Source Code
![]() |
These source code files have been transcribed or otherwise adapted from
digitized images of a hardcopy from the private collection of
Don Eyles. The digitization was performed by archive.org, and
transcription was performed by a team of volunteers.
Note that the page images
presented online are of reduced quality, and that the original
high-quality images are available at archive.org.
Report any conversion errors or legibility problems in page images to info@sandroid.org.
Notations on the program listing read, in part:473423A YUL SYSTEM FOR BLK2: REVISION 12 of PROGRAM AURORA BY DAP GROUP NOV 10, 1966Note that the date is the date of the printout, not the date of the program revision. |
006109,000002: ## Copyright: Public domain.
006110,000003: ## Filename: T4RUPT_PROGRAM.agc
006111,000004: ## Purpose: Part of the source code for Aurora (revision 12).
006112,000005: ## Assembler: yaYUL
006113,000006: ## Contact: Ron Burkey <info@sandroid.org>.
006114,000007: ## Website: https://www.ibiblio.org/apollo.
006115,000008: ## Pages: 160-188
006116,000009: ## Mod history: 2016-09-20 JL Created.
006117,000010: ## 2016-10-12 HG fix operand DSPRUPTSW -> DSRUPTSW
006118,000011: ## 2016-10-15 HG fix operand DSPRUPTEM -> DSRUPTEM
006119,000012: ## SEDTISSW -> SETISSW
006120,000013: ## GLOCKKOK -> GLOCKOK
006121,000014: ## NCTFL33 -> NXTFL33
006122,000015: ## BITS56&15 -> BITS6&15
006123,000016: ## COSMSG -> COSMG
006124,000017: ## fix label and operand
006125,000018: ## NXTIBIT -> NTXIBT
006126,000019: ## GLOCKON -> GLOCKOK
006127,000020: ## 2016-12-08 RSB Proofed comments with octopus/ProoferComments
006128,000021: ## and fixed the errors found.
006129,000022:
006130,000023: ## This source code has been transcribed or otherwise adapted from
006131,000024: ## digitized images of a hardcopy from the private collection of
006132,000025: ## Don Eyles. The digitization was performed by archive.org.
006133,000026:
006134,000027: ## Notations on the hardcopy document read, in part:
006135,000028:
006136,000029: ## 473423A YUL SYSTEM FOR BLK2: REVISION 12 of PROGRAM AURORA BY DAP GROUP
006137,000030: ## NOV 10, 1966
006138,000031:
006139,000032: ## [Note that this is the date the hardcopy was made, not the
006140,000033: ## date of the program revision or the assembly.]
006141,000034:
006142,000035: ## The scan images (with suitable reduction in storage size and consequent
006143,000036: ## reduction in image quality) are available online at
006144,000037: ## https://www.ibiblio.org/apollo.
006145,000038: ## The original high-quality digital images are available at archive.org:
006146,000039: ## https://archive.org/details/aurora00dapg
006147,000040:
![]() |
Page 160 |
006149,000042: 4713 SETLOC ENDPHMNF
006150,000043: 4713 E6,1404 EBANK= M11
006151,000044: 4713 00006 T4RUPT EXTEND # ZERO OUT0 EVERY T4RUPT.
006152,000045: 4714 01010 WRITE OUT0 # (COMES HERE WITH +0 IN A)
006153,000046:
006154,000047: 4715 50347 INDEX T4LOC # NORMALLY TO NORMT4, BUT TO LMPRESET OR
006155,000048: 4716 10000 TCF 0 # DSKYRSET AFTER OUT0 COMMAND.
006156,000049:
006157,000050: 4717 10350 NORMT4 CCS DSRUPTSW # GOES 7(-1)0.
006158,000051: 4720 14722 TCF +2
006159,000052: 4721 37663 CAF SEVEN
006160,000053: 4722 54350 TS DSRUPTSW
006161,000054:
006162,000055: 4723 34023 CAF T4RPTBB # OFF TO SWITCHED BANK
006163,000056: 4724 56006 XCH BBANK
006164,000057: 4725 12451 TCF T4RUPTA
006165,000058:
006166,000059: 4726 34735 LMPRESET CAF 90MRUPT # 30 MS ON / 90 MS OFF.
006167,000060: 4727 14731 TCF +2
006168,000061:
006169,000062: 4730 34736 DSKYRSET CAF 100MRUPT # 20 MS ON / 100 MS OFF.
006170,000063: 4731 54027 TS TIME4
006171,000064: 4732 34737 CAF LNORMT4
006172,000065: 4733 54347 TS T4LOC
006173,000066: 4734 14612 TCF NOQBRSM
006174,000067:
006175,000068: 4735 37767 90MRUPT DEC 16375 B-14
006176,000069: 4736 37766 100MRUPT DEC 16374 B-14
006177,000070: 4737 04717 LNORMT4 ADRES NORMT4
006178,000071: 4740 74000 74K OCT 74000
006179,000072:
006180,000073: # RELTAB IS A PACKED TABLE. RELAYWORD CODE IN UPPER 4 BITS, RELAY CODE
006181,000074: # IN LOWER 5 BITS.
006182,000075:
006183,000076: 4741 04025 RELTAB OCT 04025
006184,000077: 4742 10003 OCT 10003
006185,000078: 4743 14031 OCT 14031
006186,000079: 4744 20033 OCT 20033
006187,000080: 4745 24017 OCT 24017
006188,000081: 4746 30036 OCT 30036
006189,000082: 4747 34034 OCT 34034
006190,000083: 4750 40023 OCT 40023
006191,000084: 4751 44035 OCT 44035
006192,000085: 4752 50037 OCT 50037
006193,000086: 4753 54000 OCT 54000
006194,000087: 4754 60000 RELTAB11 OCT 60000
![]() |
Page 161 |
006196,000089: 4755 ENDT4FF EQUALS
006197,000090:
![]() |
Page 162 |
006199,000092: # SWITCHED-BANK PORTION.
006200,000093:
006201,000094: 12,2451 SETLOC ENDFRESS
006202,000095:
006203,000096: 12,2451 54016 T4RUPTA TS BANKRUPT
006204,000097: 12,2452 00006 EXTEND
006205,000098: 12,2453 22012 QXCH QRUPT
006206,000099:
006207,000100: 12,2454 10366 LMPOUT CCS LMPCMD # SEE IF LMP COMMAND TO BE SENT. IF SO,
006208,000101: 12,2455 12471 TCF CDRVE # BIT 15 = 1 AND (UP TO) BITS 1 - 11
006209,000102: 12,2456 12471 TCF CDRVE # CONTAIN THE COMMAND.
006210,000103:
006211,000104: 12,2457 35234 CAF LOW11
006212,000105: 12,2460 70366 MASK LMPCMD # LEAVE COMMAND PORTION INTACT.
006213,000106: 12,2461 54366 TS LMPCMD
006214,000107: 12,2462 64740 AD 74K
006215,000108: 12,2463 00006 EXTEND
006216,000109: 12,2464 01010 WRITE OUT0
006217,000110:
006218,000111: 12,2465 32562 CAF LLMPRS
006219,000112: 12,2466 54347 TS T4LOC
006220,000113: 12,2467 32563 CAF 30MRUPT
006221,000114: 12,2470 12546 TCF SETTIME4
006222,000115:
006223,000116: 12,2471 10322 CDRVE CCS DSPTAB +11D
006224,000117: 12,2472 02501 TC DSPOUT
006225,000118: 12,2473 02501 TC DSPOUT
006226,000119:
006227,000120: 12,2474 56322 XCH DSPTAB +11D
006228,000121: 12,2475 75234 MASK LOW11
006229,000122: 12,2476 54322 TS DSPTAB +11D
006230,000123: 12,2477 64754 AD RELTAB11
006231,000124: 12,2500 02541 TC DSPLAYC
006232,000125:
![]() |
Page 163 |
006234,000127: # DSPOUT PROGRAM. PUTS OUT DISPLAYS.
006235,000128:
006236,000129: 12,2501 10303 DSPOUT CCS NOUT # DRIVE DISPLAY SYSTEM RELAYS.
006237,000130: 12,2502 12505 TCF +3
006238,000131:
006239,000132: 12,2503 32522 NODSPOUT CAF 120MRUPT # SET FOR RUPT IN 120 MS IF NO RELAYS.
006240,000133: 12,2504 12546 TCF SETTIME4
006241,000134:
006242,000135: 12,2505 54303 TS NOUT
006243,000136: 12,2506 47665 CS ZERO
006244,000137: 12,2507 54077 TS DSRUPTEM # SET TO -0 FOR 1ST PASS THRU DSPTAB
006245,000138: 12,2510 56341 XCH DSPCNT
006246,000139: 12,2511 67666 AD NEG0 # TO PREVENT +0
006247,000140: 12,2512 54341 TS DSPCNT
006248,000141: 12,2513 50341 DSPSCAN INDEX DSPCNT
006249,000142: 12,2514 10307 CCS DSPTAB
006250,000143: 12,2515 10341 CCS DSPCNT # IF DSPTAB ENTRY +, SKIP
006251,000144: 12,2516 02511 TC DSPSCAN -2 # IF DSPCNT +, AGAIN
006252,000145: 12,2517 02530 TC DSPLAY # IF DSPTAB ENTRY -, DISPLAY
006253,000146: 12,2520 00012 TABLNTH OCT 12 # DEC 10 LENGTH OF DSPTAB
006254,000147: 12,2521 10077 CCS DSRUPTEM # IF DSRUPTEM=+0,2ND PASS THRU DSPTAB
006255,000148: 12,2522 37764 120MRUPT DEC 16372 B-14 # (DSPCNT = 0). +0 INTO NOUT.
