Source Code
054262,000001: # Copyright: Public domain.
054263,000002: # Filename: IMU_MODE_SWITCHING_ROUTINES.agc
054264,000003: # Purpose: A section of Luminary 1C, revision 131.
054265,000004: # It is part of the source code for the Lunar Module's (LM)
054266,000005: # Apollo Guidance Computer (AGC) for Apollo 13 and Apollo 14.
054267,000006: # This file is intended to be a faithful transcription, except
054268,000007: # that the code format has been changed to conform to the
054269,000008: # requirements of the yaYUL assembler rather than the
054270,000009: # original YUL assembler.
054271,000010: # Reference: pp. 1306-1334 of 1729.pdf.
054272,000011: # Contact: Ron Burkey <info@sandroid.org>.
054273,000012: # Website: www.ibiblio.org/apollo/index.html
054274,000013: # Mod history: 06/05/03 RSB. Began transcribing.
054275,000014: # 05/14/05 RSB Corrected website reference above.
054276,000015: # 2010-08-24 JL Fixed page number comment.
054277,000016: # 2010-10-25 JL Indentation fixes.
054278,000017: # 2011-05-07 JL Removed workaround. Flagged SBANK= workaround
054279,000018: # for future removal.
054280,000019:
054281,000020: # Page 1306
054282,000021: 5457 BLOCK 02
054283,000022: 4000 SETLOC FFTAG3
054284,000023: 4000 BANK
054285,000024:
054286,000025: 5457 E3,1471 EBANK= COMMAND
054287,000026:
054288,000027: # FIXED-FIXED ROUTINES
054289,000028:
054290,000029: 5457 COUNT* $$/IMODE
054291,000030: 5457 34755 ZEROICDU CAF ZERO # ZERO ICDU COUNTERS.
054292,000031: 5460 54032 TS CDUX
054293,000032: 5461 54033 TS CDUY
054294,000033: 5462 54034 TS CDUZ
054295,000034: 5463 00002 TC Q
054296,000035:
054297,000036: 5464 4743 SPSCODE = BIT9
054298,000037:
054299,000038: # Page 1307
054300,000039: # IMU ZEROING ROUTINES
054301,000040:
054302,000041: 11,3774 BANK 11
054303,000042: 07,2000 SETLOC MODESW
054304,000043: 07,2000 BANK
054305,000044:
054306,000045: 07,2705 COUNT* $$/IMODE
054307,000046: 07,2705 00004 IMUZERO INHINT # ROUTINE TO ZERO ICDUS.
054308,000047: 07,2706 41035 CS DSPTAB +11D # DON'T ZERO CDUS IS IMU IN GIMBAL LOCK AND
054309,000048: 07,2707 74771 MASK BITS4&6 # COARSE ALIGN (GIMBAL RUNAWAY PROTECTION)
054310,000049: 07,2710 10000 CCS A
054311,000050: 07,2711 12715 TCF IMUZEROA
054312,000051:
054313,000052: 07,2712 05567 TC ALARM # IF SO.
054314,000053: 07,2713 00206 OCT 00206
054315,000054:
054316,000055: 07,2714 13650 TCF CAGETSTJ +4 # IMMEDIATE FAILURE.
054317,000056:
054318,000057: 07,2715 03644 IMUZEROA TC CAGETSTJ
054319,000058:
054320,000059: 07,2716 41300 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
054321,000060: 07,2717 74773 MASK SUPER011 # BIT5 FOR GROUND
054322,000061: 07,2720 27300 ADS IMODES33
054323,000062:
054324,000063: 07,2721 41277 CS IMODES30 # INHIBIT ICDUFAIL AND IMUFAIL (IN CASE WE
054325,000064: 07,2722 75741 MASK BITS3&4 # JUST CAME OUT OF COARSE ALIGN).
054326,000065: 07,2723 27277 ADS IMODES30
054327,000066:
054328,000067: 07,2724 44771 CS BITS4&6 # SEND ZERO ENCODE WITH COARSE AND ERROR
054329,000068: 07,2725 00006 EXTEND # COUNTER DISABLED.
054330,000069: 07,2726 03012 WAND CHAN12
054331,000070:
054332,000071: 07,2727 03257 TC NOATTOFF # TURN OFF NO ATT LAMP.
054333,000072:
054334,000073: 07,2730 34747 CAF BIT5
054335,000074: 07,2731 00006 EXTEND
054336,000075: 07,2732 05012 WOR CHAN12
054337,000076:
054338,000077: 07,2733 05457 TC ZEROICDU
054339,000078: 07,2734 34746 CAF BIT6 # WAIT 320 MS TO GIVE AGS ADEQUATE TIME TO
054340,000079: 07,2735 05203 TC WAITLIST # RECEIVE ITS PULSE TRAIN.
054341,000080: 07,2736 E3,1474 EBANK= CDUIND
054342,000081: 07,2736 02750 16103 2CADR IMUZERO2
054343,000082:
054344,000083: 07,2740 41277 CS IMODES30 # SEE IF IMU OPERATING AND ALARM IF NOT.
054345,000084: 07,2741 74743 MASK BIT9
054346,000085: 07,2742 10000 CCS A
054347,000086: 07,2743 12746 TCF MODEEXIT
054348,000087: # Page 1308
054349,000088: 07,2744 05567 TC ALARM
054350,000089: 07,2745 00210 OCT 210
054351,000090:
054352,000091: 07,2746 00003 MODEEXIT RELINT # GENERAL MODE-SWITCHING EXIT.
054353,000092: 07,2747 14631 TCF SWRETURN
054354,000093:
054355,000094: 07,2750 03632 IMUZERO2 TC CAGETEST
054356,000095: 07,2751 05457 TC ZEROICDU # ZERO CDUX, CDUY, CDUZ
054357,000096:
054358,000097: 07,2752 44747 CS BIT5 # REMOVE ZERO DISCRETE.
054359,000098: 07,2753 00006 EXTEND
054360,000099: 07,2754 03012 WAND CHAN12
054361,000100:
054362,000101: 07,2755 34741 CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS
054363,000102: 07,2756 05224 TC VARDELAY
054364,000103:
054365,000104: 07,2757 03632 IMUZERO3 TC CAGETEST
054366,000105: 07,2760 45741 CS BITS3&4 # REMOVE IMUFAIL AND ICDUFAIL INHIBIT.
054367,000106: 07,2761 71277 MASK IMODES30
054368,000107: 07,2762 55277 TS IMODES30
054369,000108:
054370,000109: 07,2763 44773 CS SUPER011 # ENABLE DAP AUTO AND HOLD MODES
054371,000110: 07,2764 71300 MASK IMODES33 # BIT5 FOR GROUND
054372,000111: 07,2765 55300 TS IMODES33
054373,000112:
054374,000113: 07,2766 04674 TC IBNKCALL # SET ISS WARNING IF EITHER OF ABOVE ARE
054375,000114: 07,2767 14703 CADR SETISSW # PRESENT.
054376,000115:
054377,000116: 07,2770 13622 TCF ENDIMU
054378,000117:
054379,000118: # Page 1309
054380,000119: # IMU COARSE ALIGN MODE.
054381,000120:
054382,000121: 07,2771 00004 IMUCOARS INHINT
054383,000122: 07,2772 03644 TC CAGETSTJ
054384,000123: 07,2773 03135 TC SETCOARS
054385,000124:
054386,000125: 07,2774 36245 CAF SIX
054387,000126: 07,2775 05203 TC WAITLIST
054388,000127: 07,2776 E3,1474 EBANK= CDUIND
054389,000128: 07,2776 03001 16103 2CADR COARS
054390,000129:
054391,000130: 07,3000 12746 TCF MODEEXIT
054392,000131:
054393,000132: 07,3001 03632 COARS TC CAGETEST
054394,000133: 07,3002 34746 CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
054395,000134: 07,3003 00006 EXTEND
054396,000135: 07,3004 05012 WOR CHAN12
054397,000136:
054398,000137: 07,3005 34752 CAF TWO # SET CDU INDICATOR
054399,000138: 07,3006 55474 COARS1 TS CDUIND
054400,000139:
054401,000140: 07,3007 51474 INDEX CDUIND # COMPUTE THETAD -- THETAA IN 1'S
054402,000141: 07,3010 30321 CA THETAD # COMPLEMENT FORM
054403,000142: 07,3011 00006 EXTEND
054404,000143: 07,3012 51474 INDEX CDUIND
054405,000144: 07,3013 20032 MSU CDUX
054406,000145: 07,3014 00006 EXTEND
054407,000146: 07,3015 74737 MP BIT13 # SHIFT RIGHT 2
054408,000147: 07,3016 56001 XCH L # ROUND
054409,000148: 07,3017 60000 DOUBLE
054410,000149: 07,3020 54061 TS ITEMP1
054411,000150: 07,3021 13023 TCF +2
054412,000151: 07,3022 26001 ADS L
054413,000152:
054414,000153: 07,3023 51474 INDEX CDUIND # DIFFERENCE TO BE COMPUTED
054415,000154: 07,3024 23471 LXCH COMMAND
054416,000155: 07,3025 11474 CCS CDUIND
054417,000156: 07,3026 03006 TC COARS1
054418,000157:
054419,000158: 07,3027 34752 CAF TWO # MINIMUM OF 4 MS WAIT
054420,000159: 07,3030 05224 TC VARDELAY
054421,000160:
054422,000161: # Page 1310
054423,000162: 07,3031 03632 COARS2 TC CAGETEST # DON'T CONTINUE IF CAGED.
