Source Code

061473,000001: # Copyright: Public domain. 061474,000002: # Filename: IMU_MODE_SWITCHING_ROUTINES.agc 061475,000003: # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. 061476,000004: # It is part of the source code for the Command Module's (CM) 061477,000005: # Apollo Guidance Computer (AGC), for Apollo 11. 061478,000006: # Assembler: yaYUL 061479,000007: # Contact: Ron Burkey <info@sandroid.org>. 061480,000008: # Website: www.ibiblio.org/apollo. 061481,000009: # Pages: 1420-1448 061482,000010: # Mod history: 2009-05-10 SN (Sergio Navarro). Started adapting from 061483,000011: # the Colossus249/ file of the same name, 061484,000012: # using Comanche055 page images. 061485,000013: # 2010-08-20 JL Fixed page number comment (p1447). 061486,000014: # Fixed some pseudo-label indents. 061487,000015: 061488,000016: # This source code has been transcribed or otherwise adapted from digitized 061489,000017: # images of a hardcopy from the MIT Museum. The digitization was performed 061490,000018: # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many 061491,000019: # thanks to both. The images (with suitable reduction in storage size and 061492,000020: # consequent reduction in image quality as well) are available online at 061493,000021: # www.ibiblio.org/apollo. If for some reason you find that the images are 061494,000022: # illegible, contact me at info@sandroid.org about getting access to the 061495,000023: # (much) higher-quality images which Paul actually created. 061496,000024: 061497,000025: # Notations on the hardcopy document read, in part: 061498,000026: 061499,000027: # Assemble revision 055 of AGC program Comanche by NASA 061500,000028: # 2021113-051. 10:28 APR. 1, 1969 061501,000029: 061502,000030: # This AGC program shall also be referred to as 061503,000031: # Colossus 2A 061504,000032: 061505,000033: # Page 1420 061506,000034: 5521 BLOCK 02 061507,000035: 4000 SETLOC FFTAG3 061508,000036: 4000 BANK 061509,000037: 061510,000038: 5521 E3,1471 EBANK= COMMAND 061511,000039: 061512,000040: # FIXED-FIXED ROUTINES 061513,000041: 061514,000042: 5521 COUNT 02/IMODE 061515,000043: 061516,000044: 5521 35021 ZEROICDU CAF ZERO # ZERO ICDU COUNTERS. 061517,000045: 5522 54032 TS CDUX 061518,000046: 5523 54033 TS CDUY 061519,000047: 5524 54034 TS CDUZ 061520,000048: 5525 00002 TC Q 061521,000049: 061522,000050: 5526 5007 SPSCODE = BIT9 061523,000051: 061524,000052: # Page 1421 061525,000053: # IMU ZEROING ROUTINE. 061526,000054: 061527,000055: 11,3776 BANK 11 061528,000056: 07,2000 SETLOC MODESW 061529,000057: 07,2000 BANK 061530,000058: 061531,000059: 07,2577 COUNT 07/IMODE 061532,000060: 061533,000061: 07,2577 00004 IMUZERO INHINT # ROUTINE TO ZERO ICDUS. 061534,000062: 07,2600 41036 CS DSPTAB +11D # DON'T ZERO CDUS IS IMU IN GIMBAL LOCK AND 061535,000063: 07,2601 75033 MASK BITS4&6 # COARSE ALIGN (GIMBAL RUNAWAY PROTECTION) 061536,000064: 07,2602 10000 CCS A 061537,000065: 07,2603 12607 TCF IMUZEROA 061538,000066: 061539,000067: 07,2604 05650 TC ALARM # IF SO. 061540,000068: 07,2605 00206 OCT 00206 061541,000069: 061542,000070: 07,2606 13542 TCF CAGETSTJ +4 # IMMEDIATE FAILURE. 061543,000071: 061544,000072: 07,2607 03536 IMUZEROA TC CAGETSTJ 061545,000073: 061546,000074: # DO ALL THE WORK. 061547,000075: 061548,000076: 07,2610 41321 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES 061549,000077: 07,2611 75035 MASK SUPER011 # BIT5 FOR GROUND 061550,000078: 07,2612 27321 ADS IMODES33 061551,000079: 061552,000080: 07,2613 41320 CS IMODES30 # INHIBIT ICDUFAIL AND IMUFAIL (IN CASE WE 061553,000081: 07,2614 75771 MASK BITS3&4 # JUST CAME OUT OF COARSE ALIGN). 061554,000082: 07,2615 27320 ADS IMODES30 061555,000083: 061556,000084: 07,2616 45033 CS BITS4&6 # SEND ZERO ENCODE WITH COARSE AND ERROR 061557,000085: 07,2617 00006 EXTEND # COUNTER DISABLED. 061558,000086: 07,2620 03012 WAND CHAN12 061559,000087: 061560,000088: 07,2621 03151 TC NOATTOFF # TURN OFF NO ATT LAMP. 061561,000089: 061562,000090: 07,2622 35013 CAF BIT5 061563,000091: 07,2623 00006 EXTEND 061564,000092: 07,2624 05012 WOR CHAN12 061565,000093: 061566,000094: 07,2625 05521 TC ZEROICDU 061567,000095: 07,2626 35012 CAF BIT6 # WAIT 320 MS TO GIVE AGS ADEQUATE TIME TO 061568,000096: 07,2627 05245 TC WAITLIST # RECEIVE ITS PULSE TRAIN. 061569,000097: 07,2630 E3,1474 EBANK= CDUIND 061570,000098: 07,2630 02642 16063 2CADR IMUZERO2 061571,000099: 061572,000100: 07,2632 41320 CS IMODES30 # SEE IF IMU OPERATING AND ALARM IF NOT. 061573,000101: 07,2633 75007 MASK BIT9 061574,000102: 07,2634 10000 CCS A 061575,000103: 07,2635 12640 TCF MODEEXIT 061576,000104: # Page 1422 061577,000105: 07,2636 05650 TC ALARM 061578,000106: 07,2637 00210 OCT 210 061579,000107: 061580,000108: 07,2640 00003 MODEEXIT RELINT # GENERAL MODE-SWITCHING EXIT. 061581,000109: 07,2641 14675 TCF SWRETURN 061582,000110: 061583,000111: 07,2642 03524 IMUZERO2 TC CAGETEST 061584,000112: 07,2643 05521 TC ZEROICDU # ZERO CDUX, CDUY, CDUZ 061585,000113: 061586,000114: 07,2644 45013 CS BIT5 # REMOVE ZERO DISCRETE. 061587,000115: 07,2645 00006 EXTEND 061588,000116: 07,2646 03012 WAND CHAN12 061589,000117: 061590,000118: 07,2647 35005 CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS 061591,000119: 07,2650 05272 TC VARDELAY 061592,000120: 061593,000121: 07,2651 03524 IMUZERO3 TC CAGETEST 061594,000122: 07,2652 45771 CS BITS3&4 # REMOVE IMUFAIL AND ICDUFAIL INHIBIT. 061595,000123: 07,2653 71320 MASK IMODES30 061596,000124: 07,2654 55320 TS IMODES30 061597,000125: 061598,000126: 07,2655 45035 CS SUPER011 # ENABLE DAP AUTO AND HOLD MODES 061599,000127: 07,2656 71321 MASK IMODES33 # BIT5 FOR GROUND 061600,000128: 07,2657 55321 TS IMODES33 061601,000129: 061602,000130: 07,2660 04740 TC IBNKCALL # SET ISS WARNING IF EITHER OF ABOVE ARE 061603,000131: 07,2661 14665 CADR SETISSW # PRESENT. 