Notations on the program listing read, in part:
GAP: ASSEMBLE REVISION 210 OF AGC PROGRAM LUMINARY BY NASA 2021112-161 17:11 MAR. 19,1971Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source-code files derive from a printout of Luminary 210 (Apollo 15-17
Lunar Module guidance computer program), from the personal library of
original AGC developer Don Eyles, digitally photographed at archive.org,
financially sponsored by Jim Lawton, and transcribed to source code by a
team of volunteers. This colorized, syntax-highlighted form was created
by assembling that transcribed source code. Note that the full page images
are available on the
Virtual AGC project page at archive.org, while reduced-size images
are presented at the VirtualAGC project website. Report or fix any
transcription errors at
the Virtual AGC project code repository. Notations on the program listing read, in part: GAP: ASSEMBLE REVISION 210 OF AGC PROGRAM LUMINARY BY NASA 2021112-161 17:11 MAR. 19,1971Note that the date is the date of the printout, not the date of the program revision. |
056538,000002: ## Copyright: Public domain.
056539,000003: ## Filename: IMU_MODE_SWITCHING_ROUTINES.agc
056540,000004: ## Purpose: A section of Luminary revision 210.
056541,000005: ## It is part of the source code for the Lunar Module's (LM)
056542,000006: ## Apollo Guidance Computer (AGC) for Apollo 15-17.
056543,000007: ## This file is intended to be a faithful transcription, except
056544,000008: ## that the code format has been changed to conform to the
056545,000009: ## requirements of the yaYUL assembler rather than the
056546,000010: ## original YUL assembler.
056547,000011: ## Reference: pp. 1306-1334
056548,000012: ## Assembler: yaYUL
056549,000013: ## Contact: Ron Burkey <info@sandroid.org>.
056550,000014: ## Website: www.ibiblio.org/apollo/index.html
056551,000015: ## Mod history: 2016-11-17 JL Created from Luminary131 version.
056552,000016: ## 2016-12-08 MAS Began transcription
056553,000017: ## 2016-12-09 MAS Completed updates for Luminary 210.
056554,000018: ## 2016-12-11 HG Fix operand CAGETEST -> CAGETSTG
056555,000019: ## GYROEXIT -> EXITGYRO
056556,000020: ## CAGETEST -> COARSTST
056557,000021: ## 2016-12-26 RSB Comment-text proofed using ProoferComments
056558,000022: ## and corrected errors found.
056559,000023: ## 2017-01-28 RSB Comment-text fixes identified for Luminary 69.
056560,000024: ## 2017-03-13 RSB Comment-text fixes noted in proofing Luminary 116.
056561,000025:
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Page 1306 |
056563,000027: 4000 SETLOC FFTAG3
056564,000028: 4000 BANK
056565,000029:
056566,000030: 5461 E3,1471 EBANK= COMMAND
056567,000031:
056568,000032: # FIXED-FIXED ROUTINES.
056569,000033:
056570,000034: 5461 COUNT* $$/IMODE
056571,000035: 5461 34746 ZEROICDU CAF ZERO # ZERO ICDU COUNTERS.
056572,000036: 5462 54032 TS CDUX
056573,000037: 5463 54033 TS CDUY
056574,000038: 5464 54034 TS CDUZ
056575,000039: 5465 00002 TC Q
056576,000040:
056577,000041: 5466 4734 SPSCODE = BIT9
056578,000042:
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Page 1307 |
056580,000044: # IMU ZEROING ROUTINE.
056581,000045:
056582,000046: 11,3776 BANK 11
056583,000047: 07,2000 SETLOC MODESW
056584,000048: 07,2000 BANK
056585,000049:
056586,000050: 07,2701 COUNT* $$/IMODE
056587,000051: 07,2701 00004 IMUZERO INHINT # ROUTINE TO ZERO ICDUS.
056588,000052: 07,2702 41035 CS DSPTAB +11D # DONT ZERO CDUS IF IMU IN GIMBAL LOCK AND
056589,000053: 07,2703 74762 MASK BITS4&6 # COARSE ALIGN (GIMBAL RUNAWAY PROTECTION)
056590,000054: 07,2704 10000 CCS A
056591,000055: 07,2705 12711 TCF IMUZEROA
056592,000056:
056593,000057: 07,2706 05571 TC ALARM # IF SO.
056594,000058: 07,2707 00206 OCT 00206
056595,000059:
056596,000060: 07,2710 13676 TCF CAGETSTJ +4 # IMMEDIATE FAILURE.
056597,000061:
056598,000062: 07,2711 03672 IMUZEROA TC CAGETSTJ
056599,000063: # DELETE
056600,000064: 07,2712 41300 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
056601,000065: 07,2713 74764 MASK SUPER011 # BIT5 FOR GROUND
056602,000066: 07,2714 27300 ADS IMODES33
056603,000067:
056604,000068: 07,2715 41277 CS IMODES30 # INHIBIT ICDUFAIL AND IMUFAIL (IN CASE WE
056605,000069: 07,2716 75745 MASK BITS3&4 # JUST CAME OUT OF COARSE ALIGN).
056606,000070: 07,2717 27277 ADS IMODES30
056607,000071:
056608,000072: 07,2720 44762 CS BITS4&6 # SEND ZERO ENCODE WITH COARSE AND ERROR
056609,000073: 07,2721 00006 EXTEND # COUNTER DISABLED.
056610,000074: 07,2722 03012 WAND CHAN12
056611,000075:
056612,000076: 07,2723 03253 TC NOATTOFF # TURN OFF NO ATT LAMP.
056613,000077:
056614,000078: 07,2724 34740 CAF BIT5
056615,000079: 07,2725 00006 EXTEND
056616,000080: 07,2726 05012 WOR CHAN12
056617,000081:
056618,000082: 07,2727 05461 TC ZEROICDU
056619,000083: 07,2730 34737 CAF BIT6 # WAIT 320 MS TO GIVE AGS ADEQUATE TIME TO
056620,000084: 07,2731 05205 TC WAITLIST # RECEIVE ITS PULSE TRAIN.
056621,000085: 07,2732 E3,1474 EBANK= CDUIND
056622,000086: 07,2732 02744 16103 2CADR IMUZERO2
056623,000087:
056624,000088: 07,2734 41277 CS IMODES30 # SEE IF IMU OPERATING AND ALARM IF NOT.
056625,000089: 07,2735 74734 MASK BIT9
056626,000090: 07,2736 10000 CCS A
056627,000091: 07,2737 12742 TCF MODEEXIT
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Page 1308 |
056629,000093: 07,2740 05571 TC ALARM
056630,000094: 07,2741 00210 OCT 210
056631,000095:
056632,000096: 07,2742 00003 MODEEXIT RELINT # GENERAL MODE-SWITCHING EXIT.
056633,000097: 07,2743 14622 TCF SWRETURN
056634,000098:
056635,000099:
056636,000100: 07,2744 03660 IMUZERO2 TC CAGETEST
056637,000101: 07,2745 05461 TC ZEROICDU # ZERO CDUX, CDUY, CDUZ
056638,000102:
056639,000103: 07,2746 44740 CS BIT5 # REMOVE ZERO DISCRETE.
056640,000104: 07,2747 00006 EXTEND
056641,000105: 07,2750 03012 WAND CHAN12
056642,000106:
056643,000107: 07,2751 34732 CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS
056644,000108: 07,2752 05226 TC VARDELAY
056645,000109:
056646,000110: 07,2753 03660 IMUZERO3 TC CAGETEST
056647,000111: 07,2754 45745 CS BITS3&4 # REMOVE IMUFAIL AND ICDUFAIL INHIBIT.
056648,000112: 07,2755 71277 MASK IMODES30
056649,000113: 07,2756 55277 TS IMODES30
056650,000114:
056651,000115: 07,2757 44764 CS SUPER011 # ENABLE DAP AUTO AND HOLD MODES
056652,000116: 07,2760 71300 MASK IMODES33 # BIT5 FOR GROUND
056653,000117: 07,2761 55300 TS IMODES33
056654,000118:
056655,000119: 07,2762 04665 TC IBNKCALL # SET ISS WARNING IF EITHER OF ABOVE ARE
056656,000120: 07,2763 14703 CADR SETISSW # PRESENT.
056657,000121:
056658,000122: 07,2764 13633 TCF ENDIMU
056659,000123:
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Page 1309 |
056661,000125: # IMU COARSE ALIGN MODE.
