GAP: ASSEMBLE REVISION 055 OF AGC PROGRAM COMANCHE BY NASA 2021113-051 10:28 APR. 1,1969Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source-code files were from the printout at the MIT Museum, with many thanks
to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing
it to us. The printout was digitally photographed by Paul Fjeld. A team of
volunteers transcribed the source code manually from these images or, where
appropriate, modified already-transcribed but similar source Colossus 249 (Apollo 9)
source code to agree with the images from the printout. Note that the page images
presented online are of reduced quality, and that higher-quality images
are available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 055 OF AGC PROGRAM COMANCHE BY NASA 2021113-051 10:28 APR. 1,1969Note that the date is the date of the printout, not the date of the program revision. |
061961,000002: ## Copyright: Public domain.
061962,000003: ## Filename: IMU_MODE_SWITCHING_ROUTINES.agc
061963,000004: ## Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
061964,000005: ## It is part of the source code for the Command Module's (CM)
061965,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
061966,000007: ## Assembler: yaYUL
061967,000008: ## Contact: Ron Burkey <info@sandroid.org>.
061968,000009: ## Website: www.ibiblio.org/apollo.
061969,000010: ## Pages: 1420-1448
061970,000011: ## Mod history: 2009-05-10 SN (Sergio Navarro). Started adapting from
061971,000012: ## the Colossus249/ file of the same name,
061972,000013: ## using Comanche055 page images.
061973,000014: ## 2010-08-20 JL Fixed page number comment (p1447).
061974,000015: ## Fixed some pseudo-label indents.
061975,000016: ## 2016-12-10 RSB All of the GOTOPOOH's should have been
061976,000017: ## GOTOPOOH, and I've changed them back.
061977,000018: ## 2016-12-22 RSB Proofed comment text using octopus/ProoferComments
061978,000019: ## and corrected the errors found.
061979,000020: ## 2017-03-15 RSB Comment-text fixes identified in 6-way
061980,000021: ## side-by-side diff of Sunburst 120 and Luminary
061981,000022: ## 69/99/116/131/210.
061982,000023:
061983,000024: ## This source code has been transcribed or otherwise adapted from digitized
061984,000025: ## images of a hardcopy from the MIT Museum. The digitization was performed
061985,000026: ## by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
061986,000027: ## thanks to both. The images (with suitable reduction in storage size and
061987,000028: ## consequent reduction in image quality as well) are available online at
061988,000029: ## www.ibiblio.org/apollo. If for some reason you find that the images are
061989,000030: ## illegible, contact me at info@sandroid.org about getting access to the
061990,000031: ## (much) higher-quality images which Paul actually created.
061991,000032: ##
061992,000033: ## Notations on the hardcopy document read, in part:
061993,000034: ##
061994,000035: ## Assemble revision 055 of AGC program Comanche by NASA
061995,000036: ## 2021113-051. 10:28 APR. 1, 1969
061996,000037: ##
061997,000038: ## This AGC program shall also be referred to as
061998,000039: ## Colossus 2A
061999,000040:
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Page 1420 |
062001,000042: 5521 BLOCK 02
062002,000043: 4000 SETLOC FFTAG3
062003,000044: 4000 BANK
062004,000045:
062005,000046: 5521 E3,1471 EBANK= COMMAND
062006,000047:
062007,000048: # FIXED-FIXED ROUTINES.
062008,000049:
062009,000050: 5521 COUNT 02/IMODE
062010,000051:
062011,000052: 5521 35021 ZEROICDU CAF ZERO # ZERO ICDU COUNTERS.
062012,000053: 5522 54032 TS CDUX
062013,000054: 5523 54033 TS CDUY
062014,000055: 5524 54034 TS CDUZ
062015,000056: 5525 00002 TC Q
062016,000057:
062017,000058: 5526 5007 SPSCODE = BIT9
062018,000059:
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Page 1421 |
062020,000061: # IMU ZEROING ROUTINE.
062021,000062:
062022,000063: 11,3776 BANK 11
062023,000064: 07,2000 SETLOC MODESW
062024,000065: 07,2000 BANK
062025,000066:
062026,000067: 07,2577 COUNT 07/IMODE
062027,000068:
062028,000069: 07,2577 00004 IMUZERO INHINT # ROUTINE TO ZERO ICDUS.
062029,000070: 07,2600 41036 CS DSPTAB +11D # DONT ZERO CDUS IF IMU IN GIMBAL LOCK AND
062030,000071: 07,2601 75033 MASK BITS4&6 # COARSE ALIGN (GIMBAL RUNAWAY PROTECTION)
062031,000072: 07,2602 10000 CCS A
062032,000073: 07,2603 12607 TCF IMUZEROA
062033,000074:
062034,000075: 07,2604 05650 TC ALARM # IF SO.
062035,000076: 07,2605 00206 OCT 00206
062036,000077:
062037,000078: 07,2606 13542 TCF CAGETSTJ +4 # IMMEDIATE FAILURE.
062038,000079:
062039,000080: 07,2607 03536 IMUZEROA TC CAGETSTJ
062040,000081:
062041,000082: # DO ALL THE WORK.
062042,000083:
062043,000084: 07,2610 41321 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
062044,000085: 07,2611 75035 MASK SUPER011 # BIT5 FOR GROUND
062045,000086: 07,2612 27321 ADS IMODES33
062046,000087:
062047,000088: 07,2613 41320 CS IMODES30 # INHIBIT ICDUFAIL AND IMUFAIL (IN CASE WE
062048,000089: 07,2614 75771 MASK BITS3&4 # JUST CAME OUT OF COARSE ALIGN).
062049,000090: 07,2615 27320 ADS IMODES30
062050,000091:
062051,000092: 07,2616 45033 CS BITS4&6 # SEND ZERO ENCODE WITH COARSE AND ERROR
062052,000093: 07,2617 00006 EXTEND # COUNTER DISABLED.
062053,000094: 07,2620 03012 WAND CHAN12
062054,000095:
062055,000096: 07,2621 03151 TC NOATTOFF # TURN OFF NO ATT LAMP.
062056,000097:
062057,000098: 07,2622 35013 CAF BIT5
062058,000099: 07,2623 00006 EXTEND
062059,000100: 07,2624 05012 WOR CHAN12
062060,000101:
062061,000102: 07,2625 05521 TC ZEROICDU
062062,000103: 07,2626 35012 CAF BIT6 # WAIT 320 MS TO GIVE AGS ADEQUATE TIME TO
062063,000104: 07,2627 05245 TC WAITLIST # RECEIVE ITS PULSE TRAIN.
062064,000105: 07,2630 E3,1474 EBANK= CDUIND
062065,000106: 07,2630 02642 16063 2CADR IMUZERO2
062066,000107:
062067,000108: 07,2632 41320 CS IMODES30 # SEE IF IMU OPERATING AND ALARM IF NOT.
062068,000109: 07,2633 75007 MASK BIT9
062069,000110: 07,2634 10000 CCS A
062070,000111: 07,2635 12640 TCF MODEEXIT
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Page 1422 |
062072,000113: 07,2636 05650 TC ALARM
062073,000114: 07,2637 00210 OCT 210
062074,000115:
062075,000116: 07,2640 00003 MODEEXIT RELINT # GENERAL MODE-SWITCHING EXIT.
062076,000117: 07,2641 14675 TCF SWRETURN
062077,000118:
062078,000119: 07,2642 03524 IMUZERO2 TC CAGETEST
062079,000120: 07,2643 05521 TC ZEROICDU # ZERO CDUX, CDUY, CDUZ
062080,000121:
062081,000122: 07,2644 45013 CS BIT5 # REMOVE ZERO DISCRETE.
062082,000123: 07,2645 00006 EXTEND
062083,000124: 07,2646 03012 WAND CHAN12
062084,000125:
062085,000126: 07,2647 35005 CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS
062086,000127: 07,2650 05272 TC VARDELAY
062087,000128:
062088,000129: 07,2651 03524 IMUZERO3 TC CAGETEST
062089,000130: 07,2652 45771 CS BITS3&4 # REMOVE IMUFAIL AND ICDUFAIL INHIBIT.
062090,000131: 07,2653 71320 MASK IMODES30
062091,000132: 07,2654 55320 TS IMODES30
062092,000133:
062093,000134: 07,2655 45035 CS SUPER011 # ENABLE DAP AUTO AND HOLD MODES
062094,000135: 07,2656 71321 MASK IMODES33 # BIT5 FOR GROUND
062095,000136: 07,2657 55321 TS IMODES33
062096,000137:
062097,000138: 07,2660 04740 TC IBNKCALL # SET ISS WARNING IF EITHER OF ABOVE ARE
062098,000139: 07,2661 14665 CADR SETISSW # PRESENT.
