Source Code
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These source-code files are part of a reconstructed copy of Luminary 97, the
original release of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
The reconstruction began with source code of Luminary 99 revision 1 previously
transcribed from a digitized copy of that program. The code was then updated
by undoing changes described in original Luminary memos 83 and 85, using asterisks
indicating changed lines in the listing as a guide. The reconstruction was
verified by matching memory-bank checksums to those listed in drawing 2021152D.
Note that page numbers in the reconstructed code match those on the Luminary 099
revision 001 printout, although the added code would likely have changed page
numbers for a real Luminary 97 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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055167,000002: ## Copyright: Public domain.
055168,000003: ## Filename: IMU_MODE_SWITCHING_ROUTINES.agc
055169,000004: ## Purpose: A section of Luminary revision 97.
055170,000005: ## It is part of the reconstructed source code for the
055171,000006: ## original release of the flight software for the Lunar
055172,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
055173,000008: ## The code has been recreated from a copy of Luminary 99
055174,000009: ## revision 001, using asterisks indicating changed lines in
055175,000010: ## the listing and Luminary Memos #83 and #85, which list
055176,000011: ## changes between Luminary 97 and 98, and 98 and 99. The
055177,000012: ## code has been adapted such that the resulting bugger words
055178,000013: ## exactly match those specified for Luminary 97 in NASA drawing
055179,000014: ## 2021152D, which gives relatively high confidence that the
055180,000015: ## reconstruction is correct.
055181,000016: ## Reference: pp. 1309-1337
055182,000017: ## Assembler: yaYUL
055183,000018: ## Contact: Ron Burkey <info@sandroid.org>.
055184,000019: ## Website: www.ibiblio.org/apollo/index.html
055185,000020: ## Mod history: 2019-07-28 MAS Created from Luminary 99.
055186,000021:
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Page 1309
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055188,000023: 5457 BLOCK 02
055189,000024: 4000 SETLOC FFTAG3
055190,000025: 4000 BANK
055191,000026:
055192,000027: 5457 E3,1471 EBANK= COMMAND
055193,000028:
055194,000029: # FIXED-FIXED ROUTINES.
055195,000030:
055196,000031: 5457 COUNT* $$/IMODE
055197,000032: 5457 34755 ZEROICDU CAF ZERO # ZERO ICDU COUNTERS.
055198,000033: 5460 54032 TS CDUX
055199,000034: 5461 54033 TS CDUY
055200,000035: 5462 54034 TS CDUZ
055201,000036: 5463 00002 TC Q
055202,000037:
055203,000038: 5464 4743 SPSCODE = BIT9
055204,000039:
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Page 1310
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055206,000041: # IMU ZEROING ROUTINE.
055207,000042:
055208,000043: 11,3765 BANK 11
055209,000044: 07,2000 SETLOC MODESW
055210,000045: 07,2000 BANK
055211,000046:
055212,000047: 07,2714 COUNT* $$/IMODE
055213,000048: 07,2714 00004 IMUZERO INHINT # ROUTINE TO ZERO ICDUS.
055214,000049: 07,2715 41036 CS DSPTAB +11D # DONT ZERO CDUS IF IMU IN GIMBAL LOCK AND
055215,000050: 07,2716 74771 MASK BITS4&6 # COARSE ALIGN (GIMBAL RUNAWAY PROTECTION)
055216,000051: 07,2717 10000 CCS A
055217,000052: 07,2720 12724 TCF IMUZEROA
055218,000053:
055219,000054: 07,2721 05567 TC ALARM # IF SO.
055220,000055: 07,2722 00206 OCT 00206
055221,000056:
055222,000057: 07,2723 13657 TCF CAGETSTJ +4 # IMMEDIATE FAILURE.
055223,000058:
055224,000059: 07,2724 03653 IMUZEROA TC CAGETSTJ
055225,000060: # DELETE
055226,000061: 07,2725 41303 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
055227,000062: 07,2726 74773 MASK SUPER011 # BIT5 FOR GROUND
055228,000063: 07,2727 27303 ADS IMODES33
055229,000064:
055230,000065: 07,2730 41302 CS IMODES30 # INHIBIT ICDUFAIL AND IMUFAIL (IN CASE WE
055231,000066: 07,2731 75751 MASK BITS3&4 # JUST CAME OUT OF COARSE ALIGN).
055232,000067: 07,2732 27302 ADS IMODES30
055233,000068:
055234,000069: 07,2733 44771 CS BITS4&6 # SEND ZERO ENCODE WITH COARSE AND ERROR
055235,000070: 07,2734 00006 EXTEND # COUNTER DISABLED.
055236,000071: 07,2735 03012 WAND CHAN12
055237,000072:
055238,000073: 07,2736 03266 TC NOATTOFF # TURN OFF NO ATT LAMP.
055239,000074:
055240,000075: 07,2737 34747 CAF BIT5
055241,000076: 07,2740 00006 EXTEND
055242,000077: 07,2741 05012 WOR CHAN12
055243,000078:
055244,000079: 07,2742 05457 TC ZEROICDU
055245,000080: 07,2743 34746 CAF BIT6 # WAIT 320 MS TO GIVE AGS ADEQUATE TIME TO
055246,000081: 07,2744 05203 TC WAITLIST # RECEIVE ITS PULSE TRAIN.
055247,000082: 07,2745 E3,1474 EBANK= CDUIND
055248,000083: 07,2745 02757 16103 2CADR IMUZERO2
055249,000084:
055250,000085: 07,2747 41302 CS IMODES30 # SEE IF IMU OPERATING AND ALARM IF NOT.
055251,000086: 07,2750 74743 MASK BIT9
055252,000087: 07,2751 10000 CCS A
055253,000088: 07,2752 12755 TCF MODEEXIT
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Page 1311
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055255,000090: 07,2753 05567 TC ALARM
055256,000091: 07,2754 00210 OCT 210
055257,000092:
055258,000093: 07,2755 00003 MODEEXIT RELINT # GENERAL MODE-SWITCHING EXIT.
055259,000094: 07,2756 14631 TCF SWRETURN
055260,000095:
055261,000096: 07,2757 03641 IMUZERO2 TC CAGETEST
055262,000097: 07,2760 05457 TC ZEROICDU # ZERO CDUX, CDUY, CDUZ
055263,000098:
055264,000099: 07,2761 44747 CS BIT5 # REMOVE ZERO DISCRETE.
055265,000100: 07,2762 00006 EXTEND
055266,000101: 07,2763 03012 WAND CHAN12
055267,000102:
055268,000103: 07,2764 34741 CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS
055269,000104: 07,2765 05224 TC VARDELAY
055270,000105:
055271,000106: 07,2766 03641 IMUZERO3 TC CAGETEST
055272,000107: 07,2767 45751 CS BITS3&4 # REMOVE IMUFAIL AND ICDUFAIL INHIBIT.
055273,000108: 07,2770 71302 MASK IMODES30
055274,000109: 07,2771 55302 TS IMODES30
055275,000110:
055276,000111: 07,2772 44773 CS SUPER011 # ENABLE DAP AUTO AND HOLD MODES
055277,000112: 07,2773 71303 MASK IMODES33 # BIT5 FOR GROUND
055278,000113: 07,2774 55303 TS IMODES33
055279,000114:
055280,000115: 07,2775 04674 TC IBNKCALL # SET ISS WARNING IF EITHER OF ABOVE ARE
055281,000116: 07,2776 14703 CADR SETISSW # PRESENT.
055282,000117:
055283,000118: 07,2777 13631 TCF ENDIMU
055284,000119:
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Page 1312
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055286,000121: # IMU COARSE ALIGN MODE.
