Source Code
055837,000001: # Copyright: Public domain.
055838,000002: # Filename: IMU_MODE_SWITCHING_ROUTINES.agc
055839,000003: # Purpose: Part of the source code for Luminary 1A build 099.
055840,000004: # It is part of the source code for the Lunar Module's (LM)
055841,000005: # Apollo Guidance Computer (AGC), for Apollo 11.
055842,000006: # Assembler: yaYUL
055843,000007: # Contact: Onno Hommes <ohommes@cmu.edu>.
055844,000008: # Website: www.ibiblio.org/apollo.
055845,000009: # Pages: 1309-1337
055846,000010: # Mod history: 2009-05-28 OH Transcribed from page images.
055847,000011: # 2009-06-05 RSB Fixed a typo.
055848,000012: # 2011-01-06 JL Fixed pseudo-label indentation.
055849,000013: # 2011-05-08 JL Removed workaround. Flagged SBANK=
055850,000014: # workaround for future removal.
055851,000015:
055852,000016: # This source code has been transcribed or otherwise adapted from
055853,000017: # digitized images of a hardcopy from the MIT Museum. The digitization
055854,000018: # was performed by Paul Fjeld, and arranged for by Deborah Douglas of
055855,000019: # the Museum. Many thanks to both. The images (with suitable reduction
055856,000020: # in storage size and consequent reduction in image quality as well) are
055857,000021: # available online at www.ibiblio.org/apollo. If for some reason you
055858,000022: # find that the images are illegible, contact me at info@sandroid.org
055859,000023: # about getting access to the (much) higher-quality images which Paul
055860,000024: # actually created.
055861,000025:
055862,000026: # Notations on the hardcopy document read, in part:
055863,000027:
055864,000028: # Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
055865,000029: # 16:27 JULY 14, 1969
055866,000030:
055867,000031:
055868,000032: # Page 1309
055869,000033: 5457 BLOCK 02
055870,000034: 4000 SETLOC FFTAG3
055871,000035: 4000 BANK
055872,000036:
055873,000037: 5457 E3,1471 EBANK= COMMAND
055874,000038:
055875,000039: # FIXED-FIXED ROUTINES
055876,000040:
055877,000041: 5457 COUNT* $$/IMODE
055878,000042: 5457 34755 ZEROICDU CAF ZERO # ZERO ICDU COUNTERS.
055879,000043: 5460 54032 TS CDUX
055880,000044: 5461 54033 TS CDUY
055881,000045: 5462 54034 TS CDUZ
055882,000046: 5463 00002 TC Q
055883,000047:
055884,000048: 5464 4743 SPSCODE = BIT9
055885,000049:
055886,000050: # Page 1310
055887,000051: # IMU ZEROING ROUTINES
055888,000052:
055889,000053: 11,3776 BANK 11
055890,000054: 07,2000 SETLOC MODESW
055891,000055: 07,2000 BANK
055892,000056:
055893,000057: 07,2714 COUNT* $$/IMODE
055894,000058: 07,2714 00004 IMUZERO INHINT # ROUTINE TO ZERO ICDUS.
055895,000059: 07,2715 41036 CS DSPTAB +11D # DON'T ZERO CDUS IS IMU IN GIMBAL LOCK AND
055896,000060: 07,2716 74771 MASK BITS4&6 # COARSE ALIGN (GIMBAL RUNAWAY PROTECTION)
055897,000061: 07,2717 10000 CCS A
055898,000062: 07,2720 12724 TCF IMUZEROA
055899,000063:
055900,000064: 07,2721 05567 TC ALARM # IF SO.
055901,000065: 07,2722 00206 OCT 00206
055902,000066:
055903,000067: 07,2723 13657 TCF CAGETSTJ +4 # IMMEDIATE FAILURE.
055904,000068:
055905,000069: 07,2724 03653 IMUZEROA TC CAGETSTJ
055906,000070:
055907,000071: 07,2725 41303 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
055908,000072: 07,2726 74773 MASK SUPER011 # BIT5 FOR GROUND
055909,000073: 07,2727 27303 ADS IMODES33
055910,000074:
055911,000075: 07,2730 41302 CS IMODES30 # INHIBIT ICDUFAIL AND IMUFAIL (IN CASE WE
055912,000076: 07,2731 75751 MASK BITS3&4 # JUST CAME OUT OF COARSE ALIGN).
055913,000077: 07,2732 27302 ADS IMODES30
055914,000078:
055915,000079: 07,2733 44771 CS BITS4&6 # SEND ZERO ENCODE WITH COARSE AND ERROR
055916,000080: 07,2734 00006 EXTEND # COUNTER DISABLED.
055917,000081: 07,2735 03012 WAND CHAN12
055918,000082:
055919,000083: 07,2736 03266 TC NOATTOFF # TURN OFF NO ATT LAMP.
055920,000084:
055921,000085: 07,2737 34747 CAF BIT5
055922,000086: 07,2740 00006 EXTEND
055923,000087: 07,2741 05012 WOR CHAN12
055924,000088:
055925,000089: 07,2742 05457 TC ZEROICDU
055926,000090: 07,2743 34746 CAF BIT6 # WAIT 320 MS TO GIVE AGS ADEQUATE TIME TO
055927,000091: 07,2744 05203 TC WAITLIST # RECEIVE ITS PULSE TRAIN.
055928,000092: 07,2745 E3,1474 EBANK= CDUIND
055929,000093: 07,2745 02757 16103 2CADR IMUZERO2
055930,000094:
055931,000095: 07,2747 41302 CS IMODES30 # SEE IF IMU OPERATING AND ALARM IF NOT.
055932,000096: 07,2750 74743 MASK BIT9
055933,000097: 07,2751 10000 CCS A
055934,000098: 07,2752 12755 TCF MODEEXIT
055935,000099: # Page 1311
055936,000100: 07,2753 05567 TC ALARM
055937,000101: 07,2754 00210 OCT 210
055938,000102:
055939,000103: 07,2755 00003 MODEEXIT RELINT # GENERAL MODE-SWITCHING EXIT.
055940,000104: 07,2756 14631 TCF SWRETURN
055941,000105:
055942,000106: 07,2757 03641 IMUZERO2 TC CAGETEST
055943,000107: 07,2760 05457 TC ZEROICDU # ZERO CDUX, CDUY, CDUZ
055944,000108:
055945,000109: 07,2761 44747 CS BIT5 # REMOVE ZERO DISCRETE.
055946,000110: 07,2762 00006 EXTEND
055947,000111: 07,2763 03012 WAND CHAN12
055948,000112:
055949,000113: 07,2764 34741 CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS
055950,000114: 07,2765 05224 TC VARDELAY
055951,000115:
055952,000116: 07,2766 03641 IMUZERO3 TC CAGETEST
055953,000117: 07,2767 45751 CS BITS3&4 # REMOVE IMUFAIL AND ICDUFAIL INHIBIT.
055954,000118: 07,2770 71302 MASK IMODES30
055955,000119: 07,2771 55302 TS IMODES30
055956,000120:
055957,000121: 07,2772 44773 CS SUPER011 # ENABLE DAP AUTO AND HOLD MODES
055958,000122: 07,2773 71303 MASK IMODES33 # BIT5 FOR GROUND
055959,000123: 07,2774 55303 TS IMODES33
055960,000124:
055961,000125: 07,2775 04674 TC IBNKCALL # SET ISS WARNING IF EITHER OF ABOVE ARE
055962,000126: 07,2776 14703 CADR SETISSW # PRESENT.
055963,000127:
055964,000128: 07,2777 13631 TCF ENDIMU
055965,000129:
055966,000130: # Page 1312
055967,000131: # IMU COARSE ALIGN MODE.
