Apollo-11/Luminary099/T4RUPT_PROGRAM.agc

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# Copyright: Public domain.
# Filename: T4RUPT_PROGRAM.agc
# Purpose: Part of the source code for Luminary 1A build 099.
# It is part of the source code for the Lunar Module's (LM)
# Apollo Guidance Computer (AGC), for Apollo 11.
# Assembler: yaYUL
# Contact: Hartmuth Gutsche <hgutsche@xplornet.com>.
# Website: www.ibiblio.org/apollo.
# Pages: 155-189
# Mod history: 2009-05-19 HG Transcribed from page images.
# 2010-12-31 JL Fixed page number comment.
# 2011-01-06 JL Fixed indentation of TNONTEST. Fixed pseudo-label indentation.
#
# This source code has been transcribed or otherwise adapted from
# digitized images of a hardcopy from the MIT Museum. The digitization
# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
# the Museum. Many thanks to both. The images (with suitable reduction
# in storage size and consequent reduction in image quality as well) are
# available online at www.ibiblio.org/apollo. If for some reason you
# find that the images are illegible, contact me at info@sandroid.org
# about getting access to the (much) higher-quality images which Paul
# actually created.
#
# Notations on the hardcopy document read, in part:
#
# Assemble revision 001 of AGC program LMY99 by NASA 2021112-061
2016-12-28 16:11:25 +00:00
# 16:27 JULY 14, 1969
# Page 155
BANK 12
SETLOC T4RUP
BANK
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EBANK= M11
COUNT* $$/T4RPT
T4RUPT TS BANKRUPT
EXTEND
QXCH QRUPT
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CCS DSRUPTSW # GOES 7(-1)0 AROUND AND AROUND
TCF NORMT4 +1
TCF NORMT4
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TCF QUIKDSP
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NORMT4 CAF SEVEN
TS RUPTREG1
TS DSRUPTSW
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BLOCK 02
SETLOC FFTAG10
BANK
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COUNT* $$/T4RPT
100MRUPT = OCT37766 # (DEC 16374)
# RELTAB IS A PACKED TABLE. RELAYWORD CODE IN UPPER 4 BITS, RELAY CODE
# IN LOWER 5 BITS.
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RELTAB OCT 04025
OCT 10003
OCT 14031
OCT 20033
OCT 24017
OCT 30036
OCT 34034
OCT 40023
OCT 44035
OCT 50037
OCT 54000
RELTAB11 OCT 60000
# Page 156
# SWITCHED-BANK PORTION
BANK 12
SETLOC T4RUP
BANK
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COUNT* $$/T4RPT
CDRVE CCS DSPTAB +11D
TC DSPOUT
TC DSPOUT
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XCH DSPTAB +11D
MASK LOW11
TS DSPTAB +11D
AD RELTAB11
EXTEND
WRITE OUT0
TC HANG20
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# Page 157
# DSPOUT PROGRAM, PUTS OUT DISPLAYS
DSPOUTSB TS NOUT
CS ZERO
TS DSRUPTEM # SET TO -0 FOR 1ST PASS THRU DSPTAB
XCH DSPCNT
AD NEG0 # TO PREVENT +0
TS DSPCNT
DSPSCAN INDEX DSPCNT
CCS DSPTAB
CCS DSPCNT # IF DSPTAB ENTRY +, SKIP
TCF DSPSCAN -2 # IF DSPCNT +, TRY AGAIN
TCF DSPLAY # IF DSPTAB ENTRY -, DISPLAY
TABLNTH OCT 12 # DEC 10, LENGTH OF DSPTAB
CCS DSRUPTEM # IF DSRUPTEM=+0, 2ND PASS THRU DSPTAB
120MRUPT DEC 16372 # (DSPCNT = 0). +0 INTO NOUT.
TS NOUT
TC Q
TS DSRUPTEM # IF DSRUPTEM=-0, 1ST PASS THRU DSPTAB
CAF TABLNTH # (DSPCNT=0).+0 INTO DSRUPTEM. PASS AGAIN
TCF DSPSCAN -1
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DSPLAY AD ONE
INDEX DSPCNT
TS DSPTAB # REPLACE POSITIVELY
MASK LOW11 # REMOVE BITS 12 TO 15
TS DSRUPTEM
CAF HI5
INDEX DSPCNT
MASK RELTAB # PICK UP BITS 12 TO 15 OF RELTAB ENTRY
AD DSRUPTEM
EXTEND
WRITE OUT0
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TCF Q+1
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DSPOUT CCS FLAGWRD5 # IS DSKY FLAG ON
