Source Code
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These source-code files were obtained by digitally photographing the
Colossus 237 program listing from the private collection of original
AGC developer Fred Martin, and then modifying pre-existing Colossus 249
(Apollo 9) source files to incorporate changes. Note that the page images
presented online are of reduced quality, and that additional images
are available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 237 OF AGC PROGRAM COLOSSUS BY NASA 2021111-031 1:17 AUG. 24, 1968 |
058557,000002: # Copyright: Public domain.
058558,000003: # Filename: IMU_MODE_SWITCHING_ROUTINES.agc
058559,000004: # Purpose: Part of the source code for Colossus build 237.
058560,000005: # This is for the Command Module's (CM) Apollo Guidance
058561,000006: # Computer (AGC), we believe for Apollo 8.
058562,000007: # Assembler: yaYUL
058563,000008: # Contact: Jim Lawton <jim DOT lawton AT gmail DOT com>
058564,000009: # Website: www.ibiblio.org/apollo/index.html
058565,000010: # Page scans: www.ibiblio.org/apollo/ScansForConversion/Colossus237/
058566,000011: # Mod history: 2011-04-17 JL Adapted from corresponding Colossus 249 file.
058567,000012:
058568,000013: # # Page 1384
058569,000014: 5410 BLOCK 02
058570,000015: 4000 SETLOC FFTAG3
058571,000016: 4000 BANK
058572,000017:
058573,000018: 5410 E3,1471 EBANK= COMMAND
058574,000019:
058575,000020: # FIXED-FIXED ROUTINES.
058576,000021:
058577,000022: 5410 COUNT 02/IMODE
058578,000023:
058579,000024: 5410 34714 ZEROICDU CAF ZERO # ZERO ICDU COUNTERS.
058580,000025: 5411 54032 TS CDUX
058581,000026: 5412 54033 TS CDUY
058582,000027: 5413 54034 TS CDUZ
058583,000028: 5414 00002 TC Q
058584,000029:
058585,000030: 5415 4702 SPSCODE = BIT9
058586,000031:
058587,000032: # # Page 1385
058588,000033: # IMU ZEROING ROUTINES
058589,000034:
058590,000035: 11,3721 BANK 11
058591,000036: 07,2000 SETLOC MODESW
058592,000037: 07,2000 BANK
058593,000038:
058594,000039: 07,2516 COUNT 07/IMODE
058595,000040:
058596,000041: 07,2516 00004 IMUZERO INHINT # ROUTINE TO ZERO ICDUS.
058597,000042: 07,2517 41036 CS DSPTAB +11D # DONT ZERO CDUS IS IMU IN GIMBAL LOCK AND
058598,000043: 07,2520 74726 MASK BITS4&6 # COARSE ALIGN (GIMBAL RUNAWAY PROTECTION)
058599,000044: 07,2521 10000 CCS A
058600,000045: 07,2522 12526 TCF IMUZEROA
058601,000046:
058602,000047: 07,2523 05537 TC ALARM # IF SO.
058603,000048: 07,2524 00206 OCT 00206
058604,000049:
058605,000050: 07,2525 13461 TCF CAGETSTJ +4 # IMMEDIATE FAILURE.
058606,000051:
058607,000052: 07,2526 03455 IMUZEROA TC CAGETSTJ
058608,000053: # DO ALL THE WORK.
058609,000054: 07,2527 41321 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
058610,000055: 07,2530 74730 MASK SUPER011 # BIT5 FOR GROUND
058611,000056: 07,2531 27321 ADS IMODES33
058612,000057:
058613,000058: 07,2532 41320 CS IMODES30 # INHIBIT ICDUFAIL AND IMUFAIL (IN CASE WE
058614,000059: 07,2533 75660 MASK BITS3&4 # JUST CAME OUT OF COARSE ALIGN).
058615,000060: 07,2534 27320 ADS IMODES30
058616,000061:
058617,000062: 07,2535 44726 CS BITS4&6 # SEND ZERO ENCODE WITH COARSE AND ERROR
058618,000063: 07,2536 00006 EXTEND # COUNTER DISABLED.
058619,000064: 07,2537 03012 WAND CHAN12
058620,000065:
058621,000066: 07,2540 03070 TC NOATTOFF # TURN OFF NO ATT LAMP.
058622,000067:
058623,000068: 07,2541 34706 CAF BIT5
058624,000069: 07,2542 00006 EXTEND
058625,000070: 07,2543 05012 WOR CHAN12
058626,000071:
058627,000072: 07,2544 05410 TC ZEROICDU
058628,000073: 07,2545 34705 CAF BIT6 # WAIT 320 MS TO GIVE AGS ADEQUATE TIME TO
058629,000074: 07,2546 05140 TC WAITLIST # RECEIVE ITS PULSE TRAIN.
058630,000075: 07,2547 E3,1474 EBANK= CDUIND
058631,000076: 07,2547 02561 16063 2CADR IMUZERO2
058632,000077:
058633,000078: 07,2551 41320 CS IMODES30 # SEE IF IMU OPERATING AND ALARM IF NOT.
058634,000079: 07,2552 74702 MASK BIT9
058635,000080: 07,2553 10000 CCS A
058636,000081: 07,2554 12557 TCF MODEEXIT
058637,000082: # # Page 1386
058638,000083: 07,2555 05537 TC ALARM
058639,000084: 07,2556 00210 OCT 210
058640,000085:
058641,000086: 07,2557 00003 MODEEXIT RELINT # GENERAL MODE-SWITCHING EXIT.
058642,000087: 07,2560 14570 TCF SWRETURN
058643,000088:
058644,000089:
058645,000090: 07,2561 03455 IMUZERO2 TC CAGETSTJ # POSSIBLY SWITCH TO TURN-ON PROGRAM
058646,000091: 07,2562 05410 TC ZEROICDU # ZERO CDUX, CDUY, CDUZ
058647,000092:
058648,000093: 07,2563 44706 CS BIT5 # REMOVE ZERO DISCRETE.
058649,000094: 07,2564 00006 EXTEND
058650,000095: 07,2565 03012 WAND CHAN12
058651,000096:
058652,000097: 07,2566 34700 CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS
058653,000098: 07,2567 05161 TC VARDELAY
058654,000099:
058655,000100: 07,2570 03455 IMUZERO3 TC CAGETSTJ
058656,000101: 07,2571 45660 CS BITS3&4 # REMOVE IMUFAIL AND ICDUFAIL INHIBIT.
058657,000102: 07,2572 71320 MASK IMODES30
058658,000103: 07,2573 55320 TS IMODES30
058659,000104:
058660,000105: 07,2574 44730 CS SUPER011 # ENABLE DAP AUTO AND HOLD MODES
058661,000106: 07,2575 71321 MASK IMODES33 # BIT5 FOR GROUND
058662,000107: 07,2576 55321 TS IMODES33
058663,000108:
058664,000109: 07,2577 04633 TC IBNKCALL # SET ISS WARNING IF EITHER OF ABOVE ARE
058665,000110: 07,2600 14665 CADR SETISSW # PRESENT.
058666,000111:
058667,000112: 07,2601 13433 TCF ENDIMU
058668,000113:
058669,000114: # # Page 1387
058670,000115: # IMU COARSE ALIGN MODE.
058671,000116:
058672,000117: 07,2602 00004 IMUCOARS INHINT
058673,000118: 07,2603 03455 TC CAGETSTJ
058674,000119: 07,2604 02746 TC SETCOARS
058675,000120:
058676,000121: 07,2605 36211 CAF SIX
058677,000122: 07,2606 05140 TC WAITLIST
058678,000123: 07,2607 E3,1474 EBANK= CDUIND
058679,000124: 07,2607 02612 16063 2CADR COARS
058680,000125:
058681,000126: 07,2611 12557 TCF MODEEXIT
058682,000127:
058683,000128: 07,2612 03443 COARS TC CAGETEST
058684,000129: 07,2613 34705 CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
058685,000130: 07,2614 00006 EXTEND
058686,000131: 07,2615 05012 WOR CHAN12
058687,000132:
058688,000133: 07,2616 34711 CAF TWO # SET CDU INDICATOR
058689,000134: 07,2617 55474 COARS1 TS CDUIND
058690,000135:
058691,000136: 07,2620 51474 INDEX CDUIND # COMPUTE THETAD -- THETAA IN 1:S
058692,000137: 07,2621 31155 CA THETAD # COMPLEMENT FORM
058693,000138: 07,2622 00006 EXTEND
058694,000139: 07,2623 51474 INDEX CDUIND
058695,000140: 07,2624 20032 MSU CDUX
058696,000141: 07,2625 00006 EXTEND
058697,000142: 07,2626 74676 MP BIT13 # SHIFT RIGHT 2
058698,000143: 07,2627 56001 XCH L # ROUND
058699,000144: 07,2630 60000 DOUBLE
058700,000145: 07,2631 54061 TS ITEMP1
058701,000146: 07,2632 12634 TCF +2
058702,000147: 07,2633 26001 ADS L
058703,000148:
058704,000149: 07,2634 51474 INDEX CDUIND # DIFFERENCE TO BE COMPUTED
058705,000150: 07,2635 23471 LXCH COMMAND
058706,000151: 07,2636 11474 CCS CDUIND
058707,000152: 07,2637 02617 TC COARS1
058708,000153:
058709,000154: 07,2640 34711 CAF TWO # MINIMUM OF 4 MS WAIT
058710,000155: 07,2641 05161 TC VARDELAY
058711,000156:
058712,000157: # # Page 1388
058713,000158: 07,2642 03443 COARS2 TC CAGETEST # DONT CONTINUE IF CAGED.
