ASSEMBLE REVISION 249 OF AGC PROGRAM COLOSSUS BY NASA 2021111-041 20'35 OCT. 28,1968Note that the date is the date of the printout, not the date of the program revision.
Source Code
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This is the source-code for the Apollo 9 Command Module's Guidance Computer.
These files were derived originally from the scan from MIT's Dibner Institute's
now-discontinued website titled "History of Recent Science and Technology", which
in turn was originally created by Gary Neff, though his high-quality scans were
unfortunately reduced in legibility when presented online.
The markings on the front of the
printout imply that it was the original AGC developer Norm Brodeur's copy.
A scan by Ron Burkey has superceded it, made from a more-legible copy from the collection of original
AGC developer Fred Martin. The source code was transcribed from
those images by Ron Burkey. Note that the page images
presented online are of reduced quality, and that higher-quality 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:ASSEMBLE REVISION 249 OF AGC PROGRAM COLOSSUS BY NASA 2021111-041 20'35 OCT. 28,1968Note that the date is the date of the printout, not the date of the program revision. |
060882,000002: ## Copyright: Public domain.
060883,000003: ## Filename: IMU_MODE_SWITCHING_ROUTINES.agc
060884,000004: ## Purpose: Part of the source code for Colossus, build 249.
060885,000005: ## It is part of the source code for the Command Module's (CM)
060886,000006: ## Apollo Guidance Computer (AGC), for Apollo 9.
060887,000007: ## Assembler: yaYUL
060888,000008: ## Reference: Starts on p. 1388
060889,000009: ## Contact: Ron Burkey <info@sandroid.org>.
060890,000010: ## Website: www.ibiblio.org/apollo.
060891,000011: ## Mod history: 08/30/04 RSB Adapted from corresponding Luminary131 file.
060892,000012: ## 2010-10-24 JL Indentation fixes.
060893,000013: ## 2010-10-24 JL Fixed page number.
060894,000014: ## 2011-05-07 JL Removed workaround.
060895,000015: ## 2017-01-06 RSB Page numbers now agree with those on the
060896,000016: ## original hardcopy, as opposed to the PDF page
060897,000017: ## numbers in 1701.pdf.
060898,000018: ## 2017-01-14 RSB Cross-diff'd comment text (not whitespace)
060899,000019: ## vs the already-proofed corresponding Colossus
060900,000020: ## 237 and Comanche 55 source-code files
060901,000021: ## and corrected errors found.
060902,000022: ## 2017-03-15 RSB Comment-text fixes identified in 6-way
060903,000023: ## side-by-side diff of Sunburst 120 and Luminary
060904,000024: ## 69/99/116/131/210.
060905,000025:
060906,000026: ## The contents of the "Colossus249" files, in general, are transcribed
060907,000027: ## from a scanned copy of the program listing. Notations on this
060908,000028: ## document read, in part:
060909,000029: ##
060910,000030: ## Assemble revision 249 of AGC program Colossus by NASA
060911,000031: ## 2021111-041. October 28, 1968.
060912,000032: ##
060913,000033: ## This AGC program shall also be referred to as
060914,000034: ## Colossus 1A
060915,000035: ##
060916,000036: ## Prepared by
060917,000037: ## Massachusetts Institute of Technology
060918,000038: ## 75 Cambridge Parkway
060919,000039: ## Cambridge, Massachusetts
060920,000040: ## under NASA contract NAS 9-4065.
060921,000041: ##
060922,000042: ## Refer directly to the online document mentioned above for further information.
060923,000043: ## Please report any errors (relative to the scanned pages) to info@sandroid.org.
060924,000044: ##
060925,000045: ## In some cases, where the source code for Luminary 131 overlaps that of
060926,000046: ## Colossus 249, this code is instead copied from the corresponding Luminary 131
060927,000047: ## source file, and then is proofed to incorporate any changes.
060928,000048:
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Page 1388 |
060930,000050: 5410 BLOCK 02
060931,000051: 4000 SETLOC FFTAG3
060932,000052: 4000 BANK
060933,000053:
060934,000054: 5410 E3,1471 EBANK= COMMAND
060935,000055:
060936,000056: # FIXED-FIXED ROUTINES.
060937,000057:
060938,000058: 5410 COUNT 02/IMODE
060939,000059:
060940,000060: 5410 34714 ZEROICDU CAF ZERO # ZERO ICDU COUNTERS.
060941,000061: 5411 54032 TS CDUX
060942,000062: 5412 54033 TS CDUY
060943,000063: 5413 54034 TS CDUZ
060944,000064: 5414 00002 TC Q
060945,000065:
060946,000066: 5415 4702 SPSCODE = BIT9
060947,000067:
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Page 1389 |
060949,000069: # IMU ZEROING ROUTINE.
060950,000070:
060951,000071: 11,3721 BANK 11
060952,000072: 07,2000 SETLOC MODESW
060953,000073: 07,2000 BANK
060954,000074:
060955,000075: 07,2516 COUNT 07/IMODE
060956,000076:
060957,000077: 07,2516 00004 IMUZERO INHINT # ROUTINE TO ZERO ICDUS.
060958,000078: 07,2517 41036 CS DSPTAB +11D # DONT ZERO CDUS IF IMU IN GIMBAL LOCK AND
060959,000079: 07,2520 74726 MASK BITS4&6 # COARSE ALIGN (GIMBAL RUNAWAY PROTECTION)
060960,000080: 07,2521 10000 CCS A
060961,000081: 07,2522 12526 TCF IMUZEROA
060962,000082:
060963,000083: 07,2523 05537 TC ALARM # IF SO.
060964,000084: 07,2524 00206 OCT 00206
060965,000085:
060966,000086: 07,2525 13461 TCF CAGETSTJ +4 # IMMEDIATE FAILURE.
060967,000087:
060968,000088: 07,2526 03455 IMUZEROA TC CAGETSTJ
060969,000089:
060970,000090: # DO ALL THE WORK.
060971,000091:
060972,000092: 07,2527 41321 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
060973,000093: 07,2530 74730 MASK SUPER011 # BIT5 FOR GROUND
060974,000094: 07,2531 27321 ADS IMODES33
060975,000095:
060976,000096: 07,2532 41320 CS IMODES30 # INHIBIT ICDUFAIL AND IMUFAIL (IN CASE WE
060977,000097: 07,2533 75656 MASK BITS3&4 # JUST CAME OUT OF COARSE ALIGN).
060978,000098: 07,2534 27320 ADS IMODES30
060979,000099:
060980,000100: 07,2535 44726 CS BITS4&6 # SEND ZERO ENCODE WITH COARSE AND ERROR
060981,000101: 07,2536 00006 EXTEND # COUNTER DISABLED.
060982,000102: 07,2537 03012 WAND CHAN12
060983,000103:
060984,000104: 07,2540 03070 TC NOATTOFF # TURN OFF NO ATT LAMP.
060985,000105:
060986,000106: 07,2541 34706 CAF BIT5
060987,000107: 07,2542 00006 EXTEND
060988,000108: 07,2543 05012 WOR CHAN12
060989,000109:
060990,000110: 07,2544 05410 TC ZEROICDU
060991,000111: 07,2545 34705 CAF BIT6 # WAIT 320 MS TO GIVE AGS ADEQUATE TIME TO
060992,000112: 07,2546 05140 TC WAITLIST # RECEIVE ITS PULSE TRAIN.
060993,000113: 07,2547 E3,1474 EBANK= CDUIND
060994,000114: 07,2547 02561 16103 2CADR IMUZERO2
060995,000115:
060996,000116: 07,2551 41320 CS IMODES30 # SEE IF IMU OPERATING AND ALARM IF NOT.
060997,000117: 07,2552 74702 MASK BIT9
060998,000118: 07,2553 10000 CCS A
060999,000119: 07,2554 12557 TCF MODEEXIT
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Page 1390 |
061001,000121: 07,2555 05537 TC ALARM
061002,000122: 07,2556 00210 OCT 210
061003,000123:
061004,000124: 07,2557 00003 MODEEXIT RELINT # GENERAL MODE-SWITCHING EXIT.
061005,000125: 07,2560 14570 TCF SWRETURN
061006,000126:
061007,000127: 07,2561 03443 IMUZERO2 TC CAGETEST
061008,000128: 07,2562 05410 TC ZEROICDU # ZERO CDUX, CDUY, CDUZ
061009,000129:
061010,000130: 07,2563 44706 CS BIT5 # REMOVE ZERO DISCRETE.
061011,000131: 07,2564 00006 EXTEND
061012,000132: 07,2565 03012 WAND CHAN12
061013,000133:
061014,000134: 07,2566 34700 CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS
061015,000135: 07,2567 05161 TC VARDELAY
061016,000136:
061017,000137: 07,2570 03443 IMUZERO3 TC CAGETEST
061018,000138: 07,2571 45656 CS BITS3&4 # REMOVE IMUFAIL AND ICDUFAIL INHIBIT.
