Source Code

054225,000001: 054226,000002: 054227,000003: 054228,000004: 054229,000005: 054230,000006: 054231,000007: 054232,000008: 054233,000009: 054234,000010: 054235,000011: 054236,000012: 054237,000013: 054238,000014: 054239,000015: 054240,000016: 054241,000017: 5457 054242,000018: 4000 054243,000019: 4000 054244,000020: 054245,000021: 5457 E3,1471 054246,000022: 054247,000023: 054248,000024: 054249,000025: 5457 < 054353,000129: 07,3002 054354,000130: 07,3003 054355,000131: 07,3004 054356,000132: 054357,000133: 07,3005 < 054686,000462: 07,3366 054687,000463: 054688,000464: 07,3367 054689,000465: 07,3370 054690,000466: 07,3371 054691,000467: 07,3372 054692,000468: 07,3373 054693,000469: 07,3374 054694,000470: < 055017,000793: 07,3711 055018,000794: 07,3712 055019,000795: 07,3713 055020,000796: 07,3714 055021,000797: 07,3715 055022,000798: 07,3716 055023,000799: 055024,000800: 055025,000801: 07,3720 055026,000802: 07,3721 055027,000803: < < 055162,000938: 055163,000939: 37,3653 055164,000940: < 055200,000976: 055201,000977: 055202,000978: 055203,000979: 055204,000980: 055205,000981: 055206,000982: 055207,000983: 055208,000984: 055209,000985: 055210,000986: 055211,000987: 055212,000988: # Copyright: Public domain. # Filename: IMU_MODE_SWITCHING_ROUTINES.agc # Purpose: A section of Luminary 1C, revision 131. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC) for Apollo 13 and Apollo 14. # This file is intended to be a faithful transcription, except # that the code format has been changed to conform to the # requirements of the yaYUL assembler rather than the # original YUL assembler. # Reference: pp. 1306-1334 of 1729.pdf. # Contact: Ron Burkey <info@sandroid.org>. # Website: www.ibiblio.org/apollo/index.html # Mod history: 06/05/03 RSB. Began transcribing. # 05/14/05 RSB Corrected website reference above. # Page 1306 BLOCK 02 SETLOC FFTAG3 BANK EBANK= COMMAND # FIXED-FIXED ROUTINES COUNT* $$/IMODE 455">054250,000026: 5457 34755 ZEROICDU CAF ZERO # ZERO ICDU COUNTERS. 54032 TS CDUX 54033 TS CDUY 54034 TS CDUZ 00002 TC Q 5">054256,000032: 5464 4743 SPSCODE = BIT9 # Page 1307 # IMU ZEROING ROUTINES BANK 11 SETLOC MODESW BANK COUNT* $$/IMODE F">054266,000042: 07,2705 00004 IMUZERO INHINT # ROUTINE TO ZERO ICDUS. 41035 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 12715 TCF IMUZEROA 05567 TC ALARM # IF SO. 00206 OCT 00206 13650 TCF CAGETSTJ +4 # IMMEDIATE FAILURE. F41">054277,000053: 07,2715 03644 IMUZEROA TC CAGETSTJ 41300 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES 74773 MASK SUPER011 # BIT5 FOR GROUND 27300 ADS IMODES33 41277 CS IMODES30 # INHIBIT ICDUFAIL AND IMUFAIL (IN CASE WE 75741 MASK BITS3&4 # JUST CAME OUT OF COARSE ALIGN). 27277 ADS IMODES30 44771 CS BITS4&6 # SEND ZERO ENCODE WITH COARSE AND ERROR 00006 EXTEND # COUNTER DISABLED. 