Source Code
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These source-code files are part of a reconstructed copy of Comanche 051, the
original release of the Apollo 11 Command Module (CM) Apollo Guidance Computer
(AGC) software.
The reconstruction began with source code of Comanche 055 previously transcribed
from a digitized copy of that program. The code was then updated by undoing
changes related to the R-2 lunar potential model, using hints from program
comments and change-indicating asterisks in the Comanche 055 listing as a guide.
The reconstruction was verified by matching memory-bank checksums to those listed
in drawing 2021153D. Note that page numbers in the reconstructed code match those
on the Comanche 055 printout, although the added code would likely have changed page
numbers for a real Comanche 051 listing.
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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060367,000002: ## Copyright: Public domain.
060368,000003: ## Filename: IMU_MODE_SWITCHING_ROUTINES.agc
060369,000004: ## Purpose: A section of Comanche revision 051.
060370,000005: ## It is part of the reconstructed source code for the
060371,000006: ## original release of the flight software for the Command
060372,000007: ## Module's (CM) Apollo Guidance Computer (AGC) for Apollo 11.
060373,000008: ## The code has been recreated from a copy of Comanche 055. It
060374,000009: ## has been adapted such that the resulting bugger words
060375,000010: ## exactly match those specified for Comanche 51 in NASA drawing
060376,000011: ## 2021153D, which gives relatively high confidence that the
060377,000012: ## reconstruction is correct.
060378,000013: ## Reference: pp. 1420-1448
060379,000014: ## Assembler: yaYUL
060380,000015: ## Contact: Ron Burkey <info@sandroid.org>.
060381,000016: ## Website: www.ibiblio.org/apollo/index.html
060382,000017: ## Mod history: 2019-07-30 MAS Created from Comanche 55.
060383,000018:
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Page 1420
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060385,000020: 5521 BLOCK 02
060386,000021: 4000 SETLOC FFTAG3
060387,000022: 4000 BANK
060388,000023:
060389,000024: 5521 E3,1471 EBANK= COMMAND
060390,000025:
060391,000026: # FIXED-FIXED ROUTINES.
060392,000027:
060393,000028: 5521 COUNT 02/IMODE
060394,000029:
060395,000030: 5521 35021 ZEROICDU CAF ZERO # ZERO ICDU COUNTERS.
060396,000031: 5522 54032 TS CDUX
060397,000032: 5523 54033 TS CDUY
060398,000033: 5524 54034 TS CDUZ
060399,000034: 5525 00002 TC Q
060400,000035:
060401,000036: 5526 5007 SPSCODE = BIT9
060402,000037:
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Page 1421
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060404,000039: # IMU ZEROING ROUTINE.
060405,000040:
060406,000041: 11,3776 BANK 11
060407,000042: 07,2000 SETLOC MODESW
060408,000043: 07,2000 BANK
060409,000044:
060410,000045: 07,2577 COUNT 07/IMODE
060411,000046:
060412,000047: 07,2577 00004 IMUZERO INHINT # ROUTINE TO ZERO ICDUS.
060413,000048: 07,2600 41036 CS DSPTAB +11D # DONT ZERO CDUS IF IMU IN GIMBAL LOCK AND
060414,000049: 07,2601 75033 MASK BITS4&6 # COARSE ALIGN (GIMBAL RUNAWAY PROTECTION)
060415,000050: 07,2602 10000 CCS A
060416,000051: 07,2603 12607 TCF IMUZEROA
060417,000052:
060418,000053: 07,2604 05650 TC ALARM # IF SO.
060419,000054: 07,2605 00206 OCT 00206
060420,000055:
060421,000056: 07,2606 13542 TCF CAGETSTJ +4 # IMMEDIATE FAILURE.
060422,000057:
060423,000058: 07,2607 03536 IMUZEROA TC CAGETSTJ
060424,000059:
060425,000060: # DO ALL THE WORK.
060426,000061:
060427,000062: 07,2610 41321 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
060428,000063: 07,2611 75035 MASK SUPER011 # BIT5 FOR GROUND
060429,000064: 07,2612 27321 ADS IMODES33
060430,000065:
060431,000066: 07,2613 41320 CS IMODES30 # INHIBIT ICDUFAIL AND IMUFAIL (IN CASE WE
060432,000067: 07,2614 75771 MASK BITS3&4 # JUST CAME OUT OF COARSE ALIGN).
060433,000068: 07,2615 27320 ADS IMODES30
060434,000069:
060435,000070: 07,2616 45033 CS BITS4&6 # SEND ZERO ENCODE WITH COARSE AND ERROR
060436,000071: 07,2617 00006 EXTEND # COUNTER DISABLED.
060437,000072: 07,2620 03012 WAND CHAN12
060438,000073:
060439,000074: 07,2621 03151 TC NOATTOFF # TURN OFF NO ATT LAMP.
060440,000075:
060441,000076: 07,2622 35013 CAF BIT5
060442,000077: 07,2623 00006 EXTEND
060443,000078: 07,2624 05012 WOR CHAN12
060444,000079:
060445,000080: 07,2625 05521 TC ZEROICDU
060446,000081: 07,2626 35012 CAF BIT6 # WAIT 320 MS TO GIVE AGS ADEQUATE TIME TO
060447,000082: 07,2627 05245 TC WAITLIST # RECEIVE ITS PULSE TRAIN.
060448,000083: 07,2630 E3,1474 EBANK= CDUIND
060449,000084: 07,2630 02642 16063 2CADR IMUZERO2
060450,000085:
060451,000086: 07,2632 41320 CS IMODES30 # SEE IF IMU OPERATING AND ALARM IF NOT.
060452,000087: 07,2633 75007 MASK BIT9
060453,000088: 07,2634 10000 CCS A
060454,000089: 07,2635 12640 TCF MODEEXIT
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Page 1422
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060456,000091: 07,2636 05650 TC ALARM
060457,000092: 07,2637 00210 OCT 210
060458,000093:
060459,000094: 07,2640 00003 MODEEXIT RELINT # GENERAL MODE-SWITCHING EXIT.
060460,000095: 07,2641 14675 TCF SWRETURN
060461,000096:
060462,000097: 07,2642 03524 IMUZERO2 TC CAGETEST
060463,000098: 07,2643 05521 TC ZEROICDU # ZERO CDUX, CDUY, CDUZ
060464,000099:
060465,000100: 07,2644 45013 CS BIT5 # REMOVE ZERO DISCRETE.
060466,000101: 07,2645 00006 EXTEND
060467,000102: 07,2646 03012 WAND CHAN12
060468,000103:
060469,000104: 07,2647 35005 CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS
060470,000105: 07,2650 05272 TC VARDELAY
060471,000106:
060472,000107: 07,2651 03524 IMUZERO3 TC CAGETEST
060473,000108: 07,2652 45771 CS BITS3&4 # REMOVE IMUFAIL AND ICDUFAIL INHIBIT.
060474,000109: 07,2653 71320 MASK IMODES30
060475,000110: 07,2654 55320 TS IMODES30
060476,000111:
060477,000112: 07,2655 45035 CS SUPER011 # ENABLE DAP AUTO AND HOLD MODES
060478,000113: 07,2656 71321 MASK IMODES33 # BIT5 FOR GROUND
060479,000114: 07,2657 55321 TS IMODES33
060480,000115:
060481,000116: 07,2660 04740 TC IBNKCALL # SET ISS WARNING IF EITHER OF ABOVE ARE
060482,000117: 07,2661 14665 CADR SETISSW # PRESENT.
060483,000118:
060484,000119: 07,2662 13514 TCF ENDIMU
060485,000120:
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Page 1423
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060487,000122: # IMU COARSE ALIGN MODE.
