swh:1:snp:92f3f585b9ae79620ad8c41a332d6329b31fd381
Tip revision: 078c79d8734a9ed2860303a7c1662004284fe853 authored by Ron Burkey on 07 August 2022, 15:04:04 UTC
Fixed a potential string-overflow bug in yaASM. Removed timestamps from
Fixed a potential string-overflow bug in yaASM. Removed timestamps from
Tip revision: 078c79d
T4RUPT_PROGRAM.agc
### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: T4RUPT_PROGRAM.agc
## Purpose: A section of Sunburst revision 37, or Shepatin revision 0.
## It is part of an early development version of the software
## for Apollo Guidance Computer (AGC) on the unmanned Lunar
## Module (LM) flight Apollo 5. Sunburst 37 was the program
## upon which Don Eyles's offline development program Shepatin
## was based; the listing herein transcribed was actually for
## the equivalent revision 0 of Shepatin.
## This file is intended to be a faithful transcription, except
## that the code format has been changed to conform to the
## requirements of the yaYUL assembler rather than the
## original YUL assembler.
## Reference: pp. 90-123
## Assembler: yaYUL
## Contact: Ron Burkey <info@sandroid.org>.
## Website: www.ibiblio.org/apollo/index.html
## Mod history: 2017-05-24 MAS Created from Sunburst 120.
## 2017-05-29 HG Transcribed
## 2017-06-15 HG Fix operator TCF -> TC
## CS -> CAF
## 2017-06-21 RSB Proofed using octopus/ProoferComments.
## Page 90
BANK 12
EBANK= M11
T4RUPT TS BANKRUPT
CA 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
TCF T4RUPTA
LMPRESET CAF LNORMT4 # DO THINGS IN THIS ORDER FOR RESTART
TS T4LOC # PROTECTION.
CA LMPOUTT # NEW VALUE OF OUTPUT POINTER.
TS LMPOUT
CS ONE # TO SHOW OUTPUT POINTER ALREADY UPDATED.
TS LMPOUTT
CAF 90MRUPT
TCF +4
DSKYRSET CAF LNORMT4 # 20 MS ON / 100 MS OFF.
TS T4LOC
CAF 100MRUPT
+4 TS TIME4
TCF NOQRSM
BLOCK 02
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
## Page 91
OCT 50037
OCT 54000
RELTAB11 OCT 60000
## Page 92
# SWITCHED-BANK PORTION.
BANK 12
T4RUPTA EXTEND
QXCH QRUPT
INDEX LMPOUT # SEE IF LMP COMMAND TO BE PUT OUT.
CCS LMPCMD
TCF CDRVE # BIT 15 = 1 AND (UP TO) BITS 1 - 11
TCF CDRVE # CONTAIN THE COMMAND.
CAF LLMPRS # SET T4 FOR SPECIAL RUPT AND SHOW LMP
TS T4LOC # COMMAND IN PROGRESS IF RESTART.
CAF LOW11
INDEX LMPOUT
MASK LMPCMD # LEAVE COMMAND PORTION INTACT.
INDEX LMPOUT
TS LMPCMD
AD 74K
EXTEND
WRITE OUT0
CCS LMPOUT # PREDICT NEW VALUE OF LMPOUT BUT DONT
TCF +2 # UPDATE IT UNTIL COMMAND SENT (IN CASE OF
CAF SEVEN # RESTART.)
TS LMPOUTT
CAF 30MRUPT
TCF SETTIME4
CDRVE CCS DSPTAB +11D
TC DSPOUT
TC DSPOUT
XCH DSPTAB +11D
MASK LOW11
TS DSPTAB +11D
AD RELTAB11
TC DSPLAYC
## Page 93
# 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
## Page 94
# JUMP TO APPROPRIATE ONCE-PER SECOND (.96 SEC ACTUALLY) ACTIVITY
T4JUMP INDEX DSRUPTSW
TCF +1
TC ALTOUT
TC NORRGMON # WAS TCF RRAUTCHK (NO RADAR IN 206).
TCF IMUMON
TCF DAPT4S
TC ALTROUT
TC NORRGMON # WAS TCF RRAUTCHK (NO RADAR IN 206).
TCF IMUMON
TCF DAPT4S
LDSKYRS ADRES DSKYRSET
LLMPRS ADRES LMPRESET
30MRUPT DEC 16381
20MRUPT DEC 16382
## Page 95
# 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
## Page 96
ALTROUT TC DISINDAT
CAF BIT2
EXTEND
WOR 14 # SET UP OUTPUT FOR ALT. RATE
CA ALTRATE
TCF METEROUT
DISINDAT CCS DIDFLG
TCF ALLDONE # NOTE THAT THIS SHOULD ALWAYS GO TO
# ALLDONE AND NOT DONEDID SINCE THE
# AVAILABILITY OF DATA MAY DISAPPEAR WHILE
# THE ASTRONAUT HAS THE BUTTON DOWN.
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
EBANK= M11
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
## Page 97
TS LASTYCMD
TC Q
ALLDONE CS DIDRESET # REMOVE DISPLAY INERTIAL DATA AND ECTR.
