forked from chrislgarry/Apollo-11
-
Notifications
You must be signed in to change notification settings - Fork 0
/
IMU_MODE_SWITCHING_ROUTINES.s
1068 lines (866 loc) · 22.7 KB
/
IMU_MODE_SWITCHING_ROUTINES.s
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
# 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 <[email protected]>.
# 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 [email protected] 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
ZEROICDU CAF ZERO # ZERO ICDU COUNTERS.
TS CDUX
TS CDUY
TS CDUZ
TC Q
SPSCODE = BIT9
# Page 1421
# IMU ZEROING ROUTINE.
BANK 11
SETLOC MODESW
BANK
COUNT 07/IMODE
IMUZERO INHINT # ROUTINE TO ZERO ICDUS.
CS DSPTAB +11D # DON'T ZERO CDUS IS IMU IN GIMBAL LOCK AND
MASK BITS4&6 # COARSE ALIGN (GIMBAL RUNAWAY PROTECTION)
CCS A
TCF IMUZEROA
TC ALARM # IF SO.
OCT 00206
TCF CAGETSTJ +4 # IMMEDIATE FAILURE.
IMUZEROA TC CAGETSTJ
# DO ALL THE WORK.
CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
MASK SUPER011 # BIT5 FOR GROUND
ADS IMODES33
CS IMODES30 # INHIBIT ICDUFAIL AND IMUFAIL (IN CASE WE
MASK BITS3&4 # JUST CAME OUT OF COARSE ALIGN).
ADS IMODES30
CS BITS4&6 # SEND ZERO ENCODE WITH COARSE AND ERROR
EXTEND # COUNTER DISABLED.
WAND CHAN12
TC NOATTOFF # TURN OFF NO ATT LAMP.
CAF BIT5
EXTEND
WOR CHAN12
TC ZEROICDU
CAF BIT6 # WAIT 320 MS TO GIVE AGS ADEQUATE TIME TO
TC WAITLIST # RECEIVE ITS PULSE TRAIN.
EBANK= CDUIND
2CADR IMUZERO2
CS IMODES30 # SEE IF IMU OPERATING AND ALARM IF NOT.
MASK BIT9
CCS A
TCF MODEEXIT
# Page 1422
TC ALARM
OCT 210
MODEEXIT RELINT # GENERAL MODE-SWITCHING EXIT.
TCF SWRETURN
IMUZERO2 TC CAGETEST
TC ZEROICDU # ZERO CDUX, CDUY, CDUZ
CS BIT5 # REMOVE ZERO DISCRETE.
EXTEND
WAND CHAN12
CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS
TC VARDELAY
IMUZERO3 TC CAGETEST
CS BITS3&4 # REMOVE IMUFAIL AND ICDUFAIL INHIBIT.
MASK IMODES30
TS IMODES30
CS SUPER011 # ENABLE DAP AUTO AND HOLD MODES
MASK IMODES33 # BIT5 FOR GROUND
TS IMODES33
TC IBNKCALL # SET ISS WARNING IF EITHER OF ABOVE ARE
CADR SETISSW # PRESENT.
TCF ENDIMU
# Page 1423
# IMU COARSE ALIGN MODE.
IMUCOARS INHINT
TC CAGETSTJ
TC SETCOARS
CAF SIX
TC WAITLIST
EBANK= CDUIND
2CADR COARS
TCF MODEEXIT
COARS TC CAGETEST
CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
EXTEND
WOR CHAN12
CAF TWO # SET CDU INDICATOR
COARS1 TS CDUIND
INDEX CDUIND # COMPUTE THETAD -- THETAA IN 1'S
CA THETAD # COMPLEMENT FORM
EXTEND
INDEX CDUIND
MSU CDUX
EXTEND
MP BIT13 # SHIFT RIGHT 2
XCH L # ROUND
DOUBLE
TS ITEMP1
TCF +2
ADS L
INDEX CDUIND # DIFFERENCE TO BE COMPUTED
LXCH COMMAND
CCS CDUIND
TC COARS1
CAF TWO # MINIMUM OF 4 MS WAIT
TC VARDELAY
# Page 1424
COARS2 TC CAGETEST # DON'T CONTINUE IF CAGED.
TS ITEMP1 # SET TO +0.
CAF TWO # SET CDU INDICATOR.