060488,000123:
060489,000124: 07,2663 00004 IMUCOARS INHINT
060490,000125: 07,2664 03536 TC CAGETSTJ
060491,000126: 07,2665 03027 TC SETCOARS
060492,000127:
060493,000128: 07,2666 36211 CAF SIX
060494,000129: 07,2667 05245 TC WAITLIST
060495,000130: 07,2670 E3,1474 EBANK= CDUIND
060496,000131: 07,2670 02673 16063 2CADR COARS
060497,000132:
060498,000133: 07,2672 12640 TCF MODEEXIT
060499,000134:
060500,000135: 07,2673 03524 COARS TC CAGETEST
060501,000136: 07,2674 35012 CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
060502,000137: 07,2675 00006 EXTEND
060503,000138: 07,2676 05012 WOR CHAN12
060504,000139:
060505,000140: 07,2677 35016 CAF TWO # SET CDU INDICATOR
060506,000141: 07,2700 55474 COARS1 TS CDUIND
060507,000142:
060508,000143: 07,2701 51474 INDEX CDUIND # COMPUTE THETAD - THETAA IN 1:S
060509,000144: 07,2702 31155 CA THETAD # COMPLEMENT FORM
060510,000145: 07,2703 00006 EXTEND
060511,000146: 07,2704 51474 INDEX CDUIND
060512,000147: 07,2705 20032 MSU CDUX
060513,000148: 07,2706 00006 EXTEND
060514,000149: 07,2707 75003 MP BIT13 # SHIFT RIGHT 2
060515,000150: 07,2710 56001 XCH L # ROUND
060516,000151: 07,2711 60000 DOUBLE
060517,000152: 07,2712 54061 TS ITEMP1
060518,000153: 07,2713 12715 TCF +2
060519,000154: 07,2714 26001 ADS L
060520,000155:
060521,000156: 07,2715 51474 INDEX CDUIND # DIFFERENCE TO BE COMPUTED
060522,000157: 07,2716 23471 LXCH COMMAND
060523,000158: 07,2717 11474 CCS CDUIND
060524,000159: 07,2720 02700 TC COARS1
060525,000160:
060526,000161: 07,2721 35016 CAF TWO # MINIMUM OF 4 MS WAIT
060527,000162: 07,2722 05272 TC VARDELAY
060528,000163:
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Page 1424
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060530,000165: 07,2723 03524 COARS2 TC CAGETEST # DONT CONTINUE IF CAGED.
060531,000166: 07,2724 54061 TS ITEMP1 # SETS TO +0.
060532,000167: 07,2725 35016 CAF TWO # SET CDU INDICATOR
060533,000168: 07,2726 55474 +3 TS CDUIND
060534,000169:
060535,000170: 07,2727 51474 INDEX CDUIND
060536,000171: 07,2730 11471 CCS COMMAND # NUMBER OF PULSES REQUIRED
060537,000172: 07,2731 02735 TC COMPOS # GREATER THAN MAX ALLOWED
060538,000173: 07,2732 02744 TC NEXTCDU +1
060539,000174: 07,2733 03002 TC COMNEG
060540,000175: 07,2734 02744 TC NEXTCDU +1
060541,000176:
060542,000177: 07,2735 63624 COMPOS AD -COMMAX # COMMAX = MAX NUMBER OF PULSES ALLOWED
060543,000178: 07,2736 00006 EXTEND # MINUS ONE
060544,000179: 07,2737 63012 BZMF COMZERO
060545,000180: 07,2740 51474 INDEX CDUIND
060546,000181: 07,2741 55471 TS COMMAND # REDUCE COMMAND BY MAX NUMBER OF PULSES
060547,000182: 07,2742 43625 CS -COMMAX- # ALLOWED
060548,000183:
060549,000184: 07,2743 24061 NEXTCDU INCR ITEMP1
060550,000185: 07,2744 65020 AD NEG0
060551,000186: 07,2745 51474 INDEX CDUIND
060552,000187: 07,2746 54050 TS CDUXCMD # SET UP COMMAND REGISTER.
060553,000188:
060554,000189: 07,2747 11474 CCS CDUIND
060555,000190: 07,2750 02726 TC COARS2 +3
060556,000191:
060557,000192: 07,2751 10061 CCS ITEMP1 # SEE IF ANY PULSES TO GO OUT.
060558,000193: 07,2752 13016 TCF SENDPULS
060559,000194:
060560,000195: 07,2753 05267 TC FIXDELAY # WAIT FOR GIMBALS TO SETTLE.
060561,000196: 07,2754 00226 DEC 150 B-14
060562,000197:
060563,000198: 07,2755 35016 CAF TWO # AT END OF COMMAND, CHECK TO SEE THAT
060564,000199: 07,2756 54061 CHKCORS TS ITEMP1 # GIMBALS ARE WITHIN 2 DEGREES OF THETAD.
060565,000200: 07,2757 50000 INDEX A
060566,000201: 07,2760 30032 CA CDUX
060567,000202: 07,2761 00006 EXTEND
060568,000203: 07,2762 50061 INDEX ITEMP1
060569,000204: 07,2763 21155 MSU THETAD
060570,000205: 07,2764 10000 CCS A
060571,000206: 07,2765 12773 TCF COARSERR
060572,000207: 07,2766 12770 TCF CORSCHK2
060573,000208: 07,2767 12773 TCF COARSERR
060574,000209:
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Page 1425
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060576,000211: 07,2770 10061 CORSCHK2 CCS ITEMP1
060577,000212: 07,2771 12756 TCF CHKCORS
060578,000213: 07,2772 13514 TCF ENDIMU # END OF COARSE ALIGNMENT.
060579,000214:
060580,000215: 07,2773 63001 COARSERR AD COARSTOL # 2 DEGREES.
060581,000216: 07,2774 00006 EXTEND
060582,000217: 07,2775 62770 BZMF CORSCHK2
060583,000218:
060584,000219: 07,2776 05650 TC ALARM # COARSE ALIGN ERROR.
060585,000220: 07,2777 00211 OCT 211
060586,000221:
060587,000222: 07,3000 13522 TCF IMUBAD
060588,000223:
060589,000224: 07,3001 77511 COARSTOL DEC -.01111 # 2 DEGREES SCALED AT HALF-REVOLUTIONS
060590,000225:
060591,000226: 07,3002 63624 COMNEG AD -COMMAX
060592,000227: 07,3003 00006 EXTEND
060593,000228: 07,3004 63012 BZMF COMZERO
060594,000229: 07,3005 40000 COM
060595,000230: 07,3006 51474 INDEX CDUIND
060596,000231: 07,3007 55471 TS COMMAND
060597,000232: 07,3010 33625 CA -COMMAX-
060598,000233: 07,3011 02743 TC NEXTCDU
060599,000234:
060600,000235: 07,3012 35021 COMZERO CAF ZERO
060601,000236: 07,3013 51474 INDEX CDUIND
060602,000237: 07,3014 57471 XCH COMMAND
060603,000238: 07,3015 02743 TC NEXTCDU
060604,000239:
060605,000240: 07,3016 37707 SENDPULS CAF 13,14,15
060606,000241: 07,3017 00006 EXTEND
060607,000242: 07,3020 05014 WOR CHAN14
060608,000243: 07,3021 33626 CAF 600MS
060609,000244: 07,3022 12722 TCF COARS2 -1 # THEN TO VARDELAY
060610,000245:
060611,000246: 07,3023 35012 CA+ECE CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
060612,000247: 07,3024 00006 EXTEND
060613,000248: 07,3025 05012 WOR CHAN12
060614,000249: 07,3026 05324 TC TASKOVER
060615,000250:
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Page 1426
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060617,000252: 07,3027 35014 SETCOARS CAF BIT4 # BYPASS IF ALREADY IN COARSE ALIGN
060618,000253: 07,3030 00006 EXTEND
060619,000254: 07,3031 02012 RAND CHAN12
060620,000255: 07,3032 10000 CCS A
060621,000256: 07,3033 00002 TC Q
060622,000257:
060623,000258: 07,3034 45012 CS BIT6 # CLEAR ISS ERROR COUNTERS
060624,000259: 07,3035 00006 EXTEND
060625,000260: 07,3036 03012 WAND CHAN12
060626,000261:
060627,000262: 07,3037 45006 CS BIT10 # KNOCK DOWN GYRO ACTIVITY
060628,000263: 07,3040 00006 EXTEND
060629,000264: 07,3041 03014 WAND CHAN14
060630,000265: 07,3042 45021 CS ZERO
060631,000266: 07,3043 54047 TS GYROCMD
060632,000267:
060633,000268: 07,3044 35014 CAF BIT4 # PUT ISS IN COARSE ALIGN
060634,000269: 07,3045 00006 EXTEND
060635,000270: 07,3046 05012 WOR CHAN12
060636,000271:
060637,000272: 07,3047 41036 CS DSPTAB +11D # TURN ON NO ATT LAMP
060638,000273: 07,3050 73072 MASK OCT40010
060639,000274: 07,3051 27036 ADS DSPTAB +11D
060640,000275:
060641,000276: 07,3052 41321 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
060642,000277: 07,3053 75012 MASK BIT6
060643,000278: 07,3054 27321 ADS IMODES33
060644,000279:
060645,000280: 07,3055 41320 CS IMODES30 # DISABLE IMUFAIL
060646,000281: 07,3056 75014 MASK BIT4
060647,000282: 07,3057 27320 ADS IMODES30
060648,000283:
060649,000284: 07,3060 45013 RNDREFDR CS BIT5 # KNOCK DOWN TRACK FLAG
060650,000285: 07,3061 70075 MASK FLAGWRD1
060651,000286: 07,3062 54075 TS FLAGWRD1
060652,000287:
060653,000288: 07,3063 45001 CS BIT15 # KNOCK DOWN DRIFT FLAG
060654,000289: 07,3064 70076 MASK FLAGWRD2
060655,000290: 07,3065 54076 TS FLAGWRD2
060656,000291:
060657,000292: 07,3066 45003 CS BIT13 # KNOCK DOWN REFSMMAT FLAG
060658,000293: 07,3067 70077 MASK FLAGWRD3
060659,000294: 07,3070 54077 TS FLAGWRD3
060660,000295:
060661,000296: 07,3071 00002 TC Q
060662,000297:
060663,000298: 07,3072 40010 OCT40010 OCT 40010
060664,000299:
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Page 1427
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060666,000301: # IMU FINE ALIGN MODE SWITCH.
