Source Code

006294,000001: 006295,000002: 006296,000003: 006297,000004: 006298,000005: 006299,000006: 006300,000007: 006301,000008: 006302,000009: 006303,000010: 006304,000011: 006305,000012: 006306,000013: 006307,000014: 006308,000015: 006309,000016: 006310,000017: 006311,000018: 12,2000 006312,000019: 06,2000 006313,000020: 06,2000 006314,000021: 006315,000022: 06,2000 E6,1414 006316,000023: 06,2000 < 006363,000070: 06,2013 006364,000071: 06,2014 006365,000072: 006366,000073: 06,2015 006367,000074: 06,2016 006368,000075: 06,2017 006369,000076: 06,2020 006370,000077: 06,2021 006371,000078: 06,2022 006372,000079: 06,2023 006373,000080: 006374,000081: 006375,000082: 006376,000083: < 006724,000431: 06,2322 006725,000432: 06,2323 006726,000433: 006727,000434: 06,2324 006728,000435: 006729,000436: 06,2325 006730,000437: 06,2326 006731,000438: 006732,000439: 06,2327 006733,000440: 06,2330 006734,000441: 06,2331 006735,000442: 06,2332 006736,000443: 06,2333 006737,000444: 06,2334 006738,000445: 06,2335 006739,000446: 006740,000447: 06,2336 006741,000448: 006742,000449: 06,2337 006743,000450: 06,2340 006744,000451: 06,2341 006745,000452: 006746,000453: 06,2342 006747,000454: 006748,000455: 06,2343 006749,000456: 06,2344 E3,1474 006750,000457: 06,2344 006751,000458: 006752,000459: 06,2346 006753,000460: < 007127,000834: 06,2623 007128,000835: 007129,000836: 06,2624 007130,000837: 06,2625 007131,000838: 06,2626 007132,000839: 007133,000840: 06,2627 007134,000841: 06,2630 007135,000842: 007136,000843: 06,2631 007137,000844: 06,2632 007138,000845: 06,2633 007139,000846: 06,2634 007140,000847: 06,2635 007141,000848: 06,2636 007142,000849: 06,2637 007143,000850: 007144,000851: 06,2640 007145,000852: 06,2641 007146,000853: 06,2642 007147,000854: < < < # Copyright: Public domain. # Filename: T4RUPT_PROGRAM.agc # Purpose: An interrupt service routine for Luminary 1C, revision 131. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC) for Apollo 13 and Apollo 14. # This file is intended to be a faithful transcription, except # that the code format has been changed to conform to the # requirements of the yaYUL assembler rather than the # original YUL assembler. # Reference: pp. 162-196 of 1729.pdf # Contact: Ron Burkey <info@sandroid.org>. # Website: www.ibiblio.org/apollo/index.html # Mod history: 04/11/03 RSB. Began transcribing. # 05/05/03 RSB. Draft finished. # 05/14/05 RSB Corrected website reference above # Page 162 BANK 12 SETLOC T4RUP BANK EBANK= M11 COUNT* $$/T4RPT >006317,000024: 06,2000 54016 T4RUPT TS BANKRUPT 00006 EXTEND 22012 QXCH QRUPT 11310 CCS DSRUPTSW # GOES 7(-1)0 AROUND AND AR 12010 TCF NORMT4 +1 12007 TCF NORMT4 12134 TCF QUIKDSP >006328,000035: 06,2007 34757 NORMT4 CAF SEVEN 54070 TS RUPTREG1 55310 TS DSRUPTSW BLOCK 02 SETLOC FFTAG10 BANK COUNT* $$/T4RPT 054">006337,000044: 4066 7732 100MRUPT = OCT37766 # (DEC 16374) # RELTAB IS A PACKED TABLE. RELAYWORD CODE IN UPPER 4 BITS, RELAY CODE # IN LOWER 5 BITS. >006341,000048: 4066 04025 RELTAB OCT 04025 10003 OCT 10003 14031 OCT 14031 20033 OCT 20033 24017 OCT 24017 30036 OCT 30036 34034 OCT 34034 40023 OCT 40023 44035 OCT 44035 50037 OCT 50037 54000 OCT 54000 131">006352,000059: 4101 60000 RELTAB11 OCT 60000 # Page 163 # SWITCHED-BANK PORTION BANK 12 SETLOC T4RUP BANK COUNT* $$/T4RPT /a>006362,000069: 06,2012 11035 CDRVE CCS DSPTAB +11D 02063 TC DSPOUT 02063 TC DSPOUT 57035 XCH DSPTAB +11D 74356 MASK LOW11 55035 TS DSPTAB +11D 64101 AD RELTAB11 00006 EXTEND 01010 WRITE OUT0 02071 TC HANG20 # Page 164 # DSPOUT PROGRAM, PUTS OUT DISPLAYS 342">006377,000084: 06,2024 55015 DSPOUTSB TS NOUT 44755 CS ZERO 54073 TS DSRUPTEM # SET TO -0 FOR 1ST PASS THRU OSPTAB 56775 XCH DSPCNT 64754 AD NEG0 # TO PREVENT +0 54775 TS DSPCNT E">006383,000090: 06,2032 50775 DSPSCAN INDEX DSPCNT 11022 CCS DSPTAB 10775 CCS DSPCNT # IF DSPTAB ENTRY +, SKIP 12030 TCF DSPSCAN -2 # IF DSPCNT +, TRY AGAIN 12047 TCF DSPLAY # IF DSPTAB ENTRY -, DISPLAY 8">006388,000095: 06,2037 00012 TABLNTH OCT 12 # DEC 10, LENGTH OF DSPTAB 10073 CCS DSRUPTEM # IF DSRUPTEM=+0, 2ND PASS THRU DSPTAB 054">006390,000097: 06,2041 37764 120MRUPT DEC 16372 B-14 # (DSPCNT = 0). +0 INTO NOUT. 55015 TS NOUT 00002 TC Q 54073 TS DSRUPTEM # IF DSRUPTEM=-0, 1ST PASS THRU DSPTAB 32037 CAF TABLNTH # (DSPCNT=0).+0 INTO DSRUPTEM. PASS AGAIN 12031 TCF DSPSCAN -1 >006397,000104: 06,2047 64753 DSPLAY AD ONE 50775 INDEX DSPCNT 55022 TS DSPTAB # REPLACE POSITIVELY 74356 MASK LOW11 # REMOVE BITS 12 TO 15 54073 TS DSRUPTEM 34350 CAF HI5 50775 INDEX DSPCNT 74066 MASK RELTAB # PICK UP BITS 12 TO 15 OF RELTAB ENTRY 60073 AD DSRUPTEM 00006 EXTEND 01010 WRITE OUT0 16742 TCF Q+1 >006411,000118: 06,2063 10101 DSPOUT CCS FLAGWRD5 # IS DSKY FLAG ON 34755 CAF ZERO # NO 12130 TCF NODSPOUT # NO 11015 CCS NOUT # YES 02024 TC DSPOUTSB 12130 TCF NODSPOUT # NO DISPLAY REQUESTS >006418,000125: 06,2071 42171 HANG20 CS 14,11,9 27310 ADS DSRUPTSW 37734 CAF 20MRUPT 534">006423,000130: 06,2074 54027 SETTIME4 TS TIME4 # Page 165 # THE STATUS OF THE PROCEED PUSHBUTTON IS MONITORED EVERY 120 MILLISECONDS VIA # THE CHANNEL 32 BIT 14 INBIT. THE STATE OF THIS INBIT IS COMPARED WITH ITS # STATE DURING THE PREVIOUS T4RUPT AND IS PROCESSED AS FOLLOWS. # IF PREV ON AND NOW ON -- BYPASS. # IF PREV ON AND NOW OFF -- UPDATE IMODES33. # IF PREV OFF AND NOW ON -- UPDATE IMODES33 AND PROCESS VIA PINBALL. # IF PREV OFF AND NOW OFF -- BYPASS. # THE LOGIC EMPLOYED REQUIRES ONLY 9 MCT (APPROX. 