Source Code

061549,000001: 061550,000002: 061551,000003: 061552,000004: 061553,000005: 061554,000006: 061555,000007: 061556,000008: 061557,000009: 061558,000010: 061559,000011: 061560,000012: 061561,000013: 061562,000014: 061563,000015: 061564,000016: 061565,000017: 061566,000018: 061567,000019: 061568,000020: 061569,000021: 061570,000022: 061571,000023: 061572,000024: 061573,000025: 061574,000026: 061575,000027: 061576,000028: 061577,000029: 061578,000030: 061579,000031: 061580,000032: 5521 061581,000033: 4000 061582,000034: 4000 061583,000035: 061584,000036: 5521 E3,1471 061585,000037: 061586,000038: 061587,000039: 061588,000040: 5521 061589,000041: < 061696,000148: 07,2674 061697,000149: 07,2675 061698,000150: 07,2676 061699,000151: 061700,000152: 07,2677 < 062029,000481: 07,3260 062030,000482: 062031,000483: 07,3261 062032,000484: 07,3262 062033,000485: 07,3263 062034,000486: 07,3264 062035,000487: 07,3265 062036,000488: 07,3266 062037,000489: < 062354,000806: 07,3601 062355,000807: 07,3602 062356,000808: 07,3603 062357,000809: 07,3604 062358,000810: 07,3605 062359,000811: 07,3606 062360,000812: 062361,000813: 062362,000814: 07,3610 062363,000815: 07,3611 062364,000816: < < 062501,000953: 062502,000954: 26,3661 062503,000955: < 062539,000991: 062540,000992: 062541,000993: 062542,000994: 062543,000995: 062544,000996: 062545,000997: 062546,000998: 062547,000999: 062548,001000: 062549,001001: 062550,001002: 062551,001003: # Copyright: Public domain. # Filename: IMU_MODE_SWITCHING_ROUTINES.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey <info@sandroid.org>. # Website: www.ibiblio.org/apollo. # Pages: 1420-1448 # Mod history: 2009-05-10 SN (Sergio Navarro). Started adapting from # the Colossus249/ file of the same name, # using Comanche055 page images. # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # Notations on the hardcopy document read, in part: # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # This AGC program shall also be referred to as # Colossus 2A # Page 1420 BLOCK 02 SETLOC FFTAG3 BANK EBANK= COMMAND # FIXED-FIXED ROUTINES COUNT 02/IMODE 455">061590,000042: 5521 35021 ZEROICDU CAF ZERO # ZERO ICDU COUNTERS. 54032 TS CDUX 54033 TS CDUY 54034 TS CDUZ 00002 TC Q 5">061596,000048: 5526 5007 SPSCODE = BIT9 # Page 1421 # IMU ZEROING ROUTINE. BANK 11 SETLOC MODESW BANK COUNT 07/IMODE F">061607,000059: 07,2577 00004 IMUZERO INHINT # ROUTINE TO ZERO ICDUS. 41036 CS DSPTAB +11D # DON'T ZERO CDUS IS IMU IN GIMBAL LOCK AND 75033 MASK BITS4&6 # COARSE ALIGN (GIMBAL RUNAWAY PROTECTION) 10000 CCS A 12607 TCF IMUZEROA 05650 TC ALARM # IF SO. 00206 OCT 00206 13542 TCF CAGETSTJ +4 # IMMEDIATE FAILURE. F41">061618,000070: 07,2607 03536 IMUZEROA TC CAGETSTJ # DO ALL THE WORK. 41321 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES 75035 MASK SUPER011 # BIT5 FOR GROUND 27321 ADS IMODES33 41320 CS IMODES30 # INHIBIT ICDUFAIL AND IMUFAIL (IN CASE WE 75771 MASK BITS3&4 # JUST CAME OUT OF COARSE ALIGN). 27320 ADS IMODES30 45033 CS BITS4&6 # SEND ZERO ENCODE WITH COARSE AND ERROR 00006 EXTEND # COUNTER DISABLED. 03012 WAND CHAN12 03151 TC NOATTOFF # TURN OFF NO ATT LAMP. 35013 CAF BIT5 00006 EXTEND 05012 WOR CHAN12 05521 TC ZEROICDU 35012 CAF BIT6 # WAIT 320 MS TO GIVE AGS ADEQUATE TIME TO 05245 TC WAITLIST # RECEIVE ITS PULSE TRAIN. EBANK= CDUIND 02642 16063 2CADR IMUZERO2 41320 CS IMODES30 # SEE IF IMU OPERATING AND ALARM IF NOT. 75007 MASK BIT9 10000 CCS A 12640 TCF MODEEXIT # Page 1422 05650 TC ALARM 00210 OCT 210 954">061654,000106: 07,2640 00003 MODEEXIT RELINT # GENERAL MODE-SWITCHING EXIT. 14675 TCF SWRETURN F32">061657,000109: 07,2642 03524 IMUZERO2 TC CAGETEST 05521 TC ZEROICDU # ZERO CDUX, CDUY, CDUZ 45013 CS BIT5 # REMOVE ZERO DISCRETE. 