EXTEND
WAND 12 # RESET RR ERROR COUNTER
DONEDID TCF RESUME # ** FIX LATER**
ZERODATA CAF ZERO
TS L
TCF ZDATA2
ARTOA DEC .20469 # ALT DUE TO ALTRATE FOR .96 SEC.
BITSET OCT 6004
DIDRESET OCT 202
## Page 98
# PROGRAM NAME: IMUMON
# FUNCTIONAL DESCRIPTION: THIS PROGRAM IS ENTERED EVERY 480 MS. IT DETECTS CHANGES OF THE IMU STATUS BITS IN
# CHANNEL 30 AND CALLS THE APPROPRIATE SUBROUTINES. THE BITS PROCESSED AND THEIR RELEVANT SUBROUTINES ARE:
# FUNCTION BIT SUBROUTINE CALLED
# -------- --- -----------------
# TEMP IN LIMITS 15 TLIM
# ISS TURN-ON REQUEST 14 ITURNON
# IMU FAIL 13 IMUFAIL (SETISSW)
# IMU CDU FAIL 12 ICDUFAIL (SETISSW)
# IMU CAGE 11 IMUCAGE
# IMU OPERATE 9 IMUOP
# THE LAST SAMPLED STATE OF THESE BITS IS LEFT IN IMODES30. ALSO, EACH SUBROUTINE CALLED FINDS THE NEW
# VALUE OF THE BIT IN A, WITH Q SET TO THE PROPER RETURN LOCATION, NXTIFAIL.
# CALLING SEQUENCE: T4RUPT EVERY 480 MILLISECONDS.
# JOBS OR TASKS INITIATED: NONE.
# SUBROUTINES CALLED: TLIM, ITURNON, SETISSW, IMUCAGE, IMUOP.
# ERASABLE INITIALIZATION:
# FRESH START OR RESTART WITH NO GROUPS ACTIVE: C(IMODES30) = OCT 37411.
# RESTART WITH ACTIVE GROUPS: C(IMODES30) = (B(IMODES30)AND(OCT 00035)) PLUS OCT 37400.
# THIS LEAVES IMU FAIL BITS INTACT.
# ALARMS: NONE.
# EXIT: TNONTEST.
# OUTPUT: UPDATED IMODES30 WITH CHANGES PROCESSED BY APPROPRIATE SUBROUTINE.
IMUMON CAF BITS4&5 # DISABLE DAP IF ZERO ICDU OR COARSE ALIGN
EXTEND
RAND 12
EXTEND
BZMF IMUNON1
EXTEND
DCA T4DAP
DXCH T5ADR
IMUNON1 CA IMODES30 # SEE IF THERE HAS BEEN A CHANGE IN THE
EXTEND # RELEVANT BITS OF CHAN 30.
RXOR 30
MASK 30RDMSK
EXTEND
BZF TNONTEST # NO CHANGE IN STATUS.