108 MICROSECONDS) # OF COMPUTER TIME WHEN NO CHANGES OCCUR. 445">006436,000143: 06,2075 31300 PROCEEDE CA IMODES33 # MONITOR FOR PROCEED BUTTON 00006 EXTEND 06032 RXOR CHAN32 74736 MASK BIT14 00006 EXTEND 12116 BZF T4JUMP # NO CHANGE 23300 LXCH IMODES33 00006 EXTEND 06001 RXOR LCHAN 55300 TS IMODES33 74736 MASK BIT14 10000 CCS A 12116 TCF T4JUMP # WAS ON -- NOW OFF 34355 CAF CHRPRIO # WAS OFF -- NOW ON 05072 TC NOVAC 0776 EBANK= DSPCOUNT 03506 60101 2CADR PROCKEY # Page 166 # JUMP TO APPROPRIATE ONCE-PER SECOND (0.96 SEC ACTUALLY) ACTIVITY >006459,000166: 06,2116 50070 T4JUMP INDEX RUPTREG1 12120 TCF +1 03164 TC RCSMONIT 13006 TCF RRAUTCHK 12172 TCF IMUMON 13140 TCF DAPT4S 03164 TC RCSMONIT 13006 TCF RRAUTCHK 12172 TCF IMUMON 13140 TCF DAPT4S 4">006471,000178: 06,2130 7734 20MRUPT = OCT37776 # (DEC 16382) # Page 167 # ADDITIONAL ROUTINES FOR 20MS. KEYBOARD ACTIVITY 554">006476,000183: 06,2130 00006 NODSPOUT EXTEND 01010 WRITE OUT0 32041 CAF 120MRUPT # SET FOR NEXT CCRIVE 12074 TCF SETTIME4 0">006482,000189: 06,2134 34736 QUIKDSP CAF BIT14 71310 MASK DSRUPTSW 00006 EXTEND 12165 BZF QUIKOFF # WROTE LAST TIME, NOW TURN OFF RELAYS 11015 CCS NOUT 02024 TC DSPOUTSB 12152 TCF NODSPY # NOUT=0 OR BAD RETURN FROM DSPOUTSB 44736 CS BIT14 # GOOD RETURN (WE DISPLAYED SOMETHING) 054">006491,000198: 06,2144 27310 QUIKRUPT ADS DSRUPTSW 37734 CAF 20MRUPT 54027 TS TIME4 34743 CAF BIT9 27310 ADS DSRUPTSW 05270 TC RESUME >006501,000208: 06,2152 00006 NODSPY EXTEND 01010 WRITE OUT0 >006504,000211: 06,2154 37734 SYNCT4 CAF 20MRUPT 26027 ADS TIME4 34743 CAF BIT9 27310 ADS DSRUPTSW 11310 CCS DSRUPTSW 05270 TC RESUME 337">006512,000219: 06,2162 37737 OCT37737 OCT 37737 02154 TC SYNCT4 05270 TC RESUME 6">006516,000223: 06,2165 00006 QUIKOFF EXTEND 01010 WRITE OUT0 34736 CAF BIT14 # RESET DSRUPTSW TO SEND DISPLAY NEXT PASS 12144 TCF QUIKRUPT 9">006521,000228: 06,2171 22400 14,11,9 OCT 22400 # Page 168 # PROGRAM NAME: IMUMON # FUNCTIONAL DESCRIPTION: THIS PROGRAM IS ENTERED EVERY 480 MS. IT DETECTS CHANGES OF THE IMU STATUS BITS IN # CHANNEL 30 AND CALLS THE APPROPRIATE SUBROUTINES. THE BITS PROCESSED AND THEIR RELEVANT SUROUTINES ARE: # FUNCTION BIT SUBROUTINE CALLED # -------- --- ----------------- # TEMP IN LIMITS 15 TLIM # ISS TURN-ON REQUEST 14 ITURNON # IMU FAIL 13 IMUFAIL (SETISSW) # IMU CDU FAIL 12 ICDUFAIL (SETISSW) # IMU CAGE 11 IMUCAGE # IMU OPERATE 9 IMUOP # THE LAST SAMPLED STATE OF THESE BITS IS LEFT IN IMODES30. ALSO, EACH SUBROUTINE CALLED FINDS THE NEW # VALUE OF THE BIT IN A, WITH Q SET TO THE PROPER RETURN LOCATION NXTIFAIL. # CALLING SEQUENCE: T4RUPT EVERY 480 MILLISECONDS. # JOBS OR TASKS INITIATED: NONE. # SUBROUTINES CALLED: TLIM, TURNON, SETISSW, IMUCAGE, IMUOP. # ERASABELE INITIALIZATION: # FRESH START OR RESTART WITH NO GROUPS ACTIVE: C((MODES30) = OCT 37411). # RESTART WITH ACTIVE GROUPS: C(IMODES30) = (B(IMODES30)AND(OCT 00035)) PLUS OCT 37400. # THIS LEAVES IMU FAIL BITS INTACT. # ALARMS: NONE. # EXIT: TNONTEST. # OUTPUT: UPDATED IMODES30 WITH CHANGES PROCESSED BY APPROPRIATE SUBROUTINE. >006558,000265: 06,2172 31277 IMUMON CA IMODES30 # SEE IF THERE HAS BEEN A CHANGE IN THE 00006 EXTEND # RELEVANT BITS OF CHAN 30. 06030 RXOR CHAN30 72761 MASK 30RDMSK 00006 EXTEND 12227 BZF TNONTEST # NO CHANGE IN STATUS 54070 TS RUPTREG1 # SAVE BITS WHICH HAVE CHANGED. 23277 LXCH IMODES30 # UPDATE IMODES30. 00006 EXTEND 06001 RXOR LCHAN 55277 TS IMODES30 44753 CS ONE 56070 XCH RUPTREG1 00006 EXTEND # Page 169 62514 BZMF TLIM # CHANGE IN IMU TEMP. 12213 TCF NXTIFBIT # BEGIN BIT SCAN. 64753 -1 AD ONE # (RE-ENTERS HERE FROM NXTIFAIL.) 954">006579,000286: 06,2213 24070 NXTIFBIT INCR RUPTREG1 # ADVANCE BIT POSITION NUMBER. 60000 +1 DOUBLE 54000 TS A # SKIP IF OVERFLOW. 12213 TCF NXTIFBIT # LOOK FOR BIT. 56071 XCH RUPTREG2 # SAVE OVERFLOW-CORRECTED DATA. 50070 INDEX RUPTREG1 # SELECT NEW VALUE OF THIS BIT. 34736 CAF BIT14 71277 MASK IMODES30 50070 INDEX RUPTREG1 02755 TC IFAILJMP 94C">006591,000298: 06,2225 10071 NXTIFAIL CCS RUPTREG2 # PROCESS ANY ADDITIONAL CHANGES. 12212 TCF NXTIFBIT -1 # Page 170 # PROGRAM NAME: TNONTEST. # FUNCTIONAL DESCRIPTION: THIS PROGRAM HONORS REQUESTS FOR ISS INITIALIZATION. ISS TURN-ON (CHANNEL 30 BIT 14) # AND ISS OPERATE (CHANNEL 30 BIT 9) REQUESTS ARE TREATED AS A PAIR AND PROCESSING TAKES PLACE .480 SECONDS # AFTER EITHER ONE APPEARS. THIS INITIALIZATION TAKES ON ONE OF THE FOLLOWING THREE FORMS: # 1) ISS TURN-ON: IN THIS SITUATION THE COMPUTER IS OPERATING WHEN THE ISS IS TURNED ON. NOMINALLY, # BOTH ISS TURN-ON AND ISS OPERATE APPEAR. THE PLATFORM IS CAGED FOR 90 SECONDS AND THE ICDU'S ZEROED # SO THAT AT THE END OF THE PROCESS THE GIMBAL LOCK MONITOR WILL FUNCTION PROPERLY. # 2) ICDU INITIALIZATION: IN THIS CASE THE COMPUTER WAS PROBABLY TURNED ON WITH THE ISS IN OPERATE OR # A FRESH START WAS DONE WIT THE ISS IN OPERATE. IN THIS CASE ONLY ISS OPERATE IS ON. THE ICDU'S ARE # ZEROED SO THE GIMBAL LOCK MONITOR WILL FUNCTION. AN EXCEPTION IS IF THE ISS IS IN GIMBAL LOCK AFTER # A RESTART, THE ICDU'S WILL NOT BE ZEROED. # 3) RESTART WITH RESTARTABLE PROGRAM USING THE IMU: IN THIS CASE, NO INITIALIZATION TAKES PLACE SINCE # IT IS ASSUMED THT THE USING PROGRAM DID THE INITIALIZATION AND THEREFORE T4RUPT SHOULD NOT INTERFERE. # IMODESD0 BIT 7 IS SET = 1 BY THE FIRST BIT (CHANNEL 30 BIT 14 OR 9) WHICH