Assembly listing generated by yaYUL

Source Code

These source-code files are part of a reconstructed copy of Skylark 048, the Block II Command Module (CM) Apollo Guidance Computer (AGC) software for the Skylab-2, Skylab-3, Skylab-4, and Apollo-Soyuz Test Project missions.

They have been created via disassembly of binary dumps of the original core rope memory modules actually flown on Skylab-2, part numbers 2010802-541, 2010802-551, 2010802-561, 2010802-571, 2010802-581, and 2010802-591. Access to these modules was provided by the New Mexico Museum of Space History, who we are much indebted to.

The source code for the Apollo 15, 16, and 17 software, Artemis 072, was used as a starting point. Heavy use was made of TRW 4900.5-244, Programmed Guidance Equations for Skylark Command Module Earth Orbital Program, dated 14 February 1972. This document contains pseudocode of essentially all of Skylark, using original program labels which have been copied for this source reconstruction.

Since only binary dumps (rather than listings) of Skylark are available as source material, all comments and labels are approximate. They have been taken from the Programmed Guidance Equations or other AGC programs where possible, or, in some places, written from scratch to match what we believe would have been in the original listing.

056922,000002: 056923,000003: 056924,000004: 056925,000005: 056926,000006: 056927,000007: 056928,000008: 056929,000009: 056930,000010: 056931,000011: 056932,000012: 056933,000013: 056934,000014: 056935,000015: 056936,000016: 4000 056937,000017: 4000 056938,000018: 056939,000019: 5524 E3,1471 056940,000020: 056941,000021: 056942,000022: 056943,000023: 5524 < 057054,000134: 07,2666 057055,000135: 07,2667 057056,000136: 07,2670 057057,000137: 057058,000138: 07,2671 < 057379,000459: 07,3246 057380,000460: 057381,000461: 07,3247 057382,000462: 07,3250 057383,000463: 07,3251 057384,000464: 07,3252 057385,000465: 07,3253 057386,000466: 057705,000785: 057706,000786: 07,3602 < 057813,000893: 057814,000894: 26,3321 057815,000895: < 057853,000933: 057854,000934: 057855,000935: 057856,000936: 057857,000937: 057858,000938: 057859,000939: 057860,000940: 057861,000941: 057862,000942: 057863,000943: 057864,000944: ## Copyright: Public domain. ## Filename: IMU_MODE_SWITCHING_ROUTINES.agc ## Purpose: A section of Skylark revision 048. ## It is part of the source code for the Apollo Guidance Computer (AGC) ## for Skylab-2, Skylab-3, Skylab-4, and ASTP. No original listings of ## this software are available; instead, this file was created via ## disassembly of dumps of the core rope modules actually flown on ## Skylab-2. Access to these modules was provided by the New Mexico ## Museum of Space History. ## Assembler: yaYUL ## Contact: Ron Burkey <info@sandroid.org>. ## Website: www.ibiblio.org/apollo/index.html ## Mod history: 2023-09-04 MAS Created from Artemis 072. SETLOC FFTAG3 BANK EBANK= COMMAND # FIXED-FIXED ROUTINES. COUNT* $$/IMODE 455">056944,000024: 5524 35003 ZEROICDU CAF ZERO # ZERO ICDU COUNTERS. 54032 TS CDUX 54033 TS CDUY 54034 TS CDUZ 00002 TC Q 5">056950,000030: 5531 4771 SPSCODE = BIT9 # IMU ZEROING ROUTINE. SETLOC MODESW BANK COUNT* $$/IMODE F">056958,000038: 07,2560 00004 IMUZERO INHINT # ROUTINE TO ZERO ICDUS. 