054424,000163: 07,3032 54061 TS ITEMP1 # SET TO +0.
054425,000164: 07,3033 34752 CAF TWO # SET CDU INDICATOR.
054426,000165: 07,3034 55474 +3 TS CDUIND
054427,000166:
054428,000167: 07,3035 51474 INDEX CDUIND
054429,000168: 07,3036 11471 CCS COMMAND # NUMBER OF PULSES REQUIRED
054430,000169: 07,3037 03043 TC COMPOS
054431,000170: 07,3040 03052 TC NEXTCDU +1
054432,000171: 07,3041 03110 TC COMNEG
054433,000172: 07,3042 03052 TC NEXTCDU +1
054434,000173:
054435,000174: 07,3043 63736 COMPOS AD -COMMAX # COMMAX = MAX NUMBER OF PULSES ALLOWED
054436,000175: 07,3044 00006 EXTEND # MINUS ONE
054437,000176: 07,3045 63120 BZMF COMZERO
054438,000177: 07,3046 51474 INDEX CDUIND
054439,000178: 07,3047 55471 TS COMMAND # REDUCE COMMAND BY MAX NUMBER OF PULSES
054440,000179: 07,3050 43737 CS -COMMAX- # ALLOWED
054441,000180:
054442,000181: 07,3051 24061 NEXTCDU INCR ITEMP1
054443,000182: 07,3052 64754 AD NEG0
054444,000183: 07,3053 51474 INDEX CDUIND
054445,000184: 07,3054 54050 TS CDUXCMD # SET UP COMMAND REGISTER.
054446,000185:
054447,000186: 07,3055 11474 CCS CDUIND
054448,000187: 07,3056 03034 TC COARS2 +3
054449,000188:
054450,000189: 07,3057 10061 CCS ITEMP1 # SEE IF ANY PULSES TO GO OUT.
054451,000190: 07,3060 13124 TCF SENDPULS
054452,000191:
054453,000192: 07,3061 05221 TC FIXDELAY # WAIT FOR GIMBALS TO SETTLE.
054454,000193: 07,3062 00226 DEC 150 B-14
054455,000194:
054456,000195: 07,3063 34752 CAF TWO # AT END OF COMMAND, CHECK TO SEE THAT
054457,000196: 07,3064 54061 CHKCORS TS ITEMP1 # GIMBALS ARE WITHIN 2 DEGREES OF THETAD.
054458,000197: 07,3065 50000 INDEX A
054459,000198: 07,3066 30032 CA CDUX
054460,000199: 07,3067 00006 EXTEND
054461,000200: 07,3070 50061 INDEX ITEMP1
054462,000201: 07,3071 20321 MSU THETAD
054463,000202: 07,3072 10000 CCS A
054464,000203: 07,3073 13101 TCF COARSERR
054465,000204: 07,3074 13076 TCF CORSCHK2
054466,000205: 07,3075 13101 TCF COARSERR
054467,000206:
054468,000207: # Page 1311
054469,000208: 07,3076 10061 CORSCHK2 CCS ITEMP1
054470,000209: 07,3077 13064 TCF CHKCORS
054471,000210: 07,3100 13622 TCF ENDIMU # END OF COARSE ALIGNMENT
054472,000211:
054473,000212: 07,3101 63107 COARSERR AD COARSTOL # 2 DEGREES.
054474,000213: 07,3102 00006 EXTEND
054475,000214: 07,3103 63076 BZMF CORSCHK2
054476,000215:
054477,000216: 07,3104 05567 TC ALARM # COARSE ALIGN ERROR.
054478,000217: 07,3105 00211 OCT 211
054479,000218:
054480,000219: 07,3106 13630 TCF IMUBAD
054481,000220:
054482,000221: 07,3107 77511 COARSTOL DEC -.01111 # 2 DEGREES SCALED AT HALF-REVOLUTIONS
054483,000222:
054484,000223: 07,3110 63736 COMNEG AD -COMMAX
054485,000224: 07,3111 00006 EXTEND
054486,000225: 07,3112 63120 BZMF COMZERO
054487,000226: 07,3113 40000 COM
054488,000227: 07,3114 51474 INDEX CDUIND
054489,000228: 07,3115 55471 TS COMMAND
054490,000229: 07,3116 33737 CA -COMMAX-
054491,000230: 07,3117 03051 TC NEXTCDU
054492,000231:
054493,000232: 07,3120 34755 COMZERO CAF ZERO
054494,000233: 07,3121 51474 INDEX CDUIND
054495,000234: 07,3122 57471 XCH COMMAND
054496,000235: 07,3123 03051 TC NEXTCDU
054497,000236:
054498,000237: 07,3124 37743 SENDPULS CAF 13,14,15
054499,000238: 07,3125 00006 EXTEND
054500,000239: 07,3126 05014 WOR CHAN14
054501,000240: 07,3127 33740 CAF 600MS
054502,000241: 07,3130 13030 TCF COARS2 -1 # THEN TO VARDELAY
054503,000242:
054504,000243: 07,3131 34746 CA+ECE CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
054505,000244: 07,3132 00006 EXTEND
054506,000245: 07,3133 05012 WOR CHAN12
054507,000246: 07,3134 05261 TC TASKOVER
054508,000247:
054509,000248: # Page 1312
054510,000249: 07,3135 34750 SETCOARS CAF BIT4 # BYPASS IF ALREADY IN COARSE ALIGN
054511,000250: 07,3136 00006 EXTEND
054512,000251: 07,3137 02012 RAND CHAN12
054513,000252: 07,3140 10000 CCS A
054514,000253: 07,3141 00002 TC Q
054515,000254:
054516,000255: 07,3142 44746 CS BIT6 # CLEAR ISS ERROR COUNTERS
054517,000256: 07,3143 00006 EXTEND
054518,000257: 07,3144 03012 WAND CHAN12
054519,000258:
054520,000259: 07,3145 44742 CS BIT10 # KNOCK DOWN GYRO ACTIVITY
054521,000260: 07,3146 00006 EXTEND
054522,000261: 07,3147 03014 WAND CHAN14
054523,000262: 07,3150 44755 CS ZERO
054524,000263: 07,3151 54047 TS GYROCMD
054525,000264:
054526,000265: 07,3152 34750 CAF BIT4 # PUT ISS IN COARSE ALIGN
054527,000266: 07,3153 00006 EXTEND
054528,000267: 07,3154 05012 WOR CHAN12
054529,000268:
054530,000269: 07,3155 41035 CS DSPTAB +11D # TURN ON NO ATT LAMP
054531,000270: 07,3156 73200 MASK OCT40010
054532,000271: 07,3157 27035 ADS DSPTAB +11D
054533,000272:
054534,000273: 07,3160 41300 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
054535,000274: 07,3161 74746 MASK BIT6
054536,000275: 07,3162 27300 ADS IMODES33
054537,000276:
054538,000277: 07,3163 41277 CS IMODES30 # DISABLE IMUFAIL
054539,000278: 07,3164 74750 MASK BIT4
054540,000279: 07,3165 27277 ADS IMODES30
054541,000280:
054542,000281: 07,3166 44747 RNDREFDR CS TRACKBIT # CLEAR TRACK FLAG
054543,000282: 07,3167 70075 MASK FLAGWRD1
054544,000283: 07,3170 54075 TS FLAGWRD1
054545,000284:
054546,000285: 07,3171 44735 CS DRFTBIT # CLEAR DRIFT FLAG
054547,000286: 07,3172 70076 MASK FLAGWRD2
054548,000287: 07,3173 54076 TS FLAGWRD2
054549,000288:
054550,000289: 07,3174 44737 CS REFSMBIT # CLEAR REFSMMAT FLAG
054551,000290: 07,3175 70077 MASK FLAGWRD3
054552,000291: 07,3176 54077 TS FLAGWRD3
054553,000292:
054554,000293: 07,3177 00002 TC Q
054555,000294:
054556,000295: 07,3200 40010 OCT40010 OCT 40010
054557,000296:
054558,000297: # Page 1313
054559,000298: # IMU FINE ALIGN MODE SWITCH.