058714,000159: 07,2643 54061 TS ITEMP1 # SET TO +0.
058715,000160: 07,2644 34711 CAF TWO # SET CDU INDICATOR
058716,000161: 07,2645 55474 +3 TS CDUIND
058717,000162:
058718,000163: 07,2646 51474 INDEX CDUIND
058719,000164: 07,2647 11471 CCS COMMAND # NUMBER OF PULSES REQUIRED
058720,000165: 07,2650 02654 TC COMPOS # GREATER THAN MAX ALLOWED
058721,000166: 07,2651 02663 TC NEXTCDU +1
058722,000167: 07,2652 02721 TC COMNEG
058723,000168: 07,2653 02663 TC NEXTCDU +1
058724,000169:
058725,000170: 07,2654 63544 COMPOS AD -COMMAX # COMMAX = MAX NUMBER OF PULSES ALLOWED
058726,000171: 07,2655 00006 EXTEND # MINUS ONE
058727,000172: 07,2656 62731 BZMF COMZERO
058728,000173: 07,2657 51474 INDEX CDUIND
058729,000174: 07,2660 55471 TS COMMAND # REDUCE COMMAND BY MAX NUMBER OF PULSES
058730,000175: 07,2661 43545 CS -COMMAX- # ALLOWED
058731,000176:
058732,000177: 07,2662 24061 NEXTCDU INCR ITEMP1
058733,000178: 07,2663 64713 AD NEG0
058734,000179: 07,2664 51474 INDEX CDUIND
058735,000180: 07,2665 54050 TS CDUXCMD # SET UP COMMAND REGISTER.
058736,000181:
058737,000182: 07,2666 11474 CCS CDUIND
058738,000183: 07,2667 02645 TC COARS2 +3
058739,000184:
058740,000185: 07,2670 10061 CCS ITEMP1 # SEE IF ANY PULSES TO GO OUT.
058741,000186: 07,2671 12735 TCF SENDPULS
058742,000187:
058743,000188: 07,2672 05156 TC FIXDELAY # WAIT FOR GIMBALS TO SETTLE.
058744,000189: 07,2673 00226 DEC 150 B-14
058745,000190:
058746,000191:
058747,000192: 07,2674 34711 CAF TWO # AT END OF COMMAND, CHECK TO SEE THAT
058748,000193: 07,2675 54061 CHKCORS TS ITEMP1 # GIMBALS ARE WITHIN 2 DEGREES OF THETAD.
058749,000194: 07,2676 50000 INDEX A
058750,000195: 07,2677 30032 CA CDUX
058751,000196: 07,2700 00006 EXTEND
058752,000197: 07,2701 50061 INDEX ITEMP1
058753,000198: 07,2702 21155 MSU THETAD
058754,000199: 07,2703 10000 CCS A
058755,000200: 07,2704 12712 TCF COARSERR
058756,000201: 07,2705 12707 TCF CORSCHK2
058757,000202: 07,2706 12712 TCF COARSERR
058758,000203:
058759,000204: # # Page 1389
058760,000205: 07,2707 10061 CORSCHK2 CCS ITEMP1
058761,000206: 07,2710 12675 TCF CHKCORS
058762,000207: 07,2711 13433 TCF ENDIMU # END OF COARSE ALIGNMENT.
058763,000208:
058764,000209: 07,2712 62720 COARSERR AD COARSTOL # 2 DEGREES.
058765,000210: 07,2713 00006 EXTEND
058766,000211: 07,2714 62707 BZMF CORSCHK2
058767,000212:
058768,000213: 07,2715 05537 TC ALARM # COARSE ALIGN ERROR.
058769,000214: 07,2716 00211 OCT 211
058770,000215:
058771,000216: 07,2717 13441 TCF IMUBAD
058772,000217:
058773,000218: 07,2720 77511 COARSTOL DEC -.01111 # 2 DEGREES SCALED AT HALF-REVOLUTIONS
058774,000219:
058775,000220:
058776,000221: 07,2721 63544 COMNEG AD -COMMAX
058777,000222: 07,2722 00006 EXTEND
058778,000223: 07,2723 62731 BZMF COMZERO
058779,000224: 07,2724 40000 COM
058780,000225: 07,2725 51474 INDEX CDUIND
058781,000226: 07,2726 55471 TS COMMAND
058782,000227: 07,2727 33545 CA -COMMAX-
058783,000228: 07,2730 02662 TC NEXTCDU
058784,000229:
058785,000230: 07,2731 34714 COMZERO CAF ZERO
058786,000231: 07,2732 51474 INDEX CDUIND
058787,000232: 07,2733 57471 XCH COMMAND
058788,000233: 07,2734 02662 TC NEXTCDU
058789,000234:
058790,000235: 07,2735 37707 SENDPULS CAF 13,14,15
058791,000236: 07,2736 00006 EXTEND
058792,000237: 07,2737 05014 WOR CHAN14
058793,000238: 07,2740 33546 CAF 600MS
058794,000239: 07,2741 12641 TCF COARS2 -1 # THEN TO VARDELAY
058795,000240:
058796,000241: 07,2742 34705 CA+ECE CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
058797,000242: 07,2743 00006 EXTEND
058798,000243: 07,2744 05012 WOR CHAN12
058799,000244: 07,2745 05213 TC TASKOVER
058800,000245:
058801,000246: # # Page 1390
058802,000247: 07,2746 34707 SETCOARS CAF BIT4 # BYPASS IF ALREADY IN COARSE ALIGN
058803,000248: 07,2747 00006 EXTEND
058804,000249: 07,2750 02012 RAND CHAN12
058805,000250: 07,2751 10000 CCS A
058806,000251: 07,2752 00002 TC Q
058807,000252:
058808,000253: 07,2753 44705 CS BIT6 # CLEAR ISS ERROR COUNTERS
058809,000254: 07,2754 00006 EXTEND
058810,000255: 07,2755 03012 WAND CHAN12
058811,000256:
058812,000257: 07,2756 44701 CS BIT10 # KNOCK DOWN GYRO ACTIVITY
058813,000258: 07,2757 00006 EXTEND
058814,000259: 07,2760 03014 WAND CHAN14
058815,000260: 07,2761 44714 CS ZERO
058816,000261: 07,2762 54047 TS GYROCMD
058817,000262:
058818,000263: 07,2763 34707 CAF BIT4 # PUT ISS IN COARSE ALIGN
058819,000264: 07,2764 00006 EXTEND
058820,000265: 07,2765 05012 WOR CHAN12
058821,000266:
058822,000267: 07,2766 41036 CS DSPTAB +11D # TURN ON NO ATT LAMP
058823,000268: 07,2767 73011 MASK OCT40010
058824,000269: 07,2770 27036 ADS DSPTAB +11D
058825,000270:
058826,000271: 07,2771 41321 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
058827,000272: 07,2772 74705 MASK BIT6
058828,000273: 07,2773 27321 ADS IMODES33
058829,000274:
058830,000275: 07,2774 41320 CS IMODES30 # DISABLE IMUFAIL
058831,000276: 07,2775 74707 MASK BIT4
058832,000277: 07,2776 27320 ADS IMODES30
058833,000278:
058834,000279: 07,2777 44706 RNDREFDR CS BIT5 # KNOCK DOWN TRACK FLAG
058835,000280: 07,3000 70075 MASK FLAGWRD1
058836,000281: 07,3001 54075 TS FLAGWRD1
058837,000282:
058838,000283: 07,3002 44674 CS BIT15 # KNOCK DOWN DRIFT FLAG
058839,000284: 07,3003 70076 MASK FLAGWRD2
058840,000285: 07,3004 54076 TS FLAGWRD2
058841,000286:
058842,000287: 07,3005 44676 CS BIT13 # KNOCK DOWN REFSMMAT FLAG
058843,000288: 07,3006 70077 MASK FLAGWRD3
058844,000289: 07,3007 54077 TS FLAGWRD3
058845,000290:
058846,000291: 07,3010 00002 TC Q
058847,000292:
058848,000293: 07,3011 40010 OCT40010 OCT 40010
058849,000294:
058850,000295: # # Page 1391
058851,000296: # IMU FINE ALIGN MODE SWITCH.