CAF ZERO # NO
TCF NODSPOUT # NO
CCS NOUT # YES
TC DSPOUTSB
TCF NODSPOUT # NO DISPLAY REQUESTS
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HANG20 CS 14,11,9
ADS DSRUPTSW
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CAF 20MRUPT
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SETTIME4 TS TIME4
# Page 158
# 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.
PROCEEDE CA IMODES33 # MONITOR FOR PROCEED BUTTON
EXTEND
RXOR CHAN32
MASK BIT14
EXTEND
BZF T4JUMP # NO CHANGE
LXCH IMODES33
EXTEND
RXOR LCHAN
TS IMODES33 # UPDATE IMODES33
MASK BIT14
CCS A
TCF T4JUMP # WAS ON -- NOW OFF
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CAF CHRPRIO # WAS OFF -- NOW ON
TC NOVAC
EBANK= DSPCOUNT
2CADR PROCKEY
# Page 159
# JUMP TO APPROPRIATE ONCE-PER SECOND (0.96 SEC ACTUALLY) ACTIVITY
T4JUMP INDEX RUPTREG1
TCF +1
TC RCSMONIT
TCF RRAUTCHK
TCF IMUMON
TCF DAPT4S
TC RCSMONIT
TCF RRAUTCHK
TCF IMUMON
TCF DAPT4S
2016-12-28 16:11:25 +00:00
20MRUPT = OCT37776 # (DEC 16382)
# Page 160
# ADDITIONAL ROUTINES FOR 20MS. KEYBOARD ACTIVITY
NODSPOUT EXTEND
WRITE OUT0
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CAF 120MRUPT #SET FOR NEXT CCRIVE
TCF SETTIME4
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QUIKDSP CAF BIT14
MASK DSRUPTSW
EXTEND
BZF QUIKOFF # WROTE LAST TIME, NOW TURN OFF RELAYS.
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CCS NOUT
TC DSPOUTSB
TCF NODSPY # NOUT=0 OR BAD RETURN FROM DSPOUTSB
CS BIT14 # GOOD RETURN (WE DISPLAYED SOMETHING)
QUIKRUPT ADS DSRUPTSW
CAF 20MRUPT
TS TIME4
CAF BIT9
ADS DSRUPTSW
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TC RESUME
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NODSPY EXTEND
WRITE OUT0
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SYNCT4 CAF 20MRUPT
ADS TIME4
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CAF BIT9
ADS DSRUPTSW
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CCS DSRUPTSW
TC RESUME
OCT37737 OCT 37737
TC SYNCT4
TC RESUME
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QUIKOFF EXTEND
WRITE OUT0
CAF BIT14 # RESET DSRUPTSW TO SEND DISPLAY NEXT PASS
TCF QUIKRUPT
2016-12-28 16:11:25 +00:00
14,11,9 OCT 22400
# Page 161
# 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.
IMUMON CA IMODES30 # SEE IF THERE HAS BEEN A CHANGE IN THE
EXTEND # RELEVANT BITS OF CHAN 30.
RXOR CHAN30
MASK 30RDMSK
EXTEND
BZF TNONTEST # NO CHANGE IN STATUS
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TS RUPTREG1 # SAVE BITS WHICH HAVE CHANGED.
LXCH IMODES30 # UPDATE IMODES30.
EXTEND
RXOR LCHAN
TS IMODES30
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CS ONE
XCH RUPTREG1
EXTEND
# Page 162
BZMF TLIM # CHANGE IN IMU TEMP.
TCF NXTIFBIT # BEGIN BIT SCAN.
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-1 AD ONE # (RE-ENTERS HERE FROM NXTIFAIL.)
NXTIFBIT INCR RUPTREG1 # ADVANCE BIT POSITION NUMBER.
+1 DOUBLE
TS A # SKIP IF OVERFLOW.
TCF NXTIFBIT # LOOK FOR BIT.
XCH RUPTREG2 # SAVE OVERFLOW-CORRECTED DATA.
INDEX RUPTREG1 # SELECT NEW VALUE OF THIS BIT.
CAF BIT14
MASK IMODES30
INDEX RUPTREG1
TC IFAILJMP
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NXTIFAIL CCS RUPTREG2 # PROCESS ANY ADDITIONAL CHANGES.
TCF NXTIFBIT -1
# Page 163
# 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.
# IMODES30 BIT 7 IS SET = 1 BY THE FIRST BIT (CHANNEL 30 BIT 14 OR 9) WHICH ARRIVES. FOLLOWING THIS, TNONTEST IS
# ENTERED, FINDS BIT 7 = 1 BUT BIT 8 = 0, SO IT SETS BIT 8 = 1 AND EXITS. THE NEXT TIME IT FINDS BIT 8 = 1 AND
# PROCEEDS, SETTING BITS 8 AND 7 = 0. AT PROCTNON, IF ISS TURN-ON REQUEST IS PRESENT, THE ISS IS CAGED (ZERO +
# COARSE). IF ISS OPERATE IS NOT PRESENT PROGRAM ALARM 00213 IS ISSUED. AT THE END OF A 90 SECOND CAGE, BIT 2
# OF IMODES30 IS TESTED. IF IT IS = 1, ISS TURN-ON WAS NOT PRESENT FOR THE ENTIRE 90 SECONDS. IN THAT CASE, IF
# THE ISS TURN-ON REQUEST IS PRESENT 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 OUTBIT IS SENT AND THE ICDU'S ZEROED. A TASK IS INITIATED TO REMOVE THE PIPA FAIL
