2016-07-07 08:47:26 +00:00
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# Copyright: Public domain.
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# Filename: T4RUPT_PROGRAM.agc
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# Purpose: Part of the source code for Comanche, build 055.
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# It is part of the source code for the Command Module's (CM)
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# Apollo Guidance Computer (AGC), Apollo 11.
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# Assembler: yaYUL
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# Reference: pp. 133-169
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# Contact: Ron Burkey <info@sandroid.org>,
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# Fabrizio Bernardini <fabrizio@spacecraft.it>
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# Website: http://www.ibiblio.org/apollo.
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# Mod history: 10/05/09 FB Transcription of Batch FB-1 Assignment.
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#
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# The contents of the "Comanche055" files, in general, are transcribed
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# from scanned documents.
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#
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# Assemble revision 055 of AGC program Comanche by NASA
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# 2021113-051. April 1, 1969.
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#
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# This AGC program shall also be referred to as Colossus 2A
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#
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# Prepared by
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# Massachussets Institute of Technology
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# 75 Cambridge Parkway
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# Cambridge, Massachusetts
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#
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# under NASA contract NAS 9-4065.
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#
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# Refer directly to the online document mentioned above for further
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# information. Please report any errors to info@sandroid.org.
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# Page 133
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BANK 12
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SETLOC T4RUP
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BANK
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COUNT 06/T4RPT
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T4RUPT TS BANKRUPT
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EXTEND
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QXCH QRUPT
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CCS DSRUPTSW # GOES 7(-1)0 AROUND AND AROUND
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TCF NORMT4 +1
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TCF NORMT4
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TCF QUIKDSP
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NORMT4 CAF SEVEN
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TS RUPTREG1
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TS DSRUPTSW
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COUNT 02/T4RPT
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74K = HIGH4
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# RELTAB IS A PACKED TABLE. RELAYWORD CODE IN UPPER 4 BITS, RELAY CODE
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# IN LOWER 5 BITS.
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BLOCK 02
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SETLOC FFTAG12
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BANK
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RELTAB OCT 04025
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OCT 10003
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OCT 14031
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OCT 20033
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OCT 24017
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OCT 30036
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OCT 34034
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OCT 40023
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OCT 44035
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OCT 50037
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OCT 54000
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RELTAB11 OCT 60000
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# Page 134
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# SWITCHED-BANK PORTION
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BANK 12
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SETLOC T4RUP
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BANK
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COUNT 06/T4RPT
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CDRVE CCS DSPTAB +11D
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TC DSPOUT
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TC DSPOUT
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XCH DSPTAB +11D
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MASK LOW11
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TS DSPTAB +11D
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AD RELTAB11
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EXTEND
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WRITE OUT0
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TC HANG20
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# Page 135
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# DSPOUT PROGRAM, PUTS OUT DISPLAYS
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DSPOUTSB TS NOUT
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CS ZERO
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TS DSRUPTEM # SET TO -0 FOR 1ST PASS THRU DSPTAB
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XCH DSPCNT
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AD NEG0 # TO PREVENT +0
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TS DSPCNT
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DSPSCAN INDEX DSPCNT
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CCS DSPTAB
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CCS DSPCNT # IF DSPTAB ENTRY +, SKIP
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TCF DSPSCAN -2 # IF DSPCNT +, AGAIN
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TCF DSPLAY # IF DSPTAB ENTRY -, DISPLAY
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TABLNTH OCT 12 # DEC 10 LENGTH OF DSPTAB
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CCS DSRUPTEM # IF DSRUPTEM=+0, 2ND PASS THRU DSPTAB
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120MRUPT DEC 16372 # (DSPCNT = 0). +0 INTO NOUT.
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TS NOUT
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TC Q
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TS DSRUPTEM # IF DSRUPTEM=-0, 1ST PASS THRU DSPTAB
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CAF TABLNTH # (DSPCNT=0).+0 INTO DSRUPTEM. PASS AGAIN
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TCF DSPSCAN -1
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DSPLAY AD ONE
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INDEX DSPCNT
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TS DSPTAB # REPLACE POSITIVELY
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MASK LOW11 # REMOVE BITS 12 TO 15
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TS DSRUPTEM
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CAF HI5
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INDEX DSPCNT
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MASK RELTAB # PICK UP BITS 12 TO 15 OF RELTAB ENTRY
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AD DSRUPTEM
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EXTEND
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WRITE OUT0 # WRITE CHANNEL 10
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TCF Q+1 # *** NORMAL RETURN SKIPS ONE
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DSPOUT CCS FLAGWRD5 # DON'T DISPLAY UNLESS DSKY FLAG ON
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CAF ZERO
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TCF NODSPOUT
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CCS NOUT
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TC DSPOUTSB
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TCF NODSPOUT # NO DISPLAY REQUESTS
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HANG20 CS 11,14,9
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ADS DSRUPTSW
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CAF 20MRUPT
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SETTIME4 TS TIME4
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# Page 136
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# THE STATUS OF THE PROCEED PUSHBUTTON IS MONITORED EVERY 120 MILLISECONDS VIA THE CHANNEL 32 BIT 14 INBIT.
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# THE STATE OF THIS INBIT IS COMPARED WITH ITS STATE DURING THE PREVIOUS T4RUPT AND IS PROCESSED AS FOLLOWS.
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# IF PREV ON AND NOW ON -- BYPASS
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# IF PREV ON AND NOW OFF -- UPDATE IMODES33
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# IF PREV OFF AND NOW ON -- UPDATE IMODES33 AND PROCESS VIA PINBALL
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# IF PREV OFF AND NOW OFF -- BYPASS
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# THE LOGIC EMPLOYED REQUIRES ONLY 9 MCT (APPROX. 108 MICROSECONDS) OF COMPUTER TIME WHEN NO CHANGES OCCUR.
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PROCEEDE CA IMODES33 # MONITOR FOR PROCEED BUTTON
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EXTEND
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RXOR CHAN32 # CHECK IF BIT 14 DIFFERENT
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MASK BIT14
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EXTEND
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BZF T4JUMP # NO CHANGE
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LXCH IMODES33
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EXTEND
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RXOR LCHAN
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TS IMODES33 # UPDATE IMODES33
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MASK BIT14
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CCS A
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TCF T4JUMP # WAS ON -- NOW OFF
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CAF CHRPRIO # WAS OFF -- NOW ON
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TC NOVAC
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EBANK= DSPCOUNT
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2CADR PROCKEY
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# Page 137
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# JUMP TO APPROPRIATE ONCE-PER SECOND (0.96 SEC ACTUALLY) ACTIVITY
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T4JUMP INDEX RUPTREG1
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TCF +1
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TCF OPTTEST
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TCF OPTMON
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TCF IMUMON
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TCF RESUME
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TCF OPTTEST
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TCF OPTMON
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TCF IMUMON
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TCF RESUME
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OPTTEST TC IBNKCALL
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CADR OPTDRIVE
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20MRUPT = OCT37776 # (DEC 16382)
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NODSPOUT EXTEND # TURN OFF RELAYS
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WRITE OUT0
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CAF 120MRUPT # SET FOR NEXT CDRVE
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TCF SETTIME4
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QUIKDSP CAF BIT14
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MASK DSRUPTSW
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EXTEND
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BZF QUIKOFF # WROTE LAST TIME, NOW TURN OFF RELAYS.
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CCS NOUT
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TC DSPOUTSB
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TCF NODSPY # NOUT=0 OR BAD RETURN FROM DSPOUTSB
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CS BIT14 # GOOD RETURN (WE DISPLAYED SOMETHING)
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QUIKRUPT ADS DSRUPTSW
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CAF 20MRUPT
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TS TIME4
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CAF BIT9
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ADS DSRUPTSW
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TC RESUME
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NODSPY EXTEND
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WRITE OUT0
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SYNCT4 CAF 20MRUPT
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ADS TIME4
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CAF BIT9
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# Page 138
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ADS DSRUPTSW
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CCS DSRUPTSW
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TC RESUME
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OCT37737 OCT 37737
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TC SYNCT4
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TC RESUME
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QUIKOFF EXTEND
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WRITE OUT0
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CAF BIT14 # RESET DSRUPTSW TO SEND DISPLAY NEXT PASS
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TCF QUIKRUPT
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11,14,9 OCT 22400
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# Page 139
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# PROGRAM NAME: IMUMON
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#
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# FUNCTIONAL DESCRIPTION: THIS PROGRAM IS ENTERED EVERY 480 MS. IT DETECTS CHANGES OF THE IMU STATUS BITS IN
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# CHANNEL 30 AND CALLS THE APPROPRIATE SUBROUTINES. THE BITS PROCESSED AND THEIR RELEVANT SUROUTINES ARE:
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#
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# FUNCTION BIT SUBROUTINE CALLED
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# -------- --- -----------------
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# TEMP IN LIMITS 15 TLIM
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# ISS TURN-ON REQUEST 14 ITURNON
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# IMU FAIL 13 IMUFAIL (SETISSW)
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# IMU CDU FAIL 12 ICDUFAIL (SETISSW)
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# IMU CAGE 11 IMUCAGE
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# IMU OPERATE 9 IMUOP
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#
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# THE LAST SAMPLED STATE OF THESE BITS IS LEFT IN IMODES30. ALSO, EACH SUBROUTINE CALLED FINDS THE NEW
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# VALUE OF THE BIT IN A, WITH Q SET TO THE PROPER RETURN LOCATION NXTIFAIL.