061019,000139: 07,2572 71320 MASK IMODES30
061020,000140: 07,2573 55320 TS IMODES30
061021,000141:
061022,000142: 07,2574 44730 CS SUPER011 # ENABLE DAP AUTO AND HOLD MODES
061023,000143: 07,2575 71321 MASK IMODES33 # BIT5 FOR GROUND
061024,000144: 07,2576 55321 TS IMODES33
061025,000145:
061026,000146: 07,2577 04633 TC IBNKCALL # SET ISS WARNING IF EITHER OF ABOVE ARE
061027,000147: 07,2600 14665 CADR SETISSW # PRESENT.
061028,000148:
061029,000149: 07,2601 13433 TCF ENDIMU
061030,000150:
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Page 1391 |
061032,000152: # IMU COARSE ALIGN MODE.
061033,000153:
061034,000154: 07,2602 00004 IMUCOARS INHINT
061035,000155: 07,2603 03455 TC CAGETSTJ
061036,000156: 07,2604 02746 TC SETCOARS
061037,000157:
061038,000158: 07,2605 36211 CAF SIX
061039,000159: 07,2606 05140 TC WAITLIST
061040,000160: 07,2607 E3,1474 EBANK= CDUIND
061041,000161: 07,2607 02612 16103 2CADR COARS
061042,000162:
061043,000163: 07,2611 12557 TCF MODEEXIT
061044,000164:
061045,000165: 07,2612 03443 COARS TC CAGETEST
061046,000166: 07,2613 34705 CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
061047,000167: 07,2614 00006 EXTEND
061048,000168: 07,2615 05012 WOR CHAN12
061049,000169:
061050,000170: 07,2616 34711 CAF TWO # SET CDU INDICATOR
061051,000171: 07,2617 55474 COARS1 TS CDUIND
061052,000172:
061053,000173: 07,2620 51474 INDEX CDUIND # COMPUTE THETAD - THETAA IN 1:S
061054,000174: 07,2621 31155 CA THETAD # COMPLEMENT FORM
061055,000175: 07,2622 00006 EXTEND
061056,000176: 07,2623 51474 INDEX CDUIND
061057,000177: 07,2624 20032 MSU CDUX
061058,000178: 07,2625 00006 EXTEND
061059,000179: 07,2626 74676 MP BIT13 # SHIFT RIGHT 2
061060,000180: 07,2627 56001 XCH L # ROUND
061061,000181: 07,2630 60000 DOUBLE
061062,000182: 07,2631 54061 TS ITEMP1
061063,000183: 07,2632 12634 TCF +2
061064,000184: 07,2633 26001 ADS L
061065,000185:
061066,000186: 07,2634 51474 INDEX CDUIND # DIFFERENCE TO BE COMPUTED
061067,000187: 07,2635 23471 LXCH COMMAND
061068,000188: 07,2636 11474 CCS CDUIND
061069,000189: 07,2637 02617 TC COARS1
061070,000190:
061071,000191: 07,2640 34711 CAF TWO # MINIMUM OF 4 MS WAIT
061072,000192: 07,2641 05161 TC VARDELAY
061073,000193:
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Page 1392 |
061075,000195: 07,2642 03443 COARS2 TC CAGETEST # DONT CONTINUE IF CAGED.
061076,000196: 07,2643 54061 TS ITEMP1 # SETS TO +0.
061077,000197: 07,2644 34711 CAF TWO # SET CDU INDICATOR
061078,000198: 07,2645 55474 +3 TS CDUIND
061079,000199:
061080,000200: 07,2646 51474 INDEX CDUIND
061081,000201: 07,2647 11471 CCS COMMAND # NUMBER OF PULSES REQUIRED
061082,000202: 07,2650 02654 TC COMPOS # GREATER THAN MAX ALLOWED
061083,000203: 07,2651 02663 TC NEXTCDU +1
061084,000204: 07,2652 02721 TC COMNEG
061085,000205: 07,2653 02663 TC NEXTCDU +1
061086,000206:
061087,000207: 07,2654 63544 COMPOS AD -COMMAX # COMMAX = MAX NUMBER OF PULSES ALLOWED
061088,000208: 07,2655 00006 EXTEND # MINUS ONE
061089,000209: 07,2656 62731 BZMF COMZERO
061090,000210: 07,2657 51474 INDEX CDUIND
061091,000211: 07,2660 55471 TS COMMAND # REDUCE COMMAND BY MAX NUMBER OF PULSES
061092,000212: 07,2661 43545 CS -COMMAX- # ALLOWED
061093,000213:
061094,000214: 07,2662 24061 NEXTCDU INCR ITEMP1
061095,000215: 07,2663 64713 AD NEG0
061096,000216: 07,2664 51474 INDEX CDUIND
061097,000217: 07,2665 54050 TS CDUXCMD # SET UP COMMAND REGISTER.
061098,000218:
061099,000219: 07,2666 11474 CCS CDUIND
061100,000220: 07,2667 02645 TC COARS2 +3
061101,000221:
061102,000222: 07,2670 10061 CCS ITEMP1 # SEE IF ANY PULSES TO GO OUT.
061103,000223: 07,2671 12735 TCF SENDPULS
061104,000224:
061105,000225: 07,2672 05156 TC FIXDELAY # WAIT FOR GIMBALS TO SETTLE.
061106,000226: 07,2673 00226 DEC 150 B-14
061107,000227:
061108,000228: 07,2674 34711 CAF TWO # AT END OF COMMAND, CHECK TO SEE THAT
061109,000229: 07,2675 54061 CHKCORS TS ITEMP1 # GIMBALS ARE WITHIN 2 DEGREES OF THETAD.
061110,000230: 07,2676 50000 INDEX A
061111,000231: 07,2677 30032 CA CDUX
061112,000232: 07,2700 00006 EXTEND
061113,000233: 07,2701 50061 INDEX ITEMP1
061114,000234: 07,2702 21155 MSU THETAD
061115,000235: 07,2703 10000 CCS A
061116,000236: 07,2704 12712 TCF COARSERR
061117,000237: 07,2705 12707 TCF CORSCHK2
061118,000238: 07,2706 12712 TCF COARSERR
061119,000239:
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Page 1393 |
061121,000241: 07,2707 10061 CORSCHK2 CCS ITEMP1
061122,000242: 07,2710 12675 TCF CHKCORS
061123,000243: 07,2711 13433 TCF ENDIMU # END OF COARSE ALIGNMENT.
061124,000244:
061125,000245: 07,2712 62720 COARSERR AD COARSTOL # 2 DEGREES.
061126,000246: 07,2713 00006 EXTEND
061127,000247: 07,2714 62707 BZMF CORSCHK2
061128,000248:
061129,000249: 07,2715 05537 TC ALARM # COARSE ALIGN ERROR.
