Source Code

055798,000001: 055799,000002: 055800,000003: 055801,000004: 055802,000005: 055803,000006: 055804,000007: 055805,000008: 055806,000009: 055807,000010: 055808,000011: 055809,000012: 055810,000013: 055811,000014: 055812,000015: 055813,000016: 055814,000017: 055815,000018: 055816,000019: 055817,000020: 055818,000021: 055819,000022: 055820,000023: 055821,000024: 055822,000025: 055823,000026: 055824,000027: 055825,000028: 055826,000029: 055827,000030: 5457 055828,000031: 4000 055829,000032: 4000 055830,000033: 055831,000034: 5457 E3,1471 055832,000035: 055833,000036: 055834,000037: 055835,000038: 5457 < 055939,000142: 07,3011 055940,000143: 07,3012 055941,000144: 07,3013 055942,000145: 055943,000146: 07,3014 < 056272,000475: 07,3375 056273,000476: 056274,000477: 07,3376 056275,000478: 07,3377 056276,000479: 07,3400 056277,000480: 07,3401 056278,000481: 07,3402 056279,000482: 07,3403 056280,000483: < 056604,000807: 07,3720 056605,000808: 07,3721 056606,000809: 07,3722 056607,000810: 07,3723 056608,000811: 07,3724 056609,000812: 07,3725 056610,000813: 056611,000814: 056612,000815: 07,3727 056613,000816: 07,3730 056614,000817: < < 056752,000955: 056753,000956: 37,3656 056754,000957: < 056790,000993: 056791,000994: 056792,000995: 056793,000996: 056794,000997: 056795,000998: 056796,000999: 056797,001000: 056798,001001: 056799,001002: 056800,001003: 056801,001004: 056802,001005: # Copyright: Public domain. # Filename: IMU_MODE_SWITCHING_ROUTINES.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Onno Hommes <ohommes@cmu.edu>. # Website: www.ibiblio.org/apollo. # Pages: 1309-1337 # Mod history: 2009-05-28 OH Transcribed from page images. # 2009-06-05 RSB Fixed a typo. # 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 001 of AGC program LMY99 by NASA 2021112-61 # 16:27 JULY 14, 1969 # Page 1309 BLOCK 02 SETLOC FFTAG3 BANK EBANK= COMMAND # FIXED-FIXED ROUTINES COUNT* $$/IMODE 455">055836,000039: 5457 34755 ZEROICDU CAF ZERO # ZERO ICDU COUNTERS. 54032 TS CDUX 54033 TS CDUY 54034 TS CDUZ 00002 TC Q 5">055842,000045: 5464 4743 SPSCODE = BIT9 # Page 1310 # IMU ZEROING ROUTINES BANK 11 SETLOC MODESW BANK COUNT* $$/IMODE F">055852,000055: 07,2714 00004 IMUZERO INHINT # ROUTINE TO ZERO ICDUS. 41036 CS DSPTAB +11D # DON'T ZERO CDUS IS IMU IN GIMBAL LOCK AND 74771 MASK BITS4&6 # COARSE ALIGN (GIMBAL RUNAWAY PROTECTION) 10000 CCS A 12724 TCF IMUZEROA 05567 TC ALARM # IF SO. 00206 OCT 00206 13657 TCF CAGETSTJ +4 # IMMEDIATE FAILURE. F41">055863,000066: 07,2724 03653 IMUZEROA TC CAGETSTJ 41303 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES 74773 MASK SUPER011 # BIT5 FOR GROUND 27303 ADS IMODES33 41302 CS IMODES30 # INHIBIT ICDUFAIL AND IMUFAIL (IN CASE WE 75751 MASK BITS3&4 # JUST CAME OUT OF COARSE ALIGN). 27302 ADS IMODES30 44771 CS BITS4&6 # SEND ZERO ENCODE WITH COARSE AND ERROR 00006 EXTEND # COUNTER DISABLED. 