# INHIBIT BIT IN 10.24 SECONDS. IF A MISSION PROGRAM WAS WAITING IT IS INFORMED VIA ENDIMU.
# AT PROCTNON, IF ONLY ISS OPERATE IS PRESENT (OPONLY), THE CDU'S ARE ZEROED UNLESS THE PLATFORM IS IN COARSE
# ALIGN (= GIMBAL LOCK HERE) OR A MISSIN PROGRAM IS USING THE IMU (INUSEFLG = 1).
# CALLING SEQUENCE: T4RUPT EVERY 480 MILLISECONDS AFTER IMUMON.
# JOBS OR TASKS INITIATED: 1) ENDTNON, 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 COMPLETE, EXIT TO ENDIMU, MISSION PROGRAM WAITING AND INITIALIZATION FAILED, EXIT TO
# IMUBAD, IMU NOT IN USE, EXIT TO TASKOVER.
# OUTPUT: ISS INITIALIZED.
TNONTEST CS IMODES30 # AFTER PROCESSING ALL CHANGES, SEE IF IT
# Page 164
MASK BIT7 # IS TIME TO ACT ON A TURN-ON SEQUENCE.
CCS A
TCF C33TEST # NO -- EXAMINE CHANNEL 33.
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CAF BIT8 # SEE IF FIRST SAMPLE OR SECOND.
MASK IMODES30
CCS A
TCF PROCTNON # REACT AFTER A SECOND SAMPLE.
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CAF BIT8 # IF FIRST SAMPLE, SET BIT TO REACT NEXT
ADS IMODES30 # TIME.
TCF C33TEST
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# PROCESS IMU TURN-ON REQUESTS AFTER WAITING 1 SAMPLE FOR ALL SIGNALS TO ARRIVE.
2016-12-28 16:11:25 +00:00
PROCTNON CS BITS7&8
MASK IMODES30
TS IMODES30
MASK BIT14 # SEE IF TURN-ON REQUEST.
CCS A
TCF OPONLY # OPERATE ON ONLY.
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CS IMODES30 # IF TURN-ON REQUEST, WE SHOUD HAVE IMU
MASK BIT9 # OPERATE.
CCS A
TCF +3
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TC ALARM # ALARM IF NOT
OCT 213
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+3 TC CAGESUB
CAF 90SECS
TC WAITLIST
EBANK= M11
2CADR ENDTNON
TCF C33TEST
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RETNON CAF 90SECS
TC VARDELAY
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ENDTNON CS BIT2 # RESET TURN-ON REQUEST FAIL BIT.
MASK IMODES30
XCH IMODES30
MASK BIT2 # IF IT WAS OFF, SEND ISS DELAY COMPLETE.
EXTEND
BZF ENDTNON2
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CAF BIT14 # IF IT WAS ON AND TURN-ON REQUEST NOW.
# Page 165
MASK IMODES30 # PRESENT, RE-ENTER 90 SEC DELAY IN WL.
EXTEND
BZF RETNON
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CS FLAGWRD0 # IF IT IS NOT ON NOW, SEE IF A PROG WAS
MASK IMUSEBIT # WAITING.
CCS A
TCF TASKOVER
TC POSTJUMP
CADR IMUBAD # UNSUCCESSFUL TURN-ON.
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ENDTNON2 CAF BIT15 # SEND ISS DELAY COMPLETE.
EXTEND
WOR CHAN12
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TC IBNKCALL # TURN OFF NO ATT LAMP.
CADR NOATTOFF
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UNZ2 TC ZEROICDU
CS BITS4&5 # REMOVE ZERO AND COARSE.
EXTEND
WAND CHAN12
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CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS
TC VARDELAY
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ISSUP CS OCT54 # REMOVE CAGING, IMU FAIL INHIBIT BIT, AND
MASK IMODES30 # ICDUFAIL INHIBIT FLAGS.
TS IMODES30
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CS BIT6 # ENABLE DAP
MASK IMODES33
TS IMODES33
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CS FLAGWRD2 # TEST DRIFTFLG: IF ON DO NOTHING BECAUSE
MASK DRFTBIT # IMUCOMP SHOUD BE ALL SET UP (RESTART
EXTEND # WITH IMUSE DOWN). IF OFF, SET DRIFTFLG
BZF +4 # AND 1/PIPADT TO GET FREEFALL IMUCOMP
ADS FLAGWRD2 # GOING (FRESH START OR ISS TURN-ON).
CA TIME1
XCH 1/PIPADT # CANNOT GET HERE IF RESTART WITH IMUSE UP
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TC SETISSW # ISS WARNING MIGHT HAVE BEEN INHIBITED.
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CS BIT15 # REMOVE IMU DELAY COMPLETE DISCRETE.
EXTEND
WAND CHAN12
2016-12-28 16:11:25 +00:00
CAF 4SECS # DON'T ENABLE PROG ALARM ON PIP FAIL FOR
# Page 166
TC WAITLIST # ANOTHER 4 SECS.
EBANK= CDUIND
2CADR PFAILOK
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TCF TASKOVER
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OPONLY CAF BIT4 # IF OPERATE ON ONLY, AND WE ARE IN COARSE
EXTEND # ALIGN, DON'T ZERO THE CDUS BECAUSE WE
RAND CHAN12 # MIGHT BE IN GIMBAL LOCK.
CCS A
TCF C33TEST
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CAF IMUSEBIT # OTHERWISE, ZERO THE COUNTERS.