## Page 99
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
## Page 100
# PROGRAM NAME: TNONTEST.
# FUNCTIONAL DESCRIPTION: THIS PROGRAM HONORS REQUESTS FOR ISS INITIALIZATION. ISS TURN-ON (CHANNEL 30 BIT 14)
# AND ISS OPERATE (CHANNEL 30 BIT 9) REQUESTS ARE TREATED AS A PAIR AND PROCESSING TAKES PLACE .480 SECONDS
# AFTER EITHER ONE APPEARS. THIS INITIALIZATION TAKES ON ONE OF THE FOLLOWING THREE FORMS:
# 1) ISS TURN-ON: IN THIS SITUATION THE COMPUTER IS OPERATING WHEN THE ISS IS TURNED ON. NOMINALLY,
# BOTH ISS TURN-ON AND ISS OPERATE APPEAR. THE PLATFORM IS CAGED FOR 90 SECONDS AND THE ICDU'S ZEROED
# SO THAT AT THE END OF THE PROCESS THE GIMBAL LOCK MONITOR WILL FUNCTION PROPERLY.
# 2) ICDU INITIALIZATION: IN THIS CASE THE COMPUTER WAS PROBABLY TURNED ON WITH THE ISS IN OPERATE OR
# A FRESH START WAS DONE WITH THE ISS IN OPERATE. IN THIS CASE ONLY ISS OPERATE IS ON. THE ICDU'S ARE
# ZEROED SO THE GIMBAL LOCK MONITOR WILL FUNCTION. AN EXCEPTION IS IF THE ISS IS IN GIMBAL LOCK AFTER
# A RESTART, THE ICDU'S WILL NOT BE ZEROED.
# 3) RESTART WITH RESTARTABLE PROGRAM USING THE IMU: IN THIS CASE, NO INITIALIZATION TAKES PLACE SINCE
# IT IS ASSUMED THAT THE USING PROGRAM DID THE INITIALIZATION AND THEREFORE T4RUPT SHOULD NOT INTERFERE.
# IMODES30 BIT 7 IS SET = 1 BY THE FIRST BIT (CHANNEL 30 BIT 14 OR 9) WHICH ARRIVES. FOLLOWING THIS. TNONTEST IS
# ENTERED, FINDS BIT 7 = 1 BUT BIT 8 = 0, SO IT SETS BIT 8 = 1 AND EXITS. THE NEXT TIME IT FINDS BIT 8 = 1 AND
# PROCEEDS, SETTING BITS 8 AND 7 = 0. AT PROCTNON, IF ISS TURN-ON REQUEST IS PRESENT, THE ISS IS CAGED (ZERO +
# COARSE). IF ISS OPERATE IS NOT PRESENT PROGRAM ALARM 00213 IS ISSUED. AT THE END OF A 90 SECOND CAGE, BIT 2
# OF IMODES30 IS TESTED. IF IT IS = 1, ISS TURN-ON WAS NOT PRESENT FOR THE ENTIRE 90 SECONDS. IN THAT CASE, IF
# THE ISS TURN-ON REQUEST IS PRESENT THE 90 SECOND WAIT IS REPEATED, OTHERWISE NO ACTION OCCURS UNLESS A PROGRAM
# WAS WAITING FOR THE INITIALIZATION IN WHICH CASE THE PROGRAM IS GIVEN AN IMUSTALL ERROR RETURN. IF THE DELAY
# WENT PROPERLY, THE ISS DELAY OUTBIT IS SENT AND THE ICDU'S ZEROED. A TASK IS INITIATED TO REMOVE THE PIPA FAIL
# INHIBIT BIT IN 10.24 SECONDS. IF A MISSION PROGRAM WAS WAITING IT IS INFORMED VIA ENDIMU.
# AT PROCTNON, IF ONLY ISS OPERATE IS PRESENT (OPONLY), THE CDU'S ARE ZEROED UNLESS THE PLATFORM IS IN COARSE
# ALIGN (= GIMBAL LOCK HERE) OR A MISSION PROGRAM IS USING THE IMU (IMUSEFLG = 1).
# CALLING SEQUENCE: T4RUPT EVERY 480 MILLISECONDS AFTER IMUMON.
# JOBS OR TASKS INITIATED: 1) ENDTNON, 90 SECONDS AFTER CAGING STARTED. 2) ISSUP, 4 SECONDS AFTER CAGING DONE.
# 3) PFAILOK, 10.24 SECONDS AFTER INITIALIZATION COMPLETED. 4) UNZ2, 320 MILLISECONDS AFTER ZEROING
# STARTED.
# SUBROUTINES CALLED: CAGESUB, CAGESUB2, ZEROICDU, ENDIMU, IMUBAD, NOATTOFF, SETISSW, VARDELAY.
# ERASABLE INITIALIZATION: SEE IMUMON.
# ALARMS: PROGRAM ALARM 00213 IF ISS TURN-ON REQUESTED WITHOUT ISS OPERATE.
# EXIT: ENDTNON EXITS TO C33TEST. TASKS HAVING TO DO WITH INITIALIZATION EXIT AS FOLLOWS: MISSION PROGRAM
# WAITING AND INITIALIZATION COMPLETE, EXIT TO ENDIMU, MISSION PROGRAM WAITING AND INITIALIZATION FAILED, EXIT TO
# IMUBAD, IMU NOT IN USE, EXIT TO TASKOVER.
# OUTPUT: ISS INITIALIZED.
TNONTEST CS IMODES30 # AFTER PROCESSING ALL CHANGES, SEE IF IT
## Page 101
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
EBANK= M11
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.
## Page 102
EXTEND
BZF RETNON
CS STATE # IF IT IS NOT ON NOW, SEE IF A PROG WAS
MASK IMUSEFLG # WAITING.
CCS A
TCF TASKOVER
TC POSTJUMP
CADR IMUBAD # UNSUCCESSFUL TURN-ON.
ENDTNON2 CAF BIT15 # SEND ISS DELAY COMPLETE.
EXTEND
WOR CHAN12
TC IBNKCALL # TURN OFF NO ATT LAMP.
CADR NOATTOFF
UNZ2 TC ZEROICDU
CS BITS4&5 # REMOVE ZERO AND COARSE.
EXTEND
WAND CHAN12
CAF 4SECS # WAIT 4 SECS FOR COUNTERS TO FIND GIMBALS
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.
