Source Code
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These source-code files were obtained by digitally photographing
an Artemis 72 program listing from a private collection and then
modifying pre-existing Comanche 55 (Apollo 11) source files to
incorporate changes. Note that the page images
presented online are of reduced quality, and that additional images
may be 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 072 OF AGC PROGRAM ARTEMIS BY NASA 2021114-011 11:40 FEB. 26, 1971 THIS AGC PROGRAM SHALL ALSO BE REFERRED TO AS COLOSSUS 3 THIS PROGRAM IS INTENDED FOR USE IN THE CM AS SPECIFIED IN REPORT R-577. THIS PROGRAM WAS PREPARED UNDER OSR PROJECT 55-23890, SPONSORED BY THE MANNED SPACECRAFT CENTER OF THE NATIONAL AERONAUTICS AND SPACE ADMINISTRATION THROUGH CONTRACT NAS 9-4065 WITH THE CHARLES STARK DRAPER LABORATORY, MASSACHUSETTS INSTITUTE OF TECHNOLOGY, CAMBRIDGE, MASS. |
060612,000002: # Copyright: Public domain.
060613,000003: # Filename: IMU_MODE_SWITCHING_ROUTINES.agc
060614,000004: # Purpose: Part of the source code for Artemis (i.e., Colossus 3),
060615,000005: # build 072. This is for the Command Module's (CM)
060616,000006: # Apollo Guidance Computer (AGC), we believe for
060617,000007: # Apollo 15-17.
060618,000008: # Assembler: yaYUL
060619,000009: # Contact: Jim Lawton <jim DOT lawton AT gmail DOT com>
060620,000010: # Website: www.ibiblio.org/apollo/index.html
060621,000011: # Page scans: www.ibiblio.org/apollo/ScansForConversion/Artemis072/
060622,000012: # Mod history: 2009-08-19 JL Adapted from corresponding Comanche 055 file.
060623,000013: # 2010-02-06 JL Fixed a 2CADR that should have been ADRES on page 1418.
060624,000014: # 2020-02-11 JL Fixed errors on p1419, p1432.
060625,000015: # 2010-02-20 RSB Un-##'d this header.
060626,000016: # 2010-07-15 JL Fixed indentation.
060627,000017: # 2010-07-18 JL Fixed indentation.
060628,000018:
060629,000019: # # Page 1417
060630,000020: 4000 SETLOC FFTAG3
060631,000021: 4000 BANK
060632,000022:
060633,000023: 5511 E3,1471 EBANK= COMMAND
060634,000024:
060635,000025: # FIXED-FIXED ROUTINES
060636,000026:
060637,000027: 5511 COUNT* $$/IMODE
060638,000028: 5511 34772 ZEROICDU CAF ZERO # ZERO ICDU COUNTERS.
060639,000029: 5512 54032 TS CDUX
060640,000030: 5513 54033 TS CDUY
060641,000031: 5514 54034 TS CDUZ
060642,000032: 5515 00002 TC Q
060643,000033:
060644,000034: 5516 4760 SPSCODE = BIT9
060645,000035:
060646,000036: # # Page 1418
060647,000037: # IMU ZEROING ROUTINE.
060648,000038:
060649,000039: 07,2000 SETLOC MODESW
060650,000040: 07,2000 BANK
060651,000041:
060652,000042: 07,2627 COUNT* $$/IMODE
060653,000043: 07,2627 00004 IMUZERO INHINT # ROUTINE TO ZERO ICDUS.
060654,000044: 07,2630 41241 CS DSPTAB +11D # DONT ZERO CDUS IS IMU IN GIMBAL LOCK AND
060655,000045: 07,2631 75004 MASK BITS4&6 # COARSE ALIGN (GIMBAL RUNAWAY PROTECTION)
060656,000046: 07,2632 10000 CCS A
060657,000047: 07,2633 12637 TCF IMUZEROA
060658,000048:
060659,000049: 07,2634 05671 TC ALARM # IF SO.
060660,000050: 07,2635 00206 OCT 00206
060661,000051:
060662,000052: 07,2636 13622 TCF CAGETSTJ +4 # IMMEDIATE FAILURE.
060663,000053:
060664,000054: 07,2637 03616 IMUZEROA TC CAGETSTJ
060665,000055: # DO ALL THE WORK.
060666,000056: 07,2640 41334 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
060667,000057: 07,2641 74763 MASK NOIMUDAP
060668,000058: 07,2642 27334 ADS IMODES33
060669,000059: 07,2643 40000 COM
060670,000060: 07,2644 74764 MASK IMUZROBT
060671,000061: 07,2645 27334 ADS IMODES33
060672,000062:
060673,000063: 07,2646 41333 CS IMODES30 # INHIBIT ICDUFAIL AND IMUFAIL (IN CASE WE
060674,000064: 07,2647 74765 MASK IMUFINHT
060675,000065: 07,2650 27333 ADS IMODES30
060676,000066: 07,2651 40000 COM
060677,000067: 07,2652 74766 MASK ICDUINHT
060678,000068: 07,2653 27333 ADS IMODES30
060679,000069:
060680,000070: 07,2654 45004 CS BITS4&6 # SEND ZERO ENCODE WITH COARSE AND ERROR
060681,000071: 07,2655 00006 EXTEND # COUNTER DISABLED.
060682,000072: 07,2656 03012 WAND CHAN12
060683,000073:
060684,000074: 07,2657 03207 TC NOATTOFF # TURN OFF NO ATT LAMP.
060685,000075:
060686,000076: 07,2660 34764 CAF BIT5
060687,000077: 07,2661 00006 EXTEND
060688,000078: 07,2662 05012 WOR CHAN12
060689,000079:
060690,000080: 07,2663 05511 TC ZEROICDU
060691,000081: 07,2664 34763 CAF BIT6 # WAIT 320 MS TO GIVE AGS ADEQUATE TIME TO
060692,000082: 07,2665 05223 TC TWIDDLE # RECEIVE ITS PULSE TRAIN.
060693,000083: 07,2666 E3,1474 EBANK= CDUIND
060694,000084: 07,2666 02677 ADRES IMUZERO2
060695,000085: 07,2667 41333 CS IMODES30 # SEE IF IMU OPERATING AND ALARM IF NOT.
060696,000086: 07,2670 74760 MASK IMUOPBIT
060697,000087: # # Page 1419
060698,000088: 07,2671 10000 CCS A
060699,000089: 07,2672 12675 TCF MODEEXIT
060700,000090:
060701,000091: 07,2673 05671 TC ALARM
060702,000092: 07,2674 00210 OCT 210
060703,000093:
060704,000094: 07,2675 00003 MODEEXIT RELINT # GENERAL MODE-SWITCHING EXIT.
060705,000095: 07,2676 14651 TCF SWRETURN
060706,000096:
060707,000097:
060708,000098: 07,2677 03606 IMUZERO2 TC CAGETEST
060709,000099: 07,2700 05511 TC ZEROICDU # ZERO CDUX, CDUY, CDUZ
060710,000100:
060711,000101: 07,2701 44764 CS BIT5 # REMOVE ZERO DISCRETE.
060712,000102: 07,2702 00006 EXTEND
060713,000103: 07,2703 03012 WAND CHAN12
060714,000104:
060715,000105: 07,2704 35025 CAF 7.9SEC # WAIT 7.9 SECS FOR CTRS TO FIND GIMBALS
060716,000106: 07,2705 05260 TC VARDELAY
060717,000107:
060718,000108: 07,2706 03606 IMUZERO3 TC CAGETEST
060719,000109: 07,2707 34765 CA IMUFINHT
060720,000110: 07,2710 64766 AD ICDUINHT
060721,000111: 07,2711 40000 COM
060722,000112: 07,2712 71333 MASK IMODES30
060723,000113: 07,2713 55333 TS IMODES30
060724,000114:
060725,000115: 07,2714 34763 CA NOIMUDAP
060726,000116: 07,2715 64764 AD IMUZROBT
060727,000117: 07,2716 40000 COM
060728,000118: 07,2717 71334 MASK IMODES33 # BIT5 FOR GROUND
060729,000119: 07,2720 55334 TS IMODES33
060730,000120:
060731,000121: 07,2721 04714 TC IBNKCALL # SET ISS WARNING IF EITHER OF ABOVE ARE
060732,000122: 07,2722 14706 CADR SETISSW # PRESENT.
