Assembly listing generated by yaYUL

Source Code

These source-code files are part of a reconstructed copy of Comanche 67, the Apollo Guidance Computer (AGC) Command Module (CM) software for Apollo 12.

They have been adapted from sources files for Comanche 55, and updated via disassembly of binary dumps of original core rope memory modules, part numbers 2003972-1081, 2003972-1091, 2003972-1111, 2003972-1121, 2003972-1131, and 2003972-1141.

Since only binary dumps (rather than listings) of Comanche 67 are available as source material, all comments and labels are approximate. They have been taken from other AGC programs where possible, or, in some places, written from scratch to match what we believe would have been in the original listing.

 005281,000002: 005282,000003: 005283,000004: 005284,000005: 005285,000006: 005286,000007: 005287,000008: 005288,000009: 005289,000010: 005290,000011: 005291,000012: 005292,000013: 005293,000014: 005294,000015: 005295,000016: 12,2000 005296,000017: 06,2000 005297,000018: 06,2000 005298,000019: 005299,000020: 06,2000 005300,000021: 005317,000038: 005318,000039: 005319,000040: 005320,000041: 005321,000042: 005322,000043:    4072 005323,000044:    4000 005324,000045:    4000 005325,000046: < 005348,000069: 06,2013 005349,000070: 06,2014 005350,000071: 005351,000072: 06,2015 005352,000073: 06,2016 005353,000074: 06,2017 005354,000075: 06,2020 005355,000076: 06,2021 005356,000077: 06,2022 005357,000078: 06,2023 005358,000079: 005359,000080: 005360,000081: < 005696,000417: 06,2324 005697,000418: 06,2325 005698,000419: 005699,000420: 06,2326 005700,000421: 06,2327 005701,000422: 06,2330 005702,000423: 005703,000424: 06,2331 005704,000425: 005705,000426: 06,2332 005706,000427: 06,2333 005707,000428: 06,2334 005708,000429: 005709,000430: 06,2335 005710,000431: 06,2336 005711,000432: 06,2337  E3,1474 005712,000433: 06,2337 005713,000434: 005714,000435: 06,2341 005715,000436: < 006070,000791: 06,2605 006071,000792: 006072,000793: 06,2606 006073,000794: 06,2607 006074,000795: 06,2610 006075,000796: 006076,000797: 06,2611 006077,000798: 06,2612 006078,000799: 006079,000800: 06,2613 006080,000801: 06,2614 006081,000802: 06,2615 006082,000803: 06,2616 006083,000804: 06,2617 006084,000805: 06,2620 006085,000806: 06,2621 006086,000807: 006087,000808: 06,2622 006088,000809: 06,2623 006089,000810: 06,2624 006090,000811: < < < < < < 006527,001248: 006528,001249: 006529,001250: 006530,001251: 10,2000 006531,001252: 10,2000 006532,001253: 10,2000 006533,001254: 10,2000 006534,001255: 006535,001256: 006536,001257: < 006552,001273: 10,2017 006553,001274: 10,2020 < 006694,001415:

End of include-file

## Copyright: Public domain. ## Filename: T4RUPT_PROGRAM.agc ## Purpose: A section of Comanche revision 067. ## It is part of the reconstructed source code for the flight ## software for the Command Module's (CM) Apollo Guidance Computer ## (AGC) for Apollo 12. No original listings of this program are ## available; instead, this file was created via dissassembly of ## dumps of Comanche 067 core rope modules and comparison with ## other AGC programs. ## Assembler: yaYUL ## Contact: Ron Burkey <info@sandroid.org>. ## Website: www.ibiblio.org/apollo/index.html ## Mod history: 2023-08-16 MAS Created from Comanche 055. BANK 12 SETLOC T4RUP BANK COUNT 06/T4RPT >005301,000022: 06,2000 54016 T4RUPT TS BANKRUPT 00006 EXTEND 22012 QXCH QRUPT 11302 CCS DSRUPTSW # GOES 7(-1)0 AROUND AND AROUND 12010 TCF NORMT4 +1 12007 TCF NORMT4 12136 TCF QUIKDSP >005311,000032: 06,2007 35037 NORMT4 CAF SEVEN 54070 TS RUPTREG1 55302 TS DSRUPTSW COUNT 02/T4RPT 06,2012 7711 74K = HIGH4 # RELTAB IS A PACKED TABLE. RELAYWORD CODE IN UPPER 4 BITS, RELAY CODE # IN LOWER 5 BITS. BLOCK 02 SETLOC FFTAG12 BANK >005326,000047: 4072 04025 RELTAB OCT 04025 10003 OCT 10003 14031 OCT 14031 20033 OCT 20033 24017 OCT 24017 30036 OCT 30036 34034 OCT 34034 40023 OCT 40023 44035 OCT 44035 50037 OCT 50037 54000 OCT 54000 131">005337,000058: 4105 60000 RELTAB11 OCT 60000 # SWITCHED-BANK PORTION. BANK 12 SETLOC T4RUP BANK COUNT 06/T4RPT /a>005347,000068: 06,2012 11036 CDRVE CCS DSPTAB +11D 02063 TC DSPOUT 02063 TC DSPOUT 57036 XCH DSPTAB +11D 74372 MASK LOW11 55036 TS DSPTAB +11D 64105 AD RELTAB11 00006 EXTEND 01010 WRITE OUT0 02071 TC HANG20 # DSPOUT PROGRAM. PUTS OUT DISPLAYS. 342">005361,000082: 06,2024 55016 DSPOUTSB TS NOUT 45035 CS ZERO 54073 TS DSRUPTEM # SET TO -0 FOR 1ST PASS THRU DSPTAB 56776 XCH DSPCNT 65034 AD NEG0 # TO PREVENT +0 54776 TS DSPCNT E">005367,000088: 06,2032 50776 DSPSCAN INDEX DSPCNT 11023 CCS DSPTAB 10776 CCS DSPCNT # IF DSPTAB ENTRY +, SKIP 12030 TCF DSPSCAN -2 # IF DSPCNT +, AGAIN 12047 TCF DSPLAY # IF DSPTAB ENTRY -, DISPLAY 8">005372,000093: 06,2037 00012 TABLNTH OCT 12 # DEC 10 LENGTH OF DSPTAB 10073 CCS DSRUPTEM # IF DSRUPTEM=+0, 2ND PASS THRU DSPTAB 054">005374,000095: 06,2041 37764 120MRUPT DEC 16372 B-14 # (DSPCNT = 0). +0 INTO NOUT. 55016 TS NOUT 00002 TC Q 54073 TS DSRUPTEM # IF DSRUPTEM=-0, 1ST PASS THRU DSPTAB 32037 CAF TABLNTH # (DSPCNT=0).+0 INTO DSRUPTEM. PASS AGAIN 12031 TCF DSPSCAN -1 >005381,000102: 06,2047 65033 DSPLAY AD ONE 50776 INDEX DSPCNT 55023 TS DSPTAB # REPLACE POSITIVELY 74372 MASK LOW11 # REMOVE BITS 12 TO 15 54073 TS DSRUPTEM 34364 CAF HI5 50776 INDEX DSPCNT 74072 MASK RELTAB # PICK UP BITS 12 TO 15 OF RELTAB ENTRY 60073 AD DSRUPTEM 00006 EXTEND 01010 WRITE OUT0 # WRITE CHANNEL 10 16706 TCF Q+1 # *** NORMAL RETURN SKIPS ONE >005394,000115: 06,2063 10101 DSPOUT CCS FLAGWRD5 # DONT DISPLAY UNLESS DSKY FLAG ON 35035 CAF ZERO 12132 TCF NODSPOUT 11016 CCS NOUT 02024 TC DSPOUTSB 12132 TCF NODSPOUT # NO DISPLAY REQUESTS >005401,000122: 06,2071 42173 HANG20 CS 11,14,9 27302 ADS DSRUPTSW 37700 CAF 20MRUPT 534">005406,000127: 06,2074 54027 SETTIME4 TS TIME4 # THE STATUS OF THE PROCEED PUSHBUTTON IS MONITORED EVERY 120 MILLISECONDS VIA THE CHANNEL 32 BIT 14 INBIT. # THE STATE OF THIS INBIT IS COMPARED WITH ITS STATE DURING THE PREVIOUS T4RUPT AND IS PROCESSED AS FOLLOWS. # IF PREV ON AND NOW ON - BYPASS # IF PREV ON AND NOW OFF - UPDATE IMODES33 # IF PREV OFF AND NOW ON - UPDATE IMODES33 AND PROCESS VIA PINBALL # IF PREV OFF AND NOW OFF - BYPASS # THE LOGIC EMPLOYED REQUIRES ONLY 9 MCT (APPROX. 