056662,000126:
056663,000127: 07,2765 00004 IMUCOARS INHINT
056664,000128: 07,2766 03672 TC CAGETSTJ
056665,000129: 07,2767 03131 TC SETCOARS
056666,000130:
056667,000131: 07,2770 36263 CAF SIX
056668,000132: 07,2771 05205 TC WAITLIST
056669,000133: 07,2772 E3,1474 EBANK= CDUIND
056670,000134: 07,2772 02775 16103 2CADR COARS
056671,000135:
056672,000136:
056673,000137: 07,2774 12742 TCF MODEEXIT
056674,000138:
056675,000139: 07,2775 03660 COARS TC CAGETEST
056676,000140: 07,2776 34737 CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
056677,000141: 07,2777 00006 EXTEND
056678,000142: 07,3000 05012 WOR CHAN12
056679,000143:
056680,000144: 07,3001 34743 CAF TWO # SET CDU INDICATOR
056681,000145: 07,3002 55474 COARS1 TS CDUIND
056682,000146:
056683,000147: 07,3003 51474 INDEX CDUIND # COMPUTE THETAD - THETAA IN 1:S
056684,000148: 07,3004 30321 CA THETAD # COMPLEMENT FORM
056685,000149: 07,3005 00006 EXTEND
056686,000150: 07,3006 51474 INDEX CDUIND
056687,000151: 07,3007 20032 MSU CDUX
056688,000152: 07,3010 00006 EXTEND
056689,000153: 07,3011 74730 MP BIT13 # SHIFT RIGHT 2
056690,000154: 07,3012 56001 XCH L # ROUND
056691,000155: 07,3013 60000 DOUBLE
056692,000156: 07,3014 54061 TS ITEMP1
056693,000157: 07,3015 13017 TCF +2
056694,000158: 07,3016 26001 ADS L
056695,000159:
056696,000160: 07,3017 51474 INDEX CDUIND # DIFFERENCE TO BE COMPUTED
056697,000161: 07,3020 23471 LXCH COMMAND
056698,000162: 07,3021 11474 CCS CDUIND
056699,000163: 07,3022 03002 TC COARS1
056700,000164:
056701,000165: 07,3023 34743 CAF TWO # MINIMUM OF 4 MS WAIT
056702,000166: 07,3024 05226 TC VARDELAY
056703,000167:
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Page 1310 |
056705,000169: 07,3025 03660 COARS2 TC CAGETEST # DONT CONTINUE IF CAGED.
056706,000170: 07,3026 54061 TS ITEMP1 # SETS TO +0.
056707,000171: 07,3027 34743 CAF TWO # SET CDU INDICATOR
056708,000172: 07,3030 55474 +3 TS CDUIND
056709,000173:
056710,000174: 07,3031 51474 INDEX CDUIND
056711,000175: 07,3032 11471 CCS COMMAND # NUMBER OF PULSES REQUIRED
056712,000176: 07,3033 03037 TC COMPOS # GREATER THAN MAX ALLOWED
056713,000177: 07,3034 03046 TC NEXTCDU +1
056714,000178: 07,3035 03104 TC COMNEG
056715,000179: 07,3036 03046 TC NEXTCDU +1
056716,000180:
056717,000181: 07,3037 63764 COMPOS AD -COMMAX # COMMAX = MAX NUMBER OF PULSES ALLOWED
056718,000182: 07,3040 00006 EXTEND # MINUS ONE
056719,000183: 07,3041 63114 BZMF COMZERO
056720,000184: 07,3042 51474 INDEX CDUIND
056721,000185: 07,3043 55471 TS COMMAND # REDUCE COMMAND BY MAX NUMBER OF PULSES
056722,000186: 07,3044 43765 CS -COMMAX- # ALLOWED
056723,000187:
056724,000188: 07,3045 24061 NEXTCDU INCR ITEMP1
056725,000189: 07,3046 64745 AD NEG0
056726,000190: 07,3047 51474 INDEX CDUIND
056727,000191: 07,3050 54050 TS CDUXCMD # SET UP COMMAND REGISTER.
056728,000192:
056729,000193: 07,3051 11474 CCS CDUIND
056730,000194: 07,3052 03030 TC COARS2 +3
056731,000195:
056732,000196: 07,3053 10061 CCS ITEMP1 # SEE IF ANY PULSES TO GO OUT.
056733,000197: 07,3054 13120 TCF SENDPULS
056734,000198:
056735,000199: 07,3055 05223 TC FIXDELAY # WAIT FOR GIMBALS TO SETTLE.
056736,000200: 07,3056 00226 DEC 150 B-14
056737,000201:
056738,000202:
056739,000203: 07,3057 34743 CAF TWO # AT END OF COMMAND, CHECK TO SEE THAT
056740,000204: 07,3060 54061 CHKCORS TS ITEMP1 # GIMBALS ARE WITHIN 2 DEGREES OF THETAD.
056741,000205: 07,3061 50000 INDEX A
056742,000206: 07,3062 30032 CA CDUX
056743,000207: 07,3063 00006 EXTEND
056744,000208: 07,3064 50061 INDEX ITEMP1
056745,000209: 07,3065 20321 MSU THETAD
056746,000210: 07,3066 10000 CCS A
056747,000211: 07,3067 13075 TCF COARSERR
056748,000212: 07,3070 13072 TCF CORSCHK2
056749,000213: 07,3071 13075 TCF COARSERR
056750,000214:
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Page 1311 |
056752,000216: 07,3072 10061 CORSCHK2 CCS ITEMP1
056753,000217: 07,3073 13060 TCF CHKCORS
056754,000218: 07,3074 13633 TCF ENDIMU # END OF COARSE ALIGNMENT.
056755,000219:
056756,000220: 07,3075 63103 COARSERR AD COARSTOL # 2 DEGREES.
056757,000221: 07,3076 00006 EXTEND
056758,000222: 07,3077 63072 BZMF CORSCHK2
056759,000223:
056760,000224: 07,3100 05571 TC ALARM # COARSE ALIGN ERROR.
056761,000225: 07,3101 00211 OCT 211
056762,000226:
056763,000227: 07,3102 13656 TCF IMUBAD
056764,000228:
056765,000229: 07,3103 77511 COARSTOL DEC -.01111 # 2 DEGREES SCALED AT HALF-REVOLUTIONS
056766,000230:
056767,000231:
056768,000232: 07,3104 63764 COMNEG AD -COMMAX
056769,000233: 07,3105 00006 EXTEND
056770,000234: 07,3106 63114 BZMF COMZERO
056771,000235: 07,3107 40000 COM
056772,000236: 07,3110 51474 INDEX CDUIND
056773,000237: 07,3111 55471 TS COMMAND
056774,000238: 07,3112 33765 CA -COMMAX-
056775,000239: 07,3113 03045 TC NEXTCDU
056776,000240:
056777,000241: 07,3114 34746 COMZERO CAF ZERO
056778,000242: 07,3115 51474 INDEX CDUIND
056779,000243: 07,3116 57471 XCH COMMAND
056780,000244: 07,3117 03045 TC NEXTCDU
056781,000245:
056782,000246:
056783,000247: 07,3120 37761 SENDPULS CAF 13,14,15
056784,000248: 07,3121 00006 EXTEND
056785,000249: 07,3122 05014 WOR CHAN14
056786,000250: 07,3123 33766 CAF 600MS
056787,000251: 07,3124 13024 TCF COARS2 -1 # THEN TO VARDELAY
056788,000252:
056789,000253: 07,3125 34737 CA+ECE CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
056790,000254: 07,3126 00006 EXTEND
056791,000255: 07,3127 05012 WOR CHAN12
056792,000256: 07,3130 05263 TC TASKOVER
056793,000257:
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Page 1312 |
056795,000259: 07,3131 34741 SETCOARS CAF BIT4 # BYPASS IF ALREADY IN COARSE ALIGN
056796,000260: 07,3132 00006 EXTEND
056797,000261: 07,3133 02012 RAND CHAN12
056798,000262: 07,3134 10000 CCS A
056799,000263: 07,3135 00002 TC Q
056800,000264:
056801,000265: 07,3136 44737 CS BIT6 # CLEAR ISS ERROR COUNTERS
056802,000266: 07,3137 00006 EXTEND
056803,000267: 07,3140 03012 WAND CHAN12
056804,000268:
056805,000269: 07,3141 44733 CS BIT10 # KNOCK DOWN GYRO ACTIVITY
056806,000270: 07,3142 00006 EXTEND
056807,000271: 07,3143 03014 WAND CHAN14
056808,000272: 07,3144 44746 CS ZERO
056809,000273: 07,3145 54047 TS GYROCMD
056810,000274:
056811,000275: 07,3146 34741 CAF BIT4 # PUT ISS IN COARSE ALIGN
056812,000276: 07,3147 00006 EXTEND
056813,000277: 07,3150 05012 WOR CHAN12
056814,000278:
056815,000279: 07,3151 41035 CS DSPTAB +11D # TURN ON NO ATT LAMP
056816,000280: 07,3152 73174 MASK OCT40010
056817,000281: 07,3153 27035 ADS DSPTAB +11D
056818,000282:
056819,000283: 07,3154 41300 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
056820,000284: 07,3155 74737 MASK BIT6
056821,000285: 07,3156 27300 ADS IMODES33
056822,000286:
056823,000287: 07,3157 41277 CS IMODES30 # DISABLE IMUFAIL
056824,000288: 07,3160 74741 MASK BIT4
056825,000289: 07,3161 27277 ADS IMODES30
056826,000290:
056827,000291: 07,3162 44740 RNDREFDR CS TRACKBIT # CLEAR TRACK FLAG
056828,000292: 07,3163 70075 MASK FLAGWRD1
056829,000293: 07,3164 54075 TS FLAGWRD1
056830,000294:
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The next three instructions are circled. |
056832,000296: 07,3165 44726 CS DRFTBIT # CLEAR DRIFT FLAG
056833,000297: 07,3166 70076 MASK FLAGWRD2
056834,000298: 07,3167 54076 TS FLAGWRD2
056835,000299:
056836,000300: 07,3170 44730 CS REFSMBIT # CLEAR REFSMMAT FLAG
056837,000301: 07,3171 70077 MASK FLAGWRD3
056838,000302: 07,3172 54077 TS FLAGWRD3
056839,000303:
056840,000304: 07,3173 00002 TC Q
056841,000305:
056842,000306: 07,3174 40010 OCT40010 OCT 40010
056843,000307:
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Page 1313 |
056845,000309: # IMU FINE ALIGN MODE SWITCH.
