1068 lines
23 KiB
Plaintext
1068 lines
23 KiB
Plaintext
# Copyright: Public domain.
|
|
# Filename: IMU_MODE_SWITCHING_ROUTINES.agc
|
|
# Purpose: Part of the source code for Luminary 1A build 099.
|
|
# It is part of the source code for the Lunar Module's (LM)
|
|
# Apollo Guidance Computer (AGC), for Apollo 11.
|
|
# Assembler: yaYUL
|
|
# Contact: Onno Hommes <ohommes@cmu.edu>.
|
|
# Website: www.ibiblio.org/apollo.
|
|
# Pages: 1309-1337
|
|
# Mod history: 2009-05-28 OH Transcribed from page images.
|
|
# 2009-06-05 RSB Fixed a typo.
|
|
# 2011-01-06 JL Fixed pseudo-label indentation.
|
|
# 2011-05-08 JL Removed workaround. Flagged SBANK=
|
|
# workaround for future removal.
|
|
|
|
# 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 info@sandroid.org
|
|
# about getting access to the (much) higher-quality images which Paul
|
|
# actually created.
|
|
#
|
|
# Notations on the hardcopy document read, in part:
|
|
#
|
|
# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
|
|
# 16:27 JULY 14, 1969
|
|
|
|
|
|
# Page 1309
|
|
BLOCK 02
|
|
SETLOC FFTAG3
|
|
BANK
|
|
|
|
EBANK= COMMAND
|
|
|
|
# FIXED-FIXED ROUTINES
|
|
|
|
COUNT* $$/IMODE
|
|
ZEROICDU CAF ZERO # ZERO ICDU COUNTERS.
|
|
TS CDUX
|
|
TS CDUY
|
|
TS CDUZ
|
|
TC Q
|
|
|
|
SPSCODE = BIT9
|
|
|
|
# Page 1310
|
|
# IMU ZEROING ROUTINES
|
|
|
|
BANK 11
|
|
SETLOC MODESW
|
|
BANK
|
|
|
|
COUNT* $$/IMODE
|
|
IMUZERO INHINT # ROUTINE TO ZERO ICDUS.
|
|
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
|
|
|
|
TC ALARM # IF SO.
|
|
OCT 00206
|
|
|
|
TCF CAGETSTJ +4 # IMMEDIATE FAILURE.
|
|
|
|
IMUZEROA TC CAGETSTJ
|
|
|
|
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 1311
|
|
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 1312
|
|
# 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 1313
|
|
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 1314
|
|
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 1315
|
|
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 TRACKBIT # CLEAR TRACK FLAG
|
|
MASK FLAGWRD1
|
|
TS FLAGWRD1
|
|
|
|
CS DRFTBIT # CLEAR DRIFT FLAG
|
|
MASK FLAGWRD2
|
|
TS FLAGWRD2
|
|
|
|
CS REFSMBIT # CLEAR REFSMMAT FLAG
|
|
MASK FLAGWRD3
|
|
TS FLAGWRD3
|
|
|
|
TC Q
|
|
|
|
OCT40010 OCT 40010
|
|
|
|
# Page 1316
|
|
# 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 1317
|
|
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 1318
|
|
# 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 ALSRM AND RESET
|
|
CCS A # ISS WARNING.
|
|
TCF MODEEXIT
|
|
|
|
TC ALARM
|
|
OCT 212
|
|
|
|
INHINT
|
|
|
|
TCF PIPFREE2
|
|
|
|
# Page 1319
|
|
# 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.
|
|
|
|
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 1320
|
|
# 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 1321
|
|
# 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 1322
|
|
-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 1323
|
|
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 1324
|
|
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 1325
|
|
AUG2 INDEX ITEMP1
|
|
TS 1400
|
|
CAF BIT14
|
|
ADS GYROCMD
|
|
TCF AUG3 # COMPUTE DT.
|
|
|
|
# Page 1326
|
|
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 1327
|
|
# 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 1328
|
|
# GENERALIZED MODE SWITCHING TERMINATION. ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION
|
|
# OR AT BADEND FOR A N 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 +4 # YES -- WAKE IT UP.
|
|
TCF ENDMODE # IF 0, PROGRAM NOT IN YET.
|
|
|
|
EXTEND
|
|
BZF ENDMODE +1 # BZF = TCF IF MODECADR = -0.
|
|
|
|
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
|
|
+1 INDEX RUPTREG2 # UNSUCCESSFUL: -1 INDICATES COMPLETE AND
|
|
TS MODECADR # SUCCESSFUL.
|
|
TCF TASKOVER
|
|
|
|
# Page 1329
|
|
# 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 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
|
|
# 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 1330
|
|
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 AND 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, SETTING CADR = +0.
|
|
|
|
MODESLP TC MAKECADR # CALL FROM SWITCHABLE FIXED ONLY.
|
|
INDEX RUPTREG2
|
|
TS MODECADR
|
|
TCF JOBSLEEP
|
|
|
|
MODABORT DXCH BUF2
|
|
TC BAILOUT1 # TWO PROGRAMS USING THE SAME DEVICE.
