Source Code
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These source-code files were obtained by digitally photographing
an Artemis 72 program listing from a private collection and then
modifying pre-existing Comanche 55 (Apollo 11) source files to
incorporate changes. Note that the page images
presented online are of reduced quality, and that additional images
may be available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 072 OF AGC PROGRAM ARTEMIS BY NASA 2021114-011 11:40 FEB. 26, 1971 THIS AGC PROGRAM SHALL ALSO BE REFERRED TO AS COLOSSUS 3 THIS PROGRAM IS INTENDED FOR USE IN THE CM AS SPECIFIED IN REPORT R-577. THIS PROGRAM WAS PREPARED UNDER OSR PROJECT 55-23890, SPONSORED BY THE MANNED SPACECRAFT CENTER OF THE NATIONAL AERONAUTICS AND SPACE ADMINISTRATION THROUGH CONTRACT NAS 9-4065 WITH THE CHARLES STARK DRAPER LABORATORY, MASSACHUSETTS INSTITUTE OF TECHNOLOGY, CAMBRIDGE, MASS. |
060640,000002: # Copyright: Public domain.
060641,000003: # Filename: IMU_MODE_SWITCHING_ROUTINES.agc
060642,000004: # Purpose: Part of the source code for Artemis (i.e., Colossus 3),
060643,000005: # build 072. This is for the Command Module's (CM)
060644,000006: # Apollo Guidance Computer (AGC), we believe for
060645,000007: # Apollo 15-17.
060646,000008: # Assembler: yaYUL
060647,000009: # Contact: Jim Lawton <jim DOT lawton AT gmail DOT com>
060648,000010: # Website: www.ibiblio.org/apollo/index.html
060649,000011: # Page scans: www.ibiblio.org/apollo/ScansForConversion/Artemis072/
060650,000012: # Mod history: 2009-08-19 JL Adapted from corresponding Comanche 055 file.
060651,000013: # 2010-02-06 JL Fixed a 2CADR that should have been ADRES on page 1418.
060652,000014: # 2020-02-11 JL Fixed errors on p1419, p1432.
060653,000015: # 2010-02-20 RSB Un-##'d this header.
060654,000016:
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Page 1417 |
060656,000018: 4000 SETLOC FFTAG3
060657,000019: 4000 BANK
060658,000020:
060659,000021: 5511 E3,1471 EBANK= COMMAND
060660,000022:
060661,000023: # FIXED-FIXED ROUTINES
060662,000024:
060663,000025: 5511 COUNT* $$/IMODE
060664,000026: 5511 34772 ZEROICDU CAF ZERO # ZERO ICDU COUNTERS.
060665,000027: 5512 54032 TS CDUX
060666,000028: 5513 54033 TS CDUY
060667,000029: 5514 54034 TS CDUZ
060668,000030: 5515 00002 TC Q
060669,000031:
060670,000032: 5516 4760 SPSCODE = BIT9
060671,000033:
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Page 1418 |
060673,000035: # IMU ZEROING ROUTINE.
060674,000036:
060675,000037: 07,2000 SETLOC MODESW
060676,000038: 07,2000 BANK
060677,000039:
060678,000040: 07,2627 COUNT* $$/IMODE
060679,000041: 07,2627 00004 IMUZERO INHINT # ROUTINE TO ZERO ICDUS.
060680,000042: 07,2630 41241 CS DSPTAB +11D # DONT ZERO CDUS IS IMU IN GIMBAL LOCK AND
060681,000043: 07,2631 75004 MASK BITS4&6 # COARSE ALIGN (GIMBAL RUNAWAY PROTECTION)
060682,000044: 07,2632 10000 CCS A
060683,000045: 07,2633 12637 TCF IMUZEROA
060684,000046:
060685,000047: 07,2634 05671 TC ALARM # IF SO.
060686,000048: 07,2635 00206 OCT 00206
060687,000049:
060688,000050: 07,2636 13622 TCF CAGETSTJ +4 # IMMEDIATE FAILURE.
060689,000051:
060690,000052: 07,2637 03616 IMUZEROA TC CAGETSTJ
060691,000053: # DO ALL THE WORK.
060692,000054: 07,2640 41334 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
060693,000055: 07,2641 74763 MASK NOIMUDAP
060694,000056: 07,2642 27334 ADS IMODES33
060695,000057: 07,2643 40000 COM
060696,000058: 07,2644 74764 MASK IMUZROBT
060697,000059: 07,2645 27334 ADS IMODES33
060698,000060:
060699,000061: 07,2646 41333 CS IMODES30 # INHIBIT ICDUFAIL AND IMUFAIL (IN CASE WE
060700,000062: 07,2647 74765 MASK IMUFINHT
060701,000063: 07,2650 27333 ADS IMODES30
060702,000064: 07,2651 40000 COM
060703,000065: 07,2652 74766 MASK ICDUINHT
060704,000066: 07,2653 27333 ADS IMODES30
060705,000067:
060706,000068: 07,2654 45004 CS BITS4&6 # SEND ZERO ENCODE WITH COARSE AND ERROR
060707,000069: 07,2655 00006 EXTEND # COUNTER DISABLED.
060708,000070: 07,2656 03012 WAND CHAN12
060709,000071:
060710,000072: 07,2657 03207 TC NOATTOFF # TURN OFF NO ATT LAMP.
060711,000073:
060712,000074: 07,2660 34764 CAF BIT5
060713,000075: 07,2661 00006 EXTEND
060714,000076: 07,2662 05012 WOR CHAN12
060715,000077:
060716,000078: 07,2663 05511 TC ZEROICDU
060717,000079: 07,2664 34763 CAF BIT6 # WAIT 320 MS TO GIVE AGS ADEQUATE TIME TO
060718,000080: 07,2665 05223 TC TWIDDLE # RECEIVE ITS PULSE TRAIN.
060719,000081: 07,2666 E3,1474 EBANK= CDUIND
060720,000082: 07,2666 02677 ADRES IMUZERO2
060721,000083: 07,2667 41333 CS IMODES30 # SEE IF IMU OPERATING AND ALARM IF NOT.
060722,000084: 07,2670 74760 MASK IMUOPBIT
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Page 1419 |
060724,000086: 07,2671 10000 CCS A
060725,000087: 07,2672 12675 TCF MODEEXIT
060726,000088:
060727,000089: 07,2673 05671 TC ALARM
060728,000090: 07,2674 00210 OCT 210
060729,000091:
060730,000092: 07,2675 00003 MODEEXIT RELINT # GENERAL MODE-SWITCHING EXIT.
060731,000093: 07,2676 14651 TCF SWRETURN
060732,000094:
060733,000095:
060734,000096: 07,2677 03606 IMUZERO2 TC CAGETEST
060735,000097: 07,2700 05511 TC ZEROICDU # ZERO CDUX, CDUY, CDUZ
060736,000098:
060737,000099: 07,2701 44764 CS BIT5 # REMOVE ZERO DISCRETE.
060738,000100: 07,2702 00006 EXTEND
060739,000101: 07,2703 03012 WAND CHAN12
060740,000102:
060741,000103: 07,2704 35025 CAF 7.9SEC # WAIT 7.9 SECS FOR CTRS TO FIND GIMBALS
060742,000104: 07,2705 05260 TC VARDELAY
060743,000105:
060744,000106: 07,2706 03606 IMUZERO3 TC CAGETEST
060745,000107: 07,2707 34765 CA IMUFINHT
060746,000108: 07,2710 64766 AD ICDUINHT
060747,000109: 07,2711 40000 COM
060748,000110: 07,2712 71333 MASK IMODES30
060749,000111: 07,2713 55333 TS IMODES30
060750,000112:
060751,000113: 07,2714 34763 CA NOIMUDAP
060752,000114: 07,2715 64764 AD IMUZROBT
060753,000115: 07,2716 40000 COM
060754,000116: 07,2717 71334 MASK IMODES33 # BIT5 FOR GROUND
060755,000117: 07,2720 55334 TS IMODES33
060756,000118:
060757,000119: 07,2721 04714 TC IBNKCALL # SET ISS WARNING IF EITHER OF ABOVE ARE
060758,000120: 07,2722 14706 CADR SETISSW # PRESENT.
060759,000121:
060760,000122: 07,2723 13563 TCF ENDIMU
060761,000123:
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Page 1420 |
060763,000125: # IMU COARSE ALIGN MODE.