055968,000132:
055969,000133: 07,3000 00004 IMUCOARS INHINT
055970,000134: 07,3001 03653 TC CAGETSTJ
055971,000135: 07,3002 03144 TC SETCOARS
055972,000136:
055973,000137: 07,3003 36242 CAF SIX
055974,000138: 07,3004 05203 TC WAITLIST
055975,000139: 07,3005 E3,1474 EBANK= CDUIND
055976,000140: 07,3005 03010 16103 2CADR COARS
055977,000141:
055978,000142: 07,3007 12755 TCF MODEEXIT
055979,000143:
055980,000144: 07,3010 03641 COARS TC CAGETEST
055981,000145: 07,3011 34746 CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
055982,000146: 07,3012 00006 EXTEND
055983,000147: 07,3013 05012 WOR CHAN12
055984,000148:
055985,000149: 07,3014 34752 CAF TWO # SET CDU INDICATOR
055986,000150: 07,3015 55474 COARS1 TS CDUIND
055987,000151:
055988,000152: 07,3016 51474 INDEX CDUIND # COMPUTE THETAD -- THETAA IN 1'S
055989,000153: 07,3017 30321 CA THETAD # COMPLEMENT FORM
055990,000154: 07,3020 00006 EXTEND
055991,000155: 07,3021 51474 INDEX CDUIND
055992,000156: 07,3022 20032 MSU CDUX
055993,000157: 07,3023 00006 EXTEND
055994,000158: 07,3024 74737 MP BIT13 # SHIFT RIGHT 2
055995,000159: 07,3025 56001 XCH L # ROUND
055996,000160: 07,3026 60000 DOUBLE
055997,000161: 07,3027 54061 TS ITEMP1
055998,000162: 07,3030 13032 TCF +2
055999,000163: 07,3031 26001 ADS L
056000,000164:
056001,000165: 07,3032 51474 INDEX CDUIND # DIFFERENCE TO BE COMPUTED
056002,000166: 07,3033 23471 LXCH COMMAND
056003,000167: 07,3034 11474 CCS CDUIND
056004,000168: 07,3035 03015 TC COARS1
056005,000169:
056006,000170: 07,3036 34752 CAF TWO # MINIMUM OF 4 MS WAIT
056007,000171: 07,3037 05224 TC VARDELAY
056008,000172:
056009,000173: # Page 1313
056010,000174: 07,3040 03641 COARS2 TC CAGETEST # DON'T CONTINUE IF CAGED.
056011,000175: 07,3041 54061 TS ITEMP1 # SET TO +0.
056012,000176: 07,3042 34752 CAF TWO # SET CDU INDICATOR.
056013,000177: 07,3043 55474 +3 TS CDUIND
056014,000178:
056015,000179: 07,3044 51474 INDEX CDUIND
056016,000180: 07,3045 11471 CCS COMMAND # NUMBER OF PULSES REQUIRED
056017,000181: 07,3046 03052 TC COMPOS # GREATER THAN MAX ALLOWED
056018,000182: 07,3047 03061 TC NEXTCDU +1
056019,000183: 07,3050 03117 TC COMNEG
056020,000184: 07,3051 03061 TC NEXTCDU +1
056021,000185:
056022,000186: 07,3052 63745 COMPOS AD -COMMAX # COMMAX = MAX NUMBER OF PULSES ALLOWED
056023,000187: 07,3053 00006 EXTEND # MINUS ONE
056024,000188: 07,3054 63127 BZMF COMZERO
056025,000189: 07,3055 51474 INDEX CDUIND
056026,000190: 07,3056 55471 TS COMMAND # REDUCE COMMAND BY MAX NUMBER OF PULSES
056027,000191: 07,3057 43746 CS -COMMAX- # ALLOWED
056028,000192:
056029,000193: 07,3060 24061 NEXTCDU INCR ITEMP1
056030,000194: 07,3061 64754 AD NEG0
056031,000195: 07,3062 51474 INDEX CDUIND
056032,000196: 07,3063 54050 TS CDUXCMD # SET UP COMMAND REGISTER.
056033,000197:
056034,000198: 07,3064 11474 CCS CDUIND
056035,000199: 07,3065 03043 TC COARS2 +3
056036,000200:
056037,000201: 07,3066 10061 CCS ITEMP1 # SEE IF ANY PULSES TO GO OUT.
056038,000202: 07,3067 13133 TCF SENDPULS
056039,000203:
056040,000204: 07,3070 05221 TC FIXDELAY # WAIT FOR GIMBALS TO SETTLE.
056041,000205: 07,3071 00226 DEC 150 B-14
056042,000206:
056043,000207: 07,3072 34752 CAF TWO # AT END OF COMMAND, CHECK TO SEE THAT
056044,000208: 07,3073 54061 CHKCORS TS ITEMP1 # GIMBALS ARE WITHIN 2 DEGREES OF THETAD.
056045,000209: 07,3074 50000 INDEX A
056046,000210: 07,3075 30032 CA CDUX
056047,000211: 07,3076 00006 EXTEND
056048,000212: 07,3077 50061 INDEX ITEMP1
056049,000213: 07,3100 20321 MSU THETAD
056050,000214: 07,3101 10000 CCS A
056051,000215: 07,3102 13110 TCF COARSERR
056052,000216: 07,3103 13105 TCF CORSCHK2
056053,000217: 07,3104 13110 TCF COARSERR
056054,000218:
056055,000219: # Page 1314
056056,000220: 07,3105 10061 CORSCHK2 CCS ITEMP1
056057,000221: 07,3106 13073 TCF CHKCORS
056058,000222: 07,3107 13631 TCF ENDIMU # END OF COARSE ALIGNMENT
056059,000223:
056060,000224: 07,3110 63116 COARSERR AD COARSTOL # 2 DEGREES.
056061,000225: 07,3111 00006 EXTEND
056062,000226: 07,3112 63105 BZMF CORSCHK2
056063,000227:
056064,000228: 07,3113 05567 TC ALARM # COARSE ALIGN ERROR.
056065,000229: 07,3114 00211 OCT 211
056066,000230:
056067,000231: 07,3115 13637 TCF IMUBAD
056068,000232:
056069,000233: 07,3116 77511 COARSTOL DEC -.01111 # 2 DEGREES SCALED AT HALF-REVOLUTIONS
056070,000234:
056071,000235: 07,3117 63745 COMNEG AD -COMMAX
056072,000236: 07,3120 00006 EXTEND
056073,000237: 07,3121 63127 BZMF COMZERO
056074,000238: 07,3122 40000 COM
056075,000239: 07,3123 51474 INDEX CDUIND
056076,000240: 07,3124 55471 TS COMMAND
056077,000241: 07,3125 33746 CA -COMMAX-
056078,000242: 07,3126 03060 TC NEXTCDU
056079,000243:
056080,000244: 07,3127 34755 COMZERO CAF ZERO
056081,000245: 07,3130 51474 INDEX CDUIND
056082,000246: 07,3131 57471 XCH COMMAND
056083,000247: 07,3132 03060 TC NEXTCDU
056084,000248:
056085,000249: 07,3133 37740 SENDPULS CAF 13,14,15
056086,000250: 07,3134 00006 EXTEND
056087,000251: 07,3135 05014 WOR CHAN14
056088,000252: 07,3136 33747 CAF 600MS
056089,000253: 07,3137 13037 TCF COARS2 -1 # THEN TO VARDELAY
056090,000254:
056091,000255: 07,3140 34746 CA+ECE CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
056092,000256: 07,3141 00006 EXTEND
056093,000257: 07,3142 05012 WOR CHAN12
056094,000258: 07,3143 05261 TC TASKOVER
056095,000259:
056096,000260: # Page 1315
056097,000261: 07,3144 34750 SETCOARS CAF BIT4 # BYPASS IF ALREADY IN COARSE ALIGN
056098,000262: 07,3145 00006 EXTEND
056099,000263: 07,3146 02012 RAND CHAN12
056100,000264: 07,3147 10000 CCS A
056101,000265: 07,3150 00002 TC Q
056102,000266:
056103,000267: 07,3151 44746 CS BIT6 # CLEAR ISS ERROR COUNTERS
056104,000268: 07,3152 00006 EXTEND
056105,000269: 07,3153 03012 WAND CHAN12
056106,000270:
056107,000271: 07,3154 44742 CS BIT10 # KNOCK DOWN GYRO ACTIVITY
056108,000272: 07,3155 00006 EXTEND
056109,000273: 07,3156 03014 WAND CHAN14
056110,000274: 07,3157 44755 CS ZERO
056111,000275: 07,3160 54047 TS GYROCMD
056112,000276:
056113,000277: 07,3161 34750 CAF BIT4 # PUT ISS IN COARSE ALIGN
056114,000278: 07,3162 00006 EXTEND
056115,000279: 07,3163 05012 WOR CHAN12
056116,000280:
056117,000281: 07,3164 41036 CS DSPTAB +11D # TURN ON NO ATT LAMP
056118,000282: 07,3165 73207 MASK OCT40010
056119,000283: 07,3166 27036 ADS DSPTAB +11D
056120,000284:
056121,000285: 07,3167 41303 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
056122,000286: 07,3170 74746 MASK BIT6
056123,000287: 07,3171 27303 ADS IMODES33
056124,000288:
056125,000289: 07,3172 41302 CS IMODES30 # DISABLE IMUFAIL
056126,000290: 07,3173 74750 MASK BIT4
056127,000291: 07,3174 27302 ADS IMODES30
056128,000292:
056129,000293: 07,3175 44747 RNDREFDR CS TRACKBIT # CLEAR TRACK FLAG
056130,000294: 07,3176 70075 MASK FLAGWRD1
056131,000295: 07,3177 54075 TS FLAGWRD1
056132,000296:
056133,000297: 07,3200 44735 CS DRFTBIT # CLEAR DRIFT FLAG
056134,000298: 07,3201 70076 MASK FLAGWRD2
056135,000299: 07,3202 54076 TS FLAGWRD2
056136,000300:
056137,000301: 07,3203 44737 CS REFSMBIT # CLEAR REFSMMAT FLAG
056138,000302: 07,3204 70077 MASK FLAGWRD3
056139,000303: 07,3205 54077 TS FLAGWRD3
056140,000304:
056141,000305: 07,3206 00002 TC Q
056142,000306:
056143,000307: 07,3207 40010 OCT40010 OCT 40010
056144,000308:
056145,000309: # Page 1316
056146,000310: # IMU FINE ALIGN MODE SWITCH.
