Source Code
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These source-code files are part of a reconstructed copy of Luminary 178, the
final release of the Apollo 14 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
The reconstruction began with source code of Zerlina 56, Luminary 210, and
Luminary 131, previously transcribed from digitized copies of those programs.
The code was created by combining the three, using Zerlina 56 as a base, since
it was based off of Luminary 183. The differences between the three were
carefully merged using the Luminary memos as a guide, with all changes made
after Luminary 178 being backed out. The reconstruction was verified by matching
memory-bank checksums to those listed in drawing 2021152N. Note that page numbers
in the reconstructed code match those for the baseline log section mentioned in
each file's changelog; the page numbers for a real Luminary 178 listing would
be different.
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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055660,000002: ## Copyright: Public domain.
055661,000003: ## Filename: IMU_MODE_SWITCHING_ROUTINES.agc
055662,000004: ## Purpose: A section of Luminary revision 178.
055663,000005: ## It is part of the reconstructed source code for the final
055664,000006: ## release of the flight software for the Lunar Module's
055665,000007: ## (LM) Apollo Guidance Computer (AGC) for Apollo 14. The
055666,000008: ## code has been recreated from copies of Zerlina 56, Luminary
055667,000009: ## 210, and Luminary 131, as well as many Luminary memos.
055668,000010: ## It has been adapted such that the resulting bugger words
055669,000011: ## exactly match those specified for Luminary 178 in NASA
055670,000012: ## drawing 2021152N, which gives relatively high confidence
055671,000013: ## that the reconstruction is correct.
055672,000014: ## Reference: pp. 1298-1326
055673,000015: ## Assembler: yaYUL
055674,000016: ## Contact: Ron Burkey <info@sandroid.org>.
055675,000017: ## Website: www.ibiblio.org/apollo/index.html
055676,000018: ## Mod history: 2019-08-14 MAS Created from Zerlina 56.
055677,000019: ## 2019-09-15 MAS Removed DONTPULS, COARSTST, and CAGETSTG,
055678,000020: ## which were added in Luminary 183.
055679,000021:
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Page 1298
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055681,000023: 5470 BLOCK 02
055682,000024: 4000 SETLOC FFTAG3
055683,000025: 4000 BANK
055684,000026:
055685,000027: 5470 E3,1471 EBANK= COMMAND
055686,000028:
055687,000029: # FIXED-FIXED ROUTINES.
055688,000030:
055689,000031: 5470 COUNT* $$/IMODE
055690,000032: 5470 34755 ZEROICDU CAF ZERO # ZERO ICDU COUNTERS.
055691,000033: 5471 54032 TS CDUX
055692,000034: 5472 54033 TS CDUY
055693,000035: 5473 54034 TS CDUZ
055694,000036: 5474 00002 TC Q
055695,000037:
055696,000038: 5475 4743 SPSCODE = BIT9
055697,000039:
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Page 1299
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055699,000041: # IMU ZEROING ROUTINE.
055700,000042:
055701,000043: 11,3774 BANK 11
055702,000044: 07,2000 SETLOC MODESW
055703,000045: 07,2000 BANK
055704,000046:
055705,000047: 07,2700 COUNT* $$/IMODE
055706,000048: 07,2700 00004 IMUZERO INHINT # ROUTINE TO ZERO ICDUS.
055707,000049: 07,2701 41035 CS DSPTAB +11D # DONT ZERO CDUS IF IMU IN GIMBAL LOCK AND
055708,000050: 07,2702 74771 MASK BITS4&6 # COARSE ALIGN (GIMBAL RUNAWAY PROTECTION)
055709,000051: 07,2703 10000 CCS A
055710,000052: 07,2704 12710 TCF IMUZEROA
055711,000053:
055712,000054: 07,2705 05600 TC ALARM # IF SO.
055713,000055: 07,2706 00206 OCT 00206
055714,000056:
055715,000057: 07,2707 13663 TCF CAGETSTJ +4 # IMMEDIATE FAILURE.
055716,000058:
055717,000059: 07,2710 03657 IMUZEROA TC CAGETSTJ
055718,000060: # DELETE
055719,000061: 07,2711 41300 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
055720,000062: 07,2712 74773 MASK SUPER011 # BIT5 FOR GROUND
055721,000063: 07,2713 27300 ADS IMODES33
055722,000064:
055723,000065: 07,2714 41277 CS IMODES30 # INHIBIT ICDUFAIL AND IMUFAIL (IN CASE WE
055724,000066: 07,2715 75752 MASK BITS3&4 # JUST CAME OUT OF COARSE ALIGN).
055725,000067: 07,2716 27277 ADS IMODES30
055726,000068:
055727,000069: 07,2717 44771 CS BITS4&6 # SEND ZERO ENCODE WITH COARSE AND ERROR
055728,000070: 07,2720 00006 EXTEND # COUNTER DISABLED.
055729,000071: 07,2721 03012 WAND CHAN12
055730,000072:
055731,000073: 07,2722 03252 TC NOATTOFF # TURN OFF NO ATT LAMP.
055732,000074:
055733,000075: 07,2723 34747 CAF BIT5
055734,000076: 07,2724 00006 EXTEND
055735,000077: 07,2725 05012 WOR CHAN12
055736,000078:
055737,000079: 07,2726 05470 TC ZEROICDU
055738,000080: 07,2727 34746 CAF BIT6 # WAIT 320 MS TO GIVE AGS ADEQUATE TIME TO
055739,000081: 07,2730 05214 TC WAITLIST # RECEIVE ITS PULSE TRAIN.
055740,000082: 07,2731 E3,1474 EBANK= CDUIND
055741,000083: 07,2731 02743 16103 2CADR IMUZERO2
055742,000084:
055743,000085:
055744,000086: 07,2733 41277 CS IMODES30 # SEE IF IMU OPERATING AND ALARM IF NOT.
055745,000087: 07,2734 74743 MASK BIT9
055746,000088: 07,2735 10000 CCS A
055747,000089: 07,2736 12741 TCF MODEEXIT
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Page 1300
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055749,000091: 07,2737 05600 TC ALARM
055750,000092: 07,2740 00210 OCT 210
055751,000093:
055752,000094: 07,2741 00003 MODEEXIT RELINT # GENERAL MODE-SWITCHING EXIT.
055753,000095: 07,2742 14631 TCF SWRETURN
055754,000096:
055755,000097:
055756,000098: 07,2743 03645 IMUZERO2 TC CAGETEST
055757,000099: 07,2744 05470 TC ZEROICDU # ZERO CDUX, CDUY, CDUZ
055758,000100:
055759,000101: 07,2745 44747 CS BIT5 # REMOVE ZERO DISCRETE.
055760,000102: 07,2746 00006 EXTEND
055761,000103: 07,2747 03012 WAND CHAN12
055762,000104:
055763,000105: 07,2750 34741 CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS
055764,000106: 07,2751 05235 TC VARDELAY
055765,000107:
055766,000108: 07,2752 03645 IMUZERO3 TC CAGETEST
055767,000109: 07,2753 45752 CS BITS3&4 # REMOVE IMUFAIL AND ICDUFAIL INHIBIT.
055768,000110: 07,2754 71277 MASK IMODES30
055769,000111: 07,2755 55277 TS IMODES30
055770,000112:
055771,000113: 07,2756 44773 CS SUPER011 # ENABLE DAP AUTO AND HOLD MODES
055772,000114: 07,2757 71300 MASK IMODES33 # BIT5 FOR GROUND
055773,000115: 07,2760 55300 TS IMODES33
055774,000116:
055775,000117: 07,2761 04674 TC IBNKCALL # SET ISS WARNING IF EITHER OF ABOVE ARE
055776,000118: 07,2762 14703 CADR SETISSW # PRESENT.
055777,000119:
055778,000120: 07,2763 13635 TCF ENDIMU
055779,000121:
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Page 1301
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055781,000123: # IMU COARSE ALIGN MODE.
