Source Code
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These source-code files are part of a reconstructed copy of Artemis 071, the
first release of the Apollo 15 through 17 Command Module (CM) Apollo Guidance
Computer (AGC) software.
The reconstruction began with source code of Artemis 072 previously transcribed
from a digitized copy of that program. The code was then updated by undoing
changes between the two versions. The reconstruction was verified by matching
memory-bank checksums to those listed in drawing 2021154-. Note that page
numbers in the reconstructed code match those on the Artemis 072 printout,
although the changed code would likely have changed page numbers for a real
Artemis 071 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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060751,000002: ## Copyright: Public domain.
060752,000003: ## Filename: IMU_MODE_SWITCHING_ROUTINES.agc
060753,000004: ## Purpose: A section of Artemis revision 071.
060754,000005: ## It is part of the reconstructed source code for the first
060755,000006: ## release of the flight software for the Command Module's
060756,000007: ## (CM) Apollo Guidance Computer (AGC) for Apollo 15 through
060757,000008: ## 17. The code has been recreated from a copy of Artemis 072.
060758,000009: ## It has been adapted such that the resulting bugger words
060759,000010: ## exactly match those specified for Artemis 071 in NASA
060760,000011: ## drawing 2021154-, which gives relatively high confidence
060761,000012: ## that the reconstruction is correct.
060762,000013: ## Reference: 1417
060763,000014: ## Assembler: yaYUL
060764,000015: ## Contact: Ron Burkey <info@sandroid.org>.
060765,000016: ## Website: www.ibiblio.org/apollo/index.html
060766,000017: ## Mod history: 2019-08-14 MAS Created from Artemis 072.
060767,000018:
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Page 1417
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060769,000020: 4000 SETLOC FFTAG3
060770,000021: 4000 BANK
060771,000022:
060772,000023: 5511 E3,1471 EBANK= COMMAND
060773,000024:
060774,000025: # FIXED-FIXED ROUTINES.
060775,000026:
060776,000027: 5511 COUNT* $$/IMODE
060777,000028: 5511 34772 ZEROICDU CAF ZERO # ZERO ICDU COUNTERS.
060778,000029: 5512 54032 TS CDUX
060779,000030: 5513 54033 TS CDUY
060780,000031: 5514 54034 TS CDUZ
060781,000032: 5515 00002 TC Q
060782,000033:
060783,000034: 5516 4760 SPSCODE = BIT9
060784,000035:
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Page 1418
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060786,000037: # IMU ZEROING ROUTINE.
060787,000038:
060788,000039: 07,2000 SETLOC MODESW
060789,000040: 07,2000 BANK
060790,000041:
060791,000042: 07,2627 COUNT* $$/IMODE
060792,000043: 07,2627 00004 IMUZERO INHINT # ROUTINE TO ZERO ICDUS.
060793,000044: 07,2630 41241 CS DSPTAB +11D # DONT ZERO CDUS IF IMU IN GIMBAL LOCK AND
060794,000045: 07,2631 75004 MASK BITS4&6 # COARSE ALIGN (GIMBAL RUNAWAY PROTECTION)
060795,000046: 07,2632 10000 CCS A
060796,000047: 07,2633 12637 TCF IMUZEROA
060797,000048:
060798,000049: 07,2634 05671 TC ALARM # IF SO.
060799,000050: 07,2635 00206 OCT 00206
060800,000051:
060801,000052: 07,2636 13622 TCF CAGETSTJ +4 # IMMEDIATE FAILURE.
060802,000053:
060803,000054: 07,2637 03616 IMUZEROA TC CAGETSTJ
060804,000055: # DO ALL THE WORK.
060805,000056: 07,2640 41334 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
060806,000057: 07,2641 74763 MASK NOIMUDAP
060807,000058: 07,2642 27334 ADS IMODES33
060808,000059: 07,2643 40000 COM
060809,000060: 07,2644 74764 MASK IMUZROBT
060810,000061: 07,2645 27334 ADS IMODES33
060811,000062:
060812,000063: 07,2646 41333 CS IMODES30 # INHIBIT ICDUFAIL AND IMUFAIL (IN CASE WE
060813,000064: 07,2647 74765 MASK IMUFINHT
060814,000065: 07,2650 27333 ADS IMODES30
060815,000066: 07,2651 40000 COM
060816,000067: 07,2652 74766 MASK ICDUINHT
060817,000068: 07,2653 27333 ADS IMODES30
060818,000069:
060819,000070: 07,2654 45004 CS BITS4&6 # SEND ZERO ENCODE WITH COARSE AND ERROR
060820,000071: 07,2655 00006 EXTEND # COUNTER DISABLED.
060821,000072: 07,2656 03012 WAND CHAN12
060822,000073:
060823,000074: 07,2657 03207 TC NOATTOFF # TURN OFF NO ATT LAMP.
060824,000075:
060825,000076: 07,2660 34764 CAF BIT5
060826,000077: 07,2661 00006 EXTEND
060827,000078: 07,2662 05012 WOR CHAN12
060828,000079:
060829,000080: 07,2663 05511 TC ZEROICDU
060830,000081: 07,2664 34763 CAF BIT6 # WAIT 320 MS TO GIVE AGS ADEQUATE TIME TO
060831,000082: 07,2665 05223 TC TWIDDLE # RECEIVE ITS PULSE TRAIN.
060832,000083: 07,2666 E3,1474 EBANK= CDUIND
060833,000084: 07,2666 02677 ADRES IMUZERO2
060834,000085: 07,2667 41333 CS IMODES30 # SEE IF IMU OPERATING AND ALARM IF NOT.
060835,000086: 07,2670 74760 MASK IMUOPBIT
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Page 1419
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060837,000088: 07,2671 10000 CCS A
060838,000089: 07,2672 12675 TCF MODEEXIT
060839,000090:
060840,000091: 07,2673 05671 TC ALARM
060841,000092: 07,2674 00210 OCT 210
060842,000093:
060843,000094: 07,2675 00003 MODEEXIT RELINT # GENERAL MODE-SWITCHING EXIT.
060844,000095: 07,2676 14651 TCF SWRETURN
060845,000096:
060846,000097:
060847,000098: 07,2677 03606 IMUZERO2 TC CAGETEST
060848,000099: 07,2700 05511 TC ZEROICDU # ZERO CDUX, CDUY, CDUZ
060849,000100:
060850,000101: 07,2701 44764 CS BIT5 # REMOVE ZERO DISCRETE.
060851,000102: 07,2702 00006 EXTEND
060852,000103: 07,2703 03012 WAND CHAN12
060853,000104:
060854,000105: 07,2704 35025 CAF 7.9SEC # WAIT 7.9 SECS FOR CTRS TO FIND GIMBALS
060855,000106: 07,2705 05260 TC VARDELAY
060856,000107:
060857,000108: 07,2706 03606 IMUZERO3 TC CAGETEST
060858,000109: 07,2707 34765 CA IMUFINHT
060859,000110: 07,2710 64766 AD ICDUINHT
060860,000111: 07,2711 40000 COM
060861,000112: 07,2712 71333 MASK IMODES30
060862,000113: 07,2713 55333 TS IMODES30
060863,000114:
060864,000115: 07,2714 34763 CA NOIMUDAP
060865,000116: 07,2715 64764 AD IMUZROBT
060866,000117: 07,2716 40000 COM
060867,000118: 07,2717 71334 MASK IMODES33 # BIT5 FOR GROUND
060868,000119: 07,2720 55334 TS IMODES33
060869,000120:
060870,000121: 07,2721 04714 TC IBNKCALL # SET ISS WARNING IF EITHER OF ABOVE ARE
060871,000122: 07,2722 14706 CADR SETISSW # PRESENT.
060872,000123:
060873,000124: 07,2723 13563 TCF ENDIMU
060874,000125:
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Page 1420
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060876,000127: # IMU COARSE ALIGN MODE.