055287,000122:
055288,000123: 07,3000 00004 IMUCOARS INHINT
055289,000124: 07,3001 03653 TC CAGETSTJ
055290,000125: 07,3002 03144 TC SETCOARS
055291,000126:
055292,000127: 07,3003 36242 CAF SIX
055293,000128: 07,3004 05203 TC WAITLIST
055294,000129: 07,3005 E3,1474 EBANK= CDUIND
055295,000130: 07,3005 03010 16103 2CADR COARS
055296,000131:
055297,000132: 07,3007 12755 TCF MODEEXIT
055298,000133:
055299,000134: 07,3010 03641 COARS TC CAGETEST
055300,000135: 07,3011 34746 CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
055301,000136: 07,3012 00006 EXTEND
055302,000137: 07,3013 05012 WOR CHAN12
055303,000138:
055304,000139: 07,3014 34752 CAF TWO # SET CDU INDICATOR
055305,000140: 07,3015 55474 COARS1 TS CDUIND
055306,000141:
055307,000142: 07,3016 51474 INDEX CDUIND # COMPUTE THETAD - THETAA IN 1:S
055308,000143: 07,3017 30321 CA THETAD # COMPLEMENT FORM
055309,000144: 07,3020 00006 EXTEND
055310,000145: 07,3021 51474 INDEX CDUIND
055311,000146: 07,3022 20032 MSU CDUX
055312,000147: 07,3023 00006 EXTEND
055313,000148: 07,3024 74737 MP BIT13 # SHIFT RIGHT 2
055314,000149: 07,3025 56001 XCH L # ROUND
055315,000150: 07,3026 60000 DOUBLE
055316,000151: 07,3027 54061 TS ITEMP1
055317,000152: 07,3030 13032 TCF +2
055318,000153: 07,3031 26001 ADS L
055319,000154:
055320,000155: 07,3032 51474 INDEX CDUIND # DIFFERENCE TO BE COMPUTED
055321,000156: 07,3033 23471 LXCH COMMAND
055322,000157: 07,3034 11474 CCS CDUIND
055323,000158: 07,3035 03015 TC COARS1
055324,000159:
055325,000160: 07,3036 34752 CAF TWO # MINIMUM OF 4 MS WAIT
055326,000161: 07,3037 05224 TC VARDELAY
055327,000162:
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Page 1313
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055329,000164: 07,3040 03641 COARS2 TC CAGETEST # DONT CONTINUE IF CAGED.
055330,000165: 07,3041 54061 TS ITEMP1 # SETS TO +0.
055331,000166: 07,3042 34752 CAF TWO # SET CDU INDICATOR
055332,000167: 07,3043 55474 +3 TS CDUIND
055333,000168:
055334,000169: 07,3044 51474 INDEX CDUIND
055335,000170: 07,3045 11471 CCS COMMAND # NUMBER OF PULSES REQUIRED
055336,000171: 07,3046 03052 TC COMPOS # GREATER THAN MAX ALLOWED
055337,000172: 07,3047 03061 TC NEXTCDU +1
055338,000173: 07,3050 03117 TC COMNEG
055339,000174: 07,3051 03061 TC NEXTCDU +1
055340,000175:
055341,000176: 07,3052 63745 COMPOS AD -COMMAX # COMMAX = MAX NUMBER OF PULSES ALLOWED
055342,000177: 07,3053 00006 EXTEND # MINUS ONE
055343,000178: 07,3054 63127 BZMF COMZERO
055344,000179: 07,3055 51474 INDEX CDUIND
055345,000180: 07,3056 55471 TS COMMAND # REDUCE COMMAND BY MAX NUMBER OF PULSES
055346,000181: 07,3057 43746 CS -COMMAX- # ALLOWED
055347,000182:
055348,000183: 07,3060 24061 NEXTCDU INCR ITEMP1
055349,000184: 07,3061 64754 AD NEG0
055350,000185: 07,3062 51474 INDEX CDUIND
055351,000186: 07,3063 54050 TS CDUXCMD # SET UP COMMAND REGISTER.
055352,000187:
055353,000188: 07,3064 11474 CCS CDUIND
055354,000189: 07,3065 03043 TC COARS2 +3
055355,000190:
055356,000191: 07,3066 10061 CCS ITEMP1 # SEE IF ANY PULSES TO GO OUT.
055357,000192: 07,3067 13133 TCF SENDPULS
055358,000193:
055359,000194: 07,3070 05221 TC FIXDELAY # WAIT FOR GIMBALS TO SETTLE.
055360,000195: 07,3071 00226 DEC 150 B-14
055361,000196:
055362,000197: 07,3072 34752 CAF TWO # AT END OF COMMAND, CHECK TO SEE THAT
055363,000198: 07,3073 54061 CHKCORS TS ITEMP1 # GIMBALS ARE WITHIN 2 DEGREES OF THETAD.
055364,000199: 07,3074 50000 INDEX A
055365,000200: 07,3075 30032 CA CDUX
055366,000201: 07,3076 00006 EXTEND
055367,000202: 07,3077 50061 INDEX ITEMP1
055368,000203: 07,3100 20321 MSU THETAD
055369,000204: 07,3101 10000 CCS A
055370,000205: 07,3102 13110 TCF COARSERR
055371,000206: 07,3103 13105 TCF CORSCHK2
055372,000207: 07,3104 13110 TCF COARSERR
055373,000208:
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Page 1314
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055375,000210: 07,3105 10061 CORSCHK2 CCS ITEMP1
055376,000211: 07,3106 13073 TCF CHKCORS
055377,000212: 07,3107 13631 TCF ENDIMU # END OF COARSE ALIGNMENT.
055378,000213:
055379,000214: 07,3110 63116 COARSERR AD COARSTOL # 2 DEGREES.
055380,000215: 07,3111 00006 EXTEND
055381,000216: 07,3112 63105 BZMF CORSCHK2
055382,000217:
055383,000218: 07,3113 05567 TC ALARM # COARSE ALIGN ERROR.
055384,000219: 07,3114 00211 OCT 211
055385,000220:
055386,000221: 07,3115 13637 TCF IMUBAD
055387,000222:
055388,000223: 07,3116 77511 COARSTOL DEC -.01111 # 2 DEGREES SCALED AT HALF-REVOLUTIONS
055389,000224:
055390,000225: 07,3117 63745 COMNEG AD -COMMAX
055391,000226: 07,3120 00006 EXTEND
055392,000227: 07,3121 63127 BZMF COMZERO
055393,000228: 07,3122 40000 COM
055394,000229: 07,3123 51474 INDEX CDUIND
055395,000230: 07,3124 55471 TS COMMAND
055396,000231: 07,3125 33746 CA -COMMAX-
055397,000232: 07,3126 03060 TC NEXTCDU
055398,000233:
055399,000234: 07,3127 34755 COMZERO CAF ZERO
055400,000235: 07,3130 51474 INDEX CDUIND
055401,000236: 07,3131 57471 XCH COMMAND
055402,000237: 07,3132 03060 TC NEXTCDU
055403,000238:
055404,000239: 07,3133 37740 SENDPULS CAF 13,14,15
055405,000240: 07,3134 00006 EXTEND
055406,000241: 07,3135 05014 WOR CHAN14
055407,000242: 07,3136 33747 CAF 600MS
055408,000243: 07,3137 13037 TCF COARS2 -1 # THEN TO VARDELAY
055409,000244:
055410,000245: 07,3140 34746 CA+ECE CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
055411,000246: 07,3141 00006 EXTEND
055412,000247: 07,3142 05012 WOR CHAN12
055413,000248: 07,3143 05261 TC TASKOVER
055414,000249:
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Page 1315
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055416,000251: 07,3144 34750 SETCOARS CAF BIT4 # BYPASS IF ALREADY IN COARSE ALIGN
055417,000252: 07,3145 00006 EXTEND
055418,000253: 07,3146 02012 RAND CHAN12
055419,000254: 07,3147 10000 CCS A
055420,000255: 07,3150 00002 TC Q
055421,000256:
055422,000257: 07,3151 44746 CS BIT6 # CLEAR ISS ERROR COUNTERS
055423,000258: 07,3152 00006 EXTEND
055424,000259: 07,3153 03012 WAND CHAN12
055425,000260:
055426,000261: 07,3154 44742 CS BIT10 # KNOCK DOWN GYRO ACTIVITY
055427,000262: 07,3155 00006 EXTEND
055428,000263: 07,3156 03014 WAND CHAN14
055429,000264: 07,3157 44755 CS ZERO
055430,000265: 07,3160 54047 TS GYROCMD
055431,000266:
055432,000267: 07,3161 34750 CAF BIT4 # PUT ISS IN COARSE ALIGN
055433,000268: 07,3162 00006 EXTEND
055434,000269: 07,3163 05012 WOR CHAN12
055435,000270:
055436,000271: 07,3164 41036 CS DSPTAB +11D # TURN ON NO ATT LAMP
055437,000272: 07,3165 73207 MASK OCT40010
055438,000273: 07,3166 27036 ADS DSPTAB +11D
055439,000274:
055440,000275: 07,3167 41303 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
055441,000276: 07,3170 74746 MASK BIT6
055442,000277: 07,3171 27303 ADS IMODES33
055443,000278:
055444,000279: 07,3172 41302 CS IMODES30 # DISABLE IMUFAIL
055445,000280: 07,3173 74750 MASK BIT4
055446,000281: 07,3174 27302 ADS IMODES30
055447,000282:
055448,000283: 07,3175 44747 RNDREFDR CS TRACKBIT # CLEAR TRACK FLAG
055449,000284: 07,3176 70075 MASK FLAGWRD1
055450,000285: 07,3177 54075 TS FLAGWRD1
055451,000286:
055452,000287: 07,3200 44735 CS DRFTBIT # CLEAR DRIFT FLAG
055453,000288: 07,3201 70076 MASK FLAGWRD2
055454,000289: 07,3202 54076 TS FLAGWRD2
055455,000290:
055456,000291: 07,3203 44737 CS REFSMBIT # CLEAR REFSMMAT FLAG
055457,000292: 07,3204 70077 MASK FLAGWRD3
055458,000293: 07,3205 54077 TS FLAGWRD3
055459,000294:
055460,000295: 07,3206 00002 TC Q
055461,000296:
055462,000297: 07,3207 40010 OCT40010 OCT 40010
055463,000298:
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Page 1316
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055465,000300: # IMU FINE ALIGN MODE SWITCH.