062099,000140:
062100,000141: 07,2662 13514 TCF ENDIMU
062101,000142:
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Page 1423 |
062103,000144: # IMU COARSE ALIGN MODE.
062104,000145:
062105,000146: 07,2663 00004 IMUCOARS INHINT
062106,000147: 07,2664 03536 TC CAGETSTJ
062107,000148: 07,2665 03027 TC SETCOARS
062108,000149:
062109,000150: 07,2666 36211 CAF SIX
062110,000151: 07,2667 05245 TC WAITLIST
062111,000152: 07,2670 E3,1474 EBANK= CDUIND
062112,000153: 07,2670 02673 16063 2CADR COARS
062113,000154:
062114,000155: 07,2672 12640 TCF MODEEXIT
062115,000156:
062116,000157: 07,2673 03524 COARS TC CAGETEST
062117,000158: 07,2674 35012 CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
062118,000159: 07,2675 00006 EXTEND
062119,000160: 07,2676 05012 WOR CHAN12
062120,000161:
062121,000162: 07,2677 35016 CAF TWO # SET CDU INDICATOR
062122,000163: 07,2700 55474 COARS1 TS CDUIND
062123,000164:
062124,000165: 07,2701 51474 INDEX CDUIND # COMPUTE THETAD - THETAA IN 1:S
062125,000166: 07,2702 31155 CA THETAD # COMPLEMENT FORM
062126,000167: 07,2703 00006 EXTEND
062127,000168: 07,2704 51474 INDEX CDUIND
062128,000169: 07,2705 20032 MSU CDUX
062129,000170: 07,2706 00006 EXTEND
062130,000171: 07,2707 75003 MP BIT13 # SHIFT RIGHT 2
062131,000172: 07,2710 56001 XCH L # ROUND
062132,000173: 07,2711 60000 DOUBLE
062133,000174: 07,2712 54061 TS ITEMP1
062134,000175: 07,2713 12715 TCF +2
062135,000176: 07,2714 26001 ADS L
062136,000177:
062137,000178: 07,2715 51474 INDEX CDUIND # DIFFERENCE TO BE COMPUTED
062138,000179: 07,2716 23471 LXCH COMMAND
062139,000180: 07,2717 11474 CCS CDUIND
062140,000181: 07,2720 02700 TC COARS1
062141,000182:
062142,000183: 07,2721 35016 CAF TWO # MINIMUM OF 4 MS WAIT
062143,000184: 07,2722 05272 TC VARDELAY
062144,000185:
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Page 1424 |
062146,000187: 07,2723 03524 COARS2 TC CAGETEST # DONT CONTINUE IF CAGED.
062147,000188: 07,2724 54061 TS ITEMP1 # SETS TO +0.
062148,000189: 07,2725 35016 CAF TWO # SET CDU INDICATOR
062149,000190: 07,2726 55474 +3 TS CDUIND
062150,000191:
062151,000192: 07,2727 51474 INDEX CDUIND
062152,000193: 07,2730 11471 CCS COMMAND # NUMBER OF PULSES REQUIRED
062153,000194: 07,2731 02735 TC COMPOS # GREATER THAN MAX ALLOWED
062154,000195: 07,2732 02744 TC NEXTCDU +1
062155,000196: 07,2733 03002 TC COMNEG
062156,000197: 07,2734 02744 TC NEXTCDU +1
062157,000198:
062158,000199: 07,2735 63624 COMPOS AD -COMMAX # COMMAX = MAX NUMBER OF PULSES ALLOWED
062159,000200: 07,2736 00006 EXTEND # MINUS ONE
062160,000201: 07,2737 63012 BZMF COMZERO
062161,000202: 07,2740 51474 INDEX CDUIND
062162,000203: 07,2741 55471 TS COMMAND # REDUCE COMMAND BY MAX NUMBER OF PULSES
062163,000204: 07,2742 43625 CS -COMMAX- # ALLOWED
062164,000205:
062165,000206: 07,2743 24061 NEXTCDU INCR ITEMP1
062166,000207: 07,2744 65020 AD NEG0
062167,000208: 07,2745 51474 INDEX CDUIND
062168,000209: 07,2746 54050 TS CDUXCMD # SET UP COMMAND REGISTER.
062169,000210:
062170,000211: 07,2747 11474 CCS CDUIND
062171,000212: 07,2750 02726 TC COARS2 +3
062172,000213:
062173,000214: 07,2751 10061 CCS ITEMP1 # SEE IF ANY PULSES TO GO OUT.
062174,000215: 07,2752 13016 TCF SENDPULS
062175,000216:
062176,000217: 07,2753 05267 TC FIXDELAY # WAIT FOR GIMBALS TO SETTLE.
062177,000218: 07,2754 00226 DEC 150 B-14
062178,000219:
062179,000220: 07,2755 35016 CAF TWO # AT END OF COMMAND, CHECK TO SEE THAT
062180,000221: 07,2756 54061 CHKCORS TS ITEMP1 # GIMBALS ARE WITHIN 2 DEGREES OF THETAD.
062181,000222: 07,2757 50000 INDEX A
062182,000223: 07,2760 30032 CA CDUX
062183,000224: 07,2761 00006 EXTEND
062184,000225: 07,2762 50061 INDEX ITEMP1
062185,000226: 07,2763 21155 MSU THETAD
062186,000227: 07,2764 10000 CCS A
062187,000228: 07,2765 12773 TCF COARSERR
062188,000229: 07,2766 12770 TCF CORSCHK2
062189,000230: 07,2767 12773 TCF COARSERR
062190,000231:
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Page 1425 |
062192,000233: 07,2770 10061 CORSCHK2 CCS ITEMP1
062193,000234: 07,2771 12756 TCF CHKCORS
062194,000235: 07,2772 13514 TCF ENDIMU # END OF COARSE ALIGNMENT.
062195,000236:
062196,000237: 07,2773 63001 COARSERR AD COARSTOL # 2 DEGREES.
062197,000238: 07,2774 00006 EXTEND
062198,000239: 07,2775 62770 BZMF CORSCHK2
062199,000240:
062200,000241: 07,2776 05650 TC ALARM # COARSE ALIGN ERROR.
062201,000242: 07,2777 00211 OCT 211
062202,000243:
062203,000244: 07,3000 13522 TCF IMUBAD
062204,000245:
062205,000246: 07,3001 77511 COARSTOL DEC -.01111 # 2 DEGREES SCALED AT HALF-REVOLUTIONS
062206,000247:
062207,000248: 07,3002 63624 COMNEG AD -COMMAX
062208,000249: 07,3003 00006 EXTEND
062209,000250: 07,3004 63012 BZMF COMZERO
062210,000251: 07,3005 40000 COM
062211,000252: 07,3006 51474 INDEX CDUIND
062212,000253: 07,3007 55471 TS COMMAND
062213,000254: 07,3010 33625 CA -COMMAX-
062214,000255: 07,3011 02743 TC NEXTCDU
062215,000256:
062216,000257: 07,3012 35021 COMZERO CAF ZERO
062217,000258: 07,3013 51474 INDEX CDUIND
062218,000259: 07,3014 57471 XCH COMMAND
062219,000260: 07,3015 02743 TC NEXTCDU
062220,000261:
062221,000262: 07,3016 37707 SENDPULS CAF 13,14,15
062222,000263: 07,3017 00006 EXTEND
062223,000264: 07,3020 05014 WOR CHAN14
062224,000265: 07,3021 33626 CAF 600MS
062225,000266: 07,3022 12722 TCF COARS2 -1 # THEN TO VARDELAY
062226,000267:
062227,000268: 07,3023 35012 CA+ECE CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
062228,000269: 07,3024 00006 EXTEND
062229,000270: 07,3025 05012 WOR CHAN12
062230,000271: 07,3026 05324 TC TASKOVER
062231,000272:
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Page 1426 |
062233,000274: 07,3027 35014 SETCOARS CAF BIT4 # BYPASS IF ALREADY IN COARSE ALIGN
062234,000275: 07,3030 00006 EXTEND
062235,000276: 07,3031 02012 RAND CHAN12
062236,000277: 07,3032 10000 CCS A
062237,000278: 07,3033 00002 TC Q
062238,000279:
062239,000280: 07,3034 45012 CS BIT6 # CLEAR ISS ERROR COUNTERS
062240,000281: 07,3035 00006 EXTEND
062241,000282: 07,3036 03012 WAND CHAN12
062242,000283:
062243,000284: 07,3037 45006 CS BIT10 # KNOCK DOWN GYRO ACTIVITY
062244,000285: 07,3040 00006 EXTEND
062245,000286: 07,3041 03014 WAND CHAN14
062246,000287: 07,3042 45021 CS ZERO
062247,000288: 07,3043 54047 TS GYROCMD
062248,000289:
062249,000290: 07,3044 35014 CAF BIT4 # PUT ISS IN COARSE ALIGN
062250,000291: 07,3045 00006 EXTEND
062251,000292: 07,3046 05012 WOR CHAN12
062252,000293:
062253,000294: 07,3047 41036 CS DSPTAB +11D # TURN ON NO ATT LAMP
062254,000295: 07,3050 73072 MASK OCT40010
062255,000296: 07,3051 27036 ADS DSPTAB +11D
062256,000297:
062257,000298: 07,3052 41321 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
062258,000299: 07,3053 75012 MASK BIT6
062259,000300: 07,3054 27321 ADS IMODES33
062260,000301:
062261,000302: 07,3055 41320 CS IMODES30 # DISABLE IMUFAIL
062262,000303: 07,3056 75014 MASK BIT4
062263,000304: 07,3057 27320 ADS IMODES30
062264,000305:
062265,000306: 07,3060 45013 RNDREFDR CS BIT5 # KNOCK DOWN TRACK FLAG
062266,000307: 07,3061 70075 MASK FLAGWRD1
062267,000308: 07,3062 54075 TS FLAGWRD1
062268,000309:
062269,000310: 07,3063 45001 CS BIT15 # KNOCK DOWN DRIFT FLAG
062270,000311: 07,3064 70076 MASK FLAGWRD2
062271,000312: 07,3065 54076 TS FLAGWRD2
062272,000313:
062273,000314: 07,3066 45003 CS BIT13 # KNOCK DOWN REFSMMAT FLAG
062274,000315: 07,3067 70077 MASK FLAGWRD3
062275,000316: 07,3070 54077 TS FLAGWRD3
062276,000317:
062277,000318: 07,3071 00002 TC Q
062278,000319:
062279,000320: 07,3072 40010 OCT40010 OCT 40010
062280,000321:
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Page 1427 |
062282,000323: # IMU FINE ALIGN MODE SWITCH.
