Source Code
006339,000001: # Copyright: Public domain.
006340,000002: # Filename: T4RUPT_PROGRAM.agc
006341,000003: # Purpose: Part of the source code for Luminary 1A build 099.
006342,000004: # It is part of the source code for the Lunar Module's (LM)
006343,000005: # Apollo Guidance Computer (AGC), for Apollo 11.
006344,000006: # Assembler: yaYUL
006345,000007: # Contact: Hartmuth Gutsche <hgutsche@xplornet.com>.
006346,000008: # Website: www.ibiblio.org/apollo.
006347,000009: # Pages: 155-189
006348,000010: # Mod history: 2009-05-19 HG Transcribed from page images.
006349,000011:
006350,000012: # This source code has been transcribed or otherwise adapted from
006351,000013: # digitized images of a hardcopy from the MIT Museum. The digitization
006352,000014: # was performed by Paul Fjeld, and arranged for by Deborah Douglas of
006353,000015: # the Museum. Many thanks to both. The images (with suitable reduction
006354,000016: # in storage size and consequent reduction in image quality as well) are
006355,000017: # available online at www.ibiblio.org/apollo. If for some reason you
006356,000018: # find that the images are illegible, contact me at info@sandroid.org
006357,000019: # about getting access to the (much) higher-quality images which Paul
006358,000020: # actually created.
006359,000021:
006360,000022: # Notations on the hardcopy document read, in part:
006361,000023:
006362,000024: # Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
006363,000025: # 16:27 JULY 14, 1969
006364,000026: # Page 155
006365,000027: 12,2000 BANK 12
006366,000028: 06,2000 SETLOC T4RUP
006367,000029: 06,2000 BANK
006368,000030:
006369,000031: 06,2000 E6,1414 EBANK= M11
006370,000032: 06,2000 COUNT* $$/T4RPT
006371,000033: 06,2000 54016 T4RUPT TS BANKRUPT
006372,000034:
006373,000035: 06,2001 00006 EXTEND
006374,000036: 06,2002 22012 QXCH QRUPT
006375,000037:
006376,000038: 06,2003 11313 CCS DSRUPTSW # GOES 7(-1)0 AROUND AND AROUND
006377,000039: 06,2004 12010 TCF NORMT4 +1
006378,000040: 06,2005 12007 TCF NORMT4
006379,000041:
006380,000042: 06,2006 12134 TCF QUIKDSP
006381,000043:
006382,000044: 06,2007 34757 NORMT4 CAF SEVEN
006383,000045: 06,2010 54070 TS RUPTREG1
006384,000046: 06,2011 55313 TS DSRUPTSW
006385,000047:
006386,000048: 4066 BLOCK 02
006387,000049: 4000 SETLOC FFTAG10
006388,000050: 4000 BANK
006389,000051:
006390,000052: 4066 COUNT* $$/T4RPT
006391,000053: 4066 7727 100MRUPT = OCT37766 # (DEC 16374)
006392,000054: # RELTAB IS A PACKED TABLE. RELAYWORD CODE IN UPPER 4 BITS, RELAY CODE
006393,000055: # IN LOWER 5 BITS.
006394,000056:
006395,000057: 4066 04025 RELTAB OCT 04025
006396,000058: 4067 10003 OCT 10003
006397,000059: 4070 14031 OCT 14031
006398,000060: 4071 20033 OCT 20033
006399,000061: 4072 24017 OCT 24017
006400,000062: 4073 30036 OCT 30036
006401,000063: 4074 34034 OCT 34034
006402,000064: 4075 40023 OCT 40023
006403,000065: 4076 44035 OCT 44035
006404,000066: 4077 50037 OCT 50037
006405,000067: 4100 54000 OCT 54000
006406,000068: 4101 60000 RELTAB11 OCT 60000
006407,000069:
006408,000070: # Page 156
006409,000071: # SWITCHED-BANK PORTION
006410,000072:
006411,000073: 12,2000 BANK 12
006412,000074: 06,2000 SETLOC T4RUP
006413,000075: 06,2000 BANK
006414,000076:
006415,000077: 06,2012 COUNT* $$/T4RPT
006416,000078: 06,2012 11036 CDRVE CCS DSPTAB +11D
006417,000079: 06,2013 02063 TC DSPOUT
006418,000080: 06,2014 02063 TC DSPOUT
006419,000081:
006420,000082: 06,2015 57036 XCH DSPTAB +11D
006421,000083: 06,2016 74356 MASK LOW11
006422,000084: 06,2017 55036 TS DSPTAB +11D
006423,000085: 06,2020 64101 AD RELTAB11
006424,000086: 06,2021 00006 EXTEND
006425,000087: 06,2022 01010 WRITE OUT0
006426,000088: 06,2023 02071 TC HANG20
006427,000089:
006428,000090: # Page 157
006429,000091: # DSPOUT PROGRAM, PUTS OUT DISPLAYS
006430,000092:
006431,000093: 06,2024 55016 DSPOUTSB TS NOUT
006432,000094: 06,2025 44755 CS ZERO
006433,000095: 06,2026 54073 TS DSRUPTEM # SET TO -0 FOR 1ST PASS THRU DSPTAB
006434,000096: 06,2027 56776 XCH DSPCNT
006435,000097: 06,2030 64754 AD NEG0 # TO PREVENT +0
006436,000098: 06,2031 54776 TS DSPCNT
006437,000099: 06,2032 50776 DSPSCAN INDEX DSPCNT
006438,000100: 06,2033 11023 CCS DSPTAB
006439,000101: 06,2034 10776 CCS DSPCNT # IF DSPTAB ENTRY +, SKIP
006440,000102: 06,2035 12030 TCF DSPSCAN -2 # IF DSPCNT +, TRY AGAIN
006441,000103: 06,2036 12047 TCF DSPLAY # IF DSPTAB ENTRY -, DISPLAY
006442,000104: 06,2037 00012 TABLNTH OCT 12 # DEC 10, LENGTH OF DSPTAB
006443,000105: 06,2040 10073 CCS DSRUPTEM # IF DSRUPTEM=+0, 2ND PASS THRU DSPTAB
006444,000106: 06,2041 37764 120MRUPT DEC 16372 B-14 # (DSPCNT = 0). +0 INTO NOUT.
006445,000107: 06,2042 55016 TS NOUT
006446,000108: 06,2043 00002 TC Q
006447,000109: 06,2044 54073 TS DSRUPTEM # IF DSRUPTEM=-0, 1ST PASS THRU DSPTAB
006448,000110: 06,2045 32037 CAF TABLNTH # (DSPCNT=0).+0 INTO DSRUPTEM. PASS AGAIN
006449,000111: 06,2046 12031 TCF DSPSCAN -1
006450,000112:
006451,000113: 06,2047 64753 DSPLAY AD ONE
006452,000114: 06,2050 50776 INDEX DSPCNT
006453,000115: 06,2051 55023 TS DSPTAB # REPLACE POSITIVELY
006454,000116: 06,2052 74356 MASK LOW11 # REMOVE BITS 12 TO 15
006455,000117: 06,2053 54073 TS DSRUPTEM
006456,000118: 06,2054 34350 CAF HI5
006457,000119: 06,2055 50776 INDEX DSPCNT
006458,000120: 06,2056 74066 MASK RELTAB # PICK UP BITS 12 TO 15 OF RELTAB ENTRY
006459,000121: 06,2057 60073 AD DSRUPTEM
006460,000122: 06,2060 00006 EXTEND
006461,000123: 06,2061 01010 WRITE OUT0
006462,000124:
006463,000125: 06,2062 16737 TCF Q+1
006464,000126:
006465,000127: 06,2063 10101 DSPOUT CCS FLAGWRD5 # IS DSKY FLAG ON
006466,000128: 06,2064 34755 CAF ZERO # NO
006467,000129: 06,2065 12130 TCF NODSPOUT # NO
006468,000130: 06,2066 11016 CCS NOUT # YES
006469,000131: 06,2067 02024 TC DSPOUTSB
006470,000132: 06,2070 12130 TCF NODSPOUT # NO DISPLAY REQUESTS
006471,000133:
006472,000134: 06,2071 42171 HANG20 CS 14,11,9
006473,000135: 06,2072 27313 ADS DSRUPTSW
006474,000136:
006475,000137: 06,2073 37731 CAF 20MRUPT
006476,000138:
006477,000139: 06,2074 54027 SETTIME4 TS TIME4
006478,000140:
006479,000141: # Page 158
006480,000142: # THE STATUS OF THE PROCEED PUSHBUTTON IS MONITORED EVERY 120 MILLISECONDS VIA THE CHANNEL 32 BIT 14 INBIT.
006481,000143: # THE STATE OF THIS INBIT IS COMPARED WITH ITS STATE DURING THE PREVIOUS T4RUPT AND IS PROCESSED AS FOLLOWS.
006482,000144: # IF PREV ON AND NOW ON -- BYPASS.
006483,000145: # IF PREV ON AND NOW OFF -- UPDATE IMODES33.
006484,000146: # IF PREV OFF AND NOW ON -- UPDATE IMODES33 AND PROCESS VIA PINBALL.
006485,000147: # IF PREV OFF AND NOW OFF -- BYPASS.
006486,000148: # THE LOGIC EMPLOYED REQUIRES ONLY 9 MCT (APPROX. 108 MICROSECONDS) OF COMPUTER TIME WHEN NO CHANGES OCCUR.
006487,000149:
006488,000150: 06,2075 31303 PROCEEDE CA IMODES33 # MONITOR FOR PROCEED BUTTON
006489,000151: 06,2076 00006 EXTEND
006490,000152: 06,2077 06032 RXOR CHAN32
006491,000153: 06,2100 74736 MASK BIT14
006492,000154: 06,2101 00006 EXTEND
006493,000155: 06,2102 12116 BZF T4JUMP # NO CHANGE
006494,000156:
006495,000157: 06,2103 23303 LXCH IMODES33
006496,000158: 06,2104 00006 EXTEND
006497,000159: 06,2105 06001 RXOR LCHAN
006498,000160: 06,2106 55303 TS IMODES33 # UPDATE IMODES33
006499,000161: 06,2107 74736 MASK BIT14
006500,000162: 06,2110 10000 CCS A
006501,000163: 06,2111 12116 TCF T4JUMP # WAS ON -- NOW OFF
006502,000164:
006503,000165: 06,2112 34355 CAF CHRPRIO # WAS OFF -- NOW ON
006504,000166: 06,2113 05072 TC NOVAC
006505,000167: 06,2114 0777 EBANK= DSPCOUNT
006506,000168: 06,2114 03452 60101 2CADR PROCKEY
006507,000169:
006508,000170: # Page 159
006509,000171: # JUMP TO APPROPRIATE ONCE-PER SECOND (0.96 SEC ACTUALLY) ACTIVITY
006510,000172:
006511,000173: 06,2116 50070 T4JUMP INDEX RUPTREG1
006512,000174: 06,2117 12120 TCF +1
006513,000175:
006514,000176: 06,2120 03156 TC RCSMONIT
006515,000177: 06,2121 13006 TCF RRAUTCHK
006516,000178: 06,2122 12172 TCF IMUMON
006517,000179: 06,2123 13132 TCF DAPT4S
006518,000180: 06,2124 03156 TC RCSMONIT
006519,000181: 06,2125 13006 TCF RRAUTCHK
006520,000182: 06,2126 12172 TCF IMUMON
006521,000183: 06,2127 13132 TCF DAPT4S
006522,000184:
006523,000185: 06,2130 7731 20MRUPT = OCT37776 # (DEC 16382)
006524,000186:
006525,000187: # Page 160
006526,000188: # ADDITIONAL ROUTINES FOR 20MS. KEYBOARD ACTIVITY
006527,000189:
006528,000190: 06,2130 00006 NODSPOUT EXTEND
006529,000191: 06,2131 01010 WRITE OUT0
006530,000192:
006531,000193: 06,2132 32041 CAF 120MRUPT # SET FOR NEXT CCRIVE
006532,000194: 06,2133 12074 TCF SETTIME4
006533,000195:
006534,000196: 06,2134 34736 QUIKDSP CAF BIT14
006535,000197: 06,2135 71313 MASK DSRUPTSW
006536,000198: 06,2136 00006 EXTEND
006537,000199: 06,2137 12165 BZF QUIKOFF # WROTE LAST TIME, NOW TURN OFF RELAYS.
