https://github.com/virtualagc/virtualagc
Revision 078c79d8734a9ed2860303a7c1662004284fe853 authored by Ron Burkey on 07 August 2022, 15:04:04 UTC, committed by Ron Burkey on 07 August 2022, 15:04:04 UTC
assembly listings from yaASM and yaLEMAP. Added some debugging messages to 'make install'. Tweaked debugging messages that VirtualAGC embeds in 'simulate'. Verified buildability in Mint 21, 20, 19, 17, and verified buildability using clang in Mint 17.
1 parent 6bb1acc
Tip revision: 078c79d8734a9ed2860303a7c1662004284fe853 authored by Ron Burkey on 07 August 2022, 15:04:04 UTC
Fixed a potential string-overflow bug in yaASM. Removed timestamps from
Fixed a potential string-overflow bug in yaASM. Removed timestamps from
Tip revision: 078c79d
DAPIDLER_PROGRAM.agc
### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: DAPIDLER_PROGRAM.agc
## Purpose: A log section of Zerlina 56, the final revision of
## Don Eyles's offline development program for the variable
## guidance period servicer. It also includes a new P66 with LPD
## (Landing Point Designator) capability, based on an idea of John
## Young's. Neither of these advanced features were actually flown,
## but Zerlina was also the birthplace of other big improvements to
## Luminary including the terrain model and new (Luminary 1E)
## analog display programs. Zerlina was branched off of Luminary 145,
## and revision 56 includes all changes up to and including Luminary
## 183. It is therefore quite close to the Apollo 14 program,
## Luminary 178, where not modified with new features.
## Reference: pp. 1398-1408
## Assembler: yaYUL
## Contact: Ron Burkey <info@sandroid.org>.
## Website: www.ibiblio.org/apollo/index.html
## Mod history: 2017-07-28 MAS Created from Luminary 210.
## 2017-08-20 MAS Updated for Zerlina 56.
## Page 1398
# 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
# CHEKBITS IS CALLED EVERY 0.1 SEC AT THE BEGINNING OF THE DAP PASS, WHETHER THE AUTOPILOT IS ACTIVE OR IDLING.
# IT CHECKS FOR THE FOLLOWING
# A. IS THE PGNCS MODE SELECT SWITCH TURNED TO "OFF"?
# B. IS THE IMU UNAVAILABLE AS AN ATTITUDE REFERENCE?
# C. IS THE SPACECRAFT UNDER AGS CONTROL?
# IF A OR B HOLD, THE FDAI NEEDLES CANNOT BE UPDATED AND A BIT IS SET TO INITIALIZE THE UPDATE ROUTINE. OTHER
# WISE, THE NEEDLES ARE UPDATED.
# IF A OR B OR C ARE TRUE, THE DAP IS MADE TO IDLE THIS PASS. OTHERWISE, CONTROL IS TRANSFERRED BACK TO THE
# CALLER OF CHEKBITS.
CHEKBITS EXTEND
READ CHAN31 # IF BOTH BIT13 AND BIT14 ARE ONE, THEN
COM # THE MODE SELECT SWITCH IS IN THE OFF
MASK BIT13-14 # POSITION, AND SO THE DAP SHOULD BE OFF,
EXTEND # WITH NO ATTITUDE ERROR DISPLAY.
BZF NONEEDLE
CS IMODES33 # IF IMU NOT USABLE, DAP SHOULD IDLE WITH
MASK BIT6 # NO FDAI NEEDLE DISPLAY.
CCS A
TCF JUMPDSP
NONEEDLE CS RCSFLAGS # SET FLAG TO INITIALIZE NEEDLE DISPLAY.
MASK BIT3
ADS RCSFLAGS
TCF SHUTDOWN
CHEKMORE CAF BIT10 # BIT 10 OF 30 IS PGNCS CONTROL OF S/C
EXTEND
RAND CHAN30 # BITS IN 30 ARE INVERTED
CCS A
TCF MOREIDLE
RETURN
## Page 1399
# DAPIDLER ENTRY.
DAPIDLER LXCH BANKRUPT # INTERRUPT LEAD INS (CONTINUED)
EXTEND
QXCH QRUPT
CA RCSFLAGS
MASK BIT13
CCS A # CHECK IF 1/ACCJOB HAS BEEN SET UP SINCE
TCF CHECKUP # THE LAST FRESH START OR RESTART.
CA BIT13
ADS RCSFLAGS # BIT 13 IS 1.
CAF PRIO27
TC NOVAC # SET UP JOB TO DO A LITTLE INITIALIZATION
EBANK= AOSQ # AND EXECUTE 1/ACCS.