00006 EXTEND 03012 WAND CHAN12 35005 CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS 05272 TC VARDELAY F33">061667,000119: 07,2651 03524 IMUZERO3 TC CAGETEST 45771 CS BITS3&4 # REMOVE IMUFAIL AND ICDUFAIL INHIBIT. 71320 MASK IMODES30 55320 TS IMODES30 45035 CS SUPER011 # ENABLE DAP AUTO AND HOLD MODES 71321 MASK IMODES33 # BIT5 FOR GROUND 55321 TS IMODES33 04740 TC IBNKCALL # SET ISS WARNING IF EITHER OF ABOVE ARE 14665 CADR SETISSW # PRESENT. 13514 TCF ENDIMU # Page 1423 # IMU COARSE ALIGN MODE. 253">061684,000136: 07,2663 00004 IMUCOARS INHINT 03536 TC CAGETSTJ 03027 TC SETCOARS 36211 CAF SIX 05245 TC WAITLIST EBANK= CDUIND 02673 16063 2CADR COARS 12640 TCF MODEEXIT /a>061695,000147: 07,2673 03524 COARS TC CAGETEST 35012 CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS 00006 EXTEND 05012 WOR CHAN12 35016 CAF TWO # SET CDU INDICATOR >061701,000153: 07,2700 55474 COARS1 TS CDUIND 51474 INDEX CDUIND # COMPUTE THETAD -- THETAA IN 1'S 31155 CA THETAD # COMPLEMENT FORM 00006 EXTEND 51474 INDEX CDUIND 20032 MSU CDUX 00006 EXTEND 75003 MP BIT13 # SHIFT RIGHT 2 56001 XCH L # ROUND 60000 DOUBLE 54061 TS ITEMP1 12715 TCF +2 26001 ADS L 51474 INDEX CDUIND # DIFFERENCE TO BE COMPUTED 23471 LXCH COMMAND 11474 CCS CDUIND 02700 TC COARS1 35016 CAF TWO # MINIMUM OF 4 MS WAIT 05272 TC VARDELAY # Page 1424 >061725,000177: 07,2723 03524 COARS2 TC CAGETEST # DON'T CONTINUE IF CAGED. 54061 TS ITEMP1 # SET TO +0. 35016 CAF TWO # SET CDU INDICATOR. 55474 +3 TS CDUIND 51474 INDEX CDUIND 11471 CCS COMMAND # NUMBER OF PULSES REQUIRED 02735 TC COMPOS # GREATER THAN MAX ALLOWED 02744 TC NEXTCDU +1 03002 TC COMNEG 02744 TC NEXTCDU +1 >061737,000189: 07,2735 63624 COMPOS AD -COMMAX # COMMAX = MAX NUMBER OF PULSES ALLOWED 00006 EXTEND # MINUS ONE 63012 BZMF COMZERO 51474 INDEX CDUIND 55471 TS COMMAND # REDUCE COMMAND BY MAX NUMBER OF PULSES 43625 CS -COMMAX- # ALLOWED 5">061744,000196: 07,2743 24061 NEXTCDU INCR ITEMP1 65020 AD NEG0 51474 INDEX CDUIND 54050 TS CDUXCMD # SET UP COMMAND REGISTER. 11474 CCS CDUIND 02726 TC COARS2 +3 10061 CCS ITEMP1 # SEE IF ANY PULSES TO GO OUT. 13016 TCF SENDPULS 05267 TC FIXDELAY # WAIT FOR GIMBALS TO SETTLE. 00226 DEC 150 B-14 35016 CAF TWO # AT END OF COMMAND, CHECK TO SEE THAT 3">061759,000211: 07,2756 54061 CHKCORS TS ITEMP1 # GIMBALS ARE WITHIN 2 DEGREES OF THETAD. 50000 INDEX A 30032 CA CDUX 00006 EXTEND 50061 INDEX ITEMP1 21155 MSU THETAD 10000 CCS A 12773 TCF COARSERR 12770 TCF CORSCHK2 12773 TCF COARSERR # Page 1425 B32">061771,000223: 07,2770 10061 CORSCHK2 CCS ITEMP1 12756 TCF CHKCORS 13514 TCF ENDIMU # END OF COARSE ALIGNMENT 252">061775,000227: 07,2773 63001 COARSERR AD COARSTOL # 2 DEGREES. 00006 EXTEND 62770 BZMF CORSCHK2 05650 TC ALARM # COARSE ALIGN ERROR. 00211 OCT 211 13522 TCF IMUBAD F4C">061784,000236: 07,3001 77511 COARSTOL DEC -.01111 # 2 DEGREES SCALED AT HALF-REVOLUTIONS >061786,000238: 07,3002 63624 COMNEG AD -COMMAX 00006 EXTEND 63012 BZMF COMZERO 40000 COM 51474 INDEX CDUIND 55471 TS COMMAND 33625 CA -COMMAX- 02743 TC NEXTCDU F">061795,000247: 07,3012 35021 COMZERO CAF ZERO 51474 INDEX CDUIND 57471 XCH COMMAND 02743 TC NEXTCDU C53">061800,000252: 07,3016 37707 SENDPULS CAF 13,14,15 00006 EXTEND 05014 WOR CHAN14 33626 CAF 600MS 12722 TCF COARS2 -1 # THEN TO VARDELAY >061806,000258: 07,3023 35012 CA+ECE CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS 00006 EXTEND 05012 WOR CHAN12 05324 TC TASKOVER # Page 1426 253">061812,000264: 07,3027 35014 SETCOARS CAF