Source Code
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These source-code files are part of a reconstructed copy of Comanche 51, the
initial release (though not the final mission release) of the Apollo 11
Command Module (CM) Apollo Guidance Computer (AGC) software. The flown, final
release was Comanche 55. The reconstruction is believed to be exactly accurate,
but in the absence of an actual Apollo-era listing of Comanche 51, some
explanation of the reconstruction process is needed to insure confidence in
that accuracy.
The starting point was the source code of Comanche 55, whose original source code
is available. Comanche 55 source code was then modified by undoing changes known
to have been made between revisions 51 and 55. The most-significant steps involved
reverting changes related to the R-2 lunar potential model, the details of which
were known from the previous, separate, independent reconstruction of the Apollo 10
Lunar Module software Luminary 69/2. The now-reconstructed
Comanche 51 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 or Luminary 69 printouts, although
the source code would likely have different page numbers in a contemporary Comanche 51 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 55. Here's a guide
to some of the Apollo documentation relevant to those annotations:
Among documentation not actually referenced in the annotations, there is
a short writeup about the reconstruction process in our software repository
that may be helpful in understanding it from a different perspective. There's also
a handy table
that lists what the number of memory-words should be for each routine in Comanche 51,
which could make a nice double-check; however, we've not performed that double-check ourselves.
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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060472,000002: ## Copyright: Public domain.
060473,000003: ## Filename: IMU_MODE_SWITCHING_ROUTINES.agc
060474,000004: ## Purpose: A section of Comanche revision 051.
060475,000005: ## It is part of the reconstructed source code for the
060476,000006: ## original release of the flight software for the Command
060477,000007: ## Module's (CM) Apollo Guidance Computer (AGC) for Apollo 11.
060478,000008: ## The code has been recreated from a copy of Comanche 055. It
060479,000009: ## has been adapted such that the resulting bugger words
060480,000010: ## exactly match those specified for Comanche 51 in NASA drawing
060481,000011: ## 2021153D, which gives relatively high confidence that the
060482,000012: ## reconstruction is correct.
060483,000013: ## Reference: pp. 1420-1448
060484,000014: ## Assembler: yaYUL
060485,000015: ## Contact: Ron Burkey <info@sandroid.org>.
060486,000016: ## Website: www.ibiblio.org/apollo/index.html
060487,000017: ## Mod history: 2019-07-30 MAS Created from Comanche 55.
060488,000018:
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Page 1420
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060490,000020: 5521 BLOCK 02
060491,000021: 4000 SETLOC FFTAG3
060492,000022: 4000 BANK
060493,000023:
060494,000024: 5521 E3,1471 EBANK= COMMAND
060495,000025:
060496,000026: # FIXED-FIXED ROUTINES.
060497,000027:
060498,000028: 5521 COUNT 02/IMODE
060499,000029:
060500,000030: 5521 35021 ZEROICDU CAF ZERO # ZERO ICDU COUNTERS.
060501,000031: 5522 54032 TS CDUX
060502,000032: 5523 54033 TS CDUY
060503,000033: 5524 54034 TS CDUZ
060504,000034: 5525 00002 TC Q
060505,000035:
060506,000036: 5526 5007 SPSCODE = BIT9
060507,000037:
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Page 1421
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060509,000039: # IMU ZEROING ROUTINE.
060510,000040:
060511,000041: 11,3776 BANK 11
060512,000042: 07,2000 SETLOC MODESW
060513,000043: 07,2000 BANK
060514,000044:
060515,000045: 07,2577 COUNT 07/IMODE
060516,000046:
060517,000047: 07,2577 00004 IMUZERO INHINT # ROUTINE TO ZERO ICDUS.
060518,000048: 07,2600 41036 CS DSPTAB +11D # DONT ZERO CDUS IF IMU IN GIMBAL LOCK AND
060519,000049: 07,2601 75033 MASK BITS4&6 # COARSE ALIGN (GIMBAL RUNAWAY PROTECTION)
060520,000050: 07,2602 10000 CCS A
060521,000051: 07,2603 12607 TCF IMUZEROA
060522,000052:
060523,000053: 07,2604 05650 TC ALARM # IF SO.
060524,000054: 07,2605 00206 OCT 00206
060525,000055:
060526,000056: 07,2606 13542 TCF CAGETSTJ +4 # IMMEDIATE FAILURE.
060527,000057:
060528,000058: 07,2607 03536 IMUZEROA TC CAGETSTJ
060529,000059:
060530,000060: # DO ALL THE WORK.
060531,000061:
060532,000062: 07,2610 41321 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
060533,000063: 07,2611 75035 MASK SUPER011 # BIT5 FOR GROUND
060534,000064: 07,2612 27321 ADS IMODES33
060535,000065:
060536,000066: 07,2613 41320 CS IMODES30 # INHIBIT ICDUFAIL AND IMUFAIL (IN CASE WE
060537,000067: 07,2614 75771 MASK BITS3&4 # JUST CAME OUT OF COARSE ALIGN).
060538,000068: 07,2615 27320 ADS IMODES30
060539,000069:
060540,000070: 07,2616 45033 CS BITS4&6 # SEND ZERO ENCODE WITH COARSE AND ERROR
060541,000071: 07,2617 00006 EXTEND # COUNTER DISABLED.
060542,000072: 07,2620 03012 WAND CHAN12
060543,000073:
060544,000074: 07,2621 03151 TC NOATTOFF # TURN OFF NO ATT LAMP.
060545,000075:
060546,000076: 07,2622 35013 CAF BIT5
060547,000077: 07,2623 00006 EXTEND
060548,000078: 07,2624 05012 WOR CHAN12
060549,000079:
060550,000080: 07,2625 05521 TC ZEROICDU
060551,000081: 07,2626 35012 CAF BIT6 # WAIT 320 MS TO GIVE AGS ADEQUATE TIME TO
060552,000082: 07,2627 05245 TC WAITLIST # RECEIVE ITS PULSE TRAIN.
060553,000083: 07,2630 E3,1474 EBANK= CDUIND
060554,000084: 07,2630 02642 16063 2CADR IMUZERO2
060555,000085:
060556,000086: 07,2632 41320 CS IMODES30 # SEE IF IMU OPERATING AND ALARM IF NOT.
060557,000087: 07,2633 75007 MASK BIT9
060558,000088: 07,2634 10000 CCS A
060559,000089: 07,2635 12640 TCF MODEEXIT
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Page 1422
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060561,000091: 07,2636 05650 TC ALARM
060562,000092: 07,2637 00210 OCT 210
060563,000093:
060564,000094: 07,2640 00003 MODEEXIT RELINT # GENERAL MODE-SWITCHING EXIT.
060565,000095: 07,2641 14675 TCF SWRETURN
060566,000096:
060567,000097: 07,2642 03524 IMUZERO2 TC CAGETEST
060568,000098: 07,2643 05521 TC ZEROICDU # ZERO CDUX, CDUY, CDUZ
060569,000099:
060570,000100: 07,2644 45013 CS BIT5 # REMOVE ZERO DISCRETE.
060571,000101: 07,2645 00006 EXTEND
060572,000102: 07,2646 03012 WAND CHAN12
060573,000103:
060574,000104: 07,2647 35005 CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS
060575,000105: 07,2650 05272 TC VARDELAY
060576,000106:
060577,000107: 07,2651 03524 IMUZERO3 TC CAGETEST
060578,000108: 07,2652 45771 CS BITS3&4 # REMOVE IMUFAIL AND ICDUFAIL INHIBIT.
060579,000109: 07,2653 71320 MASK IMODES30
060580,000110: 07,2654 55320 TS IMODES30
060581,000111:
060582,000112: 07,2655 45035 CS SUPER011 # ENABLE DAP AUTO AND HOLD MODES
060583,000113: 07,2656 71321 MASK IMODES33 # BIT5 FOR GROUND
060584,000114: 07,2657 55321 TS IMODES33
060585,000115:
060586,000116: 07,2660 04740 TC IBNKCALL # SET ISS WARNING IF EITHER OF ABOVE ARE
060587,000117: 07,2661 14665 CADR SETISSW # PRESENT.
060588,000118:
060589,000119: 07,2662 13514 TCF ENDIMU
060590,000120:
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Page 1423
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060592,000122: # IMU COARSE ALIGN MODE.
