Source Code
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This is an attempt to recreate Luminary 99 Rev 2, otherwise known as LUM99R2, from Luminary 99 Rev 1 and ephemeris data from Luminary 116. The differences are confined to the last 10-12 lines of the CONTROLLED CONSTANTS. Luminary 99 Rev 1 source-code was transcribed from a printout in the MIT Museum, while Luminary 116 source code was transcribed from a printout belonging to Don Eyles. AGC developer James Kernan, the "rope mother" for the Apollo 11 Lunar Module's AGC, explains as follows: "At the last minute, Dan Lickly, our chief engineer, appeared with ephemerides updates and it took two tries to get it right. The result was that we created Lum99 Revision 1 and Lum99 Revision 2." It is suspected that the former is what's in the MIT Museum, and the latter is what we are trying to recreate here. As for which revision actually flew in Apollo 11, all of the other available surviving evidence points to Rev 1 rather than to Rev 2, so we're just not sure! |
055202,000002: ## Copyright: Public domain.
055203,000003: ## Filename: IMU_MODE_SWITCHING_ROUTINES.agc
055204,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
055205,000005: ## It is part of the source code for the Lunar Module's (LM)
055206,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
055207,000007: ## Assembler: yaYUL
055208,000008: ## Contact: Onno Hommes <ohommes@cmu.edu>.
055209,000009: ## Website: www.ibiblio.org/apollo.
055210,000010: ## Pages: 1309-1337
055211,000011: ## Mod history: 2009-05-28 OH Transcribed from page images.
055212,000012: ## 2009-06-05 RSB Fixed a typo.
055213,000013: ## 2011-01-06 JL Fixed pseudo-label indentation.
055214,000014: ## 2011-05-08 JL Removed workaround. Flagged SBANK=
055215,000015: ## workaround for future removal.
055216,000016: ## 2016-12-13 RSB GOTOP00H -> GOTOPOOH
055217,000017: ## 2016-12-18 RSB Proofed text comments with octopus/ProoferComments
055218,000018: ## and corrected the errors found.
055219,000019: ## 2017-01-18 RRB Found typo while updating for Luminary 69.
055220,000020: ## 2017-01-28 RSB Comment-text fixes identified for Luminary 69.
055221,000021: ## 2017-03-03 RSB Snapshot of Luminary 99 Rev 1.
055222,000022: ## 2017-03-13 RSB Comment-text fixes noted in proofing Luminary 116.
055223,000023: ## 2017-03-15 RSB Comment-text fixes identified in 6-way
055224,000024: ## side-by-side diff of Sunburst 120 and Luminary
055225,000025: ## 69/99/116/131/210.
055226,000026: ## 2017-06-17 MAS Globally removed all SBANK= workarounds.
055227,000027:
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Page 1309 |
055229,000029: 5457 BLOCK 02
055230,000030: 4000 SETLOC FFTAG3
055231,000031: 4000 BANK
055232,000032:
055233,000033: 5457 E3,1471 EBANK= COMMAND
055234,000034:
055235,000035: # FIXED-FIXED ROUTINES.
055236,000036:
055237,000037: 5457 COUNT* $$/IMODE
055238,000038: 5457 34755 ZEROICDU CAF ZERO # ZERO ICDU COUNTERS.
055239,000039: 5460 54032 TS CDUX
055240,000040: 5461 54033 TS CDUY
055241,000041: 5462 54034 TS CDUZ
055242,000042: 5463 00002 TC Q
055243,000043:
055244,000044: 5464 4743 SPSCODE = BIT9
055245,000045:
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Page 1310 |
055247,000047: # IMU ZEROING ROUTINE.
055248,000048:
055249,000049: 11,3776 BANK 11
055250,000050: 07,2000 SETLOC MODESW
055251,000051: 07,2000 BANK
055252,000052:
055253,000053: 07,2714 COUNT* $$/IMODE
055254,000054: 07,2714 00004 IMUZERO INHINT # ROUTINE TO ZERO ICDUS.
055255,000055: 07,2715 41036 CS DSPTAB +11D # DONT ZERO CDUS IF IMU IN GIMBAL LOCK AND
055256,000056: 07,2716 74771 MASK BITS4&6 # COARSE ALIGN (GIMBAL RUNAWAY PROTECTION)
055257,000057: 07,2717 10000 CCS A
055258,000058: 07,2720 12724 TCF IMUZEROA
055259,000059:
055260,000060: 07,2721 05567 TC ALARM # IF SO.
055261,000061: 07,2722 00206 OCT 00206
055262,000062:
055263,000063: 07,2723 13657 TCF CAGETSTJ +4 # IMMEDIATE FAILURE.
055264,000064:
055265,000065: 07,2724 03653 IMUZEROA TC CAGETSTJ
055266,000066: # DELETE
055267,000067: 07,2725 41303 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
055268,000068: 07,2726 74773 MASK SUPER011 # BIT5 FOR GROUND
055269,000069: 07,2727 27303 ADS IMODES33
055270,000070:
055271,000071: 07,2730 41302 CS IMODES30 # INHIBIT ICDUFAIL AND IMUFAIL (IN CASE WE
055272,000072: 07,2731 75751 MASK BITS3&4 # JUST CAME OUT OF COARSE ALIGN).
055273,000073: 07,2732 27302 ADS IMODES30
055274,000074:
055275,000075: 07,2733 44771 CS BITS4&6 # SEND ZERO ENCODE WITH COARSE AND ERROR
055276,000076: 07,2734 00006 EXTEND # COUNTER DISABLED.
055277,000077: 07,2735 03012 WAND CHAN12
055278,000078:
055279,000079: 07,2736 03266 TC NOATTOFF # TURN OFF NO ATT LAMP.
055280,000080:
055281,000081: 07,2737 34747 CAF BIT5
055282,000082: 07,2740 00006 EXTEND
055283,000083: 07,2741 05012 WOR CHAN12
055284,000084:
055285,000085: 07,2742 05457 TC ZEROICDU
055286,000086: 07,2743 34746 CAF BIT6 # WAIT 320 MS TO GIVE AGS ADEQUATE TIME TO
055287,000087: 07,2744 05203 TC WAITLIST # RECEIVE ITS PULSE TRAIN.
055288,000088: 07,2745 E3,1474 EBANK= CDUIND
055289,000089: 07,2745 02757 16103 2CADR IMUZERO2
055290,000090:
055291,000091: 07,2747 41302 CS IMODES30 # SEE IF IMU OPERATING AND ALARM IF NOT.
055292,000092: 07,2750 74743 MASK BIT9
055293,000093: 07,2751 10000 CCS A
055294,000094: 07,2752 12755 TCF MODEEXIT
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Page 1311 |
055296,000096: 07,2753 05567 TC ALARM
055297,000097: 07,2754 00210 OCT 210
055298,000098:
055299,000099: 07,2755 00003 MODEEXIT RELINT # GENERAL MODE-SWITCHING EXIT.
055300,000100: 07,2756 14631 TCF SWRETURN
055301,000101:
055302,000102: 07,2757 03641 IMUZERO2 TC CAGETEST
055303,000103: 07,2760 05457 TC ZEROICDU # ZERO CDUX, CDUY, CDUZ
055304,000104:
055305,000105: 07,2761 44747 CS BIT5 # REMOVE ZERO DISCRETE.
055306,000106: 07,2762 00006 EXTEND
055307,000107: 07,2763 03012 WAND CHAN12
055308,000108:
055309,000109: 07,2764 34741 CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS
055310,000110: 07,2765 05224 TC VARDELAY
055311,000111:
055312,000112: 07,2766 03641 IMUZERO3 TC CAGETEST
055313,000113: 07,2767 45751 CS BITS3&4 # REMOVE IMUFAIL AND ICDUFAIL INHIBIT.
055314,000114: 07,2770 71302 MASK IMODES30
055315,000115: 07,2771 55302 TS IMODES30
055316,000116:
055317,000117: 07,2772 44773 CS SUPER011 # ENABLE DAP AUTO AND HOLD MODES
055318,000118: 07,2773 71303 MASK IMODES33 # BIT5 FOR GROUND
055319,000119: 07,2774 55303 TS IMODES33
055320,000120:
055321,000121: 07,2775 04674 TC IBNKCALL # SET ISS WARNING IF EITHER OF ABOVE ARE
055322,000122: 07,2776 14703 CADR SETISSW # PRESENT.
055323,000123:
055324,000124: 07,2777 13631 TCF ENDIMU
055325,000125:
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Page 1312 |
055327,000127: # IMU COARSE ALIGN MODE.