055782,000124:
055783,000125: 07,2764 00004 IMUCOARS INHINT
055784,000126: 07,2765 03657 TC CAGETSTJ
055785,000127: 07,2766 03130 TC SETCOARS
055786,000128:
055787,000129: 07,2767 36245 CAF SIX
055788,000130: 07,2770 05214 TC WAITLIST
055789,000131: 07,2771 E3,1474 EBANK= CDUIND
055790,000132: 07,2771 02774 16103 2CADR COARS
055791,000133:
055792,000134:
055793,000135: 07,2773 12741 TCF MODEEXIT
055794,000136:
055795,000137: 07,2774 03645 COARS TC CAGETEST
055796,000138: 07,2775 34746 CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
055797,000139: 07,2776 00006 EXTEND
055798,000140: 07,2777 05012 WOR CHAN12
055799,000141:
055800,000142: 07,3000 34752 CAF TWO # SET CDU INDICATOR
055801,000143: 07,3001 55474 COARS1 TS CDUIND
055802,000144:
055803,000145: 07,3002 51474 INDEX CDUIND # COMPUTE THETAD - THETAA IN 1:S
055804,000146: 07,3003 30321 CA THETAD # COMPLEMENT FORM
055805,000147: 07,3004 00006 EXTEND
055806,000148: 07,3005 51474 INDEX CDUIND
055807,000149: 07,3006 20032 MSU CDUX
055808,000150: 07,3007 00006 EXTEND
055809,000151: 07,3010 74737 MP BIT13 # SHIFT RIGHT 2
055810,000152: 07,3011 56001 XCH L # ROUND
055811,000153: 07,3012 60000 DOUBLE
055812,000154: 07,3013 54061 TS ITEMP1
055813,000155: 07,3014 13016 TCF +2
055814,000156: 07,3015 26001 ADS L
055815,000157:
055816,000158: 07,3016 51474 INDEX CDUIND # DIFFERENCE TO BE COMPUTED
055817,000159: 07,3017 23471 LXCH COMMAND
055818,000160: 07,3020 11474 CCS CDUIND
055819,000161: 07,3021 03001 TC COARS1
055820,000162:
055821,000163: 07,3022 34752 CAF TWO # MINIMUM OF 4 MS WAIT
055822,000164: 07,3023 05235 TC VARDELAY
055823,000165:
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Page 1302
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055825,000167: 07,3024 03645 COARS2 TC CAGETEST # DONT CONTINUE IF CAGED.
055826,000168: 07,3025 54061 TS ITEMP1 # SETS TO +0.
055827,000169: 07,3026 34752 CAF TWO # SET CDU INDICATOR
055828,000170: 07,3027 55474 +3 TS CDUIND
055829,000171:
055830,000172: 07,3030 51474 INDEX CDUIND
055831,000173: 07,3031 11471 CCS COMMAND # NUMBER OF PULSES REQUIRED
055832,000174: 07,3032 03036 TC COMPOS # GREATER THAN MAX ALLOWED
055833,000175: 07,3033 03045 TC NEXTCDU +1
055834,000176: 07,3034 03103 TC COMNEG
055835,000177: 07,3035 03045 TC NEXTCDU +1
055836,000178:
055837,000179: 07,3036 63751 COMPOS AD -COMMAX # COMMAX = MAX NUMBER OF PULSES ALLOWED
055838,000180: 07,3037 00006 EXTEND # MINUS ONE
055839,000181: 07,3040 63113 BZMF COMZERO
055840,000182: 07,3041 51474 INDEX CDUIND
055841,000183: 07,3042 55471 TS COMMAND # REDUCE COMMAND BY MAX NUMBER OF PULSES
055842,000184: 07,3043 43752 CS -COMMAX- # ALLOWED
055843,000185:
055844,000186: 07,3044 24061 NEXTCDU INCR ITEMP1
055845,000187: 07,3045 64754 AD NEG0
055846,000188: 07,3046 51474 INDEX CDUIND
055847,000189: 07,3047 54050 TS CDUXCMD # SET UP COMMAND REGISTER.
055848,000190:
055849,000191: 07,3050 11474 CCS CDUIND
055850,000192: 07,3051 03027 TC COARS2 +3
055851,000193:
055852,000194: 07,3052 10061 CCS ITEMP1 # SEE IF ANY PULSES TO GO OUT.
055853,000195: 07,3053 13117 TCF SENDPULS
055854,000196:
055855,000197: 07,3054 05232 TC FIXDELAY # WAIT FOR GIMBALS TO SETTLE.
055856,000198: 07,3055 00226 DEC 150 B-14
055857,000199:
055858,000200:
055859,000201: 07,3056 34752 CAF TWO # AT END OF COMMAND, CHECK TO SEE THAT
055860,000202: 07,3057 54061 CHKCORS TS ITEMP1 # GIMBALS ARE WITHIN 2 DEGREES OF THETAD.
055861,000203: 07,3060 50000 INDEX A
055862,000204: 07,3061 30032 CA CDUX
055863,000205: 07,3062 00006 EXTEND
055864,000206: 07,3063 50061 INDEX ITEMP1
055865,000207: 07,3064 20321 MSU THETAD
055866,000208: 07,3065 10000 CCS A
055867,000209: 07,3066 13074 TCF COARSERR
055868,000210: 07,3067 13071 TCF CORSCHK2
055869,000211: 07,3070 13074 TCF COARSERR
055870,000212:
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Page 1303
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055872,000214: 07,3071 10061 CORSCHK2 CCS ITEMP1
055873,000215: 07,3072 13057 TCF CHKCORS
055874,000216: 07,3073 13635 TCF ENDIMU # END OF COARSE ALIGNMENT.
055875,000217:
055876,000218: 07,3074 63102 COARSERR AD COARSTOL # 2 DEGREES.
055877,000219: 07,3075 00006 EXTEND
055878,000220: 07,3076 63071 BZMF CORSCHK2
055879,000221:
055880,000222: 07,3077 05600 TC ALARM # COARSE ALIGN ERROR.
055881,000223: 07,3100 00211 OCT 211
055882,000224:
055883,000225: 07,3101 13643 TCF IMUBAD
055884,000226:
055885,000227: 07,3102 77511 COARSTOL DEC -.01111 # 2 DEGREES SCALED AT HALF-REVOLUTIONS
055886,000228:
055887,000229:
055888,000230: 07,3103 63751 COMNEG AD -COMMAX
055889,000231: 07,3104 00006 EXTEND
055890,000232: 07,3105 63113 BZMF COMZERO
055891,000233: 07,3106 40000 COM
055892,000234: 07,3107 51474 INDEX CDUIND
055893,000235: 07,3110 55471 TS COMMAND
055894,000236: 07,3111 33752 CA -COMMAX-
055895,000237: 07,3112 03044 TC NEXTCDU
055896,000238:
055897,000239: 07,3113 34755 COMZERO CAF ZERO
055898,000240: 07,3114 51474 INDEX CDUIND
055899,000241: 07,3115 57471 XCH COMMAND
055900,000242: 07,3116 03044 TC NEXTCDU
055901,000243:
055902,000244:
055903,000245: 07,3117 37743 SENDPULS CAF 13,14,15
055904,000246: 07,3120 00006 EXTEND
055905,000247: 07,3121 05014 WOR CHAN14
055906,000248: 07,3122 33753 CAF 600MS
055907,000249: 07,3123 13023 TCF COARS2 -1 # THEN TO VARDELAY
055908,000250:
055909,000251:
055910,000252: 07,3124 34746 CA+ECE CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
055911,000253: 07,3125 00006 EXTEND
055912,000254: 07,3126 05012 WOR CHAN12
055913,000255: 07,3127 05272 TC TASKOVER
055914,000256:
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Page 1304
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055916,000258: 07,3130 34750 SETCOARS CAF BIT4 # BYPASS IF ALREADY IN COARSE ALIGN
055917,000259: 07,3131 00006 EXTEND
055918,000260: 07,3132 02012 RAND CHAN12
055919,000261: 07,3133 10000 CCS A
055920,000262: 07,3134 00002 TC Q
055921,000263:
055922,000264: 07,3135 44746 CS BIT6 # CLEAR ISS ERROR COUNTERS
055923,000265: 07,3136 00006 EXTEND
055924,000266: 07,3137 03012 WAND CHAN12
055925,000267:
055926,000268: 07,3140 44742 CS BIT10 # KNOCK DOWN GYRO ACTIVITY
055927,000269: 07,3141 00006 EXTEND
055928,000270: 07,3142 03014 WAND CHAN14
055929,000271: 07,3143 44755 CS ZERO
055930,000272: 07,3144 54047 TS GYROCMD
055931,000273:
055932,000274: 07,3145 34750 CAF BIT4 # PUT ISS IN COARSE ALIGN
055933,000275: 07,3146 00006 EXTEND
055934,000276: 07,3147 05012 WOR CHAN12
055935,000277:
055936,000278: 07,3150 41035 CS DSPTAB +11D # TURN ON NO ATT LAMP
055937,000279: 07,3151 73173 MASK OCT40010
055938,000280: 07,3152 27035 ADS DSPTAB +11D
055939,000281:
055940,000282: 07,3153 41300 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
055941,000283: 07,3154 74746 MASK BIT6
055942,000284: 07,3155 27300 ADS IMODES33
055943,000285:
055944,000286: 07,3156 41277 CS IMODES30 # DISABLE IMUFAIL
055945,000287: 07,3157 74750 MASK BIT4
055946,000288: 07,3160 27277 ADS IMODES30
055947,000289:
055948,000290: 07,3161 44747 RNDREFDR CS TRACKBIT # CLEAR TRACK FLAG
055949,000291: 07,3162 70075 MASK FLAGWRD1
055950,000292: 07,3163 54075 TS FLAGWRD1
055951,000293:
055952,000294: 07,3164 44735 CS DRFTBIT # CLEAR DRIFT FLAG
055953,000295: 07,3165 70076 MASK FLAGWRD2
055954,000296: 07,3166 54076 TS FLAGWRD2
055955,000297:
055956,000298: 07,3167 44737 CS REFSMBIT # CLEAR REFSMMAT FLAG
055957,000299: 07,3170 70077 MASK FLAGWRD3
055958,000300: 07,3171 54077 TS FLAGWRD3
055959,000301:
055960,000302: 07,3172 00002 TC Q
055961,000303:
055962,000304: 07,3173 40010 OCT40010 OCT 40010
055963,000305:
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Page 1305
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055965,000307: # IMU FINE ALIGN MODE SWITCH.