006538,000200:
006539,000201: 06,2140 11016 CCS NOUT
006540,000202: 06,2141 02024 TC DSPOUTSB
006541,000203: 06,2142 12152 TCF NODSPY # NOUT=0 OR BAD RETURN FROM DSPOUTSB
006542,000204: 06,2143 44736 CS BIT14 # GOOD RETURN (WE DISPLAYED SOMETHING)
006543,000205: 06,2144 27313 QUIKRUPT ADS DSRUPTSW
006544,000206:
006545,000207: 06,2145 37731 CAF 20MRUPT
006546,000208: 06,2146 54027 TS TIME4
006547,000209:
006548,000210: 06,2147 34743 CAF BIT9
006549,000211: 06,2150 27313 ADS DSRUPTSW
006550,000212:
006551,000213: 06,2151 05270 TC RESUME
006552,000214:
006553,000215: 06,2152 00006 NODSPY EXTEND
006554,000216: 06,2153 01010 WRITE OUT0
006555,000217:
006556,000218: 06,2154 37731 SYNCT4 CAF 20MRUPT
006557,000219: 06,2155 26027 ADS TIME4
006558,000220:
006559,000221: 06,2156 34743 CAF BIT9
006560,000222: 06,2157 27313 ADS DSRUPTSW
006561,000223:
006562,000224: 06,2160 11313 CCS DSRUPTSW
006563,000225: 06,2161 05270 TC RESUME
006564,000226: 06,2162 37737 OCT37737 OCT 37737
006565,000227: 06,2163 02154 TC SYNCT4
006566,000228: 06,2164 05270 TC RESUME
006567,000229:
006568,000230: 06,2165 00006 QUIKOFF EXTEND
006569,000231: 06,2166 01010 WRITE OUT0
006570,000232: 06,2167 34736 CAF BIT14 # RESET DSRUPTSW TO SEND DISPLAY NEXT PASS
006571,000233: 06,2170 12144 TCF QUIKRUPT
006572,000234:
006573,000235: 06,2171 22400 14,11,9 OCT 22400
006574,000236:
006575,000237: # Page 161
006576,000238: # PROGRAM NAME: IMUMON
006577,000239:
006578,000240: # FUNCTIONAL DESCRIPTION: THIS PROGRAM IS ENTERED EVERY 480 MS. IT DETECTS CHANGES OF THE IMU STATUS BITS IN
006579,000241: # CHANNEL 30 AND CALLS THE APPROPRIATE SUBROUTINES. THE BITS PROCESSED AND THEIR RELEVANT SUROUTINES ARE:
006580,000242:
006581,000243: # FUNCTION BIT SUBROUTINE CALLED
006582,000244: # -------- --- -----------------
006583,000245: # TEMP IN LIMITS 15 TLIM
006584,000246: # ISS TURN-ON REQUEST 14 ITURNON
006585,000247: # IMU FAIL 13 IMUFAIL (SETISSW)
006586,000248: # IMU CDU FAIL 12 ICDUFAIL (SETISSW)
006587,000249: # IMU CAGE 11 IMUCAGE
006588,000250: # IMU OPERATE 9 IMUOP
006589,000251:
006590,000252: # THE LAST SAMPLED STATE OF THESE BITS IS LEFT IN IMODES30. ALSO, EACH SUBROUTINE CALLED FINDS THE NEW
006591,000253: # VALUE OF THE BIT IN A, WITH Q SET TO THE PROPER RETURN LOCATION NXTIFAIL.
006592,000254:
006593,000255: # CALLING SEQUENCE: T4RUPT EVERY 480 MILLISECONDS.
006594,000256:
006595,000257: # JOBS OR TASKS INITIATED: NONE.
006596,000258:
006597,000259: # SUBROUTINES CALLED: TLIM, TURNON, SETISSW, IMUCAGE, IMUOP.
006598,000260:
006599,000261: # ERASABELE INITIALIZATION:
006600,000262: # FRESH START OR RESTART WITH NO GROUPS ACTIVE: C((MODES30) = OCT 37411).
006601,000263: # RESTART WITH ACTIVE GROUPS: C(IMODES30) = (B(IMODES30)AND(OCT 00035)) PLUS OCT 37400.
006602,000264: # THIS LEAVES IMU FAIL BITS INTACT.
006603,000265:
006604,000266: # ALARMS: NONE.
006605,000267:
006606,000268: # EXIT: TNONTEST.
006607,000269:
006608,000270: # OUTPUT: UPDATED IMODES30 WITH CHANGES PROCESSED BY APPROPRIATE SUBROUTINE.
006609,000271:
006610,000272: 06,2172 31302 IMUMON CA IMODES30 # SEE IF THERE HAS BEEN A CHANGE IN THE
006611,000273: 06,2173 00006 EXTEND # RELEVANT BITS OF CHAN 30.
006612,000274: 06,2174 06030 RXOR CHAN30
006613,000275: 06,2175 72761 MASK 30RDMSK
006614,000276: 06,2176 00006 EXTEND
006615,000277: 06,2177 12227 BZF TNONTEST # NO CHANGE IN STATUS
006616,000278:
006617,000279: 06,2200 54070 TS RUPTREG1 # SAVE BITS WHICH HAVE CHANGED.
006618,000280: 06,2201 23302 LXCH IMODES30 # UPDATE IMODES30.
006619,000281: 06,2202 00006 EXTEND
006620,000282: 06,2203 06001 RXOR LCHAN
006621,000283: 06,2204 55302 TS IMODES30
006622,000284:
006623,000285: 06,2205 44753 CS ONE
006624,000286: 06,2206 56070 XCH RUPTREG1
006625,000287: 06,2207 00006 EXTEND
006626,000288: # Page 162
006627,000289: 06,2210 62514 BZMF TLIM # CHANGE IN IMU TEMP.
006628,000290: 06,2211 12213 TCF NXTIFBIT # BEGIN BIT SCAN.
006629,000291:
006630,000292: 06,2212 64753 -1 AD ONE # (RE-ENTERS HERE FROM NXTIFAIL.)
006631,000293: 06,2213 24070 NXTIFBIT INCR RUPTREG1 # ADVANCE BIT POSITION NUMBER.
006632,000294: 06,2214 60000 +1 DOUBLE
006633,000295: 06,2215 54000 TS A # SKIP IF OVERFLOW.
006634,000296: 06,2216 12213 TCF NXTIFBIT # LOOK FOR BIT.
006635,000297:
006636,000298: 06,2217 56071 XCH RUPTREG2 # SAVE OVERFLOW-CORRECTED DATA.
006637,000299: 06,2220 50070 INDEX RUPTREG1 # SELECT NEW VALUE OF THIS BIT.
006638,000300: 06,2221 34736 CAF BIT14
006639,000301: 06,2222 71302 MASK IMODES30
006640,000302: 06,2223 50070 INDEX RUPTREG1
006641,000303: 06,2224 02755 TC IFAILJMP
006642,000304:
006643,000305: 06,2225 10071 NXTIFAIL CCS RUPTREG2 # PROCESS ANY ADDITIONAL CHANGES.
006644,000306: 06,2226 12212 TCF NXTIFBIT -1
006645,000307:
006646,000308: # Page 163
006647,000309: # PROGRAM NAME: TNONTEST.
006648,000310:
006649,000311: # FUNCTIONAL DESCRIPTION: THIS PROGRAM HONORS REQUESTS FOR ISS INITIALIZATION. ISS TURN-ON (CHANNEL 30 BIT 14)
006650,000312: # AND ISS OPERATE (CHANNEL 30 BIT 9) REQUESTS ARE TREATED AS A PAIR AND PROCESSING TAKES PLACE .480 SECONDS
006651,000313: # AFTER EITHER ONE APPEARS. THIS INITIALIZATION TAKES ON ONE OF THE FOLLOWING THREE FORMS:
006652,000314:
006653,000315: # 1) ISS TURN-ON: IN THIS SITUATION THE COMPUTER IS OPERATING WHEN THE ISS IS TURNED ON. NOMINALLY,
006654,000316: # BOTH ISS TURN-ON AND ISS OPERATE APPEAR. THE PLATFORM IS CAGED FOR 90 SECONDS AND THE ICDU'S ZEROED
006655,000317: # SO THAT AT THE END OF THE PROCESS THE GIMBAL LOCK MONITOR WILL FUNCTION PROPERLY.
006656,000318:
006657,000319: # 2) ICDU INITIALIZATION: IN THIS CASE THE COMPUTER WAS PROBABLY TURNED ON WITH THE ISS IN OPERATE OR
006658,000320: # A FRESH START WAS DONE WIT THE ISS IN OPERATE. IN THIS CASE ONLY ISS OPERATE IS ON. THE ICDU'S ARE
006659,000321: # ZEROED SO THE GIMBAL LOCK MONITOR WILL FUNCTION. AN EXCEPTION IS IF THE ISS IS IN GIMBAL LOCK AFTER
006660,000322: # A RESTART, THE ICDU'S WILL NOT BE ZEROED.
006661,000323:
006662,000324: # 3) RESTART WITH RESTARTABLE PROGRAM USING THE IMU: IN THIS CASE, NO INITIALIZATION TAKES PLACE SINCE
006663,000325: # IT IS ASSUMED THT THE USING PROGRAM DID THE INITIALIZATION AND THEREFORE T4RUPT SHOULD NOT INTERFERE.
006664,000326:
006665,000327: # IMODES30 BIT 7 IS SET = 1 BY THE FIRST BIT (CHANNEL 30 BIT 14 OR 9) WHICH ARRIVES. FOLLOWING THIS, TNONTEST IS
006666,000328: # 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
006667,000329: # PROCEEDS, SETTING BITS 8 AND 7 = 0. AT PROCTNON, IF ISS TURN-ON REQUEST IS PRESENT, THE ISS IS CAGED (ZERO +
006668,000330: # COARSE). IF ISS OPERATE IS NOT PRESENT PROGRAM ALARM 00213 IS ISSUED. AT THE END OF A 90 SECOND CAGE, BIT 2
006669,000331: # OF IMODES30 IS TESTED. IF IT IS = 1, ISS TURN-ON WAS NOT PRESENT FOR THE ENTIRE 90 SECONDS. IN THAT CASE, IF
006670,000332: # THE ISS TURN-ON REQUEST IS PRESENT TEH 90 SECOD WAIT IS REPEATED. OTHERWISE NO ACTION OCURS UNLESS A PROGRAM
006671,000333: # WAS WAITING FOR THE INITIALIZATION IN WHIC CASE TH PROGRAM IS GIVEN AN IMUSTALL ERROR RETURN. IF THE DELAY
006672,000334: # WENT PROPERLY, THE ISS DELAY OUTBIT IS SENT AND THE ICDU'S ZEROED. A TASK IS INITIATED TO REMOVE THE PIPA FAIL
006673,000335: # INHIBIT BIT IN 10.24 SECONDS. IF A MISSION PROGRAM WAS WAITING IT IS INFORMED VIA ENDIMU.
006674,000336:
006675,000337: # AT PROCTNON, IF ONLY ISS OPERATE IS PRESENT (OPONLY), THE CDU'S ARE ZEROED UNLESS THE PLATFORM IS IN COARSE
006676,000338: # ALIGN (= GIMBAL LOCK HERE) OR A MISSIN PROGRAM IS USING THE IMU (INUSEFLG = 1).
006677,000339:
006678,000340: # CALLING SEQUENCE: T4RUPT EVERY 480 MILLISECONDS AFTER IMUMON.