054560,000299:
054561,000300: 07,3201 00004 IMUFINE INHINT
054562,000301: 07,3202 03644 TC CAGETSTJ # SEE IF IMU BEING CAGED.
054563,000302:
054564,000303: 07,3203 43735 CS BITS4-5 # RESET ZERO AND COARSE
054565,000304: 07,3204 00006 EXTEND
054566,000305: 07,3205 03012 WAND CHAN12
054567,000306:
054568,000307: 07,3206 44746 CS BIT6 # INSURE DAP AUTO AND HOLD MODES ENABLED
054569,000308: 07,3207 71300 MASK IMODES33
054570,000309: 07,3210 55300 TS IMODES33
054571,000310:
054572,000311: 07,3211 03257 TC NOATTOFF
054573,000312:
054574,000313: 07,3212 34742 CAF BIT10 # IMU FAIL WAS INHIBITED DURING THE
054575,000314: 07,3213 05203 TC WAITLIST # PRESUMABLY PRECEDING COARSE ALIGN. LEAVE
054576,000315: 07,3214 E3,1474 EBANK= CDUIND
054577,000316: 07,3214 03225 16103 2CADR IFAILOK # IT ON FOR THE FIRST 5 SECS OF FINE ALIGN
054578,000317:
054579,000318: 07,3216 35000 CAF 2SECS
054580,000319: 07,3217 05203 TC WAITLIST
054581,000320: 07,3220 E3,1474 EBANK= CDUIND
054582,000321: 07,3220 03223 16103 2CADR IMUFINED
054583,000322:
054584,000323: 07,3222 12746 TCF MODEEXIT
054585,000324:
054586,000325: 07,3223 03632 IMUFINED TC CAGETEST # SEE THAT NO ONE HAS CAGED THE IMU.
054587,000326: 07,3224 13622 TCF ENDIMU
054588,000327:
054589,000328: # Page 1314
054590,000329: 07,3225 03637 IFAILOK TC CAGETSTQ # ENABLE IMU FAIL UNLESS IMU BEING CAGED.
054591,000330: 07,3226 15261 TCF TASKOVER # IT IS.
054592,000331:
054593,000332: 07,3227 34750 CAF BIT4 # DON'T RESET IMU FAIL INHIBIT IF SOMEONE
054594,000333: 07,3230 00006 EXTEND # HAS GONE INTO COARSE ALIGN.
054595,000334: 07,3231 02012 RAND CHAN12
054596,000335: 07,3232 10000 CCS A
054597,000336: 07,3233 15261 TCF TASKOVER
054598,000337:
054599,000338: 07,3234 41277 CS IMODES30 # RESET IMUFAIL.
054600,000339: 07,3235 74737 MASK BIT13
054601,000340: 07,3236 27277 ADS IMODES30
054602,000341: 07,3237 44750 CS BIT4
054603,000342: 07,3240 71277 PFAILOK2 MASK IMODES30
054604,000343: 07,3241 55277 TS IMODES30
054605,000344: 07,3242 04674 TC IBNKCALL # THE ISS WARNING LIGHT MAY COME ON NOE
054606,000345: 07,3243 14703 CADR SETISSW # THAT THE INHIBIT WAS BEEN REMOVED.
054607,000346: 07,3244 15261 TCF TASKOVER
054608,000347:
054609,000348: 07,3245 03637 PFAILOK TC CAGETSTQ # ENABLE PIP FAIL PROG ALARM.
054610,000349: 07,3246 15261 TCF TASKOVER
054611,000350:
054612,000351: 07,3247 41277 CS IMODES30 # RESET IMU AND PIPA FAIL BITS.
054613,000352: 07,3250 74742 MASK BIT10
054614,000353: 07,3251 27277 ADS IMODES30
054615,000354:
054616,000355: 07,3252 41300 CS IMODES33
054617,000356: 07,3253 74737 MASK BIT13
054618,000357: 07,3254 27300 ADS IMODES33
054619,000358:
054620,000359: 07,3255 44747 CS BIT5
054621,000360: 07,3256 13240 TCF PFAILOK2
054622,000361:
054623,000362: 07,3257 43200 NOATTOFF CS OCT40010 # SUBROUTINE TO TURN OFF NO ATT LAMP.
054624,000363: 07,3260 71035 MASK DSPTAB +11D
054625,000364: 07,3261 64735 AD BIT15
054626,000365: 07,3262 55035 TS DSPTAB +11D
054627,000366: 07,3263 00002 TC Q
054628,000367:
054629,000368: # Page 1315
054630,000369: # ROUTINES TO INITIATE AND TERMINATE PROGRAM USE OF THE PIPAS. NO IMUSTALL REQUIRED IN EITHER CASE.
054631,000370:
054632,000371: 07,3264 44755 PIPUSE CS ZERO
054633,000372: 07,3265 54037 TS PIPAX
054634,000373: 07,3266 54040 TS PIPAY
054635,000374: 07,3267 54041 TS PIPAZ
054636,000375:
054637,000376: 07,3270 03637 PIPUSE1 TC CAGETSTQ # DO NOT ENABLE PIPA FAIL IF IMU IS CAGED
054638,000377: 07,3271 14631 TCF SWRETURN
054639,000378:
054640,000379: 07,3272 00004 INHINT
054641,000380: 07,3273 44753 CS BIT1 # IF PIPA FAILS FROM NOW ON (UNTIL
054642,000381: 07,3274 71277 MASK IMODES30 # PIPFREE), LIGHT ISS WARNING.
054643,000382: 07,3275 55277 TS IMODES30
054644,000383:
054645,000384: 07,3276 04674 PIPFREE2 TC IBNKCALL # ISS WARNING MIGHT COME ON NOW.
054646,000385: 07,3277 14703 CADR SETISSW # (OR GO OFF ON PIPFREE).
054647,000386:
054648,000387: 07,3300 12746 TCF MODEEXIT
054649,000388:
054650,000389: 07,3301 00004 PIPFREE INHINT # PROGRAM DONE WITH PIPAS. DON'T LIGHT
054651,000390: 07,3302 41277 CS IMODES30 # ISS WARNING.
054652,000391: 07,3303 74753 MASK BIT1
054653,000392: 07,3304 27277 ADS IMODES30
054654,000393:
054655,000394: 07,3305 74742 MASK BIT10 # IF PIP FAIL ON, DO PROG ALARM AND RESET
054656,000395: 07,3306 10000 CCS A # ISS WARNING.
054657,000396: 07,3307 12746 TCF MODEEXIT
054658,000397:
054659,000398: 07,3310 05567 TC ALARM
054660,000399: 07,3311 00212 OCT 212
054661,000400:
054662,000401: 07,3312 00004 INHINT
054663,000402:
054664,000403: 07,3313 13276 TCF PIPFREE2
054665,000404:
054666,000405: # Page 1316
054667,000406: # THE FOLLOWING ROUTINE TORQUES THE IRICS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIXE REGISTERS
054668,000407: # BEGINNING AT THE ECADR ARRIVING IN A. THE MINIMUM SIZE OF ANY PULSE TRAIN IS 16 PULSES (.25 CDU COUNTS). THE
054669,000408: # UNSENT PORTION OF THE COMMAND IS LEFT INTACT AT TEH INPUT COMMAND REGISTERS.
054670,000409:
054671,000410: 07,3314 E3,1400 EBANK= 1400 # VARIABLE, ACTUALLY.
054672,000411:
054673,000412: 07,3314 54161 IMUPULSE TS MPAC +5 # SAVE ARRIVING ECADR.
054674,000413: 07,3315 03644 TC CAGETSTJ # DON'T PROCEED IF IMU BEING CAGED.
054675,000414:
054676,000415: 07,3316 11311 CCS LGYRO # SEE IF GYROS BUSY.
054677,000416: 07,3317 03360 TC GYROBUSY # SLEEP.
054678,000417:
054679,000418: 07,3320 54156 TS MPAC +2
054680,000419: 07,3321 34746 CAF BIT6 # ENABLE THE POWER SUPPLY.