MASK FLAGWRD0 # UNLESS SOMEONE IS USING TH IMU.
CCS A
TCF C33TEST
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TC CAGESUB2 # SET TURNON FLAGS.
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ISSZERO TC IBNKCALL # TURN OFF NO ATT LAMP.
CADR NOATTOFF # IMU CAGE OFF ENTRY.
2016-12-28 16:11:25 +00:00
CAF BIT5 # ISS CDU ZERO
EXTEND
WOR CHAN12
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TC ZEROICDU
CAF BIT6 # WAIT 300 MS. FOR AGS TO RECEIVE SIGNAL.
TC WAITLIST
EBANK= M11
2CADR UNZ2
2016-12-28 16:11:25 +00:00
TCF C33TEST
# Page 167
# 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.
C33TEST CA IMODES33 # SEE IF RELEVANT CHAN33 BITS HAVE
MASK 33RDMSK
TS L # CHANGED.
CAF 33RDMSK
EXTEND
WAND CHAN33 # RESETS FLIP-FLOP INPUTS
EXTEND
RXOR LCHAN
EXTEND
BZF GLOCKMON # ON NO CHANGE.
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TS RUPTREG1 # SAVE BITS WHICH HAVE CHANGED.
LXCH IMODES33
EXTEND
RXOR LCHAN
TS IMODES33 # UPDATED IMODES33.
2016-12-28 16:11:25 +00:00
CAF ZERO
XCH RUPTREG1
DOUBLE
# Page 168
TCF NXTIBT +1 # SCAN FOR BIT CHANGES.
2016-12-28 16:11:25 +00:00
-1 AD ONE
NXTIBT INCR RUPTREG1
+1 DOUBLE
TS A # (CODING IDENTICAL TO CHAN 30).
TCF NXTIBT
XCH RUPTREG2
INDEX RUPTREG1 # GET NEW VALUE OF BIT WHICH CHANGED.
CAF BIT13
MASK IMODES33
INDEX RUPTREG1
TC C33JMP
NXTFL33 CCS RUPTREG2 # PROCESS POSSIBLE ADDITIONAL CHANGES.
TCF NXTIBT -1
# Page 169
# 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.
GLOCKMON CCS CDUZ
TCF GLOCKCHK # SEE IF MAGNITUDE OF MGA IS GREATER THAN
TCF SETGLOCK # 70 DEGREES.
TCF GLOCKCHK
TCF SETGLOCK
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GLOCKCHK AD -70DEGS
EXTEND
BZMF SETGLOCK -1 # NO LOCK.
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AD -15DEGS # SEE IF ABS(MGA) GREATER THAN 85 DEGREES
EXTEND
BZMF NOGIMRUN
CAF BIT4 # IF SO, SYSTEM SHOULD BE IN COARSE ALIGN
EXTEND # TO PREVENT GIMBAL RUNAWAY.
RAND CHAN12
CCS A
TCF NOGIMRUN
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TC IBNKCALL
CADR SETCOARS
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CAF SIX # ENABLE ISS ERROR COUNTERS IN 60 MS.
TC WAITLIST
# Page 170
EBANK= CDUIND
2CADR CA+ECE
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NOGIMRUN CAF BIT6 # TURN ON GIMBAL LOCK LAMP.
TCF SETGLOCK
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-1 CAF ZERO
SETGLOCK AD DSPTAB +11D # SEE IF PRESENT STATE OF GIMBAL LOCK LAMP
MASK BIT6 # AGREES WITH DESIRED STATE BY HALF ADDING
EXTEND # THE TWO.
BZF GLOCKOK # OK AS IS.
2016-12-28 16:11:25 +00:00
MASK DSPTAB +11D # IF OFF, DON'T TURN ON IF IMU BEING CAGED.
CCS A
TCF GLAMPTST # TURN OFF UNLESS LAMP TEST IN PROGRESS.
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CAF BIT6
MASK IMODES30
CCS A
TCF GLOCKOK
2016-12-28 16:11:25 +00:00
GLINVERT CS DSPTAB +11D # INVERT GIMBAL LOCK LAMP.
MASK BIT6
AD BIT15 # TO INDICATE CHANGE IN DSPTAB +11D.
XCH DSPTAB +11D
MASK OCT37737
ADS DSPTAB +11D
TCF GLOCKOK
GLAMPTST TC LAMPTEST # TURN OFF UNLESS LAMP TEST IN PROGRESS.
TCF GLOCKOK
TCF GLINVERT
-70DEGS DEC -.38888 # -70 DEGREES SCALED IN HALF-REVOLUTIONS.
-15DEGS DEC -.08333
# Page 171
# 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.
TLIM MASK POSMAX # REMOVE BIT FROM WORD OF CHANGES AND SET
TS RUPTREG2 # DSKY TEMP LAMP ACCORDINGLY.
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CCS IMODES30
TCF TEMPOK
TCF TEMPOK
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CAF BIT4 # TURN ON LAMP.
EXTEND
WOR DSALMOUT
TCF NXTIFAIL
2016-12-28 16:11:25 +00:00
TEMPOK TC LAMPTEST # IF TEMP NOW OK, DON'T TURN OFF LAMP IF
TCF NXTIFAIL # LAMP TEST IN PROGRESS.