060764,000126:
060765,000127: 07,2724 00004 IMUCOARS INHINT
060766,000128: 07,2725 03616 TC CAGETSTJ
060767,000129: 07,2726 03070 TC SETCOARS
060768,000130:
060769,000131: 07,2727 36211 CAF SIX
060770,000132: 07,2730 05233 TC WAITLIST
060771,000133: 07,2731 E3,1474 EBANK= CDUIND
060772,000134: 07,2731 02734 16063 2CADR COARS
060773,000135:
060774,000136: 07,2733 12675 TCF MODEEXIT
060775,000137:
060776,000138: 07,2734 03606 COARS TC CAGETEST
060777,000139: 07,2735 34763 CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
060778,000140: 07,2736 00006 EXTEND
060779,000141: 07,2737 05012 WOR CHAN12
060780,000142:
060781,000143: 07,2740 34767 CAF TWO # SET CDU INDICATOR
060782,000144: 07,2741 55474 COARS1 TS CDUIND
060783,000145:
060784,000146: 07,2742 51474 INDEX CDUIND # COMPUTE THETAD - THETAA IN 1'S
060785,000147: 07,2743 31307 CA THETAD # COMPLEMENT FORM
060786,000148: 07,2744 00006 EXTEND
060787,000149: 07,2745 51474 INDEX CDUIND
060788,000150: 07,2746 20032 MSU CDUX
060789,000151: 07,2747 00006 EXTEND
060790,000152: 07,2750 74754 MP BIT13 # SHIFT RIGHT 2
060791,000153: 07,2751 56001 XCH L # ROUND
060792,000154: 07,2752 60000 DOUBLE
060793,000155: 07,2753 54061 TS ITEMP1
060794,000156: 07,2754 12756 TCF +2
060795,000157: 07,2755 26001 ADS L
060796,000158:
060797,000159: 07,2756 51474 INDEX CDUIND # DIFFERENCE TO BE COMPUTED
060798,000160: 07,2757 23471 LXCH COMMAND
060799,000161: 07,2760 11474 CCS CDUIND
060800,000162: 07,2761 02741 TC COARS1
060801,000163:
060802,000164: 07,2762 34767 CAF TWO # MINIMUM OF 4 MS WAIT
060803,000165: 07,2763 05260 -1 TC VARDELAY
060804,000166: 07,2764 03606 COARS2 TC CAGETEST # DONT CONTINUE IF CAGED.
060805,000167: 07,2765 54061 TS ITEMP1 # SETS TO +0.
060806,000168: 07,2766 34767 CAF TWO # SET CDU INDICATOR
060807,000169: 07,2767 55474 +3 TS CDUIND
060808,000170:
060809,000171: 07,2770 51474 INDEX CDUIND
060810,000172: 07,2771 11471 CCS COMMAND # NUMBER OF PULSES REQUIRED
060811,000173: 07,2772 02776 TC COMPOS # GREATER THAN MAX ALLOWED
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Page 1421 |
060813,000175: 07,2773 03005 TC NEXTCDU +1
060814,000176: 07,2774 03043 TC COMNEG
060815,000177: 07,2775 03005 TC NEXTCDU +1
060816,000178:
060817,000179: 07,2776 63663 COMPOS AD -COMMAX # COMMAX = MAX NUMBER OF PULSES ALLOWED
060818,000180: 07,2777 00006 EXTEND # MINUS ONE
060819,000181: 07,3000 63053 BZMF COMZERO
060820,000182: 07,3001 51474 INDEX CDUIND
060821,000183: 07,3002 55471 TS COMMAND # REDUCE COMMAND BY MAX NUMBER OF PULSES
060822,000184: 07,3003 43664 CS -COMMAX- # ALLOWED
060823,000185:
060824,000186: 07,3004 24061 NEXTCDU INCR ITEMP1
060825,000187: 07,3005 64771 +1 AD NEG0
060826,000188: 07,3006 51474 INDEX CDUIND
060827,000189: 07,3007 54050 TS CDUXCMD # SET UP COMMAND REGISTER.
060828,000190:
060829,000191: 07,3010 11474 CCS CDUIND
060830,000192: 07,3011 02767 TC COARS2 +3
060831,000193:
060832,000194: 07,3012 10061 CCS ITEMP1 # SEE IF ANY PULSES TO GO OUT.
060833,000195: 07,3013 13057 TCF SENDPULS
060834,000196:
060835,000197: 07,3014 05255 TC FIXDELAY # WAIT FOR GIMBALS TO SETTLE.
060836,000198: 07,3015 00226 DEC 150 B-14
060837,000199:
060838,000200: 07,3016 34767 CAF TWO # AT END OF COMMAND, CHECK TO SEE THAT
060839,000201: 07,3017 54061 CHKCORS TS ITEMP1 # GIMBALS ARE WITHIN 2 DEGREES OF THETAD.
060840,000202: 07,3020 50000 INDEX A
060841,000203: 07,3021 30032 CA CDUX
060842,000204: 07,3022 00006 EXTEND
060843,000205: 07,3023 50061 INDEX ITEMP1
060844,000206: 07,3024 21307 MSU THETAD
060845,000207: 07,3025 10000 CCS A
060846,000208: 07,3026 13034 TCF COARSERR
060847,000209: 07,3027 13031 TCF CORSCHK2
060848,000210: 07,3030 13034 TCF COARSERR
060849,000211:
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Page 1422 |
060851,000213:
060852,000214: 07,3031 10061 CORSCHK2 CCS ITEMP1
060853,000215: 07,3032 13017 TCF CHKCORS
060854,000216: 07,3033 13563 TCF ENDIMU # END OF COARSE ALIGNMENT.
060855,000217:
060856,000218: 07,3034 63042 COARSERR AD COARSTOL # 2 DEGREES.
060857,000219: 07,3035 00006 EXTEND
060858,000220: 07,3036 63031 BZMF CORSCHK2
060859,000221:
060860,000222:
060861,000223: 07,3037 05671 TC ALARM # COARSE ALIGN ERROR.
