Source Code
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These source-code files are part of a reconstructed copy of Luminary 98, a
development version of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
The reconstruction began with source code of Luminary 99 revision 1 previously
transcribed from a digitized copy of that program. The code was then updated
by undoing changes described in original Luminary memo 85, using asterisks
indicating changed lines in the listing as a guide. While no listing of this
version is known to exist, nor are the memory-bank checksums available,
the reconstruction is believed to be correct because it was an an intermediate
step in reconstructing Luminary 97 whose reconstruction was
verified by matching memory-bank checksums to those listed in drawing 2021152G.
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 98 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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054909,000002: ## Copyright: Public domain.
054910,000003: ## Filename: IMU_MODE_SWITCHING_ROUTINES.agc
054911,000004: ## Purpose: A section of Luminary revision 98.
054912,000005: ## It is part of the reconstructed source code for the a
054913,000006: ## development version of the flight software for the Lunar
054914,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
054915,000008: ## The code has been recreated from a copy of Luminary 99
054916,000009: ## revision 001, using asterisks indicating changed lines in
054917,000010: ## the listing and Luminary Memo #85, which lists changes between
054918,000011: ## Luminary 98 and 99.
054919,000012: ## Reference: pp. 1309-1337
054920,000013: ## Assembler: yaYUL
054921,000014: ## Contact: Ron Burkey <info@sandroid.org>.
054922,000015: ## Website: www.ibiblio.org/apollo/index.html
054923,000016: ## Mod history: 2019-07-28 MAS Created from Luminary 99.
054924,000017:
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Page 1309
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054926,000019: 5457 BLOCK 02
054927,000020: 4000 SETLOC FFTAG3
054928,000021: 4000 BANK
054929,000022:
054930,000023: 5457 E3,1471 EBANK= COMMAND
054931,000024:
054932,000025: # FIXED-FIXED ROUTINES.
054933,000026:
054934,000027: 5457 COUNT* $$/IMODE
054935,000028: 5457 34755 ZEROICDU CAF ZERO # ZERO ICDU COUNTERS.
054936,000029: 5460 54032 TS CDUX
054937,000030: 5461 54033 TS CDUY
054938,000031: 5462 54034 TS CDUZ
054939,000032: 5463 00002 TC Q
054940,000033:
054941,000034: 5464 4743 SPSCODE = BIT9
054942,000035:
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Page 1310
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054944,000037: # IMU ZEROING ROUTINE.
054945,000038:
054946,000039: 11,3776 BANK 11
054947,000040: 07,2000 SETLOC MODESW
054948,000041: 07,2000 BANK
054949,000042:
054950,000043: 07,2714 COUNT* $$/IMODE
054951,000044: 07,2714 00004 IMUZERO INHINT # ROUTINE TO ZERO ICDUS.
054952,000045: 07,2715 41036 CS DSPTAB +11D # DONT ZERO CDUS IF IMU IN GIMBAL LOCK AND
054953,000046: 07,2716 74771 MASK BITS4&6 # COARSE ALIGN (GIMBAL RUNAWAY PROTECTION)
054954,000047: 07,2717 10000 CCS A
054955,000048: 07,2720 12724 TCF IMUZEROA
054956,000049:
054957,000050: 07,2721 05567 TC ALARM # IF SO.
054958,000051: 07,2722 00206 OCT 00206
054959,000052:
054960,000053: 07,2723 13657 TCF CAGETSTJ +4 # IMMEDIATE FAILURE.
054961,000054:
054962,000055: 07,2724 03653 IMUZEROA TC CAGETSTJ
054963,000056: # DELETE
054964,000057: 07,2725 41303 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
054965,000058: 07,2726 74773 MASK SUPER011 # BIT5 FOR GROUND
054966,000059: 07,2727 27303 ADS IMODES33
054967,000060:
054968,000061: 07,2730 41302 CS IMODES30 # INHIBIT ICDUFAIL AND IMUFAIL (IN CASE WE
054969,000062: 07,2731 75751 MASK BITS3&4 # JUST CAME OUT OF COARSE ALIGN).
054970,000063: 07,2732 27302 ADS IMODES30
054971,000064:
054972,000065: 07,2733 44771 CS BITS4&6 # SEND ZERO ENCODE WITH COARSE AND ERROR
054973,000066: 07,2734 00006 EXTEND # COUNTER DISABLED.
054974,000067: 07,2735 03012 WAND CHAN12
054975,000068:
054976,000069: 07,2736 03266 TC NOATTOFF # TURN OFF NO ATT LAMP.
054977,000070:
054978,000071: 07,2737 34747 CAF BIT5
054979,000072: 07,2740 00006 EXTEND
054980,000073: 07,2741 05012 WOR CHAN12
054981,000074:
054982,000075: 07,2742 05457 TC ZEROICDU
054983,000076: 07,2743 34746 CAF BIT6 # WAIT 320 MS TO GIVE AGS ADEQUATE TIME TO
054984,000077: 07,2744 05203 TC WAITLIST # RECEIVE ITS PULSE TRAIN.
054985,000078: 07,2745 E3,1474 EBANK= CDUIND
054986,000079: 07,2745 02757 16103 2CADR IMUZERO2
054987,000080:
054988,000081: 07,2747 41302 CS IMODES30 # SEE IF IMU OPERATING AND ALARM IF NOT.
054989,000082: 07,2750 74743 MASK BIT9
054990,000083: 07,2751 10000 CCS A
054991,000084: 07,2752 12755 TCF MODEEXIT
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Page 1311
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054993,000086: 07,2753 05567 TC ALARM
054994,000087: 07,2754 00210 OCT 210
054995,000088:
054996,000089: 07,2755 00003 MODEEXIT RELINT # GENERAL MODE-SWITCHING EXIT.
054997,000090: 07,2756 14631 TCF SWRETURN
054998,000091:
054999,000092: 07,2757 03641 IMUZERO2 TC CAGETEST
055000,000093: 07,2760 05457 TC ZEROICDU # ZERO CDUX, CDUY, CDUZ
055001,000094:
055002,000095: 07,2761 44747 CS BIT5 # REMOVE ZERO DISCRETE.
055003,000096: 07,2762 00006 EXTEND
055004,000097: 07,2763 03012 WAND CHAN12
055005,000098:
055006,000099: 07,2764 34741 CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS
055007,000100: 07,2765 05224 TC VARDELAY
055008,000101:
055009,000102: 07,2766 03641 IMUZERO3 TC CAGETEST
055010,000103: 07,2767 45751 CS BITS3&4 # REMOVE IMUFAIL AND ICDUFAIL INHIBIT.
055011,000104: 07,2770 71302 MASK IMODES30
055012,000105: 07,2771 55302 TS IMODES30
055013,000106:
055014,000107: 07,2772 44773 CS SUPER011 # ENABLE DAP AUTO AND HOLD MODES
055015,000108: 07,2773 71303 MASK IMODES33 # BIT5 FOR GROUND
055016,000109: 07,2774 55303 TS IMODES33
055017,000110:
055018,000111: 07,2775 04674 TC IBNKCALL # SET ISS WARNING IF EITHER OF ABOVE ARE
055019,000112: 07,2776 14703 CADR SETISSW # PRESENT.
055020,000113:
055021,000114: 07,2777 13631 TCF ENDIMU
055022,000115:
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Page 1312
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055024,000117: # IMU COARSE ALIGN MODE.