BIT4 # BYPASS IF ALREADY IN COARSE ALIGN 00006 EXTEND 02012 RAND CHAN12 10000 CCS A 00002 TC Q 45012 CS BIT6 # CLEAR ISS ERROR COUNTERS 00006 EXTEND 03012 WAND CHAN12 45006 CS BIT10 # KNOCK DOWN GYRO ACTIVITY 00006 EXTEND 03014 WAND CHAN14 45021 CS ZERO 54047 TS GYROCMD 35014 CAF BIT4 # PUT ISS IN COARSE ALIGN 00006 EXTEND 05012 WOR CHAN12 41036 CS DSPTAB +11D # TURN ON NO ATT LAMP 73072 MASK OCT40010 27036 ADS DSPTAB +11D 41321 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES 75012 MASK BIT6 27321 ADS IMODES33 41320 CS IMODES30 # DISABLE IMUFAIL 75014 MASK BIT4 27320 ADS IMODES30 452">061844,000296: 07,3060 45013 RNDREFDR CS BIT5 # KNOCK DOWN TRACK FLAG 70075 MASK FLAGWRD1 54075 TS FLAGWRD1 45001 CS BIT15 # KNOCK DOWN DRIFT FLAG 70076 MASK FLAGWRD2 54076 TS FLAGWRD2 45003 CS BIT13 # KNOCK DOWN REFSMMAT FLAG 70077 MASK FLAGWRD3 54077 TS FLAGWRD3 00002 TC Q 130">061858,000310: 07,3072 40010 OCT40010 OCT 40010 # Page 1427 # IMU FINE ALIGN MODE SWITCH. 5">061863,000315: 07,3073 00004 IMUFINE INHINT 03536 TC CAGETSTJ # SEE IF IMU BEING CAGED. 45027 CS BITS4-5 # RESET ZERO AND COARSE 00006 EXTEND 03012 WAND CHAN12 45012 CS BIT6 # INSURE DAP AUTO AND HOLD MODES ENABLED 71321 MASK IMODES33 55321 TS IMODES33 03151 TC NOATTOFF 35006 CAF BIT10 # IMU FAIL WAS INHIBITED DURING THE 05245 TC WAITLIST # PRESUMABLY PRECEDING COARSE ALIGN. LEAVE EBANK= CDUIND 03117 16063 2CADR IFAILOK # IT ON FOR THE FIRST 5 SECS OF FINE ALIGN 35042 CAF 2SECS 05245 TC WAITLIST EBANK= CDUIND 03115 16063 2CADR IMUFINED 12640 TCF MODEEXIT 544">061888,000340: 07,3115 03524 IMUFINED TC CAGETEST # SEE THAT NO ONE HAS CAGED THE IMU. 13514 TCF ENDIMU # Page 1428 B">061892,000344: 07,3117 03531 IFAILOK TC CAGETSTQ # ENABLE IMU FAIL UNLESS IMU BEING CAGED. 15324 TCF TASKOVER # IT IS. 35014 CAF BIT4 # DON'T RESET IMU FAIL INHIBIT IF SOMEONE 00006 EXTEND # HAS GONE INTO COARSE ALIGN. 02012 RAND CHAN12 10000 CCS A 15324 TCF TASKOVER 41320 CS IMODES30 # RESET IMUFAIL. 75003 MASK BIT13 27320 ADS IMODES30 45014 CS BIT4 B32">061905,000357: 07,3132 71320 PFAILOK2 MASK IMODES30 55320 TS IMODES30 04740 TC IBNKCALL # THE ISS WARNING LIGHT MAY COME ON NOW 14665 CADR SETISSW # THAT THE INHIBIT WAS BEEN REMOVED. 15324 TCF TASKOVER B">061911,000363: 07,3137 03531 PFAILOK TC CAGETSTQ # ENABLE PIP FAIL PROG ALARM. 15324 TCF TASKOVER 41320 CS IMODES30 # RESET IMU AND PIPA FAIL BITS. 75006 MASK BIT10 27320 ADS IMODES30 41321 CS IMODES33 75003 MASK BIT13 27321 ADS IMODES33 45013 CS BIT5 13132 TCF PFAILOK2 646">061925,000377: 07,3151 43072 NOATTOFF CS OCT40010 # SUBROUTINE TO TURN OFF NO ATT LAMP. 71036 MASK DSPTAB +11D 65001 AD BIT15 55036 TS DSPTAB +11D 00002 TC Q # Page 1429 # ROUTINES TO INITIATE AND TERMINATE PROGRAM USE OF THE PIPAS. NO IMUSTALL REQUIRED IN EITHER CASE. >061934,000386: 07,3156 45021 PIPUSE CS ZERO 54037 TS PIPAX 54040 TS PIPAY 54041 TS PIPAZ 1">061939,000391: 07,3162 03531 PIPUSE1 TC CAGETSTQ # DO NOT ENABLE PIPA FAIL IF IMU IS CAGED 14675 TCF SWRETURN 00004 INHINT 45017 CS BIT1 # IF PIPA FAILS FROM NOW ON (UNTIL 71320 MASK IMODES30 # PIPFREE), LIGHT ISS WARNING. 55320 TS IMODES30 532">061947,000399: 07,3170 04740 PIPFREE2 TC IBNKCALL # ISS WARNING MIGHT COME ON NOW. 14665 CADR SETISSW # (OR GO OFF ON PIPFREE). 12640 TCF MODEEXIT 5">061952,000404: 07,3173 00004 PIPFREE INHINT # PROGRAM DONE WITH PIPAS. DON'T LIGHT 41320 CS IMODES30 # ISS WARNING. 75017 MASK BIT1 27320 ADS IMODES30 75006 MASK BIT10 # IF PIP FAIL ON, DO PROG ALARM AND RESET 10000 CCS A # ISS WARNING. 