Source Code
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These source code files are a reconstruction of Sundance, the Apollo 9 LM (Lunar Module) AGC
(Apollo Guidance Computer) flight software, created from binary dumps of original core rope
program modules, as follows:
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. |
005454,000002: ## Copyright: Public domain.
005455,000003: ## Filename: T4RUPT_PROGRAM.agc
005456,000004: ## Purpose: A section of a reconstructed, mixed version of Sundance
005457,000005: ## It is part of the reconstructed source code for the Lunar
005458,000006: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 9.
005459,000007: ## No original listings of this program are available;
005460,000008: ## instead, this file was created via disassembly of dumps
005461,000009: ## of various revisions of Sundance core rope modules.
005462,000010: ## Assembler: yaYUL
005463,000011: ## Contact: Ron Burkey <info@sandroid.org>.
005464,000012: ## Website: www.ibiblio.org/apollo/index.html
005465,000013: ## Mod history: 2020-06-17 MAS Created from Luminary 69.
005466,000014:
005467,000015: ## Sundance 302
005468,000016:
005469,000017: 12,2000 BANK 12
005470,000018: 06,2000 SETLOC T4RUP
005471,000019: 06,2000 BANK
005472,000020:
005473,000021: 06,2000 E6,1412 EBANK= M11
005474,000022: 06,2000 COUNT* $$/T4RPT
005475,000023: 06,2000 54016 T4RUPT TS BANKRUPT
005476,000024:
005477,000025: 06,2001 00006 EXTEND
005478,000026: 06,2002 22012 QXCH QRUPT
005479,000027:
005480,000028: 06,2003 11315 CCS DSRUPTSW # GOES 7(-1)0 AROUND AND AROUND
005481,000029: 06,2004 12010 TCF NORMT4 +1
005482,000030: 06,2005 12007 TCF NORMT4
005483,000031:
005484,000032: 06,2006 12134 TCF QUIKDSP
005485,000033:
005486,000034: 06,2007 35032 NORMT4 CAF SEVEN
005487,000035: 06,2010 54070 TS RUPTREG1
005488,000036: 06,2011 55315 TS DSRUPTSW
005489,000037:
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Sundance 292 |
005491,000039:
005492,000040: 4072 BLOCK 02
005493,000041: 4000 SETLOC FFTAG10
005494,000042: 4000 BANK
005495,000043:
005496,000044: 4072 COUNT* $$/T4RPT
005497,000045: 4072 7701 100MRUPT = OCT37766 # (DEC 16374)
005498,000046: # RELTAB IS A PACKED TABLE. RELAYWORD CODE IN UPPER 4 BITS, RELAY CODE
005499,000047: # IN LOWER 5 BITS.
005500,000048:
005501,000049: 4072 04025 RELTAB OCT 04025
005502,000050: 4073 10003 OCT 10003
005503,000051: 4074 14031 OCT 14031
005504,000052: 4075 20033 OCT 20033
005505,000053: 4076 24017 OCT 24017
005506,000054: 4077 30036 OCT 30036
005507,000055: 4100 34034 OCT 34034
005508,000056: 4101 40023 OCT 40023
005509,000057: 4102 44035 OCT 44035
005510,000058: 4103 50037 OCT 50037
005511,000059: 4104 54000 OCT 54000
005512,000060: 4105 60000 RELTAB11 OCT 60000
005513,000061:
|
|
Sundance 302 |
005515,000063:
005516,000064: # SWITCHED-BANK PORTION.
005517,000065:
005518,000066: 12,2000 BANK 12
005519,000067: 06,2000 SETLOC T4RUP
005520,000068: 06,2000 BANK
005521,000069:
005522,000070: 06,2012 COUNT* $$/T4RPT
005523,000071: 06,2012 11037 CDRVE CCS DSPTAB +11D
005524,000072: 06,2013 02063 TC DSPOUT
005525,000073: 06,2014 02063 TC DSPOUT
005526,000074:
005527,000075: 06,2015 57037 XCH DSPTAB +11D
005528,000076: 06,2016 74370 MASK LOW11
005529,000077: 06,2017 55037 TS DSPTAB +11D
005530,000078: 06,2020 64105 AD RELTAB11
005531,000079: 06,2021 00006 EXTEND
005532,000080: 06,2022 01010 WRITE OUT0
005533,000081: 06,2023 02071 TC HANG20
005534,000082:
005535,000083: # DSPOUT PROGRAM. PUTS OUT DISPLAYS.
005536,000084:
005537,000085: 06,2024 55017 DSPOUTSB TS NOUT
005538,000086: 06,2025 45030 CS ZERO
005539,000087: 06,2026 54073 TS DSRUPTEM # SET TO -0 FOR 1ST PASS THRU DSPTAB
005540,000088: 06,2027 56777 XCH DSPCNT
005541,000089: 06,2030 65027 AD NEG0 # TO PREVENT +0
005542,000090: 06,2031 54777 TS DSPCNT
005543,000091: 06,2032 50777 DSPSCAN INDEX DSPCNT
005544,000092: 06,2033 11024 CCS DSPTAB
005545,000093: 06,2034 10777 CCS DSPCNT # IF DSPTAB ENTRY +, SKIP
005546,000094: 06,2035 12030 TCF DSPSCAN -2 # IF DSPCNT +, TRY AGAIN
005547,000095: 06,2036 12047 TCF DSPLAY # IF DSPTAB ENTRY -, DISPLAY
005548,000096: 06,2037 00012 TABLNTH OCT 12 # DEC 10 LENGTH OF DSPTAB
005549,000097: 06,2040 10073 CCS DSRUPTEM # IF DSRUPTEM=+0,2ND PASS THRU DSPTAB
005550,000098: 06,2041 37764 120MRUPT DEC 16372 B-14 # (DSPCNT = 0). +0 INTO NOUT.
005551,000099: 06,2042 55017 TS NOUT
005552,000100: 06,2043 00002 TC Q
005553,000101: 06,2044 54073 TS DSRUPTEM # IF DSRUPTEM=-0,1ST PASS THRU DSPTAB
005554,000102: 06,2045 32037 CAF TABLNTH # (DSPCNT=0). +0 INTO DSRUPTEM. PASS AGAIN
005555,000103: 06,2046 12031 TCF DSPSCAN -1
005556,000104:
005557,000105: 06,2047 65026 DSPLAY AD ONE
005558,000106: 06,2050 50777 INDEX DSPCNT
005559,000107: 06,2051 55024 TS DSPTAB # REPLACE POSITIVELY
005560,000108: 06,2052 74370 MASK LOW11 # REMOVE BITS 12 TO 15
005561,000109: 06,2053 54073 TS DSRUPTEM
005562,000110: 06,2054 34362 CAF HI5
005563,000111: 06,2055 50777 INDEX DSPCNT
005564,000112: 06,2056 74072 MASK RELTAB # PICK UP BITS 12 TO 15 OF RELTAB ENTRY
005565,000113: 06,2057 60073 AD DSRUPTEM
005566,000114: 06,2060 00006 EXTEND
005567,000115: 06,2061 01010 WRITE OUT0
005568,000116:
005569,000117: 06,2062 16713 TCF Q+1
005570,000118:
005571,000119:
005572,000120: 06,2063 10101 DSPOUT CCS FLAGWRD5 # IS DSKY FLAG ON
005573,000121: 06,2064 35030 CAF ZERO # NO
005574,000122: 06,2065 12130 TCF NODSPOUT # NO
005575,000123: 06,2066 11017 CCS NOUT # YES
005576,000124: 06,2067 02024 TC DSPOUTSB
005577,000125: 06,2070 12130 TCF NODSPOUT # NO DISPLAY REQUESTS
005578,000126:
005579,000127: 06,2071 42171 HANG20 CS 14,11,9
005580,000128: 06,2072 27315 ADS DSRUPTSW
005581,000129:
005582,000130: 06,2073 37703 CAF 20MRUPT
005583,000131:
005584,000132: 06,2074 54027 SETTIME4 TS TIME4
005585,000133:
005586,000134: # THE STATUS OF THE PROCEED PUSHBUTTON IS MONITORED EVERY 120 MILLISECONDS VIA THE CHANNEL 32 BIT 14 INBIT.
005587,000135: # THE STATE OF THIS INBIT IS COMPARED WITH ITS STATE DURING THE PREVIOUS T4RUPT AND IS PROCESSED AS FOLLOWS.
005588,000136:
005589,000137: # IF PREV ON AND NOW ON - BYPASS
005590,000138: # IF PREV ON AND NOW OFF - UPDATE IMODES33
005591,000139: # IF PREV OFF AND NOW ON - UPDATE IMODES33 AND PROCESS VIA PINBALL
005592,000140: # IF PREV OFF AND NOW OFF - BYPASS
005593,000141:
005594,000142: # THE LOGIC EMPLOYED REQUIRES ONLY 9 MCT (APPROX. 108 MICROSECONDS) OF COMPUTER TIME WHEN NO CHANGES OCCUR.
005595,000143:
005596,000144:
005597,000145: 06,2075 31305 PROCEEDE CA IMODES33 # MONITIOR FOR PROCEED BUTTON
005598,000146: 06,2076 00006 EXTEND
005599,000147: 06,2077 06032 RXOR CHAN32
005600,000148: 06,2100 75011 MASK BIT14
005601,000149: 06,2101 00006 EXTEND
005602,000150: 06,2102 12116 BZF T4JUMP # NO CHANGE
005603,000151:
005604,000152: 06,2103 23305 LXCH IMODES33
005605,000153: 06,2104 00006 EXTEND
005606,000154: 06,2105 06001 RXOR LCHAN
005607,000155: 06,2106 55305 TS IMODES33 # UPDATE IMODES33
005608,000156: 06,2107 75011 MASK BIT14
005609,000157: 06,2110 10000 CCS A
005610,000158: 06,2111 12116 TCF T4JUMP # WAS ON - NOW OFF
005611,000159:
005612,000160: 06,2112 34367 CAF CHRPRIO # WAS OFF - NOW ON
005613,000161: 06,2113 05142 TC NOVAC
005614,000162: 06,2114 1000 EBANK= DSPCOUNT
005615,000163: 06,2114 03554 60102 2CADR PROCKEY
005616,000164:
005617,000165: # JUMP TO APPROPRIATE ONCE-PER SECOND (.96 SEC ACTUALLY) ACTIVITY
005618,000166:
005619,000167: 06,2116 50070 T4JUMP INDEX RUPTREG1
005620,000168: 06,2117 12120 TCF +1
005621,000169:
005622,000170: 06,2120 03153 TC RCSMONIT
005623,000171: 06,2121 13011 TCF RRAUTCHK
005624,000172: 06,2122 12172 TCF IMUMON
005625,000173: 06,2123 13127 TCF DAPT4S
005626,000174: 06,2124 03153 TC RCSMONIT
005627,000175: 06,2125 13011 TCF RRAUTCHK
005628,000176: 06,2126 12172 TCF IMUMON
005629,000177: 06,2127 13127 TCF DAPT4S
005630,000178:
005631,000179: 06,2130 7703 20MRUPT = OCT37776 # (DEC 16382)
005632,000180:
005633,000181: # ADDITIONAL ROUTINES FOR 20MS. KEYBOARD ACTIVITY
005634,000182:
005635,000183: 06,2130 00006 NODSPOUT EXTEND
005636,000184: 06,2131 01010 WRITE OUT0
005637,000185:
005638,000186: 06,2132 32041 CAF 120MRUPT # SET FOR NEXT CDRIVE
005639,000187: 06,2133 12074 TCF SETTIME4
005640,000188:
005641,000189: 06,2134 35011 QUIKDSP CAF BIT14
005642,000190: 06,2135 71315 MASK DSRUPTSW
005643,000191: 06,2136 00006 EXTEND
005644,000192: 06,2137 12165 BZF QUIKOFF # WROTE LAST TIME, NOW TURN OFF RELAYS.