055966,000308:
055967,000309: 07,3174 00004 IMUFINE INHINT
055968,000310: 07,3175 03657 TC CAGETSTJ # SEE IF IMU BEING CAGED.
055969,000311:
055970,000312: 07,3176 43750 CS BITS4-5 # RESET ZERO AND COARSE
055971,000313: 07,3177 00006 EXTEND
055972,000314: 07,3200 03012 WAND CHAN12
055973,000315:
055974,000316: 07,3201 44746 CS BIT6 # INSURE DAP AUTO AND HOLD MODES ENABLED
055975,000317: 07,3202 71300 MASK IMODES33
055976,000318: 07,3203 55300 TS IMODES33
055977,000319:
055978,000320: 07,3204 03252 TC NOATTOFF
055979,000321:
055980,000322: 07,3205 34742 CAF BIT10 # IMU FAIL WAS INHIBITED DURING THE
055981,000323: 07,3206 05214 TC WAITLIST # PRESUMABLY PRECEDING COARSE ALIGN. LEAVE
055982,000324: 07,3207 E3,1474 EBANK= CDUIND
055983,000325: 07,3207 03220 16103 2CADR IFAILOK # IT ON FOR THE FIRST 5 SECS OF FINE ALIGN
055984,000326:
055985,000327:
055986,000328: 07,3211 35000 CAF 2SECS
055987,000329: 07,3212 05214 TC WAITLIST
055988,000330: 07,3213 E3,1474 EBANK= CDUIND
055989,000331: 07,3213 03216 16103 2CADR IMUFINED
055990,000332:
055991,000333:
055992,000334: 07,3215 12741 TCF MODEEXIT
055993,000335:
055994,000336: 07,3216 03645 IMUFINED TC CAGETEST # SEE THAT NO ONE HAS CAGED THE IMU.
055995,000337: 07,3217 13635 TCF ENDIMU
055996,000338:
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Page 1306
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055998,000340: 07,3220 03652 IFAILOK TC CAGETSTQ # ENABLE IMU FIAL UNLESS IMU BEING CAGED.
055999,000341: 07,3221 15272 TCF TASKOVER # IT IS.
056000,000342:
056001,000343: 07,3222 34750 CAF BIT4 # DONT RESET IMU FAIL INHIBIT IF SOMEONE
056002,000344: 07,3223 00006 EXTEND # HAS GONE INTO COARSE ALIGN.
056003,000345: 07,3224 02012 RAND CHAN12
056004,000346: 07,3225 10000 CCS A
056005,000347: 07,3226 15272 TCF TASKOVER
056006,000348:
056007,000349: 07,3227 41277 CS IMODES30 # RESET IMUFAIL.
056008,000350: 07,3230 74737 MASK BIT13
056009,000351: 07,3231 27277 ADS IMODES30
056010,000352: 07,3232 44750 CS BIT4
056011,000353: 07,3233 71277 PFAILOK2 MASK IMODES30
056012,000354: 07,3234 55277 TS IMODES30
056013,000355: 07,3235 04674 TC IBNKCALL # THE ISS WARNING LIGHT MAY COME ON NOW
056014,000356: 07,3236 14703 CADR SETISSW # THAT THE INHIBIT HAS BEEN REMOVED.
056015,000357: 07,3237 15272 TCF TASKOVER
056016,000358:
056017,000359: 07,3240 03652 PFAILOK TC CAGETSTQ # ENABLE PIP FAIL PROG ALARM.
056018,000360: 07,3241 15272 TCF TASKOVER
056019,000361:
056020,000362: 07,3242 41277 CS IMODES30 # RESET IMU AND PIPA FAIL BITS.
056021,000363: 07,3243 74742 MASK BIT10
056022,000364: 07,3244 27277 ADS IMODES30
056023,000365:
056024,000366: 07,3245 41300 CS IMODES33
056025,000367: 07,3246 74737 MASK BIT13
056026,000368: 07,3247 27300 ADS IMODES33
056027,000369:
056028,000370: 07,3250 44747 CS BIT5
056029,000371: 07,3251 13233 TCF PFAILOK2
056030,000372:
056031,000373: 07,3252 43173 NOATTOFF CS OCT40010 # SUBROUTINE TO TURN OFF NO ATT LAMP.
056032,000374: 07,3253 71035 MASK DSPTAB +11D
056033,000375: 07,3254 64735 AD BIT15
056034,000376: 07,3255 55035 TS DSPTAB +11D
056035,000377: 07,3256 00002 TC Q
056036,000378:
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Page 1307
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056038,000380: # ROUITNES TO INITIATE AND TERMINATE PROGRAM USE OF THE PIPAS. NO IMUSTALL REQUIRED IN EITHER CASE.
056039,000381:
056040,000382: 07,3257 44755 PIPUSE CS ZERO
056041,000383: 07,3260 54037 TS PIPAX
056042,000384: 07,3261 54040 TS PIPAY
056043,000385: 07,3262 54041 TS PIPAZ
056044,000386:
056045,000387: 07,3263 03652 PIPUSE1 TC CAGETSTQ # DO NOT ENABLE PIPA FAIL IF IMU IS CAGED
056046,000388: 07,3264 14631 TCF SWRETURN
056047,000389:
056048,000390: 07,3265 00004 INHINT
056049,000391: 07,3266 44753 CS BIT1 # IF PIPA FAILS FROM NOW ON (UNTIL
056050,000392: 07,3267 71277 MASK IMODES30 # PIPFREE), LIGHT ISS WARNING.
056051,000393: 07,3270 55277 TS IMODES30
056052,000394:
056053,000395: 07,3271 04674 PIPFREE2 TC IBNKCALL # ISS WARNING MIGHT COME ON NOW.
056054,000396: 07,3272 14703 CADR SETISSW # (OR GO OFF ON PIPFREE).
056055,000397:
056056,000398: 07,3273 12741 TCF MODEEXIT
056057,000399:
056058,000400: 07,3274 00004 PIPFREE INHINT # PROGRAM DONE WITH PIPAS. DONT LIGHT
056059,000401: 07,3275 41277 CS IMODES30 # ISS WARNING.
056060,000402: 07,3276 74753 MASK BIT1
056061,000403: 07,3277 27277 ADS IMODES30
056062,000404:
056063,000405: 07,3300 74742 MASK BIT10 # IF PIP FAIL ON, DO PROG ALSRM AND RESET
056064,000406: 07,3301 10000 CCS A # ISS WARNING.
056065,000407: 07,3302 12741 TCF MODEEXIT
056066,000408:
056067,000409: 07,3303 05600 TC ALARM
056068,000410: 07,3304 00212 OCT 212
056069,000411:
056070,000412: 07,3305 00004 INHINT
056071,000413:
056072,000414: 07,3306 13271 TCF PIPFREE2
056073,000415:
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|
Page 1308
|
056075,000417: # THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIX REGISTERS
056076,000418: # BEGINNING AT THE ECADR ARRIVING IN A. THE MINIMUM SIZE OF ANY PULSE TRAIN IS 16 PULSES (.25 CDU COUNTS). THE
056077,000419: # UNSENT PORTION OF THE COMMAND IS LEFT INTACT IN THE INPUT COMMAND REGISTERS.
056078,000420:
056079,000421: 07,3307 E3,1400 EBANK= 1400 # VARIABLE, ACTUALLY.
056080,000422:
056081,000423: 07,3307 54161 IMUPULSE TS MPAC +5 # SAVE ARRIVING ECADR.
056082,000424: 07,3310 03657 TC CAGETSTJ # DONT PROCEED IF IMU BEING CAGED.
