* 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
This commit is contained in:
Glenn Dwiyatcita
James Harris
parent
84a2142316
commit
6fc2636146
@ -35,7 +35,7 @@
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EBANK= COMMAND
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# FIXED-FIXED ROUTINES
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# FIXED-FIXED ROUTINES.
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COUNT 02/IMODE
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@ -57,7 +57,7 @@ SPSCODE = BIT9
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COUNT 07/IMODE
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IMUZERO INHINT # ROUTINE TO ZERO ICDUS.
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CS DSPTAB +11D # DON'T ZERO CDUS IS IMU IN GIMBAL LOCK AND
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CS DSPTAB +11D # DONT ZERO CDUS IS IMU IN GIMBAL LOCK AND
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MASK BITS4&6 # COARSE ALIGN (GIMBAL RUNAWAY PROTECTION)
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CCS A
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TCF IMUZEROA
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@ -68,9 +68,7 @@ IMUZERO INHINT # ROUTINE TO ZERO ICDUS.
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TCF CAGETSTJ +4 # IMMEDIATE FAILURE.
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IMUZEROA TC CAGETSTJ
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# DO ALL THE WORK.
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CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
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MASK SUPER011 # BIT5 FOR GROUND
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ADS IMODES33
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@ -152,7 +150,7 @@ COARS TC CAGETEST
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CAF TWO # SET CDU INDICATOR
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COARS1 TS CDUIND
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INDEX CDUIND # COMPUTE THETAD -- THETAA IN 1'S
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INDEX CDUIND # COMPUTE THETAD - THETAA IN 1:S
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CA THETAD # COMPLEMENT FORM
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EXTEND
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INDEX CDUIND
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@ -174,9 +172,9 @@ COARS1 TS CDUIND
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TC VARDELAY
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# Page 1424
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COARS2 TC CAGETEST # DON'T CONTINUE IF CAGED.
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COARS2 TC CAGETEST # DONT CONTINUE IF CAGED.
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TS ITEMP1 # SET TO +0.
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CAF TWO # SET CDU INDICATOR.
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CAF TWO # SET CDU INDICATOR
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+3 TS CDUIND
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INDEX CDUIND
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@ -207,6 +205,7 @@ NEXTCDU INCR ITEMP1
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TC FIXDELAY # WAIT FOR GIMBALS TO SETTLE.
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DEC 150
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CAF TWO # AT END OF COMMAND, CHECK TO SEE THAT
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CHKCORS TS ITEMP1 # GIMBALS ARE WITHIN 2 DEGREES OF THETAD.
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INDEX A
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@ -222,7 +221,7 @@ CHKCORS TS ITEMP1 # GIMBALS ARE WITHIN 2 DEGREES OF THETAD.
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# Page 1425
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CORSCHK2 CCS ITEMP1
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TCF CHKCORS
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TCF ENDIMU # END OF COARSE ALIGNMENT
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TCF ENDIMU # END OF COARSE ALIGNMENT.
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COARSERR AD COARSTOL # 2 DEGREES.
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EXTEND
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@ -235,6 +234,7 @@ COARSERR AD COARSTOL # 2 DEGREES.
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COARSTOL DEC -.01111 # 2 DEGREES SCALED AT HALF-REVOLUTIONS
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COMNEG AD -COMMAX
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EXTEND
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BZMF COMZERO
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@ -255,6 +255,7 @@ SENDPULS CAF 13,14,15
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CAF 600MS
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TCF COARS2 -1 # THEN TO VARDELAY
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CA+ECE CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
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EXTEND
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WOR CHAN12
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@ -341,10 +342,10 @@ IMUFINED TC CAGETEST # SEE THAT NO ONE HAS CAGED THE IMU.
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TCF ENDIMU
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# Page 1428
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IFAILOK TC CAGETSTQ # ENABLE IMU FAIL UNLESS IMU BEING CAGED.
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IFAILOK TC CAGETSTQ # ENABLE IMU FIAL UNLESS IMU BEING CAGED.
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TCF TASKOVER # IT IS.
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CAF BIT4 # DON'T RESET IMU FAIL INHIBIT IF SOMEONE
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CAF BIT4 # DONT RESET IMU FAIL INHIBIT IF SOMEONE
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EXTEND # HAS GONE INTO COARSE ALIGN.
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RAND CHAN12
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CCS A
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@ -401,12 +402,12 @@ PIPFREE2 TC IBNKCALL # ISS WARNING MIGHT COME ON NOW.
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TCF MODEEXIT
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PIPFREE INHINT # PROGRAM DONE WITH PIPAS. DON'T LIGHT
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PIPFREE INHINT # PROGRAM DONE WITH PIPAS. DONT LIGHT
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CS IMODES30 # ISS WARNING.
