Source Code
|
These source code files are a reconstruction of Sundance, the Apollo 9 LM (Lunar Module) AGC
(Apollo Guidance Computer) flight software, created from binary dumps of original core rope
program modules, as follows:
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. |
051301,000002: ## Copyright: Public domain.
051302,000003: ## Filename: IMU_MODE_SWITCHING_ROUTINES.agc
051303,000004: ## Purpose: A section of a reconstructed, mixed version of Sundance
051304,000005: ## It is part of the reconstructed source code for the Lunar
051305,000006: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 9.
051306,000007: ## No original listings of this program are available;
051307,000008: ## instead, this file was created via disassembly of dumps
051308,000009: ## of various revisions of Sundance core rope modules.
051309,000010: ## Assembler: yaYUL
051310,000011: ## Contact: Ron Burkey <info@sandroid.org>.
051311,000012: ## Website: www.ibiblio.org/apollo/index.html
051312,000013: ## Mod history: 2020-06-17 MAS Created from Luminary 69.
051313,000014:
051314,000015: ## Sundance 292
051315,000016:
051316,000017: 5546 BLOCK 02
051317,000018: 4000 SETLOC FFTAG3
051318,000019: 4000 BANK
051319,000020:
051320,000021: 5546 E3,1471 EBANK= COMMAND
051321,000022:
051322,000023: # FIXED-FIXED ROUTINES.
051323,000024:
051324,000025: 5546 COUNT* $$/IMODE
051325,000026: 5546 35030 ZEROICDU CAF ZERO # ZERO ICDU COUNTERS.
051326,000027: 5547 54032 TS CDUX
051327,000028: 5550 54033 TS CDUY
051328,000029: 5551 54034 TS CDUZ
051329,000030: 5552 00002 TC Q
051330,000031:
051331,000032: 5553 5016 SPSCODE = BIT9
051332,000033:
|
|
Sundance 302 |
051334,000035:
051335,000036: # IMU ZEROING ROUTINE.
051336,000037:
051337,000038: 11,3772 BANK 11
051338,000039: 07,2000 SETLOC MODESW
051339,000040: 07,2000 BANK
051340,000041:
051341,000042: 07,2622 COUNT* $$/IMODE
051342,000043: 07,2622 00004 IMUZERO INHINT # ROUTINE TO ZERO ICDUS.
051343,000044: 07,2623 41037 CS DSPTAB +11D # DONT ZERO CDUS IF IMU IN GIMBAL LOCK AND
051344,000045: 07,2624 75041 MASK BITS4&6 # COARSE ALIGN (GIMBAL RUNAWAY PROTECTION)
051345,000046: 07,2625 10000 CCS A
051346,000047: 07,2626 12632 TCF IMUZEROA
051347,000048:
051348,000049: 07,2627 05646 TC ALARM # IF SO.
051349,000050: 07,2630 00206 OCT 00206
051350,000051:
051351,000052: 07,2631 13570 TCF CAGETSTJ +4 # IMMEDIATE FAILURE.
051352,000053:
051353,000054: 07,2632 03557 IMUZEROA TC CAGETSTQ # IF IMU COMING UP, TURN-ON PROGRAM WILL
051354,000055: 07,2633 12664 TCF MODEEXIT # DO ALL THE WORK.
051355,000056:
051356,000057: 07,2634 41305 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
051357,000058: 07,2635 75043 MASK SUPER011 # BIT5 FOR GROUND
051358,000059: 07,2636 27305 ADS IMODES33
051359,000060:
051360,000061: 07,2637 41304 CS IMODES30 # INHIBIT ICDUFAIL AND IMUFAIL (IN CASE WE
051361,000062: 07,2640 75743 MASK BITS3&4 # JUST CAME OUT OF COARSE ALIGN).
051362,000063: 07,2641 27304 ADS IMODES30
051363,000064:
051364,000065: 07,2642 45041 CS BITS4&6 # SEND ZERO ENCODE WITH COARSE AND ERROR
051365,000066: 07,2643 00006 EXTEND # COUNTER DISABLED.
051366,000067: 07,2644 03012 WAND CHAN12
051367,000068:
051368,000069: 07,2645 03177 TC NOATTOFF # TURN OFF NO ATT LAMP.
051369,000070:
051370,000071: 07,2646 35022 CAF BIT5
051371,000072: 07,2647 00006 EXTEND
051372,000073: 07,2650 05012 WOR CHAN12
051373,000074:
051374,000075: 07,2651 05546 TC ZEROICDU
051375,000076: 07,2652 35021 CAF BIT6 # WAIT 320 MS TO GIVE AGS ADEQUATE TIME TO
051376,000077: 07,2653 05252 TC WAITLIST # RECEIVE ITS PULSE TRAIN.
051377,000078: 07,2654 E3,1474 EBANK= CDUIND
051378,000079: 07,2654 02666 16103 2CADR IMUZERO2
051379,000080:
051380,000081: 07,2656 41304 CS IMODES30 # SEE IF IMU OPERATING AND ALARM IF NOT.
051381,000082: 07,2657 75016 MASK BIT9
051382,000083: 07,2660 10000 CCS A
051383,000084: 07,2661 12664 TCF MODEEXIT
051384,000085: 07,2662 05646 TC ALARM
051385,000086: 07,2663 00210 OCT 210
051386,000087:
051387,000088: 07,2664 00003 MODEEXIT RELINT # GENERAL MODE-SWITCHING EXIT.
051388,000089: 07,2665 14670 TCF SWRETURN
051389,000090:
051390,000091: 07,2666 03557 IMUZERO2 TC CAGETSTQ # POSSIBLY SWITCH TO TURN-ON PROGRAM.
051391,000092: 07,2667 15321 TCF TASKOVER
051392,000093: 07,2670 05546 TC ZEROICDU # ZERO CDUX, CDUY, CDUZ
051393,000094:
051394,000095: 07,2671 45022 CS BIT5 # REMOVE ZERO DISCRETE.
051395,000096: 07,2672 00006 EXTEND
051396,000097: 07,2673 03012 WAND CHAN12
051397,000098:
051398,000099: 07,2674 35014 CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS
051399,000100: 07,2675 05274 TC VARDELAY
051400,000101:
051401,000102: 07,2676 03557 IMUZERO3 TC CAGETSTQ
051402,000103: 07,2677 15321 TCF TASKOVER
051403,000104:
051404,000105: 07,2700 45743 CS BITS3&4 # REMOVE IMUFAIL AND ICDUFAIL INHIBIT.
051405,000106: 07,2701 71304 MASK IMODES30
051406,000107: 07,2702 55304 TS IMODES30
051407,000108:
051408,000109: 07,2703 45043 CS SUPER011 # ENABLE DAP AUTO AND HOLD MODES
051409,000110: 07,2704 71305 MASK IMODES33 # BIT5 FOR GROUND
051410,000111: 07,2705 55305 TS IMODES33
051411,000112:
051412,000113: 07,2706 04737 TC IBNKCALL # SET ISS WARNING IF EITHER OF ABOVE ARE
051413,000114: 07,2707 14705 CADR SETISSW # PRESENT.
051414,000115:
051415,000116: 07,2710 13542 TCF ENDIMU
051416,000117:
051417,000118: # IMU COARSE ALIGN MODE.