056083,000425:
056084,000426: 07,3311 11311 CCS LGYRO # SEE IF GYROS BUSY.
056085,000427: 07,3312 03353 TC GYROBUSY # SLEEP.
056086,000428:
056087,000429: 07,3313 54156 TS MPAC +2
056088,000430: 07,3314 34746 CAF BIT6 # ENABLE THE POWER SUPPLY.
056089,000431: 07,3315 00006 EXTEND
056090,000432: 07,3316 05014 WOR CHAN14
056091,000433:
056092,000434: 07,3317 34751 CAF FOUR
056093,000435: 07,3320 05214 GWAKE2 TC WAITLIST # (IF A JOB WAS PUT TO SLEEP, THE POWER
056094,000436: 07,3321 E3,1474 EBANK= CDUIND # SUPPLY IS LEFT ON BY THE WAKING JOB).
056095,000437: 07,3321 03371 16103 2CADR STRTGYRO
056096,000438:
056097,000439:
056098,000440: 07,3323 30161 CA MPAC +5 # SET UP EBANK, SAVING CALLER'S EBANK FOR
056099,000441: 07,3324 56003 XCH EBANK # RESTORATION ON RETURN.
056100,000442: 07,3325 56161 XCH MPAC +5
056101,000443: 07,3326 55311 TS LGYRO # RESERVES GYROS.
056102,000444: 07,3327 74357 MASK LOW8
056103,000445: 07,3330 54061 TS ITEMP1
056104,000446:
056105,000447: 07,3331 34752 CAF TWO # FORCE SIGN AGREEMENT ON INPUTS.
056106,000448: 07,3332 54157 GYROAGRE TS MPAC +3
056107,000449: 07,3333 60000 DOUBLE
056108,000450: 07,3334 60061 AD ITEMP1
056109,000451: 07,3335 54160 TS MPAC +4
056110,000452: 07,3336 00006 EXTEND
056111,000453: 07,3337 50000 INDEX A
056112,000454: 07,3340 31401 DCA 1400
056113,000455: 07,3341 52155 DXCH MPAC
056114,000456: 07,3342 07262 TC TPAGREE
056115,000457: 07,3343 52155 DXCH MPAC
056116,000458: 07,3344 50160 INDEX MPAC +4
056117,000459: 07,3345 53401 DXCH 1400
056118,000460:
056119,000461: 07,3346 10157 CCS MPAC +3
056120,000462: 07,3347 13332 TCF GYROAGRE
056121,000463:
056122,000464: 07,3350 30161 CA MPAC +5 # RESTORE CALLER'S EBANK.
056123,000465: 07,3351 54003 TS EBANK
056124,000466: 07,3352 12741 TCF MODEEXIT
056125,000467:
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|
Page 1309
|
056127,000469: # ROUTINES TO ALLOW TORQUING BY ONLY ONE JOB AT A TIME.
056128,000470:
056129,000471: 07,3353 00006 GYROBUSY EXTEND # SAVE RETURN 2FCADR.
056130,000472: 07,3354 30134 DCA BUF2
056131,000473: 07,3355 52155 DXCH MPAC
056132,000474: 07,3356 33370 REGSLEEP CAF LGWAKE
056133,000475: 07,3357 15133 TCF JOBSLEEP
056134,000476:
056135,000477: 07,3360 11311 GWAKE CCS LGYRO # WHEN AWAKENED, SEE IF GYROS STILL BUSY.
056136,000478: 07,3361 13356 TCF REGSLEEP # IF SO, SLEEP SOME MORE.
056137,000479:
056138,000480: 07,3362 54156 TS MPAC +2
056139,000481: 07,3363 00006 EXTEND
056140,000482: 07,3364 30155 DCA MPAC
056141,000483: 07,3365 52134 DXCH BUF2 # RESTORE SWRETURN INFO.
056142,000484: 07,3366 34753 CAF ONE
056143,000485: 07,3367 13320 TCF GWAKE2
056144,000486:
056145,000487: 07,3370 17360 LGWAKE CADR GWAKE
056146,000488:
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|
Page 1310
|
056148,000490: # GYRO-TORQUING WAITLIST TASKS.
056149,000491:
056150,000492: 07,3371 43632 STRTGYRO CS GDESELCT # DE-SELECT LAST GYRO.
056151,000493: 07,3372 00006 EXTEND
056152,000494: 07,3373 03014 WAND CHAN14
056153,000495:
056154,000496: 07,3374 03645 TC CAGETEST
056155,000497:
056156,000498: 07,3375 31311 STRTGYR2 CA LGYRO # JUMP ON PHASE COUNTER IN BITS 13-14.
056157,000499: 07,3376 00006 EXTEND
056158,000500: 07,3377 74750 MP BIT4
056159,000501: 07,3400 50000 INDEX A
056160,000502: 07,3401 13402 TCF +1
056161,000503: 07,3402 03417 TC GSELECT # =0. DO Y GYRO.
056162,000504: 07,3403 00202 OCT 00202
056163,000505:
056164,000506: 07,3404 03417 TC GSELECT # =1. DO Z GYRO.
056165,000507: 07,3405 00302 OCT 00302
056166,000508:
056167,000509: 07,3406 03415 TC GSELECT -2 # =2. DO X GYRO.
056168,000510: 07,3407 00100 OCT 00100
056169,000511:
056170,000512: 07,3410 34755 CAF ZERO # =3. DONE
056171,000513: 07,3411 55311 TS LGYRO
056172,000514: 07,3412 33370 CAF LGWAKE # WAKE A POSSIBLE SLEEPING JOB.
056173,000515: 07,3413 05137 TC JOBWAKE
056174,000516:
056175,000517: 07,3414 13216 NORESET TCF IMUFINED # DO NOT RESET POWER SUPPLY
056176,000518:
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|
Page 1311
|
056178,000520: 07,3415 44751 -2 CS FOUR # SPECIAL ENTRY TO REGRESS LGYRO FOR X.
056179,000521: 07,3416 27311 ADS LGYRO
056180,000522:
056181,000523: 07,3417 50002 GSELECT INDEX Q # SELECT GYRO.
056182,000524: 07,3420 30000 CAF 0 # PACKED WORD CONTAINS GYRO SELECT BITS
056183,000525: 07,3421 54064 TS ITEMP4 # AND INCREMENT TO LGYRO.
056184,000526: 07,3422 74757 MASK SEVEN
056185,000527: 07,3423 64737 AD BIT13
056186,000528: 07,3424 27311 ADS LGYRO
056187,000529: 07,3425 54003 TS EBANK
056188,000530: 07,3426 74357 MASK LOW8
056189,000531: 07,3427 54061 TS ITEMP1
056190,000532:
056191,000533: 07,3430 44757 CS SEVEN
056192,000534: 07,3431 70064 MASK ITEMP4
056193,000535: 07,3432 54064 TS ITEMP4
056194,000536:
056195,000537: 07,3433 00006 EXTEND # MOVE DP COMMAND TO RUPTREGS FOR TESTING.
056196,000538: 07,3434 50061 INDEX ITEMP1
056197,000539: 07,3435 31401 DCA 1400
056198,000540: 07,3436 52071 DXCH RUPTREG1
056199,000541:
056200,000542: 07,3437 10070 CCS RUPTREG1
056201,000543: 07,3440 13453 TCF MAJ+
056202,000544: 07,3441 13443 TCF +2
056203,000545: 07,3442 13613 TCF MAJ-
056204,000546:
056205,000547: 07,3443 10071 CCS RUPTREG2
056206,000548: 07,3444 13450 TCF MIN+
056207,000549: 07,3445 13375 TCF STRTGYR2
056208,000550: 07,3446 13610 TCF MIN-
056209,000551: 07,3447 13375 TCF STRTGYR2
056210,000552:
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|
Page 1312
|
056212,000554: 07,3450 63504 MIN+ AD -GYROMIN # SMALL POSITIVE COMMAND. SEE IF AT LEAST
056213,000555: 07,3451 00006 EXTEND # 16 GYRO PULSES.
056214,000556: 07,3452 63375 BZMF STRTGYR2
056215,000557:
056216,000558: 07,3453 00006 MAJ+ EXTEND # DEFINITE POSITIVE OUTPUT.
056217,000559: 07,3454 33634 DCA GYROFRAC
056218,000560: 07,3455 20071 DAS RUPTREG1
056219,000561:
056220,000562: 07,3456 30064 CA ITEMP4 # SELECT POSITIVE TORQUING FOR THIS GYRO.