006256,000149: 12,2523 54303 TS NOUT
006257,000150: 12,2524 12503 TCF NODSPOUT
006258,000151: 12,2525 54077 TS DSRUPTEM # IF DSRUPTEM=-0,1ST PASS THRU DSPTAB
006259,000152: 12,2526 32520 CAF TABLNTH # (DSPCNT=0). +0 INTO DSRUPTEM. PASS AGAIN
006260,000153: 12,2527 02512 TC DSPSCAN -1
006261,000154:
006262,000155: 12,2530 67657 DSPLAY AD ONE
006263,000156: 12,2531 50341 INDEX DSPCNT
006264,000157: 12,2532 54307 TS DSPTAB # REPLACE POSITIVELY
006265,000158: 12,2533 75234 MASK LOW11 # REMOVE BITS 12 TO 15
006266,000159: 12,2534 54077 TS DSRUPTEM
006267,000160: 12,2535 35226 CAF HI5
006268,000161: 12,2536 50341 INDEX DSPCNT
006269,000162: 12,2537 74741 MASK RELTAB # PICK UP BITS 12 TO 15 OF RELTAB ENTRY
006270,000163: 12,2540 60077 AD DSRUPTEM
006271,000164: 12,2541 00006 DSPLAYC EXTEND
006272,000165: 12,2542 01010 WRITE OUT0
006273,000166:
006274,000167: 12,2543 32561 CAF LDSKYRS
006275,000168: 12,2544 54347 TS T4LOC
006276,000169: 12,2545 32564 CAF 20MRUPT
006277,000170:
006278,000171: 12,2546 54027 SETTIME4 TS TIME4
![]() |
Page 164 |
006280,000173: # JUMP TO APPROPRIATE ONCE-PER SECOND (.96 SEC ACTUALLY) ACTIVITY
006281,000174:
006282,000175: 12,2547 50350 T4JUMP INDEX DSRUPTSW
006283,000176: 12,2550 12551 TCF +1
006284,000177:
006285,000178: 12,2551 02565 TC ALTOUT
006286,000179:
006287,000180: 12,2552 13440 TCF RRAUTCHK
006288,000181: 12,2553 12720 TCF IMUMON
006289,000182: 12,2554 13545 TCF GPMATRIX
006290,000183: 12,2555 02632 TC ALTROUT
006291,000184: 12,2556 13440 TCF RRAUTCHK
006292,000185: 12,2557 12720 TCF IMUMON
006293,000186: 12,2560 13545 TCF GPMATRIX
006294,000187: 12,2561 04730 LDSKYRS ADRES DSKYRSET
006295,000188: 12,2562 04726 LLMPRS ADRES LMPRESET
006296,000189:
006297,000190: 12,2563 37775 30MRUPT DEC 16381 B-14
006298,000191: 12,2564 37776 20MRUPT DEC 16382 B-14
![]() |
Page 165 |
006300,000193: # THIS ROUTINE SERVICES THE METER OUTPUTS.
006301,000194:
006302,000195:
006303,000196: # DIDFLG INDICATES THE STATE OF THE PROGRAM..............
006304,000197: # IF GREATER THAN ZERO, THEN UNABLE TO DISPLAY DATA
006305,000198: # IF EQUAL TO ZERO, THEN THE PROGRAM IS IN USE
006306,000199: # IF LESS THAN ZERO, THEN THE PROGRAM IS ABLE TO BE USED............
006307,000200:
006308,000201: 12,2565 02640 ALTOUT TC DISINDAT
006309,000202: 12,2566 47656 CS BIT2
006310,000203: 12,2567 00006 EXTEND
006311,000204: 12,2570 03014 WAND 14 # SET UP OUTPUT FOR ALTITUDE
006312,000205: 12,2571 10352 CCS ALT # -1 IF OLD DATA TO BE EXTRAPOLATED.
006313,000206: 12,2572 12576 TCF +4 # NEW DATA.
006314,000207: 12,2573 12576 TCF +3
006315,000208: 12,2574 12602 TCF OLDDATA
006316,000209:
006317,000210: 12,2575 54352 TS ALT # CHANGE -0 IN ALT TO +0.
006318,000211: 12,2576 47657 CS ONE # RESET ALTSAVE.
006319,000212: 12,2577 52353 DXCH ALT
006320,000213: 12,2600 52365 ZDATA2 DXCH ALTSAVE
006321,000214: 12,2601 12622 TCF NEWDATA
006322,000215:
006323,000216: 12,2602 30354 OLDDATA CA ALTRATE # USE ALTRATE TO EXTRAPOLATE.
006324,000217: 12,2603 00006 EXTEND
006325,000218: 12,2604 72715 MP ARTOA # RATE APPLIES FOR .96 SEC.
006326,000219: 12,2605 60365 AD ALTSAVE +1
006327,000220: 12,2606 54365 TS ALTSAVE +1 # AND MAYBE SKIP.
006328,000221: 12,2607 37665 CAF ZERO
006329,000222: 12,2610 26364 ADS ALTSAVE
006330,000223:
006331,000224: 12,2611 37637 CAF POSMAX # FORCE SIGN AGREEMENT ASSUMING ALTSAVE IS
006332,000225: 12,2612 67657 AD ONE # NOT NEGATIVE. IF IT IS, THE FINAL TS
006333,000226: 12,2613 60365 AD ALTSAVE +1 # WILL NOT SKIP AND WE CAN SET ALTSAVE TO
006334,000227: 12,2614 54365 TS ALTSAVE +1 # ZERO IN THAT CASE.
006335,000228: 12,2615 37665 CAF ZERO
006336,000229: 12,2616 67637 AD POSMAX
006337,000230: 12,2617 60364 AD ALTSAVE
006338,000231: 12,2620 54364 TS ALTSAVE
006339,000232: 12,2621 12712 TCF ZERODATA # ALTSAVE NEGATIVE - SET TO ZERO.
006340,000233:
006341,000234: 12,2622 10364 NEWDATA CCS ALTSAVE # MAKE UP 15 BIT UNSIGNED OUTPUT.
006342,000235: 12,2623 37641 CAF BIT15 # MAJOR PART +1 OR +0.
006343,000236: 12,2624 60365 AD ALTSAVE +1
006344,000237: 12,2625 54060 METEROUT TS ALTM
006345,000238: 12,2626 32716 CAF BITSET
006346,000239: 12,2627 00006 EXTEND
006347,000240: 12,2630 05014 WOR 14
006348,000241: 12,2631 12711 TCF DONEDID
![]() |
Page 166 |
006350,000243: 12,2632 02640 ALTROUT TC DISINDAT
006351,000244: 12,2633 37656 CAF BIT2
006352,000245: 12,2634 00006 EXTEND
006353,000246: 12,2635 05014 WOR 14 # SET UP OUTPUT FOR ALT. RATE
006354,000247: 12,2636 30354 CA ALTRATE
006355,000248: 12,2637 12625 TCF METEROUT
006356,000249:
006357,000250: 12,2640 10351 DISINDAT CCS DIDFLG
006358,000251: 12,2641 12711 TCF DONEDID
006359,000252: 12,2642 12643 NOOP
006360,000253: 12,2643 37652 CAF BIT6
006361,000254: 12,2644 00006 EXTEND
006362,000255: 12,2645 02030 RAND 30 # CHECK DISPLAY INERTIAL DATA BIT
006363,000256: 12,2646 10000 CCS A
006364,000257: 12,2647 12706 TCF ALLDONE
006365,000258: 12,2650 10351 CCS DIDFLG
006366,000259: 12,2651 12652 NOOP
006367,000260: 12,2652 12673 TCF GOAGN
006368,000261:
006369,000262: 12,2653 37650 FIRSTIME CAF BIT8
006370,000263: 12,2654 00006 EXTEND
006371,000264: 12,2655 05012 WOR 12 # ENABLE DISPLAY INERTIAL DATA
006372,000265: 12,2656 37665 CAF ZERO
006373,000266: 12,2657 54351 TS DIDFLG
006374,000267: 12,2660 54363 TS LASTXCMD
006375,000268: 12,2661 54362 TS LASTYCMD
006376,000269: 12,2662 36162 CAF SIX
006377,000270: 12,2663 04536 TC WAITLIST
006378,000271: 12,2664 02667 24006 2CADR INTLZE
006379,000272:
006380,000273: 12,2666 02711 TC DONEDID
006381,000274:
006382,000275: 12,2667 37656 INTLZE CAF BIT2
006383,000276: 12,2670 00006 EXTEND
006384,000277: 12,2671 05012 WOR 12 # ENABLE RR ERROR COUNTER
006385,000278: 12,2672 04602 TC TASKOVER
006386,000279:
006387,000280: 12,2673 40363 GOAGN CS LASTXCMD
006388,000281: 12,2674 60360 AD FORVEL
006389,000282: 12,2675 54054 TS OPTXCMD
006390,000283: 12,2676 30360 CA FORVEL
006391,000284: 12,2677 54363 TS LASTXCMD
006392,000285: 12,2700 40362 CS LASTYCMD
006393,000286: 12,2701 60361 AD LATVEL
006394,000287: 12,2702 54053 TS OPTYCMD
006395,000288: 12,2703 30361 CA LATVEL
006396,000289: 12,2704 54362 TS LASTYCMD
006397,000290: 12,2705 00002 TC Q
006398,000291:
006399,000292: 12,2706 42717 ALLDONE CS DIDRESET # REMOVE DISPLAY INERTIAL DATA AND ECTR.
![]() |
Page 167 |
006401,000294: 12,2707 00006 EXTEND
006402,000295: 12,2710 03012 WAND 12 # RESET RR ERROR COUNTER
006403,000296: 12,2711 13752 DONEDID TCF RCSMONIT
006404,000297: 12,2712 37665 ZERODATA CAF ZERO
006405,000298: 12,2713 54001 TS L
006406,000299: 12,2714 12600 TCF ZDATA2
006407,000300:
006408,000301: 12,2715 06432 ARTOA DEC .20469 # ALT DUE TO ALTRATE FOR .96 SEC.
006409,000302: 12,2716 06004 BITSET OCT 6004
006410,000303:
006411,000304: 12,2717 00202 DIDRESET OCT 202
![]() |
Page 168 |
006413,000306: # IMU INBIT MONITOR - ENTERED EVERY 480 MS BY T4RUPT.