051418,000119:
051419,000120: 07,2711 00004 IMUCOARS INHINT
051420,000121: 07,2712 03564 TC CAGETSTJ
051421,000122: 07,2713 03055 TC SETCOARS
051422,000123:
051423,000124: 07,2714 36216 CAF SIX
051424,000125: 07,2715 05252 TC WAITLIST
051425,000126: 07,2716 E3,1474 EBANK= CDUIND
051426,000127: 07,2716 02721 16103 2CADR COARS
051427,000128:
051428,000129: 07,2720 12664 TCF MODEEXIT
051429,000130:
051430,000131: 07,2721 03552 COARS TC CAGETEST
051431,000132: 07,2722 35021 CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
051432,000133: 07,2723 00006 EXTEND
051433,000134: 07,2724 05012 WOR CHAN12
051434,000135:
051435,000136: 07,2725 35025 CAF TWO # SET CDU INDICATOR
051436,000137: 07,2726 55474 COARS1 TS CDUIND
051437,000138:
051438,000139: 07,2727 51474 INDEX CDUIND # COMPUTE THETAD - THETAA IN 1:S
051439,000140: 07,2730 31206 CA THETAD # COMPLEMENT FORM
051440,000141: 07,2731 00006 EXTEND
051441,000142: 07,2732 51474 INDEX CDUIND
051442,000143: 07,2733 20032 MSU CDUX
051443,000144: 07,2734 00006 EXTEND
051444,000145: 07,2735 75012 MP BIT13 # SHIFT RIGHT 2
051445,000146: 07,2736 56001 XCH L # ROUND
051446,000147: 07,2737 60000 DOUBLE
051447,000148: 07,2740 54061 TS ITEMP1
051448,000149: 07,2741 12743 TCF +2
051449,000150: 07,2742 26001 ADS L
051450,000151:
051451,000152: 07,2743 51474 INDEX CDUIND # DIFFERENCE TO BE COMPUTED
051452,000153: 07,2744 23471 LXCH COMMAND
051453,000154: 07,2745 11474 CCS CDUIND
051454,000155: 07,2746 02726 TC COARS1
051455,000156:
051456,000157: 07,2747 35025 CAF TWO # MINIMUM OF 4 MS WAIT
051457,000158: 07,2750 05274 TC VARDELAY
051458,000159:
051459,000160: 07,2751 03552 COARS2 TC CAGETEST # DONT CONTINUE IF CAGED.
051460,000161: 07,2752 54061 TS ITEMP1 # SETS TO +0.
051461,000162: 07,2753 35025 CAF TWO # SET CDU INDICATOR
051462,000163: 07,2754 55474 +3 TS CDUIND
051463,000164:
051464,000165: 07,2755 51474 INDEX CDUIND
051465,000166: 07,2756 11471 CCS COMMAND # NUMBER OF PULSES REQUIRED
051466,000167: 07,2757 02763 TC COMPOS # GREATER THAN MAX ALLOWED
051467,000168: 07,2760 02772 TC NEXTCDU +1
051468,000169: 07,2761 03030 TC COMNEG
051469,000170: 07,2762 02772 TC NEXTCDU +1
051470,000171:
051471,000172: 07,2763 63653 COMPOS AD -COMMAX # COMMAX = MAX NUMBER OF PULSES ALLOWED
051472,000173: 07,2764 00006 EXTEND # MINUS ONE
051473,000174: 07,2765 63040 BZMF COMZERO
051474,000175: 07,2766 51474 INDEX CDUIND
051475,000176: 07,2767 55471 TS COMMAND # REDUCE COMMAND BY MAX NUMBER OF PULSES
051476,000177: 07,2770 43654 CS -COMMAX- # ALLOWED
051477,000178:
051478,000179: 07,2771 24061 NEXTCDU INCR ITEMP1
051479,000180: 07,2772 65027 AD NEG0
051480,000181: 07,2773 51474 INDEX CDUIND
051481,000182: 07,2774 54050 TS CDUXCMD # SET UP COMMAND REGISTER.
051482,000183:
051483,000184: 07,2775 11474 CCS CDUIND
051484,000185: 07,2776 02754 TC COARS2 +3
051485,000186:
051486,000187: 07,2777 10061 CCS ITEMP1 # SEE IF ANY PULSES TO GO OUT.
051487,000188: 07,3000 13044 TCF SENDPULS
051488,000189:
051489,000190: 07,3001 05271 TC FIXDELAY # WAIT FOR GIMBALS TO SETTLE.
051490,000191: 07,3002 00226 DEC 150 B-14
051491,000192:
051492,000193: 07,3003 35025 CAF TWO # AT END OF COMMAND, CHECK TO SEE THAT
051493,000194: 07,3004 54061 CHKCORS TS ITEMP1 # GIMBALS ARE WITHIN 2 DEGREES OF THETAD.
051494,000195: 07,3005 50000 INDEX A
051495,000196: 07,3006 30032 CA CDUX
051496,000197: 07,3007 00006 EXTEND
051497,000198: 07,3010 50061 INDEX ITEMP1
051498,000199: 07,3011 21206 MSU THETAD
051499,000200: 07,3012 10000 CCS A
051500,000201: 07,3013 13021 TCF COARSERR
051501,000202: 07,3014 13016 TCF CORSCHK2
051502,000203: 07,3015 13021 TCF COARSERR
051503,000204:
051504,000205: 07,3016 10061 CORSCHK2 CCS ITEMP1
051505,000206: 07,3017 13004 TCF CHKCORS
051506,000207: 07,3020 13542 TCF ENDIMU # END OF COARSE ALIGNMENT.
051507,000208:
051508,000209: 07,3021 63027 COARSERR AD COARSTOL # 2 DEGREES.
051509,000210: 07,3022 00006 EXTEND
051510,000211: 07,3023 63016 BZMF CORSCHK2
051511,000212:
051512,000213: 07,3024 05646 TC ALARM # COARSE ALIGN ERROR.
051513,000214: 07,3025 00211 OCT 211
051514,000215:
051515,000216: 07,3026 13550 TCF IMUBAD
051516,000217:
051517,000218: 07,3027 77511 COARSTOL DEC -.01111 # 2 DEGREES SCALED AT HALF-REVOLUTIONS
051518,000219:
051519,000220: 07,3030 63653 COMNEG AD -COMMAX
051520,000221: 07,3031 00006 EXTEND
051521,000222: 07,3032 63040 BZMF COMZERO
051522,000223: 07,3033 40000 COM
051523,000224: 07,3034 51474 INDEX CDUIND
051524,000225: 07,3035 55471 TS COMMAND
051525,000226: 07,3036 33654 CA -COMMAX-
051526,000227: 07,3037 02771 TC NEXTCDU
051527,000228:
051528,000229: 07,3040 35030 COMZERO CAF ZERO
051529,000230: 07,3041 51474 INDEX CDUIND
051530,000231: 07,3042 57471 XCH COMMAND
051531,000232: 07,3043 02771 TC NEXTCDU
051532,000233:
051533,000234: 07,3044 37711 SENDPULS CAF 13,14,15
051534,000235: 07,3045 00006 EXTEND
051535,000236: 07,3046 05014 WOR CHAN14
051536,000237: 07,3047 33655 CAF 600MS
051537,000238: 07,3050 12750 TCF COARS2 -1 # THEN TO VARDELAY
051538,000239:
051539,000240: 07,3051 35021 CA+ECE CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
051540,000241: 07,3052 00006 EXTEND
051541,000242: 07,3053 05012 WOR CHAN12
051542,000243: 07,3054 05321 TC TASKOVER
051543,000244:
051544,000245: 07,3055 35023 SETCOARS CAF BIT4 # BYPASS IF ALREADY IN COARSE ALIGN
051545,000246: 07,3056 00006 EXTEND
051546,000247: 07,3057 02012 RAND CHAN12
051547,000248: 07,3060 10000 CCS A
051548,000249: 07,3061 00002 TC Q
051549,000250:
051550,000251: 07,3062 45021 CS BIT6 # CLEAR ISS ERROR COUNTERS
051551,000252: 07,3063 00006 EXTEND
051552,000253: 07,3064 03012 WAND CHAN12
051553,000254:
051554,000255: 07,3065 45015 CS BIT10 # KNOCK DOWN GYRO ACTIVITY
051555,000256: 07,3066 00006 EXTEND
051556,000257: 07,3067 03014 WAND CHAN14
051557,000258: 07,3070 45030 CS ZERO
051558,000259: 07,3071 54047 TS GYROCMD
051559,000260:
051560,000261: 07,3072 35023 CAF BIT4 # PUT ISS IN COARSE ALIGN
051561,000262: 07,3073 00006 EXTEND
051562,000263: 07,3074 05012 WOR CHAN12
051563,000264:
051564,000265: 07,3075 41037 CS DSPTAB +11D # TURN ON NO ATT LAMP
051565,000266: 07,3076 73120 MASK OCT40010
051566,000267: 07,3077 27037 ADS DSPTAB +11D
051567,000268:
051568,000269: 07,3100 41305 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
051569,000270: 07,3101 75021 MASK BIT6
051570,000271: 07,3102 27305 ADS IMODES33
051571,000272:
051572,000273: 07,3103 41304 CS IMODES30 # DISABLE IMUFAIL
051573,000274: 07,3104 75023 MASK BIT4
051574,000275: 07,3105 27304 ADS IMODES30
051575,000276:
051576,000277: 07,3106 45022 RNDREFDR CS TRACKBIT # CLEAR TRACK FLAG
051577,000278: 07,3107 70075 MASK FLAGWRD1
051578,000279: 07,3110 54075 TS FLAGWRD1
051579,000280:
051580,000281: 07,3111 45010 CS DRFTBIT # CLEAR DRIFT FLAG
051581,000282: 07,3112 70076 MASK FLAGWRD2
051582,000283: 07,3113 54076 TS FLAGWRD2
051583,000284:
051584,000285: 07,3114 45012 CS REFSMBIT # CLEAR REFSMMAT FLAG
051585,000286: 07,3115 70077 MASK FLAGWRD3
051586,000287: 07,3116 54077 TS FLAGWRD3
051587,000288:
051588,000289: 07,3117 00002 TC Q
051589,000290:
051590,000291: 07,3120 40010 OCT40010 OCT 40010
051591,000292:
051592,000293: # IMU FINE ALIGN MODE SWITCH.
