GAP: ASSEMBLE REVISION 237 OF AGC PROGRAM COLOSSUS BY NASA 2021111-031 1:17 AUG. 24, 1968Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source-code files were derived from scans of the
Colossus 237 (Apollo 8 Command Module) program listing from the private collection of original
AGC developer Fred Martin. Scanning was by Ron Burkey. Pre-existing Colossus 249
(Apollo 9 CM) source files were used as a template, and changes between Colossus 249
and Colossus 237 were manually transcribed by a team of volunteers. Note
that the page images
presented online are of reduced quality, and that additional images
are available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 237 OF AGC PROGRAM COLOSSUS BY NASA 2021111-031 1:17 AUG. 24, 1968Note that the date is the date of the printout, not the date of the program revision. |
058895,000002: ## Copyright: Public domain.
058896,000003: ## Filename: IMU_MODE_SWITCHING_ROUTINES.agc
058897,000004: ## Purpose: Part of the source code for Colossus build 237.
058898,000005: ## This is for the Command Module's (CM) Apollo Guidance
058899,000006: ## Computer (AGC), for Apollo 8.
058900,000007: ## Assembler: yaYUL
058901,000008: ## Contact: Jim Lawton <jim DOT lawton AT gmail DOT com>
058902,000009: ## Website: www.ibiblio.org/apollo/index.html
058903,000010: ## Page Scans: www.ibiblio.org/apollo/ScansForConversion/Colossus237/
058904,000011: ## Mod history: 2011-04-17 JL Adapted from corresponding Colossus 249 file.
058905,000012: ## 2016-11-02 RSB Typo (offset-reference +3 was not indented).
058906,000013: ## 2017-01-01 RSB Proofed comment text using octopus/ProoferComments,
058907,000014: ## and fixed errors found.
058908,000015: ## 2017-01-14 RSB Fixed comment-text errors located whilst diff'ing
058909,000016: ## against Colossus 249.
058910,000017: ## 2017-03-15 RSB Comment-text fixes identified in 6-way
058911,000018: ## side-by-side diff of Sunburst 120 and Luminary
058912,000019: ## 69/99/116/131/210.
058913,000020:
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Page 1384 |
058915,000022: 5410 BLOCK 02
058916,000023: 4000 SETLOC FFTAG3
058917,000024: 4000 BANK
058918,000025:
058919,000026: 5410 E3,1471 EBANK= COMMAND
058920,000027:
058921,000028: # FIXED-FIXED ROUTINES.
058922,000029:
058923,000030: 5410 COUNT 02/IMODE
058924,000031:
058925,000032: 5410 34714 ZEROICDU CAF ZERO # ZERO ICDU COUNTERS.
058926,000033: 5411 54032 TS CDUX
058927,000034: 5412 54033 TS CDUY
058928,000035: 5413 54034 TS CDUZ
058929,000036: 5414 00002 TC Q
058930,000037:
058931,000038: 5415 4702 SPSCODE = BIT9
058932,000039:
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Page 1385 |
058934,000041: # IMU ZEROING ROUTINE.
058935,000042:
058936,000043: 11,3721 BANK 11
058937,000044: 07,2000 SETLOC MODESW
058938,000045: 07,2000 BANK
058939,000046:
058940,000047: 07,2516 COUNT 07/IMODE
058941,000048:
058942,000049: 07,2516 00004 IMUZERO INHINT # ROUTINE TO ZERO ICDUS.
058943,000050: 07,2517 41036 CS DSPTAB +11D # DONT ZERO CDUS IF IMU IN GIMBAL LOCK AND
058944,000051: 07,2520 74726 MASK BITS4&6 # COARSE ALIGN (GIMBAL RUNAWAY PROTECTION)
058945,000052: 07,2521 10000 CCS A
058946,000053: 07,2522 12526 TCF IMUZEROA
058947,000054:
058948,000055: 07,2523 05537 TC ALARM # IF SO.
058949,000056: 07,2524 00206 OCT 00206
058950,000057:
058951,000058: 07,2525 13461 TCF CAGETSTJ +4 # IMMEDIATE FAILURE.
058952,000059:
058953,000060: 07,2526 03455 IMUZEROA TC CAGETSTJ
058954,000061: # DO ALL THE WORK.
058955,000062: 07,2527 41321 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
058956,000063: 07,2530 74730 MASK SUPER011 # BIT5 FOR GROUND
058957,000064: 07,2531 27321 ADS IMODES33
058958,000065:
058959,000066: 07,2532 41320 CS IMODES30 # INHIBIT ICDUFAIL AND IMUFAIL (IN CASE WE
058960,000067: 07,2533 75660 MASK BITS3&4 # JUST CAME OUT OF COARSE ALIGN).
058961,000068: 07,2534 27320 ADS IMODES30
058962,000069:
058963,000070: 07,2535 44726 CS BITS4&6 # SEND ZERO ENCODE WITH COARSE AND ERROR
058964,000071: 07,2536 00006 EXTEND # COUNTER DISABLED.
058965,000072: 07,2537 03012 WAND CHAN12
058966,000073:
058967,000074: 07,2540 03070 TC NOATTOFF # TURN OFF NO ATT LAMP.
058968,000075:
058969,000076: 07,2541 34706 CAF BIT5
058970,000077: 07,2542 00006 EXTEND
058971,000078: 07,2543 05012 WOR CHAN12
058972,000079:
058973,000080: 07,2544 05410 TC ZEROICDU
058974,000081: 07,2545 34705 CAF BIT6 # WAIT 320 MS TO GIVE AGS ADEQUATE TIME TO
058975,000082: 07,2546 05140 TC WAITLIST # RECEIVE ITS PULSE TRAIN.
058976,000083: 07,2547 E3,1474 EBANK= CDUIND
058977,000084: 07,2547 02561 16103 2CADR IMUZERO2
058978,000085:
058979,000086: 07,2551 41320 CS IMODES30 # SEE IF IMU OPERATING AND ALARM IF NOT.
058980,000087: 07,2552 74702 MASK BIT9
058981,000088: 07,2553 10000 CCS A
058982,000089: 07,2554 12557 TCF MODEEXIT
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Page 1386 |
058984,000091: 07,2555 05537 TC ALARM
058985,000092: 07,2556 00210 OCT 210
058986,000093:
058987,000094: 07,2557 00003 MODEEXIT RELINT # GENERAL MODE-SWITCHING EXIT.
058988,000095: 07,2560 14570 TCF SWRETURN
058989,000096:
058990,000097:
058991,000098: 07,2561 03455 IMUZERO2 TC CAGETSTJ # POSSIBLY SWITCH TO TURN-ON PROGRAM
058992,000099: 07,2562 05410 TC ZEROICDU # ZERO CDUX, CDUY, CDUZ
058993,000100:
058994,000101: 07,2563 44706 CS BIT5 # REMOVE ZERO DISCRETE.
058995,000102: 07,2564 00006 EXTEND
058996,000103: 07,2565 03012 WAND CHAN12
058997,000104:
058998,000105: 07,2566 34700 CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS
058999,000106: 07,2567 05161 TC VARDELAY
059000,000107:
059001,000108: 07,2570 03455 IMUZERO3 TC CAGETSTJ
059002,000109: 07,2571 45660 CS BITS3&4 # REMOVE IMUFAIL AND ICDUFAIL INHIBIT.
059003,000110: 07,2572 71320 MASK IMODES30
059004,000111: 07,2573 55320 TS IMODES30
059005,000112:
059006,000113: 07,2574 44730 CS SUPER011 # ENABLE DAP AUTO AND HOLD MODES
059007,000114: 07,2575 71321 MASK IMODES33 # BIT5 FOR GROUND
059008,000115: 07,2576 55321 TS IMODES33
059009,000116:
059010,000117: 07,2577 04633 TC IBNKCALL # SET ISS WARNING IF EITHER OF ABOVE ARE
059011,000118: 07,2600 14665 CADR SETISSW # PRESENT.
059012,000119:
059013,000120: 07,2601 13433 TCF ENDIMU
059014,000121:
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Page 1387 |
059016,000123: # IMU COARSE ALIGN MODE.