006414,000307:
006415,000308: 12,2720 30367 IMUMON CA IMODES30 # SEE IF THERE HAS BEEN A CHANGE IN THE
006416,000309: 12,2721 00006 EXTEND # RELEVENT BITS OF CHAN 30.
006417,000310: 12,2722 06030 RXOR 30
006418,000311: 12,2723 73412 MASK 30RDMSK
006419,000312: 12,2724 00006 EXTEND
006420,000313: 12,2725 12755 BZF TNONTEST # NO CHANGE IN STATUS.
006421,000314:
006422,000315: 12,2726 54074 TS RUPTREG1 # SAVE BITS WHICH HAVE CHANGED.
006423,000316: 12,2727 22367 LXCH IMODES30 # UPDATE IMODES30.
006424,000317: 12,2730 00006 EXTEND
006425,000318: 12,2731 06001 RXOR L
006426,000319: 12,2732 54367 TS IMODES30
006427,000320:
006428,000321: 12,2733 47657 CS ONE
006429,000322: 12,2734 56074 XCH RUPTREG1
006430,000323: 12,2735 00006 EXTEND
006431,000324: 12,2736 63205 BZMF TLIM # CHANGE IN IMU TEMP.
006432,000325: 12,2737 12741 TCF NXTIFBIT # BEGIN BIT SCAN.
006433,000326:
006434,000327: 12,2740 67657 -1 AD ONE # (RE-ENTERS HERE FROM NXTIFAIL.)
006435,000328: 12,2741 24074 NXTIFBIT INCR RUPTREG1 # ADVANCE BIT POSITION NUMBER.
006436,000329: 12,2742 60000 +1 DOUBLE
006437,000330: 12,2743 54000 TS A # SKIP IF OVERFLOW.
006438,000331: 12,2744 12741 TCF NXTIFBIT # LOOK FOR BIT.
006439,000332:
006440,000333: 12,2745 56075 XCH RUPTREG2 # SAVE OVERFLOW-CORRECTED DATA.
006441,000334: 12,2746 50074 INDEX RUPTREG1 # SELECT NEW VALUE OF THIS BIT.
006442,000335: 12,2747 37642 CAF BIT14
006443,000336: 12,2750 70367 MASK IMODES30
006444,000337: 12,2751 50074 INDEX RUPTREG1
006445,000338: 12,2752 03406 TC IFAILJMP
006446,000339:
006447,000340: 12,2753 10075 NXTIFAIL CCS RUPTREG2 # PROCESS ANY ADDITIONAL CHANGES.
006448,000341: 12,2754 12740 TCF NXTIFBIT -1
006449,000342:
006450,000343: 12,2755 40367 TNONTEST CS IMODES30 # AFTER PROCESSING ALL CHANGES, SEE IF IT
006451,000344: 12,2756 77651 MASK BIT7 # IS TIME TO ACT ON A TURN-ON SEQUENCE.
006452,000345: 12,2757 10000 CCS A
006453,000346: 12,2760 13103 TCF C33TEST # NO - EXAMINE CHANNEL 33.
006454,000347:
006455,000348: 12,2761 37650 CAF BIT8 # SEE IF FIRST SAMPLE OR SECOND.
006456,000349: 12,2762 70367 MASK IMODES30
006457,000350: 12,2763 10000 CCS A
006458,000351: 12,2764 12770 TCF PROCTNON # REACT AFTER SECOND SAMPLE.
006459,000352:
006460,000353: 12,2765 37650 CAF BIT8 # IF FIRST SAMPLE, SET BIT TO REACT NEXT
006461,000354: 12,2766 26367 ADS IMODES30 # TIME.
006462,000355: 12,2767 13103 TCF C33TEST
![]() |
Page 169 |
006464,000357: # PROCESS IMU TURN-ON REQUESTS AFTER WAITING 1 SAMPLE FOR ALL SIGNALS TO ARRIVE.
006465,000358:
006466,000359: 12,2770 43430 PROCTNON CS BITS7&8
006467,000360: 12,2771 70367 MASK IMODES30
006468,000361: 12,2772 54367 TS IMODES30
006469,000362: 12,2773 77642 MASK BIT14 # SEE IF TURN-ON REQUEST.
006470,000363: 12,2774 10000 CCS A
006471,000364: 12,2775 13066 TCF OPONLY # OPERATE ON ONLY.
006472,000365:
006473,000366: 12,2776 40367 CS IMODES30 # IF TURN-ON REQUEST, WE SHOULD HAVE IMU
006474,000367: 12,2777 77647 MASK BIT9 # OPERATE.
006475,000368: 12,3000 10000 CCS A
006476,000369: 12,3001 13004 TCF +3
006477,000370:
006478,000371: 12,3002 05413 TC ALARM # ALARM IF NOT.
006479,000372: 12,3003 00213 OCT 213
006480,000373:
006481,000374: 12,3004 03373 +3 TC CAGESUB
006482,000375: 12,3005 33436 CAF 90SECS
006483,000376: 12,3006 04536 TC WAITLIST
006484,000377: 12,3007 03014 24006 2CADR ENDTNON
006485,000378: 12,3011 13103 TCF C33TEST
006486,000379:
006487,000380: 12,3012 33436 RETNON CAF 90SECS
006488,000381: 12,3013 04557 TC VARDELAY
006489,000382:
006490,000383: 12,3014 47656 ENDTNON CS BIT2 # RESET TURN-ON REQUEST FAIL BIT.
006491,000384: 12,3015 70367 MASK IMODES30
006492,000385: 12,3016 56367 XCH IMODES30
006493,000386: 12,3017 77656 MASK BIT2 # IF IT WAS OFF, SEND ISS DELAY COMPLETE.
006494,000387: 12,3020 00006 EXTEND
006495,000388: 12,3021 13034 BZF ENDTNON2
006496,000389:
006497,000390: 12,3022 37642 CAF BIT14 # IF IT WAS ON AND TURN-ON REQUEST NOW
006498,000391: 12,3023 70367 MASK IMODES30 # PRESENT, RE-ENTER 90 SEC DELAY IN WL.
006499,000392: 12,3024 00006 EXTEND
006500,000393: 12,3025 13012 BZF RETNON
006501,000394:
006502,000395: 12,3026 40061 CS STATE # IF IT IS NOT ON NOW, SEE IF A PROG WAS
006503,000396: 12,3027 77650 MASK IMUSEFLG # WAITING.
006504,000397: 12,3030 10000 CCS A
006505,000398: 12,3031 14602 TCF TASKOVER
006506,000399: 12,3032 04102 TC POSTJUMP
006507,000400: 12,3033 26641 CADR IMUBAD # UNSUCCESSFUL TURN-ON.
006508,000401:
006509,000402: 12,3034 37641 ENDTNON2 CAF BIT15 # SEND ISS DELAY COMPLETE.
006510,000403: 12,3035 00006 EXTEND
006511,000404: 12,3036 05012 WOR 12
![]() |
Page 170 |
006513,000406: 12,3037 04755 UNZ2 TC ZEROICDU
006514,000407:
006515,000408: 12,3040 43425 CS BITS4&5 # REMOVE ZERO AND COARSE.
006516,000409: 12,3041 00006 EXTEND
006517,000410: 12,3042 03012 WAND 12
006518,000411:
006519,000412: 12,3043 34762 CAF 3SECS # ALLOW 3 SECS FOR COUNTER TO FIND GIMBAL.
006520,000413: 12,3044 04557 TC VARDELAY
006521,000414:
006522,000415: 12,3045 43426 ISSUP CS OCT54 # REMOVE CAGING, IMU FAIL INHIBIT, AND
006523,000416: 12,3046 70367 MASK IMODES30 # ICDUFAIL INHIBIT FLAGS.
006524,000417: 12,3047 54367 TS IMODES30
006525,000418:
006526,000419: 12,3050 03344 TC SETISSW # ISS WARNING MIGHT HAVE BEEN INHIBITED.
006527,000420:
006528,000421: 12,3051 47641 CS BIT15 # REMOVE IMU DELAY COMPLETE DISCRETE.
006529,000422: 12,3052 00006 EXTEND
006530,000423: 12,3053 03012 WAND 12
006531,000424:
006532,000425: 12,3054 37645 CAF BIT11 # DONT ENABLE PROG ALARM ON PIP FAIL FOR
006533,000426: 12,3055 04536 TC WAITLIST # ANOTHER 10 SECS.
006534,000427: 12,3056 02262 26006 2CADR PFAILOK
006535,000428: 12,3060 40061 CS STATE # SEE IF ANYONE IS WAITING FOR THE IMU AT
006536,000429: 12,3061 77650 MASK IMUSEFLG # IMUZERO. IF SO, WAKE THEM UP.
006537,000430: 12,3062 10000 CCS A
006538,000431: 12,3063 14602 TCF TASKOVER
006539,000432:
006540,000433: 12,3064 04102 TC POSTJUMP
006541,000434: 12,3065 26633 CADR ENDIMU
006542,000435:
006543,000436: 12,3066 37650 OPONLY CAF IMUSEFLG # IF OPERATE ON ONLY, ZERO THE COUNTERS
006544,000437: 12,3067 70061 MASK STATE # UNLESS SOMEONE IS USING THE IMU.
006545,000438: 12,3070 10000 CCS A
006546,000439: 12,3071 13103 TCF C33TEST
006547,000440:
006548,000441: 12,3072 03401 TC CAGESUB2 # SET TURNON FLAGS.
006549,000442:
006550,000443: 12,3073 37653 CAF BIT5
006551,000444: 12,3074 00006 EXTEND
006552,000445: 12,3075 05012 WOR 12
006553,000446:
006554,000447: 12,3076 37652 CAF BIT6 # WAIT 300 MS FOR AGS TO RECEIVE SIGNAL.
006555,000448: 12,3077 04536 TC WAITLIST
006556,000449: 12,3100 03037 24006 2CADR UNZ2
006557,000450: 12,3102 13103 TCF C33TEST
![]() |
Page 171 |
006559,000452: # MONITOR CHANNEL 33 FLIP-FLOP INPUTS.
