Revision 66d8e606a8d996ded60bc81d5edf319142a5fad9 authored by Ron Burkey on 04 October 2021, 11:49:55 UTC, committed by Ron Burkey on 04 October 2021, 11:49:55 UTC
T4RUPT_PROGRAM.agc
### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: T4RUPT_PROGRAM.agc
## Purpose: This program is designed to extensively test the Apollo Guidance Computer
## (specifically the LM instantiation of it). It is built on top of a heavily
## stripped-down Aurora 12, with all code ostensibly added by the DAP Group
## removed. Instead Borealis expands upon the tests provided by Aurora,
## including corrected tests from Retread 44 and tests from Ron Burkey's
## Validation.
## Assembler: yaYUL
## Contact: Mike Stewart <mastewar1@gmail.com>.
## Website: www.ibiblio.org/apollo/index.html
## Mod history: 2016-12-20 MAS Created from Aurora 12 (with much DAP stuff removed).
## 2017-01-04 MAS Pulled PROCEED key functionality back from Luminary 99.
## 2017-01-15 MAS Added acceleration of T4RUPT without interfering with
## its usual purpose, as well as setting of LASTIMER.
SETLOC ENDPHMNF
T4RUPT TS LASTIMER # (Comes here with +4 in A).
CA T4TEMP # Check to see if T4TEMP is nonzero
EXTEND
BZMF T4RUPT2 # If T4TEMP is nonzero, self-check has
TS TIME4 # set up an accelerated T4RUPT. Reschedule
CA ZERO # using T4TEMP and zero it out.
TS T4TEMP
TCF NOQBRSM # Bail out before doing anything else.
T4RUPT2 CAF ZERO
EXTEND # ZERO OUT0 EVERY T4RUPT.
WRITE OUT0
INDEX T4LOC # NORMALLY TO NORMT4, BUT TO LMPRESET OR
TCF 0 # DSKYRSET AFTER OUT0 COMMAND.
NORMT4 CCS DSRUPTSW # GOES 7(-1)0.
TCF +2
CAF SEVEN
TS DSRUPTSW
CAF T4RPTBB # OFF TO SWITCHED BANK
XCH BBANK
TCF T4RUPTA
LMPRESET CAF 90MRUPT # 30 MS ON / 90 MS OFF.
TCF +2
DSKYRSET CAF 100MRUPT # 20 MS ON / 100 MS OFF.
TS TIME4
CAF LNORMT4
TS T4LOC
TCF NOQBRSM
90MRUPT DEC 16375
100MRUPT DEC 16374
LNORMT4 ADRES NORMT4
74K OCT 74000
# RELTAB IS A PACKED TABLE. RELAYWORD CODE IN UPPER 4 BITS, RELAY CODE
# IN LOWER 5 BITS.
RELTAB OCT 04025
OCT 10003
OCT 14031
OCT 20033
OCT 24017
OCT 30036
OCT 34034
OCT 40023
OCT 44035
OCT 50037
OCT 54000
RELTAB11 OCT 60000
ENDT4FF EQUALS
# SWITCHED-BANK PORTION.
SETLOC ENDFRESS
T4RUPTA TS BANKRUPT
EXTEND
QXCH QRUPT
LMPOUT CCS LMPCMD # SEE IF LMP COMMAND TO BE SENT. IF SO,
TCF CDRVE # BIT 15 = 1 AND (UP TO) BITS 1 - 11
TCF CDRVE # CONTAIN THE COMMAND.
CAF LOW11
MASK LMPCMD # LEAVE COMMAND PORTION INTACT.
TS LMPCMD
AD 74K
EXTEND
WRITE OUT0
CAF LLMPRS
TS T4LOC
CAF 30MRUPT
TCF SETTIME4
CDRVE CCS DSPTAB +11D
TC DSPOUT
TC DSPOUT
XCH DSPTAB +11D
MASK LOW11
TS DSPTAB +11D
AD RELTAB11
TC DSPLAYC
# DSPOUT PROGRAM. PUTS OUT DISPLAYS.
DSPOUT CCS NOUT # DRIVE DISPLAY SYSTEM RELAYS.
TCF +3
NODSPOUT CAF 120MRUPT # SET FOR RUPT IN 120 MS IF NO RELAYS.
