Source Code
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These source-code files were derived from scans of the
Colossus 237 (Apollo 8 Command Module) program listing from the private collection of original
AGC developer Fred Martin. Scanning was by Ron Burkey. Pre-existing Colossus 249
(Apollo 9 CM) source files were used as a template, and changes between Colossus 249
and Colossus 237 were manually transcribed by a team of volunteers. Note
that the page images
presented online are of reduced quality, and that additional images
are available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 237 OF AGC PROGRAM COLOSSUS BY NASA 2021111-031 1:17 AUG. 24, 1968Note that the date is the date of the printout, not the date of the program revision. |
058885,000002: ## Copyright: Public domain.
058886,000003: ## Filename: IMU_MODE_SWITCHING_ROUTINES.agc
058887,000004: ## Purpose: Part of the source code for Colossus build 237.
058888,000005: ## This is for the Command Module's (CM) Apollo Guidance
058889,000006: ## Computer (AGC), for Apollo 8.
058890,000007: ## Assembler: yaYUL
058891,000008: ## Contact: Jim Lawton <jim DOT lawton AT gmail DOT com>
058892,000009: ## Website: www.ibiblio.org/apollo/index.html
058893,000010: ## Page Scans: www.ibiblio.org/apollo/ScansForConversion/Colossus237/
058894,000011: ## Mod history: 2011-04-17 JL Adapted from corresponding Colossus 249 file.
058895,000012: ## 2016-11-02 RSB Typo (offset-reference +3 was not indented).
058896,000013: ## 2017-01-01 RSB Proofed comment text using octopus/ProoferComments,
058897,000014: ## and fixed errors found.
058898,000015: ## 2017-01-14 RSB Fixed comment-text errors located whilst diff'ing
058899,000016: ## against Colossus 249.
058900,000017: ## 2017-03-15 RSB Comment-text fixes identified in 6-way
058901,000018: ## side-by-side diff of Sunburst 120 and Luminary
058902,000019: ## 69/99/116/131/210.
058903,000020:
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Page 1384 |
058905,000022: 5410 BLOCK 02
058906,000023: 4000 SETLOC FFTAG3
058907,000024: 4000 BANK
058908,000025:
058909,000026: 5410 E3,1471 EBANK= COMMAND
058910,000027:
058911,000028: # FIXED-FIXED ROUTINES.
058912,000029:
058913,000030: 5410 COUNT 02/IMODE
058914,000031:
058915,000032: 5410 34714 ZEROICDU CAF ZERO # ZERO ICDU COUNTERS.
058916,000033: 5411 54032 TS CDUX
058917,000034: 5412 54033 TS CDUY
058918,000035: 5413 54034 TS CDUZ
058919,000036: 5414 00002 TC Q
058920,000037:
058921,000038: 5415 4702 SPSCODE = BIT9
058922,000039:
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Page 1385 |
058924,000041: # IMU ZEROING ROUTINE.
058925,000042:
058926,000043: 11,3721 BANK 11
058927,000044: 07,2000 SETLOC MODESW
058928,000045: 07,2000 BANK
058929,000046:
058930,000047: 07,2516 COUNT 07/IMODE
058931,000048:
058932,000049: 07,2516 00004 IMUZERO INHINT # ROUTINE TO ZERO ICDUS.
058933,000050: 07,2517 41036 CS DSPTAB +11D # DONT ZERO CDUS IF IMU IN GIMBAL LOCK AND
058934,000051: 07,2520 74726 MASK BITS4&6 # COARSE ALIGN (GIMBAL RUNAWAY PROTECTION)
058935,000052: 07,2521 10000 CCS A
058936,000053: 07,2522 12526 TCF IMUZEROA
058937,000054:
058938,000055: 07,2523 05537 TC ALARM # IF SO.
058939,000056: 07,2524 00206 OCT 00206
058940,000057:
058941,000058: 07,2525 13461 TCF CAGETSTJ +4 # IMMEDIATE FAILURE.
058942,000059:
058943,000060: 07,2526 03455 IMUZEROA TC CAGETSTJ
058944,000061: # DO ALL THE WORK.
058945,000062: 07,2527 41321 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
058946,000063: 07,2530 74730 MASK SUPER011 # BIT5 FOR GROUND
058947,000064: 07,2531 27321 ADS IMODES33
058948,000065:
058949,000066: 07,2532 41320 CS IMODES30 # INHIBIT ICDUFAIL AND IMUFAIL (IN CASE WE
058950,000067: 07,2533 75660 MASK BITS3&4 # JUST CAME OUT OF COARSE ALIGN).
058951,000068: 07,2534 27320 ADS IMODES30
058952,000069:
058953,000070: 07,2535 44726 CS BITS4&6 # SEND ZERO ENCODE WITH COARSE AND ERROR
058954,000071: 07,2536 00006 EXTEND # COUNTER DISABLED.
058955,000072: 07,2537 03012 WAND CHAN12
058956,000073:
058957,000074: 07,2540 03070 TC NOATTOFF # TURN OFF NO ATT LAMP.
058958,000075:
058959,000076: 07,2541 34706 CAF BIT5
058960,000077: 07,2542 00006 EXTEND
058961,000078: 07,2543 05012 WOR CHAN12
058962,000079:
058963,000080: 07,2544 05410 TC ZEROICDU
058964,000081: 07,2545 34705 CAF BIT6 # WAIT 320 MS TO GIVE AGS ADEQUATE TIME TO
058965,000082: 07,2546 05140 TC WAITLIST # RECEIVE ITS PULSE TRAIN.
058966,000083: 07,2547 E3,1474 EBANK= CDUIND
058967,000084: 07,2547 02561 16103 2CADR IMUZERO2
058968,000085:
058969,000086: 07,2551 41320 CS IMODES30 # SEE IF IMU OPERATING AND ALARM IF NOT.
058970,000087: 07,2552 74702 MASK BIT9
058971,000088: 07,2553 10000 CCS A
058972,000089: 07,2554 12557 TCF MODEEXIT
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Page 1386 |
058974,000091: 07,2555 05537 TC ALARM
058975,000092: 07,2556 00210 OCT 210
058976,000093:
058977,000094: 07,2557 00003 MODEEXIT RELINT # GENERAL MODE-SWITCHING EXIT.
058978,000095: 07,2560 14570 TCF SWRETURN
058979,000096:
058980,000097:
058981,000098: 07,2561 03455 IMUZERO2 TC CAGETSTJ # POSSIBLY SWITCH TO TURN-ON PROGRAM
058982,000099: 07,2562 05410 TC ZEROICDU # ZERO CDUX, CDUY, CDUZ
058983,000100:
058984,000101: 07,2563 44706 CS BIT5 # REMOVE ZERO DISCRETE.
058985,000102: 07,2564 00006 EXTEND
058986,000103: 07,2565 03012 WAND CHAN12
058987,000104:
058988,000105: 07,2566 34700 CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS
058989,000106: 07,2567 05161 TC VARDELAY
058990,000107:
058991,000108: 07,2570 03455 IMUZERO3 TC CAGETSTJ
058992,000109: 07,2571 45660 CS BITS3&4 # REMOVE IMUFAIL AND ICDUFAIL INHIBIT.
058993,000110: 07,2572 71320 MASK IMODES30
058994,000111: 07,2573 55320 TS IMODES30
058995,000112:
058996,000113: 07,2574 44730 CS SUPER011 # ENABLE DAP AUTO AND HOLD MODES
058997,000114: 07,2575 71321 MASK IMODES33 # BIT5 FOR GROUND
058998,000115: 07,2576 55321 TS IMODES33
058999,000116:
059000,000117: 07,2577 04633 TC IBNKCALL # SET ISS WARNING IF EITHER OF ABOVE ARE
059001,000118: 07,2600 14665 CADR SETISSW # PRESENT.
059002,000119:
059003,000120: 07,2601 13433 TCF ENDIMU
059004,000121:
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Page 1387 |
059006,000123: # IMU COARSE ALIGN MODE.
