Source Code
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These source-code files were transcribed from a printout in Don Eyles's personal
collection, scanned by archive.org, and financially sponsored by Peter McDermott.
A team of volunteers performed the transcription and proof-reading. The scanned
page images are available at
the Virtual AGC Project website, as well as higher-quality (but much larger)
images at
the Virtual AGC Project's collection in the Internet Archive. Report any problems by creating
"issues" at
the Virtual AGC Project's GitHub Repository. Notations on the program listing read, in part:
YUL SYSTEM FOR AGC: NEW PROGRAM SHEPATIN BY EYLES
DEC 13, 1966
THIS PROGRAM WAS ASSEMBLED AS A VERSION OF REVISION 37
OF PROGRAM SUNBURST BY LEM GROUP
Note that the date is the date of the printout, not the date of the program revision.
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005451,000002: ## Copyright: Public domain.
005452,000003: ## Filename: IMU_MODE_SWITCHING_ROUTINES.agc
005453,000004: ## Purpose: A section of Sunburst revision 37, or Shepatin revision 0.
005454,000005: ## It is part of an early development version of the software
005455,000006: ## for Apollo Guidance Computer (AGC) on the unmanned Lunar
005456,000007: ## Module (LM) flight Apollo 5. Sunburst 37 was the program
005457,000008: ## upon which Don Eyles's offline development program Shepatin
005458,000009: ## was based; the listing herein transcribed was actually for
005459,000010: ## the equivalent revision 0 of Shepatin.
005460,000011: ## This file is intended to be a faithful transcription, except
005461,000012: ## that the code format has been changed to conform to the
005462,000013: ## requirements of the yaYUL assembler rather than the
005463,000014: ## original YUL assembler.
005464,000015: ## Reference: pp. 124-145
005465,000016: ## Assembler: yaYUL
005466,000017: ## Contact: Ron Burkey <info@sandroid.org>.
005467,000018: ## Website: www.ibiblio.org/apollo/index.html
005468,000019: ## Mod history: 2017-05-24 MAS Created from Sunburst 120.
005469,000020: ## 2017-05-30 HG Transcribed
005470,000021: ## 2017-06-21 RSB Proofed using octopus/ProoferComments.
005471,000022:
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Page 124 |
005473,000024: 4303 BLOCK 02
005474,000025: 4303 E3,1455 EBANK= COMMAND
005475,000026:
005476,000027: # FIXED-FIXED ROUTINES.
005477,000028:
005478,000029: 4303 37761 ZEROICDU CAF ZERO # ZERO ICDU COUNTERS.
005479,000030: 4304 54032 TS CDUX
005480,000031: 4305 54033 TS CDUY
005481,000032: 4306 54034 TS CDUZ
005482,000033: 4307 00002 TC Q
005483,000034:
005484,000035: 4310 00620 4SECS DEC 400 B-14
005485,000036: 4311 00454 3SECS DEC 300 B-14
005486,000037:
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005488,000039: # IMU ZEROING ROUTINE.
005489,000040:
005490,000041: 13,2000 BANK 13
005491,000042:
005492,000043: 13,2000 00004 IMUZERO INHINT # ROUTINE TO ZERO ICDUS.
005493,000044: 13,2001 40326 CS DSPTAB +11D # DONT ZERO CDUS IF IMU IN GIMBAL LOCK AND
005494,000045: 13,2002 73010 MASK BITS4&6 # COARSE ALIGN.
005495,000046: 13,2003 10000 CCS A
005496,000047:
005497,000048: 13,2004 12010 TCF IMUZEROA
005498,000049:
005499,000050: 13,2005 04744 TC ALARM # IF SO.
005500,000051: 13,2006 00206 OCT 206
005501,000052:
005502,000053: 13,2007 12723 TCF CAGETSTJ +4
005503,000054:
005504,000055: 13,2010 47746 IMUZEROA CS IMUSEFLG
005505,000056: 13,2011 70074 MASK STATE # PROGRAM IS USING THE IMU.
005506,000057: 13,2012 67746 AD IMUSEFLG
005507,000058: 13,2013 54074 TS STATE
005508,000059:
005509,000060: 13,2014 02712 TC CAGETSTQ # IF IMU COMING UP, TURN-ON PROGRAM WILL
005510,000061: 13,2015 12043 TCF MODEEXIT # DO ALL THE WORK.
005511,000062:
005512,000063: 13,2016 43007 CS BITS3&4 # INHIBIT ICDUFAIL AND IMUFAIL (IN CASE WE
005513,000064: 13,2017 70365 MASK IMODES30 # JUST CAME OUT OF COARSE ALIGN).
005514,000065: 13,2020 63007 AD BITS3&4
005515,000066: 13,2021 54365 TS IMODES30
005516,000067:
005517,000068: 13,2022 43010 CS BITS4&6 # SEND ZERO ENCODE WITH COARSE AND ERROR
005518,000069: 13,2023 00006 EXTEND # COUNTER DISABLED.
005519,000070: 13,2024 03012 WAND 12
005520,000071:
005521,000072: 13,2025 02323 TC NOATTOFF # TURN OFF NO ATT LAMP.
005522,000073:
005523,000074: 13,2026 37751 CAF BIT5
005524,000075: 13,2027 00006 EXTEND
005525,000076: 13,2030 05012 WOR 12
005526,000077:
005527,000078: 13,2031 37750 CAF BIT6 # WAIT 320 MS TO GIVE AGS ADEQUATE TIME TO
005528,000079: 13,2032 05701 TC WAITLIST # RECEIVE ITS PULSE TRAIN.
005529,000080: 13,2033 E3,1455 EBANK= COMMAND
005530,000081: 13,2033 02045 26003 2CADR IMUZERO2
005531,000082:
005532,000083: 13,2035 40365 CS IMODES30 # SEE IF IMU OPERATING AND ALARM IF NOT.
005533,000084: 13,2036 77745 MASK BIT9
005534,000085: 13,2037 10000 CCS A
005535,000086: 13,2040 12043 TCF MODEEXIT
005536,000087:
005537,000088: 13,2041 04744 TC ALARM
005538,000089: 13,2042 00210 OCT 210
005539,000090:
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005541,000092: 13,2043 00003 MODEEXIT RELINT # GENERAL MODE-SWITCHING EXIT.