056846,000310:
056847,000311: 07,3175 00004 IMUFINE INHINT
056848,000312: 07,3176 03672 TC CAGETSTJ # SEE IF IMU BEING CAGED.
056849,000313:
056850,000314: 07,3177 43763 CS BITS4-5 # RESET ZERO AND COARSE
056851,000315: 07,3200 00006 EXTEND
056852,000316: 07,3201 03012 WAND CHAN12
056853,000317:
056854,000318: 07,3202 44737 CS BIT6 # INSURE DAP AUTO AND HOLD MODES ENABLED
056855,000319: 07,3203 71300 MASK IMODES33
056856,000320: 07,3204 55300 TS IMODES33
056857,000321:
056858,000322: 07,3205 03253 TC NOATTOFF
056859,000323:
056860,000324: 07,3206 34733 CAF BIT10 # IMU FAIL WAS INHIBITED DURING THE
056861,000325: 07,3207 05205 TC WAITLIST # PRESUMABLY PRECEDING COARSE ALIGN. LEAVE
056862,000326: 07,3210 E3,1474 EBANK= CDUIND
056863,000327: 07,3210 03221 16103 2CADR IFAILOK # IT ON FOR THE FIRST 5 SECS OF FINE ALIGN
056864,000328:
056865,000329:
056866,000330: 07,3212 34771 CAF 2SECS
056867,000331: 07,3213 05205 TC WAITLIST
056868,000332: 07,3214 E3,1474 EBANK= CDUIND
056869,000333: 07,3214 03217 16103 2CADR IMUFINED
056870,000334:
056871,000335:
056872,000336: 07,3216 12742 TCF MODEEXIT
056873,000337:
056874,000338: 07,3217 03660 IMUFINED TC CAGETEST # SEE THAT NO ONE HAS CAGED THE IMU.
056875,000339: 07,3220 13633 TCF ENDIMU
056876,000340:
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Page 1314 |
056878,000342: 07,3221 03665 IFAILOK TC CAGETSTQ # ENABLE IMU FIAL UNLESS IMU BEING CAGED.
056879,000343: 07,3222 15263 TCF TASKOVER # IT IS.
056880,000344:
056881,000345: 07,3223 34741 CAF BIT4 # DONT RESET IMU FAIL INHIBIT IF SOMEONE
056882,000346: 07,3224 00006 EXTEND # HAS GONE INTO COARSE ALIGN.
056883,000347: 07,3225 02012 RAND CHAN12
056884,000348: 07,3226 10000 CCS A
056885,000349: 07,3227 15263 TCF TASKOVER
056886,000350:
056887,000351: 07,3230 41277 CS IMODES30 # RESET IMUFAIL.
056888,000352: 07,3231 74730 MASK BIT13
056889,000353: 07,3232 27277 ADS IMODES30
056890,000354: 07,3233 44741 CS BIT4
056891,000355: 07,3234 71277 PFAILOK2 MASK IMODES30
056892,000356: 07,3235 55277 TS IMODES30
056893,000357: 07,3236 04665 TC IBNKCALL # THE ISS WARNING LIGHT MAY COME ON NOW
056894,000358: 07,3237 14703 CADR SETISSW # THAT THE INHIBIT HAS BEEN REMOVED.
056895,000359: 07,3240 15263 TCF TASKOVER
056896,000360:
056897,000361: 07,3241 03665 PFAILOK TC CAGETSTQ # ENABLE PIP FAIL PROG ALARM.
056898,000362: 07,3242 15263 TCF TASKOVER
056899,000363:
056900,000364: 07,3243 41277 CS IMODES30 # RESET IMU AND PIPA FAIL BITS.
056901,000365: 07,3244 74733 MASK BIT10
056902,000366: 07,3245 27277 ADS IMODES30
056903,000367:
056904,000368: 07,3246 41300 CS IMODES33
056905,000369: 07,3247 74730 MASK BIT13
056906,000370: 07,3250 27300 ADS IMODES33
056907,000371:
056908,000372: 07,3251 44740 CS BIT5
056909,000373: 07,3252 13234 TCF PFAILOK2
056910,000374:
056911,000375: 07,3253 43174 NOATTOFF CS OCT40010 # SUBROUTINE TO TURN OFF NO ATT LAMP.
056912,000376: 07,3254 71035 MASK DSPTAB +11D
056913,000377: 07,3255 64726 AD BIT15
056914,000378: 07,3256 55035 TS DSPTAB +11D
056915,000379: 07,3257 00002 TC Q
056916,000380:
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Page 1315 |
056918,000382: # ROUITNES TO INITIATE AND TERMINATE PROGRAM USE OF THE PIPAS. NO IMUSTALL REQUIRED IN EITHER CASE.
056919,000383:
056920,000384: 07,3260 44746 PIPUSE CS ZERO
056921,000385: 07,3261 54037 TS PIPAX
056922,000386: 07,3262 54040 TS PIPAY
056923,000387: 07,3263 54041 TS PIPAZ
056924,000388:
056925,000389: 07,3264 03665 PIPUSE1 TC CAGETSTQ # DO NOT ENABLE PIPA FAIL IF IMU IS CAGED
056926,000390: 07,3265 14622 TCF SWRETURN
056927,000391:
056928,000392: 07,3266 00004 INHINT
056929,000393: 07,3267 44744 CS BIT1 # IF PIPA FAILS FROM NOW ON (UNTIL
056930,000394: 07,3270 71277 MASK IMODES30 # PIPFREE), LIGHT ISS WARNING.
056931,000395: 07,3271 55277 TS IMODES30
056932,000396:
056933,000397: 07,3272 04665 PIPFREE2 TC IBNKCALL # ISS WARNING MIGHT COME ON NOW.
056934,000398: 07,3273 14703 CADR SETISSW # (OR GO OFF ON PIPFREE).
056935,000399:
056936,000400: 07,3274 12742 TCF MODEEXIT
056937,000401:
056938,000402: 07,3275 00004 PIPFREE INHINT # PROGRAM DONE WITH PIPAS. DONT LIGHT
056939,000403: 07,3276 41277 CS IMODES30 # ISS WARNING.
056940,000404: 07,3277 74744 MASK BIT1
056941,000405: 07,3300 27277 ADS IMODES30
056942,000406:
056943,000407: 07,3301 74733 MASK BIT10 # IF PIP FAIL ON, DO PROG ALSRM AND RESET
056944,000408: 07,3302 10000 CCS A # ISS WARNING.
056945,000409: 07,3303 12742 TCF MODEEXIT
056946,000410:
056947,000411: 07,3304 05571 TC ALARM
056948,000412: 07,3305 00212 OCT 212
056949,000413:
056950,000414: 07,3306 00004 INHINT
056951,000415:
056952,000416: 07,3307 13272 TCF PIPFREE2
056953,000417:
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|
Page 1316 |
056955,000419: # THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIX REGISTERS
056956,000420: # BEGINNING AT THE ECADR ARRIVING IN A. THE MINIMUM SIZE OF ANY PULSE TRAIN IS 16 PULSES (.25 CDU COUNTS). THE
056957,000421: # UNSENT PORTION OF THE COMMAND IS LEFT INTACT IN THE INPUT COMMAND REGISTERS.
056958,000422:
056959,000423: 07,3310 E3,1400 EBANK= 1400 # VARIABLE, ACTUALLY.
056960,000424:
056961,000425: 07,3310 54161 IMUPULSE TS MPAC +5 # SAVE ARRIVING ECADR.
056962,000426: 07,3311 03672 TC CAGETSTJ # DONT PROCEED IF IMU BEING CAGED.
