Source Code
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This is a reconstructed version of Luminary 130, the initial AGC program released
in November 1969 for the Apollo 13 LM. Three more releases
followed before the flown revision was finally manufactured in February 1970.
This reconstruction was created from a previous transcription of the original listing of
Luminary 131, combined with Luminary memo #129 which describes the small difference
between the Luminary 130 and 131. The reconstructed source code was verified by
matching memory-bank checksums to those listed for Luminary 130 in drawing 2021152G.
In this source code, program comments from the original (Luminary 131) code are
prefixed with '#', while those added later by the Virtual AGC project are prefixed
with '##'.
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055286,000002: ## Copyright: Public domain.
055287,000003: ## Filename: IMU_MODE_SWITCHING_ROUTINES.agc
055288,000004: ## Purpose: A section of the reconstructed source code for Luminary 130.
055289,000005: ## This was the original program released for the Apollo 13 LM,
055290,000006: ## although several more revisions would follow. It has been
055291,000007: ## reconstructed from a listing of Luminary 131, from which it
055292,000008: ## differs on only two lines in P70-P71. The difference is
055293,000009: ## described in detail in Luminary memo #129, which was used
055294,000010: ## to perform the reconstruction. This file is intended to be a
055295,000011: ## faithful reconstruction, except that the code format has been
055296,000012: ## changed to conform to the requirements of the yaYUL assembler
055297,000013: ## rather than the original YUL assembler.
055298,000014: ## Reference: pp. 1301-1329
055299,000015: ## Contact: Ron Burkey <info@sandroid.org>.
055300,000016: ## Website: www.ibiblio.org/apollo/index.html
055301,000017: ## Mod history: 06/05/03 RSB. Began transcribing.
055302,000018: ## 05/14/05 RSB Corrected website reference above.
055303,000019: ## 2010-08-24 JL Fixed page number comment.
055304,000020: ## 2010-10-25 JL Indentation fixes.
055305,000021: ## 2011-05-07 JL Removed workaround. Flagged SBANK= workaround
055306,000022: ## for future removal.
055307,000023: ## 2017-01-06 RSB Page numbers now agree with those on the
055308,000024: ## original hardcopy, as opposed to the PDF page
055309,000025: ## numbers in 1701.pdf.
055310,000026: ## 2017-01-28 RSB Comment-text fixes identified for Luminary 69.
055311,000027: ## 2017-02-27 RSB Proofed comment text using octopus/ProoferComments.
055312,000028: ## 2017-03-01 RSB Fixed lingering comment-text typos.
055313,000029: ## 2017-03-13 RSB Comment-text fixes noted in proofing Luminary 116.
055314,000030: ## 2017-03-15 RSB Comment-text fixes identified in 6-way
055315,000031: ## side-by-side diff of Sunburst 120 and Luminary
055316,000032: ## 69/99/116/131/210.
055317,000033: ## 2017-06-17 MAS Globally removed all SBANK= workarounds.
055318,000034: ## 2018-09-04 MAS Copied from Luminary 131 for Luminary 130.
055319,000035:
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Page 1301
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055321,000037: 5457 BLOCK 02
055322,000038: 4000 SETLOC FFTAG3
055323,000039: 4000 BANK
055324,000040:
055325,000041: 5457 E3,1471 EBANK= COMMAND
055326,000042:
055327,000043: # FIXED-FIXED ROUTINES.
055328,000044:
055329,000045: 5457 COUNT* $$/IMODE
055330,000046: 5457 34755 ZEROICDU CAF ZERO # ZERO ICDU COUNTERS.
055331,000047: 5460 54032 TS CDUX
055332,000048: 5461 54033 TS CDUY
055333,000049: 5462 54034 TS CDUZ
055334,000050: 5463 00002 TC Q
055335,000051:
055336,000052: 5464 4743 SPSCODE = BIT9
055337,000053:
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Page 1302
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055339,000055: # IMU ZEROING ROUTINE.
055340,000056:
055341,000057: 11,3774 BANK 11
055342,000058: 07,2000 SETLOC MODESW
055343,000059: 07,2000 BANK
055344,000060:
055345,000061: 07,2705 COUNT* $$/IMODE
055346,000062: 07,2705 00004 IMUZERO INHINT # ROUTINE TO ZERO ICDUS.
055347,000063: 07,2706 41035 CS DSPTAB +11D # DONT ZERO CDUS IF IMU IN GIMBAL LOCK AND
055348,000064: 07,2707 74771 MASK BITS4&6 # COARSE ALIGN (GIMBAL RUNAWAY PROTECTION)
055349,000065: 07,2710 10000 CCS A
055350,000066: 07,2711 12715 TCF IMUZEROA
055351,000067:
055352,000068: 07,2712 05567 TC ALARM # IF SO.
055353,000069: 07,2713 00206 OCT 00206
055354,000070:
055355,000071: 07,2714 13650 TCF CAGETSTJ +4 # IMMEDIATE FAILURE.
055356,000072:
055357,000073: 07,2715 03644 IMUZEROA TC CAGETSTJ
055358,000074: # DELETE
055359,000075: 07,2716 41300 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
055360,000076: 07,2717 74773 MASK SUPER011 # BIT5 FOR GROUND
055361,000077: 07,2720 27300 ADS IMODES33
055362,000078:
055363,000079: 07,2721 41277 CS IMODES30 # INHIBIT ICDUFAIL AND IMUFAIL (IN CASE WE
055364,000080: 07,2722 75741 MASK BITS3&4 # JUST CAME OUT OF COARSE ALIGN).
055365,000081: 07,2723 27277 ADS IMODES30
055366,000082:
055367,000083: 07,2724 44771 CS BITS4&6 # SEND ZERO ENCODE WITH COARSE AND ERROR
055368,000084: 07,2725 00006 EXTEND # COUNTER DISABLED.
055369,000085: 07,2726 03012 WAND CHAN12
055370,000086:
055371,000087: 07,2727 03257 TC NOATTOFF # TURN OFF NO ATT LAMP.
055372,000088:
055373,000089: 07,2730 34747 CAF BIT5
055374,000090: 07,2731 00006 EXTEND
055375,000091: 07,2732 05012 WOR CHAN12
055376,000092:
055377,000093: 07,2733 05457 TC ZEROICDU
055378,000094: 07,2734 34746 CAF BIT6 # WAIT 320 MS TO GIVE AGS ADEQUATE TIME TO
055379,000095: 07,2735 05203 TC WAITLIST # RECEIVE ITS PULSE TRAIN.
055380,000096: 07,2736 E3,1474 EBANK= CDUIND
055381,000097: 07,2736 02750 16103 2CADR IMUZERO2
055382,000098:
055383,000099: 07,2740 41277 CS IMODES30 # SEE IF IMU OPERATING AND ALARM IF NOT.
055384,000100: 07,2741 74743 MASK BIT9
055385,000101: 07,2742 10000 CCS A
055386,000102: 07,2743 12746 TCF MODEEXIT
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Page 1303
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055388,000104: 07,2744 05567 TC ALARM
055389,000105: 07,2745 00210 OCT 210
055390,000106:
055391,000107: 07,2746 00003 MODEEXIT RELINT # GENERAL MODE-SWITCHING EXIT.
055392,000108: 07,2747 14631 TCF SWRETURN
055393,000109:
055394,000110: 07,2750 03632 IMUZERO2 TC CAGETEST
055395,000111: 07,2751 05457 TC ZEROICDU # ZERO CDUX, CDUY, CDUZ
055396,000112:
055397,000113: 07,2752 44747 CS BIT5 # REMOVE ZERO DISCRETE.
055398,000114: 07,2753 00006 EXTEND
055399,000115: 07,2754 03012 WAND CHAN12
055400,000116:
055401,000117: 07,2755 34741 CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS
055402,000118: 07,2756 05224 TC VARDELAY
055403,000119:
055404,000120: 07,2757 03632 IMUZERO3 TC CAGETEST
055405,000121: 07,2760 45741 CS BITS3&4 # REMOVE IMUFAIL AND ICDUFAIL INHIBIT.
055406,000122: 07,2761 71277 MASK IMODES30
055407,000123: 07,2762 55277 TS IMODES30
055408,000124:
055409,000125: 07,2763 44773 CS SUPER011 # ENABLE DAP AUTO AND HOLD MODES
055410,000126: 07,2764 71300 MASK IMODES33 # BIT5 FOR GROUND
055411,000127: 07,2765 55300 TS IMODES33
055412,000128:
055413,000129: 07,2766 04674 TC IBNKCALL # SET ISS WARNING IF EITHER OF ABOVE ARE
055414,000130: 07,2767 14703 CADR SETISSW # PRESENT.