056147,000311:
056148,000312: 07,3210 00004 IMUFINE INHINT
056149,000313: 07,3211 03653 TC CAGETSTJ # SEE IF IMU BEING CAGED.
056150,000314:
056151,000315: 07,3212 43744 CS BITS4-5 # RESET ZERO AND COARSE
056152,000316: 07,3213 00006 EXTEND
056153,000317: 07,3214 03012 WAND CHAN12
056154,000318:
056155,000319: 07,3215 44746 CS BIT6 # INSURE DAP AUTO AND HOLD MODES ENABLED
056156,000320: 07,3216 71303 MASK IMODES33
056157,000321: 07,3217 55303 TS IMODES33
056158,000322:
056159,000323: 07,3220 03266 TC NOATTOFF
056160,000324:
056161,000325: 07,3221 34742 CAF BIT10 # IMU FAIL WAS INHIBITED DURING THE
056162,000326: 07,3222 05203 TC WAITLIST # PRESUMABLY PRECEDING COARSE ALIGN. LEAVE
056163,000327: 07,3223 E3,1474 EBANK= CDUIND
056164,000328: 07,3223 03234 16103 2CADR IFAILOK # IT ON FOR THE FIRST 5 SECS OF FINE ALIGN
056165,000329:
056166,000330: 07,3225 35000 CAF 2SECS
056167,000331: 07,3226 05203 TC WAITLIST
056168,000332: 07,3227 E3,1474 EBANK= CDUIND
056169,000333: 07,3227 03232 16103 2CADR IMUFINED
056170,000334:
056171,000335: 07,3231 12755 TCF MODEEXIT
056172,000336:
056173,000337: 07,3232 03641 IMUFINED TC CAGETEST # SEE THAT NO ONE HAS CAGED THE IMU.
056174,000338: 07,3233 13631 TCF ENDIMU
056175,000339:
056176,000340: # Page 1317
056177,000341: 07,3234 03646 IFAILOK TC CAGETSTQ # ENABLE IMU FAIL UNLESS IMU BEING CAGED.
056178,000342: 07,3235 15261 TCF TASKOVER # IT IS.
056179,000343:
056180,000344: 07,3236 34750 CAF BIT4 # DON'T RESET IMU FAIL INHIBIT IF SOMEONE
056181,000345: 07,3237 00006 EXTEND # HAS GONE INTO COARSE ALIGN.
056182,000346: 07,3240 02012 RAND CHAN12
056183,000347: 07,3241 10000 CCS A
056184,000348: 07,3242 15261 TCF TASKOVER
056185,000349:
056186,000350: 07,3243 41302 CS IMODES30 # RESET IMUFAIL.
056187,000351: 07,3244 74737 MASK BIT13
056188,000352: 07,3245 27302 ADS IMODES30
056189,000353: 07,3246 44750 CS BIT4
056190,000354: 07,3247 71302 PFAILOK2 MASK IMODES30
056191,000355: 07,3250 55302 TS IMODES30
056192,000356: 07,3251 04674 TC IBNKCALL # THE ISS WARNING LIGHT MAY COME ON NOW
056193,000357: 07,3252 14703 CADR SETISSW # THAT THE INHIBIT WAS BEEN REMOVED.
056194,000358: 07,3253 15261 TCF TASKOVER
056195,000359:
056196,000360: 07,3254 03646 PFAILOK TC CAGETSTQ # ENABLE PIP FAIL PROG ALARM.
056197,000361: 07,3255 15261 TCF TASKOVER
056198,000362:
056199,000363: 07,3256 41302 CS IMODES30 # RESET IMU AND PIPA FAIL BITS.
056200,000364: 07,3257 74742 MASK BIT10
056201,000365: 07,3260 27302 ADS IMODES30
056202,000366:
056203,000367: 07,3261 41303 CS IMODES33
056204,000368: 07,3262 74737 MASK BIT13
056205,000369: 07,3263 27303 ADS IMODES33
056206,000370:
056207,000371: 07,3264 44747 CS BIT5
056208,000372: 07,3265 13247 TCF PFAILOK2
056209,000373:
056210,000374: 07,3266 43207 NOATTOFF CS OCT40010 # SUBROUTINE TO TURN OFF NO ATT LAMP.
056211,000375: 07,3267 71036 MASK DSPTAB +11D
056212,000376: 07,3270 64735 AD BIT15
056213,000377: 07,3271 55036 TS DSPTAB +11D
056214,000378: 07,3272 00002 TC Q
056215,000379:
056216,000380: # Page 1318
056217,000381: # ROUTINES TO INITIATE AND TERMINATE PROGRAM USE OF THE PIPAS. NO IMUSTALL REQUIRED IN EITHER CASE.
056218,000382:
056219,000383: 07,3273 44755 PIPUSE CS ZERO
056220,000384: 07,3274 54037 TS PIPAX
056221,000385: 07,3275 54040 TS PIPAY
056222,000386: 07,3276 54041 TS PIPAZ
056223,000387:
056224,000388: 07,3277 03646 PIPUSE1 TC CAGETSTQ # DO NOT ENABLE PIPA FAIL IF IMU IS CAGED
056225,000389: 07,3300 14631 TCF SWRETURN
056226,000390:
056227,000391: 07,3301 00004 INHINT
056228,000392: 07,3302 44753 CS BIT1 # IF PIPA FAILS FROM NOW ON (UNTIL
056229,000393: 07,3303 71302 MASK IMODES30 # PIPFREE), LIGHT ISS WARNING.
056230,000394: 07,3304 55302 TS IMODES30
056231,000395:
056232,000396: 07,3305 04674 PIPFREE2 TC IBNKCALL # ISS WARNING MIGHT COME ON NOW.
056233,000397: 07,3306 14703 CADR SETISSW # (OR GO OFF ON PIPFREE).
056234,000398:
056235,000399: 07,3307 12755 TCF MODEEXIT
056236,000400:
056237,000401: 07,3310 00004 PIPFREE INHINT # PROGRAM DONE WITH PIPAS. DON'T LIGHT
056238,000402: 07,3311 41302 CS IMODES30 # ISS WARNING.
056239,000403: 07,3312 74753 MASK BIT1
056240,000404: 07,3313 27302 ADS IMODES30
056241,000405:
056242,000406: 07,3314 74742 MASK BIT10 # IF PIP FAIL ON, DO PROG ALARM AND RESET
056243,000407: 07,3315 10000 CCS A # ISS WARNING.
056244,000408: 07,3316 12755 TCF MODEEXIT
056245,000409:
056246,000410: 07,3317 05567 TC ALARM
056247,000411: 07,3320 00212 OCT 212
056248,000412:
056249,000413: 07,3321 00004 INHINT
056250,000414:
056251,000415: 07,3322 13305 TCF PIPFREE2
056252,000416:
056253,000417: # Page 1319
056254,000418: # THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIXE REGISTERS
056255,000419: # BEGINNING AT THE ECADR ARRIVING IN A. THE MINIMUM SIZE OF ANY PULSE TRAIN IS 16 PULSES (.25 CDU COUNTS). THE
056256,000420: # UNSENT PORTION OF THE COMMAND IS LEFT INTACT AT THE INPUT COMMAND REGISTERS.
056257,000421:
056258,000422: 07,3323 E3,1400 EBANK= 1400 # VARIABLE, ACTUALLY.
056259,000423:
056260,000424: 07,3323 54161 IMUPULSE TS MPAC +5 # SAVE ARRIVING ECADR.
056261,000425: 07,3324 03653 TC CAGETSTJ # DON'T PROCEED IF IMU BEING CAGED.