006560,000453:
006561,000454: 12,3103 30370 C33TEST CA IMODES33 # SEE IF RELEVENT CHAN33 BITS HAVE
006562,000455: 12,3104 74515 MASK 33RDMSK
006563,000456: 12,3105 54001 TS L # CHANGED.
006564,000457: 12,3106 34515 CAF 33RDMSK
006565,000458: 12,3107 00006 EXTEND
006566,000459: 12,3110 03033 WAND 33 # RESETS FLIP-FLOP INPUTS.
006567,000460: 12,3111 00006 EXTEND
006568,000461: 12,3112 06001 RXOR L
006569,000462: 12,3113 00006 EXTEND
006570,000463: 12,3114 13143 BZF GLOCKMON # ON NO CHANGE.
006571,000464:
006572,000465: 12,3115 54074 TS RUPTREG1 # SAVE BITS WHICH HAVE CHANGED.
006573,000466: 12,3116 22370 LXCH IMODES33
006574,000467: 12,3117 00006 EXTEND
006575,000468: 12,3120 06001 RXOR L
006576,000469: 12,3121 54370 TS IMODES33 # UPDATED IMODES33.
006577,000470:
006578,000471: 12,3122 37665 CAF ZERO
006579,000472: 12,3123 56074 XCH RUPTREG1
006580,000473: 12,3124 60000 DOUBLE
006581,000474: 12,3125 13130 TCF NXTIBT +1 # SCAN FOR BIT CHANGES.
006582,000475:
006583,000476: 12,3126 67657 -1 AD ONE
006584,000477: 12,3127 24074 NXTIBT INCR RUPTREG1
006585,000478: 12,3130 60000 +1 DOUBLE
006586,000479: 12,3131 54000 TS A # (CODING IDENTICAL TO CHAN 30).
006587,000480: 12,3132 13127 TCF NXTIBT
006588,000481:
006589,000482: 12,3133 56075 XCH RUPTREG2
006590,000483: 12,3134 50074 INDEX RUPTREG1 # GET NEW VALUE OF BIT WHICH CHANGED.
006591,000484: 12,3135 37643 CAF BIT13
006592,000485: 12,3136 70370 MASK IMODES33
006593,000486: 12,3137 50074 INDEX RUPTREG1
006594,000487: 12,3140 03414 TC C33JMP
006595,000488:
006596,000489: 12,3141 10075 NXTFL33 CCS RUPTREG2 # PROCESS POSSIBLE ADDITIONAL CHANGES.
006597,000490: 12,3142 13126 TCF NXTIBT -1
![]() |
Page 172 |
006599,000492: # MONITOR FOR GIMBAL LOCK.
006600,000493:
006601,000494: 12,3143 10034 GLOCKMON CCS CDUZ
006602,000495: 12,3144 13150 TCF GLOCKCHK # SEE IF MAGNITUDE OF MGA IS GREATER THAN
006603,000496: 12,3145 13156 TCF SETGLOCK # 70 DEGREES.
006604,000497: 12,3146 13150 TCF GLOCKCHK
006605,000498: 12,3147 13156 TCF SETGLOCK
006606,000499:
006607,000500: 12,3150 63203 GLOCKCHK AD -70DEGS
006608,000501: 12,3151 00006 EXTEND
006609,000502: 12,3152 63155 BZMF SETGLOCK -1 # NO LOCK.
006610,000503:
006611,000504: 12,3153 37652 CAF BIT6 # GIMAL LOCK.
006612,000505: 12,3154 13156 TCF SETGLOCK
006613,000506:
006614,000507: 12,3155 37665 -1 CAF ZERO
006615,000508: 12,3156 60322 SETGLOCK AD DSPTAB +11D # SEE IF PRESENT STATE OF GIMBAL LOCK LAMP
006616,000509: 12,3157 77652 MASK BIT6 # AGREES WITH DESIRED STATE BY HALF ADDING
006617,000510: 12,3160 00006 EXTEND # THE TWO.
006618,000511: 12,3161 13752 BZF GLOCKOK # OK AS IS.
006619,000512:
006620,000513: 12,3162 70322 MASK DSPTAB +11D # IF OFF, DONT TURN ON IF IMU BEING CAGED.
006621,000514: 12,3163 10000 CCS A
006622,000515: 12,3164 13200 TCF GLAMPTST # TURN OFF UNLESS LAMP TEST IN PROGRESS.
006623,000516:
006624,000517: 12,3165 37652 CAF BIT6
006625,000518: 12,3166 70367 MASK IMODES30
006626,000519: 12,3167 10000 CCS A
006627,000520: 12,3170 13752 TCF GLOCKOK
006628,000521:
006629,000522: 12,3171 40322 GLINVERT CS DSPTAB +11D # INVERT GIMBAL LOCK LAMP.
006630,000523: 12,3172 77652 MASK BIT6
006631,000524: 12,3173 67641 AD BIT15 # TO INDICATE CHANGE IN DSPTAB +11D.
006632,000525: 12,3174 56322 XCH DSPTAB +11D
006633,000526: 12,3175 73204 MASK OCT37737
006634,000527: 12,3176 26322 ADS DSPTAB +11D
006635,000528: 12,3177 13752 TCF GLOCKOK
006636,000529:
006637,000530: 12,3200 03417 GLAMPTST TC LAMPTEST # TURN OFF UNLESS LAMP TEST IN PROGRESS.
006638,000531: 12,3201 13752 TCF GLOCKOK
006639,000532: 12,3202 13171 TCF GLINVERT
006640,000533:
006641,000534: 12,3203 63434 -70DEGS DEC -.38888 # -70 DEGREES SCALED IN HALF-REVOLUTIONS.
006642,000535: 12,3204 37737 OCT37737 OCT 37737
![]() |
Page 173 |
006644,000537: # SUBROUTINES TO PROCESS INBIT CHANGES. NEW VALUE OF BIT ARRIVES IN A, EXCEPT FOR TLIM.
006645,000538:
006646,000539: 12,3205 77637 TLIM MASK POSMAX # REMOVE BIT FROM WORD OF CHANGES AND SET
006647,000540: 12,3206 54075 TS RUPTREG2 # DSKY TEMP LAMP ACCORDINGLY.
006648,000541:
006649,000542: 12,3207 10367 CCS IMODES30
006650,000543: 12,3210 13216 TCF TEMPOK
006651,000544: 12,3211 13216 TCF TEMPOK
006652,000545:
006653,000546: 12,3212 37654 CAF BIT4 # TURN ON LAMP.
006654,000547: 12,3213 00006 EXTEND
006655,000548: 12,3214 05011 WOR 11
006656,000549: 12,3215 12753 TCF NXTIFAIL
006657,000550:
006658,000551: 12,3216 03417 TEMPOK TC LAMPTEST # IF TEMP NOW OK, DONT TURN OFF LAMP IF
006659,000552: 12,3217 12753 TCF NXTIFAIL # LAMP TEST IN PROGRESS.
006660,000553:
006661,000554: 12,3220 47654 CS BIT4
006662,000555: 12,3221 00006 EXTEND
006663,000556: 12,3222 03011 WAND 11
006664,000557: 12,3223 12753 TCF NXTIFAIL
006665,000558:
006666,000559: 12,3224 37656 ITURNON CAF BIT2 # IF DELAY REQUEST HAS GONE OFF
006667,000560: 12,3225 70367 MASK IMODES30 # PREMATURELY, DO NOT PROCESS ANY CHANGES
006668,000561: 12,3226 10000 CCS A # UNTIL THE CURRENT 90 SEC WAIT EXPIRES.
006669,000562: 12,3227 12753 TCF NXTIFAIL
006670,000563:
006671,000564: 12,3230 37642 CAF BIT14 # SEE IF JUST ON OR OFF.
006672,000565: 12,3231 70367 MASK IMODES30
006673,000566: 12,3232 00006 EXTEND
006674,000567: 12,3233 13247 BZF ITURNON2 # IF JUST ON.
006675,000568:
006676,000569: 12,3234 37641 CAF BIT15
006677,000570: 12,3235 00006 EXTEND # SEE IF DELAY PRESENT DISCRETE HAS BEEN
006678,000571: 12,3236 02012 RAND 12 # SENT. IF SO, ACTION COMPLETE.
006679,000572: 12,3237 00006 EXTEND
006680,000573: 12,3240 13242 BZF +2
006681,000574: 12,3241 12753 TCF NXTIFAIL
006682,000575:
006683,000576: 12,3242 37656 CAF BIT2 # IF NOT, SET BIT TO INDICATE REQUEST NOT
006684,000577: 12,3243 26367 ADS IMODES30 # PRESENT FOR FULL DURATION.
006685,000578: 12,3244 05413 TC ALARM
006686,000579: 12,3245 00207 OCTAL 207
006687,000580: 12,3246 12753 TCF NXTIFAIL
006688,000581:
006689,000582: 12,3247 47651 ITURNON2 CS BIT7 # SET BIT 7 TO INITIATE WAIT OF 1 SAMPLE.
006690,000583: 12,3250 70367 MASK IMODES30
006691,000584: 12,3251 67651 AD BIT7
006692,000585: 12,3252 54367 TS IMODES30
006693,000586: 12,3253 12753 TCF NXTIFAIL
![]() |
Page 174 |
006695,000588: 12,3254 10000 IMUCAGE CCS A # NO ACTION IF GOING OFF.
006696,000589: 12,3255 12753 TCF NXTIFAIL
006697,000590:
006698,000591: 12,3256 43433 CS OCT71000 # TERMINATE ICDU AND GYRO PULSE TRAINS.
006699,000592: 12,3257 00006 EXTEND
006700,000593: 12,3260 03014 WAND 14
006701,000594:
006702,000595: 12,3261 03373 TC CAGESUB
006703,000596:
006704,000597: 12,3262 37665 CAF ZERO # ZERO COMMAND OUT-COUNTERS.