060733,000123:
060734,000124: 07,2723 13563 TCF ENDIMU
060735,000125:
060736,000126: # # Page 1420
060737,000127: # IMU COARSE ALIGN MODE.
060738,000128:
060739,000129: 07,2724 00004 IMUCOARS INHINT
060740,000130: 07,2725 03616 TC CAGETSTJ
060741,000131: 07,2726 03070 TC SETCOARS
060742,000132:
060743,000133: 07,2727 36211 CAF SIX
060744,000134: 07,2730 05233 TC WAITLIST
060745,000135: 07,2731 E3,1474 EBANK= CDUIND
060746,000136: 07,2731 02734 16063 2CADR COARS
060747,000137:
060748,000138: 07,2733 12675 TCF MODEEXIT
060749,000139:
060750,000140: 07,2734 03606 COARS TC CAGETEST
060751,000141: 07,2735 34763 CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
060752,000142: 07,2736 00006 EXTEND
060753,000143: 07,2737 05012 WOR CHAN12
060754,000144:
060755,000145: 07,2740 34767 CAF TWO # SET CDU INDICATOR
060756,000146: 07,2741 55474 COARS1 TS CDUIND
060757,000147:
060758,000148: 07,2742 51474 INDEX CDUIND # COMPUTE THETAD - THETAA IN 1'S
060759,000149: 07,2743 31307 CA THETAD # COMPLEMENT FORM
060760,000150: 07,2744 00006 EXTEND
060761,000151: 07,2745 51474 INDEX CDUIND
060762,000152: 07,2746 20032 MSU CDUX
060763,000153: 07,2747 00006 EXTEND
060764,000154: 07,2750 74754 MP BIT13 # SHIFT RIGHT 2
060765,000155: 07,2751 56001 XCH L # ROUND
060766,000156: 07,2752 60000 DOUBLE
060767,000157: 07,2753 54061 TS ITEMP1
060768,000158: 07,2754 12756 TCF +2
060769,000159: 07,2755 26001 ADS L
060770,000160:
060771,000161: 07,2756 51474 INDEX CDUIND # DIFFERENCE TO BE COMPUTED
060772,000162: 07,2757 23471 LXCH COMMAND
060773,000163: 07,2760 11474 CCS CDUIND
060774,000164: 07,2761 02741 TC COARS1
060775,000165:
060776,000166: 07,2762 34767 CAF TWO # MINIMUM OF 4 MS WAIT
060777,000167: 07,2763 05260 -1 TC VARDELAY
060778,000168: 07,2764 03606 COARS2 TC CAGETEST # DONT CONTINUE IF CAGED.
060779,000169: 07,2765 54061 TS ITEMP1 # SETS TO +0.
060780,000170: 07,2766 34767 CAF TWO # SET CDU INDICATOR
060781,000171: 07,2767 55474 +3 TS CDUIND
060782,000172:
060783,000173: 07,2770 51474 INDEX CDUIND
060784,000174: 07,2771 11471 CCS COMMAND # NUMBER OF PULSES REQUIRED
060785,000175: 07,2772 02776 TC COMPOS # GREATER THAN MAX ALLOWED
060786,000176: # # Page 1421
060787,000177: 07,2773 03005 TC NEXTCDU +1
060788,000178: 07,2774 03043 TC COMNEG
060789,000179: 07,2775 03005 TC NEXTCDU +1
060790,000180:
060791,000181: 07,2776 63663 COMPOS AD -COMMAX # COMMAX = MAX NUMBER OF PULSES ALLOWED
060792,000182: 07,2777 00006 EXTEND # MINUS ONE
060793,000183: 07,3000 63053 BZMF COMZERO
060794,000184: 07,3001 51474 INDEX CDUIND
060795,000185: 07,3002 55471 TS COMMAND # REDUCE COMMAND BY MAX NUMBER OF PULSES
060796,000186: 07,3003 43664 CS -COMMAX- # ALLOWED
060797,000187:
060798,000188: 07,3004 24061 NEXTCDU INCR ITEMP1
060799,000189: 07,3005 64771 +1 AD NEG0
060800,000190: 07,3006 51474 INDEX CDUIND
060801,000191: 07,3007 54050 TS CDUXCMD # SET UP COMMAND REGISTER.
060802,000192:
060803,000193: 07,3010 11474 CCS CDUIND
060804,000194: 07,3011 02767 TC COARS2 +3
060805,000195:
060806,000196: 07,3012 10061 CCS ITEMP1 # SEE IF ANY PULSES TO GO OUT.
060807,000197: 07,3013 13057 TCF SENDPULS
060808,000198:
060809,000199: 07,3014 05255 TC FIXDELAY # WAIT FOR GIMBALS TO SETTLE.
060810,000200: 07,3015 00226 DEC 150 B-14
060811,000201:
060812,000202: 07,3016 34767 CAF TWO # AT END OF COMMAND, CHECK TO SEE THAT
060813,000203: 07,3017 54061 CHKCORS TS ITEMP1 # GIMBALS ARE WITHIN 2 DEGREES OF THETAD.
060814,000204: 07,3020 50000 INDEX A
060815,000205: 07,3021 30032 CA CDUX
060816,000206: 07,3022 00006 EXTEND
060817,000207: 07,3023 50061 INDEX ITEMP1
060818,000208: 07,3024 21307 MSU THETAD
060819,000209: 07,3025 10000 CCS A
060820,000210: 07,3026 13034 TCF COARSERR
060821,000211: 07,3027 13031 TCF CORSCHK2
060822,000212: 07,3030 13034 TCF COARSERR
060823,000213:
060824,000214: # # Page 1422
060825,000215:
060826,000216: 07,3031 10061 CORSCHK2 CCS ITEMP1
060827,000217: 07,3032 13017 TCF CHKCORS
060828,000218: 07,3033 13563 TCF ENDIMU # END OF COARSE ALIGNMENT.
060829,000219:
060830,000220: 07,3034 63042 COARSERR AD COARSTOL # 2 DEGREES.
060831,000221: 07,3035 00006 EXTEND
060832,000222: 07,3036 63031 BZMF CORSCHK2
060833,000223:
060834,000224:
060835,000225: 07,3037 05671 TC ALARM # COARSE ALIGN ERROR.