060593,000123:
060594,000124: 07,2663 00004 IMUCOARS INHINT
060595,000125: 07,2664 03536 TC CAGETSTJ
060596,000126: 07,2665 03027 TC SETCOARS
060597,000127:
060598,000128: 07,2666 36211 CAF SIX
060599,000129: 07,2667 05245 TC WAITLIST
060600,000130: 07,2670 E3,1474 EBANK= CDUIND
060601,000131: 07,2670 02673 16063 2CADR COARS
060602,000132:
060603,000133: 07,2672 12640 TCF MODEEXIT
060604,000134:
060605,000135: 07,2673 03524 COARS TC CAGETEST
060606,000136: 07,2674 35012 CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
060607,000137: 07,2675 00006 EXTEND
060608,000138: 07,2676 05012 WOR CHAN12
060609,000139:
060610,000140: 07,2677 35016 CAF TWO # SET CDU INDICATOR
060611,000141: 07,2700 55474 COARS1 TS CDUIND
060612,000142:
060613,000143: 07,2701 51474 INDEX CDUIND # COMPUTE THETAD - THETAA IN 1:S
060614,000144: 07,2702 31155 CA THETAD # COMPLEMENT FORM
060615,000145: 07,2703 00006 EXTEND
060616,000146: 07,2704 51474 INDEX CDUIND
060617,000147: 07,2705 20032 MSU CDUX
060618,000148: 07,2706 00006 EXTEND
060619,000149: 07,2707 75003 MP BIT13 # SHIFT RIGHT 2
060620,000150: 07,2710 56001 XCH L # ROUND
060621,000151: 07,2711 60000 DOUBLE
060622,000152: 07,2712 54061 TS ITEMP1
060623,000153: 07,2713 12715 TCF +2
060624,000154: 07,2714 26001 ADS L
060625,000155:
060626,000156: 07,2715 51474 INDEX CDUIND # DIFFERENCE TO BE COMPUTED
060627,000157: 07,2716 23471 LXCH COMMAND
060628,000158: 07,2717 11474 CCS CDUIND
060629,000159: 07,2720 02700 TC COARS1
060630,000160:
060631,000161: 07,2721 35016 CAF TWO # MINIMUM OF 4 MS WAIT
060632,000162: 07,2722 05272 TC VARDELAY
060633,000163:
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Page 1424
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060635,000165: 07,2723 03524 COARS2 TC CAGETEST # DONT CONTINUE IF CAGED.
060636,000166: 07,2724 54061 TS ITEMP1 # SETS TO +0.
060637,000167: 07,2725 35016 CAF TWO # SET CDU INDICATOR
060638,000168: 07,2726 55474 +3 TS CDUIND
060639,000169:
060640,000170: 07,2727 51474 INDEX CDUIND
060641,000171: 07,2730 11471 CCS COMMAND # NUMBER OF PULSES REQUIRED
060642,000172: 07,2731 02735 TC COMPOS # GREATER THAN MAX ALLOWED
060643,000173: 07,2732 02744 TC NEXTCDU +1
060644,000174: 07,2733 03002 TC COMNEG
060645,000175: 07,2734 02744 TC NEXTCDU +1
060646,000176:
060647,000177: 07,2735 63624 COMPOS AD -COMMAX # COMMAX = MAX NUMBER OF PULSES ALLOWED
060648,000178: 07,2736 00006 EXTEND # MINUS ONE
060649,000179: 07,2737 63012 BZMF COMZERO
060650,000180: 07,2740 51474 INDEX CDUIND
060651,000181: 07,2741 55471 TS COMMAND # REDUCE COMMAND BY MAX NUMBER OF PULSES
060652,000182: 07,2742 43625 CS -COMMAX- # ALLOWED
060653,000183:
060654,000184: 07,2743 24061 NEXTCDU INCR ITEMP1
060655,000185: 07,2744 65020 AD NEG0
060656,000186: 07,2745 51474 INDEX CDUIND
060657,000187: 07,2746 54050 TS CDUXCMD # SET UP COMMAND REGISTER.
060658,000188:
060659,000189: 07,2747 11474 CCS CDUIND
060660,000190: 07,2750 02726 TC COARS2 +3
060661,000191:
060662,000192: 07,2751 10061 CCS ITEMP1 # SEE IF ANY PULSES TO GO OUT.
060663,000193: 07,2752 13016 TCF SENDPULS
060664,000194:
060665,000195: 07,2753 05267 TC FIXDELAY # WAIT FOR GIMBALS TO SETTLE.
060666,000196: 07,2754 00226 DEC 150 B-14
060667,000197:
060668,000198: 07,2755 35016 CAF TWO # AT END OF COMMAND, CHECK TO SEE THAT
060669,000199: 07,2756 54061 CHKCORS TS ITEMP1 # GIMBALS ARE WITHIN 2 DEGREES OF THETAD.
060670,000200: 07,2757 50000 INDEX A
060671,000201: 07,2760 30032 CA CDUX
060672,000202: 07,2761 00006 EXTEND
060673,000203: 07,2762 50061 INDEX ITEMP1
060674,000204: 07,2763 21155 MSU THETAD
060675,000205: 07,2764 10000 CCS A
060676,000206: 07,2765 12773 TCF COARSERR
060677,000207: 07,2766 12770 TCF CORSCHK2
060678,000208: 07,2767 12773 TCF COARSERR
060679,000209:
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Page 1425
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060681,000211: 07,2770 10061 CORSCHK2 CCS ITEMP1
060682,000212: 07,2771 12756 TCF CHKCORS
060683,000213: 07,2772 13514 TCF ENDIMU # END OF COARSE ALIGNMENT.
060684,000214:
060685,000215: 07,2773 63001 COARSERR AD COARSTOL # 2 DEGREES.
060686,000216: 07,2774 00006 EXTEND
060687,000217: 07,2775 62770 BZMF CORSCHK2
060688,000218:
060689,000219: 07,2776 05650 TC ALARM # COARSE ALIGN ERROR.
060690,000220: 07,2777 00211 OCT 211
060691,000221:
060692,000222: 07,3000 13522 TCF IMUBAD
060693,000223:
060694,000224: 07,3001 77511 COARSTOL DEC -.01111 # 2 DEGREES SCALED AT HALF-REVOLUTIONS
060695,000225:
060696,000226: 07,3002 63624 COMNEG AD -COMMAX
060697,000227: 07,3003 00006 EXTEND
060698,000228: 07,3004 63012 BZMF COMZERO
060699,000229: 07,3005 40000 COM
060700,000230: 07,3006 51474 INDEX CDUIND
060701,000231: 07,3007 55471 TS COMMAND
060702,000232: 07,3010 33625 CA -COMMAX-
060703,000233: 07,3011 02743 TC NEXTCDU
060704,000234:
060705,000235: 07,3012 35021 COMZERO CAF ZERO
060706,000236: 07,3013 51474 INDEX CDUIND
060707,000237: 07,3014 57471 XCH COMMAND
060708,000238: 07,3015 02743 TC NEXTCDU
060709,000239:
060710,000240: 07,3016 37707 SENDPULS CAF 13,14,15
060711,000241: 07,3017 00006 EXTEND
060712,000242: 07,3020 05014 WOR CHAN14
060713,000243: 07,3021 33626 CAF 600MS
060714,000244: 07,3022 12722 TCF COARS2 -1 # THEN TO VARDELAY
060715,000245:
060716,000246: 07,3023 35012 CA+ECE CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
060717,000247: 07,3024 00006 EXTEND
060718,000248: 07,3025 05012 WOR CHAN12
060719,000249: 07,3026 05324 TC TASKOVER
060720,000250:
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Page 1426
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060722,000252: 07,3027 35014 SETCOARS CAF BIT4 # BYPASS IF ALREADY IN COARSE ALIGN
060723,000253: 07,3030 00006 EXTEND
060724,000254: 07,3031 02012 RAND CHAN12
060725,000255: 07,3032 10000 CCS A
060726,000256: 07,3033 00002 TC Q
060727,000257:
060728,000258: 07,3034 45012 CS BIT6 # CLEAR ISS ERROR COUNTERS
060729,000259: 07,3035 00006 EXTEND
060730,000260: 07,3036 03012 WAND CHAN12
060731,000261:
060732,000262: 07,3037 45006 CS BIT10 # KNOCK DOWN GYRO ACTIVITY
060733,000263: 07,3040 00006 EXTEND
060734,000264: 07,3041 03014 WAND CHAN14
060735,000265: 07,3042 45021 CS ZERO
060736,000266: 07,3043 54047 TS GYROCMD
060737,000267:
060738,000268: 07,3044 35014 CAF BIT4 # PUT ISS IN COARSE ALIGN
060739,000269: 07,3045 00006 EXTEND
060740,000270: 07,3046 05012 WOR CHAN12
060741,000271:
060742,000272: 07,3047 41036 CS DSPTAB +11D # TURN ON NO ATT LAMP
060743,000273: 07,3050 73072 MASK OCT40010
060744,000274: 07,3051 27036 ADS DSPTAB +11D
060745,000275:
060746,000276: 07,3052 41321 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
060747,000277: 07,3053 75012 MASK BIT6
060748,000278: 07,3054 27321 ADS IMODES33
060749,000279:
060750,000280: 07,3055 41320 CS IMODES30 # DISABLE IMUFAIL
060751,000281: 07,3056 75014 MASK BIT4
060752,000282: 07,3057 27320 ADS IMODES30
060753,000283:
060754,000284: 07,3060 45013 RNDREFDR CS BIT5 # KNOCK DOWN TRACK FLAG
060755,000285: 07,3061 70075 MASK FLAGWRD1
060756,000286: 07,3062 54075 TS FLAGWRD1
060757,000287:
060758,000288: 07,3063 45001 CS BIT15 # KNOCK DOWN DRIFT FLAG
060759,000289: 07,3064 70076 MASK FLAGWRD2
060760,000290: 07,3065 54076 TS FLAGWRD2
060761,000291:
060762,000292: 07,3066 45003 CS BIT13 # KNOCK DOWN REFSMMAT FLAG
060763,000293: 07,3067 70077 MASK FLAGWRD3
060764,000294: 07,3070 54077 TS FLAGWRD3
060765,000295:
060766,000296: 07,3071 00002 TC Q
060767,000297:
060768,000298: 07,3072 40010 OCT40010 OCT 40010
060769,000299:
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Page 1427
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060771,000301: # IMU FINE ALIGN MODE SWITCH.