108 MICROSECONDS) OF COMPUTER TIME WHEN NO CHANGES OCCUR. 445">005416,000137: 06,2075 31321 PROCEEDE CA IMODES33 # MONITIOR FOR PROCEED BUTTON 00006 EXTEND 06032 RXOR CHAN32 # CHECK IF BIT 14 DIFFERENT 75016 MASK BIT14 00006 EXTEND 12116 BZF T4JUMP # NO CHANGE 23321 LXCH IMODES33 00006 EXTEND 06001 RXOR LCHAN 55321 TS IMODES33 # UPDATE IMODES33 75016 MASK BIT14 10000 CCS A 12116 TCF T4JUMP # WAS ON - NOW OFF 34371 CAF CHRPRIO # WAS OFF - NOW ON 05150 TC NOVAC 0777 EBANK= DSPCOUNT 03357 60101 2CADR PROCKEY # JUMP TO APPROPRIATE ONCE-PER SECOND (.96 SEC ACTUALLY) ACTIVITY >005438,000159: 06,2116 50070 T4JUMP INDEX RUPTREG1 12120 TCF +1 12130 TCF OPTTEST 12765 TCF OPTMON 12174 TCF IMUMON 15347 TCF RESUME 12130 TCF OPTTEST 12765 TCF OPTMON 12174 TCF IMUMON 15347 TCF RESUME 4">005450,000171: 06,2130 04754 OPTTEST TC IBNKCALL 20000 CADR OPTDRIVE 4">005453,000174: 06,2132 7700 20MRUPT = OCT37776 # (DEC 16382) 554">005455,000176: 06,2132 00006 NODSPOUT EXTEND # TURN OFF RELAYS 01010 WRITE OUT0 32041 CAF 120MRUPT # SET FOR NEXT CDRVE 12074 TCF SETTIME4 0">005461,000182: 06,2136 35016 QUIKDSP CAF BIT14 71302 MASK DSRUPTSW 00006 EXTEND 12167 BZF QUIKOFF # WROTE LAST TIME, NOW TURN OFF RELAYS. 11016 CCS NOUT 02024 TC DSPOUTSB 12154 TCF NODSPY # NOUT=0 OR BAD RETURN FROM DSPOUTSB 45016 CS BIT14 # GOOD RETURN (WE DISPLAYED SOMETHING) 054">005470,000191: 06,2146 27302 QUIKRUPT ADS DSRUPTSW 37700 CAF 20MRUPT 54027 TS TIME4 35023 CAF BIT9 27302 ADS DSRUPTSW 05347 TC RESUME >005480,000201: 06,2154 00006 NODSPY EXTEND 01010 WRITE OUT0 >005483,000204: 06,2156 37700 SYNCT4 CAF 20MRUPT 26027 ADS TIME4 35023 CAF BIT9 27302 ADS DSRUPTSW 11302 CCS DSRUPTSW 05347 TC RESUME 337">005490,000211: 06,2164 37737 OCT37737 OCT 37737 02156 TC SYNCT4 05347 TC RESUME 6">005494,000215: 06,2167 00006 QUIKOFF EXTEND 01010 WRITE OUT0 35016 CAF BIT14 # RESET DSRUPTSW TO SEND DISPLAY NEXT PASS 12146 TCF QUIKRUPT 9">005499,000220: 06,2173 22400 11,14,9 OCT 22400 # PROGRAM NAME: IMUMON # FUNCTIONAL DESCRIPTION: THIS PROGRAM IS ENTERED EVERY 480 MS. IT DETECTS CHANGES OF THE IMU STATUS BITS IN # CHANNEL 30 AND CALLS THE APPROPRIATE SUBROUTINES. THE BITS PROCESSED AND THEIR RELEVANT SUBROUTINES ARE: # FUNCTION BIT SUBROUTINE CALLED # -------- --- ----------------- # TEMP IN LIMITS 15 TLIM # ISS TURN-ON REQUEST 14 ITURNON # IMU FAIL 13 IMUFAIL (SETISSW) # IMU CDU FAIL 12 ICDUFAIL (SETISSW) # IMU CAGE 11 IMUCAGE # IMU OPERATE 9 IMUOP # THE LAST SAMPLED STATE OF THESE BITS IS LEFT IN IMODES30. ALSO, EACH SUBROUTINE CALLED FINDS THE NEW # VALUE OF THE BIT IN A, WITH Q SET TO THE PROPER RETURN LOCATION, NXTIFAIL. # CALLING SEQUENCE: T4RUPT EVERY 480 MILLISECONDS. # JOBS OR TASKS INITIATED: NONE. # SUBROUTINES CALLED: TLIM, ITURNON, SETISSW, IMUCAGE, IMUOP. # ERASABLE INITIALIZATION: # FRESH START OR RESTART WITH NO GROUPS ACTIVE: C(IMODES30) = OCT 37411. # RESTART WITH ACTIVE GROUPS: C(IMODES30) = (B(IMODES30)AND(OCT 00035)) PLUS OCT 37400. # THIS LEAVES IMU FAIL BITS INTACT. # ALARMS: NONE. # EXIT: TNONTEST. # OUTPUT: UPDATED IMODES30 WITH CHANGES PROCESSED BY APPROPRIATE SUBROUTINE. >005535,000256: 06,2174 31320 IMUMON CA IMODES30 # SEE IF THERE HAS BEEN A CHANGE IN THE 00006 EXTEND # RELEVANT BITS OF CHAN 30. 06030 RXOR CHAN30 # CHECK IF BITS 9,11-15 CHANGED 72743 MASK 30RDMSK 00006 EXTEND 12231 BZF TNONTEST # NO CHANGE IN STATUS. 54070 TS RUPTREG1 # SAVE BITS WHICH HAVE CHANGED. 23320 LXCH IMODES30 # UPDATE IMODES30. 00006 EXTEND 06001 RXOR LCHAN 55320 TS IMODES30 45033 CS ONE 56070 XCH RUPTREG1 00006 EXTEND 62507 BZMF TLIM # CHANGE IN IMU TEMP. 12215 TCF NXTIFBIT # BEGIN BIT SCAN. 65033 -1 AD ONE # (RE-ENTERS HERE FROM NXTIFAIL.) 954">005555,000276: 06,2215 24070 NXTIFBIT INCR RUPTREG1 # ADVANCE BIT POSITION NUMBER. 60000 +1 DOUBLE 54000 TS A # SKIP IF OVERFLOW. 12215 TCF NXTIFBIT # LOOK FOR BIT. 56071 XCH RUPTREG2 # SAVE OVERFLOW-CORRECTED DATA. 50070 INDEX RUPTREG1 # SELECT NEW VALUE OF THIS BIT. 35016 CAF BIT14 71320 MASK IMODES30 50070 INDEX RUPTREG1 02737 TC IFAILJMP 94C">005567,000288: 06,2227 10071 NXTIFAIL CCS RUPTREG2 # PROCESS ANY ADDITIONAL CHANGES. 12214 TCF NXTIFBIT -1 # PROGRAM NAME: TNONTEST. # FUNCTIONAL DESCRIPTION: THIS PROGRAM HONORS REQUESTS FOR ISS INITIALIZATION. ISS TURN-ON (CHANNEL 30 BIT 14) # AND ISS OPERATE (CHANNEL 30 BIT 9) REQUESTS ARE TREATED AS A PAIR AND PROCESSING TAKES PLACE .480 SECONDS # AFTER EITHER ONE APPEARS. THIS INITIALIZATION TAKES ON ONE OF THE FOLLOWING THREE FORMS: # 1) ISS TURN-ON: IN THIS SITUATION THE COMPUTER IS OPERATING WHEN THE ISS IS TURNED ON. NOMINALLY, # BOTH ISS TURN-ON AND ISS OPERATE APPEAR. THE PLATFORM IS CAGED FOR 90 SECONDS AND THE ICDU'S ZEROED # SO THAT AT THE END OF THE PROCESS THE GIMBAL LOCK MONITOR WILL FUNCTION PROPERLY. # 2) ICDU INITIALIZATION: IN THIS CASE THE COMPUTER WAS PROBABLY TURNED ON WITH THE ISS IN OPERATE OR # A FRESH START WAS DONE WITH THE ISS IN OPERATE. IN THIS CASE ONLY ISS OPERATE IS ON. THE ICDU'S ARE # ZEROED SO THE GIMBAL LOCK MONITOR WILL FUNCTION. AN EXCEPTION IS IF THE ISS IS IN GIMBAL LOCK AFTER # A RESTART, THE ICDU'S WILL NOT BE ZEROED. # 3) RESTART WITH RESTARTABLE PROGRAM USING THE IMU: IN THIS CASE, NO INITIALIZATION TAKES PLACE SINCE # IT IS ASSUMED THAT THE USING PROGRAM DID THE INITIALIZATION AND THEREFORE T4RUPT SHOULD NOT