2016-12-28 16:11:25 +00:00
CS BIT4
EXTEND
WAND DSALMOUT # TURN OFF LAMP
TCF NXTIFAIL
# Page 172
# 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.
ITURNON CAF BIT2 # IF DELAY REQUEST HAS GONE OFF
MASK IMODES30 # PREMATURELY, DO NOT PROCESS ANY CHANGES
CCS A # UNTIL THE CURRENT 90 SEC WAIT EXPIRES.
TCF NXTIFAIL
2016-12-28 16:11:25 +00:00
CAF BIT14 # SEE IF JUST ON OR OFF.
MASK IMODES30
EXTEND
BZF ITURNON2 # IF JUST ON.
2016-12-28 16:11:25 +00:00
CAF BIT15
EXTEND # SEE IF DELAY PRESENT DISCRETE HAS BEEN
RAND CHAN12 # SENT. IF SO, ACTION COMPLETE
EXTEND
BZF +2
TCF NXTIFAIL
2016-12-28 16:11:25 +00:00
CAF BIT2 # IF NOT, SET BIT TO INDICATE REQUEST NOT
ADS IMODES30 # PRESENT FOR FULL DURATION.
TC ALARM
OCT 207
TCF NXTIFAIL
# Page 173
ITURNON2 CS IMODES30 # SET BIT7 TO INDICATE WAIT OF 1 SAMPLE
MASK BIT7
ADS IMODES30
CAF RRINIT
TS RADMODES
TCF NXTIFAIL
2016-12-28 16:11:25 +00:00
RRINIT OCT 00102
# Page 174
# 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.
IMUCAGE CCS A # NO ACTION OF GOING OFF.
TCF ISSZERO
CS OCT77000 # TERMINATE ICDU, RCDU, GYRO PULSE TRAINS
EXTEND
WAND CHAN14
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CS OCT272 # KNOCK DOWN DISPLAY INERTIAL DATA, IMU
EXTEND # ERROR COUNTER ENABLE, ZERO ICDU, COARSE
WAND CHAN12 # ALIGN ENABLE, RR ERROR COUNTER ENABLE.
2016-12-28 16:11:25 +00:00
CS ENGONBIT # INSURE ENGONFLG IS CLEAR.
MASK FLAGWRD5
TS FLAGWRD5
CS PRIO30 # TURN ENGINE OFF.
EXTEND
RAND DSALMOUT
AD BIT14
EXTEND
WRITE DSALMOUT # FORCE BIT14=1, BIT13=0.
2016-12-28 16:11:25 +00:00
TC CAGESUB1
2016-12-28 16:11:25 +00:00
TC IBNKCALL # KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS
CADR RNDREFDR
CS ZERO
TS CDUXCMD
TS CDUYCMD
# Page 175
TS CDUZCMD
TS GYROCMD
2016-12-28 16:11:25 +00:00
CS OCT740 # HAVING WAITED AT LEAST 27 MCT FROM
EXTEND # GYRO PULSE TRAIN TERMINATION, WE CAN
WAND CHAN14 # DE-SELECT THE GYROS.
TCF NXTIFAIL
# Page 176
# PROGRAM NAME: IMUOP.
#
# FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES IN THE ISS OPERATE DISCRETE, BIT 9 OF CHANNEL 30.
# IF THE INBIT CHANGES TO 0, INDICATING ISS ON, IMUOP GENERALLY SETS BIT 7 OF IMODES30 TO 1 TO REQUEST ISS
# INITIALIZATION VIA TNONTEST. AN EXCEPTION IS DURING A FAILED ISS DELAY DURING WHICH BIT 2 OF IMODES30 IS SET
# TO 1 AND NO FURTHER INITIALIZATION IS REQUIRED. WHEN THE INBIT CHANGES TO 1, INDICATING ISS OFF, IMUSEFLG IS
# TESTED TO SEE IF ANY PROGRAM WAS USING THE ISS. IF SO, PROGRAM ALARM 00214 IS ISSUED.
#
# CALLING SEQUENCE: BY IMUMON WHEN BIT 9 OF CHANNEL 30 CHANGES.
#
# JOBS OR TAKS INITIATED: NONE.
2016-12-28 16:11:25 +00:00
#
# 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.
IMUOP EXTEND
BZF IMUOP2
2016-12-28 16:11:25 +00:00
CS IMODES33 # DISABLE DAP
MASK BIT6
ADS IMODES33
2016-12-28 16:11:25 +00:00
TC IBNKCALL # KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS
CADR RNDREFDR
2016-12-28 16:11:25 +00:00
CS BITS7&8 # KNOCK DOWN RENDEZVOUS, IMUUSE FLAGS
MASK FLAGWRD0
XCH FLAGWRD0 # IF GOING OFF, ALARM IF PROG USING IMU.
COM
MASK IMUSEFLG
CCS A
TCF NXTIFAIL
2016-12-28 16:11:25 +00:00
TC ALARM
OCT 214
TCF NXTIFAIL
2016-12-28 16:11:25 +00:00
IMUOP2 CAF BIT2 # SEE IF FAILED ISS TURN-ON SEQ IN PROG.