060772,000302:
060773,000303: 07,3073 00004 IMUFINE INHINT
060774,000304: 07,3074 03536 TC CAGETSTJ # SEE IF IMU BEING CAGED.
060775,000305:
060776,000306: 07,3075 45027 CS BITS4-5 # RESET ZERO AND COARSE
060777,000307: 07,3076 00006 EXTEND
060778,000308: 07,3077 03012 WAND CHAN12
060779,000309:
060780,000310: 07,3100 45012 CS BIT6 # INSURE DAP AUTO AND HOLD MODES ENABLED
060781,000311: 07,3101 71321 MASK IMODES33
060782,000312: 07,3102 55321 TS IMODES33
060783,000313:
060784,000314: 07,3103 03151 TC NOATTOFF
060785,000315:
060786,000316: 07,3104 35006 CAF BIT10 # IMU FAIL WAS INHIBITED DURING THE
060787,000317: 07,3105 05245 TC WAITLIST # PRESUMABLY PRECEDING COARSE ALIGN. LEAVE
060788,000318: 07,3106 E3,1474 EBANK= CDUIND
060789,000319: 07,3106 03117 16063 2CADR IFAILOK # IT ON FOR THE FIRST 5 SECS OF FINE ALIGN
060790,000320:
060791,000321: 07,3110 35042 CAF 2SECS
060792,000322: 07,3111 05245 TC WAITLIST
060793,000323: 07,3112 E3,1474 EBANK= CDUIND
060794,000324: 07,3112 03115 16063 2CADR IMUFINED
060795,000325:
060796,000326: 07,3114 12640 TCF MODEEXIT
060797,000327:
060798,000328: 07,3115 03524 IMUFINED TC CAGETEST # SEE THAT NO ONE HAS CAGED THE IMU.
060799,000329: 07,3116 13514 TCF ENDIMU
060800,000330:
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Page 1428
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060802,000332: 07,3117 03531 IFAILOK TC CAGETSTQ # ENABLE IMU FIAL UNLESS IMU BEING CAGED.
060803,000333: 07,3120 15324 TCF TASKOVER # IT IS.
060804,000334:
060805,000335: 07,3121 35014 CAF BIT4 # DONT RESET IMU FAIL INHIBIT IF SOMEONE
060806,000336: 07,3122 00006 EXTEND # HAS GONE INTO COARSE ALIGN.
060807,000337: 07,3123 02012 RAND CHAN12
060808,000338: 07,3124 10000 CCS A
060809,000339: 07,3125 15324 TCF TASKOVER
060810,000340:
060811,000341: 07,3126 41320 CS IMODES30 # RESET IMUFAIL.
060812,000342: 07,3127 75003 MASK BIT13
060813,000343: 07,3130 27320 ADS IMODES30
060814,000344: 07,3131 45014 CS BIT4
060815,000345: 07,3132 71320 PFAILOK2 MASK IMODES30
060816,000346: 07,3133 55320 TS IMODES30
060817,000347: 07,3134 04740 TC IBNKCALL # THE ISS WARNING LIGHT MAY COME ON NOW
060818,000348: 07,3135 14665 CADR SETISSW # THAT THE INHIBIT HAS BEEN REMOVED.
060819,000349: 07,3136 15324 TCF TASKOVER
060820,000350:
060821,000351: 07,3137 03531 PFAILOK TC CAGETSTQ # ENABLE PIP FAIL PROG ALARM.
060822,000352: 07,3140 15324 TCF TASKOVER
060823,000353:
060824,000354: 07,3141 41320 CS IMODES30 # RESET IMU AND PIPA FAIL BITS.
060825,000355: 07,3142 75006 MASK BIT10
060826,000356: 07,3143 27320 ADS IMODES30
060827,000357:
060828,000358: 07,3144 41321 CS IMODES33
060829,000359: 07,3145 75003 MASK BIT13
060830,000360: 07,3146 27321 ADS IMODES33
060831,000361:
060832,000362: 07,3147 45013 CS BIT5
060833,000363: 07,3150 13132 TCF PFAILOK2
060834,000364:
060835,000365: 07,3151 43072 NOATTOFF CS OCT40010 # SUBROUTINE TO TURN OFF NO ATT LAMP.
060836,000366: 07,3152 71036 MASK DSPTAB +11D
060837,000367: 07,3153 65001 AD BIT15
060838,000368: 07,3154 55036 TS DSPTAB +11D
060839,000369: 07,3155 00002 TC Q
060840,000370:
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Page 1429
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060842,000372: # ROUITNES TO INITIATE AND TERMINATE PROGRAM USE OF THE PIPAS. NO IMUSTALL REQUIRED IN EITHER CASE.
060843,000373:
060844,000374: 07,3156 45021 PIPUSE CS ZERO
060845,000375: 07,3157 54037 TS PIPAX
060846,000376: 07,3160 54040 TS PIPAY
060847,000377: 07,3161 54041 TS PIPAZ
060848,000378:
060849,000379: 07,3162 03531 PIPUSE1 TC CAGETSTQ # DO NOT ENABLE PIPA FAIL IF IMU IS CAGED
060850,000380: 07,3163 14675 TCF SWRETURN
060851,000381:
060852,000382: 07,3164 00004 INHINT
060853,000383: 07,3165 45017 CS BIT1 # IF PIPA FAILS FROM NOW ON (UNTIL
060854,000384: 07,3166 71320 MASK IMODES30 # PIPFREE), LIGHT ISS WARNING.
060855,000385: 07,3167 55320 TS IMODES30
060856,000386:
060857,000387: 07,3170 04740 PIPFREE2 TC IBNKCALL # ISS WARNING MIGHT COME ON NOW.
060858,000388: 07,3171 14665 CADR SETISSW # (OR GO OFF ON PIPFREE).
060859,000389:
060860,000390: 07,3172 12640 TCF MODEEXIT
060861,000391:
060862,000392: 07,3173 00004 PIPFREE INHINT # PROGRAM DONE WITH PIPAS. DONT LIGHT
060863,000393: 07,3174 41320 CS IMODES30 # ISS WARNING.
060864,000394: 07,3175 75017 MASK BIT1
060865,000395: 07,3176 27320 ADS IMODES30
060866,000396:
060867,000397: 07,3177 75006 MASK BIT10 # IF PIP FAIL ON, DO PROG ALSRM AND RESET
060868,000398: 07,3200 10000 CCS A # ISS WARNING.
060869,000399: 07,3201 12640 TCF MODEEXIT
060870,000400:
060871,000401: 07,3202 05650 TC ALARM
060872,000402: 07,3203 00212 OCT 212
060873,000403:
060874,000404: 07,3204 00004 INHINT
060875,000405:
060876,000406: 07,3205 13170 TCF PIPFREE2
060877,000407:
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Page 1430
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060879,000409: # THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIX REGISTERS
060880,000410: # BEGINNING AT THE ECADR ARRIVING IN A. THE MINIMUM SIZE OF ANY PULSE TRAIN IS 16 PULSES (.25 CDU COUNTS). THE
060881,000411: # UNSENT PORTION OF THE COMMAND IS LEFT INTACT IN THE INPUT COMMAND REGISTERS.