060667,000302:
060668,000303: 07,3073 00004 IMUFINE INHINT
060669,000304: 07,3074 03536 TC CAGETSTJ # SEE IF IMU BEING CAGED.
060670,000305:
060671,000306: 07,3075 45027 CS BITS4-5 # RESET ZERO AND COARSE
060672,000307: 07,3076 00006 EXTEND
060673,000308: 07,3077 03012 WAND CHAN12
060674,000309:
060675,000310: 07,3100 45012 CS BIT6 # INSURE DAP AUTO AND HOLD MODES ENABLED
060676,000311: 07,3101 71321 MASK IMODES33
060677,000312: 07,3102 55321 TS IMODES33
060678,000313:
060679,000314: 07,3103 03151 TC NOATTOFF
060680,000315:
060681,000316: 07,3104 35006 CAF BIT10 # IMU FAIL WAS INHIBITED DURING THE
060682,000317: 07,3105 05245 TC WAITLIST # PRESUMABLY PRECEDING COARSE ALIGN. LEAVE
060683,000318: 07,3106 E3,1474 EBANK= CDUIND
060684,000319: 07,3106 03117 16063 2CADR IFAILOK # IT ON FOR THE FIRST 5 SECS OF FINE ALIGN
060685,000320:
060686,000321: 07,3110 35042 CAF 2SECS
060687,000322: 07,3111 05245 TC WAITLIST
060688,000323: 07,3112 E3,1474 EBANK= CDUIND
060689,000324: 07,3112 03115 16063 2CADR IMUFINED
060690,000325:
060691,000326: 07,3114 12640 TCF MODEEXIT
060692,000327:
060693,000328: 07,3115 03524 IMUFINED TC CAGETEST # SEE THAT NO ONE HAS CAGED THE IMU.
060694,000329: 07,3116 13514 TCF ENDIMU
060695,000330:
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Page 1428
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060697,000332: 07,3117 03531 IFAILOK TC CAGETSTQ # ENABLE IMU FIAL UNLESS IMU BEING CAGED.
060698,000333: 07,3120 15324 TCF TASKOVER # IT IS.
060699,000334:
060700,000335: 07,3121 35014 CAF BIT4 # DONT RESET IMU FAIL INHIBIT IF SOMEONE
060701,000336: 07,3122 00006 EXTEND # HAS GONE INTO COARSE ALIGN.
060702,000337: 07,3123 02012 RAND CHAN12
060703,000338: 07,3124 10000 CCS A
060704,000339: 07,3125 15324 TCF TASKOVER
060705,000340:
060706,000341: 07,3126 41320 CS IMODES30 # RESET IMUFAIL.
060707,000342: 07,3127 75003 MASK BIT13
060708,000343: 07,3130 27320 ADS IMODES30
060709,000344: 07,3131 45014 CS BIT4
060710,000345: 07,3132 71320 PFAILOK2 MASK IMODES30
060711,000346: 07,3133 55320 TS IMODES30
060712,000347: 07,3134 04740 TC IBNKCALL # THE ISS WARNING LIGHT MAY COME ON NOW
060713,000348: 07,3135 14665 CADR SETISSW # THAT THE INHIBIT HAS BEEN REMOVED.
060714,000349: 07,3136 15324 TCF TASKOVER
060715,000350:
060716,000351: 07,3137 03531 PFAILOK TC CAGETSTQ # ENABLE PIP FAIL PROG ALARM.
060717,000352: 07,3140 15324 TCF TASKOVER
060718,000353:
060719,000354: 07,3141 41320 CS IMODES30 # RESET IMU AND PIPA FAIL BITS.
060720,000355: 07,3142 75006 MASK BIT10
060721,000356: 07,3143 27320 ADS IMODES30
060722,000357:
060723,000358: 07,3144 41321 CS IMODES33
060724,000359: 07,3145 75003 MASK BIT13
060725,000360: 07,3146 27321 ADS IMODES33
060726,000361:
060727,000362: 07,3147 45013 CS BIT5
060728,000363: 07,3150 13132 TCF PFAILOK2
060729,000364:
060730,000365: 07,3151 43072 NOATTOFF CS OCT40010 # SUBROUTINE TO TURN OFF NO ATT LAMP.
060731,000366: 07,3152 71036 MASK DSPTAB +11D
060732,000367: 07,3153 65001 AD BIT15
060733,000368: 07,3154 55036 TS DSPTAB +11D
060734,000369: 07,3155 00002 TC Q
060735,000370:
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Page 1429
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060737,000372: # ROUITNES TO INITIATE AND TERMINATE PROGRAM USE OF THE PIPAS. NO IMUSTALL REQUIRED IN EITHER CASE.
060738,000373:
060739,000374: 07,3156 45021 PIPUSE CS ZERO
060740,000375: 07,3157 54037 TS PIPAX
060741,000376: 07,3160 54040 TS PIPAY
060742,000377: 07,3161 54041 TS PIPAZ
060743,000378:
060744,000379: 07,3162 03531 PIPUSE1 TC CAGETSTQ # DO NOT ENABLE PIPA FAIL IF IMU IS CAGED
060745,000380: 07,3163 14675 TCF SWRETURN
060746,000381:
060747,000382: 07,3164 00004 INHINT
060748,000383: 07,3165 45017 CS BIT1 # IF PIPA FAILS FROM NOW ON (UNTIL
060749,000384: 07,3166 71320 MASK IMODES30 # PIPFREE), LIGHT ISS WARNING.
060750,000385: 07,3167 55320 TS IMODES30
060751,000386:
060752,000387: 07,3170 04740 PIPFREE2 TC IBNKCALL # ISS WARNING MIGHT COME ON NOW.
060753,000388: 07,3171 14665 CADR SETISSW # (OR GO OFF ON PIPFREE).
060754,000389:
060755,000390: 07,3172 12640 TCF MODEEXIT
060756,000391:
060757,000392: 07,3173 00004 PIPFREE INHINT # PROGRAM DONE WITH PIPAS. DONT LIGHT
060758,000393: 07,3174 41320 CS IMODES30 # ISS WARNING.
060759,000394: 07,3175 75017 MASK BIT1
060760,000395: 07,3176 27320 ADS IMODES30
060761,000396:
060762,000397: 07,3177 75006 MASK BIT10 # IF PIP FAIL ON, DO PROG ALSRM AND RESET
060763,000398: 07,3200 10000 CCS A # ISS WARNING.
060764,000399: 07,3201 12640 TCF MODEEXIT
060765,000400:
060766,000401: 07,3202 05650 TC ALARM
060767,000402: 07,3203 00212 OCT 212
060768,000403:
060769,000404: 07,3204 00004 INHINT
060770,000405:
060771,000406: 07,3205 13170 TCF PIPFREE2
060772,000407:
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Page 1430
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060774,000409: # THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIX REGISTERS
060775,000410: # BEGINNING AT THE ECADR ARRIVING IN A. THE MINIMUM SIZE OF ANY PULSE TRAIN IS 16 PULSES (.25 CDU COUNTS). THE
060776,000411: # UNSENT PORTION OF THE COMMAND IS LEFT INTACT IN THE INPUT COMMAND REGISTERS.
060777,000412:
060778,000413: 07,3206 E3,1400 EBANK= 1400 # VARIABLE, ACTUALLY.