INTERFERE. # IMODES30 BIT 7 IS SET = 1 BY THE FIRST BIT (CHANNEL 30 BIT 14 OR 9) WHICH ARRIVES. FOLLOWING THIS. TNONTEST IS # 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 # PROCEEDS, SETTING BITS 8 AND 7 = 0. AT PROCTNON, IF ISS TURN-ON REQUEST IS PRESENT, THE ISS IS CAGED (ZERO + # COARSE). IF ISS OPERATE IS NOT PRESENT PROGRAM ALARM 00213 IS ISSUED. AT THE END OF A 90 SECOND CAGE, BIT 2 # OF IMODES30 IS TESTED. IF IT IS = 1, ISS TURN-ON WAS NOT PRESENT FOR THE ENTIRE 90 SECONDS. IN THAT CASE, IF # THE ISS TURN-ON REQUEST IS PRESENT THE 90 SECOND WAIT IS REPEATED, OTHERWISE NO ACTION OCCURS UNLESS A PROGRAM # WAS WAITING FOR THE INITIALIZATION IN WHICH CASE THE PROGRAM IS GIVEN AN IMUSTALL ERROR RETURN. IF THE DELAY # WENT PROPERLY, THE ISS DELAY OUTBIT IS SENT AND THE ICDU'S ZEROED. A TASK IS INITIATED TO REMOVE THE PIPA FAIL # INHIBIT BIT IN 10.24 SECONDS. IF A MISSION PROGRAM WAS WAITING IT IS INFORMED VIA ENDIMU. # AT PROCTNON, IF ONLY ISS OPERATE IS PRESENT (OPONLY), THE CDU'S ARE ZEROED UNLESS THE PLATFORM IS IN COARSE # ALIGN (= GIMBAL LOCK HERE) OR A MISSION PROGRAM IS USING THE IMU (IMUSEFLG = 1). # CALLING SEQUENCE: T4RUPT EVERY 480 MILLISECONDS AFTER IMUMON. # JOBS OR TASKS INITIATED: 1) ENDTNON, 90 SECONDS AFTER CAGING STARTED. 2) ISSUP, 4 SECONDS AFTER CAGING DONE. # 3) PFAILOK, 10.24 SECONDS AFTER INITIALIZATION COMPLETED. 4) UNZ2, 320 MILLISECONDS AFTER ZEROING # STARTED. # SUBROUTINES CALLED: CAGESUB, CAGESUB2, ZEROICDU, ENDIMU, IMUBAD, NOATTOFF, SETISSW, VARDELAY. # ERASABLE INITIALIZATION: SEE IMUMON. # ALARMS: PROGRAM ALARM 00213 IF ISS TURN-ON REQUESTED WITHOUT ISS OPERATE. # EXIT: ENDTNON EXITS TO C33TEST. TASKS HAVING TO DO WITH INITIALIZATION EXIT AS FOLLOWS: MISSION PROGRAM # WAITING AND INITIALIZATION COMPLETE, EXIT TO ENDIMU, MISSION PROGRAM WAITING AND INITIALIZATION FAILED, EXIT TO # IMUBAD, IMU NOT IN USE, EXIT TO TASKOVER. # OUTPUT: ISS INITIALIZED. 354">005619,000340: 06,2231 41320 TNONTEST CS IMODES30 # AFTER PROCESSING ALL CHANGES, SEE IF IT 75025 MASK BIT7 # IS TIME TO ACT ON A TURN-ON SEQUENCE. 10000 CCS A 12367 TCF C33TEST # NO - EXAMINE CHANNEL 33. 35024 CAF BIT8 # SEE IF FIRST SAMPLE OR SECOND. 71320 MASK IMODES30 10000 CCS A 12244 TCF PROCTNON # REACT AFTER SECOND SAMPLE. 35024 CAF BIT8 # IF FIRST SAMPLE, SET BIT TO REACT NEXT 27320 ADS IMODES30 # TIME. 12367 TCF C33TEST # PROCESS IMU TURN-ON REQUESTS AFTER WAITING 1 SAMPLE FOR ALL SIGNALS TO ARRIVE. F4E">005635,000356: 06,2244 42757 PROCTNON CS BITS7&8 71320 MASK IMODES30 55320 TS IMODES30 75016 MASK BIT14 # SEE IF TURN-ON REQUEST. 10000 CCS A 12342 TCF OPONLY # OPERATE ON ONLY. 41320 CS IMODES30 # IF TURN-ON REQUEST, WE SHOULD HAVE IMU 75023 MASK BIT9 # OPERATE. 10000 CCS A 12260 TCF +3 05664 TC ALARM # ALARM IF NOT. 00213 OCT 213 02717 +3 TC CAGESUB 32764 CAF 90SECS 05261 TC WAITLIST EBANK= CDUIND 02270 14063 2CADR ENDTNON 12367 TCF C33TEST >005659,000380: 06,2266 32764 RETNON CAF 90SECS 05306 TC VARDELAY E">005662,000383: 06,2270 45032 ENDTNON CS BIT2 # RESET TURN-ON REQUEST FAIL BIT. 71320 MASK IMODES30 57320 XCH IMODES30 75032 MASK BIT2 # IF IT WAS OFF, SEND ISS DELAY COMPLETE. 00006 EXTEND 12310 BZF ENDTNON2 35016 CAF BIT14 # IF IT WAS ON AND TURN-ON REQUEST NOW 71320 MASK IMODES30 # PRESENT, RE-ENTER 90 SEC DELAY IN WL. 00006 EXTEND 12266 BZF RETNON 40074 CS STATE # IF IT IS NOT ON NOW, SEE IF A PROG WAS 75024 MASK IMUSEFLG # WAITING. 10000 CCS A 15340 TCF TASKOVER 04715 TC POSTJUMP 17522 CADR IMUBAD # UNSUCCESSFUL TURN-ON. E32">005680,000401: 06,2310 35015 ENDTNON2 CAF BIT15 # SEND ISS DELAY COMPLETE. 00006 EXTEND 05012 WOR CHAN12 # TURN OFF ISS DELAY COUNTER 04754 TC IBNKCALL # TURN OFF NO ATT LAMP. 17151 CADR NOATTOFF >005686,000407: 06,2315 05535 UNZ2 TC ZEROICDU 45043 CS BITS4&5 # REMOVE ZERO AND COARSE. 00006 EXTEND 03012 WAND CHAN12 35021 CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS 05306 TC VARDELAY /a>005695,000416: 06,2323 42754 ISSUP CS OCT54 # REMOVE CAGING, IMU FAIL INHIBIT, AND 71320 MASK IMODES30 # ICDUFAIL INHIBIT FLAGS. 55320 TS IMODES30 45026 CS BIT6 # ENABLE DAP 71321 MASK IMODES33 55321 TS IMODES33 02665 TC SETISSW # ISS WARNING MIGHT HAVE BEEN INHIBITED. 45015 CS BIT15 # REMOVE IMU DELAY COMPLETE DISCRETE. 00006 EXTEND 03012 WAND CHAN12 35061 CAF 4SECS # DONT ENABLE PROG ALARM ON PIP FAIL FOR 05261 TC WAITLIST # ANOTHER 4 SECS. EBANK= CDUIND 03137 16063 2CADR PFAILOK 15340 TCF TASKOVER >005716,000437: 06,2342 35030 OPONLY CAF BIT4 00006 EXTEND # IF OPERATE ON ONLY AND WE ARE IN COARSE 02012 RAND CHAN12 # ALIGN, DONT ZERO THE CDUS BECAUSE WE 10000 CCS A # MIGHT BE IN GIMBAL LOCK. USE V41N20 TO 12367 TCF C33TEST # RECOVER. 35024 CAF IMUSEFLG # OTHERWISE, ZERO THE COUNTERS 70074 MASK STATE # UNLESS SOMEONE IS USING THE IMU. 10000 CCS A 12367 TCF C33TEST 02730 TC CAGESUB2 # SET TURNON FLAGS. F">005729,000450: 06,2354 04754 ISSZERO TC IBNKCALL # TURN OFF NO ATT LAMP 17151 CADR NOATTOFF # IMU CAGE OFF ENTRY 35027 CAF BIT5 # ISS CDU ZERO 00006 EXTEND 05012 WOR CHAN12 05535 TC ZEROICDU 35026 CAF BIT6 # WAIT 300 MS FOR AGS TO RECEIVE SIGNAL. 05261 TC WAITLIST 1331 EBANK= OPTMODES 02315 14062 2CADR UNZ2 12367 TCF C33TEST # PROGRAM NAME: C33TEST # FUNCTIONAL DESCRIPTION: THIS PROGRAM MONITORS THREE FLIP-FLOP INBITS OF CHANNEL 33 AND CALLS THE APPROPRIATE # SUBROUTINE TO PROCESS A CHANGE. IT IS ANALOGOUS TO IMUMON, WHICH MONITORS CHANNEL 30, EXCEPT THAT IT READS # CHANNEL 33 WITH A WAND INSTRUCTION BECAUSE A 'WRITE' PULSE IS REQUIRED TO RESET THE FLIP-FLOPS. THE BITS # PROCESSED AND THE SUBROUTINES CALLED ARE: # BIT FUNCTION SUBROUTINE # --- -------- ---------- # 13 PIPA FAIL PIPFAIL # 12 DOWNLINK TOO FAST DNTMFAST # 11 UPLINK TOO FAST UPTMFAST # UPON ENTRY TO THE SUBROUTINE, THE NEW BIT STATE IS IN A. # CALLING SEQUENCE: EVERY 480 MILLISECONDS AFTER TNONTEST. # JOBS OR TASKS INITIATED: NONE. # SUBROUTINES CALLED: PIPFAIL, DNTMFAST AND UPTMFAST ON BIT CHANGES. # ERASABLE INITIALIZATION: C(IMODES33) = OCT 16000 ON A FRESH START OR RESTART, THEREFORE, THESE ALARMS WILL # REAPPEAR IF THE CONDITIONS PERSIST. # ALARMS: NONE. # EXIT: GLOCKMON. # OUTPUT: UPDATED BITS 13, 12 AND 11 OF IMODES33 WITH CHANGES PROCESSED. 