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Apollo-11/T4RUPT_PROGRAM.s
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# Copyright: Public domain.
# Filename: T4RUPT_PROGRAM.agc
# Purpose: Part of the source code for Comanche, build 055.
# It is part of the source code for the Command Module's (CM)
# Apollo Guidance Computer (AGC), Apollo 11.
# Assembler: yaYUL
# Reference: pp. 133-169
# Contact: Ron Burkey <info@sandroid.org>,
# Fabrizio Bernardini <fabrizio@spacecraft.it>
# Website: http://www.ibiblio.org/apollo.
# Mod history: 10/05/09 FB Transcription of Batch FB-1 Assignment.
#
# The contents of the "Comanche055" files, in general, are transcribed
# from scanned documents.
#
# Assemble revision 055 of AGC program Comanche by NASA
# 2021113-051. April 1, 1969.
#
# This AGC program shall also be referred to as Colossus 2A
#
# Prepared by
# Massachusetts Institute of Technology
# 75 Cambridge Parkway
# Cambridge, Massachusetts
#
# under NASA contract NAS 9-4065.
#
# Refer directly to the online document mentioned above for further
# information. Please report any errors to info@sandroid.org.
# Page 133
BANK 12
SETLOC T4RUP
BANK
COUNT 06/T4RPT
T4RUPT TS BANKRUPT
EXTEND
QXCH QRUPT
CCS DSRUPTSW # GOES 7(-1)0 AROUND AND AROUND
TCF NORMT4 +1
TCF NORMT4
TCF QUIKDSP
NORMT4 CAF SEVEN
TS RUPTREG1
TS DSRUPTSW
COUNT 02/T4RPT
74K = HIGH4
# RELTAB IS A PACKED TABLE. RELAYWORD CODE IN UPPER 4 BITS, RELAY CODE
# IN LOWER 5 BITS.
BLOCK 02
SETLOC FFTAG12
BANK
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 134
# SWITCHED-BANK PORTION
BANK 12
SETLOC T4RUP
BANK
COUNT 06/T4RPT
CDRVE CCS DSPTAB +11D
TC DSPOUT
TC DSPOUT
XCH DSPTAB +11D
MASK LOW11
TS DSPTAB +11D
AD RELTAB11
EXTEND
WRITE OUT0
TC HANG20
# Page 135
# 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 +, 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
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 # WRITE CHANNEL 10
TCF Q+1 # *** NORMAL RETURN SKIPS ONE
DSPOUT CCS FLAGWRD5 # DON'T DISPLAY UNLESS DSKY FLAG ON
CAF ZERO
TCF NODSPOUT
CCS NOUT
TC DSPOUTSB
TCF NODSPOUT # NO DISPLAY REQUESTS
HANG20 CS 11,14,9
ADS DSRUPTSW
CAF 20MRUPT
SETTIME4 TS TIME4
# Page 136
# 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 # CHECK IF BIT 14 DIFFERENT
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
CAF CHRPRIO # WAS OFF -- NOW ON
TC NOVAC
EBANK= DSPCOUNT
2CADR PROCKEY
# Page 137
# JUMP TO APPROPRIATE ONCE-PER SECOND (0.96 SEC ACTUALLY) ACTIVITY
T4JUMP INDEX RUPTREG1
TCF +1
TCF OPTTEST
TCF OPTMON
TCF IMUMON
TCF RESUME
TCF OPTTEST
TCF OPTMON
TCF IMUMON
TCF RESUME
OPTTEST TC IBNKCALL
CADR OPTDRIVE
20MRUPT = OCT37776 # (DEC 16382)
NODSPOUT EXTEND # TURN OFF RELAYS
WRITE OUT0
CAF 120MRUPT # SET FOR NEXT CDRVE
TCF SETTIME4
QUIKDSP CAF BIT14
MASK DSRUPTSW
EXTEND
BZF QUIKOFF # WROTE LAST TIME, NOW TURN OFF RELAYS.
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
TC RESUME
NODSPY EXTEND
WRITE OUT0
SYNCT4 CAF 20MRUPT
ADS TIME4
CAF BIT9
# Page 138
ADS DSRUPTSW
CCS DSRUPTSW
TC RESUME
OCT37737 OCT 37737
TC SYNCT4
TC RESUME
QUIKOFF EXTEND
WRITE OUT0
CAF BIT14 # RESET DSRUPTSW TO SEND DISPLAY NEXT PASS
TCF QUIKRUPT
11,14,9 OCT 22400
# Page 139
# 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, ITURNON, SETISSW, IMUCAGE, IMUOP.
#
# ERASABLE INITIALIZATION:
# FRESH START OR RESTART WITH NO GROUPS ACTIVE: C(IMODES30) = 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 # CHECK IF BITS 9,11-15 CHANGED
MASK 30RDMSK
EXTEND
BZF TNONTEST # NO CHANGE IN STATUS
TS RUPTREG1 # SAVE BITS WHICH HAVE CHANGED.