051593,000294:
051594,000295: 07,3121 00004 IMUFINE INHINT
051595,000296: 07,3122 03564 TC CAGETSTJ # SEE IF IMU BEING CAGED.
051596,000297:
051597,000298: 07,3123 43652 CS BITS4-5 # RESET ZERO AND COARSE
051598,000299: 07,3124 00006 EXTEND
051599,000300: 07,3125 03012 WAND CHAN12
051600,000301:
051601,000302: 07,3126 45021 CS BIT6 # INSURE DAP AUTO AND HOLD MODES ENABLED
051602,000303: 07,3127 71305 MASK IMODES33
051603,000304: 07,3130 55305 TS IMODES33
051604,000305:
051605,000306: 07,3131 03177 TC NOATTOFF
051606,000307:
051607,000308: 07,3132 35015 CAF BIT10 # IMU FAIL WAS INHIBITED DURING THE
051608,000309: 07,3133 05252 TC WAITLIST # PRESUMABLY PRECEDING COARSE ALIGN. LEAVE
051609,000310: 07,3134 E3,1474 EBANK= CDUIND
051610,000311: 07,3134 03145 16103 2CADR IFAILOK # IT ON FOR THE FIRST 5 SECS OF FINE ALIGN
051611,000312:
051612,000313: 07,3136 35050 CAF 2SECS
051613,000314: 07,3137 05252 TC WAITLIST
051614,000315: 07,3140 E3,1474 EBANK= CDUIND
051615,000316: 07,3140 03143 16103 2CADR IMUFINED
051616,000317:
051617,000318: 07,3142 12664 TCF MODEEXIT
051618,000319:
051619,000320: 07,3143 03552 IMUFINED TC CAGETEST # SEE THAT NO ONE HAS CAGED THE IMU.
051620,000321: 07,3144 13542 TCF ENDIMU
051621,000322:
051622,000323: 07,3145 03557 IFAILOK TC CAGETSTQ # ENABLE IMU FIAL UNLESS IMU BEING CAGED.
051623,000324: 07,3146 15321 TCF TASKOVER # IT IS.
051624,000325:
051625,000326: 07,3147 35023 CAF BIT4 # DONT RESET IMU FAIL INHIBIT IF SOMEONE
051626,000327: 07,3150 00006 EXTEND # HAS GONE INTO COARSE ALIGN.
051627,000328: 07,3151 02012 RAND CHAN12
051628,000329: 07,3152 10000 CCS A
051629,000330: 07,3153 15321 TCF TASKOVER
051630,000331:
051631,000332: 07,3154 41304 CS IMODES30 # RESET IMUFAIL.
051632,000333: 07,3155 75012 MASK BIT13
051633,000334: 07,3156 27304 ADS IMODES30
051634,000335: 07,3157 45023 CS BIT4
051635,000336: 07,3160 71304 PFAILOK2 MASK IMODES30
051636,000337: 07,3161 55304 TS IMODES30
051637,000338: 07,3162 04737 TC IBNKCALL # THE ISS WARNING LIGHT MAY COME ON NOW
051638,000339: 07,3163 14705 CADR SETISSW # THAT THE INHIBIT HAS BEEN REMOVED.
051639,000340: 07,3164 15321 TCF TASKOVER
051640,000341:
051641,000342: 07,3165 03557 PFAILOK TC CAGETSTQ # ENABLE PIP FAIL PROG ALARM.
051642,000343: 07,3166 15321 TCF TASKOVER
051643,000344:
051644,000345: 07,3167 41304 CS IMODES30 # RESET IMU AND PIPA FAIL BITS.
051645,000346: 07,3170 75015 MASK BIT10
051646,000347: 07,3171 27304 ADS IMODES30
051647,000348:
051648,000349: 07,3172 41305 CS IMODES33
051649,000350: 07,3173 75012 MASK BIT13
051650,000351: 07,3174 27305 ADS IMODES33
051651,000352:
051652,000353: 07,3175 45022 CS BIT5
051653,000354: 07,3176 13160 TCF PFAILOK2
051654,000355:
051655,000356: 07,3177 43120 NOATTOFF CS OCT40010 # SUBROUTINE TO TURN OFF NO ATT LAMP.
051656,000357: 07,3200 71037 MASK DSPTAB +11D
051657,000358: 07,3201 65010 AD BIT15
051658,000359: 07,3202 55037 TS DSPTAB +11D
051659,000360: 07,3203 00002 TC Q
051660,000361:
051661,000362: # ROUITNES TO INITIATE AND TERMINATE PROGRAM USE OF THE PIPAS. NO IMUSTALL REQUIRED IN EITHER CASE.
051662,000363:
051663,000364: 07,3204 03557 PIPUSE TC CAGETSTQ # DONT ENABLE PIPA FAIL IF IMU BEING CAGED
051664,000365: 07,3205 14670 TCF SWRETURN
051665,000366:
051666,000367: 07,3206 00004 INHINT
051667,000368: 07,3207 35030 CAF ZERO # ZERO COUNTERS.
051668,000369: 07,3210 54037 TS PIPAX
051669,000370: 07,3211 54040 TS PIPAY
051670,000371: 07,3212 54041 TS PIPAZ
051671,000372:
051672,000373: 07,3213 45026 CS BIT1 # IF PIPA FAILS FROM NOW ON (UNTIL
051673,000374: 07,3214 71304 MASK IMODES30 # PIPFREE), LIGHT ISS WARNING.
051674,000375: 07,3215 55304 TS IMODES30
051675,000376:
051676,000377: 07,3216 04737 PIPFREE2 TC IBNKCALL # ISS WARNING MIGHT COME ON NOW.
051677,000378: 07,3217 14705 CADR SETISSW # (OR GO OFF ON PIPFREE).
051678,000379:
051679,000380: 07,3220 12664 TCF MODEEXIT
051680,000381:
051681,000382: 07,3221 00004 PIPFREE INHINT # PROGRAM DONE WITH PIPAS. DONT LIGHT
051682,000383: 07,3222 41304 CS IMODES30 # ISS WARNING.
051683,000384: 07,3223 75026 MASK BIT1
051684,000385: 07,3224 27304 ADS IMODES30
051685,000386:
051686,000387: 07,3225 75015 MASK BIT10 # IF PIP FAIL ON, DO PROG ALSRM AND RESET
051687,000388: 07,3226 10000 CCS A # ISS WARNING.
051688,000389: 07,3227 12664 TCF MODEEXIT
051689,000390:
051690,000391: 07,3230 05646 TC ALARM
051691,000392: 07,3231 00212 OCT 212
051692,000393:
051693,000394: 07,3232 00004 INHINT
051694,000395:
051695,000396: 07,3233 13216 TCF PIPFREE2
051696,000397:
051697,000398: # THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIX REGISTERS
051698,000399: # BEGINNING AT THE ECADR ARRIVING IN A. THE MINIMUM SIZE OF ANY PULSE TRAIN IS 16 PULSES (.25 CDU COUNTS). THE
051699,000400: # UNSENT PORTION OF THE COMMAND IS LEFT INTACT IN THE INPUT COMMAND REGISTERS.
051700,000401:
051701,000402: 07,3234 E3,1400 EBANK= 1400 # VARIABLE, ACTUALLY.
051702,000403:
051703,000404: 07,3234 54161 IMUPULSE TS MPAC +5 # SAVE ARRIVING ECADR.
051704,000405: 07,3235 03564 TC CAGETSTJ # DONT PROCEED IF IMU BEING CAGED.
051705,000406:
051706,000407: 07,3236 11321 CCS LGYRO # SEE IF GYROS BUSY.
