Source Code

006342,000001: # Copyright: Public domain. 006343,000002: # Filename: T4RUPT_PROGRAM.agc 006344,000003: # Purpose: Part of the source code for Luminary 1A build 099. 006345,000004: # It is part of the source code for the Lunar Module's (LM) 006346,000005: # Apollo Guidance Computer (AGC), for Apollo 11. 006347,000006: # Assembler: yaYUL 006348,000007: # Contact: Hartmuth Gutsche <hgutsche@xplornet.com>. 006349,000008: # Website: www.ibiblio.org/apollo. 006350,000009: # Pages: 155-189 006351,000010: # Mod history: 2009-05-19 HG Transcribed from page images. 006352,000011: # 2010-12-31 JL Fixed page number comment. 006353,000012: # 2011-01-06 JL Fixed indentation of TNONTEST. Fixed pseudo-label indentation. 006354,000013: 006355,000014: # This source code has been transcribed or otherwise adapted from 006356,000015: # digitized images of a hardcopy from the MIT Museum. The digitization 006357,000016: # was performed by Paul Fjeld, and arranged for by Deborah Douglas of 006358,000017: # the Museum. Many thanks to both. The images (with suitable reduction 006359,000018: # in storage size and consequent reduction in image quality as well) are 006360,000019: # available online at www.ibiblio.org/apollo. If for some reason you 006361,000020: # find that the images are illegible, contact me at info@sandroid.org 006362,000021: # about getting access to the (much) higher-quality images which Paul 006363,000022: # actually created. 006364,000023: 006365,000024: # Notations on the hardcopy document read, in part: 006366,000025: 006367,000026: # Assemble revision 001 of AGC program LMY99 by NASA 2021112-61 006368,000027: # 16:27 JULY 14, 1969 006369,000028: # Page 155 006370,000029: 12,2000 BANK 12 006371,000030: 06,2000 SETLOC T4RUP 006372,000031: 06,2000 BANK 006373,000032: 006374,000033: 06,2000 E6,1414 EBANK= M11 006375,000034: 06,2000 COUNT* $$/T4RPT 006376,000035: 06,2000 54016 T4RUPT TS BANKRUPT 006377,000036: 006378,000037: 06,2001 00006 EXTEND 006379,000038: 06,2002 22012 QXCH QRUPT 006380,000039: 006381,000040: 06,2003 11313 CCS DSRUPTSW # GOES 7(-1)0 AROUND AND AROUND 006382,000041: 06,2004 12010 TCF NORMT4 +1 006383,000042: 06,2005 12007 TCF NORMT4 006384,000043: 006385,000044: 06,2006 12134 TCF QUIKDSP 006386,000045: 006387,000046: 06,2007 34757 NORMT4 CAF SEVEN 006388,000047: 06,2010 54070 TS RUPTREG1 006389,000048: 06,2011 55313 TS DSRUPTSW 006390,000049: 006391,000050: 4066 BLOCK 02 006392,000051: 4000 SETLOC FFTAG10 006393,000052: 4000 BANK 006394,000053: 006395,000054: 4066 COUNT* $$/T4RPT 006396,000055: 4066 7727 100MRUPT = OCT37766 # (DEC 16374) 006397,000056: # RELTAB IS A PACKED TABLE. RELAYWORD CODE IN UPPER 4 BITS, RELAY CODE 006398,000057: # IN LOWER 5 BITS. 006399,000058: 006400,000059: 4066 04025 RELTAB OCT 04025 006401,000060: 4067 10003 OCT 10003 006402,000061: 4070 14031 OCT 14031 006403,000062: 4071 20033 OCT 20033 006404,000063: 4072 24017 OCT 24017 006405,000064: 4073 30036 OCT 30036 006406,000065: 4074 34034 OCT 34034 006407,000066: 4075 40023 OCT 40023 006408,000067: 4076 44035 OCT 44035 006409,000068: 4077 50037 OCT 50037 006410,000069: 4100 54000 OCT 54000 006411,000070: 4101 60000 RELTAB11 OCT 60000 006412,000071: 006413,000072: # Page 156 006414,000073: # SWITCHED-BANK PORTION 006415,000074: 006416,000075: 12,2000 BANK 12 006417,000076: 06,2000 SETLOC T4RUP 006418,000077: 06,2000 BANK 006419,000078: 006420,000079: 06,2012 COUNT* $$/T4RPT 006421,000080: 06,2012 11036 CDRVE CCS DSPTAB +11D 006422,000081: 06,2013 02063 TC DSPOUT 006423,000082: 06,2014 02063 TC DSPOUT 006424,000083: 006425,000084: 06,2015 57036 XCH DSPTAB +11D 006426,000085: 06,2016 74356 MASK LOW11 006427,000086: 06,2017 55036 TS DSPTAB +11D 006428,000087: 06,2020 64101 AD RELTAB11 006429,000088: 06,2021 00006 EXTEND 006430,000089: 06,2022 01010 WRITE OUT0 006431,000090: 06,2023 02071 TC HANG20 006432,000091: 006433,000092: # Page 157 006434,000093: # DSPOUT PROGRAM, PUTS OUT DISPLAYS 006435,000094: 006436,000095: 06,2024 55016 DSPOUTSB TS NOUT 006437,000096: 06,2025 44755 CS ZERO 006438,000097: 06,2026 54073 TS DSRUPTEM # SET TO -0 FOR 1ST PASS THRU DSPTAB 006439,000098: 06,2027 56776 XCH DSPCNT 006440,000099: 06,2030 64754 AD NEG0 # TO PREVENT +0 006441,000100: 06,2031 54776 TS DSPCNT 006442,000101: 06,2032 50776 DSPSCAN INDEX DSPCNT 006443,000102: 06,2033 11023 CCS DSPTAB 006444,000103: 06,2034 10776 CCS DSPCNT # IF DSPTAB ENTRY +, SKIP 006445,000104: 06,2035 12030 TCF DSPSCAN -2 # IF DSPCNT +, TRY AGAIN 006446,000105: 06,2036 12047 TCF DSPLAY # IF DSPTAB ENTRY -, DISPLAY 006447,000106: 06,2037 00012 TABLNTH OCT 12 # DEC 10, LENGTH OF DSPTAB 006448,000107: 06,2040 10073 CCS DSRUPTEM # IF DSRUPTEM=+0, 2ND PASS THRU DSPTAB 006449,000108: 06,2041 37764 120MRUPT DEC 16372 B-14 # (DSPCNT = 0). +0 INTO NOUT. 006450,000109: 06,2042 55016 TS NOUT 006451,000110: 06,2043 00002 TC Q 006452,000111: 06,2044 54073 TS DSRUPTEM # IF DSRUPTEM=-0, 1ST PASS THRU DSPTAB 006453,000112: 06,2045 32037 CAF TABLNTH # (DSPCNT=0).+0 INTO DSRUPTEM. PASS AGAIN 006454,000113: 06,2046 12031 TCF DSPSCAN -1 006455,000114: 006456,000115: 06,2047 64753 DSPLAY AD ONE 006457,000116: 06,2050 50776 INDEX DSPCNT 006458,000117: 06,2051 55023 TS DSPTAB # REPLACE POSITIVELY 006459,000118: 06,2052 74356 MASK LOW11 # REMOVE BITS 12 TO 15 006460,000119: 06,2053 54073 TS DSRUPTEM 006461,000120: 06,2054 34350 CAF HI5 006462,000121: 06,2055 50776 INDEX DSPCNT 006463,000122: 06,2056 74066 MASK RELTAB # PICK UP BITS 12 TO 15 OF RELTAB ENTRY 006464,000123: 06,2057 60073 AD DSRUPTEM 006465,000124: 06,2060 00006 EXTEND 006466,000125: 06,2061 01010 WRITE OUT0 006467,000126: 006468,000127: 06,2062 16737 TCF Q+1 006469,000128: 006470,000129: 06,2063 10101 DSPOUT CCS FLAGWRD5 # IS DSKY FLAG ON 006471,000130: 06,2064 34755 CAF ZERO # NO 006472,000131: 06,2065 12130 TCF NODSPOUT # NO 006473,000132: 06,2066 11016 CCS NOUT # YES 006474,000133: 06,2067 02024 TC DSPOUTSB 006475,000134: 06,2070 12130 TCF NODSPOUT # NO DISPLAY REQUESTS 006476,000135: 006477,000136: 06,2071 42171 HANG20 CS 14,11,9 006478,000137: 06,2072 27313 ADS DSRUPTSW 006479,000138: 006480,000139: 06,2073 37731 CAF 20MRUPT 006481,000140: 006482,000141: 06,2074 54027 SETTIME4 TS TIME4 006483,000142: 006484,000143: # Page 158 006485,000144: # THE STATUS OF THE PROCEED PUSHBUTTON IS MONITORED EVERY 120 MILLISECONDS VIA THE CHANNEL 32 BIT 14 INBIT. 006486,000145: # THE STATE OF THIS INBIT IS COMPARED WITH ITS STATE DURING THE PREVIOUS T4RUPT AND IS PROCESSED AS FOLLOWS. 006487,000146: # IF PREV ON AND NOW ON -- BYPASS. 006488,000147: # IF PREV ON AND NOW OFF -- UPDATE IMODES33. 006489,000148: # IF PREV OFF AND NOW ON -- UPDATE IMODES33 AND PROCESS VIA PINBALL. 006490,000149: # IF PREV OFF AND NOW OFF -- BYPASS. 006491,000150: # THE LOGIC EMPLOYED REQUIRES ONLY 9 MCT (APPROX. 108 MICROSECONDS) OF COMPUTER TIME WHEN NO CHANGES OCCUR. 006492,000151: 006493,000152: 06,2075 31303 PROCEEDE CA IMODES33 # MONITOR FOR PROCEED BUTTON 006494,000153: 06,2076 00006 EXTEND 006495,000154: 06,2077 06032 RXOR CHAN32 006496,000155: 06,2100 74736 MASK BIT14 006497,000156: 06,2101 00006 EXTEND 006498,000157: 06,2102 12116 BZF T4JUMP # NO CHANGE 006499,000158: 006500,000159: 06,2103 23303 LXCH IMODES33 006501,000160: 06,2104 00006 EXTEND 006502,000161: 06,2105 06001 RXOR LCHAN 006503,000162: 06,2106 55303 TS IMODES33 # UPDATE IMODES33 006504,000163: 06,2107 74736 MASK BIT14 006505,000164: 06,2110 10000 CCS A 006506,000165: 06,2111 12116 TCF T4JUMP # WAS ON -- NOW OFF 006507,000166: 006508,000167: 06,2112 34355 CAF CHRPRIO # WAS OFF -- NOW ON 006509,000168: 06,2113 05072 TC NOVAC 006510,000169: 06,2114 0777 EBANK= DSPCOUNT 006511,000170: 06,2114 03452 60101 2CADR PROCKEY 006512,000171: 006513,000172: # Page 159 006514,000173: # JUMP TO APPROPRIATE ONCE-PER SECOND (0.96 SEC ACTUALLY) ACTIVITY 006515,000174: 006516,000175: 06,2116 50070 T4JUMP INDEX RUPTREG1 006517,000176: 06,2117 12120 TCF +1 006518,000177: 006519,000178: 06,2120 03156 TC RCSMONIT 006520,000179: 06,2121 13006 TCF RRAUTCHK 006521,000180: 06,2122 12172 TCF IMUMON 006522,000181: 06,2123 13132 TCF DAPT4S 006523,000182: 06,2124 03156 TC RCSMONIT 006524,000183: 06,2125 13006 TCF RRAUTCHK 006525,000184: 06,2126 12172 TCF IMUMON 006526,000185: 06,2127 13132 TCF DAPT4S 006527,000186: 006528,000187: 06,2130 7731 20MRUPT = OCT37776 # (DEC 16382) 006529,000188: 006530,000189: # Page 160 006531,000190: # ADDITIONAL ROUTINES FOR 20MS. KEYBOARD ACTIVITY 006532,000191: 006533,000192: 06,2130 00006 NODSPOUT EXTEND 006534,000193: 06,2131 01010 WRITE OUT0 006535,000194: 006536,000195: 06,2132 32041 CAF 120MRUPT # SET FOR NEXT CCRIVE 006537,000196: 06,2133 12074 TCF SETTIME4 006538,000197: 006539,000198: 06,2134 34736 QUIKDSP CAF BIT14 006540,000199: 06,2135 71313 MASK DSRUPTSW 006541,000200: 06,2136 00006 EXTEND 006542,000201: 06,2137 12165 BZF QUIKOFF # WROTE LAST TIME, NOW TURN OFF RELAYS. 