Merge pull request #175 from mgnoonan/master

Typos pp. 1309-37. IMU_MODE_SWITCHING_ROUTINES.agc
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oldmud0 2016-08-22 22:49:07 -05:00
commit a6a23f52c3

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@ -56,7 +56,7 @@ SPSCODE = BIT9
COUNT* $$/IMODE
IMUZERO INHINT # ROUTINE TO ZERO ICDUS.
CS DSPTAB +11D # DON'T ZERO CDUS IS IMU IN GIMBAL LOCK AND
CS DSPTAB +11D # DON'T ZERO CDUS IF IMU IN GIMBAL LOCK AND
MASK BITS4&6 # COARSE ALIGN (GIMBAL RUNAWAY PROTECTION)
CCS A
TCF IMUZEROA
@ -403,7 +403,7 @@ PIPFREE INHINT # PROGRAM DONE WITH PIPAS. DON'T LIGHT
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
@ -415,9 +415,9 @@ PIPFREE INHINT # PROGRAM DONE WITH PIPAS. DON'T LIGHT
TCF PIPFREE2
# Page 1319
# THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIXE 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 AT THE INPUT COMMAND REGISTERS.
# UNSENT PORTION OF THE COMMAND IS LEFT INTACT IN THE INPUT COMMAND REGISTERS.
EBANK= 1400 # VARIABLE, ACTUALLY.
@ -514,7 +514,7 @@ 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 1322
-2 CS FOUR # SPECIAL ENTRY TO REGRESS LGYRO FOR X.
ADS LGYRO
@ -701,8 +701,8 @@ CAGETSTQ CS IMODES30 # SKIP IF IMU NOT BEING CAGED.
INCR Q
TC Q
CAGETSTJ CS IMODES30 # IF DURING MODE SWITCH INITIALIZATION.
MASK BIT6 # IT IS FOUND THAT THE IMU IS BEING CAGED.
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
@ -749,53 +749,49 @@ ENDMODE CA RUPTREG3 # -0 INDICATES OPERATION COMPLETE BUT
# Page 1329
# GENERAL STALLING ROUTINE. USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION.
#
# PROGRAM DESCRIPTION DATE -- 21 FEB 1967
# PROGRAM DESCRIPTION DATE- 21 FEB 1967
# LOG SECTION IMU MODE SWITCHING
# MOD BY -- R. MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 82
# MOD BY- R.MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 82
#
# FUNCTIONAL DESCRIPTION --
# 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.
# I/O FUNCTION IS COMPLETE.THE FOLLOWING CHECKS ON THE CALLING ROUTINE:S
# 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 --
# CALLING SEQUENCE-
# L TC BANKCALL
# L+1 CADR (ONE OF 5 STALL ADDRESSES. I.E., IMUSTALL, OPTSTALL, RADSTALL,
# L+1 CADR (ONE OF 5 STALL ADDRESSES I.E. IMUSTALL,OPTSTALL,RADSTALL,
# AOTSTALL,OR ATTSTALL)
#
# NORMAL-EXIT MODE --
# NORMAL-EXIT MODE-
# TCF JOBSLEEP OR TCF MODEXIT
#
# ALARM OR ABORT EXIT MODE --
# ALARM OR ABORT EXIT MODE-
# TC ABORT
#
# OUTPUT --
# 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 --
# 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.
## [WORKAROUND] OH 2009
SBANK= LOWSUPER
## [WORKAROUND]
AOTSTALL CAF ONE # AOT.
TC STALL
@ -815,7 +811,7 @@ STALL INHINT
TCF MODESLP # OPERATION INCOMPLETE.
TCF MODEGOOD # COMPLETE AND GOOD IF = -1.
MG2 INDEX RUPTREG2 # COMPLETE FAILED IF -0. RESET TO +0.
MG2 INDEX RUPTREG2 # COMPLETE AND FAILED IF -0. RESET TO +0.
TS MODECADR # RETURN TO CALLER.
TCF MODEEXIT
@ -823,7 +819,7 @@ 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.
TCF MG2 # RETURN IMMEDIATELY, SETTING CADR = +0.
MODESLP TC MAKECADR # CALL FROM SWITCHABLE FIXED ONLY.
INDEX RUPTREG2
@ -849,7 +845,7 @@ GOMANUR CA ATTCADR # IS KALCMANU FREE
EXTEND
BZF +3
TC P00DOO # NO
TC POODOO # NO
OCT 1210 # 2 TRYING TO USE SAME DEVICE
+3 EXTEND
@ -862,7 +858,7 @@ 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
@ -873,34 +869,33 @@ KALEBCON ECADR BCDU
# Page 1332
# 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-
#
# 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
#
# GOTOPOOH, WITH ALARM
# ERASABLE INITIALIZATION REQUIRED
# NONE
#
# NONE
# DEBRIS
# CENTRALS -- A,Q,L
#
# CENTRALS-A,Q,L
BANK 34
SETLOC R02
@ -920,7 +915,7 @@ R02BOTH CAF REFSMBIT
AD OCT220 # SEND REFSMM ALARM
TC VARALARM
TC GOTOP00H
TC GOTOPOOH
R02ZERO TC UPFLAG
# Page 1333
@ -929,7 +924,7 @@ R02ZERO TC UPFLAG
OCT220 OCT 220
# Page 1334
# PROGRAM DESCRIPTION: P06 10 FEB 67
# PROGRAM DESCRIPTION P06 10FEB67
#
# TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION.
#
@ -946,7 +941,7 @@ OCT220 OCT 220
# FLAGDOWN
#
# Page 1335
# PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2.
# 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.
@ -1002,7 +997,7 @@ OCT62 EQUALS .5SEC # DEC 50 = OCT 62
# 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
# 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
# BITS OF THE SCALER READING ARE THEN SET TO ZERO, TO TRUNCATE THE SCALER
# DATA TO 10 MS. RESULTS ARE STORED IN MPAC, +1.
@ -1035,7 +1030,7 @@ SCALPREP EXTEND
COUNT* $$/P05
POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY
POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY.
EXTEND
WAND CHAN13 # CLEAR STANDBY ENABLE BIT
INHINT
@ -1046,9 +1041,9 @@ 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 1337
CAF BIT10 # MINUS PRE-STANDBY SCALER AND SHIFT RIGHT
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
@ -1060,7 +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 # PRESTANDBY TIME1TIME2
DAS MPAC
TC TPAGREE # FORCE SIGN AGREEMENT
DXCH MPAC # UPDATED VALUE FOR T1,T2.
@ -1068,5 +1063,5 @@ POSTCOM EXTEND # C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER.
TC DOWNFLAG # CLEAR NODOFLAG
ADRES NODOFLAG
TC GOTOP00H
TC GOTOPOOH