060862,000224: 07,3040 00211 OCT 211
060863,000225:
060864,000226: 07,3041 13625 TCF IMUBAD
060865,000227:
060866,000228: 07,3042 77511 COARSTOL DEC -.01111 # 2 DEGREES SCALED AT HALF-REVOLUTIONS
060867,000229:
060868,000230:
060869,000231: 07,3043 63663 COMNEG AD -COMMAX
060870,000232: 07,3044 00006 EXTEND
060871,000233: 07,3045 63053 BZMF COMZERO
060872,000234: 07,3046 40000 COM
060873,000235: 07,3047 51474 INDEX CDUIND
060874,000236: 07,3050 55471 TS COMMAND
060875,000237: 07,3051 33664 CA -COMMAX-
060876,000238: 07,3052 03004 TC NEXTCDU
060877,000239:
060878,000240: 07,3053 34772 COMZERO CAF ZERO
060879,000241: 07,3054 51474 INDEX CDUIND
060880,000242: 07,3055 57471 XCH COMMAND
060881,000243: 07,3056 03004 TC NEXTCDU
060882,000244:
060883,000245:
060884,000246: 07,3057 37673 SENDPULS CAF 13,14,15
060885,000247: 07,3060 00006 EXTEND
060886,000248: 07,3061 05014 WOR CHAN14
060887,000249: 07,3062 33665 CAF 600MS
060888,000250: 07,3063 12763 TCF COARS2 -1 # THEN TO VARDELAY
060889,000251:
060890,000252: 07,3064 34763 CA+ECE CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
060891,000253: 07,3065 00006 EXTEND
060892,000254: 07,3066 05012 WOR CHAN12
060893,000255: 07,3067 05314 TC TASKOVER
060894,000256:
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Page 1423 |
060896,000258: 07,3070 34765 SETCOARS CAF BIT4 # BYPASS IF ALREADY IN COARSE ALIGN
060897,000259: 07,3071 00006 EXTEND
060898,000260: 07,3072 02012 RAND CHAN12
060899,000261: 07,3073 10000 CCS A
060900,000262: 07,3074 00002 TC Q
060901,000263:
060902,000264: 07,3075 44763 CS BIT6 # CLEAR ISS ERROR COUNTERS
060903,000265: 07,3076 00006 EXTEND
060904,000266: 07,3077 03012 WAND CHAN12
060905,000267:
060906,000268: 07,3100 44757 CS BIT10 # KNOCK DOWN GYRO ACTIVITY
060907,000269: 07,3101 00006 EXTEND
060908,000270: 07,3102 03014 WAND CHAN14
060909,000271: 07,3103 44772 CS ZERO
060910,000272: 07,3104 54047 TS GYROCMD
060911,000273:
060912,000274: 07,3105 34765 CAF BIT4 # PUT ISS IN COARSE ALIGN
060913,000275: 07,3106 00006 EXTEND
060914,000276: 07,3107 05012 WOR CHAN12
060915,000277:
060916,000278: 07,3110 41241 CS DSPTAB +11D # TURN ON NO ATT LAMP
060917,000279: 07,3111 77664 MASK OCT40010
060918,000280: 07,3112 27241 ADS DSPTAB +11D
060919,000281:
060920,000282: 07,3113 41334 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
060921,000283: 07,3114 74763 MASK NOIMUDAP
060922,000284: 07,3115 27334 ADS IMODES33
060923,000285:
060924,000286: 07,3116 41333 CS IMODES30 # DISABLE IMUFAIL
060925,000287: 07,3117 74765 MASK IMUFINHT
060926,000288: 07,3120 27333 ADS IMODES30
060927,000289:
060928,000290: 07,3121 44764 RNDREFDR CS TRACKBIT # KNOCK DOWN TRACK FLAG
060929,000291: 07,3122 70075 MASK FLAGWRD1
060930,000292: 07,3123 54075 TS FLAGWRD1
060931,000293:
060932,000294: 07,3124 44752 CS DRFTBIT # KNOCK DOWN DRIFT FLAG
060933,000295: 07,3125 70076 MASK FLAGWRD2
060934,000296: 07,3126 54076 TS FLAGWRD2
060935,000297:
060936,000298: 07,3127 44754 CS REFSMBIT # KNOCK DOWN REFSMMAT FLAG
060937,000299: 07,3130 70077 MASK FLAGWRD3
060938,000300: 07,3131 54077 TS FLAGWRD3
060939,000301:
060940,000302: 07,3132 00002 TC Q
060941,000303:
060942,000304: 07,3133 7664 OCT40010 EQUALS OT40010
060943,000305:
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Page 1424 |
060945,000307:
060946,000308: # IMU FINE ALIGN MODE SWITCH.
060947,000309:
060948,000310: 07,3133 00004 IMUFINE INHINT
060949,000311: 07,3134 03616 TC CAGETSTJ # SEE IF IMU BEING CAGED.
060950,000312:
060951,000313: 07,3135 45001 CS BITS4-5 # RESET ZERO AND COARSE
060952,000314: 07,3136 00006 EXTEND
060953,000315: 07,3137 03012 WAND CHAN12
060954,000316:
060955,000317: 07,3140 44763 CS NOIMUDAP # INSURE DAP AUTO AND HOLD MODES ENABLED
060956,000318: 07,3141 71334 MASK IMODES33
060957,000319: 07,3142 55334 TS IMODES33
060958,000320:
060959,000321: 07,3143 03207 TC NOATTOFF
060960,000322:
060961,000323: 07,3144 34757 CAF BIT10 # IMU FAIL WAS INHIBITED DURING THE
060962,000324: 07,3145 05223 TC TWIDDLE # PRESUMABLY PRECEDING COARSE ALIGN. LEAVE
060963,000325: 07,3146 03155 ADRES IFAILOK # IT ON FOR THE FIRST 5 SECS OF FINE ALIGN
060964,000326: 07,3147 35017 CAF 2SECS
060965,000327: 07,3150 05223 TC TWIDDLE
060966,000328: 07,3151 03153 ADRES IMUFINED
060967,000329: 07,3152 12675 TCF MODEEXIT
060968,000330:
060969,000331: 07,3153 03606 IMUFINED TC CAGETEST # SEE THAT NO ONE HAS CAGED THE IMU.
060970,000332: 07,3154 13563 TCF ENDIMU
060971,000333:
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Page 1425 |
060973,000335: 07,3155 03613 IFAILOK TC CAGETSTQ # ENABLE IMU FAIL UNLESS IMU BEING CAGED.
060974,000336: 07,3156 15314 TCF TASKOVER # IT IS.
060975,000337:
060976,000338: 07,3157 34765 CAF BIT4 # DON'T RESET IMU FAIL INHIBIT IF SOMEONE
060977,000339: 07,3160 00006 EXTEND # HAS GONE INTO COARSE ALIGN.
060978,000340: 07,3161 02012 RAND CHAN12
060979,000341: 07,3162 10000 CCS A
060980,000342: 07,3163 15314 TCF TASKOVER
060981,000343:
060982,000344: 07,3164 41333 CS IMODES30 # RESET IMUFAIL.
060983,000345: 07,3165 74754 MASK IMUFLBIT
060984,000346: 07,3166 27333 ADS IMODES30
060985,000347: 07,3167 44765 CS IMUFINHT
060986,000348: 07,3170 71333 PFAILOK2 MASK IMODES30
060987,000349: 07,3171 55333 TS IMODES30
060988,000350: 07,3172 04714 TC IBNKCALL # THE ISS WARNING LIGHT MAY COME ON NOW
060989,000351: 07,3173 14706 CADR SETISSW # THAT THE INHIBIT WAS BEEN REMOVED.
060990,000352: 07,3174 15314 TCF TASKOVER
060991,000353:
060992,000354: 07,3175 03613 PFAILOK TC CAGETSTQ # ENABLE PIP FAIL PROG ALARM.
060993,000355: 07,3176 15314 TCF TASKOVER
060994,000356:
060995,000357: 07,3177 41333 CS IMODES30 # RESET IMU AND PIPA FAIL BITS.
060996,000358: 07,3200 74757 MASK PIPAFLBT
060997,000359: 07,3201 27333 ADS IMODES30
060998,000360:
060999,000361: 07,3202 41334 CS IMODES33
061000,000362: 07,3203 74754 MASK PIP2FLBT
061001,000363: 07,3204 27334 ADS IMODES33
061002,000364:
061003,000365: 07,3205 44764 CS NOACCALM
061004,000366: 07,3206 13170 TCF PFAILOK2
061005,000367:
061006,000368: 07,3207 47664 NOATTOFF CS OCT40010 # SUBROUTINE TO TURN OFF NO ATT LAMP.
061007,000369: 07,3210 71241 MASK DSPTAB +11D
061008,000370: 07,3211 64752 AD BIT15
061009,000371: 07,3212 55241 TS DSPTAB +11D
061010,000372: 07,3213 00002 TC Q
061011,000373:
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Page 1426 |
061013,000375:
061014,000376: # ROUTINES TO INITIATE AND TERMINATE PROGRAM USE OF THE PIPAS. NO IMUSTALL REQUIRED IN EITHER CASE.
061015,000377:
061016,000378: 07,3214 44772 PIPUSE CS ZERO
061017,000379: 07,3215 54037 TS PIPAX
061018,000380: 07,3216 54040 TS PIPAY
061019,000381: 07,3217 54041 TS PIPAZ
061020,000382:
061021,000383: 07,3220 03613 PIPUSE1 TC CAGETSTQ # DO NOT ENABLE PIPA FAIL IF IMU IS CAGED
061022,000384: 07,3221 14651 TCF SWRETURN
061023,000385:
061024,000386: 07,3222 00004 INHINT
061025,000387: 07,3223 44770 CS ACCFINHT # IF PIPA FAILS FROM NOW ON (UNTIL
061026,000388: 07,3224 71333 MASK IMODES30 # PIPFREE), LIGHT ISS WARNING.
061027,000389: 07,3225 55333 TS IMODES30
061028,000390:
061029,000391: 07,3226 04714 PIPFREE2 TC IBNKCALL # ISS WARNING MIGHT COME ON NOW.
061030,000392: 07,3227 14706 CADR SETISSW # (OR GO OFF ON PIPFREE).
061031,000393:
061032,000394: 07,3230 12675 TCF MODEEXIT
061033,000395:
061034,000396: 07,3231 00004 PIPFREE INHINT # PROGRAM DONE WITH PIPAS. DONT LIGHT
061035,000397: 07,3232 41333 CS IMODES30 # ISS WARNING.