005645,000193:
005646,000194: 06,2140 11017 CCS NOUT
005647,000195: 06,2141 02024 TC DSPOUTSB
005648,000196: 06,2142 12152 TCF NODSPY # NOUT=0 OR BAD RETURN FROM DSPOUTSB
005649,000197: 06,2143 45011 CS BIT14 # GOOD RETURN (WE DISPLAYED SOMETHING)
005650,000198: 06,2144 27315 QUIKRUPT ADS DSRUPTSW
005651,000199:
005652,000200: 06,2145 37703 CAF 20MRUPT
005653,000201: 06,2146 54027 TS TIME4
005654,000202:
005655,000203: 06,2147 35016 CAF BIT9
005656,000204: 06,2150 27315 ADS DSRUPTSW
005657,000205:
005658,000206: 06,2151 05330 TC RESUME
005659,000207:
005660,000208: 06,2152 00006 NODSPY EXTEND
005661,000209: 06,2153 01010 WRITE OUT0
005662,000210:
005663,000211: 06,2154 37703 SYNCT4 CAF 20MRUPT
005664,000212: 06,2155 26027 ADS TIME4
005665,000213:
005666,000214: 06,2156 35016 CAF BIT9
005667,000215: 06,2157 27315 ADS DSRUPTSW
005668,000216:
005669,000217: 06,2160 11315 CCS DSRUPTSW
005670,000218: 06,2161 05330 TC RESUME
005671,000219: 06,2162 37737 OCT37737 OCT 37737
005672,000220: 06,2163 02154 TC SYNCT4
005673,000221: 06,2164 05330 TC RESUME
005674,000222:
005675,000223: 06,2165 00006 QUIKOFF EXTEND
005676,000224: 06,2166 01010 WRITE OUT0
005677,000225: 06,2167 35011 CAF BIT14 # RESET DSRUPTSW TO SEND DISPLAY NEXT PASS
005678,000226: 06,2170 12144 TCF QUIKRUPT
005679,000227:
005680,000228: 06,2171 22400 14,11,9 OCT 22400
005681,000229:
005682,000230: # PROGRAM NAME: IMUMON
005683,000231:
005684,000232: # FUNCTIONAL DESCRIPTION: THIS PROGRAM IS ENTERED EVERY 480 MS. IT DETECTS CHANGES OF THE IMU STATUS BITS IN
005685,000233: # CHANNEL 30 AND CALLS THE APPROPRIATE SUBROUTINES. THE BITS PROCESSED AND THEIR RELEVANT SUBROUTINES ARE:
005686,000234:
005687,000235: # FUNCTION BIT SUBROUTINE CALLED
005688,000236: # -------- --- -----------------
005689,000237: # TEMP IN LIMITS 15 TLIM
005690,000238: # ISS TURN-ON REQUEST 14 ITURNON
005691,000239: # IMU FAIL 13 IMUFAIL (SETISSW)
005692,000240: # IMU CDU FAIL 12 ICDUFAIL (SETISSW)
005693,000241: # IMU CAGE 11 IMUCAGE
005694,000242: # IMU OPERATE 9 IMUOP
005695,000243:
005696,000244: # THE LAST SAMPLED STATE OF THESE BITS IS LEFT IN IMODES30. ALSO, EACH SUBROUTINE CALLED FINDS THE NEW
005697,000245: # VALUE OF THE BIT IN A, WITH Q SET TO THE PROPER RETURN LOCATION, NXTIFAIL.
005698,000246:
005699,000247: # CALLING SEQUENCE: T4RUPT EVERY 480 MILLISECONDS.
005700,000248:
005701,000249: # JOBS OR TASKS INITIATED: NONE.
005702,000250:
005703,000251: # SUBROUTINES CALLED: TLIM, ITURNON, SETISSW, IMUCAGE, IMUOP.
005704,000252:
005705,000253: # ERASABLE INITIALIZATION:
005706,000254: # FRESH START OR RESTART WITH NO GROUPS ACTIVE: C(IMODES30) = OCT 37411.
005707,000255: # RESTART WITH ACTIVE GROUPS: C(IMODES30) = (B(IMODES30)AND(OCT 00035)) PLUS OCT 37400.
005708,000256: # THIS LEAVES IMU FAIL BITS INTACT.
005709,000257:
005710,000258: # ALARMS: NONE.
005711,000259:
005712,000260: # EXIT: TNONTEST.
005713,000261:
005714,000262: # OUTPUT: UPDATED IMODES30 WITH CHANGES PROCESSED BY APPROPRIATE SUBROUTINE.
005715,000263:
005716,000264: 06,2172 31304 IMUMON CA IMODES30 # SEE IF THERE HAS BEEN A CHANGE IN THE
005717,000265: 06,2173 00006 EXTEND # RELEVANT BITS OF CHAN 30.
005718,000266: 06,2174 06030 RXOR CHAN30
005719,000267: 06,2175 72763 MASK 30RDMSK
005720,000268: 06,2176 00006 EXTEND
005721,000269: 06,2177 12227 BZF TNONTEST # NO CHANGE IN STATUS.
005722,000270:
005723,000271: 06,2200 54070 TS RUPTREG1 # SAVE BITS WHICH HAVE CHANGED.
005724,000272: 06,2201 23304 LXCH IMODES30 # UPDATE IMODES30.
005725,000273: 06,2202 00006 EXTEND
005726,000274: 06,2203 06001 RXOR LCHAN
005727,000275: 06,2204 55304 TS IMODES30
005728,000276:
005729,000277: 06,2205 45026 CS ONE
005730,000278: 06,2206 56070 XCH RUPTREG1
005731,000279: 06,2207 00006 EXTEND
005732,000280:
005733,000281: 06,2210 62521 BZMF TLIM # CHANGE IN IMU TEMP.
005734,000282: 06,2211 12213 TCF NXTIFBIT # BEGIN BIT SCAN.
005735,000283:
005736,000284: 06,2212 65026 -1 AD ONE # (RE-ENTERS HERE FROM NXTIFAIL.)
005737,000285: 06,2213 24070 NXTIFBIT INCR RUPTREG1 # ADVANCE BIT POSITION NUMBER.
005738,000286: 06,2214 60000 +1 DOUBLE
005739,000287: 06,2215 54000 TS A # SKIP IF OVERFLOW.
005740,000288: 06,2216 12213 TCF NXTIFBIT # LOOK FOR BIT.
005741,000289:
005742,000290: 06,2217 56071 XCH RUPTREG2 # SAVE OVERFLOW-CORRECTED DATA.
005743,000291: 06,2220 50070 INDEX RUPTREG1 # SELECT NEW VALUE OF THIS BIT.
005744,000292: 06,2221 35011 CAF BIT14
005745,000293: 06,2222 71304 MASK IMODES30
005746,000294: 06,2223 50070 INDEX RUPTREG1
005747,000295: 06,2224 02757 TC IFAILJMP
005748,000296:
005749,000297: 06,2225 10071 NXTIFAIL CCS RUPTREG2 # PROCESS ANY ADDITIONAL CHANGES.
005750,000298: 06,2226 12212 TCF NXTIFBIT -1
005751,000299:
005752,000300: # PROGRAM NAME: TNONTEST.
005753,000301:
005754,000302: # FUNCTIONAL DESCRIPTION: THIS PROGRAM HONORS REQUESTS FOR ISS INITIALIZATION. ISS TURN-ON (CHANNEL 30 BIT 14)
005755,000303: # AND ISS OPERATE (CHANNEL 30 BIT 9) REQUESTS ARE TREATED AS A PAIR AND PROCESSING TAKES PLACE .480 SECONDS
005756,000304: # AFTER EITHER ONE APPEARS. THIS INITIALIZATION TAKES ON ONE OF THE FOLLOWING THREE FORMS:
005757,000305:
005758,000306: # 1) ISS TURN-ON: IN THIS SITUATION THE COMPUTER IS OPERATING WHEN THE ISS IS TURNED ON. NOMINALLY,
005759,000307: # BOTH ISS TURN-ON AND ISS OPERATE APPEAR. THE PLATFORM IS CAGED FOR 90 SECONDS AND THE ICDU'S ZEROED
005760,000308: # SO THAT AT THE END OF THE PROCESS THE GIMBAL LOCK MONITOR WILL FUNCTION PROPERLY.
005761,000309:
005762,000310: # 2) ICDU INITIALIZATION: IN THIS CASE THE COMPUTER WAS PROBABLY TURNED ON WITH THE ISS IN OPERATE OR
005763,000311: # A FRESH START WAS DONE WITH THE ISS IN OPERATE. IN THIS CASE ONLY ISS OPERATE IS ON. THE ICDU'S ARE
005764,000312: # ZEROED SO THE GIMBAL LOCK MONITOR WILL FUNCTION. AN EXCEPTION IS IF THE ISS IS IN GIMBAL LOCK AFTER
005765,000313: # A RESTART, THE ICDU'S WILL NOT BE ZEROED.
005766,000314:
005767,000315: # 3) RESTART WITH RESTARTABLE PROGRAM USING THE IMU: IN THIS CASE, NO INITIALIZATION TAKES PLACE SINCE
005768,000316: # IT IS ASSUMED THAT THE USING PROGRAM DID THE INITIALIZATION AND THEREFORE T4RUPT SHOULD NOT INTERFERE.
005769,000317:
005770,000318: # IMODES30 BIT 7 IS SET = 1 BY THE FIRST BIT (CHANNEL 30 BIT 14 OR 9) WHICH ARRIVES. FOLLOWING THIS. TNONTEST IS
005771,000319: # 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
005772,000320: # PROCEEDS, SETTING BITS 8 AND 7 = 0. AT PROCTNON, IF ISS TURN-ON REQUEST IS PRESENT, THE ISS IS CAGED (ZERO +
005773,000321: # COARSE). IF ISS OPERATE IS NOT PRESENT PROGRAM ALARM 00213 IS ISSUED. AT THE END OF A 90 SECOND CAGE, BIT 2
005774,000322: # OF IMODES30 IS TESTED. IF IT IS = 1, ISS TURN-ON WAS NOT PRESENT FOR THE ENTIRE 90 SECONDS. IN THAT CASE, IF
005775,000323: # THE ISS TURN-ON REQUEST IS PRESENT THE 90 SECOND WAIT IS REPEATED, OTHERWISE NO ACTION OCCURS UNLESS A PROGRAM
005776,000324: # WAS WAITING FOR THE INITIALIZATION IN WHICH CASE THE PROGRAM IS GIVEN AN IMUSTALL ERROR RETURN. IF THE DELAY
005777,000325: # WENT PROPERLY, THE ISS DELAY OUTBIT IS SENT AND THE ICDU'S ZEROED. A TASK IS INITIATED TO REMOVE THE PIPA FAIL
005778,000326: # INHIBIT BIT IN 10.24 SECONDS. IF A MISSION PROGRAM WAS WAITING IT IS INFORMED VIA ENDIMU.
005779,000327:
005780,000328: # AT PROCTNON, IF ONLY ISS OPERATE IS PRESENT (OPONLY), THE CDU'S ARE ZEROED UNLESS THE PLATFORM IS IN COARSE
005781,000329: # ALIGN (= GIMBAL LOCK HERE) OR A MISSION PROGRAM IS USING THE IMU (IMUSEFLG = 1).
005782,000330:
005783,000331: # CALLING SEQUENCE: T4RUPT EVERY 480 MILLISECONDS AFTER IMUMON.
005784,000332:
005785,000333: # JOBS OR TASKS INITIATED: 1) ENDTNON, 90 SECONDS AFTER CAGING STARTED. 2) ISSUP, 4 SECONDS AFTER CAGING DONE.