006679,000341:
006680,000342: # JOBS OR TASKS INITIATED: 1) ENDTNON, 90 SECONDS AFER CAGING STARTED. 2) ISSUP, 4 SECONDS AFTER CAGING DONE.
006681,000343: # 3) PFAILOK, 10.24 SECONDS AFTER INITIALIZATION COMPLETED. 4) UNZ2, 320 MILLISECONDS AFTER ZEROING
006682,000344: # STARTED.
006683,000345:
006684,000346: # SUBROUTINES CALLED: CAGESUB, CAGESUB2, ZEROICDU, ENDIMU, IMUBAD, NOATTOFF, SETISSW, VARDELAY.
006685,000347:
006686,000348: # ERASABLE INITIALIZATION: SEE IMUMON.
006687,000349:
006688,000350: # ALARMS: PROGRAM ALARM 00213 IF ISS TURN-ON REQUESTED WITHOUT ISS OPERATE.
006689,000351:
006690,000352: # EXIT: ENDTNON EXITS TO C33TEST. TASKS HAVING TO DO WITH INITIALIZATION EXIT AS FOLLOWS: MISSION PROGRAM
006691,000353: # WAITING AND INITIALIZATION COMPLETE, EXIT TO ENDIMU, MISSION PROGRAM WAITING AND INITIALIZATION FAILED, EXIT TO
006692,000354: # IMUBAD, IMU NOT IN USE, EXIT TO TASKOVER.
006693,000355:
006694,000356: # OUTPUT: ISS INITIALIZED.
006695,000357:
006696,000358: 06,2227 41302 TNONTEST CS IMODES30 # AFTER PROCESSING ALL CHANGES, SEE IF IT
006697,000359: # Page 164
006698,000360: 06,2230 74745 MASK BIT7 # IS TIME TO ACT ON A TURN-ON SEQUENCE.
006699,000361: 06,2231 10000 CCS A
006700,000362: 06,2232 12374 TCF C33TEST # NO -- EXAMINE CHANNEL 33.
006701,000363:
006702,000364: 06,2233 34744 CAF BIT8 # SEE IF FIRST SAMPLE OR SECOND.
006703,000365: 06,2234 71302 MASK IMODES30
006704,000366: 06,2235 10000 CCS A
006705,000367: 06,2236 12242 TCF PROCTNON # REACT AFTER A SECOND SAMPLE.
006706,000368:
006707,000369: 06,2237 34744 CAF BIT8 # IF FIRST SAMPLE, SET BIT TO REACT NEXT
006708,000370: 06,2240 27302 ADS IMODES30 # TIME.
006709,000371: 06,2241 12374 TCF C33TEST
006710,000372:
006711,000373: # PROCESS IMU TURN-ON REQUESTS AFTER WAITING 1 SAMPLE FOR ALL SIGNALS TO ARRIVE.
006712,000374:
006713,000375: 06,2242 42777 PROCTNON CS BITS7&8
006714,000376: 06,2243 71302 MASK IMODES30
006715,000377: 06,2244 55302 TS IMODES30
006716,000378: 06,2245 74736 MASK BIT14 # SEE IF TURN-ON REQUEST.
006717,000379: 06,2246 10000 CCS A
006718,000380: 06,2247 12347 TCF OPONLY # OPERATE ON ONLY.
006719,000381:
006720,000382: 06,2250 41302 CS IMODES30 # IF TURN-ON REQUEST, WE SHOUD HAVE IMU
006721,000383: 06,2251 74743 MASK BIT9 # OPERATE.
006722,000384: 06,2252 10000 CCS A
006723,000385: 06,2253 12256 TCF +3
006724,000386:
006725,000387: 06,2254 05567 TC ALARM # ALARM IF NOT
006726,000388: 06,2255 00213 OCT 213
006727,000389:
006728,000390: 06,2256 02735 +3 TC CAGESUB
006729,000391: 06,2257 33005 CAF 90SECS
006730,000392: 06,2260 05203 TC WAITLIST
006731,000393: 06,2261 E6,1414 EBANK= M11
006732,000394: 06,2261 02266 14106 2CADR ENDTNON
006733,000395:
006734,000396: 06,2263 12374 TCF C33TEST
006735,000397:
006736,000398: 06,2264 33005 RETNON CAF 90SECS
006737,000399: 06,2265 05224 TC VARDELAY
006738,000400:
006739,000401: 06,2266 44752 ENDTNON CS BIT2 # RESET TURN-ON REQUEST FAIL BIT.
006740,000402: 06,2267 71302 MASK IMODES30
006741,000403: 06,2270 57302 XCH IMODES30
006742,000404: 06,2271 74752 MASK BIT2 # IF IT WAS OFF, SEND ISS DELAY COMPLETE.
006743,000405: 06,2272 00006 EXTEND
006744,000406: 06,2273 12306 BZF ENDTNON2
006745,000407:
006746,000408: 06,2274 34736 CAF BIT14 # IF IT WAS ON AND TURN-ON REQUEST NOW.
006747,000409: # Page 165
006748,000410: 06,2275 71302 MASK IMODES30 # PRESENT, RE-ENTER 90 SEC DELAY IN WL.
006749,000411: 06,2276 00006 EXTEND
006750,000412: 06,2277 12264 BZF RETNON
006751,000413:
006752,000414: 06,2300 40074 CS FLAGWRD0 # IF IT IS NOT ON NOW, SEE IF A PROG WAS
006753,000415: 06,2301 74744 MASK IMUSEBIT # WAITING.
006754,000416: 06,2302 10000 CCS A
006755,000417: 06,2303 15261 TCF TASKOVER
006756,000418: 06,2304 04635 TC POSTJUMP
006757,000419: 06,2305 17637 CADR IMUBAD # UNSUCCESSFUL TURN-ON.
006758,000420:
006759,000421: 06,2306 34735 ENDTNON2 CAF BIT15 # SEND ISS DELAY COMPLETE.
006760,000422: 06,2307 00006 EXTEND
006761,000423: 06,2310 05012 WOR CHAN12
006762,000424:
006763,000425: 06,2311 04674 TC IBNKCALL # TURN OFF NO ATT LAMP.
006764,000426: 06,2312 17266 CADR NOATTOFF
006765,000427:
006766,000428: 06,2313 05457 UNZ2 TC ZEROICDU
006767,000429:
006768,000430: 06,2314 44763 CS BITS4&5 # REMOVE ZERO AND COARSE.
006769,000431: 06,2315 00006 EXTEND
006770,000432: 06,2316 03012 WAND CHAN12
006771,000433:
006772,000434: 06,2317 34741 CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS
006773,000435: 06,2320 05224 TC VARDELAY
006774,000436:
006775,000437: 06,2321 42774 ISSUP CS OCT54 # REMOVE CAGING, IMU FAIL INHIBIT BIT, AND
006776,000438: 06,2322 71302 MASK IMODES30 # ICDUFAIL INHIBIT FLAGS.
006777,000439: 06,2323 55302 TS IMODES30
006778,000440:
006779,000441: 06,2324 44746 CS BIT6 # ENABLE DAP
006780,000442: 06,2325 71303 MASK IMODES33
006781,000443: 06,2326 55303 TS IMODES33
006782,000444:
006783,000445: 06,2327 40076 CS FLAGWRD2 # TEST DRIFTFLG: IF ON DO NOTHING BECAUSE
006784,000446: 06,2330 74735 MASK DRFTBIT # IMUCOMP SHOUD BE ALL SET UP (RESTART
006785,000447: 06,2331 00006 EXTEND # WITH IMUSE DOWN). IF OFF, SET DRIFTFLG
006786,000448: 06,2332 12336 BZF +4 # AND 1/PIPADT TO GET FREEFALL IMUCOMP
006787,000449: 06,2333 26076 ADS FLAGWRD2 # GOING (FRESH START OR ISS TURN-ON).
006788,000450: 06,2334 30025 CA TIME1
006789,000451: 06,2335 57075 XCH 1/PIPADT # CANNOT GET HERE IF RESTART WITH IMUSE UP
006790,000452:
006791,000453: 06,2336 02703 TC SETISSW # ISS WARNING MIGHT HAVE BEEN INHIBITED.
006792,000454:
006793,000455: 06,2337 44735 CS BIT15 # REMOVE IMU DELAY COMPLETE DISCRETE.
006794,000456: 06,2340 00006 EXTEND
006795,000457: 06,2341 03012 WAND CHAN12
006796,000458:
006797,000459: 06,2342 35003 CAF 4SECS # DON'T ENABLE PROG ALARM ON PIP FAIL FOR
006798,000460: # Page 166
006799,000461: 06,2343 05203 TC WAITLIST # ANOTHER 4 SECS.
006800,000462: 06,2344 E3,1474 EBANK= CDUIND
006801,000463: 06,2344 03254 16103 2CADR PFAILOK
006802,000464:
006803,000465: 06,2346 15261 TCF TASKOVER
006804,000466:
006805,000467: 06,2347 34750 OPONLY CAF BIT4 # IF OPERATE ON ONLY, AND WE ARE IN COARSE
006806,000468: 06,2350 00006 EXTEND # ALIGN, DON'T ZERO THE CDUS BECAUSE WE
006807,000469: 06,2351 02012 RAND CHAN12 # MIGHT BE IN GIMBAL LOCK.
006808,000470: 06,2352 10000 CCS A
006809,000471: 06,2353 12374 TCF C33TEST
006810,000472:
006811,000473: 06,2354 34744 CAF IMUSEBIT # OTHERWISE, ZERO THE COUNTERS.
006812,000474: 06,2355 70074 MASK FLAGWRD0 # UNLESS SOMEONE IS USING TH IMU.
006813,000475: 06,2356 10000 CCS A
006814,000476: 06,2357 12374 TCF C33TEST
006815,000477:
006816,000478: 06,2360 02746 TC CAGESUB2 # SET TURNON FLAGS.
006817,000479:
006818,000480: 06,2361 04674 ISSZERO TC IBNKCALL # TURN OFF NO ATT LAMP.
006819,000481: 06,2362 17266 CADR NOATTOFF # IMU CAGE OFF ENTRY.
006820,000482:
006821,000483: 06,2363 34747 CAF BIT5 # ISS CDU ZERO
006822,000484: 06,2364 00006 EXTEND
006823,000485: 06,2365 05012 WOR CHAN12
006824,000486:
006825,000487: 06,2366 05457 TC ZEROICDU
006826,000488: 06,2367 34746 CAF BIT6 # WAIT 300 MS. FOR AGS TO RECEIVE SIGNAL.
006827,000489: 06,2370 05203 TC WAITLIST
006828,000490: 06,2371 E6,1414 EBANK= M11
006829,000491: 06,2371 02313 14106 2CADR UNZ2
006830,000492:
006831,000493: 06,2373 12374 TCF C33TEST
006832,000494:
006833,000495: # Page 167
006834,000496: # PROGRAM NAME: C33TEST
006835,000497:
006836,000498: # FUNCTIONAL DESCRIPTION: THIS PROGRAM MONITORS THREE FLIP-FLOP INBITS OF CHANNEL 33 AND CALLS THE APPROPRIATE
006837,000499: # SUBROUTINE TO PROCESS A CHANGE. IT IS ANALOGOUS TO IMUMON, WHICH MONITORS CHANNEL 30, EXCEPT THAT IT READS
006838,000500: # CHANNEL 33 WITH A WAND INSTRUCTION BECAUSE A `WRITE' PULSE IS REQUIRED TO RESET THE FLIP-FLOPS. THE BITS
006839,000501: # PROCESSED AND THE SUBROUTINES CALLED ARE:
006840,000502: # BIT FUNCTION SUBROUTINE
006841,000503: # --- -------- ----------
006842,000504: # 13 PIPA FAIL PIPFAIL
006843,000505: # 12 DOWNLINK TOO FAST DNTMFAST
006844,000506: # 11 UPLINK TOO FAST UPTMFAST
006845,000507:
006846,000508: # UPON ENTRY TO THE SUBROUTINE, THE NEW BIT STATE IS IN A.
