Proof IMU_MODE_SWITCHING_ROUTINES #213 (#403)

* Proof FIXED_FIXED_CONSTANT_POOL (#207) * wip(pp. 1420-1425): Proof IMU_MODE_SWITCHING_ROUTINES #213 * done(pp. 1420-1448): Proof IMU_MODE_SWITCHING_ROUTINES #213
2019-10-14 22:07:54 +02:00 · 2019-10-14 22:07:54 +02:00 · 6fc2636146
commit 6fc2636146
parent 84a2142316
1 changed files with 80 additions and 82 deletions
--- a/Comanche055/IMU_MODE_SWITCHING_ROUTINES.agc
+++ b/Comanche055/IMU_MODE_SWITCHING_ROUTINES.agc
@ -35,7 +35,7 @@

 		EBANK=	COMMAND

-# FIXED-FIXED ROUTINES
+# FIXED-FIXED ROUTINES.

 		COUNT	02/IMODE

@ -57,7 +57,7 @@ SPSCODE		=	BIT9
 		COUNT	07/IMODE

 IMUZERO		INHINT			# ROUTINE TO ZERO ICDUS.
-		CS	DSPTAB +11D	# DON'T ZERO CDUS IS IMU IN GIMBAL LOCK AND
+		CS	DSPTAB +11D	# DONT ZERO CDUS IS IMU IN GIMBAL LOCK AND
 		MASK	BITS4&6		# COARSE ALIGN (GIMBAL RUNAWAY PROTECTION)
 		CCS	A
 		TCF	IMUZEROA
@ -68,9 +68,7 @@ IMUZERO		INHINT			# ROUTINE TO ZERO ICDUS.
 		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
@ -152,7 +150,7 @@ COARS		TC	CAGETEST
 		CAF	TWO		# SET CDU INDICATOR
 COARS1		TS	CDUIND

-		INDEX	CDUIND		# COMPUTE THETAD -- THETAA IN 1'S
+		INDEX	CDUIND		# COMPUTE THETAD - THETAA IN 1:S
 		CA	THETAD		# 	COMPLEMENT FORM
 		EXTEND
 		INDEX	CDUIND
@ -174,9 +172,9 @@ COARS1		TS	CDUIND
 		TC 	VARDELAY

 # Page 1424
-COARS2		TC	CAGETEST	# DON'T CONTINUE IF CAGED.
+COARS2		TC	CAGETEST	# DONT CONTINUE IF CAGED.
 		TS	ITEMP1		# SET TO +0.
-		CAF	TWO		# SET CDU INDICATOR.
+		CAF	TWO		# SET CDU INDICATOR
 	+3	TS	CDUIND

 		INDEX	CDUIND
@ -207,6 +205,7 @@ NEXTCDU		INCR	ITEMP1
 		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
@ -222,7 +221,7 @@ CHKCORS		TS	ITEMP1		# GIMBALS ARE WITHIN 2 DEGREES OF THETAD.
 # Page 1425
 CORSCHK2	CCS	ITEMP1
 		TCF	CHKCORS
-		TCF	ENDIMU		# END OF COARSE ALIGNMENT
+		TCF	ENDIMU		# END OF COARSE ALIGNMENT.

 COARSERR	AD	COARSTOL	# 2 DEGREES.
 		EXTEND
@ -235,6 +234,7 @@ COARSERR	AD	COARSTOL	# 2 DEGREES.

 COARSTOL	DEC	-.01111		# 2 DEGREES SCALED AT HALF-REVOLUTIONS

+
 COMNEG		AD	-COMMAX
 		EXTEND
 		BZMF	COMZERO
@ -255,6 +255,7 @@ SENDPULS	CAF	13,14,15
 		CAF	600MS
 		TCF	COARS2 -1	# THEN TO VARDELAY

+
 CA+ECE		CAF	BIT6		# ENABLE ALL THREE ISS CDU ERROR COUNTERS
 		EXTEND
 		WOR	CHAN12
@ -341,10 +342,10 @@ 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.
+IFAILOK		TC	CAGETSTQ	# ENABLE IMU FIAL UNLESS IMU BEING CAGED.
 		TCF	TASKOVER	# IT IS.