4">005773,000494: 06,2367 31321 C33TEST CA IMODES33 # SEE IF RELEVANT CHAN33 BITS HAVE 75104 MASK 33RDMSK 54001 TS L # CHANGED. 35104 CAF 33RDMSK 00006 EXTEND 03033 WAND CHAN33 # RESETS FLIP-FLOP INPUTS. 00006 EXTEND 06001 RXOR LCHAN 00006 EXTEND 12427 BZF GLOCKMON # ON NO CHANGE. 54070 TS RUPTREG1 # SAVE BITS WHICH HAVE CHANGED. 23321 LXCH IMODES33 00006 EXTEND 06001 RXOR LCHAN 55321 TS IMODES33 # UPDATED IMODES33. 35035 CAF ZERO 56070 XCH RUPTREG1 60000 DOUBLE 12414 TCF NXTIBT +1 # SCAN FOR BIT CHANGES. 65033 -1 AD ONE >005796,000517: 06,2413 24070 NXTIBT INCR RUPTREG1 60000 +1 DOUBLE 54000 TS A # (CODING IDENTICAL TO CHAN 30). 12413 TCF NXTIBT 56071 XCH RUPTREG2 50070 INDEX RUPTREG1 # GET NEW VALUE OF BIT WHICH CHANGED. 35017 CAF BIT13 71321 MASK IMODES33 50070 INDEX RUPTREG1 02745 TC C33JMP 3">005808,000529: 06,2425 10071 NXTFL33 CCS RUPTREG2 # PROCESS POSSIBLE ADDITIONAL CHANGES. 12412 TCF NXTIBT -1 # PROGRAM NAME: GLOCKMON # FUNCTIONAL DESCRIPTION: THIS PROGRAM MONITORS THE CDUZ COUNTER TO DETERMINE WHETHER THE ISS IS IN GIMBAL LOCK # AND TAKES ACTION IF IT IS. THREE REGIONS OF MIDDLE GIMBAL ANGLE (MGA) ARE USED: # 1) ABS(MGA) LESS THAN OR EQUAL TO 70 DEGREES - NORMAL MODE. # 2) ABS(MGA) GREATER THAN 70 DEGREES AND LESS THAN OR EQUAL TO 85 DEGREES - GIMBAL LOCK LAMP TURNED ON. # 3) ABS(MGA) GREATER THAN 85 DEGREES - ISS PUT IN COARSE ALIGN AND NO ATT LAMP TURNED ON. # CALLING SEQUENCE: EVERY 480 MILLISECONDS AFTER C33TEST. # JOBS OR TASKS INITIATED: NONE. # SUBROUTINES CALLED: 1) SETCOARS WHEN ABS(MGA) GREATER THAN 85 DEGREES AND ISS NOT IN COARSE ALIGN. # 2) LAMPTEST BEFORE TURNING OFF GIMBAL LOCK LAMP. # ERASABLE INITIALIZATION: # 1) FRESH START OR RESTART WITH NO GROUPS ACTIVE: C(CDUZ) = 0, IMODES30 BIT 6 = 0, IMODES33 BIT 1 = 0. # 2) RESTART WITH GROUPS ACTIVE: SAME AS FRESH START EXCEPT C(CDUZ) NOT CHANGED SO GIMBAL MONITOR # PROCEEDS AS BEFORE. # ALARMS: 1) MGA REGION (2) CAUSES GIMBAL LOCK LAMP TO BE LIT. # 2) MGA REGION (3) CAUSES THE ISS TO BE PUT IN COARSE ALIGN AND THE NO ATT LAMP TO BE LIT IF EITHER NOT # SO ALREADY. F4E">005836,000557: 06,2427 10034 GLOCKMON CCS CDUZ 12434 TCF GLOCKCHK # SEE IF MAGNITUDE OF MGA IS GREATER THAN 12460 TCF SETGLOCK # 70 DEGREES. 12434 TCF GLOCKCHK 12460 TCF SETGLOCK 84B">005842,000563: 06,2434 62505 GLOCKCHK AD -70DEGS 00006 EXTEND 62457 BZMF SETGLOCK -1 # NO LOCK. 62506 AD -15DEGS # SEE IF ABS(MGA) GREATER THAN 85 DEGS. 00006 EXTEND 62455 BZMF NOGIMRUN 35030 CAF BIT4 # IF SO, SYSTEM SHOULD BE IN COARSE ALIGN 00006 EXTEND # TO PREVENT GIMBAL RUN-AWAY. 02012 RAND CHAN12 10000 CCS A 12455 TCF NOGIMRUN 04754 TC IBNKCALL # GO INTO COARSE ALIGN. 17027 CADR SETCOARS 36211 CAF SIX # ENABLE ISS ERROR COUNTERS IN 60 MS 05261 TC WAITLIST EBANK= CDUIND 03023 16063 2CADR CA+ECE 54E">005864,000585: 06,2455 35026 NOGIMRUN CAF BIT6 # TURN ON GIMBAL LOCK LAMP. 12460 TCF SETGLOCK 35035 -1 CAF ZERO 34B">005868,000589: 06,2460 61036 SETGLOCK AD DSPTAB +11D # SEE IF PRESENT STATE OF GIMBAL LOCK LAMP 75026 MASK BIT6 # AGREES WITH DESIRED STATE BY HALF ADDING 00006 EXTEND # THE TWO. 15347 BZF GLOCKOK # OK AS IS. 71036 MASK DSPTAB +11D # IF OFF, DONT TURN ON IF IMU BEING CAGED. 10000 CCS A 12502 TCF GLAMPTST # TURN OFF UNLESS LAMP TEST IN PROGRESS. 35026 CAF BIT6 71320 MASK IMODES30 10000 CCS A 15347 TCF GLOCKOK 254">005882,000603: 06,2473 41036 GLINVERT CS DSPTAB +11D # INVERT GIMBAL LOCK LAMP. 75026 MASK BIT6 65015 AD BIT15 # TO INDICATE CHANGE IN DSPTAB +11D. 57036 XCH DSPTAB +11D 72164 MASK OCT37737 27036 ADS DSPTAB +11D 15347 TCF GLOCKOK 354">005890,000611: 06,2502 02750 GLAMPTST TC LAMPTEST # TURN OFF UNLESS LAMP TEST IN PROGRESS. 15347 TCF GLOCKOK 12473 TCF GLINVERT 3">005894,000615: 06,2505 63434 -70DEGS DEC -.38888 # -70 DEGREES SCALED IN HALF-REVOLUTIONS. 3">005895,000616: 06,2506 75252 -15DEGS DEC -.08333 # PROGRAM NAME: TLIM. # FUNCTIONAL DESCRIPTION: THIS PROGRAM MAINTAINS THE TEMP LAMP (BIT 4 OF CHANNEL 11) ON THE DSKY TO AGREE WITH # THE TEMP SIGNAL FROM THE ISS (BIT 15 OF CHANNEL 30). HOWEVER, THE LIGHT WILL NOT BE TURNED OFF IF A LAMP TEST # IS IN PROGRESS. # CALLING SEQUENCE: CALLED BY IMUMON ON A CHANGE OF BIT 15 OF CHANNEL 30. # JOBS OR TASKS INITIATED: NONE. # SUBROUTINES CALLED: LAMPTEST. # ERASABLE INITIALIZATION: FRESH START AND RESTART TURN THE TEMP LAMP OFF. # ALARMS: TEMP LAMP TURNED ON WHEN IMU TEMP GOES OUT OF LIMITS. # EXIT: NXTIFAIL. # OUTPUT: SERVICE OF TEMP LAMP. IN A, EXCEPT FOR TLIM. >005917,000638: 06,2507 75013 TLIM MASK POSMAX # REMOVE BIT FROM WORD OF CHANGES AND SET 54071 TS RUPTREG2 # DSKY TEMP LAMP ACCORDINGLY. 11320 CCS IMODES30 12520 TCF TEMPOK 12520 TCF TEMPOK 35030 CAF BIT4 # TURN ON LAMP. 00006 EXTEND 05011 WOR DSALMOUT 12227 TCF NXTIFAIL >005929,000650: 06,2520 02750 TEMPOK TC LAMPTEST # IF TEMP NOW OK, DONT TURN OFF LAMP IF 12227 TCF NXTIFAIL # LAMP TEST IN PROGRESS. 