LXCH IMODES30 # UPDATE IMODES30.
EXTEND
RXOR LCHAN
TS IMODES30
CS ONE
XCH RUPTREG1
EXTEND
# Page 140
BZMF TLIM # CHANGE IN IMU TEMP.
TCF NXTIFBIT # BEGIN BIT SCAN.
-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
NXTIFAIL CCS RUPTREG2 # PROCESS ANY ADDITIONAL CHANGES.
TCF NXTIFBIT -1
# Page 141
# 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 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.
# 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
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.
#
# SUBROUTINES CALLED: 1) SETISSW, AND 2) ALARM (SEE FUNCITONAL DESCRIPTION).
#
# 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
UPTMFAST CCS A # SAME AS DNLINK TOO FAST WITH DIFFERENT
TCF NXTFL33 # ALARM CODE.
TC ALARM
OCT 1106
TCF NXTFL33
# Page 157
# 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 INITIATED: NONE.
#
# SUBROUTINES CALLED: NONE.
#
# ERASABLE INITIALIZATION:
#
# 1) IMODES30 -- SEE IMUMON.
# 2) IMODES33 BIT 1 = 0 (LAMP TEST NOT IN PROGRESS).
#
# ALARMS: ISS WARNING.
#
# 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.
ISSWOFF CAF BIT1 # DON'T TURN OFF ISS WARNING IF LAMP TEST
MASK IMODES33 # IN PROGRESS.
CCS A
TC Q
CS BIT1
EXTEND
WAND DSALMOUT # TURN OFF ISS WARNING.
TC Q
ISSWON EXTEND
# Page 158
QXCH ITEMP6
TC VARALARM # TELL EVERYONE WHAT CAUSED THE ISS WARNING
CAF BIT1
EXTEND
WOR DSALMOUT # TURN ON ISS WARNING
TC ITEMP6
CAGESUB CS BIT15+6 # SET OUTBITS + 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
CAGESUB1 CS DSPTAB +11D # TURN ON NO ATT LAMP
MASK OC40010
ADS DSPTAB +11D
CAGESUB2 CS IMODES30 # SET FLAGS TO INDICATE CAGING OR TURN-ON
MASK OCT75 # AND INHIBIT ALL ISS WARNING INFO
ADS IMODES30
CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES
MASK BIT6
ADS IMODES33
TC Q
IMUFAIL EQUALS SETISSW
ICDUFAIL EQUALS SETISSW
# Page 159
# 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
C33JMP TCF PIPFAIL # CHANNEL 33 DISPATCH.
TCF DNTMFAST
TCF UPTMFAST
# SUBROUTINE TO SKIP IF LAMP TEST NOT IN PROGRESS.
LAMPTEST CS IMODES33 # BIT 1 OF IMODES33 = 1 IF LAMP TEST IN
MASK BIT1 # PROGRESS.
TCF ZOPFIN3
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
-BIT10 OCT -1000
90SECS DEC 9000
120MS = OCT14 # (DEC12)
GLOCKOK EQUALS RESUME
# Page 160
# OPTICS MONITORING AND ZERO ROUTINES
OPTMON CA OPTMODES # MONITOR OPTICS INBITS IN CHAN 30 AND 33
EXTEND
RXOR CHAN30 # LOOK FOR OCDU FAIL BIT CHANGE
MASK BIT7
TS RUPTREG1 # STORE CHANGE BIT
CCS A
TC OCDUFTST # PROCESS OCDUFAIL BIT CHANGE
33OPTMON CCS OPTIND # BYPASS IF TVC TAKEOVER
TCF +4
TCF +3
TCF +2
TCF RESUME
CA OPTMODES # LOOK FOR OPTICS MODE SWITCH CHANGE