055025,000118:
055026,000119: 07,3000 00004 IMUCOARS INHINT
055027,000120: 07,3001 03653 TC CAGETSTJ
055028,000121: 07,3002 03144 TC SETCOARS
055029,000122:
055030,000123: 07,3003 36242 CAF SIX
055031,000124: 07,3004 05203 TC WAITLIST
055032,000125: 07,3005 E3,1474 EBANK= CDUIND
055033,000126: 07,3005 03010 16103 2CADR COARS
055034,000127:
055035,000128: 07,3007 12755 TCF MODEEXIT
055036,000129:
055037,000130: 07,3010 03641 COARS TC CAGETEST
055038,000131: 07,3011 34746 CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
055039,000132: 07,3012 00006 EXTEND
055040,000133: 07,3013 05012 WOR CHAN12
055041,000134:
055042,000135: 07,3014 34752 CAF TWO # SET CDU INDICATOR
055043,000136: 07,3015 55474 COARS1 TS CDUIND
055044,000137:
055045,000138: 07,3016 51474 INDEX CDUIND # COMPUTE THETAD - THETAA IN 1:S
055046,000139: 07,3017 30321 CA THETAD # COMPLEMENT FORM
055047,000140: 07,3020 00006 EXTEND
055048,000141: 07,3021 51474 INDEX CDUIND
055049,000142: 07,3022 20032 MSU CDUX
055050,000143: 07,3023 00006 EXTEND
055051,000144: 07,3024 74737 MP BIT13 # SHIFT RIGHT 2
055052,000145: 07,3025 56001 XCH L # ROUND
055053,000146: 07,3026 60000 DOUBLE
055054,000147: 07,3027 54061 TS ITEMP1
055055,000148: 07,3030 13032 TCF +2
055056,000149: 07,3031 26001 ADS L
055057,000150:
055058,000151: 07,3032 51474 INDEX CDUIND # DIFFERENCE TO BE COMPUTED
055059,000152: 07,3033 23471 LXCH COMMAND
055060,000153: 07,3034 11474 CCS CDUIND
055061,000154: 07,3035 03015 TC COARS1
055062,000155:
055063,000156: 07,3036 34752 CAF TWO # MINIMUM OF 4 MS WAIT
055064,000157: 07,3037 05224 TC VARDELAY
055065,000158:
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Page 1313
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055067,000160: 07,3040 03641 COARS2 TC CAGETEST # DONT CONTINUE IF CAGED.
055068,000161: 07,3041 54061 TS ITEMP1 # SETS TO +0.
055069,000162: 07,3042 34752 CAF TWO # SET CDU INDICATOR
055070,000163: 07,3043 55474 +3 TS CDUIND
055071,000164:
055072,000165: 07,3044 51474 INDEX CDUIND
055073,000166: 07,3045 11471 CCS COMMAND # NUMBER OF PULSES REQUIRED
055074,000167: 07,3046 03052 TC COMPOS # GREATER THAN MAX ALLOWED
055075,000168: 07,3047 03061 TC NEXTCDU +1
055076,000169: 07,3050 03117 TC COMNEG
055077,000170: 07,3051 03061 TC NEXTCDU +1
055078,000171:
055079,000172: 07,3052 63745 COMPOS AD -COMMAX # COMMAX = MAX NUMBER OF PULSES ALLOWED
055080,000173: 07,3053 00006 EXTEND # MINUS ONE
055081,000174: 07,3054 63127 BZMF COMZERO
055082,000175: 07,3055 51474 INDEX CDUIND
055083,000176: 07,3056 55471 TS COMMAND # REDUCE COMMAND BY MAX NUMBER OF PULSES
055084,000177: 07,3057 43746 CS -COMMAX- # ALLOWED
055085,000178:
055086,000179: 07,3060 24061 NEXTCDU INCR ITEMP1
055087,000180: 07,3061 64754 AD NEG0
055088,000181: 07,3062 51474 INDEX CDUIND
055089,000182: 07,3063 54050 TS CDUXCMD # SET UP COMMAND REGISTER.
055090,000183:
055091,000184: 07,3064 11474 CCS CDUIND
055092,000185: 07,3065 03043 TC COARS2 +3
055093,000186:
055094,000187: 07,3066 10061 CCS ITEMP1 # SEE IF ANY PULSES TO GO OUT.
055095,000188: 07,3067 13133 TCF SENDPULS
055096,000189:
055097,000190: 07,3070 05221 TC FIXDELAY # WAIT FOR GIMBALS TO SETTLE.
055098,000191: 07,3071 00226 DEC 150 B-14
055099,000192:
055100,000193: 07,3072 34752 CAF TWO # AT END OF COMMAND, CHECK TO SEE THAT
055101,000194: 07,3073 54061 CHKCORS TS ITEMP1 # GIMBALS ARE WITHIN 2 DEGREES OF THETAD.
055102,000195: 07,3074 50000 INDEX A
055103,000196: 07,3075 30032 CA CDUX
055104,000197: 07,3076 00006 EXTEND
055105,000198: 07,3077 50061 INDEX ITEMP1
055106,000199: 07,3100 20321 MSU THETAD
055107,000200: 07,3101 10000 CCS A
055108,000201: 07,3102 13110 TCF COARSERR
055109,000202: 07,3103 13105 TCF CORSCHK2
055110,000203: 07,3104 13110 TCF COARSERR
055111,000204:
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Page 1314
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055113,000206: 07,3105 10061 CORSCHK2 CCS ITEMP1
055114,000207: 07,3106 13073 TCF CHKCORS
055115,000208: 07,3107 13631 TCF ENDIMU # END OF COARSE ALIGNMENT.
055116,000209:
055117,000210: 07,3110 63116 COARSERR AD COARSTOL # 2 DEGREES.
055118,000211: 07,3111 00006 EXTEND
055119,000212: 07,3112 63105 BZMF CORSCHK2
055120,000213:
055121,000214: 07,3113 05567 TC ALARM # COARSE ALIGN ERROR.
055122,000215: 07,3114 00211 OCT 211
055123,000216:
055124,000217: 07,3115 13637 TCF IMUBAD
055125,000218:
055126,000219: 07,3116 77511 COARSTOL DEC -.01111 # 2 DEGREES SCALED AT HALF-REVOLUTIONS
055127,000220:
055128,000221: 07,3117 63745 COMNEG AD -COMMAX
055129,000222: 07,3120 00006 EXTEND
055130,000223: 07,3121 63127 BZMF COMZERO
055131,000224: 07,3122 40000 COM
055132,000225: 07,3123 51474 INDEX CDUIND
055133,000226: 07,3124 55471 TS COMMAND
055134,000227: 07,3125 33746 CA -COMMAX-
055135,000228: 07,3126 03060 TC NEXTCDU
055136,000229:
055137,000230: 07,3127 34755 COMZERO CAF ZERO
055138,000231: 07,3130 51474 INDEX CDUIND
055139,000232: 07,3131 57471 XCH COMMAND
055140,000233: 07,3132 03060 TC NEXTCDU
055141,000234:
055142,000235: 07,3133 37740 SENDPULS CAF 13,14,15
055143,000236: 07,3134 00006 EXTEND
055144,000237: 07,3135 05014 WOR CHAN14
055145,000238: 07,3136 33747 CAF 600MS
055146,000239: 07,3137 13037 TCF COARS2 -1 # THEN TO VARDELAY
055147,000240:
055148,000241: 07,3140 34746 CA+ECE CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
055149,000242: 07,3141 00006 EXTEND
055150,000243: 07,3142 05012 WOR CHAN12
055151,000244: 07,3143 05261 TC TASKOVER
055152,000245:
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Page 1315
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055154,000247: 07,3144 34750 SETCOARS CAF BIT4 # BYPASS IF ALREADY IN COARSE ALIGN
055155,000248: 07,3145 00006 EXTEND
055156,000249: 07,3146 02012 RAND CHAN12
055157,000250: 07,3147 10000 CCS A
055158,000251: 07,3150 00002 TC Q
055159,000252:
055160,000253: 07,3151 44746 CS BIT6 # CLEAR ISS ERROR COUNTERS
055161,000254: 07,3152 00006 EXTEND
055162,000255: 07,3153 03012 WAND CHAN12
055163,000256:
055164,000257: 07,3154 44742 CS BIT10 # KNOCK DOWN GYRO ACTIVITY
055165,000258: 07,3155 00006 EXTEND
055166,000259: 07,3156 03014 WAND CHAN14
055167,000260: 07,3157 44755 CS ZERO
055168,000261: 07,3160 54047 TS GYROCMD
055169,000262:
055170,000263: 07,3161 34750 CAF BIT4 # PUT ISS IN COARSE ALIGN
055171,000264: 07,3162 00006 EXTEND
055172,000265: 07,3163 05012 WOR CHAN12
055173,000266:
055174,000267: 07,3164 41036 CS DSPTAB +11D # TURN ON NO ATT LAMP
055175,000268: 07,3165 73207 MASK OCT40010
055176,000269: 07,3166 27036 ADS DSPTAB +11D
055177,000270:
055178,000271: 07,3167 41303 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
055179,000272: 07,3170 74746 MASK BIT6
055180,000273: 07,3171 27303 ADS IMODES33
055181,000274:
055182,000275: 07,3172 41302 CS IMODES30 # DISABLE IMUFAIL
055183,000276: 07,3173 74750 MASK BIT4
055184,000277: 07,3174 27302 ADS IMODES30
055185,000278:
055186,000279: 07,3175 44747 RNDREFDR CS TRACKBIT # CLEAR TRACK FLAG
055187,000280: 07,3176 70075 MASK FLAGWRD1
055188,000281: 07,3177 54075 TS FLAGWRD1
055189,000282:
055190,000283: 07,3200 44735 CS DRFTBIT # CLEAR DRIFT FLAG
055191,000284: 07,3201 70076 MASK FLAGWRD2
055192,000285: 07,3202 54076 TS FLAGWRD2
055193,000286:
055194,000287: 07,3203 44737 CS REFSMBIT # CLEAR REFSMMAT FLAG
055195,000288: 07,3204 70077 MASK FLAGWRD3
055196,000289: 07,3205 54077 TS FLAGWRD3
055197,000290:
055198,000291: 07,3206 00002 TC Q
055199,000292:
055200,000293: 07,3207 40010 OCT40010 OCT 40010
055201,000294:
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Page 1316
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055203,000296: # IMU FINE ALIGN MODE SWITCH.