TCF SETTIME4
TS NOUT
CS ZERO
TS DSRUPTEM # SET TO -0 FOR 1ST PASS THRU DSPTAB
XCH DSPCNT
AD NEG0 # TO PREVENT +0
TS DSPCNT
DSPSCAN INDEX DSPCNT
CCS DSPTAB
CCS DSPCNT # IF DSPTAB ENTRY +, SKIP
TC DSPSCAN -2 # IF DSPCNT +, AGAIN
TC DSPLAY # IF DSPTAB ENTRY -, DISPLAY
TABLNTH OCT 12 # DEC 10 LENGTH OF DSPTAB
CCS DSRUPTEM # IF DSRUPTEM=+0,2ND PASS THRU DSPTAB
120MRUPT DEC 16372 # (DSPCNT = 0). +0 INTO NOUT.
TS NOUT
TCF NODSPOUT
TS DSRUPTEM # IF DSRUPTEM=-0,1ST PASS THRU DSPTAB
CAF TABLNTH # (DSPCNT=0). +0 INTO DSRUPTEM. PASS AGAIN
TC DSPSCAN -1
DSPLAY AD ONE
INDEX DSPCNT
TS DSPTAB # REPLACE POSITIVELY
MASK LOW11 # REMOVE BITS 12 TO 15
TS DSRUPTEM
CAF HI5
INDEX DSPCNT
MASK RELTAB # PICK UP BITS 12 TO 15 OF RELTAB ENTRY
AD DSRUPTEM
DSPLAYC EXTEND
WRITE OUT0
CAF LDSKYRS
TS T4LOC
CAF 20MRUPT
SETTIME4 TS TIME4
# THE STATUS OF THE PROCEED PUSHBUTTON IS MONITORED EVERY 120 MILLISECONDS VIA THE CHANNEL 32 BIT 14 INBIT.
# THE STATE OF THIS INBIT IS COMPARED WITH ITS STATE DURING THE PREVIOUS T4RUPT AND IS PROCESSED AS FOLLOWS.
# IF PREV ON AND NOW ON - BYPASS
# IF PREV ON AND NOW OFF - UPDATE IMODES33
# IF PREV OFF AND NOW ON - UPDATE IMODES33 AND PROCESS VIA PINBALL
# IF PREV OFF AND NOW OFF - BYPASS
# THE LOGIC EMPLOYED REQUIRES ONLY 9 MCT (APPROX. 108 MICROSECONDS) OF COMPUTER TIME WHEN NO CHANGES OCCUR.
PROCEEDE CA IMODES33 # MONITIOR FOR PROCEED BUTTON
EXTEND
RXOR 32
MASK BIT14
EXTEND
BZF T4JUMP # NO CHANGE
LXCH IMODES33
EXTEND
RXOR L
TS IMODES33 # UPDATE IMODES33
MASK BIT14
CCS A
TCF T4JUMP # WAS ON - NOW OFF
CAF CHRPRIO # WAS OFF - NOW ON
TC NOVAC
EBANK= DSPCOUNT
2CADR PROCKEY
# JUMP TO APPROPRIATE ONCE-PER SECOND (.96 SEC ACTUALLY) ACTIVITY
T4JUMP INDEX DSRUPTSW
TCF +1
TC ALTOUT
TCF RRAUTCHK
TCF IMUMON
TCF RESUME
TC ALTROUT
TCF RRAUTCHK
TCF IMUMON
TCF RESUME
LDSKYRS ADRES DSKYRSET
LLMPRS ADRES LMPRESET
30MRUPT DEC 16381
20MRUPT DEC 16382
# THIS ROUTINE SERVICES THE METER OUTPUTS.
# DIDFLG INDICATES THE STATE OF THE PROGRAM..............
# IF GREATER THAN ZERO, THEN UNABLE TO DISPLAY DATA
# IF EQUAL TO ZERO, THEN THE PROGRAM IS IN USE
# IF LESS THAN ZERO, THEN THE PROGRAM IS ABLE TO BE USED............
ALTOUT TC DISINDAT
CS BIT2
EXTEND
WAND 14 # SET UP OUTPUT FOR ALTITUDE
CCS ALT # -1 IF OLD DATA TO BE EXTRAPOLATED.
TCF +4 # NEW DATA.
TCF +3
TCF OLDDATA
TS ALT # CHANGE -0 IN ALT TO +0.
CS ONE # RESET ALTSAVE.
DXCH ALT
ZDATA2 DXCH ALTSAVE
TCF NEWDATA
OLDDATA CA ALTRATE # USE ALTRATE TO EXTRAPOLATE.