ARRIVES. FOLLOWING THIS, TNONTEST IS # ENTERED, FINDS BIT 7 = 1 BUT BIT 8 = 0, SO IT SETS BIT 8 = 1 AND EXITS. THE NEXT TIME IT FINDS BIT 8 = 1 AND # PROCEEDS, SETTING BITS 8 AND 7 = 0. AT PROCTNON, IF ISS TURN-ON REQUEST IS PRESENT, THE ISS IS CAGED (ZERO + # COARSE). IF ISS OPERATE IS NOT PRESENT PROGRAM ALARM 00213 IS ISSUED. AT THE END OF A 90 SECOND CAGE, BIT 2 # OF IMODES30 IS TESTED. IF IT IS = 1, ISS TURN-ON WAS NOT PRESENT FOR THE ENTIRE 90 SECONDS. IN THAT CASE, IF # THE ISS TURN-ON REQUEST IS PRESENT TEH 90 SECOD WAIT IS REPEATED. OTHERWISE NO ACTION OCURS UNLESS A PROGRAM # WAS WAITING FOR THE INITIALIZATION IN WHIC CASE TH PROGRAM IS GIVEN AN IMUSTALL ERROR RETURN. IF THE DELAY # WENT PROPERLY, THE ISS DELAY CLTBIT IS SENT AND THE ICDU'S ZEROED. A TASK IS INITIATED TO REMOVE THE PIPA FIAL # INHIBIT BIT IN 10.24 SECONDS. IF A MISSION PROGRAM WAS WAITING IT IS INFORMED VIA ENDIMU. # AT PROCTNON, IF ONLY ISS OPERATE IS PRESENT (OPONLY), THE CDU'S ARE ZEROED UNLESS THE PLATFORM IS IN COARSE # ALIGN (= GIMBAL LOCK HERE) OR A MISSIN PROGRAM IS USING THE IMU (INUSEFLG = 1). # CALLING SEQUENCE: T4RUPT EVERY 480 MILLISECONDS AFTER IMUMON. # JOBS OR TASKS INITIATED: 1) ENDTMON, 90 SECONDS AFER CAGING STARTED. 2) ISSUP, 4 SECONDS AFTER CAGING DONE. # 3) PFAILOK, 10.24 SECONDS AFTER INITIALIZATION COMPLETED. 4) UNZ2, 320 MILLISECONDS AFTER ZEROING # STARTED. # SUBROUTINES CALLED: CAGESUB, CAGESUB2, ZEROICDU, ENDIMU, IMUBAD, NOATTOFF, SETISSW, VARDELAY. # ERASABLE INITIALIZATION: SEE IMUMON. # ALARMS: PROGRAM ALARM 00213 IF ISS TURN-ON REQUESTED WITHOUT ISS OPERATE. # EXIT: ENDTNON EXITS TO C33TEST. TASKS HAVING TO DO WITH INITIALIZATION EXIT AS FOLLOWS: MISSION PROGRAM # WAITING AND INITIALIZATION COMPLET, EXIT TO ENDIMU, MISSION PROGRAM WAITING AND INITIALIZATION FAILED, EXIT TO # IMUBAD, IMU NOT IN USE, EXIT TO TASKOVER. # OUTPUT: ISS INITIALIZED. 354">006644,000351: 06,2227 41277 TNONTEST CS IMODES30 # AFTER PROCESSING ALL CHANGES, SEE IF IT # Page 171 74745 MASK BIT7 # IS TIME TO ACT ON A TURN-ON SEQUENCE. 10000 CCS A 12374 TCF C33TEST # NO -- EXAMINE CHANNEL 33. 34744 CAF BIT8 # SEE IF FIRST SAMPLE OR SECOND. 71277 MASK IMODES30 10000 CCS A 12242 TCF PROCTNON # REACT AFTER A SECOND SAMPLE. 34744 CAF BIT8 # IF FIRST SAMPLE, SET BIT TO REACT NEXT 27277 ADS IMODES30 # TIME. 12374 TCF C33TEST # PROCESS IMU TURN-ON REQUESTS AFTER WAITING 1 SAMPLE FOR ALL SIGNALS TO ARRIVE. F4E">006661,000368: 06,2242 42777 PROCTNON CS BITS7&8 71277 MASK IMODES30 55277 TS IMODES30 74736 MASK BIT14 # SEE IF TURN-ON REQUEST. 10000 CCS A 12347 TCF OPONLY # OPERATE ON ONLY. 41277 CS IMODES30 # IF TURN-ON REQUEST, WE SHOUD HAVE IMU 74743 MASK BIT9 # OPERATE. 10000 CCS A 12256 TCF +3 05567 TC ALARM # ALARM IF NOT 00213 OCT 213 02735 +3 TC CAGESUB 33005 CAF 90SECS 05203 TC WAITLIST EBANK= M11 02266 14106 2CADR ENDTNON 12374 TCF C33TEST >006684,000391: 06,2264 33005 RETNON CAF 90SECS 05224 TC VARDELAY E">006687,000394: 06,2266 44752 ENDTNON CS BIT2 # RESET TURN-ON REQUEST FAIL BIT. 71277 MASK IMODES30 57277 XCH IMODES30 74752 MASK BIT2 # IF IT WAS OFF, SEND ISS DELAY COMPLETE. 00006 EXTEND 12306 BZF ENDTNON2 34736 CAF BIT14 # IF IT WAS ON AND TURN-ON REQUEST NOW. # Page 172 71277 MASK IMODES30 # PRESENT, RE-ENTER 90 SEC DELAY IN WL. 00006 EXTEND 12264 BZF RETNON 40074 CS FLAGWRD0 # IF IT IS NOT ON NOW, SEE IF A PROG WAS 74744 MASK IMUSEBIT # WAITING. 10000 CCS A 15261 TCF TASKOVER 04635 TC POSTJUMP 17630 CADR IMUBAD # UNSUCCESSFUL TURN-ON. E32">006707,000414: 06,2306 34735 ENDTNON2 CAF BIT15 # SEND ISS DELAY COMPLETE. 00006 EXTEND 05012 WOR CHAN12 04674 TC IBNKCALL # TURN OFF NO ATT LAMP. 17257 CADR NOATTOFF >006714,000421: 06,2313 05457 UNZ2 TC ZEROICDU 44763 CS BITS4&5 # REMOVE ZERO AND COARSE. 00006 EXTEND 03012 WAND CHAN12 34741 CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS 05224 TC VARDELAY /a>006723,000430: 06,2321 42774 ISSUP CS OCT54 # REMOVE CAGING, IMU FAIL INHIBIT BIT, AND 71277 MASK IMODES30 # ICDUFAIL INHIBIT FLAGS. 55277 TS IMODES30 44746 CS BIT6 # ENABLE DAP 71300 MASK IMODES33 55300 TS IMODES33 40076 CS FLAGWRD2 # TEST DRIFTFLG: IF ON DO NOTHING BECAUSE 74735 MASK DRFTBIT # IMUCOMP SHOUD BE ALL SET UP (RESTART 00006 EXTEND # WITH IMUSE DOWN). IF OFF, SET DRIFTFLG 12336 BZF +4 # AND 1/PIPADT TO GET FREEFALL IMUCOMP 26076 ADS FLAGWRD2 # GOING (FRESH START OR ISS TURN-ON). 30025 CA TIME1 57074 XCH 1/PIPADT # CANNOT GET HERE IF RESTART WITH IMUSE UP 02703 TC SETISSW # ISS WARNING MIGHT HAVE BEEN INHIBITED. 44735 CS BIT15 # REMOVE IMU DELAY COMPLETE DISCRETE. 00006 EXTEND 03012 WAND CHAN12 35003 CAF 4SECS # DON'T ENABLE PROG ALARM ON PIP FAIL FOR # Page 173 05203 TC WAITLIST # ANOTHER 4 SECS. EBANK= CDUIND 03245 16103 2CADR PFAILOK 15261 TCF TASKOVER >006754,000461: 06,2347 34750 OPONLY CAF BIT4 # IF OPERATE ON ONLY, AND WE ARE IN COARSE 00006 EXTEND # ALIGN, DON'T ZERO THE CDUS BECAUSE WE 02012 RAND CHAN12 # MIGHT BE IN GIMBAL LOCK. 10000 CCS A 12374 TCF C33TEST 34744 CAF IMUSEBIT # OTHERWISE, ZERO THE COUNTERS. 70074 MASK FLAGWRD0 # UNLESS SOMEONE IS USING TH IMU. 10000 CCS A 12374 TCF C33TEST 02746 TC CAGESUB2 # SET TURNON FLAGS. F">006767,000474: 06,2361 04674 ISSZERO TC IBNKCALL # TURN OFF NO ATT LAMP. 17257 CADR NOATTOFF # IMU CAGE OFF ENTRY. 34747 CAF BIT5 # ISS CDU ZERO 00006 EXTEND 05012 WOR CHAN12 05457 TC ZEROICDU 34746 CAF BIT6 # WAIT 300 MS. FOR AGS TO RECEIVE SIGNAL. 