41231 CS DSPTAB +11D # DONT ZERO CDUS IF IMU IN GIMBAL LOCK AND 75016 MASK BITS4&6 # COARSE ALIGN (GIMBAL RUNAWAY PROTECTION) 10000 CCS A 12570 TCF IMUZEROA 05644 TC ALARM # IF SO. 00206 OCT 00206 13553 TCF CAGETSTJ +4 # IMMEDIATE FAILURE. F41">056969,000049: 07,2570 03547 IMUZEROA TC CAGETSTJ # DO ALL THE WORK. 41324 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES 74774 MASK NOIMUDAP 27324 ADS IMODES33 40000 COM 74775 MASK IMUZROBT 27324 ADS IMODES33 41323 CS IMODES30 # INHIBIT ICDUFAIL AND IMUFAIL (IN CASE WE 74776 MASK IMUFINHT 27323 ADS IMODES30 40000 COM 74777 MASK ICDUINHT 27323 ADS IMODES30 45016 CS BITS4&6 # SEND ZERO ENCODE WITH COARSE AND ERROR 00006 EXTEND # COUNTER DISABLED. 03012 WAND CHAN12 03140 TC NOATTOFF # TURN OFF NO ATT LAMP. 34775 CAF BIT5 00006 EXTEND 05012 WOR CHAN12 05524 TC ZEROICDU 34774 CAF BIT6 # WAIT 320 MS TO GIVE AGS ADEQUATE TIME TO 05236 TC TWIDDLE # RECEIVE ITS PULSE TRAIN. EBANK= CDUIND 02630 ADRES IMUZERO2 41323 CS IMODES30 # SEE IF IMU OPERATING AND ALARM IF NOT. 74771 MASK IMUOPBIT 10000 CCS A 12626 TCF MODEEXIT 05644 TC ALARM 00210 OCT 210 954">057008,000088: 07,2626 00003 MODEEXIT RELINT # GENERAL MODE-SWITCHING EXIT. 14662 TCF SWRETURN F32">057012,000092: 07,2630 03537 IMUZERO2 TC CAGETEST 05524 TC ZEROICDU # ZERO CDUX, CDUY, CDUZ 44775 CS BIT5 # REMOVE ZERO DISCRETE. 00006 EXTEND 03012 WAND CHAN12 35040 CAF 7.9SEC # WAIT 7.9 SECS FOR CTRS TO FIND GIMBALS 05273 TC VARDELAY F33">057022,000102: 07,2637 03537 IMUZERO3 TC CAGETEST 34776 CA IMUFINHT 64777 AD ICDUINHT 40000 COM 71323 MASK IMODES30 55323 TS IMODES30 34774 CA NOIMUDAP 64775 AD IMUZROBT 40000 COM 71324 MASK IMODES33 # BIT5 FOR GROUND 55324 TS IMODES33 04725 TC IBNKCALL # SET ISS WARNING IF EITHER OF ABOVE ARE 14706 CADR SETISSW # PRESENT. 13514 TCF ENDIMU # IMU COARSE ALIGN MODE. 253">057042,000122: 07,2655 00004 IMUCOARS INHINT 03547 TC CAGETSTJ 03021 TC SETCOARS 36211 CAF SIX 05246 TC WAITLIST EBANK= CDUIND 02665 16063 2CADR COARS 12626 TCF MODEEXIT /a>057053,000133: 07,2665 03537 COARS TC CAGETEST 34774 CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS 00006 EXTEND 05012 WOR CHAN12 35000 CAF TWO # SET CDU INDICATOR >057059,000139: 07,2672 55474 COARS1 TS CDUIND 51474 INDEX CDUIND # COMPUTE THETAD - THETAA IN 1:S 31277 CA THETAD # COMPLEMENT FORM 00006 EXTEND 51474 INDEX CDUIND 20032 MSU CDUX 00006 EXTEND 74765 MP BIT13 # SHIFT RIGHT 2 56001 XCH L # ROUND 60000 DOUBLE 54061 TS ITEMP1 12707 TCF +2 26001 ADS L 51474 INDEX CDUIND # DIFFERENCE TO BE COMPUTED 23471 LXCH COMMAND 11474 CCS CDUIND 02672 TC COARS1 35000 CAF TWO # MINIMUM OF 4 MS WAIT 05273 -1 TC VARDELAY >057081,000161: 07,2715 03537 COARS2 TC CAGETEST # DONT CONTINUE IF CAGED. 54061 TS ITEMP1 # SETS TO +0. 35000 CAF TWO # SET CDU INDICATOR 55474 +3 TS CDUIND 51474 INDEX CDUIND 11471 CCS COMMAND # NUMBER OF PULSES REQUIRED 02727 TC COMPOS # GREATER THAN MAX ALLOWED 02736 TC NEXTCDU +1 02774 TC COMNEG 02736 TC NEXTCDU +1 >057093,000173: 07,2727 63614 COMPOS AD -COMMAX # COMMAX = MAX NUMBER OF PULSES ALLOWED 00006 EXTEND # MINUS ONE 63004 BZMF COMZERO 51474 INDEX CDUIND 55471 TS COMMAND # REDUCE COMMAND BY MAX NUMBER OF PULSES 43615 CS -COMMAX- # ALLOWED 5">057100,000180: 07,2735 24061 NEXTCDU INCR ITEMP1 65002 +1 AD NEG0 51474 INDEX CDUIND 54050 TS CDUXCMD # SET UP COMMAND REGISTER. 11474 CCS CDUIND 02720 TC COARS2 +3 10061 CCS ITEMP1 # SEE IF ANY PULSES TO GO OUT. 13010 TCF SENDPULS 05270 TC FIXDELAY # WAIT FOR GIMBALS TO SETTLE. 00226 DEC 150 B-14 35000 CAF TWO # AT END OF COMMAND, CHECK TO SEE THAT 3">057115,000195: 07,2750 54061 CHKCORS TS ITEMP1 # GIMBALS ARE WITHIN 2 DEGREES OF THETAD. 50000 INDEX A 30032 CA CDUX 00006 EXTEND 50061 INDEX ITEMP1 21277 MSU THETAD 10000 CCS A 12765 TCF COARSERR 12762 TCF CORSCHK2 12765 TCF COARSERR B32">057127,000207: 07,2762 10061 CORSCHK2 CCS ITEMP1 12750 TCF CHKCORS 13514 TCF ENDIMU # END OF COARSE ALIGNMENT. 