Source Code
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These source-code files are part of a reconstructed copy of Luminary 69/2,
the flown, final release of the Apollo 10 Lunar Module (LM) Apollo Guidance Computer (AGC) software.
The reconstruction is based on the source code of Luminary 69 — i.e., the
initial, unflown version, "revision 0" — of which
a contemporary listing was available. The code was then updated by incorporating the
differences between Luminary 69 and Luminary 69/2, known from other contemporary
documentation. The only such difference is the implementation in
Luminary 69/2 of the "R-2 Lunar Potential Model", the source code for which was taken
from program Luminary 99/1 (Apollo 11 LM), of which a contemporary listing was also available.
Finally, the now-reconstructed Luminary 69/2 was then validated by assembling it to
executable form and verifying that its memory banks had the correct checksums,
known from still other contemporary documentation.
Note that page numbers in the reconstructed code match those in the original Luminary 69
program listing, or in the ORBITAL INTEGRATION log section, in Luminary 99/1. Page numbers
would certainly differ somewhat in a contemporary Luminary 69/2 listing.
Moreover, annotations that were not present in the contemporary source code have been added
to the reconstructed code to justify each change in Luminary 69/2 relative to
Luminary 69. Here's a guide to the Apollo documentation referenced in those annotations:
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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007550,000002: ## Copyright: Public domain.
007551,000003: ## Filename: T4RUPT_PROGRAM.agc
007552,000004: ## Purpose: A section of LUM69 revision 2.
007553,000005: ## It is part of the reconstructed source code for the flown
007554,000006: ## version of the flight software for the Lunar Module's (LM)
007555,000007: ## Apollo Guidance Computer (AGC) for Apollo 10. The code has
007556,000008: ## been recreated from a copy of Luminary revsion 069, using
007557,000009: ## changes present in Luminary 099 which were described in
007558,000010: ## Luminary memos 75 and 78. The code has been adapted such
007559,000011: ## that the resulting bugger words exactly match those specified
007560,000012: ## for LUM69 revision 2 in NASA drawing 2021152B, which gives
007561,000013: ## relatively high confidence that the reconstruction is correct.
007562,000014: ## Reference: pp. 170-204
007563,000015: ## Assembler: yaYUL
007564,000016: ## Contact: Ron Burkey <info@sandroid.org>.
007565,000017: ## Website: www.ibiblio.org/apollo/index.html
007566,000018: ## Mod history: 2019-07-27 MAS Created from Luminary 69.
007567,000019:
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Page 170
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007569,000021: 12,2000 BANK 12
007570,000022: 06,2000 SETLOC T4RUP
007571,000023: 06,2000 BANK
007572,000024:
007573,000025: 06,2000 E6,1412 EBANK= M11
007574,000026: 06,2000 COUNT* $$/T4RPT
007575,000027: 06,2000 54016 T4RUPT TS BANKRUPT
007576,000028:
007577,000029: 06,2001 00006 EXTEND
007578,000030: 06,2002 22012 QXCH QRUPT
007579,000031:
007580,000032: 06,2003 11313 CCS DSRUPTSW # GOES 7(-1)0 AROUND AND AROUND
007581,000033: 06,2004 12010 TCF NORMT4 +1
007582,000034: 06,2005 12007 TCF NORMT4
007583,000035:
007584,000036: 06,2006 12134 TCF QUIKDSP
007585,000037:
007586,000038: 06,2007 34757 NORMT4 CAF SEVEN
007587,000039: 06,2010 54070 TS RUPTREG1
007588,000040: 06,2011 55313 TS DSRUPTSW
007589,000041:
007590,000042: 4066 BLOCK 02
007591,000043: 4000 SETLOC FFTAG10
007592,000044: 4000 BANK
007593,000045:
007594,000046: 4066 COUNT* $$/T4RPT
007595,000047: 4066 7726 100MRUPT = OCT37766 # (DEC 16374)
007596,000048: # RELTAB IS A PACKED TABLE. RELAYWORD CODE IN UPPER 4 BITS, RELAY CODE
007597,000049: # IN LOWER 5 BITS.
007598,000050:
007599,000051: 4066 04025 RELTAB OCT 04025
007600,000052: 4067 10003 OCT 10003
007601,000053: 4070 14031 OCT 14031
007602,000054: 4071 20033 OCT 20033
007603,000055: 4072 24017 OCT 24017
007604,000056: 4073 30036 OCT 30036
007605,000057: 4074 34034 OCT 34034
007606,000058: 4075 40023 OCT 40023
007607,000059: 4076 44035 OCT 44035
007608,000060: 4077 50037 OCT 50037
007609,000061: 4100 54000 OCT 54000
007610,000062: 4101 60000 RELTAB11 OCT 60000
007611,000063:
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007613,000065: # SWITCHED-BANK PORTION.
007614,000066:
007615,000067: 12,2000 BANK 12
007616,000068: 06,2000 SETLOC T4RUP
007617,000069: 06,2000 BANK
007618,000070:
007619,000071: 06,2012 COUNT* $$/T4RPT
007620,000072: 06,2012 11036 CDRVE CCS DSPTAB +11D
007621,000073: 06,2013 02063 TC DSPOUT
007622,000074: 06,2014 02063 TC DSPOUT
007623,000075:
007624,000076: 06,2015 57036 XCH DSPTAB +11D
007625,000077: 06,2016 74356 MASK LOW11
007626,000078: 06,2017 55036 TS DSPTAB +11D
007627,000079: 06,2020 64101 AD RELTAB11
007628,000080: 06,2021 00006 EXTEND
007629,000081: 06,2022 01010 WRITE OUT0
007630,000082: 06,2023 02071 TC HANG20
007631,000083:
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007633,000085: # DSPOUT PROGRAM. PUTS OUT DISPLAYS.
007634,000086:
007635,000087: 06,2024 55016 DSPOUTSB TS NOUT
007636,000088: 06,2025 44755 CS ZERO
007637,000089: 06,2026 54073 TS DSRUPTEM # SET TO -0 FOR 1ST PASS THRU DSPTAB
007638,000090: 06,2027 56776 XCH DSPCNT
007639,000091: 06,2030 64754 AD NEG0 # TO PREVENT +0
007640,000092: 06,2031 54776 TS DSPCNT
007641,000093: 06,2032 50776 DSPSCAN INDEX DSPCNT
007642,000094: 06,2033 11023 CCS DSPTAB
007643,000095: 06,2034 10776 CCS DSPCNT # IF DSPTAB ENTRY +, SKIP
007644,000096: 06,2035 12030 TCF DSPSCAN -2 # IF DSPCNT +, TRY AGAIN
007645,000097: 06,2036 12047 TCF DSPLAY # IF DSPTAB ENTRY -, DISPLAY
007646,000098: 06,2037 00012 TABLNTH OCT 12 # DEC 10 LENGTH OF DSPTAB
007647,000099: 06,2040 10073 CCS DSRUPTEM # IF DSRUPTEM=+0,2ND PASS THRU DSPTAB
007648,000100: 06,2041 37764 120MRUPT DEC 16372 B-14 # (DSPCNT = 0). +0 INTO NOUT.
007649,000101: 06,2042 55016 TS NOUT
007650,000102: 06,2043 00002 TC Q
007651,000103: 06,2044 54073 TS DSRUPTEM # IF DSRUPTEM=-0,1ST PASS THRU DSPTAB
007652,000104: 06,2045 32037 CAF TABLNTH # (DSPCNT=0). +0 INTO DSRUPTEM. PASS AGAIN
007653,000105: 06,2046 12031 TCF DSPSCAN -1
007654,000106:
007655,000107: 06,2047 64753 DSPLAY AD ONE
007656,000108: 06,2050 50776 INDEX DSPCNT
007657,000109: 06,2051 55023 TS DSPTAB # REPLACE POSITIVELY
007658,000110: 06,2052 74356 MASK LOW11 # REMOVE BITS 12 TO 15
007659,000111: 06,2053 54073 TS DSRUPTEM
007660,000112: 06,2054 34350 CAF HI5
007661,000113: 06,2055 50776 INDEX DSPCNT
007662,000114: 06,2056 74066 MASK RELTAB # PICK UP BITS 12 TO 15 OF RELTAB ENTRY
007663,000115: 06,2057 60073 AD DSRUPTEM
007664,000116: 06,2060 00006 EXTEND
007665,000117: 06,2061 01010 WRITE OUT0
007666,000118:
007667,000119: 06,2062 16736 TCF Q+1
007668,000120:
007669,000121:
007670,000122: 06,2063 10101 DSPOUT CCS FLAGWRD5 # IS DSKY FLAG ON
007671,000123: 06,2064 34755 CAF ZERO # NO
007672,000124: 06,2065 12130 TCF NODSPOUT # NO
007673,000125: 06,2066 11016 CCS NOUT # YES
007674,000126: 06,2067 02024 TC DSPOUTSB
007675,000127: 06,2070 12130 TCF NODSPOUT # NO DISPLAY REQUESTS
007676,000128:
007677,000129: 06,2071 42171 HANG20 CS 14,11,9
007678,000130: 06,2072 27313 ADS DSRUPTSW
007679,000131:
007680,000132: 06,2073 37730 CAF 20MRUPT
007681,000133:
007682,000134: 06,2074 54027 SETTIME4 TS TIME4
007683,000135:
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007685,000137: # THE STATUS OF THE PROCEED PUSHBUTTON IS MONITORED EVERY 120 MILLISECONDS VIA THE CHANNEL 32 BIT 14 INBIT.
007686,000138: # THE STATE OF THIS INBIT IS COMPARED WITH ITS STATE DURING THE PREVIOUS T4RUPT AND IS PROCESSED AS FOLLOWS.
007687,000139:
007688,000140: # IF PREV ON AND NOW ON - BYPASS
007689,000141: # IF PREV ON AND NOW OFF - UPDATE IMODES33
007690,000142: # IF PREV OFF AND NOW ON - UPDATE IMODES33 AND PROCESS VIA PINBALL
007691,000143: # IF PREV OFF AND NOW OFF - BYPASS
007692,000144:
007693,000145: # THE LOGIC EMPLOYED REQUIRES ONLY 9 MCT (APPROX. 108 MICROSECONDS) OF COMPUTER TIME WHEN NO CHANGES OCCUR.
007694,000146:
007695,000147:
007696,000148: 06,2075 31303 PROCEEDE CA IMODES33 # MONITIOR FOR PROCEED BUTTON
007697,000149: 06,2076 00006 EXTEND
007698,000150: 06,2077 06032 RXOR CHAN32
007699,000151: 06,2100 74736 MASK BIT14
007700,000152: 06,2101 00006 EXTEND
007701,000153: 06,2102 12116 BZF T4JUMP # NO CHANGE
007702,000154:
007703,000155: 06,2103 23303 LXCH IMODES33
007704,000156: 06,2104 00006 EXTEND
007705,000157: 06,2105 06001 RXOR LCHAN
007706,000158: 06,2106 55303 TS IMODES33 # UPDATE IMODES33
007707,000159: 06,2107 74736 MASK BIT14
007708,000160: 06,2110 10000 CCS A
007709,000161: 06,2111 12116 TCF T4JUMP # WAS ON - NOW OFF
007710,000162:
007711,000163: 06,2112 34355 CAF CHRPRIO # WAS OFF - NOW ON
007712,000164: 06,2113 05072 TC NOVAC
007713,000165: 06,2114 0777 EBANK= DSPCOUNT
007714,000166: 06,2114 03450 60101 2CADR PROCKEY
007715,000167:
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007717,000169: # JUMP TO APPROPRIATE ONCE-PER SECOND (.96 SEC ACTUALLY) ACTIVITY
007718,000170:
007719,000171: 06,2116 50070 T4JUMP INDEX RUPTREG1
007720,000172: 06,2117 12120 TCF +1
007721,000173:
007722,000174: 06,2120 03156 TC RCSMONIT
007723,000175: 06,2121 13006 TCF RRAUTCHK
007724,000176: 06,2122 12172 TCF IMUMON
007725,000177: 06,2123 13132 TCF DAPT4S
007726,000178: 06,2124 03156 TC RCSMONIT
007727,000179: 06,2125 13006 TCF RRAUTCHK
007728,000180: 06,2126 12172 TCF IMUMON
007729,000181: 06,2127 13132 TCF DAPT4S
007730,000182:
007731,000183: 06,2130 7730 20MRUPT = OCT37776 # (DEC 16382)
007732,000184:
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007734,000186: # ADDITIONAL ROUTINES FOR 20MS. KEYBOARD ACTIVITY
007735,000187:
007736,000188: 06,2130 00006 NODSPOUT EXTEND
007737,000189: 06,2131 01010 WRITE OUT0
007738,000190:
007739,000191: 06,2132 32041 CAF 120MRUPT # SET FOR NEXT CDRIVE
007740,000192: 06,2133 12074 TCF SETTIME4
007741,000193:
007742,000194: 06,2134 34736 QUIKDSP CAF BIT14
007743,000195: 06,2135 71313 MASK DSRUPTSW
007744,000196: 06,2136 00006 EXTEND
007745,000197: 06,2137 12165 BZF QUIKOFF # WROTE LAST TIME, NOW TURN OFF RELAYS.