054681,000420: 07,3322 00006 EXTEND
054682,000421: 07,3323 05014 WOR CHAN14
054683,000422:
054684,000423: 07,3324 34751 CAF FOUR
054685,000424: 07,3325 05203 GWAKE2 TC WAITLIST # (IF A JOB WAS PUT TO SLEEP, THE POWER
054686,000425: 07,3326 E3,1474 EBANK= CDUIND # SUPPLY IS LEFT ON BY THE WAKING JOB).
054687,000426: 07,3326 03376 16103 2CADR STRTGYRO
054688,000427:
054689,000428: 07,3330 30161 CA MPAC +5 # SET UP EBANK, SAVING CALLER'S EBANK FOR
054690,000429: 07,3331 56003 XCH EBANK # RESTORATION ON RETURN.
054691,000430: 07,3332 56161 XCH MPAC +5
054692,000431: 07,3333 55311 TS LGYRO # RESERVES GYROS.
054693,000432: 07,3334 74357 MASK LOW8
054694,000433: 07,3335 54061 TS ITEMP1
054695,000434:
054696,000435: 07,3336 34752 CAF TWO # FORCE SIGN AGREEMENT ON INPUTS.
054697,000436: 07,3337 54157 GYROAGRE TS MPAC +3
054698,000437: 07,3340 60000 DOUBLE
054699,000438: 07,3341 60061 AD ITEMP1
054700,000439: 07,3342 54160 TS MPAC +4
054701,000440: 07,3343 00006 EXTEND
054702,000441: 07,3344 50000 INDEX A
054703,000442: 07,3345 31401 DCA 1400
054704,000443: 07,3346 52155 DXCH MPAC
054705,000444: 07,3347 07262 TC TPAGREE
054706,000445: 07,3350 52155 DXCH MPAC
054707,000446: 07,3351 50160 INDEX MPAC +4
054708,000447: 07,3352 53401 DXCH 1400
054709,000448:
054710,000449: 07,3353 10157 CCS MPAC +3
054711,000450: 07,3354 13337 TCF GYROAGRE
054712,000451:
054713,000452: 07,3355 30161 CA MPAC +5 # RESTORE CALLER'S EBANK.
054714,000453: 07,3356 54003 TS EBANK
054715,000454: 07,3357 12746 TCF MODEEXIT
054716,000455:
054717,000456: # Page 1317
054718,000457: # ROUTINES TO ALLOW TORQUING ONLY ONE JOB AT A TIME.
054719,000458:
054720,000459: 07,3360 00006 GYROBUSY EXTEND # SAVE RETURN 2FCADR.
054721,000460: 07,3361 30134 DCA BUF2
054722,000461: 07,3362 52155 DXCH MPAC
054723,000462: 07,3363 33375 REGSLEEP CAF LGWAKE
054724,000463: 07,3364 15133 TCF JOBSLEEP
054725,000464:
054726,000465: 07,3365 11311 GWAKE CCS LGYRO # WHEN AWAKENED, SEE IF GYROS STILL BUSY.
054727,000466: 07,3366 13363 TCF REGSLEEP # IF SO, SLEEP SOME MORE.
054728,000467:
054729,000468: 07,3367 54156 TS MPAC +2
054730,000469: 07,3370 00006 EXTEND
054731,000470: 07,3371 30155 DCA MPAC
054732,000471: 07,3372 52134 DXCH BUF2 # RESTORE SWRETURN INFO.
054733,000472: 07,3373 34753 CAF ONE
054734,000473: 07,3374 13325 TCF GWAKE2
054735,000474:
054736,000475: 07,3375 17365 LGWAKE CADR GWAKE
054737,000476:
054738,000477: # Page 1318
054739,000478: # GYRO-TORQUING WAITLIST TASKS.
054740,000479:
054741,000480: 07,3376 43617 STRTGYRO CS GDESELCT # DE-SELECT LAST GYRO.
054742,000481: 07,3377 00006 EXTEND
054743,000482: 07,3400 03014 WAND CHAN14
054744,000483:
054745,000484: 07,3401 03632 TC CAGETEST
054746,000485:
054747,000486: 07,3402 31311 STRTGYR2 CA LGYRO # JUMP ON PHASE COUNTER IN BITS 13-14.
054748,000487: 07,3403 00006 EXTEND
054749,000488: 07,3404 74750 MP BIT4
054750,000489: 07,3405 50000 INDEX A
054751,000490: 07,3406 13407 TCF +1
054752,000491: 07,3407 03424 TC GSELECT # =0. DO Y GYRO.
054753,000492: 07,3410 00202 OCT 00202
054754,000493:
054755,000494: 07,3411 03424 TC GSELECT # =1. DO Z GYRO.
054756,000495: 07,3412 00302 OCT 00302
054757,000496:
054758,000497: 07,3413 03422 TC GSELECT -2 # =2. DO X GYRO.
054759,000498: 07,3414 00100 OCT 00100
054760,000499:
054761,000500: 07,3415 34755 CAF ZERO # =3. DONE
054762,000501: 07,3416 55311 TS LGYRO
054763,000502: 07,3417 33375 CAF LGWAKE # WAKE A POSSIBLE SLEEPING JOB.
054764,000503: 07,3420 05137 TC JOBWAKE
054765,000504:
054766,000505: 07,3421 13223 NORESET TCF IMUFINED # DO NOT RESET POWER SUPPLY.
054767,000506: # Page 1319
054768,000507: 07,3422 44751 -2 CS FOUR # SPECIAL ENTRY TO REGRESS LGYRO FOR X.
054769,000508: 07,3423 27311 ADS LGYRO
054770,000509:
054771,000510: 07,3424 50002 GSELECT INDEX Q # SELECT GYRO.
054772,000511: 07,3425 30000 CAF 0 # PACKED WORD CONTAINS GYRO SELECT BITS
054773,000512: 07,3426 54064 TS ITEMP4 # AND INCREMENT TO LGYRO.
054774,000513: 07,3427 74757 MASK SEVEN
054775,000514: 07,3430 64737 AD BIT13
054776,000515: 07,3431 27311 ADS LGYRO
054777,000516: 07,3432 54003 TS EBANK
054778,000517: 07,3433 74357 MASK LOW8
054779,000518: 07,3434 54061 TS ITEMP1
054780,000519:
054781,000520: 07,3435 44757 CS SEVEN
054782,000521: 07,3436 70064 MASK ITEMP4
054783,000522: 07,3437 54064 TS ITEMP4
054784,000523:
054785,000524: 07,3440 00006 EXTEND # MOVE DP COMMAND TO RUPTREGS FOR TESTING.
054786,000525: 07,3441 50061 INDEX ITEMP1
054787,000526: 07,3442 31401 DCA 1400
054788,000527: 07,3443 52071 DXCH RUPTREG1
054789,000528:
054790,000529: 07,3444 10070 CCS RUPTREG1
054791,000530: 07,3445 13460 TCF MAJ+
054792,000531: 07,3446 13450 TCF +2
054793,000532: 07,3447 13600 TCF MAJ-
054794,000533:
054795,000534: 07,3450 10071 CCS RUPTREG2
054796,000535: 07,3451 13455 TCF MIN+
054797,000536: 07,3452 13402 TCF STRTGYR2
054798,000537: 07,3453 13575 TCF MIN-
054799,000538: 07,3454 13402 TCF STRTGYR2
054800,000539:
054801,000540: # Page 1320
054802,000541: 07,3455 63511 MIN+ AD -GYROMIN # SMALL POSITIVE COMMAND. SEE IF AT LEAST
054803,000542: 07,3456 00006 EXTEND # 16 GYRO PULSES.
054804,000543: 07,3457 63402 BZMF STRTGYR2
054805,000544:
054806,000545: 07,3460 00006 MAJ+ EXTEND # DEFINITE POSITIVE OUTPUT.
054807,000546: 07,3461 33621 DCA GYROFRAC
054808,000547: 07,3462 20071 DAS RUPTREG1
054809,000548:
054810,000549: 07,3463 30064 CA ITEMP4 # SELECT POSITIVE TORQUING FOR THIS GYRO.