060779,000414:
060780,000415: 07,3206 54161 IMUPULSE TS MPAC +5 # SAVE ARRIVING ECADR.
060781,000416: 07,3207 03536 TC CAGETSTJ # DONT PROCEED IF IMU BEING CAGED.
060782,000417:
060783,000418: 07,3210 11304 CCS LGYRO # SEE IF GYROS BUSY.
060784,000419: 07,3211 03252 TC GYROBUSY # SLEEP.
060785,000420:
060786,000421: 07,3212 54156 TS MPAC +2
060787,000422: 07,3213 35012 CAF BIT6 # ENABLE THE POWER SUPPLY.
060788,000423: 07,3214 00006 EXTEND
060789,000424: 07,3215 05014 WOR CHAN14
060790,000425:
060791,000426: 07,3216 35015 CAF FOUR
060792,000427: 07,3217 05245 GWAKE2 TC WAITLIST # (IF A JOB WAS PUT TO SLEEP, THE POWER
060793,000428: 07,3220 E3,1474 EBANK= CDUIND # SUPPLY IS LEFT ON BY THE WAKING JOB).
060794,000429: 07,3220 03270 16063 2CADR STRTGYRO
060795,000430:
060796,000431: 07,3222 30161 CA MPAC +5 # SET UP EBANK, SAVING CALLER'S EBANK FOR
060797,000432: 07,3223 56003 XCH EBANK # RESTORATION ON RETURN.
060798,000433: 07,3224 56161 XCH MPAC +5
060799,000434: 07,3225 55304 TS LGYRO # RESERVES GYROS.
060800,000435: 07,3226 74373 MASK LOW8
060801,000436: 07,3227 54061 TS ITEMP1
060802,000437:
060803,000438: 07,3230 35016 CAF TWO # FORCE SIGN AGREEMENT ON INPUTS.
060804,000439: 07,3231 54157 GYROAGRE TS MPAC +3
060805,000440: 07,3232 60000 DOUBLE
060806,000441: 07,3233 60061 AD ITEMP1
060807,000442: 07,3234 54160 TS MPAC +4
060808,000443: 07,3235 00006 EXTEND
060809,000444: 07,3236 50000 INDEX A
060810,000445: 07,3237 31401 DCA 1400
060811,000446: 07,3240 52155 DXCH MPAC
060812,000447: 07,3241 07226 TC TPAGREE
060813,000448: 07,3242 52155 DXCH MPAC
060814,000449: 07,3243 50160 INDEX MPAC +4
060815,000450: 07,3244 53401 DXCH 1400
060816,000451:
060817,000452: 07,3245 10157 CCS MPAC +3
060818,000453: 07,3246 13231 TCF GYROAGRE
060819,000454:
060820,000455: 07,3247 30161 CA MPAC +5 # RESTORE CALLER'S EBANK.
060821,000456: 07,3250 54003 TS EBANK
060822,000457: 07,3251 12640 TCF MODEEXIT
060823,000458:
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|
Page 1431
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060825,000460: # ROUTINES TO ALLOW TORQUING BY ONLY ONE JOB AT A TIME.
060826,000461:
060827,000462: 07,3252 00006 GYROBUSY EXTEND # SAVE RETURN 2FCADR.
060828,000463: 07,3253 30134 DCA BUF2
060829,000464: 07,3254 52155 DXCH MPAC
060830,000465: 07,3255 33267 REGSLEEP CAF LGWAKE
060831,000466: 07,3256 15175 TCF JOBSLEEP
060832,000467:
060833,000468: 07,3257 11304 GWAKE CCS LGYRO # WHEN AWAKENED, SEE IF GYROS STILL BUSY.
060834,000469: 07,3260 13255 TCF REGSLEEP # IF SO, SLEEP SOME MORE.
060835,000470:
060836,000471: 07,3261 54156 TS MPAC +2
060837,000472: 07,3262 00006 EXTEND
060838,000473: 07,3263 30155 DCA MPAC
060839,000474: 07,3264 52134 DXCH BUF2 # RESTORE SWRETURN INFO.
060840,000475: 07,3265 35017 CAF ONE
060841,000476: 07,3266 13217 TCF GWAKE2
060842,000477:
060843,000478: 07,3267 17257 LGWAKE CADR GWAKE
060844,000479:
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|
Page 1432
|
060846,000481: # GYRO-TORQUING WAITLIST TASKS.
060847,000482:
060848,000483: 07,3270 43511 STRTGYRO CS GDESELCT # DE-SELECT LAST GYRO.
060849,000484: 07,3271 00006 EXTEND
060850,000485: 07,3272 03014 WAND CHAN14
060851,000486:
060852,000487: 07,3273 03524 TC CAGETEST
060853,000488:
060854,000489: 07,3274 31304 STRTGYR2 CA LGYRO # JUMP ON PHASE COUNTER IN BITS 13-14.
060855,000490: 07,3275 00006 EXTEND
060856,000491: 07,3276 75014 MP BIT4
060857,000492: 07,3277 50000 INDEX A
060858,000493: 07,3300 13301 TCF +1
060859,000494: 07,3301 03316 TC GSELECT # =0. DO Y GYRO.
060860,000495: 07,3302 00202 OCT 00202
060861,000496:
060862,000497: 07,3303 03316 TC GSELECT # =1. DO Z GYRO.
060863,000498: 07,3304 00302 OCT 00302
060864,000499:
060865,000500: 07,3305 03314 TC GSELECT -2 # =2. DO X GYRO.
060866,000501: 07,3306 00100 OCT 00100
060867,000502:
060868,000503: 07,3307 35021 CAF ZERO # =3. DONE
060869,000504: 07,3310 55304 TS LGYRO
060870,000505: 07,3311 33267 CAF LGWAKE # WAKE A POSSIBLE SLEEPING JOB.
060871,000506: 07,3312 05201 TC JOBWAKE
060872,000507:
060873,000508: 07,3313 13115 NORESET TCF IMUFINED # DO NOT RESET POWER SUPPLY
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|
Page 1433
|
060875,000510: 07,3314 45015 -2 CS FOUR # SPECIAL ENTRY TO REGRESS LGYRO FOR X.
060876,000511: 07,3315 27304 ADS LGYRO
060877,000512:
060878,000513: 07,3316 50002 GSELECT INDEX Q # SELECT GYRO.
060879,000514: 07,3317 30000 CAF 0 # PACKED WORD CONTAINS GYRO SELECT BITS
060880,000515: 07,3320 54064 TS ITEMP4 # AND INCREMENT TO LGYRO.
060881,000516: 07,3321 75023 MASK SEVEN
060882,000517: 07,3322 65003 AD BIT13
060883,000518: 07,3323 27304 ADS LGYRO
060884,000519: 07,3324 54003 TS EBANK
060885,000520: 07,3325 74373 MASK LOW8
060886,000521: 07,3326 54061 TS ITEMP1
060887,000522:
060888,000523: 07,3327 45023 CS SEVEN
060889,000524: 07,3330 70064 MASK ITEMP4
060890,000525: 07,3331 54064 TS ITEMP4
060891,000526:
060892,000527: 07,3332 00006 EXTEND # MOVE DP COMMAND TO RUPTREGS FOR TESTING.
060893,000528: 07,3333 50061 INDEX ITEMP1
060894,000529: 07,3334 31401 DCA 1400
060895,000530: 07,3335 52071 DXCH RUPTREG1
060896,000531:
060897,000532: 07,3336 10070 CCS RUPTREG1
060898,000533: 07,3337 13352 TCF MAJ+
060899,000534: 07,3340 13342 TCF +2
060900,000535: 07,3341 13472 TCF MAJ-
060901,000536:
060902,000537: 07,3342 10071 CCS RUPTREG2
060903,000538: 07,3343 13347 TCF MIN+
060904,000539: 07,3344 13274 TCF STRTGYR2
060905,000540: 07,3345 13467 TCF MIN-
060906,000541: 07,3346 13274 TCF STRTGYR2
060907,000542:
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Page 1434
|
060909,000544: 07,3347 63403 MIN+ AD -GYROMIN # SMALL POSITIVE COMMAND. SEE IF AT LEAST
060910,000545: 07,3350 00006 EXTEND # 16 GYRO PULSES.
060911,000546: 07,3351 63274 BZMF STRTGYR2
060912,000547:
060913,000548: 07,3352 00006 MAJ+ EXTEND # DEFINITE POSITIVE OUTPUT.
060914,000549: 07,3353 33513 DCA GYROFRAC
060915,000550: 07,3354 20071 DAS RUPTREG1
060916,000551:
060917,000552: 07,3355 30064 CA ITEMP4 # SELECT POSITIVE TORQUING FOR THIS GYRO.