059007,000124:
059008,000125: 07,2602 00004 IMUCOARS INHINT
059009,000126: 07,2603 03455 TC CAGETSTJ
059010,000127: 07,2604 02746 TC SETCOARS
059011,000128:
059012,000129: 07,2605 36211 CAF SIX
059013,000130: 07,2606 05140 TC WAITLIST
059014,000131: 07,2607 E3,1474 EBANK= CDUIND
059015,000132: 07,2607 02612 16103 2CADR COARS
059016,000133:
059017,000134: 07,2611 12557 TCF MODEEXIT
059018,000135:
059019,000136: 07,2612 03443 COARS TC CAGETEST
059020,000137: 07,2613 34705 CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
059021,000138: 07,2614 00006 EXTEND
059022,000139: 07,2615 05012 WOR CHAN12
059023,000140:
059024,000141: 07,2616 34711 CAF TWO # SET CDU INDICATOR
059025,000142: 07,2617 55474 COARS1 TS CDUIND
059026,000143:
059027,000144: 07,2620 51474 INDEX CDUIND # COMPUTE THETAD - THETAA IN 1:S
059028,000145: 07,2621 31155 CA THETAD # COMPLEMENT FORM
059029,000146: 07,2622 00006 EXTEND
059030,000147: 07,2623 51474 INDEX CDUIND
059031,000148: 07,2624 20032 MSU CDUX
059032,000149: 07,2625 00006 EXTEND
059033,000150: 07,2626 74676 MP BIT13 # SHIFT RIGHT 2
059034,000151: 07,2627 56001 XCH L # ROUND
059035,000152: 07,2630 60000 DOUBLE
059036,000153: 07,2631 54061 TS ITEMP1
059037,000154: 07,2632 12634 TCF +2
059038,000155: 07,2633 26001 ADS L
059039,000156:
059040,000157: 07,2634 51474 INDEX CDUIND # DIFFERENCE TO BE COMPUTED
059041,000158: 07,2635 23471 LXCH COMMAND
059042,000159: 07,2636 11474 CCS CDUIND
059043,000160: 07,2637 02617 TC COARS1
059044,000161:
059045,000162: 07,2640 34711 CAF TWO # MINIMUM OF 4 MS WAIT
059046,000163: 07,2641 05161 TC VARDELAY
059047,000164:
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Page 1388 |
059049,000166: 07,2642 03443 COARS2 TC CAGETEST # DONT CONTINUE IF CAGED.
059050,000167: 07,2643 54061 TS ITEMP1 # SETS TO +0.
059051,000168: 07,2644 34711 CAF TWO # SET CDU INDICATOR
059052,000169: 07,2645 55474 +3 TS CDUIND
059053,000170:
059054,000171: 07,2646 51474 INDEX CDUIND
059055,000172: 07,2647 11471 CCS COMMAND # NUMBER OF PULSES REQUIRED
059056,000173: 07,2650 02654 TC COMPOS # GREATER THAN MAX ALLOWED
059057,000174: 07,2651 02663 TC NEXTCDU +1
059058,000175: 07,2652 02721 TC COMNEG
059059,000176: 07,2653 02663 TC NEXTCDU +1
059060,000177:
059061,000178: 07,2654 63544 COMPOS AD -COMMAX # COMMAX = MAX NUMBER OF PULSES ALLOWED
059062,000179: 07,2655 00006 EXTEND # MINUS ONE
059063,000180: 07,2656 62731 BZMF COMZERO
059064,000181: 07,2657 51474 INDEX CDUIND
059065,000182: 07,2660 55471 TS COMMAND # REDUCE COMMAND BY MAX NUMBER OF PULSES
059066,000183: 07,2661 43545 CS -COMMAX- # ALLOWED
059067,000184:
059068,000185: 07,2662 24061 NEXTCDU INCR ITEMP1
059069,000186: 07,2663 64713 AD NEG0
059070,000187: 07,2664 51474 INDEX CDUIND
059071,000188: 07,2665 54050 TS CDUXCMD # SET UP COMMAND REGISTER.
059072,000189:
059073,000190: 07,2666 11474 CCS CDUIND
059074,000191: 07,2667 02645 TC COARS2 +3
059075,000192:
059076,000193: 07,2670 10061 CCS ITEMP1 # SEE IF ANY PULSES TO GO OUT.
059077,000194: 07,2671 12735 TCF SENDPULS
059078,000195:
059079,000196: 07,2672 05156 TC FIXDELAY # WAIT FOR GIMBALS TO SETTLE.
059080,000197: 07,2673 00226 DEC 150 B-14
059081,000198:
059082,000199:
059083,000200: 07,2674 34711 CAF TWO # AT END OF COMMAND, CHECK TO SEE THAT
059084,000201: 07,2675 54061 CHKCORS TS ITEMP1 # GIMBALS ARE WITHIN 2 DEGREES OF THETAD.
059085,000202: 07,2676 50000 INDEX A
059086,000203: 07,2677 30032 CA CDUX
059087,000204: 07,2700 00006 EXTEND
059088,000205: 07,2701 50061 INDEX ITEMP1
059089,000206: 07,2702 21155 MSU THETAD
059090,000207: 07,2703 10000 CCS A
059091,000208: 07,2704 12712 TCF COARSERR
059092,000209: 07,2705 12707 TCF CORSCHK2
059093,000210: 07,2706 12712 TCF COARSERR
059094,000211:
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Page 1389 |
059096,000213: 07,2707 10061 CORSCHK2 CCS ITEMP1
059097,000214: 07,2710 12675 TCF CHKCORS
059098,000215: 07,2711 13433 TCF ENDIMU # END OF COARSE ALIGNMENT.
059099,000216:
059100,000217: 07,2712 62720 COARSERR AD COARSTOL # 2 DEGREES.
059101,000218: 07,2713 00006 EXTEND
059102,000219: 07,2714 62707 BZMF CORSCHK2
059103,000220:
059104,000221: 07,2715 05537 TC ALARM # COARSE ALIGN ERROR.
059105,000222: 07,2716 00211 OCT 211
059106,000223:
059107,000224: 07,2717 13441 TCF IMUBAD
059108,000225:
059109,000226: 07,2720 77511 COARSTOL DEC -.01111 # 2 DEGREES SCALED AT HALF-REVOLUTIONS
059110,000227:
059111,000228:
059112,000229: 07,2721 63544 COMNEG AD -COMMAX
059113,000230: 07,2722 00006 EXTEND
059114,000231: 07,2723 62731 BZMF COMZERO
059115,000232: 07,2724 40000 COM
059116,000233: 07,2725 51474 INDEX CDUIND
059117,000234: 07,2726 55471 TS COMMAND
059118,000235: 07,2727 33545 CA -COMMAX-
059119,000236: 07,2730 02662 TC NEXTCDU
059120,000237:
059121,000238: 07,2731 34714 COMZERO CAF ZERO
059122,000239: 07,2732 51474 INDEX CDUIND
059123,000240: 07,2733 57471 XCH COMMAND
059124,000241: 07,2734 02662 TC NEXTCDU
059125,000242:
059126,000243: 07,2735 37707 SENDPULS CAF 13,14,15
059127,000244: 07,2736 00006 EXTEND
059128,000245: 07,2737 05014 WOR CHAN14
059129,000246: 07,2740 33546 CAF 600MS
059130,000247: 07,2741 12641 TCF COARS2 -1 # THEN TO VARDELAY
059131,000248:
059132,000249: 07,2742 34705 CA+ECE CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
059133,000250: 07,2743 00006 EXTEND
059134,000251: 07,2744 05012 WOR CHAN12
059135,000252: 07,2745 05213 TC TASKOVER
059136,000253:
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Page 1390 |
059138,000255: 07,2746 34707 SETCOARS CAF BIT4 # BYPASS IF ALREADY IN COARSE ALIGN
059139,000256: 07,2747 00006 EXTEND
059140,000257: 07,2750 02012 RAND CHAN12
059141,000258: 07,2751 10000 CCS A
059142,000259: 07,2752 00002 TC Q
059143,000260:
059144,000261: 07,2753 44705 CS BIT6 # CLEAR ISS ERROR COUNTERS
059145,000262: 07,2754 00006 EXTEND
059146,000263: 07,2755 03012 WAND CHAN12
059147,000264:
059148,000265: 07,2756 44701 CS BIT10 # KNOCK DOWN GYRO ACTIVITY
059149,000266: 07,2757 00006 EXTEND
059150,000267: 07,2760 03014 WAND CHAN14
059151,000268: 07,2761 44714 CS ZERO
059152,000269: 07,2762 54047 TS GYROCMD
059153,000270:
059154,000271: 07,2763 34707 CAF BIT4 # PUT ISS IN COARSE ALIGN
059155,000272: 07,2764 00006 EXTEND
059156,000273: 07,2765 05012 WOR CHAN12
059157,000274:
059158,000275: 07,2766 41036 CS DSPTAB +11D # TURN ON NO ATT LAMP
059159,000276: 07,2767 73011 MASK OCT40010
059160,000277: 07,2770 27036 ADS DSPTAB +11D
059161,000278:
059162,000279: 07,2771 41321 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
059163,000280: 07,2772 74705 MASK BIT6
059164,000281: 07,2773 27321 ADS IMODES33
059165,000282:
059166,000283: 07,2774 41320 CS IMODES30 # DISABLE IMUFAIL
059167,000284: 07,2775 74707 MASK BIT4
059168,000285: 07,2776 27320 ADS IMODES30
059169,000286:
059170,000287: 07,2777 44706 RNDREFDR CS BIT5 # KNOCK DOWN TRACK FLAG
059171,000288: 07,3000 70075 MASK FLAGWRD1
059172,000289: 07,3001 54075 TS FLAGWRD1
059173,000290:
059174,000291: 07,3002 44674 CS BIT15 # KNOCK DOWN DRIFT FLAG
059175,000292: 07,3003 70076 MASK FLAGWRD2
059176,000293: 07,3004 54076 TS FLAGWRD2
059177,000294:
059178,000295: 07,3005 44676 CS BIT13 # KNOCK DOWN REFSMMAT FLAG
059179,000296: 07,3006 70077 MASK FLAGWRD3
059180,000297: 07,3007 54077 TS FLAGWRD3
059181,000298:
059182,000299: 07,3010 00002 TC Q
059183,000300:
059184,000301: 07,3011 40010 OCT40010 OCT 40010
059185,000302:
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Page 1391 |
059187,000304: # IMU FINE ALIGN MODE SWITCH.