054811,000550: 07,3464 00006 EXTEND
054812,000551: 07,3465 05014 WOR CHAN14
054813,000552:
054814,000553: 07,3466 36077 CAF LOW7 # LEAVE NUMBER OF POSSIBLE 8192 AUGMENTS
054815,000554: 07,3467 70071 MASK RUPTREG2 # TO INITIAL COMMAND IN MAJOR PART OF LONG
054816,000555: 07,3470 56071 XCH RUPTREG2 # TERM STORAGE AND TRUNCATED FRACTION
054817,000556: 07,3471 00006 GMERGE EXTEND # IN MINOR PART. THE MAJOR PART WILL BE
054818,000557: 07,3472 74744 MP BIT8 # COUNTED DOWN TO ZERO IN THE COURSE OF
054819,000558: 07,3473 54062 TS ITEMP2 # PUTTING OUT THE ENTIRE COMMAND.
054820,000559: 07,3474 30070 CA RUPTREG1
054821,000560: 07,3475 00006 EXTEND
054822,000561: 07,3476 74743 MP BIT9
054823,000562: 07,3477 54070 TS RUPTREG1
054824,000563: 07,3500 30001 CA L
054825,000564: 07,3501 00006 EXTEND
054826,000565: 07,3502 74736 MP BIT14
054827,000566: 07,3503 26062 ADS ITEMP2 # INITIAL COMMAND.
054828,000567:
054829,000568: 07,3504 00006 EXTEND # SEE IF MORE THAN ONE PULSE TRAIN NEEDED
054830,000569: 07,3505 30071 DCA RUPTREG1 # (MORE THAN 16383 PULSES).
054831,000570: 07,3506 67752 AD MINUS1
054832,000571: 07,3507 10000 CCS A
054833,000572: 07,3510 13534 TCF LONGGYRO
054834,000573: 07,3511 77601 -GYROMIN OCT -176 # MAY BE ADJUSTED TO SPECIFY MINIMUM CMD
054835,000574: 07,3512 13516 TCF +4
054836,000575:
054837,000576: 07,3513 34736 CAF BIT14
054838,000577: 07,3514 26062 ADS ITEMP2
054839,000578: 07,3515 34755 CAF ZERO
054840,000579:
054841,000580: 07,3516 50061 +4 INDEX ITEMP1
054842,000581: 07,3517 53401 DXCH 1400
054843,000582: # Page 1321
054844,000583: 07,3520 30062 CA ITEMP2 # ENTIRE COMMAND.
054845,000584: 07,3521 54047 LASTSEG TS GYROCMD
054846,000585: 07,3522 00006 EXTEND
054847,000586: 07,3523 74742 MP BIT10 # WAITLIST DT
054848,000587: 07,3524 66250 AD THREE # TRUNCATION AND PHASE UNCERTAINTIES.
054849,000588: 07,3525 05203 TC WAITLIST
054850,000589: 07,3526 E3,1474 EBANK= CDUIND
054851,000590: 07,3526 03376 16103 2CADR STRTGYRO
054852,000591:
054853,000592: 07,3530 34742 GYROEXIT CAF BIT10
054854,000593: 07,3531 00006 EXTEND
054855,000594: 07,3532 05014 WOR CHAN14
054856,000595: 07,3533 15261 TCF TASKOVER
054857,000596:
054858,000597: 07,3534 50061 LONGGYRO INDEX ITEMP1
054859,000598: 07,3535 53401 DXCH 1400 # INITIAL COMMAND OUT PLUS N AUGMENTS OF
054860,000599: 07,3536 34736 CAF BIT14 # 8192. INITIAL COMMAND IS AT LEAST 8192.
054861,000600: 07,3537 60062 AD ITEMP2
054862,000601: 07,3540 54047 TS GYROCMD
054863,000602:
054864,000603: 07,3541 00006 AUG3 EXTEND # GET WAITLIST DT TO TIME WHEN TRAIN IS
054865,000604: 07,3542 74742 MP BIT10 # ALMOST OUT.
054866,000605: 07,3543 67750 AD NEG3
054867,000606: 07,3544 05203 TC WAITLIST
054868,000607: 07,3545 E3,1474 EBANK= CDUIND
054869,000608: 07,3545 03550 16103 2CADR 8192AUG
054870,000609:
054871,000610: 07,3547 13530 TCF GYROEXIT
054872,000611:
054873,000612: 07,3550 03632 8192AUG TC CAGETEST
054874,000613:
054875,000614: 07,3551 34750 CAF BIT4
054876,000615: 07,3552 00006 EXTEND
054877,000616: 07,3553 02012 RAND CHAN12
054878,000617: 07,3554 10000 CCS A
054879,000618: 07,3555 13630 TCF IMUBAD
054880,000619: 07,3556 31311 CA LGYRO # ADD 8192 PULSES TO GYROCMD
054881,000620: 07,3557 54003 TS EBANK
054882,000621: 07,3560 74357 MASK LOW8
054883,000622: 07,3561 54061 TS ITEMP1
054884,000623:
054885,000624: 07,3562 50061 INDEX ITEMP1 # SEE IF THIS IS THE LAST AUG.
054886,000625: 07,3563 11400 CCS 1400
054887,000626: 07,3564 13570 TCF AUG2 # MORE TO COME.
054888,000627:
054889,000628: 07,3565 34736 CAF BIT14
054890,000629: 07,3566 26047 ADS GYROCMD
054891,000630: 07,3567 13522 TCF LASTSEG +1
054892,000631:
054893,000632: # Page 1322
054894,000633: 07,3570 50061 AUG2 INDEX ITEMP1
054895,000634: 07,3571 55400 TS 1400
054896,000635: 07,3572 34736 CAF BIT14
054897,000636: 07,3573 26047 ADS GYROCMD
054898,000637: 07,3574 13541 TCF AUG3 # COMPUTE DT.
054899,000638:
054900,000639: # Page 1323
054901,000640: 07,3575 63511 MIN- AD -GYROMIN # POSSIBLE NEGATIVE OUTPUT.
054902,000641: 07,3576 00006 EXTEND
054903,000642: 07,3577 63402 BZMF STRTGYR2
054904,000643:
054905,000644: 07,3600 00006 MAJ- EXTEND # DEFINITE NEGATIVE OUTPUT.
054906,000645: 07,3601 43621 DCS GYROFRAC
054907,000646: 07,3602 20071 DAS RUPTREG1
054908,000647:
054909,000648: 07,3603 30064 CA ITEMP4 # SELECT NEGATIVE TORQUING FOR THIS GYRO.
054910,000649: 07,3604 64743 AD BIT9
054911,000650: 07,3605 00006 EXTEND
054912,000651: 07,3606 05014 WOR CHAN14
054913,000652:
054914,000653: 07,3607 40070 CS RUPTREG1 # SET UP RUPTREGS TO FALL INTO GMERGE.
054915,000654: 07,3610 54070 TS RUPTREG1 # ALL NUMBERS PUT INTO GYROCMD ARE
054916,000655: 07,3611 40071 CS RUPTREG2 # POSITIVE -- BIT9 OF CHAN 14 DETERMINES
054917,000656: 07,3612 76077 MASK LOW7 # THE SIGN OF THE COMMAND.
054918,000657: 07,3613 40000 COM
054919,000658: 07,3614 56071 XCH RUPTREG2
054920,000659: 07,3615 40000 COM
054921,000660: 07,3616 13471 TCF GMERGE
054922,000661:
054923,000662: 07,3617 01700 GDESELCT OCT 1700 # TURN OFF SELECT AND ACTIVITY BITS.
054924,000663:
054925,000664: 07,3620 00000 00034 GYROFRAC 2DEC .215 B-21
054926,000665:
054927,000666: # Page 1324
054928,000667: # IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE.
054929,000668:
054930,000669: 07,3622 00006 ENDIMU EXTEND # MODE IS BAD IF CAGE HAS OCCURRED OR IF
054931,000670: 07,3623 00011 READ DSALMOUT # ISS WARNING IS ON.
054932,000671: 07,3624 74753 MASK BIT1
054933,000672: 07,3625 10000 CCS A
054934,000673: 07,3626 13630 TCF IMUBAD
054935,000674:
054936,000675: 07,3627 13656 IMUGOOD TCF GOODEND # WITH C(A) = 0.
054937,000676:
054938,000677: 07,3630 34755 IMUBAD CAF ZERO
054939,000678: 07,3631 13653 TCF BADEND
054940,000679:
054941,000680: 07,3632 34746 CAGETEST CAF BIT6 # SUBROUTINE TO TERMINATE IMU MODE
054942,000681: 07,3633 71277 MASK IMODES30 # SWITCH IF IMU HAS BEEN CAGED.
054943,000682: 07,3634 10000 CCS A
054944,000683: 07,3635 13630 TCF IMUBAD # DIRECTLY.