+3 TS CDUIND
INDEX CDUIND
CCS COMMAND # NUMBER OF PULSES REQUIRED
TC COMPOS # GREATER THAN MAX ALLOWED
TC NEXTCDU +1
TC COMNEG
TC NEXTCDU +1
COMPOS AD -COMMAX # COMMAX = MAX NUMBER OF PULSES ALLOWED
EXTEND # MINUS ONE
BZMF COMZERO
INDEX CDUIND
TS COMMAND # REDUCE COMMAND BY MAX NUMBER OF PULSES
CS -COMMAX- # ALLOWED
NEXTCDU INCR ITEMP1
AD NEG0
INDEX CDUIND
TS CDUXCMD # SET UP COMMAND REGISTER.
CCS CDUIND
TC COARS2 +3
CCS ITEMP1 # SEE IF ANY PULSES TO GO OUT.
TCF SENDPULS
TC FIXDELAY # WAIT FOR GIMBALS TO SETTLE.
DEC 150
CAF TWO # AT END OF COMMAND, CHECK TO SEE THAT
CHKCORS TS ITEMP1 # GIMBALS ARE WITHIN 2 DEGREES OF THETAD.
INDEX A
CA CDUX
EXTEND
INDEX ITEMP1
MSU THETAD
CCS A
TCF COARSERR
TCF CORSCHK2
TCF COARSERR
# Page 1425
CORSCHK2 CCS ITEMP1
TCF CHKCORS
TCF ENDIMU # END OF COARSE ALIGNMENT
COARSERR AD COARSTOL # 2 DEGREES.
EXTEND
BZMF CORSCHK2
TC ALARM # COARSE ALIGN ERROR.
OCT 211
TCF IMUBAD
COARSTOL DEC -.01111 # 2 DEGREES SCALED AT HALF-REVOLUTIONS
COMNEG AD -COMMAX
EXTEND
BZMF COMZERO
COM
INDEX CDUIND
TS COMMAND
CA -COMMAX-
TC NEXTCDU
COMZERO CAF ZERO
INDEX CDUIND
XCH COMMAND
TC NEXTCDU
SENDPULS CAF 13,14,15
EXTEND
WOR CHAN14
CAF 600MS
TCF COARS2 -1 # THEN TO VARDELAY
CA+ECE CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
EXTEND
WOR CHAN12
TC TASKOVER
# Page 1426
SETCOARS CAF BIT4 # BYPASS IF ALREADY IN COARSE ALIGN
EXTEND
RAND CHAN12
CCS A
TC Q
CS BIT6 # CLEAR ISS ERROR COUNTERS
EXTEND
WAND CHAN12
CS BIT10 # KNOCK DOWN GYRO ACTIVITY
EXTEND
WAND CHAN14
CS ZERO
TS GYROCMD
CAF BIT4 # PUT ISS IN COARSE ALIGN
EXTEND
WOR CHAN12
CS DSPTAB +11D # TURN ON NO ATT LAMP
MASK OCT40010
ADS DSPTAB +11D
CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
MASK BIT6
ADS IMODES33
CS IMODES30 # DISABLE IMUFAIL
MASK BIT4
ADS IMODES30
RNDREFDR CS BIT5 # KNOCK DOWN TRACK FLAG
MASK FLAGWRD1
TS FLAGWRD1
CS BIT15 # KNOCK DOWN DRIFT FLAG
MASK FLAGWRD2
TS FLAGWRD2
CS BIT13 # KNOCK DOWN REFSMMAT FLAG
MASK FLAGWRD3
TS FLAGWRD3
TC Q
OCT40010 OCT 40010
# Page 1427
# IMU FINE ALIGN MODE SWITCH.
IMUFINE INHINT
TC CAGETSTJ # SEE IF IMU BEING CAGED.
CS BITS4-5 # RESET ZERO AND COARSE
EXTEND
WAND CHAN12
CS BIT6 # INSURE DAP AUTO AND HOLD MODES ENABLED
MASK IMODES33
TS IMODES33
TC NOATTOFF
CAF BIT10 # IMU FAIL WAS INHIBITED DURING THE
TC WAITLIST # PRESUMABLY PRECEDING COARSE ALIGN. LEAVE
EBANK= CDUIND
2CADR IFAILOK # IT ON FOR THE FIRST 5 SECS OF FINE ALIGN
CAF 2SECS
TC WAITLIST
EBANK= CDUIND
2CADR IMUFINED
TCF MODEEXIT
IMUFINED TC CAGETEST # SEE THAT NO ONE HAS CAGED THE IMU.