006847,000509:
006848,000510: # CALLING SEQUENCE: EVERY 480 MILLISECONDS AFTER TNONTEST.
006849,000511:
006850,000512: # JOBS OR TASKS INITIATED: NONE.
006851,000513:
006852,000514: # SUBROUTINES CALLED: PIPFAIL, DNTMFAST AND UPTMFAST ON BIT CHANGES.
006853,000515:
006854,000516: # ERASABLE INITIALIZATION: C(IMODES33) = OCT 16000 ON A FRESH START OR RESTART, THEREFORE, THESE ALARMS WILL
006855,000517: # REAPPEAR IF THE CONDITIONS PERSIST.
006856,000518:
006857,000519: # ALARMS: NONE.
006858,000520:
006859,000521: # EXIT: GLOCKMON.
006860,000522:
006861,000523: # OUTPUT: UPDATED BITS 13, 12, AND 11 OF IMODES33 WITH CHANGES PROCESSED.
006862,000524:
006863,000525: 06,2374 31303 C33TEST CA IMODES33 # SEE IF RELEVANT CHAN33 BITS HAVE
006864,000526: 06,2375 75026 MASK 33RDMSK
006865,000527: 06,2376 54001 TS L # CHANGED.
006866,000528: 06,2377 35026 CAF 33RDMSK
006867,000529: 06,2400 00006 EXTEND
006868,000530: 06,2401 03033 WAND CHAN33 # RESETS FLIP-FLOP INPUTS
006869,000531: 06,2402 00006 EXTEND
006870,000532: 06,2403 06001 RXOR LCHAN
006871,000533: 06,2404 00006 EXTEND
006872,000534: 06,2405 12434 BZF GLOCKMON # ON NO CHANGE.
006873,000535:
006874,000536: 06,2406 54070 TS RUPTREG1 # SAVE BITS WHICH HAVE CHANGED.
006875,000537: 06,2407 23303 LXCH IMODES33
006876,000538: 06,2410 00006 EXTEND
006877,000539: 06,2411 06001 RXOR LCHAN
006878,000540: 06,2412 55303 TS IMODES33 # UPDATED IMODES33.
006879,000541:
006880,000542: 06,2413 34755 CAF ZERO
006881,000543: 06,2414 56070 XCH RUPTREG1
006882,000544: 06,2415 60000 DOUBLE
006883,000545: # Page 168
006884,000546: 06,2416 12421 TCF NXTIBT +1 # SCAN FOR BIT CHANGES.
006885,000547:
006886,000548: 06,2417 64753 -1 AD ONE
006887,000549: 06,2420 24070 NXTIBT INCR RUPTREG1
006888,000550: 06,2421 60000 +1 DOUBLE
006889,000551: 06,2422 54000 TS A # (CODING IDENTICAL TO CHAN 30).
006890,000552: 06,2423 12420 TCF NXTIBT
006891,000553:
006892,000554: 06,2424 56071 XCH RUPTREG2
006893,000555: 06,2425 50070 INDEX RUPTREG1 # GET NEW VALUE OF BIT WHICH CHANGED.
006894,000556: 06,2426 34737 CAF BIT13
006895,000557: 06,2427 71303 MASK IMODES33
006896,000558: 06,2430 50070 INDEX RUPTREG1
006897,000559: 06,2431 02763 TC C33JMP
006898,000560: 06,2432 10071 NXTFL33 CCS RUPTREG2 # PROCESS POSSIBLE ADDITIONAL CHANGES.
006899,000561: 06,2433 12417 TCF NXTIBT -1
006900,000562:
006901,000563: # Page 169
006902,000564: # PROGRAM NAME: GLOCKMON
006903,000565:
006904,000566: # FUNCTIONAL DESCRIPTION: THIS PROGRAM MONITORS THE CDUZ COUNTER TO DETERMINE WHETHER THE ISS IS IN GIMBAL LOCK
006905,000567: # AND TAKES ACTION IF IT IS. THREE REGIONS OF MIDDLE GIMBAL ANGLE (MGA) ARE USED:
006906,000568:
006907,000569: # 1) ABS(MGA) LESS THAN OR EQUAL TO 70 DEGREES -- NORMAL MODE.
006908,000570: # 2) ABS(MGA) GREATER THAN 70 DEGREES AND LESS THAN OR EQUAL TO 85 DEGREES -- GIMBAL LOCK LAMP TURNED ON.
006909,000571: # 3) ABS(MGA) GREATER THAN 85 DEGREES -- ISS PUT IN COARSE ALIGN AND NO ATT LAMP TURNED ON.
006910,000572:
006911,000573: # CALLING SEQUENCE: EVERY 480 MILLISECONDS AFTER C33TEST.
006912,000574:
006913,000575: # JOBS OR TASKS INITIATED: NONE.
006914,000576:
006915,000577: # SUBROUTINES CALLED: 1) SETCOARS WHEN ABS(MGA) GREATER THEN 85 DEGREES AND ISS NOT IN COARSE ALIGN.
006916,000578: # 2) LAMPTEST BEFORE TURNING OFF GIMBAL LOCK LAMP.
006917,000579:
006918,000580: # ERASABLE INITIALIZATION:
006919,000581: # 1) FRESH START OR RESTART WITH NO GROUPS ACTIVE: C(CDUZ) = 0, IMODES30 BIT 6 = 0, IMODES33 BIT 1 = 0.
006920,000582: # 2) RESTART WTIH GROUPS ACTIVE: SAME AS FRESH START EXCEPT C(CDUZ) NOT CHANGED SO GIMBAL MONITOR
006921,000583: # PROCEEDS AS BEFORE.
006922,000584:
006923,000585: # ALARMS: 1) MGA REGION (2) CAUSES GIMBAL LOCK LAMP TO BE LIT.
006924,000586: # 2) MGA REGION (3) CAUSES THE ISS TO BE PUT IN COARSE ALIGN AND THE NO ATT LAMP TO BE LIT IF EITHER NOT
006925,000587: # SO ALREADY.
006926,000588:
006927,000589: 06,2434 10034 GLOCKMON CCS CDUZ
006928,000590: 06,2435 12441 TCF GLOCKCHK # SEE IF MAGNITUDE OF MGA IS GREATER THAN
006929,000591: 06,2436 12465 TCF SETGLOCK # 70 DEGREES.
006930,000592: 06,2437 12441 TCF GLOCKCHK
006931,000593: 06,2440 12465 TCF SETGLOCK
006932,000594:
006933,000595: 06,2441 62512 GLOCKCHK AD -70DEGS
006934,000596: 06,2442 00006 EXTEND
006935,000597: 06,2443 62464 BZMF SETGLOCK -1 # NO LOCK.
006936,000598:
006937,000599: 06,2444 62513 AD -15DEGS # SEE IF ABS(MGA) GREATER THAN 85 DEGREES
006938,000600: 06,2445 00006 EXTEND
006939,000601: 06,2446 62462 BZMF NOGIMRUN
006940,000602:
006941,000603: 06,2447 34750 CAF BIT4 # IF SO, SYSTEM SHOULD BE IN COARSE ALIGN
006942,000604: 06,2450 00006 EXTEND # TO PREVENT GIMBAL RUNAWAY.
006943,000605: 06,2451 02012 RAND CHAN12
006944,000606: 06,2452 10000 CCS A
006945,000607: 06,2453 12462 TCF NOGIMRUN
006946,000608:
006947,000609: 06,2454 04674 TC IBNKCALL
006948,000610: 06,2455 17144 CADR SETCOARS
006949,000611:
006950,000612: 06,2456 36242 CAF SIX # ENABLE ISS ERROR COUNTERS IN 60 MS.
006951,000613: 06,2457 05203 TC WAITLIST
006952,000614: # Page 170
006953,000615: 06,2460 E3,1474 EBANK= CDUIND
006954,000616: 06,2460 03140 16103 2CADR CA+ECE
006955,000617:
006956,000618: 06,2462 34746 NOGIMRUN CAF BIT6 # TURN ON GIMBAL LOCK LAMP.
006957,000619: 06,2463 12465 TCF SETGLOCK
006958,000620:
006959,000621: 06,2464 34755 -1 CAF ZERO
006960,000622: 06,2465 61036 SETGLOCK AD DSPTAB +11D # SEE IF PRESENT STATE OF GIMBAL LOCK LAMP
006961,000623: 06,2466 74746 MASK BIT6 # AGREES WITH DESIRED STATE BY HALF ADDING
006962,000624: 06,2467 00006 EXTEND # THE TWO.
006963,000625: 06,2470 15270 BZF GLOCKOK # OK AS IS.
006964,000626:
006965,000627: 06,2471 71036 MASK DSPTAB +11D # IF OFF, DON'T TURN ON IF IMU BEING CAGED.
006966,000628: 06,2472 10000 CCS A
006967,000629: 06,2473 12507 TCF GLAMPTST # TURN OFF UNLESS LAMP TEST IN PROGRESS.
006968,000630:
006969,000631: 06,2474 34746 CAF BIT6
006970,000632: 06,2475 71302 MASK IMODES30
006971,000633: 06,2476 10000 CCS A
006972,000634: 06,2477 15270 TCF GLOCKOK
006973,000635:
006974,000636: 06,2500 41036 GLINVERT CS DSPTAB +11D # INVERT GIMBAL LOCK LAMP.
006975,000637: 06,2501 74746 MASK BIT6
006976,000638: 06,2502 64735 AD BIT15 # TO INDICATE CHANGE IN DSPTAB +11D.
006977,000639: 06,2503 57036 XCH DSPTAB +11D
006978,000640: 06,2504 72162 MASK OCT37737
006979,000641: 06,2505 27036 ADS DSPTAB +11D
006980,000642: 06,2506 15270 TCF GLOCKOK
006981,000643:
006982,000644: 06,2507 02766 GLAMPTST TC LAMPTEST # TURN OFF UNLESS LAMP TEST IN PROGRESS.
006983,000645: 06,2510 15270 TCF GLOCKOK
006984,000646: 06,2511 12500 TCF GLINVERT
006985,000647:
006986,000648: 06,2512 63434 -70DEGS DEC -.38888 # -70 DEGREES SCALED IN HALF-REVOLUTIONS.
006987,000649: 06,2513 75252 -15DEGS DEC -.08333
006988,000650:
006989,000651: # Page 171
006990,000652: # PROGRAM NAME: TLIM.
006991,000653:
006992,000654: # FUNCTIONAL DESCRIPTION: THIS PROGRAM MAINTAINS THE TEMP LAMP (BIT 4 OF CHANNEL 11) ON THE DSKY TO AGREE WITH
006993,000655: # THE TEMP SIGNAL FROM THE ISS (BIT 15 OF CHANNEL 30). HOWEVER, THE LIGHT WILL NOT BE TURNED OFF IF A LAMP TEST
006994,000656: # IS IN PROGRESS.
006995,000657:
006996,000658: # CALLING SEQUENCE: CALLED BY IMUMON ON A CHANGE OF BIT 15 OF CHANNEL 30.
006997,000659:
006998,000660: # JOBS OR TASKS INITIATED: NON.
006999,000661:
007000,000662: # SUBROUTINES CALLED: LAMPTEST.
007001,000663:
007002,000664: # ERASABLE INITIALIZATION: FRESH START AND RESTART TURN THE TEMP LAMP OFF.
007003,000665:
007004,000666: # ALARMS: TEMP LAMP TURNED ON WHEN THE IMU TEMP GOES OUT OF LIMITS.
007005,000667:
007006,000668: # EXIT: NXTIFAIL.
007007,000669:
007008,000670: # OUTPUT: SERVICE OF TEMP LAMP. IN A, EXCEPT FOR TLIM.
007009,000671:
007010,000672: 06,2514 74733 TLIM MASK POSMAX # REMOVE BIT FROM WORD OF CHANGES AND SET
007011,000673: 06,2515 54071 TS RUPTREG2 # DSKY TEMP LAMP ACCORDINGLY.