056963,000427:
056964,000428: 07,3312 11311 CCS LGYRO # SEE IF GYROS BUSY.
056965,000429: 07,3313 03354 TC GYROBUSY # SLEEP.
056966,000430:
056967,000431: 07,3314 54156 TS MPAC +2
056968,000432: 07,3315 34737 CAF BIT6 # ENABLE THE POWER SUPPLY.
056969,000433: 07,3316 00006 EXTEND
056970,000434: 07,3317 05014 WOR CHAN14
056971,000435:
056972,000436: 07,3320 34742 CAF FOUR
056973,000437: 07,3321 05205 GWAKE2 TC WAITLIST # (IF A JOB WAS PUT TO SLEEP, THE POWER
056974,000438: 07,3322 E3,1474 EBANK= CDUIND # SUPPLY IS LEFT ON BY THE WAKING JOB).
056975,000439: 07,3322 03372 16103 2CADR STRTGYRO
056976,000440:
056977,000441:
056978,000442: 07,3324 30161 CA MPAC +5 # SET UP EBANK, SAVING CALLER'S EBANK FOR
056979,000443: 07,3325 56003 XCH EBANK # RESTORATION ON RETURN.
056980,000444: 07,3326 56161 XCH MPAC +5
056981,000445: 07,3327 55311 TS LGYRO # RESERVES GYROS.
056982,000446: 07,3330 74350 MASK LOW8
056983,000447: 07,3331 54061 TS ITEMP1
056984,000448:
056985,000449: 07,3332 34743 CAF TWO # FORCE SIGN AGREEMENT ON INPUTS.
056986,000450: 07,3333 54157 GYROAGRE TS MPAC +3
056987,000451: 07,3334 60000 DOUBLE
056988,000452: 07,3335 60061 AD ITEMP1
056989,000453: 07,3336 54160 TS MPAC +4
056990,000454: 07,3337 00006 EXTEND
056991,000455: 07,3340 50000 INDEX A
056992,000456: 07,3341 31401 DCA 1400
056993,000457: 07,3342 52155 DXCH MPAC
056994,000458: 07,3343 07300 TC TPAGREE
056995,000459: 07,3344 52155 DXCH MPAC
056996,000460: 07,3345 50160 INDEX MPAC +4
056997,000461: 07,3346 53401 DXCH 1400
056998,000462:
056999,000463: 07,3347 10157 CCS MPAC +3
057000,000464: 07,3350 13333 TCF GYROAGRE
057001,000465:
057002,000466: 07,3351 30161 CA MPAC +5 # RESTORE CALLER'S EBANK.
057003,000467: 07,3352 54003 TS EBANK
057004,000468: 07,3353 12742 TCF MODEEXIT
057005,000469:
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|
Page 1317 |
057007,000471: # ROUTINES TO ALLOW TORQUING BY ONLY ONE JOB AT A TIME.
057008,000472:
057009,000473: 07,3354 00006 GYROBUSY EXTEND # SAVE RETURN 2FCADR.
057010,000474: 07,3355 30134 DCA BUF2
057011,000475: 07,3356 52155 DXCH MPAC
057012,000476: 07,3357 33371 REGSLEEP CAF LGWAKE
057013,000477: 07,3360 15124 TCF JOBSLEEP
057014,000478:
057015,000479: 07,3361 11311 GWAKE CCS LGYRO # WHEN AWAKENED, SEE IF GYROS STILL BUSY.
057016,000480: 07,3362 13357 TCF REGSLEEP # IF SO, SLEEP SOME MORE.
057017,000481:
057018,000482: 07,3363 54156 TS MPAC +2
057019,000483: 07,3364 00006 EXTEND
057020,000484: 07,3365 30155 DCA MPAC
057021,000485: 07,3366 52134 DXCH BUF2 # RESTORE SWRETURN INFO.
057022,000486: 07,3367 34744 CAF ONE
057023,000487: 07,3370 13321 TCF GWAKE2
057024,000488:
057025,000489: 07,3371 17361 LGWAKE CADR GWAKE
057026,000490:
|
|
Page 1318 |
057028,000492: # GYRO-TORQUING WAITLIST TASKS.
057029,000493:
057030,000494: 07,3372 43630 STRTGYRO CS GDESELCT # DE-SELECT LAST GYRO.
057031,000495: 07,3373 00006 EXTEND
057032,000496: 07,3374 03014 WAND CHAN14
057033,000497:
057034,000498: 07,3375 03646 TC CAGETSTG
057035,000499:
057036,000500: 07,3376 31311 STRTGYR2 CA LGYRO # JUMP ON PHASE COUNTER IN BITS 13-14.
057037,000501: 07,3377 00006 EXTEND
057038,000502: 07,3400 74741 MP BIT4
057039,000503: 07,3401 50000 INDEX A
057040,000504: 07,3402 13403 TCF +1
057041,000505: 07,3403 03420 TC GSELECT # =0. DO Y GYRO.
057042,000506: 07,3404 00202 OCT 00202
057043,000507:
057044,000508: 07,3405 03420 TC GSELECT # =1. DO Z GYRO.
057045,000509: 07,3406 00302 OCT 00302
057046,000510:
057047,000511: 07,3407 03416 TC GSELECT -2 # =2. DO X GYRO.
057048,000512: 07,3410 00100 OCT 00100
057049,000513:
057050,000514: 07,3411 34746 CAF ZERO # =3. DONE
057051,000515: 07,3412 55311 TS LGYRO
057052,000516: 07,3413 33371 CAF LGWAKE # WAKE A POSSIBLE SLEEPING JOB.
057053,000517: 07,3414 05130 TC JOBWAKE
057054,000518:
057055,000519: 07,3415 13217 NORESET TCF IMUFINED # DO NOT RESET POWER SUPPLY
057056,000520:
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|
Page 1319 |
057058,000522: 07,3416 44742 -2 CS FOUR # SPECIAL ENTRY TO REGRESS LGYRO FOR X.
057059,000523: 07,3417 27311 ADS LGYRO
057060,000524:
057061,000525: 07,3420 50002 GSELECT INDEX Q # SELECT GYRO.
057062,000526: 07,3421 30000 CAF 0 # PACKED WORD CONTAINS GYRO SELECT BITS
057063,000527: 07,3422 54064 TS ITEMP4 # AND INCREMENT TO LGYRO.
057064,000528: 07,3423 74750 MASK SEVEN
057065,000529: 07,3424 64730 AD BIT13
057066,000530: 07,3425 27311 ADS LGYRO
057067,000531: 07,3426 54003 TS EBANK
057068,000532: 07,3427 74350 MASK LOW8
057069,000533: 07,3430 54061 TS ITEMP1
057070,000534:
057071,000535: 07,3431 44750 CS SEVEN
057072,000536: 07,3432 70064 MASK ITEMP4
057073,000537: 07,3433 54064 TS ITEMP4
057074,000538:
057075,000539: 07,3434 00006 EXTEND # MOVE DP COMMAND TO RUPTREGS FOR TESTING.
057076,000540: 07,3435 50061 INDEX ITEMP1
057077,000541: 07,3436 31401 DCA 1400
057078,000542: 07,3437 52071 DXCH RUPTREG1
057079,000543:
057080,000544: 07,3440 10070 CCS RUPTREG1
057081,000545: 07,3441 13454 TCF MAJ+
057082,000546: 07,3442 13444 TCF +2
057083,000547: 07,3443 13611 TCF MAJ-
057084,000548:
057085,000549: 07,3444 10071 CCS RUPTREG2
057086,000550: 07,3445 13451 TCF MIN+
057087,000551: 07,3446 13376 TCF STRTGYR2
057088,000552: 07,3447 13606 TCF MIN-
057089,000553: 07,3450 13376 TCF STRTGYR2
057090,000554:
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|
Page 1320 |
057092,000556: 07,3451 63505 MIN+ AD -GYROMIN # SMALL POSITIVE COMMAND. SEE IF AT LEAST
057093,000557: 07,3452 00006 EXTEND # 16 GYRO PULSES.
057094,000558: 07,3453 63376 BZMF STRTGYR2
057095,000559:
057096,000560: 07,3454 00006 MAJ+ EXTEND # DEFINITE POSITIVE OUTPUT.
057097,000561: 07,3455 33632 DCA GYROFRAC
057098,000562: 07,3456 20071 DAS RUPTREG1
057099,000563:
057100,000564: 07,3457 30064 CA ITEMP4 # SELECT POSITIVE TORQUING FOR THIS GYRO.