03012 WAND CHAN12 03266 TC NOATTOFF # TURN OFF NO ATT LAMP. 34747 CAF BIT5 00006 EXTEND 05012 WOR CHAN12 05457 TC ZEROICDU 34746 CAF BIT6 # WAIT 320 MS TO GIVE AGS ADEQUATE TIME TO 05203 TC WAITLIST # RECEIVE ITS PULSE TRAIN. EBANK= CDUIND 02757 16103 2CADR IMUZERO2 41302 CS IMODES30 # SEE IF IMU OPERATING AND ALARM IF NOT. 74743 MASK BIT9 10000 CCS A 12755 TCF MODEEXIT # Page 1311 05567 TC ALARM 00210 OCT 210 954">055897,000100: 07,2755 00003 MODEEXIT RELINT # GENERAL MODE-SWITCHING EXIT. 14631 TCF SWRETURN F32">055900,000103: 07,2757 03641 IMUZERO2 TC CAGETEST 05457 TC ZEROICDU # ZERO CDUX, CDUY, CDUZ 44747 CS BIT5 # REMOVE ZERO DISCRETE. 00006 EXTEND 03012 WAND CHAN12 34741 CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS 05224 TC VARDELAY F33">055910,000113: 07,2766 03641 IMUZERO3 TC CAGETEST 45751 CS BITS3&4 # REMOVE IMUFAIL AND ICDUFAIL INHIBIT. 71302 MASK IMODES30 55302 TS IMODES30 44773 CS SUPER011 # ENABLE DAP AUTO AND HOLD MODES 71303 MASK IMODES33 # BIT5 FOR GROUND 55303 TS IMODES33 04674 TC IBNKCALL # SET ISS WARNING IF EITHER OF ABOVE ARE 14703 CADR SETISSW # PRESENT. 13631 TCF ENDIMU # Page 1312 # IMU COARSE ALIGN MODE. 253">055927,000130: 07,3000 00004 IMUCOARS INHINT 03653 TC CAGETSTJ 03144 TC SETCOARS 36242 CAF SIX 05203 TC WAITLIST EBANK= CDUIND 03010 16103 2CADR COARS 12755 TCF MODEEXIT /a>055938,000141: 07,3010 03641 COARS TC CAGETEST 34746 CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS 00006 EXTEND 05012 WOR CHAN12 34752 CAF TWO # SET CDU INDICATOR >055944,000147: 07,3015 55474 COARS1 TS CDUIND 51474 INDEX CDUIND # COMPUTE THETAD -- THETAA IN 1'S 30321 CA THETAD # COMPLEMENT FORM 00006 EXTEND 51474 INDEX CDUIND 20032 MSU CDUX 00006 EXTEND 74737 MP BIT13 # SHIFT RIGHT 2 56001 XCH L # ROUND 60000 DOUBLE 54061 TS ITEMP1 13032 TCF +2 26001 ADS L 51474 INDEX CDUIND # DIFFERENCE TO BE COMPUTED 23471 LXCH COMMAND 11474 CCS CDUIND 03015 TC COARS1 34752 CAF TWO # MINIMUM OF 4 MS WAIT 05224 TC VARDELAY # Page 1313 >055968,000171: 07,3040 03641 COARS2 TC CAGETEST # DON'T CONTINUE IF CAGED. 54061 TS ITEMP1 # SET TO +0. 34752 CAF TWO # SET CDU INDICATOR. 55474 +3 TS CDUIND 51474 INDEX CDUIND 11471 CCS COMMAND # NUMBER OF PULSES REQUIRED 03052 TC COMPOS # GREATER THAN MAX ALLOWED 03061 TC NEXTCDU +1 03117 TC COMNEG 03061 TC NEXTCDU +1 >055980,000183: 07,3052 63745 COMPOS AD -COMMAX # COMMAX = MAX NUMBER OF PULSES ALLOWED 00006 EXTEND # MINUS ONE 63127 BZMF COMZERO 51474 INDEX CDUIND 55471 TS COMMAND # REDUCE COMMAND BY MAX NUMBER OF PULSES 43746 CS -COMMAX- # ALLOWED 5">055987,000190: 07,3060 24061 NEXTCDU INCR ITEMP1 64754 AD NEG0 51474 INDEX CDUIND 54050 TS CDUXCMD # SET UP COMMAND REGISTER. 11474 CCS CDUIND 03043 TC COARS2 +3 10061 CCS ITEMP1 # SEE IF ANY PULSES TO GO OUT. 13133 TCF SENDPULS 05221 TC FIXDELAY # WAIT FOR GIMBALS TO SETTLE. 00226 DEC 150 B-14 34752 CAF TWO # AT END OF COMMAND, CHECK TO SEE THAT 3">056002,000205: 07,3073 54061 CHKCORS TS ITEMP1 # GIMBALS ARE WITHIN 2 DEGREES OF THETAD. 50000 INDEX A 30032 CA CDUX 00006 EXTEND 50061 INDEX ITEMP1 20321 MSU THETAD 10000 CCS A 13110 TCF COARSERR 13105 TCF CORSCHK2 13110 TCF COARSERR # Page 1314 B32">056014,000217: 07,3105 10061 CORSCHK2 CCS ITEMP1 13073 TCF CHKCORS 13631 TCF ENDIMU # END OF COARSE ALIGNMENT 252">056018,000221: 07,3110 63116 COARSERR AD COARSTOL # 2 DEGREES. 