061036,000398: 07,3233 74770 MASK ACCFINHT
061037,000399: 07,3234 27333 ADS IMODES30
061038,000400:
061039,000401: 07,3235 74757 MASK PIPAFLBT # IF PIP FAIL ON, DO PROG ALARM AND RESET
061040,000402: 07,3236 10000 CCS A # ISS WARNING.
061041,000403: 07,3237 12675 TCF MODEEXIT
061042,000404:
061043,000405: 07,3240 05671 TC ALARM
061044,000406: 07,3241 00212 OCT 212
061045,000407:
061046,000408: 07,3242 00004 INHINT
061047,000409:
061048,000410: 07,3243 13226 TCF PIPFREE2
061049,000411:
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Page 1427 |
061051,000413:
061052,000414: # THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIX REGISTERS
061053,000415: # BEGINNING AT THE ECADR ARRIVING IN A. THE MINIMUM SIZE OF ANY PULSE TRAIN IS 16 PULSES (.25 CDU COUNTS). THE
061054,000416: # UNSENT PORTION OF THE COMMAND IS LEFT INTACT IN THE INPUT COMMAND REGISTERS.
061055,000417:
061056,000418: 07,3244 54161 IMUPULSE TS MPAC +5 # SAVE ARRIVING ECADR.
061057,000419: 07,3245 03616 TC CAGETSTJ # DON'T PROCEED IF IMU BEING CAGED.
061058,000420:
061059,000421: 07,3246 11324 CCS LGYRO # SEE IF GYROS BUSY.
061060,000422: 07,3247 03307 TC GYROBUSY # SLEEP.
061061,000423:
061062,000424: 07,3250 34763 CAF BIT6 # ENABLE THE POWER SUPPLY.
061063,000425: 07,3251 00006 EXTEND
061064,000426: 07,3252 05014 WOR CHAN14
061065,000427:
061066,000428: 07,3253 34766 CAF FOUR
061067,000429: 07,3254 05233 GWAKE2 TC WAITLIST # (IF A JOB WAS PUT TO SLEEP, THE POWER
061068,000430: 07,3255 E3,1474 EBANK= CDUIND # SUPPLY IS LEFT ON BY THE WAKING JOB).
061069,000431: 07,3255 03324 16063 2CADR STRTGYRO
061070,000432:
061071,000433: 07,3257 30161 CA MPAC +5 # SET UP EBANK, SAVING CALLER'S EBANK FOR
061072,000434: 07,3260 56003 XCH EBANK # RESTORATION ON RETURN.
061073,000435: 07,3261 56161 XCH MPAC +5
061074,000436: 07,3262 55324 TS LGYRO # RESERVES GYROS.
061075,000437: 07,3263 74350 MASK LOW8
061076,000438: 07,3264 54061 TS ITEMP1
061077,000439:
061078,000440: 07,3265 34767 CAF TWO # FORCE SIGN AGREEMENT ON INPUTS.
061079,000441: 07,3266 54157 GYROAGRE TS MPAC +3
061080,000442: 07,3267 60000 DOUBLE
061081,000443: 07,3270 60061 AD ITEMP1
061082,000444: 07,3271 54160 TS MPAC +4
061083,000445: 07,3272 00006 EXTEND
061084,000446: 07,3273 50000 INDEX A
061085,000447: 07,3274 31401 DCA 1400
061086,000448: 07,3275 52155 DXCH MPAC
061087,000449: 07,3276 07224 TC DPAGREE
061088,000450: 07,3277 52155 DXCH MPAC
061089,000451: 07,3300 50160 INDEX MPAC +4
061090,000452: 07,3301 53401 DXCH 1400
061091,000453:
061092,000454: 07,3302 10157 CCS MPAC +3
061093,000455: 07,3303 13266 TCF GYROAGRE
061094,000456:
061095,000457: 07,3304 30161 CA MPAC +5 # RESTORE CALLER'S EBANK.
061096,000458: 07,3305 54003 TS EBANK
061097,000459: 07,3306 12675 TCF MODEEXIT
061098,000460:
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|
Page 1428 |
061100,000462:
061101,000463: # ROUTINES TO ALLOW TORQUING ONLY ONE JOB AT A TIME.
061102,000464:
061103,000465: 07,3307 00006 GYROBUSY EXTEND # SAVE RETURN 2FCADR.
061104,000466: 07,3310 30134 DCA BUF2
061105,000467: 07,3311 52155 DXCH MPAC
061106,000468: 07,3312 33323 REGSLEEP CAF LGWAKE
061107,000469: 07,3313 15163 TCF JOBSLEEP
061108,000470:
061109,000471: 07,3314 11324 GWAKE CCS LGYRO # WHEN AWAKENED, SEE IF GYROS STILL BUSY.
061110,000472: 07,3315 13312 TCF REGSLEEP # IF SO, SLEEP SOME MORE.
061111,000473:
061112,000474: 07,3316 00006 EXTEND
061113,000475: 07,3317 30155 DCA MPAC
061114,000476: 07,3320 52134 DXCH BUF2 # RESTORE SWRETURN INFO.
061115,000477: 07,3321 34770 CAF ONE
061116,000478: 07,3322 13254 TCF GWAKE2
061117,000479:
061118,000480: 07,3323 17314 LGWAKE CADR GWAKE
061119,000481:
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|
Page 1429 |
061121,000483:
061122,000484: # GYRO-TORQUING WAITLIST TASKS.
061123,000485:
061124,000486: 07,3324 43560 STRTGYRO CS GDESELCT # DE-SELECT LAST GYRO.
061125,000487: 07,3325 00006 EXTEND
061126,000488: 07,3326 03014 WAND CHAN14
061127,000489:
061128,000490: 07,3327 03575 TC CAGETSTG
061129,000491:
061130,000492: 07,3330 31324 STRTGYR2 CA LGYRO # JUMP ON PHASE COUNTER IN BITS 13-14
061131,000493: 07,3331 00006 EXTEND
061132,000494: 07,3332 74765 MP BIT4
061133,000495: 07,3333 50000 INDEX A
061134,000496: 07,3334 13335 TCF +1
061135,000497: 07,3335 03352 TC GSELECT # =0. DO Y GYRO.
061136,000498: 07,3336 00202 OCT 00202
061137,000499:
061138,000500: 07,3337 03352 TC GSELECT # =1. DO Z GYRO.
061139,000501: 07,3340 00302 OCT 00302
061140,000502:
061141,000503: 07,3341 03350 TC GSELECT -2 # =2. DO X GYRO.
061142,000504: 07,3342 00100 OCT 00100
061143,000505:
061144,000506: 07,3343 34772 CAF ZERO # =3. DONE
061145,000507: 07,3344 55324 TS LGYRO
061146,000508: 07,3345 33323 CAF LGWAKE # WAKE A POSSIBLE SLEEPING JOB.
061147,000509: 07,3346 05167 TC JOBWAKE
061148,000510:
061149,000511: 07,3347 13153 NORESET TCF IMUFINED # DO NOT RESET POWER SUPPLY
061150,000512:
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|
Page 1430 |
061152,000514:
061153,000515: 07,3350 44766 -2 CS FOUR # SPECIAL ENTRY TO REGRESS LGYRO FOR X
061154,000516: 07,3351 27324 ADS LGYRO
061155,000517:
061156,000518: 07,3352 50002 GSELECT INDEX Q # SELECT GYRO.
061157,000519: 07,3353 30000 CAF 0 # PACKED WORD CONTAINS GYRO SELECT BITS
061158,000520: 07,3354 54064 TS ITEMP4 # AND INCREMENT TO LGYRO.
061159,000521: 07,3355 74774 MASK SEVEN
061160,000522: 07,3356 64754 AD BIT13
061161,000523: 07,3357 27324 ADS LGYRO
061162,000524: 07,3360 54003 TS EBANK
061163,000525: 07,3361 74350 MASK LOW8
061164,000526: 07,3362 54061 TS ITEMP1
061165,000527:
061166,000528: 07,3363 44774 CS SEVEN
061167,000529: 07,3364 70064 MASK ITEMP4
061168,000530: 07,3365 54064 TS ITEMP4
061169,000531:
061170,000532: 07,3366 00006 EXTEND # MOVE DP COMMAND TO RUPTREGS FOR TESTING.
