Source Code
|
This is a reconstruction of the AGC program Luminary 99 Rev 0. It was the third release
of the Lunar Module flight software targeted for use in Apollo 11, after Luminary 96 and 97.
A bug (which had been around since at least Apollo 10, Luminary 69) was
discovered in Rev 0 shortly before the Apollo 11 flight, resulting in a last minute
revision into Rev 1,
which is what actually flew rather than
the Rev 0 presented here. A hardcopy of Rev 0 is known to
exist — it belonged to AGC developer Allan Klumpp for many years — but
unfortunately the Virtual AGC Project has not had access to that hardcopy. Thus
the code you see here had been reconstructed (we believe accurately) rather than
transcribed. The first step of the reconstruction of the Rev 0 source code was
the transcription of the Rev 1 source code from a hardcopy in the MIT Museum collection.
The process of reverting the active portion of the source code (i.e., other than
program comments) from Rev 1 to Rev 0 was very minor, consisting
only of moving the position of the STARTSB1 label in
FRESH START AND RESTART. Allan had previously given
us the checksums of the memory banks of Rev 0, and we have verified the program presented here has checksums
identical to all banks of Allan's listing of Rev 0. The notations on Allan's Rev 0 program listing read,
in part:GAP: ASSEMBLE REVISION 099 OF AGC PROGRAM LUMINARY BY NASA 2021112-051 A single program comment is known to differ between Rev 0 and Rev 1, but these are harder to reconstruct and verify than changes to the active portion of the code. Thus it is possible that there are additional differences between the program comments in Rev 0 and Rev 1 that are unknown to us, and therefore are not reflected in the code presented here. |
057346,000002: ## Copyright: Public domain.
057347,000003: ## Filename: IMU_MODE_SWITCHING_ROUTINES.agc
057348,000004: ## Purpose: Part of the reconstructed source code for LMY99 Rev 0,
057349,000005: ## otherwise known as Luminary Rev 99, the third release
057350,000006: ## of the Apollo Guidance Computer (AGC) software for Apollo 11.
057351,000007: ## It differs from LMY99 Rev 1 (the flown version) only in the
057352,000008: ## placement of a single label. The corrections shown here have
057353,000009: ## been verified to have the same bank checksums as AGC developer
057354,000010: ## Allan Klumpp's copy of Luminary Rev 99, and so are believed
057355,000011: ## to be accurate. This file is intended to be a faithful
057356,000012: ## recreation, except that the code format has been changed to
057357,000013: ## conform to the requirements of the yaYUL assembler rather than
057358,000014: ## the original YUL assembler.
057359,000015: ##
057360,000016: ## Assembler: yaYUL
057361,000017: ## Contact: Onno Hommes <ohommes@cmu.edu>.
057362,000018: ## Website: www.ibiblio.org/apollo.
057363,000019: ## Pages: 1309-1337
057364,000020: ## Mod history: 2009-05-28 OH Transcribed from page images.
057365,000021: ## 2009-06-05 RSB Fixed a typo.
057366,000022: ## 2011-01-06 JL Fixed pseudo-label indentation.
057367,000023: ## 2011-05-08 JL Removed workaround. Flagged SBANK=
057368,000024: ## workaround for future removal.
057369,000025: ## 2016-12-13 RSB GOTOP00H -> GOTOPOOH
057370,000026: ## 2016-12-18 RSB Proofed text comments with octopus/ProoferComments
057371,000027: ## and corrected the errors found.
057372,000028: ## 2017-01-18 RRB Found typo while updating for Luminary 69.
057373,000029: ## 2017-01-28 RSB Comment-text fixes identified for Luminary 69.
057374,000030: ## 2017-03-13 RSB Comment-text fixes noted in proofing Luminary 116.
057375,000031: ## 2017-03-15 RSB Comment-text fixes identified in 6-way
057376,000032: ## side-by-side diff of Sunburst 120 and Luminary
057377,000033: ## 69/99/116/131/210.
057378,000034: ## 2017-06-17 MAS Globally removed all SBANK= workarounds.
057379,000035: ## 2017-08-01 MAS Created from LMY99 Rev 1.
057380,000036:
057381,000037: ## This source code has been transcribed or otherwise adapted from
057382,000038: ## digitized images of a hardcopy from the MIT Museum. The digitization
057383,000039: ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
057384,000040: ## the Museum. Many thanks to both. The images (with suitable reduction
057385,000041: ## in storage size and consequent reduction in image quality as well) are
057386,000042: ## available online at www.ibiblio.org/apollo. If for some reason you
057387,000043: ## find that the images are illegible, contact me at info@sandroid.org
057388,000044: ## about getting access to the (much) higher-quality images which Paul
057389,000045: ## actually created.
057390,000046: ##
057391,000047: ## The code has been modified to match LMY99 Revision 0, otherwise
057392,000048: ## known as Luminary Revision 99, the Apollo 11 software release preceeding
057393,000049: ## the listing from which it was transcribed. It has been verified to
057394,000050: ## contain the same bank checksums as AGC developer Allan Klumpp's listing
057395,000051: ## of Luminary Revision 99 (for which we do not have scans).
057396,000052: ##
057397,000053: ## Notations on Allan Klumpp's listing read, in part:
057398,000054: ##
057399,000055: ## ASSEMBLE REVISION 099 OF AGC PROGRAM LUMINARY BY NASA 2021112-51
057400,000056:
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Page 1309 |
057402,000058: 5457 BLOCK 02
057403,000059: 4000 SETLOC FFTAG3
057404,000060: 4000 BANK
057405,000061:
057406,000062: 5457 E3,1471 EBANK= COMMAND
057407,000063:
057408,000064: # FIXED-FIXED ROUTINES.
057409,000065:
057410,000066: 5457 COUNT* $$/IMODE
057411,000067: 5457 34755 ZEROICDU CAF ZERO # ZERO ICDU COUNTERS.
057412,000068: 5460 54032 TS CDUX
057413,000069: 5461 54033 TS CDUY
057414,000070: 5462 54034 TS CDUZ
057415,000071: 5463 00002 TC Q
057416,000072:
057417,000073: 5464 4743 SPSCODE = BIT9
057418,000074:
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Page 1310 |
057420,000076: # IMU ZEROING ROUTINE.
057421,000077:
057422,000078: 11,3776 BANK 11
057423,000079: 07,2000 SETLOC MODESW
057424,000080: 07,2000 BANK
057425,000081:
057426,000082: 07,2714 COUNT* $$/IMODE
057427,000083: 07,2714 00004 IMUZERO INHINT # ROUTINE TO ZERO ICDUS.
057428,000084: 07,2715 41036 CS DSPTAB +11D # DONT ZERO CDUS IF IMU IN GIMBAL LOCK AND
057429,000085: 07,2716 74771 MASK BITS4&6 # COARSE ALIGN (GIMBAL RUNAWAY PROTECTION)
057430,000086: 07,2717 10000 CCS A
057431,000087: 07,2720 12724 TCF IMUZEROA
057432,000088:
057433,000089: 07,2721 05567 TC ALARM # IF SO.
057434,000090: 07,2722 00206 OCT 00206
057435,000091:
057436,000092: 07,2723 13657 TCF CAGETSTJ +4 # IMMEDIATE FAILURE.
057437,000093:
057438,000094: 07,2724 03653 IMUZEROA TC CAGETSTJ
057439,000095: # DELETE
057440,000096: 07,2725 41303 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
057441,000097: 07,2726 74773 MASK SUPER011 # BIT5 FOR GROUND
057442,000098: 07,2727 27303 ADS IMODES33
057443,000099:
057444,000100: 07,2730 41302 CS IMODES30 # INHIBIT ICDUFAIL AND IMUFAIL (IN CASE WE
057445,000101: 07,2731 75751 MASK BITS3&4 # JUST CAME OUT OF COARSE ALIGN).
057446,000102: 07,2732 27302 ADS IMODES30
057447,000103:
057448,000104: 07,2733 44771 CS BITS4&6 # SEND ZERO ENCODE WITH COARSE AND ERROR
057449,000105: 07,2734 00006 EXTEND # COUNTER DISABLED.
057450,000106: 07,2735 03012 WAND CHAN12
057451,000107:
057452,000108: 07,2736 03266 TC NOATTOFF # TURN OFF NO ATT LAMP.
057453,000109:
057454,000110: 07,2737 34747 CAF BIT5
057455,000111: 07,2740 00006 EXTEND
057456,000112: 07,2741 05012 WOR CHAN12
057457,000113:
057458,000114: 07,2742 05457 TC ZEROICDU
057459,000115: 07,2743 34746 CAF BIT6 # WAIT 320 MS TO GIVE AGS ADEQUATE TIME TO
057460,000116: 07,2744 05203 TC WAITLIST # RECEIVE ITS PULSE TRAIN.
057461,000117: 07,2745 E3,1474 EBANK= CDUIND
057462,000118: 07,2745 02757 16103 2CADR IMUZERO2
057463,000119:
057464,000120: 07,2747 41302 CS IMODES30 # SEE IF IMU OPERATING AND ALARM IF NOT.