EXTEND
MP ARTOA # RATE APPLIES FOR .96 SEC.
AD ALTSAVE +1
TS ALTSAVE +1 # AND MAYBE SKIP.
CAF ZERO
ADS ALTSAVE
CAF POSMAX # FORCE SIGN AGREEMENT ASSUMING ALTSAVE IS
AD ONE # NOT NEGATIVE. IF IT IS, THE FINAL TS
AD ALTSAVE +1 # WILL NOT SKIP AND WE CAN SET ALTSAVE TO
TS ALTSAVE +1 # ZERO IN THAT CASE.
CAF ZERO
AD POSMAX
AD ALTSAVE
TS ALTSAVE
TCF ZERODATA # ALTSAVE NEGATIVE - SET TO ZERO.
NEWDATA CCS ALTSAVE # MAKE UP 15 BIT UNSIGNED OUTPUT.
CAF BIT15 # MAJOR PART +1 OR +0.
AD ALTSAVE +1
METEROUT TS ALTM
CAF BITSET
EXTEND
WOR 14
TCF DONEDID
ALTROUT TC DISINDAT
CAF BIT2
EXTEND
WOR 14 # SET UP OUTPUT FOR ALT. RATE
CA ALTRATE
TCF METEROUT
DISINDAT CCS DIDFLG
TCF DONEDID
NOOP
CAF BIT6
EXTEND
RAND 30 # CHECK DISPLAY INERTIAL DATA BIT
CCS A
TCF ALLDONE
CCS DIDFLG
NOOP
TCF GOAGN
FIRSTIME CAF BIT8
EXTEND
WOR 12 # ENABLE DISPLAY INERTIAL DATA
CAF ZERO
TS DIDFLG
TS LASTXCMD
TS LASTYCMD
CAF SIX
TC WAITLIST
2CADR INTLZE
TC DONEDID
INTLZE CAF BIT2
EXTEND
WOR 12 # ENABLE RR ERROR COUNTER
TC TASKOVER
GOAGN CS LASTXCMD
AD FORVEL
TS OPTXCMD
CA FORVEL
TS LASTXCMD
CS LASTYCMD
AD LATVEL
TS OPTYCMD
CA LATVEL
TS LASTYCMD
TC Q
ALLDONE CS DIDRESET # REMOVE DISPLAY INERTIAL DATA AND ECTR.
EXTEND
WAND 12 # RESET RR ERROR COUNTER
DONEDID TCF RESUME
ZERODATA CAF ZERO
TS L
TCF ZDATA2
ARTOA DEC .20469 # ALT DUE TO ALTRATE FOR .96 SEC.
BITSET OCT 6004
DIDRESET OCT 202
# IMU INBIT MONITOR - ENTERED EVERY 480 MS BY T4RUPT.
IMUMON CA IMODES30 # SEE IF THERE HAS BEEN A CHANGE IN THE
EXTEND # RELEVENT BITS OF CHAN 30.
RXOR 30
MASK 30RDMSK
EXTEND
BZF TNONTEST # NO CHANGE IN STATUS.
TS RUPTREG1 # SAVE BITS WHICH HAVE CHANGED.
LXCH IMODES30 # UPDATE IMODES30.
EXTEND
RXOR L
TS IMODES30
CS ONE
XCH RUPTREG1
EXTEND
BZMF TLIM # CHANGE IN IMU TEMP.
TCF NXTIFBIT # BEGIN BIT SCAN.
-1 AD ONE # (RE-ENTERS HERE FROM NXTIFAIL.)
NXTIFBIT INCR RUPTREG1 # ADVANCE BIT POSITION NUMBER.
+1 DOUBLE
TS A # SKIP IF OVERFLOW.
TCF NXTIFBIT # LOOK FOR BIT.
XCH RUPTREG2 # SAVE OVERFLOW-CORRECTED DATA.
INDEX RUPTREG1 # SELECT NEW VALUE OF THIS BIT.
CAF BIT14
MASK IMODES30
INDEX RUPTREG1
TC IFAILJMP
NXTIFAIL CCS RUPTREG2 # PROCESS ANY ADDITIONAL CHANGES.
TCF NXTIFBIT -1
TNONTEST CS IMODES30 # AFTER PROCESSING ALL CHANGES, SEE IF IT
MASK BIT7 # IS TIME TO ACT ON A TURN-ON SEQUENCE.
