Source Code
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These source-code files are part of a reconstructed copy of Luminary 96, the
original release of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
The reconstruction began with reconstructed source code for Luminary 97. Changes
between revisions 96 and 97 were backed out, as described by anomal report LNY-59.
transcribed from a digitized copy of that program. The reconstruction was
verified by matching memory-bank checksums to those listed in drawing 2021152D.
Note that page numbers in the reconstructed code match those on the Luminary 099
revision 001 printout, although the added code would likely have changed page
numbers for a real Luminary 96 listing.
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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055029,000002: ## Copyright: Public domain.
055030,000003: ## Filename: IMU_MODE_SWITCHING_ROUTINES.agc
055031,000004: ## Purpose: A section of Luminary revision 96.
055032,000005: ## It is part of the reconstructed source code for the
055033,000006: ## original release of the flight software for the Lunar
055034,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
055035,000008: ## The code has been recreated from a previously reconstructed
055036,000009: ## copy of Luminary 97 by undoing changes described in anomaly
055037,000010: ## report LNY-59. The code has been adapted such that the
055038,000011: ## resulting bugger words exactly match those specified for
055039,000012: ## Luminary 96 in NASA drawing 2021152D, which gives relatively
055040,000013: ## high confidence that the reconstruction is correct.
055041,000014: ## Reference: pp. 1309-1337
055042,000015: ## Assembler: yaYUL
055043,000016: ## Contact: Ron Burkey <info@sandroid.org>.
055044,000017: ## Website: www.ibiblio.org/apollo/index.html
055045,000018: ## Mod history: 2019-08-04 MAS Created from Luminary 97.
055046,000019:
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Page 1309
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055048,000021: 5457 BLOCK 02
055049,000022: 4000 SETLOC FFTAG3
055050,000023: 4000 BANK
055051,000024:
055052,000025: 5457 E3,1471 EBANK= COMMAND
055053,000026:
055054,000027: # FIXED-FIXED ROUTINES.
055055,000028:
055056,000029: 5457 COUNT* $$/IMODE
055057,000030: 5457 34755 ZEROICDU CAF ZERO # ZERO ICDU COUNTERS.
055058,000031: 5460 54032 TS CDUX
055059,000032: 5461 54033 TS CDUY
055060,000033: 5462 54034 TS CDUZ
055061,000034: 5463 00002 TC Q
055062,000035:
055063,000036: 5464 4743 SPSCODE = BIT9
055064,000037:
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Page 1310
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055066,000039: # IMU ZEROING ROUTINE.
055067,000040:
055068,000041: 11,3765 BANK 11
055069,000042: 07,2000 SETLOC MODESW
055070,000043: 07,2000 BANK
055071,000044:
055072,000045: 07,2714 COUNT* $$/IMODE
055073,000046: 07,2714 00004 IMUZERO INHINT # ROUTINE TO ZERO ICDUS.
055074,000047: 07,2715 41036 CS DSPTAB +11D # DONT ZERO CDUS IF IMU IN GIMBAL LOCK AND
055075,000048: 07,2716 74771 MASK BITS4&6 # COARSE ALIGN (GIMBAL RUNAWAY PROTECTION)
055076,000049: 07,2717 10000 CCS A
055077,000050: 07,2720 12724 TCF IMUZEROA
055078,000051:
055079,000052: 07,2721 05567 TC ALARM # IF SO.
055080,000053: 07,2722 00206 OCT 00206
055081,000054:
055082,000055: 07,2723 13657 TCF CAGETSTJ +4 # IMMEDIATE FAILURE.
055083,000056:
055084,000057: 07,2724 03653 IMUZEROA TC CAGETSTJ
055085,000058: # DELETE
055086,000059: 07,2725 41303 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
055087,000060: 07,2726 74773 MASK SUPER011 # BIT5 FOR GROUND
055088,000061: 07,2727 27303 ADS IMODES33
055089,000062:
055090,000063: 07,2730 41302 CS IMODES30 # INHIBIT ICDUFAIL AND IMUFAIL (IN CASE WE
055091,000064: 07,2731 75751 MASK BITS3&4 # JUST CAME OUT OF COARSE ALIGN).
055092,000065: 07,2732 27302 ADS IMODES30
055093,000066:
055094,000067: 07,2733 44771 CS BITS4&6 # SEND ZERO ENCODE WITH COARSE AND ERROR
055095,000068: 07,2734 00006 EXTEND # COUNTER DISABLED.
055096,000069: 07,2735 03012 WAND CHAN12
055097,000070:
055098,000071: 07,2736 03266 TC NOATTOFF # TURN OFF NO ATT LAMP.
055099,000072:
055100,000073: 07,2737 34747 CAF BIT5
055101,000074: 07,2740 00006 EXTEND
055102,000075: 07,2741 05012 WOR CHAN12
055103,000076:
055104,000077: 07,2742 05457 TC ZEROICDU
055105,000078: 07,2743 34746 CAF BIT6 # WAIT 320 MS TO GIVE AGS ADEQUATE TIME TO
055106,000079: 07,2744 05203 TC WAITLIST # RECEIVE ITS PULSE TRAIN.
055107,000080: 07,2745 E3,1474 EBANK= CDUIND
055108,000081: 07,2745 02757 16103 2CADR IMUZERO2
055109,000082:
055110,000083: 07,2747 41302 CS IMODES30 # SEE IF IMU OPERATING AND ALARM IF NOT.
055111,000084: 07,2750 74743 MASK BIT9
055112,000085: 07,2751 10000 CCS A
055113,000086: 07,2752 12755 TCF MODEEXIT
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Page 1311
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055115,000088: 07,2753 05567 TC ALARM
055116,000089: 07,2754 00210 OCT 210
055117,000090:
055118,000091: 07,2755 00003 MODEEXIT RELINT # GENERAL MODE-SWITCHING EXIT.
055119,000092: 07,2756 14631 TCF SWRETURN
055120,000093:
055121,000094: 07,2757 03641 IMUZERO2 TC CAGETEST
055122,000095: 07,2760 05457 TC ZEROICDU # ZERO CDUX, CDUY, CDUZ
055123,000096:
055124,000097: 07,2761 44747 CS BIT5 # REMOVE ZERO DISCRETE.
055125,000098: 07,2762 00006 EXTEND
055126,000099: 07,2763 03012 WAND CHAN12
055127,000100:
055128,000101: 07,2764 34741 CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS
055129,000102: 07,2765 05224 TC VARDELAY
055130,000103:
055131,000104: 07,2766 03641 IMUZERO3 TC CAGETEST
055132,000105: 07,2767 45751 CS BITS3&4 # REMOVE IMUFAIL AND ICDUFAIL INHIBIT.
055133,000106: 07,2770 71302 MASK IMODES30
055134,000107: 07,2771 55302 TS IMODES30
055135,000108:
055136,000109: 07,2772 44773 CS SUPER011 # ENABLE DAP AUTO AND HOLD MODES
055137,000110: 07,2773 71303 MASK IMODES33 # BIT5 FOR GROUND
055138,000111: 07,2774 55303 TS IMODES33
055139,000112:
055140,000113: 07,2775 04674 TC IBNKCALL # SET ISS WARNING IF EITHER OF ABOVE ARE
055141,000114: 07,2776 14703 CADR SETISSW # PRESENT.
055142,000115:
055143,000116: 07,2777 13631 TCF ENDIMU
055144,000117:
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Page 1312
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055146,000119: # IMU COARSE ALIGN MODE.
