EXTENDED_VERBS_FOR_MODING.agc
### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: BANK11.agc
## Purpose: Part of the source code for AGC program Retread 50.
## Assembler: yaYUL
## Contact: Ron Burkey <info@sandroid.org>.
## Website: www.ibiblio.org/apollo/Restoration.html
## Mod history: 2019-06-12 MAS Recreated from Computer History Museum's
## physical core-rope modules.
## 2019-10-01 MAS Completed disassembly.
## This entire section was added between Retread 44 and Retread 50. As such, all labels, variable names,
## and comments (and even the name of the section itself!) are not original and have been added as part
## of the disassembly process. Labels and comments were taken from similar code in later programs where
## possible, and created anew by VirtualAGC where not.
SETLOC 32000
EBANK= COMMAND
VBZERO CA BIT5 # ROUTINE TO ZERO ICDUS.
EXTEND
WOR 12
CA 20MSEC # WAIT 20 MS.
INHINT
TC WAITLIST
2CADR ZEROICDU
TC ENDOFJOB
ZEROICDU CAF ZERO # ZERO ICDU COUNTERS.
TS CDUX
TS CDUY
TS CDUZ
CS BIT5 # REMOVE ZERO DISCRETE.
EXTEND
WAND 12
TC TASKOVER
# IMU COARSE ALIGN MODE.
IMUCOARS CAF BIT4 # SEND COARSE ALIGN ENABLE DISCRETE
EXTEND
WOR 12
CAF 50MSEC
INHINT
TC WAITLIST
2CADR COARS
TC ENDOFJOB
COARS CAF BIT6 # ENABLE ALL THREE ISS CDU ERROR COUNTERS
EXTEND
WOR 12
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
CA 20MSEC
TC WAITLIST
2CADR COARS2
TC TASKOVER
COARS2 CAF ZERO
TS ITEMP1 # SETS 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
INDEX CDUIND
TS CDUXCMD # SET UP COMMAND REGISTER.
CCS CDUIND
TC COARS2 +3
CCS ITEMP1 # SEE IF ANY PULSES TO GO OUT.
TC SENDPULS
TC COARS1 -1
EXTEND
WAND 12
TC TASKOVER
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 14
CAF 600MS
TC WAITLIST
2CADR COARS2
TC TASKOVER
# KEYBOARD REQUEST TO PULSE TORQUE IRIGA
TORQGYRS CS BITS4-6 # RESET ZERO, COARSE, AND ECTR ENABLE.
EXTEND
WAND 12
CAF TWO # INITIALIZE THE GYRO INDEX ERASABLES.
TS GYRONUM
DOUBLE
TS GYCMDIDX
AD ONE
TS GYCMDIDX +1
CAF BIT6 # ENABLE THE POWER SUPPLY.
EXTEND
WOR 14
CAF 30MSEC
INHINT
TC WAITLIST
2CADR IMUPULSE
TC ENDOFJOB
# THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIX REGISTERS
# BEGINNING AT LOCATION OGC. 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.
IMUPULSE INDEX GYCMDIDX
CCS OGC # SEE IF MORE THAN ONE PULSE TRAIN NEEDED
TC LONGGYRO # (MORE THAN 16383 PULSES).
TC LASTSEG
TC LONGGYRO
TC LASTSEG
LONGGYRO INDEX GYCMDIDX # SEND MAXIMUM 16383 PULSES.
TS OGC
INDEX GYCMDIDX +1
INCR OGC
CAF POSMAX
TS GYROCTR
CA 5.13SEC # WAIT FOR FULL PULSE TRAIN TO GO OUT.
TC +1
TC WAITLIST
2CADR IMUPULSE
STRTGYRO INDEX GYCMDIDX +1 # DETERMINE POLARITY OF COMMAND.
CCS OGC
CAF ZERO
TCF +2
CAF BIT9
INDEX GYRONUM # SEND PULSE COMMAND TO GYRO.
