Assembly listing generated by yaYUL

Source Code

These source code files are an attempted reconstruction of Sundance revision 306, the Apollo 9 LM (Lunar Module) AGC (Apollo Guidance Computer) flight software, created from binary dumps of original core rope program modules, as follows:

B1 — Revision 292
B2 — Revision 302
B3 — Revision 302
B4 — Revision 302
B5 — Revision 292
B6 — Revision 306

These dumps were then modified using memos, checklists, observed address changes, and the Sundance GSOPs to get the entire program to match Sundance revision 306 as closely as possible. Without more information, it is not possible to say how close it actually is; however, this code should be quite close. It is capable of flying the whole Apollo 9 mission using the original checklists and padload. Since only binary dumps (rather than listings) of Sundance are available as source material, all comments and labels are approximate. They have been taken from other AGC programs where possible, or, in some places, written from scratch to match what we believe would have been in the original listing.

051528,000002: 051529,000003: 051530,000004: 051531,000005: 051532,000006: 051533,000007: 051534,000008: 051535,000009: 051536,000010: 051537,000011: 051538,000012: 051539,000013: 051540,000014: 051541,000015: 051542,000016: 051543,000017: 051544,000018: 051545,000019: 051546,000020: 7722 051547,000021: 6000 051548,000022: 6000 051549,000023: 051550,000024: 7722 E3,1471 051551,000025: 051552,000026: 051553,000027: 051554,000028: 7722 < 051660,000134: 07,2722 051661,000135: 07,2723 051662,000136: 07,2724 051663,000137: 051664,000138: 07,2725 < 051985,000459: 07,3306 051986,000460: 051987,000461: 07,3307 051988,000462: 07,3310 051989,000463: 07,3311 051990,000464: 07,3312 051991,000465: 07,3313 051992,000466: 07,3314 051993,000467: < 052302,000776: 07,3627 052303,000777: 07,3630 052304,000778: 07,3631 052305,000779: 07,3632 052306,000780: 07,3633 052307,000781: 07,3634 052308,000782: 052309,000783: 052310,000784: 07,3636 052311,000785: 07,3637 052312,000786: < < 052446,000920: 052447,000921: 37,3510 052448,000922: < 052484,000958: 052485,000959: 052486,000960: 052487,000961: 052488,000962: 052489,000963: 052490,000964: 052491,000965: 052492,000966: 052493,000967: 052494,000968: 052495,000969: ## Copyright: Public domain. ## Filename: IMU_MODE_SWITCHING_ROUTINES.agc ## Purpose: A section of an attempt to reconstruct Sundance revision 306 ## as closely as possible with available information. Sundance ## 306 is the source code for the Lunar Module's (LM) Apollo ## Guidance Computer (AGC) for Apollo 9. This program was created ## using the mixed-revision SundanceXXX as a starting point, and ## pulling back features from Luminary 69 believed to have been ## added based on memos, checklists, observed address changes, ## or the Sundance GSOPs. ## Assembler: yaYUL ## Contact: Ron Burkey <info@sandroid.org>. ## Website: www.ibiblio.org/apollo/index.html ## Mod history: 2020-07-24 MAS Created from SundanceXXX. ## 2020-07-29 MAS Moved ZEROICDU to bank 3. ## The following routine is located in bank 2 in Sundance 292. BLOCK 03 SETLOC FFTAG5 BANK EBANK= COMMAND # FIXED-FIXED ROUTINES. COUNT* $$/IMODE 455">051555,000029: 7722 35030 ZEROICDU CAF ZERO # ZERO ICDU COUNTERS. 