060836,000226: 07,3040 00211 OCT 211
060837,000227:
060838,000228: 07,3041 13625 TCF IMUBAD
060839,000229:
060840,000230: 07,3042 77511 COARSTOL DEC -.01111 # 2 DEGREES SCALED AT HALF-REVOLUTIONS
060841,000231:
060842,000232:
060843,000233: 07,3043 63663 COMNEG AD -COMMAX
060844,000234: 07,3044 00006 EXTEND
060845,000235: 07,3045 63053 BZMF COMZERO
060846,000236: 07,3046 40000 COM
060847,000237: 07,3047 51474 INDEX CDUIND
060848,000238: 07,3050 55471 TS COMMAND
060849,000239: 07,3051 33664 CA -COMMAX-
060850,000240: 07,3052 03004 TC NEXTCDU
060851,000241:
060852,000242: 07,3053 34772 COMZERO CAF ZERO
060853,000243: 07,3054 51474 INDEX CDUIND
060854,000244: 07,3055 57471 XCH COMMAND
060855,000245: 07,3056 03004 TC NEXTCDU
060856,000246:
060857,000247:
060858,000248: 07,3057 37673 SENDPULS CAF 13,14,15
060859,000249: 07,3060 00006 EXTEND
060860,000250: 07,3061 05014 WOR CHAN14
060861,000251: 07,3062 33665 CAF 600MS
060862,000252: 07,3063 12763 TCF COARS2 -1 # THEN TO VARDELAY
060863,000253:
060864,000254: 07,3064 34763 CA+ECE CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
060865,000255: 07,3065 00006 EXTEND
060866,000256: 07,3066 05012 WOR CHAN12
060867,000257: 07,3067 05314 TC TASKOVER
060868,000258:
060869,000259: # # Page 1423
060870,000260: 07,3070 34765 SETCOARS CAF BIT4 # BYPASS IF ALREADY IN COARSE ALIGN
060871,000261: 07,3071 00006 EXTEND
060872,000262: 07,3072 02012 RAND CHAN12
060873,000263: 07,3073 10000 CCS A
060874,000264: 07,3074 00002 TC Q
060875,000265:
060876,000266: 07,3075 44763 CS BIT6 # CLEAR ISS ERROR COUNTERS
060877,000267: 07,3076 00006 EXTEND
060878,000268: 07,3077 03012 WAND CHAN12
060879,000269:
060880,000270: 07,3100 44757 CS BIT10 # KNOCK DOWN GYRO ACTIVITY
060881,000271: 07,3101 00006 EXTEND
060882,000272: 07,3102 03014 WAND CHAN14
060883,000273: 07,3103 44772 CS ZERO
060884,000274: 07,3104 54047 TS GYROCMD
060885,000275:
060886,000276: 07,3105 34765 CAF BIT4 # PUT ISS IN COARSE ALIGN
060887,000277: 07,3106 00006 EXTEND
060888,000278: 07,3107 05012 WOR CHAN12
060889,000279:
060890,000280: 07,3110 41241 CS DSPTAB +11D # TURN ON NO ATT LAMP
060891,000281: 07,3111 77664 MASK OCT40010
060892,000282: 07,3112 27241 ADS DSPTAB +11D
060893,000283:
060894,000284: 07,3113 41334 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
060895,000285: 07,3114 74763 MASK NOIMUDAP
060896,000286: 07,3115 27334 ADS IMODES33
060897,000287:
060898,000288: 07,3116 41333 CS IMODES30 # DISABLE IMUFAIL
060899,000289: 07,3117 74765 MASK IMUFINHT
060900,000290: 07,3120 27333 ADS IMODES30
060901,000291:
060902,000292: 07,3121 44764 RNDREFDR CS TRACKBIT # KNOCK DOWN TRACK FLAG
060903,000293: 07,3122 70075 MASK FLAGWRD1
060904,000294: 07,3123 54075 TS FLAGWRD1
060905,000295:
060906,000296: 07,3124 44752 CS DRFTBIT # KNOCK DOWN DRIFT FLAG
060907,000297: 07,3125 70076 MASK FLAGWRD2
060908,000298: 07,3126 54076 TS FLAGWRD2
060909,000299:
060910,000300: 07,3127 44754 CS REFSMBIT # KNOCK DOWN REFSMMAT FLAG
060911,000301: 07,3130 70077 MASK FLAGWRD3
060912,000302: 07,3131 54077 TS FLAGWRD3
060913,000303:
060914,000304: 07,3132 00002 TC Q
060915,000305:
060916,000306: 07,3133 7664 OCT40010 EQUALS OT40010
060917,000307:
060918,000308: # # Page 1424
060919,000309:
060920,000310: # IMU FINE ALIGN MODE SWITCH.
060921,000311:
060922,000312: 07,3133 00004 IMUFINE INHINT
060923,000313: 07,3134 03616 TC CAGETSTJ # SEE IF IMU BEING CAGED.
060924,000314:
060925,000315: 07,3135 45001 CS BITS4-5 # RESET ZERO AND COARSE
060926,000316: 07,3136 00006 EXTEND
060927,000317: 07,3137 03012 WAND CHAN12
060928,000318:
060929,000319: 07,3140 44763 CS NOIMUDAP # INSURE DAP AUTO AND HOLD MODES ENABLED
060930,000320: 07,3141 71334 MASK IMODES33
060931,000321: 07,3142 55334 TS IMODES33
060932,000322:
060933,000323: 07,3143 03207 TC NOATTOFF
060934,000324:
060935,000325: 07,3144 34757 CAF BIT10 # IMU FAIL WAS INHIBITED DURING THE
060936,000326: 07,3145 05223 TC TWIDDLE # PRESUMABLY PRECEDING COARSE ALIGN. LEAVE
060937,000327: 07,3146 03155 ADRES IFAILOK # IT ON FOR THE FIRST 5 SECS OF FINE ALIGN
060938,000328: 07,3147 35017 CAF 2SECS
060939,000329: 07,3150 05223 TC TWIDDLE
060940,000330: 07,3151 03153 ADRES IMUFINED
060941,000331: 07,3152 12675 TCF MODEEXIT
060942,000332:
060943,000333: 07,3153 03606 IMUFINED TC CAGETEST # SEE THAT NO ONE HAS CAGED THE IMU.
060944,000334: 07,3154 13563 TCF ENDIMU
060945,000335:
060946,000336: # # Page 1425
060947,000337: 07,3155 03613 IFAILOK TC CAGETSTQ # ENABLE IMU FAIL UNLESS IMU BEING CAGED.
060948,000338: 07,3156 15314 TCF TASKOVER # IT IS.
060949,000339:
060950,000340: 07,3157 34765 CAF BIT4 # DON'T RESET IMU FAIL INHIBIT IF SOMEONE
060951,000341: 07,3160 00006 EXTEND # HAS GONE INTO COARSE ALIGN.
060952,000342: 07,3161 02012 RAND CHAN12
060953,000343: 07,3162 10000 CCS A
060954,000344: 07,3163 15314 TCF TASKOVER
060955,000345:
060956,000346: 07,3164 41333 CS IMODES30 # RESET IMUFAIL.
060957,000347: 07,3165 74754 MASK IMUFLBIT
060958,000348: 07,3166 27333 ADS IMODES30
060959,000349: 07,3167 44765 CS IMUFINHT
060960,000350: 07,3170 71333 PFAILOK2 MASK IMODES30
060961,000351: 07,3171 55333 TS IMODES30
060962,000352: 07,3172 04714 TC IBNKCALL # THE ISS WARNING LIGHT MAY COME ON NOW
060963,000353: 07,3173 14706 CADR SETISSW # THAT THE INHIBIT WAS BEEN REMOVED.
060964,000354: 07,3174 15314 TCF TASKOVER
060965,000355:
060966,000356: 07,3175 03613 PFAILOK TC CAGETSTQ # ENABLE PIP FAIL PROG ALARM.
060967,000357: 07,3176 15314 TCF TASKOVER
060968,000358:
060969,000359: 07,3177 41333 CS IMODES30 # RESET IMU AND PIPA FAIL BITS.
060970,000360: 07,3200 74757 MASK PIPAFLBT
060971,000361: 07,3201 27333 ADS IMODES30
060972,000362:
060973,000363: 07,3202 41334 CS IMODES33
060974,000364: 07,3203 74754 MASK PIP2FLBT
060975,000365: 07,3204 27334 ADS IMODES33
060976,000366:
060977,000367: 07,3205 44764 CS NOACCALM
060978,000368: 07,3206 13170 TCF PFAILOK2
060979,000369:
060980,000370: 07,3207 47664 NOATTOFF CS OCT40010 # SUBROUTINE TO TURN OFF NO ATT LAMP.
060981,000371: 07,3210 71241 MASK DSPTAB +11D
060982,000372: 07,3211 64752 AD BIT15
060983,000373: 07,3212 55241 TS DSPTAB +11D
060984,000374: 07,3213 00002 TC Q
060985,000375:
060986,000376: # # Page 1426
060987,000377:
060988,000378: # ROUTINES TO INITIATE AND TERMINATE PROGRAM USE OF THE PIPAS. NO IMUSTALL REQUIRED IN EITHER CASE.
060989,000379:
060990,000380: 07,3214 44772 PIPUSE CS ZERO
060991,000381: 07,3215 54037 TS PIPAX
060992,000382: 07,3216 54040 TS PIPAY
060993,000383: 07,3217 54041 TS PIPAZ
060994,000384:
060995,000385: 07,3220 03613 PIPUSE1 TC CAGETSTQ # DO NOT ENABLE PIPA FAIL IF IMU IS CAGED
060996,000386: 07,3221 14651 TCF SWRETURN
060997,000387:
060998,000388: 07,3222 00004 INHINT
060999,000389: 07,3223 44770 CS ACCFINHT # IF PIPA FAILS FROM NOW ON (UNTIL
061000,000390: 07,3224 71333 MASK IMODES30 # PIPFREE), LIGHT ISS WARNING.
061001,000391: 07,3225 55333 TS IMODES30
061002,000392:
061003,000393: 07,3226 04714 PIPFREE2 TC IBNKCALL # ISS WARNING MIGHT COME ON NOW.
061004,000394: 07,3227 14706 CADR SETISSW # (OR GO OFF ON PIPFREE).
061005,000395:
061006,000396: 07,3230 12675 TCF MODEEXIT
061007,000397:
061008,000398: 07,3231 00004 PIPFREE INHINT # PROGRAM DONE WITH PIPAS. DONT LIGHT
061009,000399: 07,3232 41333 CS IMODES30 # ISS WARNING.