051707,000408: 07,3237 03300 TC GYROBUSY # SLEEP.
051708,000409:
051709,000410: 07,3240 54156 TS MPAC +2
051710,000411: 07,3241 35021 CAF BIT6 # ENABLE THE POWER SUPPLY.
051711,000412: 07,3242 00006 EXTEND
051712,000413: 07,3243 05014 WOR CHAN14
051713,000414:
051714,000415: 07,3244 35024 CAF FOUR
051715,000416: 07,3245 05252 GWAKE2 TC WAITLIST # (IF A JOB WAS PUT TO SLEEP, THE POWER
051716,000417: 07,3246 E3,1474 EBANK= CDUIND # SUPPLY IS LEFT ON BY THE WAKING JOB).
051717,000418: 07,3246 03316 16103 2CADR STRTGYRO
051718,000419:
051719,000420: 07,3250 30161 CA MPAC +5 # SET UP EBANK, SAVING CALLER'S EBANK FOR
051720,000421: 07,3251 56003 XCH EBANK # RESTORATION ON RETURN.
051721,000422: 07,3252 56161 XCH MPAC +5
051722,000423: 07,3253 55321 TS LGYRO # RESERVES GYROS.
051723,000424: 07,3254 74371 MASK LOW8
051724,000425: 07,3255 54061 TS ITEMP1
051725,000426:
051726,000427: 07,3256 35025 CAF TWO # FORCE SIGN AGREEMENT ON INPUTS.
051727,000428: 07,3257 54157 GYROAGRE TS MPAC +3
051728,000429: 07,3260 60000 DOUBLE
051729,000430: 07,3261 60061 AD ITEMP1
051730,000431: 07,3262 54160 TS MPAC +4
051731,000432: 07,3263 00006 EXTEND
051732,000433: 07,3264 50000 INDEX A
051733,000434: 07,3265 31401 DCA 1400
051734,000435: 07,3266 52155 DXCH MPAC
051735,000436: 07,3267 07231 TC TPAGREE
051736,000437: 07,3270 52155 DXCH MPAC
051737,000438: 07,3271 50160 INDEX MPAC +4
051738,000439: 07,3272 53401 DXCH 1400
051739,000440:
051740,000441: 07,3273 10157 CCS MPAC +3
051741,000442: 07,3274 13257 TCF GYROAGRE
051742,000443:
051743,000444: 07,3275 30161 CA MPAC +5 # RESTORE CALLER'S EBANK.
051744,000445: 07,3276 54003 TS EBANK
051745,000446: 07,3277 12664 TCF MODEEXIT
051746,000447:
051747,000448: # ROUTINES TO ALLOW TORQUING BY ONLY ONE JOB AT A TIME.
051748,000449:
051749,000450: 07,3300 00006 GYROBUSY EXTEND # SAVE RETURN 2FCADR.
051750,000451: 07,3301 30134 DCA BUF2
051751,000452: 07,3302 52155 DXCH MPAC
051752,000453: 07,3303 33315 REGSLEEP CAF LGWAKE
051753,000454: 07,3304 15203 TCF JOBSLEEP
051754,000455:
051755,000456: 07,3305 11321 GWAKE CCS LGYRO # WHEN AWAKENED, SEE IF GYROS STILL BUSY.
051756,000457: 07,3306 13303 TCF REGSLEEP # IF SO, SLEEP SOME MORE.
051757,000458:
051758,000459: 07,3307 54156 TS MPAC +2
051759,000460: 07,3310 00006 EXTEND
051760,000461: 07,3311 30155 DCA MPAC
051761,000462: 07,3312 52134 DXCH BUF2 # RESTORE SWRETURN INFO.
051762,000463: 07,3313 35026 CAF ONE
051763,000464: 07,3314 13245 TCF GWAKE2
051764,000465:
051765,000466: 07,3315 17305 LGWAKE CADR GWAKE
051766,000467:
051767,000468: # GYRO-TORQUING WAITLIST TASKS.
051768,000469:
051769,000470: 07,3316 43537 STRTGYRO CS GDESELCT # DE-SELECT LAST GYRO.
051770,000471: 07,3317 00006 EXTEND
051771,000472: 07,3320 03014 WAND CHAN14
051772,000473:
051773,000474: 07,3321 03552 TC CAGETEST
051774,000475:
051775,000476: 07,3322 31321 STRTGYR2 CA LGYRO # JUMP ON PHASE COUNTER IN BITS 13-14.
051776,000477: 07,3323 00006 EXTEND
051777,000478: 07,3324 75023 MP BIT4
051778,000479: 07,3325 50000 INDEX A
051779,000480: 07,3326 13327 TCF +1
051780,000481: 07,3327 03344 TC GSELECT # =0. DO Y GYRO.
051781,000482: 07,3330 00202 OCT 00202
051782,000483:
051783,000484: 07,3331 03344 TC GSELECT # =1. DO Z GYRO.
051784,000485: 07,3332 00302 OCT 00302
051785,000486:
051786,000487: 07,3333 03342 TC GSELECT -2 # =2. DO X GYRO.
051787,000488: 07,3334 00100 OCT 00100
051788,000489:
051789,000490: 07,3335 35030 CAF ZERO # =3. DONE
051790,000491: 07,3336 55321 TS LGYRO
051791,000492: 07,3337 33315 CAF LGWAKE # WAKE A POSSIBLE SLEEPING JOB.
051792,000493: 07,3340 05207 TC JOBWAKE
051793,000494:
051794,000495: 07,3341 13143 NORESET TCF IMUFINED # DO NOT RESET POWER SUPPLY
051795,000496: 07,3342 45024 -2 CS FOUR # SPECIAL ENTRY TO REGRESS LGYRO FOR X.
051796,000497: 07,3343 27321 ADS LGYRO
051797,000498:
051798,000499: 07,3344 50002 GSELECT INDEX Q # SELECT GYRO.
051799,000500: 07,3345 30000 CAF 0 # PACKED WORD CONTAINS GYRO SELECT BITS
051800,000501: 07,3346 54064 TS ITEMP4 # AND INCREMENT TO LGYRO.
051801,000502: 07,3347 75032 MASK SEVEN
051802,000503: 07,3350 65012 AD BIT13
051803,000504: 07,3351 27321 ADS LGYRO
051804,000505: 07,3352 54003 TS EBANK
051805,000506: 07,3353 74371 MASK LOW8
051806,000507: 07,3354 54061 TS ITEMP1
051807,000508:
051808,000509: 07,3355 45032 CS SEVEN
051809,000510: 07,3356 70064 MASK ITEMP4
051810,000511: 07,3357 54064 TS ITEMP4
051811,000512:
051812,000513: 07,3360 00006 EXTEND # MOVE DP COMMAND TO RUPTREGS FOR TESTING.
051813,000514: 07,3361 50061 INDEX ITEMP1
051814,000515: 07,3362 31401 DCA 1400
051815,000516: 07,3363 52071 DXCH RUPTREG1
051816,000517:
051817,000518: 07,3364 10070 CCS RUPTREG1
051818,000519: 07,3365 13400 TCF MAJ+
051819,000520: 07,3366 13370 TCF +2
051820,000521: 07,3367 13520 TCF MAJ-
051821,000522:
051822,000523: 07,3370 10071 CCS RUPTREG2
051823,000524: 07,3371 13375 TCF MIN+
051824,000525: 07,3372 13322 TCF STRTGYR2
051825,000526: 07,3373 13515 TCF MIN-
051826,000527: 07,3374 13322 TCF STRTGYR2
051827,000528:
051828,000529: 07,3375 63431 MIN+ AD -GYROMIN # SMALL POSITIVE COMMAND. SEE IF AT LEAST
051829,000530: 07,3376 00006 EXTEND # 16 GYRO PULSES.
051830,000531: 07,3377 63322 BZMF STRTGYR2
051831,000532:
051832,000533: 07,3400 00006 MAJ+ EXTEND # DEFINITE POSITIVE OUTPUT.
051833,000534: 07,3401 33541 DCA GYROFRAC
051834,000535: 07,3402 20071 DAS RUPTREG1
051835,000536:
051836,000537: 07,3403 30064 CA ITEMP4 # SELECT POSITIVE TORQUING FOR THIS GYRO.