059188,000305:
059189,000306: 07,3012 00004 IMUFINE INHINT
059190,000307: 07,3013 03455 TC CAGETSTJ # SEE IF IMU BEING CAGED.
059191,000308:
059192,000309: 07,3014 43543 CS BITS4-5 # RESET ZERO AND COARSE
059193,000310: 07,3015 00006 EXTEND
059194,000311: 07,3016 03012 WAND CHAN12
059195,000312:
059196,000313: 07,3017 44705 CS BIT6 # INSURE DAP AUTO AND HOLD MODES ENABLED
059197,000314: 07,3020 71321 MASK IMODES33
059198,000315: 07,3021 55321 TS IMODES33
059199,000316:
059200,000317: 07,3022 03070 TC NOATTOFF
059201,000318:
059202,000319: 07,3023 34701 CAF BIT10 # IMU FAIL WAS INHIBITED DURING THE
059203,000320: 07,3024 05140 TC WAITLIST # PRESUMABLY PRECEDING COARSE ALIGN. LEAVE
059204,000321: 07,3025 E3,1474 EBANK= CDUIND
059205,000322: 07,3025 03036 16103 2CADR IFAILOK # IT ON FOR THE FIRST 5 SECS OF FINE ALIGN
059206,000323:
059207,000324: 07,3027 34735 CAF 2SECS
059208,000325: 07,3030 05140 TC WAITLIST
059209,000326: 07,3031 E3,1474 EBANK= CDUIND
059210,000327: 07,3031 03034 16103 2CADR IMUFINED
059211,000328:
059212,000329: 07,3033 12557 TCF MODEEXIT
059213,000330:
059214,000331: 07,3034 03443 IMUFINED TC CAGETEST # SEE THAT NO ONE HAS CAGED THE IMU.
059215,000332: 07,3035 13433 TCF ENDIMU
059216,000333:
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Page 1392 |
059218,000335: 07,3036 03450 IFAILOK TC CAGETSTQ # ENABLE IMU FIAL UNLESS IMU BEING CAGED.
059219,000336: 07,3037 15213 TCF TASKOVER # IT IS.
059220,000337:
059221,000338: 07,3040 34707 CAF BIT4 # DONT RESET IMU FAIL INHIBIT IF SOMEONE
059222,000339: 07,3041 00006 EXTEND # HAS GONE INTO COARSE ALIGN.
059223,000340: 07,3042 02012 RAND CHAN12
059224,000341: 07,3043 10000 CCS A
059225,000342: 07,3044 15213 TCF TASKOVER
059226,000343:
059227,000344: 07,3045 41320 CS IMODES30 # RESET IMUFAIL.
059228,000345: 07,3046 74676 MASK BIT13
059229,000346: 07,3047 27320 ADS IMODES30
059230,000347: 07,3050 44707 CS BIT4
059231,000348: 07,3051 71320 PFAILOK2 MASK IMODES30
059232,000349: 07,3052 55320 TS IMODES30
059233,000350: 07,3053 04633 TC IBNKCALL # THE ISS WARNING LIGHT MAY COME ON NOW
059234,000351: 07,3054 14665 CADR SETISSW # THAT THE INHIBIT HAS BEEN REMOVED.
059235,000352: 07,3055 15213 TCF TASKOVER
059236,000353:
059237,000354: 07,3056 03450 PFAILOK TC CAGETSTQ # ENABLE PIP FAIL PROG ALARM.
059238,000355: 07,3057 15213 TCF TASKOVER
059239,000356:
059240,000357: 07,3060 41320 CS IMODES30 # RESET IMU AND PIPA FAIL BITS.
059241,000358: 07,3061 74701 MASK BIT10
059242,000359: 07,3062 27320 ADS IMODES30
059243,000360:
059244,000361: 07,3063 41321 CS IMODES33
059245,000362: 07,3064 74676 MASK BIT13
059246,000363: 07,3065 27321 ADS IMODES33
059247,000364:
059248,000365: 07,3066 44706 CS BIT5
059249,000366: 07,3067 13051 TCF PFAILOK2
059250,000367:
059251,000368: 07,3070 43011 NOATTOFF CS OCT40010 # SUBROUTINE TO TURN OFF NO ATT LAMP.
059252,000369: 07,3071 71036 MASK DSPTAB +11D
059253,000370: 07,3072 64674 AD BIT15
059254,000371: 07,3073 55036 TS DSPTAB +11D
059255,000372: 07,3074 00002 TC Q
059256,000373:
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Page 1393 |
059258,000375: # ROUITNES TO INITIATE AND TERMINATE PROGRAM USE OF THE PIPAS. NO IMUSTALL REQUIRED IN EITHER CASE.
059259,000376:
059260,000377: 07,3075 44714 PIPUSE CS ZERO
059261,000378: 07,3076 54037 TS PIPAX
059262,000379: 07,3077 54040 TS PIPAY
059263,000380: 07,3100 54041 TS PIPAZ
059264,000381:
059265,000382: 07,3101 03450 PIPUSE1 TC CAGETSTQ # DO NOT ENABLE PIPA FAIL IF IMU IS CAGED
059266,000383: 07,3102 14570 TCF SWRETURN
059267,000384:
059268,000385: 07,3103 00004 INHINT
059269,000386: 07,3104 44712 CS BIT1 # IF PIPA FAILS FROM NOW ON (UNTIL
059270,000387: 07,3105 71320 MASK IMODES30 # PIPFREE), LIGHT ISS WARNING.
059271,000388: 07,3106 55320 TS IMODES30
059272,000389:
059273,000390: 07,3107 04633 PIPFREE2 TC IBNKCALL # ISS WARNING MIGHT COME ON NOW.
059274,000391: 07,3110 14665 CADR SETISSW # (OR GO OFF ON PIPFREE).
059275,000392:
059276,000393: 07,3111 12557 TCF MODEEXIT
059277,000394:
059278,000395: 07,3112 00004 PIPFREE INHINT # PROGRAM DONE WITH PIPAS. DONT LIGHT
059279,000396: 07,3113 41320 CS IMODES30 # ISS WARNING.
059280,000397: 07,3114 74712 MASK BIT1
059281,000398: 07,3115 27320 ADS IMODES30
059282,000399:
059283,000400: 07,3116 74701 MASK BIT10 # IF PIP FAIL ON, DO PROG ALSRM AND RESET
059284,000401: 07,3117 10000 CCS A # ISS WARNING.
059285,000402: 07,3120 12557 TCF MODEEXIT
059286,000403:
059287,000404: 07,3121 05537 TC ALARM
059288,000405: 07,3122 00212 OCT 212
059289,000406:
059290,000407: 07,3123 00004 INHINT
059291,000408:
059292,000409: 07,3124 13107 TCF PIPFREE2
059293,000410:
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Page 1394 |
059295,000412: # THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIX REGISTERS
059296,000413: # BEGINNING AT THE ECADR ARRIVING IN A. THE MINIMUM SIZE OF ANY PULSE TRAIN IS 16 PULSES (.25 CDU COUNTS). THE
059297,000414: # UNSENT PORTION OF THE COMMAND IS LEFT INTACT IN THE INPUT COMMAND REGISTERS.