007746,000198:
007747,000199: 06,2140 11016 CCS NOUT
007748,000200: 06,2141 02024 TC DSPOUTSB
007749,000201: 06,2142 12152 TCF NODSPY # NOUT=0 OR BAD RETURN FROM DSPOUTSB
007750,000202: 06,2143 44736 CS BIT14 # GOOD RETURN (WE DISPLAYED SOMETHING)
007751,000203: 06,2144 27313 QUIKRUPT ADS DSRUPTSW
007752,000204:
007753,000205: 06,2145 37730 CAF 20MRUPT
007754,000206: 06,2146 54027 TS TIME4
007755,000207:
007756,000208: 06,2147 34743 CAF BIT9
007757,000209: 06,2150 27313 ADS DSRUPTSW
007758,000210:
007759,000211: 06,2151 05270 TC RESUME
007760,000212:
007761,000213: 06,2152 00006 NODSPY EXTEND
007762,000214: 06,2153 01010 WRITE OUT0
007763,000215:
007764,000216: 06,2154 37730 SYNCT4 CAF 20MRUPT
007765,000217: 06,2155 26027 ADS TIME4
007766,000218:
007767,000219: 06,2156 34743 CAF BIT9
007768,000220: 06,2157 27313 ADS DSRUPTSW
007769,000221:
007770,000222: 06,2160 11313 CCS DSRUPTSW
007771,000223: 06,2161 05270 TC RESUME
007772,000224: 06,2162 37737 OCT37737 OCT 37737
007773,000225: 06,2163 02154 TC SYNCT4
007774,000226: 06,2164 05270 TC RESUME
007775,000227:
007776,000228: 06,2165 00006 QUIKOFF EXTEND
007777,000229: 06,2166 01010 WRITE OUT0
007778,000230: 06,2167 34736 CAF BIT14 # RESET DSRUPTSW TO SEND DISPLAY NEXT PASS
007779,000231: 06,2170 12144 TCF QUIKRUPT
007780,000232:
007781,000233: 06,2171 22400 14,11,9 OCT 22400
007782,000234:
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007784,000236: # PROGRAM NAME: IMUMON
007785,000237:
007786,000238: # FUNCTIONAL DESCRIPTION: THIS PROGRAM IS ENTERED EVERY 480 MS. IT DETECTS CHANGES OF THE IMU STATUS BITS IN
007787,000239: # CHANNEL 30 AND CALLS THE APPROPRIATE SUBROUTINES. THE BITS PROCESSED AND THEIR RELEVANT SUBROUTINES ARE:
007788,000240:
007789,000241: # FUNCTION BIT SUBROUTINE CALLED
007790,000242: # -------- --- -----------------
007791,000243: # TEMP IN LIMITS 15 TLIM
007792,000244: # ISS TURN-ON REQUEST 14 ITURNON
007793,000245: # IMU FAIL 13 IMUFAIL (SETISSW)
007794,000246: # IMU CDU FAIL 12 ICDUFAIL (SETISSW)
007795,000247: # IMU CAGE 11 IMUCAGE
007796,000248: # IMU OPERATE 9 IMUOP
007797,000249:
007798,000250: # THE LAST SAMPLED STATE OF THESE BITS IS LEFT IN IMODES30. ALSO, EACH SUBROUTINE CALLED FINDS THE NEW
007799,000251: # VALUE OF THE BIT IN A, WITH Q SET TO THE PROPER RETURN LOCATION, NXTIFAIL.
007800,000252:
007801,000253: # CALLING SEQUENCE: T4RUPT EVERY 480 MILLISECONDS.
007802,000254:
007803,000255: # JOBS OR TASKS INITIATED: NONE.
007804,000256:
007805,000257: # SUBROUTINES CALLED: TLIM, ITURNON, SETISSW, IMUCAGE, IMUOP.
007806,000258:
007807,000259: # ERASABLE INITIALIZATION:
007808,000260: # FRESH START OR RESTART WITH NO GROUPS ACTIVE: C(IMODES30) = OCT 37411.
007809,000261: # RESTART WITH ACTIVE GROUPS: C(IMODES30) = (B(IMODES30)AND(OCT 00035)) PLUS OCT 37400.
007810,000262: # THIS LEAVES IMU FAIL BITS INTACT.
007811,000263:
007812,000264: # ALARMS: NONE.
007813,000265:
007814,000266: # EXIT: TNONTEST.
007815,000267:
007816,000268: # OUTPUT: UPDATED IMODES30 WITH CHANGES PROCESSED BY APPROPRIATE SUBROUTINE.
007817,000269:
007818,000270: 06,2172 31302 IMUMON CA IMODES30 # SEE IF THERE HAS BEEN A CHANGE IN THE
007819,000271: 06,2173 00006 EXTEND # RELEVANT BITS OF CHAN 30.
007820,000272: 06,2174 06030 RXOR CHAN30
007821,000273: 06,2175 72761 MASK 30RDMSK
007822,000274: 06,2176 00006 EXTEND
007823,000275: 06,2177 12227 BZF TNONTEST # NO CHANGE IN STATUS.
007824,000276:
007825,000277: 06,2200 54070 TS RUPTREG1 # SAVE BITS WHICH HAVE CHANGED.
007826,000278: 06,2201 23302 LXCH IMODES30 # UPDATE IMODES30.
007827,000279: 06,2202 00006 EXTEND
007828,000280: 06,2203 06001 RXOR LCHAN
007829,000281: 06,2204 55302 TS IMODES30
007830,000282:
007831,000283: 06,2205 44753 CS ONE
007832,000284: 06,2206 56070 XCH RUPTREG1
007833,000285: 06,2207 00006 EXTEND
007834,000286:
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007836,000288: 06,2210 62514 BZMF TLIM # CHANGE IN IMU TEMP.
007837,000289: 06,2211 12213 TCF NXTIFBIT # BEGIN BIT SCAN.
007838,000290:
007839,000291: 06,2212 64753 -1 AD ONE # (RE-ENTERS HERE FROM NXTIFAIL.)
007840,000292: 06,2213 24070 NXTIFBIT INCR RUPTREG1 # ADVANCE BIT POSITION NUMBER.
007841,000293: 06,2214 60000 +1 DOUBLE
007842,000294: 06,2215 54000 TS A # SKIP IF OVERFLOW.
007843,000295: 06,2216 12213 TCF NXTIFBIT # LOOK FOR BIT.
007844,000296:
007845,000297: 06,2217 56071 XCH RUPTREG2 # SAVE OVERFLOW-CORRECTED DATA.
007846,000298: 06,2220 50070 INDEX RUPTREG1 # SELECT NEW VALUE OF THIS BIT.
007847,000299: 06,2221 34736 CAF BIT14
007848,000300: 06,2222 71302 MASK IMODES30
007849,000301: 06,2223 50070 INDEX RUPTREG1
007850,000302: 06,2224 02755 TC IFAILJMP
007851,000303:
007852,000304: 06,2225 10071 NXTIFAIL CCS RUPTREG2 # PROCESS ANY ADDITIONAL CHANGES.
007853,000305: 06,2226 12212 TCF NXTIFBIT -1
007854,000306:
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007856,000308: # PROGRAM NAME: TNONTEST.
007857,000309:
007858,000310: # FUNCTIONAL DESCRIPTION: THIS PROGRAM HONORS REQUESTS FOR ISS INITIALIZATION. ISS TURN-ON (CHANNEL 30 BIT 14)
007859,000311: # AND ISS OPERATE (CHANNEL 30 BIT 9) REQUESTS ARE TREATED AS A PAIR AND PROCESSING TAKES PLACE .480 SECONDS
007860,000312: # AFTER EITHER ONE APPEARS. THIS INITIALIZATION TAKES ON ONE OF THE FOLLOWING THREE FORMS:
007861,000313:
007862,000314: # 1) ISS TURN-ON: IN THIS SITUATION THE COMPUTER IS OPERATING WHEN THE ISS IS TURNED ON. NOMINALLY,
007863,000315: # BOTH ISS TURN-ON AND ISS OPERATE APPEAR. THE PLATFORM IS CAGED FOR 90 SECONDS AND THE ICDU'S ZEROED
007864,000316: # SO THAT AT THE END OF THE PROCESS THE GIMBAL LOCK MONITOR WILL FUNCTION PROPERLY.
007865,000317:
007866,000318: # 2) ICDU INITIALIZATION: IN THIS CASE THE COMPUTER WAS PROBABLY TURNED ON WITH THE ISS IN OPERATE OR
007867,000319: # A FRESH START WAS DONE WITH THE ISS IN OPERATE. IN THIS CASE ONLY ISS OPERATE IS ON. THE ICDU'S ARE
007868,000320: # ZEROED SO THE GIMBAL LOCK MONITOR WILL FUNCTION. AN EXCEPTION IS IF THE ISS IS IN GIMBAL LOCK AFTER
007869,000321: # A RESTART, THE ICDU'S WILL NOT BE ZEROED.
007870,000322:
007871,000323: # 3) RESTART WITH RESTARTABLE PROGRAM USING THE IMU: IN THIS CASE, NO INITIALIZATION TAKES PLACE SINCE
007872,000324: # IT IS ASSUMED THAT THE USING PROGRAM DID THE INITIALIZATION AND THEREFORE T4RUPT SHOULD NOT INTERFERE.
007873,000325:
007874,000326: # IMODES30 BIT 7 IS SET = 1 BY THE FIRST BIT (CHANNEL 30 BIT 14 OR 9) WHICH ARRIVES. FOLLOWING THIS. TNONTEST IS
007875,000327: # 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
007876,000328: # PROCEEDS, SETTING BITS 8 AND 7 = 0. AT PROCTNON, IF ISS TURN-ON REQUEST IS PRESENT, THE ISS IS CAGED (ZERO +
007877,000329: # COARSE). IF ISS OPERATE IS NOT PRESENT PROGRAM ALARM 00213 IS ISSUED. AT THE END OF A 90 SECOND CAGE, BIT 2
007878,000330: # OF IMODES30 IS TESTED. IF IT IS = 1, ISS TURN-ON WAS NOT PRESENT FOR THE ENTIRE 90 SECONDS. IN THAT CASE, IF
007879,000331: # THE ISS TURN-ON REQUEST IS PRESENT THE 90 SECOND WAIT IS REPEATED, OTHERWISE NO ACTION OCCURS UNLESS A PROGRAM
007880,000332: # WAS WAITING FOR THE INITIALIZATION IN WHICH CASE THE PROGRAM IS GIVEN AN IMUSTALL ERROR RETURN. IF THE DELAY
007881,000333: # WENT PROPERLY, THE ISS DELAY OUTBIT IS SENT AND THE ICDU'S ZEROED. A TASK IS INITIATED TO REMOVE THE PIPA FAIL
007882,000334: # INHIBIT BIT IN 10.24 SECONDS. IF A MISSION PROGRAM WAS WAITING IT IS INFORMED VIA ENDIMU.