007012,000674:
007013,000675: 06,2516 11302 CCS IMODES30
007014,000676: 06,2517 12525 TCF TEMPOK
007015,000677: 06,2520 12525 TCF TEMPOK
007016,000678:
007017,000679: 06,2521 34750 CAF BIT4 # TURN ON LAMP.
007018,000680: 06,2522 00006 EXTEND
007019,000681: 06,2523 05011 WOR DSALMOUT
007020,000682: 06,2524 12225 TCF NXTIFAIL
007021,000683:
007022,000684: 06,2525 02766 TEMPOK TC LAMPTEST # IF TEMP NOW OK, DON'T TURN OFF LAMP IF
007023,000685: 06,2526 12225 TCF NXTIFAIL # LAMP TEST IN PROGRESS.
007024,000686:
007025,000687: 06,2527 44750 CS BIT4
007026,000688: 06,2530 00006 EXTEND
007027,000689: 06,2531 03011 WAND DSALMOUT # TURN OFF LAMP
007028,000690: 06,2532 12225 TCF NXTIFAIL
007029,000691:
007030,000692: # Page 172
007031,000693: # PROGRAM NAME: ITURNON.
007032,000694:
007033,000695: # FUNCTIONAL DESCRIPTION: THIS PROGRAM IS CALLED BY IMUMON WHEN A CHANGE OF BIT 14 OF CHANNEL 30 (ISS TURN-ON
007034,000696: # REQUEST) IS DETECTED. UPON ENTRY, ITURNON CHECKS IF A TURN-ON DELAY SEQUENCE HAS FAILED, AND IF SO, IT EXITS.
007035,000697: # 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
007036,000698: # THAT TNONTEST WILL INITIATE THE ISS INITIALIZATION SEQUENCE. IF OFF, THE TURN-ON DELAY SIGNAL, CHANNEL 12 BIT
007037,000699: # 15, IS CHECKED AND IF IT IS ON, ITURNON EXITS. IF THE DEALY SIGNAL IS OFF, PROGRAM ALARM 00207 IS ISSUED, BIT 2
007038,000700: # OF IMODES30 IS SET TO 1 AND THE PROGRAM EXITS.
007039,000701:
007040,000702: # THE SETTING OF BIT 2 OF IMODES30 (ISS DELAY SEQUENCE FAIL) INHIBITS THIS ROUTINE AND IMUOP FROM
007041,000703: # PROCESSING ANY CHANGES. THIS BIT WILL BE RESET BY THE ENDTNON ROUTINE WHEN THE CURRENT 90 SECOND DELAY PERIOD
007042,000704: # ENDS.
007043,000705:
007044,000706: # CALLING SEQUENCE: FROM IMUMON WHEN ISS TURN-ON REQUEST CHANGES STATE.
007045,000707:
007046,000708: # JOBS OR TASKS INITITIATED: NONE.
007047,000709:
007048,000710: # SUBROUTINES CALLED: ALARM, IF THE ISS TURN-ON REQUEST IS NOT PRESENT FOR 90 SECONDS.
007049,000711:
007050,000712: # ERASABLE INITIALIZATION: FRESH START AND RESTART SET BIT 15 OF CHANNEL 12 AND BITS 2 AND 7 OF IMODES30 TO 0,
007051,000713: # AND BIT 14 OF IMODES30 TO 1.
007052,000714:
007053,000715: # ALARMS: PROGRAM ALARM 00207 IS ISSUED IF THE ISS TURN-ON REQUEST SIGNAL IS NOT PRESENT FOR 90 SECONDS.
007054,000716:
007055,000717: # EXIT: NXTIFAIL.
007056,000718:
007057,000719: # OUTPUT: BIT 7 OF IMODES30 TO START ISS INITIALIZATION, OR BIT 2 OF IMODES30 AND PROGRAM ALARM 00207 TO INDICATE
007058,000720: # A FAILED TURN-ON SEQUENCE.
007059,000721:
007060,000722: 06,2533 34752 ITURNON CAF BIT2 # IF DELAY REQUEST HAS GONE OFF
007061,000723: 06,2534 71302 MASK IMODES30 # PREMATURELY, DO NOT PROCESS ANY CHANGES
007062,000724: 06,2535 10000 CCS A # UNTIL THE CURRENT 90 SEC WAIT EXPIRES.
007063,000725: 06,2536 12225 TCF NXTIFAIL
007064,000726:
007065,000727: 06,2537 34736 CAF BIT14 # SEE IF JUST ON OR OFF.
007066,000728: 06,2540 71302 MASK IMODES30
007067,000729: 06,2541 00006 EXTEND
007068,000730: 06,2542 12556 BZF ITURNON2 # IF JUST ON.
007069,000731:
007070,000732: 06,2543 34735 CAF BIT15
007071,000733: 06,2544 00006 EXTEND # SEE IF DELAY PRESENT DISCRETE HAS BEEN
007072,000734: 06,2545 02012 RAND CHAN12 # SENT. IF SO, ACTION COMPLETE
007073,000735: 06,2546 00006 EXTEND
007074,000736: 06,2547 12551 BZF +2
007075,000737: 06,2550 12225 TCF NXTIFAIL
007076,000738:
007077,000739: 06,2551 34752 CAF BIT2 # IF NOT, SET BIT TO INDICATE REQUEST NOT
007078,000740: 06,2552 27302 ADS IMODES30 # PRESENT FOR FULL DURATION.
007079,000741: 06,2553 05567 TC ALARM
007080,000742: 06,2554 00207 OCT 207
007081,000743: 06,2555 12225 TCF NXTIFAIL
007082,000744:
007083,000745: # Page 173
007084,000746: 06,2556 41302 ITURNON2 CS IMODES30 # SET BIT7 TO INDICATE WAIT OF 1 SAMPLE
007085,000747: 06,2557 74745 MASK BIT7
007086,000748: 06,2560 27302 ADS IMODES30
007087,000749: 06,2561 32564 CAF RRINIT
007088,000750: 06,2562 54110 TS RADMODES
007089,000751: 06,2563 12225 TCF NXTIFAIL
007090,000752:
007091,000753: 06,2564 00102 RRINIT OCT 00102
007092,000754:
007093,000755: # Page 174
007094,000756: # PROGRAM NAME: IMUCAGE.
007095,000757:
007096,000758: # FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES OF THE IMUCAGE INBIT, CHANNEL 30 BITS 11. IF THE BIT
007097,000759: # CHANGES TO 0 (CAGE BUTTON PRESSED), THE ISS IS CAGED (ICDU ZERO + COARSE ALIGN + NO ATT LAMP) UNTIL THE
007098,000760: # ASTRONAUT SELECTS ANOTHER PROGRAM TO ALIGN THE ISS. ANY PULSE TRAINS TO THE ICDU'S AND GYRO'S ARE TERMINATED,
007099,000761: # THE ASSOCIATE OUTCOUNTERS ARE ZEROED AND THE GYRO'S ARE DE-SELECTED. NO ACTION OCCURS WHEN THE BUTTON IS
007100,000762: # RELEASED (INBIT CHANGES TO 1).
007101,000763:
007102,000764: # CALLING SEQUENCE: BY IMUMON WHEN IMU CAGE BIT CHANGES.
007103,000765:
007104,000766: # JOBS OR TASKS INITIATED: NONE.
007105,000767:
007106,000768: # SUBROUTINES CALLED: CAGESUB.
007107,000769:
007108,000770: # ERASABLE INITIALZATION: FRESH START AND RESTART SET BIT 11 OF IMODES30 TO 1.
007109,000771:
007110,000772: # ALARMS: NONE.
007111,000773:
007112,000774: # EXIT: NXTIFAIL.
007113,000775:
007114,000776: # OUTPUT: ISS CAGED, COUNTERS ZEROED, PULSE TRAINS TERMINATED AND NO ATT LAMP LIT.
007115,000777:
007116,000778: 06,2565 10000 IMUCAGE CCS A # NO ACTION OF GOING OFF.
007117,000779: 06,2566 12361 TCF ISSZERO
007118,000780: 06,2567 43002 CS OCT77000 # TERMINATE ICDU, RCDU, GYRO PULSE TRAINS
007119,000781: 06,2570 00006 EXTEND
007120,000782: 06,2571 03014 WAND CHAN14
007121,000783:
007122,000784: 06,2572 42776 CS OCT272 # KNOCK DOWN DISPLAY INERTIAL DATA, IMU
007123,000785: 06,2573 00006 EXTEND # ERROR COUNTER ENABLE, ZERO ICDU, COARSE
007124,000786: 06,2574 03012 WAND CHAN12 # ALIGN ENABLE, RR ERROR COUNTER ENABLE.
007125,000787:
007126,000788: 06,2575 44745 CS ENGONBIT # INSURE ENGONFLG IS CLEAR.
007127,000789: 06,2576 70101 MASK FLAGWRD5
007128,000790: 06,2577 54101 TS FLAGWRD5
007129,000791: 06,2600 44355 CS PRIO30 # TURN ENGINE OFF.
007130,000792: 06,2601 00006 EXTEND
007131,000793: 06,2602 02011 RAND DSALMOUT
007132,000794: 06,2603 64736 AD BIT14
007133,000795: 06,2604 00006 EXTEND
007134,000796: 06,2605 01011 WRITE DSALMOUT # FORCE BIT14=1, BIT13=0.
007135,000797:
007136,000798: 06,2606 02743 TC CAGESUB1
007137,000799:
007138,000800: 06,2607 04674 TC IBNKCALL # KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS
007139,000801: 06,2610 17175 CADR RNDREFDR
007140,000802:
007141,000803: 06,2611 44755 CS ZERO
007142,000804: 06,2612 54050 TS CDUXCMD
007143,000805: 06,2613 54051 TS CDUYCMD
007144,000806: # Page 175
007145,000807: 06,2614 54052 TS CDUZCMD
007146,000808: 06,2615 54047 TS GYROCMD
007147,000809:
007148,000810: 06,2616 43001 CS OCT740 # HAVING WAITED AT LEAST 27 MCT FROM
007149,000811: 06,2617 00006 EXTEND # GYRO PULSE TRAIN TERMINATION, WE CAN
007150,000812: 06,2620 03014 WAND CHAN14 # DE-SELECT THE GYROS.
007151,000813: 06,2621 12225 TCF NXTIFAIL
007152,000814:
007153,000815: # Page 176
007154,000816: # PROGRAM NAME: IMUOP.
007155,000817:
007156,000818: # FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES IN THE ISS OPERATE DISCRETE, BIT 9 OF CHANNEL 30.
007157,000819: # IF THE INBIT CHANGES TO 0, INDICATING ISS ON, IMUOP GENERALLY SETS BIT 7 OF IMODES30 TO 1 TO REQUEST ISS
007158,000820: # INITIALIZATION VIA TNONTEST. AN EXCEPTION IS DURING A FAILED ISS DELAY DURING WHICH BIT 2 OF IMODES30 IS SET
007159,000821: # TO 1 AND NO FURTHER INITIALIZATION IS REQUIRED. WHEN THE INBIT CHANGES TO 1, INDICATING ISS OFF, IMUSEFLG IS
007160,000822: # TESTED TO SEE IF ANY PROGRAM WAS USING THE ISS. IF SO, PROGRAM ALARM 00214 IS ISSUED.
007161,000823:
007162,000824: # CALLING SEQUENCE: BY IMUMON WHEN BIT 9 OF CHANNEL 30 CHANGES.
007163,000825:
007164,000826: # JOBS OR TAKS INITIATED: NONE.
007165,000827: #
007166,000828: # SUBROUTINES CALLED: ALARM, IF ISS IS TURNED OFF WHILE IN USE.
007167,000829:
007168,000830: # ERASABLE INITIALIZATION: ON FRESH START AND RESTART, BIT 9 OF IMODES30 IS SET TO 1 EXCEPT WHEN THE GIMBAL LOCK
007169,000831: # LAMP IS ON, IN WHICH CASE IT IS SET TO 0. THIS PREVENTS ICDU ZERO BY TNONTEST WITH THE ISS IN GIMBAL LOCK.