055328,000128:
055329,000129: 07,3000 00004 IMUCOARS INHINT
055330,000130: 07,3001 03653 TC CAGETSTJ
055331,000131: 07,3002 03144 TC SETCOARS
055332,000132:
055333,000133: 07,3003 36242 CAF SIX
055334,000134: 07,3004 05203 TC WAITLIST
055335,000135: 07,3005 E3,1474 EBANK= CDUIND
055336,000136: 07,3005 03010 16103 2CADR COARS
055337,000137:
055338,000138: 07,3007 12755 TCF MODEEXIT
055339,000139:
055340,000140: 07,3010 03641 COARS TC CAGETEST
055341,000141: 07,3011 34746 CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
055342,000142: 07,3012 00006 EXTEND
055343,000143: 07,3013 05012 WOR CHAN12
055344,000144:
055345,000145: 07,3014 34752 CAF TWO # SET CDU INDICATOR
055346,000146: 07,3015 55474 COARS1 TS CDUIND
055347,000147:
055348,000148: 07,3016 51474 INDEX CDUIND # COMPUTE THETAD - THETAA IN 1:S
055349,000149: 07,3017 30321 CA THETAD # COMPLEMENT FORM
055350,000150: 07,3020 00006 EXTEND
055351,000151: 07,3021 51474 INDEX CDUIND
055352,000152: 07,3022 20032 MSU CDUX
055353,000153: 07,3023 00006 EXTEND
055354,000154: 07,3024 74737 MP BIT13 # SHIFT RIGHT 2
055355,000155: 07,3025 56001 XCH L # ROUND
055356,000156: 07,3026 60000 DOUBLE
055357,000157: 07,3027 54061 TS ITEMP1
055358,000158: 07,3030 13032 TCF +2
055359,000159: 07,3031 26001 ADS L
055360,000160:
055361,000161: 07,3032 51474 INDEX CDUIND # DIFFERENCE TO BE COMPUTED
055362,000162: 07,3033 23471 LXCH COMMAND
055363,000163: 07,3034 11474 CCS CDUIND
055364,000164: 07,3035 03015 TC COARS1
055365,000165:
055366,000166: 07,3036 34752 CAF TWO # MINIMUM OF 4 MS WAIT
055367,000167: 07,3037 05224 TC VARDELAY
055368,000168:
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Page 1313 |
055370,000170: 07,3040 03641 COARS2 TC CAGETEST # DONT CONTINUE IF CAGED.
055371,000171: 07,3041 54061 TS ITEMP1 # SETS TO +0.
055372,000172: 07,3042 34752 CAF TWO # SET CDU INDICATOR
055373,000173: 07,3043 55474 +3 TS CDUIND
055374,000174:
055375,000175: 07,3044 51474 INDEX CDUIND
055376,000176: 07,3045 11471 CCS COMMAND # NUMBER OF PULSES REQUIRED
055377,000177: 07,3046 03052 TC COMPOS # GREATER THAN MAX ALLOWED
055378,000178: 07,3047 03061 TC NEXTCDU +1
055379,000179: 07,3050 03117 TC COMNEG
055380,000180: 07,3051 03061 TC NEXTCDU +1
055381,000181:
055382,000182: 07,3052 63745 COMPOS AD -COMMAX # COMMAX = MAX NUMBER OF PULSES ALLOWED
055383,000183: 07,3053 00006 EXTEND # MINUS ONE
055384,000184: 07,3054 63127 BZMF COMZERO
055385,000185: 07,3055 51474 INDEX CDUIND
055386,000186: 07,3056 55471 TS COMMAND # REDUCE COMMAND BY MAX NUMBER OF PULSES
055387,000187: 07,3057 43746 CS -COMMAX- # ALLOWED
055388,000188:
055389,000189: 07,3060 24061 NEXTCDU INCR ITEMP1
055390,000190: 07,3061 64754 AD NEG0
055391,000191: 07,3062 51474 INDEX CDUIND
055392,000192: 07,3063 54050 TS CDUXCMD # SET UP COMMAND REGISTER.
055393,000193:
055394,000194: 07,3064 11474 CCS CDUIND
055395,000195: 07,3065 03043 TC COARS2 +3
055396,000196:
055397,000197: 07,3066 10061 CCS ITEMP1 # SEE IF ANY PULSES TO GO OUT.
055398,000198: 07,3067 13133 TCF SENDPULS
055399,000199:
055400,000200: 07,3070 05221 TC FIXDELAY # WAIT FOR GIMBALS TO SETTLE.
055401,000201: 07,3071 00226 DEC 150 B-14
055402,000202:
055403,000203: 07,3072 34752 CAF TWO # AT END OF COMMAND, CHECK TO SEE THAT
055404,000204: 07,3073 54061 CHKCORS TS ITEMP1 # GIMBALS ARE WITHIN 2 DEGREES OF THETAD.
055405,000205: 07,3074 50000 INDEX A
055406,000206: 07,3075 30032 CA CDUX
055407,000207: 07,3076 00006 EXTEND
055408,000208: 07,3077 50061 INDEX ITEMP1
055409,000209: 07,3100 20321 MSU THETAD
055410,000210: 07,3101 10000 CCS A
055411,000211: 07,3102 13110 TCF COARSERR
055412,000212: 07,3103 13105 TCF CORSCHK2
055413,000213: 07,3104 13110 TCF COARSERR
055414,000214:
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Page 1314 |
055416,000216: 07,3105 10061 CORSCHK2 CCS ITEMP1
055417,000217: 07,3106 13073 TCF CHKCORS
055418,000218: 07,3107 13631 TCF ENDIMU # END OF COARSE ALIGNMENT.
055419,000219:
055420,000220: 07,3110 63116 COARSERR AD COARSTOL # 2 DEGREES.
055421,000221: 07,3111 00006 EXTEND
055422,000222: 07,3112 63105 BZMF CORSCHK2
055423,000223:
055424,000224: 07,3113 05567 TC ALARM # COARSE ALIGN ERROR.
055425,000225: 07,3114 00211 OCT 211
055426,000226:
055427,000227: 07,3115 13637 TCF IMUBAD
055428,000228:
055429,000229: 07,3116 77511 COARSTOL DEC -.01111 # 2 DEGREES SCALED AT HALF-REVOLUTIONS
055430,000230:
055431,000231: 07,3117 63745 COMNEG AD -COMMAX
055432,000232: 07,3120 00006 EXTEND
055433,000233: 07,3121 63127 BZMF COMZERO
055434,000234: 07,3122 40000 COM
055435,000235: 07,3123 51474 INDEX CDUIND
055436,000236: 07,3124 55471 TS COMMAND
055437,000237: 07,3125 33746 CA -COMMAX-
055438,000238: 07,3126 03060 TC NEXTCDU
055439,000239:
055440,000240: 07,3127 34755 COMZERO CAF ZERO
055441,000241: 07,3130 51474 INDEX CDUIND
055442,000242: 07,3131 57471 XCH COMMAND
055443,000243: 07,3132 03060 TC NEXTCDU
055444,000244:
055445,000245: 07,3133 37740 SENDPULS CAF 13,14,15
055446,000246: 07,3134 00006 EXTEND
055447,000247: 07,3135 05014 WOR CHAN14
055448,000248: 07,3136 33747 CAF 600MS
055449,000249: 07,3137 13037 TCF COARS2 -1 # THEN TO VARDELAY
055450,000250:
055451,000251: 07,3140 34746 CA+ECE CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
055452,000252: 07,3141 00006 EXTEND
055453,000253: 07,3142 05012 WOR CHAN12
055454,000254: 07,3143 05261 TC TASKOVER
055455,000255:
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Page 1315 |
055457,000257: 07,3144 34750 SETCOARS CAF BIT4 # BYPASS IF ALREADY IN COARSE ALIGN
055458,000258: 07,3145 00006 EXTEND
055459,000259: 07,3146 02012 RAND CHAN12
055460,000260: 07,3147 10000 CCS A
055461,000261: 07,3150 00002 TC Q
055462,000262:
055463,000263: 07,3151 44746 CS BIT6 # CLEAR ISS ERROR COUNTERS
055464,000264: 07,3152 00006 EXTEND
055465,000265: 07,3153 03012 WAND CHAN12
055466,000266:
055467,000267: 07,3154 44742 CS BIT10 # KNOCK DOWN GYRO ACTIVITY
055468,000268: 07,3155 00006 EXTEND
055469,000269: 07,3156 03014 WAND CHAN14
055470,000270: 07,3157 44755 CS ZERO
055471,000271: 07,3160 54047 TS GYROCMD
055472,000272:
055473,000273: 07,3161 34750 CAF BIT4 # PUT ISS IN COARSE ALIGN
055474,000274: 07,3162 00006 EXTEND
055475,000275: 07,3163 05012 WOR CHAN12
055476,000276:
055477,000277: 07,3164 41036 CS DSPTAB +11D # TURN ON NO ATT LAMP
055478,000278: 07,3165 73207 MASK OCT40010
055479,000279: 07,3166 27036 ADS DSPTAB +11D
055480,000280:
055481,000281: 07,3167 41303 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
055482,000282: 07,3170 74746 MASK BIT6
055483,000283: 07,3171 27303 ADS IMODES33
055484,000284:
055485,000285: 07,3172 41302 CS IMODES30 # DISABLE IMUFAIL
055486,000286: 07,3173 74750 MASK BIT4
055487,000287: 07,3174 27302 ADS IMODES30
055488,000288:
055489,000289: 07,3175 44747 RNDREFDR CS TRACKBIT # CLEAR TRACK FLAG
055490,000290: 07,3176 70075 MASK FLAGWRD1
055491,000291: 07,3177 54075 TS FLAGWRD1
055492,000292:
055493,000293: 07,3200 44735 CS DRFTBIT # CLEAR DRIFT FLAG
055494,000294: 07,3201 70076 MASK FLAGWRD2
055495,000295: 07,3202 54076 TS FLAGWRD2
055496,000296:
055497,000297: 07,3203 44737 CS REFSMBIT # CLEAR REFSMMAT FLAG
055498,000298: 07,3204 70077 MASK FLAGWRD3
055499,000299: 07,3205 54077 TS FLAGWRD3
055500,000300:
055501,000301: 07,3206 00002 TC Q
055502,000302:
055503,000303: 07,3207 40010 OCT40010 OCT 40010
055504,000304:
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Page 1316 |
055506,000306: # IMU FINE ALIGN MODE SWITCH.