007883,000335:
007884,000336: # AT PROCTNON, IF ONLY ISS OPERATE IS PRESENT (OPONLY), THE CDU'S ARE ZEROED UNLESS THE PLATFORM IS IN COARSE
007885,000337: # ALIGN (= GIMBAL LOCK HERE) OR A MISSION PROGRAM IS USING THE IMU (IMUSEFLG = 1).
007886,000338:
007887,000339: # CALLING SEQUENCE: T4RUPT EVERY 480 MILLISECONDS AFTER IMUMON.
007888,000340:
007889,000341: # JOBS OR TASKS INITIATED: 1) ENDTNON, 90 SECONDS AFTER CAGING STARTED. 2) ISSUP, 4 SECONDS AFTER CAGING DONE.
007890,000342: # 3) PFAILOK, 10.24 SECONDS AFTER INITIALIZATION COMPLETED. 4) UNZ2, 320 MILLISECONDS AFTER ZEROING
007891,000343: # STARTED.
007892,000344:
007893,000345: # SUBROUTINES CALLED: CAGESUB, CAGESUB2, ZEROICDU, ENDIMU, IMUBAD, NOATTOFF, SETISSW, VARDELAY.
007894,000346:
007895,000347: # ERASABLE INITIALIZATION: SEE IMUMON.
007896,000348:
007897,000349: # ALARMS: PROGRAM ALARM 00213 IF ISS TURN-ON REQUESTED WITHOUT ISS OPERATE.
007898,000350:
007899,000351: # EXIT: ENDTNON EXITS TO C33TEST. TASKS HAVING TO DO WITH INITIALIZATION EXIT AS FOLLOWS: MISSION PROGRAM
007900,000352: # WAITING AND INITIALIZATION COMPLETE, EXIT TO ENDIMU, MISSION PROGRAM WAITING AND INITIALIZATION FAILED, EXIT TO
007901,000353: # IMUBAD, IMU NOT IN USE, EXIT TO TASKOVER.
007902,000354:
007903,000355: # OUTPUT: ISS INITIALIZED.
007904,000356:
007905,000357: 06,2227 41302 TNONTEST CS IMODES30 # AFTER PROCESSING ALL CHANGES, SEE IF IT
007906,000358:
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007908,000360: 06,2230 74745 MASK BIT7 # IS TIME TO ACT ON A TURN-ON SEQUENCE.
007909,000361: 06,2231 10000 CCS A
007910,000362: 06,2232 12374 TCF C33TEST # NO - EXAMINE CHANNEL 33.
007911,000363:
007912,000364: 06,2233 34744 CAF BIT8 # SEE IF FIRST SAMPLE OR SECOND.
007913,000365: 06,2234 71302 MASK IMODES30
007914,000366: 06,2235 10000 CCS A
007915,000367: 06,2236 12242 TCF PROCTNON # REACT AFTER SECOND SAMPLE.
007916,000368:
007917,000369: 06,2237 34744 CAF BIT8 # IF FIRST SAMPLE, SET BIT TO REACT NEXT
007918,000370: 06,2240 27302 ADS IMODES30 # TIME.
007919,000371: 06,2241 12374 TCF C33TEST
007920,000372:
007921,000373: # PROCESS IMU TURN-ON REQUESTS AFTER WAITING 1 SAMPLE FOR ALL SIGNALS TO ARRIVE.
007922,000374:
007923,000375: 06,2242 42777 PROCTNON CS BITS7&8
007924,000376: 06,2243 71302 MASK IMODES30
007925,000377: 06,2244 55302 TS IMODES30
007926,000378: 06,2245 74736 MASK BIT14 # SEE IF TURN-ON REQUEST.
007927,000379: 06,2246 10000 CCS A
007928,000380: 06,2247 12347 TCF OPONLY # OPERATE ON ONLY.
007929,000381:
007930,000382: 06,2250 41302 CS IMODES30 # IF TURN-ON REQUEST, WE SHOULD HAVE IMU
007931,000383: 06,2251 74743 MASK BIT9 # OPERATE.
007932,000384: 06,2252 10000 CCS A
007933,000385: 06,2253 12256 TCF +3
007934,000386:
007935,000387: 06,2254 05567 TC ALARM # ALARM IF NOT.
007936,000388: 06,2255 00213 OCT 213
007937,000389:
007938,000390: 06,2256 02735 +3 TC CAGESUB
007939,000391: 06,2257 33005 CAF 90SECS
007940,000392: 06,2260 05203 TC WAITLIST
007941,000393: 06,2261 E6,1412 EBANK= M11
007942,000394: 06,2261 02266 14106 2CADR ENDTNON
007943,000395:
007944,000396: 06,2263 12374 TCF C33TEST
007945,000397:
007946,000398: 06,2264 33005 RETNON CAF 90SECS
007947,000399: 06,2265 05224 TC VARDELAY
007948,000400:
007949,000401: 06,2266 44752 ENDTNON CS BIT2 # RESET TURN-ON REQUEST FAIL BIT.
007950,000402: 06,2267 71302 MASK IMODES30
007951,000403: 06,2270 57302 XCH IMODES30
007952,000404: 06,2271 74752 MASK BIT2 # IF IT WAS OFF, SEND ISS DELAY COMPLETE.
007953,000405: 06,2272 00006 EXTEND
007954,000406: 06,2273 12306 BZF ENDTNON2
007955,000407:
007956,000408: 06,2274 34736 CAF BIT14 # IF IT WAS ON AND TURN-ON REQUEST NOW
007957,000409:
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007959,000411: 06,2275 71302 MASK IMODES30 # PRESENT, RE-ENTER 90 SEC DELAY IN WL.
007960,000412: 06,2276 00006 EXTEND
007961,000413: 06,2277 12264 BZF RETNON
007962,000414:
007963,000415: 06,2300 40074 CS FLAGWRD0 # IF IT IS NOT ON NOW, SEE IF A PROG WAS
007964,000416: 06,2301 74744 MASK IMUSEBIT # WAITING.
007965,000417: 06,2302 10000 CCS A
007966,000418: 06,2303 15261 TCF TASKOVER
007967,000419: 06,2304 04635 TC POSTJUMP
007968,000420: 06,2305 17612 CADR IMUBAD # UNSUCCESSFUL TURN-ON.
007969,000421:
007970,000422: 06,2306 34735 ENDTNON2 CAF BIT15 # SEND ISS DELAY COMPLETE.
007971,000423: 06,2307 00006 EXTEND
007972,000424: 06,2310 05012 WOR CHAN12
007973,000425:
007974,000426: 06,2311 04674 TC IBNKCALL # TURN OFF NO ATT LAMP.
007975,000427: 06,2312 17241 CADR NOATTOFF
007976,000428:
007977,000429: 06,2313 05457 UNZ2 TC ZEROICDU
007978,000430:
007979,000431: 06,2314 44763 CS BITS4&5 # REMOVE ZERO AND COARSE.
007980,000432: 06,2315 00006 EXTEND
007981,000433: 06,2316 03012 WAND CHAN12
007982,000434:
007983,000435: 06,2317 34741 CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS
007984,000436: 06,2320 05224 TC VARDELAY
007985,000437:
007986,000438: 06,2321 42774 ISSUP CS OCT54 # REMOVE CAGING, IMU FAIL INHIBIT, AND
007987,000439: 06,2322 71302 MASK IMODES30 # ICDUFAIL INHIBIT FLAGS.
007988,000440: 06,2323 55302 TS IMODES30
007989,000441:
007990,000442: 06,2324 44746 CS BIT6 # ENABLE DAP
007991,000443: 06,2325 71303 MASK IMODES33
007992,000444: 06,2326 55303 TS IMODES33
007993,000445:
007994,000446: 06,2327 40076 CS FLAGWRD2 # TEST DRIFTFLG: IF ON, DO NOTHING BECAUSE
007995,000447: 06,2330 74735 MASK DRFTBIT # IMUCOMP SHOULD BE ALL SET UP(RESTART
007996,000448: 06,2331 00006 EXTEND # WITH IMUSE DOWN). IF OFF, SET DRIFTFLG
007997,000449: 06,2332 12336 BZF +4 # AND 1/PIPADT TO GET FREEFALL IMUCOMP
007998,000450: 06,2333 26076 ADS FLAGWRD2 # GOING (FRESH START OR ISS TURN-ON).
007999,000451: 06,2334 30025 CA TIME1
008000,000452: 06,2335 57075 XCH 1/PIPADT # CANNOT GET HERE IF RESTART WITH IMUSE UP
008001,000453:
008002,000454: 06,2336 02703 TC SETISSW # ISS WARNING MIGHT HAVE BEEN INHIBITED.
008003,000455:
008004,000456: 06,2337 44735 CS BIT15 # REMOVE IMU DELAY COMPLETE DISCRETE.
008005,000457: 06,2340 00006 EXTEND
008006,000458: 06,2341 03012 WAND CHAN12
008007,000459:
008008,000460: 06,2342 35003 CAF 4SECS # DONT ENABLE PROG ALARM ON PIP FAIL FOR
008009,000461:
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008011,000463: 06,2343 05203 TC WAITLIST # ANOTHER 4 SECS.
008012,000464: 06,2344 E3,1474 EBANK= CDUIND
008013,000465: 06,2344 03227 16103 2CADR PFAILOK
008014,000466:
008015,000467: 06,2346 15261 TCF TASKOVER
008016,000468:
008017,000469: 06,2347 34750 OPONLY CAF BIT4 # IF OPERATE ON ONLY, AND WE ARE IN COARSE
008018,000470: 06,2350 00006 EXTEND # ALIGN, DONT ZERO THE CDUS BECAUSE WE
008019,000471: 06,2351 02012 RAND CHAN12 # MIGHT BE IN GIMBAL LOCK
008020,000472: 06,2352 10000 CCS A
008021,000473: 06,2353 12374 TCF C33TEST
008022,000474:
008023,000475: 06,2354 34744 CAF IMUSEBIT # OTHERWISE, ZERO THE COUNTERS.
008024,000476: 06,2355 70074 MASK FLAGWRD0 # UNLESS SOMEONE IS USING THE IMU.
008025,000477: 06,2356 10000 CCS A
008026,000478: 06,2357 12374 TCF C33TEST
008027,000479:
008028,000480: 06,2360 02746 TC CAGESUB2 # SET TURNON FLAGS.
008029,000481:
008030,000482: 06,2361 04674 ISSZERO TC IBNKCALL # TURN OFF NO ATT LAMP
008031,000483: 06,2362 17241 CADR NOATTOFF # IMU CAGE OFF ENTRY
008032,000484:
008033,000485: 06,2363 34747 CAF BIT5 # ISS CDU ZERO
008034,000486: 06,2364 00006 EXTEND
008035,000487: 06,2365 05012 WOR CHAN12
008036,000488:
008037,000489: 06,2366 05457 TC ZEROICDU
008038,000490: 06,2367 34746 CAF BIT6 # WAIT 300 MS FOR AGS TO RECEIVE SIGNAL.
008039,000491: 06,2370 05203 TC WAITLIST
008040,000492: 06,2371 E6,1412 EBANK= M11
008041,000493: 06,2371 02313 14106 2CADR UNZ2
008042,000494:
008043,000495: 06,2373 12374 TCF C33TEST
008044,000496:
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008046,000498: # PROGRAM NAME: C33TEST
008047,000499:
008048,000500: # FUNCTIONAL DESCRIPTION: THIS PROGRAM MONITORS THREE FLIP-FLOP INBITS OF CHANNEL 33 AND CALLS THE APPROPRIATE
008049,000501: # SUBROUTINE TO PROCESS A CHANGE. IT IS ANALOGOUS TO IMUMON, WHICH MONITORS CHANNEL 30, EXCEPT THAT IT READS
008050,000502: # CHANNEL 33 WITH A WAND INSTRUCTION BECAUSE A 'WRITE' PULSE IS REQUIRED TO RESET THE FLIP-FLOPS. THE BITS
008051,000503: # PROCESSED AND THE SUBROUTINES CALLED ARE:
008052,000504:
008053,000505: # BIT FUNCTION SUBROUTINE
008054,000506: # --- -------- ----------
008055,000507: # 13 PIPA FAIL PIPFAIL
008056,000508: # 12 DOWNLINK TOO FAST DNTMFAST
008057,000509: # 11 UPLINK TOO FAST UPTMFAST
008058,000510:
008059,000511: # UPON ENTRY TO THE SUBROUTINE, THE NEW BIT STATE IS IN A.