055147,000120:
055148,000121: 07,3000 00004 IMUCOARS INHINT
055149,000122: 07,3001 03653 TC CAGETSTJ
055150,000123: 07,3002 03144 TC SETCOARS
055151,000124:
055152,000125: 07,3003 36242 CAF SIX
055153,000126: 07,3004 05203 TC WAITLIST
055154,000127: 07,3005 E3,1474 EBANK= CDUIND
055155,000128: 07,3005 03010 16103 2CADR COARS
055156,000129:
055157,000130: 07,3007 12755 TCF MODEEXIT
055158,000131:
055159,000132: 07,3010 03641 COARS TC CAGETEST
055160,000133: 07,3011 34746 CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
055161,000134: 07,3012 00006 EXTEND
055162,000135: 07,3013 05012 WOR CHAN12
055163,000136:
055164,000137: 07,3014 34752 CAF TWO # SET CDU INDICATOR
055165,000138: 07,3015 55474 COARS1 TS CDUIND
055166,000139:
055167,000140: 07,3016 51474 INDEX CDUIND # COMPUTE THETAD - THETAA IN 1:S
055168,000141: 07,3017 30321 CA THETAD # COMPLEMENT FORM
055169,000142: 07,3020 00006 EXTEND
055170,000143: 07,3021 51474 INDEX CDUIND
055171,000144: 07,3022 20032 MSU CDUX
055172,000145: 07,3023 00006 EXTEND
055173,000146: 07,3024 74737 MP BIT13 # SHIFT RIGHT 2
055174,000147: 07,3025 56001 XCH L # ROUND
055175,000148: 07,3026 60000 DOUBLE
055176,000149: 07,3027 54061 TS ITEMP1
055177,000150: 07,3030 13032 TCF +2
055178,000151: 07,3031 26001 ADS L
055179,000152:
055180,000153: 07,3032 51474 INDEX CDUIND # DIFFERENCE TO BE COMPUTED
055181,000154: 07,3033 23471 LXCH COMMAND
055182,000155: 07,3034 11474 CCS CDUIND
055183,000156: 07,3035 03015 TC COARS1
055184,000157:
055185,000158: 07,3036 34752 CAF TWO # MINIMUM OF 4 MS WAIT
055186,000159: 07,3037 05224 TC VARDELAY
055187,000160:
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Page 1313
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055189,000162: 07,3040 03641 COARS2 TC CAGETEST # DONT CONTINUE IF CAGED.
055190,000163: 07,3041 54061 TS ITEMP1 # SETS TO +0.
055191,000164: 07,3042 34752 CAF TWO # SET CDU INDICATOR
055192,000165: 07,3043 55474 +3 TS CDUIND
055193,000166:
055194,000167: 07,3044 51474 INDEX CDUIND
055195,000168: 07,3045 11471 CCS COMMAND # NUMBER OF PULSES REQUIRED
055196,000169: 07,3046 03052 TC COMPOS # GREATER THAN MAX ALLOWED
055197,000170: 07,3047 03061 TC NEXTCDU +1
055198,000171: 07,3050 03117 TC COMNEG
055199,000172: 07,3051 03061 TC NEXTCDU +1
055200,000173:
055201,000174: 07,3052 63745 COMPOS AD -COMMAX # COMMAX = MAX NUMBER OF PULSES ALLOWED
055202,000175: 07,3053 00006 EXTEND # MINUS ONE
055203,000176: 07,3054 63127 BZMF COMZERO
055204,000177: 07,3055 51474 INDEX CDUIND
055205,000178: 07,3056 55471 TS COMMAND # REDUCE COMMAND BY MAX NUMBER OF PULSES
055206,000179: 07,3057 43746 CS -COMMAX- # ALLOWED
055207,000180:
055208,000181: 07,3060 24061 NEXTCDU INCR ITEMP1
055209,000182: 07,3061 64754 AD NEG0
055210,000183: 07,3062 51474 INDEX CDUIND
055211,000184: 07,3063 54050 TS CDUXCMD # SET UP COMMAND REGISTER.
055212,000185:
055213,000186: 07,3064 11474 CCS CDUIND
055214,000187: 07,3065 03043 TC COARS2 +3
055215,000188:
055216,000189: 07,3066 10061 CCS ITEMP1 # SEE IF ANY PULSES TO GO OUT.
055217,000190: 07,3067 13133 TCF SENDPULS
055218,000191:
055219,000192: 07,3070 05221 TC FIXDELAY # WAIT FOR GIMBALS TO SETTLE.
055220,000193: 07,3071 00226 DEC 150 B-14
055221,000194:
055222,000195: 07,3072 34752 CAF TWO # AT END OF COMMAND, CHECK TO SEE THAT
055223,000196: 07,3073 54061 CHKCORS TS ITEMP1 # GIMBALS ARE WITHIN 2 DEGREES OF THETAD.
055224,000197: 07,3074 50000 INDEX A
055225,000198: 07,3075 30032 CA CDUX
055226,000199: 07,3076 00006 EXTEND
055227,000200: 07,3077 50061 INDEX ITEMP1
055228,000201: 07,3100 20321 MSU THETAD
055229,000202: 07,3101 10000 CCS A
055230,000203: 07,3102 13110 TCF COARSERR
055231,000204: 07,3103 13105 TCF CORSCHK2
055232,000205: 07,3104 13110 TCF COARSERR
055233,000206:
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Page 1314
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055235,000208: 07,3105 10061 CORSCHK2 CCS ITEMP1
055236,000209: 07,3106 13073 TCF CHKCORS
055237,000210: 07,3107 13631 TCF ENDIMU # END OF COARSE ALIGNMENT.
055238,000211:
055239,000212: 07,3110 63116 COARSERR AD COARSTOL # 2 DEGREES.
055240,000213: 07,3111 00006 EXTEND
055241,000214: 07,3112 63105 BZMF CORSCHK2
055242,000215:
055243,000216: 07,3113 05567 TC ALARM # COARSE ALIGN ERROR.
055244,000217: 07,3114 00211 OCT 211
055245,000218:
055246,000219: 07,3115 13637 TCF IMUBAD
055247,000220:
055248,000221: 07,3116 77511 COARSTOL DEC -.01111 # 2 DEGREES SCALED AT HALF-REVOLUTIONS
055249,000222:
055250,000223: 07,3117 63745 COMNEG AD -COMMAX
055251,000224: 07,3120 00006 EXTEND
055252,000225: 07,3121 63127 BZMF COMZERO
055253,000226: 07,3122 40000 COM
055254,000227: 07,3123 51474 INDEX CDUIND
055255,000228: 07,3124 55471 TS COMMAND
055256,000229: 07,3125 33746 CA -COMMAX-
055257,000230: 07,3126 03060 TC NEXTCDU
055258,000231:
055259,000232: 07,3127 34755 COMZERO CAF ZERO
055260,000233: 07,3130 51474 INDEX CDUIND
055261,000234: 07,3131 57471 XCH COMMAND
055262,000235: 07,3132 03060 TC NEXTCDU
055263,000236:
055264,000237: 07,3133 37740 SENDPULS CAF 13,14,15
055265,000238: 07,3134 00006 EXTEND
055266,000239: 07,3135 05014 WOR CHAN14
055267,000240: 07,3136 33747 CAF 600MS
055268,000241: 07,3137 13037 TCF COARS2 -1 # THEN TO VARDELAY
055269,000242:
055270,000243: 07,3140 34746 CA+ECE CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
055271,000244: 07,3141 00006 EXTEND
055272,000245: 07,3142 05012 WOR CHAN12
055273,000246: 07,3143 05261 TC TASKOVER
055274,000247:
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Page 1315
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055276,000249: 07,3144 34750 SETCOARS CAF BIT4 # BYPASS IF ALREADY IN COARSE ALIGN
055277,000250: 07,3145 00006 EXTEND
055278,000251: 07,3146 02012 RAND CHAN12
055279,000252: 07,3147 10000 CCS A
055280,000253: 07,3150 00002 TC Q
055281,000254:
055282,000255: 07,3151 44746 CS BIT6 # CLEAR ISS ERROR COUNTERS
055283,000256: 07,3152 00006 EXTEND
055284,000257: 07,3153 03012 WAND CHAN12
055285,000258:
055286,000259: 07,3154 44742 CS BIT10 # KNOCK DOWN GYRO ACTIVITY
055287,000260: 07,3155 00006 EXTEND
055288,000261: 07,3156 03014 WAND CHAN14
055289,000262: 07,3157 44755 CS ZERO
055290,000263: 07,3160 54047 TS GYROCMD
055291,000264:
055292,000265: 07,3161 34750 CAF BIT4 # PUT ISS IN COARSE ALIGN
055293,000266: 07,3162 00006 EXTEND
055294,000267: 07,3163 05012 WOR CHAN12
055295,000268:
055296,000269: 07,3164 41036 CS DSPTAB +11D # TURN ON NO ATT LAMP
055297,000270: 07,3165 73207 MASK OCT40010
055298,000271: 07,3166 27036 ADS DSPTAB +11D
055299,000272:
055300,000273: 07,3167 41303 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
055301,000274: 07,3170 74746 MASK BIT6
055302,000275: 07,3171 27303 ADS IMODES33
055303,000276:
055304,000277: 07,3172 41302 CS IMODES30 # DISABLE IMUFAIL
055305,000278: 07,3173 74750 MASK BIT4
055306,000279: 07,3174 27302 ADS IMODES30
055307,000280:
055308,000281: 07,3175 44747 RNDREFDR CS TRACKBIT # CLEAR TRACK FLAG
055309,000282: 07,3176 70075 MASK FLAGWRD1
055310,000283: 07,3177 54075 TS FLAGWRD1
055311,000284:
055312,000285: 07,3200 44735 CS DRFTBIT # CLEAR DRIFT FLAG
055313,000286: 07,3201 70076 MASK FLAGWRD2
055314,000287: 07,3202 54076 TS FLAGWRD2
055315,000288:
055316,000289: 07,3203 44737 CS REFSMBIT # CLEAR REFSMMAT FLAG
055317,000290: 07,3204 70077 MASK FLAGWRD3
055318,000291: 07,3205 54077 TS FLAGWRD3
055319,000292:
055320,000293: 07,3206 00002 TC Q
055321,000294:
055322,000295: 07,3207 40010 OCT40010 OCT 40010
055323,000296:
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Page 1316
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055325,000298: # IMU FINE ALIGN MODE SWITCH.