054945,000684: 07,3636 00002 TC Q # WITH C(A) = +0.
054946,000685:
054947,000686: 07,3637 41277 CAGETSTQ CS IMODES30 # SKIP IF IMU NOT BEING CAGED.
054948,000687: 07,3640 74746 MASK BIT6
054949,000688: 07,3641 10000 CCS A
054950,000689: 07,3642 24002 INCR Q
054951,000690: 07,3643 00002 TC Q
054952,000691:
054953,000692: 07,3644 41277 CAGETSTJ CS IMODES30 # IF DURING MODE SWITCH INITIALIZATION.
054954,000693: 07,3645 74746 MASK BIT6 # IT IS FOUND THAT THE IMU IS BEING CAGED.
054955,000694: 07,3646 10000 CCS A # SET IMUCADR TO -0 TO INDICATE OPERATION
054956,000695: 07,3647 00002 TC Q # COMPLETE BUT FAILED. RETURN IMMEDIATELY
054957,000696: 07,3650 44755 CS ZERO # TO SWRETURN.
054958,000697: 07,3651 55301 TS IMUCADR
054959,000698: 07,3652 12746 TCF MODEEXIT
054960,000699:
054961,000700: # Page 1325
054962,000701: # GENERALIZED MODE SWITCHING TERMINATION. ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION
054963,000702: # OR AT BADEND FOR AN UNSUCCESSFUL ONE. C(A) OR ARRIVAL =0 FOR IMU, 1 FOR OPTICS.
054964,000703:
054965,000704: 07,3653 54071 BADEND TS RUPTREG2 # DEVICE INDEX.
054966,000705: 07,3654 44755 CS ZERO # FOR FAILURE.
054967,000706: 07,3655 13660 TCF GOODEND +2
054968,000707:
054969,000708: 07,3656 54071 GOODEND TS RUPTREG2
054970,000709: 07,3657 44753 CS ONE # FOR SUCCESS.
054971,000710:
054972,000711: 07,3660 54072 TS RUPTREG3
054973,000712: 07,3661 50071 INDEX RUPTREG2 # SEE IF USING PROGRAM ASLEEP.
054974,000713: 07,3662 11301 CCS MODECADR
054975,000714: 07,3663 13667 TCF +4 # YES -- WAKE IT UP.
054976,000715: 07,3664 13677 TCF ENDMODE # IF 0, PROGRAM NOT IN YET.
054977,000716:
054978,000717: 07,3665 00006 EXTEND
054979,000718: 07,3666 13700 BZF ENDMODE +1 # BZF = TCF IF MODECADR = -0.
054980,000719:
054981,000720: 07,3667 34755 CAF ZERO # WAKE SLEEPING PROGRAM.
054982,000721: 07,3670 50071 INDEX RUPTREG2
054983,000722: 07,3671 57301 XCH MODECADR
054984,000723: 07,3672 05137 TC JOBWAKE
054985,000724:
054986,000725: 07,3673 40072 CS RUPTREG3 # ADVANCE LOC IF SUCCESSFUL.
054987,000726: 07,3674 50064 INDEX LOCCTR
054988,000727: 07,3675 26164 ADS LOC
054989,000728:
054990,000729: 07,3676 15261 TCF TASKOVER
054991,000730:
054992,000731: 07,3677 30072 ENDMODE CA RUPTREG3 # -0 INDICATES OPERATION COMPLETE BUT
054993,000732: 07,3700 50071 +1 INDEX RUPTREG2 # UNSUCCESSFUL: -1 INDICATES COMPLETE AND
054994,000733: 07,3701 55301 TS MODECADR # SUCCESSFUL.
054995,000734: 07,3702 15261 TCF TASKOVER
054996,000735:
054997,000736: # Page 1326
054998,000737: # GENERAL STALLING ROUTINE. USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION.
054999,000738:
055000,000739: # PROGRAM DESCRIPTION DATE -- 21 FEB 1967
055001,000740: # LOG SECTION IMU MODE SWITCHING
055002,000741: # MOD BY -- R. MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 82
055003,000742:
055004,000743: # FUNCTIONAL DESCRIPTION --
055005,000744: # TO DELAY FURTHER EXECUTION OF THE CALLING ROUTINE UNTIL ITS SELECTED
055006,000745: # I/O FUNCTION IS COMPLETE. THE FOLLOWING CHECKS ON THE CALLING ROUTINES
055007,000746: # MODEECADR ARE MADE AND ACTED UPON.
055008,000747: # 1) +0 INDICATES INCOMPLETE I/O OPERATION. CALLING ROUTINE IS PUT TO
055009,000748: # SLEEP.
055010,000749: # 2) -1 INDICATES COMPLETED I/O OPERATION. STALL BYPASSES JOBSLEEP
055011,000750: # CALL AND RETURNS TO CALLING ROUTINE AT L+3.
055012,000751: # 3) -0 INDICATES COMPLETED I/O WITH FAILURE. STALL CLEARS MODECADR
055013,000752: # AND RETURNS TO CALLING ROUTINE AT L+2.
055014,000753: # 4) VALUE GREATER THAN 0 INDICATES TWO ROUTINES CALLING FOR USE OF
055015,000754: # SAME DEVICE. STALL EXITS TO ABORT WHICH EXECUTES A PROGRAM
055016,000755: # RESTART WHICH IN TURN CLEARS ALL MODECADR REGISTERS.
055017,000756:
055018,000757: # CALLING SEQUENCE --
055019,000758: # L TC BANKCALL
055020,000759: # L+1 CADR (ONE OF 5 STALL ADDRESSES. I.E., IMUSTALL, OPTSTALL, RADSTALL,
055021,000760: # AOTSTALL, OR ATTSTALL)
055022,000761:
055023,000762: # NORMAL-EXIT MODE --
055024,000763: # TCF JOBSLEEP OR TCF MODEXIT
055025,000764:
055026,000765: # ALARM OR ABORT EXIT MODE --
055027,000766: # TC ABORT
055028,000767:
055029,000768: # OUTPUT --
055030,000769: # MODECADR=CADR IF JOBSLEEP
055031,000770: # MODECADR=+0 IF I/O COMPLETE
055032,000771: # BUF2=L+3 IF I/O COMPLETE AND GOOD.
055033,000772: # BUF2=L+2 IF I/O COMPLETE BUT FAILED.
055034,000773:
055035,000774: # ERASABLE INITIALIZATION --
055036,000775: # BUF2 CONTAINS RETURN ADDRESS PLUS 1,(L+2)
055037,000776: # BUF2+1 CONTAINS FBANK VALUE OF CALLING ROUTINE.
055038,000777: # MODECADR OF CALLING ROUTINE CONTAINS +0,-1,-0 OR CADR RETURN ADDRESS.
055039,000778:
055040,000779: # DEBRIS --
055041,000780: # RUPTREG2 AND CALLING ROUTINE MODECADR.
055042,000781:
![]() |
[WORKAROUND] RSB 2004 |
055044,000783: 07,3703 30,2000 SBANK= LOWSUPER
![]() |
[WORKAROUND] |
055046,000785:
055047,000786: 07,3703 34753 AOTSTALL CAF ONE # AOT.
055048,000787: 07,3704 03710 TC STALL
055049,000788:
055050,000789: 07,3705 34752 RADSTALL CAF TWO
055051,000790: 07,3706 13710 TCF STALL
055052,000791:
055053,000792: # Page 1327
055054,000793: 07,3707 07,3703 OPTSTALL EQUALS AOTSTALL
055055,000794:
055056,000795: 07,3707 34755 IMUSTALL CAF ZERO # IMU.
055057,000796:
055058,000797: 07,3710 00004 STALL INHINT
055059,000798: 07,3711 54071 TS RUPTREG2 # SAVE DEVICE INDEX.
055060,000799: 07,3712 50000 INDEX A # SEE IF OPERATION COMPLETE.
055061,000800: 07,3713 11301 CCS MODECADR
055062,000801: 07,3714 13732 TCF MODABORT # ALLOWABLE STATES ARE +0, -1, AND -0.
055063,000802: 07,3715 13726 TCF MODESLP # OPERATION INCOMPLETE.
055064,000803: 07,3716 13722 TCF MODEGOOD # COMPLETE AND GOOD IF = -1.
055065,000804:
055066,000805: 07,3717 50071 MG2 INDEX RUPTREG2 # COMPLETE FAILED IF -0. RESET TO +0.
055067,000806: 07,3720 55301 TS MODECADR # RETURN TO CALLER.