057465,000121: 07,2750 74743 MASK BIT9
057466,000122: 07,2751 10000 CCS A
057467,000123: 07,2752 12755 TCF MODEEXIT
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Page 1311 |
057469,000125: 07,2753 05567 TC ALARM
057470,000126: 07,2754 00210 OCT 210
057471,000127:
057472,000128: 07,2755 00003 MODEEXIT RELINT # GENERAL MODE-SWITCHING EXIT.
057473,000129: 07,2756 14631 TCF SWRETURN
057474,000130:
057475,000131: 07,2757 03641 IMUZERO2 TC CAGETEST
057476,000132: 07,2760 05457 TC ZEROICDU # ZERO CDUX, CDUY, CDUZ
057477,000133:
057478,000134: 07,2761 44747 CS BIT5 # REMOVE ZERO DISCRETE.
057479,000135: 07,2762 00006 EXTEND
057480,000136: 07,2763 03012 WAND CHAN12
057481,000137:
057482,000138: 07,2764 34741 CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS
057483,000139: 07,2765 05224 TC VARDELAY
057484,000140:
057485,000141: 07,2766 03641 IMUZERO3 TC CAGETEST
057486,000142: 07,2767 45751 CS BITS3&4 # REMOVE IMUFAIL AND ICDUFAIL INHIBIT.
057487,000143: 07,2770 71302 MASK IMODES30
057488,000144: 07,2771 55302 TS IMODES30
057489,000145:
057490,000146: 07,2772 44773 CS SUPER011 # ENABLE DAP AUTO AND HOLD MODES
057491,000147: 07,2773 71303 MASK IMODES33 # BIT5 FOR GROUND
057492,000148: 07,2774 55303 TS IMODES33
057493,000149:
057494,000150: 07,2775 04674 TC IBNKCALL # SET ISS WARNING IF EITHER OF ABOVE ARE
057495,000151: 07,2776 14703 CADR SETISSW # PRESENT.
057496,000152:
057497,000153: 07,2777 13631 TCF ENDIMU
057498,000154:
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Page 1312 |
057500,000156: # IMU COARSE ALIGN MODE.
057501,000157:
057502,000158: 07,3000 00004 IMUCOARS INHINT
057503,000159: 07,3001 03653 TC CAGETSTJ
057504,000160: 07,3002 03144 TC SETCOARS
057505,000161:
057506,000162: 07,3003 36242 CAF SIX
057507,000163: 07,3004 05203 TC WAITLIST
057508,000164: 07,3005 E3,1474 EBANK= CDUIND
057509,000165: 07,3005 03010 16103 2CADR COARS
057510,000166:
057511,000167: 07,3007 12755 TCF MODEEXIT
057512,000168:
057513,000169: 07,3010 03641 COARS TC CAGETEST
057514,000170: 07,3011 34746 CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
057515,000171: 07,3012 00006 EXTEND
057516,000172: 07,3013 05012 WOR CHAN12
057517,000173:
057518,000174: 07,3014 34752 CAF TWO # SET CDU INDICATOR
057519,000175: 07,3015 55474 COARS1 TS CDUIND
057520,000176:
057521,000177: 07,3016 51474 INDEX CDUIND # COMPUTE THETAD - THETAA IN 1:S
057522,000178: 07,3017 30321 CA THETAD # COMPLEMENT FORM
057523,000179: 07,3020 00006 EXTEND
057524,000180: 07,3021 51474 INDEX CDUIND
057525,000181: 07,3022 20032 MSU CDUX
057526,000182: 07,3023 00006 EXTEND
057527,000183: 07,3024 74737 MP BIT13 # SHIFT RIGHT 2
057528,000184: 07,3025 56001 XCH L # ROUND
057529,000185: 07,3026 60000 DOUBLE
057530,000186: 07,3027 54061 TS ITEMP1
057531,000187: 07,3030 13032 TCF +2
057532,000188: 07,3031 26001 ADS L
057533,000189:
057534,000190: 07,3032 51474 INDEX CDUIND # DIFFERENCE TO BE COMPUTED
057535,000191: 07,3033 23471 LXCH COMMAND
057536,000192: 07,3034 11474 CCS CDUIND
057537,000193: 07,3035 03015 TC COARS1
057538,000194:
057539,000195: 07,3036 34752 CAF TWO # MINIMUM OF 4 MS WAIT
057540,000196: 07,3037 05224 TC VARDELAY
057541,000197:
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Page 1313 |
057543,000199: 07,3040 03641 COARS2 TC CAGETEST # DONT CONTINUE IF CAGED.
057544,000200: 07,3041 54061 TS ITEMP1 # SETS TO +0.
057545,000201: 07,3042 34752 CAF TWO # SET CDU INDICATOR
057546,000202: 07,3043 55474 +3 TS CDUIND
057547,000203:
057548,000204: 07,3044 51474 INDEX CDUIND
057549,000205: 07,3045 11471 CCS COMMAND # NUMBER OF PULSES REQUIRED
057550,000206: 07,3046 03052 TC COMPOS # GREATER THAN MAX ALLOWED
057551,000207: 07,3047 03061 TC NEXTCDU +1
057552,000208: 07,3050 03117 TC COMNEG
057553,000209: 07,3051 03061 TC NEXTCDU +1
057554,000210:
057555,000211: 07,3052 63745 COMPOS AD -COMMAX # COMMAX = MAX NUMBER OF PULSES ALLOWED
057556,000212: 07,3053 00006 EXTEND # MINUS ONE
057557,000213: 07,3054 63127 BZMF COMZERO
057558,000214: 07,3055 51474 INDEX CDUIND
057559,000215: 07,3056 55471 TS COMMAND # REDUCE COMMAND BY MAX NUMBER OF PULSES
057560,000216: 07,3057 43746 CS -COMMAX- # ALLOWED
057561,000217:
057562,000218: 07,3060 24061 NEXTCDU INCR ITEMP1
057563,000219: 07,3061 64754 AD NEG0
057564,000220: 07,3062 51474 INDEX CDUIND
057565,000221: 07,3063 54050 TS CDUXCMD # SET UP COMMAND REGISTER.
057566,000222:
057567,000223: 07,3064 11474 CCS CDUIND
057568,000224: 07,3065 03043 TC COARS2 +3
057569,000225:
057570,000226: 07,3066 10061 CCS ITEMP1 # SEE IF ANY PULSES TO GO OUT.
057571,000227: 07,3067 13133 TCF SENDPULS
057572,000228:
057573,000229: 07,3070 05221 TC FIXDELAY # WAIT FOR GIMBALS TO SETTLE.
057574,000230: 07,3071 00226 DEC 150 B-14
057575,000231:
057576,000232: 07,3072 34752 CAF TWO # AT END OF COMMAND, CHECK TO SEE THAT
057577,000233: 07,3073 54061 CHKCORS TS ITEMP1 # GIMBALS ARE WITHIN 2 DEGREES OF THETAD.
057578,000234: 07,3074 50000 INDEX A
057579,000235: 07,3075 30032 CA CDUX
057580,000236: 07,3076 00006 EXTEND
057581,000237: 07,3077 50061 INDEX ITEMP1
057582,000238: 07,3100 20321 MSU THETAD
057583,000239: 07,3101 10000 CCS A
057584,000240: 07,3102 13110 TCF COARSERR
057585,000241: 07,3103 13105 TCF CORSCHK2
057586,000242: 07,3104 13110 TCF COARSERR
057587,000243:
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Page 1314 |
057589,000245: 07,3105 10061 CORSCHK2 CCS ITEMP1
057590,000246: 07,3106 13073 TCF CHKCORS
057591,000247: 07,3107 13631 TCF ENDIMU # END OF COARSE ALIGNMENT.
057592,000248:
057593,000249: 07,3110 63116 COARSERR AD COARSTOL # 2 DEGREES.
057594,000250: 07,3111 00006 EXTEND
057595,000251: 07,3112 63105 BZMF CORSCHK2
057596,000252:
057597,000253: 07,3113 05567 TC ALARM # COARSE ALIGN ERROR.