055466,000301:
055467,000302: 07,3210 00004 IMUFINE INHINT
055468,000303: 07,3211 03653 TC CAGETSTJ # SEE IF IMU BEING CAGED.
055469,000304:
055470,000305: 07,3212 43744 CS BITS4-5 # RESET ZERO AND COARSE
055471,000306: 07,3213 00006 EXTEND
055472,000307: 07,3214 03012 WAND CHAN12
055473,000308:
055474,000309: 07,3215 44746 CS BIT6 # INSURE DAP AUTO AND HOLD MODES ENABLED
055475,000310: 07,3216 71303 MASK IMODES33
055476,000311: 07,3217 55303 TS IMODES33
055477,000312:
055478,000313: 07,3220 03266 TC NOATTOFF
055479,000314:
055480,000315: 07,3221 34742 CAF BIT10 # IMU FAIL WAS INHIBITED DURING THE
055481,000316: 07,3222 05203 TC WAITLIST # PRESUMABLY PRECEDING COARSE ALIGN. LEAVE
055482,000317: 07,3223 E3,1474 EBANK= CDUIND
055483,000318: 07,3223 03234 16103 2CADR IFAILOK # IT ON FOR THE FIRST 5 SECS OF FINE ALIGN
055484,000319:
055485,000320: 07,3225 35000 CAF 2SECS
055486,000321: 07,3226 05203 TC WAITLIST
055487,000322: 07,3227 E3,1474 EBANK= CDUIND
055488,000323: 07,3227 03232 16103 2CADR IMUFINED
055489,000324:
055490,000325: 07,3231 12755 TCF MODEEXIT
055491,000326:
055492,000327: 07,3232 03641 IMUFINED TC CAGETEST # SEE THAT NO ONE HAS CAGED THE IMU.
055493,000328: 07,3233 13631 TCF ENDIMU
055494,000329:
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Page 1317
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055496,000331: 07,3234 03646 IFAILOK TC CAGETSTQ # ENABLE IMU FIAL UNLESS IMU BEING CAGED.
055497,000332: 07,3235 15261 TCF TASKOVER # IT IS.
055498,000333:
055499,000334: 07,3236 34750 CAF BIT4 # DONT RESET IMU FAIL INHIBIT IF SOMEONE
055500,000335: 07,3237 00006 EXTEND # HAS GONE INTO COARSE ALIGN.
055501,000336: 07,3240 02012 RAND CHAN12
055502,000337: 07,3241 10000 CCS A
055503,000338: 07,3242 15261 TCF TASKOVER
055504,000339:
055505,000340: 07,3243 41302 CS IMODES30 # RESET IMUFAIL.
055506,000341: 07,3244 74737 MASK BIT13
055507,000342: 07,3245 27302 ADS IMODES30
055508,000343: 07,3246 44750 CS BIT4
055509,000344: 07,3247 71302 PFAILOK2 MASK IMODES30
055510,000345: 07,3250 55302 TS IMODES30
055511,000346: 07,3251 04674 TC IBNKCALL # THE ISS WARNING LIGHT MAY COME ON NOW
055512,000347: 07,3252 14703 CADR SETISSW # THAT THE INHIBIT HAS BEEN REMOVED.
055513,000348: 07,3253 15261 TCF TASKOVER
055514,000349:
055515,000350: 07,3254 03646 PFAILOK TC CAGETSTQ # ENABLE PIP FAIL PROG ALARM.
055516,000351: 07,3255 15261 TCF TASKOVER
055517,000352:
055518,000353: 07,3256 41302 CS IMODES30 # RESET IMU AND PIPA FAIL BITS.
055519,000354: 07,3257 74742 MASK BIT10
055520,000355: 07,3260 27302 ADS IMODES30
055521,000356:
055522,000357: 07,3261 41303 CS IMODES33
055523,000358: 07,3262 74737 MASK BIT13
055524,000359: 07,3263 27303 ADS IMODES33
055525,000360:
055526,000361: 07,3264 44747 CS BIT5
055527,000362: 07,3265 13247 TCF PFAILOK2
055528,000363:
055529,000364: 07,3266 43207 NOATTOFF CS OCT40010 # SUBROUTINE TO TURN OFF NO ATT LAMP.
055530,000365: 07,3267 71036 MASK DSPTAB +11D
055531,000366: 07,3270 64735 AD BIT15
055532,000367: 07,3271 55036 TS DSPTAB +11D
055533,000368: 07,3272 00002 TC Q
055534,000369:
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Page 1318
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055536,000371: # ROUITNES TO INITIATE AND TERMINATE PROGRAM USE OF THE PIPAS. NO IMUSTALL REQUIRED IN EITHER CASE.
055537,000372:
055538,000373: 07,3273 44755 PIPUSE CS ZERO
055539,000374: 07,3274 54037 TS PIPAX
055540,000375: 07,3275 54040 TS PIPAY
055541,000376: 07,3276 54041 TS PIPAZ
055542,000377:
055543,000378: 07,3277 03646 PIPUSE1 TC CAGETSTQ # DO NOT ENABLE PIPA FAIL IF IMU IS CAGED
055544,000379: 07,3300 14631 TCF SWRETURN
055545,000380:
055546,000381: 07,3301 00004 INHINT
055547,000382: 07,3302 44753 CS BIT1 # IF PIPA FAILS FROM NOW ON (UNTIL
055548,000383: 07,3303 71302 MASK IMODES30 # PIPFREE), LIGHT ISS WARNING.
055549,000384: 07,3304 55302 TS IMODES30
055550,000385:
055551,000386: 07,3305 04674 PIPFREE2 TC IBNKCALL # ISS WARNING MIGHT COME ON NOW.
055552,000387: 07,3306 14703 CADR SETISSW # (OR GO OFF ON PIPFREE).
055553,000388:
055554,000389: 07,3307 12755 TCF MODEEXIT
055555,000390:
055556,000391: 07,3310 00004 PIPFREE INHINT # PROGRAM DONE WITH PIPAS. DONT LIGHT
055557,000392: 07,3311 41302 CS IMODES30 # ISS WARNING.
055558,000393: 07,3312 74753 MASK BIT1
055559,000394: 07,3313 27302 ADS IMODES30
055560,000395:
055561,000396: 07,3314 74742 MASK BIT10 # IF PIP FAIL ON, DO PROG ALSRM AND RESET
055562,000397: 07,3315 10000 CCS A # ISS WARNING.
055563,000398: 07,3316 12755 TCF MODEEXIT
055564,000399:
055565,000400: 07,3317 05567 TC ALARM
055566,000401: 07,3320 00212 OCT 212
055567,000402:
055568,000403: 07,3321 00004 INHINT
055569,000404:
055570,000405: 07,3322 13305 TCF PIPFREE2
055571,000406:
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Page 1319
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055573,000408: # THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIX REGISTERS
055574,000409: # BEGINNING AT THE ECADR ARRIVING IN A. THE MINIMUM SIZE OF ANY PULSE TRAIN IS 16 PULSES (.25 CDU COUNTS). THE
055575,000410: # UNSENT PORTION OF THE COMMAND IS LEFT INTACT IN THE INPUT COMMAND REGISTERS.
055576,000411:
055577,000412: 07,3323 E3,1400 EBANK= 1400 # VARIABLE, ACTUALLY.
055578,000413:
055579,000414: 07,3323 54161 IMUPULSE TS MPAC +5 # SAVE ARRIVING ECADR.
055580,000415: 07,3324 03653 TC CAGETSTJ # DONT PROCEED IF IMU BEING CAGED.
