GAP: ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061 16:27 JULY 14,1969Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source-code files were from the printout at the MIT Museum, with many thanks
to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing
it to us. The printout was digitally photographed by Paul Fjeld. A team of
volunteers transcribed the source code manually from these images or, where
appropriate, modified already-transcribed but similar source Luminary 131 (Apollo 13)
source code to agree with the images from the printout. Note that the page images
presented online are of reduced quality, and that higher-quality images
are available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061 16:27 JULY 14,1969Note that the date is the date of the printout, not the date of the program revision. |
056269,000002: ## Copyright: Public domain.
056270,000003: ## Filename: IMU_MODE_SWITCHING_ROUTINES.agc
056271,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
056272,000005: ## It is part of the source code for the Lunar Module's (LM)
056273,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
056274,000007: ## Assembler: yaYUL
056275,000008: ## Contact: Onno Hommes <ohommes@cmu.edu>.
056276,000009: ## Website: www.ibiblio.org/apollo.
056277,000010: ## Pages: 1309-1337
056278,000011: ## Mod history: 2009-05-28 OH Transcribed from page images.
056279,000012: ## 2009-06-05 RSB Fixed a typo.
056280,000013: ## 2011-01-06 JL Fixed pseudo-label indentation.
056281,000014: ## 2011-05-08 JL Removed workaround. Flagged SBANK=
056282,000015: ## workaround for future removal.
056283,000016: ## 2016-12-13 RSB GOTOP00H -> GOTOPOOH
056284,000017: ## 2016-12-18 RSB Proofed text comments with octopus/ProoferComments
056285,000018: ## and corrected the errors found.
056286,000019: ## 2017-01-18 RRB Found typo while updating for Luminary 69.
056287,000020: ## 2017-01-28 RSB Comment-text fixes identified for Luminary 69.
056288,000021: ## 2017-03-13 RSB Comment-text fixes noted in proofing Luminary 116.
056289,000022: ## 2017-03-15 RSB Comment-text fixes identified in 6-way
056290,000023: ## side-by-side diff of Sunburst 120 and Luminary
056291,000024: ## 69/99/116/131/210.
056292,000025: ## 2017-06-17 MAS Globally removed all SBANK= workarounds.
056293,000026:
056294,000027: ## This source code has been transcribed or otherwise adapted from
056295,000028: ## digitized images of a hardcopy from the MIT Museum. The digitization
056296,000029: ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
056297,000030: ## the Museum. Many thanks to both. The images (with suitable reduction
056298,000031: ## in storage size and consequent reduction in image quality as well) are
056299,000032: ## available online at www.ibiblio.org/apollo. If for some reason you
056300,000033: ## find that the images are illegible, contact me at info@sandroid.org
056301,000034: ## about getting access to the (much) higher-quality images which Paul
056302,000035: ## actually created.
056303,000036: ##
056304,000037: ## Notations on the hardcopy document read, in part:
056305,000038: ##
056306,000039: ## Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
056307,000040: ## 16:27 JULY 14, 1969
056308,000041:
056309,000042:
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Page 1309 |
056311,000044: 5457 BLOCK 02
056312,000045: 4000 SETLOC FFTAG3
056313,000046: 4000 BANK
056314,000047:
056315,000048: 5457 E3,1471 EBANK= COMMAND
056316,000049:
056317,000050: # FIXED-FIXED ROUTINES.
056318,000051:
056319,000052: 5457 COUNT* $$/IMODE
056320,000053: 5457 34755 ZEROICDU CAF ZERO # ZERO ICDU COUNTERS.
056321,000054: 5460 54032 TS CDUX
056322,000055: 5461 54033 TS CDUY
056323,000056: 5462 54034 TS CDUZ
056324,000057: 5463 00002 TC Q
056325,000058:
056326,000059: 5464 4743 SPSCODE = BIT9
056327,000060:
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Page 1310 |
056329,000062: # IMU ZEROING ROUTINE.
056330,000063:
056331,000064: 11,3776 BANK 11
056332,000065: 07,2000 SETLOC MODESW
056333,000066: 07,2000 BANK
056334,000067:
056335,000068: 07,2714 COUNT* $$/IMODE
056336,000069: 07,2714 00004 IMUZERO INHINT # ROUTINE TO ZERO ICDUS.
056337,000070: 07,2715 41036 CS DSPTAB +11D # DONT ZERO CDUS IF IMU IN GIMBAL LOCK AND
056338,000071: 07,2716 74771 MASK BITS4&6 # COARSE ALIGN (GIMBAL RUNAWAY PROTECTION)
056339,000072: 07,2717 10000 CCS A
056340,000073: 07,2720 12724 TCF IMUZEROA
056341,000074:
056342,000075: 07,2721 05567 TC ALARM # IF SO.
056343,000076: 07,2722 00206 OCT 00206
056344,000077:
056345,000078: 07,2723 13657 TCF CAGETSTJ +4 # IMMEDIATE FAILURE.
056346,000079:
056347,000080: 07,2724 03653 IMUZEROA TC CAGETSTJ
056348,000081: # DELETE
056349,000082: 07,2725 41303 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
056350,000083: 07,2726 74773 MASK SUPER011 # BIT5 FOR GROUND
056351,000084: 07,2727 27303 ADS IMODES33
056352,000085:
056353,000086: 07,2730 41302 CS IMODES30 # INHIBIT ICDUFAIL AND IMUFAIL (IN CASE WE
056354,000087: 07,2731 75751 MASK BITS3&4 # JUST CAME OUT OF COARSE ALIGN).
056355,000088: 07,2732 27302 ADS IMODES30
056356,000089:
056357,000090: 07,2733 44771 CS BITS4&6 # SEND ZERO ENCODE WITH COARSE AND ERROR
056358,000091: 07,2734 00006 EXTEND # COUNTER DISABLED.
056359,000092: 07,2735 03012 WAND CHAN12
056360,000093:
056361,000094: 07,2736 03266 TC NOATTOFF # TURN OFF NO ATT LAMP.
056362,000095:
056363,000096: 07,2737 34747 CAF BIT5
056364,000097: 07,2740 00006 EXTEND
056365,000098: 07,2741 05012 WOR CHAN12
056366,000099:
056367,000100: 07,2742 05457 TC ZEROICDU
056368,000101: 07,2743 34746 CAF BIT6 # WAIT 320 MS TO GIVE AGS ADEQUATE TIME TO
056369,000102: 07,2744 05203 TC WAITLIST # RECEIVE ITS PULSE TRAIN.
056370,000103: 07,2745 E3,1474 EBANK= CDUIND
056371,000104: 07,2745 02757 16103 2CADR IMUZERO2
056372,000105:
056373,000106: 07,2747 41302 CS IMODES30 # SEE IF IMU OPERATING AND ALARM IF NOT.
056374,000107: 07,2750 74743 MASK BIT9
056375,000108: 07,2751 10000 CCS A
056376,000109: 07,2752 12755 TCF MODEEXIT
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Page 1311 |
056378,000111: 07,2753 05567 TC ALARM
056379,000112: 07,2754 00210 OCT 210
056380,000113:
056381,000114: 07,2755 00003 MODEEXIT RELINT # GENERAL MODE-SWITCHING EXIT.
056382,000115: 07,2756 14631 TCF SWRETURN
056383,000116:
056384,000117: 07,2757 03641 IMUZERO2 TC CAGETEST
056385,000118: 07,2760 05457 TC ZEROICDU # ZERO CDUX, CDUY, CDUZ
056386,000119:
056387,000120: 07,2761 44747 CS BIT5 # REMOVE ZERO DISCRETE.
056388,000121: 07,2762 00006 EXTEND
056389,000122: 07,2763 03012 WAND CHAN12
056390,000123:
056391,000124: 07,2764 34741 CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS
056392,000125: 07,2765 05224 TC VARDELAY
056393,000126:
056394,000127: 07,2766 03641 IMUZERO3 TC CAGETEST
056395,000128: 07,2767 45751 CS BITS3&4 # REMOVE IMUFAIL AND ICDUFAIL INHIBIT.
056396,000129: 07,2770 71302 MASK IMODES30
056397,000130: 07,2771 55302 TS IMODES30
056398,000131:
056399,000132: 07,2772 44773 CS SUPER011 # ENABLE DAP AUTO AND HOLD MODES
056400,000133: 07,2773 71303 MASK IMODES33 # BIT5 FOR GROUND
056401,000134: 07,2774 55303 TS IMODES33
056402,000135:
056403,000136: 07,2775 04674 TC IBNKCALL # SET ISS WARNING IF EITHER OF ABOVE ARE
056404,000137: 07,2776 14703 CADR SETISSW # PRESENT.