061604,000132: 061605,000133: 07,2662 13514 TCF ENDIMU 061606,000134: 061607,000135: # Page 1423 061608,000136: # IMU COARSE ALIGN MODE. 061609,000137: 061610,000138: 07,2663 00004 IMUCOARS INHINT 061611,000139: 07,2664 03536 TC CAGETSTJ 061612,000140: 07,2665 03027 TC SETCOARS 061613,000141: 061614,000142: 07,2666 36211 CAF SIX 061615,000143: 07,2667 05245 TC WAITLIST 061616,000144: 07,2670 E3,1474 EBANK= CDUIND 061617,000145: 07,2670 02673 16063 2CADR COARS 061618,000146: 061619,000147: 07,2672 12640 TCF MODEEXIT 061620,000148: 061621,000149: 07,2673 03524 COARS TC CAGETEST 061622,000150: 07,2674 35012 CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS 061623,000151: 07,2675 00006 EXTEND 061624,000152: 07,2676 05012 WOR CHAN12 061625,000153: 061626,000154: 07,2677 35016 CAF TWO # SET CDU INDICATOR 061627,000155: 07,2700 55474 COARS1 TS CDUIND 061628,000156: 061629,000157: 07,2701 51474 INDEX CDUIND # COMPUTE THETAD -- THETAA IN 1'S 061630,000158: 07,2702 31155 CA THETAD # COMPLEMENT FORM 061631,000159: 07,2703 00006 EXTEND 061632,000160: 07,2704 51474 INDEX CDUIND 061633,000161: 07,2705 20032 MSU CDUX 061634,000162: 07,2706 00006 EXTEND 061635,000163: 07,2707 75003 MP BIT13 # SHIFT RIGHT 2 061636,000164: 07,2710 56001 XCH L # ROUND 061637,000165: 07,2711 60000 DOUBLE 061638,000166: 07,2712 54061 TS ITEMP1 061639,000167: 07,2713 12715 TCF +2 061640,000168: 07,2714 26001 ADS L 061641,000169: 061642,000170: 07,2715 51474 INDEX CDUIND # DIFFERENCE TO BE COMPUTED 061643,000171: 07,2716 23471 LXCH COMMAND 061644,000172: 07,2717 11474 CCS CDUIND 061645,000173: 07,2720 02700 TC COARS1 061646,000174: 061647,000175: 07,2721 35016 CAF TWO # MINIMUM OF 4 MS WAIT 061648,000176: 07,2722 05272 TC VARDELAY 061649,000177: 061650,000178: # Page 1424 061651,000179: 07,2723 03524 COARS2 TC CAGETEST # DON'T CONTINUE IF CAGED. 061652,000180: 07,2724 54061 TS ITEMP1 # SET TO +0. 061653,000181: 07,2725 35016 CAF TWO # SET CDU INDICATOR. 061654,000182: 07,2726 55474 +3 TS CDUIND 061655,000183: 061656,000184: 07,2727 51474 INDEX CDUIND 061657,000185: 07,2730 11471 CCS COMMAND # NUMBER OF PULSES REQUIRED 061658,000186: 07,2731 02735 TC COMPOS # GREATER THAN MAX ALLOWED 061659,000187: 07,2732 02744 TC NEXTCDU +1 061660,000188: 07,2733 03002 TC COMNEG 061661,000189: 07,2734 02744 TC NEXTCDU +1 061662,000190: 061663,000191: 07,2735 63624 COMPOS AD -COMMAX # COMMAX = MAX NUMBER OF PULSES ALLOWED 061664,000192: 07,2736 00006 EXTEND # MINUS ONE 061665,000193: 07,2737 63012 BZMF COMZERO 061666,000194: 07,2740 51474 INDEX CDUIND 061667,000195: 07,2741 55471 TS COMMAND # REDUCE COMMAND BY MAX NUMBER OF PULSES 061668,000196: 07,2742 43625 CS -COMMAX- # ALLOWED 061669,000197: 061670,000198: 07,2743 24061 NEXTCDU INCR ITEMP1 061671,000199: 07,2744 65020 AD NEG0 061672,000200: 07,2745 51474 INDEX CDUIND 061673,000201: 07,2746 54050 TS CDUXCMD # SET UP COMMAND REGISTER. 061674,000202: 061675,000203: 07,2747 11474 CCS CDUIND 061676,000204: 07,2750 02726 TC COARS2 +3 061677,000205: 061678,000206: 07,2751 10061 CCS ITEMP1 # SEE IF ANY PULSES TO GO OUT. 061679,000207: 07,2752 13016 TCF SENDPULS 061680,000208: 061681,000209: 07,2753 05267 TC FIXDELAY # WAIT FOR GIMBALS TO SETTLE. 061682,000210: 07,2754 00226 DEC 150 B-14 061683,000211: 061684,000212: 07,2755 35016 CAF TWO # AT END OF COMMAND, CHECK TO SEE THAT 061685,000213: 07,2756 54061 CHKCORS TS ITEMP1 # GIMBALS ARE WITHIN 2 DEGREES OF THETAD. 061686,000214: 07,2757 50000 INDEX A 061687,000215: 07,2760 30032 CA CDUX 061688,000216: 07,2761 00006 EXTEND 061689,000217: 07,2762 50061 INDEX ITEMP1 061690,000218: 07,2763 21155 MSU THETAD 061691,000219: 07,2764 10000 CCS A 061692,000220: 07,2765 12773 TCF COARSERR 061693,000221: 07,2766 12770 TCF CORSCHK2 061694,000222: 07,2767 12773 TCF COARSERR 061695,000223: 061696,000224: # Page 1425 061697,000225: 07,2770 10061 CORSCHK2 CCS ITEMP1 061698,000226: 07,2771 12756 TCF CHKCORS 061699,000227: 07,2772 13514 TCF ENDIMU # END OF COARSE ALIGNMENT 061700,000228: 061701,000229: 07,2773 63001 COARSERR AD COARSTOL # 2 DEGREES. 061702,000230: 07,2774 00006 EXTEND 061703,000231: 07,2775 62770 BZMF CORSCHK2 061704,000232: 061705,000233: 07,2776 05650 TC ALARM # COARSE ALIGN ERROR. 061706,000234: 07,2777 00211 OCT 211 061707,000235: 061708,000236: 07,3000 13522 TCF IMUBAD 061709,000237: 061710,000238: 07,3001 77511 COARSTOL DEC -.01111 # 2 DEGREES SCALED AT HALF-REVOLUTIONS 061711,000239: 061712,000240: 07,3002 63624 COMNEG AD -COMMAX 061713,000241: 07,3003 00006 EXTEND 061714,000242: 07,3004 63012 BZMF COMZERO 061715,000243: 07,3005 40000 COM 061716,000244: 07,3006 51474 INDEX CDUIND 061717,000245: 07,3007 55471 TS COMMAND 061718,000246: 07,3010 33625 CA -COMMAX- 061719,000247: 07,3011 02743 TC NEXTCDU 061720,000248: 061721,000249: 07,3012 35021 COMZERO CAF ZERO 061722,000250: 07,3013 51474 INDEX CDUIND 061723,000251: 07,3014 57471 XCH COMMAND 061724,000252: 07,3015 02743 TC NEXTCDU 061725,000253: 061726,000254: 07,3016 37707 SENDPULS CAF 13,14,15 061727,000255: 07,3017 00006 EXTEND 061728,000256: 07,3020 05014 WOR CHAN14 061729,000257: 07,3021 33626 CAF 600MS 061730,000258: 07,3022 12722 TCF COARS2 -1 # THEN TO VARDELAY 061731,000259: 061732,000260: 07,3023 35012 CA+ECE CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS 061733,000261: 07,3024 00006 EXTEND 061734,000262: 07,3025 05012 WOR CHAN12 061735,000263: 07,3026 05324 TC TASKOVER 061736,000264: 061737,000265: # Page 1426 061738,000266: 07,3027 35014 SETCOARS CAF BIT4 # BYPASS IF ALREADY IN COARSE ALIGN 061739,000267: 07,3030 00006 EXTEND 061740,000268: 07,3031 02012 RAND CHAN12 061741,000269: 07,3032 10000 CCS A 061742,000270: 07,3033 00002 TC Q 061743,000271: 061744,000272: 07,3034 45012 CS BIT6 # CLEAR ISS ERROR COUNTERS 061745,000273: 07,3035 00006 EXTEND 061746,000274: 07,3036 03012 WAND CHAN12 061747,000275: 061748,000276: 07,3037 45006 CS BIT10 # KNOCK DOWN GYRO ACTIVITY 061749,000277: 07,3040 00006 EXTEND 061750,000278: 07,3041 03014 WAND CHAN14 