055415,000131:
055416,000132: 07,2770 13622 TCF ENDIMU
055417,000133:
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Page 1304
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055419,000135: # IMU COARSE ALIGN MODE.
055420,000136:
055421,000137: 07,2771 00004 IMUCOARS INHINT
055422,000138: 07,2772 03644 TC CAGETSTJ
055423,000139: 07,2773 03135 TC SETCOARS
055424,000140:
055425,000141: 07,2774 36245 CAF SIX
055426,000142: 07,2775 05203 TC WAITLIST
055427,000143: 07,2776 E3,1474 EBANK= CDUIND
055428,000144: 07,2776 03001 16103 2CADR COARS
055429,000145:
055430,000146: 07,3000 12746 TCF MODEEXIT
055431,000147:
055432,000148: 07,3001 03632 COARS TC CAGETEST
055433,000149: 07,3002 34746 CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
055434,000150: 07,3003 00006 EXTEND
055435,000151: 07,3004 05012 WOR CHAN12
055436,000152:
055437,000153: 07,3005 34752 CAF TWO # SET CDU INDICATOR
055438,000154: 07,3006 55474 COARS1 TS CDUIND
055439,000155:
055440,000156: 07,3007 51474 INDEX CDUIND # COMPUTE THETAD - THETAA IN 1:S
055441,000157: 07,3010 30321 CA THETAD # COMPLEMENT FORM
055442,000158: 07,3011 00006 EXTEND
055443,000159: 07,3012 51474 INDEX CDUIND
055444,000160: 07,3013 20032 MSU CDUX
055445,000161: 07,3014 00006 EXTEND
055446,000162: 07,3015 74737 MP BIT13 # SHIFT RIGHT 2
055447,000163: 07,3016 56001 XCH L # ROUND
055448,000164: 07,3017 60000 DOUBLE
055449,000165: 07,3020 54061 TS ITEMP1
055450,000166: 07,3021 13023 TCF +2
055451,000167: 07,3022 26001 ADS L
055452,000168:
055453,000169: 07,3023 51474 INDEX CDUIND # DIFFERENCE TO BE COMPUTED
055454,000170: 07,3024 23471 LXCH COMMAND
055455,000171: 07,3025 11474 CCS CDUIND
055456,000172: 07,3026 03006 TC COARS1
055457,000173:
055458,000174: 07,3027 34752 CAF TWO # MINIMUM OF 4 MS WAIT
055459,000175: 07,3030 05224 TC VARDELAY
055460,000176:
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Page 1305
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055462,000178: 07,3031 03632 COARS2 TC CAGETEST # DONT CONTINUE IF CAGED.
055463,000179: 07,3032 54061 TS ITEMP1 # SETS TO +0.
055464,000180: 07,3033 34752 CAF TWO # SET CDU INDICATOR
055465,000181: 07,3034 55474 +3 TS CDUIND
055466,000182:
055467,000183: 07,3035 51474 INDEX CDUIND
055468,000184: 07,3036 11471 CCS COMMAND # NUMBER OF PULSES REQUIRED
055469,000185: 07,3037 03043 TC COMPOS # GREATER THAN MAX ALLOWED
055470,000186: 07,3040 03052 TC NEXTCDU +1
055471,000187: 07,3041 03110 TC COMNEG
055472,000188: 07,3042 03052 TC NEXTCDU +1
055473,000189:
055474,000190: 07,3043 63736 COMPOS AD -COMMAX # COMMAX = MAX NUMBER OF PULSES ALLOWED
055475,000191: 07,3044 00006 EXTEND # MINUS ONE
055476,000192: 07,3045 63120 BZMF COMZERO
055477,000193: 07,3046 51474 INDEX CDUIND
055478,000194: 07,3047 55471 TS COMMAND # REDUCE COMMAND BY MAX NUMBER OF PULSES
055479,000195: 07,3050 43737 CS -COMMAX- # ALLOWED
055480,000196:
055481,000197: 07,3051 24061 NEXTCDU INCR ITEMP1
055482,000198: 07,3052 64754 AD NEG0
055483,000199: 07,3053 51474 INDEX CDUIND
055484,000200: 07,3054 54050 TS CDUXCMD # SET UP COMMAND REGISTER.
055485,000201:
055486,000202: 07,3055 11474 CCS CDUIND
055487,000203: 07,3056 03034 TC COARS2 +3
055488,000204:
055489,000205: 07,3057 10061 CCS ITEMP1 # SEE IF ANY PULSES TO GO OUT.
055490,000206: 07,3060 13124 TCF SENDPULS
055491,000207:
055492,000208: 07,3061 05221 TC FIXDELAY # WAIT FOR GIMBALS TO SETTLE.
055493,000209: 07,3062 00226 DEC 150 B-14
055494,000210:
055495,000211: 07,3063 34752 CAF TWO # AT END OF COMMAND, CHECK TO SEE THAT
055496,000212: 07,3064 54061 CHKCORS TS ITEMP1 # GIMBALS ARE WITHIN 2 DEGREES OF THETAD.
055497,000213: 07,3065 50000 INDEX A
055498,000214: 07,3066 30032 CA CDUX
055499,000215: 07,3067 00006 EXTEND
055500,000216: 07,3070 50061 INDEX ITEMP1
055501,000217: 07,3071 20321 MSU THETAD
055502,000218: 07,3072 10000 CCS A
055503,000219: 07,3073 13101 TCF COARSERR
055504,000220: 07,3074 13076 TCF CORSCHK2
055505,000221: 07,3075 13101 TCF COARSERR
055506,000222:
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Page 1306
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055508,000224: 07,3076 10061 CORSCHK2 CCS ITEMP1
055509,000225: 07,3077 13064 TCF CHKCORS
055510,000226: 07,3100 13622 TCF ENDIMU # END OF COARSE ALIGNMENT.
055511,000227:
055512,000228: 07,3101 63107 COARSERR AD COARSTOL # 2 DEGREES.
055513,000229: 07,3102 00006 EXTEND
055514,000230: 07,3103 63076 BZMF CORSCHK2
055515,000231:
055516,000232: 07,3104 05567 TC ALARM # COARSE ALIGN ERROR.
055517,000233: 07,3105 00211 OCT 211
055518,000234:
055519,000235: 07,3106 13630 TCF IMUBAD
055520,000236:
055521,000237: 07,3107 77511 COARSTOL DEC -.01111 # 2 DEGREES SCALED AT HALF-REVOLUTIONS
055522,000238:
055523,000239: 07,3110 63736 COMNEG AD -COMMAX
055524,000240: 07,3111 00006 EXTEND
055525,000241: 07,3112 63120 BZMF COMZERO
055526,000242: 07,3113 40000 COM
055527,000243: 07,3114 51474 INDEX CDUIND
055528,000244: 07,3115 55471 TS COMMAND
055529,000245: 07,3116 33737 CA -COMMAX-
055530,000246: 07,3117 03051 TC NEXTCDU
055531,000247:
055532,000248: 07,3120 34755 COMZERO CAF ZERO
055533,000249: 07,3121 51474 INDEX CDUIND
055534,000250: 07,3122 57471 XCH COMMAND
055535,000251: 07,3123 03051 TC NEXTCDU
055536,000252:
055537,000253: 07,3124 37743 SENDPULS CAF 13,14,15
055538,000254: 07,3125 00006 EXTEND
055539,000255: 07,3126 05014 WOR CHAN14
055540,000256: 07,3127 33740 CAF 600MS
055541,000257: 07,3130 13030 TCF COARS2 -1 # THEN TO VARDELAY
055542,000258:
055543,000259: 07,3131 34746 CA+ECE CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
055544,000260: 07,3132 00006 EXTEND
055545,000261: 07,3133 05012 WOR CHAN12
055546,000262: 07,3134 05261 TC TASKOVER
055547,000263:
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Page 1307
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055549,000265: 07,3135 34750 SETCOARS CAF BIT4 # BYPASS IF ALREADY IN COARSE ALIGN
055550,000266: 07,3136 00006 EXTEND
055551,000267: 07,3137 02012 RAND CHAN12
055552,000268: 07,3140 10000 CCS A
055553,000269: 07,3141 00002 TC Q
055554,000270:
055555,000271: 07,3142 44746 CS BIT6 # CLEAR ISS ERROR COUNTERS
055556,000272: 07,3143 00006 EXTEND
055557,000273: 07,3144 03012 WAND CHAN12
055558,000274:
055559,000275: 07,3145 44742 CS BIT10 # KNOCK DOWN GYRO ACTIVITY
055560,000276: 07,3146 00006 EXTEND
055561,000277: 07,3147 03014 WAND CHAN14
055562,000278: 07,3150 44755 CS ZERO
055563,000279: 07,3151 54047 TS GYROCMD
055564,000280:
055565,000281: 07,3152 34750 CAF BIT4 # PUT ISS IN COARSE ALIGN
055566,000282: 07,3153 00006 EXTEND
055567,000283: 07,3154 05012 WOR CHAN12
055568,000284:
055569,000285: 07,3155 41035 CS DSPTAB +11D # TURN ON NO ATT LAMP
055570,000286: 07,3156 73200 MASK OCT40010
055571,000287: 07,3157 27035 ADS DSPTAB +11D
055572,000288:
055573,000289: 07,3160 41300 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
055574,000290: 07,3161 74746 MASK BIT6
055575,000291: 07,3162 27300 ADS IMODES33
055576,000292:
055577,000293: 07,3163 41277 CS IMODES30 # DISABLE IMUFAIL
055578,000294: 07,3164 74750 MASK BIT4
055579,000295: 07,3165 27277 ADS IMODES30
055580,000296:
055581,000297: 07,3166 44747 RNDREFDR CS TRACKBIT # CLEAR TRACK FLAG
055582,000298: 07,3167 70075 MASK FLAGWRD1
055583,000299: 07,3170 54075 TS FLAGWRD1
055584,000300:
055585,000301: 07,3171 44735 CS DRFTBIT # CLEAR DRIFT FLAG
055586,000302: 07,3172 70076 MASK FLAGWRD2
055587,000303: 07,3173 54076 TS FLAGWRD2
055588,000304:
055589,000305: 07,3174 44737 CS REFSMBIT # CLEAR REFSMMAT FLAG
055590,000306: 07,3175 70077 MASK FLAGWRD3
055591,000307: 07,3176 54077 TS FLAGWRD3
055592,000308:
055593,000309: 07,3177 00002 TC Q
055594,000310:
055595,000311: 07,3200 40010 OCT40010 OCT 40010
055596,000312:
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Page 1308
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055598,000314: # IMU FINE ALIGN MODE SWITCH.