005786,000334: # 3) PFAILOK, 10.24 SECONDS AFTER INITIALIZATION COMPLETED. 4) UNZ2, 320 MILLISECONDS AFTER ZEROING
005787,000335: # STARTED.
005788,000336:
005789,000337: # SUBROUTINES CALLED: CAGESUB, CAGESUB2, ZEROICDU, ENDIMU, IMUBAD, NOATTOFF, SETISSW, VARDELAY.
005790,000338:
005791,000339: # ERASABLE INITIALIZATION: SEE IMUMON.
005792,000340:
005793,000341: # ALARMS: PROGRAM ALARM 00213 IF ISS TURN-ON REQUESTED WITHOUT ISS OPERATE.
005794,000342:
005795,000343: # EXIT: ENDTNON EXITS TO C33TEST. TASKS HAVING TO DO WITH INITIALIZATION EXIT AS FOLLOWS: MISSION PROGRAM
005796,000344: # WAITING AND INITIALIZATION COMPLETE, EXIT TO ENDIMU, MISSION PROGRAM WAITING AND INITIALIZATION FAILED, EXIT TO
005797,000345: # IMUBAD, IMU NOT IN USE, EXIT TO TASKOVER.
005798,000346:
005799,000347: # OUTPUT: ISS INITIALIZED.
005800,000348:
005801,000349: 06,2227 41304 TNONTEST CS IMODES30 # AFTER PROCESSING ALL CHANGES, SEE IF IT
005802,000350:
005803,000351: 06,2230 75020 MASK BIT7 # IS TIME TO ACT ON A TURN-ON SEQUENCE.
005804,000352: 06,2231 10000 CCS A
005805,000353: 06,2232 12401 TCF C33TEST # NO - EXAMINE CHANNEL 33.
005806,000354:
005807,000355: 06,2233 35017 CAF BIT8 # SEE IF FIRST SAMPLE OR SECOND.
005808,000356: 06,2234 71304 MASK IMODES30
005809,000357: 06,2235 10000 CCS A
005810,000358: 06,2236 12242 TCF PROCTNON # REACT AFTER SECOND SAMPLE.
005811,000359:
005812,000360: 06,2237 35017 CAF BIT8 # IF FIRST SAMPLE, SET BIT TO REACT NEXT
005813,000361: 06,2240 27304 ADS IMODES30 # TIME.
005814,000362: 06,2241 12401 TCF C33TEST
005815,000363:
005816,000364: # PROCESS IMU TURN-ON REQUESTS AFTER WAITING 1 SAMPLE FOR ALL SIGNALS TO ARRIVE.
005817,000365:
005818,000366: 06,2242 43002 PROCTNON CS BITS7&8
005819,000367: 06,2243 71304 MASK IMODES30
005820,000368: 06,2244 55304 TS IMODES30
005821,000369: 06,2245 75011 MASK BIT14 # SEE IF TURN-ON REQUEST.
005822,000370: 06,2246 10000 CCS A
005823,000371: 06,2247 12354 TCF OPONLY # OPERATE ON ONLY.
005824,000372:
005825,000373: 06,2250 41304 CS IMODES30 # IF TURN-ON REQUEST, WE SHOULD HAVE IMU
005826,000374: 06,2251 75016 MASK BIT9 # OPERATE.
005827,000375: 06,2252 10000 CCS A
005828,000376: 06,2253 12256 TCF +3
005829,000377:
005830,000378: 06,2254 05646 TC ALARM # ALARM IF NOT.
005831,000379: 06,2255 00213 OCT 213
005832,000380:
005833,000381: 06,2256 02737 +3 TC CAGESUB
005834,000382: 06,2257 33010 CAF 90SECS
005835,000383: 06,2260 05252 TC WAITLIST
005836,000384: 06,2261 E6,1412 EBANK= M11
005837,000385: 06,2261 02266 14006 2CADR ENDTNON
005838,000386:
005839,000387: 06,2263 12401 TCF C33TEST
005840,000388:
005841,000389: 06,2264 33010 RETNON CAF 90SECS
005842,000390: 06,2265 05274 TC VARDELAY
005843,000391:
005844,000392: 06,2266 45025 ENDTNON CS BIT2 # RESET TURN-ON REQUEST FAIL BIT.
005845,000393: 06,2267 71304 MASK IMODES30
005846,000394: 06,2270 57304 XCH IMODES30
005847,000395: 06,2271 75025 MASK BIT2 # IF IT WAS OFF, SEND ISS DELAY COMPLETE.
005848,000396: 06,2272 00006 EXTEND
005849,000397: 06,2273 12306 BZF ENDTNON2
005850,000398:
005851,000399: 06,2274 35011 CAF BIT14 # IF IT WAS ON AND TURN-ON REQUEST NOW
005852,000400:
005853,000401: 06,2275 71304 MASK IMODES30 # PRESENT, RE-ENTER 90 SEC DELAY IN WL.
005854,000402: 06,2276 00006 EXTEND
005855,000403: 06,2277 12264 BZF RETNON
005856,000404:
005857,000405: 06,2300 40074 CS FLAGWRD0 # IF IT IS NOT ON NOW, SEE IF A PROG WAS
005858,000406: 06,2301 75017 MASK IMUSEBIT # WAITING.
005859,000407: 06,2302 10000 CCS A
005860,000408: 06,2303 15321 TCF TASKOVER
005861,000409: 06,2304 04674 TC POSTJUMP
005862,000410: 06,2305 17550 CADR IMUBAD # UNSUCCESSFUL TURN-ON.
005863,000411:
005864,000412: 06,2306 35010 ENDTNON2 CAF BIT15 # SEND ISS DELAY COMPLETE.
005865,000413: 06,2307 00006 EXTEND
005866,000414: 06,2310 05012 WOR CHAN12
005867,000415:
005868,000416: 06,2311 04737 TC IBNKCALL # TURN OFF NO ATT LAMP.
005869,000417: 06,2312 17177 CADR NOATTOFF
005870,000418:
005871,000419: 06,2313 05546 UNZ2 TC ZEROICDU
005872,000420:
005873,000421: 06,2314 42776 CS BITS4&5 # REMOVE ZERO AND COARSE.
005874,000422: 06,2315 00006 EXTEND
005875,000423: 06,2316 03012 WAND CHAN12
005876,000424:
005877,000425: 06,2317 35014 CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS
005878,000426: 06,2320 05274 TC VARDELAY
005879,000427:
005880,000428: 06,2321 42777 ISSUP CS OCT54 # REMOVE CAGING, IMU FAIL INHIBIT, AND
005881,000429: 06,2322 71304 MASK IMODES30 # ICDUFAIL INHIBIT FLAGS.
005882,000430: 06,2323 55304 TS IMODES30
005883,000431:
005884,000432: 06,2324 45021 CS BIT6 # ENABLE DAP
005885,000433: 06,2325 71305 MASK IMODES33
005886,000434: 06,2326 55305 TS IMODES33
005887,000435:
005888,000436: 06,2327 40076 CS FLAGWRD2 # TEST DRIFTFLG: IF ON, DO NOTHING BECAUSE
005889,000437: 06,2330 75010 MASK DRFTBIT # IMUCOMP SHOULD BE ALL SET UP(RESTART
005890,000438: 06,2331 00006 EXTEND # WITH IMUSE DOWN). IF OFF, SET DRIFTFLG
005891,000439: 06,2332 12336 BZF +4 # AND 1/PIPADT TO GET FREEFALL IMUCOMP
005892,000440: 06,2333 26076 ADS FLAGWRD2 # GOING (FRESH START OR ISS TURN-ON).
005893,000441: 06,2334 30025 CA TIME1
005894,000442: 06,2335 57075 XCH 1/PIPADT # CANNOT GET HERE IF RESTART WITH IMUSE UP
005895,000443:
005896,000444: 06,2336 02705 TC SETISSW # ISS WARNING MIGHT HAVE BEEN INHIBITED.
005897,000445:
005898,000446: 06,2337 45010 CS BIT15 # REMOVE IMU DELAY COMPLETE DISCRETE.
005899,000447: 06,2340 00006 EXTEND
005900,000448: 06,2341 03012 WAND CHAN12
005901,000449:
005902,000450: 06,2342 35053 CAF 4SECS # DONT ENABLE PROG ALARM ON PIP FAIL FOR
005903,000451:
005904,000452: 06,2343 05252 TC WAITLIST # ANOTHER 4 SECS.
005905,000453: 06,2344 E3,1474 EBANK= CDUIND
005906,000454: 06,2344 03165 16003 2CADR PFAILOK
005907,000455:
005908,000456: 06,2346 40074 CS STATE # SEE IF ANYONE IS WAITING FOR THE IMU AT
005909,000457: 06,2347 75017 MASK IMUSEFLG # IMUZERO. IF SO, WAKE THEM UP.
005910,000458: 06,2350 10000 CCS A
005911,000459: 06,2351 15321 TCF TASKOVER
005912,000460:
005913,000461: 06,2352 04674 TC POSTJUMP
005914,000462: 06,2353 17542 CADR ENDIMU
005915,000463:
005916,000464: 06,2354 35023 OPONLY CAF BIT4 # IF OPERATE ON ONLY, AND WE ARE IN COARSE
005917,000465: 06,2355 00006 EXTEND # ALIGN, DONT ZERO THE CDUS BECAUSE WE
005918,000466: 06,2356 02012 RAND CHAN12 # MIGHT BE IN GIMBAL LOCK
005919,000467: 06,2357 10000 CCS A
005920,000468: 06,2360 12401 TCF C33TEST
005921,000469:
005922,000470: 06,2361 35017 CAF IMUSEBIT # OTHERWISE, ZERO THE COUNTERS.
005923,000471: 06,2362 70074 MASK FLAGWRD0 # UNLESS SOMEONE IS USING THE IMU.
005924,000472: 06,2363 10000 CCS A
005925,000473: 06,2364 12401 TCF C33TEST
005926,000474:
005927,000475: 06,2365 02750 TC CAGESUB2 # SET TURNON FLAGS.
005928,000476:
005929,000477: 06,2366 04737 ISSZERO TC IBNKCALL # TURN OFF NO ATT LAMP
005930,000478: 06,2367 17177 CADR NOATTOFF # IMU CAGE OFF ENTRY
005931,000479:
005932,000480: 06,2370 35022 CAF BIT5 # ISS CDU ZERO
005933,000481: 06,2371 00006 EXTEND
005934,000482: 06,2372 05012 WOR CHAN12
005935,000483:
005936,000484: 06,2373 05546 TC ZEROICDU
005937,000485: 06,2374 35021 CAF BIT6 # WAIT 300 MS FOR AGS TO RECEIVE SIGNAL.
005938,000486: 06,2375 05252 TC WAITLIST
005939,000487: 06,2376 E6,1412 EBANK= M11
005940,000488: 06,2376 02313 14006 2CADR UNZ2
005941,000489:
005942,000490: 06,2400 12401 TCF C33TEST
005943,000491:
005944,000492: # PROGRAM NAME: C33TEST
005945,000493:
005946,000494: # FUNCTIONAL DESCRIPTION: THIS PROGRAM MONITORS THREE FLIP-FLOP INBITS OF CHANNEL 33 AND CALLS THE APPROPRIATE
005947,000495: # SUBROUTINE TO PROCESS A CHANGE. IT IS ANALOGOUS TO IMUMON, WHICH MONITORS CHANNEL 30, EXCEPT THAT IT READS
005948,000496: # CHANNEL 33 WITH A WAND INSTRUCTION BECAUSE A 'WRITE' PULSE IS REQUIRED TO RESET THE FLIP-FLOPS. THE BITS
005949,000497: # PROCESSED AND THE SUBROUTINES CALLED ARE:
005950,000498:
005951,000499: # BIT FUNCTION SUBROUTINE
005952,000500: # --- -------- ----------
005953,000501: # 13 PIPA FAIL PIPFAIL
005954,000502: # 12 DOWNLINK TOO FAST DNTMFAST
005955,000503: # 11 UPLINK TOO FAST UPTMFAST
005956,000504:
005957,000505: # UPON ENTRY TO THE SUBROUTINE, THE NEW BIT STATE IS IN A.