060918,000553: 07,3356 00006 EXTEND
060919,000554: 07,3357 05014 WOR CHAN14
060920,000555:
060921,000556: 07,3360 36043 CAF LOW7 # LEAVE NUMBER OF POSSIBLE 8192 AUGMENTS
060922,000557: 07,3361 70071 MASK RUPTREG2 # TO INITIAL COMMAND IN MAJOR PART OF LONG
060923,000558: 07,3362 56071 XCH RUPTREG2 # TERM STORAGE AND TRUNCATED FRACTION
060924,000559: 07,3363 00006 GMERGE EXTEND # IN MINOR PART. THE MAJOR PART WILL BE
060925,000560: 07,3364 75010 MP BIT8 # COUNTED DOWN TO ZERO IN THE COURSE OF
060926,000561: 07,3365 54062 TS ITEMP2 # PUTTING OUT THE ENTIRE COMMAND.
060927,000562: 07,3366 30070 CA RUPTREG1
060928,000563: 07,3367 00006 EXTEND
060929,000564: 07,3370 75007 MP BIT9
060930,000565: 07,3371 54070 TS RUPTREG1
060931,000566: 07,3372 30001 CA L
060932,000567: 07,3373 00006 EXTEND
060933,000568: 07,3374 75002 MP BIT14
060934,000569: 07,3375 26062 ADS ITEMP2 # INITIAL COMMAND.
060935,000570:
060936,000571: 07,3376 00006 EXTEND # SEE IF MORE THAN ONE PULSE TRAIN NEEDED
060937,000572: 07,3377 30071 DCA RUPTREG1 # (MORE THAN 16383 PULSES).
060938,000573: 07,3400 67716 AD MINUS1
060939,000574: 07,3401 10000 CCS A
060940,000575: 07,3402 13426 TCF LONGGYRO
060941,000576: 07,3403 77601 -GYROMIN OCT -176 # MAY BE ADJUSTED TO SPECIFY MINIMUM CMD
060942,000577: 07,3404 13410 TCF +4
060943,000578:
060944,000579: 07,3405 35002 CAF BIT14
060945,000580: 07,3406 26062 ADS ITEMP2
060946,000581: 07,3407 35021 CAF ZERO
060947,000582:
060948,000583: 07,3410 50061 +4 INDEX ITEMP1
060949,000584: 07,3411 53401 DXCH 1400
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Page 1435
|
060951,000586: 07,3412 30062 CA ITEMP2 # ENTIRE COMMAND.
060952,000587: 07,3413 54047 LASTSEG TS GYROCMD
060953,000588: 07,3414 00006 EXTEND
060954,000589: 07,3415 75006 MP BIT10 # WAITLIST DT
060955,000590: 07,3416 66214 AD THREE # TRUNCATION AND PHASE UNCERTAINTIES.
060956,000591: 07,3417 05245 TC WAITLIST
060957,000592: 07,3420 E3,1474 EBANK= CDUIND
060958,000593: 07,3420 03270 16063 2CADR STRTGYRO
060959,000594:
060960,000595: 07,3422 35006 GYROEXIT CAF BIT10
060961,000596: 07,3423 00006 EXTEND
060962,000597: 07,3424 05014 WOR CHAN14
060963,000598: 07,3425 15324 TCF TASKOVER
060964,000599:
060965,000600: 07,3426 50061 LONGGYRO INDEX ITEMP1
060966,000601: 07,3427 53401 DXCH 1400 # INITIAL COMMAND OUT PLUS N AUGMENTS OF
060967,000602: 07,3430 35002 CAF BIT14 # 8192. INITIAL COMMAND IS AT LEAST 8192.
060968,000603: 07,3431 60062 AD ITEMP2
060969,000604: 07,3432 54047 TS GYROCMD
060970,000605:
060971,000606: 07,3433 00006 AUG3 EXTEND # GET WAITLIST DT TO TIME WHEN TRAIN IS
060972,000607: 07,3434 75006 MP BIT10 # ALMOST OUT.
060973,000608: 07,3435 67714 AD NEG3
060974,000609: 07,3436 05245 TC WAITLIST
060975,000610: 07,3437 E3,1474 EBANK= CDUIND
060976,000611: 07,3437 03442 16063 2CADR 8192AUG
060977,000612:
060978,000613: 07,3441 13422 TCF GYROEXIT
060979,000614:
060980,000615: 07,3442 03524 8192AUG TC CAGETEST
060981,000616:
060982,000617: 07,3443 35014 CAF BIT4
060983,000618: 07,3444 00006 EXTEND
060984,000619: 07,3445 02012 RAND CHAN12
060985,000620: 07,3446 10000 CCS A
060986,000621: 07,3447 13522 TCF IMUBAD
060987,000622: 07,3450 31304 CA LGYRO # ADD 8192 PULSES TO GYROCMD
060988,000623: 07,3451 54003 TS EBANK
060989,000624: 07,3452 74373 MASK LOW8
060990,000625: 07,3453 54061 TS ITEMP1
060991,000626:
060992,000627: 07,3454 50061 INDEX ITEMP1 # SEE IF THIS IS THE LAST AUG.
060993,000628: 07,3455 11400 CCS 1400
060994,000629: 07,3456 13462 TCF AUG2 # MORE TO COME.
060995,000630:
060996,000631: 07,3457 35002 CAF BIT14
060997,000632: 07,3460 26047 ADS GYROCMD
060998,000633: 07,3461 13414 TCF LASTSEG +1
060999,000634:
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Page 1436
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061001,000636: 07,3462 50061 AUG2 INDEX ITEMP1
061002,000637: 07,3463 55400 TS 1400
061003,000638: 07,3464 35002 CAF BIT14
061004,000639: 07,3465 26047 ADS GYROCMD
061005,000640: 07,3466 13433 TCF AUG3 # COMPUTE DT.
061006,000641:
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Page 1437
|
061008,000643: 07,3467 63403 MIN- AD -GYROMIN # POSSIBLE NEGATIVE OUTPUT.
061009,000644: 07,3470 00006 EXTEND
061010,000645: 07,3471 63274 BZMF STRTGYR2
061011,000646:
061012,000647: 07,3472 00006 MAJ- EXTEND # DEFINITE NEGATIVE OUTPUT.
061013,000648: 07,3473 43513 DCS GYROFRAC
061014,000649: 07,3474 20071 DAS RUPTREG1
061015,000650:
061016,000651: 07,3475 30064 CA ITEMP4 # SELECT NEGATIVE TORQUING FOR THIS GYRO.
061017,000652: 07,3476 65007 AD BIT9
061018,000653: 07,3477 00006 EXTEND
061019,000654: 07,3500 05014 WOR CHAN14
061020,000655:
061021,000656: 07,3501 40070 CS RUPTREG1 # SET UP RUPTREGS TO FALL INTO GMERGE.
061022,000657: 07,3502 54070 TS RUPTREG1 # ALL NUMBERS PUT INTO GYROCMD ARE
061023,000658: 07,3503 40071 CS RUPTREG2 # POSITIVE - BIT9 OF CHAN 14 DETERMINES
061024,000659: 07,3504 76043 MASK LOW7 # THE SIGN OF THE COMMAND.
061025,000660: 07,3505 40000 COM
061026,000661: 07,3506 56071 XCH RUPTREG2
061027,000662: 07,3507 40000 COM
061028,000663: 07,3510 13363 TCF GMERGE
061029,000664:
061030,000665: 07,3511 01700 GDESELCT OCT 1700 # TURN OFF SELECT AND ACTIVITY BITS.
061031,000666:
061032,000667: 07,3512 00000 00034 GYROFRAC 2DEC .215 B-21
061033,000668:
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Page 1438
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061035,000670: # IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE.
061036,000671:
061037,000672: 07,3514 00006 ENDIMU EXTEND # MODE IS BAD IF CAGE HAS OCCURED OR IF
061038,000673: 07,3515 00011 READ DSALMOUT # ISS WARNING IS ON.
061039,000674: 07,3516 75017 MASK BIT1
061040,000675: 07,3517 10000 CCS A
061041,000676: 07,3520 13522 TCF IMUBAD
061042,000677:
061043,000678: 07,3521 13550 IMUGOOD TCF GOODEND # WITH C(A) = 0.