055326,000299:
055327,000300: 07,3210 00004 IMUFINE INHINT
055328,000301: 07,3211 03653 TC CAGETSTJ # SEE IF IMU BEING CAGED.
055329,000302:
055330,000303: 07,3212 43744 CS BITS4-5 # RESET ZERO AND COARSE
055331,000304: 07,3213 00006 EXTEND
055332,000305: 07,3214 03012 WAND CHAN12
055333,000306:
055334,000307: 07,3215 44746 CS BIT6 # INSURE DAP AUTO AND HOLD MODES ENABLED
055335,000308: 07,3216 71303 MASK IMODES33
055336,000309: 07,3217 55303 TS IMODES33
055337,000310:
055338,000311: 07,3220 03266 TC NOATTOFF
055339,000312:
055340,000313: 07,3221 34742 CAF BIT10 # IMU FAIL WAS INHIBITED DURING THE
055341,000314: 07,3222 05203 TC WAITLIST # PRESUMABLY PRECEDING COARSE ALIGN. LEAVE
055342,000315: 07,3223 E3,1474 EBANK= CDUIND
055343,000316: 07,3223 03234 16103 2CADR IFAILOK # IT ON FOR THE FIRST 5 SECS OF FINE ALIGN
055344,000317:
055345,000318: 07,3225 35000 CAF 2SECS
055346,000319: 07,3226 05203 TC WAITLIST
055347,000320: 07,3227 E3,1474 EBANK= CDUIND
055348,000321: 07,3227 03232 16103 2CADR IMUFINED
055349,000322:
055350,000323: 07,3231 12755 TCF MODEEXIT
055351,000324:
055352,000325: 07,3232 03641 IMUFINED TC CAGETEST # SEE THAT NO ONE HAS CAGED THE IMU.
055353,000326: 07,3233 13631 TCF ENDIMU
055354,000327:
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Page 1317
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055356,000329: 07,3234 03646 IFAILOK TC CAGETSTQ # ENABLE IMU FIAL UNLESS IMU BEING CAGED.
055357,000330: 07,3235 15261 TCF TASKOVER # IT IS.
055358,000331:
055359,000332: 07,3236 34750 CAF BIT4 # DONT RESET IMU FAIL INHIBIT IF SOMEONE
055360,000333: 07,3237 00006 EXTEND # HAS GONE INTO COARSE ALIGN.
055361,000334: 07,3240 02012 RAND CHAN12
055362,000335: 07,3241 10000 CCS A
055363,000336: 07,3242 15261 TCF TASKOVER
055364,000337:
055365,000338: 07,3243 41302 CS IMODES30 # RESET IMUFAIL.
055366,000339: 07,3244 74737 MASK BIT13
055367,000340: 07,3245 27302 ADS IMODES30
055368,000341: 07,3246 44750 CS BIT4
055369,000342: 07,3247 71302 PFAILOK2 MASK IMODES30
055370,000343: 07,3250 55302 TS IMODES30
055371,000344: 07,3251 04674 TC IBNKCALL # THE ISS WARNING LIGHT MAY COME ON NOW
055372,000345: 07,3252 14703 CADR SETISSW # THAT THE INHIBIT HAS BEEN REMOVED.
055373,000346: 07,3253 15261 TCF TASKOVER
055374,000347:
055375,000348: 07,3254 03646 PFAILOK TC CAGETSTQ # ENABLE PIP FAIL PROG ALARM.
055376,000349: 07,3255 15261 TCF TASKOVER
055377,000350:
055378,000351: 07,3256 41302 CS IMODES30 # RESET IMU AND PIPA FAIL BITS.
055379,000352: 07,3257 74742 MASK BIT10
055380,000353: 07,3260 27302 ADS IMODES30
055381,000354:
055382,000355: 07,3261 41303 CS IMODES33
055383,000356: 07,3262 74737 MASK BIT13
055384,000357: 07,3263 27303 ADS IMODES33
055385,000358:
055386,000359: 07,3264 44747 CS BIT5
055387,000360: 07,3265 13247 TCF PFAILOK2
055388,000361:
055389,000362: 07,3266 43207 NOATTOFF CS OCT40010 # SUBROUTINE TO TURN OFF NO ATT LAMP.
055390,000363: 07,3267 71036 MASK DSPTAB +11D
055391,000364: 07,3270 64735 AD BIT15
055392,000365: 07,3271 55036 TS DSPTAB +11D
055393,000366: 07,3272 00002 TC Q
055394,000367:
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Page 1318
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055396,000369: # ROUITNES TO INITIATE AND TERMINATE PROGRAM USE OF THE PIPAS. NO IMUSTALL REQUIRED IN EITHER CASE.
055397,000370:
055398,000371: 07,3273 44755 PIPUSE CS ZERO
055399,000372: 07,3274 54037 TS PIPAX
055400,000373: 07,3275 54040 TS PIPAY
055401,000374: 07,3276 54041 TS PIPAZ
055402,000375:
055403,000376: 07,3277 03646 PIPUSE1 TC CAGETSTQ # DO NOT ENABLE PIPA FAIL IF IMU IS CAGED
055404,000377: 07,3300 14631 TCF SWRETURN
055405,000378:
055406,000379: 07,3301 00004 INHINT
055407,000380: 07,3302 44753 CS BIT1 # IF PIPA FAILS FROM NOW ON (UNTIL
055408,000381: 07,3303 71302 MASK IMODES30 # PIPFREE), LIGHT ISS WARNING.
055409,000382: 07,3304 55302 TS IMODES30
055410,000383:
055411,000384: 07,3305 04674 PIPFREE2 TC IBNKCALL # ISS WARNING MIGHT COME ON NOW.
055412,000385: 07,3306 14703 CADR SETISSW # (OR GO OFF ON PIPFREE).
055413,000386:
055414,000387: 07,3307 12755 TCF MODEEXIT
055415,000388:
055416,000389: 07,3310 00004 PIPFREE INHINT # PROGRAM DONE WITH PIPAS. DONT LIGHT
055417,000390: 07,3311 41302 CS IMODES30 # ISS WARNING.
055418,000391: 07,3312 74753 MASK BIT1
055419,000392: 07,3313 27302 ADS IMODES30
055420,000393:
055421,000394: 07,3314 74742 MASK BIT10 # IF PIP FAIL ON, DO PROG ALSRM AND RESET
055422,000395: 07,3315 10000 CCS A # ISS WARNING.
055423,000396: 07,3316 12755 TCF MODEEXIT
055424,000397:
055425,000398: 07,3317 05567 TC ALARM
055426,000399: 07,3320 00212 OCT 212
055427,000400:
055428,000401: 07,3321 00004 INHINT
055429,000402:
055430,000403: 07,3322 13305 TCF PIPFREE2
055431,000404:
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Page 1319
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055433,000406: # THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIX REGISTERS
055434,000407: # BEGINNING AT THE ECADR ARRIVING IN A. THE MINIMUM SIZE OF ANY PULSE TRAIN IS 16 PULSES (.25 CDU COUNTS). THE
055435,000408: # UNSENT PORTION OF THE COMMAND IS LEFT INTACT IN THE INPUT COMMAND REGISTERS.
055436,000409:
055437,000410: 07,3323 E3,1400 EBANK= 1400 # VARIABLE, ACTUALLY.
055438,000411:
055439,000412: 07,3323 54161 IMUPULSE TS MPAC +5 # SAVE ARRIVING ECADR.
055440,000413: 07,3324 03653 TC CAGETSTJ # DONT PROCEED IF IMU BEING CAGED.
055441,000414:
055442,000415: 07,3325 11314 CCS LGYRO # SEE IF GYROS BUSY.
