Source Code
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These source-code files are part of a reconstructed copy of Comanche 44, the
initial release (though not the final mission release) of the Apollo 10
Command Module (CM) Apollo Guidance Computer (AGC) software. Subsequent releases
were Comanche 45 and Comanche 45/2 (the flown release on Apollo 10). The reconstruction
is believed to be exactly accurate, but in the absence of an actual Apollo-era
listing of Comanche 44, some explanation of the reconstruction process is needed
to insure confidence in that accuracy.
The starting point was the source code of Comanche 51
(separately previously reconstructed from an Apollo-era listing of Comanche 55,
flown on Apollo 11). Comanche 51 source code was then modified
by undoing changes known to have been made between revisions 44 and 51. The now-reconstructed
Comanche 44 source code was verified by assembling it and checking that the assembled code had
the expected known-correct memory-bank checksums.
Note that page numbers in the reconstructed code match those on the Comanche 55 printout,
although the source code would likely have different page numbers in a contemporary
Comanche 44 listing.
Annotations that were not present in the contemporary source code have been added to the reconstructed
code to justify each change relative to Comanche 51. Here's a guide to the Apollo documentation referenced
in those annotations:
In most cases, only the titles (rather than the full texts) of PCRs are known. In addition to the
explanatory annotations, there is also
a step-by-step commentary about the reconstruction process.
Comments expected to have been present in the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
Project's GitHub repository.
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060937,000002: ## Copyright: Public domain.
060938,000003: ## Filename: IMU_MODE_SWITCHING_ROUTINES.agc
060939,000004: ## Purpose: A section of Comanche revision 044.
060940,000005: ## It is part of the reconstructed source code for the
060941,000006: ## original release of the flight software for the Command
060942,000007: ## Module's (CM) Apollo Guidance Computer (AGC) for Apollo 10.
060943,000008: ## The code has been recreated from a copy of Comanche 055. It
060944,000009: ## has been adapted such that the resulting bugger words
060945,000010: ## exactly match those specified for Comanche 44 in NASA drawing
060946,000011: ## 2021153D, which gives relatively high confidence that the
060947,000012: ## reconstruction is correct.
060948,000013: ## Assembler: yaYUL
060949,000014: ## Contact: Ron Burkey <info@sandroid.org>.
060950,000015: ## Website: www.ibiblio.org/apollo/index.html
060951,000016: ## Mod history: 2020-12-03 MAS Created from Comanche 51.
060952,000017:
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Page 1420
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060954,000019: 5521 BLOCK 02
060955,000020: 4000 SETLOC FFTAG3
060956,000021: 4000 BANK
060957,000022:
060958,000023: 5521 E3,1471 EBANK= COMMAND
060959,000024:
060960,000025: # FIXED-FIXED ROUTINES.
060961,000026:
060962,000027: 5521 COUNT 02/IMODE
060963,000028:
060964,000029: 5521 35021 ZEROICDU CAF ZERO # ZERO ICDU COUNTERS.
060965,000030: 5522 54032 TS CDUX
060966,000031: 5523 54033 TS CDUY
060967,000032: 5524 54034 TS CDUZ
060968,000033: 5525 00002 TC Q
060969,000034:
060970,000035: 5526 5007 SPSCODE = BIT9
060971,000036:
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Page 1421
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060973,000038: # IMU ZEROING ROUTINE.
060974,000039:
060975,000040: 11,3776 BANK 11
060976,000041: 07,2000 SETLOC MODESW
060977,000042: 07,2000 BANK
060978,000043:
060979,000044: 07,2577 COUNT 07/IMODE
060980,000045:
060981,000046: 07,2577 00004 IMUZERO INHINT # ROUTINE TO ZERO ICDUS.
060982,000047: 07,2600 41036 CS DSPTAB +11D # DONT ZERO CDUS IF IMU IN GIMBAL LOCK AND
060983,000048: 07,2601 75033 MASK BITS4&6 # COARSE ALIGN (GIMBAL RUNAWAY PROTECTION)
060984,000049: 07,2602 10000 CCS A
060985,000050: 07,2603 12607 TCF IMUZEROA
060986,000051:
060987,000052: 07,2604 05650 TC ALARM # IF SO.
060988,000053: 07,2605 00206 OCT 00206
060989,000054:
060990,000055: 07,2606 13542 TCF CAGETSTJ +4 # IMMEDIATE FAILURE.
060991,000056:
060992,000057: 07,2607 03536 IMUZEROA TC CAGETSTJ
060993,000058:
060994,000059: # DO ALL THE WORK.
060995,000060:
060996,000061: 07,2610 41321 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
060997,000062: 07,2611 75035 MASK SUPER011 # BIT5 FOR GROUND
060998,000063: 07,2612 27321 ADS IMODES33
060999,000064:
061000,000065: 07,2613 41320 CS IMODES30 # INHIBIT ICDUFAIL AND IMUFAIL (IN CASE WE
061001,000066: 07,2614 75763 MASK BITS3&4 # JUST CAME OUT OF COARSE ALIGN).
061002,000067: 07,2615 27320 ADS IMODES30
061003,000068:
061004,000069: 07,2616 45033 CS BITS4&6 # SEND ZERO ENCODE WITH COARSE AND ERROR
061005,000070: 07,2617 00006 EXTEND # COUNTER DISABLED.
061006,000071: 07,2620 03012 WAND CHAN12
061007,000072:
061008,000073: 07,2621 03151 TC NOATTOFF # TURN OFF NO ATT LAMP.
061009,000074:
061010,000075: 07,2622 35013 CAF BIT5
061011,000076: 07,2623 00006 EXTEND
061012,000077: 07,2624 05012 WOR CHAN12
061013,000078:
061014,000079: 07,2625 05521 TC ZEROICDU
061015,000080: 07,2626 35012 CAF BIT6 # WAIT 320 MS TO GIVE AGS ADEQUATE TIME TO
061016,000081: 07,2627 05245 TC WAITLIST # RECEIVE ITS PULSE TRAIN.
061017,000082: 07,2630 E3,1474 EBANK= CDUIND
061018,000083: 07,2630 02642 16063 2CADR IMUZERO2
061019,000084:
061020,000085: 07,2632 41320 CS IMODES30 # SEE IF IMU OPERATING AND ALARM IF NOT.
061021,000086: 07,2633 75007 MASK BIT9
061022,000087: 07,2634 10000 CCS A
061023,000088: 07,2635 12640 TCF MODEEXIT
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Page 1422
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061025,000090: 07,2636 05650 TC ALARM
061026,000091: 07,2637 00210 OCT 210
061027,000092:
061028,000093: 07,2640 00003 MODEEXIT RELINT # GENERAL MODE-SWITCHING EXIT.
061029,000094: 07,2641 14675 TCF SWRETURN
061030,000095:
061031,000096: 07,2642 03524 IMUZERO2 TC CAGETEST
061032,000097: 07,2643 05521 TC ZEROICDU # ZERO CDUX, CDUY, CDUZ
061033,000098:
061034,000099: 07,2644 45013 CS BIT5 # REMOVE ZERO DISCRETE.
061035,000100: 07,2645 00006 EXTEND
061036,000101: 07,2646 03012 WAND CHAN12
061037,000102:
061038,000103: 07,2647 35005 CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS
061039,000104: 07,2650 05272 TC VARDELAY
061040,000105:
061041,000106: 07,2651 03524 IMUZERO3 TC CAGETEST
061042,000107: 07,2652 45763 CS BITS3&4 # REMOVE IMUFAIL AND ICDUFAIL INHIBIT.
061043,000108: 07,2653 71320 MASK IMODES30
061044,000109: 07,2654 55320 TS IMODES30
061045,000110:
061046,000111: 07,2655 45035 CS SUPER011 # ENABLE DAP AUTO AND HOLD MODES
061047,000112: 07,2656 71321 MASK IMODES33 # BIT5 FOR GROUND
061048,000113: 07,2657 55321 TS IMODES33
061049,000114:
061050,000115: 07,2660 04740 TC IBNKCALL # SET ISS WARNING IF EITHER OF ABOVE ARE
061051,000116: 07,2661 14665 CADR SETISSW # PRESENT.
061052,000117:
061053,000118: 07,2662 13514 TCF ENDIMU
061054,000119:
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Page 1423
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061056,000121: # IMU COARSE ALIGN MODE.