061171,000533: 07,3367 50061 INDEX ITEMP1
061172,000534: 07,3370 31401 DCA 1400
061173,000535: 07,3371 52071 DXCH RUPTREG1
061174,000536:
061175,000537: 07,3372 10070 CCS RUPTREG1
061176,000538: 07,3373 13406 TCF MAJ+
061177,000539: 07,3374 13376 TCF +2
061178,000540: 07,3375 13541 TCF MAJ-
061179,000541:
061180,000542: 07,3376 10071 CCS RUPTREG2
061181,000543: 07,3377 13403 TCF MIN+
061182,000544: 07,3400 13330 TCF STRTGYR2
061183,000545: 07,3401 13536 TCF MIN-
061184,000546: 07,3402 13330 TCF STRTGYR2
061185,000547:
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|
Page 1431 |
061187,000549:
061188,000550: 07,3403 63437 MIN+ AD -GYROMIN # SMALL POSITIVE COMMAND. SEE IF AT LEAST
061189,000551: 07,3404 00006 EXTEND # 16 GYRO PULSES.
061190,000552: 07,3405 63330 BZMF STRTGYR2
061191,000553:
061192,000554: 07,3406 00006 MAJ+ EXTEND # DEFINITE POSITIVE OUTPUT.
061193,000555: 07,3407 33562 DCA GYROFRAC
061194,000556: 07,3410 20071 DAS RUPTREG1
061195,000557:
061196,000558: 07,3411 30064 CA ITEMP4 # SELECT POSITIVE TORQUING FOR THIS GYRO.
061197,000559: 07,3412 00006 EXTEND
061198,000560: 07,3413 05014 WOR CHAN14
061199,000561:
061200,000562: 07,3414 36043 CAF LOW7 # LEAVE NUMBER OF POSSIBLE 8192 AUGMENTS
061201,000563: 07,3415 70071 MASK RUPTREG2 # TO INITIAL COMMAND IN MAJOR PART OF LONG
061202,000564: 07,3416 56071 XCH RUPTREG2 # TERM STORAGE AND TRUNCATED FRACTION
061203,000565: 07,3417 00006 GMERGE EXTEND # IN MINOR PART. THE MAJOR PART WILL BE
061204,000566: 07,3420 74761 MP BIT8 # COUNTED DOWN TO ZERO IN THE COURSE OF
061205,000567: 07,3421 54062 TS ITEMP2 # PUTTING OUT THE ENTIRE COMMAND.
061206,000568: 07,3422 30070 CA RUPTREG1
061207,000569: 07,3423 00006 EXTEND
061208,000570: 07,3424 74760 MP BIT9
061209,000571: 07,3425 54070 TS RUPTREG1
061210,000572: 07,3426 30001 CA L
061211,000573: 07,3427 00006 EXTEND
061212,000574: 07,3430 74753 MP BIT14
061213,000575: 07,3431 26062 ADS ITEMP2 # INITIAL COMMAND.
061214,000576:
061215,000577: 07,3432 00006 EXTEND # SEE IF MORE THAN ONE PULSE TRAIN NEEDED
061216,000578: 07,3433 30071 DCA RUPTREG1 # (MORE THAN 16383 PULSES).
061217,000579: 07,3434 67702 AD MINUS1
061218,000580: 07,3435 10000 CCS A
061219,000581: 07,3436 13503 TCF LONGGYRO
061220,000582: 07,3437 77601 -GYROMIN OCT -176 # MAY BE ADJUSTED TO SPECIFY MINIMUM CMD
061221,000583: 07,3440 13444 TCF +4
061222,000584:
061223,000585: 07,3441 34753 CAF BIT14
061224,000586: 07,3442 26062 ADS ITEMP2
061225,000587: 07,3443 34772 CAF ZERO
061226,000588:
061227,000589: 07,3444 50061 +4 INDEX ITEMP1
061228,000590: 07,3445 53401 DXCH 1400
061229,000591:
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|
Page 1432 |
061231,000593:
061232,000594: 07,3446 30062 CA ITEMP2 # ENTIRE COMMAND.
061233,000595: 07,3447 54047 LASTSEG TS GYROCMD
061234,000596: 07,3450 03570 +1 TC COARSTST
061235,000597:
061236,000598: 07,3451 30047 CA GYROCMD
061237,000599: 07,3452 00006 EXTEND
061238,000600: 07,3453 74757 MP BIT10 # WAITLIST DT
061239,000601: 07,3454 66214 AD THREE # TRUNCATION AND PHASE UNCERTAINTIES.
061240,000602: 07,3455 05223 TC TWIDDLE
061241,000603: 07,3456 03467 ADRES TWOPULSE
061242,000604: 07,3457 03463 EXITGYRO TC GYROEXIT
061243,000605: 07,3460 15314 TCF TASKOVER
061244,000606: 07,3461 34767 OUTPULSE CA BIT2
061245,000607: 07,3462 54047 TS GYROCMD
061246,000608: 07,3463 34757 GYROEXIT CAF BIT10
061247,000609: 07,3464 00006 EXTEND
061248,000610: 07,3465 05014 WOR CHAN14
061249,000611: 07,3466 00002 TC Q
061250,000612: 07,3467 44760 TWOPULSE CS BIT9
061251,000613: 07,3470 00006 EXTEND
061252,000614: 07,3471 03014 WAND CHAN14
061253,000615: 07,3472 03461 TC OUTPULSE
061254,000616: 07,3473 34770 CA BIT1
061255,000617: 07,3474 05223 TC TWIDDLE
061256,000618: 07,3475 03324 ADRES STRTGYRO
061257,000619: 07,3476 34760 CA BIT9
061258,000620: 07,3477 00006 EXTEND
061259,000621: 07,3500 05014 WOR CHAN14
061260,000622: 07,3501 03461 TC OUTPULSE
061261,000623: 07,3502 15314 TCF TASKOVER
061262,000624: 07,3503 50061 LONGGYRO INDEX ITEMP1
061263,000625: 07,3504 53401 DXCH 1400 # INITIAL COMMAND OUT PLUS N AUGMENTS OF
061264,000626: 07,3505 34753 CAF BIT14 # 8192. INITIAL COMMAND IS AT LEAST 8192
061265,000627: 07,3506 60062 AD ITEMP2
061266,000628: 07,3507 54047 TS GYROCMD
061267,000629:
061268,000630: 07,3510 00006 AUG3 EXTEND # GET WAITLIST DT TO TIME WHEN TRAIN IS
061269,000631: 07,3511 74757 MP BIT10 # ALMOST OUT.
061270,000632: 07,3512 67700 AD NEG3
061271,000633: 07,3513 05223 TC TWIDDLE
061272,000634: 07,3514 03516 ADRES 8192AUG
061273,000635: 07,3515 13457 TCF EXITGYRO
061274,000636:
061275,000637: 07,3516 03570 8192AUG TC COARSTST
061276,000638:
061277,000639: 07,3517 31324 CA LGYRO # ADD 8192 PULSES TO GYROCMD
061278,000640: 07,3520 54003 TS EBANK
061279,000641: 07,3521 74350 MASK LOW8
061280,000642: 07,3522 54061 TS ITEMP1
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|
Page 1433 |
061282,000644: 07,3523 50061 INDEX ITEMP1 # SEE IF THIS IS THE LAST AUG.
061283,000645: 07,3524 11400 CCS 1400
061284,000646: 07,3525 13531 TCF AUG2 # MORE TO COME.
061285,000647:
061286,000648: 07,3526 34753 CAF BIT14
061287,000649: 07,3527 26047 ADS GYROCMD
061288,000650: 07,3530 13450 TCF LASTSEG +1
061289,000651:
061290,000652: 07,3531 50061 AUG2 INDEX ITEMP1
061291,000653: 07,3532 55400 TS 1400
061292,000654: 07,3533 34753 CAF BIT14
061293,000655: 07,3534 26047 ADS GYROCMD
061294,000656: 07,3535 13510 TCF AUG3 # COMPUTE DT.
061295,000657:
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|
Page 1434 |
061297,000659:
061298,000660: 07,3536 63437 MIN- AD -GYROMIN # POSSIBLE NEGATIVE OUTPUT.
061299,000661: 07,3537 00006 EXTEND
061300,000662: 07,3540 63330 BZMF STRTGYR2
061301,000663:
061302,000664: 07,3541 00006 MAJ- EXTEND # DEFINITE NEGATIVE OUTPUT.