060882,000412:
060883,000413: 07,3206 E3,1400 EBANK= 1400 # VARIABLE, ACTUALLY.
060884,000414:
060885,000415: 07,3206 54161 IMUPULSE TS MPAC +5 # SAVE ARRIVING ECADR.
060886,000416: 07,3207 03536 TC CAGETSTJ # DONT PROCEED IF IMU BEING CAGED.
060887,000417:
060888,000418: 07,3210 11304 CCS LGYRO # SEE IF GYROS BUSY.
060889,000419: 07,3211 03252 TC GYROBUSY # SLEEP.
060890,000420:
060891,000421: 07,3212 54156 TS MPAC +2
060892,000422: 07,3213 35012 CAF BIT6 # ENABLE THE POWER SUPPLY.
060893,000423: 07,3214 00006 EXTEND
060894,000424: 07,3215 05014 WOR CHAN14
060895,000425:
060896,000426: 07,3216 35015 CAF FOUR
060897,000427: 07,3217 05245 GWAKE2 TC WAITLIST # (IF A JOB WAS PUT TO SLEEP, THE POWER
060898,000428: 07,3220 E3,1474 EBANK= CDUIND # SUPPLY IS LEFT ON BY THE WAKING JOB).
060899,000429: 07,3220 03270 16063 2CADR STRTGYRO
060900,000430:
060901,000431: 07,3222 30161 CA MPAC +5 # SET UP EBANK, SAVING CALLER'S EBANK FOR
060902,000432: 07,3223 56003 XCH EBANK # RESTORATION ON RETURN.
060903,000433: 07,3224 56161 XCH MPAC +5
060904,000434: 07,3225 55304 TS LGYRO # RESERVES GYROS.
060905,000435: 07,3226 74373 MASK LOW8
060906,000436: 07,3227 54061 TS ITEMP1
060907,000437:
060908,000438: 07,3230 35016 CAF TWO # FORCE SIGN AGREEMENT ON INPUTS.
060909,000439: 07,3231 54157 GYROAGRE TS MPAC +3
060910,000440: 07,3232 60000 DOUBLE
060911,000441: 07,3233 60061 AD ITEMP1
060912,000442: 07,3234 54160 TS MPAC +4
060913,000443: 07,3235 00006 EXTEND
060914,000444: 07,3236 50000 INDEX A
060915,000445: 07,3237 31401 DCA 1400
060916,000446: 07,3240 52155 DXCH MPAC
060917,000447: 07,3241 07226 TC TPAGREE
060918,000448: 07,3242 52155 DXCH MPAC
060919,000449: 07,3243 50160 INDEX MPAC +4
060920,000450: 07,3244 53401 DXCH 1400
060921,000451:
060922,000452: 07,3245 10157 CCS MPAC +3
060923,000453: 07,3246 13231 TCF GYROAGRE
060924,000454:
060925,000455: 07,3247 30161 CA MPAC +5 # RESTORE CALLER'S EBANK.
060926,000456: 07,3250 54003 TS EBANK
060927,000457: 07,3251 12640 TCF MODEEXIT
060928,000458:
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Page 1431
|
060930,000460: # ROUTINES TO ALLOW TORQUING BY ONLY ONE JOB AT A TIME.
060931,000461:
060932,000462: 07,3252 00006 GYROBUSY EXTEND # SAVE RETURN 2FCADR.
060933,000463: 07,3253 30134 DCA BUF2
060934,000464: 07,3254 52155 DXCH MPAC
060935,000465: 07,3255 33267 REGSLEEP CAF LGWAKE
060936,000466: 07,3256 15175 TCF JOBSLEEP
060937,000467:
060938,000468: 07,3257 11304 GWAKE CCS LGYRO # WHEN AWAKENED, SEE IF GYROS STILL BUSY.
060939,000469: 07,3260 13255 TCF REGSLEEP # IF SO, SLEEP SOME MORE.
060940,000470:
060941,000471: 07,3261 54156 TS MPAC +2
060942,000472: 07,3262 00006 EXTEND
060943,000473: 07,3263 30155 DCA MPAC
060944,000474: 07,3264 52134 DXCH BUF2 # RESTORE SWRETURN INFO.
060945,000475: 07,3265 35017 CAF ONE
060946,000476: 07,3266 13217 TCF GWAKE2
060947,000477:
060948,000478: 07,3267 17257 LGWAKE CADR GWAKE
060949,000479:
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|
Page 1432
|
060951,000481: # GYRO-TORQUING WAITLIST TASKS.
060952,000482:
060953,000483: 07,3270 43511 STRTGYRO CS GDESELCT # DE-SELECT LAST GYRO.
060954,000484: 07,3271 00006 EXTEND
060955,000485: 07,3272 03014 WAND CHAN14
060956,000486:
060957,000487: 07,3273 03524 TC CAGETEST
060958,000488:
060959,000489: 07,3274 31304 STRTGYR2 CA LGYRO # JUMP ON PHASE COUNTER IN BITS 13-14.
060960,000490: 07,3275 00006 EXTEND
060961,000491: 07,3276 75014 MP BIT4
060962,000492: 07,3277 50000 INDEX A
060963,000493: 07,3300 13301 TCF +1
060964,000494: 07,3301 03316 TC GSELECT # =0. DO Y GYRO.
060965,000495: 07,3302 00202 OCT 00202
060966,000496:
060967,000497: 07,3303 03316 TC GSELECT # =1. DO Z GYRO.
060968,000498: 07,3304 00302 OCT 00302
060969,000499:
060970,000500: 07,3305 03314 TC GSELECT -2 # =2. DO X GYRO.
060971,000501: 07,3306 00100 OCT 00100
060972,000502:
060973,000503: 07,3307 35021 CAF ZERO # =3. DONE
060974,000504: 07,3310 55304 TS LGYRO
060975,000505: 07,3311 33267 CAF LGWAKE # WAKE A POSSIBLE SLEEPING JOB.
060976,000506: 07,3312 05201 TC JOBWAKE
060977,000507:
060978,000508: 07,3313 13115 NORESET TCF IMUFINED # DO NOT RESET POWER SUPPLY
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|
Page 1433
|
060980,000510: 07,3314 45015 -2 CS FOUR # SPECIAL ENTRY TO REGRESS LGYRO FOR X.
060981,000511: 07,3315 27304 ADS LGYRO
060982,000512:
060983,000513: 07,3316 50002 GSELECT INDEX Q # SELECT GYRO.
060984,000514: 07,3317 30000 CAF 0 # PACKED WORD CONTAINS GYRO SELECT BITS
060985,000515: 07,3320 54064 TS ITEMP4 # AND INCREMENT TO LGYRO.
060986,000516: 07,3321 75023 MASK SEVEN
060987,000517: 07,3322 65003 AD BIT13
060988,000518: 07,3323 27304 ADS LGYRO
060989,000519: 07,3324 54003 TS EBANK
060990,000520: 07,3325 74373 MASK LOW8
060991,000521: 07,3326 54061 TS ITEMP1
060992,000522:
060993,000523: 07,3327 45023 CS SEVEN
060994,000524: 07,3330 70064 MASK ITEMP4
060995,000525: 07,3331 54064 TS ITEMP4
060996,000526:
060997,000527: 07,3332 00006 EXTEND # MOVE DP COMMAND TO RUPTREGS FOR TESTING.
060998,000528: 07,3333 50061 INDEX ITEMP1
060999,000529: 07,3334 31401 DCA 1400
061000,000530: 07,3335 52071 DXCH RUPTREG1
061001,000531:
061002,000532: 07,3336 10070 CCS RUPTREG1
061003,000533: 07,3337 13352 TCF MAJ+
061004,000534: 07,3340 13342 TCF +2
061005,000535: 07,3341 13472 TCF MAJ-
061006,000536:
061007,000537: 07,3342 10071 CCS RUPTREG2
061008,000538: 07,3343 13347 TCF MIN+
061009,000539: 07,3344 13274 TCF STRTGYR2
061010,000540: 07,3345 13467 TCF MIN-
061011,000541: 07,3346 13274 TCF STRTGYR2
061012,000542:
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Page 1434
|
061014,000544: 07,3347 63403 MIN+ AD -GYROMIN # SMALL POSITIVE COMMAND. SEE IF AT LEAST
061015,000545: 07,3350 00006 EXTEND # 16 GYRO PULSES.