03012 WAND CHAN12 03257 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 02750 16103 2CADR IMUZERO2 41277 CS IMODES30 # SEE IF IMU OPERATING AND ALARM IF NOT. 74743 MASK BIT9 10000 CCS A 12746 TCF MODEEXIT # Page 1308 05567 TC ALARM 00210 OCT 210 954">054311,000087: 07,2746 00003 MODEEXIT RELINT # GENERAL MODE-SWITCHING EXIT. 14631 TCF SWRETURN F32">054314,000090: 07,2750 03632 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">054324,000100: 07,2757 03632 IMUZERO3 TC CAGETEST 45741 CS BITS3&4 # REMOVE IMUFAIL AND ICDUFAIL INHIBIT. 71277 MASK IMODES30 55277 TS IMODES30 44773 CS SUPER011 # ENABLE DAP AUTO AND HOLD MODES 71300 MASK IMODES33 # BIT5 FOR GROUND 55300 TS IMODES33 04674 TC IBNKCALL # SET ISS WARNING IF EITHER OF ABOVE ARE 14703 CADR SETISSW # PRESENT. 13622 TCF ENDIMU # Page 1309 # IMU COARSE ALIGN MODE. 253">054341,000117: 07,2771 00004 IMUCOARS INHINT 03644 TC CAGETSTJ 03135 TC SETCOARS 36245 CAF SIX 05203 TC WAITLIST EBANK= CDUIND 03001 16103 2CADR COARS 12746 TCF MODEEXIT /a>054352,000128: 07,3001 03632 COARS TC CAGETEST 34746 CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS 00006 EXTEND 05012 WOR CHAN12 34752 CAF TWO # SET CDU INDICATOR >054358,000134: 07,3006 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 13023 TCF +2 26001 ADS L 51474 INDEX CDUIND # DIFFERENCE TO BE COMPUTED 23471 LXCH COMMAND 11474 CCS CDUIND 03006 TC COARS1 34752 CAF TWO # MINIMUM OF 4 MS WAIT 05224 TC VARDELAY # Page 1310 >054382,000158: 07,3031 03632 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 03043 TC COMPOS 03052 TC NEXTCDU +1 03110 TC COMNEG 03052 TC NEXTCDU +1 >054394,000170: 07,3043 63736 COMPOS AD -COMMAX # COMMAX = MAX NUMBER OF PULSES ALLOWED 00006 EXTEND # MINUS ONE 63120 BZMF COMZERO 51474 INDEX CDUIND 55471 TS COMMAND # REDUCE COMMAND BY MAX NUMBER OF PULSES 43737 CS -COMMAX- # ALLOWED 5">054401,000177: 07,3051 24061 NEXTCDU INCR ITEMP1 64754 AD NEG0 51474 INDEX CDUIND 54050 TS CDUXCMD # SET UP COMMAND REGISTER. 11474 CCS CDUIND 03034 TC COARS2 +3 10061 CCS ITEMP1 # SEE IF ANY PULSES TO GO OUT. 13124 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">054416,000192: 07,3064 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 13101 TCF COARSERR 13076 TCF CORSCHK2 13101 TCF COARSERR # Page 1311 B32">054428,000204: 07,3076 10061 CORSCHK2 CCS ITEMP1 13064 TCF CHKCORS 13622 TCF ENDIMU # END OF COARSE ALIGNMENT 252">054432,000208: 07,3101 63107 COARSERR AD COARSTOL # 2 DEGREES. 00006 EXTEND 63076 BZMF CORSCHK2 05567 TC ALARM # COARSE ALIGN ERROR. 00211 OCT 211 13630 TCF IMUBAD F4C">054441,000217: 07,3107 77511 COARSTOL DEC -.01111 # 2 DEGREES SCALED AT HALF-REVOLUTIONS >054443,000219: 07,3110 63736 COMNEG AD -COMMAX 00006 EXTEND 63120 BZMF COMZERO 40000 COM 51474 INDEX CDUIND 55471 TS COMMAND 33737 CA -COMMAX- 03051 TC NEXTCDU F">054452,000228: 07,3120 34755 COMZERO CAF ZERO 51474 INDEX CDUIND 57471 XCH COMMAND 03051 TC NEXTCDU C53">054457,000233: 07,3124 37743 SENDPULS CAF 13,14,15 00006 EXTEND 05014 WOR CHAN14 33740 CAF 600MS 13030 TCF COARS2 -1 # THEN TO VARDELAY >054463,000239: 