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MASK BIT1
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ADS IMODES30
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MASK BIT10 # IF PIP FAIL ON, DO PROG ALARM AND RESET
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MASK BIT10 # IF PIP FAIL ON, DO PROG ALSRM AND RESET
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CCS A # ISS WARNING.
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TCF MODEEXIT
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@ -469,7 +470,7 @@ GYROAGRE TS MPAC +3
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TCF MODEEXIT
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# Page 1431
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# ROUTINES TO ALLOW TORQUING ONLY ONE JOB AT A TIME.
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# ROUTINES TO ALLOW TORQUING BY ONLY ONE JOB AT A TIME.
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GYROBUSY EXTEND # SAVE RETURN 2FCADR.
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DCA BUF2
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@ -517,7 +518,7 @@ STRTGYR2 CA LGYRO # JUMP ON PHASE COUNTER IN BITS 13-14.
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CAF LGWAKE # WAKE A POSSIBLE SLEEPING JOB.
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TC JOBWAKE
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NORESET TCF IMUFINED # DO NOT RESET POWER SUPPLY.
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NORESET TCF IMUFINED # DO NOT RESET POWER SUPPLY
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# Page 1433
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-2 CS FOUR # SPECIAL ENTRY TO REGRESS LGYRO FOR X.
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ADS LGYRO
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@ -667,7 +668,7 @@ MAJ- EXTEND # DEFINITE NEGATIVE OUTPUT.
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CS RUPTREG1 # SET UP RUPTREGS TO FALL INTO GMERGE.
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TS RUPTREG1 # ALL NUMBERS PUT INTO GYROCMD ARE
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CS RUPTREG2 # POSITIVE -- BIT9 OF CHAN 14 DETERMINES
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CS RUPTREG2 # POSITIVE - BIT9 OF CHAN 14 DETERMINES
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MASK LOW7 # THE SIGN OF THE COMMAND.
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COM
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XCH RUPTREG2
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@ -708,6 +709,7 @@ CAGETSTJ CS IMODES30 # IF DURING MODE SWITCH INITIALIZATION.
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MASK BIT6 # IT IS FOUND THAT THE IMU IS BEING CAGED.
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CCS A # SET IMUCADR TO -0 TO INDICATE OPERATION
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TC Q # COMPLETE BUT FAILED. RETURN IMMEDIATELY
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CS ZERO # TO SWRETURN.
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TS IMUCADR
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TCF MODEEXIT
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@ -726,7 +728,7 @@ GOODEND TS RUPTREG2
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TS RUPTREG3
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INDEX RUPTREG2 # SEE IF USING PROGRAM ASLEEP.
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CCS MODECADR
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TCF +2 # YES -- WAKE IT UP.
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TCF +2 # YES - WAKE IT UP.
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TCF ENDMODE # IF 0, PROGRAM NOT IN YET.
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CAF ZERO # WAKE SLEEPING PROGRAM.
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@ -741,54 +743,54 @@ GOODEND TS RUPTREG2
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TCF TASKOVER
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ENDMODE CA RUPTREG3 # -0 INDICATES OPERATION COMPLETE BUT
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INDEX RUPTREG2 # UNSUCCESSFUL: -1 INDICATES COMPLETE AND
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INDEX RUPTREG2 # UNSUCCESSFUL - -1 INDICATES COMPLETE AND
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TS MODECADR # SUCCESSFUL.
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TCF TASKOVER
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# Page 1440
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# GENERAL STALLING ROUTINE. USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION.
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#
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# PROGRAM DESCRIPTION DATE -- 21 FEB 1967
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# PROGRAM DESCRIPTION DATE- 21 FEB 1967
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# LOG SECTION IMU MODE SWITCHING
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# MOD BY -- R. MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 82
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#
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# FUNCTIONAL DESCRIPTION --
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# MOD BY- R.MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 82
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# FUNCTIONAL DESCRIPTION-
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# TO DELAY FURTHER EXECUTION OF THE CALLING ROUTINE UNTIL ITS SELECTED
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# I/O FUNCTION IS COMPLETE. THE FOLLOWING CHECKS ON THE CALLING ROUTINES
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# MODEECADR ARE MADE AND ACTED UPON.
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# 1) +0 INDICATES INCOMPLETE I/O OPERATION. CALLING ROUTINE IS PUT TO
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# MODECADR ARE MADE AND ACTED UPON.
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# 1) +0 INDICATES INCOMPLETE I/O OPERATION.CALLING ROUTINE IS PUT TO
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# SLEEP.
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# 2) -1 INDICATES COMPLETED I/O OPERATION. STALL BYPASSES JOBSLEEP
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# CALL AND RETURNS TO CALLING ROUTINE AT L+3.
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# CALL AND RETURNS TO CALLING ROUTINE AT L+3
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# 3) -0 INDICATES COMPLETED I/O WITH FAILURE. STALL CLEARS MODECADR
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# AND RETURNS TO CALLING ROUTINE AT L+2.