006543,000202: 006544,000203: 06,2140 11016 CCS NOUT 006545,000204: 06,2141 02024 TC DSPOUTSB 006546,000205: 06,2142 12152 TCF NODSPY # NOUT=0 OR BAD RETURN FROM DSPOUTSB 006547,000206: 06,2143 44736 CS BIT14 # GOOD RETURN (WE DISPLAYED SOMETHING) 006548,000207: 06,2144 27313 QUIKRUPT ADS DSRUPTSW 006549,000208: 006550,000209: 06,2145 37731 CAF 20MRUPT 006551,000210: 06,2146 54027 TS TIME4 006552,000211: 006553,000212: 06,2147 34743 CAF BIT9 006554,000213: 06,2150 27313 ADS DSRUPTSW 006555,000214: 006556,000215: 06,2151 05270 TC RESUME 006557,000216: 006558,000217: 06,2152 00006 NODSPY EXTEND 006559,000218: 06,2153 01010 WRITE OUT0 006560,000219: 006561,000220: 06,2154 37731 SYNCT4 CAF 20MRUPT 006562,000221: 06,2155 26027 ADS TIME4 006563,000222: 006564,000223: 06,2156 34743 CAF BIT9 006565,000224: 06,2157 27313 ADS DSRUPTSW 006566,000225: 006567,000226: 06,2160 11313 CCS DSRUPTSW 006568,000227: 06,2161 05270 TC RESUME 006569,000228: 06,2162 37737 OCT37737 OCT 37737 006570,000229: 06,2163 02154 TC SYNCT4 006571,000230: 06,2164 05270 TC RESUME 006572,000231: 006573,000232: 06,2165 00006 QUIKOFF EXTEND 006574,000233: 06,2166 01010 WRITE OUT0 006575,000234: 06,2167 34736 CAF BIT14 # RESET DSRUPTSW TO SEND DISPLAY NEXT PASS 006576,000235: 06,2170 12144 TCF QUIKRUPT 006577,000236: 006578,000237: 06,2171 22400 14,11,9 OCT 22400 006579,000238: 006580,000239: # Page 161 006581,000240: # PROGRAM NAME: IMUMON 006582,000241: 006583,000242: # FUNCTIONAL DESCRIPTION: THIS PROGRAM IS ENTERED EVERY 480 MS. IT DETECTS CHANGES OF THE IMU STATUS BITS IN 006584,000243: # CHANNEL 30 AND CALLS THE APPROPRIATE SUBROUTINES. THE BITS PROCESSED AND THEIR RELEVANT SUROUTINES ARE: 006585,000244: 006586,000245: # FUNCTION BIT SUBROUTINE CALLED 006587,000246: # -------- --- ----------------- 006588,000247: # TEMP IN LIMITS 15 TLIM 006589,000248: # ISS TURN-ON REQUEST 14 ITURNON 006590,000249: # IMU FAIL 13 IMUFAIL (SETISSW) 006591,000250: # IMU CDU FAIL 12 ICDUFAIL (SETISSW) 006592,000251: # IMU CAGE 11 IMUCAGE 006593,000252: # IMU OPERATE 9 IMUOP 006594,000253: 006595,000254: # THE LAST SAMPLED STATE OF THESE BITS IS LEFT IN IMODES30. ALSO, EACH SUBROUTINE CALLED FINDS THE NEW 006596,000255: # VALUE OF THE BIT IN A, WITH Q SET TO THE PROPER RETURN LOCATION NXTIFAIL. 006597,000256: 006598,000257: # CALLING SEQUENCE: T4RUPT EVERY 480 MILLISECONDS. 006599,000258: 006600,000259: # JOBS OR TASKS INITIATED: NONE. 006601,000260: 006602,000261: # SUBROUTINES CALLED: TLIM, TURNON, SETISSW, IMUCAGE, IMUOP. 006603,000262: 006604,000263: # ERASABELE INITIALIZATION: 006605,000264: # FRESH START OR RESTART WITH NO GROUPS ACTIVE: C((MODES30) = OCT 37411). 006606,000265: # RESTART WITH ACTIVE GROUPS: C(IMODES30) = (B(IMODES30)AND(OCT 00035)) PLUS OCT 37400. 006607,000266: # THIS LEAVES IMU FAIL BITS INTACT. 006608,000267: 006609,000268: # ALARMS: NONE. 006610,000269: 006611,000270: # EXIT: TNONTEST. 006612,000271: 006613,000272: # OUTPUT: UPDATED IMODES30 WITH CHANGES PROCESSED BY APPROPRIATE SUBROUTINE. 006614,000273: 006615,000274: 06,2172 31302 IMUMON CA IMODES30 # SEE IF THERE HAS BEEN A CHANGE IN THE 006616,000275: 06,2173 00006 EXTEND # RELEVANT BITS OF CHAN 30. 006617,000276: 06,2174 06030 RXOR CHAN30 006618,000277: 06,2175 72761 MASK 30RDMSK 006619,000278: 06,2176 00006 EXTEND 006620,000279: 06,2177 12227 BZF TNONTEST # NO CHANGE IN STATUS 006621,000280: 006622,000281: 06,2200 54070 TS RUPTREG1 # SAVE BITS WHICH HAVE CHANGED. 006623,000282: 06,2201 23302 LXCH IMODES30 # UPDATE IMODES30. 006624,000283: 06,2202 00006 EXTEND 006625,000284: 06,2203 06001 RXOR LCHAN 006626,000285: 06,2204 55302 TS IMODES30 006627,000286: 006628,000287: 06,2205 44753 CS ONE 006629,000288: 06,2206 56070 XCH RUPTREG1 006630,000289: 06,2207 00006 EXTEND 006631,000290: # Page 162 006632,000291: 06,2210 62514 BZMF TLIM # CHANGE IN IMU TEMP. 006633,000292: 06,2211 12213 TCF NXTIFBIT # BEGIN BIT SCAN. 006634,000293: 006635,000294: 06,2212 64753 -1 AD ONE # (RE-ENTERS HERE FROM NXTIFAIL.) 006636,000295: 06,2213 24070 NXTIFBIT INCR RUPTREG1 # ADVANCE BIT POSITION NUMBER. 006637,000296: 06,2214 60000 +1 DOUBLE 006638,000297: 06,2215 54000 TS A # SKIP IF OVERFLOW. 006639,000298: 06,2216 12213 TCF NXTIFBIT # LOOK FOR BIT. 006640,000299: 006641,000300: 06,2217 56071 XCH RUPTREG2 # SAVE OVERFLOW-CORRECTED DATA. 006642,000301: 06,2220 50070 INDEX RUPTREG1 # SELECT NEW VALUE OF THIS BIT. 006643,000302: 06,2221 34736 CAF BIT14 006644,000303: 06,2222 71302 MASK IMODES30 006645,000304: 06,2223 50070 INDEX RUPTREG1 006646,000305: 06,2224 02755 TC IFAILJMP 006647,000306: 006648,000307: 06,2225 10071 NXTIFAIL CCS RUPTREG2 # PROCESS ANY ADDITIONAL CHANGES. 006649,000308: 06,2226 12212 TCF NXTIFBIT -1 006650,000309: 006651,000310: # Page 163 006652,000311: # PROGRAM NAME: TNONTEST. 006653,000312: 006654,000313: # FUNCTIONAL DESCRIPTION: THIS PROGRAM HONORS REQUESTS FOR ISS INITIALIZATION. ISS TURN-ON (CHANNEL 30 BIT 14) 006655,000314: # AND ISS OPERATE (CHANNEL 30 BIT 9) REQUESTS ARE TREATED AS A PAIR AND PROCESSING TAKES PLACE .480 SECONDS 006656,000315: # AFTER EITHER ONE APPEARS. THIS INITIALIZATION TAKES ON ONE OF THE FOLLOWING THREE FORMS: 006657,000316: 006658,000317: # 1) ISS TURN-ON: IN THIS SITUATION THE COMPUTER IS OPERATING WHEN THE ISS IS TURNED ON. NOMINALLY, 006659,000318: # BOTH ISS TURN-ON AND ISS OPERATE APPEAR. THE PLATFORM IS CAGED FOR 90 SECONDS AND THE ICDU'S ZEROED 006660,000319: # SO THAT AT THE END OF THE PROCESS THE GIMBAL LOCK MONITOR WILL FUNCTION PROPERLY. 006661,000320: 006662,000321: # 2) ICDU INITIALIZATION: IN THIS CASE THE COMPUTER WAS PROBABLY TURNED ON WITH THE ISS IN OPERATE OR 006663,000322: # A FRESH START WAS DONE WIT THE ISS IN OPERATE. IN THIS CASE ONLY ISS OPERATE IS ON. THE ICDU'S ARE 006664,000323: # ZEROED SO THE GIMBAL LOCK MONITOR WILL FUNCTION. AN EXCEPTION IS IF THE ISS IS IN GIMBAL LOCK AFTER 006665,000324: # A RESTART, THE ICDU'S WILL NOT BE ZEROED. 006666,000325: 006667,000326: # 3) RESTART WITH RESTARTABLE PROGRAM USING THE IMU: IN THIS CASE, NO INITIALIZATION TAKES PLACE SINCE 006668,000327: # IT IS ASSUMED THT THE USING PROGRAM DID THE INITIALIZATION AND THEREFORE T4RUPT SHOULD NOT INTERFERE. 006669,000328: 006670,000329: # IMODES30 BIT 7 IS SET = 1 BY THE FIRST BIT (CHANNEL 30 BIT 14 OR 9) WHICH ARRIVES. FOLLOWING THIS, TNONTEST IS 006671,000330: # ENTERED, FINDS BIT 7 = 1 BUT BIT 8 = 0, SO IT SETS BIT 8 = 1 AND EXITS. THE NEXT TIME IT FINDS BIT 8 = 1 AND 006672,000331: # PROCEEDS, SETTING BITS 8 AND 7 = 0. AT PROCTNON, IF ISS TURN-ON REQUEST IS PRESENT, THE ISS IS CAGED (ZERO + 006673,000332: # COARSE). IF ISS OPERATE IS NOT PRESENT PROGRAM ALARM 00213 IS ISSUED. AT THE END OF A 90 SECOND CAGE, BIT 2 006674,000333: # OF IMODES30 IS TESTED. IF IT IS = 1, ISS TURN-ON WAS NOT PRESENT FOR THE ENTIRE 90 SECONDS. IN THAT CASE, IF 006675,000334: # THE ISS TURN-ON REQUEST IS PRESENT TEH 90 SECOD WAIT IS REPEATED. OTHERWISE NO ACTION OCURS UNLESS A PROGRAM 006676,000335: # WAS WAITING FOR THE INITIALIZATION IN WHIC CASE TH PROGRAM IS GIVEN AN IMUSTALL ERROR RETURN. IF THE DELAY 006677,000336: # WENT PROPERLY, THE ISS DELAY OUTBIT IS SENT AND THE ICDU'S ZEROED. A TASK IS INITIATED TO REMOVE THE PIPA FAIL 006678,000337: # INHIBIT BIT IN 10.24 SECONDS. IF A MISSION PROGRAM WAS WAITING IT IS INFORMED VIA ENDIMU. 