055068,000807: 07,3721 12746 TCF MODEEXIT
055069,000808:
055070,000809: 07,3722 10000 MODEGOOD CCS A # MAKE SURE INITIAL STATE -1.
055071,000810: 07,3723 13732 TCF MODABORT
055072,000811:
055073,000812: 07,3724 24133 INCR BUF2 # IF SO, INCREMENT RETURN ADDRESS AND
055074,000813: 07,3725 13717 TCF MG2 # RETURN IMMEDIATELY, SETTIN CADR = +0.
055075,000814:
055076,000815: 07,3726 04645 MODESLP TC MAKECADR # CALL FROM SWITCHABLE FIXED ONLY.
055077,000816: 07,3727 50071 INDEX RUPTREG2
055078,000817: 07,3730 55301 TS MODECADR
055079,000818: 07,3731 15133 TCF JOBSLEEP
055080,000819:
055081,000820: 07,3732 52134 MODABORT DXCH BUF2
055082,000821: 07,3733 05706 TC BAILOUT1 # TWO PROGRAMS USING THE SAME DEVICE.
055083,000822: 07,3734 31210 OCT 31210
055084,000823:
055085,000824: # Page 1328
055086,000825: # CONSTANTS FOR MODE SWITCHING ROUTINES
055087,000826:
055088,000827: 07,3735 5741 BITS3&4 = OCT14
055089,000828: 07,3735 4771 BITS4&6 = OCT50
055090,000829: 07,3735 00030 BITS4-5 OCT 00030
055091,000830: 07,3736 4744 IMUSEFLG EQUALS BIT8 # INTERPRETER SWITCH 7.
055092,000831: 07,3736 77500 -COMMAX DEC -191 B-14
055093,000832: 07,3737 77477 -COMMAX- DEC -192 B-14
055094,000833: 07,3740 00074 600MS DEC 60 B-14
055095,000834: 07,3741 07,3201 IMUFIN20 = IMUFINE
055096,000835: 07,3741 31304 GOMANUR CA ATTCADR # IS KALCMANU FREE
055097,000836: 07,3742 00006 EXTEND
055098,000837: 07,3743 13745 BZF +2
055099,000838: 07,3744 03732 TC MODABORT # BAILOUT
055100,000839: 07,3745 00006 +2 EXTEND
055101,000840: 07,3746 30134 DCA BUF2
055102,000841: 07,3747 53305 DXCH ATTCADR # SAVE FINAL RETURN FOR KALCMAN3
055103,000842:
055104,000843: 07,3750 30006 CA BBANK
055105,000844: 07,3751 74757 MASK SEVEN
055106,000845: 07,3752 27305 ADS ATTCADR +1
055107,000846:
055108,000847: 07,3753 30167 CA PRIORITY
055109,000848: 07,3754 77730 MASK PRIO37
055110,000849: 07,3755 55306 TS ATTPRIO # SAVE USER'S PRIO
055111,000850:
055112,000851: 07,3756 33762 CAF KALEBCON # SET EBANK FOR KALCMAN3
055113,000852: 07,3757 54003 TS EBANK
055114,000853: 07,3760 04635 TC POSTJUMP
055115,000854: 07,3761 44004 CADR KALCMAN3
055116,000855: 07,3762 03275 KALEBCON ECADR BCDU
055117,000856:
055118,000857: # Page 1329
055119,000858: # PROGRAM DESCRIPTION
055120,000859: # IMU STATUS CHECK ROUTINE R02 (SUBROUTINE UTILITY)
055121,000860: # MOD NO -- 1
055122,000861: # MOD BY -- N.BRODEUR
055123,000862:
055124,000863: # FUNCTIONAL DESCRIPTION
055125,000864: # TO CHECK WHETHER IMU IS ON AND IF ON WHETHER IT IS ALIGNED TO AN
055126,000865: # ORIENTATION KNOWN BY THE CMC. TO REQUEST SELECTION OF THE APPROPRIATE
055127,000866: # PROGRAM IF THE IMU IS OFF OR NOT ALIGNED TO AN ORIENTATION KNOWN BY THE
055128,000867: # CMC. CALLED THROUGH BANKCALL
055129,000868:
055130,000869: # CALLING SEQUENCE --
055131,000870: # L TC BANKCALL
055132,000871: # L+1 CADR R02BOTH
055133,000872:
055134,000873: # SUBROUTINES CALLED
055135,000874: # VARALARM
055136,000875: # FLAGUP
055137,000876:
055138,000877: # NORMAL EXIT MODES
055139,000878: # AT L+2 OF CALLING SEQUENCE
055140,000879:
055141,000880: # ALARM OR ABORT EXIT MODES
055142,000881: # GOTOP00H, WITH ALARM
055143,000882:
055144,000883: # ERASABLE INITIALIZATION REQUIRED
055145,000884: # NONE
055146,000885:
055147,000886: # DEBRIS
055148,000887: # CENTRALS -- A,Q,L
055149,000888:
055150,000889: 34,3650 BANK 34
055151,000890: 04,2000 SETLOC R02
055152,000891: 04,2000 BANK
055153,000892: 04,3232 COUNT* $$/R02
055154,000893: 04,3232 00063 DEC51 DEC 51 B-14
055155,000894: 04,3233 34737 R02BOTH CAF REFSMBIT
055156,000895: 04,3234 70077 MASK FLAGWRD3
055157,000896: 04,3235 10000 CCS A
055158,000897: 04,3236 03247 TC R02ZERO # ZERO IMUS
055159,000898:
055160,000899: 04,3237 31277 CA IMODES30
055161,000900: 04,3240 74743 MASK BIT9 # IS ISS INITIALIZED
055162,000901: 04,3241 00006 EXTEND
055163,000902: 04,3242 13244 BZF +2
055164,000903: 04,3243 44750 CS BIT4 # SEND IMU ALARM CODE 210
055165,000904: 04,3244 63252 AD OCT220 # SEND REFSMM ALARM
055166,000905: 04,3245 05734 TC VARALARM
055167,000906:
055168,000907: 04,3246 06001 TC GOTOP00H
055169,000908:
055170,000909: 04,3247 05504 R02ZERO TC UPFLAG
055171,000910: # Page 1330
055172,000911: 04,3250 00007 ADRES IMUSE
055173,000912: 04,3251 14631 TCF SWRETURN
055174,000913: 04,3252 00220 OCT220 OCT 220
055175,000914:
055176,000915: # Page 1331
055177,000916: # PROGRAM DESCRIPTION: P06 10 FEB 67
055178,000917:
055179,000918: # TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION.
055180,000919:
055181,000920: # THE NORMAL CONDITION OF READINESS OF THE GNCS WHEN NOT IN USE IS STANDBY. IN THIS CONDITION THE IMU
055182,000921: # HEATER POWER IS ON. THE IMU OPERATE POWER IS OFF. THE COMPUTER POWER IS ON. THE OPTICS POWER IS OFF. THE
055183,000922: # CMC STANDBY ON THE MAIN AND LEB DISKYS IS ON.
055184,000923:
055185,000924: # CALLING SEQUENCE:
055186,000925: # ASTRONAUT REQUEST THROUGH DSKY V37E 06E.
055187,000926:
055188,000927: # SUBROUTINES CALLED:
055189,000928: # GOPERF1
055190,000929: # BANKCALL
055191,000930: # FLAGDOWN
055192,000931:
055193,000932: # Page 1332
055194,000933: # PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2.
055195,000934: # THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATIBILITY
055196,000935: # BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING.