056405,000138:
056406,000139: 07,2777 13631 TCF ENDIMU
056407,000140:
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Page 1312 |
056409,000142: # IMU COARSE ALIGN MODE.
056410,000143:
056411,000144: 07,3000 00004 IMUCOARS INHINT
056412,000145: 07,3001 03653 TC CAGETSTJ
056413,000146: 07,3002 03144 TC SETCOARS
056414,000147:
056415,000148: 07,3003 36242 CAF SIX
056416,000149: 07,3004 05203 TC WAITLIST
056417,000150: 07,3005 E3,1474 EBANK= CDUIND
056418,000151: 07,3005 03010 16103 2CADR COARS
056419,000152:
056420,000153: 07,3007 12755 TCF MODEEXIT
056421,000154:
056422,000155: 07,3010 03641 COARS TC CAGETEST
056423,000156: 07,3011 34746 CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
056424,000157: 07,3012 00006 EXTEND
056425,000158: 07,3013 05012 WOR CHAN12
056426,000159:
056427,000160: 07,3014 34752 CAF TWO # SET CDU INDICATOR
056428,000161: 07,3015 55474 COARS1 TS CDUIND
056429,000162:
056430,000163: 07,3016 51474 INDEX CDUIND # COMPUTE THETAD - THETAA IN 1:S
056431,000164: 07,3017 30321 CA THETAD # COMPLEMENT FORM
056432,000165: 07,3020 00006 EXTEND
056433,000166: 07,3021 51474 INDEX CDUIND
056434,000167: 07,3022 20032 MSU CDUX
056435,000168: 07,3023 00006 EXTEND
056436,000169: 07,3024 74737 MP BIT13 # SHIFT RIGHT 2
056437,000170: 07,3025 56001 XCH L # ROUND
056438,000171: 07,3026 60000 DOUBLE
056439,000172: 07,3027 54061 TS ITEMP1
056440,000173: 07,3030 13032 TCF +2
056441,000174: 07,3031 26001 ADS L
056442,000175:
056443,000176: 07,3032 51474 INDEX CDUIND # DIFFERENCE TO BE COMPUTED
056444,000177: 07,3033 23471 LXCH COMMAND
056445,000178: 07,3034 11474 CCS CDUIND
056446,000179: 07,3035 03015 TC COARS1
056447,000180:
056448,000181: 07,3036 34752 CAF TWO # MINIMUM OF 4 MS WAIT
056449,000182: 07,3037 05224 TC VARDELAY
056450,000183:
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Page 1313 |
056452,000185: 07,3040 03641 COARS2 TC CAGETEST # DONT CONTINUE IF CAGED.
056453,000186: 07,3041 54061 TS ITEMP1 # SETS TO +0.
056454,000187: 07,3042 34752 CAF TWO # SET CDU INDICATOR
056455,000188: 07,3043 55474 +3 TS CDUIND
056456,000189:
056457,000190: 07,3044 51474 INDEX CDUIND
056458,000191: 07,3045 11471 CCS COMMAND # NUMBER OF PULSES REQUIRED
056459,000192: 07,3046 03052 TC COMPOS # GREATER THAN MAX ALLOWED
056460,000193: 07,3047 03061 TC NEXTCDU +1
056461,000194: 07,3050 03117 TC COMNEG
056462,000195: 07,3051 03061 TC NEXTCDU +1
056463,000196:
056464,000197: 07,3052 63745 COMPOS AD -COMMAX # COMMAX = MAX NUMBER OF PULSES ALLOWED
056465,000198: 07,3053 00006 EXTEND # MINUS ONE
056466,000199: 07,3054 63127 BZMF COMZERO
056467,000200: 07,3055 51474 INDEX CDUIND
056468,000201: 07,3056 55471 TS COMMAND # REDUCE COMMAND BY MAX NUMBER OF PULSES
056469,000202: 07,3057 43746 CS -COMMAX- # ALLOWED
056470,000203:
056471,000204: 07,3060 24061 NEXTCDU INCR ITEMP1
056472,000205: 07,3061 64754 AD NEG0
056473,000206: 07,3062 51474 INDEX CDUIND
056474,000207: 07,3063 54050 TS CDUXCMD # SET UP COMMAND REGISTER.
056475,000208:
056476,000209: 07,3064 11474 CCS CDUIND
056477,000210: 07,3065 03043 TC COARS2 +3
056478,000211:
056479,000212: 07,3066 10061 CCS ITEMP1 # SEE IF ANY PULSES TO GO OUT.
056480,000213: 07,3067 13133 TCF SENDPULS
056481,000214:
056482,000215: 07,3070 05221 TC FIXDELAY # WAIT FOR GIMBALS TO SETTLE.
056483,000216: 07,3071 00226 DEC 150 B-14
056484,000217:
056485,000218: 07,3072 34752 CAF TWO # AT END OF COMMAND, CHECK TO SEE THAT
056486,000219: 07,3073 54061 CHKCORS TS ITEMP1 # GIMBALS ARE WITHIN 2 DEGREES OF THETAD.
056487,000220: 07,3074 50000 INDEX A
056488,000221: 07,3075 30032 CA CDUX
056489,000222: 07,3076 00006 EXTEND
056490,000223: 07,3077 50061 INDEX ITEMP1
056491,000224: 07,3100 20321 MSU THETAD
056492,000225: 07,3101 10000 CCS A
056493,000226: 07,3102 13110 TCF COARSERR
056494,000227: 07,3103 13105 TCF CORSCHK2
056495,000228: 07,3104 13110 TCF COARSERR
056496,000229:
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Page 1314 |
056498,000231: 07,3105 10061 CORSCHK2 CCS ITEMP1
056499,000232: 07,3106 13073 TCF CHKCORS
056500,000233: 07,3107 13631 TCF ENDIMU # END OF COARSE ALIGNMENT.
056501,000234:
056502,000235: 07,3110 63116 COARSERR AD COARSTOL # 2 DEGREES.
056503,000236: 07,3111 00006 EXTEND
056504,000237: 07,3112 63105 BZMF CORSCHK2
056505,000238:
056506,000239: 07,3113 05567 TC ALARM # COARSE ALIGN ERROR.
056507,000240: 07,3114 00211 OCT 211
056508,000241:
056509,000242: 07,3115 13637 TCF IMUBAD
056510,000243:
056511,000244: 07,3116 77511 COARSTOL DEC -.01111 # 2 DEGREES SCALED AT HALF-REVOLUTIONS
056512,000245:
056513,000246: 07,3117 63745 COMNEG AD -COMMAX
056514,000247: 07,3120 00006 EXTEND
056515,000248: 07,3121 63127 BZMF COMZERO
056516,000249: 07,3122 40000 COM
056517,000250: 07,3123 51474 INDEX CDUIND
056518,000251: 07,3124 55471 TS COMMAND
056519,000252: 07,3125 33746 CA -COMMAX-
056520,000253: 07,3126 03060 TC NEXTCDU
056521,000254:
056522,000255: 07,3127 34755 COMZERO CAF ZERO
056523,000256: 07,3130 51474 INDEX CDUIND
056524,000257: 07,3131 57471 XCH COMMAND
056525,000258: 07,3132 03060 TC NEXTCDU
056526,000259:
056527,000260: 07,3133 37740 SENDPULS CAF 13,14,15
056528,000261: 07,3134 00006 EXTEND
056529,000262: 07,3135 05014 WOR CHAN14
056530,000263: 07,3136 33747 CAF 600MS
056531,000264: 07,3137 13037 TCF COARS2 -1 # THEN TO VARDELAY
056532,000265:
056533,000266: 07,3140 34746 CA+ECE CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
056534,000267: 07,3141 00006 EXTEND
056535,000268: 07,3142 05012 WOR CHAN12
056536,000269: 07,3143 05261 TC TASKOVER
056537,000270:
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Page 1315 |
056539,000272: 07,3144 34750 SETCOARS CAF BIT4 # BYPASS IF ALREADY IN COARSE ALIGN
056540,000273: 07,3145 00006 EXTEND
056541,000274: 07,3146 02012 RAND CHAN12
056542,000275: 07,3147 10000 CCS A
056543,000276: 07,3150 00002 TC Q
056544,000277:
056545,000278: 07,3151 44746 CS BIT6 # CLEAR ISS ERROR COUNTERS
056546,000279: 07,3152 00006 EXTEND
056547,000280: 07,3153 03012 WAND CHAN12
056548,000281:
056549,000282: 07,3154 44742 CS BIT10 # KNOCK DOWN GYRO ACTIVITY
056550,000283: 07,3155 00006 EXTEND
056551,000284: 07,3156 03014 WAND CHAN14
056552,000285: 07,3157 44755 CS ZERO
056553,000286: 07,3160 54047 TS GYROCMD
056554,000287:
056555,000288: 07,3161 34750 CAF BIT4 # PUT ISS IN COARSE ALIGN
056556,000289: 07,3162 00006 EXTEND
056557,000290: 07,3163 05012 WOR CHAN12
056558,000291:
056559,000292: 07,3164 41036 CS DSPTAB +11D # TURN ON NO ATT LAMP
056560,000293: 07,3165 73207 MASK OCT40010
056561,000294: 07,3166 27036 ADS DSPTAB +11D
056562,000295:
056563,000296: 07,3167 41303 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
056564,000297: 07,3170 74746 MASK BIT6
056565,000298: 07,3171 27303 ADS IMODES33
056566,000299:
056567,000300: 07,3172 41302 CS IMODES30 # DISABLE IMUFAIL
056568,000301: 07,3173 74750 MASK BIT4
056569,000302: 07,3174 27302 ADS IMODES30
056570,000303:
056571,000304: 07,3175 44747 RNDREFDR CS TRACKBIT # CLEAR TRACK FLAG
056572,000305: 07,3176 70075 MASK FLAGWRD1
056573,000306: 07,3177 54075 TS FLAGWRD1
056574,000307:
056575,000308: 07,3200 44735 CS DRFTBIT # CLEAR DRIFT FLAG
056576,000309: 07,3201 70076 MASK FLAGWRD2
056577,000310: 07,3202 54076 TS FLAGWRD2
056578,000311:
056579,000312: 07,3203 44737 CS REFSMBIT # CLEAR REFSMMAT FLAG
056580,000313: 07,3204 70077 MASK FLAGWRD3
056581,000314: 07,3205 54077 TS FLAGWRD3
056582,000315:
056583,000316: 07,3206 00002 TC Q
056584,000317:
056585,000318: 07,3207 40010 OCT40010 OCT 40010
056586,000319:
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Page 1316 |
056588,000321: # IMU FINE ALIGN MODE SWITCH.