062283,000324:
062284,000325: 07,3073 00004 IMUFINE INHINT
062285,000326: 07,3074 03536 TC CAGETSTJ # SEE IF IMU BEING CAGED.
062286,000327:
062287,000328: 07,3075 45027 CS BITS4-5 # RESET ZERO AND COARSE
062288,000329: 07,3076 00006 EXTEND
062289,000330: 07,3077 03012 WAND CHAN12
062290,000331:
062291,000332: 07,3100 45012 CS BIT6 # INSURE DAP AUTO AND HOLD MODES ENABLED
062292,000333: 07,3101 71321 MASK IMODES33
062293,000334: 07,3102 55321 TS IMODES33
062294,000335:
062295,000336: 07,3103 03151 TC NOATTOFF
062296,000337:
062297,000338: 07,3104 35006 CAF BIT10 # IMU FAIL WAS INHIBITED DURING THE
062298,000339: 07,3105 05245 TC WAITLIST # PRESUMABLY PRECEDING COARSE ALIGN. LEAVE
062299,000340: 07,3106 E3,1474 EBANK= CDUIND
062300,000341: 07,3106 03117 16063 2CADR IFAILOK # IT ON FOR THE FIRST 5 SECS OF FINE ALIGN
062301,000342:
062302,000343: 07,3110 35042 CAF 2SECS
062303,000344: 07,3111 05245 TC WAITLIST
062304,000345: 07,3112 E3,1474 EBANK= CDUIND
062305,000346: 07,3112 03115 16063 2CADR IMUFINED
062306,000347:
062307,000348: 07,3114 12640 TCF MODEEXIT
062308,000349:
062309,000350: 07,3115 03524 IMUFINED TC CAGETEST # SEE THAT NO ONE HAS CAGED THE IMU.
062310,000351: 07,3116 13514 TCF ENDIMU
062311,000352:
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Page 1428 |
062313,000354: 07,3117 03531 IFAILOK TC CAGETSTQ # ENABLE IMU FIAL UNLESS IMU BEING CAGED.
062314,000355: 07,3120 15324 TCF TASKOVER # IT IS.
062315,000356:
062316,000357: 07,3121 35014 CAF BIT4 # DONT RESET IMU FAIL INHIBIT IF SOMEONE
062317,000358: 07,3122 00006 EXTEND # HAS GONE INTO COARSE ALIGN.
062318,000359: 07,3123 02012 RAND CHAN12
062319,000360: 07,3124 10000 CCS A
062320,000361: 07,3125 15324 TCF TASKOVER
062321,000362:
062322,000363: 07,3126 41320 CS IMODES30 # RESET IMUFAIL.
062323,000364: 07,3127 75003 MASK BIT13
062324,000365: 07,3130 27320 ADS IMODES30
062325,000366: 07,3131 45014 CS BIT4
062326,000367: 07,3132 71320 PFAILOK2 MASK IMODES30
062327,000368: 07,3133 55320 TS IMODES30
062328,000369: 07,3134 04740 TC IBNKCALL # THE ISS WARNING LIGHT MAY COME ON NOW
062329,000370: 07,3135 14665 CADR SETISSW # THAT THE INHIBIT HAS BEEN REMOVED.
062330,000371: 07,3136 15324 TCF TASKOVER
062331,000372:
062332,000373: 07,3137 03531 PFAILOK TC CAGETSTQ # ENABLE PIP FAIL PROG ALARM.
062333,000374: 07,3140 15324 TCF TASKOVER
062334,000375:
062335,000376: 07,3141 41320 CS IMODES30 # RESET IMU AND PIPA FAIL BITS.
062336,000377: 07,3142 75006 MASK BIT10
062337,000378: 07,3143 27320 ADS IMODES30
062338,000379:
062339,000380: 07,3144 41321 CS IMODES33
062340,000381: 07,3145 75003 MASK BIT13
062341,000382: 07,3146 27321 ADS IMODES33
062342,000383:
062343,000384: 07,3147 45013 CS BIT5
062344,000385: 07,3150 13132 TCF PFAILOK2
062345,000386:
062346,000387: 07,3151 43072 NOATTOFF CS OCT40010 # SUBROUTINE TO TURN OFF NO ATT LAMP.
062347,000388: 07,3152 71036 MASK DSPTAB +11D
062348,000389: 07,3153 65001 AD BIT15
062349,000390: 07,3154 55036 TS DSPTAB +11D
062350,000391: 07,3155 00002 TC Q
062351,000392:
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Page 1429 |
062353,000394: # ROUITNES TO INITIATE AND TERMINATE PROGRAM USE OF THE PIPAS. NO IMUSTALL REQUIRED IN EITHER CASE.
062354,000395:
062355,000396: 07,3156 45021 PIPUSE CS ZERO
062356,000397: 07,3157 54037 TS PIPAX
062357,000398: 07,3160 54040 TS PIPAY
062358,000399: 07,3161 54041 TS PIPAZ
062359,000400:
062360,000401: 07,3162 03531 PIPUSE1 TC CAGETSTQ # DO NOT ENABLE PIPA FAIL IF IMU IS CAGED
062361,000402: 07,3163 14675 TCF SWRETURN
062362,000403:
062363,000404: 07,3164 00004 INHINT
062364,000405: 07,3165 45017 CS BIT1 # IF PIPA FAILS FROM NOW ON (UNTIL
062365,000406: 07,3166 71320 MASK IMODES30 # PIPFREE), LIGHT ISS WARNING.
062366,000407: 07,3167 55320 TS IMODES30
062367,000408:
062368,000409: 07,3170 04740 PIPFREE2 TC IBNKCALL # ISS WARNING MIGHT COME ON NOW.
062369,000410: 07,3171 14665 CADR SETISSW # (OR GO OFF ON PIPFREE).
062370,000411:
062371,000412: 07,3172 12640 TCF MODEEXIT
062372,000413:
062373,000414: 07,3173 00004 PIPFREE INHINT # PROGRAM DONE WITH PIPAS. DONT LIGHT
062374,000415: 07,3174 41320 CS IMODES30 # ISS WARNING.
062375,000416: 07,3175 75017 MASK BIT1
062376,000417: 07,3176 27320 ADS IMODES30
062377,000418:
062378,000419: 07,3177 75006 MASK BIT10 # IF PIP FAIL ON, DO PROG ALSRM AND RESET
062379,000420: 07,3200 10000 CCS A # ISS WARNING.