061303,000665: 07,3542 43562 DCS GYROFRAC
061304,000666: 07,3543 20071 DAS RUPTREG1
061305,000667:
061306,000668: 07,3544 30064 CA ITEMP4 # SELECT NEGATIVE TORQUING FOR THIS GYRO.
061307,000669: 07,3545 64760 AD BIT9
061308,000670: 07,3546 00006 EXTEND
061309,000671: 07,3547 05014 WOR CHAN14
061310,000672:
061311,000673: 07,3550 40070 CS RUPTREG1 # SET UP RUPTREGS TO FALL INTO GMERGE.
061312,000674: 07,3551 54070 TS RUPTREG1 # ALL NUMBERS PUT INTO GYROCMD ARE
061313,000675: 07,3552 40071 CS RUPTREG2 # POSITIVE - BIT9 OF CHAN 14 DETERMINES
061314,000676: 07,3553 76043 MASK LOW7 # THE SIGN OF THE COMMAND.
061315,000677: 07,3554 40000 COM
061316,000678: 07,3555 56071 XCH RUPTREG2
061317,000679: 07,3556 40000 COM
061318,000680: 07,3557 13417 TCF GMERGE
061319,000681:
061320,000682: 07,3560 01700 GDESELCT OCT 1700 # TURN OFF SELECT AND ACTIVITY BITS.
061321,000683:
061322,000684: 07,3561 00000 00034 GYROFRAC 2DEC .215 B-21
061323,000685:
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|
Page 1435 |
061325,000687:
061326,000688: # IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE.
061327,000689:
061328,000690: 07,3563 00006 ENDIMU EXTEND # MODE IS BAD IF CAGE HAS OCCURRED OR IF
061329,000691: 07,3564 00011 READ DSALMOUT # ISS WARNING IS ON.
061330,000692: 07,3565 74770 MASK BIT1
061331,000693: 07,3566 67702 AD NEG1
061332,000694: 07,3567 13626 TCF BADEND +1
061333,000695: 07,3570 34765 COARSTST CAF BIT4
061334,000696: 07,3571 00006 EXTEND
061335,000697: 07,3572 02012 RAND CHAN12
061336,000698: 07,3573 10000 CCS A
061337,000699: 07,3574 13601 TCF DONTPULS
061338,000700:
061339,000701: 07,3575 41333 CAGETSTG CS IMODES30
061340,000702: 07,3576 74763 MASK IMUNITBT
061341,000703: 07,3577 10000 CCS A
061342,000704: 07,3600 00002 TC Q
061343,000705:
061344,000706: 07,3601 34772 DONTPULS CAF ZERO
061345,000707: 07,3602 55324 TS LGYRO
061346,000708:
061347,000709: 07,3603 33323 CAF LGWAKE
061348,000710: 07,3604 05167 TC JOBWAKE
061349,000711:
061350,000712: 07,3605 13625 TCF IMUBAD
061351,000713: 07,3606 34763 CAGETEST CAF IMUNITBT # SUBROUTINE TO TERMINATE IMU MODE
061352,000714: 07,3607 71333 MASK IMODES30 # SWITCH IF IMU HAS BEEN CAGED.
061353,000715: 07,3610 10000 CCS A
061354,000716: 07,3611 13625 TCF IMUBAD # DIRECTLY.
061355,000717: 07,3612 00002 TC Q # WITH C(A) = +0.
061356,000718:
061357,000719: 07,3613 41333 CAGETSTQ CS IMODES30 # SKIP IF IMU NOT BEING CAGED.
061358,000720: 07,3614 74763 MASK IMUNITBT
061359,000721: 07,3615 15651 TCF INCRQCK
061360,000722: 07,3616 41333 CAGETSTJ CS IMODES30 # IF DURING MODE SWITCH INITIALIZATION.
061361,000723: 07,3617 74763 MASK IMUNITBT # IT IS FOUND THAT THE IMU IS BEING CAGED.
061362,000724: 07,3620 10000 CCS A # SET IMUCADR TO -0 TO INDICATE OPERATION
061363,000725: 07,3621 00002 TC Q # COMPLETE BUT FAILED. RETURN IMMEDIATELY
061364,000726:
061365,000727: 07,3622 44772 +4 CS ZERO # TO SWRETURN
061366,000728: 07,3623 55335 TS IMUCADR
061367,000729: 07,3624 12675 TCF MODEEXIT
061368,000730:
061369,000731: 07,3625 07,3625 IMUBAD EQUALS BADEND
061370,000732:
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|
Page 1436 |
061372,000734:
061373,000735: # GENERALIZED MODE SWITCHING TERMINATION. ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION
061374,000736: # OR AT BADEND FOR AN UNSUCCESSFUL ONE.
061375,000737:
061376,000738: 07,3625 44772 BADEND CS ZERO # FOR FAILURE.
061377,000739: 07,3626 54072 +1 TS RUPTREG3 # -0 FAILURE -1 SUCCESS
061378,000740: 07,3627 11335 CCS MODECADR
061379,000741: 07,3630 13632 TCF +2 # YES - WAKE IT UP.
061380,000742: 07,3631 13641 TCF ENDMODE # IF 0, PROGRAM NOT IN YET.
061381,000743:
061382,000744: 07,3632 34772 CAF ZERO # WAKE SLEEPING PROGRAM.
061383,000745: 07,3633 57335 XCH MODECADR
061384,000746: 07,3634 05167 TC JOBWAKE
061385,000747:
061386,000748: 07,3635 40072 CS RUPTREG3 # ADVANCE LOC IF SUCCESSFUL.
061387,000749: 07,3636 50064 INDEX LOCCTR
061388,000750: 07,3637 26164 ADS LOC
061389,000751:
061390,000752: 07,3640 15314 TCF TASKOVER
061391,000753:
061392,000754: 07,3641 30072 ENDMODE CA RUPTREG3 # -0 INDICATES OPERATION COMPLETE BUT
061393,000755: 07,3642 55335 TS MODECADR # SUCCESSFUL.
061394,000756: 07,3643 15314 TCF TASKOVER
061395,000757:
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Page 1437 |
061397,000759:
061398,000760: # GENERAL STALLING ROUTINE. USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION.
061399,000761:
061400,000762: # PROGRAM DESCRIPTION DATE- 21 FEB 1967
061401,000763: # LOG SECTION IMU MODE SWITCHING
061402,000764: # MOD BY- R.MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 82
061403,000765:
061404,000766: # FUNCTIONAL DESCRIPTION-
061405,000767: # TO DELAY FURTHER EXECUTION OF THE CALLING ROUTINE UNTIL ITS SELECTED
061406,000768: # I/O FUNCTION IS COMPLETE. THE FOLLOWING CHECKS ON THE CALLING ROUTINE'S
061407,000769: # MODECADR ARE MADE AND ACTED UPON.
061408,000770: # 1) +0 INDICATES INCOMPLETE I/O OPERATION. CALLING ROUTINE IS PUT TO
061409,000771: # SLEEP.
061410,000772: # 2) -1 INDICATES COMPLETED I/O OPERATION. STALL BYPASSES JOBSLEEP
061411,000773: # CALL AND RETURNS TO CALLING ROUTINE AT L+3.
061412,000774: # 3) -0 INDICATES COMPLETED I/O WITH FAILURE. STALL CLEARS MODECADR
061413,000775: # AND RETURNS TO CALLING ROUTINE AT L+2.
061414,000776: # 4) VALUE GREATER THAN 0 INDICATES TWO ROUTINES CALLING FOR USE OF
061415,000777: # SAME DEVICE. STALL EXITS TO ABORT WHICH EXECUTES A PROGRAM
061416,000778: # RESTART WHICH IN TURN CLEARS ALL MODECADR REGISTERS.
061417,000779:
061418,000780: # CALLING SEQUENCE-
061419,000781: # L TC BANKCALL
061420,000782: # L+1 CADR IMUSTALL
061421,000783:
061422,000784: # NORMAL-EXIT MODE-
061423,000785: # TCF JOBSLEEP OR TCF MODEXIT
061424,000786:
061425,000787: # ALARM OR ABORT EXIT MODE-
061426,000788: # POODOO 21210
061427,000789:
061428,000790: # OUTPUT-
061429,000791: # MODECADR= CADR IF JOBSLEEP
061430,000792: # MODECADR=+0 IF I/O COMPLETE
061431,000793: # BUF2=L+3 IF I/O COMPLETE AND GOOD.
