 DEGREES.
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#
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# THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS)
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# IN THE CDUS. CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT
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# OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES
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# THE DACS.
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#
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# CALLING SEQUENCE:
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# DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE
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# TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM:
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# CS RCSFLAGS # IN EBANK6
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# MASK BIT3
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# ADS RCSFLAGS
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# THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANSFERRED TO THE FOLLOWING LOCATIONS IN EBANK6:
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# AK SCALED 180 DEGREES NOTE: THESE LOCATIONS ARE SUBJECT
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# AK1 SCALED 180 DEGREES TO CHANGE
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# AK2 SCALED 180 DEGREES
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# FULL SCALED DEFLECTION OF THE NEEDLES CORRESPONDS TO 5 1/16 DEGREES, WHILE 384 BITS IN THE IMU ERROR COUNTER
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# CORRESPONDS TO 42 3/16 DEGREES. (DAC MAXIMUM CAPACITY IS 384 BITS.) 46 BITS EFFECTIVELY PIN THE NEEDLES.
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#
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# A CALL TO NEEDLER WILL THE UPDATE THE DISPLAY:
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# INHINT
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# TC IBNKCALL # NOTE: EBANK SHOULD BE SET TO E6
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# CADR NEEDLER
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# RELINT
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# THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED. AT LEAST 3 PASSES THRU THE PROGRAM ARE
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# REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS.
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# NOTE: EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50 MS. TO ASSURE PROPER RELAY SEQUENCING.
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# CALLING SEQUENCE:
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#
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# DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE
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# TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM:
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#
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# CS RCSFLAGS IN EBANK6
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# MASK BIT3
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# ADS RCSFLAGS
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#
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# THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANSFERRED TO THE FOLLOWING LOCATIONS IN EBANK6:
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#
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# AK SCALED 180 DEGREES NOTE: THESE LOCATIONS ARE SUBJECT
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# AK1 SCALED 180 DEGREES TO CHANGE
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# AK2 SCALED 180 DEGREES
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#
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# FULL SCALED DEFLECTION OF THE NEEDLES CORRESPONDS TO 5 1/16 DEGREES, WHILE 384 BITS IN THE IMU ERROR COUNTER
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# CORRESPONDS TO 42 3/16 DEGREES. (DAC MAXIMUM CAPACITY IS 384 BITS.) 46 BITS EFFECTIVELY PIN THE NEEDLES.
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#
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# A CALL TO NEEDLER WILL THEN UPDATE THE DISPLAY:
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#
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# INHINT
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# TC IBNKCALL NOTE: EBANK SHOULD BE SET TO E6
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# CADR NEEDLER
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# RELINT
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#
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# THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED. AT LEAST 3 PASSES THRU THE PROGRAM ARE
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# REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS.
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# NOTE: EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50MS TO ASSURE PROPER RELAY SEQUENCING.
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#
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# ERASABLES USED:
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# AK CDUXCMD
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# AK1 CDUYCMD
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# AK2 CDUZCMD
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# EDRIVEX A,L,Q
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# EDRIVEY T5TEMP
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# EDRIVEZ DINDX
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# AK CDUXCMD
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# AK1 CDUYCMD
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# AK2 CDUZCMD
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# EDRIVEX A,L,Q
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# EDRIVEY T5TEMP
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# EDRIVEZ DINDX
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# Page 1418
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#
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# SWITCHES: RCSFLAGS BITS 3,2
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# SWITCHES: RCSFLAGS BITS 3,2
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#
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# I/O CHANNELS: CHAN12 BIT 4 (COARSE ALIGN -- READ ONLY)
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# CHAN12 BIT 6 (IMU ERROR COUNTER ENABLE)
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# CHAN14 BIT 13,14,15 (DAC ACTIVITY)
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# I/O CHANNELS: CHAN12 BIT 4 (COARSE ALIGN - READ ONLY)
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# CHAN12 BIT 6 (IMU ERROR COUNTER ENABLE)
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# CHAN14 BIT 13,14,15 (DAC ACTIVITY)
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#
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# SIGN CONVENTION: AK = THETAC - THETA
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# WHERE THETAC = COMMAND ANGLE
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# THETA = PRESENT ANGLE
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#
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# SIGN CONVENTION< AK = THETAC - THETA
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# WHERE THETAC = COMMAND ANGLE
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# THETA = PRESENT ANGLE
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NEEDLER CA RCSFLAGS
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MASK SIX
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@ -411,8 +424,8 @@ NEEDLER2 CAF BIT6 # ENABLE IMU ERROR COUNTERS
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EXTEND
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WOR CHAN12
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CS SIX # RESET RCSFLAGS TO DISPLAY ATTITUDE
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MASK RCSFLAGS # ERRORS. WAIT AT LEAST 4 MS FOR
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TS RCSFLAGS # RELAY CLOSURE.
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MASK RCSFLAGS # ERRORS WAIT ATLEAST 4 MS FOR
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TS RCSFLAGS # RELAY CLOSURE
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TCF RETNMORE
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NEEDLES3 CAF BIT6 # CHECK TO SEE IF IMU ERROR COUNTER
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@ -465,11 +478,11 @@ DACLIMIT DEC 16000
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ONETENTH OCT 03146 # DECIMAL +0.1, SCALED AT 1.
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DSPLYALT EQUALS BIT4 # 100 MS ALTERNATION BIT IN RCSFLAGS
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OVERSUB2 TS 7 # RETURNS A UNCHANGED OR LIMITED TO
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OVERSUB2 TS 7 # RETURNS A UNCHANGED OR LIMITED TO
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TC Q # POSMAX OR NEGMAX IF A HAS OVERFLOW
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INDEX A
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# Page 1420
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CS LIMITS # DUPLICATE CODING IN BANK 16
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CS LIMITS # DUPLICATE CODING IN BANK 16
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TC Q
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RETNMORE EXTEND # RETURN TO CHEKMORE
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