062380,000421: 07,3201 12640 TCF MODEEXIT
062381,000422:
062382,000423: 07,3202 05650 TC ALARM
062383,000424: 07,3203 00212 OCT 212
062384,000425:
062385,000426: 07,3204 00004 INHINT
062386,000427:
062387,000428: 07,3205 13170 TCF PIPFREE2
062388,000429:
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|
Page 1430 |
062390,000431: # THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIX REGISTERS
062391,000432: # BEGINNING AT THE ECADR ARRIVING IN A. THE MINIMUM SIZE OF ANY PULSE TRAIN IS 16 PULSES (.25 CDU COUNTS). THE
062392,000433: # UNSENT PORTION OF THE COMMAND IS LEFT INTACT IN THE INPUT COMMAND REGISTERS.
062393,000434:
062394,000435: 07,3206 E3,1400 EBANK= 1400 # VARIABLE, ACTUALLY.
062395,000436:
062396,000437: 07,3206 54161 IMUPULSE TS MPAC +5 # SAVE ARRIVING ECADR.
062397,000438: 07,3207 03536 TC CAGETSTJ # DONT PROCEED IF IMU BEING CAGED.
062398,000439:
062399,000440: 07,3210 11304 CCS LGYRO # SEE IF GYROS BUSY.
062400,000441: 07,3211 03252 TC GYROBUSY # SLEEP.
062401,000442:
062402,000443: 07,3212 54156 TS MPAC +2
062403,000444: 07,3213 35012 CAF BIT6 # ENABLE THE POWER SUPPLY.
062404,000445: 07,3214 00006 EXTEND
062405,000446: 07,3215 05014 WOR CHAN14
062406,000447:
062407,000448: 07,3216 35015 CAF FOUR
062408,000449: 07,3217 05245 GWAKE2 TC WAITLIST # (IF A JOB WAS PUT TO SLEEP, THE POWER
062409,000450: 07,3220 E3,1474 EBANK= CDUIND # SUPPLY IS LEFT ON BY THE WAKING JOB).
062410,000451: 07,3220 03270 16063 2CADR STRTGYRO
062411,000452:
062412,000453: 07,3222 30161 CA MPAC +5 # SET UP EBANK, SAVING CALLER'S EBANK FOR
062413,000454: 07,3223 56003 XCH EBANK # RESTORATION ON RETURN.
062414,000455: 07,3224 56161 XCH MPAC +5
062415,000456: 07,3225 55304 TS LGYRO # RESERVES GYROS.
062416,000457: 07,3226 74373 MASK LOW8
062417,000458: 07,3227 54061 TS ITEMP1
062418,000459:
062419,000460: 07,3230 35016 CAF TWO # FORCE SIGN AGREEMENT ON INPUTS.
062420,000461: 07,3231 54157 GYROAGRE TS MPAC +3
062421,000462: 07,3232 60000 DOUBLE
062422,000463: 07,3233 60061 AD ITEMP1
062423,000464: 07,3234 54160 TS MPAC +4
062424,000465: 07,3235 00006 EXTEND
062425,000466: 07,3236 50000 INDEX A
062426,000467: 07,3237 31401 DCA 1400
062427,000468: 07,3240 52155 DXCH MPAC
062428,000469: 07,3241 07226 TC TPAGREE
062429,000470: 07,3242 52155 DXCH MPAC
062430,000471: 07,3243 50160 INDEX MPAC +4
062431,000472: 07,3244 53401 DXCH 1400
062432,000473:
062433,000474: 07,3245 10157 CCS MPAC +3
062434,000475: 07,3246 13231 TCF GYROAGRE
062435,000476:
062436,000477: 07,3247 30161 CA MPAC +5 # RESTORE CALLER'S EBANK.
062437,000478: 07,3250 54003 TS EBANK
062438,000479: 07,3251 12640 TCF MODEEXIT
062439,000480:
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|
Page 1431 |
062441,000482: # ROUTINES TO ALLOW TORQUING BY ONLY ONE JOB AT A TIME.
062442,000483:
062443,000484: 07,3252 00006 GYROBUSY EXTEND # SAVE RETURN 2FCADR.
062444,000485: 07,3253 30134 DCA BUF2
062445,000486: 07,3254 52155 DXCH MPAC
062446,000487: 07,3255 33267 REGSLEEP CAF LGWAKE
062447,000488: 07,3256 15175 TCF JOBSLEEP
062448,000489:
062449,000490: 07,3257 11304 GWAKE CCS LGYRO # WHEN AWAKENED, SEE IF GYROS STILL BUSY.
062450,000491: 07,3260 13255 TCF REGSLEEP # IF SO, SLEEP SOME MORE.
062451,000492:
062452,000493: 07,3261 54156 TS MPAC +2
062453,000494: 07,3262 00006 EXTEND
062454,000495: 07,3263 30155 DCA MPAC
062455,000496: 07,3264 52134 DXCH BUF2 # RESTORE SWRETURN INFO.
062456,000497: 07,3265 35017 CAF ONE
062457,000498: 07,3266 13217 TCF GWAKE2
062458,000499:
062459,000500: 07,3267 17257 LGWAKE CADR GWAKE
062460,000501:
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|
Page 1432 |
062462,000503: # GYRO-TORQUING WAITLIST TASKS.
062463,000504:
062464,000505: 07,3270 43511 STRTGYRO CS GDESELCT # DE-SELECT LAST GYRO.
062465,000506: 07,3271 00006 EXTEND
062466,000507: 07,3272 03014 WAND CHAN14
062467,000508:
062468,000509: 07,3273 03524 TC CAGETEST
062469,000510:
062470,000511: 07,3274 31304 STRTGYR2 CA LGYRO # JUMP ON PHASE COUNTER IN BITS 13-14.
062471,000512: 07,3275 00006 EXTEND
062472,000513: 07,3276 75014 MP BIT4
062473,000514: 07,3277 50000 INDEX A
062474,000515: 07,3300 13301 TCF +1
062475,000516: 07,3301 03316 TC GSELECT # =0. DO Y GYRO.
062476,000517: 07,3302 00202 OCT 00202
062477,000518:
062478,000519: 07,3303 03316 TC GSELECT # =1. DO Z GYRO.
062479,000520: 07,3304 00302 OCT 00302
062480,000521:
062481,000522: 07,3305 03314 TC GSELECT -2 # =2. DO X GYRO.
062482,000523: 07,3306 00100 OCT 00100
062483,000524:
062484,000525: 07,3307 35021 CAF ZERO # =3. DONE
062485,000526: 07,3310 55304 TS LGYRO
062486,000527: 07,3311 33267 CAF LGWAKE # WAKE A POSSIBLE SLEEPING JOB.
062487,000528: 07,3312 05201 TC JOBWAKE
062488,000529:
062489,000530: 07,3313 13115 NORESET TCF IMUFINED # DO NOT RESET POWER SUPPLY
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|
Page 1433 |
062491,000532: 07,3314 45015 -2 CS FOUR # SPECIAL ENTRY TO REGRESS LGYRO FOR X.
062492,000533: 07,3315 27304 ADS LGYRO
062493,000534:
062494,000535: 07,3316 50002 GSELECT INDEX Q # SELECT GYRO.
062495,000536: 07,3317 30000 CAF 0 # PACKED WORD CONTAINS GYRO SELECT BITS
062496,000537: 07,3320 54064 TS ITEMP4 # AND INCREMENT TO LGYRO.
062497,000538: 07,3321 75023 MASK SEVEN
062498,000539: 07,3322 65003 AD BIT13
062499,000540: 07,3323 27304 ADS LGYRO
062500,000541: 07,3324 54003 TS EBANK
062501,000542: 07,3325 74373 MASK LOW8
062502,000543: 07,3326 54061 TS ITEMP1
062503,000544:
062504,000545: 07,3327 45023 CS SEVEN
062505,000546: 07,3330 70064 MASK ITEMP4
062506,000547: 07,3331 54064 TS ITEMP4
062507,000548:
062508,000549: 07,3332 00006 EXTEND # MOVE DP COMMAND TO RUPTREGS FOR TESTING.
062509,000550: 07,3333 50061 INDEX ITEMP1
062510,000551: 07,3334 31401 DCA 1400
062511,000552: 07,3335 52071 DXCH RUPTREG1
062512,000553:
062513,000554: 07,3336 10070 CCS RUPTREG1
062514,000555: 07,3337 13352 TCF MAJ+
062515,000556: 07,3340 13342 TCF +2
062516,000557: 07,3341 13472 TCF MAJ-
062517,000558:
062518,000559: 07,3342 10071 CCS RUPTREG2
062519,000560: 07,3343 13347 TCF MIN+
062520,000561: 07,3344 13274 TCF STRTGYR2
062521,000562: 07,3345 13467 TCF MIN-
062522,000563: 07,3346 13274 TCF STRTGYR2
062523,000564:
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|
Page 1434 |
062525,000566: 07,3347 63403 MIN+ AD -GYROMIN # SMALL POSITIVE COMMAND. SEE IF AT LEAST
062526,000567: 07,3350 00006 EXTEND # 16 GYRO PULSES.