055443,000416: 07,3326 03367 TC GYROBUSY # SLEEP.
055444,000417:
055445,000418: 07,3327 54156 TS MPAC +2
055446,000419: 07,3330 34746 CAF BIT6 # ENABLE THE POWER SUPPLY.
055447,000420: 07,3331 00006 EXTEND
055448,000421: 07,3332 05014 WOR CHAN14
055449,000422:
055450,000423: 07,3333 34751 CAF FOUR
055451,000424: 07,3334 05203 GWAKE2 TC WAITLIST # (IF A JOB WAS PUT TO SLEEP, THE POWER
055452,000425: 07,3335 E3,1474 EBANK= CDUIND # SUPPLY IS LEFT ON BY THE WAKING JOB).
055453,000426: 07,3335 03405 16103 2CADR STRTGYRO
055454,000427:
055455,000428: 07,3337 30161 CA MPAC +5 # SET UP EBANK, SAVING CALLER'S EBANK FOR
055456,000429: 07,3340 56003 XCH EBANK # RESTORATION ON RETURN.
055457,000430: 07,3341 56161 XCH MPAC +5
055458,000431: 07,3342 55314 TS LGYRO # RESERVES GYROS.
055459,000432: 07,3343 74357 MASK LOW8
055460,000433: 07,3344 54061 TS ITEMP1
055461,000434:
055462,000435: 07,3345 34752 CAF TWO # FORCE SIGN AGREEMENT ON INPUTS.
055463,000436: 07,3346 54157 GYROAGRE TS MPAC +3
055464,000437: 07,3347 60000 DOUBLE
055465,000438: 07,3350 60061 AD ITEMP1
055466,000439: 07,3351 54160 TS MPAC +4
055467,000440: 07,3352 00006 EXTEND
055468,000441: 07,3353 50000 INDEX A
055469,000442: 07,3354 31401 DCA 1400
055470,000443: 07,3355 52155 DXCH MPAC
055471,000444: 07,3356 07257 TC TPAGREE
055472,000445: 07,3357 52155 DXCH MPAC
055473,000446: 07,3360 50160 INDEX MPAC +4
055474,000447: 07,3361 53401 DXCH 1400
055475,000448:
055476,000449: 07,3362 10157 CCS MPAC +3
055477,000450: 07,3363 13346 TCF GYROAGRE
055478,000451:
055479,000452: 07,3364 30161 CA MPAC +5 # RESTORE CALLER'S EBANK.
055480,000453: 07,3365 54003 TS EBANK
055481,000454: 07,3366 12755 TCF MODEEXIT
055482,000455:
|
|
Page 1320
|
055484,000457: # ROUTINES TO ALLOW TORQUING BY ONLY ONE JOB AT A TIME.
055485,000458:
055486,000459: 07,3367 00006 GYROBUSY EXTEND # SAVE RETURN 2FCADR.
055487,000460: 07,3370 30134 DCA BUF2
055488,000461: 07,3371 52155 DXCH MPAC
055489,000462: 07,3372 33404 REGSLEEP CAF LGWAKE
055490,000463: 07,3373 15133 TCF JOBSLEEP
055491,000464:
055492,000465: 07,3374 11314 GWAKE CCS LGYRO # WHEN AWAKENED, SEE IF GYROS STILL BUSY.
055493,000466: 07,3375 13372 TCF REGSLEEP # IF SO, SLEEP SOME MORE.
055494,000467:
055495,000468: 07,3376 54156 TS MPAC +2
055496,000469: 07,3377 00006 EXTEND
055497,000470: 07,3400 30155 DCA MPAC
055498,000471: 07,3401 52134 DXCH BUF2 # RESTORE SWRETURN INFO.
055499,000472: 07,3402 34753 CAF ONE
055500,000473: 07,3403 13334 TCF GWAKE2
055501,000474:
055502,000475: 07,3404 17374 LGWAKE CADR GWAKE
055503,000476:
|
|
Page 1321
|
055505,000478: # GYRO-TORQUING WAITLIST TASKS.
055506,000479:
055507,000480: 07,3405 43626 STRTGYRO CS GDESELCT # DE-SELECT LAST GYRO.
055508,000481: 07,3406 00006 EXTEND
055509,000482: 07,3407 03014 WAND CHAN14
055510,000483:
055511,000484: 07,3410 03641 TC CAGETEST
055512,000485:
055513,000486: 07,3411 31314 STRTGYR2 CA LGYRO # JUMP ON PHASE COUNTER IN BITS 13-14.
055514,000487: 07,3412 00006 EXTEND
055515,000488: 07,3413 74750 MP BIT4
055516,000489: 07,3414 50000 INDEX A
055517,000490: 07,3415 13416 TCF +1
055518,000491: 07,3416 03433 TC GSELECT # =0. DO Y GYRO.
055519,000492: 07,3417 00202 OCT 00202
055520,000493:
055521,000494: 07,3420 03433 TC GSELECT # =1. DO Z GYRO.
055522,000495: 07,3421 00302 OCT 00302
055523,000496:
055524,000497: 07,3422 03431 TC GSELECT -2 # =2. DO X GYRO.
055525,000498: 07,3423 00100 OCT 00100
055526,000499:
055527,000500: 07,3424 34755 CAF ZERO # =3. DONE
055528,000501: 07,3425 55314 TS LGYRO
055529,000502: 07,3426 33404 CAF LGWAKE # WAKE A POSSIBLE SLEEPING JOB.
055530,000503: 07,3427 05137 TC JOBWAKE
055531,000504:
055532,000505: 07,3430 13232 NORESET TCF IMUFINED # DO NOT RESET POWER SUPPLY
|
|
Page 1322
|
055534,000507: 07,3431 44751 -2 CS FOUR # SPECIAL ENTRY TO REGRESS LGYRO FOR X.
055535,000508: 07,3432 27314 ADS LGYRO
055536,000509:
055537,000510: 07,3433 50002 GSELECT INDEX Q # SELECT GYRO.
055538,000511: 07,3434 30000 CAF 0 # PACKED WORD CONTAINS GYRO SELECT BITS
055539,000512: 07,3435 54064 TS ITEMP4 # AND INCREMENT TO LGYRO.
055540,000513: 07,3436 74757 MASK SEVEN
055541,000514: 07,3437 64737 AD BIT13
055542,000515: 07,3440 27314 ADS LGYRO
055543,000516: 07,3441 54003 TS EBANK
055544,000517: 07,3442 74357 MASK LOW8
055545,000518: 07,3443 54061 TS ITEMP1
055546,000519:
055547,000520: 07,3444 44757 CS SEVEN
055548,000521: 07,3445 70064 MASK ITEMP4
055549,000522: 07,3446 54064 TS ITEMP4
055550,000523:
055551,000524: 07,3447 00006 EXTEND # MOVE DP COMMAND TO RUPTREGS FOR TESTING.
055552,000525: 07,3450 50061 INDEX ITEMP1
055553,000526: 07,3451 31401 DCA 1400
055554,000527: 07,3452 52071 DXCH RUPTREG1
055555,000528:
055556,000529: 07,3453 10070 CCS RUPTREG1
055557,000530: 07,3454 13467 TCF MAJ+
055558,000531: 07,3455 13457 TCF +2
055559,000532: 07,3456 13607 TCF MAJ-
055560,000533:
055561,000534: 07,3457 10071 CCS RUPTREG2
055562,000535: 07,3460 13464 TCF MIN+
055563,000536: 07,3461 13411 TCF STRTGYR2
055564,000537: 07,3462 13604 TCF MIN-
055565,000538: 07,3463 13411 TCF STRTGYR2
055566,000539:
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|
Page 1323
|
055568,000541: 07,3464 63520 MIN+ AD -GYROMIN # SMALL POSITIVE COMMAND. SEE IF AT LEAST
055569,000542: 07,3465 00006 EXTEND # 16 GYRO PULSES.
055570,000543: 07,3466 63411 BZMF STRTGYR2
055571,000544:
055572,000545: 07,3467 00006 MAJ+ EXTEND # DEFINITE POSITIVE OUTPUT.
055573,000546: 07,3470 33630 DCA GYROFRAC
055574,000547: 07,3471 20071 DAS RUPTREG1
055575,000548:
055576,000549: 07,3472 30064 CA ITEMP4 # SELECT POSITIVE TORQUING FOR THIS GYRO.