005958,000506:
005959,000507: # CALLING SEQUENCE: EVERY 480 MILLISECONDS AFTER TNONTEST.
005960,000508:
005961,000509: # JOBS OR TASKS INITIATED: NONE.
005962,000510:
005963,000511: # SUBROUTINES CALLED: PIPFAIL, DNTMFAST AND UPTMFAST ON BIT CHANGES.
005964,000512:
005965,000513: # ERASABLE INITIALIZATION: C(IMODES33) = OCT 16000 ON A FRESH START OR RESTART, THEREFORE, THESE ALARMS WILL
005966,000514: # REAPPEAR IF THE CONDITIONS PERSIST.
005967,000515:
005968,000516: # ALARMS: NONE.
005969,000517:
005970,000518: # EXIT: GLOCKMON.
005971,000519:
005972,000520: # OUTPUT: UPDATED BITS 13, 12 AND 11 OF IMODES33 WITH CHANGES PROCESSED.
005973,000521:
005974,000522: 06,2401 31305 C33TEST CA IMODES33 # SEE IF RELEVANT CHAN33 BITS HAVE
005975,000523: 06,2402 75076 MASK 33RDMSK
005976,000524: 06,2403 54001 TS L # CHANGED.
005977,000525: 06,2404 35076 CAF 33RDMSK
005978,000526: 06,2405 00006 EXTEND
005979,000527: 06,2406 03033 WAND CHAN33 # RESETS FLIP-FLOP INPUTS
005980,000528: 06,2407 00006 EXTEND
005981,000529: 06,2410 06001 RXOR LCHAN
005982,000530: 06,2411 00006 EXTEND
005983,000531: 06,2412 12441 BZF GLOCKMON # ON NO CHANGE.
005984,000532:
005985,000533: 06,2413 54070 TS RUPTREG1 # SAVE BITS WHICH HAVE CHANGED.
005986,000534: 06,2414 23305 LXCH IMODES33
005987,000535: 06,2415 00006 EXTEND
005988,000536: 06,2416 06001 RXOR LCHAN
005989,000537: 06,2417 55305 TS IMODES33 # UPDATED IMODES33.
005990,000538:
005991,000539: 06,2420 35030 CAF ZERO
005992,000540: 06,2421 56070 XCH RUPTREG1
005993,000541: 06,2422 60000 DOUBLE
005994,000542:
005995,000543: 06,2423 12426 TCF NXTIBT +1 # SCAN FOR BIT CHANGES.
005996,000544:
005997,000545: 06,2424 65026 -1 AD ONE
005998,000546: 06,2425 24070 NXTIBT INCR RUPTREG1
005999,000547: 06,2426 60000 +1 DOUBLE
006000,000548: 06,2427 54000 TS A # (CODING IDENTICAL TO CHAN 30).
006001,000549: 06,2430 12425 TCF NXTIBT
006002,000550:
006003,000551: 06,2431 56071 XCH RUPTREG2
006004,000552: 06,2432 50070 INDEX RUPTREG1 # GET NEW VALUE OF BIT WHICH CHANGED.
006005,000553: 06,2433 35012 CAF BIT13
006006,000554: 06,2434 71305 MASK IMODES33
006007,000555: 06,2435 50070 INDEX RUPTREG1
006008,000556: 06,2436 02765 TC C33JMP
006009,000557:
006010,000558: 06,2437 10071 NXTFL33 CCS RUPTREG2 # PROCESS POSSIBLE ADDITIONAL CHANGES.
006011,000559: 06,2440 12424 TCF NXTIBT -1
006012,000560:
006013,000561: # PROGRAM NAME: GLOCKMON
006014,000562:
006015,000563: # FUNCTIONAL DESCRIPTION: THIS PROGRAM MONITORS THE CDUZ COUNTER TO DETERMINE WHETHER THE ISS IS IN GIMBAL LOCK
006016,000564: # AND TAKES ACTION IF IT IS. THREE REGIONS OF MIDDLE GIMBAL ANGLE (MGA) ARE USED:
006017,000565:
006018,000566: # 1) ABS(MGA) LESS THAN OR EQUAL TO 70 DEGREES - NORMAL MODE.
006019,000567: # 2) ABS(MGA) GREATER THAN 70 DEGREES AND LESS THAN OR EQUAL TO 85 DEGREES - GIMBAL LOCK LAMP TURNED ON.
006020,000568: # 3) ABS(MGA) GREATER THAN 85 DEGREES - ISS PUT IN COARSE ALIGN AND NO ATT LAMP TURNED ON.
006021,000569:
006022,000570: # CALLING SEQUENCE: EVERY 480 MILLISECONDS AFTER C33TEST.
006023,000571:
006024,000572: # JOBS OR TASKS INITIATED: NONE.
006025,000573:
006026,000574: # SUBROUTINES CALLED: 1) SETCOARS WHEN ABS(MGA) GREATER THAN 85 DEGREES AND ISS NOT IN COARSE ALIGN.
006027,000575: # 2) LAMPTEST BEFORE TURNING OFF GIMBAL LOCK LAMP.
006028,000576:
006029,000577: # ERASABLE INITIALIZATION:
006030,000578: # 1) FRESH START OR RESTART WITH NO GROUPS ACTIVE: C(CDUZ) = 0, IMODES30 BIT 6 = 0, IMODES33 BIT 1 = 0.
006031,000579: # 2) RESTART WITH GROUPS ACTIVE: SAME AS FRESH START EXCEPT C(CDUZ) NOT CHANGED SO GIMBAL MONITOR
006032,000580: # PROCEEDS AS BEFORE.
006033,000581:
006034,000582: # ALARMS: 1) MGA REGION (2) CAUSES GIMBAL LOCK LAMP TO BE LIT.
006035,000583: # 2) MGA REGION (3) CAUSES THE ISS TO BE PUT IN COARSE ALIGN AND THE NO ATT LAMP TO BE LIT IF EITHER NOT
006036,000584: # SO ALREADY.
006037,000585:
006038,000586: 06,2441 10034 GLOCKMON CCS CDUZ
006039,000587: 06,2442 12446 TCF GLOCKCHK # SEE IF MAGNITUDE OF MGA IS GREATER THAN
006040,000588: 06,2443 12472 TCF SETGLOCK # 70 DEGREES.
006041,000589: 06,2444 12446 TCF GLOCKCHK
006042,000590: 06,2445 12472 TCF SETGLOCK
006043,000591:
006044,000592: 06,2446 62517 GLOCKCHK AD -70DEGS
006045,000593: 06,2447 00006 EXTEND
006046,000594: 06,2450 62471 BZMF SETGLOCK -1 # NO LOCK.
006047,000595:
006048,000596: 06,2451 62520 AD -15DEGS # SEE IF ABS(MGA) GREATER THAN 85 DEGREES.
006049,000597: 06,2452 00006 EXTEND
006050,000598: 06,2453 62467 BZMF NOGIMRUN
006051,000599:
006052,000600: 06,2454 35023 CAF BIT4 # IF SO, SYSTEM SHOULD BE IN COARSE ALIGN
006053,000601: 06,2455 00006 EXTEND # TO PREVENT GIMBAL RUNAWAY.
006054,000602: 06,2456 02012 RAND CHAN12
006055,000603: 06,2457 10000 CCS A
006056,000604: 06,2460 12467 TCF NOGIMRUN
006057,000605:
006058,000606: 06,2461 04737 TC IBNKCALL
006059,000607: 06,2462 17055 CADR SETCOARS
006060,000608:
006061,000609: 06,2463 36216 CAF SIX # ENABLE ISS ERROR COUNTERS IN 60 MS
006062,000610: 06,2464 05252 TC WAITLIST
006063,000611:
006064,000612: 06,2465 E3,1474 EBANK= CDUIND
006065,000613: 06,2465 03051 16003 2CADR CA+ECE
006066,000614:
006067,000615: 06,2467 35021 NOGIMRUN CAF BIT6 # TURN ON GIMBAL LOCK LAMP.
006068,000616: 06,2470 12472 TCF SETGLOCK
006069,000617:
006070,000618: 06,2471 35030 -1 CAF ZERO
006071,000619: 06,2472 61037 SETGLOCK AD DSPTAB +11D # SEE IF PRESENT STATE OF GIMBAL LOCK LAMP
006072,000620: 06,2473 75021 MASK BIT6 # AGREES WITH DESIRED STATE BY HALF ADDING
006073,000621: 06,2474 00006 EXTEND # THE TWO.
006074,000622: 06,2475 15330 BZF GLOCKOK # OK AS IS.
006075,000623:
006076,000624: 06,2476 71037 MASK DSPTAB +11D # IF OFF, DONT TURN ON IF IMU BEING CAGED.
006077,000625: 06,2477 10000 CCS A
006078,000626: 06,2500 12514 TCF GLAMPTST # TURN OFF UNLESS LAMP TEST IN PROGRESS.
006079,000627:
006080,000628: 06,2501 35021 CAF BIT6
006081,000629: 06,2502 71304 MASK IMODES30
006082,000630: 06,2503 10000 CCS A
006083,000631: 06,2504 15330 TCF GLOCKOK
006084,000632:
006085,000633: 06,2505 41037 GLINVERT CS DSPTAB +11D # INVERT GIMBAL LOCK LAMP.
006086,000634: 06,2506 75021 MASK BIT6
006087,000635: 06,2507 65010 AD BIT15 # TO INDICATE CHANGE IN DSPTAB +11D.
006088,000636: 06,2510 57037 XCH DSPTAB +11D
006089,000637: 06,2511 72162 MASK OCT37737
006090,000638: 06,2512 27037 ADS DSPTAB +11D
006091,000639: 06,2513 15330 TCF GLOCKOK
006092,000640:
006093,000641: 06,2514 02770 GLAMPTST TC LAMPTEST # TURN OFF UNLESS LAMP TEST IN PROGRESS.
006094,000642: 06,2515 15330 TCF GLOCKOK
006095,000643: 06,2516 12505 TCF GLINVERT
006096,000644:
006097,000645: 06,2517 63434 -70DEGS DEC -.38888 # -70 DEGREES SCALED IN HALF-REVOLUTIONS.
006098,000646: 06,2520 75252 -15DEGS DEC -.08333
006099,000647:
006100,000648: # PROGRAM NAME: TLIM.
006101,000649:
006102,000650: # FUNCTIONAL DESCRIPTION: THIS PROGRAM MAINTAINS THE TEMP LAMP (BIT 4 OF CHANNEL 11) ON THE DSKY TO AGREE WITH
006103,000651: # THE TEMP SIGNAL FROM THE ISS (BIT 15 OF CHANNEL 30). HOWEVER, THE LIGHT WILL NOT BE TURNED OFF IF A LAMP TEST
006104,000652: # IS IN PROGRESS.
006105,000653:
006106,000654: # CALLING SEQUENCE: CALLED BY IMUMON ON A CHANGE OF BIT 15 OF CHANNEL 30.
006107,000655:
006108,000656: # JOBS OR TASKS INITIATED: NONE.
006109,000657:
006110,000658: # SUBROUTINES CALLED: LAMPTEST.
006111,000659:
006112,000660: # ERASABLE INITIALIZATION: FRESH START AND RESTART TURN THE TEMP LAMP OFF.
006113,000661:
006114,000662: # ALARMS: TEMP LAMP TURNED ON WHEN IMU TEMP GOES OUT OF LIMITS.
006115,000663:
006116,000664: # EXIT: NXTIFAIL.
