Assembly listing generated by yaYUL

Source Code

These source code files are an attempted reconstruction of Sundance revision 306, the Apollo 9 LM (Lunar Module) AGC (Apollo Guidance Computer) flight software, created from binary dumps of original core rope program modules, as follows:

B1 — Revision 292
B2 — Revision 302
B3 — Revision 302
B4 — Revision 302
B5 — Revision 292
B6 — Revision 306

These dumps were then modified using memos, checklists, observed address changes, and the Sundance GSOPs to get the entire program to match Sundance revision 306 as closely as possible. Without more information, it is not possible to say how close it actually is; however, this code should be quite close. It is capable of flying the whole Apollo 9 mission using the original checklists and padload. Since only binary dumps (rather than listings) of Sundance are available as source material, all comments and labels are approximate. They have been taken from other AGC programs where possible, or, in some places, written from scratch to match what we believe would have been in the original listing.

005471,000002: 005472,000003: 005473,000004: 005474,000005: 005475,000006: 005476,000007: 005477,000008: 005478,000009: 005479,000010: 005480,000011: 005481,000012: 005482,000013: 005483,000014: 005484,000015: 005485,000016: 005486,000017: 005487,000018: 005488,000019: 12,2000 005489,000020: 06,2000 005490,000021: 06,2000 005491,000022: 005492,000023: 06,2000 E6,1412 005493,000024: 06,2000 < 005541,000072: 06,2013 005542,000073: 06,2014 005543,000074: 005544,000075: 06,2015 005545,000076: 06,2016 005546,000077: 06,2017 005547,000078: 06,2020 005548,000079: 06,2021 005549,000080: 06,2022 005550,000081: 06,2023 005551,000082: 005552,000083: 005553,000084: < 005898,000429: 06,2322 005899,000430: 06,2323 005900,000431: 005901,000432: 06,2324 005902,000433: 06,2325 005903,000434: 06,2326 005904,000435: 005905,000436: 06,2327 005906,000437: 06,2330 005907,000438: 06,2331 005908,000439: 06,2332 005909,000440: 06,2333 005910,000441: 06,2334 005911,000442: 06,2335 005912,000443: 005913,000444: 06,2336 005914,000445: 005915,000446: 06,2337 005916,000447: 06,2340 005917,000448: 06,2341 005918,000449: 005919,000450: 06,2342 005920,000451: 005921,000452: 06,2343 005922,000453: 06,2344 E3,1474 005923,000454: 06,2344 005924,000455: 005925,000456: 06,2346 005926,000457: 06,2347 005927,000458: 06,2350 005928,000459: 06,2351 005929,000460: 005930,000461: 06,2352 005931,000462: 06,2353 005932,000463: < 006297,000828: 06,2625 006298,000829: 006299,000830: 06,2626 006300,000831: 06,2627 006301,000832: 06,2630 006302,000833: 006303,000834: 06,2631 006304,000835: 06,2632 006305,000836: 006306,000837: 06,2633 006307,000838: 06,2634 006308,000839: 06,2635 006309,000840: 06,2636 006310,000841: 06,2637 006311,000842: 06,2640 006312,000843: 06,2641 006313,000844: 006314,000845: 06,2642 006315,000846: 06,2643 006316,000847: 06,2644 006317,000848: < < < ## Copyright: Public domain. ## Filename: T4RUPT_PROGRAM.agc ## Purpose: A section of an attempt to reconstruct Sundance revision 306 ## as closely as possible with available information. Sundance ## 306 is the source code for the Lunar Module's (LM) Apollo ## Guidance Computer (AGC) for Apollo 9. This program was created ## using the mixed-revision SundanceXXX as a starting point, and ## pulling back features from Luminary 69 believed to have been ## added based on memos, checklists, observed address changes, ## or the Sundance GSOPs. ## Assembler: yaYUL ## Contact: Ron Burkey <info@sandroid.org>. ## Website: www.ibiblio.org/apollo/index.html ## Mod history: 2020-07-24 MAS Created from SundanceXXX. BANK 12 SETLOC T4RUP BANK EBANK= M11 COUNT* $$/T4RPT >005494,000025: 06,2000 54016 T4RUPT TS BANKRUPT 00006 EXTEND 22012 QXCH QRUPT 11315 CCS DSRUPTSW # GOES 7(-1)0 AROUND AND AROUND 12010 TCF NORMT4 +1 12007 TCF NORMT4 12134 TCF QUIKDSP >005505,000036: 06,2007 35032 NORMT4 CAF SEVEN 54070 TS RUPTREG1 55315 TS DSRUPTSW BLOCK 02 SETLOC FFTAG10 BANK COUNT* $$/T4RPT 054">005515,000046: 4072 7701 100MRUPT = OCT37766 # (DEC 16374) # RELTAB IS A PACKED TABLE. RELAYWORD CODE IN UPPER 4 BITS, RELAY CODE # IN LOWER 5 BITS. >005519,000050: 4072 04025 RELTAB OCT 04025 10003 OCT 10003 14031 OCT 14031 20033 OCT 20033 24017 OCT 24017 30036 OCT 30036 34034 OCT 34034 40023 OCT 40023 44035 OCT 44035 50037 OCT 50037 54000 OCT 54000 131">005530,000061: 4105 60000 RELTAB11 OCT 60000 # SWITCHED-BANK PORTION. BANK 12 SETLOC T4RUP BANK COUNT* $$/T4RPT /a>005540,000071: 06,2012 11037 CDRVE CCS DSPTAB +11D 02063 TC DSPOUT 02063 TC DSPOUT 57037 XCH DSPTAB +11D 74370 MASK LOW11 55037 TS DSPTAB +11D 64105 AD RELTAB11 00006 EXTEND 01010 WRITE OUT0 02071 TC HANG20 # DSPOUT PROGRAM. PUTS OUT DISPLAYS. 