055204,000297:
055205,000298: 07,3210 00004 IMUFINE INHINT
055206,000299: 07,3211 03653 TC CAGETSTJ # SEE IF IMU BEING CAGED.
055207,000300:
055208,000301: 07,3212 43744 CS BITS4-5 # RESET ZERO AND COARSE
055209,000302: 07,3213 00006 EXTEND
055210,000303: 07,3214 03012 WAND CHAN12
055211,000304:
055212,000305: 07,3215 44746 CS BIT6 # INSURE DAP AUTO AND HOLD MODES ENABLED
055213,000306: 07,3216 71303 MASK IMODES33
055214,000307: 07,3217 55303 TS IMODES33
055215,000308:
055216,000309: 07,3220 03266 TC NOATTOFF
055217,000310:
055218,000311: 07,3221 34742 CAF BIT10 # IMU FAIL WAS INHIBITED DURING THE
055219,000312: 07,3222 05203 TC WAITLIST # PRESUMABLY PRECEDING COARSE ALIGN. LEAVE
055220,000313: 07,3223 E3,1474 EBANK= CDUIND
055221,000314: 07,3223 03234 16103 2CADR IFAILOK # IT ON FOR THE FIRST 5 SECS OF FINE ALIGN
055222,000315:
055223,000316: 07,3225 35000 CAF 2SECS
055224,000317: 07,3226 05203 TC WAITLIST
055225,000318: 07,3227 E3,1474 EBANK= CDUIND
055226,000319: 07,3227 03232 16103 2CADR IMUFINED
055227,000320:
055228,000321: 07,3231 12755 TCF MODEEXIT
055229,000322:
055230,000323: 07,3232 03641 IMUFINED TC CAGETEST # SEE THAT NO ONE HAS CAGED THE IMU.
055231,000324: 07,3233 13631 TCF ENDIMU
055232,000325:
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Page 1317
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055234,000327: 07,3234 03646 IFAILOK TC CAGETSTQ # ENABLE IMU FIAL UNLESS IMU BEING CAGED.
055235,000328: 07,3235 15261 TCF TASKOVER # IT IS.
055236,000329:
055237,000330: 07,3236 34750 CAF BIT4 # DONT RESET IMU FAIL INHIBIT IF SOMEONE
055238,000331: 07,3237 00006 EXTEND # HAS GONE INTO COARSE ALIGN.
055239,000332: 07,3240 02012 RAND CHAN12
055240,000333: 07,3241 10000 CCS A
055241,000334: 07,3242 15261 TCF TASKOVER
055242,000335:
055243,000336: 07,3243 41302 CS IMODES30 # RESET IMUFAIL.
055244,000337: 07,3244 74737 MASK BIT13
055245,000338: 07,3245 27302 ADS IMODES30
055246,000339: 07,3246 44750 CS BIT4
055247,000340: 07,3247 71302 PFAILOK2 MASK IMODES30
055248,000341: 07,3250 55302 TS IMODES30
055249,000342: 07,3251 04674 TC IBNKCALL # THE ISS WARNING LIGHT MAY COME ON NOW
055250,000343: 07,3252 14703 CADR SETISSW # THAT THE INHIBIT HAS BEEN REMOVED.
055251,000344: 07,3253 15261 TCF TASKOVER
055252,000345:
055253,000346: 07,3254 03646 PFAILOK TC CAGETSTQ # ENABLE PIP FAIL PROG ALARM.
055254,000347: 07,3255 15261 TCF TASKOVER
055255,000348:
055256,000349: 07,3256 41302 CS IMODES30 # RESET IMU AND PIPA FAIL BITS.
055257,000350: 07,3257 74742 MASK BIT10
055258,000351: 07,3260 27302 ADS IMODES30
055259,000352:
055260,000353: 07,3261 41303 CS IMODES33
055261,000354: 07,3262 74737 MASK BIT13
055262,000355: 07,3263 27303 ADS IMODES33
055263,000356:
055264,000357: 07,3264 44747 CS BIT5
055265,000358: 07,3265 13247 TCF PFAILOK2
055266,000359:
055267,000360: 07,3266 43207 NOATTOFF CS OCT40010 # SUBROUTINE TO TURN OFF NO ATT LAMP.
055268,000361: 07,3267 71036 MASK DSPTAB +11D
055269,000362: 07,3270 64735 AD BIT15
055270,000363: 07,3271 55036 TS DSPTAB +11D
055271,000364: 07,3272 00002 TC Q
055272,000365:
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Page 1318
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055274,000367: # ROUITNES TO INITIATE AND TERMINATE PROGRAM USE OF THE PIPAS. NO IMUSTALL REQUIRED IN EITHER CASE.
055275,000368:
055276,000369: 07,3273 44755 PIPUSE CS ZERO
055277,000370: 07,3274 54037 TS PIPAX
055278,000371: 07,3275 54040 TS PIPAY
055279,000372: 07,3276 54041 TS PIPAZ
055280,000373:
055281,000374: 07,3277 03646 PIPUSE1 TC CAGETSTQ # DO NOT ENABLE PIPA FAIL IF IMU IS CAGED
055282,000375: 07,3300 14631 TCF SWRETURN
055283,000376:
055284,000377: 07,3301 00004 INHINT
055285,000378: 07,3302 44753 CS BIT1 # IF PIPA FAILS FROM NOW ON (UNTIL
055286,000379: 07,3303 71302 MASK IMODES30 # PIPFREE), LIGHT ISS WARNING.
055287,000380: 07,3304 55302 TS IMODES30
055288,000381:
055289,000382: 07,3305 04674 PIPFREE2 TC IBNKCALL # ISS WARNING MIGHT COME ON NOW.
055290,000383: 07,3306 14703 CADR SETISSW # (OR GO OFF ON PIPFREE).
055291,000384:
055292,000385: 07,3307 12755 TCF MODEEXIT
055293,000386:
055294,000387: 07,3310 00004 PIPFREE INHINT # PROGRAM DONE WITH PIPAS. DONT LIGHT
055295,000388: 07,3311 41302 CS IMODES30 # ISS WARNING.
055296,000389: 07,3312 74753 MASK BIT1
055297,000390: 07,3313 27302 ADS IMODES30
055298,000391:
055299,000392: 07,3314 74742 MASK BIT10 # IF PIP FAIL ON, DO PROG ALSRM AND RESET
055300,000393: 07,3315 10000 CCS A # ISS WARNING.
055301,000394: 07,3316 12755 TCF MODEEXIT
055302,000395:
055303,000396: 07,3317 05567 TC ALARM
055304,000397: 07,3320 00212 OCT 212
055305,000398:
055306,000399: 07,3321 00004 INHINT
055307,000400:
055308,000401: 07,3322 13305 TCF PIPFREE2
055309,000402:
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Page 1319
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055311,000404: # THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIX REGISTERS
055312,000405: # BEGINNING AT THE ECADR ARRIVING IN A. THE MINIMUM SIZE OF ANY PULSE TRAIN IS 16 PULSES (.25 CDU COUNTS). THE
055313,000406: # UNSENT PORTION OF THE COMMAND IS LEFT INTACT IN THE INPUT COMMAND REGISTERS.
055314,000407:
055315,000408: 07,3323 E3,1400 EBANK= 1400 # VARIABLE, ACTUALLY.
055316,000409:
055317,000410: 07,3323 54161 IMUPULSE TS MPAC +5 # SAVE ARRIVING ECADR.
055318,000411: 07,3324 03653 TC CAGETSTJ # DONT PROCEED IF IMU BEING CAGED.
055319,000412:
055320,000413: 07,3325 11314 CCS LGYRO # SEE IF GYROS BUSY.
