Notations on the program listing read, in part:
GAP: ASSEMBLE REVISION 210 OF AGC PROGRAM LUMINARY BY NASA 2021112-161 17:11 MAR. 19,1971Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source-code files derive from a printout of Luminary 210 (Apollo 15-17
Lunar Module guidance computer program), from the personal library of
original AGC developer Don Eyles, digitally photographed at archive.org,
financially sponsored by Jim Lawton, and transcribed to source code by a
team of volunteers. This colorized, syntax-highlighted form was created
by assembling that transcribed source code. Note that the full page images
are available on the
Virtual AGC project page at archive.org, while reduced-size images
are presented at the VirtualAGC project website. Report or fix any
transcription errors at
the Virtual AGC project code repository. Notations on the program listing read, in part: GAP: ASSEMBLE REVISION 210 OF AGC PROGRAM LUMINARY BY NASA 2021112-161 17:11 MAR. 19,1971Note that the date is the date of the printout, not the date of the program revision. |
007137,000002: ## Copyright: Public domain.
007138,000003: ## Filename: T4RUPT_PROGRAM.agc
007139,000004: ## Purpose: A section of Luminary revision 210.
007140,000005: ## It is part of the source code for the Lunar Module's (LM)
007141,000006: ## Apollo Guidance Computer (AGC) for Apollo 15-17.
007142,000007: ## This file is intended to be a faithful transcription, except
007143,000008: ## that the code format has been changed to conform to the
007144,000009: ## requirements of the yaYUL assembler rather than the
007145,000010: ## original YUL assembler.
007146,000011: ## Reference: pp. 165-200
007147,000012: ## Assembler: yaYUL
007148,000013: ## Contact: Ron Burkey <info@sandroid.org>.
007149,000014: ## Website: www.ibiblio.org/apollo/index.html
007150,000015: ## Mod history: 2016-11-17 JL Created from Luminary131 version.
007151,000016: ## 2016-11-21 HG Transcribed
007152,000017: ## 2016-12-23 RSB Proofed comment text with octopus/ProoferComments
007153,000018: ## and fixed all errors found.
007154,000019: ## 2017-01-26 RSB Back-ported comment-text fixes found while
007155,000020: ## proofing corresponding Luminary 69 file.
007156,000021: ## 2017-02-08 RSB Comment-text fixes identified while proofing Artemis 72.
007157,000022: ## 2017-03-03 RSB Fixed comment-text errors identified while proofing
007158,000023: ## Luminary 116.
007159,000024: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
007160,000025: ## side-by-side diff of Luminary 69/99/116/131/210.
007161,000026:
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Page 165 |
007163,000028: 12,2000 BANK 12
007164,000029: 06,2000 SETLOC T4RUP
007165,000030: 06,2000 BANK
007166,000031:
007167,000032: 06,2000 E6,1414 EBANK= M11
007168,000033: 06,2000 COUNT* $$/T4RPT
007169,000034: 06,2000 54016 T4RUPT TS BANKRUPT
007170,000035:
007171,000036: 06,2001 00006 EXTEND
007172,000037: 06,2002 22012 QXCH QRUPT
007173,000038:
007174,000039: 06,2003 11310 CCS DSRUPTSW # GOES 7(-1)0 AROUND AND AROUND
007175,000040: 06,2004 12010 TCF NORMT4 +1
007176,000041: 06,2005 12007 TCF NORMT4
007177,000042:
007178,000043: 06,2006 12134 TCF QUIKDSP
007179,000044:
007180,000045: 06,2007 34750 NORMT4 CAF SEVEN
007181,000046: 06,2010 54070 TS RUPTREG1
007182,000047: 06,2011 55310 TS DSRUPTSW
007183,000048:
007184,000049: 4066 BLOCK 02
007185,000050: 4000 SETLOC FFTAG10
007186,000051: 4000 BANK
007187,000052:
007188,000053: 4066 COUNT* $$/T4RPT
007189,000054: 4066 7750 100MRUPT = OCT37766 # (DEC 16374)
007190,000055: # RELTAB IS A PACKED TABLE. RELAYWORD CODE IN UPPER 4 BITS, RELAY CODE
007191,000056: # IN LOWER 5 BITS.
007192,000057: 4066 04025 RELTAB OCT 04025
007193,000058: 4067 10003 OCT 10003
007194,000059: 4070 14031 OCT 14031
007195,000060: 4071 20033 OCT 20033
007196,000061: 4072 24017 OCT 24017
007197,000062: 4073 30036 OCT 30036
007198,000063: 4074 34034 OCT 34034
007199,000064: 4075 40023 OCT 40023
007200,000065: 4076 44035 OCT 44035
007201,000066: 4077 50037 OCT 50037
007202,000067: 4100 54000 OCT 54000
007203,000068: 4101 60000 RELTAB11 OCT 60000
007204,000069:
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Page 166 |
007206,000071: # SWITCHED-BANK PORTION.
007207,000072:
007208,000073: 12,2000 BANK 12
007209,000074: 06,2000 SETLOC T4RUP
007210,000075: 06,2000 BANK
007211,000076:
007212,000077: 06,2012 COUNT* $$/T4RPT
007213,000078: 06,2012 11035 CDRVE CCS DSPTAB +11D
007214,000079: 06,2013 02063 TC DSPOUT
007215,000080: 06,2014 02063 TC DSPOUT
007216,000081:
007217,000082: 06,2015 57035 XCH DSPTAB +11D
007218,000083: 06,2016 74347 MASK LOW11
007219,000084: 06,2017 55035 TS DSPTAB +11D
007220,000085: 06,2020 64101 AD RELTAB11
007221,000086: 06,2021 00006 EXTEND
007222,000087: 06,2022 01010 WRITE OUT0
007223,000088: 06,2023 02071 TC HANG20
007224,000089:
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Page 167 |
007226,000091: # DSPOUT PROGRAM. PUTS OUT DISPLAYS.
007227,000092:
007228,000093: 06,2024 55015 DSPOUTSB TS NOUT
007229,000094: 06,2025 44746 CS ZERO
007230,000095: 06,2026 54073 TS DSRUPTEM # SET TO -0 FOR 1ST PASS THRU DSPTAB
007231,000096: 06,2027 56775 XCH DSPCNT
007232,000097: 06,2030 64745 AD NEG0 # TO PREVENT +0
007233,000098: 06,2031 54775 TS DSPCNT
007234,000099: 06,2032 50775 DSPSCAN INDEX DSPCNT
007235,000100: 06,2033 11022 CCS DSPTAB
007236,000101: 06,2034 10775 CCS DSPCNT # IF DSPTAB ENTRY +, SKIP
007237,000102: 06,2035 12030 TCF DSPSCAN -2 # IF DSPCNT +, TRY AGAIN
007238,000103: 06,2036 12047 TCF DSPLAY # IF DSPTAB ENTRY -, DISPLAY
007239,000104: 06,2037 00012 TABLNTH OCT 12 # DEC 10 LENGTH OF DSPTAB
007240,000105: 06,2040 10073 CCS DSRUPTEM # IF DSRUPTEM=+0,2ND PASS THRU DSPTAB
007241,000106: 06,2041 37764 120MRUPT DEC 16372 B-14 # (DSPCNT = 0). +0 INTO NOUT.
007242,000107: 06,2042 55015 TS NOUT
007243,000108: 06,2043 00002 TC Q
007244,000109: 06,2044 54073 TS DSRUPTEM # IF DSRUPTEM=-0,1ST PASS THRU DSPTAB
007245,000110: 06,2045 32037 CAF TABLNTH # (DSPCNT=0). +0 INTO DSRUPTEM. PASS AGAIN
007246,000111: 06,2046 12031 TCF DSPSCAN -1
007247,000112:
007248,000113: 06,2047 64744 DSPLAY AD ONE
007249,000114: 06,2050 50775 INDEX DSPCNT
007250,000115: 06,2051 55022 TS DSPTAB # REPLACE POSITIVELY
007251,000116: 06,2052 74347 MASK LOW11 # REMOVE BITS 12 TO 15
007252,000117: 06,2053 54073 TS DSRUPTEM
007253,000118: 06,2054 34341 CAF HI5
007254,000119: 06,2055 50775 INDEX DSPCNT
007255,000120: 06,2056 74066 MASK RELTAB # PICK UP BITS 12 TO 15 OF RELTAB ENTRY
007256,000121: 06,2057 60073 AD DSRUPTEM
007257,000122: 06,2060 00006 EXTEND
007258,000123: 06,2061 01010 WRITE OUT0
007259,000124:
007260,000125: 06,2062 16760 TCF Q+1
007261,000126:
007262,000127: 06,2063 10101 DSPOUT CCS FLAGWRD5 # IS DSKY FLAG ON
007263,000128: 06,2064 34746 CAF ZERO # NO
007264,000129: 06,2065 12130 TCF NODSPOUT # NO
007265,000130: 06,2066 11015 CCS NOUT # YES
007266,000131: 06,2067 02024 TC DSPOUTSB
007267,000132: 06,2070 12130 TCF NODSPOUT # NO DISPLAY REQUESTS
007268,000133:
007269,000134: 06,2071 42171 HANG20 CS 14,11,9
007270,000135: 06,2072 27310 ADS DSRUPTSW
007271,000136:
007272,000137: 06,2073 37752 CAF 20MRUPT
007273,000138:
007274,000139: 06,2074 54027 SETTIME4 TS TIME4
007275,000140:
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Page 168 |
007277,000142: # THE STATUS OF THE PROCEED PUSHBUTTON IS MONITORED EVERY 120 MILLISECONDS VIA THE CHANNEL 32 BIT 14 INBIT.
007278,000143: # THE STATE OF THIS INBIT IS COMPARED WITH ITS STATE DURING THE PREVIOUS T4RUPT AND IS PROCESSED AS FOLLOWS.
007279,000144:
007280,000145: # IF PREV ON AND NOW ON - BYPASS
007281,000146: # IF PREV ON AND NOW OFF - UPDATE IMODES33
007282,000147: # IF PREV OFF AND NOW ON - UPDATE IMODES33 AND PROCESS VIA PINBALL
007283,000148: # IF PREV OFF AND NOW OFF - BYPASS
007284,000149:
007285,000150: # THE LOGIC EMPLOYED REQUIRES ONLY 9 MCT (APPROX. 108 MICROSECONDS) OF COMPUTER TIME WHEN NO CHANGES OCCUR.
007286,000151:
007287,000152:
007288,000153: 06,2075 31300 PROCEEDE CA IMODES33 # MONITIOR FOR PROCEED BUTTON
007289,000154: 06,2076 00006 EXTEND
007290,000155: 06,2077 06032 RXOR CHAN32
007291,000156: 06,2100 74727 MASK BIT14
007292,000157: 06,2101 00006 EXTEND
007293,000158: 06,2102 12116 BZF T4JUMP # NO CHANGE
007294,000159:
007295,000160: 06,2103 23300 LXCH IMODES33
007296,000161: 06,2104 00006 EXTEND
007297,000162: 06,2105 06001 RXOR LCHAN
007298,000163: 06,2106 55300 TS IMODES33 # UPDATE IMODES33
007299,000164: 06,2107 74727 MASK BIT14
007300,000165: 06,2110 10000 CCS A
007301,000166: 06,2111 12116 TCF T4JUMP # WAS ON - NOW OFF
007302,000167:
007303,000168: 06,2112 34346 CAF CHRPRIO # WAS OFF - NOW ON
007304,000169: 06,2113 05063 TC NOVAC
007305,000170: 06,2114 0776 EBANK= DSPCOUNT
007306,000171: 06,2114 03501 60101 2CADR PROCKEY
007307,000172:
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Page 169 |
007309,000174: # JUMP TO APPROPRIATE ONCE-PER SECOND (.96 SEC ACTUALLY) ACTIVITY
007310,000175:
007311,000176: 06,2116 50070 T4JUMP INDEX RUPTREG1
007312,000177: 06,2117 12120 TCF +1
007313,000178:
007314,000179: 06,2120 03213 TC RCSMONIT
007315,000180: 06,2121 13035 TCF RRAUTCHK
007316,000181: 06,2122 12172 TCF IMUMON
007317,000182: 06,2123 13167 TCF DAPT4S
007318,000183: 06,2124 03213 TC RCSMONIT
007319,000184: 06,2125 13035 TCF RRAUTCHK
007320,000185: 06,2126 12172 TCF IMUMON
007321,000186: 06,2127 13167 TCF DAPT4S
007322,000187:
007323,000188: 06,2130 7752 20MRUPT = OCT37776 # (DEC 16382)
007324,000189:
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007326,000191: # ADDITIONAL ROUTINES FOR 20MS. KEYBOARD ACTIVITY
007327,000192:
007328,000193: 06,2130 00006 NODSPOUT EXTEND
007329,000194: 06,2131 01010 WRITE OUT0
007330,000195:
007331,000196: 06,2132 32041 CAF 120MRUPT # SET FOR NEXT CDRIVE
007332,000197: 06,2133 12074 TCF SETTIME4
007333,000198:
007334,000199: 06,2134 34727 QUIKDSP CAF BIT14
007335,000200: 06,2135 71310 MASK DSRUPTSW
007336,000201: 06,2136 00006 EXTEND
007337,000202: 06,2137 12165 BZF QUIKOFF # WROTE LAST TIME, NOW TURN OFF RELAYS.