061044,000679:
061045,000680: 07,3522 35021 IMUBAD CAF ZERO
061046,000681: 07,3523 13545 TCF BADEND
061047,000682:
061048,000683: 07,3524 35012 CAGETEST CAF BIT6 # SUBROUTINE TO TERMINATE IMU MODE
061049,000684: 07,3525 71320 MASK IMODES30 # SWITCH IF IMU HAS BEEN CAGED.
061050,000685: 07,3526 10000 CCS A
061051,000686: 07,3527 13522 TCF IMUBAD # DIRECTLY.
061052,000687: 07,3530 00002 TC Q # WITH C(A) = +0.
061053,000688:
061054,000689: 07,3531 41320 CAGETSTQ CS IMODES30 # SKIP IF IMU NOT BEING CAGED.
061055,000690: 07,3532 75012 MASK BIT6
061056,000691: 07,3533 10000 CCS A
061057,000692: 07,3534 24002 INCR Q
061058,000693: 07,3535 00002 TC Q
061059,000694:
061060,000695: 07,3536 41320 CAGETSTJ CS IMODES30 # IF DURING MODE SWITCH INITIALIZATION
061061,000696: 07,3537 75012 MASK BIT6 # IT IS FOUND THAT THE IMU IS BEING CAGED,
061062,000697: 07,3540 10000 CCS A # SET IMUCADR TO -0 TO INDICATE OPERATION
061063,000698: 07,3541 00002 TC Q # COMPLETE BUT FAILED. RETURN IMMEDIATELY
061064,000699: 07,3542 45021 CS ZERO # TO SWRETURN.
061065,000700: 07,3543 55322 TS IMUCADR
061066,000701: 07,3544 12640 TCF MODEEXIT
061067,000702:
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Page 1439
|
061069,000704: # GENERALIZED MODE SWITCHING TERMINATION. ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION
061070,000705: # OR AT BADEND FOR AN UNSUCCESSFUL ONE. C(A) OR ARRIVAL =0 FOR IMU, 1 FOR OPTICS.
061071,000706:
061072,000707: 07,3545 54071 BADEND TS RUPTREG2 # DEVICE INDEX.
061073,000708: 07,3546 45021 CS ZERO # FOR FAILURE.
061074,000709: 07,3547 13552 TCF GOODEND +2
061075,000710:
061076,000711: 07,3550 54071 GOODEND TS RUPTREG2
061077,000712: 07,3551 45017 CS ONE # FOR SUCCESS.
061078,000713:
061079,000714: 07,3552 54072 TS RUPTREG3
061080,000715: 07,3553 50071 INDEX RUPTREG2 # SEE IF USING PROGRAM ASLEEP.
061081,000716: 07,3554 11322 CCS MODECADR
061082,000717: 07,3555 13557 TCF +2 # YES - WAKE IT UP.
061083,000718: 07,3556 13567 TCF ENDMODE # IF 0, PROGRAM NOT IN YET.
061084,000719:
061085,000720: 07,3557 35021 CAF ZERO # WAKE SLEEPING PROGRAM.
061086,000721: 07,3560 50071 INDEX RUPTREG2
061087,000722: 07,3561 57322 XCH MODECADR
061088,000723: 07,3562 05201 TC JOBWAKE
061089,000724:
061090,000725: 07,3563 40072 CS RUPTREG3 # ADVANCE LOC IF SUCCESSFUL.
061091,000726: 07,3564 50064 INDEX LOCCTR
061092,000727: 07,3565 26164 ADS LOC
061093,000728:
061094,000729: 07,3566 15324 TCF TASKOVER
061095,000730:
061096,000731: 07,3567 30072 ENDMODE CA RUPTREG3 # -0 INDICATES OPERATION COMPLETE BUT
061097,000732: 07,3570 50071 INDEX RUPTREG2 # UNSUCCESSFUL - -1 INDICATES COMPLETE AND
061098,000733: 07,3571 55322 TS MODECADR # SUCCESSFUL.
061099,000734: 07,3572 15324 TCF TASKOVER
061100,000735:
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Page 1440
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061102,000737: # GENERAL STALLING ROUTINE. USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION.
061103,000738:
061104,000739: # PROGRAM DESCRIPTION DATE - 21 FEB 1967
061105,000740: # LOG SECTION IMU MODE SWITCHING
061106,000741: # MOD BY - R. MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 82
061107,000742:
061108,000743: # FUNCTIONAL DESCRIPTION -
061109,000744: # TO DELAY FURTHER EXECUTION OF THE CALLING ROUTINE UNTIL ITS SELECTED
061110,000745: # I/O FUNCTION IS COMPLETE. THE FOLLOWING CHECKS ON THE CALLING ROUTINE:S
061111,000746: # MODECADR ARE MADE AND ACTED UPON.
061112,000747: # 1) +0 INDICATES INCOMPLETE I/O OPERATION. CALLING ROUTINE IS PUT TO
061113,000748: # SLEEP.
061114,000749: # 2) -1 INDICATES COMPLETED I/O OPERATION. STALL BYPASSES JOBSLEEP
061115,000750: # CALL AND RETURNS TO CALLING ROUTINE AT L+3
061116,000751: # 3) -0 INDICATES COMPLETED I/O WITH FAILURE. STALL CLEARS MODECADR
061117,000752: # AND RETURNS TO CALLING ROUTINE AT L+2.
061118,000753: # 4) VALUE GREATER THAN 0 INDICATES TWO ROUTINES CALLING FOR USE OF
061119,000754: # SAME DEVICE. STALL EXITS TO ABORT WHICH EXECUTES A PROGRAM
061120,000755: # RESTART WHICH IN TURN CLEARS ALL MODECADR REGISTERS.
061121,000756:
061122,000757: # CALLING SEQUENCE -
061123,000758: # L TC BANKCALL
061124,000759: # L+1 CADR (ONE OF 5 STALL ADDRESSES I.E. IMUSTALL, OPTSTALL, RADSTALL,
061125,000760: # AOTSTALL, OR ATTSTALL)
061126,000761:
061127,000762: # NORMAL-EXIT MODE -
061128,000763: # TCF JOBSLEEP OR TCF MODEXIT
061129,000764:
061130,000765: # ALARM OR ABORT EXIT MODE -
061131,000766: # TC ABORT
061132,000767:
061133,000768: # OUTPUT -
061134,000769: # MODECADR=CADR IF JOBSLEEP
061135,000770: # MODECADR=+0 IF I/O COMPLETE
061136,000771: # BUF2=L+3 IF I/O COMPLETE AND GOOD.
061137,000772: # BUF2=L+2 IF I/O COMPLETE BUT FAILED.
061138,000773:
061139,000774: # ERASABLE INITIALIZATION -
061140,000775: # BUF2 CONTAINS RETURN ADDRESS PLUS 1,(L+2)
061141,000776: # BUF2+1 CONTAINS FBANK VALUE OF CALLING ROUTINE.
061142,000777: # MODECADR OF CALLING ROUTINE CONTAINS +0,-1,-0 OR CADR RETURN ADDRESS.
061143,000778:
061144,000779: # DEBRIS -
061145,000780: # RUPTREG2 AND CALLING ROUTINE MODECADR.
061146,000781:
061147,000782: 07,3573 35017 AOTSTALL CAF ONE # AOT.
061148,000783: 07,3574 03600 TC STALL
061149,000784:
061150,000785: 07,3575 35016 RADSTALL CAF TWO
061151,000786: 07,3576 13600 TCF STALL
061152,000787:
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Page 1441
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061154,000789: 07,3577 07,3573 OPTSTALL EQUALS AOTSTALL
061155,000790:
061156,000791: 07,3577 35021 IMUSTALL CAF ZERO # IMU.
061157,000792:
061158,000793: 07,3600 00004 STALL INHINT
061159,000794: 07,3601 54071 TS RUPTREG2 # SAVE DEVICE INDEX.
061160,000795: 07,3602 50000 INDEX A # SEE IF OPERATION COMPLETE.
061161,000796: 07,3603 11322 CCS MODECADR
061162,000797: 07,3604 13622 TCF MODABORT # ALLOWABLE STATES ARE +0, -1, AND -0.
061163,000798: 07,3605 13616 TCF MODESLP # OPERATION INCOMPLETE.
061164,000799: 07,3606 13612 TCF MODEGOOD # COMPLETE AND GOOD IF = -1.
061165,000800:
061166,000801: 07,3607 50071 MG2 INDEX RUPTREG2 # COMPLETE AND FAILED IF -0. RESET TO +0.
061167,000802: 07,3610 55322 TS MODECADR # RETURN TO CALLER.