056262,000426:
056263,000427: 07,3325 11314 CCS LGYRO # SEE IF GYROS BUSY.
056264,000428: 07,3326 03367 TC GYROBUSY # SLEEP.
056265,000429:
056266,000430: 07,3327 54156 TS MPAC +2
056267,000431: 07,3330 34746 CAF BIT6 # ENABLE THE POWER SUPPLY.
056268,000432: 07,3331 00006 EXTEND
056269,000433: 07,3332 05014 WOR CHAN14
056270,000434:
056271,000435: 07,3333 34751 CAF FOUR
056272,000436: 07,3334 05203 GWAKE2 TC WAITLIST # (IF A JOB WAS PUT TO SLEEP, THE POWER
056273,000437: 07,3335 E3,1474 EBANK= CDUIND # SUPPLY IS LEFT ON BY THE WAKING JOB).
056274,000438: 07,3335 03405 16103 2CADR STRTGYRO
056275,000439:
056276,000440: 07,3337 30161 CA MPAC +5 # SET UP EBANK, SAVING CALLER'S EBANK FOR
056277,000441: 07,3340 56003 XCH EBANK # RESTORATION ON RETURN.
056278,000442: 07,3341 56161 XCH MPAC +5
056279,000443: 07,3342 55314 TS LGYRO # RESERVES GYROS.
056280,000444: 07,3343 74357 MASK LOW8
056281,000445: 07,3344 54061 TS ITEMP1
056282,000446:
056283,000447: 07,3345 34752 CAF TWO # FORCE SIGN AGREEMENT ON INPUTS.
056284,000448: 07,3346 54157 GYROAGRE TS MPAC +3
056285,000449: 07,3347 60000 DOUBLE
056286,000450: 07,3350 60061 AD ITEMP1
056287,000451: 07,3351 54160 TS MPAC +4
056288,000452: 07,3352 00006 EXTEND
056289,000453: 07,3353 50000 INDEX A
056290,000454: 07,3354 31401 DCA 1400
056291,000455: 07,3355 52155 DXCH MPAC
056292,000456: 07,3356 07257 TC TPAGREE
056293,000457: 07,3357 52155 DXCH MPAC
056294,000458: 07,3360 50160 INDEX MPAC +4
056295,000459: 07,3361 53401 DXCH 1400
056296,000460:
056297,000461: 07,3362 10157 CCS MPAC +3
056298,000462: 07,3363 13346 TCF GYROAGRE
056299,000463:
056300,000464: 07,3364 30161 CA MPAC +5 # RESTORE CALLER'S EBANK.
056301,000465: 07,3365 54003 TS EBANK
056302,000466: 07,3366 12755 TCF MODEEXIT
056303,000467:
056304,000468: # Page 1320
056305,000469: # ROUTINES TO ALLOW TORQUING ONLY ONE JOB AT A TIME.
056306,000470:
056307,000471: 07,3367 00006 GYROBUSY EXTEND # SAVE RETURN 2FCADR.
056308,000472: 07,3370 30134 DCA BUF2
056309,000473: 07,3371 52155 DXCH MPAC
056310,000474: 07,3372 33404 REGSLEEP CAF LGWAKE
056311,000475: 07,3373 15133 TCF JOBSLEEP
056312,000476:
056313,000477: 07,3374 11314 GWAKE CCS LGYRO # WHEN AWAKENED, SEE IF GYROS STILL BUSY.
056314,000478: 07,3375 13372 TCF REGSLEEP # IF SO, SLEEP SOME MORE.
056315,000479:
056316,000480: 07,3376 54156 TS MPAC +2
056317,000481: 07,3377 00006 EXTEND
056318,000482: 07,3400 30155 DCA MPAC
056319,000483: 07,3401 52134 DXCH BUF2 # RESTORE SWRETURN INFO.
056320,000484: 07,3402 34753 CAF ONE
056321,000485: 07,3403 13334 TCF GWAKE2
056322,000486:
056323,000487: 07,3404 17374 LGWAKE CADR GWAKE
056324,000488:
056325,000489: # Page 1321
056326,000490: # GYRO-TORQUING WAITLIST TASKS.
056327,000491:
056328,000492: 07,3405 43626 STRTGYRO CS GDESELCT # DE-SELECT LAST GYRO.
056329,000493: 07,3406 00006 EXTEND
056330,000494: 07,3407 03014 WAND CHAN14
056331,000495:
056332,000496: 07,3410 03641 TC CAGETEST
056333,000497:
056334,000498: 07,3411 31314 STRTGYR2 CA LGYRO # JUMP ON PHASE COUNTER IN BITS 13-14.
056335,000499: 07,3412 00006 EXTEND
056336,000500: 07,3413 74750 MP BIT4
056337,000501: 07,3414 50000 INDEX A
056338,000502: 07,3415 13416 TCF +1
056339,000503: 07,3416 03433 TC GSELECT # =0. DO Y GYRO.
056340,000504: 07,3417 00202 OCT 00202
056341,000505:
056342,000506: 07,3420 03433 TC GSELECT # =1. DO Z GYRO.
056343,000507: 07,3421 00302 OCT 00302
056344,000508:
056345,000509: 07,3422 03431 TC GSELECT -2 # =2. DO X GYRO.
056346,000510: 07,3423 00100 OCT 00100
056347,000511:
056348,000512: 07,3424 34755 CAF ZERO # =3. DONE
056349,000513: 07,3425 55314 TS LGYRO
056350,000514: 07,3426 33404 CAF LGWAKE # WAKE A POSSIBLE SLEEPING JOB.
056351,000515: 07,3427 05137 TC JOBWAKE
056352,000516:
056353,000517: 07,3430 13232 NORESET TCF IMUFINED # DO NOT RESET POWER SUPPLY.
056354,000518: # Page 1322
056355,000519: 07,3431 44751 -2 CS FOUR # SPECIAL ENTRY TO REGRESS LGYRO FOR X.
056356,000520: 07,3432 27314 ADS LGYRO
056357,000521:
056358,000522: 07,3433 50002 GSELECT INDEX Q # SELECT GYRO.
056359,000523: 07,3434 30000 CAF 0 # PACKED WORD CONTAINS GYRO SELECT BITS
056360,000524: 07,3435 54064 TS ITEMP4 # AND INCREMENT TO LGYRO.
056361,000525: 07,3436 74757 MASK SEVEN
056362,000526: 07,3437 64737 AD BIT13
056363,000527: 07,3440 27314 ADS LGYRO
056364,000528: 07,3441 54003 TS EBANK
056365,000529: 07,3442 74357 MASK LOW8
056366,000530: 07,3443 54061 TS ITEMP1
056367,000531:
056368,000532: 07,3444 44757 CS SEVEN
056369,000533: 07,3445 70064 MASK ITEMP4
056370,000534: 07,3446 54064 TS ITEMP4
056371,000535:
056372,000536: 07,3447 00006 EXTEND # MOVE DP COMMAND TO RUPTREGS FOR TESTING.
056373,000537: 07,3450 50061 INDEX ITEMP1
056374,000538: 07,3451 31401 DCA 1400
056375,000539: 07,3452 52071 DXCH RUPTREG1
056376,000540:
056377,000541: 07,3453 10070 CCS RUPTREG1
056378,000542: 07,3454 13467 TCF MAJ+
056379,000543: 07,3455 13457 TCF +2
056380,000544: 07,3456 13607 TCF MAJ-
056381,000545:
056382,000546: 07,3457 10071 CCS RUPTREG2
056383,000547: 07,3460 13464 TCF MIN+
056384,000548: 07,3461 13411 TCF STRTGYR2
056385,000549: 07,3462 13604 TCF MIN-
056386,000550: 07,3463 13411 TCF STRTGYR2
056387,000551:
056388,000552: # Page 1323
056389,000553: 07,3464 63520 MIN+ AD -GYROMIN # SMALL POSITIVE COMMAND. SEE IF AT LEAST
056390,000554: 07,3465 00006 EXTEND # 16 GYRO PULSES.
056391,000555: 07,3466 63411 BZMF STRTGYR2
056392,000556:
056393,000557: 07,3467 00006 MAJ+ EXTEND # DEFINITE POSITIVE OUTPUT.
056394,000558: 07,3470 33630 DCA GYROFRAC
056395,000559: 07,3471 20071 DAS RUPTREG1
056396,000560:
056397,000561: 07,3472 30064 CA ITEMP4 # SELECT POSITIVE TORQUING FOR THIS GYRO.