-		CAF	BIT4		# DON'T RESET IMU FAIL INHIBIT IF SOMEONE
+		CAF	BIT4		# DONT RESET IMU FAIL INHIBIT IF SOMEONE
 		EXTEND			# HAS GONE INTO COARSE ALIGN.
 		RAND	CHAN12
 		CCS	A
@ -401,12 +402,12 @@ PIPFREE2	TC	IBNKCALL	# ISS WARNING MIGHT COME ON NOW.

 		TCF	MODEEXIT

-PIPFREE		INHINT			# PROGRAM DONE WITH PIPAS.  DON'T LIGHT
+PIPFREE		INHINT			# PROGRAM DONE WITH PIPAS.  DONT LIGHT
 		CS	IMODES30	# ISS WARNING.
 		MASK	BIT1
 		ADS	IMODES30

-		MASK	BIT10		# IF PIP FAIL ON, DO PROG ALARM AND RESET
+		MASK	BIT10		# IF PIP FAIL ON, DO PROG ALSRM AND RESET
 		CCS	A		# ISS WARNING.
 		TCF	MODEEXIT

@ -418,7 +419,7 @@ PIPFREE		INHINT			# PROGRAM DONE WITH PIPAS.  DON'T LIGHT
 		TCF	PIPFREE2

 # Page 1430
-# THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIX REGISTERS
+# 	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 IN THE INPUT COMMAND REGISTERS.

@ -469,7 +470,7 @@ GYROAGRE	TS	MPAC +3
 		TCF	MODEEXIT

 # Page 1431
-# ROUTINES TO ALLOW TORQUING ONLY ONE JOB AT A TIME.
+# ROUTINES TO ALLOW TORQUING BY ONLY ONE JOB AT A TIME.

 GYROBUSY	EXTEND			# SAVE RETURN 2FCADR.
 		DCA	BUF2
@ -517,7 +518,7 @@ STRTGYR2	CA	LGYRO		# JUMP ON PHASE COUNTER IN BITS 13-14.
 		CAF	LGWAKE		# WAKE A POSSIBLE SLEEPING JOB.
 		TC	JOBWAKE

-NORESET		TCF	IMUFINED	# DO NOT RESET POWER SUPPLY.
+NORESET		TCF	IMUFINED	# DO NOT RESET POWER SUPPLY
 # Page 1433
 	-2	CS	FOUR		# SPECIAL ENTRY TO REGRESS LGYRO FOR X.
 		ADS	LGYRO
@ -667,7 +668,7 @@ MAJ-		EXTEND			# DEFINITE NEGATIVE OUTPUT.

 		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
+		CS	RUPTREG2	# POSITIVE - BIT9 OF CHAN 14 DETERMINES
 		MASK	LOW7		# THE SIGN OF THE COMMAND.
 		COM
 		XCH	RUPTREG2
@ -708,12 +709,13 @@ 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
+# 	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.
@ -726,7 +728,7 @@ GOODEND		TS	RUPTREG2
 		TS	RUPTREG3
 		INDEX	RUPTREG2	# SEE IF USING PROGRAM ASLEEP.
 		CCS	MODECADR
-		TCF	+2		# YES -- WAKE IT UP.
+		TCF	+2		# YES - WAKE IT UP.
 		TCF	ENDMODE		# IF 0, PROGRAM NOT IN YET.

 		CAF	ZERO		# WAKE SLEEPING PROGRAM.
@ -741,54 +743,54 @@ GOODEND		TS	RUPTREG2
 		TCF	TASKOVER

 ENDMODE		CA	RUPTREG3	# -0 INDICATES OPERATION COMPLETE BUT
-		INDEX	RUPTREG2	# UNSUCCESSFUL:  -1 INDICATES COMPLETE AND
+		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
+# 	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 --
+# 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
+#	MODECADR 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.
+#	   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
+
+# 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=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 --
+# DEBRIS-
 #	RUPTREG2 AND CALLING ROUTINE MODECADR.