061010,000400: 07,3233 74770 MASK ACCFINHT
061011,000401: 07,3234 27333 ADS IMODES30
061012,000402:
061013,000403: 07,3235 74757 MASK PIPAFLBT # IF PIP FAIL ON, DO PROG ALARM AND RESET
061014,000404: 07,3236 10000 CCS A # ISS WARNING.
061015,000405: 07,3237 12675 TCF MODEEXIT
061016,000406:
061017,000407: 07,3240 05671 TC ALARM
061018,000408: 07,3241 00212 OCT 212
061019,000409:
061020,000410: 07,3242 00004 INHINT
061021,000411:
061022,000412: 07,3243 13226 TCF PIPFREE2
061023,000413:
061024,000414: # # Page 1427
061025,000415:
061026,000416: # THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIX REGISTERS
061027,000417: # BEGINNING AT THE ECADR ARRIVING IN A. THE MINIMUM SIZE OF ANY PULSE TRAIN IS 16 PULSES (.25 CDU COUNTS). THE
061028,000418: # UNSENT PORTION OF THE COMMAND IS LEFT INTACT IN THE INPUT COMMAND REGISTERS.
061029,000419:
061030,000420: 07,3244 54161 IMUPULSE TS MPAC +5 # SAVE ARRIVING ECADR.
061031,000421: 07,3245 03616 TC CAGETSTJ # DON'T PROCEED IF IMU BEING CAGED.
061032,000422:
061033,000423: 07,3246 11324 CCS LGYRO # SEE IF GYROS BUSY.
061034,000424: 07,3247 03307 TC GYROBUSY # SLEEP.
061035,000425:
061036,000426: 07,3250 34763 CAF BIT6 # ENABLE THE POWER SUPPLY.
061037,000427: 07,3251 00006 EXTEND
061038,000428: 07,3252 05014 WOR CHAN14
061039,000429:
061040,000430: 07,3253 34766 CAF FOUR
061041,000431: 07,3254 05233 GWAKE2 TC WAITLIST # (IF A JOB WAS PUT TO SLEEP, THE POWER
061042,000432: 07,3255 E3,1474 EBANK= CDUIND # SUPPLY IS LEFT ON BY THE WAKING JOB).
061043,000433: 07,3255 03324 16063 2CADR STRTGYRO
061044,000434:
061045,000435: 07,3257 30161 CA MPAC +5 # SET UP EBANK, SAVING CALLER'S EBANK FOR
061046,000436: 07,3260 56003 XCH EBANK # RESTORATION ON RETURN.
061047,000437: 07,3261 56161 XCH MPAC +5
061048,000438: 07,3262 55324 TS LGYRO # RESERVES GYROS.
061049,000439: 07,3263 74350 MASK LOW8
061050,000440: 07,3264 54061 TS ITEMP1
061051,000441:
061052,000442: 07,3265 34767 CAF TWO # FORCE SIGN AGREEMENT ON INPUTS.
061053,000443: 07,3266 54157 GYROAGRE TS MPAC +3
061054,000444: 07,3267 60000 DOUBLE
061055,000445: 07,3270 60061 AD ITEMP1
061056,000446: 07,3271 54160 TS MPAC +4
061057,000447: 07,3272 00006 EXTEND
061058,000448: 07,3273 50000 INDEX A
061059,000449: 07,3274 31401 DCA 1400
061060,000450: 07,3275 52155 DXCH MPAC
061061,000451: 07,3276 07224 TC DPAGREE
061062,000452: 07,3277 52155 DXCH MPAC
061063,000453: 07,3300 50160 INDEX MPAC +4
061064,000454: 07,3301 53401 DXCH 1400
061065,000455:
061066,000456: 07,3302 10157 CCS MPAC +3
061067,000457: 07,3303 13266 TCF GYROAGRE
061068,000458:
061069,000459: 07,3304 30161 CA MPAC +5 # RESTORE CALLER'S EBANK.
061070,000460: 07,3305 54003 TS EBANK
061071,000461: 07,3306 12675 TCF MODEEXIT
061072,000462:
061073,000463: # # Page 1428
061074,000464:
061075,000465: # ROUTINES TO ALLOW TORQUING ONLY ONE JOB AT A TIME.
061076,000466:
061077,000467: 07,3307 00006 GYROBUSY EXTEND # SAVE RETURN 2FCADR.
061078,000468: 07,3310 30134 DCA BUF2
061079,000469: 07,3311 52155 DXCH MPAC
061080,000470: 07,3312 33323 REGSLEEP CAF LGWAKE
061081,000471: 07,3313 15163 TCF JOBSLEEP
061082,000472:
061083,000473: 07,3314 11324 GWAKE CCS LGYRO # WHEN AWAKENED, SEE IF GYROS STILL BUSY.
061084,000474: 07,3315 13312 TCF REGSLEEP # IF SO, SLEEP SOME MORE.
061085,000475:
061086,000476: 07,3316 00006 EXTEND
061087,000477: 07,3317 30155 DCA MPAC
061088,000478: 07,3320 52134 DXCH BUF2 # RESTORE SWRETURN INFO.
061089,000479: 07,3321 34770 CAF ONE
061090,000480: 07,3322 13254 TCF GWAKE2
061091,000481:
061092,000482: 07,3323 17314 LGWAKE CADR GWAKE
061093,000483:
061094,000484: # # Page 1429
061095,000485:
061096,000486: # GYRO-TORQUING WAITLIST TASKS.
061097,000487:
061098,000488: 07,3324 43560 STRTGYRO CS GDESELCT # DE-SELECT LAST GYRO.
061099,000489: 07,3325 00006 EXTEND
061100,000490: 07,3326 03014 WAND CHAN14
061101,000491:
061102,000492: 07,3327 03575 TC CAGETSTG
061103,000493:
061104,000494: 07,3330 31324 STRTGYR2 CA LGYRO # JUMP ON PHASE COUNTER IN BITS 13-14
061105,000495: 07,3331 00006 EXTEND
061106,000496: 07,3332 74765 MP BIT4
061107,000497: 07,3333 50000 INDEX A
061108,000498: 07,3334 13335 TCF +1
061109,000499: 07,3335 03352 TC GSELECT # =0. DO Y GYRO.
061110,000500: 07,3336 00202 OCT 00202
061111,000501:
061112,000502: 07,3337 03352 TC GSELECT # =1. DO Z GYRO.
061113,000503: 07,3340 00302 OCT 00302
061114,000504:
061115,000505: 07,3341 03350 TC GSELECT -2 # =2. DO X GYRO.
061116,000506: 07,3342 00100 OCT 00100
061117,000507:
061118,000508: 07,3343 34772 CAF ZERO # =3. DONE
061119,000509: 07,3344 55324 TS LGYRO
061120,000510: 07,3345 33323 CAF LGWAKE # WAKE A POSSIBLE SLEEPING JOB.
061121,000511: 07,3346 05167 TC JOBWAKE
061122,000512:
061123,000513: 07,3347 13153 NORESET TCF IMUFINED # DO NOT RESET POWER SUPPLY
061124,000514:
061125,000515: # # Page 1430
061126,000516:
061127,000517: 07,3350 44766 -2 CS FOUR # SPECIAL ENTRY TO REGRESS LGYRO FOR X
061128,000518: 07,3351 27324 ADS LGYRO
061129,000519:
061130,000520: 07,3352 50002 GSELECT INDEX Q # SELECT GYRO.
061131,000521: 07,3353 30000 CAF 0 # PACKED WORD CONTAINS GYRO SELECT BITS
061132,000522: 07,3354 54064 TS ITEMP4 # AND INCREMENT TO LGYRO.
061133,000523: 07,3355 74774 MASK SEVEN
061134,000524: 07,3356 64754 AD BIT13
061135,000525: 07,3357 27324 ADS LGYRO
061136,000526: 07,3360 54003 TS EBANK
061137,000527: 07,3361 74350 MASK LOW8
061138,000528: 07,3362 54061 TS ITEMP1
061139,000529:
061140,000530: 07,3363 44774 CS SEVEN
061141,000531: 07,3364 70064 MASK ITEMP4
061142,000532: 07,3365 54064 TS ITEMP4
061143,000533:
061144,000534: 07,3366 00006 EXTEND # MOVE DP COMMAND TO RUPTREGS FOR TESTING.