07,3131 34746 CA+ECE CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS 00006 EXTEND 05012 WOR CHAN12 05261 TC TASKOVER # Page 1312 253">054469,000245: 07,3135 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 41035 CS DSPTAB +11D # TURN ON NO ATT LAMP 73200 MASK OCT40010 27035 ADS DSPTAB +11D 41300 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES 74746 MASK BIT6 27300 ADS IMODES33 41277 CS IMODES30 # DISABLE IMUFAIL 74750 MASK BIT4 27277 ADS IMODES30 452">054501,000277: 07,3166 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">054515,000291: 07,3200 40010 OCT40010 OCT 40010 # Page 1313 # IMU FINE ALIGN MODE SWITCH. 5">054520,000296: 07,3201 00004 IMUFINE INHINT 03644 TC CAGETSTJ # SEE IF IMU BEING CAGED. 43735 CS BITS4-5 # RESET ZERO AND COARSE 00006 EXTEND 03012 WAND CHAN12 44746 CS BIT6 # INSURE DAP AUTO AND HOLD MODES ENABLED 71300 MASK IMODES33 55300 TS IMODES33 03257 TC NOATTOFF 34742 CAF BIT10 # IMU FAIL WAS INHIBITED DURING THE 05203 TC WAITLIST # PRESUMABLY PRECEDING COARSE ALIGN. LEAVE EBANK= CDUIND 03225 16103 2CADR IFAILOK # IT ON FOR THE FIRST 5 SECS OF FINE ALIGN 35000 CAF 2SECS 05203 TC WAITLIST EBANK= CDUIND 03223 16103 2CADR IMUFINED 12746 TCF MODEEXIT 544">054545,000321: 07,3223 03632 IMUFINED TC CAGETEST # SEE THAT NO ONE HAS CAGED THE IMU. 13622 TCF ENDIMU # Page 1314 B">054549,000325: 07,3225 03637 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 41277 CS IMODES30 # RESET IMUFAIL. 74737 MASK BIT13 27277 ADS IMODES30 44750 CS BIT4 B32">054562,000338: 07,3240 71277 PFAILOK2 MASK IMODES30 55277 TS IMODES30 04674 TC IBNKCALL # THE ISS WARNING LIGHT MAY COME ON NOE 14703 CADR SETISSW # THAT THE INHIBIT WAS BEEN REMOVED. 15261 TCF TASKOVER B">054568,000344: 07,3245 03637 PFAILOK TC CAGETSTQ # ENABLE PIP FAIL PROG ALARM. 15261 TCF TASKOVER 41277 CS IMODES30 # RESET IMU AND PIPA FAIL BITS. 74742 MASK BIT10 27277 ADS IMODES30 41300 CS IMODES33 74737 MASK BIT13 27300 ADS IMODES33 44747 CS BIT5 13240 TCF PFAILOK2 646">054582,000358: 07,3257 43200 NOATTOFF CS OCT40010 # SUBROUTINE TO TURN OFF NO ATT LAMP. 71035 MASK DSPTAB +11D 64735 AD BIT15 55035 TS DSPTAB +11D 00002 TC Q # Page 1315 # ROUTINES TO INITIATE AND TERMINATE PROGRAM USE OF THE PIPAS. NO IMUSTALL REQUIRED IN EITHER CASE. >054591,000367: 07,3264 44755 PIPUSE CS ZERO 54037 TS PIPAX 54040 TS PIPAY 54041 TS PIPAZ 1">054596,000372: 07,3270 03637 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 71277 MASK IMODES30 # PIPFREE), LIGHT ISS WARNING. 55277 TS IMODES30 532">054604,000380: 07,3276 04674 PIPFREE2 TC IBNKCALL # ISS WARNING MIGHT COME ON NOW. 14703 CADR SETISSW # (OR GO OFF ON PIPFREE). 12746 TCF MODEEXIT 5">054609,000385: 07,3301 00004 PIPFREE INHINT # PROGRAM DONE WITH PIPAS. DON'T LIGHT 41277 CS IMODES30 # ISS WARNING. 74753 MASK BIT1 27277 ADS IMODES30 74742 MASK BIT10 # IF PIP FAIL ON, DO PROG ALARM AND RESET 10000 CCS A # ISS WARNING. 