MASK IMODES30
CCS A
TCF NXTIFAIL # IF SO, DON'T PROCESS UNTIL PRESENT 90
TCF ITURNON2 # SECONDS EXPIRES.
# Page 177
# 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., IMODES30
# 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.
PIPFAIL CCS A # SET BIT10 IN IMODES30 SO ALL ISS WARNING
CAF BIT10 # INFO IS IN ONE REGISTER.
XCH IMODES30
MASK -BIT10
ADS IMODES30
2016-12-28 16:11:25 +00:00
TC SETISSW
2016-12-28 16:11:25 +00:00
CS IMODES30 # IF PIP FAIL DOESN'T LIGHT ISS WARNING, DO
MASK BIT1 # A PROGRAM ALARM IF IMU OPERATING BUT NOT
CCS A # CAGED OR BEING TURNED ON.
TCF NXTFL33
2016-12-28 16:11:25 +00:00
CA IMODES30
MASK OCT1720
CCS A
TCF NXTFL33 # ABOVE CONDITION NOT MET.
2016-12-28 16:11:25 +00:00
TC ALARM
OCT 212
TCF NXTFL33
# Page 178
# 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.
DNTMFAST CCS A # DO PROG ALARM IF TM TOO FAST.
TCF NXTFL33
2016-12-28 16:11:25 +00:00
TC ALARM
OCT 1105
TCF NXTFL33
2016-12-28 16:11:25 +00:00
UPTMFAST CCS A # SAME AS DNLINK TOO FAST WITH DIFFERENT
TCF NXTFL33 # ALARM CODE.
2016-12-28 16:11:25 +00:00
TC ALARM
OCT 1106
TCF NXTFL33
# Page 179
# PROGRAM NAME: SETISSW
#
# FUNCTIONAL DESCRIPTION: THIS PROGRAM TURNS THE ISS WARNING LAMP ON AND OFF (CHANNEL 11 BIT 1 = 1 FOR ON,
# 0 FOR OFF) DEPENDING ON THE STATUS OF IMODES30 BITS 13 (IMU FAIL) AND 4 (INHIBIT IMU FAIL), 12 (ICDU FAIL) AND
# 3 (INHIBIT ICDU FAIL), AND 10 (PIPA FAIL) AND 1 (INHIBIT PIPA FAIL). THE LAMP IS LEFT ON IF A LAMP TEST IS IN
# PROGRESS.
#
# CALLING SEQUENCE: CALLED BY IMUMON ON CHANGES TO IMU FAIL AND ICDU FAIL. CALLED BY IFAILOK AND PFAILOK UPON
# REMOVAL OF THE FAIL INHIBITS. CALLED BY PIPFAIL WHEN THE PIPA FAIL DISCRETE CHANGES. IT IS CALLED BY PIPUSE
# SINCE THE PIPA FAIL PROGRAM ALARM MAY NECESSITATE AN ISS WARNING, AND LIKEWISE BY PIPFREE WHEN THE ALARM DEPARTS
# AND IT IS CALLED BY IMUZERO3 AND ISSUP AFTER THE FAIL INHIBITS HAVE BEEN REMOVED.
#
# JOBS OR TASKS 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.
SETISSW CAF OCT15 # SET ISS WARNING USING THE FAIL BITS IN
MASK IMODES30 # BITS 13, 12, AND 10 OF IMODES30 AND THE
EXTEND # FAILURE INHIBIT BITS IN POSITIONS
MP BIT10 # 4, 3, AND 1.
CA IMODES30
EXTEND
ROR LCHAN # 0 INDICATES FAILURE
COM
MASK OCT15000
CCS A
TCF ISSWON # FAILURE.
2016-12-28 16:11:25 +00:00
ISSWOFF CAF BIT1 # DON'T TURN OFF ISS WARNING IF LAMP TEST
MASK IMODES33 # IN PROGRESS.
# Page 180
CCS A
TC Q
2016-12-28 16:11:25 +00:00
CS BIT1
EXTEND
WAND DSALMOUT
TC Q
2016-12-28 16:11:25 +00:00
ISSWON EXTEND
QXCH ITEMP6
TC VARALARM # TELL EVERYONE WHAT CAUSED THE ISS WARNING
CAF BIT1
EXTEND
WOR DSALMOUT
TC ITEMP6
2016-12-28 16:11:25 +00:00
CAGESUB CS BITS6&15 # SET OUTBITS AND INTERNAL FLAGS FOR
EXTEND # SYSTEM TURN-ON OR CAGE. DISABLE THE
WAND CHAN12 # ERROR COUNTER AND REMOVE THE IMU DELAY COMP.
CAF BITS4&5 # SEND ZERO AND COARSE.
EXTEND
WOR CHAN12
2016-12-28 16:11:25 +00:00
CAGESUB1 CS DSPTAB +11D # TURN ON NO ATT LAMP
MASK OC40010
ADS DSPTAB +11D
2016-12-28 16:11:25 +00:00
CAGESUB2 CS IMODES30 # SET FLAGS TO INDICATE CAGING OR TURN-ON
MASK OCT75 # AND INHIBIT ALL ISS WARNING INFO
ADS IMODES30
2016-12-28 16:11:25 +00:00
CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
MASK BIT6
ADS IMODES33
2016-12-28 16:11:25 +00:00
TC Q
2016-12-28 16:11:25 +00:00
IMUFAIL EQUALS SETISSW
ICDUFAIL EQUALS SETISSW
# Page 181
# JUMP TABLES AND CONSTANTS.
IFAILJMP TCF ITURNON # CHANNEL 30 DISPATCH.