055577,000550: 07,3473 00006 EXTEND
055578,000551: 07,3474 05014 WOR CHAN14
055579,000552:
055580,000553: 07,3475 36074 CAF LOW7 # LEAVE NUMBER OF POSSIBLE 8192 AUGMENTS
055581,000554: 07,3476 70071 MASK RUPTREG2 # TO INITIAL COMMAND IN MAJOR PART OF LONG
055582,000555: 07,3477 56071 XCH RUPTREG2 # TERM STORAGE AND TRUNCATED FRACTION
055583,000556: 07,3500 00006 GMERGE EXTEND # IN MINOR PART. THE MAJOR PART WILL BE
055584,000557: 07,3501 74744 MP BIT8 # COUNTED DOWN TO ZERO IN THE COURSE OF
055585,000558: 07,3502 54062 TS ITEMP2 # PUTTING OUT THE ENTIRE COMMAND.
055586,000559: 07,3503 30070 CA RUPTREG1
055587,000560: 07,3504 00006 EXTEND
055588,000561: 07,3505 74743 MP BIT9
055589,000562: 07,3506 54070 TS RUPTREG1
055590,000563: 07,3507 30001 CA L
055591,000564: 07,3510 00006 EXTEND
055592,000565: 07,3511 74736 MP BIT14
055593,000566: 07,3512 26062 ADS ITEMP2 # INITIAL COMMAND.
055594,000567:
055595,000568: 07,3513 00006 EXTEND # SEE IF MORE THAN ONE PULSE TRAIN NEEDED
055596,000569: 07,3514 30071 DCA RUPTREG1 # (MORE THAN 16383 PULSES).
055597,000570: 07,3515 67747 AD MINUS1
055598,000571: 07,3516 10000 CCS A
055599,000572: 07,3517 13543 TCF LONGGYRO
055600,000573: 07,3520 77601 -GYROMIN OCT -176 # MAY BE ADJUSTED TO SPECIFY MINIMUM CMD
055601,000574: 07,3521 13525 TCF +4
055602,000575:
055603,000576: 07,3522 34736 CAF BIT14
055604,000577: 07,3523 26062 ADS ITEMP2
055605,000578: 07,3524 34755 CAF ZERO
055606,000579:
055607,000580: 07,3525 50061 +4 INDEX ITEMP1
055608,000581: 07,3526 53401 DXCH 1400
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|
Page 1324
|
055610,000583: 07,3527 30062 CA ITEMP2 # ENTIRE COMMAND.
055611,000584: 07,3530 54047 LASTSEG TS GYROCMD
055612,000585: 07,3531 00006 EXTEND
055613,000586: 07,3532 74742 MP BIT10 # WAITLIST DT
055614,000587: 07,3533 66245 AD THREE # TRUNCATION AND PHASE UNCERTAINTIES.
055615,000588: 07,3534 05203 TC WAITLIST
055616,000589: 07,3535 E3,1474 EBANK= CDUIND
055617,000590: 07,3535 03405 16103 2CADR STRTGYRO
055618,000591:
055619,000592: 07,3537 34742 GYROEXIT CAF BIT10
055620,000593: 07,3540 00006 EXTEND
055621,000594: 07,3541 05014 WOR CHAN14
055622,000595: 07,3542 15261 TCF TASKOVER
055623,000596:
055624,000597: 07,3543 50061 LONGGYRO INDEX ITEMP1
055625,000598: 07,3544 53401 DXCH 1400 # INITIAL COMMAND OUT PLUS N AUGMENTS OF
055626,000599: 07,3545 34736 CAF BIT14 # 8192. INITIAL COMMAND IS AT LEAST 8192.
055627,000600: 07,3546 60062 AD ITEMP2
055628,000601: 07,3547 54047 TS GYROCMD
055629,000602:
055630,000603: 07,3550 00006 AUG3 EXTEND # GET WAITLIST DT TO TIME WHEN TRAIN IS
055631,000604: 07,3551 74742 MP BIT10 # ALMOST OUT.
055632,000605: 07,3552 67745 AD NEG3
055633,000606: 07,3553 05203 TC WAITLIST
055634,000607: 07,3554 E3,1474 EBANK= CDUIND
055635,000608: 07,3554 03557 16103 2CADR 8192AUG
055636,000609:
055637,000610: 07,3556 13537 TCF GYROEXIT
055638,000611:
055639,000612: 07,3557 03641 8192AUG TC CAGETEST
055640,000613:
055641,000614: 07,3560 34750 CAF BIT4
055642,000615: 07,3561 00006 EXTEND
055643,000616: 07,3562 02012 RAND CHAN12
055644,000617: 07,3563 10000 CCS A
055645,000618: 07,3564 13637 TCF IMUBAD
055646,000619: 07,3565 31314 CA LGYRO # ADD 8192 PULSES TO GYROCMD
055647,000620: 07,3566 54003 TS EBANK
055648,000621: 07,3567 74357 MASK LOW8
055649,000622: 07,3570 54061 TS ITEMP1
055650,000623:
055651,000624: 07,3571 50061 INDEX ITEMP1 # SEE IF THIS IS THE LAST AUG.
055652,000625: 07,3572 11400 CCS 1400
055653,000626: 07,3573 13577 TCF AUG2 # MORE TO COME.
055654,000627:
055655,000628: 07,3574 34736 CAF BIT14
055656,000629: 07,3575 26047 ADS GYROCMD
055657,000630: 07,3576 13531 TCF LASTSEG +1
055658,000631:
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|
Page 1325
|
055660,000633: 07,3577 50061 AUG2 INDEX ITEMP1
055661,000634: 07,3600 55400 TS 1400
055662,000635: 07,3601 34736 CAF BIT14
055663,000636: 07,3602 26047 ADS GYROCMD
055664,000637: 07,3603 13550 TCF AUG3 # COMPUTE DT.
055665,000638:
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|
Page 1326
|
055667,000640: 07,3604 63520 MIN- AD -GYROMIN # POSSIBLE NEGATIVE OUTPUT.
055668,000641: 07,3605 00006 EXTEND
055669,000642: 07,3606 63411 BZMF STRTGYR2
055670,000643:
055671,000644: 07,3607 00006 MAJ- EXTEND # DEFINITE NEGATIVE OUTPUT.
055672,000645: 07,3610 43630 DCS GYROFRAC
055673,000646: 07,3611 20071 DAS RUPTREG1
055674,000647:
055675,000648: 07,3612 30064 CA ITEMP4 # SELECT NEGATIVE TORQUING FOR THIS GYRO.
055676,000649: 07,3613 64743 AD BIT9
055677,000650: 07,3614 00006 EXTEND
055678,000651: 07,3615 05014 WOR CHAN14
055679,000652:
055680,000653: 07,3616 40070 CS RUPTREG1 # SET UP RUPTREGS TO FALL INTO GMERGE.
055681,000654: 07,3617 54070 TS RUPTREG1 # ALL NUMBERS PUT INTO GYROCMD ARE
055682,000655: 07,3620 40071 CS RUPTREG2 # POSITIVE - BIT9 OF CHAN 14 DETERMINES
055683,000656: 07,3621 76074 MASK LOW7 # THE SIGN OF THE COMMAND.
055684,000657: 07,3622 40000 COM
055685,000658: 07,3623 56071 XCH RUPTREG2
055686,000659: 07,3624 40000 COM
055687,000660: 07,3625 13500 TCF GMERGE
055688,000661:
055689,000662: 07,3626 01700 GDESELCT OCT 1700 # TURN OFF SELECT AND ACTIVITY BITS.
055690,000663:
055691,000664: 07,3627 00000 00034 GYROFRAC 2DEC .215 B-21
055692,000665:
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|
Page 1327
|
055694,000667: # IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE.
055695,000668:
055696,000669: 07,3631 00006 ENDIMU EXTEND # MODE IS BAD IF CAGE HAS OCCURED OR IF
055697,000670: 07,3632 00011 READ DSALMOUT # ISS WARNING IS ON.
055698,000671: 07,3633 74753 MASK BIT1
055699,000672: 07,3634 10000 CCS A
055700,000673: 07,3635 13637 TCF IMUBAD
055701,000674:
055702,000675: 07,3636 13665 IMUGOOD TCF GOODEND # WITH C(A) = 0.
055703,000676:
055704,000677: 07,3637 34755 IMUBAD CAF ZERO
055705,000678: 07,3640 13662 TCF BADEND
055706,000679:
055707,000680: 07,3641 34746 CAGETEST CAF BIT6 # SUBROUTINE TO TERMINATE IMU MODE
055708,000681: 07,3642 71302 MASK IMODES30 # SWITCH IF IMU HAS BEEN CAGED.