005542,000093: 13,2044 15237 TCF SWRETURN
005543,000094:
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Page 127 |
005545,000096: 13,2045 02712 IMUZERO2 TC CAGETSTQ # POSSIBLY SWITCH TO TURN-ON PROGRAM.
005546,000097: 13,2046 15745 TCF TASKOVER
005547,000098:
005548,000099: 13,2047 04303 TC ZEROICDU # ZERO COUNTERS.
005549,000100: 13,2050 47751 CS BIT5 # REMOVE ZERO DISCRETE.
005550,000101: 13,2051 00006 EXTEND
005551,000102: 13,2052 03012 WAND 12
005552,000103:
005553,000104: 13,2053 34310 CAF 4SECS
005554,000105: 13,2054 05722 TC VARDELAY
005555,000106:
005556,000107: 13,2055 02712 IMUZERO3 TC CAGETSTQ
005557,000108: 13,2056 15745 TCF TASKOVER
005558,000109:
005559,000110: 13,2057 43007 CS BITS3&4 # REMOVE IMUFAIL AND ICDUFAIL INHIBIT.
005560,000111: 13,2060 70365 MASK IMODES30
005561,000112: 13,2061 54365 TS IMODES30
005562,000113:
005563,000114: 13,2062 05307 TC IBNKCALL # SET ISS WARNING IF EITHER OF ABOVE ARE
005564,000115: 13,2063 24763 CADR SETISSW # PRESENT.
005565,000116:
005566,000117: 13,2064 12675 TCF ENDIMU
005567,000118:
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Page 128 |
005569,000120: # IMU COARSE ALIGN MODE.
005570,000121:
005571,000122: 13,2065 00004 IMUCOARS INHINT
005572,000123: 13,2066 02231 TC SETCOARS
005573,000124:
005574,000125: 13,2067 36276 CAF SIX
005575,000126: 13,2070 05701 TC WAITLIST
005576,000127: 13,2071 E3,1455 EBANK= COMMAND
005577,000128: 13,2071 02074 26003 2CADR COARS
005578,000129:
005579,000130: 13,2073 12043 TCF MODEEXIT
005580,000131:
005581,000132: 13,2074 02705 COARS TC CAGETEST
005582,000133: 13,2075 37750 CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
005583,000134: 13,2076 00006 EXTEND
005584,000135: 13,2077 05012 WOR CHAN12
005585,000136:
005586,000137: 13,2100 37754 CAF TWO # SET CDU INDICATOR
005587,000138: 13,2101 55460 COARS1 TS CDUIND
005588,000139:
005589,000140: 13,2102 51460 INDEX CDUIND # COMPUTE THETAD - THETAA IN 1:S
005590,000141: 13,2103 30400 CA THETAD # COMPLEMENT FORM
005591,000142: 13,2104 00006 EXTEND
005592,000143: 13,2105 51460 INDEX CDUIND
005593,000144: 13,2106 20032 MSU CDUX
005594,000145: 13,2107 00006 EXTEND
005595,000146:
005596,000147: 13,2110 77741 MP BIT13 # SHIFT RIGHT 2
005597,000148: 13,2111 56001 XCH L # ROUND
005598,000149: 13,2112 60000 DOUBLE
005599,000150: 13,2113 54061 TS ITEMP1
005600,000151: 13,2114 12116 TCF +2
005601,000152: 13,2115 26001 ADS L
005602,000153:
005603,000154: 13,2116 51460 INDEX CDUIND # DIFFERENCE TO BE COMPUTED
005604,000155: 13,2117 23455 LXCH COMMAND
005605,000156: 13,2120 11460 CCS CDUIND
005606,000157: 13,2121 02101 TC COARS1
005607,000158:
005608,000159: 13,2122 37754 CAF TWO # MINIMUM OF 4 MS WAIT
005609,000160: 13,2123 05722 TC VARDELAY
005610,000161:
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005612,000163: 13,2124 02705 COARS2 TC CAGETEST # DONT CONTINUE IF CAGED.
005613,000164: 13,2125 54061 TS ITEMP1 # SETS TO +0.
005614,000165: 13,2126 37754 CAF TWO # SET CDU INDICATOR
005615,000166: 13,2127 55460 +3 TS CDUIND
005616,000167:
005617,000168: 13,2130 51460 INDEX CDUIND
005618,000169: 13,2131 11455 CCS COMMAND # NUMBER OF PULSES REQUIRED
005619,000170: 13,2132 02136 TC COMPOS # GREATER THAN MAX ALLOWED
005620,000171:
005621,000172: 13,2133 02145 TC NEXTCDU +1
005622,000173: 13,2134 02210 TC COMNEG
005623,000174: 13,2135 02145 TC NEXTCDU +1
005624,000175:
005625,000176: 13,2136 63013 COMPOS AD -COMMAX # COMMAX = MAX NUMBER OF PULSES ALLOWED
005626,000177: 13,2137 00006 EXTEND # MINUS ONE
005627,000178: 13,2140 62220 BZMF COMZERO
005628,000179: 13,2141 51460 INDEX CDUIND
005629,000180: 13,2142 55455 TS COMMAND # REDUCE COMMAND BY MAX NUMBER OF PULSES
005630,000181: 13,2143 43014 CS -COMMAX- # ALLOWED
005631,000182:
005632,000183: 13,2144 24061 NEXTCDU INCR ITEMP1
005633,000184: 13,2145 51460 INDEX CDUIND
005634,000185: 13,2146 54050 TS CDUXCMD # SET UP COMMAND REGISTER.
005635,000186:
005636,000187: 13,2147 11460 CCS CDUIND
005637,000188: 13,2150 02127 TC COARS2 +3
005638,000189:
005639,000190: 13,2151 10061 CCS ITEMP1 # SEE IF ANY PULSES TO GO OUT.
005640,000191: 13,2152 12224 TCF SENDPULS
005641,000192:
005642,000193: 13,2153 05717 TC FIXDELAY # WAIT FOR GIMBALS TO SETTLE.
005643,000194: 13,2154 00226 DEC 150 B-14
005644,000195:
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005646,000197: 13,2155 37754 CAF TWO # AT END OF COMMAND, CHECK TO SEE THAT
005647,000198: 13,2156 54061 CHKCORS TS ITEMP1 # GIMBALS ARE WITHIN 2 DEGREES OF THETAD.