12746 TCF MODEEXIT 05567 TC ALARM 00212 OCT 212 00004 INHINT 13276 TCF PIPFREE2 # Page 1316 # THE FOLLOWING ROUTINE TORQUES THE IRICS 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 TEH INPUT COMMAND REGISTERS. EBANK= 1400 # VARIABLE, ACTUALLY. 345">054632,000408: 07,3314 54161 IMUPULSE TS MPAC +5 # SAVE ARRIVING ECADR. 03644 TC CAGETSTJ # DON'T PROCEED IF IMU BEING CAGED. 11311 CCS LGYRO # SEE IF GYROS BUSY. 03360 TC GYROBUSY # SLEEP. 54156 TS MPAC +2 34746 CAF BIT6 # ENABLE THE POWER SUPPLY. 00006 EXTEND 05014 WOR CHAN14 34751 CAF FOUR >054644,000420: 07,3325 05203 GWAKE2 TC WAITLIST # (IF A JOB WAS PUT TO SLEEP, THE POWER EBANK= CDUIND # SUPPLY IS LEFT ON BY THE WAKING JOB). 03376 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 55311 TS LGYRO # RESERVES GYROS. 74357 MASK LOW8 54061 TS ITEMP1 34752 CAF TWO # FORCE SIGN AGREEMENT ON INPUTS. 245">054656,000432: 07,3337 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 07262 TC TPAGREE 52155 DXCH MPAC 50160 INDEX MPAC +4 53401 DXCH 1400 10157 CCS MPAC +3 13337 TCF GYROAGRE 30161 CA MPAC +5 # RESTORE CALLER'S EBANK. 54003 TS EBANK 12746 TCF MODEEXIT # Page 1317 # ROUTINES TO ALLOW TORQUING ONLY ONE JOB AT A TIME. 359">054679,000455: 07,3360 00006 GYROBUSY EXTEND # SAVE RETURN 2FCADR. 30134 DCA BUF2 52155 DXCH MPAC 550">054682,000458: 07,3363 33375 REGSLEEP CAF LGWAKE 15133 TCF JOBSLEEP /a>054685,000461: 07,3365 11311 GWAKE CCS LGYRO # WHEN AWAKENED, SEE IF GYROS STILL BUSY. 13363 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 13325 TCF GWAKE2 >054695,000471: 07,3375 17365 LGWAKE CADR GWAKE # Page 1318 # GYRO-TORQUING WAITLIST TASKS. 24F">054700,000476: 07,3376 43617 STRTGYRO CS GDESELCT # DE-SELECT LAST GYRO. 00006 EXTEND 03014 WAND CHAN14 03632 TC CAGETEST 232">054706,000482: 07,3402 31311 STRTGYR2 CA LGYRO # JUMP ON PHASE COUNTER IN BITS 13-14. 00006 EXTEND 74750 MP BIT4 50000 INDEX A 13407 TCF +1 03424 TC GSELECT # =0. DO Y GYRO. 00202 OCT 00202 03424 TC GSELECT # =1. DO Z GYRO. 00302 OCT 00302 03422 TC GSELECT -2 # =2. DO X GYRO. 00100 OCT 00100 34755 CAF ZERO # =3. DONE 55311 TS LGYRO 33375 CAF LGWAKE # WAKE A POSSIBLE SLEEPING JOB. 05137 TC JOBWAKE 4">054725,000501: 07,3421 13223 NORESET TCF IMUFINED # DO NOT RESET POWER SUPPLY. # Page 1319 44751 -2 CS FOUR # SPECIAL ENTRY TO REGRESS LGYRO FOR X. 27311 ADS LGYRO 4">054730,000506: 07,3424 50002 GSELECT INDEX Q # SELECT GYRO. # Was CAF --- RSB 2004 30000 CA 0 # PACKED WORD CONTAINS GYRO SELECT BITS 54064 TS ITEMP4 # AND INCREMENT TO LGYRO. 74757 MASK SEVEN 64737 AD BIT13 27311 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 13460 TCF MAJ+ 13450 TCF +2 13600 TCF MAJ- 10071 CCS RUPTREG2 13455 TCF MIN+ 13402 TCF STRTGYR2 13575 TCF MIN- 13402 TCF STRTGYR2 # Page 1320 >054762,000538: 07,3455 63511 MIN+ AD -GYROMIN # SMALL POSITIVE COMMAND. SEE IF AT LEAST 00006 EXTEND # 16 GYRO PULSES. 63402 BZMF STRTGYR2 >054766,000542: 07,3460 00006 MAJ+ EXTEND # DEFINITE POSITIVE OUTPUT. 