061057,000122:
061058,000123: 07,2663 00004 IMUCOARS INHINT
061059,000124: 07,2664 03536 TC CAGETSTJ
061060,000125: 07,2665 03027 TC SETCOARS
061061,000126:
061062,000127: 07,2666 36211 CAF SIX
061063,000128: 07,2667 05245 TC WAITLIST
061064,000129: 07,2670 E3,1474 EBANK= CDUIND
061065,000130: 07,2670 02673 16063 2CADR COARS
061066,000131:
061067,000132: 07,2672 12640 TCF MODEEXIT
061068,000133:
061069,000134: 07,2673 03524 COARS TC CAGETEST
061070,000135: 07,2674 35012 CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
061071,000136: 07,2675 00006 EXTEND
061072,000137: 07,2676 05012 WOR CHAN12
061073,000138:
061074,000139: 07,2677 35016 CAF TWO # SET CDU INDICATOR
061075,000140: 07,2700 55474 COARS1 TS CDUIND
061076,000141:
061077,000142: 07,2701 51474 INDEX CDUIND # COMPUTE THETAD - THETAA IN 1:S
061078,000143: 07,2702 31155 CA THETAD # COMPLEMENT FORM
061079,000144: 07,2703 00006 EXTEND
061080,000145: 07,2704 51474 INDEX CDUIND
061081,000146: 07,2705 20032 MSU CDUX
061082,000147: 07,2706 00006 EXTEND
061083,000148: 07,2707 75003 MP BIT13 # SHIFT RIGHT 2
061084,000149: 07,2710 56001 XCH L # ROUND
061085,000150: 07,2711 60000 DOUBLE
061086,000151: 07,2712 54061 TS ITEMP1
061087,000152: 07,2713 12715 TCF +2
061088,000153: 07,2714 26001 ADS L
061089,000154:
061090,000155: 07,2715 51474 INDEX CDUIND # DIFFERENCE TO BE COMPUTED
061091,000156: 07,2716 23471 LXCH COMMAND
061092,000157: 07,2717 11474 CCS CDUIND
061093,000158: 07,2720 02700 TC COARS1
061094,000159:
061095,000160: 07,2721 35016 CAF TWO # MINIMUM OF 4 MS WAIT
061096,000161: 07,2722 05272 TC VARDELAY
061097,000162:
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Page 1424
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061099,000164: 07,2723 03524 COARS2 TC CAGETEST # DONT CONTINUE IF CAGED.
061100,000165: 07,2724 54061 TS ITEMP1 # SETS TO +0.
061101,000166: 07,2725 35016 CAF TWO # SET CDU INDICATOR
061102,000167: 07,2726 55474 +3 TS CDUIND
061103,000168:
061104,000169: 07,2727 51474 INDEX CDUIND
061105,000170: 07,2730 11471 CCS COMMAND # NUMBER OF PULSES REQUIRED
061106,000171: 07,2731 02735 TC COMPOS # GREATER THAN MAX ALLOWED
061107,000172: 07,2732 02744 TC NEXTCDU +1
061108,000173: 07,2733 03002 TC COMNEG
061109,000174: 07,2734 02744 TC NEXTCDU +1
061110,000175:
061111,000176: 07,2735 63624 COMPOS AD -COMMAX # COMMAX = MAX NUMBER OF PULSES ALLOWED
061112,000177: 07,2736 00006 EXTEND # MINUS ONE
061113,000178: 07,2737 63012 BZMF COMZERO
061114,000179: 07,2740 51474 INDEX CDUIND
061115,000180: 07,2741 55471 TS COMMAND # REDUCE COMMAND BY MAX NUMBER OF PULSES
061116,000181: 07,2742 43625 CS -COMMAX- # ALLOWED
061117,000182:
061118,000183: 07,2743 24061 NEXTCDU INCR ITEMP1
061119,000184: 07,2744 65020 AD NEG0
061120,000185: 07,2745 51474 INDEX CDUIND
061121,000186: 07,2746 54050 TS CDUXCMD # SET UP COMMAND REGISTER.
061122,000187:
061123,000188: 07,2747 11474 CCS CDUIND
061124,000189: 07,2750 02726 TC COARS2 +3
061125,000190:
061126,000191: 07,2751 10061 CCS ITEMP1 # SEE IF ANY PULSES TO GO OUT.
061127,000192: 07,2752 13016 TCF SENDPULS
061128,000193:
061129,000194: 07,2753 05267 TC FIXDELAY # WAIT FOR GIMBALS TO SETTLE.
061130,000195: 07,2754 00226 DEC 150 B-14
061131,000196:
061132,000197: 07,2755 35016 CAF TWO # AT END OF COMMAND, CHECK TO SEE THAT
061133,000198: 07,2756 54061 CHKCORS TS ITEMP1 # GIMBALS ARE WITHIN 2 DEGREES OF THETAD.
061134,000199: 07,2757 50000 INDEX A
061135,000200: 07,2760 30032 CA CDUX
061136,000201: 07,2761 00006 EXTEND
061137,000202: 07,2762 50061 INDEX ITEMP1
061138,000203: 07,2763 21155 MSU THETAD
061139,000204: 07,2764 10000 CCS A
061140,000205: 07,2765 12773 TCF COARSERR
061141,000206: 07,2766 12770 TCF CORSCHK2
061142,000207: 07,2767 12773 TCF COARSERR
061143,000208:
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Page 1425
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061145,000210: 07,2770 10061 CORSCHK2 CCS ITEMP1
061146,000211: 07,2771 12756 TCF CHKCORS
061147,000212: 07,2772 13514 TCF ENDIMU # END OF COARSE ALIGNMENT.
061148,000213:
061149,000214: 07,2773 63001 COARSERR AD COARSTOL # 2 DEGREES.
061150,000215: 07,2774 00006 EXTEND
061151,000216: 07,2775 62770 BZMF CORSCHK2
061152,000217:
061153,000218: 07,2776 05650 TC ALARM # COARSE ALIGN ERROR.
061154,000219: 07,2777 00211 OCT 211
061155,000220:
061156,000221: 07,3000 13522 TCF IMUBAD
061157,000222:
061158,000223: 07,3001 77511 COARSTOL DEC -.01111 # 2 DEGREES SCALED AT HALF-REVOLUTIONS
061159,000224:
061160,000225: 07,3002 63624 COMNEG AD -COMMAX
061161,000226: 07,3003 00006 EXTEND
061162,000227: 07,3004 63012 BZMF COMZERO
061163,000228: 07,3005 40000 COM
061164,000229: 07,3006 51474 INDEX CDUIND
061165,000230: 07,3007 55471 TS COMMAND
061166,000231: 07,3010 33625 CA -COMMAX-
061167,000232: 07,3011 02743 TC NEXTCDU
061168,000233:
061169,000234: 07,3012 35021 COMZERO CAF ZERO
061170,000235: 07,3013 51474 INDEX CDUIND
061171,000236: 07,3014 57471 XCH COMMAND
061172,000237: 07,3015 02743 TC NEXTCDU
061173,000238:
061174,000239: 07,3016 37707 SENDPULS CAF 13,14,15
061175,000240: 07,3017 00006 EXTEND
061176,000241: 07,3020 05014 WOR CHAN14
061177,000242: 07,3021 33626 CAF 600MS
061178,000243: 07,3022 12722 TCF COARS2 -1 # THEN TO VARDELAY
061179,000244:
061180,000245: 07,3023 35012 CA+ECE CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
061181,000246: 07,3024 00006 EXTEND
061182,000247: 07,3025 05012 WOR CHAN12
061183,000248: 07,3026 05324 TC TASKOVER
061184,000249:
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Page 1426
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061186,000251: 07,3027 35014 SETCOARS CAF BIT4 # BYPASS IF ALREADY IN COARSE ALIGN
061187,000252: 07,3030 00006 EXTEND
061188,000253: 07,3031 02012 RAND CHAN12
061189,000254: 07,3032 10000 CCS A
061190,000255: 07,3033 00002 TC Q
061191,000256:
061192,000257: 07,3034 45012 CS BIT6 # CLEAR ISS ERROR COUNTERS
061193,000258: 07,3035 00006 EXTEND
061194,000259: 07,3036 03012 WAND CHAN12
061195,000260:
061196,000261: 07,3037 45006 CS BIT10 # KNOCK DOWN GYRO ACTIVITY
061197,000262: 07,3040 00006 EXTEND
061198,000263: 07,3041 03014 WAND CHAN14
061199,000264: 07,3042 45021 CS ZERO
061200,000265: 07,3043 54047 TS GYROCMD
061201,000266:
061202,000267: 07,3044 35014 CAF BIT4 # PUT ISS IN COARSE ALIGN
061203,000268: 07,3045 00006 EXTEND
061204,000269: 07,3046 05012 WOR CHAN12
061205,000270:
061206,000271: 07,3047 41036 CS DSPTAB +11D # TURN ON NO ATT LAMP
061207,000272: 07,3050 73072 MASK OCT40010
061208,000273: 07,3051 27036 ADS DSPTAB +11D
061209,000274:
061210,000275: 07,3052 41321 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
061211,000276: 07,3053 75012 MASK BIT6
061212,000277: 07,3054 27321 ADS IMODES33
061213,000278:
061214,000279: 07,3055 41320 CS IMODES30 # DISABLE IMUFAIL
061215,000280: 07,3056 75014 MASK BIT4
061216,000281: 07,3057 27320 ADS IMODES30
061217,000282:
061218,000283: 07,3060 45013 RNDREFDR CS BIT5 # KNOCK DOWN TRACK FLAG
061219,000284: 07,3061 70075 MASK FLAGWRD1
061220,000285: 07,3062 54075 TS FLAGWRD1
061221,000286:
061222,000287: 07,3063 45001 CS BIT15 # KNOCK DOWN DRIFT FLAG
061223,000288: 07,3064 70076 MASK FLAGWRD2
061224,000289: 07,3065 54076 TS FLAGWRD2
061225,000290:
061226,000291: 07,3066 45003 CS BIT13 # KNOCK DOWN REFSMMAT FLAG
061227,000292: 07,3067 70077 MASK FLAGWRD3
061228,000293: 07,3070 54077 TS FLAGWRD3
061229,000294:
061230,000295: 07,3071 00002 TC Q
061231,000296:
061232,000297: 07,3072 40010 OCT40010 OCT 40010
061233,000298:
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Page 1427
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061235,000300: # IMU FINE ALIGN MODE SWITCH.