059017,000124:
059018,000125: 07,2602 00004 IMUCOARS INHINT
059019,000126: 07,2603 03455 TC CAGETSTJ
059020,000127: 07,2604 02746 TC SETCOARS
059021,000128:
059022,000129: 07,2605 36211 CAF SIX
059023,000130: 07,2606 05140 TC WAITLIST
059024,000131: 07,2607 E3,1474 EBANK= CDUIND
059025,000132: 07,2607 02612 16103 2CADR COARS
059026,000133:
059027,000134: 07,2611 12557 TCF MODEEXIT
059028,000135:
059029,000136: 07,2612 03443 COARS TC CAGETEST
059030,000137: 07,2613 34705 CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
059031,000138: 07,2614 00006 EXTEND
059032,000139: 07,2615 05012 WOR CHAN12
059033,000140:
059034,000141: 07,2616 34711 CAF TWO # SET CDU INDICATOR
059035,000142: 07,2617 55474 COARS1 TS CDUIND
059036,000143:
059037,000144: 07,2620 51474 INDEX CDUIND # COMPUTE THETAD - THETAA IN 1:S
059038,000145: 07,2621 31155 CA THETAD # COMPLEMENT FORM
059039,000146: 07,2622 00006 EXTEND
059040,000147: 07,2623 51474 INDEX CDUIND
059041,000148: 07,2624 20032 MSU CDUX
059042,000149: 07,2625 00006 EXTEND
059043,000150: 07,2626 74676 MP BIT13 # SHIFT RIGHT 2
059044,000151: 07,2627 56001 XCH L # ROUND
059045,000152: 07,2630 60000 DOUBLE
059046,000153: 07,2631 54061 TS ITEMP1
059047,000154: 07,2632 12634 TCF +2
059048,000155: 07,2633 26001 ADS L
059049,000156:
059050,000157: 07,2634 51474 INDEX CDUIND # DIFFERENCE TO BE COMPUTED
059051,000158: 07,2635 23471 LXCH COMMAND
059052,000159: 07,2636 11474 CCS CDUIND
059053,000160: 07,2637 02617 TC COARS1
059054,000161:
059055,000162: 07,2640 34711 CAF TWO # MINIMUM OF 4 MS WAIT
059056,000163: 07,2641 05161 TC VARDELAY
059057,000164:
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Page 1388 |
059059,000166: 07,2642 03443 COARS2 TC CAGETEST # DONT CONTINUE IF CAGED.
059060,000167: 07,2643 54061 TS ITEMP1 # SETS TO +0.
059061,000168: 07,2644 34711 CAF TWO # SET CDU INDICATOR
059062,000169: 07,2645 55474 +3 TS CDUIND
059063,000170:
059064,000171: 07,2646 51474 INDEX CDUIND
059065,000172: 07,2647 11471 CCS COMMAND # NUMBER OF PULSES REQUIRED
059066,000173: 07,2650 02654 TC COMPOS # GREATER THAN MAX ALLOWED
059067,000174: 07,2651 02663 TC NEXTCDU +1
059068,000175: 07,2652 02721 TC COMNEG
059069,000176: 07,2653 02663 TC NEXTCDU +1
059070,000177:
059071,000178: 07,2654 63544 COMPOS AD -COMMAX # COMMAX = MAX NUMBER OF PULSES ALLOWED
059072,000179: 07,2655 00006 EXTEND # MINUS ONE
059073,000180: 07,2656 62731 BZMF COMZERO
059074,000181: 07,2657 51474 INDEX CDUIND
059075,000182: 07,2660 55471 TS COMMAND # REDUCE COMMAND BY MAX NUMBER OF PULSES
059076,000183: 07,2661 43545 CS -COMMAX- # ALLOWED
059077,000184:
059078,000185: 07,2662 24061 NEXTCDU INCR ITEMP1
059079,000186: 07,2663 64713 AD NEG0
059080,000187: 07,2664 51474 INDEX CDUIND
059081,000188: 07,2665 54050 TS CDUXCMD # SET UP COMMAND REGISTER.
059082,000189:
059083,000190: 07,2666 11474 CCS CDUIND
059084,000191: 07,2667 02645 TC COARS2 +3
059085,000192:
059086,000193: 07,2670 10061 CCS ITEMP1 # SEE IF ANY PULSES TO GO OUT.
059087,000194: 07,2671 12735 TCF SENDPULS
059088,000195:
059089,000196: 07,2672 05156 TC FIXDELAY # WAIT FOR GIMBALS TO SETTLE.
059090,000197: 07,2673 00226 DEC 150 B-14
059091,000198:
059092,000199:
059093,000200: 07,2674 34711 CAF TWO # AT END OF COMMAND, CHECK TO SEE THAT
059094,000201: 07,2675 54061 CHKCORS TS ITEMP1 # GIMBALS ARE WITHIN 2 DEGREES OF THETAD.
059095,000202: 07,2676 50000 INDEX A
059096,000203: 07,2677 30032 CA CDUX
059097,000204: 07,2700 00006 EXTEND
059098,000205: 07,2701 50061 INDEX ITEMP1
059099,000206: 07,2702 21155 MSU THETAD
059100,000207: 07,2703 10000 CCS A
059101,000208: 07,2704 12712 TCF COARSERR
059102,000209: 07,2705 12707 TCF CORSCHK2
059103,000210: 07,2706 12712 TCF COARSERR
059104,000211:
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Page 1389 |
059106,000213: 07,2707 10061 CORSCHK2 CCS ITEMP1
059107,000214: 07,2710 12675 TCF CHKCORS
059108,000215: 07,2711 13433 TCF ENDIMU # END OF COARSE ALIGNMENT.
059109,000216:
059110,000217: 07,2712 62720 COARSERR AD COARSTOL # 2 DEGREES.
059111,000218: 07,2713 00006 EXTEND
059112,000219: 07,2714 62707 BZMF CORSCHK2
059113,000220:
059114,000221: 07,2715 05537 TC ALARM # COARSE ALIGN ERROR.
059115,000222: 07,2716 00211 OCT 211
059116,000223:
059117,000224: 07,2717 13441 TCF IMUBAD
059118,000225:
059119,000226: 07,2720 77511 COARSTOL DEC -.01111 # 2 DEGREES SCALED AT HALF-REVOLUTIONS
059120,000227:
059121,000228:
059122,000229: 07,2721 63544 COMNEG AD -COMMAX
059123,000230: 07,2722 00006 EXTEND
059124,000231: 07,2723 62731 BZMF COMZERO
059125,000232: 07,2724 40000 COM
059126,000233: 07,2725 51474 INDEX CDUIND
059127,000234: 07,2726 55471 TS COMMAND
059128,000235: 07,2727 33545 CA -COMMAX-
059129,000236: 07,2730 02662 TC NEXTCDU
059130,000237:
059131,000238: 07,2731 34714 COMZERO CAF ZERO
059132,000239: 07,2732 51474 INDEX CDUIND
059133,000240: 07,2733 57471 XCH COMMAND
059134,000241: 07,2734 02662 TC NEXTCDU
059135,000242:
059136,000243: 07,2735 37707 SENDPULS CAF 13,14,15
059137,000244: 07,2736 00006 EXTEND
059138,000245: 07,2737 05014 WOR CHAN14
059139,000246: 07,2740 33546 CAF 600MS
059140,000247: 07,2741 12641 TCF COARS2 -1 # THEN TO VARDELAY
059141,000248:
059142,000249: 07,2742 34705 CA+ECE CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
059143,000250: 07,2743 00006 EXTEND
059144,000251: 07,2744 05012 WOR CHAN12
059145,000252: 07,2745 05213 TC TASKOVER
059146,000253:
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Page 1390 |
059148,000255: 07,2746 34707 SETCOARS CAF BIT4 # BYPASS IF ALREADY IN COARSE ALIGN
059149,000256: 07,2747 00006 EXTEND
059150,000257: 07,2750 02012 RAND CHAN12
059151,000258: 07,2751 10000 CCS A
059152,000259: 07,2752 00002 TC Q
059153,000260:
059154,000261: 07,2753 44705 CS BIT6 # CLEAR ISS ERROR COUNTERS
059155,000262: 07,2754 00006 EXTEND
059156,000263: 07,2755 03012 WAND CHAN12
059157,000264:
059158,000265: 07,2756 44701 CS BIT10 # KNOCK DOWN GYRO ACTIVITY
059159,000266: 07,2757 00006 EXTEND
059160,000267: 07,2760 03014 WAND CHAN14
059161,000268: 07,2761 44714 CS ZERO
059162,000269: 07,2762 54047 TS GYROCMD
059163,000270:
059164,000271: 07,2763 34707 CAF BIT4 # PUT ISS IN COARSE ALIGN
059165,000272: 07,2764 00006 EXTEND
059166,000273: 07,2765 05012 WOR CHAN12
059167,000274:
059168,000275: 07,2766 41036 CS DSPTAB +11D # TURN ON NO ATT LAMP
059169,000276: 07,2767 73011 MASK OCT40010
059170,000277: 07,2770 27036 ADS DSPTAB +11D
059171,000278:
059172,000279: 07,2771 41321 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
059173,000280: 07,2772 74705 MASK BIT6
059174,000281: 07,2773 27321 ADS IMODES33
059175,000282:
059176,000283: 07,2774 41320 CS IMODES30 # DISABLE IMUFAIL
059177,000284: 07,2775 74707 MASK BIT4
059178,000285: 07,2776 27320 ADS IMODES30
059179,000286:
059180,000287: 07,2777 44706 RNDREFDR CS BIT5 # KNOCK DOWN TRACK FLAG
059181,000288: 07,3000 70075 MASK FLAGWRD1
059182,000289: 07,3001 54075 TS FLAGWRD1
059183,000290:
059184,000291: 07,3002 44674 CS BIT15 # KNOCK DOWN DRIFT FLAG
059185,000292: 07,3003 70076 MASK FLAGWRD2
059186,000293: 07,3004 54076 TS FLAGWRD2
059187,000294:
059188,000295: 07,3005 44676 CS BIT13 # KNOCK DOWN REFSMMAT FLAG
059189,000296: 07,3006 70077 MASK FLAGWRD3
059190,000297: 07,3007 54077 TS FLAGWRD3
059191,000298:
059192,000299: 07,3010 00002 TC Q
059193,000300:
059194,000301: 07,3011 40010 OCT40010 OCT 40010
059195,000302:
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Page 1391 |
059197,000304: # IMU FINE ALIGN MODE SWITCH.