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#
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# CALLING SEQUENCE: T4RUPT EVERY 480 MILLISECONDS.
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#
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# JOBS OR TASKS INITIATED: NONE.
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#
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# SUBROUTINES CALLED: TLIM, ITURNON, SETISSW, IMUCAGE, IMUOP.
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#
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# ERASABLE INITIALIZATION:
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# FRESH START OR RESTART WITH NO GROUPS ACTIVE: C(IMODES30) = OCT 37411.
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# RESTART WITH ACTIVE GROUPS: C(IMODES30) = (B(IMODES30)AND(OCT 00035)) PLUS OCT 37400.
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# THIS LEAVES IMU FAIL BITS INTACT.
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#
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# ALARMS: NONE.
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#
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# EXIT: TNONTEST.
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#
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# OUTPUT: UPDATED IMODES30 WITH CHANGES PROCESSED BY APPROPRIATE SUBROUTINE.
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IMUMON CA IMODES30 # SEE IF THERE HAS BEEN A CHANGE IN THE
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EXTEND # RELEVANT BITS OF CHAN 30.
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RXOR CHAN30 # CHECK IF BITS 9,11-15 CHANGED
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MASK 30RDMSK
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EXTEND
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BZF TNONTEST # NO CHANGE IN STATUS
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TS RUPTREG1 # SAVE BITS WHICH HAVE CHANGED.
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LXCH IMODES30 # UPDATE IMODES30.
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EXTEND
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RXOR LCHAN
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TS IMODES30
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CS ONE
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XCH RUPTREG1
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EXTEND
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# Page 140
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BZMF TLIM # CHANGE IN IMU TEMP.
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TCF NXTIFBIT # BEGIN BIT SCAN.
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-1 AD ONE # (RE-ENTERS HERE FROM NXTIFAIL.)
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NXTIFBIT INCR RUPTREG1 # ADVANCE BIT POSITION NUMBER.
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+1 DOUBLE
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TS A # SKIP IF OVERFLOW.
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TCF NXTIFBIT # LOOK FOR BIT.
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XCH RUPTREG2 # SAVE OVERFLOW-CORRECTED DATA.
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INDEX RUPTREG1 # SELECT NEW VALUE OF THIS BIT.
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CAF BIT14
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MASK IMODES30
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INDEX RUPTREG1
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TC IFAILJMP
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NXTIFAIL CCS RUPTREG2 # PROCESS ANY ADDITIONAL CHANGES.
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TCF NXTIFBIT -1
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# Page 141
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# PROGRAM NAME: TNONTEST.
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#
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# FUNCTIONAL DESCRIPTION: THIS PROGRAM HONORS REQUESTS FOR ISS INITIALIZATION. ISS TURN-ON (CHANNEL 30 BIT 14)
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# AND ISS OPERATE (CHANNEL 30 BIT 9) REQUESTS ARE TREATED AS A PAIR AND PROCESSING TAKES PLACE .480 SECONDS
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# AFTER EITHER ONE APPEARS. THIS INITIALIZATION TAKES ON ONE OF THE FOLLOWING THREE FORMS:
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#
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# 1) ISS TURN-ON: IN THIS SITUATION THE COMPUTER IS OPERATING WHEN THE ISS IS TURNED ON. NOMINALLY,
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# BOTH ISS TURN-ON AND ISS OPERATE APPEAR. THE PLATFORM IS CAGED FOR 90 SECONDS AND THE ICDU'S ZEROED
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# SO THAT AT THE END OF THE PROCESS THE GIMBAL LOCK MONITOR WILL FUNCTION PROPERLY.
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#
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# 2) ICDU INITIALIZATION: IN THIS CASE THE COMPUTER WAS PROBABLY TURNED ON WITH THE ISS IN OPERATE OR
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# A FRESH START WAS DONE WIT THE ISS IN OPERATE. IN THIS CASE ONLY ISS OPERATE IS ON. THE ICDU'S ARE
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# ZEROED SO THE GIMBAL LOCK MONITOR WILL FUNCTION. AN EXCEPTION IS IF THE ISS IS IN GIMBAL LOCK AFTER
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# A RESTART, THE ICDU'S WILL NOT BE ZEROED.
