https://github.com/virtualagc/virtualagc
Revision 62edbcc8c6021789df156749d71229308ba4313a authored by Ronald Burkey on 08 August 2021, 00:25:00 UTC, committed by GitHub on 08 August 2021, 00:25:00 UTC
yaAGCb1: Fixed a few errors identified by SELF-CHECK
Tip revision: 62edbcc8c6021789df156749d71229308ba4313a authored by Ronald Burkey on 08 August 2021, 00:25:00 UTC
Merge pull request #1149 from virtualagc/yagcb1_fixes
Merge pull request #1149 from virtualagc/yagcb1_fixes
Tip revision: 62edbcc
P20-P25.agc
### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: P20-P25.agc
## Purpose: A section of Luminary revision 163.
## It is part of the reconstructed source code for the first
## (unflown) release of the flight software for the Lunar
## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 14.
## The code has been recreated from a reconstructed copy of
## Luminary 173, as well as Luminary memos 157 amd 158.
## It has been adapted such that the resulting bugger words
## exactly match those specified for Luminary 163 in NASA
## drawing 2021152N, which gives relatively high confidence
## that the reconstruction is correct.
## Reference: pp. 500-611
## Assembler: yaYUL
## Contact: Ron Burkey <info@sandroid.org>.
## Website: www.ibiblio.org/apollo/index.html
## Mod history: 2019-08-21 MAS Created from Luminary 173. Removed setting and
## clearing of R12RDFLG from R12READ.
## Page 500
# RENDEZVOUS NAVIGATION PROGRAM 20
# PROGRAM DESCRIPTION
# MOD NO - 2
# BY P. VOLANTE
# FUNCTIONAL DESCRIPTION
#
# THE PURPOSE OF THIS PROGRAM IS TO CONTROL THE RENDEZVOUS RADAR FROM
# STARTUP THROUGH ACQUISITION AND LOCKON TO THE CSM AND TO UPDATE EITHER
# THE LM OR CSM STATE VECTOR (AS SPECIFIED BY THE ASTRONAUT BY DSKY ENTRY)
# ON THE BASIS OF THE RR TRACKING DATA.
# CALLING SEQUENCE -
#
# ASTRONAUT REQUEST THROUGH DSKY V37E20E
# SUBROUTINES CALLED
# R02BOTH (IMU STATUS CHECK) FLAGUP
# GOFLASH (PINBALL-DISPLAY) FLAGDOWN
# R23LEM (MANUAL ACQUISITION) BANKCALL
# LS201 (LOS DETERMINATION) TASKOVER
# LS202 (RANGE LIMIT TEST)
# R61LEM (PREFERRED TRACKING ATTITUDE)
# R21LEM (RR DESIGNATE) ENDOFJOB
# R22LEM (DATA READ) GOPERF1
# R31LEM (RENDEZVOUS PARAMETER DISPLAY)
# PRIOLARM (PRIORITY DISPLAY)
# NORMAL EXIT MODES-
# P20 MAY BE TERMINATED IN TWO WAYS-ASTRONAUT SELECTION OF IDLING
# PROGRAM (P00) BY KEYING V37E00E OR BY KEYING IN V56E
# ALARM OR ABORT EXIT MODES-
# RANGE GREATER THAN 400 NM DISPLAY
# OUTPUT
# TRKMKCNT = NO OF RENDEZVOUS TRACKING MARKS TAKEN (COUNTER)
# ERASABLE INITIALIZATION REQUIRED
# FLAGS SET + RESET
# SRCHOPT,RNDVZFLG,ACMODFLG,VEHUPFLG,UPDATFLG,TRACKFLG,
# DEBRIS
# CENTRALS-A,Q,L
SBANK= LOWSUPER # FOR LOW 2CADR'S.
BANK 33
SETLOC P20S
BANK
EBANK= LOSCOUNT
COUNT* $$/P20
PROG22 = PROG20
PROG20 TC 2PHSCHNG
OCT 4
OCT 05022
OCT 26000 # PRIORITY 26
TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
## Page 501
TC ORBCHGO # YES
TC PROG20A -2 # NO - CONTINUE WITH P20
ORBCHGO TC UPFLAG # SET VEHUPFLG - CSM STATE
ADRES VEHUPFLG # VECTOR TO BE UPDATED
CAF ONE # SET R2 FOR OPTION CSM WILL NOT
TS OPTION2 # CHANGE PRESENT ORBIT
CAF OCT00012
TC BANKCALL # DISPLAY ASSUMED CSM ORBIT OPTION
CADR GOPERF4
TC GOTOPOOH # TERMINATE
TC ORBCHG1 # PROCEED VALUE OF ASSUMED OPTION OK
TC -5 # R2 LOADED THRU DSKY
ORBCHG1 CS ONE
AD OPTION2
EXTEND
BZF PROG20A
CAF V06N33*
TC BANKCALL # FLASH VERB-NOUN TO REQUEST ESTIMATED
CADR GOFLASH # TIME OF LAUNCH
TC GOTOPOOH # TERMINATE
TC ORBCHG2 # PROCEED VALUES OK
TC -5 # TIME LOADED THRU DSKY
ORBCHG2 TC INTPRET
GOTO
ORBCHG3
BANK 32
SETLOC P20S4
BANK
COUNT* $$/P20
ORBCHG3 CALL
INTSTALL
DLOAD
TIG
STORE LNCHTM
STORE TDEC1 # ESTIMATED LAUNCH TIME
CLEAR CLEAR
VINTFLAG # LM INTEGRATION
INTYPFLG # PRECISION - ENCKE
CLEAR CLEAR
DIM0FLAG # NO W-MATRIX
D6OR9FLG
CALL
INTEGRV # PLANETARY INERTIAL ORIENTATION
CALL
GRP2PC
VLOAD
RATT1
STODL RSUBL # SAVE LM POSITION
TAT
## Page 502
STCALL TDEC1
INTSTALL
SET CLEAR
VINTFLAG # CSM INTEGRATION
INTYPFLG
CLEAR BOFF
DIM0FLAG
RENDWFLG # W MATRIX VALID
NOWMATX # NO
SET SET # YES - SET FOR W MATRIX
DIM0FLAG
D6OR9FLG
NOWMATX CALL
INTEGRV # CSM INTEGRATION
CALL
GRP2PC
VLOAD
VATT1
STOVL VSUBC # SAVE CSM VELOCITY
RATT1
STORE RSUBC # SAVE CSM POSITION
VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE
VSUBC # NSUB1=UNIT(R(CM) CROSS V(CM)
STOVL 20D # SAVE NSUB1
RSUBL # COMPUTE ESTIMATED ORBITAL
VXV UNIT # PLANE CHANGE
20D # UCSM = UNIT(R(LM) CROSS NSUB1)
STOVL UCSM
RSUBC # COMPUTE ANGLE BETWEEN UCSM
UNIT DOT # AND RSUBC
UCSM # COS A = UCSM DOT UNIT (R(CM))
SL1
STORE CSTH # SAVE DOE TIME-THETA SUBROUTINE
DSQ BDSU # COMPUTE SINE A
ONEB-2
SQRT
STOVL SNTH # SAVE FOR TIME-THETA SUBROUTINE
RSUBC # POSITION OF CSM AT EST. LAUNCH
STOVL RVEC # TIME FOR TIME-THETA B-27
VSUBC # VELOCITY OF CSM AT EST. LAUNCH
VCOMP
STORE VVEC # TIME FOR TIME THETA B-5
CLEAR CALL
RVSW
TIMETHET
VCOMP
STORE NEWVEL # TERMINAL VELOCITY OF CSM
DLOAD
T
STOVL TRANSTM # TRANSFER TIME
## Page 503
NEWVEL
ABVAL
STOVL 20D
0D
STORE NEWPOS # TERMINAL POSITION OF CSM
VXV UNIT # COMPUTE NORMAL TO CSM ORBITAL PLANE
RSUBL # NSUB2 = UNIT(NEWPOS CROSS R(LM))
VXV UNIT # ROTATE TERMINAL VEL INTO DESIRED
NEWPOS # ORBITAL PLANE
VXSC VSL1 # VSUBC = ABVAL(NEWVEL) $ UNIT( NSUB2
20D
STCALL NCSMVEL # NEW CSM VELOCITY
GRP2PC
CALL
INTSTALL
DLOAD BDSU
TRANSTM # LAUNCH TIME - TRANSFER TIME
LNCHTM
STOVL TET
NEWPOS
STORE RCV
STOVL RRECT
NCSMVEL
STCALL VRECT
MINIRECT
AXT,2 CALL
2
ATOPCSM
CALL
INTWAKE0
EXIT
TC BANKCALL
CADR PROG20A
BANK 24
SETLOC P20S
BANK
COUNT* $$/P20
TC DOWNFLAG # RESET VEHUPFLG- LM STATE VECTOR
ADRES VEHUPFLG # TO BE UPDATED
PROG20A TC BANKCALL
CADR R02BOTH
TC UPFLAG
ADRES UPDATFLG # SET UPDATE FLAG
TC UPFLAG
ADRES TRACKFLG # SET TRACK FLAG
TC UPFLAG
ADRES RNDVZFLG # SET RENDEZVOUS FLAG
TC DOWNFLAG
ADRES SRCHOPTN # INSURE SEARCH OPTION OFF
## Page 504
TC DOWNFLAG # ALSO MANUAL ACQUISITION FLAG RESET
ADRES ACMODFLG
TC DOWNFLAG # TURN OFF R04FLAG TO ENSURE GETTING
ADRES R04FLAG # ALARM 521 IF CANT READ RADAR
TC DOWNFLAG # ENSURE R25 GIMBAL MONITOR IS ENABLED
ADRES NORRMON # (RESET NORRMON FLAG)
TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG
ADRES LOSCMFLG
TC CLRADMOD
TC UPFLAG
ADRES FSPASFLG # SET FIRST PASS FLAG FOR ALARM
P20LEM1 TC PHASCHNG
OCT 04022
CAF ZERO # ZERO MARK COUNTER
TS MARKCTR
P20LEM2 TC INTPRET # LOS DETERMINATION ROUTINE
RTB
LOADTIME
STCALL TDEC1
LPS20.1
CALL
LPS20.2 # TEST RANGE R/UTINE
EXIT
INDEX MPAC
TC +1
TC P20LEMA # NORMAL RETURN WITHIN 400 N M
526ALARM TC INTPRET
VLOAD UNIT
RRANGE
DOT SL1
VELLOS
STODL RRATE # RANGE RATE FOR NOUN 54 B-7
36D
DSU BPL # IF RANGE>999.99,DISPLAY 999.99
999.99NM
TOOBIG
DLOAD
36D
526ALRM1 STODL RANGE # RANGE FOR NOUN 54 B-29
ZEROVECS
STORE RTHETA # ZERO THETA FOR NOUN 54
BOFF BOFF
FSPASFLG # FIRST PASS
P20LEMC5 # NO
SURFFLAG # ON LUNAR SURFACE
ALRMLT # NO
DLOAD BPL
RRATE
ENDRN
EXIT # YES
## Page 505
TC PHASCHNG # IN CASE OF RESTART
OCT 04022 # REACTIVATE DISPLAY
CAF V16N5420
TC BANKCALL # TURN ON V16N54 - DISPLAY
CADR GODSPR # RANGE AND RANGE RATE
TC P20LEM5
TOOBIG DLOAD GOTO
999.99NM
526ALRM1
ENDRN EXIT
TC GOTOV56
ALRMLT EXIT
TC PHASCHNG
OCT 04022
TC ALARM # TURN ON ALARM LIGHT P20
OCT 526
TC P20LEM5
P20LEMC5 EXIT
P20LEM5 TC DOWNFLAG
ADRES FSPASFLG
CAF 500DEC # WAIT 5SECS
TC BANKCALL
CADR DELAYJOB
TC P20LEM2
P20LEM3 TC BANKCALL
CADR CLEANDSP
TC P20LEMB
P20LEMA TC PHASCHNG
OCT 04022
TC LUNSFCHK # CHECK LUNAR SURFACE FLAG (P22 FLAG)
TC P20LEM3
TC BANKCALL
CADR R61LEM # PREFERRED TRACKING ATTITUDE ROUTINE
P20LEMB TC PHASCHNG
OCT 05022 # RESTART AT PRIORITY 10 TO ALLOW V37
OCT 10000 # REQUESTED PROGRAM TO RUN FIRST
CAF PRIO26 # RESTORE PRIORITY 26
TC PRIOCHNG
CA FLAGWRD1 # IS THE TRACK FLAG SET
MASK TRACKBIT
EXTEND
BZF P20LEMWT # BRANCH - NO - WAIT FOR IT TO BE SET
## Page 506
P20LEMB7 CAF BIT2 # IS RR AUTO MODE DISCRETE PRESENT
EXTEND
RAND CHAN33
EXTEND
BZF P20LEMB3 # YES - DO AUTOMATIC ACQUISITION (R21)
P20LEMB5 CS OCT24 # RADAR NOT IN AUTO CHECK IF
AD MODREG # MAJOR MODE IS 20
EXTEND
BZF P20LEMB6 # BRANCH - YES-OK TO DO PLEASE PERFORM
AD NEG2 # ALSO CHECK FOR P22
EXTEND
BZF P20LEMB6 # BRANCH - YES OK TO DO PLEASE PERFORM
CAF ALRM514 # TRACK FLAG SET-FLASH PRIORITY ALARM 514-
TC BANKCALL # RADAR GOES OUT OF AUTO MODE WHILE IN USE
CADR PRIOLARM
TC GOTOV56 # TERMINATE EXITS VIA V56
TC P20LEMB # PROCEED AND ENTER BOTH GO BACK
TC P20LEMB # TO CHECK AUTO MODE AGAIN
TC ENDOFJOB
P20LEMB6 CAF OCT201 # REQUEST RR AUTO MODE SELECTION
TC BANKCALL
CADR GOPERF1
TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
TC P20LEMB # PROCEED CHECKS AUTO MODE DISCRETE AGAIN
TC LUNSFCHK # ENTER INDICATES MANUAL ACQUISITION (R23)
TC P20LEMB2 # YES - R23 NOT ALLOWED-TURN ON OPR ERROR
TC R23LEM # NO - DO MANUAL ACQUISITION
P20LEMB1 TC UPFLAG # RETURN FROM R23 - LOCKON ACHIEVED
ADRES ACMODFLG # SET MANUAL FLAG AND GO BACK TO CHECK
TC P20LEMB # RR AUTO MODE
P20LEMB2 TC FALTON # TURNS ON OPERATOR ERROR LIGHT ON DSKY
TC P20LEMB # AND GOES BACK TO CHECK AUTO MODE
P20LEMB3 CS RADMODES # ARE RR CDUS BEING ZEROED
MASK RCDU0BIT
EXTEND
BZF P20LEMB4 # BRANCH - YES - WAIT
CAF BIT13-14 # IS SEARCH OR MANUAL ACQUISITION FLAG SET
MASK FLAGWRD2
EXTEND
BZF P20LEMC3 # ZERO MEANS AUTOMATIC RR ACQUISTION
## Page 507
TC DOWNFLAG # RESET TO AUTO MODE
ADRES SRCHOPTN
TC DOWNFLAG
ADRES ACMODFLG
TC P20LEMWT # WAIT 2.5 SECONDS THEN GO TO RR DATA READ
P20LEMB4 CAF 250DEC
TC BANKCALL # WAIT 2.5 SECONDS WHILE RR CDUS ARE BEING
CADR DELAYJOB # ZEROED-THEN GO BACK AND CHECK AGAIN
TC P20LEMB3
P20LEMC3 TC INTPRET
RTB
LOADTIME
STCALL TDEC1
UPPSV
P20LEMC4 EXIT
P20LEMC TC PHASCHNG
OCT 04022
CAE FLAGWRD0 # IS THE RENDEZVOUS FLAG SET
MASK RNDVZBIT
EXTEND
BZF ENDOFJOB # NO - EXIT P20
CAE FLAGWRD1 # IS TRACK FLAG SET (BIT 5 FLAGWORD 1)
MASK TRACKBIT
EXTEND
BZF P20LEMD # BRANCH-TRACK FLAG NOT ON-WAIT 15 SECONDS
P20LEMF TC R21LEM
P20LEMWT CAF 250DEC
TC TWIDDLE # USE INSTEAD OF WAITLIST SINCE SAME BANK
ADRES P20LEMC1 # WAIT 2.5 SECONDS
CAE FLAGWRD1 # IS TRACK FLAG SET
MASK TRACKBIT
EXTEND
BZF ENDOFJOB # NO-EXIT WITHOUT DOING 2.7 PHASE CHANGE
P20LMWT1 TC PHASCHNG
OCT 40072
TC ENDOFJOB
P20LEMC1 CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
MASK RNDVZBIT
EXTEND
BZF TASKOVER # NO - EXIT P20/R22
CAE FLAGWRD1 # IS TRACK FLAG SET
MASK TRACKBIT
## Page 508
EXTEND
BZF P20LEMC2 # NO-DONT SCHEDULE R22 JOB
CAF PRIO26 # YES-SCHEDULE R22 JOB (RR DATA READ)
TC FINDVAC
EBANK= LOSCOUNT
2CADR R22LEM42
TC TASKOVER
P20LEMC2 TC FIXDELAY # TRACK FLAG NOT SET ,WAIT 15 SECONDS
DEC 1500 # AND CHECK AGAIN
TC P20LEMC1
P20LEMD CAF 1500DEC
TC TWIDDLE # WAITLIST FOR 15 SECONDS
ADRES P20LEMD1
TC ENDOFJOB
P20LEMD1 CAE FLAGWRD1 # IS TRACK FLAG SET
MASK TRACKBIT
CCS A
TCF P20LEMD2 # YES-SCHEDULE DESIGNATE JOB
TC FIXDELAY # NO-WAIT 15 SECONDS
DEC 1500
TC P20LEMD1
P20LEMD2 CAF PRIO26 # SCHEDULE JOB TO DO R21
TC FINDVAC
EBANK= LOSCOUNT
2CADR P20LEMC3 # START AT PERM. MEMORY INTEGRATION
TC TASKOVER
250DEC DEC 250
ALRM526 OCT 00526
OCT201 OCT 00201
ALRM514 OCT 514
MAXTRIES DEC 60
OCT00012 EQUALS BINCON
ONEB-2 EQUALS DP1/4TH
V06N33* VN 0633
500DEC DEC 500
999.99NM 2DEC 1851982 B-29
V16N5420 VN 1654
## Page 509
UPPSV STQ CALL # UPDATES PERMANENT STATE VECTORS
LS21X # TO PRESENT TIME
INTSTALL
CALL
SETIFLGS
BOF SET # IF W-MATRIX INVALID,DONT INTEGRATE IT
RENDWFLG
UPPSV1
DIM0FLAG # SET DIMOFLAG TO INTEGRATE W-MATRIX
BON SET
SURFFLAG # IF ON LUNAR SURFACE W IS 6X6
UPPSV5
D6OR9FLG # OTHERWISE 9X9
UPPSV5 BOF
VEHUPFLG
UPPSV3
UPPSV1 SET
VINTFLAG
CALL
INTEGRV
CALL # GROUP 2 PHASE CHANGE
GRP2PC # TO PROTECT INTEGRATION
CALL
INTSTALL
DLOAD CLEAR # GET TETCSM TO STORE IN TDEC FOR LM INT.
TETCSM
VINTFLAG
UPPSV4 CALL # INTEGRATE OTHER VEHICLE
SETIFLGS # WITHOUT W-MATRIX
STCALL TDEC1
INTEGRV
BOFF VLOAD
SURFFLAG
P20LEMC4
RCVLEM
VSR2
STOVL LMPOS
VCVLEM
VSR2
STORE LMVEL
GOTO
LS21X
UPPSV3 CLEAR CALL
VINTFLAG
INTEGRV
CALL
GRP2PC
CALL
## Page 510
INTSTALL
SET DLOAD
VINTFLAG
TETLEM # GET TETLEM TO STORE IN TDEC FOR CSM INT.
GOTO
UPPSV4
EBANK= LOSCOUNT
COUNT* $$/P22
## Page 511
# PROGRAM DESCRIPTION
# PREFERRED TRACKING ATTITUDE PROGRAM P25
# MOD NO - 3
# BY P. VOLANTE
# FUNCTIONAL DESCRIPTION
#
# THE PURPOSE OF THIS PROGRAM IS TO COMPUTE THE PREFERRED TRACKING
# ATTITUDE OF THE LM TO CONTINUOUSLY POINT THE LM TRACKING BEACON AT THE
# CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED TRACKING ATTITUDE AND
# CONTINUOUSLY MAINTAIN THIS ATTITUDE WITHIN PRESCRIBED LIMITS
# CALLING SEQUENCE -
# ASTRONAUT REQUEST THROUGH DSKY V37E25E
# SUBROUTINES CALLED -
# BANKCALL FLAGUP
# R02BOTH (IMU STATUS CHECK) ENDOFJOB
# R61LEM (PREF TRK ATT ROUT) WAITLIST
# TASKOVER FINDVAC
# NORMAL EXIT MODES -
# P25 MAY BE TERMINATED IN TWO WAYS-ASTRONAUT SELECTION OF IDLING
# PROGRAM(P00) BY KEYING V37E00E OR BY KEYING IN V56E
# ALARM OR ABORT EXIT MODES -
# NONE
# OUTPUT
# ERASABLE INITIALIZATION REQUIRED
# FLAGS SET + RESET
# TRACKFLG,P25FLAG
# DEBRIS
# NONE
EBANK= LOSCOUNT
COUNT* $$/P25
PROG25 TC 2PHSCHNG
OCT 4 # MAKE GROUP 4 INACTIVE (VERB 37)
OCT 05022
OCT 26000 # PRIORITY 26
TC BANKCALL
CADR R02BOTH # IMU STATUS CHECK
TC UPFLAG
ADRES TRACKFLG # SET TRACK FLAG
TC UPFLAG
ADRES P25FLAG # SET P25FLAG
TC DOWNFLAG
ADRES RNDVZFLG
P25LEM1 TC PHASCHNG
OCT 04022
CAF P25FLBIT
MASK STATE # IS P25FLAG SET
EXTEND
BZF ENDOFJOB
CAF TRACKBIT # IS TRACKFLAG SET?