061145,000535: 07,3367 50061 INDEX ITEMP1
061146,000536: 07,3370 31401 DCA 1400
061147,000537: 07,3371 52071 DXCH RUPTREG1
061148,000538:
061149,000539: 07,3372 10070 CCS RUPTREG1
061150,000540: 07,3373 13406 TCF MAJ+
061151,000541: 07,3374 13376 TCF +2
061152,000542: 07,3375 13541 TCF MAJ-
061153,000543:
061154,000544: 07,3376 10071 CCS RUPTREG2
061155,000545: 07,3377 13403 TCF MIN+
061156,000546: 07,3400 13330 TCF STRTGYR2
061157,000547: 07,3401 13536 TCF MIN-
061158,000548: 07,3402 13330 TCF STRTGYR2
061159,000549:
061160,000550: # # Page 1431
061161,000551:
061162,000552: 07,3403 63437 MIN+ AD -GYROMIN # SMALL POSITIVE COMMAND. SEE IF AT LEAST
061163,000553: 07,3404 00006 EXTEND # 16 GYRO PULSES.
061164,000554: 07,3405 63330 BZMF STRTGYR2
061165,000555:
061166,000556: 07,3406 00006 MAJ+ EXTEND # DEFINITE POSITIVE OUTPUT.
061167,000557: 07,3407 33562 DCA GYROFRAC
061168,000558: 07,3410 20071 DAS RUPTREG1
061169,000559:
061170,000560: 07,3411 30064 CA ITEMP4 # SELECT POSITIVE TORQUING FOR THIS GYRO.
061171,000561: 07,3412 00006 EXTEND
061172,000562: 07,3413 05014 WOR CHAN14
061173,000563:
061174,000564: 07,3414 36043 CAF LOW7 # LEAVE NUMBER OF POSSIBLE 8192 AUGMENTS
061175,000565: 07,3415 70071 MASK RUPTREG2 # TO INITIAL COMMAND IN MAJOR PART OF LONG
061176,000566: 07,3416 56071 XCH RUPTREG2 # TERM STORAGE AND TRUNCATED FRACTION
061177,000567: 07,3417 00006 GMERGE EXTEND # IN MINOR PART. THE MAJOR PART WILL BE
061178,000568: 07,3420 74761 MP BIT8 # COUNTED DOWN TO ZERO IN THE COURSE OF
061179,000569: 07,3421 54062 TS ITEMP2 # PUTTING OUT THE ENTIRE COMMAND.
061180,000570: 07,3422 30070 CA RUPTREG1
061181,000571: 07,3423 00006 EXTEND
061182,000572: 07,3424 74760 MP BIT9
061183,000573: 07,3425 54070 TS RUPTREG1
061184,000574: 07,3426 30001 CA L
061185,000575: 07,3427 00006 EXTEND
061186,000576: 07,3430 74753 MP BIT14
061187,000577: 07,3431 26062 ADS ITEMP2 # INITIAL COMMAND.
061188,000578:
061189,000579: 07,3432 00006 EXTEND # SEE IF MORE THAN ONE PULSE TRAIN NEEDED
061190,000580: 07,3433 30071 DCA RUPTREG1 # (MORE THAN 16383 PULSES).
061191,000581: 07,3434 67702 AD MINUS1
061192,000582: 07,3435 10000 CCS A
061193,000583: 07,3436 13503 TCF LONGGYRO
061194,000584: 07,3437 77601 -GYROMIN OCT -176 # MAY BE ADJUSTED TO SPECIFY MINIMUM CMD
061195,000585: 07,3440 13444 TCF +4
061196,000586:
061197,000587: 07,3441 34753 CAF BIT14
061198,000588: 07,3442 26062 ADS ITEMP2
061199,000589: 07,3443 34772 CAF ZERO
061200,000590:
061201,000591: 07,3444 50061 +4 INDEX ITEMP1
061202,000592: 07,3445 53401 DXCH 1400
061203,000593:
061204,000594: # # Page 1432
061205,000595:
061206,000596: 07,3446 30062 CA ITEMP2 # ENTIRE COMMAND.
061207,000597: 07,3447 54047 LASTSEG TS GYROCMD
061208,000598: 07,3450 03570 +1 TC COARSTST
061209,000599:
061210,000600: 07,3451 30047 CA GYROCMD
061211,000601: 07,3452 00006 EXTEND
061212,000602: 07,3453 74757 MP BIT10 # WAITLIST DT
061213,000603: 07,3454 66214 AD THREE # TRUNCATION AND PHASE UNCERTAINTIES.
061214,000604: 07,3455 05223 TC TWIDDLE
061215,000605: 07,3456 03467 ADRES TWOPULSE
061216,000606: 07,3457 03463 EXITGYRO TC GYROEXIT
061217,000607: 07,3460 15314 TCF TASKOVER
061218,000608: 07,3461 34767 OUTPULSE CA BIT2
061219,000609: 07,3462 54047 TS GYROCMD
061220,000610: 07,3463 34757 GYROEXIT CAF BIT10
061221,000611: 07,3464 00006 EXTEND
061222,000612: 07,3465 05014 WOR CHAN14
061223,000613: 07,3466 00002 TC Q
061224,000614: 07,3467 44760 TWOPULSE CS BIT9
061225,000615: 07,3470 00006 EXTEND
061226,000616: 07,3471 03014 WAND CHAN14
061227,000617: 07,3472 03461 TC OUTPULSE
061228,000618: 07,3473 34770 CA BIT1
061229,000619: 07,3474 05223 TC TWIDDLE
061230,000620: 07,3475 03324 ADRES STRTGYRO
061231,000621: 07,3476 34760 CA BIT9
061232,000622: 07,3477 00006 EXTEND
061233,000623: 07,3500 05014 WOR CHAN14
061234,000624: 07,3501 03461 TC OUTPULSE
061235,000625: 07,3502 15314 TCF TASKOVER
061236,000626: 07,3503 50061 LONGGYRO INDEX ITEMP1
061237,000627: 07,3504 53401 DXCH 1400 # INITIAL COMMAND OUT PLUS N AUGMENTS OF
061238,000628: 07,3505 34753 CAF BIT14 # 8192. INITIAL COMMAND IS AT LEAST 8192
061239,000629: 07,3506 60062 AD ITEMP2
061240,000630: 07,3507 54047 TS GYROCMD
061241,000631:
061242,000632: 07,3510 00006 AUG3 EXTEND # GET WAITLIST DT TO TIME WHEN TRAIN IS
061243,000633: 07,3511 74757 MP BIT10 # ALMOST OUT.
061244,000634: 07,3512 67700 AD NEG3
061245,000635: 07,3513 05223 TC TWIDDLE
061246,000636: 07,3514 03516 ADRES 8192AUG
061247,000637: 07,3515 13457 TCF EXITGYRO
061248,000638:
061249,000639: 07,3516 03570 8192AUG TC COARSTST
061250,000640:
061251,000641: 07,3517 31324 CA LGYRO # ADD 8192 PULSES TO GYROCMD
061252,000642: 07,3520 54003 TS EBANK
061253,000643: 07,3521 74350 MASK LOW8
061254,000644: 07,3522 54061 TS ITEMP1
061255,000645: # # Page 1433
061256,000646: 07,3523 50061 INDEX ITEMP1 # SEE IF THIS IS THE LAST AUG.
061257,000647: 07,3524 11400 CCS 1400
061258,000648: 07,3525 13531 TCF AUG2 # MORE TO COME.
061259,000649:
061260,000650: 07,3526 34753 CAF BIT14
061261,000651: 07,3527 26047 ADS GYROCMD
061262,000652: 07,3530 13450 TCF LASTSEG +1
061263,000653:
061264,000654: 07,3531 50061 AUG2 INDEX ITEMP1
061265,000655: 07,3532 55400 TS 1400
061266,000656: 07,3533 34753 CAF BIT14
061267,000657: 07,3534 26047 ADS GYROCMD
061268,000658: 07,3535 13510 TCF AUG3 # COMPUTE DT.
061269,000659:
061270,000660: # # Page 1434
061271,000661:
061272,000662: 07,3536 63437 MIN- AD -GYROMIN # POSSIBLE NEGATIVE OUTPUT.
061273,000663: 07,3537 00006 EXTEND
061274,000664: 07,3540 63330 BZMF STRTGYR2
061275,000665:
061276,000666: 07,3541 00006 MAJ- EXTEND # DEFINITE NEGATIVE OUTPUT.