006705,000598: 12,3263 54050 TS CDUXCMD
006706,000599: 12,3264 54051 TS CDUYCMD
006707,000600: 12,3265 54052 TS CDUZCMD
006708,000601: 12,3266 54047 TS GYROCMD
006709,000602:
006710,000603: 12,3267 43432 CS OCT1700 # HAVING WAITED AT LEAST 27 MCT FROM
006711,000604: 12,3270 00006 EXTEND # GYRO PULSE TRAIN TERMINATION, WE CAN
006712,000605: 12,3271 03014 WAND 14 # DE-SELECT THE GYROS.
006713,000606:
006714,000607: 12,3272 12753 TCF NXTIFAIL
006715,000608:
006716,000609: 12,3273 00006 IMUOP EXTEND
006717,000610: 12,3274 13304 BZF IMUOP2
006718,000611:
006719,000612: 12,3275 40061 CS STATE # IF GOING OFF, ALARM IF PROG USING IMU.
006720,000613: 12,3276 77650 MASK IMUSEFLG
006721,000614: 12,3277 10000 CCS A
006722,000615: 12,3300 12753 TCF NXTIFAIL
006723,000616:
006724,000617: 12,3301 05413 TC ALARM
006725,000618: 12,3302 00214 OCT 214
006726,000619: 12,3303 12753 TCF NXTIFAIL
006727,000620:
006728,000621: 12,3304 37656 IMUOP2 CAF BIT2 # SEE IF FAILED ISS TURN-ON SEQ IN PROG.
006729,000622: 12,3305 70367 MASK IMODES30
006730,000623: 12,3306 10000 CCS A
006731,000624: 12,3307 12753 TCF NXTIFAIL # IF SO, DONT PROCESS UNTIL PRESENT 90
006732,000625: 12,3310 13247 TCF ITURNON2 # SECONDS EXPIRES.
006733,000626:
006734,000627: 12,3311 10000 PIPFAIL CCS A # SET BIT10 IN IMODES30 SO ALL ISS WARNING
006735,000628: 12,3312 37646 CAF BIT10 # INFO IS IN ONE REGISTER.
006736,000629: 12,3313 56367 XCH IMODES30
006737,000630: 12,3314 73435 MASK -BIT10
006738,000631: 12,3315 26367 ADS IMODES30
006739,000632:
006740,000633: 12,3316 03344 TC SETISSW
006741,000634:
006742,000635: 12,3317 40367 CS IMODES30 # IF PIP FAIL DOESNT LIGHT ISS WARNING, DO
006743,000636: 12,3320 77657 MASK BIT1 # A PROGRAM ALARM IF IMU OPERATING BUT NOT
006744,000637: 12,3321 10000 CCS A # CAGED OR BEING TURNED ON.
![]() |
Page 175 |
006746,000639: 12,3322 13141 TCF NXTFL33
006747,000640:
006748,000641: 12,3323 30367 CA IMODES30
006749,000642: 12,3324 73431 MASK OCT1720
006750,000643: 12,3325 10000 CCS A
006751,000644: 12,3326 13141 TCF NXTFL33 # ABOVE CONDITION NOT MET.
006752,000645:
006753,000646: 12,3327 05413 TC ALARM
006754,000647: 12,3330 00212 OCT 212
006755,000648: 12,3331 13141 TCF NXTFL33
006756,000649:
006757,000650: 12,3332 10000 DNTMFAST CCS A # DO PROG ALARM IF TM TOO FAST.
006758,000651: 12,3333 13141 TCF NXTFL33
006759,000652:
006760,000653: 12,3334 05413 TC ALARM
006761,000654: 12,3335 01105 OCT 1105
006762,000655: 12,3336 13141 TCF NXTFL33
006763,000656:
006764,000657: 12,3337 10000 UPTMFAST CCS A # SAME AS DNLINK TOO FAST WITH DIFFERENT
006765,000658: 12,3340 13141 TCF NXTFL33 # ALARM CODE.
006766,000659:
006767,000660: 12,3341 05413 TC ALARM
006768,000661: 12,3342 01106 OCT 1106
006769,000662: 12,3343 13141 TCF NXTFL33
![]() |
Page 176 |
006771,000664: # CLOSED SUBROUTINES FOR IMU MONITORING.
006772,000665: 12,3344 33424 SETISSW CAF OCT15 # SET ISS WARNING USING THE FAIL BITS IN
006773,000666: 12,3345 70367 MASK IMODES30 # BITS 13, 12, AND 10 OF IMODES30 AND THE
006774,000667: 12,3346 00006 EXTEND # FAILURE INHIBIT BITS IN POSITIONS
006775,000668: 12,3347 77646 MP BIT10 # 4, 3, AND 1.
006776,000669: 12,3350 30367 CA IMODES30
006777,000670: 12,3351 00006 EXTEND
006778,000671: 12,3352 04001 ROR L # 0 INDICATES FAILURE.
006779,000672: 12,3353 40000 COM
006780,000673: 12,3354 74514 MASK OCT15000
006781,000674: 12,3355 10000 CCS A
006782,000675: 12,3356 13367 TCF ISSWON # FAILURE.
006783,000676:
006784,000677: 12,3357 37657 ISSWOFF CAF BIT1 # DONT TURN OFF ISS WARNING IF LAMP TEST
006785,000678: 12,3360 70370 MASK IMODES33 # IN PROGRESS.
006786,000679: 12,3361 10000 CCS A
006787,000680: 12,3362 00002 TC Q
006788,000681:
006789,000682: 12,3363 47657 CS BIT1
006790,000683: 12,3364 00006 EXTEND
006791,000684: 12,3365 03011 WAND 11
006792,000685: 12,3366 00002 TC Q
006793,000686:
006794,000687: 12,3367 37657 ISSWON CAF BIT1
006795,000688: 12,3370 00006 EXTEND
006796,000689: 12,3371 05011 WOR 11
006797,000690: 12,3372 00002 TC Q
006798,000691:
006799,000692: 12,3373 43434 CAGESUB CS BITS6&15 # SET OUTBITS AND INTERNAL FLAGS FOR
006800,000693: 12,3374 00006 EXTEND # SYSTEM TURN-ON OR CAGE. DISABLE THE
006801,000694: 12,3375 03012 WAND 12 # ERROR COUNTER AND REMOVE IMU DELAY COMP.
006802,000695: 12,3376 33425 CAF BITS4&5 # SEND ZERO AND COARSE.
006803,000696: 12,3377 00006 EXTEND
006804,000697: 12,3400 05012 WOR 12
006805,000698:
006806,000699: 12,3401 43427 CAGESUB2 CS OCT75 # SET FLAGS TO INDICATE CAGING OR TURN-ON,
006807,000700: 12,3402 70367 MASK IMODES30 # AND TO INHIBIT ALL ISS WARNING INFO.
006808,000701: 12,3403 63427 AD OCT75
006809,000702: 12,3404 54367 TS IMODES30
006810,000703:
006811,000704: 12,3405 00002 TC Q
006812,000705:
006813,000706: 12,3406 12,3344 IMUFAIL EQUALS SETISSW
006814,000707: 12,3406 12,3344 ICDUFAIL EQUALS SETISSW
![]() |
Page 177 |
006816,000709: # JUMP TABLES AND CONSTANTS.
006817,000710: 12,3406 13224 IFAILJMP TCF ITURNON # CHANNEL 30 DISPATCH.
006818,000711: 12,3407 13344 TCF IMUFAIL
006819,000712: 12,3410 13344 TCF ICDUFAIL
006820,000713: 12,3411 13254 TCF IMUCAGE
006821,000714: 12,3412 76400 30RDMSK OCT 76400 # (BIT 10 NOT SAMPLED HERE).
006822,000715: 12,3413 13273 TCF IMUOP
006823,000716:
006824,000717: 12,3414 13311 C33JMP TCF PIPFAIL # CHANNEL 33 DISPATCH.
006825,000718: 12,3415 13332 TCF DNTMFAST
006826,000719: 12,3416 13337 TCF UPTMFAST
006827,000720:
006828,000721: # SUBROUTINE TO SKIP IF LAMP TEST NOT IN PROGRESS.
006829,000722: 12,3417 40370 LAMPTEST CS IMODES33 # BIT1 OF IMODES33 = 1 IF LAMP TEST IN
006830,000723: 12,3420 77657 MASK BIT1 # PROGRESS.
006831,000724: 12,3421 10000 CCS A
006832,000725: 12,3422 24002 INCR Q
006833,000726: 12,3423 00002 TC Q
006834,000727:
006835,000728: 12,3424 4515 33RDMSK EQUALS PRIO16
006836,000729: 12,3424 00015 OCT15 OCT 15
006837,000730: 12,3425 00030 BITS4&5 OCT 30
006838,000731: 12,3426 00054 OCT54 OCT 54
006839,000732: 12,3427 00075 OCT75 OCT 75
006840,000733: 12,3430 00300 BITS7&8 OCT 300
006841,000734: 12,3431 01720 OCT1720 OCT 1720
006842,000735: 12,3432 01700 OCT1700 OCT 1700
006843,000736: 12,3433 4514 OCT15000 EQUALS PRIO15
006844,000737: 12,3433 71000 OCT71000 OCT 71000
006845,000738: 12,3434 40040 BITS6&15 OCT 40040
006846,000739: 12,3435 76777 -BIT10 OCT -1000
006847,000740:
006848,000741: 12,3436 21450 90SECS DEC 9000 B-14
006849,000742: 12,3437 00014 120MS DEC 12 B-14
006850,000743:
006851,000744: 12,3440 12,3752 GLOCKOK EQUALS RCSMONIT
006852,000745: 12,3440 12,3752 NOIMUMON EQUALS GLOCKOK
![]() |
Page 178 |
006854,000747: # RR INBIT MONITOR.
006855,000748: 12,3440 30413 RRAUTCHK CA RADMODES # SEE IF CHANGE IN RR AUTO MODE BIT.
006856,000749: 12,3441 00006 EXTEND
006857,000750: 12,3442 06033 RXOR 33
006858,000751: 12,3443 77656 MASK BIT2
006859,000752: 12,3444 00006 EXTEND
006860,000753: 12,3445 13501 BZF RRCDUCHK
006861,000754:
006862,000755: 12,3446 22413 LXCH RADMODES # UPDATE RADMODES.