059198,000305:
059199,000306: 07,3012 00004 IMUFINE INHINT
059200,000307: 07,3013 03455 TC CAGETSTJ # SEE IF IMU BEING CAGED.
059201,000308:
059202,000309: 07,3014 43543 CS BITS4-5 # RESET ZERO AND COARSE
059203,000310: 07,3015 00006 EXTEND
059204,000311: 07,3016 03012 WAND CHAN12
059205,000312:
059206,000313: 07,3017 44705 CS BIT6 # INSURE DAP AUTO AND HOLD MODES ENABLED
059207,000314: 07,3020 71321 MASK IMODES33
059208,000315: 07,3021 55321 TS IMODES33
059209,000316:
059210,000317: 07,3022 03070 TC NOATTOFF
059211,000318:
059212,000319: 07,3023 34701 CAF BIT10 # IMU FAIL WAS INHIBITED DURING THE
059213,000320: 07,3024 05140 TC WAITLIST # PRESUMABLY PRECEDING COARSE ALIGN. LEAVE
059214,000321: 07,3025 E3,1474 EBANK= CDUIND
059215,000322: 07,3025 03036 16103 2CADR IFAILOK # IT ON FOR THE FIRST 5 SECS OF FINE ALIGN
059216,000323:
059217,000324: 07,3027 34735 CAF 2SECS
059218,000325: 07,3030 05140 TC WAITLIST
059219,000326: 07,3031 E3,1474 EBANK= CDUIND
059220,000327: 07,3031 03034 16103 2CADR IMUFINED
059221,000328:
059222,000329: 07,3033 12557 TCF MODEEXIT
059223,000330:
059224,000331: 07,3034 03443 IMUFINED TC CAGETEST # SEE THAT NO ONE HAS CAGED THE IMU.
059225,000332: 07,3035 13433 TCF ENDIMU
059226,000333:
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Page 1392 |
059228,000335: 07,3036 03450 IFAILOK TC CAGETSTQ # ENABLE IMU FIAL UNLESS IMU BEING CAGED.
059229,000336: 07,3037 15213 TCF TASKOVER # IT IS.
059230,000337:
059231,000338: 07,3040 34707 CAF BIT4 # DONT RESET IMU FAIL INHIBIT IF SOMEONE
059232,000339: 07,3041 00006 EXTEND # HAS GONE INTO COARSE ALIGN.
059233,000340: 07,3042 02012 RAND CHAN12
059234,000341: 07,3043 10000 CCS A
059235,000342: 07,3044 15213 TCF TASKOVER
059236,000343:
059237,000344: 07,3045 41320 CS IMODES30 # RESET IMUFAIL.
059238,000345: 07,3046 74676 MASK BIT13
059239,000346: 07,3047 27320 ADS IMODES30
059240,000347: 07,3050 44707 CS BIT4
059241,000348: 07,3051 71320 PFAILOK2 MASK IMODES30
059242,000349: 07,3052 55320 TS IMODES30
059243,000350: 07,3053 04633 TC IBNKCALL # THE ISS WARNING LIGHT MAY COME ON NOW
059244,000351: 07,3054 14665 CADR SETISSW # THAT THE INHIBIT HAS BEEN REMOVED.
059245,000352: 07,3055 15213 TCF TASKOVER
059246,000353:
059247,000354: 07,3056 03450 PFAILOK TC CAGETSTQ # ENABLE PIP FAIL PROG ALARM.
059248,000355: 07,3057 15213 TCF TASKOVER
059249,000356:
059250,000357: 07,3060 41320 CS IMODES30 # RESET IMU AND PIPA FAIL BITS.
059251,000358: 07,3061 74701 MASK BIT10
059252,000359: 07,3062 27320 ADS IMODES30
059253,000360:
059254,000361: 07,3063 41321 CS IMODES33
059255,000362: 07,3064 74676 MASK BIT13
059256,000363: 07,3065 27321 ADS IMODES33
059257,000364:
059258,000365: 07,3066 44706 CS BIT5
059259,000366: 07,3067 13051 TCF PFAILOK2
059260,000367:
059261,000368: 07,3070 43011 NOATTOFF CS OCT40010 # SUBROUTINE TO TURN OFF NO ATT LAMP.
059262,000369: 07,3071 71036 MASK DSPTAB +11D
059263,000370: 07,3072 64674 AD BIT15
059264,000371: 07,3073 55036 TS DSPTAB +11D
059265,000372: 07,3074 00002 TC Q
059266,000373:
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Page 1393 |
059268,000375: # ROUITNES TO INITIATE AND TERMINATE PROGRAM USE OF THE PIPAS. NO IMUSTALL REQUIRED IN EITHER CASE.
059269,000376:
059270,000377: 07,3075 44714 PIPUSE CS ZERO
059271,000378: 07,3076 54037 TS PIPAX
059272,000379: 07,3077 54040 TS PIPAY
059273,000380: 07,3100 54041 TS PIPAZ
059274,000381:
059275,000382: 07,3101 03450 PIPUSE1 TC CAGETSTQ # DO NOT ENABLE PIPA FAIL IF IMU IS CAGED
059276,000383: 07,3102 14570 TCF SWRETURN
059277,000384:
059278,000385: 07,3103 00004 INHINT
059279,000386: 07,3104 44712 CS BIT1 # IF PIPA FAILS FROM NOW ON (UNTIL
059280,000387: 07,3105 71320 MASK IMODES30 # PIPFREE), LIGHT ISS WARNING.
059281,000388: 07,3106 55320 TS IMODES30
059282,000389:
059283,000390: 07,3107 04633 PIPFREE2 TC IBNKCALL # ISS WARNING MIGHT COME ON NOW.
059284,000391: 07,3110 14665 CADR SETISSW # (OR GO OFF ON PIPFREE).
059285,000392:
059286,000393: 07,3111 12557 TCF MODEEXIT
059287,000394:
059288,000395: 07,3112 00004 PIPFREE INHINT # PROGRAM DONE WITH PIPAS. DONT LIGHT
059289,000396: 07,3113 41320 CS IMODES30 # ISS WARNING.
059290,000397: 07,3114 74712 MASK BIT1
059291,000398: 07,3115 27320 ADS IMODES30
059292,000399:
059293,000400: 07,3116 74701 MASK BIT10 # IF PIP FAIL ON, DO PROG ALSRM AND RESET
059294,000401: 07,3117 10000 CCS A # ISS WARNING.
059295,000402: 07,3120 12557 TCF MODEEXIT
059296,000403:
059297,000404: 07,3121 05537 TC ALARM
059298,000405: 07,3122 00212 OCT 212
059299,000406:
059300,000407: 07,3123 00004 INHINT
059301,000408:
059302,000409: 07,3124 13107 TCF PIPFREE2
059303,000410:
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Page 1394 |
059305,000412: # THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIX REGISTERS
059306,000413: # BEGINNING AT THE ECADR ARRIVING IN A. THE MINIMUM SIZE OF ANY PULSE TRAIN IS 16 PULSES (.25 CDU COUNTS). THE
059307,000414: # UNSENT PORTION OF THE COMMAND IS LEFT INTACT IN THE INPUT COMMAND REGISTERS.