54032 TS CDUX 54033 TS CDUY 54034 TS CDUZ 00002 TC Q 5">051561,000035: 7727 5016 SPSCODE = BIT9 # IMU ZEROING ROUTINE. BANK 11 SETLOC MODESW BANK COUNT* $$/IMODE F">051571,000045: 07,2622 00004 IMUZERO INHINT # ROUTINE TO ZERO ICDUS. 41037 CS DSPTAB +11D # DONT ZERO CDUS IF IMU IN GIMBAL LOCK AND 75041 MASK BITS4&6 # COARSE ALIGN (GIMBAL RUNAWAY PROTECTION) 10000 CCS A 12632 TCF IMUZEROA 05651 TC ALARM # IF SO. 00206 OCT 00206 13570 TCF CAGETSTJ +4 # IMMEDIATE FAILURE. F41">051582,000056: 07,2632 03557 IMUZEROA TC CAGETSTQ # IF IMU COMING UP, TURN-ON PROGRAM WILL 12664 TCF MODEEXIT # DO ALL THE WORK. 41305 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES 75043 MASK SUPER011 # BIT5 FOR GROUND 27305 ADS IMODES33 41304 CS IMODES30 # INHIBIT ICDUFAIL AND IMUFAIL (IN CASE WE 75746 MASK BITS3&4 # JUST CAME OUT OF COARSE ALIGN). 27304 ADS IMODES30 45041 CS BITS4&6 # SEND ZERO ENCODE WITH COARSE AND ERROR 00006 EXTEND # COUNTER DISABLED. 03012 WAND CHAN12 03177 TC NOATTOFF # TURN OFF NO ATT LAMP. 35022 CAF BIT5 00006 EXTEND 05012 WOR CHAN12 07722 TC ZEROICDU 35021 CAF BIT6 # WAIT 320 MS TO GIVE AGS ADEQUATE TIME TO 05252 TC WAITLIST # RECEIVE ITS PULSE TRAIN. EBANK= CDUIND 02666 16103 2CADR IMUZERO2 41304 CS IMODES30 # SEE IF IMU OPERATING AND ALARM IF NOT. 75016 MASK BIT9 10000 CCS A 12664 TCF MODEEXIT 05651 TC ALARM 00210 OCT 210 954">051616,000090: 07,2664 00003 MODEEXIT RELINT # GENERAL MODE-SWITCHING EXIT. 14670 TCF SWRETURN F32">051619,000093: 07,2666 03557 IMUZERO2 TC CAGETSTQ # POSSIBLY SWITCH TO TURN-ON PROGRAM. 15331 TCF TASKOVER 07722 TC ZEROICDU # ZERO CDUX, CDUY, CDUZ 45022 CS BIT5 # REMOVE ZERO DISCRETE. 00006 EXTEND 03012 WAND CHAN12 35014 CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS 05274 TC VARDELAY F33">051630,000104: 07,2676 03557 IMUZERO3 TC CAGETSTQ 15331 TCF TASKOVER 45746 CS BITS3&4 # REMOVE IMUFAIL AND ICDUFAIL INHIBIT. 71304 MASK IMODES30 55304 TS IMODES30 45043 CS SUPER011 # ENABLE DAP AUTO AND HOLD MODES 71305 MASK IMODES33 # BIT5 FOR GROUND 55305 TS IMODES33 04737 TC IBNKCALL # SET ISS WARNING IF EITHER OF ABOVE ARE 14705 CADR SETISSW # PRESENT. 13542 TCF ENDIMU # IMU COARSE ALIGN MODE. 253">051648,000122: 07,2711 00004 IMUCOARS INHINT 03564 TC CAGETSTJ 03055 TC SETCOARS 36216 CAF SIX 05252 TC WAITLIST EBANK= CDUIND 02721 16103 2CADR COARS 12664 TCF MODEEXIT /a>051659,000133: 07,2721 03552 COARS TC CAGETEST 35021 CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS 00006 EXTEND 05012 WOR CHAN12 35025 CAF TWO # SET CDU INDICATOR >051665,000139: 07,2726 55474 COARS1 TS CDUIND 51474 INDEX CDUIND # COMPUTE THETAD - THETAA IN 1:S 31206 CA THETAD # COMPLEMENT FORM 00006 EXTEND 51474 INDEX CDUIND 20032 MSU CDUX 00006 EXTEND 75012 MP BIT13 # SHIFT RIGHT 2 56001 XCH L # ROUND 60000 DOUBLE 54061 TS ITEMP1 12743 TCF +2 26001 ADS L 51474 INDEX CDUIND # DIFFERENCE TO BE COMPUTED 23471 LXCH COMMAND 11474 CCS CDUIND 02726 TC COARS1 35025 CAF TWO # MINIMUM OF 4 MS WAIT 05274 TC VARDELAY >051688,000162: 07,2751 03552 COARS2 TC CAGETEST # DONT CONTINUE IF CAGED. 54061 TS ITEMP1 # SETS TO +0. 