252">057131,000211: 07,2765 62773 COARSERR AD COARSTOL # 2 DEGREES. 00006 EXTEND 62762 BZMF CORSCHK2 05644 TC ALARM # COARSE ALIGN ERROR. 00211 OCT 211 13556 TCF IMUBAD F4C">057141,000221: 07,2773 77511 COARSTOL DEC -.01111 # 2 DEGREES SCALED AT HALF-REVOLUTIONS >057144,000224: 07,2774 63614 COMNEG AD -COMMAX 00006 EXTEND 63004 BZMF COMZERO 40000 COM 51474 INDEX CDUIND 55471 TS COMMAND 33615 CA -COMMAX- 02735 TC NEXTCDU F">057153,000233: 07,3004 35003 COMZERO CAF ZERO 51474 INDEX CDUIND 57471 XCH COMMAND 02735 TC NEXTCDU C53">057159,000239: 07,3010 37673 SENDPULS CAF 13,14,15 00006 EXTEND 05014 WOR CHAN14 33616 CAF 600MS 12714 TCF COARS2 -1 # THEN TO VARDELAY >057165,000245: 07,3015 34774 CA+ECE CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS 00006 EXTEND 05012 WOR CHAN12 05327 TC TASKOVER 253">057170,000250: 07,3021 34776 SETCOARS CAF BIT4 # BYPASS IF ALREADY IN COARSE ALIGN 00006 EXTEND 02012 RAND CHAN12 10000 CCS A 00002 TC Q 44774 CS BIT6 # CLEAR ISS ERROR COUNTERS 00006 EXTEND 03012 WAND CHAN12 44770 CS BIT10 # KNOCK DOWN GYRO ACTIVITY 00006 EXTEND 03014 WAND CHAN14 45003 CS ZERO 54047 TS GYROCMD 34776 CAF BIT4 # PUT ISS IN COARSE ALIGN 00006 EXTEND 05012 WOR CHAN12 41231 CS DSPTAB +11D # TURN ON NO ATT LAMP 77664 MASK OCT40010 27231 ADS DSPTAB +11D 41324 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES 74774 MASK NOIMUDAP 27324 ADS IMODES33 41323 CS IMODES30 # DISABLE IMUFAIL 74776 MASK IMUFINHT 27323 ADS IMODES30 452">057202,000282: 07,3052 44775 RNDREFDR CS TRACKBIT # KNOCK DOWN TRACK FLAG 70075 MASK FLAGWRD1 54075 TS FLAGWRD1 44763 CS DRFTBIT # KNOCK DOWN DRIFT FLAG 70076 MASK FLAGWRD2 54076 TS FLAGWRD2 44765 CS REFSMBIT # KNOCK DOWN REFSMMAT FLAG 70077 MASK FLAGWRD3 54077 TS FLAGWRD3 00002 TC Q 130">057216,000296: 07,3064 7664 OCT40010 EQUALS OT40010 # IMU FINE ALIGN MODE SWITCH. 5">057221,000301: 07,3064 00004 IMUFINE INHINT 03547 TC CAGETSTJ # SEE IF IMU BEING CAGED. 45012 CS BITS4-5 # RESET ZERO AND COARSE 00006 EXTEND 03012 WAND CHAN12 44774 CS NOIMUDAP # INSURE DAP AUTO AND HOLD MODES ENABLED 71324 MASK IMODES33 55324 TS IMODES33 03140 TC NOATTOFF 34770 CAF BIT10 # IMU FAIL WAS INHIBITED DURING THE 05236 TC TWIDDLE # PRESUMABLY PRECEDING COARSE ALIGN. LEAVE 03106 ADRES IFAILOK # IT ON FOR THE FIRST 5 SECS OF FINE ALIGN 35032 CAF 2SECS 05236 TC TWIDDLE 03104 ADRES IMUFINED 12626 TCF MODEEXIT 544">057242,000322: 07,3104 03537 IMUFINED TC CAGETEST # SEE THAT NO ONE HAS CAGED THE IMU. 13514 TCF ENDIMU B">057245,000325: 07,3106 03544 IFAILOK TC CAGETSTQ # ENABLE IMU FIAL UNLESS IMU BEING CAGED. 15327 TCF TASKOVER # IT IS. 34776 CAF BIT4 # DONT RESET IMU FAIL INHIBIT IF SOMEONE 00006 EXTEND # HAS GONE INTO COARSE ALIGN. 02012 RAND CHAN12 10000 CCS A 15327 TCF TASKOVER 41323 CS IMODES30 # RESET IMUFAIL. 74765 MASK IMUFLBIT 27323 ADS IMODES30 44776 CS IMUFINHT B32">057258,000338: 07,3121 71323 PFAILOK2 MASK IMODES30 55323 TS IMODES30 04725 TC IBNKCALL # THE ISS WARNING LIGHT MAY COME ON NOW 14706 CADR SETISSW # THAT THE INHIBIT HAS BEEN REMOVED. 15327 TCF TASKOVER B">057264,000344: 07,3126 03544 PFAILOK TC CAGETSTQ # ENABLE PIP FAIL PROG ALARM. 