EXTEND
RXOR CHAN33
MASK OCTHIRTY
ADS RUPTREG1 # STORE INBIT CHANGES
LXCH OPTMODES
EXTEND
RXOR LCHAN
TS OPTMODES # UPDATE OPTMODES TO SHOW BIT CHANGES
COM # SAMPLE CURRENT SWITCH SETTING
MASK OCTHIRTY
EXTEND
BZF SETSAMP # MANUAL-SET ZERO IN SWSAMPLE
MASK BIT5 # SEE IF CSC
CCS A
TC +2 # CSC-SET SWSAMPLE POS
CAF NEGONE # ZOPTICS-SET SWSAMPLE (-1)
SETSAMP TS SWSAMPLE # CURRENT OPTICS SWITCH SETTING
PROCESSW CCS DESOPMOD # BRANCH ON PREVIOUS SETTING
TC CSCDES # CSC
TC MANUDES # MANUAL
TC ZOPTDES # ZERO OPTICS
# Page 161
ZOPTDES CCS SWSAMPLE # IS SWITCH STILL AT ZOPTICS
TC ZTOCSC # NOW AT CSC
TC ZTOMAN # MANUAL
TC ZOPFIN1 # ZOPTICS-SEE IF ZOPT PROCESSING // Should be TC ZOPFINI
TC SETDESMD # ZOPT NOT PROCESSING-NO ACTION
CCS ZOPTCNT # ZOPT PROCESSING-CHECK COUNTER
TC SETCNT # 32 SAMPLE NOT FINISHED-SET COUNTER
TC SETZOEND # 32 SAMPLE WAIT COMPLETED-SET UP ZOP END
ZTOMAN TC ZOPFIN1 # ZOP TO MANUAL-IS ZOPT DONE // Should be TC ZOPFINI
TC SETDESMD # YES-NORMAL EXIT
ZOPALARM TC ALARM # ALARM-SWITCHED ALTERED WHILE ZOPTICS
OCT 00116
CAF OCT13 # PROCESSING-SET RETURN OPTION
TS WTOPTION
TC CANZOPT # CANCEL ZOPT
TC SETDESMD
ZTOCSC TC ZOPFIN1 # SEE IF ZOPT PROCESSING // Should be TC ZOPFINI
TC MANTOCSC +3 # NO-CHECK RETURN TO COARS OPT
TC ALARM # ZOPT PROCESSING-ALARM
OCT 00116
TC CANZOPT # CANCEL ZOPT
TC MANTOCSC # ZERO CNT-LOOK FOR COARS OPT RETURN
COARSLOK CAF BIT9 # IF COARS OPT SINCE FSTART GO TO L+2
TCF ZOPFIN2 # IF NOT GO TO L+1
ZOPFIN1 CAF BIT1 # SEE IF END ZOPT TASK WORKING // Label should be ZOPFINI
MASK OPTMODES
CCS A
TC RESUME # ZOPT TASK WORKING-WAIT ONE SAMPLE PERIOD
CAF BIT3 # TEST IF ZOPTICS PROCESSING
ZOPFIN2 MASK OPTMODES # RETURNS TO L+1 PROCESSING AND
ZOPFIN3 CCS A
INCR Q # L+2 IF NOT
TC Q
CANZOPT CS SIX # CANCEL ZERO OPTICS
MASK OPTMODES # ZERO ZOPT PROCESSING BIT-ENABLE OCDUFAIL
TS OPTMODES
CS BIT1 # MAKE SURE ZERO OCDU IS OFF
EXTEND
WAND CHAN12
TC Q
# Page 162
MANUDES CCS SWSAMPLE # SEE IF SWITCH STILL IN MANUAL MODE
TC MANTOCSC # NOW AT CSC
TC MANTOMAN # STILL MANUAL
CCS WTOPTION # ZOPTICS-LOOK AT ZOPTICS RETURN OPTION
TC +2 # 5 SEC RETURN GOOD-CONTINUE ZOPTICS
TC OPTZERO # ZOPTICS MUST START ANEW
TC INITZOPT # SHOW ZERO OPTICS PROCESSING
TC SETDESMD # NORMAL EXIT
MANTOMAN CCS WTOPTION # DECREMENT RETURN OPTION TIME
TS WTOPTION
TC SETDESMD
MANTOCSC CAF ZERO # CANCEL ZOPT RETURN OPTION IF SET
TS WTOPTION
TS ZOPTCNT
TC COARSLOK # CHECK FOR COARS OPT RETURN
TC SETDESMD # NO COARS TASK-NO ACTION
CAF ONE # SET COARS OPT WORKING
TS OPTIND
CAF BIT2 # ENABLE OPTICS CDU ERROR CNTS
EXTEND
WOR CHAN12
TC SETDESMD