055321,000414: 07,3326 03367 TC GYROBUSY # SLEEP.
055322,000415:
055323,000416: 07,3327 54156 TS MPAC +2
055324,000417: 07,3330 34746 CAF BIT6 # ENABLE THE POWER SUPPLY.
055325,000418: 07,3331 00006 EXTEND
055326,000419: 07,3332 05014 WOR CHAN14
055327,000420:
055328,000421: 07,3333 34751 CAF FOUR
055329,000422: 07,3334 05203 GWAKE2 TC WAITLIST # (IF A JOB WAS PUT TO SLEEP, THE POWER
055330,000423: 07,3335 E3,1474 EBANK= CDUIND # SUPPLY IS LEFT ON BY THE WAKING JOB).
055331,000424: 07,3335 03405 16103 2CADR STRTGYRO
055332,000425:
055333,000426: 07,3337 30161 CA MPAC +5 # SET UP EBANK, SAVING CALLER'S EBANK FOR
055334,000427: 07,3340 56003 XCH EBANK # RESTORATION ON RETURN.
055335,000428: 07,3341 56161 XCH MPAC +5
055336,000429: 07,3342 55314 TS LGYRO # RESERVES GYROS.
055337,000430: 07,3343 74357 MASK LOW8
055338,000431: 07,3344 54061 TS ITEMP1
055339,000432:
055340,000433: 07,3345 34752 CAF TWO # FORCE SIGN AGREEMENT ON INPUTS.
055341,000434: 07,3346 54157 GYROAGRE TS MPAC +3
055342,000435: 07,3347 60000 DOUBLE
055343,000436: 07,3350 60061 AD ITEMP1
055344,000437: 07,3351 54160 TS MPAC +4
055345,000438: 07,3352 00006 EXTEND
055346,000439: 07,3353 50000 INDEX A
055347,000440: 07,3354 31401 DCA 1400
055348,000441: 07,3355 52155 DXCH MPAC
055349,000442: 07,3356 07257 TC TPAGREE
055350,000443: 07,3357 52155 DXCH MPAC
055351,000444: 07,3360 50160 INDEX MPAC +4
055352,000445: 07,3361 53401 DXCH 1400
055353,000446:
055354,000447: 07,3362 10157 CCS MPAC +3
055355,000448: 07,3363 13346 TCF GYROAGRE
055356,000449:
055357,000450: 07,3364 30161 CA MPAC +5 # RESTORE CALLER'S EBANK.
055358,000451: 07,3365 54003 TS EBANK
055359,000452: 07,3366 12755 TCF MODEEXIT
055360,000453:
|
|
Page 1320
|
055362,000455: # ROUTINES TO ALLOW TORQUING BY ONLY ONE JOB AT A TIME.
055363,000456:
055364,000457: 07,3367 00006 GYROBUSY EXTEND # SAVE RETURN 2FCADR.
055365,000458: 07,3370 30134 DCA BUF2
055366,000459: 07,3371 52155 DXCH MPAC
055367,000460: 07,3372 33404 REGSLEEP CAF LGWAKE
055368,000461: 07,3373 15133 TCF JOBSLEEP
055369,000462:
055370,000463: 07,3374 11314 GWAKE CCS LGYRO # WHEN AWAKENED, SEE IF GYROS STILL BUSY.
055371,000464: 07,3375 13372 TCF REGSLEEP # IF SO, SLEEP SOME MORE.
055372,000465:
055373,000466: 07,3376 54156 TS MPAC +2
055374,000467: 07,3377 00006 EXTEND
055375,000468: 07,3400 30155 DCA MPAC
055376,000469: 07,3401 52134 DXCH BUF2 # RESTORE SWRETURN INFO.
055377,000470: 07,3402 34753 CAF ONE
055378,000471: 07,3403 13334 TCF GWAKE2
055379,000472:
055380,000473: 07,3404 17374 LGWAKE CADR GWAKE
055381,000474:
|
|
Page 1321
|
055383,000476: # GYRO-TORQUING WAITLIST TASKS.
055384,000477:
055385,000478: 07,3405 43626 STRTGYRO CS GDESELCT # DE-SELECT LAST GYRO.
055386,000479: 07,3406 00006 EXTEND
055387,000480: 07,3407 03014 WAND CHAN14
055388,000481:
055389,000482: 07,3410 03641 TC CAGETEST
055390,000483:
055391,000484: 07,3411 31314 STRTGYR2 CA LGYRO # JUMP ON PHASE COUNTER IN BITS 13-14.
055392,000485: 07,3412 00006 EXTEND
055393,000486: 07,3413 74750 MP BIT4
055394,000487: 07,3414 50000 INDEX A
055395,000488: 07,3415 13416 TCF +1
055396,000489: 07,3416 03433 TC GSELECT # =0. DO Y GYRO.
055397,000490: 07,3417 00202 OCT 00202
055398,000491:
055399,000492: 07,3420 03433 TC GSELECT # =1. DO Z GYRO.
055400,000493: 07,3421 00302 OCT 00302
055401,000494:
055402,000495: 07,3422 03431 TC GSELECT -2 # =2. DO X GYRO.
055403,000496: 07,3423 00100 OCT 00100
055404,000497:
055405,000498: 07,3424 34755 CAF ZERO # =3. DONE
055406,000499: 07,3425 55314 TS LGYRO
055407,000500: 07,3426 33404 CAF LGWAKE # WAKE A POSSIBLE SLEEPING JOB.
055408,000501: 07,3427 05137 TC JOBWAKE
055409,000502:
055410,000503: 07,3430 13232 NORESET TCF IMUFINED # DO NOT RESET POWER SUPPLY
|
|
Page 1322
|
055412,000505: 07,3431 44751 -2 CS FOUR # SPECIAL ENTRY TO REGRESS LGYRO FOR X.
055413,000506: 07,3432 27314 ADS LGYRO
055414,000507:
055415,000508: 07,3433 50002 GSELECT INDEX Q # SELECT GYRO.
055416,000509: 07,3434 30000 CAF 0 # PACKED WORD CONTAINS GYRO SELECT BITS
055417,000510: 07,3435 54064 TS ITEMP4 # AND INCREMENT TO LGYRO.
055418,000511: 07,3436 74757 MASK SEVEN
055419,000512: 07,3437 64737 AD BIT13
055420,000513: 07,3440 27314 ADS LGYRO
055421,000514: 07,3441 54003 TS EBANK
055422,000515: 07,3442 74357 MASK LOW8
055423,000516: 07,3443 54061 TS ITEMP1
055424,000517:
055425,000518: 07,3444 44757 CS SEVEN
055426,000519: 07,3445 70064 MASK ITEMP4
055427,000520: 07,3446 54064 TS ITEMP4
055428,000521:
055429,000522: 07,3447 00006 EXTEND # MOVE DP COMMAND TO RUPTREGS FOR TESTING.
055430,000523: 07,3450 50061 INDEX ITEMP1
055431,000524: 07,3451 31401 DCA 1400
055432,000525: 07,3452 52071 DXCH RUPTREG1
055433,000526:
055434,000527: 07,3453 10070 CCS RUPTREG1
055435,000528: 07,3454 13467 TCF MAJ+
055436,000529: 07,3455 13457 TCF +2
055437,000530: 07,3456 13607 TCF MAJ-
055438,000531:
055439,000532: 07,3457 10071 CCS RUPTREG2
055440,000533: 07,3460 13464 TCF MIN+
055441,000534: 07,3461 13411 TCF STRTGYR2
055442,000535: 07,3462 13604 TCF MIN-
055443,000536: 07,3463 13411 TCF STRTGYR2
055444,000537:
|
|
Page 1323
|
055446,000539: 07,3464 63520 MIN+ AD -GYROMIN # SMALL POSITIVE COMMAND. SEE IF AT LEAST
055447,000540: 07,3465 00006 EXTEND # 16 GYRO PULSES.
055448,000541: 07,3466 63411 BZMF STRTGYR2
055449,000542:
055450,000543: 07,3467 00006 MAJ+ EXTEND # DEFINITE POSITIVE OUTPUT.
055451,000544: 07,3470 33630 DCA GYROFRAC
055452,000545: 07,3471 20071 DAS RUPTREG1
055453,000546:
055454,000547: 07,3472 30064 CA ITEMP4 # SELECT POSITIVE TORQUING FOR THIS GYRO.