056221,000563: 07,3457 00006 EXTEND
056222,000564: 07,3460 05014 WOR CHAN14
056223,000565:
056224,000566: 07,3461 36077 CAF LOW7 # LEAVE NUMBER OF POSSIBLE 8192 AUGMENTS
056225,000567: 07,3462 70071 MASK RUPTREG2 # TO INITIAL COMMAND IN MAJOR PART OF LONG
056226,000568: 07,3463 56071 XCH RUPTREG2 # TERM STORAGE AND TRUNCATED FRACTION
056227,000569: 07,3464 00006 GMERGE EXTEND # IN MINOR PART. THE MAJOR PART WILL BE
056228,000570: 07,3465 74744 MP BIT8 # COUNTED DOWN TO ZERO IN THE COURSE OF
056229,000571: 07,3466 54062 TS ITEMP2 # PUTTING OUT THE ENTIRE COMMAND.
056230,000572: 07,3467 30070 CA RUPTREG1
056231,000573: 07,3470 00006 EXTEND
056232,000574: 07,3471 74743 MP BIT9
056233,000575: 07,3472 54070 TS RUPTREG1
056234,000576: 07,3473 30001 CA L
056235,000577: 07,3474 00006 EXTEND
056236,000578: 07,3475 74736 MP BIT14
056237,000579: 07,3476 26062 ADS ITEMP2 # INITIAL COMMAND.
056238,000580:
056239,000581: 07,3477 00006 EXTEND # SEE IF MORE THAN ONE PULSE TRAIN NEEDED
056240,000582: 07,3500 30071 DCA RUPTREG1 # (MORE THAN 16383 PULSES).
056241,000583: 07,3501 67752 AD MINUS1
056242,000584: 07,3502 10000 CCS A
056243,000585: 07,3503 13547 TCF LONGGYRO
056244,000586: 07,3504 77601 -GYROMIN OCT -176 # MAY BE ADJUSTED TO SPECIFY MINIMUM CMD
056245,000587: 07,3505 13511 TCF +4
056246,000588:
056247,000589: 07,3506 34736 CAF BIT14
056248,000590: 07,3507 26062 ADS ITEMP2
056249,000591: 07,3510 34755 CAF ZERO
056250,000592:
056251,000593: 07,3511 50061 +4 INDEX ITEMP1
056252,000594: 07,3512 53401 DXCH 1400
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|
Page 1313
|
056254,000596: 07,3513 30062 CA ITEMP2 # ENTIRE COMMAND.
056255,000597: 07,3514 54047 LASTSEG TS GYROCMD
056256,000598: 07,3515 00006 EXTEND
056257,000599: 07,3516 74742 MP BIT10 # WAITLIST DT
056258,000600: 07,3517 66250 AD THREE # TRUNCATION AND PHASE UNCERTAINTIES.
056259,000601: 07,3520 05214 TC WAITLIST
056260,000602: 07,3521 E3,1474 EBANK= CDUIND
056261,000603: 07,3521 03533 16103 2CADR TWOPULSE
056262,000604:
056263,000605: 07,3523 03527 EXITGYRO TC GYROEXIT
056264,000606: 07,3524 15272 TCF TASKOVER
056265,000607: 07,3525 34752 OUTPULSE CA BIT2
056266,000608: 07,3526 54047 TS GYROCMD
056267,000609: 07,3527 34742 GYROEXIT CAF BIT10
056268,000610: 07,3530 00006 EXTEND
056269,000611: 07,3531 05014 WOR CHAN14
056270,000612: 07,3532 00002 TC Q
056271,000613: 07,3533 44743 TWOPULSE CS BIT9
056272,000614: 07,3534 00006 EXTEND
056273,000615: 07,3535 03014 WAND CHAN14
056274,000616: 07,3536 03525 TC OUTPULSE
056275,000617: 07,3537 34753 CA BIT1
056276,000618: 07,3540 05204 TC TWIDDLE
056277,000619: 07,3541 03371 ADRES STRTGYRO
056278,000620: 07,3542 34743 CA BIT9
056279,000621: 07,3543 00006 EXTEND
056280,000622: 07,3544 05014 WOR CHAN14
056281,000623: 07,3545 03525 TC OUTPULSE
056282,000624: 07,3546 15272 TCF TASKOVER
056283,000625: 07,3547 50061 LONGGYRO INDEX ITEMP1
056284,000626: 07,3550 53401 DXCH 1400
056285,000627: 07,3551 34736 CAF BIT14 # 8192. INITIAL COMMAND IS AT LEAST 8192.
056286,000628: 07,3552 60062 AD ITEMP2
056287,000629: 07,3553 54047 TS GYROCMD
056288,000630:
056289,000631: 07,3554 00006 AUG3 EXTEND # GET WAITLIST DT TO TIME WHEN TRAIN IS
056290,000632: 07,3555 74742 MP BIT10 # ALMOST OUT.
056291,000633: 07,3556 67750 AD NEG3
056292,000634: 07,3557 05214 TC WAITLIST
056293,000635: 07,3560 E3,1474 EBANK= CDUIND
056294,000636: 07,3560 03563 16103 2CADR 8192AUG
056295,000637:
056296,000638: 07,3562 13523 TCF EXITGYRO
056297,000639:
056298,000640: 07,3563 03645 8192AUG TC CAGETEST
056299,000641:
056300,000642: 07,3564 34750 CAF BIT4
056301,000643: 07,3565 00006 EXTEND
056302,000644: 07,3566 02012 RAND CHAN12
056303,000645: 07,3567 10000 CCS A
056304,000646: 07,3570 13643 TCF IMUBAD
056305,000647: 07,3571 31311 CA LGYRO # ADD 8192 PULSES TO GYROCMD
056306,000648: 07,3572 54003 TS EBANK
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|
Page 1314
|
056308,000650: 07,3573 74357 MASK LOW8
056309,000651: 07,3574 54061 TS ITEMP1
056310,000652:
056311,000653: 07,3575 50061 INDEX ITEMP1 # SEE IF THIS IS THE LAST AUG.
056312,000654: 07,3576 11400 CCS 1400
056313,000655: 07,3577 13603 TCF AUG2 # MORE TO COME.
056314,000656:
056315,000657: 07,3600 34736 CAF BIT14
056316,000658: 07,3601 26047 ADS GYROCMD
056317,000659: 07,3602 13515 TCF LASTSEG +1
056318,000660:
056319,000661: 07,3603 50061 AUG2 INDEX ITEMP1
056320,000662: 07,3604 55400 TS 1400
056321,000663: 07,3605 34736 CAF BIT14
056322,000664: 07,3606 26047 ADS GYROCMD
056323,000665: 07,3607 13554 TCF AUG3 # COMPUTE DT.
056324,000666:
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|
Page 1315
|
056326,000668: 07,3610 63504 MIN- AD -GYROMIN # POSSIBLE NEGATIVE OUTPUT.
056327,000669: 07,3611 00006 EXTEND
056328,000670: 07,3612 63375 BZMF STRTGYR2
056329,000671:
056330,000672: 07,3613 00006 MAJ- EXTEND # DEFINITE NEGATIVE OUTPUT.
056331,000673: 07,3614 43634 DCS GYROFRAC
056332,000674: 07,3615 20071 DAS RUPTREG1
056333,000675:
056334,000676: 07,3616 30064 CA ITEMP4 # SELECT NEGATIVE TORQUING FOR THIS GYRO.
056335,000677: 07,3617 64743 AD BIT9
056336,000678: 07,3620 00006 EXTEND
056337,000679: 07,3621 05014 WOR CHAN14
056338,000680:
056339,000681: 07,3622 40070 CS RUPTREG1 # SET UP RUPTREGS TO FALL INTO GMERGE.
056340,000682: 07,3623 54070 TS RUPTREG1 # ALL NUMBERS PUT INTO GYROCMD ARE
056341,000683: 07,3624 40071 CS RUPTREG2 # POSITIVE - BIT9 OF CHAN 14 DETERMINES
056342,000684: 07,3625 76077 MASK LOW7 # THE SIGN OF THE COMMAND.
056343,000685: 07,3626 40000 COM
056344,000686: 07,3627 56071 XCH RUPTREG2
056345,000687: 07,3630 40000 COM
056346,000688: 07,3631 13464 TCF GMERGE
056347,000689:
056348,000690: 07,3632 01700 GDESELCT OCT 1700 # TURN OFF SELECT AND ACTIVITY BITS.
056349,000691:
056350,000692: 07,3633 00000 00034 GYROFRAC 2DEC .215 B-21
056351,000693:
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|
Page 1316
|
056353,000695: # IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE.
056354,000696:
056355,000697: 07,3635 00006 ENDIMU EXTEND # MODE IS BAD IF CAGE HAS OCCURED OR IF
056356,000698: 07,3636 00011 READ DSALMOUT # ISS WARNING IS ON.