061168,000803: 07,3611 12640 TCF MODEEXIT
061169,000804:
061170,000805: 07,3612 10000 MODEGOOD CCS A # MAKE SURE INITIAL STATE -1.
061171,000806: 07,3613 13622 TCF MODABORT
061172,000807:
061173,000808: 07,3614 24133 INCR BUF2 # IF SO, INCREMENT RETURN ADDRESS AND
061174,000809: 07,3615 13607 TCF MG2 # RETURN IMMEDIATELY, SETTING CADR = +0.
061175,000810:
061176,000811: 07,3616 04711 MODESLP TC MAKECADR # CALL FROM SWITCHABLE FIXED ONLY.
061177,000812: 07,3617 50071 INDEX RUPTREG2
061178,000813: 07,3620 55322 TS MODECADR
061179,000814: 07,3621 15175 TCF JOBSLEEP
061180,000815:
061181,000816: 07,3622 05721 MODABORT TC POODOO # TWO PROGRAMS USING SAME DEVICE.
061182,000817: 07,3623 01210 OCT 1210
061183,000818:
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061185,000820: # CONSTANTS FOR MODE SWITCHING ROUTINES
061186,000821:
061187,000822: 07,3624 5771 BITS3&4 = OCT14
061188,000823: 07,3624 5033 BITS4&6 = OCT50
061189,000824: 07,3624 5027 BITS4-5 EQUALS BITS4&5
061190,000825: 07,3624 5010 IMUSEFLG EQUALS BIT8 # INTERPRETER SWITCH 7.
061191,000826: 07,3624 77500 -COMMAX DEC -191 B-14
061192,000827: 07,3625 77477 -COMMAX- DEC -192 B-14
061193,000828: 07,3626 00074 600MS DEC 60 B-14
061194,000829: 07,3627 07,3073 IMUFIN20 = IMUFINE
061195,000830: 07,3627 31325 GOMANUR CA ATTCADR # IS KALCMANU FREE
061196,000831: 07,3630 00006 EXTEND
061197,000832: 07,3631 13634 BZF +3
061198,000833: 07,3632 05721 TC POODOO # NO
061199,000834: 07,3633 01210 OCT 1210 # 2 TRYING TO USE SAME DEVICE
061200,000835:
061201,000836: 07,3634 00006 +3 EXTEND
061202,000837: 07,3635 30134 DCA BUF2
061203,000838: 07,3636 53326 DXCH ATTCADR # SAVE FINAL RETURN FOR KALCMAN3
061204,000839:
061205,000840: 07,3637 30006 CA BBANK
061206,000841: 07,3640 75023 MASK SEVEN
061207,000842: 07,3641 27326 ADS ATTCADR +1
061208,000843:
061209,000844: 07,3642 30167 CA PRIORITY
061210,000845: 07,3643 77674 MASK PRIO37
061211,000846: 07,3644 55327 TS ATTPRIO # SAVE USERS PRIO
061212,000847:
061213,000848: 07,3645 33651 CAF KALEBCON # SET EBANK FOR KALCMAN3
061214,000849: 07,3646 54003 TS EBANK
061215,000850: 07,3647 04701 TC POSTJUMP
061216,000851: 07,3650 44000 CADR KALCMAN3
061217,000852: 07,3651 03261 KALEBCON ECADR BCDU
061218,000853:
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Page 1443
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061220,000855: # PROGRAM DESCRIPTION
061221,000856: # IMU STATUS CHECK ROUTINE R02 (SUBROUTINE UTILITY)
061222,000857: # MOD NO - 1
061223,000858: # MOD BY - N.BRODEUR
061224,000859:
061225,000860: # FUNCTIONAL DESCRIPTION
061226,000861: # TO CHECK WHETHER IMU IS ON AND IF ON WHETHER IT IS ALIGNED TO AN
061227,000862: # ORIENTATION KNOWN BY THE CMC. TO REQUEST SELECTION OF THE APPROPRIATE
061228,000863: # PROGRAM IF THE IMU IS OFF OR NOT ALIGNED TO AN ORIENTATION KNOWN BY THE
061229,000864: # CMC. CALLED THROUGH BANKCALL
061230,000865:
061231,000866: # CALLING SEQUENCE -
061232,000867: # L TC BANKCALL
061233,000868: # L+1 CADR R02BOTH
061234,000869:
061235,000870: # SUBROUTINES CALLED
061236,000871: # VARALARM
061237,000872: # FLAGUP
061238,000873:
061239,000874: # NORMAL EXIT MODES
061240,000875: # AT L+2 OF CALLING SEQUENCE
061241,000876:
061242,000877: # ALARM OR ABORT EXIT MODES
061243,000878: # GOTOPOOH, WITH ALARM
061244,000879:
061245,000880: # ERASABLE INITIALIZATION REQUIRED
061246,000881: # NONE
061247,000882:
061248,000883: # DEBRIS
061249,000884: # CENTRALS - A,Q,L
061250,000885:
061251,000886: 34,3763 BANK 34
061252,000887: 07,2000 SETLOC R02
061253,000888: 07,2000 BANK
061254,000889: 07,3652 COUNT 04/R02 # COUNT*
061255,000890:
061256,000891: 07,3652 00063 DEC51 DEC 51 B-14
061257,000892: 07,3653 35003 R02BOTH CAF BIT13
061258,000893: 07,3654 70077 MASK STATE +3 # REFSMFLG
061259,000894: 07,3655 10000 CCS A
061260,000895: 07,3656 03667 TC R02ZERO # ZERO IMUS
061261,000896:
061262,000897: 07,3657 31320 CA IMODES30
061263,000898: 07,3660 75007 MASK BIT9 # IS ISS INITIALIZED
061264,000899: 07,3661 00006 EXTEND
061265,000900: 07,3662 13664 BZF +2
061266,000901: 07,3663 45014 CS BIT4 # SEND IMU ALARM CODE 210
061267,000902: 07,3664 63672 AD OCT220 # SEND REFSMM ALARM
061268,000903: 07,3665 05764 TC VARALARM
061269,000904:
061270,000905: 07,3666 04106 TC GOTOPOOH
061271,000906:
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Page 1444
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061273,000908: 07,3667 05546 R02ZERO TC UPFLAG
061274,000909: 07,3670 00007 ADRES IMUSE
061275,000910: 07,3671 14675 TCF SWRETURN
061276,000911: 07,3672 00220 OCT220 OCT 220
061277,000912:
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Page 1445
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061279,000914: # PROGRAM DESCRIPTION P06 10FEB67
061280,000915:
061281,000916: # TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION.
061282,000917:
061283,000918: # THE NORMAL CONDITION OF READINESS OF THE GNCS WHEN NOT IN USE IS STANDBY. IN THIS CONDITION THE IMU
061284,000919: # HEATER POWER IS ON. THE IMU OPERATE POWER IS OFF. THE COMPUTER POWER IS ON. THE OPTICS POWER IS OFF. THE
061285,000920: # CMC STANDBY ON THE MAIN AND LEB DISKYS IS ON.
061286,000921:
061287,000922: # CALLING SEQUENCE:
061288,000923: # ASTRONAUT REQUEST THROUGH DSKY V37E 06E.
061289,000924:
061290,000925: # SUBROUTINES CALLED:
061291,000926: # GOPERF1
061292,000927: # BANKCALL
061293,000928: # FLAGDOWN
061294,000929:
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061296,000931: # PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2
061297,000932: # THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATABILITY
061298,000933: # BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING.