006863,000756: 12,3447 00006 EXTEND
006864,000757: 12,3450 06001 RXOR L
006865,000758: 12,3451 54413 TS RADMODES
006866,000759: 12,3452 77656 MASK BIT2 # SEE IF JUST ON.
006867,000760: 12,3453 10000 CCS A
006868,000761: 12,3454 13473 TCF RROFF # OFF.
006869,000762:
006870,000763: 12,3455 37651 CAF BIT7 # IF JUST ON AND SOME PROGRAM IS USING THE
006871,000764: 12,3456 70061 MASK STATE # RR, DONT ZERO THE CDUS.
006872,000765: 12,3457 10000 CCS A
006873,000766: 12,3460 13501 TCF RRCDUCHK
006874,000767:
006875,000768: 12,3461 43472 CS OCT10001 # SET BITS TO INDICATE ZERO AND TURNON
006876,000769: 12,3462 70413 MASK RADMODES # IN PROGRESS.
006877,000770: 12,3463 63472 AD OCT10001
006878,000771: 12,3464 54413 TS RADMODES
006879,000772:
006880,000773: 12,3465 37657 CAF ONE
006881,000774: 12,3466 04536 TC WAITLIST
006882,000775: 12,3467 02000 20006 2CADR RRTURNON
006883,000776: 12,3471 13545 TCF NORRGMON
006884,000777:
006885,000778: 12,3472 10001 OCT10001 OCT 10001
006886,000779:
006887,000780: 12,3473 40061 RROFF CS STATE # IF SOMEONE WAS USING THE RR, DISPLAY AN
006888,000781: 12,3474 77651 MASK BIT7 # ALARM IF THE RR GOES OUT OF AUTO MODE.
006889,000782: 12,3475 10000 CCS A
006890,000783: 12,3476 13501 TCF RRCDUCHK
006891,000784:
006892,000785: 12,3477 05413 TC ALARM
006893,000786: 12,3500 00514 OCT 514
![]() |
Page 179 |
006895,000788: # CHECK FOR RR CDU FAIL.
006896,000789: 12,3501 30413 RRCDUCHK CA RADMODES # LAST SAMPLED BIT IN RADMODES.
006897,000790: 12,3502 00006 EXTEND
006898,000791: 12,3503 06030 RXOR 30
006899,000792: 12,3504 77651 MASK BIT7
006900,000793: 12,3505 00006 EXTEND
006901,000794: 12,3506 13521 BZF RRGIMON
006902,000795:
006903,000796: 12,3507 37656 CAF BIT2 # IF RR NOT IN AUTO MODE, DONT CHANGE BIT
006904,000797: 12,3510 70413 MASK RADMODES # 7 OF RADMODES. IF THIS WERE NOT DONE,
006905,000798: 12,3511 10000 CCS A # THE TRACKER FAIL MIGHT COME ON WHEN
006906,000799: 12,3512 13545 TCF NORRGMON # JUST READING LR DATA.
006907,000800:
006908,000801: 12,3513 37651 CAF BIT7 # SET BIT 7 OF RADMODES FOR SETTRKF.
006909,000802: 12,3514 22413 LXCH RADMODES # UPDATE RADMODES.
006910,000803: 12,3515 00006 EXTEND
006911,000804: 12,3516 06001 RXOR L
006912,000805: 12,3517 54413 TS RADMODES
006913,000806:
006914,000807: 12,3520 05042 TRKFLCDU TC SETTRKF # UPDATE TRACKER FAIL LAMP ON DSKY.
![]() |
Page 180 |
006916,000809: # THE RR GIMBAL LIMIT MONITOR IS ENABLED WHENEVER THE RR IS IN THE AUTO MODE EXCEPT WHEN THE RR CDUS ARE
006917,000810: # BEING ZEROED, OR DURING A REMODE OR MONITOR REPOSITION OPERATION. THE LATTER IS INITIATED BY THIS MONITOR WHEN
006918,000811: # THE GIMBALS EXCEED THE LIMITS FOR THE CURRENT MODE. A ROUTINE IS INITIATED TO DRIVE THE GIMBALS TO T = 0 AND
006919,000812: # S = 0 IF IN MODE 1 AND T = 180 WITH S = -90 FOR MODE 2.
006920,000813:
006921,000814: 12,3521 33543 RRGIMON CAF OCT32002 # INHIBITED BY REMODE, ZEROING, MONITOR,
006922,000815: 12,3522 70413 MASK RADMODES # OR RR NOT IN AUTO.
006923,000816: 12,3523 10000 CCS A
006924,000817: 12,3524 13545 TCF NORRGMON
006925,000818:
006926,000819: 12,3525 04777 TC RRLIMCHK # SEE IF ANGLES IN LIMITS.
006927,000820: 12,3526 00035 ADRES OPTY
006928,000821:
006929,000822: 12,3527 13531 TCF MONREPOS
006930,000823:
006931,000824: 12,3530 13545 TCF NORRGMON # (ADDITIONAL CODING MAY GO HERE).
006932,000825:
006933,000826: 12,3531 37645 MONREPOS CAF BIT11 # SET FLAG TO SHOW REPOSITION IN PROGRESS.
006934,000827: 12,3532 26413 ADS RADMODES
006935,000828:
006936,000829: 12,3533 43544 CS OCT20002 # DISABLE TRACKER AND ERROR COUNTER.
006937,000830: 12,3534 00006 EXTEND
006938,000831: 12,3535 03012 WAND 12
006939,000832:
006940,000833: 12,3536 37656 CAF TWO
006941,000834: 12,3537 04536 TC WAITLIST
006942,000835: 12,3540 02051 20006 2CADR DORREPOS
006943,000836: 12,3542 13545 TCF NORRGMON
006944,000837:
006945,000838: 12,3543 32002 OCT32002 OCT 32002
006946,000839: 12,3544 20002 OCT20002 OCT 20002
![]() |
Page 181 |
006948,000841: # PROGRAM NAME: GPMATRIX MOD. NO. 0 DATE: OCTOBER 20, 1966
006949,000842:
006950,000843: # AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
006951,000844:
006952,000845: # THIS PROGRAM CALCULATES ALL THE SINGLE-PRECISION MATRIX ELEMENTS WHICH ARE USED BY LEM DAP TO TRANSFORM VECTORS
006953,000846: # FROM GIMBAL TO PILOT (BODY) AXES AND BACK AGAIN. THESE ELEMENTS ARE USED EXCLUSIVELY BY BASIC LANGUAGE ROUTINES
006954,000847: # AND THEREFORE ARE NOT ARRAYED FOR USE BY INTERPRETIVE PROGRAMS.
006955,000848:
006956,000849: # CALLING SEQUENCE: GPMATRIX IS ALWAYS EXECUTED 4 TIMES A SECOND BY T4RUPT PROGRAM. IT IS LISTED EXPLICITLY TWICE
006957,000850: # IN THE T4JUMP TABLE, BUT IT ALSO OCCURS AFTER RRAUTCHK (TWICE).
006958,000851:
006959,000852: # SUBROUTINES CALLED: SPSIN, SPCOS.
006960,000853:
006961,000854: # NORMAL EXIT MODE: CONTROL IS ALWAYS TRANSFERRED TO DBSELECT.
006962,000855:
006963,000856: # ALARM/ABORT MODE: THERE ARE NO REAL ALARMS OR ABORTS. HOWEVER, WHEN THE MIDDLE GIMBAL ANGLE NEARS GIMBAL LOCK,
006964,000857: # A DIVISION BY COS(MG) WILL CAUSE OVERFLOW (I.E. A BAD QUOTIENT). THIS CONDITION IS PREVENTED BY TESTING COS(MG)
006965,000858: # AND SUBSTITUTING POSMAX/NEGMAX FOR THE INCALCULABLE QUANTITITIES.
006966,000859:
006967,000860: # INPUT: CDUX,CDUY,CDUZ. OUTPUT: M11,M21,M31,M22,M32,MR12,MR13.
006968,000861: # (ALSO MR22=M22,MR23=M32) AM DOES NOT DETECT IT.
006969,000862:
006970,000863: # *** WARNING ** IT DIES ON DV OVERFLOW.
006971,000864:
006972,000865: # AOG = CDUX, AIG = CDUY, AMG = CDUZ: MNEMONIC IS: OIM = XYZ
006973,000866:
006974,000867: # * * SIN(MG) 0 1 *
006975,000868: # M = * COS(MG)COS(OG) SIN(OG) 0 *
006976,000869: # GP * -COS(MG)SIN(OG) COS(OG) 0 *
006977,000870:
006978,000871: # * * 0 COS(OG)/COS(MG) -SIN(OG)/COS(MG) *
006979,000872: # M = * 0 SIN(OG) COS(OG) *
006980,000873: # PG * 1 -SIN(MG)COS(OG)/COS(MG) SIN(MG)SIN(OG)/COS(MG) *
006981,000874:
006982,000875: 12,3545 30034 GPMATRIX CAE CDUZ # SINGLE ENTRY POINT
006983,000876: 12,3546 04233 TC SPSIN # SIN(CDUZ) = SIN(MG)
006984,000877: 12,3547 55404 TS M11 # SCALED AT 1
006985,000878:
006986,000879: 12,3550 30034 CAE CDUZ
006987,000880: 12,3551 04232 TC SPCOS # COS(CDUZ) = COS(MG)
006988,000881: 12,3552 55466 TS COSMG # SCALED AT 1 (ONLY A FACTOR)
006989,000882:
006990,000883: 12,3553 30032 CAE CDUX
006991,000884: 12,3554 04233 TC SPSIN # SIN(CDUX) = SIN(OG)
006992,000885: 12,3555 55401 TS M22 # SCALED AT 1 (ALSO IS MR22)
006993,000886:
006994,000887: 12,3556 41401 CS M22
006995,000888: 12,3557 00006 EXTEND
006996,000889: 12,3560 71466 MP COSMG # -SIN(OG)COS(MG)
006997,000890: 12,3561 55406 TS M31 # SCALED AT 1
![]() |
Page 182 |
006999,000892: 12,3562 30032 CAE CDUX
007000,000893: 12,3563 04232 TC SPCOS # COS(CDUX) = COS(OG)
007001,000894: 12,3564 55403 TS M32 # SCALED AT 1 (ALSO IS MR23)
007002,000895:
007003,000896: 12,3565 00006 EXTEND
007004,000897: 12,3566 71466 MP COSMG # COS(OG)COS(MG)
007005,000898: 12,3567 55405 TS M21 # SCALED AT 1
007006,000899:
007007,000900: 12,3570 31466 CAE COSMG # TEST FOR GIMBAL LOCK (OVERFLOW) REGION
007008,000901: 12,3571 67640 AD NEG1/2 # BY TESTING MIDDLE GIMBAL ANGLE FOR
007009,000902: 12,3572 00006 EXTEND # VALUES EQUAL TO OR GREATER THAN 60 DEGS.