059308,000415:
059309,000416: 07,3125 E3,1400 EBANK= 1400 # VARIABLE, ACTUALLY.
059310,000417:
059311,000418: 07,3125 54161 IMUPULSE TS MPAC +5 # SAVE ARRIVING ECADR.
059312,000419: 07,3126 03455 TC CAGETSTJ # DONT PROCEED IF IMU BEING CAGED.
059313,000420:
059314,000421: 07,3127 11304 CCS LGYRO # SEE IF GYROS BUSY.
059315,000422: 07,3130 03171 TC GYROBUSY # SLEEP.
059316,000423:
059317,000424: 07,3131 54156 TS MPAC +2
059318,000425: 07,3132 34705 CAF BIT6 # ENABLE THE POWER SUPPLY.
059319,000426: 07,3133 00006 EXTEND
059320,000427: 07,3134 05014 WOR CHAN14
059321,000428:
059322,000429: 07,3135 34710 CAF FOUR
059323,000430: 07,3136 05140 GWAKE2 TC WAITLIST # (IF A JOB WAS PUT TO SLEEP, THE POWER
059324,000431: 07,3137 E3,1474 EBANK= CDUIND # SUPPLY IS LEFT ON BY THE WAKING JOB).
059325,000432: 07,3137 03207 16103 2CADR STRTGYRO
059326,000433:
059327,000434: 07,3141 30161 CA MPAC +5 # SET UP EBANK, SAVING CALLER'S EBANK FOR
059328,000435: 07,3142 56003 XCH EBANK # RESTORATION ON RETURN.
059329,000436: 07,3143 56161 XCH MPAC +5
059330,000437: 07,3144 55304 TS LGYRO # RESERVES GYROS.
059331,000438: 07,3145 74373 MASK LOW8
059332,000439: 07,3146 54061 TS ITEMP1
059333,000440:
059334,000441: 07,3147 34711 CAF TWO # FORCE SIGN AGREEMENT ON INPUTS.
059335,000442: 07,3150 54157 GYROAGRE TS MPAC +3
059336,000443: 07,3151 60000 DOUBLE
059337,000444: 07,3152 60061 AD ITEMP1
059338,000445: 07,3153 54160 TS MPAC +4
059339,000446: 07,3154 00006 EXTEND
059340,000447: 07,3155 50000 INDEX A
059341,000448: 07,3156 31401 DCA 1400
059342,000449: 07,3157 52155 DXCH MPAC
059343,000450: 07,3160 07226 TC TPAGREE
059344,000451: 07,3161 52155 DXCH MPAC
059345,000452: 07,3162 50160 INDEX MPAC +4
059346,000453: 07,3163 53401 DXCH 1400
059347,000454:
059348,000455: 07,3164 10157 CCS MPAC +3
059349,000456: 07,3165 13150 TCF GYROAGRE
059350,000457:
059351,000458: 07,3166 30161 CA MPAC +5 # RESTORE CALLER'S EBANK.
059352,000459: 07,3167 54003 TS EBANK
059353,000460: 07,3170 12557 TCF MODEEXIT
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|
Page 1395 |
059355,000462: # ROUTINES TO ALLOW TORQUING BY ONLY ONE JOB AT A TIME.
059356,000463:
059357,000464: 07,3171 00006 GYROBUSY EXTEND # SAVE RETURN 2FCADR.
059358,000465: 07,3172 30134 DCA BUF2
059359,000466: 07,3173 52155 DXCH MPAC
059360,000467: 07,3174 33206 REGSLEEP CAF LGWAKE
059361,000468: 07,3175 15070 TCF JOBSLEEP
059362,000469:
059363,000470: 07,3176 11304 GWAKE CCS LGYRO # WHEN AWAKENED, SEE IF GYROS STILL BUSY.
059364,000471: 07,3177 13174 TCF REGSLEEP # IF SO, SLEEP SOME MORE.
059365,000472:
059366,000473: 07,3200 54156 TS MPAC +2
059367,000474: 07,3201 00006 EXTEND
059368,000475: 07,3202 30155 DCA MPAC
059369,000476: 07,3203 52134 DXCH BUF2 # RESTORE SWRETURN INFO.
059370,000477: 07,3204 34712 CAF ONE
059371,000478: 07,3205 13136 TCF GWAKE2
059372,000479:
059373,000480: 07,3206 17176 LGWAKE CADR GWAKE
059374,000481:
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|
Page 1396 |
059376,000483: # GYRO-TORQUING WAITLIST TASKS.
059377,000484:
059378,000485: 07,3207 43430 STRTGYRO CS GDESELCT # DE-SELECT LAST GYRO.
059379,000486: 07,3210 00006 EXTEND
059380,000487: 07,3211 03014 WAND CHAN14
059381,000488:
059382,000489: 07,3212 03443 TC CAGETEST
059383,000490:
059384,000491: 07,3213 31304 STRTGYR2 CA LGYRO # JUMP ON PHASE COUNTER IN BITS 13-14.
059385,000492: 07,3214 00006 EXTEND
059386,000493: 07,3215 74707 MP BIT4
059387,000494: 07,3216 50000 INDEX A
059388,000495: 07,3217 13220 TCF +1
059389,000496: 07,3220 03235 TC GSELECT # =0. DO Y GYRO.
059390,000497: 07,3221 00202 OCT 00202
059391,000498:
059392,000499: 07,3222 03235 TC GSELECT # =1. DO Z GYRO.
059393,000500: 07,3223 00302 OCT 00302
059394,000501:
059395,000502: 07,3224 03233 TC GSELECT -2 # =2. DO X GYRO.
059396,000503: 07,3225 00100 OCT 00100
059397,000504:
059398,000505: 07,3226 34714 CAF ZERO # =3. DONE
059399,000506: 07,3227 55304 TS LGYRO
059400,000507: 07,3230 33206 CAF LGWAKE # WAKE A POSSIBLE SLEEPING JOB.
059401,000508: 07,3231 05074 TC JOBWAKE
059402,000509:
059403,000510: 07,3232 13034 NORESET TCF IMUFINED # DO NOT RESET POWER SUPPLY
059404,000511:
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|
Page 1397 |
059406,000513: 07,3233 44710 -2 CS FOUR # SPECIAL ENTRY TO REGRESS LGYRO FOR X.
059407,000514: 07,3234 27304 ADS LGYRO
059408,000515:
059409,000516: 07,3235 50002 GSELECT INDEX Q # SELECT GYRO.
059410,000517: 07,3236 30000 CAF 0 # PACKED WORD CONTAINS GYRO SELECT BITS
059411,000518: 07,3237 54064 TS ITEMP4 # AND INCREMENT TO LGYRO.
059412,000519: 07,3240 74716 MASK SEVEN
059413,000520: 07,3241 64676 AD BIT13
059414,000521: 07,3242 27304 ADS LGYRO
059415,000522: 07,3243 54003 TS EBANK
059416,000523: 07,3244 74373 MASK LOW8
059417,000524: 07,3245 54061 TS ITEMP1
059418,000525:
059419,000526: 07,3246 44716 CS SEVEN
059420,000527: 07,3247 70064 MASK ITEMP4
059421,000528: 07,3250 54064 TS ITEMP4
059422,000529:
059423,000530: 07,3251 00006 EXTEND # MOVE DP COMMAND TO RUPTREGS FOR TESTING.
059424,000531: 07,3252 50061 INDEX ITEMP1
059425,000532: 07,3253 31401 DCA 1400
059426,000533: 07,3254 52071 DXCH RUPTREG1
059427,000534:
059428,000535: 07,3255 10070 CCS RUPTREG1
059429,000536: 07,3256 13271 TCF MAJ+
059430,000537: 07,3257 13261 TCF +2
059431,000538: 07,3260 13411 TCF MAJ-
059432,000539:
059433,000540: 07,3261 10071 CCS RUPTREG2
059434,000541: 07,3262 13266 TCF MIN+
059435,000542: 07,3263 13213 TCF STRTGYR2
059436,000543: 07,3264 13406 TCF MIN-
059437,000544: 07,3265 13213 TCF STRTGYR2
059438,000545:
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|
Page 1398 |
059440,000547: 07,3266 63322 MIN+ AD -GYROMIN # SMALL POSITIVE COMMAND. SEE IF AT LEAST
059441,000548: 07,3267 00006 EXTEND # 16 GYRO PULSES.