342">005554,000085: 06,2024 55017 DSPOUTSB TS NOUT 45030 CS ZERO 54073 TS DSRUPTEM # SET TO -0 FOR 1ST PASS THRU DSPTAB 56777 XCH DSPCNT 65027 AD NEG0 # TO PREVENT +0 54777 TS DSPCNT E">005560,000091: 06,2032 50777 DSPSCAN INDEX DSPCNT 11024 CCS DSPTAB 10777 CCS DSPCNT # IF DSPTAB ENTRY +, SKIP 12030 TCF DSPSCAN -2 # IF DSPCNT +, TRY AGAIN 12047 TCF DSPLAY # IF DSPTAB ENTRY -, DISPLAY 8">005565,000096: 06,2037 00012 TABLNTH OCT 12 # DEC 10 LENGTH OF DSPTAB 10073 CCS DSRUPTEM # IF DSRUPTEM=+0,2ND PASS THRU DSPTAB 054">005567,000098: 06,2041 37764 120MRUPT DEC 16372 B-14 # (DSPCNT = 0). +0 INTO NOUT. 55017 TS NOUT 00002 TC Q 54073 TS DSRUPTEM # IF DSRUPTEM=-0,1ST PASS THRU DSPTAB 32037 CAF TABLNTH # (DSPCNT=0). +0 INTO DSRUPTEM. PASS AGAIN 12031 TCF DSPSCAN -1 >005574,000105: 06,2047 65026 DSPLAY AD ONE 50777 INDEX DSPCNT 55024 TS DSPTAB # REPLACE POSITIVELY 74370 MASK LOW11 # REMOVE BITS 12 TO 15 54073 TS DSRUPTEM 34362 CAF HI5 50777 INDEX DSPCNT 74072 MASK RELTAB # PICK UP BITS 12 TO 15 OF RELTAB ENTRY 60073 AD DSRUPTEM 00006 EXTEND 01010 WRITE OUT0 16713 TCF Q+1 >005589,000120: 06,2063 10101 DSPOUT CCS FLAGWRD5 # IS DSKY FLAG ON 35030 CAF ZERO # NO 12130 TCF NODSPOUT # NO 11017 CCS NOUT # YES 02024 TC DSPOUTSB 12130 TCF NODSPOUT # NO DISPLAY REQUESTS >005596,000127: 06,2071 42171 HANG20 CS 14,11,9 27315 ADS DSRUPTSW 37703 CAF 20MRUPT 534">005601,000132: 06,2074 54027 SETTIME4 TS TIME4 # THE STATUS OF THE PROCEED PUSHBUTTON IS MONITORED EVERY 120 MILLISECONDS VIA THE CHANNEL 32 BIT 14 INBIT. # THE STATE OF THIS INBIT IS COMPARED WITH ITS STATE DURING THE PREVIOUS T4RUPT AND IS PROCESSED AS FOLLOWS. # IF PREV ON AND NOW ON - BYPASS # IF PREV ON AND NOW OFF - UPDATE IMODES33 # IF PREV OFF AND NOW ON - UPDATE IMODES33 AND PROCESS VIA PINBALL # IF PREV OFF AND NOW OFF - BYPASS # THE LOGIC EMPLOYED REQUIRES ONLY 9 MCT (APPROX. 108 MICROSECONDS) OF COMPUTER TIME WHEN NO CHANGES OCCUR. 445">005614,000145: 06,2075 31305 PROCEEDE CA IMODES33 # MONITIOR FOR PROCEED BUTTON 00006 EXTEND 06032 RXOR CHAN32 75011 MASK BIT14 00006 EXTEND 12116 BZF T4JUMP # NO CHANGE 23305 LXCH IMODES33 00006 EXTEND 06001 RXOR LCHAN 55305 TS IMODES33 # UPDATE IMODES33 75011 MASK BIT14 10000 CCS A 12116 TCF T4JUMP # WAS ON - NOW OFF 34367 CAF CHRPRIO # WAS OFF - NOW ON 05142 TC NOVAC 1000 EBANK= DSPCOUNT 03554 60102 2CADR PROCKEY # JUMP TO APPROPRIATE ONCE-PER SECOND (.96 SEC ACTUALLY) ACTIVITY >005636,000167: 06,2116 50070 T4JUMP INDEX RUPTREG1 12120 TCF +1 03153 TC RCSMONIT 13011 TCF RRAUTCHK 12172 TCF IMUMON 13127 TCF DAPT4S 03153 TC RCSMONIT 13011 TCF RRAUTCHK 12172 TCF IMUMON 13127 TCF DAPT4S 4">005648,000179: 06,2130 7703 20MRUPT = OCT37776 # (DEC 16382) # ADDITIONAL ROUTINES FOR 20MS. KEYBOARD ACTIVITY 554">005652,000183: 06,2130 00006 NODSPOUT EXTEND 01010 WRITE OUT0 32041 CAF 120MRUPT # SET FOR NEXT CDRIVE 12074 TCF SETTIME4 0">005658,000189: 06,2134 35011 QUIKDSP CAF BIT14 71315 MASK DSRUPTSW 00006 EXTEND 12165 BZF QUIKOFF # WROTE LAST TIME, NOW TURN OFF RELAYS. 11017 CCS NOUT 02024 TC DSPOUTSB 12152 TCF NODSPY # NOUT=0 OR BAD RETURN FROM DSPOUTSB 45011 CS BIT14 # GOOD RETURN (WE DISPLAYED SOMETHING) 054">005667,000198: 06,2144 27315 QUIKRUPT ADS DSRUPTSW 37703 CAF 20MRUPT 54027 TS TIME4 35016 CAF BIT9 27315 ADS DSRUPTSW 05340 TC RESUME >005677,000208: 06,2152 00006 NODSPY EXTEND 01010 WRITE OUT0 >005680,000211: 06,2154 37703 SYNCT4 CAF 20MRUPT 26027 ADS TIME4 35016 CAF BIT9 27315 ADS DSRUPTSW 11315 CCS DSRUPTSW 05340 TC RESUME 337">005688,000219: 06,2162 37737 OCT37737 OCT 37737 02154 TC SYNCT4 05340 TC RESUME 6">005692,000223: 06,2165 00006 QUIKOFF EXTEND 01010 WRITE OUT0 35011 CAF BIT14 # RESET DSRUPTSW TO SEND DISPLAY NEXT PASS 12144 TCF QUIKRUPT 9">005697,000228: 06,2171 22400 14,11,9 OCT 22400 # PROGRAM NAME: IMUMON # FUNCTIONAL DESCRIPTION: THIS PROGRAM IS ENTERED EVERY 480 MS. IT DETECTS CHANGES OF THE IMU STATUS BITS IN # CHANNEL 30 AND CALLS THE APPROPRIATE SUBROUTINES. THE BITS PROCESSED AND THEIR RELEVANT SUBROUTINES ARE: # FUNCTION BIT SUBROUTINE CALLED # -------- --- ----------------- # TEMP IN LIMITS 15 TLIM # ISS TURN-ON REQUEST 14 ITURNON # IMU FAIL 13 IMUFAIL (SETISSW) # IMU CDU FAIL 12 ICDUFAIL (SETISSW) # IMU CAGE 11 IMUCAGE # IMU OPERATE 9 IMUOP # THE LAST SAMPLED STATE OF THESE BITS IS LEFT IN IMODES30. ALSO, EACH SUBROUTINE CALLED FINDS THE NEW # VALUE OF THE BIT IN A, WITH Q SET TO THE PROPER RETURN LOCATION, NXTIFAIL. # CALLING SEQUENCE: T4RUPT EVERY 480 MILLISECONDS. # JOBS OR TASKS INITIATED: NONE. # SUBROUTINES CALLED: TLIM, ITURNON, SETISSW, IMUCAGE, IMUOP. # ERASABLE INITIALIZATION: # FRESH START OR RESTART WITH NO GROUPS ACTIVE: C(IMODES30) = OCT 37411. # RESTART WITH ACTIVE GROUPS: C(IMODES30) = (B(IMODES30)AND(OCT 00035)) PLUS OCT 37400. # THIS LEAVES IMU FAIL BITS INTACT. # ALARMS: NONE. # EXIT: TNONTEST. # OUTPUT: UPDATED IMODES30 WITH CHANGES PROCESSED BY APPROPRIATE SUBROUTINE. >005733,000264: 06,2172 31304 IMUMON CA IMODES30 # SEE IF THERE HAS BEEN A CHANGE IN THE 00006 EXTEND # RELEVANT BITS OF CHAN 30. 06030 RXOR CHAN30 72763 MASK 30RDMSK 00006 EXTEND 12227 BZF TNONTEST # NO CHANGE IN STATUS. 54070 TS RUPTREG1 # SAVE BITS WHICH HAVE CHANGED. 23304 LXCH IMODES30 # UPDATE IMODES30. 00006 EXTEND 06001 RXOR LCHAN 55304 TS IMODES30 45026 CS ONE 56070 XCH RUPTREG1 00006 EXTEND 62521 BZMF TLIM # CHANGE IN IMU TEMP. 12213 TCF NXTIFBIT # BEGIN BIT SCAN. 65026 -1 AD ONE # (RE-ENTERS HERE FROM NXTIFAIL.) 954">005754,000285: 06,2213 24070 NXTIFBIT INCR RUPTREG1 # ADVANCE BIT POSITION NUMBER. 60000 +1 DOUBLE 54000 TS A # SKIP IF OVERFLOW. 12213 TCF NXTIFBIT # LOOK FOR BIT. 56071 XCH RUPTREG2 # SAVE OVERFLOW-CORRECTED DATA. 50070 INDEX RUPTREG1 # SELECT NEW VALUE OF THIS BIT. 35011 CAF BIT14 71304 MASK IMODES30 50070 INDEX RUPTREG1 02757 TC IFAILJMP 94C">005766,000297: 06,2225 10071 NXTIFAIL CCS RUPTREG2 # PROCESS ANY ADDITIONAL CHANGES. 