33621 DCA GYROFRAC 20071 DAS RUPTREG1 30064 CA ITEMP4 # SELECT POSITIVE TORQUING FOR THIS GYRO. 00006 EXTEND 05014 WOR CHAN14 36077 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 >054777,000553: 07,3471 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). 67752 AD MINUS1 10000 CCS A 13534 TCF LONGGYRO 94E">054794,000570: 07,3511 77601 -GYROMIN OCT -176 # MAY BE ADJUSTED TO SPECIFY MINIMUM CMD 13516 TCF +4 34736 CAF BIT14 26062 ADS ITEMP2 34755 CAF ZERO 50061 +4 INDEX ITEMP1 53401 DXCH 1400 # Page 1321 30062 CA ITEMP2 # ENTIRE COMMAND. 7">054805,000581: 07,3521 54047 LASTSEG TS GYROCMD 00006 EXTEND 74742 MP BIT10 # WAITLIST DT 66250 AD THREE # TRUNCATION AND PHASE UNCERTAINTIES. 05203 TC WAITLIST EBANK= CDUIND 03376 16103 2CADR STRTGYRO 954">054813,000589: 07,3530 34742 GYROEXIT CAF BIT10 00006 EXTEND 05014 WOR CHAN14 15261 TCF TASKOVER 24F">054818,000594: 07,3534 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 >054824,000600: 07,3541 00006 AUG3 EXTEND # GET WAITLIST DT TO TIME WHEN TRAIN IS 74742 MP BIT10 # ALMOST OUT. 67750 AD NEG3 05203 TC WAITLIST EBANK= CDUIND 03550 16103 2CADR 8192AUG 13530 TCF GYROEXIT 7">054833,000609: 07,3550 03632 8192AUG TC CAGETEST 34750 CAF BIT4 00006 EXTEND 02012 RAND CHAN12 10000 CCS A 13630 TCF IMUBAD 31311 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 13570 TCF AUG2 # MORE TO COME. 34736 CAF BIT14 26047 ADS GYROCMD 13522 TCF LASTSEG +1 # Page 1322 >054854,000630: 07,3570 50061 AUG2 INDEX ITEMP1 55400 TS 1400 34736 CAF BIT14 26047 ADS GYROCMD 13541 TCF AUG3 # COMPUTE DT. # Page 1323 >054861,000637: 07,3575 63511 MIN- AD -GYROMIN # POSSIBLE NEGATIVE OUTPUT. 00006 EXTEND 63402 BZMF STRTGYR2 >054865,000641: 07,3600 00006 MAJ- EXTEND # DEFINITE NEGATIVE OUTPUT. 43621 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 76077 MASK LOW7 # THE SIGN OF THE COMMAND. 40000 COM 56071 XCH RUPTREG2 40000 COM 13471 TCF GMERGE 354">054883,000659: 07,3617 01700 GDESELCT OCT 1700 # TURN OFF SELECT AND ACTIVITY BITS. 143">054885,000661: 07,3620 00000 00034 GYROFRAC 2DEC .215 B-21 # Page 1324 # IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE. >054890,000666: 07,3622 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 13630 TCF IMUBAD 4">054896,000672: 07,3627 13656 IMUGOOD TCF GOODEND # WITH C(A) = 0. >054898,000674: 07,3630 34755 IMUBAD CAF ZERO 13653 TCF BADEND 354">054901,000677: 07,3632 34746 CAGETEST CAF BIT6 # SUBROUTINE TO TERMINATE IMU MODE 71277 MASK IMODES30 # SWITCH IF IMU HAS BEEN CAGED. 10000 CCS A 13630 TCF IMUBAD # DIRECTLY. 00002 TC Q # WITH C(A) = +0. 451">054907,000683: 07,3637 41277 CAGETSTQ CS IMODES30 # SKIP IF IMU NOT BEING CAGED. 74746 MASK BIT6 10000 CCS A 24002 INCR Q 00002 TC Q 44A">054913,000689: 07,3644 41277 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. 55301 TS IMUCADR 12746 TCF MODEEXIT # Page 1325 # 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. >054925,000701: 07,3653 54071 BADEND TS RUPTREG2 # DEVICE INDEX. 