055507,000307:
055508,000308: 07,3210 00004 IMUFINE INHINT
055509,000309: 07,3211 03653 TC CAGETSTJ # SEE IF IMU BEING CAGED.
055510,000310:
055511,000311: 07,3212 43744 CS BITS4-5 # RESET ZERO AND COARSE
055512,000312: 07,3213 00006 EXTEND
055513,000313: 07,3214 03012 WAND CHAN12
055514,000314:
055515,000315: 07,3215 44746 CS BIT6 # INSURE DAP AUTO AND HOLD MODES ENABLED
055516,000316: 07,3216 71303 MASK IMODES33
055517,000317: 07,3217 55303 TS IMODES33
055518,000318:
055519,000319: 07,3220 03266 TC NOATTOFF
055520,000320:
055521,000321: 07,3221 34742 CAF BIT10 # IMU FAIL WAS INHIBITED DURING THE
055522,000322: 07,3222 05203 TC WAITLIST # PRESUMABLY PRECEDING COARSE ALIGN. LEAVE
055523,000323: 07,3223 E3,1474 EBANK= CDUIND
055524,000324: 07,3223 03234 16103 2CADR IFAILOK # IT ON FOR THE FIRST 5 SECS OF FINE ALIGN
055525,000325:
055526,000326: 07,3225 35000 CAF 2SECS
055527,000327: 07,3226 05203 TC WAITLIST
055528,000328: 07,3227 E3,1474 EBANK= CDUIND
055529,000329: 07,3227 03232 16103 2CADR IMUFINED
055530,000330:
055531,000331: 07,3231 12755 TCF MODEEXIT
055532,000332:
055533,000333: 07,3232 03641 IMUFINED TC CAGETEST # SEE THAT NO ONE HAS CAGED THE IMU.
055534,000334: 07,3233 13631 TCF ENDIMU
055535,000335:
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Page 1317 |
055537,000337: 07,3234 03646 IFAILOK TC CAGETSTQ # ENABLE IMU FIAL UNLESS IMU BEING CAGED.
055538,000338: 07,3235 15261 TCF TASKOVER # IT IS.
055539,000339:
055540,000340: 07,3236 34750 CAF BIT4 # DONT RESET IMU FAIL INHIBIT IF SOMEONE
055541,000341: 07,3237 00006 EXTEND # HAS GONE INTO COARSE ALIGN.
055542,000342: 07,3240 02012 RAND CHAN12
055543,000343: 07,3241 10000 CCS A
055544,000344: 07,3242 15261 TCF TASKOVER
055545,000345:
055546,000346: 07,3243 41302 CS IMODES30 # RESET IMUFAIL.
055547,000347: 07,3244 74737 MASK BIT13
055548,000348: 07,3245 27302 ADS IMODES30
055549,000349: 07,3246 44750 CS BIT4
055550,000350: 07,3247 71302 PFAILOK2 MASK IMODES30
055551,000351: 07,3250 55302 TS IMODES30
055552,000352: 07,3251 04674 TC IBNKCALL # THE ISS WARNING LIGHT MAY COME ON NOW
055553,000353: 07,3252 14703 CADR SETISSW # THAT THE INHIBIT HAS BEEN REMOVED.
055554,000354: 07,3253 15261 TCF TASKOVER
055555,000355:
055556,000356: 07,3254 03646 PFAILOK TC CAGETSTQ # ENABLE PIP FAIL PROG ALARM.
055557,000357: 07,3255 15261 TCF TASKOVER
055558,000358:
055559,000359: 07,3256 41302 CS IMODES30 # RESET IMU AND PIPA FAIL BITS.
055560,000360: 07,3257 74742 MASK BIT10
055561,000361: 07,3260 27302 ADS IMODES30
055562,000362:
055563,000363: 07,3261 41303 CS IMODES33
055564,000364: 07,3262 74737 MASK BIT13
055565,000365: 07,3263 27303 ADS IMODES33
055566,000366:
055567,000367: 07,3264 44747 CS BIT5
055568,000368: 07,3265 13247 TCF PFAILOK2
055569,000369:
055570,000370: 07,3266 43207 NOATTOFF CS OCT40010 # SUBROUTINE TO TURN OFF NO ATT LAMP.
055571,000371: 07,3267 71036 MASK DSPTAB +11D
055572,000372: 07,3270 64735 AD BIT15
055573,000373: 07,3271 55036 TS DSPTAB +11D
055574,000374: 07,3272 00002 TC Q
055575,000375:
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Page 1318 |
055577,000377: # ROUITNES TO INITIATE AND TERMINATE PROGRAM USE OF THE PIPAS. NO IMUSTALL REQUIRED IN EITHER CASE.
055578,000378:
055579,000379: 07,3273 44755 PIPUSE CS ZERO
055580,000380: 07,3274 54037 TS PIPAX
055581,000381: 07,3275 54040 TS PIPAY
055582,000382: 07,3276 54041 TS PIPAZ
055583,000383:
055584,000384: 07,3277 03646 PIPUSE1 TC CAGETSTQ # DO NOT ENABLE PIPA FAIL IF IMU IS CAGED
055585,000385: 07,3300 14631 TCF SWRETURN
055586,000386:
055587,000387: 07,3301 00004 INHINT
055588,000388: 07,3302 44753 CS BIT1 # IF PIPA FAILS FROM NOW ON (UNTIL
055589,000389: 07,3303 71302 MASK IMODES30 # PIPFREE), LIGHT ISS WARNING.
055590,000390: 07,3304 55302 TS IMODES30
055591,000391:
055592,000392: 07,3305 04674 PIPFREE2 TC IBNKCALL # ISS WARNING MIGHT COME ON NOW.
055593,000393: 07,3306 14703 CADR SETISSW # (OR GO OFF ON PIPFREE).
055594,000394:
055595,000395: 07,3307 12755 TCF MODEEXIT
055596,000396:
055597,000397: 07,3310 00004 PIPFREE INHINT # PROGRAM DONE WITH PIPAS. DONT LIGHT
055598,000398: 07,3311 41302 CS IMODES30 # ISS WARNING.
055599,000399: 07,3312 74753 MASK BIT1
055600,000400: 07,3313 27302 ADS IMODES30
055601,000401:
055602,000402: 07,3314 74742 MASK BIT10 # IF PIP FAIL ON, DO PROG ALSRM AND RESET
055603,000403: 07,3315 10000 CCS A # ISS WARNING.
055604,000404: 07,3316 12755 TCF MODEEXIT
055605,000405:
055606,000406: 07,3317 05567 TC ALARM
055607,000407: 07,3320 00212 OCT 212
055608,000408:
055609,000409: 07,3321 00004 INHINT
055610,000410:
055611,000411: 07,3322 13305 TCF PIPFREE2
055612,000412:
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|
Page 1319 |
055614,000414: # THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIX REGISTERS
055615,000415: # BEGINNING AT THE ECADR ARRIVING IN A. THE MINIMUM SIZE OF ANY PULSE TRAIN IS 16 PULSES (.25 CDU COUNTS). THE
055616,000416: # UNSENT PORTION OF THE COMMAND IS LEFT INTACT IN THE INPUT COMMAND REGISTERS.