006679,000338: 006680,000339: # AT PROCTNON, IF ONLY ISS OPERATE IS PRESENT (OPONLY), THE CDU'S ARE ZEROED UNLESS THE PLATFORM IS IN COARSE 006681,000340: # ALIGN (= GIMBAL LOCK HERE) OR A MISSIN PROGRAM IS USING THE IMU (INUSEFLG = 1). 006682,000341: 006683,000342: # CALLING SEQUENCE: T4RUPT EVERY 480 MILLISECONDS AFTER IMUMON. 006684,000343: 006685,000344: # JOBS OR TASKS INITIATED: 1) ENDTNON, 90 SECONDS AFER CAGING STARTED. 2) ISSUP, 4 SECONDS AFTER CAGING DONE. 006686,000345: # 3) PFAILOK, 10.24 SECONDS AFTER INITIALIZATION COMPLETED. 4) UNZ2, 320 MILLISECONDS AFTER ZEROING 006687,000346: # STARTED. 006688,000347: 006689,000348: # SUBROUTINES CALLED: CAGESUB, CAGESUB2, ZEROICDU, ENDIMU, IMUBAD, NOATTOFF, SETISSW, VARDELAY. 006690,000349: 006691,000350: # ERASABLE INITIALIZATION: SEE IMUMON. 006692,000351: 006693,000352: # ALARMS: PROGRAM ALARM 00213 IF ISS TURN-ON REQUESTED WITHOUT ISS OPERATE. 006694,000353: 006695,000354: # EXIT: ENDTNON EXITS TO C33TEST. TASKS HAVING TO DO WITH INITIALIZATION EXIT AS FOLLOWS: MISSION PROGRAM 006696,000355: # WAITING AND INITIALIZATION COMPLETE, EXIT TO ENDIMU, MISSION PROGRAM WAITING AND INITIALIZATION FAILED, EXIT TO 006697,000356: # IMUBAD, IMU NOT IN USE, EXIT TO TASKOVER. 006698,000357: 006699,000358: # OUTPUT: ISS INITIALIZED. 006700,000359: 006701,000360: 06,2227 41302 TNONTEST CS IMODES30 # AFTER PROCESSING ALL CHANGES, SEE IF IT 006702,000361: # Page 164 006703,000362: 06,2230 74745 MASK BIT7 # IS TIME TO ACT ON A TURN-ON SEQUENCE. 006704,000363: 06,2231 10000 CCS A 006705,000364: 06,2232 12374 TCF C33TEST # NO -- EXAMINE CHANNEL 33. 006706,000365: 006707,000366: 06,2233 34744 CAF BIT8 # SEE IF FIRST SAMPLE OR SECOND. 006708,000367: 06,2234 71302 MASK IMODES30 006709,000368: 06,2235 10000 CCS A 006710,000369: 06,2236 12242 TCF PROCTNON # REACT AFTER A SECOND SAMPLE. 006711,000370: 006712,000371: 06,2237 34744 CAF BIT8 # IF FIRST SAMPLE, SET BIT TO REACT NEXT 006713,000372: 06,2240 27302 ADS IMODES30 # TIME. 006714,000373: 06,2241 12374 TCF C33TEST 006715,000374: 006716,000375: # PROCESS IMU TURN-ON REQUESTS AFTER WAITING 1 SAMPLE FOR ALL SIGNALS TO ARRIVE. 006717,000376: 006718,000377: 06,2242 42777 PROCTNON CS BITS7&8 006719,000378: 06,2243 71302 MASK IMODES30 006720,000379: 06,2244 55302 TS IMODES30 006721,000380: 06,2245 74736 MASK BIT14 # SEE IF TURN-ON REQUEST. 006722,000381: 06,2246 10000 CCS A 006723,000382: 06,2247 12347 TCF OPONLY # OPERATE ON ONLY. 006724,000383: 006725,000384: 06,2250 41302 CS IMODES30 # IF TURN-ON REQUEST, WE SHOUD HAVE IMU 006726,000385: 06,2251 74743 MASK BIT9 # OPERATE. 006727,000386: 06,2252 10000 CCS A 006728,000387: 06,2253 12256 TCF +3 006729,000388: 006730,000389: 06,2254 05567 TC ALARM # ALARM IF NOT 006731,000390: 06,2255 00213 OCT 213 006732,000391: 006733,000392: 06,2256 02735 +3 TC CAGESUB 006734,000393: 06,2257 33005 CAF 90SECS 006735,000394: 06,2260 05203 TC WAITLIST 006736,000395: 06,2261 E6,1414 EBANK= M11 006737,000396: 06,2261 02266 14106 2CADR ENDTNON 006738,000397: 006739,000398: 06,2263 12374 TCF C33TEST 006740,000399: 006741,000400: 06,2264 33005 RETNON CAF 90SECS 006742,000401: 06,2265 05224 TC VARDELAY 006743,000402: 006744,000403: 06,2266 44752 ENDTNON CS BIT2 # RESET TURN-ON REQUEST FAIL BIT. 006745,000404: 06,2267 71302 MASK IMODES30 006746,000405: 06,2270 57302 XCH IMODES30 006747,000406: 06,2271 74752 MASK BIT2 # IF IT WAS OFF, SEND ISS DELAY COMPLETE. 006748,000407: 06,2272 00006 EXTEND 006749,000408: 06,2273 12306 BZF ENDTNON2 006750,000409: 006751,000410: 06,2274 34736 CAF BIT14 # IF IT WAS ON AND TURN-ON REQUEST NOW. 006752,000411: # Page 165 006753,000412: 06,2275 71302 MASK IMODES30 # PRESENT, RE-ENTER 90 SEC DELAY IN WL. 006754,000413: 06,2276 00006 EXTEND 006755,000414: 06,2277 12264 BZF RETNON 006756,000415: 006757,000416: 06,2300 40074 CS FLAGWRD0 # IF IT IS NOT ON NOW, SEE IF A PROG WAS 006758,000417: 06,2301 74744 MASK IMUSEBIT # WAITING. 006759,000418: 06,2302 10000 CCS A 006760,000419: 06,2303 15261 TCF TASKOVER 006761,000420: 06,2304 04635 TC POSTJUMP 006762,000421: 06,2305 17637 CADR IMUBAD # UNSUCCESSFUL TURN-ON. 006763,000422: 006764,000423: 06,2306 34735 ENDTNON2 CAF BIT15 # SEND ISS DELAY COMPLETE. 006765,000424: 06,2307 00006 EXTEND 006766,000425: 06,2310 05012 WOR CHAN12 006767,000426: 006768,000427: 06,2311 04674 TC IBNKCALL # TURN OFF NO ATT LAMP. 006769,000428: 06,2312 17266 CADR NOATTOFF 006770,000429: 006771,000430: 06,2313 05457 UNZ2 TC ZEROICDU 006772,000431: 006773,000432: 06,2314 44763 CS BITS4&5 # REMOVE ZERO AND COARSE. 006774,000433: 06,2315 00006 EXTEND 006775,000434: 06,2316 03012 WAND CHAN12 006776,000435: 006777,000436: 06,2317 34741 CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS 006778,000437: 06,2320 05224 TC VARDELAY 006779,000438: 006780,000439: 06,2321 42774 ISSUP CS OCT54 # REMOVE CAGING, IMU FAIL INHIBIT BIT, AND 006781,000440: 06,2322 71302 MASK IMODES30 # ICDUFAIL INHIBIT FLAGS. 006782,000441: 06,2323 55302 TS IMODES30 006783,000442: 006784,000443: 06,2324 44746 CS BIT6 # ENABLE DAP 006785,000444: 06,2325 71303 MASK IMODES33 006786,000445: 06,2326 55303 TS IMODES33 006787,000446: 006788,000447: 06,2327 40076 CS FLAGWRD2 # TEST DRIFTFLG: IF ON DO NOTHING BECAUSE 006789,000448: 06,2330 74735 MASK DRFTBIT # IMUCOMP SHOUD BE ALL SET UP (RESTART 006790,000449: 06,2331 00006 EXTEND # WITH IMUSE DOWN). IF OFF, SET DRIFTFLG 006791,000450: 06,2332 12336 BZF +4 # AND 1/PIPADT TO GET FREEFALL IMUCOMP 006792,000451: 06,2333 26076 ADS FLAGWRD2 # GOING (FRESH START OR ISS TURN-ON). 006793,000452: 06,2334 30025 CA TIME1 006794,000453: 06,2335 57075 XCH 1/PIPADT # CANNOT GET HERE IF RESTART WITH IMUSE UP 006795,000454: 006796,000455: 06,2336 02703 TC SETISSW # ISS WARNING MIGHT HAVE BEEN INHIBITED. 006797,000456: 006798,000457: 06,2337 44735 CS BIT15 # REMOVE IMU DELAY COMPLETE DISCRETE. 006799,000458: 06,2340 00006 EXTEND 006800,000459: 06,2341 03012 WAND CHAN12 006801,000460: 006802,000461: 06,2342 35003 CAF 4SECS # DON'T ENABLE PROG ALARM ON PIP FAIL FOR 006803,000462: # Page 166 006804,000463: 06,2343 05203 TC WAITLIST # ANOTHER 4 SECS. 006805,000464: 06,2344 E3,1474 EBANK= CDUIND 006806,000465: 06,2344 03254 16103 2CADR PFAILOK 006807,000466: 006808,000467: 06,2346 15261 TCF TASKOVER 006809,000468: 006810,000469: 06,2347 34750 OPONLY CAF BIT4 # IF OPERATE ON ONLY, AND WE ARE IN COARSE 006811,000470: 06,2350 00006 EXTEND # ALIGN, DON'T ZERO THE CDUS BECAUSE WE 006812,000471: 06,2351 02012 RAND CHAN12 # MIGHT BE IN GIMBAL LOCK. 006813,000472: 06,2352 10000 CCS A 006814,000473: 06,2353 12374 TCF C33TEST 006815,000474: 006816,000475: 06,2354 34744 CAF IMUSEBIT # OTHERWISE, ZERO THE COUNTERS. 006817,000476: 06,2355 70074 MASK FLAGWRD0 # UNLESS SOMEONE IS USING TH IMU. 006818,000477: 06,2356 10000 CCS A 006819,000478: 06,2357 12374 TCF C33TEST 006820,000479: 006821,000480: 06,2360 02746 TC CAGESUB2 # SET TURNON FLAGS. 006822,000481: 006823,000482: 06,2361 04674 ISSZERO TC IBNKCALL # TURN OFF NO ATT LAMP. 006824,000483: 06,2362 17266 CADR NOATTOFF # IMU CAGE OFF ENTRY. 006825,000484: 006826,000485: 06,2363 34747 CAF BIT5 # ISS CDU ZERO 006827,000486: 06,2364 00006 EXTEND 006828,000487: 06,2365 05012 WOR CHAN12 006829,000488: 006830,000489: 06,2366 05457 TC ZEROICDU 006831,000490: 06,2367 34746 CAF BIT6 # WAIT 300 MS. FOR AGS TO RECEIVE SIGNAL. 006832,000491: 06,2370 05203 TC WAITLIST 006833,000492: 06,2371 E6,1414 EBANK= M11 006834,000493: 06,2371 02313 14106 2CADR UNZ2 006835,000494: 006836,000495: 06,2373 12374 TCF C33TEST 006837,000496: 006838,000497: # Page 167 006839,000498: # PROGRAM NAME: C33TEST 006840,000499: 006841,000500: # FUNCTIONAL DESCRIPTION: THIS PROGRAM MONITORS THREE FLIP-FLOP INBITS OF CHANNEL 33 AND CALLS THE APPROPRIATE 006842,000501: # SUBROUTINE TO PROCESS A CHANGE. IT IS ANALOGOUS TO IMUMON, WHICH MONITORS CHANNEL 30, EXCEPT THAT IT READS 006843,000502: # CHANNEL 33 WITH A WAND INSTRUCTION BECAUSE A `WRITE' PULSE IS REQUIRED TO RESET THE FLIP-FLOPS. THE BITS 006844,000503: # PROCESSED AND THE SUBROUTINES CALLED ARE: 006845,000504: # BIT FUNCTION SUBROUTINE 006846,000505: # --- -------- ---------- 006847,000506: # 13 PIPA FAIL PIPFAIL 006848,000507: # 12 DOWNLINK TOO FAST DNTMFAST 006849,000508: # 11 UPLINK TOO FAST UPTMFAST 006850,000509: 006851,000510: # UPON ENTRY TO THE SUBROUTINE, THE NEW BIT STATE IS IN A. 006852,000511: 006853,000512: # CALLING SEQUENCE: EVERY 480 MILLISECONDS AFTER TNONTEST. 