055599,000315:
055600,000316: 07,3201 00004 IMUFINE INHINT
055601,000317: 07,3202 03644 TC CAGETSTJ # SEE IF IMU BEING CAGED.
055602,000318:
055603,000319: 07,3203 43735 CS BITS4-5 # RESET ZERO AND COARSE
055604,000320: 07,3204 00006 EXTEND
055605,000321: 07,3205 03012 WAND CHAN12
055606,000322:
055607,000323: 07,3206 44746 CS BIT6 # INSURE DAP AUTO AND HOLD MODES ENABLED
055608,000324: 07,3207 71300 MASK IMODES33
055609,000325: 07,3210 55300 TS IMODES33
055610,000326:
055611,000327: 07,3211 03257 TC NOATTOFF
055612,000328:
055613,000329: 07,3212 34742 CAF BIT10 # IMU FAIL WAS INHIBITED DURING THE
055614,000330: 07,3213 05203 TC WAITLIST # PRESUMABLY PRECEDING COARSE ALIGN. LEAVE
055615,000331: 07,3214 E3,1474 EBANK= CDUIND
055616,000332: 07,3214 03225 16103 2CADR IFAILOK # IT ON FOR THE FIRST 5 SECS OF FINE ALIGN
055617,000333:
055618,000334: 07,3216 35000 CAF 2SECS
055619,000335: 07,3217 05203 TC WAITLIST
055620,000336: 07,3220 E3,1474 EBANK= CDUIND
055621,000337: 07,3220 03223 16103 2CADR IMUFINED
055622,000338:
055623,000339: 07,3222 12746 TCF MODEEXIT
055624,000340:
055625,000341: 07,3223 03632 IMUFINED TC CAGETEST # SEE THAT NO ONE HAS CAGED THE IMU.
055626,000342: 07,3224 13622 TCF ENDIMU
055627,000343:
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Page 1309
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055629,000345: 07,3225 03637 IFAILOK TC CAGETSTQ # ENABLE IMU FIAL UNLESS IMU BEING CAGED.
055630,000346: 07,3226 15261 TCF TASKOVER # IT IS.
055631,000347:
055632,000348: 07,3227 34750 CAF BIT4 # DONT RESET IMU FAIL INHIBIT IF SOMEONE
055633,000349: 07,3230 00006 EXTEND # HAS GONE INTO COARSE ALIGN.
055634,000350: 07,3231 02012 RAND CHAN12
055635,000351: 07,3232 10000 CCS A
055636,000352: 07,3233 15261 TCF TASKOVER
055637,000353:
055638,000354: 07,3234 41277 CS IMODES30 # RESET IMUFAIL.
055639,000355: 07,3235 74737 MASK BIT13
055640,000356: 07,3236 27277 ADS IMODES30
055641,000357: 07,3237 44750 CS BIT4
055642,000358: 07,3240 71277 PFAILOK2 MASK IMODES30
055643,000359: 07,3241 55277 TS IMODES30
055644,000360: 07,3242 04674 TC IBNKCALL # THE ISS WARNING LIGHT MAY COME ON NOW
055645,000361: 07,3243 14703 CADR SETISSW # THAT THE INHIBIT HAS BEEN REMOVED.
055646,000362: 07,3244 15261 TCF TASKOVER
055647,000363:
055648,000364: 07,3245 03637 PFAILOK TC CAGETSTQ # ENABLE PIP FAIL PROG ALARM.
055649,000365: 07,3246 15261 TCF TASKOVER
055650,000366:
055651,000367: 07,3247 41277 CS IMODES30 # RESET IMU AND PIPA FAIL BITS.
055652,000368: 07,3250 74742 MASK BIT10
055653,000369: 07,3251 27277 ADS IMODES30
055654,000370:
055655,000371: 07,3252 41300 CS IMODES33
055656,000372: 07,3253 74737 MASK BIT13
055657,000373: 07,3254 27300 ADS IMODES33
055658,000374:
055659,000375: 07,3255 44747 CS BIT5
055660,000376: 07,3256 13240 TCF PFAILOK2
055661,000377:
055662,000378: 07,3257 43200 NOATTOFF CS OCT40010 # SUBROUTINE TO TURN OFF NO ATT LAMP.
055663,000379: 07,3260 71035 MASK DSPTAB +11D
055664,000380: 07,3261 64735 AD BIT15
055665,000381: 07,3262 55035 TS DSPTAB +11D
055666,000382: 07,3263 00002 TC Q
055667,000383:
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Page 1310
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055669,000385: # ROUITNES TO INITIATE AND TERMINATE PROGRAM USE OF THE PIPAS. NO IMUSTALL REQUIRED IN EITHER CASE.
055670,000386:
055671,000387: 07,3264 44755 PIPUSE CS ZERO
055672,000388: 07,3265 54037 TS PIPAX
055673,000389: 07,3266 54040 TS PIPAY
055674,000390: 07,3267 54041 TS PIPAZ
055675,000391:
055676,000392: 07,3270 03637 PIPUSE1 TC CAGETSTQ # DO NOT ENABLE PIPA FAIL IF IMU IS CAGED
055677,000393: 07,3271 14631 TCF SWRETURN
055678,000394:
055679,000395: 07,3272 00004 INHINT
055680,000396: 07,3273 44753 CS BIT1 # IF PIPA FAILS FROM NOW ON (UNTIL
055681,000397: 07,3274 71277 MASK IMODES30 # PIPFREE), LIGHT ISS WARNING.
055682,000398: 07,3275 55277 TS IMODES30
055683,000399:
055684,000400: 07,3276 04674 PIPFREE2 TC IBNKCALL # ISS WARNING MIGHT COME ON NOW.
055685,000401: 07,3277 14703 CADR SETISSW # (OR GO OFF ON PIPFREE).
055686,000402:
055687,000403: 07,3300 12746 TCF MODEEXIT
055688,000404:
055689,000405: 07,3301 00004 PIPFREE INHINT # PROGRAM DONE WITH PIPAS. DONT LIGHT
055690,000406: 07,3302 41277 CS IMODES30 # ISS WARNING.
055691,000407: 07,3303 74753 MASK BIT1
055692,000408: 07,3304 27277 ADS IMODES30
055693,000409:
055694,000410: 07,3305 74742 MASK BIT10 # IF PIP FAIL ON, DO PROG ALSRM AND RESET
055695,000411: 07,3306 10000 CCS A # ISS WARNING.