005648,000199: 13,2157 50000 INDEX A
005649,000200: 13,2160 30032 CA CDUX
005650,000201: 13,2161 00006 EXTEND
005651,000202: 13,2162 50061 INDEX ITEMP1
005652,000203: 13,2163 20400 MSU THETAD
005653,000204: 13,2164 10000 CCS A
005654,000205: 13,2165 12201 TCF COARSERR
005655,000206: 13,2166 12170 TCF CORSCHK2
005656,000207: 13,2167 12201 TCF COARSERR
005657,000208:
005658,000209: 13,2170 10061 CORSCHK2 CCS ITEMP1
005659,000210: 13,2171 12156 TCF CHKCORS
005660,000211:
005661,000212: 13,2172 55455 TS GCOMP # ZERO GYRO COMPENSATION REGISTERS IN
005662,000213: 13,2173 55456 TS GCOMP +1 # PREPARATION FOR COMPENSATION.
005663,000214: 13,2174 55457 TS GCOMP +2
005664,000215: 13,2175 55460 TS GCOMP +3
005665,000216: 13,2176 55461 TS GCOMP +4
005666,000217: 13,2177 55462 TS GCOMP +5
005667,000218:
005668,000219: 13,2200 12675 TCF ENDIMU # END OF COARSE ALIGNMENT.
005669,000220:
005670,000221: 13,2201 62207 COARSERR AD COARSTOL # 2 DEGREES.
005671,000222: 13,2202 00006 EXTEND
005672,000223: 13,2203 62170 BZMF CORSCHK2
005673,000224:
005674,000225: 13,2204 04744 TC ALARM # COARSE ALIGN ERROR.
005675,000226: 13,2205 00211 OCT 211
005676,000227:
005677,000228: 13,2206 12703 TCF IMUBAD
005678,000229:
005679,000230: 13,2207 77511 COARSTOL DEC -.01111 # 2 DEGREES SCALED AT HALF-REVOLUTIONS.
005680,000231:
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005682,000233: 13,2210 63013 COMNEG AD -COMMAX
005683,000234: 13,2211 00006 EXTEND
005684,000235: 13,2212 62220 BZMF COMZERO
005685,000236: 13,2213 40000 COM
005686,000237: 13,2214 51460 INDEX CDUIND
005687,000238: 13,2215 55455 TS COMMAND
005688,000239: 13,2216 33014 CA -COMMAX-
005689,000240: 13,2217 02144 TC NEXTCDU
005690,000241:
005691,000242: 13,2220 37761 COMZERO CAF ZERO
005692,000243: 13,2221 51460 INDEX CDUIND
005693,000244: 13,2222 57455 XCH COMMAND
005694,000245: 13,2223 02144 TC NEXTCDU
005695,000246:
005696,000247: 13,2224 33012 SENDPULS CAF 13,14,15
005697,000248: 13,2225 00006 EXTEND
005698,000249: 13,2226 05014 WOR CHAN14
005699,000250: 13,2227 33015 CAF 600MS
005700,000251: 13,2230 12123 TCF COARS2 -1 # AND THEN TO VARDELAY.
005701,000252:
005702,000253: 13,2231 47750 SETCOARS CS BIT6 # CLEAR ERROR COUNTER BEFORE MODE SWITCH.
005703,000254: 13,2232 00006 EXTEND
005704,000255: 13,2233 03012 WAND 12
005705,000256: 13,2234 37752 CAF BIT4 # PUT ISS IN COARSE ALIGN.
005706,000257: 13,2235 00006 EXTEND
005707,000258: 13,2236 05012 WOR 12
005708,000259:
005709,000260: 13,2237 42250 CS OCT40010 # TURN ON NO ATT LAMP.
005710,000261: 13,2240 70326 MASK DSPTAB +11D
005711,000262: 13,2241 62250 AD OCT40010
005712,000263: 13,2242 54326 TS DSPTAB +11D
005713,000264:
005714,000265: 13,2243 47752 CS BIT4 # INHIBIT IMU FAIL.
005715,000266: 13,2244 70365 MASK IMODES30
005716,000267: 13,2245 67752 AD BIT4
005717,000268: 13,2246 54365 TS IMODES30
005718,000269:
005719,000270: 13,2247 00002 TC Q
005720,000271:
005721,000272: 13,2250 40010 OCT40010 OCT 40010
005722,000273:
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005724,000275: # IMU FINE ALIGN MODE SWITCH.
005725,000276:
005726,000277: 13,2251 00004 IMUFINE INHINT
005727,000278: 13,2252 02717 TC CAGETSTJ # SEE IF IMU BEING CAGED.
005728,000279:
005729,000280: 13,2253 43011 CS BITS4-6 # RESET ZERO, COARSE, AND ECTR ENABLE.
005730,000281: 13,2254 00006 EXTEND
005731,000282: 13,2255 03012 WAND 12
005732,000283:
005733,000284: 13,2256 02323 TC NOATTOFF # TURN OFF NO ATT LAMP.
005734,000285:
005735,000286: 13,2257 37744 CAF BIT10 # IMU FAIL WAS INHIBITED DURING THE
005736,000287: 13,2260 05701 TC WAITLIST # PRESUMABLY PRECEDING COARSE ALIGN. LEAVE
005737,000288: 13,2261 E3,1455 EBANK= COMMAND
005738,000289: 13,2261 02272 26003 2CADR IFAILOK # IT ON FOR THE FIRST 5 SECS OF FINE ALIGN
005739,000290:
005740,000291: 13,2263 33016 CAF 90SEC # GYRO RE-CENTERING TIME.
005741,000292: 13,2264 05701 TC WAITLIST
005742,000293: 13,2265 E3,1455 EBANK= COMMAND
005743,000294: 13,2265 02270 26003 2CADR IMUFINED
005744,000295:
005745,000296: 13,2267 12043 TCF MODEEXIT
005746,000297:
005747,000298: 13,2270 02705 IMUFINED TC CAGETEST # SEE THAT NO ONE HAS CAGED THE IMU.