061277,000667: 07,3542 43562 DCS GYROFRAC
061278,000668: 07,3543 20071 DAS RUPTREG1
061279,000669:
061280,000670: 07,3544 30064 CA ITEMP4 # SELECT NEGATIVE TORQUING FOR THIS GYRO.
061281,000671: 07,3545 64760 AD BIT9
061282,000672: 07,3546 00006 EXTEND
061283,000673: 07,3547 05014 WOR CHAN14
061284,000674:
061285,000675: 07,3550 40070 CS RUPTREG1 # SET UP RUPTREGS TO FALL INTO GMERGE.
061286,000676: 07,3551 54070 TS RUPTREG1 # ALL NUMBERS PUT INTO GYROCMD ARE
061287,000677: 07,3552 40071 CS RUPTREG2 # POSITIVE - BIT9 OF CHAN 14 DETERMINES
061288,000678: 07,3553 76043 MASK LOW7 # THE SIGN OF THE COMMAND.
061289,000679: 07,3554 40000 COM
061290,000680: 07,3555 56071 XCH RUPTREG2
061291,000681: 07,3556 40000 COM
061292,000682: 07,3557 13417 TCF GMERGE
061293,000683:
061294,000684: 07,3560 01700 GDESELCT OCT 1700 # TURN OFF SELECT AND ACTIVITY BITS.
061295,000685:
061296,000686: 07,3561 00000 00034 GYROFRAC 2DEC .215 B-21
061297,000687:
061298,000688: # # Page 1435
061299,000689:
061300,000690: # IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE.
061301,000691:
061302,000692: 07,3563 00006 ENDIMU EXTEND # MODE IS BAD IF CAGE HAS OCCURRED OR IF
061303,000693: 07,3564 00011 READ DSALMOUT # ISS WARNING IS ON.
061304,000694: 07,3565 74770 MASK BIT1
061305,000695: 07,3566 67702 AD NEG1
061306,000696: 07,3567 13626 TCF BADEND +1
061307,000697: 07,3570 34765 COARSTST CAF BIT4
061308,000698: 07,3571 00006 EXTEND
061309,000699: 07,3572 02012 RAND CHAN12
061310,000700: 07,3573 10000 CCS A
061311,000701: 07,3574 13601 TCF DONTPULS
061312,000702:
061313,000703: 07,3575 41333 CAGETSTG CS IMODES30
061314,000704: 07,3576 74763 MASK IMUNITBT
061315,000705: 07,3577 10000 CCS A
061316,000706: 07,3600 00002 TC Q
061317,000707:
061318,000708: 07,3601 34772 DONTPULS CAF ZERO
061319,000709: 07,3602 55324 TS LGYRO
061320,000710:
061321,000711: 07,3603 33323 CAF LGWAKE
061322,000712: 07,3604 05167 TC JOBWAKE
061323,000713:
061324,000714: 07,3605 13625 TCF IMUBAD
061325,000715: 07,3606 34763 CAGETEST CAF IMUNITBT # SUBROUTINE TO TERMINATE IMU MODE
061326,000716: 07,3607 71333 MASK IMODES30 # SWITCH IF IMU HAS BEEN CAGED.
061327,000717: 07,3610 10000 CCS A
061328,000718: 07,3611 13625 TCF IMUBAD # DIRECTLY.
061329,000719: 07,3612 00002 TC Q # WITH C(A) = +0.
061330,000720:
061331,000721: 07,3613 41333 CAGETSTQ CS IMODES30 # SKIP IF IMU NOT BEING CAGED.
061332,000722: 07,3614 74763 MASK IMUNITBT
061333,000723: 07,3615 15651 TCF INCRQCK
061334,000724: 07,3616 41333 CAGETSTJ CS IMODES30 # IF DURING MODE SWITCH INITIALIZATION.
061335,000725: 07,3617 74763 MASK IMUNITBT # IT IS FOUND THAT THE IMU IS BEING CAGED.
061336,000726: 07,3620 10000 CCS A # SET IMUCADR TO -0 TO INDICATE OPERATION
061337,000727: 07,3621 00002 TC Q # COMPLETE BUT FAILED. RETURN IMMEDIATELY
061338,000728:
061339,000729: 07,3622 44772 +4 CS ZERO # TO SWRETURN
061340,000730: 07,3623 55335 TS IMUCADR
061341,000731: 07,3624 12675 TCF MODEEXIT
061342,000732:
061343,000733: 07,3625 07,3625 IMUBAD EQUALS BADEND
061344,000734:
061345,000735: # # Page 1436
061346,000736:
061347,000737: # GENERALIZED MODE SWITCHING TERMINATION. ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION
061348,000738: # OR AT BADEND FOR AN UNSUCCESSFUL ONE.
061349,000739:
061350,000740: 07,3625 44772 BADEND CS ZERO # FOR FAILURE.
061351,000741: 07,3626 54072 +1 TS RUPTREG3 # -0 FAILURE -1 SUCCESS
061352,000742: 07,3627 11335 CCS MODECADR
061353,000743: 07,3630 13632 TCF +2 # YES - WAKE IT UP.
061354,000744: 07,3631 13641 TCF ENDMODE # IF 0, PROGRAM NOT IN YET.
061355,000745:
061356,000746: 07,3632 34772 CAF ZERO # WAKE SLEEPING PROGRAM.
061357,000747: 07,3633 57335 XCH MODECADR
061358,000748: 07,3634 05167 TC JOBWAKE
061359,000749:
061360,000750: 07,3635 40072 CS RUPTREG3 # ADVANCE LOC IF SUCCESSFUL.
061361,000751: 07,3636 50064 INDEX LOCCTR
061362,000752: 07,3637 26164 ADS LOC
061363,000753:
061364,000754: 07,3640 15314 TCF TASKOVER
061365,000755:
061366,000756: 07,3641 30072 ENDMODE CA RUPTREG3 # -0 INDICATES OPERATION COMPLETE BUT
061367,000757: 07,3642 55335 TS MODECADR # SUCCESSFUL.
061368,000758: 07,3643 15314 TCF TASKOVER
061369,000759:
061370,000760: # # Page 1437
061371,000761:
061372,000762: # GENERAL STALLING ROUTINE. USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION.
061373,000763:
061374,000764: # PROGRAM DESCRIPTION DATE- 21 FEB 1967
061375,000765: # LOG SECTION IMU MODE SWITCHING
061376,000766: # MOD BY- R.MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 82
061377,000767:
061378,000768: # FUNCTIONAL DESCRIPTION-
061379,000769: # TO DELAY FURTHER EXECUTION OF THE CALLING ROUTINE UNTIL ITS SELECTED
061380,000770: # I/O FUNCTION IS COMPLETE. THE FOLLOWING CHECKS ON THE CALLING ROUTINE'S
061381,000771: # MODECADR ARE MADE AND ACTED UPON.
061382,000772: # 1) +0 INDICATES INCOMPLETE I/O OPERATION. CALLING ROUTINE IS PUT TO
061383,000773: # SLEEP.
061384,000774: # 2) -1 INDICATES COMPLETED I/O OPERATION. STALL BYPASSES JOBSLEEP
061385,000775: # CALL AND RETURNS TO CALLING ROUTINE AT L+3.
061386,000776: # 3) -0 INDICATES COMPLETED I/O WITH FAILURE. STALL CLEARS MODECADR
061387,000777: # AND RETURNS TO CALLING ROUTINE AT L+2.
061388,000778: # 4) VALUE GREATER THAN 0 INDICATES TWO ROUTINES CALLING FOR USE OF
061389,000779: # SAME DEVICE. STALL EXITS TO ABORT WHICH EXECUTES A PROGRAM
061390,000780: # RESTART WHICH IN TURN CLEARS ALL MODECADR REGISTERS.
061391,000781:
061392,000782: # CALLING SEQUENCE-
061393,000783: # L TC BANKCALL
061394,000784: # L+1 CADR IMUSTALL
061395,000785:
061396,000786: # NORMAL-EXIT MODE-
061397,000787: # TCF JOBSLEEP OR TCF MODEXIT
061398,000788:
061399,000789: # ALARM OR ABORT EXIT MODE-
061400,000790: # POODOO 21210
061401,000791:
061402,000792: # OUTPUT-
061403,000793: # MODECADR= CADR IF JOBSLEEP
061404,000794: # MODECADR=+0 IF I/O COMPLETE
061405,000795: # BUF2=L+3 IF I/O COMPLETE AND GOOD.