12640 TCF MODEEXIT 05650 TC ALARM 00212 OCT 212 00004 INHINT 13170 TCF PIPFREE2 # Page 1430 # THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIX REGISTERS # BEGINNING AT THE ECADR ARRIVING IN A. THE MINIMUM SIZE OF ANY PULSE TRAIN IS 16 PULSES (.25 CDU COUNTS). THE # UNSENT PORTION OF THE COMMAND IS LEFT INTACT AT TEH INPUT COMMAND REGISTERS. EBANK= 1400 # VARIABLE, ACTUALLY. 345">061975,000427: 07,3206 54161 IMUPULSE TS MPAC +5 # SAVE ARRIVING ECADR. 03536 TC CAGETSTJ # DON'T PROCEED IF IMU BEING CAGED. 11304 CCS LGYRO # SEE IF GYROS BUSY. 03252 TC GYROBUSY # SLEEP. 54156 TS MPAC +2 35012 CAF BIT6 # ENABLE THE POWER SUPPLY. 00006 EXTEND 05014 WOR CHAN14 35015 CAF FOUR >061987,000439: 07,3217 05245 GWAKE2 TC WAITLIST # (IF A JOB WAS PUT TO SLEEP, THE POWER EBANK= CDUIND # SUPPLY IS LEFT ON BY THE WAKING JOB). 03270 16063 2CADR STRTGYRO 30161 CA MPAC +5 # SET UP EBANK, SAVING CALLER'S EBANK FOR 56003 XCH EBANK # RESTORATION ON RETURN. 56161 XCH MPAC +5 55304 TS LGYRO # RESERVES GYROS. 74373 MASK LOW8 54061 TS ITEMP1 35016 CAF TWO # FORCE SIGN AGREEMENT ON INPUTS. 245">061999,000451: 07,3231 54157 GYROAGRE TS MPAC +3 60000 DOUBLE 60061 AD ITEMP1 54160 TS MPAC +4 00006 EXTEND 50000 INDEX A 31401 DCA 1400 52155 DXCH MPAC 07226 TC TPAGREE 52155 DXCH MPAC 50160 INDEX MPAC +4 53401 DXCH 1400 10157 CCS MPAC +3 13231 TCF GYROAGRE 30161 CA MPAC +5 # RESTORE CALLER'S EBANK. 54003 TS EBANK 12640 TCF MODEEXIT # Page 1431 # ROUTINES TO ALLOW TORQUING ONLY ONE JOB AT A TIME. 359">062022,000474: 07,3252 00006 GYROBUSY EXTEND # SAVE RETURN 2FCADR. 30134 DCA BUF2 52155 DXCH MPAC 550">062025,000477: 07,3255 33267 REGSLEEP CAF LGWAKE 15175 TCF JOBSLEEP /a>062028,000480: 07,3257 11304 GWAKE CCS LGYRO # WHEN AWAKENED, SEE IF GYROS STILL BUSY. 13255 TCF REGSLEEP # IF SO, SLEEP SOME MORE. 54156 TS MPAC +2 00006 EXTEND 30155 DCA MPAC 52134 DXCH BUF2 # RESTORE SWRETURN INFO. 35017 CAF ONE 13217 TCF GWAKE2 >062038,000490: 07,3267 17257 LGWAKE CADR GWAKE # Page 1432 # GYRO-TORQUING WAITLIST TASKS. 24F">062043,000495: 07,3270 43511 STRTGYRO CS GDESELCT # DE-SELECT LAST GYRO. 00006 EXTEND 03014 WAND CHAN14 03524 TC CAGETEST 232">062049,000501: 07,3274 31304 STRTGYR2 CA LGYRO # JUMP ON PHASE COUNTER IN BITS 13-14. 00006 EXTEND 75014 MP BIT4 50000 INDEX A 13301 TCF +1 03316 TC GSELECT # =0. DO Y GYRO. 00202 OCT 00202 03316 TC GSELECT # =1. DO Z GYRO. 00302 OCT 00302 03314 TC GSELECT -2 # =2. DO X GYRO. 00100 OCT 00100 35021 CAF ZERO # =3. DONE 55304 TS LGYRO 33267 CAF LGWAKE # WAKE A POSSIBLE SLEEPING JOB. 05201 TC JOBWAKE 4">062068,000520: 07,3313 13115 NORESET TCF IMUFINED # DO NOT RESET POWER SUPPLY. # Page 1433 45015 -2 CS FOUR # SPECIAL ENTRY TO REGRESS LGYRO FOR X. 27304 ADS LGYRO 4">062073,000525: 07,3316 50002 GSELECT INDEX Q # SELECT GYRO. 30000 CAF 0 # PACKED WORD CONTAINS GYRO SELECT BITS 54064 TS ITEMP4 # AND INCREMENT TO LGYRO. 75023 MASK SEVEN 65003 AD BIT13 27304 ADS LGYRO 54003 TS EBANK 74373 MASK LOW8 54061 TS ITEMP1 45023 CS SEVEN 70064 MASK ITEMP4 54064 TS ITEMP4 00006 EXTEND # MOVE DP COMMAND TO RUPTREGS FOR TESTING. 50061 INDEX ITEMP1 31401 DCA 1400 52071 DXCH RUPTREG1 10070 CCS RUPTREG1 13352 TCF MAJ+ 13342 TCF +2 13472 TCF MAJ- 10071 CCS RUPTREG2 13347 TCF MIN+ 13274 TCF STRTGYR2 13467 TCF MIN- 13274 TCF STRTGYR2 # Page 1434 >062104,000556: 07,3347 63403 MIN+ AD -GYROMIN # SMALL POSITIVE COMMAND. SEE IF AT LEAST 00006 EXTEND # 16 GYRO PULSES. 63274 BZMF STRTGYR2 >062108,000560: 07,3352 00006 MAJ+ EXTEND # DEFINITE POSITIVE OUTPUT. 