060877,000128:
060878,000129: 07,2724 00004 IMUCOARS INHINT
060879,000130: 07,2725 03616 TC CAGETSTJ
060880,000131: 07,2726 03070 TC SETCOARS
060881,000132:
060882,000133: 07,2727 36211 CAF SIX
060883,000134: 07,2730 05233 TC WAITLIST
060884,000135: 07,2731 E3,1474 EBANK= CDUIND
060885,000136: 07,2731 02734 16063 2CADR COARS
060886,000137:
060887,000138: 07,2733 12675 TCF MODEEXIT
060888,000139:
060889,000140: 07,2734 03606 COARS TC CAGETEST
060890,000141: 07,2735 34763 CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
060891,000142: 07,2736 00006 EXTEND
060892,000143: 07,2737 05012 WOR CHAN12
060893,000144:
060894,000145: 07,2740 34767 CAF TWO # SET CDU INDICATOR
060895,000146: 07,2741 55474 COARS1 TS CDUIND
060896,000147:
060897,000148: 07,2742 51474 INDEX CDUIND # COMPUTE THETAD - THETAA IN 1:S
060898,000149: 07,2743 31307 CA THETAD # COMPLEMENT FORM
060899,000150: 07,2744 00006 EXTEND
060900,000151: 07,2745 51474 INDEX CDUIND
060901,000152: 07,2746 20032 MSU CDUX
060902,000153: 07,2747 00006 EXTEND
060903,000154: 07,2750 74754 MP BIT13 # SHIFT RIGHT 2
060904,000155: 07,2751 56001 XCH L # ROUND
060905,000156: 07,2752 60000 DOUBLE
060906,000157: 07,2753 54061 TS ITEMP1
060907,000158: 07,2754 12756 TCF +2
060908,000159: 07,2755 26001 ADS L
060909,000160:
060910,000161: 07,2756 51474 INDEX CDUIND # DIFFERENCE TO BE COMPUTED
060911,000162: 07,2757 23471 LXCH COMMAND
060912,000163: 07,2760 11474 CCS CDUIND
060913,000164: 07,2761 02741 TC COARS1
060914,000165:
060915,000166: 07,2762 34767 CAF TWO # MINIMUM OF 4 MS WAIT
060916,000167: 07,2763 05260 -1 TC VARDELAY
060917,000168: 07,2764 03606 COARS2 TC CAGETEST # DONT CONTINUE IF CAGED.
060918,000169: 07,2765 54061 TS ITEMP1 # SETS TO +0.
060919,000170: 07,2766 34767 CAF TWO # SET CDU INDICATOR
060920,000171: 07,2767 55474 +3 TS CDUIND
060921,000172:
060922,000173: 07,2770 51474 INDEX CDUIND
060923,000174: 07,2771 11471 CCS COMMAND # NUMBER OF PULSES REQUIRED
060924,000175: 07,2772 02776 TC COMPOS # GREATER THAN MAX ALLOWED
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Page 1421
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060926,000177: 07,2773 03005 TC NEXTCDU +1
060927,000178: 07,2774 03043 TC COMNEG
060928,000179: 07,2775 03005 TC NEXTCDU +1
060929,000180:
060930,000181: 07,2776 63663 COMPOS AD -COMMAX # COMMAX = MAX NUMBER OF PULSES ALLOWED
060931,000182: 07,2777 00006 EXTEND # MINUS ONE
060932,000183: 07,3000 63053 BZMF COMZERO
060933,000184: 07,3001 51474 INDEX CDUIND
060934,000185: 07,3002 55471 TS COMMAND # REDUCE COMMAND BY MAX NUMBER OF PULSES
060935,000186: 07,3003 43664 CS -COMMAX- # ALLOWED
060936,000187:
060937,000188: 07,3004 24061 NEXTCDU INCR ITEMP1
060938,000189: 07,3005 64771 +1 AD NEG0
060939,000190: 07,3006 51474 INDEX CDUIND
060940,000191: 07,3007 54050 TS CDUXCMD # SET UP COMMAND REGISTER.
060941,000192:
060942,000193: 07,3010 11474 CCS CDUIND
060943,000194: 07,3011 02767 TC COARS2 +3
060944,000195:
060945,000196: 07,3012 10061 CCS ITEMP1 # SEE IF ANY PULSES TO GO OUT.
060946,000197: 07,3013 13057 TCF SENDPULS
060947,000198:
060948,000199: 07,3014 05255 TC FIXDELAY # WAIT FOR GIMBALS TO SETTLE.
060949,000200: 07,3015 00226 DEC 150 B-14
060950,000201:
060951,000202: 07,3016 34767 CAF TWO # AT END OF COMMAND, CHECK TO SEE THAT
060952,000203: 07,3017 54061 CHKCORS TS ITEMP1 # GIMBALS ARE WITHIN 2 DEGREES OF THETAD.
060953,000204: 07,3020 50000 INDEX A
060954,000205: 07,3021 30032 CA CDUX
060955,000206: 07,3022 00006 EXTEND
060956,000207: 07,3023 50061 INDEX ITEMP1
060957,000208: 07,3024 21307 MSU THETAD
060958,000209: 07,3025 10000 CCS A
060959,000210: 07,3026 13034 TCF COARSERR
060960,000211: 07,3027 13031 TCF CORSCHK2
060961,000212: 07,3030 13034 TCF COARSERR
060962,000213:
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Page 1422
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060964,000215:
060965,000216: 07,3031 10061 CORSCHK2 CCS ITEMP1
060966,000217: 07,3032 13017 TCF CHKCORS
060967,000218: 07,3033 13563 TCF ENDIMU # END OF COARSE ALIGNMENT.
060968,000219:
060969,000220: 07,3034 63042 COARSERR AD COARSTOL # 2 DEGREES.
060970,000221: 07,3035 00006 EXTEND
060971,000222: 07,3036 63031 BZMF CORSCHK2
060972,000223:
060973,000224:
060974,000225: 07,3037 05671 TC ALARM # COARSE ALIGN ERROR.
060975,000226: 07,3040 00211 OCT 211
060976,000227:
060977,000228: 07,3041 13625 TCF IMUBAD
060978,000229:
060979,000230: 07,3042 77511 COARSTOL DEC -.01111 # 2 DEGREES SCALED AT HALF-REVOLUTIONS
060980,000231:
060981,000232:
060982,000233: 07,3043 63663 COMNEG AD -COMMAX
060983,000234: 07,3044 00006 EXTEND
060984,000235: 07,3045 63053 BZMF COMZERO
060985,000236: 07,3046 40000 COM
060986,000237: 07,3047 51474 INDEX CDUIND
060987,000238: 07,3050 55471 TS COMMAND
060988,000239: 07,3051 33664 CA -COMMAX-
060989,000240: 07,3052 03004 TC NEXTCDU
060990,000241:
060991,000242: 07,3053 34772 COMZERO CAF ZERO
060992,000243: 07,3054 51474 INDEX CDUIND
060993,000244: 07,3055 57471 XCH COMMAND
060994,000245: 07,3056 03004 TC NEXTCDU
060995,000246:
060996,000247:
060997,000248: 07,3057 37673 SENDPULS CAF 13,14,15
060998,000249: 07,3060 00006 EXTEND
060999,000250: 07,3061 05014 WOR CHAN14
061000,000251: 07,3062 33665 CAF 600MS
061001,000252: 07,3063 12763 TCF COARS2 -1 # THEN TO VARDELAY
061002,000253:
061003,000254: 07,3064 34763 CA+ECE CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
061004,000255: 07,3065 00006 EXTEND
061005,000256: 07,3066 05012 WOR CHAN12
061006,000257: 07,3067 05314 TC TASKOVER
061007,000258:
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Page 1423
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061009,000260: 07,3070 34765 SETCOARS CAF BIT4 # BYPASS IF ALREADY IN COARSE ALIGN
061010,000261: 07,3071 00006 EXTEND
061011,000262: 07,3072 02012 RAND CHAN12
061012,000263: 07,3073 10000 CCS A
061013,000264: 07,3074 00002 TC Q
061014,000265:
061015,000266: 07,3075 44763 CS BIT6 # CLEAR ISS ERROR COUNTERS
061016,000267: 07,3076 00006 EXTEND
061017,000268: 07,3077 03012 WAND CHAN12
061018,000269:
061019,000270: 07,3100 44757 CS BIT10 # KNOCK DOWN GYRO ACTIVITY
061020,000271: 07,3101 00006 EXTEND
061021,000272: 07,3102 03014 WAND CHAN14
061022,000273: 07,3103 44772 CS ZERO
061023,000274: 07,3104 54047 TS GYROCMD
061024,000275:
061025,000276: 07,3105 34765 CAF BIT4 # PUT ISS IN COARSE ALIGN
061026,000277: 07,3106 00006 EXTEND
061027,000278: 07,3107 05012 WOR CHAN12
061028,000279:
061029,000280: 07,3110 41241 CS DSPTAB +11D # TURN ON NO ATT LAMP
061030,000281: 07,3111 77664 MASK OCT40010
061031,000282: 07,3112 27241 ADS DSPTAB +11D
061032,000283:
061033,000284: 07,3113 41334 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
061034,000285: 07,3114 74763 MASK NOIMUDAP
061035,000286: 07,3115 27334 ADS IMODES33
061036,000287:
061037,000288: 07,3116 41333 CS IMODES30 # DISABLE IMUFAIL
061038,000289: 07,3117 74765 MASK IMUFINHT
061039,000290: 07,3120 27333 ADS IMODES30
061040,000291:
061041,000292: 07,3121 44764 RNDREFDR CS TRACKBIT # KNOCK DOWN TRACK FLAG
061042,000293: 07,3122 70075 MASK FLAGWRD1
061043,000294: 07,3123 54075 TS FLAGWRD1
061044,000295:
061045,000296: 07,3124 44752 CS DRFTBIT # KNOCK DOWN DRIFT FLAG
061046,000297: 07,3125 70076 MASK FLAGWRD2
061047,000298: 07,3126 54076 TS FLAGWRD2
061048,000299:
061049,000300: 07,3127 44754 CS REFSMBIT # KNOCK DOWN REFSMMAT FLAG
061050,000301: 07,3130 70077 MASK FLAGWRD3
061051,000302: 07,3131 54077 TS FLAGWRD3
061052,000303:
061053,000304: 07,3132 00002 TC Q
061054,000305:
061055,000306: 07,3133 7664 OCT40010 EQUALS OT40010
061056,000307:
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Page 1424
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061058,000309:
061059,000310: # IMU FINE ALIGN MODE SWITCH.