055581,000416:
055582,000417: 07,3325 11314 CCS LGYRO # SEE IF GYROS BUSY.
055583,000418: 07,3326 03367 TC GYROBUSY # SLEEP.
055584,000419:
055585,000420: 07,3327 54156 TS MPAC +2
055586,000421: 07,3330 34746 CAF BIT6 # ENABLE THE POWER SUPPLY.
055587,000422: 07,3331 00006 EXTEND
055588,000423: 07,3332 05014 WOR CHAN14
055589,000424:
055590,000425: 07,3333 34751 CAF FOUR
055591,000426: 07,3334 05203 GWAKE2 TC WAITLIST # (IF A JOB WAS PUT TO SLEEP, THE POWER
055592,000427: 07,3335 E3,1474 EBANK= CDUIND # SUPPLY IS LEFT ON BY THE WAKING JOB).
055593,000428: 07,3335 03405 16103 2CADR STRTGYRO
055594,000429:
055595,000430: 07,3337 30161 CA MPAC +5 # SET UP EBANK, SAVING CALLER'S EBANK FOR
055596,000431: 07,3340 56003 XCH EBANK # RESTORATION ON RETURN.
055597,000432: 07,3341 56161 XCH MPAC +5
055598,000433: 07,3342 55314 TS LGYRO # RESERVES GYROS.
055599,000434: 07,3343 74357 MASK LOW8
055600,000435: 07,3344 54061 TS ITEMP1
055601,000436:
055602,000437: 07,3345 34752 CAF TWO # FORCE SIGN AGREEMENT ON INPUTS.
055603,000438: 07,3346 54157 GYROAGRE TS MPAC +3
055604,000439: 07,3347 60000 DOUBLE
055605,000440: 07,3350 60061 AD ITEMP1
055606,000441: 07,3351 54160 TS MPAC +4
055607,000442: 07,3352 00006 EXTEND
055608,000443: 07,3353 50000 INDEX A
055609,000444: 07,3354 31401 DCA 1400
055610,000445: 07,3355 52155 DXCH MPAC
055611,000446: 07,3356 07257 TC TPAGREE
055612,000447: 07,3357 52155 DXCH MPAC
055613,000448: 07,3360 50160 INDEX MPAC +4
055614,000449: 07,3361 53401 DXCH 1400
055615,000450:
055616,000451: 07,3362 10157 CCS MPAC +3
055617,000452: 07,3363 13346 TCF GYROAGRE
055618,000453:
055619,000454: 07,3364 30161 CA MPAC +5 # RESTORE CALLER'S EBANK.
055620,000455: 07,3365 54003 TS EBANK
055621,000456: 07,3366 12755 TCF MODEEXIT
055622,000457:
|
|
Page 1320
|
055624,000459: # ROUTINES TO ALLOW TORQUING BY ONLY ONE JOB AT A TIME.
055625,000460:
055626,000461: 07,3367 00006 GYROBUSY EXTEND # SAVE RETURN 2FCADR.
055627,000462: 07,3370 30134 DCA BUF2
055628,000463: 07,3371 52155 DXCH MPAC
055629,000464: 07,3372 33404 REGSLEEP CAF LGWAKE
055630,000465: 07,3373 15133 TCF JOBSLEEP
055631,000466:
055632,000467: 07,3374 11314 GWAKE CCS LGYRO # WHEN AWAKENED, SEE IF GYROS STILL BUSY.
055633,000468: 07,3375 13372 TCF REGSLEEP # IF SO, SLEEP SOME MORE.
055634,000469:
055635,000470: 07,3376 54156 TS MPAC +2
055636,000471: 07,3377 00006 EXTEND
055637,000472: 07,3400 30155 DCA MPAC
055638,000473: 07,3401 52134 DXCH BUF2 # RESTORE SWRETURN INFO.
055639,000474: 07,3402 34753 CAF ONE
055640,000475: 07,3403 13334 TCF GWAKE2
055641,000476:
055642,000477: 07,3404 17374 LGWAKE CADR GWAKE
055643,000478:
|
|
Page 1321
|
055645,000480: # GYRO-TORQUING WAITLIST TASKS.
055646,000481:
055647,000482: 07,3405 43626 STRTGYRO CS GDESELCT # DE-SELECT LAST GYRO.
055648,000483: 07,3406 00006 EXTEND
055649,000484: 07,3407 03014 WAND CHAN14
055650,000485:
055651,000486: 07,3410 03641 TC CAGETEST
055652,000487:
055653,000488: 07,3411 31314 STRTGYR2 CA LGYRO # JUMP ON PHASE COUNTER IN BITS 13-14.
055654,000489: 07,3412 00006 EXTEND
055655,000490: 07,3413 74750 MP BIT4
055656,000491: 07,3414 50000 INDEX A
055657,000492: 07,3415 13416 TCF +1
055658,000493: 07,3416 03433 TC GSELECT # =0. DO Y GYRO.
055659,000494: 07,3417 00202 OCT 00202
055660,000495:
055661,000496: 07,3420 03433 TC GSELECT # =1. DO Z GYRO.
055662,000497: 07,3421 00302 OCT 00302
055663,000498:
055664,000499: 07,3422 03431 TC GSELECT -2 # =2. DO X GYRO.
055665,000500: 07,3423 00100 OCT 00100
055666,000501:
055667,000502: 07,3424 34755 CAF ZERO # =3. DONE
055668,000503: 07,3425 55314 TS LGYRO
055669,000504: 07,3426 33404 CAF LGWAKE # WAKE A POSSIBLE SLEEPING JOB.
055670,000505: 07,3427 05137 TC JOBWAKE
055671,000506:
055672,000507: 07,3430 13232 NORESET TCF IMUFINED # DO NOT RESET POWER SUPPLY
|
|
Page 1322
|
055674,000509: 07,3431 44751 -2 CS FOUR # SPECIAL ENTRY TO REGRESS LGYRO FOR X.
055675,000510: 07,3432 27314 ADS LGYRO
055676,000511:
055677,000512: 07,3433 50002 GSELECT INDEX Q # SELECT GYRO.
055678,000513: 07,3434 30000 CAF 0 # PACKED WORD CONTAINS GYRO SELECT BITS
055679,000514: 07,3435 54064 TS ITEMP4 # AND INCREMENT TO LGYRO.
055680,000515: 07,3436 74757 MASK SEVEN
055681,000516: 07,3437 64737 AD BIT13
055682,000517: 07,3440 27314 ADS LGYRO
055683,000518: 07,3441 54003 TS EBANK
055684,000519: 07,3442 74357 MASK LOW8
055685,000520: 07,3443 54061 TS ITEMP1
055686,000521:
055687,000522: 07,3444 44757 CS SEVEN
055688,000523: 07,3445 70064 MASK ITEMP4
055689,000524: 07,3446 54064 TS ITEMP4
055690,000525:
055691,000526: 07,3447 00006 EXTEND # MOVE DP COMMAND TO RUPTREGS FOR TESTING.
055692,000527: 07,3450 50061 INDEX ITEMP1
055693,000528: 07,3451 31401 DCA 1400
055694,000529: 07,3452 52071 DXCH RUPTREG1
055695,000530:
055696,000531: 07,3453 10070 CCS RUPTREG1
055697,000532: 07,3454 13467 TCF MAJ+
055698,000533: 07,3455 13457 TCF +2
055699,000534: 07,3456 13607 TCF MAJ-
055700,000535:
055701,000536: 07,3457 10071 CCS RUPTREG2
055702,000537: 07,3460 13464 TCF MIN+
055703,000538: 07,3461 13411 TCF STRTGYR2
055704,000539: 07,3462 13604 TCF MIN-
055705,000540: 07,3463 13411 TCF STRTGYR2
055706,000541:
|
|
Page 1323
|
055708,000543: 07,3464 63520 MIN+ AD -GYROMIN # SMALL POSITIVE COMMAND. SEE IF AT LEAST
055709,000544: 07,3465 00006 EXTEND # 16 GYRO PULSES.
055710,000545: 07,3466 63411 BZMF STRTGYR2
055711,000546:
055712,000547: 07,3467 00006 MAJ+ EXTEND # DEFINITE POSITIVE OUTPUT.
055713,000548: 07,3470 33630 DCA GYROFRAC
055714,000549: 07,3471 20071 DAS RUPTREG1
055715,000550:
055716,000551: 07,3472 30064 CA ITEMP4 # SELECT POSITIVE TORQUING FOR THIS GYRO.