055709,000682: 07,3643 10000 CCS A
055710,000683: 07,3644 13637 TCF IMUBAD # DIRECTLY.
055711,000684: 07,3645 00002 TC Q # WITH C(A) = +0.
055712,000685:
055713,000686: 07,3646 41302 CAGETSTQ CS IMODES30 # SKIP IF IMU NOT BEING CAGED.
055714,000687: 07,3647 74746 MASK BIT6
055715,000688: 07,3650 10000 CCS A
055716,000689: 07,3651 24002 INCR Q
055717,000690: 07,3652 00002 TC Q
055718,000691:
055719,000692: 07,3653 41302 CAGETSTJ CS IMODES30 # IF DURING MODE SWITCH INITIALIZATION
055720,000693: 07,3654 74746 MASK BIT6 # IT IS FOUND THAT THE IMU IS BEING CAGED,
055721,000694: 07,3655 10000 CCS A # SET IMUCADR TO -0 TO INDICATE OPERATION
055722,000695: 07,3656 00002 TC Q # COMPLETE BUT FAILED. RETURN IMMEDIATELY
055723,000696:
055724,000697: 07,3657 44755 CS ZERO # TO SWRETURN.
055725,000698: 07,3660 55304 TS IMUCADR
055726,000699: 07,3661 12755 TCF MODEEXIT
055727,000700:
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|
Page 1328
|
055729,000702: # GENERALIZED MODE SWITCHING TERMINATION. ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION
055730,000703: # OR AT BADEND FOR AN UNSUCCESSFUL ONE. C(A) OR ARRIVAL =0 FOR IMU, 1 FOR OPTICS.
055731,000704:
055732,000705: 07,3662 54071 BADEND TS RUPTREG2 # DEVICE INDEX.
055733,000706: 07,3663 44755 CS ZERO # FOR FAILURE.
055734,000707: 07,3664 13667 TCF GOODEND +2
055735,000708:
055736,000709: 07,3665 54071 GOODEND TS RUPTREG2
055737,000710: 07,3666 44753 CS ONE # FOR SUCCESS.
055738,000711:
055739,000712: 07,3667 54072 TS RUPTREG3
055740,000713: 07,3670 50071 INDEX RUPTREG2 # SEE IF USING PROGRAM ASLEEP.
055741,000714: 07,3671 11304 CCS MODECADR
055742,000715: 07,3672 13676 TCF +4 # YES - WAKE IT UP.
055743,000716: 07,3673 13706 TCF ENDMODE # IF 0, PROGRAM NOT IN YET.
055744,000717:
055745,000718: 07,3674 00006 EXTEND
055746,000719: 07,3675 13707 BZF ENDMODE +1 # BZF = TCF IF MODECADR = -0.
055747,000720:
055748,000721: 07,3676 34755 CAF ZERO # WAKE SLEEPING PROGRAM.
055749,000722: 07,3677 50071 INDEX RUPTREG2
055750,000723: 07,3700 57304 XCH MODECADR
055751,000724: 07,3701 05137 TC JOBWAKE
055752,000725:
055753,000726: 07,3702 40072 CS RUPTREG3 # ADVANCE LOC IF SUCCESSFUL.
055754,000727: 07,3703 50064 INDEX LOCCTR
055755,000728: 07,3704 26164 ADS LOC
055756,000729:
055757,000730: 07,3705 15261 TCF TASKOVER
055758,000731:
055759,000732: 07,3706 30072 ENDMODE CA RUPTREG3 # -0 INDICATES OPERATION COMPLETE BUT
055760,000733: 07,3707 50071 +1 INDEX RUPTREG2 # UNSUCCESSFUL: -1 INDICATES COMPLETE AND
055761,000734: 07,3710 55304 TS MODECADR # SUCCESSFUL.
055762,000735: 07,3711 15261 TCF TASKOVER
055763,000736:
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|
Page 1329
|
055765,000738: # GENERAL STALLING ROUTINE. USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION.
055766,000739:
055767,000740: # PROGRAM DESCRIPTION DATE - 21 FEB 1967
055768,000741: # LOG SECTION IMU MODE SWITCHING
055769,000742: # MOD BY - R. MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 82
055770,000743:
055771,000744: # FUNCTIONAL DESCRIPTION -
055772,000745: # TO DELAY FURTHER EXECUTION OF THE CALLING ROUTINE UNTIL ITS SELECTED
055773,000746: # I/O FUNCTION IS COMPLETE. THE FOLLOWING CHECKS ON THE CALLING ROUTINE:S
055774,000747: # MODECADR ARE MADE AND ACTED UPON.
055775,000748: # 1) +0 INDICATES INCOMPLETE I/O OPERATION. CALLING ROUTINE IS PUT TO
055776,000749: # SLEEP.
055777,000750: # 2) -1 INDICATES COMPLETED I/O OPERATION. STALL BYPASSES JOBSLEEP
055778,000751: # CALL AND RETURNS TO CALLING ROUTINE AT L+3
055779,000752: # 3) -0 INDICATES COMPLETED I/O WITH FAILURE. STALL CLEARS MODECADR
055780,000753: # AND RETURNS TO CALLING ROUTINE AT L+2.
055781,000754: # 4) VALUE GREATER THAN 0 INDICATES TWO ROUTINES CALLING FOR USE OF
055782,000755: # SAME DEVICE. STALL EXITS TO ABORT WHICH EXECUTES A PROGRAM
055783,000756: # RESTART WHICH IN TURN CLEARS ALL MODECADR REGISTERS.
055784,000757:
055785,000758: # CALLING SEQUENCE -
055786,000759: # L TC BANKCALL
055787,000760: # L+1 CADR (ONE OF 5 STALL ADDRESSES I.E. IMUSTALL, OPTSTALL, RADSTALL,
055788,000761: # AOTSTALL, OR ATTSTALL)
055789,000762:
055790,000763: # NORMAL-EXIT MODE -
055791,000764: # TCF JOBSLEEP OR TCF MODEXIT
055792,000765:
055793,000766: # ALARM OR ABORT EXIT MODE -
055794,000767: # TC ABORT
055795,000768:
055796,000769: # OUTPUT -
055797,000770: # MODECADR=CADR IF JOBSLEEP
055798,000771: # MODECADR=+0 IF I/O COMPLETE
055799,000772: # BUF2=L+3 IF I/O COMPLETE AND GOOD.
055800,000773: # BUF2=L+2 IF I/O COMPLETE BUT FAILED.
055801,000774:
055802,000775: # ERASABLE INITIALIZATION -
055803,000776: # BUF2 CONTAINS RETURN ADDRESS PLUS 1,(L+2)
055804,000777: # BUF2+1 CONTAINS FBANK VALUE OF CALLING ROUTINE.
055805,000778: # MODECADR OF CALLING ROUTINE CONTAINS +0,-1,-0 OR CADR RETURN ADDRESS.
055806,000779:
055807,000780: # DEBRIS -
055808,000781: # RUPTREG2 AND CALLING ROUTINE MODECADR.
055809,000782:
055810,000783: 07,3712 34753 AOTSTALL CAF ONE # AOT.
055811,000784: 07,3713 03717 TC STALL
055812,000785:
055813,000786: 07,3714 34752 RADSTALL CAF TWO
055814,000787: 07,3715 13717 TCF STALL
055815,000788:
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Page 1330
|
055817,000790: 07,3716 07,3712 OPTSTALL EQUALS AOTSTALL
055818,000791:
055819,000792: 07,3716 34755 IMUSTALL CAF ZERO # IMU.
055820,000793:
055821,000794: 07,3717 00004 STALL INHINT
055822,000795: 07,3720 54071 TS RUPTREG2 # SAVE DEVICE INDEX.
055823,000796: 07,3721 50000 INDEX A # SEE IF OPERATION COMPLETE.
055824,000797: 07,3722 11304 CCS MODECADR
055825,000798: 07,3723 13741 TCF MODABORT # ALLOWABLE STATES ARE +0, -1, AND -0.
055826,000799: 07,3724 13735 TCF MODESLP # OPERATION INCOMPLETE.
055827,000800: 07,3725 13731 TCF MODEGOOD # COMPLETE AND GOOD IF = -1.
055828,000801:
055829,000802: 07,3726 50071 MG2 INDEX RUPTREG2 # COMPLETE AND FAILED IF -0. RESET TO +0.
055830,000803: 07,3727 55304 TS MODECADR # RETURN TO CALLER.