056589,000322:
056590,000323: 07,3210 00004 IMUFINE INHINT
056591,000324: 07,3211 03653 TC CAGETSTJ # SEE IF IMU BEING CAGED.
056592,000325:
056593,000326: 07,3212 43744 CS BITS4-5 # RESET ZERO AND COARSE
056594,000327: 07,3213 00006 EXTEND
056595,000328: 07,3214 03012 WAND CHAN12
056596,000329:
056597,000330: 07,3215 44746 CS BIT6 # INSURE DAP AUTO AND HOLD MODES ENABLED
056598,000331: 07,3216 71303 MASK IMODES33
056599,000332: 07,3217 55303 TS IMODES33
056600,000333:
056601,000334: 07,3220 03266 TC NOATTOFF
056602,000335:
056603,000336: 07,3221 34742 CAF BIT10 # IMU FAIL WAS INHIBITED DURING THE
056604,000337: 07,3222 05203 TC WAITLIST # PRESUMABLY PRECEDING COARSE ALIGN. LEAVE
056605,000338: 07,3223 E3,1474 EBANK= CDUIND
056606,000339: 07,3223 03234 16103 2CADR IFAILOK # IT ON FOR THE FIRST 5 SECS OF FINE ALIGN
056607,000340:
056608,000341: 07,3225 35000 CAF 2SECS
056609,000342: 07,3226 05203 TC WAITLIST
056610,000343: 07,3227 E3,1474 EBANK= CDUIND
056611,000344: 07,3227 03232 16103 2CADR IMUFINED
056612,000345:
056613,000346: 07,3231 12755 TCF MODEEXIT
056614,000347:
056615,000348: 07,3232 03641 IMUFINED TC CAGETEST # SEE THAT NO ONE HAS CAGED THE IMU.
056616,000349: 07,3233 13631 TCF ENDIMU
056617,000350:
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Page 1317 |
056619,000352: 07,3234 03646 IFAILOK TC CAGETSTQ # ENABLE IMU FIAL UNLESS IMU BEING CAGED.
056620,000353: 07,3235 15261 TCF TASKOVER # IT IS.
056621,000354:
056622,000355: 07,3236 34750 CAF BIT4 # DONT RESET IMU FAIL INHIBIT IF SOMEONE
056623,000356: 07,3237 00006 EXTEND # HAS GONE INTO COARSE ALIGN.
056624,000357: 07,3240 02012 RAND CHAN12
056625,000358: 07,3241 10000 CCS A
056626,000359: 07,3242 15261 TCF TASKOVER
056627,000360:
056628,000361: 07,3243 41302 CS IMODES30 # RESET IMUFAIL.
056629,000362: 07,3244 74737 MASK BIT13
056630,000363: 07,3245 27302 ADS IMODES30
056631,000364: 07,3246 44750 CS BIT4
056632,000365: 07,3247 71302 PFAILOK2 MASK IMODES30
056633,000366: 07,3250 55302 TS IMODES30
056634,000367: 07,3251 04674 TC IBNKCALL # THE ISS WARNING LIGHT MAY COME ON NOW
056635,000368: 07,3252 14703 CADR SETISSW # THAT THE INHIBIT HAS BEEN REMOVED.
056636,000369: 07,3253 15261 TCF TASKOVER
056637,000370:
056638,000371: 07,3254 03646 PFAILOK TC CAGETSTQ # ENABLE PIP FAIL PROG ALARM.
056639,000372: 07,3255 15261 TCF TASKOVER
056640,000373:
056641,000374: 07,3256 41302 CS IMODES30 # RESET IMU AND PIPA FAIL BITS.
056642,000375: 07,3257 74742 MASK BIT10
056643,000376: 07,3260 27302 ADS IMODES30
056644,000377:
056645,000378: 07,3261 41303 CS IMODES33
056646,000379: 07,3262 74737 MASK BIT13
056647,000380: 07,3263 27303 ADS IMODES33
056648,000381:
056649,000382: 07,3264 44747 CS BIT5
056650,000383: 07,3265 13247 TCF PFAILOK2
056651,000384:
056652,000385: 07,3266 43207 NOATTOFF CS OCT40010 # SUBROUTINE TO TURN OFF NO ATT LAMP.
056653,000386: 07,3267 71036 MASK DSPTAB +11D
056654,000387: 07,3270 64735 AD BIT15
056655,000388: 07,3271 55036 TS DSPTAB +11D
056656,000389: 07,3272 00002 TC Q
056657,000390:
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Page 1318 |
056659,000392: # ROUITNES TO INITIATE AND TERMINATE PROGRAM USE OF THE PIPAS. NO IMUSTALL REQUIRED IN EITHER CASE.
056660,000393:
056661,000394: 07,3273 44755 PIPUSE CS ZERO
056662,000395: 07,3274 54037 TS PIPAX
056663,000396: 07,3275 54040 TS PIPAY
056664,000397: 07,3276 54041 TS PIPAZ
056665,000398:
056666,000399: 07,3277 03646 PIPUSE1 TC CAGETSTQ # DO NOT ENABLE PIPA FAIL IF IMU IS CAGED
056667,000400: 07,3300 14631 TCF SWRETURN
056668,000401:
056669,000402: 07,3301 00004 INHINT
056670,000403: 07,3302 44753 CS BIT1 # IF PIPA FAILS FROM NOW ON (UNTIL
056671,000404: 07,3303 71302 MASK IMODES30 # PIPFREE), LIGHT ISS WARNING.
056672,000405: 07,3304 55302 TS IMODES30
056673,000406:
056674,000407: 07,3305 04674 PIPFREE2 TC IBNKCALL # ISS WARNING MIGHT COME ON NOW.
056675,000408: 07,3306 14703 CADR SETISSW # (OR GO OFF ON PIPFREE).
056676,000409:
056677,000410: 07,3307 12755 TCF MODEEXIT
056678,000411:
056679,000412: 07,3310 00004 PIPFREE INHINT # PROGRAM DONE WITH PIPAS. DONT LIGHT
056680,000413: 07,3311 41302 CS IMODES30 # ISS WARNING.
056681,000414: 07,3312 74753 MASK BIT1
056682,000415: 07,3313 27302 ADS IMODES30
056683,000416:
056684,000417: 07,3314 74742 MASK BIT10 # IF PIP FAIL ON, DO PROG ALSRM AND RESET
056685,000418: 07,3315 10000 CCS A # ISS WARNING.