007338,000203:
007339,000204: 06,2140 11015 CCS NOUT
007340,000205: 06,2141 02024 TC DSPOUTSB
007341,000206: 06,2142 12152 TCF NODSPY # NOUT=0 OR BAD RETURN FROM DSPOUTSB
007342,000207: 06,2143 44727 CS BIT14 # GOOD RETURN (WE DISPLAYED SOMETHING)
007343,000208: 06,2144 27310 QUIKRUPT ADS DSRUPTSW
007344,000209:
007345,000210: 06,2145 37752 CAF 20MRUPT
007346,000211: 06,2146 54027 TS TIME4
007347,000212:
007348,000213: 06,2147 34734 CAF BIT9
007349,000214: 06,2150 27310 ADS DSRUPTSW
007350,000215:
007351,000216: 06,2151 05272 TC RESUME
007352,000217:
007353,000218: 06,2152 00006 NODSPY EXTEND
007354,000219: 06,2153 01010 WRITE OUT0
007355,000220:
007356,000221: 06,2154 37752 SYNCT4 CAF 20MRUPT
007357,000222: 06,2155 26027 ADS TIME4
007358,000223:
007359,000224: 06,2156 34734 CAF BIT9
007360,000225: 06,2157 27310 ADS DSRUPTSW
007361,000226:
007362,000227: 06,2160 11310 CCS DSRUPTSW
007363,000228: 06,2161 05272 TC RESUME
007364,000229: 06,2162 37737 OCT37737 OCT 37737
007365,000230: 06,2163 02154 TC SYNCT4
007366,000231: 06,2164 05272 TC RESUME
007367,000232:
007368,000233: 06,2165 00006 QUIKOFF EXTEND
007369,000234: 06,2166 01010 WRITE OUT0
007370,000235: 06,2167 34727 CAF BIT14 # RESET DSRUPTSW TO SEND DISPLAY NEXT PASS
007371,000236: 06,2170 12144 TCF QUIKRUPT
007372,000237:
007373,000238: 06,2171 22400 14,11,9 OCT 22400
007374,000239:
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Page 171 |
007376,000241: # PROGRAM NAME: IMUMON
007377,000242:
007378,000243: # FUNCTIONAL DESCRIPTION: THIS PROGRAM IS ENTERED EVERY 480 MS. IT DETECTS CHANGES OF THE IMU STATUS BITS IN
007379,000244: # CHANNEL 30 AND CALLS THE APPROPRIATE SUBROUTINES. THE BITS PROCESSED AND THEIR RELEVANT SUBROUTINES ARE:
007380,000245:
007381,000246: # FUNCTION BIT SUBROUTINE CALLED
007382,000247: # -------- --- -----------------
007383,000248: # TEMP IN LIMITS 15 TLIM
007384,000249: # ISS TURN-ON REQUEST 14 ITURNON
007385,000250: # IMU FAIL 13 IMUFAIL (SETISSW)
007386,000251: # IMU CDU FAIL 12 ICDUFAIL (SETISSW)
007387,000252: # IMU CAGE 11 IMUCAGE
007388,000253: # IMU OPERATE 9 IMUOP
007389,000254:
007390,000255: # THE LAST SAMPLED STATE OF THESE BITS IS LEFT IN IMODES30. ALSO, EACH SUBROUTINE CALLED FINDS THE NEW
007391,000256: # VALUE OF THE BIT IN A, WITH Q SET TO THE PROPER RETURN LOCATION, NXTIFAIL.
007392,000257:
007393,000258: # CALLING SEQUENCE: T4RUPT EVERY 480 MILLISECONDS.
007394,000259:
007395,000260: # JOBS OR TASKS INITIATED: NONE.
007396,000261:
007397,000262: # SUBROUTINES CALLED: TLIM, ITURNON, SETISSW, IMUCAGE, IMUOP.
007398,000263:
007399,000264: # ERASABLE INITIALIZATION:
007400,000265: # FRESH START OR RESTART WITH NO GROUPS ACTIVE: C(IMODES30) = OCT 37411.
007401,000266: # RESTART WITH ACTIVE GROUPS: C(IMODES30) = (B(IMODES30)AND(OCT 00035)) PLUS OCT 37400.
007402,000267: # THIS LEAVES IMU FAIL BITS INTACT.
007403,000268:
007404,000269: # ALARMS: NONE.
007405,000270:
007406,000271: # EXIT: TNONTEST.
007407,000272:
007408,000273: # OUTPUT: UPDATED IMODES30 WITH CHANGES PROCESSED BY APPROPRIATE SUBROUTINE.
007409,000274:
007410,000275: 06,2172 31277 IMUMON CA IMODES30 # SEE IF THERE HAS BEEN A CHANGE IN THE
007411,000276: 06,2173 00006 EXTEND # RELEVANT BITS OF CHAN 30.
007412,000277: 06,2174 06030 RXOR CHAN30
007413,000278: 06,2175 72761 MASK 30RDMSK
007414,000279: 06,2176 00006 EXTEND
007415,000280: 06,2177 12227 BZF TNONTEST # NO CHANGE IN STATUS.
007416,000281:
007417,000282: 06,2200 54070 TS RUPTREG1 # SAVE BITS WHICH HAVE CHANGED.
007418,000283: 06,2201 23277 LXCH IMODES30 # UPDATE IMODES30.
007419,000284: 06,2202 00006 EXTEND
007420,000285: 06,2203 06001 RXOR LCHAN
007421,000286: 06,2204 55277 TS IMODES30
007422,000287:
007423,000288: 06,2205 44744 CS ONE
007424,000289: 06,2206 56070 XCH RUPTREG1
007425,000290: 06,2207 00006 EXTEND
007426,000291:
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Page 172 |
007428,000293: 06,2210 62514 BZMF TLIM # CHANGE IN IMU TEMP.
007429,000294: 06,2211 12213 TCF NXTIFBIT # BEGIN BIT SCAN.
007430,000295:
007431,000296: 06,2212 64744 -1 AD ONE # (RE-ENTERS HERE FROM NXTIFAIL.)
007432,000297: 06,2213 24070 NXTIFBIT INCR RUPTREG1 # ADVANCE BIT POSITION NUMBER.
007433,000298: 06,2214 60000 +1 DOUBLE
007434,000299: 06,2215 54000 TS A # SKIP IF OVERFLOW.
007435,000300: 06,2216 12213 TCF NXTIFBIT # LOOK FOR BIT.
007436,000301:
007437,000302: 06,2217 56071 XCH RUPTREG2 # SAVE OVERFLOW-CORRECTED DATA.
007438,000303: 06,2220 50070 INDEX RUPTREG1 # SELECT NEW VALUE OF THIS BIT.
007439,000304: 06,2221 34727 CAF BIT14
007440,000305: 06,2222 71277 MASK IMODES30
007441,000306: 06,2223 50070 INDEX RUPTREG1
007442,000307: 06,2224 02755 TC IFAILJMP
007443,000308:
007444,000309: 06,2225 10071 NXTIFAIL CCS RUPTREG2 # PROCESS ANY ADDITIONAL CHANGES.
007445,000310: 06,2226 12212 TCF NXTIFBIT -1
007446,000311:
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Page 173 |
007448,000313: # PROGRAM NAME: TNONTEST.
007449,000314:
007450,000315: # FUNCTIONAL DESCRIPTION: THIS PROGRAM HONORS REQUESTS FOR ISS INITIALIZATION. ISS TURN-ON (CHANNEL 30 BIT 14)
007451,000316: # AND ISS OPERATE (CHANNEL 30 BIT 9) REQUESTS ARE TREATED AS A PAIR AND PROCESSING TAKES PLACE .480 SECONDS
007452,000317: # AFTER EITHER ONE APPEARS. THIS INITIALIZATION TAKES ON ONE OF THE FOLLOWING THREE FORMS:
007453,000318:
007454,000319: # 1) ISS TURN-ON: IN THIS SITUATION THE COMPUTER IS OPERATING WHEN THE ISS IS TURNED ON. NOMINALLY,
007455,000320: # BOTH ISS TURN-ON AND ISS OPERATE APPEAR. THE PLATFORM IS CAGED FOR 90 SECONDS AND THE ICDU'S ZEROED
007456,000321: # SO THAT AT THE END OF THE PROCESS THE GIMBAL LOCK MONITOR WILL FUNCTION PROPERLY.
007457,000322:
007458,000323: # 2) ICDU INITIALIZATION: IN THIS CASE THE COMPUTER WAS PROBABLY TURNED ON WITH THE ISS IN OPERATE OR
007459,000324: # A FRESH START WAS DONE WITH THE ISS IN OPERATE. IN THIS CASE ONLY ISS OPERATE IS ON. THE ICDU'S ARE
007460,000325: # ZEROED SO THE GIMBAL LOCK MONITOR WILL FUNCTION. AN EXCEPTION IS IF THE ISS IS IN GIMBAL LOCK AFTER
007461,000326: # A RESTART, THE ICDU'S WILL NOT BE ZEROED.
007462,000327:
007463,000328: # 3) RESTART WITH RESTARTABLE PROGRAM USING THE IMU: IN THIS CASE, NO INITIALIZATION TAKES PLACE SINCE
007464,000329: # IT IS ASSUMED THAT THE USING PROGRAM DID THE INITIALIZATION AND THEREFORE T4RUPT SHOULD NOT INTERFERE.
007465,000330:
007466,000331: # IMODES30 BIT 7 IS SET = 1 BY THE FIRST BIT (CHANNEL 30 BIT 14 OR 9) WHICH ARRIVES. FOLLOWING THIS. TNONTEST IS
007467,000332: # 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
007468,000333: # PROCEEDS, SETTING BITS 8 AND 7 = 0. AT PROCTNON, IF ISS TURN-ON REQUEST IS PRESENT, THE ISS IS CAGED (ZERO +
007469,000334: # COARSE). IF ISS OPERATE IS NOT PRESENT PROGRAM ALARM 00213 IS ISSUED. AT THE END OF A 90 SECOND CAGE, BIT 2
007470,000335: # OF IMODES30 IS TESTED. IF IT IS = 1, ISS TURN-ON WAS NOT PRESENT FOR THE ENTIRE 90 SECONDS. IN THAT CASE, IF
007471,000336: # THE ISS TURN-ON REQUEST IS PRESENT THE 90 SECOND WAIT IS REPEATED, OTHERWISE NO ACTION OCCURS UNLESS A PROGRAM
007472,000337: # WAS WAITING FOR THE INITIALIZATION IN WHICH CASE THE PROGRAM IS GIVEN AN IMUSTALL ERROR RETURN. IF THE DELAY
007473,000338: # WENT PROPERLY, THE ISS DELAY OUTBIT IS SENT AND THE ICDU'S ZEROED. A TASK IS INITIATED TO REMOVE THE PIPA FAIL
007474,000339: # INHIBIT BIT IN 10.24 SECONDS. IF A MISSION PROGRAM WAS WAITING IT IS INFORMED VIA ENDIMU.
007475,000340:
007476,000341: # AT PROCTNON, IF ONLY ISS OPERATE IS PRESENT (OPONLY), THE CDU'S ARE ZEROED UNLESS THE PLATFORM IS IN COARSE
007477,000342: # ALIGN (= GIMBAL LOCK HERE) OR A MISSION PROGRAM IS USING THE IMU (IMUSEFLG = 1).