12212 TCF NXTIFBIT -1 # PROGRAM NAME: TNONTEST. # FUNCTIONAL DESCRIPTION: THIS PROGRAM HONORS REQUESTS FOR ISS INITIALIZATION. ISS TURN-ON (CHANNEL 30 BIT 14) # AND ISS OPERATE (CHANNEL 30 BIT 9) REQUESTS ARE TREATED AS A PAIR AND PROCESSING TAKES PLACE .480 SECONDS # AFTER EITHER ONE APPEARS. THIS INITIALIZATION TAKES ON ONE OF THE FOLLOWING THREE FORMS: # 1) ISS TURN-ON: IN THIS SITUATION THE COMPUTER IS OPERATING WHEN THE ISS IS TURNED ON. NOMINALLY, # BOTH ISS TURN-ON AND ISS OPERATE APPEAR. THE PLATFORM IS CAGED FOR 90 SECONDS AND THE ICDU'S ZEROED # SO THAT AT THE END OF THE PROCESS THE GIMBAL LOCK MONITOR WILL FUNCTION PROPERLY. # 2) ICDU INITIALIZATION: IN THIS CASE THE COMPUTER WAS PROBABLY TURNED ON WITH THE ISS IN OPERATE OR # A FRESH START WAS DONE WITH THE ISS IN OPERATE. IN THIS CASE ONLY ISS OPERATE IS ON. THE ICDU'S ARE # ZEROED SO THE GIMBAL LOCK MONITOR WILL FUNCTION. AN EXCEPTION IS IF THE ISS IS IN GIMBAL LOCK AFTER # A RESTART, THE ICDU'S WILL NOT BE ZEROED. # 3) RESTART WITH RESTARTABLE PROGRAM USING THE IMU: IN THIS CASE, NO INITIALIZATION TAKES PLACE SINCE # IT IS ASSUMED THAT THE USING PROGRAM DID THE INITIALIZATION AND THEREFORE T4RUPT SHOULD NOT INTERFERE. # IMODES30 BIT 7 IS SET = 1 BY THE FIRST BIT (CHANNEL 30 BIT 14 OR 9) WHICH ARRIVES. FOLLOWING THIS. TNONTEST IS # ENTERED, FINDS BIT 7 = 1 BUT BIT 8 = 0, SO IT SETS BIT 8 = 1 AND EXITS. THE NEXT TIME IT FINDS BIT 8 = 1 AND # PROCEEDS, SETTING BITS 8 AND 7 = 0. AT PROCTNON, IF ISS TURN-ON REQUEST IS PRESENT, THE ISS IS CAGED (ZERO + # COARSE). IF ISS OPERATE IS NOT PRESENT PROGRAM ALARM 00213 IS ISSUED. AT THE END OF A 90 SECOND CAGE, BIT 2 # OF IMODES30 IS TESTED. IF IT IS = 1, ISS TURN-ON WAS NOT PRESENT FOR THE ENTIRE 90 SECONDS. IN THAT CASE, IF # THE ISS TURN-ON REQUEST IS PRESENT THE 90 SECOND WAIT IS REPEATED, OTHERWISE NO ACTION OCCURS UNLESS A PROGRAM # WAS WAITING FOR THE INITIALIZATION IN WHICH CASE THE PROGRAM IS GIVEN AN IMUSTALL ERROR RETURN. IF THE DELAY # WENT PROPERLY, THE ISS DELAY OUTBIT IS SENT AND THE ICDU'S ZEROED. A TASK IS INITIATED TO REMOVE THE PIPA FAIL # INHIBIT BIT IN 10.24 SECONDS. IF A MISSION PROGRAM WAS WAITING IT IS INFORMED VIA ENDIMU. # AT PROCTNON, IF ONLY ISS OPERATE IS PRESENT (OPONLY), THE CDU'S ARE ZEROED UNLESS THE PLATFORM IS IN COARSE # ALIGN (= GIMBAL LOCK HERE) OR A MISSION PROGRAM IS USING THE IMU (IMUSEFLG = 1). # CALLING SEQUENCE: T4RUPT EVERY 480 MILLISECONDS AFTER IMUMON. # JOBS OR TASKS INITIATED: 1) ENDTNON, 90 SECONDS AFTER CAGING STARTED. 2) ISSUP, 4 SECONDS AFTER CAGING DONE. # 3) PFAILOK, 10.24 SECONDS AFTER INITIALIZATION COMPLETED. 4) UNZ2, 320 MILLISECONDS AFTER ZEROING # STARTED. # SUBROUTINES CALLED: CAGESUB, CAGESUB2, ZEROICDU, ENDIMU, IMUBAD, NOATTOFF, SETISSW, VARDELAY. # ERASABLE INITIALIZATION: SEE IMUMON. # ALARMS: PROGRAM ALARM 00213 IF ISS TURN-ON REQUESTED WITHOUT ISS OPERATE. # EXIT: ENDTNON EXITS TO C33TEST. TASKS HAVING TO DO WITH INITIALIZATION EXIT AS FOLLOWS: MISSION PROGRAM # WAITING AND INITIALIZATION COMPLETE, EXIT TO ENDIMU, MISSION PROGRAM WAITING AND INITIALIZATION FAILED, EXIT TO # IMUBAD, IMU NOT IN USE, EXIT TO TASKOVER. # OUTPUT: ISS INITIALIZED. 354">005818,000349: 06,2227 41304 TNONTEST CS IMODES30 # AFTER PROCESSING ALL CHANGES, SEE IF IT 75020 MASK BIT7 # IS TIME TO ACT ON A TURN-ON SEQUENCE. 10000 CCS A 12401 TCF C33TEST # NO - EXAMINE CHANNEL 33. 35017 CAF BIT8 # SEE IF FIRST SAMPLE OR SECOND. 71304 MASK IMODES30 10000 CCS A 12242 TCF PROCTNON # REACT AFTER SECOND SAMPLE. 35017 CAF BIT8 # IF FIRST SAMPLE, SET BIT TO REACT NEXT 27304 ADS IMODES30 # TIME. 12401 TCF C33TEST # PROCESS IMU TURN-ON REQUESTS AFTER WAITING 1 SAMPLE FOR ALL SIGNALS TO ARRIVE. F4E">005835,000366: 06,2242 43002 PROCTNON CS BITS7&8 71304 MASK IMODES30 55304 TS IMODES30 75011 MASK BIT14 # SEE IF TURN-ON REQUEST. 10000 CCS A 12354 TCF OPONLY # OPERATE ON ONLY. 41304 CS IMODES30 # IF TURN-ON REQUEST, WE SHOULD HAVE IMU 75016 MASK BIT9 # OPERATE. 10000 CCS A 12256 TCF +3 05651 TC ALARM # ALARM IF NOT. 00213 OCT 213 02737 +3 TC CAGESUB 33010 CAF 90SECS 05252 TC WAITLIST EBANK= M11 02266 14006 2CADR ENDTNON 12401 TCF C33TEST >005858,000389: 06,2264 33010 RETNON CAF 90SECS 05274 TC VARDELAY E">005861,000392: 06,2266 45025 ENDTNON CS BIT2 # RESET TURN-ON REQUEST FAIL BIT. 71304 MASK IMODES30 57304 XCH IMODES30 75025 MASK BIT2 # IF IT WAS OFF, SEND ISS DELAY COMPLETE. 00006 EXTEND 12306 BZF ENDTNON2 35011 CAF BIT14 # IF IT WAS ON AND TURN-ON REQUEST NOW 71304 MASK IMODES30 # PRESENT, RE-ENTER 90 SEC DELAY IN WL. 00006 EXTEND 12264 BZF RETNON 40074 CS FLAGWRD0 # IF IT IS NOT ON NOW, SEE IF A PROG WAS 75017 MASK IMUSEBIT # WAITING. 10000 CCS A 15331 TCF TASKOVER 04674 TC POSTJUMP 17550 CADR IMUBAD # UNSUCCESSFUL TURN-ON. E32">005881,000412: 06,2306 35010 ENDTNON2 CAF BIT15 # SEND ISS DELAY COMPLETE. 00006 EXTEND 05012 WOR CHAN12 04737 TC IBNKCALL # TURN OFF NO ATT LAMP. 17177 CADR NOATTOFF >005888,000419: 06,2313 07722 UNZ2 TC ZEROICDU 42776 CS BITS4&5 # REMOVE ZERO AND COARSE. 00006 EXTEND 03012 WAND CHAN12 35014 CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS 05274 TC VARDELAY /a>005897,000428: 06,2321 42777 ISSUP CS OCT54 # REMOVE CAGING, IMU FAIL INHIBIT, AND 71304 MASK IMODES30 # ICDUFAIL INHIBIT FLAGS. 55304 TS IMODES30 45021 CS BIT6 # ENABLE DAP 71305 MASK IMODES33 55305 TS IMODES33 40076 CS FLAGWRD2 # TEST DRIFTFLG: IF ON, DO NOTHING BECAUSE 75010 MASK DRFTBIT # IMUCOMP SHOULD BE ALL SET UP(RESTART 00006 EXTEND # WITH IMUSE DOWN). IF OFF, SET DRIFTFLG 12336 BZF +4 # AND 1/PIPADT TO GET FREEFALL IMUCOMP 26076 ADS FLAGWRD2 # GOING (FRESH START OR ISS TURN-ON). 30025 CA TIME1 57075 XCH 1/PIPADT # CANNOT GET HERE IF RESTART WITH IMUSE UP 02705 TC SETISSW # ISS WARNING MIGHT HAVE BEEN INHIBITED. 