055617,000417:
055618,000418: 07,3323 E3,1400 EBANK= 1400 # VARIABLE, ACTUALLY.
055619,000419:
055620,000420: 07,3323 54161 IMUPULSE TS MPAC +5 # SAVE ARRIVING ECADR.
055621,000421: 07,3324 03653 TC CAGETSTJ # DONT PROCEED IF IMU BEING CAGED.
055622,000422:
055623,000423: 07,3325 11314 CCS LGYRO # SEE IF GYROS BUSY.
055624,000424: 07,3326 03367 TC GYROBUSY # SLEEP.
055625,000425:
055626,000426: 07,3327 54156 TS MPAC +2
055627,000427: 07,3330 34746 CAF BIT6 # ENABLE THE POWER SUPPLY.
055628,000428: 07,3331 00006 EXTEND
055629,000429: 07,3332 05014 WOR CHAN14
055630,000430:
055631,000431: 07,3333 34751 CAF FOUR
055632,000432: 07,3334 05203 GWAKE2 TC WAITLIST # (IF A JOB WAS PUT TO SLEEP, THE POWER
055633,000433: 07,3335 E3,1474 EBANK= CDUIND # SUPPLY IS LEFT ON BY THE WAKING JOB).
055634,000434: 07,3335 03405 16103 2CADR STRTGYRO
055635,000435:
055636,000436: 07,3337 30161 CA MPAC +5 # SET UP EBANK, SAVING CALLER'S EBANK FOR
055637,000437: 07,3340 56003 XCH EBANK # RESTORATION ON RETURN.
055638,000438: 07,3341 56161 XCH MPAC +5
055639,000439: 07,3342 55314 TS LGYRO # RESERVES GYROS.
055640,000440: 07,3343 74357 MASK LOW8
055641,000441: 07,3344 54061 TS ITEMP1
055642,000442:
055643,000443: 07,3345 34752 CAF TWO # FORCE SIGN AGREEMENT ON INPUTS.
055644,000444: 07,3346 54157 GYROAGRE TS MPAC +3
055645,000445: 07,3347 60000 DOUBLE
055646,000446: 07,3350 60061 AD ITEMP1
055647,000447: 07,3351 54160 TS MPAC +4
055648,000448: 07,3352 00006 EXTEND
055649,000449: 07,3353 50000 INDEX A
055650,000450: 07,3354 31401 DCA 1400
055651,000451: 07,3355 52155 DXCH MPAC
055652,000452: 07,3356 07257 TC TPAGREE
055653,000453: 07,3357 52155 DXCH MPAC
055654,000454: 07,3360 50160 INDEX MPAC +4
055655,000455: 07,3361 53401 DXCH 1400
055656,000456:
055657,000457: 07,3362 10157 CCS MPAC +3
055658,000458: 07,3363 13346 TCF GYROAGRE
055659,000459:
055660,000460: 07,3364 30161 CA MPAC +5 # RESTORE CALLER'S EBANK.
055661,000461: 07,3365 54003 TS EBANK
055662,000462: 07,3366 12755 TCF MODEEXIT
055663,000463:
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|
Page 1320 |
055665,000465: # ROUTINES TO ALLOW TORQUING BY ONLY ONE JOB AT A TIME.
055666,000466:
055667,000467: 07,3367 00006 GYROBUSY EXTEND # SAVE RETURN 2FCADR.
055668,000468: 07,3370 30134 DCA BUF2
055669,000469: 07,3371 52155 DXCH MPAC
055670,000470: 07,3372 33404 REGSLEEP CAF LGWAKE
055671,000471: 07,3373 15133 TCF JOBSLEEP
055672,000472:
055673,000473: 07,3374 11314 GWAKE CCS LGYRO # WHEN AWAKENED, SEE IF GYROS STILL BUSY.
055674,000474: 07,3375 13372 TCF REGSLEEP # IF SO, SLEEP SOME MORE.
055675,000475:
055676,000476: 07,3376 54156 TS MPAC +2
055677,000477: 07,3377 00006 EXTEND
055678,000478: 07,3400 30155 DCA MPAC
055679,000479: 07,3401 52134 DXCH BUF2 # RESTORE SWRETURN INFO.
055680,000480: 07,3402 34753 CAF ONE
055681,000481: 07,3403 13334 TCF GWAKE2
055682,000482:
055683,000483: 07,3404 17374 LGWAKE CADR GWAKE
055684,000484:
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|
Page 1321 |
055686,000486: # GYRO-TORQUING WAITLIST TASKS.
055687,000487:
055688,000488: 07,3405 43626 STRTGYRO CS GDESELCT # DE-SELECT LAST GYRO.
055689,000489: 07,3406 00006 EXTEND
055690,000490: 07,3407 03014 WAND CHAN14
055691,000491:
055692,000492: 07,3410 03641 TC CAGETEST
055693,000493:
055694,000494: 07,3411 31314 STRTGYR2 CA LGYRO # JUMP ON PHASE COUNTER IN BITS 13-14.
055695,000495: 07,3412 00006 EXTEND
055696,000496: 07,3413 74750 MP BIT4
055697,000497: 07,3414 50000 INDEX A
055698,000498: 07,3415 13416 TCF +1
055699,000499: 07,3416 03433 TC GSELECT # =0. DO Y GYRO.
055700,000500: 07,3417 00202 OCT 00202
055701,000501:
055702,000502: 07,3420 03433 TC GSELECT # =1. DO Z GYRO.
055703,000503: 07,3421 00302 OCT 00302
055704,000504:
055705,000505: 07,3422 03431 TC GSELECT -2 # =2. DO X GYRO.
055706,000506: 07,3423 00100 OCT 00100
055707,000507:
055708,000508: 07,3424 34755 CAF ZERO # =3. DONE
055709,000509: 07,3425 55314 TS LGYRO
055710,000510: 07,3426 33404 CAF LGWAKE # WAKE A POSSIBLE SLEEPING JOB.
055711,000511: 07,3427 05137 TC JOBWAKE
055712,000512:
055713,000513: 07,3430 13232 NORESET TCF IMUFINED # DO NOT RESET POWER SUPPLY
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|
Page 1322 |
055715,000515: 07,3431 44751 -2 CS FOUR # SPECIAL ENTRY TO REGRESS LGYRO FOR X.
055716,000516: 07,3432 27314 ADS LGYRO
055717,000517:
055718,000518: 07,3433 50002 GSELECT INDEX Q # SELECT GYRO.
055719,000519: 07,3434 30000 CAF 0 # PACKED WORD CONTAINS GYRO SELECT BITS
055720,000520: 07,3435 54064 TS ITEMP4 # AND INCREMENT TO LGYRO.
055721,000521: 07,3436 74757 MASK SEVEN
055722,000522: 07,3437 64737 AD BIT13
055723,000523: 07,3440 27314 ADS LGYRO
055724,000524: 07,3441 54003 TS EBANK
055725,000525: 07,3442 74357 MASK LOW8
055726,000526: 07,3443 54061 TS ITEMP1
055727,000527:
055728,000528: 07,3444 44757 CS SEVEN
055729,000529: 07,3445 70064 MASK ITEMP4
055730,000530: 07,3446 54064 TS ITEMP4
055731,000531:
055732,000532: 07,3447 00006 EXTEND # MOVE DP COMMAND TO RUPTREGS FOR TESTING.
055733,000533: 07,3450 50061 INDEX ITEMP1
055734,000534: 07,3451 31401 DCA 1400
055735,000535: 07,3452 52071 DXCH RUPTREG1
055736,000536:
055737,000537: 07,3453 10070 CCS RUPTREG1
055738,000538: 07,3454 13467 TCF MAJ+
055739,000539: 07,3455 13457 TCF +2
055740,000540: 07,3456 13607 TCF MAJ-
055741,000541:
055742,000542: 07,3457 10071 CCS RUPTREG2
055743,000543: 07,3460 13464 TCF MIN+
055744,000544: 07,3461 13411 TCF STRTGYR2
055745,000545: 07,3462 13604 TCF MIN-
055746,000546: 07,3463 13411 TCF STRTGYR2
055747,000547:
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|
Page 1323 |
055749,000549: 07,3464 63520 MIN+ AD -GYROMIN # SMALL POSITIVE COMMAND. SEE IF AT LEAST
055750,000550: 07,3465 00006 EXTEND # 16 GYRO PULSES.