055717,000552: 07,3473 00006 EXTEND
055718,000553: 07,3474 05014 WOR CHAN14
055719,000554:
055720,000555: 07,3475 36074 CAF LOW7 # LEAVE NUMBER OF POSSIBLE 8192 AUGMENTS
055721,000556: 07,3476 70071 MASK RUPTREG2 # TO INITIAL COMMAND IN MAJOR PART OF LONG
055722,000557: 07,3477 56071 XCH RUPTREG2 # TERM STORAGE AND TRUNCATED FRACTION
055723,000558: 07,3500 00006 GMERGE EXTEND # IN MINOR PART. THE MAJOR PART WILL BE
055724,000559: 07,3501 74744 MP BIT8 # COUNTED DOWN TO ZERO IN THE COURSE OF
055725,000560: 07,3502 54062 TS ITEMP2 # PUTTING OUT THE ENTIRE COMMAND.
055726,000561: 07,3503 30070 CA RUPTREG1
055727,000562: 07,3504 00006 EXTEND
055728,000563: 07,3505 74743 MP BIT9
055729,000564: 07,3506 54070 TS RUPTREG1
055730,000565: 07,3507 30001 CA L
055731,000566: 07,3510 00006 EXTEND
055732,000567: 07,3511 74736 MP BIT14
055733,000568: 07,3512 26062 ADS ITEMP2 # INITIAL COMMAND.
055734,000569:
055735,000570: 07,3513 00006 EXTEND # SEE IF MORE THAN ONE PULSE TRAIN NEEDED
055736,000571: 07,3514 30071 DCA RUPTREG1 # (MORE THAN 16383 PULSES).
055737,000572: 07,3515 67747 AD MINUS1
055738,000573: 07,3516 10000 CCS A
055739,000574: 07,3517 13543 TCF LONGGYRO
055740,000575: 07,3520 77601 -GYROMIN OCT -176 # MAY BE ADJUSTED TO SPECIFY MINIMUM CMD
055741,000576: 07,3521 13525 TCF +4
055742,000577:
055743,000578: 07,3522 34736 CAF BIT14
055744,000579: 07,3523 26062 ADS ITEMP2
055745,000580: 07,3524 34755 CAF ZERO
055746,000581:
055747,000582: 07,3525 50061 +4 INDEX ITEMP1
055748,000583: 07,3526 53401 DXCH 1400
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|
Page 1324
|
055750,000585: 07,3527 30062 CA ITEMP2 # ENTIRE COMMAND.
055751,000586: 07,3530 54047 LASTSEG TS GYROCMD
055752,000587: 07,3531 00006 EXTEND
055753,000588: 07,3532 74742 MP BIT10 # WAITLIST DT
055754,000589: 07,3533 66245 AD THREE # TRUNCATION AND PHASE UNCERTAINTIES.
055755,000590: 07,3534 05203 TC WAITLIST
055756,000591: 07,3535 E3,1474 EBANK= CDUIND
055757,000592: 07,3535 03405 16103 2CADR STRTGYRO
055758,000593:
055759,000594: 07,3537 34742 GYROEXIT CAF BIT10
055760,000595: 07,3540 00006 EXTEND
055761,000596: 07,3541 05014 WOR CHAN14
055762,000597: 07,3542 15261 TCF TASKOVER
055763,000598:
055764,000599: 07,3543 50061 LONGGYRO INDEX ITEMP1
055765,000600: 07,3544 53401 DXCH 1400 # INITIAL COMMAND OUT PLUS N AUGMENTS OF
055766,000601: 07,3545 34736 CAF BIT14 # 8192. INITIAL COMMAND IS AT LEAST 8192.
055767,000602: 07,3546 60062 AD ITEMP2
055768,000603: 07,3547 54047 TS GYROCMD
055769,000604:
055770,000605: 07,3550 00006 AUG3 EXTEND # GET WAITLIST DT TO TIME WHEN TRAIN IS
055771,000606: 07,3551 74742 MP BIT10 # ALMOST OUT.
055772,000607: 07,3552 67745 AD NEG3
055773,000608: 07,3553 05203 TC WAITLIST
055774,000609: 07,3554 E3,1474 EBANK= CDUIND
055775,000610: 07,3554 03557 16103 2CADR 8192AUG
055776,000611:
055777,000612: 07,3556 13537 TCF GYROEXIT
055778,000613:
055779,000614: 07,3557 03641 8192AUG TC CAGETEST
055780,000615:
055781,000616: 07,3560 34750 CAF BIT4
055782,000617: 07,3561 00006 EXTEND
055783,000618: 07,3562 02012 RAND CHAN12
055784,000619: 07,3563 10000 CCS A
055785,000620: 07,3564 13637 TCF IMUBAD
055786,000621: 07,3565 31314 CA LGYRO # ADD 8192 PULSES TO GYROCMD
055787,000622: 07,3566 54003 TS EBANK
055788,000623: 07,3567 74357 MASK LOW8
055789,000624: 07,3570 54061 TS ITEMP1
055790,000625:
055791,000626: 07,3571 50061 INDEX ITEMP1 # SEE IF THIS IS THE LAST AUG.
055792,000627: 07,3572 11400 CCS 1400
055793,000628: 07,3573 13577 TCF AUG2 # MORE TO COME.
055794,000629:
055795,000630: 07,3574 34736 CAF BIT14
055796,000631: 07,3575 26047 ADS GYROCMD
055797,000632: 07,3576 13531 TCF LASTSEG +1
055798,000633:
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|
Page 1325
|
055800,000635: 07,3577 50061 AUG2 INDEX ITEMP1
055801,000636: 07,3600 55400 TS 1400
055802,000637: 07,3601 34736 CAF BIT14
055803,000638: 07,3602 26047 ADS GYROCMD
055804,000639: 07,3603 13550 TCF AUG3 # COMPUTE DT.
055805,000640:
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|
Page 1326
|
055807,000642: 07,3604 63520 MIN- AD -GYROMIN # POSSIBLE NEGATIVE OUTPUT.
055808,000643: 07,3605 00006 EXTEND
055809,000644: 07,3606 63411 BZMF STRTGYR2
055810,000645:
055811,000646: 07,3607 00006 MAJ- EXTEND # DEFINITE NEGATIVE OUTPUT.
055812,000647: 07,3610 43630 DCS GYROFRAC
055813,000648: 07,3611 20071 DAS RUPTREG1
055814,000649:
055815,000650: 07,3612 30064 CA ITEMP4 # SELECT NEGATIVE TORQUING FOR THIS GYRO.
055816,000651: 07,3613 64743 AD BIT9
055817,000652: 07,3614 00006 EXTEND
055818,000653: 07,3615 05014 WOR CHAN14
055819,000654:
055820,000655: 07,3616 40070 CS RUPTREG1 # SET UP RUPTREGS TO FALL INTO GMERGE.
055821,000656: 07,3617 54070 TS RUPTREG1 # ALL NUMBERS PUT INTO GYROCMD ARE
055822,000657: 07,3620 40071 CS RUPTREG2 # POSITIVE - BIT9 OF CHAN 14 DETERMINES
055823,000658: 07,3621 76074 MASK LOW7 # THE SIGN OF THE COMMAND.
055824,000659: 07,3622 40000 COM
055825,000660: 07,3623 56071 XCH RUPTREG2
055826,000661: 07,3624 40000 COM
055827,000662: 07,3625 13500 TCF GMERGE
055828,000663:
055829,000664: 07,3626 01700 GDESELCT OCT 1700 # TURN OFF SELECT AND ACTIVITY BITS.
055830,000665:
055831,000666: 07,3627 00000 00034 GYROFRAC 2DEC .215 B-21
055832,000667:
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|
Page 1327
|
055834,000669: # IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE.
055835,000670:
055836,000671: 07,3631 00006 ENDIMU EXTEND # MODE IS BAD IF CAGE HAS OCCURED OR IF
055837,000672: 07,3632 00011 READ DSALMOUT # ISS WARNING IS ON.
055838,000673: 07,3633 74753 MASK BIT1
055839,000674: 07,3634 10000 CCS A
055840,000675: 07,3635 13637 TCF IMUBAD
055841,000676:
055842,000677: 07,3636 13665 IMUGOOD TCF GOODEND # WITH C(A) = 0.
055843,000678:
055844,000679: 07,3637 34755 IMUBAD CAF ZERO
055845,000680: 07,3640 13662 TCF BADEND
055846,000681:
055847,000682: 07,3641 34746 CAGETEST CAF BIT6 # SUBROUTINE TO TERMINATE IMU MODE
055848,000683: 07,3642 71302 MASK IMODES30 # SWITCH IF IMU HAS BEEN CAGED.