056357,000699: 07,3637 74753 MASK BIT1
056358,000700: 07,3640 10000 CCS A
056359,000701: 07,3641 13643 TCF IMUBAD
056360,000702:
056361,000703: 07,3642 13671 IMUGOOD TCF GOODEND # WITH C(A) = 0.
056362,000704:
056363,000705: 07,3643 34755 IMUBAD CAF ZERO
056364,000706: 07,3644 13666 TCF BADEND
056365,000707:
056366,000708: 07,3645 34746 CAGETEST CAF BIT6 # SUBROUTINE TO TERMINATE IMU MODE
056367,000709: 07,3646 71277 MASK IMODES30 # SWITCH IF IMU HAS BEEN CAGED.
056368,000710: 07,3647 10000 CCS A
056369,000711: 07,3650 13643 TCF IMUBAD # DIRECTLY.
056370,000712: 07,3651 00002 TC Q # WITH C(A) = +0.
056371,000713:
056372,000714: 07,3652 41277 CAGETSTQ CS IMODES30 # SKIP IF IMU NOT BEING CAGED.
056373,000715: 07,3653 74746 MASK BIT6
056374,000716: 07,3654 10000 CCS A
056375,000717: 07,3655 24002 INCR Q
056376,000718: 07,3656 00002 TC Q
056377,000719:
056378,000720: 07,3657 41277 CAGETSTJ CS IMODES30 # IF DURING MODE SWITCH INITIALIZATION
056379,000721: 07,3660 74746 MASK BIT6 # IT IS FOUND THAT THE IMU IS BEING CAGED,
056380,000722: 07,3661 10000 CCS A # SET IMUCADR TO -0 TO INDICATE OPERATION
056381,000723: 07,3662 00002 TC Q # COMPLETE BUT FAILED. RETURN IMMEDIATELY
056382,000724:
056383,000725: 07,3663 44755 CS ZERO # TO SWRETURN.
056384,000726: 07,3664 55301 TS IMUCADR
056385,000727: 07,3665 12741 TCF MODEEXIT
056386,000728:
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Page 1317
|
056388,000730: # GENERALIZED MODE SWITCHING TERMINATION. ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION
056389,000731: # OR AT BADEND FOR A N UNSUCCESSFUL ONE. C(A) OR ARRIVAL =0 FOR IMU, 1 FOR OPTICS.
056390,000732:
056391,000733: 07,3666 54071 BADEND TS RUPTREG2 # DEVICE INDEX.
056392,000734: 07,3667 44755 CS ZERO # FOR FAILURE.
056393,000735: 07,3670 13673 TCF GOODEND +2
056394,000736:
056395,000737: 07,3671 54071 GOODEND TS RUPTREG2
056396,000738: 07,3672 44753 CS ONE # FOR SUCCESS.
056397,000739:
056398,000740: 07,3673 54072 TS RUPTREG3
056399,000741: 07,3674 50071 INDEX RUPTREG2 # SEE IF USING PROGRAM ASLEEP.
056400,000742: 07,3675 11301 CCS MODECADR
056401,000743: 07,3676 13702 TCF +4 # YES - WAKE IT UP.
056402,000744: 07,3677 13712 TCF ENDMODE # IF 0, PROGRAM NOT IN YET.
056403,000745:
056404,000746: 07,3700 00006 EXTEND
056405,000747: 07,3701 13713 BZF ENDMODE +1 # BZF = TCF IF MODECADR = -0.
056406,000748:
056407,000749: 07,3702 34755 CAF ZERO # WAKE SLEEPING PROGRAM.
056408,000750: 07,3703 50071 INDEX RUPTREG2
056409,000751: 07,3704 57301 XCH MODECADR
056410,000752: 07,3705 05137 TC JOBWAKE
056411,000753:
056412,000754: 07,3706 40072 CS RUPTREG3 # ADVANCE LOC IF SUCCESSFUL.
056413,000755: 07,3707 50064 INDEX LOCCTR
056414,000756: 07,3710 26164 ADS LOC
056415,000757:
056416,000758: 07,3711 15272 TCF TASKOVER
056417,000759:
056418,000760: 07,3712 30072 ENDMODE CA RUPTREG3 # -0 INDICATES OPERATION COMPLETE BUT
056419,000761: 07,3713 50071 +1 INDEX RUPTREG2 # UNSUCCESSFUL: -1 INDICATES COMPLETE AND
056420,000762: 07,3714 55301 TS MODECADR # SUCCESSFUL.
056421,000763: 07,3715 15272 TCF TASKOVER
056422,000764:
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Page 1318
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056424,000766: # GENERAL STALLING ROUTINE. USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION.
056425,000767:
056426,000768: # PROGRAM DESCRIPTION DATE- 21 FEB 1967
056427,000769: # LOG SECTION IMU MODE SWITCHING
056428,000770: # MOD BY- R.MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 82
056429,000771:
056430,000772: # FUNCTIONAL DESCRIPTION-
056431,000773: # TO DELAY FURTHER EXECUTION OF THE CALLING ROUTINE UNTIL ITS SELECTED
056432,000774: # I/O FUNCTION IS COMPLETE.THE FOLLOWING CHECKS ON THE CALLING ROUTINE:S
056433,000775: # MODECADR ARE MADE AND ACTED UPON.
056434,000776: # 1) +0 INDICATES INCOMPLETE I/O OPERATION.CALLING ROUTINE IS PUT TO
056435,000777: # SLEEP.
056436,000778: # 2) -1 INDICATES COMPLETED I/O OPERATION. STALL BYPASSES JOBSLEEP
056437,000779: # CALL AND RETURNS TO CALLING ROUTINE AT L+3
056438,000780: # 3) -0 INDICATES COMPLETED I/O WITH FAILURE. STALL CLEARS MODECADR
056439,000781: # AND RETURNS TO CALLING ROUTINE AT L+2.
056440,000782: # 4) VALUE GREATER THAN 0 INDICATES TWO ROUTINES CALLING FOR USE OF
056441,000783: # SAME DEVICE. STALL EXITS TO ABORT WHICH EXECUTES A PROGRAM
056442,000784: # RESTART WHICH IN TURN CLEARS ALL MODECADR REGISTERS.
056443,000785:
056444,000786: # CALLING SEQUENCE-
056445,000787: # L TC BANKCALL
056446,000788: # L+1 CADR (ONE OF 5 STALL ADDRESSES I.E. IMUSTALL,OPTSTALL,RADSTALL,
056447,000789: # AOTSTALL,OR ATTSTALL)
056448,000790:
056449,000791: # NORMAL-EXIT MODE-
056450,000792: # TCF JOBSLEEP OR TCF MODEXIT
056451,000793:
056452,000794: # ALARM OR ABORT EXIT MODE-
056453,000795: # TC ABORT
056454,000796:
056455,000797: # OUTPUT-
056456,000798: # MODECADR= CADR IF JOBSLEEP
056457,000799: # MODECADR=+0 IF I/O COMPLETE
056458,000800: # BUF2=L+3 IF I/O COMPLETE AND GOOD.
056459,000801: # BUF2=L+2 IF I/O COMPLETE BUT FAILED.
056460,000802:
056461,000803: # ERASABLE INITIALIZATION-
056462,000804: # BUF2 CONTAINS RETURN ADDRESS PLUS 1,(L+2)
056463,000805: # BUF2+1 CONTAINS FBANK VALUE OF CALLING ROUTINE.
056464,000806: # MODECADR OF CALLING ROUTINE CONTAINS +0,-1,-0 OR CADR RETURN ADDRESS.
056465,000807:
056466,000808: # DEBRIS-
056467,000809: # RUPTREG2 AND CALLING ROUTINE MODECADR.
056468,000810:
056469,000811: 07,3716 34753 AOTSTALL CAF ONE # AOT.
056470,000812: 07,3717 03723 TC STALL
056471,000813:
056472,000814: 07,3720 34752 RADSTALL CAF TWO
056473,000815: 07,3721 13723 TCF STALL
056474,000816:
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Page 1319
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056476,000818: 07,3722 07,3716 OPTSTALL EQUALS AOTSTALL
056477,000819:
056478,000820: 07,3722 34755 IMUSTALL CAF ZERO # IMU.
056479,000821:
056480,000822: 07,3723 00004 STALL INHINT
056481,000823: 07,3724 54071 TS RUPTREG2 # SAVE DEVICE INDEX.
056482,000824: 07,3725 50000 INDEX A # SEE IF OPERATION COMPLETE.
056483,000825: 07,3726 11301 CCS MODECADR
056484,000826: 07,3727 13745 TCF MODABORT # ALLOWABLE STATES ARE +0, -1, AND -0.