056398,000562: 07,3473 00006 EXTEND
056399,000563: 07,3474 05014 WOR CHAN14
056400,000564:
056401,000565: 07,3475 36074 CAF LOW7 # LEAVE NUMBER OF POSSIBLE 8192 AUGMENTS
056402,000566: 07,3476 70071 MASK RUPTREG2 # TO INITIAL COMMAND IN MAJOR PART OF LONG
056403,000567: 07,3477 56071 XCH RUPTREG2 # TERM STORAGE AND TRUNCATED FRACTION
056404,000568: 07,3500 00006 GMERGE EXTEND # IN MINOR PART. THE MAJOR PART WILL BE
056405,000569: 07,3501 74744 MP BIT8 # COUNTED DOWN TO ZERO IN THE COURSE OF
056406,000570: 07,3502 54062 TS ITEMP2 # PUTTING OUT THE ENTIRE COMMAND.
056407,000571: 07,3503 30070 CA RUPTREG1
056408,000572: 07,3504 00006 EXTEND
056409,000573: 07,3505 74743 MP BIT9
056410,000574: 07,3506 54070 TS RUPTREG1
056411,000575: 07,3507 30001 CA L
056412,000576: 07,3510 00006 EXTEND
056413,000577: 07,3511 74736 MP BIT14
056414,000578: 07,3512 26062 ADS ITEMP2 # INITIAL COMMAND.
056415,000579:
056416,000580: 07,3513 00006 EXTEND # SEE IF MORE THAN ONE PULSE TRAIN NEEDED
056417,000581: 07,3514 30071 DCA RUPTREG1 # (MORE THAN 16383 PULSES).
056418,000582: 07,3515 67747 AD MINUS1
056419,000583: 07,3516 10000 CCS A
056420,000584: 07,3517 13543 TCF LONGGYRO
056421,000585: 07,3520 77601 -GYROMIN OCT -176 # MAY BE ADJUSTED TO SPECIFY MINIMUM CMD
056422,000586: 07,3521 13525 TCF +4
056423,000587:
056424,000588: 07,3522 34736 CAF BIT14
056425,000589: 07,3523 26062 ADS ITEMP2
056426,000590: 07,3524 34755 CAF ZERO
056427,000591:
056428,000592: 07,3525 50061 +4 INDEX ITEMP1
056429,000593: 07,3526 53401 DXCH 1400
056430,000594: # Page 1324
056431,000595: 07,3527 30062 CA ITEMP2 # ENTIRE COMMAND.
056432,000596: 07,3530 54047 LASTSEG TS GYROCMD
056433,000597: 07,3531 00006 EXTEND
056434,000598: 07,3532 74742 MP BIT10 # WAITLIST DT
056435,000599: 07,3533 66245 AD THREE # TRUNCATION AND PHASE UNCERTAINTIES.
056436,000600: 07,3534 05203 TC WAITLIST
056437,000601: 07,3535 E3,1474 EBANK= CDUIND
056438,000602: 07,3535 03405 16103 2CADR STRTGYRO
056439,000603:
056440,000604: 07,3537 34742 GYROEXIT CAF BIT10
056441,000605: 07,3540 00006 EXTEND
056442,000606: 07,3541 05014 WOR CHAN14
056443,000607: 07,3542 15261 TCF TASKOVER
056444,000608:
056445,000609: 07,3543 50061 LONGGYRO INDEX ITEMP1
056446,000610: 07,3544 53401 DXCH 1400 # INITIAL COMMAND OUT PLUS N AUGMENTS OF
056447,000611: 07,3545 34736 CAF BIT14 # 8192. INITIAL COMMAND IS AT LEAST 8192.
056448,000612: 07,3546 60062 AD ITEMP2
056449,000613: 07,3547 54047 TS GYROCMD
056450,000614:
056451,000615: 07,3550 00006 AUG3 EXTEND # GET WAITLIST DT TO TIME WHEN TRAIN IS
056452,000616: 07,3551 74742 MP BIT10 # ALMOST OUT.
056453,000617: 07,3552 67745 AD NEG3
056454,000618: 07,3553 05203 TC WAITLIST
056455,000619: 07,3554 E3,1474 EBANK= CDUIND
056456,000620: 07,3554 03557 16103 2CADR 8192AUG
056457,000621:
056458,000622: 07,3556 13537 TCF GYROEXIT
056459,000623:
056460,000624: 07,3557 03641 8192AUG TC CAGETEST
056461,000625:
056462,000626: 07,3560 34750 CAF BIT4
056463,000627: 07,3561 00006 EXTEND
056464,000628: 07,3562 02012 RAND CHAN12
056465,000629: 07,3563 10000 CCS A
056466,000630: 07,3564 13637 TCF IMUBAD
056467,000631: 07,3565 31314 CA LGYRO # ADD 8192 PULSES TO GYROCMD
056468,000632: 07,3566 54003 TS EBANK
056469,000633: 07,3567 74357 MASK LOW8
056470,000634: 07,3570 54061 TS ITEMP1
056471,000635:
056472,000636: 07,3571 50061 INDEX ITEMP1 # SEE IF THIS IS THE LAST AUG.
056473,000637: 07,3572 11400 CCS 1400
056474,000638: 07,3573 13577 TCF AUG2 # MORE TO COME.
056475,000639:
056476,000640: 07,3574 34736 CAF BIT14
056477,000641: 07,3575 26047 ADS GYROCMD
056478,000642: 07,3576 13531 TCF LASTSEG +1
056479,000643:
056480,000644: # Page 1325
056481,000645: 07,3577 50061 AUG2 INDEX ITEMP1
056482,000646: 07,3600 55400 TS 1400
056483,000647: 07,3601 34736 CAF BIT14
056484,000648: 07,3602 26047 ADS GYROCMD
056485,000649: 07,3603 13550 TCF AUG3 # COMPUTE DT.
056486,000650:
056487,000651: # Page 1326
056488,000652: 07,3604 63520 MIN- AD -GYROMIN # POSSIBLE NEGATIVE OUTPUT.
056489,000653: 07,3605 00006 EXTEND
056490,000654: 07,3606 63411 BZMF STRTGYR2
056491,000655:
056492,000656: 07,3607 00006 MAJ- EXTEND # DEFINITE NEGATIVE OUTPUT.
056493,000657: 07,3610 43630 DCS GYROFRAC
056494,000658: 07,3611 20071 DAS RUPTREG1
056495,000659:
056496,000660: 07,3612 30064 CA ITEMP4 # SELECT NEGATIVE TORQUING FOR THIS GYRO.
056497,000661: 07,3613 64743 AD BIT9
056498,000662: 07,3614 00006 EXTEND
056499,000663: 07,3615 05014 WOR CHAN14
056500,000664:
056501,000665: 07,3616 40070 CS RUPTREG1 # SET UP RUPTREGS TO FALL INTO GMERGE.
056502,000666: 07,3617 54070 TS RUPTREG1 # ALL NUMBERS PUT INTO GYROCMD ARE
056503,000667: 07,3620 40071 CS RUPTREG2 # POSITIVE -- BIT9 OF CHAN 14 DETERMINES
056504,000668: 07,3621 76074 MASK LOW7 # THE SIGN OF THE COMMAND.
056505,000669: 07,3622 40000 COM
056506,000670: 07,3623 56071 XCH RUPTREG2
056507,000671: 07,3624 40000 COM
056508,000672: 07,3625 13500 TCF GMERGE
056509,000673:
056510,000674: 07,3626 01700 GDESELCT OCT 1700 # TURN OFF SELECT AND ACTIVITY BITS.
056511,000675:
056512,000676: 07,3627 00000 00034 GYROFRAC 2DEC .215 B-21
056513,000677:
056514,000678: # Page 1327
056515,000679: # IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE.
056516,000680:
056517,000681: 07,3631 00006 ENDIMU EXTEND # MODE IS BAD IF CAGE HAS OCCURRED OR IF
056518,000682: 07,3632 00011 READ DSALMOUT # ISS WARNING IS ON.
056519,000683: 07,3633 74753 MASK BIT1
056520,000684: 07,3634 10000 CCS A
056521,000685: 07,3635 13637 TCF IMUBAD
056522,000686:
056523,000687: 07,3636 13665 IMUGOOD TCF GOODEND # WITH C(A) = 0.
056524,000688:
056525,000689: 07,3637 34755 IMUBAD CAF ZERO
056526,000690: 07,3640 13662 TCF BADEND
056527,000691:
056528,000692: 07,3641 34746 CAGETEST CAF BIT6 # SUBROUTINE TO TERMINATE IMU MODE
056529,000693: 07,3642 71302 MASK IMODES30 # SWITCH IF IMU HAS BEEN CAGED.