061016,000546: 07,3351 63274 BZMF STRTGYR2
061017,000547:
061018,000548: 07,3352 00006 MAJ+ EXTEND # DEFINITE POSITIVE OUTPUT.
061019,000549: 07,3353 33513 DCA GYROFRAC
061020,000550: 07,3354 20071 DAS RUPTREG1
061021,000551:
061022,000552: 07,3355 30064 CA ITEMP4 # SELECT POSITIVE TORQUING FOR THIS GYRO.
061023,000553: 07,3356 00006 EXTEND
061024,000554: 07,3357 05014 WOR CHAN14
061025,000555:
061026,000556: 07,3360 36043 CAF LOW7 # LEAVE NUMBER OF POSSIBLE 8192 AUGMENTS
061027,000557: 07,3361 70071 MASK RUPTREG2 # TO INITIAL COMMAND IN MAJOR PART OF LONG
061028,000558: 07,3362 56071 XCH RUPTREG2 # TERM STORAGE AND TRUNCATED FRACTION
061029,000559: 07,3363 00006 GMERGE EXTEND # IN MINOR PART. THE MAJOR PART WILL BE
061030,000560: 07,3364 75010 MP BIT8 # COUNTED DOWN TO ZERO IN THE COURSE OF
061031,000561: 07,3365 54062 TS ITEMP2 # PUTTING OUT THE ENTIRE COMMAND.
061032,000562: 07,3366 30070 CA RUPTREG1
061033,000563: 07,3367 00006 EXTEND
061034,000564: 07,3370 75007 MP BIT9
061035,000565: 07,3371 54070 TS RUPTREG1
061036,000566: 07,3372 30001 CA L
061037,000567: 07,3373 00006 EXTEND
061038,000568: 07,3374 75002 MP BIT14
061039,000569: 07,3375 26062 ADS ITEMP2 # INITIAL COMMAND.
061040,000570:
061041,000571: 07,3376 00006 EXTEND # SEE IF MORE THAN ONE PULSE TRAIN NEEDED
061042,000572: 07,3377 30071 DCA RUPTREG1 # (MORE THAN 16383 PULSES).
061043,000573: 07,3400 67716 AD MINUS1
061044,000574: 07,3401 10000 CCS A
061045,000575: 07,3402 13426 TCF LONGGYRO
061046,000576: 07,3403 77601 -GYROMIN OCT -176 # MAY BE ADJUSTED TO SPECIFY MINIMUM CMD
061047,000577: 07,3404 13410 TCF +4
061048,000578:
061049,000579: 07,3405 35002 CAF BIT14
061050,000580: 07,3406 26062 ADS ITEMP2
061051,000581: 07,3407 35021 CAF ZERO
061052,000582:
061053,000583: 07,3410 50061 +4 INDEX ITEMP1
061054,000584: 07,3411 53401 DXCH 1400
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Page 1435
|
061056,000586: 07,3412 30062 CA ITEMP2 # ENTIRE COMMAND.
061057,000587: 07,3413 54047 LASTSEG TS GYROCMD
061058,000588: 07,3414 00006 EXTEND
061059,000589: 07,3415 75006 MP BIT10 # WAITLIST DT
061060,000590: 07,3416 66214 AD THREE # TRUNCATION AND PHASE UNCERTAINTIES.
061061,000591: 07,3417 05245 TC WAITLIST
061062,000592: 07,3420 E3,1474 EBANK= CDUIND
061063,000593: 07,3420 03270 16063 2CADR STRTGYRO
061064,000594:
061065,000595: 07,3422 35006 GYROEXIT CAF BIT10
061066,000596: 07,3423 00006 EXTEND
061067,000597: 07,3424 05014 WOR CHAN14
061068,000598: 07,3425 15324 TCF TASKOVER
061069,000599:
061070,000600: 07,3426 50061 LONGGYRO INDEX ITEMP1
061071,000601: 07,3427 53401 DXCH 1400 # INITIAL COMMAND OUT PLUS N AUGMENTS OF
061072,000602: 07,3430 35002 CAF BIT14 # 8192. INITIAL COMMAND IS AT LEAST 8192.
061073,000603: 07,3431 60062 AD ITEMP2
061074,000604: 07,3432 54047 TS GYROCMD
061075,000605:
061076,000606: 07,3433 00006 AUG3 EXTEND # GET WAITLIST DT TO TIME WHEN TRAIN IS
061077,000607: 07,3434 75006 MP BIT10 # ALMOST OUT.
061078,000608: 07,3435 67714 AD NEG3
061079,000609: 07,3436 05245 TC WAITLIST
061080,000610: 07,3437 E3,1474 EBANK= CDUIND
061081,000611: 07,3437 03442 16063 2CADR 8192AUG
061082,000612:
061083,000613: 07,3441 13422 TCF GYROEXIT
061084,000614:
061085,000615: 07,3442 03524 8192AUG TC CAGETEST
061086,000616:
061087,000617: 07,3443 35014 CAF BIT4
061088,000618: 07,3444 00006 EXTEND
061089,000619: 07,3445 02012 RAND CHAN12
061090,000620: 07,3446 10000 CCS A
061091,000621: 07,3447 13522 TCF IMUBAD
061092,000622: 07,3450 31304 CA LGYRO # ADD 8192 PULSES TO GYROCMD
061093,000623: 07,3451 54003 TS EBANK
061094,000624: 07,3452 74373 MASK LOW8
061095,000625: 07,3453 54061 TS ITEMP1
061096,000626:
061097,000627: 07,3454 50061 INDEX ITEMP1 # SEE IF THIS IS THE LAST AUG.
061098,000628: 07,3455 11400 CCS 1400
061099,000629: 07,3456 13462 TCF AUG2 # MORE TO COME.
061100,000630:
061101,000631: 07,3457 35002 CAF BIT14
061102,000632: 07,3460 26047 ADS GYROCMD
061103,000633: 07,3461 13414 TCF LASTSEG +1
061104,000634:
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Page 1436
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061106,000636: 07,3462 50061 AUG2 INDEX ITEMP1
061107,000637: 07,3463 55400 TS 1400
061108,000638: 07,3464 35002 CAF BIT14
061109,000639: 07,3465 26047 ADS GYROCMD
061110,000640: 07,3466 13433 TCF AUG3 # COMPUTE DT.
061111,000641:
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Page 1437
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061113,000643: 07,3467 63403 MIN- AD -GYROMIN # POSSIBLE NEGATIVE OUTPUT.
061114,000644: 07,3470 00006 EXTEND
061115,000645: 07,3471 63274 BZMF STRTGYR2
061116,000646:
061117,000647: 07,3472 00006 MAJ- EXTEND # DEFINITE NEGATIVE OUTPUT.
061118,000648: 07,3473 43513 DCS GYROFRAC
061119,000649: 07,3474 20071 DAS RUPTREG1
061120,000650:
061121,000651: 07,3475 30064 CA ITEMP4 # SELECT NEGATIVE TORQUING FOR THIS GYRO.
061122,000652: 07,3476 65007 AD BIT9
061123,000653: 07,3477 00006 EXTEND
061124,000654: 07,3500 05014 WOR CHAN14
061125,000655:
061126,000656: 07,3501 40070 CS RUPTREG1 # SET UP RUPTREGS TO FALL INTO GMERGE.
061127,000657: 07,3502 54070 TS RUPTREG1 # ALL NUMBERS PUT INTO GYROCMD ARE
061128,000658: 07,3503 40071 CS RUPTREG2 # POSITIVE - BIT9 OF CHAN 14 DETERMINES
061129,000659: 07,3504 76043 MASK LOW7 # THE SIGN OF THE COMMAND.
061130,000660: 07,3505 40000 COM
061131,000661: 07,3506 56071 XCH RUPTREG2
061132,000662: 07,3507 40000 COM
061133,000663: 07,3510 13363 TCF GMERGE
061134,000664:
061135,000665: 07,3511 01700 GDESELCT OCT 1700 # TURN OFF SELECT AND ACTIVITY BITS.
061136,000666:
061137,000667: 07,3512 00000 00034 GYROFRAC 2DEC .215 B-21
061138,000668:
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Page 1438
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061140,000670: # IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE.
061141,000671:
061142,000672: 07,3514 00006 ENDIMU EXTEND # MODE IS BAD IF CAGE HAS OCCURED OR IF
061143,000673: 07,3515 00011 READ DSALMOUT # ISS WARNING IS ON.