TCF ENDIMU
# Page 1428
IFAILOK TC CAGETSTQ # ENABLE IMU FAIL UNLESS IMU BEING CAGED.
TCF TASKOVER # IT IS.
CAF BIT4 # DON'T RESET IMU FAIL INHIBIT IF SOMEONE
EXTEND # HAS GONE INTO COARSE ALIGN.
RAND CHAN12
CCS A
TCF TASKOVER
CS IMODES30 # RESET IMUFAIL.
MASK BIT13
ADS IMODES30
CS BIT4
PFAILOK2 MASK IMODES30
TS IMODES30
TC IBNKCALL # THE ISS WARNING LIGHT MAY COME ON NOW
CADR SETISSW # THAT THE INHIBIT WAS BEEN REMOVED.
TCF TASKOVER
PFAILOK TC CAGETSTQ # ENABLE PIP FAIL PROG ALARM.
TCF TASKOVER
CS IMODES30 # RESET IMU AND PIPA FAIL BITS.
MASK BIT10
ADS IMODES30
CS IMODES33
MASK BIT13
ADS IMODES33
CS BIT5
TCF PFAILOK2
NOATTOFF CS OCT40010 # SUBROUTINE TO TURN OFF NO ATT LAMP.
MASK DSPTAB +11D
AD BIT15
TS DSPTAB +11D
TC Q
# Page 1429
# ROUTINES TO INITIATE AND TERMINATE PROGRAM USE OF THE PIPAS. NO IMUSTALL REQUIRED IN EITHER CASE.
PIPUSE CS ZERO
TS PIPAX
TS PIPAY
TS PIPAZ
PIPUSE1 TC CAGETSTQ # DO NOT ENABLE PIPA FAIL IF IMU IS CAGED
TCF SWRETURN
INHINT
CS BIT1 # IF PIPA FAILS FROM NOW ON (UNTIL
MASK IMODES30 # PIPFREE), LIGHT ISS WARNING.
TS IMODES30
PIPFREE2 TC IBNKCALL # ISS WARNING MIGHT COME ON NOW.
CADR SETISSW # (OR GO OFF ON PIPFREE).
TCF MODEEXIT
PIPFREE INHINT # PROGRAM DONE WITH PIPAS. DON'T LIGHT
CS IMODES30 # ISS WARNING.
MASK BIT1
ADS IMODES30
MASK BIT10 # IF PIP FAIL ON, DO PROG ALARM AND RESET
CCS A # ISS WARNING.
TCF MODEEXIT
TC ALARM
OCT 212
INHINT
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.
IMUPULSE TS MPAC +5 # SAVE ARRIVING ECADR.
TC CAGETSTJ # DON'T PROCEED IF IMU BEING CAGED.
CCS LGYRO # SEE IF GYROS BUSY.
TC GYROBUSY # SLEEP.
TS MPAC +2
CAF BIT6 # ENABLE THE POWER SUPPLY.
EXTEND
WOR CHAN14
CAF FOUR
GWAKE2 TC WAITLIST # (IF A JOB WAS PUT TO SLEEP, THE POWER
EBANK= CDUIND # SUPPLY IS LEFT ON BY THE WAKING JOB).
2CADR STRTGYRO
CA MPAC +5 # SET UP EBANK, SAVING CALLER'S EBANK FOR
XCH EBANK # RESTORATION ON RETURN.
XCH MPAC +5
TS LGYRO # RESERVES GYROS.
MASK LOW8
TS ITEMP1
CAF TWO # FORCE SIGN AGREEMENT ON INPUTS.
GYROAGRE TS MPAC +3
DOUBLE
AD ITEMP1
TS MPAC +4
EXTEND
INDEX A
DCA 1400
DXCH MPAC
TC TPAGREE
DXCH MPAC
INDEX MPAC +4
DXCH 1400
CCS MPAC +3
TCF GYROAGRE
CA MPAC +5 # RESTORE CALLER'S EBANK.
TS EBANK
TCF MODEEXIT
# Page 1431
# ROUTINES TO ALLOW TORQUING ONLY ONE JOB AT A TIME.
GYROBUSY EXTEND # SAVE RETURN 2FCADR.