15327 TCF TASKOVER 41323 CS IMODES30 # RESET IMU AND PIPA FAIL BITS. 74770 MASK PIPAFLBT 27323 ADS IMODES30 41324 CS IMODES33 74765 MASK PIP2FLBT 27324 ADS IMODES33 44775 CS NOACCALM 13121 TCF PFAILOK2 646">057278,000358: 07,3140 47664 NOATTOFF CS OCT40010 # SUBROUTINE TO TURN OFF NO ATT LAMP. 71231 MASK DSPTAB +11D 64763 AD BIT15 55231 TS DSPTAB +11D 00002 TC Q # ROUITNES TO INITIATE AND TERMINATE PROGRAM USE OF THE PIPAS. NO IMUSTALL REQUIRED IN EITHER CASE. >057287,000367: 07,3145 45003 PIPUSE CS ZERO 54037 TS PIPAX 54040 TS PIPAY 54041 TS PIPAZ 1">057292,000372: 07,3151 03544 PIPUSE1 TC CAGETSTQ # DO NOT ENABLE PIPA FAIL IF IMU IS CAGED 14662 TCF SWRETURN 00004 INHINT 45001 CS ACCFINHT # IF PIPA FAILS FROM NOW ON (UNTIL 71323 MASK IMODES30 # PIPFREE), LIGHT ISS WARNING. 55323 TS IMODES30 532">057300,000380: 07,3157 04725 PIPFREE2 TC IBNKCALL # ISS WARNING MIGHT COME ON NOW. 14706 CADR SETISSW # (OR GO OFF ON PIPFREE). 12626 TCF MODEEXIT 5">057305,000385: 07,3162 00004 PIPFREE INHINT # PROGRAM DONE WITH PIPAS. DONT LIGHT 41323 CS IMODES30 # ISS WARNING. 75001 MASK ACCFINHT 27323 ADS IMODES30 74770 MASK PIPAFLBT # IF PIP FAIL ON, DO PROG ALARM AND RESET 10000 CCS A # ISS WARNING. 12626 TCF MODEEXIT 05644 TC ALARM 00212 OCT 212 00004 INHINT 13157 TCF PIPFREE2 # THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIX REGISTERS # BEGINNING AT THE ECADR ARRIVING IN A. THE MINIMUM SIZE OF ANY PULSE TRAIN IS 16 PULSES (.25 CDU COUNTS). THE # UNSENT PORTION OF THE COMMAND IS LEFT INTACT IN THE INPUT COMMAND REGISTERS. 345">057326,000406: 07,3175 54161 IMUPULSE TS MPAC +5 # SAVE ARRIVING ECADR. 03547 TC CAGETSTJ # DONT PROCEED IF IMU BEING CAGED. 11314 CCS LGYRO # SEE IF GYROS BUSY. 03240 TC GYROBUSY # SLEEP. 34774 CAF BIT6 # ENABLE THE POWER SUPPLY. 00006 EXTEND 05014 WOR CHAN14 34777 CAF FOUR >057337,000417: 07,3205 05246 GWAKE2 TC WAITLIST # (IF A JOB WAS PUT TO SLEEP, THE POWER EBANK= CDUIND # SUPPLY IS LEFT ON BY THE WAKING JOB). 03255 16063 2CADR STRTGYRO 30161 CA MPAC +5 # SET UP EBANK, SAVING CALLER'S EBANK FOR 56003 XCH EBANK # RESTORATION ON RETURN. 56161 XCH MPAC +5 55314 TS LGYRO # RESERVES GYROS. 74350 MASK LOW8 54061 TS ITEMP1 35000 CAF TWO # FORCE SIGN AGREEMENT ON INPUTS. 245">057349,000429: 07,3217 54157 GYROAGRE TS MPAC +3 60000 DOUBLE 60061 AD ITEMP1 54160 TS MPAC +4 00006 EXTEND 50000 INDEX A 31401 DCA 1400 52155 DXCH MPAC 07224 TC DPAGREE 52155 DXCH MPAC 50160 INDEX MPAC +4 53401 DXCH 1400 10157 CCS MPAC +3 13217 TCF GYROAGRE 30161 CA MPAC +5 # RESTORE CALLER'S EBANK. 54003 TS EBANK 12626 TCF MODEEXIT # ROUTINES TO ALLOW TORQUING BY ONLY ONE JOB AT A TIME. 359">057372,000452: 07,3240 00006 GYROBUSY EXTEND # SAVE RETURN 2FCADR. 30134 DCA BUF2 52155 DXCH MPAC 550">057375,000455: 07,3243 33254 REGSLEEP CAF LGWAKE 15176 TCF JOBSLEEP /a>057378,000458: 07,3245 11314 GWAKE CCS LGYRO # WHEN AWAKENED, SEE IF GYROS STILL BUSY. 13243 TCF REGSLEEP # IF SO, SLEEP SOME MORE. 00006 EXTEND 30155 DCA MPAC 52134 DXCH BUF2 # RESTORE SWRETURN INFO. 35001 CAF ONE 13205 TCF GWAKE2 >057387,000467: 07,3254 17245 LGWAKE CADR GWAKE # GYRO-TORQUING WAITLIST TASKS. 24F">057392,000472: 07,3255 43511 STRTGYRO CS GDESELCT # DE-SELECT LAST GYRO. 00006 EXTEND 03014 WAND CHAN14 03526 TC CAGETSTG 232">057398,000478: 07,3261 31314 STRTGYR2 CA LGYRO # JUMP ON PHASE COUNTER IN BITS 13-14. 00006 EXTEND 74776 MP BIT4 50000 INDEX A 13266 TCF +1 03303 TC GSELECT # =0. DO Y GYRO. 00202 OCT 00202 03303 TC GSELECT # =1. DO Z GYRO. 00302 OCT 00302 03301 TC GSELECT -2 # =2. DO X GYRO. 00100 OCT 00100 35003 CAF ZERO # =3. DONE 55314 TS LGYRO 33254 CAF LGWAKE # WAKE A POSSIBLE SLEEPING JOB. 05202 TC JOBWAKE 4">057417,000497: 07,3300 13104 NORESET TCF IMUFINED # DO NOT RESET POWER SUPPLY 44777 -2 CS FOUR # SPECIAL ENTRY TO REGRESS LGYRO FOR X. 27314 ADS LGYRO 4">057423,000503: 07,3303 50002 GSELECT INDEX Q # SELECT GYRO. 30000 CAF 0 # PACKED WORD CONTAINS GYRO SELECT BITS 54064 TS ITEMP4 # AND INCREMENT TO LGYRO. 