062527,000568: 07,3351 63274 BZMF STRTGYR2
062528,000569:
062529,000570: 07,3352 00006 MAJ+ EXTEND # DEFINITE POSITIVE OUTPUT.
062530,000571: 07,3353 33513 DCA GYROFRAC
062531,000572: 07,3354 20071 DAS RUPTREG1
062532,000573:
062533,000574: 07,3355 30064 CA ITEMP4 # SELECT POSITIVE TORQUING FOR THIS GYRO.
062534,000575: 07,3356 00006 EXTEND
062535,000576: 07,3357 05014 WOR CHAN14
062536,000577:
062537,000578: 07,3360 36043 CAF LOW7 # LEAVE NUMBER OF POSSIBLE 8192 AUGMENTS
062538,000579: 07,3361 70071 MASK RUPTREG2 # TO INITIAL COMMAND IN MAJOR PART OF LONG
062539,000580: 07,3362 56071 XCH RUPTREG2 # TERM STORAGE AND TRUNCATED FRACTION
062540,000581: 07,3363 00006 GMERGE EXTEND # IN MINOR PART. THE MAJOR PART WILL BE
062541,000582: 07,3364 75010 MP BIT8 # COUNTED DOWN TO ZERO IN THE COURSE OF
062542,000583: 07,3365 54062 TS ITEMP2 # PUTTING OUT THE ENTIRE COMMAND.
062543,000584: 07,3366 30070 CA RUPTREG1
062544,000585: 07,3367 00006 EXTEND
062545,000586: 07,3370 75007 MP BIT9
062546,000587: 07,3371 54070 TS RUPTREG1
062547,000588: 07,3372 30001 CA L
062548,000589: 07,3373 00006 EXTEND
062549,000590: 07,3374 75002 MP BIT14
062550,000591: 07,3375 26062 ADS ITEMP2 # INITIAL COMMAND.
062551,000592:
062552,000593: 07,3376 00006 EXTEND # SEE IF MORE THAN ONE PULSE TRAIN NEEDED
062553,000594: 07,3377 30071 DCA RUPTREG1 # (MORE THAN 16383 PULSES).
062554,000595: 07,3400 67716 AD MINUS1
062555,000596: 07,3401 10000 CCS A
062556,000597: 07,3402 13426 TCF LONGGYRO
062557,000598: 07,3403 77601 -GYROMIN OCT -176 # MAY BE ADJUSTED TO SPECIFY MINIMUM CMD
062558,000599: 07,3404 13410 TCF +4
062559,000600:
062560,000601: 07,3405 35002 CAF BIT14
062561,000602: 07,3406 26062 ADS ITEMP2
062562,000603: 07,3407 35021 CAF ZERO
062563,000604:
062564,000605: 07,3410 50061 +4 INDEX ITEMP1
062565,000606: 07,3411 53401 DXCH 1400
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|
Page 1435 |
062567,000608: 07,3412 30062 CA ITEMP2 # ENTIRE COMMAND.
062568,000609: 07,3413 54047 LASTSEG TS GYROCMD
062569,000610: 07,3414 00006 EXTEND
062570,000611: 07,3415 75006 MP BIT10 # WAITLIST DT
062571,000612: 07,3416 66214 AD THREE # TRUNCATION AND PHASE UNCERTAINTIES.
062572,000613: 07,3417 05245 TC WAITLIST
062573,000614: 07,3420 E3,1474 EBANK= CDUIND
062574,000615: 07,3420 03270 16063 2CADR STRTGYRO
062575,000616:
062576,000617: 07,3422 35006 GYROEXIT CAF BIT10
062577,000618: 07,3423 00006 EXTEND
062578,000619: 07,3424 05014 WOR CHAN14
062579,000620: 07,3425 15324 TCF TASKOVER
062580,000621:
062581,000622: 07,3426 50061 LONGGYRO INDEX ITEMP1
062582,000623: 07,3427 53401 DXCH 1400 # INITIAL COMMAND OUT PLUS N AUGMENTS OF
062583,000624: 07,3430 35002 CAF BIT14 # 8192. INITIAL COMMAND IS AT LEAST 8192.
062584,000625: 07,3431 60062 AD ITEMP2
062585,000626: 07,3432 54047 TS GYROCMD
062586,000627:
062587,000628: 07,3433 00006 AUG3 EXTEND # GET WAITLIST DT TO TIME WHEN TRAIN IS
062588,000629: 07,3434 75006 MP BIT10 # ALMOST OUT.
062589,000630: 07,3435 67714 AD NEG3
062590,000631: 07,3436 05245 TC WAITLIST
062591,000632: 07,3437 E3,1474 EBANK= CDUIND
062592,000633: 07,3437 03442 16063 2CADR 8192AUG
062593,000634:
062594,000635: 07,3441 13422 TCF GYROEXIT
062595,000636:
062596,000637: 07,3442 03524 8192AUG TC CAGETEST
062597,000638:
062598,000639: 07,3443 35014 CAF BIT4
062599,000640: 07,3444 00006 EXTEND
062600,000641: 07,3445 02012 RAND CHAN12
062601,000642: 07,3446 10000 CCS A
062602,000643: 07,3447 13522 TCF IMUBAD
062603,000644: 07,3450 31304 CA LGYRO # ADD 8192 PULSES TO GYROCMD
062604,000645: 07,3451 54003 TS EBANK
062605,000646: 07,3452 74373 MASK LOW8
062606,000647: 07,3453 54061 TS ITEMP1
062607,000648:
062608,000649: 07,3454 50061 INDEX ITEMP1 # SEE IF THIS IS THE LAST AUG.
062609,000650: 07,3455 11400 CCS 1400
062610,000651: 07,3456 13462 TCF AUG2 # MORE TO COME.
062611,000652:
062612,000653: 07,3457 35002 CAF BIT14
062613,000654: 07,3460 26047 ADS GYROCMD
062614,000655: 07,3461 13414 TCF LASTSEG +1
062615,000656:
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|
Page 1436 |
062617,000658: 07,3462 50061 AUG2 INDEX ITEMP1
062618,000659: 07,3463 55400 TS 1400
062619,000660: 07,3464 35002 CAF BIT14
062620,000661: 07,3465 26047 ADS GYROCMD
062621,000662: 07,3466 13433 TCF AUG3 # COMPUTE DT.
062622,000663:
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|
Page 1437 |
062624,000665: 07,3467 63403 MIN- AD -GYROMIN # POSSIBLE NEGATIVE OUTPUT.
062625,000666: 07,3470 00006 EXTEND
062626,000667: 07,3471 63274 BZMF STRTGYR2
062627,000668:
062628,000669: 07,3472 00006 MAJ- EXTEND # DEFINITE NEGATIVE OUTPUT.
062629,000670: 07,3473 43513 DCS GYROFRAC
062630,000671: 07,3474 20071 DAS RUPTREG1
062631,000672:
062632,000673: 07,3475 30064 CA ITEMP4 # SELECT NEGATIVE TORQUING FOR THIS GYRO.
062633,000674: 07,3476 65007 AD BIT9
062634,000675: 07,3477 00006 EXTEND
062635,000676: 07,3500 05014 WOR CHAN14
062636,000677:
062637,000678: 07,3501 40070 CS RUPTREG1 # SET UP RUPTREGS TO FALL INTO GMERGE.
062638,000679: 07,3502 54070 TS RUPTREG1 # ALL NUMBERS PUT INTO GYROCMD ARE
062639,000680: 07,3503 40071 CS RUPTREG2 # POSITIVE - BIT9 OF CHAN 14 DETERMINES
062640,000681: 07,3504 76043 MASK LOW7 # THE SIGN OF THE COMMAND.
062641,000682: 07,3505 40000 COM
062642,000683: 07,3506 56071 XCH RUPTREG2
062643,000684: 07,3507 40000 COM
062644,000685: 07,3510 13363 TCF GMERGE
062645,000686:
062646,000687: 07,3511 01700 GDESELCT OCT 1700 # TURN OFF SELECT AND ACTIVITY BITS.
062647,000688:
062648,000689: 07,3512 00000 00034 GYROFRAC 2DEC .215 B-21
062649,000690:
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|
Page 1438 |
062651,000692: # IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE.
062652,000693:
062653,000694: 07,3514 00006 ENDIMU EXTEND # MODE IS BAD IF CAGE HAS OCCURED OR IF
062654,000695: 07,3515 00011 READ DSALMOUT # ISS WARNING IS ON.