DCA BUF2
DXCH MPAC
REGSLEEP CAF LGWAKE
TCF JOBSLEEP
GWAKE CCS LGYRO # WHEN AWAKENED, SEE IF GYROS STILL BUSY.
TCF REGSLEEP # IF SO, SLEEP SOME MORE.
TS MPAC +2
EXTEND
DCA MPAC
DXCH BUF2 # RESTORE SWRETURN INFO.
CAF ONE
TCF GWAKE2
LGWAKE CADR GWAKE
# Page 1432
# GYRO-TORQUING WAITLIST TASKS.
STRTGYRO CS GDESELCT # DE-SELECT LAST GYRO.
EXTEND
WAND CHAN14
TC CAGETEST
STRTGYR2 CA LGYRO # JUMP ON PHASE COUNTER IN BITS 13-14.
EXTEND
MP BIT4
INDEX A
TCF +1
TC GSELECT # =0. DO Y GYRO.
OCT 00202
TC GSELECT # =1. DO Z GYRO.
OCT 00302
TC GSELECT -2 # =2. DO X GYRO.
OCT 00100
CAF ZERO # =3. DONE
TS LGYRO
CAF LGWAKE # WAKE A POSSIBLE SLEEPING JOB.
TC JOBWAKE
NORESET TCF IMUFINED # DO NOT RESET POWER SUPPLY.
# Page 1433
-2 CS FOUR # SPECIAL ENTRY TO REGRESS LGYRO FOR X.
ADS LGYRO
GSELECT INDEX Q # SELECT GYRO.
CAF 0 # PACKED WORD CONTAINS GYRO SELECT BITS
TS ITEMP4 # AND INCREMENT TO LGYRO.
MASK SEVEN
AD BIT13
ADS LGYRO
TS EBANK
MASK LOW8
TS ITEMP1
CS SEVEN
MASK ITEMP4
TS ITEMP4
EXTEND # MOVE DP COMMAND TO RUPTREGS FOR TESTING.
INDEX ITEMP1
DCA 1400
DXCH RUPTREG1
CCS RUPTREG1
TCF MAJ+
TCF +2
TCF MAJ-
CCS RUPTREG2
TCF MIN+
TCF STRTGYR2
TCF MIN-
TCF STRTGYR2
# Page 1434
MIN+ AD -GYROMIN # SMALL POSITIVE COMMAND. SEE IF AT LEAST
EXTEND # 16 GYRO PULSES.
BZMF STRTGYR2
MAJ+ EXTEND # DEFINITE POSITIVE OUTPUT.
DCA GYROFRAC
DAS RUPTREG1
CA ITEMP4 # SELECT POSITIVE TORQUING FOR THIS GYRO.
EXTEND
WOR CHAN14
CAF LOW7 # LEAVE NUMBER OF POSSIBLE 8192 AUGMENTS
MASK RUPTREG2 # TO INITIAL COMMAND IN MAJOR PART OF LONG
XCH RUPTREG2 # TERM STORAGE AND TRUNCATED FRACTION
GMERGE EXTEND # IN MINOR PART. THE MAJOR PART WILL BE
MP BIT8 # COUNTED DOWN TO ZERO IN THE COURSE OF
TS ITEMP2 # PUTTING OUT THE ENTIRE COMMAND.
CA RUPTREG1
EXTEND
MP BIT9
TS RUPTREG1
CA L
EXTEND
MP BIT14
ADS ITEMP2 # INITIAL COMMAND.
EXTEND # SEE IF MORE THAN ONE PULSE TRAIN NEEDED
DCA RUPTREG1 # (MORE THAN 16383 PULSES).
AD MINUS1
CCS A
TCF LONGGYRO
-GYROMIN OCT -176 # MAY BE ADJUSTED TO SPECIFY MINIMUM CMD
TCF +4
CAF BIT14
ADS ITEMP2
CAF ZERO
+4 INDEX ITEMP1
DXCH 1400
# Page 1435
CA ITEMP2 # ENTIRE COMMAND.
LASTSEG TS GYROCMD
EXTEND
MP BIT10 # WAITLIST DT
AD THREE # TRUNCATION AND PHASE UNCERTAINTIES.