005748,000299: 13,2271 12675 TCF ENDIMU
005749,000300:
005750,000301: 13,2272 02712 IFAILOK TC CAGETSTQ # ENABLE IMU FIAL UNLESS IMU BEING CAGED.
005751,000302: 13,2273 15745 TCF TASKOVER # IT IS.
005752,000303:
005753,000304: 13,2274 37752 CAF BIT4 # DONT RESET IMU FAIL INHIBIT IF SOMEONE
005754,000305: 13,2275 00006 EXTEND # HAS GONE INTO COARSE ALIGN.
005755,000306: 13,2276 02012 RAND 12
005756,000307: 13,2277 10000 CCS A
005757,000308: 13,2300 15745 TCF TASKOVER
005758,000309:
005759,000310: 13,2301 47752 CS BIT4
005760,000311: 13,2302 70365 PFAILOK2 MASK IMODES30
005761,000312: 13,2303 54365 TS IMODES30
005762,000313: 13,2304 05307 TC IBNKCALL # THE ISS WARNING LIGHT MAY COME ON NOW
005763,000314: 13,2305 24763 CADR SETISSW # THAT THE INHIBIT HAS BEEN REMOVED.
005764,000315: 13,2306 15745 TCF TASKOVER
005765,000316:
005766,000317: 13,2307 02712 PFAILOK TC CAGETSTQ # ENABLE PIP FAIL PROG ALARM.
005767,000318: 13,2310 15745 TCF TASKOVER
005768,000319:
005769,000320: 13,2311 47744 CS BIT10 # MAKE PREVIOUS VALUE OF PIPA FAIL THE
005770,000321: 13,2312 70365 MASK IMODES30 # NO FAIL STATE SO THAT IF THE FAILURE
005771,000322: 13,2313 67744 AD BIT10 # INDICATION IS ON NOW, IT WILL BE PICKED
005772,000323: 13,2314 54365 TS IMODES30 # UP (ROUTINE DETECTS ONLY CHANGES).
005773,000324:
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005775,000326: 13,2315 47741 CS BIT13 # PIPA FAIL BIT IS KEPT IN TWO PLACES FOR
005776,000327: 13,2316 70366 MASK IMODES33
005777,000328: 13,2317 67741 AD BIT13
005778,000329: 13,2320 54366 TS IMODES33
005779,000330:
005780,000331: 13,2321 47751 CS BIT5
005781,000332: 13,2322 12302 TCF PFAILOK2
005782,000333:
005783,000334: 13,2323 42250 NOATTOFF CS OCT40010 # TURN OFF NO ATT LAMP.
005784,000335: 13,2324 70326 MASK DSPTAB +11D
005785,000336: 13,2325 67737 AD BIT15
005786,000337: 13,2326 54326 TS DSPTAB +11D
005787,000338:
005788,000339: 13,2327 00002 TC Q
005789,000340:
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005791,000342: # ROUITNES TO INITIATE AND TERMINATE PROGRAM USE OF THE PIPAS. NO IMUSTALL REQUIRED IN EITHER CASE.
005792,000343:
005793,000344: 13,2330 02712 PIPUSE TC CAGETSTQ # DONT ENABLE PIPA FAIL IF IMU BEING CAGED
005794,000345: 13,2331 15237 TCF SWRETURN
005795,000346:
005796,000347: 13,2332 00004 INHINT
005797,000348: 13,2333 37761 CAF ZERO # ZERO COUNTERS.
005798,000349: 13,2334 54037 TS PIPAX
005799,000350: 13,2335 54040 TS PIPAY
005800,000351: 13,2336 54041 TS PIPAZ
005801,000352:
005802,000353: 13,2337 47755 CS BIT1 # IF PIPA FAILS FROM NOW ON (UNTIL
005803,000354: 13,2340 70365 MASK IMODES30 # PIPFREE), LIGHT ISS WARNING.
005804,000355: 13,2341 54365 TS IMODES30
005805,000356:
005806,000357: 13,2342 05307 PIPFREE2 TC IBNKCALL # ISS WARNING MIGHT COME ON NOW.
005807,000358: 13,2343 24763 CADR SETISSW # (OR GO OFF ON PIPFREE).
005808,000359:
005809,000360: 13,2344 12043 TCF MODEEXIT
005810,000361:
005811,000362: 13,2345 00004 PIPFREE INHINT # PROGRAM DONE WITH PIPAS. DONT LIGHT
005812,000363: 13,2346 47755 CS BIT1 # ISS WARNING.
005813,000364: 13,2347 70365 MASK IMODES30
005814,000365: 13,2350 67755 AD BIT1
005815,000366: 13,2351 54365 TS IMODES30
005816,000367:
005817,000368: 13,2352 77744 MASK BIT10 # IF PIP FAIL ON, DO PROG ALSRM AND RESET
005818,000369: 13,2353 10000 CCS A # ISS WARNING.
005819,000370: 13,2354 12043 TCF MODEEXIT
005820,000371:
005821,000372: 13,2355 04744 TC ALARM
005822,000373: 13,2356 00212 OCT 212
005823,000374:
005824,000375: 13,2357 00004 INHINT
005825,000376:
005826,000377: 13,2360 12342 TCF PIPFREE2
005827,000378:
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005829,000380: # THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIX REGISTERS
005830,000381: # BEGINNING AT THE ECADR ARRIVING IN A. THE MINIMUM SIZE OF ANY PULSE TRAIN IS 16 PULSES (.25 CDU COUNTS). THE
005831,000382: # UNSENT PORTION OF THE COMMAND IS LEFT INTACT IN THE INPUT COMMAND REGISTERS.
005832,000383:
005833,000384: 13,2361 E3,1400 EBANK= 1400 # VARIABLE, ACTUALLY.
005834,000385:
005835,000386: 13,2361 54151 IMUPULSE TS MPAC +5 # SAVE ARRIVING ECADR.
005836,000387: 13,2362 02717 TC CAGETSTJ # DONT PROCEED IF IMU BEING CAGED.
005837,000388:
005838,000389: 13,2363 10356 CCS LGYRO # SEE IF GYROS BUSY.
005839,000390: 13,2364 02426 TC GYROBUSY # SLEEP.
005840,000391:
005841,000392: 13,2365 54146 TS MPAC +2
005842,000393: 13,2366 37750 CAF BIT6 # ENABLE THE POWER SUPPLY.