056686,000419: 07,3316 12755 TCF MODEEXIT
056687,000420:
056688,000421: 07,3317 05567 TC ALARM
056689,000422: 07,3320 00212 OCT 212
056690,000423:
056691,000424: 07,3321 00004 INHINT
056692,000425:
056693,000426: 07,3322 13305 TCF PIPFREE2
056694,000427:
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|
Page 1319 |
056696,000429: # THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIX REGISTERS
056697,000430: # BEGINNING AT THE ECADR ARRIVING IN A. THE MINIMUM SIZE OF ANY PULSE TRAIN IS 16 PULSES (.25 CDU COUNTS). THE
056698,000431: # UNSENT PORTION OF THE COMMAND IS LEFT INTACT IN THE INPUT COMMAND REGISTERS.
056699,000432:
056700,000433: 07,3323 E3,1400 EBANK= 1400 # VARIABLE, ACTUALLY.
056701,000434:
056702,000435: 07,3323 54161 IMUPULSE TS MPAC +5 # SAVE ARRIVING ECADR.
056703,000436: 07,3324 03653 TC CAGETSTJ # DONT PROCEED IF IMU BEING CAGED.
056704,000437:
056705,000438: 07,3325 11314 CCS LGYRO # SEE IF GYROS BUSY.
056706,000439: 07,3326 03367 TC GYROBUSY # SLEEP.
056707,000440:
056708,000441: 07,3327 54156 TS MPAC +2
056709,000442: 07,3330 34746 CAF BIT6 # ENABLE THE POWER SUPPLY.
056710,000443: 07,3331 00006 EXTEND
056711,000444: 07,3332 05014 WOR CHAN14
056712,000445:
056713,000446: 07,3333 34751 CAF FOUR
056714,000447: 07,3334 05203 GWAKE2 TC WAITLIST # (IF A JOB WAS PUT TO SLEEP, THE POWER
056715,000448: 07,3335 E3,1474 EBANK= CDUIND # SUPPLY IS LEFT ON BY THE WAKING JOB).
056716,000449: 07,3335 03405 16103 2CADR STRTGYRO
056717,000450:
056718,000451: 07,3337 30161 CA MPAC +5 # SET UP EBANK, SAVING CALLER'S EBANK FOR
056719,000452: 07,3340 56003 XCH EBANK # RESTORATION ON RETURN.
056720,000453: 07,3341 56161 XCH MPAC +5
056721,000454: 07,3342 55314 TS LGYRO # RESERVES GYROS.
056722,000455: 07,3343 74357 MASK LOW8
056723,000456: 07,3344 54061 TS ITEMP1
056724,000457:
056725,000458: 07,3345 34752 CAF TWO # FORCE SIGN AGREEMENT ON INPUTS.
056726,000459: 07,3346 54157 GYROAGRE TS MPAC +3
056727,000460: 07,3347 60000 DOUBLE
056728,000461: 07,3350 60061 AD ITEMP1
056729,000462: 07,3351 54160 TS MPAC +4
056730,000463: 07,3352 00006 EXTEND
056731,000464: 07,3353 50000 INDEX A
056732,000465: 07,3354 31401 DCA 1400
056733,000466: 07,3355 52155 DXCH MPAC
056734,000467: 07,3356 07257 TC TPAGREE
056735,000468: 07,3357 52155 DXCH MPAC
056736,000469: 07,3360 50160 INDEX MPAC +4
056737,000470: 07,3361 53401 DXCH 1400
056738,000471:
056739,000472: 07,3362 10157 CCS MPAC +3
056740,000473: 07,3363 13346 TCF GYROAGRE
056741,000474:
056742,000475: 07,3364 30161 CA MPAC +5 # RESTORE CALLER'S EBANK.
056743,000476: 07,3365 54003 TS EBANK
056744,000477: 07,3366 12755 TCF MODEEXIT
056745,000478:
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|
Page 1320 |
056747,000480: # ROUTINES TO ALLOW TORQUING BY ONLY ONE JOB AT A TIME.
056748,000481:
056749,000482: 07,3367 00006 GYROBUSY EXTEND # SAVE RETURN 2FCADR.
056750,000483: 07,3370 30134 DCA BUF2
056751,000484: 07,3371 52155 DXCH MPAC
056752,000485: 07,3372 33404 REGSLEEP CAF LGWAKE
056753,000486: 07,3373 15133 TCF JOBSLEEP
056754,000487:
056755,000488: 07,3374 11314 GWAKE CCS LGYRO # WHEN AWAKENED, SEE IF GYROS STILL BUSY.
056756,000489: 07,3375 13372 TCF REGSLEEP # IF SO, SLEEP SOME MORE.
056757,000490:
056758,000491: 07,3376 54156 TS MPAC +2
056759,000492: 07,3377 00006 EXTEND
056760,000493: 07,3400 30155 DCA MPAC
056761,000494: 07,3401 52134 DXCH BUF2 # RESTORE SWRETURN INFO.
056762,000495: 07,3402 34753 CAF ONE
056763,000496: 07,3403 13334 TCF GWAKE2
056764,000497:
056765,000498: 07,3404 17374 LGWAKE CADR GWAKE
056766,000499:
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|
Page 1321 |
056768,000501: # GYRO-TORQUING WAITLIST TASKS.
056769,000502:
056770,000503: 07,3405 43626 STRTGYRO CS GDESELCT # DE-SELECT LAST GYRO.
056771,000504: 07,3406 00006 EXTEND
056772,000505: 07,3407 03014 WAND CHAN14
056773,000506:
056774,000507: 07,3410 03641 TC CAGETEST
056775,000508:
056776,000509: 07,3411 31314 STRTGYR2 CA LGYRO # JUMP ON PHASE COUNTER IN BITS 13-14.
056777,000510: 07,3412 00006 EXTEND
056778,000511: 07,3413 74750 MP BIT4
056779,000512: 07,3414 50000 INDEX A
056780,000513: 07,3415 13416 TCF +1
056781,000514: 07,3416 03433 TC GSELECT # =0. DO Y GYRO.
056782,000515: 07,3417 00202 OCT 00202
056783,000516:
056784,000517: 07,3420 03433 TC GSELECT # =1. DO Z GYRO.
056785,000518: 07,3421 00302 OCT 00302
056786,000519:
056787,000520: 07,3422 03431 TC GSELECT -2 # =2. DO X GYRO.
056788,000521: 07,3423 00100 OCT 00100
056789,000522:
056790,000523: 07,3424 34755 CAF ZERO # =3. DONE
056791,000524: 07,3425 55314 TS LGYRO
056792,000525: 07,3426 33404 CAF LGWAKE # WAKE A POSSIBLE SLEEPING JOB.
056793,000526: 07,3427 05137 TC JOBWAKE
056794,000527:
056795,000528: 07,3430 13232 NORESET TCF IMUFINED # DO NOT RESET POWER SUPPLY
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|
Page 1322 |
056797,000530: 07,3431 44751 -2 CS FOUR # SPECIAL ENTRY TO REGRESS LGYRO FOR X.
056798,000531: 07,3432 27314 ADS LGYRO
056799,000532:
056800,000533: 07,3433 50002 GSELECT INDEX Q # SELECT GYRO.
056801,000534: 07,3434 30000 CAF 0 # PACKED WORD CONTAINS GYRO SELECT BITS
056802,000535: 07,3435 54064 TS ITEMP4 # AND INCREMENT TO LGYRO.
056803,000536: 07,3436 74757 MASK SEVEN
056804,000537: 07,3437 64737 AD BIT13
056805,000538: 07,3440 27314 ADS LGYRO
056806,000539: 07,3441 54003 TS EBANK
056807,000540: 07,3442 74357 MASK LOW8
056808,000541: 07,3443 54061 TS ITEMP1
056809,000542:
056810,000543: 07,3444 44757 CS SEVEN
056811,000544: 07,3445 70064 MASK ITEMP4
056812,000545: 07,3446 54064 TS ITEMP4
056813,000546:
056814,000547: 07,3447 00006 EXTEND # MOVE DP COMMAND TO RUPTREGS FOR TESTING.
056815,000548: 07,3450 50061 INDEX ITEMP1
056816,000549: 07,3451 31401 DCA 1400
056817,000550: 07,3452 52071 DXCH RUPTREG1
056818,000551:
056819,000552: 07,3453 10070 CCS RUPTREG1
056820,000553: 07,3454 13467 TCF MAJ+
056821,000554: 07,3455 13457 TCF +2
056822,000555: 07,3456 13607 TCF MAJ-
056823,000556:
056824,000557: 07,3457 10071 CCS RUPTREG2
056825,000558: 07,3460 13464 TCF MIN+
056826,000559: 07,3461 13411 TCF STRTGYR2
056827,000560: 07,3462 13604 TCF MIN-
056828,000561: 07,3463 13411 TCF STRTGYR2
056829,000562:
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|
Page 1323 |
056831,000564: 07,3464 63520 MIN+ AD -GYROMIN # SMALL POSITIVE COMMAND. SEE IF AT LEAST
056832,000565: 07,3465 00006 EXTEND # 16 GYRO PULSES.