055696,000412: 07,3307 12746 TCF MODEEXIT
055697,000413:
055698,000414: 07,3310 05567 TC ALARM
055699,000415: 07,3311 00212 OCT 212
055700,000416:
055701,000417: 07,3312 00004 INHINT
055702,000418:
055703,000419: 07,3313 13276 TCF PIPFREE2
055704,000420:
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|
Page 1311
|
055706,000422: # THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIX REGISTERS
055707,000423: # BEGINNING AT THE ECADR ARRIVING IN A. THE MINIMUM SIZE OF ANY PULSE TRAIN IS 16 PULSES (.25 CDU COUNTS). THE
055708,000424: # UNSENT PORTION OF THE COMMAND IS LEFT INTACT IN THE INPUT COMMAND REGISTERS.
055709,000425:
055710,000426: 07,3314 E3,1400 EBANK= 1400 # VARIABLE, ACTUALLY.
055711,000427:
055712,000428: 07,3314 54161 IMUPULSE TS MPAC +5 # SAVE ARRIVING ECADR.
055713,000429: 07,3315 03644 TC CAGETSTJ # DONT PROCEED IF IMU BEING CAGED.
055714,000430:
055715,000431: 07,3316 11311 CCS LGYRO # SEE IF GYROS BUSY.
055716,000432: 07,3317 03360 TC GYROBUSY # SLEEP.
055717,000433:
055718,000434: 07,3320 54156 TS MPAC +2
055719,000435: 07,3321 34746 CAF BIT6 # ENABLE THE POWER SUPPLY.
055720,000436: 07,3322 00006 EXTEND
055721,000437: 07,3323 05014 WOR CHAN14
055722,000438:
055723,000439: 07,3324 34751 CAF FOUR
055724,000440: 07,3325 05203 GWAKE2 TC WAITLIST # (IF A JOB WAS PUT TO SLEEP, THE POWER
055725,000441: 07,3326 E3,1474 EBANK= CDUIND # SUPPLY IS LEFT ON BY THE WAKING JOB).
055726,000442: 07,3326 03376 16103 2CADR STRTGYRO
055727,000443:
055728,000444: 07,3330 30161 CA MPAC +5 # SET UP EBANK, SAVING CALLER'S EBANK FOR
055729,000445: 07,3331 56003 XCH EBANK # RESTORATION ON RETURN.
055730,000446: 07,3332 56161 XCH MPAC +5
055731,000447: 07,3333 55311 TS LGYRO # RESERVES GYROS.
055732,000448: 07,3334 74357 MASK LOW8
055733,000449: 07,3335 54061 TS ITEMP1
055734,000450:
055735,000451: 07,3336 34752 CAF TWO # FORCE SIGN AGREEMENT ON INPUTS.
055736,000452: 07,3337 54157 GYROAGRE TS MPAC +3
055737,000453: 07,3340 60000 DOUBLE
055738,000454: 07,3341 60061 AD ITEMP1
055739,000455: 07,3342 54160 TS MPAC +4
055740,000456: 07,3343 00006 EXTEND
055741,000457: 07,3344 50000 INDEX A
055742,000458: 07,3345 31401 DCA 1400
055743,000459: 07,3346 52155 DXCH MPAC
055744,000460: 07,3347 07262 TC TPAGREE
055745,000461: 07,3350 52155 DXCH MPAC
055746,000462: 07,3351 50160 INDEX MPAC +4
055747,000463: 07,3352 53401 DXCH 1400
055748,000464:
055749,000465: 07,3353 10157 CCS MPAC +3
055750,000466: 07,3354 13337 TCF GYROAGRE
055751,000467:
055752,000468: 07,3355 30161 CA MPAC +5 # RESTORE CALLER'S EBANK.
055753,000469: 07,3356 54003 TS EBANK
055754,000470: 07,3357 12746 TCF MODEEXIT
055755,000471:
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|
Page 1312
|
055757,000473: # ROUTINES TO ALLOW TORQUING BY ONLY ONE JOB AT A TIME.
055758,000474:
055759,000475: 07,3360 00006 GYROBUSY EXTEND # SAVE RETURN 2FCADR.
055760,000476: 07,3361 30134 DCA BUF2
055761,000477: 07,3362 52155 DXCH MPAC
055762,000478: 07,3363 33375 REGSLEEP CAF LGWAKE
055763,000479: 07,3364 15133 TCF JOBSLEEP
055764,000480:
055765,000481: 07,3365 11311 GWAKE CCS LGYRO # WHEN AWAKENED, SEE IF GYROS STILL BUSY.
055766,000482: 07,3366 13363 TCF REGSLEEP # IF SO, SLEEP SOME MORE.
055767,000483:
055768,000484: 07,3367 54156 TS MPAC +2
055769,000485: 07,3370 00006 EXTEND
055770,000486: 07,3371 30155 DCA MPAC
055771,000487: 07,3372 52134 DXCH BUF2 # RESTORE SWRETURN INFO.
055772,000488: 07,3373 34753 CAF ONE
055773,000489: 07,3374 13325 TCF GWAKE2
055774,000490:
055775,000491: 07,3375 17365 LGWAKE CADR GWAKE
055776,000492:
|
|
Page 1313
|
055778,000494: # GYRO-TORQUING WAITLIST TASKS.
055779,000495:
055780,000496: 07,3376 43617 STRTGYRO CS GDESELCT # DE-SELECT LAST GYRO.
055781,000497: 07,3377 00006 EXTEND
055782,000498: 07,3400 03014 WAND CHAN14
055783,000499:
055784,000500: 07,3401 03632 TC CAGETEST
055785,000501:
055786,000502: 07,3402 31311 STRTGYR2 CA LGYRO # JUMP ON PHASE COUNTER IN BITS 13-14.
055787,000503: 07,3403 00006 EXTEND
055788,000504: 07,3404 74750 MP BIT4
055789,000505: 07,3405 50000 INDEX A
055790,000506: 07,3406 13407 TCF +1
055791,000507: 07,3407 03424 TC GSELECT # =0. DO Y GYRO.
055792,000508: 07,3410 00202 OCT 00202
055793,000509:
055794,000510: 07,3411 03424 TC GSELECT # =1. DO Z GYRO.
055795,000511: 07,3412 00302 OCT 00302
055796,000512:
055797,000513: 07,3413 03422 TC GSELECT -2 # =2. DO X GYRO.
055798,000514: 07,3414 00100 OCT 00100
055799,000515:
055800,000516: 07,3415 34755 CAF ZERO # =3. DONE
055801,000517: 07,3416 55311 TS LGYRO
055802,000518: 07,3417 33375 CAF LGWAKE # WAKE A POSSIBLE SLEEPING JOB.
055803,000519: 07,3420 05137 TC JOBWAKE
055804,000520:
055805,000521: 07,3421 13223 NORESET TCF IMUFINED # DO NOT RESET POWER SUPPLY
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|
Page 1314
|
055807,000523: 07,3422 44751 -2 CS FOUR # SPECIAL ENTRY TO REGRESS LGYRO FOR X.
055808,000524: 07,3423 27311 ADS LGYRO
055809,000525:
055810,000526: 07,3424 50002 GSELECT INDEX Q # SELECT GYRO.
055811,000527: 07,3425 30000 CAF 0 # PACKED WORD CONTAINS GYRO SELECT BITS
055812,000528: 07,3426 54064 TS ITEMP4 # AND INCREMENT TO LGYRO.
055813,000529: 07,3427 74757 MASK SEVEN
055814,000530: 07,3430 64737 AD BIT13
055815,000531: 07,3431 27311 ADS LGYRO
055816,000532: 07,3432 54003 TS EBANK
055817,000533: 07,3433 74357 MASK LOW8
055818,000534: 07,3434 54061 TS ITEMP1
055819,000535:
055820,000536: 07,3435 44757 CS SEVEN
055821,000537: 07,3436 70064 MASK ITEMP4
055822,000538: 07,3437 54064 TS ITEMP4
055823,000539:
055824,000540: 07,3440 00006 EXTEND # MOVE DP COMMAND TO RUPTREGS FOR TESTING.
055825,000541: 07,3441 50061 INDEX ITEMP1
055826,000542: 07,3442 31401 DCA 1400
055827,000543: 07,3443 52071 DXCH RUPTREG1
055828,000544:
055829,000545: 07,3444 10070 CCS RUPTREG1
055830,000546: 07,3445 13460 TCF MAJ+
055831,000547: 07,3446 13450 TCF +2
055832,000548: 07,3447 13600 TCF MAJ-
055833,000549:
055834,000550: 07,3450 10071 CCS RUPTREG2
055835,000551: 07,3451 13455 TCF MIN+
055836,000552: 07,3452 13402 TCF STRTGYR2
055837,000553: 07,3453 13575 TCF MIN-
055838,000554: 07,3454 13402 TCF STRTGYR2
055839,000555:
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|
Page 1315
|
055841,000557: 07,3455 63511 MIN+ AD -GYROMIN # SMALL POSITIVE COMMAND. SEE IF AT LEAST
055842,000558: 07,3456 00006 EXTEND # 16 GYRO PULSES.