057101,000565: 07,3460 00006 EXTEND
057102,000566: 07,3461 05014 WOR CHAN14
057103,000567:
057104,000568: 07,3462 36115 CAF LOW7 # LEAVE NUMBER OF POSSIBLE 8192 AUGMENTS
057105,000569: 07,3463 70071 MASK RUPTREG2 # TO INITIAL COMMAND IN MAJOR PART OF LONG
057106,000570: 07,3464 56071 XCH RUPTREG2 # TERM STORAGE AND TRUNCATED FRACTION
057107,000571: 07,3465 00006 GMERGE EXTEND # IN MINOR PART. THE MAJOR PART WILL BE
057108,000572: 07,3466 74735 MP BIT8 # COUNTED DOWN TO ZERO IN THE COURSE OF
057109,000573: 07,3467 54062 TS ITEMP2 # PUTTING OUT THE ENTIRE COMMAND.
057110,000574: 07,3470 30070 CA RUPTREG1
057111,000575: 07,3471 00006 EXTEND
057112,000576: 07,3472 74734 MP BIT9
057113,000577: 07,3473 54070 TS RUPTREG1
057114,000578: 07,3474 30001 CA L
057115,000579: 07,3475 00006 EXTEND
057116,000580: 07,3476 74727 MP BIT14
057117,000581: 07,3477 26062 ADS ITEMP2 # INITIAL COMMAND.
057118,000582:
057119,000583: 07,3500 00006 EXTEND # SEE IF MORE THAN ONE PULSE TRAIN NEEDED
057120,000584: 07,3501 30071 DCA RUPTREG1 # (MORE THAN 16383 PULSES).
057121,000585: 07,3502 67770 AD MINUS1
057122,000586: 07,3503 10000 CCS A
057123,000587: 07,3504 13552 TCF LONGGYRO
057124,000588: 07,3505 77601 -GYROMIN OCT -176 # MAY BE ADJUSTED TO SPECIFY MINIMUM CMD
057125,000589: 07,3506 13512 TCF +4
057126,000590:
057127,000591: 07,3507 34727 CAF BIT14
057128,000592: 07,3510 26062 ADS ITEMP2
057129,000593: 07,3511 34746 CAF ZERO
057130,000594:
057131,000595: 07,3512 50061 +4 INDEX ITEMP1
057132,000596: 07,3513 53401 DXCH 1400
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|
Page 1321 |
057134,000598: 07,3514 30062 CA ITEMP2 # ENTIRE COMMAND.
057135,000599: 07,3515 54047 LASTSEG TS GYROCMD
057136,000600: 07,3516 03641 TC COARSTST
057137,000601:
057138,000602: 07,3517 30047 CA GYROCMD
057139,000603: 07,3520 00006 EXTEND
057140,000604: 07,3521 74733 MP BIT10 # WAITLIST DT
057141,000605: 07,3522 66266 AD THREE # TRUNCATION AND PHASE UNCERTAINTIES.
057142,000606: 07,3523 05205 TC WAITLIST
057143,000607: 07,3524 E3,1474 EBANK= CDUIND
057144,000608: 07,3524 03536 16103 2CADR TWOPULSE
057145,000609:
057146,000610: 07,3526 03532 EXITGYRO TC GYROEXIT
057147,000611: 07,3527 15263 TCF TASKOVER
057148,000612: 07,3530 34743 OUTPULSE CA BIT2
057149,000613: 07,3531 54047 TS GYROCMD
057150,000614: 07,3532 34733 GYROEXIT CAF BIT10
057151,000615: 07,3533 00006 EXTEND
057152,000616: 07,3534 05014 WOR CHAN14
057153,000617: 07,3535 00002 TC Q
057154,000618: 07,3536 44734 TWOPULSE CS BIT9
057155,000619: 07,3537 00006 EXTEND
057156,000620: 07,3540 03014 WAND CHAN14
057157,000621: 07,3541 03530 TC OUTPULSE
057158,000622: 07,3542 34744 CA BIT1
057159,000623: 07,3543 05175 TC TWIDDLE
057160,000624: 07,3544 03372 ADRES STRTGYRO
057161,000625: 07,3545 34734 CA BIT9
057162,000626: 07,3546 00006 EXTEND
057163,000627: 07,3547 05014 WOR CHAN14
057164,000628: 07,3550 03530 TC OUTPULSE
057165,000629: 07,3551 15263 TCF TASKOVER
057166,000630: 07,3552 50061 LONGGYRO INDEX ITEMP1
057167,000631: 07,3553 53401 DXCH 1400
057168,000632: 07,3554 34727 CAF BIT14 # 8192. INITIAL COMMAND IS AT LEAST 8192.
057169,000633: 07,3555 60062 AD ITEMP2
057170,000634: 07,3556 54047 TS GYROCMD
057171,000635:
057172,000636: 07,3557 00006 AUG3 EXTEND # GET WAITLIST DT TO TIME WHEN TRAIN IS
057173,000637: 07,3560 74733 MP BIT10 # ALMOST OUT.
057174,000638: 07,3561 67766 AD NEG3
057175,000639: 07,3562 05205 TC WAITLIST
057176,000640: 07,3563 E3,1474 EBANK= CDUIND
057177,000641: 07,3563 03566 16103 2CADR 8192AUG
057178,000642:
057179,000643: 07,3565 13526 TCF EXITGYRO
057180,000644: 07,3566 03641 8192AUG TC COARSTST
057181,000645:
057182,000646: 07,3567 31311 CA LGYRO # ADD 8192 PULSES TO GYROCMD
057183,000647: 07,3570 54003 TS EBANK
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|
Page 1322 |
057185,000649: 07,3571 74350 MASK LOW8
057186,000650: 07,3572 54061 TS ITEMP1
057187,000651:
057188,000652: 07,3573 50061 INDEX ITEMP1 # SEE IF THIS IS THE LAST AUG.
057189,000653: 07,3574 11400 CCS 1400
057190,000654: 07,3575 13601 TCF AUG2 # MORE TO COME.
057191,000655:
057192,000656: 07,3576 34727 CAF BIT14
057193,000657: 07,3577 26047 ADS GYROCMD
057194,000658: 07,3600 13516 TCF LASTSEG +1
057195,000659:
057196,000660: 07,3601 50061 AUG2 INDEX ITEMP1
057197,000661: 07,3602 55400 TS 1400
057198,000662: 07,3603 34727 CAF BIT14
057199,000663: 07,3604 26047 ADS GYROCMD
057200,000664: 07,3605 13557 TCF AUG3 # COMPUTE DT.
057201,000665:
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|
Page 1323 |
057203,000667: 07,3606 63505 MIN- AD -GYROMIN # POSSIBLE NEGATIVE OUTPUT.
057204,000668: 07,3607 00006 EXTEND
057205,000669: 07,3610 63376 BZMF STRTGYR2
057206,000670:
057207,000671: 07,3611 00006 MAJ- EXTEND # DEFINITE NEGATIVE OUTPUT.
057208,000672: 07,3612 43632 DCS GYROFRAC
057209,000673: 07,3613 20071 DAS RUPTREG1
057210,000674:
057211,000675: 07,3614 30064 CA ITEMP4 # SELECT NEGATIVE TORQUING FOR THIS GYRO.
057212,000676: 07,3615 64734 AD BIT9
057213,000677: 07,3616 00006 EXTEND
057214,000678: 07,3617 05014 WOR CHAN14
057215,000679:
057216,000680: 07,3620 40070 CS RUPTREG1 # SET UP RUPTREGS TO FALL INTO GMERGE.
057217,000681: 07,3621 54070 TS RUPTREG1 # ALL NUMBERS PUT INTO GYROCMD ARE
057218,000682: 07,3622 40071 CS RUPTREG2 # POSITIVE - BIT9 OF CHAN 14 DETERMINES
057219,000683: 07,3623 76115 MASK LOW7 # THE SIGN OF THE COMMAND.
057220,000684: 07,3624 40000 COM
057221,000685: 07,3625 56071 XCH RUPTREG2
057222,000686: 07,3626 40000 COM
057223,000687: 07,3627 13465 TCF GMERGE
057224,000688:
057225,000689: 07,3630 01700 GDESELCT OCT 1700 # TURN OFF SELECT AND ACTIVITY BITS.
057226,000690:
057227,000691: 07,3631 00000 00034 GYROFRAC 2DEC .215 B-21
057228,000692:
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|
Page 1324 |
057230,000694: # IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE.
057231,000695:
057232,000696: 07,3633 00006 ENDIMU EXTEND # MODE IS BAD IF CAGE HAS OCCURED OR IF
057233,000697: 07,3634 00011 READ DSALMOUT # ISS WARNING IS ON.
057234,000698: 07,3635 74744 MASK BIT1
057235,000699: 07,3636 10000 CCS A
057236,000700: 07,3637 13656 TCF IMUBAD
057237,000701:
057238,000702: 07,3640 13704 IMUGOOD TCF GOODEND # WITH C(A) = 0.