056833,000566: 07,3466 63411 BZMF STRTGYR2
056834,000567:
056835,000568: 07,3467 00006 MAJ+ EXTEND # DEFINITE POSITIVE OUTPUT.
056836,000569: 07,3470 33630 DCA GYROFRAC
056837,000570: 07,3471 20071 DAS RUPTREG1
056838,000571:
056839,000572: 07,3472 30064 CA ITEMP4 # SELECT POSITIVE TORQUING FOR THIS GYRO.
056840,000573: 07,3473 00006 EXTEND
056841,000574: 07,3474 05014 WOR CHAN14
056842,000575:
056843,000576: 07,3475 36074 CAF LOW7 # LEAVE NUMBER OF POSSIBLE 8192 AUGMENTS
056844,000577: 07,3476 70071 MASK RUPTREG2 # TO INITIAL COMMAND IN MAJOR PART OF LONG
056845,000578: 07,3477 56071 XCH RUPTREG2 # TERM STORAGE AND TRUNCATED FRACTION
056846,000579: 07,3500 00006 GMERGE EXTEND # IN MINOR PART. THE MAJOR PART WILL BE
056847,000580: 07,3501 74744 MP BIT8 # COUNTED DOWN TO ZERO IN THE COURSE OF
056848,000581: 07,3502 54062 TS ITEMP2 # PUTTING OUT THE ENTIRE COMMAND.
056849,000582: 07,3503 30070 CA RUPTREG1
056850,000583: 07,3504 00006 EXTEND
056851,000584: 07,3505 74743 MP BIT9
056852,000585: 07,3506 54070 TS RUPTREG1
056853,000586: 07,3507 30001 CA L
056854,000587: 07,3510 00006 EXTEND
056855,000588: 07,3511 74736 MP BIT14
056856,000589: 07,3512 26062 ADS ITEMP2 # INITIAL COMMAND.
056857,000590:
056858,000591: 07,3513 00006 EXTEND # SEE IF MORE THAN ONE PULSE TRAIN NEEDED
056859,000592: 07,3514 30071 DCA RUPTREG1 # (MORE THAN 16383 PULSES).
056860,000593: 07,3515 67747 AD MINUS1
056861,000594: 07,3516 10000 CCS A
056862,000595: 07,3517 13543 TCF LONGGYRO
056863,000596: 07,3520 77601 -GYROMIN OCT -176 # MAY BE ADJUSTED TO SPECIFY MINIMUM CMD
056864,000597: 07,3521 13525 TCF +4
056865,000598:
056866,000599: 07,3522 34736 CAF BIT14
056867,000600: 07,3523 26062 ADS ITEMP2
056868,000601: 07,3524 34755 CAF ZERO
056869,000602:
056870,000603: 07,3525 50061 +4 INDEX ITEMP1
056871,000604: 07,3526 53401 DXCH 1400
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|
Page 1324 |
056873,000606: 07,3527 30062 CA ITEMP2 # ENTIRE COMMAND.
056874,000607: 07,3530 54047 LASTSEG TS GYROCMD
056875,000608: 07,3531 00006 EXTEND
056876,000609: 07,3532 74742 MP BIT10 # WAITLIST DT
056877,000610: 07,3533 66245 AD THREE # TRUNCATION AND PHASE UNCERTAINTIES.
056878,000611: 07,3534 05203 TC WAITLIST
056879,000612: 07,3535 E3,1474 EBANK= CDUIND
056880,000613: 07,3535 03405 16103 2CADR STRTGYRO
056881,000614:
056882,000615: 07,3537 34742 GYROEXIT CAF BIT10
056883,000616: 07,3540 00006 EXTEND
056884,000617: 07,3541 05014 WOR CHAN14
056885,000618: 07,3542 15261 TCF TASKOVER
056886,000619:
056887,000620: 07,3543 50061 LONGGYRO INDEX ITEMP1
056888,000621: 07,3544 53401 DXCH 1400 # INITIAL COMMAND OUT PLUS N AUGMENTS OF
056889,000622: 07,3545 34736 CAF BIT14 # 8192. INITIAL COMMAND IS AT LEAST 8192.
056890,000623: 07,3546 60062 AD ITEMP2
056891,000624: 07,3547 54047 TS GYROCMD
056892,000625:
056893,000626: 07,3550 00006 AUG3 EXTEND # GET WAITLIST DT TO TIME WHEN TRAIN IS
056894,000627: 07,3551 74742 MP BIT10 # ALMOST OUT.
056895,000628: 07,3552 67745 AD NEG3
056896,000629: 07,3553 05203 TC WAITLIST
056897,000630: 07,3554 E3,1474 EBANK= CDUIND
056898,000631: 07,3554 03557 16103 2CADR 8192AUG
056899,000632:
056900,000633: 07,3556 13537 TCF GYROEXIT
056901,000634:
056902,000635: 07,3557 03641 8192AUG TC CAGETEST
056903,000636:
056904,000637: 07,3560 34750 CAF BIT4
056905,000638: 07,3561 00006 EXTEND
056906,000639: 07,3562 02012 RAND CHAN12
056907,000640: 07,3563 10000 CCS A
056908,000641: 07,3564 13637 TCF IMUBAD
056909,000642: 07,3565 31314 CA LGYRO # ADD 8192 PULSES TO GYROCMD
056910,000643: 07,3566 54003 TS EBANK
056911,000644: 07,3567 74357 MASK LOW8
056912,000645: 07,3570 54061 TS ITEMP1
056913,000646:
056914,000647: 07,3571 50061 INDEX ITEMP1 # SEE IF THIS IS THE LAST AUG.
056915,000648: 07,3572 11400 CCS 1400
056916,000649: 07,3573 13577 TCF AUG2 # MORE TO COME.
056917,000650:
056918,000651: 07,3574 34736 CAF BIT14
056919,000652: 07,3575 26047 ADS GYROCMD
056920,000653: 07,3576 13531 TCF LASTSEG +1
056921,000654:
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|
Page 1325 |
056923,000656: 07,3577 50061 AUG2 INDEX ITEMP1
056924,000657: 07,3600 55400 TS 1400
056925,000658: 07,3601 34736 CAF BIT14
056926,000659: 07,3602 26047 ADS GYROCMD
056927,000660: 07,3603 13550 TCF AUG3 # COMPUTE DT.
056928,000661:
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|
Page 1326 |
056930,000663: 07,3604 63520 MIN- AD -GYROMIN # POSSIBLE NEGATIVE OUTPUT.
056931,000664: 07,3605 00006 EXTEND
056932,000665: 07,3606 63411 BZMF STRTGYR2
056933,000666:
056934,000667: 07,3607 00006 MAJ- EXTEND # DEFINITE NEGATIVE OUTPUT.
056935,000668: 07,3610 43630 DCS GYROFRAC
056936,000669: 07,3611 20071 DAS RUPTREG1
056937,000670:
056938,000671: 07,3612 30064 CA ITEMP4 # SELECT NEGATIVE TORQUING FOR THIS GYRO.
056939,000672: 07,3613 64743 AD BIT9
056940,000673: 07,3614 00006 EXTEND
056941,000674: 07,3615 05014 WOR CHAN14
056942,000675:
056943,000676: 07,3616 40070 CS RUPTREG1 # SET UP RUPTREGS TO FALL INTO GMERGE.
056944,000677: 07,3617 54070 TS RUPTREG1 # ALL NUMBERS PUT INTO GYROCMD ARE
056945,000678: 07,3620 40071 CS RUPTREG2 # POSITIVE - BIT9 OF CHAN 14 DETERMINES
056946,000679: 07,3621 76074 MASK LOW7 # THE SIGN OF THE COMMAND.
056947,000680: 07,3622 40000 COM
056948,000681: 07,3623 56071 XCH RUPTREG2
056949,000682: 07,3624 40000 COM
056950,000683: 07,3625 13500 TCF GMERGE
056951,000684:
056952,000685: 07,3626 01700 GDESELCT OCT 1700 # TURN OFF SELECT AND ACTIVITY BITS.
056953,000686:
056954,000687: 07,3627 00000 00034 GYROFRAC 2DEC .215 B-21
056955,000688:
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|
Page 1327 |
056957,000690: # IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE.
056958,000691:
056959,000692: 07,3631 00006 ENDIMU EXTEND # MODE IS BAD IF CAGE HAS OCCURED OR IF
056960,000693: 07,3632 00011 READ DSALMOUT # ISS WARNING IS ON.