051837,000538: 07,3404 00006 EXTEND
051838,000539: 07,3405 05014 WOR CHAN14
051839,000540:
051840,000541: 07,3406 36050 CAF LOW7 # LEAVE NUMBER OF POSSIBLE 8192 AUGMENTS
051841,000542: 07,3407 70071 MASK RUPTREG2 # TO INITIAL COMMAND IN MAJOR PART OF LONG
051842,000543: 07,3410 56071 XCH RUPTREG2 # TERM STORAGE AND TRUNCATED FRACTION
051843,000544: 07,3411 00006 GMERGE EXTEND # IN MINOR PART. THE MAJOR PART WILL BE
051844,000545: 07,3412 75017 MP BIT8 # COUNTED DOWN TO ZERO IN THE COURSE OF
051845,000546: 07,3413 54062 TS ITEMP2 # PUTTING OUT THE ENTIRE COMMAND.
051846,000547: 07,3414 30070 CA RUPTREG1
051847,000548: 07,3415 00006 EXTEND
051848,000549: 07,3416 75016 MP BIT9
051849,000550: 07,3417 54070 TS RUPTREG1
051850,000551: 07,3420 30001 CA L
051851,000552: 07,3421 00006 EXTEND
051852,000553: 07,3422 75011 MP BIT14
051853,000554: 07,3423 26062 ADS ITEMP2 # INITIAL COMMAND.
051854,000555:
051855,000556: 07,3424 00006 EXTEND # SEE IF MORE THAN ONE PULSE TRAIN NEEDED
051856,000557: 07,3425 30071 DCA RUPTREG1 # (MORE THAN 16383 PULSES).
051857,000558: 07,3426 67721 AD MINUS1
051858,000559: 07,3427 10000 CCS A
051859,000560: 07,3430 13461 TCF LONGGYRO
051860,000561: 07,3431 77601 -GYROMIN OCT -176 # MAY BE ADJUSTED TO SPECIFY MINIMUM CMD
051861,000562: 07,3432 13436 TCF +4
051862,000563:
051863,000564: 07,3433 35011 CAF BIT14
051864,000565: 07,3434 26062 ADS ITEMP2
051865,000566: 07,3435 35030 CAF ZERO
051866,000567:
051867,000568: 07,3436 50061 +4 INDEX ITEMP1
051868,000569: 07,3437 53401 DXCH 1400
051869,000570: 07,3440 30062 CA ITEMP2 # ENTIRE COMMAND.
051870,000571: 07,3441 54047 LASTSEG TS GYROCMD
051871,000572: 07,3442 00006 EXTEND
051872,000573: 07,3443 75015 MP BIT10 # WAITLIST DT
051873,000574: 07,3444 66221 AD THREE # TRUNCATION AND PHASE UNCERTAINTIES.
051874,000575: 07,3445 05252 TC WAITLIST
051875,000576: 07,3446 E3,1474 EBANK= CDUIND
051876,000577: 07,3446 03316 16103 2CADR STRTGYRO
051877,000578:
051878,000579: 07,3450 35023 GYROEXIT CAF BIT4
051879,000580: 07,3451 00006 EXTEND
051880,000581: 07,3452 02012 RAND CHAN12
051881,000582: 07,3453 10000 CCS A
051882,000583: 07,3454 13550 TCF IMUBAD
051883,000584:
051884,000585: 07,3455 35015 CAF BIT10
051885,000586: 07,3456 00006 EXTEND
051886,000587: 07,3457 05014 WOR CHAN14
051887,000588: 07,3460 15321 TCF TASKOVER
051888,000589:
051889,000590: 07,3461 50061 LONGGYRO INDEX ITEMP1
051890,000591: 07,3462 53401 DXCH 1400 # INITIAL COMMAND OUT PLUS N AUGMENTS OF
051891,000592: 07,3463 35011 CAF BIT14 # 8192. INITIAL COMMAND IS AT LEAST 8192.
051892,000593: 07,3464 60062 AD ITEMP2
051893,000594: 07,3465 54047 TS GYROCMD
051894,000595:
051895,000596: 07,3466 00006 AUG3 EXTEND # GET WAITLIST DT TO TIME WHEN TRAIN IS
051896,000597: 07,3467 75015 MP BIT10 # ALMOST OUT.
051897,000598: 07,3470 67717 AD NEG3
051898,000599: 07,3471 05252 TC WAITLIST
051899,000600: 07,3472 E3,1474 EBANK= CDUIND
051900,000601: 07,3472 03475 16103 2CADR 8192AUG
051901,000602:
051902,000603: 07,3474 13450 TCF GYROEXIT
051903,000604:
051904,000605: 07,3475 03552 8192AUG TC CAGETEST
051905,000606:
051906,000607: 07,3476 31321 CA LGYRO # ADD 8192 PULSES TO GYROCMD
051907,000608: 07,3477 54003 TS EBANK
051908,000609: 07,3500 74371 MASK LOW8
051909,000610: 07,3501 54061 TS ITEMP1
051910,000611:
051911,000612: 07,3502 50061 INDEX ITEMP1 # SEE IF THIS IS THE LAST AUG.
051912,000613: 07,3503 11400 CCS 1400
051913,000614: 07,3504 13510 TCF AUG2 # MORE TO COME.
051914,000615:
051915,000616: 07,3505 35011 CAF BIT14
051916,000617: 07,3506 26047 ADS GYROCMD
051917,000618: 07,3507 13442 TCF LASTSEG +1
051918,000619:
051919,000620: 07,3510 50061 AUG2 INDEX ITEMP1
051920,000621: 07,3511 55400 TS 1400
051921,000622: 07,3512 35011 CAF BIT14
051922,000623: 07,3513 26047 ADS GYROCMD
051923,000624: 07,3514 13466 TCF AUG3 # COMPUTE DT.
051924,000625:
051925,000626: 07,3515 63431 MIN- AD -GYROMIN # POSSIBLE NEGATIVE OUTPUT.
051926,000627: 07,3516 00006 EXTEND
051927,000628: 07,3517 63322 BZMF STRTGYR2
051928,000629:
051929,000630: 07,3520 00006 MAJ- EXTEND # DEFINITE NEGATIVE OUTPUT.
051930,000631: 07,3521 43541 DCS GYROFRAC
051931,000632: 07,3522 20071 DAS RUPTREG1
051932,000633:
051933,000634: 07,3523 30064 CA ITEMP4 # SELECT NEGATIVE TORQUING FOR THIS GYRO.
051934,000635: 07,3524 65016 AD BIT9
051935,000636: 07,3525 00006 EXTEND
051936,000637: 07,3526 05014 WOR CHAN14
051937,000638:
051938,000639: 07,3527 40070 CS RUPTREG1 # SET UP RUPTREGS TO FALL INTO GMERGE.
051939,000640: 07,3530 54070 TS RUPTREG1 # ALL NUMBERS PUT INTO GYROCMD ARE
051940,000641: 07,3531 40071 CS RUPTREG2 # POSITIVE - BIT9 OF CHAN 14 DETERMINES
051941,000642: 07,3532 76050 MASK LOW7 # THE SIGN OF THE COMMAND.
051942,000643: 07,3533 40000 COM
051943,000644: 07,3534 56071 XCH RUPTREG2
051944,000645: 07,3535 40000 COM
051945,000646: 07,3536 13411 TCF GMERGE
051946,000647:
051947,000648: 07,3537 01700 GDESELCT OCT 1700 # TURN OFF SELECT AND ACTIVITY BITS.
051948,000649:
051949,000650: 07,3540 00000 00034 GYROFRAC 2DEC .215 B-21
051950,000651:
051951,000652: # IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE.
051952,000653:
051953,000654: 07,3542 00006 ENDIMU EXTEND # MODE IS BAD IF CAGE HAS OCCURED OR IF
051954,000655: 07,3543 00011 READ DSALMOUT # ISS WARNING IS ON.
051955,000656: 07,3544 75026 MASK BIT1
051956,000657: 07,3545 10000 CCS A
051957,000658: 07,3546 13550 TCF IMUBAD
051958,000659:
051959,000660: 07,3547 13576 IMUGOOD TCF GOODEND # WITH C(A) = 0.
051960,000661:
051961,000662: 07,3550 35030 IMUBAD CAF ZERO
051962,000663: 07,3551 13573 TCF BADEND
051963,000664:
051964,000665: 07,3552 35021 CAGETEST CAF BIT6 # SUBROUTINE TO TERMINATE IMU MODE
051965,000666: 07,3553 71304 MASK IMODES30 # SWITCH IF IMU HAS BEEN CAGED.