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|
|
|
#
|
|
|
|
|
# 3) RESTART WITH RESTARTABLE PROGRAM USING THE IMU: IN THIS CASE, NO INITIALIZATION TAKES PLACE SINCE
|
|
|
|
|
# IT IS ASSUMED THAT THE USING PROGRAM DID THE INITIALIZATION AND THEREFORE T4RUPT SHOULD NOT INTERFERE.
|
|
|
|
|
#
|
|
|
|
|
# IMODES30 BIT 7 IS SET = 1 BY THE FIRST BIT (CHANNEL 30 BIT 14 OR 9) WHICH ARRIVES. FOLLOWING THIS, TNONTEST IS
|
|
|
|
|
# ENTERED, FINDS BIT 7 = 1 BUT BIT 8 = 0, SO IT SETS BIT 8 = 1 AND EXITS. THE NEXT TIME IT FINDS BIT 8 = 1 AND
|
|
|
|
|
# PROCEEDS, SETTING BITS 8 AND 7 = 0. AT PROCTNON, IF ISS TURN-ON REQUEST IS PRESENT, THE ISS IS CAGED (ZERO +
|
|
|
|
|
# COARSE). IF ISS OPERATE IS NOT PRESENT PROGRAM ALARM 00213 IS ISSUED. AT THE END OF A 90 SECOND CAGE, BIT 2
|
|
|
|
|
# OF IMODES30 IS TESTED. IF IT IS = 1, ISS TURN-ON WAS NOT PRESENT FOR THE ENTIRE 90 SECONDS. IN THAT CASE, IF
|
|
|
|
|
# THE ISS TURN-ON REQUEST IS PRESENT THE 90 SECOND WAIT IS REPEATED, OTHERWISE NO ACTION OCCURS UNLESS A PROGRAM
|
|
|
|
|
# WAS WAITING FOR THE INITIALIZATION IN WHICH CASE THE PROGRAM IS GIVEN AN IMUSTALL ERROR RETURN. IF THE DELAY
|
|
|
|
|
# WENT PROPERLY, THE ISS DELAY OUTBIT IS SENT AND THE ICDU'S ZEROED. A TASK IS INITIATED TO REMOVE THE PIPA FAIL
|
|
|
|
|
# INHIBIT BIT IN 10.24 SECONDS. IF A MISSION PROGRAM WAS WAITING IT IS INFORMED VIA ENDIMU.
|
|
|
|
|
#
|
|
|
|
|
# AT PROCTNON, IF ONLY ISS OPERATE IS PRESENT (OPONLY), THE CDU'S ARE ZEROED UNLESS THE PLATFORM IS IN COARSE
|
|
|
|
|
# ALIGN (= GIMBAL LOCK HERE) OR A MISSION PROGRAM IS USING THE IMU (INUSEFLG = 1).
|
|
|
|
|
#
|
|
|
|
|
# CALLING SEQUENCE: T4RUPT EVERY 480 MILLISECONDS AFTER IMUMON.
|
|
|
|
|
#
|
|
|
|
|
# JOBS OR TASKS INITIATED: 1) ENDTNON, 90 SECONDS AFTER CAGING STARTED. 2) ISSUP, 4 SECONDS AFTER CAGING DONE.
|
|
|
|
|
# 3) PFAILOK, 10.24 SECONDS AFTER INITIALIZATION COMPLETED. 4) UNZ2, 320 MILLISECONDS AFTER ZEROING
|
|
|
|
|
# STARTED.
|
|
|
|
|
#
|
|
|
|
|
# SUBROUTINES CALLED: CAGESUB, CAGESUB2, ZEROICDU, ENDIMU, IMUBAD, NOATTOFF, SETISSW, VARDELAY.
|
|
|
|
|
#
|
|
|
|
|
# ERASABLE INITIALIZATION: SEE IMUMON.
|
|
|
|
|
#
|
|
|
|
|
# ALARMS: PROGRAM ALARM 00213 IF ISS TURN-ON REQUESTED WITHOUT ISS OPERATE.
|
|
|
|
|
#
|
|
|
|
|
# EXIT: ENDTNON EXITS TO C33TEST. TASKS HAVING TO DO WITH INITIALIZATION EXIT AS FOLLOWS: MISSION PROGRAM
|
|
|
|
|
# WAITING AND INITIALIZATION COMPLETE, EXIT TO ENDIMU, MISSION PROGRAM WAITING AND INITIALIZATION FAILED, EXIT TO
|
|
|
|
|
# IMUBAD, IMU NOT IN USE, EXIT TO TASKOVER.
|
|
|
|
|
#
|
|
|
|
|
# OUTPUT: ISS INITIALIZED.
|
|
|
|
|
|
|
|
|
|
TNONTEST CS IMODES30 # AFTER PROCESSING ALL CHANGES, SEE IF IT
|
|
|
|
|
# Page 142
|
|
|
|
|
MASK BIT7 # IS TIME TO ACT ON A TURN-ON SEQUENCE.
|
|
|
|
|
CCS A
|
|
|
|
|
TCF C33TEST # NO -- EXAMINE CHANNEL 33.
|
|
|
|
|
|
|
|
|
|
CAF BIT8 # SEE IF FIRST SAMPLE OR SECOND.
|
|
|
|
|
MASK IMODES30
|
|
|
|
|
CCS A
|
|
|
|
|
TCF PROCTNON # REACT AFTER A SECOND SAMPLE.
|
|
|
|
|
|
|
|
|
|
CAF BIT8 # IF FIRST SAMPLE, SET BIT TO REACT NEXT
|
|
|
|
|
ADS IMODES30 # TIME.
|
|
|
|
|
TCF C33TEST
|
|
|
|
|
|
|
|
|
|
# PROCESS IMU TURN-ON REQUESTS AFTER WAITING 1 SAMPLE FOR ALL SIGNALS TO ARRIVE.
|
|
|
|
|
|
|
|
|
|
PROCTNON CS BITS7&8
|
|
|
|
|
MASK IMODES30
|
|
|
|
|
TS IMODES30
|
|
|
|
|
MASK BIT14 # SEE IF TURN-ON REQUEST.
|
|
|
|
|
CCS A
|
|
|
|
|
TCF OPONLY # OPERATE ON ONLY.
|
|
|
|
|
|
|
|
|
|
CS IMODES30 # IF TURN-ON REQUEST, WE SHOULD HAVE IMU
|
|
|
|
|
MASK BIT9 # OPERATE.
|
|
|
|
|
CCS A
|
|
|
|
|
TCF +3
|
|
|
|
|
|
|
|
|
|
TC ALARM # ALARM IF NOT
|
|
|
|
|
OCT 213
|
|
|
|
|
|
|
|
|
|
+3 TC CAGESUB
|
|
|
|
|
|
|
|
|
|
CAF 90SECS
|
|
|
|
|
TC WAITLIST
|
|
|
|
|
EBANK= CDUIND
|
|
|
|
|
2CADR ENDTNON
|
|
|
|
|
|
|
|
|
|
TCF C33TEST
|
|
|
|
|
|
|
|
|
|
RETNON CAF 90SECS
|
|
|
|
|
TC VARDELAY
|
|
|
|
|
|
|
|
|
|
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
|
|
|
|
|
# Page 143
|
|
|
|
|
CAF BIT14 # IF IT WAS ON AND TURN-ON REQUEST NOW.
|
|
|
|
|
MASK IMODES30 # PRESENT, RE-ENTER 90 SEC DELAY IN WL.
|
|
|
|
|
EXTEND
|
|
|
|
|
BZF RETNON
|
|
|
|
|
|
|
|
|
|
CS STATE # IF IT IS NOT ON NOW, SEE IF A PROG WAS
|
|
|
|
|
MASK IMUSEFLG # WAITING.
|
|
|
|
|
CCS A
|
|
|
|
|
TCF TASKOVER
|
|
|
|
|
TC POSTJUMP
|
|
|
|
|
CADR IMUBAD # UNSUCCESSFUL TURN-ON.
|
|
|
|
|
|
|
|
|
|
ENDTNON2 CAF BIT15 # SEND ISS DELAY COMPLETE.
|
|
|
|
|
EXTEND
|
|
|
|
|
WOR CHAN12 # TURN OFF ISS DELAY COUNTER
|
|
|
|
|
TC IBNKCALL # TURN OFF NO ATT LAMP.
|
|
|
|
|
CADR NOATTOFF
|
|
|
|
|
|
|
|
|
|
UNZ2 TC ZEROICDU
|
|
|
|
|
|
|
|
|
|
CS BITS4&5 # REMOVE ZERO AND COARSE.
|
|
|
|
|
EXTEND
|
|
|
|
|
WAND CHAN12
|
|
|
|
|
|
|
|
|
|
CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS
|
|
|
|
|
TC VARDELAY
|
|
|
|
|
|
|
|
|
|
ISSUP CS OCT54 # REMOVE CAGING, IMU FAIL INHIBIT, AND
|
|
|
|
|
MASK IMODES30 # ICDUFAIL INHIBIT FLAGS.
|
|
|
|
|
TS IMODES30
|
|
|
|
|
|
|
|
|
|
CS BIT6 # ENABLE DAP
|
|
|
|
|
MASK IMODES33
|
|
|
|
|
TS IMODES33
|
|
|
|
|
|
|
|
|
|
TC SETISSW # ISS WARNING MIGHT HAVE BEEN INHIBITED.
|
|
|
|
|
|
|
|
|
|
CS BIT15 # REMOVE IMU DELAY COMPLETE DISCRETE.
|
|
|
|
|
EXTEND
|
|
|
|
|
WAND CHAN12
|
|
|
|
|
|
|
|
|
|
CAF 4SECS # DONT ENABLE PROG ALARM ON PIP FAIL FOR
|
|
|
|
|
TC WAITLIST # ANOTHER 4 SECS.
|
|
|
|
|
EBANK= CDUIND
|
|
|
|
|
2CADR PFAILOK
|
|
|
|
|
|
|
|
|
|
TCF TASKOVER
|
|
|
|
|
|
|
|
|
|
OPONLY CAF BIT4
|
|
|
|
|
# Page 144
|
|
|
|
|
EXTEND # IF OPERATE ON ONLY AND WE ARE IN COARSE
|
|
|
|
|
RAND CHAN12 # ALIGN, DON'T ZERO THE CDUS BECAUSE WE
|
|
|
|
|
CCS A # MIGHT BE IN GIMBAL LOCK. USE V41N20 TO
|
|
|
|
|
TCF C33TEST # RECOVER.
|
|
|
|
|
|
|
|
|
|
CAF IMUSEFLG # OTHERWISE, ZERO THE COUNTERS
|
|
|
|
|
MASK STATE # UNLESS SOMEONE IS USING THE IMU.
|
|
|
|
|
CCS A
|
|
|
|
|
TCF C33TEST
|
|
|
|
|
|
|
|
|
|
TC CAGESUB2 # SET TURNON FLAGS.
|
|
|
|
|
|
|
|
|
|
ISSZERO TC IBNKCALL # TURN OFF NO ATT LAMP.
|
|
|
|
|
CADR NOATTOFF # IMU CAGE OFF ENTRY.
|
|
|
|
|
|
|
|
|
|
CAF BIT5 # ISS CDU ZERO
|
|
|
|
|
EXTEND
|
|
|
|
|
WOR CHAN12
|
|
|
|
|
|
|
|
|
|
TC ZEROICDU
|
|
|
|
|
CAF BIT6 # WAIT 300 MS FOR AGS TO RECEIVE SIGNAL.