2CADR 1/ACCSET # (WILL BRANCH TO MOREIDLE ON ACCSOKAY)
CHECKUP TC CHEKBITS # CHECK TO SEE IF LM DAP IS TO GO ON AND
# DO ERROR DISPLAY.
CAE DAPBOOLS # IF 1/ACCS HAS NOT BEEN COMPLETED, IDLE.
MASK ACCSOKAY # NOTE: ONLY FRESH START AND RESTART
EXTEND # KNOCK THIS BIT DOWN.
BZF MOREIDLE
STARTDAP TC IBNKCALL # ZERO ATTITUDE ERROR AND DESIRED RATES.
FCADR ZATTEROR
CAF ZERO # ********** INITIALIZE: **********
TS TJP
TS TJU
TS TJV
TS OMEGAP # RATES IN BODY (PILOT) COORDINATES.
TS OMEGAQ
TS OMEGAR
TS TRAPEDP
TS TRAPEDQ
TS TRAPEDR
TS AOSQ # OFFSET ACCELERATION ESTIMATES.
TS AOSQ +1
TS AOSR
TS AOSR +1
TS ALPHAQ # COPIES OF OFFSET ESTIMATES FOR DOWNLIST.
TS ALPHAR
TS NEGUQ
TS NEGUR
TS AOSQTERM # QRAXIS RATE DERIVATION TERMS AND KALMAN
TS AOSRTERM # FILTER INITIALIZATION TERMS.
TS QACCDOT # DESCENT ACCELERATION DERIVATIVE EST.
TS RACCDOT
## Page 1400
TS ALLOWGTS # AOSTASK FLAG FOR QRAXIS RCS CONTROL USE.
TS COTROLER # DO TRYGTS ON FIRST PASS (WILL GO TO RCS)
TS INGTS # RECOGNIZE FIRST GTS PASS AS SUCH.
TS QGIMTIMR # STOP GIMBAL DRIVES. (PROBABLY WOULD BE
TS RGIMTIMR # GOOD ENOUGH JUST TO INACTIVATE TIMERS)
TS OLDPMIN # MINIMUM IMPULSE MODE ERASABLES
TS OLDQRMIN
TS PJETCTR # INITIALIZE DOCKED JET INHIBITION
TS UJETCTR # COUNTERS
TS VJETCTR
CALLGMBL EQUALS BIT5 # RCSFLAGS INITIALIZATION.
CS MANFLAG
MASK RCSFLAGS # NEGUQ(R) HAVE BEEN GENERATED.
TS RCSFLAGS
# SET UP "OLD" MEASURED CDU ANGLES:
EXTEND
DCA CDUX # OLDXFORP AND OLDYFORP
DXCH OLDXFORP
CA CDUZ
TS OLDZFORQ
CS RCSFLAGS
MASK BIT12
ADS RCSFLAGS # BIT 12 SET TO 1.
CA FOUR
TS SKIPU
TS SKIPV
CA POSMAX
TS TIME6
TS T6NEXT
TS T6FURTHA
CA ZERO
TS T6NEXT +1
TS T6FURTHA +1
TS NXT6ADR
TS NEXTP
TS NEXTU
TS NEXTV
CS TEN
TS DAPZRUPT # JASK NOT IN PROGRESS, INITIALIZE NEG.
CA TWO
TS NPTRAPS
TS NQTRAPS
TS NRTRAPS
EXTEND
DCA PAXADIDL
DXCH T5ADR
SETTIME5 CAF MS100
TS TIME5
## Page 1401
TCF RESUME
EBANK= AOSQ
IDLERADR 2CADR DAPIDLER
MOREIDLE TC IBNKCALL # CALCULATE Q,R-AXES ATTITUDE ERRORS.
CADR QERRCALC
TC IBNKCALL
CADR CALCPERR # CALCULATE P AXIS ATTITUDE ERRORS.
SHUTDOWN EXTEND
DCA IDLERADR
DXCH T5ADR
CAF ZERO # KILL ANY POSSIBLE JET REQUESTS
TS NEXTP
TS NEXTU
TS NEXTV
EXTEND # COMMAND JETS OFF.
WRITE CHAN5
EXTEND
WRITE CHAN6
CS BGIM23 # TURN TRIM GIMBAL OFF
EXTEND
WAND CHAN12
TCF SETTIME5 # RETURN IN 100 MSEC.