056485,000827: 07,3730 13741 TCF MODESLP # OPERATION INCOMPLETE.
056486,000828: 07,3731 13735 TCF MODEGOOD # COMPLETE AND GOOD IF = -1.
056487,000829:
056488,000830: 07,3732 50071 MG2 INDEX RUPTREG2 # COMPLETE AND FAILED IF -0. RESET TO +0.
056489,000831: 07,3733 55301 TS MODECADR # RETURN TO CALLER.
056490,000832: 07,3734 12741 TCF MODEEXIT
056491,000833:
056492,000834: 07,3735 10000 MODEGOOD CCS A # MAKE SURE INITIAL STATE -1.
056493,000835: 07,3736 13745 TCF MODABORT
056494,000836:
056495,000837: 07,3737 24133 INCR BUF2 # IF SO, INCREMENT RETURN ADDRESS AND
056496,000838: 07,3740 13732 TCF MG2 # RETURN IMMEDIATELY, SETTING CADR = +0.
056497,000839:
056498,000840: 07,3741 04645 MODESLP TC MAKECADR # CALL FROM SWITCHABLE FIXED ONLY.
056499,000841: 07,3742 50071 INDEX RUPTREG2
056500,000842: 07,3743 55301 TS MODECADR
056501,000843: 07,3744 15133 TCF JOBSLEEP
056502,000844:
056503,000845: 07,3745 52134 MODABORT DXCH BUF2
056504,000846: 07,3746 05717 TC BAILOUT1 # TWO PROGRAMS USING THE SAME DEVICE.
056505,000847: 07,3747 31210 OCT 31210
056506,000848:
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Page 1320
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056508,000850: # CONSTANTS FOR MODE SWITCHING ROUTINES
056509,000851:
056510,000852: 07,3750 5752 BITS3&4 = OCT14
056511,000853: 07,3750 4771 BITS4&6 = OCT50
056512,000854: 07,3750 00030 BITS4-5 OCT 00030
056513,000855: 07,3751 4744 IMUSEFLG EQUALS BIT8 # INTERPRETER SWITCH 7.
056514,000856: 07,3751 77500 -COMMAX DEC -191 B-14
056515,000857: 07,3752 77477 -COMMAX- DEC -192 B-14
056516,000858: 07,3753 00074 600MS DEC 60 B-14
056517,000859: 07,3754 07,3174 IMUFIN20 = IMUFINE
056518,000860: 07,3754 31304 GOMANUR CA ATTCADR # IS KALCMANU FREE
056519,000861: 07,3755 00006 EXTEND
056520,000862: 07,3756 13760 BZF +2
056521,000863: 07,3757 03745 TC MODABORT # BAILOUT
056522,000864: 07,3760 00006 +2 EXTEND
056523,000865: 07,3761 30134 DCA BUF2
056524,000866: 07,3762 53305 DXCH ATTCADR # SAVE FINAL RETURN FOR KALCMAN3
056525,000867:
056526,000868: 07,3763 30006 CA BBANK
056527,000869: 07,3764 74757 MASK SEVEN
056528,000870: 07,3765 27305 ADS ATTCADR +1
056529,000871:
056530,000872: 07,3766 30167 CA PRIORITY
056531,000873: 07,3767 77730 MASK PRIO37
056532,000874: 07,3770 55306 TS ATTPRIO # SAVE USERS PRIO
056533,000875:
056534,000876: 07,3771 33775 CAF KALEBCON # SET EBANK FOR KALCMAN3
056535,000877: 07,3772 54003 TS EBANK
056536,000878: 07,3773 04635 TC POSTJUMP
056537,000879: 07,3774 44004 CADR KALCMAN3
056538,000880: 07,3775 03275 KALEBCON ECADR BCDU
056539,000881:
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Page 1321
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056541,000883: # PROGRAM DESCRIPTION
056542,000884: # IMU STATUS CHECK ROUTINE R02 (SUBROUTINE UTILITY)
056543,000885: # MOD NO - 1
056544,000886: # MOD BY - N.BRODEUR
056545,000887: # FUNCTIONAL DESCRIPTION
056546,000888:
056547,000889: # TO CHECK WHETHER IMU IS ON AND IF ON WHETHER IT IS ALIGNED TO AN
056548,000890: # ORIENTATION KNOWN BY THE CMC. TO REQUEST SELECTION OF THE APPROPRIATE
056549,000891: # PROGRAM IF THE IMU IS OFF OR NOT ALIGNED TO AN ORIENTATION KNOWN BY THE
056550,000892: # CMC. CALLED THROUGH BANKCALL
056551,000893: # CALLING SEQUENCE-
056552,000894:
056553,000895: # L TC BANKCALL
056554,000896: # L+1 CADR R02BOTH
056555,000897: # SUBROUTINES CALLED
056556,000898:
056557,000899: # VARALARM
056558,000900: # FLAGUP
056559,000901: # NORMAL EXIT MODES
056560,000902:
056561,000903: # AT L+2 OF CALLING SEQUENCE
056562,000904: # ALARM OR ABORT EXIT MODES
056563,000905: # GOTOPOOH, WITH ALARM
056564,000906: # ERASABLE INITIALIZATION REQUIRED
056565,000907:
056566,000908: # NONE
056567,000909: # DEBRIS
056568,000910:
056569,000911: # CENTRALS-A,Q,L
056570,000912: 34,3574 BANK 34
056571,000913: 04,2000 SETLOC R02
056572,000914: 04,2000 BANK
056573,000915: 04,3240 COUNT* $$/R02
056574,000916: 04,3240 00063 DEC51 DEC 51 B-14
056575,000917: 04,3241 34737 R02BOTH CAF REFSMBIT
056576,000918: 04,3242 70077 MASK FLAGWRD3
056577,000919: 04,3243 10000 CCS A
056578,000920: 04,3244 03255 TC R02ZERO # ZERO IMUS
056579,000921:
056580,000922: 04,3245 31277 CA IMODES30
056581,000923: 04,3246 74743 MASK BIT9 # IS ISS INITIALIZED
056582,000924: 04,3247 00006 EXTEND
056583,000925: 04,3250 13252 BZF +2
056584,000926: 04,3251 44750 CS BIT4 # SEND IMU ALARM CODE 210
056585,000927: 04,3252 63260 AD OCT220 # SEND REFSMM ALARM
056586,000928: 04,3253 05745 TC VARALARM
056587,000929:
056588,000930: 04,3254 06001 TC GOTOPOOH
056589,000931:
056590,000932: 04,3255 05515 R02ZERO TC UPFLAG
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Page 1322
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056592,000934: 04,3256 00007 ADRES IMUSE
056593,000935: 04,3257 14631 TCF SWRETURN
056594,000936: 04,3260 00220 OCT220 OCT 220
056595,000937:
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Page 1323
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056597,000939: # PROGRAM DESCRIPTION P06 10FEB67
056598,000940:
056599,000941: # TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION.
056600,000942:
056601,000943: # THE NORMAL CONDITION OF READINESS OF THE GNCS WHEN NOT IN USE IS STANDBY. IN THIS CONDITION THE IMU
056602,000944: # HEATER POWER IS ON. THE IMU OPERATE POWER IS OFF. THE COMPUTER POWER IS ON. THE OPTICS POWER IS OFF. THE
056603,000945: # CMC STANDBY ON THE MAIN AND LEB DISKYS IS ON.
056604,000946:
056605,000947: # CALLING SEQUENCE:
056606,000948: # ASTRONAUT REQUEST THROUGH DSKY V37E 06E.
056607,000949:
056608,000950: # SUBROUTINES CALLED:
056609,000951: # GOPERF1
056610,000952: # BANKCALL
056611,000953: # FLAGDOWN
056612,000954:
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Page 1324
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056614,000956: # PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2
056615,000957: # THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATABILITY
056616,000958: # BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING.