061406,000796: # BUF2=L+2 IF I/O COMPLETE BUT FAILED.
061407,000797:
061408,000798: # ERASABLE INITIALIZATION-
061409,000799: # BUF2 CONTAINS RETURN ADDRESS PLUS 1,(L+2)
061410,000800: # BUF2+1 CONTAINS FBANK VALUE OF CALLING ROUTINE.
061411,000801: # MODECADR OF CALLING ROUTINE CONTAINS +0, -1, -0 OR CADR RETURN ADDRESS.
061412,000802:
061413,000803:
061414,000804: 07,3644 11335 IMUSTALL CCS MODECADR
061415,000805: 07,3645 13661 TCF MODABORT # ALLOWABLE STATES ARE +0, -1, AND -0.
061416,000806: 07,3646 13656 TCF MODESLP # OPERATION INCOMPLETE.
061417,000807: 07,3647 13652 TCF MODEGOOD # COMPLETE AND GOOD IF = -1.
061418,000808:
061419,000809: 07,3650 55335 MG2 TS MODECADR # COMPLETE AND FAILED IF -0. RESET TO +0.
061420,000810: 07,3651 12675 TCF MODEEXIT # RETURN TO CALLER.
061421,000811: # # Page 1438
061422,000812: 07,3652 10000 MODEGOOD CCS A # MAKE SURE INITIAL STATE -1.
061423,000813: 07,3653 13661 TCF MODABORT
061424,000814:
061425,000815: 07,3654 24133 INCR BUF2 # IF SO, INCREMENT RETURN ADDRESS AND
061426,000816: 07,3655 13650 TCF MG2 # RETURN IMMEDIATELY, SETTIN CADR = +0.
061427,000817:
061428,000818: 07,3656 04665 MODESLP TC MAKECADR # CALL FROM SWITCHABLE FIXED ONLY.
061429,000819: 07,3657 55335 TS MODECADR
061430,000820: 07,3660 15163 TCF JOBSLEEP
061431,000821:
061432,000822: 07,3661 05726 MODABORT TC POODOO # TWO PROGRAMS USING THE SAME DEVICE.
061433,000823: 07,3662 21210 OCT 21210
061434,000824:
061435,000825: # # Page 1439
061436,000826:
061437,000827: # CONSTANTS FOR MODE SWITCHING ROUTINES
061438,000828:
061439,000829: 07,3663 5775 BITS3&4 = OCT14
061440,000830: 07,3663 5004 BITS4&6 = OCT50
061441,000831: 07,3663 5001 BITS4-5 EQUALS BITS4&5
061442,000832: 07,3663 4761 IMUSEFLG EQUALS BIT8 # INTERPRETER SWITCH 7.
061443,000833: 07,3663 77500 -COMMAX DEC -191 B-14
061444,000834: 07,3664 77477 -COMMAX- DEC -192 B-14
061445,000835: 07,3665 00074 600MS DEC 60 B-14
061446,000836: 07,3666 07,3133 IMUFIN20 = IMUFINE
061447,000837:
061448,000838: # # Page 1440
061449,000839:
061450,000840: # PROGRAM DESCRIPTION
061451,000841: # IMU STATUS CHECK ROUTINE R02 (SUBROUTINE UTILITY)
061452,000842: # MOD NO - 1
061453,000843: # MOD BY - N.BRODEUR
061454,000844:
061455,000845: # FUNCTIONAL DESCRIPTION
061456,000846: # TO CHECK WHETHER IMU IS ON AND IF ON WHETHER IT IS ALIGNED TO AN
061457,000847: # ORIENTATION KNOWN BY THE CMC. TO REQUEST SELECTION OF THE APPROPRIATE
061458,000848: # PROGRAM IF THE IMU IS OFF OR NOT ALIGNED TO AN ORIENTATION KNOWN BY THE
061459,000849: # CMC. CALLED THROUGH BANKCALL
061460,000850:
061461,000851: # CALLING SEQUENCE-
061462,000852: # L TC BANKCALL
061463,000853: # L+1 CADR R02BOTH
061464,000854:
061465,000855: # SUBROUTINES CALLED
061466,000856: # VARALARM
061467,000857: # FLAGUP
061468,000858:
061469,000859: # NORMAL EXIT MODES
061470,000860: # AT L+2 OF CALLING SEQUENCE
061471,000861:
061472,000862: # ALARM OR ABORT EXIT MODES
061473,000863: # GOTOPOOH, WITH ALARM
061474,000864:
061475,000865: # ERASABLE INITIALIZATION REQUIRED
061476,000866: # NONE
061477,000867:
061478,000868: # DEBRIS
061479,000869: # CENTRALS - A,Q,L
061480,000870:
061481,000871: 01,2000 SETLOC R02
061482,000872: 01,2000 BANK
061483,000873: 01,3731 COUNT* $$/R02
061484,000874: 01,3731 34754 R02BOTH CAF REFSMBIT
061485,000875: 01,3732 70077 MASK FLAGWRD3
061486,000876: 01,3733 10000 CCS A
061487,000877: 01,3734 03745 TC R02ZERO # ZERO IMUS
061488,000878:
061489,000879: 01,3735 31333 CA IMODES30
061490,000880: 01,3736 74760 MASK IMUOPBIT # IS ISS INITIALIZED
061491,000881: 01,3737 00006 EXTEND
061492,000882: 01,3740 13742 BZF +2
061493,000883: 01,3741 44765 CS BIT4 # SEND IMU ALARM CODE 210
061494,000884: 01,3742 63750 AD OCT220 # SEND REFSMM ALARM
061495,000885: 01,3743 05770 TC VARALARM
061496,000886:
061497,000887: 01,3744 04103 TC GOTOPOOH
061498,000888: 01,3745 05547 R02ZERO TC UPFLAG
061499,000889: 01,3746 00007 ADRES IMUSE
061500,000890: 01,3747 14651 TCF SWRETURN
061501,000891: 01,3750 00220 OCT220 OCT 220
061502,000892:
061503,000893: # # Page 1441
061504,000894:
061505,000895: # PROGRAM DESCRIPTION: P06 10 FEB 67
061506,000896:
061507,000897: # TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION.
061508,000898:
061509,000899: # THE NORMAL CONDITION OF READINESS OF THE GNCS WHEN NOT IN USE IS STANDBY. IN THIS CONDITION THE IMU
061510,000900: # HEATER POWER IS ON. THE IMU OPERATE POWER IS OFF. THE COMPUTER POWER IS ON. THE OPTICS POWER IS OFF. THE
061511,000901: # CMC STANDBY ON THE MAIN AND LEB DISKYS IS ON.
061512,000902:
061513,000903: # CALLING SEQUENCE:
061514,000904: # ASTRONAUT REQUEST THROUGH DSKY V37E 06E.
061515,000905:
061516,000906: # SUBROUTINES CALLED:
061517,000907: # GOPERF1
061518,000908: # BANKCALL
061519,000909: # FLAGDOWN
061520,000910:
061521,000911: # # Page 1442
061522,000912: # PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2.
061523,000913: # THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATIBILITY
061524,000914: # BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING.