061751,000279: 07,3042 45021 CS ZERO 061752,000280: 07,3043 54047 TS GYROCMD 061753,000281: 061754,000282: 07,3044 35014 CAF BIT4 # PUT ISS IN COARSE ALIGN 061755,000283: 07,3045 00006 EXTEND 061756,000284: 07,3046 05012 WOR CHAN12 061757,000285: 061758,000286: 07,3047 41036 CS DSPTAB +11D # TURN ON NO ATT LAMP 061759,000287: 07,3050 73072 MASK OCT40010 061760,000288: 07,3051 27036 ADS DSPTAB +11D 061761,000289: 061762,000290: 07,3052 41321 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES 061763,000291: 07,3053 75012 MASK BIT6 061764,000292: 07,3054 27321 ADS IMODES33 061765,000293: 061766,000294: 07,3055 41320 CS IMODES30 # DISABLE IMUFAIL 061767,000295: 07,3056 75014 MASK BIT4 061768,000296: 07,3057 27320 ADS IMODES30 061769,000297: 061770,000298: 07,3060 45013 RNDREFDR CS BIT5 # KNOCK DOWN TRACK FLAG 061771,000299: 07,3061 70075 MASK FLAGWRD1 061772,000300: 07,3062 54075 TS FLAGWRD1 061773,000301: 061774,000302: 07,3063 45001 CS BIT15 # KNOCK DOWN DRIFT FLAG 061775,000303: 07,3064 70076 MASK FLAGWRD2 061776,000304: 07,3065 54076 TS FLAGWRD2 061777,000305: 061778,000306: 07,3066 45003 CS BIT13 # KNOCK DOWN REFSMMAT FLAG 061779,000307: 07,3067 70077 MASK FLAGWRD3 061780,000308: 07,3070 54077 TS FLAGWRD3 061781,000309: 061782,000310: 07,3071 00002 TC Q 061783,000311: 061784,000312: 07,3072 40010 OCT40010 OCT 40010 061785,000313: 061786,000314: # Page 1427 061787,000315: # IMU FINE ALIGN MODE SWITCH. 061788,000316: 061789,000317: 07,3073 00004 IMUFINE INHINT 061790,000318: 07,3074 03536 TC CAGETSTJ # SEE IF IMU BEING CAGED. 061791,000319: 061792,000320: 07,3075 45027 CS BITS4-5 # RESET ZERO AND COARSE 061793,000321: 07,3076 00006 EXTEND 061794,000322: 07,3077 03012 WAND CHAN12 061795,000323: 061796,000324: 07,3100 45012 CS BIT6 # INSURE DAP AUTO AND HOLD MODES ENABLED 061797,000325: 07,3101 71321 MASK IMODES33 061798,000326: 07,3102 55321 TS IMODES33 061799,000327: 061800,000328: 07,3103 03151 TC NOATTOFF 061801,000329: 061802,000330: 07,3104 35006 CAF BIT10 # IMU FAIL WAS INHIBITED DURING THE 061803,000331: 07,3105 05245 TC WAITLIST # PRESUMABLY PRECEDING COARSE ALIGN. LEAVE 061804,000332: 07,3106 E3,1474 EBANK= CDUIND 061805,000333: 07,3106 03117 16063 2CADR IFAILOK # IT ON FOR THE FIRST 5 SECS OF FINE ALIGN 061806,000334: 061807,000335: 07,3110 35042 CAF 2SECS 061808,000336: 07,3111 05245 TC WAITLIST 061809,000337: 07,3112 E3,1474 EBANK= CDUIND 061810,000338: 07,3112 03115 16063 2CADR IMUFINED 061811,000339: 061812,000340: 07,3114 12640 TCF MODEEXIT 061813,000341: 061814,000342: 07,3115 03524 IMUFINED TC CAGETEST # SEE THAT NO ONE HAS CAGED THE IMU. 061815,000343: 07,3116 13514 TCF ENDIMU 061816,000344: 061817,000345: # Page 1428 061818,000346: 07,3117 03531 IFAILOK TC CAGETSTQ # ENABLE IMU FAIL UNLESS IMU BEING CAGED. 061819,000347: 07,3120 15324 TCF TASKOVER # IT IS. 061820,000348: 061821,000349: 07,3121 35014 CAF BIT4 # DON'T RESET IMU FAIL INHIBIT IF SOMEONE 061822,000350: 07,3122 00006 EXTEND # HAS GONE INTO COARSE ALIGN. 061823,000351: 07,3123 02012 RAND CHAN12 061824,000352: 07,3124 10000 CCS A 061825,000353: 07,3125 15324 TCF TASKOVER 061826,000354: 061827,000355: 07,3126 41320 CS IMODES30 # RESET IMUFAIL. 061828,000356: 07,3127 75003 MASK BIT13 061829,000357: 07,3130 27320 ADS IMODES30 061830,000358: 07,3131 45014 CS BIT4 061831,000359: 07,3132 71320 PFAILOK2 MASK IMODES30 061832,000360: 07,3133 55320 TS IMODES30 061833,000361: 07,3134 04740 TC IBNKCALL # THE ISS WARNING LIGHT MAY COME ON NOW 061834,000362: 07,3135 14665 CADR SETISSW # THAT THE INHIBIT WAS BEEN REMOVED. 061835,000363: 07,3136 15324 TCF TASKOVER 061836,000364: 061837,000365: 07,3137 03531 PFAILOK TC CAGETSTQ # ENABLE PIP FAIL PROG ALARM. 061838,000366: 07,3140 15324 TCF TASKOVER 061839,000367: 061840,000368: 07,3141 41320 CS IMODES30 # RESET IMU AND PIPA FAIL BITS. 061841,000369: 07,3142 75006 MASK BIT10 061842,000370: 07,3143 27320 ADS IMODES30 061843,000371: 061844,000372: 07,3144 41321 CS IMODES33 061845,000373: 07,3145 75003 MASK BIT13 061846,000374: 07,3146 27321 ADS IMODES33 061847,000375: 061848,000376: 07,3147 45013 CS BIT5 061849,000377: 07,3150 13132 TCF PFAILOK2 061850,000378: 061851,000379: 07,3151 43072 NOATTOFF CS OCT40010 # SUBROUTINE TO TURN OFF NO ATT LAMP. 061852,000380: 07,3152 71036 MASK DSPTAB +11D 061853,000381: 07,3153 65001 AD BIT15 061854,000382: 07,3154 55036 TS DSPTAB +11D 061855,000383: 07,3155 00002 TC Q 061856,000384: 061857,000385: # Page 1429 061858,000386: # ROUTINES TO INITIATE AND TERMINATE PROGRAM USE OF THE PIPAS. NO IMUSTALL REQUIRED IN EITHER CASE. 061859,000387: 061860,000388: 07,3156 45021 PIPUSE CS ZERO 061861,000389: 07,3157 54037 TS PIPAX 061862,000390: 07,3160 54040 TS PIPAY 061863,000391: 07,3161 54041 TS PIPAZ 061864,000392: 061865,000393: 07,3162 03531 PIPUSE1 TC CAGETSTQ # DO NOT ENABLE PIPA FAIL IF IMU IS CAGED 061866,000394: 07,3163 14675 TCF SWRETURN 061867,000395: 061868,000396: 07,3164 00004 INHINT 061869,000397: 07,3165 45017 CS BIT1 # IF PIPA FAILS FROM NOW ON (UNTIL 061870,000398: 07,3166 71320 MASK IMODES30 # PIPFREE), LIGHT ISS WARNING. 061871,000399: 07,3167 55320 TS IMODES30 061872,000400: 061873,000401: 07,3170 04740 PIPFREE2 TC IBNKCALL # ISS WARNING MIGHT COME ON NOW. 061874,000402: 07,3171 14665 CADR SETISSW # (OR GO OFF ON PIPFREE). 061875,000403: 061876,000404: 07,3172 12640 TCF MODEEXIT 061877,000405: 061878,000406: 07,3173 00004 PIPFREE INHINT # PROGRAM DONE WITH PIPAS. DON'T LIGHT 061879,000407: 07,3174 41320 CS IMODES30 # ISS WARNING. 061880,000408: 07,3175 75017 MASK BIT1 061881,000409: 07,3176 27320 ADS IMODES30 061882,000410: 061883,000411: 07,3177 75006 MASK BIT10 # IF PIP FAIL ON, DO PROG ALARM AND RESET 061884,000412: 07,3200 10000 CCS A # ISS WARNING. 