05203 TC WAITLIST EBANK= M11 02313 14106 2CADR UNZ2 12374 TCF C33TEST # Page 174 # PROGRAM NAME: C33TEST # FUNCTIONAL DESCRIPTION: THIS PROGRAM MONITORS THREE FLIP-FLOP INBITS OF CHANNEL 33 AND CALLS THE APPROPRIATE # SUBROUTINE TO PROCESS A CHANGE. IT IS ANALOGOUS TO IMUMON, WHICH MONITORS CHANNEL 30, EXCEPT THAT IT READS # CHANNEL 33 WITH A WAND INSTRUCTION BECAUSE A `WRITE' PULSE IS REQUIRED TO RESET THE FLIP-FLOPS. THE BITS # PROCESSED AND THE SUBROUTINES CALLED ARE: # BIT FUNCTION SUBROUTINE # --- -------- ---------- # 13 PIPA FAIL PIPFAIL # 12 DOWNLINK TOO FAST DNTMFAST # 11 UPLINK TOO FAST UPTMFAST # UPON ENTRY TO THE SUBROUTINE, THE NEW BIT STATE IS IN A. # CALLING SEQUENCE: EVERY 480 MILLISECONDS AFTER TNONTEST. # JOBS OR TASKS INITIATED: NONE. # SUBROUTINES CALLED: PIPFAIL, DNTMFAST AND UPTMFAST ON BIT CHANGES. # ERASABLE INITIALIZATION: C(IMODES33) = OCT 16000 ON A FRESH START OR RESTART, THEREFORE, THESE ALARMS WILL # REAPPEAR IF THE CONDITIONS PERSIST. # ALARMS: NONE. # EXIT: GLOCKMON. # OUTPUT: UPDATED BITS 13, 12, AND 11 OF IMODES33 WITH CHANGES PROCESSED. 4">006812,000519: 06,2374 31300 C33TEST CA IMODES33 # SEE IF RELEVANT CHAN33 BITS HAVE 75026 MASK 33RDMSK 54001 TS L # CHANGED. 35026 CAF 33RDMSK 00006 EXTEND 03033 WAND CHAN33 # RESETS FLIP-FLOP INPUTS 00006 EXTEND 06001 RXOR LCHAN 00006 EXTEND 12434 BZF GLOCKMON # ON NO CHANGE. 54070 TS RUPTREG1 # SAVE BITS WHICH HAVE CHANGED 23300 LXCH IMODES33 00006 EXTEND 06001 RXOR LCHAN 55300 TS IMODES33 # UPDATED IMODES33. 34755 CAF ZERO 56070 XCH RUPTREG1 60000 DOUBLE # Page 175 12421 TCF NXTIBT +1 # SCAN FOR BIT CHANGES. 64753 -1 AD ONE >006836,000543: 06,2420 24070 NXTIBT INCR RUPTREG1 60000 +1 DOUBLE 54000 TS A # (CODING IDENTICAL TO CHAN 30). 12420 TCF NXTIBT 56071 XCH RUPTREG2 50070 INDEX RUPTREG1 # GET NEW VALUE OF BIT WHICH CHANGED. 34737 CAF BIT13 71300 MASK IMODES33 50070 INDEX RUPTREG1 02763 TC C33JMP 3">006847,000554: 06,2432 10071 NXTFL33 CCS RUPTREG2 # PROCESS POSSIBLE ADDITIONAL CHANGES. 12417 TCF NXTIBT -1 # Page 176 # PROGRAM NAME: GLOCKMON # FUNCTIONAL DESCRIPTION: THIS PROGRAM MONITORS THE CDUZ COUNTER TO DETERMINE WHETHER THE ISS IS IN GIMBAL LOCK # AND TAKES ACTION IF IT IS. THREE REGIONS OF MIDDLE GIMBAL ANGLE (MGA) ARE USED: # 1) ABS(MGA) LESS THAN OR EQUAL TO 70 DEGREES -- NORMAL MODE. # 2) ABS(MGA) GREATER THAN 70 DEGREES AND LESS THAN OR EQUAL TO 85 DEGREES -- GIMBAL LOCK LAMP TURNED ON. # 3) ABS(MGA) GREATER THAN 85 DEGREES -- ISS PUT IN COARSE ALIGN AND NO ATT LAMP TURNED ON. # CALLING SEQUENCE: EVERY 480 MILLISECONDS AFTER C33TEST. # JOBS OR TASKS INITIATED: NONE. # SUBROUTINES CALLED: 1) SETCOARS WHEN ABS(MGA) GREATER THEN 85 DEGREES AND ISS NOT IN COARSE ALIGN. # 2) LAMPTEST BEFORE TURNING OFF GIMBAL LOCK LAMP. # ERASABLE INITIALIZATION: # 1) FRESH START OR RESTART WITH NO GROUPS ACTIVE: C(CDUZ) = 0, IMODES30 BIT 6 = 0, IMODES33 BIT 1 = 0. # 2) RESTART WTIH GROUPS ACTIVE: SAME AS FRESH START EXCEPT C(CDUZ) NOT CHANGED SO GIMBAL MONITOR # PROCEEDS AS BEFORE. # ALARMS: 1) MGA REGION (2) CAUSES GIMBAL LOCK LAMP TO BE LIT. # 2) MGA REGION (3) CAUSES THE ISS TO BE PUT IN COARSE ALIGN AND THE NO ATT LAMP TO BE LIT IF EITHER NOT # SO ALREADY. F4E">006876,000583: 06,2434 10034 GLOCKMON CCS CDUZ 12441 TCF GLOCKCHK # SEE IF MAGNITUDE OF MGA IS GREATER THAN 12465 TCF SETGLOCK # 70 DEGREES. 12441 TCF GLOCKCHK 12465 TCF SETGLOCK 84B">006882,000589: 06,2441 62512 GLOCKCHK AD -70DEGS 00006 EXTEND 62464 BZMF SETGLOCK -1 # NO LOCK. 62513 AD -15DEGS # SEE IF ABS(MGA) GREATER THAN 85 DEGREES 00006 EXTEND 62462 BZMF NOGIMRUN 34750 CAF BIT4 # IF SO, SYSTEM SHOULD BE IN COARSE ALIGN 00006 EXTEND # TO PREVENT GIMBAL RUNAWAY. 02012 RAND CHAN12 10000 CCS A 12462 TCF NOGIMRUN 04674 TC IBNKCALL 17135 CADR SETCOARS 36245 CAF SIX # ENABLE ISS ERROR COUNTERS IN 60 MS. 05203 TC WAITLIST # Page 177 EBANK= CDUIND 03131 16103 2CADR CA+ECE 54E">006905,000612: 06,2462 34746 NOGIMRUN CAF BIT6 # TURN ON GIMBAL LOCK LAMP. 12465 TCF SETGLOCK 34755 -1 CAF ZERO 34B">006909,000616: 06,2465 61035 SETGLOCK AD DSPTAB +11D # SEE IF PRESENT STATE OF GIMBAL LOCK LAMP 74746 MASK BIT6 # AGREES WITH DESIRED STATE BY HALF ADDING 00006 EXTEND # THE TWO. 15270 BZF GLOCKOK # OK AS IS. 71035 MASK DSPTAB +11D # IF OFF, DON'T TURN ON IF IMU BEING CAGED. 10000 CCS A 12507 TCF GLAMPTST # TURN OFF UNLESS LAMP TEST IN PROGRESS. 34746 CAF BIT6 71277 MASK IMODES30 10000 CCS A 15270 TCF GLOCKOK 254">006923,000630: 06,2500 41035 GLINVERT CS DSPTAB +11D # INVERT GIMBAL LOCK LAMP. 74746 MASK BIT6 64735 AD BIT15 # TO INDICATE CHANGE IN DSPTAB +11D. 57035 XCH DSPTAB +11D 72162 MASK OCT37737 27035 ADS DSPTAB +11D 15270 TCF GLOCKOK 354">006931,000638: 06,2507 02766 GLAMPTST TC LAMPTEST # TURN OFF UNLESS LAMP TEST IN PROGRESS. 15270 TCF GLOCKOK 12500 TCF GLINVERT 3">006935,000642: 06,2512 63434 -70DEGS DEC -.38888 # -70 DEGREES SCALED IN HALF-REVOLUTIONS. 3">006936,000643: 06,2513 75252 -15DEGS DEC -.08333 # Page 178 # PROGRAM NAME: TLIM. # FUNCTIONAL DESCRIPTION: THIS PROGRAM MAINTAINS THE TEMP LAMP (BIT 4 OF CHANNEL 11) ON THE DSKY TO AGREE WITH # THE TEMP SIGNAL FROM THE ISS (BIT 15 OF CHANNEL 30). HOWEVER, THE LIGHT WILL NOT BE TURNED OFF IF A LAMP TEST # IS IN PROGRESS. # CALLING SEQUENCE: CALLED BY IMUMON ON A CHANGE OF BIT 15 OF CHANNEL 30. # JOBS OR TASKS INITIATED: NON. # SUBROUTINES CALLED: LAMPTEST. # ERASABLE INITIALIZATION: FRESH START AND RESTART TURN THE TEMP LAMP OFF. # ALARMS: TEMP LAMP TURNED ON WHEN THE IMU TEMP GOES OUT OF LIMITS. # EXIT: NXTIFAIL. # OUTPUT: SERVICE OF TEMP LAMP. IN A, EXCEPT FOR TLIM. >006959,000666: 06,2514 74733 TLIM MASK POSMAX # REMOVE BIT FROM WORD OF CHANGES AND SET 54071 TS RUPTREG2 # DSKY TEMP LAMP ACCORDINGLY. 