061236,000301:
061237,000302: 07,3073 00004 IMUFINE INHINT
061238,000303: 07,3074 03536 TC CAGETSTJ # SEE IF IMU BEING CAGED.
061239,000304:
061240,000305: 07,3075 45027 CS BITS4-5 # RESET ZERO AND COARSE
061241,000306: 07,3076 00006 EXTEND
061242,000307: 07,3077 03012 WAND CHAN12
061243,000308:
061244,000309: 07,3100 45012 CS BIT6 # INSURE DAP AUTO AND HOLD MODES ENABLED
061245,000310: 07,3101 71321 MASK IMODES33
061246,000311: 07,3102 55321 TS IMODES33
061247,000312:
061248,000313: 07,3103 03151 TC NOATTOFF
061249,000314:
061250,000315: 07,3104 35006 CAF BIT10 # IMU FAIL WAS INHIBITED DURING THE
061251,000316: 07,3105 05245 TC WAITLIST # PRESUMABLY PRECEDING COARSE ALIGN. LEAVE
061252,000317: 07,3106 E3,1474 EBANK= CDUIND
061253,000318: 07,3106 03117 16063 2CADR IFAILOK # IT ON FOR THE FIRST 5 SECS OF FINE ALIGN
061254,000319:
061255,000320: 07,3110 35042 CAF 2SECS
061256,000321: 07,3111 05245 TC WAITLIST
061257,000322: 07,3112 E3,1474 EBANK= CDUIND
061258,000323: 07,3112 03115 16063 2CADR IMUFINED
061259,000324:
061260,000325: 07,3114 12640 TCF MODEEXIT
061261,000326:
061262,000327: 07,3115 03524 IMUFINED TC CAGETEST # SEE THAT NO ONE HAS CAGED THE IMU.
061263,000328: 07,3116 13514 TCF ENDIMU
061264,000329:
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Page 1428
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061266,000331: 07,3117 03531 IFAILOK TC CAGETSTQ # ENABLE IMU FIAL UNLESS IMU BEING CAGED.
061267,000332: 07,3120 15324 TCF TASKOVER # IT IS.
061268,000333:
061269,000334: 07,3121 35014 CAF BIT4 # DONT RESET IMU FAIL INHIBIT IF SOMEONE
061270,000335: 07,3122 00006 EXTEND # HAS GONE INTO COARSE ALIGN.
061271,000336: 07,3123 02012 RAND CHAN12
061272,000337: 07,3124 10000 CCS A
061273,000338: 07,3125 15324 TCF TASKOVER
061274,000339:
061275,000340: 07,3126 41320 CS IMODES30 # RESET IMUFAIL.
061276,000341: 07,3127 75003 MASK BIT13
061277,000342: 07,3130 27320 ADS IMODES30
061278,000343: 07,3131 45014 CS BIT4
061279,000344: 07,3132 71320 PFAILOK2 MASK IMODES30
061280,000345: 07,3133 55320 TS IMODES30
061281,000346: 07,3134 04740 TC IBNKCALL # THE ISS WARNING LIGHT MAY COME ON NOW
061282,000347: 07,3135 14665 CADR SETISSW # THAT THE INHIBIT HAS BEEN REMOVED.
061283,000348: 07,3136 15324 TCF TASKOVER
061284,000349:
061285,000350: 07,3137 03531 PFAILOK TC CAGETSTQ # ENABLE PIP FAIL PROG ALARM.
061286,000351: 07,3140 15324 TCF TASKOVER
061287,000352:
061288,000353: 07,3141 41320 CS IMODES30 # RESET IMU AND PIPA FAIL BITS.
061289,000354: 07,3142 75006 MASK BIT10
061290,000355: 07,3143 27320 ADS IMODES30
061291,000356:
061292,000357: 07,3144 41321 CS IMODES33
061293,000358: 07,3145 75003 MASK BIT13
061294,000359: 07,3146 27321 ADS IMODES33
061295,000360:
061296,000361: 07,3147 45013 CS BIT5
061297,000362: 07,3150 13132 TCF PFAILOK2
061298,000363:
061299,000364: 07,3151 43072 NOATTOFF CS OCT40010 # SUBROUTINE TO TURN OFF NO ATT LAMP.
061300,000365: 07,3152 71036 MASK DSPTAB +11D
061301,000366: 07,3153 65001 AD BIT15
061302,000367: 07,3154 55036 TS DSPTAB +11D
061303,000368: 07,3155 00002 TC Q
061304,000369:
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Page 1429
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061306,000371: # ROUITNES TO INITIATE AND TERMINATE PROGRAM USE OF THE PIPAS. NO IMUSTALL REQUIRED IN EITHER CASE.
061307,000372:
061308,000373: 07,3156 45021 PIPUSE CS ZERO
061309,000374: 07,3157 54037 TS PIPAX
061310,000375: 07,3160 54040 TS PIPAY
061311,000376: 07,3161 54041 TS PIPAZ
061312,000377:
061313,000378: 07,3162 03531 PIPUSE1 TC CAGETSTQ # DO NOT ENABLE PIPA FAIL IF IMU IS CAGED
061314,000379: 07,3163 14675 TCF SWRETURN
061315,000380:
061316,000381: 07,3164 00004 INHINT
061317,000382: 07,3165 45017 CS BIT1 # IF PIPA FAILS FROM NOW ON (UNTIL
061318,000383: 07,3166 71320 MASK IMODES30 # PIPFREE), LIGHT ISS WARNING.
061319,000384: 07,3167 55320 TS IMODES30
061320,000385:
061321,000386: 07,3170 04740 PIPFREE2 TC IBNKCALL # ISS WARNING MIGHT COME ON NOW.
061322,000387: 07,3171 14665 CADR SETISSW # (OR GO OFF ON PIPFREE).
061323,000388:
061324,000389: 07,3172 12640 TCF MODEEXIT
061325,000390:
061326,000391: 07,3173 00004 PIPFREE INHINT # PROGRAM DONE WITH PIPAS. DONT LIGHT
061327,000392: 07,3174 41320 CS IMODES30 # ISS WARNING.
061328,000393: 07,3175 75017 MASK BIT1
061329,000394: 07,3176 27320 ADS IMODES30
061330,000395:
061331,000396: 07,3177 75006 MASK BIT10 # IF PIP FAIL ON, DO PROG ALSRM AND RESET
061332,000397: 07,3200 10000 CCS A # ISS WARNING.
061333,000398: 07,3201 12640 TCF MODEEXIT
061334,000399:
061335,000400: 07,3202 05650 TC ALARM
061336,000401: 07,3203 00212 OCT 212
061337,000402:
061338,000403: 07,3204 00004 INHINT
061339,000404:
061340,000405: 07,3205 13170 TCF PIPFREE2
061341,000406:
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|
Page 1430
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061343,000408: # THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIX REGISTERS
061344,000409: # BEGINNING AT THE ECADR ARRIVING IN A. THE MINIMUM SIZE OF ANY PULSE TRAIN IS 16 PULSES (.25 CDU COUNTS). THE
061345,000410: # UNSENT PORTION OF THE COMMAND IS LEFT INTACT IN THE INPUT COMMAND REGISTERS.