45030 CS BIT4 00006 EXTEND 03011 WAND DSALMOUT # TURN OFF TEMP CAUTION 12227 TCF NXTIFAIL # PROGRAM NAME: ITURNON. # FUNCTIONAL DESCRIPTION: THIS PROGRAM IS CALLED BY IMUMON WHEN A CHANGE OF BIT 14 OF CHANNEL 30 (ISS TURN-ON # REQUEST) IS DETECTED. UPON ENTRY, ITURNON CHECKS IF A TURN-ON DELAY SEQUENCE HAS FAILED, AND IF SO, IT EXITS. # IF NOT, IT CHECKS WHETHER THE TURN-ON REQUEST CHANGE IS TO ON OR OFF. IF ON, IT SETS BIT 7 OF IMODES30 TO 1 SO # THAT TNONTEST WILL INITIATE THE ISS INITIALIZATION SEQUENCE. IF OFF, THE TURN-ON DELAY SIGNAL, CHANNEL 12 BIT # 15, IS CHECKED AND IF IT IS ON, ITURNON EXITS. IF THE DELAY SIGNAL IS OFF, PROGRAM ALARM 00207 IS ISSUED, BIT 2 # OF IMODES30 IS SET TO 1 AND THE PROGRAM EXITS. # THE SETTING OF BIT 2 OF IMODES30 (ISS DELAY SEQUENCE FAIL) INHIBITS THIS ROUTINE AND IMUOP FROM # PROCESSING ANY CHANGES. THIS BIT WILL BE RESET BY THE ENDTNON ROUTINE WHEN THE CURRENT 90 SECOND DELAY PERIOD # ENDS. # CALLING SEQUENCE: FROM IMUMOM WHEN ISS TURN-ON REQUEST CHANGES STATE. # JOBS OR TASKS INITIATED: NONE. # SUBROUTINES CALLED: ALARM, IF THE ISS TURN-ON REQUEST IS NOT PRESENT FOR 90 SECONDS. # ERASABLE INITIALIZATION: FRESH START AND RESTART SET BIT 15 OF CHANNEL 12 AND BITS 2 AND 7 OF IMODES30 TO 0, # AND BIT 14 OF IMODES30 TO 1. # ALARMS: PROGRAM ALARM 00207 IS ISSUED IF THE ISS TURN-ON REQUEST SIGNAL IS NOT PRESENT FOR 90 SECONDS. # EXIT: NXTIFAIL. # OUTPUT: BIT 7 OF IMODES30 TO START ISS INITIALIZATION, OR BIT 2 OF IMODES30 AND PROGRAM ALARM 00207 TO INDICATE # A FAILED TURN-ON SEQUENCE. E">005966,000687: 06,2526 35032 ITURNON CAF BIT2 # IF DELAY REQUEST HAS GONE OFF 71320 MASK IMODES30 # PREMATURELY, DO NOT PROCESS ANY CHANGES 10000 CCS A # UNTIL THE CURRENT 90 SEC WAIT EXPIRES. 12227 TCF NXTIFAIL 35016 CAF BIT14 # SEE IF JUST ON OR OFF. 71320 MASK IMODES30 00006 EXTEND 12551 BZF ITURNON2 # IF JUST ON. 35015 CAF BIT15 00006 EXTEND # SEE IF DELAY PRESENT DISCRETE HAS BEEN 02012 RAND CHAN12 # SENT. IF SO, ACTION COMPLETE. 00006 EXTEND 12544 BZF +2 12227 TCF NXTIFAIL 35032 CAF BIT2 # IF NOT, SET BIT TO INDICATE REQUEST NOT 27320 ADS IMODES30 # PRESENT FOR FULL DURATION. 05664 TC ALARM 00207 OCT 207 12227 TCF NXTIFAIL E32">005989,000710: 06,2551 41320 ITURNON2 CS IMODES30 # SET BIT7 TO INDICATE WAIT OF 1 SAMPLE 75025 MASK BIT7 27320 ADS IMODES30 12227 TCF NXTIFAIL # PROGRAM NAME: IMUCAGE. # FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES OF THE IMUCAGE INBIT, CHANNEL 30 BIT 11. IF THE BIT # CHANGES TO 0 (CAGE BUTTON PRESSED), THE ISS IS CAGED (ICDU ZERO + COARSE ALIGN + NO ATT LAMP) UNTIL THE # ASTRONAUT SELECTS ANOTHER PROGRAM TO ALIGN THE ISS. ANY PULSE TRAINS TO THE ICDU'S AND GYRO'S ARE TERMINATED, # THE ASSOCIATED OUTCOUNTERS ARE ZEROED AND THE GYRO'S ARE DE-SELECTED. NO ACTION OCCURS WHEN THE BUTTON IS # RELEASED (INBIT CHANGES TO 1). # CALLING SEQUENCE: BY IMUMON WHEN IMU CAGE BIT CHANGES. # JOBS OR TASKS INITIATED: NONE. # SUBROUTINES CALLED: CAGESUB. # ERASABLE INITIALIZATION: FRESH START AND RESTART SET BIT 11 OF IMODES30 TO 1. # ALARMS: NONE. # EXIT: NXTIFAIL. # OUTPUT: ISS CAGED, COUNTERS ZEROED, PULSE TRAINS TERMINATED AND NO ATT LAMP LIT. 5">006016,000737: 06,2555 10000 IMUCAGE CCS A # NO ACTION IF GOING OFF. 12354 TCF ISSZERO 42762 CS OCT77000 # TERMINATE ICDU, OPTICS, GYRO PULSE TRAINS 00006 EXTEND 03014 WAND CHAN14 42756 CS OCT272 # KNOCK DOWN TVC ENABLE, IMU ERROR COUNTER 00006 EXTEND # ENABLE, ZERO ICDU, COARSE ALIGN 03012 WAND CHAN12 # ENABLE, OPTICS ERR CNTR ENABLE 45017 CS BIT13 # TURN OFF ENGINE 00006 EXTEND 03011 WAND DSALMOUT 02725 TC CAGESUB1 04754 TC IBNKCALL # KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS 17060 CADR RNDREFDR 45035 CS ZERO # ZERO COMMAND OUT-COUNTERS 54050 TS CDUXCMD 54051 TS CDUYCMD 54052 TS CDUZCMD 54047 TS GYROCMD 42761 CS OCT740 # HAVING WAITED AT LEAST 27 MCT FROM 00006 EXTEND # GYRO PULSE TRAIN TERMINATION, WE CAN 03014 WAND CHAN14 # DE-SELECT THE GYROS. 12227 TCF NXTIFAIL # PROGRAM NAME: IMUOP. # FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES IN THE ISS OPERATE DISCRETE, BIT 9 OF CHANNEL 30. # IF THE INBIT CHANGES TO 0, INDICATING ISS ON, IMUOP GENERALLY SETS BIT 7 OF IMODES30 TO 1 TO REQUEST ISS # INITIALIZATION VIA TNONTEST. AN EXCEPTION IS DURING A FAILED ISS DELAY DURING WHICH BIT 2 OF IMODES30 IS SET # TO 1 AND NO FURTHER INITIALIZATION IS REQUIRED. WHEN THE INBIT CHANGES TO 1, INDICATING ISS OFF, IMUSEFLG IS # TESTED TO SEE IF ANY PROGRAM WAS USING THE ISS. IF SO, PROGRAM ALARM 00214 IS ISSUED. # CALLING SEQUENCE: BY IMUMON WHEN BIT 9 OF CHANNEL 30 CHANGES. # JOBS OR TASKS INITIATED: NONE. # SUBROUTINES CALLED: ALARM, IF ISS IS TURNED OFF WHILE IN USE. # ERASABLE INITIALIZATION: ON FRESH START AND RESTART, BIT 9 OF IMODES30 IS SET TO 1 EXCEPT WHEN THE GIMBAL LOCK # LAMP IS ON, IN WHICH CASE IT IS SET TO 0. THIS PREVENTS ICDU ZERO BY TNONTEST WITH THE ISS IN GIMBAL LOCK. # ALARMS: PROGRAM ALARM 00214 IF THE ISS IS TURNED OFF WHILE IN USE. # EXIT: NXTIFAIL. # OUTPUT: ISS INITIALIZATION REQUEST (IMODES30 BIT 7) OR PROGRAM ALARM 00214. /a>006069,000790: 06,2604 00006 IMUOP EXTEND # IF OPERATE JUST ON, WAIT 1 SAMPLE. 12625 BZF IMUOP2 41321 CS IMODES33 # DISABLE DAP 75026 MASK BIT6 27321 ADS IMODES33 04754 TC IBNKCALL # KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS 17060 CADR RNDREFDR 42757 CS BITS7&8 # KNOCK DOWN RENDEVOUS, IMUUSE FLAGS 70074 MASK STATE 56074 XCH STATE # IF GOING OFF, ALARM IF PROG USING IMU 40000 COM 75024 MASK IMUSEFLG 10000 CCS A 12227 TCF NXTIFAIL 05664 TC ALARM 00214 OCT 214 12227 TCF NXTIFAIL >006091,000812: 06,2625 35032 IMUOP2 CAF BIT2 # SEE IF FAILED ISS TURN-ON SEQ IN PROG. 71320 MASK IMODES30 10000 CCS A 12227 TCF NXTIFAIL # IF SO, DONT PROCESS UNTIL PRESENT 90 12551 TCF ITURNON2 # SECONDS EXPIRES. # PROGRAM NAME: PIPFAIL # FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES OF BIT 13 OF CHANNEL 33, PIPA FAIL. IT SETS BIT 10 OF # IMODES30 TO AGREE. IT CALLS SETISSW IN CASE A PIPA FAIL NECESSITATES AN ISS WARNING. IF NOT, I.E., IMODES30 # BIT 1 = 1, AND A PIPA FAIL IS PRESENT AND THE ISS IS NOT BEING INITIALIZED, PROGRAM ALARM 00212 IS ISSUED. # CALLING SEQUENCE: BY C33TEST ON CHANGES OF CHANNEL 33 BIT 13. # JOBS OR TASKS INITIATED: NONE. # SUBROUTINES CALLED: 1) SETISSW, AND 2) ALARM (SEE FUNCTIONAL DESCRIPTION). # ERASABLE INITIALIZATION: SEE IMUMON FOR INITIALIZATION OF IMODES30. THE RELAVANT BITS ARE 5, 7, 8, 9, AND 10. # ALARMS: PROGRAM ALARM 00212 IF PIPA FAIL IS PRESENT BUT NEITHER ISS WARNING IS TO BE ISSUED NOR THE ISS IS # BEING INITIALIZED. # EXIT: NXTFL33. # OUTPUT: PROGRAM ALARM 00212 AND ISS WARNING MAINTENANCE. C">006118,000839: 06,2632 10000 PIPFAIL CCS A # SET BIT10 IN IMODES30 SO ALL ISS WARNING 35022 CAF BIT10 # INFO IS IN ONE REGISTER. 