007170,000832:
007171,000833: # ALARMS: PROGRAM ALARM 00214 IF THE ISS IS TURNED OFF WHILE IN USE.
007172,000834:
007173,000835: # EXIT: NXTIFAIL.
007174,000836:
007175,000837: # OUTPUT: ISS INITIALIZATION REQUEST (IMODES30 BIT 7) OR PROGRAM ALARM 00214.
007176,000838:
007177,000839: 06,2622 00006 IMUOP EXTEND
007178,000840: 06,2623 12643 BZF IMUOP2
007179,000841:
007180,000842: 06,2624 41303 CS IMODES33 # DISABLE DAP
007181,000843: 06,2625 74746 MASK BIT6
007182,000844: 06,2626 27303 ADS IMODES33
007183,000845:
007184,000846: 06,2627 04674 TC IBNKCALL # KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS
007185,000847: 06,2630 17175 CADR RNDREFDR
007186,000848:
007187,000849: 06,2631 42777 CS BITS7&8 # KNOCK DOWN RENDEZVOUS, IMUUSE FLAGS
007188,000850: 06,2632 70074 MASK FLAGWRD0
007189,000851: 06,2633 56074 XCH FLAGWRD0 # IF GOING OFF, ALARM IF PROG USING IMU.
007190,000852: 06,2634 40000 COM
007191,000853: 06,2635 74744 MASK IMUSEFLG
007192,000854: 06,2636 10000 CCS A
007193,000855: 06,2637 12225 TCF NXTIFAIL
007194,000856:
007195,000857: 06,2640 05567 TC ALARM
007196,000858: 06,2641 00214 OCT 214
007197,000859: 06,2642 12225 TCF NXTIFAIL
007198,000860:
007199,000861: 06,2643 34752 IMUOP2 CAF BIT2 # SEE IF FAILED ISS TURN-ON SEQ IN PROG.
007200,000862: 06,2644 71302 MASK IMODES30
007201,000863: 06,2645 10000 CCS A
007202,000864: 06,2646 12225 TCF NXTIFAIL # IF SO, DON'T PROCESS UNTIL PRESENT 90
007203,000865: 06,2647 12556 TCF ITURNON2 # SECONDS EXPIRES.
007204,000866:
007205,000867: # Page 177
007206,000868: # PROGRAM NAME: PIPFAIL
007207,000869:
007208,000870: # FUNCITONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES OF BIT 13 OF CHANNEL 33, PIPA FAIL. IT SETS BIT 10 OF
007209,000871: # IMODES30 TO AGREE. IT CALLS SETISSW IN CASE A PIPA FAIL NECESSITATES AN ISS WARNING. IF NOT, I.E., IMODES30
007210,000872: # BIT 1 = 1, AND A PIPA FAIL IS PRESENT AND THE ISS NOT BEING INITIALIZED, PROGRAM ALARM 0212 IS ISSUED.
007211,000873:
007212,000874: # CALLING SEQUENCE: BY C33TEST ON CHANGES OF CHANNEL 33 BIT 13.
007213,000875:
007214,000876: # JOBS OR TASKS INITIATED: NONE.
007215,000877:
007216,000878: # SUBROUTINES CALLED: 1) SETISSW, AND 2) ALARM (SEE FUNCITONAL DESCRIPTION).
007217,000879:
007218,000880: # ERASABLE INITIALZIZATION: SEE IMUMON FOR INITIALIZATION OF IMODES30. THE RELEVANT BITS ARE 5, 7, 8, 9, AND 10.
007219,000881:
007220,000882: # ALARMS: PROGRAM ALARM 00212 IF PIPA FAIL IS PRESENT BUT NEITHER ISS WARNING IS TO BE ISSUED NOR THE ISS IS
007221,000883: # BEING INITIALIZED.
007222,000884:
007223,000885: # EXIT: NXTFL33.
007224,000886:
007225,000887: # OUTPUT: PROGRAM ALARM 00212 AND ISS WARNING MAINTENANCE.
007226,000888:
007227,000889: 06,2650 10000 PIPFAIL CCS A # SET BIT10 IN IMODES30 SO ALL ISS WARNING
007228,000890: 06,2651 34742 CAF BIT10 # INFO IS IN ONE REGISTER.
007229,000891: 06,2652 57302 XCH IMODES30
007230,000892: 06,2653 73004 MASK -BIT10
007231,000893: 06,2654 27302 ADS IMODES30
007232,000894:
007233,000895: 06,2655 02703 TC SETISSW
007234,000896:
007235,000897: 06,2656 41302 CS IMODES30 # IF PIP FAIL DOESN'T LIGHT ISS WARNING, DO
007236,000898: 06,2657 74753 MASK BIT1 # A PROGRAM ALARM IF IMU OPERATING BUT NOT
007237,000899: 06,2660 10000 CCS A # CAGED OR BEING TURNED ON.
007238,000900: 06,2661 12432 TCF NXTFL33
007239,000901:
007240,000902: 06,2662 31302 CA IMODES30
007241,000903: 06,2663 73000 MASK OCT1720
007242,000904: 06,2664 10000 CCS A
007243,000905: 06,2665 12432 TCF NXTFL33 # ABOVE CONDITION NOT MET.
007244,000906:
007245,000907: 06,2666 05567 TC ALARM
007246,000908: 06,2667 00212 OCT 212
007247,000909: 06,2670 12432 TCF NXTFL33
007248,000910:
007249,000911: # Page 178
007250,000912: # PROGRAM NAMES: DNTMFAST, UPTMFAST
007251,000913:
007252,000914: # FUNCTIONAL DESCRIPTION: THESE PROGRAMS PROCESS CHANGES OF BITS 12 AND 11 OF CHANNEL 33. IF A BIT CHANGES TO A
007253,000915: # 0, A PROGRAM ALARM IS ISSUED. THE LAARMS ARE:
007254,000916:
007255,000917: # BIT ALARM CAUSE
007256,000918: # --- ----- -----
007257,000919: # 12 01105 DOWNLINK TOO FAST
007258,000920: # 11 01106 UPLINK TOO FAST
007259,000921:
007260,000922: # CALLING SEQUENCE: BY C33TEST ON A BIT CHANGE.
007261,000923:
007262,000924: # SUBROUTINES CALLED: ALARM, IF A BIT CHANGES TO A 0.
007263,000925:
007264,000926: # ERASABLE INITIALIZATION: FRESH START OR RESTART, BITS 12 AND 11 OF IMODES33 ARE SET TO 1.
007265,000927:
007266,000928: # ALARMS: SET FUNCTGIONAL DESCRIPTION.
007267,000929:
007268,000930: # EXIT: NXTFL33.
007269,000931:
007270,000932: # OUTPUT: PROGRAM ALARM ON A BIT CHANGE TO 0.
007271,000933:
007272,000934: 06,2671 10000 DNTMFAST CCS A # DO PROG ALARM IF TM TOO FAST.
007273,000935: 06,2672 12432 TCF NXTFL33
007274,000936:
007275,000937: 06,2673 05567 TC ALARM
007276,000938: 06,2674 01105 OCT 1105
007277,000939: 06,2675 12432 TCF NXTFL33
007278,000940:
007279,000941: 06,2676 10000 UPTMFAST CCS A # SAME AS DNLINK TOO FAST WITH DIFFERENT
007280,000942: 06,2677 12432 TCF NXTFL33 # ALARM CODE.
007281,000943:
007282,000944: 06,2700 05567 TC ALARM
007283,000945: 06,2701 01106 OCT 1106
007284,000946: 06,2702 12432 TCF NXTFL33
007285,000947: # Page 179
007286,000948: # PROGRAM NAME: SETISSW
007287,000949:
007288,000950: # FUNCTIONAL DESCRIPTION: THIS PROGRAM TURNS THE ISS WARNING LAMP ON AND OFF (CHANNEL 11 BIT 1 = 1 FOR ON,
007289,000951: # 0 FOR OFF) DEPENDING ON THE STATUS OF IMODES30 BITS 13 (IMU FAIL) AND 4 (INHIBIT IMU FAIL), 12 (ICDU FAIL) AND
007290,000952: # 3 (INHIBIT ICDU FAIL), AND 10 (PIPA FAIL) AND 1 (INHIBIT PIPA FAIL). THE LAMP IS LEFT ON IF A LAMP TEST IS IN
007291,000953: # PROGRESS.
007292,000954:
007293,000955: # CALLING SEQUENCE: CALLED BY IMUMON ON CHANGES TO IMU FAIL AND ICDU FAIL. CALLED BY IFAILOK AND PFAILOK UPON
007294,000956: # REMOVAL OF THE FAIL INHIBITS. CALLED BY PIPFAIL WHEN THE PIPA FAIL DISCRETE CHANGES. IT IS CALLED BY PIPUSE
007295,000957: # SINCE THE PIPA FAIL PROGRAM ALARM MAY NECESSITATE AN ISS WARNING, AND LIKEWISE BY PIPFREE WHEN THE ALARM DEPARTS
007296,000958: # AND IT IS CALLED BY IMUZERO3 AND ISSUP AFTER THE FAIL INHIBITS HAVE BEEN REMOVED.
007297,000959:
007298,000960: # JOBS OR TASKS INITIAZTED: NONE.
007299,000961:
007300,000962: # SUBROUTINES CALLED: NONE.
007301,000963:
007302,000964: # ERASABLE INITIALIZATION:
007303,000965:
007304,000966: # 1) IMODES30 -- SEE IMUMON.
007305,000967: # 2) IMODES33 BIT 1 = 0 (LAMP TEST NOT IN PROGRESS).
007306,000968:
007307,000969: # ALARMS: ISS WARNING.
007308,000970:
007309,000971: # THE FOLLOWING PROGRAM ALARMS WILL SHOW WHICH FAILURE CAUSED THE ISS WARN
007310,000972: # PROGRAM ALARM 00777 PIPA FAIL
007311,000973: # PROGRAM ALARM 03777 ICDU FAIL
007312,000974: # PROGRAM ALARM 04777 ICDU, PIPA FAILS
007313,000975: # PROGRAM ALARM 07777 IMU FAIL
007314,000976: # PROGRAM ALARM 10777 IMU, PIPA FAILS
007315,000977: # PROGRAM ALARM 13777 IMU, ICDU FAILS
007316,000978: # PROGRAM ALARM 14777 IMU, ICDU, PIPA FAILS
007317,000979:
007318,000980: # EXIT: VIA Q.
007319,000981:
007320,000982: # OUTPUT: ISS WARNING LAMP SET PROPERLY.
007321,000983:
007322,000984: 06,2703 34761 SETISSW CAF OCT15 # SET ISS WARNING USING THE FAIL BITS IN
007323,000985: 06,2704 71302 MASK IMODES30 # BITS 13, 12, AND 10 OF IMODES30 AND THE
007324,000986: 06,2705 00006 EXTEND # FAILURE INHIBIT BITS IN POSITIONS
007325,000987: 06,2706 74742 MP BIT10 # 4, 3, AND 1.
007326,000988: 06,2707 31302 CA IMODES30
007327,000989: 06,2710 00006 EXTEND
007328,000990: 06,2711 04001 ROR LCHAN # 0 INDICATES FAILURE
007329,000991: 06,2712 40000 COM
007330,000992: 06,2713 75025 MASK OCT15000
007331,000993: 06,2714 10000 CCS A
007332,000994: 06,2715 12726 TCF ISSWON # FAILURE.
007333,000995:
007334,000996: 06,2716 34753 ISSWOFF CAF BIT1 # DON'T TURN OFF ISS WARNING IF LAMP TEST
007335,000997: 06,2717 71303 MASK IMODES33 # IN PROGRESS.