051966,000667: 07,3554 10000 CCS A
051967,000668: 07,3555 13550 TCF IMUBAD # DIRECTLY.
051968,000669: 07,3556 00002 TC Q # WITH C(A) = +0.
051969,000670:
051970,000671: 07,3557 41304 CAGETSTQ CS IMODES30 # SKIP IF IMU NOT BEING CAGED.
051971,000672: 07,3560 75021 MASK BIT6
051972,000673: 07,3561 10000 CCS A
051973,000674: 07,3562 24002 INCR Q
051974,000675: 07,3563 00002 TC Q
051975,000676:
051976,000677: 07,3564 41304 CAGETSTJ CS IMODES30 # IF DURING MODE SWITCH INITIALIZATION
051977,000678: 07,3565 75021 MASK BIT6 # IT IS FOUND THAT THE IMU IS BEING CAGED,
051978,000679: 07,3566 10000 CCS A # SET IMUCADR TO -0 TO INDICATE OPERATION
051979,000680: 07,3567 00002 TC Q # COMPLETE BUT FAILED. RETURN IMMEDIATELY
051980,000681:
051981,000682: 07,3570 45030 CS ZERO # TO SWRETURN.
051982,000683: 07,3571 55306 TS IMUCADR
051983,000684: 07,3572 12664 TCF MODEEXIT
051984,000685:
051985,000686: # GENERALIZED MODE SWITCHING TERMINATION. ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION
051986,000687: # OR AT BADEND FOR AN UNSUCCESSFUL ONE. C(A) OR ARRIVAL =0 FOR IMU, 1 FOR OPTICS.
051987,000688:
051988,000689: 07,3573 54071 BADEND TS RUPTREG2 # DEVICE INDEX.
051989,000690: 07,3574 45030 CS ZERO # FOR FAILURE.
051990,000691: 07,3575 13600 TCF GOODEND +2
051991,000692:
051992,000693: 07,3576 54071 GOODEND TS RUPTREG2
051993,000694: 07,3577 45026 CS ONE # FOR SUCCESS.
051994,000695:
051995,000696: 07,3600 54072 TS RUPTREG3
051996,000697: 07,3601 50071 INDEX RUPTREG2 # SEE IF USING PROGRAM ASLEEP.
051997,000698: 07,3602 11306 CCS MODECADR
051998,000699: 07,3603 13605 TCF +2 # YES - WAKE IT UP.
051999,000700: 07,3604 13615 TCF ENDMODE # IF 0, PROGRAM NOT IN YET.
052000,000701:
052001,000702: 07,3605 35030 CAF ZERO # WAKE SLEEPING PROGRAM.
052002,000703: 07,3606 50071 INDEX RUPTREG2
052003,000704: 07,3607 57306 XCH MODECADR
052004,000705: 07,3610 05207 TC JOBWAKE
052005,000706:
052006,000707: 07,3611 40072 CS RUPTREG3 # ADVANCE LOC IF SUCCESSFUL.
052007,000708: 07,3612 50064 INDEX LOCCTR
052008,000709: 07,3613 26164 ADS LOC
052009,000710:
052010,000711: 07,3614 15321 TCF TASKOVER
052011,000712:
052012,000713: 07,3615 30072 ENDMODE CA RUPTREG3 # -0 INDICATES OPERATION COMPLETE BUT
052013,000714: 07,3616 50071 +1 INDEX RUPTREG2 # UNSUCCESSFUL: -1 INDICATES COMPLETE AND
052014,000715: 07,3617 55306 TS MODECADR # SUCCESSFUL.
052015,000716: 07,3620 15321 TCF TASKOVER
052016,000717:
052017,000718: # GENERAL STALLING ROUTINE. USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION.
052018,000719:
052019,000720: # PROGRAM DESCRIPTION DATE- 21 FEB 1967
052020,000721: # LOG SECTION IMU MODE SWITCHING
052021,000722: # MOD BY- R. MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 82
052022,000723:
052023,000724: # FUNCTIONAL DESCRIPTION-
052024,000725: # TO DELAY FURTHER EXECUTION OF THE CALLING ROUTINE UNTIL ITS SELECTED
052025,000726: # I/O FUNCTION IS COMPLETE.THE FOLLOWING CHECKS ON THE CALLING ROUTINE:S
052026,000727: # MODECADR ARE MADE AND ACTED UPON.
052027,000728: # 1) +0 INDICATES INCOMPLETE I/O OPERATION.CALLING ROUTINE IS PUT TO
052028,000729: # SLEEP.
052029,000730: # 2) -1 INDICATES COMPLETED I/O OPERATION. STALL BYPASSES JOBSLEEP
052030,000731: # CALL AND RETURNS TO CALLING ROUTINE AT L+3
052031,000732: # 3) -0 INDICATES COMPLETED I/O WITH FAILURE. STALL CLEARS MODECADR
052032,000733: # AND RETURNS TO CALLING ROUTINE AT L+2.
052033,000734: # 4) VALUE GREATER THAN 0 INDICATES TWO ROUTINES CALLING FOR USE OF
052034,000735: # SAME DEVICE. STALL EXITS TO ABORT WHICH EXECUTES A PROGRAM
052035,000736: # RESTART WHICH IN TURN CLEARS ALL MODECADR REGISTERS.
052036,000737:
052037,000738: # CALLING SEQUENCE-
052038,000739: # L TC BANKCALL
052039,000740: # L+1 CADR (ONE OF 5 STALL ADDRESSES I.E. IMUSTALL, OPTSTALL, RADSTALL,
052040,000741: # AOTSTALL, OR ATTSTALL)
052041,000742:
052042,000743: # NORMAL-EXIT MODE-
052043,000744: # TCF JOBSLEEP OR TCF MODEXIT
052044,000745:
052045,000746: # ALARM OR ABORT EXIT MODE-
052046,000747: # TC ABORT
052047,000748:
052048,000749: # OUTPUT-
052049,000750: # MODECADR=CADR IF JOBSLEEP
052050,000751: # MODECADR=+0 IF I/O COMPLETE
052051,000752: # BUF2=L+3 IF I/O COMPLETE AND GOOD.
052052,000753: # BUF2=L+2 IF I/O COMPLETE BUT FAILED.
052053,000754:
052054,000755: # ERASABLE INITIALIZATION-
052055,000756: # BUF2 CONTAINS RETURN ADDRESS PLUS 1,(L+2)
052056,000757: # BUF2+1 CONTAINS FBANK VALUE OF CALLING ROUTINE.
052057,000758: # MODECADR OF CALLING ROUTINE CONTAINS +0,-1,-0 OR CADR RETURN ADDRESS.
052058,000759:
052059,000760: # DEBRIS-
052060,000761: # RUPTREG2 AND CALLING ROUTINE MODECADR.
052061,000762:
052062,000763: 07,3621 35026 AOTSTALL CAF ONE # AOT.
052063,000764: 07,3622 03626 TC STALL
052064,000765:
052065,000766: 07,3623 35025 RADSTALL CAF TWO
052066,000767: 07,3624 13626 TCF STALL
052067,000768:
052068,000769: 07,3625 07,3621 OPTSTALL EQUALS AOTSTALL
052069,000770:
052070,000771: 07,3625 35030 IMUSTALL CAF ZERO # IMU.
052071,000772:
052072,000773: 07,3626 00004 STALL INHINT
052073,000774: 07,3627 54071 TS RUPTREG2 # SAVE DEVICE INDEX.
052074,000775: 07,3630 50000 INDEX A # SEE IF OPERATION COMPLETE.
052075,000776: 07,3631 11306 CCS MODECADR
052076,000777: 07,3632 13650 TCF MODABORT # ALLOWABLE STATES ARE +0, -1, AND -0.
052077,000778: 07,3633 13644 TCF MODESLP # OPERATION INCOMPLETE.
052078,000779: 07,3634 13640 TCF MODEGOOD # COMPLETE AND GOOD IF = -1.
052079,000780:
052080,000781: 07,3635 50071 MG2 INDEX RUPTREG2 # COMPLETE AND FAILED IF -0. RESET TO +0.
052081,000782: 07,3636 55306 TS MODECADR # RETURN TO CALLER.
052082,000783: 07,3637 12664 TCF MODEEXIT
052083,000784:
052084,000785: 07,3640 10000 MODEGOOD CCS A # MAKE SURE INITIAL STATE -1.