008060,000512:
008061,000513: # CALLING SEQUENCE: EVERY 480 MILLISECONDS AFTER TNONTEST.
008062,000514:
008063,000515: # JOBS OR TASKS INITIATED: NONE.
008064,000516:
008065,000517: # SUBROUTINES CALLED: PIPFAIL, DNTMFAST AND UPTMFAST ON BIT CHANGES.
008066,000518:
008067,000519: # ERASABLE INITIALIZATION: C(IMODES33) = OCT 16000 ON A FRESH START OR RESTART, THEREFORE, THESE ALARMS WILL
008068,000520: # REAPPEAR IF THE CONDITIONS PERSIST.
008069,000521:
008070,000522: # ALARMS: NONE.
008071,000523:
008072,000524: # EXIT: GLOCKMON.
008073,000525:
008074,000526: # OUTPUT: UPDATED BITS 13, 12 AND 11 OF IMODES33 WITH CHANGES PROCESSED.
008075,000527:
008076,000528: 06,2374 31303 C33TEST CA IMODES33 # SEE IF RELEVANT CHAN33 BITS HAVE
008077,000529: 06,2375 75026 MASK 33RDMSK
008078,000530: 06,2376 54001 TS L # CHANGED.
008079,000531: 06,2377 35026 CAF 33RDMSK
008080,000532: 06,2400 00006 EXTEND
008081,000533: 06,2401 03033 WAND CHAN33 # RESETS FLIP-FLOP INPUTS
008082,000534: 06,2402 00006 EXTEND
008083,000535: 06,2403 06001 RXOR LCHAN
008084,000536: 06,2404 00006 EXTEND
008085,000537: 06,2405 12434 BZF GLOCKMON # ON NO CHANGE.
008086,000538:
008087,000539: 06,2406 54070 TS RUPTREG1 # SAVE BITS WHICH HAVE CHANGED.
008088,000540: 06,2407 23303 LXCH IMODES33
008089,000541: 06,2410 00006 EXTEND
008090,000542: 06,2411 06001 RXOR LCHAN
008091,000543: 06,2412 55303 TS IMODES33 # UPDATED IMODES33.
008092,000544:
008093,000545: 06,2413 34755 CAF ZERO
008094,000546: 06,2414 56070 XCH RUPTREG1
008095,000547: 06,2415 60000 DOUBLE
008096,000548:
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008098,000550: 06,2416 12421 TCF NXTIBT +1 # SCAN FOR BIT CHANGES.
008099,000551:
008100,000552: 06,2417 64753 -1 AD ONE
008101,000553: 06,2420 24070 NXTIBT INCR RUPTREG1
008102,000554: 06,2421 60000 +1 DOUBLE
008103,000555: 06,2422 54000 TS A # (CODING IDENTICAL TO CHAN 30).
008104,000556: 06,2423 12420 TCF NXTIBT
008105,000557:
008106,000558: 06,2424 56071 XCH RUPTREG2
008107,000559: 06,2425 50070 INDEX RUPTREG1 # GET NEW VALUE OF BIT WHICH CHANGED.
008108,000560: 06,2426 34737 CAF BIT13
008109,000561: 06,2427 71303 MASK IMODES33
008110,000562: 06,2430 50070 INDEX RUPTREG1
008111,000563: 06,2431 02763 TC C33JMP
008112,000564:
008113,000565: 06,2432 10071 NXTFL33 CCS RUPTREG2 # PROCESS POSSIBLE ADDITIONAL CHANGES.
008114,000566: 06,2433 12417 TCF NXTIBT -1
008115,000567:
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008117,000569: # PROGRAM NAME: GLOCKMON
008118,000570:
008119,000571: # FUNCTIONAL DESCRIPTION: THIS PROGRAM MONITORS THE CDUZ COUNTER TO DETERMINE WHETHER THE ISS IS IN GIMBAL LOCK
008120,000572: # AND TAKES ACTION IF IT IS. THREE REGIONS OF MIDDLE GIMBAL ANGLE (MGA) ARE USED:
008121,000573:
008122,000574: # 1) ABS(MGA) LESS THAN OR EQUAL TO 70 DEGREES - NORMAL MODE.
008123,000575: # 2) ABS(MGA) GREATER THAN 70 DEGREES AND LESS THAN OR EQUAL TO 85 DEGREES - GIMBAL LOCK LAMP TURNED ON.
008124,000576: # 3) ABS(MGA) GREATER THAN 85 DEGREES - ISS PUT IN COARSE ALIGN AND NO ATT LAMP TURNED ON.
008125,000577:
008126,000578: # CALLING SEQUENCE: EVERY 480 MILLISECONDS AFTER C33TEST.
008127,000579:
008128,000580: # JOBS OR TASKS INITIATED: NONE.
008129,000581:
008130,000582: # SUBROUTINES CALLED: 1) SETCOARS WHEN ABS(MGA) GREATER THAN 85 DEGREES AND ISS NOT IN COARSE ALIGN.
008131,000583: # 2) LAMPTEST BEFORE TURNING OFF GIMBAL LOCK LAMP.
008132,000584:
008133,000585: # ERASABLE INITIALIZATION:
008134,000586: # 1) FRESH START OR RESTART WITH NO GROUPS ACTIVE: C(CDUZ) = 0, IMODES30 BIT 6 = 0, IMODES33 BIT 1 = 0.
008135,000587: # 2) RESTART WITH GROUPS ACTIVE: SAME AS FRESH START EXCEPT C(CDUZ) NOT CHANGED SO GIMBAL MONITOR
008136,000588: # PROCEEDS AS BEFORE.
008137,000589:
008138,000590: # ALARMS: 1) MGA REGION (2) CAUSES GIMBAL LOCK LAMP TO BE LIT.
008139,000591: # 2) MGA REGION (3) CAUSES THE ISS TO BE PUT IN COARSE ALIGN AND THE NO ATT LAMP TO BE LIT IF EITHER NOT
008140,000592: # SO ALREADY.
008141,000593:
008142,000594: 06,2434 10034 GLOCKMON CCS CDUZ
008143,000595: 06,2435 12441 TCF GLOCKCHK # SEE IF MAGNITUDE OF MGA IS GREATER THAN
008144,000596: 06,2436 12465 TCF SETGLOCK # 70 DEGREES.
008145,000597: 06,2437 12441 TCF GLOCKCHK
008146,000598: 06,2440 12465 TCF SETGLOCK
008147,000599:
008148,000600: 06,2441 62512 GLOCKCHK AD -70DEGS
008149,000601: 06,2442 00006 EXTEND
008150,000602: 06,2443 62464 BZMF SETGLOCK -1 # NO LOCK.
008151,000603:
008152,000604: 06,2444 62513 AD -15DEGS # SEE IF ABS(MGA) GREATER THAN 85 DEGREES.
008153,000605: 06,2445 00006 EXTEND
008154,000606: 06,2446 62462 BZMF NOGIMRUN
008155,000607:
008156,000608: 06,2447 34750 CAF BIT4 # IF SO, SYSTEM SHOULD BE IN COARSE ALIGN
008157,000609: 06,2450 00006 EXTEND # TO PREVENT GIMBAL RUNAWAY.
008158,000610: 06,2451 02012 RAND CHAN12
008159,000611: 06,2452 10000 CCS A
008160,000612: 06,2453 12462 TCF NOGIMRUN
008161,000613:
008162,000614: 06,2454 04674 TC IBNKCALL
008163,000615: 06,2455 17117 CADR SETCOARS
008164,000616:
008165,000617: 06,2456 36241 CAF SIX # ENABLE ISS ERROR COUNTERS IN 60 MS
008166,000618: 06,2457 05203 TC WAITLIST
008167,000619:
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008169,000621: 06,2460 E3,1474 EBANK= CDUIND
008170,000622: 06,2460 03113 16103 2CADR CA+ECE
008171,000623:
008172,000624: 06,2462 34746 NOGIMRUN CAF BIT6 # TURN ON GIMBAL LOCK LAMP.
008173,000625: 06,2463 12465 TCF SETGLOCK
008174,000626:
008175,000627: 06,2464 34755 -1 CAF ZERO
008176,000628: 06,2465 61036 SETGLOCK AD DSPTAB +11D # SEE IF PRESENT STATE OF GIMBAL LOCK LAMP
008177,000629: 06,2466 74746 MASK BIT6 # AGREES WITH DESIRED STATE BY HALF ADDING
008178,000630: 06,2467 00006 EXTEND # THE TWO.
008179,000631: 06,2470 15270 BZF GLOCKOK # OK AS IS.
008180,000632:
008181,000633: 06,2471 71036 MASK DSPTAB +11D # IF OFF, DONT TURN ON IF IMU BEING CAGED.
008182,000634: 06,2472 10000 CCS A
008183,000635: 06,2473 12507 TCF GLAMPTST # TURN OFF UNLESS LAMP TEST IN PROGRESS.
008184,000636:
008185,000637: 06,2474 34746 CAF BIT6
008186,000638: 06,2475 71302 MASK IMODES30
008187,000639: 06,2476 10000 CCS A
008188,000640: 06,2477 15270 TCF GLOCKOK
008189,000641:
008190,000642: 06,2500 41036 GLINVERT CS DSPTAB +11D # INVERT GIMBAL LOCK LAMP.
008191,000643: 06,2501 74746 MASK BIT6
008192,000644: 06,2502 64735 AD BIT15 # TO INDICATE CHANGE IN DSPTAB +11D.
008193,000645: 06,2503 57036 XCH DSPTAB +11D
008194,000646: 06,2504 72162 MASK OCT37737
008195,000647: 06,2505 27036 ADS DSPTAB +11D
008196,000648: 06,2506 15270 TCF GLOCKOK
008197,000649:
008198,000650: 06,2507 02766 GLAMPTST TC LAMPTEST # TURN OFF UNLESS LAMP TEST IN PROGRESS.
008199,000651: 06,2510 15270 TCF GLOCKOK
008200,000652: 06,2511 12500 TCF GLINVERT
008201,000653:
008202,000654: 06,2512 63434 -70DEGS DEC -.38888 # -70 DEGREES SCALED IN HALF-REVOLUTIONS.
008203,000655: 06,2513 75252 -15DEGS DEC -.08333
008204,000656:
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008206,000658: # PROGRAM NAME: TLIM.
008207,000659:
008208,000660: # FUNCTIONAL DESCRIPTION: THIS PROGRAM MAINTAINS THE TEMP LAMP (BIT 4 OF CHANNEL 11) ON THE DSKY TO AGREE WITH
008209,000661: # THE TEMP SIGNAL FROM THE ISS (BIT 15 OF CHANNEL 30). HOWEVER, THE LIGHT WILL NOT BE TURNED OFF IF A LAMP TEST
008210,000662: # IS IN PROGRESS.
008211,000663:
008212,000664: # CALLING SEQUENCE: CALLED BY IMUMON ON A CHANGE OF BIT 15 OF CHANNEL 30.
008213,000665:
008214,000666: # JOBS OR TASKS INITIATED: NONE.
008215,000667:
008216,000668: # SUBROUTINES CALLED: LAMPTEST.
008217,000669:
008218,000670: # ERASABLE INITIALIZATION: FRESH START AND RESTART TURN THE TEMP LAMP OFF.
008219,000671:
008220,000672: # ALARMS: TEMP LAMP TURNED ON WHEN IMU TEMP GOES OUT OF LIMITS.
008221,000673:
008222,000674: # EXIT: NXTIFAIL.