45010 CS BIT15 # REMOVE IMU DELAY COMPLETE DISCRETE. 00006 EXTEND 03012 WAND CHAN12 35053 CAF 4SECS # DONT ENABLE PROG ALARM ON PIP FAIL FOR 05252 TC WAITLIST # ANOTHER 4 SECS. EBANK= CDUIND 03165 16003 2CADR PFAILOK 40074 CS STATE # SEE IF ANYONE IS WAITING FOR THE IMU AT 75017 MASK IMUSEFLG # IMUZERO. IF SO, WAKE THEM UP. 10000 CCS A 15331 TCF TASKOVER 04674 TC POSTJUMP 17542 CADR ENDIMU >005933,000464: 06,2354 35023 OPONLY CAF BIT4 # IF OPERATE ON ONLY, AND WE ARE IN COARSE 00006 EXTEND # ALIGN, DONT ZERO THE CDUS BECAUSE WE 02012 RAND CHAN12 # MIGHT BE IN GIMBAL LOCK 10000 CCS A 12401 TCF C33TEST 35017 CAF IMUSEBIT # OTHERWISE, ZERO THE COUNTERS. 70074 MASK FLAGWRD0 # UNLESS SOMEONE IS USING THE IMU. 10000 CCS A 12401 TCF C33TEST 02750 TC CAGESUB2 # SET TURNON FLAGS. F">005946,000477: 06,2366 04737 ISSZERO TC IBNKCALL # TURN OFF NO ATT LAMP 17177 CADR NOATTOFF # IMU CAGE OFF ENTRY 35022 CAF BIT5 # ISS CDU ZERO 00006 EXTEND 05012 WOR CHAN12 07722 TC ZEROICDU 35021 CAF BIT6 # WAIT 300 MS FOR AGS TO RECEIVE SIGNAL. 05252 TC WAITLIST EBANK= M11 02313 14006 2CADR UNZ2 12401 TCF C33TEST # PROGRAM NAME: C33TEST # FUNCTIONAL DESCRIPTION: THIS PROGRAM MONITORS THREE FLIP-FLOP INBITS OF CHANNEL 33 AND CALLS THE APPROPRIATE # SUBROUTINE TO PROCESS A CHANGE. IT IS ANALOGOUS TO IMUMON, WHICH MONITORS CHANNEL 30, EXCEPT THAT IT READS # CHANNEL 33 WITH A WAND INSTRUCTION BECAUSE A 'WRITE' PULSE IS REQUIRED TO RESET THE FLIP-FLOPS. THE BITS # PROCESSED AND THE SUBROUTINES CALLED ARE: # BIT FUNCTION SUBROUTINE # --- -------- ---------- # 13 PIPA FAIL PIPFAIL # 12 DOWNLINK TOO FAST DNTMFAST # 11 UPLINK TOO FAST UPTMFAST # UPON ENTRY TO THE SUBROUTINE, THE NEW BIT STATE IS IN A. # CALLING SEQUENCE: EVERY 480 MILLISECONDS AFTER TNONTEST. # JOBS OR TASKS INITIATED: NONE. # SUBROUTINES CALLED: PIPFAIL, DNTMFAST AND UPTMFAST ON BIT CHANGES. # ERASABLE INITIALIZATION: C(IMODES33) = OCT 16000 ON A FRESH START OR RESTART, THEREFORE, THESE ALARMS WILL # REAPPEAR IF THE CONDITIONS PERSIST. # ALARMS: NONE. # EXIT: GLOCKMON. # OUTPUT: UPDATED BITS 13, 12 AND 11 OF IMODES33 WITH CHANGES PROCESSED. 4">005991,000522: 06,2401 31305 C33TEST CA IMODES33 # SEE IF RELEVANT CHAN33 BITS HAVE 75076 MASK 33RDMSK 54001 TS L # CHANGED. 35076 CAF 33RDMSK 00006 EXTEND 03033 WAND CHAN33 # RESETS FLIP-FLOP INPUTS 00006 EXTEND 06001 RXOR LCHAN 00006 EXTEND 12441 BZF GLOCKMON # ON NO CHANGE. 54070 TS RUPTREG1 # SAVE BITS WHICH HAVE CHANGED. 23305 LXCH IMODES33 00006 EXTEND 06001 RXOR LCHAN 55305 TS IMODES33 # UPDATED IMODES33. 35030 CAF ZERO 56070 XCH RUPTREG1 60000 DOUBLE 12426 TCF NXTIBT +1 # SCAN FOR BIT CHANGES. 65026 -1 AD ONE >006015,000546: 06,2425 24070 NXTIBT INCR RUPTREG1 60000 +1 DOUBLE 54000 TS A # (CODING IDENTICAL TO CHAN 30). 12425 TCF NXTIBT 56071 XCH RUPTREG2 50070 INDEX RUPTREG1 # GET NEW VALUE OF BIT WHICH CHANGED. 35012 CAF BIT13 71305 MASK IMODES33 50070 INDEX RUPTREG1 02765 TC C33JMP 3">006027,000558: 06,2437 10071 NXTFL33 CCS RUPTREG2 # PROCESS POSSIBLE ADDITIONAL CHANGES. 12424 TCF NXTIBT -1 # PROGRAM NAME: GLOCKMON # FUNCTIONAL DESCRIPTION: THIS PROGRAM MONITORS THE CDUZ COUNTER TO DETERMINE WHETHER THE ISS IS IN GIMBAL LOCK # AND TAKES ACTION IF IT IS. THREE REGIONS OF MIDDLE GIMBAL ANGLE (MGA) ARE USED: # 1) ABS(MGA) LESS THAN OR EQUAL TO 70 DEGREES - NORMAL MODE. # 2) ABS(MGA) GREATER THAN 70 DEGREES AND LESS THAN OR EQUAL TO 85 DEGREES - GIMBAL LOCK LAMP TURNED ON. # 3) ABS(MGA) GREATER THAN 85 DEGREES - ISS PUT IN COARSE ALIGN AND NO ATT LAMP TURNED ON. # CALLING SEQUENCE: EVERY 480 MILLISECONDS AFTER C33TEST. # JOBS OR TASKS INITIATED: NONE. # SUBROUTINES CALLED: 1) SETCOARS WHEN ABS(MGA) GREATER THAN 85 DEGREES AND ISS NOT IN COARSE ALIGN. # 2) LAMPTEST BEFORE TURNING OFF GIMBAL LOCK LAMP. # ERASABLE INITIALIZATION: # 1) FRESH START OR RESTART WITH NO GROUPS ACTIVE: C(CDUZ) = 0, IMODES30 BIT 6 = 0, IMODES33 BIT 1 = 0. # 2) RESTART WITH GROUPS ACTIVE: SAME AS FRESH START EXCEPT C(CDUZ) NOT CHANGED SO GIMBAL MONITOR # PROCEEDS AS BEFORE. # ALARMS: 1) MGA REGION (2) CAUSES GIMBAL LOCK LAMP TO BE LIT. # 2) MGA REGION (3) CAUSES THE ISS TO BE PUT IN COARSE ALIGN AND THE NO ATT LAMP TO BE LIT IF EITHER NOT # SO ALREADY. F4E">006055,000586: 06,2441 10034 GLOCKMON CCS CDUZ 12446 TCF GLOCKCHK # SEE IF MAGNITUDE OF MGA IS GREATER THAN 12472 TCF SETGLOCK # 70 DEGREES. 12446 TCF GLOCKCHK 12472 TCF SETGLOCK 84B">006061,000592: 06,2446 62517 GLOCKCHK AD -70DEGS 00006 EXTEND 62471 BZMF SETGLOCK -1 # NO LOCK. 62520 AD -15DEGS # SEE IF ABS(MGA) GREATER THAN 85 DEGREES. 00006 EXTEND 62467 BZMF NOGIMRUN 35023 CAF BIT4 # IF SO, SYSTEM SHOULD BE IN COARSE ALIGN 00006 EXTEND # TO PREVENT GIMBAL RUNAWAY. 02012 RAND CHAN12 10000 CCS A 12467 TCF NOGIMRUN 04737 TC IBNKCALL 17055 CADR SETCOARS 36216 CAF SIX # ENABLE ISS ERROR COUNTERS IN 60 MS 05252 TC WAITLIST EBANK= CDUIND 03051 16003 2CADR CA+ECE 54E">006084,000615: 06,2467 35021 NOGIMRUN CAF BIT6 # TURN ON GIMBAL LOCK LAMP. 12472 TCF SETGLOCK 35030 -1 CAF ZERO 34B">006088,000619: 06,2472 61037 SETGLOCK AD DSPTAB +11D # SEE IF PRESENT STATE OF GIMBAL LOCK LAMP 75021 MASK BIT6 # AGREES WITH DESIRED STATE BY HALF ADDING 00006 EXTEND # THE TWO. 15340 BZF GLOCKOK # OK AS IS. 71037 MASK DSPTAB +11D # IF OFF, DONT TURN ON IF IMU BEING CAGED. 10000 CCS A 12514 TCF GLAMPTST # TURN OFF UNLESS LAMP TEST IN PROGRESS. 