11277 CCS IMODES30 12525 TCF TEMPOK 12525 TCF TEMPOK 34750 CAF BIT4 # TURN ON LAMP. 00006 EXTEND 05011 WOR DSALMOUT 12225 TCF NXTIFAIL >006971,000678: 06,2525 02766 TEMPOK TC LAMPTEST # IF TEMP NOW OK, DON'T TURN OFF LAMP IF 12225 TCF NXTIFAIL # LAMP TEST IN PROGRESS. 44750 CS BIT4 00006 EXTEND 03011 WAND DSALMOUT # TURN OFF LAMP 12225 TCF NXTIFAIL # Page 179 # PROGRAM NAME: ITURNON. # FUNCTIONAL DESCRIPTION: THIS PROGRAM IS CALLED BY IMUMON WHEN A CHANGE OF BIT 14 OF CHANNEL 30 (ISS TURN-ON # REQUEST) IS DETECTED. UPON ENTRY, ITURNON CHECKS IF A TURN-ON DELAY SEQUENCE HAS FAILED, AND IF SO, IT EXITS. # IF NOT, IT CHECKS WHETHER THE TURN-ON REQUEST CHANGE IS TO ON OR OFF. IF ON, IT SETS BIT7 OF IMODES30 TO 1 SO # THAT TNONTEST WILL INITIATE THE ISS INITIALIZATION SEQUENCE. IF OFF, THE TURN-ON DELAY SIGNAL, CHANNEL 12 BIT # 15, IS CHECKED AND IF IT IS ON, ITURNON EXITS. IF THE DEALY SIGNAL IS OFF, PROGRAM ALARM 00207 IS ISSUED, BIT 2 # OF IMODES30 IS SET TO 1 AND THE PROGRAM EXITS. # THE SETTING OF BIT 2 OF IMODES30 (ISS DELAY SEQUENCE FAIL) INHIBITS THIS ROUTINE AND IMUOP FROM # PROCESSING ANY CHANGES. THIS BIT WILL BE RESET BY THE ENDTNON ROUTINE WHEN THE CURRENT 90 SECOND DELAY PERIOD # ENDS. # CALLING SEQUENCE: FROM IMUMON WHEN ISS TURN-ON REQUEST CHANGES STATE. # JOBS OR TASKS INITITIATED: NONE. # SUBROUTINES CALLED: ALARM, IF THE ISS TURN-ON REQUEST IS NOT PRESENT FOR 90 SECONDS. # ERASABLE INITIALIZATION: FRESH START AND RESTART SET BIT 15 OF CHANNEL 12 AND BITS 2 AND 7 OF IMODES30 TO 0, # AND BIT 14 OF IMODES30 TO 1. # ALARMS: PROGRAM ALARM 00207 IS ISSUED IF THE ISS TURN-ON REQUEST SIGNAL IS NOT PRESENT FOR 90 SECONDS. # EXIT: NXTIFAIL. # OUTPUT: BIT 7 OF IMODES30 TO START ISS INITIALIZATION, OR BIT 2 OF IMODES30 AND PROGRAM ALARM 00207 TO INDICATE # A FAILED TURN-ON SEQUENCE. E">007009,000716: 06,2533 34752 ITURNON CAF BIT2 # IF DELAY REQUEST HAS GONE OFF 71277 MASK IMODES30 # PREMATURELY, DO NOT PROCESS ANY CHANGES 10000 CCS A # UNTIL THE CURRENT 90 SEC WAIT EXPIRES. 12225 TCF NXTIFAIL 34736 CAF BIT14 # SEE IF JUST ON OR OFF. 71277 MASK IMODES30 00006 EXTEND 12556 BZF ITURNON2 # IF JUST ON. 34735 CAF BIT15 00006 EXTEND # SEE IF DELAY PRESENT DISCRETE HAS BEEN 02012 RAND CHAN12 # SENT. IF SO, ACTION COMPLETE 00006 EXTEND 12551 BZF +2 12225 TCF NXTIFAIL 34752 CAF BIT2 # IF NOT, SET BIT TO INDICATE REQUEST NOT 27277 ADS IMODES30 # PRESENT FOR FULL DURATION. 05567 TC ALARM 00207 OCT 207 12225 TCF NXTIFAIL # Page 180 E32">007033,000740: 06,2556 41277 ITURNON2 CS IMODES30 # SET BIT7 TO INDICATE WAIT OF 1 SAMPLE 74745 MASK BIT7 27277 ADS IMODES30 32564 CAF RRINIT 54110 TS RADMODES 12225 TCF NXTIFAIL >007040,000747: 06,2564 00102 RRINIT OCT 00102 # Page 181 # PROGRAM NAME: IMUCAGE. # FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES OF THE IMUCAGE INBIT, CHANNEL 30 BITS 11. IF THE BIT # CHANGES TO 0 (CAGE BUTTON PRESSED), THE ISS IS CAGED (ICDU ZERO + COARSE ALIGN + NO ATT LAMP) UNTIL THE # ASTRONAUT SELECTS ANOTHER PROGRAM TO ALIGN THE ISS. ANY PULSE TRAINS TO THE ICDU'S AND GYRO'S ARE TERMINATED, # THE ASSOCIATE OUTCOUNTERS ARE ZEROED AND THE GYRO'S ARE DE-SELECTED. NO ACTION OCCURS WHEN THE BUTTON IS # RELEASED (INBIT CHANGES TO 1). # CALLING SEQUENCE: BY IMUMON WHEN IMU CAGE BIT CHANGES. # JOBS OR TASKS INITIATED: NONE. # SUBROUTINES CALLED: CAGESUB. # ERASABLE INITIALZATION: FRESH START AND RESTART SET BIT 11 OF IMODES30 TO 1. # ALARMS: NONE. # EXIT: NXTIFAIL. # OUTPUT: ISS CAGED, COUNTERS ZEROED, PULSE TRAINS TERMINATED AND NO ATT LAMP LIT. 5">007065,000772: 06,2565 10000 IMUCAGE CCS A # NO ACTION OF GOING OFF. 12361 TCF ISSZERO 43002 CS OCT77000 # TERMINATE ICDU, RCDU, GYRO PULSE TRAINS 00006 EXTEND 03014 WAND CHAN14 42776 CS OCT272 # KNOCK DOWN DISPLAY INERTIAL DATA, IMU 00006 EXTEND # ERROR COUNTER ENABLE, ZERO ICDU, COARSE 03012 WAND CHAN12 # ALIGN ENABLE, RR ERROR COUNTER ENABLE. 44745 CS ENGONBIT # INSURE ENGONFLG IS CLEAR. 70101 MASK FLAGWRD5 54101 TS FLAGWRD5 44355 CS PRIO30 # TURN ENGINE OFF. 00006 EXTEND 02011 RAND DSALMOUT 64736 AD BIT14 00006 EXTEND 01011 WRITE DSALMOUT # FORCE BIT14=1, BIT13=0. 02743 TC CAGESUB1 04674 TC IBNKCALL # KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS 17166 CADR RNDREFDR 44755 CS ZERO 54050 TS CDUXCMD 54051 TS CDUYCMD # Page 182 54052 TS CDUZCMD 54047 TS GYROCMD 43001 CS OCT740 # HAVING WAITED AT LEAST 27 MCT FROM 00006 EXTEND # GYRO PULSE TRAIN TERMINATION, WE CAN 03014 WAND CHAN14 # D-SELECT THE GYROS. 