CSCDES CCS SWSAMPLE # SEE IF SWITCH STILL AT CSC
TC SETDESMD # STILL AT CSC
TC CSCTOMAN # MANUAL
CSCTOZOP CAF OCT40 # ZOPTICS-INITIALIZE FOR ZOPT
TS ZOPTCNT
TC INITZOPT
CSCTOMAN CCS OPTIND # SEE IF COARS WORKING
TC CANCOARS # COARS WORKING-SWITCH NOT CSC-KILL COARS
TC CANCOARS
TC +1 # NO COARS-NORMAL EXIT
TC SETDESMD
# Page 163
CANCOARS CA NEGONE
TS OPTIND # SET OPTIND (-1) TO SHOW NOT WORKING
CS BIT2 # DISABLE OCDU ERR CNTS
EXTEND
WAND CHAN12
CS OPTMODES # SET RETURN-TO-COARS BIT
MASK BIT9
ADS OPTMODES
TC SETDESMD
OPTZERO TC INITZOPT # INITIALIZE ZERO OPTICS
CA OCT40 # SET UP 32 SAMPLE WAIT
SETCNT TS ZOPTCNT
SETDESMD CA SWSAMPLE # SET CURRENT SWITCH INDICATION-RESUME
TS DESOPMOD
TC RESUME
SETZOEND CAF BIT1 # SEND ZERO OPTICS CDU
EXTEND
WOR CHAN12
CA 200MS # HOLD ZERO CDU FOR 200 MS
TC WAITLIST
EBANK= OPTMODES
2CADR ENDZOPT
CS OPTMODES # SHOW ZOPTICS TASK WORKING
MASK BIT1
ADS OPTMODES
TC SETDESMD
ENDZOPT TC ZEROPCDU # ZERO OCDU COUNTERS
CS BIT1 # TURN OFF ZERO OCDU
EXTEND
WAND CHAN12
CAF 200MS # DELAY 200MS FOR CDUS TO RESYNCHRONIZE
TC VARDELAY
CS OPTMODES # SHOW ZOPTICS SINCE LAST FRESH START
MASK BIT10 # OR RESTART
ADS OPTMODES
CS SEVEN # ENABLE OCDUFAIL-SHOW OPTICS COMPLETE
MASK OPTMODES
TS OPTMODES
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
# Page 165
OCDUFTST CAF BIT7 # SEE IF OCDUFAIL ON OR OFF
EXTEND
RAND CHAN30
CCS A
TCF OPFAILOF # OCDUFAIL LIGHT OFF
CAF BIT2 # OCDUFAIL LIGHT ON UNLESS INHIBITED
MASK OPTMODES
CCS A
TC Q # OCDUFAIL INHIBITED
OPFAILON CAF BIT8 # ON BIT
AD DSPTAB +11D
MASK BIT8
SETOFF EXTEND
BZF TCQ # NO CHANGE
TS L
CA DSPTAB +11D
EXTEND
RXOR LCHAN
MASK POSMAX
AD BIT15 # SHOW ACTION WANTED
TS DSPTAB +11D
TC Q
OPFAILOF CAF BIT1 # DON'T TURN OFF IF LAMP TEST
MASK IMODES33
CCS A
TC Q # LAMP TEST IN PROGRESS
CAF BIT8 # TURN OFF OCDUFAIL LIGHT
MASK DSPTAB +11D
TCF SETOFF
OCT13 = ELEVEN
OCTHIRTY EQUALS BITS4&5
20DEGS DEC 7199
OCT40 EQUALS BIT6
200MS EQUALS OCT24
# Page 166
# OPTICS CDU DRIVING PROGRAM
BANK 10
SETLOC OPTDRV
BANK
COUNT* $$/SXT
# SHAFT STOP MONITOR-ZONE UPDATE
OPTDRIVE CA CDUS # GRAB OPTIC SHAFT CDU
TS L
CCS A # GET ABS(CDUS)
AD 13,14,15
TCF +2 # ABS(CDUS) - 45 DEG
TCF -2
EXTEND
BZMF OZONE # LESS THAN 45 DEG-SET ZONE 0
CA ZONE # IF ZONE ZERO, CHANGE TO + OR - OTHERWISE
EXTEND # DON'T MESS WITH ZONE
BZF +2
TCF CONTDRVE # JUST CONTINUE
XCH L # GREATER THAN 45 DEG-SET ZONE TO SIGN CDU
TCF OZONE +1
OZONE CAF ZERO # ABS(CDUS) LESS THAN 90 DEG-ZONE ZERO
TS ZONE
COUNT* $$/T4RUPT
CONTDRVE CCS OPTIND
TC +4 # WORK COARS OPTICS
TC +3 # WORK COARS OPTICS
TC RESUME # NO OPT
TC RESUME # NO OPT
CA SWSAMPLE # SEE IF SWITCH AT CMC
EXTEND