44755 CS ZERO # FOR FAILURE. 13660 TCF GOODEND +2 4">054929,000705: 07,3656 54071 GOODEND TS RUPTREG2 44753 CS ONE # FOR SUCCESS. 54072 TS RUPTREG3 50071 INDEX RUPTREG2 # SEE IF USING PROGRAM ASLEEP. 11301 CCS MODECADR 13667 TCF +4 # YES -- WAKE IT UP. 13677 TCF ENDMODE # IF 0, PROGRAM NOT IN YET. 00006 EXTEND 13700 BZF ENDMODE +1 # BZF = TCF IF MODECADR = -0. 34755 CAF ZERO # WAKE SLEEPING PROGRAM. 50071 INDEX RUPTREG2 57301 XCH MODECADR 05137 TC JOBWAKE 40072 CS RUPTREG3 # ADVANCE LOC IF SUCCESSFUL. 50064 INDEX LOCCTR 26164 ADS LOC 15261 TCF TASKOVER 5">054952,000728: 07,3677 30072 ENDMODE CA RUPTREG3 # -0 INDICATES OPERATION COMPLETE BUT 50071 +1 INDEX RUPTREG2 # UNSUCCESSFUL: -1 INDICATES COMPLETE AND 55301 TS MODECADR # SUCCESSFUL. 15261 TCF TASKOVER # Page 1326 # 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 C4C">055005,000781: 07,3703 34753 AOTSTALL CAF ONE # AOT. 03710 TC STALL C4C">055008,000784: 07,3705 34752 RADSTALL CAF TWO 13710 TCF STALL # Page 1327 C4C">055012,000788: 07,3707 07,3703 OPTSTALL EQUALS AOTSTALL C4C">055014,000790: 07,3707 34755 IMUSTALL CAF ZERO # IMU. /a>055016,000792: 07,3710 00004 STALL INHINT 54071 TS RUPTREG2 # SAVE DEVICE INDEX. 50000 INDEX A # SEE IF OPERATION COMPLETE. 11301 CCS MODECADR 13732 TCF MODABORT # ALLOWABLE STATES ARE +0, -1, AND -0. 13726 TCF MODESLP # OPERATION INCOMPLETE. 13722 TCF MODEGOOD # COMPLETE AND GOOD IF = -1. 07,3717 50071 MG2 INDEX RUPTREG2 # COMPLETE FAILED IF -0. RESET TO +0. 55301 TS MODECADR # RETURN TO CALLER. 12746 TCF MODEEXIT F44">055028,000804: 07,3722 10000 MODEGOOD CCS A # MAKE SURE INITIAL STATE -1. 13732 TCF MODABORT 24133 INCR BUF2 # IF SO, INCREMENT RETURN ADDRESS AND 13717 TCF MG2 # RETURN IMMEDIATELY, SETTIN CADR = +0. 0">055034,000810: 07,3726 04645 MODESLP TC MAKECADR # CALL FROM SWITCHABLE FIXED ONLY. 50071 INDEX RUPTREG2 55301 TS MODECADR 15133 TCF JOBSLEEP 254">055039,000815: 07,3732 52134 MODABORT DXCH BUF2 05706 TC BAILOUT1 # TWO PROGRAMS USING THE SAME DEVICE. 31210 OCT 31210 # Page 1328 # CONSTANTS FOR MODE SWITCHING ROUTINES 4">055046,000822: 07,3735 5741 BITS3&4 = OCT14 6">055047,000823: 07,3735 4771 BITS4&6 = OCT50 5">055048,000824: 07,3735 00030 BITS4-5 OCT 00030 C47">055049,000825: 07,3736 4744 IMUSEFLG EQUALS BIT8 # INTERPRETER SWITCH 7. 8">055050,000826: 07,3736 77500 -COMMAX DEC -191 B-14 82D">055051,000827: 07,3737 77477 -COMMAX- DEC -192 B-14 /a>055052,000828: 07,3740 00074 600MS DEC 60 B-14 230">055053,000829: 07,3741 07,3201 IMUFIN20 = IMUFINE 2">055054,000830: 07,3741 31304 GOMANUR CA ATTCADR # IS KALCMANU FREE 00006 EXTEND 13745 BZF +2 03732 TC MODABORT # BAILOUT 00006 +2 EXTEND 30134 DCA BUF2 53305 DXCH ATTCADR # SAVE FINAL RETURN FOR KALCMAN3 30006 CA BBANK 74757 MASK SEVEN 27305 ADS ATTCADR +1 30167 CA PRIORITY 77730 MASK PRIO37 55306 TS ATTPRIO # SAVE USER'S PRIO 33762 CAF KALEBCON # SET EBANK FOR KALCMAN3 54003 TS EBANK 04635 TC POSTJUMP 44004 CADR KALCMAN3 F4E">055074,000850: 07,3762 