35025 CAF TWO # SET CDU INDICATOR 55474 +3 TS CDUIND 51474 INDEX CDUIND 11471 CCS COMMAND # NUMBER OF PULSES REQUIRED 02763 TC COMPOS # GREATER THAN MAX ALLOWED 02772 TC NEXTCDU +1 03030 TC COMNEG 02772 TC NEXTCDU +1 >051700,000174: 07,2763 63653 COMPOS AD -COMMAX # COMMAX = MAX NUMBER OF PULSES ALLOWED 00006 EXTEND # MINUS ONE 63040 BZMF COMZERO 51474 INDEX CDUIND 55471 TS COMMAND # REDUCE COMMAND BY MAX NUMBER OF PULSES 43654 CS -COMMAX- # ALLOWED 5">051707,000181: 07,2771 24061 NEXTCDU INCR ITEMP1 65027 AD NEG0 51474 INDEX CDUIND 54050 TS CDUXCMD # SET UP COMMAND REGISTER. 11474 CCS CDUIND 02754 TC COARS2 +3 10061 CCS ITEMP1 # SEE IF ANY PULSES TO GO OUT. 13044 TCF SENDPULS 05271 TC FIXDELAY # WAIT FOR GIMBALS TO SETTLE. 00226 DEC 150 B-14 35025 CAF TWO # AT END OF COMMAND, CHECK TO SEE THAT 3">051722,000196: 07,3004 54061 CHKCORS TS ITEMP1 # GIMBALS ARE WITHIN 2 DEGREES OF THETAD. 50000 INDEX A 30032 CA CDUX 00006 EXTEND 50061 INDEX ITEMP1 21206 MSU THETAD 10000 CCS A 13021 TCF COARSERR 13016 TCF CORSCHK2 13021 TCF COARSERR B32">051733,000207: 07,3016 10061 CORSCHK2 CCS ITEMP1 13004 TCF CHKCORS 13542 TCF ENDIMU # END OF COARSE ALIGNMENT. 252">051737,000211: 07,3021 63027 COARSERR AD COARSTOL # 2 DEGREES. 00006 EXTEND 63016 BZMF CORSCHK2 05651 TC ALARM # COARSE ALIGN ERROR. 00211 OCT 211 13550 TCF IMUBAD F4C">051746,000220: 07,3027 77511 COARSTOL DEC -.01111 # 2 DEGREES SCALED AT HALF-REVOLUTIONS >051748,000222: 07,3030 63653 COMNEG AD -COMMAX 00006 EXTEND 63040 BZMF COMZERO 40000 COM 51474 INDEX CDUIND 55471 TS COMMAND 33654 CA -COMMAX- 02771 TC NEXTCDU F">051757,000231: 07,3040 35030 COMZERO CAF ZERO 51474 INDEX CDUIND 57471 XCH COMMAND 02771 TC NEXTCDU C53">051762,000236: 07,3044 37711 SENDPULS CAF 13,14,15 00006 EXTEND 05014 WOR CHAN14 33655 CAF 600MS 12750 TCF COARS2 -1 # THEN TO VARDELAY >051768,000242: 07,3051 35021 CA+ECE CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS 00006 EXTEND 05012 WOR CHAN12 05331 TC TASKOVER 253">051773,000247: 07,3055 35023 SETCOARS CAF BIT4 # BYPASS IF ALREADY IN COARSE ALIGN 00006 EXTEND 02012 RAND CHAN12 10000 CCS A 00002 TC Q 45021 CS BIT6 # CLEAR ISS ERROR COUNTERS 00006 EXTEND 03012 WAND CHAN12 45015 CS BIT10 # KNOCK DOWN GYRO ACTIVITY 00006 EXTEND 03014 WAND CHAN14 45030 CS ZERO 54047 TS GYROCMD 35023 CAF BIT4 # PUT ISS IN COARSE ALIGN 00006 EXTEND 05012 WOR CHAN12 41037 CS DSPTAB +11D # TURN ON NO ATT LAMP 73120 MASK OCT40010 27037 ADS DSPTAB +11D 41305 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES 75021 MASK BIT6 27305 ADS IMODES33 41304 CS IMODES30 # DISABLE IMUFAIL 75023 MASK BIT4 27304 ADS IMODES30 452">051805,000279: 07,3106 45022 RNDREFDR CS TRACKBIT # CLEAR TRACK FLAG 70075 MASK FLAGWRD1 54075 TS FLAGWRD1 45010 CS DRFTBIT # CLEAR DRIFT FLAG 70076 MASK FLAGWRD2 54076 TS FLAGWRD2 45012 CS REFSMBIT # CLEAR REFSMMAT FLAG 70077 MASK FLAGWRD3 54077 TS FLAGWRD3 00002 TC Q 130">051819,000293: 07,3120 40010 OCT40010 OCT 40010 # IMU FINE ALIGN MODE SWITCH. 5">051823,000297: 07,3121 00004 IMUFINE INHINT 03564 TC CAGETSTJ # SEE IF IMU BEING CAGED. 