055455,000548: 07,3473 00006 EXTEND
055456,000549: 07,3474 05014 WOR CHAN14
055457,000550:
055458,000551: 07,3475 36074 CAF LOW7 # LEAVE NUMBER OF POSSIBLE 8192 AUGMENTS
055459,000552: 07,3476 70071 MASK RUPTREG2 # TO INITIAL COMMAND IN MAJOR PART OF LONG
055460,000553: 07,3477 56071 XCH RUPTREG2 # TERM STORAGE AND TRUNCATED FRACTION
055461,000554: 07,3500 00006 GMERGE EXTEND # IN MINOR PART. THE MAJOR PART WILL BE
055462,000555: 07,3501 74744 MP BIT8 # COUNTED DOWN TO ZERO IN THE COURSE OF
055463,000556: 07,3502 54062 TS ITEMP2 # PUTTING OUT THE ENTIRE COMMAND.
055464,000557: 07,3503 30070 CA RUPTREG1
055465,000558: 07,3504 00006 EXTEND
055466,000559: 07,3505 74743 MP BIT9
055467,000560: 07,3506 54070 TS RUPTREG1
055468,000561: 07,3507 30001 CA L
055469,000562: 07,3510 00006 EXTEND
055470,000563: 07,3511 74736 MP BIT14
055471,000564: 07,3512 26062 ADS ITEMP2 # INITIAL COMMAND.
055472,000565:
055473,000566: 07,3513 00006 EXTEND # SEE IF MORE THAN ONE PULSE TRAIN NEEDED
055474,000567: 07,3514 30071 DCA RUPTREG1 # (MORE THAN 16383 PULSES).
055475,000568: 07,3515 67747 AD MINUS1
055476,000569: 07,3516 10000 CCS A
055477,000570: 07,3517 13543 TCF LONGGYRO
055478,000571: 07,3520 77601 -GYROMIN OCT -176 # MAY BE ADJUSTED TO SPECIFY MINIMUM CMD
055479,000572: 07,3521 13525 TCF +4
055480,000573:
055481,000574: 07,3522 34736 CAF BIT14
055482,000575: 07,3523 26062 ADS ITEMP2
055483,000576: 07,3524 34755 CAF ZERO
055484,000577:
055485,000578: 07,3525 50061 +4 INDEX ITEMP1
055486,000579: 07,3526 53401 DXCH 1400
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|
Page 1324
|
055488,000581: 07,3527 30062 CA ITEMP2 # ENTIRE COMMAND.
055489,000582: 07,3530 54047 LASTSEG TS GYROCMD
055490,000583: 07,3531 00006 EXTEND
055491,000584: 07,3532 74742 MP BIT10 # WAITLIST DT
055492,000585: 07,3533 66245 AD THREE # TRUNCATION AND PHASE UNCERTAINTIES.
055493,000586: 07,3534 05203 TC WAITLIST
055494,000587: 07,3535 E3,1474 EBANK= CDUIND
055495,000588: 07,3535 03405 16103 2CADR STRTGYRO
055496,000589:
055497,000590: 07,3537 34742 GYROEXIT CAF BIT10
055498,000591: 07,3540 00006 EXTEND
055499,000592: 07,3541 05014 WOR CHAN14
055500,000593: 07,3542 15261 TCF TASKOVER
055501,000594:
055502,000595: 07,3543 50061 LONGGYRO INDEX ITEMP1
055503,000596: 07,3544 53401 DXCH 1400 # INITIAL COMMAND OUT PLUS N AUGMENTS OF
055504,000597: 07,3545 34736 CAF BIT14 # 8192. INITIAL COMMAND IS AT LEAST 8192.
055505,000598: 07,3546 60062 AD ITEMP2
055506,000599: 07,3547 54047 TS GYROCMD
055507,000600:
055508,000601: 07,3550 00006 AUG3 EXTEND # GET WAITLIST DT TO TIME WHEN TRAIN IS
055509,000602: 07,3551 74742 MP BIT10 # ALMOST OUT.
055510,000603: 07,3552 67745 AD NEG3
055511,000604: 07,3553 05203 TC WAITLIST
055512,000605: 07,3554 E3,1474 EBANK= CDUIND
055513,000606: 07,3554 03557 16103 2CADR 8192AUG
055514,000607:
055515,000608: 07,3556 13537 TCF GYROEXIT
055516,000609:
055517,000610: 07,3557 03641 8192AUG TC CAGETEST
055518,000611:
055519,000612: 07,3560 34750 CAF BIT4
055520,000613: 07,3561 00006 EXTEND
055521,000614: 07,3562 02012 RAND CHAN12
055522,000615: 07,3563 10000 CCS A
055523,000616: 07,3564 13637 TCF IMUBAD
055524,000617: 07,3565 31314 CA LGYRO # ADD 8192 PULSES TO GYROCMD
055525,000618: 07,3566 54003 TS EBANK
055526,000619: 07,3567 74357 MASK LOW8
055527,000620: 07,3570 54061 TS ITEMP1
055528,000621:
055529,000622: 07,3571 50061 INDEX ITEMP1 # SEE IF THIS IS THE LAST AUG.
055530,000623: 07,3572 11400 CCS 1400
055531,000624: 07,3573 13577 TCF AUG2 # MORE TO COME.
055532,000625:
055533,000626: 07,3574 34736 CAF BIT14
055534,000627: 07,3575 26047 ADS GYROCMD
055535,000628: 07,3576 13531 TCF LASTSEG +1
055536,000629:
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|
Page 1325
|
055538,000631: 07,3577 50061 AUG2 INDEX ITEMP1
055539,000632: 07,3600 55400 TS 1400
055540,000633: 07,3601 34736 CAF BIT14
055541,000634: 07,3602 26047 ADS GYROCMD
055542,000635: 07,3603 13550 TCF AUG3 # COMPUTE DT.
055543,000636:
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|
Page 1326
|
055545,000638: 07,3604 63520 MIN- AD -GYROMIN # POSSIBLE NEGATIVE OUTPUT.
055546,000639: 07,3605 00006 EXTEND
055547,000640: 07,3606 63411 BZMF STRTGYR2
055548,000641:
055549,000642: 07,3607 00006 MAJ- EXTEND # DEFINITE NEGATIVE OUTPUT.
055550,000643: 07,3610 43630 DCS GYROFRAC
055551,000644: 07,3611 20071 DAS RUPTREG1
055552,000645:
055553,000646: 07,3612 30064 CA ITEMP4 # SELECT NEGATIVE TORQUING FOR THIS GYRO.
055554,000647: 07,3613 64743 AD BIT9
055555,000648: 07,3614 00006 EXTEND
055556,000649: 07,3615 05014 WOR CHAN14
055557,000650:
055558,000651: 07,3616 40070 CS RUPTREG1 # SET UP RUPTREGS TO FALL INTO GMERGE.
055559,000652: 07,3617 54070 TS RUPTREG1 # ALL NUMBERS PUT INTO GYROCMD ARE
055560,000653: 07,3620 40071 CS RUPTREG2 # POSITIVE - BIT9 OF CHAN 14 DETERMINES
055561,000654: 07,3621 76074 MASK LOW7 # THE SIGN OF THE COMMAND.
055562,000655: 07,3622 40000 COM
055563,000656: 07,3623 56071 XCH RUPTREG2
055564,000657: 07,3624 40000 COM
055565,000658: 07,3625 13500 TCF GMERGE
055566,000659:
055567,000660: 07,3626 01700 GDESELCT OCT 1700 # TURN OFF SELECT AND ACTIVITY BITS.
055568,000661:
055569,000662: 07,3627 00000 00034 GYROFRAC 2DEC .215 B-21
055570,000663:
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|
Page 1327
|
055572,000665: # IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE.
055573,000666:
055574,000667: 07,3631 00006 ENDIMU EXTEND # MODE IS BAD IF CAGE HAS OCCURED OR IF
055575,000668: 07,3632 00011 READ DSALMOUT # ISS WARNING IS ON.
055576,000669: 07,3633 74753 MASK BIT1
055577,000670: 07,3634 10000 CCS A
055578,000671: 07,3635 13637 TCF IMUBAD
055579,000672:
055580,000673: 07,3636 13665 IMUGOOD TCF GOODEND # WITH C(A) = 0.
055581,000674:
055582,000675: 07,3637 34755 IMUBAD CAF ZERO
055583,000676: 07,3640 13662 TCF BADEND
055584,000677:
055585,000678: 07,3641 34746 CAGETEST CAF BIT6 # SUBROUTINE TO TERMINATE IMU MODE
055586,000679: 07,3642 71302 MASK IMODES30 # SWITCH IF IMU HAS BEEN CAGED.