33513 DCA GYROFRAC 20071 DAS RUPTREG1 30064 CA ITEMP4 # SELECT POSITIVE TORQUING FOR THIS GYRO. 00006 EXTEND 05014 WOR CHAN14 36043 CAF LOW7 # LEAVE NUMBER OF POSSIBLE 8192 AUGMENTS 70071 MASK RUPTREG2 # TO INITIAL COMMAND IN MAJOR PART OF LONG 56071 XCH RUPTREG2 # TERM STORAGE AND TRUNCATED FRACTION >062119,000571: 07,3363 00006 GMERGE EXTEND # IN MINOR PART. THE MAJOR PART WILL BE 75010 MP BIT8 # COUNTED DOWN TO ZERO IN THE COURSE OF 54062 TS ITEMP2 # PUTTING OUT THE ENTIRE COMMAND. 30070 CA RUPTREG1 00006 EXTEND 75007 MP BIT9 54070 TS RUPTREG1 30001 CA L 00006 EXTEND 75002 MP BIT14 26062 ADS ITEMP2 # INITIAL COMMAND. 00006 EXTEND # SEE IF MORE THAN ONE PULSE TRAIN NEEDED 30071 DCA RUPTREG1 # (MORE THAN 16383 PULSES). 67716 AD MINUS1 10000 CCS A 13426 TCF LONGGYRO 94E">062136,000588: 07,3403 77601 -GYROMIN OCT -176 # MAY BE ADJUSTED TO SPECIFY MINIMUM CMD 13410 TCF +4 35002 CAF BIT14 26062 ADS ITEMP2 35021 CAF ZERO 50061 +4 INDEX ITEMP1 53401 DXCH 1400 # Page 1435 30062 CA ITEMP2 # ENTIRE COMMAND. 7">062147,000599: 07,3413 54047 LASTSEG TS GYROCMD 00006 EXTEND 75006 MP BIT10 # WAITLIST DT 66214 AD THREE # TRUNCATION AND PHASE UNCERTAINTIES. 05245 TC WAITLIST EBANK= CDUIND 03270 16063 2CADR STRTGYRO 954">062155,000607: 07,3422 35006 GYROEXIT CAF BIT10 00006 EXTEND 05014 WOR CHAN14 15324 TCF TASKOVER 24F">062160,000612: 07,3426 50061 LONGGYRO INDEX ITEMP1 53401 DXCH 1400 # INITIAL COMMAND OUT PLUS N AUGMENTS OF 35002 CAF BIT14 # 8192. INITIAL COMMAND IS AT LEAST 8192. 60062 AD ITEMP2 54047 TS GYROCMD >062166,000618: 07,3433 00006 AUG3 EXTEND # GET WAITLIST DT TO TIME WHEN TRAIN IS 75006 MP BIT10 # ALMOST OUT. 67714 AD NEG3 05245 TC WAITLIST EBANK= CDUIND 03442 16063 2CADR 8192AUG 13422 TCF GYROEXIT 7">062175,000627: 07,3442 03524 8192AUG TC CAGETEST 35014 CAF BIT4 00006 EXTEND 02012 RAND CHAN12 10000 CCS A 13522 TCF IMUBAD 31304 CA LGYRO # ADD 8192 PULSES TO GYROCMD 54003 TS EBANK 74373 MASK LOW8 54061 TS ITEMP1 50061 INDEX ITEMP1 # SEE IF THIS IS THE LAST AUG. 11400 CCS 1400 13462 TCF AUG2 # MORE TO COME. 35002 CAF BIT14 26047 ADS GYROCMD 13414 TCF LASTSEG +1 # Page 1436 >062196,000648: 07,3462 50061 AUG2 INDEX ITEMP1 55400 TS 1400 35002 CAF BIT14 26047 ADS GYROCMD 13433 TCF AUG3 # COMPUTE DT. # Page 1437 >062203,000655: 07,3467 63403 MIN- AD -GYROMIN # POSSIBLE NEGATIVE OUTPUT. 00006 EXTEND 63274 BZMF STRTGYR2 >062207,000659: 07,3472 00006 MAJ- EXTEND # DEFINITE NEGATIVE OUTPUT. 43513 DCS GYROFRAC 20071 DAS RUPTREG1 30064 CA ITEMP4 # SELECT NEGATIVE TORQUING FOR THIS GYRO. 65007 AD BIT9 00006 EXTEND 05014 WOR CHAN14 40070 CS RUPTREG1 # SET UP RUPTREGS TO FALL INTO GMERGE. 54070 TS RUPTREG1 # ALL NUMBERS PUT INTO GYROCMD ARE 40071 CS RUPTREG2 # POSITIVE -- BIT9 OF CHAN 14 DETERMINES 76043 MASK LOW7 # THE SIGN OF THE COMMAND. 40000 COM 56071 XCH RUPTREG2 40000 COM 13363 TCF GMERGE 354">062225,000677: 07,3511 01700 GDESELCT OCT 1700 # TURN OFF SELECT AND ACTIVITY BITS. 143">062227,000679: 07,3512 00000 00034 GYROFRAC 2DEC .215 B-21 # Page 1438 # IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE. >062232,000684: 07,3514 00006 ENDIMU EXTEND # MODE IS BAD IF CAGE HAS OCCURRED OR IF 00011 READ DSALMOUT # ISS WARNING IS ON. 75017 MASK BIT1 10000 CCS A 13522 TCF IMUBAD 4">062238,000690: 07,3521 13550 IMUGOOD TCF GOODEND # WITH C(A) = 0. >062240,000692: 07,3522 35021 IMUBAD CAF ZERO 13545 TCF BADEND 354">062243,000695: 07,3524 35012 CAGETEST CAF BIT6 # SUBROUTINE TO TERMINATE IMU MODE 71320 MASK IMODES30 # SWITCH IF IMU HAS BEEN CAGED. 10000 CCS A 13522 TCF IMUBAD # DIRECTLY. 00002 TC Q # WITH C(A) = +0. 451">062249,000701: 07,3531 41320 CAGETSTQ CS IMODES30 # SKIP IF IMU NOT BEING CAGED. 75012 MASK BIT6 10000 CCS A 24002 INCR Q 00002 TC Q 44A">062255,000707: 07,3536 41320 CAGETSTJ CS IMODES30 # IF DURING MODE SWITCH INITIALIZATION. 