061060,000311:
061061,000312: 07,3133 00004 IMUFINE INHINT
061062,000313: 07,3134 03616 TC CAGETSTJ # SEE IF IMU BEING CAGED.
061063,000314:
061064,000315: 07,3135 45001 CS BITS4-5 # RESET ZERO AND COARSE
061065,000316: 07,3136 00006 EXTEND
061066,000317: 07,3137 03012 WAND CHAN12
061067,000318:
061068,000319: 07,3140 44763 CS NOIMUDAP # INSURE DAP AUTO AND HOLD MODES ENABLED
061069,000320: 07,3141 71334 MASK IMODES33
061070,000321: 07,3142 55334 TS IMODES33
061071,000322:
061072,000323: 07,3143 03207 TC NOATTOFF
061073,000324:
061074,000325: 07,3144 34757 CAF BIT10 # IMU FAIL WAS INHIBITED DURING THE
061075,000326: 07,3145 05223 TC TWIDDLE # PRESUMABLY PRECEDING COARSE ALIGN. LEAVE
061076,000327: 07,3146 03155 ADRES IFAILOK # IT ON FOR THE FIRST 5 SECS OF FINE ALIGN
061077,000328: 07,3147 35017 CAF 2SECS
061078,000329: 07,3150 05223 TC TWIDDLE
061079,000330: 07,3151 03153 ADRES IMUFINED
061080,000331: 07,3152 12675 TCF MODEEXIT
061081,000332:
061082,000333: 07,3153 03606 IMUFINED TC CAGETEST # SEE THAT NO ONE HAS CAGED THE IMU.
061083,000334: 07,3154 13563 TCF ENDIMU
061084,000335:
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Page 1425
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061086,000337: 07,3155 03613 IFAILOK TC CAGETSTQ # ENABLE IMU FIAL UNLESS IMU BEING CAGED.
061087,000338: 07,3156 15314 TCF TASKOVER # IT IS.
061088,000339:
061089,000340: 07,3157 34765 CAF BIT4 # DONT RESET IMU FAIL INHIBIT IF SOMEONE
061090,000341: 07,3160 00006 EXTEND # HAS GONE INTO COARSE ALIGN.
061091,000342: 07,3161 02012 RAND CHAN12
061092,000343: 07,3162 10000 CCS A
061093,000344: 07,3163 15314 TCF TASKOVER
061094,000345:
061095,000346: 07,3164 41333 CS IMODES30 # RESET IMUFAIL.
061096,000347: 07,3165 74754 MASK IMUFLBIT
061097,000348: 07,3166 27333 ADS IMODES30
061098,000349: 07,3167 44765 CS IMUFINHT
061099,000350: 07,3170 71333 PFAILOK2 MASK IMODES30
061100,000351: 07,3171 55333 TS IMODES30
061101,000352: 07,3172 04714 TC IBNKCALL # THE ISS WARNING LIGHT MAY COME ON NOW
061102,000353: 07,3173 14706 CADR SETISSW # THAT THE INHIBIT HAS BEEN REMOVED.
061103,000354: 07,3174 15314 TCF TASKOVER
061104,000355:
061105,000356: 07,3175 03613 PFAILOK TC CAGETSTQ # ENABLE PIP FAIL PROG ALARM.
061106,000357: 07,3176 15314 TCF TASKOVER
061107,000358:
061108,000359: 07,3177 41333 CS IMODES30 # RESET IMU AND PIPA FAIL BITS.
061109,000360: 07,3200 74757 MASK PIPAFLBT
061110,000361: 07,3201 27333 ADS IMODES30
061111,000362:
061112,000363: 07,3202 41334 CS IMODES33
061113,000364: 07,3203 74754 MASK PIP2FLBT
061114,000365: 07,3204 27334 ADS IMODES33
061115,000366:
061116,000367: 07,3205 44764 CS NOACCALM
061117,000368: 07,3206 13170 TCF PFAILOK2
061118,000369:
061119,000370: 07,3207 47664 NOATTOFF CS OCT40010 # SUBROUTINE TO TURN OFF NO ATT LAMP.
061120,000371: 07,3210 71241 MASK DSPTAB +11D
061121,000372: 07,3211 64752 AD BIT15
061122,000373: 07,3212 55241 TS DSPTAB +11D
061123,000374: 07,3213 00002 TC Q
061124,000375:
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Page 1426
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061126,000377:
061127,000378: # ROUITNES TO INITIATE AND TERMINATE PROGRAM USE OF THE PIPAS. NO IMUSTALL REQUIRED IN EITHER CASE.
061128,000379:
061129,000380: 07,3214 44772 PIPUSE CS ZERO
061130,000381: 07,3215 54037 TS PIPAX
061131,000382: 07,3216 54040 TS PIPAY
061132,000383: 07,3217 54041 TS PIPAZ
061133,000384:
061134,000385: 07,3220 03613 PIPUSE1 TC CAGETSTQ # DO NOT ENABLE PIPA FAIL IF IMU IS CAGED
061135,000386: 07,3221 14651 TCF SWRETURN
061136,000387:
061137,000388: 07,3222 00004 INHINT
061138,000389: 07,3223 44770 CS ACCFINHT # IF PIPA FAILS FROM NOW ON (UNTIL
061139,000390: 07,3224 71333 MASK IMODES30 # PIPFREE), LIGHT ISS WARNING.
061140,000391: 07,3225 55333 TS IMODES30
061141,000392:
061142,000393: 07,3226 04714 PIPFREE2 TC IBNKCALL # ISS WARNING MIGHT COME ON NOW.
061143,000394: 07,3227 14706 CADR SETISSW # (OR GO OFF ON PIPFREE).
061144,000395:
061145,000396: 07,3230 12675 TCF MODEEXIT
061146,000397:
061147,000398: 07,3231 00004 PIPFREE INHINT # PROGRAM DONE WITH PIPAS. DONT LIGHT
061148,000399: 07,3232 41333 CS IMODES30 # ISS WARNING.
061149,000400: 07,3233 74770 MASK ACCFINHT
061150,000401: 07,3234 27333 ADS IMODES30
061151,000402:
061152,000403: 07,3235 74757 MASK PIPAFLBT # IF PIP FAIL ON, DO PROG ALARM AND RESET
061153,000404: 07,3236 10000 CCS A # ISS WARNING.