062655,000696: 07,3516 75017 MASK BIT1
062656,000697: 07,3517 10000 CCS A
062657,000698: 07,3520 13522 TCF IMUBAD
062658,000699:
062659,000700: 07,3521 13550 IMUGOOD TCF GOODEND # WITH C(A) = 0.
062660,000701:
062661,000702: 07,3522 35021 IMUBAD CAF ZERO
062662,000703: 07,3523 13545 TCF BADEND
062663,000704:
062664,000705: 07,3524 35012 CAGETEST CAF BIT6 # SUBROUTINE TO TERMINATE IMU MODE
062665,000706: 07,3525 71320 MASK IMODES30 # SWITCH IF IMU HAS BEEN CAGED.
062666,000707: 07,3526 10000 CCS A
062667,000708: 07,3527 13522 TCF IMUBAD # DIRECTLY.
062668,000709: 07,3530 00002 TC Q # WITH C(A) = +0.
062669,000710:
062670,000711: 07,3531 41320 CAGETSTQ CS IMODES30 # SKIP IF IMU NOT BEING CAGED.
062671,000712: 07,3532 75012 MASK BIT6
062672,000713: 07,3533 10000 CCS A
062673,000714: 07,3534 24002 INCR Q
062674,000715: 07,3535 00002 TC Q
062675,000716:
062676,000717: 07,3536 41320 CAGETSTJ CS IMODES30 # IF DURING MODE SWITCH INITIALIZATION
062677,000718: 07,3537 75012 MASK BIT6 # IT IS FOUND THAT THE IMU IS BEING CAGED,
062678,000719: 07,3540 10000 CCS A # SET IMUCADR TO -0 TO INDICATE OPERATION
062679,000720: 07,3541 00002 TC Q # COMPLETE BUT FAILED. RETURN IMMEDIATELY
062680,000721: 07,3542 45021 CS ZERO # TO SWRETURN.
062681,000722: 07,3543 55322 TS IMUCADR
062682,000723: 07,3544 12640 TCF MODEEXIT
062683,000724:
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Page 1439 |
062685,000726: # GENERALIZED MODE SWITCHING TERMINATION. ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION
062686,000727: # OR AT BADEND FOR AN UNSUCCESSFUL ONE. C(A) OR ARRIVAL =0 FOR IMU, 1 FOR OPTICS.
062687,000728:
062688,000729: 07,3545 54071 BADEND TS RUPTREG2 # DEVICE INDEX.
062689,000730: 07,3546 45021 CS ZERO # FOR FAILURE.
062690,000731: 07,3547 13552 TCF GOODEND +2
062691,000732:
062692,000733: 07,3550 54071 GOODEND TS RUPTREG2
062693,000734: 07,3551 45017 CS ONE # FOR SUCCESS.
062694,000735:
062695,000736: 07,3552 54072 TS RUPTREG3
062696,000737: 07,3553 50071 INDEX RUPTREG2 # SEE IF USING PROGRAM ASLEEP.
062697,000738: 07,3554 11322 CCS MODECADR
062698,000739: 07,3555 13557 TCF +2 # YES - WAKE IT UP.
062699,000740: 07,3556 13567 TCF ENDMODE # IF 0, PROGRAM NOT IN YET.
062700,000741:
062701,000742: 07,3557 35021 CAF ZERO # WAKE SLEEPING PROGRAM.
062702,000743: 07,3560 50071 INDEX RUPTREG2
062703,000744: 07,3561 57322 XCH MODECADR
062704,000745: 07,3562 05201 TC JOBWAKE
062705,000746:
062706,000747: 07,3563 40072 CS RUPTREG3 # ADVANCE LOC IF SUCCESSFUL.
062707,000748: 07,3564 50064 INDEX LOCCTR
062708,000749: 07,3565 26164 ADS LOC
062709,000750:
062710,000751: 07,3566 15324 TCF TASKOVER
062711,000752:
062712,000753: 07,3567 30072 ENDMODE CA RUPTREG3 # -0 INDICATES OPERATION COMPLETE BUT
062713,000754: 07,3570 50071 INDEX RUPTREG2 # UNSUCCESSFUL - -1 INDICATES COMPLETE AND
062714,000755: 07,3571 55322 TS MODECADR # SUCCESSFUL.
062715,000756: 07,3572 15324 TCF TASKOVER
062716,000757:
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Page 1440 |
062718,000759: # GENERAL STALLING ROUTINE. USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION.
062719,000760:
062720,000761: # PROGRAM DESCRIPTION DATE - 21 FEB 1967
062721,000762: # LOG SECTION IMU MODE SWITCHING
062722,000763: # MOD BY - R. MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 82
062723,000764:
062724,000765: # FUNCTIONAL DESCRIPTION -
062725,000766: # TO DELAY FURTHER EXECUTION OF THE CALLING ROUTINE UNTIL ITS SELECTED
062726,000767: # I/O FUNCTION IS COMPLETE. THE FOLLOWING CHECKS ON THE CALLING ROUTINE:S
062727,000768: # MODECADR ARE MADE AND ACTED UPON.
062728,000769: # 1) +0 INDICATES INCOMPLETE I/O OPERATION. CALLING ROUTINE IS PUT TO
062729,000770: # SLEEP.
062730,000771: # 2) -1 INDICATES COMPLETED I/O OPERATION. STALL BYPASSES JOBSLEEP
062731,000772: # CALL AND RETURNS TO CALLING ROUTINE AT L+3
062732,000773: # 3) -0 INDICATES COMPLETED I/O WITH FAILURE. STALL CLEARS MODECADR
062733,000774: # AND RETURNS TO CALLING ROUTINE AT L+2.
062734,000775: # 4) VALUE GREATER THAN 0 INDICATES TWO ROUTINES CALLING FOR USE OF
062735,000776: # SAME DEVICE. STALL EXITS TO ABORT WHICH EXECUTES A PROGRAM
062736,000777: # RESTART WHICH IN TURN CLEARS ALL MODECADR REGISTERS.
062737,000778:
062738,000779: # CALLING SEQUENCE -
062739,000780: # L TC BANKCALL
062740,000781: # L+1 CADR (ONE OF 5 STALL ADDRESSES I.E. IMUSTALL, OPTSTALL, RADSTALL,
062741,000782: # AOTSTALL, OR ATTSTALL)
062742,000783:
062743,000784: # NORMAL-EXIT MODE -
062744,000785: # TCF JOBSLEEP OR TCF MODEXIT
062745,000786:
062746,000787: # ALARM OR ABORT EXIT MODE -
062747,000788: # TC ABORT
062748,000789:
062749,000790: # OUTPUT -
062750,000791: # MODECADR=CADR IF JOBSLEEP
062751,000792: # MODECADR=+0 IF I/O COMPLETE
062752,000793: # BUF2=L+3 IF I/O COMPLETE AND GOOD.
062753,000794: # BUF2=L+2 IF I/O COMPLETE BUT FAILED.
062754,000795:
062755,000796: # ERASABLE INITIALIZATION -
062756,000797: # BUF2 CONTAINS RETURN ADDRESS PLUS 1,(L+2)
062757,000798: # BUF2+1 CONTAINS FBANK VALUE OF CALLING ROUTINE.
062758,000799: # MODECADR OF CALLING ROUTINE CONTAINS +0,-1,-0 OR CADR RETURN ADDRESS.
062759,000800:
062760,000801: # DEBRIS -
062761,000802: # RUPTREG2 AND CALLING ROUTINE MODECADR.
062762,000803:
062763,000804: 07,3573 35017 AOTSTALL CAF ONE # AOT.
062764,000805: 07,3574 03600 TC STALL
062765,000806:
062766,000807: 07,3575 35016 RADSTALL CAF TWO
062767,000808: 07,3576 13600 TCF STALL
062768,000809:
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Page 1441 |
062770,000811: 07,3577 07,3573 OPTSTALL EQUALS AOTSTALL
062771,000812:
062772,000813: 07,3577 35021 IMUSTALL CAF ZERO # IMU.
062773,000814:
062774,000815: 07,3600 00004 STALL INHINT
062775,000816: 07,3601 54071 TS RUPTREG2 # SAVE DEVICE INDEX.
062776,000817: 07,3602 50000 INDEX A # SEE IF OPERATION COMPLETE.
062777,000818: 07,3603 11322 CCS MODECADR
062778,000819: 07,3604 13622 TCF MODABORT # ALLOWABLE STATES ARE +0, -1, AND -0.
062779,000820: 07,3605 13616 TCF MODESLP # OPERATION INCOMPLETE.
062780,000821: 07,3606 13612 TCF MODEGOOD # COMPLETE AND GOOD IF = -1.