75012 MASK BIT6 # IT IS FOUND THAT THE IMU IS BEING CAGED. 10000 CCS A # SET IMUCADR TO -0 TO INDICATE OPERATION 00002 TC Q # COMPLETE BUT FAILED. RETURN IMMEDIATELY 45021 CS ZERO # TO SWRETURN. 55322 TS IMUCADR 12640 TCF MODEEXIT # Page 1439 # GENERALIZED MODE SWITCHING TERMINATION. ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION # OR AT BADEND FOR AN UNSUCCESSFUL ONE. C(A) OR ARRIVAL =0 FOR IMU, 1 FOR OPTICS. >062267,000719: 07,3545 54071 BADEND TS RUPTREG2 # DEVICE INDEX. 45021 CS ZERO # FOR FAILURE. 13552 TCF GOODEND +2 4">062271,000723: 07,3550 54071 GOODEND TS RUPTREG2 45017 CS ONE # FOR SUCCESS. 54072 TS RUPTREG3 50071 INDEX RUPTREG2 # SEE IF USING PROGRAM ASLEEP. 11322 CCS MODECADR 13557 TCF +2 # YES -- WAKE IT UP. 13567 TCF ENDMODE # IF 0, PROGRAM NOT IN YET. 35021 CAF ZERO # WAKE SLEEPING PROGRAM. 50071 INDEX RUPTREG2 57322 XCH MODECADR 05201 TC JOBWAKE 40072 CS RUPTREG3 # ADVANCE LOC IF SUCCESSFUL. 50064 INDEX LOCCTR 26164 ADS LOC 15324 TCF TASKOVER 5">062291,000743: 07,3567 30072 ENDMODE CA RUPTREG3 # -0 INDICATES OPERATION COMPLETE BUT 50071 INDEX RUPTREG2 # UNSUCCESSFUL: -1 INDICATES COMPLETE AND 55322 TS MODECADR # SUCCESSFUL. 15324 TCF TASKOVER # Page 1440 # GENERAL STALLING ROUTINE. USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION. # PROGRAM DESCRIPTION DATE -- 21 FEB 1967 # LOG SECTION IMU MODE SWITCHING # MOD BY -- R. MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 82 # FUNCTIONAL DESCRIPTION -- # TO DELAY FURTHER EXECUTION OF THE CALLING ROUTINE UNTIL ITS SELECTED # I/O FUNCTION IS COMPLETE. THE FOLLOWING CHECKS ON THE CALLING ROUTINES # MODEECADR ARE MADE AND ACTED UPON. # 1) +0 INDICATES INCOMPLETE I/O OPERATION. CALLING ROUTINE IS PUT TO # SLEEP. # 2) -1 INDICATES COMPLETED I/O OPERATION. STALL BYPASSES JOBSLEEP # CALL AND RETURNS TO CALLING ROUTINE AT L+3. # 3) -0 INDICATES COMPLETED I/O WITH FAILURE. STALL CLEARS MODECADR # AND RETURNS TO CALLING ROUTINE AT L+2. # 4) VALUE GREATER THAN 0 INDICATES TWO ROUTINES CALLING FOR USE OF # SAME DEVICE. STALL EXITS TO ABORT WHICH EXECUTES A PROGRAM # RESTART WHICH IN TURN CLEARS ALL MODECADR REGISTERS. # CALLING SEQUENCE -- # L TC BANKCALL # L+1 CADR (ONE OF 5 STALL ADDRESSES. I.E., IMUSTALL, OPTSTALL, RADSTALL, # AOTSTALL, OR ATTSTALL) # NORMAL-EXIT MODE -- # TCF JOBSLEEP OR TCF MODEXIT # ALARM OR ABORT EXIT MODE -- # TC ABORT # OUTPUT -- # MODECADR=CADR IF JOBSLEEP # MODECADR=+0 IF I/O COMPLETE # BUF2=L+3 IF I/O COMPLETE AND GOOD. # BUF2=L+2 IF I/O COMPLETE BUT FAILED. # ERASABLE INITIALIZATION -- # BUF2 CONTAINS RETURN ADDRESS PLUS 1,(L+2) # BUF2+1 CONTAINS FBANK VALUE OF CALLING ROUTINE. # MODECADR OF CALLING ROUTINE CONTAINS +0,-1,-0 OR CADR RETURN ADDRESS. # DEBRIS -- # RUPTREG2 AND CALLING ROUTINE MODECADR. C4C">062342,000794: 07,3573 35017 AOTSTALL CAF ONE # AOT. 03600 TC STALL C4C">062345,000797: 07,3575 35016 RADSTALL CAF TWO 13600 TCF STALL # Page 1441 C4C">062349,000801: 07,3577 07,3573 OPTSTALL EQUALS AOTSTALL C4C">062351,000803: 07,3577 35021 IMUSTALL CAF ZERO # IMU. /a>062353,000805: 07,3600 00004 STALL INHINT 54071 TS RUPTREG2 # SAVE DEVICE INDEX. 50000 INDEX A # SEE IF OPERATION COMPLETE. 11322 CCS MODECADR 13622 TCF MODABORT # ALLOWABLE STATES ARE +0, -1, AND -0. 13616 TCF MODESLP # OPERATION INCOMPLETE. 13612 TCF MODEGOOD # COMPLETE AND GOOD IF = -1. 07,3607 50071 MG2 INDEX RUPTREG2 # COMPLETE FAILED IF -0. RESET TO +0. 55322 TS MODECADR # RETURN TO CALLER. 12640 TCF MODEEXIT F44">062365,000817: 07,3612 10000 MODEGOOD CCS A # MAKE SURE INITIAL STATE -1. 13622 TCF MODABORT 24133 INCR BUF2 # IF SO, INCREMENT RETURN ADDRESS AND 13607 TCF MG2 # RETURN IMMEDIATELY, SETTIN CADR = +0. 