00006 EXTEND 63105 BZMF CORSCHK2 05567 TC ALARM # COARSE ALIGN ERROR. 00211 OCT 211 13637 TCF IMUBAD F4C">056027,000230: 07,3116 77511 COARSTOL DEC -.01111 # 2 DEGREES SCALED AT HALF-REVOLUTIONS >056029,000232: 07,3117 63745 COMNEG AD -COMMAX 00006 EXTEND 63127 BZMF COMZERO 40000 COM 51474 INDEX CDUIND 55471 TS COMMAND 33746 CA -COMMAX- 03060 TC NEXTCDU F">056038,000241: 07,3127 34755 COMZERO CAF ZERO 51474 INDEX CDUIND 57471 XCH COMMAND 03060 TC NEXTCDU C53">056043,000246: 07,3133 37740 SENDPULS CAF 13,14,15 00006 EXTEND 05014 WOR CHAN14 33747 CAF 600MS 13037 TCF COARS2 -1 # THEN TO VARDELAY >056049,000252: 07,3140 34746 CA+ECE CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS 00006 EXTEND 05012 WOR CHAN12 05261 TC TASKOVER # Page 1315 253">056055,000258: 07,3144 34750 SETCOARS CAF BIT4 # BYPASS IF ALREADY IN COARSE ALIGN 00006 EXTEND 02012 RAND CHAN12 10000 CCS A 00002 TC Q 44746 CS BIT6 # CLEAR ISS ERROR COUNTERS 00006 EXTEND 03012 WAND CHAN12 44742 CS BIT10 # KNOCK DOWN GYRO ACTIVITY 00006 EXTEND 03014 WAND CHAN14 44755 CS ZERO 54047 TS GYROCMD 34750 CAF BIT4 # PUT ISS IN COARSE ALIGN 00006 EXTEND 05012 WOR CHAN12 41036 CS DSPTAB +11D # TURN ON NO ATT LAMP 73207 MASK OCT40010 27036 ADS DSPTAB +11D 41303 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES 74746 MASK BIT6 27303 ADS IMODES33 41302 CS IMODES30 # DISABLE IMUFAIL 74750 MASK BIT4 27302 ADS IMODES30 452">056087,000290: 07,3175 44747 RNDREFDR CS TRACKBIT # CLEAR TRACK FLAG 70075 MASK FLAGWRD1 54075 TS FLAGWRD1 44735 CS DRFTBIT # CLEAR DRIFT FLAG 70076 MASK FLAGWRD2 54076 TS FLAGWRD2 44737 CS REFSMBIT # CLEAR REFSMMAT FLAG 70077 MASK FLAGWRD3 54077 TS FLAGWRD3 00002 TC Q 130">056101,000304: 07,3207 40010 OCT40010 OCT 40010 # Page 1316 # IMU FINE ALIGN MODE SWITCH. 5">056106,000309: 07,3210 00004 IMUFINE INHINT 03653 TC CAGETSTJ # SEE IF IMU BEING CAGED. 43744 CS BITS4-5 # RESET ZERO AND COARSE 00006 EXTEND 03012 WAND CHAN12 44746 CS BIT6 # INSURE DAP AUTO AND HOLD MODES ENABLED 71303 MASK IMODES33 55303 TS IMODES33 03266 TC NOATTOFF 34742 CAF BIT10 # IMU FAIL WAS INHIBITED DURING THE 05203 TC WAITLIST # PRESUMABLY PRECEDING COARSE ALIGN. LEAVE EBANK= CDUIND 03234 16103 2CADR IFAILOK # IT ON FOR THE FIRST 5 SECS OF FINE ALIGN 35000 CAF 2SECS 05203 TC WAITLIST EBANK= CDUIND 03232 16103 2CADR IMUFINED 12755 TCF MODEEXIT 544">056131,000334: 07,3232 03641 IMUFINED TC CAGETEST # SEE THAT NO ONE HAS CAGED THE IMU. 13631 TCF ENDIMU # Page 1317 B">056135,000338: 07,3234 03646 IFAILOK TC CAGETSTQ # ENABLE IMU FAIL UNLESS IMU BEING CAGED. 15261 TCF TASKOVER # IT IS. 34750 CAF BIT4 # DON'T RESET IMU FAIL INHIBIT IF SOMEONE 00006 EXTEND # HAS GONE INTO COARSE ALIGN. 02012 RAND CHAN12 10000 CCS A 15261 TCF TASKOVER 41302 CS IMODES30 # RESET IMUFAIL. 74737 MASK BIT13 27302 ADS IMODES30 44750 CS BIT4 B32">056148,000351: 07,3247 71302 PFAILOK2 MASK IMODES30 55302 TS IMODES30 04674 TC IBNKCALL # THE ISS WARNING LIGHT MAY COME ON NOW 14703 CADR SETISSW # THAT THE INHIBIT WAS BEEN REMOVED. 