TC WAITLIST
EBANK= CDUIND
2CADR STRTGYRO
GYROEXIT CAF BIT10
EXTEND
WOR CHAN14
TCF TASKOVER
LONGGYRO INDEX ITEMP1
DXCH 1400 # INITIAL COMMAND OUT PLUS N AUGMENTS OF
CAF BIT14 # 8192. INITIAL COMMAND IS AT LEAST 8192.
AD ITEMP2
TS GYROCMD
AUG3 EXTEND # GET WAITLIST DT TO TIME WHEN TRAIN IS
MP BIT10 # ALMOST OUT.
AD NEG3
TC WAITLIST
EBANK= CDUIND
2CADR 8192AUG
TCF GYROEXIT
8192AUG TC CAGETEST
CAF BIT4
EXTEND
RAND CHAN12
CCS A
TCF IMUBAD
CA LGYRO # ADD 8192 PULSES TO GYROCMD
TS EBANK
MASK LOW8
TS ITEMP1
INDEX ITEMP1 # SEE IF THIS IS THE LAST AUG.
CCS 1400
TCF AUG2 # MORE TO COME.
CAF BIT14
ADS GYROCMD
TCF LASTSEG +1
# Page 1436
AUG2 INDEX ITEMP1
TS 1400
CAF BIT14
ADS GYROCMD
TCF AUG3 # COMPUTE DT.
# Page 1437
MIN- AD -GYROMIN # POSSIBLE NEGATIVE OUTPUT.
EXTEND
BZMF STRTGYR2
MAJ- EXTEND # DEFINITE NEGATIVE OUTPUT.
DCS GYROFRAC
DAS RUPTREG1
CA ITEMP4 # SELECT NEGATIVE TORQUING FOR THIS GYRO.
AD BIT9
EXTEND
WOR CHAN14
CS RUPTREG1 # SET UP RUPTREGS TO FALL INTO GMERGE.
TS RUPTREG1 # ALL NUMBERS PUT INTO GYROCMD ARE
CS RUPTREG2 # POSITIVE -- BIT9 OF CHAN 14 DETERMINES
MASK LOW7 # THE SIGN OF THE COMMAND.
COM
XCH RUPTREG2
COM
TCF GMERGE
GDESELCT OCT 1700 # TURN OFF SELECT AND ACTIVITY BITS.
GYROFRAC 2DEC .215 B-21
# Page 1438
# IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE.
ENDIMU EXTEND # MODE IS BAD IF CAGE HAS OCCURRED OR IF
READ DSALMOUT # ISS WARNING IS ON.
MASK BIT1
CCS A
TCF IMUBAD
IMUGOOD TCF GOODEND # WITH C(A) = 0.
IMUBAD CAF ZERO
TCF BADEND
CAGETEST CAF BIT6 # SUBROUTINE TO TERMINATE IMU MODE
MASK IMODES30 # SWITCH IF IMU HAS BEEN CAGED.
CCS A
TCF IMUBAD # DIRECTLY.
TC Q # WITH C(A) = +0.
CAGETSTQ CS IMODES30 # SKIP IF IMU NOT BEING CAGED.
MASK BIT6
CCS A
INCR Q
TC Q
CAGETSTJ CS IMODES30 # IF DURING MODE SWITCH INITIALIZATION.
MASK BIT6 # IT IS FOUND THAT THE IMU IS BEING CAGED.
CCS A # SET IMUCADR TO -0 TO INDICATE OPERATION
TC Q # COMPLETE BUT FAILED. RETURN IMMEDIATELY
CS ZERO # TO SWRETURN.
TS IMUCADR
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.
BADEND TS RUPTREG2 # DEVICE INDEX.
CS ZERO # FOR FAILURE.
TCF GOODEND +2
GOODEND TS RUPTREG2
CS ONE # FOR SUCCESS.
TS RUPTREG3
INDEX RUPTREG2 # SEE IF USING PROGRAM ASLEEP.
CCS MODECADR
TCF +2 # YES -- WAKE IT UP.
TCF ENDMODE # IF 0, PROGRAM NOT IN YET.
CAF ZERO # WAKE SLEEPING PROGRAM.
INDEX RUPTREG2
XCH MODECADR
TC JOBWAKE
CS RUPTREG3 # ADVANCE LOC IF SUCCESSFUL.
INDEX LOCCTR
ADS LOC
TCF TASKOVER
ENDMODE CA RUPTREG3 # -0 INDICATES OPERATION COMPLETE BUT
INDEX RUPTREG2 # UNSUCCESSFUL: -1 INDICATES COMPLETE AND
TS MODECADR # SUCCESSFUL.