008223,000675:
008224,000676: # OUTPUT: SERVICE OF TEMP LAMP. IN A, EXCEPT FOR TLIM.
008225,000677:
008226,000678: 06,2514 74733 TLIM MASK POSMAX # REMOVE BIT FROM WORD OF CHANGES AND SET
008227,000679: 06,2515 54071 TS RUPTREG2 # DSKY TEMP LAMP ACCORDINGLY.
008228,000680:
008229,000681: 06,2516 11302 CCS IMODES30
008230,000682: 06,2517 12525 TCF TEMPOK
008231,000683: 06,2520 12525 TCF TEMPOK
008232,000684:
008233,000685: 06,2521 34750 CAF BIT4 # TURN ON LAMP.
008234,000686: 06,2522 00006 EXTEND
008235,000687: 06,2523 05011 WOR DSALMOUT
008236,000688: 06,2524 12225 TCF NXTIFAIL
008237,000689:
008238,000690: 06,2525 02766 TEMPOK TC LAMPTEST # IF TEMP NOW OK, DONT TURN OFF LAMP IF
008239,000691: 06,2526 12225 TCF NXTIFAIL # LAMP TEST IN PROGRESS.
008240,000692:
008241,000693: 06,2527 44750 CS BIT4
008242,000694: 06,2530 00006 EXTEND
008243,000695: 06,2531 03011 WAND DSALMOUT # TURN OFF LAMP
008244,000696: 06,2532 12225 TCF NXTIFAIL
008245,000697:
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008247,000699: # PROGRAM NAME: ITURNON.
008248,000700:
008249,000701: # FUNCTIONAL DESCRIPTION: THIS PROGRAM IS CALLED BY IMUMON WHEN A CHANGE OF BIT 14 OF CHANNEL 30 (ISS TURN-ON
008250,000702: # REQUEST) IS DETECTED. UPON ENTRY, ITURNON CHECKS IF A TURN-ON DELAY SEQUENCE HAS FAILED, AND IF SO, IT EXITS.
008251,000703: # IF NOT, IT CHECKS WHETHER THE TURN-ON REQUEST CHANGE IS TO ON OR OFF. IF ON, IT SETS BIT7 OF IMODES30 TO 1 SO
008252,000704: # THAT TNONTEST WILL INITIATE THE ISS INITIALIZATION SEQUENCE. IF OFF, THE TURN-ON DELAY SIGNAL, CHANNEL 12 BIT
008253,000705: # 15, IS CHECKED AND IF IT IS ON, ITURNON EXITS. IF THE DELAY SIGNAL IS OFF, PROGRAM ALARM 00207 IS ISSUED, BIT 2
008254,000706: # OF IMODES30 IS SET TO 1 AND THE PROGRAM EXITS.
008255,000707: # THE SETTING OF BIT 2 OF IMODES30 (ISS DELAY SEQUENCE FAIL) INHIBITS THIS ROUTINE AND IMUOP FROM
008256,000708: # PROCESSING ANY CHANGES. THIS BIT WILL BE RESET BY THE ENDTNON ROUTINE WHEN THE CURRENT 90 SECOND DELAY PERIOD
008257,000709: # ENDS.
008258,000710:
008259,000711: # CALLING SEQUENCE: FROM IMUMOM WHEN ISS TURN-ON REQUEST CHANGES STATE.
008260,000712:
008261,000713: # JOBS OR TASKS INITIATED: NONE.
008262,000714:
008263,000715: # SUBROUTINES CALLED: ALARM, IF THE ISS TURN-ON REQUEST IS NOT PRESENT FOR 90 SECONDS.
008264,000716:
008265,000717: # ERASABLE INITIALIZATION: FRESH START AND RESTART SET BIT 15 OF CHANNEL 12 AND BITS 2 AND 7 OF IMODES30 TO 0,
008266,000718: # AND BIT 14 OF IMODES30 TO 1.
008267,000719:
008268,000720: # ALARMS: PROGRAM ALARM 00207 IS ISSUED IF THE ISS TURN-ON REQUEST SIGNAL IS NOT PRESENT FOR 90 SECONDS.
008269,000721:
008270,000722: # EXIT: NXTIFAIL.
008271,000723:
008272,000724: # OUTPUT: BIT 7 OF IMODES30 TO START ISS INITIALIZATION, OR BIT 2 OF IMODES30 AND PROGRAM ALARM 00207 TO INDICATE
008273,000725: # A FAILED TURN-ON SEQUENCE.
008274,000726:
008275,000727: 06,2533 34752 ITURNON CAF BIT2 # IF DELAY REQUEST HAS GONE OFF
008276,000728: 06,2534 71302 MASK IMODES30 # PREMATURELY, DO NOT PROCESS ANY CHANGES
008277,000729: 06,2535 10000 CCS A # UNTIL THE CURRENT 90 SEC WAIT EXPIRES.
008278,000730: 06,2536 12225 TCF NXTIFAIL
008279,000731:
008280,000732: 06,2537 34736 CAF BIT14 # SEE IF JUST ON OR OFF.
008281,000733: 06,2540 71302 MASK IMODES30
008282,000734: 06,2541 00006 EXTEND
008283,000735: 06,2542 12556 BZF ITURNON2 # IF JUST ON.
008284,000736:
008285,000737: 06,2543 34735 CAF BIT15
008286,000738: 06,2544 00006 EXTEND # SEE IF DELAY PRESENT DISCRETE HAS BEEN
008287,000739: 06,2545 02012 RAND CHAN12 # SENT. IF SO, ACTION COMPLETE
008288,000740: 06,2546 00006 EXTEND
008289,000741: 06,2547 12551 BZF +2
008290,000742: 06,2550 12225 TCF NXTIFAIL
008291,000743:
008292,000744: 06,2551 34752 CAF BIT2 # IF NOT, SET BIT TO INDICATE REQUEST NOT
008293,000745: 06,2552 27302 ADS IMODES30 # PRESENT FOR FULL DURATION.
008294,000746: 06,2553 05567 TC ALARM
008295,000747: 06,2554 00207 OCT 207
008296,000748: 06,2555 12225 TCF NXTIFAIL
008297,000749:
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008299,000751: 06,2556 41302 ITURNON2 CS IMODES30 # SET BIT7 TO INDICATE WAIT OF 1 SAMPLE
008300,000752: 06,2557 74745 MASK BIT7
008301,000753: 06,2560 27302 ADS IMODES30
008302,000754: 06,2561 32564 CAF RRINIT
008303,000755: 06,2562 54110 TS RADMODES
008304,000756: 06,2563 12225 TCF NXTIFAIL
008305,000757:
008306,000758: 06,2564 00102 RRINIT OCT 00102
008307,000759:
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008309,000761: # PROGRAM NAME: IMUCAGE.
008310,000762:
008311,000763: # FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES OF THE IMUCAGE INBIT, CHANNEL 30 BIT 11. IF THE BIT
008312,000764: # CHANGES TO 0 (CAGE BUTTON PRESSED), THE ISS IS CAGED (ICDU ZERO + COARSE ALIGN + NO ATT LAMP) UNTIL THE
008313,000765: # ASTRONAUT SELECTS ANOTHER PROGRAM TO ALIGN THE ISS. ANY PULSE TRAINS TO THE ICDU'S AND GYRO'S ARE TERMINATED,
008314,000766: # THE ASSOCIATED OUTCOUNTERS ARE ZEROED AND THE GYRO'S ARE DE-SELECTED. NO ACTION OCCURS WHEN THE BUTTON IS
008315,000767: # RELEASED (INBIT CHANGES TO 1).
008316,000768:
008317,000769: # CALLING SEQUENCE: BY IMUMON WHEN IMU CAGE BIT CHANGES.
008318,000770:
008319,000771: # JOBS OR TASKS INITIATED: NONE.
008320,000772:
008321,000773: # SUBROUTINES CALLED: CAGESUB.
008322,000774:
008323,000775: # ERASABLE INITIALIZATION: FRESH START AND RESTART SET BIT 11 OF IMODES30 TO 1.
008324,000776:
008325,000777: # ALARMS: NONE.
008326,000778:
008327,000779: # EXIT: NXTIFAIL.
008328,000780:
008329,000781: # OUTPUT: ISS CAGED, COUNTERS ZEROED, PULSE TRAINS TERMINATED AND NO ATT LAMP LIT.
008330,000782:
008331,000783: 06,2565 10000 IMUCAGE CCS A # NO ACTION IF GOING OFF.
008332,000784: 06,2566 12361 TCF ISSZERO
008333,000785: 06,2567 43002 CS OCT77000 # TERMINATE ICDU,RCDU, GYRO PULSE TRAINS
008334,000786: 06,2570 00006 EXTEND
008335,000787: 06,2571 03014 WAND CHAN14
008336,000788:
008337,000789: 06,2572 42776 CS OCT272 # KNOCK DOWN DISPLAY INERTIAL DATA, IMU
008338,000790: 06,2573 00006 EXTEND # ERROR COUNTER ENABLE, ZERO ICDU, COARSE
008339,000791: 06,2574 03012 WAND CHAN12 # ALIGN ENABLE, RR ERROR COUNTER ENABLE.
008340,000792:
008341,000793: 06,2575 44745 CS ENGONBIT # INSURE ENGONFLG IS CLEAR.
008342,000794: 06,2576 70101 MASK FLAGWRD5
008343,000795: 06,2577 54101 TS FLAGWRD5
008344,000796: 06,2600 44355 CS PRIO30 # TURN ENGINE OFF.
008345,000797: 06,2601 00006 EXTEND
008346,000798: 06,2602 02011 RAND DSALMOUT
008347,000799: 06,2603 64736 AD BIT14
008348,000800: 06,2604 00006 EXTEND
008349,000801: 06,2605 01011 WRITE DSALMOUT # FORCE BIT14=1, BIT13=0.
008350,000802:
008351,000803: 06,2606 02743 TC CAGESUB1
008352,000804:
008353,000805: 06,2607 04674 TC IBNKCALL # KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS
008354,000806: 06,2610 17150 CADR RNDREFDR
008355,000807:
008356,000808: 06,2611 44755 CS ZERO
008357,000809: 06,2612 54050 TS CDUXCMD
008358,000810: 06,2613 54051 TS CDUYCMD
008359,000811:
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008361,000813: 06,2614 54052 TS CDUZCMD
008362,000814: 06,2615 54047 TS GYROCMD
008363,000815:
008364,000816: 06,2616 43001 CS OCT740 # HAVING WAITED AT LEAST 27 MCT FROM
008365,000817: 06,2617 00006 EXTEND # GYRO PULSE TRAIN TERMINATION, WE CAN
008366,000818: 06,2620 03014 WAND CHAN14 # DE-SELECT THE GYROS
008367,000819: 06,2621 12225 TCF NXTIFAIL
008368,000820:
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008370,000822: # PROGRAM NAME: IMUOP.
008371,000823:
008372,000824: # FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES IN THE ISS OPERATE DISCRETE, BIT 9 OF CHANNEL 30.
008373,000825: # IF THE INBIT CHANGES TO 0, INDICATING ISS ON, IMUOP GENERALLY SETS BIT 7 OF IMODES30 TO 1 TO REQUEST ISS
008374,000826: # INITIALIZATION VIA TNONTEST. AN EXCEPTION IS DURING A FAILED ISS DELAY DURING WHICH BIT 2 OF IMODES30 IS SET
008375,000827: # TO 1 AND NO FURTHER INITIALIZATION IS REQUIRED. WHEN THE INBIT CHANGES TO 1, INDICATING ISS OFF, IMUSEFLG IS
008376,000828: # TESTED TO SEE IF ANY PROGRAM WAS USING THE ISS. IF SO, PROGRAM ALARM 00214 IS ISSUED.
008377,000829:
008378,000830: # CALLING SEQUENCE: BY IMUMON WHEN BIT 9 OF CHANNEL 30 CHANGES.
008379,000831:
008380,000832: # JOBS OR TASKS INITIATED: NONE.
008381,000833:
008382,000834: # SUBROUTINES CALLED: ALARM, IF ISS IS TURNED OFF WHILE IN USE.