75005 MASK SEVEN 64765 AD BIT13 27314 ADS LGYRO 54003 TS EBANK 74350 MASK LOW8 54061 TS ITEMP1 45005 CS SEVEN 70064 MASK ITEMP4 54064 TS ITEMP4 00006 EXTEND # MOVE DP COMMAND TO RUPTREGS FOR TESTING. 50061 INDEX ITEMP1 31401 DCA 1400 52071 DXCH RUPTREG1 10070 CCS RUPTREG1 13337 TCF MAJ+ 13327 TCF +2 13472 TCF MAJ- 10071 CCS RUPTREG2 13334 TCF MIN+ 13261 TCF STRTGYR2 13467 TCF MIN- 13261 TCF STRTGYR2 >057454,000534: 07,3334 63370 MIN+ AD -GYROMIN # SMALL POSITIVE COMMAND. SEE IF AT LEAST 00006 EXTEND # 16 GYRO PULSES. 63261 BZMF STRTGYR2 >057458,000538: 07,3337 00006 MAJ+ EXTEND # DEFINITE POSITIVE OUTPUT. 33513 DCA GYROFRAC 20071 DAS RUPTREG1 30064 CA ITEMP4 # SELECT POSITIVE TORQUING FOR THIS GYRO. 00006 EXTEND 05014 WOR CHAN14 36043 CAF LOW7 # LEAVE NUMBER OF POSSIBLE 8192 AUGMENTS 70071 MASK RUPTREG2 # TO INITIAL COMMAND IN MAJOR PART OF LONG 56071 XCH RUPTREG2 # TERM STORAGE AND TRUNCATED FRACTION >057469,000549: 07,3350 00006 GMERGE EXTEND # IN MINOR PART. THE MAJOR PART WILL BE 74772 MP BIT8 # COUNTED DOWN TO ZERO IN THE COURSE OF 54062 TS ITEMP2 # PUTTING OUT THE ENTIRE COMMAND. 30070 CA RUPTREG1 00006 EXTEND 74771 MP BIT9 54070 TS RUPTREG1 30001 CA L 00006 EXTEND 74764 MP BIT14 26062 ADS ITEMP2 # INITIAL COMMAND. 00006 EXTEND # SEE IF MORE THAN ONE PULSE TRAIN NEEDED 30071 DCA RUPTREG1 # (MORE THAN 16383 PULSES). 67702 AD MINUS1 10000 CCS A 13434 TCF LONGGYRO 94E">057486,000566: 07,3370 77601 -GYROMIN OCT -176 # MAY BE ADJUSTED TO SPECIFY MINIMUM CMD 13375 TCF +4 34764 CAF BIT14 26062 ADS ITEMP2 35003 CAF ZERO 50061 +4 INDEX ITEMP1 53401 DXCH 1400 30062 CA ITEMP2 # ENTIRE COMMAND. 7">057498,000578: 07,3400 54047 LASTSEG TS GYROCMD 03521 +1 TC COARSTST 30047 CA GYROCMD 00006 EXTEND 74770 MP BIT10 # WAITLIST DT 66214 AD THREE # TRUNCATION AND PHASE UNCERTAINTIES. 05236 TC TWIDDLE 03420 ADRES TWOPULSE 24F">057507,000587: 07,3410 03414 EXITGYRO TC GYROEXIT 15327 TCF TASKOVER 345">057509,000589: 07,3412 35000 OUTPULSE CA BIT2 54047 TS GYROCMD 954">057511,000591: 07,3414 34770 GYROEXIT CAF BIT10 00006 EXTEND 05014 WOR CHAN14 00002 TC Q 345">057515,000595: 07,3420 44771 TWOPULSE CS BIT9 00006 EXTEND 03014 WAND CHAN14 03412 TC OUTPULSE 35001 CA BIT1 05236 TC TWIDDLE 03255 ADRES STRTGYRO 34771 CA BIT9 00006 EXTEND 05014 WOR CHAN14 03412 TC OUTPULSE 15327 TCF TASKOVER 24F">057527,000607: 07,3434 50061 LONGGYRO INDEX ITEMP1 53401 DXCH 1400 # INITIAL COMMAND OUT PLUS N AUGMENTS OF 34764 CAF BIT14 # 8192. INITIAL COMMAND IS AT LEAST 8192. 60062 AD ITEMP2 54047 TS GYROCMD >057533,000613: 07,3441 00006 AUG3 EXTEND # GET WAITLIST DT TO TIME WHEN TRAIN IS 74770 MP BIT10 # ALMOST OUT. 67700 AD NEG3 05236 TC TWIDDLE 03447 ADRES 8192AUG 13410 TCF EXITGYRO 7">057540,000620: 07,3447 03521 8192AUG TC COARSTST 31314 CA LGYRO # ADD 8192 PULSES TO GYROCMD 54003 TS EBANK 74350 MASK LOW8 54061 TS ITEMP1 50061 INDEX ITEMP1 # SEE IF THIS IS THE LAST AUG. 11400 CCS 1400 13462 TCF AUG2 # MORE TO COME. 34764 CAF BIT14 26047 ADS GYROCMD 13401 TCF LASTSEG +1 >057554,000634: 07,3462 50061 AUG2 INDEX ITEMP1 55400 TS 1400 34764 CAF BIT14 26047 ADS GYROCMD 13441 TCF AUG3 # COMPUTE DT. >057561,000641: 07,3467 63370 MIN- AD -GYROMIN # POSSIBLE NEGATIVE OUTPUT. 00006 EXTEND 63261 BZMF STRTGYR2 >057565,000645: 07,3472 00006 MAJ- EXTEND # DEFINITE NEGATIVE OUTPUT. 43513 DCS GYROFRAC 20071 DAS RUPTREG1 30064 CA ITEMP4 # SELECT NEGATIVE TORQUING FOR THIS GYRO. 64771 AD BIT9 00006 EXTEND 05014 WOR CHAN14 40070 CS RUPTREG1 # SET UP RUPTREGS TO FALL INTO GMERGE. 