007336,000998: # Page 180
007337,000999: 06,2720 10000 CCS A
007338,001000: 06,2721 00002 TC Q
007339,001001:
007340,001002: 06,2722 44753 CS BIT1
007341,001003: 06,2723 00006 EXTEND
007342,001004: 06,2724 03011 WAND DSALMOUT
007343,001005: 06,2725 00002 TC Q
007344,001006:
007345,001007: 06,2726 00006 ISSWON EXTEND
007346,001008: 06,2727 22066 QXCH ITEMP6
007347,001009: 06,2730 05744 TC VARALARM # TELL EVERYONE WHAT CAUSED THE ISS WARNING
007348,001010: 06,2731 34753 CAF BIT1
007349,001011: 06,2732 00006 EXTEND
007350,001012: 06,2733 05011 WOR DSALMOUT
007351,001013: 06,2734 00066 TC ITEMP6
007352,001014:
007353,001015: 06,2735 43003 CAGESUB CS BITS6&15 # SET OUTBITS AND INTERNAL FLAGS FOR
007354,001016: 06,2736 00006 EXTEND # SYSTEM TURN-ON OR CAGE. DISABLE THE
007355,001017: 06,2737 03012 WAND CHAN12 # ERROR COUNTER AND REMOVE THE IMU DELAY COMP.
007356,001018: 06,2740 34763 CAF BITS4&5 # SEND ZERO AND COARSE.
007357,001019: 06,2741 00006 EXTEND
007358,001020: 06,2742 05012 WOR CHAN12
007359,001021:
007360,001022: 06,2743 41036 CAGESUB1 CS DSPTAB +11D # TURN ON NO ATT LAMP
007361,001023: 06,2744 72773 MASK OC40010
007362,001024: 06,2745 27036 ADS DSPTAB +11D
007363,001025:
007364,001026: 06,2746 41302 CAGESUB2 CS IMODES30 # SET FLAGS TO INDICATE CAGING OR TURN-ON
007365,001027: 06,2747 72775 MASK OCT75 # AND INHIBIT ALL ISS WARNING INFO
007366,001028: 06,2750 27302 ADS IMODES30
007367,001029:
007368,001030: 06,2751 41303 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
007369,001031: 06,2752 74746 MASK BIT6
007370,001032: 06,2753 27303 ADS IMODES33
007371,001033:
007372,001034: 06,2754 00002 TC Q
007373,001035:
007374,001036: 06,2755 06,2703 IMUFAIL EQUALS SETISSW
007375,001037: 06,2755 06,2703 ICDUFAIL EQUALS SETISSW
007376,001038:
007377,001039: # Page 181
007378,001040: # JUMP TABLES AND CONSTANTS.
007379,001041:
007380,001042: 06,2755 12533 IFAILJMP TCF ITURNON # CHANNEL 30 DISPATCH.
007381,001043: 06,2756 12703 TCF IMUFAIL
007382,001044: 06,2757 12703 TCF ICDUFAIL
007383,001045: 06,2760 12565 TCF IMUCAGE
007384,001046: 06,2761 76400 30RDMSK OCT 76400 # (BIT 10 NOT SAMPLED HERE).
007385,001047: 06,2762 12622 TCF IMUOP
007386,001048:
007387,001049: 06,2763 12650 C33JMP TCF PIPFAIL # CHANNEL 33 DISPATCH.
007388,001050: 06,2764 12671 TCF DNTMFAST
007389,001051: 06,2765 12676 TCF UPTMFAST
007390,001052:
007391,001053: # SUBROUTINE TO SKIP IF LAMP TEST NOT IN PROGRESS.
007392,001054: 06,2766 41303 LAMPTEST CS IMODES33 # BIT 1 OF IMODES33 = 1 IF LAMP TEST IN
007393,001055: 06,2767 74753 MASK BIT1 # PROGRESS.
007394,001056: 06,2770 10000 CCS A
007395,001057: 06,2771 24002 INCR Q
007396,001058: 06,2772 00002 TC Q
007397,001059:
007398,001060: 06,2773 5026 33RDMSK EQUALS PRIO16
007399,001061: 06,2773 40010 OC40010 OCT 40010
007400,001062: 06,2774 00054 OCT54 OCT 54
007401,001063: 06,2775 00075 OCT75 OCT 75
007402,001064: 06,2776 00272 OCT272 OCT 00272
007403,001065: 06,2777 00300 BITS7&8 OCT 300
007404,001066: 06,3000 01720 OCT1720 OCT 1720
007405,001067: 06,3001 00740 OCT740 OCT 00740
007406,001068: 06,3002 5025 OCT15000 EQUALS PRIO15
007407,001069: 06,3002 77000 OCT77000 OCT 77000
007408,001070: 06,3003 40040 BITS6&15 OCT 40040
007409,001071: 06,3004 76777 -BIT10 OCT -1000
007410,001072:
007411,001073: 06,3005 21450 90SECS DEC 9000 B-14
007412,001074: 06,3006 5751 120MS = OCT14 # (DEC12)
007413,001075: 06,3006 5270 GLOCKOK EQUALS RESUME
007414,001076:
007415,001077: # Page 182
007416,001078: # PROGRAM NAME: RRAUTCHK
007417,001079:
007418,001080: # FUNCITONAL DESCRIPTION:
007419,001081: # RRAUTCHK IS THE RENDEZFOUS RADAR INBIT MONITOR. INITIALLY THE RR
007420,001082: # POWER ON AUTO (CHAN 33 BIT 2) INBIT IS CHECKED. IF NO CHANGE, THE
007421,001083: # PROGRAM EXITS TO RRCDUCHK. IF A CHANGE, RADMOES IS UPDATED
007422,001084: # AND A CHECK MADE IF RR POWER HAS JUST COME ON. IF JUST OFF, A CHECK
007423,001085: # IS MADE TO SEE IF A PROGRAM WAS USING THE RR (STATE BIT 7). IF NO,
007424,001086: # THE PROGRAM EXITS TO RRCDUCHK. IF YES, PROGRAM ALARM 00514
007425,001087: # IS REQUESTED BEFORE EXITING TO RRCDUCHK. IF RR POWER HAS JUST COME
007426,001088: # ON, A CHECK IS MADE TO SEE IF A PROGRAM WAS USING THE RR (STATE BIT 7)
007427,001089: # SEQUENCE. IF NO, RADMODES IS UPDATED TO INDICATE RR CDU ZERO AND
007428,001090: # RR TURN-ON SEQUENCE (BITS 13, 1). A 10 MILLISECOND WAITLIST CALL
007429,001091: # IS THEN SET FOR RRTURNON BEFORE THE PROGRAM EXITS TO NORRGMON.
007430,001092:
007431,001093: # CALLING SEQUENCE:
007432,001094: # T4RUPT EVERY 480 MILLISECONDS
007433,001095:
007434,001096: # ERASABLE INITIALIZATION REQUIRED:
007435,001097: # RADMODES, STATE.
007436,001098:
007437,001099: # SUBROUTINES CALLED:
007438,001100: # WAITLIST.
007439,001101:
007440,001102: # JOBS OR TASKS INITIATED:
007441,001103: # RRTURNON
007442,001104:
007443,001105: # ALARMS: PROGRAM ALARM 00514 -- RADAR GOES OUT OF AUTO MODE WHILE BEING
007444,001106: # USED
007445,001107:
007446,001108: # EXIT: RRCDUCHK, NORRGMON
007447,001109:
007448,001110: 06,3006 30110 RRAUTCHK CA RADMODES # SEE IF CHANGE IN RR AUTO MODE BIT.
007449,001111: 06,3007 00006 EXTEND
007450,001112: 06,3010 06033 RXOR CHAN33
007451,001113: 06,3011 74752 MASK AUTOMBIT
007452,001114: 06,3012 00006 EXTEND
007453,001115: 06,3013 13037 BZF RRCDUCHK
007454,001116:
007455,001117: 06,3014 22110 LXCH RADMODES # UPDATE RADMODES.
007456,001118: 06,3015 00006 EXTEND
007457,001119: 06,3016 06001 RXOR LCHAN
007458,001120: 06,3017 73033 MASK OCT05776 # CLR CONT. DES., REMODE, REPOS, CDUZERO,
007459,001121: 06,3020 54110 TS RADMODES # AND TURNON BITS.
007460,001122: 06,3021 74752 MASK BIT2 # SEE IF JUST ON.
007461,001123: 06,3022 10000 CCS A
007462,001124: 06,3023 13034 TCF RRCDUCHK -3 # OFF. GO DISABLE RR CDU ERROR COUNTERS.
007463,001125: 06,3024 37663 CA OCT10001 # SET RRCDUZRO AND TURNON BITS.
007464,001126: 06,3025 26110 ADS RADMODES
007465,001127:
007466,001128: # Page 183
007467,001129: 06,3026 34753 CAF ONE
007468,001130: 06,3027 05203 TC WAITLIST
007469,001131: 06,3030 E7,1456 EBANK= LOSCOUNT
007470,001132: 06,3030 02062 52107 2CADR RRTURNON
007471,001133:
007472,001134: 06,3032 13132 TCF NORRGMON
007473,001135:
007474,001136: 06,3033 05776 OCT05776 OCT 5776
007475,001137:
007476,001138: # Page 184
007477,001139: # PROGRAM NAME: RRCDUCHK
007478,001140:
007479,001141: # FUNCTIONAL DESCRIPTION:
007480,001142: # RRCDUCHK CHECKS FOR RR CDU FAIL (CHAN 30 BIT 7). INITIALLY THE
007481,001143: # RR CDU FAIL BIT IS SAMPLED (CHAN 30 BIT 7). IF NO CHANGE, THE
007482,001144: # PROGRAM EXITS TO RRGIMON. IF A CHANGE, THE RR AUTO MODE
007483,001145: # (RADMODES BIT 2) BIT IS CHECKED. IF NOT IN RR AUTO MODE, THE
007484,001146: # PROGRAM EXITS TO NORRGMO0N. IF IN AUTO MODE, RADMODES BIT 7
007485,001147: # (RR CDU OK) IS UPDATED AND IF P-20 IS OPERATING PROGRAM ALARM 00515 IS
007486,001148: # REQUESTED. CONTROL IS TRANSFERRED TO SETTRKF TO UPDATE
007487,001149: # THE TRACKER FAIL LAMP (DSPTAB+11D BIT 8). CONTROL RETURNS TO
007488,001150: # RRGIMON.
007489,001151:
007490,001152: # CALLING SEQUENCE:
007491,001153: # EVERY 480 MILLISECONDS FROM RRAUTCHK (VIA T4RUPT) UNLESS A
007492,001154: # TURN-ON SEQUENCE HAS JUST BE INITIATED.
007493,001155:
007494,001156: # ERASABLE INITIALIZATION REQUIRED:
007495,001157: # RADMODES
007496,001158:
007497,001159: # SUBROUTINES CALLED:
007498,001160: # SETTRKF
007499,001161:
007500,001162: # JOBS OR TASKS INITIATED:
007501,001163: # NONE
007502,001164:
007503,001165: # ALARMS:
007504,001166: # TRACKER FAIL
007505,001167: # PROGRAM ALARM 00515 -- RRCDU FAIL DURING P-20
007506,001168:
007507,001169: # EXIT:
007508,001170: # RRGIMON, NORRGMON
007509,001171:
007510,001172: 06,3034 44752 -3 CS BIT2
007511,001173: 06,3035 00006 EXTEND
007512,001174: 06,3036 03012 WAND CHAN12 # AT TURNON, DISABLE CDU ERROR COUNTERS.
007513,001175:
007514,001176: 06,3037 30110 RRCDUCHK CA RADMODES # LAST SAMPLED BIT IN RADMODES.
007515,001177: 06,3040 00006 EXTEND
007516,001178: 06,3041 06030 RXOR CHAN30
007517,001179: 06,3042 74745 MASK RCDUFBIT
007518,001180: 06,3043 00006 EXTEND
007519,001181: 06,3044 13071 BZF RRGIMON
007520,001182:
007521,001183: 06,3045 34752 CAF AUTOMBIT # IF RR NOT IN AUTO MODE, DON'T CHANGE BIT
007522,001184: 06,3046 70110 MASK RADMODES # 7 OF RADMODES. IF THIS WERE NOT DONE,
007523,001185: 06,3047 10000 CCS A # THE TRACKER FAIL MIGHT COME ON WHEN
007524,001186: 06,3050 13132 TCF NORRGMON # JUST READING LR DATA.