061346,000411:
061347,000412: 07,3206 E3,1400 EBANK= 1400 # VARIABLE, ACTUALLY.
061348,000413:
061349,000414: 07,3206 54161 IMUPULSE TS MPAC +5 # SAVE ARRIVING ECADR.
061350,000415: 07,3207 03536 TC CAGETSTJ # DONT PROCEED IF IMU BEING CAGED.
061351,000416:
061352,000417: 07,3210 11304 CCS LGYRO # SEE IF GYROS BUSY.
061353,000418: 07,3211 03252 TC GYROBUSY # SLEEP.
061354,000419:
061355,000420: 07,3212 54156 TS MPAC +2
061356,000421: 07,3213 35012 CAF BIT6 # ENABLE THE POWER SUPPLY.
061357,000422: 07,3214 00006 EXTEND
061358,000423: 07,3215 05014 WOR CHAN14
061359,000424:
061360,000425: 07,3216 35015 CAF FOUR
061361,000426: 07,3217 05245 GWAKE2 TC WAITLIST # (IF A JOB WAS PUT TO SLEEP, THE POWER
061362,000427: 07,3220 E3,1474 EBANK= CDUIND # SUPPLY IS LEFT ON BY THE WAKING JOB).
061363,000428: 07,3220 03270 16063 2CADR STRTGYRO
061364,000429:
061365,000430: 07,3222 30161 CA MPAC +5 # SET UP EBANK, SAVING CALLER'S EBANK FOR
061366,000431: 07,3223 56003 XCH EBANK # RESTORATION ON RETURN.
061367,000432: 07,3224 56161 XCH MPAC +5
061368,000433: 07,3225 55304 TS LGYRO # RESERVES GYROS.
061369,000434: 07,3226 74373 MASK LOW8
061370,000435: 07,3227 54061 TS ITEMP1
061371,000436:
061372,000437: 07,3230 35016 CAF TWO # FORCE SIGN AGREEMENT ON INPUTS.
061373,000438: 07,3231 54157 GYROAGRE TS MPAC +3
061374,000439: 07,3232 60000 DOUBLE
061375,000440: 07,3233 60061 AD ITEMP1
061376,000441: 07,3234 54160 TS MPAC +4
061377,000442: 07,3235 00006 EXTEND
061378,000443: 07,3236 50000 INDEX A
061379,000444: 07,3237 31401 DCA 1400
061380,000445: 07,3240 52155 DXCH MPAC
061381,000446: 07,3241 07226 TC TPAGREE
061382,000447: 07,3242 52155 DXCH MPAC
061383,000448: 07,3243 50160 INDEX MPAC +4
061384,000449: 07,3244 53401 DXCH 1400
061385,000450:
061386,000451: 07,3245 10157 CCS MPAC +3
061387,000452: 07,3246 13231 TCF GYROAGRE
061388,000453:
061389,000454: 07,3247 30161 CA MPAC +5 # RESTORE CALLER'S EBANK.
061390,000455: 07,3250 54003 TS EBANK
061391,000456: 07,3251 12640 TCF MODEEXIT
061392,000457:
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|
Page 1431
|
061394,000459: # ROUTINES TO ALLOW TORQUING BY ONLY ONE JOB AT A TIME.
061395,000460:
061396,000461: 07,3252 00006 GYROBUSY EXTEND # SAVE RETURN 2FCADR.
061397,000462: 07,3253 30134 DCA BUF2
061398,000463: 07,3254 52155 DXCH MPAC
061399,000464: 07,3255 33267 REGSLEEP CAF LGWAKE
061400,000465: 07,3256 15175 TCF JOBSLEEP
061401,000466:
061402,000467: 07,3257 11304 GWAKE CCS LGYRO # WHEN AWAKENED, SEE IF GYROS STILL BUSY.
061403,000468: 07,3260 13255 TCF REGSLEEP # IF SO, SLEEP SOME MORE.
061404,000469:
061405,000470: 07,3261 54156 TS MPAC +2
061406,000471: 07,3262 00006 EXTEND
061407,000472: 07,3263 30155 DCA MPAC
061408,000473: 07,3264 52134 DXCH BUF2 # RESTORE SWRETURN INFO.
061409,000474: 07,3265 35017 CAF ONE
061410,000475: 07,3266 13217 TCF GWAKE2
061411,000476:
061412,000477: 07,3267 17257 LGWAKE CADR GWAKE
061413,000478:
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|
Page 1432
|
061415,000480: # GYRO-TORQUING WAITLIST TASKS.
061416,000481:
061417,000482: 07,3270 43511 STRTGYRO CS GDESELCT # DE-SELECT LAST GYRO.
061418,000483: 07,3271 00006 EXTEND
061419,000484: 07,3272 03014 WAND CHAN14
061420,000485:
061421,000486: 07,3273 03524 TC CAGETEST
061422,000487:
061423,000488: 07,3274 31304 STRTGYR2 CA LGYRO # JUMP ON PHASE COUNTER IN BITS 13-14.
061424,000489: 07,3275 00006 EXTEND
061425,000490: 07,3276 75014 MP BIT4
061426,000491: 07,3277 50000 INDEX A
061427,000492: 07,3300 13301 TCF +1
061428,000493: 07,3301 03316 TC GSELECT # =0. DO Y GYRO.
061429,000494: 07,3302 00202 OCT 00202
061430,000495:
061431,000496: 07,3303 03316 TC GSELECT # =1. DO Z GYRO.
061432,000497: 07,3304 00302 OCT 00302
061433,000498:
061434,000499: 07,3305 03314 TC GSELECT -2 # =2. DO X GYRO.
061435,000500: 07,3306 00100 OCT 00100
061436,000501:
061437,000502: 07,3307 35021 CAF ZERO # =3. DONE
061438,000503: 07,3310 55304 TS LGYRO
061439,000504: 07,3311 33267 CAF LGWAKE # WAKE A POSSIBLE SLEEPING JOB.
061440,000505: 07,3312 05201 TC JOBWAKE
061441,000506:
061442,000507: 07,3313 13115 NORESET TCF IMUFINED # DO NOT RESET POWER SUPPLY
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|
Page 1433
|
061444,000509: 07,3314 45015 -2 CS FOUR # SPECIAL ENTRY TO REGRESS LGYRO FOR X.
061445,000510: 07,3315 27304 ADS LGYRO
061446,000511:
061447,000512: 07,3316 50002 GSELECT INDEX Q # SELECT GYRO.
061448,000513: 07,3317 30000 CAF 0 # PACKED WORD CONTAINS GYRO SELECT BITS
061449,000514: 07,3320 54064 TS ITEMP4 # AND INCREMENT TO LGYRO.
061450,000515: 07,3321 75023 MASK SEVEN
061451,000516: 07,3322 65003 AD BIT13
061452,000517: 07,3323 27304 ADS LGYRO
061453,000518: 07,3324 54003 TS EBANK
061454,000519: 07,3325 74373 MASK LOW8
061455,000520: 07,3326 54061 TS ITEMP1
061456,000521:
061457,000522: 07,3327 45023 CS SEVEN
061458,000523: 07,3330 70064 MASK ITEMP4
061459,000524: 07,3331 54064 TS ITEMP4
061460,000525:
061461,000526: 07,3332 00006 EXTEND # MOVE DP COMMAND TO RUPTREGS FOR TESTING.
061462,000527: 07,3333 50061 INDEX ITEMP1
061463,000528: 07,3334 31401 DCA 1400
061464,000529: 07,3335 52071 DXCH RUPTREG1
061465,000530:
061466,000531: 07,3336 10070 CCS RUPTREG1
061467,000532: 07,3337 13352 TCF MAJ+
061468,000533: 07,3340 13342 TCF +2
061469,000534: 07,3341 13472 TCF MAJ-
061470,000535:
061471,000536: 07,3342 10071 CCS RUPTREG2
061472,000537: 07,3343 13347 TCF MIN+
061473,000538: 07,3344 13274 TCF STRTGYR2
061474,000539: 07,3345 13467 TCF MIN-
061475,000540: 07,3346 13274 TCF STRTGYR2
061476,000541:
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|
Page 1434
|
061478,000543: 07,3347 63403 MIN+ AD -GYROMIN # SMALL POSITIVE COMMAND. SEE IF AT LEAST
061479,000544: 07,3350 00006 EXTEND # 16 GYRO PULSES.