57320 XCH IMODES30 72763 MASK -BIT10 27320 ADS IMODES30 02665 TC SETISSW 41320 CS IMODES30 # IF PIP FAIL DOESNT LIGHT ISS WARNING, DO 75033 MASK BIT1 # A PROGRAM ALARM IF IMU OPERATING BUT NOT 10000 CCS A # CAGED OR BEING TURNED ON. 12425 TCF NXTFL33 31320 CA IMODES30 72760 MASK OCT1720 10000 CCS A 12425 TCF NXTFL33 # ABOVE CONDITION NOT MET. 05664 TC ALARM 00212 OCT 212 12425 TCF NXTFL33 # PROGRAM NAMES: DNTMFAST, UPTMFAST # FUNCTIONAL DESCRIPTION: THESE PROGRAMS PROCESS CHANGES OF BITS 12 AND 11 OF CHANNEL 33. IF A BIT CHANGES TO A # 0, A PROGRAM ALARM IS ISSUED. THE ALARMS ARE: # BIT ALARM CAUSE # --- ----- ----- # 12 01105 DOWNLINK TOO FAST # 11 01106 UPLINK TOO FAST # CALLING SEQUENCE: BY C33TEST ON A BIT CHANGE. # SUBROUTINES CALLED: ALARM, IF A BIT CHANGES TO A 0. # ERASABLE INITIALIZATION: FRESH START OR RESTART, BITS 12 AND 11 OF IMODES33 ARE SET TO 1. # ALARMS: SEE FUNCTIONAL DESCRIPTION. # EXIT: NXTFL33. # OUTPUT: PROGRAM ALARM ON A BIT CHANGE TO 0. 354">006162,000883: 06,2653 10000 DNTMFAST CCS A # DO PROG ALARM IF TM TOO FAST. 12425 TCF NXTFL33 05664 TC ALARM 01105 OCT 1105 12425 TCF NXTFL33 354">006169,000890: 06,2660 10000 UPTMFAST CCS A # SAME AS DNLINK TOO FAST WITH DIFFERENT 12425 TCF NXTFL33 # ALARM CODE. 05664 TC ALARM 01106 OCT 1106 12425 TCF NXTFL33 # PROGRAM NAME: SETISSW # FUNCTIONAL DESCRIPTION: THIS PROGRAM TURNS THE ISS WARNING LAMP ON AND OFF (CHANNEL 11 BIT 1 = 1 FOR ON, # 0 FOR OFF) DEPENDING ON THE STATUS OF IMODES30 BITS 13 (IMU FAIL) AND 4 (INHIBIT IMU FAIL), 12 (ICDU FAIL) AND # 3 (INHIBIT ICDU FAIL), AND 10 (PIPA FAIL) AND 1 (INHIBIT PIPA FAIL). THE LAMP IS LEFT ON IF A LAMP TEST IS IN # PROGRESS. # CALLING SEQUENCE: CALLED BY IMUMON ON CHANGES TO IMU FAIL AND ICDU FAIL. CALLED BY IFAILOK AND PFAILOK UPON # REMOVAL OF THE FAIL INHIBITS. CALLED BY PIPFAIL WHEN THE PIPA FAIL DISCRETE CHANGES. IT IS CALLED BY PIPUSE # SINCE THE PIPA FAIL PROGRAM ALARM MAY NECESSITATE AN ISS WARNING, AND LIKEWISE BY PIPFREE WHEN THE ALARM DEPARTS # AND IT IS CALLED BY IMUZERO3 AND ISSUP AFTER THE FAIL INHIBITS HAVE BEEN REMOVED. # JOBS OR TASKS INITIATED: NONE. # SUBROUTINES CALLED: NONE. # ERASABLE INITIALIZATION: # 1) IMODES30 - SEE IMUMON. # 2) IMODES33 BIT 1 = 0 (LAMP TEST NOT IN PROGRESS). # ALARMS: ISS WARNING. # EXIT: VIA Q. # OUTPUT: ISS WARNING LAMP SET PROPERLY. 7">006203,000924: 06,2665 35041 SETISSW CAF OCT15 # SET ISS WARNING USING THE FAIL BITS IN 71320 MASK IMODES30 # BITS 13, 12, AND 10 OF IMODES30 AND THE 00006 EXTEND # FAILURE INHIBIT BITS IN POSITIONS 75022 MP BIT10 # 4, 3, AND 1. 31320 CA IMODES30 00006 EXTEND 04001 ROR LCHAN # 0 INDICATES FAILURE. 40000 COM 75103 MASK OCT15000 10000 CCS A 12710 TCF ISSWON # FAILURE. 6">006215,000936: 06,2700 35033 ISSWOFF CAF BIT1 # DONT TURN OFF ISS WARNING IF LAMP TEST 71321 MASK IMODES33 # IN PROGRESS. 10000 CCS A 00002 TC Q 45033 CS BIT1 00006 EXTEND 03011 WAND DSALMOUT # TURN OFF ISS WARNING 00002 TC Q >006225,000946: 06,2710 00006 ISSWON EXTEND 22066 QXCH ITEMP6 05770 TC VARALARM # TELL EVERYONE WHAT CAUSED THE ISS WARNING 35033 CAF BIT1 00006 EXTEND 05011 WOR DSALMOUT # TURN ON ISS WARNING 00066 TC ITEMP6 2">006233,000954: 06,2717 47703 CAGESUB CS BIT15+6 # SET OUTBITS + INTERNAL FLAGS FOR 00006 EXTEND # SYSTEM TURN-ON OR CAGE. DISABLE THE 03012 WAND CHAN12 # ERROR COUNTER AND REMOVE IMU DELAY COMP. 35043 CAF BITS4&5 # SEND ZERO AND COARSE. 00006 EXTEND 05012 WOR CHAN12 231">006240,000961: 06,2725 41036 CAGESUB1 CS DSPTAB +11D # TURN ON NO ATT LAMP 72753 MASK OC40010 27036 ADS DSPTAB +11D 232">006244,000965: 06,2730 41320 CAGESUB2 CS IMODES30 # SET FLAGS TO INDICATE CAGING OR TURN-ON 72755 MASK OCT75 # AND INHIBIT ALL ISS WARNING INFO 27320 ADS IMODES30 41321 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES 75026 MASK BIT6 27321 ADS IMODES33 00002 TC Q C">006254,000975: 06,2737 06,2665 IMUFAIL EQUALS SETISSW 94C">006255,000976: 06,2737 06,2665 ICDUFAIL EQUALS SETISSW # JUMP TABLES AND CONSTANTS. D50">006259,000980: 06,2737 12526 IFAILJMP TCF ITURNON # CHANNEL 30 DISPATCH. 12665 TCF IMUFAIL 12665 TCF ICDUFAIL 12555 TCF IMUCAGE B">006263,000984: 06,2743 76400 30RDMSK OCT 76400 # (BIT 10 NOT SAMPLED HERE). 12604 TCF IMUOP >006266,000987: 06,2745 12632 C33JMP TCF PIPFAIL # CHANNEL 33 DISPATCH. 12653 TCF DNTMFAST 12660 TCF UPTMFAST # SUBROUTINE TO SKIP IF LAMP TEST NOT IN PROGRESS. 354">006272,000993: 06,2750 41321 LAMPTEST CS IMODES33 # BIT 1 OF IMODES33 = 1 IF LAMP TEST IN 75033 MASK BIT1 # PROGRESS. 