005843,000394: 13,2367 00006 EXTEND
005844,000395: 13,2370 05014 WOR 14
005845,000396:
005846,000397: 13,2371 37753 CAF FOUR
005847,000398: 13,2372 00004 GWAKE2 INHINT # (IF A JOB WAS PUT TO SLEEP, THE POWER
005848,000399: 13,2373 05701 TC WAITLIST # SUPPLY IS LEFT ON BY THE WAKING JOB).
005849,000400:
005850,000401: 13,2374 E3,1455 EBANK= COMMAND
005851,000402: 13,2374 02444 26003 2CADR STRTGYRO
005852,000403: 13,2376 30151 CA MPAC +5 # SET UP EBANK, SAVING CALLER'S EBANK FOR
005853,000404: 13,2377 56003 XCH EBANK # RESTORATION ON RETURN.
005854,000405: 13,2400 56151 XCH MPAC +5
005855,000406: 13,2401 54356 TS LGYRO # RESERVES GYROS.
005856,000407: 13,2402 74553 MASK LOW8
005857,000408: 13,2403 54061 TS ITEMP1
005858,000409:
005859,000410: 13,2404 37754 CAF TWO # FORCE SIGN AGREEMENT ON INPUTS.
005860,000411: 13,2405 54147 GYROAGRE TS MPAC +3
005861,000412: 13,2406 60000 DOUBLE
005862,000413: 13,2407 60061 AD ITEMP1
005863,000414: 13,2410 54150 TS MPAC +4
005864,000415: 13,2411 00006 EXTEND
005865,000416: 13,2412 50000 INDEX A
005866,000417: 13,2413 31401 DCA 1400
005867,000418: 13,2414 52145 DXCH MPAC
005868,000419: 13,2415 07320 TC TPAGREE
005869,000420: 13,2416 52145 DXCH MPAC
005870,000421: 13,2417 50150 INDEX MPAC +4
005871,000422: 13,2420 53401 DXCH 1400
005872,000423:
005873,000424: 13,2421 10147 CCS MPAC +3
005874,000425: 13,2422 12405 TCF GYROAGRE
005875,000426:
005876,000427: 13,2423 30151 CA MPAC +5 # RESTORE CALLER'S EBANK.
005877,000428: 13,2424 54003 TS EBANK
005878,000429: 13,2425 12043 TCF MODEEXIT
005879,000430:
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005881,000432: # ROUTINES TO ALLOW TORQUING BY ONLY ONE JOB AT A TIME.
005882,000433:
005883,000434: 13,2426 00006 GYROBUSY EXTEND # SAVE RETURN 2FCADR.
005884,000435: 13,2427 30124 DCA BUF2
005885,000436: 13,2430 52145 DXCH MPAC
005886,000437: 13,2431 32443 REGSLEEP CAF LGWAKE
005887,000438: 13,2432 15563 TCF JOBSLEEP
005888,000439:
005889,000440: 13,2433 10356 GWAKE CCS LGYRO # WHEN AWAKENED, SEE IF GYROS STILL BUSY.
005890,000441: 13,2434 12431 TCF REGSLEEP # IF SO, SLEEP SOME MORE.
005891,000442:
005892,000443: 13,2435 54146 TS MPAC +2
005893,000444: 13,2436 00006 EXTEND
005894,000445: 13,2437 30145 DCA MPAC
005895,000446: 13,2440 52124 DXCH BUF2 # RESTORE SWRETURN INFO.
005896,000447: 13,2441 37755 CAF ONE
005897,000448: 13,2442 12372 TCF GWAKE2
005898,000449:
005899,000450: 13,2443 26433 LGWAKE CADR GWAKE
005900,000451:
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005902,000453: # GYRO-TORQUING WAITLIST TASKS.
005903,000454:
005904,000455: 13,2444 42672 STRTGYRO CS GDESELCT # DE-SELECT LAST GYRO.
005905,000456: 13,2445 00006 EXTEND
005906,000457: 13,2446 03014 WAND 14
005907,000458:
005908,000459: 13,2447 02705 TC CAGETEST
005909,000460:
005910,000461: 13,2450 30356 STRTGYR2 CA LGYRO # JUMP ON PHASE COUNTER IN BITS 13-14.
005911,000462: 13,2451 00006 EXTEND
005912,000463: 13,2452 77752 MP BIT4
005913,000464: 13,2453 50000 INDEX A
005914,000465: 13,2454 12455 TCF +1
005915,000466: 13,2455 02504 TC GSELECT # =0. DO Y GYRO.
005916,000467: 13,2456 00202 OCT 00202
005917,000468:
005918,000469: 13,2457 02504 TC GSELECT # =1. DO Z GYRO.
005919,000470: 13,2460 00302 OCT 00302
005920,000471:
005921,000472: 13,2461 02502 TC GSELECT -2 # =2. DO X GYRO.
005922,000473: 13,2462 00100 OCT 00100
005923,000474:
005924,000475: 13,2463 37761 CAF ZERO # =3. DONE
005925,000476: 13,2464 54356 TS LGYRO
005926,000477: 13,2465 32443 CAF LGWAKE # WAKE A POSSIBLE SLEEPING JOB.
005927,000478: 13,2466 05567 TC JOBWAKE
005928,000479:
005929,000480: 13,2467 37754 CAF BIT2 # DONT RESET POWER SUPPLY IF BIT SET
005930,000481: 13,2470 70366 MASK IMODES33 # (ONLY DURING GYRO TORQUE SCALE FACTOR
005931,000482: 13,2471 10000 CCS A # TEST).
005932,000483: 13,2472 12501 TCF NORESET
005933,000484:
005934,000485: 13,2473 10064 CCS LOCCTR # IF A JOB WAS AWAKENED, DONT RESET GYRO
005935,000486: 13,2474 12501 TCF NORESET # ENABLE.
005936,000487:
005937,000488: 13,2475 12501 TCF NORESET
005938,000489:
005939,000490: 13,2476 47750 CS BIT6 # IF NO JOB AWAKENED, RESET GYRO ENABLE.
005940,000491: 13,2477 00006 EXTEND
005941,000492: 13,2500 03014 WAND 14
005942,000493:
005943,000494: 13,2501 12270 NORESET TCF IMUFINED
005944,000495:
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005946,000497: 13,2502 47753 -2 CS FOUR # SPECIAL ENTRY TO REGRESS LGYRO FOR X.