12225 TCF NXTIFAIL # Page 183 # PROGRAM NAME: IMUOP. # FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES IN TEH ISS OPERATE DISCRETE, BIT 9 OF CHANNEL 30. # IF THE INBIT CHANGES TO 0, INDICATING ISS ON, IMUOP GENERALLY SETS BIT 7 OF IMODES30 TO 1 TO REQUEST ISS # INITIALIZATION VIA TNONTEST. AN EXCEPTION IS DURING A FAILED ISS DELAY DURING WHICH BIT 2 OF IMODES30 IS SET # TO 1 AND NO FURTHER INITIALIZATION IS REQUIRED. WHEN THE INBIT CHANGES TO 1, INDICATING ISS OFF, IMUSEFLG IS # TESTED TO SEE IF ANY PROGRAM WAS USING THE ISS. IF SO, PROGRAM ALARM 00214 IS ISSUED. # CALLING SEQUENCE: BY IMUMON WHEN BIT 9 OF CHANNEL 30 CHANGES. # JOBS OR TAKS INITIATED: NONE. # # SUBROUTINES CALLED: ALARM, IF ISS IS TURNED OFF WHILE IN USE. # ERASABLE INITIALIZATION: ON FRESH START AND RESTART, BIT 9 OF IMODES30 IS SET TO 1 EXCEPT WHEN THE GIMBAL LOCK # LAMP IS ON, IN WHICH CASE IT IS SET TO 0. THIS PREVENTS ICDU ZERO BY TNONTEST WITH THE ISS IN GIMBAL LOCK. # ALARMS: PROGRAM ALARM 00214 IF THE ISS IS TURNED OFF WHILE IN USE. # EXIT: NXTIFAIL. # OUTPUT: ISS INITIALIZATION REQUEST (IMODES30 BIT 7) OR PROGRAM ALARM 00214. /a>007126,000833: 06,2622 00006 IMUOP EXTEND 12643 BZF IMUOP2 41300 CS IMODES33 # DISABLE DAP 74746 MASK BIT6 27300 ADS IMODES33 04674 TC IBNKCALL # KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS 17166 CADR RNDREFDR 42777 CS BITS7&8 # KNOCK DOWN RENDEZVOUS, IMUUSE FLAGS 70074 MASK FLAGWRD0 56074 XCH FLAGWRD0 # IF GOING OFF, ALARM IF PROG USING IMU. 40000 COM 74744 MASK IMUSEFLG 10000 CCS A 12225 TCF NXTIFAIL 05567 TC ALARM 00214 OCT 214 12225 TCF NXTIFAIL >007148,000855: 06,2643 34752 IMUOP2 CAF BIT2 # SEE IF FAILED ISS TURN-ON SEQ IN PROG. 71277 MASK IMODES30 10000 CCS A 12225 TCF NXTIFAIL # IF SO, DON'T PROCESS UNTIL PRESENT 90 12556 TCF ITURNON2 # SECONDS EXPIRES # Page 184 # PROGRAM NAME: PIPFAIL # FUNCITONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES OF BIT 13 OF CHANNEL 33, PIPA FAIL. IT SETS BIT 10 OF # IMODES30 TO AGREE. IT CALLS SETISSW IN CASE A PIPA FAIL NECESSITATES AN ISS WARNING. IF NOT, I.E., MODES30 # BIT 1 = 1, AND A PIPA FAIL IS PRESENT AND THE ISS NOT BEING INITIALIZED, PROGRAM ALARM 0212 IS ISSUED. # CALLING SEQUENCE: BY C33TEST ON CHANGES OF CHANNEL 33 BIT 13. # JOBS OR TASKS INITIATED: NONE. # SUBROUTINES CALLED: 1) SETISSW, AND 2) ALARM (SEE FUNCITONAL DESCRIPTION). # ERASABLE INITIALZIZATION: SEE IMUMON FOR INITIALIZATION OF IMODES30. THE RELEVANT BITS ARE 5, 7, 8, 9, AND 10. # ALARMS: PROGRAM ALARM 00212 IF PIPA FAIL IS PRESENT BUT NEITHER ISS WARNING IS TO BE ISSUED NOR THE ISS IS # BEING INITIALIZED. # EXIT: NXTFL33. # OUTPUT: PROGRAM ALARM 00212 AND ISS WARNING MAINTENANCE. C">007176,000883: 06,2650 10000 PIPFAIL CCS A # SET BIT10 IN IMODES30 SO ALL ISS WARNING 34742 CAF BIT10 # INFO IS IN ONE REGISTER. 57277 XCH IMODES30 73004 MASK -BIT10 27277 ADS IMODES30 02703 TC SETISSW 41277 CS IMODES30 # IF PIP FAIL DOESN'T LIGHT TEST WARNING, DO 74753 MASK BIT1 # A PROGRAM ALARM IF IMU OPERATING BUT NOT 10000 CCS A # CAGED OR BEING TURNED ON. 12432 TCF NXTFL33 31277 CA IMODES30 73000 MASK OCT1720 10000 CCS A 12432 TCF NXTFL33 # ABOVE CONDITION NOT MET. 05567 TC ALARM 00212 OCT 212 12432 TCF NXTFL33 # Page 185 # PROGRAM NAMES: DNTMFAST, UPTMFAST # FUNCTIONAL DESCRIPTION: THESE PROGRAMS PROCESS CHANGES OF BITS 12 AND 11 OF CHANNEL 33. IF A BIT CHANGES TO A # 0, A PROGRAM ALARM IS ISSUED. THE LAARMS ARE: # BIT ALARM CAUSE # --- ----- ----- # 12 01105 DOWNLINK TOO FAST # 11 01106 UPLINK TOO FAST # CALLING SEQUENCE: BY C33TEST ON A BIT CHANGE. # SUBROUTINES CALLED: ALARM, IF A BIT CHANGES TO A 0. # ERASABLE INITIALIZATION: FRESH START OR RESTART, BITS 12 AND 11 OF IMODES33 ARE SET TO 1. # ALARMS: SET FUNCTGIONAL DESCRIPTION. # EXIT: NXTFL33. # OUTPUT: PROGRAM ALARM ON A BIT CHANGE TO 0. 354">007221,000928: 06,2671 10000 DNTMFAST CCS A # DO PROG ALARM IF TM TOO FAST. 12432 TCF NXTFL33 05567 TC ALARM 01105 OCT 1105 12432 TCF NXTFL33 354">007228,000935: 06,2676 10000 UPTMFAST CCS A # SAME AS DNLINK TOO FAST WITH DIFFERENT 12432 TCF NXTFL33 # ALARM CODE. 05567 TC ALARM 01106 OCT 1106 12432 TCF NXTFL33 # Page 186 # PROGRAM NAME: SETISSW # FUNCTIONAL DESCRIPTION: THIS PROGRAM TURNS THE ISS WARNING LAMP ON AND OFF (CHANNEL 11 BIT 1 = 1 FOR ON, # 0 FOR OFF) DEPENDING ON THE STATUS OF IMODES30 BITS 13 (IMU FAIL) AND 4 (INHIBIT IMU FAIL), 12 (ICDU FAIL) AND # 3 (INHIBIT ICDU FAIL), AND 10 (PIPA FAIL) AND 1 (INHIBIT PIPA FAIL). THE LAMP IS LEFT ON IF A LAMP TEST IS IN # PROGRESS. # CALLING SEQUENCE: CALLED BY IMUMON ON CHANGES TO IMU FAIL AND ICDU FAIL. CALLED BY IFAILCK AND PFAILOK UPON # REMOVAL OF THE FAIL INHIBITS. CALLED BY PIPFAIL WHEN THE PIPA FAIL DISCRETE CHANGES. IT IS CALLED BY PIPUSE # SINCE THE PIPA FAIL PROGRAM ALARM MAY NECESSITATE AN ISS WARNING, AND LIKEWISE BY PIPFREE WHEN THE ALARM DEPARTS # AND IT IS CALLED BY IMUZERO3 AND ISSUP AFTER THE FAIL INHIBITS HAVE BEEN REMOVED. # JOBS OR TASKS INITIAZTED: NONE. # SUBROUTINES CALLED: NONE. # ERASABLE INITIALIZATION: # 1) IMODES30 -- SEE IMUMON. # 2) IMODES33 BIT 1 = 0 (LAMP TEST NOT IN PROGRESS). # ALARMS: ISS WARNING. # THE FOLLOWING PROGRAM ALARMS WILL SHOW WHICH FAILURE CAUSED THE ISS WARN # PROGRAM ALARM 00777 PIPA FAIL # PROGRAM ALARM 03777 ICDU FAIL # PROGRAM ALARM 04777 ICDU, PIPA FAILS # PROGRAM ALARM 07777 IMU FAIL # PROGRAM ALARM 10777 IMU, PIPA FAILS # PROGRAM ALARM 13777 IMU, ICDU FAILS # PROGRAM ALARM 14777 IMU, ICDU, PIPA FAILS # EXIT: VIA Q. # OUTPUT: ISS WARNING LAMP SET PROPERLY. 7">007272,000979: 06,2703 34761 SETISSW CAF OCT15 # SET ISS WARNING USING THE FAIL BITS IN 71277 MASK IMODES30 # BITS 13, 12, AND 10 OF IMODES30 AND THE 00006 EXTEND # FAILURE INHIBIT BITS IN POSITIONS 74742 MP BIT10 # 4, 3, AND 1. 31277 CA IMODES30 00006 EXTEND 04001 ROR LCHAN # 0 INDICATES FAILURE 40000 COM 75025 MASK OCT15000 10000 CCS A 12726 TCF ISSWON # FAILURE. 