056530,000694: 07,3643 10000 CCS A
056531,000695: 07,3644 13637 TCF IMUBAD # DIRECTLY.
056532,000696: 07,3645 00002 TC Q # WITH C(A) = +0.
056533,000697:
056534,000698: 07,3646 41302 CAGETSTQ CS IMODES30 # SKIP IF IMU NOT BEING CAGED.
056535,000699: 07,3647 74746 MASK BIT6
056536,000700: 07,3650 10000 CCS A
056537,000701: 07,3651 24002 INCR Q
056538,000702: 07,3652 00002 TC Q
056539,000703:
056540,000704: 07,3653 41302 CAGETSTJ CS IMODES30 # IF DURING MODE SWITCH INITIALIZATION.
056541,000705: 07,3654 74746 MASK BIT6 # IT IS FOUND THAT THE IMU IS BEING CAGED.
056542,000706: 07,3655 10000 CCS A # SET IMUCADR TO -0 TO INDICATE OPERATION
056543,000707: 07,3656 00002 TC Q # COMPLETE BUT FAILED. RETURN IMMEDIATELY
056544,000708:
056545,000709: 07,3657 44755 CS ZERO # TO SWRETURN.
056546,000710: 07,3660 55304 TS IMUCADR
056547,000711: 07,3661 12755 TCF MODEEXIT
056548,000712:
056549,000713: # Page 1328
056550,000714: # GENERALIZED MODE SWITCHING TERMINATION. ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION
056551,000715: # OR AT BADEND FOR AN UNSUCCESSFUL ONE. C(A) OR ARRIVAL =0 FOR IMU, 1 FOR OPTICS.
056552,000716:
056553,000717: 07,3662 54071 BADEND TS RUPTREG2 # DEVICE INDEX.
056554,000718: 07,3663 44755 CS ZERO # FOR FAILURE.
056555,000719: 07,3664 13667 TCF GOODEND +2
056556,000720:
056557,000721: 07,3665 54071 GOODEND TS RUPTREG2
056558,000722: 07,3666 44753 CS ONE # FOR SUCCESS.
056559,000723:
056560,000724: 07,3667 54072 TS RUPTREG3
056561,000725: 07,3670 50071 INDEX RUPTREG2 # SEE IF USING PROGRAM ASLEEP.
056562,000726: 07,3671 11304 CCS MODECADR
056563,000727: 07,3672 13676 TCF +4 # YES -- WAKE IT UP.
056564,000728: 07,3673 13706 TCF ENDMODE # IF 0, PROGRAM NOT IN YET.
056565,000729:
056566,000730: 07,3674 00006 EXTEND
056567,000731: 07,3675 13707 BZF ENDMODE +1 # BZF = TCF IF MODECADR = -0.
056568,000732:
056569,000733: 07,3676 34755 CAF ZERO # WAKE SLEEPING PROGRAM.
056570,000734: 07,3677 50071 INDEX RUPTREG2
056571,000735: 07,3700 57304 XCH MODECADR
056572,000736: 07,3701 05137 TC JOBWAKE
056573,000737:
056574,000738: 07,3702 40072 CS RUPTREG3 # ADVANCE LOC IF SUCCESSFUL.
056575,000739: 07,3703 50064 INDEX LOCCTR
056576,000740: 07,3704 26164 ADS LOC
056577,000741:
056578,000742: 07,3705 15261 TCF TASKOVER
056579,000743:
056580,000744: 07,3706 30072 ENDMODE CA RUPTREG3 # -0 INDICATES OPERATION COMPLETE BUT
056581,000745: 07,3707 50071 +1 INDEX RUPTREG2 # UNSUCCESSFUL: -1 INDICATES COMPLETE AND
056582,000746: 07,3710 55304 TS MODECADR # SUCCESSFUL.
056583,000747: 07,3711 15261 TCF TASKOVER
056584,000748:
056585,000749: # Page 1329
056586,000750: # GENERAL STALLING ROUTINE. USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION.
056587,000751:
056588,000752: # PROGRAM DESCRIPTION DATE -- 21 FEB 1967
056589,000753: # LOG SECTION IMU MODE SWITCHING
056590,000754: # MOD BY -- R. MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 82
056591,000755:
056592,000756: # FUNCTIONAL DESCRIPTION --
056593,000757: # TO DELAY FURTHER EXECUTION OF THE CALLING ROUTINE UNTIL ITS SELECTED
056594,000758: # I/O FUNCTION IS COMPLETE. THE FOLLOWING CHECKS ON THE CALLING ROUTINES
056595,000759: # MODEECADR ARE MADE AND ACTED UPON.
056596,000760: # 1) +0 INDICATES INCOMPLETE I/O OPERATION. CALLING ROUTINE IS PUT TO
056597,000761: # SLEEP.
056598,000762: # 2) -1 INDICATES COMPLETED I/O OPERATION. STALL BYPASSES JOBSLEEP
056599,000763: # CALL AND RETURNS TO CALLING ROUTINE AT L+3.
056600,000764: # 3) -0 INDICATES COMPLETED I/O WITH FAILURE. STALL CLEARS MODECADR
056601,000765: # AND RETURNS TO CALLING ROUTINE AT L+2.
056602,000766: # 4) VALUE GREATER THAN 0 INDICATES TWO ROUTINES CALLING FOR USE OF
056603,000767: # SAME DEVICE. STALL EXITS TO ABORT WHICH EXECUTES A PROGRAM
056604,000768: # RESTART WHICH IN TURN CLEARS ALL MODECADR REGISTERS.
056605,000769:
056606,000770: # CALLING SEQUENCE --
056607,000771: # L TC BANKCALL
056608,000772: # L+1 CADR (ONE OF 5 STALL ADDRESSES. I.E., IMUSTALL, OPTSTALL, RADSTALL,
056609,000773: # AOTSTALL, OR ATTSTALL)
056610,000774:
056611,000775: # NORMAL-EXIT MODE --
056612,000776: # TCF JOBSLEEP OR TCF MODEXIT
056613,000777:
056614,000778: # ALARM OR ABORT EXIT MODE --
056615,000779: # TC ABORT
056616,000780:
056617,000781: # OUTPUT --
056618,000782: # MODECADR=CADR IF JOBSLEEP
056619,000783: # MODECADR=+0 IF I/O COMPLETE
056620,000784: # BUF2=L+3 IF I/O COMPLETE AND GOOD.
056621,000785: # BUF2=L+2 IF I/O COMPLETE BUT FAILED.
056622,000786:
056623,000787: # ERASABLE INITIALIZATION --
056624,000788: # BUF2 CONTAINS RETURN ADDRESS PLUS 1,(L+2)
056625,000789: # BUF2+1 CONTAINS FBANK VALUE OF CALLING ROUTINE.
056626,000790: # MODECADR OF CALLING ROUTINE CONTAINS +0,-1,-0 OR CADR RETURN ADDRESS.
056627,000791:
056628,000792: # DEBRIS --
056629,000793: # RUPTREG2 AND CALLING ROUTINE MODECADR.
056630,000794:
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[WORKAROUND] OH 2009 |
056632,000796: 07,3712 30,2000 SBANK= LOWSUPER
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[WORKAROUND] |
056634,000798:
056635,000799: 07,3712 34753 AOTSTALL CAF ONE # AOT.
056636,000800: 07,3713 03717 TC STALL
056637,000801:
056638,000802: 07,3714 34752 RADSTALL CAF TWO
056639,000803: 07,3715 13717 TCF STALL
056640,000804:
056641,000805: # Page 1330
056642,000806: 07,3716 07,3712 OPTSTALL EQUALS AOTSTALL
056643,000807:
056644,000808: 07,3716 34755 IMUSTALL CAF ZERO # IMU.
056645,000809:
056646,000810: 07,3717 00004 STALL INHINT
056647,000811: 07,3720 54071 TS RUPTREG2 # SAVE DEVICE INDEX.
056648,000812: 07,3721 50000 INDEX A # SEE IF OPERATION COMPLETE.
056649,000813: 07,3722 11304 CCS MODECADR
056650,000814: 07,3723 13741 TCF MODABORT # ALLOWABLE STATES ARE +0, -1, AND -0.
056651,000815: 07,3724 13735 TCF MODESLP # OPERATION INCOMPLETE.
056652,000816: 07,3725 13731 TCF MODEGOOD # COMPLETE AND GOOD IF = -1.
056653,000817:
056654,000818: 07,3726 50071 MG2 INDEX RUPTREG2 # COMPLETE FAILED IF -0. RESET TO +0.
056655,000819: 07,3727 55304 TS MODECADR # RETURN TO CALLER.