061154,000405: 07,3237 12675 TCF MODEEXIT
061155,000406:
061156,000407: 07,3240 05671 TC ALARM
061157,000408: 07,3241 00212 OCT 212
061158,000409:
061159,000410: 07,3242 00004 INHINT
061160,000411:
061161,000412: 07,3243 13226 TCF PIPFREE2
061162,000413:
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Page 1427
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061164,000415:
061165,000416: # THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIX REGISTERS
061166,000417: # BEGINNING AT THE ECADR ARRIVING IN A. THE MINIMUM SIZE OF ANY PULSE TRAIN IS 16 PULSES (.25 CDU COUNTS). THE
061167,000418: # UNSENT PORTION OF THE COMMAND IS LEFT INTACT IN THE INPUT COMMAND REGISTERS.
061168,000419:
061169,000420: 07,3244 54161 IMUPULSE TS MPAC +5 # SAVE ARRIVING ECADR.
061170,000421: 07,3245 03616 TC CAGETSTJ # DONT PROCEED IF IMU BEING CAGED.
061171,000422:
061172,000423: 07,3246 11324 CCS LGYRO # SEE IF GYROS BUSY.
061173,000424: 07,3247 03307 TC GYROBUSY # SLEEP.
061174,000425:
061175,000426: 07,3250 34763 CAF BIT6 # ENABLE THE POWER SUPPLY.
061176,000427: 07,3251 00006 EXTEND
061177,000428: 07,3252 05014 WOR CHAN14
061178,000429:
061179,000430: 07,3253 34766 CAF FOUR
061180,000431: 07,3254 05233 GWAKE2 TC WAITLIST # (IF A JOB WAS PUT TO SLEEP, THE POWER
061181,000432: 07,3255 E3,1474 EBANK= CDUIND # SUPPLY IS LEFT ON BY THE WAKING JOB).
061182,000433: 07,3255 03324 16063 2CADR STRTGYRO
061183,000434:
061184,000435: 07,3257 30161 CA MPAC +5 # SET UP EBANK, SAVING CALLER'S EBANK FOR
061185,000436: 07,3260 56003 XCH EBANK # RESTORATION ON RETURN.
061186,000437: 07,3261 56161 XCH MPAC +5
061187,000438: 07,3262 55324 TS LGYRO # RESERVES GYROS.
061188,000439: 07,3263 74350 MASK LOW8
061189,000440: 07,3264 54061 TS ITEMP1
061190,000441:
061191,000442: 07,3265 34767 CAF TWO # FORCE SIGN AGREEMENT ON INPUTS.
061192,000443: 07,3266 54157 GYROAGRE TS MPAC +3
061193,000444: 07,3267 60000 DOUBLE
061194,000445: 07,3270 60061 AD ITEMP1
061195,000446: 07,3271 54160 TS MPAC +4
061196,000447: 07,3272 00006 EXTEND
061197,000448: 07,3273 50000 INDEX A
061198,000449: 07,3274 31401 DCA 1400
061199,000450: 07,3275 52155 DXCH MPAC
061200,000451: 07,3276 07224 TC DPAGREE
061201,000452: 07,3277 52155 DXCH MPAC
061202,000453: 07,3300 50160 INDEX MPAC +4
061203,000454: 07,3301 53401 DXCH 1400
061204,000455:
061205,000456: 07,3302 10157 CCS MPAC +3
061206,000457: 07,3303 13266 TCF GYROAGRE
061207,000458:
061208,000459: 07,3304 30161 CA MPAC +5 # RESTORE CALLER'S EBANK.
061209,000460: 07,3305 54003 TS EBANK
061210,000461: 07,3306 12675 TCF MODEEXIT
061211,000462:
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|
Page 1428
|
061213,000464:
061214,000465: # ROUTINES TO ALLOW TORQUING BY ONLY ONE JOB AT A TIME.
061215,000466:
061216,000467: 07,3307 00006 GYROBUSY EXTEND # SAVE RETURN 2FCADR.
061217,000468: 07,3310 30134 DCA BUF2
061218,000469: 07,3311 52155 DXCH MPAC
061219,000470: 07,3312 33323 REGSLEEP CAF LGWAKE
061220,000471: 07,3313 15163 TCF JOBSLEEP
061221,000472:
061222,000473: 07,3314 11324 GWAKE CCS LGYRO # WHEN AWAKENED, SEE IF GYROS STILL BUSY.
061223,000474: 07,3315 13312 TCF REGSLEEP # IF SO, SLEEP SOME MORE.
061224,000475:
061225,000476: 07,3316 00006 EXTEND
061226,000477: 07,3317 30155 DCA MPAC
061227,000478: 07,3320 52134 DXCH BUF2 # RESTORE SWRETURN INFO.
061228,000479: 07,3321 34770 CAF ONE
061229,000480: 07,3322 13254 TCF GWAKE2
061230,000481:
061231,000482: 07,3323 17314 LGWAKE CADR GWAKE
061232,000483:
|
|
Page 1429
|
061234,000485:
061235,000486: # GYRO-TORQUING WAITLIST TASKS.
061236,000487:
061237,000488: 07,3324 43560 STRTGYRO CS GDESELCT # DE-SELECT LAST GYRO.
061238,000489: 07,3325 00006 EXTEND
061239,000490: 07,3326 03014 WAND CHAN14
061240,000491:
061241,000492: 07,3327 03575 TC CAGETSTG
061242,000493:
|
|
Trailing period restored. — RSB 2017.
|
061244,000495: 07,3330 31324 STRTGYR2 CA LGYRO # JUMP ON PHASE COUNTER IN BITS 13-14.
061245,000496: 07,3331 00006 EXTEND
061246,000497: 07,3332 74765 MP BIT4
061247,000498: 07,3333 50000 INDEX A
061248,000499: 07,3334 13335 TCF +1
061249,000500: 07,3335 03352 TC GSELECT # =0. DO Y GYRO.
061250,000501: 07,3336 00202 OCT 00202
061251,000502:
061252,000503: 07,3337 03352 TC GSELECT # =1. DO Z GYRO.
061253,000504: 07,3340 00302 OCT 00302
061254,000505:
061255,000506: 07,3341 03350 TC GSELECT -2 # =2. DO X GYRO.
061256,000507: 07,3342 00100 OCT 00100
061257,000508:
061258,000509: 07,3343 34772 CAF ZERO # =3. DONE
061259,000510: 07,3344 55324 TS LGYRO
061260,000511: 07,3345 33323 CAF LGWAKE # WAKE A POSSIBLE SLEEPING JOB.
061261,000512: 07,3346 05167 TC JOBWAKE
061262,000513:
061263,000514: 07,3347 13153 NORESET TCF IMUFINED # DO NOT RESET POWER SUPPLY
061264,000515:
|
|
Page 1430
|
061266,000517:
|
|
Trailing period restored. — RSB 2017.
|
061268,000519: 07,3350 44766 -2 CS FOUR # SPECIAL ENTRY TO REGRESS LGYRO FOR X.
061269,000520: 07,3351 27324 ADS LGYRO
061270,000521:
061271,000522: 07,3352 50002 GSELECT INDEX Q # SELECT GYRO.
061272,000523: 07,3353 30000 CAF 0 # PACKED WORD CONTAINS GYRO SELECT BITS
061273,000524: 07,3354 54064 TS ITEMP4 # AND INCREMENT TO LGYRO.
061274,000525: 07,3355 74774 MASK SEVEN
061275,000526: 07,3356 64754 AD BIT13
061276,000527: 07,3357 27324 ADS LGYRO
061277,000528: 07,3360 54003 TS EBANK
061278,000529: 07,3361 74350 MASK LOW8
061279,000530: 07,3362 54061 TS ITEMP1
061280,000531:
061281,000532: 07,3363 44774 CS SEVEN
061282,000533: 07,3364 70064 MASK ITEMP4
061283,000534: 07,3365 54064 TS ITEMP4
061284,000535:
061285,000536: 07,3366 00006 EXTEND # MOVE DP COMMAND TO RUPTREGS FOR TESTING.