13065 TCF ZOPFIN3 B">006276,000997: 06,2753 5104 33RDMSK EQUALS PRIO16 0">006277,000998: 06,2753 40010 OC40010 OCT 40010 /a>006278,000999: 06,2754 00054 OCT54 OCT 54 /a>006279,001000: 06,2755 00075 OCT75 OCT 75 >006280,001001: 06,2756 00272 OCT272 OCT 00272 8">006281,001002: 06,2757 00300 BITS7&8 OCT 300 0">006282,001003: 06,2760 01720 OCT1720 OCT 1720 >006283,001004: 06,2761 00740 OCT740 OCT 00740 030">006284,001005: 06,2762 5103 OCT15000 EQUALS PRIO15 030">006285,001006: 06,2762 77000 OCT77000 OCT 77000 >006286,001007: 06,2763 76777 -BIT10 OCT -1000 >006288,001009: 06,2764 21450 90SECS DEC 9000 B-14 /a>006289,001010: 06,2765 5775 120MS = OCT14 # (DEC12) B">006290,001011: 06,2765 5347 GLOCKOK EQUALS RESUME # OPTICS MONITORING AND ZERO ROUTINES >006293,001014: 06,2765 31331 OPTMON CA OPTMODES # MONITOR OPTICS INBITS IN CHAN 30 AND 33 00006 EXTEND 06030 RXOR CHAN30 # LOOK FOR OCDU FAIL BIT CHANGE 75025 MASK BIT7 54070 TS RUPTREG1 # STORE CHANGE BIT 10000 CCS A 03224 TC OCDUFTST # PROCESS OCDUFAIL BIT CHANGE F4E">006301,001022: 06,2774 11303 33OPTMON CCS OPTIND # BYPASS IF TVC TAKEOVER 13001 TCF +4 13001 TCF +3 13001 TCF +2 15347 TCF RESUME 31331 CA OPTMODES # LOOK FOR OPTICS MODE SWITCH CHANGE 00006 EXTEND 06033 RXOR CHAN33 75043 MASK OCTHIRTY 26070 ADS RUPTREG1 # STORE INBIT CHANGES 23331 LXCH OPTMODES 00006 EXTEND 06001 RXOR LCHAN 55331 TS OPTMODES # UPDATE OPTMODES TO SHOW BIT CHANGES 40000 COM # SAMPLE CURRENT SWITCH SETTING 75043 MASK OCTHIRTY 00006 EXTEND 13022 BZF SETSAMP # MANUAL-SET ZERO IN SWSAMPLE 75027 MASK BIT5 # SEE IF CSC 10000 CCS A 03022 TC +2 # CSC-SET SWSAMPLE POS 37716 CAF NEGONE # ZOPTICS-SET SWSAMPLE (-1) 0">006326,001047: 06,3022 55314 SETSAMP TS SWSAMPLE # CURRENT OPTICS SWITCH SETTING 357">006328,001049: 06,3023 11315 PROCESSW CCS DESOPMOD # BRANCH ON PREVIOUS SETTING 03125 TC CSCDES # CSC 03077 TC MANUDES # MANUAL 03027 TC ZOPTDES # ZERO OPTICS 3">006332,001053: 06,3027 11314 ZOPTDES CCS SWSAMPLE # IS SWITCH STILL AT ZOPTICS 03047 TC ZTOCSC # NOW AT CSC 03037 TC ZTOMAN # MANUAL 03057 TC ZOPFINI # ZOPTICS-SEE IF ZOPT PROCESSING 03154 TC SETDESMD # ZOPT NOT PROCESSING-NO ACTION 11317 CCS ZOPTCNT # ZOPT PROCESSING-CHECK COUNTER 03153 TC SETCNT # 32 SAMPLE NOT FINISHED-SET COUNTER 03157 TC SETZOEND # 32 SAMPLE WAIT COMPLETED-SET UP ZOP END >006342,001063: 06,3037 03057 ZTOMAN TC ZOPFINI # ZOP TO MANUAL-IS ZOPT DONE 03154 TC SETDESMD # YES-NORMAL EXIT 24D">006345,001066: 06,3041 05664 ZOPALARM TC ALARM # ALARM-SWITCHED ALTERED WHILE ZOPTICS 00116 OCT 00116 35040 CAF OCT13 # PROCESSING-SET RETURN OPTION 55316 TS WTOPTION 03070 TC CANZOPT # CANCEL ZOPT 03154 TC SETDESMD >006354,001075: 06,3047 03057 ZTOCSC TC ZOPFINI # SEE IF ZOPT PROCESSING 03115 TC MANTOCSC +3 # NO-CHECK RETURN TO COARS OPT 05664 TC ALARM # ZOPT PROCESSING-ALARM 00116 OCT 00116 03070 TC CANZOPT # CANCEL ZOPT 03112 TC MANTOCSC # ZERO CNT-LOOK FOR COARS OPT RETURN F4B">006361,001082: 06,3055 35023 COARSLOK CAF BIT9 # IF COARS OPT SINCE FSTART GO TO L+2 13064 TCF ZOPFIN2 # IF NOT GO TO L+1 9">006363,001084: 06,3057 35033 ZOPFINI CAF BIT1 # SEE IF END ZOPT TASK WORKING 71331 MASK OPTMODES 10000 CCS A 05347 TC RESUME # ZOPT TASK WORKING-WAIT ONE SAMPLE PERIOD 35031 CAF BIT3 # TEST IF ZOPTICS PROCESSING 2">006369,001090: 06,3064 71331 ZOPFIN2 MASK OPTMODES # RETURNS TO L+1 PROCESSING AND 3">006370,001091: 06,3065 10000 ZOPFIN3 CCS A 24002 INCR Q # L+2 IF NOT 00002 TC Q 4">006374,001095: 06,3070 46211 CANZOPT CS SIX # CANCEL ZERO OPTICS 71331 MASK OPTMODES # ZERO ZOPT PROCESSING BIT-ENABLE OCDUFAIL 55331 TS OPTMODES 45033 CS BIT1 # MAKE SURE ZERO OCDU IS OFF 00006 EXTEND 03012 WAND CHAN12 00002 TC Q 3">006382,001103: 06,3077 11314 MANUDES CCS SWSAMPLE # SEE IF SWITCH STILL IN MANUAL MODE 03112 TC MANTOCSC # NOW AT CSC 03107 TC MANTOMAN # STILL MANUAL 11316 CCS WTOPTION # ZOPTICS-LOOK AT ZOPTICS RETURN OPTION 03105 TC +2 # 5 SEC RETURN GOOD-CONTINUE ZOPTICS 03151 TC OPTZERO # ZOPTICS MUST START ANEW 03216 TC INITZOPT # SHOW ZERO OPTICS PROCESSING 03154 TC SETDESMD # NORMAL EXIT 14E">006392,001113: 06,3107 11316 MANTOMAN CCS WTOPTION # DECREMENT RETURN OPTION TIME 55316 TS WTOPTION 03154 TC SETDESMD 343">006396,001117: 06,3112 35035 MANTOCSC CAF ZERO # CANCEL ZOPT RETURN OPTION IF SET 55316 TS WTOPTION 55317 TS ZOPTCNT 03055 TC COARSLOK # CHECK FOR COARS OPT RETURN 03154 TC SETDESMD # NO COARS TASK-NO ACTION 35033 CAF ONE # SET COARS OPT WORKING 55303 TS OPTIND 35032 CAF BIT2 # ENABLE OPTICS CDU ERROR CNTS 00006 EXTEND 05012 WOR CHAN12 03154 TC SETDESMD >006411,001132: 06,3125 11314 CSCDES CCS SWSAMPLE # SEE IF SWITCH STILL AT CSC 03154 TC SETDESMD # STILL AT CSC 03133 TC CSCTOMAN # MANUAL F50">006414,001135: 06,3130 35026 CSCTOZOP CAF OCT40 # ZOPTICS-INITIALIZE FOR ZOPT 55317 TS ZOPTCNT 03216 TC INITZOPT 14E">006418,001139: 06,3133 11303 CSCTOMAN CCS OPTIND # SEE IF COARS WORKING 03140 TC CANCOARS # COARS WORKING-SWITCH NOT CSC-KILL COARS 03140 TC CANCOARS 03137 TC +1 # NO COARS-NORMAL EXIT 03154 TC SETDESMD 253">006423,001144: 06,3140 37716 CANCOARS CA NEGONE 55303 TS OPTIND # SET OPTIND (-1) TO SHOW NOT WORKING 45032 CS BIT2 # DISABLE OCDU ERR CNTS 00006 EXTEND 03012 WAND CHAN12 41331 CS OPTMODES # SET RETURN-TO-COARS BIT 75023 MASK BIT9 27331 ADS OPTMODES 03154 TC SETDESMD F">006433,001154: 06,3151 03216 OPTZERO TC INITZOPT # INITIALIZE ZERO OPTICS 35026 CA OCT40 # SET UP 32 SAMPLE WAIT >006436,001157: 06,3153 55317 SETCNT TS ZOPTCNT D44">006437,001158: 06,3154 31314 SETDESMD CA SWSAMPLE # SET CURRENT SWITCH INDICATION-RESUME 55315 TS DESOPMOD 05347 TC RESUME E44">006441,001162: 06,3157 35033 SETZOEND CAF BIT1 # SEND ZERO OPTICS CDU 00006 EXTEND 05012 WOR CHAN12 34112 CA 200MS # HOLD ZERO CDU FOR 200 MS 05261 TC WAITLIST 1331 EBANK= OPTMODES 03172 14062 2CADR ENDZOPT 41331 CS OPTMODES # SHOW ZOPTICS TASK WORKING 75033 MASK BIT1 27331 ADS OPTMODES 03154 TC SETDESMD 4">006455,001176: 06,3172 03210 ENDZOPT TC ZEROPCDU # ZERO OCDU COUNTERS 45033 CS BIT1 # TURN OFF ZERO OCDU 00006 EXTEND 03012 WAND CHAN12 34112 CAF 200MS # DELAY 200MS FOR CDUS TO RESYNCHRONIZE 05306 TC VARDELAY 41331 CS OPTMODES # SHOW ZOPTICS SINCE LAST FRESH START 75022 MASK BIT10 # OR RESTART 27331 ADS OPTMODES 45037 CS SEVEN # ENABLE OCDUFAIL-SHOW OPTICS COMPLETE 71331 MASK OPTMODES 55331 TS OPTMODES 03224 TC OCDUFTST # CHECK OCDU FAIL BIT AFTER ENABLE 05340 TC TASKOVER 455">006473,001194: 06,3210 35035 ZEROPCDU CAF ZERO 54036 TS CDUS # ZERO IN CDUS,-20 IN CDUT 55307 TS ZONE # INITIALIZE SHAFT MONITOR ZONE 43261 CS 20DEGS 54035 TS CDUT 00002 TC Q 054">006480,001201: 06,3216 35035 INITZOPT CAF ZERO # INITIALIZE