006854,000513: 006855,000514: # JOBS OR TASKS INITIATED: NONE. 006856,000515: 006857,000516: # SUBROUTINES CALLED: PIPFAIL, DNTMFAST AND UPTMFAST ON BIT CHANGES. 006858,000517: 006859,000518: # ERASABLE INITIALIZATION: C(IMODES33) = OCT 16000 ON A FRESH START OR RESTART, THEREFORE, THESE ALARMS WILL 006860,000519: # REAPPEAR IF THE CONDITIONS PERSIST. 006861,000520: 006862,000521: # ALARMS: NONE. 006863,000522: 006864,000523: # EXIT: GLOCKMON. 006865,000524: 006866,000525: # OUTPUT: UPDATED BITS 13, 12, AND 11 OF IMODES33 WITH CHANGES PROCESSED. 006867,000526: 006868,000527: 06,2374 31303 C33TEST CA IMODES33 # SEE IF RELEVANT CHAN33 BITS HAVE 006869,000528: 06,2375 75026 MASK 33RDMSK 006870,000529: 06,2376 54001 TS L # CHANGED. 006871,000530: 06,2377 35026 CAF 33RDMSK 006872,000531: 06,2400 00006 EXTEND 006873,000532: 06,2401 03033 WAND CHAN33 # RESETS FLIP-FLOP INPUTS 006874,000533: 06,2402 00006 EXTEND 006875,000534: 06,2403 06001 RXOR LCHAN 006876,000535: 06,2404 00006 EXTEND 006877,000536: 06,2405 12434 BZF GLOCKMON # ON NO CHANGE. 006878,000537: 006879,000538: 06,2406 54070 TS RUPTREG1 # SAVE BITS WHICH HAVE CHANGED. 006880,000539: 06,2407 23303 LXCH IMODES33 006881,000540: 06,2410 00006 EXTEND 006882,000541: 06,2411 06001 RXOR LCHAN 006883,000542: 06,2412 55303 TS IMODES33 # UPDATED IMODES33. 006884,000543: 006885,000544: 06,2413 34755 CAF ZERO 006886,000545: 06,2414 56070 XCH RUPTREG1 006887,000546: 06,2415 60000 DOUBLE 006888,000547: # Page 168 006889,000548: 06,2416 12421 TCF NXTIBT +1 # SCAN FOR BIT CHANGES. 006890,000549: 006891,000550: 06,2417 64753 -1 AD ONE 006892,000551: 06,2420 24070 NXTIBT INCR RUPTREG1 006893,000552: 06,2421 60000 +1 DOUBLE 006894,000553: 06,2422 54000 TS A # (CODING IDENTICAL TO CHAN 30). 006895,000554: 06,2423 12420 TCF NXTIBT 006896,000555: 006897,000556: 06,2424 56071 XCH RUPTREG2 006898,000557: 06,2425 50070 INDEX RUPTREG1 # GET NEW VALUE OF BIT WHICH CHANGED. 006899,000558: 06,2426 34737 CAF BIT13 006900,000559: 06,2427 71303 MASK IMODES33 006901,000560: 06,2430 50070 INDEX RUPTREG1 006902,000561: 06,2431 02763 TC C33JMP 006903,000562: 06,2432 10071 NXTFL33 CCS RUPTREG2 # PROCESS POSSIBLE ADDITIONAL CHANGES. 006904,000563: 06,2433 12417 TCF NXTIBT -1 006905,000564: 006906,000565: # Page 169 006907,000566: # PROGRAM NAME: GLOCKMON 006908,000567: 006909,000568: # FUNCTIONAL DESCRIPTION: THIS PROGRAM MONITORS THE CDUZ COUNTER TO DETERMINE WHETHER THE ISS IS IN GIMBAL LOCK 006910,000569: # AND TAKES ACTION IF IT IS. THREE REGIONS OF MIDDLE GIMBAL ANGLE (MGA) ARE USED: 006911,000570: 006912,000571: # 1) ABS(MGA) LESS THAN OR EQUAL TO 70 DEGREES -- NORMAL MODE. 006913,000572: # 2) ABS(MGA) GREATER THAN 70 DEGREES AND LESS THAN OR EQUAL TO 85 DEGREES -- GIMBAL LOCK LAMP TURNED ON. 006914,000573: # 3) ABS(MGA) GREATER THAN 85 DEGREES -- ISS PUT IN COARSE ALIGN AND NO ATT LAMP TURNED ON. 006915,000574: 006916,000575: # CALLING SEQUENCE: EVERY 480 MILLISECONDS AFTER C33TEST. 006917,000576: 006918,000577: # JOBS OR TASKS INITIATED: NONE. 006919,000578: 006920,000579: # SUBROUTINES CALLED: 1) SETCOARS WHEN ABS(MGA) GREATER THEN 85 DEGREES AND ISS NOT IN COARSE ALIGN. 006921,000580: # 2) LAMPTEST BEFORE TURNING OFF GIMBAL LOCK LAMP. 006922,000581: 006923,000582: # ERASABLE INITIALIZATION: 006924,000583: # 1) FRESH START OR RESTART WITH NO GROUPS ACTIVE: C(CDUZ) = 0, IMODES30 BIT 6 = 0, IMODES33 BIT 1 = 0. 006925,000584: # 2) RESTART WTIH GROUPS ACTIVE: SAME AS FRESH START EXCEPT C(CDUZ) NOT CHANGED SO GIMBAL MONITOR 006926,000585: # PROCEEDS AS BEFORE. 006927,000586: 006928,000587: # ALARMS: 1) MGA REGION (2) CAUSES GIMBAL LOCK LAMP TO BE LIT. 006929,000588: # 2) MGA REGION (3) CAUSES THE ISS TO BE PUT IN COARSE ALIGN AND THE NO ATT LAMP TO BE LIT IF EITHER NOT 006930,000589: # SO ALREADY. 006931,000590: 006932,000591: 06,2434 10034 GLOCKMON CCS CDUZ 006933,000592: 06,2435 12441 TCF GLOCKCHK # SEE IF MAGNITUDE OF MGA IS GREATER THAN 006934,000593: 06,2436 12465 TCF SETGLOCK # 70 DEGREES. 006935,000594: 06,2437 12441 TCF GLOCKCHK 006936,000595: 06,2440 12465 TCF SETGLOCK 006937,000596: 006938,000597: 06,2441 62512 GLOCKCHK AD -70DEGS 006939,000598: 06,2442 00006 EXTEND 006940,000599: 06,2443 62464 BZMF SETGLOCK -1 # NO LOCK. 006941,000600: 006942,000601: 06,2444 62513 AD -15DEGS # SEE IF ABS(MGA) GREATER THAN 85 DEGREES 006943,000602: 06,2445 00006 EXTEND 006944,000603: 06,2446 62462 BZMF NOGIMRUN 006945,000604: 006946,000605: 06,2447 34750 CAF BIT4 # IF SO, SYSTEM SHOULD BE IN COARSE ALIGN 006947,000606: 06,2450 00006 EXTEND # TO PREVENT GIMBAL RUNAWAY. 006948,000607: 06,2451 02012 RAND CHAN12 006949,000608: 06,2452 10000 CCS A 006950,000609: 06,2453 12462 TCF NOGIMRUN 006951,000610: 006952,000611: 06,2454 04674 TC IBNKCALL 006953,000612: 06,2455 17144 CADR SETCOARS 006954,000613: 006955,000614: 06,2456 36242 CAF SIX # ENABLE ISS ERROR COUNTERS IN 60 MS. 006956,000615: 06,2457 05203 TC WAITLIST 006957,000616: # Page 170 006958,000617: 06,2460 E3,1474 EBANK= CDUIND 006959,000618: 06,2460 03140 16103 2CADR CA+ECE 006960,000619: 006961,000620: 06,2462 34746 NOGIMRUN CAF BIT6 # TURN ON GIMBAL LOCK LAMP. 006962,000621: 06,2463 12465 TCF SETGLOCK 006963,000622: 006964,000623: 06,2464 34755 -1 CAF ZERO 006965,000624: 06,2465 61036 SETGLOCK AD DSPTAB +11D # SEE IF PRESENT STATE OF GIMBAL LOCK LAMP 006966,000625: 06,2466 74746 MASK BIT6 # AGREES WITH DESIRED STATE BY HALF ADDING 006967,000626: 06,2467 00006 EXTEND # THE TWO. 006968,000627: 06,2470 15270 BZF GLOCKOK # OK AS IS. 006969,000628: 006970,000629: 06,2471 71036 MASK DSPTAB +11D # IF OFF, DON'T TURN ON IF IMU BEING CAGED. 006971,000630: 06,2472 10000 CCS A 006972,000631: 06,2473 12507 TCF GLAMPTST # TURN OFF UNLESS LAMP TEST IN PROGRESS. 006973,000632: 006974,000633: 06,2474 34746 CAF BIT6 006975,000634: 06,2475 71302 MASK IMODES30 006976,000635: 06,2476 10000 CCS A 006977,000636: 06,2477 15270 TCF GLOCKOK 006978,000637: 006979,000638: 06,2500 41036 GLINVERT CS DSPTAB +11D # INVERT GIMBAL LOCK LAMP. 006980,000639: 06,2501 74746 MASK BIT6 006981,000640: 06,2502 64735 AD BIT15 # TO INDICATE CHANGE IN DSPTAB +11D. 006982,000641: 06,2503 57036 XCH DSPTAB +11D 006983,000642: 06,2504 72162 MASK OCT37737 006984,000643: 06,2505 27036 ADS DSPTAB +11D 006985,000644: 06,2506 15270 TCF GLOCKOK 006986,000645: 006987,000646: 06,2507 02766 GLAMPTST TC LAMPTEST # TURN OFF UNLESS LAMP TEST IN PROGRESS. 006988,000647: 06,2510 15270 TCF GLOCKOK 006989,000648: 06,2511 12500 TCF GLINVERT 006990,000649: 006991,000650: 06,2512 63434 -70DEGS DEC -.38888 # -70 DEGREES SCALED IN HALF-REVOLUTIONS. 006992,000651: 06,2513 75252 -15DEGS DEC -.08333 006993,000652: 006994,000653: # Page 171 006995,000654: # PROGRAM NAME: TLIM. 006996,000655: 006997,000656: # FUNCTIONAL DESCRIPTION: THIS PROGRAM MAINTAINS THE TEMP LAMP (BIT 4 OF CHANNEL 11) ON THE DSKY TO AGREE WITH 006998,000657: # THE TEMP SIGNAL FROM THE ISS (BIT 15 OF CHANNEL 30). HOWEVER, THE LIGHT WILL NOT BE TURNED OFF IF A LAMP TEST 006999,000658: # IS IN PROGRESS. 007000,000659: 007001,000660: # CALLING SEQUENCE: CALLED BY IMUMON ON A CHANGE OF BIT 15 OF CHANNEL 30. 007002,000661: 007003,000662: # JOBS OR TASKS INITIATED: NON. 007004,000663: 007005,000664: # SUBROUTINES CALLED: LAMPTEST. 007006,000665: 007007,000666: # ERASABLE INITIALIZATION: FRESH START AND RESTART TURN THE TEMP LAMP OFF. 007008,000667: 007009,000668: # ALARMS: TEMP LAMP TURNED ON WHEN THE IMU TEMP GOES OUT OF LIMITS. 007010,000669: 007011,000670: # EXIT: NXTIFAIL. 