061432,000794: # BUF2=L+2 IF I/O COMPLETE BUT FAILED.
061433,000795:
061434,000796: # ERASABLE INITIALIZATION-
061435,000797: # BUF2 CONTAINS RETURN ADDRESS PLUS 1,(L+2)
061436,000798: # BUF2+1 CONTAINS FBANK VALUE OF CALLING ROUTINE.
061437,000799: # MODECADR OF CALLING ROUTINE CONTAINS +0, -1, -0 OR CADR RETURN ADDRESS.
061438,000800:
061439,000801:
061440,000802: 07,3644 11335 IMUSTALL CCS MODECADR
061441,000803: 07,3645 13661 TCF MODABORT # ALLOWABLE STATES ARE +0, -1, AND -0.
061442,000804: 07,3646 13656 TCF MODESLP # OPERATION INCOMPLETE.
061443,000805: 07,3647 13652 TCF MODEGOOD # COMPLETE AND GOOD IF = -1.
061444,000806:
061445,000807: 07,3650 55335 MG2 TS MODECADR # COMPLETE AND FAILED IF -0. RESET TO +0.
061446,000808: 07,3651 12675 TCF MODEEXIT # RETURN TO CALLER.
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Page 1438 |
061448,000810: 07,3652 10000 MODEGOOD CCS A # MAKE SURE INITIAL STATE -1.
061449,000811: 07,3653 13661 TCF MODABORT
061450,000812:
061451,000813: 07,3654 24133 INCR BUF2 # IF SO, INCREMENT RETURN ADDRESS AND
061452,000814: 07,3655 13650 TCF MG2 # RETURN IMMEDIATELY, SETTIN CADR = +0.
061453,000815:
061454,000816: 07,3656 04665 MODESLP TC MAKECADR # CALL FROM SWITCHABLE FIXED ONLY.
061455,000817: 07,3657 55335 TS MODECADR
061456,000818: 07,3660 15163 TCF JOBSLEEP
061457,000819:
061458,000820: 07,3661 05726 MODABORT TC POODOO # TWO PROGRAMS USING THE SAME DEVICE.
061459,000821: 07,3662 21210 OCT 21210
061460,000822:
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Page 1439 |
061462,000824:
061463,000825: # CONSTANTS FOR MODE SWITCHING ROUTINES
061464,000826:
061465,000827: 07,3663 5775 BITS3&4 = OCT14
061466,000828: 07,3663 5004 BITS4&6 = OCT50
061467,000829: 07,3663 5001 BITS4-5 EQUALS BITS4&5
061468,000830: 07,3663 4761 IMUSEFLG EQUALS BIT8 # INTERPRETER SWITCH 7.
061469,000831: 07,3663 77500 -COMMAX DEC -191 B-14
061470,000832: 07,3664 77477 -COMMAX- DEC -192 B-14
061471,000833: 07,3665 00074 600MS DEC 60 B-14
061472,000834: 07,3666 07,3133 IMUFIN20 = IMUFINE
061473,000835:
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Page 1440 |
061475,000837:
061476,000838: # PROGRAM DESCRIPTION
061477,000839: # IMU STATUS CHECK ROUTINE R02 (SUBROUTINE UTILITY)
061478,000840: # MOD NO - 1
061479,000841: # MOD BY - N.BRODEUR
061480,000842:
061481,000843: # FUNCTIONAL DESCRIPTION
061482,000844: # TO CHECK WHETHER IMU IS ON AND IF ON WHETHER IT IS ALIGNED TO AN
061483,000845: # ORIENTATION KNOWN BY THE CMC. TO REQUEST SELECTION OF THE APPROPRIATE
061484,000846: # PROGRAM IF THE IMU IS OFF OR NOT ALIGNED TO AN ORIENTATION KNOWN BY THE
061485,000847: # CMC. CALLED THROUGH BANKCALL
061486,000848:
061487,000849: # CALLING SEQUENCE-
061488,000850: # L TC BANKCALL
061489,000851: # L+1 CADR R02BOTH
061490,000852:
061491,000853: # SUBROUTINES CALLED
061492,000854: # VARALARM
061493,000855: # FLAGUP
061494,000856:
061495,000857: # NORMAL EXIT MODES
061496,000858: # AT L+2 OF CALLING SEQUENCE
061497,000859:
061498,000860: # ALARM OR ABORT EXIT MODES
061499,000861: # GOTOPOOH, WITH ALARM
061500,000862:
061501,000863: # ERASABLE INITIALIZATION REQUIRED
061502,000864: # NONE
061503,000865:
061504,000866: # DEBRIS
061505,000867: # CENTRALS - A,Q,L
061506,000868:
061507,000869: 01,2000 SETLOC R02
061508,000870: 01,2000 BANK
061509,000871: 01,3731 COUNT* $$/R02
061510,000872: 01,3731 34754 R02BOTH CAF REFSMBIT
061511,000873: 01,3732 70077 MASK FLAGWRD3
061512,000874: 01,3733 10000 CCS A
061513,000875: 01,3734 03745 TC R02ZERO # ZERO IMUS
061514,000876:
061515,000877: 01,3735 31333 CA IMODES30
061516,000878: 01,3736 74760 MASK IMUOPBIT # IS ISS INITIALIZED
061517,000879: 01,3737 00006 EXTEND
061518,000880: 01,3740 13742 BZF +2
061519,000881: 01,3741 44765 CS BIT4 # SEND IMU ALARM CODE 210
061520,000882: 01,3742 63750 AD OCT220 # SEND REFSMM ALARM
061521,000883: 01,3743 05770 TC VARALARM
061522,000884:
061523,000885: 01,3744 04103 TC GOTOPOOH
061524,000886: 01,3745 05547 R02ZERO TC UPFLAG
061525,000887: 01,3746 00007 ADRES IMUSE
061526,000888: 01,3747 14651 TCF SWRETURN
061527,000889: 01,3750 00220 OCT220 OCT 220
061528,000890:
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Page 1441 |
061530,000892:
061531,000893: # PROGRAM DESCRIPTION: P06 10 FEB 67
061532,000894:
061533,000895: # TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION.
061534,000896:
061535,000897: # THE NORMAL CONDITION OF READINESS OF THE GNCS WHEN NOT IN USE IS STANDBY. IN THIS CONDITION THE IMU
061536,000898: # HEATER POWER IS ON. THE IMU OPERATE POWER IS OFF. THE COMPUTER POWER IS ON. THE OPTICS POWER IS OFF. THE
061537,000899: # CMC STANDBY ON THE MAIN AND LEB DISKYS IS ON.
061538,000900:
061539,000901: # CALLING SEQUENCE:
061540,000902: # ASTRONAUT REQUEST THROUGH DSKY V37E 06E.
061541,000903:
061542,000904: # SUBROUTINES CALLED:
061543,000905: # GOPERF1
061544,000906: # BANKCALL
061545,000907: # FLAGDOWN
061546,000908:
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Page 1442 |
061548,000910: # PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2.
061549,000911: # THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATIBILITY
061550,000912: # BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING.