055587,000680: 07,3643 10000 CCS A
055588,000681: 07,3644 13637 TCF IMUBAD # DIRECTLY.
055589,000682: 07,3645 00002 TC Q # WITH C(A) = +0.
055590,000683:
055591,000684: 07,3646 41302 CAGETSTQ CS IMODES30 # SKIP IF IMU NOT BEING CAGED.
055592,000685: 07,3647 74746 MASK BIT6
055593,000686: 07,3650 10000 CCS A
055594,000687: 07,3651 24002 INCR Q
055595,000688: 07,3652 00002 TC Q
055596,000689:
055597,000690: 07,3653 41302 CAGETSTJ CS IMODES30 # IF DURING MODE SWITCH INITIALIZATION
055598,000691: 07,3654 74746 MASK BIT6 # IT IS FOUND THAT THE IMU IS BEING CAGED,
055599,000692: 07,3655 10000 CCS A # SET IMUCADR TO -0 TO INDICATE OPERATION
055600,000693: 07,3656 00002 TC Q # COMPLETE BUT FAILED. RETURN IMMEDIATELY
055601,000694:
055602,000695: 07,3657 44755 CS ZERO # TO SWRETURN.
055603,000696: 07,3660 55304 TS IMUCADR
055604,000697: 07,3661 12755 TCF MODEEXIT
055605,000698:
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|
Page 1328
|
055607,000700: # GENERALIZED MODE SWITCHING TERMINATION. ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION
055608,000701: # OR AT BADEND FOR AN UNSUCCESSFUL ONE. C(A) OR ARRIVAL =0 FOR IMU, 1 FOR OPTICS.
055609,000702:
055610,000703: 07,3662 54071 BADEND TS RUPTREG2 # DEVICE INDEX.
055611,000704: 07,3663 44755 CS ZERO # FOR FAILURE.
055612,000705: 07,3664 13667 TCF GOODEND +2
055613,000706:
055614,000707: 07,3665 54071 GOODEND TS RUPTREG2
055615,000708: 07,3666 44753 CS ONE # FOR SUCCESS.
055616,000709:
055617,000710: 07,3667 54072 TS RUPTREG3
055618,000711: 07,3670 50071 INDEX RUPTREG2 # SEE IF USING PROGRAM ASLEEP.
055619,000712: 07,3671 11304 CCS MODECADR
055620,000713: 07,3672 13676 TCF +4 # YES - WAKE IT UP.
055621,000714: 07,3673 13706 TCF ENDMODE # IF 0, PROGRAM NOT IN YET.
055622,000715:
055623,000716: 07,3674 00006 EXTEND
055624,000717: 07,3675 13707 BZF ENDMODE +1 # BZF = TCF IF MODECADR = -0.
055625,000718:
055626,000719: 07,3676 34755 CAF ZERO # WAKE SLEEPING PROGRAM.
055627,000720: 07,3677 50071 INDEX RUPTREG2
055628,000721: 07,3700 57304 XCH MODECADR
055629,000722: 07,3701 05137 TC JOBWAKE
055630,000723:
055631,000724: 07,3702 40072 CS RUPTREG3 # ADVANCE LOC IF SUCCESSFUL.
055632,000725: 07,3703 50064 INDEX LOCCTR
055633,000726: 07,3704 26164 ADS LOC
055634,000727:
055635,000728: 07,3705 15261 TCF TASKOVER
055636,000729:
055637,000730: 07,3706 30072 ENDMODE CA RUPTREG3 # -0 INDICATES OPERATION COMPLETE BUT
055638,000731: 07,3707 50071 +1 INDEX RUPTREG2 # UNSUCCESSFUL: -1 INDICATES COMPLETE AND
055639,000732: 07,3710 55304 TS MODECADR # SUCCESSFUL.
055640,000733: 07,3711 15261 TCF TASKOVER
055641,000734:
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|
Page 1329
|
055643,000736: # GENERAL STALLING ROUTINE. USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION.
055644,000737:
055645,000738: # PROGRAM DESCRIPTION DATE - 21 FEB 1967
055646,000739: # LOG SECTION IMU MODE SWITCHING
055647,000740: # MOD BY - R. MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 82
055648,000741:
055649,000742: # FUNCTIONAL DESCRIPTION -
055650,000743: # TO DELAY FURTHER EXECUTION OF THE CALLING ROUTINE UNTIL ITS SELECTED
055651,000744: # I/O FUNCTION IS COMPLETE. THE FOLLOWING CHECKS ON THE CALLING ROUTINE:S
055652,000745: # MODECADR ARE MADE AND ACTED UPON.
055653,000746: # 1) +0 INDICATES INCOMPLETE I/O OPERATION. CALLING ROUTINE IS PUT TO
055654,000747: # SLEEP.
055655,000748: # 2) -1 INDICATES COMPLETED I/O OPERATION. STALL BYPASSES JOBSLEEP
055656,000749: # CALL AND RETURNS TO CALLING ROUTINE AT L+3
055657,000750: # 3) -0 INDICATES COMPLETED I/O WITH FAILURE. STALL CLEARS MODECADR
055658,000751: # AND RETURNS TO CALLING ROUTINE AT L+2.
055659,000752: # 4) VALUE GREATER THAN 0 INDICATES TWO ROUTINES CALLING FOR USE OF
055660,000753: # SAME DEVICE. STALL EXITS TO ABORT WHICH EXECUTES A PROGRAM
055661,000754: # RESTART WHICH IN TURN CLEARS ALL MODECADR REGISTERS.
055662,000755:
055663,000756: # CALLING SEQUENCE -
055664,000757: # L TC BANKCALL
055665,000758: # L+1 CADR (ONE OF 5 STALL ADDRESSES I.E. IMUSTALL, OPTSTALL, RADSTALL,
055666,000759: # AOTSTALL, OR ATTSTALL)
055667,000760:
055668,000761: # NORMAL-EXIT MODE -
055669,000762: # TCF JOBSLEEP OR TCF MODEXIT
055670,000763:
055671,000764: # ALARM OR ABORT EXIT MODE -
055672,000765: # TC ABORT
055673,000766:
055674,000767: # OUTPUT -
055675,000768: # MODECADR=CADR IF JOBSLEEP
055676,000769: # MODECADR=+0 IF I/O COMPLETE
055677,000770: # BUF2=L+3 IF I/O COMPLETE AND GOOD.
055678,000771: # BUF2=L+2 IF I/O COMPLETE BUT FAILED.
055679,000772:
055680,000773: # ERASABLE INITIALIZATION -
055681,000774: # BUF2 CONTAINS RETURN ADDRESS PLUS 1,(L+2)
055682,000775: # BUF2+1 CONTAINS FBANK VALUE OF CALLING ROUTINE.
055683,000776: # MODECADR OF CALLING ROUTINE CONTAINS +0,-1,-0 OR CADR RETURN ADDRESS.
055684,000777:
055685,000778: # DEBRIS -
055686,000779: # RUPTREG2 AND CALLING ROUTINE MODECADR.
055687,000780:
055688,000781: 07,3712 34753 AOTSTALL CAF ONE # AOT.
055689,000782: 07,3713 03717 TC STALL
055690,000783:
055691,000784: 07,3714 34752 RADSTALL CAF TWO
055692,000785: 07,3715 13717 TCF STALL
055693,000786:
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Page 1330
|
055695,000788: 07,3716 07,3712 OPTSTALL EQUALS AOTSTALL
055696,000789:
055697,000790: 07,3716 34755 IMUSTALL CAF ZERO # IMU.
055698,000791:
055699,000792: 07,3717 00004 STALL INHINT
055700,000793: 07,3720 54071 TS RUPTREG2 # SAVE DEVICE INDEX.
055701,000794: 07,3721 50000 INDEX A # SEE IF OPERATION COMPLETE.
055702,000795: 07,3722 11304 CCS MODECADR
055703,000796: 07,3723 13741 TCF MODABORT # ALLOWABLE STATES ARE +0, -1, AND -0.
055704,000797: 07,3724 13735 TCF MODESLP # OPERATION INCOMPLETE.
055705,000798: 07,3725 13731 TCF MODEGOOD # COMPLETE AND GOOD IF = -1.
055706,000799:
055707,000800: 07,3726 50071 MG2 INDEX RUPTREG2 # COMPLETE AND FAILED IF -0. RESET TO +0.
055708,000801: 07,3727 55304 TS MODECADR # RETURN TO CALLER.