## Page 512
MASK STATE +1
EXTEND
BZF P25LMWT1 # NO-SKIP PHASE CHANGE AND WAIT 1 MINUTE
CAF SEVEN # CALL R65 - FINE PREFERRED
TS R65CNTR
TC BANKCALL # TRACKING ATTITUDE ROUTINE
CADR R65LEM
TC P25LEM1 # THEN GO CHECK FLAGS
P25LMWT1 CAF 60SCNDS
TC TWIDDLE # WAIT ONE MINUTE THEN CHECK AGAIN
ADRES P25LEM2
TC ENDOFJOB
P25LEM2 CAF PRIO14
TC FINDVAC
EBANK= LOSCOUNT
2CADR P25LEM1
TC TASKOVER
60SCNDS DEC 6000
## Page 513
# DATA READ ROUTINE 22 (LEM)
# PROGRAM DESCRIPTION
# MOD NO - 2
# BY P VOLANTE
# FUNCTIONAL DESCRIPTION
#
# TO PROCESS AUTOMATIC RR MARK DATA TO UPDATE THE STATE VECTOR OF EITHER
# LM OR CSM AS DEFINED IN THE RENDEZVOUS NAVIGATION PROGRAM (P20)
# CALLING SEQUENCE -
# TC BANKCALL
# CADR R22LEM
# SUBROUTINES CALLED -
# LSR22.1 GOFLASH WAITLIST
# LSR22.2 PRIOLARM BANKCALL
# LSR22.3 R61LEM
# NORMAL EXIT MODES-
# R22 WILL CONTINUE TO RECYCLE,UPDATING STATE VECTORS WITH RADAR DATA
# UNTIL P20 CEASES TO OPERATE (RENDEZVOUS FLAG SET TO ZERO) AT WHICH TIME
# R22 WILL TERMINATE SELF.
# ALARM OR ABORT EXIT MODES-
# PRIORITY ALARM
# PRIORITY ALARM 525 LOS NOT WITHIN 3 DEGREE LIMIT
# OUTPUT
# SEE OUTPUT FROM LSR22.3
# ERASABLE INITIALIZATION REQUIRED
# SEE LSR22.1,LSR22.2,LSR22.3
# FLAGS SET + RESET
# NOANGFLG
# DEBRIS
# SEE LSR22.1,LSR22.2,LSR22.3
EBANK= LRS22.1X
COUNT* $$/R22
R22LEM TC PHASCHNG
OCT 04022
CAF RNDVZBIT # IS RENDESVOUS FLAG SET?
MASK STATE
EXTEND
BZF ENDOFJOB # NO-EXIT R22 AND P20
CAF TRACKBIT # IS TRACKFLAG SET?
MASK STATE +1
EXTEND
BZF R22WAIT # NO WAIT
R22LEM12 CAF BIT14 # IS RR AUTO TRACK ENABLE DISCRETE STILL
EXTEND # ON (A MONITOR REPOSITION BY R25 CLEARSIT
RAND CHAN12
EXTEND
BZF P20LEMA # NO - RETURN TO P20
CAF BIT2 # YES
EXTEND # IS RR AUTO MODE DISCRETE PRESENT
RAND CHAN33
## Page 514
EXTEND
BZF +2 # YES CONTINUE
TC P20LEMB5 # NO - SET IT
CS RADMODES # ARE RR CDUS BEING ZEROED
MASK RCDU0BIT
EXTEND
BZF R22LEM42 # CDUS BEING ZEROED
TC PHASCHNG # IF A RESTART OCCURS,AN EXTRA RADAR
OCT 00152 # READING IS TAKEN,SO BAD DATA ISN'T USED
TC BANKCALL # YES READ DATA + CALCULATE LOS
CADR LRS22.1 # DATA READ SUBROUTINE
INDEX MPAC
TC +1
TC R22LEM2 # NORMAL RETURN (GOOD DATA)
TC P20LEMC # COULD NOT READ RADAR-TRY TO REDESIGNATE
CAF ALRM525 # RR LOS NOT WITHIN 3 DEGREES (ALARM)
TC BANKCALL
CADR PRIOLARM
TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
TC R22LEM1 # PROC (DISPLAY DELTA THETA)
TC -5 # ENTER(ILLEGAL OPTION)
TC ENDOFJOB
R22LEM1 TC PHASCHNG
OCT 04022
CAF V06N05 # DISPLAY DELTA THETA
TC BANKCALL
CADR PRIODSP
TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
TC R22LEM2 # PROC (OK CONTINUE)
TC P20LEMC # ENTER(RECYCLE)
R22LEM2 TC PHASCHNG
OCT 04022
TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
TC R22LEM3 # YES-BYPASS FLAG CHECKS AND LRS22.2
CA FLAGWRD1 # IS TRACK FLAG SET
MASK TRACKBIT
EXTEND
BZF R22WAIT # NO - WAIT
TC BANKCALL # YES
CADR LRS22.2 # CHECKS RR BORESIGHT WITHIN 30 DEG OF +Z
INDEX MPAC
TC +1
TC R22LEM3 # NORMAL RETURN(LOS WITHIN 30 OF Z-AXIS)
TC BANKCALL
CADR R61LEM
TC R22WAIT # NOT WITHIN 30 DEG OF Z-AXIS
R22LEM3 CS FLAGWRD1 # SHOULD WE BYPASS STATE VECTOR UPDATE
MASK NOUPFBIT # (IS NOUPDATE FLAG SET?)
## Page 515
EXTEND
BZF R22LEM42 # BRANCH-YES
CA FLAGWRD1 # IS UPDATE FLAG SET
MASK UPDATBIT
EXTEND
BZF R22LEM42 # UPDATE FLAG NOT SET
CAF PRIO26 # INSURE HIGH PRIO IN RESTART
TS PHSPRDT2
TC INTPRET
GOTO
LSR22.3
R22LEM93 EXIT # NORMAL EXIT FROM LSR22.3
TC PHASCHNG # PHASE CHANGE TO PROTECT AGAINST
OCT 04022 # CONFLICT WITH GRP2PC ERASEABLE
TCF R22LEM44
R22LEM96 EXIT
CAF ZERO # SET N49FLAG = ZERO TO INDICATE
TS N49FLAG # V06 N49 DISPLAY HASNT BEEN ANSWERED
TC PHASCHNG
OCT 04022 # TO PROTECT DISPLAY
CAF PRIO27 # PROTECT DISPLAY
TC NOVAC
EBANK= N49FLAG
2CADR N49DSP
TC INTPRET
SLOAD
N49FLAG
BZE BMN # LOOP TO CHECK IF FLAG
-3 # SETTING CHANGED-BRANCH - NO
R22LEM7 # PROCEED
GOTO # DISPLAY ANSWERED BY RECYCLE-INCORPORATE
LGRET # NEXT MEASUREMENT
V34TON49 CS TWO
TS N49FLAG
TC ENDOFJOB
R22LEM7 EXIT
CA N49FLAG # WAS ANSWER TO DISPLAY PRO OR TERM
AD TWO
EXTEND
BZF R22LEM # BRANCH - TERM - TAKE ANOTHER RR READING
TC INTPRET
CALL
GRP2PC # PHASE CHANGE AND
GOTO # GO TO INCORPORATE DATA.
ASTOK
R22LEM44 INCR MARKCTR # INCREMENT COUNT OF MARKS INCORPORATED.
TC LUNSFCHK # ARE WE ON LUNAR SURFACE
TC R22LEM46 # YES - WAIT 2 SECONDS
## Page 516
CA FIVE # NOT ON LUNAR SURFACE
TC R22LEM45 # R65COUNTER = 5
R22LEM42 TC LUNSFCHK # CHECK IF ON LUNAR SURFACE (P22FLAG SET)
TC R22LEM46 # YES - WAIT 2 SECONDS
CA TWO # NO-SET R65COUNTER = 2
R22LEM45 TS R65CNTR
TC BANKCALL
CADR R65LEM # FINE PREFERRED TRACKING ATTITUDE
TC R22LEM
R22WAIT CAF 1500DEC
TC P20LEMWT +1
R22LEM46 TC BANKCALL
CADR 2SECDELY # WAIT 2 SECONDS AND TAKE ANOTHER MARK
TC R22LEM
N49DSP CAF V06N49NB
TC BANKCALL # EXCESSIVE STATE VECTOR UPDATE - FLASH
CADR PRIODSP # VERB 06 NOUN 49 R1=DELTA R, R2=DELTA V
TC V34TON49 # TERMINATE - SET N49FLAG = -2
CS ONE # PROCEED - N49FLAG = -1
TS N49FLAG # RECYCLE - N49FLAG = + VALUE
TC ENDOFJOB
R22RSTRT TC PHASCHNG # IF A RESTART OCCURS WHILE READING RADAR
OCT 00152 # COME HERE TO TAKE A RANGE-RATE READING
TC BANKCALL # WHICH ISNT USED TO PREVENT TAKING A BAD
CADR RRRDOT # READING AND TRYING TO INCORPORATE THE
TC BANKCALL # BAD DATA
CADR RADSTALL # WAIT FOR READ COMPLETE
TC P20LEMC # COULD NOT READ RADAR-TRY TO REDESIGNATE
TC R22LEM # READ SUCCESSFUL-CONTINUE AT R22
ALRM525 OCT 00525
V06N05 VN 00605
V06N49NB VN 00649
1500DEC DEC 1500
# LUNSFCHK-CLOSED SUBROUTINE TO CHECK IF ON LUNAR SURFACE (P22FLAG)
# RETURNS TO CALLER +1 IF P22FLAG SET
# TO CALLER +2 IF P22FLAG NOT SET
COUNT* $$/P22
LUNSFCHK CS FLAGWRD8 # CHECK IF ON LUNAR SURFACE
MASK SURFFBIT # IS SURFFLAG SET?
CCS A # BRANCH - P22FLAG SET
INCR Q # NOT SET
TC Q # RETURN
## Page 517
# RR DESIGNATE ROUTINE (R21LEM)
# PROGRAM DESCRIPTION
# MOD NO - 2
# BY P VOLANTE
# FUNCTIONAL DESCRIPTION
#
# TO POINT THE RENDEZVOUS RADAR AT THE CSM UNTIL AUTOMATIC ACQUISITION
# OF THE CSM IS ACCOMPLISHED BY THE RADAR. ROUTINE IS CALLED BY P20.
# CALLING SEQUENCE -
# TC BANKCALL
# CADR R21LEM
# SUBROUTINES CALLED -
# FINDVAC FLAGUP ENDOFJOB PRIOLARM
# NOVAC INTPRET LPS20.1 PHASCHNG
# WAITLIST JOBSLEEP JOBWAKE FLAGDOWN
# TASKOVER BANKCALL RADSTALL RRDESSM
# NORMAL EXIT MODES
# WHEN LOCK-ON IS ACHIEVED,BRANCH WILL BE TO P20 WHERE R22 (DATA READ
# WILL BE SELECTED OR A NEED FOR A MANEUVER(BRANCH TO P20LEMA)
# ALARM OR ABORT EXIT MODES-
# PRIORITY ALARM 503 WHEN LOCK-ON HASN:T BEEN ACHIEVED AFTER 30SECS -
# THIS REQUIRES ASTRONAUT INTERFACE- SELECTION OF SEARCH OPTION OF
# ACQUISITION
# OUTPUT
# SEE LPS20.1,RRDESSM
# ERASABLE INITIALIZATION REQUIRED
# RRTARGET,RADMODES ARE USED BY LPS20.1 AND RRDESSM
# FLAGS SET + RESET
# LOSCMFLG LOKONSW
# DEBRIS
# SEE LPS20.1,RRDESSM
EBANK= LOSCOUNT
COUNT* $$/R21
R21LEM CS BIT14 # REMOVE RR SELF TRACK ENABLE
EXTEND
WAND CHAN12
TC LUNSFCHK
TC R21LEM5
CAF ZERO # COMMAND ANTENNA TO MODE CENTER
TS TANG # IF NOT ON SURFACE-MODE 1-(T=0,S=0)
TS TANG +1
TC R21LEM6
R21LEM5 CAF BIT12
MASK RADMODES
CCS A
TC R21LEM10
CAF BIT15
TS TANG
CS HALF
TS TANG +1
## Page 518
R21LEM6 TC DOWNFLAG
ADRES LOKONSW
TC BANKCALL
CADR RRDESNB
TC +1
TC BANKCALL
CADR RADSTALL
TC R21-503 # BAD RETURN FROM DESIGNATE -ISSUE ALARM
R21LEM10 TC UPFLAG
ADRES LOSCMFLG # EVERY FOURTH PASS THRU DODES
CAF MAXTRIES # ALLOW 60 PASSES (APPROX 45 SECONDS)
TS DESCOUNT # TO DESIGNATE AND LOCK ON
R21LEM2 CAF THREE
TS LOSCOUNT
R21LEM1 TC INTPRET
RTB DAD
LOADTIME
HALFSEC # EXTRAPOLATE TO PRESENT TIME + .5 SEC.
STCALL TDEC1 # LOS DETERMINATION ROUTINE
LPS20.1
EXIT
R21LEM3 TC UPFLAG # SET LOKONSW TO RADAR-ON DESIRED
ADRES LOKONSW
TC DOWNFLAG
ADRES NORRMON
TC INTPRET
CALL # INPUT (RRTARGET UPDATED BY LPS20.1)
RRDESSM # DESIGNATE ROUTINE
EXIT
TC R21LEM4 # LOS NOT IN MODE 2 COVERAGE
# ON LUNAR SURFACE
TC P20LEMA # VEHICLE MANEUVER REQUIRED.
TC BANKCALL # NO VEHICLE MANEUVER REQUIRED
CADR RADSTALL # WAIT FOR DESIGNATE COMPLETE - LOCKON OR
TC +2 # BADEND-LOCKON NOT ACHIEVED IN 60 TRIES
TC R21END # EXIT ROUTINE RETURN TO P20 (LOCK-ON)
R21-503 CAF ALRM503 # ISSUE ALARM 503
TC BANKCALL
CADR PRIOLARM
TC GOTOV56 # TERMINATE EXITS P20 VIA V56 CODING
TC R21SRCH # PROC
TC P20LEMC3
TC ENDOFJOB
R21END TC DOWNFLAG
ADRES LOSCMFLG # RESET LOSCMFLG
TC LUNSFCHK # ARE WE ON LUNAR SURFACE
TC P20LEMWT # YES - BYPASS V 50 N 72 DISPLAY
TC R21DISP # PUT UP VERIFY MAIN LOBE LOCKON DISPLAY
R21SRCH TC PHASCHNG
OCT 04022
## Page 519
TC R24LEM # SEARCH ROUTINE
ALRM503 OCT 00503
ALRM527 OCT 527
R21LEM4 CAF MAXTRIES # SET UP COUNTER FOR
TS REPOSCNT # 60 PASSES (APPROX 600 SECS.)
TC UPFLAG
ADRES FSPASFLG # SET FIRST TIME FLAG
TC DOWNFLAG # RESET LOS BEING
ADRES LOSCMFLG # COMPUTED FLAG
TC INTPRET
R21LEM12 RTB
LOADTIME
R21LEM00 DAD
TENSEC # TIME T = T + 10 SECS.
STORE REPOSTM # SAVE FOR LONGCALL AND UPPSV
STCALL TDEC1
LPS20.1 # COMPUTE LOS AT TIME T
CALL
RRDESSM
EXIT
TC R21LEM13 # LOS NOT IN MODE 2 COVERAGE
TC ENDOFJOB # VEHICLE MANEUVER REQUIRED
TC KILLTASK
CADR BEGDES
TC INTPRET
BOF CLRGO
FSPASFLG # FIRST TIME THRU REPOSITION
R21LEM8 # NO-GO TO CONTINUOUS DESIGNATE
FSPASFLG # YES-RESET FIRST TIME FLAG
R21LEM50
R21LEM13 CCS REPOSCNT # HAVE WE TRIED 60 TIMES?
TC R21LEM7 # NO-ADD 10 SECS. RECOMPUTE LOS
TC R21LEM11 # YES-PUT OUT ALARM 530
R21LEM7 TS REPOSCNT
TC INTPRET
R21LEM50 DLOAD GOTO
REPOSTM
R21LEM00
R21LEM8 DLOAD
REPOSTM
STCALL TDEC1
UPPSV
EXIT
TC UPFLAG # SET RADMODES BIT 15 FOR
ADRES CDESFLAG # CONTINUOUS DESIGNATION
TC DOWNFLAG
ADRES LOKONSW
TC UPFLAG
## Page 520
ADRES NORRMON
TC BANKCALL
CADR RRDESNB
TC +1
TC INTPRET
RTB BDSU
LOADTIME # COMPUTE DELTA TIME
REPOSTM # FOR LONGCALL
STORE DELTATM
EXIT
EXTEND
DCA DELTATM
TC LONGCALL
EBANK= LOSCOUNT
2CADR R21LEM9
TC ENDOFJOB
R21LEM9 TC KILLTASK
CADR STDESIG
TC CLRADMOD
CAF PRIO26
TC FINDVAC
EBANK= LOSCOUNT
2CADR R21LEM10
TC TASKOVER
R21LEM11 CAF ALRM530 # ALARM 530-LOS NOT IN COVERAGE
TC BANKCALL # AFTER TRYING TO DESIGNATE FOR
CADR PRIOLARM # 600 SECS.
TC GOTOV56
TC GOTOV56
TC GOTOV56
TC ENDOFJOB
ALRM530 OCT 00530
TENSEC 2DEC 1000 B-28
HALFSEC 2DEC 50
R21DISP TC PHASCHNG
OCT 04022
CAF V06N72PV # FLASH V 50 N 72 - PLEASE PERFORM RR
TC BANKCALL # MAIN LOBE LOCKON VERIFICATION
CADR GOPERF2R
TC GOTOV56 # TERMINATE EXITS VIA V 56
TC P20LEMWT # PROCEED CONTINUES TO R22
TC -5 # ENTER ILLEGAL
CAF BIT7
TC LINUS # SET BITS TO MAKE THIS A PRIORITY DISPLAY
TC ENDOFJOB
## Page 521
V06N72PV VN 00672
## Page 522
# MANUAL ACQUISITION ROUTINE R23LEM
# PROGRAM DESCRIPTION
# MOD NO - 2
# BY P VOLANTE
# FUNCTIONAL DESCRIPTION
#
# TO ACQUIRE THE CSM BY MANUAL OPERATION OF THE RENDEZVOUS RADAR
# CALLING SEQUENCE -
# TC R23LEM
# SUBROUTINES CALLED
# BANKCALL R61LEM
# SETMINDB GOPERF1
# NORMAL EXIT MODES -
# IN RESPONSE TO THE GOPERF1 ,SELECTION OF ENTER WILL RECYCLE R23
# ,SELECTION OF PROC WILL CONTINUE R23
# ,SELECTION OF TERM WILL TERMINATE R23 +P20
# ALARM OR ABORT EXIT MODES -
# SEE NORMAL EXIT MODES ABOVE
# OUTPUT
# N.A.
# ERASABLE INITIALIZATION REQUIRED-
# ACMODFLG MUST BE SET TO 1 (MANUAL MODE)
EBANK= GENRET
COUNT* $$/R23
R23LEM TC UPFLAG # SET NO ANGLE MONITOR FLAG
ADRES NORRMON
INHINT
TC IBNKCALL # SELECT MINIMUM DEADBAND
CADR SETMINDB
RELINT
R23LEM1 CAF BIT14 # ENABLE TRACKER
EXTEND
WOR CHAN12
CAF OCT205
TC BANKCALL
CADR GOPERF1
TC R23LEM2 # TERMINATE
TC R23LEM11 # PROCEDE
TC R23LEM3 # ENTER- DO ANOTHER MANUVER
R23LEM11 INHINT
TC RRLIMCHK # YES - CHECK IF ANTENNA IS WITHIN LIMITS
ADRES CDUT
TC OUTOFLIM # NOT WITHIN LIMITS
TC IBNKCALL # RESTORE DEADBAND TO
CADR RESTORDB # ASTRONAUT SELECTED VALUE
RELINT
TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
ADRES NORRMON
TC P20LEMB1 # RADAR IS LOCKED ON CONTINUE IN P20
OUTOFLIM RELINT
## Page 523
CAF OCT501PV
TC BANKCALL # ISSUE ALARM - RR ANTENNA NOT WITHIN
CADR PRIOLARM # LIMITS
TC R23LEM2 # TERMINATE - EXIT R23 TO R00 (GO TO POOH)
TC OUTOFLIM +1 # PROCEED ILLEGAL
TC R23LEM3 # RECYCLE- DO ANOTHER MANUVER
TC ENDOFJOB
R23LEM2 TC DOWNFLAG # CLEAR NO ANGLE MONITOR FLAG
ADRES NORRMON
TC GOTOV56 # AND EXIT VIA V56
R23LEM3 TC BANKCALL
CADR R61LEM
TC R23LEM1
OCT501PV OCT 501
OCT205 OCT 205
## Page 524
# SEARCH ROUTINE R24LEM
# PROGRAM DESCRIPTION
# MOD NO - 2
# BY P. VOLANTE
# FUNCTIONAL DESCRIPTION
#
# TO ACQUIRE THE CSM BY A SEARCH PATTERN WHEN THE RENDEZVOUS RADAR HAS
# FAILED TO ACQUIRE THE CSM IN THE AUTOMATIC TRACKING MODE AND TO ALLOW
# THE ASTRONAUT TO CONFIRM THAT REACQUISITION HAS NOT BEEN BY SIDELOBE.
# CALLING SEQUENCE
# CAF PRIONN
# TC FINDVAC
# EBANK= DATAGOOD
# 2CADR R24LEM
# SUBROUTINES CALLED
# FLAGUP FLAGDOWN BANKCALL
# R61LEM GOFLASHR FINDVAC
# ENDOFJOB NOVAC LSR24.1
# NORMAL EXIT MODES-
# ASTRONAUT RESPONSE TO DISPLAY OF OMEGA AND DATAGOOD.HE CAN EITHER
# REJECT BY TERMINATING (SEARCH OPTION AND RESELECTING P20) OR ACCEPT BY
# PROCEEDING (EXIT ROUTINE AND RETURN TO AUTO MODE IN P20)
# ALARM OR ABORT EXIT MODES-
# SEE NORMAL EXIT MODES ABOVE
# OUTPUT -
# SEE OUTPUT FROM LSR24.1 + R61LEM
# ERASABLE INITIALIZATION REQUIRED
# SEE INPUT FOR LSR24.1
# FLAGS SET + RESET
# SRCHOPT,ACMODFLG
EBANK= DATAGOOD
COUNT* $$/R24
R24LEM TC UPFLAG
ADRES SRCHOPTN # SET SRCHOPT FLAG
TC DOWNFLAG # RESET LOS BEING COMPUTED FLAG TO MAKE
ADRES LOSCMFLG # SURE DODES DOESN'T GO TO R21
R24LEM1 CAF ZERO
TS DATAGOOD # ZERO OUT DATA INDICATOR
TS OMEGAD # ZERO OMEGA DISPLAY REGS
TS OMEGAD +1 # ZERO OMEGA DISPLAY REGS
R24LEM2 TC PHASCHNG
OCT 04022
CAF V16N80
TC BANKCALL
CADR PRIODSPR
TC GOTOV56
TC R24END # PROCEED EXIT R24 TO P20LEM1
TC R24LEM3 # RECYCLE - CALL R61 TO MANEUVER S/C
## Page 525
TC BANKCALL
CADR LRS24.1
R24END TC KILLTASK
CADR CALLDGCH
TC CLRADMOD # CLEAR BITS 10 & 15 OF RADMODES.