15261 TCF TASKOVER B">056154,000357: 07,3254 03646 PFAILOK TC CAGETSTQ # ENABLE PIP FAIL PROG ALARM. 15261 TCF TASKOVER 41302 CS IMODES30 # RESET IMU AND PIPA FAIL BITS. 74742 MASK BIT10 27302 ADS IMODES30 41303 CS IMODES33 74737 MASK BIT13 27303 ADS IMODES33 44747 CS BIT5 13247 TCF PFAILOK2 646">056168,000371: 07,3266 43207 NOATTOFF CS OCT40010 # SUBROUTINE TO TURN OFF NO ATT LAMP. 71036 MASK DSPTAB +11D 64735 AD BIT15 55036 TS DSPTAB +11D 00002 TC Q # Page 1318 # ROUTINES TO INITIATE AND TERMINATE PROGRAM USE OF THE PIPAS. NO IMUSTALL REQUIRED IN EITHER CASE. >056177,000380: 07,3273 44755 PIPUSE CS ZERO 54037 TS PIPAX 54040 TS PIPAY 54041 TS PIPAZ 1">056182,000385: 07,3277 03646 PIPUSE1 TC CAGETSTQ # DO NOT ENABLE PIPA FAIL IF IMU IS CAGED 14631 TCF SWRETURN 00004 INHINT 44753 CS BIT1 # IF PIPA FAILS FROM NOW ON (UNTIL 71302 MASK IMODES30 # PIPFREE), LIGHT ISS WARNING. 55302 TS IMODES30 532">056190,000393: 07,3305 04674 PIPFREE2 TC IBNKCALL # ISS WARNING MIGHT COME ON NOW. 14703 CADR SETISSW # (OR GO OFF ON PIPFREE). 12755 TCF MODEEXIT 5">056195,000398: 07,3310 00004 PIPFREE INHINT # PROGRAM DONE WITH PIPAS. DON'T LIGHT 41302 CS IMODES30 # ISS WARNING. 74753 MASK BIT1 27302 ADS IMODES30 74742 MASK BIT10 # IF PIP FAIL ON, DO PROG ALARM AND RESET 10000 CCS A # ISS WARNING. 12755 TCF MODEEXIT 05567 TC ALARM 00212 OCT 212 00004 INHINT 13305 TCF PIPFREE2 # Page 1319 # THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIXE 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 THE INPUT COMMAND REGISTERS. EBANK= 1400 # VARIABLE, ACTUALLY. 345">056218,000421: 07,3323 54161 IMUPULSE TS MPAC +5 # SAVE ARRIVING ECADR. 03653 TC CAGETSTJ # DON'T PROCEED IF IMU BEING CAGED. 11314 CCS LGYRO # SEE IF GYROS BUSY. 03367 TC GYROBUSY # SLEEP. 54156 TS MPAC +2 34746 CAF BIT6 # ENABLE THE POWER SUPPLY. 00006 EXTEND 05014 WOR CHAN14 34751 CAF FOUR >056230,000433: 07,3334 05203 GWAKE2 TC WAITLIST # (IF A JOB WAS PUT TO SLEEP, THE POWER EBANK= CDUIND # SUPPLY IS LEFT ON BY THE WAKING JOB). 03405 16103 2CADR STRTGYRO 30161 CA MPAC +5 # SET UP EBANK, SAVING CALLER'S EBANK FOR 56003 XCH EBANK # RESTORATION ON RETURN. 56161 XCH MPAC +5 55314 TS LGYRO # RESERVES GYROS. 74357 MASK LOW8 54061 TS ITEMP1 34752 CAF TWO # FORCE SIGN AGREEMENT ON INPUTS. 245">056242,000445: 07,3346 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 07257 TC TPAGREE 52155 DXCH MPAC 50160 INDEX MPAC +4 53401 DXCH 1400 10157 CCS MPAC +3 13346 TCF GYROAGRE 30161 CA MPAC +5 # RESTORE CALLER'S EBANK. 54003 TS EBANK 12755 TCF MODEEXIT # Page 1320 # ROUTINES TO ALLOW TORQUING ONLY ONE JOB AT A TIME. 359">056265,000468: 07,3367 00006 GYROBUSY EXTEND # SAVE RETURN 2FCADR. 30134 DCA BUF2 52155 DXCH MPAC 550">056268,000471: 07,3372 33404 REGSLEEP CAF LGWAKE 15133 TCF JOBSLEEP /a>056271,000474: 07,3374 11314 GWAKE CCS LGYRO # WHEN AWAKENED, SEE IF GYROS STILL BUSY. 13372 TCF REGSLEEP # IF SO, SLEEP SOME MORE. 54156 TS MPAC +2 00006 EXTEND 30155 DCA MPAC 52134 DXCH BUF2 # RESTORE SWRETURN INFO. 34753 CAF ONE 13334 TCF GWAKE2 >056281,000484: 07,3404 17374 LGWAKE CADR GWAKE # Page 1321 # GYRO-TORQUING WAITLIST TASKS. 