062781,000822:
062782,000823: 07,3607 50071 MG2 INDEX RUPTREG2 # COMPLETE AND FAILED IF -0. RESET TO +0.
062783,000824: 07,3610 55322 TS MODECADR # RETURN TO CALLER.
062784,000825: 07,3611 12640 TCF MODEEXIT
062785,000826:
062786,000827: 07,3612 10000 MODEGOOD CCS A # MAKE SURE INITIAL STATE -1.
062787,000828: 07,3613 13622 TCF MODABORT
062788,000829:
062789,000830: 07,3614 24133 INCR BUF2 # IF SO, INCREMENT RETURN ADDRESS AND
062790,000831: 07,3615 13607 TCF MG2 # RETURN IMMEDIATELY, SETTING CADR = +0.
062791,000832:
062792,000833: 07,3616 04711 MODESLP TC MAKECADR # CALL FROM SWITCHABLE FIXED ONLY.
062793,000834: 07,3617 50071 INDEX RUPTREG2
062794,000835: 07,3620 55322 TS MODECADR
062795,000836: 07,3621 15175 TCF JOBSLEEP
062796,000837:
062797,000838: 07,3622 05721 MODABORT TC POODOO # TWO PROGRAMS USING SAME DEVICE.
062798,000839: 07,3623 01210 OCT 1210
062799,000840:
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Page 1442 |
062801,000842: # CONSTANTS FOR MODE SWITCHING ROUTINES
062802,000843:
062803,000844: 07,3624 5771 BITS3&4 = OCT14
062804,000845: 07,3624 5033 BITS4&6 = OCT50
062805,000846: 07,3624 5027 BITS4-5 EQUALS BITS4&5
062806,000847: 07,3624 5010 IMUSEFLG EQUALS BIT8 # INTERPRETER SWITCH 7.
062807,000848: 07,3624 77500 -COMMAX DEC -191 B-14
062808,000849: 07,3625 77477 -COMMAX- DEC -192 B-14
062809,000850: 07,3626 00074 600MS DEC 60 B-14
062810,000851: 07,3627 07,3073 IMUFIN20 = IMUFINE
062811,000852: 07,3627 31325 GOMANUR CA ATTCADR # IS KALCMANU FREE
062812,000853: 07,3630 00006 EXTEND
062813,000854: 07,3631 13634 BZF +3
062814,000855: 07,3632 05721 TC POODOO # NO
062815,000856: 07,3633 01210 OCT 1210 # 2 TRYING TO USE SAME DEVICE
062816,000857:
062817,000858: 07,3634 00006 +3 EXTEND
062818,000859: 07,3635 30134 DCA BUF2
062819,000860: 07,3636 53326 DXCH ATTCADR # SAVE FINAL RETURN FOR KALCMAN3
062820,000861:
062821,000862: 07,3637 30006 CA BBANK
062822,000863: 07,3640 75023 MASK SEVEN
062823,000864: 07,3641 27326 ADS ATTCADR +1
062824,000865:
062825,000866: 07,3642 30167 CA PRIORITY
062826,000867: 07,3643 77674 MASK PRIO37
062827,000868: 07,3644 55327 TS ATTPRIO # SAVE USERS PRIO
062828,000869:
062829,000870: 07,3645 33651 CAF KALEBCON # SET EBANK FOR KALCMAN3
062830,000871: 07,3646 54003 TS EBANK
062831,000872: 07,3647 04701 TC POSTJUMP
062832,000873: 07,3650 44000 CADR KALCMAN3
062833,000874: 07,3651 03261 KALEBCON ECADR BCDU
062834,000875:
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Page 1443 |
062836,000877: # PROGRAM DESCRIPTION
062837,000878: # IMU STATUS CHECK ROUTINE R02 (SUBROUTINE UTILITY)
062838,000879: # MOD NO - 1
062839,000880: # MOD BY - N.BRODEUR
062840,000881:
062841,000882: # FUNCTIONAL DESCRIPTION
062842,000883: # TO CHECK WHETHER IMU IS ON AND IF ON WHETHER IT IS ALIGNED TO AN
062843,000884: # ORIENTATION KNOWN BY THE CMC. TO REQUEST SELECTION OF THE APPROPRIATE
062844,000885: # PROGRAM IF THE IMU IS OFF OR NOT ALIGNED TO AN ORIENTATION KNOWN BY THE
062845,000886: # CMC. CALLED THROUGH BANKCALL
062846,000887:
062847,000888: # CALLING SEQUENCE -
062848,000889: # L TC BANKCALL
062849,000890: # L+1 CADR R02BOTH
062850,000891:
062851,000892: # SUBROUTINES CALLED
062852,000893: # VARALARM
062853,000894: # FLAGUP
062854,000895:
062855,000896: # NORMAL EXIT MODES
062856,000897: # AT L+2 OF CALLING SEQUENCE
062857,000898:
062858,000899: # ALARM OR ABORT EXIT MODES
062859,000900: # GOTOPOOH, WITH ALARM
062860,000901:
062861,000902: # ERASABLE INITIALIZATION REQUIRED
062862,000903: # NONE
062863,000904:
062864,000905: # DEBRIS
062865,000906: # CENTRALS - A,Q,L
062866,000907:
062867,000908: 34,3763 BANK 34
062868,000909: 07,2000 SETLOC R02
062869,000910: 07,2000 BANK
062870,000911: 07,3652 COUNT 04/R02 # COUNT*
062871,000912:
062872,000913: 07,3652 00063 DEC51 DEC 51 B-14
062873,000914: 07,3653 35003 R02BOTH CAF BIT13
062874,000915: 07,3654 70077 MASK STATE +3 # REFSMFLG
062875,000916: 07,3655 10000 CCS A
062876,000917: 07,3656 03667 TC R02ZERO # ZERO IMUS
062877,000918:
062878,000919: 07,3657 31320 CA IMODES30
062879,000920: 07,3660 75007 MASK BIT9 # IS ISS INITIALIZED
062880,000921: 07,3661 00006 EXTEND
062881,000922: 07,3662 13664 BZF +2
062882,000923: 07,3663 45014 CS BIT4 # SEND IMU ALARM CODE 210
062883,000924: 07,3664 63672 AD OCT220 # SEND REFSMM ALARM
062884,000925: 07,3665 05764 TC VARALARM
062885,000926:
062886,000927: 07,3666 04106 TC GOTOPOOH
062887,000928:
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Page 1444 |
062889,000930: 07,3667 05546 R02ZERO TC UPFLAG
062890,000931: 07,3670 00007 ADRES IMUSE
062891,000932: 07,3671 14675 TCF SWRETURN
062892,000933: 07,3672 00220 OCT220 OCT 220
062893,000934:
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Page 1445 |
062895,000936: # PROGRAM DESCRIPTION P06 10FEB67
062896,000937:
062897,000938: # TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION.
062898,000939:
062899,000940: # THE NORMAL CONDITION OF READINESS OF THE GNCS WHEN NOT IN USE IS STANDBY. IN THIS CONDITION THE IMU
062900,000941: # HEATER POWER IS ON. THE IMU OPERATE POWER IS OFF. THE COMPUTER POWER IS ON. THE OPTICS POWER IS OFF. THE
062901,000942: # CMC STANDBY ON THE MAIN AND LEB DISKYS IS ON.
062902,000943:
062903,000944: # CALLING SEQUENCE:
062904,000945: # ASTRONAUT REQUEST THROUGH DSKY V37E 06E.
062905,000946:
062906,000947: # SUBROUTINES CALLED:
062907,000948: # GOPERF1
062908,000949: # BANKCALL
062909,000950: # FLAGDOWN
062910,000951:
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Page 1446 |
062912,000953: # PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2
062913,000954: # THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATABILITY
062914,000955: # BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING.