059442,000549: 07,3270 63213 BZMF STRTGYR2
059443,000550:
059444,000551: 07,3271 00006 MAJ+ EXTEND # DEFINITE POSITIVE OUTPUT.
059445,000552: 07,3272 33432 DCA GYROFRAC
059446,000553: 07,3273 20071 DAS RUPTREG1
059447,000554:
059448,000555: 07,3274 30064 CA ITEMP4 # SELECT POSITIVE TORQUING FOR THIS GYRO.
059449,000556: 07,3275 00006 EXTEND
059450,000557: 07,3276 05014 WOR CHAN14
059451,000558:
059452,000559: 07,3277 36043 CAF LOW7 # LEAVE NUMBER OF POSSIBLE 8192 AUGMENTS
059453,000560: 07,3300 70071 MASK RUPTREG2 # TO INITIAL COMMAND IN MAJOR PART OF LONG
059454,000561: 07,3301 56071 XCH RUPTREG2 # TERM STORAGE AND TRUNCATED FRACTION
059455,000562: 07,3302 00006 GMERGE EXTEND # IN MINOR PART. THE MAJOR PART WILL BE
059456,000563: 07,3303 74703 MP BIT8 # COUNTED DOWN TO ZERO IN THE COURSE OF
059457,000564: 07,3304 54062 TS ITEMP2 # PUTTING OUT THE ENTIRE COMMAND.
059458,000565: 07,3305 30070 CA RUPTREG1
059459,000566: 07,3306 00006 EXTEND
059460,000567: 07,3307 74702 MP BIT9
059461,000568: 07,3310 54070 TS RUPTREG1
059462,000569: 07,3311 30001 CA L
059463,000570: 07,3312 00006 EXTEND
059464,000571: 07,3313 74675 MP BIT14
059465,000572: 07,3314 26062 ADS ITEMP2 # INITIAL COMMAND.
059466,000573:
059467,000574: 07,3315 00006 EXTEND # SEE IF MORE THAN ONE PULSE TRAIN NEEDED
059468,000575: 07,3316 30071 DCA RUPTREG1 # (MORE THAN 16383 PULSES).
059469,000576: 07,3317 67716 AD MINUS1
059470,000577: 07,3320 10000 CCS A
059471,000578: 07,3321 13345 TCF LONGGYRO
059472,000579: 07,3322 77601 -GYROMIN OCT -176 # MAY BE ADJUSTED TO SPECIFY MINIMUM CMD
059473,000580: 07,3323 13327 TCF +4
059474,000581:
059475,000582: 07,3324 34675 CAF BIT14
059476,000583: 07,3325 26062 ADS ITEMP2
059477,000584: 07,3326 34714 CAF ZERO
059478,000585:
059479,000586: 07,3327 50061 +4 INDEX ITEMP1
059480,000587: 07,3330 53401 DXCH 1400
059481,000588:
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|
Page 1399 |
059483,000590: 07,3331 30062 CA ITEMP2 # ENTIRE COMMAND.
059484,000591: 07,3332 54047 LASTSEG TS GYROCMD
059485,000592: 07,3333 00006 EXTEND
059486,000593: 07,3334 74701 MP BIT10 # WAITLIST DT
059487,000594: 07,3335 66214 AD THREE # TRUNCATION AND PHASE UNCERTAINTIES.
059488,000595: 07,3336 05140 TC WAITLIST
059489,000596: 07,3337 E3,1474 EBANK= CDUIND
059490,000597: 07,3337 03207 16103 2CADR STRTGYRO
059491,000598:
059492,000599: 07,3341 34701 GYROEXIT CAF BIT10
059493,000600: 07,3342 00006 EXTEND
059494,000601: 07,3343 05014 WOR CHAN14
059495,000602: 07,3344 15213 TCF TASKOVER
059496,000603:
059497,000604: 07,3345 50061 LONGGYRO INDEX ITEMP1
059498,000605: 07,3346 53401 DXCH 1400 # INITIAL COMMAND OUT PLUS N AUGMENTS OF
059499,000606: 07,3347 34675 CAF BIT14 # 8192. INITIAL COMMAND IS AT LEAST 8192.
059500,000607: 07,3350 60062 AD ITEMP2
059501,000608: 07,3351 54047 TS GYROCMD
059502,000609:
059503,000610: 07,3352 00006 AUG3 EXTEND # GET WAITLIST DT TO TIME WHEN TRAIN IS
059504,000611: 07,3353 74701 MP BIT10 # ALMOST OUT.
059505,000612: 07,3354 67714 AD NEG3
059506,000613: 07,3355 05140 TC WAITLIST
059507,000614: 07,3356 E3,1474 EBANK= CDUIND
059508,000615: 07,3356 03361 16103 2CADR 8192AUG
059509,000616: 07,3360 13341 TCF GYROEXIT
059510,000617:
059511,000618: 07,3361 03443 8192AUG TC CAGETEST
059512,000619:
059513,000620: 07,3362 34707 CAF BIT4
059514,000621: 07,3363 00006 EXTEND
059515,000622: 07,3364 02012 RAND CHAN12
059516,000623: 07,3365 10000 CCS A
059517,000624: 07,3366 13441 TCF IMUBAD
059518,000625: 07,3367 31304 CA LGYRO # ADD 8192 PULSES TO GYROCMD
059519,000626: 07,3370 54003 TS EBANK
059520,000627: 07,3371 74373 MASK LOW8
059521,000628: 07,3372 54061 TS ITEMP1
059522,000629:
059523,000630: 07,3373 50061 INDEX ITEMP1 # SEE IF THIS IS THE LAST AUG.
059524,000631: 07,3374 11400 CCS 1400
059525,000632: 07,3375 13401 TCF AUG2 # MORE TO COME.
059526,000633:
059527,000634: 07,3376 34675 CAF BIT14
059528,000635: 07,3377 26047 ADS GYROCMD
059529,000636: 07,3400 13333 TCF LASTSEG +1
059530,000637:
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|
Page 1400 |
059532,000639: 07,3401 50061 AUG2 INDEX ITEMP1
059533,000640: 07,3402 55400 TS 1400
059534,000641: 07,3403 34675 CAF BIT14
059535,000642: 07,3404 26047 ADS GYROCMD
059536,000643: 07,3405 13352 TCF AUG3 # COMPUTE DT.
059537,000644:
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|
Page 1401 |
059539,000646: 07,3406 63322 MIN- AD -GYROMIN # POSSIBLE NEGATIVE OUTPUT.
059540,000647: 07,3407 00006 EXTEND
059541,000648: 07,3410 63213 BZMF STRTGYR2
059542,000649:
059543,000650: 07,3411 00006 MAJ- EXTEND # DEFINITE NEGATIVE OUTPUT.
059544,000651: 07,3412 43432 DCS GYROFRAC
059545,000652: 07,3413 20071 DAS RUPTREG1
059546,000653:
059547,000654: 07,3414 30064 CA ITEMP4 # SELECT NEGATIVE TORQUING FOR THIS GYRO.
059548,000655: 07,3415 64702 AD BIT9
059549,000656: 07,3416 00006 EXTEND
059550,000657: 07,3417 05014 WOR CHAN14
059551,000658:
059552,000659: 07,3420 40070 CS RUPTREG1 # SET UP RUPTREGS TO FALL INTO GMERGE.
059553,000660: 07,3421 54070 TS RUPTREG1 # ALL NUMBERS PUT INTO GYROCMD ARE
059554,000661: 07,3422 40071 CS RUPTREG2 # POSITIVE - BIT9 OF CHAN 14 DETERMINES
059555,000662: 07,3423 76043 MASK LOW7 # THE SIGN OF THE COMMAND.
059556,000663: 07,3424 40000 COM
059557,000664: 07,3425 56071 XCH RUPTREG2
059558,000665: 07,3426 40000 COM
059559,000666: 07,3427 13302 TCF GMERGE
059560,000667:
059561,000668: 07,3430 01700 GDESELCT OCT 1700 # TURN OFF SELECT AND ACTIVITY BITS.
059562,000669:
059563,000670: 07,3431 00000 00034 GYROFRAC 2DEC .215 B -21
059564,000671:
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|
Page 1402 |
059566,000673: # IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE.
059567,000674:
059568,000675: 07,3433 00006 ENDIMU EXTEND # MODE IS BAD IF CAGE HAS OCCURED OR IF
059569,000676: 07,3434 00011 READ DSALMOUT # ISS WARNING IS ON.
059570,000677: 07,3435 74712 MASK BIT1
059571,000678: 07,3436 10000 CCS A
059572,000679: 07,3437 13441 TCF IMUBAD
059573,000680:
059574,000681: 07,3440 13467 IMUGOOD TCF GOODEND # WITH C(A) = 0.