006117,000665:
006118,000666: # OUTPUT: SERVICE OF TEMP LAMP. IN A, EXCEPT FOR TLIM.
006119,000667:
006120,000668: 06,2521 75006 TLIM MASK POSMAX # REMOVE BIT FROM WORD OF CHANGES AND SET
006121,000669: 06,2522 54071 TS RUPTREG2 # DSKY TEMP LAMP ACCORDINGLY.
006122,000670:
006123,000671: 06,2523 11304 CCS IMODES30
006124,000672: 06,2524 12532 TCF TEMPOK
006125,000673: 06,2525 12532 TCF TEMPOK
006126,000674:
006127,000675: 06,2526 35023 CAF BIT4 # TURN ON LAMP.
006128,000676: 06,2527 00006 EXTEND
006129,000677: 06,2530 05011 WOR DSALMOUT
006130,000678: 06,2531 12225 TCF NXTIFAIL
006131,000679:
006132,000680: 06,2532 02770 TEMPOK TC LAMPTEST # IF TEMP NOW OK, DONT TURN OFF LAMP IF
006133,000681: 06,2533 12225 TCF NXTIFAIL # LAMP TEST IN PROGRESS.
006134,000682:
006135,000683: 06,2534 45023 CS BIT4
006136,000684: 06,2535 00006 EXTEND
006137,000685: 06,2536 03011 WAND DSALMOUT # TURN OFF LAMP
006138,000686: 06,2537 12225 TCF NXTIFAIL
006139,000687:
006140,000688: # PROGRAM NAME: ITURNON.
006141,000689:
006142,000690: # FUNCTIONAL DESCRIPTION: THIS PROGRAM IS CALLED BY IMUMON WHEN A CHANGE OF BIT 14 OF CHANNEL 30 (ISS TURN-ON
006143,000691: # REQUEST) IS DETECTED. UPON ENTRY, ITURNON CHECKS IF A TURN-ON DELAY SEQUENCE HAS FAILED, AND IF SO, IT EXITS.
006144,000692: # 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
006145,000693: # THAT TNONTEST WILL INITIATE THE ISS INITIALIZATION SEQUENCE. IF OFF, THE TURN-ON DELAY SIGNAL, CHANNEL 12 BIT
006146,000694: # 15, IS CHECKED AND IF IT IS ON, ITURNON EXITS. IF THE DELAY SIGNAL IS OFF, PROGRAM ALARM 00207 IS ISSUED, BIT 2
006147,000695: # OF IMODES30 IS SET TO 1 AND THE PROGRAM EXITS.
006148,000696: # THE SETTING OF BIT 2 OF IMODES30 (ISS DELAY SEQUENCE FAIL) INHIBITS THIS ROUTINE AND IMUOP FROM
006149,000697: # PROCESSING ANY CHANGES. THIS BIT WILL BE RESET BY THE ENDTNON ROUTINE WHEN THE CURRENT 90 SECOND DELAY PERIOD
006150,000698: # ENDS.
006151,000699:
006152,000700: # CALLING SEQUENCE: FROM IMUMOM WHEN ISS TURN-ON REQUEST CHANGES STATE.
006153,000701:
006154,000702: # JOBS OR TASKS INITIATED: NONE.
006155,000703:
006156,000704: # SUBROUTINES CALLED: ALARM, IF THE ISS TURN-ON REQUEST IS NOT PRESENT FOR 90 SECONDS.
006157,000705:
006158,000706: # ERASABLE INITIALIZATION: FRESH START AND RESTART SET BIT 15 OF CHANNEL 12 AND BITS 2 AND 7 OF IMODES30 TO 0,
006159,000707: # AND BIT 14 OF IMODES30 TO 1.
006160,000708:
006161,000709: # ALARMS: PROGRAM ALARM 00207 IS ISSUED IF THE ISS TURN-ON REQUEST SIGNAL IS NOT PRESENT FOR 90 SECONDS.
006162,000710:
006163,000711: # EXIT: NXTIFAIL.
006164,000712:
006165,000713: # OUTPUT: BIT 7 OF IMODES30 TO START ISS INITIALIZATION, OR BIT 2 OF IMODES30 AND PROGRAM ALARM 00207 TO INDICATE
006166,000714: # A FAILED TURN-ON SEQUENCE.
006167,000715:
006168,000716: 06,2540 35025 ITURNON CAF BIT2 # IF DELAY REQUEST HAS GONE OFF
006169,000717: 06,2541 71304 MASK IMODES30 # PREMATURELY, DO NOT PROCESS ANY CHANGES
006170,000718: 06,2542 10000 CCS A # UNTIL THE CURRENT 90 SEC WAIT EXPIRES.
006171,000719: 06,2543 12225 TCF NXTIFAIL
006172,000720:
006173,000721: 06,2544 35011 CAF BIT14 # SEE IF JUST ON OR OFF.
006174,000722: 06,2545 71304 MASK IMODES30
006175,000723: 06,2546 00006 EXTEND
006176,000724: 06,2547 12563 BZF ITURNON2 # IF JUST ON.
006177,000725:
006178,000726: 06,2550 35010 CAF BIT15
006179,000727: 06,2551 00006 EXTEND # SEE IF DELAY PRESENT DISCRETE HAS BEEN
006180,000728: 06,2552 02012 RAND CHAN12 # SENT. IF SO, ACTION COMPLETE
006181,000729: 06,2553 00006 EXTEND
006182,000730: 06,2554 12556 BZF +2
006183,000731: 06,2555 12225 TCF NXTIFAIL
006184,000732:
006185,000733: 06,2556 35025 CAF BIT2 # IF NOT, SET BIT TO INDICATE REQUEST NOT
006186,000734: 06,2557 27304 ADS IMODES30 # PRESENT FOR FULL DURATION.
006187,000735: 06,2560 05646 TC ALARM
006188,000736: 06,2561 00207 OCT 207
006189,000737: 06,2562 12225 TCF NXTIFAIL
006190,000738:
006191,000739: 06,2563 41304 ITURNON2 CS IMODES30 # SET BIT7 TO INDICATE WAIT OF 1 SAMPLE
006192,000740: 06,2564 75020 MASK BIT7
006193,000741: 06,2565 27304 ADS IMODES30
006194,000742: 06,2566 32571 CAF RRINIT
006195,000743: 06,2567 55101 TS RADMODES
006196,000744: 06,2570 12225 TCF NXTIFAIL
006197,000745:
006198,000746: 06,2571 00102 RRINIT OCT 00102
006199,000747:
006200,000748: # PROGRAM NAME: IMUCAGE.
006201,000749:
006202,000750: # FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES OF THE IMUCAGE INBIT, CHANNEL 30 BIT 11. IF THE BIT
006203,000751: # CHANGES TO 0 (CAGE BUTTON PRESSED), THE ISS IS CAGED (ICDU ZERO + COARSE ALIGN + NO ATT LAMP) UNTIL THE
006204,000752: # ASTRONAUT SELECTS ANOTHER PROGRAM TO ALIGN THE ISS. ANY PULSE TRAINS TO THE ICDU'S AND GYRO'S ARE TERMINATED,
006205,000753: # THE ASSOCIATED OUTCOUNTERS ARE ZEROED AND THE GYRO'S ARE DE-SELECTED. NO ACTION OCCURS WHEN THE BUTTON IS
006206,000754: # RELEASED (INBIT CHANGES TO 1).
006207,000755:
006208,000756: # CALLING SEQUENCE: BY IMUMON WHEN IMU CAGE BIT CHANGES.
006209,000757:
006210,000758: # JOBS OR TASKS INITIATED: NONE.
006211,000759:
006212,000760: # SUBROUTINES CALLED: CAGESUB.
006213,000761:
006214,000762: # ERASABLE INITIALIZATION: FRESH START AND RESTART SET BIT 11 OF IMODES30 TO 1.
006215,000763:
006216,000764: # ALARMS: NONE.
006217,000765:
006218,000766: # EXIT: NXTIFAIL.
006219,000767:
006220,000768: # OUTPUT: ISS CAGED, COUNTERS ZEROED, PULSE TRAINS TERMINATED AND NO ATT LAMP LIT.
006221,000769:
006222,000770: 06,2572 10000 IMUCAGE CCS A # NO ACTION IF GOING OFF.
006223,000771: 06,2573 12366 TCF ISSZERO
006224,000772: 06,2574 43005 CS OCT77000 # TERMINATE ICDU,RCDU, GYRO PULSE TRAINS
006225,000773: 06,2575 00006 EXTEND
006226,000774: 06,2576 03014 WAND CHAN14
006227,000775:
006228,000776: 06,2577 43001 CS OCT272 # KNOCK DOWN DISPLAY INERTIAL DATA, IMU
006229,000777: 06,2600 00006 EXTEND # ERROR COUNTER ENABLE, ZERO ICDU, COARSE
006230,000778: 06,2601 03012 WAND CHAN12 # ALIGN ENABLE, RR ERROR COUNTER ENABLE.
006231,000779:
006232,000780: 06,2602 44367 CS PRIO30 # TURN ENGINE OFF.
006233,000781: 06,2603 00006 EXTEND
006234,000782: 06,2604 02011 RAND DSALMOUT
006235,000783: 06,2605 65011 AD BIT14
006236,000784: 06,2606 00006 EXTEND
006237,000785: 06,2607 01011 WRITE DSALMOUT # FORCE BIT14=1, BIT13=0.
006238,000786:
006239,000787: 06,2610 02745 TC CAGESUB1
006240,000788:
006241,000789: 06,2611 04737 TC IBNKCALL # KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS
006242,000790: 06,2612 17106 CADR RNDREFDR
006243,000791:
006244,000792: 06,2613 45030 CS ZERO
006245,000793: 06,2614 54050 TS CDUXCMD
006246,000794: 06,2615 54051 TS CDUYCMD
006247,000795:
006248,000796: 06,2616 54052 TS CDUZCMD
006249,000797: 06,2617 54047 TS GYROCMD
006250,000798:
006251,000799: 06,2620 43004 CS OCT740 # HAVING WAITED AT LEAST 27 MCT FROM
006252,000800: 06,2621 00006 EXTEND # GYRO PULSE TRAIN TERMINATION, WE CAN
006253,000801: 06,2622 03014 WAND CHAN14 # DE-SELECT THE GYROS
006254,000802: 06,2623 12225 TCF NXTIFAIL
006255,000803:
006256,000804: # PROGRAM NAME: IMUOP.
006257,000805:
006258,000806: # FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES IN THE ISS OPERATE DISCRETE, BIT 9 OF CHANNEL 30.
006259,000807: # IF THE INBIT CHANGES TO 0, INDICATING ISS ON, IMUOP GENERALLY SETS BIT 7 OF IMODES30 TO 1 TO REQUEST ISS
006260,000808: # INITIALIZATION VIA TNONTEST. AN EXCEPTION IS DURING A FAILED ISS DELAY DURING WHICH BIT 2 OF IMODES30 IS SET
006261,000809: # TO 1 AND NO FURTHER INITIALIZATION IS REQUIRED. WHEN THE INBIT CHANGES TO 1, INDICATING ISS OFF, IMUSEFLG IS
006262,000810: # TESTED TO SEE IF ANY PROGRAM WAS USING THE ISS. IF SO, PROGRAM ALARM 00214 IS ISSUED.
006263,000811:
006264,000812: # CALLING SEQUENCE: BY IMUMON WHEN BIT 9 OF CHANNEL 30 CHANGES.
006265,000813:
006266,000814: # JOBS OR TASKS INITIATED: NONE.
006267,000815:
006268,000816: # SUBROUTINES CALLED: ALARM, IF ISS IS TURNED OFF WHILE IN USE.