24F">056286,000489: 07,3405 43626 STRTGYRO CS GDESELCT # DE-SELECT LAST GYRO. 00006 EXTEND 03014 WAND CHAN14 03641 TC CAGETEST 232">056292,000495: 07,3411 31314 STRTGYR2 CA LGYRO # JUMP ON PHASE COUNTER IN BITS 13-14. 00006 EXTEND 74750 MP BIT4 50000 INDEX A 13416 TCF +1 03433 TC GSELECT # =0. DO Y GYRO. 00202 OCT 00202 03433 TC GSELECT # =1. DO Z GYRO. 00302 OCT 00302 03431 TC GSELECT -2 # =2. DO X GYRO. 00100 OCT 00100 34755 CAF ZERO # =3. DONE 55314 TS LGYRO 33404 CAF LGWAKE # WAKE A POSSIBLE SLEEPING JOB. 05137 TC JOBWAKE 4">056311,000514: 07,3430 13232 NORESET TCF IMUFINED # DO NOT RESET POWER SUPPLY. # Page 1322 44751 -2 CS FOUR # SPECIAL ENTRY TO REGRESS LGYRO FOR X. 27314 ADS LGYRO 4">056316,000519: 07,3433 50002 GSELECT INDEX Q # SELECT GYRO. # Was CAF --- RSB 2004, Also CAF in LMY99 OH 2009 30000 CA 0 # PACKED WORD CONTAINS GYRO SELECT BITS 54064 TS ITEMP4 # AND INCREMENT TO LGYRO. 74757 MASK SEVEN 64737 AD BIT13 27314 ADS LGYRO 54003 TS EBANK 74357 MASK LOW8 54061 TS ITEMP1 44757 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 13467 TCF MAJ+ 13457 TCF +2 13607 TCF MAJ- 10071 CCS RUPTREG2 13464 TCF MIN+ 13411 TCF STRTGYR2 13604 TCF MIN- 13411 TCF STRTGYR2 # Page 1323 >056348,000551: 07,3464 63520 MIN+ AD -GYROMIN # SMALL POSITIVE COMMAND. SEE IF AT LEAST 00006 EXTEND # 16 GYRO PULSES. 63411 BZMF STRTGYR2 >056352,000555: 07,3467 00006 MAJ+ EXTEND # DEFINITE POSITIVE OUTPUT. 33630 DCA GYROFRAC 20071 DAS RUPTREG1 30064 CA ITEMP4 # SELECT POSITIVE TORQUING FOR THIS GYRO. 00006 EXTEND 05014 WOR CHAN14 36074 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 >056363,000566: 07,3500 00006 GMERGE EXTEND # IN MINOR PART. THE MAJOR PART WILL BE 74744 MP BIT8 # COUNTED DOWN TO ZERO IN THE COURSE OF 54062 TS ITEMP2 # PUTTING OUT THE ENTIRE COMMAND. 30070 CA RUPTREG1 00006 EXTEND 74743 MP BIT9 54070 TS RUPTREG1 30001 CA L 00006 EXTEND 74736 MP BIT14 26062 ADS ITEMP2 # INITIAL COMMAND. 00006 EXTEND # SEE IF MORE THAN ONE PULSE TRAIN NEEDED 30071 DCA RUPTREG1 # (MORE THAN 16383 PULSES). 67747 AD MINUS1 10000 CCS A 13543 TCF LONGGYRO 94E">056380,000583: 07,3520 77601 -GYROMIN OCT -176 # MAY BE ADJUSTED TO SPECIFY MINIMUM CMD 13525 TCF +4 34736 CAF BIT14 26062 ADS ITEMP2 34755 CAF ZERO 50061 +4 INDEX ITEMP1 53401 DXCH 1400 # Page 1324 30062 CA ITEMP2 # ENTIRE COMMAND. 7">056391,000594: 07,3530 54047 LASTSEG TS GYROCMD 00006 EXTEND 74742 MP BIT10 # WAITLIST DT 66245 AD THREE # TRUNCATION AND PHASE UNCERTAINTIES. 05203 TC WAITLIST EBANK= CDUIND 03405 16103 2CADR STRTGYRO 954">056399,000602: 07,3537 34742 GYROEXIT CAF BIT10 00006 EXTEND 05014 WOR CHAN14 15261 TCF TASKOVER 24F">056404,000607: 07,3543 50061 LONGGYRO INDEX ITEMP1 53401 DXCH 1400 # INITIAL COMMAND OUT PLUS N AUGMENTS OF 34736 CAF BIT14 # 8192. INITIAL COMMAND IS AT LEAST 8192. 