052085,000786: 07,3641 13650 TCF MODABORT
052086,000787:
052087,000788: 07,3642 24133 INCR BUF2 # IF SO, INCREMENT RETURN ADDRESS AND
052088,000789: 07,3643 13635 TCF MG2 # RETURN IMMEDIATELY, SETTING CADR = +0.
052089,000790:
052090,000791: 07,3644 04704 MODESLP TC MAKECADR # CALL FROM SWITCHABLE FIXED ONLY.
052091,000792: 07,3645 50071 INDEX RUPTREG2
052092,000793: 07,3646 55306 TS MODECADR
052093,000794: 07,3647 15203 TCF JOBSLEEP
052094,000795:
052095,000796: 07,3650 05713 MODABORT TC ABORT # TWO PROGRAMS USING SAME DEVICE.
052096,000797: 07,3651 01210 OCT 1210
052097,000798:
052098,000799: # CONSTANTS FOR MODE SWITCHING ROUTINES
052099,000800:
052100,000801: 07,3652 5743 BITS3&4 = OCT14
052101,000802: 07,3652 5041 BITS4&6 = OCT50
052102,000803: 07,3652 00030 BITS4-5 OCT 00030
052103,000804: 07,3653 5017 IMUSEFLG EQUALS BIT8 # INTERPRETER SWITCH 7.
052104,000805: 07,3653 77500 -COMMAX DEC -191 B-14
052105,000806: 07,3654 77477 -COMMAX- DEC -192 B-14
052106,000807: 07,3655 00074 600MS DEC 60 B-14
052107,000808: 07,3656 07,3121 IMUFIN20 = IMUFINE
052108,000809: 07,3656 31311 GOMANUR CA ATTCADR # IS KALCMANU FREE
052109,000810: 07,3657 00006 EXTEND
052110,000811: 07,3660 13663 BZF +3
052111,000812:
052112,000813: 07,3661 05713 TC ABORT # NO
052113,000814: 07,3662 01210 OCT 1210 # 2 TRYING TO USE SAME DEVICE
052114,000815:
052115,000816: 07,3663 00006 +3 EXTEND
052116,000817: 07,3664 30134 DCA BUF2
052117,000818: 07,3665 53312 DXCH ATTCADR # SAVE FINAL RETURN FOR KALCMAN3
052118,000819:
052119,000820: 07,3666 30006 CA BBANK
052120,000821: 07,3667 75032 MASK SEVEN
052121,000822: 07,3670 27312 ADS ATTCADR +1
052122,000823:
052123,000824: 07,3671 30167 CA PRIORITY
052124,000825: 07,3672 77677 MASK PRIO37
052125,000826: 07,3673 55313 TS ATTPRIO # SAVE USERS PRIO
052126,000827:
052127,000828: 07,3674 33700 CAF KALEBCON # SET EBANK FOR KALCMAN3
052128,000829: 07,3675 54003 TS EBANK
052129,000830: 07,3676 04674 TC POSTJUMP
052130,000831: 07,3677 44000 CADR KALCMAN3
052131,000832: 07,3700 03273 KALEBCON ECADR BCDU
052132,000833:
|
|
Sundance 292 |
052134,000835:
052135,000836: # PROGRAM DESCRIPTION
052136,000837: # IMU STATUS CHECK ROUTINE R02 (SUBROUTINE UTILITY)
052137,000838: # MOD NO - 1
052138,000839: # MOD BY - N.BRODEUR
052139,000840:
052140,000841: # FUNCTIONAL DESCRIPTION
052141,000842: # TO CHECK WHETHER IMU IS ON AND IF ON WHETHER IT IS ALIGNED TO AN
052142,000843: # ORIENTATION KNOWN BY THE CMC. TO REQUEST SELECTION OF THE APPROPRIATE
052143,000844: # PROGRAM IF THE IMU IS OFF OR NOT ALIGNED TO AN ORIENTATION KNOWN BY THE
052144,000845: # CMC. CALLED THROUGH BANKCALL
052145,000846: # CALLING SEQUENCE-
052146,000847:
052147,000848: # L TC BANKCALL
052148,000849: # L+1 CADR R02BOTH
052149,000850: # SUBROUTINES CALLED
052150,000851:
052151,000852: # VARALARM
052152,000853: # FLAGUP
052153,000854:
052154,000855: # NORMAL EXIT MODES
052155,000856:
052156,000857: # AT L+2 OF CALLING SEQUENCE
052157,000858: # ALARM OR ABORT EXIT MODES
052158,000859: # GOTOPOOH, WITH ALARM
052159,000860: # ERASABLE INITIALIZATION REQUIRED
052160,000861:
052161,000862: # NONE
052162,000863: # DEBRIS
052163,000864:
052164,000865: # CENTRALS - A,Q,L
052165,000866:
052166,000867: 34,3754 BANK 34
052167,000868: 04,2000 SETLOC R02
052168,000869: 04,2000 BANK
052169,000870: 04,3063 COUNT* $$/R02
052170,000871: 04,3063 00063 DEC51 DEC 51 B-14
052171,000872: 04,3064 35012 R02BOTH CAF REFSMBIT
052172,000873: 04,3065 70077 MASK FLAGWRD3
052173,000874: 04,3066 10000 CCS A
052174,000875: 04,3067 03100 TC R02ZERO # ZERO IMUS
052175,000876:
052176,000877: 04,3070 31304 CA IMODES30
052177,000878: 04,3071 75016 MASK BIT9 # IS ISS INITIALIZED
052178,000879: 04,3072 00006 EXTEND
052179,000880: 04,3073 13075 BZF +2
052180,000881: 04,3074 45023 CS BIT4 # SEND IMU ALARM CODE 210
052181,000882: 04,3075 63103 AD OCT220 # SEND REFSMM ALARM
052182,000883: 04,3076 05736 TC VARALARM
052183,000884:
052184,000885: 04,3077 04106 TC GOTOPOOH
052185,000886:
052186,000887: 04,3100 05563 R02ZERO TC UPFLAG
052187,000888: 04,3101 00007 ADRES IMUSE
052188,000889: 04,3102 14670 TCF SWRETURN
052189,000890: 04,3103 00220 OCT220 OCT 220
052190,000891:
|
|
Sundance 306 |
052192,000893:
052193,000894: # PROGRAM DESCRIPTION P06 10 FEB 67
052194,000895:
052195,000896: # TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION.
052196,000897:
052197,000898: # THE NORMAL CONDITION OF READINESS OF THE GNCS WHEN NOT IN USE IS STANDBY. IN THIS CONDITION THE IMU
052198,000899: # HEATER POWER IS ON. THE IMU OPERATE POWER IS OFF. THE COMPUTER POWER IS ON. THE OPTICS POWER IS OFF. THE
052199,000900: # CMC STANDBY ON THE MAIN AND LEB DISKYS IS ON.
052200,000901:
052201,000902: # CALLING SEQUENCE:
052202,000903: # ASTRONAUT REQUEST THROUGH DSKY V37E 06E.
052203,000904:
052204,000905: # SUBROUTINES CALLED:
052205,000906: # GOPERF1
052206,000907: # BANKCALL
052207,000908: # FLAGDOWN
052208,000909:
052209,000910: # PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2
052210,000911: # THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATABILITY
052211,000912: # BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING.