006269,000817:
006270,000818: # ERASABLE INITIALIZATION: ON FRESH START AND RESTART, BIT 9 OF IMODES30 IS SET TO 1 EXCEPT WHEN THE GIMBAL LOCK
006271,000819: # LAMP IS ON, IN WHICH CASE IT IS SET TO 0. THIS PREVENTS ICDU ZERO BY TNONTEST WITH THE ISS IN GIMBAL LOCK.
006272,000820:
006273,000821: # ALARMS: PROGRAM ALARM 00214 IF THE ISS IS TURNED OFF WHILE IN USE.
006274,000822:
006275,000823: # EXIT: NXTIFAIL.
006276,000824:
006277,000825: # OUTPUT: ISS INITIALIZATION REQUEST (IMODES30 BIT 7) OR PROGRAM ALARM 00214.
006278,000826:
006279,000827: 06,2624 00006 IMUOP EXTEND
006280,000828: 06,2625 12645 BZF IMUOP2
006281,000829:
006282,000830: 06,2626 41305 CS IMODES33 # DISABLE DAP
006283,000831: 06,2627 75021 MASK BIT6
006284,000832: 06,2630 27305 ADS IMODES33
006285,000833:
006286,000834: 06,2631 04737 TC IBNKCALL # KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS
006287,000835: 06,2632 17106 CADR RNDREFDR
006288,000836:
006289,000837: 06,2633 43002 CS BITS7&8 # KNOCK DOWN RENDEZVOUS, IMUUSE FLAGS
006290,000838: 06,2634 70074 MASK FLAGWRD0
006291,000839: 06,2635 56074 XCH FLAGWRD0 # IF GOING OFF, ALARM IF PROG USING IMU.
006292,000840: 06,2636 40000 COM
006293,000841: 06,2637 75017 MASK IMUSEFLG
006294,000842: 06,2640 10000 CCS A
006295,000843: 06,2641 12225 TCF NXTIFAIL
006296,000844:
006297,000845: 06,2642 05646 TC ALARM
006298,000846: 06,2643 00214 OCT 214
006299,000847: 06,2644 12225 TCF NXTIFAIL
006300,000848:
006301,000849: 06,2645 35025 IMUOP2 CAF BIT2 # SEE IF FAILED ISS TURN-ON SEQ IN PROG.
006302,000850: 06,2646 71304 MASK IMODES30
006303,000851: 06,2647 10000 CCS A
006304,000852: 06,2650 12225 TCF NXTIFAIL # IF SO, DONT PROCESS UNTIL PRESENT 90
006305,000853: 06,2651 12563 TCF ITURNON2 # SECONDS EXPIRES.
006306,000854:
006307,000855: # PROGRAM NAME: PIPFAIL
006308,000856:
006309,000857: # FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES OF BIT 13 OF CHANNEL 33, PIPA FAIL. IT SETS BIT 10 OF
006310,000858: # IMODES30 TO AGREE. IT CALLS SETISSW IN CASE A PIPA FAIL NECESSITATES AN ISS WARNING. IF NOT, I.E., IMODES30
006311,000859: # BIT 1 = 1, AND A PIPA FAIL IS PRESENT AND THE ISS IS NOT BEING INITIALIZED, PROGRAM ALARM 00212 IS ISSUED.
006312,000860:
006313,000861: # CALLING SEQUENCE: BY C33TEST ON CHANGES OF CHANNEL 33 BIT 13.
006314,000862:
006315,000863: # JOBS OR TASKS INITIATED: NONE.
006316,000864:
006317,000865: # SUBROUTINES CALLED: 1) SETISSW, AND 2) ALARM (SEE FUNCTIONAL DESCRIPTION).
006318,000866:
006319,000867: # ERASABLE INITIALIZATION: SEE IMUMON FOR INITIALIZATION OF IMODES30. THE RELAVANT BITS ARE 5, 7, 8, 9, AND 10.
006320,000868:
006321,000869: # ALARMS: PROGRAM ALARM 00212 IF PIPA FAIL IS PRESENT BUT NEITHER ISS WARNING IS TO BE ISSUED NOR THE ISS IS
006322,000870: # BEING INITIALIZED.
006323,000871:
006324,000872: # EXIT: NXTFL33.
006325,000873:
006326,000874: # OUTPUT: PROGRAM ALARM 00212 AND ISS WARNING MAINTENANCE.
006327,000875:
006328,000876: 06,2652 10000 PIPFAIL CCS A # SET BIT10 IN IMODES30 SO ALL ISS WARNING
006329,000877: 06,2653 35015 CAF BIT10 # INFO IS IN ONE REGISTER.
006330,000878: 06,2654 57304 XCH IMODES30
006331,000879: 06,2655 73007 MASK -BIT10
006332,000880: 06,2656 27304 ADS IMODES30
006333,000881:
006334,000882: 06,2657 02705 TC SETISSW
006335,000883:
006336,000884: 06,2660 41304 CS IMODES30 # IF PIP FAIL DOESNT LIGHT ISS WARNING, DO
006337,000885: 06,2661 75026 MASK BIT1 # A PROGRAM ALARM IF IMU OPERATING BUT NOT
006338,000886: 06,2662 10000 CCS A # CAGED OR BEING TURNED ON.
006339,000887: 06,2663 12437 TCF NXTFL33
006340,000888:
006341,000889: 06,2664 31304 CA IMODES30
006342,000890: 06,2665 73003 MASK OCT1720
006343,000891: 06,2666 10000 CCS A
006344,000892: 06,2667 12437 TCF NXTFL33 # ABOVE CONDITION NOT MET.
006345,000893:
006346,000894: 06,2670 05646 TC ALARM
006347,000895: 06,2671 00212 OCT 212
006348,000896: 06,2672 12437 TCF NXTFL33
006349,000897:
006350,000898: # PROGRAM NAMES: DNTMFAST, UPTMFAST
006351,000899:
006352,000900: # FUNCTIONAL DESCRIPTION: THESE PROGRAMS PROCESS CHANGES OF BITS 12 AND 11 OF CHANNEL 33. IF A BIT CHANGES TO A
006353,000901: # 0, A PROGRAM ALARM IS ISSUED. THE ALARMS ARE:
006354,000902:
006355,000903: # BIT ALARM CAUSE
006356,000904: # --- ----- -----
006357,000905: # 12 01105 DOWNLINK TOO FAST
006358,000906: # 11 01106 UPLINK TOO FAST
006359,000907:
006360,000908: # CALLING SEQUENCE: BY C33TEST ON A BIT CHANGE.
006361,000909:
006362,000910: # SUBROUTINES CALLED: ALARM, IF A BIT CHANGES TO A 0.
006363,000911:
006364,000912: # ERASABLE INITIALIZATION: FRESH START OR RESTART, BITS 12 AND 11 OF IMODES33 ARE SET TO 1.
006365,000913:
006366,000914: # ALARMS: SEE FUNCTIONAL DESCRIPTION.
006367,000915:
006368,000916: # EXIT: NXTFL33.
006369,000917:
006370,000918: # OUTPUT: PROGRAM ALARM ON A BIT CHANGE TO 0.
006371,000919:
006372,000920: 06,2673 10000 DNTMFAST CCS A # DO PROG ALARM IF TM TOO FAST.
006373,000921: 06,2674 12437 TCF NXTFL33
006374,000922:
006375,000923: 06,2675 05646 TC ALARM
006376,000924: 06,2676 01105 OCT 1105
006377,000925: 06,2677 12437 TCF NXTFL33
006378,000926:
006379,000927: 06,2700 10000 UPTMFAST CCS A # SAME AS DNLINK TOO FAST WITH DIFFERENT
006380,000928: 06,2701 12437 TCF NXTFL33 # ALARM CODE.
006381,000929:
006382,000930: 06,2702 05646 TC ALARM
006383,000931: 06,2703 01106 OCT 1106
006384,000932: 06,2704 12437 TCF NXTFL33
006385,000933: # PROGRAM NAME: SETISSW
006386,000934:
006387,000935: # FUNCTIONAL DESCRIPTION: THIS PROGRAM TURNS THE ISS WARNING LAMP ON AND OFF (CHANNEL 11 BIT 1 = 1 FOR ON,
006388,000936: # 0 FOR OFF) DEPENDING ON THE STATUS OF IMODES30 BITS 13 (IMU FAIL) AND 4 (INHIBIT IMU FAIL), 12 (ICDU FAIL) AND
006389,000937: # 3 (INHIBIT ICDU FAIL), AND 10 (PIPA FAIL) AND 1 (INHIBIT PIPA FAIL). THE LAMP IS LEFT ON IF A LAMP TEST IS IN
006390,000938: # PROGRESS.
006391,000939:
006392,000940: # CALLING SEQUENCE: CALLED BY IMUMON ON CHANGES TO IMU FAIL AND ICDU FAIL. CALLED BY IFAILOK AND PFAILOK UPON
006393,000941: # REMOVAL OF THE FAIL INHIBITS. CALLED BY PIPFAIL WHEN THE PIPA FAIL DISCRETE CHANGES. IT IS CALLED BY PIPUSE
006394,000942: # SINCE THE PIPA FAIL PROGRAM ALARM MAY NECESSITATE AN ISS WARNING, AND LIKEWISE BY PIPFREE WHEN THE ALARM DEPARTS
006395,000943: # AND IT IS CALLED BY IMUZERO3 AND ISSUP AFTER THE FAIL INHIBITS HAVE BEEN REMOVED.
006396,000944:
006397,000945: # JOBS OR TASKS INITIATED: NONE.
006398,000946:
006399,000947: # SUBROUTINES CALLED: NONE.
006400,000948:
006401,000949: # ERASABLE INITIALIZATION:
006402,000950:
006403,000951: # 1) IMODES30 - SEE IMUMON.
006404,000952: # 2) IMODES33 BIT 1 = 0 (LAMP TEST NOT IN PROGRESS).
006405,000953:
006406,000954: # ALARMS: ISS WARNING.
006407,000955:
006408,000956: # THE FOLLOWING PROGRAM ALARMS WILL SHOW WHICH FAILURE CAUSED THE ISS WARN
006409,000957: # PROGRAM ALARM 00777 PIPA FAIL
006410,000958: # PROGRAM ALARM 03777 ICDU FAIL
006411,000959: # PROGRAM ALARM 04777 ICDU , PIPA FAILS
006412,000960: # PROGRAM ALARM 07777 IMU FAIL
006413,000961: # PROGRAM ALARM 10777 IMU , PIPA FAILS
006414,000962: # PROGRAM ALARM 13777 IMU , ICDU FAILS
006415,000963: # PROGRAM ALARM 14777 IMU , ICDU , PIPA FAILS
006416,000964:
006417,000965: # EXIT: VIA Q.
006418,000966:
006419,000967: # OUTPUT: ISS WARNING LAMP SET PROPERLY.
006420,000968:
006421,000969: 06,2705 35034 SETISSW CAF OCT15 # SET ISS WARNING USING THE FAIL BITS IN
006422,000970: 06,2706 71304 MASK IMODES30 # BITS 13, 12, AND 10 OF IMODES30 AND THE
006423,000971: 06,2707 00006 EXTEND # FAILURE INHIBIT BITS IN POSITIONS
006424,000972: 06,2710 75015 MP BIT10 # 4, 3, AND 1.
006425,000973: 06,2711 31304 CA IMODES30
006426,000974: 06,2712 00006 EXTEND
006427,000975: 06,2713 04001 ROR LCHAN # 0 INDICATES FAILURE
006428,000976: 06,2714 40000 COM
006429,000977: 06,2715 75075 MASK OCT15000
006430,000978: 06,2716 10000 CCS A
006431,000979: 06,2717 12730 TCF ISSWON # FAILURE.
006432,000980:
006433,000981: 06,2720 35026 ISSWOFF CAF BIT1 # DONT TURN OFF ISS WARNING IF LAMP TEST
006434,000982: 06,2721 71305 MASK IMODES33 # IN PROGRESS.