055751,000551: 07,3466 63411 BZMF STRTGYR2
055752,000552:
055753,000553: 07,3467 00006 MAJ+ EXTEND # DEFINITE POSITIVE OUTPUT.
055754,000554: 07,3470 33630 DCA GYROFRAC
055755,000555: 07,3471 20071 DAS RUPTREG1
055756,000556:
055757,000557: 07,3472 30064 CA ITEMP4 # SELECT POSITIVE TORQUING FOR THIS GYRO.
055758,000558: 07,3473 00006 EXTEND
055759,000559: 07,3474 05014 WOR CHAN14
055760,000560:
055761,000561: 07,3475 36074 CAF LOW7 # LEAVE NUMBER OF POSSIBLE 8192 AUGMENTS
055762,000562: 07,3476 70071 MASK RUPTREG2 # TO INITIAL COMMAND IN MAJOR PART OF LONG
055763,000563: 07,3477 56071 XCH RUPTREG2 # TERM STORAGE AND TRUNCATED FRACTION
055764,000564: 07,3500 00006 GMERGE EXTEND # IN MINOR PART. THE MAJOR PART WILL BE
055765,000565: 07,3501 74744 MP BIT8 # COUNTED DOWN TO ZERO IN THE COURSE OF
055766,000566: 07,3502 54062 TS ITEMP2 # PUTTING OUT THE ENTIRE COMMAND.
055767,000567: 07,3503 30070 CA RUPTREG1
055768,000568: 07,3504 00006 EXTEND
055769,000569: 07,3505 74743 MP BIT9
055770,000570: 07,3506 54070 TS RUPTREG1
055771,000571: 07,3507 30001 CA L
055772,000572: 07,3510 00006 EXTEND
055773,000573: 07,3511 74736 MP BIT14
055774,000574: 07,3512 26062 ADS ITEMP2 # INITIAL COMMAND.
055775,000575:
055776,000576: 07,3513 00006 EXTEND # SEE IF MORE THAN ONE PULSE TRAIN NEEDED
055777,000577: 07,3514 30071 DCA RUPTREG1 # (MORE THAN 16383 PULSES).
055778,000578: 07,3515 67747 AD MINUS1
055779,000579: 07,3516 10000 CCS A
055780,000580: 07,3517 13543 TCF LONGGYRO
055781,000581: 07,3520 77601 -GYROMIN OCT -176 # MAY BE ADJUSTED TO SPECIFY MINIMUM CMD
055782,000582: 07,3521 13525 TCF +4
055783,000583:
055784,000584: 07,3522 34736 CAF BIT14
055785,000585: 07,3523 26062 ADS ITEMP2
055786,000586: 07,3524 34755 CAF ZERO
055787,000587:
055788,000588: 07,3525 50061 +4 INDEX ITEMP1
055789,000589: 07,3526 53401 DXCH 1400
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|
Page 1324 |
055791,000591: 07,3527 30062 CA ITEMP2 # ENTIRE COMMAND.
055792,000592: 07,3530 54047 LASTSEG TS GYROCMD
055793,000593: 07,3531 00006 EXTEND
055794,000594: 07,3532 74742 MP BIT10 # WAITLIST DT
055795,000595: 07,3533 66245 AD THREE # TRUNCATION AND PHASE UNCERTAINTIES.
055796,000596: 07,3534 05203 TC WAITLIST
055797,000597: 07,3535 E3,1474 EBANK= CDUIND
055798,000598: 07,3535 03405 16103 2CADR STRTGYRO
055799,000599:
055800,000600: 07,3537 34742 GYROEXIT CAF BIT10
055801,000601: 07,3540 00006 EXTEND
055802,000602: 07,3541 05014 WOR CHAN14
055803,000603: 07,3542 15261 TCF TASKOVER
055804,000604:
055805,000605: 07,3543 50061 LONGGYRO INDEX ITEMP1
055806,000606: 07,3544 53401 DXCH 1400 # INITIAL COMMAND OUT PLUS N AUGMENTS OF
055807,000607: 07,3545 34736 CAF BIT14 # 8192. INITIAL COMMAND IS AT LEAST 8192.
055808,000608: 07,3546 60062 AD ITEMP2
055809,000609: 07,3547 54047 TS GYROCMD
055810,000610:
055811,000611: 07,3550 00006 AUG3 EXTEND # GET WAITLIST DT TO TIME WHEN TRAIN IS
055812,000612: 07,3551 74742 MP BIT10 # ALMOST OUT.
055813,000613: 07,3552 67745 AD NEG3
055814,000614: 07,3553 05203 TC WAITLIST
055815,000615: 07,3554 E3,1474 EBANK= CDUIND
055816,000616: 07,3554 03557 16103 2CADR 8192AUG
055817,000617:
055818,000618: 07,3556 13537 TCF GYROEXIT
055819,000619:
055820,000620: 07,3557 03641 8192AUG TC CAGETEST
055821,000621:
055822,000622: 07,3560 34750 CAF BIT4
055823,000623: 07,3561 00006 EXTEND
055824,000624: 07,3562 02012 RAND CHAN12
055825,000625: 07,3563 10000 CCS A
055826,000626: 07,3564 13637 TCF IMUBAD
055827,000627: 07,3565 31314 CA LGYRO # ADD 8192 PULSES TO GYROCMD
055828,000628: 07,3566 54003 TS EBANK
055829,000629: 07,3567 74357 MASK LOW8
055830,000630: 07,3570 54061 TS ITEMP1
055831,000631:
055832,000632: 07,3571 50061 INDEX ITEMP1 # SEE IF THIS IS THE LAST AUG.
055833,000633: 07,3572 11400 CCS 1400
055834,000634: 07,3573 13577 TCF AUG2 # MORE TO COME.
055835,000635:
055836,000636: 07,3574 34736 CAF BIT14
055837,000637: 07,3575 26047 ADS GYROCMD
055838,000638: 07,3576 13531 TCF LASTSEG +1
055839,000639:
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|
Page 1325 |
055841,000641: 07,3577 50061 AUG2 INDEX ITEMP1
055842,000642: 07,3600 55400 TS 1400
055843,000643: 07,3601 34736 CAF BIT14
055844,000644: 07,3602 26047 ADS GYROCMD
055845,000645: 07,3603 13550 TCF AUG3 # COMPUTE DT.
055846,000646:
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|
Page 1326 |
055848,000648: 07,3604 63520 MIN- AD -GYROMIN # POSSIBLE NEGATIVE OUTPUT.
055849,000649: 07,3605 00006 EXTEND
055850,000650: 07,3606 63411 BZMF STRTGYR2
055851,000651:
055852,000652: 07,3607 00006 MAJ- EXTEND # DEFINITE NEGATIVE OUTPUT.
055853,000653: 07,3610 43630 DCS GYROFRAC
055854,000654: 07,3611 20071 DAS RUPTREG1
055855,000655:
055856,000656: 07,3612 30064 CA ITEMP4 # SELECT NEGATIVE TORQUING FOR THIS GYRO.
055857,000657: 07,3613 64743 AD BIT9
055858,000658: 07,3614 00006 EXTEND
055859,000659: 07,3615 05014 WOR CHAN14
055860,000660:
055861,000661: 07,3616 40070 CS RUPTREG1 # SET UP RUPTREGS TO FALL INTO GMERGE.
055862,000662: 07,3617 54070 TS RUPTREG1 # ALL NUMBERS PUT INTO GYROCMD ARE
055863,000663: 07,3620 40071 CS RUPTREG2 # POSITIVE - BIT9 OF CHAN 14 DETERMINES
055864,000664: 07,3621 76074 MASK LOW7 # THE SIGN OF THE COMMAND.
055865,000665: 07,3622 40000 COM
055866,000666: 07,3623 56071 XCH RUPTREG2
055867,000667: 07,3624 40000 COM
055868,000668: 07,3625 13500 TCF GMERGE
055869,000669:
055870,000670: 07,3626 01700 GDESELCT OCT 1700 # TURN OFF SELECT AND ACTIVITY BITS.
055871,000671:
055872,000672: 07,3627 00000 00034 GYROFRAC 2DEC .215 B-21
055873,000673:
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|
Page 1327 |
055875,000675: # IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE.
055876,000676:
055877,000677: 07,3631 00006 ENDIMU EXTEND # MODE IS BAD IF CAGE HAS OCCURED OR IF
055878,000678: 07,3632 00011 READ DSALMOUT # ISS WARNING IS ON.
055879,000679: 07,3633 74753 MASK BIT1
055880,000680: 07,3634 10000 CCS A
055881,000681: 07,3635 13637 TCF IMUBAD
055882,000682:
055883,000683: 07,3636 13665 IMUGOOD TCF GOODEND # WITH C(A) = 0.