056656,000820: 07,3730 12755 TCF MODEEXIT
056657,000821:
056658,000822: 07,3731 10000 MODEGOOD CCS A # MAKE SURE INITIAL STATE -1.
056659,000823: 07,3732 13741 TCF MODABORT
056660,000824:
056661,000825: 07,3733 24133 INCR BUF2 # IF SO, INCREMENT RETURN ADDRESS AND
056662,000826: 07,3734 13726 TCF MG2 # RETURN IMMEDIATELY, SETTIN CADR = +0.
056663,000827:
056664,000828: 07,3735 04645 MODESLP TC MAKECADR # CALL FROM SWITCHABLE FIXED ONLY.
056665,000829: 07,3736 50071 INDEX RUPTREG2
056666,000830: 07,3737 55304 TS MODECADR
056667,000831: 07,3740 15133 TCF JOBSLEEP
056668,000832:
056669,000833: 07,3741 52134 MODABORT DXCH BUF2
056670,000834: 07,3742 05716 TC BAILOUT1 # TWO PROGRAMS USING THE SAME DEVICE.
056671,000835: 07,3743 01210 OCT 1210
056672,000836:
056673,000837: # Page 1331
056674,000838: # CONSTANTS FOR MODE SWITCHING ROUTINES
056675,000839:
056676,000840: 07,3744 5751 BITS3&4 = OCT14
056677,000841: 07,3744 4771 BITS4&6 = OCT50
056678,000842: 07,3744 00030 BITS4-5 OCT 00030
056679,000843: 07,3745 4744 IMUSEFLG EQUALS BIT8 # INTERPRETER SWITCH 7.
056680,000844: 07,3745 77500 -COMMAX DEC -191 B-14
056681,000845: 07,3746 77477 -COMMAX- DEC -192 B-14
056682,000846: 07,3747 00074 600MS DEC 60 B-14
056683,000847: 07,3750 07,3210 IMUFIN20 = IMUFINE
056684,000848: 07,3750 31307 GOMANUR CA ATTCADR # IS KALCMANU FREE
056685,000849: 07,3751 00006 EXTEND
056686,000850: 07,3752 13755 BZF +3
056687,000851:
056688,000852: 07,3753 05652 TC P00DOO # NO
056689,000853: 07,3754 01210 OCT 1210 # 2 TRYING TO USE SAME DEVICE
056690,000854:
056691,000855: 07,3755 00006 +3 EXTEND
056692,000856: 07,3756 30134 DCA BUF2
056693,000857: 07,3757 53310 DXCH ATTCADR # SAVE FINAL RETURN FOR KALCMAN3
056694,000858:
056695,000859: 07,3760 30006 CA BBANK
056696,000860: 07,3761 74757 MASK SEVEN
056697,000861: 07,3762 27310 ADS ATTCADR +1
056698,000862:
056699,000863: 07,3763 30167 CA PRIORITY
056700,000864: 07,3764 77725 MASK PRIO37
056701,000865: 07,3765 55311 TS ATTPRIO # SAVE USER'S PRIO
056702,000866:
056703,000867: 07,3766 33772 CAF KALEBCON # SET EBANK FOR KALCMAN3
056704,000868: 07,3767 54003 TS EBANK
056705,000869: 07,3770 04635 TC POSTJUMP
056706,000870: 07,3771 44004 CADR KALCMAN3
056707,000871: 07,3772 03276 KALEBCON ECADR BCDU
056708,000872:
056709,000873: # Page 1332
056710,000874: # PROGRAM DESCRIPTION
056711,000875: # IMU STATUS CHECK ROUTINE R02 (SUBROUTINE UTILITY)
056712,000876: # MOD NO -- 1
056713,000877: # MOD BY -- N.BRODEUR
056714,000878:
056715,000879: # FUNCTIONAL DESCRIPTION
056716,000880: # TO CHECK WHETHER IMU IS ON AND IF ON WHETHER IT IS ALIGNED TO AN
056717,000881: # ORIENTATION KNOWN BY THE CMC. TO REQUEST SELECTION OF THE APPROPRIATE
056718,000882: # PROGRAM IF THE IMU IS OFF OR NOT ALIGNED TO AN ORIENTATION KNOWN BY THE
056719,000883: # CMC. CALLED THROUGH BANKCALL
056720,000884:
056721,000885: # CALLING SEQUENCE --
056722,000886: # L TC BANKCALL
056723,000887: # L+1 CADR R02BOTH
056724,000888:
056725,000889: # SUBROUTINES CALLED
056726,000890: # VARALARM
056727,000891: # FLAGUP
056728,000892:
056729,000893: # NORMAL EXIT MODES
056730,000894: # AT L+2 OF CALLING SEQUENCE
056731,000895:
056732,000896: # ALARM OR ABORT EXIT MODES
056733,000897: # GOTOP00H, WITH ALARM
056734,000898:
056735,000899: # ERASABLE INITIALIZATION REQUIRED
056736,000900: # NONE
056737,000901:
056738,000902: # DEBRIS
056739,000903: # CENTRALS -- A,Q,L
056740,000904:
056741,000905: 34,3775 BANK 34
056742,000906: 04,2000 SETLOC R02
056743,000907: 04,2000 BANK
056744,000908: 04,3253 COUNT* $$/R02
056745,000909: 04,3253 00063 DEC51 DEC 51 B-14
056746,000910: 04,3254 34737 R02BOTH CAF REFSMBIT
056747,000911: 04,3255 70077 MASK FLAGWRD3
056748,000912: 04,3256 10000 CCS A
056749,000913: 04,3257 03270 TC R02ZERO # ZERO IMUS
056750,000914:
056751,000915: 04,3260 31302 CA IMODES30
056752,000916: 04,3261 74743 MASK BIT9 # IS ISS INITIALIZED
056753,000917: 04,3262 00006 EXTEND
056754,000918: 04,3263 13265 BZF +2
056755,000919: 04,3264 44750 CS BIT4 # SEND IMU ALARM CODE 210
056756,000920: 04,3265 63273 AD OCT220 # SEND REFSMM ALARM
056757,000921: 04,3266 05744 TC VARALARM
056758,000922:
056759,000923: 04,3267 06001 TC GOTOP00H
056760,000924:
056761,000925: 04,3270 05504 R02ZERO TC UPFLAG
056762,000926: # Page 1333
056763,000927: 04,3271 00007 ADRES IMUSE
056764,000928: 04,3272 14631 TCF SWRETURN
056765,000929: 04,3273 00220 OCT220 OCT 220
056766,000930:
056767,000931: # Page 1334
056768,000932: # PROGRAM DESCRIPTION: P06 10 FEB 67
056769,000933:
056770,000934: # TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION.
056771,000935:
056772,000936: # THE NORMAL CONDITION OF READINESS OF THE GNCS WHEN NOT IN USE IS STANDBY. IN THIS CONDITION THE IMU
056773,000937: # HEATER POWER IS ON. THE IMU OPERATE POWER IS OFF. THE COMPUTER POWER IS ON. THE OPTICS POWER IS OFF. THE
056774,000938: # CMC STANDBY ON THE MAIN AND LEB DISKYS IS ON.
056775,000939:
056776,000940: # CALLING SEQUENCE:
056777,000941: # ASTRONAUT REQUEST THROUGH DSKY V37E 06E.
056778,000942:
056779,000943: # SUBROUTINES CALLED:
056780,000944: # GOPERF1
056781,000945: # BANKCALL
056782,000946: # FLAGDOWN
056783,000947:
056784,000948: # Page 1335
056785,000949: # PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2.
056786,000950: # THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATIBILITY
056787,000951: # BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING.