008383,000835:
008384,000836: # ERASABLE INITIALIZATION: ON FRESH START AND RESTART, BIT 9 OF IMODES30 IS SET TO 1 EXCEPT WHEN THE GIMBAL LOCK
008385,000837: # LAMP IS ON, IN WHICH CASE IT IS SET TO 0. THIS PREVENTS ICDU ZERO BY TNONTEST WITH THE ISS IN GIMBAL LOCK.
008386,000838:
008387,000839: # ALARMS: PROGRAM ALARM 00214 IF THE ISS IS TURNED OFF WHILE IN USE.
008388,000840:
008389,000841: # EXIT: NXTIFAIL.
008390,000842:
008391,000843: # OUTPUT: ISS INITIALIZATION REQUEST (IMODES30 BIT 7) OR PROGRAM ALARM 00214.
008392,000844:
008393,000845: 06,2622 00006 IMUOP EXTEND
008394,000846: 06,2623 12643 BZF IMUOP2
008395,000847:
008396,000848: 06,2624 41303 CS IMODES33 # DISABLE DAP
008397,000849: 06,2625 74746 MASK BIT6
008398,000850: 06,2626 27303 ADS IMODES33
008399,000851:
008400,000852: 06,2627 04674 TC IBNKCALL # KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS
008401,000853: 06,2630 17150 CADR RNDREFDR
008402,000854:
008403,000855: 06,2631 42777 CS BITS7&8 # KNOCK DOWN RENDEZVOUS, IMUUSE FLAGS
008404,000856: 06,2632 70074 MASK FLAGWRD0
008405,000857: 06,2633 56074 XCH FLAGWRD0 # IF GOING OFF, ALARM IF PROG USING IMU.
008406,000858: 06,2634 40000 COM
008407,000859: 06,2635 74744 MASK IMUSEFLG
008408,000860: 06,2636 10000 CCS A
008409,000861: 06,2637 12225 TCF NXTIFAIL
008410,000862:
008411,000863: 06,2640 05567 TC ALARM
008412,000864: 06,2641 00214 OCT 214
008413,000865: 06,2642 12225 TCF NXTIFAIL
008414,000866:
008415,000867: 06,2643 34752 IMUOP2 CAF BIT2 # SEE IF FAILED ISS TURN-ON SEQ IN PROG.
008416,000868: 06,2644 71302 MASK IMODES30
008417,000869: 06,2645 10000 CCS A
008418,000870: 06,2646 12225 TCF NXTIFAIL # IF SO, DONT PROCESS UNTIL PRESENT 90
008419,000871: 06,2647 12556 TCF ITURNON2 # SECONDS EXPIRES.
008420,000872:
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008422,000874: # PROGRAM NAME: PIPFAIL
008423,000875:
008424,000876: # FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES OF BIT 13 OF CHANNEL 33, PIPA FAIL. IT SETS BIT 10 OF
008425,000877: # IMODES30 TO AGREE. IT CALLS SETISSW IN CASE A PIPA FAIL NECESSITATES AN ISS WARNING. IF NOT, I.E., IMODES30
008426,000878: # BIT 1 = 1, AND A PIPA FAIL IS PRESENT AND THE ISS IS NOT BEING INITIALIZED, PROGRAM ALARM 00212 IS ISSUED.
008427,000879:
008428,000880: # CALLING SEQUENCE: BY C33TEST ON CHANGES OF CHANNEL 33 BIT 13.
008429,000881:
008430,000882: # JOBS OR TASKS INITIATED: NONE.
008431,000883:
008432,000884: # SUBROUTINES CALLED: 1) SETISSW, AND 2) ALARM (SEE FUNCTIONAL DESCRIPTION).
008433,000885:
008434,000886: # ERASABLE INITIALIZATION: SEE IMUMON FOR INITIALIZATION OF IMODES30. THE RELAVANT BITS ARE 5, 7, 8, 9, AND 10.
008435,000887:
008436,000888: # ALARMS: PROGRAM ALARM 00212 IF PIPA FAIL IS PRESENT BUT NEITHER ISS WARNING IS TO BE ISSUED NOR THE ISS IS
008437,000889: # BEING INITIALIZED.
008438,000890:
008439,000891: # EXIT: NXTFL33.
008440,000892:
008441,000893: # OUTPUT: PROGRAM ALARM 00212 AND ISS WARNING MAINTENANCE.
008442,000894:
008443,000895: 06,2650 10000 PIPFAIL CCS A # SET BIT10 IN IMODES30 SO ALL ISS WARNING
008444,000896: 06,2651 34742 CAF BIT10 # INFO IS IN ONE REGISTER.
008445,000897: 06,2652 57302 XCH IMODES30
008446,000898: 06,2653 73004 MASK -BIT10
008447,000899: 06,2654 27302 ADS IMODES30
008448,000900:
008449,000901: 06,2655 02703 TC SETISSW
008450,000902:
008451,000903: 06,2656 41302 CS IMODES30 # IF PIP FAIL DOESNT LIGHT ISS WARNING, DO
008452,000904: 06,2657 74753 MASK BIT1 # A PROGRAM ALARM IF IMU OPERATING BUT NOT
008453,000905: 06,2660 10000 CCS A # CAGED OR BEING TURNED ON.
008454,000906: 06,2661 12432 TCF NXTFL33
008455,000907:
008456,000908: 06,2662 31302 CA IMODES30
008457,000909: 06,2663 73000 MASK OCT1720
008458,000910: 06,2664 10000 CCS A
008459,000911: 06,2665 12432 TCF NXTFL33 # ABOVE CONDITION NOT MET.
008460,000912:
008461,000913: 06,2666 05567 TC ALARM
008462,000914: 06,2667 00212 OCT 212
008463,000915: 06,2670 12432 TCF NXTFL33
008464,000916:
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008466,000918: # PROGRAM NAMES: DNTMFAST, UPTMFAST
008467,000919:
008468,000920: # FUNCTIONAL DESCRIPTION: THESE PROGRAMS PROCESS CHANGES OF BITS 12 AND 11 OF CHANNEL 33. IF A BIT CHANGES TO A
008469,000921: # 0, A PROGRAM ALARM IS ISSUED. THE ALARMS ARE:
008470,000922:
008471,000923: # BIT ALARM CAUSE
008472,000924: # --- ----- -----
008473,000925: # 12 01105 DOWNLINK TOO FAST
008474,000926: # 11 01106 UPLINK TOO FAST
008475,000927:
008476,000928: # CALLING SEQUENCE: BY C33TEST ON A BIT CHANGE.
008477,000929:
008478,000930: # SUBROUTINES CALLED: ALARM, IF A BIT CHANGES TO A 0.
008479,000931:
008480,000932: # ERASABLE INITIALIZATION: FRESH START OR RESTART, BITS 12 AND 11 OF IMODES33 ARE SET TO 1.
008481,000933:
008482,000934: # ALARMS: SEE FUNCTIONAL DESCRIPTION.
008483,000935:
008484,000936: # EXIT: NXTFL33.
008485,000937:
008486,000938: # OUTPUT: PROGRAM ALARM ON A BIT CHANGE TO 0.
008487,000939:
008488,000940: 06,2671 10000 DNTMFAST CCS A # DO PROG ALARM IF TM TOO FAST.
008489,000941: 06,2672 12432 TCF NXTFL33
008490,000942:
008491,000943: 06,2673 05567 TC ALARM
008492,000944: 06,2674 01105 OCT 1105
008493,000945: 06,2675 12432 TCF NXTFL33
008494,000946:
008495,000947: 06,2676 10000 UPTMFAST CCS A # SAME AS DNLINK TOO FAST WITH DIFFERENT
008496,000948: 06,2677 12432 TCF NXTFL33 # ALARM CODE.
008497,000949:
008498,000950: 06,2700 05567 TC ALARM
008499,000951: 06,2701 01106 OCT 1106
008500,000952: 06,2702 12432 TCF NXTFL33
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008502,000954: # PROGRAM NAME: SETISSW
008503,000955:
008504,000956: # FUNCTIONAL DESCRIPTION: THIS PROGRAM TURNS THE ISS WARNING LAMP ON AND OFF (CHANNEL 11 BIT 1 = 1 FOR ON,
008505,000957: # 0 FOR OFF) DEPENDING ON THE STATUS OF IMODES30 BITS 13 (IMU FAIL) AND 4 (INHIBIT IMU FAIL), 12 (ICDU FAIL) AND
008506,000958: # 3 (INHIBIT ICDU FAIL), AND 10 (PIPA FAIL) AND 1 (INHIBIT PIPA FAIL). THE LAMP IS LEFT ON IF A LAMP TEST IS IN
008507,000959: # PROGRESS.
008508,000960:
008509,000961: # CALLING SEQUENCE: CALLED BY IMUMON ON CHANGES TO IMU FAIL AND ICDU FAIL. CALLED BY IFAILOK AND PFAILOK UPON
008510,000962: # REMOVAL OF THE FAIL INHIBITS. CALLED BY PIPFAIL WHEN THE PIPA FAIL DISCRETE CHANGES. IT IS CALLED BY PIPUSE
008511,000963: # SINCE THE PIPA FAIL PROGRAM ALARM MAY NECESSITATE AN ISS WARNING, AND LIKEWISE BY PIPFREE WHEN THE ALARM DEPARTS
008512,000964: # AND IT IS CALLED BY IMUZERO3 AND ISSUP AFTER THE FAIL INHIBITS HAVE BEEN REMOVED.
008513,000965:
008514,000966: # JOBS OR TASKS INITIATED: NONE.
008515,000967:
008516,000968: # SUBROUTINES CALLED: NONE.
008517,000969:
008518,000970: # ERASABLE INITIALIZATION:
008519,000971:
008520,000972: # 1) IMODES30 - SEE IMUMON.
008521,000973: # 2) IMODES33 BIT 1 = 0 (LAMP TEST NOT IN PROGRESS).
008522,000974:
008523,000975: # ALARMS: ISS WARNING.
008524,000976:
008525,000977: # THE FOLLOWING PROGRAM ALARMS WILL SHOW WHICH FAILURE CAUSED THE ISS WARN
008526,000978: # PROGRAM ALARM 00777 PIPA FAIL
008527,000979: # PROGRAM ALARM 03777 ICDU FAIL
008528,000980: # PROGRAM ALARM 04777 ICDU , PIPA FAILS
008529,000981: # PROGRAM ALARM 07777 IMU FAIL
008530,000982: # PROGRAM ALARM 10777 IMU , PIPA FAILS
008531,000983: # PROGRAM ALARM 13777 IMU , ICDU FAILS
008532,000984: # PROGRAM ALARM 14777 IMU , ICDU , PIPA FAILS
008533,000985:
008534,000986: # EXIT: VIA Q.
008535,000987:
008536,000988: # OUTPUT: ISS WARNING LAMP SET PROPERLY.
008537,000989:
008538,000990: 06,2703 34761 SETISSW CAF OCT15 # SET ISS WARNING USING THE FAIL BITS IN
008539,000991: 06,2704 71302 MASK IMODES30 # BITS 13, 12, AND 10 OF IMODES30 AND THE
008540,000992: 06,2705 00006 EXTEND # FAILURE INHIBIT BITS IN POSITIONS
008541,000993: 06,2706 74742 MP BIT10 # 4, 3, AND 1.
008542,000994: 06,2707 31302 CA IMODES30
008543,000995: 06,2710 00006 EXTEND
008544,000996: 06,2711 04001 ROR LCHAN # 0 INDICATES FAILURE
008545,000997: 06,2712 40000 COM
008546,000998: 06,2713 75025 MASK OCT15000
008547,000999: 06,2714 10000 CCS A
008548,001000: 06,2715 12726 TCF ISSWON # FAILURE.
008549,001001:
008550,001002: 06,2716 34753 ISSWOFF CAF BIT1 # DONT TURN OFF ISS WARNING IF LAMP TEST
008551,001003: 06,2717 71303 MASK IMODES33 # IN PROGRESS.