TCF P20LEM1 # AND GO TO 400 MI. RANGE CHECK IN P20.
BLOCK 3
SETLOC FFTAG6
BANK
COUNT* $$/R24
CLRADMOD CS BIT10+15
INHINT
MASK RADMODES
TS RADMODES
CS BIT2 # DISABLE RR ERROR COUNTERS
EXTEND
WAND CHAN12 # USER WILL RELINT
TC Q
BIT10+15 OCT 41000
BANK 24
SETLOC P20S
BANK
COUNT* $$/R24
R24LEM3 TC PHASCHNG
OCT 04022
TC KILLTASK
CADR CALLDGCH # KILL WAITLIST FOR NEXT POINT IN PATTERN
TC CLRADMOD # CLEAR BITS 10 + 15 OF RADMODES
CAF .5SEC
TC BANKCALL # WAIT FOR DESIGNATE LOOP TO DIE
CADR DELAYJOB
TC LUNSFCHK # CHECK IF ON LUNAR SURFACE
TC R24LEM4 # YES-DONT DO ATTITUDE MANEUVER
TC BANKCALL # CALL R61 TO DO PREFERRED TRACKING
CADR R61LEM # ATTITUDE MANEUVER
R24LEM4 CAF ZERO # ZERO OUT RADCADR (WHICH WAS SET BY
TS RADCADR # ENDRADAR WHEN DESIGNATE STOPPED) SO THAT
# RRDESSM WILL RETURN TO CALLER
TC R24LEM2 # AND GO BACK TO PUT UP V16 N80 DISPLAY
V16N80 VN 01680
## Page 526
# PREFERRED TRACKING ATTITUDE ROUTINE R61LEM
# PROGRAM DESCRIPTION
# MOD NO : 3 DATE : 4-11-67
# MOD BY : P VOLANTE SDC
# FUNCTIONAL DESCRIPTION-
# TO COMPUTE THE PREFERRED TRACKING ATTITUDE OF THE LM TO ENABLE RR
# TRACKING OF THE CSM AND TO PERFORM THE MANEUVER TO THE PREFERRED
# ATTITUDE.
# CALLING SEQUENCE-
# TC BANKCALL
# CADR R61LEM
# SUBROUTINES CALLED
# LPS20.1 VECPOINT
# KALCMAN3
# NORMAL EXIT MODES-
# NORMAL RETURN IS TO CALLER + 1
# ALARM OR ABORT EXIT MODES-
# TERMINATE P20 + R61 BY BRANCHING TO P20END IF BOTH TRACKFLAG +
# RENDEZVOUS FLAG ARE NOT SET.
# OUTPUT -
# SEE OUTPUT FOR LPS20.1 + ATTITUDE MANEUVER ROUTINE (R60)
# ERASABLE INITIALIZATION REQUIRED
# GENRET USED TO SAVE Q FOR RETURN
# FLAGS SET + RESET
# 3AXISFLG
# DEBRIS
# SEE SUBROUTINES
SETLOC R61
BANK
EBANK= LOSCOUNT
COUNT* $$/R61
R61LEM TC MAKECADR
TS GENRET
TC UPFLAG # SET R61 FLAG
ADRES R61FLAG
TC R61C+L02
R65LEM TC MAKECADR
TS GENRET
TC DOWNFLAG # RESET R61 FLAG
ADRES R61FLAG
R61C+L01 CAF BIT4 # BYPASS RADAR READING IF DATA
EXTEND # GOOD NOT PRESENT
RAND CHAN33
CCS A
## Page 527
TCF R61C+L02 # NO DATA GOOD
TC BANKCALL # READ RR RANGE AND RDOT
CADR RRRDOT # EVERY R65 PASS (3 TIMES
TC BANKCALL # BEFORE FIRST MARK, ONCE
CADR RADSTALL # DURING ANY MARK PROCESSING,
NOOP
TC BANKCALL
CADR RRRANGE
TC BANKCALL
CADR RADSTALL
NOOP
R61C+L02 CAF TRACKBIT # TRACKFLAG
MASK STATE +1
EXTEND
BZF R65WAIT # NOT SET
R61C+L03 TC INTPRET
VLOAD
HIUNITZ
STORE SCAXIS # TRACK AXIS UNIT VECTOR
R61LEM1 RTB DAD
LOADTIME # EXTRAPOLATE FORWARD TO CENTER
3SECONDS # SIX SECOND PERIOD.
STCALL TDEC1
LPS20.1 # LOS DETERMINATION + VEH ATTITUDE
VLOAD
RRTARGET
STORE POINTVSM
RTB CALL # GET DESIRED CDU'S FOR VECPNT1
READCDUD
VECPNT1 # COMPUTES FINAL ANGLES FROM PRESENT CDUDS
STORE CPHI # STORE FINAL ANGLES - CPHI,CTHETA,CPSI
EXIT
TC PHASCHNG
OCT 04022
CAF TRACKBIT # IS TRACK FLAG SET
MASK FLAGWRD1
EXTEND
BZF R65WAIT
TC BANKCALL
CADR G+N,AUTO # CHECK FOR AUTO MODE
CCS A
TC R61C+L04 # NOT IN AUTO
TC INTPRET
VLOAD CALL
RRTARGET
CDU*SMNB
DLOAD DSU # GET PHI - ARCCOS OF Z-COMPONENT OF LOS
MPAC +5
COS15DEG
R61LEM2 BMN EXIT # BRANCH - PHI > 15 DEGREES
## Page 528
R61C+L05 # PHI GRE 10DEG
EBANK= CDUXD
CAF EBANK6
TS EBANK
INHINT
EXTEND
DCA CPHI
DXCH CDUXD
CA CPSI
TS CDUZD
RELINT
EBANK= LOSCOUNT
CAF EBANK7
TS EBANK
TC R61C+L06
R61C+L05 EXIT
INHINT
TC IBNKCALL
FCADR ZATTEROR
TC IBNKCALL
FCADR SETMINDB # REDUCE ATTITUDE ERROR
TC DOWNFLAG
ADRES 3AXISFLG
TC UPFLAG
ADRES PDSPFLAG # SET PRIORITY DISPLAY FLAG
TC BANKCALL
CADR R60LEM
INHINT
TC IBNKCALL
FCADR RESTORDB
TC PHASCHNG
OCT 04022
TC DOWNFLAG
ADRES PDSPFLAG # RESET PRIORITY DISPLAY FLAG
R61C+L06 CA FLAGWRD1
MASK R61FLBIT
CCS A
TC R61C+L4
CCS R65CNTR
TC +2
TC R61C+L4 # R65CNTR = 0 - EXIT ROUTINE
TS R65CNTR
CAF 06SEC
TC TWIDDLE
ADRES R61C+L2
TC ENDOFJOB
R61C+L2 CAF PRIO26
TC FINDVAC
EBANK= LOSCOUNT
2CADR R61C+L01
## Page 529
TC TASKOVER
R61C+L04 TC BANKCALL # TO CONVERT ANGLES TO FDAI
CADR BALLANGS
TC R61C+L06
R61C+L4 CAE GENRET
TCF BANKJUMP # EXIT R61
R61C+L1 CAF BIT7+9PV # IS RENDEZVOUS OR P25FLAG SET
MASK STATE
EXTEND
BZF ENDOFJOB # NO-EXIT ROUTINE AND PROGRAM.
TC R61C+L06 # YES EXIT ROUTINE
R65WAIT TC POSTJUMP
CADR P20LEMWT
BIT7+9PV OCT 00500
COS15DEG 2DEC 0.96593 B-1
06SEC DEC 600
PHI EQUALS 20D
READCDUD INHINT # READS DESIRED CDU'S AND STORES IN
CAF EBANK6 # MPAC TP EXITS WITH MODE SET TO TP
XCH EBANK
TS RUPTREG1
EBANK= CDUXD
CA CDUXD
TS MPAC
EXTEND
DCA CDUYD
DXCH MPAC +1
CA RUPTREG1
TS EBANK
RELINT
TCF TMODE
BLOCK 02
SETLOC RADARFF
BANK
EBANK= LOSCOUNT
COUNT* $$/RRSUB
## Page 530
# THE FOLLOWING SUBROUTINE RETURNS TO CALLER + 2 IF THE ABSOLUTE VALUE OF VALUE OF C(A) IS GREATER THAN THE
# NEGATIVE OF THE NUMBER AT CALLER +1. OTHERWISE IT RETURNS TO CALLER +3. MAY BE CALLED IN RUPT OR UNDER EXEC.
MAGSUB EXTEND
BZMF +2
TCF +2
COM
INDEX Q
AD 0
EXTEND
BZMF Q+2 # ABS(A) <= CONST GO TO L+3
TCF Q+1 # ABS(A) > CONST GO TO L+2
## Page 531
# PROGRAM NAME_ RRLIMCHK ARE IN THE LIMITS OF THE CURRENT MODE.
# FUNCTIONAL DESCRIPTION_
# RRLIMCHK CHECKS RR DESIRED GIMBAL ANGLES TO SEE IF THEY ARE WITHIN
# THE LIMITS OF THE CURRENT MODE. INITIALLY THE DESIRED TRUNNION AND
# SHAFT ANGLES ARE STORED IN ITEMP1 AND ITEMP2. THE CURRENT RR
# ANTENNAE MODE (RADMODES BIT 12) IS CHECKED WHICH IS = 0 FOR
# MODE 1 AND =1 FOR MODE 2.
# MODE 1 - THE TRUNNION ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
# BETWEEN -55 AND +55 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN LIMITS,
# THE SHAFT ANGLE IS CHECKED TO SEE IF IT IS BETWEEN -70 AND +59 DEGREES.
# IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN TO L +3.
# MODE 2 - THE SHAFT ANGLE IS CHECKED AT MAGSUB TO SEE IF IT IS
# BETWEEN -139 AND -25 DEGREES. IF NOT, RETURN TO L +2. IF WITHIN
# LIMITS, THE TRUNNION ANGLE IS CHECKED TO SEE IF IT IS BETWEEN +125
# AND -125 (+235) DEGREES. IF NOT, RETURN TO L +2. IF IN LIMITS, RETURN
# TO L +3.
# CALLING SEQUENCE:
# L TC RRLIMCHK (WITH INTERRUPT INHIBITED)
# L +1 ADRES T,S (DESIRED TRUNNION ANGLE ADDRESS)
# ERASABLE INITIALIZATION REQUIRED:
# RADMODES, MODEA, MODEB (OR DESIRED TRUNNION AND SHAFT
# ANGLES ELSEWHERE IN CONSECUTIVE LOCATIONS - UNSWITCHED ERASABLE OR
# CURRENT EBANK).
# SUBROUTINES CALLED_ MAGSUB
# JOBS OR TASKS INITIATED_ NONE
# ALARMS_ NONE
# EXIT_ L + 2 (EITHER OR BOTH ANGLES NOT WITHIN LIMITS OF CURRENT MODE)
# L + 3 (BOTH ANGLES WITHIN LIMITS OF CURRENT MODE)
RRLIMCHK EXTEND
INDEX Q
INDEX 0
DCA 0
INCR Q
DXCH ITEMP1
LXCH Q # L(CALLER +2) TO L.
CAF ANTENBIT # SEE WHICH MODE RR IS IN.
MASK RADMODES
CCS A
TCF MODE2CHK
CA ITEMP1 # MODE 1 IS DEFINED AS
## Page 532
TC MAGSUB # 1. ABS(T) L 55 DEGS.
DEC -.30555 # 2. ABS(S + 5.5 DEGS) L 64.5 DEGS
TC L # (SHAFT LIMITS AT +59, -70 DEGS)
CAF 5.5DEGS
AD ITEMP2 # S
TC MAGSUB
DEC -.35833 # 64.5 DEGS
TC L
TC RRLIMOK # IN LIMITS.
MODE2CHK CAF 82DEGS # MODE 2 IS DEFINED AS
AD ITEMP2 # 1. ABS(T) G 125 DEGS.
TC MAGSUB # 2. ABS(S + 82 DEGS) L 57 DEGS
DEC -.31667 # (SHAFT LIMITS AT -25, -139 DEGS)
TC L
CA ITEMP1
TC MAGSUB
DEC -.69444 # 125 DEGS
RRLIMOK INDEX L
TC L # ( = TC 1)
5.5DEGS DEC .03056
82DEGS DEC .45556
## Page 533
# PROGRAM NAME_ SETTRKF . IF EITHER:
# FUNCTIONAL DESCRIPTION_
# SETTRKF UPDATES THE TRACKER FAIL LAMP ON THE DSKY. HER THE ALT OR VEL INFORMATION.
# INITIALLY THE LAMP TEST FLAG (IMODES33 BIT 1) IS CHECKED.
# IF A LAMP TEST IS IN PROGRESS, THE PROGRAM EXITS TO L +1.
# IF NO LAMP TEST THE FOLLOWING IS CHECKED SEQUENTIALLY_
# 1) RR CDU:S BEING ZEROED, RR CDU OK, AND RR NOT IN
# AUTO MODE (RADMODES BITS 13, 7, 2).
# 2) LR VEL DATA FAIL AND NO LR POS DATA (RADMODES BITS
# 8,5)
# 3) NO RR DATA (RADMODES BIT 4)
# THE ABSENCE OF ALL THREE SIMULTANEOUSLY IN (1), THE PRESENCE OF BOTH
# IN (2), AND THE PRESENCE OF (3) RESULTS IN EITHER THE TRACKER FAIL
# LAMP (DSPTAB +11D BIT 8) BEING TURNED ON OR LEFT ON. OTHERWISE,
# THE TRACKER FAIL LAMP IS TURNED OFF OR IS LEFT OFF. THEREFORE, THE
# TRACKER FAIL LAMP IS TURNED ON IF_
# A ) RR CDU FAILED WITH RR IN AUTO MODE AND RR CDU:S NOT BEING ZEROED.
# B) N SAMPLES OF LR DATA COULD NOT BE TAKEN IN 2N TRIES WITH
# EITHER THE ALT OR VEL INFORMATION
# C) N SAMPLES OF RR DATA COULD NOT BE OBTAINED FROM 2N TRIES
# WITH EITHER THE AL
# CALLING SEQUENCE:
# L TC SETTRKF
# ERASABLE INITIALIZATION REQUIRED: IMODES33, RADMODES, DSPTAB +11D
# SUBROUTINES CALLED_ NONE
# JOBS OR TASKS INITIATED_ NONE
# ALARMS_ TRACKER FAIL LAMP
# EXIT_ L +1 (ALWAYS) ED.
SETTRKF CAF BIT1 # NO ACTION IF DURING LAMP TEST.
MASK IMODES33
CCS A
TC Q
RRTRKF CA BIT8
TS L
CAF 13,7,2 # SEE IF CDU FAILED.
MASK RADMODES
EXTEND
BZF TRKFLON # CONDITION 3 ABOVE.
RRCHECK CAF RRDATABT # SEE IF RR DATA FAILED.
MASK RADMODES
## Page 534
CCS A
TRKFLON CA L
AD DSPTAB +11D # HALF ADD DESIRED AND PRESENT STATES.
MASK L
EXTEND
BZF TCQ # NO CHANGE.
FLIP CA DSPTAB +11D # CANT USE LXCH DSPTAB +11D (RESTART PROB)
EXTEND
RXOR LCHAN
MASK POSMAX
AD BIT15
TS DSPTAB +11D
TC Q
13,7,2 OCT 10102
ENDRMODF EQUALS
## Page 535
# PROGRAM NAME_ RRTURNON
# FUNCTIONAL DESCRIPTION_
# RRTURNON IS THE TURN-ON SEQUENCE WHICH, ALONG WITH
# RRZEROSB, ZEROS THE CDU:S AND DETERMINES THE RR MODE.
# INITIALLY, CONTROL IS TRANSFERRED TO RRZEROSB FOR THE
# ACTUAL TURN-ON SEQUENCE. UPON RETURN THE PROGRAM
# WAITS 1 SECOND BEFORE REMOVING THE TURN-ON FLAG
# (RADMODES BIT1) SO THE REPOSITION ROUTINE WON:T
# INITIATE PROGRAM ALARM 00501. A CHECK IS THEN MADE
# TO SEE IF A PROGRAM IS USING THE RR (STATE BIT 7). IF
# SO, THE PROGRAM EXITS TO ENDRADAR SO THAT THE RR CDU
# FAIL FLAG (RADMODES BIT 7) CAN BE CHECKED BEFORE
# RETURNING TO THE WAITING PROGRAM. IF NOT, THE PROGRAM EXITS
# TO TASKOVER.
# CALLING SEQUENCE: WAITLIST TASK FROM RRAUTCHK IF THE RR POWER ON AUTO
# BIT (CHAN 33 BIT 2) CHANGES TO 0 AND NO PROGRAM WAS USING
# THE RR (STATE BIT 7).
# ERASABLE INITIALIZATION REQUIRED:
# RADMODES, STATE
# SUBROUTINES CALLED_ RRZEROSB, FIXDELAY, TASKOVER, ENDRADAR
# JOBS OR TASKS INITIATED_
# NONE
# ALARMS_ NONE (SEE RRZEROSB)
# EXIT_ TASKOVER, ENDRADAR (WAITING PROGRAM)
BANK 24
SETLOC P20S1
BANK
EBANK= LOSCOUNT
COUNT* $$/RSUB
RRTURNON TC RRZEROSB
TC FIXDELAY # WAIT 1 SEC BEFORE REMOVING TURN ON FLAG
DEC 100 # SO A MONITOR REPOSITION WONT ALARM.
CS TURNONBT
MASK RADMODES
TS RADMODES
TCF TASKOVER
## Page 536
# PROGRAM NAME_ RRZEROSB
# FUNCTIONAL DESCRIPTION_
# RRZEROSB IS A CLOSED SUBROUTINE TO ZERO THE RR CDU:S,
# DETERMINE THE RR MODE, AND TURNS ON THE TRACKER FAIL
# LAMP IF REQUIRED. INITIALLY THE RR CDU ZERO BIT (CHAN 12
# BIT 1) IS SET. FOLLOWING A 20 MILLISECOND WAIT, THE LGC
# RR CDU COUNTERS (OPTY, OPTX) ARE SET = 0 AFTER
# WHICH THE RR CDU ZERO DISCRETE (CHAN 12 BIT 1) IS
# REMOVED. A 4 SECOND WAIT IS SET TO ALL THE RR CDU:S
# TO REPEAT THE ACTUAL TRUNNION AND SHAFT ANGLES. THE
# RR CDU ZERO FLAG (RADMODES BIT 13) IS REMOVED. THE
# CONTENTS OF OPTY IS THEN CHECKED TO SEE IF THE TRUNNION
# ANGLE IS LESS THAN 90 DEGREES. IF NOT, BIT 12 OF
# RADMODES IS SET = 1 TO INDICATE RR ANTENNA MODE 2.
# IF LESS THAN 90 DEGREES, BIT 12 OF RADMODES IS SET = 0 TO
# INDICATE RR ANTENNA MODE 1. SETTRKF IS THEN CALLED TO
# SEE IF THE TRACKER FAIL LAMP SHOULD BE TURNED ON.
# CALLING SEQUENCE: L TC RRZEROSB (FROM RRTURNON AND RRZERO)
# ERASABLE INITIALIZATION REQUIRED:
# RADMODES (BIT 13 SET), DSPTAB +11D
# SUBROUTINES CALLED_ FIXDELAY, MAGSUB, SETTRKF
# JOBS OR TASKS INITIATED_
# NONE
# ALARMS_ TRACKER FAIL
# EXIT_ L +1 (ALWAYS)
RRZEROSB EXTEND
QXCH RRRET
CAF BIT1 # BIT 13 OF RADMODES MUST BE SET BEFORE
EXTEND # COMING HERE.
WOR CHAN12 # TURN ON ZERO RR CDU
TC FIXDELAY
DEC 2
CAF ZERO
TS CDUT
TS CDUS
CS ONE # REMOVE ZEROING BIT.
EXTEND
WAND CHAN12
TC FIXDELAY
DEC 1000 # RESET FAIL INHIBIT IN 10 SECS - D.281
CS RCDU0BIT # REMOVE ZEROING IN PROCESS BIT.
## Page 537
MASK RADMODES
TS RADMODES
CA CDUT
TC MAGSUB
DEC -.5
TCF +3 # IF MODE 2.
CAF ZERO
TCF +2
CAF ANTENBIT
XCH RADMODES
MASK -BIT12
ADS RADMODES
TC SETTRKF # TRACKER LAMP MIGHT GO ON NOW.
TC RRRET # DONE.