062915,000956:
062916,000957: 26,2000 SETLOC P05P06
062917,000958: 26,2000 BANK
062918,000959:
062919,000960: 26,3660 1150 EBANK= TIME2SAV
062920,000961: 26,3660 COUNT* $$/P06
062921,000962:
062922,000963: 26,3660 05546 P06 TC UPFLAG # SET NODOV37 BIT
062923,000964: 26,3661 00054 ADRES NODOFLAG
062924,000965:
062925,000966: 26,3662 00004 PRESTAND INHINT
062926,000967: 26,3663 00006 EXTEND
062927,000968: 26,3664 30025 DCA TIME2 # SNAPSHOT TIME1 TIME2
062928,000969: 26,3665 53151 DXCH TIME2SAV
062929,000970: 26,3666 03717 TC SCALPREP
062930,000971: 26,3667 03662 TC PRESTAND # T1,T2,SCALER NOT COMPATIBLE
062931,000972: 26,3670 52155 DXCH MPAC # T1,T2 AND SCALER OK
062932,000973: 26,3671 53153 DXCH SCALSAVE # STORE SCALER
062933,000974: 26,3672 00004 INHINT
062934,000975: 26,3673 04662 TC BANKCALL
062935,000976: 26,3674 17060 CADR RNDREFDR # REFSMM, DRIFT, TRACK FLAGS DOWN
062936,000977:
062937,000978: 26,3675 05560 TC DOWNFLAG
062938,000979: 26,3676 00007 ADRES IMUSE # IMUSE DOWN
062939,000980: 26,3677 05560 TC DOWNFLAG
062940,000981: 26,3700 00010 ADRES RNDVZFLG # RNDVZFLG DOWN
062941,000982:
062942,000983: 26,3701 35005 CAF BIT11
062943,000984: 26,3702 00006 EXTEND
062944,000985: 26,3703 05013 WOR CHAN13 # SET STANDBY ENABLE BIT
062945,000986:
062946,000987: 26,3704 05412 TC PHASCHNG # SET RESTART TO POSTAND WHEN STANDBY
062947,000988: 26,3705 07024 OCT 07024 # RECOVERS
062948,000989: 26,3706 20000 OCT 20000
062949,000990: 26,3707 1152 EBANK= SCALSAVE
062950,000991: 26,3707 03737 54062 2CADR POSTAND
062951,000992:
062952,000993: 26,3711 35036 CAF OCT62
062953,000994: 26,3712 04662 TC BANKCALL
062954,000995: 26,3713 21045 CADR GOPERF1
062955,000996: 26,3714 13711 TCF -3
062956,000997: 26,3715 13711 TCF -4
062957,000998: 26,3716 13711 TCF -5
062958,000999:
062959,001000: 26,3717 5036 OCT62 EQUALS .5SEC # DEC 50 = OCT 62
062960,001001:
062961,001002: # THE LOW 5 BITS OF THE SCALER READS 10000 FOR THE FIRST INTERVAL AFTER A
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Page 1447 |
062963,001004: # T1 INCREMENT. IF SCALPREP DETECTS THIS INTERVAL THE T1,T2 AND SCALER
062964,001005: # DATA ARE NOT COMPATABLE AND RETURN IS TO L+1 FOR ANOTHER READING OF THE
062965,001006: # DATA. OTHERWISE, THE RETURN IS TO L+2 TO PROCEED. ROUTINE ALSO PREPARES
062966,001007: # THE SCALER READING FOR COMPUTATION OF THE INCREMENT TO UPDATE T1T2. (THE
062967,001008: # 10 MS BIT (BIT 6) OF THE SCALER IS INCREMENTED 5 MS OUT OF PHASE FROM
062968,001009: # T1.) ADDITION OF 5 MS (BIT 5) TO THE SCALER READING HAS THE EFFECT OF
062969,001010: # ADJUSTING BIT 6 IN THE SCALER TO BE IN PHASE WITH BIT 1 OF T1. THE LOW 5
062970,001011: # BITS OF THE SCALER READING ARE THEN SET TO ZERO, TO TRUNCATE THE SCALER
062971,001012: # DATA TO 10 MS. RESULTS ARE STORED IN MPAC, +1.
062972,001013:
062973,001014: 26,3717 00006 SCALPREP EXTEND
062974,001015: 26,3720 22156 QXCH MPAC +2
062975,001016: 26,3721 04554 TC FINETIME +1
062976,001017: 26,3722 00003 RELINT
062977,001018: 26,3723 52155 DXCH MPAC
062978,001019: 26,3724 35013 CA BIT5 # ADD 5 MS TO THE SCALER READING.
062979,001020: 26,3725 54001 TS L
062980,001021: 26,3726 35021 CA ZERO
062981,001022: 26,3727 20155 DAS MPAC
062982,001023: 26,3730 44362 CS LOW5 # SET LOW 5 BITS OF (SCALER+5MS) TO ZERO
062983,001024: 26,3731 70155 MASK MPAC +1 # AND STORE RESULTS IN MPAC,+1.
062984,001025: 26,3732 56155 XCH MPAC +1
062985,001026: 26,3733 74362 MASK LOW5 # TEST LOW 5 BITS OF SCALER FOR THE FIRST
062986,001027: # INTERVAL AFTER THE T1 INCREMENT
062987,001028: # (NOW = 00000, SINCE BIT 5 ADDED).
062988,001029: 26,3734 10000 CCS A # IS IT 1ST INTERVAL AFTER T1 INCREMENT
062989,001030: 26,3735 24156 INCR MPAC +2 # NO
062990,001031: 26,3736 00156 TC MPAC +2 # YES
062991,001032:
062992,001033: # POSTAND RECOVERS TIME AFTER STANDBY. THE SCALER IS SNAPSHOTTED AND THE
062993,001034: # TIME1 TIME2 COUNTER IS SET TO ZERO. THE LOW 5 BITS OF THE SCALER ARE
062994,001035: # INSPECTED TO INSURE COMPATABILITY BETWEEN THE SCALER READING AND THE
062995,001036: # CLEARING OF THE TIME COUNTER. IT THEN COMPUTES THE DIFFERENCE IN SCALER
062996,001037: # VALUES (IN DP) AND ADDS THIS TO THE PREVIOUSLY SNAPSHOTTED VALUES OF
062997,001038: # TIME1 TIME2 AND PLACES THIS NEW TIME INTO THE TIME1 TIME2 COUNTER.
062998,001039:
062999,001040: 26,3737 COUNT* $$/P05
063000,001041:
063001,001042: 26,3737 45005 POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY.
063002,001043: 26,3740 00006 EXTEND
063003,001044: 26,3741 03013 WAND CHAN13 # CLEAR STANDBY ENABLE BIT
063004,001045: 26,3742 00004 INHINT
063005,001046: 26,3743 35021 CA ZERO
063006,001047: 26,3744 54001 TS L
063007,001048: 26,3745 52025 DXCH TIME2 # CLEAR TIME1 TIME2
063008,001049: 26,3746 03717 TC SCALPREP # STORE SCALER IN MPAC, MPAC+1
063009,001050: 26,3747 03742 TC POSTAND +3 # T1,T2,SCALER NOT COMPATIBLE
063010,001051: 26,3750 00006 EXTEND # T1,T2 AND SCALER OK
063011,001052: 26,3751 41153 DCS SCALSAVE
063012,001053: 26,3752 20155 DAS MPAC # FORM DP DIFFERENCE OF POSTSTANDBY SCALER
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Page 1448 |
063014,001055: 26,3753 35006 CAF BIT10 # MINUS PRESTANDBY SCALER AND SHIFT RIGHT
063015,001056: 26,3754 07256 TC SHORTMP # 5 TO ALIGN BITS WITH TIME1 TIME2.
063016,001057: 26,3755 35021 CAF ZERO
063017,001058: 26,3756 54156 TS MPAC +2 # NEEDED FOR TP AGREE
063018,001059: 26,3757 07226 TC TPAGREE # MAKE DP DIFF AGREE
063019,001060: 26,3760 10154 CCS MPAC
063020,001061: 26,3761 03766 TC POSTCOM # IF DP DIFF NET +, NO SCALER OVERFLOW
063021,001062: 26,3762 03766 TC POSTCOM # BETWEEN PRE AND POST STANDBY.
063022,001063: 26,3763 03764 TC +1 # IF DP DIFF NET -, SCALER OVERFLOWED. ADD
063023,001064: 26,3764 35006 CAF BIT10 # BIT 10 TO HIGH DIFF TO CORRECT.
063024,001065: 26,3765 26154 ADS MPAC
063025,001066: 26,3766 00006 POSTCOM EXTEND # C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER.
063026,001067: 26,3767 31151 DCA TIME2SAV # PRESTANDBY TIME1 TIME2
063027,001068: 26,3770 20155 DAS MPAC
063028,001069: 26,3771 07226 TC TPAGREE # FORCE SIGN AGREEMENT
063029,001070: 26,3772 52155 DXCH MPAC # UPDATED VALUE FOR T1,T2.
063030,001071: 26,3773 20025 DAS TIME2 # LOAD UPDATED VALUE INTO T1,T2, WITH
063031,001072: 26,3774 05560 TC DOWNFLAG # CLEAR NODOFLAG
063032,001073: 26,3775 00054 ADRES NODOFLAG
063033,001074:
063034,001075: 26,3776 04106 TC GOTOPOOH
063035,001076:
063036,001077:
063037,001078:
End of include-file IMU_MODE_SWITCHING_ROUTINES.agc. Parent file is MAIN.agc