MANFLAG OCT 03021
BGIM23 OCTAL 07400
EBANK= OMEGAP
PAXADIDL 2CADR PAXIS
MS100 = OCT37766
COSMG = ITEMP1
JUMPDSP EXTEND # TRANSFER TO BANK 20
DCA DSPCADR # FOR ATTITUDE ERROR DISPLAYS
DTCB
EBANK= AK
DSPCADR 2CADR ALTDSPLY
## Page 1402
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) ESTIMATED RATES (FOLLOWING) IF NEED2FLG = 1, OTHERWISE AS 2) DAP FOLLOWING ERRORS FOR
# NEEDLFLG = 0 AND 3) 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)
# 3) IF NEED2FLG = 1, INPUT OMEGAP, OMEGAQ, AND OMEGAR.
# 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.
ALTDSPLY CA RCSFLAGS # INVERT THE DISPLAY ALTERNATION BIT.
TS L
CA DSPLYALT
EXTEND
RXOR LCHAN
TS RCSFLAGS
MASK DSPLYALT
CCS A # IS ALTERNATION FLAG ZERO?
## Page 1403
TCF NEEDLER
CS FLAGWRD0 # CHECK FOR RATE DISPLAY TO ERROR NEEDLES
MASK NEED2BIT # VIA EXTENDED VERB 60
EXTEND
BZF DISPRATE
CAE FLAGWRD0 # NEEDLFLG WILL INDICATE TOTAL OR DAP AT-
MASK NEEDLBIT # TITUDE ERROR DISPLAY REQUEST.
CCS A
TCF DSPLYTOT # TOTAL ERROR IS NEEDED IN AK,AK +1,AK +2
CS QERROR # YES. DISPLAY ATT ERRORS ON THE ,-BALL.
TS AK +1 # ERROR COMPLEMENTS ARE INPUT TO NEEDLER.
CS RERROR
TS AK +2
CS PERROR
XCH AK
TCF RETNMORE # DISPLAY THESE THE NEXT TIME THROUGH
DISPRATE CS OMEGAQ # LOAD ESTIMATED RATES (FOLLOWING)
TS AK +1
CS OMEGAR
TS AK +2
CS OMEGAP
XCH AK
TCF RETNMORE
# CALCULATE GIMBAL ANGLE TOTAL ERRORS, RESOLVE INTO PILOT AXES, STORE TOTAL ERRORS FOR NEEDLER. Q-AXIS FIRST.
DSPLYTOT EXTEND
QXCH ITEMP1 # SAVE Q FOR CHEKBITS RETURN.
CA CTHETA # DESIRED ATTITUDE, Y-AXIS, 2'S COMP.
EXTEND # SUBTRACT CURRENT ATTITUDE.
MSU CDUY # DIFFERENCE SCALED AT PI, 1'S COMP.
TS AK # SAVE FOR R-ERROR CALCULATION.
EXTEND
MP M21 # (CHTETA-CDUY)*M21 SCALED AT PI RADIANS.
XCH AK +1 # STORE FIRST TERM OF Q ERROR.
CA CPSI # DESIRED ATTITUDE, Z-AXIS, 2'S COMP.
EXTEND # SUBTRACT CURRENT ATTITUDE.
MSU CDUZ # DIFFERENCE SCALED AT PI, 1'S COMP.
TS AK +2 # SAVE Z-AXIS TERM FOR R ERROR CALCULATION
EXTEND
MP M22 # (CPSI-CDUZ)*M22, SCALED AT PI RADIANS.
AD AK +1 # Q ERROR COMPLETE , AT PI RAD.
TC OVERSUB2 # PIN NEEDLES IN CASE OF OVERFLOW.
TS AK +1
## Page 1404
# R ERROR CALCULATION NEXT.
CA AK # Y-AXIS DIFFERENCE STORED BY Q-AXIS CALC.
EXTEND
MP M31 # (CTHETA-CDUY)*M31, SCALED AT PI RADIANS.
XCH AK +2 # FIRST TERM OF R ERROR.
# Z-AXIS DIFFERENCE, STORED BY A CALC. IS
EXTEND # RECOVERED BY THE EXCHANGE.
MP M32 # (CPSI-CDUZ)*M32, SCALED AT PI RADIANS.
AD AK +2 # R ERROR COMPLETE , AT PI RAD.
TC OVERSUB2 # PIN NEEDLES IN CASE OF OVERFLOW.
TS AK +2
# NOW CALCULATE P ERROR. (NOTE THAT M13 = 1, SCALED AT 1, SO THE MULTIPLICATION IS BY-PASSED.)
CA AK # Y-AXIS DIFFERENCE STORED BY Q AXIS CALC.
EXTEND
MP M11 # (CTHETA-CDUY)*M11 SCALED AT PI RADIANS.
XCH AK # FIRST TERM OF P ERROR IN AK, AT PI RAD.