056961,000694: 07,3633 74753 MASK BIT1
056962,000695: 07,3634 10000 CCS A
056963,000696: 07,3635 13637 TCF IMUBAD
056964,000697:
056965,000698: 07,3636 13665 IMUGOOD TCF GOODEND # WITH C(A) = 0.
056966,000699:
056967,000700: 07,3637 34755 IMUBAD CAF ZERO
056968,000701: 07,3640 13662 TCF BADEND
056969,000702:
056970,000703: 07,3641 34746 CAGETEST CAF BIT6 # SUBROUTINE TO TERMINATE IMU MODE
056971,000704: 07,3642 71302 MASK IMODES30 # SWITCH IF IMU HAS BEEN CAGED.
056972,000705: 07,3643 10000 CCS A
056973,000706: 07,3644 13637 TCF IMUBAD # DIRECTLY.
056974,000707: 07,3645 00002 TC Q # WITH C(A) = +0.
056975,000708:
056976,000709: 07,3646 41302 CAGETSTQ CS IMODES30 # SKIP IF IMU NOT BEING CAGED.
056977,000710: 07,3647 74746 MASK BIT6
056978,000711: 07,3650 10000 CCS A
056979,000712: 07,3651 24002 INCR Q
056980,000713: 07,3652 00002 TC Q
056981,000714:
056982,000715: 07,3653 41302 CAGETSTJ CS IMODES30 # IF DURING MODE SWITCH INITIALIZATION
056983,000716: 07,3654 74746 MASK BIT6 # IT IS FOUND THAT THE IMU IS BEING CAGED,
056984,000717: 07,3655 10000 CCS A # SET IMUCADR TO -0 TO INDICATE OPERATION
056985,000718: 07,3656 00002 TC Q # COMPLETE BUT FAILED. RETURN IMMEDIATELY
056986,000719:
056987,000720: 07,3657 44755 CS ZERO # TO SWRETURN.
056988,000721: 07,3660 55304 TS IMUCADR
056989,000722: 07,3661 12755 TCF MODEEXIT
056990,000723:
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|
Page 1328 |
056992,000725: # GENERALIZED MODE SWITCHING TERMINATION. ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION
056993,000726: # OR AT BADEND FOR AN UNSUCCESSFUL ONE. C(A) OR ARRIVAL =0 FOR IMU, 1 FOR OPTICS.
056994,000727:
056995,000728: 07,3662 54071 BADEND TS RUPTREG2 # DEVICE INDEX.
056996,000729: 07,3663 44755 CS ZERO # FOR FAILURE.
056997,000730: 07,3664 13667 TCF GOODEND +2
056998,000731:
056999,000732: 07,3665 54071 GOODEND TS RUPTREG2
057000,000733: 07,3666 44753 CS ONE # FOR SUCCESS.
057001,000734:
057002,000735: 07,3667 54072 TS RUPTREG3
057003,000736: 07,3670 50071 INDEX RUPTREG2 # SEE IF USING PROGRAM ASLEEP.
057004,000737: 07,3671 11304 CCS MODECADR
057005,000738: 07,3672 13676 TCF +4 # YES - WAKE IT UP.
057006,000739: 07,3673 13706 TCF ENDMODE # IF 0, PROGRAM NOT IN YET.
057007,000740:
057008,000741: 07,3674 00006 EXTEND
057009,000742: 07,3675 13707 BZF ENDMODE +1 # BZF = TCF IF MODECADR = -0.
057010,000743:
057011,000744: 07,3676 34755 CAF ZERO # WAKE SLEEPING PROGRAM.
057012,000745: 07,3677 50071 INDEX RUPTREG2
057013,000746: 07,3700 57304 XCH MODECADR
057014,000747: 07,3701 05137 TC JOBWAKE
057015,000748:
057016,000749: 07,3702 40072 CS RUPTREG3 # ADVANCE LOC IF SUCCESSFUL.
057017,000750: 07,3703 50064 INDEX LOCCTR
057018,000751: 07,3704 26164 ADS LOC
057019,000752:
057020,000753: 07,3705 15261 TCF TASKOVER
057021,000754:
057022,000755: 07,3706 30072 ENDMODE CA RUPTREG3 # -0 INDICATES OPERATION COMPLETE BUT
057023,000756: 07,3707 50071 +1 INDEX RUPTREG2 # UNSUCCESSFUL: -1 INDICATES COMPLETE AND
057024,000757: 07,3710 55304 TS MODECADR # SUCCESSFUL.
057025,000758: 07,3711 15261 TCF TASKOVER
057026,000759:
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|
Page 1329 |
057028,000761: # GENERAL STALLING ROUTINE. USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION.
057029,000762:
057030,000763: # PROGRAM DESCRIPTION DATE - 21 FEB 1967
057031,000764: # LOG SECTION IMU MODE SWITCHING
057032,000765: # MOD BY - R. MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 82
057033,000766:
057034,000767: # FUNCTIONAL DESCRIPTION -
057035,000768: # TO DELAY FURTHER EXECUTION OF THE CALLING ROUTINE UNTIL ITS SELECTED
057036,000769: # I/O FUNCTION IS COMPLETE. THE FOLLOWING CHECKS ON THE CALLING ROUTINE:S
057037,000770: # MODECADR ARE MADE AND ACTED UPON.
057038,000771: # 1) +0 INDICATES INCOMPLETE I/O OPERATION. CALLING ROUTINE IS PUT TO
057039,000772: # SLEEP.
057040,000773: # 2) -1 INDICATES COMPLETED I/O OPERATION. STALL BYPASSES JOBSLEEP
057041,000774: # CALL AND RETURNS TO CALLING ROUTINE AT L+3
057042,000775: # 3) -0 INDICATES COMPLETED I/O WITH FAILURE. STALL CLEARS MODECADR
057043,000776: # AND RETURNS TO CALLING ROUTINE AT L+2.
057044,000777: # 4) VALUE GREATER THAN 0 INDICATES TWO ROUTINES CALLING FOR USE OF
057045,000778: # SAME DEVICE. STALL EXITS TO ABORT WHICH EXECUTES A PROGRAM
057046,000779: # RESTART WHICH IN TURN CLEARS ALL MODECADR REGISTERS.
057047,000780:
057048,000781: # CALLING SEQUENCE -
057049,000782: # L TC BANKCALL
057050,000783: # L+1 CADR (ONE OF 5 STALL ADDRESSES I.E. IMUSTALL, OPTSTALL, RADSTALL,
057051,000784: # AOTSTALL, OR ATTSTALL)
057052,000785:
057053,000786: # NORMAL-EXIT MODE -
057054,000787: # TCF JOBSLEEP OR TCF MODEXIT
057055,000788:
057056,000789: # ALARM OR ABORT EXIT MODE -
057057,000790: # TC ABORT
057058,000791:
057059,000792: # OUTPUT -
057060,000793: # MODECADR=CADR IF JOBSLEEP
057061,000794: # MODECADR=+0 IF I/O COMPLETE
057062,000795: # BUF2=L+3 IF I/O COMPLETE AND GOOD.
057063,000796: # BUF2=L+2 IF I/O COMPLETE BUT FAILED.
057064,000797:
057065,000798: # ERASABLE INITIALIZATION -
057066,000799: # BUF2 CONTAINS RETURN ADDRESS PLUS 1,(L+2)
057067,000800: # BUF2+1 CONTAINS FBANK VALUE OF CALLING ROUTINE.
057068,000801: # MODECADR OF CALLING ROUTINE CONTAINS +0,-1,-0 OR CADR RETURN ADDRESS.
057069,000802:
057070,000803: # DEBRIS -
057071,000804: # RUPTREG2 AND CALLING ROUTINE MODECADR.
057072,000805:
057073,000806: 07,3712 34753 AOTSTALL CAF ONE # AOT.
057074,000807: 07,3713 03717 TC STALL
057075,000808:
057076,000809: 07,3714 34752 RADSTALL CAF TWO
057077,000810: 07,3715 13717 TCF STALL
057078,000811:
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Page 1330 |
057080,000813: 07,3716 07,3712 OPTSTALL EQUALS AOTSTALL
057081,000814:
057082,000815: 07,3716 34755 IMUSTALL CAF ZERO # IMU.
057083,000816:
057084,000817: 07,3717 00004 STALL INHINT
057085,000818: 07,3720 54071 TS RUPTREG2 # SAVE DEVICE INDEX.
057086,000819: 07,3721 50000 INDEX A # SEE IF OPERATION COMPLETE.
057087,000820: 07,3722 11304 CCS MODECADR
057088,000821: 07,3723 13741 TCF MODABORT # ALLOWABLE STATES ARE +0, -1, AND -0.
057089,000822: 07,3724 13735 TCF MODESLP # OPERATION INCOMPLETE.
057090,000823: 07,3725 13731 TCF MODEGOOD # COMPLETE AND GOOD IF = -1.