-BIT12 EQUALS -1/8 # IN SPROOT
## Page 538
# PROGRAM NAME_ DORREPOS
# FUNCTIONAL DESCRIPTION_
# DORREPOS IS A SEQUENCE OF TASKS TO DRIVE THE RENDEZVOUS RADAR
# TO A SAFE POSITION. INITIALLY SETRRECR IS CALLED WHERE THE RR
# ERROR COUNTERS (CHAN 12 BIT 2) ARE ENABLED AND LASTYCMD
# AND LASTXCMD SET = 0 TO INDICATE THE DIFFERENCE BETWEEN THE
# DESIRED STATE AND PRESENT STATE OF THE COMMANDS. THE RR
# TURN-ON FLAG (RADMODES BIT 1) IS CHECKED AND IF NOT PRESENT,
# PROGRAM ALARM 00501 IS REQUESTED BEFORE CONTINUING. IN EITHER
# CASE, FOLLOWING A 20 MILLISECOND WAIT THE PROGRAM CHECKS THE CURRENT
# RR ANTENNA MODE (RADMODES BIT 12). RRTONLY IS THEN CALLED
# TO DRIVE THE TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1 AND TO 180
# DEGREES IF IN MODE 2. UPON RETURN, THE CURRENT RR ANTENNA
# MODE (RADMODES BIT 12) IS AGAIN CHECKED. RRSONLY IS THEN
# CALLED TO DRIVE THE SHAFT ANGLE TO 0 DEGREES IF IN MODE 1 AND TO
# -90 DEGREES IF IN MODE 2. IF DURING RRTONLY OR RRSONLY A
# REMODE HAS BEEN REQUESTED (RADMODES BIT 14), AND ALWAYS
# FOLLOWING COMPLETION OF RRSONLY, CONTROL IS TRANSFERRED TO
# REPOSRPT. HERE THE REPOSITION FLAG (RADMODES BIT 11) IS
# REMOVED. A CHECK IS THEN MADE ON THE DESIGNATE FLAG (RADMODES
# BIT 10). IF PRESENT, CONTROL IS TRANSFERRED TO BEGDES. IF NOT PRESENT
# INDICATING NO FURTHER ANTENNA CONTROL REQUIRED, THE RR ERROR
# COUNTER BIT (CHAN 12 BIT 2) IS REMOVED AND THE ROUTINE EXITS TO
# TASKOVER.
# CALLING SEQUENCE:
# WAITLIST CALL FROM RRGIMON IF TRUNNION AND SHAFT CDU ANGLES
# NOT WITHIN LIMITS OF CURRENT MODE.
# ERASABLE INITIALIZATION REQUIRED:
# RADMODES
# SUBROUTINES CALLED_
# RRTONLY, RRSONLY, BEGDES (EXIT)
# JOBS OR TASKS INITIATED_
# NONE
# ALARMS- NONE
# EXIT_ TASKOVER, BEGDES
DORREPOS TC SETRRECR # SET UP RR CDU ERROR COUNTERS.
# ALARM 501 DELETED IN DANCE 279 PER PCR 97.
TC FIXDELAY
DEC 2
CAF ANTENBIT # MANEUVER TRUNNION ANGLE TO NOMINAL POS.
## Page 539
MASK RADMODES
CCS A
CAF BIT15 # 0 FOR MODE 1 AND 180 FOR MODE 2.
TC RRTONLY
CAF ANTENBIT # NOW PUT SHAFT IN RIGHT POSITION
MASK RADMODES
CCS A
CS HALF # -90 FOR MODE 2.
TC RRSONLY
REPOSRPT CS REPOSBIT # RETURNS HERE FROM RR1AXIS IF REMODE
# REQUESTED DURING REPOSITION.
MASK RADMODES # REMOVE REPOSITION BIT.
TS RADMODES
MASK DESIGBIT # SEE IF SOMEONE IS WAITING TO DESIGNATE.
CCS A
TCF BEGDES
CS BIT2 # IF NO FURTHER ANTENNA CONTROL REQUIRED,
EXTEND # REMOVE ERROR COUNTER ENABLE.
WAND CHAN12
TCF TASKOVER
SETRRECR CAF BIT2 # SET UP RR ERROR COUNTERS.
EXTEND
RAND CHAN12
CCS A # DO NOT CLEAR LAST COMMAND IF
TC Q # ERROR COUNTERS ARE ENABLED.
TS LASTYCMD
TS LASTXCMD
CAF BIT2
EXTEND
WOR CHAN12 # ENABLE RR CDU ERROR COUNTERS.
TC Q
## Page 540
# PROGRAM NAME_ REMODE IVES SHAFT TO -45, AND FINALLY DRIVES
#
# FUNCTIONAL DESCRIPTION_ S DONE WITH SINGLE AXIS ROTATIONS (SEE
# REMODE IS THE GENERAL REMODING SUBROUTINE. IT DRIVES THE
# TRUNNION ANGLE TO 0 DEGREES IF THE CURRENT MODE IS MODE 1,
# 180 DEGREES FOR MODE 2, THEN DRIVES THE SHAFT ANGLE TO -45
# DEGREES, AND FINALLY DRIVES THE TRUNNION ANGLE TO -130 DEGREES,
# TO PLACE THE RR IN MODE 2, -50 DEGREES FOR MODE 1, BEFORE
# INITIATING 2-AXIS CONTROL. ALL REMODING IS DONE WITH SINGLE
# AXIS ROTATIONS (RR1AXIS). INITIALLY THE RR ANTENNA MODE FLAG
# (RADMODES BIT 12) IS CHECKED. CONTROL IS THEN TRANSFERRED TO
# RRTONLY TO DRIVE THR TRUNNION ANGLE TO 0 DEGREES IF IN MODE 1
# OR 180 DEGREES IF IN MODE 2. RRSONLY IS THEN CALLED TO DRIVE
# THE SHAFT ANGLE TO -45 DEGREES. THE RR ANTENNA MODE FLAG
# (RADMODES BIT 12) IS CHECKED AGAIN. CONTROL IS AGAIN
# TRANSFERRED TO RRTONLY TO DRIVE THE TRUNNION ANGLE TO -130
# DEGREES TO PLACE THE RR IN MODE 2 IF CURRENTLY IN MODE 1 OR TO
# -50 DEGREES IF IN MODE 2 TO PLACE THE RR IN MODE 1. RMODINV
# IS THEN CALLED TO SET RADMODES BIT 12 TO INDICATE THE NEW
# RR ANTENNA MODE. THE REMODE FLAG (RADMODES BIT 14)
# IS REMOVED TO INDICATE THAT REMODING IS COMPLETE. THE PROGRAM
# THEN EXITS TO STDESIG TO BEGIN 2-AXIS CONTROL.
# CALLING SEQUENCE:
# FROM BEGDES WHEN REMODE FLAG (RADMODES BIT 14) IS SET.
# THIS FLAG MAY BE SET IN RRDESSM AND RRDESNB IF RRLIMCHK
# DETERMINES THAT THE DESIRED ANGLES ARE WITHIN THE LIMITS OF THE
# OTHER MODE.
# ERASABLE INITIALIZATION REQUIRED:
# RADMODES
# SUBROUTINES CALLED_
# RRTONLY, RRSONLY, RMODINV (ACTUALLY PART OF)
# JOBS OR TASKS INITIATED_
# NONE
# ALARMS_ NONE
# EXIT_ STDESIG
REMODE CAF ANTENBIT # DRIVE TRUNNION TO 0 (180)
MASK RADMODES # (ERROR COUNTER ALREADY ENABLED)
CCS A
CAF BIT15
TC RRTONLY
CAF -45DEGSR
TC RRSONLY
## Page 541
CS RADMODES
MASK ANTENBIT
CCS A
CAF -80DEGSR # GO TO T = -130 (-50).
AD -50DEGSR
TC RRTONLY
CS RADMODES
MASK ANTENBIT
CCS A
CAF BIT15 # GO TO T = -180 (+0).
TC RRTONLY
CS RADMODES # GO TO S = -90 (+0).
MASK ANTENBIT
CCS A
CS HALF
TC RRSONLY
TC RMODINV
CS REMODBIT # END OF REMODE.
MASK RADMODES
TS RADMODES
CAF DESIGBIT # WAS REMODE CALLED DURING DESIGNATE?
MASK RADMODES # (BIT10 RADMODES = 1)
EXTEND
BZF RGOODEND # NO-RETURN TO CALLER WAITING IN RADSTALL
TC STDESIG # YES - RETURN TO DESIGNATE
-45DEGSR = 13,14,15
-50DEGSR DEC -.27778
-80DEGSR DEC -.44444
RMODINV LXCH RADMODES # INVERT THE MODE STATUS.
CAF ANTENBIT
EXTEND
RXOR LCHAN
TS RADMODES
TC Q
## Page 542
# PROGRAM NAMES_ RRTONLY, RRSONLY
# FUNCTIONAL DESCRIPTION_
# RRTONLY AND RRSONLY ARE SUBROUTINES FOR DOING SINGLE AXIS
# RR MANEUVERS FOR REMODE AND REPOSITION. IT DRIVES TO
# WITHIN 1 DEGREE. INITIALLY, AT RR1AX2, THE REMODE AND REPOSITION
# FLAGS (RADMODES BITS 14, 11) ARE CHECKED. IF BOTH EXIST,
# THE PROGRAM EXITS TO REPOSRPT (SEE DORREPOS). THIS INDICATES
# THAT SOMEONE POSSIBLY REQUESTED A DESIGNATE (RADMODES BIT 10)
# WHICH REQUIRES A REMODE (RADMODES BIT 14) AND THAT A
# REPOSITION IS IN PROGRESS (RADMODES BIT 11). IF NONE
# OR ONLY ONE OF THE FLAGS EXIST, REMODE OR REPOSITION, MAGSUB
# IS CALLED TO SEE IF THE APPROPRIATE ANGLE IS WITHIN 1 DEGREE. IF YES,
# CONTROL RETURNS TO THE CALLING ROUTINE. IF NOT, CONTROL IS
# TRANSFERRED TO RROUT FOR SINGLE AXIS MANEUVERS WITH THE OTHER
# ANGLE SET = 0. FOLLOWING A .5 SECOND WAIT, THE ABOVE PROCEDURE IS
# REPEATED.
# CALLING SEQUENCE: L-1 CAF *ANGLE* (DESIRED ANGLE SCALED PI)
# L TC RRTONLY (TRUNNION ONLY)
# RRSONLY (SHAFT ONLY)
# RRTONLY IS CALLED BY PREPOS29;
# RRTONLY AND RRSONLY ARE CALLED BY DORREPOS AND REMODE
# ERASABLE INITIALIZATION REQUIRED:
# C(A) = DESIRED ANGLE, RADMODES
# SUBROUTINES CALLED_
# FIXDELAY, REPOSRPT, MAGSUB, RROUT
# JOBS OR TASKS INITIATED_
# NONE
# ALARMS_ NONE
# EXIT_ REPOSRPT (REMODE AND REPOSITION FLAGS PRESENT - RADMODES
# BITS 14, 11)
# L+1 (ANGLE WITHIN ONE DEGREE OR RR OUT OF AUTO MODE)
RRTONLY TS RDES # DESIRED TRUNION ANGLE.
CAF ZERO
TCF RR1AXIS
RRSONLY TS RDES # SHAFT COMMANDS ARE UNRESOLVED SINCE THIS
CAF ONE # ROUTINE ENTERED ONLY WHEN T = 0 OR 180.
RR1AXIS TS RRINDEX
EXTEND
QXCH RRRET
TCF RR1AX2
## Page 543
NXTRR1AX TC FIXDELAY
DEC 50 # 2 SAMPLES PER SECOND.
RR1AX2 CS RADMODES # IF SOMEONE REQUESTES AS DESIGNATE WHICH
MASK PRIO22 # REQUIRES A REMODE AND A REPOSITION IS IN
EXTEND # PROGRESS, INTERRUPT IT AND START THE
BZF REPOSRPT # REMODE IMMEDIATELY.
CA RDES
EXTEND
INDEX RRINDEX
MSU CDUT
TS ITEMP1 # SAVE ERROR SIGNAL.
EXTEND
MP RRSPGAIN # TRIES TO NULL .7 OF ERROR OVER NEXT .5
TS L
CA RADMODES
MASK AUTOMBIT
XCH ITEMP1 # STORE RR-OUT-OF-AUTO-MODE BIT.
TC MAGSUB # SEE IF WITHIN ONE DEGREE.
DEC -.00555 # SCALED IN HALF-REVS.
CCS ITEMP1 # NO. IF RR OUT OF AUTO MODE, EXIT.
TC RRRET # RETURN TO CALLER.
CCS RRINDEX # COMMAND FOR OTHER AXIS IS ZERO.
TCF +2 # SETTING A TO 0.
XCH L
DXCH TRUNNCMD
TC RROUT
TCF NXTRR1AX # COME BACK IN .5 SECONDS.
RRSPGAIN DEC .59062 # NULL .7 ERROR IN .5 SEC.
## Page 544
# PROGRAM NAME_ RROUT RROR COUNTER SCALING. RROUT LIMITS THEM
# FUNCTIONAL DESCRIPTION_
# RROUT RECEIVES RR GYRO COMMANDS IN TANG, TANG +1 IN RR
# ERROR COUNTER SCALING. RROUT THEN LIMITS THEM AND
# GENERATES COMMANDS TO THE CDU TO ADJUST THE ERROR COUNTERS
# TO THE DESIRED VALUES. INITIALLY MAGSUB CHECKS THE MAGNITUDE OF
# THE COMMAND (SHAFT ON 1ST PASS) TO SEE IF IT IS GREATER THAN
# 384 PULSES. IF NOT, CONTROL IS TRANSFERRED TO RROUTLIM TO
# LIMIT THE COMMAND TO +384 OR -384 PULSES. THE DIFFERENCE IS
# THEN CALCULATED BETWEEN THE DESIRED STATE AND THE PRESENT STATE OF
# THE ERROR COUNTER AS RECORDED IN LASTYCMD AND LASTXCMD.
# THE RESULT IS STORED IN OPTXCMD (1ST PASS) AND OPTYCMD (2ND
# PASS). FOLLOWING THE SECOND PASS, FOR THE TRUNNION COMMAND, THE
# OCDUT AND OCDUS ERROR COUNTER DRIVE BITS (CHAN 14 BITS 12, 11)
# ARE SET. THIS PROGRAM THEN EXITS TO THE CALLING PROGRAM.
# CALLING SEQUENCE:
# L TC RROUT (WITH RUPT INHIBITED) RROUT IS CALLED BY
# RRTONLY, RRSONLY, AND DODES
# ERASABLE INITIALIZATION REQUIRED:
# TANG, TANG +1 (DESIRED COMMANDS), LASTYCMD, LASTXCMD
# (1ST PASS = 0), RR ERROR COUNTER ENABLE SET (CHAN 12 BIT 2).
# SUBROUTINES CALLED_
# MAGSUB
# JOBS OR TASKS INITIATED_
# NONE
# ALARMS_ NONE
# EXIT_ L+1 (ALWAYS) SIRED VALUES. RUPT MUST BE INHIBITED.
RROUT LXCH Q # SAVE RETURN.
CAF ONE # LOOP TWICE.
RROUT2 TS ITEMP2
INDEX A
CA TRUNNCMD
TS ITEMP1 # SAVE SIGN OF COMMAND FOR LIMITING.
TC MAGSUB # SEE IF WITHIN LMITS.
-RRLIMIT DEC -384
TCF RROUTLIM # LIMIT COMMAND TO MAG OF 384.
SETRRCTR CA ITEMP1 # COUNT OUT DIFFERENCE BETWEEN DESIRED
INDEX ITEMP2 # STATE AND PRESENT STATE AS RECORDED IN
XCH LASTYCMD # LASTYCMD AND LASTXCMD
COM
## Page 545
AD ITEMP1
AD NEG0 # PREVENT +0 IN OUTCOUNTER
INDEX ITEMP2
TS CDUTCMD
CCS ITEMP2 # PROCESS BOTH INPUTS.
TCF RROUT2
CAF PRIO6 # ENABLE COUNTERS.
EXTEND
WOR CHAN14 # PUT ON CDU DRIVES S AND T
TC L # RETURN.
RROUTLIM CCS ITEMP1 # LIMIT COMMAND TO ABS VAL OF 384.
CS -RRLIMIT
TCF +2
CA -RRLIMIT
TS ITEMP1
TCF SETRRCTR +1
## Page 546
# ROUTINE TO ZERO THE RR CDUS AND DETERMINE THE ANTENNA MODE.
RRZERO CAF BIT11+1 # SEE IF MONITOR REPOSITION OR NOT IN AUTO
MASK RADMODES # IF SO, DONT RE-ZERO CDUS.
CCS A
TCF RADNOOP # (IMMEDIATE TASK TO RGOODEND).
INHINT
CS RCDU0BIT # SET FLAG TO SHOW ZEROING IN PROGRESS.
MASK RADMODES
AD RCDU0BIT
TS RADMODES
CAF ONE
TC WAITLIST
EBANK= LOSCOUNT
2CADR RRZ2
CS RADMODES # SEE IF IN AUTO MODE.
MASK AUTOMBIT
CCS A
TCF ROADBACK
TC ALARM # AUTO DISCRETE NOT PRESENT - TRYING
OCT 510
ROADBACK RELINT
TCF SWRETURN
RRZ2 TC RRZEROSB # COMMON TO TURNON AND RRZERO.
TCF ENDRADAR
BIT11+1 OCT 02001
## Page 547
# PROGRAM NAME_ RRDESSM R (HALF-UNIT) IN RRTARGET. REMODES IF
# FUNCTIONAL DESCRIPTION_
# THIS INTERPRETIVE ROUTINE WILL DESIGNATE, IF DESIRED ANGLES ARE
# WITHIN THE LIMITS OF EITHER MODE, TO A LINE-OF SIGHT (LOS) VECTOR
# (HALF-UNIT) KNOWN WITH RESPECT TO THE STABLE MEMBER PRESENT
# ORIENTATION. INITIALLY THE IMU CDU:S ARE READ AND CONTROL
# TRANSFERRED TO SMNB TO TRANSFORM THE LOS VECTOR FROM STABLE
# MEMBER TO NAVIGATION BASE COORDINATES (SEE STG MEMO -699)
# RRANGLES IS THEN CALLED TO CALCULATE THE RR GIMBAL ANGLES,
# TRUNNION AND SHAFT, FOR BOTH THE PRESENT AND ALTERNATE MODE.
# RRLIMCHK IS CALLED TO SEE IF THE ANGLES CALCULATED FOR THE
# PRESENT MODE ARE WITHIN LIMITS. IF WITHIN LIMITS, THE RETURN
# LOCATION IS INCREMENTED, INASMUCH AS NO VEHICLE MANEUVER IS
# REQUIRED, BEFORE EXITING TO STARTDES. IF NOT WITHIN LIMITS OF THE
# CURRENT MODE, TRYSWS IS CALLED. FOLLOWING INVERTING OF THE RR
# ANTENNA MODE FLAG (RADMODES BIT 12), RRLIMCHK IS CALLED
# TO SEE IF THE ANGLES CALCULATED FOR THE ALTERNATE MODE ARE WITHIN
# LIMITS. IF YES, THE RR ANTENNA MODE FLAG IS AGAIN INVERTED,
# THE REMODE FLAG (RADMODES BIT 14) SET, AND THE RETURN LOCATION
# INCREMENTED, TO INDICATE NO VEHICLE MANEUVER IS REQUIRED, BEFORE
# EXITING TO STARTDES. IF THESE ANGLES ARE NOT WITHIN LIMITS
# OF THE ALTERNATE MODE, THE RR ANTENNA MODE FLAG (RADMODES
# BIT 12) IS INVERTED BEFORE RETURNING DIRECTLY TO THE CALLING PROGRAM
# TO INDICATE THAT A VEHICLE MANEUVER IS REQUIRED.
# CALLING SEQUENCE:
# L STCALL RRTARGET (LOS HALF-UNIT VECTOR IN SM COORDINATES)
# L+1 RRDESSM
# L+2 BASIC (VEHICLE MANEUVER REQUIRED)
# L+3 BASIC (NO VEHICLE MANEUVER REQUIRED)
# ERASABLE INITIALIZATION REQUIRED:
# RRTARGET, RADMODES
# SUBROUTINES CALLED_
# READCDUS, SMNB, RRANGLES, RRLIMCHK, TRYSWS (ACTUALLY
# PART OF), RMODINV
# JOBS OR TASKS INITIATED_
# NONE
# ALARMS_ NONE
# EXIT_ L+2 (NEITHER SET OF ANGLES ARE WITHIN LIMITS OF RELATED MODE)
# STARTDES (DESIGNATE POSSIBLE AT PRESENT VEHICLE ATTITUDE-RETURNS
# TO L+3 FROM STARTDES) CAN BE DONE IN PRESENT VEH ATTITUDE.
RRDESSM STQ CLEAR
DESRET
## Page 548
RRNBSW
CALL # COMPUTES SINES AND COSINES, ORDER Y Z X
CDUTRIG
VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
RRTARGET
*SMNB*
CALL # GET RR GIMBAL ANGLES IN PRESENT AND
RRANGLES # ALTERNATE MODE.
EXIT
INHINT
TC RRLIMCHK
ADRES MODEA # CONFIGURATION FOR CURRENT MODE.
TC +3 # NOT IN CURRENT MODE
OKDESSM INCR DESRET # INCREMENT SAYS NO VEHICLE MANEUVER REQ.
TC STARTDES # SHOW DESIGNATE REQUIRED
CS FLAGWRD8
MASK SURFFBIT # CHECK IF ON LUNAR SURFACE (SURFFLAG=P22F
EXTEND
BZF NORDSTAL # BRANCH-YES-CANNOT DESIGNATE IN MODE 2
TC TRYSWS
LUNDESCH CS FLAGWRD8 # OVERFLOW RETURN FROM RRANGLES
MASK SURFFBIT # CHECK IF ON LUNAR SURFACE
EXTEND
BZF NORDSTAL # BRANCH-YES-RETURN TO CALLER - ALARM 527
CA STATE
MASK RNDVZBIT
CCS A # TEST RNDVZFLG.
TC NODESSM # NOT ON MOON-CALL FOR ATTITUDE MANEUVER
TCF ENDOFJOB # ...BUT NOT IN R29.