006435,000983:
006436,000984: 06,2722 10000 CCS A
006437,000985: 06,2723 00002 TC Q
006438,000986:
006439,000987: 06,2724 45026 CS BIT1
006440,000988: 06,2725 00006 EXTEND
006441,000989: 06,2726 03011 WAND DSALMOUT
006442,000990: 06,2727 00002 TC Q
006443,000991:
006444,000992: 06,2730 00006 ISSWON EXTEND
006445,000993: 06,2731 22066 QXCH ITEMP6
006446,000994: 06,2732 05736 TC VARALARM # TELL EVERYONE WHAT CAUSED THE ISSWARNING
006447,000995: 06,2733 35026 CAF BIT1
006448,000996: 06,2734 00006 EXTEND
006449,000997: 06,2735 05011 WOR DSALMOUT
006450,000998: 06,2736 00066 TC ITEMP6
006451,000999:
006452,001000: 06,2737 43006 CAGESUB CS BITS6&15 # SET OUTBITS AND INTERNAL FLAGS FOR
006453,001001: 06,2740 00006 EXTEND # SYSTEM TURN-ON OR CAGE. DISABLE THE
006454,001002: 06,2741 03012 WAND CHAN12 # ERROR COUNTER AND REMOVE IMU DELAY COMP.
006455,001003: 06,2742 32776 CAF BITS4&5 # SEND ZERO AND COARSE.
006456,001004: 06,2743 00006 EXTEND
006457,001005: 06,2744 05012 WOR CHAN12
006458,001006:
006459,001007: 06,2745 41037 CAGESUB1 CS DSPTAB +11D # TURN ON NO ATT LAMP
006460,001008: 06,2746 72775 MASK OC40010
006461,001009: 06,2747 27037 ADS DSPTAB +11D
006462,001010:
006463,001011: 06,2750 41304 CAGESUB2 CS IMODES30 # SET FLAGS TO INDICATE CAGING OR TURN-ON
006464,001012: 06,2751 73000 MASK OCT75 # AND INHIBIT ALL ISS WARNING INFO
006465,001013: 06,2752 27304 ADS IMODES30
006466,001014:
006467,001015: 06,2753 41305 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
006468,001016: 06,2754 75021 MASK BIT6
006469,001017: 06,2755 27305 ADS IMODES33
006470,001018:
006471,001019: 06,2756 00002 TC Q
006472,001020:
006473,001021: 06,2757 06,2705 IMUFAIL EQUALS SETISSW
006474,001022: 06,2757 06,2705 ICDUFAIL EQUALS SETISSW
006475,001023:
006476,001024: # JUMP TABLES AND CONSTANTS.
006477,001025:
006478,001026: 06,2757 12540 IFAILJMP TCF ITURNON # CHANNEL 30 DISPATCH.
006479,001027: 06,2760 12705 TCF IMUFAIL
006480,001028: 06,2761 12705 TCF ICDUFAIL
006481,001029: 06,2762 12572 TCF IMUCAGE
006482,001030: 06,2763 76400 30RDMSK OCT 76400 # (BIT 10 NOT SAMPLED HERE).
006483,001031: 06,2764 12624 TCF IMUOP
006484,001032:
006485,001033: 06,2765 12652 C33JMP TCF PIPFAIL # CHANNEL 33 DISPATCH.
006486,001034: 06,2766 12673 TCF DNTMFAST
006487,001035: 06,2767 12700 TCF UPTMFAST
006488,001036:
006489,001037: # SUBROUTINE TO SKIP IF LAMP TEST NOT IN PROGRESS.
006490,001038: 06,2770 41305 LAMPTEST CS IMODES33 # BIT 1 OF IMODES33 = 1 IF LAMP TEST IN
006491,001039: 06,2771 75026 MASK BIT1 # PROGRESS.
006492,001040: 06,2772 10000 CCS A
006493,001041: 06,2773 24002 INCR Q
006494,001042: 06,2774 00002 TC Q
006495,001043:
006496,001044: 06,2775 5076 33RDMSK EQUALS PRIO16
006497,001045: 06,2775 40010 OC40010 OCT 40010
006498,001046: 06,2776 00030 BITS4&5 OCT 30
006499,001047: 06,2777 00054 OCT54 OCT 54
006500,001048: 06,3000 00075 OCT75 OCT 75
006501,001049: 06,3001 00272 OCT272 OCT 00272
006502,001050: 06,3002 00300 BITS7&8 OCT 300
006503,001051: 06,3003 01720 OCT1720 OCT 1720
006504,001052: 06,3004 00740 OCT740 OCT 00740
006505,001053: 06,3005 5075 OCT15000 EQUALS PRIO15
006506,001054: 06,3005 77000 OCT77000 OCT 77000
006507,001055: 06,3006 40040 BITS6&15 OCT 40040
006508,001056: 06,3007 76777 -BIT10 OCT -1000
006509,001057:
006510,001058: 06,3010 21450 90SECS DEC 9000 B-14
006511,001059: 06,3011 5743 120MS = OCT14 # (DEC12)
006512,001060: 06,3011 5330 GLOCKOK EQUALS RESUME
006513,001061:
006514,001062: # PROGRAM NAME_ RRAUTCHK
006515,001063:
006516,001064: # FUNCTIONAL DESCRIPTION_
006517,001065: # RRAUTCHK IS THE RENDEZVOUS RADAR INBIT MONITOR. INITIALLY THE RR
006518,001066: # POWER ON AUTO (CHAN 33 BIT 2) INBIT IS CHECKED. IF NO CHANGE, THE
006519,001067: # PROGRAM EXITS TO RRCDUCHK. IF A CHANGE, RADMODES IS UPDATED
006520,001068: # AND A CHECK MADE IF RR POWER HAS JUST COME ON. IF JUST OFF, A CHECK
006521,001069: # IS MADE TO SEE IF A PROGRAM WAS USING THE RR (STATE BIT 7). IF NO,
006522,001070: # THE PROGRAM EXITS TO RRCDUCHK. IF YES, PROGRAM ALARM 00514
006523,001071: # IS REQUESTED BEFORE EXITING TO RRCDUCHK. IF RR POWER HAS JUST COME
006524,001072: # ON, A CHECK IS MADE TO SEE IF A PROGRAM WAS USING THE RR (STATE BIT 7).
006525,001073: # IF YES, THE PROGRAM EXITS TO RRCDUCHK WITHOUT REQUESTING THE TURN-ON
006526,001074: # SEQUENCE. IF NO, RADMODES IS UPDATED TO INDICATE RR CDU ZERO AND
006527,001075: # RR TURN-ON SEQUENCE (BITS 13, 1). A 10 MILLISECOND WAITLIST CALL
006528,001076: # IS THEN SET FOR RRTURNON BEFORE THE PROGRAM EXITS TO NORRGMON.
006529,001077:
006530,001078: # CALLING SEQUENCE_
006531,001079: # T4RUPT EVERY 480 MILLISECONDS
006532,001080:
006533,001081: # ERASABLE INITIALIZATION REQUIRED_
006534,001082: # RADMODES, STATE
006535,001083:
006536,001084: # SUBROUTINES CALLED_
006537,001085: # WAITLIST
006538,001086:
006539,001087: # JOBS OR TASKS INITIATED_
006540,001088: # RRTURNON
006541,001089:
006542,001090: # ALARMS_ PROGRAM ALARM 00514 - RADAR GOES OUT OF AUTO MODE WHILE BEING
006543,001091: # USED
006544,001092:
006545,001093: # EXIT_ RRCDUCHK, NORRGMON
006546,001094:
006547,001095: 06,3011 31101 RRAUTCHK CA RADMODES # SEE IF CHANGE IN RR AUTO MODE BIT.
006548,001096: 06,3012 00006 EXTEND
006549,001097: 06,3013 06033 RXOR CHAN33
006550,001098: 06,3014 75025 MASK BIT2
006551,001099: 06,3015 00006 EXTEND
006552,001100: 06,3016 13044 BZF RRCDUCHK
006553,001101:
006554,001102: 06,3017 23101 LXCH RADMODES # UPDATE RADMODES.
006555,001103: 06,3020 00006 EXTEND
006556,001104: 06,3021 06001 RXOR LCHAN
006557,001105: 06,3022 55101 TS RADMODES
006558,001106: 06,3023 75025 MASK BIT2 # SEE IF JUST ON.
006559,001107: 06,3024 10000 CCS A
006560,001108: 06,3025 13041 TCF RRCDUCHK -3 # OFF. GO DISABLE RR CDU ERROR COUNTERS.
006561,001109: 06,3026 43040 CS OCT72001 # SET BITS TO INDICATE ZERO AND TURNON
006562,001110: 06,3027 71101 MASK RADMODES # IN PROGRESS.
006563,001111: 06,3030 63037 AD OCT10001
006564,001112: 06,3031 55101 TS RADMODES
006565,001113:
006566,001114: 06,3032 35026 CAF ONE
006567,001115: 06,3033 05252 TC WAITLIST
006568,001116: 06,3034 E7,1433 EBANK= LOSCOUNT
006569,001117: 06,3034 02053 52007 2CADR RRTURNON
006570,001118:
006571,001119: 06,3036 13127 TCF NORRGMON
006572,001120:
006573,001121: 06,3037 10001 OCT10001 OCT 10001
006574,001122: 06,3040 72001 OCT72001 OCT 72001
006575,001123:
006576,001124: # PROGRAM NAME_ RRCDUCHK
006577,001125:
006578,001126: # FUNCTIONAL DESCRIPTION_
006579,001127: # RRCDUCHK CHECKS FOR RR CDU FAIL (CHAN 30 BIT 7). INITIALLY THE
006580,001128: # RR CDU FAIL BIT IS SAMPLED (CHAN 30 BIT 7). IF NO CHANGE, THE
006581,001129: # PROGRAM EXITS TO RRGIMON. IF A CHANGE, THE RR AUTO MODE
006582,001130: # (RADMODES BIT 2) BIT IS CHECKED. IF NOT IN RR AUTO MODE, THE
006583,001131: # PROGRAM EXITS TO NORRGMON. IF IN AUTO MODE, RADMODES BIT 7
006584,001132: # (RR CDU OK) IS UPDATED AND IF P-20 IS OPERATING PROGRAM ALARM 00515 IS
006585,001133: # REQUESTED. CONTROL IS TRANSFERRED TO SETTRKF TO UPDATE
006586,001134: # THE TRACKER FAIL LAMP (DSPTAB+11D BIT 8). CONTROL RETURNS TO
006587,001135: # RRGIMON.
006588,001136:
006589,001137: # CALLING SEQUENCE_
006590,001138: # EVERY 480 MILLISECONDS FROM RRAUTCHK (VIA T4RUPT) UNLESS A
006591,001139: # TURN-ON SEQUENCE HAS JUST BEEN INITIATED.
006592,001140:
006593,001141: # ERASABLE INITIALIZATION REQUIRED_
006594,001142: # RADMODES
006595,001143:
006596,001144: # SUBROUTINES CALLED_
006597,001145: # SETTRKF
006598,001146:
006599,001147: # JOBS OR TASKS INITIATED_
006600,001148: # NONE
006601,001149:
006602,001150: # ALARMS_
006603,001151: # TRACKER FAIL
006604,001152: # PROGRAM ALARM 00515 - RRCDU FAIL DURING P-20
006605,001153:
006606,001154: # EXIT_
006607,001155: # RRGIMON, NORRGMON
006608,001156:
006609,001157: 06,3041 45025 -3 CS BIT2
006610,001158: 06,3042 00006 EXTEND
006611,001159: 06,3043 03012 WAND CHAN12 # AT TURNON, DISABLE CDU ERROR COUNTERS.
