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