055843,000559: 07,3457 63402 BZMF STRTGYR2
055844,000560:
055845,000561: 07,3460 00006 MAJ+ EXTEND # DEFINITE POSITIVE OUTPUT.
055846,000562: 07,3461 33621 DCA GYROFRAC
055847,000563: 07,3462 20071 DAS RUPTREG1
055848,000564:
055849,000565: 07,3463 30064 CA ITEMP4 # SELECT POSITIVE TORQUING FOR THIS GYRO.
055850,000566: 07,3464 00006 EXTEND
055851,000567: 07,3465 05014 WOR CHAN14
055852,000568:
055853,000569: 07,3466 36077 CAF LOW7 # LEAVE NUMBER OF POSSIBLE 8192 AUGMENTS
055854,000570: 07,3467 70071 MASK RUPTREG2 # TO INITIAL COMMAND IN MAJOR PART OF LONG
055855,000571: 07,3470 56071 XCH RUPTREG2 # TERM STORAGE AND TRUNCATED FRACTION
055856,000572: 07,3471 00006 GMERGE EXTEND # IN MINOR PART. THE MAJOR PART WILL BE
055857,000573: 07,3472 74744 MP BIT8 # COUNTED DOWN TO ZERO IN THE COURSE OF
055858,000574: 07,3473 54062 TS ITEMP2 # PUTTING OUT THE ENTIRE COMMAND.
055859,000575: 07,3474 30070 CA RUPTREG1
055860,000576: 07,3475 00006 EXTEND
055861,000577: 07,3476 74743 MP BIT9
055862,000578: 07,3477 54070 TS RUPTREG1
055863,000579: 07,3500 30001 CA L
055864,000580: 07,3501 00006 EXTEND
055865,000581: 07,3502 74736 MP BIT14
055866,000582: 07,3503 26062 ADS ITEMP2 # INITIAL COMMAND.
055867,000583:
055868,000584: 07,3504 00006 EXTEND # SEE IF MORE THAN ONE PULSE TRAIN NEEDED
055869,000585: 07,3505 30071 DCA RUPTREG1 # (MORE THAN 16383 PULSES).
055870,000586: 07,3506 67752 AD MINUS1
055871,000587: 07,3507 10000 CCS A
055872,000588: 07,3510 13534 TCF LONGGYRO
055873,000589: 07,3511 77601 -GYROMIN OCT -176 # MAY BE ADJUSTED TO SPECIFY MINIMUM CMD
055874,000590: 07,3512 13516 TCF +4
055875,000591:
055876,000592: 07,3513 34736 CAF BIT14
055877,000593: 07,3514 26062 ADS ITEMP2
055878,000594: 07,3515 34755 CAF ZERO
055879,000595:
055880,000596: 07,3516 50061 +4 INDEX ITEMP1
055881,000597: 07,3517 53401 DXCH 1400
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|
Page 1316
|
055883,000599: 07,3520 30062 CA ITEMP2 # ENTIRE COMMAND.
055884,000600: 07,3521 54047 LASTSEG TS GYROCMD
055885,000601: 07,3522 00006 EXTEND
055886,000602: 07,3523 74742 MP BIT10 # WAITLIST DT
055887,000603: 07,3524 66250 AD THREE # TRUNCATION AND PHASE UNCERTAINTIES.
055888,000604: 07,3525 05203 TC WAITLIST
055889,000605: 07,3526 E3,1474 EBANK= CDUIND
055890,000606: 07,3526 03376 16103 2CADR STRTGYRO
055891,000607:
055892,000608: 07,3530 34742 GYROEXIT CAF BIT10
055893,000609: 07,3531 00006 EXTEND
055894,000610: 07,3532 05014 WOR CHAN14
055895,000611: 07,3533 15261 TCF TASKOVER
055896,000612:
055897,000613: 07,3534 50061 LONGGYRO INDEX ITEMP1
055898,000614: 07,3535 53401 DXCH 1400 # INITIAL COMMAND OUT PLUS N AUGMENTS OF
055899,000615: 07,3536 34736 CAF BIT14 # 8192. INITIAL COMMAND IS AT LEAST 8192.
055900,000616: 07,3537 60062 AD ITEMP2
055901,000617: 07,3540 54047 TS GYROCMD
055902,000618:
055903,000619: 07,3541 00006 AUG3 EXTEND # GET WAITLIST DT TO TIME WHEN TRAIN IS
055904,000620: 07,3542 74742 MP BIT10 # ALMOST OUT.
055905,000621: 07,3543 67750 AD NEG3
055906,000622: 07,3544 05203 TC WAITLIST
055907,000623: 07,3545 E3,1474 EBANK= CDUIND
055908,000624: 07,3545 03550 16103 2CADR 8192AUG
055909,000625:
055910,000626: 07,3547 13530 TCF GYROEXIT
055911,000627:
055912,000628: 07,3550 03632 8192AUG TC CAGETEST
055913,000629:
055914,000630: 07,3551 34750 CAF BIT4
055915,000631: 07,3552 00006 EXTEND
055916,000632: 07,3553 02012 RAND CHAN12
055917,000633: 07,3554 10000 CCS A
055918,000634: 07,3555 13630 TCF IMUBAD
055919,000635: 07,3556 31311 CA LGYRO # ADD 8192 PULSES TO GYROCMD
055920,000636: 07,3557 54003 TS EBANK
055921,000637: 07,3560 74357 MASK LOW8
055922,000638: 07,3561 54061 TS ITEMP1
055923,000639:
055924,000640: 07,3562 50061 INDEX ITEMP1 # SEE IF THIS IS THE LAST AUG.
055925,000641: 07,3563 11400 CCS 1400
055926,000642: 07,3564 13570 TCF AUG2 # MORE TO COME.
055927,000643:
055928,000644: 07,3565 34736 CAF BIT14
055929,000645: 07,3566 26047 ADS GYROCMD
055930,000646: 07,3567 13522 TCF LASTSEG +1
055931,000647:
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|
Page 1317
|
055933,000649: 07,3570 50061 AUG2 INDEX ITEMP1
055934,000650: 07,3571 55400 TS 1400
055935,000651: 07,3572 34736 CAF BIT14
055936,000652: 07,3573 26047 ADS GYROCMD
055937,000653: 07,3574 13541 TCF AUG3 # COMPUTE DT.
055938,000654:
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|
Page 1318
|
055940,000656: 07,3575 63511 MIN- AD -GYROMIN # POSSIBLE NEGATIVE OUTPUT.
055941,000657: 07,3576 00006 EXTEND
055942,000658: 07,3577 63402 BZMF STRTGYR2
055943,000659:
055944,000660: 07,3600 00006 MAJ- EXTEND # DEFINITE NEGATIVE OUTPUT.
055945,000661: 07,3601 43621 DCS GYROFRAC
055946,000662: 07,3602 20071 DAS RUPTREG1
055947,000663:
055948,000664: 07,3603 30064 CA ITEMP4 # SELECT NEGATIVE TORQUING FOR THIS GYRO.
055949,000665: 07,3604 64743 AD BIT9
055950,000666: 07,3605 00006 EXTEND
055951,000667: 07,3606 05014 WOR CHAN14
055952,000668:
055953,000669: 07,3607 40070 CS RUPTREG1 # SET UP RUPTREGS TO FALL INTO GMERGE.
055954,000670: 07,3610 54070 TS RUPTREG1 # ALL NUMBERS PUT INTO GYROCMD ARE
055955,000671: 07,3611 40071 CS RUPTREG2 # POSITIVE - BIT9 OF CHAN 14 DETERMINES
055956,000672: 07,3612 76077 MASK LOW7 # THE SIGN OF THE COMMAND.
055957,000673: 07,3613 40000 COM
055958,000674: 07,3614 56071 XCH RUPTREG2
055959,000675: 07,3615 40000 COM
055960,000676: 07,3616 13471 TCF GMERGE
055961,000677:
055962,000678: 07,3617 01700 GDESELCT OCT 1700 # TURN OFF SELECT AND ACTIVITY BITS.
055963,000679:
055964,000680: 07,3620 00000 00034 GYROFRAC 2DEC .215 B-21
055965,000681:
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|
Page 1319
|
055967,000683: # IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE.
055968,000684:
055969,000685: 07,3622 00006 ENDIMU EXTEND # MODE IS BAD IF CAGE HAS OCCURED OR IF
055970,000686: 07,3623 00011 READ DSALMOUT # ISS WARNING IS ON.