54070 TS RUPTREG1 # ALL NUMBERS PUT INTO GYROCMD ARE 40071 CS RUPTREG2 # POSITIVE - BIT9 OF CHAN 14 DETERMINES 76043 MASK LOW7 # THE SIGN OF THE COMMAND. 40000 COM 56071 XCH RUPTREG2 40000 COM 13350 TCF GMERGE 354">057583,000663: 07,3511 01700 GDESELCT OCT 1700 # TURN OFF SELECT AND ACTIVITY BITS. 143">057585,000665: 07,3512 00000 00034 GYROFRAC 2DEC .215 B-21 # IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE. >057590,000670: 07,3514 00006 ENDIMU EXTEND # MODE IS BAD IF CAGE HAS OCCURED OR IF 00011 READ DSALMOUT # ISS WARNING IS ON. 75001 MASK BIT1 67702 AD NEG1 13557 TCF BADEND +1 354">057595,000675: 07,3521 34776 COARSTST CAF BIT4 00006 EXTEND 02012 RAND CHAN12 10000 CCS A 13532 TCF DONTPULS 447">057601,000681: 07,3526 41323 CAGETSTG CS IMODES30 74774 MASK IMUNITBT 10000 CCS A 00002 TC Q C53">057606,000686: 07,3532 35003 DONTPULS CAF ZERO 55314 TS LGYRO 33254 CAF LGWAKE 05202 TC JOBWAKE 13556 TCF IMUBAD 354">057613,000693: 07,3537 34774 CAGETEST CAF IMUNITBT # SUBROUTINE TO TERMINATE IMU MODE 71323 MASK IMODES30 # SWITCH IF IMU HAS BEEN CAGED. 10000 CCS A 13556 TCF IMUBAD # DIRECTLY. 00002 TC Q # WITH C(A) = +0. 451">057619,000699: 07,3544 41323 CAGETSTQ CS IMODES30 # SKIP IF IMU NOT BEING CAGED. 74774 MASK IMUNITBT 15624 TCF INCRQCK 44A">057622,000702: 07,3547 41323 CAGETSTJ CS IMODES30 # IF DURING MODE SWITCH INITIALIZATION 74774 MASK IMUNITBT # IT IS FOUND THAT THE IMU IS BEING CAGED, 10000 CCS A # SET IMUCADR TO -0 TO INDICATE OPERATION 00002 TC Q # COMPLETE BUT FAILED. RETURN IMMEDIATELY 45003 +4 CS ZERO # TO SWRETURN 55325 TS IMUCADR 12626 TCF MODEEXIT >057631,000711: 07,3556 07,3556 IMUBAD EQUALS BADEND # GENERALIZED MODE SWITCHING TERMINATION. ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION # OR AT BADEND FOR AN UNSUCCESSFUL ONE. >057637,000717: 07,3556 45003 BADEND CS ZERO # FOR FAILURE. 54072 +1 TS RUPTREG3 # -0 FAILURE -1 SUCCESS 11325 CCS MODECADR 13563 TCF +2 # YES - WAKE IT UP. 13572 TCF ENDMODE # IF 0, PROGRAM NOT IN YET. 35003 CAF ZERO # WAKE SLEEPING PROGRAM. 57325 XCH MODECADR 05202 TC JOBWAKE 40072 CS RUPTREG3 # ADVANCE LOC IF SUCCESSFUL. 50064 INDEX LOCCTR 26164 ADS LOC 15327 TCF TASKOVER 5">057653,000733: 07,3572 30072 ENDMODE CA RUPTREG3 # -0 INDICATES OPERATION COMPLETE BUT 55325 TS MODECADR # SUCCESSFUL. 15327 TCF TASKOVER # GENERAL STALLING ROUTINE. USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION. # PROGRAM DESCRIPTION DATE- 21 FEB 1967 # LOG SECTION IMU MODE SWITCHING # MOD BY- R.MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 82 # FUNCTIONAL DESCRIPTION- # TO DELAY FURTHER EXECUTION OF THE CALLING ROUTINE UNTIL ITS SELECTED # I/O FUNCTION IS COMPLETE. THE FOLLOWING CHECKS ON THE CALLING ROUTINE:S # MODECADR ARE MADE AND ACTED UPON. # 1) +0 INDICATES INCOMPLETE I/O OPERATION. CALLING ROUTINE IS PUT TO # SLEEP. # 2) -1 INDICATES COMPLETED I/O OPERATION. STALL BYPASSES JOBSLEEP # CALL AND RETURNS TO CALLING ROUTINE AT L+3 # 3) -0 INDICATES COMPLETED I/O WITH FAILURE. STALL CLEARS MODECADR # AND RETURNS TO CALLING ROUTINE AT L+2. # 4) VALUE GREATER THAN 0 INDICATES TWO ROUTINES CALLING FOR USE OF # SAME DEVICE. STALL EXITS TO ABORT WHICH EXECUTES A PROGRAM # RESTART WHICH IN TURN CLEARS ALL MODECADR REGISTERS. # CALLING SEQUENCE- # L TC BANKCALL # L+1 CADR IMUSTALL # NORMAL-EXIT MODE- # TCF JOBSLEEP OR TCF MODEXIT # ALARM OR ABORT EXIT MODE- # POODOO 21210 # OUTPUT- # MODECADR= CADR IF JOBSLEEP # MODECADR=+0 IF I/O COMPLETE # BUF2=L+3 IF I/O COMPLETE AND GOOD. # BUF2=L+2 IF I/O COMPLETE BUT FAILED. # ERASABLE INITIALIZATION- # BUF2 CONTAINS RETURN ADDRESS PLUS 1,(L+2) # BUF2+1 CONTAINS FBANK VALUE OF CALLING ROUTINE. # MODECADR CONTAINS +0, -1, -0 OR CADR RETURN ADDRESS. C4C">057700,000780: 07,3575 11325 IMUSTALL CCS MODECADR 13612 TCF MODABORT # ALLOWABLE STATES ARE +0, -1, AND -0. 