0">062371,000823: 07,3616 04711 MODESLP TC MAKECADR # CALL FROM SWITCHABLE FIXED ONLY. 50071 INDEX RUPTREG2 55322 TS MODECADR 15175 TCF JOBSLEEP 254">062376,000828: 07,3622 05721 MODABORT TC P00DOO # TWO PROGRAMS USING THE SAME DEVICE. 01210 OCT 1210 # Page 1442 # CONSTANTS FOR MODE SWITCHING ROUTINES 4">062382,000834: 07,3624 5771 BITS3&4 = OCT14 6">062383,000835: 07,3624 5033 BITS4&6 = OCT50 5">062384,000836: 07,3624 5027 BITS4-5 EQUALS BITS4&5 C47">062385,000837: 07,3624 5010 IMUSEFLG EQUALS BIT8 # INTERPRETER SWITCH 7. 8">062386,000838: 07,3624 77500 -COMMAX DEC -191 B-14 82D">062387,000839: 07,3625 77477 -COMMAX- DEC -192 B-14 /a>062388,000840: 07,3626 00074 600MS DEC 60 B-14 230">062389,000841: 07,3627 07,3073 IMUFIN20 = IMUFINE 2">062390,000842: 07,3627 31325 GOMANUR CA ATTCADR # IS KALCMANU FREE 00006 EXTEND 13634 BZF +3 05721 TC P00DOO # NO 01210 OCT 1210 # 2 TRYING TO USE SAME DEVICE 00006 +3 EXTEND 30134 DCA BUF2 53326 DXCH ATTCADR # SAVE FINAL RETURN FOR KALCMAN3 30006 CA BBANK 75023 MASK SEVEN 27326 ADS ATTCADR +1 30167 CA PRIORITY 77674 MASK PRIO37 55327 TS ATTPRIO # SAVE USER'S PRIO 33651 CAF KALEBCON # SET EBANK FOR KALCMAN3 54003 TS EBANK 04701 TC POSTJUMP 44000 CADR KALCMAN3 F4E">062412,000864: 07,3651 03261 KALEBCON ECADR BCDU # Page 1443 # PROGRAM DESCRIPTION # IMU STATUS CHECK ROUTINE R02 (SUBROUTINE UTILITY) # MOD NO -- 1 # MOD BY -- N.BRODEUR # FUNCTIONAL DESCRIPTION # TO CHECK WHETHER IMU IS ON AND IF ON WHETHER IT IS ALIGNED TO AN # ORIENTATION KNOWN BY THE CMC. TO REQUEST SELECTION OF THE APPROPRIATE # PROGRAM IF THE IMU IS OFF OR NOT ALIGNED TO AN ORIENTATION KNOWN BY THE # CMC. CALLED THROUGH BANKCALL # CALLING SEQUENCE -- # L TC BANKCALL # L+1 CADR R02BOTH # SUBROUTINES CALLED # VARALARM # FLAGUP # NORMAL EXIT MODES # AT L+2 OF CALLING SEQUENCE # ALARM OR ABORT EXIT MODES # GOTOP00H, WITH ALARM # ERASABLE INITIALIZATION REQUIRED # NONE # DEBRIS # CENTRALS -- A,Q,L BANK 34 SETLOC R02 BANK COUNT 04/R02 # COUNT* /a>062451,000903: 07,3652 00063 DEC51 DEC 51 B-14 8">062452,000904: 07,3653 35003 R02BOTH CAF BIT13 70077 MASK STATE +3 # REFSMFLG 10000 CCS A 03667 TC R02ZERO # ZERO IMUS 31320 CA IMODES30 75007 MASK BIT9 # IS ISS INITIALIZED 00006 EXTEND 13664 BZF +2 45014 CS BIT4 # SEND IMU ALARM CODE 210 63672 AD OCT220 # SEND REFSMM ALARM 05764 TC VARALARM 04106 TC GOTOP00H # Page 1444 F">062468,000920: 07,3667 05546 R02ZERO TC UPFLAG 00007 ADRES IMUSE 14675 TCF SWRETURN >062471,000923: 07,3672 00220 OCT220 OCT 220 # Page 1445 # PROGRAM DESCRIPTION: P06 10 FEB 67 # TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION. # THE NORMAL CONDITION OF READINESS OF THE GNCS WHEN NOT IN USE IS STANDBY. IN THIS CONDITION THE IMU # HEATER POWER IS ON. THE IMU OPERATE POWER IS OFF. THE COMPUTER POWER IS ON. THE OPTICS POWER IS OFF. THE # CMC STANDBY ON THE MAIN AND LEB DISKYS IS ON. # CALLING SEQUENCE: # ASTRONAUT REQUEST THROUGH DSKY V37E 06E. # SUBROUTINES CALLED: # GOPERF1 # BANKCALL # FLAGDOWN # Page 1446 # PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2. # THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATIBILITY # BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING. SETLOC P05P06 BANK 1150 EBANK= TIME2SAV COUNT* $$/P06 26,3660 05546 P06 TC UPFLAG # SET NODOV37 BIT 00054 ADRES NODOFLAG E44">062504,000956: 26,3662 00004 PRESTAND INHINT 00006 EXTEND 30025 DCA TIME2 # SNAPSHOT TIME1 TIME2 53151 DXCH TIME2SAV 03717 TC SCALPREP 03662 TC PRESTAND # T1,T2,SCALER NOT COMPATIBLE 52155 DXCH MPAC # T1,T2 AND SCALER OK 53153 DXCH SCALSAVE # STORE SCALER 00004 INHINT 