059575,000682:
059576,000683: 07,3441 34714 IMUBAD CAF ZERO
059577,000684: 07,3442 13464 TCF BADEND
059578,000685:
059579,000686: 07,3443 34705 CAGETEST CAF BIT6 # SUBROUTINE TO TERMINATE IMU MODE
059580,000687: 07,3444 71320 MASK IMODES30 # SWITCH IF IMU HAS BEEN CAGED.
059581,000688: 07,3445 10000 CCS A
059582,000689: 07,3446 13441 TCF IMUBAD # DIRECTLY.
059583,000690: 07,3447 00002 TC Q # WITH C(A) = +0.
059584,000691:
059585,000692: 07,3450 41320 CAGETSTQ CS IMODES30 # SKIP IF IMU NOT BEING CAGED.
059586,000693: 07,3451 74705 MASK BIT6
059587,000694: 07,3452 10000 CCS A
059588,000695: 07,3453 24002 INCR Q
059589,000696: 07,3454 00002 TC Q
059590,000697:
059591,000698: 07,3455 41320 CAGETSTJ CS IMODES30 # IF DURING MODE SWITCH INITIALIZATION
059592,000699: 07,3456 74705 MASK BIT6 # IT IS FOUND THAT THE IMU IS BEING CAGED,
059593,000700: 07,3457 10000 CCS A # SET IMUCADR TO -0 TO INDICATE OPERATION
059594,000701: 07,3460 00002 TC Q # COMPLETE BUT FAILED. RETURN IMMEDIATELY
059595,000702:
059596,000703: 07,3461 44714 CS ZERO # TO SWRETURN.
059597,000704: 07,3462 55322 TS IMUCADR
059598,000705: 07,3463 12557 TCF MODEEXIT
059599,000706:
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|
Page 1403 |
059601,000708: # GENERALIZED MODE SWITCHING TERMINATION. ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION
059602,000709: # OR AT BADEND FOR AN UNSUCCESSFUL ONE. C(A) OR ARRIVAL =0 FOR IMU, 1 FOR OPTICS.
059603,000710:
059604,000711: 07,3464 54071 BADEND TS RUPTREG2 # DEVICE INDEX.
059605,000712: 07,3465 44714 CS ZERO # FOR FAILURE.
059606,000713: 07,3466 13471 TCF GOODEND +2
059607,000714:
059608,000715: 07,3467 54071 GOODEND TS RUPTREG2
059609,000716: 07,3470 44712 CS ONE # FOR SUCCESS.
059610,000717:
059611,000718: 07,3471 54072 TS RUPTREG3
059612,000719: 07,3472 50071 INDEX RUPTREG2 # SEE IF USING PROGRAM ASLEEP.
059613,000720: 07,3473 11322 CCS MODECADR
059614,000721: 07,3474 13476 TCF +2 # YES - WAKE IT UP.
059615,000722: 07,3475 13506 TCF ENDMODE # IF 0, PROGRAM NOT IN YET.
059616,000723:
059617,000724: 07,3476 34714 CAF ZERO # WAKE SLEEPING PROGRAM.
059618,000725: 07,3477 50071 INDEX RUPTREG2
059619,000726: 07,3500 57322 XCH MODECADR
059620,000727: 07,3501 05074 TC JOBWAKE
059621,000728:
059622,000729: 07,3502 40072 CS RUPTREG3 # ADVANCE LOC IF SUCCESSFUL.
059623,000730: 07,3503 50064 INDEX LOCCTR
059624,000731: 07,3504 26164 ADS LOC
059625,000732:
059626,000733: 07,3505 15213 TCF TASKOVER
059627,000734:
059628,000735: 07,3506 30072 ENDMODE CA RUPTREG3 # -0 INDICATES OPERATION COMPLETE BUT
059629,000736: 07,3507 50071 INDEX RUPTREG2 # UNSUCCESSFUL - -1 INDICATES COMPLETE AND
059630,000737: 07,3510 55322 TS MODECADR # SUCCESSFUL.
059631,000738: 07,3511 15213 TCF TASKOVER
059632,000739:
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|
Page 1404 |
059634,000741: # GENERAL STALLING ROUTINE. USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION.
059635,000742:
059636,000743: # PROGRAM DESCRIPTION DATE- 21 FEB 1967
059637,000744: # LOG SECTION IMU MODE SWITCHING
059638,000745: # MOD BY- R.MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 82
059639,000746:
059640,000747: # FUNCTIONAL DESCRIPTION-
059641,000748: # TO DELAY FURTHER EXECUTION OF THE CALLING ROUTINE UNTIL ITS SELECTED
059642,000749: # I/O FUNCTION IS COMPLETE.THE FOLLOWING CHECKS ON THE CALLING ROUTINE:S
059643,000750: # MODECADR ARE MADE AND ACTED UPON.
059644,000751: # 1) +0 INDICATES INCOMPLETE I/O OPERATION.CALLING ROUTINE IS PUT TO
059645,000752: # SLEEP.
059646,000753: # 2) -1 INDICATES COMPLETED I/O OPERATION. STALL BYPASSES JOBSLEEP
059647,000754: # CALL AND RETURNS TO CALLING ROUTINE AT L+3
059648,000755: # 3) -0 INDICATES COMPLETED I/O WITH FAILURE. STALL CLEARS MODECADR
059649,000756: # AND RETURNS TO CALLING ROUTINE AT L+2.
059650,000757: # 4) VALUE GREATER THAN 0 INDICATES TWO ROUTINES CALLING FOR USE OF
059651,000758: # SAME DEVICE. STALL EXITS TO ABORT WHICH EXECUTES A PROGRAM
059652,000759: # RESTART WHICH IN TURN CLEARS ALL MODECADR REGISTERS.
059653,000760:
059654,000761: # CALLING SEQUENCE-
059655,000762: # L TC BANKCALL
059656,000763: # L+1 CADR (ONE OF 5 STALL ADDRESSES I.E. IMUSTALL,OPTSTALL,RADSTALL,
059657,000764: # AOTSTALL,OR ATTSTALL)
059658,000765:
059659,000766: # NORMAL-EXIT MODE-
059660,000767: # TCF JOBSLEEP OR TCF MODEXIT
059661,000768:
059662,000769: # ALARM OR ABORT EXIT MODE-
059663,000770: # TC ABORT
059664,000771:
059665,000772: # OUTPUT-
059666,000773: # MODECADR= CADR IF JOBSLEEP
059667,000774: # MODECADR=+0 IF I/O COMPLETE
059668,000775: # BUF2=L+3 IF I/O COMPLETE AND GOOD.
059669,000776: # BUF2=L+2 IF I/O COMPLETE BUT FAILED.
059670,000777:
059671,000778: # ERASABLE INITIALIZATION-
059672,000779: # BUF2 CONTAINS RETURN ADDRESS PLUS 1,(L+2)
059673,000780: # BUF2+1 CONTAINS FBANK VALUE OF CALLING ROUTINE.
059674,000781: # MODECADR OF CALLING ROUTINE CONTAINS +0,-1,-0 OR CADR RETURN ADDRESS.
059675,000782:
059676,000783: # DEBRIS-
059677,000784: # RUPTREG2 AND CALLING ROUTINE MODECADR.
059678,000785:
059679,000786: 07,3512 34712 AOTSTALL CAF ONE # AOT.
059680,000787: 07,3513 03517 TC STALL
059681,000788:
059682,000789: 07,3514 34711 RADSTALL CAF TWO
059683,000790: 07,3515 13517 TCF STALL
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Page 1405 |
059685,000792: 07,3516 07,3512 OPTSTALL EQUALS AOTSTALL
059686,000793:
059687,000794: 07,3516 34714 IMUSTALL CAF ZERO # IMU.
059688,000795:
059689,000796: 07,3517 00004 STALL INHINT
059690,000797: 07,3520 54071 TS RUPTREG2 # SAVE DEVICE INDEX.
059691,000798: 07,3521 50000 INDEX A # SEE IF OPERATION COMPLETE.
059692,000799: 07,3522 11322 CCS MODECADR
059693,000800: 07,3523 13541 TCF MODABORT # ALLOWABLE STATES ARE +0, -1, AND -0.
059694,000801: 07,3524 13535 TCF MODESLP # OPERATION INCOMPLETE.
059695,000802: 07,3525 13531 TCF MODEGOOD # COMPLETE AND GOOD IF = -1.
059696,000803:
059697,000804: 07,3526 50071 MG2 INDEX RUPTREG2 # COMPLETE AND FAILED IF -0. RESET TO +0.