057091,000824:
057092,000825: 07,3726 50071 MG2 INDEX RUPTREG2 # COMPLETE AND FAILED IF -0. RESET TO +0.
057093,000826: 07,3727 55304 TS MODECADR # RETURN TO CALLER.
057094,000827: 07,3730 12755 TCF MODEEXIT
057095,000828:
057096,000829: 07,3731 10000 MODEGOOD CCS A # MAKE SURE INITIAL STATE -1.
057097,000830: 07,3732 13741 TCF MODABORT
057098,000831:
057099,000832: 07,3733 24133 INCR BUF2 # IF SO, INCREMENT RETURN ADDRESS AND
057100,000833: 07,3734 13726 TCF MG2 # RETURN IMMEDIATELY, SETTING CADR = +0.
057101,000834:
057102,000835: 07,3735 04645 MODESLP TC MAKECADR # CALL FROM SWITCHABLE FIXED ONLY.
057103,000836: 07,3736 50071 INDEX RUPTREG2
057104,000837: 07,3737 55304 TS MODECADR
057105,000838: 07,3740 15133 TCF JOBSLEEP
057106,000839:
057107,000840: 07,3741 52134 MODABORT DXCH BUF2
057108,000841: 07,3742 05716 TC BAILOUT1 # TWO PROGRAMS USING THE SAME DEVICE.
057109,000842: 07,3743 01210 OCT 1210
057110,000843:
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Page 1331 |
057112,000845: # CONSTANTS FOR MODE SWITCHING ROUTINES
057113,000846:
057114,000847: 07,3744 5751 BITS3&4 = OCT14
057115,000848: 07,3744 4771 BITS4&6 = OCT50
057116,000849: 07,3744 00030 BITS4-5 OCT 00030
057117,000850: 07,3745 4744 IMUSEFLG EQUALS BIT8 # INTERPRETER SWITCH 7.
057118,000851: 07,3745 77500 -COMMAX DEC -191 B-14
057119,000852: 07,3746 77477 -COMMAX- DEC -192 B-14
057120,000853: 07,3747 00074 600MS DEC 60 B-14
057121,000854: 07,3750 07,3210 IMUFIN20 = IMUFINE
057122,000855: 07,3750 31307 GOMANUR CA ATTCADR # IS KALCMANU FREE
057123,000856: 07,3751 00006 EXTEND
057124,000857: 07,3752 13755 BZF +3
057125,000858:
057126,000859: 07,3753 05652 TC POODOO # NO
057127,000860: 07,3754 01210 OCT 1210 # 2 TRYING TO USE SAME DEVICE
057128,000861:
057129,000862: 07,3755 00006 +3 EXTEND
057130,000863: 07,3756 30134 DCA BUF2
057131,000864: 07,3757 53310 DXCH ATTCADR # SAVE FINAL RETURN FOR KALCMAN3
057132,000865:
057133,000866: 07,3760 30006 CA BBANK
057134,000867: 07,3761 74757 MASK SEVEN
057135,000868: 07,3762 27310 ADS ATTCADR +1
057136,000869:
057137,000870: 07,3763 30167 CA PRIORITY
057138,000871: 07,3764 77725 MASK PRIO37
057139,000872: 07,3765 55311 TS ATTPRIO # SAVE USERS PRIO
057140,000873:
057141,000874: 07,3766 33772 CAF KALEBCON # SET EBANK FOR KALCMAN3
057142,000875: 07,3767 54003 TS EBANK
057143,000876: 07,3770 04635 TC POSTJUMP
057144,000877: 07,3771 44004 CADR KALCMAN3
057145,000878: 07,3772 03276 KALEBCON ECADR BCDU
057146,000879:
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Page 1332 |
057148,000881: # PROGRAM DESCRIPTION
057149,000882: # IMU STATUS CHECK ROUTINE R02 (SUBROUTINE UTILITY)
057150,000883: # MOD NO - 1
057151,000884: # MOD BY - N.BRODEUR
057152,000885:
057153,000886: # FUNCTIONAL DESCRIPTION
057154,000887: # TO CHECK WHETHER IMU IS ON AND IF ON WHETHER IT IS ALIGNED TO AN
057155,000888: # ORIENTATION KNOWN BY THE CMC. TO REQUEST SELECTION OF THE APPROPRIATE
057156,000889: # PROGRAM IF THE IMU IS OFF OR NOT ALIGNED TO AN ORIENTATION KNOWN BY THE
057157,000890: # CMC. CALLED THROUGH BANKCALL
057158,000891:
057159,000892: # CALLING SEQUENCE -
057160,000893: # L TC BANKCALL
057161,000894: # L+1 CADR R02BOTH
057162,000895:
057163,000896: # SUBROUTINES CALLED
057164,000897: # VARALARM
057165,000898: # FLAGUP
057166,000899:
057167,000900: # NORMAL EXIT MODES
057168,000901: # AT L+2 OF CALLING SEQUENCE
057169,000902:
057170,000903: # ALARM OR ABORT EXIT MODES
057171,000904: # GOTOPOOH, WITH ALARM
057172,000905:
057173,000906: # ERASABLE INITIALIZATION REQUIRED
057174,000907: # NONE
057175,000908:
057176,000909: # DEBRIS
057177,000910: # CENTRALS - A,Q,L
057178,000911:
057179,000912: 34,3775 BANK 34
057180,000913: 04,2000 SETLOC R02
057181,000914: 04,2000 BANK
057182,000915: 04,3253 COUNT* $$/R02
057183,000916: 04,3253 00063 DEC51 DEC 51 B-14
057184,000917: 04,3254 34737 R02BOTH CAF REFSMBIT
057185,000918: 04,3255 70077 MASK FLAGWRD3
057186,000919: 04,3256 10000 CCS A
057187,000920: 04,3257 03270 TC R02ZERO # ZERO IMUS
057188,000921:
057189,000922: 04,3260 31302 CA IMODES30
057190,000923: 04,3261 74743 MASK BIT9 # IS ISS INITIALIZED
057191,000924: 04,3262 00006 EXTEND
057192,000925: 04,3263 13265 BZF +2
057193,000926: 04,3264 44750 CS BIT4 # SEND IMU ALARM CODE 210
057194,000927: 04,3265 63273 AD OCT220 # SEND REFSMM ALARM
057195,000928: 04,3266 05744 TC VARALARM
057196,000929:
057197,000930: 04,3267 06001 TC GOTOPOOH
057198,000931:
057199,000932: 04,3270 05504 R02ZERO TC UPFLAG
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Page 1333 |
057201,000934: 04,3271 00007 ADRES IMUSE
057202,000935: 04,3272 14631 TCF SWRETURN
057203,000936: 04,3273 00220 OCT220 OCT 220
057204,000937:
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Page 1334 |
057206,000939: # PROGRAM DESCRIPTION P06 10 FEB 67
057207,000940:
057208,000941: # TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION.
057209,000942:
057210,000943: # THE NORMAL CONDITION OF READINESS OF THE GNCS WHEN NOT IN USE IS STANDBY. IN THIS CONDITION THE IMU
057211,000944: # HEATER POWER IS ON. THE IMU OPERATE POWER IS OFF. THE COMPUTER POWER IS ON. THE OPTICS POWER IS OFF. THE
057212,000945: # CMC STANDBY ON THE MAIN AND LEB DISKYS IS ON.
057213,000946:
057214,000947: # CALLING SEQUENCE:
057215,000948: # ASTRONAUT REQUEST THROUGH DSKY V37E 06E.
057216,000949:
057217,000950: # SUBROUTINES CALLED:
057218,000951: # GOPERF1
057219,000952: # BANKCALL
057220,000953: # FLAGDOWN
057221,000954:
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Page 1335 |
057223,000956: # PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2
057224,000957: # THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATABILITY
057225,000958: # BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING.