CCS A
TCF C33TEST # NO - EXAMINE CHANNEL 33.
CAF BIT8 # SEE IF FIRST SAMPLE OR SECOND.
MASK IMODES30
CCS A
TCF PROCTNON # REACT AFTER SECOND SAMPLE.
CAF BIT8 # IF FIRST SAMPLE, SET BIT TO REACT NEXT
ADS IMODES30 # TIME.
TCF C33TEST
# PROCESS IMU TURN-ON REQUESTS AFTER WAITING 1 SAMPLE FOR ALL SIGNALS TO ARRIVE.
PROCTNON CS BITS7&8
MASK IMODES30
TS IMODES30
MASK BIT14 # SEE IF TURN-ON REQUEST.
CCS A
TCF OPONLY # OPERATE ON ONLY.
CS IMODES30 # IF TURN-ON REQUEST, WE SHOULD HAVE IMU
MASK BIT9 # OPERATE.
CCS A
TCF +3
TC ALARM # ALARM IF NOT.
OCT 213
+3 TC CAGESUB
CAF 90SECS
TC WAITLIST
2CADR ENDTNON
TCF C33TEST
RETNON CAF 90SECS
TC VARDELAY
ENDTNON CS BIT2 # RESET TURN-ON REQUEST FAIL BIT.
MASK IMODES30
XCH IMODES30
MASK BIT2 # IF IT WAS OFF, SEND ISS DELAY COMPLETE.
EXTEND
BZF ENDTNON2
CAF BIT14 # IF IT WAS ON AND TURN-ON REQUEST NOW
MASK IMODES30 # PRESENT, RE-ENTER 90 SEC DELAY IN WL.
EXTEND
BZF RETNON
CS STATE # IF IT IS NOT ON NOW, SEE IF A PROG WAS
MASK IMUSEFLG # WAITING.
CCS A
TCF TASKOVER
TC POSTJUMP
CADR IMUBAD # UNSUCCESSFUL TURN-ON.
ENDTNON2 CAF BIT15 # SEND ISS DELAY COMPLETE.
EXTEND
WOR 12
UNZ2 TC ZEROICDU
CS BITS4&5 # REMOVE ZERO AND COARSE.
EXTEND
WAND 12
CAF 3SECS # ALLOW 3 SECS FOR COUNTER TO FIND GIMBAL.
TC VARDELAY
ISSUP CS OCT54 # REMOVE CAGING, IMU FAIL INHIBIT, AND
MASK IMODES30 # ICDUFAIL INHIBIT FLAGS.
TS IMODES30
TC SETISSW # ISS WARNING MIGHT HAVE BEEN INHIBITED.
CS BIT15 # REMOVE IMU DELAY COMPLETE DISCRETE.
EXTEND
WAND 12
CAF BIT11 # DONT ENABLE PROG ALARM ON PIP FAIL FOR
TC WAITLIST # ANOTHER 10 SECS.
2CADR PFAILOK
CS STATE # SEE IF ANYONE IS WAITING FOR THE IMU AT
MASK IMUSEFLG # IMUZERO. IF SO, WAKE THEM UP.
CCS A
TCF TASKOVER
TC POSTJUMP
CADR ENDIMU
OPONLY CAF IMUSEFLG # IF OPERATE ON ONLY, ZERO THE COUNTERS
MASK STATE # UNLESS SOMEONE IS USING THE IMU.
CCS A
TCF C33TEST
TC CAGESUB2 # SET TURNON FLAGS.
CAF BIT5
EXTEND
WOR 12
CAF BIT6 # WAIT 300 MS FOR AGS TO RECEIVE SIGNAL.
TC WAITLIST
2CADR UNZ2
TCF C33TEST
# MONITOR CHANNEL 33 FLIP-FLOP INPUTS.
C33TEST CA IMODES33 # SEE IF RELEVENT CHAN33 BITS HAVE
MASK 33RDMSK
TS L # CHANGED.
CAF 33RDMSK
EXTEND
WAND 33 # RESETS FLIP-FLOP INPUTS.
EXTEND
RXOR L
EXTEND
BZF GLOCKMON # ON NO CHANGE.
TS RUPTREG1 # SAVE BITS WHICH HAVE CHANGED.
LXCH IMODES33
EXTEND
RXOR L
TS IMODES33 # UPDATED IMODES33.