007478,000343:
007479,000344: # CALLING SEQUENCE: T4RUPT EVERY 480 MILLISECONDS AFTER IMUMON.
007480,000345:
007481,000346: # JOBS OR TASKS INITIATED: 1) ENDTNON, 90 SECONDS AFTER CAGING STARTED. 2) ISSUP, 4 SECONDS AFTER CAGING DONE.
007482,000347: # 3) PFAILOK, 10.24 SECONDS AFTER INITIALIZATION COMPLETED. 4) UNZ2, 320 MILLISECONDS AFTER ZEROING
007483,000348: # STARTED.
007484,000349:
007485,000350: # SUBROUTINES CALLED: CAGESUB, CAGESUB2, ZEROICDU, ENDIMU, IMUBAD, NOATTOFF, SETISSW, VARDELAY.
007486,000351:
007487,000352: # ERASABLE INITIALIZATION: SEE IMUMON.
007488,000353:
007489,000354: # ALARMS: PROGRAM ALARM 00213 IF ISS TURN-ON REQUESTED WITHOUT ISS OPERATE.
007490,000355:
007491,000356: # EXIT: ENDTNON EXITS TO C33TEST. TASKS HAVING TO DO WITH INITIALIZATION EXIT AS FOLLOWS: MISSION PROGRAM
007492,000357: # WAITING AND INITIALIZATION COMPLETE, EXIT TO ENDIMU, MISSION PROGRAM WAITING AND INITIALIZATION FAILED, EXIT TO
007493,000358: # IMUBAD, IMU NOT IN USE, EXIT TO TASKOVER.
007494,000359:
007495,000360: # OUTPUT: ISS INITIALIZED.
007496,000361:
007497,000362: 06,2227 41277 TNONTEST CS IMODES30 # AFTER PROCESSING ALL CHANGES, SEE IF IT
007498,000363:
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Page 174 |
007500,000365: 06,2230 74736 MASK BIT7 # IS TIME TO ACT ON A TURN-ON SEQUENCE.
007501,000366: 06,2231 10000 CCS A
007502,000367: 06,2232 12374 TCF C33TEST # NO - EXAMINE CHANNEL 33.
007503,000368:
007504,000369: 06,2233 34735 CAF BIT8 # SEE IF FIRST SAMPLE OR SECOND.
007505,000370: 06,2234 71277 MASK IMODES30
007506,000371: 06,2235 10000 CCS A
007507,000372: 06,2236 12242 TCF PROCTNON # REACT AFTER SECOND SAMPLE.
007508,000373:
007509,000374: 06,2237 34735 CAF BIT8 # IF FIRST SAMPLE, SET BIT TO REACT NEXT
007510,000375: 06,2240 27277 ADS IMODES30 # TIME.
007511,000376: 06,2241 12374 TCF C33TEST
007512,000377:
007513,000378: # PROCESS IMU TURN-ON REQUESTS AFTER WAITING 1 SAMPLE FOR ALL SIGNALS TO ARRIVE.
007514,000379:
007515,000380: 06,2242 42777 PROCTNON CS BITS7&8
007516,000381: 06,2243 71277 MASK IMODES30
007517,000382: 06,2244 55277 TS IMODES30
007518,000383: 06,2245 74727 MASK BIT14 # SEE IF TURN-ON REQUEST.
007519,000384: 06,2246 10000 CCS A
007520,000385: 06,2247 12347 TCF OPONLY # OPERATE ON ONLY.
007521,000386:
007522,000387: 06,2250 41277 CS IMODES30 # IF TURN-ON REQUEST, WE SHOULD HAVE IMU
007523,000388: 06,2251 74734 MASK BIT9 # OPERATE.
007524,000389: 06,2252 10000 CCS A
007525,000390: 06,2253 12256 TCF +3
007526,000391:
007527,000392: 06,2254 05571 TC ALARM # ALARM IF NOT.
007528,000393: 06,2255 00213 OCT 213
007529,000394:
007530,000395: 06,2256 02735 +3 TC CAGESUB
007531,000396: 06,2257 33005 CAF 90SECS
007532,000397: 06,2260 05205 TC WAITLIST
007533,000398: 06,2261 E6,1414 EBANK= M11
007534,000399: 06,2261 02266 14106 2CADR ENDTNON
007535,000400:
007536,000401: 06,2263 12374 TCF C33TEST
007537,000402:
007538,000403: 06,2264 33005 RETNON CAF 90SECS
007539,000404: 06,2265 05226 TC VARDELAY
007540,000405:
007541,000406: 06,2266 44743 ENDTNON CS BIT2 # RESET TURN-ON REQUEST FAIL BIT.
007542,000407: 06,2267 71277 MASK IMODES30
007543,000408: 06,2270 57277 XCH IMODES30
007544,000409: 06,2271 74743 MASK BIT2 # IF IT WAS OFF, SEND ISS DELAY COMPLETE.
007545,000410: 06,2272 00006 EXTEND
007546,000411: 06,2273 12306 BZF ENDTNON2
007547,000412:
007548,000413: 06,2274 34727 CAF BIT14 # IF IT WAS ON AND TURN-ON REQUEST NOW
007549,000414:
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007551,000416: 06,2275 71277 MASK IMODES30 # PRESENT, RE-ENTER 90 SEC DELAY IN WL.
007552,000417: 06,2276 00006 EXTEND
007553,000418: 06,2277 12264 BZF RETNON
007554,000419:
007555,000420: 06,2300 40074 CS FLAGWRD0 # IF IT IS NOT ON NOW, SEE IF A PROG WAS
007556,000421: 06,2301 74735 MASK IMUSEBIT # WAITING.
007557,000422: 06,2302 10000 CCS A
007558,000423: 06,2303 15263 TCF TASKOVER
007559,000424: 06,2304 04626 TC POSTJUMP
007560,000425: 06,2305 17656 CADR IMUBAD # UNSUCCESSFUL TURN-ON.
007561,000426:
007562,000427: 06,2306 34726 ENDTNON2 CAF BIT15 # SEND ISS DELAY COMPLETE.
007563,000428: 06,2307 00006 EXTEND
007564,000429: 06,2310 05012 WOR CHAN12
007565,000430:
007566,000431: 06,2311 04665 TC IBNKCALL # TURN OFF NO ATT LAMP.
007567,000432: 06,2312 17253 CADR NOATTOFF
007568,000433:
007569,000434: 06,2313 05461 UNZ2 TC ZEROICDU
007570,000435:
007571,000436: 06,2314 44754 CS BITS4&5 # REMOVE ZERO AND COARSE.
007572,000437: 06,2315 00006 EXTEND
007573,000438: 06,2316 03012 WAND CHAN12
007574,000439:
007575,000440: 06,2317 34732 CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS
007576,000441: 06,2320 05226 TC VARDELAY
007577,000442:
007578,000443: 06,2321 42774 ISSUP CS OCT54 # REMOVE CAGING, IMU FAIL INHIBIT, AND
007579,000444: 06,2322 71277 MASK IMODES30 # ICDUFAIL INHIBIT FLAGS.
007580,000445: 06,2323 55277 TS IMODES30
007581,000446:
007582,000447: 06,2324 44737 CS BIT6 # ENABLE DAP
007583,000448: 06,2325 71300 MASK IMODES33
007584,000449: 06,2326 55300 TS IMODES33
007585,000450:
007586,000451: 06,2327 40076 CS FLAGWRD2 # TEST DRIFTFLG: IF ON, DO NOTHING BECAUSE
007587,000452: 06,2330 74726 MASK DRFTBIT # IMUCOMP SHOULD BE ALL SET UP(RESTART
007588,000453: 06,2331 00006 EXTEND # WITH IMUSE DOWN). IF OFF, SET DRIFTFLG
007589,000454: 06,2332 12336 BZF +4 # AND 1/PIPADT TO GET FREEFALL IMUCOMP
007590,000455: 06,2333 26076 ADS FLAGWRD2 # GOING (FRESH START OR ISS TURN-ON).
007591,000456: 06,2334 30025 CA TIME1
007592,000457: 06,2335 57074 XCH 1/PIPADT # CANNOT GET HERE IF RESTART WITH IMUSE UP
007593,000458:
007594,000459: 06,2336 02703 TC SETISSW # ISS WARNING MIGHT HAVE BEEN INHIBITED.
007595,000460:
007596,000461: 06,2337 44726 CS BIT15 # REMOVE IMU DELAY COMPLETE DISCRETE.
007597,000462: 06,2340 00006 EXTEND
007598,000463: 06,2341 03012 WAND CHAN12
007599,000464:
007600,000465: 06,2342 34774 CAF 4SECS # DONT ENABLE PROG ALARM ON PIP FAIL FOR
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007602,000467: 06,2343 05205 TC WAITLIST # ANOTHER 4 SECS.
007603,000468: 06,2344 E3,1474 EBANK= CDUIND
007604,000469: 06,2344 03241 16103 2CADR PFAILOK
007605,000470:
007606,000471: 06,2346 15263 TCF TASKOVER
007607,000472:
007608,000473: 06,2347 34741 OPONLY CAF BIT4 # IF OPERATE ON ONLY, AND WE ARE IN COARSE
007609,000474: 06,2350 00006 EXTEND # ALIGN, DONT ZERO THE CDUS BECAUSE WE
007610,000475: 06,2351 02012 RAND CHAN12 # MIGHT BE IN GIMBAL LOCK
007611,000476: 06,2352 10000 CCS A
007612,000477: 06,2353 12374 TCF C33TEST
007613,000478:
007614,000479: 06,2354 34735 CAF IMUSEBIT # OTHERWISE, ZERO THE COUNTERS.
007615,000480: 06,2355 70074 MASK FLAGWRD0 # UNLESS SOMEONE IS USING THE IMU.
007616,000481: 06,2356 10000 CCS A
007617,000482: 06,2357 12374 TCF C33TEST
007618,000483:
007619,000484: 06,2360 02746 TC CAGESUB2 # SET TURNON FLAGS.
007620,000485:
007621,000486: 06,2361 04665 ISSZERO TC IBNKCALL # TURN OFF NO ATT LAMP
007622,000487: 06,2362 17253 CADR NOATTOFF # IMU CAGE OFF ENTRY
007623,000488:
007624,000489: 06,2363 34740 CAF BIT5 # ISS CDU ZERO
007625,000490: 06,2364 00006 EXTEND
007626,000491: 06,2365 05012 WOR CHAN12
007627,000492:
007628,000493: 06,2366 05461 TC ZEROICDU
007629,000494: 06,2367 34737 CAF BIT6 # WAIT 300 MS FOR AGS TO RECEIVE SIGNAL.
007630,000495: 06,2370 05205 TC WAITLIST
007631,000496: 06,2371 E6,1414 EBANK= M11
007632,000497: 06,2371 02313 14106 2CADR UNZ2
007633,000498:
007634,000499: 06,2373 12374 TCF C33TEST
007635,000500:
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007637,000502: # PROGRAM NAME: C33TEST
007638,000503:
007639,000504: # FUNCTIONAL DESCRIPTION: THIS PROGRAM MONITORS THREE FLIP-FLOP INBITS OF CHANNEL 33 AND CALLS THE APPROPRIATE
007640,000505: # SUBROUTINE TO PROCESS A CHANGE. IT IS ANALOGOUS TO IMUMON, WHICH MONITORS CHANNEL 30, EXCEPT THAT IT READS
007641,000506: # CHANNEL 33 WITH A WAND INSTRUCTION BECAUSE A 'WRITE' PULSE IS REQUIRED TO RESET THE FLIP-FLOPS. THE BITS
007642,000507: # PROCESSED AND THE SUBROUTINES CALLED ARE:
007643,000508:
007644,000509: # BIT FUNCTION SUBROUTINE
007645,000510: # --- -------- ----------
007646,000511: # 13 PIPA FAIL PIPFAIL
007647,000512: # 12 DOWNLINK TOO FAST DNTMFAST
007648,000513: # 11 UPLINK TOO FAST UPTMFAST
007649,000514:
007650,000515: # UPON ENTRY TO THE SUBROUTINE, THE NEW BIT STATE IS IN A.
007651,000516:
007652,000517: # CALLING SEQUENCE: EVERY 480 MILLISECONDS AFTER TNONTEST.
007653,000518:
007654,000519: # JOBS OR TASKS INITIATED: NONE.