055849,000684: 07,3643 10000 CCS A
055850,000685: 07,3644 13637 TCF IMUBAD # DIRECTLY.
055851,000686: 07,3645 00002 TC Q # WITH C(A) = +0.
055852,000687:
055853,000688: 07,3646 41302 CAGETSTQ CS IMODES30 # SKIP IF IMU NOT BEING CAGED.
055854,000689: 07,3647 74746 MASK BIT6
055855,000690: 07,3650 10000 CCS A
055856,000691: 07,3651 24002 INCR Q
055857,000692: 07,3652 00002 TC Q
055858,000693:
055859,000694: 07,3653 41302 CAGETSTJ CS IMODES30 # IF DURING MODE SWITCH INITIALIZATION
055860,000695: 07,3654 74746 MASK BIT6 # IT IS FOUND THAT THE IMU IS BEING CAGED,
055861,000696: 07,3655 10000 CCS A # SET IMUCADR TO -0 TO INDICATE OPERATION
055862,000697: 07,3656 00002 TC Q # COMPLETE BUT FAILED. RETURN IMMEDIATELY
055863,000698:
055864,000699: 07,3657 44755 CS ZERO # TO SWRETURN.
055865,000700: 07,3660 55304 TS IMUCADR
055866,000701: 07,3661 12755 TCF MODEEXIT
055867,000702:
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|
Page 1328
|
055869,000704: # GENERALIZED MODE SWITCHING TERMINATION. ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION
055870,000705: # OR AT BADEND FOR AN UNSUCCESSFUL ONE. C(A) OR ARRIVAL =0 FOR IMU, 1 FOR OPTICS.
055871,000706:
055872,000707: 07,3662 54071 BADEND TS RUPTREG2 # DEVICE INDEX.
055873,000708: 07,3663 44755 CS ZERO # FOR FAILURE.
055874,000709: 07,3664 13667 TCF GOODEND +2
055875,000710:
055876,000711: 07,3665 54071 GOODEND TS RUPTREG2
055877,000712: 07,3666 44753 CS ONE # FOR SUCCESS.
055878,000713:
055879,000714: 07,3667 54072 TS RUPTREG3
055880,000715: 07,3670 50071 INDEX RUPTREG2 # SEE IF USING PROGRAM ASLEEP.
055881,000716: 07,3671 11304 CCS MODECADR
055882,000717: 07,3672 13676 TCF +4 # YES - WAKE IT UP.
055883,000718: 07,3673 13706 TCF ENDMODE # IF 0, PROGRAM NOT IN YET.
055884,000719:
055885,000720: 07,3674 00006 EXTEND
055886,000721: 07,3675 13707 BZF ENDMODE +1 # BZF = TCF IF MODECADR = -0.
055887,000722:
055888,000723: 07,3676 34755 CAF ZERO # WAKE SLEEPING PROGRAM.
055889,000724: 07,3677 50071 INDEX RUPTREG2
055890,000725: 07,3700 57304 XCH MODECADR
055891,000726: 07,3701 05137 TC JOBWAKE
055892,000727:
055893,000728: 07,3702 40072 CS RUPTREG3 # ADVANCE LOC IF SUCCESSFUL.
055894,000729: 07,3703 50064 INDEX LOCCTR
055895,000730: 07,3704 26164 ADS LOC
055896,000731:
055897,000732: 07,3705 15261 TCF TASKOVER
055898,000733:
055899,000734: 07,3706 30072 ENDMODE CA RUPTREG3 # -0 INDICATES OPERATION COMPLETE BUT
055900,000735: 07,3707 50071 +1 INDEX RUPTREG2 # UNSUCCESSFUL: -1 INDICATES COMPLETE AND
055901,000736: 07,3710 55304 TS MODECADR # SUCCESSFUL.
055902,000737: 07,3711 15261 TCF TASKOVER
055903,000738:
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|
Page 1329
|
055905,000740: # GENERAL STALLING ROUTINE. USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION.
055906,000741:
055907,000742: # PROGRAM DESCRIPTION DATE - 21 FEB 1967
055908,000743: # LOG SECTION IMU MODE SWITCHING
055909,000744: # MOD BY - R. MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 82
055910,000745:
055911,000746: # FUNCTIONAL DESCRIPTION -
055912,000747: # TO DELAY FURTHER EXECUTION OF THE CALLING ROUTINE UNTIL ITS SELECTED
055913,000748: # I/O FUNCTION IS COMPLETE. THE FOLLOWING CHECKS ON THE CALLING ROUTINE:S
055914,000749: # MODECADR ARE MADE AND ACTED UPON.
055915,000750: # 1) +0 INDICATES INCOMPLETE I/O OPERATION. CALLING ROUTINE IS PUT TO
055916,000751: # SLEEP.
055917,000752: # 2) -1 INDICATES COMPLETED I/O OPERATION. STALL BYPASSES JOBSLEEP
055918,000753: # CALL AND RETURNS TO CALLING ROUTINE AT L+3
055919,000754: # 3) -0 INDICATES COMPLETED I/O WITH FAILURE. STALL CLEARS MODECADR
055920,000755: # AND RETURNS TO CALLING ROUTINE AT L+2.
055921,000756: # 4) VALUE GREATER THAN 0 INDICATES TWO ROUTINES CALLING FOR USE OF
055922,000757: # SAME DEVICE. STALL EXITS TO ABORT WHICH EXECUTES A PROGRAM
055923,000758: # RESTART WHICH IN TURN CLEARS ALL MODECADR REGISTERS.
055924,000759:
055925,000760: # CALLING SEQUENCE -
055926,000761: # L TC BANKCALL
055927,000762: # L+1 CADR (ONE OF 5 STALL ADDRESSES I.E. IMUSTALL, OPTSTALL, RADSTALL,
055928,000763: # AOTSTALL, OR ATTSTALL)
055929,000764:
055930,000765: # NORMAL-EXIT MODE -
055931,000766: # TCF JOBSLEEP OR TCF MODEXIT
055932,000767:
055933,000768: # ALARM OR ABORT EXIT MODE -
055934,000769: # TC ABORT
055935,000770:
055936,000771: # OUTPUT -
055937,000772: # MODECADR=CADR IF JOBSLEEP
055938,000773: # MODECADR=+0 IF I/O COMPLETE
055939,000774: # BUF2=L+3 IF I/O COMPLETE AND GOOD.
055940,000775: # BUF2=L+2 IF I/O COMPLETE BUT FAILED.
055941,000776:
055942,000777: # ERASABLE INITIALIZATION -
055943,000778: # BUF2 CONTAINS RETURN ADDRESS PLUS 1,(L+2)
055944,000779: # BUF2+1 CONTAINS FBANK VALUE OF CALLING ROUTINE.
055945,000780: # MODECADR OF CALLING ROUTINE CONTAINS +0,-1,-0 OR CADR RETURN ADDRESS.
055946,000781:
055947,000782: # DEBRIS -
055948,000783: # RUPTREG2 AND CALLING ROUTINE MODECADR.
055949,000784:
055950,000785: 07,3712 34753 AOTSTALL CAF ONE # AOT.
055951,000786: 07,3713 03717 TC STALL
055952,000787:
055953,000788: 07,3714 34752 RADSTALL CAF TWO
055954,000789: 07,3715 13717 TCF STALL
055955,000790:
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|
Page 1330
|
055957,000792: 07,3716 07,3712 OPTSTALL EQUALS AOTSTALL
055958,000793:
055959,000794: 07,3716 34755 IMUSTALL CAF ZERO # IMU.
055960,000795:
055961,000796: 07,3717 00004 STALL INHINT
055962,000797: 07,3720 54071 TS RUPTREG2 # SAVE DEVICE INDEX.
055963,000798: 07,3721 50000 INDEX A # SEE IF OPERATION COMPLETE.
055964,000799: 07,3722 11304 CCS MODECADR
055965,000800: 07,3723 13741 TCF MODABORT # ALLOWABLE STATES ARE +0, -1, AND -0.
055966,000801: 07,3724 13735 TCF MODESLP # OPERATION INCOMPLETE.
055967,000802: 07,3725 13731 TCF MODEGOOD # COMPLETE AND GOOD IF = -1.
055968,000803:
055969,000804: 07,3726 50071 MG2 INDEX RUPTREG2 # COMPLETE AND FAILED IF -0. RESET TO +0.
055970,000805: 07,3727 55304 TS MODECADR # RETURN TO CALLER.