6">007284,000991: 06,2716 34753 ISSWOFF CAF BIT1 # DON'T TURN OFF ISS WARNING IF LAMP TEST 71300 MASK IMODES33 # IN PROGRESS. # Page 187 10000 CCS A 00002 TC Q 44753 CS BIT1 00006 EXTEND 03011 WAND DSALMOUT 00002 TC Q >007295,001002: 06,2726 00006 ISSWON EXTEND 22066 QXCH ITEMP6 05734 TC VARALARM # TELL EVERYONE WHAT CAUSED THE ISS WARNING 34753 CAF BIT1 00006 EXTEND 05011 WOR DSALMOUT 00066 TC ITEMP6 2">007303,001010: 06,2735 43003 CAGESUB CS BITS6&15 # SET OUTBITS AND INTERNAL FLAGS FOR 00006 EXTEND # SYSTEM TURN-ON OR CAGE. DISABLE THE 03012 WAND CHAN12 # ERROR COUNTER AND REMOVE THE IMU DELAY COMP. 34763 CAF BITS4&5 # SEND ZERO AND COARSE. 00006 EXTEND 05012 WOR CHAN12 231">007310,001017: 06,2743 41035 CAGESUB1 CS DSPTAB +11D # TURN ON NO ATT LAMP 72773 MASK OC40010 27035 ADS DSPTAB +11D 232">007314,001021: 06,2746 41277 CAGESUB2 CS IMODES30 # SET FLAGS TO INDICATE CAGING OR TURN-ON 72775 MASK OCT75 # AND INHIBIT ALL ISS WARNING INFO 27277 ADS IMODES30 41300 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES 74746 MASK BIT6 27300 ADS IMODES33 00002 TC Q C">007324,001031: 06,2755 06,2703 IMUFAIL EQUALS SETISSW 94C">007325,001032: 06,2755 06,2703 ICDUFAIL EQUALS SETISSW # Page 188 # JUMP TABLES AND CONSTANTS. D50">007330,001037: 06,2755 12533 IFAILJMP TCF ITURNON # CHANNEL 30 DISPATCH. 12703 TCF IMUFAIL 12703 TCF ICDUFAIL 12565 TCF IMUCAGE B">007334,001041: 06,2761 76400 30RDMSK OCT 76400 # (BIT 10 NOT SAMPLED HERE). 12622 TCF IMUOP >007337,001044: 06,2763 12650 C33JMP TCF PIPFAIL # CHANNEL 33 DISPATCH. 12671 TCF DNTMFAST 12676 TCF UPTMFAST # SUBROUTINE TO SKIP IF LAMP TEST NOT IN PROGRESS. 354">007343,001050: 06,2766 41300 LAMPTEST CS IMODES33 # BIT 1 OF IMODES33 = 1 IF LAMP TEST IN 74753 MASK BIT1 # PROGRESS. 10000 CCS A 24002 INCR Q 00002 TC Q B">007349,001056: 06,2773 5026 33RDMSK EQUALS PRIO16 0">007350,001057: 06,2773 40010 OC40010 OCT 40010 /a>007351,001058: 06,2774 00054 OCT54 OCT 54 /a>007352,001059: 06,2775 00075 OCT75 OCT 75 >007353,001060: 06,2776 00272 OCT272 OCT 00272 8">007354,001061: 06,2777 00300 BITS7&8 OCT 300 0">007355,001062: 06,3000 01720 OCT1720 OCT 1720 >007356,001063: 06,3001 00740 OCT740 OCT 00740 030">007357,001064: 06,3002 5025 OCT15000 EQUALS PRIO15 030">007358,001065: 06,3002 77000 OCT77000 OCT 77000 135">007359,001066: 06,3003 40040 BITS6&15 OCT 40040 >007360,001067: 06,3004 76777 -BIT10 OCT -1000 >007362,001069: 06,3005 21450 90SECS DEC 9000 B-14 /a>007363,001070: 06,3006 5741 120MS = OCT14 # (DEC12) B">007364,001071: 06,3006 5270 GLOCKOK EQUALS RESUME # Page 189 # PROGRAM NAME: RRAUTCHK # FUNCITONAL DESCRIPTION: # RRAUTCHK IS THE RENDEZFOUS RADAR INBIT MONITOR. INITIALLY THE RR # POWER ON AUTO (CHAN 33 BIT 2) INBIT IS CHECKED. IF NO CHANGE, THE # PROGRAM EXITS TO RRCDUCHK. IF A CHANGE, RADMOES IS UPDATED # AND A CHECK MADE IF RR POWER HAS JUST COME ON. IF JUST OFF, A CHECK # IS MAKDE TO SEE IF A PROGRAM WAS USING THE RR (STATE BIT 7). IF NO, # THE PROGRAM EXITS TO RRCDUCHK. IF YES, PROGRAM ALARM 00514 # IS REQUESTED BEFORE EXITING TO RRCDUCHK. IF RR POWER HAS JUST COME # ON, A CHECK IS MADE TO SEE IF A PROGRAM WAS USING THE RR (STATE BIT 7) # SEQUENCE. IF NO, RADMODES IS UPDATED TO INDICATE RR CDU ZERO AND # RR TURN-ON SEQUENCE (BITS 13, 1). A 10 MILLISECOND WAITLIST CALL # IS THEN SET FOR RRTURNON BEFORE THE PROGRAM EXITS TO NORRGMON. # CALLING SEQUENCE: # T4RUPT EVERY 480 MILLISECONDS # ERASABLE INITIALIZATION REQUIRED: # RADMODES, STATE. # SUBROUTINES CALLED: # WAITLIST. # JOBS OR TASKS INITIATED: # RRTURNON # ALARMS: PROGRAM ALARM 00514 -- RADAR GOES OUT OF AUTO MODE WHILE BEING # USED. # EXIT: RRCDUCHK, NORRGMON 84B">007399,001106: 06,3006 30110 RRAUTCHK CA RADMODES # SEE IF CHANGE IN RR AUTO MODE BIT. 00006 EXTEND 06033 RXOR CHAN33 74752 MASK AUTOMBIT 00006 EXTEND 13037 BZF RRCDUCHK 22110 LXCH RADMODES # UPDATE RADMODES. 00006 EXTEND 06001 RXOR LCHAN 73033 MASK OCT05776 # CLR CONT. DES., REMODE, REPOS, CDUZERO, 54110 TS RADMODES # AND TURNON BITS. 74752 MASK BIT2 # SEE IF JUST ON. 10000 CCS A 13034 TCF RRCDUCHK -3 # OFF. GO DISABLE RR CDU ERROR COUNTERS. 37666 CA OCT10001 # SET RRCDUZRO AND TURNON BITS. 26110 ADS RADMODES 34753 CAF ONE 05203 TC WAITLIST EBANK= LOSCOUNT 02073 52107 2CADR RRTURNON 13126 TCF NORRGMON 736">007424,001131: 06,3033 05776 OCT05776 OCT 5776 # Page 191 # PROGRAM NAME: RRCDUCHK # FUNCTIONAL DESCRIPTION: # RRCDUCHK CHECKS FOR RR CDU FAIL (CHAN 30 BIT 7). INITIALLY THE # RR CDU FAIL BIT IS SAMPLED (CHAN 30 BIT 7). IF NO CHANGE, THE # PROGRAM EXITS TO RRGIMON. IF A CHANGE, THE RR AUTO MODE # (RADMODES BIT 2) BIT IS CHECKED. IF NOT IN RR AUTO MODE, THE # PROGRAM EXITS TO NORRGMO0N. IF IN AUTO MODE, RADMODES BIT 7 # (RR CDU OK) IS UPDATED AND IF P-20 IS OPERATING PROGRAM ALARM 00515 IS # REQUESTED. CONTROL IS TRANSFERRED TO SETTRKF TO UPDATE # TEH TRACKER FAIL LAMP (DSPTAB+11D BIT 8). CONTROL RETURNS TO # RRGIMON. # CALLING SEQUENCE: # EVERY 480 MILLISECONDS FROM RRAUTCHK (VI T4RUPT) UNLESS A # TURN-ON SEQUENCE HAS JUST BE INITIATED. # ERASABLE INITIALIZATION REQUIRED: # RADMODES # SUBROUTINES CALLED: # SETTRKF # JOBS OR TASKS INITIATED: # NONE # ALARMS: # TRACKER FAIL # PROGRAM ALARM 00515 -- RRCDU FAIL DURING P-20 # EXIT: # RRGIMON, NORRGMON 44752 -3 CS BIT2 00006 EXTEND 03012 WAND CHAN12 # AT TURNON, DISABLE CDU ERROR COUNTERS. 84B">007464,001171: 06,3037 30110 RRCDUCHK CA RADMODES # LAST SAMPLED BIT IN RADMODES. 