|
|
|
|
|
TC WAITLIST
|
|
|
|
|
EBANK= OPTMODES
|
|
|
|
|
2CADR UNZ2
|
|
|
|
|
|
|
|
|
|
TCF C33TEST
|
|
|
|
|
|
|
|
|
|
# Page 145
|
|
|
|
|
# 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.
|
|
|
|
|
|
|
|
|
|
TS RUPTREG1 # SAVE BITS WHICH HAVE CHANGED
|
|
|
|
|
LXCH IMODES33
|
|
|
|
|
EXTEND
|
|
|
|
|
RXOR LCHAN
|
|
|
|
|
TS IMODES33 # UPDATED IMODES33.
|
|
|
|
|
|
|
|
|
|
CAF ZERO
|
|
|
|
|
XCH RUPTREG1
|
|
|
|
|
DOUBLE
|
|
|
|
|
# Page 146
|
|
|
|
|
TCF NXTIBT +1 # SCAN FOR BIT CHANGES.
|
|
|
|
|
|
|
|
|
|
-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 147
|
|
|
|
|
# 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.
|
2016-07-08 10:45:31 +00:00
|
|
|
# 2) RESTART WITH GROUPS ACTIVE: SAME AS FRESH START EXCEPT C(CDUZ) NOT CHANGED SO GIMBAL MONITOR
|
2016-07-07 08:47:26 +00:00
|
|
|
# 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
|
|
|
|
|
|
|
|
|
|
GLOCKCHK AD -70DEGS
|
|
|
|
|
EXTEND
|
|
|
|
|
BZMF SETGLOCK -1 # NO LOCK.
|
|
|
|
|
|
|
|
|
|
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
|
|
|
|
|
|
|
|
|
|
TC IBNKCALL # GO INTO COARSE ALIGN.
|
|
|
|
|
CADR SETCOARS
|
|
|
|
|
|
|
|
|
|
CAF SIX # ENABLE ISS ERROR COUNTERS IN 60 MS.
|
|
|
|
|
TC WAITLIST
|
|
|
|
|
# Page 148
|
|
|
|
|
EBANK= CDUIND
|
|
|
|
|
2CADR CA+ECE
|
|
|
|
|
|
|
|
|
|
NOGIMRUN CAF BIT6 # TURN ON GIMBAL LOCK LAMP.
|
|
|
|
|
TCF SETGLOCK
|
|
|
|
|
|
|
|
|
|
-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.
|
|
|
|
|
|
|
|
|
|
MASK DSPTAB +11D # IF OFF, DON'T TURN ON IF IMU BEING CAGED.
|
|
|
|
|
CCS A
|
|
|
|
|
TCF GLAMPTST # TURN OFF UNLESS LAMP TEST IN PROGRESS.
|
|
|
|
|
|
|
|
|
|
CAF BIT6
|
|
|
|
|
MASK IMODES30
|
|
|
|
|
CCS A
|
|
|
|
|
TCF GLOCKOK
|
|
|
|
|
|
|
|
|
|
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 149
|
|
|
|
|
# PROGRAM NAME: TLIM.
|
|
|
|
|
#
|
|
|
|
|
# FUNCTIONAL DESCRIPTION: THIS PROGRAM MAINTAINS THE TEMP LAMP (BIT 4 OF CHANNEL 11) ON THE DSKY TO AGREE WITH
|
|
|
|
|
# THE TEMP SIGNAL FROM THE ISS (BIT 15 OF CHANNEL 30). HOWEVER, THE LIGHT WILL NOT BE TURNED OFF IF A LAMP TEST
|
|
|
|
|
# IS IN PROGRESS.
|
|
|
|
|
#
|
|
|
|
|
# CALLING SEQUENCE: CALLED BY IMUMON ON A CHANGE OF BIT 15 OF CHANNEL 30.
|
|
|
|
|
#
|
|
|
|
|
# JOBS OR TASKS INITIATED: NONE.
|
|
|
|
|
#
|
|
|
|
|
# SUBROUTINES CALLED: LAMPTEST.
|
|
|
|
|
#
|
|
|
|
|
# ERASABLE INITIALIZATION: FRESH START AND RESTART TURN THE TEMP LAMP OFF.
|
|
|
|
|
#
|
|
|
|
|
# ALARMS: TEMP LAMP TURNED ON WHEN 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.
|
|
|
|
|
|
|
|
|
|
CCS IMODES30
|
|
|
|
|
TCF TEMPOK
|
|
|
|
|
TCF TEMPOK
|
|
|
|
|
|
|
|
|
|
CAF BIT4 # TURN ON LAMP.
|
|
|
|
|
EXTEND
|
|
|
|
|
WOR DSALMOUT
|
|
|
|
|
TCF NXTIFAIL
|
|
|
|
|
|
|
|
|
|
TEMPOK TC LAMPTEST # IF TEMP NOW OK, DON'T TURN OFF LAMP IF
|
|
|
|
|
TCF NXTIFAIL # LAMP TEST IN PROGRESS.
|
|
|
|
|
|
|
|
|
|
CS BIT4
|
|
|
|
|
EXTEND
|
|
|
|
|
WAND DSALMOUT # TURN OFF LAMP
|
|
|
|
|
TCF NXTIFAIL
|
|
|
|
|
|
|
|
|
|
# Page 150
|
|
|
|
|
# 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 BIT 7 OF IMODES30 TO 1 SO
|
|
|
|
|
# THAT TNONTEST WILL INITIATE THE ISS INITIALIZATION SEQUENCE. IF OFF, THE TURN-ON DELAY SIGNAL, CHANNEL 12 BIT
|
|
|
|
|
# 15, IS CHECKED AND IF IT IS ON, ITURNON EXITS. IF THE DELAY SIGNAL IS OFF, PROGRAM ALARM 00207 IS ISSUED, BIT 2
|
|
|
|
|
# OF IMODES30 IS SET TO 1 AND THE PROGRAM EXITS.
|
|
|
|
|
#
|
|
|
|
|
# THE SETTING OF BIT 2 OF IMODES30 (ISS DELAY SEQUENCE FAIL) INHIBITS THIS ROUTINE AND IMUOP FROM
|
|
|
|
|
# PROCESSING ANY CHANGES. THIS BIT WILL BE RESET BY THE ENDTNON ROUTINE WHEN THE CURRENT 90 SECOND DELAY PERIOD
|
|
|
|
|
# ENDS.
|
|
|
|
|
#
|
|
|
|
|
# CALLING SEQUENCE: FROM IMUMON WHEN ISS TURN-ON REQUEST CHANGES STATE.
|
|
|
|
|
#
|
|
|
|
|
# JOBS OR TASKS INITIATED: NONE.
|
|
|
|
|
#
|
|
|
|
|
# SUBROUTINES CALLED: ALARM, IF THE ISS TURN-ON REQUEST IS NOT PRESENT FOR 90 SECONDS.
|
|
|
|
|
#
|
|
|
|
|
# ERASABLE INITIALIZATION: FRESH START AND RESTART SET BIT 15 OF CHANNEL 12 AND BITS 2 AND 7 OF IMODES30 TO 0,
|
|
|
|
|
# AND BIT 14 OF IMODES30 TO 1.
|
|
|
|
|
#
|
|
|
|
|
# ALARMS: PROGRAM ALARM 00207 IS ISSUED IF THE ISS TURN-ON REQUEST SIGNAL IS NOT PRESENT FOR 90 SECONDS.
|
|
|
|
|
#
|
|
|
|
|
# EXIT: NXTIFAIL.
|
|
|
|
|
#
|
|
|
|
|
# OUTPUT: BIT 7 OF IMODES30 TO START ISS INITIALIZATION, OR BIT 2 OF IMODES30 AND PROGRAM ALARM 00207 TO INDICATE
|
|
|
|
|
# A FAILED TURN-ON SEQUENCE.
|
|
|
|
|
|
|
|
|
|
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
|
|
|
|
|
|
|
|
|
|
CAF BIT14 # SEE IF JUST ON OR OFF.
|
|
|
|
|
MASK IMODES30
|
|
|
|
|
EXTEND
|
|
|
|
|
BZF ITURNON2 # IF JUST ON.