061885,000413: 07,3201 12640 TCF MODEEXIT 061886,000414: 061887,000415: 07,3202 05650 TC ALARM 061888,000416: 07,3203 00212 OCT 212 061889,000417: 061890,000418: 07,3204 00004 INHINT 061891,000419: 061892,000420: 07,3205 13170 TCF PIPFREE2 061893,000421: 061894,000422: # Page 1430 061895,000423: # THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIX REGISTERS 061896,000424: # BEGINNING AT THE ECADR ARRIVING IN A. THE MINIMUM SIZE OF ANY PULSE TRAIN IS 16 PULSES (.25 CDU COUNTS). THE 061897,000425: # UNSENT PORTION OF THE COMMAND IS LEFT INTACT AT TEH INPUT COMMAND REGISTERS. 061898,000426: 061899,000427: 07,3206 E3,1400 EBANK= 1400 # VARIABLE, ACTUALLY. 061900,000428: 061901,000429: 07,3206 54161 IMUPULSE TS MPAC +5 # SAVE ARRIVING ECADR. 061902,000430: 07,3207 03536 TC CAGETSTJ # DON'T PROCEED IF IMU BEING CAGED. 061903,000431: 061904,000432: 07,3210 11304 CCS LGYRO # SEE IF GYROS BUSY. 061905,000433: 07,3211 03252 TC GYROBUSY # SLEEP. 061906,000434: 061907,000435: 07,3212 54156 TS MPAC +2 061908,000436: 07,3213 35012 CAF BIT6 # ENABLE THE POWER SUPPLY. 061909,000437: 07,3214 00006 EXTEND 061910,000438: 07,3215 05014 WOR CHAN14 061911,000439: 061912,000440: 07,3216 35015 CAF FOUR 061913,000441: 07,3217 05245 GWAKE2 TC WAITLIST # (IF A JOB WAS PUT TO SLEEP, THE POWER 061914,000442: 07,3220 E3,1474 EBANK= CDUIND # SUPPLY IS LEFT ON BY THE WAKING JOB). 061915,000443: 07,3220 03270 16063 2CADR STRTGYRO 061916,000444: 061917,000445: 07,3222 30161 CA MPAC +5 # SET UP EBANK, SAVING CALLER'S EBANK FOR 061918,000446: 07,3223 56003 XCH EBANK # RESTORATION ON RETURN. 061919,000447: 07,3224 56161 XCH MPAC +5 061920,000448: 07,3225 55304 TS LGYRO # RESERVES GYROS. 061921,000449: 07,3226 74373 MASK LOW8 061922,000450: 07,3227 54061 TS ITEMP1 061923,000451: 061924,000452: 07,3230 35016 CAF TWO # FORCE SIGN AGREEMENT ON INPUTS. 061925,000453: 07,3231 54157 GYROAGRE TS MPAC +3 061926,000454: 07,3232 60000 DOUBLE 061927,000455: 07,3233 60061 AD ITEMP1 061928,000456: 07,3234 54160 TS MPAC +4 061929,000457: 07,3235 00006 EXTEND 061930,000458: 07,3236 50000 INDEX A 061931,000459: 07,3237 31401 DCA 1400 061932,000460: 07,3240 52155 DXCH MPAC 061933,000461: 07,3241 07226 TC TPAGREE 061934,000462: 07,3242 52155 DXCH MPAC 061935,000463: 07,3243 50160 INDEX MPAC +4 061936,000464: 07,3244 53401 DXCH 1400 061937,000465: 061938,000466: 07,3245 10157 CCS MPAC +3 061939,000467: 07,3246 13231 TCF GYROAGRE 061940,000468: 061941,000469: 07,3247 30161 CA MPAC +5 # RESTORE CALLER'S EBANK. 061942,000470: 07,3250 54003 TS EBANK 061943,000471: 07,3251 12640 TCF MODEEXIT 061944,000472: 061945,000473: # Page 1431 061946,000474: # ROUTINES TO ALLOW TORQUING ONLY ONE JOB AT A TIME. 061947,000475: 061948,000476: 07,3252 00006 GYROBUSY EXTEND # SAVE RETURN 2FCADR. 061949,000477: 07,3253 30134 DCA BUF2 061950,000478: 07,3254 52155 DXCH MPAC 061951,000479: 07,3255 33267 REGSLEEP CAF LGWAKE 061952,000480: 07,3256 15175 TCF JOBSLEEP 061953,000481: 061954,000482: 07,3257 11304 GWAKE CCS LGYRO # WHEN AWAKENED, SEE IF GYROS STILL BUSY. 061955,000483: 07,3260 13255 TCF REGSLEEP # IF SO, SLEEP SOME MORE. 061956,000484: 061957,000485: 07,3261 54156 TS MPAC +2 061958,000486: 07,3262 00006 EXTEND 061959,000487: 07,3263 30155 DCA MPAC 061960,000488: 07,3264 52134 DXCH BUF2 # RESTORE SWRETURN INFO. 061961,000489: 07,3265 35017 CAF ONE 061962,000490: 07,3266 13217 TCF GWAKE2 061963,000491: 061964,000492: 07,3267 17257 LGWAKE CADR GWAKE 061965,000493: 061966,000494: # Page 1432 061967,000495: # GYRO-TORQUING WAITLIST TASKS. 061968,000496: 061969,000497: 07,3270 43511 STRTGYRO CS GDESELCT # DE-SELECT LAST GYRO. 061970,000498: 07,3271 00006 EXTEND 061971,000499: 07,3272 03014 WAND CHAN14 061972,000500: 061973,000501: 07,3273 03524 TC CAGETEST 061974,000502: 061975,000503: 07,3274 31304 STRTGYR2 CA LGYRO # JUMP ON PHASE COUNTER IN BITS 13-14. 061976,000504: 07,3275 00006 EXTEND 061977,000505: 07,3276 75014 MP BIT4 061978,000506: 07,3277 50000 INDEX A 061979,000507: 07,3300 13301 TCF +1 061980,000508: 07,3301 03316 TC GSELECT # =0. DO Y GYRO. 061981,000509: 07,3302 00202 OCT 00202 061982,000510: 061983,000511: 07,3303 03316 TC GSELECT # =1. DO Z GYRO. 061984,000512: 07,3304 00302 OCT 00302 061985,000513: 061986,000514: 07,3305 03314 TC GSELECT -2 # =2. DO X GYRO. 061987,000515: 07,3306 00100 OCT 00100 061988,000516: 061989,000517: 07,3307 35021 CAF ZERO # =3. DONE 061990,000518: 07,3310 55304 TS LGYRO 061991,000519: 07,3311 33267 CAF LGWAKE # WAKE A POSSIBLE SLEEPING JOB. 061992,000520: 07,3312 05201 TC JOBWAKE 061993,000521: 061994,000522: 07,3313 13115 NORESET TCF IMUFINED # DO NOT RESET POWER SUPPLY. 061995,000523: # Page 1433 061996,000524: 07,3314 45015 -2 CS FOUR # SPECIAL ENTRY TO REGRESS LGYRO FOR X. 061997,000525: 07,3315 27304 ADS LGYRO 061998,000526: 061999,000527: 07,3316 50002 GSELECT INDEX Q # SELECT GYRO. 062000,000528: 07,3317 30000 CAF 0 # PACKED WORD CONTAINS GYRO SELECT BITS 062001,000529: 07,3320 54064 TS ITEMP4 # AND INCREMENT TO LGYRO. 062002,000530: 07,3321 75023 MASK SEVEN 062003,000531: 07,3322 65003 AD BIT13 062004,000532: 07,3323 27304 ADS LGYRO 062005,000533: 07,3324 54003 TS EBANK 062006,000534: 07,3325 74373 MASK LOW8 062007,000535: 07,3326 54061 TS ITEMP1 062008,000536: 062009,000537: 07,3327 45023 CS SEVEN 062010,000538: 07,3330 70064 MASK ITEMP4 062011,000539: 07,3331 54064 TS ITEMP4 062012,000540: 062013,000541: 07,3332 00006 EXTEND # MOVE DP COMMAND TO RUPTREGS FOR TESTING. 062014,000542: 07,3333 50061 INDEX ITEMP1 062015,000543: 07,3334 31401 DCA 1400 062016,000544: 07,3335 52071 DXCH RUPTREG1 062017,000545: 062018,000546: 07,3336 10070 CCS RUPTREG1 062019,000547: 07,3337 13352 TCF MAJ+ 062020,000548: 07,3340 13342 TCF +2 062021,000549: 07,3341 13472 TCF MAJ- 062022,000550: 062023,000551: 07,3342 10071 CCS RUPTREG2 062024,000552: 07,3343 13347 TCF MIN+ 062025,000553: 07,3344 13274 TCF STRTGYR2 062026,000554: 07,3345 13467 TCF MIN- 062027,000555: 07,3346 13274 TCF STRTGYR2 062028,000556: 062029,000557: # Page 1434 062030,000558: 07,3347 63403 MIN+ AD -GYROMIN # SMALL POSITIVE COMMAND. SEE IF AT LEAST 062031,000559: 07,3350 00006 EXTEND # 16 GYRO PULSES. 