## Page 549
# PROGRAM NAME_ STARTDES STORED AS A HALF-UNIT VECTOR IN RRTARGET
# FUNCTIONAL DESCRIPTION_ CKON IS DESIRED. BIT14 OF RADMODES IS
# STARTDES IS ENTERED WHEN WE ARE READY TO BEGIN DESIGNATION. OR REPOSITION OPERATION. IN THIS
# BIT 14 OF RADMODES IS ALREADY SET IF A REMODE IS REQUIRED. THE REPOSITION WILL BE INTERRUPTED.
# AT THIS TIME, THE RR ANTENNA MAY BE IN A REPOSITION GINS.
# OPERATION. IN THIS CASE, IF A REMODE IS REQUIRED IT MAY HAVE
# ALREADY BEGUN BUT IN ANY CASE THE REPOSITION WILL BE INTERRUPTED.
# OTHERWISE, THE REPOSITION WILL BE COMPLETED BEFORE 2-AXIS
# DESIGNATION BEGINS. INITIALLY DESCOUNT IS SET = 60 TO INDICATE
# THAT 30 SECONDS WILL BE ALLOWED FOR THE RR DATA GOOD INBIT
# (CHAN 33 BIT 4) IF LOCK-ON IS DESIRED (STATE BIT 5). BIT 10
# OF RADMODES IS SET TO SHOW THAT A DESIGNATE IS REQUIRED.
# THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF SET,
# THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM (SEE RRDESSM
# AND RRDESNB). THE PROGRAM WILL BEGIN DESIGNATING TO THE DESIRED
# ANGLES FOLLOWING THE REPOSITION OR REMODE IF ONE WAS
# REQUESTED. IF THE REPOSITION FLAG IS NOT SET, SETRRECR IS CALLED
# WHICH SETS THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2)
# AND SETS LASTYCMD AND LASTXCMD = 0 TO INDICATE THE
# DIFFERENCE BETWEEN THE PRESENT AND DESIRED STATE OF THE ERROR
# COUNTERS. A 20 MILLISECOND WAITLIST CALL IS SET FOR BEGDES
# AFTER WHICH THE PROGRAM EXITS TO L+3 OF THE CALLING PROGRAM.
# CALLING SEQUENCE:
# FROM RRDESSM AND RRDESNB WHEN ANGLES WITHIN LIMITS.
# ERASABLE INITIALIZATION REQUIRED:
# RADMODES, (SEE DODES)
# SUBROUTINES CALLED_
# SETRRECR, WAITLIST
# JOBS OR TASKS INITIATED_
# BEGDES
# ALARMS_ NONE
# EXIT_ L+3 OF CALLING PROGRAM (SEE RRDESSM)
# L+2 OF CALLING PROGRAM (SEE RRDESNB)
STARTDES INCR DESRET
CS RADMODES
MASK DESIGBIT
ADS RADMODES
MASK REPOSBIT # SEE IF REPOSITIONING IN PROGRESS.
CCS A
TCF DESRETRN # ECTR ALREADY SET UP.
TC SETRRECR # SET UP ERROR COUNTERS.
## Page 550
CAF TWO
TC WAITLIST
EBANK= LOSCOUNT
2CADR BEGDES
DESRETRN CA RADCADR # FIRST PASS THRU DESIGNATE
EXTEND
BZF DESRTRN # YES SET EXIT
TC ENDOFJOB # NO
DESRTRN RELINT
INCR DESRET
CA DESRET
TCF BANKJUMP
NORDSTAL CAF ZERO # ZERO RADCADR TO WIPE OUT ANYONE
TS RADCADR # WAITING IN RADSTALL SINCE WE ARE NOW
TCF DESRTRN # RETURNING TO P20 AND MAY DO NEW RADSTALL
## Page 551
# SEE IF RRDESSM CAN BE ACCOMPLISHED AFTER A REMODE.
TRYSWS TC RMODINV # (NOTE RUPT INHIBIT)
TC RRLIMCHK # TRY DIFFERENT MODE.
ADRES MODEB
TCF NODESSM # VEHICLE MANEUVER REQUIRED.
TC RMODINV # RESET BIT12
CAF REMODBIT # SET FLAG FOR REMODE.
ADS RADMODES
TCF OKDESSM
NODESSM TC RMODINV # RE-INVERT MODE AND RETURN
INCR DESRET # TO CALLER +2
TCF NORDSTAL
MAXTRYS DEC 60
## Page 552
# DESIGNATE TO SPECIFIC RR GIMBAL ANGLES (INDEPENDENT OF VEHICLE MOTION). ENTER WITH DESIRED ANGLES IN
# TANG AND TANG +1.
RRDESNB TC MAKECADR
TS DESRET
TC DOWNFLAG # RESET FLAG TO PREVENT DODES FROM GOING
ADRES LOSCMFLG # BACK TO R21
CA MAXTRYS # SET TIME LIMIT COUNTER
TS DESCOUNT # FOR DESIGNATE
INHINT # SEE IF CURRENT MODE OK.
TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
ADRES TANG
TCF TRYSWN # SEE IF IN OTHER MODE.
OKDESNB RELINT
EXTEND
DCA TANG
DXCH TANGNB
TC INTPRET
CALL # GET LOS IN NB COORDS.
RRNB
STORE RRTARGET
SET EXIT
RRNBSW
INHINT
TCF STARTDES +1
TRYSWN TC RMODINV # SEE IF OTHER MODE WILL DO.
TC RRLIMNB # DO SPECIAL V41 LIMIT CHECK
ADRES TANG
TCF NODESNB # NOT POSSIBLE.
TC RMODINV
CAF REMODBIT # CALL FOR REMODE.
ADS RADMODES
TCF OKDESNB
NODESNB TC RMODINV # REINVERT MODE BIT.
TC ALARM # BAD INPUT ANGLES.
OCT 502
TC CLRADMOD
TC ENDOFJOB # AVOID 503 ALARM.
RRLIMNB INDEX Q # THIS ROUTINE IS IDENTICAL TO RRLIMCHK
CAF 0 # EXCEPT THAT THE MODE 1 SHAFT LOWER
INCR Q # LIMIT IS -85 INSTEAD OF -70 DEGREES
EXTEND
## Page 553
INDEX A # READ GIMBAL ANGLES INTO ITEMP STORAGE
DCA 0
DXCH ITEMP1
LXCH Q # L(CALLER +2) TO L
CAF ANTENBIT # SEE WHICH MODE RR IS IN.
MASK RADMODES
CCS A
TCF MODE2CHK # MODE 2 CAN USE RRLIMCHK CODING
CA ITEMP1
TC MAGSUB # MODE 1 IS DEFINED AS
DEC -.30555 # 1. ABS(T) L 55 DEGS
TC L # 2 SHAFT LIMITS AT +59, -85 DEGS
CA ITEMP2 # LOAD SHAFT ANGLE
EXTEND
BZMF NEGSHAFT # IF NEGATIVE SHAFT ANGLE, ADD 20.5 DEGS
AD 5.5DEGS
SHAFTLIM TC MAGSUB
DEC -.35833 # 64.5 DEGREES
TC L # NOT IN LIMITS
TC RRLIMOK # IN LIMITS
NEGSHAFT AD 20.5DEGS # MAKE NEGATIVE SHAFT LIMIT -85 DEGREES
TCF SHAFTLIM
20.5DEGS DEC .11389
## Page 554
# PROGRAM NAME_ BEGDES
# FUNCTIONAL DESCRIPTION_
# BEGDES CHECKS VARIOUS DESIGNATE REQUESTS AND REQUESTS THE
# ACTUAL RR DESIGNATION. INITIALLY A CHECK IS MADE TO SEE IF A
# REMODE (RADMODES BIT 14) IS REQUESTED OR IN PROGRESS. IF SO,
# CONTROL IS TRANSFERRED TO STDESIG AFTER ROUTINE REMODE IS
# EXECUTED. IF NO REMODE, STDESIG IS IMMEDIATELY CALLED WHERE
# FIRST THE REPOSITION FLAG (RADMODES BIT 11) IS CHECKED. IF
# PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS REMOVED
# AFTER WHICH THE PROGRAM EXITS TO RDBADEND. IF THE REPOSITION
# FLAG IS NOT PRESENT, THE CONTINUOUS DESIGNATE FLAG (RADMODES
# BIT 15) IS CHECKED. IF PRESENT, ON EXECUTIVE CALL IS IMMEDIATELY
# MADE FOR DODES AFTER WHICH A .5 SECOND WAIT IS INITIATED BEFORE
# REPEATING AT STDESIG. IF THE RR SEARCH ROUTINE (LRS24.1) IS DESIGNATING
# TO A NEW POINT (NEWPTFLG SET) THE CURRENT DESIGNATE TASK IS TERMINATED.
# IF CONTINUOUS DESIGNATE IS NOT WANTED, THE DESIGNATE FLAG (RADMODES
# BIT 10) IS CHECKED. IF NOT PRESENT, THE PROGRAM EXITS TO ENDRADAR TO
# CHECK RR CDU FAIL BEFORE RETURNING TO THE CALLING PROGRAM. IF DESIGNATE
# IS STILL REQUIRED, DESCOUNT IS CHECKED TO SEE IF THE 30 SECONDS HAS
# EXPIRED BEFORE RECEIVING THE RR DATA GOOD (CHAN 33 BIT 4)
# SIGNAL. IF OUT OF TIME, PROGRAM ALARM 00503 IS REQUESTED, THE
# RR AUTO TRACKER ENABLE AND RR ERROR COUNTER ENABLE
# (CHAN 12 BITS 14,2) BITS REMOVED, AND THE DESIGNATE FLAG
# (RADMODES BIT 10) REMOVED BEFORE EXITING TO RDBADEND. IF
# TIME HAS NOT EXPIRED, DESCOUNT IS DECREMENTED, THE
# EXECUTIVE CALL MADE FOR DODES, AND A .5 SECOND WAIT INITIATED
# BEFORE REPEATING THIS PROCEDURE AT STDESIG.
# CALLING SEQUENCE:
# WAITLIST CALL FROM STARTDES
# TCF BEGDES FROM DORREPOS
# TC STDESIG RETURNING, FROM REMODE
# ERASABLE INITIALIZATION REQUIRED:
# DESCOUNT, RADMODES
# SUBROUTINES CALLED_
# ENDRADAR, FINDVAC
# JOBS OR TASKS INITIATED_ DODES
# ALARMS_ PROGRAM ALARM 00503 (30 SECONDS HAVE EXPIRED) WITH NO RR DATA
# GOOD (CHAN 33 BIT 4) RECEIVED WHEN LOCK-ON (STATE BIT 5) WAS REQUESTED.
# EXIT_ TASKOVER (SEARCH PATTERN DESIGNATING TO NEW POINT)
# ENDRADAR (NO DESIGNATE - RADMODES BIT 10)
# RDBADEND (REPOSITION OR 30 SECONDS EXPIRED)
BEGDES CS RADMODES
## Page 555
MASK REMODBIT
CCS A
TC STDESIG
TC REMODE
DESLOOP TC FIXDELAY # 2 SAMPLES PER SECOND.
DEC 50
STDESIG CAF REPOSBIT
MASK RADMODES # SEE IF GIMBAL LIMIT MONITOR HAS FOUND US
CCS A # OUT OF BOUNDS. IF SO, THIS BIT SHOWS A
TCF BADDES # REPOSITION TO BE IN PROGRESS.
CCS RADMODES # SEE IF CONTINUOUS DESIGNATE WANTED.
TCF +3 # IF SO, DONT CHECK BIT 10 TO SEE IF IN
TCF +2 # LIMITS BUT GO RIGHT TO FINDVAC ENTRY.
TCF MOREDES +1
CS RADMODES # IF NON-CONTINUOUS, SEE IF END OF
MASK DESIGBIT # PROBLEM (DATA GOOD IF LOCK-ON WANTED OR
CCS A # WITHIN LIMITS IF NOT). IF SO, EXIT AFTER
TCF ENDRADAR # CHECKING RR CDU FAIL.
STDESIG1 CCS DESCOUNT # SEE IF THE TINE LIMIT HAS EXPIRED
TCF MOREDES
CS B14+B2 # IF OUT OF TIME, REMOVE ECR ENABLE + TRKR
EXTEND
WAND CHAN12
BADDES TC DOWNFLAG
ADRES DESIGFLG
TCF RDBADEND
MOREDES TS DESCOUNT
CAF PRIO26 # UPDATE GYRO TORQUE COMMANDS.
TC FINDVAC
EBANK= LOSCOUNT
2CADR DODES
TCF DESLOOP
B14+B2 OCT 20002
## Page 556
# PROGRAM NAME_ DODES
# FUNCTIONAL DESCRIPTION_
# DODES CALCULATES AND REQUESTS ISSUANCE OF RR GYRO TORQUE
# COMMANDS. INITIALLY THE CURRENT RR CDU ANGLES ARE STORED AND
# THE LOS HALF-UNIT VECTOR TRANSFORMED FROM STABLE MEMBER TO
# NAVIGATION BASE COORDINATES VIA SMNB IF NECESSARY. THE
# SHAFT AND TRUNNION COMMANDS ARE THEN CALCULATED AS FOLLOWS_
# + SHAFT = LOS . (COS(S), 0, -SIN (S)) (DOT PRODUCT)
# -TRUNNION = LOS . (SIN (T) SIN (S), COS (T), SIN (T) COS (S) )
# THE SIGN OF THE SHAFT COMMAND IS THEN REVERSED IF IN MODE 2
# (RADMODES BIT 12) BECAUSE A RELAY IN THE RR REVERSES THE
# POLARITY OF THE COMMAND. AT RRSCALUP EACH COMMAND IS
# SCALED AND IF EITHER, OR BOTH, OF THE COMMANDS IS GREATER THAN
# .5 DEGREES, MPAC +1 IS SET POSITIVE. IF A CONTINUOUS DESIGNATE
# (RADMODES BIT 15) IS DESIRED AND THE SEARCH ROUTINE IS NOT OPERATING,
# THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS CLEARED AND RROUT
# CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11)
# IS IN PROGRESS. IF A CONTINUOUS DESIGNATE AND THE SEARCH ROUTINE IS
# OPERATING (SRCHOPT FLAG SET) THE TRACK ENABLE IS NOT CLEARED. IF NO
# CONTINUOUS DESIGNATE AND BOTH COMMANDS ARE NOT LESS THAN .5 DEGREES AS
# INDICATED BY MPAC +1, THE RR AUTO TRACKER ENABLE BIT (CHAN 12 BIT 14) IS
# CLEARED AND RROUT CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
# (RADMODES BIT 11) IS IN PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5
# DEGREES AS INDICATED BY MPAC+1, THE RR AUTO TRACKER ENABLE BIT
# (CHAN 12 BIT 14) IS CLEARED AND RROUT CALLED TO PUT OUT THE
# COMMANDS PROVIDED NO REPOSITION (RADMODES BIT 11) IS IN
# PROGRESS. IF BOTH COMMANDS ARE LESS THAN .5 DEGREES, THE
# LOCK-ON FLAG (STATE BIT 5) IS CHECKED. IF NOT PRESENT, THE
# DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED, THE RR ERROR
# COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED, AND ENDOFJOB
# CALLED. IF LOCK-ON IS DESIRED, THE RR AUTO TRACKER (CHAN 12
# BIT 14) IS ENABLED FOLLOWED BY A CHECK OF THE RECEIPT OF THE
# RR DATA GOOD (CHAN 33 BIT 4) SIGNAL. IF RR DATA GOOD
# PRESENT, THE DESIGNATE FLAG (RADMODES BIT 10) IS CLEARED,
# THE RR ERROR COUNTER ENABLE BIT (CHAN 12 BIT 2) IS CLEARED,
# AND ENDOFJOB CALLED. IF RR DATA GOOD IS NOT PRESENT, RROUT
# IS CALLED TO PUT OUT THE COMMANDS PROVIDED NO REPOSITION
# (RADMODES BIT 11) IS IN PROGRESS AFTER WHICH THE JOB IS TERMINATED
# VIA ENDOFJOB.
# CALLING SEQUENCE:
# EXECUTIVE CALL EVERY .5 SECONDS FROM BEGDES.
# ERASABLE INITIALIZATION REQUIRED:
# RRTARGET (HALF-UNIT LOS VECTOR IN EITHER SM OR NB COORDINATES),
# LOKONSW (STATE BIT 5), RRNBSW (STATE BIT 6), RADMODES
# SUBROUTINES CALLED_
# READCDUS, SMNB, CDULOGIC, MAGSUB, RROUT
## Page 557
# JOBS OR TASKS INITIATED_
# NONE
# ALARMS_ NONE
# EXIT_ ENDOFJOB (ALWAYS)
DODES EXTEND
DCA CDUT
DXCH TANG
TC INTPRET
SETPD VLOAD
0
RRTARGET
BON VXSC
RRNBSW
DONBRD # TARGET IN NAV-BASE COORDINATES
MLOSV # MULTIPLY UNIT LOS BY MAGNITUDE
VSL1 PDVL
LOSVEL
VXSC VAD # ADD ONE SECOND RELATIVE VELOCITY TO LOS
MCTOMS
UNIT CALL
CDUTRIG
CALL
*SMNB*
DONBRD STODL 32D
TANG +1
RTB PUSH # SHAFT COMMAND = V(32D).(COS(S), 0,
CDULOGIC # (-SIN(S)).
SIN PDDL # SIN(S) TO 0 AND COS(S) TO 2.
COS PUSH
DMP PDDL
32D
36D
DMP BDSU
0
STADR
STORE TANG +1 # SHAFT COMMAND
SLOAD RTB
TANG
CDULOGIC
PUSH COS # COS(T) TO 4.
PDDL SIN
PUSH DMP # SIN(T) TO 6.
2
SL1 PDDL # DEFINE VECTOR U = (SIN(T)SIN(S))
4 # (COS(T) )
## Page 558
PDDL DMP # (SIN(T)COS(S))
6
0
SL1 VDEF
DOT EXIT # DOT U WITH LOS TO GET TRUNNION COMMAND.
32D
## Page 559
# AT THIS POINT WE HAVE A ROTATION VECTOR IN DISH AXES LYING IN THE TS PLANE. CONVERT THIS TO A
# COMMANDED RATE AND ENABLE THE TRACKER IF WE ARE WITHIN .5 DEGREES OF THE TARGET.
CS MPAC # DOT WAS NEGATIVE OF DESIRED ANGLE.
EXTEND
MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
TS TRUNNCMD # TRUNNION COMMAND FOR RROUT
CS RADMODES # A RELAY IN THE RR REVERSES POLARITY OF
MASK BIT12 # THE SHAFT COMMANDS IN MODE 2 SO THAT A
EXTEND # POSITIVE TORQUE APPLIED TO THE SHAFT
BZF +3 # GYRO CAUSES A POSITIVE CHANGE IN THE
CA TANG +1 # SHAFT ANGLE. COMPENSATE FOR THIS SWITCH
TCF +2 # BY CHANGING THE POLARITY OF OUR COMMAND.
+3 CS TANG +1
EXTEND
MP RDESGAIN # SCALING ON INPUT ANGLE WAS 4 RADIANS.
TS SHAFTCMD # SHAFT COMMAND FOR RROUT
TC INTPRET
DLOAD DMP
2 # COS(S).
4 # COS(T).
SL1 PDDL # Z COMPONENT OF URR.
DCOMP PDDL # Y COMPONENT = -SIN(T).
0 # SIN(S).
DMP SL1
4 # COS(T).
VDEF BON # FORM URR IN NB AXES.
RRNBSW # BYPASS NBSM CONVERSION IN VERB 41.
+3
CALL
*NBSM* # GET URR IN SM AXES.
DOT EXIT
RRTARGET # GET COSINE OF ANGLE BETWEEN RR AND LOS.
EXTEND
DCS COS1/2DG
DAS MPAC # DIFFERENCE OF COSINES, SCALED B-2.
CCS MPAC
CA ZERO # IF COS ERROR BIGGER, ERROR IS SMALLER.
TCF +2
CA ONE
TS MPAC +1 # ZERO IF RR IS POINTED OK, ONE IF NOT.
## Page 560
# SEE IF TRACKER SHOULD BE ENABLED OR DISABLED.
CCS RADMODES # IF CONTINUOUS DESIGNATE WANTED, PUT OUT
TCF SIGNLCHK # COMMANDS WITHOUT CHECKING MAGNITUDE OF
TCF SIGNLCHK # ERROR SIGNALS
TCF DORROUT
SIGNLCHK CCS MPAC +1 # SEE IF BOTH AXES WERE WITHIN .5 DEGS.
TCF DGOODCHK
CS STATE # IF WITHIN LIMITS AND NO LOCK-ON WANTED,
MASK LOKONBIT # PROBLEM IS FINISHED.
CCS A
TCF RRDESDUN
CAF BIT14 # ENABLE THE TRACKER.
EXTEND
WOR CHAN12
DGOODCHK CAF BIT4 # SEE IF DATA GOOD RECEIVED YET
EXTEND
RAND CHAN33
CCS A
TCF DORROUT
RRDESDUN CS BIT10 # WHEN PROBLEM DONE, REMOVE BIT 10 SO NEXT
MASK RADMODES # WAITLIST TASK WE WILL GO TO RGOODEND.
INHINT
TS RADMODES
TC DOWNFLAG # RESET LOSCMFLG TO PREVENT A
ADRES LOSCMFLG # RECOMPUTATION OF LOS AFTER DATA GOOD
CS BIT2 # TURN OFF ENABLE RR ERROR COUNTER
EXTEND
WAND CHAN12
TCF ENDOFJOB # WITH ECTR DISABLED.
DORROUT CA FLAGWRD2 # IF BOTH LOSCMFLAG AND SEARCH FLAG ARE
MASK BIT12,14 # ZERO, BYPASS VELOCITY ADJUSTMENT TO LOS
EXTEND
BZF NOTP20
TC INTPRET
VLOAD VXSC # MULTIPLY UNIT LOS BY MAGNITUDE
RRTARGET
MLOSV
VSL1 PUSH
VLOAD VXSC # ADD .5 SEC. OF VELOCITY
LOSVEL # TO LOS VECTOR
MCTOMS
VSR1 VAD
UNIT
STODL RRTARGET # STORE VELOCITY-CORRECTED LOS (UNIT)
## Page 561
36D
STORE MLOSV # AND STORE MAGNITUDE
EXIT
NOTP20 INHINT
CS RADMODES # PUT OUT COMMAND UNLESS MONITOR
MASK REPOSBIT # REPOSITION HAS TAKEN OVER.
CCS A
TC RROUT
CA FLAGWRD2
MASK LOSCMBIT # IF LOSCMFLG NOT SET, DON'T TEST
EXTEND # LOS COUNTER
BZF ENDOFJOB
CCS LOSCOUNT # TEST LOS COUNTER TO SEE IF TIME TO GET
TC DODESEND # A NEW LOS
TC KILLTASK # YES - KILL TASK WHICH SCHEDULES DODES
CADR DESLOOP +2
RELINT
CCS NEWJOB
TC CHANG1
TC BANKCALL
CADR R21LEM2
DODESEND TS LOSCOUNT
TC ENDOFJOB
RDESGAIN DEC .53624 # TRIES TO NULL .5 ERROR IN .5 SEC.