057598,000254: 07,3114 00211 OCT 211
057599,000255:
057600,000256: 07,3115 13637 TCF IMUBAD
057601,000257:
057602,000258: 07,3116 77511 COARSTOL DEC -.01111 # 2 DEGREES SCALED AT HALF-REVOLUTIONS
057603,000259:
057604,000260: 07,3117 63745 COMNEG AD -COMMAX
057605,000261: 07,3120 00006 EXTEND
057606,000262: 07,3121 63127 BZMF COMZERO
057607,000263: 07,3122 40000 COM
057608,000264: 07,3123 51474 INDEX CDUIND
057609,000265: 07,3124 55471 TS COMMAND
057610,000266: 07,3125 33746 CA -COMMAX-
057611,000267: 07,3126 03060 TC NEXTCDU
057612,000268:
057613,000269: 07,3127 34755 COMZERO CAF ZERO
057614,000270: 07,3130 51474 INDEX CDUIND
057615,000271: 07,3131 57471 XCH COMMAND
057616,000272: 07,3132 03060 TC NEXTCDU
057617,000273:
057618,000274: 07,3133 37740 SENDPULS CAF 13,14,15
057619,000275: 07,3134 00006 EXTEND
057620,000276: 07,3135 05014 WOR CHAN14
057621,000277: 07,3136 33747 CAF 600MS
057622,000278: 07,3137 13037 TCF COARS2 -1 # THEN TO VARDELAY
057623,000279:
057624,000280: 07,3140 34746 CA+ECE CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
057625,000281: 07,3141 00006 EXTEND
057626,000282: 07,3142 05012 WOR CHAN12
057627,000283: 07,3143 05261 TC TASKOVER
057628,000284:
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Page 1315 |
057630,000286: 07,3144 34750 SETCOARS CAF BIT4 # BYPASS IF ALREADY IN COARSE ALIGN
057631,000287: 07,3145 00006 EXTEND
057632,000288: 07,3146 02012 RAND CHAN12
057633,000289: 07,3147 10000 CCS A
057634,000290: 07,3150 00002 TC Q
057635,000291:
057636,000292: 07,3151 44746 CS BIT6 # CLEAR ISS ERROR COUNTERS
057637,000293: 07,3152 00006 EXTEND
057638,000294: 07,3153 03012 WAND CHAN12
057639,000295:
057640,000296: 07,3154 44742 CS BIT10 # KNOCK DOWN GYRO ACTIVITY
057641,000297: 07,3155 00006 EXTEND
057642,000298: 07,3156 03014 WAND CHAN14
057643,000299: 07,3157 44755 CS ZERO
057644,000300: 07,3160 54047 TS GYROCMD
057645,000301:
057646,000302: 07,3161 34750 CAF BIT4 # PUT ISS IN COARSE ALIGN
057647,000303: 07,3162 00006 EXTEND
057648,000304: 07,3163 05012 WOR CHAN12
057649,000305:
057650,000306: 07,3164 41036 CS DSPTAB +11D # TURN ON NO ATT LAMP
057651,000307: 07,3165 73207 MASK OCT40010
057652,000308: 07,3166 27036 ADS DSPTAB +11D
057653,000309:
057654,000310: 07,3167 41303 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
057655,000311: 07,3170 74746 MASK BIT6
057656,000312: 07,3171 27303 ADS IMODES33
057657,000313:
057658,000314: 07,3172 41302 CS IMODES30 # DISABLE IMUFAIL
057659,000315: 07,3173 74750 MASK BIT4
057660,000316: 07,3174 27302 ADS IMODES30
057661,000317:
057662,000318: 07,3175 44747 RNDREFDR CS TRACKBIT # CLEAR TRACK FLAG
057663,000319: 07,3176 70075 MASK FLAGWRD1
057664,000320: 07,3177 54075 TS FLAGWRD1
057665,000321:
057666,000322: 07,3200 44735 CS DRFTBIT # CLEAR DRIFT FLAG
057667,000323: 07,3201 70076 MASK FLAGWRD2
057668,000324: 07,3202 54076 TS FLAGWRD2
057669,000325:
057670,000326: 07,3203 44737 CS REFSMBIT # CLEAR REFSMMAT FLAG
057671,000327: 07,3204 70077 MASK FLAGWRD3
057672,000328: 07,3205 54077 TS FLAGWRD3
057673,000329:
057674,000330: 07,3206 00002 TC Q
057675,000331:
057676,000332: 07,3207 40010 OCT40010 OCT 40010
057677,000333:
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Page 1316 |
057679,000335: # IMU FINE ALIGN MODE SWITCH.
057680,000336:
057681,000337: 07,3210 00004 IMUFINE INHINT
057682,000338: 07,3211 03653 TC CAGETSTJ # SEE IF IMU BEING CAGED.
057683,000339:
057684,000340: 07,3212 43744 CS BITS4-5 # RESET ZERO AND COARSE
057685,000341: 07,3213 00006 EXTEND
057686,000342: 07,3214 03012 WAND CHAN12
057687,000343:
057688,000344: 07,3215 44746 CS BIT6 # INSURE DAP AUTO AND HOLD MODES ENABLED
057689,000345: 07,3216 71303 MASK IMODES33
057690,000346: 07,3217 55303 TS IMODES33
057691,000347:
057692,000348: 07,3220 03266 TC NOATTOFF
057693,000349:
057694,000350: 07,3221 34742 CAF BIT10 # IMU FAIL WAS INHIBITED DURING THE
057695,000351: 07,3222 05203 TC WAITLIST # PRESUMABLY PRECEDING COARSE ALIGN. LEAVE
057696,000352: 07,3223 E3,1474 EBANK= CDUIND
057697,000353: 07,3223 03234 16103 2CADR IFAILOK # IT ON FOR THE FIRST 5 SECS OF FINE ALIGN
057698,000354:
057699,000355: 07,3225 35000 CAF 2SECS
057700,000356: 07,3226 05203 TC WAITLIST
057701,000357: 07,3227 E3,1474 EBANK= CDUIND
057702,000358: 07,3227 03232 16103 2CADR IMUFINED
057703,000359:
057704,000360: 07,3231 12755 TCF MODEEXIT
057705,000361:
057706,000362: 07,3232 03641 IMUFINED TC CAGETEST # SEE THAT NO ONE HAS CAGED THE IMU.
057707,000363: 07,3233 13631 TCF ENDIMU
057708,000364:
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Page 1317 |
057710,000366: 07,3234 03646 IFAILOK TC CAGETSTQ # ENABLE IMU FIAL UNLESS IMU BEING CAGED.
057711,000367: 07,3235 15261 TCF TASKOVER # IT IS.
057712,000368:
057713,000369: 07,3236 34750 CAF BIT4 # DONT RESET IMU FAIL INHIBIT IF SOMEONE
057714,000370: 07,3237 00006 EXTEND # HAS GONE INTO COARSE ALIGN.
057715,000371: 07,3240 02012 RAND CHAN12
057716,000372: 07,3241 10000 CCS A
057717,000373: 07,3242 15261 TCF TASKOVER
057718,000374:
057719,000375: 07,3243 41302 CS IMODES30 # RESET IMUFAIL.
057720,000376: 07,3244 74737 MASK BIT13
057721,000377: 07,3245 27302 ADS IMODES30
057722,000378: 07,3246 44750 CS BIT4
057723,000379: 07,3247 71302 PFAILOK2 MASK IMODES30
057724,000380: 07,3250 55302 TS IMODES30
057725,000381: 07,3251 04674 TC IBNKCALL # THE ISS WARNING LIGHT MAY COME ON NOW
057726,000382: 07,3252 14703 CADR SETISSW # THAT THE INHIBIT HAS BEEN REMOVED.
057727,000383: 07,3253 15261 TCF TASKOVER
057728,000384:
057729,000385: 07,3254 03646 PFAILOK TC CAGETSTQ # ENABLE PIP FAIL PROG ALARM.
057730,000386: 07,3255 15261 TCF TASKOVER
057731,000387:
057732,000388: 07,3256 41302 CS IMODES30 # RESET IMU AND PIPA FAIL BITS.
057733,000389: 07,3257 74742 MASK BIT10
057734,000390: 07,3260 27302 ADS IMODES30
057735,000391:
057736,000392: 07,3261 41303 CS IMODES33
057737,000393: 07,3262 74737 MASK BIT13
057738,000394: 07,3263 27303 ADS IMODES33
057739,000395:
057740,000396: 07,3264 44747 CS BIT5
057741,000397: 07,3265 13247 TCF PFAILOK2
057742,000398:
057743,000399: 07,3266 43207 NOATTOFF CS OCT40010 # SUBROUTINE TO TURN OFF NO ATT LAMP.
057744,000400: 07,3267 71036 MASK DSPTAB +11D
057745,000401: 07,3270 64735 AD BIT15
057746,000402: 07,3271 55036 TS DSPTAB +11D
057747,000403: 07,3272 00002 TC Q
057748,000404:
|
|
Page 1318 |
057750,000406: # ROUITNES TO INITIATE AND TERMINATE PROGRAM USE OF THE PIPAS. NO IMUSTALL REQUIRED IN EITHER CASE.
057751,000407:
057752,000408: 07,3273 44755 PIPUSE CS ZERO
057753,000409: 07,3274 54037 TS PIPAX
057754,000410: 07,3275 54040 TS PIPAY
057755,000411: 07,3276 54041 TS PIPAZ
057756,000412:
057757,000413: 07,3277 03646 PIPUSE1 TC CAGETSTQ # DO NOT ENABLE PIPA FAIL IF IMU IS CAGED
057758,000414: 07,3300 14631 TCF SWRETURN
057759,000415:
057760,000416: 07,3301 00004 INHINT
057761,000417: 07,3302 44753 CS BIT1 # IF PIPA FAILS FROM NOW ON (UNTIL
057762,000418: 07,3303 71302 MASK IMODES30 # PIPFREE), LIGHT ISS WARNING.