007655,000520:
007656,000521: # SUBROUTINES CALLED: PIPFAIL, DNTMFAST AND UPTMFAST ON BIT CHANGES.
007657,000522:
007658,000523: # ERASABLE INITIALIZATION: C(IMODES33) = OCT 16000 ON A FRESH START OR RESTART, THEREFORE, THESE ALARMS WILL
007659,000524: # REAPPEAR IF THE CONDITIONS PERSIST.
007660,000525:
007661,000526: # ALARMS: NONE.
007662,000527:
007663,000528: # EXIT: GLOCKMON.
007664,000529:
007665,000530: # OUTPUT: UPDATED BITS 13, 12 AND 11 OF IMODES33 WITH CHANGES PROCESSED.
007666,000531:
007667,000532: 06,2374 31300 C33TEST CA IMODES33 # SEE IF RELEVANT CHAN33 BITS HAVE
007668,000533: 06,2375 75017 MASK 33RDMSK
007669,000534: 06,2376 54001 TS L # CHANGED.
007670,000535: 06,2377 35017 CAF 33RDMSK
007671,000536: 06,2400 00006 EXTEND
007672,000537: 06,2401 03033 WAND CHAN33 # RESETS FLIP-FLOP INPUTS
007673,000538: 06,2402 00006 EXTEND
007674,000539: 06,2403 06001 RXOR LCHAN
007675,000540: 06,2404 00006 EXTEND
007676,000541: 06,2405 12434 BZF GLOCKMON # ON NO CHANGE.
007677,000542:
007678,000543: 06,2406 54070 TS RUPTREG1 # SAVE BITS WHICH HAVE CHANGED.
007679,000544: 06,2407 23300 LXCH IMODES33
007680,000545: 06,2410 00006 EXTEND
007681,000546: 06,2411 06001 RXOR LCHAN
007682,000547: 06,2412 55300 TS IMODES33 # UPDATED IMODES33.
007683,000548:
007684,000549: 06,2413 34746 CAF ZERO
007685,000550: 06,2414 56070 XCH RUPTREG1
007686,000551: 06,2415 60000 DOUBLE
007687,000552:
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007689,000554: 06,2416 12421 TCF NXTIBT +1 # SCAN FOR BIT CHANGES.
007690,000555:
007691,000556: 06,2417 64744 -1 AD ONE
007692,000557: 06,2420 24070 NXTIBT INCR RUPTREG1
007693,000558: 06,2421 60000 +1 DOUBLE
007694,000559: 06,2422 54000 TS A # (CODING IDENTICAL TO CHAN 30).
007695,000560: 06,2423 12420 TCF NXTIBT
007696,000561:
007697,000562: 06,2424 56071 XCH RUPTREG2
007698,000563: 06,2425 50070 INDEX RUPTREG1 # GET NEW VALUE OF BIT WHICH CHANGED.
007699,000564: 06,2426 34730 CAF BIT13
007700,000565: 06,2427 71300 MASK IMODES33
007701,000566: 06,2430 50070 INDEX RUPTREG1
007702,000567: 06,2431 02763 TC C33JMP
007703,000568: 06,2432 10071 NXTFL33 CCS RUPTREG2 # PROCESS POSSIBLE ADDITIONAL CHANGES.
007704,000569: 06,2433 12417 TCF NXTIBT -1
007705,000570:
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007707,000572: # PROGRAM NAME: GLOCKMON
007708,000573:
007709,000574: # FUNCTIONAL DESCRIPTION: THIS PROGRAM MONITORS THE CDUZ COUNTER TO DETERMINE WHETHER THE ISS IS IN GIMBAL LOCK
007710,000575: # AND TAKES ACTION IF IT IS. THREE REGIONS OF MIDDLE GIMBAL ANGLE (MGA) ARE USED:
007711,000576:
007712,000577: # 1) ABS(MGA) LESS THAN OR EQUAL TO 70 DEGREES - NORMAL MODE.
007713,000578: # 2) ABS(MGA) GREATER THAN 70 DEGREES AND LESS THAN OR EQUAL TO 85 DEGREES - GIMBAL LOCK LAMP TURNED ON.
007714,000579: # 3) ABS(MGA) GREATER THAN 85 DEGREES - ISS PUT IN COARSE ALIGN AND NO ATT LAMP TURNED ON.
007715,000580:
007716,000581: # CALLING SEQUENCE: EVERY 480 MILLISECONDS AFTER C33TEST.
007717,000582:
007718,000583: # JOBS OR TASKS INITIATED: NONE.
007719,000584:
007720,000585: # SUBROUTINES CALLED: 1) SETCOARS WHEN ABS(MGA) GREATER THAN 85 DEGREES AND ISS NOT IN COARSE ALIGN.
007721,000586: # 2) LAMPTEST BEFORE TURNING OFF GIMBAL LOCK LAMP.
007722,000587:
007723,000588: # ERASABLE INITIALIZATION:
007724,000589: # 1) FRESH START OR RESTART WITH NO GROUPS ACTIVE: C(CDUZ) = 0, IMODES30 BIT 6 = 0, IMODES33 BIT 1 = 0.
007725,000590: # 2) RESTART WITH GROUPS ACTIVE: SAME AS FRESH START EXCEPT C(CDUZ) NOT CHANGED SO GIMBAL MONITOR
007726,000591: # PROCEEDS AS BEFORE.
007727,000592:
007728,000593: # ALARMS: 1) MGA REGION (2) CAUSES GIMBAL LOCK LAMP TO BE LIT.
007729,000594: # 2) MGA REGION (3) CAUSES THE ISS TO BE PUT IN COARSE ALIGN AND THE NO ATT LAMP TO BE LIT IF EITHER NOT
007730,000595: # SO ALREADY.
007731,000596:
007732,000597: 06,2434 10034 GLOCKMON CCS CDUZ
007733,000598: 06,2435 12441 TCF GLOCKCHK # SEE IF MAGNITUDE OF MGA IS GREATER THAN
007734,000599: 06,2436 12465 TCF SETGLOCK # 70 DEGREES.
007735,000600: 06,2437 12441 TCF GLOCKCHK
007736,000601: 06,2440 12465 TCF SETGLOCK
007737,000602:
007738,000603: 06,2441 62512 GLOCKCHK AD -70DEGS
007739,000604: 06,2442 00006 EXTEND
007740,000605: 06,2443 62464 BZMF SETGLOCK -1 # NO LOCK.
007741,000606:
007742,000607: 06,2444 62513 AD -15DEGS # SEE IF ABS(MGA) GREATER THAN 85 DEGREES.
007743,000608: 06,2445 00006 EXTEND
007744,000609: 06,2446 62462 BZMF NOGIMRUN
007745,000610:
007746,000611: 06,2447 34741 CAF BIT4 # IF SO, SYSTEM SHOULD BE IN COARSE ALIGN
007747,000612: 06,2450 00006 EXTEND # TO PREVENT GIMBAL RUNAWAY.
007748,000613: 06,2451 02012 RAND CHAN12
007749,000614: 06,2452 10000 CCS A
007750,000615: 06,2453 12462 TCF NOGIMRUN
007751,000616:
007752,000617: 06,2454 04665 TC IBNKCALL
007753,000618: 06,2455 17131 CADR SETCOARS
007754,000619:
007755,000620: 06,2456 36263 CAF SIX # ENABLE ISS ERROR COUNTERS IN 60 MS
007756,000621: 06,2457 05205 TC WAITLIST
007757,000622:
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007759,000624: 06,2460 E3,1474 EBANK= CDUIND
007760,000625: 06,2460 03125 16103 2CADR CA+ECE
007761,000626:
007762,000627: 06,2462 34737 NOGIMRUN CAF BIT6 # TURN ON GIMBAL LOCK LAMP.
007763,000628: 06,2463 12465 TCF SETGLOCK
007764,000629:
007765,000630: 06,2464 34746 -1 CAF ZERO
007766,000631: 06,2465 61035 SETGLOCK AD DSPTAB +11D # SEE IF PRESENT STATE OF GIMBAL LOCK LAMP
007767,000632: 06,2466 74737 MASK BIT6 # AGREES WITH DESIRED STATE BY HALF ADDING
007768,000633: 06,2467 00006 EXTEND # THE TWO.
007769,000634: 06,2470 13006 BZF GLOCKOK # OK AS IS.
007770,000635:
007771,000636: 06,2471 71035 MASK DSPTAB +11D # IF OFF, DONT TURN ON IF IMU BEING CAGED.
007772,000637: 06,2472 10000 CCS A
007773,000638: 06,2473 12507 TCF GLAMPTST # TURN OFF UNLESS LAMP TEST IN PROGRESS.
007774,000639:
007775,000640: 06,2474 34737 CAF BIT6
007776,000641: 06,2475 71277 MASK IMODES30
007777,000642: 06,2476 10000 CCS A
007778,000643: 06,2477 13006 TCF GLOCKOK
007779,000644:
007780,000645: 06,2500 41035 GLINVERT CS DSPTAB +11D # INVERT GIMBAL LOCK LAMP.
007781,000646: 06,2501 74737 MASK BIT6
007782,000647: 06,2502 64726 AD BIT15 # TO INDICATE CHANGE IN DSPTAB +11D.
007783,000648: 06,2503 57035 XCH DSPTAB +11D
007784,000649: 06,2504 72162 MASK OCT37737
007785,000650: 06,2505 27035 ADS DSPTAB +11D
007786,000651: 06,2506 13006 TCF GLOCKOK
007787,000652:
007788,000653: 06,2507 02766 GLAMPTST TC LAMPTEST # TURN OFF UNLESS LAMP TEST IN PROGRESS.
007789,000654: 06,2510 13006 TCF GLOCKOK
007790,000655: 06,2511 12500 TCF GLINVERT
007791,000656:
007792,000657: 06,2512 63434 -70DEGS DEC -.38888 # -70 DEGREES SCALED IN HALF-REVOLUTIONS.
007793,000658: 06,2513 75252 -15DEGS DEC -.08333
007794,000659:
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007796,000661: # PROGRAM NAME: TLIM.
007797,000662:
007798,000663: # FUNCTIONAL DESCRIPTION: THIS PROGRAM MAINTAINS THE TEMP LAMP (BIT 4 OF CHANNEL 11) ON THE DSKY TO AGREE WITH
007799,000664: # THE TEMP SIGNAL FROM THE ISS (BIT 15 OF CHANNEL 30). HOWEVER, THE LIGHT WILL NOT BE TURNED OFF IF A LAMP TEST
007800,000665: # IS IN PROGRESS.
007801,000666:
007802,000667: # CALLING SEQUENCE: CALLED BY IMUMON ON A CHANGE OF BIT 15 OF CHANNEL 30.
007803,000668:
007804,000669: # JOBS OR TASKS INITIATED: NONE.
007805,000670:
007806,000671: # SUBROUTINES CALLED: LAMPTEST.
007807,000672:
007808,000673: # ERASABLE INITIALIZATION: FRESH START AND RESTART TURN THE TEMP LAMP OFF.
007809,000674:
007810,000675: # ALARMS: TEMP LAMP TURNED ON WHEN IMU TEMP GOES OUT OF LIMITS.
007811,000676:
007812,000677: # EXIT: NXTIFAIL.
007813,000678:
007814,000679: # OUTPUT: SERVICE OF TEMP LAMP. IN A, EXCEPT FOR TLIM.
007815,000680:
007816,000681: 06,2514 74724 TLIM MASK POSMAX # REMOVE BIT FROM WORD OF CHANGES AND SET
007817,000682: 06,2515 54071 TS RUPTREG2 # DSKY TEMP LAMP ACCORDINGLY.
007818,000683:
007819,000684: 06,2516 11277 CCS IMODES30
007820,000685: 06,2517 12525 TCF TEMPOK
007821,000686: 06,2520 12525 TCF TEMPOK
007822,000687:
007823,000688: 06,2521 34741 CAF BIT4 # TURN ON LAMP.
007824,000689: 06,2522 00006 EXTEND
007825,000690: 06,2523 05011 WOR DSALMOUT
007826,000691: 06,2524 12225 TCF NXTIFAIL
007827,000692:
007828,000693: 06,2525 02766 TEMPOK TC LAMPTEST # IF TEMP NOW OK, DONT TURN OFF LAMP IF
007829,000694: 06,2526 12225 TCF NXTIFAIL # LAMP TEST IN PROGRESS.