058852,000297:
058853,000298: 07,3012 00004 IMUFINE INHINT
058854,000299: 07,3013 03455 TC CAGETSTJ # SEE IF IMU BEING CAGED.
058855,000300:
058856,000301: 07,3014 43543 CS BITS4-5 # RESET ZERO AND COARSE
058857,000302: 07,3015 00006 EXTEND
058858,000303: 07,3016 03012 WAND CHAN12
058859,000304:
058860,000305: 07,3017 44705 CS BIT6 # INSURE DAP AUTO AND HOLD MODES ENABLED
058861,000306: 07,3020 71321 MASK IMODES33
058862,000307: 07,3021 55321 TS IMODES33
058863,000308:
058864,000309: 07,3022 03070 TC NOATTOFF
058865,000310:
058866,000311: 07,3023 34701 CAF BIT10 # IMU FAIL WAS INHIBITED DURING THE
058867,000312: 07,3024 05140 TC WAITLIST # PRESUMABLY PRECEDING COARSE ALIGN. LEAVE
058868,000313: 07,3025 E3,1474 EBANK= CDUIND
058869,000314: 07,3025 03036 16063 2CADR IFAILOK # IT ON FOR THE FIRST 5 SECS OF FINE ALIGN
058870,000315:
058871,000316: 07,3027 34735 CAF 2SECS
058872,000317: 07,3030 05140 TC WAITLIST
058873,000318: 07,3031 E3,1474 EBANK= CDUIND
058874,000319: 07,3031 03034 16063 2CADR IMUFINED
058875,000320:
058876,000321: 07,3033 12557 TCF MODEEXIT
058877,000322:
058878,000323: 07,3034 03443 IMUFINED TC CAGETEST # SEE THAT NO ONE HAS CAGED THE IMU.
058879,000324: 07,3035 13433 TCF ENDIMU
058880,000325:
058881,000326: # # Page 1392
058882,000327: 07,3036 03450 IFAILOK TC CAGETSTQ # ENABLE IMU FAIL UNLESS IMU BEING CAGED.
058883,000328: 07,3037 15213 TCF TASKOVER # IT IS.
058884,000329:
058885,000330: 07,3040 34707 CAF BIT4 # DONT RESET IMU FAIL INHIBIT IF SOMEONE
058886,000331: 07,3041 00006 EXTEND # HAS GONE INTO COARSE ALIGN.
058887,000332: 07,3042 02012 RAND CHAN12
058888,000333: 07,3043 10000 CCS A
058889,000334: 07,3044 15213 TCF TASKOVER
058890,000335:
058891,000336: 07,3045 41320 CS IMODES30 # RESET IMUFAIL.
058892,000337: 07,3046 74676 MASK BIT13
058893,000338: 07,3047 27320 ADS IMODES30
058894,000339: 07,3050 44707 CS BIT4
058895,000340: 07,3051 71320 PFAILOK2 MASK IMODES30
058896,000341: 07,3052 55320 TS IMODES30
058897,000342: 07,3053 04633 TC IBNKCALL # THE ISS WARNING LIGHT MAY COME ON NOW
058898,000343: 07,3054 14665 CADR SETISSW # THAT THE INHIBIT WAS BEEN REMOVED.
058899,000344: 07,3055 15213 TCF TASKOVER
058900,000345:
058901,000346: 07,3056 03450 PFAILOK TC CAGETSTQ # ENABLE PIP FAIL PROG ALARM.
058902,000347: 07,3057 15213 TCF TASKOVER
058903,000348:
058904,000349: 07,3060 41320 CS IMODES30 # RESET IMU AND PIPA FAIL BITS.
058905,000350: 07,3061 74701 MASK BIT10
058906,000351: 07,3062 27320 ADS IMODES30
058907,000352:
058908,000353: 07,3063 41321 CS IMODES33
058909,000354: 07,3064 74676 MASK BIT13
058910,000355: 07,3065 27321 ADS IMODES33
058911,000356:
058912,000357: 07,3066 44706 CS BIT5
058913,000358: 07,3067 13051 TCF PFAILOK2
058914,000359:
058915,000360: 07,3070 43011 NOATTOFF CS OCT40010 # SUBROUTINE TO TURN OFF NO ATT LAMP.
058916,000361: 07,3071 71036 MASK DSPTAB +11D
058917,000362: 07,3072 64674 AD BIT15
058918,000363: 07,3073 55036 TS DSPTAB +11D
058919,000364: 07,3074 00002 TC Q
058920,000365:
058921,000366: # # Page 1393
058922,000367: # ROUTINES TO INITIATE AND TERMINATE PROGRAM USE OF THE PIPAS. NO IMUSTALL REQUIRED IN EITHER CASE.
058923,000368:
058924,000369: 07,3075 44714 PIPUSE CS ZERO
058925,000370: 07,3076 54037 TS PIPAX
058926,000371: 07,3077 54040 TS PIPAY
058927,000372: 07,3100 54041 TS PIPAZ
058928,000373:
058929,000374: 07,3101 03450 PIPUSE1 TC CAGETSTQ # DO NOT ENABLE PIPA FAIL IF IMU IS CAGED
058930,000375: 07,3102 14570 TCF SWRETURN
058931,000376:
058932,000377: 07,3103 00004 INHINT
058933,000378: 07,3104 44712 CS BIT1 # IF PIPA FAILS FROM NOW ON (UNTIL
058934,000379: 07,3105 71320 MASK IMODES30 # PIPFREE), LIGHT ISS WARNING.
058935,000380: 07,3106 55320 TS IMODES30
058936,000381:
058937,000382: 07,3107 04633 PIPFREE2 TC IBNKCALL # ISS WARNING MIGHT COME ON NOW.
058938,000383: 07,3110 14665 CADR SETISSW # (OR GO OFF ON PIPFREE).
058939,000384:
058940,000385: 07,3111 12557 TCF MODEEXIT
058941,000386:
058942,000387: 07,3112 00004 PIPFREE INHINT # PROGRAM DONE WITH PIPAS. DONT LIGHT
058943,000388: 07,3113 41320 CS IMODES30 # ISS WARNING.
058944,000389: 07,3114 74712 MASK BIT1
058945,000390: 07,3115 27320 ADS IMODES30
058946,000391:
058947,000392: 07,3116 74701 MASK BIT10 # IF PIP FAIL ON, DO PROG ALSRM AND RESET
058948,000393: 07,3117 10000 CCS A # ISS WARNING.
058949,000394: 07,3120 12557 TCF MODEEXIT
058950,000395:
058951,000396: 07,3121 05537 TC ALARM
058952,000397: 07,3122 00212 OCT 212
058953,000398:
058954,000399: 07,3123 00004 INHINT
058955,000400:
058956,000401: 07,3124 13107 TCF PIPFREE2
058957,000402:
058958,000403: # # Page 1394
058959,000404: # THE FOLLOWING ROUTINE TORQUES THE IRICS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIX REGISTERS
058960,000405: # BEGINNING AT THE ECADR ARRIVING IN A. THE MINIMUM SIZE OF ANY PULSE TRAIN IS 16 PULSES (.25 CDU COUNTS). THE
058961,000406: # UNSENT PORTION OF THE COMMAND IS LEFT INTACT IN THE INPUT COMMAND REGISTERS.
058962,000407:
058963,000408: 07,3125 E3,1400 EBANK= 1400 # VARIABLE, ACTUALLY.
058964,000409:
058965,000410: 07,3125 54161 IMUPULSE TS MPAC +5 # SAVE ARRIVING ECADR.
058966,000411: 07,3126 03455 TC CAGETSTJ # DONT PROCEED IF IMU BEING CAGED.