061480,000545: 07,3351 63274 BZMF STRTGYR2
061481,000546:
061482,000547: 07,3352 00006 MAJ+ EXTEND # DEFINITE POSITIVE OUTPUT.
061483,000548: 07,3353 33513 DCA GYROFRAC
061484,000549: 07,3354 20071 DAS RUPTREG1
061485,000550:
061486,000551: 07,3355 30064 CA ITEMP4 # SELECT POSITIVE TORQUING FOR THIS GYRO.
061487,000552: 07,3356 00006 EXTEND
061488,000553: 07,3357 05014 WOR CHAN14
061489,000554:
061490,000555: 07,3360 36043 CAF LOW7 # LEAVE NUMBER OF POSSIBLE 8192 AUGMENTS
061491,000556: 07,3361 70071 MASK RUPTREG2 # TO INITIAL COMMAND IN MAJOR PART OF LONG
061492,000557: 07,3362 56071 XCH RUPTREG2 # TERM STORAGE AND TRUNCATED FRACTION
061493,000558: 07,3363 00006 GMERGE EXTEND # IN MINOR PART. THE MAJOR PART WILL BE
061494,000559: 07,3364 75010 MP BIT8 # COUNTED DOWN TO ZERO IN THE COURSE OF
061495,000560: 07,3365 54062 TS ITEMP2 # PUTTING OUT THE ENTIRE COMMAND.
061496,000561: 07,3366 30070 CA RUPTREG1
061497,000562: 07,3367 00006 EXTEND
061498,000563: 07,3370 75007 MP BIT9
061499,000564: 07,3371 54070 TS RUPTREG1
061500,000565: 07,3372 30001 CA L
061501,000566: 07,3373 00006 EXTEND
061502,000567: 07,3374 75002 MP BIT14
061503,000568: 07,3375 26062 ADS ITEMP2 # INITIAL COMMAND.
061504,000569:
061505,000570: 07,3376 00006 EXTEND # SEE IF MORE THAN ONE PULSE TRAIN NEEDED
061506,000571: 07,3377 30071 DCA RUPTREG1 # (MORE THAN 16383 PULSES).
061507,000572: 07,3400 67716 AD MINUS1
061508,000573: 07,3401 10000 CCS A
061509,000574: 07,3402 13426 TCF LONGGYRO
061510,000575: 07,3403 77601 -GYROMIN OCT -176 # MAY BE ADJUSTED TO SPECIFY MINIMUM CMD
061511,000576: 07,3404 13410 TCF +4
061512,000577:
061513,000578: 07,3405 35002 CAF BIT14
061514,000579: 07,3406 26062 ADS ITEMP2
061515,000580: 07,3407 35021 CAF ZERO
061516,000581:
061517,000582: 07,3410 50061 +4 INDEX ITEMP1
061518,000583: 07,3411 53401 DXCH 1400
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Page 1435
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061520,000585: 07,3412 30062 CA ITEMP2 # ENTIRE COMMAND.
061521,000586: 07,3413 54047 LASTSEG TS GYROCMD
061522,000587: 07,3414 00006 EXTEND
061523,000588: 07,3415 75006 MP BIT10 # WAITLIST DT
061524,000589: 07,3416 66214 AD THREE # TRUNCATION AND PHASE UNCERTAINTIES.
061525,000590: 07,3417 05245 TC WAITLIST
061526,000591: 07,3420 E3,1474 EBANK= CDUIND
061527,000592: 07,3420 03270 16063 2CADR STRTGYRO
061528,000593:
061529,000594: 07,3422 35006 GYROEXIT CAF BIT10
061530,000595: 07,3423 00006 EXTEND
061531,000596: 07,3424 05014 WOR CHAN14
061532,000597: 07,3425 15324 TCF TASKOVER
061533,000598:
061534,000599: 07,3426 50061 LONGGYRO INDEX ITEMP1
061535,000600: 07,3427 53401 DXCH 1400 # INITIAL COMMAND OUT PLUS N AUGMENTS OF
061536,000601: 07,3430 35002 CAF BIT14 # 8192. INITIAL COMMAND IS AT LEAST 8192.
061537,000602: 07,3431 60062 AD ITEMP2
061538,000603: 07,3432 54047 TS GYROCMD
061539,000604:
061540,000605: 07,3433 00006 AUG3 EXTEND # GET WAITLIST DT TO TIME WHEN TRAIN IS
061541,000606: 07,3434 75006 MP BIT10 # ALMOST OUT.
061542,000607: 07,3435 67714 AD NEG3
061543,000608: 07,3436 05245 TC WAITLIST
061544,000609: 07,3437 E3,1474 EBANK= CDUIND
061545,000610: 07,3437 03442 16063 2CADR 8192AUG
061546,000611:
061547,000612: 07,3441 13422 TCF GYROEXIT
061548,000613:
061549,000614: 07,3442 03524 8192AUG TC CAGETEST
061550,000615:
061551,000616: 07,3443 35014 CAF BIT4
061552,000617: 07,3444 00006 EXTEND
061553,000618: 07,3445 02012 RAND CHAN12
061554,000619: 07,3446 10000 CCS A
061555,000620: 07,3447 13522 TCF IMUBAD
061556,000621: 07,3450 31304 CA LGYRO # ADD 8192 PULSES TO GYROCMD
061557,000622: 07,3451 54003 TS EBANK
061558,000623: 07,3452 74373 MASK LOW8
061559,000624: 07,3453 54061 TS ITEMP1
061560,000625:
061561,000626: 07,3454 50061 INDEX ITEMP1 # SEE IF THIS IS THE LAST AUG.
061562,000627: 07,3455 11400 CCS 1400
061563,000628: 07,3456 13462 TCF AUG2 # MORE TO COME.
061564,000629:
061565,000630: 07,3457 35002 CAF BIT14
061566,000631: 07,3460 26047 ADS GYROCMD
061567,000632: 07,3461 13414 TCF LASTSEG +1
061568,000633:
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Page 1436
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061570,000635: 07,3462 50061 AUG2 INDEX ITEMP1
061571,000636: 07,3463 55400 TS 1400
061572,000637: 07,3464 35002 CAF BIT14
061573,000638: 07,3465 26047 ADS GYROCMD
061574,000639: 07,3466 13433 TCF AUG3 # COMPUTE DT.
061575,000640:
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Page 1437
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061577,000642: 07,3467 63403 MIN- AD -GYROMIN # POSSIBLE NEGATIVE OUTPUT.
061578,000643: 07,3470 00006 EXTEND
061579,000644: 07,3471 63274 BZMF STRTGYR2
061580,000645:
061581,000646: 07,3472 00006 MAJ- EXTEND # DEFINITE NEGATIVE OUTPUT.
061582,000647: 07,3473 43513 DCS GYROFRAC
061583,000648: 07,3474 20071 DAS RUPTREG1
061584,000649:
061585,000650: 07,3475 30064 CA ITEMP4 # SELECT NEGATIVE TORQUING FOR THIS GYRO.
061586,000651: 07,3476 65007 AD BIT9
061587,000652: 07,3477 00006 EXTEND
061588,000653: 07,3500 05014 WOR CHAN14
061589,000654:
061590,000655: 07,3501 40070 CS RUPTREG1 # SET UP RUPTREGS TO FALL INTO GMERGE.
061591,000656: 07,3502 54070 TS RUPTREG1 # ALL NUMBERS PUT INTO GYROCMD ARE
061592,000657: 07,3503 40071 CS RUPTREG2 # POSITIVE - BIT9 OF CHAN 14 DETERMINES
061593,000658: 07,3504 76043 MASK LOW7 # THE SIGN OF THE COMMAND.
061594,000659: 07,3505 40000 COM
061595,000660: 07,3506 56071 XCH RUPTREG2
061596,000661: 07,3507 40000 COM
061597,000662: 07,3510 13363 TCF GMERGE
061598,000663:
061599,000664: 07,3511 01700 GDESELCT OCT 1700 # TURN OFF SELECT AND ACTIVITY BITS.
061600,000665:
061601,000666: 07,3512 00000 00034 GYROFRAC 2DEC .215 B-21
061602,000667:
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Page 1438
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061604,000669: # IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE.
061605,000670:
061606,000671: 07,3514 00006 ENDIMU EXTEND # MODE IS BAD IF CAGE HAS OCCURED OR IF
061607,000672: 07,3515 00011 READ DSALMOUT # ISS WARNING IS ON.
061608,000673: 07,3516 75017 MASK BIT1
061609,000674: 07,3517 10000 CCS A
061610,000675: 07,3520 13522 TCF IMUBAD
061611,000676:
061612,000677: 07,3521 13550 IMUGOOD TCF GOODEND # WITH C(A) = 0.