061286,000537: 07,3367 50061 INDEX ITEMP1
061287,000538: 07,3370 31401 DCA 1400
061288,000539: 07,3371 52071 DXCH RUPTREG1
061289,000540:
061290,000541: 07,3372 10070 CCS RUPTREG1
061291,000542: 07,3373 13406 TCF MAJ+
061292,000543: 07,3374 13376 TCF +2
061293,000544: 07,3375 13541 TCF MAJ-
061294,000545:
061295,000546: 07,3376 10071 CCS RUPTREG2
061296,000547: 07,3377 13403 TCF MIN+
061297,000548: 07,3400 13330 TCF STRTGYR2
061298,000549: 07,3401 13536 TCF MIN-
061299,000550: 07,3402 13330 TCF STRTGYR2
061300,000551:
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|
Page 1431
|
061302,000553:
061303,000554: 07,3403 63437 MIN+ AD -GYROMIN # SMALL POSITIVE COMMAND. SEE IF AT LEAST
061304,000555: 07,3404 00006 EXTEND # 16 GYRO PULSES.
061305,000556: 07,3405 63330 BZMF STRTGYR2
061306,000557:
061307,000558: 07,3406 00006 MAJ+ EXTEND # DEFINITE POSITIVE OUTPUT.
061308,000559: 07,3407 33562 DCA GYROFRAC
061309,000560: 07,3410 20071 DAS RUPTREG1
061310,000561:
061311,000562: 07,3411 30064 CA ITEMP4 # SELECT POSITIVE TORQUING FOR THIS GYRO.
061312,000563: 07,3412 00006 EXTEND
061313,000564: 07,3413 05014 WOR CHAN14
061314,000565:
061315,000566: 07,3414 36043 CAF LOW7 # LEAVE NUMBER OF POSSIBLE 8192 AUGMENTS
061316,000567: 07,3415 70071 MASK RUPTREG2 # TO INITIAL COMMAND IN MAJOR PART OF LONG
061317,000568: 07,3416 56071 XCH RUPTREG2 # TERM STORAGE AND TRUNCATED FRACTION
061318,000569: 07,3417 00006 GMERGE EXTEND # IN MINOR PART. THE MAJOR PART WILL BE
061319,000570: 07,3420 74761 MP BIT8 # COUNTED DOWN TO ZERO IN THE COURSE OF
061320,000571: 07,3421 54062 TS ITEMP2 # PUTTING OUT THE ENTIRE COMMAND.
061321,000572: 07,3422 30070 CA RUPTREG1
061322,000573: 07,3423 00006 EXTEND
061323,000574: 07,3424 74760 MP BIT9
061324,000575: 07,3425 54070 TS RUPTREG1
061325,000576: 07,3426 30001 CA L
061326,000577: 07,3427 00006 EXTEND
061327,000578: 07,3430 74753 MP BIT14
061328,000579: 07,3431 26062 ADS ITEMP2 # INITIAL COMMAND.
061329,000580:
061330,000581: 07,3432 00006 EXTEND # SEE IF MORE THAN ONE PULSE TRAIN NEEDED
061331,000582: 07,3433 30071 DCA RUPTREG1 # (MORE THAN 16383 PULSES).
061332,000583: 07,3434 67702 AD MINUS1
061333,000584: 07,3435 10000 CCS A
061334,000585: 07,3436 13503 TCF LONGGYRO
061335,000586: 07,3437 77601 -GYROMIN OCT -176 # MAY BE ADJUSTED TO SPECIFY MINIMUM CMD
061336,000587: 07,3440 13444 TCF +4
061337,000588:
061338,000589: 07,3441 34753 CAF BIT14
061339,000590: 07,3442 26062 ADS ITEMP2
061340,000591: 07,3443 34772 CAF ZERO
061341,000592:
061342,000593: 07,3444 50061 +4 INDEX ITEMP1
061343,000594: 07,3445 53401 DXCH 1400
061344,000595:
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|
Page 1432
|
061346,000597:
061347,000598: 07,3446 30062 CA ITEMP2 # ENTIRE COMMAND.
061348,000599: 07,3447 54047 LASTSEG TS GYROCMD
061349,000600: 07,3450 03570 +1 TC COARSTST
061350,000601:
061351,000602: 07,3451 30047 CA GYROCMD
061352,000603: 07,3452 00006 EXTEND
061353,000604: 07,3453 74757 MP BIT10 # WAITLIST DT
061354,000605: 07,3454 66214 AD THREE # TRUNCATION AND PHASE UNCERTAINTIES.
061355,000606: 07,3455 05223 TC TWIDDLE
061356,000607: 07,3456 03467 ADRES TWOPULSE
061357,000608: 07,3457 03463 EXITGYRO TC GYROEXIT
061358,000609: 07,3460 15314 TCF TASKOVER
061359,000610: 07,3461 34767 OUTPULSE CA BIT2
061360,000611: 07,3462 54047 TS GYROCMD
061361,000612: 07,3463 34757 GYROEXIT CAF BIT10
061362,000613: 07,3464 00006 EXTEND
061363,000614: 07,3465 05014 WOR CHAN14
061364,000615: 07,3466 00002 TC Q
061365,000616: 07,3467 44760 TWOPULSE CS BIT9
061366,000617: 07,3470 00006 EXTEND
061367,000618: 07,3471 03014 WAND CHAN14
061368,000619: 07,3472 03461 TC OUTPULSE
061369,000620: 07,3473 34770 CA BIT1
061370,000621: 07,3474 05223 TC TWIDDLE
061371,000622: 07,3475 03324 ADRES STRTGYRO
061372,000623: 07,3476 34760 CA BIT9
061373,000624: 07,3477 00006 EXTEND
061374,000625: 07,3500 05014 WOR CHAN14
061375,000626: 07,3501 03461 TC OUTPULSE
061376,000627: 07,3502 15314 TCF TASKOVER
061377,000628: 07,3503 50061 LONGGYRO INDEX ITEMP1
061378,000629: 07,3504 53401 DXCH 1400 # INITIAL COMMAND OUT PLUS N AUGMENTS OF
|
|
Trailing period restored. — RSB 2017.
|
061380,000631: 07,3505 34753 CAF BIT14 # 8192. INITIAL COMMAND IS AT LEAST 8192.
061381,000632: 07,3506 60062 AD ITEMP2
061382,000633: 07,3507 54047 TS GYROCMD
061383,000634:
061384,000635: 07,3510 00006 AUG3 EXTEND # GET WAITLIST DT TO TIME WHEN TRAIN IS
061385,000636: 07,3511 74757 MP BIT10 # ALMOST OUT.
061386,000637: 07,3512 67700 AD NEG3
061387,000638: 07,3513 05223 TC TWIDDLE
061388,000639: 07,3514 03516 ADRES 8192AUG
061389,000640: 07,3515 13457 TCF EXITGYRO
061390,000641:
061391,000642: 07,3516 03570 8192AUG TC COARSTST
061392,000643:
061393,000644: 07,3517 31324 CA LGYRO # ADD 8192 PULSES TO GYROCMD
061394,000645: 07,3520 54003 TS EBANK
061395,000646: 07,3521 74350 MASK LOW8
061396,000647: 07,3522 54061 TS ITEMP1
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|
Page 1433
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061398,000649: 07,3523 50061 INDEX ITEMP1 # SEE IF THIS IS THE LAST AUG.
061399,000650: 07,3524 11400 CCS 1400
061400,000651: 07,3525 13531 TCF AUG2 # MORE TO COME.
061401,000652:
061402,000653: 07,3526 34753 CAF BIT14
061403,000654: 07,3527 26047 ADS GYROCMD
061404,000655: 07,3530 13450 TCF LASTSEG +1
061405,000656:
061406,000657: 07,3531 50061 AUG2 INDEX ITEMP1
061407,000658: 07,3532 55400 TS 1400
061408,000659: 07,3533 34753 CAF BIT14
061409,000660: 07,3534 26047 ADS GYROCMD
061410,000661: 07,3535 13510 TCF AUG3 # COMPUTE DT.
061411,000662:
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|
Page 1434
|
061413,000664:
061414,000665: 07,3536 63437 MIN- AD -GYROMIN # POSSIBLE NEGATIVE OUTPUT.
061415,000666: 07,3537 00006 EXTEND
061416,000667: 07,3540 63330 BZMF STRTGYR2
061417,000668:
061418,000669: 07,3541 00006 MAJ- EXTEND # DEFINITE NEGATIVE OUTPUT.