061130,000250: 07,2716 00211 OCT 211
061131,000251:
061132,000252: 07,2717 13441 TCF IMUBAD
061133,000253:
061134,000254: 07,2720 77511 COARSTOL DEC -.01111 # 2 DEGREES SCALED AT HALF-REVOLUTIONS
061135,000255:
061136,000256: 07,2721 63544 COMNEG AD -COMMAX
061137,000257: 07,2722 00006 EXTEND
061138,000258: 07,2723 62731 BZMF COMZERO
061139,000259: 07,2724 40000 COM
061140,000260: 07,2725 51474 INDEX CDUIND
061141,000261: 07,2726 55471 TS COMMAND
061142,000262: 07,2727 33545 CA -COMMAX-
061143,000263: 07,2730 02662 TC NEXTCDU
061144,000264:
061145,000265: 07,2731 34714 COMZERO CAF ZERO
061146,000266: 07,2732 51474 INDEX CDUIND
061147,000267: 07,2733 57471 XCH COMMAND
061148,000268: 07,2734 02662 TC NEXTCDU
061149,000269:
061150,000270: 07,2735 37707 SENDPULS CAF 13,14,15
061151,000271: 07,2736 00006 EXTEND
061152,000272: 07,2737 05014 WOR CHAN14
061153,000273: 07,2740 33546 CAF 600MS
061154,000274: 07,2741 12641 TCF COARS2 -1 # THEN TO VARDELAY
061155,000275:
061156,000276: 07,2742 34705 CA+ECE CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
061157,000277: 07,2743 00006 EXTEND
061158,000278: 07,2744 05012 WOR CHAN12
061159,000279: 07,2745 05213 TC TASKOVER
061160,000280:
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Page 1394 |
061162,000282: 07,2746 34707 SETCOARS CAF BIT4 # BYPASS IF ALREADY IN COARSE ALIGN
061163,000283: 07,2747 00006 EXTEND
061164,000284: 07,2750 02012 RAND CHAN12
061165,000285: 07,2751 10000 CCS A
061166,000286: 07,2752 00002 TC Q
061167,000287:
061168,000288: 07,2753 44705 CS BIT6 # CLEAR ISS ERROR COUNTERS
061169,000289: 07,2754 00006 EXTEND
061170,000290: 07,2755 03012 WAND CHAN12
061171,000291:
061172,000292: 07,2756 44701 CS BIT10 # KNOCK DOWN GYRO ACTIVITY
061173,000293: 07,2757 00006 EXTEND
061174,000294: 07,2760 03014 WAND CHAN14
061175,000295: 07,2761 44714 CS ZERO
061176,000296: 07,2762 54047 TS GYROCMD
061177,000297:
061178,000298: 07,2763 34707 CAF BIT4 # PUT ISS IN COARSE ALIGN
061179,000299: 07,2764 00006 EXTEND
061180,000300: 07,2765 05012 WOR CHAN12
061181,000301:
061182,000302: 07,2766 41036 CS DSPTAB +11D # TURN ON NO ATT LAMP
061183,000303: 07,2767 73011 MASK OCT40010
061184,000304: 07,2770 27036 ADS DSPTAB +11D
061185,000305:
061186,000306: 07,2771 41321 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
061187,000307: 07,2772 74705 MASK BIT6
061188,000308: 07,2773 27321 ADS IMODES33
061189,000309:
061190,000310: 07,2774 41320 CS IMODES30 # DISABLE IMUFAIL
061191,000311: 07,2775 74707 MASK BIT4
061192,000312: 07,2776 27320 ADS IMODES30
061193,000313:
061194,000314: 07,2777 44706 RNDREFDR CS BIT5 # KNOCK DOWN TRACK FLAG
061195,000315: 07,3000 70075 MASK FLAGWRD1
061196,000316: 07,3001 54075 TS FLAGWRD1
061197,000317:
061198,000318: 07,3002 44674 CS BIT15 # KNOCK DOWN DRIFT FLAG
061199,000319: 07,3003 70076 MASK FLAGWRD2
061200,000320: 07,3004 54076 TS FLAGWRD2
061201,000321:
061202,000322: 07,3005 44676 CS BIT13 # KNOCK DOWN REFSMMAT FLAG
061203,000323: 07,3006 70077 MASK FLAGWRD3
061204,000324: 07,3007 54077 TS FLAGWRD3
061205,000325:
061206,000326: 07,3010 00002 TC Q
061207,000327:
061208,000328: 07,3011 40010 OCT40010 OCT 40010
061209,000329:
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Page 1395 |
061211,000331: # IMU FINE ALIGN MODE SWITCH.
061212,000332:
061213,000333: 07,3012 00004 IMUFINE INHINT
061214,000334: 07,3013 03455 TC CAGETSTJ # SEE IF IMU BEING CAGED.
061215,000335:
061216,000336: 07,3014 43543 CS BITS4-5 # RESET ZERO AND COARSE
061217,000337: 07,3015 00006 EXTEND
061218,000338: 07,3016 03012 WAND CHAN12
061219,000339:
061220,000340: 07,3017 44705 CS BIT6 # INSURE DAP AUTO AND HOLD MODES ENABLED
061221,000341: 07,3020 71321 MASK IMODES33
061222,000342: 07,3021 55321 TS IMODES33
061223,000343:
061224,000344: 07,3022 03070 TC NOATTOFF
061225,000345:
061226,000346: 07,3023 34701 CAF BIT10 # IMU FAIL WAS INHIBITED DURING THE
061227,000347: 07,3024 05140 TC WAITLIST # PRESUMABLY PRECEDING COARSE ALIGN. LEAVE
061228,000348: 07,3025 E3,1474 EBANK= CDUIND
061229,000349: 07,3025 03036 16103 2CADR IFAILOK # IT ON FOR THE FIRST 5 SECS OF FINE ALIGN
061230,000350:
061231,000351: 07,3027 34735 CAF 2SECS
061232,000352: 07,3030 05140 TC WAITLIST
061233,000353: 07,3031 E3,1474 EBANK= CDUIND
061234,000354: 07,3031 03034 16103 2CADR IMUFINED
061235,000355:
061236,000356: 07,3033 12557 TCF MODEEXIT
061237,000357:
061238,000358: 07,3034 03443 IMUFINED TC CAGETEST # SEE THAT NO ONE HAS CAGED THE IMU.
061239,000359: 07,3035 13433 TCF ENDIMU
061240,000360:
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Page 1396 |
061242,000362: 07,3036 03450 IFAILOK TC CAGETSTQ # ENABLE IMU FIAL UNLESS IMU BEING CAGED.
061243,000363: 07,3037 15213 TCF TASKOVER # IT IS.
061244,000364:
061245,000365: 07,3040 34707 CAF BIT4 # DONT RESET IMU FAIL INHIBIT IF SOMEONE
061246,000366: 07,3041 00006 EXTEND # HAS GONE INTO COARSE ALIGN.
061247,000367: 07,3042 02012 RAND CHAN12
061248,000368: 07,3043 10000 CCS A
061249,000369: 07,3044 15213 TCF TASKOVER
061250,000370:
061251,000371: 07,3045 41320 CS IMODES30 # RESET IMUFAIL.
061252,000372: 07,3046 74676 MASK BIT13
061253,000373: 07,3047 27320 ADS IMODES30
061254,000374: 07,3050 44707 CS BIT4
061255,000375: 07,3051 71320 PFAILOK2 MASK IMODES30
061256,000376: 07,3052 55320 TS IMODES30
061257,000377: 07,3053 04633 TC IBNKCALL # THE ISS WARNING LIGHT MAY COME ON NOW
061258,000378: 07,3054 14665 CADR SETISSW # THAT THE INHIBIT HAS BEEN REMOVED.
061259,000379: 07,3055 15213 TCF TASKOVER
061260,000380:
061261,000381: 07,3056 03450 PFAILOK TC CAGETSTQ # ENABLE PIP FAIL PROG ALARM.
061262,000382: 07,3057 15213 TCF TASKOVER
061263,000383:
061264,000384: 07,3060 41320 CS IMODES30 # RESET IMU AND PIPA FAIL BITS.
061265,000385: 07,3061 74701 MASK BIT10
061266,000386: 07,3062 27320 ADS IMODES30
061267,000387:
061268,000388: 07,3063 41321 CS IMODES33
061269,000389: 07,3064 74676 MASK BIT13
061270,000390: 07,3065 27321 ADS IMODES33
061271,000391:
061272,000392: 07,3066 44706 CS BIT5
061273,000393: 07,3067 13051 TCF PFAILOK2
061274,000394:
061275,000395: 07,3070 43011 NOATTOFF CS OCT40010 # SUBROUTINE TO TURN OFF NO ATT LAMP.
061276,000396: 07,3071 71036 MASK DSPTAB +11D
061277,000397: 07,3072 64674 AD BIT15
061278,000398: 07,3073 55036 TS DSPTAB +11D
061279,000399: 07,3074 00002 TC Q
061280,000400:
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Page 1397 |
061282,000402: # ROUITNES TO INITIATE AND TERMINATE PROGRAM USE OF THE PIPAS. NO IMUSTALL REQUIRED IN EITHER CASE.
061283,000403:
061284,000404: 07,3075 44714 PIPUSE CS ZERO
061285,000405: 07,3076 54037 TS PIPAX
061286,000406: 07,3077 54040 TS PIPAY
061287,000407: 07,3100 54041 TS PIPAZ
061288,000408:
061289,000409: 07,3101 03450 PIPUSE1 TC CAGETSTQ # DO NOT ENABLE PIPA FAIL IF IMU IS CAGED
061290,000410: 07,3102 14570 TCF SWRETURN
061291,000411:
061292,000412: 07,3103 00004 INHINT
061293,000413: 07,3104 44712 CS BIT1 # IF PIPA FAILS FROM NOW ON (UNTIL
061294,000414: 07,3105 71320 MASK IMODES30 # PIPFREE), LIGHT ISS WARNING.
061295,000415: 07,3106 55320 TS IMODES30
061296,000416:
061297,000417: 07,3107 04633 PIPFREE2 TC IBNKCALL # ISS WARNING MIGHT COME ON NOW.
061298,000418: 07,3110 14665 CADR SETISSW # (OR GO OFF ON PIPFREE).
061299,000419:
061300,000420: 07,3111 12557 TCF MODEEXIT
061301,000421:
061302,000422: 07,3112 00004 PIPFREE INHINT # PROGRAM DONE WITH PIPAS. DONT LIGHT
061303,000423: 07,3113 41320 CS IMODES30 # ISS WARNING.