058967,000412:
058968,000413: 07,3127 11304 CCS LGYRO # SEE IF GYROS BUSY.
058969,000414: 07,3130 03171 TC GYROBUSY # SLEEP.
058970,000415:
058971,000416: 07,3131 54156 TS MPAC +2
058972,000417: 07,3132 34705 CAF BIT6 # ENABLE THE POWER SUPPLY.
058973,000418: 07,3133 00006 EXTEND
058974,000419: 07,3134 05014 WOR CHAN14
058975,000420:
058976,000421: 07,3135 34710 CAF FOUR
058977,000422: 07,3136 05140 GWAKE2 TC WAITLIST # (IF A JOB WAS PUT TO SLEEP, THE POWER
058978,000423: 07,3137 E3,1474 EBANK= CDUIND # SUPPLY IS LEFT ON BY THE WAKING JOB).
058979,000424: 07,3137 03207 16063 2CADR STRTGYRO
058980,000425:
058981,000426: 07,3141 30161 CA MPAC +5 # SET UP EBANK, SAVING CALLER'S EBANK FOR
058982,000427: 07,3142 56003 XCH EBANK # RESTORATION ON RETURN.
058983,000428: 07,3143 56161 XCH MPAC +5
058984,000429: 07,3144 55304 TS LGYRO # RESERVES GYROS.
058985,000430: 07,3145 74373 MASK LOW8
058986,000431: 07,3146 54061 TS ITEMP1
058987,000432:
058988,000433: 07,3147 34711 CAF TWO # FORCE SIGN AGREEMENT ON INPUTS.
058989,000434: 07,3150 54157 GYROAGRE TS MPAC +3
058990,000435: 07,3151 60000 DOUBLE
058991,000436: 07,3152 60061 AD ITEMP1
058992,000437: 07,3153 54160 TS MPAC +4
058993,000438: 07,3154 00006 EXTEND
058994,000439: 07,3155 50000 INDEX A
058995,000440: 07,3156 31401 DCA 1400
058996,000441: 07,3157 52155 DXCH MPAC
058997,000442: 07,3160 07226 TC TPAGREE
058998,000443: 07,3161 52155 DXCH MPAC
058999,000444: 07,3162 50160 INDEX MPAC +4
059000,000445: 07,3163 53401 DXCH 1400
059001,000446:
059002,000447: 07,3164 10157 CCS MPAC +3
059003,000448: 07,3165 13150 TCF GYROAGRE
059004,000449:
059005,000450: 07,3166 30161 CA MPAC +5 # RESTORE CALLER'S EBANK.
059006,000451: 07,3167 54003 TS EBANK
059007,000452: 07,3170 12557 TCF MODEEXIT
059008,000453: # # Page 1395
059009,000454: # ROUTINES TO ALLOW TORQUING ONLY ONE JOB AT A TIME.
059010,000455:
059011,000456: 07,3171 00006 GYROBUSY EXTEND # SAVE RETURN 2FCADR.
059012,000457: 07,3172 30134 DCA BUF2
059013,000458: 07,3173 52155 DXCH MPAC
059014,000459: 07,3174 33206 REGSLEEP CAF LGWAKE
059015,000460: 07,3175 15070 TCF JOBSLEEP
059016,000461:
059017,000462: 07,3176 11304 GWAKE CCS LGYRO # WHEN AWAKENED, SEE IF GYROS STILL BUSY.
059018,000463: 07,3177 13174 TCF REGSLEEP # IF SO, SLEEP SOME MORE.
059019,000464:
059020,000465: 07,3200 54156 TS MPAC +2
059021,000466: 07,3201 00006 EXTEND
059022,000467: 07,3202 30155 DCA MPAC
059023,000468: 07,3203 52134 DXCH BUF2 # RESTORE SWRETURN INFO.
059024,000469: 07,3204 34712 CAF ONE
059025,000470: 07,3205 13136 TCF GWAKE2
059026,000471:
059027,000472: 07,3206 17176 LGWAKE CADR GWAKE
059028,000473:
059029,000474: # # Page 1396
059030,000475: # GYRO-TORQUING WAITLIST TASKS.
059031,000476:
059032,000477: 07,3207 43430 STRTGYRO CS GDESELCT # DE-SELECT LAST GYRO.
059033,000478: 07,3210 00006 EXTEND
059034,000479: 07,3211 03014 WAND CHAN14
059035,000480:
059036,000481: 07,3212 03443 TC CAGETEST
059037,000482:
059038,000483: 07,3213 31304 STRTGYR2 CA LGYRO # JUMP ON PHASE COUNTER IN BITS 13-14.
059039,000484: 07,3214 00006 EXTEND
059040,000485: 07,3215 74707 MP BIT4
059041,000486: 07,3216 50000 INDEX A
059042,000487: 07,3217 13220 TCF +1
059043,000488: 07,3220 03235 TC GSELECT # =0. DO Y GYRO.
059044,000489: 07,3221 00202 OCT 00202
059045,000490:
059046,000491: 07,3222 03235 TC GSELECT # =1. DO Z GYRO.
059047,000492: 07,3223 00302 OCT 00302
059048,000493:
059049,000494: 07,3224 03233 TC GSELECT -2 # =2. DO X GYRO.
059050,000495: 07,3225 00100 OCT 00100
059051,000496:
059052,000497: 07,3226 34714 CAF ZERO # =3. DONE
059053,000498: 07,3227 55304 TS LGYRO
059054,000499: 07,3230 33206 CAF LGWAKE # WAKE A POSSIBLE SLEEPING JOB.
059055,000500: 07,3231 05074 TC JOBWAKE
059056,000501:
059057,000502: 07,3232 13034 NORESET TCF IMUFINED # DO NOT RESET POWER SUPPLY
059058,000503:
059059,000504: # # Page 1397
059060,000505: 07,3233 44710 -2 CS FOUR # SPECIAL ENTRY TO REGRESS LGYRO FOR X.
059061,000506: 07,3234 27304 ADS LGYRO
059062,000507:
059063,000508: 07,3235 50002 GSELECT INDEX Q # SELECT GYRO.
059064,000509: 07,3236 30000 CAF 0 # PACKED WORD CONTAINS GYRO SELECT BITS
059065,000510: 07,3237 54064 TS ITEMP4 # AND INCREMENT TO LGYRO.
059066,000511: 07,3240 74716 MASK SEVEN
059067,000512: 07,3241 64676 AD BIT13
059068,000513: 07,3242 27304 ADS LGYRO
059069,000514: 07,3243 54003 TS EBANK
059070,000515: 07,3244 74373 MASK LOW8
059071,000516: 07,3245 54061 TS ITEMP1
059072,000517:
059073,000518: 07,3246 44716 CS SEVEN
059074,000519: 07,3247 70064 MASK ITEMP4
059075,000520: 07,3250 54064 TS ITEMP4
059076,000521:
059077,000522: 07,3251 00006 EXTEND # MOVE DP COMMAND TO RUPTREGS FOR TESTING.
059078,000523: 07,3252 50061 INDEX ITEMP1
059079,000524: 07,3253 31401 DCA 1400
059080,000525: 07,3254 52071 DXCH RUPTREG1
059081,000526:
059082,000527: 07,3255 10070 CCS RUPTREG1
059083,000528: 07,3256 13271 TCF MAJ+
059084,000529: 07,3257 13261 TCF +2
059085,000530: 07,3260 13411 TCF MAJ-
059086,000531:
059087,000532: 07,3261 10071 CCS RUPTREG2
059088,000533: 07,3262 13266 TCF MIN+
059089,000534: 07,3263 13213 TCF STRTGYR2
059090,000535: 07,3264 13406 TCF MIN-
059091,000536: 07,3265 13213 TCF STRTGYR2
059092,000537:
059093,000538: # # Page 1398
059094,000539: 07,3266 63322 MIN+ AD -GYROMIN # SMALL POSITIVE COMMAND. SEE IF AT LEAST
059095,000540: 07,3267 00006 EXTEND # 16 GYRO PULSES.
059096,000541: 07,3270 63213 BZMF STRTGYR2
059097,000542:
059098,000543: 07,3271 00006 MAJ+ EXTEND # DEFINITE POSITIVE OUTPUT.
059099,000544: 07,3272 33432 DCA GYROFRAC
059100,000545: 07,3273 20071 DAS RUPTREG1
059101,000546:
059102,000547: 07,3274 30064 CA ITEMP4 # SELECT POSITIVE TORQUING FOR THIS GYRO.