|
|
|
|
|
|
|
|
|
|
CAF BIT15
|
|
|
|
|
EXTEND # SEE IF DELAY PRESENT DISCRETE HAS BEEN
|
|
|
|
|
RAND CHAN12 # SENT. IF SO, ACTION COMPLETE
|
|
|
|
|
EXTEND
|
|
|
|
|
BZF +2
|
|
|
|
|
TCF NXTIFAIL
|
|
|
|
|
|
|
|
|
|
CAF BIT2 # IF NOT, SET BIT TO INDICATE REQUEST NOT
|
|
|
|
|
ADS IMODES30 # PRESENT FOR FULL DURATION.
|
|
|
|
|
TC ALARM
|
|
|
|
|
OCT 207
|
|
|
|
|
TCF NXTIFAIL
|
|
|
|
|
|
|
|
|
|
# Page 151
|
|
|
|
|
ITURNON2 CS IMODES30 # SET BIT7 TO INDICATE WAIT OF 1 SAMPLE
|
|
|
|
|
MASK BIT7
|
|
|
|
|
ADS IMODES30
|
|
|
|
|
TCF NXTIFAIL
|
|
|
|
|
|
|
|
|
|
# Page 152
|
|
|
|
|
# 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 IF GOING OFF.
|
|
|
|
|
TCF ISSZERO
|
|
|
|
|
CS OCT77000 # TERMINATE ICDU, OPTICS, GYRO PULSE TRAINS
|
|
|
|
|
EXTEND
|
|
|
|
|
WAND CHAN14
|
|
|
|
|
|
|
|
|
|
CS OCT272 # KNOCK DOWN TVC ENABLE, IMU ERROR COUNTER
|
|
|
|
|
EXTEND # ENABLE, ZERO ICDU, COARSE ALIGN
|
|
|
|
|
WAND CHAN12 # ENABLE, OPTICS ERR CNTR ENABLE
|
|
|
|
|
|
|
|
|
|
CS BIT13 # TURN OFF ENGINE
|
|
|
|
|
EXTEND
|
|
|
|
|
WAND DSALMOUT
|
|
|
|
|
|
|
|
|
|
TC CAGESUB1
|
|
|
|
|
|
|
|
|
|
TC IBNKCALL # KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS
|
|
|
|
|
CADR RNDREFDR
|
|
|
|
|
|
|
|
|
|
CS ZERO # ZERO COMMAND OUT-COUNTERS
|
|
|
|
|
TS CDUXCMD
|
|
|
|
|
TS CDUYCMD
|
|
|
|
|
TS CDUZCMD
|
|
|
|
|
TS GYROCMD
|
|
|
|
|
|
|
|
|
|
CS OCT740 # HAVING WAITED AT LEAST 27 MCT FROM
|
|
|
|
|
EXTEND # GYRO PULSE TRAIN TERMINATION, WE CAN
|
|
|
|
|
WAND CHAN14 # DE-SELECT THE GYROS.
|
|
|
|
|
# Page 153
|
|
|
|
|
TCF NXTIFAIL
|
|
|
|
|
|
|
|
|
|
# Page 154
|
|
|
|
|
# PROGRAM NAME: IMUOP.
|
|
|
|
|
#
|
|
|
|
|
# FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES IN THE ISS OPERATE DISCRETE, BIT 9 OF CHANNEL 30.
|
|
|
|
|
# IF THE INBIT CHANGES TO 0, INDICATING ISS ON, IMUOP GENERALLY SETS BIT 7 OF IMODES30 TO 1 TO REQUEST ISS
|
|
|
|
|
# INITIALIZATION VIA TNONTEST. AN EXCEPTION IS DURING A FAILED ISS DELAY DURING WHICH BIT 2 OF IMODES30 IS SET
|
|
|
|
|
# TO 1 AND NO FURTHER INITIALIZATION IS REQUIRED. WHEN THE INBIT CHANGES TO 1, INDICATING ISS OFF, IMUSEFLG IS
|
|
|
|
|
# TESTED TO SEE IF ANY PROGRAM WAS USING THE ISS. IF SO, PROGRAM ALARM 00214 IS ISSUED.
|
|
|
|
|
#
|
|
|
|
|
# CALLING SEQUENCE: BY IMUMON WHEN BIT 9 OF CHANNEL 30 CHANGES.
|
|
|
|
|
#
|
|
|
|
|
# JOBS OR TASKS INITIATED: NONE.
|
|
|
|
|
#
|
|
|
|
|
# SUBROUTINES CALLED: ALARM, IF ISS IS TURNED OFF WHILE IN USE.
|
|
|
|
|
#
|
|
|
|
|
# ERASABLE INITIALIZATION: ON FRESH START AND RESTART, BIT 9 OF IMODES30 IS SET TO 1 EXCEPT WHEN THE GIMBAL LOCK
|
|
|
|
|
# LAMP IS ON, IN WHICH CASE IT IS SET TO 0. THIS PREVENTS ICDU ZERO BY TNONTEST WITH THE ISS IN GIMBAL LOCK.
|
|
|
|
|
#
|
|
|
|
|
# ALARMS: PROGRAM ALARM 00214 IF THE ISS IS TURNED OFF WHILE IN USE.
|
|
|
|
|
#
|
|
|
|
|
# EXIT: NXTIFAIL.
|
|
|
|
|
#
|
|
|
|
|
# OUTPUT: ISS INITIALIZATION REQUEST (IMODES30 BIT 7) OR PROGRAM ALARM 00214.
|
|
|
|
|
|
|
|
|
|
IMUOP EXTEND # IF OPERATE JUST ON, WAIT 1 SAMPLE.
|
|
|
|
|
BZF IMUOP2
|
|
|
|
|
|
|
|
|
|
CS IMODES33 # DISABLE DAP
|
|
|
|
|
MASK BIT6
|
|
|
|
|
ADS IMODES33
|
|
|
|
|
|
|
|
|
|
TC IBNKCALL # KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS
|
|
|
|
|
CADR RNDREFDR
|
|
|
|
|
|
|
|
|
|
CS BITS7&8 # KNOCK DOWN RENDEZVOUS, IMUUSE FLAGS
|
|
|
|
|
MASK STATE
|
|
|
|
|
XCH STATE # IF GOING OFF, ALARM IF PROG USING IMU.
|
|
|
|
|
COM
|
|
|
|
|
MASK IMUSEFLG
|
|
|
|
|
CCS A
|
|
|
|
|
TCF NXTIFAIL
|
|
|
|
|
|
|
|
|
|
TC ALARM
|
|
|
|
|
OCT 214
|
|
|
|
|
TCF NXTIFAIL
|
|
|
|
|
|
|
|
|
|
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 155
|
|
|
|
|
# PROGRAM NAME: PIPFAIL
|
|
|
|
|
#
|
|
|
|
|
# FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES OF BIT 13 OF CHANNEL 33, PIPA FAIL. IT SETS BIT 10 OF
|
|
|
|
|
# IMODES30 TO AGREE. IT CALLS SETISSW IN CASE A PIPA FAIL NECESSITATES AN ISS WARNING. IF NOT, I.E., IMODES30
|
|
|
|
|
# BIT 1 = 1, AND A PIPA FAIL IS PRESENT AND THE ISS NOT BEING INITIALIZED, PROGRAM ALARM 0212 IS ISSUED.
|
|
|
|
|
#
|
|
|
|
|
# CALLING SEQUENCE: BY C33TEST ON CHANGES OF CHANNEL 33 BIT 13.
|
|
|
|
|
#
|
|
|
|
|
# JOBS OR TASKS INITIATED: NONE.
|
|
|
|
|
#
|
2016-07-08 10:45:31 +00:00
|
|
|
# SUBROUTINES CALLED: 1) SETISSW, AND 2) ALARM (SEE FUNCTIONAL DESCRIPTION).
|
2016-07-07 08:47:26 +00:00
|
|
|
#
|
|
|
|
|
# ERASABLE INITIALIZATION: 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
|
|
|
|
|
|
|
|
|
|
TC SETISSW
|
|
|
|
|
|
|
|
|
|
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
|
|
|
|
|
|
|
|
|
|
CA IMODES30
|
|
|
|
|
MASK OCT1720
|
|
|
|
|
CCS A
|
|
|
|
|
TCF NXTFL33 # ABOVE CONDITION NOT MET.