056617,000959:
056618,000960: 37,2000 SETLOC P05P06
056619,000961: 37,2000 BANK
056620,000962:
056621,000963: 37,3654 0314 EBANK= TIME2SAV
056622,000964: 37,3654 COUNT* $$/P06
056623,000965:
056624,000966: 37,3654 05515 P06 TC UPFLAG # SET NODOV37 BIT
056625,000967: 37,3655 00054 ADRES NODOFLAG
056626,000968:
056627,000969: 37,3656 00004 PRESTAND INHINT
056628,000970: 37,3657 00006 EXTEND
056629,000971: 37,3660 30025 DCA TIME2 # SNAPSHOT TIME1TIME2
056630,000972: 37,3661 52315 DXCH TIME2SAV
056631,000973: 37,3662 03713 TC SCALPREP
056632,000974: 37,3663 03656 TC PRESTAND # T1,T2,SCALER NOT COMPATIBLE
056633,000975: 37,3664 52155 DXCH MPAC # T1,T2 AND SCALER OK
056634,000976: 37,3665 52317 DXCH SCALSAVE # STORE SCALER
056635,000977: 37,3666 00004 INHINT
056636,000978: 37,3667 04616 TC BANKCALL
056637,000979: 37,3670 17161 CADR RNDREFDR # REFSMM, DRIFT, TRACK FLAGS DOWN
056638,000980:
056639,000981: 37,3671 05527 TC DOWNFLAG
056640,000982: 37,3672 00007 ADRES IMUSE # IMUSE DOWN
056641,000983: 37,3673 05527 TC DOWNFLAG
056642,000984: 37,3674 00010 ADRES RNDVZFLG # RNDVZFLG DOWN
056643,000985:
056644,000986: 37,3675 34741 CAF BIT11
056645,000987: 37,3676 00006 EXTEND
056646,000988: 37,3677 05013 WOR CHAN13 # SET STANDBY ENABLE BIT
056647,000989:
056648,000990: 37,3700 05364 TC PHASCHNG # SET RESTART TO POSTAND WHEN STANDBY
056649,000991: 37,3701 07024 OCT 07024 # RECOVERS
056650,000992: 37,3702 20000 OCT 20000
056651,000993: 37,3703 0316 EBANK= SCALSAVE
056652,000994: 37,3703 03733 76060 2CADR POSTAND
056653,000995:
056654,000996: 37,3705 34774 CAF OCT62
056655,000997: 37,3706 04616 TC BANKCALL
056656,000998: 37,3707 20624 CADR GOPERF1
056657,000999: 37,3710 13705 TCF -3
056658,001000: 37,3711 13705 TCF -4
056659,001001: 37,3712 13705 TCF -5
056660,001002:
056661,001003: 37,3713 4774 OCT62 EQUALS .5SEC # DEC 50 = OCT 62
056662,001004:
056663,001005: # THE LOW 5 BITS OF THE SCALER READS 10000 FOR THE FIRST INTERVAL AFTER A
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Page 1325
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056665,001007: # T1 INCREMENT. IF SCALPREP DETECTS THIS INTERVAL THE T1,T2 AND SCALER
056666,001008: # DATA ARE NOT COMPATABLE AND RETURN IS TO L+1 FOR ANOTHER READING OF THE
056667,001009: # DATA. OTHERWISE, THE RETURN IS TO L+2 TO PROCEED. ROUTINE ALSO PREPARES
056668,001010: # THE SCALER READING FOR COMPUTATION OF THE INCREMENT TO UPDATE T1T2. (THE
056669,001011: # 10 MS BIT (BIT 6) OF THE SCALER IS INCREMENTED 5 MS OUT OF PHASE FROM
056670,001012: # T1.) ADDITION OF 5 MS (BIT 5) TO THE SCALER READING HAS THE EFFECT OF
056671,001013: # ADJUSTING BIT 6 IN THE SCALER TO BE IN PHASE WITH BIT 1 OF T1. THE LOW 5
056672,001014: # BITS OF THE SCALER READING ARE THEN SET TO ZERO, TO TRUNCATE THE SCALER
056673,001015: # DATA TO 10 MS. RESULTS ARE STORED IN MPAC, +1.
056674,001016:
056675,001017: 37,3713 00006 SCALPREP EXTEND
056676,001018: 37,3714 22156 QXCH MPAC +2
056677,001019: 37,3715 04103 TC FINETIME +1
056678,001020: 37,3716 00003 RELINT
056679,001021: 37,3717 52155 DXCH MPAC
056680,001022: 37,3720 34747 CA BIT5 # ADD 5 MS TO THE SCALER READING.
056681,001023: 37,3721 54001 TS L
056682,001024: 37,3722 34755 CA ZERO
056683,001025: 37,3723 20155 DAS MPAC
056684,001026: 37,3724 44346 CS LOW5 # SET LOW 5 BITS OF (SCALER+5MS) TO ZERO
056685,001027: 37,3725 70155 MASK MPAC +1 # AND STORE RESULTS IN MPAC,+1.
056686,001028: 37,3726 56155 XCH MPAC +1
056687,001029: 37,3727 74346 MASK LOW5 # TEST LOW 5 BITS OF SCALER FOR THE FIRST
056688,001030: # INTERVAL AFTER THE T1 INCREMENT
056689,001031: # (NOW = 00000, SINCE BIT 5 ADDED).
056690,001032: 37,3730 10000 CCS A # IS IT 1ST INTERVAL AFTER T1 INCREMENT
056691,001033: 37,3731 24156 INCR MPAC +2 # NO
056692,001034: 37,3732 00156 TC MPAC +2 # YES
056693,001035:
056694,001036: # POSTAND RECOVERS TIME AFTER STANDBY.THE SCALER IS SNAPSHOTTED AND THE
056695,001037: # TIME1 TIME2 COUNTER IS SET TO ZERO. THE LOW 5 BITS OF THE SCALER ARE
056696,001038: # INSPECTED TO INSURE COMPATABILITY BETWEEN THE SCALER READING AND THE
056697,001039: # CLEARING OF THE TIME COUNTER. IT THEN COMPUTES THE DIFFERENCE IN SCALER
056698,001040: # VALUES (IN DP) AND ADDS THIS TO THE PREVIOUSLY SNAPSHOTTED VALUES OF
056699,001041: # TIME1 TIME2 AND PLACES THIS NEW TIME INTO THE TIME1 TIME2 COUNTER.
056700,001042:
056701,001043: 37,3733 COUNT* $$/P05
056702,001044:
056703,001045: 37,3733 44741 POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY.
056704,001046: 37,3734 00006 EXTEND
056705,001047: 37,3735 03013 WAND CHAN13 # CLEAR STANDBY ENABLE BIT
056706,001048: 37,3736 00004 INHINT
056707,001049: 37,3737 34755 CA ZERO
056708,001050: 37,3740 54001 TS L
056709,001051: 37,3741 52025 DXCH TIME2 # CLEAR TIME1TIME2
056710,001052: 37,3742 03713 TC SCALPREP # STORE SCALER IN MPAC, MPAC+1
056711,001053: 37,3743 03736 TC POSTAND +3 # T1,T2,SCALER NOT COMPATIBLE
056712,001054: 37,3744 00006 EXTEND # T1,T2 AND SCALER OK
056713,001055: 37,3745 40317 DCS SCALSAVE
056714,001056: 37,3746 20155 DAS MPAC # FORM DP DIFFERENCE OF POSTSTANDBY SCALER
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Page 1326
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056716,001058: 37,3747 34742 CAF BIT10 # MINUS PRESTANDBY SCALER AND SHIFT RIGHT
056717,001059: 37,3750 07312 TC SHORTMP # 5 TO ALIGN BITS WITH TIME1TIME2.
056718,001060: 37,3751 34755 CAF ZERO
056719,001061: 37,3752 54156 TS MPAC +2 # NEEDED FOR TP AGREE
056720,001062: 37,3753 07262 TC TPAGREE # MAKE DP DIFF AGREE
056721,001063: 37,3754 10154 CCS MPAC
056722,001064: 37,3755 03762 TC POSTCOM # IF DP DIFF NET +, NO SCALER OVERFLOW
056723,001065: 37,3756 03762 TC POSTCOM # BETWEEN PRE AND POST STANDBY.
056724,001066: 37,3757 03760 TC +1 # IF DP DIFF NET -, SCALER OVERFLOWED. ADD
056725,001067: 37,3760 34742 CAF BIT10 # BIT 10 TO HIGH DIFF TO CORRECT.
056726,001068: 37,3761 26154 ADS MPAC
056727,001069: 37,3762 00006 POSTCOM EXTEND # C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER.
056728,001070: 37,3763 30315 DCA TIME2SAV # PRESTANDBY TIME1TIME2
056729,001071: 37,3764 20155 DAS MPAC
056730,001072: 37,3765 07262 TC TPAGREE # FORCE SIGN AGREEMENT
056731,001073: 37,3766 52155 DXCH MPAC # UPDATED VALUE FOR T1,T2.
056732,001074: 37,3767 20025 DAS TIME2 # LOAD UPDATED VALUE INTO T1,T2, WITH
056733,001075: 37,3770 05527 TC DOWNFLAG # CLEAR NODOFLAG
056734,001076: 37,3771 00054 ADRES NODOFLAG
056735,001077:
056736,001078: 37,3772 06001 TC GOTOPOOH
End of include-file IMU_MODE_SWITCHING_ROUTINES.agc. Parent file is MAIN.agc