60062 AD ITEMP2 54047 TS GYROCMD >056410,000613: 07,3550 00006 AUG3 EXTEND # GET WAITLIST DT TO TIME WHEN TRAIN IS 74742 MP BIT10 # ALMOST OUT. 67745 AD NEG3 05203 TC WAITLIST EBANK= CDUIND 03557 16103 2CADR 8192AUG 13537 TCF GYROEXIT 7">056419,000622: 07,3557 03641 8192AUG TC CAGETEST 34750 CAF BIT4 00006 EXTEND 02012 RAND CHAN12 10000 CCS A 13637 TCF IMUBAD 31314 CA LGYRO # ADD 8192 PULSES TO GYROCMD 54003 TS EBANK 74357 MASK LOW8 54061 TS ITEMP1 50061 INDEX ITEMP1 # SEE IF THIS IS THE LAST AUG. 11400 CCS 1400 13577 TCF AUG2 # MORE TO COME. 34736 CAF BIT14 26047 ADS GYROCMD 13531 TCF LASTSEG +1 # Page 1325 >056440,000643: 07,3577 50061 AUG2 INDEX ITEMP1 55400 TS 1400 34736 CAF BIT14 26047 ADS GYROCMD 13550 TCF AUG3 # COMPUTE DT. # Page 1326 >056447,000650: 07,3604 63520 MIN- AD -GYROMIN # POSSIBLE NEGATIVE OUTPUT. 00006 EXTEND 63411 BZMF STRTGYR2 >056451,000654: 07,3607 00006 MAJ- EXTEND # DEFINITE NEGATIVE OUTPUT. 43630 DCS GYROFRAC 20071 DAS RUPTREG1 30064 CA ITEMP4 # SELECT NEGATIVE TORQUING FOR THIS GYRO. 64743 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 76074 MASK LOW7 # THE SIGN OF THE COMMAND. 40000 COM 56071 XCH RUPTREG2 40000 COM 13500 TCF GMERGE 354">056469,000672: 07,3626 01700 GDESELCT OCT 1700 # TURN OFF SELECT AND ACTIVITY BITS. 143">056471,000674: 07,3627 00000 00034 GYROFRAC 2DEC .215 B-21 # Page 1327 # IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE. >056476,000679: 07,3631 00006 ENDIMU EXTEND # MODE IS BAD IF CAGE HAS OCCURRED OR IF 00011 READ DSALMOUT # ISS WARNING IS ON. 74753 MASK BIT1 10000 CCS A 13637 TCF IMUBAD 4">056482,000685: 07,3636 13665 IMUGOOD TCF GOODEND # WITH C(A) = 0. >056484,000687: 07,3637 34755 IMUBAD CAF ZERO 13662 TCF BADEND 354">056487,000690: 07,3641 34746 CAGETEST CAF BIT6 # SUBROUTINE TO TERMINATE IMU MODE 71302 MASK IMODES30 # SWITCH IF IMU HAS BEEN CAGED. 10000 CCS A 13637 TCF IMUBAD # DIRECTLY. 00002 TC Q # WITH C(A) = +0. 451">056493,000696: 07,3646 41302 CAGETSTQ CS IMODES30 # SKIP IF IMU NOT BEING CAGED. 74746 MASK BIT6 10000 CCS A 24002 INCR Q 00002 TC Q 44A">056499,000702: 07,3653 41302 CAGETSTJ CS IMODES30 # IF DURING MODE SWITCH INITIALIZATION. 74746 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 44755 CS ZERO # TO SWRETURN. 55304 TS IMUCADR 12755 TCF MODEEXIT # Page 1328 # 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. >056512,000715: 07,3662 54071 BADEND TS RUPTREG2 # DEVICE INDEX. 44755 CS ZERO # FOR FAILURE. 13667 TCF GOODEND +2 4">056516,000719: 07,3665 54071 GOODEND TS RUPTREG2 44753 CS ONE # FOR SUCCESS. 54072 TS RUPTREG3 50071 INDEX RUPTREG2 # SEE IF USING PROGRAM ASLEEP. 11304 CCS MODECADR 13676 TCF +4 # YES -- WAKE IT UP. 13706 TCF ENDMODE # IF 0, PROGRAM NOT IN YET. 00006 EXTEND 13707 BZF ENDMODE +1 # BZF = TCF IF MODECADR = -0. 34755 CAF ZERO # WAKE SLEEPING PROGRAM. 50071 INDEX RUPTREG2 57304 XCH MODECADR 05137 TC JOBWAKE 40072 CS RUPTREG3 # ADVANCE LOC IF SUCCESSFUL. 50064 INDEX LOCCTR 26164 ADS LOC 15261 TCF TASKOVER 5">056539,000742: 07,3706 30072 ENDMODE CA RUPTREG3 # -0 INDICATES OPERATION COMPLETE BUT 50071 +1 INDEX RUPTREG2 # UNSUCCESSFUL: -1 INDICATES COMPLETE AND 55304 TS MODECADR # SUCCESSFUL. 