ZOPTICS-INHIBIT OCDUFAIL 55316 TS WTOPTION # AND SHOW OPTICS PROCESSING 41331 CS OPTMODES # SET ZERO OPTICS PROCESSING 76211 MASK SIX # OPTICS CDU FAIL INHIBITED 27331 ADS OPTMODES 00002 TC Q 354">006487,001208: 06,3224 35025 OCDUFTST CAF BIT7 # SEE IF OCDUFAIL ON OR OFF 00006 EXTEND 02030 RAND CHAN30 10000 CCS A 13252 TCF OPFAILOF # OCDUFAIL LIGHT OFF 35032 CAF BIT2 # OCDUFAIL LIGHT ON UNLESS INHIBITED 71331 MASK OPTMODES 10000 CCS A 00002 TC Q # OCDUFAIL INHIBITED F4E">006498,001219: 06,3235 35024 OPFAILON CAF BIT8 # ON BIT 61036 AD DSPTAB +11D 75024 MASK BIT8 >006501,001222: 06,3240 00006 SETOFF EXTEND 16711 BZF TCQ # NO CHANGE 54001 TS L 31036 CA DSPTAB +11D 00006 EXTEND 06001 RXOR LCHAN 75013 MASK POSMAX 65015 AD BIT15 # SHOW ACTION WANTED 55036 TS DSPTAB +11D 00002 TC Q F46">006513,001234: 06,3252 35033 OPFAILOF CAF BIT1 # DONT TURN OFF IF LAMP TEST 71321 MASK IMODES33 10000 CCS A 00002 TC Q # LAMP TEST IN PROGRESS 35024 CAF BIT8 # TURN OFF OCDUFAIL LIGHT 71036 MASK DSPTAB +11D 13240 TCF SETOFF /a>006522,001243: 06,3261 5040 OCT13 = ELEVEN 459">006523,001244: 06,3261 5043 OCTHIRTY EQUALS BITS4&5 >006524,001245: 06,3261 16037 20DEGS DEC 7199 B-14 /a>006525,001246: 06,3262 5026 OCT40 EQUALS BIT6 /a>006526,001247: 06,3262 4112 200MS EQUALS OCT24 # OPTICS CDU DRIVING PROGRAM BANK 10 SETLOC OPTDRV BANK COUNT* $$/SXT # SHAFT STOP MONITOR-ZONE UPDATE 645">006537,001258: 10,2000 30036 OPTDRIVE CA CDUS # GRAB OPTIC SHAFT CDU 54001 TS L 10000 CCS A # GET ABS(CDUS) 67707 AD 13,14,15 12006 TCF +2 # ABS(CDUS) - 45 DEG 12003 TCF -2 00006 EXTEND 62016 BZMF OZONE # LESS THAN 45 DEG-SET ZONE 0 31307 CA ZONE # IF ZONE ZERO, CHANGE TO + OR - OTHERWISE 00006 EXTEND # DONT MESS WITH ZONE 12014 BZF +2 12020 TCF CONTDRVE # JUST CONTINUE 56001 XCH L # GREATER THAN 45 DEG-SET ZONE TO SIGN CDU 12017 TCF OZONE +1 /a>006551,001272: 10,2016 35035 OZONE CAF ZERO # ABS(CDUS) LESS THEN 90 DEG-ZONE ZERO 55307 TS ZONE COUNT* $$/T4RPT 645">006554,001275: 10,2020 11303 CONTDRVE CCS OPTIND 02025 TC +4 # WORK COARS OPTICS 02025 TC +3 # WORK COARS OPTICS 05347 TC RESUME # NO OPT 05347 TC RESUME # NO OPT 31314 CA SWSAMPLE # SEE IF SWITCH AT CMC 00006 EXTEND 65347 BZMF RESUME # ZERO (-1) MANUAL (+0) 35022 CAF BIT10 # SEE IF OCDUS ZEROED SINCE LAST FSTART 71331 MASK OPTMODES 10000 CCS A 02036 TC +3 05664 TC ALARM # OPTICS NOT ZEROED 00120 OCT 00120 35032 CA BIT2 # SEE IF ERR CNTS ENABLED 00006 EXTEND 02012 RAND CHAN12 00006 EXTEND 12175 BZF SETBIT # CNTS NOT ENABLED-DO IT AND RESUME 35033 CAF ONE # INITIALIZE OPTIND >006578,001299: 10,2044 55303 OPT2 TS OPTIND 00006 EXTEND 12132 BZF TRUNCMD # CHECK TRUNION COMMAND D44">006582,001303: 10,2047 51303 GETOPCMD INDEX OPTIND 31160 CA DESOPTT # PICK UP DESIRED OPT ANGLE 00006 EXTEND 51303 INDEX OPTIND 20035 MSU CDUT # GET DIFFERENCE 00006 EXTEND 75017 MP BIT13 56001 XCH L 60000 DOUBLE 54061 TS ITEMP1 12063 TCF +2 # NO OVFL 26001 ADS L # WITH OVFL 4">006595,001316: 10,2063 51303 STORCMD INDEX OPTIND 23305 LXCH COMMANDO # STORE COMMAND 11303 CCS OPTIND 12044 TCF OPT2 # GET NEXT COMMAND 54061 TS ITEMP1 # INITIALIZE SEND INDICATOR TO ZERO COUNT* $$/SXT # SHAFT STOP AVOIDANCE 10036 CCS CDUS # IF CDUS GREATER THAN + OR - 90 DEG CHECK 65014 AD NEG1/2 # FOR POSSIBLE STOP PROBLEM 12074 TCF +2 12071 TCF -2 00006 EXTEND 62122 BZMF CMDSETUP # CDUS LESS THAN 90 DEG, NO PROBLEMS 31307 CA ZONE 00006 EXTEND 12122 BZF CMDSETUP # ZONE=3, NORMAL COMMAND 75015 MASK BIT15 # GRAB SIGN OF ZONE 54001 TS L 31306 CA COMMANDO +1 75015 MASK BIT15 # GRAB SIGN OF SHAFT COMMAND 00006 EXTEND 06001 RXOR LCHAN 10000 CCS A 12122 TCF CMDSETUP # SIGN ZONE NOT EQUAL TO SIGN COMMAND 11161 CCS DESOPTS # SEE IF DESOPTS BETWEEN -90 AND +90 65014 AD NEG1/2 12115 TCF +2 # ABS(DESOPTS) - 90 DEG 12112 TCF -2 00006 EXTEND 62120 BZMF +2 # DESOPTS IN FIRST OR FOURTH QUAD 12122 TCF CMDSETUP 41306 CS COMMANDO +1 # REVERSE REGULAR COMMAND 55306 TS COMMANDO +1 COUNT* $$/T4RPT 550">006635,001356: 10,2122 35033 CMDSETUP CAF ONE # SET OPTIND 55303 TS OPTIND 50000 INDEX A 11305 CCS COMMANDO # GET SIGN OF COMMAND 02144 TC POSOPCMD 02151 TC NEXTOPT +1 # ZERO COMMAND-SKIP SEND INDICATOR 02161 TC NEGOPCMD 02151 TC NEXTOPT +1 # ZERO COMMAND 4">006644,001365: 10,2132 40035 TRUNCMD CS CDUT # IF COMMAND GREATER THAN 45 DEG-COMMAND 61160 AD DESOPTT # 45 DEG 54002 TS Q 02047 TC GETOPCMD # LESS THAN 45 DEG-NORMAL OPERATION 10000 CCS A # GREATER THAN 45 DEG-USE OPSMAX WITH 35013 CA POSMAX # CORRECT SIGN 02142 TC +2 45013 CS POSMAX 54001 TS L 02063 TC STORCMD D44">006655,001376: 10,2144 62202 POSOPCMD AD MAXPLS1 00006 EXTEND 62166 BZMF DELOPCMD # COMMAND LESS THAN MAX PULSE 42201 CS MAXPLS # GREATER THAN MAX PULSE-USE MAX PULSE 4">006660,001381: 10,2150 24061 NEXTOPT INCR ITEMP1 # SET SEND INDICATOR 65034 AD NEG0 # MAKE SURE ZERO COMMAND IS -ZERO 51303 INDEX OPTIND 54053 TS CDUTCMD # STORE PULSE IN SEND REG 11303 CCS OPTIND 02123 TC CMDSETUP +1 # GET NEXT OPT 10061 CCS ITEMP1 # ARE ANY PULSES TO GO 12171 TCF SENDOCMD # YES-SEND EM 05347 TC RESUME # NO D44">006672,001393: 10,2161 62202 NEGOPCMD AD MAXPLS1 00006 EXTEND 62166 BZMF DELOPCMD # LESS THAN MAX PULSE 32201 CA MAXPLS # MAX PULSES 12150 TCF NEXTOPT D44">006677,001398: 10,2166 51303 DELOPCMD INDEX OPTIND 57305 XCH COMMANDO # SET UP SMALL COMMAND 12150 TCF NEXTOPT D44">006681,001402: 10,2171 35076 SENDOCMD CAF 11,12 # SEND OCDU DRIVE COMMANDS 00006 EXTEND 05014 WOR CHAN14 05347 TC RESUME >006686,001407: 10,2175 35032 SETBIT CAF BIT2 # ENABLE OCDU ERR CNTS 00006 EXTEND 05012 WOR CHAN12 05347 TC RESUME # START COARS NEXT TIME AROUND >006691,001412: 10,2201 77532 MAXPLS DEC -165 B-14 # WAS -80 1">006692,001413: 10,2202 77533 MAXPLS1 DEC -164 B-14 # WAS -79 /a>006693,001414: 10,2203 5076 11,12 EQUALS PRIO6 T4RUPT_PROGRAM.agc. Parent file is MAIN.agc