059103,000548: 07,3275 00006 EXTEND
059104,000549: 07,3276 05014 WOR CHAN14
059105,000550:
059106,000551: 07,3277 36043 CAF LOW7 # LEAVE NUMBER OF POSSIBLE 8192 AUGMENTS
059107,000552: 07,3300 70071 MASK RUPTREG2 # TO INITIAL COMMAND IN MAJOR PART OF LONG
059108,000553: 07,3301 56071 XCH RUPTREG2 # TERM STORAGE AND TRUNCATED FRACTION
059109,000554: 07,3302 00006 GMERGE EXTEND # IN MINOR PART. THE MAJOR PART WILL BE
059110,000555: 07,3303 74703 MP BIT8 # COUNTED DOWN TO ZERO IN THE COURSE OF
059111,000556: 07,3304 54062 TS ITEMP2 # PUTTING OUT THE ENTIRE COMMAND.
059112,000557: 07,3305 30070 CA RUPTREG1
059113,000558: 07,3306 00006 EXTEND
059114,000559: 07,3307 74702 MP BIT9
059115,000560: 07,3310 54070 TS RUPTREG1
059116,000561: 07,3311 30001 CA L
059117,000562: 07,3312 00006 EXTEND
059118,000563: 07,3313 74675 MP BIT14
059119,000564: 07,3314 26062 ADS ITEMP2 # INITIAL COMMAND.
059120,000565:
059121,000566: 07,3315 00006 EXTEND # SEE IF MORE THAN ONE PULSE TRAIN NEEDED
059122,000567: 07,3316 30071 DCA RUPTREG1 # (MORE THAN 16383 PULSES).
059123,000568: 07,3317 67716 AD MINUS1
059124,000569: 07,3320 10000 CCS A
059125,000570: 07,3321 13345 TCF LONGGYRO
059126,000571: 07,3322 77601 -GYROMIN OCT -176 # MAY BE ADJUSTED TO SPECIFY MINIMUM CMD
059127,000572: 07,3323 13327 TCF +4
059128,000573:
059129,000574: 07,3324 34675 CAF BIT14
059130,000575: 07,3325 26062 ADS ITEMP2
059131,000576: 07,3326 34714 CAF ZERO
059132,000577:
059133,000578: 07,3327 50061 +4 INDEX ITEMP1
059134,000579: 07,3330 53401 DXCH 1400
059135,000580:
059136,000581: # # Page 1399
059137,000582: 07,3331 30062 CA ITEMP2 # ENTIRE COMMAND.
059138,000583: 07,3332 54047 LASTSEG TS GYROCMD
059139,000584: 07,3333 00006 EXTEND
059140,000585: 07,3334 74701 MP BIT10 # WAITLIST DT
059141,000586: 07,3335 66214 AD THREE # TRUNCATION AND PHASE UNCERTAINTIES.
059142,000587: 07,3336 05140 TC WAITLIST
059143,000588: 07,3337 E3,1474 EBANK= CDUIND
059144,000589: 07,3337 03207 16063 2CADR STRTGYRO
059145,000590:
059146,000591: 07,3341 34701 GYROEXIT CAF BIT10
059147,000592: 07,3342 00006 EXTEND
059148,000593: 07,3343 05014 WOR CHAN14
059149,000594: 07,3344 15213 TCF TASKOVER
059150,000595:
059151,000596: 07,3345 50061 LONGGYRO INDEX ITEMP1
059152,000597: 07,3346 53401 DXCH 1400 # INITIAL COMMAND OUT PLUS N AUGMENTS OF
059153,000598: 07,3347 34675 CAF BIT14 # 8192. INITIAL COMMAND IS AT LEAST 8192.
059154,000599: 07,3350 60062 AD ITEMP2
059155,000600: 07,3351 54047 TS GYROCMD
059156,000601:
059157,000602: 07,3352 00006 AUG3 EXTEND # GET WAITLIST DT TO TIME WHEN TRAIN IS
059158,000603: 07,3353 74701 MP BIT10 # ALMOST OUT.
059159,000604: 07,3354 67714 AD NEG3
059160,000605: 07,3355 05140 TC WAITLIST
059161,000606: 07,3356 E3,1474 EBANK= CDUIND
059162,000607: 07,3356 03361 16063 2CADR 8192AUG
059163,000608: 07,3360 13341 TCF GYROEXIT
059164,000609:
059165,000610: 07,3361 03443 8192AUG TC CAGETEST
059166,000611:
059167,000612: 07,3362 34707 CAF BIT4
059168,000613: 07,3363 00006 EXTEND
059169,000614: 07,3364 02012 RAND CHAN12
059170,000615: 07,3365 10000 CCS A
059171,000616: 07,3366 13441 TCF IMUBAD
059172,000617: 07,3367 31304 CA LGYRO # ADD 8192 PULSES TO GYROCMD
059173,000618: 07,3370 54003 TS EBANK
059174,000619: 07,3371 74373 MASK LOW8
059175,000620: 07,3372 54061 TS ITEMP1
059176,000621:
059177,000622: 07,3373 50061 INDEX ITEMP1 # SEE IF THIS IS THE LAST AUG.
059178,000623: 07,3374 11400 CCS 1400
059179,000624: 07,3375 13401 TCF AUG2 # MORE TO COME.
059180,000625:
059181,000626: 07,3376 34675 CAF BIT14
059182,000627: 07,3377 26047 ADS GYROCMD
059183,000628: 07,3400 13333 TCF LASTSEG +1
059184,000629:
059185,000630: # # Page 1400
059186,000631: 07,3401 50061 AUG2 INDEX ITEMP1
059187,000632: 07,3402 55400 TS 1400
059188,000633: 07,3403 34675 CAF BIT14
059189,000634: 07,3404 26047 ADS GYROCMD
059190,000635: 07,3405 13352 TCF AUG3 # COMPUTE DT.
059191,000636:
059192,000637: # # Page 1401
059193,000638: 07,3406 63322 MIN- AD -GYROMIN # POSSIBLE NEGATIVE OUTPUT.
059194,000639: 07,3407 00006 EXTEND
059195,000640: 07,3410 63213 BZMF STRTGYR2
059196,000641:
059197,000642: 07,3411 00006 MAJ- EXTEND # DEFINITE NEGATIVE OUTPUT.
059198,000643: 07,3412 43432 DCS GYROFRAC
059199,000644: 07,3413 20071 DAS RUPTREG1
059200,000645:
059201,000646: 07,3414 30064 CA ITEMP4 # SELECT NEGATIVE TORQUING FOR THIS GYRO.
059202,000647: 07,3415 64702 AD BIT9
059203,000648: 07,3416 00006 EXTEND
059204,000649: 07,3417 05014 WOR CHAN14
059205,000650:
059206,000651: 07,3420 40070 CS RUPTREG1 # SET UP RUPTREGS TO FALL INTO GMERGE.
059207,000652: 07,3421 54070 TS RUPTREG1 # ALL NUMBERS PUT INTO GYROCMD ARE
059208,000653: 07,3422 40071 CS RUPTREG2 # POSITIVE - BIT9 OF CHAN 14 DETERMINES
059209,000654: 07,3423 76043 MASK LOW7 # THE SIGN OF THE COMMAND.
059210,000655: 07,3424 40000 COM
059211,000656: 07,3425 56071 XCH RUPTREG2
059212,000657: 07,3426 40000 COM
059213,000658: 07,3427 13302 TCF GMERGE
059214,000659:
059215,000660: 07,3430 01700 GDESELCT OCT 1700 # TURN OFF SELECT AND ACTIVITY BITS.
059216,000661:
059217,000662: 07,3431 00000 00034 GYROFRAC 2DEC .215 B -21
059218,000663:
059219,000664: # # Page 1402
059220,000665: # IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE.
059221,000666:
059222,000667: 07,3433 00006 ENDIMU EXTEND # MODE IS BAD IF CAGE HAS OCCURRED OR IF
059223,000668: 07,3434 00011 READ DSALMOUT # ISS WARNING IS ON.
059224,000669: 07,3435 74712 MASK BIT1
059225,000670: 07,3436 10000 CCS A
059226,000671: 07,3437 13441 TCF IMUBAD
059227,000672:
059228,000673: 07,3440 13467 IMUGOOD TCF GOODEND # WITH C(A) = 0.
059229,000674:
059230,000675: 07,3441 34714 IMUBAD CAF ZERO
059231,000676: 07,3442 13464 TCF BADEND
059232,000677:
059233,000678: 07,3443 34705 CAGETEST CAF BIT6 # SUBROUTINE TO TERMINATE IMU MODE
059234,000679: 07,3444 71320 MASK IMODES30 # SWITCH IF IMU HAS BEEN CAGED.