057763,000419: 07,3304 55302 TS IMODES30
057764,000420:
057765,000421: 07,3305 04674 PIPFREE2 TC IBNKCALL # ISS WARNING MIGHT COME ON NOW.
057766,000422: 07,3306 14703 CADR SETISSW # (OR GO OFF ON PIPFREE).
057767,000423:
057768,000424: 07,3307 12755 TCF MODEEXIT
057769,000425:
057770,000426: 07,3310 00004 PIPFREE INHINT # PROGRAM DONE WITH PIPAS. DONT LIGHT
057771,000427: 07,3311 41302 CS IMODES30 # ISS WARNING.
057772,000428: 07,3312 74753 MASK BIT1
057773,000429: 07,3313 27302 ADS IMODES30
057774,000430:
057775,000431: 07,3314 74742 MASK BIT10 # IF PIP FAIL ON, DO PROG ALSRM AND RESET
057776,000432: 07,3315 10000 CCS A # ISS WARNING.
057777,000433: 07,3316 12755 TCF MODEEXIT
057778,000434:
057779,000435: 07,3317 05567 TC ALARM
057780,000436: 07,3320 00212 OCT 212
057781,000437:
057782,000438: 07,3321 00004 INHINT
057783,000439:
057784,000440: 07,3322 13305 TCF PIPFREE2
057785,000441:
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|
Page 1319 |
057787,000443: # THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIX REGISTERS
057788,000444: # BEGINNING AT THE ECADR ARRIVING IN A. THE MINIMUM SIZE OF ANY PULSE TRAIN IS 16 PULSES (.25 CDU COUNTS). THE
057789,000445: # UNSENT PORTION OF THE COMMAND IS LEFT INTACT IN THE INPUT COMMAND REGISTERS.
057790,000446:
057791,000447: 07,3323 E3,1400 EBANK= 1400 # VARIABLE, ACTUALLY.
057792,000448:
057793,000449: 07,3323 54161 IMUPULSE TS MPAC +5 # SAVE ARRIVING ECADR.
057794,000450: 07,3324 03653 TC CAGETSTJ # DONT PROCEED IF IMU BEING CAGED.
057795,000451:
057796,000452: 07,3325 11314 CCS LGYRO # SEE IF GYROS BUSY.
057797,000453: 07,3326 03367 TC GYROBUSY # SLEEP.
057798,000454:
057799,000455: 07,3327 54156 TS MPAC +2
057800,000456: 07,3330 34746 CAF BIT6 # ENABLE THE POWER SUPPLY.
057801,000457: 07,3331 00006 EXTEND
057802,000458: 07,3332 05014 WOR CHAN14
057803,000459:
057804,000460: 07,3333 34751 CAF FOUR
057805,000461: 07,3334 05203 GWAKE2 TC WAITLIST # (IF A JOB WAS PUT TO SLEEP, THE POWER
057806,000462: 07,3335 E3,1474 EBANK= CDUIND # SUPPLY IS LEFT ON BY THE WAKING JOB).
057807,000463: 07,3335 03405 16103 2CADR STRTGYRO
057808,000464:
057809,000465: 07,3337 30161 CA MPAC +5 # SET UP EBANK, SAVING CALLER'S EBANK FOR
057810,000466: 07,3340 56003 XCH EBANK # RESTORATION ON RETURN.
057811,000467: 07,3341 56161 XCH MPAC +5
057812,000468: 07,3342 55314 TS LGYRO # RESERVES GYROS.
057813,000469: 07,3343 74357 MASK LOW8
057814,000470: 07,3344 54061 TS ITEMP1
057815,000471:
057816,000472: 07,3345 34752 CAF TWO # FORCE SIGN AGREEMENT ON INPUTS.
057817,000473: 07,3346 54157 GYROAGRE TS MPAC +3
057818,000474: 07,3347 60000 DOUBLE
057819,000475: 07,3350 60061 AD ITEMP1
057820,000476: 07,3351 54160 TS MPAC +4
057821,000477: 07,3352 00006 EXTEND
057822,000478: 07,3353 50000 INDEX A
057823,000479: 07,3354 31401 DCA 1400
057824,000480: 07,3355 52155 DXCH MPAC
057825,000481: 07,3356 07257 TC TPAGREE
057826,000482: 07,3357 52155 DXCH MPAC
057827,000483: 07,3360 50160 INDEX MPAC +4
057828,000484: 07,3361 53401 DXCH 1400
057829,000485:
057830,000486: 07,3362 10157 CCS MPAC +3
057831,000487: 07,3363 13346 TCF GYROAGRE
057832,000488:
057833,000489: 07,3364 30161 CA MPAC +5 # RESTORE CALLER'S EBANK.
057834,000490: 07,3365 54003 TS EBANK
057835,000491: 07,3366 12755 TCF MODEEXIT
057836,000492:
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|
Page 1320 |
057838,000494: # ROUTINES TO ALLOW TORQUING BY ONLY ONE JOB AT A TIME.
057839,000495:
057840,000496: 07,3367 00006 GYROBUSY EXTEND # SAVE RETURN 2FCADR.
057841,000497: 07,3370 30134 DCA BUF2
057842,000498: 07,3371 52155 DXCH MPAC
057843,000499: 07,3372 33404 REGSLEEP CAF LGWAKE
057844,000500: 07,3373 15133 TCF JOBSLEEP
057845,000501:
057846,000502: 07,3374 11314 GWAKE CCS LGYRO # WHEN AWAKENED, SEE IF GYROS STILL BUSY.
057847,000503: 07,3375 13372 TCF REGSLEEP # IF SO, SLEEP SOME MORE.
057848,000504:
057849,000505: 07,3376 54156 TS MPAC +2
057850,000506: 07,3377 00006 EXTEND
057851,000507: 07,3400 30155 DCA MPAC
057852,000508: 07,3401 52134 DXCH BUF2 # RESTORE SWRETURN INFO.
057853,000509: 07,3402 34753 CAF ONE
057854,000510: 07,3403 13334 TCF GWAKE2
057855,000511:
057856,000512: 07,3404 17374 LGWAKE CADR GWAKE
057857,000513:
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|
Page 1321 |
057859,000515: # GYRO-TORQUING WAITLIST TASKS.
057860,000516:
057861,000517: 07,3405 43626 STRTGYRO CS GDESELCT # DE-SELECT LAST GYRO.
057862,000518: 07,3406 00006 EXTEND
057863,000519: 07,3407 03014 WAND CHAN14
057864,000520:
057865,000521: 07,3410 03641 TC CAGETEST
057866,000522:
057867,000523: 07,3411 31314 STRTGYR2 CA LGYRO # JUMP ON PHASE COUNTER IN BITS 13-14.
057868,000524: 07,3412 00006 EXTEND
057869,000525: 07,3413 74750 MP BIT4
057870,000526: 07,3414 50000 INDEX A
057871,000527: 07,3415 13416 TCF +1
057872,000528: 07,3416 03433 TC GSELECT # =0. DO Y GYRO.
057873,000529: 07,3417 00202 OCT 00202
057874,000530:
057875,000531: 07,3420 03433 TC GSELECT # =1. DO Z GYRO.
057876,000532: 07,3421 00302 OCT 00302
057877,000533:
057878,000534: 07,3422 03431 TC GSELECT -2 # =2. DO X GYRO.
057879,000535: 07,3423 00100 OCT 00100
057880,000536:
057881,000537: 07,3424 34755 CAF ZERO # =3. DONE
057882,000538: 07,3425 55314 TS LGYRO
057883,000539: 07,3426 33404 CAF LGWAKE # WAKE A POSSIBLE SLEEPING JOB.
057884,000540: 07,3427 05137 TC JOBWAKE
057885,000541:
057886,000542: 07,3430 13232 NORESET TCF IMUFINED # DO NOT RESET POWER SUPPLY
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|
Page 1322 |
057888,000544: 07,3431 44751 -2 CS FOUR # SPECIAL ENTRY TO REGRESS LGYRO FOR X.
057889,000545: 07,3432 27314 ADS LGYRO
057890,000546:
057891,000547: 07,3433 50002 GSELECT INDEX Q # SELECT GYRO.
057892,000548: 07,3434 30000 CAF 0 # PACKED WORD CONTAINS GYRO SELECT BITS
057893,000549: 07,3435 54064 TS ITEMP4 # AND INCREMENT TO LGYRO.
057894,000550: 07,3436 74757 MASK SEVEN
057895,000551: 07,3437 64737 AD BIT13
057896,000552: 07,3440 27314 ADS LGYRO
057897,000553: 07,3441 54003 TS EBANK
057898,000554: 07,3442 74357 MASK LOW8
057899,000555: 07,3443 54061 TS ITEMP1
057900,000556:
057901,000557: 07,3444 44757 CS SEVEN
057902,000558: 07,3445 70064 MASK ITEMP4
057903,000559: 07,3446 54064 TS ITEMP4
057904,000560:
057905,000561: 07,3447 00006 EXTEND # MOVE DP COMMAND TO RUPTREGS FOR TESTING.