059698,000805: 07,3527 55322 TS MODECADR # RETURN TO CALLER.
059699,000806: 07,3530 12557 TCF MODEEXIT
059700,000807:
059701,000808: 07,3531 10000 MODEGOOD CCS A # MAKE SURE INITIAL STATE -1.
059702,000809: 07,3532 13541 TCF MODABORT
059703,000810:
059704,000811: 07,3533 24133 INCR BUF2 # IF SO, INCREMENT RETURN ADDRESS AND
059705,000812: 07,3534 13526 TCF MG2 # RETURN IMMEDIATELY, SETTING CADR = +0.
059706,000813:
059707,000814: 07,3535 04604 MODESLP TC MAKECADR # CALL FROM SWITCHABLE FIXED ONLY.
059708,000815: 07,3536 50071 INDEX RUPTREG2
059709,000816: 07,3537 55322 TS MODECADR
059710,000817: 07,3540 15070 TCF JOBSLEEP
059711,000818:
059712,000819: 07,3541 05622 MODABORT TC POODOO # TWO PROGRAMS USING SAME DEVICE.
059713,000820: 07,3542 01210 OCT 1210
059714,000821:
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Page 1406 |
059716,000823: # CONSTANTS FOR MODE SWITCHING ROUTINES
059717,000824:
059718,000825: 07,3543 5660 BITS3&4 = OCT14
059719,000826: 07,3543 4726 BITS4&6 = OCT50
059720,000827: 07,3543 00030 BITS4-5 OCT 00030
059721,000828: 07,3544 4703 IMUSEFLG EQUALS BIT8 # INTERPRETER SWITCH 7.
059722,000829: 07,3544 77500 -COMMAX DEC -191 B-14
059723,000830: 07,3545 77477 -COMMAX- DEC -192 B-14
059724,000831: 07,3546 00074 600MS DEC 60 B-14
059725,000832: 07,3547 07,3012 IMUFIN20 = IMUFINE
059726,000833: 07,3547 31325 GOMANUR CA ATTCADR # IS KALCMANU FREE
059727,000834: 07,3550 00006 EXTEND
059728,000835: 07,3551 13554 BZF +3
059729,000836:
059730,000837: 07,3552 05622 TC POODOO # NO
059731,000838: 07,3553 01210 OCT 1210 # 2 TRYING TO USE SAME DEVICE
059732,000839:
059733,000840: 07,3554 00006 +3 EXTEND
059734,000841: 07,3555 30134 DCA BUF2
059735,000842: 07,3556 53326 DXCH ATTCADR # SAVE FINAL RETURN FOR KALCMAN3
059736,000843:
059737,000844: 07,3557 30006 CA BBANK
059738,000845: 07,3560 74716 MASK SEVEN
059739,000846: 07,3561 27326 ADS ATTCADR +1
059740,000847:
059741,000848: 07,3562 30167 CA PRIORITY
059742,000849: 07,3563 77674 MASK PRIO37
059743,000850: 07,3564 55327 TS ATTPRIO # SAVE USERS PRIO
059744,000851:
059745,000852: 07,3565 33571 CAF KALEBCON # SET EBANK FOR KALCMAN3
059746,000853: 07,3566 54003 TS EBANK
059747,000854: 07,3567 04574 TC POSTJUMP
059748,000855: 07,3570 44000 CADR KALCMAN3
059749,000856: 07,3571 03261 KALEBCON ECADR BCDU
059750,000857:
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Page 1407 |
059752,000859: # PROGRAM DESCRIPTION
059753,000860: # IMU STATUS CHECK ROUTINE R02 (SUBROUTINE UTILITY)
059754,000861: # MOD NO - 1
059755,000862: # MOD BY - N.BRODEUR
059756,000863: # FUNCTIONAL DESCRIPTION
059757,000864:
059758,000865: # TO CHECK WHETHER IMU IS ON AND IF ON WHETHER IT IS ALIGNED TO AN
059759,000866: # ORIENTATION KNOWN BY THE CMC. TO REQUEST SELECTION OF THE APPROPRIATE
059760,000867: # PROGRAM IF THE IMU IS OFF OR NOT ALIGNED TO AN ORIENTATION KNOWN BY THE
059761,000868: # CMC. CALLED THROUGH BANKCALL
059762,000869: # CALLING SEQUENCE-
059763,000870:
059764,000871: # L TC BANKCALL
059765,000872: # L+1 CADR R02BOTH
059766,000873: # SUBROUTINES CALLED
059767,000874:
059768,000875: # VARALARM
059769,000876: # FLAGUP
059770,000877: # NORMAL EXIT MODES
059771,000878:
059772,000879: # AT L+2 OF CALLING SEQUENCE
059773,000880: # ALARM OR ABORT EXIT MODES
059774,000881: # GOTOPOOH, WITH ALARM
059775,000882: # ERASABLE INITIALIZATION REQUIRED
059776,000883:
059777,000884: # NONE
059778,000885: # DEBRIS
059779,000886:
059780,000887: # CENTRALS-A,Q,L
059781,000888: 34,3777 BANK 34
059782,000889: 07,2000 SETLOC R02
059783,000890: 07,2000 BANK
059784,000891: 07,3572 COUNT 04/R02 # COUNT*
059785,000892:
059786,000893: 07,3572 00063 DEC51 DEC 51 B-14
059787,000894: 07,3573 34676 R02BOTH CAF BIT13
059788,000895: 07,3574 70077 MASK STATE +3 # REFSMFLG
059789,000896: 07,3575 10000 CCS A
059790,000897: 07,3576 03607 TC R02ZERO # ZERO IMUS
059791,000898:
059792,000899: 07,3577 31320 CA IMODES30
059793,000900: 07,3600 74702 MASK BIT9 # IS ISS INITIALIZED
059794,000901: 07,3601 00006 EXTEND
059795,000902: 07,3602 13604 BZF +2
059796,000903: 07,3603 44707 CS BIT4 # SEND IMU ALARM CODE 210
059797,000904: 07,3604 63612 AD OCT220 # SEND REFSMM ALARM
059798,000905: 07,3605 05653 TC VARALARM
059799,000906:
059800,000907: 07,3606 04106 TC GOTOPOOH
059801,000908:
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Page 1408 |
059803,000910: 07,3607 05435 R02ZERO TC UPFLAG
059804,000911: 07,3610 00007 ADRES IMUSE
059805,000912: 07,3611 14570 TCF SWRETURN
059806,000913: 07,3612 00220 OCT220 OCT 220
059807,000914:
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Page 1409 |
059809,000916: # PROGRAM DESCRIPTION P06 10FEB67
059810,000917:
059811,000918: # TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION.
059812,000919:
059813,000920: # THE NORMAL CONDITION OF READINESS OF THE GNCS WHEN NOT IN USE IS STANDBY. IN THIS CONDITION THE IMU
059814,000921: # HEATER POWER IS ON. THE IMU OPERATE POWER IS OFF. THE COMPUTER POWER IS ON. THE OPTICS POWER IS OFF. THE
059815,000922: # CMC STANDBY ON THE MAIN AND LEB DISKYS IS ON.
059816,000923:
059817,000924: # CALLING SEQUENCE:
059818,000925: # ASTRONAUT REQUEST THROUGH DSKY V37E 06E.
059819,000926:
059820,000927: # SUBROUTINES CALLED:
059821,000928: # GOPERF1
059822,000929: # BANKCALL
059823,000930: # FLAGDOWN
059824,000931:
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Page 1410 |
059826,000933: # PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2
059827,000934: # THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATABILITY
059828,000935: # BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING.