057226,000959:
057227,000960: 37,2000 SETLOC P05P06
057228,000961: 37,2000 BANK
057229,000962:
057230,000963: 37,3655 0314 EBANK= TIME2SAV
057231,000964: 37,3655 COUNT* $$/P06
057232,000965:
057233,000966: 37,3655 05504 P06 TC UPFLAG # SET NODOV37 BIT
057234,000967: 37,3656 00054 ADRES NODOFLAG
057235,000968:
057236,000969: 37,3657 00004 PRESTAND INHINT
057237,000970: 37,3660 00006 EXTEND
057238,000971: 37,3661 30025 DCA TIME2 # SNAPSHOT TIME1 TIME2
057239,000972: 37,3662 52315 DXCH TIME2SAV
057240,000973: 37,3663 03714 TC SCALPREP
057241,000974: 37,3664 03657 TC PRESTAND # T1,T2,SCALER NOT COMPATIBLE
057242,000975: 37,3665 52155 DXCH MPAC # T1,T2 AND SCALER OK
057243,000976: 37,3666 52317 DXCH SCALSAVE # STORE SCALER
057244,000977: 37,3667 00004 INHINT
057245,000978: 37,3670 04616 TC BANKCALL
057246,000979: 37,3671 17175 CADR RNDREFDR # REFSMM, DRIFT, TRACK FLAGS DOWN
057247,000980:
057248,000981: 37,3672 05516 TC DOWNFLAG
057249,000982: 37,3673 00007 ADRES IMUSE # IMUSE DOWN
057250,000983: 37,3674 05516 TC DOWNFLAG
057251,000984: 37,3675 00010 ADRES RNDVZFLG # RNDVZFLG DOWN
057252,000985:
057253,000986: 37,3676 34741 CAF BIT11
057254,000987: 37,3677 00006 EXTEND
057255,000988: 37,3700 05013 WOR CHAN13 # SET STANDBY ENABLE BIT
057256,000989:
057257,000990: 37,3701 05353 TC PHASCHNG # SET RESTART TO POSTAND WHEN STANDBY
057258,000991: 37,3702 07024 OCT 07024 # RECOVERS
057259,000992: 37,3703 20000 OCT 20000
057260,000993: 37,3704 0316 EBANK= SCALSAVE
057261,000994: 37,3704 03734 76060 2CADR POSTAND
057262,000995:
057263,000996: 37,3706 34774 CAF OCT62
057264,000997: 37,3707 04616 TC BANKCALL
057265,000998: 37,3710 20623 CADR GOPERF1
057266,000999: 37,3711 13706 TCF -3
057267,001000: 37,3712 13706 TCF -4
057268,001001: 37,3713 13706 TCF -5
057269,001002:
057270,001003: 37,3714 4774 OCT62 EQUALS .5SEC # DEC 50 = OCT 62
057271,001004:
057272,001005: # THE LOW 5 BITS OF THE SCALER READS 10000 FOR THE FIRST INTERVAL AFTER A
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Page 1336 |
057274,001007: # T1 INCREMENT. IF SCALPREP DETECTS THIS INTERVAL THE T1,T2 AND SCALER
057275,001008: # DATA ARE NOT COMPATABLE AND RETURN IS TO L+1 FOR ANOTHER READING OF THE
057276,001009: # DATA. OTHERWISE, THE RETURN IS TO L+2 TO PROCEED. ROUTINE ALSO PREPARES
057277,001010: # THE SCALER READING FOR COMPUTATION OF THE INCREMENT TO UPDATE T1T2. (THE
057278,001011: # 10 MS BIT (BIT 6) OF THE SCALER IS INCREMENTED 5 MS OUT OF PHASE FROM
057279,001012: # T1.) ADDITION OF 5 MS (BIT 5) TO THE SCALER READING HAS THE EFFECT OF
057280,001013: # ADJUSTING BIT 6 IN THE SCALER TO BE IN PHASE WITH BIT 1 OF T1. THE LOW 5
057281,001014: # BITS OF THE SCALER READING ARE THEN SET TO ZERO, TO TRUNCATE THE SCALER
057282,001015: # DATA TO 10 MS. RESULTS ARE STORED IN MPAC, +1.
057283,001016:
057284,001017: 37,3714 00006 SCALPREP EXTEND
057285,001018: 37,3715 22156 QXCH MPAC +2
057286,001019: 37,3716 04103 TC FINETIME +1
057287,001020: 37,3717 00003 RELINT
057288,001021: 37,3720 52155 DXCH MPAC
057289,001022: 37,3721 34747 CA BIT5 # ADD 5 MS TO THE SCALER READING.
057290,001023: 37,3722 54001 TS L
057291,001024: 37,3723 34755 CA ZERO
057292,001025: 37,3724 20155 DAS MPAC
057293,001026: 37,3725 44346 CS LOW5 # SET LOW 5 BITS OF (SCALER+5MS) TO ZERO
057294,001027: 37,3726 70155 MASK MPAC +1 # AND STORE RESULTS IN MPAC,+1.
057295,001028: 37,3727 56155 XCH MPAC +1
057296,001029: 37,3730 74346 MASK LOW5 # TEST LOW 5 BITS OF SCALER FOR THE FIRST
057297,001030: # INTERVAL AFTER THE T1 INCREMENT
057298,001031: # (NOW = 00000, SINCE BIT 5 ADDED).
057299,001032: 37,3731 10000 CCS A # IS IT 1ST INTERVAL AFTER T1 INCREMENT
057300,001033: 37,3732 24156 INCR MPAC +2 # NO
057301,001034: 37,3733 00156 TC MPAC +2 # YES
057302,001035:
057303,001036: # POSTAND RECOVERS TIME AFTER STANDBY. THE SCALER IS SNAPSHOTTED AND THE
057304,001037: # TIME1 TIME2 COUNTER IS SET TO ZERO. THE LOW 5 BITS OF THE SCALER ARE
057305,001038: # INSPECTED TO INSURE COMPATABILITY BETWEEN THE SCALER READING AND THE
057306,001039: # CLEARING OF THE TIME COUNTER. IT THEN COMPUTES THE DIFFERENCE IN SCALER
057307,001040: # VALUES (IN DP) AND ADDS THIS TO THE PREVIOUSLY SNAPSHOTTED VALUES OF
057308,001041: # TIME1 TIME2 AND PLACES THIS NEW TIME INTO THE TIME1 TIME2 COUNTER.
057309,001042:
057310,001043: 37,3734 COUNT* $$/P05
057311,001044:
057312,001045: 37,3734 44741 POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY.
057313,001046: 37,3735 00006 EXTEND
057314,001047: 37,3736 03013 WAND CHAN13 # CLEAR STANDBY ENABLE BIT
057315,001048: 37,3737 00004 INHINT
057316,001049: 37,3740 34755 CA ZERO
057317,001050: 37,3741 54001 TS L
057318,001051: 37,3742 52025 DXCH TIME2 # CLEAR TIME1TIME2
057319,001052: 37,3743 03714 TC SCALPREP # STORE SCALER IN MPAC, MPAC+1
057320,001053: 37,3744 03737 TC POSTAND +3 # T1,T2,SCALER NOT COMPATIBLE
057321,001054: 37,3745 00006 EXTEND # T1,T2 AND SCALER OK
057322,001055: 37,3746 40317 DCS SCALSAVE
057323,001056: 37,3747 20155 DAS MPAC # FORM DP DIFFERENCE OF POSTSTANDBY SCALER
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Page 1337 |
057325,001058: 37,3750 34742 CAF BIT10 # MINUS PRESTANDBY SCALER AND SHIFT RIGHT
057326,001059: 37,3751 07307 TC SHORTMP # 5 TO ALIGN BITS WITH TIME1 TIME2.
057327,001060: 37,3752 34755 CAF ZERO
057328,001061: 37,3753 54156 TS MPAC +2 # NEEDED FOR TP AGREE
057329,001062: 37,3754 07257 TC TPAGREE # MAKE DP DIFF AGREE
057330,001063: 37,3755 10154 CCS MPAC
057331,001064: 37,3756 03763 TC POSTCOM # IF DP DIFF NET +, NO SCALER OVERFLOW
057332,001065: 37,3757 03763 TC POSTCOM # BETWEEN PRE AND POST STANDBY.
057333,001066: 37,3760 03761 TC +1 # IF DP DIFF NET -, SCALER OVERFLOWED. ADD
057334,001067: 37,3761 34742 CAF BIT10 # BIT 10 TO HIGH DIFF TO CORRECT.
057335,001068: 37,3762 26154 ADS MPAC
057336,001069: 37,3763 00006 POSTCOM EXTEND # C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER.
057337,001070: 37,3764 30315 DCA TIME2SAV # PRESTANDBY TIME1TIME2
057338,001071: 37,3765 20155 DAS MPAC
057339,001072: 37,3766 07257 TC TPAGREE # FORCE SIGN AGREEMENT
057340,001073: 37,3767 52155 DXCH MPAC # UPDATED VALUE FOR T1,T2.
057341,001074: 37,3770 20025 DAS TIME2 # LOAD UPDATED VALUE INTO T1,T2, WITH
057342,001075: 37,3771 05516 TC DOWNFLAG # CLEAR NODOFLAG
057343,001076: 37,3772 00054 ADRES NODOFLAG
057344,001077:
057345,001078: 37,3773 06001 TC GOTOPOOH
057346,001079:
End of include-file IMU_MODE_SWITCHING_ROUTINES.agc. Parent file is MAIN.agc