059298,000415:
059299,000416: 07,3125 E3,1400 EBANK= 1400 # VARIABLE, ACTUALLY.
059300,000417:
059301,000418: 07,3125 54161 IMUPULSE TS MPAC +5 # SAVE ARRIVING ECADR.
059302,000419: 07,3126 03455 TC CAGETSTJ # DONT PROCEED IF IMU BEING CAGED.
059303,000420:
059304,000421: 07,3127 11304 CCS LGYRO # SEE IF GYROS BUSY.
059305,000422: 07,3130 03171 TC GYROBUSY # SLEEP.
059306,000423:
059307,000424: 07,3131 54156 TS MPAC +2
059308,000425: 07,3132 34705 CAF BIT6 # ENABLE THE POWER SUPPLY.
059309,000426: 07,3133 00006 EXTEND
059310,000427: 07,3134 05014 WOR CHAN14
059311,000428:
059312,000429: 07,3135 34710 CAF FOUR
059313,000430: 07,3136 05140 GWAKE2 TC WAITLIST # (IF A JOB WAS PUT TO SLEEP, THE POWER
059314,000431: 07,3137 E3,1474 EBANK= CDUIND # SUPPLY IS LEFT ON BY THE WAKING JOB).
059315,000432: 07,3137 03207 16103 2CADR STRTGYRO
059316,000433:
059317,000434: 07,3141 30161 CA MPAC +5 # SET UP EBANK, SAVING CALLER'S EBANK FOR
059318,000435: 07,3142 56003 XCH EBANK # RESTORATION ON RETURN.
059319,000436: 07,3143 56161 XCH MPAC +5
059320,000437: 07,3144 55304 TS LGYRO # RESERVES GYROS.
059321,000438: 07,3145 74373 MASK LOW8
059322,000439: 07,3146 54061 TS ITEMP1
059323,000440:
059324,000441: 07,3147 34711 CAF TWO # FORCE SIGN AGREEMENT ON INPUTS.
059325,000442: 07,3150 54157 GYROAGRE TS MPAC +3
059326,000443: 07,3151 60000 DOUBLE
059327,000444: 07,3152 60061 AD ITEMP1
059328,000445: 07,3153 54160 TS MPAC +4
059329,000446: 07,3154 00006 EXTEND
059330,000447: 07,3155 50000 INDEX A
059331,000448: 07,3156 31401 DCA 1400
059332,000449: 07,3157 52155 DXCH MPAC
059333,000450: 07,3160 07226 TC TPAGREE
059334,000451: 07,3161 52155 DXCH MPAC
059335,000452: 07,3162 50160 INDEX MPAC +4
059336,000453: 07,3163 53401 DXCH 1400
059337,000454:
059338,000455: 07,3164 10157 CCS MPAC +3
059339,000456: 07,3165 13150 TCF GYROAGRE
059340,000457:
059341,000458: 07,3166 30161 CA MPAC +5 # RESTORE CALLER'S EBANK.
059342,000459: 07,3167 54003 TS EBANK
059343,000460: 07,3170 12557 TCF MODEEXIT
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Page 1395 |
059345,000462: # ROUTINES TO ALLOW TORQUING BY ONLY ONE JOB AT A TIME.
059346,000463:
059347,000464: 07,3171 00006 GYROBUSY EXTEND # SAVE RETURN 2FCADR.
059348,000465: 07,3172 30134 DCA BUF2
059349,000466: 07,3173 52155 DXCH MPAC
059350,000467: 07,3174 33206 REGSLEEP CAF LGWAKE
059351,000468: 07,3175 15070 TCF JOBSLEEP
059352,000469:
059353,000470: 07,3176 11304 GWAKE CCS LGYRO # WHEN AWAKENED, SEE IF GYROS STILL BUSY.
059354,000471: 07,3177 13174 TCF REGSLEEP # IF SO, SLEEP SOME MORE.
059355,000472:
059356,000473: 07,3200 54156 TS MPAC +2
059357,000474: 07,3201 00006 EXTEND
059358,000475: 07,3202 30155 DCA MPAC
059359,000476: 07,3203 52134 DXCH BUF2 # RESTORE SWRETURN INFO.
059360,000477: 07,3204 34712 CAF ONE
059361,000478: 07,3205 13136 TCF GWAKE2
059362,000479:
059363,000480: 07,3206 17176 LGWAKE CADR GWAKE
059364,000481:
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Page 1396 |
059366,000483: # GYRO-TORQUING WAITLIST TASKS.
059367,000484:
059368,000485: 07,3207 43430 STRTGYRO CS GDESELCT # DE-SELECT LAST GYRO.
059369,000486: 07,3210 00006 EXTEND
059370,000487: 07,3211 03014 WAND CHAN14
059371,000488:
059372,000489: 07,3212 03443 TC CAGETEST
059373,000490:
059374,000491: 07,3213 31304 STRTGYR2 CA LGYRO # JUMP ON PHASE COUNTER IN BITS 13-14.
059375,000492: 07,3214 00006 EXTEND
059376,000493: 07,3215 74707 MP BIT4
059377,000494: 07,3216 50000 INDEX A
059378,000495: 07,3217 13220 TCF +1
059379,000496: 07,3220 03235 TC GSELECT # =0. DO Y GYRO.
059380,000497: 07,3221 00202 OCT 00202
059381,000498:
059382,000499: 07,3222 03235 TC GSELECT # =1. DO Z GYRO.
059383,000500: 07,3223 00302 OCT 00302
059384,000501:
059385,000502: 07,3224 03233 TC GSELECT -2 # =2. DO X GYRO.
059386,000503: 07,3225 00100 OCT 00100
059387,000504:
059388,000505: 07,3226 34714 CAF ZERO # =3. DONE
059389,000506: 07,3227 55304 TS LGYRO
059390,000507: 07,3230 33206 CAF LGWAKE # WAKE A POSSIBLE SLEEPING JOB.
059391,000508: 07,3231 05074 TC JOBWAKE
059392,000509:
059393,000510: 07,3232 13034 NORESET TCF IMUFINED # DO NOT RESET POWER SUPPLY
059394,000511:
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Page 1397 |
059396,000513: 07,3233 44710 -2 CS FOUR # SPECIAL ENTRY TO REGRESS LGYRO FOR X.
059397,000514: 07,3234 27304 ADS LGYRO
059398,000515:
059399,000516: 07,3235 50002 GSELECT INDEX Q # SELECT GYRO.
059400,000517: 07,3236 30000 CAF 0 # PACKED WORD CONTAINS GYRO SELECT BITS
059401,000518: 07,3237 54064 TS ITEMP4 # AND INCREMENT TO LGYRO.
059402,000519: 07,3240 74716 MASK SEVEN
059403,000520: 07,3241 64676 AD BIT13
059404,000521: 07,3242 27304 ADS LGYRO
059405,000522: 07,3243 54003 TS EBANK
059406,000523: 07,3244 74373 MASK LOW8
059407,000524: 07,3245 54061 TS ITEMP1
059408,000525:
059409,000526: 07,3246 44716 CS SEVEN
059410,000527: 07,3247 70064 MASK ITEMP4
059411,000528: 07,3250 54064 TS ITEMP4
059412,000529:
059413,000530: 07,3251 00006 EXTEND # MOVE DP COMMAND TO RUPTREGS FOR TESTING.
059414,000531: 07,3252 50061 INDEX ITEMP1
059415,000532: 07,3253 31401 DCA 1400
059416,000533: 07,3254 52071 DXCH RUPTREG1
059417,000534:
059418,000535: 07,3255 10070 CCS RUPTREG1
059419,000536: 07,3256 13271 TCF MAJ+
059420,000537: 07,3257 13261 TCF +2
059421,000538: 07,3260 13411 TCF MAJ-
059422,000539:
059423,000540: 07,3261 10071 CCS RUPTREG2
059424,000541: 07,3262 13266 TCF MIN+
059425,000542: 07,3263 13213 TCF STRTGYR2
059426,000543: 07,3264 13406 TCF MIN-
059427,000544: 07,3265 13213 TCF STRTGYR2
059428,000545:
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Page 1398 |
059430,000547: 07,3266 63322 MIN+ AD -GYROMIN # SMALL POSITIVE COMMAND. SEE IF AT LEAST
059431,000548: 07,3267 00006 EXTEND # 16 GYRO PULSES.
059432,000549: 07,3270 63213 BZMF STRTGYR2
059433,000550:
059434,000551: 07,3271 00006 MAJ+ EXTEND # DEFINITE POSITIVE OUTPUT.