056788,000952:
056789,000953: 37,2000 SETLOC P05P06
056790,000954: 37,2000 BANK
056791,000955:
056792,000956: 37,3655 0314 EBANK= TIME2SAV
056793,000957: 37,3655 COUNT* $$/P06
056794,000958:
056795,000959: 37,3655 05504 P06 TC UPFLAG # SET NODOV37 BIT
056796,000960: 37,3656 00054 ADRES NODOFLAG
056797,000961:
056798,000962: 37,3657 00004 PRESTAND INHINT
056799,000963: 37,3660 00006 EXTEND
056800,000964: 37,3661 30025 DCA TIME2 # SNAPSHOT TIME1 TIME2
056801,000965: 37,3662 52315 DXCH TIME2SAV
056802,000966: 37,3663 03714 TC SCALPREP
056803,000967: 37,3664 03657 TC PRESTAND # T1,T2,SCALER NOT COMPATIBLE
056804,000968: 37,3665 52155 DXCH MPAC # T1,T2 AND SCALER OK
056805,000969: 37,3666 52317 DXCH SCALSAVE # STORE SCALER
056806,000970: 37,3667 00004 INHINT
056807,000971: 37,3670 04616 TC BANKCALL
056808,000972: 37,3671 17175 CADR RNDREFDR # REFSMM, DRIFT, TRACK FLAGS DOWN
056809,000973:
056810,000974: 37,3672 05516 TC DOWNFLAG
056811,000975: 37,3673 00007 ADRES IMUSE # IMUSE DOWN
056812,000976: 37,3674 05516 TC DOWNFLAG
056813,000977: 37,3675 00010 ADRES RNDVZFLG # RNDVZFLG DOWN
056814,000978:
056815,000979: 37,3676 34741 CAF BIT11
056816,000980: 37,3677 00006 EXTEND
056817,000981: 37,3700 05013 WOR CHAN13 # SET STANDBY ENABLE BIT
056818,000982:
056819,000983: 37,3701 05353 TC PHASCHNG # SET RESTART TO POSTAND WHEN STANDBY
056820,000984: 37,3702 07024 OCT 07024 # RECOVERS
056821,000985: 37,3703 20000 OCT 20000
056822,000986: 37,3704 0316 EBANK= SCALSAVE
056823,000987: 37,3704 03734 76060 2CADR POSTAND
056824,000988:
056825,000989: 37,3706 34774 CAF OCT62
056826,000990: 37,3707 04616 TC BANKCALL
056827,000991: 37,3710 20623 CADR GOPERF1
056828,000992: 37,3711 13706 TCF -3
056829,000993: 37,3712 13706 TCF -4
056830,000994: 37,3713 13706 TCF -5
056831,000995:
056832,000996: 37,3714 4774 OCT62 EQUALS .5SEC # DEC 50 = OCT 62
056833,000997:
056834,000998: # THE LOW 5 BITS OF THE SCALER READS 10000 FOR THE FIRST INTERVAL AFTER A
056835,000999: # Page 1336
056836,001000: # T1 INCREMENT. IF SCALPREP DETECTS THIS INTERVAL THE T1,T2 AND SCALER
056837,001001: # DATA ARE NOT COMPATIBLE AND RETURN IS TO L+1 FOR ANOTHER READING OF THE
056838,001002: # DATA. OTHERWISE, THE RETURN IS TO L+2 TO PROCEED. ROUTINE ALSO PREPARES
056839,001003: # THE SCALER READING FOR COMPUTATION OF THE INCREMENT TO UPDATE T1T2. (THE
056840,001004: # 10 MS BIT (BIT 6) OF THE SCALER IS INCREMENTED 5 MS OUT OF PHASE FROM
056841,001005: # T1.0 ADDITION OF 5 MS (BIT 5) TO THE SCALER READING HAS THE EFFECT OF
056842,001006: # ADJUSTING BIT 6 IN THE SCALER TO BE IN PHASE WITH BIT 1 OF T1. THE LOW 5
056843,001007: # BITS OF THE SCALER READING ARE THEN SET TO ZERO, TO TRUNCATE THE SCALER
056844,001008: # DATA TO 10 MS. RESULTS ARE STORED IN MPAC, +1.
056845,001009:
056846,001010: 37,3714 00006 SCALPREP EXTEND
056847,001011: 37,3715 22156 QXCH MPAC +2
056848,001012: 37,3716 04103 TC FINETIME +1
056849,001013: 37,3717 00003 RELINT
056850,001014: 37,3720 52155 DXCH MPAC
056851,001015: 37,3721 34747 CA BIT5 # ADD 5 MS TO THE SCALER READING.
056852,001016: 37,3722 54001 TS L
056853,001017: 37,3723 34755 CA ZERO
056854,001018: 37,3724 20155 DAS MPAC
056855,001019: 37,3725 44346 CS LOW5 # SET LOW 5 BITS OF (SCALER+5MS) TO ZERO
056856,001020: 37,3726 70155 MASK MPAC +1 # AND STORE RESULTS IN MPAC,+1.
056857,001021: 37,3727 56155 XCH MPAC +1
056858,001022: 37,3730 74346 MASK LOW5 # TEST LOW 5 BITS OF SCALER FOR THE FIRST
056859,001023: # INTERVAL AFTER THE T1 INCREMENT
056860,001024: # (NOW = 00000, SINCE BIT 5 ADDED).
056861,001025: 37,3731 10000 CCS A # IS IT 1ST INTERVAL AFTER T1 INCREMENT
056862,001026: 37,3732 24156 INCR MPAC +2 # NO
056863,001027: 37,3733 00156 TC MPAC +2 # YES
056864,001028:
056865,001029: # POSTAND RECOVERS TIME AFTER STANDBY. THE SCALER IS SNAPSHOTTED AND THE
056866,001030: # TIME1 TIME2 COUNTER IS SET TO ZERO. THE LOW 5 BITS OF THE SCALER ARE
056867,001031: # INSPECTED TO INSURE COMPATIBILITY BETWEEN THE SCALER READING AND THE
056868,001032: # CLEARING OF THE TIME COUNTER. IT THEN COMPUTES THE DIFFERENCE IN SCALER
056869,001033: # VALUES (IN DP) AND ADDS THIS TO THE PREVIOUSLY SNAPSHOTTED VALUES OF
056870,001034: # TIME1 TIME2 AND PLACES THIS NEW TIME INTO THE TIME1 TIME2 COUNTER.
056871,001035:
056872,001036: 37,3734 COUNT* $$/P05
056873,001037:
056874,001038: 37,3734 44741 POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY
056875,001039: 37,3735 00006 EXTEND
056876,001040: 37,3736 03013 WAND CHAN13 # CLEAR STANDBY ENABLE BIT
056877,001041: 37,3737 00004 INHINT
056878,001042: 37,3740 34755 CA ZERO
056879,001043: 37,3741 54001 TS L
056880,001044: 37,3742 52025 DXCH TIME2 # CLEAR TIME1 TIME2
056881,001045: 37,3743 03714 TC SCALPREP # STORE SCALER IN MPAC, MPAC+1
056882,001046: 37,3744 03737 TC POSTAND +3 # T1,T2,SCALER NOT COMPATIBLE
056883,001047: 37,3745 00006 EXTEND # T1,T2 AND SCALER OK
056884,001048: 37,3746 40317 DCS SCALSAVE
056885,001049: 37,3747 20155 DAS MPAC # FORM DP DIFFERENCE OF POST-STANDBY SCALER
056886,001050: # Page 1337
056887,001051: 37,3750 34742 CAF BIT10 # MINUS PRE-STANDBY SCALER AND SHIFT RIGHT
056888,001052: 37,3751 07307 TC SHORTMP # 5 TO ALIGN BITS WITH TIME1 TIME2.
056889,001053: 37,3752 34755 CAF ZERO
056890,001054: 37,3753 54156 TS MPAC +2 # NEEDED FOR TP AGREE
056891,001055: 37,3754 07257 TC TPAGREE # MAKE DP DIFF AGREE
056892,001056: 37,3755 10154 CCS MPAC
056893,001057: 37,3756 03763 TC POSTCOM # IF DP DIFF NET +, NO SCALER OVERFLOW
056894,001058: 37,3757 03763 TC POSTCOM # BETWEEN PRE AND POST STANDBY.
056895,001059: 37,3760 03761 TC +1 # IF DP DIFF NET -, SCALER OVERFLOWED. ADD
056896,001060: 37,3761 34742 CAF BIT10 # BIT 10 TO HIGH DIFF TO CORRECT.
056897,001061: 37,3762 26154 ADS MPAC
056898,001062: 37,3763 00006 POSTCOM EXTEND # C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER.
056899,001063: 37,3764 30315 DCA TIME2SAV # PRE-STANDBY TIME1 TIME2
056900,001064: 37,3765 20155 DAS MPAC
056901,001065: 37,3766 07257 TC TPAGREE # FORCE SIGN AGREEMENT
056902,001066: 37,3767 52155 DXCH MPAC # UPDATED VALUE FOR T1,T2.
056903,001067: 37,3770 20025 DAS TIME2 # LOAD UPDATED VALUE INTO T1,T2, WITH
056904,001068: 37,3771 05516 TC DOWNFLAG # CLEAR NODOFLAG
056905,001069: 37,3772 00054 ADRES NODOFLAG
056906,001070:
056907,001071: 37,3773 06001 TC GOTOP00H
056908,001072:
End of include-file IMU_MODE_SWITCHING_ROUTINES.agc. Parent file is MAIN.agc