005947,000498: 13,2503 26356 ADS LGYRO
005948,000499:
005949,000500: 13,2504 50002 GSELECT INDEX Q # SELECT GYRO.
005950,000501: 13,2505 30000 CAF 0 # PACKED WORD CONTAINS GYRO SELECT BITS
005951,000502: 13,2506 54064 TS ITEMP4 # AND INCREMENT TO LGYRO.
005952,000503: 13,2507 77757 MASK SEVEN
005953,000504: 13,2510 67741 AD BIT13
005954,000505: 13,2511 26356 ADS LGYRO
005955,000506: 13,2512 54003 TS EBANK
005956,000507: 13,2513 74553 MASK LOW8
005957,000508: 13,2514 54061 TS ITEMP1
005958,000509:
005959,000510: 13,2515 47757 CS SEVEN
005960,000511:
005961,000512: 13,2516 70064 MASK ITEMP4
005962,000513: 13,2517 54064 TS ITEMP4
005963,000514:
005964,000515: 13,2520 00006 EXTEND # MOVE DP COMMAND TO RUPTREGS FOR TESTING.
005965,000516: 13,2521 50061 INDEX ITEMP1
005966,000517: 13,2522 31401 DCA 1400
005967,000518: 13,2523 52071 DXCH RUPTREG1
005968,000519:
005969,000520: 13,2524 10070 CCS RUPTREG1
005970,000521: 13,2525 12540 TCF MAJ+
005971,000522: 13,2526 12530 TCF +2
005972,000523: 13,2527 12653 TCF MAJ-
005973,000524:
005974,000525: 13,2530 10071 CCS RUPTREG2
005975,000526: 13,2531 12535 TCF MIN+
005976,000527: 13,2532 12450 TCF STRTGYR2
005977,000528: 13,2533 12650 TCF MIN-
005978,000529: 13,2534 12450 TCF STRTGYR2
005979,000530:
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005981,000532: 13,2535 62571 MIN+ AD -GYROMIN # SMALL POSITIVE COMMAND. SEE IF AT LEAST
005982,000533: 13,2536 00006 EXTEND # 16 GYRO PULSES.
005983,000534: 13,2537 62450 BZMF STRTGYR2
005984,000535:
005985,000536: 13,2540 00006 MAJ+ EXTEND # DEFINITE POSITIVE OUTPUT.
005986,000537: 13,2541 32674 DCA GYROFRAC
005987,000538: 13,2542 20071 DAS RUPTREG1
005988,000539:
005989,000540: 13,2543 30064 CA ITEMP4 # SELECT POSITIVE TORQUING FOR THIS GYRO.
005990,000541: 13,2544 00006 EXTEND
005991,000542: 13,2545 05014 WOR 14
005992,000543:
005993,000544: 13,2546 36130 CAF LOW7 # LEAVE NUMBER OF POSSIBLE 8192 AUGMENTS
005994,000545: 13,2547 70071 MASK RUPTREG2 # TO INITIAL COMMAND IN MAJOR PART OF LONG
005995,000546: 13,2550 56071 XCH RUPTREG2 # TERM STORAGE AND TRUNCATED FRACTION
005996,000547: 13,2551 00006 GMERGE EXTEND # IN MINOR PART. THE MAJOR PART WILL BE
005997,000548: 13,2552 77746 MP BIT8 # COUNTED DOWN TO ZERO IN THE COURSE OF
005998,000549: 13,2553 54062 TS ITEMP2 # PUTTING OUT THE ENTIRE COMMAND.
005999,000550: 13,2554 30070 CA RUPTREG1
006000,000551: 13,2555 00006 EXTEND
006001,000552:
006002,000553: 13,2556 77745 MP BIT9
006003,000554: 13,2557 54070 TS RUPTREG1
006004,000555: 13,2560 30001 CA L
006005,000556: 13,2561 00006 EXTEND
006006,000557: 13,2562 77740 MP BIT14
006007,000558: 13,2563 26062 ADS ITEMP2 # INITIAL COMMAND.
006008,000559:
006009,000560: 13,2564 00006 EXTEND # SEE IF MORE THAN ONE PULSE TRAIN NEEDED
006010,000561: 13,2565 30071 DCA RUPTREG1 # (MORE THAN 16383 PULSES).
006011,000562: 13,2566 67763 AD MINUS1
006012,000563: 13,2567 10000 CCS A
006013,000564: 13,2570 12614 TCF LONGGYRO
006014,000565: 13,2571 77600 -GYROMIN OCT -177 # MAY BE ADJUSTED TO SPECIFY MINIMUM CMD.
006015,000566:
006016,000567: 13,2572 12576 TCF +4
006017,000568:
006018,000569: 13,2573 37740 CAF BIT14
006019,000570: 13,2574 26062 ADS ITEMP2
006020,000571: 13,2575 37761 CAF ZERO
006021,000572:
006022,000573: 13,2576 50061 +4 INDEX ITEMP1
006023,000574: 13,2577 53401 DXCH 1400
006024,000575:
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006026,000577: 13,2600 30062 CA ITEMP2 # ENTIRE COMMAND.
006027,000578: 13,2601 54047 LASTSEG TS GYROCMD
006028,000579:
006029,000580: 13,2602 00006 EXTEND
006030,000581: 13,2603 77744 MP BIT10 # WAITLIST DT
006031,000582: 13,2604 66301 AD THREE # TRUNCATION AND PHASE UNCERTAINTIES.
006032,000583: 13,2605 05701 TC WAITLIST
006033,000584: 13,2606 E3,1455 EBANK= COMMAND
006034,000585: 13,2606 02444 26003 2CADR STRTGYRO
006035,000586: 13,2610 37744 GYROEXIT CAF BIT10 # TURN ON GYRO ACTIVITY TO START TRAIN.
006036,000587: 13,2611 00006 EXTEND
006037,000588: 13,2612 05014 WOR 14
006038,000589: 13,2613 15745 TCF TASKOVER
006039,000590:
006040,000591: 13,2614 50061 LONGGYRO INDEX ITEMP1
006041,000592: 13,2615 53401 DXCH 1400 # INITIAL COMMAND OUT PLUS N AUGMENTS OF
006042,000593: 13,2616 37740 CAF BIT14 # 8192. INITIAL COMMAND IS AT LEAST 8192.