BIT12,14 EQUALS PRIO24 # OCT 24000
COS1/2DG 2DEC .999961923 B-2 # COSINE OF 0.5 DEGREES.
MCTOMS 2DEC 100 B-13
## Page 562
# RADAR READ INITIALIZATION
# THE FOLLOWING ROUTINES MUST BE CALLED BY BANKCALL
LRALT TC INITREAD
ALLREAD OCT 17
LRVELZ TC INITREAD
OCT 16
LRVELY TC INITREAD
OCT 15
LRVELX TC INITREAD
OCT 14
RRRDOT TC INITREAD
OCT 12
RRRANGE TC INITREAD
OCT 11
INITREAD INHINT
INDEX Q
CA 0
TC PRERADAR
CA BIT3
TS TIMEHOLD +1 # MIDPOINT OF READ IS ABOUT 40 MS AFTER
EXTEND # START OF READ
DCA TIME2
DAS TIMEHOLD
TCF ROADBACK
PRERADAR TS RADUSE # INDICATE RADAR READ ROUTINES IN USE.
CA ZERO
TS NSAMP
TS SAMPLSUM
TS SAMPLSUM +1
TS TIMEHOLD
CA DGBITS
EXTEND
RAND CHAN33
TS OLDATAGD
CS DGBITS # RESET DATA GOOD BITS OF RADMODES
MASK RADMODES
## Page 563
TS RADMODES
CS ALLREAD
EXTEND
WAND CHAN13 # CLEAR ALL RADAR BITS PRIOR TO READ
EXTEND
QXCH RUPTREG1
CA RADUSE
TC IBNKCALL
CADR RADSTART
TC RUPTREG1
DGBITS OCT 230 # POSITION OF DATA GOOD BITS IN CHANNEL 33
VBITS OCT 14 # VSELECT = 0 BEFORE X READ
OCT 16 # VSELECT = 1 BEFORE Z READ
OCT 15 # VSELECT = 2 BEFORE Y READ
R12READ CS FLGWRD11
MASK NOLRRBIT # IF NOLRREAD FLAG IS SET , BYPASS R12
EXTEND
BZF TASKOVER
INDEX VSELECT
CA VBITS
TC PRERADAR
CA SIX # RADAR RUPT USES THIS FOR R12 READ
TS NSAMP
TC TASKOVER
## Page 564
# RADAR RUPT READER (R20)
# THIS ROUTINE, WHICH IS INITIATED BY A RADAR RUPT, PROCESSES THE RADAR DATA AND UPDATES THE APPROPRIATE
# DSKY LIGHTS.
SETLOC RADARUPT
BANK
COUNT* $$/RRUPT
EBANK= TTOGO
RADAREAD EXTEND # CONTINUATION OF INTERRUPT LEAD-IN.
ROR SUPERBNK # SUPERBNK MUST BE SAVED BECAUSE RUPT
TS BANKRUPT # MAY EXIT VIA TASKOVER.
EXTEND
QXCH QRUPT
CA SEVEN # READ AND STORE RADAR SELECT BITS
EXTEND
RAND CHAN13
TS RADBITS
EXTEND # IF RADAR SELECT BITS ARE ZERO, ALARM
BZF BADRUPT # WITHOUT READING DATA
CA RNRAD # STORE RAW DATA FOR DOWNLINK.
INDEX RADBITS
TS DNRRANGE -1
CCS RADUSE # IF RADUSE IS ZERO, THIS IS A BAD RUPT
TCF WHICHRAD
BADRUPT TS RADUSE
TC ALARM
OCT 520
TC RESUME
WHICHRAD CS THREE # IF RADBITS IS LESS THAN THREE,
AD RADBITS # THE RENDEZVOUS RADAR IS BEING READ.
EXTEND
BZMF RENDRAD
LANDRAD CS FLAGWRD5 # THE LANDING RADAR IS BEING READ
MASK R77FLBIT
EXTEND # IF R77 IS RUNNING, EXIT HERE
BZF R77EXIT
CS SEVEN # IF RADBITS IS SEVEN, THE LANDING
## Page 565
AD RADBITS # RADAR ALITUDE IS BEING READ
EXTEND
BZF LRHEIGHT
LRSPEED CA POSMAX # DECODE THE 15 BIT READING AND
MASK RNRAD # SUBTRACT THE BIAS.
AD LVELBIAS
TS ITEMP4
TS L
CA RNRAD
DOUBLE
MASK BIT1
TS ITEMP3
DAS SAMPLSUM # ACCUMULATE THE READING
CA BIT8 # VOLOCITY DATA GOOD BIT
DGCHECK TS ITEMP1
DGCHECK2 CA DGBITS # UPDATE THE STATUS OF THE DATA GOOD BITS
EXTEND
RAND CHAN33
XCH OLDATAGD
MASK ITEMP1
TS L # OLD STATUS
CA ITEMP1
MASK OLDATAGD # CURRENT STATUS
AD L
CCS A # BOTH SHOULD BE ZERO
TCF BADRAD # DATA GOOD NOT PRESENT
GOODRAD CCS NSAMP # TEST FOR R12
TCF R12EXIT
DXCH ITEMP3 # STORE DATA FOR CALLING ROUTINE
DXCH SAMPLSUM
TC RADLITES # UPDATE DSKY LIGHTS.
R77EXIT CA ZERO # ZERO RADUSE
TS RADUSE
TC RGOODEND -2
BADRAD CS RADMODES # UPDATE RADMODES BIT ONLY IF DATA BAD
MASK ITEMP1
ADS RADMODES
CCS NSAMP # TEST FOR R12
TCF R12EXIT
TC RADLITES # UPDATE DSKY LIGHTS
RRBADEND CA ZERO # ZERO RADUSE
## Page 566
TS RADUSE
TC RDBADEND -2
LRHEIGHT CA BIT5 # DATA GOOD BIT FOR ALTITUDE
TS ITEMP1
CA BIT9 # LO SCALE BIT FOR LR
TC SCALECHK
RENDRAD EXTEND
DCA TTOGO # LOAD TIME TO TIG
DXCH TTOTIG # FOR R65 RADAR READING.
CA REPOSBIT # MAKE SURE ANTENNA HAS NOT
MASK RADMODES # GONE OUT OF LIMITS.
CCS A
TCF RRBADEND
CS RADMODES # BE SURE RR CDU HASN'T FAILED.
MASK RCDUFBIT
CCS A
TCF RRBADEND
CA BIT4 # DATA GOOD BIT FOR RR
TS ITEMP1
CA BIT1 # TEST FOR RANGE OR RANGE RATE
MASK RADBITS
TS Q # SAVE FOR LATER TESTING
EXTEND
BZF RADIN # IF ROOT, READ DATA
CA BIT3 # LO SCALE BIT FOR RR.
SCALECHK TS L
CA RADMODES # TEST THE SCALE BIT SPECIFIED IN L
EXTEND # TO SEE IF IT IS THE SMAE AS LAST
RXOR CHAN33 # TIME.
MASK L # IF BIT IS THE SMAE IN RADMODES AND
CCS A # CHAN33, THEN A WILL BE ZERO
TC SCALCHNG # SCALE CHANGED
RADIN CA POSMAX # UNPACK 15 BIT RADAR READING
MASK RNRAD
TS ITEMP4
CA RNRAD
DOUBLE
MASK BIT1
TS ITEMP3
## Page 567
CCS Q # TEST FOR RR RANGE RATE (Q = 0)
TCF SCALADJ # RANGE OR LR HEIGHT . TEST SCALE
EXTEND # RR RANGE RATE - SUBTRACT BIAS
DCS RDOTBIAS
DASAMPL DAS ITEMP3
TCF DGCHECK2 # TEST DATA GOOD
SCALADJ CA RADMODES # TEST SCALE BIT
MASK L
EXTEND
BZF DGCHECK2 # LO SCALE
MASK BIT3 # HI SCALE - TEST FOR LR
EXTEND # IF BIT3 = 0,THEN IT IS LR
BZF LRSCK
DXCH ITEMP3 # RESCALE RR DATA TO LO SCALING
DDOUBL # MULTIPLY BY 8.
DDOUBL
DDOUBL
DXCH ITEMP3
TCF DGCHECK2
LRSCK EXTEND # RESCALE LR DATA TO LO SCALING
DCA ITEMP3 # MULTIPLY BY 5.
DDOUBL
DDOUBL
TCF DASAMPL
SCALCHNG CA RADMODES
EXTEND # INVERT SCALE BIT IN RADMODES
RXOR LCHAN
TS RADMODES
CCS NSAMP # TEST FOR R12
TCF R12SCHNG
TC UPFLAG # SET RNGSCFLG FOR LRS24.1
ADRES RNGSCFLG
CA DGBITS # UPDATE DATA GOOD BITS
EXTEND
RAND CHAN33
TS OLDATAGD
TCF RRBADEND
R12SCHNG TS NSAMP # UPDATE NSAMP AND IGNORE READING.
## Page 568
TCF READVEL
R12EXIT TS NSAMP # UPDATE NSAMP
EXTEND
BZF STORVEL
AD NEG3
EXTEND
BZF STORALT
AD NEGONE
EXTEND
BZF READALT
READVEL CS SEVEN
EXTEND
WAND CHAN13
CA RADUSE
READALT2 TC IBNKCALL
CADR RADSTART
TC RESUME
READALT CA ALLREAD # SET UP LR ALTITUDE READ
TCF READALT2
STORALT DXCH ITEMP3
DXCH HMEAS # STORE ALT IN HMEAS
CS RADMODES # TEST DATA GOOD
MASK BIT5
EXTEND
BZF HBAD # DATA GOOD NOT PRESENT
CCS STILBADH # IF DATA JUST GOOD,OR IG RESTART JUST
TCF HSTILBAD # OCCURRED,WAIT
CS FLGWRD11 # SET FLAG FORR12.
MASK RNGEDBIT # (CANNOT USE UPFLAG BECAUSE ITEMP1 IS
ADS FLGWRD11 # DESTROYED)
ALTEXIT TC RADLITES
TCF READVEL
HBAD CA TWO # SET STILBADH FOR FOUR SECOND DELAY
HSTILBAD TS STILBADH
TCF ALTEXIT
STORVEL CS RADMODES # TEST DATA GOOD
MASK BIT8
EXTEND
BZF VBAD # DATA GOOD NOT PRESENT
## Page 569
CCS STILBADV
TCF VSTILBAD
CS FLGWRD11 # DATA IS GOOD, SET FLAG FOR R12
MASK VELDABIT # (CANNOT USE UPFLAG BECAUSE ITEMP1 IS
ADS FLGWRD11 # DESTROYED)
R12DL CCS VSELECT # UPDATE VSELECT
TCF +2
CA TWO
TS VSELECT
DXCH SAMPLSUM # STORE VEL DATA IN VMEAS
DXCH VMEAS
EXTEND
DCA HMEAS # STORE HMEAS FOR DOWNLINK
DXCH HMEASDL
EXTEND
DCA PIPTIME1 # STORE TIME FOR DOWNLINK
DXCH MKTIME
EXTEND
DCA CDUTEMPY # STORE CDUY,CDUZ FOR DOWNLINK
DXCH AIG
CA CDUTEMPX # STORE CDUX FOR LINK
TS AOG
TC RADLITES # UPDATE DSKY VEL LIGHT
CA ZERO
TS RADUSE
TC RESUME
## Page 570
VBAD CA TWO
VSTILBAD TS STILBADV
TCF R12DL
## Page 571
# CODING TO PROTECT CHANNEL 13 WILL RADAR READ IS IN CRITICAL PERIOD
SETLOC C13BANK
BANK
RADSTART TS Q
+1 EXTEND
READ LOSCALAR # READ PRESENT TIME
TS L
MASK LOW5 # ONLY THE LOW 5 BITS MATTER
COM
AD BIT6 # COMPUTE DELTA TIME TO NEXT T5 TICK
MASK LOW5
TS RADDEL
AD NEG2 # IF A TICKING OF T5 IS NEAR, WAIT UNTIL
EXTEND # IT HAS TICKED. THE MAX DELAY HERE WILL
BZMF RADSTART +1 # BE 937.5 MICROSECONDS
CA Q
EXTEND # IT IS SAFE TO SET THE ACTIVITY BIT NOW
WOR CHAN13 # BECAUSE OF THE ABOVE LOOP
CS L
TS RADTIME # SAVE NEGATIVE TIME OF READ
TC ISWRETRN
C13STAL1 TS C13FSAV
CA BIT4
EXTEND
RAND CHAN13
EXTEND
BZF TCQSTAL # IF NO RADAR ACTIVITY, RETURN
C13SLOOP NOOP # *** NECESSARY TO PREVENT A TC TRAP ***
EXTEND
READ LOSCALAR
AD RADTIME # COMPUTE DELTA T SINCE LAST RADAR READ
AD HALF
AD HALF # CORRECT FOR TIME OVERFLOW
XCH L
CA 90MSCALR
AD RADDEL
EXTEND
SU L
## Page 572
EXTEND
BZMF TCQSTAL # FORBIDDEN ZONE IS PAST, RETURN
AD -DTSCALR
EXTEND
BZMF C13SLOOP # IN THE FORBIDDEN PERIOD, LOOP UNTIL O.K.
TCQSTAL LXCH Q # ALL IS WELL, RETURN
CA C13FSAV
DTCF
90MSCALR OCT 440 # 90 MILLISEC IN SCALAR
-DTSCALR OCT 77754 # -5.9375 MS IN SCALAR
SETLOC FFTAG6
BANK
C13STALL CAF PRIO36 # PRIO36 = 36000 = FCADR (17,2000)
XCH FBANK
TCF C13STAL1
## Page 573
# THIS ROUTINE CHANGES THE LR POSITION, AND CHECKS THAT IT GOT THERE.
BANK 25
SETLOC P20S1
BANK
COUNT* $$/RSUB
LRPOS2 INHINT
CS RADMODES
MASK LRPOSBIT # SHOW DESIRED LR POSITION IS 2
ADS RADMODES
CAF BIT7
EXTEND
RAND CHAN33 # SEE IF ALREADY THERE.
EXTEND
BZF RADNOOP
CAF BIT13
EXTEND
WOR CHAN12 # COMMAND TO POSITION 2
CAF 6SECS # START SCANNING FOR INBIT AFTER 7 SECS.
TC WAITLIST
EBANK= LOSCOUNT
2CADR LRPOSCAN
TC ROADBACK
RADNOOP CAF ONE # NO FURTHER ACTION REQUESTED
TC WAITLIST
EBANK= LOSCOUNT
2CADR RGOODEND
TC ROADBACK
LRPOSNXT TS SAMPLIM
TC FIXDELAY # SCAN ONCE PER SECOND 5 TIMES MAX AFTER
DEC 100 # INITIAL DELAY OF 7 SECONDS.
CAF BIT7 # SEE IF LR POS2 IS ON
EXTEND
RAND CHAN33
EXTEND
BZF LASTLRDT # IF THERE, WAIT FINAL SECOND FOR BOUNCE.
CCS SAMPLIM # SEE IF MAX TIME UP.
TCF LRPOSNXT
CS BIT13 # IF TIME UP, DISABLE COMMAND AND ALARM.
EXTEND
## Page 574
WAND CHAN12
TCF RDBADEND
LASTLRDT CA 2SECS # WAIT TWO SECONDS AFTER RECEIPT OF INBIT
TC VARDELAY # TO WAIT FOR ANTENNA BOUNCE TO DIE OUT.
CS BIT13 # REMOVE COMMAND
EXTEND
WAND CHAN12
TCF RGOODEND
LRPOSCAN CAF FOUR
TCF LRPOSNXT
6SECS DEC 600
LRP2COMM TC BANKCALL
CADR LRPOS2
TC BANKCALL
CADR RADSTALL
TC LP2ALM
TCF GOPINNER
LP2ALM TC ALARM
OCT 523
TCF GOPINNER
V59GP63 CA EBANK7
TS EBANK
EBANK= RPCRTIME
CA POSMAX
TS RPCRTIME
CS BIT14
TS RPCRTQSW
GOPINNER TC POSTJUMP
CADR PINBRNCH
## Page 575
# SEQUENCES TO TERMINATE RR OPERATIONS.
ENDRADAR CAF RCDUFBIT # PROLOG TO CHECK RR CDU FAIL BEFORE END.
MASK RADMODES
CCS A
TCF RGOODEND
TCF RDBADEND
-2 CS ZERO # RGOODEND WHEN NOT UNDER WAITLIST CONTROL
TS RUPTAGN
RGOODEND CAF TWO
TC POSTJUMP
CADR GOODEND
-2 CS ZERO # RDBADEND WHEN NOT UNDER WAITLIST.
TS RUPTAGN
RDBADEND CAF TWO
TC POSTJUMP
CADR BADEND
BIN3 EQUALS THREE
## Page 576
# PROGRAM NAME_ LPS20.1 VECTOR EXTRAPOLATION AND LOS COMPUTATION
# MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
# FUNCTIONAL DESCRIPTION_
# 1) EXTRAPOLATE THE LEM AND CSM VECTORS IN ACCORDANCE WITH THE TIME REFERED TO IN CALLER + 1.
# 2) COMPUTES THE LOS VECTOR TO THE CSM, CONVERTS IT TO STABLE MEMBER COORDINATES AND STORES IT IN RRTARGET.
# 3) COMPUTES THE MAGNITUDE OF THE LOS VECTOR AND STORES IT IN MLOSV
# CALLING SEQUENCE CALL
# LPS20.1
# SUBROUTINES CALLED_
# LEMPREC,CSMPREC
# NORMAL EXIT_ RETURN TO CALLER + 2
# ERROR EXITS_ NONE
# ALARMS_ NONE
# OUTPUT_
# LOS VECTOR (HALF UNIT) IN SM COORDINATES STORED IN RRTARGET
# MAGNITUDE OF THE LOS VECTOR (METERS SCALED B-29) STORED IN MSLOV
# RRNBSW CLEARED
# INITIALIZED ERASEABLE
# TDEC1 MUST CONTAIN THE TIME FOR EXTRAPOLATION
# SEE ORBITAL INTEGRATION ROUTINE
# DEBRIS_
# MPAC DESTROYED BY THIS ROUTINE
BANK 23
SETLOC P20S
BANK
## Page 577
COUNT* $$/LPS20
LPS20.1 STQ BOFF
LS21X
LOSCMFLG # LOSCMFLG = 0 MEANS NOT CALLED BY R21
LMINT # SO CALL LEMCONIC TO GET LM STATE
BON # IF IN R21 AND ON LUNAR SURFACE
SURFFLAG # DON'T CALL LEMCONIC
CSMINT
LMINT CALL
LEMCONIC # EXTRAPOLATE LEM
VLOAD
RATT
STOVL LMPOS # SAVE LM POSITION B-29
VATT
STODL LMVEL # SAVE LM VELOCITY B-7
TAT
CSMINT STCALL TDEC1
CSMCONIC # EXTRAPOLATE CSM
VLOAD VSU # COMPUTE RELATIVE VELOCITY V(CSM) - V(LM)
VATT
LMVEL
STORE VELLOS
MXV VSL1
REFSMMAT
EXIT
TC KILLTASK # KILL THE TASK WHICH CALLS DODES SINCE
CADR DESLOOP +2 # STORING INTO ERASEABLES DODES USES
TC INTPRET
STOVL LOSVEL
RATT
VSU
LMPOS
STORE RRANGE # RANGE FOR POSSIBLE ALARM B-29
BOVB VSL
TCDANZIG
9D
NOTSHIFT UNIT BOVB # IF OVERFLOW , RANGE MUST BE GREATER
526ALARM # THAN 400 N. M.