052212,000913:
052213,000914: 37,2000 SETLOC P05P06
052214,000915: 37,2000 BANK
052215,000916:
052216,000917: 37,3507 1201 EBANK= TIME2SAV
052217,000918: 37,3507 COUNT* $$/P06
052218,000919:
052219,000920: 37,3507 05563 P06 TC UPFLAG # SET NODOV37 BIT
052220,000921: 37,3510 00054 ADRES NODOFLAG
052221,000922:
052222,000923: 37,3511 00004 PRESTAND INHINT
052223,000924: 37,3512 00006 EXTEND
052224,000925: 37,3513 30025 DCA TIME2 # SNAPSHOT TIME1 TIME2
052225,000926: 37,3514 53202 DXCH TIME2SAV
052226,000927: 37,3515 03546 TC SCALPREP
052227,000928: 37,3516 03511 TC PRESTAND # T1,T2,SCALER NOT COMPATIBLE
052228,000929: 37,3517 52155 DXCH MPAC # T1,T2 AND SCALER OK
052229,000930: 37,3520 53204 DXCH SCALSAVE # STORE SCALER
052230,000931: 37,3521 00004 INHINT
052231,000932: 37,3522 04655 TC BANKCALL
052232,000933: 37,3523 17106 CADR RNDREFDR # REFSMM, DRIFT, TRACK FLAGS DOWN
052233,000934:
052234,000935: 37,3524 05575 TC DOWNFLAG
052235,000936: 37,3525 00007 ADRES IMUSE # IMUSE DOWN
052236,000937: 37,3526 05575 TC DOWNFLAG
052237,000938: 37,3527 00010 ADRES RNDVZFLG # RNDVZFLG DOWN
052238,000939:
052239,000940: 37,3530 35014 CAF BIT11
052240,000941: 37,3531 00006 EXTEND
052241,000942: 37,3532 05013 WOR CHAN13 # SET STANDBY ENABLE BIT
052242,000943:
052243,000944: 37,3533 05413 TC PHASCHNG # SET RESTART TO POSTAND WHEN STANDBY
052244,000945: 37,3534 07024 OCT 07024 # RECOVERS
052245,000946: 37,3535 20000 OCT 20000
052246,000947: 37,3536 1203 EBANK= SCALSAVE
052247,000948: 37,3536 03566 76062 2CADR POSTAND
052248,000949:
052249,000950: 37,3540 35044 CAF OCT62
052250,000951: 37,3541 04655 TC BANKCALL
052251,000952: 37,3542 20532 CADR GOPERF1
052252,000953: 37,3543 13540 TCF -3
052253,000954: 37,3544 13540 TCF -4
052254,000955: 37,3545 13540 TCF -5
052255,000956:
052256,000957: 37,3546 5044 OCT62 EQUALS .5SEC # DEC 50 = OCT 62
052257,000958:
052258,000959: # THE LOW 5 BITS OF THE SCALER READS 10000 FOR THE FIRST INTERVAL AFTER A
052259,000960: # T1 INCREMENT. IF SCALPREP DETECTS THIS INTERVAL THE T1,T2 AND SCALER
052260,000961: # DATA ARE NOT COMPATABLE AND RETURN IS TO L+1 FOR ANOTHER READING OF THE
052261,000962: # DATA. OTHERWISE, THE RETURN IS TO L+2 TO PROCEED. ROUTINE ALSO PREPARES
052262,000963: # THE SCALER READING FOR COMPUTATION OF THE INCREMENT TO UPDATE T1T2. (THE
052263,000964: # 10 MS BIT (BIT 6) OF THE SCALER IS INCREMENTED 5 MS OUT OF PHASE FROM
052264,000965: # T1.) ADDITION OF 5 MS (BIT 5) TO THE SCALER READING HAS THE EFFECT OF
052265,000966: # ADJUSTING BIT 6 IN THE SCALER TO BE IN PHASE WITH BIT 1 OF T1. THE LOW 5
052266,000967: # BITS OF THE SCALER READING ARE THEN SET TO ZERO, TO TRUNCATE THE SCALER
052267,000968: # DATA TO 10 MS. RESULTS ARE STORED IN MPAC, +1.
052268,000969:
052269,000970: 37,3546 00006 SCALPREP EXTEND
052270,000971: 37,3547 22156 QXCH MPAC +2
052271,000972: 37,3550 04115 TC FINETIME +1
052272,000973: 37,3551 00003 RELINT
052273,000974: 37,3552 52155 DXCH MPAC
052274,000975: 37,3553 35022 CA BIT5 # ADD 5 MS TO THE SCALER READING.
052275,000976: 37,3554 54001 TS L
052276,000977: 37,3555 35030 CA ZERO
052277,000978: 37,3556 20155 DAS MPAC
052278,000979: 37,3557 44360 CS LOW5 # SET LOW 5 BITS OF (SCALER+5MS) TO ZERO
052279,000980: 37,3560 70155 MASK MPAC +1 # AND STORE RESULTS IN MPAC,+1.
052280,000981: 37,3561 56155 XCH MPAC +1
052281,000982: 37,3562 74360 MASK LOW5 # TEST LOW 5 BITS OF SCALER FOR THE FIRST
052282,000983: # INTERVAL AFTER THE T1 INCREMENT
052283,000984: # (NOW = 00000, SINCE BIT 5 ADDED).
052284,000985: 37,3563 10000 CCS A # IS IT 1ST INTERVAL AFTER T1 INCREMENT
052285,000986: 37,3564 24156 INCR MPAC +2 # NO
052286,000987: 37,3565 00156 TC MPAC +2 # YES
052287,000988:
052288,000989: # POSTAND RECOVERS TIME AFTER STANDBY.THE SCALER IS SNAPSHOTTED AND THE
052289,000990: # TIME1 TIME2 COUNTER IS SET TO ZERO. THE LOW 5 BITS OF THE SCALER ARE
052290,000991: # INSPECTED TO INSURE COMPATABILITY BETWEEN THE SCALER READING AND THE
052291,000992: # CLEARING OF THE TIME COUNTER. IT THEN COMPUTES THE DIFFERENCE IN SCALER
052292,000993: # VALUES (IN DP) AND ADDS THIS TO THE PREVIOUSLY SNAPSHOTTED VALUES OF
052293,000994: # TIME1 TIME2 AND PLACES THIS NEW TIME INTO THE TIME1 TIME2 COUNTER.
052294,000995:
052295,000996: 37,3566 COUNT* $$/P05
052296,000997:
052297,000998: 37,3566 45014 POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY.
052298,000999: 37,3567 00006 EXTEND
052299,001000: 37,3570 03013 WAND CHAN13 # CLEAR STANDBY ENABLE BIT
052300,001001: 37,3571 00004 INHINT
052301,001002: 37,3572 35030 CA ZERO
052302,001003: 37,3573 54001 TS L
052303,001004: 37,3574 52025 DXCH TIME2 # CLEAR TIME1TIME2
052304,001005: 37,3575 03546 TC SCALPREP # STORE SCALER IN MPAC, MPAC+1
052305,001006: 37,3576 03571 TC POSTAND +3 # T1,T2,SCALER NOT COMPATIBLE
052306,001007: 37,3577 00006 EXTEND # T1,T2 AND SCALER OK
052307,001008: 37,3600 41204 DCS SCALSAVE
052308,001009: 37,3601 20155 DAS MPAC # FORM DP DIFFERENCE OF POSTSTANDBY SCALER
052309,001010: 37,3602 35015 CAF BIT10 # MINUS PRESTANDBY SCALER AND SHIFT RIGHT
052310,001011: 37,3603 07261 TC SHORTMP # 5 TO ALIGN BITS WITH TIME1 TIME2.
052311,001012: 37,3604 35030 CAF ZERO
052312,001013: 37,3605 54156 TS MPAC +2 # NEEDED FOR TP AGREE
052313,001014: 37,3606 07231 TC TPAGREE # MAKE DP DIFF AGREE
052314,001015: 37,3607 10154 CCS MPAC
052315,001016: 37,3610 03615 TC POSTCOM # IF DP DIFF NET +, NO SCALER OVERFLOW
052316,001017: 37,3611 03615 TC POSTCOM # BETWEEN PRE AND POST STANDBY.
052317,001018: 37,3612 03613 TC +1 # IF DP DIFF NET -, SCALER OVERFLOWED. ADD
052318,001019: 37,3613 35015 CAF BIT10 # BIT 10 TO HIGH DIFF TO CORRECT.
052319,001020: 37,3614 26154 ADS MPAC
052320,001021: 37,3615 00006 POSTCOM EXTEND # C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER.
052321,001022: 37,3616 31202 DCA TIME2SAV # PRESTANDBY TIME1TIME2
052322,001023: 37,3617 20155 DAS MPAC
052323,001024: 37,3620 07231 TC TPAGREE # FORCE SIGN AGREEMENT
052324,001025: 37,3621 52155 DXCH MPAC # UPDATED VALUE FOR T1,T2.
052325,001026: 37,3622 20025 DAS TIME2 # LOAD UPDATED VALUE INTO T1,T2, WITH
052326,001027: 37,3623 05575 TC DOWNFLAG # CLEAR NODOFLAG
052327,001028: 37,3624 00054 ADRES NODOFLAG
052328,001029:
052329,001030: 37,3625 04106 TC GOTOPOOH
052330,001031:
End of include-file IMU_MODE_SWITCHING_ROUTINES.agc. Parent file is MAIN.agc