061525,000915:
061526,000916: 26,2000 SETLOC P05P06
061527,000917: 26,2000 BANK
061528,000918:
061529,000919: 26,3654 1006 EBANK= TIME2SAV
061530,000920: 26,3654 COUNT* $$/P06
061531,000921:
061532,000922: 26,3654 05547 P06 TC UPFLAG # SET NODOV37 BIT
061533,000923: 26,3655 00054 ADRES NODOFLAG
061534,000924:
061535,000925: 26,3656 00004 PRESTAND INHINT
061536,000926: 26,3657 00006 EXTEND
061537,000927: 26,3660 30025 DCA TIME2 # SNAPSHOT TIME1 TIME2
061538,000928: 26,3661 53007 DXCH TIME2SAV
061539,000929: 26,3662 03715 TC SCALPREP
061540,000930: 26,3663 03656 TC PRESTAND # T1,T2,SCALER NOT COMPATIBLE
061541,000931: 26,3664 52155 DXCH MPAC # T1,T2 AND SCALER OK
061542,000932: 26,3665 53011 DXCH SCALSAVE # STORE SCALER
061543,000933: 26,3666 00004 INHINT
061544,000934: 26,3667 04636 TC BANKCALL
061545,000935: 26,3670 17121 CADR RNDREFDR # REFSMM, DRIFT, TRACK FLAGS DOWN
061546,000936:
061547,000937: 26,3671 05561 TC DOWNFLAG
061548,000938: 26,3672 00007 ADRES IMUSE # IMUSE DOWN
061549,000939: 26,3673 05561 TC DOWNFLAG
061550,000940: 26,3674 00010 ADRES RNDVZFLG # RNDVZFLG DOWN
061551,000941:
061552,000942: 26,3675 05561 TC DOWNFLAG
061553,000943: 26,3676 00176 ADRES UTFLAG
061554,000944: 26,3677 34756 CAF BIT11
061555,000945: 26,3700 00006 EXTEND
061556,000946: 26,3701 05013 WOR CHAN13 # SET STANDBY ENABLE BIT
061557,000947:
061558,000948: 26,3702 05402 TC PHASCHNG # SET RESTART TO POSTAND WHEN STANDBY
061559,000949: 26,3703 07024 OCT 07024 # RECOVERS
061560,000950: 26,3704 20000 OCT 20000
061561,000951: 26,3705 1010 EBANK= SCALSAVE
061562,000952: 26,3705 03735 54062 2CADR POSTAND
061563,000953:
061564,000954: 26,3707 35011 CAF OCT62
061565,000955: 26,3710 04636 TC BANKCALL
061566,000956: 26,3711 21067 CADR GOPERF1
061567,000957: 26,3712 13707 TCF -3
061568,000958: 26,3713 13707 TCF -4
061569,000959: 26,3714 13707 TCF -5
061570,000960:
061571,000961: 26,3715 5011 OCT62 EQUALS .5SEC # DEC 50 = OCT 62
061572,000962:
061573,000963: # # Page 1443
061574,000964: # THE LOW 5 BITS OF THE SCALER READS 10000 FOR THE FIRST INTERVAL AFTER A
061575,000965: # T1 INCREMENT. IF SCALPREP DETECTS THIS INTERVAL THE T1,T2 AND SCALER
061576,000966: # DATA ARE NOT COMPATABLE AND RETURN IS TO L+1 FOR ANOTHER READING OF THE
061577,000967: # DATA. OTHERWISE, THE RETURN IS TO L+2 TO PROCEED. ROUTINE ALSO PREPARES
061578,000968: # THE SCALER READING FOR COMPUTATION OF THE INCREMENT TO UPDATE T1T2. (THE
061579,000969: # 10 MS BIT (BIT 6) OF THE SCALER IS INCREMENTED 5 MS OUT OF PHASE FROM
061580,000970: # T1.) ADDITION OF 5 MS (BIT 5) TO THE SCALER READING HAS THE EFFECT OF
061581,000971: # ADJUSTING BIT 6 IN THE SCALER TO BE IN PHASE WITH BIT 1 OF T1. THE LOW 5
061582,000972: # BITS OF THE SCALER READING ARE THEN SET TO ZERO, TO TRUNCATE THE SCALER
061583,000973: # DATA TO 10 MS. RESULTS ARE STORED IN MPAC, +1.
061584,000974:
061585,000975: 26,3715 00006 SCALPREP EXTEND
061586,000976: 26,3716 22156 QXCH MPAC +2
061587,000977: 26,3717 04511 TC FINETIME +1
061588,000978: 26,3720 00003 RELINT
061589,000979: 26,3721 52155 DXCH MPAC
061590,000980: 26,3722 34764 CA BIT5 # ADD 5 MS TO THE SCALER READING
061591,000981: 26,3723 54001 TS L
061592,000982: 26,3724 34772 CA ZERO
061593,000983: 26,3725 20155 DAS MPAC
061594,000984: 26,3726 44342 CS LOW5 # SET LOW 5 BITS OF (SCALER+5MS) TO ZERO
061595,000985: 26,3727 70155 MASK MPAC +1 # AND STORE RESULTS IN MPAC,+1.
061596,000986: 26,3730 56155 XCH MPAC +1
061597,000987: 26,3731 74342 MASK LOW5 # TEST LOW 5 BITS OF SCALER FOR THE FIRST
061598,000988: # INTERVAL AFTER THE T1 INCREMENT
061599,000989: # (NOW = 00000, SINCE BIT 5 ADDED).
061600,000990: 26,3732 10000 CCS A # IS IT 1ST INTERVAL AFTER T1 INCREMENT
061601,000991: 26,3733 24156 INCR MPAC +2 # NO
061602,000992: 26,3734 00156 TC MPAC +2 # YES
061603,000993:
061604,000994: # POSTAND RECOVERS TIME AFTER STANDBY. THE SCALER IS SNAPSHOTTED AND THE
061605,000995: # TIME1 TIME2 COUNTER IS SET TO ZERO. THE LOW 5 BITS OF THE SCALER ARE
061606,000996: # INSPECTED TO INSURE COMPATABILITY BETWEEN THE SCALER READING AND THE
061607,000997: # CLEARING OF THE TIME COUNTER. IT THEN COMPUTES THE DIFFERENCE IN SCALER
061608,000998: # VALUES (IN DP) AND ADDS THIS TO THE PREVIOUSLY SNAPSHOTTED VALUES OF
061609,000999: # TIME1 TIME2 AND PLACES THIS NEW TIME INTO THE TIME1 TIME2 COUNTER.
061610,001000:
061611,001001: 26,3735 COUNT* $$/P05
061612,001002:
061613,001003: 26,3735 44756 POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY
061614,001004: 26,3736 00006 EXTEND
061615,001005: 26,3737 03013 WAND CHAN13 # CLEAR STANDBY ENABLE BIT
061616,001006: 26,3740 00004 +3 INHINT
061617,001007: 26,3741 34772 CA ZERO
061618,001008: 26,3742 54001 TS L
061619,001009: 26,3743 52025 DXCH TIME2 # CLEAR TIME1 TIME2
061620,001010: 26,3744 03715 TC SCALPREP # STORE SCALER IN MPAC, MPAC+1
061621,001011: 26,3745 03740 TC POSTAND +3 # T1,T2,SCALER NOT COMPATIBLE
061622,001012: 26,3746 00006 EXTEND # T1,T2 AND SCALER OK
061623,001013: 26,3747 41011 DCS SCALSAVE
061624,001014: # # Page 1444
061625,001015: 26,3750 20155 DAS MPAC # FORM DP DIFFERENCE OF POST-STANDBY SCALER
061626,001016: 26,3751 34757 CAF BIT10 # MINUS PRE-STANDBY SCALER AND SHIFT RIGHT
061627,001017: 26,3752 07256 TC SHORTMP # 5 TO ALIGN BITS WITH TIME1 TIME2.
061628,001018: 26,3753 07224 TC DPAGREE
061629,001019: 26,3754 10154 CCS MPAC
061630,001020: 26,3755 03762 TC POSTCOM # IF DP DIFF NET +, NO SCALER OVERFLOW
061631,001021: 26,3756 03762 TC POSTCOM # BETWEEN PRE AND POST STANDBY.
061632,001022: 26,3757 03760 TC +1 # IF DP DIFF NET -, SCALER OVERFLOWED. ADD
061633,001023: 26,3760 34757 CAF BIT10 # BIT 10 TO HIGH DIFF TO CORRECT.
061634,001024: 26,3761 26154 ADS MPAC
061635,001025: 26,3762 00006 POSTCOM EXTEND # C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER.
061636,001026: 26,3763 31007 DCA TIME2SAV # PRE-STANDBY TIME1 TIME2
061637,001027: 26,3764 20155 DAS MPAC
061638,001028: 26,3765 07226 TC TPAGREE # FORCE SIGN AGREEMENT
061639,001029: 26,3766 52155 DXCH MPAC # UPDATED VALUE FOR T1,T2.
061640,001030: 26,3767 20025 DAS TIME2 # LOAD UPDATED VALUE INTO T1,T2, WITH
061641,001031: 26,3770 05561 TC DOWNFLAG # CLEAR NODOFLAG
061642,001032: 26,3771 00054 ADRES NODOFLAG
061643,001033:
061644,001034: 26,3772 04103 TCGOPOOH TC GOTOPOOH
End of include-file IMU_MODE_SWITCHING_ROUTINES.agc. Parent file is MAIN.agc