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# 4) VALUE GREATER THAN 0 INDICATES TWO ROUTINES CALLING FOR USE OF
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# SAME DEVICE. STALL EXITS TO ABORT WHICH EXECUTES A PROGRAM
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# RESTART WHICH IN TURN CLEARS ALL MODECADR REGISTERS.
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#
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# CALLING SEQUENCE --
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# CALLING SEQUENCE-
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# L TC BANKCALL
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# L+1 CADR (ONE OF 5 STALL ADDRESSES. I.E., IMUSTALL, OPTSTALL, RADSTALL,
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# AOTSTALL, OR ATTSTALL)
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#
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# NORMAL-EXIT MODE --
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# L+1 CADR (ONE OF 5 STALL ADDRESSES I.E. IMUSTALL,OPTSTALL,RADSTALL,
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# AOTSTALL,OR ATTSTALL)
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# NORMAL-EXIT MODE-
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# TCF JOBSLEEP OR TCF MODEXIT
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#
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# ALARM OR ABORT EXIT MODE --
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# ALARM OR ABORT EXIT MODE-
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# TC ABORT
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#
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# OUTPUT --
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# MODECADR=CADR IF JOBSLEEP
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# OUTPUT-
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# MODECADR= CADR IF JOBSLEEP
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# MODECADR=+0 IF I/O COMPLETE
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# BUF2=L+3 IF I/O COMPLETE AND GOOD.
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# BUF2=L+2 IF I/O COMPLETE BUT FAILED.
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#
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# ERASABLE INITIALIZATION --
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# ERASABLE INITIALIZATION-
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# BUF2 CONTAINS RETURN ADDRESS PLUS 1,(L+2)
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# BUF2+1 CONTAINS FBANK VALUE OF CALLING ROUTINE.
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# MODECADR OF CALLING ROUTINE CONTAINS +0,-1,-0 OR CADR RETURN ADDRESS.
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#
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# DEBRIS --
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# DEBRIS-
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# RUPTREG2 AND CALLING ROUTINE MODECADR.
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AOTSTALL CAF ONE # AOT.
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@ -855,7 +857,7 @@ GOMANUR CA ATTCADR # IS KALCMANU FREE
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CA PRIORITY
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MASK PRIO37
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TS ATTPRIO # SAVE USER'S PRIO
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TS ATTPRIO # SAVE USERS PRIO
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CAF KALEBCON # SET EBANK FOR KALCMAN3
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TS EBANK
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@ -866,34 +868,33 @@ KALEBCON ECADR BCDU
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# Page 1443
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# PROGRAM DESCRIPTION
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# IMU STATUS CHECK ROUTINE R02 (SUBROUTINE UTILITY)
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# MOD NO -- 1
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# MOD BY -- N.BRODEUR
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#
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# MOD NO - 1
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# MOD BY - N.BRODEUR
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# FUNCTIONAL DESCRIPTION
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#
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# TO CHECK WHETHER IMU IS ON AND IF ON WHETHER IT IS ALIGNED TO AN
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# ORIENTATION KNOWN BY THE CMC. TO REQUEST SELECTION OF THE APPROPRIATE
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# PROGRAM IF THE IMU IS OFF OR NOT ALIGNED TO AN ORIENTATION KNOWN BY THE
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# CMC. CALLED THROUGH BANKCALL
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# CALLING SEQUENCE-
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#
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# CALLING SEQUENCE --
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# L TC BANKCALL
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# L+1 CADR R02BOTH
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#
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# SUBROUTINES CALLED
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#
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# VARALARM
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# FLAGUP
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#
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# NORMAL EXIT MODES
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# AT L+2 OF CALLING SEQUENCE
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#
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# AT L+2 OF CALLING SEQUENCE
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# ALARM OR ABORT EXIT MODES
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# GOTOP00H, WITH ALARM
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#
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# ERASABLE INITIALIZATION REQUIRED
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# NONE
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#
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# NONE
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# DEBRIS
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# CENTRALS -- A,Q,L
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#
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# CENTRALS-A,Q,L
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BANK 34
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SETLOC R02
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@ -923,25 +924,25 @@ R02ZERO TC UPFLAG
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OCT220 OCT 220
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# Page 1445
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# PROGRAM DESCRIPTION: P06 10 FEB 67
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#
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# PROGRAM DESCRIPTION P06 10FEB67
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# TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION.
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#
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# THE NORMAL CONDITION OF READINESS OF THE GNCS WHEN NOT IN USE IS STANDBY. IN THIS CONDITION THE IMU
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# HEATER POWER IS ON. THE IMU OPERATE POWER IS OFF. THE COMPUTER POWER IS ON. THE OPTICS POWER IS OFF. THE
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# CMC STANDBY ON THE MAIN AND LEB DISKYS IS ON.