055884,000684:
055885,000685: 07,3637 34755 IMUBAD CAF ZERO
055886,000686: 07,3640 13662 TCF BADEND
055887,000687:
055888,000688: 07,3641 34746 CAGETEST CAF BIT6 # SUBROUTINE TO TERMINATE IMU MODE
055889,000689: 07,3642 71302 MASK IMODES30 # SWITCH IF IMU HAS BEEN CAGED.
055890,000690: 07,3643 10000 CCS A
055891,000691: 07,3644 13637 TCF IMUBAD # DIRECTLY.
055892,000692: 07,3645 00002 TC Q # WITH C(A) = +0.
055893,000693:
055894,000694: 07,3646 41302 CAGETSTQ CS IMODES30 # SKIP IF IMU NOT BEING CAGED.
055895,000695: 07,3647 74746 MASK BIT6
055896,000696: 07,3650 10000 CCS A
055897,000697: 07,3651 24002 INCR Q
055898,000698: 07,3652 00002 TC Q
055899,000699:
055900,000700: 07,3653 41302 CAGETSTJ CS IMODES30 # IF DURING MODE SWITCH INITIALIZATION
055901,000701: 07,3654 74746 MASK BIT6 # IT IS FOUND THAT THE IMU IS BEING CAGED,
055902,000702: 07,3655 10000 CCS A # SET IMUCADR TO -0 TO INDICATE OPERATION
055903,000703: 07,3656 00002 TC Q # COMPLETE BUT FAILED. RETURN IMMEDIATELY
055904,000704:
055905,000705: 07,3657 44755 CS ZERO # TO SWRETURN.
055906,000706: 07,3660 55304 TS IMUCADR
055907,000707: 07,3661 12755 TCF MODEEXIT
055908,000708:
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|
Page 1328 |
055910,000710: # GENERALIZED MODE SWITCHING TERMINATION. ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION
055911,000711: # OR AT BADEND FOR AN UNSUCCESSFUL ONE. C(A) OR ARRIVAL =0 FOR IMU, 1 FOR OPTICS.
055912,000712:
055913,000713: 07,3662 54071 BADEND TS RUPTREG2 # DEVICE INDEX.
055914,000714: 07,3663 44755 CS ZERO # FOR FAILURE.
055915,000715: 07,3664 13667 TCF GOODEND +2
055916,000716:
055917,000717: 07,3665 54071 GOODEND TS RUPTREG2
055918,000718: 07,3666 44753 CS ONE # FOR SUCCESS.
055919,000719:
055920,000720: 07,3667 54072 TS RUPTREG3
055921,000721: 07,3670 50071 INDEX RUPTREG2 # SEE IF USING PROGRAM ASLEEP.
055922,000722: 07,3671 11304 CCS MODECADR
055923,000723: 07,3672 13676 TCF +4 # YES - WAKE IT UP.
055924,000724: 07,3673 13706 TCF ENDMODE # IF 0, PROGRAM NOT IN YET.
055925,000725:
055926,000726: 07,3674 00006 EXTEND
055927,000727: 07,3675 13707 BZF ENDMODE +1 # BZF = TCF IF MODECADR = -0.
055928,000728:
055929,000729: 07,3676 34755 CAF ZERO # WAKE SLEEPING PROGRAM.
055930,000730: 07,3677 50071 INDEX RUPTREG2
055931,000731: 07,3700 57304 XCH MODECADR
055932,000732: 07,3701 05137 TC JOBWAKE
055933,000733:
055934,000734: 07,3702 40072 CS RUPTREG3 # ADVANCE LOC IF SUCCESSFUL.
055935,000735: 07,3703 50064 INDEX LOCCTR
055936,000736: 07,3704 26164 ADS LOC
055937,000737:
055938,000738: 07,3705 15261 TCF TASKOVER
055939,000739:
055940,000740: 07,3706 30072 ENDMODE CA RUPTREG3 # -0 INDICATES OPERATION COMPLETE BUT
055941,000741: 07,3707 50071 +1 INDEX RUPTREG2 # UNSUCCESSFUL: -1 INDICATES COMPLETE AND
055942,000742: 07,3710 55304 TS MODECADR # SUCCESSFUL.
055943,000743: 07,3711 15261 TCF TASKOVER
055944,000744:
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|
Page 1329 |
055946,000746: # GENERAL STALLING ROUTINE. USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION.
055947,000747:
055948,000748: # PROGRAM DESCRIPTION DATE - 21 FEB 1967
055949,000749: # LOG SECTION IMU MODE SWITCHING
055950,000750: # MOD BY - R. MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 82
055951,000751:
055952,000752: # FUNCTIONAL DESCRIPTION -
055953,000753: # TO DELAY FURTHER EXECUTION OF THE CALLING ROUTINE UNTIL ITS SELECTED
055954,000754: # I/O FUNCTION IS COMPLETE. THE FOLLOWING CHECKS ON THE CALLING ROUTINE:S
055955,000755: # MODECADR ARE MADE AND ACTED UPON.
055956,000756: # 1) +0 INDICATES INCOMPLETE I/O OPERATION. CALLING ROUTINE IS PUT TO
055957,000757: # SLEEP.
055958,000758: # 2) -1 INDICATES COMPLETED I/O OPERATION. STALL BYPASSES JOBSLEEP
055959,000759: # CALL AND RETURNS TO CALLING ROUTINE AT L+3
055960,000760: # 3) -0 INDICATES COMPLETED I/O WITH FAILURE. STALL CLEARS MODECADR
055961,000761: # AND RETURNS TO CALLING ROUTINE AT L+2.
055962,000762: # 4) VALUE GREATER THAN 0 INDICATES TWO ROUTINES CALLING FOR USE OF
055963,000763: # SAME DEVICE. STALL EXITS TO ABORT WHICH EXECUTES A PROGRAM
055964,000764: # RESTART WHICH IN TURN CLEARS ALL MODECADR REGISTERS.
055965,000765:
055966,000766: # CALLING SEQUENCE -
055967,000767: # L TC BANKCALL
055968,000768: # L+1 CADR (ONE OF 5 STALL ADDRESSES I.E. IMUSTALL, OPTSTALL, RADSTALL,
055969,000769: # AOTSTALL, OR ATTSTALL)
055970,000770:
055971,000771: # NORMAL-EXIT MODE -
055972,000772: # TCF JOBSLEEP OR TCF MODEXIT
055973,000773:
055974,000774: # ALARM OR ABORT EXIT MODE -
055975,000775: # TC ABORT
055976,000776:
055977,000777: # OUTPUT -
055978,000778: # MODECADR=CADR IF JOBSLEEP
055979,000779: # MODECADR=+0 IF I/O COMPLETE
055980,000780: # BUF2=L+3 IF I/O COMPLETE AND GOOD.
055981,000781: # BUF2=L+2 IF I/O COMPLETE BUT FAILED.
055982,000782:
055983,000783: # ERASABLE INITIALIZATION -
055984,000784: # BUF2 CONTAINS RETURN ADDRESS PLUS 1,(L+2)
055985,000785: # BUF2+1 CONTAINS FBANK VALUE OF CALLING ROUTINE.
055986,000786: # MODECADR OF CALLING ROUTINE CONTAINS +0,-1,-0 OR CADR RETURN ADDRESS.
055987,000787:
055988,000788: # DEBRIS -
055989,000789: # RUPTREG2 AND CALLING ROUTINE MODECADR.
055990,000790:
055991,000791: 07,3712 34753 AOTSTALL CAF ONE # AOT.
055992,000792: 07,3713 03717 TC STALL
055993,000793:
055994,000794: 07,3714 34752 RADSTALL CAF TWO
055995,000795: 07,3715 13717 TCF STALL
055996,000796:
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|
Page 1330 |
055998,000798: 07,3716 07,3712 OPTSTALL EQUALS AOTSTALL
055999,000799:
056000,000800: 07,3716 34755 IMUSTALL CAF ZERO # IMU.
056001,000801:
056002,000802: 07,3717 00004 STALL INHINT
056003,000803: 07,3720 54071 TS RUPTREG2 # SAVE DEVICE INDEX.
056004,000804: 07,3721 50000 INDEX A # SEE IF OPERATION COMPLETE.
056005,000805: 07,3722 11304 CCS MODECADR
056006,000806: 07,3723 13741 TCF MODABORT # ALLOWABLE STATES ARE +0, -1, AND -0.
056007,000807: 07,3724 13735 TCF MODESLP # OPERATION INCOMPLETE.
056008,000808: 07,3725 13731 TCF MODEGOOD # COMPLETE AND GOOD IF = -1.