057906,000562: 07,3450 50061 INDEX ITEMP1
057907,000563: 07,3451 31401 DCA 1400
057908,000564: 07,3452 52071 DXCH RUPTREG1
057909,000565:
057910,000566: 07,3453 10070 CCS RUPTREG1
057911,000567: 07,3454 13467 TCF MAJ+
057912,000568: 07,3455 13457 TCF +2
057913,000569: 07,3456 13607 TCF MAJ-
057914,000570:
057915,000571: 07,3457 10071 CCS RUPTREG2
057916,000572: 07,3460 13464 TCF MIN+
057917,000573: 07,3461 13411 TCF STRTGYR2
057918,000574: 07,3462 13604 TCF MIN-
057919,000575: 07,3463 13411 TCF STRTGYR2
057920,000576:
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|
Page 1323 |
057922,000578: 07,3464 63520 MIN+ AD -GYROMIN # SMALL POSITIVE COMMAND. SEE IF AT LEAST
057923,000579: 07,3465 00006 EXTEND # 16 GYRO PULSES.
057924,000580: 07,3466 63411 BZMF STRTGYR2
057925,000581:
057926,000582: 07,3467 00006 MAJ+ EXTEND # DEFINITE POSITIVE OUTPUT.
057927,000583: 07,3470 33630 DCA GYROFRAC
057928,000584: 07,3471 20071 DAS RUPTREG1
057929,000585:
057930,000586: 07,3472 30064 CA ITEMP4 # SELECT POSITIVE TORQUING FOR THIS GYRO.
057931,000587: 07,3473 00006 EXTEND
057932,000588: 07,3474 05014 WOR CHAN14
057933,000589:
057934,000590: 07,3475 36074 CAF LOW7 # LEAVE NUMBER OF POSSIBLE 8192 AUGMENTS
057935,000591: 07,3476 70071 MASK RUPTREG2 # TO INITIAL COMMAND IN MAJOR PART OF LONG
057936,000592: 07,3477 56071 XCH RUPTREG2 # TERM STORAGE AND TRUNCATED FRACTION
057937,000593: 07,3500 00006 GMERGE EXTEND # IN MINOR PART. THE MAJOR PART WILL BE
057938,000594: 07,3501 74744 MP BIT8 # COUNTED DOWN TO ZERO IN THE COURSE OF
057939,000595: 07,3502 54062 TS ITEMP2 # PUTTING OUT THE ENTIRE COMMAND.
057940,000596: 07,3503 30070 CA RUPTREG1
057941,000597: 07,3504 00006 EXTEND
057942,000598: 07,3505 74743 MP BIT9
057943,000599: 07,3506 54070 TS RUPTREG1
057944,000600: 07,3507 30001 CA L
057945,000601: 07,3510 00006 EXTEND
057946,000602: 07,3511 74736 MP BIT14
057947,000603: 07,3512 26062 ADS ITEMP2 # INITIAL COMMAND.
057948,000604:
057949,000605: 07,3513 00006 EXTEND # SEE IF MORE THAN ONE PULSE TRAIN NEEDED
057950,000606: 07,3514 30071 DCA RUPTREG1 # (MORE THAN 16383 PULSES).
057951,000607: 07,3515 67747 AD MINUS1
057952,000608: 07,3516 10000 CCS A
057953,000609: 07,3517 13543 TCF LONGGYRO
057954,000610: 07,3520 77601 -GYROMIN OCT -176 # MAY BE ADJUSTED TO SPECIFY MINIMUM CMD
057955,000611: 07,3521 13525 TCF +4
057956,000612:
057957,000613: 07,3522 34736 CAF BIT14
057958,000614: 07,3523 26062 ADS ITEMP2
057959,000615: 07,3524 34755 CAF ZERO
057960,000616:
057961,000617: 07,3525 50061 +4 INDEX ITEMP1
057962,000618: 07,3526 53401 DXCH 1400
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|
Page 1324 |
057964,000620: 07,3527 30062 CA ITEMP2 # ENTIRE COMMAND.
057965,000621: 07,3530 54047 LASTSEG TS GYROCMD
057966,000622: 07,3531 00006 EXTEND
057967,000623: 07,3532 74742 MP BIT10 # WAITLIST DT
057968,000624: 07,3533 66245 AD THREE # TRUNCATION AND PHASE UNCERTAINTIES.
057969,000625: 07,3534 05203 TC WAITLIST
057970,000626: 07,3535 E3,1474 EBANK= CDUIND
057971,000627: 07,3535 03405 16103 2CADR STRTGYRO
057972,000628:
057973,000629: 07,3537 34742 GYROEXIT CAF BIT10
057974,000630: 07,3540 00006 EXTEND
057975,000631: 07,3541 05014 WOR CHAN14
057976,000632: 07,3542 15261 TCF TASKOVER
057977,000633:
057978,000634: 07,3543 50061 LONGGYRO INDEX ITEMP1
057979,000635: 07,3544 53401 DXCH 1400 # INITIAL COMMAND OUT PLUS N AUGMENTS OF
057980,000636: 07,3545 34736 CAF BIT14 # 8192. INITIAL COMMAND IS AT LEAST 8192.
057981,000637: 07,3546 60062 AD ITEMP2
057982,000638: 07,3547 54047 TS GYROCMD
057983,000639:
057984,000640: 07,3550 00006 AUG3 EXTEND # GET WAITLIST DT TO TIME WHEN TRAIN IS
057985,000641: 07,3551 74742 MP BIT10 # ALMOST OUT.
057986,000642: 07,3552 67745 AD NEG3
057987,000643: 07,3553 05203 TC WAITLIST
057988,000644: 07,3554 E3,1474 EBANK= CDUIND
057989,000645: 07,3554 03557 16103 2CADR 8192AUG
057990,000646:
057991,000647: 07,3556 13537 TCF GYROEXIT
057992,000648:
057993,000649: 07,3557 03641 8192AUG TC CAGETEST
057994,000650:
057995,000651: 07,3560 34750 CAF BIT4
057996,000652: 07,3561 00006 EXTEND
057997,000653: 07,3562 02012 RAND CHAN12
057998,000654: 07,3563 10000 CCS A
057999,000655: 07,3564 13637 TCF IMUBAD
058000,000656: 07,3565 31314 CA LGYRO # ADD 8192 PULSES TO GYROCMD
058001,000657: 07,3566 54003 TS EBANK
058002,000658: 07,3567 74357 MASK LOW8
058003,000659: 07,3570 54061 TS ITEMP1
058004,000660:
058005,000661: 07,3571 50061 INDEX ITEMP1 # SEE IF THIS IS THE LAST AUG.
058006,000662: 07,3572 11400 CCS 1400
058007,000663: 07,3573 13577 TCF AUG2 # MORE TO COME.
058008,000664:
058009,000665: 07,3574 34736 CAF BIT14
058010,000666: 07,3575 26047 ADS GYROCMD
058011,000667: 07,3576 13531 TCF LASTSEG +1
058012,000668:
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|
Page 1325 |
058014,000670: 07,3577 50061 AUG2 INDEX ITEMP1
058015,000671: 07,3600 55400 TS 1400
058016,000672: 07,3601 34736 CAF BIT14
058017,000673: 07,3602 26047 ADS GYROCMD
058018,000674: 07,3603 13550 TCF AUG3 # COMPUTE DT.
058019,000675:
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|
Page 1326 |
058021,000677: 07,3604 63520 MIN- AD -GYROMIN # POSSIBLE NEGATIVE OUTPUT.
058022,000678: 07,3605 00006 EXTEND
058023,000679: 07,3606 63411 BZMF STRTGYR2
058024,000680:
058025,000681: 07,3607 00006 MAJ- EXTEND # DEFINITE NEGATIVE OUTPUT.
058026,000682: 07,3610 43630 DCS GYROFRAC
058027,000683: 07,3611 20071 DAS RUPTREG1
058028,000684:
058029,000685: 07,3612 30064 CA ITEMP4 # SELECT NEGATIVE TORQUING FOR THIS GYRO.
058030,000686: 07,3613 64743 AD BIT9
058031,000687: 07,3614 00006 EXTEND
058032,000688: 07,3615 05014 WOR CHAN14
058033,000689:
058034,000690: 07,3616 40070 CS RUPTREG1 # SET UP RUPTREGS TO FALL INTO GMERGE.
058035,000691: 07,3617 54070 TS RUPTREG1 # ALL NUMBERS PUT INTO GYROCMD ARE
058036,000692: 07,3620 40071 CS RUPTREG2 # POSITIVE - BIT9 OF CHAN 14 DETERMINES
058037,000693: 07,3621 76074 MASK LOW7 # THE SIGN OF THE COMMAND.