057239,000703:
057240,000704: 07,3641 34741 COARSTST CAF BIT4
057241,000705: 07,3642 00006 EXTEND
057242,000706: 07,3643 02012 RAND CHAN12
057243,000707: 07,3644 10000 CCS A
057244,000708: 07,3645 13652 TCF DONTPULS
057245,000709:
057246,000710: 07,3646 41277 CAGETSTG CS IMODES30
057247,000711: 07,3647 74737 MASK BIT6
057248,000712: 07,3650 10000 CCS A
057249,000713: 07,3651 00002 TC Q
057250,000714:
057251,000715: 07,3652 34746 DONTPULS CAF ZERO
057252,000716: 07,3653 55311 TS LGYRO
057253,000717:
057254,000718: 07,3654 33371 CAF LGWAKE
057255,000719: 07,3655 05130 TC JOBWAKE
057256,000720:
057257,000721: 07,3656 34746 IMUBAD CAF ZERO
057258,000722: 07,3657 13701 TCF BADEND
057259,000723:
057260,000724: 07,3660 34737 CAGETEST CAF BIT6 # SUBROUTINE TO TERMINATE IMU MODE
057261,000725: 07,3661 71277 MASK IMODES30 # SWITCH IF IMU HAS BEEN CAGED.
057262,000726: 07,3662 10000 CCS A
057263,000727: 07,3663 13656 TCF IMUBAD # DIRECTLY.
057264,000728: 07,3664 00002 TC Q # WITH C(A) = +0.
057265,000729:
057266,000730: 07,3665 41277 CAGETSTQ CS IMODES30 # SKIP IF IMU NOT BEING CAGED.
057267,000731: 07,3666 74737 MASK BIT6
057268,000732: 07,3667 10000 CCS A
057269,000733: 07,3670 24002 INCR Q
057270,000734: 07,3671 00002 TC Q
057271,000735:
057272,000736: 07,3672 41277 CAGETSTJ CS IMODES30 # IF DURING MODE SWITCH INITIALIZATION
057273,000737: 07,3673 74737 MASK BIT6 # IT IS FOUND THAT THE IMU IS BEING CAGED,
057274,000738: 07,3674 10000 CCS A # SET IMUCADR TO -0 TO INDICATE OPERATION
057275,000739: 07,3675 00002 TC Q # COMPLETE BUT FAILED. RETURN IMMEDIATELY
057276,000740:
057277,000741: 07,3676 44746 CS ZERO # TO SWRETURN.
057278,000742: 07,3677 55301 TS IMUCADR
057279,000743: 07,3700 12742 TCF MODEEXIT
057280,000744:
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|
Page 1325 |
057282,000746: # GENERALIZED MODE SWITCHING TERMINATION. ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION
057283,000747: # OR AT BADEND FOR A N UNSUCCESSFUL ONE. C(A) OR ARRIVAL =0 FOR IMU, 1 FOR OPTICS.
057284,000748:
057285,000749: 07,3701 54071 BADEND TS RUPTREG2 # DEVICE INDEX.
057286,000750: 07,3702 44746 CS ZERO # FOR FAILURE.
057287,000751: 07,3703 13706 TCF GOODEND +2
057288,000752:
057289,000753: 07,3704 54071 GOODEND TS RUPTREG2
057290,000754: 07,3705 44744 CS ONE # FOR SUCCESS.
057291,000755:
057292,000756: 07,3706 54072 TS RUPTREG3
057293,000757: 07,3707 50071 INDEX RUPTREG2 # SEE IF USING PROGRAM ASLEEP.
057294,000758: 07,3710 11301 CCS MODECADR
057295,000759: 07,3711 13715 TCF +4 # YES - WAKE IT UP.
057296,000760: 07,3712 13725 TCF ENDMODE # IF 0, PROGRAM NOT IN YET.
057297,000761:
057298,000762: 07,3713 00006 EXTEND
057299,000763: 07,3714 13726 BZF ENDMODE +1 # BZF = TCF IF MODECADR = -0.
057300,000764:
057301,000765: 07,3715 34746 CAF ZERO # WAKE SLEEPING PROGRAM.
057302,000766: 07,3716 50071 INDEX RUPTREG2
057303,000767: 07,3717 57301 XCH MODECADR
057304,000768: 07,3720 05130 TC JOBWAKE
057305,000769:
057306,000770: 07,3721 40072 CS RUPTREG3 # ADVANCE LOC IF SUCCESSFUL.
057307,000771: 07,3722 50064 INDEX LOCCTR
057308,000772: 07,3723 26164 ADS LOC
057309,000773:
057310,000774: 07,3724 15263 TCF TASKOVER
057311,000775:
057312,000776: 07,3725 30072 ENDMODE CA RUPTREG3 # -0 INDICATES OPERATION COMPLETE BUT
057313,000777: 07,3726 50071 +1 INDEX RUPTREG2 # UNSUCCESSFUL: -1 INDICATES COMPLETE AND
057314,000778: 07,3727 55301 TS MODECADR # SUCCESSFUL.
057315,000779: 07,3730 15263 TCF TASKOVER
057316,000780:
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|
Page 1326 |
057318,000782: # GENERAL STALLING ROUTINE. USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION.
057319,000783:
057320,000784: # PROGRAM DESCRIPTION DATE- 21 FEB 1967
057321,000785: # LOG SECTION IMU MODE SWITCHING
057322,000786: # MOD BY- R.MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 82
057323,000787:
057324,000788: # FUNCTIONAL DESCRIPTION-
057325,000789: # TO DELAY FURTHER EXECUTION OF THE CALLING ROUTINE UNTIL ITS SELECTED
057326,000790: # I/O FUNCTION IS COMPLETE.THE FOLLOWING CHECKS ON THE CALLING ROUTINE:S
057327,000791: # MODECADR ARE MADE AND ACTED UPON.
057328,000792: # 1) +0 INDICATES INCOMPLETE I/O OPERATION.CALLING ROUTINE IS PUT TO
057329,000793: # SLEEP.
057330,000794: # 2) -1 INDICATES COMPLETED I/O OPERATION. STALL BYPASSES JOBSLEEP
057331,000795: # CALL AND RETURNS TO CALLING ROUTINE AT L+3
057332,000796: # 3) -0 INDICATES COMPLETED I/O WITH FAILURE. STALL CLEARS MODECADR
057333,000797: # AND RETURNS TO CALLING ROUTINE AT L+2.
057334,000798: # 4) VALUE GREATER THAN 0 INDICATES TWO ROUTINES CALLING FOR USE OF
057335,000799: # SAME DEVICE. STALL EXITS TO ABORT WHICH EXECUTES A PROGRAM
057336,000800: # RESTART WHICH IN TURN CLEARS ALL MODECADR REGISTERS.
057337,000801:
057338,000802: # CALLING SEQUENCE-
057339,000803: # L TC BANKCALL
057340,000804: # L+1 CADR (ONE OF 5 STALL ADDRESSES I.E. IMUSTALL,OPTSTALL,RADSTALL,
057341,000805: # AOTSTALL,OR ATTSTALL)
057342,000806:
057343,000807: # NORMAL-EXIT MODE-
057344,000808: # TCF JOBSLEEP OR TCF MODEXIT
057345,000809:
057346,000810: # ALARM OR ABORT EXIT MODE-
057347,000811: # TC ABORT
057348,000812:
057349,000813: # OUTPUT-
057350,000814: # MODECADR= CADR IF JOBSLEEP
057351,000815: # MODECADR=+0 IF I/O COMPLETE
057352,000816: # BUF2=L+3 IF I/O COMPLETE AND GOOD.
057353,000817: # BUF2=L+2 IF I/O COMPLETE BUT FAILED.
057354,000818:
057355,000819: # ERASABLE INITIALIZATION-
057356,000820: # BUF2 CONTAINS RETURN ADDRESS PLUS 1,(L+2)
057357,000821: # BUF2+1 CONTAINS FBANK VALUE OF CALLING ROUTINE.
057358,000822: # MODECADR OF CALLING ROUTINE CONTAINS +0,-1,-0 OR CADR RETURN ADDRESS.
057359,000823:
057360,000824: # DEBRIS-
057361,000825: # RUPTREG2 AND CALLING ROUTINE MODECADR.
057362,000826:
057363,000827: 07,3731 34744 AOTSTALL CAF ONE # AOT.
057364,000828: 07,3732 03736 TC STALL
057365,000829:
057366,000830: 07,3733 34743 RADSTALL CAF TWO
057367,000831: 07,3734 13736 TCF STALL
057368,000832:
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Page 1327 |
057370,000834: 07,3735 07,3731 OPTSTALL EQUALS AOTSTALL
057371,000835:
057372,000836: 07,3735 34746 IMUSTALL CAF ZERO # IMU.
057373,000837:
057374,000838: 07,3736 00004 STALL INHINT
057375,000839: 07,3737 54071 TS RUPTREG2 # SAVE DEVICE INDEX.
057376,000840: 07,3740 50000 INDEX A # SEE IF OPERATION COMPLETE.
057377,000841: 07,3741 11301 CCS MODECADR
057378,000842: 07,3742 13760 TCF MODABORT # ALLOWABLE STATES ARE +0, -1, AND -0.