059435,000552: 07,3272 33432 DCA GYROFRAC
059436,000553: 07,3273 20071 DAS RUPTREG1
059437,000554:
059438,000555: 07,3274 30064 CA ITEMP4 # SELECT POSITIVE TORQUING FOR THIS GYRO.
059439,000556: 07,3275 00006 EXTEND
059440,000557: 07,3276 05014 WOR CHAN14
059441,000558:
059442,000559: 07,3277 36043 CAF LOW7 # LEAVE NUMBER OF POSSIBLE 8192 AUGMENTS
059443,000560: 07,3300 70071 MASK RUPTREG2 # TO INITIAL COMMAND IN MAJOR PART OF LONG
059444,000561: 07,3301 56071 XCH RUPTREG2 # TERM STORAGE AND TRUNCATED FRACTION
059445,000562: 07,3302 00006 GMERGE EXTEND # IN MINOR PART. THE MAJOR PART WILL BE
059446,000563: 07,3303 74703 MP BIT8 # COUNTED DOWN TO ZERO IN THE COURSE OF
059447,000564: 07,3304 54062 TS ITEMP2 # PUTTING OUT THE ENTIRE COMMAND.
059448,000565: 07,3305 30070 CA RUPTREG1
059449,000566: 07,3306 00006 EXTEND
059450,000567: 07,3307 74702 MP BIT9
059451,000568: 07,3310 54070 TS RUPTREG1
059452,000569: 07,3311 30001 CA L
059453,000570: 07,3312 00006 EXTEND
059454,000571: 07,3313 74675 MP BIT14
059455,000572: 07,3314 26062 ADS ITEMP2 # INITIAL COMMAND.
059456,000573:
059457,000574: 07,3315 00006 EXTEND # SEE IF MORE THAN ONE PULSE TRAIN NEEDED
059458,000575: 07,3316 30071 DCA RUPTREG1 # (MORE THAN 16383 PULSES).
059459,000576: 07,3317 67716 AD MINUS1
059460,000577: 07,3320 10000 CCS A
059461,000578: 07,3321 13345 TCF LONGGYRO
059462,000579: 07,3322 77601 -GYROMIN OCT -176 # MAY BE ADJUSTED TO SPECIFY MINIMUM CMD
059463,000580: 07,3323 13327 TCF +4
059464,000581:
059465,000582: 07,3324 34675 CAF BIT14
059466,000583: 07,3325 26062 ADS ITEMP2
059467,000584: 07,3326 34714 CAF ZERO
059468,000585:
059469,000586: 07,3327 50061 +4 INDEX ITEMP1
059470,000587: 07,3330 53401 DXCH 1400
059471,000588:
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Page 1399 |
059473,000590: 07,3331 30062 CA ITEMP2 # ENTIRE COMMAND.
059474,000591: 07,3332 54047 LASTSEG TS GYROCMD
059475,000592: 07,3333 00006 EXTEND
059476,000593: 07,3334 74701 MP BIT10 # WAITLIST DT
059477,000594: 07,3335 66214 AD THREE # TRUNCATION AND PHASE UNCERTAINTIES.
059478,000595: 07,3336 05140 TC WAITLIST
059479,000596: 07,3337 E3,1474 EBANK= CDUIND
059480,000597: 07,3337 03207 16103 2CADR STRTGYRO
059481,000598:
059482,000599: 07,3341 34701 GYROEXIT CAF BIT10
059483,000600: 07,3342 00006 EXTEND
059484,000601: 07,3343 05014 WOR CHAN14
059485,000602: 07,3344 15213 TCF TASKOVER
059486,000603:
059487,000604: 07,3345 50061 LONGGYRO INDEX ITEMP1
059488,000605: 07,3346 53401 DXCH 1400 # INITIAL COMMAND OUT PLUS N AUGMENTS OF
059489,000606: 07,3347 34675 CAF BIT14 # 8192. INITIAL COMMAND IS AT LEAST 8192.
059490,000607: 07,3350 60062 AD ITEMP2
059491,000608: 07,3351 54047 TS GYROCMD
059492,000609:
059493,000610: 07,3352 00006 AUG3 EXTEND # GET WAITLIST DT TO TIME WHEN TRAIN IS
059494,000611: 07,3353 74701 MP BIT10 # ALMOST OUT.
059495,000612: 07,3354 67714 AD NEG3
059496,000613: 07,3355 05140 TC WAITLIST
059497,000614: 07,3356 E3,1474 EBANK= CDUIND
059498,000615: 07,3356 03361 16103 2CADR 8192AUG
059499,000616: 07,3360 13341 TCF GYROEXIT
059500,000617:
059501,000618: 07,3361 03443 8192AUG TC CAGETEST
059502,000619:
059503,000620: 07,3362 34707 CAF BIT4
059504,000621: 07,3363 00006 EXTEND
059505,000622: 07,3364 02012 RAND CHAN12
059506,000623: 07,3365 10000 CCS A
059507,000624: 07,3366 13441 TCF IMUBAD
059508,000625: 07,3367 31304 CA LGYRO # ADD 8192 PULSES TO GYROCMD
059509,000626: 07,3370 54003 TS EBANK
059510,000627: 07,3371 74373 MASK LOW8
059511,000628: 07,3372 54061 TS ITEMP1
059512,000629:
059513,000630: 07,3373 50061 INDEX ITEMP1 # SEE IF THIS IS THE LAST AUG.
059514,000631: 07,3374 11400 CCS 1400
059515,000632: 07,3375 13401 TCF AUG2 # MORE TO COME.
059516,000633:
059517,000634: 07,3376 34675 CAF BIT14
059518,000635: 07,3377 26047 ADS GYROCMD
059519,000636: 07,3400 13333 TCF LASTSEG +1
059520,000637:
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Page 1400 |
059522,000639: 07,3401 50061 AUG2 INDEX ITEMP1
059523,000640: 07,3402 55400 TS 1400
059524,000641: 07,3403 34675 CAF BIT14
059525,000642: 07,3404 26047 ADS GYROCMD
059526,000643: 07,3405 13352 TCF AUG3 # COMPUTE DT.
059527,000644:
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Page 1401 |
059529,000646: 07,3406 63322 MIN- AD -GYROMIN # POSSIBLE NEGATIVE OUTPUT.
059530,000647: 07,3407 00006 EXTEND
059531,000648: 07,3410 63213 BZMF STRTGYR2
059532,000649:
059533,000650: 07,3411 00006 MAJ- EXTEND # DEFINITE NEGATIVE OUTPUT.
059534,000651: 07,3412 43432 DCS GYROFRAC
059535,000652: 07,3413 20071 DAS RUPTREG1
059536,000653:
059537,000654: 07,3414 30064 CA ITEMP4 # SELECT NEGATIVE TORQUING FOR THIS GYRO.
059538,000655: 07,3415 64702 AD BIT9
059539,000656: 07,3416 00006 EXTEND
059540,000657: 07,3417 05014 WOR CHAN14
059541,000658:
059542,000659: 07,3420 40070 CS RUPTREG1 # SET UP RUPTREGS TO FALL INTO GMERGE.
059543,000660: 07,3421 54070 TS RUPTREG1 # ALL NUMBERS PUT INTO GYROCMD ARE
059544,000661: 07,3422 40071 CS RUPTREG2 # POSITIVE - BIT9 OF CHAN 14 DETERMINES
059545,000662: 07,3423 76043 MASK LOW7 # THE SIGN OF THE COMMAND.
059546,000663: 07,3424 40000 COM
059547,000664: 07,3425 56071 XCH RUPTREG2
059548,000665: 07,3426 40000 COM
059549,000666: 07,3427 13302 TCF GMERGE
059550,000667:
059551,000668: 07,3430 01700 GDESELCT OCT 1700 # TURN OFF SELECT AND ACTIVITY BITS.
059552,000669:
059553,000670: 07,3431 00000 00034 GYROFRAC 2DEC .215 B -21
059554,000671:
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Page 1402 |
059556,000673: # IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE.
059557,000674:
059558,000675: 07,3433 00006 ENDIMU EXTEND # MODE IS BAD IF CAGE HAS OCCURED OR IF
059559,000676: 07,3434 00011 READ DSALMOUT # ISS WARNING IS ON.
059560,000677: 07,3435 74712 MASK BIT1
059561,000678: 07,3436 10000 CCS A
059562,000679: 07,3437 13441 TCF IMUBAD
059563,000680:
059564,000681: 07,3440 13467 IMUGOOD TCF GOODEND # WITH C(A) = 0.