00006 EXTEND 06030 RXOR CHAN30 74745 MASK RCDUFBIT 00006 EXTEND 13071 BZF RRGIMON 34752 CAF AUTOMBIT # IF RR NOT IN AUTO MODE, DON'T CHANGE BIT 70110 MASK RADMODES # 7 OF RADMODES. IF THIS WERE NOT DONE, 10000 CCS A # THE TRACKER FAIL MIGHT COME ON WHEN 13126 TCF NORRGMON # JUST READING LR DATA. 34745 CAF RCDUFBIT # SET BIT 7 OF RADMODES FOR SETTRKF. # Page 192 22110 LXCH RADMODES # UPDATE RADMODES. 00006 EXTEND 06001 RXOR L 54110 TS RADMODES 30110 CA RADMODES # DID RR CDU FAIL 74615 MASK 13,7,2 # CDU ZERO+ CDUFAIL+ RR AUTO 10000 CCS A 13070 TCF TRKFLCDU # NO 40074 CS FLAGWRD0 # RNDVFLG P20 OR P22 OPERATING 74745 MASK RNDVZBIT 10000 CCS A 13070 TCF TRKFLCDU # NO 05567 TC ALARM # YES 00515 OCT 00515 455">007493,001200: 06,3070 04564 TRKFLCDU TC SETTRKF # UPDATE TRAKER FAIL LAMP ON DSKY. # Page 193 # PROGRAM NAME: RRGIMON # FUNCTIONAL DESCRIPTION: # RRGIMON IS THE RR GIMBAL LIMIT MONITOR. INITIALLY THE FOLLOWING IS # CHECKED: REMOD, RR CDU'S BEING ZEROED, REPOSITION, AND RR # NOT IN AUTO MODE (RADMODES BITS 14, 13, 11, 2). IF ANY OF THESE # EXIST THE PROGRAM EXITS TO GPMATRIX. IF NONT ARE PRESENT RRLIMCHK # IS CALLED TO SEE IF THE PRESENT RR CDU ANGLES (OPTY, OPTX) ARE WITHIN # THE LIMITS OF THE CURRENT MODE. IF WITHIN LIMITS, THE PROGRAM EXITS # TO NORRGMON. IF NOT WITHIN LIMITS, THE REPOSITION FLAG (RADMODES # BIT 11) IS SET, THE RR AUTO TRACKER AND RR ERROR COUNTER # (CHAN 12 BITS 14, 2) ARE DISABLED, AND A 20 MILLISECOND WAITLIST # CALL IS SET FOR DORREPOS (garbled) AFTER WHICH THE PROGRAM EXITS TO NORRGMON. # CALLING SEQUENCE: # EVERY 480 MILLISECONDS FROM RRCDUCHK (VIA T4RUPT) UNLESS TURN-ON # HAS JUST BEEN INITIATED VIA RRAUTCHK OR IF THERE HAS BEEN A CHANGE IN # THE RR CDU FAIL BIT (CHAN 30 BIT 7) AND THE RR IS NOT IN THE AUTO MODE # (RADMODES BIT 2). # ERASABLE INITIALZATION: RADMODES # SUBROUTINES CALLED: # RRLIMCHK, WAITLIST # JOBS OR TASKS INITIATED: # DORREPOS # ALARMS: # NONE # EXIT: # NORRGMON E">007530,001237: 06,3071 30101 RRGIMON CAE FLAGWRD5 # IS NO ANGLE MONITOR FLAG SET 74750 MASK NORRMBIT 10000 CCS A 13126 TCF NORRGMON # YES -- SKIP LIMIT CHECK 40103 CS FLAGWRD7 # IS SERVICER RUNNING? 74747 MASK AVEGFBIT 10000 CCS A 13105 TCF +5 # NO. DO R25 30102 CA FLAGWRD6 # YES. IS MUNFLAG SET? 74744 MASK MUNFLBIT 10000 CCS A 13126 TCF NORRGMON # YES. DON'T DO R25 33135 +5 CAF OCT32002 # INHIBIT BY REMODE, ZEROING, MONITOR. 70110 MASK RADMODES # OR RR NOT IN AUTO. 10000 CCS A 13126 TCF NORRGMON # Page 194 04523 TC RRLIMCHK # SET IF ANGLES IN LIMITS. 00035 ADRES CDUT 13115 TCF MONREPOS 13126 TCF NORRGMON # (ADDITIONAL CODING MAY GO HERE). F53">007554,001261: 06,3115 34741 MONREPOS CAF REPOSBIT # SET FLAG TO SHOW REPOSITION IN PROGRESS. 26110 ADS RADMODES 43136 CS OCT20002 # DISABLE TRACKER AND ERROR COUNTER. 00006 EXTEND 03012 WAND CHAN12 34752 CAF TWO 05203 TC WAITLIST EBANK= LOSCOUNT 02140 52107 2CADR DORREPOS F4E">007566,001273: 06,3126 30110 NORRGMON CA RADMODES # IF SELECT SWITCH IS NOT IN LGC, SEND RR 74752 MASK AUTOMBIT # CDU ZERO BIT TO PREVENT MEMORY CYCLE 10000 CCS A # SNATCHING BY MANIC RR CDUS. BIT2 OF 13132 NOOP # RADMODES AGREES WITH BIT2 OF CHANNEL 00006 EXTEND # 33. FOR THIS CODING, WHICH ASSUMES 05012 WOR CHAN12 # AUTOMBIT = BIT2, THANKS TO HUGH B-S. 13140 TCF ENDRRMON F4E">007574,001281: 06,3135 06,3140 ENDRRMON EQUALS DAPT4S 032">007576,001283: 06,3135 32002 OCT32002 OCT 32002 032">007577,001284: 06,3136 20002 OCT20002 OCT 20002 030">007578,001285: 06,3137 02100 OCT02100 OCT 02100 # P20, P22 MASK BITS. # Page 195 # PROGRAM NAME: GPMATRIX (DAPT4S) MCD. NO. 2 DATE: OCTOBER 27, 1966 # AUTHOR: JOHNATHAN D. ADDLELSTON (ADAMS ASSOCIATES) # MODIFIED: 7FEB. 1968 BY P. S. WEISSMAN TO DELETE COMPUTATION OF MR12 AND MR13, WHICH ARE NO LONGER REQUIRED. # THIS PROGRAM CALCULATES ALL FHTE SINGLE-PRECISION MATRIX ELEMENTS WHICH ARE USED BY LEM DAP TO TRANSFORM VECTORS # FROM GIMBAL TO PILOT (BODY) AXES AND BACK AGAIN. THESE ELEMENTS ARE USED EXCLUSIVELY BY BASIC LANGUAGE ROUTINES # AND THEREFORE ARE NOT ARRAYED FOR USE BY INTERPRETIVE PROGRAMS. # CALLING SEQUENCE: GPMATRIX IS TRANSFERRED TO FROM DAPT4S AND IS THUS EXECUTED 4 TIMES A SECOND BY T4RUPT. # DAPT4S IS LISTED IN T4JUMP TABLE TWICE EXPLICITLY AND ALSO OCCURS AFTER RRAUTCHK (WHICH IS ALSO LISTED TWICE). # SUBROUTINES CALLED: SPSIN, SPCOS. # NORMAL EXIT MODE: TCF RESUME # ALARM AND ABORT MODES: NONE. # INPUT: CDUX, CDUY, CDUZ. # OUTPUT: M11, M21, M32, M22, M32. # AOG = CDUX, AIG = CDUY, AMG = CDUZ: MNEMONIC IS : OIM = XYZ # * SING(MG) 0 1 * # M = * COS(MG)COS(OG) SIN(OG) 0 * # GP * -COS(MG)SIN(OG) COS(OG) 0 * # * 0 COS(OG)/COS(MG) -SIN(OG)/COS(MG) * # M = * 0 SIN(OG) COS(OG) * # PG * 1 -SIN(MG)COS(OG)/COS(MG) SIN(MG)SIN(OG)/COS(MG) * EBANK= M11 >007615,001322: 06,3140 06,3140 DAPT4S EQUALS GPMATRIX # T4RUPT DAP LOGIC: 958">007619,001326: 06,3140 30034 GPMATRIX CAE CDUZ # SINGLE ENTRY POINT 05033 TC SPSIN # SIN(CDUZ) = SIN(MG) 55414 TS M11 # SCALED AT 1 30034 CAE CDUZ 05032 TC SPCOS # COS(CDUZ) = COS(MG) 54061 TS COSMG # SCALED AT 1 (ONLY A FACTOR) 30032 CAE CDUX 05033 TC SPSIN # SIN(CDUX) = SIN(OG) 55417 TS M22 # SCALED AT 1 (ALSO IS MR22) 41417 CS M22 # Page 196 00006 EXTEND 70061 MP COSMG # -SIN(OG)COS(MG) 55416 TS M31 # SCALED AT 1 30032 CAE CDUX 05032 TC SPCOS # COS(CDUX) = COS(OG) 55420 TS M32 # SCALED AT 1 (ALSO IS MR23) 00006 EXTEND 70061 MP COSMG # COS(OG)COS(MG) 55415 TS M21 # SCALED AT 1 05270 TC RESUME 434">007647,001354: 06,3164 5270 ENDDAPT4 EQUALS RESUME T4RUPT_PROGRAM.agc. Parent file is MAIN.agc