056009,000809:
056010,000810: 07,3726 50071 MG2 INDEX RUPTREG2 # COMPLETE AND FAILED IF -0. RESET TO +0.
056011,000811: 07,3727 55304 TS MODECADR # RETURN TO CALLER.
056012,000812: 07,3730 12755 TCF MODEEXIT
056013,000813:
056014,000814: 07,3731 10000 MODEGOOD CCS A # MAKE SURE INITIAL STATE -1.
056015,000815: 07,3732 13741 TCF MODABORT
056016,000816:
056017,000817: 07,3733 24133 INCR BUF2 # IF SO, INCREMENT RETURN ADDRESS AND
056018,000818: 07,3734 13726 TCF MG2 # RETURN IMMEDIATELY, SETTING CADR = +0.
056019,000819:
056020,000820: 07,3735 04645 MODESLP TC MAKECADR # CALL FROM SWITCHABLE FIXED ONLY.
056021,000821: 07,3736 50071 INDEX RUPTREG2
056022,000822: 07,3737 55304 TS MODECADR
056023,000823: 07,3740 15133 TCF JOBSLEEP
056024,000824:
056025,000825: 07,3741 52134 MODABORT DXCH BUF2
056026,000826: 07,3742 05716 TC BAILOUT1 # TWO PROGRAMS USING THE SAME DEVICE.
056027,000827: 07,3743 01210 OCT 1210
056028,000828:
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Page 1331 |
056030,000830: # CONSTANTS FOR MODE SWITCHING ROUTINES
056031,000831:
056032,000832: 07,3744 5751 BITS3&4 = OCT14
056033,000833: 07,3744 4771 BITS4&6 = OCT50
056034,000834: 07,3744 00030 BITS4-5 OCT 00030
056035,000835: 07,3745 4744 IMUSEFLG EQUALS BIT8 # INTERPRETER SWITCH 7.
056036,000836: 07,3745 77500 -COMMAX DEC -191 B-14
056037,000837: 07,3746 77477 -COMMAX- DEC -192 B-14
056038,000838: 07,3747 00074 600MS DEC 60 B-14
056039,000839: 07,3750 07,3210 IMUFIN20 = IMUFINE
056040,000840: 07,3750 31307 GOMANUR CA ATTCADR # IS KALCMANU FREE
056041,000841: 07,3751 00006 EXTEND
056042,000842: 07,3752 13755 BZF +3
056043,000843:
056044,000844: 07,3753 05652 TC POODOO # NO
056045,000845: 07,3754 01210 OCT 1210 # 2 TRYING TO USE SAME DEVICE
056046,000846:
056047,000847: 07,3755 00006 +3 EXTEND
056048,000848: 07,3756 30134 DCA BUF2
056049,000849: 07,3757 53310 DXCH ATTCADR # SAVE FINAL RETURN FOR KALCMAN3
056050,000850:
056051,000851: 07,3760 30006 CA BBANK
056052,000852: 07,3761 74757 MASK SEVEN
056053,000853: 07,3762 27310 ADS ATTCADR +1
056054,000854:
056055,000855: 07,3763 30167 CA PRIORITY
056056,000856: 07,3764 77725 MASK PRIO37
056057,000857: 07,3765 55311 TS ATTPRIO # SAVE USERS PRIO
056058,000858:
056059,000859: 07,3766 33772 CAF KALEBCON # SET EBANK FOR KALCMAN3
056060,000860: 07,3767 54003 TS EBANK
056061,000861: 07,3770 04635 TC POSTJUMP
056062,000862: 07,3771 44004 CADR KALCMAN3
056063,000863: 07,3772 03276 KALEBCON ECADR BCDU
056064,000864:
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Page 1332 |
056066,000866: # PROGRAM DESCRIPTION
056067,000867: # IMU STATUS CHECK ROUTINE R02 (SUBROUTINE UTILITY)
056068,000868: # MOD NO - 1
056069,000869: # MOD BY - N.BRODEUR
056070,000870:
056071,000871: # FUNCTIONAL DESCRIPTION
056072,000872: # TO CHECK WHETHER IMU IS ON AND IF ON WHETHER IT IS ALIGNED TO AN
056073,000873: # ORIENTATION KNOWN BY THE CMC. TO REQUEST SELECTION OF THE APPROPRIATE
056074,000874: # PROGRAM IF THE IMU IS OFF OR NOT ALIGNED TO AN ORIENTATION KNOWN BY THE
056075,000875: # CMC. CALLED THROUGH BANKCALL
056076,000876:
056077,000877: # CALLING SEQUENCE -
056078,000878: # L TC BANKCALL
056079,000879: # L+1 CADR R02BOTH
056080,000880:
056081,000881: # SUBROUTINES CALLED
056082,000882: # VARALARM
056083,000883: # FLAGUP
056084,000884:
056085,000885: # NORMAL EXIT MODES
056086,000886: # AT L+2 OF CALLING SEQUENCE
056087,000887:
056088,000888: # ALARM OR ABORT EXIT MODES
056089,000889: # GOTOPOOH, WITH ALARM
056090,000890:
056091,000891: # ERASABLE INITIALIZATION REQUIRED
056092,000892: # NONE
056093,000893:
056094,000894: # DEBRIS
056095,000895: # CENTRALS - A,Q,L
056096,000896:
056097,000897: 34,3775 BANK 34
056098,000898: 04,2000 SETLOC R02
056099,000899: 04,2000 BANK
056100,000900: 04,3253 COUNT* $$/R02
056101,000901: 04,3253 00063 DEC51 DEC 51 B-14
056102,000902: 04,3254 34737 R02BOTH CAF REFSMBIT
056103,000903: 04,3255 70077 MASK FLAGWRD3
056104,000904: 04,3256 10000 CCS A
056105,000905: 04,3257 03270 TC R02ZERO # ZERO IMUS
056106,000906:
056107,000907: 04,3260 31302 CA IMODES30
056108,000908: 04,3261 74743 MASK BIT9 # IS ISS INITIALIZED
056109,000909: 04,3262 00006 EXTEND
056110,000910: 04,3263 13265 BZF +2
056111,000911: 04,3264 44750 CS BIT4 # SEND IMU ALARM CODE 210
056112,000912: 04,3265 63273 AD OCT220 # SEND REFSMM ALARM
056113,000913: 04,3266 05744 TC VARALARM
056114,000914:
056115,000915: 04,3267 06001 TC GOTOPOOH
056116,000916:
056117,000917: 04,3270 05504 R02ZERO TC UPFLAG
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Page 1333 |
056119,000919: 04,3271 00007 ADRES IMUSE
056120,000920: 04,3272 14631 TCF SWRETURN
056121,000921: 04,3273 00220 OCT220 OCT 220
056122,000922:
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Page 1334 |
056124,000924: # PROGRAM DESCRIPTION P06 10 FEB 67
056125,000925:
056126,000926: # TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION.
056127,000927:
056128,000928: # THE NORMAL CONDITION OF READINESS OF THE GNCS WHEN NOT IN USE IS STANDBY. IN THIS CONDITION THE IMU
056129,000929: # HEATER POWER IS ON. THE IMU OPERATE POWER IS OFF. THE COMPUTER POWER IS ON. THE OPTICS POWER IS OFF. THE
056130,000930: # CMC STANDBY ON THE MAIN AND LEB DISKYS IS ON.
056131,000931:
056132,000932: # CALLING SEQUENCE:
056133,000933: # ASTRONAUT REQUEST THROUGH DSKY V37E 06E.
056134,000934:
056135,000935: # SUBROUTINES CALLED:
056136,000936: # GOPERF1
056137,000937: # BANKCALL
056138,000938: # FLAGDOWN
056139,000939:
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Page 1335 |
056141,000941: # PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2
056142,000942: # THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATABILITY
056143,000943: # BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING.