04662 TC BANKCALL 17060 CADR RNDREFDR # REFSMM, DRIFT, TRACK FLAGS DOWN 05560 TC DOWNFLAG 00007 ADRES IMUSE # IMUSE DOWN 05560 TC DOWNFLAG 00010 ADRES RNDVZFLG # RNDVZFLG DOWN 35005 CAF BIT11 00006 EXTEND 05013 WOR CHAN13 # SET STANDBY ENABLE BIT 05412 TC PHASCHNG # SET RESTART TO POSTAND WHEN STANDBY 07024 OCT 07024 # RECOVERS 20000 OCT 20000 1152 EBANK= SCALSAVE 03737 54062 2CADR POSTAND 35036 CAF OCT62 04662 TC BANKCALL 21045 CADR GOPERF1 13711 TCF -3 13711 TCF -4 13711 TCF -5 /a>062538,000990: 26,3717 5036 OCT62 EQUALS .5SEC # DEC 50 = OCT 62 # THE LOW 5 BITS OF THE SCALER READS 10000 FOR THE FIRST INTERVAL AFTER A # Page 1447. # T1 INCREMENT. IF SCALPREP DETECTS THIS INTERVAL THE T1,T2 AND SCALER # DATA ARE NOT COMPATIBLE AND RETURN IS TO L+1 FOR ANOTHER READING OF THE # DATA. OTHERWISE, THE RETURN IS TO L+2 TO PROCEED. ROUTINE ALSO PREPARES # THE SCALER READING FOR COMPUTATION OF THE INCREMENT TO UPDATE T1T2. (THE # 10 MS BIT (BIT 6) OF THE SCALER IS INCREMENTED 5 MS OUT OF PHASE FROM # T1.) ADDITION OF 5 MS (BIT 5) TO THE SCALER READING HAS THE EFFECT OF # ADJUSTING BIT 6 IN THE SCALER TO BE IN PHASE WITH BIT 1 OF T1. THE LOW 5 # BITS OF THE SCALER READING ARE THEN SET TO ZERO, TO TRUNCATE THE SCALER # DATA TO 10 MS. RESULTS ARE STORED IN MPAC, +1. 550">062552,001004: 26,3717 00006 SCALPREP EXTEND 22156 QXCH MPAC +2 04554 TC FINETIME +1 00003 RELINT 52155 DXCH MPAC 35013 CA BIT5 # ADD 5 MS TO THE SCALER READING. 54001 TS L 35021 CA ZERO 20155 DAS MPAC 44362 CS LOW5 # SET LOW 5 BITS OF (SCALER+5MS) TO ZERO 70155 MASK MPAC +1 # AND STORE RESULTS IN MPAC,+1. 56155 XCH MPAC +1 74362 MASK LOW5 # TEST LOW 5 BITS OF SCALER FOR THE FIRST # INTERVAL AFTER THE T1 INCREMENT # (NOW = 00000, SINCE BIT 5 ADDED). 10000 CCS A # IS IT 1ST INTERVAL AFTER T1 INCREMENT 24156 INCR MPAC +2 # NO 00156 TC MPAC +2 # YES # POSTAND RECOVERS TIME AFTER STANDBY. THE SCALER IS SNAPSHOTTED AND THE # TIME1 TIME2 COUNTER IS SET TO ZERO. THE LOW 5 BITS OF THE SCALER ARE # INSPECTED TO INSURE COMPATIBILITY BETWEEN THE SCALER READING AND THE # CLEARING OF THE TIME COUNTER. IT THEN COMPUTES THE DIFFERENCE IN SCALER # VALUES (IN DP) AND ADDS THIS TO THE PREVIOUSLY SNAPSHOTTED VALUES OF # TIME1 TIME2 AND PLACES THIS NEW TIME INTO THE TIME1 TIME2 COUNTER. COUNT* $$/P05 4">062580,001032: 26,3737 45005 POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY 00006 EXTEND 03013 WAND CHAN13 # CLEAR STANDBY ENABLE BIT 00004 INHINT 35021 CA ZERO 54001 TS L 52025 DXCH TIME2 # CLEAR TIME1 TIME2 03717 TC SCALPREP # STORE SCALER IN MPAC, MPAC+1 03742 TC POSTAND +3 # T1,T2,SCALER NOT COMPATIBLE 00006 EXTEND # T1,T2 AND SCALER OK 41153 DCS SCALSAVE 20155 DAS MPAC # FORM DP DIFFERENCE OF POST-STANDBY SCALER # Page 1448 35006 CAF BIT10 # MINUS PRE-STANDBY SCALER AND SHIFT RIGHT 07256 TC SHORTMP # 5 TO ALIGN BITS WITH TIME1 TIME2. 35021 CAF ZERO 54156 TS MPAC +2 # NEEDED FOR TP AGREE 07226 TC TPAGREE # MAKE DP DIFF AGREE 10154 CCS MPAC 03766 TC POSTCOM # IF DP DIFF NET +, NO SCALER OVERFLOW 03766 TC POSTCOM # BETWEEN PRE AND POST STANDBY. 03764 TC +1 # IF DP DIFF NET -, SCALER OVERFLOWED. ADD 35006 CAF BIT10 # BIT 10 TO HIGH DIFF TO CORRECT. 26154 ADS MPAC D">062604,001056: 26,3766 00006 POSTCOM EXTEND # C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER. 31151 DCA TIME2SAV # PRE-STANDBY TIME1 TIME2 20155 DAS MPAC 07226 TC TPAGREE # FORCE SIGN AGREEMENT 52155 DXCH MPAC # UPDATED VALUE FOR T1,T2. 20025 DAS TIME2 # LOAD UPDATED VALUE INTO T1,T2, WITH 05560 TC DOWNFLAG # CLEAR NODOFLAG 00054 ADRES NODOFLAG 04106 TC GOTOP00H IMU_MODE_SWITCHING_ROUTINES.agc. Parent file is MAIN.agc