MXV VSL1
REFSMMAT # CONVERT TO STABLE MEMBER
STODL RRTARGET
36D # SAVE MAGNITUDE OF LOS VECTOR FOR
STORE MLOSV # VELOCITY CORRECTION IN DESIGNATE
CLRGO
RRNBSW
LS21X
RRANGE EQUALS 20D
## Page 578
VELLOS EQUALS 14D
## Page 579
# PROGRAM NAME : LPS20.2 400 N. MI. RANGE CHECK
# MOD. NO. 2 BY J.D. COYNE SDC DATE 12-7-66
# FUNCTIONAL DESCRIPTION_
# COMPARES THE MAGNITUDE OF THE LOS VECTOR TO 400 NM
# CALLING SEQUENCE CALL
# LPS20.2
# SUBROUTINES CALLED_ NONE
# NORMAL EXIT _ RETURN TO CALLER +1, MPAC EQ 0 (RANGE 400NM OR LESS.)
# ERROR EXITS _ RETURN TO CALLER +1, MPAC EQ 1 (RANGE GREATER THAN 400NM)
# ALARMS_ NONE
# OUTPUT_ NONE
# INITIALIZED ERASEABLE_
# PDL 36D MUST CONTAIN THE MAGNITUDE OF THE VECTOR
# DEBRIS
# MPAC DESTROYED BY THIS ROUTINE
SETLOC P20S1
BANK
COUNT* $$/LPS20
LPS20.2 DLOAD DSU
MLOSV # MAGNITUDE OF LOS
FHNM # OVER 400NM _
BPL
TOFAR
SLOAD RVQ
ZERO/SP
TOFAR SLOAD RVQ
ONE/SP
ONE/SP DEC 1
## Page 580
FHNM 2DEC 740800 B-20 # 400 NAUTICAL MILES IN METERS B-20
## Page 581
# PROGRAM NAME: LRS22.1 (DATA READ SUBROUTINE 1)
# MOD. NO.: 1 BY: P. VOLANTE SDC DATE: 11-15-66
# FUNCTIONAL DESCRIPTION
# 1) READS RENDEZVOUS RADAR RANGE AND RANGE-RATE,TRUNION AND SHAFT ANGLES,THREE CDU VALUES AND TIME. CONVERTS THIS
# DATA AND LEAVES IT FOR THE MEASUREMENT INCORPORATION ROUTINE (LSR22.3). CHECKS FOR THE RR DATA GOOD DISCRETE,FOR
# RR REPOSITION AND RR CDU FAIL
# 2) COMPARES RADAR LOS WITH LOS COMPUTED FROM STATE VECTORS TO SEE IF THEY ARE WITHIN THREE DEGREES
# CALLING SEQUENCE: BANKCALL FOR LRS22.1
# SUBROUTINES CALLED:
# RRRDOT LPS20.1
# RRRANGE BANKCALL
# RADSTALL CDULOGIC
# RRNB SMNB
# NORMAL EXIT: RETURN TO CALLER+1 WITH MPAC SET TO +0
# ERROR EXITS: RETURN TO CALLER+1 WITH ERROR CODE STORED IN MPAC AS FOLLOWS:
# 00001-ERROR EXIT 1-RR DATA NO GOOD (NO RR DATA GOOD DISCRETE OR RR CDU FAIL OR RR REPOSITION)
# 00002-ERROR EXIT 2-RR LOS NOT WITHIN THREE DEGREES OF LOS COMPUTED FROM STATE VECTORS
# ALARMS: 521-COULD NOT READ RADAR DATA (RR DATA GOOD DISCRETE NOT PRESENT BEFORE AND AFTER READING THE RADAR)
# (THIS ALARM IS ISSUED BY THE RADAREAD SUBROUTINE WHICH IS ENTERED FROM A RADARUPT)
# OUTPUT: RRLOSVEC- THE RR LINE-OF-SIGHT VECTOR(USED BY LRS22.2)-A HALF-UNIT VECTOR
# RM- THE RR RANGE READING(TO THE CSM) DP, IN METERS SCALED B-29(USED BY LRS22.2 AND LRS22.3)
# ALL OF THE FOLLOWING OUTPUTS ARE USED BY LRS22.3:
# RDOTM- THE RR RANGE-RATE READING,DP, IN METERS PER CENTISECOND, SCALED B-7
# RRTRUN-RR TRUNION ANGLE,DP,IN REVOLUTIONS,SCALED B0
# RRSHAFT-RR SHAFT ANGLE,DP,IN REVOLUTIONS,SCALED B0
# AIG,AMG,AOG-THE CDU ANGLES,THREE SP WORDS
# MKTIME-THE TIME OF THE RR READING,DP,IN CENTISECONDS
# ERASABLE INITIALIZATION REQUIRED:
# RNRAD,THE RADAR READ COUNTER FROM WHICH IS OBTAINED:
## Page 582
# 1)RR RANGE SCALED 9.38 FT. PER BIT ON THE LOW SCALE AND 75.04 FT. PER BIT ON THE HIGH SCALE
# 2)RR RANGE RATE,SCALED .6278 FT./SEC. PER BIT
# THE CDU ANGLES FROM CDUX,CDUY,CDUZ AND TIME1 AND TIME2
# DEBRIS: LRS22.1X,A,L,Q,PUSHLIST
BANK 32
SETLOC LRS22
BANK
COUNT* $$/LRS22
LRS22.1 TC MAKECADR
TS LRS22.1X
TC DOWNFLAG
ADRES RNGSCFLG
INHINT
CAF BIT3
EXTEND # GET RR RANGE SCALE
RAND CHAN33 # FROM CHANNEL 33 BIT 3
TS L
CS RRRSBIT
MASK RADMODES
AD L
TS RADMODES
RELINT
READRDOT TC BANKCALL
CADR RRRDOT # READ RANGE-RATE (ONE SAMPLE)
TC BANKCALL
CADR RADSTALL # WAIT FOR DATA READ COMPLETION
TCF EREXIT1 # COULD NOT READ RADAR-ERROR EXIT 1
INHINT # NO INTERRUPTS WHILE READING TIME AND CDU
DXCH TIMEHOLD # SET MARK TIME EQUAL TO THE MID-POINT
DXCH MPAC +5 # TEMP BUFFER FOR DOWNLINK
DXCH SAMPLSUM # SAVE RANGE-RATE READING
DXCH RDOTMSAV
EXTEND
DCA CDUY # SAVE ICDU ANGLES
DXCH MPAC +3 # TEMP BUFFER FOR DOWNLINK
CA CDUX
TS MPAC +2 # TEMP BUFFER FOR DOWNLINK
EXTEND
DCA TIME2 # SAVE TIME
DXCH MPAC # SAVE TIME OF CDY READINGS IN MPAC
EXTEND
DCA CDUT # SAVE TRUNION AND SHAFT ANGLES FOR RRNB
DXCH TANG
## Page 583
RELINT
TC BANKCALL
CADR RRRANGE # READ RR RANGE (ONE SAMPLE)
TC BANKCALL
CADR RADSTALL # WAIT FOR READ COMPLETE
TC CHEXERR # CHECK FOR ERRORS DURING READ
INHINT # COPY CYCLE FOR MARK DATA ON DOWNLINK
EXTEND
DCA DNRRANGE # RANGE,RANGE RATE (RAW DATA)
DXCH RANGRDOT
DXCH MPAC +5
DXCH MKTIME # MARK TIME
DXCH MPAC +3
DXCH AIG # CDUY, CDUZ
EXTEND
DCA TANG # PRESERVE TANG
DXCH TANGNB # TRUNNION AND SHAFT ANGLES
CA MPAC +2
TS AOG # CDUX
TC INTPRET
STODL 20D # SAVE TIME OF CDU READINGS IN 20D
RDOTMSAV # CONVERT ROOT UNITS AND SCALING
SL DMPR # START WITH READING SCALED B-28, -.6278
14D # FT./SECOND PER BIT
RDOTCONV # END WITH METERS/CENTISECOND, B-7
STORE RDOTM
SLOAD RTB
TANG # GET TRUNION ANGLE
CDULOGIC # CONVERT TO DP ONES COMP. IN REVOLUTIONS
STORE RRTRUN # AND SAVE FOR TMI ROUTINE (LSR22.3)
SLOAD RTB
TANG +1 # DITTO FOR SHAFT ANGLE
CDULOGIC
STODL RRSHAFT
SAMPLSUM
DMP SL2R # CONVERT UNITS AND SCALING OF RANGE
RANGCONV # PER BIT, END WITH METERS,SCALED -29
STCALL RM
RRNB # COMPUTE RADAR LOS USING RRNB
STODL RRBORSIT # AND SAVE
20D
STCALL TDEC1 # GET STATE VECTOR LOS AT TIME OF CDU READ
LPS20.1
EXIT
## Page 584
CA AIG # STORE IMU CDU ANGLES AT MARKTIME
TS CDUSPOT # IN CDUSPOT FOR TRG*SMNB
CA AMG
TS CDUSPOT +2
CA AOG
TS CDUSPOT +4
TC INTPRET
VLOAD CALL # LOAD VECTOR AND CALL TRANSFORMATION
RRTARGET
TRG*SMNB # ROTATE LOS AT MARKTIME FROM SM TO NB.
DOT # DOT WITH RADAR LOS TO GET ANGLE
RRBORSIT
SL1 ACOS # BETWEEN THEM
STORE DSPTEM1 # STORE FOR POSSIBLE DISPLAY
DSU BMN # IS IT LESS THAN 3 DEGREES
THREEDEG
NORMEXIT # YES-NORMAL EXIT
EXIT # ERROR EXIT 2
CAF BIT2 # SET ERROR CODE
TS MPAC
TCF OUT22.1
NORMEXIT EXIT # NORMAL EXIT-SET MPAC EQUAL ZERO
CAF ZERO
TS MPAC
OUT22.1 CAE LRS22.1X # EXIT FROM LRS22.1
TC BANKJUMP
CHEXERR CAE FLAGWRD5
MASK RNGSCBIT
CCS A # CHECK IF RANGE SCALE CHANGED
TCF READRDOT # YES-TAKE ANOTHER READING
EREXIT1 CA BIT1 # SET ERROR CODE
TS MPAC
TC OUT22.1
THREEDEG 2DEC .008333333 # THREE DEGREES,SCALED REVS,B0
## Page 585
# PROGRAM NAME - LRS22.2 (DATA READ SUBROUTINE 2)
# MOD. NO. : 1 BY: P VOLANTE SDC DATE 4-11-67
#
# FUNCTIONAL DESCRIPTION-
## (Yes, I know point #1 is missing. It is missing from the program listing -- RSB 2003)
# 2) CHECKS IF THE RR LOS (I.E. THE RADAR BORESIGHT VECTOR) IS WITHIN 30 DEGREES OF THE LM +Z AXIS
# CALLING SEQUENCE- BANKCALL FOR LRS22.2
# SUBROUTINES CALLED: G+N,AUTO SETMAXDB
# NORMAL EXIT - RETURN TO CALLER WITH MPAC SET TO +0 (VIA SWRETURN)
# ERROR EXIT - RETURN TO CALLER WITH MPAC SET TO 00001 -RADAR LOS NOT WITHIN 30 DEGREES OF LM +Z AXIS
# ALARMS - NONE IN THE AUTO MODE
# ERASABLE INITIALIZATION REQUIRED -
# RRLOSVEC - THE RR LINE-OF-SIGHT VECTOR-A HALF UNIT VECTOR COMPUTED BY LRS22.1
# RM - RR RANGE, METERS B-29, FROM LRS22.1
# BIT 14 CHANNEL 31 -INDICATES AUTOPILOT IS IN AUTO MODE
# DEBRIS - A,L,Q MPAC -PUSHLIST AND PUSHLOC ARE NOT CHANGED BY THIS ROUTINE
SETLOC P20S
BANK
LRS22.2 TC MAKECADR
TS LRS22.1X
TC INTPRET
# CHECK IF RR LOS IS WITHIN 30 DEG OF
30DEGCHK DLOAD ACOS # THE SPACECRAFT +Z AXIS
RRBORSIT +4 # BY TAKING ARCCOS OF Z-COMP. OF THE RR
# LOS VECTOR,A HALF UNIT VECTOR
# IN NAV BASE AXES)
DSU BMN
30DEG
OKEXIT # NORMAL EXIT-WITHIN 30 DEG.
EXIT # ERROR EXIT-NOT WITHIN 30 DEG.
CAF BIT1 # SET ERROR CODE IN MPAC
TS MPAC
TCF OUT22.2
OKEXIT EXIT # NORMAL EXIT-SET MPAC = ZERO
## Page 586
CAF ZERO
TS MPAC
OUT22.2 CAE LRS22.1X
TC BANKJUMP
30DEG 2DEC .083333333 # THIRTY DEGREES,SCALED REVS,B0
## Page 587
# PROGRAM NAME - LSR22.3 DATE - 29 MAY 1967
# MOD. NO 3 LOG SECTION - P20-25
# MOD. BY - DANFORTH ASSEMBLY LEMP20S REV 10
#
# FUNCTIONAL DESCRIPTION
# THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR EACH OF THE QUANTITIES MEASURED BY THE RENDEZVOUS
# RADAR.(RANGE,RANGE RATE,SHAFT AND TRUNNION ANGLES). THE ROUTINE CALLS THE INCORP1 AND INCORP2 ROUTINES
# WHICH COMPUTE THE DEVIATIONS AND CORRECT THE STATE VECTOR.
# CALLING SEQUENCE
# THIS ROUTINE IS PART OF P20 RENDEZVOUS NAVIGATION FOR THE LM COMPUTER O NLY. THE ROUTINE IS ENTERED FROM
# R22LEM ONLY AND RETURNS DIRECTLY TO R22LEM FOLLOWING SUCCESSFUL INCORPORATION OF MEASURED DATA. IF THE
# COMPUTED STATE VECTOR DEVIATIONS EXCEED THE MAXIMUM PERMITTED. THE ROUTINE RETURNS TO R22LEM TO DISPLAY
# THE DEVIATIONS. IF THE ASTRONAUT ACCEPTS THE DATA R22LEM RETURNS TO LSR22.3 TO INCORPORATE THE
# DEVIATIONS INTO THE STATE VECTOR. IF THE ASTRONAUT REJECTS THE DEVIATIONS, NO MORE MEASUREMENTS ARE
# PROCESSED FOR THIS MARK,I.E.,R22LEM GETS THE NEXT MARK.
#
# SUBROUTINES CALLED
# WLINIT LGCUPDTE INTEGRV INCORP1 ARCTAN
# GETULC RARARANG INCORP2 NBSM INTSTALL
#
# OUTPUT
# CORRECTED LM OR CSM STATE VECTOR (PERMANENT)
# NUMBER OF MARKS INCORPORATED IN MARKCTR
# MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
# MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
# UPDATED W-MATRIX
#
# ERASABLE INITIALIZATION REQUIRED
# LM AND CSM STATE VECTORS
# W-MATRIX
# MARK TIME IN MKTIME
# RADAR RANGE IN RM METERS B-29
# RANGE RATE IN RDOTM METERS/CSES B-7
# SHAFT ANGLE IN RRSHAFT REVS.B0
# TRUNNION ANGLE IN RRTRUN REVS. B0
# GIMBAL ANGLES INNER IN AIG
# MIDDLE IN AMG
# OUTER IN AOG
# REFSMMAT
# RENDWFLG
# NOANGFLG
# VEHUPFLG
# DEBRIS
# PUSHLIST--ALL
# MX, MY, MZ (VECTORS)
## Page 588
# ULC,RXZ,SINTHETA,LGRET,RDRET,BVECTOR,W.IND,X78T
BANK 13
SETLOC P20S3
BANK
EBANK= LOSCOUNT
COUNT* $$/LSR22
LSR22.3 CALL
GRP2PC
BON SET
SURFFLAG # ARE WE ON LUNAR SURFACE
LSR22.4 # YES
DMENFLG
BOFF CALL
VEHUPFLG
DOLEM
INTSTALL
CLEAR CALL # LM PRECISION INTEGRATION
VINTFLAG
SETIFLGS
CALL
INTGRCAL
CALL
GRP2PC
CALL
INTSTALL
CLEAR BOFF
DIM0FLAG
RENDWFLG
NOTWCSM
SET SET # CSM WITH W-MATRIX INTEGRATION
DIM0FLAG
D6OR9FLG
NOTWCSM SET CLEAR
VINTFLAG
INTYPFLG
SET CALL
STATEFLG
INTGRCAL
GOTO
MARKTEST
DOLEM CALL
INTSTALL
SET CALL
VINTFLAG
SETIFLGS
CALL
INTGRCAL
## Page 589
CALL
GRP2PC
CALL
INTSTALL
CLEAR BOFF
DIM0FLAG
RENDWFLG
NOTWLEM
SET SET # LM WITH W-MATRIX INTEGRATION
DIM0FLAG
D6OR9FLG
NOTWLEM CLEAR CLEAR
INTYPFLG
VINTFLAG
SET CALL
STATEFLG
INTGRCAL
MARKTEST BON CALL # HAS W-MATRIX BEEN INVALIDATED
RENDWFLG # HAS W-MATRIX BEEN INVALIDATED
RANGEBQ
WLINIT # YES-REINITIALIZE
RANGEBQ BON EXIT # DON'T CALL R65 IF ON SURFACE
SURFFLAG
RANGEBQ1
CA ZERO
TS R65CNTR
TC BANKCALL
CADR R65LEM
TC INTPRET
RANGEBQ1 AXT,2 BON # CLEAR X2
0
LMOONFLG # IS MOON SPHERE OF INFLUENCE
SETX2 # YES. STORE ZERO IN SCALSHFT REGISTER
INCR,2
2
SETX2 SXA,2 CALL
SCALSHFT # 0-MOON. 2-EARTH
GRP2PC
AXT,1 SXA,1 # STORE RANGE CODE (1) FOR R3 IN NOUN 49
1
WHCHREAD
SLOAD SR # GET SINGLE PRECISION RVARMIN (B-12)
RVARMIN # SHIFT TO TRIPLE PRECISION (B-40)
28D
RTB
TPMODE # AND SAVE IN 20D
STORE 20D
CALL # BEGIN COMPUTING THE B-VECTORS,DELTAQ
GETULC # B-VECTORS FOR RANGE
BON VCOMP # B0, COMP. IF LM BEING CORRECTED
## Page 590
VEHUPFLG
+1
STOVL BVECTOR
ZEROVECS
STORE BVECTOR +6 # B1
STODL BVECTOR +12D # B2
36D
SRR* BDSU
2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-29
RM # RM - (MAGNITUDE RCSM-RLM)
SLR*
2,2 # SHIFT TO EARTH/MOON SPHERE
STODL DELTAQ # EARTH B-29. MOON B-27
36D # RLC B-29/B-27
NORM DSQ # NORMALIZE AND SQUARE
X1
DMP SR*
RANGEVAR # MULTIPLY BY RANGEVAR(B12) THEN
0 -2,1 # UNNORMALIZE
SR* SR*
0,1
0,2
SR* RTB
0,2
TPMODE
STORE VARIANCE # B-40
DCOMP TAD
20D # B-40
BMN TLOAD
QOK
20D # B-40
STORE VARIANCE
QOK CALL
LGCUPDTE
SSP CALL
WHCHREAD
DEC 2 # STORE R-RATE CODE (2) FOR R3 IN NOUN 49
GRP2PC
CALL # B-VECTOR,DELTAQ FOR RANGE RATE
GETULC
PDDL SR* # GET RLC SCALED B-29/B-27
36D # AND SHIFT TO B-23
0 -4,2
STOVL 36D # THEN STORE BACK IN 36D
BON VCOMP # B1, COMP. IF LM BEING CORRECTED
VEHUPFLG
+1
VXSC
36D # B1 = RLC (B-24/B-22)
## Page 591
STOVL BVECTOR +6
NUVLEM
VSR* VAD
6,2 # SHIFT FOR EARTH/MOON SPHERE
VCVLEM # EARTH B-7. MOON B-5
PDVL VSR* # VL TO PD6
NUVCSM
6,2 # SHIFT FOR EARTH/MOON SPHERE
VAD VSU
VCVCSM
PDVL DOT # VC - VL = VLC TO PD6
0
6
PUSH SRR* # RDOT B-8/B-6 TO PD12
2,2 # SHIFT FROM EARTH/MOON SPHERE TO B-8
DSQ DMPR # RDOT**2 B-16 X RATEVAR B12
RATEVAR
STORE VARIANCE
SLOAD SR
VVARMIN # GET SINGLE PRECISION VVARMIN (B+12)
16D # SHIFT TO DP (B -4)
STORE 24D # AND SAVE IN 24D
DSU BMN # IS MIN. VARIANCE > COMPUTED VARIANCE
VARIANCE
VOK # BRANCH - NO
DLOAD # YES - USE MINIMUM VARIANCE
24D
STORE VARIANCE
VOK DLOAD SR2 # RDOT(PD12) FROM B-8/B-6
PDDL SLR* # TO B-10/B-8
RDOTM # SHIFT TO EARTH/MOON SPHERE
0 -1,2 # B-7 TO B-10/B-8
DSU
DMPR
36D
STOVL DELTAQ # B-33
0 # NOW GET B0
VXV VXV # (ULC X VLC) X ULC
BON VCOMP # B0, COMP. IF LM BEING CORRECTED
VEHUPFLG
+1
VSR*
0 -2,2 # SCALED B-5
STOVL BVECTOR
ZEROVECS
STORE 20D # ZERO OUT 20 TO 25 IN PUSHLIST
STOVL BVECTOR +12D
BVECTOR
ABVAL NORM # LOAD B0, GET MAGNITUDE AND NORMALIZE
20D # SHIFT COUNT IN 20D
## Page 592
VLOAD ABVAL
BVECTOR +6D # LOAD B1, GET MAGNITUDE AND NORMALIZE
NORM DLOAD
22D # SHIFT COUNT IN 22D
22D # FIND WHICH SHIFT IS SMALLER
DSU BMN # BRANCH- B0 HAS SMALLER SHIFT COUNT
20D
VOK1
LXA,1 GOTO
22D # LOAD X2 WITH THE SMALLER SHIFT COUNT
VOK2
VOK1 LXA,1
20D
VOK2 VLOAD VSL* # THEN ADJUST B0,B1,DELTAQ AND VARIANCE
BVECTOR # WITH THIS SHIFT COUNT
0,1
STOVL BVECTOR
BVECTOR +6
VSL*
0,1
STODL BVECTOR +6
DELTAQ
SL*
0,1
STORE DELTAQ
DLOAD SL* # GET RLC AND ADJUST FOR SCALE SHIFT
36D
0 -1,1
DSQ DMP # MULTIPLY RLC**2 BY VARIANCE
VARIANCE
SL4 RTB # SHIFT TO CONFORM TO BVECTORS AND DELTAQ
TPMODE
STCALL VARIANCE # AND STORE TP VARIANCE
LGCUPDTE
CALL
GRP2PC
BON EXIT # ARE ANGLES TO BE DONE
SURFFLAG
RENDEND # NO
EBANK= AIG
MXMYMZ CAF AIGBANK
TS BBANK
CA AIG # YES, COMPUTE MX, MY, MZ
TS CDUSPOT
CA AMG
TS CDUSPOT +2
CA AOG
TS CDUSPOT +4 # GIMBL ANGLES NOW IN CDUSPOT FOR TRG*NBSM
TC INTPRET
## Page 593
VLOAD CALL
UNITX
TRG*NBSM
VXM VSL1
REFSMMAT
STOVL MX
UNITY
CALL
*NBSM*
VXM VSL1
REFSMMAT
STOVL MY
UNITZ
CALL
*NBSM*
VXM VSL1
REFSMMAT
SHAFTBQ STCALL MZ
RADARANG
SSP VLOAD # STORE SHAFT CODE (3) FOR R3 IN NOUN 49
WHCHREAD
DEC 3
ULC
DOT SL1
MX
STOVL SINTH # 18D
ULC
DOT SL1
MZ
STCALL COSTH # 16D
ARCTAN
BDSU DMP
RRSHAFT
2PI/8
SL3R PUSH
DLOAD SL3
X789
SRR* BDSU # SHIFT FROM -5/-3 TO B0
0,2
DMP SRR*
RXZ
0,1 # SHIFT TO EARTH/MOON SPHERE
STOVL DELTAQ # EARTH B-29. MOON B-27
ULC
VXV VSL1
MY
UNIT
BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
VEHUPFLG
+1
## Page 594
STOVL BVECTOR
ZEROVECS
STORE BVECTOR +6
STODL BVECTOR +12D
RXZ
SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
0 -2,1
0,2
STORE BVECTOR +12D
SLOAD
SHAFTVAR
DAD DMP
IMUVAR # RAD**2 B12
RXZ
SRR* DMP
0,1 # SHIFT TO EARTH/MOON SPHERE
RXZ
SR* SR*
0 -2,1
0,2
SR* RTB
0,2
TPMODE # STORE VARIANCE TRIPLE PRECISION
STCALL VARIANCE # B-40
LGCUPDTE
CALL
GRP2PC
TRUNBQ CALL
RADARANG
SSP VLOAD # STORE TRUNNION CODE (4) FOR R3 IN N49
WHCHREAD
DEC 4
ULC
VXV VSL1
MY
VXV VSL1 # (ULC X MY) X ULC
ULC
BOFF VCOMP # B0, COMP. IF CSM BEING CORRECTED
VEHUPFLG
+1
STOVL BVECTOR
ZEROVECS
STORE BVECTOR +6
STODL BVECTOR +12D
RXZ
SR* SRR* # SHIFT FROM EARTH/MOON SPHERE TO B-25
0 -2,1
0,2
STORE BVECTOR +14D
## Page 595
SLOAD
TRUNVAR
DAD DMP
IMUVAR
RXZ
SRR* DMP
0,1 # SHIFT TO EARTH/MOON SPHERE
RXZ
SR* SR*
0 -2,1
0,2
SR* RTB
0,2
TPMODE # STORE VARIANCE TRIPLE PRECISION
STODL VARIANCE
SINTHETA
ASIN BDSU # SIN THETA IN PD6
RRTRUN
DMP SL3R
2PI/8
PDDL SL3
X789 +2
SRR* BDSU # SHIFT FROM -5/-3 TO B0
0,2
DMP SRR*
RXZ
0,1
STCALL DELTAQ # EARTH B-29. MOON B-27
LGCUPDTE
CALL
GRP2PC
RENDEND GOTO
R22LEM93
# FUNCTIONAL DESCRIPTION
# LSR22.4 IS THE ENTRY TO PERFORM LUNAR SURFACE NAVIGATION FOR THE LM
# COMPUTER ONLY. THIS ROUTINE COMPUTES THE B-VECTORS AND DELTA Q FOR RANGE
# AND RANGE RATE MEASURED BY THE RENDEZVOUS RADAR
# SUBROUTINES CALLED
# INSTALL LGCUPDTE INCORP1 RP-TO-R
# INTEGRV GETULC INCORP2
# OUTPUT
# CORRECTED CSM STATE VECTOR (PERMANENT)
# NUMBER OF MARKS INCORPORATED IN MARKCTR
# MAGNITUDE OF POSITION DEVIATION (FOR DISPLAY) IN R22DISP METERS B-29
# MAGNITUDE OF VELOCITY DEVIATION (FOR DISPLAY) IN R22DISP +2 M/CSEC B-7
# UPDATED W-MATRIX
## Page 596
# ERASABLE INITIALIZATION REQUIRED
# LM AND CSM STATE VECTORS
# W-MATRIX
# MARK TIME IN MKTIME
# RADAR RANGE IN RM METERS B-29
# RANGE RATE IN RDOTM METERS/CSEC B-7
# VEHUPFLG
LSR22.4 CALL
INTSTALL
SET CLEAR
STATEFLG
VINTFLAG # CALL TO GET LM POS + VEL IN REF COORD.