007525,001187:
007526,001188: 06,3051 34745 CAF RCDUFBIT # SET BIT 7 OF RADMODES FOR SETTRKF.
007527,001189: # Page 185
007528,001190: 06,3052 22110 LXCH RADMODES # UPDATE RADMODES.
007529,001191: 06,3053 00006 EXTEND
007530,001192: 06,3054 06001 RXOR L
007531,001193: 06,3055 54110 TS RADMODES
007532,001194:
007533,001195: 06,3056 30110 CA RADMODES # DID RR CDU FAIL
007534,001196: 06,3057 74745 MASK RCDUFBIT
007535,001197: 06,3060 10000 CCS A
007536,001198: 06,3061 13070 TCF TRKFLCDU # NO
007537,001199: 06,3062 40074 CS FLAGWRD0 # RNDVFLG P20 OR P22 OPERATING
007538,001200: 06,3063 74745 MASK RNDVZBIT
007539,001201: 06,3064 10000 CCS A
007540,001202: 06,3065 13070 TCF TRKFLCDU # NO
007541,001203: 06,3066 05567 TC ALARM # YES
007542,001204: 06,3067 00515 OCT 00515
007543,001205: 06,3070 04564 TRKFLCDU TC SETTRKF # UPDATE TRAKER FAIL LAMP ON DSKY.
007544,001206:
007545,001207: # Page 186
007546,001208: # PROGRAM NAME: RRGIMON
007547,001209:
007548,001210: # FUNCTIONAL DESCRIPTION:
007549,001211: # RRGIMON IS THE RR GIMBAL LIMIT MONITOR. INITIALLY THE FOLLOWING IS
007550,001212: # CHECKED: REMOD, RR CDU'S BEING ZEROED, REPOSITION, AND RR
007551,001213: # NOT IN AUTO MODE (RADMODES BITS 14, 13, 11, 2). IF ANY OF THESE
007552,001214: # EXIST THE PROGRAM EXITS TO GPMATRIX. IF NONE ARE PRESENT RRLIMCHK
007553,001215: # IS CALLED TO SEE IF THE PRESENT RR CDU ANGLES (OPTY, OPTX) ARE WITHIN
007554,001216: # THE LIMITS OF THE CURRENT MODE. IF WITHIN LIMITS, THE PROGRAM EXITS
007555,001217: # TO NORRGMON. IF NOT WITHIN LIMITS, THE REPOSITION FLAG (RADMODES
007556,001218: # BIT 11) IS SET, THE RR AUTO TRACKER AND RR ERROR COUNTER
007557,001219: # (CHAN 12 BITS 14, 2) ARE DISABLED, AND A 20 MILLISECOND WAITLIST
007558,001220: # CALL IS SET FOR DORREPOS AFTER WHICH THE PROGRAM EXITS TO NORRGMON.
007559,001221:
007560,001222: # CALLING SEQUENCE:
007561,001223: # EVERY 480 MILLISECONDS FROM RRCDUCHK (VIA T4RUPT) UNLESS TURN-ON
007562,001224: # HAS JUST BEEN INITIATED VIA RRAUTCHK OR IF THERE HAS BEEN A CHANGE IN
007563,001225: # THE RR CDU FAIL BIT (CHAN 30 BIT 7) AND THE RR IS NOT IN THE AUTO MODE
007564,001226: # (RADMODES BIT 2).
007565,001227:
007566,001228: # ERASABLE INITIALZATION: RADMODES
007567,001229:
007568,001230: # SUBROUTINES CALLED:
007569,001231: # RRLIMCHK, WAITLIST
007570,001232:
007571,001233: # JOBS OR TASKS INITIATED:
007572,001234: # DORREPOS
007573,001235:
007574,001236: # ALARMS:
007575,001237: # NONE
007576,001238:
007577,001239: # EXIT:
007578,001240: # NORRGMON
007579,001241:
007580,001242: 06,3071 30101 RRGIMON CAE FLAGWRD5 # IS NO ANGLE MONITOR FLAG SET
007581,001243: 06,3072 74750 MASK NORRMBIT
007582,001244: 06,3073 10000 CCS A
007583,001245: 06,3074 13132 TCF NORRGMON # YES -- SKIP LIMIT CHECK
007584,001246: 06,3075 40103 CS FLAGWRD7 # IS SERVICER RUNNING?
007585,001247: 06,3076 74747 MASK AVEGFBIT
007586,001248: 06,3077 10000 CCS A
007587,001249: 06,3100 13105 TCF +5 # NO. DO R25
007588,001250: 06,3101 30102 CA FLAGWRD6 # YES. IS MUNFLAG SET?
007589,001251: 06,3102 74744 MASK MUNFLBIT
007590,001252: 06,3103 10000 CCS A
007591,001253: 06,3104 13132 TCF NORRGMON # YES. DON'T DO R25
007592,001254: 06,3105 33127 +5 CAF OCT32002 # INHIBIT BY REMODE, ZEROING, MONITOR.
007593,001255: 06,3106 70110 MASK RADMODES # OR RR NOT IN AUTO.
007594,001256: 06,3107 10000 CCS A
007595,001257: 06,3110 13132 TCF NORRGMON
007596,001258: # Page 187
007597,001259: 06,3111 04523 TC RRLIMCHK # SET IF ANGLES IN LIMITS.
007598,001260: 06,3112 00035 ADRES CDUT
007599,001261:
007600,001262: 06,3113 13115 TCF MONREPOS
007601,001263:
007602,001264: 06,3114 13132 TCF NORRGMON # (ADDITIONAL CODING MAY GO HERE).
007603,001265:
007604,001266: 06,3115 34741 MONREPOS CAF REPOSBIT # SET FLAG TO SHOW REPOSITION IN PROGRESS.
007605,001267: 06,3116 26110 ADS RADMODES
007606,001268:
007607,001269: 06,3117 43130 CS OCT20002 # DISABLE TRACKER AND ERROR COUNTER.
007608,001270: 06,3120 00006 EXTEND
007609,001271: 06,3121 03012 WAND CHAN12
007610,001272:
007611,001273: 06,3122 34752 CAF TWO
007612,001274: 06,3123 05203 TC WAITLIST
007613,001275: 06,3124 E7,1456 EBANK= LOSCOUNT
007614,001276: 06,3124 02127 52107 2CADR DORREPOS
007615,001277:
007616,001278: 06,3126 13132 TCF NORRGMON
007617,001279:
007618,001280: 06,3127 32002 OCT32002 OCT 32002
007619,001281: 06,3130 20002 OCT20002 OCT 20002
007620,001282: 06,3131 02100 OCT02100 OCT 02100 # P20, P22 MASK BITS.
007621,001283:
007622,001284: # Page 188
007623,001285: # PROGRAM NAME: GPMATRIX (DAPT4S) MCD. NO. 2 DATE: OCTOBER 27, 1966
007624,001286:
007625,001287: # AUTHOR: JOHNATHAN D. ADDLELSTON (ADAMS ASSOCIATES)
007626,001288:
007627,001289: # MODIFIED: 7FEB. 1968 BY P. S. WEISSMAN TO DELETE COMPUTATION OF MR12 AND MR13, WHICH ARE NO LONGER REQUIRED.
007628,001290:
007629,001291: # THIS PROGRAM CALCULATES ALL THE SINGLE-PRECISION MATRIX ELEMENTS WHICH ARE USED BY LEM DAP TO TRANSFORM VECTORS
007630,001292: # FROM GIMBAL TO PILOT (BODY) AXES AND BACK AGAIN. THESE ELEMENTS ARE USED EXCLUSIVELY BY BASIC LANGUAGE ROUTINES
007631,001293: # AND THEREFORE ARE NOT ARRAYED FOR USE BY INTERPRETIVE PROGRAMS.
007632,001294:
007633,001295: # CALLING SEQUENCE: GPMATRIX IS TRANSFERRED TO FROM DAPT4S AND IS THUS EXECUTED 4 TIMES A SECOND BY T4RUPT.
007634,001296: # DAPT4S IS LISTED IN T4JUMP TABLE TWICE EXPLICITLY AND ALSO OCCURS AFTER RRAUTCHK (WHICH IS ALSO LISTED TWICE).
007635,001297:
007636,001298: # SUBROUTINES CALLED: SPSIN, SPCOS.
007637,001299:
007638,001300: # NORMAL EXIT MODE: TCF RESUME
007639,001301:
007640,001302: # ALARM AND ABORT MODES: NONE.
007641,001303:
007642,001304: # INPUT: CDUX, CDUY, CDUZ.
007643,001305:
007644,001306: # OUTPUT: M11, M21, M32, M22, M32.
007645,001307:
007646,001308: # AOG = CDUX, AIG = CDUY, AMG = CDUZ: MNEMONIC IS : OIM = XYZ
007647,001309:
007648,001310: # * * SING(MG) 0 1 *
007649,001311: # M = * COS(MG)COS(OG) SIN(OG) 0 *
007650,001312: # GP * -COS(MG)SIN(OG) COS(OG) 0 *
007651,001313:
007652,001314: # * * 0 COS(OG)/COS(MG) -SIN(OG)/COS(MG) *
007653,001315: # M = * 0 SIN(OG) COS(OG) *
007654,001316: # PG * 1 -SIN(MG)COS(OG)/COS(MG) SIN(MG)SIN(OG)/COS(MG) *
007655,001317:
007656,001318: 06,3132 E6,1414 EBANK= M11
007657,001319: 06,3132 06,3132 DAPT4S EQUALS GPMATRIX
007658,001320:
007659,001321: # T4RUPT DAP LOGIC:
007660,001322:
007661,001323: 06,3132 30034 GPMATRIX CAE CDUZ # SINGLE ENTRY POINT
007662,001324: 06,3133 05033 TC SPSIN # SIN(CDUZ) = SIN(MG)
007663,001325: 06,3134 55414 TS M11 # SCALED AT 1
007664,001326:
007665,001327: 06,3135 30034 CAE CDUZ
007666,001328: 06,3136 05032 TC SPCOS # COS(CDUZ) = COS(MG)
007667,001329: 06,3137 54061 TS COSMG # SCALED AT 1 (ONLY A FACTOR)
007668,001330:
007669,001331: 06,3140 30032 CAE CDUX
007670,001332: 06,3141 05033 TC SPSIN # SIN(CDUX) = SIN(OG)
007671,001333: 06,3142 55417 TS M22 # SCALED AT 1 (ALSO IS MR22)
007672,001334:
007673,001335: 06,3143 41417 CS M22
007674,001336: # Page 189
007675,001337: 06,3144 00006 EXTEND
007676,001338: 06,3145 70061 MP COSMG # -SIN(OG)COS(MG)
007677,001339: 06,3146 55416 TS M31 # SCALED AT 1
007678,001340:
007679,001341: 06,3147 30032 CAE CDUX
007680,001342: 06,3150 05032 TC SPCOS # COS(CDUX) = COS(OG)
007681,001343: 06,3151 55420 TS M32 # SCALED AT 1 (ALSO IS MR23)
007682,001344:
007683,001345: 06,3152 00006 EXTEND
007684,001346: 06,3153 70061 MP COSMG # COS(OG)COS(MG)
007685,001347: 06,3154 55415 TS M21 # SCALED AT 1
007686,001348:
007687,001349: 06,3155 05270 TC RESUME
007688,001350:
007689,001351: 06,3156 06,3132 NORRGMON EQUALS DAPT4S
007690,001352: 06,3156 5270 ENDDAPT4 EQUALS RESUME
End of include-file T4RUPT_PROGRAM.agc. Parent file is MAIN.agc