007012,000671: 007013,000672: # OUTPUT: SERVICE OF TEMP LAMP. IN A, EXCEPT FOR TLIM. 007014,000673: 007015,000674: 06,2514 74733 TLIM MASK POSMAX # REMOVE BIT FROM WORD OF CHANGES AND SET 007016,000675: 06,2515 54071 TS RUPTREG2 # DSKY TEMP LAMP ACCORDINGLY. 007017,000676: 007018,000677: 06,2516 11302 CCS IMODES30 007019,000678: 06,2517 12525 TCF TEMPOK 007020,000679: 06,2520 12525 TCF TEMPOK 007021,000680: 007022,000681: 06,2521 34750 CAF BIT4 # TURN ON LAMP. 007023,000682: 06,2522 00006 EXTEND 007024,000683: 06,2523 05011 WOR DSALMOUT 007025,000684: 06,2524 12225 TCF NXTIFAIL 007026,000685: 007027,000686: 06,2525 02766 TEMPOK TC LAMPTEST # IF TEMP NOW OK, DON'T TURN OFF LAMP IF 007028,000687: 06,2526 12225 TCF NXTIFAIL # LAMP TEST IN PROGRESS. 007029,000688: 007030,000689: 06,2527 44750 CS BIT4 007031,000690: 06,2530 00006 EXTEND 007032,000691: 06,2531 03011 WAND DSALMOUT # TURN OFF LAMP 007033,000692: 06,2532 12225 TCF NXTIFAIL 007034,000693: 007035,000694: # Page 172 007036,000695: # PROGRAM NAME: ITURNON. 007037,000696: 007038,000697: # FUNCTIONAL DESCRIPTION: THIS PROGRAM IS CALLED BY IMUMON WHEN A CHANGE OF BIT 14 OF CHANNEL 30 (ISS TURN-ON 007039,000698: # REQUEST) IS DETECTED. UPON ENTRY, ITURNON CHECKS IF A TURN-ON DELAY SEQUENCE HAS FAILED, AND IF SO, IT EXITS. 007040,000699: # IF NOT, IT CHECKS WHETHER THE TURN-ON REQUEST CHANGE IS TO ON OR OFF. IF ON, IT SETS BIT7 OF IMODES30 TO 1 SO 007041,000700: # THAT TNONTEST WILL INITIATE THE ISS INITIALIZATION SEQUENCE. IF OFF, THE TURN-ON DELAY SIGNAL, CHANNEL 12 BIT 007042,000701: # 15, IS CHECKED AND IF IT IS ON, ITURNON EXITS. IF THE DEALY SIGNAL IS OFF, PROGRAM ALARM 00207 IS ISSUED, BIT 2 007043,000702: # OF IMODES30 IS SET TO 1 AND THE PROGRAM EXITS. 007044,000703: 007045,000704: # THE SETTING OF BIT 2 OF IMODES30 (ISS DELAY SEQUENCE FAIL) INHIBITS THIS ROUTINE AND IMUOP FROM 007046,000705: # PROCESSING ANY CHANGES. THIS BIT WILL BE RESET BY THE ENDTNON ROUTINE WHEN THE CURRENT 90 SECOND DELAY PERIOD 007047,000706: # ENDS. 007048,000707: 007049,000708: # CALLING SEQUENCE: FROM IMUMON WHEN ISS TURN-ON REQUEST CHANGES STATE. 007050,000709: 007051,000710: # JOBS OR TASKS INITITIATED: NONE. 007052,000711: 007053,000712: # SUBROUTINES CALLED: ALARM, IF THE ISS TURN-ON REQUEST IS NOT PRESENT FOR 90 SECONDS. 007054,000713: 007055,000714: # ERASABLE INITIALIZATION: FRESH START AND RESTART SET BIT 15 OF CHANNEL 12 AND BITS 2 AND 7 OF IMODES30 TO 0, 007056,000715: # AND BIT 14 OF IMODES30 TO 1. 007057,000716: 007058,000717: # ALARMS: PROGRAM ALARM 00207 IS ISSUED IF THE ISS TURN-ON REQUEST SIGNAL IS NOT PRESENT FOR 90 SECONDS. 007059,000718: 007060,000719: # EXIT: NXTIFAIL. 007061,000720: 007062,000721: # OUTPUT: BIT 7 OF IMODES30 TO START ISS INITIALIZATION, OR BIT 2 OF IMODES30 AND PROGRAM ALARM 00207 TO INDICATE 007063,000722: # A FAILED TURN-ON SEQUENCE. 007064,000723: 007065,000724: 06,2533 34752 ITURNON CAF BIT2 # IF DELAY REQUEST HAS GONE OFF 007066,000725: 06,2534 71302 MASK IMODES30 # PREMATURELY, DO NOT PROCESS ANY CHANGES 007067,000726: 06,2535 10000 CCS A # UNTIL THE CURRENT 90 SEC WAIT EXPIRES. 007068,000727: 06,2536 12225 TCF NXTIFAIL 007069,000728: 007070,000729: 06,2537 34736 CAF BIT14 # SEE IF JUST ON OR OFF. 007071,000730: 06,2540 71302 MASK IMODES30 007072,000731: 06,2541 00006 EXTEND 007073,000732: 06,2542 12556 BZF ITURNON2 # IF JUST ON. 007074,000733: 007075,000734: 06,2543 34735 CAF BIT15 007076,000735: 06,2544 00006 EXTEND # SEE IF DELAY PRESENT DISCRETE HAS BEEN 007077,000736: 06,2545 02012 RAND CHAN12 # SENT. IF SO, ACTION COMPLETE 007078,000737: 06,2546 00006 EXTEND 007079,000738: 06,2547 12551 BZF +2 007080,000739: 06,2550 12225 TCF NXTIFAIL 007081,000740: 007082,000741: 06,2551 34752 CAF BIT2 # IF NOT, SET BIT TO INDICATE REQUEST NOT 007083,000742: 06,2552 27302 ADS IMODES30 # PRESENT FOR FULL DURATION. 007084,000743: 06,2553 05567 TC ALARM 007085,000744: 06,2554 00207 OCT 207 007086,000745: 06,2555 12225 TCF NXTIFAIL 007087,000746: 007088,000747: # Page 173 007089,000748: 06,2556 41302 ITURNON2 CS IMODES30 # SET BIT7 TO INDICATE WAIT OF 1 SAMPLE 007090,000749: 06,2557 74745 MASK BIT7 007091,000750: 06,2560 27302 ADS IMODES30 007092,000751: 06,2561 32564 CAF RRINIT 007093,000752: 06,2562 54110 TS RADMODES 007094,000753: 06,2563 12225 TCF NXTIFAIL 007095,000754: 007096,000755: 06,2564 00102 RRINIT OCT 00102 007097,000756: 007098,000757: # Page 174 007099,000758: # PROGRAM NAME: IMUCAGE. 007100,000759: 007101,000760: # FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES OF THE IMUCAGE INBIT, CHANNEL 30 BITS 11. IF THE BIT 007102,000761: # CHANGES TO 0 (CAGE BUTTON PRESSED), THE ISS IS CAGED (ICDU ZERO + COARSE ALIGN + NO ATT LAMP) UNTIL THE 007103,000762: # ASTRONAUT SELECTS ANOTHER PROGRAM TO ALIGN THE ISS. ANY PULSE TRAINS TO THE ICDU'S AND GYRO'S ARE TERMINATED, 007104,000763: # THE ASSOCIATE OUTCOUNTERS ARE ZEROED AND THE GYRO'S ARE DE-SELECTED. NO ACTION OCCURS WHEN THE BUTTON IS 007105,000764: # RELEASED (INBIT CHANGES TO 1). 007106,000765: 007107,000766: # CALLING SEQUENCE: BY IMUMON WHEN IMU CAGE BIT CHANGES. 007108,000767: 007109,000768: # JOBS OR TASKS INITIATED: NONE. 007110,000769: 007111,000770: # SUBROUTINES CALLED: CAGESUB. 007112,000771: 007113,000772: # ERASABLE INITIALZATION: FRESH START AND RESTART SET BIT 11 OF IMODES30 TO 1. 007114,000773: 007115,000774: # ALARMS: NONE. 007116,000775: 007117,000776: # EXIT: NXTIFAIL. 007118,000777: 007119,000778: # OUTPUT: ISS CAGED, COUNTERS ZEROED, PULSE TRAINS TERMINATED AND NO ATT LAMP LIT. 007120,000779: 007121,000780: 06,2565 10000 IMUCAGE CCS A # NO ACTION OF GOING OFF. 007122,000781: 06,2566 12361 TCF ISSZERO 007123,000782: 06,2567 43002 CS OCT77000 # TERMINATE ICDU, RCDU, GYRO PULSE TRAINS 007124,000783: 06,2570 00006 EXTEND 007125,000784: 06,2571 03014 WAND CHAN14 007126,000785: 007127,000786: 06,2572 42776 CS OCT272 # KNOCK DOWN DISPLAY INERTIAL DATA, IMU 007128,000787: 06,2573 00006 EXTEND # ERROR COUNTER ENABLE, ZERO ICDU, COARSE 007129,000788: 06,2574 03012 WAND CHAN12 # ALIGN ENABLE, RR ERROR COUNTER ENABLE. 007130,000789: 007131,000790: 06,2575 44745 CS ENGONBIT # INSURE ENGONFLG IS CLEAR. 007132,000791: 06,2576 70101 MASK FLAGWRD5 007133,000792: 06,2577 54101 TS FLAGWRD5 007134,000793: 06,2600 44355 CS PRIO30 # TURN ENGINE OFF. 007135,000794: 06,2601 00006 EXTEND 007136,000795: 06,2602 02011 RAND DSALMOUT 007137,000796: 06,2603 64736 AD BIT14 007138,000797: 06,2604 00006 EXTEND 007139,000798: 06,2605 01011 WRITE DSALMOUT # FORCE BIT14=1, BIT13=0. 007140,000799: 007141,000800: 06,2606 02743 TC CAGESUB1 007142,000801: 007143,000802: 06,2607 04674 TC IBNKCALL # KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS 007144,000803: 06,2610 17175 CADR RNDREFDR 007145,000804: 007146,000805: 06,2611 44755 CS ZERO 007147,000806: 06,2612 54050 TS CDUXCMD 007148,000807: 06,2613 54051 TS CDUYCMD 007149,000808: # Page 175 007150,000809: 06,2614 54052 TS CDUZCMD 007151,000810: 06,2615 54047 TS GYROCMD 007152,000811: 007153,000812: 06,2616 43001 CS OCT740 # HAVING WAITED AT LEAST 27 MCT FROM 007154,000813: 06,2617 00006 EXTEND # GYRO PULSE TRAIN TERMINATION, WE CAN 007155,000814: 06,2620 03014 WAND CHAN14 # DE-SELECT THE GYROS. 007156,000815: 06,2621 12225 TCF NXTIFAIL 007157,000816: 007158,000817: # Page 176 007159,000818: # PROGRAM NAME: IMUOP. 007160,000819: 007161,000820: # FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES IN THE ISS OPERATE DISCRETE, BIT 9 OF CHANNEL 30. 007162,000821: # IF THE INBIT CHANGES TO 0, INDICATING ISS ON, IMUOP GENERALLY SETS BIT 7 OF IMODES30 TO 1 TO REQUEST ISS 007163,000822: # INITIALIZATION VIA TNONTEST. AN EXCEPTION IS DURING A FAILED ISS DELAY DURING WHICH BIT 2 OF IMODES30 IS SET 007164,000823: # TO 1 AND NO FURTHER INITIALIZATION IS REQUIRED. WHEN THE INBIT CHANGES TO 1, INDICATING ISS OFF, IMUSEFLG IS 007165,000824: # TESTED TO SEE IF ANY PROGRAM WAS USING THE ISS. IF SO, PROGRAM ALARM 00214 IS ISSUED. 007166,000825: 007167,000826: # CALLING SEQUENCE: BY IMUMON WHEN BIT 9 OF CHANNEL 30 CHANGES. 