007010,000903: 12,3573 63610 BZMF GPGLOCK
007011,000904:
007012,000905: 12,3574 31403 CAE M32
007013,000906: 12,3575 00006 EXTEND
007014,000907: 12,3576 77642 MP BIT14 # SCALE FOR DIVISION
007015,000908: 12,3577 00006 EXTEND
007016,000909: 12,3600 11466 DV COSMG # COS(OG)/COS(MG)
007017,000910: 12,3601 55400 TS MR12 # SCALED AT 2
007018,000911:
007019,000912: 12,3602 41401 CS M22
007020,000913: 12,3603 00006 EXTEND
007021,000914: 12,3604 77642 MP BIT14 # SCALE FOR DIVISION
007022,000915: 12,3605 00006 EXTEND
007023,000916: 12,3606 11466 DV COSMG # -SIN(OG)/COS(MG)
007024,000917: 12,3607 13621 TCF MR13STOR
007025,000918:
007026,000919: 12,3610 11403 GPGLOCK CCS M32 # SINCE DIVISION BY COS(MG) MIGHT CREATE
007027,000920: 12,3611 37637 CAF POSMAX
007028,000921: 12,3612 13614 TCF +2 # OVERFLOW (I.E. A NUMBER GREATER THAN 2)
007029,000922: 12,3613 37641 CAF NEGMAX
007030,000923: 12,3614 55400 TS MR12 # USE THE VALUE SGN(NUMERATOR)*POSMAX AS
007031,000924:
007032,000925: 12,3615 11401 CCS M22
007033,000926: 12,3616 37637 CAF POSMAX # THE CLOSEST APPROXIMATION
007034,000927: 12,3617 13621 TCF +2
007035,000928: 12,3620 37641 CAF NEGMAX
007036,000929: 12,3621 55402 MR13STOR TS MR13 # SCALED AT 2
![]() |
Page 183 |
007038,000931: # THE FOLLOWING SECTION TESTS THE ATTITUDE HOLD BIT TO DETERMINE WHICH DEA
![]() |
Page 184 |
007040,000933: # PROGRAM NAME: DB SELECT MOD. NO. 1 DATE: OCTOBER 24, 1966
007041,000934:
007042,000935: # AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
007043,000936:
007044,000937: # THIS PROGRAM SETS THE ERASABLE REGISTER DB TO ONE OF THE THREE VALUES:
007045,000938: # 1) O.3 DEGREES IF IN ATTITUDE HOLD MODE OR IF IN AUTO WITH THE DEADBAND SELECT BIT OF DAPBOOLS SET
007046,000939: # TO MINIMUM.
007047,000940: # 2) 5.0 DEGREES IF IN AUTO WITH DEADBAND SELECT BIT SET TO MAXIMUM.
007048,000941: # 3) 1.0 DEGREES IF IN POWERED FLIGHT (ASCENT OR DESCENT) AND OVERRIDING ANY SETTITING OF SCSMODE OR THE
007049,000942: # DEADBAND SELECT BIT. (*** SEE COMMENT AFTER CODING. ***)
007050,000943:
007051,000944: # ***** NOTICE *****
007052,000945:
007053,000946: # THE ABOVE CAPABILITY FULFILLS ALL THE KNOWN DEADBAND REQUIREMENTS FOR AS206, AS208B, AND AS278 (GIVEN THE
007054,000947: # APPROPRIATE MISSION PROGRAMS).
007055,000948:
007056,000949: # (ALSO FOR MANNED FLIGHTS A DSKY ENTRY MUST BE SET UP TO SET THE DEADBAND SELECT BIT OF DAPBOOLS. - NOT DONE AS
007057,000950: # OF 10/24/66.)
007058,000951:
007059,000952: # ***** DEADBAND SELECT BIT IS BIT13 OF DAPBOOLS. *****
007060,000953: # 0: MEANS MINIMUM DEADBAND
007061,000954: # 1: MEANS MAXIMUM DEADBAND
007062,000955:
007063,000956: # CALLING SEQUENCE: CONTROL FALLS THROUGH FROM GPMATRIX. (4 TIMES/SECOND)
007064,000957:
007065,000958: # SUBROUTINES CALLED: NONE.
007066,000959:
007067,000960: # NORMAL EXIT MODE: CONTROL IS ALWAYS TRANSFERRED TO UP/DOWN.
007068,000961:
007069,000962: # ALARM/ABORT MODE: NONE.
007070,000963:
007071,000964: # INPUT: BIT13/CHNL11,BIT13/CHNL31,BIT13/DAPBOOLS. (SPOOKY, ISN'T IT?)
007072,000965:
007073,000966: # OUTPUT: DB (SCALED AT PI RADIANS). (NO DEBRIS EXCEPT A)
007074,000967:
007075,000968: 12,3622 37643 DBSELECT CAF BIT13 # ATTITUDE HOLD BIT OF CHANNEL 31
007076,000969: 12,3623 00006 EXTEND # 0 MEANS ATTITUDE HOLD
007077,000970: 12,3624 02031 RAND 31 # 1 MEANS EITHER OFF OR AUTO
007078,000971: 12,3625 00006 EXTEND
007079,000972: 12,3626 13635 BZF ATTHLDDB # (ATTITUDE HOLD BRANCH)
007080,000973:
007081,000974: 12,3627 40765 CS DAPBOOLS # DEADBAND SELECT BIT OF DAPBOOLS
007082,000975: 12,3630 77643 MASK BIT13 # 0 MEANS MINIMUM DEADBAND
007083,000976: 12,3631 10000 CCS A # 1 MEANS MAXIMUM DEADBAND
007084,000977: 12,3632 13635 TCF ATTHLDDB # (MINIMUM DEADBAND BRANCH)
007085,000978:
007086,000979: 12,3633 33747 CAF DBMAXUM # SET MAXIMUM DEADBAND
007087,000980: 12,3634 13636 TCF +2
007088,000981:
007089,000982: 12,3635 33751 ATTHLDDB CAF DBATTHLD # SET MINUMUM (ATTITUDE HOLD) DEADBAND
![]() |
Page 185 |
007091,000984: 12,3636 55415 TS DB
007092,000985:
007093,000986: # ***** IMPORTANT NOTICE *****
007094,000987:
007095,000988: # FOR EFFICIENCY, THE OVERRIDING 1 DEGREE DEADBAND DURING POWERED FLIGHT IS NOT TESTED FOR ABOVE. THE PROGRAM
007096,000989: # FOLLOWING (I.E. UP/DOWN) PERFORMS THIS FUNCTION AFTER THE APPROPRIATE TESTS. THEREFORE, DB MAY TRANSIENTLY BEP
007097,000990: # INVALID, BUT THE DAP CANNOT USE IT THEN DUE TO T4RUPT MODE.
![]() |
Page 186 |
007099,000992: # PROGRAM NAME: UP/DOWN MOD. NO. 1 DATE: OCTOBER 25, 1966
007100,000993:
007101,000994: # AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
007102,000995:
007103,000996: # THIS PROGRAM MONITORS THE STAGE OF THE LEM AND THE ENGINE ON BIT IN ORDER TO DETERMINE WHEN ASCENT, DESCENT, AND
007104,000997: # COAST PHASES MUST BE SET UP FOR THE DAP. (DONE 4 TIMES A SECOND.)
007105,000998:
007106,000999: # CALLING SEQUENCE: NONE. SUBROUTINES CALLED: WAITLIST.
007107,001000:
007108,001001: # NORMAL EXIT MODE: CONTROL IS ALWAYS TRANSFERRED TO ENDDAPT4.
007109,001002:
007110,001003: # ALARM/ABORT MODE: NONE.
007111,001004:
007112,001005: # INPUT:BIT2/CHNL30,BIT13/CHNL11,BIT8/DAPBOOLS.
007113,001006:
007114,001007: # OUTPUT: A) ASCENT COAST:
007115,001008: # 1) BIT8/DAPBOOLS SET TO ZERO, MEANING COAST.
007116,001009: # 2) MINIMPDB AND DBMINIMP SET TO 0.3 DEGREES.
007117,001010: # B) ASCENT BURN:
007118,001011: # 1) INITIALIZATION PASS:
007119,001012: # I) BIT8/DAPBOOLS SET FROM 0 TO 1, MEANING THAT THE AOSTASK HAS BEEN STARTED UP AND THAT
007120,001013: # INITIALIZATION HAS OCCURRED.
007121,001014: # II) MINIMPDB SET TO -DB.
007122,001015: # III) DBMINIMP SET TO ZERO.
007123,001016: # IV) SUMRATEQ AND SUMRATER ZEROED FOR FIRST TWO SECOND AOSTASK SAMPLE PERIOD.
007124,001017: # V) KCOEFCTR ZEROED TO RECORD INITIAL TIME.
007125,001018: # VI) OMEGAQ AND OMEGAR RECORDED IN OLDWFORQ AND OLDWFORR AS LAST OMEGA VECTOR FOR AOSTASK.
007126,001019: # VII) AOSTASK SET IN WAITLIST FOR TWO SECONDS.
007127,001020: # VIII) DB SET TO DBAUTO.