TCF IMUFAIL
TCF ICDUFAIL
TCF IMUCAGE
30RDMSK OCT 76400 # (BIT 10 NOT SAMPLED HERE).
TCF IMUOP
2016-12-28 16:11:25 +00:00
C33JMP TCF PIPFAIL # CHANNEL 33 DISPATCH.
TCF DNTMFAST
TCF UPTMFAST
2016-12-28 16:11:25 +00:00
# SUBROUTINE TO SKIP IF LAMP TEST NOT IN PROGRESS.
LAMPTEST CS IMODES33 # BIT 1 OF IMODES33 = 1 IF LAMP TEST IN
MASK BIT1 # PROGRESS.
CCS A
INCR Q
TC Q
2016-12-28 16:11:25 +00:00
33RDMSK EQUALS PRIO16
OC40010 OCT 40010
OCT54 OCT 54
OCT75 OCT 75
OCT272 OCT 00272
BITS7&8 OCT 300
OCT1720 OCT 1720
OCT740 OCT 00740
OCT15000 EQUALS PRIO15
OCT77000 OCT 77000
BITS6&15 OCT 40040
-BIT10 OCT -1000
90SECS DEC 9000
120MS = OCT14 # (DEC12)
GLOCKOK EQUALS RESUME
# Page 182
# 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 MADE TO SEE IF A PROGRAM WAS USING THE RR (STATE BIT 7). IF NO,
# THE PROGRAM EXITS TO RRCDUCHK. IF YES, PROGRAM ALARM 00514
# IS REQUESTED BEFORE EXITING TO RRCDUCHK. IF RR POWER HAS JUST COME
# ON, A CHECK IS MADE TO SEE IF A PROGRAM WAS USING THE RR (STATE BIT 7)
# 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
RRAUTCHK CA RADMODES # SEE IF CHANGE IN RR AUTO MODE BIT.
EXTEND
RXOR CHAN33
MASK AUTOMBIT
EXTEND
BZF RRCDUCHK
2016-12-28 16:11:25 +00:00
LXCH RADMODES # UPDATE RADMODES.
EXTEND
RXOR LCHAN
MASK OCT05776 # CLR CONT. DES., REMODE, REPOS, CDUZERO,
TS RADMODES # AND TURNON BITS.
MASK BIT2 # SEE IF JUST ON.
CCS A
TCF RRCDUCHK -3 # OFF. GO DISABLE RR CDU ERROR COUNTERS.
CA OCT10001 # SET RRCDUZRO AND TURNON BITS.
ADS RADMODES
2016-12-28 16:11:25 +00:00
# Page 183
CAF ONE
TC WAITLIST
EBANK= LOSCOUNT
2CADR RRTURNON
2016-12-28 16:11:25 +00:00
TCF NORRGMON
OCT05776 OCT 5776
# Page 184
# 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
# THE TRACKER FAIL LAMP (DSPTAB+11D BIT 8). CONTROL RETURNS TO
# RRGIMON.
#
# CALLING SEQUENCE:
# EVERY 480 MILLISECONDS FROM RRAUTCHK (VIA T4RUPT) UNLESS A
# TURN-ON SEQUENCE HAS JUST 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
-3 CS BIT2
EXTEND
WAND CHAN12 # AT TURNON, DISABLE CDU ERROR COUNTERS.
2016-12-28 16:11:25 +00:00
RRCDUCHK CA RADMODES # LAST SAMPLED BIT IN RADMODES.
EXTEND
RXOR CHAN30
MASK RCDUFBIT
EXTEND
BZF RRGIMON
2016-12-28 16:11:25 +00:00
CAF AUTOMBIT # IF RR NOT IN AUTO MODE, DON'T CHANGE BIT
MASK RADMODES # 7 OF RADMODES. IF THIS WERE NOT DONE,
CCS A # THE TRACKER FAIL MIGHT COME ON WHEN
TCF NORRGMON # JUST READING LR DATA.
2016-12-28 16:11:25 +00:00
CAF RCDUFBIT # SET BIT 7 OF RADMODES FOR SETTRKF.
# Page 185
LXCH RADMODES # UPDATE RADMODES.
EXTEND
RXOR L
TS RADMODES
CA RADMODES # DID RR CDU FAIL
MASK RCDUFBIT
CCS A
TCF TRKFLCDU # NO
CS FLAGWRD0 # RNDVFLG P20 OR P22 OPERATING
MASK RNDVZBIT
CCS A
TCF TRKFLCDU # NO
TC ALARM # YES
OCT 00515
TRKFLCDU TC SETTRKF # UPDATE TRAKER FAIL LAMP ON DSKY.