35021 CAF BIT6 71304 MASK IMODES30 10000 CCS A 15340 TCF GLOCKOK 254">006102,000633: 06,2505 41037 GLINVERT CS DSPTAB +11D # INVERT GIMBAL LOCK LAMP. 75021 MASK BIT6 65010 AD BIT15 # TO INDICATE CHANGE IN DSPTAB +11D. 57037 XCH DSPTAB +11D 72162 MASK OCT37737 27037 ADS DSPTAB +11D 15340 TCF GLOCKOK 354">006110,000641: 06,2514 02770 GLAMPTST TC LAMPTEST # TURN OFF UNLESS LAMP TEST IN PROGRESS. 15340 TCF GLOCKOK 12505 TCF GLINVERT 3">006114,000645: 06,2517 63434 -70DEGS DEC -.38888 # -70 DEGREES SCALED IN HALF-REVOLUTIONS. 3">006115,000646: 06,2520 75252 -15DEGS DEC -.08333 # PROGRAM NAME: TLIM. # FUNCTIONAL DESCRIPTION: THIS PROGRAM MAINTAINS THE TEMP LAMP (BIT 4 OF CHANNEL 11) ON THE DSKY TO AGREE WITH # THE TEMP SIGNAL FROM THE ISS (BIT 15 OF CHANNEL 30). HOWEVER, THE LIGHT WILL NOT BE TURNED OFF IF A LAMP TEST # IS IN PROGRESS. # CALLING SEQUENCE: CALLED BY IMUMON ON A CHANGE OF BIT 15 OF CHANNEL 30. # JOBS OR TASKS INITIATED: NONE. # SUBROUTINES CALLED: LAMPTEST. # ERASABLE INITIALIZATION: FRESH START AND RESTART TURN THE TEMP LAMP OFF. # ALARMS: TEMP LAMP TURNED ON WHEN IMU TEMP GOES OUT OF LIMITS. # EXIT: NXTIFAIL. # OUTPUT: SERVICE OF TEMP LAMP. IN A, EXCEPT FOR TLIM. >006137,000668: 06,2521 75006 TLIM MASK POSMAX # REMOVE BIT FROM WORD OF CHANGES AND SET 54071 TS RUPTREG2 # DSKY TEMP LAMP ACCORDINGLY. 11304 CCS IMODES30 12532 TCF TEMPOK 12532 TCF TEMPOK 35023 CAF BIT4 # TURN ON LAMP. 00006 EXTEND 05011 WOR DSALMOUT 12225 TCF NXTIFAIL >006149,000680: 06,2532 02770 TEMPOK TC LAMPTEST # IF TEMP NOW OK, DONT TURN OFF LAMP IF 12225 TCF NXTIFAIL # LAMP TEST IN PROGRESS. 45023 CS BIT4 00006 EXTEND 03011 WAND DSALMOUT # TURN OFF LAMP 12225 TCF NXTIFAIL # PROGRAM NAME: ITURNON. # FUNCTIONAL DESCRIPTION: THIS PROGRAM IS CALLED BY IMUMON WHEN A CHANGE OF BIT 14 OF CHANNEL 30 (ISS TURN-ON # REQUEST) IS DETECTED. UPON ENTRY, ITURNON CHECKS IF A TURN-ON DELAY SEQUENCE HAS FAILED, AND IF SO, IT EXITS. # IF NOT, IT CHECKS WHETHER THE TURN-ON REQUEST CHANGE IS TO ON OR OFF. IF ON, IT SETS BIT7 OF IMODES30 TO 1 SO # THAT TNONTEST WILL INITIATE THE ISS INITIALIZATION SEQUENCE. IF OFF, THE TURN-ON DELAY SIGNAL, CHANNEL 12 BIT # 15, IS CHECKED AND IF IT IS ON, ITURNON EXITS. IF THE DELAY SIGNAL IS OFF, PROGRAM ALARM 00207 IS ISSUED, BIT 2 # OF IMODES30 IS SET TO 1 AND THE PROGRAM EXITS. # THE SETTING OF BIT 2 OF IMODES30 (ISS DELAY SEQUENCE FAIL) INHIBITS THIS ROUTINE AND IMUOP FROM # PROCESSING ANY CHANGES. THIS BIT WILL BE RESET BY THE ENDTNON ROUTINE WHEN THE CURRENT 90 SECOND DELAY PERIOD # ENDS. # CALLING SEQUENCE: FROM IMUMOM WHEN ISS TURN-ON REQUEST CHANGES STATE. # JOBS OR TASKS INITIATED: NONE. # SUBROUTINES CALLED: ALARM, IF THE ISS TURN-ON REQUEST IS NOT PRESENT FOR 90 SECONDS. # ERASABLE INITIALIZATION: FRESH START AND RESTART SET BIT 15 OF CHANNEL 12 AND BITS 2 AND 7 OF IMODES30 TO 0, # AND BIT 14 OF IMODES30 TO 1. # ALARMS: PROGRAM ALARM 00207 IS ISSUED IF THE ISS TURN-ON REQUEST SIGNAL IS NOT PRESENT FOR 90 SECONDS. # EXIT: NXTIFAIL. # OUTPUT: BIT 7 OF IMODES30 TO START ISS INITIALIZATION, OR BIT 2 OF IMODES30 AND PROGRAM ALARM 00207 TO INDICATE # A FAILED TURN-ON SEQUENCE. E">006185,000716: 06,2540 35025 ITURNON CAF BIT2 # IF DELAY REQUEST HAS GONE OFF 71304 MASK IMODES30 # PREMATURELY, DO NOT PROCESS ANY CHANGES 10000 CCS A # UNTIL THE CURRENT 90 SEC WAIT EXPIRES. 12225 TCF NXTIFAIL 35011 CAF BIT14 # SEE IF JUST ON OR OFF. 71304 MASK IMODES30 00006 EXTEND 12563 BZF ITURNON2 # IF JUST ON. 35010 CAF BIT15 00006 EXTEND # SEE IF DELAY PRESENT DISCRETE HAS BEEN 02012 RAND CHAN12 # SENT. IF SO, ACTION COMPLETE 00006 EXTEND 12556 BZF +2 12225 TCF NXTIFAIL 35025 CAF BIT2 # IF NOT, SET BIT TO INDICATE REQUEST NOT 27304 ADS IMODES30 # PRESENT FOR FULL DURATION. 05651 TC ALARM 00207 OCT 207 12225 TCF NXTIFAIL E32">006208,000739: 06,2563 41304 ITURNON2 CS IMODES30 # SET BIT7 TO INDICATE WAIT OF 1 SAMPLE 75020 MASK BIT7 27304 ADS IMODES30 32571 CAF RRINIT 55101 TS RADMODES 12225 TCF NXTIFAIL >006215,000746: 06,2571 00102 RRINIT OCT 00102 # PROGRAM NAME: IMUCAGE. # FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES OF THE IMUCAGE INBIT, CHANNEL 30 BIT 11. IF THE BIT # CHANGES TO 0 (CAGE BUTTON PRESSED), THE ISS IS CAGED (ICDU ZERO + COARSE ALIGN + NO ATT LAMP) UNTIL THE # ASTRONAUT SELECTS ANOTHER PROGRAM TO ALIGN THE ISS. ANY PULSE TRAINS TO THE ICDU'S AND GYRO'S ARE TERMINATED, # THE ASSOCIATED OUTCOUNTERS ARE ZEROED AND THE GYRO'S ARE DE-SELECTED. NO ACTION OCCURS WHEN THE BUTTON IS # RELEASED (INBIT CHANGES TO 1). # CALLING SEQUENCE: BY IMUMON WHEN IMU CAGE BIT CHANGES. # JOBS OR TASKS INITIATED: NONE. # SUBROUTINES CALLED: CAGESUB. # ERASABLE INITIALIZATION: FRESH START AND RESTART SET BIT 11 OF IMODES30 TO 1. # ALARMS: NONE. # EXIT: NXTIFAIL. # OUTPUT: ISS CAGED, COUNTERS ZEROED, PULSE TRAINS TERMINATED AND NO ATT LAMP LIT. 5">006239,000770: 06,2572 10000 IMUCAGE CCS A # NO ACTION IF GOING OFF. 12366 TCF ISSZERO 43005 CS OCT77000 # TERMINATE ICDU,RCDU, GYRO PULSE TRAINS 00006 EXTEND 03014 WAND CHAN14 43001 CS OCT272 # KNOCK DOWN DISPLAY INERTIAL DATA, IMU 00006 EXTEND # ERROR COUNTER ENABLE, ZERO ICDU, COARSE 03012 WAND CHAN12 # ALIGN ENABLE, RR ERROR COUNTER ENABLE. 44367 CS PRIO30 # TURN ENGINE OFF. 00006 EXTEND 02011 RAND DSALMOUT 65011 AD BIT14 00006 EXTEND 01011 WRITE DSALMOUT # FORCE BIT14=1, BIT13=0. 