CALL
INTGRCAL
CALL
GRP2PC
CLEAR CALL
DMENFLG # SET MATRIX SIZE TO 6X6 FOR INCORP
INTSTALL
DLOAD BHIZ # IS THIS FIRST TIME THROUGH
MARKCTR
INITWMX6 # YES. INITIALIZE 6X6 W-MATRIX
CLEAR SET
D6OR9FLG
DIM0FLAG
SET CLEAR
VINTFLAG
INTYPFLG
CALL
INTGRCAL
GOTO
RANGEBQ
INITWMX6 CALL
WLINIT # INITIALIZE W-MATRIX
SET CALL
VINTFLAG
SETIFLGS
CALL
INTGRCAL
GOTO
RANGEBQ
# THIS ROUTINE CLEARS RFINAL (DP) AND CALLS INTEGRV
INTGRCAL STQ DLOAD
IGRET
MKTIME
## Page 597
STCALL TDEC1
INTEGRV
GOTO
IGRET
# THIS ROUTINE INITIALIZES THE W-MATRIX BY ZEROING ALL W THEN SETTING
# DIAGONAL ELEMENTS TO INITIAL STORED VALUES.
EBANK= W
WLINIT EXIT
CAF WBANK
TS BBANK
CAF WSIZE
TS W.IND
CAF ZERO
INDEX W.IND
TS W
CCS W.IND
TC -5
CAF AIGBANK # RESTORE EBANK 7
TS BBANK
TC INTPRET
BON SLOAD # IF ON LUNAR SURFACE,INITIALIZE WITH
SURFFLAG # WSURFPOS AND WSURFVEL INSTEAD OF
WLSRFPOS # WRENDPOS AND WRENDVEL
WRENDPOS
GOTO
WPOSTORE
WLSRFPOS SLOAD
WSURFPOS
WPOSTORE SR # SHIFT TO B-19 SCALE
5
STORE W
STORE W +8D
STORE W +16D
BON SLOAD
SURFFLAG
WLSRFVEL
WRENDVEL
GOTO
WVELSTOR
WLSRFVEL SLOAD
WSURFVEL
WVELSTOR STORE W +72D
STORE W +80D
STORE W +88D
SLOAD
WSHAFT
STORE W +144D
SLOAD
## Page 598
WTRUN
STORE W +152D
SET SSP # SET RENDWFLG - W-MATRIX VALID
RENDWFLG
MARKCTR # SET MARK COUNTER EQUAL ZERO
0
RVQ
EBANK= W
WBANK BBCON WLINIT
EBANK= AIG
AIGBANK BBCON LSR22.3
# GETULC
# THIS SUBROUTINE COMPUTES THE RELATIVE POSITION VECTOR BETWEEN THE CSM
# AND THE LM, LEAVING THE UNIT VECTOR IN THE PUSHLIST AND MPAC AND THE
# MAGNITUDE IN 36D.
GETULC SETPD VLOAD
0
DELTALEM
LXA,2
SCALSHFT # LOAD X2 WITH SCALE SHIFT
VSR* VAD
9D,2 # SHIFT FOR EARTH/MOON SPHERE
RCVLEM
PDVL VSR*
DELTACSM
9D,2 # SHIFT FOR EARTH/MOON SPHERE
VAD VSU
RCVCSM
RTB PUSH # USE NORMUNIT TO PRESERVE ACCURACY
NORMUNX1
STODL ULC
36D
SL* # ADJUST MAGNITUDE FROM NORMUNIT
0,1
STOVL 36D # ULC IN PD0 AND MPAC,RLC IN 36D
ULC
RVQ
# RADARANG
# THIS SUBROUTINE COMPUTES SINTHETA = -ULC DOT MY
# RXZ = (SQRT (1-SINTHETA**2))RLC
# OUTPUT
# ULC IN ULC, PD0
# RLC IN PD36D
# SIN THETA IN SINTHETA AND PD6
# RXZ NORM IN RXZ (N IN X1)
## Page 599
RADARANG STQ CALL
RDRET
GETULC
VCOMP DOT
MY
SL1R PUSH # SIN THETA TO PD6
STORE SINTHETA
DSQ BDSU
DP1/4TH # 1 - (SIN THETA)**2
SQRT DMP
36D
SL1 NORM
X1 # SET SHIFT COUNTER IN X1
STORE RXZ
GOTO # EXIT
RDRET
LGCUPDTE STQ CALL
LGRET
INCORP1
VLOAD ABVAL
DELTAX +6
LXA,2 SRR*
SCALSHFT # 0-MOON. 2-EARTH
2,2 # SET VEL DISPLAY TO B-7
STOVL R22DISP +2
DELTAX
ABVAL SRR*
2,2 # SET POS DISPLAY TO B-29
STORE R22DISP
SLOAD SR
RMAX
10D
DSU BMN
R22DISP
R22LEM96 # GO DISPLAY
SLOAD DSU
VMAX
R22DISP +2 # VMAX MINUS VEL. DEVIATION
BMN
R22LEM96 # GO DISPLAY
ASTOK CALL
INCORP2
GOTO
LGRET
IMUVAR 2DEC E-6 B12 # RAD**2
WSIZE DEC 161
2PI/8 2DEC 3.141592653 B-2
EBANK= LOSCOUNT
## Page 600
# PROGRAM NAME LRS24.1 RR SEARCH ROUTINE
# MOD NO 0 BY P VOLANTE SDC DATE 1-15-67
# FUNCTIONAL DESCRIPTION
# DRIVES THE RENDEZVOUS RADAR IN A HEXAGONAL SEARCH PATTERN ABOUT THE LOS TO THE CSM (COMPUTED FROM THE CSM AND LM
# STATE VECTORS) CHECKING FOR THE DATA GOOD DISCRETE AND MONITORING THE ANGLE BETWEEN THE RADAR BORESIGHT AND THE
# LM +Z AXIS. IF THIS ANGLE EXCEEDS 30 DEGREES THE PREFERRED TRACKING ATTITUDE ROUTINE IS CALLED TO PERFORM AN
# ATTITUDE MANEUVER.
# CALLING SEQUENCE - BANKCALL FOR LRS24.1
# SUBROUTINES CALLED
# LEMCONIC R61LEM
# CSMCONIC RRDESSM
# JOBDELAY FLAGDOWN
# WAITLIST FLAGUP
# RRNB BANKCALL
# EXIT - TO ENDOFJOB WHEN THE SEARCH FLAG (SRCHOPT) IS NOT SET
# OUTPUT
# DATAGOOD (SP)-FOR DISPLAY IN R1- 00000 INDICATES NO LOCKON
# 11111 INDICATES LOCKON ACHIEVED
# OMEGAD (SP)-FOR DISPLAY IN R2- ANGLE BETWEEN RR BORESIGHT VECTOR AND THE SPACECRAFT +Z AXIS
# ERASABLE INITIALIZATION REQUIRED
# SEARCH FLAG MUST BE SET
# LM AND CSM STATE VECTORS AND REFSMMAT MATRIX
# DEBRIS
# RLMSRCH UXVECT
# VXRLM UYVECT
# LOSDESRD NSRCHPNT
# DATAGOOD OMEGAD
# MPAC PUSHLIST
COUNT* $$/LRS24
LRS24.1 CAF ZERO
TS NSRCHPNT # SET SEARCH PATTERN POINT COUNTER TO ZERO
CHKSRCH CAF BIT14 # ISSUE AUTO TRACK ENABLE TO RADAR
EXTEND
## Page 601
WOR CHAN12
CAF SRCHOBIT # CHECK IF SEARCH STILL REQUESTED
MASK FLAGWRD2 # (SRCHOPT FLAG SET)
EXTEND
BZF ENDOFJOB # NO-TERMINATE JOB
CAF 6SECONDS # SCHEDULE TASK TO DRIVE RADAR TO NEXT PT.
INHINT
TC WAITLIST # IN 6 SECONDS
EBANK= LOSCOUNT
2CADR CALLDGCH
RELINT
CS RADMODES # IS REMODE IN PROGRESS
MASK REMODBIT
EXTEND
BZF ENDOFJOB # YES- WAIT SIX SECONDS
TC INTPRET
RTB DAD # COMPUTE LOS AT PRESENT TIME + 1.5 SEC.
LOADTIME
1.5SECS
LRS24.11 STCALL TDEC1
LEMCONIC # EXTRAPOLATE LM STATE VECTOR
VLOAD
RATT
STOVL RLMSRCH # SAVE LEM POSITION
VATT
STODL SAVLEMV # SAVE LEM VELOCITY
TAT
STCALL TDEC1 # EXTRAPOLATE CSM STATE VECTOR
CSMCONIC # EXTRAPOLATE CSM STATE VECTOR
VLOAD VSU # LOS VECTOR = R(CSM)-R(LM)
RATT
RLMSRCH
UNIT
STOVL LOSDESRD # STORE DESIRED LOS
VATT # COMPUTE UNIT(V(CM) CROSS R(CM))
UNIT VXV
RATT
UNIT
STORE VXRCM
VLOAD VSU
VATT
SAVLEMV
MXV VSL1 # CONVERT FROM REFERENCE TO STABLE MEMBER
REFSMMAT
STORE SAVLEMV # VLC = V(CSM) - V(LM)
SLOAD BZE # CHECK IF N=0
## Page 602
NSRCHPNT
DESGLOS # YES-DESIGNATE ALONG LOS
DSU BZE # IS N=1
ONEOCT # YES-CALCULATE X AND Y AXES OF
CALCXY # SEARCH PATTERN COORDINATE SYSTEM
VLOAD # NO-ROTATE X-Y AXES TO NEXT SEARCH POINT
UXVECT
STOVL UXVECTPR # SAVE ORIGINAL X AND Y VECTORS
UYVECT # UXPRIME = ORIGINAL UX
STORE UYVECTPR # UYPRIME = ORIGINAL UY
VXSC
SIN60DEG # UX =(COS 60)UXPR +(SIN 60)UYPR
STOVL UXVECT
UXVECTPR
VXSC VAD
COS60DEG
UXVECT
UNIT
STOVL UXVECT
UXVECTPR # UY=(-SIN60)UXPR +(COS 60)UYPR
VXSC
SIN60DEG
STOVL UYVECT
UYVECTPR
VXSC VSU
COS60DEG
UYVECT
UNIT
STORE UYVECT
OFFCALC VXSC VAD # OFFSET VECTOR = K(UY)
OFFSTFAC # LOS VECTOR + OFFSET VECTOR DEFINES
LOSDESRD # DESIRED POINT IN SEARCH PATTERN
UNIT MXV
REFSMMAT # CONVERT TO STABLE MEMBER COORDINATES
VSL1
CONTDESG STOVL RRTARGET
SAVLEMV
STORE LOSVEL
EXIT
INHINT
TC KILLTASK # KILL ANY PRESENTLY WAITLISTED TASK
CADR DESLOOP +2 # WHICH WOULD DESIGNATE TO THE LAST
# POINT IN THE PATTERN
CONTDES2 CS CDESBIT
MASK RADMODES # SET BIT 15 OF RADMODES TO INDICATE
AD CDESBIT # A CONTINUOUS DESIGNATE WANTED.
TS RADMODES
TC INTPRET
CALL
## Page 603
RRDESSM # DESIGNATE RADAR TO RRTARGET VECTOR
EXIT
TC LIMALARM # LOS NOT IN MODE 2 COVERAGE (P22)
TC LIMALARM # VEHICLE MANEUVER REQUIRED (P20)
# COMPUTE OMEGA,ANGLE BETWEEN RR LOS AND
# SPACECRAFT +Z AXIS
OMEGCALC EXTEND
DCA CDUT
DXCH TANGNB
TC INTPRET
CALL
RRNB
DLOAD ACOS # OMEGA IS ARCCOSINE OF Z-COMPONENT OF
36D # VECTOR COMPUTED BY RRNB (LEFT AT 32D)
STORE OMEGDISP # STORE FOR DISPLAY IN R2
EXIT
TC ENDOFJOB
## Page 604
# CALCULATE X AND Y VECTORS FOR SEARCH PATTERN COORDINATE SYSTEM
CALCXY VLOAD VXV
VXRCM
LOSDESRD
UNIT
STOVL UXVECT # UX = (VLM X RLM)X LOS
LOSDESRD
VXV UNIT
UXVECT
STORE UYVECT # UY = LOS X UX
GOTO
OFFCALC
DESGLOS VLOAD MXV # WHEN N= 0,DESIGNATE ALONG LOS
LOSDESRD
REFSMMAT # CONVERT LOS FROM REFERENCE TO SM COORDS
VSL1 GOTO
CONTDESG
CALLDGCH CAE FLAGWRD0 # IS RENDEZVOUS FLAG SET
MASK RNDVZBIT
EXTEND
BZF TASKOVER # NO-EXIT R24
CAF PRIO25 # YES -SCHEDULE JOB TO DRIVE RADAR TO NEXT
TC FINDVAC # POINT IN SEARCH PATTERN
EBANK= RLMSRCH
2CADR DATGDCHK
TC TASKOVER
DATGDCHK CAF BIT4
EXTEND # CHECK IF DATA GOOD DISCRETE PRESENT
RAND CHAN33
EXTEND
BZF STORE1S # YES- GO TO STORE 11111 FOR DISPLAY IN R1
CS SIX
AD NSRCHPNT # IS N GREATER THAN 6
EXTEND
BZF LRS24.1 # YES - RESET N = 0 AND START AROUND AGAIN
INCR NSRCHPNT # NO-SET N = N+1 AN GO TO
TCF CHKSRCH # NEXT POINT IN PATTERN
STORE1S CAF ALL1S # STORE 11111 FOR DISPLAY IN R1
TS DATAGOOD
## Page 605
INHINT
TC KILLTASK # DELETE DESIGNATE TASK FROM
CADR DESLOOP +2 # WAITLIST USING KILLTASK
TC ENDOFJOB
LIMALARM TC ALARM # ISSUE ALARM 527-LOS NOT IN MODE2
OCT 527 # COVERAGE IN P22 OR VEHICLE MANEUVER
INHINT # REQUIRED IN P20
TC KILLTASK # KILL WAITLIST CALL FOR NEXT
CADR CALLDGCH # POINT IN SEARCH PATTERN
TC ENDOFJOB
ALL1S DEC 11111
SIN60DEG 2DEC .86603
COS60DEG = DPHALF # (2DEC .50)
UXVECTPR EQUALS 12D # PREVIOUS
UYVECTPR EQUALS 18D
RLMUNIT EQUALS 12D
OFFSTFAC 2DEC 0.05678 # TANGENT OF 3.25 DEGREES
ONEOCT OCT 00001 # **** NOTE-THESE TWO CONSTANTS MUST ****
3SECONDS 2DEC 300 # **** BE IN THIS ORDER BECAUSE ****
# **** ONEOCT NEEDS A LOWER ORDER ****
# **** WORD OF ZEROES ****
6SECONDS DEC 600
1.5SECS 2DEC 150
ZERO/SP EQUALS HI6ZEROS
BLOCK 02
SETLOC FFTAG5
BANK
COUNT* $$/P20
GOTOV56 EXTEND # P20 TERMINATES BY GOTOV56 INSTEAD OF
DCA VB56CADR # GOTOPOOH
TCF SUPDXCHZ
EBANK= WHOCARES
VB56CADR 2CADR TRMTRACK
## Page 606
# W-MATRIX MONITOR
BANK 31
SETLOC VB67
BANK
COUNT* $$/EXTVB
EBANK= WWPOS
V67CALL TC INTPRET
CALL
V67WW
EXIT
EXTEND # SAVE THE PRESENT N99 VALUES FOR
DCA WWPOS # COMPARISON AFTER THE DISPLAY
DXCH WWBIAS +2
EXTEND
DCA WWVEL
DXCH WWBIAS +4
EXTEND
DCA WWBIAS
DXCH WWBIAS +6
V06N99DS CAF V06N99
TC BANKCALL
CADR GOXDSPF
TCF ENDEXT
TCF V6N99PRO
TCF V06N99DS
V6N99PRO ZL
CA FIVE
N99LOOP TS Q
INDEX Q
CS WWPOS
INDEX Q
AD WWPOS +6
ADS L
CCS Q # THE SUM OF ALL DIFFERENCES MUST BE ZERO.
TCF N99LOOP
LXCH A
EXTEND
BZF V06N9933
TC UPFLAG
ADRES V67FLAG
V06N9933 TC INTPRET
BON EXIT
V67FLAG
+2
TCF ENDEXT
DLOAD
## Page 607
WWPOS
SL4 SL1
STODL 0D
WWVEL
STODL 2D
WWBIAS
SL # SHIFT FROM NOUN SCALING (B-5) TO
10D # INTERNAL SCALING (B+5)
STORE 4D
BON LXA,1
SURFFLAG
V67SURF
0D
SXA,1 LXA,1
WRENDPOS
2D
SXA,1 GOTO
WRENDVEL
V67CLRF
V67SURF LXA,1 SXA,1
0D
WSURFPOS
LXA,1 SXA,1
2D
WSURFVEL
V67CLRF LXA,1 SXA,1
4D
WTRUN
SXA,1
WSHAFT
CLEAR EXIT
RENDWFLG
TCF ENDEXT
V67WW STQ BOV
S2
+1
CLEAR CALL
V67FLAG
INTSTALL
SSP DLOAD
S1
DEC 6
ZEROVECS
STORE WWPOS
STORE WWVEL
STORE WWBIAS
AXT,1
DEC 54
NXPOSVEL VLOAD* VSQ
W +54D,1
## Page 608
GOTO
ADDPOS
V06N99 VN 0699
SETLOC VB67A
BANK
COUNT* $$/EXTVB
ADDPOS DAD
WWPOS
STORE WWPOS
VLOAD* VSQ
W +108D,1
DAD
WWVEL
STORE WWVEL
VLOAD* VSQ
W +162D,1
DAD
WWBIAS
STORE WWBIAS
TIX,1 SQRT
NXPOSVEL
SR # SHIFT FROM INTERNAL SCALING (B+5) TO
10D # NOUN SCALING (B-5)
STODL WWBIAS
WWVEL
SQRT
STODL WWVEL
WWPOS
SQRT
STORE WWPOS
BOV GOTO
+2
V67XXX
DLOAD
DPPOSMAX
STORE WWPOS
STORE WWVEL
STORE WWBIAS
V67XXX DLOAD DSU
WWPOS
FT99999
BMN DLOAD
+3
FT99999
STORE WWPOS
LXA,1 SXA,1
S2
QPRET
## Page 609
EXIT
TC POSTJUMP
CADR INTWAKE
FT99999 2DEC 30479 B-19
## Page 610
BANK 25
SETLOC RADARUPT
BANK
COUNT* $$/RRUPT
EBANK= LOSCOUNT
RADLITES CS BIT5
AD ITEMP1
CCS A
CS ONE
TCF VLIGHT
TCF RRTRKF
HLIGHT TS ITEMP5 # ZERO ITEMP5 FOR H INDEX
CA HLITE
TS L
CA LRALTBIT
BOTHLITS MASK RADMODES
CCS A
TCF ONLITES
CA FLGWRD11
INDEX ITEMP5
MASK HFLSHBIT
CCS A
TCF RRTRKF
LITIT EXTEND
QXCH ITEMP6
TC TRKFLON +1
TC ITEMP6
ONLITES INDEX ITEMP5
CS HFLSHBIT
MASK FLGWRD11
TS FLGWRD11
CA L
TCF LITIT
VLIGHT TS ITEMP5
CA VLITE
TS L
CA BIT8
TCF BOTHLITS
## Page 611
HLITE EQUALS BIT5
VLITE EQUALS BIT3
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