061144,000674: 07,3516 75017 MASK BIT1
061145,000675: 07,3517 10000 CCS A
061146,000676: 07,3520 13522 TCF IMUBAD
061147,000677:
061148,000678: 07,3521 13550 IMUGOOD TCF GOODEND # WITH C(A) = 0.
061149,000679:
061150,000680: 07,3522 35021 IMUBAD CAF ZERO
061151,000681: 07,3523 13545 TCF BADEND
061152,000682:
061153,000683: 07,3524 35012 CAGETEST CAF BIT6 # SUBROUTINE TO TERMINATE IMU MODE
061154,000684: 07,3525 71320 MASK IMODES30 # SWITCH IF IMU HAS BEEN CAGED.
061155,000685: 07,3526 10000 CCS A
061156,000686: 07,3527 13522 TCF IMUBAD # DIRECTLY.
061157,000687: 07,3530 00002 TC Q # WITH C(A) = +0.
061158,000688:
061159,000689: 07,3531 41320 CAGETSTQ CS IMODES30 # SKIP IF IMU NOT BEING CAGED.
061160,000690: 07,3532 75012 MASK BIT6
061161,000691: 07,3533 10000 CCS A
061162,000692: 07,3534 24002 INCR Q
061163,000693: 07,3535 00002 TC Q
061164,000694:
061165,000695: 07,3536 41320 CAGETSTJ CS IMODES30 # IF DURING MODE SWITCH INITIALIZATION
061166,000696: 07,3537 75012 MASK BIT6 # IT IS FOUND THAT THE IMU IS BEING CAGED,
061167,000697: 07,3540 10000 CCS A # SET IMUCADR TO -0 TO INDICATE OPERATION
061168,000698: 07,3541 00002 TC Q # COMPLETE BUT FAILED. RETURN IMMEDIATELY
061169,000699: 07,3542 45021 CS ZERO # TO SWRETURN.
061170,000700: 07,3543 55322 TS IMUCADR
061171,000701: 07,3544 12640 TCF MODEEXIT
061172,000702:
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Page 1439
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061174,000704: # GENERALIZED MODE SWITCHING TERMINATION. ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION
061175,000705: # OR AT BADEND FOR AN UNSUCCESSFUL ONE. C(A) OR ARRIVAL =0 FOR IMU, 1 FOR OPTICS.
061176,000706:
061177,000707: 07,3545 54071 BADEND TS RUPTREG2 # DEVICE INDEX.
061178,000708: 07,3546 45021 CS ZERO # FOR FAILURE.
061179,000709: 07,3547 13552 TCF GOODEND +2
061180,000710:
061181,000711: 07,3550 54071 GOODEND TS RUPTREG2
061182,000712: 07,3551 45017 CS ONE # FOR SUCCESS.
061183,000713:
061184,000714: 07,3552 54072 TS RUPTREG3
061185,000715: 07,3553 50071 INDEX RUPTREG2 # SEE IF USING PROGRAM ASLEEP.
061186,000716: 07,3554 11322 CCS MODECADR
061187,000717: 07,3555 13557 TCF +2 # YES - WAKE IT UP.
061188,000718: 07,3556 13567 TCF ENDMODE # IF 0, PROGRAM NOT IN YET.
061189,000719:
061190,000720: 07,3557 35021 CAF ZERO # WAKE SLEEPING PROGRAM.
061191,000721: 07,3560 50071 INDEX RUPTREG2
061192,000722: 07,3561 57322 XCH MODECADR
061193,000723: 07,3562 05201 TC JOBWAKE
061194,000724:
061195,000725: 07,3563 40072 CS RUPTREG3 # ADVANCE LOC IF SUCCESSFUL.
061196,000726: 07,3564 50064 INDEX LOCCTR
061197,000727: 07,3565 26164 ADS LOC
061198,000728:
061199,000729: 07,3566 15324 TCF TASKOVER
061200,000730:
061201,000731: 07,3567 30072 ENDMODE CA RUPTREG3 # -0 INDICATES OPERATION COMPLETE BUT
061202,000732: 07,3570 50071 INDEX RUPTREG2 # UNSUCCESSFUL - -1 INDICATES COMPLETE AND
061203,000733: 07,3571 55322 TS MODECADR # SUCCESSFUL.
061204,000734: 07,3572 15324 TCF TASKOVER
061205,000735:
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Page 1440
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061207,000737: # GENERAL STALLING ROUTINE. USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION.
061208,000738:
061209,000739: # PROGRAM DESCRIPTION DATE - 21 FEB 1967
061210,000740: # LOG SECTION IMU MODE SWITCHING
061211,000741: # MOD BY - R. MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 82
061212,000742:
061213,000743: # FUNCTIONAL DESCRIPTION -
061214,000744: # TO DELAY FURTHER EXECUTION OF THE CALLING ROUTINE UNTIL ITS SELECTED
061215,000745: # I/O FUNCTION IS COMPLETE. THE FOLLOWING CHECKS ON THE CALLING ROUTINE:S
061216,000746: # MODECADR ARE MADE AND ACTED UPON.
061217,000747: # 1) +0 INDICATES INCOMPLETE I/O OPERATION. CALLING ROUTINE IS PUT TO
061218,000748: # SLEEP.
061219,000749: # 2) -1 INDICATES COMPLETED I/O OPERATION. STALL BYPASSES JOBSLEEP
061220,000750: # CALL AND RETURNS TO CALLING ROUTINE AT L+3
061221,000751: # 3) -0 INDICATES COMPLETED I/O WITH FAILURE. STALL CLEARS MODECADR
061222,000752: # AND RETURNS TO CALLING ROUTINE AT L+2.
061223,000753: # 4) VALUE GREATER THAN 0 INDICATES TWO ROUTINES CALLING FOR USE OF
061224,000754: # SAME DEVICE. STALL EXITS TO ABORT WHICH EXECUTES A PROGRAM
061225,000755: # RESTART WHICH IN TURN CLEARS ALL MODECADR REGISTERS.
061226,000756:
061227,000757: # CALLING SEQUENCE -
061228,000758: # L TC BANKCALL
061229,000759: # L+1 CADR (ONE OF 5 STALL ADDRESSES I.E. IMUSTALL, OPTSTALL, RADSTALL,
061230,000760: # AOTSTALL, OR ATTSTALL)
061231,000761:
061232,000762: # NORMAL-EXIT MODE -
061233,000763: # TCF JOBSLEEP OR TCF MODEXIT
061234,000764:
061235,000765: # ALARM OR ABORT EXIT MODE -
061236,000766: # TC ABORT
061237,000767:
061238,000768: # OUTPUT -
061239,000769: # MODECADR=CADR IF JOBSLEEP
061240,000770: # MODECADR=+0 IF I/O COMPLETE
061241,000771: # BUF2=L+3 IF I/O COMPLETE AND GOOD.
061242,000772: # BUF2=L+2 IF I/O COMPLETE BUT FAILED.
061243,000773:
061244,000774: # ERASABLE INITIALIZATION -
061245,000775: # BUF2 CONTAINS RETURN ADDRESS PLUS 1,(L+2)
061246,000776: # BUF2+1 CONTAINS FBANK VALUE OF CALLING ROUTINE.
061247,000777: # MODECADR OF CALLING ROUTINE CONTAINS +0,-1,-0 OR CADR RETURN ADDRESS.
061248,000778:
061249,000779: # DEBRIS -
061250,000780: # RUPTREG2 AND CALLING ROUTINE MODECADR.
061251,000781:
061252,000782: 07,3573 35017 AOTSTALL CAF ONE # AOT.
061253,000783: 07,3574 03600 TC STALL
061254,000784:
061255,000785: 07,3575 35016 RADSTALL CAF TWO
061256,000786: 07,3576 13600 TCF STALL
061257,000787:
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Page 1441
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061259,000789: 07,3577 07,3573 OPTSTALL EQUALS AOTSTALL
061260,000790:
061261,000791: 07,3577 35021 IMUSTALL CAF ZERO # IMU.
061262,000792:
061263,000793: 07,3600 00004 STALL INHINT
061264,000794: 07,3601 54071 TS RUPTREG2 # SAVE DEVICE INDEX.
061265,000795: 07,3602 50000 INDEX A # SEE IF OPERATION COMPLETE.
061266,000796: 07,3603 11322 CCS MODECADR
061267,000797: 07,3604 13622 TCF MODABORT # ALLOWABLE STATES ARE +0, -1, AND -0.
061268,000798: 07,3605 13616 TCF MODESLP # OPERATION INCOMPLETE.
061269,000799: 07,3606 13612 TCF MODEGOOD # COMPLETE AND GOOD IF = -1.