|
|
OCT 1210
|
|
|
|
# Page 1331
|
|
# CONSTANTS FOR MODE SWITCHING ROUTINES
|
|
|
|
BITS3&4 = OCT14
|
|
BITS4&6 = OCT50
|
|
BITS4-5 OCT 00030
|
|
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 POODOO # 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 USERS PRIO
|
|
|
|
CAF KALEBCON # SET EBANK FOR KALCMAN3
|
|
TS EBANK
|
|
TC POSTJUMP
|
|
CADR KALCMAN3
|
|
KALEBCON ECADR BCDU
|
|
|
|
# Page 1332
|
|
# 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
|
|
# GOTOPOOH, WITH ALARM
|
|
# ERASABLE INITIALIZATION REQUIRED
|
|
#
|
|
# NONE
|
|
# DEBRIS
|
|
#
|
|
# CENTRALS-A,Q,L
|
|
|
|
BANK 34
|
|
SETLOC R02
|
|
BANK
|
|
COUNT* $$/R02
|
|
DEC51 DEC 51
|
|
R02BOTH CAF REFSMBIT
|
|
MASK FLAGWRD3
|
|
CCS A
|
|
TC R02ZERO # ZERO IMUS
|
|
|
|
CA IMODES30
|
|
MASK BIT9 # IS ISS INITIALIZED
|
|
EXTEND
|
|
BZF +2
|
|
CS BIT4 # SEND IMU ALARM CODE 210
|
|
AD OCT220 # SEND REFSMM ALARM
|
|
TC VARALARM
|
|
|
|
TC GOTOPOOH
|
|
|
|
R02ZERO TC UPFLAG
|
|
# Page 1333
|
|
ADRES IMUSE
|
|
TCF SWRETURN
|
|
OCT220 OCT 220
|
|
|
|
# Page 1334
|
|
# PROGRAM DESCRIPTION P06 10FEB67
|
|
#
|
|
# TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION.
|
|
#
|
|
# THE NORMAL CONDITION OF READINESS OF THE GNCS WHEN NOT IN USE IS STANDBY. IN THIS CONDITION THE IMU
|
|
# HEATER POWER IS ON. THE IMU OPERATE POWER IS OFF. THE COMPUTER POWER IS ON. THE OPTICS POWER IS OFF. THE
|
|
# CMC STANDBY ON THE MAIN AND LEB DISKYS IS ON.
|
|
#
|
|
# CALLING SEQUENCE:
|
|
# ASTRONAUT REQUEST THROUGH DSKY V37E 06E.
|
|
#
|
|
# SUBROUTINES CALLED:
|
|
# GOPERF1
|
|
# BANKCALL
|
|
# FLAGDOWN
|
|
#
|
|
# Page 1335
|
|
# PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2
|
|
# THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATIBILITY
|
|
# BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING.
|
|
|
|
SETLOC P05P06
|
|
BANK
|
|
|
|
EBANK= TIME2SAV
|
|
COUNT* $$/P06
|
|
|
|
P06 TC UPFLAG # SET NODOV37 BIT
|
|
ADRES NODOFLAG
|
|
|
|
PRESTAND INHINT
|
|
EXTEND
|
|
DCA TIME2 # SNAPSHOT TIME1TIME2
|
|
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 1336
|
|
# 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
|
|
# BITS OF THE SCALER READING ARE THEN SET TO ZERO, TO TRUNCATE THE SCALER
|
|
# DATA TO 10 MS. RESULTS ARE STORED IN MPAC, +1.
|
|
|
|
SCALPREP EXTEND
|
|
QXCH MPAC +2
|
|
TC FINETIME +1
|
|
RELINT
|
|
DXCH MPAC
|
|
CA BIT5 # ADD 5 MS TO THE SCALER READING.
|
|
TS L
|
|
CA ZERO
|
|
DAS MPAC
|
|
CS LOW5 # SET LOW 5 BITS OF (SCALER+5MS) TO ZERO
|
|
MASK MPAC +1 # AND STORE RESULTS IN MPAC,+1.
|
|
XCH MPAC +1
|
|
MASK LOW5 # TEST LOW 5 BITS OF SCALER FOR THE FIRST
|
|
# INTERVAL AFTER THE T1 INCREMENT
|
|
# (NOW = 00000, SINCE BIT 5 ADDED).
|
|
CCS A # IS IT 1ST INTERVAL AFTER T1 INCREMENT
|
|
INCR MPAC +2 # NO
|
|
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
|
|
|
|
POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY.
|
|
EXTEND
|
|
WAND CHAN13 # CLEAR STANDBY ENABLE BIT
|
|
INHINT
|
|
CA ZERO
|
|
TS L
|
|
DXCH TIME2 # CLEAR TIME1TIME2
|
|
TC SCALPREP # STORE SCALER IN MPAC, MPAC+1
|
|
TC POSTAND +3 # T1,T2,SCALER NOT COMPATIBLE
|
|
EXTEND # T1,T2 AND SCALER OK
|
|
DCS SCALSAVE
|
|
DAS MPAC # FORM DP DIFFERENCE OF POSTSTANDBY SCALER
|
|
# Page 1337
|
|
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
|
|
CCS MPAC
|
|
TC POSTCOM # IF DP DIFF NET +, NO SCALER OVERFLOW
|
|
TC POSTCOM # BETWEEN PRE AND POST STANDBY.
|
|
TC +1 # IF DP DIFF NET -, SCALER OVERFLOWED. ADD
|
|
CAF BIT10 # BIT 10 TO HIGH DIFF TO CORRECT.
|
|
ADS MPAC
|
|
POSTCOM EXTEND # C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER.
|
|
DCA TIME2SAV # PRESTANDBY TIME1TIME2
|
|
DAS MPAC
|
|
TC TPAGREE # FORCE SIGN AGREEMENT
|
|
DXCH MPAC # UPDATED VALUE FOR T1,T2.
|
|
DAS TIME2 # LOAD UPDATED VALUE INTO T1,T2, WITH
|
|
TC DOWNFLAG # CLEAR NODOFLAG
|
|
ADRES NODOFLAG
|
|
|
|
TC GOTOPOOH
|
|
|