058038,000694: 07,3622 40000 COM
058039,000695: 07,3623 56071 XCH RUPTREG2
058040,000696: 07,3624 40000 COM
058041,000697: 07,3625 13500 TCF GMERGE
058042,000698:
058043,000699: 07,3626 01700 GDESELCT OCT 1700 # TURN OFF SELECT AND ACTIVITY BITS.
058044,000700:
058045,000701: 07,3627 00000 00034 GYROFRAC 2DEC .215 B-21
058046,000702:
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|
Page 1327 |
058048,000704: # IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE.
058049,000705:
058050,000706: 07,3631 00006 ENDIMU EXTEND # MODE IS BAD IF CAGE HAS OCCURED OR IF
058051,000707: 07,3632 00011 READ DSALMOUT # ISS WARNING IS ON.
058052,000708: 07,3633 74753 MASK BIT1
058053,000709: 07,3634 10000 CCS A
058054,000710: 07,3635 13637 TCF IMUBAD
058055,000711:
058056,000712: 07,3636 13665 IMUGOOD TCF GOODEND # WITH C(A) = 0.
058057,000713:
058058,000714: 07,3637 34755 IMUBAD CAF ZERO
058059,000715: 07,3640 13662 TCF BADEND
058060,000716:
058061,000717: 07,3641 34746 CAGETEST CAF BIT6 # SUBROUTINE TO TERMINATE IMU MODE
058062,000718: 07,3642 71302 MASK IMODES30 # SWITCH IF IMU HAS BEEN CAGED.
058063,000719: 07,3643 10000 CCS A
058064,000720: 07,3644 13637 TCF IMUBAD # DIRECTLY.
058065,000721: 07,3645 00002 TC Q # WITH C(A) = +0.
058066,000722:
058067,000723: 07,3646 41302 CAGETSTQ CS IMODES30 # SKIP IF IMU NOT BEING CAGED.
058068,000724: 07,3647 74746 MASK BIT6
058069,000725: 07,3650 10000 CCS A
058070,000726: 07,3651 24002 INCR Q
058071,000727: 07,3652 00002 TC Q
058072,000728:
058073,000729: 07,3653 41302 CAGETSTJ CS IMODES30 # IF DURING MODE SWITCH INITIALIZATION
058074,000730: 07,3654 74746 MASK BIT6 # IT IS FOUND THAT THE IMU IS BEING CAGED,
058075,000731: 07,3655 10000 CCS A # SET IMUCADR TO -0 TO INDICATE OPERATION
058076,000732: 07,3656 00002 TC Q # COMPLETE BUT FAILED. RETURN IMMEDIATELY
058077,000733:
058078,000734: 07,3657 44755 CS ZERO # TO SWRETURN.
058079,000735: 07,3660 55304 TS IMUCADR
058080,000736: 07,3661 12755 TCF MODEEXIT
058081,000737:
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|
Page 1328 |
058083,000739: # GENERALIZED MODE SWITCHING TERMINATION. ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION
058084,000740: # OR AT BADEND FOR AN UNSUCCESSFUL ONE. C(A) OR ARRIVAL =0 FOR IMU, 1 FOR OPTICS.
058085,000741:
058086,000742: 07,3662 54071 BADEND TS RUPTREG2 # DEVICE INDEX.
058087,000743: 07,3663 44755 CS ZERO # FOR FAILURE.
058088,000744: 07,3664 13667 TCF GOODEND +2
058089,000745:
058090,000746: 07,3665 54071 GOODEND TS RUPTREG2
058091,000747: 07,3666 44753 CS ONE # FOR SUCCESS.
058092,000748:
058093,000749: 07,3667 54072 TS RUPTREG3
058094,000750: 07,3670 50071 INDEX RUPTREG2 # SEE IF USING PROGRAM ASLEEP.
058095,000751: 07,3671 11304 CCS MODECADR
058096,000752: 07,3672 13676 TCF +4 # YES - WAKE IT UP.
058097,000753: 07,3673 13706 TCF ENDMODE # IF 0, PROGRAM NOT IN YET.
058098,000754:
058099,000755: 07,3674 00006 EXTEND
058100,000756: 07,3675 13707 BZF ENDMODE +1 # BZF = TCF IF MODECADR = -0.
058101,000757:
058102,000758: 07,3676 34755 CAF ZERO # WAKE SLEEPING PROGRAM.
058103,000759: 07,3677 50071 INDEX RUPTREG2
058104,000760: 07,3700 57304 XCH MODECADR
058105,000761: 07,3701 05137 TC JOBWAKE
058106,000762:
058107,000763: 07,3702 40072 CS RUPTREG3 # ADVANCE LOC IF SUCCESSFUL.
058108,000764: 07,3703 50064 INDEX LOCCTR
058109,000765: 07,3704 26164 ADS LOC
058110,000766:
058111,000767: 07,3705 15261 TCF TASKOVER
058112,000768:
058113,000769: 07,3706 30072 ENDMODE CA RUPTREG3 # -0 INDICATES OPERATION COMPLETE BUT
058114,000770: 07,3707 50071 +1 INDEX RUPTREG2 # UNSUCCESSFUL: -1 INDICATES COMPLETE AND
058115,000771: 07,3710 55304 TS MODECADR # SUCCESSFUL.
058116,000772: 07,3711 15261 TCF TASKOVER
058117,000773:
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Page 1329 |
058119,000775: # GENERAL STALLING ROUTINE. USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION.
058120,000776:
058121,000777: # PROGRAM DESCRIPTION DATE - 21 FEB 1967
058122,000778: # LOG SECTION IMU MODE SWITCHING
058123,000779: # MOD BY - R. MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 82
058124,000780:
058125,000781: # FUNCTIONAL DESCRIPTION -
058126,000782: # TO DELAY FURTHER EXECUTION OF THE CALLING ROUTINE UNTIL ITS SELECTED
058127,000783: # I/O FUNCTION IS COMPLETE. THE FOLLOWING CHECKS ON THE CALLING ROUTINE:S
058128,000784: # MODECADR ARE MADE AND ACTED UPON.
058129,000785: # 1) +0 INDICATES INCOMPLETE I/O OPERATION. CALLING ROUTINE IS PUT TO
058130,000786: # SLEEP.
058131,000787: # 2) -1 INDICATES COMPLETED I/O OPERATION. STALL BYPASSES JOBSLEEP
058132,000788: # CALL AND RETURNS TO CALLING ROUTINE AT L+3
058133,000789: # 3) -0 INDICATES COMPLETED I/O WITH FAILURE. STALL CLEARS MODECADR
058134,000790: # AND RETURNS TO CALLING ROUTINE AT L+2.
058135,000791: # 4) VALUE GREATER THAN 0 INDICATES TWO ROUTINES CALLING FOR USE OF
058136,000792: # SAME DEVICE. STALL EXITS TO ABORT WHICH EXECUTES A PROGRAM
058137,000793: # RESTART WHICH IN TURN CLEARS ALL MODECADR REGISTERS.
058138,000794:
058139,000795: # CALLING SEQUENCE -
058140,000796: # L TC BANKCALL
058141,000797: # L+1 CADR (ONE OF 5 STALL ADDRESSES I.E. IMUSTALL, OPTSTALL, RADSTALL,
058142,000798: # AOTSTALL, OR ATTSTALL)
058143,000799:
058144,000800: # NORMAL-EXIT MODE -
058145,000801: # TCF JOBSLEEP OR TCF MODEXIT
058146,000802:
058147,000803: # ALARM OR ABORT EXIT MODE -
058148,000804: # TC ABORT
058149,000805:
058150,000806: # OUTPUT -
058151,000807: # MODECADR=CADR IF JOBSLEEP
058152,000808: # MODECADR=+0 IF I/O COMPLETE
058153,000809: # BUF2=L+3 IF I/O COMPLETE AND GOOD.
058154,000810: # BUF2=L+2 IF I/O COMPLETE BUT FAILED.
058155,000811:
058156,000812: # ERASABLE INITIALIZATION -
058157,000813: # BUF2 CONTAINS RETURN ADDRESS PLUS 1,(L+2)
058158,000814: # BUF2+1 CONTAINS FBANK VALUE OF CALLING ROUTINE.
058159,000815: # MODECADR OF CALLING ROUTINE CONTAINS +0,-1,-0 OR CADR RETURN ADDRESS.
058160,000816:
058161,000817: # DEBRIS -
058162,000818: # RUPTREG2 AND CALLING ROUTINE MODECADR.
058163,000819:
058164,000820: 07,3712 34753 AOTSTALL CAF ONE # AOT.
058165,000821: 07,3713 03717 TC STALL
058166,000822:
058167,000823: 07,3714 34752 RADSTALL CAF TWO
058168,000824: 07,3715 13717 TCF STALL
058169,000825:
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Page 1330 |
058171,000827: 07,3716 07,3712 OPTSTALL EQUALS AOTSTALL
058172,000828:
058173,000829: 07,3716 34755 IMUSTALL CAF ZERO # IMU.