008552,001004:
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008554,001006: 06,2720 10000 CCS A
008555,001007: 06,2721 00002 TC Q
008556,001008:
008557,001009: 06,2722 44753 CS BIT1
008558,001010: 06,2723 00006 EXTEND
008559,001011: 06,2724 03011 WAND DSALMOUT
008560,001012: 06,2725 00002 TC Q
008561,001013:
008562,001014: 06,2726 00006 ISSWON EXTEND
008563,001015: 06,2727 22066 QXCH ITEMP6
008564,001016: 06,2730 05735 TC VARALARM # TELL EVERYONE WHAT CAUSED THE ISSWARNING
008565,001017: 06,2731 34753 CAF BIT1
008566,001018: 06,2732 00006 EXTEND
008567,001019: 06,2733 05011 WOR DSALMOUT
008568,001020: 06,2734 00066 TC ITEMP6
008569,001021:
008570,001022: 06,2735 43003 CAGESUB CS BITS6&15 # SET OUTBITS AND INTERNAL FLAGS FOR
008571,001023: 06,2736 00006 EXTEND # SYSTEM TURN-ON OR CAGE. DISABLE THE
008572,001024: 06,2737 03012 WAND CHAN12 # ERROR COUNTER AND REMOVE IMU DELAY COMP.
008573,001025: 06,2740 34763 CAF BITS4&5 # SEND ZERO AND COARSE.
008574,001026: 06,2741 00006 EXTEND
008575,001027: 06,2742 05012 WOR CHAN12
008576,001028:
008577,001029: 06,2743 41036 CAGESUB1 CS DSPTAB +11D # TURN ON NO ATT LAMP
008578,001030: 06,2744 72773 MASK OC40010
008579,001031: 06,2745 27036 ADS DSPTAB +11D
008580,001032:
008581,001033: 06,2746 41302 CAGESUB2 CS IMODES30 # SET FLAGS TO INDICATE CAGING OR TURN-ON
008582,001034: 06,2747 72775 MASK OCT75 # AND INHIBIT ALL ISS WARNING INFO
008583,001035: 06,2750 27302 ADS IMODES30
008584,001036:
008585,001037: 06,2751 41303 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
008586,001038: 06,2752 74746 MASK BIT6
008587,001039: 06,2753 27303 ADS IMODES33
008588,001040:
008589,001041: 06,2754 00002 TC Q
008590,001042:
008591,001043: 06,2755 06,2703 IMUFAIL EQUALS SETISSW
008592,001044: 06,2755 06,2703 ICDUFAIL EQUALS SETISSW
008593,001045:
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008595,001047: # JUMP TABLES AND CONSTANTS.
008596,001048:
008597,001049: 06,2755 12533 IFAILJMP TCF ITURNON # CHANNEL 30 DISPATCH.
008598,001050: 06,2756 12703 TCF IMUFAIL
008599,001051: 06,2757 12703 TCF ICDUFAIL
008600,001052: 06,2760 12565 TCF IMUCAGE
008601,001053: 06,2761 76400 30RDMSK OCT 76400 # (BIT 10 NOT SAMPLED HERE).
008602,001054: 06,2762 12622 TCF IMUOP
008603,001055:
008604,001056: 06,2763 12650 C33JMP TCF PIPFAIL # CHANNEL 33 DISPATCH.
008605,001057: 06,2764 12671 TCF DNTMFAST
008606,001058: 06,2765 12676 TCF UPTMFAST
008607,001059:
008608,001060: # SUBROUTINE TO SKIP IF LAMP TEST NOT IN PROGRESS.
008609,001061: 06,2766 41303 LAMPTEST CS IMODES33 # BIT 1 OF IMODES33 = 1 IF LAMP TEST IN
008610,001062: 06,2767 74753 MASK BIT1 # PROGRESS.
008611,001063: 06,2770 10000 CCS A
008612,001064: 06,2771 24002 INCR Q
008613,001065: 06,2772 00002 TC Q
008614,001066:
008615,001067: 06,2773 5026 33RDMSK EQUALS PRIO16
008616,001068: 06,2773 40010 OC40010 OCT 40010
008617,001069: 06,2774 00054 OCT54 OCT 54
008618,001070: 06,2775 00075 OCT75 OCT 75
008619,001071: 06,2776 00272 OCT272 OCT 00272
008620,001072: 06,2777 00300 BITS7&8 OCT 300
008621,001073: 06,3000 01720 OCT1720 OCT 1720
008622,001074: 06,3001 00740 OCT740 OCT 00740
008623,001075: 06,3002 5025 OCT15000 EQUALS PRIO15
008624,001076: 06,3002 77000 OCT77000 OCT 77000
008625,001077: 06,3003 40040 BITS6&15 OCT 40040
008626,001078: 06,3004 76777 -BIT10 OCT -1000
008627,001079:
008628,001080: 06,3005 21450 90SECS DEC 9000 B-14
008629,001081: 06,3006 5742 120MS = OCT14 # (DEC12)
008630,001082: 06,3006 5270 GLOCKOK EQUALS RESUME
008631,001083:
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008633,001085: # PROGRAM NAME_ RRAUTCHK
008634,001086:
008635,001087: # FUNCTIONAL DESCRIPTION_
008636,001088: # RRAUTCHK IS THE RENDEZVOUS RADAR INBIT MONITOR. INITIALLY THE RR
008637,001089: # POWER ON AUTO (CHAN 33 BIT 2) INBIT IS CHECKED. IF NO CHANGE, THE
008638,001090: # PROGRAM EXITS TO RRCDUCHK. IF A CHANGE, RADMODES IS UPDATED
008639,001091: # AND A CHECK MADE IF RR POWER HAS JUST COME ON. IF JUST OFF, A CHECK
008640,001092: # IS MADE TO SEE IF A PROGRAM WAS USING THE RR (STATE BIT 7). IF NO,
008641,001093: # THE PROGRAM EXITS TO RRCDUCHK. IF YES, PROGRAM ALARM 00514
008642,001094: # IS REQUESTED BEFORE EXITING TO RRCDUCHK. IF RR POWER HAS JUST COME
008643,001095: # ON, A CHECK IS MADE TO SEE IF A PROGRAM WAS USING THE RR (STATE BIT 7).
008644,001096: # IF YES, THE PROGRAM EXITS TO RRCDUCHK WITHOUT REQUESTING THE TURN-ON
008645,001097: # SEQUENCE. IF NO, RADMODES IS UPDATED TO INDICATE RR CDU ZERO AND
008646,001098: # RR TURN-ON SEQUENCE (BITS 13, 1). A 10 MILLISECOND WAITLIST CALL
008647,001099: # IS THEN SET FOR RRTURNON BEFORE THE PROGRAM EXITS TO NORRGMON.
008648,001100:
008649,001101: # CALLING SEQUENCE_
008650,001102: # T4RUPT EVERY 480 MILLISECONDS
008651,001103:
008652,001104: # ERASABLE INITIALIZATION REQUIRED_
008653,001105: # RADMODES, STATE
008654,001106:
008655,001107: # SUBROUTINES CALLED_
008656,001108: # WAITLIST
008657,001109:
008658,001110: # JOBS OR TASKS INITIATED_
008659,001111: # RRTURNON
008660,001112:
008661,001113: # ALARMS_ PROGRAM ALARM 00514 - RADAR GOES OUT OF AUTO MODE WHILE BEING
008662,001114: # USED
008663,001115:
008664,001116: # EXIT_ RRCDUCHK, NORRGMON
008665,001117:
008666,001118: 06,3006 30110 RRAUTCHK CA RADMODES # SEE IF CHANGE IN RR AUTO MODE BIT.
008667,001119: 06,3007 00006 EXTEND
008668,001120: 06,3010 06033 RXOR CHAN33
008669,001121: 06,3011 74752 MASK BIT2
008670,001122: 06,3012 00006 EXTEND
008671,001123: 06,3013 13037 BZF RRCDUCHK
008672,001124:
008673,001125: 06,3014 22110 LXCH RADMODES # UPDATE RADMODES.
008674,001126: 06,3015 00006 EXTEND
008675,001127: 06,3016 06001 RXOR LCHAN
008676,001128: 06,3017 73033 MASK OCT05776 # CLR CONT. DES., REMODE, REPOS, CDUZERO,
008677,001129: 06,3020 54110 TS RADMODES # AND TURNON BITS.
008678,001130: 06,3021 74752 MASK BIT2 # SEE IF JUST ON.
008679,001131: 06,3022 10000 CCS A
008680,001132: 06,3023 13034 TCF RRCDUCHK -3 # OFF. GO DISABLE RR CDU ERROR COUNTERS.
008681,001133: 06,3024 37662 CA OCT10001 # SET RRCDUZRO AND TURNON BITS.
008682,001134: 06,3025 26110 ADS RADMODES
008683,001135:
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008685,001137: 06,3026 34753 CAF ONE
008686,001138: 06,3027 05203 TC WAITLIST
008687,001139: 06,3030 E7,1454 EBANK= LOSCOUNT
008688,001140: 06,3030 02062 52107 2CADR RRTURNON
008689,001141:
008690,001142: 06,3032 13132 TCF NORRGMON
008691,001143:
008692,001144: 06,3033 05776 OCT05776 OCT 5776
008693,001145:
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008695,001147: # PROGRAM NAME_ RRCDUCHK
008696,001148:
008697,001149: # FUNCTIONAL DESCRIPTION_
008698,001150: # RRCDUCHK CHECKS FOR RR CDU FAIL (CHAN 30 BIT 7). INITIALLY THE
008699,001151: # RR CDU FAIL BIT IS SAMPLED (CHAN 30 BIT 7). IF NO CHANGE, THE
008700,001152: # PROGRAM EXITS TO RRGIMON. IF A CHANGE, THE RR AUTO MODE
008701,001153: # (RADMODES BIT 2) BIT IS CHECKED. IF NOT IN RR AUTO MODE, THE
008702,001154: # PROGRAM EXITS TO NORRGMON. IF IN AUTO MODE, RADMODES BIT 7
008703,001155: # (RR CDU OK) IS UPDATED AND IF P-20 IS OPERATING PROGRAM ALARM 00515 IS
008704,001156: # REQUESTED. CONTROL IS TRANSFERRED TO SETTRKF TO UPDATE
008705,001157: # THE TRACKER FAIL LAMP (DSPTAB+11D BIT 8). CONTROL RETURNS TO
008706,001158: # RRGIMON.
008707,001159:
008708,001160: # CALLING SEQUENCE_
008709,001161: # EVERY 480 MILLISECONDS FROM RRAUTCHK (VIA T4RUPT) UNLESS A
008710,001162: # TURN-ON SEQUENCE HAS JUST BEEN INITIATED.
008711,001163:
008712,001164: # ERASABLE INITIALIZATION REQUIRED_
008713,001165: # RADMODES
008714,001166:
008715,001167: # SUBROUTINES CALLED_
008716,001168: # SETTRKF
008717,001169:
008718,001170: # JOBS OR TASKS INITIATED_
008719,001171: # NONE
008720,001172:
008721,001173: # ALARMS_
008722,001174: # TRACKER FAIL
008723,001175: # PROGRAM ALARM 00515 - RRCDU FAIL DURING P-20
008724,001176:
008725,001177: # EXIT_
008726,001178: # RRGIMON, NORRGMON
008727,001179:
008728,001180: 06,3034 44752 -3 CS BIT2
008729,001181: 06,3035 00006 EXTEND
008730,001182: 06,3036 03012 WAND CHAN12 # AT TURNON, DISABLE CDU ERROR COUNTERS.
008731,001183:
008732,001184: 06,3037 30110 RRCDUCHK CA RADMODES # LAST SAMPLED BIT IN RADMODES.