007830,000695:
007831,000696: 06,2527 44741 CS BIT4
007832,000697: 06,2530 00006 EXTEND
007833,000698: 06,2531 03011 WAND DSALMOUT # TURN OFF LAMP
007834,000699: 06,2532 12225 TCF NXTIFAIL
007835,000700:
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007837,000702: # PROGRAM NAME: ITURNON.
007838,000703:
007839,000704: # FUNCTIONAL DESCRIPTION: THIS PROGRAM IS CALLED BY IMUMON WHEN A CHANGE OF BIT 14 OF CHANNEL 30 (ISS TURN-ON
007840,000705: # REQUEST) IS DETECTED. UPON ENTRY, ITURNON CHECKS IF A TURN-ON DELAY SEQUENCE HAS FAILED, AND IF SO, IT EXITS.
007841,000706: # 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
007842,000707: # THAT TNONTEST WILL INITIATE THE ISS INITIALIZATION SEQUENCE. IF OFF, THE TURN-ON DELAY SIGNAL, CHANNEL 12 BIT
007843,000708: # 15, IS CHECKED AND IF IT IS ON, ITURNON EXITS. IF THE DELAY SIGNAL IS OFF, PROGRAM ALARM 00207 IS ISSUED, BIT 2
007844,000709: # OF IMODES30 IS SET TO 1 AND THE PROGRAM EXITS.
007845,000710: # THE SETTING OF BIT 2 OF IMODES30 (ISS DELAY SEQUENCE FAIL) INHIBITS THIS ROUTINE AND IMUOP FROM
007846,000711: # PROCESSING ANY CHANGES. THIS BIT WILL BE RESET BY THE ENDTNON ROUTINE WHEN THE CURRENT 90 SECOND DELAY PERIOD
007847,000712: # ENDS.
007848,000713:
007849,000714: # CALLING SEQUENCE: FROM IMUMOM WHEN ISS TURN-ON REQUEST CHANGES STATE.
007850,000715:
007851,000716: # JOBS OR TASKS INITIATED: NONE.
007852,000717:
007853,000718: # SUBROUTINES CALLED: ALARM, IF THE ISS TURN-ON REQUEST IS NOT PRESENT FOR 90 SECONDS.
007854,000719:
007855,000720: # ERASABLE INITIALIZATION: FRESH START AND RESTART SET BIT 15 OF CHANNEL 12 AND BITS 2 AND 7 OF IMODES30 TO 0,
007856,000721: # AND BIT 14 OF IMODES30 TO 1.
007857,000722:
007858,000723: # ALARMS: PROGRAM ALARM 00207 IS ISSUED IF THE ISS TURN-ON REQUEST SIGNAL IS NOT PRESENT FOR 90 SECONDS.
007859,000724:
007860,000725: # EXIT: NXTIFAIL.
007861,000726:
007862,000727: # OUTPUT: BIT 7 OF IMODES30 TO START ISS INITIALIZATION, OR BIT 2 OF IMODES30 AND PROGRAM ALARM 00207 TO INDICATE
007863,000728: # A FAILED TURN-ON SEQUENCE.
007864,000729:
007865,000730: 06,2533 34743 ITURNON CAF BIT2 # IF DELAY REQUEST HAS GONE OFF
007866,000731: 06,2534 71277 MASK IMODES30 # PREMATURELY, DO NOT PROCESS ANY CHANGES
007867,000732: 06,2535 10000 CCS A # UNTIL THE CURRENT 90 SEC WAIT EXPIRES.
007868,000733: 06,2536 12225 TCF NXTIFAIL
007869,000734:
007870,000735: 06,2537 34727 CAF BIT14 # SEE IF JUST ON OR OFF.
007871,000736: 06,2540 71277 MASK IMODES30
007872,000737: 06,2541 00006 EXTEND
007873,000738: 06,2542 12556 BZF ITURNON2 # IF JUST ON.
007874,000739:
007875,000740: 06,2543 34726 CAF BIT15
007876,000741: 06,2544 00006 EXTEND # SEE IF DELAY PRESENT DISCRETE HAS BEEN
007877,000742: 06,2545 02012 RAND CHAN12 # SENT. IF SO, ACTION COMPLETE
007878,000743: 06,2546 00006 EXTEND
007879,000744: 06,2547 12551 BZF +2
007880,000745: 06,2550 12225 TCF NXTIFAIL
007881,000746:
007882,000747: 06,2551 34743 CAF BIT2 # IF NOT, SET BIT TO INDICATE REQUEST NOT
007883,000748: 06,2552 27277 ADS IMODES30 # PRESENT FOR FULL DURATION.
007884,000749: 06,2553 05571 TC ALARM
007885,000750: 06,2554 00207 OCT 207
007886,000751: 06,2555 12225 TCF NXTIFAIL
007887,000752:
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007889,000754: 06,2556 41277 ITURNON2 CS IMODES30 # SET BIT7 TO INDICATE WAIT OF 1 SAMPLE
007890,000755: 06,2557 74736 MASK BIT7
007891,000756: 06,2560 27277 ADS IMODES30
007892,000757: 06,2561 32564 CAF RRINIT
007893,000758: 06,2562 54110 TS RADMODES
007894,000759: 06,2563 12225 TCF NXTIFAIL
007895,000760:
007896,000761: 06,2564 00102 RRINIT OCT 00102
007897,000762:
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007899,000764: # PROGRAM NAME: IMUCAGE.
007900,000765:
007901,000766: # FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES OF THE IMUCAGE INBIT, CHANNEL 30 BIT 11. IF THE BIT
007902,000767: # CHANGES TO 0 (CAGE BUTTON PRESSED), THE ISS IS CAGED (ICDU ZERO + COARSE ALIGN + NO ATT LAMP) UNTIL THE
007903,000768: # ASTRONAUT SELECTS ANOTHER PROGRAM TO ALIGN THE ISS. ANY PULSE TRAINS TO THE ICDU'S AND GYRO'S ARE TERMINATED,
007904,000769: # THE ASSOCIATED OUTCOUNTERS ARE ZEROED AND THE GYRO'S ARE DE-SELECTED. NO ACTION OCCURS WHEN THE BUTTON IS
007905,000770: # RELEASED (INBIT CHANGES TO 1).
007906,000771:
007907,000772: # CALLING SEQUENCE: BY IMUMON WHEN IMU CAGE BIT CHANGES.
007908,000773:
007909,000774: # JOBS OR TASKS INITIATED: NONE.
007910,000775:
007911,000776: # SUBROUTINES CALLED: CAGESUB.
007912,000777:
007913,000778: # ERASABLE INITIALIZATION: FRESH START AND RESTART SET BIT 11 OF IMODES30 TO 1.
007914,000779:
007915,000780: # ALARMS: NONE.
007916,000781:
007917,000782: # EXIT: NXTIFAIL.
007918,000783:
007919,000784: # OUTPUT: ISS CAGED, COUNTERS ZEROED, PULSE TRAINS TERMINATED AND NO ATT LAMP LIT.
007920,000785:
007921,000786: 06,2565 10000 IMUCAGE CCS A # NO ACTION IF GOING OFF.
007922,000787: 06,2566 12361 TCF ISSZERO
007923,000788: 06,2567 43002 CS OCT77000 # TERMINATE ICDU,RCDU, GYRO PULSE TRAINS
007924,000789: 06,2570 00006 EXTEND
007925,000790: 06,2571 03014 WAND CHAN14
007926,000791:
007927,000792: 06,2572 42776 CS OCT272 # KNOCK DOWN DISPLAY INERTIAL DATA, IMU
007928,000793: 06,2573 00006 EXTEND # ERROR COUNTER ENABLE, ZERO ICDU, COARSE
007929,000794: 06,2574 03012 WAND CHAN12 # ALIGN ENABLE, RR ERROR COUNTER ENABLE.
007930,000795:
007931,000796: 06,2575 44736 CS ENGONBIT # INSURE ENGONFLG IS CLEAR.
007932,000797: 06,2576 70101 MASK FLAGWRD5
007933,000798: 06,2577 54101 TS FLAGWRD5
007934,000799: 06,2600 44346 CS PRIO30 # TURN ENGINE OFF.
007935,000800: 06,2601 00006 EXTEND
007936,000801: 06,2602 02011 RAND DSALMOUT
007937,000802: 06,2603 64727 AD BIT14
007938,000803: 06,2604 00006 EXTEND
007939,000804: 06,2605 01011 WRITE DSALMOUT # FORCE BIT14=1, BIT13=0.
007940,000805:
007941,000806: 06,2606 02743 TC CAGESUB1
007942,000807:
007943,000808: 06,2607 04665 TC IBNKCALL # KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS
007944,000809: 06,2610 17162 CADR RNDREFDR
007945,000810:
007946,000811: 06,2611 44746 CS ZERO
007947,000812: 06,2612 54050 TS CDUXCMD
007948,000813: 06,2613 54051 TS CDUYCMD
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007950,000815: 06,2614 54052 TS CDUZCMD
007951,000816: 06,2615 54047 TS GYROCMD
007952,000817:
007953,000818: 06,2616 43001 CS OCT740 # HAVING WAITED AT LEAST 27 MCT FROM
007954,000819: 06,2617 00006 EXTEND # GYRO PULSE TRAIN TERMINATION, WE CAN
007955,000820: 06,2620 03014 WAND CHAN14 # DE-SELECT THE GYROS
007956,000821: 06,2621 12225 TCF NXTIFAIL
007957,000822:
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007959,000824: # PROGRAM NAME: IMUOP.
007960,000825:
007961,000826: # FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES IN THE ISS OPERATE DISCRETE, BIT 9 OF CHANNEL 30.
007962,000827: # IF THE INBIT CHANGES TO 0, INDICATING ISS ON, IMUOP GENERALLY SETS BIT 7 OF IMODES30 TO 1 TO REQUEST ISS
007963,000828: # INITIALIZATION VIA TNONTEST. AN EXCEPTION IS DURING A FAILED ISS DELAY DURING WHICH BIT 2 OF IMODES30 IS SET
007964,000829: # TO 1 AND NO FURTHER INITIALIZATION IS REQUIRED. WHEN THE INBIT CHANGES TO 1, INDICATING ISS OFF, IMUSEFLG IS
007965,000830: # TESTED TO SEE IF ANY PROGRAM WAS USING THE ISS. IF SO, PROGRAM ALARM 00214 IS ISSUED.
007966,000831:
007967,000832: # CALLING SEQUENCE: BY IMUMON WHEN BIT 9 OF CHANNEL 30 CHANGES.
007968,000833:
007969,000834: # JOBS OR TASKS INITIATED: NONE.
007970,000835:
007971,000836: # SUBROUTINES CALLED: ALARM, IF ISS IS TURNED OFF WHILE IN USE.
007972,000837:
007973,000838: # ERASABLE INITIALIZATION: ON FRESH START AND RESTART, BIT 9 OF IMODES30 IS SET TO 1 EXCEPT WHEN THE GIMBAL LOCK
007974,000839: # LAMP IS ON, IN WHICH CASE IT IS SET TO 0. THIS PREVENTS ICDU ZERO BY TNONTEST WITH THE ISS IN GIMBAL LOCK.
007975,000840:
007976,000841: # ALARMS: PROGRAM ALARM 00214 IF THE ISS IS TURNED OFF WHILE IN USE.
007977,000842:
007978,000843: # EXIT: NXTIFAIL.
007979,000844:
007980,000845: # OUTPUT: ISS INITIALIZATION REQUEST (IMODES30 BIT 7) OR PROGRAM ALARM 00214.
007981,000846:
007982,000847: 06,2622 00006 IMUOP EXTEND
007983,000848: 06,2623 12643 BZF IMUOP2
007984,000849:
007985,000850: 06,2624 41300 CS IMODES33 # DISABLE DAP
007986,000851: 06,2625 74737 MASK BIT6
007987,000852: 06,2626 27300 ADS IMODES33
007988,000853:
007989,000854: 06,2627 04665 TC IBNKCALL # KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS
007990,000855: 06,2630 17162 CADR RNDREFDR
007991,000856:
007992,000857: 06,2631 42777 CS BITS7&8 # KNOCK DOWN RENDEZVOUS, IMUUSE FLAGS
007993,000858: 06,2632 70074 MASK FLAGWRD0
007994,000859: 06,2633 56074 XCH FLAGWRD0 # IF GOING OFF, ALARM IF PROG USING IMU.