061304,000424: 07,3114 74712 MASK BIT1
061305,000425: 07,3115 27320 ADS IMODES30
061306,000426:
061307,000427: 07,3116 74701 MASK BIT10 # IF PIP FAIL ON, DO PROG ALSRM AND RESET
061308,000428: 07,3117 10000 CCS A # ISS WARNING.
061309,000429: 07,3120 12557 TCF MODEEXIT
061310,000430:
061311,000431: 07,3121 05537 TC ALARM
061312,000432: 07,3122 00212 OCT 212
061313,000433:
061314,000434: 07,3123 00004 INHINT
061315,000435:
061316,000436: 07,3124 13107 TCF PIPFREE2
061317,000437:
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|
Page 1398 |
061319,000439: # THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIX REGISTERS
061320,000440: # BEGINNING AT THE ECADR ARRIVING IN A. THE MINIMUM SIZE OF ANY PULSE TRAIN IS 16 PULSES (.25 CDU COUNTS). THE
061321,000441: # UNSENT PORTION OF THE COMMAND IS LEFT INTACT IN THE INPUT COMMAND REGISTERS.
061322,000442:
061323,000443: 07,3125 E3,1400 EBANK= 1400 # VARIABLE, ACTUALLY.
061324,000444:
061325,000445: 07,3125 54161 IMUPULSE TS MPAC +5 # SAVE ARRIVING ECADR.
061326,000446: 07,3126 03455 TC CAGETSTJ # DONT PROCEED IF IMU BEING CAGED.
061327,000447:
061328,000448: 07,3127 11304 CCS LGYRO # SEE IF GYROS BUSY.
061329,000449: 07,3130 03171 TC GYROBUSY # SLEEP.
061330,000450:
061331,000451: 07,3131 54156 TS MPAC +2
061332,000452: 07,3132 34705 CAF BIT6 # ENABLE THE POWER SUPPLY.
061333,000453: 07,3133 00006 EXTEND
061334,000454: 07,3134 05014 WOR CHAN14
061335,000455:
061336,000456: 07,3135 34710 CAF FOUR
061337,000457: 07,3136 05140 GWAKE2 TC WAITLIST # (IF A JOB WAS PUT TO SLEEP, THE POWER
061338,000458: 07,3137 E3,1474 EBANK= CDUIND # SUPPLY IS LEFT ON BY THE WAKING JOB).
061339,000459: 07,3137 03207 16103 2CADR STRTGYRO
061340,000460:
061341,000461: 07,3141 30161 CA MPAC +5 # SET UP EBANK, SAVING CALLER'S EBANK FOR
061342,000462: 07,3142 56003 XCH EBANK # RESTORATION ON RETURN.
061343,000463: 07,3143 56161 XCH MPAC +5
061344,000464: 07,3144 55304 TS LGYRO # RESERVES GYROS.
061345,000465: 07,3145 74373 MASK LOW8
061346,000466: 07,3146 54061 TS ITEMP1
061347,000467:
061348,000468: 07,3147 34711 CAF TWO # FORCE SIGN AGREEMENT ON INPUTS.
061349,000469: 07,3150 54157 GYROAGRE TS MPAC +3
061350,000470: 07,3151 60000 DOUBLE
061351,000471: 07,3152 60061 AD ITEMP1
061352,000472: 07,3153 54160 TS MPAC +4
061353,000473: 07,3154 00006 EXTEND
061354,000474: 07,3155 50000 INDEX A
061355,000475: 07,3156 31401 DCA 1400
061356,000476: 07,3157 52155 DXCH MPAC
061357,000477: 07,3160 07226 TC TPAGREE
061358,000478: 07,3161 52155 DXCH MPAC
061359,000479: 07,3162 50160 INDEX MPAC +4
061360,000480: 07,3163 53401 DXCH 1400
061361,000481:
061362,000482: 07,3164 10157 CCS MPAC +3
061363,000483: 07,3165 13150 TCF GYROAGRE
061364,000484:
061365,000485: 07,3166 30161 CA MPAC +5 # RESTORE CALLER'S EBANK.
061366,000486: 07,3167 54003 TS EBANK
061367,000487: 07,3170 12557 TCF MODEEXIT
061368,000488:
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|
Page 1399 |
061370,000490: # ROUTINES TO ALLOW TORQUING BY ONLY ONE JOB AT A TIME.
061371,000491:
061372,000492: 07,3171 00006 GYROBUSY EXTEND # SAVE RETURN 2FCADR.
061373,000493: 07,3172 30134 DCA BUF2
061374,000494: 07,3173 52155 DXCH MPAC
061375,000495: 07,3174 33206 REGSLEEP CAF LGWAKE
061376,000496: 07,3175 15070 TCF JOBSLEEP
061377,000497:
061378,000498: 07,3176 11304 GWAKE CCS LGYRO # WHEN AWAKENED, SEE IF GYROS STILL BUSY.
061379,000499: 07,3177 13174 TCF REGSLEEP # IF SO, SLEEP SOME MORE.
061380,000500:
061381,000501: 07,3200 54156 TS MPAC +2
061382,000502: 07,3201 00006 EXTEND
061383,000503: 07,3202 30155 DCA MPAC
061384,000504: 07,3203 52134 DXCH BUF2 # RESTORE SWRETURN INFO.
061385,000505: 07,3204 34712 CAF ONE
061386,000506: 07,3205 13136 TCF GWAKE2
061387,000507:
061388,000508: 07,3206 17176 LGWAKE CADR GWAKE
061389,000509:
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|
Page 1400 |
061391,000511: # GYRO-TORQUING WAITLIST TASKS.
061392,000512:
061393,000513: 07,3207 43430 STRTGYRO CS GDESELCT # DE-SELECT LAST GYRO.
061394,000514: 07,3210 00006 EXTEND
061395,000515: 07,3211 03014 WAND CHAN14
061396,000516:
061397,000517: 07,3212 03443 TC CAGETEST
061398,000518:
061399,000519: 07,3213 31304 STRTGYR2 CA LGYRO # JUMP ON PHASE COUNTER IN BITS 13-14.
061400,000520: 07,3214 00006 EXTEND
061401,000521: 07,3215 74707 MP BIT4
061402,000522: 07,3216 50000 INDEX A
061403,000523: 07,3217 13220 TCF +1
061404,000524: 07,3220 03235 TC GSELECT # =0. DO Y GYRO.
061405,000525: 07,3221 00202 OCT 00202
061406,000526:
061407,000527: 07,3222 03235 TC GSELECT # =1. DO Z GYRO.
061408,000528: 07,3223 00302 OCT 00302
061409,000529:
061410,000530: 07,3224 03233 TC GSELECT -2 # =2. DO X GYRO.
061411,000531: 07,3225 00100 OCT 00100
061412,000532:
061413,000533: 07,3226 34714 CAF ZERO # =3. DONE
061414,000534: 07,3227 55304 TS LGYRO
061415,000535: 07,3230 33206 CAF LGWAKE # WAKE A POSSIBLE SLEEPING JOB.
061416,000536: 07,3231 05074 TC JOBWAKE
061417,000537:
061418,000538: 07,3232 13034 NORESET TCF IMUFINED # DO NOT RESET POWER SUPPLY
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|
Page 1401 |
061420,000540: 07,3233 44710 -2 CS FOUR # SPECIAL ENTRY TO REGRESS LGYRO FOR X.
061421,000541: 07,3234 27304 ADS LGYRO
061422,000542:
061423,000543: 07,3235 50002 GSELECT INDEX Q # SELECT GYRO.
061424,000544: 07,3236 30000 CAF 0 # PACKED WORD CONTAINS GYRO SELECT BITS
061425,000545: 07,3237 54064 TS ITEMP4 # AND INCREMENT TO LGYRO.
061426,000546: 07,3240 74716 MASK SEVEN
061427,000547: 07,3241 64676 AD BIT13
061428,000548: 07,3242 27304 ADS LGYRO
061429,000549: 07,3243 54003 TS EBANK
061430,000550: 07,3244 74373 MASK LOW8
061431,000551: 07,3245 54061 TS ITEMP1
061432,000552:
061433,000553: 07,3246 44716 CS SEVEN
061434,000554: 07,3247 70064 MASK ITEMP4
061435,000555: 07,3250 54064 TS ITEMP4
061436,000556:
061437,000557: 07,3251 00006 EXTEND # MOVE DP COMMAND TO RUPTREGS FOR TESTING.