062032,000560: 07,3351 63274 BZMF STRTGYR2 062033,000561: 062034,000562: 07,3352 00006 MAJ+ EXTEND # DEFINITE POSITIVE OUTPUT. 062035,000563: 07,3353 33513 DCA GYROFRAC 062036,000564: 07,3354 20071 DAS RUPTREG1 062037,000565: 062038,000566: 07,3355 30064 CA ITEMP4 # SELECT POSITIVE TORQUING FOR THIS GYRO. 062039,000567: 07,3356 00006 EXTEND 062040,000568: 07,3357 05014 WOR CHAN14 062041,000569: 062042,000570: 07,3360 36043 CAF LOW7 # LEAVE NUMBER OF POSSIBLE 8192 AUGMENTS 062043,000571: 07,3361 70071 MASK RUPTREG2 # TO INITIAL COMMAND IN MAJOR PART OF LONG 062044,000572: 07,3362 56071 XCH RUPTREG2 # TERM STORAGE AND TRUNCATED FRACTION 062045,000573: 07,3363 00006 GMERGE EXTEND # IN MINOR PART. THE MAJOR PART WILL BE 062046,000574: 07,3364 75010 MP BIT8 # COUNTED DOWN TO ZERO IN THE COURSE OF 062047,000575: 07,3365 54062 TS ITEMP2 # PUTTING OUT THE ENTIRE COMMAND. 062048,000576: 07,3366 30070 CA RUPTREG1 062049,000577: 07,3367 00006 EXTEND 062050,000578: 07,3370 75007 MP BIT9 062051,000579: 07,3371 54070 TS RUPTREG1 062052,000580: 07,3372 30001 CA L 062053,000581: 07,3373 00006 EXTEND 062054,000582: 07,3374 75002 MP BIT14 062055,000583: 07,3375 26062 ADS ITEMP2 # INITIAL COMMAND. 062056,000584: 062057,000585: 07,3376 00006 EXTEND # SEE IF MORE THAN ONE PULSE TRAIN NEEDED 062058,000586: 07,3377 30071 DCA RUPTREG1 # (MORE THAN 16383 PULSES). 062059,000587: 07,3400 67716 AD MINUS1 062060,000588: 07,3401 10000 CCS A 062061,000589: 07,3402 13426 TCF LONGGYRO 062062,000590: 07,3403 77601 -GYROMIN OCT -176 # MAY BE ADJUSTED TO SPECIFY MINIMUM CMD 062063,000591: 07,3404 13410 TCF +4 062064,000592: 062065,000593: 07,3405 35002 CAF BIT14 062066,000594: 07,3406 26062 ADS ITEMP2 062067,000595: 07,3407 35021 CAF ZERO 062068,000596: 062069,000597: 07,3410 50061 +4 INDEX ITEMP1 062070,000598: 07,3411 53401 DXCH 1400 062071,000599: # Page 1435 062072,000600: 07,3412 30062 CA ITEMP2 # ENTIRE COMMAND. 062073,000601: 07,3413 54047 LASTSEG TS GYROCMD 062074,000602: 07,3414 00006 EXTEND 062075,000603: 07,3415 75006 MP BIT10 # WAITLIST DT 062076,000604: 07,3416 66214 AD THREE # TRUNCATION AND PHASE UNCERTAINTIES. 062077,000605: 07,3417 05245 TC WAITLIST 062078,000606: 07,3420 E3,1474 EBANK= CDUIND 062079,000607: 07,3420 03270 16063 2CADR STRTGYRO 062080,000608: 062081,000609: 07,3422 35006 GYROEXIT CAF BIT10 062082,000610: 07,3423 00006 EXTEND 062083,000611: 07,3424 05014 WOR CHAN14 062084,000612: 07,3425 15324 TCF TASKOVER 062085,000613: 062086,000614: 07,3426 50061 LONGGYRO INDEX ITEMP1 062087,000615: 07,3427 53401 DXCH 1400 # INITIAL COMMAND OUT PLUS N AUGMENTS OF 062088,000616: 07,3430 35002 CAF BIT14 # 8192. INITIAL COMMAND IS AT LEAST 8192. 062089,000617: 07,3431 60062 AD ITEMP2 062090,000618: 07,3432 54047 TS GYROCMD 062091,000619: 062092,000620: 07,3433 00006 AUG3 EXTEND # GET WAITLIST DT TO TIME WHEN TRAIN IS 062093,000621: 07,3434 75006 MP BIT10 # ALMOST OUT. 062094,000622: 07,3435 67714 AD NEG3 062095,000623: 07,3436 05245 TC WAITLIST 062096,000624: 07,3437 E3,1474 EBANK= CDUIND 062097,000625: 07,3437 03442 16063 2CADR 8192AUG 062098,000626: 062099,000627: 07,3441 13422 TCF GYROEXIT 062100,000628: 062101,000629: 07,3442 03524 8192AUG TC CAGETEST 062102,000630: 062103,000631: 07,3443 35014 CAF BIT4 062104,000632: 07,3444 00006 EXTEND 062105,000633: 07,3445 02012 RAND CHAN12 062106,000634: 07,3446 10000 CCS A 062107,000635: 07,3447 13522 TCF IMUBAD 062108,000636: 07,3450 31304 CA LGYRO # ADD 8192 PULSES TO GYROCMD 062109,000637: 07,3451 54003 TS EBANK 062110,000638: 07,3452 74373 MASK LOW8 062111,000639: 07,3453 54061 TS ITEMP1 062112,000640: 062113,000641: 07,3454 50061 INDEX ITEMP1 # SEE IF THIS IS THE LAST AUG. 062114,000642: 07,3455 11400 CCS 1400 062115,000643: 07,3456 13462 TCF AUG2 # MORE TO COME. 062116,000644: 062117,000645: 07,3457 35002 CAF BIT14 062118,000646: 07,3460 26047 ADS GYROCMD 062119,000647: 07,3461 13414 TCF LASTSEG +1 062120,000648: 062121,000649: # Page 1436 062122,000650: 07,3462 50061 AUG2 INDEX ITEMP1 062123,000651: 07,3463 55400 TS 1400 062124,000652: 07,3464 35002 CAF BIT14 062125,000653: 07,3465 26047 ADS GYROCMD 062126,000654: 07,3466 13433 TCF AUG3 # COMPUTE DT. 062127,000655: 062128,000656: # Page 1437 062129,000657: 07,3467 63403 MIN- AD -GYROMIN # POSSIBLE NEGATIVE OUTPUT. 062130,000658: 07,3470 00006 EXTEND 062131,000659: 07,3471 63274 BZMF STRTGYR2 062132,000660: 062133,000661: 07,3472 00006 MAJ- EXTEND # DEFINITE NEGATIVE OUTPUT. 062134,000662: 07,3473 43513 DCS GYROFRAC 062135,000663: 07,3474 20071 DAS RUPTREG1 062136,000664: 062137,000665: 07,3475 30064 CA ITEMP4 # SELECT NEGATIVE TORQUING FOR THIS GYRO. 062138,000666: 07,3476 65007 AD BIT9 062139,000667: 07,3477 00006 EXTEND 062140,000668: 07,3500 05014 WOR CHAN14 062141,000669: 062142,000670: 07,3501 40070 CS RUPTREG1 # SET UP RUPTREGS TO FALL INTO GMERGE. 062143,000671: 07,3502 54070 TS RUPTREG1 # ALL NUMBERS PUT INTO GYROCMD ARE 062144,000672: 07,3503 40071 CS RUPTREG2 # POSITIVE -- BIT9 OF CHAN 14 DETERMINES 062145,000673: 07,3504 76043 MASK LOW7 # THE SIGN OF THE COMMAND. 062146,000674: 07,3505 40000 COM 062147,000675: 07,3506 56071 XCH RUPTREG2 062148,000676: 07,3507 40000 COM 062149,000677: 07,3510 13363 TCF GMERGE 062150,000678: 062151,000679: 07,3511 01700 GDESELCT OCT 1700 # TURN OFF SELECT AND ACTIVITY BITS. 062152,000680: 062153,000681: 07,3512 00000 00034 GYROFRAC 2DEC .215 B-21 062154,000682: 062155,000683: # Page 1438 062156,000684: # IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE. 062157,000685: 062158,000686: 07,3514 00006 ENDIMU EXTEND # MODE IS BAD IF CAGE HAS OCCURRED OR IF 062159,000687: 07,3515 00011 READ DSALMOUT # ISS WARNING IS ON. 062160,000688: 07,3516 75017 MASK BIT1 062161,000689: 07,3517 10000 CCS A 062162,000690: 07,3520 13522 TCF IMUBAD 062163,000691: 062164,000692: 07,3521 13550 IMUGOOD TCF GOODEND # WITH C(A) = 0. 