007995,000860: 06,2634 40000 COM
007996,000861: 06,2635 74735 MASK IMUSEFLG
007997,000862: 06,2636 10000 CCS A
007998,000863: 06,2637 12225 TCF NXTIFAIL
007999,000864:
008000,000865: 06,2640 05571 TC ALARM
008001,000866: 06,2641 00214 OCT 214
008002,000867: 06,2642 12225 TCF NXTIFAIL
008003,000868:
008004,000869: 06,2643 34743 IMUOP2 CAF BIT2 # SEE IF FAILED ISS TURN-ON SEQ IN PROG.
008005,000870: 06,2644 71277 MASK IMODES30
008006,000871: 06,2645 10000 CCS A
008007,000872: 06,2646 12225 TCF NXTIFAIL # IF SO, DONT PROCESS UNTIL PRESENT 90
008008,000873: 06,2647 12556 TCF ITURNON2 # SECONDS EXPIRES.
008009,000874:
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008011,000876: # PROGRAM NAME: PIPFAIL
008012,000877:
008013,000878: # FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES OF BIT 13 OF CHANNEL 33, PIPA FAIL. IT SETS BIT 10 OF
008014,000879: # IMODES30 TO AGREE. IT CALLS SETISSW IN CASE A PIPA FAIL NECESSITATES AN ISS WARNING. IF NOT,I.E., IMODES30
008015,000880: # BIT 1 = 1, AND A PIPA FAIL IS PRESENT AND THE ISS IS NOT BEING INITIALIZED, PROGRAM ALARM 00212 IS ISSUED.
008016,000881:
008017,000882: # CALLING SEQUENCE: BY C33TEST ON CHANGES OF CHANNEL 33 BIT 13.
008018,000883:
008019,000884: # JOBS OR TASKS INITIATED: NONE.
008020,000885:
008021,000886: # SUBROUTINES CALLED: 1) SETISSW, AND 2) ALARM (SEE FUNCTIONAL DESCRIPTION).
008022,000887:
008023,000888: # ERASABLE INITIALIZATION: SEE IMUMON FOR INITIALIZATION OF IMODES30. THE RELAVANT BITS ARE 5, 7, 8, 9, AND 10.
008024,000889:
008025,000890: # ALARMS: PROGRAM ALARM 00212 IF PIPA FAIL IS PRESENT BUT NEITHER ISS WARNING IS TO BE ISSUED NOR THE ISS IS
008026,000891: # BEING INITIALIZED.
008027,000892:
008028,000893: # EXIT: NXTFL33.
008029,000894:
008030,000895: # OUTPUT: PROGRAM ALARM 00212 AND ISS WARNING MAINTENANCE.
008031,000896:
008032,000897: 06,2650 10000 PIPFAIL CCS A # SET BIT10 IN IMODES30 SO ALL ISS WARNING
008033,000898: 06,2651 34733 CAF BIT10 # INFO IS IN ONE REGISTER.
008034,000899: 06,2652 57277 XCH IMODES30
008035,000900: 06,2653 73004 MASK -BIT10
008036,000901: 06,2654 27277 ADS IMODES30
008037,000902:
008038,000903: 06,2655 02703 TC SETISSW
008039,000904:
008040,000905: 06,2656 41277 CS IMODES30 # IF PIP FAIL DOESNT LIGHT ISS WARNING, DO
008041,000906: 06,2657 74744 MASK BIT1 # A PROGRAM ALARM IF IMU OPERATING BUT NOT
008042,000907: 06,2660 10000 CCS A # CAGED OR BEING TURNED ON.
008043,000908: 06,2661 12432 TCF NXTFL33
008044,000909:
008045,000910: 06,2662 31277 CA IMODES30
008046,000911: 06,2663 73000 MASK OCT1720
008047,000912: 06,2664 10000 CCS A
008048,000913: 06,2665 12432 TCF NXTFL33 # ABOVE CONDITION NOT MET.
008049,000914:
008050,000915: 06,2666 05571 TC ALARM
008051,000916: 06,2667 00212 OCT 212
008052,000917: 06,2670 12432 TCF NXTFL33
008053,000918:
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008055,000920: # PROGRAM NAMES: DNTMFAST, UPTMFAST
008056,000921:
008057,000922: # FUNCTIONAL DESCRIPTION: THESE PROGRAMS PROCESS CHANGES OF BITS 12 AND 11 OF CHANNEL 33. IF A BIT CHANGES TO A
008058,000923: # 0, A PROGRAM ALARM IS ISSUED. THE ALARMS ARE:
008059,000924:
008060,000925: # BIT ALARM CAUSE
008061,000926: # --- ----- -----
008062,000927: # 12 01105 DOWNLINK TOO FAST
008063,000928: # 11 01106 UPLINK TOO FAST
008064,000929:
008065,000930: # CALLING SEQUENCE: BY C33TEST ON A BIT CHANGE.
008066,000931:
008067,000932: # SUBROUTINES CALLED: ALARM, IF A BIT CHANGES TO A 0.
008068,000933:
008069,000934: # ERASABLE INITIALIZATION: FRESH START OR RESTART, BITS 12 AND 11 OF IMODES33 ARE SET TO 1.
008070,000935:
008071,000936: # ALARMS: SEE FUNCTIONAL DESCRIPTION.
008072,000937:
008073,000938: # EXIT: NXTFL33.
008074,000939:
008075,000940: # OUTPUT: PROGRAM ALARM ON A BIT CHANGE TO 0.
008076,000941:
008077,000942: 06,2671 10000 DNTMFAST CCS A # DO PROG ALARM IF TM TOO FAST.
008078,000943: 06,2672 12432 TCF NXTFL33
008079,000944:
008080,000945: 06,2673 05571 TC ALARM
008081,000946: 06,2674 01105 OCT 1105
008082,000947: 06,2675 12432 TCF NXTFL33
008083,000948:
008084,000949: 06,2676 10000 UPTMFAST CCS A # SAME AS DNLINK TOO FAST WITH DIFFERENT
008085,000950: 06,2677 12432 TCF NXTFL33 # ALARM CODE.
008086,000951:
008087,000952: 06,2700 05571 TC ALARM
008088,000953: 06,2701 01106 OCT 1106
008089,000954: 06,2702 12432 TCF NXTFL33
008090,000955:
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008092,000957: # PROGRAM NAME: SETISSW
008093,000958:
008094,000959: # FUNCTIONAL DESCRIPTION: THIS PROGRAM TURNS THE ISS WARNING LAMP ON AND OFF (CHANNEL 11 BIT 1 = 1 FOR ON,
008095,000960: # 0 FOR OFF) DEPENDING ON THE STATUS OF IMODES30 BITS 13 (IMU FAIL) AND 4 (INHIBIT IMU FAIL), 12 (ICDU FAIL) AND
008096,000961: # 3 (INHIBIT ICDU FAIL), AND 10 (PIPA FAIL) AND 1 (INHIBIT PIPA FAIL). THE LAMP IS LEFT ON IF A LAMP TEST IS IN
008097,000962: # PROGRESS.
008098,000963:
008099,000964: # CALLING SEQUENCE: CALLED BY IMUMON ON CHANGES TO IMU FAIL AND ICDU FAIL. CALLED BY IFAILOK AND PFAILOK UPON
008100,000965: # REMOVAL OF THE FAIL INHIBITS. CALLED BY PIPFAIL WHEN THE PIPA FAIL DISCRETE CHANGES. IT IS CALLED BY PIPUSE
008101,000966: # SINCE THE PIPA FAIL PROGRAM ALARM MAY NECESSITATE AN ISS WARNING, AND LIKEWISE BY PIPFREE WHEN THE ALARM DEPARTS
008102,000967: # AND IT IS CALLED BY IMUZERO3 AND ISSUP AFTER THE FAIL INHIBITS HAVE BEEN REMOVED.
008103,000968:
008104,000969: # JOBS OR TASKS INITIATED: NONE.
008105,000970:
008106,000971: # SUBROUTINES CALLED: NONE.
008107,000972:
008108,000973: # ERASABLE INITIALIZATION:
008109,000974:
008110,000975: # 1) IMODES30 - SEE IMUMON.
008111,000976: # 2) IMODES33 BIT 1 = 0 (LAMP TEST NOT IN PROGRESS).
008112,000977:
008113,000978: # ALARMS: ISS WARNING.
008114,000979:
008115,000980: # THE FOLLOWING PROGRAM ALARMS WILL SHOW WHICH FAILURE CAUSED THE ISS WARN
008116,000981: # PROGRAM ALARM 00777 PIPA FAIL
008117,000982: # PROGRAM ALARM 03777 ICDU FAIL
008118,000983: # PROGRAM ALARM 04777 ICDU , PIPA FAILS
008119,000984: # PROGRAM ALARM 07777 IMU FAIL
008120,000985: # PROGRAM ALARM 10777 IMU , PIPA FAILS
008121,000986: # PROGRAM ALARM 13777 IMU , ICDU FAILS
008122,000987: # PROGRAM ALARM 14777 IMU , ICDU, PIPA FAILS
008123,000988:
008124,000989: # EXIT: VIA Q.
008125,000990:
008126,000991: # OUTPUT: ISS WARNING LAMP SET PROPERLY.
008127,000992:
008128,000993: 06,2703 34752 SETISSW CAF OCT15 # SET ISS WARNING USING THE FAIL BITS IN
008129,000994: 06,2704 71277 MASK IMODES30 # BITS 13, 12, AND 10 OF IMODES30 AND THE
008130,000995: 06,2705 00006 EXTEND # FAILURE INHIBIT BITS IN POSITIONS
008131,000996: 06,2706 74733 MP BIT10 # 4, 3, AND 1.
008132,000997: 06,2707 31277 CA IMODES30
008133,000998: 06,2710 00006 EXTEND
008134,000999: 06,2711 04001 ROR LCHAN # 0 INDICATES FAILURE
008135,001000: 06,2712 40000 COM
008136,001001: 06,2713 75016 MASK OCT15000
008137,001002: 06,2714 10000 CCS A
008138,001003: 06,2715 12726 TCF ISSWON # FAILURE.
008139,001004:
008140,001005: 06,2716 34744 ISSWOFF CAF BIT1 # DONT TURN OFF ISS WARNING IF LAMP TEST
008141,001006: 06,2717 71300 MASK IMODES33 # IN PROGRESS.
008142,001007:
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008144,001009: 06,2720 10000 CCS A
008145,001010: 06,2721 00002 TC Q
008146,001011:
008147,001012: 06,2722 44744 CS BIT1
008148,001013: 06,2723 00006 EXTEND
008149,001014: 06,2724 03011 WAND DSALMOUT
008150,001015: 06,2725 00002 TC Q
008151,001016:
008152,001017: 06,2726 00006 ISSWON EXTEND
008153,001018: 06,2727 22066 QXCH ITEMP6
008154,001019: 06,2730 05740 TC VARALARM # TELL EVERYONE WHAT CAUSED THE ISSWARNING
008155,001020: 06,2731 34744 CAF BIT1
008156,001021: 06,2732 00006 EXTEND
008157,001022: 06,2733 05011 WOR DSALMOUT
008158,001023: 06,2734 00066 TC ITEMP6
008159,001024:
008160,001025: 06,2735 43003 CAGESUB CS BITS6&15 # SET OUTBITS AND INTERNAL FLAGS FOR
008161,001026: 06,2736 00006 EXTEND # SYSTEM TURN-ON OR CAGE. DISABLE THE
008162,001027: 06,2737 03012 WAND CHAN12 # ERROR COUNTER AND REMOVE IMU DELAY COMP.
008163,001028: 06,2740 34754 CAF BITS4&5 # SEND ZERO AND COARSE.
008164,001029: 06,2741 00006 EXTEND
008165,001030: 06,2742 05012 WOR CHAN12
008166,001031:
008167,001032: 06,2743 41035 CAGESUB1 CS DSPTAB +11D # TURN ON NO ATT LAMP
008168,001033: 06,2744 72773 MASK OC40010
008169,001034: 06,2745 27035 ADS DSPTAB +11D
008170,001035:
008171,001036: 06,2746 41277 CAGESUB2 CS IMODES30 # SET FLAGS TO INDICATE CAGING OR TURN-ON
008172,001037: 06,2747 72775 MASK OCT75 # AND INHIBIT ALL ISS WARNING INFO
008173,001038: 06,2750 27277 ADS IMODES30
008174,001039:
008175,001040: 06,2751 41300 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
008176,001041: 06,2752 74737 MASK BIT6
008177,001042: 06,2753 27300 ADS IMODES33
008178,001043:
008179,001044: 06,2754 00002 TC Q
008180,001045:
008181,001046: 06,2755 06,2703 IMUFAIL EQUALS SETISSW
008182,001047: 06,2755 06,2703 ICDUFAIL EQUALS SETISSW
008183,001048:
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008185,001050: # JUMP TABLES AND CONSTANTS.