EBANK= M11
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 BIT4 # IF OPERATE ON ONLY, AND WE ARE IN COARSE
## Page 103
EXTEND # ALIGN, DONT ZERO THE CDUS BECAUSE WE
RAND CHAN12 # MIGHT BE IN GIMBAL LOCK.
CCS A
TCF C33TEST
CAF IMUSEFLG # OTHERWISE, 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
EBANK= M11
2CADR UNZ2
TCF C33TEST
## Page 104
# PROGRAM NAME: C33TEST
# FUNCTIONAL DESCRIPTION: THIS PROGRAM MONITORS THREE FLIP-FLOP INBITS OF CHANNEL 33 AND CALLS THE APPROPRIATE
# SUBROUTINE TO PROCESS A CHANGE. IT IS ANALOGOUS TO IMUMON, WHICH MONITORS CHANNEL 30, EXCEPT THAT IT READS
# CHANNEL 33 WITH A WAND INSTRUCTION BECAUSE A 'WRITE' PULSE IS REQUIRED TO RESET THE FLIP-FLOPS. THE BITS
# PROCESSED AND THE SUBROUTINES CALLED ARE:
# BIT FUNCTION SUBROUTINE
# --- -------- ----------
# 13 PIPA FAIL PIPFAIL
# 12 DOWNLINK TOO FAST DNTMFAST
# 11 UPLINK TOO FAST UPTMFAST
# UPON ENTRY TO THE SUBROUTINE, THE NEW BIT STATE IS IN A.
# CALLING SEQUENCE: EVERY 480 MILLISECONDS AFTER TNONTEST.
# JOBS OR TASKS INITIATED: NONE.
# SUBROUTINES CALLED: PIPFAIL, DNTMFAST AND UPTMFAST ON BIT CHANGES.
# ERASABLE INITIALIZATION: C(IMODES33) = OCT 16000 ON A FRESH START OR RESTART, THEREFORE, THESE ALARMS WILL
# REAPPEAR IF THE CONDITIONS PERSIST.
# ALARMS: NONE.
# EXIT: GLOCKMON.
# OUTPUT: UPDATED BITS 13, 12 AND 11 OF IMODES33 WITH CHANGES PROCESSED.
C33TEST CA IMODES33 # SEE IF RELEVANT CHAN 33 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
## Page 105
TCF NXTIBT +1 # SCAN FOR BIT CHANGES.
-1 AD ONE
NXTIBT INCR RUPTREG1
+1 DOUBLE
TS A # (CODING IDENTICAL TO CHAN 30).
TCF NXTIBT
XCH RUPTREG2
INDEX RUPTREG1 # GET NEW VALUE OF BIT WHICH CHANGED.
CAF BIT13
MASK IMODES33
INDEX RUPTREG1
TC C33JMP
NXTFL33 CCS RUPTREG2 # PROCESS POSSIBLE ADDITIONAL CHANGES.
TCF NXTIBT -1
## Page 106
# PROGRAM NAME: GLOCKMON
# FUNCTIONAL DESCRIPTION: THIS PROGRAM MONITORS THE CDUZ COUNTER TO DETERMINE WHETHER THE ISS IS IN GIMBAL LOCK
# AND TAKES ACTION IF IT IS. THREE REGIONS OF MIDDLE GIMBAL ANGLE (MGA) ARE USED:
# 1) ABS(MGA) LESS THAN OR EQUAL TO 70 DEGREES - NORMAL MODE.
# 2) ABS(MGA) GREATER THAN 70 DEGREES AND LESS THAN OR EQUAL TO 85 DEGREES - GIMBAL LOCK LAMP TURNED ON.
# 3) ABS(MGA) GREATER THAN 85 DEGREES - ISS PUT IN COARSE ALIGN AND NO ATT LAMP TURNED ON.
# CALLING SEQUENCE: EVERY 480 MILLISECONDS AFTER C33TEST.
# JOBS OR TASKS INITIATED: NONE.
# SUBROUTINES CALLED: 1) SETCOARS WHEN ABS(MGA) GREATER THAN 85 DEGREES AND ISS NOT IN COARSE ALIGN.
# 2) LAMPTEST BEFORE TURNING OFF GIMBAL LOCK LAMP.
# ERASABLE INITIALIZATION:
# 1) FRESH START OR RESTART WITH NO GROUPS ACTIVE: C(CDUZ) = 0, IMODES30 BIT 6 = 0, IMODES33 BIT 1 = 0.
# 2) RESTART WITH GROUPS ACTIVE: SAME AS FRESH START EXCEPT C(CDUZ) NOT CHANGED SO GIMBAL MONITOR
# PROCEEDS AS BEFORE.
# ALARMS: 1) MGA REGION (2) CAUSES GIMBAL LOCK LAMP TO BE LIT.
# 2) MGA REGION (3) CAUSES THE ISS TO BE PUT IN COARSE ALIGN AND THE NO ATT LAMP TO BE LIT IF EITHER NOT
# SO ALREADY.
GLOCKMON CCS CDUZ
TCF GLOCKCHK # SEE IF MAGNITUDE OF MGA IS GREATER THAN
TCF SETGLOCK # 70 DEGREES.