43652 CS BITS4-5 # RESET ZERO AND COARSE 00006 EXTEND 03012 WAND CHAN12 45021 CS BIT6 # INSURE DAP AUTO AND HOLD MODES ENABLED 71305 MASK IMODES33 55305 TS IMODES33 03177 TC NOATTOFF 35015 CAF BIT10 # IMU FAIL WAS INHIBITED DURING THE 05252 TC WAITLIST # PRESUMABLY PRECEDING COARSE ALIGN. LEAVE EBANK= CDUIND 03145 16103 2CADR IFAILOK # IT ON FOR THE FIRST 5 SECS OF FINE ALIGN 35050 CAF 2SECS 05252 TC WAITLIST EBANK= CDUIND 03143 16103 2CADR IMUFINED 12664 TCF MODEEXIT 544">051848,000322: 07,3143 03552 IMUFINED TC CAGETEST # SEE THAT NO ONE HAS CAGED THE IMU. 13542 TCF ENDIMU B">051851,000325: 07,3145 03557 IFAILOK TC CAGETSTQ # ENABLE IMU FIAL UNLESS IMU BEING CAGED. 15331 TCF TASKOVER # IT IS. 35023 CAF BIT4 # DONT RESET IMU FAIL INHIBIT IF SOMEONE 00006 EXTEND # HAS GONE INTO COARSE ALIGN. 02012 RAND CHAN12 10000 CCS A 15331 TCF TASKOVER 41304 CS IMODES30 # RESET IMUFAIL. 75012 MASK BIT13 27304 ADS IMODES30 45023 CS BIT4 B32">051864,000338: 07,3160 71304 PFAILOK2 MASK IMODES30 55304 TS IMODES30 04737 TC IBNKCALL # THE ISS WARNING LIGHT MAY COME ON NOW 14705 CADR SETISSW # THAT THE INHIBIT HAS BEEN REMOVED. 15331 TCF TASKOVER B">051870,000344: 07,3165 03557 PFAILOK TC CAGETSTQ # ENABLE PIP FAIL PROG ALARM. 15331 TCF TASKOVER 41304 CS IMODES30 # RESET IMU AND PIPA FAIL BITS. 75015 MASK BIT10 27304 ADS IMODES30 41305 CS IMODES33 75012 MASK BIT13 27305 ADS IMODES33 45022 CS BIT5 13160 TCF PFAILOK2 646">051884,000358: 07,3177 43120 NOATTOFF CS OCT40010 # SUBROUTINE TO TURN OFF NO ATT LAMP. 71037 MASK DSPTAB +11D 65010 AD BIT15 55037 TS DSPTAB +11D 00002 TC Q # ROUITNES TO INITIATE AND TERMINATE PROGRAM USE OF THE PIPAS. NO IMUSTALL REQUIRED IN EITHER CASE. >051892,000366: 07,3204 03557 PIPUSE TC CAGETSTQ # DONT ENABLE PIPA FAIL IF IMU BEING CAGED 14670 TCF SWRETURN 00004 INHINT 35030 CAF ZERO # ZERO COUNTERS. 54037 TS PIPAX 54040 TS PIPAY 54041 TS PIPAZ 45026 CS BIT1 # IF PIPA FAILS FROM NOW ON (UNTIL 71304 MASK IMODES30 # PIPFREE), LIGHT ISS WARNING. 55304 TS IMODES30 532">051905,000379: 07,3216 04737 PIPFREE2 TC IBNKCALL # ISS WARNING MIGHT COME ON NOW. 14705 CADR SETISSW # (OR GO OFF ON PIPFREE). 12664 TCF MODEEXIT 5">051910,000384: 07,3221 00004 PIPFREE INHINT # PROGRAM DONE WITH PIPAS. DONT LIGHT 41304 CS IMODES30 # ISS WARNING. 75026 MASK BIT1 27304 ADS IMODES30 75015 MASK BIT10 # IF PIP FAIL ON, DO PROG ALSRM AND RESET 10000 CCS A # ISS WARNING. 12664 TCF MODEEXIT 05651 TC ALARM 00212 OCT 212 00004 INHINT 13216 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. EBANK= 1400 # VARIABLE, ACTUALLY. 345">051932,000406: 07,3234 54161 IMUPULSE TS MPAC +5 # SAVE ARRIVING ECADR. 03564 TC CAGETSTJ # DONT PROCEED IF IMU BEING CAGED. 11321 CCS LGYRO # SEE IF GYROS BUSY. 03300 TC GYROBUSY # SLEEP. 54156 TS MPAC +2 35021 CAF BIT6 # ENABLE THE POWER SUPPLY. 00006 EXTEND 05014 WOR CHAN14 35024 CAF FOUR >051944,000418: 07,3245 05252 GWAKE2 TC WAITLIST # (IF A JOB WAS PUT TO SLEEP, THE POWER EBANK= CDUIND # SUPPLY IS LEFT ON BY THE WAKING JOB). 03316 16103 2CADR STRTGYRO 30161 CA MPAC +5 # SET UP EBANK, SAVING CALLER'S EBANK FOR 56003 XCH EBANK # RESTORATION ON RETURN. 56161 XCH MPAC +5 55321 TS LGYRO # RESERVES GYROS. 74371 MASK LOW8 54061 TS ITEMP1 35025 CAF TWO # FORCE SIGN AGREEMENT ON INPUTS. 245">051956,000430: 07,3257 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 07231 TC TPAGREE 52155 DXCH MPAC 50160 INDEX MPAC +4 53401 DXCH 1400 10157 CCS MPAC +3 13257 TCF GYROAGRE 30161 CA MPAC +5 # RESTORE CALLER'S EBANK. 