061438,000558: 07,3252 50061 INDEX ITEMP1
061439,000559: 07,3253 31401 DCA 1400
061440,000560: 07,3254 52071 DXCH RUPTREG1
061441,000561:
061442,000562: 07,3255 10070 CCS RUPTREG1
061443,000563: 07,3256 13271 TCF MAJ+
061444,000564: 07,3257 13261 TCF +2
061445,000565: 07,3260 13411 TCF MAJ-
061446,000566:
061447,000567: 07,3261 10071 CCS RUPTREG2
061448,000568: 07,3262 13266 TCF MIN+
061449,000569: 07,3263 13213 TCF STRTGYR2
061450,000570: 07,3264 13406 TCF MIN-
061451,000571: 07,3265 13213 TCF STRTGYR2
061452,000572:
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|
Page 1402 |
061454,000574: 07,3266 63322 MIN+ AD -GYROMIN # SMALL POSITIVE COMMAND. SEE IF AT LEAST
061455,000575: 07,3267 00006 EXTEND # 16 GYRO PULSES.
061456,000576: 07,3270 63213 BZMF STRTGYR2
061457,000577:
061458,000578: 07,3271 00006 MAJ+ EXTEND # DEFINITE POSITIVE OUTPUT.
061459,000579: 07,3272 33432 DCA GYROFRAC
061460,000580: 07,3273 20071 DAS RUPTREG1
061461,000581:
061462,000582: 07,3274 30064 CA ITEMP4 # SELECT POSITIVE TORQUING FOR THIS GYRO.
061463,000583: 07,3275 00006 EXTEND
061464,000584: 07,3276 05014 WOR CHAN14
061465,000585:
061466,000586: 07,3277 36043 CAF LOW7 # LEAVE NUMBER OF POSSIBLE 8192 AUGMENTS
061467,000587: 07,3300 70071 MASK RUPTREG2 # TO INITIAL COMMAND IN MAJOR PART OF LONG
061468,000588: 07,3301 56071 XCH RUPTREG2 # TERM STORAGE AND TRUNCATED FRACTION
061469,000589: 07,3302 00006 GMERGE EXTEND # IN MINOR PART. THE MAJOR PART WILL BE
061470,000590: 07,3303 74703 MP BIT8 # COUNTED DOWN TO ZERO IN THE COURSE OF
061471,000591: 07,3304 54062 TS ITEMP2 # PUTTING OUT THE ENTIRE COMMAND.
061472,000592: 07,3305 30070 CA RUPTREG1
061473,000593: 07,3306 00006 EXTEND
061474,000594: 07,3307 74702 MP BIT9
061475,000595: 07,3310 54070 TS RUPTREG1
061476,000596: 07,3311 30001 CA L
061477,000597: 07,3312 00006 EXTEND
061478,000598: 07,3313 74675 MP BIT14
061479,000599: 07,3314 26062 ADS ITEMP2 # INITIAL COMMAND.
061480,000600:
061481,000601: 07,3315 00006 EXTEND # SEE IF MORE THAN ONE PULSE TRAIN NEEDED
061482,000602: 07,3316 30071 DCA RUPTREG1 # (MORE THAN 16383 PULSES).
061483,000603: 07,3317 67716 AD MINUS1
061484,000604: 07,3320 10000 CCS A
061485,000605: 07,3321 13345 TCF LONGGYRO
061486,000606: 07,3322 77601 -GYROMIN OCT -176 # MAY BE ADJUSTED TO SPECIFY MINIMUM CMD
061487,000607: 07,3323 13327 TCF +4
061488,000608:
061489,000609: 07,3324 34675 CAF BIT14
061490,000610: 07,3325 26062 ADS ITEMP2
061491,000611: 07,3326 34714 CAF ZERO
061492,000612:
061493,000613: 07,3327 50061 +4 INDEX ITEMP1
061494,000614: 07,3330 53401 DXCH 1400
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Page 1403 |
061496,000616: 07,3331 30062 CA ITEMP2 # ENTIRE COMMAND.
061497,000617: 07,3332 54047 LASTSEG TS GYROCMD
061498,000618: 07,3333 00006 EXTEND
061499,000619: 07,3334 74701 MP BIT10 # WAITLIST DT
061500,000620: 07,3335 66214 AD THREE # TRUNCATION AND PHASE UNCERTAINTIES.
061501,000621: 07,3336 05140 TC WAITLIST
061502,000622: 07,3337 E3,1474 EBANK= CDUIND
061503,000623: 07,3337 03207 16103 2CADR STRTGYRO
061504,000624:
061505,000625: 07,3341 34701 GYROEXIT CAF BIT10
061506,000626: 07,3342 00006 EXTEND
061507,000627: 07,3343 05014 WOR CHAN14
061508,000628: 07,3344 15213 TCF TASKOVER
061509,000629:
061510,000630: 07,3345 50061 LONGGYRO INDEX ITEMP1
061511,000631: 07,3346 53401 DXCH 1400 # INITIAL COMMAND OUT PLUS N AUGMENTS OF
061512,000632: 07,3347 34675 CAF BIT14 # 8192. INITIAL COMMAND IS AT LEAST 8192.
061513,000633: 07,3350 60062 AD ITEMP2
061514,000634: 07,3351 54047 TS GYROCMD
061515,000635:
061516,000636: 07,3352 00006 AUG3 EXTEND # GET WAITLIST DT TO TIME WHEN TRAIN IS
061517,000637: 07,3353 74701 MP BIT10 # ALMOST OUT.
061518,000638: 07,3354 67714 AD NEG3
061519,000639: 07,3355 05140 TC WAITLIST
061520,000640: 07,3356 E3,1474 EBANK= CDUIND
061521,000641: 07,3356 03361 16103 2CADR 8192AUG
061522,000642:
061523,000643: 07,3360 13341 TCF GYROEXIT
061524,000644:
061525,000645: 07,3361 03443 8192AUG TC CAGETEST
061526,000646:
061527,000647: 07,3362 34707 CAF BIT4
061528,000648: 07,3363 00006 EXTEND
061529,000649: 07,3364 02012 RAND CHAN12
061530,000650: 07,3365 10000 CCS A
061531,000651: 07,3366 13441 TCF IMUBAD
061532,000652: 07,3367 31304 CA LGYRO # ADD 8192 PULSES TO GYROCMD
061533,000653: 07,3370 54003 TS EBANK
061534,000654: 07,3371 74373 MASK LOW8
061535,000655: 07,3372 54061 TS ITEMP1
061536,000656:
061537,000657: 07,3373 50061 INDEX ITEMP1 # SEE IF THIS IS THE LAST AUG.
061538,000658: 07,3374 11400 CCS 1400
061539,000659: 07,3375 13401 TCF AUG2 # MORE TO COME.
061540,000660:
061541,000661: 07,3376 34675 CAF BIT14
061542,000662: 07,3377 26047 ADS GYROCMD
061543,000663: 07,3400 13333 TCF LASTSEG +1
061544,000664:
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|
Page 1404 |
061546,000666: 07,3401 50061 AUG2 INDEX ITEMP1
061547,000667: 07,3402 55400 TS 1400
061548,000668: 07,3403 34675 CAF BIT14
061549,000669: 07,3404 26047 ADS GYROCMD
061550,000670: 07,3405 13352 TCF AUG3 # COMPUTE DT.
061551,000671:
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|
Page 1405 |
061553,000673: 07,3406 63322 MIN- AD -GYROMIN # POSSIBLE NEGATIVE OUTPUT.
061554,000674: 07,3407 00006 EXTEND
061555,000675: 07,3410 63213 BZMF STRTGYR2
061556,000676:
061557,000677: 07,3411 00006 MAJ- EXTEND # DEFINITE NEGATIVE OUTPUT.
061558,000678: 07,3412 43432 DCS GYROFRAC
061559,000679: 07,3413 20071 DAS RUPTREG1
061560,000680:
061561,000681: 07,3414 30064 CA ITEMP4 # SELECT NEGATIVE TORQUING FOR THIS GYRO.
061562,000682: 07,3415 64702 AD BIT9
061563,000683: 07,3416 00006 EXTEND
061564,000684: 07,3417 05014 WOR CHAN14
061565,000685:
061566,000686: 07,3420 40070 CS RUPTREG1 # SET UP RUPTREGS TO FALL INTO GMERGE.
061567,000687: 07,3421 54070 TS RUPTREG1 # ALL NUMBERS PUT INTO GYROCMD ARE
061568,000688: 07,3422 40071 CS RUPTREG2 # POSITIVE - BIT9 OF CHAN 14 DETERMINES
061569,000689: 07,3423 76043 MASK LOW7 # THE SIGN OF THE COMMAND.
061570,000690: 07,3424 40000 COM
061571,000691: 07,3425 56071 XCH RUPTREG2
061572,000692: 07,3426 40000 COM
061573,000693: 07,3427 13302 TCF GMERGE
061574,000694:
061575,000695: 07,3430 01700 GDESELCT OCT 1700 # TURN OFF SELECT AND ACTIVITY BITS.