008733,001185: 06,3040 00006 EXTEND
008734,001186: 06,3041 06030 RXOR CHAN30
008735,001187: 06,3042 74745 MASK BIT7
008736,001188: 06,3043 00006 EXTEND
008737,001189: 06,3044 13071 BZF RRGIMON
008738,001190:
008739,001191: 06,3045 34752 CAF BIT2 # IF RR NOT IN AUTO MODE, DONT CHANGE BIT
008740,001192: 06,3046 70110 MASK RADMODES # 7 OF RADMODES. IF THIS WERE NOT DONE,
008741,001193: 06,3047 10000 CCS A # THE TRACKER FAIL MIGHT COME ON WHEN
008742,001194: 06,3050 13132 TCF NORRGMON # JUST READING LR DATA.
008743,001195:
008744,001196: 06,3051 34745 CAF BIT7 # SET BIT 7 OF RADMODES FOR SETTRKF.
008745,001197:
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008747,001199: 06,3052 22110 LXCH RADMODES # UPDATE RADMODES.
008748,001200: 06,3053 00006 EXTEND
008749,001201: 06,3054 06001 RXOR L
008750,001202: 06,3055 54110 TS RADMODES
008751,001203:
008752,001204: 06,3056 30110 CA RADMODES # DID RR CDU FAIL
008753,001205: 06,3057 74745 MASK BIT7
008754,001206: 06,3060 10000 CCS A
008755,001207: 06,3061 13070 TCF TRKFLCDU # NO
008756,001208: 06,3062 40074 CS FLAGWRD0 # RNDVFLG P20 OR P22 OPERATING
008757,001209: 06,3063 74745 MASK RNDVZBIT
008758,001210: 06,3064 10000 CCS A
008759,001211: 06,3065 13070 TCF TRKFLCDU # NO
008760,001212: 06,3066 05567 TC ALARM # YES
008761,001213: 06,3067 00515 OCT 00515
008762,001214: 06,3070 04564 TRKFLCDU TC SETTRKF # UPDATE TRACKER FAIL LAMP ON DSKY.
008763,001215:
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008765,001217: # PROGRAM NAME_ RRGIMON E AUTO MODE EXCEPT WHEN THE RR CDUS ARE
008766,001218:
008767,001219: # FUNCTIONAL DESCRIPTION_ TTER IS INITIATED BY THIS MONITOR WHEN
008768,001220: # RRGIMON IS THE RR GIMBAL LIMIT MONITOR. INITIALLY THE FOLLOWING IS ED TO DRIVE THE GIMBALS TO T = 0 AND
008769,001221: # CHECKED_ REMODE, RR CDU:S BEING ZEROED, REPOSITION, AND RR
008770,001222: # NOT IN AUTO MODE (RADMODES BITS 14, 13, 11 2). IF ANY OF THESE
008771,001223: # EXIST THE PROGRAM EXITS TO GPMATRIX. IF NONE ARE PRESENT RRLIMCHK
008772,001224: # IS CALLED TO SEE IF THE PRESENT RR CDU ANGLES (OPTY, OPTX) ARE WITHIN
008773,001225: # THE LIMITS OF THE CURRENT MODE. IF WITHIN LIMITS, THE PROGRAM EXITS
008774,001226: # TO NORRGMON. IF NOT WITHIN LIMITS, THE REPOSITION FLAG (RADMODES
008775,001227: # BIT 11) IS SET, THE RR AUTO TRACKER AND RR ERROR COUNTER
008776,001228: # (CHAN 12 BITS 14, 2) ARE DISABLED, AND A 20 MILLISECOND WAITLIST
008777,001229: # CALL IS SET FOR DORREPOS AFTER WHICH THE PROGRAM EXITS TO NORRGMON.
008778,001230:
008779,001231: # CALLING SEQUENCE_
008780,001232: # EVERY 480 MILLISECONDS FROM RRCDUCHK (VIA T4RUPT) UNLESS TURN-ON
008781,001233: # HAS JUST BEEN INITIATED VIA RRAUTCHK OR IF THERE HAS BEEN A CHANGE IN
008782,001234: # THE RR CDU FAIL BIT (CHAN 30 BIT 7) AND THE RR IS NOT IN THE AUTO MODE
008783,001235: # (RADMODES BIT 2).
008784,001236:
008785,001237: # ERASABLE INITIALIZATION_ RADMODES
008786,001238:
008787,001239: # SUBROUTINES CALLED_
008788,001240: # RRLIMCHK, WAITLIST
008789,001241:
008790,001242: # JOBS OR TASKS INITIATED_
008791,001243: # DORREPOS
008792,001244:
008793,001245: # ALARMS_
008794,001246: # NONE
008795,001247:
008796,001248: # EXIT_
008797,001249: # NORRGMON
008798,001250:
008799,001251: 06,3071 30101 RRGIMON CAE FLAGWRD5 # IS NO ANGLE MONITOR FLAG SET
008800,001252: 06,3072 74750 MASK NORRMBIT
008801,001253: 06,3073 10000 CCS A
008802,001254: 06,3074 13132 TCF NORRGMON # YES - SKIP LIMIT CHECK
008803,001255: 06,3075 40103 CS FLAGWRD7 # IS SERVICER RUNNING?
008804,001256: 06,3076 74747 MASK AVEGFBIT
008805,001257: 06,3077 10000 CCS A
008806,001258: 06,3100 13105 TCF +5 # NO. DO R25
008807,001259: 06,3101 30102 CA FLAGWRD6 # YES. IS MUNFLAG SET?
008808,001260: 06,3102 74744 MASK MUNFLBIT
008809,001261: 06,3103 10000 CCS A
008810,001262: 06,3104 13132 TCF NORRGMON # YES. DON'T DO R25
008811,001263: 06,3105 33127 +5 CAF OCT32002 # INHIBIT BY REMODE,ZEROING,MONITOR.
008812,001264: 06,3106 70110 MASK RADMODES # OR RR NOT IN AUTO.
008813,001265: 06,3107 10000 CCS A
008814,001266: 06,3110 13132 TCF NORRGMON
008815,001267:
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008817,001269: 06,3111 04523 TC RRLIMCHK # SEE IF ANGLES IN LIMITS.
008818,001270: 06,3112 00035 ADRES CDUT
008819,001271:
008820,001272: 06,3113 13115 TCF MONREPOS
008821,001273:
008822,001274: 06,3114 13132 TCF NORRGMON # (ADDITIONAL CODING MAY GO HERE).
008823,001275:
008824,001276: 06,3115 34741 MONREPOS CAF BIT11 # SET FLAG TO SHOW REPOSITION IN PROGRESS.
008825,001277: 06,3116 26110 ADS RADMODES
008826,001278:
008827,001279: 06,3117 43130 CS OCT20002 # DISABLE TRACKER AND ERROR COUNTER.
008828,001280: 06,3120 00006 EXTEND
008829,001281: 06,3121 03012 WAND CHAN12
008830,001282:
008831,001283: 06,3122 34752 CAF TWO
008832,001284: 06,3123 05203 TC WAITLIST
008833,001285: 06,3124 E7,1454 EBANK= LOSCOUNT
008834,001286: 06,3124 02127 52107 2CADR DORREPOS
008835,001287:
008836,001288: 06,3126 13132 TCF NORRGMON
008837,001289:
008838,001290: 06,3127 32002 OCT32002 OCT 32002
008839,001291: 06,3130 20002 OCT20002 OCT 20002
008840,001292: 06,3131 02100 OCT02100 OCT 02100 # P20,P22 MASK BITS
008841,001293:
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008843,001295: # PROGRAM NAME: GPMATRIX (DAPT4S) MOD. NO. 2 DATE: OCTOBER 27, 1966
008844,001296:
008845,001297: # AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
008846,001298:
008847,001299: # MODIFIED: 7FEB. 1968 BY P. S. WEISSMAN TO DELETE COMPUTATION OF MR12 AND MR13, WHICH ARE NO LONGER REQIURED.
008848,001300:
008849,001301: # THIS PROGRAM CALCULATES ALL THE SINGLE-PRECISION MATRIX ELEMENTS WHICH ARE USED BY LEM DAP TO TRANSFORM VECTORS
008850,001302: # FROM GIMBAL TO PILOT (BODY) AXES AND BACK AGAIN. THESE ELEMENTS ARE USED EXCLUSIVELY BY BASIC LANGUAGE ROUTINES
008851,001303: # AND THEREFORE ARE NOT ARRAYED FOR USE BY INTERPRETIVE PROGRAMS.
008852,001304:
008853,001305: # CALLING SEQUENCE: GPMATRIX IS TRANSFERRED TO FROM DAPT4S AND IS THUS EXECUTED 4 TIMES A SECOND BY T4RUPT.
008854,001306: # DAPT4S IS LISTED IN T4JUMP TABLE TWICE EXPLICITLY AND ALSO OCCURS AFTER RRAUTCHK (WHICH IS ALSO LISTED TWICE).
008855,001307:
008856,001308: # SUBROUTINES CALLED: SPSIN, SPCOS.
008857,001309:
008858,001310: # NORMAL EXIT MODE: TCF RESUME
008859,001311:
008860,001312: # ALARM AND ABORT MODES: NONE.
008861,001313:
008862,001314: # INPUT: CDUX, CDUY, CDUZ.
008863,001315:
008864,001316: # OUTPUT: M11, M21, M31, M22, M32.
008865,001317:
008866,001318: # AOG = CDUX, AIG = CDUY, AMG = CDUZ: MNEMONIC IS : OIM = XYZ
008867,001319:
008868,001320: # * * SIN(MG) 0 1 *
008869,001321: # M = * COS(MG)COS(OG) SIN(OG) 0 *
008870,001322: # GP * -COS(MG)SIN(OG) COS(OG) 0 *
008871,001323:
008872,001324: # * * 0 COS(OG)/COS(MG) -SIN(OG)/COS(MG) *
008873,001325: # M = * 0 SIN(OG) COS(OG) *
008874,001326: # PG * 1 -SIN(MG)COS(OG)/COS(MG) SIN(MG)SIN(OG)/COS(MG) *
008875,001327:
008876,001328: 06,3132 E6,1412 EBANK= M11
008877,001329: 06,3132 06,3132 DAPT4S EQUALS GPMATRIX
008878,001330:
008879,001331: # T4RUPT DAP LOGIC:
008880,001332:
008881,001333: 06,3132 30034 GPMATRIX CAE CDUZ # SINGLE ENTRY POINT
008882,001334: 06,3133 05033 TC SPSIN # SIN(CDUZ) = SIN(MG)
008883,001335: 06,3134 55412 TS M11 # SCALED AT 1
008884,001336:
008885,001337: 06,3135 30034 CAE CDUZ
008886,001338: 06,3136 05032 TC SPCOS # COS(CDUZ) = COS(MG)
008887,001339: 06,3137 54061 TS COSMG # SCALED AT 1 (ONLY A FACTOR)
008888,001340:
008889,001341: 06,3140 30032 CAE CDUX
008890,001342: 06,3141 05033 TC SPSIN # SIN(CDUX) = SIN(OG)
008891,001343: 06,3142 55415 TS M22 # SCALED AT 1 (ALSO IS MR22)
008892,001344:
008893,001345: 06,3143 41415 CS M22
008894,001346:
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008896,001348: 06,3144 00006 EXTEND
008897,001349: 06,3145 70061 MP COSMG # -SIN(OG)COS(MG)
008898,001350: 06,3146 55414 TS M31 # SCALED AT 1
008899,001351:
008900,001352: 06,3147 30032 CAE CDUX
008901,001353: 06,3150 05032 TC SPCOS # COS(CDUX) = COS(OG)
008902,001354: 06,3151 55416 TS M32 # SCALED AT 1 (ALSO IS MR23)
008903,001355:
008904,001356: 06,3152 00006 EXTEND
008905,001357: 06,3153 70061 MP COSMG # COS(OG)COS(MG)
008906,001358: 06,3154 55413 TS M21 # SCALED AT 1
008907,001359:
008908,001360: 06,3155 05270 TC RESUME
008909,001361:
008910,001362: 06,3156 06,3132 NORRGMON EQUALS DAPT4S
008911,001363: 06,3156 5270 ENDDAPT4 EQUALS RESUME
End of include-file T4RUPT_PROGRAM.agc. Parent file is MAIN.agc