055971,000806: 07,3730 12755 TCF MODEEXIT
055972,000807:
055973,000808: 07,3731 10000 MODEGOOD CCS A # MAKE SURE INITIAL STATE -1.
055974,000809: 07,3732 13741 TCF MODABORT
055975,000810:
055976,000811: 07,3733 24133 INCR BUF2 # IF SO, INCREMENT RETURN ADDRESS AND
055977,000812: 07,3734 13726 TCF MG2 # RETURN IMMEDIATELY, SETTING CADR = +0.
055978,000813:
055979,000814: 07,3735 04645 MODESLP TC MAKECADR # CALL FROM SWITCHABLE FIXED ONLY.
055980,000815: 07,3736 50071 INDEX RUPTREG2
055981,000816: 07,3737 55304 TS MODECADR
055982,000817: 07,3740 15133 TCF JOBSLEEP
055983,000818:
055984,000819: 07,3741 52134 MODABORT DXCH BUF2
055985,000820: 07,3742 05716 TC BAILOUT1 # TWO PROGRAMS USING THE SAME DEVICE.
055986,000821: 07,3743 01210 OCT 1210
055987,000822:
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Page 1331
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055989,000824: # CONSTANTS FOR MODE SWITCHING ROUTINES
055990,000825:
055991,000826: 07,3744 5751 BITS3&4 = OCT14
055992,000827: 07,3744 4771 BITS4&6 = OCT50
055993,000828: 07,3744 00030 BITS4-5 OCT 00030
055994,000829: 07,3745 4744 IMUSEFLG EQUALS BIT8 # INTERPRETER SWITCH 7.
055995,000830: 07,3745 77500 -COMMAX DEC -191 B-14
055996,000831: 07,3746 77477 -COMMAX- DEC -192 B-14
055997,000832: 07,3747 00074 600MS DEC 60 B-14
055998,000833: 07,3750 07,3210 IMUFIN20 = IMUFINE
055999,000834: 07,3750 31307 GOMANUR CA ATTCADR # IS KALCMANU FREE
056000,000835: 07,3751 00006 EXTEND
056001,000836: 07,3752 13755 BZF +3
056002,000837:
056003,000838: 07,3753 05652 TC POODOO # NO
056004,000839: 07,3754 01210 OCT 1210 # 2 TRYING TO USE SAME DEVICE
056005,000840:
056006,000841: 07,3755 00006 +3 EXTEND
056007,000842: 07,3756 30134 DCA BUF2
056008,000843: 07,3757 53310 DXCH ATTCADR # SAVE FINAL RETURN FOR KALCMAN3
056009,000844:
056010,000845: 07,3760 30006 CA BBANK
056011,000846: 07,3761 74757 MASK SEVEN
056012,000847: 07,3762 27310 ADS ATTCADR +1
056013,000848:
056014,000849: 07,3763 30167 CA PRIORITY
056015,000850: 07,3764 77725 MASK PRIO37
056016,000851: 07,3765 55311 TS ATTPRIO # SAVE USERS PRIO
056017,000852:
056018,000853: 07,3766 33772 CAF KALEBCON # SET EBANK FOR KALCMAN3
056019,000854: 07,3767 54003 TS EBANK
056020,000855: 07,3770 04635 TC POSTJUMP
056021,000856: 07,3771 44004 CADR KALCMAN3
056022,000857: 07,3772 03276 KALEBCON ECADR BCDU
056023,000858:
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Page 1332
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056025,000860: # PROGRAM DESCRIPTION
056026,000861: # IMU STATUS CHECK ROUTINE R02 (SUBROUTINE UTILITY)
056027,000862: # MOD NO - 1
056028,000863: # MOD BY - N.BRODEUR
056029,000864:
056030,000865: # FUNCTIONAL DESCRIPTION
056031,000866: # TO CHECK WHETHER IMU IS ON AND IF ON WHETHER IT IS ALIGNED TO AN
056032,000867: # ORIENTATION KNOWN BY THE CMC. TO REQUEST SELECTION OF THE APPROPRIATE
056033,000868: # PROGRAM IF THE IMU IS OFF OR NOT ALIGNED TO AN ORIENTATION KNOWN BY THE
056034,000869: # CMC. CALLED THROUGH BANKCALL
056035,000870:
056036,000871: # CALLING SEQUENCE -
056037,000872: # L TC BANKCALL
056038,000873: # L+1 CADR R02BOTH
056039,000874:
056040,000875: # SUBROUTINES CALLED
056041,000876: # VARALARM
056042,000877: # FLAGUP
056043,000878:
056044,000879: # NORMAL EXIT MODES
056045,000880: # AT L+2 OF CALLING SEQUENCE
056046,000881:
056047,000882: # ALARM OR ABORT EXIT MODES
056048,000883: # GOTOPOOH, WITH ALARM
056049,000884:
056050,000885: # ERASABLE INITIALIZATION REQUIRED
056051,000886: # NONE
056052,000887:
056053,000888: # DEBRIS
056054,000889: # CENTRALS - A,Q,L
056055,000890:
056056,000891: 34,3775 BANK 34
056057,000892: 04,2000 SETLOC R02
056058,000893: 04,2000 BANK
056059,000894: 04,3253 COUNT* $$/R02
056060,000895: 04,3253 00063 DEC51 DEC 51 B-14
056061,000896: 04,3254 34737 R02BOTH CAF REFSMBIT
056062,000897: 04,3255 70077 MASK FLAGWRD3
056063,000898: 04,3256 10000 CCS A
056064,000899: 04,3257 03270 TC R02ZERO # ZERO IMUS
056065,000900:
056066,000901: 04,3260 31302 CA IMODES30
056067,000902: 04,3261 74743 MASK BIT9 # IS ISS INITIALIZED
056068,000903: 04,3262 00006 EXTEND
056069,000904: 04,3263 13265 BZF +2
056070,000905: 04,3264 44750 CS BIT4 # SEND IMU ALARM CODE 210
056071,000906: 04,3265 63273 AD OCT220 # SEND REFSMM ALARM
056072,000907: 04,3266 05744 TC VARALARM
056073,000908:
056074,000909: 04,3267 06001 TC GOTOPOOH
056075,000910:
056076,000911: 04,3270 05504 R02ZERO TC UPFLAG
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Page 1333
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056078,000913: 04,3271 00007 ADRES IMUSE
056079,000914: 04,3272 14631 TCF SWRETURN
056080,000915: 04,3273 00220 OCT220 OCT 220
056081,000916:
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Page 1334
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056083,000918: # PROGRAM DESCRIPTION P06 10 FEB 67
056084,000919:
056085,000920: # TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION.
056086,000921:
056087,000922: # THE NORMAL CONDITION OF READINESS OF THE GNCS WHEN NOT IN USE IS STANDBY. IN THIS CONDITION THE IMU
056088,000923: # HEATER POWER IS ON. THE IMU OPERATE POWER IS OFF. THE COMPUTER POWER IS ON. THE OPTICS POWER IS OFF. THE
056089,000924: # CMC STANDBY ON THE MAIN AND LEB DISKYS IS ON.
056090,000925:
056091,000926: # CALLING SEQUENCE:
056092,000927: # ASTRONAUT REQUEST THROUGH DSKY V37E 06E.
056093,000928:
056094,000929: # SUBROUTINES CALLED:
056095,000930: # GOPERF1
056096,000931: # BANKCALL
056097,000932: # FLAGDOWN
056098,000933:
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Page 1335
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056100,000935: # PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2
056101,000936: # THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATABILITY
056102,000937: # BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING.