007128,001021: # IX) ****** CHECKOUT ONLY **** IXXTASK, IYYTASK, AND IZZTASK SET IN WAITLIST FOR TEN MS.
007129,001022: # 2) NORMAL PASS VOID.
007130,001023: # C) DESCENT COAST:
007131,001024: # 1) BIT2/DAPBOOLS SET TO 1, MEANING THAT TRIM GIMBAL CONTROL OF DESCENT IS IMPOSSIBLE SINCE
007132,001025: # DESCENT ENGINE OFF.
007133,001026: # 2) AOSQTERM AND AOSRTERM ZEROED.
007134,001027: # D) DESCENT BURN:
007135,001028: # 1) DB SET TO DBAUTO.
007136,001029: # 2) BIT2/DAPBOOLS CANNOT NOW BE ZEROED (EVEN THOUGH THE DESCENT ENGINE IS ON), SINCE IT IS NOT
007137,001030: # NECESSARILY TRUE THAT THIS IMPLIES AN OPERATIVE TRIM GIMBAL SYSTEM.
007138,001031:
007139,001032: 12,3637 37656 UP/DOWN CAF BIT2 # STAGE VERIFY BIT OF CHANNEL 30: INVERTED
007140,001033: 12,3640 00006 EXTEND # 0 MEANS ASCENT STAGE
007141,001034: 12,3641 02030 RAND 30 # 1 MEANS DESCENT STAGE
007142,001035: 12,3642 10000 CCS A
007143,001036: 12,3643 13725 TCF DESCLEM # (DESCENT STAGE BRANCH)
007144,001037:
007145,001038: 12,3644 37643 ASCLEM CAF BIT13 # ENGINE ON BIT OF CHANNEL 11
007146,001039: 12,3645 00006 EXTEND # 0 MEANS OFF
007147,001040: 12,3646 02011 RAND 11 # 1 MEANS ON
007148,001041: 12,3647 10000 CCS A
![]() |
Page 187 |
007150,001043: 12,3650 13660 TCF ASCDAP # (ASCENT BURN BRANCH)
007151,001044:
007152,001045: 12,3651 47650 ASCCOAST CS BIT8 # SET BIT8 OF DAPBOOLS TO COAST DAP LOGIC
007153,001046: 12,3652 70765 MASK DAPBOOLS # LEM IS STAGED FOR ASCENT, BUT THE ASCENT
007154,001047: 12,3653 54765 TS DAPBOOLS # ENGINE IS NOT ON.
007155,001048:
007156,001049: 12,3654 33751 CAF DBATTHLD # FOR ASCENT COAST SET BOTH MINIMUM PULSE
007157,001050: 12,3655 55647 TS MINIMPDB # DEADBANDS TO THE DESCENT PHASE VALUE OF
007158,001051: 12,3656 55646 TS DBMINIMP # 0.3 DEGREES SCALED AT PI RADIANS.
007159,001052:
007160,001053: 12,3657 14606 TCF ENDDAPT4 # (END OF UP/DOWN)
007161,001054:
007162,001055: 12,3660 37650 ASCDAP CAF BIT8 # CHECK AOSTASK BIT OF DAPBOOLS
007163,001056: 12,3661 70765 MASK DAPBOOLS # IF 0, SET BIT AND INITIATE WAITLIST TASK
007164,001057: 12,3662 10000 CCS A # IF 1, THEN TASK LOOP ALREADY BEGUN
007165,001058: 12,3663 14606 TCF ENDDAPT4 # (END OF UP/DOWN)
007166,001059:
007167,001060: 12,3664 33750 CAF DBAUTO # SINCE ASCENT ENGINE IS ON -
007168,001061: 12,3665 55415 TS DB # SET DEADBAND TO 1.0 DEGREES
007169,001062:
007170,001063: 12,3666 37650 CAF BIT8 # SET BIT TO INDICATE AOSTASK SET UP AND
007171,001064: 12,3667 26765 ADS DAPBOOLS # ASCENT LOGIC. BIT CLEARLY NOT SET YET.
007172,001065:
007173,001066: 12,3670 41415 CS DB # MODIFY THE TJETLAW FOR ASCENT:
007174,001067: 12,3671 55647 TS MINIMPDB # (IN ONE EQUATION DELETE MINIMPDB AND
007175,001068: 12,3672 37665 CAF ZERO # SHIFT THE SWITCHING CURVE TO THE ORIGIN)
007176,001069: 12,3673 55646 TS DBMINIMP # MINIMPDB = -DB, DBMINIMP = 0
007177,001070:
007178,001071: 12,3674 37665 CAF ZERO # INITIALIZE SUM RATES
007179,001072: 12,3675 55640 TS SUMRATEQ
007180,001073: 12,3676 55641 TS SUMRATER
007181,001074: 12,3677 55671 TS KCOEFCTR # INITIALIZE TIME COUNTER
007182,001075: 12,3700 31417 CAE OMEGAQ # CREATE OLD OMEGAQ
007183,001076: 12,3701 55644 TS OLDWFORQ
007184,001077: 12,3702 31421 CAE OMEGAR # CREATE OLD OMEGAR
007185,001078: 12,3703 55645 TS OLDWFORR
007186,001079:
007187,001080: # ***** EVENTUALLY, USE 2SECWLT4 FROMM FIXED-FIXED AND NEW NAME. *****
007188,001081:
007189,001082: 12,3704 33746 CAF 2SECWLT4 # SET UP AOSTASK TO BEGIN IN 2 SECONDS
007190,001083: 12,3705 04536 TC WAITLIST # IT THEN SETS UP A LOOP ON WAITLIST FOR
007191,001084: 12,3706 03064 52006 2CADR AOSTASK # 2 SECOND INTERVALS AND CHECKS FOR THE
007192,001085: # SHUTDOWN CONDITION IN BIT8 OF DAPBOOLS
007193,001086:
007194,001087: # ****************************************************************************************************************
007195,001088:
007196,001089: # REMOVE THIS AND THE TASKS WHEN THE INERTIA ESTIMATOR WORKS.
007197,001090:
007198,001091: 12,3710 37657 CAF ONE # *** SPECIAL DAP CHECKOUT SEQUENCE ***
007199,001092: 12,3711 04536 TC WAITLIST # THESE THREE CALLS TO WAITLIST BEGIN A
![]() |
Page 188 |
007201,001094: 12,3712 03525 52006 2CADR IXXTASK # COMPLICATED PROCEDURE TO DECREMENT THE
007202,001095: 12,3714 37657 CAF ONE # INERTIA MATRIX DIAGONAL ELEMENTS (EACH
007203,001096: 12,3715 04536 TC WAITLIST # SCALED AT 2(+18) SLUG FEET(2) ) BY ONE
007204,001097: 12,3716 03536 52006 2CADR IYYTASK # BIT AS SOON AS APPROPRIATE BY A NOMINAL
007205,001098: 12,3720 37657 CAF ONE # LINEAR APPROXIMATION TO INERTIAL CHANGE.
007206,001099: 12,3721 04536 TC WAITLIST
007207,001100: 12,3722 03547 52006 2CADR IZZTASK # *** NOT TO BE USED IN MISSIONS ***
007208,001101: # ****************************************************************************************************************
007209,001102:
007210,001103: 12,3724 14606 TCF ENDDAPT4 # (END OF UP/DOWN)
007211,001104:
007212,001105: 12,3725 37643 DESCLEM CAF BIT13 # ENGINE ON BIT OF CHANNEL 11
007213,001106: 12,3726 00006 EXTEND # 0 MEANS OFF
007214,001107: 12,3727 02011 RAND 11 # 1 MEANS ON
007215,001108: 12,3730 10000 CCS A
007216,001109: 12,3731 13742 TCF DESCDAP # (DESCENT BURN BRANCH)
007217,001110:
007218,001111: 12,3732 47656 DESCOAST CS BIT2 # SET BIT2 OF DAPBOOLS TO INDICATE THAT
007219,001112: 12,3733 70765 MASK DAPBOOLS # TRIM GIMBAL CANNOT BE USED SINCE THE
007220,001113: 12,3734 67656 AD BIT2 # STAGE IS DESCENT, BUT THE ENGINE IS NOT
007221,001114: 12,3735 54765 TS DAPBOOLS # ON.
007222,001115:
007223,001116: 12,3736 37665 CAF ZERO # ZERO TRIM GIMBAL OFFSET ACCELERATION
007224,001117: 12,3737 55642 TS AOSQTERM # TERMS IN THE DESCENT RATE DERIVATION
007225,001118: 12,3740 55643 TS AOSRTERM # SINCE THE THRUST IS ZERO (ENGINE OFF).
007226,001119:
007227,001120: 12,3741 14606 TCF ENDDAPT4 # (END OF UP/DOWN)
007228,001121:
007229,001122: 12,3742 33750 DESCDAP CAF DBAUTO # SINCE DESCENT ENGINE IS ON -
007230,001123: 12,3743 55415 TS DB # SET DEADBAND TO 1.0 DEGREES
007231,001124:
007232,001125: 12,3744 14606 TCF ENDDAPT4 # (END OF UP/DOWN)
007233,001126:
007234,001127: 12,3745 14606 TCF ENDDAPT4
007235,001128:
007236,001129:
007237,001130: 12,3746 00310 2SECWLT4 DEC 200 B-14 # 2 SECONDS WAITLIST DT
007238,001131: 12,3747 00707 DBMAXUM DEC 0.02778 # 5.0 DEGREES SCALED AT PI RADIANS
007239,001132: 12,3750 00133 DBAUTO DEC 0.00555 # 1.0 DEGREES SCALED AT PI RADIANS
007240,001133: 12,3751 00033 DBATTHLD DEC 0.00167 # 0.3 DEGREES SCALED AT PI RADIANS
007241,001134:
007242,001135:
007243,001136:
007244,001137: 12,3752 12,3545 NORRGMON EQUALS GPMATRIX
007245,001138: 12,3752 4606 ENDDAPT4 EQUALS RESUME
End of include-file T4RUPT_PROGRAM.agc. Parent file is MAIN.agc