059565,000682:
059566,000683: 07,3441 34714 IMUBAD CAF ZERO
059567,000684: 07,3442 13464 TCF BADEND
059568,000685:
059569,000686: 07,3443 34705 CAGETEST CAF BIT6 # SUBROUTINE TO TERMINATE IMU MODE
059570,000687: 07,3444 71320 MASK IMODES30 # SWITCH IF IMU HAS BEEN CAGED.
059571,000688: 07,3445 10000 CCS A
059572,000689: 07,3446 13441 TCF IMUBAD # DIRECTLY.
059573,000690: 07,3447 00002 TC Q # WITH C(A) = +0.
059574,000691:
059575,000692: 07,3450 41320 CAGETSTQ CS IMODES30 # SKIP IF IMU NOT BEING CAGED.
059576,000693: 07,3451 74705 MASK BIT6
059577,000694: 07,3452 10000 CCS A
059578,000695: 07,3453 24002 INCR Q
059579,000696: 07,3454 00002 TC Q
059580,000697:
059581,000698: 07,3455 41320 CAGETSTJ CS IMODES30 # IF DURING MODE SWITCH INITIALIZATION
059582,000699: 07,3456 74705 MASK BIT6 # IT IS FOUND THAT THE IMU IS BEING CAGED,
059583,000700: 07,3457 10000 CCS A # SET IMUCADR TO -0 TO INDICATE OPERATION
059584,000701: 07,3460 00002 TC Q # COMPLETE BUT FAILED. RETURN IMMEDIATELY
059585,000702:
059586,000703: 07,3461 44714 CS ZERO # TO SWRETURN.
059587,000704: 07,3462 55322 TS IMUCADR
059588,000705: 07,3463 12557 TCF MODEEXIT
059589,000706:
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Page 1403 |
059591,000708: # GENERALIZED MODE SWITCHING TERMINATION. ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION
059592,000709: # OR AT BADEND FOR AN UNSUCCESSFUL ONE. C(A) OR ARRIVAL =0 FOR IMU, 1 FOR OPTICS.
059593,000710:
059594,000711: 07,3464 54071 BADEND TS RUPTREG2 # DEVICE INDEX.
059595,000712: 07,3465 44714 CS ZERO # FOR FAILURE.
059596,000713: 07,3466 13471 TCF GOODEND +2
059597,000714:
059598,000715: 07,3467 54071 GOODEND TS RUPTREG2
059599,000716: 07,3470 44712 CS ONE # FOR SUCCESS.
059600,000717:
059601,000718: 07,3471 54072 TS RUPTREG3
059602,000719: 07,3472 50071 INDEX RUPTREG2 # SEE IF USING PROGRAM ASLEEP.
059603,000720: 07,3473 11322 CCS MODECADR
059604,000721: 07,3474 13476 TCF +2 # YES - WAKE IT UP.
059605,000722: 07,3475 13506 TCF ENDMODE # IF 0, PROGRAM NOT IN YET.
059606,000723:
059607,000724: 07,3476 34714 CAF ZERO # WAKE SLEEPING PROGRAM.
059608,000725: 07,3477 50071 INDEX RUPTREG2
059609,000726: 07,3500 57322 XCH MODECADR
059610,000727: 07,3501 05074 TC JOBWAKE
059611,000728:
059612,000729: 07,3502 40072 CS RUPTREG3 # ADVANCE LOC IF SUCCESSFUL.
059613,000730: 07,3503 50064 INDEX LOCCTR
059614,000731: 07,3504 26164 ADS LOC
059615,000732:
059616,000733: 07,3505 15213 TCF TASKOVER
059617,000734:
059618,000735: 07,3506 30072 ENDMODE CA RUPTREG3 # -0 INDICATES OPERATION COMPLETE BUT
059619,000736: 07,3507 50071 INDEX RUPTREG2 # UNSUCCESSFUL - -1 INDICATES COMPLETE AND
059620,000737: 07,3510 55322 TS MODECADR # SUCCESSFUL.
059621,000738: 07,3511 15213 TCF TASKOVER
059622,000739:
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Page 1404 |
059624,000741: # GENERAL STALLING ROUTINE. USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION.
059625,000742:
059626,000743: # PROGRAM DESCRIPTION DATE- 21 FEB 1967
059627,000744: # LOG SECTION IMU MODE SWITCHING
059628,000745: # MOD BY- R.MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 82
059629,000746:
059630,000747: # FUNCTIONAL DESCRIPTION-
059631,000748: # TO DELAY FURTHER EXECUTION OF THE CALLING ROUTINE UNTIL ITS SELECTED
059632,000749: # I/O FUNCTION IS COMPLETE.THE FOLLOWING CHECKS ON THE CALLING ROUTINE:S
059633,000750: # MODECADR ARE MADE AND ACTED UPON.
059634,000751: # 1) +0 INDICATES INCOMPLETE I/O OPERATION.CALLING ROUTINE IS PUT TO
059635,000752: # SLEEP.
059636,000753: # 2) -1 INDICATES COMPLETED I/O OPERATION. STALL BYPASSES JOBSLEEP
059637,000754: # CALL AND RETURNS TO CALLING ROUTINE AT L+3
059638,000755: # 3) -0 INDICATES COMPLETED I/O WITH FAILURE. STALL CLEARS MODECADR
059639,000756: # AND RETURNS TO CALLING ROUTINE AT L+2.
059640,000757: # 4) VALUE GREATER THAN 0 INDICATES TWO ROUTINES CALLING FOR USE OF
059641,000758: # SAME DEVICE. STALL EXITS TO ABORT WHICH EXECUTES A PROGRAM
059642,000759: # RESTART WHICH IN TURN CLEARS ALL MODECADR REGISTERS.
059643,000760:
059644,000761: # CALLING SEQUENCE-
059645,000762: # L TC BANKCALL
059646,000763: # L+1 CADR (ONE OF 5 STALL ADDRESSES I.E. IMUSTALL,OPTSTALL,RADSTALL,
059647,000764: # AOTSTALL,OR ATTSTALL)
059648,000765:
059649,000766: # NORMAL-EXIT MODE-
059650,000767: # TCF JOBSLEEP OR TCF MODEXIT
059651,000768:
059652,000769: # ALARM OR ABORT EXIT MODE-
059653,000770: # TC ABORT
059654,000771:
059655,000772: # OUTPUT-
059656,000773: # MODECADR= CADR IF JOBSLEEP
059657,000774: # MODECADR=+0 IF I/O COMPLETE
059658,000775: # BUF2=L+3 IF I/O COMPLETE AND GOOD.
059659,000776: # BUF2=L+2 IF I/O COMPLETE BUT FAILED.
059660,000777:
059661,000778: # ERASABLE INITIALIZATION-
059662,000779: # BUF2 CONTAINS RETURN ADDRESS PLUS 1,(L+2)
059663,000780: # BUF2+1 CONTAINS FBANK VALUE OF CALLING ROUTINE.
059664,000781: # MODECADR OF CALLING ROUTINE CONTAINS +0,-1,-0 OR CADR RETURN ADDRESS.
059665,000782:
059666,000783: # DEBRIS-
059667,000784: # RUPTREG2 AND CALLING ROUTINE MODECADR.
059668,000785:
059669,000786: 07,3512 34712 AOTSTALL CAF ONE # AOT.
059670,000787: 07,3513 03517 TC STALL
059671,000788:
059672,000789: 07,3514 34711 RADSTALL CAF TWO
059673,000790: 07,3515 13517 TCF STALL
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Page 1405 |
059675,000792: 07,3516 07,3512 OPTSTALL EQUALS AOTSTALL
059676,000793:
059677,000794: 07,3516 34714 IMUSTALL CAF ZERO # IMU.
059678,000795:
059679,000796: 07,3517 00004 STALL INHINT
059680,000797: 07,3520 54071 TS RUPTREG2 # SAVE DEVICE INDEX.
059681,000798: 07,3521 50000 INDEX A # SEE IF OPERATION COMPLETE.
059682,000799: 07,3522 11322 CCS MODECADR
059683,000800: 07,3523 13541 TCF MODABORT # ALLOWABLE STATES ARE +0, -1, AND -0.
059684,000801: 07,3524 13535 TCF MODESLP # OPERATION INCOMPLETE.
059685,000802: 07,3525 13531 TCF MODEGOOD # COMPLETE AND GOOD IF = -1.
059686,000803:
059687,000804: 07,3526 50071 MG2 INDEX RUPTREG2 # COMPLETE AND FAILED IF -0. RESET TO +0.