 AOTSTALL	CAF	ONE		# AOT.
@ -855,7 +857,7 @@ GOMANUR		CA	ATTCADR		# IS KALCMANU FREE

 		CA	PRIORITY
 		MASK	PRIO37
-		TS	ATTPRIO		# SAVE USER'S PRIO
+		TS	ATTPRIO		# SAVE USERS PRIO

 		CAF	KALEBCON	# SET EBANK FOR KALCMAN3
 		TS	EBANK
@ -866,34 +868,33 @@ KALEBCON	ECADR	BCDU
 # Page 1443
 # PROGRAM DESCRIPTION
 # IMU STATUS CHECK ROUTINE R02 (SUBROUTINE UTILITY)
-# MOD NO -- 1
-# MOD BY -- N.BRODEUR
-#
+# 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
+# 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
 #
+# AT L+2 OF CALLING SEQUENCE
 # ALARM OR ABORT EXIT MODES
 #	GOTOP00H, WITH ALARM
-#
 # ERASABLE INITIALIZATION REQUIRED
-#	NONE
 #
+# NONE
 # DEBRIS
-#	CENTRALS -- A,Q,L
+#
+# CENTRALS-A,Q,L

 		BANK	34
 		SETLOC	R02
@ -923,25 +924,25 @@ R02ZERO		TC	UPFLAG
 OCT220		OCT	220

 # Page 1445
-# PROGRAM DESCRIPTION:	P06 		10 FEB 67
-#
+# PROGRAM DESCRIPTION	P06	10FEB67
+
 # 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
+# PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2
+# THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATABILITY
 # BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING.

 		SETLOC	P05P06
@ -955,7 +956,7 @@ P06		TC	UPFLAG		# SET NODOV37 BIT

 PRESTAND	INHINT
 		EXTEND
-		DCA	TIME2		# SNAPSHOT TIME1 TIME2
+		DCA	TIME2		# SNAPSHOT TIME1TIME2
 		DXCH	TIME2SAV
 		TC	SCALPREP
 		TC	PRESTAND	# T1,T2,SCALER NOT COMPATIBLE
@ -992,7 +993,7 @@ 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 ARE NOT COMPATABLE 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
@ -1020,16 +1021,16 @@ SCALPREP	EXTEND
 		INCR	MPAC +2		# NO
 		TC	MPAC +2		# YES

-# POSTAND RECOVERS TIME AFTER STANDBY.  THE SCALER IS SNAPSHOTTED AND THE
+# 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
+# INSPECTED TO INSURE COMPATABILITY 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

-POSTAND		CS	BIT11		# RECOVER TIME AFTER STANDBY
+POSTAND		CS	BIT11		# RECOVER TIME AFTER STANDBY.
 		EXTEND
 		WAND	CHAN13		# CLEAR STANDBY ENABLE BIT
 		INHINT
@ -1040,10 +1041,10 @@ POSTAND		CS	BIT11		# RECOVER TIME AFTER STANDBY
 		TC	POSTAND +3	# T1,T2,SCALER NOT COMPATIBLE
 		EXTEND			# T1,T2 AND SCALER OK
 		DCS	SCALSAVE
-		DAS	MPAC		# FORM DP DIFFERENCE OF POST-STANDBY SCALER
+		DAS	MPAC		# FORM DP DIFFERENCE OF POSTSTANDBY SCALER
 # Page 1448
-		CAF	BIT10		# MINUS PRE-STANDBY SCALER AND SHIFT RIGHT
-		TC	SHORTMP		# 5 TO ALIGN BITS WITH TIME1 TIME2.
+		CAF	BIT10		# MINUS PRESTANDBY SCALER AND SHIFT RIGHT
+		TC	SHORTMP		# 5 TO ALIGN BITS WITH TIME1TIME2.
 		CAF	ZERO
 		TS	MPAC +2		# NEEDED FOR TP AGREE
 		TC	TPAGREE		# MAKE DP DIFF AGREE
@ -1054,7 +1055,7 @@ POSTAND		CS	BIT11		# RECOVER TIME AFTER STANDBY
 		CAF	BIT10		# BIT 10 TO HIGH DIFF TO CORRECT.
 		ADS	MPAC
 POSTCOM		EXTEND			# C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER.
-		DCA	TIME2SAV	# PRE-STANDBY TIME1 TIME2
+		DCA	TIME2SAV	# PRE-STANDBY TIME1TIME2
 		DAS	MPAC
 		TC	TPAGREE		# FORCE SIGN AGREEMENT
 		DXCH	MPAC		# UPDATED VALUE FOR T1,T2.
@ -1063,6 +1064,3 @@ POSTCOM		EXTEND			# C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER.
 		ADRES	NODOFLAG

 		TC	GOTOP00H
-
-
-