055971,000687: 07,3624 74753 MASK BIT1
055972,000688: 07,3625 10000 CCS A
055973,000689: 07,3626 13630 TCF IMUBAD
055974,000690:
055975,000691: 07,3627 13656 IMUGOOD TCF GOODEND # WITH C(A) = 0.
055976,000692:
055977,000693: 07,3630 34755 IMUBAD CAF ZERO
055978,000694: 07,3631 13653 TCF BADEND
055979,000695:
055980,000696: 07,3632 34746 CAGETEST CAF BIT6 # SUBROUTINE TO TERMINATE IMU MODE
055981,000697: 07,3633 71277 MASK IMODES30 # SWITCH IF IMU HAS BEEN CAGED.
055982,000698: 07,3634 10000 CCS A
055983,000699: 07,3635 13630 TCF IMUBAD # DIRECTLY.
055984,000700: 07,3636 00002 TC Q # WITH C(A) = +0.
055985,000701:
055986,000702: 07,3637 41277 CAGETSTQ CS IMODES30 # SKIP IF IMU NOT BEING CAGED.
055987,000703: 07,3640 74746 MASK BIT6
055988,000704: 07,3641 10000 CCS A
055989,000705: 07,3642 24002 INCR Q
055990,000706: 07,3643 00002 TC Q
055991,000707:
055992,000708: 07,3644 41277 CAGETSTJ CS IMODES30 # IF DURING MODE SWITCH INITIALIZATION
055993,000709: 07,3645 74746 MASK BIT6 # IT IS FOUND THAT THE IMU IS BEING CAGED,
055994,000710: 07,3646 10000 CCS A # SET IMUCADR TO -0 TO INDICATE OPERATION
055995,000711: 07,3647 00002 TC Q # COMPLETE BUT FAILED. RETURN IMMEDIATELY
055996,000712: 07,3650 44755 CS ZERO # TO SWRETURN.
055997,000713: 07,3651 55301 TS IMUCADR
055998,000714: 07,3652 12746 TCF MODEEXIT
055999,000715:
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|
Page 1320
|
056001,000717: # GENERALIZED MODE SWITCHING TERMINATION. ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION
056002,000718: # OR AT BADEND FOR AN UNSUCCESSFUL ONE. C(A) OR ARRIVAL =0 FOR IMU, 1 FOR OPTICS.
056003,000719:
056004,000720: 07,3653 54071 BADEND TS RUPTREG2 # DEVICE INDEX.
056005,000721: 07,3654 44755 CS ZERO # FOR FAILURE.
056006,000722: 07,3655 13660 TCF GOODEND +2
056007,000723:
056008,000724: 07,3656 54071 GOODEND TS RUPTREG2
056009,000725: 07,3657 44753 CS ONE # FOR SUCCESS.
056010,000726:
056011,000727: 07,3660 54072 TS RUPTREG3
056012,000728: 07,3661 50071 INDEX RUPTREG2 # SEE IF USING PROGRAM ASLEEP.
056013,000729: 07,3662 11301 CCS MODECADR
056014,000730: 07,3663 13667 TCF +4 # YES - WAKE IT UP.
056015,000731: 07,3664 13677 TCF ENDMODE # IF 0, PROGRAM NOT IN YET.
056016,000732:
056017,000733: 07,3665 00006 EXTEND
056018,000734: 07,3666 13700 BZF ENDMODE +1 # BZF = TCF IF MODECADR = -0.
056019,000735:
056020,000736: 07,3667 34755 CAF ZERO # WAKE SLEEPING PROGRAM.
056021,000737: 07,3670 50071 INDEX RUPTREG2
056022,000738: 07,3671 57301 XCH MODECADR
056023,000739: 07,3672 05137 TC JOBWAKE
056024,000740:
056025,000741: 07,3673 40072 CS RUPTREG3 # ADVANCE LOC IF SUCCESSFUL.
056026,000742: 07,3674 50064 INDEX LOCCTR
056027,000743: 07,3675 26164 ADS LOC
056028,000744:
056029,000745: 07,3676 15261 TCF TASKOVER
056030,000746:
056031,000747: 07,3677 30072 ENDMODE CA RUPTREG3 # -0 INDICATES OPERATION COMPLETE BUT
056032,000748: 07,3700 50071 +1 INDEX RUPTREG2 # UNSUCCESSFUL: -1 INDICATES COMPLETE AND
056033,000749: 07,3701 55301 TS MODECADR # SUCCESSFUL.
056034,000750: 07,3702 15261 TCF TASKOVER
056035,000751:
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Page 1321
|
056037,000753: # GENERAL STALLING ROUTINE. USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION.
056038,000754:
056039,000755: # PROGRAM DESCRIPTION DATE - 21 FEB 1967
056040,000756: # LOG SECTION IMU MODE SWITCHING
056041,000757: # MOD BY - R. MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 82
056042,000758:
056043,000759: # FUNCTIONAL DESCRIPTION -
056044,000760: # TO DELAY FURTHER EXECUTION OF THE CALLING ROUTINE UNTIL ITS SELECTED
056045,000761: # I/O FUNCTION IS COMPLETE. THE FOLLOWING CHECKS ON THE CALLING ROUTINE:S
056046,000762: # MODECADR ARE MADE AND ACTED UPON.
056047,000763: # 1) +0 INDICATES INCOMPLETE I/O OPERATION. CALLING ROUTINE IS PUT TO
056048,000764: # SLEEP.
056049,000765: # 2) -1 INDICATES COMPLETED I/O OPERATION. STALL BYPASSES JOBSLEEP
056050,000766: # CALL AND RETURNS TO CALLING ROUTINE AT L+3
056051,000767: # 3) -0 INDICATES COMPLETED I/O WITH FAILURE. STALL CLEARS MODECADR
056052,000768: # AND RETURNS TO CALLING ROUTINE AT L+2.
056053,000769: # 4) VALUE GREATER THAN 0 INDICATES TWO ROUTINES CALLING FOR USE OF
056054,000770: # SAME DEVICE. STALL EXITS TO ABORT WHICH EXECUTES A PROGRAM
056055,000771: # RESTART WHICH IN TURN CLEARS ALL MODECADR REGISTERS.
056056,000772:
056057,000773: # CALLING SEQUENCE -
056058,000774: # L TC BANKCALL
056059,000775: # L+1 CADR (ONE OF 5 STALL ADDRESSES I.E. IMUSTALL, OPTSTALL, RADSTALL,
056060,000776: # AOTSTALL, OR ATTSTALL)
056061,000777:
056062,000778: # NORMAL-EXIT MODE -
056063,000779: # TCF JOBSLEEP OR TCF MODEXIT
056064,000780:
056065,000781: # ALARM OR ABORT EXIT MODE -
056066,000782: # TC ABORT
056067,000783:
056068,000784: # OUTPUT -
056069,000785: # MODECADR=CADR IF JOBSLEEP
056070,000786: # MODECADR=+0 IF I/O COMPLETE
056071,000787: # BUF2=L+3 IF I/O COMPLETE AND GOOD.
056072,000788: # BUF2=L+2 IF I/O COMPLETE BUT FAILED.
056073,000789:
056074,000790: # ERASABLE INITIALIZATION -
056075,000791: # BUF2 CONTAINS RETURN ADDRESS PLUS 1,(L+2)
056076,000792: # BUF2+1 CONTAINS FBANK VALUE OF CALLING ROUTINE.
056077,000793: # MODECADR OF CALLING ROUTINE CONTAINS +0,-1,-0 OR CADR RETURN ADDRESS.
056078,000794:
056079,000795: # DEBRIS -
056080,000796: # RUPTREG2 AND CALLING ROUTINE MODECADR.
056081,000797:
056082,000798: 07,3703 34753 AOTSTALL CAF ONE # AOT.
056083,000799: 07,3704 03710 TC STALL
056084,000800:
056085,000801: 07,3705 34752 RADSTALL CAF TWO
056086,000802: 07,3706 13710 TCF STALL
056087,000803:
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Page 1322
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056089,000805: 07,3707 07,3703 OPTSTALL EQUALS AOTSTALL
056090,000806:
056091,000807: 07,3707 34755 IMUSTALL CAF ZERO # IMU.
056092,000808:
056093,000809: 07,3710 00004 STALL INHINT
056094,000810: 07,3711 54071 TS RUPTREG2 # SAVE DEVICE INDEX.
056095,000811: 07,3712 50000 INDEX A # SEE IF OPERATION COMPLETE.
056096,000812: 07,3713 11301 CCS MODECADR
056097,000813: 07,3714 13732 TCF MODABORT # ALLOWABLE STATES ARE +0, -1, AND -0.
056098,000814: 07,3715 13726 TCF MODESLP # OPERATION INCOMPLETE.