058174,000830:
058175,000831: 07,3717 00004 STALL INHINT
058176,000832: 07,3720 54071 TS RUPTREG2 # SAVE DEVICE INDEX.
058177,000833: 07,3721 50000 INDEX A # SEE IF OPERATION COMPLETE.
058178,000834: 07,3722 11304 CCS MODECADR
058179,000835: 07,3723 13741 TCF MODABORT # ALLOWABLE STATES ARE +0, -1, AND -0.
058180,000836: 07,3724 13735 TCF MODESLP # OPERATION INCOMPLETE.
058181,000837: 07,3725 13731 TCF MODEGOOD # COMPLETE AND GOOD IF = -1.
058182,000838:
058183,000839: 07,3726 50071 MG2 INDEX RUPTREG2 # COMPLETE AND FAILED IF -0. RESET TO +0.
058184,000840: 07,3727 55304 TS MODECADR # RETURN TO CALLER.
058185,000841: 07,3730 12755 TCF MODEEXIT
058186,000842:
058187,000843: 07,3731 10000 MODEGOOD CCS A # MAKE SURE INITIAL STATE -1.
058188,000844: 07,3732 13741 TCF MODABORT
058189,000845:
058190,000846: 07,3733 24133 INCR BUF2 # IF SO, INCREMENT RETURN ADDRESS AND
058191,000847: 07,3734 13726 TCF MG2 # RETURN IMMEDIATELY, SETTING CADR = +0.
058192,000848:
058193,000849: 07,3735 04645 MODESLP TC MAKECADR # CALL FROM SWITCHABLE FIXED ONLY.
058194,000850: 07,3736 50071 INDEX RUPTREG2
058195,000851: 07,3737 55304 TS MODECADR
058196,000852: 07,3740 15133 TCF JOBSLEEP
058197,000853:
058198,000854: 07,3741 52134 MODABORT DXCH BUF2
058199,000855: 07,3742 05716 TC BAILOUT1 # TWO PROGRAMS USING THE SAME DEVICE.
058200,000856: 07,3743 01210 OCT 1210
058201,000857:
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Page 1331 |
058203,000859: # CONSTANTS FOR MODE SWITCHING ROUTINES
058204,000860:
058205,000861: 07,3744 5751 BITS3&4 = OCT14
058206,000862: 07,3744 4771 BITS4&6 = OCT50
058207,000863: 07,3744 00030 BITS4-5 OCT 00030
058208,000864: 07,3745 4744 IMUSEFLG EQUALS BIT8 # INTERPRETER SWITCH 7.
058209,000865: 07,3745 77500 -COMMAX DEC -191 B-14
058210,000866: 07,3746 77477 -COMMAX- DEC -192 B-14
058211,000867: 07,3747 00074 600MS DEC 60 B-14
058212,000868: 07,3750 07,3210 IMUFIN20 = IMUFINE
058213,000869: 07,3750 31307 GOMANUR CA ATTCADR # IS KALCMANU FREE
058214,000870: 07,3751 00006 EXTEND
058215,000871: 07,3752 13755 BZF +3
058216,000872:
058217,000873: 07,3753 05652 TC POODOO # NO
058218,000874: 07,3754 01210 OCT 1210 # 2 TRYING TO USE SAME DEVICE
058219,000875:
058220,000876: 07,3755 00006 +3 EXTEND
058221,000877: 07,3756 30134 DCA BUF2
058222,000878: 07,3757 53310 DXCH ATTCADR # SAVE FINAL RETURN FOR KALCMAN3
058223,000879:
058224,000880: 07,3760 30006 CA BBANK
058225,000881: 07,3761 74757 MASK SEVEN
058226,000882: 07,3762 27310 ADS ATTCADR +1
058227,000883:
058228,000884: 07,3763 30167 CA PRIORITY
058229,000885: 07,3764 77725 MASK PRIO37
058230,000886: 07,3765 55311 TS ATTPRIO # SAVE USERS PRIO
058231,000887:
058232,000888: 07,3766 33772 CAF KALEBCON # SET EBANK FOR KALCMAN3
058233,000889: 07,3767 54003 TS EBANK
058234,000890: 07,3770 04635 TC POSTJUMP
058235,000891: 07,3771 44004 CADR KALCMAN3
058236,000892: 07,3772 03276 KALEBCON ECADR BCDU
058237,000893:
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|
Page 1332 |
058239,000895: # PROGRAM DESCRIPTION
058240,000896: # IMU STATUS CHECK ROUTINE R02 (SUBROUTINE UTILITY)
058241,000897: # MOD NO - 1
058242,000898: # MOD BY - N.BRODEUR
058243,000899:
058244,000900: # FUNCTIONAL DESCRIPTION
058245,000901: # TO CHECK WHETHER IMU IS ON AND IF ON WHETHER IT IS ALIGNED TO AN
058246,000902: # ORIENTATION KNOWN BY THE CMC. TO REQUEST SELECTION OF THE APPROPRIATE
058247,000903: # PROGRAM IF THE IMU IS OFF OR NOT ALIGNED TO AN ORIENTATION KNOWN BY THE
058248,000904: # CMC. CALLED THROUGH BANKCALL
058249,000905:
058250,000906: # CALLING SEQUENCE -
058251,000907: # L TC BANKCALL
058252,000908: # L+1 CADR R02BOTH
058253,000909:
058254,000910: # SUBROUTINES CALLED
058255,000911: # VARALARM
058256,000912: # FLAGUP
058257,000913:
058258,000914: # NORMAL EXIT MODES
058259,000915: # AT L+2 OF CALLING SEQUENCE
058260,000916:
058261,000917: # ALARM OR ABORT EXIT MODES
058262,000918: # GOTOPOOH, WITH ALARM
058263,000919:
058264,000920: # ERASABLE INITIALIZATION REQUIRED
058265,000921: # NONE
058266,000922:
058267,000923: # DEBRIS
058268,000924: # CENTRALS - A,Q,L
058269,000925:
058270,000926: 34,3775 BANK 34
058271,000927: 04,2000 SETLOC R02
058272,000928: 04,2000 BANK
058273,000929: 04,3253 COUNT* $$/R02
058274,000930: 04,3253 00063 DEC51 DEC 51 B-14
058275,000931: 04,3254 34737 R02BOTH CAF REFSMBIT
058276,000932: 04,3255 70077 MASK FLAGWRD3
058277,000933: 04,3256 10000 CCS A
058278,000934: 04,3257 03270 TC R02ZERO # ZERO IMUS
058279,000935:
058280,000936: 04,3260 31302 CA IMODES30
058281,000937: 04,3261 74743 MASK BIT9 # IS ISS INITIALIZED
058282,000938: 04,3262 00006 EXTEND
058283,000939: 04,3263 13265 BZF +2
058284,000940: 04,3264 44750 CS BIT4 # SEND IMU ALARM CODE 210
058285,000941: 04,3265 63273 AD OCT220 # SEND REFSMM ALARM
058286,000942: 04,3266 05744 TC VARALARM
058287,000943:
058288,000944: 04,3267 06001 TC GOTOPOOH
058289,000945:
058290,000946: 04,3270 05504 R02ZERO TC UPFLAG
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Page 1333 |
058292,000948: 04,3271 00007 ADRES IMUSE
058293,000949: 04,3272 14631 TCF SWRETURN
058294,000950: 04,3273 00220 OCT220 OCT 220
058295,000951:
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Page 1334 |
058297,000953: # PROGRAM DESCRIPTION P06 10 FEB 67
058298,000954:
058299,000955: # TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION.
058300,000956:
058301,000957: # THE NORMAL CONDITION OF READINESS OF THE GNCS WHEN NOT IN USE IS STANDBY. IN THIS CONDITION THE IMU
058302,000958: # HEATER POWER IS ON. THE IMU OPERATE POWER IS OFF. THE COMPUTER POWER IS ON. THE OPTICS POWER IS OFF. THE
058303,000959: # CMC STANDBY ON THE MAIN AND LEB DISKYS IS ON.
058304,000960:
058305,000961: # CALLING SEQUENCE:
058306,000962: # ASTRONAUT REQUEST THROUGH DSKY V37E 06E.
058307,000963:
058308,000964: # SUBROUTINES CALLED:
058309,000965: # GOPERF1
058310,000966: # BANKCALL
058311,000967: # FLAGDOWN
058312,000968:
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Page 1335 |
058314,000970: # PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2
058315,000971: # THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATABILITY
058316,000972: # BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING.