059235,000680: 07,3445 10000 CCS A
059236,000681: 07,3446 13441 TCF IMUBAD # DIRECTLY.
059237,000682: 07,3447 00002 TC Q # WITH C(A) = +0.
059238,000683:
059239,000684: 07,3450 41320 CAGETSTQ CS IMODES30 # SKIP IF IMU NOT BEING CAGED.
059240,000685: 07,3451 74705 MASK BIT6
059241,000686: 07,3452 10000 CCS A
059242,000687: 07,3453 24002 INCR Q
059243,000688: 07,3454 00002 TC Q
059244,000689:
059245,000690: 07,3455 41320 CAGETSTJ CS IMODES30 # IF DURING MODE SWITCH INITIALIZATION.
059246,000691: 07,3456 74705 MASK BIT6 # IT IS FOUND THAT THE IMU IS BEING CAGED.
059247,000692: 07,3457 10000 CCS A # SET IMUCADR TO -0 TO INDICATE OPERATION
059248,000693: 07,3460 00002 TC Q # COMPLETE BUT FAILED. RETURN IMMEDIATELY
059249,000694:
059250,000695: 07,3461 44714 CS ZERO # TO SWRETURN.
059251,000696: 07,3462 55322 TS IMUCADR
059252,000697: 07,3463 12557 TCF MODEEXIT
059253,000698:
059254,000699: # # Page 1403
059255,000700: # GENERALIZED MODE SWITCHING TERMINATION. ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION
059256,000701: # OR AT BADEND FOR AN UNSUCCESSFUL ONE. C(A) OR ARRIVAL =0 FOR IMU, 1 FOR OPTICS.
059257,000702:
059258,000703: 07,3464 54071 BADEND TS RUPTREG2 # DEVICE INDEX.
059259,000704: 07,3465 44714 CS ZERO # FOR FAILURE.
059260,000705: 07,3466 13471 TCF GOODEND +2
059261,000706:
059262,000707: 07,3467 54071 GOODEND TS RUPTREG2
059263,000708: 07,3470 44712 CS ONE # FOR SUCCESS.
059264,000709:
059265,000710: 07,3471 54072 TS RUPTREG3
059266,000711: 07,3472 50071 INDEX RUPTREG2 # SEE IF USING PROGRAM ASLEEP.
059267,000712: 07,3473 11322 CCS MODECADR
059268,000713: 07,3474 13476 TCF +2 # YES - WAKE IT UP.
059269,000714: 07,3475 13506 TCF ENDMODE # IF 0, PROGRAM NOT IN YET.
059270,000715:
059271,000716: 07,3476 34714 CAF ZERO # WAKE SLEEPING PROGRAM.
059272,000717: 07,3477 50071 INDEX RUPTREG2
059273,000718: 07,3500 57322 XCH MODECADR
059274,000719: 07,3501 05074 TC JOBWAKE
059275,000720:
059276,000721: 07,3502 40072 CS RUPTREG3 # ADVANCE LOC IF SUCCESSFUL.
059277,000722: 07,3503 50064 INDEX LOCCTR
059278,000723: 07,3504 26164 ADS LOC
059279,000724:
059280,000725: 07,3505 15213 TCF TASKOVER
059281,000726:
059282,000727: 07,3506 30072 ENDMODE CA RUPTREG3 # -0 INDICATES OPERATION COMPLETE BUT
059283,000728: 07,3507 50071 INDEX RUPTREG2 # UNSUCCESSFUL - -1 INDICATES COMPLETE AND
059284,000729: 07,3510 55322 TS MODECADR # SUCCESSFUL.
059285,000730: 07,3511 15213 TCF TASKOVER
059286,000731:
059287,000732: # # Page 1404
059288,000733: # GENERAL STALLING ROUTINE. USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION.
059289,000734:
059290,000735: # PROGRAM DESCRIPTION DATE- 21 FEB 1967
059291,000736: # LOG SECTION IMU MODE SWITCHING
059292,000737: # MOD BY- R.MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 82
059293,000738:
059294,000739: # FUNCTIONAL DESCRIPTION-
059295,000740: # TO DELAY FURTHER EXECUTION OF THE CALLING ROUTINE UNTIL ITS SELECTED
059296,000741: # I/O FUNCTION IS COMPLETE.THE FOLLOWING CHECKS ON THE CALLING ROUTINE:S
059297,000742: # MODEECADR ARE MADE AND ACTED UPON.
059298,000743: # 1) +0 INDICATES INCOMPLETE I/O OPERATION.CALLING ROUTINE IS PUT TO
059299,000744: # SLEEP.
059300,000745: # 2) -1 INDICATES COMPLETED I/O OPERATION. STALL BYPASSES JOBSLEEP
059301,000746: # CALL AND RETURNS TO CALLING ROUTINE AT L+3
059302,000747: # 3) -0 INDICATES COMPLETED I/O WITH FAILURE. STALL CLEARS MODECADR
059303,000748: # AND RETURNS TO CALLING ROUTINE AT L+2.
059304,000749: # 4) VALUE GREATER THAN 0 INDICATES TWO ROUTINES CALLING FOR USE OF
059305,000750: # SAME DEVICE. STALL EXITS TO ABORT WHICH EXECUTES A PROGRAM
059306,000751: # RESTART WHICH IN TURN CLEARS ALL MODECADR REGISTERS.
059307,000752:
059308,000753: # CALLING SEQUENCE-
059309,000754: # L TC BANKCALL
059310,000755: # L+1 CADR (ONE OF 5 STALL ADDRESSES I.E. IMUSTALL,OPTSTALL,RADSTALL,
059311,000756: # AOTSTALL,OR ATTSTALL)
059312,000757:
059313,000758: # NORMAL-EXIT MODE-
059314,000759: # TCF JOBSLEEP OR TCF MODEXIT
059315,000760:
059316,000761: # ALARM OR ABORT EXIT MODE-
059317,000762: # TC ABORT
059318,000763:
059319,000764: # OUTPUT-
059320,000765: # MODECADR= CADR IF JOBSLEEP
059321,000766: # MODECADR=+0 IF I/O COMPLETE
059322,000767: # BUF2=L+3 IF I/O COMPLETE AND GOOD.
059323,000768: # BUF2=L+2 IF I/O COMPLETE BUT FAILED.
059324,000769:
059325,000770: # ERASABLE INITIALIZATION-
059326,000771: # BUF2 CONTAINS RETURN ADDRESS PLUS 1,(L+2)
059327,000772: # BUF2+1 CONTAINS FBANK VALUE OF CALLING ROUTINE.
059328,000773: # MODECADR OF CALLING ROUTINE CONTAINS +0,-1,-0 OR CADR RETURN ADDRESS.
059329,000774:
059330,000775: # DEBRIS-
059331,000776: # RUPTREG2 AND CALLING ROUTINE MODECADR.
059332,000777:
059333,000778: 07,3512 34712 AOTSTALL CAF ONE # AOT.
059334,000779: 07,3513 03517 TC STALL
059335,000780:
059336,000781: 07,3514 34711 RADSTALL CAF TWO
059337,000782: 07,3515 13517 TCF STALL
059338,000783: # # Page 1405
059339,000784: 07,3516 07,3512 OPTSTALL EQUALS AOTSTALL
059340,000785:
059341,000786: 07,3516 34714 IMUSTALL CAF ZERO # IMU.
059342,000787:
059343,000788: 07,3517 00004 STALL INHINT
059344,000789: 07,3520 54071 TS RUPTREG2 # SAVE DEVICE INDEX.
059345,000790: 07,3521 50000 INDEX A # SEE IF OPERATION COMPLETE.
059346,000791: 07,3522 11322 CCS MODECADR
059347,000792: 07,3523 13541 TCF MODABORT # ALLOWABLE STATES ARE +0, -1, AND -0.
059348,000793: 07,3524 13535 TCF MODESLP # OPERATION INCOMPLETE.
059349,000794: 07,3525 13531 TCF MODEGOOD # COMPLETE AND GOOD IF = -1.
059350,000795:
059351,000796: 07,3526 50071 MG2 INDEX RUPTREG2 # COMPLETE FAILED IF -0. RESET TO +0.
059352,000797: 07,3527 55322 TS MODECADR # RETURN TO CALLER.