54003 TS EBANK 12664 TCF MODEEXIT # ROUTINES TO ALLOW TORQUING BY ONLY ONE JOB AT A TIME. 359">051978,000452: 07,3300 00006 GYROBUSY EXTEND # SAVE RETURN 2FCADR. 30134 DCA BUF2 52155 DXCH MPAC 550">051981,000455: 07,3303 33315 REGSLEEP CAF LGWAKE 15203 TCF JOBSLEEP /a>051984,000458: 07,3305 11321 GWAKE CCS LGYRO # WHEN AWAKENED, SEE IF GYROS STILL BUSY. 13303 TCF REGSLEEP # IF SO, SLEEP SOME MORE. 54156 TS MPAC +2 00006 EXTEND 30155 DCA MPAC 52134 DXCH BUF2 # RESTORE SWRETURN INFO. 35026 CAF ONE 13245 TCF GWAKE2 >051994,000468: 07,3315 17305 LGWAKE CADR GWAKE # GYRO-TORQUING WAITLIST TASKS. 24F">051998,000472: 07,3316 43537 STRTGYRO CS GDESELCT # DE-SELECT LAST GYRO. 00006 EXTEND 03014 WAND CHAN14 03552 TC CAGETEST 232">052004,000478: 07,3322 31321 STRTGYR2 CA LGYRO # JUMP ON PHASE COUNTER IN BITS 13-14. 00006 EXTEND 75023 MP BIT4 50000 INDEX A 13327 TCF +1 03344 TC GSELECT # =0. DO Y GYRO. 00202 OCT 00202 03344 TC GSELECT # =1. DO Z GYRO. 00302 OCT 00302 03342 TC GSELECT -2 # =2. DO X GYRO. 00100 OCT 00100 35030 CAF ZERO # =3. DONE 55321 TS LGYRO 33315 CAF LGWAKE # WAKE A POSSIBLE SLEEPING JOB. 05207 TC JOBWAKE 4">052023,000497: 07,3341 13143 NORESET TCF IMUFINED # DO NOT RESET POWER SUPPLY 45024 -2 CS FOUR # SPECIAL ENTRY TO REGRESS LGYRO FOR X. 27321 ADS LGYRO 4">052027,000501: 07,3344 50002 GSELECT INDEX Q # SELECT GYRO. 30000 CAF 0 # PACKED WORD CONTAINS GYRO SELECT BITS 54064 TS ITEMP4 # AND INCREMENT TO LGYRO. 75032 MASK SEVEN 65012 AD BIT13 27321 ADS LGYRO 54003 TS EBANK 74371 MASK LOW8 54061 TS ITEMP1 45032 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 13400 TCF MAJ+ 13370 TCF +2 13520 TCF MAJ- 10071 CCS RUPTREG2 13375 TCF MIN+ 13322 TCF STRTGYR2 13515 TCF MIN- 13322 TCF STRTGYR2 >052057,000531: 07,3375 63431 MIN+ AD -GYROMIN # SMALL POSITIVE COMMAND. SEE IF AT LEAST 00006 EXTEND # 16 GYRO PULSES. 63322 BZMF STRTGYR2 >052061,000535: 07,3400 00006 MAJ+ EXTEND # DEFINITE POSITIVE OUTPUT. 33541 DCA GYROFRAC 20071 DAS RUPTREG1 30064 CA ITEMP4 # SELECT POSITIVE TORQUING FOR THIS GYRO. 00006 EXTEND 05014 WOR CHAN14 36050 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 >052072,000546: 07,3411 00006 GMERGE EXTEND # IN MINOR PART. THE MAJOR PART WILL BE 75017 MP BIT8 # COUNTED DOWN TO ZERO IN THE COURSE OF 54062 TS ITEMP2 # PUTTING OUT THE ENTIRE COMMAND. 30070 CA RUPTREG1 00006 EXTEND 75016 MP BIT9 54070 TS RUPTREG1 30001 CA L 00006 EXTEND 75011 MP BIT14 26062 ADS ITEMP2 # INITIAL COMMAND. 00006 EXTEND # SEE IF MORE THAN ONE PULSE TRAIN NEEDED 30071 DCA RUPTREG1 # (MORE THAN 16383 PULSES). 67721 AD MINUS1 10000 CCS A 13461 TCF LONGGYRO 94E">052089,000563: 07,3431 77601 -GYROMIN OCT -176 # MAY BE ADJUSTED TO SPECIFY MINIMUM CMD 13436 TCF +4 35011 CAF BIT14 26062 ADS ITEMP2 35030 CAF ZERO 50061 +4 INDEX ITEMP1 53401 DXCH 1400 30062 CA ITEMP2 # ENTIRE COMMAND. 7">052099,000573: 07,3441 54047 LASTSEG TS GYROCMD 00006 EXTEND 75015 MP BIT10 # WAITLIST DT 66221 AD THREE # TRUNCATION AND PHASE UNCERTAINTIES. 05252 TC WAITLIST EBANK= CDUIND 03316 16103 2CADR STRTGYRO 954">052107,000581: 07,3450 35023 GYROEXIT CAF BIT4 00006 EXTEND 02012 RAND CHAN12 10000 CCS A 13550 TCF IMUBAD 35015 CAF BIT10 00006 EXTEND 05014 WOR CHAN14 15331 TCF TASKOVER 24F">052118,000592: 07,3461 50061 LONGGYRO INDEX ITEMP1 53401 DXCH 1400 # INITIAL COMMAND OUT PLUS N AUGMENTS OF 35011 CAF BIT14 # 8192. INITIAL COMMAND IS AT LEAST 8192. 