056099,000815: 07,3716 13722 TCF MODEGOOD # COMPLETE AND GOOD IF = -1.
056100,000816:
056101,000817: 07,3717 50071 MG2 INDEX RUPTREG2 # COMPLETE AND FAILED IF -0. RESET TO +0.
056102,000818: 07,3720 55301 TS MODECADR # RETURN TO CALLER.
056103,000819: 07,3721 12746 TCF MODEEXIT
056104,000820:
056105,000821: 07,3722 10000 MODEGOOD CCS A # MAKE SURE INITIAL STATE -1.
056106,000822: 07,3723 13732 TCF MODABORT
056107,000823:
056108,000824: 07,3724 24133 INCR BUF2 # IF SO, INCREMENT RETURN ADDRESS AND
056109,000825: 07,3725 13717 TCF MG2 # RETURN IMMEDIATELY, SETTING CADR = +0.
056110,000826:
056111,000827: 07,3726 04645 MODESLP TC MAKECADR # CALL FROM SWITCHABLE FIXED ONLY.
056112,000828: 07,3727 50071 INDEX RUPTREG2
056113,000829: 07,3730 55301 TS MODECADR
056114,000830: 07,3731 15133 TCF JOBSLEEP
056115,000831:
056116,000832: 07,3732 52134 MODABORT DXCH BUF2
056117,000833: 07,3733 05706 TC BAILOUT1 # TWO PROGRAMS USING THE SAME DEVICE.
056118,000834: 07,3734 31210 OCT 31210
056119,000835:
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Page 1323
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056121,000837: # CONSTANTS FOR MODE SWITCHING ROUTINES
056122,000838:
056123,000839: 07,3735 5741 BITS3&4 = OCT14
056124,000840: 07,3735 4771 BITS4&6 = OCT50
056125,000841: 07,3735 00030 BITS4-5 OCT 00030
056126,000842: 07,3736 4744 IMUSEFLG EQUALS BIT8 # INTERPRETER SWITCH 7.
056127,000843: 07,3736 77500 -COMMAX DEC -191 B-14
056128,000844: 07,3737 77477 -COMMAX- DEC -192 B-14
056129,000845: 07,3740 00074 600MS DEC 60 B-14
056130,000846: 07,3741 07,3201 IMUFIN20 = IMUFINE
056131,000847: 07,3741 31304 GOMANUR CA ATTCADR # IS KALCMANU FREE
056132,000848: 07,3742 00006 EXTEND
056133,000849: 07,3743 13745 BZF +2
056134,000850: 07,3744 03732 TC MODABORT # BAILOUT
056135,000851: 07,3745 00006 +2 EXTEND
056136,000852: 07,3746 30134 DCA BUF2
056137,000853: 07,3747 53305 DXCH ATTCADR # SAVE FINAL RETURN FOR KALCMAN3
056138,000854:
056139,000855: 07,3750 30006 CA BBANK
056140,000856: 07,3751 74757 MASK SEVEN
056141,000857: 07,3752 27305 ADS ATTCADR +1
056142,000858:
056143,000859: 07,3753 30167 CA PRIORITY
056144,000860: 07,3754 77730 MASK PRIO37
056145,000861: 07,3755 55306 TS ATTPRIO # SAVE USERS PRIO
056146,000862:
056147,000863: 07,3756 33762 CAF KALEBCON # SET EBANK FOR KALCMAN3
056148,000864: 07,3757 54003 TS EBANK
056149,000865: 07,3760 04635 TC POSTJUMP
056150,000866: 07,3761 44004 CADR KALCMAN3
056151,000867: 07,3762 03275 KALEBCON ECADR BCDU
056152,000868:
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Page 1324
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056154,000870: # PROGRAM DESCRIPTION
056155,000871: # IMU STATUS CHECK ROUTINE R02 (SUBROUTINE UTILITY)
056156,000872: # MOD NO - 1
056157,000873: # MOD BY - N.BRODEUR
056158,000874:
056159,000875: # FUNCTIONAL DESCRIPTION
056160,000876: # TO CHECK WHETHER IMU IS ON AND IF ON WHETHER IT IS ALIGNED TO AN
056161,000877: # ORIENTATION KNOWN BY THE CMC. TO REQUEST SELECTION OF THE APPROPRIATE
056162,000878: # PROGRAM IF THE IMU IS OFF OR NOT ALIGNED TO AN ORIENTATION KNOWN BY THE
056163,000879: # CMC. CALLED THROUGH BANKCALL
056164,000880:
056165,000881: # CALLING SEQUENCE -
056166,000882: # L TC BANKCALL
056167,000883: # L+1 CADR R02BOTH
056168,000884:
056169,000885: # SUBROUTINES CALLED
056170,000886: # VARALARM
056171,000887: # FLAGUP
056172,000888:
056173,000889: # NORMAL EXIT MODES
056174,000890: # AT L+2 OF CALLING SEQUENCE
056175,000891:
056176,000892: # ALARM OR ABORT EXIT MODES
056177,000893: # GOTOPOOH, WITH ALARM
056178,000894:
056179,000895: # ERASABLE INITIALIZATION REQUIRED
056180,000896: # NONE
056181,000897:
056182,000898: # DEBRIS
056183,000899: # CENTRALS-A,Q,L
056184,000900:
056185,000901: 34,3650 BANK 34
056186,000902: 04,2000 SETLOC R02
056187,000903: 04,2000 BANK
056188,000904: 04,3232 COUNT* $$/R02
056189,000905: 04,3232 00063 DEC51 DEC 51 B-14
056190,000906: 04,3233 34737 R02BOTH CAF REFSMBIT
056191,000907: 04,3234 70077 MASK FLAGWRD3
056192,000908: 04,3235 10000 CCS A
056193,000909: 04,3236 03247 TC R02ZERO # ZERO IMUS
056194,000910:
056195,000911: 04,3237 31277 CA IMODES30
056196,000912: 04,3240 74743 MASK BIT9 # IS ISS INITIALIZED
056197,000913: 04,3241 00006 EXTEND
056198,000914: 04,3242 13244 BZF +2
056199,000915: 04,3243 44750 CS BIT4 # SEND IMU ALARM CODE 210
056200,000916: 04,3244 63252 AD OCT220 # SEND REFSMM ALARM
056201,000917: 04,3245 05734 TC VARALARM
056202,000918:
056203,000919: 04,3246 06001 TC GOTOPOOH
056204,000920:
056205,000921: 04,3247 05504 R02ZERO TC UPFLAG
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Page 1325
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056207,000923: 04,3250 00007 ADRES IMUSE
056208,000924: 04,3251 14631 TCF SWRETURN
056209,000925: 04,3252 00220 OCT220 OCT 220
056210,000926:
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Page 1326
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056212,000928: # PROGRAM DESCRIPTION P06 10FEB67
056213,000929:
056214,000930: # TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION.
056215,000931:
056216,000932: # THE NORMAL CONDITION OF READINESS OF THE GNCS WHEN NOT IN USE IS STANDBY. IN THIS CONDITION THE IMU
056217,000933: # HEATER POWER IS ON. THE IMU OPERATE POWER IS OFF. THE COMPUTER POWER IS ON. THE OPTICS POWER IS OFF. THE
056218,000934: # CMC STANDBY ON THE MAIN AND LEB DISKYS IS ON.
056219,000935:
056220,000936: # CALLING SEQUENCE:
056221,000937: # ASTRONAUT REQUEST THROUGH DSKY V37E 06E.
056222,000938:
056223,000939: # SUBROUTINES CALLED:
056224,000940: # GOPERF1
056225,000941: # BANKCALL
056226,000942: # FLAGDOWN
056227,000943:
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Page 1327
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056229,000945: # PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2
056230,000946: # THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATABILITY
056231,000947: # BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING.