|
|
|
|
|
|
|
|
|
|
TC ALARM
|
|
|
|
|
OCT 212
|
|
|
|
|
TCF NXTFL33
|
|
|
|
|
|
|
|
|
|
# Page 156
|
|
|
|
|
# PROGRAM NAMES: DNTMFAST, UPTMFAST
|
|
|
|
|
#
|
|
|
|
|
# FUNCTIONAL DESCRIPTION: THESE PROGRAMS PROCESS CHANGES OF BITS 12 AND 11 OF CHANNEL 33. IF A BIT CHANGES TO A
|
|
|
|
|
# 0, A PROGRAM ALARM IS ISSUED. THE ALARMS ARE:
|
|
|
|
|
#
|
|
|
|
|
# BIT ALARM CAUSE
|
|
|
|
|
# --- ----- -----
|
|
|
|
|
# 12 01105 DOWNLINK TOO FAST
|
|
|
|
|
# 11 01106 UPLINK TOO FAST
|
|
|
|
|
#
|
|
|
|
|
# CALLING SEQUENCE: BY C33TEST ON A BIT CHANGE.
|
|
|
|
|
#
|
|
|
|
|
# SUBROUTINES CALLED: ALARM, IF A BIT CHANGES TO A 0.
|
|
|
|
|
#
|
|
|
|
|
# ERASABLE INITIALIZATION: FRESH START OR RESTART, BITS 12 AND 11 OF IMODES33 ARE SET TO 1.
|
|
|
|
|
#
|
|
|
|
|
# ALARMS: SEE FUNCTIONAL DESCRIPTION.
|
|
|
|
|
#
|
|
|
|
|
# EXIT: NXTFL33.
|
|
|
|
|
#
|
|
|
|
|
# OUTPUT: PROGRAM ALARM ON A BIT CHANGE TO 0.
|
|
|
|
|
|
|
|
|
|
DNTMFAST CCS A # DO PROG ALARM IF TM TOO FAST.
|
|
|
|
|
TCF NXTFL33
|
|
|
|
|
|
|
|
|
|
TC ALARM
|
|
|
|
|
OCT 1105
|
|
|
|
|
TCF NXTFL33
|
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UPTMFAST CCS A # SAME AS DNLINK TOO FAST WITH DIFFERENT
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TCF NXTFL33 # ALARM CODE.
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TC ALARM
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OCT 1106
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TCF NXTFL33
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# Page 157
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# PROGRAM NAME: SETISSW
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#
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# FUNCTIONAL DESCRIPTION: THIS PROGRAM TURNS THE ISS WARNING LAMP ON AND OFF (CHANNEL 11 BIT 1 = 1 FOR ON,
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# 0 FOR OFF) DEPENDING ON THE STATUS OF IMODES30 BITS 13 (IMU FAIL) AND 4 (INHIBIT IMU FAIL), 12 (ICDU FAIL) AND
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# 3 (INHIBIT ICDU FAIL), AND 10 (PIPA FAIL) AND 1 (INHIBIT PIPA FAIL). THE LAMP IS LEFT ON IF A LAMP TEST IS IN
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# PROGRESS.
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#
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# CALLING SEQUENCE: CALLED BY IMUMON ON CHANGES TO IMU FAIL AND ICDU FAIL. CALLED BY IFAILOK AND PFAILOK UPON
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# REMOVAL OF THE FAIL INHIBITS. CALLED BY PIPFAIL WHEN THE PIPA FAIL DISCRETE CHANGES. IT IS CALLED BY PIPUSE
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# SINCE THE PIPA FAIL PROGRAM ALARM MAY NECESSITATE AN ISS WARNING, AND LIKEWISE BY PIPFREE WHEN THE ALARM DEPARTS
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# AND IT IS CALLED BY IMUZERO3 AND ISSUP AFTER THE FAIL INHIBITS HAVE BEEN REMOVED.
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#
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# JOBS OR TASKS INITIATED: NONE.
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#
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# SUBROUTINES CALLED: NONE.
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#
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# ERASABLE INITIALIZATION:
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#
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# 1) IMODES30 -- SEE IMUMON.
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# 2) IMODES33 BIT 1 = 0 (LAMP TEST NOT IN PROGRESS).
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#
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# ALARMS: ISS WARNING.
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#
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# EXIT: VIA Q.
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#
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# OUTPUT: ISS WARNING LAMP SET PROPERLY.
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SETISSW CAF OCT15 # SET ISS WARNING USING THE FAIL BITS IN
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MASK IMODES30 # BITS 13, 12, AND 10 OF IMODES30 AND THE
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EXTEND # FAILURE INHIBIT BITS IN POSITIONS
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MP BIT10 # 4, 3, AND 1.
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CA IMODES30
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EXTEND
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ROR LCHAN # 0 INDICATES FAILURE
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COM
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MASK OCT15000
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CCS A
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TCF ISSWON # FAILURE.
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ISSWOFF CAF BIT1 # DON'T TURN OFF ISS WARNING IF LAMP TEST
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MASK IMODES33 # IN PROGRESS.
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CCS A
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TC Q
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CS BIT1
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EXTEND
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WAND DSALMOUT # TURN OFF ISS WARNING.
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TC Q
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ISSWON EXTEND
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# Page 158
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QXCH ITEMP6
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TC VARALARM # TELL EVERYONE WHAT CAUSED THE ISS WARNING
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CAF BIT1
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EXTEND
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WOR DSALMOUT # TURN ON ISS WARNING
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TC ITEMP6
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CAGESUB CS BIT15+6 # SET OUTBITS + INTERNAL FLAGS FOR
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EXTEND # SYSTEM TURN-ON OR CAGE. DISABLE THE
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WAND CHAN12 # ERROR COUNTER AND REMOVE THE IMU DELAY COMP.
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CAF BITS4&5 # SEND ZERO AND COARSE.
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EXTEND
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WOR CHAN12
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CAGESUB1 CS DSPTAB +11D # TURN ON NO ATT LAMP
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MASK OC40010
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ADS DSPTAB +11D
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CAGESUB2 CS IMODES30 # SET FLAGS TO INDICATE CAGING OR TURN-ON
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MASK OCT75 # AND INHIBIT ALL ISS WARNING INFO
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ADS IMODES30
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CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
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MASK BIT6
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ADS IMODES33
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TC Q
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IMUFAIL EQUALS SETISSW
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ICDUFAIL EQUALS SETISSW
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# Page 159
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# JUMP TABLES AND CONSTANTS.
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IFAILJMP TCF ITURNON # CHANNEL 30 DISPATCH.
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TCF IMUFAIL
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TCF ICDUFAIL
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TCF IMUCAGE
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30RDMSK OCT 76400 # (BIT 10 NOT SAMPLED HERE).
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TCF IMUOP
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C33JMP TCF PIPFAIL # CHANNEL 33 DISPATCH.
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TCF DNTMFAST
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TCF UPTMFAST
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# SUBROUTINE TO SKIP IF LAMP TEST NOT IN PROGRESS.
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LAMPTEST CS IMODES33 # BIT 1 OF IMODES33 = 1 IF LAMP TEST IN
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MASK BIT1 # PROGRESS.