056144,000944:
056145,000945: 37,2000 SETLOC P05P06
056146,000946: 37,2000 BANK
056147,000947:
056148,000948: 37,3655 0314 EBANK= TIME2SAV
056149,000949: 37,3655 COUNT* $$/P06
056150,000950:
056151,000951: 37,3655 05504 P06 TC UPFLAG # SET NODOV37 BIT
056152,000952: 37,3656 00054 ADRES NODOFLAG
056153,000953:
056154,000954: 37,3657 00004 PRESTAND INHINT
056155,000955: 37,3660 00006 EXTEND
056156,000956: 37,3661 30025 DCA TIME2 # SNAPSHOT TIME1 TIME2
056157,000957: 37,3662 52315 DXCH TIME2SAV
056158,000958: 37,3663 03714 TC SCALPREP
056159,000959: 37,3664 03657 TC PRESTAND # T1,T2,SCALER NOT COMPATIBLE
056160,000960: 37,3665 52155 DXCH MPAC # T1,T2 AND SCALER OK
056161,000961: 37,3666 52317 DXCH SCALSAVE # STORE SCALER
056162,000962: 37,3667 00004 INHINT
056163,000963: 37,3670 04616 TC BANKCALL
056164,000964: 37,3671 17175 CADR RNDREFDR # REFSMM, DRIFT, TRACK FLAGS DOWN
056165,000965:
056166,000966: 37,3672 05516 TC DOWNFLAG
056167,000967: 37,3673 00007 ADRES IMUSE # IMUSE DOWN
056168,000968: 37,3674 05516 TC DOWNFLAG
056169,000969: 37,3675 00010 ADRES RNDVZFLG # RNDVZFLG DOWN
056170,000970:
056171,000971: 37,3676 34741 CAF BIT11
056172,000972: 37,3677 00006 EXTEND
056173,000973: 37,3700 05013 WOR CHAN13 # SET STANDBY ENABLE BIT
056174,000974:
056175,000975: 37,3701 05353 TC PHASCHNG # SET RESTART TO POSTAND WHEN STANDBY
056176,000976: 37,3702 07024 OCT 07024 # RECOVERS
056177,000977: 37,3703 20000 OCT 20000
056178,000978: 37,3704 0316 EBANK= SCALSAVE
056179,000979: 37,3704 03734 76060 2CADR POSTAND
056180,000980:
056181,000981: 37,3706 34774 CAF OCT62
056182,000982: 37,3707 04616 TC BANKCALL
056183,000983: 37,3710 20623 CADR GOPERF1
056184,000984: 37,3711 13706 TCF -3
056185,000985: 37,3712 13706 TCF -4
056186,000986: 37,3713 13706 TCF -5
056187,000987:
056188,000988: 37,3714 4774 OCT62 EQUALS .5SEC # DEC 50 = OCT 62
056189,000989:
056190,000990: # THE LOW 5 BITS OF THE SCALER READS 10000 FOR THE FIRST INTERVAL AFTER A
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Page 1336 |
056192,000992: # T1 INCREMENT. IF SCALPREP DETECTS THIS INTERVAL THE T1,T2 AND SCALER
056193,000993: # DATA ARE NOT COMPATABLE AND RETURN IS TO L+1 FOR ANOTHER READING OF THE
056194,000994: # DATA. OTHERWISE, THE RETURN IS TO L+2 TO PROCEED. ROUTINE ALSO PREPARES
056195,000995: # THE SCALER READING FOR COMPUTATION OF THE INCREMENT TO UPDATE T1T2. (THE
056196,000996: # 10 MS BIT (BIT 6) OF THE SCALER IS INCREMENTED 5 MS OUT OF PHASE FROM
056197,000997: # T1.) ADDITION OF 5 MS (BIT 5) TO THE SCALER READING HAS THE EFFECT OF
056198,000998: # ADJUSTING BIT 6 IN THE SCALER TO BE IN PHASE WITH BIT 1 OF T1. THE LOW 5
056199,000999: # BITS OF THE SCALER READING ARE THEN SET TO ZERO, TO TRUNCATE THE SCALER
056200,001000: # DATA TO 10 MS. RESULTS ARE STORED IN MPAC, +1.
056201,001001:
056202,001002: 37,3714 00006 SCALPREP EXTEND
056203,001003: 37,3715 22156 QXCH MPAC +2
056204,001004: 37,3716 04103 TC FINETIME +1
056205,001005: 37,3717 00003 RELINT
056206,001006: 37,3720 52155 DXCH MPAC
056207,001007: 37,3721 34747 CA BIT5 # ADD 5 MS TO THE SCALER READING.
056208,001008: 37,3722 54001 TS L
056209,001009: 37,3723 34755 CA ZERO
056210,001010: 37,3724 20155 DAS MPAC
056211,001011: 37,3725 44346 CS LOW5 # SET LOW 5 BITS OF (SCALER+5MS) TO ZERO
056212,001012: 37,3726 70155 MASK MPAC +1 # AND STORE RESULTS IN MPAC,+1.
056213,001013: 37,3727 56155 XCH MPAC +1
056214,001014: 37,3730 74346 MASK LOW5 # TEST LOW 5 BITS OF SCALER FOR THE FIRST
056215,001015: # INTERVAL AFTER THE T1 INCREMENT
056216,001016: # (NOW = 00000, SINCE BIT 5 ADDED).
056217,001017: 37,3731 10000 CCS A # IS IT 1ST INTERVAL AFTER T1 INCREMENT
056218,001018: 37,3732 24156 INCR MPAC +2 # NO
056219,001019: 37,3733 00156 TC MPAC +2 # YES
056220,001020:
056221,001021: # POSTAND RECOVERS TIME AFTER STANDBY. THE SCALER IS SNAPSHOTTED AND THE
056222,001022: # TIME1 TIME2 COUNTER IS SET TO ZERO. THE LOW 5 BITS OF THE SCALER ARE
056223,001023: # INSPECTED TO INSURE COMPATABILITY BETWEEN THE SCALER READING AND THE
056224,001024: # CLEARING OF THE TIME COUNTER. IT THEN COMPUTES THE DIFFERENCE IN SCALER
056225,001025: # VALUES (IN DP) AND ADDS THIS TO THE PREVIOUSLY SNAPSHOTTED VALUES OF
056226,001026: # TIME1 TIME2 AND PLACES THIS NEW TIME INTO THE TIME1 TIME2 COUNTER.
056227,001027:
056228,001028: 37,3734 COUNT* $$/P05
056229,001029:
056230,001030: 37,3734 44741 POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY.
056231,001031: 37,3735 00006 EXTEND
056232,001032: 37,3736 03013 WAND CHAN13 # CLEAR STANDBY ENABLE BIT
056233,001033: 37,3737 00004 INHINT
056234,001034: 37,3740 34755 CA ZERO
056235,001035: 37,3741 54001 TS L
056236,001036: 37,3742 52025 DXCH TIME2 # CLEAR TIME1TIME2
056237,001037: 37,3743 03714 TC SCALPREP # STORE SCALER IN MPAC, MPAC+1
056238,001038: 37,3744 03737 TC POSTAND +3 # T1,T2,SCALER NOT COMPATIBLE
056239,001039: 37,3745 00006 EXTEND # T1,T2 AND SCALER OK
056240,001040: 37,3746 40317 DCS SCALSAVE
056241,001041: 37,3747 20155 DAS MPAC # FORM DP DIFFERENCE OF POSTSTANDBY SCALER
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Page 1337 |
056243,001043: 37,3750 34742 CAF BIT10 # MINUS PRESTANDBY SCALER AND SHIFT RIGHT
056244,001044: 37,3751 07307 TC SHORTMP # 5 TO ALIGN BITS WITH TIME1 TIME2.
056245,001045: 37,3752 34755 CAF ZERO
056246,001046: 37,3753 54156 TS MPAC +2 # NEEDED FOR TP AGREE
056247,001047: 37,3754 07257 TC TPAGREE # MAKE DP DIFF AGREE
056248,001048: 37,3755 10154 CCS MPAC
056249,001049: 37,3756 03763 TC POSTCOM # IF DP DIFF NET +, NO SCALER OVERFLOW
056250,001050: 37,3757 03763 TC POSTCOM # BETWEEN PRE AND POST STANDBY.
056251,001051: 37,3760 03761 TC +1 # IF DP DIFF NET -, SCALER OVERFLOWED. ADD
056252,001052: 37,3761 34742 CAF BIT10 # BIT 10 TO HIGH DIFF TO CORRECT.
056253,001053: 37,3762 26154 ADS MPAC
056254,001054: 37,3763 00006 POSTCOM EXTEND # C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER.
056255,001055: 37,3764 30315 DCA TIME2SAV # PRESTANDBY TIME1TIME2
056256,001056: 37,3765 20155 DAS MPAC
056257,001057: 37,3766 07257 TC TPAGREE # FORCE SIGN AGREEMENT
056258,001058: 37,3767 52155 DXCH MPAC # UPDATED VALUE FOR T1,T2.
056259,001059: 37,3770 20025 DAS TIME2 # LOAD UPDATED VALUE INTO T1,T2, WITH
056260,001060: 37,3771 05516 TC DOWNFLAG # CLEAR NODOFLAG
056261,001061: 37,3772 00054 ADRES NODOFLAG
056262,001062:
056263,001063: 37,3773 06001 TC GOTOPOOH
056264,001064:
End of include-file IMU_MODE_SWITCHING_ROUTINES.agc. Parent file is MAIN.agc