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#
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# CALLING SEQUENCE:
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# ASTRONAUT REQUEST THROUGH DSKY V37E 06E.
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#
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# SUBROUTINES CALLED:
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# GOPERF1
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# BANKCALL
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# FLAGDOWN
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#
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# Page 1446
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# PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2.
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# THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATIBILITY
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# PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2
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# THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATABILITY
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# BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING.
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SETLOC P05P06
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@ -955,7 +956,7 @@ P06 TC UPFLAG # SET NODOV37 BIT
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PRESTAND INHINT
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EXTEND
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DCA TIME2 # SNAPSHOT TIME1 TIME2
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DCA TIME2 # SNAPSHOT TIME1TIME2
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DXCH TIME2SAV
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TC SCALPREP
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TC PRESTAND # T1,T2,SCALER NOT COMPATIBLE
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@ -992,7 +993,7 @@ OCT62 EQUALS .5SEC # DEC 50 = OCT 62
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# THE LOW 5 BITS OF THE SCALER READS 10000 FOR THE FIRST INTERVAL AFTER A
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# Page 1447.
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# T1 INCREMENT. IF SCALPREP DETECTS THIS INTERVAL THE T1,T2 AND SCALER
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# DATA ARE NOT COMPATIBLE AND RETURN IS TO L+1 FOR ANOTHER READING OF THE
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# DATA ARE NOT COMPATABLE AND RETURN IS TO L+1 FOR ANOTHER READING OF THE
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# DATA. OTHERWISE, THE RETURN IS TO L+2 TO PROCEED. ROUTINE ALSO PREPARES
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# THE SCALER READING FOR COMPUTATION OF THE INCREMENT TO UPDATE T1T2. (THE
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# 10 MS BIT (BIT 6) OF THE SCALER IS INCREMENTED 5 MS OUT OF PHASE FROM
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@ -1020,16 +1021,16 @@ SCALPREP EXTEND
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INCR MPAC +2 # NO
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TC MPAC +2 # YES
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# POSTAND RECOVERS TIME AFTER STANDBY. THE SCALER IS SNAPSHOTTED AND THE
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# POSTAND RECOVERS TIME AFTER STANDBY.THE SCALER IS SNAPSHOTTED AND THE
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# TIME1 TIME2 COUNTER IS SET TO ZERO. THE LOW 5 BITS OF THE SCALER ARE
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# INSPECTED TO INSURE COMPATIBILITY BETWEEN THE SCALER READING AND THE
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# INSPECTED TO INSURE COMPATABILITY BETWEEN THE SCALER READING AND THE
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# CLEARING OF THE TIME COUNTER. IT THEN COMPUTES THE DIFFERENCE IN SCALER
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# VALUES (IN DP) AND ADDS THIS TO THE PREVIOUSLY SNAPSHOTTED VALUES OF
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# TIME1 TIME2 AND PLACES THIS NEW TIME INTO THE TIME1 TIME2 COUNTER.
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COUNT* $$/P05
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POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY
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POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY.
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EXTEND
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WAND CHAN13 # CLEAR STANDBY ENABLE BIT
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INHINT
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@ -1040,10 +1041,10 @@ POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY
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TC POSTAND +3 # T1,T2,SCALER NOT COMPATIBLE
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EXTEND # T1,T2 AND SCALER OK
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DCS SCALSAVE
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DAS MPAC # FORM DP DIFFERENCE OF POST-STANDBY SCALER
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DAS MPAC # FORM DP DIFFERENCE OF POSTSTANDBY SCALER
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# Page 1448
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CAF BIT10 # MINUS PRE-STANDBY SCALER AND SHIFT RIGHT
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TC SHORTMP # 5 TO ALIGN BITS WITH TIME1 TIME2.
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CAF BIT10 # MINUS PRESTANDBY SCALER AND SHIFT RIGHT
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TC SHORTMP # 5 TO ALIGN BITS WITH TIME1TIME2.
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CAF ZERO
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TS MPAC +2 # NEEDED FOR TP AGREE
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TC TPAGREE # MAKE DP DIFF AGREE
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@ -1054,7 +1055,7 @@ POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY
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CAF BIT10 # BIT 10 TO HIGH DIFF TO CORRECT.
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ADS MPAC
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POSTCOM EXTEND # C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER.
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DCA TIME2SAV # PRE-STANDBY TIME1 TIME2
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DCA TIME2SAV # PRE-STANDBY TIME1TIME2
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DAS MPAC
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TC TPAGREE # FORCE SIGN AGREEMENT
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DXCH MPAC # UPDATED VALUE FOR T1,T2.
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@ -1063,6 +1064,3 @@ POSTCOM EXTEND # C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER.
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ADRES NODOFLAG
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TC GOTOP00H
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