CAF ZERO
XCH RUPTREG1
DOUBLE
TCF NXTIBT +1 # SCAN FOR BIT CHANGES.
-1 AD ONE
NXTIBT INCR RUPTREG1
+1 DOUBLE
TS A # (CODING IDENTICAL TO CHAN 30).
TCF NXTIBT
XCH RUPTREG2
INDEX RUPTREG1 # GET NEW VALUE OF BIT WHICH CHANGED.
CAF BIT13
MASK IMODES33
INDEX RUPTREG1
TC C33JMP
NXTFL33 CCS RUPTREG2 # PROCESS POSSIBLE ADDITIONAL CHANGES.
TCF NXTIBT -1
# MONITOR FOR GIMBAL LOCK.
GLOCKMON CCS CDUZ
TCF GLOCKCHK # SEE IF MAGNITUDE OF MGA IS GREATER THAN
TCF SETGLOCK # 70 DEGREES.
TCF GLOCKCHK
TCF SETGLOCK
GLOCKCHK AD -70DEGS
EXTEND
BZMF SETGLOCK -1 # NO LOCK.
CAF BIT6 # GIMAL LOCK.
TCF SETGLOCK
-1 CAF ZERO
SETGLOCK AD DSPTAB +11D # SEE IF PRESENT STATE OF GIMBAL LOCK LAMP
MASK BIT6 # AGREES WITH DESIRED STATE BY HALF ADDING
EXTEND # THE TWO.
BZF GLOCKOK # OK AS IS.
MASK DSPTAB +11D # IF OFF, DONT TURN ON IF IMU BEING CAGED.
CCS A
TCF GLAMPTST # TURN OFF UNLESS LAMP TEST IN PROGRESS.
CAF BIT6
MASK IMODES30
CCS A
TCF GLOCKOK
GLINVERT CS DSPTAB +11D # INVERT GIMBAL LOCK LAMP.
MASK BIT6
AD BIT15 # TO INDICATE CHANGE IN DSPTAB +11D.
XCH DSPTAB +11D
MASK OCT37737
ADS DSPTAB +11D
TCF GLOCKOK
GLAMPTST TC LAMPTEST # TURN OFF UNLESS LAMP TEST IN PROGRESS.
TCF GLOCKOK
TCF GLINVERT
-70DEGS DEC -.38888 # -70 DEGREES SCALED IN HALF-REVOLUTIONS.
OCT37737 OCT 37737
# SUBROUTINES TO PROCESS INBIT CHANGES. NEW VALUE OF BIT ARRIVES IN A, EXCEPT FOR TLIM.
TLIM MASK POSMAX # REMOVE BIT FROM WORD OF CHANGES AND SET
TS RUPTREG2 # DSKY TEMP LAMP ACCORDINGLY.
CCS IMODES30
TCF TEMPOK
TCF TEMPOK
CAF BIT4 # TURN ON LAMP.
EXTEND
WOR 11
TCF NXTIFAIL
TEMPOK TC LAMPTEST # IF TEMP NOW OK, DONT TURN OFF LAMP IF
TCF NXTIFAIL # LAMP TEST IN PROGRESS.
CS BIT4
EXTEND
WAND 11
TCF NXTIFAIL
ITURNON CAF BIT2 # IF DELAY REQUEST HAS GONE OFF
MASK IMODES30 # PREMATURELY, DO NOT PROCESS ANY CHANGES
CCS A # UNTIL THE CURRENT 90 SEC WAIT EXPIRES.
TCF NXTIFAIL
CAF BIT14 # SEE IF JUST ON OR OFF.
MASK IMODES30
EXTEND
BZF ITURNON2 # IF JUST ON.
CAF BIT15
EXTEND # SEE IF DELAY PRESENT DISCRETE HAS BEEN
RAND 12 # SENT. IF SO, ACTION COMPLETE.
EXTEND
BZF +2
TCF NXTIFAIL
CAF BIT2 # IF NOT, SET BIT TO INDICATE REQUEST NOT
ADS IMODES30 # PRESENT FOR FULL DURATION.
TC ALARM
OCTAL 207
TCF NXTIFAIL
ITURNON2 CS BIT7 # SET BIT 7 TO INITIATE WAIT OF 1 SAMPLE.
MASK IMODES30
AD BIT7
TS IMODES30
TCF NXTIFAIL
IMUCAGE CCS A # NO ACTION IF GOING OFF.