061576,000696:
061577,000697: 07,3431 00000 00034 GYROFRAC 2DEC .215 B-21
061578,000698:
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|
Page 1406 |
061580,000700: # IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE.
061581,000701:
061582,000702: 07,3433 00006 ENDIMU EXTEND # MODE IS BAD IF CAGE HAS OCCURED OR IF
061583,000703: 07,3434 00011 READ DSALMOUT # ISS WARNING IS ON.
061584,000704: 07,3435 74712 MASK BIT1
061585,000705: 07,3436 10000 CCS A
061586,000706: 07,3437 13441 TCF IMUBAD
061587,000707:
061588,000708: 07,3440 13467 IMUGOOD TCF GOODEND # WITH C(A) = 0.
061589,000709:
061590,000710: 07,3441 34714 IMUBAD CAF ZERO
061591,000711: 07,3442 13464 TCF BADEND
061592,000712:
061593,000713: 07,3443 34705 CAGETEST CAF BIT6 # SUBROUTINE TO TERMINATE IMU MODE
061594,000714: 07,3444 71320 MASK IMODES30 # SWITCH IF IMU HAS BEEN CAGED.
061595,000715: 07,3445 10000 CCS A
061596,000716: 07,3446 13441 TCF IMUBAD # DIRECTLY.
061597,000717: 07,3447 00002 TC Q # WITH C(A) = +0.
061598,000718:
061599,000719: 07,3450 41320 CAGETSTQ CS IMODES30 # SKIP IF IMU NOT BEING CAGED.
061600,000720: 07,3451 74705 MASK BIT6
061601,000721: 07,3452 10000 CCS A
061602,000722: 07,3453 24002 INCR Q
061603,000723: 07,3454 00002 TC Q
061604,000724:
061605,000725: 07,3455 41320 CAGETSTJ CS IMODES30 # IF DURING MODE SWITCH INITIALIZATION
061606,000726: 07,3456 74705 MASK BIT6 # IT IS FOUND THAT THE IMU IS BEING CAGED,
061607,000727: 07,3457 10000 CCS A # SET IMUCADR TO -0 TO INDICATE OPERATION
061608,000728: 07,3460 00002 TC Q # COMPLETE BUT FAILED. RETURN IMMEDIATELY
061609,000729: 07,3461 44714 CS ZERO # TO SWRETURN.
061610,000730: 07,3462 55322 TS IMUCADR
061611,000731: 07,3463 12557 TCF MODEEXIT
061612,000732:
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|
Page 1407 |
061614,000734: # GENERALIZED MODE SWITCHING TERMINATION. ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION
061615,000735: # OR AT BADEND FOR AN UNSUCCESSFUL ONE. C(A) OR ARRIVAL =0 FOR IMU, 1 FOR OPTICS.
061616,000736:
061617,000737: 07,3464 54071 BADEND TS RUPTREG2 # DEVICE INDEX.
061618,000738: 07,3465 44714 CS ZERO # FOR FAILURE.
061619,000739: 07,3466 13471 TCF GOODEND +2
061620,000740:
061621,000741: 07,3467 54071 GOODEND TS RUPTREG2
061622,000742: 07,3470 44712 CS ONE # FOR SUCCESS.
061623,000743:
061624,000744: 07,3471 54072 TS RUPTREG3
061625,000745: 07,3472 50071 INDEX RUPTREG2 # SEE IF USING PROGRAM ASLEEP.
061626,000746: 07,3473 11322 CCS MODECADR
061627,000747: 07,3474 13476 TCF +2 # YES - WAKE IT UP.
061628,000748: 07,3475 13506 TCF ENDMODE # IF 0, PROGRAM NOT IN YET.
061629,000749:
061630,000750: 07,3476 34714 CAF ZERO # WAKE SLEEPING PROGRAM.
061631,000751: 07,3477 50071 INDEX RUPTREG2
061632,000752: 07,3500 57322 XCH MODECADR
061633,000753: 07,3501 05074 TC JOBWAKE
061634,000754:
061635,000755: 07,3502 40072 CS RUPTREG3 # ADVANCE LOC IF SUCCESSFUL.
061636,000756: 07,3503 50064 INDEX LOCCTR
061637,000757: 07,3504 26164 ADS LOC
061638,000758:
061639,000759: 07,3505 15213 TCF TASKOVER
061640,000760:
061641,000761: 07,3506 30072 ENDMODE CA RUPTREG3 # -0 INDICATES OPERATION COMPLETE BUT
061642,000762: 07,3507 50071 INDEX RUPTREG2 # UNSUCCESSFUL - -1 INDICATES COMPLETE AND
061643,000763: 07,3510 55322 TS MODECADR # SUCCESSFUL.
061644,000764: 07,3511 15213 TCF TASKOVER
061645,000765:
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|
Page 1408 |
061647,000767: # GENERAL STALLING ROUTINE. USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION.
061648,000768:
061649,000769: # PROGRAM DESCRIPTION DATE - 21 FEB 1967
061650,000770: # LOG SECTION IMU MODE SWITCHING
061651,000771: # MOD BY - R. MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 82
061652,000772:
061653,000773: # FUNCTIONAL DESCRIPTION -
061654,000774: # TO DELAY FURTHER EXECUTION OF THE CALLING ROUTINE UNTIL ITS SELECTED
061655,000775: # I/O FUNCTION IS COMPLETE. THE FOLLOWING CHECKS ON THE CALLING ROUTINE:S
061656,000776: # MODECADR ARE MADE AND ACTED UPON.
061657,000777: # 1) +0 INDICATES INCOMPLETE I/O OPERATION. CALLING ROUTINE IS PUT TO
061658,000778: # SLEEP.
061659,000779: # 2) -1 INDICATES COMPLETED I/O OPERATION. STALL BYPASSES JOBSLEEP
061660,000780: # CALL AND RETURNS TO CALLING ROUTINE AT L+3
061661,000781: # 3) -0 INDICATES COMPLETED I/O WITH FAILURE. STALL CLEARS MODECADR
061662,000782: # AND RETURNS TO CALLING ROUTINE AT L+2.
061663,000783: # 4) VALUE GREATER THAN 0 INDICATES TWO ROUTINES CALLING FOR USE OF
061664,000784: # SAME DEVICE. STALL EXITS TO ABORT WHICH EXECUTES A PROGRAM
061665,000785: # RESTART WHICH IN TURN CLEARS ALL MODECADR REGISTERS.
061666,000786:
061667,000787: # CALLING SEQUENCE -
061668,000788: # L TC BANKCALL
061669,000789: # L+1 CADR (ONE OF 5 STALL ADDRESSES I.E. IMUSTALL, OPTSTALL, RADSTALL,
061670,000790: # AOTSTALL, OR ATTSTALL)
061671,000791:
061672,000792: # NORMAL-EXIT MODE -
061673,000793: # TCF JOBSLEEP OR TCF MODEXIT
061674,000794:
061675,000795: # ALARM OR ABORT EXIT MODE -
061676,000796: # TC ABORT
061677,000797:
061678,000798: # OUTPUT -
061679,000799: # MODECADR=CADR IF JOBSLEEP
061680,000800: # MODECADR=+0 IF I/O COMPLETE
061681,000801: # BUF2=L+3 IF I/O COMPLETE AND GOOD.
061682,000802: # BUF2=L+2 IF I/O COMPLETE BUT FAILED.
061683,000803:
061684,000804: # ERASABLE INITIALIZATION -
061685,000805: # BUF2 CONTAINS RETURN ADDRESS PLUS 1,(L+2)
061686,000806: # BUF2+1 CONTAINS FBANK VALUE OF CALLING ROUTINE.
061687,000807: # MODECADR OF CALLING ROUTINE CONTAINS +0,-1,-0 OR CADR RETURN ADDRESS.
061688,000808:
061689,000809: # DEBRIS -
061690,000810: # RUPTREG2 AND CALLING ROUTINE MODECADR.
061691,000811:
061692,000812: 07,3512 34712 AOTSTALL CAF ONE # AOT.
061693,000813: 07,3513 03517 TC STALL
061694,000814:
061695,000815: 07,3514 34711 RADSTALL CAF TWO
061696,000816: 07,3515 13517 TCF STALL
061697,000817:
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Page 1409 |
061699,000819: 07,3516 07,3512 OPTSTALL EQUALS AOTSTALL
061700,000820:
061701,000821: 07,3516 34714 IMUSTALL CAF ZERO # IMU.
061702,000822:
061703,000823: 07,3517 00004 STALL INHINT
061704,000824: 07,3520 54071 TS RUPTREG2 # SAVE DEVICE INDEX.
061705,000825: 07,3521 50000 INDEX A # SEE IF OPERATION COMPLETE.
061706,000826: 07,3522 11322 CCS MODECADR
061707,000827: 07,3523 13541 TCF MODABORT # ALLOWABLE STATES ARE +0, -1, AND -0.