# Page 186
# PROGRAM NAME: RRGIMON
#
# FUNCTIONAL DESCRIPTION:
2016-12-28 16:11:25 +00:00
# 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 NONE ARE PRESENT RRLIMCHK
# IS CALLED TO SEE IF THE PRESENT RR CDU ANGLES (OPTY, OPTX) ARE WITHIN
# THE LIMITS OF THE CURRENT MODE. IF WITHIN LIMITS, THE PROGRAM EXITS
# TO NORRGMON. IF NOT WITHIN LIMITS, THE REPOSITION FLAG (RADMODES
# BIT 11) IS SET, THE RR AUTO TRACKER AND RR ERROR COUNTER
# (CHAN 12 BITS 14, 2) ARE DISABLED, AND A 20 MILLISECOND WAITLIST
# CALL IS SET FOR DORREPOS AFTER WHICH THE PROGRAM EXITS TO NORRGMON.
#
# CALLING SEQUENCE:
# EVERY 480 MILLISECONDS FROM RRCDUCHK (VIA T4RUPT) UNLESS TURN-ON
# HAS JUST BEEN INITIATED VIA RRAUTCHK OR IF THERE HAS BEEN A CHANGE IN
# THE RR CDU FAIL BIT (CHAN 30 BIT 7) AND THE RR IS NOT IN THE AUTO MODE
# (RADMODES BIT 2).
#
# ERASABLE INITIALZATION: RADMODES
#
# SUBROUTINES CALLED:
# RRLIMCHK, WAITLIST
#
# JOBS OR TASKS INITIATED:
# DORREPOS
#
# ALARMS:
# NONE
#
# EXIT:
# NORRGMON
RRGIMON CAE FLAGWRD5 # IS NO ANGLE MONITOR FLAG SET
MASK NORRMBIT
CCS A
TCF NORRGMON # YES -- SKIP LIMIT CHECK
CS FLAGWRD7 # IS SERVICER RUNNING?
MASK AVEGFBIT
CCS A
TCF +5 # NO. DO R25
CA FLAGWRD6 # YES. IS MUNFLAG SET?
MASK MUNFLBIT
CCS A
TCF NORRGMON # YES. DON'T DO R25
+5 CAF OCT32002 # INHIBIT BY REMODE, ZEROING, MONITOR.
MASK RADMODES # OR RR NOT IN AUTO.
CCS A
TCF NORRGMON
# Page 187
TC RRLIMCHK # SET IF ANGLES IN LIMITS.
ADRES CDUT
TCF MONREPOS
TCF NORRGMON # (ADDITIONAL CODING MAY GO HERE).
MONREPOS CAF REPOSBIT # SET FLAG TO SHOW REPOSITION IN PROGRESS.
ADS RADMODES
CS OCT20002 # DISABLE TRACKER AND ERROR COUNTER.
EXTEND
WAND CHAN12
CAF TWO
TC WAITLIST
EBANK= LOSCOUNT
2CADR DORREPOS
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TCF NORRGMON
OCT32002 OCT 32002
OCT20002 OCT 20002
OCT02100 OCT 02100 # P20, P22 MASK BITS.
# Page 188
# 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 THE SINGLE-PRECISION MATRIX ELEMENTS WHICH ARE USED BY LEM DAP TO TRANSFORM VECTORS
# FROM GIMBAL TO PILOT (BODY) AXES AND BACK AGAIN. THESE ELEMENTS ARE USED EXCLUSIVELY BY BASIC LANGUAGE ROUTINES
# AND THEREFORE ARE NOT ARRAYED FOR USE BY INTERPRETIVE PROGRAMS.
#
# CALLING SEQUENCE: GPMATRIX IS TRANSFERRED TO FROM DAPT4S AND IS THUS EXECUTED 4 TIMES A SECOND BY T4RUPT.
# DAPT4S IS LISTED IN T4JUMP TABLE TWICE EXPLICITLY AND ALSO OCCURS AFTER RRAUTCHK (WHICH IS ALSO LISTED TWICE).
#
# SUBROUTINES CALLED: SPSIN, SPCOS.
#
# NORMAL EXIT MODE: TCF RESUME
#
# ALARM AND ABORT MODES: NONE.
#
# INPUT: CDUX, CDUY, CDUZ.
#
# OUTPUT: M11, M21, 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
DAPT4S EQUALS GPMATRIX
# T4RUPT DAP LOGIC:
GPMATRIX CAE CDUZ # SINGLE ENTRY POINT
TC SPSIN # SIN(CDUZ) = SIN(MG)
TS M11 # SCALED AT 1
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CAE CDUZ
TC SPCOS # COS(CDUZ) = COS(MG)
TS COSMG # SCALED AT 1 (ONLY A FACTOR)
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CAE CDUX
TC SPSIN # SIN(CDUX) = SIN(OG)
TS M22 # SCALED AT 1 (ALSO IS MR22)
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CS M22
# Page 189
EXTEND
MP COSMG # -SIN(OG)COS(MG)
TS M31 # SCALED AT 1
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CAE CDUX
TC SPCOS # COS(CDUX) = COS(OG)
TS M32 # SCALED AT 1 (ALSO IS MR23)
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EXTEND
MP COSMG # COS(OG)COS(MG)
TS M21 # SCALED AT 1
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TC RESUME
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NORRGMON EQUALS DAPT4S
ENDDAPT4 EQUALS RESUME