60062 AD ITEMP2 54047 TS GYROCMD >052124,000598: 07,3466 00006 AUG3 EXTEND # GET WAITLIST DT TO TIME WHEN TRAIN IS 75015 MP BIT10 # ALMOST OUT. 67717 AD NEG3 05252 TC WAITLIST EBANK= CDUIND 03475 16103 2CADR 8192AUG 13450 TCF GYROEXIT 7">052133,000607: 07,3475 03552 8192AUG TC CAGETEST 31321 CA LGYRO # ADD 8192 PULSES TO GYROCMD 54003 TS EBANK 74371 MASK LOW8 54061 TS ITEMP1 50061 INDEX ITEMP1 # SEE IF THIS IS THE LAST AUG. 11400 CCS 1400 13510 TCF AUG2 # MORE TO COME. 35011 CAF BIT14 26047 ADS GYROCMD 13442 TCF LASTSEG +1 >052148,000622: 07,3510 50061 AUG2 INDEX ITEMP1 55400 TS 1400 35011 CAF BIT14 26047 ADS GYROCMD 13466 TCF AUG3 # COMPUTE DT. >052154,000628: 07,3515 63431 MIN- AD -GYROMIN # POSSIBLE NEGATIVE OUTPUT. 00006 EXTEND 63322 BZMF STRTGYR2 >052158,000632: 07,3520 00006 MAJ- EXTEND # DEFINITE NEGATIVE OUTPUT. 43541 DCS GYROFRAC 20071 DAS RUPTREG1 30064 CA ITEMP4 # SELECT NEGATIVE TORQUING FOR THIS GYRO. 65016 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 76050 MASK LOW7 # THE SIGN OF THE COMMAND. 40000 COM 56071 XCH RUPTREG2 40000 COM 13411 TCF GMERGE 354">052176,000650: 07,3537 01700 GDESELCT OCT 1700 # TURN OFF SELECT AND ACTIVITY BITS. 143">052178,000652: 07,3540 00000 00034 GYROFRAC 2DEC .215 B-21 # IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE. >052182,000656: 07,3542 00006 ENDIMU EXTEND # MODE IS BAD IF CAGE HAS OCCURED OR IF 00011 READ DSALMOUT # ISS WARNING IS ON. 75026 MASK BIT1 10000 CCS A 13550 TCF IMUBAD 4">052188,000662: 07,3547 13576 IMUGOOD TCF GOODEND # WITH C(A) = 0. >052190,000664: 07,3550 35030 IMUBAD CAF ZERO 13573 TCF BADEND 354">052193,000667: 07,3552 35021 CAGETEST CAF BIT6 # SUBROUTINE TO TERMINATE IMU MODE 71304 MASK IMODES30 # SWITCH IF IMU HAS BEEN CAGED. 10000 CCS A 13550 TCF IMUBAD # DIRECTLY. 00002 TC Q # WITH C(A) = +0. 451">052199,000673: 07,3557 41304 CAGETSTQ CS IMODES30 # SKIP IF IMU NOT BEING CAGED. 75021 MASK BIT6 10000 CCS A 24002 INCR Q 00002 TC Q 44A">052205,000679: 07,3564 41304 CAGETSTJ CS IMODES30 # IF DURING MODE SWITCH INITIALIZATION 75021 MASK BIT6 # 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 45030 CS ZERO # TO SWRETURN. 55306 TS IMUCADR 12664 TCF MODEEXIT # GENERALIZED MODE SWITCHING TERMINATION. ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION # OR AT BADEND FOR AN UNSUCCESSFUL ONE. C(A) OR ARRIVAL =0 FOR IMU, 1 FOR OPTICS. >052217,000691: 07,3573 54071 BADEND TS RUPTREG2 # DEVICE INDEX. 45030 CS ZERO # FOR FAILURE. 13600 TCF GOODEND +2 4">052221,000695: 07,3576 54071 GOODEND TS RUPTREG2 45026 CS ONE # FOR SUCCESS. 54072 TS RUPTREG3 50071 INDEX RUPTREG2 # SEE IF USING PROGRAM ASLEEP. 11306 CCS MODECADR 13605 TCF +2 # YES - WAKE IT UP. 13615 TCF ENDMODE # IF 0, PROGRAM NOT IN YET. 35030 CAF ZERO # WAKE SLEEPING PROGRAM. 50071 INDEX RUPTREG2 57306 XCH MODECADR 05207 TC JOBWAKE 40072 CS RUPTREG3 # ADVANCE LOC IF SUCCESSFUL. 50064 INDEX LOCCTR 26164 ADS LOC 15331 TCF TASKOVER 5">052241,000715: 07,3615 30072 ENDMODE CA RUPTREG3 # -0 INDICATES OPERATION COMPLETE BUT 50071 +1 INDEX RUPTREG2 # UNSUCCESSFUL: -1 INDICATES COMPLETE AND 55306 TS MODECADR # SUCCESSFUL. 