061613,000678:
061614,000679: 07,3522 35021 IMUBAD CAF ZERO
061615,000680: 07,3523 13545 TCF BADEND
061616,000681:
061617,000682: 07,3524 35012 CAGETEST CAF BIT6 # SUBROUTINE TO TERMINATE IMU MODE
061618,000683: 07,3525 71320 MASK IMODES30 # SWITCH IF IMU HAS BEEN CAGED.
061619,000684: 07,3526 10000 CCS A
061620,000685: 07,3527 13522 TCF IMUBAD # DIRECTLY.
061621,000686: 07,3530 00002 TC Q # WITH C(A) = +0.
061622,000687:
061623,000688: 07,3531 41320 CAGETSTQ CS IMODES30 # SKIP IF IMU NOT BEING CAGED.
061624,000689: 07,3532 75012 MASK BIT6
061625,000690: 07,3533 10000 CCS A
061626,000691: 07,3534 24002 INCR Q
061627,000692: 07,3535 00002 TC Q
061628,000693:
061629,000694: 07,3536 41320 CAGETSTJ CS IMODES30 # IF DURING MODE SWITCH INITIALIZATION
061630,000695: 07,3537 75012 MASK BIT6 # IT IS FOUND THAT THE IMU IS BEING CAGED,
061631,000696: 07,3540 10000 CCS A # SET IMUCADR TO -0 TO INDICATE OPERATION
061632,000697: 07,3541 00002 TC Q # COMPLETE BUT FAILED. RETURN IMMEDIATELY
061633,000698: 07,3542 45021 CS ZERO # TO SWRETURN.
061634,000699: 07,3543 55322 TS IMUCADR
061635,000700: 07,3544 12640 TCF MODEEXIT
061636,000701:
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Page 1439
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061638,000703: # GENERALIZED MODE SWITCHING TERMINATION. ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION
061639,000704: # OR AT BADEND FOR AN UNSUCCESSFUL ONE. C(A) OR ARRIVAL =0 FOR IMU, 1 FOR OPTICS.
061640,000705:
061641,000706: 07,3545 54071 BADEND TS RUPTREG2 # DEVICE INDEX.
061642,000707: 07,3546 45021 CS ZERO # FOR FAILURE.
061643,000708: 07,3547 13552 TCF GOODEND +2
061644,000709:
061645,000710: 07,3550 54071 GOODEND TS RUPTREG2
061646,000711: 07,3551 45017 CS ONE # FOR SUCCESS.
061647,000712:
061648,000713: 07,3552 54072 TS RUPTREG3
061649,000714: 07,3553 50071 INDEX RUPTREG2 # SEE IF USING PROGRAM ASLEEP.
061650,000715: 07,3554 11322 CCS MODECADR
061651,000716: 07,3555 13557 TCF +2 # YES - WAKE IT UP.
061652,000717: 07,3556 13567 TCF ENDMODE # IF 0, PROGRAM NOT IN YET.
061653,000718:
061654,000719: 07,3557 35021 CAF ZERO # WAKE SLEEPING PROGRAM.
061655,000720: 07,3560 50071 INDEX RUPTREG2
061656,000721: 07,3561 57322 XCH MODECADR
061657,000722: 07,3562 05201 TC JOBWAKE
061658,000723:
061659,000724: 07,3563 40072 CS RUPTREG3 # ADVANCE LOC IF SUCCESSFUL.
061660,000725: 07,3564 50064 INDEX LOCCTR
061661,000726: 07,3565 26164 ADS LOC
061662,000727:
061663,000728: 07,3566 15324 TCF TASKOVER
061664,000729:
061665,000730: 07,3567 30072 ENDMODE CA RUPTREG3 # -0 INDICATES OPERATION COMPLETE BUT
061666,000731: 07,3570 50071 INDEX RUPTREG2 # UNSUCCESSFUL - -1 INDICATES COMPLETE AND
061667,000732: 07,3571 55322 TS MODECADR # SUCCESSFUL.
061668,000733: 07,3572 15324 TCF TASKOVER
061669,000734:
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Page 1440
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061671,000736: # GENERAL STALLING ROUTINE. USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION.
061672,000737:
061673,000738: # PROGRAM DESCRIPTION DATE - 21 FEB 1967
061674,000739: # LOG SECTION IMU MODE SWITCHING
061675,000740: # MOD BY - R. MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 82
061676,000741:
061677,000742: # FUNCTIONAL DESCRIPTION -
061678,000743: # TO DELAY FURTHER EXECUTION OF THE CALLING ROUTINE UNTIL ITS SELECTED
061679,000744: # I/O FUNCTION IS COMPLETE. THE FOLLOWING CHECKS ON THE CALLING ROUTINE:S
061680,000745: # MODECADR ARE MADE AND ACTED UPON.
061681,000746: # 1) +0 INDICATES INCOMPLETE I/O OPERATION. CALLING ROUTINE IS PUT TO
061682,000747: # SLEEP.
061683,000748: # 2) -1 INDICATES COMPLETED I/O OPERATION. STALL BYPASSES JOBSLEEP
061684,000749: # CALL AND RETURNS TO CALLING ROUTINE AT L+3
061685,000750: # 3) -0 INDICATES COMPLETED I/O WITH FAILURE. STALL CLEARS MODECADR
061686,000751: # AND RETURNS TO CALLING ROUTINE AT L+2.
061687,000752: # 4) VALUE GREATER THAN 0 INDICATES TWO ROUTINES CALLING FOR USE OF
061688,000753: # SAME DEVICE. STALL EXITS TO ABORT WHICH EXECUTES A PROGRAM
061689,000754: # RESTART WHICH IN TURN CLEARS ALL MODECADR REGISTERS.
061690,000755:
061691,000756: # CALLING SEQUENCE -
061692,000757: # L TC BANKCALL
061693,000758: # L+1 CADR (ONE OF 5 STALL ADDRESSES I.E. IMUSTALL, OPTSTALL, RADSTALL,
061694,000759: # AOTSTALL, OR ATTSTALL)
061695,000760:
061696,000761: # NORMAL-EXIT MODE -
061697,000762: # TCF JOBSLEEP OR TCF MODEXIT
061698,000763:
061699,000764: # ALARM OR ABORT EXIT MODE -
061700,000765: # TC ABORT
061701,000766:
061702,000767: # OUTPUT -
061703,000768: # MODECADR=CADR IF JOBSLEEP
061704,000769: # MODECADR=+0 IF I/O COMPLETE
061705,000770: # BUF2=L+3 IF I/O COMPLETE AND GOOD.
061706,000771: # BUF2=L+2 IF I/O COMPLETE BUT FAILED.
061707,000772:
061708,000773: # ERASABLE INITIALIZATION -
061709,000774: # BUF2 CONTAINS RETURN ADDRESS PLUS 1,(L+2)
061710,000775: # BUF2+1 CONTAINS FBANK VALUE OF CALLING ROUTINE.
061711,000776: # MODECADR OF CALLING ROUTINE CONTAINS +0,-1,-0 OR CADR RETURN ADDRESS.
061712,000777:
061713,000778: # DEBRIS -
061714,000779: # RUPTREG2 AND CALLING ROUTINE MODECADR.
061715,000780:
061716,000781: 07,3573 35017 AOTSTALL CAF ONE # AOT.
061717,000782: 07,3574 03600 TC STALL
061718,000783:
061719,000784: 07,3575 35016 RADSTALL CAF TWO
061720,000785: 07,3576 13600 TCF STALL
061721,000786:
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Page 1441
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061723,000788: 07,3577 07,3573 OPTSTALL EQUALS AOTSTALL
061724,000789:
061725,000790: 07,3577 35021 IMUSTALL CAF ZERO # IMU.
061726,000791:
061727,000792: 07,3600 00004 STALL INHINT
061728,000793: 07,3601 54071 TS RUPTREG2 # SAVE DEVICE INDEX.
061729,000794: 07,3602 50000 INDEX A # SEE IF OPERATION COMPLETE.
061730,000795: 07,3603 11322 CCS MODECADR
061731,000796: 07,3604 13622 TCF MODABORT # ALLOWABLE STATES ARE +0, -1, AND -0.
061732,000797: 07,3605 13616 TCF MODESLP # OPERATION INCOMPLETE.
061733,000798: 07,3606 13612 TCF MODEGOOD # COMPLETE AND GOOD IF = -1.
061734,000799:
061735,000800: 07,3607 50071 MG2 INDEX RUPTREG2 # COMPLETE AND FAILED IF -0. RESET TO +0.