02745 TC CAGESUB1 04737 TC IBNKCALL # KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS 17106 CADR RNDREFDR 45030 CS ZERO 54050 TS CDUXCMD 54051 TS CDUYCMD 54052 TS CDUZCMD 54047 TS GYROCMD 43004 CS OCT740 # HAVING WAITED AT LEAST 27 MCT FROM 00006 EXTEND # GYRO PULSE TRAIN TERMINATION, WE CAN 03014 WAND CHAN14 # DE-SELECT THE GYROS 12225 TCF NXTIFAIL # PROGRAM NAME: IMUOP. # FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES IN THE ISS OPERATE DISCRETE, BIT 9 OF CHANNEL 30. # IF THE INBIT CHANGES TO 0, INDICATING ISS ON, IMUOP GENERALLY SETS BIT 7 OF IMODES30 TO 1 TO REQUEST ISS # INITIALIZATION VIA TNONTEST. AN EXCEPTION IS DURING A FAILED ISS DELAY DURING WHICH BIT 2 OF IMODES30 IS SET # TO 1 AND NO FURTHER INITIALIZATION IS REQUIRED. WHEN THE INBIT CHANGES TO 1, INDICATING ISS OFF, IMUSEFLG IS # TESTED TO SEE IF ANY PROGRAM WAS USING THE ISS. IF SO, PROGRAM ALARM 00214 IS ISSUED. # CALLING SEQUENCE: BY IMUMON WHEN BIT 9 OF CHANNEL 30 CHANGES. # JOBS OR TASKS INITIATED: NONE. # SUBROUTINES CALLED: ALARM, IF ISS IS TURNED OFF WHILE IN USE. # ERASABLE INITIALIZATION: ON FRESH START AND RESTART, BIT 9 OF IMODES30 IS SET TO 1 EXCEPT WHEN THE GIMBAL LOCK # LAMP IS ON, IN WHICH CASE IT IS SET TO 0. THIS PREVENTS ICDU ZERO BY TNONTEST WITH THE ISS IN GIMBAL LOCK. # ALARMS: PROGRAM ALARM 00214 IF THE ISS IS TURNED OFF WHILE IN USE. # EXIT: NXTIFAIL. # OUTPUT: ISS INITIALIZATION REQUEST (IMODES30 BIT 7) OR PROGRAM ALARM 00214. /a>006296,000827: 06,2624 00006 IMUOP EXTEND 12645 BZF IMUOP2 41305 CS IMODES33 # DISABLE DAP 75021 MASK BIT6 27305 ADS IMODES33 04737 TC IBNKCALL # KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS 17106 CADR RNDREFDR 43002 CS BITS7&8 # KNOCK DOWN RENDEZVOUS, IMUUSE FLAGS 70074 MASK FLAGWRD0 56074 XCH FLAGWRD0 # IF GOING OFF, ALARM IF PROG USING IMU. 40000 COM 75017 MASK IMUSEFLG 10000 CCS A 12225 TCF NXTIFAIL 05651 TC ALARM 00214 OCT 214 12225 TCF NXTIFAIL >006318,000849: 06,2645 35025 IMUOP2 CAF BIT2 # SEE IF FAILED ISS TURN-ON SEQ IN PROG. 71304 MASK IMODES30 10000 CCS A 12225 TCF NXTIFAIL # IF SO, DONT PROCESS UNTIL PRESENT 90 12563 TCF ITURNON2 # SECONDS EXPIRES. # PROGRAM NAME: PIPFAIL # FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES OF BIT 13 OF CHANNEL 33, PIPA FAIL. IT SETS BIT 10 OF # IMODES30 TO AGREE. IT CALLS SETISSW IN CASE A PIPA FAIL NECESSITATES AN ISS WARNING. IF NOT, I.E., IMODES30 # BIT 1 = 1, AND A PIPA FAIL IS PRESENT AND THE ISS IS NOT BEING INITIALIZED, PROGRAM ALARM 00212 IS ISSUED. # CALLING SEQUENCE: BY C33TEST ON CHANGES OF CHANNEL 33 BIT 13. # JOBS OR TASKS INITIATED: NONE. # SUBROUTINES CALLED: 1) SETISSW, AND 2) ALARM (SEE FUNCTIONAL DESCRIPTION). # ERASABLE INITIALIZATION: SEE IMUMON FOR INITIALIZATION OF IMODES30. THE RELAVANT BITS ARE 5, 7, 8, 9, AND 10. # ALARMS: PROGRAM ALARM 00212 IF PIPA FAIL IS PRESENT BUT NEITHER ISS WARNING IS TO BE ISSUED NOR THE ISS IS # BEING INITIALIZED. # EXIT: NXTFL33. # OUTPUT: PROGRAM ALARM 00212 AND ISS WARNING MAINTENANCE. C">006345,000876: 06,2652 10000 PIPFAIL CCS A # SET BIT10 IN IMODES30 SO ALL ISS WARNING 35015 CAF BIT10 # INFO IS IN ONE REGISTER. 57304 XCH IMODES30 73007 MASK -BIT10 27304 ADS IMODES30 02705 TC SETISSW 41304 CS IMODES30 # IF PIP FAIL DOESNT LIGHT ISS WARNING, DO 75026 MASK BIT1 # A PROGRAM ALARM IF IMU OPERATING BUT NOT 10000 CCS A # CAGED OR BEING TURNED ON. 12437 TCF NXTFL33 31304 CA IMODES30 73003 MASK OCT1720 10000 CCS A 12437 TCF NXTFL33 # ABOVE CONDITION NOT MET. 05651 TC ALARM 00212 OCT 212 12437 TCF NXTFL33 # PROGRAM NAMES: DNTMFAST, UPTMFAST # FUNCTIONAL DESCRIPTION: THESE PROGRAMS PROCESS CHANGES OF BITS 12 AND 11 OF CHANNEL 33. IF A BIT CHANGES TO A # 0, A PROGRAM ALARM IS ISSUED. THE ALARMS ARE: # BIT ALARM CAUSE # --- ----- ----- # 12 01105 DOWNLINK TOO FAST # 11 01106 UPLINK TOO FAST # CALLING SEQUENCE: BY C33TEST ON A BIT CHANGE. # SUBROUTINES CALLED: ALARM, IF A BIT CHANGES TO A 0. # ERASABLE INITIALIZATION: FRESH START OR RESTART, BITS 12 AND 11 OF IMODES33 ARE SET TO 1. # ALARMS: SEE FUNCTIONAL DESCRIPTION. # EXIT: NXTFL33. # OUTPUT: PROGRAM ALARM ON A BIT CHANGE TO 0. 354">006389,000920: 06,2673 10000 DNTMFAST CCS A # DO PROG ALARM IF TM TOO FAST. 12437 TCF NXTFL33 05651 TC ALARM 01105 OCT 1105 12437 TCF NXTFL33 354">006396,000927: 06,2700 10000 UPTMFAST CCS A # SAME AS DNLINK TOO FAST WITH DIFFERENT 12437 TCF NXTFL33 # ALARM CODE. 05651 TC ALARM 01106 OCT 1106 12437 TCF NXTFL33 # PROGRAM NAME: SETISSW # FUNCTIONAL DESCRIPTION: THIS PROGRAM TURNS THE ISS WARNING LAMP ON AND OFF (CHANNEL 11 BIT 1 = 1 FOR ON, # 0 FOR OFF) DEPENDING ON THE STATUS OF IMODES30 BITS 13 (IMU FAIL) AND 4 (INHIBIT IMU FAIL), 12 (ICDU FAIL) AND # 3 (INHIBIT ICDU FAIL), AND 10 (PIPA FAIL) AND 1 (INHIBIT PIPA FAIL). THE LAMP IS LEFT ON IF A LAMP TEST IS IN # PROGRESS. # CALLING SEQUENCE: CALLED BY IMUMON ON CHANGES TO IMU FAIL AND ICDU FAIL. CALLED BY IFAILOK AND PFAILOK UPON # REMOVAL OF THE FAIL INHIBITS. CALLED BY PIPFAIL WHEN THE PIPA FAIL DISCRETE CHANGES. IT IS CALLED BY PIPUSE # SINCE THE PIPA FAIL PROGRAM ALARM MAY NECESSITATE AN ISS WARNING, AND LIKEWISE BY PIPFREE WHEN THE ALARM DEPARTS # AND IT IS CALLED BY IMUZERO3 AND ISSUP AFTER THE FAIL INHIBITS HAVE BEEN REMOVED. # JOBS OR TASKS INITIATED: NONE. # SUBROUTINES CALLED: NONE. # ERASABLE INITIALIZATION: # 1) IMODES30 - SEE IMUMON. # 2) IMODES33 BIT 1 = 0 (LAMP TEST NOT IN PROGRESS). # ALARMS: ISS WARNING. # THE FOLLOWING PROGRAM ALARMS WILL SHOW WHICH FAILURE CAUSED THE ISS WARN # PROGRAM ALARM 00777 PIPA FAIL # PROGRAM ALARM 03777 ICDU FAIL # PROGRAM ALARM 04777 ICDU , PIPA FAILS # PROGRAM ALARM 07777 IMU FAIL # PROGRAM ALARM 10777 IMU , PIPA FAILS # PROGRAM ALARM 13777 IMU , ICDU FAILS # PROGRAM ALARM 14777 IMU , ICDU , PIPA FAILS # EXIT: VIA Q. # OUTPUT: ISS WARNING LAMP SET PROPERLY. 