15331 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 (ONE OF 5 STALL ADDRESSES I.E. IMUSTALL, OPTSTALL, RADSTALL, # AOTSTALL, OR ATTSTALL) # NORMAL-EXIT MODE- # TCF JOBSLEEP OR TCF MODEXIT # ALARM OR ABORT EXIT MODE- # TC ABORT # 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 OF CALLING ROUTINE CONTAINS +0,-1,-0 OR CADR RETURN ADDRESS. # DEBRIS- # RUPTREG2 AND CALLING ROUTINE MODECADR. C4C">052291,000765: 07,3621 35026 AOTSTALL CAF ONE # AOT. 03626 TC STALL C4C">052294,000768: 07,3623 35025 RADSTALL CAF TWO 13626 TCF STALL C4C">052297,000771: 07,3625 07,3621 OPTSTALL EQUALS AOTSTALL C4C">052299,000773: 07,3625 35030 IMUSTALL CAF ZERO # IMU. /a>052301,000775: 07,3626 00004 STALL INHINT 54071 TS RUPTREG2 # SAVE DEVICE INDEX. 50000 INDEX A # SEE IF OPERATION COMPLETE. 11306 CCS MODECADR 13650 TCF MODABORT # ALLOWABLE STATES ARE +0, -1, AND -0. 13644 TCF MODESLP # OPERATION INCOMPLETE. 13640 TCF MODEGOOD # COMPLETE AND GOOD IF = -1. 07,3635 50071 MG2 INDEX RUPTREG2 # COMPLETE AND FAILED IF -0. RESET TO +0. 55306 TS MODECADR # RETURN TO CALLER. 12664 TCF MODEEXIT F44">052313,000787: 07,3640 10000 MODEGOOD CCS A # MAKE SURE INITIAL STATE -1. 13650 TCF MODABORT 24133 INCR BUF2 # IF SO, INCREMENT RETURN ADDRESS AND 13635 TCF MG2 # RETURN IMMEDIATELY, SETTING CADR = +0. 0">052319,000793: 07,3644 04704 MODESLP TC MAKECADR # CALL FROM SWITCHABLE FIXED ONLY. 50071 INDEX RUPTREG2 55306 TS MODECADR 15203 TCF JOBSLEEP 254">052324,000798: 07,3650 05716 MODABORT TC ABORT # TWO PROGRAMS USING SAME DEVICE. 01210 OCT 1210 # CONSTANTS FOR MODE SWITCHING ROUTINES 4">052329,000803: 07,3652 5746 BITS3&4 = OCT14 6">052330,000804: 07,3652 5041 BITS4&6 = OCT50 5">052331,000805: 07,3652 00030 BITS4-5 OCT 00030 C47">052332,000806: 07,3653 5017 IMUSEFLG EQUALS BIT8 # INTERPRETER SWITCH 7. 8">052333,000807: 07,3653 77500 -COMMAX DEC -191 B-14 82D">052334,000808: 07,3654 77477 -COMMAX- DEC -192 B-14 /a>052335,000809: 07,3655 00074 600MS DEC 60 B-14 230">052336,000810: 07,3656 07,3121 IMUFIN20 = IMUFINE 2">052337,000811: 07,3656 31311 GOMANUR CA ATTCADR # IS KALCMANU FREE 00006 EXTEND 13663 BZF +3 05716 TC ABORT # NO 01210 OCT 1210 # 2 TRYING TO USE SAME DEVICE 00006 +3 EXTEND 30134 DCA BUF2 53312 DXCH ATTCADR # SAVE FINAL RETURN FOR KALCMAN3 30006 CA BBANK 75032 MASK SEVEN 27312 ADS ATTCADR +1 30167 CA PRIORITY 77677 MASK PRIO37 55313 TS ATTPRIO # SAVE USERS PRIO 33700 CAF KALEBCON # SET EBANK FOR KALCMAN3 54003 TS EBANK 04674 TC POSTJUMP 44000 CADR KALCMAN3 F4E">052360,000834: 07,3700 03273 KALEBCON ECADR BCDU # 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 BANK 34 SETLOC R02 BANK COUNT* $$/R02 /a>052398,000872: 04,3066 00063 DEC51 DEC 51 B-14 8">052399,000873: 04,3067 35012 R02BOTH CAF REFSMBIT 70077 MASK FLAGWRD3 10000 CCS A 03103 TC R02ZERO # ZERO IMUS 31304 CA IMODES30 75016 MASK BIT9 # IS ISS INITIALIZED 00006 EXTEND 13100 BZF +2 45023 CS BIT4 # SEND IMU ALARM CODE 210 63106 AD OCT220 # SEND REFSMM ALARM 05741 TC VARALARM 04106 TC GOTOPOOH F">052414,000888: 04,3103 05566 R02ZERO TC UPFLAG 00007 ADRES IMUSE 14670 TCF SWRETURN >052417,000891: 04,3106 00220 OCT220 OCT 220 # PROGRAM DESCRIPTION P06 10 FEB 