TCF NXTIFAIL
CS OCT71000 # TERMINATE ICDU AND GYRO PULSE TRAINS.
EXTEND
WAND 14
TC CAGESUB
CAF ZERO # ZERO COMMAND OUT-COUNTERS.
TS CDUXCMD
TS CDUYCMD
TS CDUZCMD
TS GYROCMD
CS OCT1700 # HAVING WAITED AT LEAST 27 MCT FROM
EXTEND # GYRO PULSE TRAIN TERMINATION, WE CAN
WAND 14 # DE-SELECT THE GYROS.
TCF NXTIFAIL
IMUOP EXTEND
BZF IMUOP2
CS STATE # IF GOING OFF, ALARM IF PROG USING IMU.
MASK IMUSEFLG
CCS A
TCF NXTIFAIL
TC ALARM
OCT 214
TCF NXTIFAIL
IMUOP2 CAF BIT2 # SEE IF FAILED ISS TURN-ON SEQ IN PROG.
MASK IMODES30
CCS A
TCF NXTIFAIL # IF SO, DONT PROCESS UNTIL PRESENT 90
TCF ITURNON2 # SECONDS EXPIRES.
PIPFAIL CCS A # SET BIT10 IN IMODES30 SO ALL ISS WARNING
CAF BIT10 # INFO IS IN ONE REGISTER.
XCH IMODES30
MASK -BIT10
ADS IMODES30
TC SETISSW
CS IMODES30 # IF PIP FAIL DOESNT LIGHT ISS WARNING, DO
MASK BIT1 # A PROGRAM ALARM IF IMU OPERATING BUT NOT
CCS A # CAGED OR BEING TURNED ON.
TCF NXTFL33
CA IMODES30
MASK OCT1720
CCS A
TCF NXTFL33 # ABOVE CONDITION NOT MET.
TC ALARM
OCT 212
TCF NXTFL33
DNTMFAST CCS A # DO PROG ALARM IF TM TOO FAST.
TCF NXTFL33
TC ALARM
OCT 1105
TCF NXTFL33
UPTMFAST CCS A # SAME AS DNLINK TOO FAST WITH DIFFERENT
TCF NXTFL33 # ALARM CODE.
TC ALARM
OCT 1106
TCF NXTFL33
# CLOSED SUBROUTINES FOR IMU MONITORING.
SETISSW CAF OCT15 # SET ISS WARNING USING THE FAIL BITS IN
MASK IMODES30 # BITS 13, 12, AND 10 OF IMODES30 AND THE
EXTEND # FAILURE INHIBIT BITS IN POSITIONS
MP BIT10 # 4, 3, AND 1.
CA IMODES30
EXTEND
ROR L # 0 INDICATES FAILURE.
COM
MASK OCT15000
CCS A
TCF ISSWON # FAILURE.
ISSWOFF CAF BIT1 # DONT TURN OFF ISS WARNING IF LAMP TEST
MASK IMODES33 # IN PROGRESS.
CCS A
TC Q
CS BIT1
EXTEND
WAND 11
TC Q
ISSWON CAF BIT1
EXTEND
WOR 11
TC Q
CAGESUB CS BITS6&15 # SET OUTBITS AND INTERNAL FLAGS FOR
EXTEND # SYSTEM TURN-ON OR CAGE. DISABLE THE
WAND 12 # ERROR COUNTER AND REMOVE IMU DELAY COMP.
CAF BITS4&5 # SEND ZERO AND COARSE.
EXTEND
WOR 12
CAGESUB2 CS OCT75 # SET FLAGS TO INDICATE CAGING OR TURN-ON,
MASK IMODES30 # AND TO INHIBIT ALL ISS WARNING INFO.
AD OCT75
TS IMODES30
TC Q
IMUFAIL EQUALS SETISSW
ICDUFAIL EQUALS SETISSW
# JUMP TABLES AND CONSTANTS.
IFAILJMP TCF ITURNON # CHANNEL 30 DISPATCH.
TCF IMUFAIL
TCF ICDUFAIL
TCF IMUCAGE
30RDMSK OCT 76400 # (BIT 10 NOT SAMPLED HERE).
TCF IMUOP
C33JMP TCF PIPFAIL # CHANNEL 33 DISPATCH.