007168,000827: 007169,000828: # JOBS OR TAKS INITIATED: NONE. 007170,000829: # 007171,000830: # SUBROUTINES CALLED: ALARM, IF ISS IS TURNED OFF WHILE IN USE. 007172,000831: 007173,000832: # ERASABLE INITIALIZATION: ON FRESH START AND RESTART, BIT 9 OF IMODES30 IS SET TO 1 EXCEPT WHEN THE GIMBAL LOCK 007174,000833: # LAMP IS ON, IN WHICH CASE IT IS SET TO 0. THIS PREVENTS ICDU ZERO BY TNONTEST WITH THE ISS IN GIMBAL LOCK. 007175,000834: 007176,000835: # ALARMS: PROGRAM ALARM 00214 IF THE ISS IS TURNED OFF WHILE IN USE. 007177,000836: 007178,000837: # EXIT: NXTIFAIL. 007179,000838: 007180,000839: # OUTPUT: ISS INITIALIZATION REQUEST (IMODES30 BIT 7) OR PROGRAM ALARM 00214. 007181,000840: 007182,000841: 06,2622 00006 IMUOP EXTEND 007183,000842: 06,2623 12643 BZF IMUOP2 007184,000843: 007185,000844: 06,2624 41303 CS IMODES33 # DISABLE DAP 007186,000845: 06,2625 74746 MASK BIT6 007187,000846: 06,2626 27303 ADS IMODES33 007188,000847: 007189,000848: 06,2627 04674 TC IBNKCALL # KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS 007190,000849: 06,2630 17175 CADR RNDREFDR 007191,000850: 007192,000851: 06,2631 42777 CS BITS7&8 # KNOCK DOWN RENDEZVOUS, IMUUSE FLAGS 007193,000852: 06,2632 70074 MASK FLAGWRD0 007194,000853: 06,2633 56074 XCH FLAGWRD0 # IF GOING OFF, ALARM IF PROG USING IMU. 007195,000854: 06,2634 40000 COM 007196,000855: 06,2635 74744 MASK IMUSEFLG 007197,000856: 06,2636 10000 CCS A 007198,000857: 06,2637 12225 TCF NXTIFAIL 007199,000858: 007200,000859: 06,2640 05567 TC ALARM 007201,000860: 06,2641 00214 OCT 214 007202,000861: 06,2642 12225 TCF NXTIFAIL 007203,000862: 007204,000863: 06,2643 34752 IMUOP2 CAF BIT2 # SEE IF FAILED ISS TURN-ON SEQ IN PROG. 007205,000864: 06,2644 71302 MASK IMODES30 007206,000865: 06,2645 10000 CCS A 007207,000866: 06,2646 12225 TCF NXTIFAIL # IF SO, DON'T PROCESS UNTIL PRESENT 90 007208,000867: 06,2647 12556 TCF ITURNON2 # SECONDS EXPIRES. 007209,000868: 007210,000869: # Page 177 007211,000870: # PROGRAM NAME: PIPFAIL 007212,000871: 007213,000872: # FUNCITONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES OF BIT 13 OF CHANNEL 33, PIPA FAIL. IT SETS BIT 10 OF 007214,000873: # IMODES30 TO AGREE. IT CALLS SETISSW IN CASE A PIPA FAIL NECESSITATES AN ISS WARNING. IF NOT, I.E., IMODES30 007215,000874: # BIT 1 = 1, AND A PIPA FAIL IS PRESENT AND THE ISS NOT BEING INITIALIZED, PROGRAM ALARM 0212 IS ISSUED. 007216,000875: 007217,000876: # CALLING SEQUENCE: BY C33TEST ON CHANGES OF CHANNEL 33 BIT 13. 007218,000877: 007219,000878: # JOBS OR TASKS INITIATED: NONE. 007220,000879: 007221,000880: # SUBROUTINES CALLED: 1) SETISSW, AND 2) ALARM (SEE FUNCITONAL DESCRIPTION). 007222,000881: 007223,000882: # ERASABLE INITIALZIZATION: SEE IMUMON FOR INITIALIZATION OF IMODES30. THE RELEVANT BITS ARE 5, 7, 8, 9, AND 10. 007224,000883: 007225,000884: # ALARMS: PROGRAM ALARM 00212 IF PIPA FAIL IS PRESENT BUT NEITHER ISS WARNING IS TO BE ISSUED NOR THE ISS IS 007226,000885: # BEING INITIALIZED. 007227,000886: 007228,000887: # EXIT: NXTFL33. 007229,000888: 007230,000889: # OUTPUT: PROGRAM ALARM 00212 AND ISS WARNING MAINTENANCE. 007231,000890: 007232,000891: 06,2650 10000 PIPFAIL CCS A # SET BIT10 IN IMODES30 SO ALL ISS WARNING 007233,000892: 06,2651 34742 CAF BIT10 # INFO IS IN ONE REGISTER. 007234,000893: 06,2652 57302 XCH IMODES30 007235,000894: 06,2653 73004 MASK -BIT10 007236,000895: 06,2654 27302 ADS IMODES30 007237,000896: 007238,000897: 06,2655 02703 TC SETISSW 007239,000898: 007240,000899: 06,2656 41302 CS IMODES30 # IF PIP FAIL DOESN'T LIGHT ISS WARNING, DO 007241,000900: 06,2657 74753 MASK BIT1 # A PROGRAM ALARM IF IMU OPERATING BUT NOT 007242,000901: 06,2660 10000 CCS A # CAGED OR BEING TURNED ON. 007243,000902: 06,2661 12432 TCF NXTFL33 007244,000903: 007245,000904: 06,2662 31302 CA IMODES30 007246,000905: 06,2663 73000 MASK OCT1720 007247,000906: 06,2664 10000 CCS A 007248,000907: 06,2665 12432 TCF NXTFL33 # ABOVE CONDITION NOT MET. 007249,000908: 007250,000909: 06,2666 05567 TC ALARM 007251,000910: 06,2667 00212 OCT 212 007252,000911: 06,2670 12432 TCF NXTFL33 007253,000912: 007254,000913: # Page 178 007255,000914: # PROGRAM NAMES: DNTMFAST, UPTMFAST 007256,000915: 007257,000916: # FUNCTIONAL DESCRIPTION: THESE PROGRAMS PROCESS CHANGES OF BITS 12 AND 11 OF CHANNEL 33. IF A BIT CHANGES TO A 007258,000917: # 0, A PROGRAM ALARM IS ISSUED. THE LAARMS ARE: 007259,000918: 007260,000919: # BIT ALARM CAUSE 007261,000920: # --- ----- ----- 007262,000921: # 12 01105 DOWNLINK TOO FAST 007263,000922: # 11 01106 UPLINK TOO FAST 007264,000923: 007265,000924: # CALLING SEQUENCE: BY C33TEST ON A BIT CHANGE. 007266,000925: 007267,000926: # SUBROUTINES CALLED: ALARM, IF A BIT CHANGES TO A 0. 007268,000927: 007269,000928: # ERASABLE INITIALIZATION: FRESH START OR RESTART, BITS 12 AND 11 OF IMODES33 ARE SET TO 1. 007270,000929: 007271,000930: # ALARMS: SET FUNCTGIONAL DESCRIPTION. 007272,000931: 007273,000932: # EXIT: NXTFL33. 007274,000933: 007275,000934: # OUTPUT: PROGRAM ALARM ON A BIT CHANGE TO 0. 007276,000935: 007277,000936: 06,2671 10000 DNTMFAST CCS A # DO PROG ALARM IF TM TOO FAST. 007278,000937: 06,2672 12432 TCF NXTFL33 007279,000938: 007280,000939: 06,2673 05567 TC ALARM 007281,000940: 06,2674 01105 OCT 1105 007282,000941: 06,2675 12432 TCF NXTFL33 007283,000942: 007284,000943: 06,2676 10000 UPTMFAST CCS A # SAME AS DNLINK TOO FAST WITH DIFFERENT 007285,000944: 06,2677 12432 TCF NXTFL33 # ALARM CODE. 007286,000945: 007287,000946: 06,2700 05567 TC ALARM 007288,000947: 06,2701 01106 OCT 1106 007289,000948: 06,2702 12432 TCF NXTFL33 007290,000949: # Page 179 007291,000950: # PROGRAM NAME: SETISSW 007292,000951: 007293,000952: # FUNCTIONAL DESCRIPTION: THIS PROGRAM TURNS THE ISS WARNING LAMP ON AND OFF (CHANNEL 11 BIT 1 = 1 FOR ON, 007294,000953: # 0 FOR OFF) DEPENDING ON THE STATUS OF IMODES30 BITS 13 (IMU FAIL) AND 4 (INHIBIT IMU FAIL), 12 (ICDU FAIL) AND 007295,000954: # 3 (INHIBIT ICDU FAIL), AND 10 (PIPA FAIL) AND 1 (INHIBIT PIPA FAIL). THE LAMP IS LEFT ON IF A LAMP TEST IS IN 007296,000955: # PROGRESS. 007297,000956: 007298,000957: # CALLING SEQUENCE: CALLED BY IMUMON ON CHANGES TO IMU FAIL AND ICDU FAIL. CALLED BY IFAILOK AND PFAILOK UPON 007299,000958: # REMOVAL OF THE FAIL INHIBITS. CALLED BY PIPFAIL WHEN THE PIPA FAIL DISCRETE CHANGES. IT IS CALLED BY PIPUSE 007300,000959: # SINCE THE PIPA FAIL PROGRAM ALARM MAY NECESSITATE AN ISS WARNING, AND LIKEWISE BY PIPFREE WHEN THE ALARM DEPARTS 007301,000960: # AND IT IS CALLED BY IMUZERO3 AND ISSUP AFTER THE FAIL INHIBITS HAVE BEEN REMOVED. 007302,000961: 007303,000962: # JOBS OR TASKS INITIAZTED: NONE. 007304,000963: 007305,000964: # SUBROUTINES CALLED: NONE. 007306,000965: 007307,000966: # ERASABLE INITIALIZATION: 007308,000967: 007309,000968: # 1) IMODES30 -- SEE IMUMON. 007310,000969: # 2) IMODES33 BIT 1 = 0 (LAMP TEST NOT IN PROGRESS). 007311,000970: 007312,000971: # ALARMS: ISS WARNING. 007313,000972: 007314,000973: # THE FOLLOWING PROGRAM ALARMS WILL SHOW WHICH FAILURE CAUSED THE ISS WARN 007315,000974: # PROGRAM ALARM 00777 PIPA FAIL 007316,000975: # PROGRAM ALARM 03777 ICDU FAIL 007317,000976: # PROGRAM ALARM 04777 ICDU, PIPA FAILS 007318,000977: # PROGRAM ALARM 07777 IMU FAIL 007319,000978: # PROGRAM ALARM 10777 IMU, PIPA FAILS 007320,000979: # PROGRAM ALARM 13777 IMU, ICDU FAILS 007321,000980: # PROGRAM ALARM 14777 IMU, ICDU, PIPA FAILS 007322,000981: 007323,000982: # EXIT: VIA Q. 007324,000983: 007325,000984: # OUTPUT: ISS WARNING LAMP SET PROPERLY. 007326,000985: 007327,000986: 06,2703 34761 SETISSW CAF OCT15 # SET ISS WARNING USING THE FAIL BITS IN 007328,000987: 06,2704 71302 MASK IMODES30 # BITS 13, 12, AND 10 OF IMODES30 AND THE 007329,000988: 06,2705 00006 EXTEND # FAILURE INHIBIT BITS IN POSITIONS 007330,000989: 06,2706 74742 MP BIT10 # 4, 3, AND 1. 007331,000990: 06,2707 31302 CA IMODES30 007332,000991: 06,2710 00006 EXTEND 007333,000992: 06,2711 04001 ROR LCHAN # 0 INDICATES FAILURE 007334,000993: 06,2712 40000 COM 007335,000994: 06,2713 75025 MASK OCT15000 007336,000995: 06,2714 10000 CCS A 007337,000996: 06,2715 12726 TCF ISSWON # FAILURE. 007338,000997: 007339,000998: 06,2716 34753 ISSWOFF CAF BIT1 # DON'T TURN OFF ISS WARNING IF LAMP TEST 007340,000999: 06,2717 71303 MASK IMODES33 # IN PROGRESS. 