15261 TCF TASKOVER # Page 1329 # 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. SBANK= LOWSUPER # RSB 2004, Also not in LMY99 OH 2009 C4C">056592,000795: 07,3712 34753 AOTSTALL CAF ONE # AOT. 03717 TC STALL C4C">056595,000798: 07,3714 34752 RADSTALL CAF TWO 13717 TCF STALL # Page 1330 C4C">056599,000802: 07,3716 07,3712 OPTSTALL EQUALS AOTSTALL C4C">056601,000804: 07,3716 34755 IMUSTALL CAF ZERO # IMU. /a>056603,000806: 07,3717 00004 STALL INHINT 54071 TS RUPTREG2 # SAVE DEVICE INDEX. 50000 INDEX A # SEE IF OPERATION COMPLETE. 11304 CCS MODECADR 13741 TCF MODABORT # ALLOWABLE STATES ARE +0, -1, AND -0. 13735 TCF MODESLP # OPERATION INCOMPLETE. 13731 TCF MODEGOOD # COMPLETE AND GOOD IF = -1. 07,3726 50071 MG2 INDEX RUPTREG2 # COMPLETE FAILED IF -0. RESET TO +0. 55304 TS MODECADR # RETURN TO CALLER. 12755 TCF MODEEXIT F44">056615,000818: 07,3731 10000 MODEGOOD CCS A # MAKE SURE INITIAL STATE -1. 13741 TCF MODABORT 24133 INCR BUF2 # IF SO, INCREMENT RETURN ADDRESS AND 13726 TCF MG2 # RETURN IMMEDIATELY, SETTIN CADR = +0. 0">056621,000824: 07,3735 04645 MODESLP TC MAKECADR # CALL FROM SWITCHABLE FIXED ONLY. 50071 INDEX RUPTREG2 55304 TS MODECADR 15133 TCF JOBSLEEP 254">056626,000829: 07,3741 52134 MODABORT DXCH BUF2 05716 TC BAILOUT1 # TWO PROGRAMS USING THE SAME DEVICE. 01210 OCT 1210 # Page 1331 # CONSTANTS FOR MODE SWITCHING ROUTINES 4">056633,000836: 07,3744 5751 BITS3&4 = OCT14 6">056634,000837: 07,3744 4771 BITS4&6 = OCT50 5">056635,000838: 07,3744 00030 BITS4-5 OCT 00030 C47">056636,000839: 07,3745 4744 IMUSEFLG EQUALS BIT8 # INTERPRETER SWITCH 7. 8">056637,000840: 07,3745 77500 -COMMAX DEC -191 B-14 82D">056638,000841: 07,3746 77477 -COMMAX- DEC -192 B-14 /a>056639,000842: 07,3747 00074 600MS DEC 60 B-14 230">056640,000843: 07,3750 07,3210 IMUFIN20 = IMUFINE 2">056641,000844: 07,3750 31307 GOMANUR CA ATTCADR # IS KALCMANU FREE 00006 EXTEND 13755 BZF +3 05652 TC P00DOO # NO 01210 OCT 1210 # 2 TRYING TO USE SAME DEVICE 00006 +3 EXTEND 30134 DCA BUF2 53310 DXCH ATTCADR # SAVE FINAL RETURN FOR KALCMAN3 30006 CA BBANK 74757 MASK SEVEN 27310 ADS ATTCADR +1 30167 CA PRIORITY 77725 MASK PRIO37 55311 TS ATTPRIO # SAVE USER'S PRIO 33772 CAF KALEBCON # SET EBANK FOR KALCMAN3 54003 TS EBANK 04635 TC POSTJUMP 44004 CADR KALCMAN3 F4E">056664,000867: 07,3772 03276 KALEBCON ECADR BCDU # Page 1332 # 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* $$/R02 /a>056702,000905: 04,3253 00063 DEC51 DEC 51 B-14 8">056703,000906: 04,3254 34737 R02BOTH CAF REFSMBIT 70077 MASK FLAGWRD3 10000 CCS A 03270 TC R02ZERO # ZERO IMUS 31302 CA IMODES30 74743 MASK BIT9 # IS ISS INITIALIZED 00006 EXTEND 13265 BZF +2 44750 CS BIT4 # SEND IMU ALARM CODE 210 63273 AD OCT220 # SEND REFSMM ALARM 05744 TC VARALARM 06001 TC GOTOP00H F">056718,000921: 04,3270 05504 R02ZERO TC UPFLAG # Page 1333 00007 ADRES IMUSE 14631 TCF SWRETURN >056722,000925: 04,3273 00220 OCT220 OCT 220 # Page 1334 # PROGRAM DESCRIPTION: P06 10 FEB 67 # TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION. # THE NORMAL CONDITION OF READINESS OF THE GNCS WHEN NOT IN USE IS STANDBY. IN THIS CONDITION THE IMU # HEATER POWER IS ON. THE IMU OPERATE POWER IS OFF. THE COMPUTER POWER IS ON. THE OPTICS POWER IS OFF. THE # CMC STANDBY ON THE MAIN AND LEB DISKYS IS ON. # CALLING SEQUENCE: # ASTRONAUT