055709,000802: 07,3730 12755 TCF MODEEXIT
055710,000803:
055711,000804: 07,3731 10000 MODEGOOD CCS A # MAKE SURE INITIAL STATE -1.
055712,000805: 07,3732 13741 TCF MODABORT
055713,000806:
055714,000807: 07,3733 24133 INCR BUF2 # IF SO, INCREMENT RETURN ADDRESS AND
055715,000808: 07,3734 13726 TCF MG2 # RETURN IMMEDIATELY, SETTING CADR = +0.
055716,000809:
055717,000810: 07,3735 04645 MODESLP TC MAKECADR # CALL FROM SWITCHABLE FIXED ONLY.
055718,000811: 07,3736 50071 INDEX RUPTREG2
055719,000812: 07,3737 55304 TS MODECADR
055720,000813: 07,3740 15133 TCF JOBSLEEP
055721,000814:
055722,000815: 07,3741 52134 MODABORT DXCH BUF2
055723,000816: 07,3742 05716 TC BAILOUT1 # TWO PROGRAMS USING THE SAME DEVICE.
055724,000817: 07,3743 01210 OCT 1210
055725,000818:
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Page 1331
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055727,000820: # CONSTANTS FOR MODE SWITCHING ROUTINES
055728,000821:
055729,000822: 07,3744 5751 BITS3&4 = OCT14
055730,000823: 07,3744 4771 BITS4&6 = OCT50
055731,000824: 07,3744 00030 BITS4-5 OCT 00030
055732,000825: 07,3745 4744 IMUSEFLG EQUALS BIT8 # INTERPRETER SWITCH 7.
055733,000826: 07,3745 77500 -COMMAX DEC -191 B-14
055734,000827: 07,3746 77477 -COMMAX- DEC -192 B-14
055735,000828: 07,3747 00074 600MS DEC 60 B-14
055736,000829: 07,3750 07,3210 IMUFIN20 = IMUFINE
055737,000830: 07,3750 31307 GOMANUR CA ATTCADR # IS KALCMANU FREE
055738,000831: 07,3751 00006 EXTEND
055739,000832: 07,3752 13755 BZF +3
055740,000833:
055741,000834: 07,3753 05652 TC POODOO # NO
055742,000835: 07,3754 01210 OCT 1210 # 2 TRYING TO USE SAME DEVICE
055743,000836:
055744,000837: 07,3755 00006 +3 EXTEND
055745,000838: 07,3756 30134 DCA BUF2
055746,000839: 07,3757 53310 DXCH ATTCADR # SAVE FINAL RETURN FOR KALCMAN3
055747,000840:
055748,000841: 07,3760 30006 CA BBANK
055749,000842: 07,3761 74757 MASK SEVEN
055750,000843: 07,3762 27310 ADS ATTCADR +1
055751,000844:
055752,000845: 07,3763 30167 CA PRIORITY
055753,000846: 07,3764 77725 MASK PRIO37
055754,000847: 07,3765 55311 TS ATTPRIO # SAVE USERS PRIO
055755,000848:
055756,000849: 07,3766 33772 CAF KALEBCON # SET EBANK FOR KALCMAN3
055757,000850: 07,3767 54003 TS EBANK
055758,000851: 07,3770 04635 TC POSTJUMP
055759,000852: 07,3771 44004 CADR KALCMAN3
055760,000853: 07,3772 03276 KALEBCON ECADR BCDU
055761,000854:
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Page 1332
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055763,000856: # PROGRAM DESCRIPTION
055764,000857: # IMU STATUS CHECK ROUTINE R02 (SUBROUTINE UTILITY)
055765,000858: # MOD NO - 1
055766,000859: # MOD BY - N.BRODEUR
055767,000860:
055768,000861: # FUNCTIONAL DESCRIPTION
055769,000862: # TO CHECK WHETHER IMU IS ON AND IF ON WHETHER IT IS ALIGNED TO AN
055770,000863: # ORIENTATION KNOWN BY THE CMC. TO REQUEST SELECTION OF THE APPROPRIATE
055771,000864: # PROGRAM IF THE IMU IS OFF OR NOT ALIGNED TO AN ORIENTATION KNOWN BY THE
055772,000865: # CMC. CALLED THROUGH BANKCALL
055773,000866:
055774,000867: # CALLING SEQUENCE -
055775,000868: # L TC BANKCALL
055776,000869: # L+1 CADR R02BOTH
055777,000870:
055778,000871: # SUBROUTINES CALLED
055779,000872: # VARALARM
055780,000873: # FLAGUP
055781,000874:
055782,000875: # NORMAL EXIT MODES
055783,000876: # AT L+2 OF CALLING SEQUENCE
055784,000877:
055785,000878: # ALARM OR ABORT EXIT MODES
055786,000879: # GOTOPOOH, WITH ALARM
055787,000880:
055788,000881: # ERASABLE INITIALIZATION REQUIRED
055789,000882: # NONE
055790,000883:
055791,000884: # DEBRIS
055792,000885: # CENTRALS - A,Q,L
055793,000886:
055794,000887: 34,3775 BANK 34
055795,000888: 04,2000 SETLOC R02
055796,000889: 04,2000 BANK
055797,000890: 04,3253 COUNT* $$/R02
055798,000891: 04,3253 00063 DEC51 DEC 51 B-14
055799,000892: 04,3254 34737 R02BOTH CAF REFSMBIT
055800,000893: 04,3255 70077 MASK FLAGWRD3
055801,000894: 04,3256 10000 CCS A
055802,000895: 04,3257 03270 TC R02ZERO # ZERO IMUS
055803,000896:
055804,000897: 04,3260 31302 CA IMODES30
055805,000898: 04,3261 74743 MASK BIT9 # IS ISS INITIALIZED
055806,000899: 04,3262 00006 EXTEND
055807,000900: 04,3263 13265 BZF +2
055808,000901: 04,3264 44750 CS BIT4 # SEND IMU ALARM CODE 210
055809,000902: 04,3265 63273 AD OCT220 # SEND REFSMM ALARM
055810,000903: 04,3266 05744 TC VARALARM
055811,000904:
055812,000905: 04,3267 06001 TC GOTOPOOH
055813,000906:
055814,000907: 04,3270 05504 R02ZERO TC UPFLAG
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Page 1333
|
055816,000909: 04,3271 00007 ADRES IMUSE
055817,000910: 04,3272 14631 TCF SWRETURN
055818,000911: 04,3273 00220 OCT220 OCT 220
055819,000912:
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Page 1334
|
055821,000914: # PROGRAM DESCRIPTION P06 10 FEB 67
055822,000915:
055823,000916: # TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION.
055824,000917:
055825,000918: # THE NORMAL CONDITION OF READINESS OF THE GNCS WHEN NOT IN USE IS STANDBY. IN THIS CONDITION THE IMU
055826,000919: # HEATER POWER IS ON. THE IMU OPERATE POWER IS OFF. THE COMPUTER POWER IS ON. THE OPTICS POWER IS OFF. THE
055827,000920: # CMC STANDBY ON THE MAIN AND LEB DISKYS IS ON.
055828,000921:
055829,000922: # CALLING SEQUENCE:
055830,000923: # ASTRONAUT REQUEST THROUGH DSKY V37E 06E.
055831,000924:
055832,000925: # SUBROUTINES CALLED:
055833,000926: # GOPERF1
055834,000927: # BANKCALL
055835,000928: # FLAGDOWN
055836,000929:
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Page 1335
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055838,000931: # PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2
055839,000932: # THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATABILITY
055840,000933: # BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING.