007341,001000: # Page 180 007342,001001: 06,2720 10000 CCS A 007343,001002: 06,2721 00002 TC Q 007344,001003: 007345,001004: 06,2722 44753 CS BIT1 007346,001005: 06,2723 00006 EXTEND 007347,001006: 06,2724 03011 WAND DSALMOUT 007348,001007: 06,2725 00002 TC Q 007349,001008: 007350,001009: 06,2726 00006 ISSWON EXTEND 007351,001010: 06,2727 22066 QXCH ITEMP6 007352,001011: 06,2730 05744 TC VARALARM # TELL EVERYONE WHAT CAUSED THE ISS WARNING 007353,001012: 06,2731 34753 CAF BIT1 007354,001013: 06,2732 00006 EXTEND 007355,001014: 06,2733 05011 WOR DSALMOUT 007356,001015: 06,2734 00066 TC ITEMP6 007357,001016: 007358,001017: 06,2735 43003 CAGESUB CS BITS6&15 # SET OUTBITS AND INTERNAL FLAGS FOR 007359,001018: 06,2736 00006 EXTEND # SYSTEM TURN-ON OR CAGE. DISABLE THE 007360,001019: 06,2737 03012 WAND CHAN12 # ERROR COUNTER AND REMOVE THE IMU DELAY COMP. 007361,001020: 06,2740 34763 CAF BITS4&5 # SEND ZERO AND COARSE. 007362,001021: 06,2741 00006 EXTEND 007363,001022: 06,2742 05012 WOR CHAN12 007364,001023: 007365,001024: 06,2743 41036 CAGESUB1 CS DSPTAB +11D # TURN ON NO ATT LAMP 007366,001025: 06,2744 72773 MASK OC40010 007367,001026: 06,2745 27036 ADS DSPTAB +11D 007368,001027: 007369,001028: 06,2746 41302 CAGESUB2 CS IMODES30 # SET FLAGS TO INDICATE CAGING OR TURN-ON 007370,001029: 06,2747 72775 MASK OCT75 # AND INHIBIT ALL ISS WARNING INFO 007371,001030: 06,2750 27302 ADS IMODES30 007372,001031: 007373,001032: 06,2751 41303 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES 007374,001033: 06,2752 74746 MASK BIT6 007375,001034: 06,2753 27303 ADS IMODES33 007376,001035: 007377,001036: 06,2754 00002 TC Q 007378,001037: 007379,001038: 06,2755 06,2703 IMUFAIL EQUALS SETISSW 007380,001039: 06,2755 06,2703 ICDUFAIL EQUALS SETISSW 007381,001040: 007382,001041: # Page 181 007383,001042: # JUMP TABLES AND CONSTANTS. 007384,001043: 007385,001044: 06,2755 12533 IFAILJMP TCF ITURNON # CHANNEL 30 DISPATCH. 007386,001045: 06,2756 12703 TCF IMUFAIL 007387,001046: 06,2757 12703 TCF ICDUFAIL 007388,001047: 06,2760 12565 TCF IMUCAGE 007389,001048: 06,2761 76400 30RDMSK OCT 76400 # (BIT 10 NOT SAMPLED HERE). 007390,001049: 06,2762 12622 TCF IMUOP 007391,001050: 007392,001051: 06,2763 12650 C33JMP TCF PIPFAIL # CHANNEL 33 DISPATCH. 007393,001052: 06,2764 12671 TCF DNTMFAST 007394,001053: 06,2765 12676 TCF UPTMFAST 007395,001054: 007396,001055: # SUBROUTINE TO SKIP IF LAMP TEST NOT IN PROGRESS. 007397,001056: 06,2766 41303 LAMPTEST CS IMODES33 # BIT 1 OF IMODES33 = 1 IF LAMP TEST IN 007398,001057: 06,2767 74753 MASK BIT1 # PROGRESS. 007399,001058: 06,2770 10000 CCS A 007400,001059: 06,2771 24002 INCR Q 007401,001060: 06,2772 00002 TC Q 007402,001061: 007403,001062: 06,2773 5026 33RDMSK EQUALS PRIO16 007404,001063: 06,2773 40010 OC40010 OCT 40010 007405,001064: 06,2774 00054 OCT54 OCT 54 007406,001065: 06,2775 00075 OCT75 OCT 75 007407,001066: 06,2776 00272 OCT272 OCT 00272 007408,001067: 06,2777 00300 BITS7&8 OCT 300 007409,001068: 06,3000 01720 OCT1720 OCT 1720 007410,001069: 06,3001 00740 OCT740 OCT 00740 007411,001070: 06,3002 5025 OCT15000 EQUALS PRIO15 007412,001071: 06,3002 77000 OCT77000 OCT 77000 007413,001072: 06,3003 40040 BITS6&15 OCT 40040 007414,001073: 06,3004 76777 -BIT10 OCT -1000 007415,001074: 007416,001075: 06,3005 21450 90SECS DEC 9000 B-14 007417,001076: 06,3006 5751 120MS = OCT14 # (DEC12) 007418,001077: 06,3006 5270 GLOCKOK EQUALS RESUME 007419,001078: 007420,001079: # Page 182 007421,001080: # PROGRAM NAME: RRAUTCHK 007422,001081: 007423,001082: # FUNCITONAL DESCRIPTION: 007424,001083: # RRAUTCHK IS THE RENDEZFOUS RADAR INBIT MONITOR. INITIALLY THE RR 007425,001084: # POWER ON AUTO (CHAN 33 BIT 2) INBIT IS CHECKED. IF NO CHANGE, THE 007426,001085: # PROGRAM EXITS TO RRCDUCHK. IF A CHANGE, RADMOES IS UPDATED 007427,001086: # AND A CHECK MADE IF RR POWER HAS JUST COME ON. IF JUST OFF, A CHECK 007428,001087: # IS MADE TO SEE IF A PROGRAM WAS USING THE RR (STATE BIT 7). IF NO, 007429,001088: # THE PROGRAM EXITS TO RRCDUCHK. IF YES, PROGRAM ALARM 00514 007430,001089: # IS REQUESTED BEFORE EXITING TO RRCDUCHK. IF RR POWER HAS JUST COME 007431,001090: # ON, A CHECK IS MADE TO SEE IF A PROGRAM WAS USING THE RR (STATE BIT 7) 007432,001091: # SEQUENCE. IF NO, RADMODES IS UPDATED TO INDICATE RR CDU ZERO AND 007433,001092: # RR TURN-ON SEQUENCE (BITS 13, 1). A 10 MILLISECOND WAITLIST CALL 007434,001093: # IS THEN SET FOR RRTURNON BEFORE THE PROGRAM EXITS TO NORRGMON. 007435,001094: 007436,001095: # CALLING SEQUENCE: 007437,001096: # T4RUPT EVERY 480 MILLISECONDS 007438,001097: 007439,001098: # ERASABLE INITIALIZATION REQUIRED: 007440,001099: # RADMODES, STATE. 007441,001100: 007442,001101: # SUBROUTINES CALLED: 007443,001102: # WAITLIST. 007444,001103: 007445,001104: # JOBS OR TASKS INITIATED: 007446,001105: # RRTURNON 007447,001106: 007448,001107: # ALARMS: PROGRAM ALARM 00514 -- RADAR GOES OUT OF AUTO MODE WHILE BEING 007449,001108: # USED 007450,001109: 007451,001110: # EXIT: RRCDUCHK, NORRGMON 007452,001111: 007453,001112: 06,3006 30110 RRAUTCHK CA RADMODES # SEE IF CHANGE IN RR AUTO MODE BIT. 007454,001113: 06,3007 00006 EXTEND 007455,001114: 06,3010 06033 RXOR CHAN33 007456,001115: 06,3011 74752 MASK AUTOMBIT 007457,001116: 06,3012 00006 EXTEND 007458,001117: 06,3013 13037 BZF RRCDUCHK 007459,001118: 007460,001119: 06,3014 22110 LXCH RADMODES # UPDATE RADMODES. 007461,001120: 06,3015 00006 EXTEND 007462,001121: 06,3016 06001 RXOR LCHAN 007463,001122: 06,3017 73033 MASK OCT05776 # CLR CONT. DES., REMODE, REPOS, CDUZERO, 007464,001123: 06,3020 54110 TS RADMODES # AND TURNON BITS. 007465,001124: 06,3021 74752 MASK BIT2 # SEE IF JUST ON. 007466,001125: 06,3022 10000 CCS A 007467,001126: 06,3023 13034 TCF RRCDUCHK -3 # OFF. GO DISABLE RR CDU ERROR COUNTERS. 007468,001127: 06,3024 37663 CA OCT10001 # SET RRCDUZRO AND TURNON BITS. 007469,001128: 06,3025 26110 ADS RADMODES 007470,001129: 007471,001130: # Page 183 007472,001131: 06,3026 34753 CAF ONE 007473,001132: 06,3027 05203 TC WAITLIST 007474,001133: 06,3030 E7,1456 EBANK= LOSCOUNT 007475,001134: 06,3030 02062 52107 2CADR RRTURNON 007476,001135: 007477,001136: 06,3032 13132 TCF NORRGMON 007478,001137: 007479,001138: 06,3033 05776 OCT05776 OCT 5776 007480,001139: 007481,001140: # Page 184 007482,001141: # PROGRAM NAME: RRCDUCHK 007483,001142: 007484,001143: # FUNCTIONAL DESCRIPTION: 007485,001144: # RRCDUCHK CHECKS FOR RR CDU FAIL (CHAN 30 BIT 7). INITIALLY THE 007486,001145: # RR CDU FAIL BIT IS SAMPLED (CHAN 30 BIT 7). IF NO CHANGE, THE 007487,001146: # PROGRAM EXITS TO RRGIMON. IF A CHANGE, THE RR AUTO MODE 007488,001147: # (RADMODES BIT 2) BIT IS CHECKED. IF NOT IN RR AUTO MODE, THE 007489,001148: # PROGRAM EXITS TO NORRGMO0N. IF IN AUTO MODE, RADMODES BIT 7 007490,001149: # (RR CDU OK) IS UPDATED AND IF P-20 IS OPERATING PROGRAM ALARM 00515 IS 007491,001150: # REQUESTED. CONTROL IS TRANSFERRED TO SETTRKF TO UPDATE 007492,001151: # THE TRACKER FAIL LAMP (DSPTAB+11D BIT 8). CONTROL RETURNS TO 007493,001152: # RRGIMON. 007494,001153: 007495,001154: # CALLING SEQUENCE: 007496,001155: # EVERY 480 MILLISECONDS FROM RRAUTCHK (VIA T4RUPT) UNLESS A 007497,001156: # TURN-ON SEQUENCE HAS JUST BE INITIATED. 007498,001157: 007499,001158: # ERASABLE INITIALIZATION REQUIRED: 007500,001159: # RADMODES 007501,001160: 007502,001161: # SUBROUTINES CALLED: 007503,001162: # SETTRKF 007504,001163: 007505,001164: # JOBS OR TASKS INITIATED: 007506,001165: # NONE 007507,001166: 007508,001167: # ALARMS: 007509,001168: # TRACKER FAIL 007510,001169: # PROGRAM ALARM 00515 -- RRCDU FAIL DURING P-20 007511,001170: 007512,001171: # EXIT: 007513,001172: # RRGIMON, NORRGMON 007514,001173: 007515,001174: 06,3034 44752 -3 CS BIT2 007516,001175: 06,3035 00006 EXTEND 007517,001176: 06,3036 03012 WAND CHAN12 # AT TURNON, DISABLE CDU ERROR COUNTERS. 007518,001177: 007519,001178: 06,3037 30110 RRCDUCHK CA RADMODES # LAST SAMPLED BIT IN RADMODES. 