057379,000843: 07,3743 13754 TCF MODESLP # OPERATION INCOMPLETE.
057380,000844: 07,3744 13750 TCF MODEGOOD # COMPLETE AND GOOD IF = -1.
057381,000845:
057382,000846: 07,3745 50071 MG2 INDEX RUPTREG2 # COMPLETE AND FAILED IF -0. RESET TO +0.
057383,000847: 07,3746 55301 TS MODECADR # RETURN TO CALLER.
057384,000848: 07,3747 12742 TCF MODEEXIT
057385,000849:
057386,000850: 07,3750 10000 MODEGOOD CCS A # MAKE SURE INITIAL STATE -1.
057387,000851: 07,3751 13760 TCF MODABORT
057388,000852:
057389,000853: 07,3752 24133 INCR BUF2 # IF SO, INCREMENT RETURN ADDRESS AND
057390,000854: 07,3753 13745 TCF MG2 # RETURN IMMEDIATELY, SETTING CADR = +0.
057391,000855:
057392,000856: 07,3754 04636 MODESLP TC MAKECADR # CALL FROM SWITCHABLE FIXED ONLY.
057393,000857: 07,3755 50071 INDEX RUPTREG2
057394,000858: 07,3756 55301 TS MODECADR
057395,000859: 07,3757 15124 TCF JOBSLEEP
057396,000860:
057397,000861: 07,3760 52134 MODABORT DXCH BUF2
057398,000862: 07,3761 05712 TC BAILOUT1 # TWO PROGRAMS USING THE SAME DEVICE.
057399,000863: 07,3762 31210 OCT 31210
057400,000864:
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Page 1328 |
057402,000866: # CONSTANTS FOR MODE SWITCHING ROUTINES
057403,000867:
057404,000868: 07,3763 5745 BITS3&4 = OCT14
057405,000869: 07,3763 4762 BITS4&6 = OCT50
057406,000870: 07,3763 00030 BITS4-5 OCT 00030
057407,000871: 07,3764 4735 IMUSEFLG EQUALS BIT8 # INTERPRETER SWITCH 7.
057408,000872: 07,3764 77500 -COMMAX DEC -191 B-14
057409,000873: 07,3765 77477 -COMMAX- DEC -192 B-14
057410,000874: 07,3766 00074 600MS DEC 60 B-14
057411,000875: 07,3767 07,3175 IMUFIN20 = IMUFINE
057412,000876: 21,2000 SETLOC MANUR
057413,000877: 21,2000 BANK
057414,000878:
057415,000879: 21,2764 31304 GOMANUR CA ATTCADR # IS KALCMANU FREE
057416,000880: 21,2765 00006 EXTEND
057417,000881: 21,2766 12771 BZF OKMANUR
057418,000882: 21,2767 04626 TC POSTJUMP
057419,000883: 21,2770 17760 CADR MODABORT
057420,000884: 21,2771 00006 OKMANUR EXTEND
057421,000885: 21,2772 30134 DCA BUF2
057422,000886: 21,2773 53305 DXCH ATTCADR # SAVE FINAL RETURN FOR KALCMAN3
057423,000887:
057424,000888: 21,2774 30006 CA BBANK
057425,000889: 21,2775 74750 MASK SEVEN
057426,000890: 21,2776 27305 ADS ATTCADR +1
057427,000891:
057428,000892: 21,2777 30167 CA PRIORITY
057429,000893: 21,3000 77746 MASK PRIO37
057430,000894: 21,3001 55306 TS ATTPRIO # SAVE USERS PRIO
057431,000895:
057432,000896: 21,3002 33006 CAF KALEBCON # SET EBANK FOR KALCMAN3
057433,000897: 21,3003 54003 TS EBANK
057434,000898: 21,3004 04626 TC POSTJUMP
057435,000899: 21,3005 44004 CADR KALCMAN3
057436,000900: 21,3006 03275 KALEBCON ECADR BCDU
057437,000901:
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Page 1329 |
057439,000903: # PROGRAM DESCRIPTION
057440,000904: # IMU STATUS CHECK ROUTINE R02 (SUBROUTINE UTILITY)
057441,000905: # MOD NO - 1
057442,000906: # MOD BY - N.BRODEUR
057443,000907: # FUNCTIONAL DESCRIPTION
057444,000908:
057445,000909: # TO CHECK WHETHER IMU IS ON AND IF ON WHETHER IT IS ALIGNED TO AN
057446,000910: # ORIENTATION KNOWN BY THE CMC. TO REQUEST SELECTION OF THE APPROPRIATE
057447,000911: # PROGRAM IF THE IMU IS OFF OR NOT ALIGNED TO AN ORIENTATION KNOWN BY THE
057448,000912: # CMC. CALLED THROUGH BANKCALL
057449,000913: # CALLING SEQUENCE-
057450,000914:
057451,000915: # L TC BANKCALL
057452,000916: # L+1 CADR R02BOTH
057453,000917: # SUBROUTINES CALLED
057454,000918:
057455,000919: # VARALARM
057456,000920: # FLAGUP
057457,000921: # NORMAL EXIT MODES
057458,000922:
057459,000923: # AT L+2 OF CALLING SEQUENCE
057460,000924: # ALARM OR ABORT EXIT MODES
057461,000925: # GOTOPOOH, WITH ALARM
057462,000926: # ERASABLE INITIALIZATION REQUIRED
057463,000927:
057464,000928: # NONE
057465,000929: # DEBRIS
057466,000930:
057467,000931: # CENTRALS-A,Q,L
057468,000932: 04,2000 SETLOC R02
057469,000933: 04,2000 BANK
057470,000934: 04,3256 COUNT* $$/R02
057471,000935: 04,3256 00063 DEC51 DEC 51 B-14
057472,000936:
057473,000937:
057474,000938: 15,2000 SETLOC R02BNK15
057475,000939: 15,2000 BANK
057476,000940:
057477,000941: 15,3757 34730 R02BOTH CAF REFSMBIT
057478,000942: 15,3760 70077 MASK FLAGWRD3
057479,000943: 15,3761 10000 CCS A
057480,000944: 15,3762 03773 TC R02ZERO # ZERO IMUS
057481,000945:
057482,000946: 15,3763 31277 CA IMODES30
057483,000947: 15,3764 74734 MASK BIT9 # IS ISS INITIALIZED
057484,000948: 15,3765 00006 EXTEND
057485,000949: 15,3766 13770 BZF +2
057486,000950: 15,3767 44741 CS BIT4 # SEND IMU ALARM CODE 210
057487,000951: 15,3770 63776 AD OCT220 # SEND REFSMM ALARM
057488,000952: 15,3771 05740 TC VARALARM
057489,000953:
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Page 1330 |
057491,000955: 15,3772 06001 TC GOTOPOOH
057492,000956:
057493,000957: 15,3773 05506 R02ZERO TC UPFLAG
057494,000958: 15,3774 00007 ADRES IMUSE
057495,000959: 15,3775 14622 TCF SWRETURN
057496,000960: 15,3776 00220 OCT220 OCT 220
057497,000961:
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Page 1331 |
057499,000963: # PROGRAM DESCRIPTION P06 10FEB67
057500,000964:
057501,000965: # TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION.
057502,000966:
057503,000967: # THE NORMAL CONDITION OF READINESS OF THE GNCS WHEN NOT IN USE IS STANDBY. IN THIS CONDITION THE IMU
057504,000968: # HEATER POWER IS ON. THE IMU OPERATE POWER IS OFF. THE COMPUTER POWER IS ON. THE OPTICS POWER IS OFF. THE
057505,000969: # CMC STANDBY ON THE MAIN AND LEB DISKYS IS ON.
057506,000970:
057507,000971: # CALLING SEQUENCE:
057508,000972: # ASTRONAUT REQUEST THROUGH DSKY V37E 06E.
057509,000973:
057510,000974: # SUBROUTINES CALLED:
057511,000975: # GOPERF1
057512,000976: # BANKCALL
057513,000977: # FLAGDOWN
057514,000978:
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Page 1332 |
057516,000980: # PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2
057517,000981: # THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATABILITY
057518,000982: # BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING.