TCF GLOCKCHK
TCF SETGLOCK
GLOCKCHK AD -70DEGS
EXTEND
BZMF SETGLOCK -1 # NO LOCK.
AD -15DEGS # SEE IF ABS(MGA) GREATER THAN 85 DEGREES.
EXTEND
BZMF NOGIMRUN
CAF BIT4 # IF SO, SYSTEM SHOULD BE IN COARSE ALIGN
EXTEND # TO PREVENT GIMBAL RUNAWAY.
RAND 12
CCS A
TCF NOGIMRUN
TC IBNKCALL
CADR SETCOARS
NOGIMRUN CAF BIT6 # TURN ON GIMBAL LOCK LAMP.
TCF SETGLOCK
## Page 107
-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.
-15DEGS DEC -.08333
OCT37737 OCT 37737
## Page 108
# PROGRAM NAME: TLIM.
# FUNCTIONAL DESCRIPTION: THIS PROGRAM MAINTAINS THE TEMP LAMP (BIT 4 OF CHANNEL 11) ON THE DSKY TO AGREE WITH
# THE TEMP SIGNAL FROM THE ISS (BIT 15 OF CHANNEL 30). HOWEVER, THE LIGHT WILL NOT BE TURNED OFF IF A LAMP TEST
# IS IN PROGRESS.
# CALLING SEQUENCE: CALLED BY IMUMON ON A CHANGE OF BIT 15 OF CHANNEL 30.
# JOBS OR TASKS INITIATED: NONE.
# SUBROUTINES CALLED: LAMPTEST.
# ERASABLE INITIALIZATION: FRESH START AND RESTART TURN THE TEMP LAMP OFF.
# ALARMS: TEMP LAMP TURNED ON WHEN IMU TEMP GOES OUT OF LIMITS.
# EXIT: NXTIFAIL.
# OUTPUT: SERVICE OF TEMP LAMP. IN A, EXCEPT FOR TLIM.
TLIM MASK POSMAX # REMOVE BIT FROM WORD OF CHANGES AND SET
TS RUPTREG2 # DSKY TEMP LAMP ACCORDINGLY.
CCS IMODES30
TCF TEMPOK
TCF TEMPOK
CAF BIT4 # TURN ON LAMP.
EXTEND
WOR 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
## Page 109
# PROGRAM NAME: ITURNON.
# FUNCTIONAL DESCRIPTION: THIS PROGRAM IS CALLED BY IMUMON WHEN A CHANGE OF BIT 14 OF CHANNEL 30 (ISS TURN-ON
# REQUEST) IS DETECTED. UPON ENTRY, ITURNON CHECKS IF A TURN-ON DELAY SEQUENCE HAS FAILED, AND IF SO, IT EXITS.
# IF NOT, IT CHECKS WHETHER THE TURN-ON REQUEST CHANGE IS TO ON OR OFF. IF ON, IT SETS BIT7 OF IMODES30 TO 1 SO
# THAT TNONTEST WILL INITIATE THE ISS INITIALIZATION SEQUENCE. IF OFF, THE TURN-ON DELAY SIGNAL, CHANNEL 12 BIT
# 15, IS CHECKED AND IF IT IS ON, ITURNON EXITS. IF THE DELAY SIGNAL IS OFF, PROGRAM ALARM 00207 IS ISSUED, BIT 2
# OF IMODES30 IS SET TO 1 AND THE PROGRAM EXITS.
# THE SETTING OF BIT 2 OF IMODES30 (ISS DELAY SEQUENCE FAIL) INHIBITS THIS ROUTINE AND IMUOP FROM
# PROCESSING ANY CHANGES. THIS BIT WILL BE RESET BY THE ENDTNON ROUTINE WHEN THE CURRENT 90 SECOND DELAY PERIOD
# ENDS.
# CALLING SEQUENCE: FROM IMUMOM WHEN ISS TURN-ON REQUEST CHANGES STATE.
# JOBS OR TASKS INITIATED: NONE.
# SUBROUTINES CALLED: ALARM, IF THE ISS TURN-ON REQUEST IS NOT PRESENT FOR 90 SECONDS.
# ERASABLE INITIALIZATION: FRESH START AND RESTART SET BIT 15 OF CHANNEL 12 AND BITS 2 AND 7 OF IMODES30 TO 0,
# AND BIT 14 OF IMODES30 TO 1.
# ALARMS: PROGRAM ALARM 00207 IS ISSUED IF THE ISS TURN-ON REQUEST SIGNAL IS NOT PRESENT FOR 90 SECONDS.
# EXIT: NXTIFAIL.
# OUTPUT: BIT 7 OF IMODES30 TO START ISS INITIALIZATION, OR BIT 2 OF IMODES30 AND PROGRAM ALARM 00207 TO INDICATE
# A FAILED TURN-ON SEQUENCE.
ITURNON CAF BIT2 # IF DELAY REQUEST HAS GONE OFF
MASK IMODES30 # PREMATURELY, DO NOT PROCESS ANY CHANGES
CCS A # UNTIL THE CURRENT 90 SEC WAIT EXPIRES.