7">006438,000969: 06,2705 35034 SETISSW CAF OCT15 # SET ISS WARNING USING THE FAIL BITS IN 71304 MASK IMODES30 # BITS 13, 12, AND 10 OF IMODES30 AND THE 00006 EXTEND # FAILURE INHIBIT BITS IN POSITIONS 75015 MP BIT10 # 4, 3, AND 1. 31304 CA IMODES30 00006 EXTEND 04001 ROR LCHAN # 0 INDICATES FAILURE 40000 COM 75075 MASK OCT15000 10000 CCS A 12730 TCF ISSWON # FAILURE. 6">006450,000981: 06,2720 35026 ISSWOFF CAF BIT1 # DONT TURN OFF ISS WARNING IF LAMP TEST 71305 MASK IMODES33 # IN PROGRESS. 10000 CCS A 00002 TC Q 45026 CS BIT1 00006 EXTEND 03011 WAND DSALMOUT 00002 TC Q >006461,000992: 06,2730 00006 ISSWON EXTEND 22066 QXCH ITEMP6 05741 TC VARALARM # TELL EVERYONE WHAT CAUSED THE ISSWARNING 35026 CAF BIT1 00006 EXTEND 05011 WOR DSALMOUT 00066 TC ITEMP6 2">006469,001000: 06,2737 43006 CAGESUB CS BITS6&15 # SET OUTBITS AND INTERNAL FLAGS FOR 00006 EXTEND # SYSTEM TURN-ON OR CAGE. DISABLE THE 03012 WAND CHAN12 # ERROR COUNTER AND REMOVE IMU DELAY COMP. 32776 CAF BITS4&5 # SEND ZERO AND COARSE. 00006 EXTEND 05012 WOR CHAN12 231">006476,001007: 06,2745 41037 CAGESUB1 CS DSPTAB +11D # TURN ON NO ATT LAMP 72775 MASK OC40010 27037 ADS DSPTAB +11D 232">006480,001011: 06,2750 41304 CAGESUB2 CS IMODES30 # SET FLAGS TO INDICATE CAGING OR TURN-ON 73000 MASK OCT75 # AND INHIBIT ALL ISS WARNING INFO 27304 ADS IMODES30 41305 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES 75021 MASK BIT6 27305 ADS IMODES33 00002 TC Q C">006490,001021: 06,2757 06,2705 IMUFAIL EQUALS SETISSW 94C">006491,001022: 06,2757 06,2705 ICDUFAIL EQUALS SETISSW # JUMP TABLES AND CONSTANTS. D50">006495,001026: 06,2757 12540 IFAILJMP TCF ITURNON # CHANNEL 30 DISPATCH. 12705 TCF IMUFAIL 12705 TCF ICDUFAIL 12572 TCF IMUCAGE B">006499,001030: 06,2763 76400 30RDMSK OCT 76400 # (BIT 10 NOT SAMPLED HERE). 12624 TCF IMUOP >006502,001033: 06,2765 12652 C33JMP TCF PIPFAIL # CHANNEL 33 DISPATCH. 12673 TCF DNTMFAST 12700 TCF UPTMFAST # SUBROUTINE TO SKIP IF LAMP TEST NOT IN PROGRESS. 354">006507,001038: 06,2770 41305 LAMPTEST CS IMODES33 # BIT 1 OF IMODES33 = 1 IF LAMP TEST IN 75026 MASK BIT1 # PROGRESS. 10000 CCS A 24002 INCR Q 00002 TC Q B">006513,001044: 06,2775 5076 33RDMSK EQUALS PRIO16 0">006514,001045: 06,2775 40010 OC40010 OCT 40010 5">006515,001046: 06,2776 00030 BITS4&5 OCT 30 /a>006516,001047: 06,2777 00054 OCT54 OCT 54 /a>006517,001048: 06,3000 00075 OCT75 OCT 75 >006518,001049: 06,3001 00272 OCT272 OCT 00272 8">006519,001050: 06,3002 00300 BITS7&8 OCT 300 0">006520,001051: 06,3003 01720 OCT1720 OCT 1720 >006521,001052: 06,3004 00740 OCT740 OCT 00740 030">006522,001053: 06,3005 5075 OCT15000 EQUALS PRIO15 030">006523,001054: 06,3005 77000 OCT77000 OCT 77000 135">006524,001055: 06,3006 40040 BITS6&15 OCT 40040 >006525,001056: 06,3007 76777 -BIT10 OCT -1000 >006527,001058: 06,3010 21450 90SECS DEC 9000 B-14 /a>006528,001059: 06,3011 5746 120MS = OCT14 # (DEC12) B">006529,001060: 06,3011 5340 GLOCKOK EQUALS RESUME # PROGRAM NAME_ RRAUTCHK # FUNCTIONAL DESCRIPTION_ # RRAUTCHK IS THE RENDEZVOUS RADAR INBIT MONITOR. INITIALLY THE RR # POWER ON AUTO (CHAN 33 BIT 2) INBIT IS CHECKED. IF NO CHANGE, THE # PROGRAM EXITS TO RRCDUCHK. IF A CHANGE, RADMODES IS UPDATED # AND A CHECK MADE IF RR POWER HAS JUST COME ON. IF JUST OFF, A CHECK # IS MADE TO SEE IF A PROGRAM WAS USING THE RR (STATE BIT 7). IF NO, # THE PROGRAM EXITS TO RRCDUCHK. IF YES, PROGRAM ALARM 00514 # IS REQUESTED BEFORE EXITING TO RRCDUCHK. IF RR POWER HAS JUST COME # ON, A CHECK IS MADE TO SEE IF A PROGRAM WAS USING THE RR (STATE BIT 7). # IF YES, THE PROGRAM EXITS TO RRCDUCHK WITHOUT REQUESTING THE TURN-ON # SEQUENCE. IF NO, RADMODES IS UPDATED TO INDICATE RR CDU ZERO AND # RR TURN-ON SEQUENCE (BITS 13, 1). A 10 MILLISECOND WAITLIST CALL # IS THEN SET FOR RRTURNON BEFORE THE PROGRAM EXITS TO NORRGMON. # CALLING SEQUENCE_ # T4RUPT EVERY 480 MILLISECONDS # ERASABLE INITIALIZATION REQUIRED_ # RADMODES, STATE # SUBROUTINES CALLED_ # WAITLIST # JOBS OR TASKS INITIATED_ # RRTURNON # ALARMS_ PROGRAM ALARM 00514 - RADAR GOES OUT OF AUTO MODE WHILE BEING # USED # EXIT_ RRCDUCHK, NORRGMON 84B">006564,001095: 06,3011 31101 RRAUTCHK CA RADMODES # SEE IF CHANGE IN RR AUTO MODE BIT. 00006 EXTEND 06033 RXOR CHAN33 75025 MASK BIT2 00006 EXTEND 13044 BZF RRCDUCHK 23101 LXCH RADMODES # UPDATE RADMODES. 00006 EXTEND 06001 RXOR LCHAN 55101 TS RADMODES 75025 MASK BIT2 # SEE IF JUST ON. 10000 CCS A 13041 TCF RRCDUCHK -3 # OFF. GO DISABLE RR CDU ERROR COUNTERS. 43040 CS OCT72001 # SET BITS TO INDICATE ZERO AND TURNON 71101 MASK RADMODES # IN PROGRESS. 63037 AD OCT10001 55101 TS RADMODES 35026 CAF ONE 05252 TC WAITLIST EBANK= LOSCOUNT 02053 52007 2CADR RRTURNON 13127 TCF NORRGMON 031">006590,001121: 06,3037 10001 OCT10001 OCT 10001 031">006591,001122: 06,3040 72001 OCT72001 OCT 72001 # PROGRAM NAME_ RRCDUCHK # FUNCTIONAL DESCRIPTION_ # RRCDUCHK CHECKS FOR RR CDU FAIL (CHAN 30 BIT 7). INITIALLY THE # RR CDU FAIL BIT IS SAMPLED (CHAN 30 BIT 7). IF NO CHANGE, THE # PROGRAM EXITS TO RRGIMON. IF A CHANGE, THE RR AUTO MODE # (RADMODES BIT 2) BIT IS CHECKED. IF NOT IN RR AUTO MODE, THE # PROGRAM EXITS TO NORRGMON. IF IN AUTO MODE, RADMODES BIT 7 # (RR CDU OK) IS UPDATED AND IF P-20 IS OPERATING PROGRAM ALARM 00515 IS # REQUESTED. CONTROL IS TRANSFERRED TO SETTRKF TO UPDATE # THE TRACKER FAIL LAMP (DSPTAB+11D BIT 8). CONTROL RETURNS TO # RRGIMON. # CALLING SEQUENCE_ # EVERY 480 MILLISECONDS FROM RRAUTCHK (VIA T4RUPT) UNLESS A # TURN-ON SEQUENCE HAS JUST BEEN INITIATED. # ERASABLE INITIALIZATION REQUIRED_ # RADMODES # SUBROUTINES CALLED_ # SETTRKF # JOBS OR TASKS INITIATED_ # NONE # ALARMS_ # TRACKER FAIL # PROGRAM ALARM 00515 - RRCDU FAIL DURING P-20 # EXIT_ # RRGIMON, NORRGMON 45025 -3 CS BIT2 00006 EXTEND 03012 WAND CHAN12 # AT TURNON, DISABLE CDU ERROR COUNTERS. 