059829,000936:
059830,000937: 26,2000 SETLOC P05P06
059831,000938: 26,2000 BANK
059832,000939:
059833,000940: 26,3655 1150 EBANK= TIME2SAV
059834,000941: 26,3655 COUNT* $$/P06
059835,000942:
059836,000943: 26,3655 05435 P06 TC UPFLAG # SET NODOV37 BIT
059837,000944: 26,3656 00054 ADRES NODOFLAG
059838,000945:
059839,000946: 26,3657 00004 PRESTAND INHINT
059840,000947: 26,3660 00006 EXTEND
059841,000948: 26,3661 30025 DCA TIME2 # SNAPSHOT TIME1TIME2
059842,000949: 26,3662 53151 DXCH TIME2SAV
059843,000950: 26,3663 03714 TC SCALPREP
059844,000951: 26,3664 03657 TC PRESTAND # T1,T2,SCALER NOT COMPATIBLE
059845,000952: 26,3665 52155 DXCH MPAC # T1,T2 AND SCALER OK
059846,000953: 26,3666 53153 DXCH SCALSAVE # STORE SCALER
059847,000954: 26,3667 00004 INHINT
059848,000955: 26,3670 04555 TC BANKCALL
059849,000956: 26,3671 16777 CADR RNDREFDR # REFSMM, DRIFT, TRACK FLAGS DOWN
059850,000957:
059851,000958: 26,3672 05447 TC DOWNFLAG
059852,000959: 26,3673 00007 ADRES IMUSE # IMUSE DOWN
059853,000960: 26,3674 05447 TC DOWNFLAG
059854,000961: 26,3675 00010 ADRES RNDVZFLG # RNDVZFLG DOWN
059855,000962:
059856,000963: 26,3676 34700 CAF BIT11
059857,000964: 26,3677 00006 EXTEND
059858,000965: 26,3700 05013 WOR CHAN13 # SET STANDBY ENABLE BIT
059859,000966:
059860,000967: 26,3701 05301 TC PHASCHNG # SET RESTART TO POSTAND WHEN STANDBY
059861,000968: 26,3702 07024 OCT 07024 # RECOVERS
059862,000969: 26,3703 20000 OCT 20000
059863,000970: 26,3704 1152 EBANK= SCALSAVE
059864,000971: 26,3704 03734 54102 2CADR POSTAND
059865,000972: 26,3706 34731 CAF OCT62
059866,000973: 26,3707 04555 TC BANKCALL
059867,000974: 26,3710 20751 CADR GOPERF1
059868,000975: 26,3711 13706 TCF -3
059869,000976: 26,3712 13706 TCF -4
059870,000977: 26,3713 13706 TCF -5
059871,000978:
059872,000979: 26,3714 4731 OCT62 EQUALS .5SEC # DEC 50 = OCT 62
059873,000980:
059874,000981: # THE LOW 5 BITS OF THE SCALER READS 10000 FOR THE FIRST INTERVAL AFTER A
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Page 1411 |
059876,000983: # T1 INCREMENT. IF SCALPREP DETECTS THIS INTERVAL THE T1,T2 AND SCALER
059877,000984: # DATA ARE NOT COMPATABLE AND RETURN IS TO L+1 FOR ANOTHER READING OF THE
059878,000985: # DATA. OTHERWISE, THE RETURN IS TO L+2 TO PROCEED. ROUTINE ALSO PREPARES
059879,000986: # THE SCALER READING FOR COMPUTATION OF THE INCREMENT TO UPDATE T1T2. (THE
059880,000987: # 10 MS BIT (BIT 6) OF THE SCALER IS INCREMENTED 5 MS OUT OF PHASE FROM
059881,000988: # T1.) ADDITION OF 5 MS (BIT 5) TO THE SCALER READING HAS THE EFFECT OF
059882,000989: # ADJUSTING BIT 6 IN THE SCALER TO BE IN PHASE WITH BIT 1 OF T1. THE LOW 5
059883,000990: # BITS OF THE SCALER READING ARE THEN SET TO ZERO, TO TRUNCATE THE SCALER
059884,000991: # DATA TO 10 MS. RESULTS ARE STORED IN MPAC, +1.
059885,000992:
059886,000993: 26,3714 00006 SCALPREP EXTEND
059887,000994: 26,3715 22156 QXCH MPAC +2
059888,000995: 26,3716 04527 TC FINETIME +1
059889,000996: 26,3717 00003 RELINT
059890,000997: 26,3720 52155 DXCH MPAC
059891,000998: 26,3721 34706 CA BIT5 # ADD 5 MS TO THE SCALER READING.
059892,000999: 26,3722 54001 TS L
059893,001000: 26,3723 34714 CA ZERO
059894,001001: 26,3724 20155 DAS MPAC
059895,001002: 26,3725 44362 CS LOW5 # SET LOW 5 BITS OF (SCALER+5MS) TO ZERO
059896,001003: 26,3726 70155 MASK MPAC +1 # AND STORE RESULTS IN MPAC,+1.
059897,001004: 26,3727 56155 XCH MPAC +1
059898,001005: 26,3730 74362 MASK LOW5 # TEST LOW 5 BITS OF SCALER FOR THE FIRST
059899,001006: # INTERVAL AFTER THE T1 INCREMENT
059900,001007: # (NOW = 00000, SINCE BIT 5 ADDED).
059901,001008: 26,3731 10000 CCS A # IS IT 1ST INTERVAL AFTER T1 INCREMENT
059902,001009: 26,3732 24156 INCR MPAC +2 # NO
059903,001010: 26,3733 00156 TC MPAC +2 # YES
059904,001011:
059905,001012: # POSTAND RECOVERS TIME AFTER STANDBY.THE SCALER IS SNAPSHOTTED AND THE
059906,001013: # TIME1 TIME2 COUNTER IS SET TO ZERO. THE LOW 5 BITS OF THE SCALER ARE
059907,001014: # INSPECTED TO INSURE COMPATABILITY BETWEEN THE SCALER READING AND THE
059908,001015: # CLEARING OF THE TIME COUNTER. IT THEN COMPUTES THE DIFFERENCE IN SCALER
059909,001016: # VALUES (IN DP) AND ADDS THIS TO THE PREVIOUSLY SNAPSHOTTED VALUES OF
059910,001017: # TIME1 TIME2 AND PLACES THIS NEW TIME INTO THE TIME1 TIME2 COUNTER.
059911,001018:
059912,001019: 26,3734 COUNT* $$/P05
059913,001020:
059914,001021: 26,3734 44700 POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY.
059915,001022: 26,3735 00006 EXTEND
059916,001023: 26,3736 03013 WAND CHAN13 # CLEAR STANDBY ENABLE BIT
059917,001024: 26,3737 00004 INHINT
059918,001025: 26,3740 34714 CA ZERO
059919,001026: 26,3741 54001 TS L
059920,001027: 26,3742 52025 DXCH TIME2 # CLEAR TIME1TIME2
059921,001028: 26,3743 03714 TC SCALPREP # STORE SCALER IN MPAC, MPAC+1
059922,001029: 26,3744 03737 TC POSTAND +3 # T1,T2,SCALER NOT COMPATIBLE
059923,001030: 26,3745 00006 EXTEND # T1,T2 AND SCALER OK
059924,001031: 26,3746 41153 DCS SCALSAVE
059925,001032: 26,3747 20155 DAS MPAC # FORM DP DIFFERENCE OF POSTSTANDBY SCALER
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Page 1412 |
059927,001034: 26,3750 34701 CAF BIT10 # MINUS PRESTANDBY SCALER AND SHIFT RIGHT
059928,001035: 26,3751 07256 TC SHORTMP # 5 TO ALIGN BITS WITH TIME1 TIME2.
059929,001036: 26,3752 34714 CAF ZERO
059930,001037: 26,3753 54156 TS MPAC +2 # NEEDED FOR TP AGREE
059931,001038: 26,3754 07226 TC TPAGREE # MAKE DP DIFF AGREE
059932,001039: 26,3755 10154 CCS MPAC
059933,001040: 26,3756 03763 TC POSTCOM # IF DP DIFF NET +, NO SCALER OVERFLOW
059934,001041: 26,3757 03763 TC POSTCOM # BETWEEN PRE AND POST STANDBY.
059935,001042: 26,3760 03761 TC +1 # IF DP DIFF NET -, SCALER OVERFLOWED. ADD
059936,001043: 26,3761 34701 CAF BIT10 # BIT 10 TO HIGH DIFF TO CORRECT.
059937,001044: 26,3762 26154 ADS MPAC
059938,001045: 26,3763 00006 POSTCOM EXTEND # C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER.
059939,001046: 26,3764 31151 DCA TIME2SAV # PRESTANDBY TIME1TIME2
059940,001047: 26,3765 20155 DAS MPAC
059941,001048: 26,3766 07226 TC TPAGREE # FORCE SIGN AGREEMENT
059942,001049: 26,3767 52155 DXCH MPAC # UPDATED VALUE FOR T1,T2.
059943,001050: 26,3770 20025 DAS TIME2 # LOAD UPDATED VALUE INTO T1,T2, WITH
059944,001051: 26,3771 05447 TC DOWNFLAG # CLEAR NODOFLAG
059945,001052: 26,3772 00054 ADRES NODOFLAG
059946,001053:
059947,001054: 26,3773 04106 TC GOTOPOOH
End of include-file IMU_MODE_SWITCHING_ROUTINES.agc. Parent file is MAIN.agc