TCF NXTIFAIL
CAF BIT14 # SEE IF JUST ON OR OFF.
MASK IMODES30
EXTEND
BZF ITURNON2 # IF JUST ON.
CAF BIT15
EXTEND # SEE IF DELAY PRESENT DISCRETE HAS BEEN
RAND 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
OCT 207
TCF NXTIFAIL
## Page 110
ITURNON2 CS BIT7 # SET BIT 7 TO INITIATE WAIT OF 1 SAMPLE.
MASK IMODES30
AD BIT7
TS IMODES30
TCF NXTIFAIL
## Page 111
# PROGRAM NAME: IMUCAGE.
# FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES OF THE IMUCAGE INBIT, CHANNEL 30 BIT 11. IF THE BIT
# CHANGES TO 0 (CAGE BUTTON PRESSED), THE ISS IS CAGED (ICDU ZERO + COARSE ALIGN + NO ATT LAMP) UNTIL THE
# ASTRONAUT SELECTS ANOTHER PROGRAM TO ALIGN THE ISS. ANY PULSE TRAINS TO THE ICDU'S AND GYRO'S ARE TERMINATED,
# THE ASSOCIATED OUTCOUNTERS ARE ZEROED AND THE GYRO'S ARE DE-SELECTED. NO ACTION OCCURS WHEN THE BUTTON IS
# RELEASED (INBIT CHANGES TO 1).
# CALLING SEQUENCE: BY IMUMON WHEN IMU CAGE BIT CHANGES.
# JOBS OR TASKS INITIATED: NONE.
# SUBROUTINES CALLED: CAGESUB.
# ERASABLE INITIALIZATION: FRESH START AND RESTART SET BIT 11 OF IMODES30 TO 1.
# ALARMS: NONE.
# EXIT: NXTIFAIL.
# OUTPUT: ISS CAGED, COUNTERS ZEROED, PULSE TRAINS TERMINATED AND NO ATT LAMP LIT.
IMUCAGE CCS A # NO ACTION IF GOING OFF.
TCF 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
## Page 112
# PROGRAM NAME: IMUOP.
# FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES IN THE ISS OPERATE DISCRETE, BIT 9 OF CHANNEL 30.
# IF THE INBIT CHANGES TO 0, INDICATING ISS ON, IMUOP GENERALLY SETS BIT 7 OF IMODES30 TO 1 TO REQUEST ISS
# INITIALIZATION VIA TNONTEST. AN EXCEPTION IS DURING A FAILED ISS DELAY DURING WHICH BIT 2 OF IMODES30 IS SET
# TO 1 AND NO FURTHER INITIALIZATION IS REQUIRED. WHEN THE INBIT CHANGES TO 1, INDICATING ISS OFF, IMUSEFLG IS
# TESTED TO SEE IF ANY PROGRAM WAS USING THE ISS. IF SO, PROGRAM ALARM 00214 IS ISSUED.
# CALLING SEQUENCE: BY IMUMON WHEN BIT 9 OF CHANNEL 30 CHANGES.
# JOBS OR TASKS INITIATED: NONE.
# SUBROUTINES CALLED: ALARM, IF ISS IS TURNED OFF WHILE IN USE.
# ERASABLE INITIALIZATION: ON FRESH START AND RESTART, BIT 9 OF IMODES30 IS SET TO 1 EXCEPT WHEN THE GIMBAL LOCK
# LAMP IS ON, IN WHICH CASE IT IS SET TO 0. THIS PREVENTS ICDU ZERO BY TNONTEST WITH THE ISS IN GIMBAL LOCK.
# ALARMS: PROGRAM ALARM 00214 IF THE ISS IS TURNED OFF WHILE IN USE.
# EXIT: NXTIFAIL.
# OUTPUT: ISS INITIALIZATION REQUEST (IMODES30 BIT 7) OR PROGRAM ALARM 00214.
IMUOP EXTEND
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.