062165,000693: 062166,000694: 07,3522 35021 IMUBAD CAF ZERO 062167,000695: 07,3523 13545 TCF BADEND 062168,000696: 062169,000697: 07,3524 35012 CAGETEST CAF BIT6 # SUBROUTINE TO TERMINATE IMU MODE 062170,000698: 07,3525 71320 MASK IMODES30 # SWITCH IF IMU HAS BEEN CAGED. 062171,000699: 07,3526 10000 CCS A 062172,000700: 07,3527 13522 TCF IMUBAD # DIRECTLY. 062173,000701: 07,3530 00002 TC Q # WITH C(A) = +0. 062174,000702: 062175,000703: 07,3531 41320 CAGETSTQ CS IMODES30 # SKIP IF IMU NOT BEING CAGED. 062176,000704: 07,3532 75012 MASK BIT6 062177,000705: 07,3533 10000 CCS A 062178,000706: 07,3534 24002 INCR Q 062179,000707: 07,3535 00002 TC Q 062180,000708: 062181,000709: 07,3536 41320 CAGETSTJ CS IMODES30 # IF DURING MODE SWITCH INITIALIZATION. 062182,000710: 07,3537 75012 MASK BIT6 # IT IS FOUND THAT THE IMU IS BEING CAGED. 062183,000711: 07,3540 10000 CCS A # SET IMUCADR TO -0 TO INDICATE OPERATION 062184,000712: 07,3541 00002 TC Q # COMPLETE BUT FAILED. RETURN IMMEDIATELY 062185,000713: 07,3542 45021 CS ZERO # TO SWRETURN. 062186,000714: 07,3543 55322 TS IMUCADR 062187,000715: 07,3544 12640 TCF MODEEXIT 062188,000716: 062189,000717: # Page 1439 062190,000718: # GENERALIZED MODE SWITCHING TERMINATION. ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION 062191,000719: # OR AT BADEND FOR AN UNSUCCESSFUL ONE. C(A) OR ARRIVAL =0 FOR IMU, 1 FOR OPTICS. 062192,000720: 062193,000721: 07,3545 54071 BADEND TS RUPTREG2 # DEVICE INDEX. 062194,000722: 07,3546 45021 CS ZERO # FOR FAILURE. 062195,000723: 07,3547 13552 TCF GOODEND +2 062196,000724: 062197,000725: 07,3550 54071 GOODEND TS RUPTREG2 062198,000726: 07,3551 45017 CS ONE # FOR SUCCESS. 062199,000727: 062200,000728: 07,3552 54072 TS RUPTREG3 062201,000729: 07,3553 50071 INDEX RUPTREG2 # SEE IF USING PROGRAM ASLEEP. 062202,000730: 07,3554 11322 CCS MODECADR 062203,000731: 07,3555 13557 TCF +2 # YES -- WAKE IT UP. 062204,000732: 07,3556 13567 TCF ENDMODE # IF 0, PROGRAM NOT IN YET. 062205,000733: 062206,000734: 07,3557 35021 CAF ZERO # WAKE SLEEPING PROGRAM. 062207,000735: 07,3560 50071 INDEX RUPTREG2 062208,000736: 07,3561 57322 XCH MODECADR 062209,000737: 07,3562 05201 TC JOBWAKE 062210,000738: 062211,000739: 07,3563 40072 CS RUPTREG3 # ADVANCE LOC IF SUCCESSFUL. 062212,000740: 07,3564 50064 INDEX LOCCTR 062213,000741: 07,3565 26164 ADS LOC 062214,000742: 062215,000743: 07,3566 15324 TCF TASKOVER 062216,000744: 062217,000745: 07,3567 30072 ENDMODE CA RUPTREG3 # -0 INDICATES OPERATION COMPLETE BUT 062218,000746: 07,3570 50071 INDEX RUPTREG2 # UNSUCCESSFUL: -1 INDICATES COMPLETE AND 062219,000747: 07,3571 55322 TS MODECADR # SUCCESSFUL. 062220,000748: 07,3572 15324 TCF TASKOVER 062221,000749: 062222,000750: # Page 1440 062223,000751: # GENERAL STALLING ROUTINE. USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION. 062224,000752: 062225,000753: # PROGRAM DESCRIPTION DATE -- 21 FEB 1967 062226,000754: # LOG SECTION IMU MODE SWITCHING 062227,000755: # MOD BY -- R. MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 82 062228,000756: 062229,000757: # FUNCTIONAL DESCRIPTION -- 062230,000758: # TO DELAY FURTHER EXECUTION OF THE CALLING ROUTINE UNTIL ITS SELECTED 062231,000759: # I/O FUNCTION IS COMPLETE. THE FOLLOWING CHECKS ON THE CALLING ROUTINES 062232,000760: # MODEECADR ARE MADE AND ACTED UPON. 062233,000761: # 1) +0 INDICATES INCOMPLETE I/O OPERATION. CALLING ROUTINE IS PUT TO 062234,000762: # SLEEP. 062235,000763: # 2) -1 INDICATES COMPLETED I/O OPERATION. STALL BYPASSES JOBSLEEP 062236,000764: # CALL AND RETURNS TO CALLING ROUTINE AT L+3. 062237,000765: # 3) -0 INDICATES COMPLETED I/O WITH FAILURE. STALL CLEARS MODECADR 062238,000766: # AND RETURNS TO CALLING ROUTINE AT L+2. 062239,000767: # 4) VALUE GREATER THAN 0 INDICATES TWO ROUTINES CALLING FOR USE OF 062240,000768: # SAME DEVICE. STALL EXITS TO ABORT WHICH EXECUTES A PROGRAM 062241,000769: # RESTART WHICH IN TURN CLEARS ALL MODECADR REGISTERS. 062242,000770: 062243,000771: # CALLING SEQUENCE -- 062244,000772: # L TC BANKCALL 062245,000773: # L+1 CADR (ONE OF 5 STALL ADDRESSES. I.E., IMUSTALL, OPTSTALL, RADSTALL, 062246,000774: # AOTSTALL, OR ATTSTALL) 062247,000775: 062248,000776: # NORMAL-EXIT MODE -- 062249,000777: # TCF JOBSLEEP OR TCF MODEXIT 062250,000778: 062251,000779: # ALARM OR ABORT EXIT MODE -- 062252,000780: # TC ABORT 062253,000781: 062254,000782: # OUTPUT -- 062255,000783: # MODECADR=CADR IF JOBSLEEP 062256,000784: # MODECADR=+0 IF I/O COMPLETE 062257,000785: # BUF2=L+3 IF I/O COMPLETE AND GOOD. 062258,000786: # BUF2=L+2 IF I/O COMPLETE BUT FAILED. 062259,000787: 062260,000788: # ERASABLE INITIALIZATION -- 062261,000789: # BUF2 CONTAINS RETURN ADDRESS PLUS 1,(L+2) 062262,000790: # BUF2+1 CONTAINS FBANK VALUE OF CALLING ROUTINE. 062263,000791: # MODECADR OF CALLING ROUTINE CONTAINS +0,-1,-0 OR CADR RETURN ADDRESS. 062264,000792: 062265,000793: # DEBRIS -- 062266,000794: # RUPTREG2 AND CALLING ROUTINE MODECADR. 062267,000795: 062268,000796: 07,3573 35017 AOTSTALL CAF ONE # AOT. 062269,000797: 07,3574 03600 TC STALL 062270,000798: 062271,000799: 07,3575 35016 RADSTALL CAF TWO 062272,000800: 07,3576 13600 TCF STALL 062273,000801: 062274,000802: # Page 1441 062275,000803: 07,3577 07,3573 OPTSTALL EQUALS AOTSTALL 062276,000804: 062277,000805: 07,3577 35021 IMUSTALL CAF ZERO # IMU. 062278,000806: 062279,000807: 07,3600 00004 STALL INHINT 062280,000808: 07,3601 54071 TS RUPTREG2 # SAVE DEVICE INDEX. 062281,000809: 07,3602 50000 INDEX A # SEE IF OPERATION COMPLETE. 062282,000810: 07,3603 11322 CCS MODECADR 062283,000811: 07,3604 13622 TCF MODABORT # ALLOWABLE STATES ARE +0, -1, AND -0. 062284,000812: 07,3605 13616 TCF MODESLP # OPERATION INCOMPLETE. 062285,000813: 07,3606 13612 TCF MODEGOOD # COMPLETE AND GOOD IF = -1. 062286,000814: 062287,000815: 07,3607 50071 MG2 INDEX RUPTREG2 # COMPLETE FAILED IF -0. RESET TO +0. 062288,000816: 07,3610 55322 TS MODECADR # RETURN TO CALLER. 