CAE CPHI # DESIRED ATTITUDE, X-AXIS, 2'S COMP.
EXTEND # SUBTRACT CURRENT X ATTITUDE.
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.
AD AK # P ERROR COMPLETE , SCALED AT PI RAD
TC OVERSUB2 # PIN NEEDLES IN CASE OF OVERFLOW.
TS AK
EXTEND
QXCH ITEMP1 # RESTORE Q FOR CHEKBITS RETURN.
TCF RETNMORE # DISPLAY THESE THE NEXT TIME THROUGH
## Page 1405
# 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 TRANSFERED 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.
# FOR RATE DISPLAY, FULL SCALE NEEDLE DEFLECTION IS 1 17/64 DEG/SEC, AND A FULL COUNTER IS ABOUT 10.5 DEG/SEC.
# A CALL TO NEEDLER WILL THEN 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 50MS TO ASSURE PROPER RELAY SEQUENCING.
# ERASABLE USED:
# AK CDUXCMD
# AK1 CDUYCMD
# AK2 CDUZCMD
# EDRIVEX A,L,Q
# EDRIVEY T5TEMP
## Page 1406
# EDRIVEZ DINDX
# 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
NEEDLER CA RCSFLAGS
MASK SIX
EXTEND
BZF NEEDLES3
MASK BIT3
EXTEND
BZF NEEDLER2 # BIT3 = 0, BIT2 = 1
CS BIT6 # FIRST PASS BIT3 = 1
EXTEND # DISABLE IMU ERROR COUNTER TO ZERO DACS
WAND CHAN12 # MUST WAIT AT LEAST 60 MS BEFORE
NEEDLE11 CS ZERO # ENABLING COUNTERS.
TS AK # ZERO THE INPUTS ON FIRST PASS
TS AK1
TS AK2
TS EDRIVEX # ZERO THE DISPLAY REGISTERS
TS EDRIVEY
TS EDRIVEZ
TS CDUXCMD # ZERO THE OUT COUNTERS
TS CDUYCMD
TS CDUZCMD
CS SIX # RESET RCSFLAGS FOR PASS2
MASK RCSFLAGS
AD BIT2
TS RCSFLAGS
TCF RETNMORE
NEEDLER2 CAF BIT6 # ENABLE IMU ERROR COUNTERS
EXTEND
WOR CHAN12
CS SIX # RESET RCSFLAGS TO DISPLAY ATTITUDE
MASK RCSFLAGS # ERRORS WAIT ATLEAST 4 MS FOR
TS RCSFLAGS # RELAY CLOSURE
TCF RETNMORE
NEEDLES3 CAF BIT6 # CHECK TO SEE IF IMU ERROR COUNTER
## Page 1407
EXTEND # IS ENABLED
RAND CHAN12
CCS A # IF NOT, RE-INITIALIZE NEEDLER.
TCF NEEDLES
CS RCSFLAGS # SET UP INITIALIZATION FLAG IN RCSFLAGS.
MASK BIT3
ADS RCSFLAGS
TCF RETNMORE
NEEDLES CAF TWO
DACLOOP TS DINDX
CS ONETENTH # RESCALE INPUTS TO + OR - 1800 DEGREES.
EXTEND
INDEX DINDX
MP AK
TS L
CCS A
CA DACLIMIT
TCF +2
CS DACLIMIT
AD L
TS T5TEMP # OVFLO CHK
TCF +4
INDEX A # ON OVERFLOW LIMIT OUTPUT TO +-384
CAF DACLIMIT
TS L
INDEX DINDX
CS EDRIVEX # CURRENT VALUE OF DAC
AD L
INDEX DINDX
ADS CDUXCMD
INDEX DINDX
LXCH EDRIVEX
CCS DINDX
TCF DACLOOP
CAF 13,14,15
EXTEND
WOR CHAN14 # SET DAC ACTIVITY BITS
TCF RETNMORE
DEC -384
DACLIMIT DEC 16000
DEC 384
ONETENTH OCT 03146 # DECIMAL +0.1, SCALED AT 1.
DSPLYALT EQUALS BIT4 # 100 MS ALTERNATION BIT IN RCSFLAGS
OVERSUB2 TS 7 # RETURNS A UNCHANGED OR LIMITED TO
## Page 1408
TC Q # POSMAX OR NEGMAX IF A HAS OVERFLOW
INDEX A
CS LIMITS # DUPLICATE CODING IN BANK 16
TC Q
RETNMORE EXTEND # RETURN TO CHEKMORE
DCA MORECADR
DTCB
EBANK= AOSQ
MORECADR 2CADR CHEKMORE
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