058317,000973:
058318,000974: 37,2000 SETLOC P05P06
058319,000975: 37,2000 BANK
058320,000976:
058321,000977: 37,3655 0314 EBANK= TIME2SAV
058322,000978: 37,3655 COUNT* $$/P06
058323,000979:
058324,000980: 37,3655 05504 P06 TC UPFLAG # SET NODOV37 BIT
058325,000981: 37,3656 00054 ADRES NODOFLAG
058326,000982:
058327,000983: 37,3657 00004 PRESTAND INHINT
058328,000984: 37,3660 00006 EXTEND
058329,000985: 37,3661 30025 DCA TIME2 # SNAPSHOT TIME1 TIME2
058330,000986: 37,3662 52315 DXCH TIME2SAV
058331,000987: 37,3663 03714 TC SCALPREP
058332,000988: 37,3664 03657 TC PRESTAND # T1,T2,SCALER NOT COMPATIBLE
058333,000989: 37,3665 52155 DXCH MPAC # T1,T2 AND SCALER OK
058334,000990: 37,3666 52317 DXCH SCALSAVE # STORE SCALER
058335,000991: 37,3667 00004 INHINT
058336,000992: 37,3670 04616 TC BANKCALL
058337,000993: 37,3671 17175 CADR RNDREFDR # REFSMM, DRIFT, TRACK FLAGS DOWN
058338,000994:
058339,000995: 37,3672 05516 TC DOWNFLAG
058340,000996: 37,3673 00007 ADRES IMUSE # IMUSE DOWN
058341,000997: 37,3674 05516 TC DOWNFLAG
058342,000998: 37,3675 00010 ADRES RNDVZFLG # RNDVZFLG DOWN
058343,000999:
058344,001000: 37,3676 34741 CAF BIT11
058345,001001: 37,3677 00006 EXTEND
058346,001002: 37,3700 05013 WOR CHAN13 # SET STANDBY ENABLE BIT
058347,001003:
058348,001004: 37,3701 05353 TC PHASCHNG # SET RESTART TO POSTAND WHEN STANDBY
058349,001005: 37,3702 07024 OCT 07024 # RECOVERS
058350,001006: 37,3703 20000 OCT 20000
058351,001007: 37,3704 0316 EBANK= SCALSAVE
058352,001008: 37,3704 03734 76060 2CADR POSTAND
058353,001009:
058354,001010: 37,3706 34774 CAF OCT62
058355,001011: 37,3707 04616 TC BANKCALL
058356,001012: 37,3710 20623 CADR GOPERF1
058357,001013: 37,3711 13706 TCF -3
058358,001014: 37,3712 13706 TCF -4
058359,001015: 37,3713 13706 TCF -5
058360,001016:
058361,001017: 37,3714 4774 OCT62 EQUALS .5SEC # DEC 50 = OCT 62
058362,001018:
058363,001019: # THE LOW 5 BITS OF THE SCALER READS 10000 FOR THE FIRST INTERVAL AFTER A
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|
Page 1336 |
058365,001021: # T1 INCREMENT. IF SCALPREP DETECTS THIS INTERVAL THE T1,T2 AND SCALER
058366,001022: # DATA ARE NOT COMPATABLE AND RETURN IS TO L+1 FOR ANOTHER READING OF THE
058367,001023: # DATA. OTHERWISE, THE RETURN IS TO L+2 TO PROCEED. ROUTINE ALSO PREPARES
058368,001024: # THE SCALER READING FOR COMPUTATION OF THE INCREMENT TO UPDATE T1T2. (THE
058369,001025: # 10 MS BIT (BIT 6) OF THE SCALER IS INCREMENTED 5 MS OUT OF PHASE FROM
058370,001026: # T1.) ADDITION OF 5 MS (BIT 5) TO THE SCALER READING HAS THE EFFECT OF
058371,001027: # ADJUSTING BIT 6 IN THE SCALER TO BE IN PHASE WITH BIT 1 OF T1. THE LOW 5
058372,001028: # BITS OF THE SCALER READING ARE THEN SET TO ZERO, TO TRUNCATE THE SCALER
058373,001029: # DATA TO 10 MS. RESULTS ARE STORED IN MPAC, +1.
058374,001030:
058375,001031: 37,3714 00006 SCALPREP EXTEND
058376,001032: 37,3715 22156 QXCH MPAC +2
058377,001033: 37,3716 04103 TC FINETIME +1
058378,001034: 37,3717 00003 RELINT
058379,001035: 37,3720 52155 DXCH MPAC
058380,001036: 37,3721 34747 CA BIT5 # ADD 5 MS TO THE SCALER READING.
058381,001037: 37,3722 54001 TS L
058382,001038: 37,3723 34755 CA ZERO
058383,001039: 37,3724 20155 DAS MPAC
058384,001040: 37,3725 44346 CS LOW5 # SET LOW 5 BITS OF (SCALER+5MS) TO ZERO
058385,001041: 37,3726 70155 MASK MPAC +1 # AND STORE RESULTS IN MPAC,+1.
058386,001042: 37,3727 56155 XCH MPAC +1
058387,001043: 37,3730 74346 MASK LOW5 # TEST LOW 5 BITS OF SCALER FOR THE FIRST
058388,001044: # INTERVAL AFTER THE T1 INCREMENT
058389,001045: # (NOW = 00000, SINCE BIT 5 ADDED).
058390,001046: 37,3731 10000 CCS A # IS IT 1ST INTERVAL AFTER T1 INCREMENT
058391,001047: 37,3732 24156 INCR MPAC +2 # NO
058392,001048: 37,3733 00156 TC MPAC +2 # YES
058393,001049:
058394,001050: # POSTAND RECOVERS TIME AFTER STANDBY. THE SCALER IS SNAPSHOTTED AND THE
058395,001051: # TIME1 TIME2 COUNTER IS SET TO ZERO. THE LOW 5 BITS OF THE SCALER ARE
058396,001052: # INSPECTED TO INSURE COMPATABILITY BETWEEN THE SCALER READING AND THE
058397,001053: # CLEARING OF THE TIME COUNTER. IT THEN COMPUTES THE DIFFERENCE IN SCALER
058398,001054: # VALUES (IN DP) AND ADDS THIS TO THE PREVIOUSLY SNAPSHOTTED VALUES OF
058399,001055: # TIME1 TIME2 AND PLACES THIS NEW TIME INTO THE TIME1 TIME2 COUNTER.
058400,001056:
058401,001057: 37,3734 COUNT* $$/P05
058402,001058:
058403,001059: 37,3734 44741 POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY.
058404,001060: 37,3735 00006 EXTEND
058405,001061: 37,3736 03013 WAND CHAN13 # CLEAR STANDBY ENABLE BIT
058406,001062: 37,3737 00004 INHINT
058407,001063: 37,3740 34755 CA ZERO
058408,001064: 37,3741 54001 TS L
058409,001065: 37,3742 52025 DXCH TIME2 # CLEAR TIME1TIME2
058410,001066: 37,3743 03714 TC SCALPREP # STORE SCALER IN MPAC, MPAC+1
058411,001067: 37,3744 03737 TC POSTAND +3 # T1,T2,SCALER NOT COMPATIBLE
058412,001068: 37,3745 00006 EXTEND # T1,T2 AND SCALER OK
058413,001069: 37,3746 40317 DCS SCALSAVE
058414,001070: 37,3747 20155 DAS MPAC # FORM DP DIFFERENCE OF POSTSTANDBY SCALER
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Page 1337 |
058416,001072: 37,3750 34742 CAF BIT10 # MINUS PRESTANDBY SCALER AND SHIFT RIGHT
058417,001073: 37,3751 07307 TC SHORTMP # 5 TO ALIGN BITS WITH TIME1 TIME2.
058418,001074: 37,3752 34755 CAF ZERO
058419,001075: 37,3753 54156 TS MPAC +2 # NEEDED FOR TP AGREE
058420,001076: 37,3754 07257 TC TPAGREE # MAKE DP DIFF AGREE
058421,001077: 37,3755 10154 CCS MPAC
058422,001078: 37,3756 03763 TC POSTCOM # IF DP DIFF NET +, NO SCALER OVERFLOW
058423,001079: 37,3757 03763 TC POSTCOM # BETWEEN PRE AND POST STANDBY.
058424,001080: 37,3760 03761 TC +1 # IF DP DIFF NET -, SCALER OVERFLOWED. ADD
058425,001081: 37,3761 34742 CAF BIT10 # BIT 10 TO HIGH DIFF TO CORRECT.
058426,001082: 37,3762 26154 ADS MPAC
058427,001083: 37,3763 00006 POSTCOM EXTEND # C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER.
058428,001084: 37,3764 30315 DCA TIME2SAV # PRESTANDBY TIME1TIME2
058429,001085: 37,3765 20155 DAS MPAC
058430,001086: 37,3766 07257 TC TPAGREE # FORCE SIGN AGREEMENT
058431,001087: 37,3767 52155 DXCH MPAC # UPDATED VALUE FOR T1,T2.
058432,001088: 37,3770 20025 DAS TIME2 # LOAD UPDATED VALUE INTO T1,T2, WITH
058433,001089: 37,3771 05516 TC DOWNFLAG # CLEAR NODOFLAG
058434,001090: 37,3772 00054 ADRES NODOFLAG
058435,001091:
058436,001092: 37,3773 06001 TC GOTOPOOH
058437,001093:
End of include-file IMU_MODE_SWITCHING_ROUTINES.agc. Parent file is MAIN.agc