061419,000670: 07,3542 43562 DCS GYROFRAC
061420,000671: 07,3543 20071 DAS RUPTREG1
061421,000672:
061422,000673: 07,3544 30064 CA ITEMP4 # SELECT NEGATIVE TORQUING FOR THIS GYRO.
061423,000674: 07,3545 64760 AD BIT9
061424,000675: 07,3546 00006 EXTEND
061425,000676: 07,3547 05014 WOR CHAN14
061426,000677:
061427,000678: 07,3550 40070 CS RUPTREG1 # SET UP RUPTREGS TO FALL INTO GMERGE.
061428,000679: 07,3551 54070 TS RUPTREG1 # ALL NUMBERS PUT INTO GYROCMD ARE
061429,000680: 07,3552 40071 CS RUPTREG2 # POSITIVE - BIT9 OF CHAN 14 DETERMINES
061430,000681: 07,3553 76043 MASK LOW7 # THE SIGN OF THE COMMAND.
061431,000682: 07,3554 40000 COM
061432,000683: 07,3555 56071 XCH RUPTREG2
061433,000684: 07,3556 40000 COM
061434,000685: 07,3557 13417 TCF GMERGE
061435,000686:
061436,000687: 07,3560 01700 GDESELCT OCT 1700 # TURN OFF SELECT AND ACTIVITY BITS.
061437,000688:
061438,000689: 07,3561 00000 00034 GYROFRAC 2DEC .215 B-21
061439,000690:
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|
Page 1435
|
061441,000692:
061442,000693: # IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE.
061443,000694:
061444,000695: 07,3563 00006 ENDIMU EXTEND # MODE IS BAD IF CAGE HAS OCCURED OR IF
061445,000696: 07,3564 00011 READ DSALMOUT # ISS WARNING IS ON.
061446,000697: 07,3565 74770 MASK BIT1
061447,000698: 07,3566 67702 AD NEG1
061448,000699: 07,3567 13626 TCF BADEND +1
061449,000700: 07,3570 34765 COARSTST CAF BIT4
061450,000701: 07,3571 00006 EXTEND
061451,000702: 07,3572 02012 RAND CHAN12
061452,000703: 07,3573 10000 CCS A
061453,000704: 07,3574 13601 TCF DONTPULS
061454,000705:
061455,000706: 07,3575 41333 CAGETSTG CS IMODES30
061456,000707: 07,3576 74763 MASK IMUNITBT
061457,000708: 07,3577 10000 CCS A
061458,000709: 07,3600 00002 TC Q
061459,000710:
061460,000711: 07,3601 34772 DONTPULS CAF ZERO
061461,000712: 07,3602 55324 TS LGYRO
061462,000713:
061463,000714: 07,3603 33323 CAF LGWAKE
061464,000715: 07,3604 05167 TC JOBWAKE
061465,000716:
061466,000717: 07,3605 13625 TCF IMUBAD
061467,000718: 07,3606 34763 CAGETEST CAF IMUNITBT # SUBROUTINE TO TERMINATE IMU MODE
061468,000719: 07,3607 71333 MASK IMODES30 # SWITCH IF IMU HAS BEEN CAGED.
061469,000720: 07,3610 10000 CCS A
061470,000721: 07,3611 13625 TCF IMUBAD # DIRECTLY.
061471,000722: 07,3612 00002 TC Q # WITH C(A) = +0.
061472,000723:
061473,000724: 07,3613 41333 CAGETSTQ CS IMODES30 # SKIP IF IMU NOT BEING CAGED.
061474,000725: 07,3614 74763 MASK IMUNITBT
061475,000726: 07,3615 15651 TCF INCRQCK
061476,000727: 07,3616 41333 CAGETSTJ CS IMODES30 # IF DURING MODE SWITCH INITIALIZATION
061477,000728: 07,3617 74763 MASK IMUNITBT # IT IS FOUND THAT THE IMU IS BEING CAGED,
061478,000729: 07,3620 10000 CCS A # SET IMUCADR TO -0 TO INDICATE OPERATION
061479,000730: 07,3621 00002 TC Q # COMPLETE BUT FAILED. RETURN IMMEDIATELY
061480,000731:
061481,000732: 07,3622 44772 +4 CS ZERO # TO SWRETURN
061482,000733: 07,3623 55335 TS IMUCADR
061483,000734: 07,3624 12675 TCF MODEEXIT
061484,000735:
061485,000736: 07,3625 07,3625 IMUBAD EQUALS BADEND
061486,000737:
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|
Page 1436
|
061488,000739:
061489,000740: # GENERALIZED MODE SWITCHING TERMINATION. ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION
061490,000741: # OR AT BADEND FOR AN UNSUCCESSFUL ONE.
061491,000742:
061492,000743: 07,3625 44772 BADEND CS ZERO # FOR FAILURE.
061493,000744: 07,3626 54072 +1 TS RUPTREG3 # -0 FAILURE -1 SUCCESS
061494,000745: 07,3627 11335 CCS MODECADR
061495,000746: 07,3630 13632 TCF +2 # YES - WAKE IT UP.
061496,000747: 07,3631 13641 TCF ENDMODE # IF 0, PROGRAM NOT IN YET.
061497,000748:
061498,000749: 07,3632 34772 CAF ZERO # WAKE SLEEPING PROGRAM.
061499,000750: 07,3633 57335 XCH MODECADR
061500,000751: 07,3634 05167 TC JOBWAKE
061501,000752:
061502,000753: 07,3635 40072 CS RUPTREG3 # ADVANCE LOC IF SUCCESSFUL.
061503,000754: 07,3636 50064 INDEX LOCCTR
061504,000755: 07,3637 26164 ADS LOC
061505,000756:
061506,000757: 07,3640 15314 TCF TASKOVER
061507,000758:
061508,000759: 07,3641 30072 ENDMODE CA RUPTREG3 # -0 INDICATES OPERATION COMPLETE BUT
061509,000760: 07,3642 55335 TS MODECADR # SUCCESSFUL.
061510,000761: 07,3643 15314 TCF TASKOVER
061511,000762:
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Page 1437
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061513,000764:
061514,000765: # GENERAL STALLING ROUTINE. USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION.
061515,000766:
061516,000767: # PROGRAM DESCRIPTION DATE- 21 FEB 1967
061517,000768: # LOG SECTION IMU MODE SWITCHING
061518,000769: # MOD BY- R.MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 82
061519,000770:
061520,000771: # FUNCTIONAL DESCRIPTION-
061521,000772: # TO DELAY FURTHER EXECUTION OF THE CALLING ROUTINE UNTIL ITS SELECTED
061522,000773: # I/O FUNCTION IS COMPLETE. THE FOLLOWING CHECKS ON THE CALLING ROUTINE:S
061523,000774: # MODECADR ARE MADE AND ACTED UPON.
061524,000775: # 1) +0 INDICATES INCOMPLETE I/O OPERATION. CALLING ROUTINE IS PUT TO
061525,000776: # SLEEP.
061526,000777: # 2) -1 INDICATES COMPLETED I/O OPERATION. STALL BYPASSES JOBSLEEP
061527,000778: # CALL AND RETURNS TO CALLING ROUTINE AT L+3
061528,000779: # 3) -0 INDICATES COMPLETED I/O WITH FAILURE. STALL CLEARS MODECADR
061529,000780: # AND RETURNS TO CALLING ROUTINE AT L+2.
061530,000781: # 4) VALUE GREATER THAN 0 INDICATES TWO ROUTINES CALLING FOR USE OF
061531,000782: # SAME DEVICE. STALL EXITS TO ABORT WHICH EXECUTES A PROGRAM
061532,000783: # RESTART WHICH IN TURN CLEARS ALL MODECADR REGISTERS.
061533,000784:
061534,000785: # CALLING SEQUENCE-
061535,000786: # L TC BANKCALL
061536,000787: # L+1 CADR IMUSTALL
061537,000788:
061538,000789: # NORMAL-EXIT MODE-
061539,000790: # TCF JOBSLEEP OR TCF MODEXIT
061540,000791:
061541,000792: # ALARM OR ABORT EXIT MODE-
061542,000793: # POODOO 21210
061543,000794:
061544,000795: # OUTPUT-
061545,000796: # MODECADR= CADR IF JOBSLEEP
061546,000797: # MODECADR=+0 IF I/O COMPLETE
061547,000798: # BUF2=L+3 IF I/O COMPLETE AND GOOD.