061736,000801: 07,3610 55322 TS MODECADR # RETURN TO CALLER.
061737,000802: 07,3611 12640 TCF MODEEXIT
061738,000803:
061739,000804: 07,3612 10000 MODEGOOD CCS A # MAKE SURE INITIAL STATE -1.
061740,000805: 07,3613 13622 TCF MODABORT
061741,000806:
061742,000807: 07,3614 24133 INCR BUF2 # IF SO, INCREMENT RETURN ADDRESS AND
061743,000808: 07,3615 13607 TCF MG2 # RETURN IMMEDIATELY, SETTING CADR = +0.
061744,000809:
061745,000810: 07,3616 04711 MODESLP TC MAKECADR # CALL FROM SWITCHABLE FIXED ONLY.
061746,000811: 07,3617 50071 INDEX RUPTREG2
061747,000812: 07,3620 55322 TS MODECADR
061748,000813: 07,3621 15175 TCF JOBSLEEP
061749,000814:
061750,000815: 07,3622 05721 MODABORT TC POODOO # TWO PROGRAMS USING SAME DEVICE.
061751,000816: 07,3623 01210 OCT 1210
061752,000817:
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Page 1442
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061754,000819: # CONSTANTS FOR MODE SWITCHING ROUTINES
061755,000820:
061756,000821: 07,3624 5763 BITS3&4 = OCT14
061757,000822: 07,3624 5033 BITS4&6 = OCT50
061758,000823: 07,3624 5027 BITS4-5 EQUALS BITS4&5
061759,000824: 07,3624 5010 IMUSEFLG EQUALS BIT8 # INTERPRETER SWITCH 7.
061760,000825: 07,3624 77500 -COMMAX DEC -191 B-14
061761,000826: 07,3625 77477 -COMMAX- DEC -192 B-14
061762,000827: 07,3626 00074 600MS DEC 60 B-14
061763,000828: 07,3627 07,3073 IMUFIN20 = IMUFINE
061764,000829: 07,3627 31325 GOMANUR CA ATTCADR # IS KALCMANU FREE
061765,000830: 07,3630 00006 EXTEND
061766,000831: 07,3631 13634 BZF +3
061767,000832: 07,3632 05721 TC POODOO # NO
061768,000833: 07,3633 01210 OCT 1210 # 2 TRYING TO USE SAME DEVICE
061769,000834:
061770,000835: 07,3634 00006 +3 EXTEND
061771,000836: 07,3635 30134 DCA BUF2
061772,000837: 07,3636 53326 DXCH ATTCADR # SAVE FINAL RETURN FOR KALCMAN3
061773,000838:
061774,000839: 07,3637 30006 CA BBANK
061775,000840: 07,3640 75023 MASK SEVEN
061776,000841: 07,3641 27326 ADS ATTCADR +1
061777,000842:
061778,000843: 07,3642 30167 CA PRIORITY
061779,000844: 07,3643 77674 MASK PRIO37
061780,000845: 07,3644 55327 TS ATTPRIO # SAVE USERS PRIO
061781,000846:
061782,000847: 07,3645 33651 CAF KALEBCON # SET EBANK FOR KALCMAN3
061783,000848: 07,3646 54003 TS EBANK
061784,000849: 07,3647 04701 TC POSTJUMP
061785,000850: 07,3650 44000 CADR KALCMAN3
061786,000851: 07,3651 03261 KALEBCON ECADR BCDU
061787,000852:
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Page 1443
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061789,000854: # PROGRAM DESCRIPTION
061790,000855: # IMU STATUS CHECK ROUTINE R02 (SUBROUTINE UTILITY)
061791,000856: # MOD NO - 1
061792,000857: # MOD BY - N.BRODEUR
061793,000858:
061794,000859: # FUNCTIONAL DESCRIPTION
061795,000860: # TO CHECK WHETHER IMU IS ON AND IF ON WHETHER IT IS ALIGNED TO AN
061796,000861: # ORIENTATION KNOWN BY THE CMC. TO REQUEST SELECTION OF THE APPROPRIATE
061797,000862: # PROGRAM IF THE IMU IS OFF OR NOT ALIGNED TO AN ORIENTATION KNOWN BY THE
061798,000863: # CMC. CALLED THROUGH BANKCALL
061799,000864:
061800,000865: # CALLING SEQUENCE -
061801,000866: # L TC BANKCALL
061802,000867: # L+1 CADR R02BOTH
061803,000868:
061804,000869: # SUBROUTINES CALLED
061805,000870: # VARALARM
061806,000871: # FLAGUP
061807,000872:
061808,000873: # NORMAL EXIT MODES
061809,000874: # AT L+2 OF CALLING SEQUENCE
061810,000875:
061811,000876: # ALARM OR ABORT EXIT MODES
061812,000877: # GOTOPOOH, WITH ALARM
061813,000878:
061814,000879: # ERASABLE INITIALIZATION REQUIRED
061815,000880: # NONE
061816,000881:
061817,000882: # DEBRIS
061818,000883: # CENTRALS - A,Q,L
061819,000884:
061820,000885: 34,3763 BANK 34
061821,000886: 07,2000 SETLOC R02
061822,000887: 07,2000 BANK
061823,000888: 07,3652 COUNT 04/R02 # COUNT*
061824,000889:
061825,000890: 07,3652 00063 DEC51 DEC 51 B-14
061826,000891: 07,3653 35003 R02BOTH CAF BIT13
061827,000892: 07,3654 70077 MASK STATE +3 # REFSMFLG
061828,000893: 07,3655 10000 CCS A
061829,000894: 07,3656 03667 TC R02ZERO # ZERO IMUS
061830,000895:
061831,000896: 07,3657 31320 CA IMODES30
061832,000897: 07,3660 75007 MASK BIT9 # IS ISS INITIALIZED
061833,000898: 07,3661 00006 EXTEND
061834,000899: 07,3662 13664 BZF +2
061835,000900: 07,3663 45014 CS BIT4 # SEND IMU ALARM CODE 210
061836,000901: 07,3664 63672 AD OCT220 # SEND REFSMM ALARM
061837,000902: 07,3665 05756 TC VARALARM
061838,000903:
061839,000904: 07,3666 04106 TC GOTOPOOH
061840,000905:
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Page 1444
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061842,000907: 07,3667 05546 R02ZERO TC UPFLAG
061843,000908: 07,3670 00007 ADRES IMUSE
061844,000909: 07,3671 14675 TCF SWRETURN
061845,000910: 07,3672 00220 OCT220 OCT 220
061846,000911:
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Page 1445
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061848,000913: # PROGRAM DESCRIPTION P06 10FEB67
061849,000914:
061850,000915: # TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION.
061851,000916:
061852,000917: # THE NORMAL CONDITION OF READINESS OF THE GNCS WHEN NOT IN USE IS STANDBY. IN THIS CONDITION THE IMU
061853,000918: # HEATER POWER IS ON. THE IMU OPERATE POWER IS OFF. THE COMPUTER POWER IS ON. THE OPTICS POWER IS OFF. THE
061854,000919: # CMC STANDBY ON THE MAIN AND LEB DISKYS IS ON.
061855,000920:
061856,000921: # CALLING SEQUENCE:
061857,000922: # ASTRONAUT REQUEST THROUGH DSKY V37E 06E.
061858,000923:
061859,000924: # SUBROUTINES CALLED:
061860,000925: # GOPERF1
061861,000926: # BANKCALL
061862,000927: # FLAGDOWN
061863,000928:
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061865,000930: # PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2
061866,000931: # THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATABILITY
061867,000932: # BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING.