055831,000804: 07,3730 12755 TCF MODEEXIT
055832,000805:
055833,000806: 07,3731 10000 MODEGOOD CCS A # MAKE SURE INITIAL STATE -1.
055834,000807: 07,3732 13741 TCF MODABORT
055835,000808:
055836,000809: 07,3733 24133 INCR BUF2 # IF SO, INCREMENT RETURN ADDRESS AND
055837,000810: 07,3734 13726 TCF MG2 # RETURN IMMEDIATELY, SETTING CADR = +0.
055838,000811:
055839,000812: 07,3735 04645 MODESLP TC MAKECADR # CALL FROM SWITCHABLE FIXED ONLY.
055840,000813: 07,3736 50071 INDEX RUPTREG2
055841,000814: 07,3737 55304 TS MODECADR
055842,000815: 07,3740 15133 TCF JOBSLEEP
055843,000816:
055844,000817: 07,3741 52134 MODABORT DXCH BUF2
055845,000818: 07,3742 05716 TC BAILOUT1 # TWO PROGRAMS USING THE SAME DEVICE.
055846,000819: 07,3743 01210 OCT 1210
055847,000820:
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Page 1331
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055849,000822: # CONSTANTS FOR MODE SWITCHING ROUTINES
055850,000823:
055851,000824: 07,3744 5751 BITS3&4 = OCT14
055852,000825: 07,3744 4771 BITS4&6 = OCT50
055853,000826: 07,3744 00030 BITS4-5 OCT 00030
055854,000827: 07,3745 4744 IMUSEFLG EQUALS BIT8 # INTERPRETER SWITCH 7.
055855,000828: 07,3745 77500 -COMMAX DEC -191 B-14
055856,000829: 07,3746 77477 -COMMAX- DEC -192 B-14
055857,000830: 07,3747 00074 600MS DEC 60 B-14
055858,000831: 07,3750 07,3210 IMUFIN20 = IMUFINE
055859,000832: 07,3750 31307 GOMANUR CA ATTCADR # IS KALCMANU FREE
055860,000833: 07,3751 00006 EXTEND
055861,000834: 07,3752 13755 BZF +3
055862,000835:
055863,000836: 07,3753 05652 TC POODOO # NO
055864,000837: 07,3754 01210 OCT 1210 # 2 TRYING TO USE SAME DEVICE
055865,000838:
055866,000839: 07,3755 00006 +3 EXTEND
055867,000840: 07,3756 30134 DCA BUF2
055868,000841: 07,3757 53310 DXCH ATTCADR # SAVE FINAL RETURN FOR KALCMAN3
055869,000842:
055870,000843: 07,3760 30006 CA BBANK
055871,000844: 07,3761 74757 MASK SEVEN
055872,000845: 07,3762 27310 ADS ATTCADR +1
055873,000846:
055874,000847: 07,3763 30167 CA PRIORITY
055875,000848: 07,3764 77725 MASK PRIO37
055876,000849: 07,3765 55311 TS ATTPRIO # SAVE USERS PRIO
055877,000850:
055878,000851: 07,3766 33772 CAF KALEBCON # SET EBANK FOR KALCMAN3
055879,000852: 07,3767 54003 TS EBANK
055880,000853: 07,3770 04635 TC POSTJUMP
055881,000854: 07,3771 44004 CADR KALCMAN3
055882,000855: 07,3772 03276 KALEBCON ECADR BCDU
055883,000856:
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Page 1332
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055885,000858: # PROGRAM DESCRIPTION
055886,000859: # IMU STATUS CHECK ROUTINE R02 (SUBROUTINE UTILITY)
055887,000860: # MOD NO - 1
055888,000861: # MOD BY - N.BRODEUR
055889,000862:
055890,000863: # FUNCTIONAL DESCRIPTION
055891,000864: # TO CHECK WHETHER IMU IS ON AND IF ON WHETHER IT IS ALIGNED TO AN
055892,000865: # ORIENTATION KNOWN BY THE CMC. TO REQUEST SELECTION OF THE APPROPRIATE
055893,000866: # PROGRAM IF THE IMU IS OFF OR NOT ALIGNED TO AN ORIENTATION KNOWN BY THE
055894,000867: # CMC. CALLED THROUGH BANKCALL
055895,000868:
055896,000869: # CALLING SEQUENCE -
055897,000870: # L TC BANKCALL
055898,000871: # L+1 CADR R02BOTH
055899,000872:
055900,000873: # SUBROUTINES CALLED
055901,000874: # VARALARM
055902,000875: # FLAGUP
055903,000876:
055904,000877: # NORMAL EXIT MODES
055905,000878: # AT L+2 OF CALLING SEQUENCE
055906,000879:
055907,000880: # ALARM OR ABORT EXIT MODES
055908,000881: # GOTOPOOH, WITH ALARM
055909,000882:
055910,000883: # ERASABLE INITIALIZATION REQUIRED
055911,000884: # NONE
055912,000885:
055913,000886: # DEBRIS
055914,000887: # CENTRALS - A,Q,L
055915,000888:
055916,000889: 34,3775 BANK 34
055917,000890: 04,2000 SETLOC R02
055918,000891: 04,2000 BANK
055919,000892: 04,3253 COUNT* $$/R02
055920,000893: 04,3253 00063 DEC51 DEC 51 B-14
055921,000894: 04,3254 34737 R02BOTH CAF REFSMBIT
055922,000895: 04,3255 70077 MASK FLAGWRD3
055923,000896: 04,3256 10000 CCS A
055924,000897: 04,3257 03270 TC R02ZERO # ZERO IMUS
055925,000898:
055926,000899: 04,3260 31302 CA IMODES30
055927,000900: 04,3261 74743 MASK BIT9 # IS ISS INITIALIZED
055928,000901: 04,3262 00006 EXTEND
055929,000902: 04,3263 13265 BZF +2
055930,000903: 04,3264 44750 CS BIT4 # SEND IMU ALARM CODE 210
055931,000904: 04,3265 63273 AD OCT220 # SEND REFSMM ALARM
055932,000905: 04,3266 05744 TC VARALARM
055933,000906:
055934,000907: 04,3267 06001 TC GOTOPOOH
055935,000908:
055936,000909: 04,3270 05504 R02ZERO TC UPFLAG
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Page 1333
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055938,000911: 04,3271 00007 ADRES IMUSE
055939,000912: 04,3272 14631 TCF SWRETURN
055940,000913: 04,3273 00220 OCT220 OCT 220
055941,000914:
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Page 1334
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055943,000916: # PROGRAM DESCRIPTION P06 10 FEB 67
055944,000917:
055945,000918: # TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION.
055946,000919:
055947,000920: # THE NORMAL CONDITION OF READINESS OF THE GNCS WHEN NOT IN USE IS STANDBY. IN THIS CONDITION THE IMU
055948,000921: # HEATER POWER IS ON. THE IMU OPERATE POWER IS OFF. THE COMPUTER POWER IS ON. THE OPTICS POWER IS OFF. THE
055949,000922: # CMC STANDBY ON THE MAIN AND LEB DISKYS IS ON.
055950,000923:
055951,000924: # CALLING SEQUENCE:
055952,000925: # ASTRONAUT REQUEST THROUGH DSKY V37E 06E.
055953,000926:
055954,000927: # SUBROUTINES CALLED:
055955,000928: # GOPERF1
055956,000929: # BANKCALL
055957,000930: # FLAGDOWN
055958,000931:
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Page 1335
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055960,000933: # PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2
055961,000934: # THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATABILITY
055962,000935: # BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING.