061270,000800:
061271,000801: 07,3607 50071 MG2 INDEX RUPTREG2 # COMPLETE AND FAILED IF -0. RESET TO +0.
061272,000802: 07,3610 55322 TS MODECADR # RETURN TO CALLER.
061273,000803: 07,3611 12640 TCF MODEEXIT
061274,000804:
061275,000805: 07,3612 10000 MODEGOOD CCS A # MAKE SURE INITIAL STATE -1.
061276,000806: 07,3613 13622 TCF MODABORT
061277,000807:
061278,000808: 07,3614 24133 INCR BUF2 # IF SO, INCREMENT RETURN ADDRESS AND
061279,000809: 07,3615 13607 TCF MG2 # RETURN IMMEDIATELY, SETTING CADR = +0.
061280,000810:
061281,000811: 07,3616 04711 MODESLP TC MAKECADR # CALL FROM SWITCHABLE FIXED ONLY.
061282,000812: 07,3617 50071 INDEX RUPTREG2
061283,000813: 07,3620 55322 TS MODECADR
061284,000814: 07,3621 15175 TCF JOBSLEEP
061285,000815:
061286,000816: 07,3622 05721 MODABORT TC POODOO # TWO PROGRAMS USING SAME DEVICE.
061287,000817: 07,3623 01210 OCT 1210
061288,000818:
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061290,000820: # CONSTANTS FOR MODE SWITCHING ROUTINES
061291,000821:
061292,000822: 07,3624 5771 BITS3&4 = OCT14
061293,000823: 07,3624 5033 BITS4&6 = OCT50
061294,000824: 07,3624 5027 BITS4-5 EQUALS BITS4&5
061295,000825: 07,3624 5010 IMUSEFLG EQUALS BIT8 # INTERPRETER SWITCH 7.
061296,000826: 07,3624 77500 -COMMAX DEC -191 B-14
061297,000827: 07,3625 77477 -COMMAX- DEC -192 B-14
061298,000828: 07,3626 00074 600MS DEC 60 B-14
061299,000829: 07,3627 07,3073 IMUFIN20 = IMUFINE
061300,000830: 07,3627 31325 GOMANUR CA ATTCADR # IS KALCMANU FREE
061301,000831: 07,3630 00006 EXTEND
061302,000832: 07,3631 13634 BZF +3
061303,000833: 07,3632 05721 TC POODOO # NO
061304,000834: 07,3633 01210 OCT 1210 # 2 TRYING TO USE SAME DEVICE
061305,000835:
061306,000836: 07,3634 00006 +3 EXTEND
061307,000837: 07,3635 30134 DCA BUF2
061308,000838: 07,3636 53326 DXCH ATTCADR # SAVE FINAL RETURN FOR KALCMAN3
061309,000839:
061310,000840: 07,3637 30006 CA BBANK
061311,000841: 07,3640 75023 MASK SEVEN
061312,000842: 07,3641 27326 ADS ATTCADR +1
061313,000843:
061314,000844: 07,3642 30167 CA PRIORITY
061315,000845: 07,3643 77674 MASK PRIO37
061316,000846: 07,3644 55327 TS ATTPRIO # SAVE USERS PRIO
061317,000847:
061318,000848: 07,3645 33651 CAF KALEBCON # SET EBANK FOR KALCMAN3
061319,000849: 07,3646 54003 TS EBANK
061320,000850: 07,3647 04701 TC POSTJUMP
061321,000851: 07,3650 44000 CADR KALCMAN3
061322,000852: 07,3651 03261 KALEBCON ECADR BCDU
061323,000853:
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061325,000855: # PROGRAM DESCRIPTION
061326,000856: # IMU STATUS CHECK ROUTINE R02 (SUBROUTINE UTILITY)
061327,000857: # MOD NO - 1
061328,000858: # MOD BY - N.BRODEUR
061329,000859:
061330,000860: # FUNCTIONAL DESCRIPTION
061331,000861: # TO CHECK WHETHER IMU IS ON AND IF ON WHETHER IT IS ALIGNED TO AN
061332,000862: # ORIENTATION KNOWN BY THE CMC. TO REQUEST SELECTION OF THE APPROPRIATE
061333,000863: # PROGRAM IF THE IMU IS OFF OR NOT ALIGNED TO AN ORIENTATION KNOWN BY THE
061334,000864: # CMC. CALLED THROUGH BANKCALL
061335,000865:
061336,000866: # CALLING SEQUENCE -
061337,000867: # L TC BANKCALL
061338,000868: # L+1 CADR R02BOTH
061339,000869:
061340,000870: # SUBROUTINES CALLED
061341,000871: # VARALARM
061342,000872: # FLAGUP
061343,000873:
061344,000874: # NORMAL EXIT MODES
061345,000875: # AT L+2 OF CALLING SEQUENCE
061346,000876:
061347,000877: # ALARM OR ABORT EXIT MODES
061348,000878: # GOTOPOOH, WITH ALARM
061349,000879:
061350,000880: # ERASABLE INITIALIZATION REQUIRED
061351,000881: # NONE
061352,000882:
061353,000883: # DEBRIS
061354,000884: # CENTRALS - A,Q,L
061355,000885:
061356,000886: 34,3763 BANK 34
061357,000887: 07,2000 SETLOC R02
061358,000888: 07,2000 BANK
061359,000889: 07,3652 COUNT 04/R02 # COUNT*
061360,000890:
061361,000891: 07,3652 00063 DEC51 DEC 51 B-14
061362,000892: 07,3653 35003 R02BOTH CAF BIT13
061363,000893: 07,3654 70077 MASK STATE +3 # REFSMFLG
061364,000894: 07,3655 10000 CCS A
061365,000895: 07,3656 03667 TC R02ZERO # ZERO IMUS
061366,000896:
061367,000897: 07,3657 31320 CA IMODES30
061368,000898: 07,3660 75007 MASK BIT9 # IS ISS INITIALIZED
061369,000899: 07,3661 00006 EXTEND
061370,000900: 07,3662 13664 BZF +2
061371,000901: 07,3663 45014 CS BIT4 # SEND IMU ALARM CODE 210
061372,000902: 07,3664 63672 AD OCT220 # SEND REFSMM ALARM
061373,000903: 07,3665 05764 TC VARALARM
061374,000904:
061375,000905: 07,3666 04106 TC GOTOPOOH
061376,000906:
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061378,000908: 07,3667 05546 R02ZERO TC UPFLAG
061379,000909: 07,3670 00007 ADRES IMUSE
061380,000910: 07,3671 14675 TCF SWRETURN
061381,000911: 07,3672 00220 OCT220 OCT 220
061382,000912:
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Page 1445
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061384,000914: # PROGRAM DESCRIPTION P06 10FEB67
061385,000915:
061386,000916: # TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION.
061387,000917:
061388,000918: # THE NORMAL CONDITION OF READINESS OF THE GNCS WHEN NOT IN USE IS STANDBY. IN THIS CONDITION THE IMU
061389,000919: # HEATER POWER IS ON. THE IMU OPERATE POWER IS OFF. THE COMPUTER POWER IS ON. THE OPTICS POWER IS OFF. THE
061390,000920: # CMC STANDBY ON THE MAIN AND LEB DISKYS IS ON.
061391,000921:
061392,000922: # CALLING SEQUENCE:
061393,000923: # ASTRONAUT REQUEST THROUGH DSKY V37E 06E.
061394,000924:
061395,000925: # SUBROUTINES CALLED:
061396,000926: # GOPERF1
061397,000927: # BANKCALL
061398,000928: # FLAGDOWN
061399,000929:
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061401,000931: # PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2
061402,000932: # THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATABILITY
061403,000933: # BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING.