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TCF ZOPFIN3
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33RDMSK EQUALS PRIO16
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OC40010 OCT 40010
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OCT54 OCT 54
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OCT75 OCT 75
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OCT272 OCT 00272
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BITS7&8 OCT 300
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OCT1720 OCT 1720
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OCT740 OCT 00740
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OCT15000 EQUALS PRIO15
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OCT77000 OCT 77000
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-BIT10 OCT -1000
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90SECS DEC 9000
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120MS = OCT14 # (DEC12)
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GLOCKOK EQUALS RESUME
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# Page 160
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# OPTICS MONITORING AND ZERO ROUTINES
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OPTMON CA OPTMODES # MONITOR OPTICS INBITS IN CHAN 30 AND 33
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EXTEND
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RXOR CHAN30 # LOOK FOR OCDU FAIL BIT CHANGE
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MASK BIT7
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TS RUPTREG1 # STORE CHANGE BIT
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CCS A
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TC OCDUFTST # PROCESS OCDUFAIL BIT CHANGE
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33OPTMON CCS OPTIND # BYPASS IF TVC TAKEOVER
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TCF +4
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TCF +3
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TCF +2
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TCF RESUME
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CA OPTMODES # LOOK FOR OPTICS MODE SWITCH CHANGE
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EXTEND
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RXOR CHAN33
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MASK OCTHIRTY
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ADS RUPTREG1 # STORE INBIT CHANGES
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LXCH OPTMODES
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EXTEND
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RXOR LCHAN
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TS OPTMODES # UPDATE OPTMODES TO SHOW BIT CHANGES
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COM # SAMPLE CURRENT SWITCH SETTING
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MASK OCTHIRTY
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EXTEND
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BZF SETSAMP # MANUAL-SET ZERO IN SWSAMPLE
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MASK BIT5 # SEE IF CSC
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CCS A
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TC +2 # CSC-SET SWSAMPLE POS
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CAF NEGONE # ZOPTICS-SET SWSAMPLE (-1)
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SETSAMP TS SWSAMPLE # CURRENT OPTICS SWITCH SETTING
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PROCESSW CCS DESOPMOD # BRANCH ON PREVIOUS SETTING
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TC CSCDES # CSC
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TC MANUDES # MANUAL
|
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TC ZOPTDES # ZERO OPTICS
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# Page 161
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ZOPTDES CCS SWSAMPLE # IS SWITCH STILL AT ZOPTICS
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TC ZTOCSC # NOW AT CSC
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TC ZTOMAN # MANUAL
|
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TC ZOPFIN1 # ZOPTICS-SEE IF ZOPT PROCESSING // Should be TC ZOPFINI
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TC SETDESMD # ZOPT NOT PROCESSING-NO ACTION
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CCS ZOPTCNT # ZOPT PROCESSING-CHECK COUNTER
|
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TC SETCNT # 32 SAMPLE NOT FINISHED-SET COUNTER
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TC SETZOEND # 32 SAMPLE WAIT COMPLETED-SET UP ZOP END
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ZTOMAN TC ZOPFIN1 # ZOP TO MANUAL-IS ZOPT DONE // Should be TC ZOPFINI
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TC SETDESMD # YES-NORMAL EXIT
|
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ZOPALARM TC ALARM # ALARM-SWITCHED ALTERED WHILE ZOPTICS
|
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OCT 00116
|
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CAF OCT13 # PROCESSING-SET RETURN OPTION
|
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TS WTOPTION
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TC CANZOPT # CANCEL ZOPT
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TC SETDESMD
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ZTOCSC TC ZOPFIN1 # SEE IF ZOPT PROCESSING // Should be TC ZOPFINI
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TC MANTOCSC +3 # NO-CHECK RETURN TO COARS OPT
|
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|
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TC ALARM # ZOPT PROCESSING-ALARM
|
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|
OCT 00116
|
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|
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TC CANZOPT # CANCEL ZOPT
|
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TC MANTOCSC # ZERO CNT-LOOK FOR COARS OPT RETURN
|
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COARSLOK CAF BIT9 # IF COARS OPT SINCE FSTART GO TO L+2
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TCF ZOPFIN2 # IF NOT GO TO L+1
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ZOPFIN1 CAF BIT1 # SEE IF END ZOPT TASK WORKING // Label should be ZOPFINI
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MASK OPTMODES
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CCS A
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TC RESUME # ZOPT TASK WORKING-WAIT ONE SAMPLE PERIOD
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CAF BIT3 # TEST IF ZOPTICS PROCESSING
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ZOPFIN2 MASK OPTMODES # RETURNS TO L+1 PROCESSING AND
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ZOPFIN3 CCS A
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INCR Q # L+2 IF NOT
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TC Q
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CANZOPT CS SIX # CANCEL ZERO OPTICS
|
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MASK OPTMODES # ZERO ZOPT PROCESSING BIT-ENABLE OCDUFAIL
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TS OPTMODES
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CS BIT1 # MAKE SURE ZERO OCDU IS OFF
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EXTEND
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|
WAND CHAN12
|
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|
TC Q
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# Page 162
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|
|
MANUDES CCS SWSAMPLE # SEE IF SWITCH STILL IN MANUAL MODE
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TC MANTOCSC # NOW AT CSC
|
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TC MANTOMAN # STILL MANUAL
|
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CCS WTOPTION # ZOPTICS-LOOK AT ZOPTICS RETURN OPTION
|
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TC +2 # 5 SEC RETURN GOOD-CONTINUE ZOPTICS
|
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TC OPTZERO # ZOPTICS MUST START ANEW
|
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TC INITZOPT # SHOW ZERO OPTICS PROCESSING
|
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TC SETDESMD # NORMAL EXIT
|
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MANTOMAN CCS WTOPTION # DECREMENT RETURN OPTION TIME
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TS WTOPTION
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TC SETDESMD
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MANTOCSC CAF ZERO # CANCEL ZOPT RETURN OPTION IF SET
|
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TS WTOPTION
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TS ZOPTCNT
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TC COARSLOK # CHECK FOR COARS OPT RETURN
|
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TC SETDESMD # NO COARS TASK-NO ACTION
|
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CAF ONE # SET COARS OPT WORKING
|
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TS OPTIND
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CAF BIT2 # ENABLE OPTICS CDU ERROR CNTS
|
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EXTEND
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WOR CHAN12
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TC SETDESMD
|
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CSCDES CCS SWSAMPLE # SEE IF SWITCH STILL AT CSC
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TC SETDESMD # STILL AT CSC
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TC CSCTOMAN # MANUAL
|
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CSCTOZOP CAF OCT40 # ZOPTICS-INITIALIZE FOR ZOPT
|
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TS ZOPTCNT
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TC INITZOPT
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CSCTOMAN CCS OPTIND # SEE IF COARS WORKING
|
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TC CANCOARS # COARS WORKING-SWITCH NOT CSC-KILL COARS
|
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TC CANCOARS
|
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TC +1 # NO COARS-NORMAL EXIT
|
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|
|
TC SETDESMD
|
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|
|
# Page 163
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|
|
CANCOARS CA NEGONE
|
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|
|
TS OPTIND # SET OPTIND (-1) TO SHOW NOT WORKING
|
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|
|
CS BIT2 # DISABLE OCDU ERR CNTS
|
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|
|
EXTEND
|
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|
|
WAND CHAN12
|
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|
|
CS OPTMODES # SET RETURN-TO-COARS BIT
|
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|
|
MASK BIT9
|
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|
ADS OPTMODES
|
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|
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TC SETDESMD
|
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|
|
OPTZERO TC INITZOPT # INITIALIZE ZERO OPTICS
|
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|
CA OCT40 # SET UP 32 SAMPLE WAIT
|
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|
|
SETCNT TS ZOPTCNT
|
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|
|
SETDESMD CA SWSAMPLE # SET CURRENT SWITCH INDICATION-RESUME
|
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|
|
TS DESOPMOD
|
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|
TC RESUME
|
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|
|
SETZOEND CAF BIT1 # SEND ZERO OPTICS CDU
|
|
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|
|
EXTEND
|
|
|
|
|
WOR CHAN12
|
|
|
|
|
CA 200MS # HOLD ZERO CDU FOR 200 MS
|
|
|
|
|
TC WAITLIST
|
|
|
|
|
EBANK= OPTMODES
|
|
|
|
|
2CADR ENDZOPT
|
|
|
|
|
|
|
|
|
|
CS OPTMODES # SHOW ZOPTICS TASK WORKING
|
|
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|
|
MASK BIT1
|
|
|
|
|
ADS OPTMODES
|
|
|
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|
|
|
|
|
|
TC SETDESMD
|
|
|
|
|
|
|
|
|
|
ENDZOPT TC ZEROPCDU # ZERO OCDU COUNTERS
|
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|
|
|
CS BIT1 # TURN OFF ZERO OCDU
|
|
|
|
|
EXTEND
|
|
|
|
|
WAND CHAN12
|
|
|
|
|
CAF 200MS # DELAY 200MS FOR CDUS TO RESYNCHRONIZE
|
|
|
|
|
TC VARDELAY
|
|
|
|
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|
|
CS OPTMODES # SHOW ZOPTICS SINCE LAST FRESH START
|
|
|
|
|
MASK BIT10 # OR RESTART
|
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|
|
ADS OPTMODES
|
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|
|
CS SEVEN # ENABLE OCDUFAIL-SHOW OPTICS COMPLETE
|
|
|
|
|
MASK OPTMODES
|
|
|
|
|
TS OPTMODES
|
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|
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|
|
|
|
|
TC OCDUFTST # CHECK OCDU FAIL BIT AFTER ENABLE.
|
|
|
|
|
# Page 164
|
|
|
|
|
TC TASKOVER
|
|
|
|
|
|
|
|
|
|
ZEROPCDU CAF ZERO
|
|
|
|
|
TS CDUS # ZERO IN CDUS, -20 IN CDUT
|
|
|
|
|
TS ZONE # INITIALZE SHAFT MONITOR ZONE.