055963,000936:
055964,000937: 37,2000 SETLOC P05P06
055965,000938: 37,2000 BANK
055966,000939:
055967,000940: 37,3655 0314 EBANK= TIME2SAV
055968,000941: 37,3655 COUNT* $$/P06
055969,000942:
055970,000943: 37,3655 05504 P06 TC UPFLAG # SET NODOV37 BIT
055971,000944: 37,3656 00054 ADRES NODOFLAG
055972,000945:
055973,000946: 37,3657 00004 PRESTAND INHINT
055974,000947: 37,3660 00006 EXTEND
055975,000948: 37,3661 30025 DCA TIME2 # SNAPSHOT TIME1 TIME2
055976,000949: 37,3662 52315 DXCH TIME2SAV
055977,000950: 37,3663 03714 TC SCALPREP
055978,000951: 37,3664 03657 TC PRESTAND # T1,T2,SCALER NOT COMPATIBLE
055979,000952: 37,3665 52155 DXCH MPAC # T1,T2 AND SCALER OK
055980,000953: 37,3666 52317 DXCH SCALSAVE # STORE SCALER
055981,000954: 37,3667 00004 INHINT
055982,000955: 37,3670 04616 TC BANKCALL
055983,000956: 37,3671 17175 CADR RNDREFDR # REFSMM, DRIFT, TRACK FLAGS DOWN
055984,000957:
055985,000958: 37,3672 05516 TC DOWNFLAG
055986,000959: 37,3673 00007 ADRES IMUSE # IMUSE DOWN
055987,000960: 37,3674 05516 TC DOWNFLAG
055988,000961: 37,3675 00010 ADRES RNDVZFLG # RNDVZFLG DOWN
055989,000962:
055990,000963: 37,3676 34741 CAF BIT11
055991,000964: 37,3677 00006 EXTEND
055992,000965: 37,3700 05013 WOR CHAN13 # SET STANDBY ENABLE BIT
055993,000966:
055994,000967: 37,3701 05353 TC PHASCHNG # SET RESTART TO POSTAND WHEN STANDBY
055995,000968: 37,3702 07024 OCT 07024 # RECOVERS
055996,000969: 37,3703 20000 OCT 20000
055997,000970: 37,3704 0316 EBANK= SCALSAVE
055998,000971: 37,3704 03734 76060 2CADR POSTAND
055999,000972:
056000,000973: 37,3706 34774 CAF OCT62
056001,000974: 37,3707 04616 TC BANKCALL
056002,000975: 37,3710 20623 CADR GOPERF1
056003,000976: 37,3711 13706 TCF -3
056004,000977: 37,3712 13706 TCF -4
056005,000978: 37,3713 13706 TCF -5
056006,000979:
056007,000980: 37,3714 4774 OCT62 EQUALS .5SEC # DEC 50 = OCT 62
056008,000981:
056009,000982: # THE LOW 5 BITS OF THE SCALER READS 10000 FOR THE FIRST INTERVAL AFTER A
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Page 1336
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056011,000984: # T1 INCREMENT. IF SCALPREP DETECTS THIS INTERVAL THE T1,T2 AND SCALER
056012,000985: # DATA ARE NOT COMPATABLE AND RETURN IS TO L+1 FOR ANOTHER READING OF THE
056013,000986: # DATA. OTHERWISE, THE RETURN IS TO L+2 TO PROCEED. ROUTINE ALSO PREPARES
056014,000987: # THE SCALER READING FOR COMPUTATION OF THE INCREMENT TO UPDATE T1T2. (THE
056015,000988: # 10 MS BIT (BIT 6) OF THE SCALER IS INCREMENTED 5 MS OUT OF PHASE FROM
056016,000989: # T1.) ADDITION OF 5 MS (BIT 5) TO THE SCALER READING HAS THE EFFECT OF
056017,000990: # ADJUSTING BIT 6 IN THE SCALER TO BE IN PHASE WITH BIT 1 OF T1. THE LOW 5
056018,000991: # BITS OF THE SCALER READING ARE THEN SET TO ZERO, TO TRUNCATE THE SCALER
056019,000992: # DATA TO 10 MS. RESULTS ARE STORED IN MPAC, +1.
056020,000993:
056021,000994: 37,3714 00006 SCALPREP EXTEND
056022,000995: 37,3715 22156 QXCH MPAC +2
056023,000996: 37,3716 04103 TC FINETIME +1
056024,000997: 37,3717 00003 RELINT
056025,000998: 37,3720 52155 DXCH MPAC
056026,000999: 37,3721 34747 CA BIT5 # ADD 5 MS TO THE SCALER READING.
056027,001000: 37,3722 54001 TS L
056028,001001: 37,3723 34755 CA ZERO
056029,001002: 37,3724 20155 DAS MPAC
056030,001003: 37,3725 44346 CS LOW5 # SET LOW 5 BITS OF (SCALER+5MS) TO ZERO
056031,001004: 37,3726 70155 MASK MPAC +1 # AND STORE RESULTS IN MPAC,+1.
056032,001005: 37,3727 56155 XCH MPAC +1
056033,001006: 37,3730 74346 MASK LOW5 # TEST LOW 5 BITS OF SCALER FOR THE FIRST
056034,001007: # INTERVAL AFTER THE T1 INCREMENT
056035,001008: # (NOW = 00000, SINCE BIT 5 ADDED).
056036,001009: 37,3731 10000 CCS A # IS IT 1ST INTERVAL AFTER T1 INCREMENT
056037,001010: 37,3732 24156 INCR MPAC +2 # NO
056038,001011: 37,3733 00156 TC MPAC +2 # YES
056039,001012:
056040,001013: # POSTAND RECOVERS TIME AFTER STANDBY. THE SCALER IS SNAPSHOTTED AND THE
056041,001014: # TIME1 TIME2 COUNTER IS SET TO ZERO. THE LOW 5 BITS OF THE SCALER ARE
056042,001015: # INSPECTED TO INSURE COMPATABILITY BETWEEN THE SCALER READING AND THE
056043,001016: # CLEARING OF THE TIME COUNTER. IT THEN COMPUTES THE DIFFERENCE IN SCALER
056044,001017: # VALUES (IN DP) AND ADDS THIS TO THE PREVIOUSLY SNAPSHOTTED VALUES OF
056045,001018: # TIME1 TIME2 AND PLACES THIS NEW TIME INTO THE TIME1 TIME2 COUNTER.
056046,001019:
056047,001020: 37,3734 COUNT* $$/P05
056048,001021:
056049,001022: 37,3734 44741 POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY.
056050,001023: 37,3735 00006 EXTEND
056051,001024: 37,3736 03013 WAND CHAN13 # CLEAR STANDBY ENABLE BIT
056052,001025: 37,3737 00004 INHINT
056053,001026: 37,3740 34755 CA ZERO
056054,001027: 37,3741 54001 TS L
056055,001028: 37,3742 52025 DXCH TIME2 # CLEAR TIME1TIME2
056056,001029: 37,3743 03714 TC SCALPREP # STORE SCALER IN MPAC, MPAC+1
056057,001030: 37,3744 03737 TC POSTAND +3 # T1,T2,SCALER NOT COMPATIBLE
056058,001031: 37,3745 00006 EXTEND # T1,T2 AND SCALER OK
056059,001032: 37,3746 40317 DCS SCALSAVE
056060,001033: 37,3747 20155 DAS MPAC # FORM DP DIFFERENCE OF POSTSTANDBY SCALER
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Page 1337
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056062,001035: 37,3750 34742 CAF BIT10 # MINUS PRESTANDBY SCALER AND SHIFT RIGHT
056063,001036: 37,3751 07307 TC SHORTMP # 5 TO ALIGN BITS WITH TIME1 TIME2.
056064,001037: 37,3752 34755 CAF ZERO
056065,001038: 37,3753 54156 TS MPAC +2 # NEEDED FOR TP AGREE
056066,001039: 37,3754 07257 TC TPAGREE # MAKE DP DIFF AGREE
056067,001040: 37,3755 10154 CCS MPAC
056068,001041: 37,3756 03763 TC POSTCOM # IF DP DIFF NET +, NO SCALER OVERFLOW
056069,001042: 37,3757 03763 TC POSTCOM # BETWEEN PRE AND POST STANDBY.
056070,001043: 37,3760 03761 TC +1 # IF DP DIFF NET -, SCALER OVERFLOWED. ADD
056071,001044: 37,3761 34742 CAF BIT10 # BIT 10 TO HIGH DIFF TO CORRECT.
056072,001045: 37,3762 26154 ADS MPAC
056073,001046: 37,3763 00006 POSTCOM EXTEND # C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER.
056074,001047: 37,3764 30315 DCA TIME2SAV # PRESTANDBY TIME1TIME2
056075,001048: 37,3765 20155 DAS MPAC
056076,001049: 37,3766 07257 TC TPAGREE # FORCE SIGN AGREEMENT
056077,001050: 37,3767 52155 DXCH MPAC # UPDATED VALUE FOR T1,T2.
056078,001051: 37,3770 20025 DAS TIME2 # LOAD UPDATED VALUE INTO T1,T2, WITH
056079,001052: 37,3771 05516 TC DOWNFLAG # CLEAR NODOFLAG
056080,001053: 37,3772 00054 ADRES NODOFLAG
056081,001054:
056082,001055: 37,3773 06001 TC GOTOPOOH
056083,001056:
End of include-file IMU_MODE_SWITCHING_ROUTINES.agc. Parent file is MAIN.agc