007520,001179: 06,3040 00006 EXTEND 007521,001180: 06,3041 06030 RXOR CHAN30 007522,001181: 06,3042 74745 MASK RCDUFBIT 007523,001182: 06,3043 00006 EXTEND 007524,001183: 06,3044 13071 BZF RRGIMON 007525,001184: 007526,001185: 06,3045 34752 CAF AUTOMBIT # IF RR NOT IN AUTO MODE, DON'T CHANGE BIT 007527,001186: 06,3046 70110 MASK RADMODES # 7 OF RADMODES. IF THIS WERE NOT DONE, 007528,001187: 06,3047 10000 CCS A # THE TRACKER FAIL MIGHT COME ON WHEN 007529,001188: 06,3050 13132 TCF NORRGMON # JUST READING LR DATA. 007530,001189: 007531,001190: 06,3051 34745 CAF RCDUFBIT # SET BIT 7 OF RADMODES FOR SETTRKF. 007532,001191: # Page 185 007533,001192: 06,3052 22110 LXCH RADMODES # UPDATE RADMODES. 007534,001193: 06,3053 00006 EXTEND 007535,001194: 06,3054 06001 RXOR L 007536,001195: 06,3055 54110 TS RADMODES 007537,001196: 007538,001197: 06,3056 30110 CA RADMODES # DID RR CDU FAIL 007539,001198: 06,3057 74745 MASK RCDUFBIT 007540,001199: 06,3060 10000 CCS A 007541,001200: 06,3061 13070 TCF TRKFLCDU # NO 007542,001201: 06,3062 40074 CS FLAGWRD0 # RNDVFLG P20 OR P22 OPERATING 007543,001202: 06,3063 74745 MASK RNDVZBIT 007544,001203: 06,3064 10000 CCS A 007545,001204: 06,3065 13070 TCF TRKFLCDU # NO 007546,001205: 06,3066 05567 TC ALARM # YES 007547,001206: 06,3067 00515 OCT 00515 007548,001207: 06,3070 04564 TRKFLCDU TC SETTRKF # UPDATE TRAKER FAIL LAMP ON DSKY. 007549,001208: 007550,001209: # Page 186 007551,001210: # PROGRAM NAME: RRGIMON 007552,001211: 007553,001212: # FUNCTIONAL DESCRIPTION: 007554,001213: # RRGIMON IS THE RR GIMBAL LIMIT MONITOR. INITIALLY THE FOLLOWING IS 007555,001214: # CHECKED: REMOD, RR CDU'S BEING ZEROED, REPOSITION, AND RR 007556,001215: # NOT IN AUTO MODE (RADMODES BITS 14, 13, 11, 2). IF ANY OF THESE 007557,001216: # EXIST THE PROGRAM EXITS TO GPMATRIX. IF NONE ARE PRESENT RRLIMCHK 007558,001217: # IS CALLED TO SEE IF THE PRESENT RR CDU ANGLES (OPTY, OPTX) ARE WITHIN 007559,001218: # THE LIMITS OF THE CURRENT MODE. IF WITHIN LIMITS, THE PROGRAM EXITS 007560,001219: # TO NORRGMON. IF NOT WITHIN LIMITS, THE REPOSITION FLAG (RADMODES 007561,001220: # BIT 11) IS SET, THE RR AUTO TRACKER AND RR ERROR COUNTER 007562,001221: # (CHAN 12 BITS 14, 2) ARE DISABLED, AND A 20 MILLISECOND WAITLIST 007563,001222: # CALL IS SET FOR DORREPOS AFTER WHICH THE PROGRAM EXITS TO NORRGMON. 007564,001223: 007565,001224: # CALLING SEQUENCE: 007566,001225: # EVERY 480 MILLISECONDS FROM RRCDUCHK (VIA T4RUPT) UNLESS TURN-ON 007567,001226: # HAS JUST BEEN INITIATED VIA RRAUTCHK OR IF THERE HAS BEEN A CHANGE IN 007568,001227: # THE RR CDU FAIL BIT (CHAN 30 BIT 7) AND THE RR IS NOT IN THE AUTO MODE 007569,001228: # (RADMODES BIT 2). 007570,001229: 007571,001230: # ERASABLE INITIALZATION: RADMODES 007572,001231: 007573,001232: # SUBROUTINES CALLED: 007574,001233: # RRLIMCHK, WAITLIST 007575,001234: 007576,001235: # JOBS OR TASKS INITIATED: 007577,001236: # DORREPOS 007578,001237: 007579,001238: # ALARMS: 007580,001239: # NONE 007581,001240: 007582,001241: # EXIT: 007583,001242: # NORRGMON 007584,001243: 007585,001244: 06,3071 30101 RRGIMON CAE FLAGWRD5 # IS NO ANGLE MONITOR FLAG SET 007586,001245: 06,3072 74750 MASK NORRMBIT 007587,001246: 06,3073 10000 CCS A 007588,001247: 06,3074 13132 TCF NORRGMON # YES -- SKIP LIMIT CHECK 007589,001248: 06,3075 40103 CS FLAGWRD7 # IS SERVICER RUNNING? 007590,001249: 06,3076 74747 MASK AVEGFBIT 007591,001250: 06,3077 10000 CCS A 007592,001251: 06,3100 13105 TCF +5 # NO. DO R25 007593,001252: 06,3101 30102 CA FLAGWRD6 # YES. IS MUNFLAG SET? 007594,001253: 06,3102 74744 MASK MUNFLBIT 007595,001254: 06,3103 10000 CCS A 007596,001255: 06,3104 13132 TCF NORRGMON # YES. DON'T DO R25 007597,001256: 06,3105 33127 +5 CAF OCT32002 # INHIBIT BY REMODE, ZEROING, MONITOR. 007598,001257: 06,3106 70110 MASK RADMODES # OR RR NOT IN AUTO. 007599,001258: 06,3107 10000 CCS A 007600,001259: 06,3110 13132 TCF NORRGMON 007601,001260: # Page 187 007602,001261: 06,3111 04523 TC RRLIMCHK # SET IF ANGLES IN LIMITS. 007603,001262: 06,3112 00035 ADRES CDUT 007604,001263: 007605,001264: 06,3113 13115 TCF MONREPOS 007606,001265: 007607,001266: 06,3114 13132 TCF NORRGMON # (ADDITIONAL CODING MAY GO HERE). 007608,001267: 007609,001268: 06,3115 34741 MONREPOS CAF REPOSBIT # SET FLAG TO SHOW REPOSITION IN PROGRESS. 007610,001269: 06,3116 26110 ADS RADMODES 007611,001270: 007612,001271: 06,3117 43130 CS OCT20002 # DISABLE TRACKER AND ERROR COUNTER. 007613,001272: 06,3120 00006 EXTEND 007614,001273: 06,3121 03012 WAND CHAN12 007615,001274: 007616,001275: 06,3122 34752 CAF TWO 007617,001276: 06,3123 05203 TC WAITLIST 007618,001277: 06,3124 E7,1456 EBANK= LOSCOUNT 007619,001278: 06,3124 02127 52107 2CADR DORREPOS 007620,001279: 007621,001280: 06,3126 13132 TCF NORRGMON 007622,001281: 007623,001282: 06,3127 32002 OCT32002 OCT 32002 007624,001283: 06,3130 20002 OCT20002 OCT 20002 007625,001284: 06,3131 02100 OCT02100 OCT 02100 # P20, P22 MASK BITS. 007626,001285: 007627,001286: # Page 188 007628,001287: # PROGRAM NAME: GPMATRIX (DAPT4S) MCD. NO. 2 DATE: OCTOBER 27, 1966 007629,001288: 007630,001289: # AUTHOR: JOHNATHAN D. ADDLELSTON (ADAMS ASSOCIATES) 007631,001290: 007632,001291: # MODIFIED: 7FEB. 1968 BY P. S. WEISSMAN TO DELETE COMPUTATION OF MR12 AND MR13, WHICH ARE NO LONGER REQUIRED. 007633,001292: 007634,001293: # THIS PROGRAM CALCULATES ALL THE SINGLE-PRECISION MATRIX ELEMENTS WHICH ARE USED BY LEM DAP TO TRANSFORM VECTORS 007635,001294: # FROM GIMBAL TO PILOT (BODY) AXES AND BACK AGAIN. THESE ELEMENTS ARE USED EXCLUSIVELY BY BASIC LANGUAGE ROUTINES 007636,001295: # AND THEREFORE ARE NOT ARRAYED FOR USE BY INTERPRETIVE PROGRAMS. 007637,001296: 007638,001297: # CALLING SEQUENCE: GPMATRIX IS TRANSFERRED TO FROM DAPT4S AND IS THUS EXECUTED 4 TIMES A SECOND BY T4RUPT. 007639,001298: # DAPT4S IS LISTED IN T4JUMP TABLE TWICE EXPLICITLY AND ALSO OCCURS AFTER RRAUTCHK (WHICH IS ALSO LISTED TWICE). 007640,001299: 007641,001300: # SUBROUTINES CALLED: SPSIN, SPCOS. 007642,001301: 007643,001302: # NORMAL EXIT MODE: TCF RESUME 007644,001303: 007645,001304: # ALARM AND ABORT MODES: NONE. 007646,001305: 007647,001306: # INPUT: CDUX, CDUY, CDUZ. 007648,001307: 007649,001308: # OUTPUT: M11, M21, M32, M22, M32. 007650,001309: 007651,001310: # AOG = CDUX, AIG = CDUY, AMG = CDUZ: MNEMONIC IS : OIM = XYZ 007652,001311: 007653,001312: # * * SING(MG) 0 1 * 007654,001313: # M = * COS(MG)COS(OG) SIN(OG) 0 * 007655,001314: # GP * -COS(MG)SIN(OG) COS(OG) 0 * 007656,001315: 007657,001316: # * * 0 COS(OG)/COS(MG) -SIN(OG)/COS(MG) * 007658,001317: # M = * 0 SIN(OG) COS(OG) * 007659,001318: # PG * 1 -SIN(MG)COS(OG)/COS(MG) SIN(MG)SIN(OG)/COS(MG) * 007660,001319: 007661,001320: 06,3132 E6,1414 EBANK= M11 007662,001321: 06,3132 06,3132 DAPT4S EQUALS GPMATRIX 007663,001322: 007664,001323: # T4RUPT DAP LOGIC: 007665,001324: 007666,001325: 06,3132 30034 GPMATRIX CAE CDUZ # SINGLE ENTRY POINT 007667,001326: 06,3133 05033 TC SPSIN # SIN(CDUZ) = SIN(MG) 007668,001327: 06,3134 55414 TS M11 # SCALED AT 1 007669,001328: 007670,001329: 06,3135 30034 CAE CDUZ 007671,001330: 06,3136 05032 TC SPCOS # COS(CDUZ) = COS(MG) 007672,001331: 06,3137 54061 TS COSMG # SCALED AT 1 (ONLY A FACTOR) 007673,001332: 007674,001333: 06,3140 30032 CAE CDUX 007675,001334: 06,3141 05033 TC SPSIN # SIN(CDUX) = SIN(OG) 007676,001335: 06,3142 55417 TS M22 # SCALED AT 1 (ALSO IS MR22) 007677,001336: 007678,001337: 06,3143 41417 CS M22 007679,001338: # Page 189 007680,001339: 06,3144 00006 EXTEND 007681,001340: 06,3145 70061 MP COSMG # -SIN(OG)COS(MG) 007682,001341: 06,3146 55416 TS M31 # SCALED AT 1 007683,001342: 007684,001343: 06,3147 30032 CAE CDUX 007685,001344: 06,3150 05032 TC SPCOS # COS(CDUX) = COS(OG) 007686,001345: 06,3151 55420 TS M32 # SCALED AT 1 (ALSO IS MR23) 007687,001346: 007688,001347: 06,3152 00006 EXTEND 007689,001348: 06,3153 70061 MP COSMG # COS(OG)COS(MG) 007690,001349: 06,3154 55415 TS M21 # SCALED AT 1 007691,001350: 007692,001351: 06,3155 05270 TC RESUME 007693,001352: 007694,001353: 06,3156 06,3132 NORRGMON EQUALS DAPT4S 007695,001354: 06,3156 5270 ENDDAPT4 EQUALS RESUME End of include-file T4RUPT_PROGRAM.agc. Parent file is MAIN.agc