008186,001051:
008187,001052: 06,2755 12533 IFAILJMP TCF ITURNON # CHANNEL 30 DISPATCH.
008188,001053: 06,2756 12703 TCF IMUFAIL
008189,001054: 06,2757 12703 TCF ICDUFAIL
008190,001055: 06,2760 12565 TCF IMUCAGE
008191,001056: 06,2761 76400 30RDMSK OCT 76400 # (BIT 10 NOT SAMPLED HERE).
008192,001057: 06,2762 12622 TCF IMUOP
008193,001058:
008194,001059: 06,2763 12650 C33JMP TCF PIPFAIL # CHANNEL 33 DISPATCH.
008195,001060: 06,2764 12671 TCF DNTMFAST
008196,001061: 06,2765 12676 TCF UPTMFAST
008197,001062:
008198,001063: # SUBROUTINE TO SKIP IF LAMP TEST NOT IN PROGRESS.
008199,001064: 06,2766 41300 LAMPTEST CS IMODES33 # BIT 1 OF IMODES33 = 1 IF LAMP TEST IN
008200,001065: 06,2767 74744 MASK BIT1 # PROGRESS.
008201,001066: 06,2770 10000 CCS A
008202,001067: 06,2771 24002 INCR Q
008203,001068: 06,2772 00002 TC Q
008204,001069:
008205,001070: 06,2773 5017 33RDMSK EQUALS PRIO16
008206,001071: 06,2773 40010 OC40010 OCT 40010
008207,001072: 06,2774 00054 OCT54 OCT 54
008208,001073: 06,2775 00075 OCT75 OCT 75
008209,001074: 06,2776 00272 OCT272 OCT 00272
008210,001075: 06,2777 00300 BITS7&8 OCT 300
008211,001076: 06,3000 01720 OCT1720 OCT 1720
008212,001077: 06,3001 00740 OCT740 OCT 00740
008213,001078: 06,3002 5016 OCT15000 EQUALS PRIO15
008214,001079: 06,3002 77000 OCT77000 OCT 77000
008215,001080: 06,3003 40040 BITS6&15 OCT 40040
008216,001081: 06,3004 76777 -BIT10 OCT -1000
008217,001082:
008218,001083: 06,3005 21450 90SECS DEC 9000 B-14
008219,001084: 06,3006 5745 120MS = OCT14 # (DEC12)
008220,001085: 06,3006 40106 GLOCKOK CS FLGWRD10
008221,001086: 06,3007 74743 MASK CONTRLBT
008222,001087: 06,3010 61035 AD DSPTAB +11D
008223,001088: 06,3011 74743 MASK CONTRLBT
008224,001089: 06,3012 00006 EXTEND
008225,001090: 06,3013 13025 BZF LITEOK # NO CHANGE
008226,001091:
008227,001092: 06,3014 71035 MASK DSPTAB +11D
008228,001093: 06,3015 10000 CCS A
008229,001094: 06,3016 13032 TCF LAMPBTST # WAS ON
008230,001095:
008231,001096: 06,3017 41035 LITESWCH CS DSPTAB +11D # WAS OFF
008232,001097: 06,3020 74743 MASK CONTRLBT
008233,001098: 06,3021 64726 AD BIT15
008234,001099: 06,3022 57035 XCH DSPTAB +11D
008235,001100:
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008237,001102: 06,3023 73031 MASK OCT37775
008238,001103: 06,3024 27035 ADS DSPTAB +11D
008239,001104:
008240,001105: 06,3025 40106 LITEOK CS FLGWRD10
008241,001106: 06,3026 74743 MASK CONTRLBT
008242,001107: 06,3027 26106 ADS FLGWRD10
008243,001108: 06,3030 15272 TCF RESUME
008244,001109:
008245,001110: 06,3031 37775 OCT37775 OCT 37775
008246,001111:
008247,001112: 06,3032 02766 LAMPBTST TC LAMPTEST
008248,001113: 06,3033 13025 TCF LITEOK
008249,001114: 06,3034 13017 TCF LITESWCH
008250,001115:
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008252,001117: # PROGRAM NAME_ RRAUTCHK
008253,001118:
008254,001119: # FUNCTIONAL DESCRIPTION_
008255,001120: # RRAUTCHK IS THE RENDEZVOUS RADAR INBIT MONITOR. INITIALLY THE RR
008256,001121: # POWER ON AUTO (CHAN 33 BIT 2) INBIT IS CHECKED. IF NO CHANGE, THE
008257,001122: # PROGRAM EXITS TO RRCDUCHK. IF A CHANGE, RADMODES IS UPDATED
008258,001123: # AND A CHECK MADE IF RR POWER HAS JUST COME ON. IF JUST OFF, A CHECK
008259,001124: # IS MADE TO SEE IF A PROGRAM WAS USING THE RR (STATE BIT 7). IF NO,
008260,001125: # THE PROGRAM EXITS TO RRCDUCHK. IF YES, PROGRAM ALARM 00514
008261,001126: # IS REQUESTED BEFORE EXITING TO RRCDUCHK. IF RR POWER HAS JUST COME
008262,001127: # ON, A CHECK IS MADE TO SEE IF A PROGRAM WAS USING THE RR (STATE BIT 7).
008263,001128: # IF YES, THE PROGRAM EXITS TO RRCDUCHK WITHOUT REQUESTING THE TURN-ON
008264,001129: # SEQUENCE. IF NO, RADMODES IS UPDATED TO INDICATE RR CDU ZERO AND
008265,001130: # RR TURN-ON SEQUENCE (BITS 13, 1). A 10 MILLISECOND WAITLIST CALL
008266,001131: # IS THEN SET FOR RRTURNON BEFORE THE PROGRAM EXITS TO NORRGMON.
008267,001132:
008268,001133: # CALLING SEQUENCE_
008269,001134: # T4RUPT EVERY 480 MILLISECONDS
008270,001135:
008271,001136: # ERASABLE INITIALIZATION REQUIRED_
008272,001137: # RADMODES, STATE
008273,001138:
008274,001139: # SUBROUTINES CALLED_
008275,001140: # WAITLIST
008276,001141:
008277,001142: # JOBS OR TASKS INITIATED_
008278,001143: # RRTURNON
008279,001144:
008280,001145: # ALARMS_ PROGRAM ALARM 00514 - RADAR GOES OUT OF AUTO MODE WHILE BEING
008281,001146: # USED
008282,001147:
008283,001148: # EXIT_ RRCDUCHK, NORRGMON
008284,001149:
008285,001150: 06,3035 30110 RRAUTCHK CA RADMODES # SEE IF CHANGE IN RR AUTO MODE BIT.
008286,001151: 06,3036 00006 EXTEND
008287,001152: 06,3037 06033 RXOR CHAN33
008288,001153: 06,3040 74743 MASK AUTOMBIT
008289,001154: 06,3041 00006 EXTEND
008290,001155: 06,3042 13066 BZF RRCDUCHK
008291,001156:
008292,001157: 06,3043 22110 LXCH RADMODES # UPDATE RADMODES.
008293,001158: 06,3044 00006 EXTEND
008294,001159: 06,3045 06001 RXOR LCHAN
008295,001160: 06,3046 73062 MASK OCT05776 # CLR CONT. DES., REMODE, REPOS, CDUZERO,
008296,001161: 06,3047 54110 TS RADMODES # AND TURNON BITS.
008297,001162: 06,3050 74743 MASK BIT2 # SEE IF JUST ON.
008298,001163: 06,3051 10000 CCS A
008299,001164: 06,3052 13063 TCF RRCDUCHK -3 # OFF. GO DISABLE RR CDU ERROR COUNTERS.
008300,001165: 06,3053 37704 CA OCT10001 # SET RRCDUZRO AND TURNON BITS.
008301,001166: 06,3054 26110 ADS RADMODES
008302,001167:
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008304,001169: 06,3055 34744 CAF ONE
008305,001170: 06,3056 05205 TC WAITLIST
008306,001171: 06,3057 E7,1456 EBANK= LOSCOUNT
008307,001172: 06,3057 02053 52107 2CADR RRTURNON
008308,001173:
008309,001174: 06,3061 13155 TCF NORRGMON
008310,001175:
008311,001176: 06,3062 05776 OCT05776 OCT 5776
008312,001177:
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008314,001179: # PROGRAM NAME_ RRCDUCHK
008315,001180:
008316,001181: # FUNCTIONAL DESCRIPTION_
008317,001182: # RRCDUCHK CHECKS FOR RR CDU FAIL (CHAN 30 BIT 7). INITIALLY THE
008318,001183: # RR CDU FAIL BIT IS SAMPLED (CHAN 30 BIT 7). IF NO CHANGE, THE
008319,001184: # PROGRAM EXITS TO RRGIMON. IF A CHANGE, THE RR AUTO MODE
008320,001185: # (RADMODES BIT 2) BIT IS CHECKED. IF NOT IN RR AUTO MODE, THE
008321,001186: # PROGRAM EXITS TO NORRGMON. IF IN AUTO MODE, RADMODES BIT 7
008322,001187: # (RR CDU OK) IS UPDATED AND IF P-20 IS OPERATING PROGRAM ALARM 00515 IS
008323,001188: # REQUESTED. CONTROL IS TRANSFERRED TO SETTRKF TO UPDATE
008324,001189: # THE TRACKER FAIL LAMP (DSPTAB+11D BIT 8). CONTROL RETURNS TO
008325,001190: # RRGIMON.
008326,001191:
008327,001192: # CALLING SEQUENCE_
008328,001193: # EVERY 480 MILLISECONDS FROM RRAUTCHK (VIA T4RUPT) UNLESS A
008329,001194: # TURN-ON SEQUENCE HAS JUST BEEN INITIATED.
008330,001195:
008331,001196: # ERASABLE INITIALIZATION REQUIRED_
008332,001197: # RADMODES
008333,001198:
008334,001199: # SUBROUTINES CALLED_
008335,001200: # SETTRKF
008336,001201:
008337,001202: # JOBS OR TASKS INITIATED_
008338,001203: # NONE
008339,001204:
008340,001205: # ALARMS_
008341,001206: # TRACKER FAIL
008342,001207: # PROGRAM ALARM 00515 - RRCDU FAIL DURING P-20
008343,001208:
008344,001209: # EXIT_
008345,001210: # RRGIMON, NORRGMON
008346,001211:
008347,001212: 06,3063 44743 -3 CS BIT2
008348,001213: 06,3064 00006 EXTEND
008349,001214: 06,3065 03012 WAND CHAN12 # AT TURNON, DISABLE CDU ERROR COUNTERS.
008350,001215:
008351,001216: 06,3066 30110 RRCDUCHK CA RADMODES # LAST SAMPLED BIT IN RADMODES.
008352,001217: 06,3067 00006 EXTEND
008353,001218: 06,3070 06030 RXOR CHAN30
008354,001219: 06,3071 74736 MASK RCDUFBIT
008355,001220: 06,3072 00006 EXTEND
008356,001221: 06,3073 13120 BZF RRGIMON
008357,001222:
008358,001223: 06,3074 34743 CAF AUTOMBIT # IF RR NOT IN AUTO MODE, DON'T CHANGE BIT
008359,001224: 06,3075 70110 MASK RADMODES # 7 OF RADMODES. IF THIS WERE NOT DONE,
008360,001225: 06,3076 10000 CCS A # THE TRACKER FAIL MIGHT COME ON WHEN
008361,001226: 06,3077 13155 TCF NORRGMON # JUST READING LR DATA.
008362,001227:
008363,001228: 06,3100 34736 CAF RCDUFBIT # SET BIT 7 OF RADMODES FOR SETTRKF.
008364,001229:
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008366,001231: 06,3101 22110 LXCH RADMODES # UPDATE RADMODES.