059688,000805: 07,3527 55322 TS MODECADR # RETURN TO CALLER.
059689,000806: 07,3530 12557 TCF MODEEXIT
059690,000807:
059691,000808: 07,3531 10000 MODEGOOD CCS A # MAKE SURE INITIAL STATE -1.
059692,000809: 07,3532 13541 TCF MODABORT
059693,000810:
059694,000811: 07,3533 24133 INCR BUF2 # IF SO, INCREMENT RETURN ADDRESS AND
059695,000812: 07,3534 13526 TCF MG2 # RETURN IMMEDIATELY, SETTING CADR = +0.
059696,000813:
059697,000814: 07,3535 04604 MODESLP TC MAKECADR # CALL FROM SWITCHABLE FIXED ONLY.
059698,000815: 07,3536 50071 INDEX RUPTREG2
059699,000816: 07,3537 55322 TS MODECADR
059700,000817: 07,3540 15070 TCF JOBSLEEP
059701,000818:
059702,000819: 07,3541 05622 MODABORT TC POODOO # TWO PROGRAMS USING SAME DEVICE.
059703,000820: 07,3542 01210 OCT 1210
059704,000821:
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Page 1406 |
059706,000823: # CONSTANTS FOR MODE SWITCHING ROUTINES
059707,000824:
059708,000825: 07,3543 5660 BITS3&4 = OCT14
059709,000826: 07,3543 4726 BITS4&6 = OCT50
059710,000827: 07,3543 00030 BITS4-5 OCT 00030
059711,000828: 07,3544 4703 IMUSEFLG EQUALS BIT8 # INTERPRETER SWITCH 7.
059712,000829: 07,3544 77500 -COMMAX DEC -191 B-14
059713,000830: 07,3545 77477 -COMMAX- DEC -192 B-14
059714,000831: 07,3546 00074 600MS DEC 60 B-14
059715,000832: 07,3547 07,3012 IMUFIN20 = IMUFINE
059716,000833: 07,3547 31325 GOMANUR CA ATTCADR # IS KALCMANU FREE
059717,000834: 07,3550 00006 EXTEND
059718,000835: 07,3551 13554 BZF +3
059719,000836:
059720,000837: 07,3552 05622 TC POODOO # NO
059721,000838: 07,3553 01210 OCT 1210 # 2 TRYING TO USE SAME DEVICE
059722,000839:
059723,000840: 07,3554 00006 +3 EXTEND
059724,000841: 07,3555 30134 DCA BUF2
059725,000842: 07,3556 53326 DXCH ATTCADR # SAVE FINAL RETURN FOR KALCMAN3
059726,000843:
059727,000844: 07,3557 30006 CA BBANK
059728,000845: 07,3560 74716 MASK SEVEN
059729,000846: 07,3561 27326 ADS ATTCADR +1
059730,000847:
059731,000848: 07,3562 30167 CA PRIORITY
059732,000849: 07,3563 77674 MASK PRIO37
059733,000850: 07,3564 55327 TS ATTPRIO # SAVE USERS PRIO
059734,000851:
059735,000852: 07,3565 33571 CAF KALEBCON # SET EBANK FOR KALCMAN3
059736,000853: 07,3566 54003 TS EBANK
059737,000854: 07,3567 04574 TC POSTJUMP
059738,000855: 07,3570 44000 CADR KALCMAN3
059739,000856: 07,3571 03261 KALEBCON ECADR BCDU
059740,000857:
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Page 1407 |
059742,000859: # PROGRAM DESCRIPTION
059743,000860: # IMU STATUS CHECK ROUTINE R02 (SUBROUTINE UTILITY)
059744,000861: # MOD NO - 1
059745,000862: # MOD BY - N.BRODEUR
059746,000863: # FUNCTIONAL DESCRIPTION
059747,000864:
059748,000865: # TO CHECK WHETHER IMU IS ON AND IF ON WHETHER IT IS ALIGNED TO AN
059749,000866: # ORIENTATION KNOWN BY THE CMC. TO REQUEST SELECTION OF THE APPROPRIATE
059750,000867: # PROGRAM IF THE IMU IS OFF OR NOT ALIGNED TO AN ORIENTATION KNOWN BY THE
059751,000868: # CMC. CALLED THROUGH BANKCALL
059752,000869: # CALLING SEQUENCE-
059753,000870:
059754,000871: # L TC BANKCALL
059755,000872: # L+1 CADR R02BOTH
059756,000873: # SUBROUTINES CALLED
059757,000874:
059758,000875: # VARALARM
059759,000876: # FLAGUP
059760,000877: # NORMAL EXIT MODES
059761,000878:
059762,000879: # AT L+2 OF CALLING SEQUENCE
059763,000880: # ALARM OR ABORT EXIT MODES
059764,000881: # GOTOPOOH, WITH ALARM
059765,000882: # ERASABLE INITIALIZATION REQUIRED
059766,000883:
059767,000884: # NONE
059768,000885: # DEBRIS
059769,000886:
059770,000887: # CENTRALS-A,Q,L
059771,000888: 34,3777 BANK 34
059772,000889: 07,2000 SETLOC R02
059773,000890: 07,2000 BANK
059774,000891: 07,3572 COUNT 04/R02 # COUNT*
059775,000892:
059776,000893: 07,3572 00063 DEC51 DEC 51 B-14
059777,000894: 07,3573 34676 R02BOTH CAF BIT13
059778,000895: 07,3574 70077 MASK STATE +3 # REFSMFLG
059779,000896: 07,3575 10000 CCS A
059780,000897: 07,3576 03607 TC R02ZERO # ZERO IMUS
059781,000898:
059782,000899: 07,3577 31320 CA IMODES30
059783,000900: 07,3600 74702 MASK BIT9 # IS ISS INITIALIZED
059784,000901: 07,3601 00006 EXTEND
059785,000902: 07,3602 13604 BZF +2
059786,000903: 07,3603 44707 CS BIT4 # SEND IMU ALARM CODE 210
059787,000904: 07,3604 63612 AD OCT220 # SEND REFSMM ALARM
059788,000905: 07,3605 05653 TC VARALARM
059789,000906:
059790,000907: 07,3606 04106 TC GOTOPOOH
059791,000908:
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Page 1408 |
059793,000910: 07,3607 05435 R02ZERO TC UPFLAG
059794,000911: 07,3610 00007 ADRES IMUSE
059795,000912: 07,3611 14570 TCF SWRETURN
059796,000913: 07,3612 00220 OCT220 OCT 220
059797,000914:
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Page 1409 |
059799,000916: # PROGRAM DESCRIPTION P06 10FEB67
059800,000917:
059801,000918: # TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION.
059802,000919:
059803,000920: # THE NORMAL CONDITION OF READINESS OF THE GNCS WHEN NOT IN USE IS STANDBY. IN THIS CONDITION THE IMU
059804,000921: # HEATER POWER IS ON. THE IMU OPERATE POWER IS OFF. THE COMPUTER POWER IS ON. THE OPTICS POWER IS OFF. THE
059805,000922: # CMC STANDBY ON THE MAIN AND LEB DISKYS IS ON.
059806,000923:
059807,000924: # CALLING SEQUENCE:
059808,000925: # ASTRONAUT REQUEST THROUGH DSKY V37E 06E.
059809,000926:
059810,000927: # SUBROUTINES CALLED:
059811,000928: # GOPERF1
059812,000929: # BANKCALL
059813,000930: # FLAGDOWN
059814,000931:
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Page 1410 |
059816,000933: # PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2
059817,000934: # THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATABILITY
059818,000935: # BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING.