061708,000828: 07,3524 13535 TCF MODESLP # OPERATION INCOMPLETE.
061709,000829: 07,3525 13531 TCF MODEGOOD # COMPLETE AND GOOD IF = -1.
061710,000830:
061711,000831: 07,3526 50071 MG2 INDEX RUPTREG2 # COMPLETE AND FAILED IF -0. RESET TO +0.
061712,000832: 07,3527 55322 TS MODECADR # RETURN TO CALLER.
061713,000833: 07,3530 12557 TCF MODEEXIT
061714,000834:
061715,000835: 07,3531 10000 MODEGOOD CCS A # MAKE SURE INITIAL STATE -1.
061716,000836: 07,3532 13541 TCF MODABORT
061717,000837:
061718,000838: 07,3533 24133 INCR BUF2 # IF SO, INCREMENT RETURN ADDRESS AND
061719,000839: 07,3534 13526 TCF MG2 # RETURN IMMEDIATELY, SETTING CADR = +0.
061720,000840:
061721,000841: 07,3535 04604 MODESLP TC MAKECADR # CALL FROM SWITCHABLE FIXED ONLY.
061722,000842: 07,3536 50071 INDEX RUPTREG2
061723,000843: 07,3537 55322 TS MODECADR
061724,000844: 07,3540 15070 TCF JOBSLEEP
061725,000845:
061726,000846: 07,3541 05622 MODABORT TC POODOO # TWO PROGRAMS USING SAME DEVICE.
061727,000847: 07,3542 01210 OCT 1210
061728,000848:
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Page 1410 |
061730,000850: # CONSTANTS FOR MODE SWITCHING ROUTINES
061731,000851:
061732,000852: 07,3543 5656 BITS3&4 = OCT14
061733,000853: 07,3543 4726 BITS4&6 = OCT50
061734,000854: 07,3543 00030 BITS4-5 OCT 00030
061735,000855: 07,3544 4703 IMUSEFLG EQUALS BIT8 # INTERPRETER SWITCH 7.
061736,000856: 07,3544 77500 -COMMAX DEC -191 B-14
061737,000857: 07,3545 77477 -COMMAX- DEC -192 B-14
061738,000858: 07,3546 00074 600MS DEC 60 B-14
061739,000859: 07,3547 07,3012 IMUFIN20 = IMUFINE
061740,000860: 07,3547 31325 GOMANUR CA ATTCADR # IS KALCMANU FREE
061741,000861: 07,3550 00006 EXTEND
061742,000862: 07,3551 13554 BZF +3
061743,000863: 07,3552 05622 TC POODOO # NO
061744,000864: 07,3553 01210 OCT 1210 # 2 TRYING TO USE SAME DEVICE
061745,000865:
061746,000866: 07,3554 00006 +3 EXTEND
061747,000867: 07,3555 30134 DCA BUF2
061748,000868: 07,3556 53326 DXCH ATTCADR # SAVE FINAL RETURN FOR KALCMAN3
061749,000869:
061750,000870: 07,3557 30006 CA BBANK
061751,000871: 07,3560 74716 MASK SEVEN
061752,000872: 07,3561 27326 ADS ATTCADR +1
061753,000873:
061754,000874: 07,3562 30167 CA PRIORITY
061755,000875: 07,3563 77674 MASK PRIO37
061756,000876: 07,3564 55327 TS ATTPRIO # SAVE USERS PRIO
061757,000877:
061758,000878: 07,3565 33571 CAF KALEBCON # SET EBANK FOR KALCMAN3
061759,000879: 07,3566 54003 TS EBANK
061760,000880: 07,3567 04574 TC POSTJUMP
061761,000881: 07,3570 44000 CADR KALCMAN3
061762,000882: 07,3571 03261 KALEBCON ECADR BCDU
061763,000883:
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Page 1411 |
061765,000885: # PROGRAM DESCRIPTION
061766,000886: # IMU STATUS CHECK ROUTINE R02 (SUBROUTINE UTILITY)
061767,000887: # MOD NO - 1
061768,000888: # MOD BY - N.BRODEUR
061769,000889:
061770,000890: # FUNCTIONAL DESCRIPTION
061771,000891: # TO CHECK WHETHER IMU IS ON AND IF ON WHETHER IT IS ALIGNED TO AN
061772,000892: # ORIENTATION KNOWN BY THE CMC. TO REQUEST SELECTION OF THE APPROPRIATE
061773,000893: # PROGRAM IF THE IMU IS OFF OR NOT ALIGNED TO AN ORIENTATION KNOWN BY THE
061774,000894: # CMC. CALLED THROUGH BANKCALL
061775,000895:
061776,000896: # CALLING SEQUENCE -
061777,000897: # L TC BANKCALL
061778,000898: # L+1 CADR R02BOTH
061779,000899:
061780,000900: # SUBROUTINES CALLED
061781,000901: # VARALARM
061782,000902: # FLAGUP
061783,000903:
061784,000904: # NORMAL EXIT MODES
061785,000905: # AT L+2 OF CALLING SEQUENCE
061786,000906:
061787,000907: # ALARM OR ABORT EXIT MODES
061788,000908: # GOTOPOOH, WITH ALARM
061789,000909:
061790,000910: # ERASABLE INITIALIZATION REQUIRED
061791,000911: # NONE
061792,000912:
061793,000913: # DEBRIS
061794,000914: # CENTRALS-A,Q,L
061795,000915:
061796,000916: 34,3775 BANK 34
061797,000917: 07,2000 SETLOC R02
061798,000918: 07,2000 BANK
061799,000919: 07,3572 COUNT 04/R02 # COUNT*
061800,000920:
061801,000921: 07,3572 00063 DEC51 DEC 51 B-14
061802,000922: 07,3573 34676 R02BOTH CAF BIT13
061803,000923: 07,3574 70077 MASK STATE +3 # REFSMFLG
061804,000924: 07,3575 10000 CCS A
061805,000925: 07,3576 03607 TC R02ZERO # ZERO IMUS
061806,000926:
061807,000927: 07,3577 31320 CA IMODES30
061808,000928: 07,3600 74702 MASK BIT9 # IS ISS INITIALIZED
061809,000929: 07,3601 00006 EXTEND
061810,000930: 07,3602 13604 BZF +2
061811,000931: 07,3603 44707 CS BIT4 # SEND IMU ALARM CODE 210
061812,000932: 07,3604 63612 AD OCT220 # SEND REFSMM ALARM
061813,000933: 07,3605 05651 TC VARALARM
061814,000934:
061815,000935: 07,3606 04106 TC GOTOPOOH
061816,000936:
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Page 1412 |
061818,000938: 07,3607 05435 R02ZERO TC UPFLAG
061819,000939: 07,3610 00007 ADRES IMUSE
061820,000940: 07,3611 14570 TCF SWRETURN
061821,000941: 07,3612 00220 OCT220 OCT 220
061822,000942:
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Page 1413 |
061824,000944: # PROGRAM DESCRIPTION P06 10FEB67
061825,000945:
061826,000946: # TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION.
061827,000947:
061828,000948: # THE NORMAL CONDITION OF READINESS OF THE GNCS WHEN NOT IN USE IS STANDBY. IN THIS CONDITION THE IMU
061829,000949: # HEATER POWER IS ON. THE IMU OPERATE POWER IS OFF. THE COMPUTER POWER IS ON. THE OPTICS POWER IS OFF. THE
061830,000950: # CMC STANDBY ON THE MAIN AND LEB DISKYS IS ON.
061831,000951:
061832,000952: # CALLING SEQUENCE:
061833,000953: # ASTRONAUT REQUEST THROUGH DSKY V37E 06E.
061834,000954:
061835,000955: # SUBROUTINES CALLED:
061836,000956: # GOPERF1
061837,000957: # BANKCALL
061838,000958: # FLAGDOWN
061839,000959:
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Page 1414 |
061841,000961: # PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2
061842,000962: # THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATABILITY
061843,000963: # BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING.