84B">006630,001161: 06,3044 31101 RRCDUCHK CA RADMODES # LAST SAMPLED BIT IN RADMODES. 00006 EXTEND 06030 RXOR CHAN30 75020 MASK BIT7 00006 EXTEND 13076 BZF RRGIMON 35025 CAF BIT2 # IF RR NOT IN AUTO MODE, DONT CHANGE BIT 71101 MASK RADMODES # 7 OF RADMODES. IF THIS WERE NOT DONE, 10000 CCS A # THE TRACKER FAIL MIGHT COME ON WHEN 13127 TCF NORRGMON # JUST READING LR DATA. 35020 CAF BIT7 # SET BIT 7 OF RADMODES FOR SETTRKF. 23101 LXCH RADMODES # UPDATE RADMODES. 00006 EXTEND 06001 RXOR L 55101 TS RADMODES 31101 CA RADMODES # DID RR CDU FAIL 75020 MASK BIT7 10000 CCS A 13075 TCF TRKFLCDU # NO 40074 CS FLAGWRD0 # RNDVFLG P20 OR P22 OPERATING 75020 MASK RNDVZBIT 10000 CCS A 13075 TCF TRKFLCDU # NO 05651 TC ALARM # YES 00515 OCT 00515 455">006659,001190: 06,3075 04601 TRKFLCDU TC SETTRKF # UPDATE TRACKER FAIL LAMP ON DSKY. # PROGRAM NAME_ RRGIMON E AUTO MODE EXCEPT WHEN THE RR CDUS ARE # FUNCTIONAL DESCRIPTION_ TTER IS INITIATED BY THIS MONITOR WHEN # RRGIMON IS THE RR GIMBAL LIMIT MONITOR. INITIALLY THE FOLLOWING IS ED TO DRIVE THE GIMBALS TO T = 0 AND # CHECKED_ REMODE, RR CDU:S BEING ZEROED, REPOSITION, AND RR # NOT IN AUTO MODE (RADMODES BITS 14, 13, 11 2). IF ANY OF THESE # EXIST THE PROGRAM EXITS TO GPMATRIX. IF NONE ARE PRESENT RRLIMCHK # IS CALLED TO SEE IF THE PRESENT RR CDU ANGLES (OPTY, OPTX) ARE WITHIN # THE LIMITS OF THE CURRENT MODE. IF WITHIN LIMITS, THE PROGRAM EXITS # TO NORRGMON. IF NOT WITHIN LIMITS, THE REPOSITION FLAG (RADMODES # BIT 11) IS SET, THE RR AUTO TRACKER AND RR ERROR COUNTER # (CHAN 12 BITS 14, 2) ARE DISABLED, AND A 20 MILLISECOND WAITLIST # CALL IS SET FOR DORREPOS AFTER WHICH THE PROGRAM EXITS TO NORRGMON. # CALLING SEQUENCE_ # EVERY 480 MILLISECONDS FROM RRCDUCHK (VIA T4RUPT) UNLESS TURN-ON # HAS JUST BEEN INITIATED VIA RRAUTCHK OR IF THERE HAS BEEN A CHANGE IN # THE RR CDU FAIL BIT (CHAN 30 BIT 7) AND THE RR IS NOT IN THE AUTO MODE # (RADMODES BIT 2). # ERASABLE INITIALIZATION_ RADMODES # SUBROUTINES CALLED_ # RRLIMCHK, WAITLIST # JOBS OR TASKS INITIATED_ # DORREPOS # ALARMS_ # NONE # EXIT_ # NORRGMON E">006695,001226: 06,3076 30101 RRGIMON CAE FLAGWRD5 # IS NO ANGLE MONITOR FLAG SET 75023 MASK NORRMBIT 10000 CCS A 13127 TCF NORRGMON # YES - SKIP LIMIT CHECK 33124 CAF OCT32002 # INHIBIT BY REMODE,ZEROING,MONITOR. 71101 MASK RADMODES # OR RR NOT IN AUTO. 10000 CCS A 13127 TCF NORRGMON 04540 TC RRLIMCHK # SEE IF ANGLES IN LIMITS. 00035 ADRES CDUT 13112 TCF MONREPOS 13127 TCF NORRGMON # (ADDITIONAL CODING MAY GO HERE). F53">006711,001242: 06,3112 35014 MONREPOS CAF BIT11 # SET FLAG TO SHOW REPOSITION IN PROGRESS. 27101 ADS RADMODES 43125 CS OCT20002 # DISABLE TRACKER AND ERROR COUNTER. 00006 EXTEND 03012 WAND CHAN12 35025 CAF TWO 05252 TC WAITLIST EBANK= LOSCOUNT 02120 52007 2CADR DORREPOS 13127 TCF NORRGMON 032">006725,001256: 06,3124 32002 OCT32002 OCT 32002 032">006726,001257: 06,3125 20002 OCT20002 OCT 20002 030">006727,001258: 06,3126 02100 OCT02100 OCT 02100 # P20,P22 MASK BITS # PROGRAM NAME: GPMATRIX (DAPT4S) MOD. NO. 2 DATE: OCTOBER 27, 1966 # AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES) # MODIFIED: 7FEB. 1968 BY P. S. WEISSMAN TO DELETE COMPUTATION OF MR12 AND MR13, WHICH ARE NO LONGER REQIURED. # THIS PROGRAM CALCULATES ALL THE SINGLE-PRECISION MATRIX ELEMENTS WHICH ARE USED BY LEM DAP TO TRANSFORM VECTORS # FROM GIMBAL TO PILOT (BODY) AXES AND BACK AGAIN. THESE ELEMENTS ARE USED EXCLUSIVELY BY BASIC LANGUAGE ROUTINES # AND THEREFORE ARE NOT ARRAYED FOR USE BY INTERPRETIVE PROGRAMS. # CALLING SEQUENCE: GPMATRIX IS TRANSFERRED TO FROM DAPT4S AND IS THUS EXECUTED 4 TIMES A SECOND BY T4RUPT. # DAPT4S IS LISTED IN T4JUMP TABLE TWICE EXPLICITLY AND ALSO OCCURS AFTER RRAUTCHK (WHICH IS ALSO LISTED TWICE). # SUBROUTINES CALLED: SPSIN, SPCOS. # NORMAL EXIT MODE: TCF RESUME # ALARM AND ABORT MODES: NONE. # INPUT: CDUX, CDUY, CDUZ. # OUTPUT: M11, M21, M31, M22, M32. # AOG = CDUX, AIG = CDUY, AMG = CDUZ: MNEMONIC IS : OIM = XYZ # * * SIN(MG) 0 1 * # M = * COS(MG)COS(OG) SIN(OG) 0 * # GP * -COS(MG)SIN(OG) COS(OG) 0 * # * * 0 COS(OG)/COS(MG) -SIN(OG)/COS(MG) * # M = * 0 SIN(OG) COS(OG) * # PG * 1 -SIN(MG)COS(OG)/COS(MG) SIN(MG)SIN(OG)/COS(MG) * EBANK= M11 >006763,001294: 06,3127 06,3127 DAPT4S EQUALS GPMATRIX # T4RUPT DAP LOGIC: 958">006767,001298: 06,3127 30034 GPMATRIX CAE CDUZ # SINGLE ENTRY POINT 05103 TC SPSIN # SIN(CDUZ) = SIN(MG) 55412 TS M11 # SCALED AT 1 30034 CAE CDUZ 05102 TC SPCOS # COS(CDUZ) = COS(MG) 54061 TS COSMG # SCALED AT 1 (ONLY A FACTOR) 30032 CAE CDUX 05103 TC SPSIN # SIN(CDUX) = SIN(OG) 55415 TS M22 # SCALED AT 1 (ALSO IS MR22) 41415 CS M22 00006 EXTEND 70061 MP COSMG # -SIN(OG)COS(MG) 55414 TS M31 # SCALED AT 1 30032 CAE CDUX 05102 TC SPCOS # COS(CDUX) = COS(OG) 55416 TS M32 # SCALED AT 1 (ALSO IS MR23) 00006 EXTEND 70061 MP COSMG # COS(OG)COS(MG) 55413 TS M21 # SCALED AT 1 05340 TC RESUME F4E">006795,001326: 06,3153 06,3127 NORRGMON EQUALS DAPT4S 434">006796,001327: 06,3153 5340 ENDDAPT4 EQUALS RESUME T4RUPT_PROGRAM.agc. Parent file is MAIN.agc