061299,000934:
061300,000935: 26,2000 SETLOC P05P06
061301,000936: 26,2000 BANK
061302,000937:
061303,000938: 26,3660 1150 EBANK= TIME2SAV
061304,000939: 26,3660 COUNT* $$/P06
061305,000940:
061306,000941: 26,3660 05546 P06 TC UPFLAG # SET NODOV37 BIT
061307,000942: 26,3661 00054 ADRES NODOFLAG
061308,000943:
061309,000944: 26,3662 00004 PRESTAND INHINT
061310,000945: 26,3663 00006 EXTEND
061311,000946: 26,3664 30025 DCA TIME2 # SNAPSHOT TIME1 TIME2
061312,000947: 26,3665 53151 DXCH TIME2SAV
061313,000948: 26,3666 03717 TC SCALPREP
061314,000949: 26,3667 03662 TC PRESTAND # T1,T2,SCALER NOT COMPATIBLE
061315,000950: 26,3670 52155 DXCH MPAC # T1,T2 AND SCALER OK
061316,000951: 26,3671 53153 DXCH SCALSAVE # STORE SCALER
061317,000952: 26,3672 00004 INHINT
061318,000953: 26,3673 04662 TC BANKCALL
061319,000954: 26,3674 17060 CADR RNDREFDR # REFSMM, DRIFT, TRACK FLAGS DOWN
061320,000955:
061321,000956: 26,3675 05560 TC DOWNFLAG
061322,000957: 26,3676 00007 ADRES IMUSE # IMUSE DOWN
061323,000958: 26,3677 05560 TC DOWNFLAG
061324,000959: 26,3700 00010 ADRES RNDVZFLG # RNDVZFLG DOWN
061325,000960:
061326,000961: 26,3701 35005 CAF BIT11
061327,000962: 26,3702 00006 EXTEND
061328,000963: 26,3703 05013 WOR CHAN13 # SET STANDBY ENABLE BIT
061329,000964:
061330,000965: 26,3704 05412 TC PHASCHNG # SET RESTART TO POSTAND WHEN STANDBY
061331,000966: 26,3705 07024 OCT 07024 # RECOVERS
061332,000967: 26,3706 20000 OCT 20000
061333,000968: 26,3707 1152 EBANK= SCALSAVE
061334,000969: 26,3707 03737 54062 2CADR POSTAND
061335,000970:
061336,000971: 26,3711 35036 CAF OCT62
061337,000972: 26,3712 04662 TC BANKCALL
061338,000973: 26,3713 21045 CADR GOPERF1
061339,000974: 26,3714 13711 TCF -3
061340,000975: 26,3715 13711 TCF -4
061341,000976: 26,3716 13711 TCF -5
061342,000977:
061343,000978: 26,3717 5036 OCT62 EQUALS .5SEC # DEC 50 = OCT 62
061344,000979:
061345,000980: # THE LOW 5 BITS OF THE SCALER READS 10000 FOR THE FIRST INTERVAL AFTER A
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Page 1447
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061347,000982: # T1 INCREMENT. IF SCALPREP DETECTS THIS INTERVAL THE T1,T2 AND SCALER
061348,000983: # DATA ARE NOT COMPATABLE AND RETURN IS TO L+1 FOR ANOTHER READING OF THE
061349,000984: # DATA. OTHERWISE, THE RETURN IS TO L+2 TO PROCEED. ROUTINE ALSO PREPARES
061350,000985: # THE SCALER READING FOR COMPUTATION OF THE INCREMENT TO UPDATE T1T2. (THE
061351,000986: # 10 MS BIT (BIT 6) OF THE SCALER IS INCREMENTED 5 MS OUT OF PHASE FROM
061352,000987: # T1.) ADDITION OF 5 MS (BIT 5) TO THE SCALER READING HAS THE EFFECT OF
061353,000988: # ADJUSTING BIT 6 IN THE SCALER TO BE IN PHASE WITH BIT 1 OF T1. THE LOW 5
061354,000989: # BITS OF THE SCALER READING ARE THEN SET TO ZERO, TO TRUNCATE THE SCALER
061355,000990: # DATA TO 10 MS. RESULTS ARE STORED IN MPAC, +1.
061356,000991:
061357,000992: 26,3717 00006 SCALPREP EXTEND
061358,000993: 26,3720 22156 QXCH MPAC +2
061359,000994: 26,3721 04554 TC FINETIME +1
061360,000995: 26,3722 00003 RELINT
061361,000996: 26,3723 52155 DXCH MPAC
061362,000997: 26,3724 35013 CA BIT5 # ADD 5 MS TO THE SCALER READING.
061363,000998: 26,3725 54001 TS L
061364,000999: 26,3726 35021 CA ZERO
061365,001000: 26,3727 20155 DAS MPAC
061366,001001: 26,3730 44362 CS LOW5 # SET LOW 5 BITS OF (SCALER+5MS) TO ZERO
061367,001002: 26,3731 70155 MASK MPAC +1 # AND STORE RESULTS IN MPAC,+1.
061368,001003: 26,3732 56155 XCH MPAC +1
061369,001004: 26,3733 74362 MASK LOW5 # TEST LOW 5 BITS OF SCALER FOR THE FIRST
061370,001005: # INTERVAL AFTER THE T1 INCREMENT
061371,001006: # (NOW = 00000, SINCE BIT 5 ADDED).
061372,001007: 26,3734 10000 CCS A # IS IT 1ST INTERVAL AFTER T1 INCREMENT
061373,001008: 26,3735 24156 INCR MPAC +2 # NO
061374,001009: 26,3736 00156 TC MPAC +2 # YES
061375,001010:
061376,001011: # POSTAND RECOVERS TIME AFTER STANDBY. THE SCALER IS SNAPSHOTTED AND THE
061377,001012: # TIME1 TIME2 COUNTER IS SET TO ZERO. THE LOW 5 BITS OF THE SCALER ARE
061378,001013: # INSPECTED TO INSURE COMPATABILITY BETWEEN THE SCALER READING AND THE
061379,001014: # CLEARING OF THE TIME COUNTER. IT THEN COMPUTES THE DIFFERENCE IN SCALER
061380,001015: # VALUES (IN DP) AND ADDS THIS TO THE PREVIOUSLY SNAPSHOTTED VALUES OF
061381,001016: # TIME1 TIME2 AND PLACES THIS NEW TIME INTO THE TIME1 TIME2 COUNTER.
061382,001017:
061383,001018: 26,3737 COUNT* $$/P05
061384,001019:
061385,001020: 26,3737 45005 POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY.
061386,001021: 26,3740 00006 EXTEND
061387,001022: 26,3741 03013 WAND CHAN13 # CLEAR STANDBY ENABLE BIT
061388,001023: 26,3742 00004 INHINT
061389,001024: 26,3743 35021 CA ZERO
061390,001025: 26,3744 54001 TS L
061391,001026: 26,3745 52025 DXCH TIME2 # CLEAR TIME1 TIME2
061392,001027: 26,3746 03717 TC SCALPREP # STORE SCALER IN MPAC, MPAC+1
061393,001028: 26,3747 03742 TC POSTAND +3 # T1,T2,SCALER NOT COMPATIBLE
061394,001029: 26,3750 00006 EXTEND # T1,T2 AND SCALER OK
061395,001030: 26,3751 41153 DCS SCALSAVE
061396,001031: 26,3752 20155 DAS MPAC # FORM DP DIFFERENCE OF POSTSTANDBY SCALER
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Page 1448
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061398,001033: 26,3753 35006 CAF BIT10 # MINUS PRESTANDBY SCALER AND SHIFT RIGHT
061399,001034: 26,3754 07256 TC SHORTMP # 5 TO ALIGN BITS WITH TIME1 TIME2.
061400,001035: 26,3755 35021 CAF ZERO
061401,001036: 26,3756 54156 TS MPAC +2 # NEEDED FOR TP AGREE
061402,001037: 26,3757 07226 TC TPAGREE # MAKE DP DIFF AGREE
061403,001038: 26,3760 10154 CCS MPAC
061404,001039: 26,3761 03766 TC POSTCOM # IF DP DIFF NET +, NO SCALER OVERFLOW
061405,001040: 26,3762 03766 TC POSTCOM # BETWEEN PRE AND POST STANDBY.
061406,001041: 26,3763 03764 TC +1 # IF DP DIFF NET -, SCALER OVERFLOWED. ADD
061407,001042: 26,3764 35006 CAF BIT10 # BIT 10 TO HIGH DIFF TO CORRECT.
061408,001043: 26,3765 26154 ADS MPAC
061409,001044: 26,3766 00006 POSTCOM EXTEND # C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER.
061410,001045: 26,3767 31151 DCA TIME2SAV # PRESTANDBY TIME1 TIME2
061411,001046: 26,3770 20155 DAS MPAC
061412,001047: 26,3771 07226 TC TPAGREE # FORCE SIGN AGREEMENT
061413,001048: 26,3772 52155 DXCH MPAC # UPDATED VALUE FOR T1,T2.
061414,001049: 26,3773 20025 DAS TIME2 # LOAD UPDATED VALUE INTO T1,T2, WITH
061415,001050: 26,3774 05560 TC DOWNFLAG # CLEAR NODOFLAG
061416,001051: 26,3775 00054 ADRES NODOFLAG
061417,001052:
061418,001053: 26,3776 04106 TC GOTOPOOH
061419,001054:
061420,001055:
061421,001056:
End of include-file IMU_MODE_SWITCHING_ROUTINES.agc. Parent file is MAIN.agc