057519,000983:
057520,000984: 37,2000 SETLOC P05P06
057521,000985: 37,2000 BANK
057522,000986:
057523,000987: 37,3654 0314 EBANK= TIME2SAV
057524,000988: 37,3654 COUNT* $$/P06
057525,000989:
057526,000990: 37,3654 05506 P06 TC UPFLAG # SET NODOV37 BIT
057527,000991: 37,3655 00054 ADRES NODOFLAG
057528,000992:
057529,000993: 37,3656 00004 PRESTAND INHINT
057530,000994: 37,3657 00006 EXTEND
057531,000995: 37,3660 30025 DCA TIME2 # SNAPSHOT TIME1TIME2
057532,000996: 37,3661 52315 DXCH TIME2SAV
057533,000997: 37,3662 03713 TC SCALPREP
057534,000998: 37,3663 03656 TC PRESTAND # T1,T2,SCALER NOT COMPATIBLE
057535,000999: 37,3664 52155 DXCH MPAC # T1,T2 AND SCALER OK
057536,001000: 37,3665 52317 DXCH SCALSAVE # STORE SCALER
057537,001001: 37,3666 00004 INHINT
057538,001002: 37,3667 04607 TC BANKCALL
057539,001003: 37,3670 17162 CADR RNDREFDR # REFSMM, DRIFT, TRACK FLAGS DOWN
057540,001004:
057541,001005: 37,3671 05520 TC DOWNFLAG
057542,001006: 37,3672 00007 ADRES IMUSE # IMUSE DOWN
057543,001007: 37,3673 05520 TC DOWNFLAG
057544,001008: 37,3674 00010 ADRES RNDVZFLG # RNDVZFLG DOWN
057545,001009:
057546,001010: 37,3675 34732 CAF BIT11
057547,001011: 37,3676 00006 EXTEND
057548,001012: 37,3677 05013 WOR CHAN13 # SET STANDBY ENABLE BIT
057549,001013:
057550,001014: 37,3700 05355 TC PHASCHNG # SET RESTART TO POSTAND WHEN STANDBY
057551,001015: 37,3701 07024 OCT 07024 # RECOVERS
057552,001016: 37,3702 20000 OCT 20000
057553,001017: 37,3703 0316 EBANK= SCALSAVE
057554,001018: 37,3703 03733 76060 2CADR POSTAND
057555,001019:
057556,001020: 37,3705 34765 CAF OCT62
057557,001021: 37,3706 04607 TC BANKCALL
057558,001022: 37,3707 20635 CADR GOPERF1
057559,001023: 37,3710 13705 TCF -3
057560,001024: 37,3711 13705 TCF -4
057561,001025: 37,3712 13705 TCF -5
057562,001026:
057563,001027: 37,3713 4765 OCT62 EQUALS .5SEC # DEC 50 = OCT 62
057564,001028:
057565,001029: # THE LOW 5 BITS OF THE SCALER READS 10000 FOR THE FIRST INTERVAL AFTER A
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Page 1333 |
057567,001031: # T1 INCREMENT. IF SCALPREP DETECTS THIS INTERVAL THE T1,T2 AND SCALER
057568,001032: # DATA ARE NOT COMPATABLE AND RETURN IS TO L+1 FOR ANOTHER READING OF THE
057569,001033: # DATA. OTHERWISE, THE RETURN IS TO L+2 TO PROCEED. ROUTINE ALSO PREPARES
057570,001034: # THE SCALER READING FOR COMPUTATION OF THE INCREMENT TO UPDATE T1T2. (THE
057571,001035: # 10 MS BIT (BIT 6) OF THE SCALER IS INCREMENTED 5 MS OUT OF PHASE FROM
057572,001036: # T1.) ADDITION OF 5 MS (BIT 5) TO THE SCALER READING HAS THE EFFECT OF
057573,001037: # ADJUSTING BIT 6 IN THE SCALER TO BE IN PHASE WITH BIT 1 OF T1. THE LOW 5
057574,001038: # BITS OF THE SCALER READING ARE THEN SET TO ZERO, TO TRUNCATE THE SCALER
057575,001039: # DATA TO 10 MS. RESULTS ARE STORED IN MPAC, +1.
057576,001040:
057577,001041: 37,3713 00006 SCALPREP EXTEND
057578,001042: 37,3714 22156 QXCH MPAC +2
057579,001043: 37,3715 04103 TC FINETIME +1
057580,001044: 37,3716 00003 RELINT
057581,001045: 37,3717 52155 DXCH MPAC
057582,001046: 37,3720 34740 CA BIT5 # ADD 5 MS TO THE SCALER READING.
057583,001047: 37,3721 54001 TS L
057584,001048: 37,3722 34746 CA ZERO
057585,001049: 37,3723 20155 DAS MPAC
057586,001050: 37,3724 44337 CS LOW5 # SET LOW 5 BITS OF (SCALER+5MS) TO ZERO
057587,001051: 37,3725 70155 MASK MPAC +1 # AND STORE RESULTS IN MPAC,+1.
057588,001052: 37,3726 56155 XCH MPAC +1
057589,001053: 37,3727 74337 MASK LOW5 # TEST LOW 5 BITS OF SCALER FOR THE FIRST
057590,001054: # INTERVAL AFTER THE T1 INCREMENT
057591,001055: # (NOW = 00000, SINCE BIT 5 ADDED).
057592,001056: 37,3730 10000 CCS A # IS IT 1ST INTERVAL AFTER T1 INCREMENT
057593,001057: 37,3731 24156 INCR MPAC +2 # NO
057594,001058: 37,3732 00156 TC MPAC +2 # YES
057595,001059:
057596,001060: # POSTAND RECOVERS TIME AFTER STANDBY.THE SCALER IS SNAPSHOTTED AND THE
057597,001061: # TIME1 TIME2 COUNTER IS SET TO ZERO. THE LOW 5 BITS OF THE SCALER ARE
057598,001062: # INSPECTED TO INSURE COMPATABILITY BETWEEN THE SCALER READING AND THE
057599,001063: # CLEARING OF THE TIME COUNTER. IT THEN COMPUTES THE DIFFERENCE IN SCALER
057600,001064: # VALUES (IN DP) AND ADDS THIS TO THE PREVIOUSLY SNAPSHOTTED VALUES OF
057601,001065: # TIME1 TIME2 AND PLACES THIS NEW TIME INTO THE TIME1 TIME2 COUNTER.
057602,001066:
057603,001067: 37,3733 COUNT* $$/P05
057604,001068:
057605,001069: 37,3733 44732 POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY.
057606,001070: 37,3734 00006 EXTEND
057607,001071: 37,3735 03013 WAND CHAN13 # CLEAR STANDBY ENABLE BIT
057608,001072: 37,3736 00004 INHINT
057609,001073: 37,3737 34746 CA ZERO
057610,001074: 37,3740 54001 TS L
057611,001075: 37,3741 52025 DXCH TIME2 # CLEAR TIME1TIME2
057612,001076: 37,3742 03713 TC SCALPREP # STORE SCALER IN MPAC, MPAC+1
057613,001077: 37,3743 03736 TC POSTAND +3 # T1,T2,SCALER NOT COMPATIBLE
057614,001078: 37,3744 00006 EXTEND # T1,T2 AND SCALER OK
057615,001079: 37,3745 40317 DCS SCALSAVE
057616,001080: 37,3746 20155 DAS MPAC # FORM DP DIFFERENCE OF POSTSTANDBY SCALER
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Page 1334 |
057618,001082: 37,3747 34733 CAF BIT10 # MINUS PRESTANDBY SCALER AND SHIFT RIGHT
057619,001083: 37,3750 07330 TC SHORTMP # 5 TO ALIGN BITS WITH TIME1TIME2.
057620,001084: 37,3751 34746 CAF ZERO
057621,001085: 37,3752 54156 TS MPAC +2 # NEEDED FOR TP AGREE
057622,001086: 37,3753 07300 TC TPAGREE # MAKE DP DIFF AGREE
057623,001087: 37,3754 10154 CCS MPAC
057624,001088: 37,3755 03762 TC POSTCOM # IF DP DIFF NET +, NO SCALER OVERFLOW
057625,001089: 37,3756 03762 TC POSTCOM # BETWEEN PRE AND POST STANDBY.
057626,001090: 37,3757 03760 TC +1 # IF DP DIFF NET -, SCALER OVERFLOWED. ADD
057627,001091: 37,3760 34733 CAF BIT10 # BIT 10 TO HIGH DIFF TO CORRECT.
057628,001092: 37,3761 26154 ADS MPAC
057629,001093: 37,3762 00006 POSTCOM EXTEND # C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER.
057630,001094: 37,3763 30315 DCA TIME2SAV # PRESTANDBY TIME1TIME2
057631,001095: 37,3764 20155 DAS MPAC
057632,001096: 37,3765 07300 TC TPAGREE # FORCE SIGN AGREEMENT
057633,001097: 37,3766 52155 DXCH MPAC # UPDATED VALUE FOR T1,T2.
057634,001098: 37,3767 20025 DAS TIME2 # LOAD UPDATED VALUE INTO T1,T2, WITH
057635,001099: 37,3770 05520 TC DOWNFLAG # CLEAR NODOFLAG
057636,001100: 37,3771 00054 ADRES NODOFLAG
057637,001101:
057638,001102: 37,3772 06001 TC GOTOPOOH
057639,001103:
End of include-file IMU_MODE_SWITCHING_ROUTINES.agc. Parent file is MAIN.agc