13607 TCF MODESLP # OPERATION INCOMPLETE. 13603 TCF MODEGOOD # COMPLETE AND GOOD IF = -1. 07,3601 55325 MG2 TS MODECADR # COMPLETE AND FAILED IF -0. RESET TO +0. 12626 TCF MODEEXIT # RETURN TO CALLER. F44">057707,000787: 07,3603 10000 MODEGOOD CCS A # MAKE SURE INITIAL STATE -1. 13612 TCF MODABORT 24133 INCR BUF2 # IF SO, INCREMENT RETURN ADDRESS AND 13601 TCF MG2 # RETURN IMMEDIATELY, SETTING CADR = +0. 0">057713,000793: 07,3607 04676 MODESLP TC MAKECADR # CALL FROM SWITCHABLE FIXED ONLY. 55325 TS MODECADR 15176 TCF JOBSLEEP 254">057717,000797: 07,3612 05701 MODABORT TC POODOO # TWO PROGRAMS USING SAME DEVICE. 21210 OCT 21210 # CONSTANTS FOR MODE SWITCHING ROUTINES 4">057723,000803: 07,3614 5750 BITS3&4 = OCT14 6">057724,000804: 07,3614 5016 BITS4&6 = OCT50 5">057725,000805: 07,3614 5012 BITS4-5 EQUALS BITS4&5 C47">057726,000806: 07,3614 4772 IMUSEFLG EQUALS BIT8 # INTERPRETER SWITCH 7. 8">057727,000807: 07,3614 77500 -COMMAX DEC -191 B-14 82D">057728,000808: 07,3615 77477 -COMMAX- DEC -192 B-14 /a>057729,000809: 07,3616 00074 600MS DEC 60 B-14 230">057730,000810: 07,3617 07,3064 IMUFIN20 = IMUFINE # PROGRAM DESCRIPTION # IMU STATUS CHECK ROUTINE R02 (SUBROUTINE UTILITY) # MOD NO - 1 # MOD BY - N.BRODEUR # FUNCTIONAL DESCRIPTION # TO CHECK WHETHER IMU IS ON AND IF ON WHETHER IT IS ALIGNED TO AN # ORIENTATION KNOWN BY THE CMC. TO REQUEST SELECTION OF THE APPROPRIATE # PROGRAM IF THE IMU IS OFF OR NOT ALIGNED TO AN ORIENTATION KNOWN BY THE # CMC. CALLED THROUGH BANKCALL # CALLING SEQUENCE- # L TC BANKCALL # L+1 CADR R02BOTH # SUBROUTINES CALLED # VARALARM # FLAGUP # NORMAL EXIT MODES # AT L+2 OF CALLING SEQUENCE # ALARM OR ABORT EXIT MODES # GOTOPOOH, WITH ALARM # ERASABLE INITIALIZATION REQUIRED # NONE # DEBRIS # CENTRALS - A,Q,L SETLOC R02 BANK COUNT* $$/R02 8">057767,000847: 01,3737 34765 R02BOTH CAF REFSMBIT 70077 MASK FLAGWRD3 10000 CCS A 03753 TC R02ZERO # ZERO IMUS 31323 CA IMODES30 74771 MASK IMUOPBIT # IS ISS INITIALIZED 00006 EXTEND 13750 BZF +2 44776 CS BIT4 # SEND IMU ALARM CODE 210 63756 AD OCT220 # SEND REFSMM ALARM 05743 TC VARALARM 04103 TC GOTOPOOH F">057781,000861: 01,3753 07710 R02ZERO TC UPFLAG 00007 ADRES IMUSE 14662 TCF SWRETURN >057784,000864: 01,3756 00220 OCT220 OCT 220 # PROGRAM DESCRIPTION P06 10FEB67 # TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION. # THE NORMAL CONDITION OF READINESS OF THE GNCS WHEN NOT IN USE IS STANDBY. IN THIS CONDITION THE IMU # HEATER POWER IS ON. THE IMU OPERATE POWER IS OFF. THE COMPUTER POWER IS ON. THE OPTICS POWER IS OFF. THE # CMC STANDBY ON THE MAIN AND LEB DISKYS IS ON. # CALLING SEQUENCE: # ASTRONAUT REQUEST THROUGH DSKY V37E 06E. # SUBROUTINES CALLED: # GOPERF1 # BANKCALL # FLAGDOWN # PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2 # THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATABILITY # BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING. SETLOC P05P06 BANK 1001 EBANK= TIME2SAV COUNT* $$/P06 26,3320 07710 P06 TC UPFLAG # SET NODOV37 BIT 00054 ADRES NODOFLAG E44">057816,000896: 26,3322 00004 PRESTAND INHINT 00006 EXTEND 30025 DCA TIME2 # SNAPSHOT TIME1 TIME2 53002 DXCH TIME2SAV 03361 TC SCALPREP 03322 TC PRESTAND # T1,T2,SCALER NOT COMPATIBLE 52155 DXCH MPAC # T1,T2 AND SCALER OK 53004 DXCH SCALSAVE # STORE SCALER 00004 INHINT 04647 TC BANKCALL 17052 