061548,000799: # BUF2=L+2 IF I/O COMPLETE BUT FAILED.
061549,000800:
061550,000801: # ERASABLE INITIALIZATION-
061551,000802: # BUF2 CONTAINS RETURN ADDRESS PLUS 1,(L+2)
061552,000803: # BUF2+1 CONTAINS FBANK VALUE OF CALLING ROUTINE.
061553,000804: # MODECADR CONTAINS +0, -1, -0 OR CADR RETURN ADDRESS.
061554,000805:
061555,000806:
061556,000807: 07,3644 11335 IMUSTALL CCS MODECADR
061557,000808: 07,3645 13661 TCF MODABORT # ALLOWABLE STATES ARE +0, -1, AND -0.
061558,000809: 07,3646 13656 TCF MODESLP # OPERATION INCOMPLETE.
061559,000810: 07,3647 13652 TCF MODEGOOD # COMPLETE AND GOOD IF = -1.
061560,000811:
061561,000812: 07,3650 55335 MG2 TS MODECADR # COMPLETE AND FAILED IF -0. RESET TO +0.
061562,000813: 07,3651 12675 TCF MODEEXIT # RETURN TO CALLER.
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Page 1438
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061564,000815: 07,3652 10000 MODEGOOD CCS A # MAKE SURE INITIAL STATE -1.
061565,000816: 07,3653 13661 TCF MODABORT
061566,000817:
061567,000818: 07,3654 24133 INCR BUF2 # IF SO, INCREMENT RETURN ADDRESS AND
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Trailing "0." restored. — RSB 2017.
|
061569,000820: 07,3655 13650 TCF MG2 # RETURN IMMEDIATELY, SETTING CADR = +0.
061570,000821:
061571,000822: 07,3656 04665 MODESLP TC MAKECADR # CALL FROM SWITCHABLE FIXED ONLY.
061572,000823: 07,3657 55335 TS MODECADR
061573,000824: 07,3660 15163 TCF JOBSLEEP
061574,000825:
061575,000826: 07,3661 05726 MODABORT TC POODOO # TWO PROGRAMS USING SAME DEVICE.
061576,000827: 07,3662 21210 OCT 21210
061577,000828:
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Page 1439
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061579,000830:
061580,000831: # CONSTANTS FOR MODE SWITCHING ROUTINES
061581,000832:
061582,000833: 07,3663 5775 BITS3&4 = OCT14
061583,000834: 07,3663 5004 BITS4&6 = OCT50
061584,000835: 07,3663 5001 BITS4-5 EQUALS BITS4&5
061585,000836: 07,3663 4761 IMUSEFLG EQUALS BIT8 # INTERPRETER SWITCH 7.
061586,000837: 07,3663 77500 -COMMAX DEC -191 B-14
061587,000838: 07,3664 77477 -COMMAX- DEC -192 B-14
061588,000839: 07,3665 00074 600MS DEC 60 B-14
061589,000840: 07,3666 07,3133 IMUFIN20 = IMUFINE
061590,000841:
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Page 1440
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061592,000843:
061593,000844: # PROGRAM DESCRIPTION
061594,000845: # IMU STATUS CHECK ROUTINE R02 (SUBROUTINE UTILITY)
061595,000846: # MOD NO - 1
061596,000847: # MOD BY - N.BRODEUR
061597,000848:
061598,000849: # FUNCTIONAL DESCRIPTION
061599,000850: # TO CHECK WHETHER IMU IS ON AND IF ON WHETHER IT IS ALIGNED TO AN
061600,000851: # ORIENTATION KNOWN BY THE CMC. TO REQUEST SELECTION OF THE APPROPRIATE
061601,000852: # PROGRAM IF THE IMU IS OFF OR NOT ALIGNED TO AN ORIENTATION KNOWN BY THE
061602,000853: # CMC. CALLED THROUGH BANKCALL
061603,000854:
061604,000855: # CALLING SEQUENCE-
061605,000856: # L TC BANKCALL
061606,000857: # L+1 CADR R02BOTH
061607,000858:
061608,000859: # SUBROUTINES CALLED
061609,000860: # VARALARM
061610,000861: # FLAGUP
061611,000862:
061612,000863: # NORMAL EXIT MODES
061613,000864: # AT L+2 OF CALLING SEQUENCE
061614,000865:
061615,000866: # ALARM OR ABORT EXIT MODES
061616,000867: # GOTOPOOH, WITH ALARM
061617,000868:
061618,000869: # ERASABLE INITIALIZATION REQUIRED
061619,000870: # NONE
061620,000871:
061621,000872: # DEBRIS
061622,000873: # CENTRALS - A,Q,L
061623,000874:
061624,000875: 01,2000 SETLOC R02
061625,000876: 01,2000 BANK
061626,000877: 01,3731 COUNT* $$/R02
061627,000878: 01,3731 34754 R02BOTH CAF REFSMBIT
061628,000879: 01,3732 70077 MASK FLAGWRD3
061629,000880: 01,3733 10000 CCS A
061630,000881: 01,3734 03745 TC R02ZERO # ZERO IMUS
061631,000882:
061632,000883: 01,3735 31333 CA IMODES30
061633,000884: 01,3736 74760 MASK IMUOPBIT # IS ISS INITIALIZED
061634,000885: 01,3737 00006 EXTEND
061635,000886: 01,3740 13742 BZF +2
061636,000887: 01,3741 44765 CS BIT4 # SEND IMU ALARM CODE 210
061637,000888: 01,3742 63750 AD OCT220 # SEND REFSMM ALARM
061638,000889: 01,3743 05770 TC VARALARM
061639,000890:
061640,000891: 01,3744 04103 TC GOTOPOOH
061641,000892: 01,3745 05547 R02ZERO TC UPFLAG
061642,000893: 01,3746 00007 ADRES IMUSE
061643,000894: 01,3747 14651 TCF SWRETURN
061644,000895: 01,3750 00220 OCT220 OCT 220
061645,000896:
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Page 1441
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061647,000898:
061648,000899: # PROGRAM DESCRIPTION P06 10FEB67
061649,000900:
061650,000901: # TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION.
061651,000902:
061652,000903: # THE NORMAL CONDITION OF READINESS OF THE GNCS WHEN NOT IN USE IS STANDBY. IN THIS CONDITION THE IMU
061653,000904: # HEATER POWER IS ON. THE IMU OPERATE POWER IS OFF. THE COMPUTER POWER IS ON. THE OPTICS POWER IS OFF. THE
061654,000905: # CMC STANDBY ON THE MAIN AND LEB DISKYS IS ON.
061655,000906:
061656,000907: # CALLING SEQUENCE:
061657,000908: # ASTRONAUT REQUEST THROUGH DSKY V37E 06E.
061658,000909:
061659,000910: # SUBROUTINES CALLED:
061660,000911: # GOPERF1
061661,000912: # BANKCALL
061662,000913: # FLAGDOWN
061663,000914:
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Page 1442
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061665,000916: # PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2
061666,000917: # THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATABILITY
061667,000918: # BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING.