008367,001232: 06,3102 00006 EXTEND
008368,001233: 06,3103 06001 RXOR L
008369,001234: 06,3104 54110 TS RADMODES
008370,001235:
008371,001236: 06,3105 30110 CA RADMODES # DID RR CDU FAIL
008372,001237: 06,3106 74606 MASK 13,7,2 # CDU ZERO+ CDUFAIL+ RR AUTO
008373,001238: 06,3107 10000 CCS A
008374,001239: 06,3110 13117 TCF TRKFLCDU # NO
008375,001240: 06,3111 40074 CS FLAGWRD0 # RNDVFLG P20 OR P22 OPERATING
008376,001241: 06,3112 74736 MASK RNDVZBIT
008377,001242: 06,3113 10000 CCS A
008378,001243: 06,3114 13117 TCF TRKFLCDU # NO
008379,001244: 06,3115 05571 TC ALARM # YES
008380,001245: 06,3116 00515 OCT 00515
008381,001246: 06,3117 04555 TRKFLCDU TC SETTRKF # UPDATE TRACKER FAIL LAMP ON DSKY.
008382,001247:
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008384,001249: # PROGRAM NAME_ RRGIMON E AUTO MODE EXCEPT WHEN THE RR CDUS ARE
008385,001250:
008386,001251: # FUNCTIONAL DESCRIPTION_ TTER IS INITIATED BY THIS MONITOR WHEN
008387,001252: # RRGIMON IS THE RR GIMBAL LIMIT MONITOR. INITIALLY THE FOLLOWING IS ED TO DRIVE THE GIMBALS TO T = 0 AND
008388,001253: # CHECKED_ REMODE, RR CDU:S BEING ZEROED, REPOSITION, AND RR
008389,001254: # NOT IN AUTO MODE (RADMODES BITS 14, 13, 11 2). IF ANY OF THESE
008390,001255: # EXIST THE PROGRAM EXITS TO GPMATRIX. IF NONE ARE PRESENT RRLIMCHK
008391,001256: # IS CALLED TO SEE IF THE PRESENT RR CDU ANGLES (OPTY, OPTX) ARE WITHIN
008392,001257: # THE LIMITS OF THE CURRENT MODE. IF WITHIN LIMITS, THE PROGRAM EXITS
008393,001258: # TO NORRGMON. IF NOT WITHIN LIMITS, THE REPOSITION FLAG (RADMODES
008394,001259: # BIT 11) IS SET, THE RR AUTO TRACKER AND RR ERROR COUNTER
008395,001260: # (CHAN 12 BITS 14, 2) ARE DISABLED, AND A 20 MILLISECOND WAITLIST
008396,001261: # CALL IS SET FOR DORREPOS AFTER WHICH THE PROGRAM EXITS TO NORRGMON.
008397,001262:
008398,001263: # CALLING SEQUENCE_
008399,001264: # EVERY 480 MILLISECONDS FROM RRCDUCHK (VIA T4RUPT) UNLESS TURN-ON
008400,001265: # HAS JUST BEEN INITIATED VIA RRAUTCHK OR IF THERE HAS BEEN A CHANGE IN
008401,001266: # THE RR CDU FAIL BIT (CHAN 30 BIT 7) AND THE RR IS NOT IN THE AUTO MODE
008402,001267: # (RADMODES BIT 2).
008403,001268:
008404,001269: # ERASABLE INITIALIZATION_ RADMODES
008405,001270:
008406,001271: # SUBROUTINES CALLED_
008407,001272: # RRLIMCHK, WAITLIST
008408,001273:
008409,001274: # JOBS OR TASKS INITIATED_
008410,001275: # DORREPOS
008411,001276:
008412,001277: # ALARMS_
008413,001278: # NONE
008414,001279:
008415,001280: # EXIT_
008416,001281: # NORRGMON
008417,001282:
008418,001283: 06,3120 30101 RRGIMON CAE FLAGWRD5 # IS NO ANGLE MONITOR FLAG SET
008419,001284: 06,3121 74741 MASK NORRMBIT
008420,001285: 06,3122 10000 CCS A
008421,001286: 06,3123 13155 TCF NORRGMON # YES - SKIP LIMIT CHECK
008422,001287: 06,3124 40103 CS FLAGWRD7 # IS SERVICER RUNNING?
008423,001288: 06,3125 74740 MASK AVEGFBIT
008424,001289: 06,3126 10000 CCS A
008425,001290: 06,3127 13134 TCF +5 # NO. DO R25
008426,001291: 06,3130 30102 CA FLAGWRD6 # YES. IS MUNFLAG SET?
008427,001292: 06,3131 74735 MASK MUNFLBIT
008428,001293: 06,3132 10000 CCS A
008429,001294: 06,3133 13155 TCF NORRGMON # YES. DON'T DO R25
008430,001295: 06,3134 33164 +5 CAF OCT32002 # INHIBIT BY REMODE,ZEROING,MONITOR.
008431,001296: 06,3135 70110 MASK RADMODES # OR RR NOT IN AUTO.
008432,001297: 06,3136 10000 CCS A
008433,001298: 06,3137 13155 TCF NORRGMON
008434,001299:
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008436,001301: 06,3140 04514 TC RRLIMCHK # SEE IF ANGLES IN LIMITS.
008437,001302: 06,3141 00035 ADRES CDUT
008438,001303:
008439,001304: 06,3142 13144 TCF MONREPOS
008440,001305:
008441,001306: 06,3143 13155 TCF NORRGMON # (ADDITIONAL CODING MAY GO HERE).
008442,001307:
008443,001308: 06,3144 34732 MONREPOS CAF REPOSBIT # SET FLAG TO SHOW REPOSITION IN PROGRESS.
008444,001309: 06,3145 26110 ADS RADMODES
008445,001310:
008446,001311: 06,3146 43165 CS OCT20002 # DISABLE TRACKER AND ERROR COUNTER.
008447,001312: 06,3147 00006 EXTEND
008448,001313: 06,3150 03012 WAND CHAN12
008449,001314:
008450,001315: 06,3151 34743 CAF TWO
008451,001316: 06,3152 05205 TC WAITLIST
008452,001317: 06,3153 E7,1456 EBANK= LOSCOUNT
008453,001318: 06,3153 02120 52107 2CADR DORREPOS
008454,001319:
008455,001320: 06,3155 30110 NORRGMON CA RADMODES # IF SELECT SWITCH IS NOT IN LGC, SEND RR
008456,001321: 06,3156 74743 MASK AUTOMBIT # CDU ZERO BIT TO PREVENT MEMORY CYCLE
008457,001322: 06,3157 10000 CCS A # SNATCHING BY MANIC RR CDUS. BIT2 OF
008458,001323: 06,3160 13161 NOOP # RADMODES AGREES WITH BIT2 OF CHANNEL
008459,001324: 06,3161 00006 EXTEND # 33. FOR THIS CODING, WHICH ASSUMES
008460,001325: 06,3162 05012 WOR CHAN12 # AUTOMBIT = BIT2, THANKS TO HUGH B-S.
008461,001326: 06,3163 13167 TCF ENDRRMON
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Note: In the above section in the comments the term LGC is underlined with blue pen as well as the whole section between the left of the label column and right of the operand (before the comment) column is bracketed with braces in blue pen extending from the line with the label NORRGMON down to the line TCF ... . |
008465,001330:
008466,001331: 06,3164 06,3167 ENDRRMON EQUALS DAPT4S
008467,001332:
008468,001333: 06,3164 32002 OCT32002 OCT 32002
008469,001334: 06,3165 20002 OCT20002 OCT 20002
008470,001335: 06,3166 02100 OCT02100 OCT 02100 # P20,P22 MASK BITS
008471,001336:
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008473,001338: # PROGRAM NAME: GPMATRIX (DAPT4S) MOD. NO. 2 DATE: OCTOBER 27, 1966
008474,001339:
008475,001340: # AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
008476,001341:
008477,001342: # MODIFIED: 7FEB. 1968 BY P. S. WEISSMAN TO DELETE COMPUTATION OF MR12 AND MR13, WHICH ARE NO LONGER REQIURED.
008478,001343:
008479,001344: # THIS PROGRAM CALCULATES ALL THE SINGLE-PRECISION MATRIX ELEMENTS WHICH ARE USED BY LEM DAP TO TRANSFORM VECTORS
008480,001345: # FROM GIMBAL TO PILOT (BODY) AXES AND BACK AGAIN. THESE ELEMENTS ARE USED EXCLUSIVELY BY BASIC LANGUAGE ROUTINES
008481,001346: # AND THEREFORE ARE NOT ARRAYED FOR USE BY INTERPRETIVE PROGRAMS.
008482,001347:
008483,001348: # CALLING SEQUENCE: GPMATRIX IS TRANSFERRED TO FROM DAPT4S AND IS THUS EXECUTED 4 TIMES A SECOND BY T4RUPT.
008484,001349: # DAPT4S IS LISTED IN T4JUMP TABLE TWICE EXPLICITLY AND ALSO OCCURS AFTER RRAUTCHK (WHICH IS ALSO LISTED TWICE).
008485,001350:
008486,001351: # SUBROUTINES CALLED: SPSIN, SPCOS.
008487,001352:
008488,001353: # NORMAL EXIT MODE: TCF RESUME
008489,001354:
008490,001355: # ALARM AND ABORT MODES: NONE.
008491,001356:
008492,001357: # INPUT: CDUX, CDUY, CDUZ.
008493,001358:
008494,001359: # OUTPUT: M11, M21, M31, M22, M32.
008495,001360:
008496,001361: # AOG = CDUX, AIG = CDUY, AMG = CDUZ: MNEMONIC IS: OIM = XYZ
008497,001362:
008498,001363: # * * SIN(MG) 0 1 *
008499,001364: # M = * COS(MG)COS(OG) SIN(OG) 0 *
008500,001365: # GP * -COS(MG)SIN(OG) COS(OG) 0 *
008501,001366:
008502,001367: # * * 0 COS(OG)/COS(MG) -SIN(OG)/COS(MG) *
008503,001368: # M = * 0 SIN(OG) COS(OG) *
008504,001369: # PG * 1 -SIN(MG)COS(OG)/COS(MG) SIN(MG)SIN(OG)/COS(MG) *
008505,001370:
008506,001371: 06,3167 E6,1414 EBANK= M11
008507,001372: 06,3167 06,3167 DAPT4S EQUALS GPMATRIX
008508,001373: # T4RUPT DAP LOGIC:
008509,001374:
008510,001375: 06,3167 30034 GPMATRIX CAE CDUZ # SINGLE ENTRY POINT
008511,001376: 06,3170 05024 TC SPSIN # SIN(CDUZ) = SIN(MG)
008512,001377: 06,3171 55414 TS M11 # SCALED AT 1
008513,001378:
008514,001379: 06,3172 30034 CAE CDUZ
008515,001380: 06,3173 05023 TC SPCOS # COS(CDUZ) = COS(MG)
008516,001381: 06,3174 54061 TS COSMG # SCALED AT 1 (ONLY A FACTOR)
008517,001382:
008518,001383: 06,3175 30032 CAE CDUX
008519,001384: 06,3176 05024 TC SPSIN # SIN(CDUX) = SIN(OG)
008520,001385: 06,3177 55417 TS M22 # SCALED AT 1 (ALSO IS MR22)
008521,001386:
008522,001387: 06,3200 41417 CS M22
008523,001388:
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008525,001390: 06,3201 00006 EXTEND
008526,001391: 06,3202 70061 MP COSMG # -SIN(OG)COS(MG)
008527,001392: 06,3203 55416 TS M31 # SCALED AT 1
008528,001393:
008529,001394: 06,3204 30032 CAE CDUX
008530,001395: 06,3205 05023 TC SPCOS # COS(CDUX) = COS(OG)
008531,001396: 06,3206 55420 TS M32 # SCALED AT 1 (ALSO IS MR23)
008532,001397:
008533,001398: 06,3207 00006 EXTEND
008534,001399: 06,3210 70061 MP COSMG # COS(OG)COS(MG)
008535,001400: 06,3211 55415 TS M21 # SCALED AT 1
008536,001401:
008537,001402: 06,3212 05272 TC RESUME
008538,001403:
008539,001404: 06,3213 5272 ENDDAPT4 EQUALS RESUME
End of include-file T4RUPT_PROGRAM.agc. Parent file is MAIN.agc