## Page 113
# PROGRAM NAME: PIPFAIL
# FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES OF BIT 13 OF CHANNEL 33, PIPA FAIL. IT SETS BIT 10 OF
# IMODES30 TO AGREE. IT CALLS SETISSW IN CASE A PIPA FAIL NECESSITATES AN ISS WARNING. IF NOT,I.E., IMODES30
# BIT 1 = 1, AND A PIPA FAIL IS PRESENT AND THE ISS IS NOT BEING INITIALIZED, PROGRAM ALARM 00212 IS ISSUED.
# CALLING SEQUENCE: BY C33TEST ON CHANGES OF CHANNEL 33 BIT 13.
# JOBS OR TASKS INITIATED: NONE.
# SUBROUTINES CALLED: 1) SETISSW, AND 2) ALARM (SEE FUNCTIONAL DESCRIPTION).
# ERASABLE INITIALIZATION: SEE IMUMON FOR INITIALIZATION OF IMODES30. THE RELAVANT BITS ARE 5, 7, 8, 9, AND 10.
# ALARMS: PROGRAM ALARM 00212 IF PIPA FAIL IS PRESENT BUT NEITHER ISS WARNING IS TO BE ISSUED NOR THE ISS IS
# BEING INITIALIZED.
# EXIT: NXTFL33.
# OUTPUT: PROGRAM ALARM 00212 AND ISS WARNING MAINTENANCE.
PIPFAIL CCS A # SET BIT10 IN IMODES30 SO ALL ISS WARNING
CAF BIT10 # INFO IS IN ONE REGISTER.
XCH IMODES30
MASK -BIT10
ADS IMODES30
TC SETISSW
CS IMODES30 # IF PIP FAIL 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
## Page 114
# PROGRAM NAMES: DNTMFAST, UPTMFAST
# FUNCTIONAL DESCRIPTION: THESE PROGRAMS PROCESS CHANGES OF BITS 12 AND 11 OF CHANNEL 33. IF A BIT CHANGES TO A
# 0, A PROGRAM ALARM IS ISSUED. THE ALARMS ARE:
# BIT ALARM CAUSE
# --- ----- -----
# 12 01105 DOWNLINK TOO FAST
# 11 01106 UPLINK TOO FAST
# CALLING SEQUENCE: BY C33TEST ON A BIT CHANGE.
# SUBROUTINES CALLED: ALARM, IF A BIT CHANGES TO A 0.
# ERASABLE INITIALIZATION: FRESH START OR RESTART, BITS 12 AND 11 OF IMODES33 ARE SET TO 1.
# ALARMS: SET FUNCTIONAL DESCRIPTION.
# EXIT: NXTFL33.
# OUTPUT: PROGRAM ALARM ON A BIT CHANGE TO 0.
DNTMFAST CCS A # DO PROG ALARM IF TM TOO FAST.
TCF NXTFL33
TC ALARM
OCT 1105
TCF NXTFL33
UPTMFAST CCS A # SAME AS DNLINK TOO FAST WITH DIFFERENT
TCF NXTFL33 # ALARM CODE.
TC ALARM
OCT 1106
TCF NXTFL33
## Page 115
# PROGRAM NAME: SETISSW
# FUNCTIONAL DESCRIPTION: THIS PROGRAM TURNS THE ISS WARNING LAMP ON AND OFF (CHANNEL 11 BIT 1 = 1 FOR ON,
# 0 FOR OFF) DEPENDING ON THE STATUS OF IMODES30 BITS 13 (IMU FAIL) AND 4 (INHIBIT IMU FAIL), 12 (ICDU FAIL) AND
# 3 (INHIBIT ICDU FAIL), AND 10 (PIPA FAIL) AND 1 (INHIBIT PIPA FAIL). THE LAMP IS LEFT ON IF A LAMP TEST IS IN
# PROGRESS.
# CALLING SEQUENCE: CALLED BY IMUMON ON CHANGES TO IMU FAIL AND ICDU FAIL. CALLED BY IFAILOK AND PFAILOK UPON
# REMOVAL OF THE FAIL INHIBITS. CALLED BY PIPFAIL WHEN THE PIPA FAIL DISCRETE CHANGES. IT IS CALLED BY PIPUSE
# SINCE THE PIPA FAIL PROGRAM ALARM MAY NECESSITATE AN ISS WARNING, AND LIKEWISE BY PIPFREE WHEN THE ALARM DEPARTS
# AND IT IS CALLED BY IMUZERO3 AND ISSUP AFTER THE FAIL INHIBITS HAVE BEEN REMOVED.
# JOBS OR TASKS INITIATED: NONE.
# SUBROUTINES CALLED: NONE.
# ERASABLE INITIALIZATION:
# 1) IMODES30 - SEE IMUMON.
# 2) IMODES33 BIT 1 = 0 (LAMP TEST NOT IN PROGRESS).
# ALARMS: ISS WARNING.
# EXIT: VIA Q.
# OUTPUT: ISS WARNING LAMP SET PROPERLY.
SETISSW CAF OCT15 # SET ISS WARNING USING THE FAIL BITS IN
MASK IMODES30 # BITS 13, 12, AND 10 OF IMODES30 AND THE
EXTEND # FAILURE INHIBIT BITS IN POSITIONS
MP BIT10 # 4, 3, AND 1.