056232,000948:
056233,000949: 37,2000 SETLOC P05P06
056234,000950: 37,2000 BANK
056235,000951:
056236,000952: 37,3652 0314 EBANK= TIME2SAV
056237,000953: 37,3652 COUNT* $$/P06
056238,000954:
056239,000955: 37,3652 05504 P06 TC UPFLAG # SET NODOV37 BIT
056240,000956: 37,3653 00054 ADRES NODOFLAG
056241,000957:
056242,000958: 37,3654 00004 PRESTAND INHINT
056243,000959: 37,3655 00006 EXTEND
056244,000960: 37,3656 30025 DCA TIME2 # SNAPSHOT TIME1 TIME2
056245,000961: 37,3657 52315 DXCH TIME2SAV
056246,000962: 37,3660 03711 TC SCALPREP
056247,000963: 37,3661 03654 TC PRESTAND # T1,T2,SCALER NOT COMPATIBLE
056248,000964: 37,3662 52155 DXCH MPAC # T1,T2 AND SCALER OK
056249,000965: 37,3663 52317 DXCH SCALSAVE # STORE SCALER
056250,000966: 37,3664 00004 INHINT
056251,000967: 37,3665 04616 TC BANKCALL
056252,000968: 37,3666 17166 CADR RNDREFDR # REFSMM, DRIFT, TRACK FLAGS DOWN
056253,000969:
056254,000970: 37,3667 05516 TC DOWNFLAG
056255,000971: 37,3670 00007 ADRES IMUSE # IMUSE DOWN
056256,000972: 37,3671 05516 TC DOWNFLAG
056257,000973: 37,3672 00010 ADRES RNDVZFLG # RNDVZFLG DOWN
056258,000974:
056259,000975: 37,3673 34741 CAF BIT11
056260,000976: 37,3674 00006 EXTEND
056261,000977: 37,3675 05013 WOR CHAN13 # SET STANDBY ENABLE BIT
056262,000978:
056263,000979: 37,3676 05353 TC PHASCHNG # SET RESTART TO POSTAND WHEN STANDBY
056264,000980: 37,3677 07024 OCT 07024 # RECOVERS
056265,000981: 37,3700 20000 OCT 20000
056266,000982: 37,3701 0316 EBANK= SCALSAVE
056267,000983: 37,3701 03731 76060 2CADR POSTAND
056268,000984:
056269,000985: 37,3703 34774 CAF OCT62
056270,000986: 37,3704 04616 TC BANKCALL
056271,000987: 37,3705 20624 CADR GOPERF1
056272,000988: 37,3706 13703 TCF -3
056273,000989: 37,3707 13703 TCF -4
056274,000990: 37,3710 13703 TCF -5
056275,000991:
056276,000992: 37,3711 4774 OCT62 EQUALS .5SEC # DEC 50 = OCT 62
056277,000993:
056278,000994: # THE LOW 5 BITS OF THE SCALER READS 10000 FOR THE FIRST INTERVAL AFTER A
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Page 1328
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056280,000996: # T1 INCREMENT. IF SCALPREP DETECTS THIS INTERVAL THE T1,T2 AND SCALER
056281,000997: # DATA ARE NOT COMPATABLE AND RETURN IS TO L+1 FOR ANOTHER READING OF THE
056282,000998: # DATA. OTHERWISE, THE RETURN IS TO L+2 TO PROCEED. ROUTINE ALSO PREPARES
056283,000999: # THE SCALER READING FOR COMPUTATION OF THE INCREMENT TO UPDATE T1T2. (THE
056284,001000: # 10 MS BIT (BIT 6) OF THE SCALER IS INCREMENTED 5 MS OUT OF PHASE FROM
056285,001001: # T1.) ADDITION OF 5 MS (BIT 5) TO THE SCALER READING HAS THE EFFECT OF
056286,001002: # ADJUSTING BIT 6 IN THE SCALER TO BE IN PHASE WITH BIT 1 OF T1. THE LOW 5
056287,001003: # BITS OF THE SCALER READING ARE THEN SET TO ZERO, TO TRUNCATE THE SCALER
056288,001004: # DATA TO 10 MS. RESULTS ARE STORED IN MPAC, +1.
056289,001005:
056290,001006: 37,3711 00006 SCALPREP EXTEND
056291,001007: 37,3712 22156 QXCH MPAC +2
056292,001008: 37,3713 04103 TC FINETIME +1
056293,001009: 37,3714 00003 RELINT
056294,001010: 37,3715 52155 DXCH MPAC
056295,001011: 37,3716 34747 CA BIT5 # ADD 5 MS TO THE SCALER READING.
056296,001012: 37,3717 54001 TS L
056297,001013: 37,3720 34755 CA ZERO
056298,001014: 37,3721 20155 DAS MPAC
056299,001015: 37,3722 44346 CS LOW5 # SET LOW 5 BITS OF (SCALER+5MS) TO ZERO
056300,001016: 37,3723 70155 MASK MPAC +1 # AND STORE RESULTS IN MPAC,+1.
056301,001017: 37,3724 56155 XCH MPAC +1
056302,001018: 37,3725 74346 MASK LOW5 # TEST LOW 5 BITS OF SCALER FOR THE FIRST
056303,001019: # INTERVAL AFTER THE T1 INCREMENT
056304,001020: # (NOW = 00000, SINCE BIT 5 ADDED).
056305,001021: 37,3726 10000 CCS A # IS IT 1ST INTERVAL AFTER T1 INCREMENT
056306,001022: 37,3727 24156 INCR MPAC +2 # NO
056307,001023: 37,3730 00156 TC MPAC +2 # YES
056308,001024:
056309,001025: # POSTAND RECOVERS TIME AFTER STANDBY. THE SCALER IS SNAPSHOTTED AND THE
056310,001026: # TIME1 TIME2 COUNTER IS SET TO ZERO. THE LOW 5 BITS OF THE SCALER ARE
056311,001027: # INSPECTED TO INSURE COMPATABILITY BETWEEN THE SCALER READING AND THE
056312,001028: # CLEARING OF THE TIME COUNTER. IT THEN COMPUTES THE DIFFERENCE IN SCALER
056313,001029: # VALUES (IN DP) AND ADDS THIS TO THE PREVIOUSLY SNAPSHOTTED VALUES OF
056314,001030: # TIME1 TIME2 AND PLACES THIS NEW TIME INTO THE TIME1 TIME2 COUNTER.
056315,001031:
056316,001032: 37,3731 COUNT* $$/P05
056317,001033:
056318,001034: 37,3731 44741 POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY.
056319,001035: 37,3732 00006 EXTEND
056320,001036: 37,3733 03013 WAND CHAN13 # CLEAR STANDBY ENABLE BIT
056321,001037: 37,3734 00004 INHINT
056322,001038: 37,3735 34755 CA ZERO
056323,001039: 37,3736 54001 TS L
056324,001040: 37,3737 52025 DXCH TIME2 # CLEAR TIME1 TIME2
056325,001041: 37,3740 03711 TC SCALPREP # STORE SCALER IN MPAC, MPAC+1
056326,001042: 37,3741 03734 TC POSTAND +3 # T1,T2,SCALER NOT COMPATIBLE
056327,001043: 37,3742 00006 EXTEND # T1,T2 AND SCALER OK
056328,001044: 37,3743 40317 DCS SCALSAVE
056329,001045: 37,3744 20155 DAS MPAC # FORM DP DIFFERENCE OF POSTSTANDBY SCALER
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Page 1329
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056331,001047: 37,3745 34742 CAF BIT10 # MINUS PRESTANDBY SCALER AND SHIFT RIGHT
056332,001048: 37,3746 07312 TC SHORTMP # 5 TO ALIGN BITS WITH TIME1 TIME2.
056333,001049: 37,3747 34755 CAF ZERO
056334,001050: 37,3750 54156 TS MPAC +2 # NEEDED FOR TP AGREE
056335,001051: 37,3751 07262 TC TPAGREE # MAKE DP DIFF AGREE
056336,001052: 37,3752 10154 CCS MPAC
056337,001053: 37,3753 03760 TC POSTCOM # IF DP DIFF NET +, NO SCALER OVERFLOW
056338,001054: 37,3754 03760 TC POSTCOM # BETWEEN PRE AND POST STANDBY.
056339,001055: 37,3755 03756 TC +1 # IF DP DIFF NET -, SCALER OVERFLOWED. ADD
056340,001056: 37,3756 34742 CAF BIT10 # BIT 10 TO HIGH DIFF TO CORRECT.
056341,001057: 37,3757 26154 ADS MPAC
056342,001058: 37,3760 00006 POSTCOM EXTEND # C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER.
056343,001059: 37,3761 30315 DCA TIME2SAV # PRESTANDBY TIME1 TIME2
056344,001060: 37,3762 20155 DAS MPAC
056345,001061: 37,3763 07262 TC TPAGREE # FORCE SIGN AGREEMENT
056346,001062: 37,3764 52155 DXCH MPAC # UPDATED VALUE FOR T1,T2.
056347,001063: 37,3765 20025 DAS TIME2 # LOAD UPDATED VALUE INTO T1,T2, WITH
056348,001064: 37,3766 05516 TC DOWNFLAG # CLEAR NODOFLAG
056349,001065: 37,3767 00054 ADRES NODOFLAG
056350,001066:
056351,001067: 37,3770 06001 TC GOTOPOOH
056352,001068:
End of include-file IMU_MODE_SWITCHING_ROUTINES.agc. Parent file is MAIN.agc