REQUEST THROUGH DSKY V37E 06E. # SUBROUTINES CALLED: # GOPERF1 # BANKCALL # FLAGDOWN # Page 1335 # PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2. # THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATIBILITY # BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING. SETLOC P05P06 BANK 0314 EBANK= TIME2SAV COUNT* $$/P06 37,3655 05504 P06 TC UPFLAG # SET NODOV37 BIT 00054 ADRES NODOFLAG E44">056755,000958: 37,3657 00004 PRESTAND INHINT 00006 EXTEND 30025 DCA TIME2 # SNAPSHOT TIME1 TIME2 52315 DXCH TIME2SAV 03714 TC SCALPREP 03657 TC PRESTAND # T1,T2,SCALER NOT COMPATIBLE 52155 DXCH MPAC # T1,T2 AND SCALER OK 52317 DXCH SCALSAVE # STORE SCALER 00004 INHINT 04616 TC BANKCALL 17175 CADR RNDREFDR # REFSMM, DRIFT, TRACK FLAGS DOWN 05516 TC DOWNFLAG 00007 ADRES IMUSE # IMUSE DOWN 05516 TC DOWNFLAG 00010 ADRES RNDVZFLG # RNDVZFLG DOWN 34741 CAF BIT11 00006 EXTEND 05013 WOR CHAN13 # SET STANDBY ENABLE BIT 05353 TC PHASCHNG # SET RESTART TO POSTAND WHEN STANDBY 07024 OCT 07024 # RECOVERS 20000 OCT 20000 0316 EBANK= SCALSAVE 03734 76060 2CADR POSTAND 34774 CAF OCT62 04616 TC BANKCALL 20623 CADR GOPERF1 13706 TCF -3 13706 TCF -4 13706 TCF -5 /a>056789,000992: 37,3714 4774 OCT62 EQUALS .5SEC # DEC 50 = OCT 62 # THE LOW 5 BITS OF THE SCALER READS 10000 FOR THE FIRST INTERVAL AFTER A # Page 1336 # 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 # T1.0 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">056803,001006: 37,3714 00006 SCALPREP EXTEND 22156 QXCH MPAC +2 04103 TC FINETIME +1 00003 RELINT 52155 DXCH MPAC 34747 CA BIT5 # ADD 5 MS TO THE SCALER READING. 54001 TS L 34755 CA ZERO 20155 DAS MPAC 44346 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 74346 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">056831,001034: 37,3734 44741 POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY 00006 EXTEND 03013 WAND CHAN13 # CLEAR STANDBY ENABLE BIT 00004 INHINT 34755 CA ZERO 54001 TS L 52025 DXCH TIME2 # CLEAR TIME1 TIME2 03714 TC SCALPREP # STORE SCALER IN MPAC, MPAC+1 03737 TC POSTAND +3 # T1,T2,SCALER NOT COMPATIBLE 00006 EXTEND # T1,T2 AND SCALER OK 40317 DCS SCALSAVE 20155 DAS MPAC # FORM DP DIFFERENCE OF POST-STANDBY SCALER # Page 1337 34742 CAF BIT10 # MINUS PRE-STANDBY SCALER AND SHIFT RIGHT 07307 TC SHORTMP # 5 TO ALIGN BITS WITH TIME1 TIME2. 34755 CAF ZERO 54156 TS MPAC +2 # NEEDED FOR TP AGREE 07257 TC TPAGREE # MAKE DP DIFF AGREE 10154 CCS MPAC 03763 TC POSTCOM # IF DP DIFF NET +, NO SCALER OVERFLOW 03763 TC POSTCOM # BETWEEN PRE AND POST STANDBY. 03761 TC +1 # IF DP DIFF NET -, SCALER OVERFLOWED. ADD 34742 CAF BIT10 # BIT 10 TO HIGH DIFF TO CORRECT. 26154 ADS MPAC D">056855,001058: 37,3763 00006 POSTCOM EXTEND # C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER. 30315 DCA TIME2SAV # PRE-STANDBY TIME1 TIME2 20155 DAS MPAC 07257 TC TPAGREE # FORCE SIGN AGREEMENT 52155 DXCH MPAC # UPDATED VALUE FOR T1,T2. 20025 DAS TIME2 # LOAD UPDATED VALUE INTO T1,T2, WITH 05516 TC DOWNFLAG # CLEAR NODOFLAG 00054 ADRES NODOFLAG 06001 TC GOTOP00H IMU_MODE_SWITCHING_ROUTINES.agc. Parent file is MAIN.agc