006612,001160:
006613,001161: 06,3044 31101 RRCDUCHK CA RADMODES # LAST SAMPLED BIT IN RADMODES.
006614,001162: 06,3045 00006 EXTEND
006615,001163: 06,3046 06030 RXOR CHAN30
006616,001164: 06,3047 75020 MASK BIT7
006617,001165: 06,3050 00006 EXTEND
006618,001166: 06,3051 13076 BZF RRGIMON
006619,001167:
006620,001168: 06,3052 35025 CAF BIT2 # IF RR NOT IN AUTO MODE, DONT CHANGE BIT
006621,001169: 06,3053 71101 MASK RADMODES # 7 OF RADMODES. IF THIS WERE NOT DONE,
006622,001170: 06,3054 10000 CCS A # THE TRACKER FAIL MIGHT COME ON WHEN
006623,001171: 06,3055 13127 TCF NORRGMON # JUST READING LR DATA.
006624,001172:
006625,001173: 06,3056 35020 CAF BIT7 # SET BIT 7 OF RADMODES FOR SETTRKF.
006626,001174:
006627,001175: 06,3057 23101 LXCH RADMODES # UPDATE RADMODES.
006628,001176: 06,3060 00006 EXTEND
006629,001177: 06,3061 06001 RXOR L
006630,001178: 06,3062 55101 TS RADMODES
006631,001179:
006632,001180: 06,3063 31101 CA RADMODES # DID RR CDU FAIL
006633,001181: 06,3064 75020 MASK BIT7
006634,001182: 06,3065 10000 CCS A
006635,001183: 06,3066 13075 TCF TRKFLCDU # NO
006636,001184: 06,3067 40074 CS FLAGWRD0 # RNDVFLG P20 OR P22 OPERATING
006637,001185: 06,3070 75020 MASK RNDVZBIT
006638,001186: 06,3071 10000 CCS A
006639,001187: 06,3072 13075 TCF TRKFLCDU # NO
006640,001188: 06,3073 05646 TC ALARM # YES
006641,001189: 06,3074 00515 OCT 00515
006642,001190: 06,3075 04601 TRKFLCDU TC SETTRKF # UPDATE TRACKER FAIL LAMP ON DSKY.
006643,001191:
006644,001192: # PROGRAM NAME_ RRGIMON E AUTO MODE EXCEPT WHEN THE RR CDUS ARE
006645,001193:
006646,001194: # FUNCTIONAL DESCRIPTION_ TTER IS INITIATED BY THIS MONITOR WHEN
006647,001195: # RRGIMON IS THE RR GIMBAL LIMIT MONITOR. INITIALLY THE FOLLOWING IS ED TO DRIVE THE GIMBALS TO T = 0 AND
006648,001196: # CHECKED_ REMODE, RR CDU:S BEING ZEROED, REPOSITION, AND RR
006649,001197: # NOT IN AUTO MODE (RADMODES BITS 14, 13, 11 2). IF ANY OF THESE
006650,001198: # EXIST THE PROGRAM EXITS TO GPMATRIX. IF NONE ARE PRESENT RRLIMCHK
006651,001199: # IS CALLED TO SEE IF THE PRESENT RR CDU ANGLES (OPTY, OPTX) ARE WITHIN
006652,001200: # THE LIMITS OF THE CURRENT MODE. IF WITHIN LIMITS, THE PROGRAM EXITS
006653,001201: # TO NORRGMON. IF NOT WITHIN LIMITS, THE REPOSITION FLAG (RADMODES
006654,001202: # BIT 11) IS SET, THE RR AUTO TRACKER AND RR ERROR COUNTER
006655,001203: # (CHAN 12 BITS 14, 2) ARE DISABLED, AND A 20 MILLISECOND WAITLIST
006656,001204: # CALL IS SET FOR DORREPOS AFTER WHICH THE PROGRAM EXITS TO NORRGMON.
006657,001205:
006658,001206: # CALLING SEQUENCE_
006659,001207: # EVERY 480 MILLISECONDS FROM RRCDUCHK (VIA T4RUPT) UNLESS TURN-ON
006660,001208: # HAS JUST BEEN INITIATED VIA RRAUTCHK OR IF THERE HAS BEEN A CHANGE IN
006661,001209: # THE RR CDU FAIL BIT (CHAN 30 BIT 7) AND THE RR IS NOT IN THE AUTO MODE
006662,001210: # (RADMODES BIT 2).
006663,001211:
006664,001212: # ERASABLE INITIALIZATION_ RADMODES
006665,001213:
006666,001214: # SUBROUTINES CALLED_
006667,001215: # RRLIMCHK, WAITLIST
006668,001216:
006669,001217: # JOBS OR TASKS INITIATED_
006670,001218: # DORREPOS
006671,001219:
006672,001220: # ALARMS_
006673,001221: # NONE
006674,001222:
006675,001223: # EXIT_
006676,001224: # NORRGMON
006677,001225:
006678,001226: 06,3076 30101 RRGIMON CAE FLAGWRD5 # IS NO ANGLE MONITOR FLAG SET
006679,001227: 06,3077 75023 MASK NORRMBIT
006680,001228: 06,3100 10000 CCS A
006681,001229: 06,3101 13127 TCF NORRGMON # YES - SKIP LIMIT CHECK
006682,001230: 06,3102 33124 CAF OCT32002 # INHIBIT BY REMODE,ZEROING,MONITOR.
006683,001231: 06,3103 71101 MASK RADMODES # OR RR NOT IN AUTO.
006684,001232: 06,3104 10000 CCS A
006685,001233: 06,3105 13127 TCF NORRGMON
006686,001234:
006687,001235: 06,3106 04540 TC RRLIMCHK # SEE IF ANGLES IN LIMITS.
006688,001236: 06,3107 00035 ADRES CDUT
006689,001237:
006690,001238: 06,3110 13112 TCF MONREPOS
006691,001239:
006692,001240: 06,3111 13127 TCF NORRGMON # (ADDITIONAL CODING MAY GO HERE).
006693,001241:
006694,001242: 06,3112 35014 MONREPOS CAF BIT11 # SET FLAG TO SHOW REPOSITION IN PROGRESS.
006695,001243: 06,3113 27101 ADS RADMODES
006696,001244:
006697,001245: 06,3114 43125 CS OCT20002 # DISABLE TRACKER AND ERROR COUNTER.
006698,001246: 06,3115 00006 EXTEND
006699,001247: 06,3116 03012 WAND CHAN12
006700,001248:
006701,001249: 06,3117 35025 CAF TWO
006702,001250: 06,3120 05252 TC WAITLIST
006703,001251: 06,3121 E7,1433 EBANK= LOSCOUNT
006704,001252: 06,3121 02120 52007 2CADR DORREPOS
006705,001253:
006706,001254: 06,3123 13127 TCF NORRGMON
006707,001255:
006708,001256: 06,3124 32002 OCT32002 OCT 32002
006709,001257: 06,3125 20002 OCT20002 OCT 20002
006710,001258: 06,3126 02100 OCT02100 OCT 02100 # P20,P22 MASK BITS
006711,001259:
006712,001260: # PROGRAM NAME: GPMATRIX (DAPT4S) MOD. NO. 2 DATE: OCTOBER 27, 1966
006713,001261:
006714,001262: # AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
006715,001263:
006716,001264: # MODIFIED: 7FEB. 1968 BY P. S. WEISSMAN TO DELETE COMPUTATION OF MR12 AND MR13, WHICH ARE NO LONGER REQIURED.
006717,001265:
006718,001266: # THIS PROGRAM CALCULATES ALL THE SINGLE-PRECISION MATRIX ELEMENTS WHICH ARE USED BY LEM DAP TO TRANSFORM VECTORS
006719,001267: # FROM GIMBAL TO PILOT (BODY) AXES AND BACK AGAIN. THESE ELEMENTS ARE USED EXCLUSIVELY BY BASIC LANGUAGE ROUTINES
006720,001268: # AND THEREFORE ARE NOT ARRAYED FOR USE BY INTERPRETIVE PROGRAMS.
006721,001269:
006722,001270: # CALLING SEQUENCE: GPMATRIX IS TRANSFERRED TO FROM DAPT4S AND IS THUS EXECUTED 4 TIMES A SECOND BY T4RUPT.
006723,001271: # DAPT4S IS LISTED IN T4JUMP TABLE TWICE EXPLICITLY AND ALSO OCCURS AFTER RRAUTCHK (WHICH IS ALSO LISTED TWICE).
006724,001272:
006725,001273: # SUBROUTINES CALLED: SPSIN, SPCOS.
006726,001274:
006727,001275: # NORMAL EXIT MODE: TCF RESUME
006728,001276:
006729,001277: # ALARM AND ABORT MODES: NONE.
006730,001278:
006731,001279: # INPUT: CDUX, CDUY, CDUZ.
006732,001280:
006733,001281: # OUTPUT: M11, M21, M31, M22, M32.
006734,001282:
006735,001283: # AOG = CDUX, AIG = CDUY, AMG = CDUZ: MNEMONIC IS : OIM = XYZ
006736,001284:
006737,001285: # * * SIN(MG) 0 1 *
006738,001286: # M = * COS(MG)COS(OG) SIN(OG) 0 *
006739,001287: # GP * -COS(MG)SIN(OG) COS(OG) 0 *
006740,001288:
006741,001289: # * * 0 COS(OG)/COS(MG) -SIN(OG)/COS(MG) *
006742,001290: # M = * 0 SIN(OG) COS(OG) *
006743,001291: # PG * 1 -SIN(MG)COS(OG)/COS(MG) SIN(MG)SIN(OG)/COS(MG) *
006744,001292:
006745,001293: 06,3127 E6,1412 EBANK= M11
006746,001294: 06,3127 06,3127 DAPT4S EQUALS GPMATRIX
006747,001295:
006748,001296: # T4RUPT DAP LOGIC:
006749,001297:
006750,001298: 06,3127 30034 GPMATRIX CAE CDUZ # SINGLE ENTRY POINT
006751,001299: 06,3130 05103 TC SPSIN # SIN(CDUZ) = SIN(MG)
006752,001300: 06,3131 55412 TS M11 # SCALED AT 1
006753,001301:
006754,001302: 06,3132 30034 CAE CDUZ
006755,001303: 06,3133 05102 TC SPCOS # COS(CDUZ) = COS(MG)
006756,001304: 06,3134 54061 TS COSMG # SCALED AT 1 (ONLY A FACTOR)
006757,001305:
006758,001306: 06,3135 30032 CAE CDUX
006759,001307: 06,3136 05103 TC SPSIN # SIN(CDUX) = SIN(OG)
006760,001308: 06,3137 55415 TS M22 # SCALED AT 1 (ALSO IS MR22)
006761,001309:
006762,001310: 06,3140 41415 CS M22
006763,001311:
006764,001312: 06,3141 00006 EXTEND
006765,001313: 06,3142 70061 MP COSMG # -SIN(OG)COS(MG)
006766,001314: 06,3143 55414 TS M31 # SCALED AT 1
006767,001315:
006768,001316: 06,3144 30032 CAE CDUX
006769,001317: 06,3145 05102 TC SPCOS # COS(CDUX) = COS(OG)
006770,001318: 06,3146 55416 TS M32 # SCALED AT 1 (ALSO IS MR23)
006771,001319:
006772,001320: 06,3147 00006 EXTEND
006773,001321: 06,3150 70061 MP COSMG # COS(OG)COS(MG)
006774,001322: 06,3151 55413 TS M21 # SCALED AT 1
006775,001323:
006776,001324: 06,3152 05330 TC RESUME
006777,001325:
006778,001326: 06,3153 06,3127 NORRGMON EQUALS DAPT4S
006779,001327: 06,3153 5330 ENDDAPT4 EQUALS RESUME
End of include-file T4RUPT_PROGRAM.agc. Parent file is MAIN.agc