|
|
|
|
|
CS 20DEGS
|
|
|
|
|
TS CDUT
|
|
|
|
|
TC Q
|
|
|
|
|
|
|
|
|
|
INITZOPT CAF ZERO # INITIALIZE ZOPTICS-INHIBIT OCDUFAIL
|
|
|
|
|
TS WTOPTION # AND SHOW OPTICS PROCESSING
|
|
|
|
|
CS OPTMODES # SET ZERO OPTICS PROCESSING
|
|
|
|
|
MASK SIX # OPTICS CDU FAIL INHIBITED
|
|
|
|
|
ADS OPTMODES
|
|
|
|
|
TC Q
|
|
|
|
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# Page 165
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OCDUFTST CAF BIT7 # SEE IF OCDUFAIL ON OR OFF
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EXTEND
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RAND CHAN30
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CCS A
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TCF OPFAILOF # OCDUFAIL LIGHT OFF
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CAF BIT2 # OCDUFAIL LIGHT ON UNLESS INHIBITED
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MASK OPTMODES
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CCS A
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TC Q # OCDUFAIL INHIBITED
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OPFAILON CAF BIT8 # ON BIT
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AD DSPTAB +11D
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MASK BIT8
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SETOFF EXTEND
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BZF TCQ # NO CHANGE
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TS L
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CA DSPTAB +11D
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EXTEND
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RXOR LCHAN
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MASK POSMAX
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AD BIT15 # SHOW ACTION WANTED
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TS DSPTAB +11D
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TC Q
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OPFAILOF CAF BIT1 # DON'T TURN OFF IF LAMP TEST
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MASK IMODES33
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CCS A
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TC Q # LAMP TEST IN PROGRESS
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CAF BIT8 # TURN OFF OCDUFAIL LIGHT
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MASK DSPTAB +11D
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TCF SETOFF
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OCT13 = ELEVEN
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OCTHIRTY EQUALS BITS4&5
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20DEGS DEC 7199
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OCT40 EQUALS BIT6
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200MS EQUALS OCT24
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# Page 166
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# OPTICS CDU DRIVING PROGRAM
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BANK 10
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SETLOC OPTDRV
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BANK
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COUNT* $$/SXT
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# SHAFT STOP MONITOR-ZONE UPDATE
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OPTDRIVE CA CDUS # GRAB OPTIC SHAFT CDU
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TS L
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CCS A # GET ABS(CDUS)
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AD 13,14,15
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TCF +2 # ABS(CDUS) - 45 DEG
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TCF -2
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EXTEND
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BZMF OZONE # LESS THAN 45 DEG-SET ZONE 0
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CA ZONE # IF ZONE ZERO, CHANGE TO + OR - OTHERWISE
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EXTEND # DON'T MESS WITH ZONE
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BZF +2
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TCF CONTDRVE # JUST CONTINUE
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XCH L # GREATER THAN 45 DEG-SET ZONE TO SIGN CDU
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TCF OZONE +1
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OZONE CAF ZERO # ABS(CDUS) LESS THAN 90 DEG-ZONE ZERO
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TS ZONE
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COUNT* $$/T4RUPT
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CONTDRVE CCS OPTIND
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TC +4 # WORK COARS OPTICS
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TC +3 # WORK COARS OPTICS
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TC RESUME # NO OPT
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TC RESUME # NO OPT
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CA SWSAMPLE # SEE IF SWITCH AT CMC
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EXTEND
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BZMF RESUME # ZERO (-1) MANUAL (+0)
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CAF BIT10 # SEE IF OCDUS ZEROED SINCE LAST FSTART
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MASK OPTMODES
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CCS A
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TC +3
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TC ALARM # OPTICS NOT ZEROED
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OCT 00120
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CA BIT2 # SEE IF ERR CNTS ENABLED
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EXTEND
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RAND CHAN12
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EXTEND
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BZF SETBIT # CNTS NOT ENABLED-DO IT AND RESUME
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CAF ONE # INITIALIZE OPTIND
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# Page 167
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OPT2 TS OPTIND
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EXTEND
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BZF TRUNCMD # CHECK TRUNION COMMAND
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GETOPCMD INDEX OPTIND
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CA DESOPTT # PICK UP DESIRED OPT ANGLE
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EXTEND
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INDEX OPTIND
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MSU CDUT # GET DIFFERENCE
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EXTEND
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MP BIT13
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XCH L
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DOUBLE
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TS ITEMP1
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TCF +2 # NO OVFL
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ADS L # WITH OVFL
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STORCMD INDEX OPTIND
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LXCH COMMANDO # STORE COMMAND
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CCS OPTIND
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TCF OPT2 # GET NEXT COMMAND
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TS ITEMP1 # INITIALIZE SEND INDICATOR TO ZERO
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COUNT* $$/SXT
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# SHAFT STOP AVOIDANCE
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CCS CDUS # IF CDUS GREATER THAN + OR - 90 DEG CHECK
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AD NEG1/2 # FOR POSSIBLE STOP PROBLEM
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TCF +2
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TCF -2
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EXTEND
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BZMF CMDSETUP # CDU LESS THAN 90 DEG, NO PROBLEMS
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CA ZONE
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EXTEND
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BZF CMDSETUP # ZONE=3, NORMAL COMMAND
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MASK BIT15 # GRAB SIGN OF ZONE
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TS L
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CA COMMANDO +1
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MASK BIT15 # GRAB SIGN OF SHAFT COMMAND
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EXTEND
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RXOR LCHAN
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CCS A
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TCF CMDSETUP # SIGN ZONE NOT EQUAL TO SIGN COMMAND
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CCS DESOPTS # SEE IF DESOPTS BETWEEN -90 AND +90
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AD NEG1/2
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TCF +2 # ABS(DESOPTS) - 90 DEG
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TCF -2
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EXTEND
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# Page 168
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BZMF +2 # DESOPTS IN FIRST OR FOURTH QUAD
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TCF CMDSETUP
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CS COMMANDO +1 # REVERSE REGULAR COMMAND
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TS COMMANDO +1
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COUNT* $$/T4RPT
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CMDSETUP CAF ONE # SET OPTIND
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TS OPTIND
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INDEX A
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CCS COMMANDO # GET SIGN OF COMMAND
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TC POSOPCMD
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TC NEXTOPT +1 # ZERO COMMAND-SKIP SEND INDICATOR
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TC NEGOPCMD
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TC NEXTOPT +1 # ZERO COMMAND
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TRUNCMD CS CDUT # IF COMMAND GREATER THAN 45 DEG-COMMAND
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AD DESOPTT # 45 DEG
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TS Q
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TC GETOPCMD # LESS THAN 45 DEG-NORMAL OPERATION
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CCS A # GREATER THAN 45 DEG-USE OPSMAX WITH
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CA POSMAX # CORRECT SIGN
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TC +2
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CS POSMAX
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TS L
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TC STORCMD
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POSOPCMD AD MAXPLS1
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EXTEND
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BZMF DELOPCMD # COMMAND LESS THAN MAX PULSE
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CS MAXPLS # GREATER THAN MAX PULSE-USE MAX PULSE
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NEXTOPT INCR ITEMP1 # SET SEND INDICATOR
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AD NEG0 # MAKE SURE ZERO COMMAND IS -ZERO
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INDEX OPTIND
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TS CDUTCMD # STORE PULSE IN SEND REG
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CCS OPTIND
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TC CMDSETUP +1 # GET NEXT OPT
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CCS ITEMP1 # ARE ANY PULSES TO GO
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TCF SENDOCMD # YES-SEND EM
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TC RESUME # NO
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NEGOPCMD AD MAXPLS1
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EXTEND
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BZMF DELOPCMD # LESS THAN MAX PULSE
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CA MAXPLS # MAX PULSES
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TCF NEXTOPT
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# Page 169
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DELOPCMD INDEX OPTIND
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XCH COMMANDO # SET UP SMALL COMMAND
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TCF NEXTOPT
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SENDOCMD CAF 11,12 # SEND OCDU DRIVE COMMANDS
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EXTEND
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WOR CHAN14
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TC RESUME
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SETBIT CAF BIT2 # ENABLE OCDU ERR CNTS
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EXTEND
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WOR CHAN12
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TC RESUME # START COARS NEXT TIME AROUND
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MAXPLS DEC -165 # WAS -80
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MAXPLS1 DEC -164 # WAS -79
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11,12 EQUALS PRIO6
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