055841,000934:
055842,000935: 37,2000 SETLOC P05P06
055843,000936: 37,2000 BANK
055844,000937:
055845,000938: 37,3655 0314 EBANK= TIME2SAV
055846,000939: 37,3655 COUNT* $$/P06
055847,000940:
055848,000941: 37,3655 05504 P06 TC UPFLAG # SET NODOV37 BIT
055849,000942: 37,3656 00054 ADRES NODOFLAG
055850,000943:
055851,000944: 37,3657 00004 PRESTAND INHINT
055852,000945: 37,3660 00006 EXTEND
055853,000946: 37,3661 30025 DCA TIME2 # SNAPSHOT TIME1 TIME2
055854,000947: 37,3662 52315 DXCH TIME2SAV
055855,000948: 37,3663 03714 TC SCALPREP
055856,000949: 37,3664 03657 TC PRESTAND # T1,T2,SCALER NOT COMPATIBLE
055857,000950: 37,3665 52155 DXCH MPAC # T1,T2 AND SCALER OK
055858,000951: 37,3666 52317 DXCH SCALSAVE # STORE SCALER
055859,000952: 37,3667 00004 INHINT
055860,000953: 37,3670 04616 TC BANKCALL
055861,000954: 37,3671 17175 CADR RNDREFDR # REFSMM, DRIFT, TRACK FLAGS DOWN
055862,000955:
055863,000956: 37,3672 05516 TC DOWNFLAG
055864,000957: 37,3673 00007 ADRES IMUSE # IMUSE DOWN
055865,000958: 37,3674 05516 TC DOWNFLAG
055866,000959: 37,3675 00010 ADRES RNDVZFLG # RNDVZFLG DOWN
055867,000960:
055868,000961: 37,3676 34741 CAF BIT11
055869,000962: 37,3677 00006 EXTEND
055870,000963: 37,3700 05013 WOR CHAN13 # SET STANDBY ENABLE BIT
055871,000964:
055872,000965: 37,3701 05353 TC PHASCHNG # SET RESTART TO POSTAND WHEN STANDBY
055873,000966: 37,3702 07024 OCT 07024 # RECOVERS
055874,000967: 37,3703 20000 OCT 20000
055875,000968: 37,3704 0316 EBANK= SCALSAVE
055876,000969: 37,3704 03734 76060 2CADR POSTAND
055877,000970:
055878,000971: 37,3706 34774 CAF OCT62
055879,000972: 37,3707 04616 TC BANKCALL
055880,000973: 37,3710 20623 CADR GOPERF1
055881,000974: 37,3711 13706 TCF -3
055882,000975: 37,3712 13706 TCF -4
055883,000976: 37,3713 13706 TCF -5
055884,000977:
055885,000978: 37,3714 4774 OCT62 EQUALS .5SEC # DEC 50 = OCT 62
055886,000979:
055887,000980: # 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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055889,000982: # T1 INCREMENT. IF SCALPREP DETECTS THIS INTERVAL THE T1,T2 AND SCALER
055890,000983: # DATA ARE NOT COMPATABLE AND RETURN IS TO L+1 FOR ANOTHER READING OF THE
055891,000984: # DATA. OTHERWISE, THE RETURN IS TO L+2 TO PROCEED. ROUTINE ALSO PREPARES
055892,000985: # THE SCALER READING FOR COMPUTATION OF THE INCREMENT TO UPDATE T1T2. (THE
055893,000986: # 10 MS BIT (BIT 6) OF THE SCALER IS INCREMENTED 5 MS OUT OF PHASE FROM
055894,000987: # T1.) ADDITION OF 5 MS (BIT 5) TO THE SCALER READING HAS THE EFFECT OF
055895,000988: # ADJUSTING BIT 6 IN THE SCALER TO BE IN PHASE WITH BIT 1 OF T1. THE LOW 5
055896,000989: # BITS OF THE SCALER READING ARE THEN SET TO ZERO, TO TRUNCATE THE SCALER
055897,000990: # DATA TO 10 MS. RESULTS ARE STORED IN MPAC, +1.
055898,000991:
055899,000992: 37,3714 00006 SCALPREP EXTEND
055900,000993: 37,3715 22156 QXCH MPAC +2
055901,000994: 37,3716 04103 TC FINETIME +1
055902,000995: 37,3717 00003 RELINT
055903,000996: 37,3720 52155 DXCH MPAC
055904,000997: 37,3721 34747 CA BIT5 # ADD 5 MS TO THE SCALER READING.
055905,000998: 37,3722 54001 TS L
055906,000999: 37,3723 34755 CA ZERO
055907,001000: 37,3724 20155 DAS MPAC
055908,001001: 37,3725 44346 CS LOW5 # SET LOW 5 BITS OF (SCALER+5MS) TO ZERO
055909,001002: 37,3726 70155 MASK MPAC +1 # AND STORE RESULTS IN MPAC,+1.
055910,001003: 37,3727 56155 XCH MPAC +1
055911,001004: 37,3730 74346 MASK LOW5 # TEST LOW 5 BITS OF SCALER FOR THE FIRST
055912,001005: # INTERVAL AFTER THE T1 INCREMENT
055913,001006: # (NOW = 00000, SINCE BIT 5 ADDED).
055914,001007: 37,3731 10000 CCS A # IS IT 1ST INTERVAL AFTER T1 INCREMENT
055915,001008: 37,3732 24156 INCR MPAC +2 # NO
055916,001009: 37,3733 00156 TC MPAC +2 # YES
055917,001010:
055918,001011: # POSTAND RECOVERS TIME AFTER STANDBY. THE SCALER IS SNAPSHOTTED AND THE
055919,001012: # TIME1 TIME2 COUNTER IS SET TO ZERO. THE LOW 5 BITS OF THE SCALER ARE
055920,001013: # INSPECTED TO INSURE COMPATABILITY BETWEEN THE SCALER READING AND THE
055921,001014: # CLEARING OF THE TIME COUNTER. IT THEN COMPUTES THE DIFFERENCE IN SCALER
055922,001015: # VALUES (IN DP) AND ADDS THIS TO THE PREVIOUSLY SNAPSHOTTED VALUES OF
055923,001016: # TIME1 TIME2 AND PLACES THIS NEW TIME INTO THE TIME1 TIME2 COUNTER.
055924,001017:
055925,001018: 37,3734 COUNT* $$/P05
055926,001019:
055927,001020: 37,3734 44741 POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY.
055928,001021: 37,3735 00006 EXTEND
055929,001022: 37,3736 03013 WAND CHAN13 # CLEAR STANDBY ENABLE BIT
055930,001023: 37,3737 00004 INHINT
055931,001024: 37,3740 34755 CA ZERO
055932,001025: 37,3741 54001 TS L
055933,001026: 37,3742 52025 DXCH TIME2 # CLEAR TIME1TIME2
055934,001027: 37,3743 03714 TC SCALPREP # STORE SCALER IN MPAC, MPAC+1
055935,001028: 37,3744 03737 TC POSTAND +3 # T1,T2,SCALER NOT COMPATIBLE
055936,001029: 37,3745 00006 EXTEND # T1,T2 AND SCALER OK
055937,001030: 37,3746 40317 DCS SCALSAVE
055938,001031: 37,3747 20155 DAS MPAC # FORM DP DIFFERENCE OF POSTSTANDBY SCALER
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Page 1337
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055940,001033: 37,3750 34742 CAF BIT10 # MINUS PRESTANDBY SCALER AND SHIFT RIGHT
055941,001034: 37,3751 07307 TC SHORTMP # 5 TO ALIGN BITS WITH TIME1 TIME2.
055942,001035: 37,3752 34755 CAF ZERO
055943,001036: 37,3753 54156 TS MPAC +2 # NEEDED FOR TP AGREE
055944,001037: 37,3754 07257 TC TPAGREE # MAKE DP DIFF AGREE
055945,001038: 37,3755 10154 CCS MPAC
055946,001039: 37,3756 03763 TC POSTCOM # IF DP DIFF NET +, NO SCALER OVERFLOW
055947,001040: 37,3757 03763 TC POSTCOM # BETWEEN PRE AND POST STANDBY.
055948,001041: 37,3760 03761 TC +1 # IF DP DIFF NET -, SCALER OVERFLOWED. ADD
055949,001042: 37,3761 34742 CAF BIT10 # BIT 10 TO HIGH DIFF TO CORRECT.
055950,001043: 37,3762 26154 ADS MPAC
055951,001044: 37,3763 00006 POSTCOM EXTEND # C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER.
055952,001045: 37,3764 30315 DCA TIME2SAV # PRESTANDBY TIME1TIME2
055953,001046: 37,3765 20155 DAS MPAC
055954,001047: 37,3766 07257 TC TPAGREE # FORCE SIGN AGREEMENT
055955,001048: 37,3767 52155 DXCH MPAC # UPDATED VALUE FOR T1,T2.
055956,001049: 37,3770 20025 DAS TIME2 # LOAD UPDATED VALUE INTO T1,T2, WITH
055957,001050: 37,3771 05516 TC DOWNFLAG # CLEAR NODOFLAG
055958,001051: 37,3772 00054 ADRES NODOFLAG
055959,001052:
055960,001053: 37,3773 06001 TC GOTOPOOH
055961,001054:
End of include-file IMU_MODE_SWITCHING_ROUTINES.agc. Parent file is MAIN.agc