TCF DNTMFAST
TCF UPTMFAST
# SUBROUTINE TO SKIP IF LAMP TEST NOT IN PROGRESS.
LAMPTEST CS IMODES33 # BIT1 OF IMODES33 = 1 IF LAMP TEST IN
MASK BIT1 # PROGRESS.
CCS A
INCR Q
TC Q
33RDMSK EQUALS PRIO16
OCT15 OCT 15
BITS4&5 OCT 30
OCT54 OCT 54
OCT75 OCT 75
BITS7&8 OCT 300
OCT1720 OCT 1720
OCT1700 OCT 1700
OCT15000 EQUALS PRIO15
OCT71000 OCT 71000
BITS6&15 OCT 40040
-BIT10 OCT -1000
90SECS DEC 9000
120MS DEC 12
GLOCKOK EQUALS RESUME
NOIMUMON EQUALS GLOCKOK
# RR INBIT MONITOR.
RRAUTCHK CA RADMODES # SEE IF CHANGE IN RR AUTO MODE BIT.
EXTEND
RXOR 33
MASK BIT2
EXTEND
BZF RRCDUCHK
LXCH RADMODES # UPDATE RADMODES.
EXTEND
RXOR L
TS RADMODES
MASK BIT2 # SEE IF JUST ON.
CCS A
TCF RROFF # OFF.
CAF BIT7 # IF JUST ON AND SOME PROGRAM IS USING THE
MASK STATE # RR, DONT ZERO THE CDUS.
CCS A
TCF RRCDUCHK
CS OCT10001 # SET BITS TO INDICATE ZERO AND TURNON
MASK RADMODES # IN PROGRESS.
AD OCT10001
TS RADMODES
CAF ONE
TC WAITLIST
2CADR RRTURNON
TCF NORRGMON
OCT10001 OCT 10001
RROFF CS STATE # IF SOMEONE WAS USING THE RR, DISPLAY AN
MASK BIT7 # ALARM IF THE RR GOES OUT OF AUTO MODE.
CCS A
TCF RRCDUCHK
TC ALARM
OCT 514
# CHECK FOR RR CDU FAIL.
RRCDUCHK CA RADMODES # LAST SAMPLED BIT IN RADMODES.
EXTEND
RXOR 30
MASK BIT7
EXTEND
BZF RRGIMON
CAF BIT2 # IF RR NOT IN AUTO MODE, DONT CHANGE BIT
MASK RADMODES # 7 OF RADMODES. IF THIS WERE NOT DONE,
CCS A # THE TRACKER FAIL MIGHT COME ON WHEN
TCF NORRGMON # JUST READING LR DATA.
CAF BIT7 # SET BIT 7 OF RADMODES FOR SETTRKF.
LXCH RADMODES # UPDATE RADMODES.
EXTEND
RXOR L
TS RADMODES
TRKFLCDU TC SETTRKF # UPDATE TRACKER FAIL LAMP ON DSKY.
# THE RR GIMBAL LIMIT MONITOR IS ENABLED WHENEVER THE RR IS IN THE AUTO MODE EXCEPT WHEN THE RR CDUS ARE
# BEING ZEROED, OR DURING A REMODE OR MONITOR REPOSITION OPERATION. THE LATTER IS INITIATED BY THIS MONITOR WHEN
# THE GIMBALS EXCEED THE LIMITS FOR THE CURRENT MODE. A ROUTINE IS INITIATED TO DRIVE THE GIMBALS TO T = 0 AND
# S = 0 IF IN MODE 1 AND T = 180 WITH S = -90 FOR MODE 2.
RRGIMON CAF OCT32002 # INHIBITED BY REMODE, ZEROING, MONITOR,
MASK RADMODES # OR RR NOT IN AUTO.
CCS A
TCF NORRGMON
TC RRLIMCHK # SEE IF ANGLES IN LIMITS.
ADRES OPTY
TCF MONREPOS
TCF NORRGMON # (ADDITIONAL CODING MAY GO HERE).
MONREPOS CAF BIT11 # SET FLAG TO SHOW REPOSITION IN PROGRESS.
ADS RADMODES
CS OCT20002 # DISABLE TRACKER AND ERROR COUNTER.
EXTEND
WAND 12
CAF TWO
TC WAITLIST
2CADR DORREPOS
TCF NORRGMON
OCT32002 OCT 32002
OCT20002 OCT 20002
NORRGMON EQUALS RESUME
ENDDAPT4 EQUALS RESUME
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