061844,000964:
061845,000965: 26,2000 SETLOC P05P06
061846,000966: 26,2000 BANK
061847,000967:
061848,000968: 26,3655 1150 EBANK= TIME2SAV
061849,000969: 26,3655 COUNT* $$/P06
061850,000970:
061851,000971: 26,3655 05435 P06 TC UPFLAG # SET NODOV37 BIT
061852,000972: 26,3656 00054 ADRES NODOFLAG
061853,000973:
061854,000974: 26,3657 00004 PRESTAND INHINT
061855,000975: 26,3660 00006 EXTEND
061856,000976: 26,3661 30025 DCA TIME2 # SNAPSHOT TIME1 TIME2
061857,000977: 26,3662 53151 DXCH TIME2SAV
061858,000978: 26,3663 03714 TC SCALPREP
061859,000979: 26,3664 03657 TC PRESTAND # T1,T2,SCALER NOT COMPATIBLE
061860,000980: 26,3665 52155 DXCH MPAC # T1,T2 AND SCALER OK
061861,000981: 26,3666 53153 DXCH SCALSAVE # STORE SCALER
061862,000982: 26,3667 00004 INHINT
061863,000983: 26,3670 04555 TC BANKCALL
061864,000984: 26,3671 16777 CADR RNDREFDR # REFSMM, DRIFT, TRACK FLAGS DOWN
061865,000985:
061866,000986: 26,3672 05447 TC DOWNFLAG
061867,000987: 26,3673 00007 ADRES IMUSE # IMUSE DOWN
061868,000988: 26,3674 05447 TC DOWNFLAG
061869,000989: 26,3675 00010 ADRES RNDVZFLG # RNDVZFLG DOWN
061870,000990:
061871,000991: 26,3676 34700 CAF BIT11
061872,000992: 26,3677 00006 EXTEND
061873,000993: 26,3700 05013 WOR CHAN13 # SET STANDBY ENABLE BIT
061874,000994:
061875,000995: 26,3701 05301 TC PHASCHNG # SET RESTART TO POSTAND WHEN STANDBY
061876,000996: 26,3702 07024 OCT 07024 # RECOVERS
061877,000997: 26,3703 20000 OCT 20000
061878,000998: 26,3704 1152 EBANK= SCALSAVE
061879,000999: 26,3704 03734 54102 2CADR POSTAND
061880,001000:
061881,001001: 26,3706 34731 CAF OCT62
061882,001002: 26,3707 04555 TC BANKCALL
061883,001003: 26,3710 20751 CADR GOPERF1
061884,001004: 26,3711 13706 TCF -3
061885,001005: 26,3712 13706 TCF -4
061886,001006: 26,3713 13706 TCF -5
061887,001007:
061888,001008: 26,3714 4731 OCT62 EQUALS .5SEC # DEC 50 = OCT 62
061889,001009:
061890,001010: # THE LOW 5 BITS OF THE SCALER READS 10000 FOR THE FIRST INTERVAL AFTER A
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Page 1415 |
061892,001012: # T1 INCREMENT. IF SCALPREP DETECTS THIS INTERVAL THE T1,T2 AND SCALER
061893,001013: # DATA ARE NOT COMPATABLE AND RETURN IS TO L+1 FOR ANOTHER READING OF THE
061894,001014: # DATA. OTHERWISE, THE RETURN IS TO L+2 TO PROCEED. ROUTINE ALSO PREPARES
061895,001015: # THE SCALER READING FOR COMPUTATION OF THE INCREMENT TO UPDATE T1T2. (THE
061896,001016: # 10 MS BIT (BIT 6) OF THE SCALER IS INCREMENTED 5 MS OUT OF PHASE FROM
061897,001017: # T1.) ADDITION OF 5 MS (BIT 5) TO THE SCALER READING HAS THE EFFECT OF
061898,001018: # ADJUSTING BIT 6 IN THE SCALER TO BE IN PHASE WITH BIT 1 OF T1. THE LOW 5
061899,001019: # BITS OF THE SCALER READING ARE THEN SET TO ZERO, TO TRUNCATE THE SCALER
061900,001020: # DATA TO 10 MS. RESULTS ARE STORED IN MPAC, +1.
061901,001021:
061902,001022: 26,3714 00006 SCALPREP EXTEND
061903,001023: 26,3715 22156 QXCH MPAC +2
061904,001024: 26,3716 04527 TC FINETIME +1
061905,001025: 26,3717 00003 RELINT
061906,001026: 26,3720 52155 DXCH MPAC
061907,001027: 26,3721 34706 CA BIT5 # ADD 5 MS TO THE SCALER READING.
061908,001028: 26,3722 54001 TS L
061909,001029: 26,3723 34714 CA ZERO
061910,001030: 26,3724 20155 DAS MPAC
061911,001031: 26,3725 44362 CS LOW5 # SET LOW 5 BITS OF (SCALER+5MS) TO ZERO
061912,001032: 26,3726 70155 MASK MPAC +1 # AND STORE RESULTS IN MPAC,+1.
061913,001033: 26,3727 56155 XCH MPAC +1
061914,001034: 26,3730 74362 MASK LOW5 # TEST LOW 5 BITS OF SCALER FOR THE FIRST
061915,001035: # INTERVAL AFTER THE T1 INCREMENT
061916,001036: # (NOW = 00000, SINCE BIT 5 ADDED).
061917,001037: 26,3731 10000 CCS A # IS IT 1ST INTERVAL AFTER T1 INCREMENT
061918,001038: 26,3732 24156 INCR MPAC +2 # NO
061919,001039: 26,3733 00156 TC MPAC +2 # YES
061920,001040:
061921,001041: # POSTAND RECOVERS TIME AFTER STANDBY. THE SCALER IS SNAPSHOTTED AND THE
061922,001042: # TIME1 TIME2 COUNTER IS SET TO ZERO. THE LOW 5 BITS OF THE SCALER ARE
061923,001043: # INSPECTED TO INSURE COMPATABILITY BETWEEN THE SCALER READING AND THE
061924,001044: # CLEARING OF THE TIME COUNTER. IT THEN COMPUTES THE DIFFERENCE IN SCALER
061925,001045: # VALUES (IN DP) AND ADDS THIS TO THE PREVIOUSLY SNAPSHOTTED VALUES OF
061926,001046: # TIME1 TIME2 AND PLACES THIS NEW TIME INTO THE TIME1 TIME2 COUNTER.
061927,001047:
061928,001048: 26,3734 COUNT* $$/P05
061929,001049:
061930,001050: 26,3734 44700 POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY.
061931,001051: 26,3735 00006 EXTEND
061932,001052: 26,3736 03013 WAND CHAN13 # CLEAR STANDBY ENABLE BIT
061933,001053: 26,3737 00004 INHINT
061934,001054: 26,3740 34714 CA ZERO
061935,001055: 26,3741 54001 TS L
061936,001056: 26,3742 52025 DXCH TIME2 # CLEAR TIME1 TIME2
061937,001057: 26,3743 03714 TC SCALPREP # STORE SCALER IN MPAC, MPAC+1
061938,001058: 26,3744 03737 TC POSTAND +3 # T1,T2,SCALER NOT COMPATIBLE
061939,001059: 26,3745 00006 EXTEND # T1,T2 AND SCALER OK
061940,001060: 26,3746 41153 DCS SCALSAVE
061941,001061: 26,3747 20155 DAS MPAC # FORM DP DIFFERENCE OF POSTSTANDBY SCALER
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Page 1416 |
061943,001063: 26,3750 34701 CAF BIT10 # MINUS PRESTANDBY SCALER AND SHIFT RIGHT
061944,001064: 26,3751 07256 TC SHORTMP # 5 TO ALIGN BITS WITH TIME1 TIME2.
061945,001065: 26,3752 34714 CAF ZERO
061946,001066: 26,3753 54156 TS MPAC +2 # NEEDED FOR TP AGREE
061947,001067: 26,3754 07226 TC TPAGREE # MAKE DP DIFF AGREE
061948,001068: 26,3755 10154 CCS MPAC
061949,001069: 26,3756 03763 TC POSTCOM # IF DP DIFF NET +, NO SCALER OVERFLOW
061950,001070: 26,3757 03763 TC POSTCOM # BETWEEN PRE AND POST STANDBY.
061951,001071: 26,3760 03761 TC +1 # IF DP DIFF NET -, SCALER OVERFLOWED. ADD
061952,001072: 26,3761 34701 CAF BIT10 # BIT 10 TO HIGH DIFF TO CORRECT.
061953,001073: 26,3762 26154 ADS MPAC
061954,001074: 26,3763 00006 POSTCOM EXTEND # C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER.
061955,001075: 26,3764 31151 DCA TIME2SAV # PRESTANDBY TIME1 TIME2
061956,001076: 26,3765 20155 DAS MPAC
061957,001077: 26,3766 07226 TC TPAGREE # FORCE SIGN AGREEMENT
061958,001078: 26,3767 52155 DXCH MPAC # UPDATED VALUE FOR T1,T2.
061959,001079: 26,3770 20025 DAS TIME2 # LOAD UPDATED VALUE INTO T1,T2, WITH
061960,001080: 26,3771 05447 TC DOWNFLAG # CLEAR NODOFLAG
061961,001081: 26,3772 00054 ADRES NODOFLAG
061962,001082:
061963,001083: 26,3773 04106 TC GOTOPOOH
061964,001084:
061965,001085:
061966,001086:
End of include-file IMU_MODE_SWITCHING_ROUTINES.agc. Parent file is MAIN.agc