061868,000933:
061869,000934: 26,2000 SETLOC P05P06
061870,000935: 26,2000 BANK
061871,000936:
061872,000937: 26,3660 1150 EBANK= TIME2SAV
061873,000938: 26,3660 COUNT* $$/P06
061874,000939:
061875,000940: 26,3660 05546 P06 TC UPFLAG # SET NODOV37 BIT
061876,000941: 26,3661 00054 ADRES NODOFLAG
061877,000942:
061878,000943: 26,3662 00004 PRESTAND INHINT
061879,000944: 26,3663 00006 EXTEND
061880,000945: 26,3664 30025 DCA TIME2 # SNAPSHOT TIME1 TIME2
061881,000946: 26,3665 53151 DXCH TIME2SAV
061882,000947: 26,3666 03717 TC SCALPREP
061883,000948: 26,3667 03662 TC PRESTAND # T1,T2,SCALER NOT COMPATIBLE
061884,000949: 26,3670 52155 DXCH MPAC # T1,T2 AND SCALER OK
061885,000950: 26,3671 53153 DXCH SCALSAVE # STORE SCALER
061886,000951: 26,3672 00004 INHINT
061887,000952: 26,3673 04662 TC BANKCALL
061888,000953: 26,3674 17060 CADR RNDREFDR # REFSMM, DRIFT, TRACK FLAGS DOWN
061889,000954:
061890,000955: 26,3675 05560 TC DOWNFLAG
061891,000956: 26,3676 00007 ADRES IMUSE # IMUSE DOWN
061892,000957: 26,3677 05560 TC DOWNFLAG
061893,000958: 26,3700 00010 ADRES RNDVZFLG # RNDVZFLG DOWN
061894,000959:
061895,000960: 26,3701 35005 CAF BIT11
061896,000961: 26,3702 00006 EXTEND
061897,000962: 26,3703 05013 WOR CHAN13 # SET STANDBY ENABLE BIT
061898,000963:
061899,000964: 26,3704 05412 TC PHASCHNG # SET RESTART TO POSTAND WHEN STANDBY
061900,000965: 26,3705 07024 OCT 07024 # RECOVERS
061901,000966: 26,3706 20000 OCT 20000
061902,000967: 26,3707 1152 EBANK= SCALSAVE
061903,000968: 26,3707 03737 54062 2CADR POSTAND
061904,000969:
061905,000970: 26,3711 35036 CAF OCT62
061906,000971: 26,3712 04662 TC BANKCALL
061907,000972: 26,3713 21045 CADR GOPERF1
061908,000973: 26,3714 13711 TCF -3
061909,000974: 26,3715 13711 TCF -4
061910,000975: 26,3716 13711 TCF -5
061911,000976:
061912,000977: 26,3717 5036 OCT62 EQUALS .5SEC # DEC 50 = OCT 62
061913,000978:
061914,000979: # THE LOW 5 BITS OF THE SCALER READS 10000 FOR THE FIRST INTERVAL AFTER A
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Page 1447
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061916,000981: # T1 INCREMENT. IF SCALPREP DETECTS THIS INTERVAL THE T1,T2 AND SCALER
061917,000982: # DATA ARE NOT COMPATABLE AND RETURN IS TO L+1 FOR ANOTHER READING OF THE
061918,000983: # DATA. OTHERWISE, THE RETURN IS TO L+2 TO PROCEED. ROUTINE ALSO PREPARES
061919,000984: # THE SCALER READING FOR COMPUTATION OF THE INCREMENT TO UPDATE T1T2. (THE
061920,000985: # 10 MS BIT (BIT 6) OF THE SCALER IS INCREMENTED 5 MS OUT OF PHASE FROM
061921,000986: # T1.) ADDITION OF 5 MS (BIT 5) TO THE SCALER READING HAS THE EFFECT OF
061922,000987: # ADJUSTING BIT 6 IN THE SCALER TO BE IN PHASE WITH BIT 1 OF T1. THE LOW 5
061923,000988: # BITS OF THE SCALER READING ARE THEN SET TO ZERO, TO TRUNCATE THE SCALER
061924,000989: # DATA TO 10 MS. RESULTS ARE STORED IN MPAC, +1.
061925,000990:
061926,000991: 26,3717 00006 SCALPREP EXTEND
061927,000992: 26,3720 22156 QXCH MPAC +2
061928,000993: 26,3721 04554 TC FINETIME +1
061929,000994: 26,3722 00003 RELINT
061930,000995: 26,3723 52155 DXCH MPAC
061931,000996: 26,3724 35013 CA BIT5 # ADD 5 MS TO THE SCALER READING.
061932,000997: 26,3725 54001 TS L
061933,000998: 26,3726 35021 CA ZERO
061934,000999: 26,3727 20155 DAS MPAC
061935,001000: 26,3730 44362 CS LOW5 # SET LOW 5 BITS OF (SCALER+5MS) TO ZERO
061936,001001: 26,3731 70155 MASK MPAC +1 # AND STORE RESULTS IN MPAC,+1.
061937,001002: 26,3732 56155 XCH MPAC +1
061938,001003: 26,3733 74362 MASK LOW5 # TEST LOW 5 BITS OF SCALER FOR THE FIRST
061939,001004: # INTERVAL AFTER THE T1 INCREMENT
061940,001005: # (NOW = 00000, SINCE BIT 5 ADDED).
061941,001006: 26,3734 10000 CCS A # IS IT 1ST INTERVAL AFTER T1 INCREMENT
061942,001007: 26,3735 24156 INCR MPAC +2 # NO
061943,001008: 26,3736 00156 TC MPAC +2 # YES
061944,001009:
061945,001010: # POSTAND RECOVERS TIME AFTER STANDBY. THE SCALER IS SNAPSHOTTED AND THE
061946,001011: # TIME1 TIME2 COUNTER IS SET TO ZERO. THE LOW 5 BITS OF THE SCALER ARE
061947,001012: # INSPECTED TO INSURE COMPATABILITY BETWEEN THE SCALER READING AND THE
061948,001013: # CLEARING OF THE TIME COUNTER. IT THEN COMPUTES THE DIFFERENCE IN SCALER
061949,001014: # VALUES (IN DP) AND ADDS THIS TO THE PREVIOUSLY SNAPSHOTTED VALUES OF
061950,001015: # TIME1 TIME2 AND PLACES THIS NEW TIME INTO THE TIME1 TIME2 COUNTER.
061951,001016:
061952,001017: 26,3737 COUNT* $$/P05
061953,001018:
061954,001019: 26,3737 45005 POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY.
061955,001020: 26,3740 00006 EXTEND
061956,001021: 26,3741 03013 WAND CHAN13 # CLEAR STANDBY ENABLE BIT
061957,001022: 26,3742 00004 INHINT
061958,001023: 26,3743 35021 CA ZERO
061959,001024: 26,3744 54001 TS L
061960,001025: 26,3745 52025 DXCH TIME2 # CLEAR TIME1 TIME2
061961,001026: 26,3746 03717 TC SCALPREP # STORE SCALER IN MPAC, MPAC+1
061962,001027: 26,3747 03742 TC POSTAND +3 # T1,T2,SCALER NOT COMPATIBLE
061963,001028: 26,3750 00006 EXTEND # T1,T2 AND SCALER OK
061964,001029: 26,3751 41153 DCS SCALSAVE
061965,001030: 26,3752 20155 DAS MPAC # FORM DP DIFFERENCE OF POSTSTANDBY SCALER
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Page 1448
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061967,001032: 26,3753 35006 CAF BIT10 # MINUS PRESTANDBY SCALER AND SHIFT RIGHT
061968,001033: 26,3754 07256 TC SHORTMP # 5 TO ALIGN BITS WITH TIME1 TIME2.
061969,001034: 26,3755 35021 CAF ZERO
061970,001035: 26,3756 54156 TS MPAC +2 # NEEDED FOR TP AGREE
061971,001036: 26,3757 07226 TC TPAGREE # MAKE DP DIFF AGREE
061972,001037: 26,3760 10154 CCS MPAC
061973,001038: 26,3761 03766 TC POSTCOM # IF DP DIFF NET +, NO SCALER OVERFLOW
061974,001039: 26,3762 03766 TC POSTCOM # BETWEEN PRE AND POST STANDBY.
061975,001040: 26,3763 03764 TC +1 # IF DP DIFF NET -, SCALER OVERFLOWED. ADD
061976,001041: 26,3764 35006 CAF BIT10 # BIT 10 TO HIGH DIFF TO CORRECT.
061977,001042: 26,3765 26154 ADS MPAC
061978,001043: 26,3766 00006 POSTCOM EXTEND # C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER.
061979,001044: 26,3767 31151 DCA TIME2SAV # PRESTANDBY TIME1 TIME2
061980,001045: 26,3770 20155 DAS MPAC
061981,001046: 26,3771 07226 TC TPAGREE # FORCE SIGN AGREEMENT
061982,001047: 26,3772 52155 DXCH MPAC # UPDATED VALUE FOR T1,T2.
061983,001048: 26,3773 20025 DAS TIME2 # LOAD UPDATED VALUE INTO T1,T2, WITH
061984,001049: 26,3774 05560 TC DOWNFLAG # CLEAR NODOFLAG
061985,001050: 26,3775 00054 ADRES NODOFLAG
061986,001051:
061987,001052: 26,3776 04106 TC GOTOPOOH
061988,001053:
061989,001054:
061990,001055:
End of include-file IMU_MODE_SWITCHING_ROUTINES.agc. Parent file is MAIN.agc