062289,000817: 07,3611 12640 TCF MODEEXIT 062290,000818: 062291,000819: 07,3612 10000 MODEGOOD CCS A # MAKE SURE INITIAL STATE -1. 062292,000820: 07,3613 13622 TCF MODABORT 062293,000821: 062294,000822: 07,3614 24133 INCR BUF2 # IF SO, INCREMENT RETURN ADDRESS AND 062295,000823: 07,3615 13607 TCF MG2 # RETURN IMMEDIATELY, SETTIN CADR = +0. 062296,000824: 062297,000825: 07,3616 04711 MODESLP TC MAKECADR # CALL FROM SWITCHABLE FIXED ONLY. 062298,000826: 07,3617 50071 INDEX RUPTREG2 062299,000827: 07,3620 55322 TS MODECADR 062300,000828: 07,3621 15175 TCF JOBSLEEP 062301,000829: 062302,000830: 07,3622 05721 MODABORT TC P00DOO # TWO PROGRAMS USING THE SAME DEVICE. 062303,000831: 07,3623 01210 OCT 1210 062304,000832: 062305,000833: # Page 1442 062306,000834: # CONSTANTS FOR MODE SWITCHING ROUTINES 062307,000835: 062308,000836: 07,3624 5771 BITS3&4 = OCT14 062309,000837: 07,3624 5033 BITS4&6 = OCT50 062310,000838: 07,3624 5027 BITS4-5 EQUALS BITS4&5 062311,000839: 07,3624 5010 IMUSEFLG EQUALS BIT8 # INTERPRETER SWITCH 7. 062312,000840: 07,3624 77500 -COMMAX DEC -191 B-14 062313,000841: 07,3625 77477 -COMMAX- DEC -192 B-14 062314,000842: 07,3626 00074 600MS DEC 60 B-14 062315,000843: 07,3627 07,3073 IMUFIN20 = IMUFINE 062316,000844: 07,3627 31325 GOMANUR CA ATTCADR # IS KALCMANU FREE 062317,000845: 07,3630 00006 EXTEND 062318,000846: 07,3631 13634 BZF +3 062319,000847: 07,3632 05721 TC P00DOO # NO 062320,000848: 07,3633 01210 OCT 1210 # 2 TRYING TO USE SAME DEVICE 062321,000849: 062322,000850: 07,3634 00006 +3 EXTEND 062323,000851: 07,3635 30134 DCA BUF2 062324,000852: 07,3636 53326 DXCH ATTCADR # SAVE FINAL RETURN FOR KALCMAN3 062325,000853: 062326,000854: 07,3637 30006 CA BBANK 062327,000855: 07,3640 75023 MASK SEVEN 062328,000856: 07,3641 27326 ADS ATTCADR +1 062329,000857: 062330,000858: 07,3642 30167 CA PRIORITY 062331,000859: 07,3643 77674 MASK PRIO37 062332,000860: 07,3644 55327 TS ATTPRIO # SAVE USER'S PRIO 062333,000861: 062334,000862: 07,3645 33651 CAF KALEBCON # SET EBANK FOR KALCMAN3 062335,000863: 07,3646 54003 TS EBANK 062336,000864: 07,3647 04701 TC POSTJUMP 062337,000865: 07,3650 44000 CADR KALCMAN3 062338,000866: 07,3651 03261 KALEBCON ECADR BCDU 062339,000867: 062340,000868: # Page 1443 062341,000869: # PROGRAM DESCRIPTION 062342,000870: # IMU STATUS CHECK ROUTINE R02 (SUBROUTINE UTILITY) 062343,000871: # MOD NO -- 1 062344,000872: # MOD BY -- N.BRODEUR 062345,000873: 062346,000874: # FUNCTIONAL DESCRIPTION 062347,000875: # TO CHECK WHETHER IMU IS ON AND IF ON WHETHER IT IS ALIGNED TO AN 062348,000876: # ORIENTATION KNOWN BY THE CMC. TO REQUEST SELECTION OF THE APPROPRIATE 062349,000877: # PROGRAM IF THE IMU IS OFF OR NOT ALIGNED TO AN ORIENTATION KNOWN BY THE 062350,000878: # CMC. CALLED THROUGH BANKCALL 062351,000879: 062352,000880: # CALLING SEQUENCE -- 062353,000881: # L TC BANKCALL 062354,000882: # L+1 CADR R02BOTH 062355,000883: 062356,000884: # SUBROUTINES CALLED 062357,000885: # VARALARM 062358,000886: # FLAGUP 062359,000887: 062360,000888: # NORMAL EXIT MODES 062361,000889: # AT L+2 OF CALLING SEQUENCE 062362,000890: 062363,000891: # ALARM OR ABORT EXIT MODES 062364,000892: # GOTOP00H, WITH ALARM 062365,000893: 062366,000894: # ERASABLE INITIALIZATION REQUIRED 062367,000895: # NONE 062368,000896: 062369,000897: # DEBRIS 062370,000898: # CENTRALS -- A,Q,L 062371,000899: 062372,000900: 34,3763 BANK 34 062373,000901: 07,2000 SETLOC R02 062374,000902: 07,2000 BANK 062375,000903: 07,3652 COUNT 04/R02 # COUNT* 062376,000904: 062377,000905: 07,3652 00063 DEC51 DEC 51 B-14 062378,000906: 07,3653 35003 R02BOTH CAF BIT13 062379,000907: 07,3654 70077 MASK STATE +3 # REFSMFLG 062380,000908: 07,3655 10000 CCS A 062381,000909: 07,3656 03667 TC R02ZERO # ZERO IMUS 062382,000910: 062383,000911: 07,3657 31320 CA IMODES30 062384,000912: 07,3660 75007 MASK BIT9 # IS ISS INITIALIZED 062385,000913: 07,3661 00006 EXTEND 062386,000914: 07,3662 13664 BZF +2 062387,000915: 07,3663 45014 CS BIT4 # SEND IMU ALARM CODE 210 062388,000916: 07,3664 63672 AD OCT220 # SEND REFSMM ALARM 062389,000917: 07,3665 05764 TC VARALARM 062390,000918: 062391,000919: 07,3666 04106 TC GOTOP00H 062392,000920: 062393,000921: # Page 1444 062394,000922: 07,3667 05546 R02ZERO TC UPFLAG 062395,000923: 07,3670 00007 ADRES IMUSE 062396,000924: 07,3671 14675 TCF SWRETURN 062397,000925: 07,3672 00220 OCT220 OCT 220 062398,000926: 062399,000927: # Page 1445 062400,000928: # PROGRAM DESCRIPTION: P06 10 FEB 67 062401,000929: 062402,000930: # TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION. 062403,000931: 062404,000932: # THE NORMAL CONDITION OF READINESS OF THE GNCS WHEN NOT IN USE IS STANDBY. IN THIS CONDITION THE IMU 062405,000933: # HEATER POWER IS ON. THE IMU OPERATE POWER IS OFF. THE COMPUTER POWER IS ON. THE OPTICS POWER IS OFF. THE 062406,000934: # CMC STANDBY ON THE MAIN AND LEB DISKYS IS ON. 062407,000935: 062408,000936: # CALLING SEQUENCE: 062409,000937: # ASTRONAUT REQUEST THROUGH DSKY V37E 06E. 062410,000938: 062411,000939: # SUBROUTINES CALLED: 062412,000940: # GOPERF1 062413,000941: # BANKCALL 062414,000942: # FLAGDOWN 062415,000943: 062416,000944: # Page 1446 062417,000945: # PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2. 