006043,000594: 13,2617 60062 AD ITEMP2
006044,000595: 13,2620 54047 TS GYROCMD
006045,000596:
006046,000597: 13,2621 00006 AUG3 EXTEND # GET WAITLIST DT TO TIME WHEN TRAIN IS
006047,000598: 13,2622 77744 MP BIT10 # ALMOST OUT.
006048,000599: 13,2623 65357 AD NEG3
006049,000600: 13,2624 05701 TC WAITLIST
006050,000601: 13,2625 E3,1455 EBANK= COMMAND
006051,000602:
006052,000603: 13,2625 02630 26003 2CADR 8192AUG
006053,000604: 13,2627 12610 TCF GYROEXIT
006054,000605:
006055,000606: 13,2630 02705 8192AUG TC CAGETEST
006056,000607:
006057,000608: 13,2631 30356 CA LGYRO # ADD 8192 PULSES TO GYROCMD
006058,000609: 13,2632 54003 TS EBANK
006059,000610: 13,2633 74553 MASK LOW8
006060,000611: 13,2634 54061 TS ITEMP1
006061,000612:
006062,000613: 13,2635 50061 INDEX ITEMP1 # SEE IF THIS IS THE LAST AUG.
006063,000614: 13,2636 11400 CCS 1400
006064,000615: 13,2637 12643 TCF AUG2 # MORE TO COME.
006065,000616:
006066,000617: 13,2640 37740 CAF BIT14
006067,000618: 13,2641 26047 ADS GYROCMD
006068,000619: 13,2642 12602 TCF LASTSEG +1
006069,000620:
006070,000621: 13,2643 50061 AUG2 INDEX ITEMP1
006071,000622: 13,2644 55400 TS 1400
006072,000623: 13,2645 37740 CAF BIT14
006073,000624: 13,2646 26047 ADS GYROCMD
006074,000625:
006075,000626: 13,2647 12621 TCF AUG3 # COMPUTE DT.
006076,000627:
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006078,000629: 13,2650 62571 MIN- AD -GYROMIN # POSSIBLE NEGATIVE OUTPUT.
006079,000630: 13,2651 00006 EXTEND
006080,000631: 13,2652 62450 BZMF STRTGYR2
006081,000632:
006082,000633: 13,2653 00006 MAJ- EXTEND # DEFINITE NEGATIVE OUTPUT.
006083,000634: 13,2654 42674 DCS GYROFRAC
006084,000635: 13,2655 20071 DAS RUPTREG1
006085,000636:
006086,000637: 13,2656 30064 CA ITEMP4 # SELECT NEGATIVE TORQUING FOR THIS GYRO.
006087,000638: 13,2657 67745 AD BIT9
006088,000639: 13,2660 00006 EXTEND
006089,000640: 13,2661 05014 WOR 14
006090,000641:
006091,000642: 13,2662 40070 CS RUPTREG1 # SET UP RUPTREGS TO FALL INTO GMERGE.
006092,000643: 13,2663 54070 TS RUPTREG1 # ALL NUMBERS PUT INTO GYROCMD ARE
006093,000644: 13,2664 40071 CS RUPTREG2 # POSITIVE - BIT9 OF CHAN 14 DETERMINES
006094,000645: 13,2665 76130 MASK LOW7 # THE SIGN OF THE COMMAND.
006095,000646: 13,2666 40000 COM
006096,000647: 13,2667 56071 XCH RUPTREG2
006097,000648: 13,2670 40000 COM
006098,000649: 13,2671 12551 TCF GMERGE
006099,000650:
006100,000651: 13,2672 01700 GDESELCT OCT 1700 # TURN OFF SELECT AND ACTIVITY BITS.
006101,000652:
006102,000653: 13,2673 00000 00034 GYROFRAC 2DEC .215 B-21
006103,000654:
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006105,000656: # IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE.
006106,000657:
006107,000658: 13,2675 00006 ENDIMU EXTEND # MODE IS BAD IF CAGE HAS OCCURED OR IF
006108,000659: 13,2676 00011 READ 11 # ISS WARNING IS ON.
006109,000660: 13,2677 77755 MASK BIT1
006110,000661: 13,2700 10000 CCS A
006111,000662: 13,2701 12703 TCF IMUBAD
006112,000663:
006113,000664: 13,2702 12731 IMUGOOD TCF GOODEND # WITH C(A) = 0.
006114,000665:
006115,000666: 13,2703 37761 IMUBAD CAF ZERO
006116,000667: 13,2704 12726 TCF BADEND
006117,000668:
006118,000669: 13,2705 37750 CAGETEST CAF BIT6 # SUBROUTINE TO TERMINATE IMU MODE
006119,000670:
006120,000671: 13,2706 70365 MASK IMODES30 # SWITCH IF IMU HAS BEEN CAGED.
006121,000672: 13,2707 10000 CCS A
006122,000673: 13,2710 12703 TCF IMUBAD # DIRECTLY.
006123,000674: 13,2711 00002 TC Q # WITH C(A) = +0.
006124,000675:
006125,000676: 13,2712 40365 CAGETSTQ CS IMODES30 # SKIP IF IMU NOT BEING CAGED.
006126,000677: 13,2713 77750 MASK BIT6
006127,000678: 13,2714 10000 CCS A
006128,000679: 13,2715 24002 INCR Q
006129,000680: 13,2716 00002 TC Q
006130,000681:
006131,000682: 13,2717 40365 CAGETSTJ CS IMODES30 # IF DURING MODE SWITCH INITIALIZATION
006132,000683: 13,2720 77750 MASK BIT6 # IT IS FOUND THAT THE IMU IS BEING CAGED,
006133,000684: 13,2721 10000 CCS A # SET IMUCADR TO -0 TO INDICATE OPERATION
006134,000685: 13,2722 00002 TC Q # COMPLETE BUT FAILED. RETURN IMMEDIATELY
006135,000686:
006136,000687: 13,2723 47761 CS ZERO # TO SWRETURN.