061668,000919:
061669,000920: 26,2000 SETLOC P05P06
061670,000921: 26,2000 BANK
061671,000922:
061672,000923: 26,3654 1006 EBANK= TIME2SAV
061673,000924: 26,3654 COUNT* $$/P06
061674,000925:
061675,000926: 26,3654 05547 P06 TC UPFLAG # SET NODOV37 BIT
061676,000927: 26,3655 00054 ADRES NODOFLAG
061677,000928:
061678,000929: 26,3656 00004 PRESTAND INHINT
061679,000930: 26,3657 00006 EXTEND
061680,000931: 26,3660 30025 DCA TIME2 # SNAPSHOT TIME1 TIME2
061681,000932: 26,3661 53007 DXCH TIME2SAV
061682,000933: 26,3662 03715 TC SCALPREP
061683,000934: 26,3663 03656 TC PRESTAND # T1,T2,SCALER NOT COMPATIBLE
061684,000935: 26,3664 52155 DXCH MPAC # T1,T2 AND SCALER OK
061685,000936: 26,3665 53011 DXCH SCALSAVE # STORE SCALER
061686,000937: 26,3666 00004 INHINT
061687,000938: 26,3667 04636 TC BANKCALL
061688,000939: 26,3670 17121 CADR RNDREFDR # REFSMM, DRIFT, TRACK FLAGS DOWN
061689,000940:
061690,000941: 26,3671 05561 TC DOWNFLAG
061691,000942: 26,3672 00007 ADRES IMUSE # IMUSE DOWN
061692,000943: 26,3673 05561 TC DOWNFLAG
061693,000944: 26,3674 00010 ADRES RNDVZFLG # RNDVZFLG DOWN
061694,000945:
061695,000946: 26,3675 05561 TC DOWNFLAG
061696,000947: 26,3676 00176 ADRES UTFLAG
061697,000948: 26,3677 34756 CAF BIT11
061698,000949: 26,3700 00006 EXTEND
061699,000950: 26,3701 05013 WOR CHAN13 # SET STANDBY ENABLE BIT
061700,000951:
061701,000952: 26,3702 05402 TC PHASCHNG # SET RESTART TO POSTAND WHEN STANDBY
061702,000953: 26,3703 07024 OCT 07024 # RECOVERS
061703,000954: 26,3704 20000 OCT 20000
061704,000955: 26,3705 1010 EBANK= SCALSAVE
061705,000956: 26,3705 03735 54062 2CADR POSTAND
061706,000957:
061707,000958: 26,3707 35011 CAF OCT62
061708,000959: 26,3710 04636 TC BANKCALL
061709,000960: 26,3711 21067 CADR GOPERF1
061710,000961: 26,3712 13707 TCF -3
061711,000962: 26,3713 13707 TCF -4
061712,000963: 26,3714 13707 TCF -5
061713,000964:
061714,000965: 26,3715 5011 OCT62 EQUALS .5SEC # DEC 50 = OCT 62
061715,000966:
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Page 1443
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061717,000968: # THE LOW 5 BITS OF THE SCALER READS 10000 FOR THE FIRST INTERVAL AFTER A
061718,000969: # T1 INCREMENT. IF SCALPREP DETECTS THIS INTERVAL THE T1,T2 AND SCALER
061719,000970: # DATA ARE NOT COMPATABLE AND RETURN IS TO L+1 FOR ANOTHER READING OF THE
061720,000971: # DATA. OTHERWISE, THE RETURN IS TO L+2 TO PROCEED. ROUTINE ALSO PREPARES
061721,000972: # THE SCALER READING FOR COMPUTATION OF THE INCREMENT TO UPDATE T1T2. (THE
061722,000973: # 10 MS BIT (BIT 6) OF THE SCALER IS INCREMENTED 5 MS OUT OF PHASE FROM
061723,000974: # T1.) ADDITION OF 5 MS (BIT 5) TO THE SCALER READING HAS THE EFFECT OF
061724,000975: # ADJUSTING BIT 6 IN THE SCALER TO BE IN PHASE WITH BIT 1 OF T1. THE LOW 5
061725,000976: # BITS OF THE SCALER READING ARE THEN SET TO ZERO, TO TRUNCATE THE SCALER
061726,000977: # DATA TO 10 MS. RESULTS ARE STORED IN MPAC, +1.
061727,000978:
061728,000979: 26,3715 00006 SCALPREP EXTEND
061729,000980: 26,3716 22156 QXCH MPAC +2
061730,000981: 26,3717 04511 TC FINETIME +1
061731,000982: 26,3720 00003 RELINT
061732,000983: 26,3721 52155 DXCH MPAC
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|
Trailing period restored. — RSB 2017.
|
061734,000985: 26,3722 34764 CA BIT5 # ADD 5 MS TO THE SCALER READING.
061735,000986: 26,3723 54001 TS L
061736,000987: 26,3724 34772 CA ZERO
061737,000988: 26,3725 20155 DAS MPAC
061738,000989: 26,3726 44342 CS LOW5 # SET LOW 5 BITS OF (SCALER+5MS) TO ZERO
061739,000990: 26,3727 70155 MASK MPAC +1 # AND STORE RESULTS IN MPAC,+1.
061740,000991: 26,3730 56155 XCH MPAC +1
061741,000992: 26,3731 74342 MASK LOW5 # TEST LOW 5 BITS OF SCALER FOR THE FIRST
061742,000993: # INTERVAL AFTER THE T1 INCREMENT
061743,000994: # (NOW = 00000, SINCE BIT 5 ADDED).
061744,000995: 26,3732 10000 CCS A # IS IT 1ST INTERVAL AFTER T1 INCREMENT
061745,000996: 26,3733 24156 INCR MPAC +2 # NO
061746,000997: 26,3734 00156 TC MPAC +2 # YES
061747,000998:
061748,000999: # POSTAND RECOVERS TIME AFTER STANDBY. THE SCALER IS SNAPSHOTTED AND THE
061749,001000: # TIME1 TIME2 COUNTER IS SET TO ZERO. THE LOW 5 BITS OF THE SCALER ARE
061750,001001: # INSPECTED TO INSURE COMPATABILITY BETWEEN THE SCALER READING AND THE
061751,001002: # CLEARING OF THE TIME COUNTER. IT THEN COMPUTES THE DIFFERENCE IN SCALER
061752,001003: # VALUES (IN DP) AND ADDS THIS TO THE PREVIOUSLY SNAPSHOTTED VALUES OF
061753,001004: # TIME1 TIME2 AND PLACES THIS NEW TIME INTO THE TIME1 TIME2 COUNTER.
061754,001005:
061755,001006: 26,3735 COUNT* $$/P05
061756,001007:
061757,001008: 26,3735 44756 POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY.
061758,001009: 26,3736 00006 EXTEND
061759,001010: 26,3737 03013 WAND CHAN13 # CLEAR STANDBY ENABLE BIT
061760,001011: 26,3740 00004 +3 INHINT
061761,001012: 26,3741 34772 CA ZERO
061762,001013: 26,3742 54001 TS L
061763,001014: 26,3743 52025 DXCH TIME2 # CLEAR TIME1 TIME2
061764,001015: 26,3744 03715 TC SCALPREP # STORE SCALER IN MPAC, MPAC+1
061765,001016: 26,3745 03740 TC POSTAND +3 # T1,T2,SCALER NOT COMPATIBLE
061766,001017: 26,3746 00006 EXTEND # T1,T2 AND SCALER OK
061767,001018: 26,3747 41011 DCS SCALSAVE
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Page 1444
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061769,001020: 26,3750 20155 DAS MPAC # FORM DP DIFFERENCE OF POSTSTANDBY SCALER
061770,001021: 26,3751 34757 CAF BIT10 # MINUS PRESTANDBY SCALER AND SHIFT RIGHT
061771,001022: 26,3752 07256 TC SHORTMP # 5 TO ALIGN BITS WITH TIME1 TIME2.
061772,001023: 26,3753 07224 TC DPAGREE
061773,001024: 26,3754 10154 CCS MPAC
061774,001025: 26,3755 03762 TC POSTCOM # IF DP DIFF NET +, NO SCALER OVERFLOW
061775,001026: 26,3756 03762 TC POSTCOM # BETWEEN PRE AND POST STANDBY.
061776,001027: 26,3757 03760 TC +1 # IF DP DIFF NET -, SCALER OVERFLOWED. ADD
061777,001028: 26,3760 34757 CAF BIT10 # BIT 10 TO HIGH DIFF TO CORRECT.
061778,001029: 26,3761 26154 ADS MPAC
061779,001030: 26,3762 00006 POSTCOM EXTEND # C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER.
061780,001031: 26,3763 31007 DCA TIME2SAV # PRESTANDBY TIME1 TIME2
061781,001032: 26,3764 20155 DAS MPAC
061782,001033: 26,3765 07226 TC TPAGREE # FORCE SIGN AGREEMENT
061783,001034: 26,3766 52155 DXCH MPAC # UPDATED VALUE FOR T1,T2.
061784,001035: 26,3767 20025 DAS TIME2 # LOAD UPDATED VALUE INTO T1,T2, WITH
061785,001036: 26,3770 05561 TC DOWNFLAG # CLEAR NODOFLAG
061786,001037: 26,3771 00054 ADRES NODOFLAG
061787,001038:
061788,001039: 26,3772 04103 TCGOPOOH TC GOTOPOOH
End of include-file IMU_MODE_SWITCHING_ROUTINES.agc. Parent file is MAIN.agc