062418,000946: # THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATIBILITY 062419,000947: # BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING. 062420,000948: 062421,000949: 26,2000 SETLOC P05P06 062422,000950: 26,2000 BANK 062423,000951: 062424,000952: 26,3660 1150 EBANK= TIME2SAV 062425,000953: 26,3660 COUNT* $$/P06 062426,000954: 062427,000955: 26,3660 05546 P06 TC UPFLAG # SET NODOV37 BIT 062428,000956: 26,3661 00054 ADRES NODOFLAG 062429,000957: 062430,000958: 26,3662 00004 PRESTAND INHINT 062431,000959: 26,3663 00006 EXTEND 062432,000960: 26,3664 30025 DCA TIME2 # SNAPSHOT TIME1 TIME2 062433,000961: 26,3665 53151 DXCH TIME2SAV 062434,000962: 26,3666 03717 TC SCALPREP 062435,000963: 26,3667 03662 TC PRESTAND # T1,T2,SCALER NOT COMPATIBLE 062436,000964: 26,3670 52155 DXCH MPAC # T1,T2 AND SCALER OK 062437,000965: 26,3671 53153 DXCH SCALSAVE # STORE SCALER 062438,000966: 26,3672 00004 INHINT 062439,000967: 26,3673 04662 TC BANKCALL 062440,000968: 26,3674 17060 CADR RNDREFDR # REFSMM, DRIFT, TRACK FLAGS DOWN 062441,000969: 062442,000970: 26,3675 05560 TC DOWNFLAG 062443,000971: 26,3676 00007 ADRES IMUSE # IMUSE DOWN 062444,000972: 26,3677 05560 TC DOWNFLAG 062445,000973: 26,3700 00010 ADRES RNDVZFLG # RNDVZFLG DOWN 062446,000974: 062447,000975: 26,3701 35005 CAF BIT11 062448,000976: 26,3702 00006 EXTEND 062449,000977: 26,3703 05013 WOR CHAN13 # SET STANDBY ENABLE BIT 062450,000978: 062451,000979: 26,3704 05412 TC PHASCHNG # SET RESTART TO POSTAND WHEN STANDBY 062452,000980: 26,3705 07024 OCT 07024 # RECOVERS 062453,000981: 26,3706 20000 OCT 20000 062454,000982: 26,3707 1152 EBANK= SCALSAVE 062455,000983: 26,3707 03737 54062 2CADR POSTAND 062456,000984: 062457,000985: 26,3711 35036 CAF OCT62 062458,000986: 26,3712 04662 TC BANKCALL 062459,000987: 26,3713 21045 CADR GOPERF1 062460,000988: 26,3714 13711 TCF -3 062461,000989: 26,3715 13711 TCF -4 062462,000990: 26,3716 13711 TCF -5 062463,000991: 062464,000992: 26,3717 5036 OCT62 EQUALS .5SEC # DEC 50 = OCT 62 062465,000993: 062466,000994: # THE LOW 5 BITS OF THE SCALER READS 10000 FOR THE FIRST INTERVAL AFTER A 062467,000995: # Page 1447 062468,000996: # T1 INCREMENT. IF SCALPREP DETECTS THIS INTERVAL THE T1,T2 AND SCALER 062469,000997: # DATA ARE NOT COMPATIBLE AND RETURN IS TO L+1 FOR ANOTHER READING OF THE 062470,000998: # DATA. OTHERWISE, THE RETURN IS TO L+2 TO PROCEED. ROUTINE ALSO PREPARES 062471,000999: # THE SCALER READING FOR COMPUTATION OF THE INCREMENT TO UPDATE T1T2. (THE 062472,001000: # 10 MS BIT (BIT 6) OF THE SCALER IS INCREMENTED 5 MS OUT OF PHASE FROM 062473,001001: # T1.) ADDITION OF 5 MS (BIT 5) TO THE SCALER READING HAS THE EFFECT OF 062474,001002: # ADJUSTING BIT 6 IN THE SCALER TO BE IN PHASE WITH BIT 1 OF T1. THE LOW 5 062475,001003: # BITS OF THE SCALER READING ARE THEN SET TO ZERO, TO TRUNCATE THE SCALER 062476,001004: # DATA TO 10 MS. RESULTS ARE STORED IN MPAC, +1. 062477,001005: 062478,001006: 26,3717 00006 SCALPREP EXTEND 062479,001007: 26,3720 22156 QXCH MPAC +2 062480,001008: 26,3721 04554 TC FINETIME +1 062481,001009: 26,3722 00003 RELINT 062482,001010: 26,3723 52155 DXCH MPAC 062483,001011: 26,3724 35013 CA BIT5 # ADD 5 MS TO THE SCALER READING. 062484,001012: 26,3725 54001 TS L 062485,001013: 26,3726 35021 CA ZERO 062486,001014: 26,3727 20155 DAS MPAC 062487,001015: 26,3730 44362 CS LOW5 # SET LOW 5 BITS OF (SCALER+5MS) TO ZERO 062488,001016: 26,3731 70155 MASK MPAC +1 # AND STORE RESULTS IN MPAC,+1. 062489,001017: 26,3732 56155 XCH MPAC +1 062490,001018: 26,3733 74362 MASK LOW5 # TEST LOW 5 BITS OF SCALER FOR THE FIRST 062491,001019: # INTERVAL AFTER THE T1 INCREMENT 062492,001020: # (NOW = 00000, SINCE BIT 5 ADDED). 062493,001021: 26,3734 10000 CCS A # IS IT 1ST INTERVAL AFTER T1 INCREMENT 062494,001022: 26,3735 24156 INCR MPAC +2 # NO 062495,001023: 26,3736 00156 TC MPAC +2 # YES 062496,001024: 062497,001025: # POSTAND RECOVERS TIME AFTER STANDBY. THE SCALER IS SNAPSHOTTED AND THE 062498,001026: # TIME1 TIME2 COUNTER IS SET TO ZERO. THE LOW 5 BITS OF THE SCALER ARE 062499,001027: # INSPECTED TO INSURE COMPATIBILITY BETWEEN THE SCALER READING AND THE 062500,001028: # CLEARING OF THE TIME COUNTER. IT THEN COMPUTES THE DIFFERENCE IN SCALER 062501,001029: # VALUES (IN DP) AND ADDS THIS TO THE PREVIOUSLY SNAPSHOTTED VALUES OF 062502,001030: # TIME1 TIME2 AND PLACES THIS NEW TIME INTO THE TIME1 TIME2 COUNTER. 062503,001031: 062504,001032: 26,3737 COUNT* $$/P05 062505,001033: 062506,001034: 26,3737 45005 POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY 062507,001035: 26,3740 00006 EXTEND 062508,001036: 26,3741 03013 WAND CHAN13 # CLEAR STANDBY ENABLE BIT 062509,001037: 26,3742 00004 INHINT 062510,001038: 26,3743 35021 CA ZERO 062511,001039: 26,3744 54001 TS L 062512,001040: 26,3745 52025 DXCH TIME2 # CLEAR TIME1 TIME2 062513,001041: 26,3746 03717 TC SCALPREP # STORE SCALER IN MPAC, MPAC+1 062514,001042: 26,3747 03742 TC POSTAND +3 # T1,T2,SCALER NOT COMPATIBLE 062515,001043: 26,3750 00006 EXTEND # T1,T2 AND SCALER OK 062516,001044: 26,3751 41153 DCS SCALSAVE 062517,001045: 26,3752 20155 DAS MPAC # FORM DP DIFFERENCE OF POST-STANDBY SCALER 062518,001046: # Page 1448 062519,001047: 26,3753 35006 CAF BIT10 # MINUS PRE-STANDBY SCALER AND SHIFT RIGHT 062520,001048: 26,3754 07256 TC SHORTMP # 5 TO ALIGN BITS WITH TIME1 TIME2. 062521,001049: 26,3755 35021 CAF ZERO 062522,001050: 26,3756 54156 TS MPAC +2 # NEEDED FOR TP AGREE 062523,001051: 26,3757 07226 TC TPAGREE # MAKE DP DIFF AGREE 062524,001052: 26,3760 10154 CCS MPAC 062525,001053: 26,3761 03766 TC POSTCOM # IF DP DIFF NET +, NO SCALER OVERFLOW 062526,001054: 26,3762 03766 TC POSTCOM # BETWEEN PRE AND POST STANDBY. 062527,001055: 26,3763 03764 TC +1 # IF DP DIFF NET -, SCALER OVERFLOWED. ADD 062528,001056: 26,3764 35006 CAF BIT10 # BIT 10 TO HIGH DIFF TO CORRECT. 062529,001057: 26,3765 26154 ADS MPAC 062530,001058: 26,3766 00006 POSTCOM EXTEND # C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER. 062531,001059: 26,3767 31151 DCA TIME2SAV # PRE-STANDBY TIME1 TIME2 062532,001060: 26,3770 20155 DAS MPAC 062533,001061: 26,3771 07226 TC TPAGREE # FORCE SIGN AGREEMENT 062534,001062: 26,3772 52155 DXCH MPAC # UPDATED VALUE FOR T1,T2. 062535,001063: 26,3773 20025 DAS TIME2 # LOAD UPDATED VALUE INTO T1,T2, WITH 062536,001064: 26,3774 05560 TC DOWNFLAG # CLEAR NODOFLAG 062537,001065: 26,3775 00054 ADRES NODOFLAG 062538,001066: 062539,001067: 26,3776 04106 TC GOTOP00H 062540,001068: 062541,001069: 062542,001070: End of include-file IMU_MODE_SWITCHING_ROUTINES.agc. Parent file is MAIN.agc