006137,000688: 13,2724 54367 TS IMUCADR
006138,000689: 13,2725 12043 TCF MODEEXIT
006139,000690:
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006141,000692: # GENERALIZED MODE SWITCHING TERMINATION. ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION
006142,000693: # OR AT BADEND FOR AN UNSUCCESSFUL ONE. C(A) OR ARRIVAL =0 FOR IMU, 1 FOR AOT, 2 FOR RADARS, & 3 FOR ATT MANU.
006143,000694:
006144,000695: 13,2726 54071 BADEND TS RUPTREG2 # DEVICE INDEX.
006145,000696: 13,2727 47761 CS ZERO # FOR FAILURE.
006146,000697: 13,2730 12733 TCF GOODEND +2
006147,000698:
006148,000699: 13,2731 54071 GOODEND TS RUPTREG2
006149,000700: 13,2732 47755 CS ONE # FOR SUCCESS.
006150,000701:
006151,000702: 13,2733 54072 TS RUPTREG3
006152,000703: 13,2734 50071 INDEX RUPTREG2 # SEE IF USING PROGRAM ASLEEP.
006153,000704: 13,2735 10367 CCS MODECADR
006154,000705: 13,2736 12740 TCF +2 # YES - WAKE IT UP.
006155,000706: 13,2737 12750 TCF ENDMODE # IF 0, PROGRAM NOT IN YET.
006156,000707:
006157,000708: 13,2740 37761 CAF ZERO # WAKE SLEEPING PROGRAM.
006158,000709: 13,2741 50071 INDEX RUPTREG2
006159,000710: 13,2742 56367 XCH MODECADR
006160,000711:
006161,000712: 13,2743 05567 TC JOBWAKE
006162,000713:
006163,000714: 13,2744 40072 CS RUPTREG3 # ADVANCE LOC IF SUCCESSFUL.
006164,000715: 13,2745 50064 INDEX LOCCTR
006165,000716: 13,2746 26154 ADS LOC
006166,000717:
006167,000718: 13,2747 15745 TCF TASKOVER
006168,000719:
006169,000720: 13,2750 30072 ENDMODE CA RUPTREG3 # -0 INDICATES OPERATION COMPLETE BUT
006170,000721: 13,2751 50071 INDEX RUPTREG2 # UNSUCCESSFUL - -1 INDICATES COMPLETE AND
006171,000722: 13,2752 54367 TS MODECADR # SUCCESSFUL.
006172,000723: 13,2753 15745 TCF TASKOVER
006173,000724:
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006175,000726: # GENERAL STALLING ROUTINE. USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION.
006176,000727:
006177,000728: 13,2754 36301 ATTSTALL CAF THREE # ATTITUDE MANEUVER STALL
006178,000729: 13,2755 12763 TCF STALL
006179,000730:
006180,000731: 13,2756 37754 RADSTALL CAF TWO # RR AND LR STALL.
006181,000732: 13,2757 12763 TCF STALL
006182,000733:
006183,000734: 13,2760 37755 AOTSTALL CAF ONE # AOT.
006184,000735: 13,2761 02763 TC STALL
006185,000736:
006186,000737: 13,2762 13,2760 OPTSTALL EQUALS AOTSTALL
006187,000738:
006188,000739: 13,2762 37761 IMUSTALL CAF ZERO # IMU.
006189,000740:
006190,000741: 13,2763 00004 STALL INHINT
006191,000742: 13,2764 54071 TS RUPTREG2 # SAVE DEVICE INDEX.
006192,000743: 13,2765 50000 INDEX A # SEE IF OPERATION COMPLETE.
006193,000744: 13,2766 10367 CCS MODECADR
006194,000745: 13,2767 13005 TCF MODABORT # ALLOWABLE STATES ARE +0, -1, AND -0.
006195,000746: 13,2770 13001 TCF MODESLP # OPERATION INCOMPLETE.
006196,000747: 13,2771 12775 TCF MODEGOOD # COMPLETE AND GOOD IF = -1.
006197,000748:
006198,000749: 13,2772 50071 MG2 INDEX RUPTREG2 # COMPLETE AND FAILED IF -0. RESET TO +0.
006199,000750: 13,2773 54367 TS MODECADR # RETURN TO CALLER.
006200,000751: 13,2774 12043 TCF MODEEXIT
006201,000752:
006202,000753: 13,2775 10000 MODEGOOD CCS A # MAKE SURE INITIAL STATE -1.
006203,000754: 13,2776 13005 TCF MODABORT
006204,000755:
006205,000756: 13,2777 24123 INCR BUF2 # IF SO, INCREMENT RETURN ADDRESS AND
006206,000757: 13,3000 12772 TCF MG2 # RETURN IMMEDIATELY, SETTING CADR = +0.
006207,000758:
006208,000759: 13,3001 05253 MODESLP TC MAKECADR # CALL FROM SWITCHABLE FIXED ONLY.
006209,000760: 13,3002 50071 INDEX RUPTREG2
006210,000761: 13,3003 54367 TS MODECADR
006211,000762: 13,3004 15563 TCF JOBSLEEP
006212,000763:
006213,000764: 13,3005 06000 MODABORT TC ABORT # TWO PROGRAMS USING SAME DEVICE.
006214,000765: 13,3006 01210 OCT 1210
006215,000766:
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006217,000768: # CONSTANTS FOR MODE SWITCHING ROUTINES
006218,000769:
006219,000770: 13,3007 00014 BITS3&4 OCT 14
006220,000771: 13,3010 00050 BITS4&6 OCT 00050
006221,000772: 13,3011 00070 BITS4-6 OCT 00070
006222,000773: 13,3012 7746 IMUSEFLG EQUALS BIT8 # INTERPRETER SWITCH 7.
006223,000774: 13,3012 70000 13,14,15 OCT 70000
006224,000775:
006225,000776: 13,3013 77500 -COMMAX DEC -191 B-14
006226,000777: 13,3014 77477 -COMMAX- DEC -192 B-14
006227,000778: 13,3015 00074 600MS DEC 60 B-14
006228,000779: 13,3016 4311 3SECSM EQUALS 3SECS
006229,000780: 13,3016 21450 90SEC DEC 9000 B-14
End of include-file IMU_MODE_SWITCHING_ROUTINES.agc. Parent file is MAIN.agc