03275 KALEBCON ECADR BCDU # Page 1329 # 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* $$/R02 /a>055112,000888: 04,3232 00063 DEC51 DEC 51 B-14 8">055113,000889: 04,3233 34737 R02BOTH CAF REFSMBIT 70077 MASK FLAGWRD3 10000 CCS A 03247 TC R02ZERO # ZERO IMUS 31277 CA IMODES30 74743 MASK BIT9 # IS ISS INITIALIZED 00006 EXTEND 13244 BZF +2 44750 CS BIT4 # SEND IMU ALARM CODE 210 63252 AD OCT220 # SEND REFSMM ALARM 05734 TC VARALARM 06001 TC GOTOP00H F">055128,000904: 04,3247 05504 R02ZERO TC UPFLAG # Page 1330 00007 ADRES IMUSE 14631 TCF SWRETURN >055132,000908: 04,3252 00220 OCT220 OCT 220 # Page 1331 # PROGRAM DESCRIPTION: P06 10 FEB 67 # TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION. # THE NORMAL CONDITION OF READINESS OF THE GNCS WHEN NOT IN USE IS STANDBY. IN THIS CONDITION THE IMU # HEATER POWER IS ON. THE IMU OPERATE POWER IS OFF. THE COMPUTER POWER IS ON. THE OPTICS POWER IS OFF. THE # CMC STANDBY ON THE MAIN AND LEB DISKYS IS ON. # CALLING SEQUENCE: # ASTRONAUT REQUEST THROUGH DSKY V37E 06E. # SUBROUTINES CALLED: # GOPERF1 # BANKCALL # FLAGDOWN # Page 1332 # PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2. # THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATIBILITY # BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING. SETLOC P05P06 BANK 0314 EBANK= TIME2SAV COUNT* $$/P06 37,3652 05504 P06 TC UPFLAG # SET NODOV37 BIT 00054 ADRES NODOFLAG E44">055165,000941: 37,3654 00004 PRESTAND INHINT 00006 EXTEND 30025 DCA TIME2 # SNAPSHOT TIME1 TIME2 52315 DXCH TIME2SAV 03711 TC SCALPREP 03654 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 17166 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 03731 76060 2CADR POSTAND 34774 CAF OCT62 04616 TC BANKCALL 20624 CADR GOPERF1 13703 TCF -3 13703 TCF -4 13703 TCF -5 /a>055199,000975: 37,3711 4774 OCT62 EQUALS .5SEC # DEC 50 = OCT 62 # THE LOW 5 BITS OF THE SCALER READS 10000 FOR THE FIRST INTERVAL AFTER A # Page 1333. # 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">055213,000989: 37,3711 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">055241,001017: 37,3731 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 03711 TC SCALPREP # STORE SCALER IN MPAC, MPAC+1 03734 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 1334 34742 CAF BIT10 # MINUS PRE-STANDBY SCALER AND SHIFT RIGHT 07312 TC SHORTMP # 5 TO ALIGN BITS WITH TIME1 TIME2. 34755 CAF ZERO 54156 TS MPAC +2 # NEEDED FOR TP AGREE 07262 TC TPAGREE # MAKE DP DIFF AGREE 10154 CCS MPAC 03760 TC POSTCOM # IF DP DIFF NET +, NO SCALER OVERFLOW 03760 TC POSTCOM # BETWEEN PRE AND POST STANDBY. 03756 TC +1 # IF DP DIFF NET -, SCALER OVERFLOWED. ADD 34742 CAF BIT10 # BIT 10 TO HIGH DIFF TO CORRECT. 26154 ADS MPAC D">055265,001041: 37,3760 00006 POSTCOM EXTEND # C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER. 30315 DCA TIME2SAV # PRE-STANDBY TIME1 TIME2 20155 DAS MPAC 07262 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