059353,000798: 07,3530 12557 TCF MODEEXIT
059354,000799:
059355,000800: 07,3531 10000 MODEGOOD CCS A # MAKE SURE INITIAL STATE -1.
059356,000801: 07,3532 13541 TCF MODABORT
059357,000802:
059358,000803: 07,3533 24133 INCR BUF2 # IF SO, INCREMENT RETURN ADDRESS AND
059359,000804: 07,3534 13526 TCF MG2 # RETURN IMMEDIATELY, SETTING CADR = +0.
059360,000805:
059361,000806: 07,3535 04604 MODESLP TC MAKECADR # CALL FROM SWITCHABLE FIXED ONLY.
059362,000807: 07,3536 50071 INDEX RUPTREG2
059363,000808: 07,3537 55322 TS MODECADR
059364,000809: 07,3540 15070 TCF JOBSLEEP
059365,000810:
059366,000811: 07,3541 05622 MODABORT TC POODOO # TWO PROGRAMS USING THE SAME DEVICE.
059367,000812: 07,3542 01210 OCT 1210
059368,000813:
059369,000814: # # Page 1406
059370,000815: # CONSTANTS FOR MODE SWITCHING ROUTINES
059371,000816:
059372,000817: 07,3543 5660 BITS3&4 = OCT14
059373,000818: 07,3543 4726 BITS4&6 = OCT50
059374,000819: 07,3543 00030 BITS4-5 OCT 00030
059375,000820: 07,3544 4703 IMUSEFLG EQUALS BIT8 # INTERPRETER SWITCH 7.
059376,000821: 07,3544 77500 -COMMAX DEC -191 B-14
059377,000822: 07,3545 77477 -COMMAX- DEC -192 B-14
059378,000823: 07,3546 00074 600MS DEC 60 B-14
059379,000824: 07,3547 07,3012 IMUFIN20 = IMUFINE
059380,000825: 07,3547 31325 GOMANUR CA ATTCADR # IS KALCMANU FREE
059381,000826: 07,3550 00006 EXTEND
059382,000827: 07,3551 13554 BZF +3
059383,000828:
059384,000829: 07,3552 05622 TC POODOO # NO
059385,000830: 07,3553 01210 OCT 1210 # 2 TRYING TO USE SAME DEVICE
059386,000831:
059387,000832: 07,3554 00006 +3 EXTEND
059388,000833: 07,3555 30134 DCA BUF2
059389,000834: 07,3556 53326 DXCH ATTCADR # SAVE FINAL RETURN FOR KALCMAN3
059390,000835:
059391,000836: 07,3557 30006 CA BBANK
059392,000837: 07,3560 74716 MASK SEVEN
059393,000838: 07,3561 27326 ADS ATTCADR +1
059394,000839:
059395,000840: 07,3562 30167 CA PRIORITY
059396,000841: 07,3563 77674 MASK PRIO37
059397,000842: 07,3564 55327 TS ATTPRIO # SAVE USERS PRIO
059398,000843:
059399,000844: 07,3565 33571 CAF KALEBCON # SET EBANK FOR KALCMAN3
059400,000845: 07,3566 54003 TS EBANK
059401,000846: 07,3567 04574 TC POSTJUMP
059402,000847: 07,3570 44000 CADR KALCMAN3
059403,000848: 07,3571 03261 KALEBCON ECADR BCDU
059404,000849:
059405,000850: # # Page 1407
059406,000851: # PROGRAM DESCRIPTION
059407,000852: # IMU STATUS CHECK ROUTINE R02 (SUBROUTINE UTILITY)
059408,000853: # MOD NO - 1
059409,000854: # MOD BY - N.BRODEUR
059410,000855: # FUNCTIONAL DESCRIPTION
059411,000856:
059412,000857: # TO CHECK WHETHER IMU IS ON AND IF ON WHETHER IT IS ALIGNED TO AN
059413,000858: # ORIENTATION KNOWN BY THE CMC. TO REQUEST SELECTION OF THE APPROPRIATE
059414,000859: # PROGRAM IF THE IMU IS OFF OR NOT ALIGNED TO AN ORIENTATION KNOWN BY THE
059415,000860: # CMC. CALLED THROUGH BANKCALL
059416,000861: # CALLING SEQUENCE-
059417,000862:
059418,000863: # L TC BANKCALL
059419,000864: # L+1 CADR R02BOTH
059420,000865: # SUBROUTINES CALLED
059421,000866:
059422,000867: # VARALARM
059423,000868: # FLAGUP
059424,000869: # NORMAL EXIT MODES
059425,000870:
059426,000871: # AT L+2 OF CALLING SEQUENCE
059427,000872: # ALARM OR ABORT EXIT MODES
059428,000873: # GOTOPOOH, WITH ALARM
059429,000874: # ERASABLE INITIALIZATION REQUIRED
059430,000875:
059431,000876: # NONE
059432,000877: # DEBRIS
059433,000878:
059434,000879: # CENTRALS-A,Q,L
059435,000880: 34,3777 BANK 34
059436,000881: 07,2000 SETLOC R02
059437,000882: 07,2000 BANK
059438,000883: 07,3572 COUNT 04/R02 # COUNT*
059439,000884:
059440,000885: 07,3572 00063 DEC51 DEC 51 B-14
059441,000886: 07,3573 34676 R02BOTH CAF BIT13
059442,000887: 07,3574 70077 MASK STATE +3 # REFSMFLG
059443,000888: 07,3575 10000 CCS A
059444,000889: 07,3576 03607 TC R02ZERO # ZERO IMUS
059445,000890:
059446,000891: 07,3577 31320 CA IMODES30
059447,000892: 07,3600 74702 MASK BIT9 # IS ISS INITIALIZED
059448,000893: 07,3601 00006 EXTEND
059449,000894: 07,3602 13604 BZF +2
059450,000895: 07,3603 44707 CS BIT4 # SEND IMU ALARM CODE 210
059451,000896: 07,3604 63612 AD OCT220 # SEND REFSMM ALARM
059452,000897: 07,3605 05653 TC VARALARM
059453,000898:
059454,000899: 07,3606 04106 TC GOTOPOOH
059455,000900:
059456,000901: # # Page 1408
059457,000902: 07,3607 05435 R02ZERO TC UPFLAG
059458,000903: 07,3610 00007 ADRES IMUSE
059459,000904: 07,3611 14570 TCF SWRETURN
059460,000905: 07,3612 00220 OCT220 OCT 220
059461,000906:
059462,000907: # # Page 1409
059463,000908: # PROGRAM DESCRIPTION P06 10FEB67
059464,000909:
059465,000910: # TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION.
059466,000911:
059467,000912: # THE NORMAL CONDITION OF READINESS OF THE GNCS WHEN NOT IN USE IS STANDBY. IN THIS CONDITION THE IMU
059468,000913: # HEATER POWER IS ON. THE IMU OPERATE POWER IS OFF. THE COMPUTER POWER IS ON. THE OPTICS POWER IS OFF. THE
059469,000914: # CMC STANDBY ON THE MAIN AND LEB DISKYS IS ON.
059470,000915:
059471,000916: # CALLING SEQUENCE:
059472,000917: # ASTRONAUT REQUEST THROUGH DSKY V37E 06E.
059473,000918:
059474,000919: # SUBROUTINES CALLED:
059475,000920: # GOPERF1
059476,000921: # BANKCALL
059477,000922: # FLAGDOWN
059478,000923:
059479,000924: # # Page 1410
059480,000925: # PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2
059481,000926: # THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATIBILITY
059482,000927: # BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING.