056103,000938:
056104,000939: 37,2000 SETLOC P05P06
056105,000940: 37,2000 BANK
056106,000941:
056107,000942: 37,3655 0314 EBANK= TIME2SAV
056108,000943: 37,3655 COUNT* $$/P06
056109,000944:
056110,000945: 37,3655 05504 P06 TC UPFLAG # SET NODOV37 BIT
056111,000946: 37,3656 00054 ADRES NODOFLAG
056112,000947:
056113,000948: 37,3657 00004 PRESTAND INHINT
056114,000949: 37,3660 00006 EXTEND
056115,000950: 37,3661 30025 DCA TIME2 # SNAPSHOT TIME1 TIME2
056116,000951: 37,3662 52315 DXCH TIME2SAV
056117,000952: 37,3663 03714 TC SCALPREP
056118,000953: 37,3664 03657 TC PRESTAND # T1,T2,SCALER NOT COMPATIBLE
056119,000954: 37,3665 52155 DXCH MPAC # T1,T2 AND SCALER OK
056120,000955: 37,3666 52317 DXCH SCALSAVE # STORE SCALER
056121,000956: 37,3667 00004 INHINT
056122,000957: 37,3670 04616 TC BANKCALL
056123,000958: 37,3671 17175 CADR RNDREFDR # REFSMM, DRIFT, TRACK FLAGS DOWN
056124,000959:
056125,000960: 37,3672 05516 TC DOWNFLAG
056126,000961: 37,3673 00007 ADRES IMUSE # IMUSE DOWN
056127,000962: 37,3674 05516 TC DOWNFLAG
056128,000963: 37,3675 00010 ADRES RNDVZFLG # RNDVZFLG DOWN
056129,000964:
056130,000965: 37,3676 34741 CAF BIT11
056131,000966: 37,3677 00006 EXTEND
056132,000967: 37,3700 05013 WOR CHAN13 # SET STANDBY ENABLE BIT
056133,000968:
056134,000969: 37,3701 05353 TC PHASCHNG # SET RESTART TO POSTAND WHEN STANDBY
056135,000970: 37,3702 07024 OCT 07024 # RECOVERS
056136,000971: 37,3703 20000 OCT 20000
056137,000972: 37,3704 0316 EBANK= SCALSAVE
056138,000973: 37,3704 03734 76060 2CADR POSTAND
056139,000974:
056140,000975: 37,3706 34774 CAF OCT62
056141,000976: 37,3707 04616 TC BANKCALL
056142,000977: 37,3710 20623 CADR GOPERF1
056143,000978: 37,3711 13706 TCF -3
056144,000979: 37,3712 13706 TCF -4
056145,000980: 37,3713 13706 TCF -5
056146,000981:
056147,000982: 37,3714 4774 OCT62 EQUALS .5SEC # DEC 50 = OCT 62
056148,000983:
056149,000984: # THE LOW 5 BITS OF THE SCALER READS 10000 FOR THE FIRST INTERVAL AFTER A
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Page 1336
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056151,000986: # T1 INCREMENT. IF SCALPREP DETECTS THIS INTERVAL THE T1,T2 AND SCALER
056152,000987: # DATA ARE NOT COMPATABLE AND RETURN IS TO L+1 FOR ANOTHER READING OF THE
056153,000988: # DATA. OTHERWISE, THE RETURN IS TO L+2 TO PROCEED. ROUTINE ALSO PREPARES
056154,000989: # THE SCALER READING FOR COMPUTATION OF THE INCREMENT TO UPDATE T1T2. (THE
056155,000990: # 10 MS BIT (BIT 6) OF THE SCALER IS INCREMENTED 5 MS OUT OF PHASE FROM
056156,000991: # T1.) ADDITION OF 5 MS (BIT 5) TO THE SCALER READING HAS THE EFFECT OF
056157,000992: # ADJUSTING BIT 6 IN THE SCALER TO BE IN PHASE WITH BIT 1 OF T1. THE LOW 5
056158,000993: # BITS OF THE SCALER READING ARE THEN SET TO ZERO, TO TRUNCATE THE SCALER
056159,000994: # DATA TO 10 MS. RESULTS ARE STORED IN MPAC, +1.
056160,000995:
056161,000996: 37,3714 00006 SCALPREP EXTEND
056162,000997: 37,3715 22156 QXCH MPAC +2
056163,000998: 37,3716 04103 TC FINETIME +1
056164,000999: 37,3717 00003 RELINT
056165,001000: 37,3720 52155 DXCH MPAC
056166,001001: 37,3721 34747 CA BIT5 # ADD 5 MS TO THE SCALER READING.
056167,001002: 37,3722 54001 TS L
056168,001003: 37,3723 34755 CA ZERO
056169,001004: 37,3724 20155 DAS MPAC
056170,001005: 37,3725 44346 CS LOW5 # SET LOW 5 BITS OF (SCALER+5MS) TO ZERO
056171,001006: 37,3726 70155 MASK MPAC +1 # AND STORE RESULTS IN MPAC,+1.
056172,001007: 37,3727 56155 XCH MPAC +1
056173,001008: 37,3730 74346 MASK LOW5 # TEST LOW 5 BITS OF SCALER FOR THE FIRST
056174,001009: # INTERVAL AFTER THE T1 INCREMENT
056175,001010: # (NOW = 00000, SINCE BIT 5 ADDED).
056176,001011: 37,3731 10000 CCS A # IS IT 1ST INTERVAL AFTER T1 INCREMENT
056177,001012: 37,3732 24156 INCR MPAC +2 # NO
056178,001013: 37,3733 00156 TC MPAC +2 # YES
056179,001014:
056180,001015: # POSTAND RECOVERS TIME AFTER STANDBY. THE SCALER IS SNAPSHOTTED AND THE
056181,001016: # TIME1 TIME2 COUNTER IS SET TO ZERO. THE LOW 5 BITS OF THE SCALER ARE
056182,001017: # INSPECTED TO INSURE COMPATABILITY BETWEEN THE SCALER READING AND THE
056183,001018: # CLEARING OF THE TIME COUNTER. IT THEN COMPUTES THE DIFFERENCE IN SCALER
056184,001019: # VALUES (IN DP) AND ADDS THIS TO THE PREVIOUSLY SNAPSHOTTED VALUES OF
056185,001020: # TIME1 TIME2 AND PLACES THIS NEW TIME INTO THE TIME1 TIME2 COUNTER.
056186,001021:
056187,001022: 37,3734 COUNT* $$/P05
056188,001023:
056189,001024: 37,3734 44741 POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY.
056190,001025: 37,3735 00006 EXTEND
056191,001026: 37,3736 03013 WAND CHAN13 # CLEAR STANDBY ENABLE BIT
056192,001027: 37,3737 00004 INHINT
056193,001028: 37,3740 34755 CA ZERO
056194,001029: 37,3741 54001 TS L
056195,001030: 37,3742 52025 DXCH TIME2 # CLEAR TIME1TIME2
056196,001031: 37,3743 03714 TC SCALPREP # STORE SCALER IN MPAC, MPAC+1
056197,001032: 37,3744 03737 TC POSTAND +3 # T1,T2,SCALER NOT COMPATIBLE
056198,001033: 37,3745 00006 EXTEND # T1,T2 AND SCALER OK
056199,001034: 37,3746 40317 DCS SCALSAVE
056200,001035: 37,3747 20155 DAS MPAC # FORM DP DIFFERENCE OF POSTSTANDBY SCALER
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Page 1337
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056202,001037: 37,3750 34742 CAF BIT10 # MINUS PRESTANDBY SCALER AND SHIFT RIGHT
056203,001038: 37,3751 07307 TC SHORTMP # 5 TO ALIGN BITS WITH TIME1 TIME2.
056204,001039: 37,3752 34755 CAF ZERO
056205,001040: 37,3753 54156 TS MPAC +2 # NEEDED FOR TP AGREE
056206,001041: 37,3754 07257 TC TPAGREE # MAKE DP DIFF AGREE
056207,001042: 37,3755 10154 CCS MPAC
056208,001043: 37,3756 03763 TC POSTCOM # IF DP DIFF NET +, NO SCALER OVERFLOW
056209,001044: 37,3757 03763 TC POSTCOM # BETWEEN PRE AND POST STANDBY.
056210,001045: 37,3760 03761 TC +1 # IF DP DIFF NET -, SCALER OVERFLOWED. ADD
056211,001046: 37,3761 34742 CAF BIT10 # BIT 10 TO HIGH DIFF TO CORRECT.
056212,001047: 37,3762 26154 ADS MPAC
056213,001048: 37,3763 00006 POSTCOM EXTEND # C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER.
056214,001049: 37,3764 30315 DCA TIME2SAV # PRESTANDBY TIME1TIME2
056215,001050: 37,3765 20155 DAS MPAC
056216,001051: 37,3766 07257 TC TPAGREE # FORCE SIGN AGREEMENT
056217,001052: 37,3767 52155 DXCH MPAC # UPDATED VALUE FOR T1,T2.
056218,001053: 37,3770 20025 DAS TIME2 # LOAD UPDATED VALUE INTO T1,T2, WITH
056219,001054: 37,3771 05516 TC DOWNFLAG # CLEAR NODOFLAG
056220,001055: 37,3772 00054 ADRES NODOFLAG
056221,001056:
056222,001057: 37,3773 06001 TC GOTOPOOH
056223,001058:
End of include-file IMU_MODE_SWITCHING_ROUTINES.agc. Parent file is MAIN.agc