059819,000936:
059820,000937: 26,2000 SETLOC P05P06
059821,000938: 26,2000 BANK
059822,000939:
059823,000940: 26,3655 1150 EBANK= TIME2SAV
059824,000941: 26,3655 COUNT* $$/P06
059825,000942:
059826,000943: 26,3655 05435 P06 TC UPFLAG # SET NODOV37 BIT
059827,000944: 26,3656 00054 ADRES NODOFLAG
059828,000945:
059829,000946: 26,3657 00004 PRESTAND INHINT
059830,000947: 26,3660 00006 EXTEND
059831,000948: 26,3661 30025 DCA TIME2 # SNAPSHOT TIME1TIME2
059832,000949: 26,3662 53151 DXCH TIME2SAV
059833,000950: 26,3663 03714 TC SCALPREP
059834,000951: 26,3664 03657 TC PRESTAND # T1,T2,SCALER NOT COMPATIBLE
059835,000952: 26,3665 52155 DXCH MPAC # T1,T2 AND SCALER OK
059836,000953: 26,3666 53153 DXCH SCALSAVE # STORE SCALER
059837,000954: 26,3667 00004 INHINT
059838,000955: 26,3670 04555 TC BANKCALL
059839,000956: 26,3671 16777 CADR RNDREFDR # REFSMM, DRIFT, TRACK FLAGS DOWN
059840,000957:
059841,000958: 26,3672 05447 TC DOWNFLAG
059842,000959: 26,3673 00007 ADRES IMUSE # IMUSE DOWN
059843,000960: 26,3674 05447 TC DOWNFLAG
059844,000961: 26,3675 00010 ADRES RNDVZFLG # RNDVZFLG DOWN
059845,000962:
059846,000963: 26,3676 34700 CAF BIT11
059847,000964: 26,3677 00006 EXTEND
059848,000965: 26,3700 05013 WOR CHAN13 # SET STANDBY ENABLE BIT
059849,000966:
059850,000967: 26,3701 05301 TC PHASCHNG # SET RESTART TO POSTAND WHEN STANDBY
059851,000968: 26,3702 07024 OCT 07024 # RECOVERS
059852,000969: 26,3703 20000 OCT 20000
059853,000970: 26,3704 1152 EBANK= SCALSAVE
059854,000971: 26,3704 03734 54102 2CADR POSTAND
059855,000972: 26,3706 34731 CAF OCT62
059856,000973: 26,3707 04555 TC BANKCALL
059857,000974: 26,3710 20751 CADR GOPERF1
059858,000975: 26,3711 13706 TCF -3
059859,000976: 26,3712 13706 TCF -4
059860,000977: 26,3713 13706 TCF -5
059861,000978:
059862,000979: 26,3714 4731 OCT62 EQUALS .5SEC # DEC 50 = OCT 62
059863,000980:
059864,000981: # THE LOW 5 BITS OF THE SCALER READS 10000 FOR THE FIRST INTERVAL AFTER A
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Page 1411 |
059866,000983: # T1 INCREMENT. IF SCALPREP DETECTS THIS INTERVAL THE T1,T2 AND SCALER
059867,000984: # DATA ARE NOT COMPATABLE AND RETURN IS TO L+1 FOR ANOTHER READING OF THE
059868,000985: # DATA. OTHERWISE, THE RETURN IS TO L+2 TO PROCEED. ROUTINE ALSO PREPARES
059869,000986: # THE SCALER READING FOR COMPUTATION OF THE INCREMENT TO UPDATE T1T2. (THE
059870,000987: # 10 MS BIT (BIT 6) OF THE SCALER IS INCREMENTED 5 MS OUT OF PHASE FROM
059871,000988: # T1.) ADDITION OF 5 MS (BIT 5) TO THE SCALER READING HAS THE EFFECT OF
059872,000989: # ADJUSTING BIT 6 IN THE SCALER TO BE IN PHASE WITH BIT 1 OF T1. THE LOW 5
059873,000990: # BITS OF THE SCALER READING ARE THEN SET TO ZERO, TO TRUNCATE THE SCALER
059874,000991: # DATA TO 10 MS. RESULTS ARE STORED IN MPAC, +1.
059875,000992:
059876,000993: 26,3714 00006 SCALPREP EXTEND
059877,000994: 26,3715 22156 QXCH MPAC +2
059878,000995: 26,3716 04527 TC FINETIME +1
059879,000996: 26,3717 00003 RELINT
059880,000997: 26,3720 52155 DXCH MPAC
059881,000998: 26,3721 34706 CA BIT5 # ADD 5 MS TO THE SCALER READING.
059882,000999: 26,3722 54001 TS L
059883,001000: 26,3723 34714 CA ZERO
059884,001001: 26,3724 20155 DAS MPAC
059885,001002: 26,3725 44362 CS LOW5 # SET LOW 5 BITS OF (SCALER+5MS) TO ZERO
059886,001003: 26,3726 70155 MASK MPAC +1 # AND STORE RESULTS IN MPAC,+1.
059887,001004: 26,3727 56155 XCH MPAC +1
059888,001005: 26,3730 74362 MASK LOW5 # TEST LOW 5 BITS OF SCALER FOR THE FIRST
059889,001006: # INTERVAL AFTER THE T1 INCREMENT
059890,001007: # (NOW = 00000, SINCE BIT 5 ADDED).
059891,001008: 26,3731 10000 CCS A # IS IT 1ST INTERVAL AFTER T1 INCREMENT
059892,001009: 26,3732 24156 INCR MPAC +2 # NO
059893,001010: 26,3733 00156 TC MPAC +2 # YES
059894,001011:
059895,001012: # POSTAND RECOVERS TIME AFTER STANDBY.THE SCALER IS SNAPSHOTTED AND THE
059896,001013: # TIME1 TIME2 COUNTER IS SET TO ZERO. THE LOW 5 BITS OF THE SCALER ARE
059897,001014: # INSPECTED TO INSURE COMPATABILITY BETWEEN THE SCALER READING AND THE
059898,001015: # CLEARING OF THE TIME COUNTER. IT THEN COMPUTES THE DIFFERENCE IN SCALER
059899,001016: # VALUES (IN DP) AND ADDS THIS TO THE PREVIOUSLY SNAPSHOTTED VALUES OF
059900,001017: # TIME1 TIME2 AND PLACES THIS NEW TIME INTO THE TIME1 TIME2 COUNTER.
059901,001018:
059902,001019: 26,3734 COUNT* $$/P05
059903,001020:
059904,001021: 26,3734 44700 POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY.
059905,001022: 26,3735 00006 EXTEND
059906,001023: 26,3736 03013 WAND CHAN13 # CLEAR STANDBY ENABLE BIT
059907,001024: 26,3737 00004 INHINT
059908,001025: 26,3740 34714 CA ZERO
059909,001026: 26,3741 54001 TS L
059910,001027: 26,3742 52025 DXCH TIME2 # CLEAR TIME1TIME2
059911,001028: 26,3743 03714 TC SCALPREP # STORE SCALER IN MPAC, MPAC+1
059912,001029: 26,3744 03737 TC POSTAND +3 # T1,T2,SCALER NOT COMPATIBLE
059913,001030: 26,3745 00006 EXTEND # T1,T2 AND SCALER OK
059914,001031: 26,3746 41153 DCS SCALSAVE
059915,001032: 26,3747 20155 DAS MPAC # FORM DP DIFFERENCE OF POSTSTANDBY SCALER
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Page 1412 |
059917,001034: 26,3750 34701 CAF BIT10 # MINUS PRESTANDBY SCALER AND SHIFT RIGHT
059918,001035: 26,3751 07256 TC SHORTMP # 5 TO ALIGN BITS WITH TIME1 TIME2.
059919,001036: 26,3752 34714 CAF ZERO
059920,001037: 26,3753 54156 TS MPAC +2 # NEEDED FOR TP AGREE
059921,001038: 26,3754 07226 TC TPAGREE # MAKE DP DIFF AGREE
059922,001039: 26,3755 10154 CCS MPAC
059923,001040: 26,3756 03763 TC POSTCOM # IF DP DIFF NET +, NO SCALER OVERFLOW
059924,001041: 26,3757 03763 TC POSTCOM # BETWEEN PRE AND POST STANDBY.
059925,001042: 26,3760 03761 TC +1 # IF DP DIFF NET -, SCALER OVERFLOWED. ADD
059926,001043: 26,3761 34701 CAF BIT10 # BIT 10 TO HIGH DIFF TO CORRECT.
059927,001044: 26,3762 26154 ADS MPAC
059928,001045: 26,3763 00006 POSTCOM EXTEND # C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER.
059929,001046: 26,3764 31151 DCA TIME2SAV # PRESTANDBY TIME1TIME2
059930,001047: 26,3765 20155 DAS MPAC
059931,001048: 26,3766 07226 TC TPAGREE # FORCE SIGN AGREEMENT
059932,001049: 26,3767 52155 DXCH MPAC # UPDATED VALUE FOR T1,T2.
059933,001050: 26,3770 20025 DAS TIME2 # LOAD UPDATED VALUE INTO T1,T2, WITH
059934,001051: 26,3771 05447 TC DOWNFLAG # CLEAR NODOFLAG
059935,001052: 26,3772 00054 ADRES NODOFLAG
059936,001053:
059937,001054: 26,3773 04106 TC GOTOPOOH
End of include-file IMU_MODE_SWITCHING_ROUTINES.agc. Parent file is MAIN.agc