061551,000913:
061552,000914: 26,2000 SETLOC P05P06
061553,000915: 26,2000 BANK
061554,000916:
061555,000917: 26,3654 1006 EBANK= TIME2SAV
061556,000918: 26,3654 COUNT* $$/P06
061557,000919:
061558,000920: 26,3654 05547 P06 TC UPFLAG # SET NODOV37 BIT
061559,000921: 26,3655 00054 ADRES NODOFLAG
061560,000922:
061561,000923: 26,3656 00004 PRESTAND INHINT
061562,000924: 26,3657 00006 EXTEND
061563,000925: 26,3660 30025 DCA TIME2 # SNAPSHOT TIME1 TIME2
061564,000926: 26,3661 53007 DXCH TIME2SAV
061565,000927: 26,3662 03715 TC SCALPREP
061566,000928: 26,3663 03656 TC PRESTAND # T1,T2,SCALER NOT COMPATIBLE
061567,000929: 26,3664 52155 DXCH MPAC # T1,T2 AND SCALER OK
061568,000930: 26,3665 53011 DXCH SCALSAVE # STORE SCALER
061569,000931: 26,3666 00004 INHINT
061570,000932: 26,3667 04636 TC BANKCALL
061571,000933: 26,3670 17121 CADR RNDREFDR # REFSMM, DRIFT, TRACK FLAGS DOWN
061572,000934:
061573,000935: 26,3671 05561 TC DOWNFLAG
061574,000936: 26,3672 00007 ADRES IMUSE # IMUSE DOWN
061575,000937: 26,3673 05561 TC DOWNFLAG
061576,000938: 26,3674 00010 ADRES RNDVZFLG # RNDVZFLG DOWN
061577,000939:
061578,000940: 26,3675 05561 TC DOWNFLAG
061579,000941: 26,3676 00176 ADRES UTFLAG
061580,000942: 26,3677 34756 CAF BIT11
061581,000943: 26,3700 00006 EXTEND
061582,000944: 26,3701 05013 WOR CHAN13 # SET STANDBY ENABLE BIT
061583,000945:
061584,000946: 26,3702 05402 TC PHASCHNG # SET RESTART TO POSTAND WHEN STANDBY
061585,000947: 26,3703 07024 OCT 07024 # RECOVERS
061586,000948: 26,3704 20000 OCT 20000
061587,000949: 26,3705 1010 EBANK= SCALSAVE
061588,000950: 26,3705 03735 54062 2CADR POSTAND
061589,000951:
061590,000952: 26,3707 35011 CAF OCT62
061591,000953: 26,3710 04636 TC BANKCALL
061592,000954: 26,3711 21067 CADR GOPERF1
061593,000955: 26,3712 13707 TCF -3
061594,000956: 26,3713 13707 TCF -4
061595,000957: 26,3714 13707 TCF -5
061596,000958:
061597,000959: 26,3715 5011 OCT62 EQUALS .5SEC # DEC 50 = OCT 62
061598,000960:
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Page 1443 |
061600,000962: # THE LOW 5 BITS OF THE SCALER READS 10000 FOR THE FIRST INTERVAL AFTER A
061601,000963: # T1 INCREMENT. IF SCALPREP DETECTS THIS INTERVAL THE T1,T2 AND SCALER
061602,000964: # DATA ARE NOT COMPATABLE AND RETURN IS TO L+1 FOR ANOTHER READING OF THE
061603,000965: # DATA. OTHERWISE, THE RETURN IS TO L+2 TO PROCEED. ROUTINE ALSO PREPARES
061604,000966: # THE SCALER READING FOR COMPUTATION OF THE INCREMENT TO UPDATE T1T2. (THE
061605,000967: # 10 MS BIT (BIT 6) OF THE SCALER IS INCREMENTED 5 MS OUT OF PHASE FROM
061606,000968: # T1.) ADDITION OF 5 MS (BIT 5) TO THE SCALER READING HAS THE EFFECT OF
061607,000969: # ADJUSTING BIT 6 IN THE SCALER TO BE IN PHASE WITH BIT 1 OF T1. THE LOW 5
061608,000970: # BITS OF THE SCALER READING ARE THEN SET TO ZERO, TO TRUNCATE THE SCALER
061609,000971: # DATA TO 10 MS. RESULTS ARE STORED IN MPAC, +1.
061610,000972:
061611,000973: 26,3715 00006 SCALPREP EXTEND
061612,000974: 26,3716 22156 QXCH MPAC +2
061613,000975: 26,3717 04511 TC FINETIME +1
061614,000976: 26,3720 00003 RELINT
061615,000977: 26,3721 52155 DXCH MPAC
061616,000978: 26,3722 34764 CA BIT5 # ADD 5 MS TO THE SCALER READING
061617,000979: 26,3723 54001 TS L
061618,000980: 26,3724 34772 CA ZERO
061619,000981: 26,3725 20155 DAS MPAC
061620,000982: 26,3726 44342 CS LOW5 # SET LOW 5 BITS OF (SCALER+5MS) TO ZERO
061621,000983: 26,3727 70155 MASK MPAC +1 # AND STORE RESULTS IN MPAC,+1.
061622,000984: 26,3730 56155 XCH MPAC +1
061623,000985: 26,3731 74342 MASK LOW5 # TEST LOW 5 BITS OF SCALER FOR THE FIRST
061624,000986: # INTERVAL AFTER THE T1 INCREMENT
061625,000987: # (NOW = 00000, SINCE BIT 5 ADDED).
061626,000988: 26,3732 10000 CCS A # IS IT 1ST INTERVAL AFTER T1 INCREMENT
061627,000989: 26,3733 24156 INCR MPAC +2 # NO
061628,000990: 26,3734 00156 TC MPAC +2 # YES
061629,000991:
061630,000992: # POSTAND RECOVERS TIME AFTER STANDBY. THE SCALER IS SNAPSHOTTED AND THE
061631,000993: # TIME1 TIME2 COUNTER IS SET TO ZERO. THE LOW 5 BITS OF THE SCALER ARE
061632,000994: # INSPECTED TO INSURE COMPATABILITY BETWEEN THE SCALER READING AND THE
061633,000995: # CLEARING OF THE TIME COUNTER. IT THEN COMPUTES THE DIFFERENCE IN SCALER
061634,000996: # VALUES (IN DP) AND ADDS THIS TO THE PREVIOUSLY SNAPSHOTTED VALUES OF
061635,000997: # TIME1 TIME2 AND PLACES THIS NEW TIME INTO THE TIME1 TIME2 COUNTER.
061636,000998:
061637,000999: 26,3735 COUNT* $$/P05
061638,001000:
061639,001001: 26,3735 44756 POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY
061640,001002: 26,3736 00006 EXTEND
061641,001003: 26,3737 03013 WAND CHAN13 # CLEAR STANDBY ENABLE BIT
061642,001004: 26,3740 00004 +3 INHINT
061643,001005: 26,3741 34772 CA ZERO
061644,001006: 26,3742 54001 TS L
061645,001007: 26,3743 52025 DXCH TIME2 # CLEAR TIME1 TIME2
061646,001008: 26,3744 03715 TC SCALPREP # STORE SCALER IN MPAC, MPAC+1
061647,001009: 26,3745 03740 TC POSTAND +3 # T1,T2,SCALER NOT COMPATIBLE
061648,001010: 26,3746 00006 EXTEND # T1,T2 AND SCALER OK
061649,001011: 26,3747 41011 DCS SCALSAVE
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Page 1444 |
061651,001013: 26,3750 20155 DAS MPAC # FORM DP DIFFERENCE OF POST-STANDBY SCALER
061652,001014: 26,3751 34757 CAF BIT10 # MINUS PRE-STANDBY SCALER AND SHIFT RIGHT
061653,001015: 26,3752 07256 TC SHORTMP # 5 TO ALIGN BITS WITH TIME1 TIME2.
061654,001016: 26,3753 07224 TC DPAGREE
061655,001017: 26,3754 10154 CCS MPAC
061656,001018: 26,3755 03762 TC POSTCOM # IF DP DIFF NET +, NO SCALER OVERFLOW
061657,001019: 26,3756 03762 TC POSTCOM # BETWEEN PRE AND POST STANDBY.
061658,001020: 26,3757 03760 TC +1 # IF DP DIFF NET -, SCALER OVERFLOWED. ADD
061659,001021: 26,3760 34757 CAF BIT10 # BIT 10 TO HIGH DIFF TO CORRECT.
061660,001022: 26,3761 26154 ADS MPAC
061661,001023: 26,3762 00006 POSTCOM EXTEND # C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER.
061662,001024: 26,3763 31007 DCA TIME2SAV # PRE-STANDBY TIME1 TIME2
061663,001025: 26,3764 20155 DAS MPAC
061664,001026: 26,3765 07226 TC TPAGREE # FORCE SIGN AGREEMENT
061665,001027: 26,3766 52155 DXCH MPAC # UPDATED VALUE FOR T1,T2.
061666,001028: 26,3767 20025 DAS TIME2 # LOAD UPDATED VALUE INTO T1,T2, WITH
061667,001029: 26,3770 05561 TC DOWNFLAG # CLEAR NODOFLAG
061668,001030: 26,3771 00054 ADRES NODOFLAG
061669,001031:
061670,001032: 26,3772 04103 TCGOPOOH TC GOTOPOOH
End of include-file IMU_MODE_SWITCHING_ROUTINES.agc. Parent file is MAIN.agc