CADR RNDREFDR # REFSMM, DRIFT, TRACK FLAGS DOWN 07722 TC DOWNFLAG 00007 ADRES IMUSE # IMUSE DOWN 07722 TC DOWNFLAG 00010 ADRES RNDVZFLG # RNDVZFLG DOWN 07722 TC DOWNFLAG 00176 ADRES UTFLAG 34767 CAF BIT11 00006 EXTEND 05013 WOR CHAN13 # SET STANDBY ENABLE BIT 05415 TC PHASCHNG # SET RESTART TO POSTAND WHEN STANDBY 07024 OCT 07024 # RECOVERS 20000 OCT 20000 1003 EBANK= SCALSAVE 03401 54062 2CADR POSTAND 35023 CAF OCT62 04647 TC BANKCALL 20747 CADR GOPERF1 13353 TCF -3 13353 TCF -4 13353 TCF -5 /a>057852,000932: 26,3361 5023 OCT62 EQUALS .5SEC # DEC 50 = OCT 62 # THE LOW 5 BITS OF THE SCALER READS 10000 FOR THE FIRST INTERVAL AFTER A # T1 INCREMENT. IF SCALPREP DETECTS THIS INTERVAL THE T1,T2 AND SCALER # DATA ARE NOT COMPATABLE AND RETURN IS TO L+1 FOR ANOTHER READING OF THE # DATA. OTHERWISE, THE RETURN IS TO L+2 TO PROCEED. ROUTINE ALSO PREPARES # THE SCALER READING FOR COMPUTATION OF THE INCREMENT TO UPDATE T1T2. (THE # 10 MS BIT (BIT 6) OF THE SCALER IS INCREMENTED 5 MS OUT OF PHASE FROM # T1.) ADDITION OF 5 MS (BIT 5) TO THE SCALER READING HAS THE EFFECT OF # ADJUSTING BIT 6 IN THE SCALER TO BE IN PHASE WITH BIT 1 OF T1. THE LOW 5 # BITS OF THE SCALER READING ARE THEN SET TO ZERO, TO TRUNCATE THE SCALER # DATA TO 10 MS. RESULTS ARE STORED IN MPAC, +1. 550">057865,000945: 26,3361 00006 SCALPREP EXTEND 22156 QXCH MPAC +2 04530 TC FINETIME +1 00003 RELINT 52155 DXCH MPAC 34775 CA BIT5 # ADD 5 MS TO THE SCALER READING. 54001 TS L 35003 CA ZERO 20155 DAS MPAC 44342 CS LOW5 # SET LOW 5 BITS OF (SCALER+5MS) TO ZERO 70155 MASK MPAC +1 # AND STORE RESULTS IN MPAC,+1. 56155 XCH MPAC +1 74342 MASK LOW5 # TEST LOW 5 BITS OF SCALER FOR THE FIRST # INTERVAL AFTER THE T1 INCREMENT # (NOW = 00000, SINCE BIT 5 ADDED). 10000 CCS A # IS IT 1ST INTERVAL AFTER T1 INCREMENT 24156 INCR MPAC +2 # NO 00156 TC MPAC +2 # YES # POSTAND RECOVERS TIME AFTER STANDBY. THE SCALER IS SNAPSHOTTED AND THE # TIME1 TIME2 COUNTER IS SET TO ZERO. THE LOW 5 BITS OF THE SCALER ARE # INSPECTED TO INSURE COMPATABILITY BETWEEN THE SCALER READING AND THE # CLEARING OF THE TIME COUNTER. IT THEN COMPUTES THE DIFFERENCE IN SCALER # VALUES (IN DP) AND ADDS THIS TO THE PREVIOUSLY SNAPSHOTTED VALUES OF # TIME1 TIME2 AND PLACES THIS NEW TIME INTO THE TIME1 TIME2 COUNTER. COUNT* $$/P05 4">057893,000973: 26,3401 44767 POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY. 00006 EXTEND 03013 WAND CHAN13 # CLEAR STANDBY ENABLE BIT 00004 +3 INHINT 35003 CA ZERO 54001 TS L 52025 DXCH TIME2 # CLEAR TIME1 TIME2 03361 TC SCALPREP # STORE SCALER IN MPAC, MPAC+1 03404 TC POSTAND +3 # T1,T2,SCALER NOT COMPATIBLE 00006 EXTEND # T1,T2 AND SCALER OK 41004 DCS SCALSAVE 20155 DAS MPAC # FORM DP DIFFERENCE OF POSTSTANDBY SCALER 34770 CAF BIT10 # MINUS PRESTANDBY SCALER AND SHIFT RIGHT 07256 TC SHORTMP # 5 TO ALIGN BITS WITH TIME1 TIME2. 07224 TC DPAGREE 10154 CCS MPAC 03426 TC POSTCOM # IF DP DIFF NET +, NO SCALER OVERFLOW 03426 TC POSTCOM # BETWEEN PRE AND POST STANDBY. 03424 TC +1 # IF DP DIFF NET -, SCALER OVERFLOWED. ADD 34770 CAF BIT10 # BIT 10 TO HIGH DIFF TO CORRECT. 26154 ADS MPAC D">057914,000994: 26,3426 00006 POSTCOM EXTEND # C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER. 31002 DCA TIME2SAV # PRESTANDBY TIME1 TIME2 20155 DAS MPAC 07226 TC TPAGREE # FORCE SIGN AGREEMENT 52155 DXCH MPAC # UPDATED VALUE FOR T1,T2. 20025 DAS TIME2 # LOAD UPDATED VALUE INTO T1,T2, WITH 07722 TC DOWNFLAG # CLEAR NODOFLAG 00054 ADRES NODOFLAG F48">057923,001003: 26,3436 04103 TCGOPOOH TC GOTOPOOH IMU_MODE_SWITCHING_ROUTINES.agc. Parent file is MAIN.agc