67 # TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION. # THE NORMAL CONDITION OF READINESS OF THE GNCS WHEN NOT IN USE IS STANDBY. IN THIS CONDITION THE IMU # HEATER POWER IS ON. THE IMU OPERATE POWER IS OFF. THE COMPUTER POWER IS ON. THE OPTICS POWER IS OFF. THE # CMC STANDBY ON THE MAIN AND LEB DISKYS IS ON. # CALLING SEQUENCE: # ASTRONAUT REQUEST THROUGH DSKY V37E 06E. # SUBROUTINES CALLED: # GOPERF1 # BANKCALL # FLAGDOWN # PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2 # THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATABILITY # BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING. SETLOC P05P06 BANK 1201 EBANK= TIME2SAV COUNT* $$/P06 37,3507 05566 P06 TC UPFLAG # SET NODOV37 BIT 00054 ADRES NODOFLAG E44">052449,000923: 37,3511 00004 PRESTAND INHINT 00006 EXTEND 30025 DCA TIME2 # SNAPSHOT TIME1 TIME2 53202 DXCH TIME2SAV 03546 TC SCALPREP 03511 TC PRESTAND # T1,T2,SCALER NOT COMPATIBLE 52155 DXCH MPAC # T1,T2 AND SCALER OK 53204 DXCH SCALSAVE # STORE SCALER 00004 INHINT 04655 TC BANKCALL 17106 CADR RNDREFDR # REFSMM, DRIFT, TRACK FLAGS DOWN 05600 TC DOWNFLAG 00007 ADRES IMUSE # IMUSE DOWN 05600 TC DOWNFLAG 00010 ADRES RNDVZFLG # RNDVZFLG DOWN 35014 CAF BIT11 00006 EXTEND 05013 WOR CHAN13 # SET STANDBY ENABLE BIT 05423 TC PHASCHNG # SET RESTART TO POSTAND WHEN STANDBY 07024 OCT 07024 # RECOVERS 20000 OCT 20000 1203 EBANK= SCALSAVE 03566 76062 2CADR POSTAND 35044 CAF OCT62 04655 TC BANKCALL 20532 CADR GOPERF1 13540 TCF -3 13540 TCF -4 13540 TCF -5 /a>052483,000957: 37,3546 5044 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">052496,000970: 37,3546 00006 SCALPREP EXTEND 22156 QXCH MPAC +2 04115 TC FINETIME +1 00003 RELINT 52155 DXCH MPAC 35022 CA BIT5 # ADD 5 MS TO THE SCALER READING. 54001 TS L 35030 CA ZERO 20155 DAS MPAC 44360 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 74360 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">052524,000998: 37,3566 45014 POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY. 00006 EXTEND 03013 WAND CHAN13 # CLEAR STANDBY ENABLE BIT 00004 INHINT 35030 CA ZERO 54001 TS L 52025 DXCH TIME2 # CLEAR TIME1TIME2 03546 TC SCALPREP # STORE SCALER IN MPAC, MPAC+1 03571 TC POSTAND +3 # T1,T2,SCALER NOT COMPATIBLE 00006 EXTEND # T1,T2 AND SCALER OK 41204 DCS SCALSAVE 20155 DAS MPAC # FORM DP DIFFERENCE OF POSTSTANDBY SCALER 35015 CAF BIT10 # MINUS PRESTANDBY SCALER AND SHIFT RIGHT 07261 TC SHORTMP # 5 TO ALIGN BITS WITH TIME1 TIME2. 35030 CAF ZERO 54156 TS MPAC +2 # NEEDED FOR TP AGREE 07231 TC TPAGREE # MAKE DP DIFF AGREE 10154 CCS MPAC 03615 TC POSTCOM # IF DP DIFF NET +, NO SCALER OVERFLOW 03615 TC POSTCOM # BETWEEN PRE AND POST STANDBY. 03613 TC +1 # IF DP DIFF NET -, SCALER OVERFLOWED. ADD 35015 CAF BIT10 # BIT 10 TO HIGH DIFF TO CORRECT. 26154 ADS MPAC D">052547,001021: 37,3615 00006 POSTCOM EXTEND # C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER. 31202 DCA TIME2SAV # PRESTANDBY TIME1TIME2 20155 DAS MPAC 07231 TC TPAGREE # FORCE SIGN AGREEMENT 52155 DXCH MPAC # UPDATED VALUE FOR T1,T2. 20025 DAS TIME2 # LOAD UPDATED VALUE INTO T1,T2, WITH 05600 TC DOWNFLAG # CLEAR NODOFLAG 00054 ADRES NODOFLAG 04106 TC GOTOPOOH IMU_MODE_SWITCHING_ROUTINES.agc. Parent file is MAIN.agc