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.
AOTSTALL CAF ONE # AOT.
TC STALL
RADSTALL CAF TWO
TCF STALL
# Page 1441
OPTSTALL EQUALS AOTSTALL
IMUSTALL CAF ZERO # IMU.
STALL INHINT
TS RUPTREG2 # SAVE DEVICE INDEX.
INDEX A # SEE IF OPERATION COMPLETE.
CCS MODECADR
TCF MODABORT # ALLOWABLE STATES ARE +0, -1, AND -0.
TCF MODESLP # OPERATION INCOMPLETE.
TCF MODEGOOD # COMPLETE AND GOOD IF = -1.
MG2 INDEX RUPTREG2 # COMPLETE FAILED IF -0. RESET TO +0.
TS MODECADR # RETURN TO CALLER.
TCF MODEEXIT
MODEGOOD CCS A # MAKE SURE INITIAL STATE -1.
TCF MODABORT
INCR BUF2 # IF SO, INCREMENT RETURN ADDRESS AND
TCF MG2 # RETURN IMMEDIATELY, SETTIN CADR = +0.
MODESLP TC MAKECADR # CALL FROM SWITCHABLE FIXED ONLY.
INDEX RUPTREG2
TS MODECADR
TCF JOBSLEEP
MODABORT TC P00DOO # TWO PROGRAMS USING THE SAME DEVICE.
OCT 1210
# Page 1442
# CONSTANTS FOR MODE SWITCHING ROUTINES
BITS3&4 = OCT14
BITS4&6 = OCT50
BITS4-5 EQUALS BITS4&5
IMUSEFLG EQUALS BIT8 # INTERPRETER SWITCH 7.
-COMMAX DEC -191
-COMMAX- DEC -192
600MS DEC 60
IMUFIN20 = IMUFINE
GOMANUR CA ATTCADR # IS KALCMANU FREE
EXTEND
BZF +3
TC P00DOO # NO
OCT 1210 # 2 TRYING TO USE SAME DEVICE
+3 EXTEND
DCA BUF2
DXCH ATTCADR # SAVE FINAL RETURN FOR KALCMAN3
CA BBANK
MASK SEVEN
ADS ATTCADR +1
CA PRIORITY
MASK PRIO37
TS ATTPRIO # SAVE USER'S PRIO
CAF KALEBCON # SET EBANK FOR KALCMAN3
TS EBANK
TC POSTJUMP
CADR KALCMAN3
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*
DEC51 DEC 51
R02BOTH CAF BIT13
MASK STATE +3 # REFSMFLG
CCS A
TC R02ZERO # ZERO IMUS
CA IMODES30
MASK BIT9 # IS ISS INITIALIZED
EXTEND
BZF +2
CS BIT4 # SEND IMU ALARM CODE 210
AD OCT220 # SEND REFSMM ALARM
TC VARALARM
TC GOTOP00H
# Page 1444
R02ZERO TC UPFLAG
ADRES IMUSE
TCF SWRETURN
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
EBANK= TIME2SAV
COUNT* $$/P06
P06 TC UPFLAG # SET NODOV37 BIT
ADRES NODOFLAG
PRESTAND INHINT
EXTEND
DCA TIME2 # SNAPSHOT TIME1 TIME2
DXCH TIME2SAV
TC SCALPREP
TC PRESTAND # T1,T2,SCALER NOT COMPATIBLE
DXCH MPAC # T1,T2 AND SCALER OK
DXCH SCALSAVE # STORE SCALER
INHINT
TC BANKCALL
CADR RNDREFDR # REFSMM, DRIFT, TRACK FLAGS DOWN
TC DOWNFLAG
ADRES IMUSE # IMUSE DOWN
TC DOWNFLAG
ADRES RNDVZFLG # RNDVZFLG DOWN
CAF BIT11
EXTEND
WOR CHAN13 # SET STANDBY ENABLE BIT
TC PHASCHNG # SET RESTART TO POSTAND WHEN STANDBY
OCT 07024 # RECOVERS
OCT 20000
EBANK= SCALSAVE
2CADR POSTAND
CAF OCT62
TC BANKCALL
CADR GOPERF1
TCF -3
TCF -4
TCF -5
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