055197,000936:
055198,000937: 37,2000 SETLOC P05P06
055199,000938: 37,2000 BANK
055200,000939:
055201,000940: 37,3652 0314 EBANK= TIME2SAV
055202,000941: 37,3652 COUNT* $$/P06
055203,000942:
055204,000943: 37,3652 05504 P06 TC UPFLAG # SET NODOV37 BIT
055205,000944: 37,3653 00054 ADRES NODOFLAG
055206,000945:
055207,000946: 37,3654 00004 PRESTAND INHINT
055208,000947: 37,3655 00006 EXTEND
055209,000948: 37,3656 30025 DCA TIME2 # SNAPSHOT TIME1 TIME2
055210,000949: 37,3657 52315 DXCH TIME2SAV
055211,000950: 37,3660 03711 TC SCALPREP
055212,000951: 37,3661 03654 TC PRESTAND # T1,T2,SCALER NOT COMPATIBLE
055213,000952: 37,3662 52155 DXCH MPAC # T1,T2 AND SCALER OK
055214,000953: 37,3663 52317 DXCH SCALSAVE # STORE SCALER
055215,000954: 37,3664 00004 INHINT
055216,000955: 37,3665 04616 TC BANKCALL
055217,000956: 37,3666 17166 CADR RNDREFDR # REFSMM, DRIFT, TRACK FLAGS DOWN
055218,000957:
055219,000958: 37,3667 05516 TC DOWNFLAG
055220,000959: 37,3670 00007 ADRES IMUSE # IMUSE DOWN
055221,000960: 37,3671 05516 TC DOWNFLAG
055222,000961: 37,3672 00010 ADRES RNDVZFLG # RNDVZFLG DOWN
055223,000962:
055224,000963: 37,3673 34741 CAF BIT11
055225,000964: 37,3674 00006 EXTEND
055226,000965: 37,3675 05013 WOR CHAN13 # SET STANDBY ENABLE BIT
055227,000966:
055228,000967: 37,3676 05353 TC PHASCHNG # SET RESTART TO POSTAND WHEN STANDBY
055229,000968: 37,3677 07024 OCT 07024 # RECOVERS
055230,000969: 37,3700 20000 OCT 20000
055231,000970: 37,3701 0316 EBANK= SCALSAVE
055232,000971: 37,3701 03731 76060 2CADR POSTAND
055233,000972:
055234,000973: 37,3703 34774 CAF OCT62
055235,000974: 37,3704 04616 TC BANKCALL
055236,000975: 37,3705 20624 CADR GOPERF1
055237,000976: 37,3706 13703 TCF -3
055238,000977: 37,3707 13703 TCF -4
055239,000978: 37,3710 13703 TCF -5
055240,000979:
055241,000980: 37,3711 4774 OCT62 EQUALS .5SEC # DEC 50 = OCT 62
055242,000981:
055243,000982: # THE LOW 5 BITS OF THE SCALER READS 10000 FOR THE FIRST INTERVAL AFTER A
055244,000983: # Page 1333
055245,000984: # T1 INCREMENT. IF SCALPREP DETECTS THIS INTERVAL THE T1,T2 AND SCALER
055246,000985: # DATA ARE NOT COMPATIBLE AND RETURN IS TO L+1 FOR ANOTHER READING OF THE
055247,000986: # DATA. OTHERWISE, THE RETURN IS TO L+2 TO PROCEED. ROUTINE ALSO PREPARES
055248,000987: # THE SCALER READING FOR COMPUTATION OF THE INCREMENT TO UPDATE T1T2. (THE
055249,000988: # 10 MS BIT (BIT 6) OF THE SCALER IS INCREMENTED 5 MS OUT OF PHASE FROM
055250,000989: # T1.0 ADDITION OF 5 MS (BIT 5) TO THE SCALER READING HAS THE EFFECT OF
055251,000990: # ADJUSTING BIT 6 IN THE SCALER TO BE IN PHASE WITH BIT 1 OF T1. THE LOW 5
055252,000991: # BITS OF THE SCALER READING ARE THEN SET TO ZERO, TO TRUNCATE THE SCALER
055253,000992: # DATA TO 10 MS. RESULTS ARE STORED IN MPAC, +1.
055254,000993:
055255,000994: 37,3711 00006 SCALPREP EXTEND
055256,000995: 37,3712 22156 QXCH MPAC +2
055257,000996: 37,3713 04103 TC FINETIME +1
055258,000997: 37,3714 00003 RELINT
055259,000998: 37,3715 52155 DXCH MPAC
055260,000999: 37,3716 34747 CA BIT5 # ADD 5 MS TO THE SCALER READING.
055261,001000: 37,3717 54001 TS L
055262,001001: 37,3720 34755 CA ZERO
055263,001002: 37,3721 20155 DAS MPAC
055264,001003: 37,3722 44346 CS LOW5 # SET LOW 5 BITS OF (SCALER+5MS) TO ZERO
055265,001004: 37,3723 70155 MASK MPAC +1 # AND STORE RESULTS IN MPAC,+1.
055266,001005: 37,3724 56155 XCH MPAC +1
055267,001006: 37,3725 74346 MASK LOW5 # TEST LOW 5 BITS OF SCALER FOR THE FIRST
055268,001007: # INTERVAL AFTER THE T1 INCREMENT
055269,001008: # (NOW = 00000, SINCE BIT 5 ADDED).
055270,001009: 37,3726 10000 CCS A # IS IT 1ST INTERVAL AFTER T1 INCREMENT
055271,001010: 37,3727 24156 INCR MPAC +2 # NO
055272,001011: 37,3730 00156 TC MPAC +2 # YES
055273,001012:
055274,001013: # POSTAND RECOVERS TIME AFTER STANDBY. THE SCALER IS SNAPSHOTTED AND THE
055275,001014: # TIME1 TIME2 COUNTER IS SET TO ZERO. THE LOW 5 BITS OF THE SCALER ARE
055276,001015: # INSPECTED TO INSURE COMPATIBILITY BETWEEN THE SCALER READING AND THE
055277,001016: # CLEARING OF THE TIME COUNTER. IT THEN COMPUTES THE DIFFERENCE IN SCALER
055278,001017: # VALUES (IN DP) AND ADDS THIS TO THE PREVIOUSLY SNAPSHOTTED VALUES OF
055279,001018: # TIME1 TIME2 AND PLACES THIS NEW TIME INTO THE TIME1 TIME2 COUNTER.
055280,001019:
055281,001020: 37,3731 COUNT* $$/P05
055282,001021:
055283,001022: 37,3731 44741 POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY
055284,001023: 37,3732 00006 EXTEND
055285,001024: 37,3733 03013 WAND CHAN13 # CLEAR STANDBY ENABLE BIT
055286,001025: 37,3734 00004 INHINT
055287,001026: 37,3735 34755 CA ZERO
055288,001027: 37,3736 54001 TS L
055289,001028: 37,3737 52025 DXCH TIME2 # CLEAR TIME1 TIME2
055290,001029: 37,3740 03711 TC SCALPREP # STORE SCALER IN MPAC, MPAC+1
055291,001030: 37,3741 03734 TC POSTAND +3 # T1,T2,SCALER NOT COMPATIBLE
055292,001031: 37,3742 00006 EXTEND # T1,T2 AND SCALER OK
055293,001032: 37,3743 40317 DCS SCALSAVE
055294,001033: 37,3744 20155 DAS MPAC # FORM DP DIFFERENCE OF POST-STANDBY SCALER
055295,001034: # Page 1334
055296,001035: 37,3745 34742 CAF BIT10 # MINUS PRE-STANDBY SCALER AND SHIFT RIGHT
055297,001036: 37,3746 07312 TC SHORTMP # 5 TO ALIGN BITS WITH TIME1 TIME2.
055298,001037: 37,3747 34755 CAF ZERO
055299,001038: 37,3750 54156 TS MPAC +2 # NEEDED FOR TP AGREE
055300,001039: 37,3751 07262 TC TPAGREE # MAKE DP DIFF AGREE
055301,001040: 37,3752 10154 CCS MPAC
055302,001041: 37,3753 03760 TC POSTCOM # IF DP DIFF NET +, NO SCALER OVERFLOW
055303,001042: 37,3754 03760 TC POSTCOM # BETWEEN PRE AND POST STANDBY.
055304,001043: 37,3755 03756 TC +1 # IF DP DIFF NET -, SCALER OVERFLOWED. ADD
055305,001044: 37,3756 34742 CAF BIT10 # BIT 10 TO HIGH DIFF TO CORRECT.
055306,001045: 37,3757 26154 ADS MPAC
055307,001046: 37,3760 00006 POSTCOM EXTEND # C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER.
055308,001047: 37,3761 30315 DCA TIME2SAV # PRE-STANDBY TIME1 TIME2
055309,001048: 37,3762 20155 DAS MPAC
055310,001049: 37,3763 07262 TC TPAGREE # FORCE SIGN AGREEMENT
055311,001050: 37,3764 52155 DXCH MPAC # UPDATED VALUE FOR T1,T2.
055312,001051: 37,3765 20025 DAS TIME2 # LOAD UPDATED VALUE INTO T1,T2, WITH
055313,001052: 37,3766 05516 TC DOWNFLAG # CLEAR NODOFLAG
055314,001053: 37,3767 00054 ADRES NODOFLAG
055315,001054:
055316,001055: 37,3770 06001 TC GOTOP00H
055317,001056:
End of include-file IMU_MODE_SWITCHING_ROUTINES.agc. Parent file is MAIN.agc