BZMF RESUME # ZERO (-1) MANUAL (+0)
CAF BIT10 # SEE IF OCDUS ZEROED SINCE LAST FSTART
MASK OPTMODES
CCS A
TC +3
TC ALARM # OPTICS NOT ZEROED
OCT 00120
CA BIT2 # SEE IF ERR CNTS ENABLED
EXTEND
RAND CHAN12
EXTEND
BZF SETBIT # CNTS NOT ENABLED-DO IT AND RESUME
CAF ONE # INITIALIZE OPTIND
# Page 167
OPT2 TS OPTIND
EXTEND
BZF TRUNCMD # CHECK TRUNION COMMAND
GETOPCMD INDEX OPTIND
CA DESOPTT # PICK UP DESIRED OPT ANGLE
EXTEND
INDEX OPTIND
MSU CDUT # GET DIFFERENCE
EXTEND
MP BIT13
XCH L
DOUBLE
TS ITEMP1
TCF +2 # NO OVFL
ADS L # WITH OVFL
STORCMD INDEX OPTIND
LXCH COMMANDO # STORE COMMAND
CCS OPTIND
TCF OPT2 # GET NEXT COMMAND
TS ITEMP1 # INITIALIZE SEND INDICATOR TO ZERO
COUNT* $$/SXT
# SHAFT STOP AVOIDANCE
CCS CDUS # IF CDUS GREATER THAN + OR - 90 DEG CHECK
AD NEG1/2 # FOR POSSIBLE STOP PROBLEM
TCF +2
TCF -2
EXTEND
BZMF CMDSETUP # CDU LESS THAN 90 DEG, NO PROBLEMS
CA ZONE
EXTEND
BZF CMDSETUP # ZONE=3, NORMAL COMMAND
MASK BIT15 # GRAB SIGN OF ZONE
TS L
CA COMMANDO +1
MASK BIT15 # GRAB SIGN OF SHAFT COMMAND
EXTEND
RXOR LCHAN
CCS A
TCF CMDSETUP # SIGN ZONE NOT EQUAL TO SIGN COMMAND
CCS DESOPTS # SEE IF DESOPTS BETWEEN -90 AND +90
AD NEG1/2
TCF +2 # ABS(DESOPTS) - 90 DEG
TCF -2
EXTEND
# Page 168
BZMF +2 # DESOPTS IN FIRST OR FOURTH QUAD
TCF CMDSETUP
CS COMMANDO +1 # REVERSE REGULAR COMMAND
TS COMMANDO +1
COUNT* $$/T4RPT
CMDSETUP CAF ONE # SET OPTIND
TS OPTIND
INDEX A
CCS COMMANDO # GET SIGN OF COMMAND
TC POSOPCMD
TC NEXTOPT +1 # ZERO COMMAND-SKIP SEND INDICATOR
TC NEGOPCMD
TC NEXTOPT +1 # ZERO COMMAND
TRUNCMD CS CDUT # IF COMMAND GREATER THAN 45 DEG-COMMAND
AD DESOPTT # 45 DEG
TS Q
TC GETOPCMD # LESS THAN 45 DEG-NORMAL OPERATION
CCS A # GREATER THAN 45 DEG-USE OPSMAX WITH
CA POSMAX # CORRECT SIGN
TC +2
CS POSMAX
TS L
TC STORCMD
POSOPCMD AD MAXPLS1
EXTEND
BZMF DELOPCMD # COMMAND LESS THAN MAX PULSE
CS MAXPLS # GREATER THAN MAX PULSE-USE MAX PULSE
NEXTOPT INCR ITEMP1 # SET SEND INDICATOR
AD NEG0 # MAKE SURE ZERO COMMAND IS -ZERO
INDEX OPTIND
TS CDUTCMD # STORE PULSE IN SEND REG
CCS OPTIND
TC CMDSETUP +1 # GET NEXT OPT
CCS ITEMP1 # ARE ANY PULSES TO GO
TCF SENDOCMD # YES-SEND EM
TC RESUME # NO
NEGOPCMD AD MAXPLS1
EXTEND
BZMF DELOPCMD # LESS THAN MAX PULSE
CA MAXPLS # MAX PULSES
TCF NEXTOPT
# Page 169
DELOPCMD INDEX OPTIND
XCH COMMANDO # SET UP SMALL COMMAND
TCF NEXTOPT
SENDOCMD CAF 11,12 # SEND OCDU DRIVE COMMANDS
EXTEND
WOR CHAN14
TC RESUME
SETBIT CAF BIT2 # ENABLE OCDU ERR CNTS
EXTEND
WOR CHAN12
TC RESUME # START COARS NEXT TIME AROUND
MAXPLS DEC -165 # WAS -80
MAXPLS1 DEC -164 # WAS -79
11,12 EQUALS PRIO6
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