AD GYBITTAB
EXTEND
WRITE 14
TC TASKOVER
LASTSEG INDEX GYCMDIDX +1 # ENTIRE COMMAND.
CCS OGC
TC +4
TC GYROEXIT
TC +2
TC GYROEXIT
AD ONE
TS GYROCTR
AD -GYROMIN # SMALL GYRO COMMAND. SEE IF AT LEAST
EXTEND # 16 GYRO PULSES.
BZMF GYROEXIT
CAF BIT10 # GET WAITLIST DT TO TIME WHEN TRAIN IS
EXTEND # ALMOST OUT.
MP GYROCTR
AD TWO
TC +1
TC WAITLIST
2CADR GYROEXIT
TC STRTGYRO
GYROEXIT CCS GYRONUM
TCF NEXTGYRO
CS BIT6 # RESET GYRO ENABLE.
EXTEND
WAND 14
TC TASKOVER
NEXTGYRO TS GYRONUM
DOUBLE
TS GYCMDIDX
AD ONE
TS GYCMDIDX +1
TC IMUPULSE
# KEYBOARD REQUEST TO TURN ON INERTIAL SUBSYSTEM
ISSUP CS BIT15 # REMOVE IMU DELAY COMPLETE DISCRETE.
EXTEND
WAND 12
CAF BIT14 # SEE IF ISS HAS TURNED ON.
EXTEND
RAND 30
CCS A
TC +2
TC CAGESUB
CAF 1SEC # CHECK AGAIN IN ONE SECOND.
TC WAITLIST
2CADR ISSUP
TC TASKOVER
CAGESUB CA BITS4&5 # SEND ZERO AND COARSE.
EXTEND
WOR 12
CA 90SECS
TC +1
TC WAITLIST
2CADR ENDTNON
TC TASKOVER
ENDTNON CAF BIT15 # SEND ISS DELAY COMPLETE.
EXTEND
WOR 12
ENDTNON2 CAF BIT14
EXTEND
RAND 30
CCS A # IS TURN-ON COMPLETE?
TC +2 # YES.
TC ENDTNON3 # NO. TRY AGAIN IN 10 MS.
CS BITS5&15 # REMOVE IMU ZERO AND DELAY COMPLETE.
EXTEND
WAND 12
CAF BIT6 # ENABLE ERROR COUNTERS.
EXTEND
WOR 12
TC TASKOVER
ENDTNON3 CAF 10MSEC
TC +1
TC WAITLIST
2CADR ENDTNON2
TC TASKOVER
# IMU FINE ALIGN MODE SWITCH.
IMUFINE CS BITS4-6 # RESET ZERO, COARSE, AND ECTR ENABLE.
EXTEND
WAND 12
TC ENDOFJOB
# WAITLIST DELAY TIME CONSTANTS
10MSEC DEC 1
20MSEC DEC 2
30MSEC DEC 3
50MSEC DEC 5
600MS DEC 60
1SEC DEC 100
90SECS DEC 9000
# CONSTANTS FOR MODE SWITCHING ROUTINES
-COMMAX DEC -191
-COMMAX- DEC -192
5.13SEC DEC 513
-GYROMIN DEC -16 # MAY BE ADJUSTED TO SPECIFY MINIMUM CMD.
BITS4&6 OCT 00050
BITS4-6 OCT 00070
BITS4&5 OCT 00030
BITS5&15 OCT 40020
13,14,15 OCT 70000
GYBITTAB OCT 1140 # POWER SUPPLY ENABLE, GYRO SELECT,
OCT 1340 # GYRO COMMAND OUT.
OCT 1240
# FAN-OUT
LST2FAN TC VBZERO # VB40 ZERO ISS CDU
TC IMUCOARS # VB41 COARSE ALIGN IMU
TC IMUFINE # VB42 FINE ALIGN IMU
TC TORQGYRS # VB43 PULSE TORQUE GYROS
ITURNON INHINT # VB44 ISS TURN ON
CAF ONE
TC WAITLIST
2CADR ISSUP
TC ENDOFJOB