059483,000928:
059484,000929: 26,2000 SETLOC P05P06
059485,000930: 26,2000 BANK
059486,000931:
059487,000932: 26,3655 1150 EBANK= TIME2SAV
059488,000933: 26,3655 COUNT* $$/P06
059489,000934:
059490,000935: 26,3655 05435 P06 TC UPFLAG # SET NODOV37 BIT
059491,000936: 26,3656 00054 ADRES NODOFLAG
059492,000937:
059493,000938: 26,3657 00004 PRESTAND INHINT
059494,000939: 26,3660 00006 EXTEND
059495,000940: 26,3661 30025 DCA TIME2 # SNAPSHOT TIME1TIME2
059496,000941: 26,3662 53151 DXCH TIME2SAV
059497,000942: 26,3663 03714 TC SCALPREP
059498,000943: 26,3664 03657 TC PRESTAND # T1,T2,SCALER NOT COMPATIBLE
059499,000944: 26,3665 52155 DXCH MPAC # T1,T2 AND SCALER OK
059500,000945: 26,3666 53153 DXCH SCALSAVE # STORE SCALER
059501,000946: 26,3667 00004 INHINT
059502,000947: 26,3670 04555 TC BANKCALL
059503,000948: 26,3671 16777 CADR RNDREFDR # REFSMM, DRIFT, TRACK FLAGS DOWN
059504,000949:
059505,000950: 26,3672 05447 TC DOWNFLAG
059506,000951: 26,3673 00007 ADRES IMUSE # IMUSE DOWN
059507,000952: 26,3674 05447 TC DOWNFLAG
059508,000953: 26,3675 00010 ADRES RNDVZFLG # RNDVZFLG DOWN
059509,000954:
059510,000955: 26,3676 34700 CAF BIT11
059511,000956: 26,3677 00006 EXTEND
059512,000957: 26,3700 05013 WOR CHAN13 # SET STANDBY ENABLE BIT
059513,000958:
059514,000959: 26,3701 05301 TC PHASCHNG # SET RESTART TO POSTAND WHEN STANDBY
059515,000960: 26,3702 07024 OCT 07024 # RECOVERS
059516,000961: 26,3703 20000 OCT 20000
059517,000962: 26,3704 1152 EBANK= SCALSAVE
059518,000963: 26,3704 03734 54062 2CADR POSTAND
059519,000964: 26,3706 34731 CAF OCT62
059520,000965: 26,3707 04555 TC BANKCALL
059521,000966: 26,3710 20751 CADR GOPERF1
059522,000967: 26,3711 13706 TCF -3
059523,000968: 26,3712 13706 TCF -4
059524,000969: 26,3713 13706 TCF -5
059525,000970:
059526,000971: 26,3714 4731 OCT62 EQUALS .5SEC # DEC 50 = OCT 62
059527,000972:
059528,000973: # THE LOW 5 BITS OF THE SCALER READS 10000 FOR THE FIRST INTERVAL AFTER A
059529,000974: # # Page 1411
059530,000975: # T1 INCREMENT. IF SCALPREP DETECTS THIS INTERVAL THE T1,T2 AND SCALER
059531,000976: # DATA ARE NOT COMPATABLE AND RETURN IS TO L+1 FOR ANOTHER READING OF THE
059532,000977: # DATA. OTHERWISE, THE RETURN IS TO L+2 TO PROCEED. ROUTINE ALSO PREPARES
059533,000978: # THE SCALER READING FOR COMPUTATION OF THE INCREMENT TO UPDATE T1T2. (THE
059534,000979: # 10 MS BIT (BIT 6) OF THE SCALER IS INCREMENTED 5 MS OUT OF PHASE FROM
059535,000980: # T1.) ADDITION OF 5 MS (BIT 5) TO THE SCALER READING HAS THE EFFECT OF
059536,000981: # ADJUSTING BIT 6 IN THE SCALER TO BE IN PHASE WITH BIT 1 OF T1. THE LOW 5
059537,000982: # BITS OF THE SCALER READING ARE THEN SET TO ZERO, TO TRUNCATE THE SCALER
059538,000983: # DATA TO 10 MS. RESULTS ARE STORED IN MPAC, +1.
059539,000984:
059540,000985: 26,3714 00006 SCALPREP EXTEND
059541,000986: 26,3715 22156 QXCH MPAC +2
059542,000987: 26,3716 04527 TC FINETIME +1
059543,000988: 26,3717 00003 RELINT
059544,000989: 26,3720 52155 DXCH MPAC
059545,000990: 26,3721 34706 CA BIT5 # ADD 5 MS TO THE SCALER READING.
059546,000991: 26,3722 54001 TS L
059547,000992: 26,3723 34714 CA ZERO
059548,000993: 26,3724 20155 DAS MPAC
059549,000994: 26,3725 44362 CS LOW5 # SET LOW 5 BITS OF (SCALER+5MS) TO ZERO
059550,000995: 26,3726 70155 MASK MPAC +1 # AND STORE RESULTS IN MPAC,+1.
059551,000996: 26,3727 56155 XCH MPAC +1
059552,000997: 26,3730 74362 MASK LOW5 # TEST LOW 5 BITS OF SCALER FOR THE FIRST
059553,000998: # INTERVAL AFTER THE T1 INCREMENT
059554,000999: # (NOW = 00000, SINCE BIT 5 ADDED).
059555,001000: 26,3731 10000 CCS A # IS IT 1ST INTERVAL AFTER T1 INCREMENT
059556,001001: 26,3732 24156 INCR MPAC +2 # NO
059557,001002: 26,3733 00156 TC MPAC +2 # YES
059558,001003:
059559,001004: # POSTAND RECOVERS TIME AFTER STANDBY.THE SCALER IS SNAPSHOTTED AND THE
059560,001005: # TIME1 TIME2 COUNTER IS SET TO ZERO. THE LOW 5 BITS OF THE SCALER ARE
059561,001006: # INSPECTED TO INSURE COMPATABILITY BETWEEN THE SCALER READING AND THE
059562,001007: # CLEARING OF THE TIME COUNTER. IT THEN COMPUTES THE DIFFERENCE IN SCALER
059563,001008: # VALUES (IN DP) AND ADDS THIS TO THE PREVIOUSLY SNAPSHOTTED VALUES OF
059564,001009: # TIME1 TIME2 AND PLACES THIS NEW TIME INTO THE TIME1 TIME2 COUNTER.
059565,001010:
059566,001011: 26,3734 COUNT* $$/P05
059567,001012:
059568,001013: 26,3734 44700 POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY.
059569,001014: 26,3735 00006 EXTEND
059570,001015: 26,3736 03013 WAND CHAN13 # CLEAR STANDBY ENABLE BIT
059571,001016: 26,3737 00004 INHINT
059572,001017: 26,3740 34714 CA ZERO
059573,001018: 26,3741 54001 TS L
059574,001019: 26,3742 52025 DXCH TIME2 # CLEAR TIME1TIME2
059575,001020: 26,3743 03714 TC SCALPREP # STORE SCALER IN MPAC, MPAC+1
059576,001021: 26,3744 03737 TC POSTAND +3 # T1,T2,SCALER NOT COMPATIBLE
059577,001022: 26,3745 00006 EXTEND # T1,T2 AND SCALER OK
059578,001023: 26,3746 41153 DCS SCALSAVE
059579,001024: 26,3747 20155 DAS MPAC # FORM DP DIFFERENCE OF POSTSTANDBY SCALER
059580,001025: # # Page 1412
059581,001026: 26,3750 34701 CAF BIT10 # MINUS PRE-STANDBY SCALER AND SHIFT RIGHT
059582,001027: 26,3751 07256 TC SHORTMP # 5 TO ALIGN BITS WITH TIME1 TIME2.
059583,001028: 26,3752 34714 CAF ZERO
059584,001029: 26,3753 54156 TS MPAC +2 # NEEDED FOR TP AGREE
059585,001030: 26,3754 07226 TC TPAGREE # MAKE DP DIFF AGREE
059586,001031: 26,3755 10154 CCS MPAC
059587,001032: 26,3756 03763 TC POSTCOM # IF DP DIFF NET +, NO SCALER OVERFLOW
059588,001033: 26,3757 03763 TC POSTCOM # BETWEEN PRE AND POST STANDBY.
059589,001034: 26,3760 03761 TC +1 # IF DP DIFF NET -, SCALER OVERFLOWED. ADD
059590,001035: 26,3761 34701 CAF BIT10 # BIT 10 TO HIGH DIFF TO CORRECT.
059591,001036: 26,3762 26154 ADS MPAC
059592,001037: 26,3763 00006 POSTCOM EXTEND # C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER.
059593,001038: 26,3764 31151 DCA TIME2SAV # PRESTANDBY TIME1TIME2
059594,001039: 26,3765 20155 DAS MPAC
059595,001040: 26,3766 07226 TC TPAGREE # FORCE SIGN AGREEMENT
059596,001041: 26,3767 52155 DXCH MPAC # UPDATED VALUE FOR T1,T2.
059597,001042: 26,3770 20025 DAS TIME2 # LOAD UPDATED VALUE INTO T1,T2, WITH
059598,001043: 26,3771 05447 TC DOWNFLAG # CLEAR NODOFLAG
059599,001044: 26,3772 00054 ADRES NODOFLAG
059600,001045:
059601,001046: 26,3773 04106 TC GOTOPOOH
End of include-file IMU_MODE_SWITCHING_ROUTINES.agc. Parent file is MAIN.agc