061404,000934:
061405,000935: 26,2000 SETLOC P05P06
061406,000936: 26,2000 BANK
061407,000937:
061408,000938: 26,3660 1150 EBANK= TIME2SAV
061409,000939: 26,3660 COUNT* $$/P06
061410,000940:
061411,000941: 26,3660 05546 P06 TC UPFLAG # SET NODOV37 BIT
061412,000942: 26,3661 00054 ADRES NODOFLAG
061413,000943:
061414,000944: 26,3662 00004 PRESTAND INHINT
061415,000945: 26,3663 00006 EXTEND
061416,000946: 26,3664 30025 DCA TIME2 # SNAPSHOT TIME1 TIME2
061417,000947: 26,3665 53151 DXCH TIME2SAV
061418,000948: 26,3666 03717 TC SCALPREP
061419,000949: 26,3667 03662 TC PRESTAND # T1,T2,SCALER NOT COMPATIBLE
061420,000950: 26,3670 52155 DXCH MPAC # T1,T2 AND SCALER OK
061421,000951: 26,3671 53153 DXCH SCALSAVE # STORE SCALER
061422,000952: 26,3672 00004 INHINT
061423,000953: 26,3673 04662 TC BANKCALL
061424,000954: 26,3674 17060 CADR RNDREFDR # REFSMM, DRIFT, TRACK FLAGS DOWN
061425,000955:
061426,000956: 26,3675 05560 TC DOWNFLAG
061427,000957: 26,3676 00007 ADRES IMUSE # IMUSE DOWN
061428,000958: 26,3677 05560 TC DOWNFLAG
061429,000959: 26,3700 00010 ADRES RNDVZFLG # RNDVZFLG DOWN
061430,000960:
061431,000961: 26,3701 35005 CAF BIT11
061432,000962: 26,3702 00006 EXTEND
061433,000963: 26,3703 05013 WOR CHAN13 # SET STANDBY ENABLE BIT
061434,000964:
061435,000965: 26,3704 05412 TC PHASCHNG # SET RESTART TO POSTAND WHEN STANDBY
061436,000966: 26,3705 07024 OCT 07024 # RECOVERS
061437,000967: 26,3706 20000 OCT 20000
061438,000968: 26,3707 1152 EBANK= SCALSAVE
061439,000969: 26,3707 03737 54062 2CADR POSTAND
061440,000970:
061441,000971: 26,3711 35036 CAF OCT62
061442,000972: 26,3712 04662 TC BANKCALL
061443,000973: 26,3713 21045 CADR GOPERF1
061444,000974: 26,3714 13711 TCF -3
061445,000975: 26,3715 13711 TCF -4
061446,000976: 26,3716 13711 TCF -5
061447,000977:
061448,000978: 26,3717 5036 OCT62 EQUALS .5SEC # DEC 50 = OCT 62
061449,000979:
061450,000980: # 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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061452,000982: # T1 INCREMENT. IF SCALPREP DETECTS THIS INTERVAL THE T1,T2 AND SCALER
061453,000983: # DATA ARE NOT COMPATABLE AND RETURN IS TO L+1 FOR ANOTHER READING OF THE
061454,000984: # DATA. OTHERWISE, THE RETURN IS TO L+2 TO PROCEED. ROUTINE ALSO PREPARES
061455,000985: # THE SCALER READING FOR COMPUTATION OF THE INCREMENT TO UPDATE T1T2. (THE
061456,000986: # 10 MS BIT (BIT 6) OF THE SCALER IS INCREMENTED 5 MS OUT OF PHASE FROM
061457,000987: # T1.) ADDITION OF 5 MS (BIT 5) TO THE SCALER READING HAS THE EFFECT OF
061458,000988: # ADJUSTING BIT 6 IN THE SCALER TO BE IN PHASE WITH BIT 1 OF T1. THE LOW 5
061459,000989: # BITS OF THE SCALER READING ARE THEN SET TO ZERO, TO TRUNCATE THE SCALER
061460,000990: # DATA TO 10 MS. RESULTS ARE STORED IN MPAC, +1.
061461,000991:
061462,000992: 26,3717 00006 SCALPREP EXTEND
061463,000993: 26,3720 22156 QXCH MPAC +2
061464,000994: 26,3721 04554 TC FINETIME +1
061465,000995: 26,3722 00003 RELINT
061466,000996: 26,3723 52155 DXCH MPAC
061467,000997: 26,3724 35013 CA BIT5 # ADD 5 MS TO THE SCALER READING.
061468,000998: 26,3725 54001 TS L
061469,000999: 26,3726 35021 CA ZERO
061470,001000: 26,3727 20155 DAS MPAC
061471,001001: 26,3730 44362 CS LOW5 # SET LOW 5 BITS OF (SCALER+5MS) TO ZERO
061472,001002: 26,3731 70155 MASK MPAC +1 # AND STORE RESULTS IN MPAC,+1.
061473,001003: 26,3732 56155 XCH MPAC +1
061474,001004: 26,3733 74362 MASK LOW5 # TEST LOW 5 BITS OF SCALER FOR THE FIRST
061475,001005: # INTERVAL AFTER THE T1 INCREMENT
061476,001006: # (NOW = 00000, SINCE BIT 5 ADDED).
061477,001007: 26,3734 10000 CCS A # IS IT 1ST INTERVAL AFTER T1 INCREMENT
061478,001008: 26,3735 24156 INCR MPAC +2 # NO
061479,001009: 26,3736 00156 TC MPAC +2 # YES
061480,001010:
061481,001011: # POSTAND RECOVERS TIME AFTER STANDBY. THE SCALER IS SNAPSHOTTED AND THE
061482,001012: # TIME1 TIME2 COUNTER IS SET TO ZERO. THE LOW 5 BITS OF THE SCALER ARE
061483,001013: # INSPECTED TO INSURE COMPATABILITY BETWEEN THE SCALER READING AND THE
061484,001014: # CLEARING OF THE TIME COUNTER. IT THEN COMPUTES THE DIFFERENCE IN SCALER
061485,001015: # VALUES (IN DP) AND ADDS THIS TO THE PREVIOUSLY SNAPSHOTTED VALUES OF
061486,001016: # TIME1 TIME2 AND PLACES THIS NEW TIME INTO THE TIME1 TIME2 COUNTER.
061487,001017:
061488,001018: 26,3737 COUNT* $$/P05
061489,001019:
061490,001020: 26,3737 45005 POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY.
061491,001021: 26,3740 00006 EXTEND
061492,001022: 26,3741 03013 WAND CHAN13 # CLEAR STANDBY ENABLE BIT
061493,001023: 26,3742 00004 INHINT
061494,001024: 26,3743 35021 CA ZERO
061495,001025: 26,3744 54001 TS L
061496,001026: 26,3745 52025 DXCH TIME2 # CLEAR TIME1 TIME2
061497,001027: 26,3746 03717 TC SCALPREP # STORE SCALER IN MPAC, MPAC+1
061498,001028: 26,3747 03742 TC POSTAND +3 # T1,T2,SCALER NOT COMPATIBLE
061499,001029: 26,3750 00006 EXTEND # T1,T2 AND SCALER OK
061500,001030: 26,3751 41153 DCS SCALSAVE
061501,001031: 26,3752 20155 DAS MPAC # FORM DP DIFFERENCE OF POSTSTANDBY SCALER
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Page 1448
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061503,001033: 26,3753 35006 CAF BIT10 # MINUS PRESTANDBY SCALER AND SHIFT RIGHT
061504,001034: 26,3754 07256 TC SHORTMP # 5 TO ALIGN BITS WITH TIME1 TIME2.
061505,001035: 26,3755 35021 CAF ZERO
061506,001036: 26,3756 54156 TS MPAC +2 # NEEDED FOR TP AGREE
061507,001037: 26,3757 07226 TC TPAGREE # MAKE DP DIFF AGREE
061508,001038: 26,3760 10154 CCS MPAC
061509,001039: 26,3761 03766 TC POSTCOM # IF DP DIFF NET +, NO SCALER OVERFLOW
061510,001040: 26,3762 03766 TC POSTCOM # BETWEEN PRE AND POST STANDBY.
061511,001041: 26,3763 03764 TC +1 # IF DP DIFF NET -, SCALER OVERFLOWED. ADD
061512,001042: 26,3764 35006 CAF BIT10 # BIT 10 TO HIGH DIFF TO CORRECT.
061513,001043: 26,3765 26154 ADS MPAC
061514,001044: 26,3766 00006 POSTCOM EXTEND # C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER.
061515,001045: 26,3767 31151 DCA TIME2SAV # PRESTANDBY TIME1 TIME2
061516,001046: 26,3770 20155 DAS MPAC
061517,001047: 26,3771 07226 TC TPAGREE # FORCE SIGN AGREEMENT
061518,001048: 26,3772 52155 DXCH MPAC # UPDATED VALUE FOR T1,T2.
061519,001049: 26,3773 20025 DAS TIME2 # LOAD UPDATED VALUE INTO T1,T2, WITH
061520,001050: 26,3774 05560 TC DOWNFLAG # CLEAR NODOFLAG
061521,001051: 26,3775 00054 ADRES NODOFLAG
061522,001052:
061523,001053: 26,3776 04106 TC GOTOPOOH
061524,001054:
061525,001055:
061526,001056:
End of include-file IMU_MODE_SWITCHING_ROUTINES.agc. Parent file is MAIN.agc