CA IMODES30
EXTEND
ROR 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
## Page 116
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
CS OC40010 # TURN ON NO ATT LAMP.
MASK DSPTAB +11D
AD OC40010
TS DSPTAB +11D
CAGESUB2 CS OCT75 # SET FLAGS TO INDICATE CAGING OR TURN-ON,
MASK IMODES30 # AND TO INHIBIT ALL ISS WARNING INFO.
AD OCT75
TS IMODES30
EXTEND
DCA T4DAP # DISABLE DAP DURING ISS INITIALIZATION
DXCH T5ADR
TC Q
EBANK= DT
T4DAP 2CADR DAPIDLER
IMUFAIL EQUALS SETISSW
ICDUFAIL EQUALS SETISSW
## Page 117
# JUMP TABLES AND CONSTANTS.
IFAILJMP TCF ITURNON # CHANNEL 30 DISPATCH.
TCF IMUFAIL
TCF ICDUFAIL
TCF IMUCAGE
30RDMSK OCT 76400 # (BIT 10 NOT SAMPLED HERE).
TCF IMUOP
C33JMP TCF PIPFAIL # CHANNEL 33 DISPATCH.
TCF DNTMFAST
TCF UPTMFAST
# SUBROUTINE TO SKIP IF LAMP TEST NOT IN PROGRESS.
LAMPTEST CS IMODES33 # BIT 1 OF IMODES33 = 1 IF LAMP TEST IN
MASK BIT1 # PROGRESS.
CCS A
INCR Q
TC Q
33RDMSK EQUALS PRIO16
OCT15 OCT 15
OC40010 OCT 40010
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 RCSMONIT
NOIMUON EQUALS GLOCKOK
## Page 118
# 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
EBANK= M11
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
## Page 119
# 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.
## Page 120
# 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
EBANK= M11
2CADR DORREPOS
TCF NORRGMON
OCT32002 OCT 32002
OCT20002 OCT 20002
## Page 121
# PROGRAM NAME: GPMATRIX (DAPT4S) MOD. NO. 2 DATE: OCTOBER 27, 1966
# AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
# THIS PROGRAM CALCULATES ALL THE SINGLE-PRECISION MATRIX ELEMENTS WHICH ARE USED BY LEM DAP TO TRANSFORM VECTORS
# FROM GIMBAL TO PILOT (BODY) AXES AND BACK AGAIN. THESE ELEMENTS ARE USED EXCLUSIVELY BY BASIC LANGUAGE ROUTINES
# AND THEREFORE ARE NOT ARRAYED FOR USE BY INTERPRETIVE PROGRAMS.
# CALLING SEQUENCE: GPMATRIX IS TRANSFERRED TO FROM DAPT4S AND IS THUS EXECUTED 4 TIMES A SECOND BY T4RUPT.
# DAPT4S IS LISTED IN T4JUMP TABLE TWICE EXPLICITLY AND ALSO OCCURS AFTER RRAUTCHK (WHICH IS ALSO LISTED TWICE).
# SUBROUTINES CALLED: SPSIN, SPCOS.
# NORMAL EXIT: RESUME.
# ALARM/ABORT MODE: THERE ARE NO REAL ALARMS OR ABORTS. HOWEVER, WHEN THE MIDDLE GIMBAL ANGLE NEARS GIMBAL LOCK,
# A DIVISION BY COS(MG) WILL CAUSE OVERFLOW (I.E. A BAD QUOTIENT). THIS CONDITION IS PREVENTED BY TESTING COS(MG)
# AND SUBSTITUTING POSMAX/NEGMAX FOR THE INCALCULABLE QUANTITIES.
# INPUT: CDUX,CDUY,CDUZ. OUTPUT: M11,M21,M31,M22,M32,MR12,MR13.
# (ALSO MR22=M22,MR23=M32)
# AOG = CDUX, AIG = CDUY, AMG = CDUZ: MNEMONIC IS: OIM = XYZ
# * * SIN(MG) 0 1 *
# M = * COS(MG)COS(OG) SIN(OG) 0 *
# GP * -COS(MG)SIN(OG) COS(OG) 0 *
# * * 0 COS(OG)/COS(MG) -SIN(OG)/COS(MG) *
# M = * 0 SIN(OG) COS(OG) *
# PG * 1 -SIN(MG)COS(OG)/COS(MG) SIN(MG)SIN(OG)/COS(MG) *
# THIS CODING TRANSFERS CONTROL TO THE DAP FIXED BANK FOR GPMATRIX:
BANK 12
EBANK= M11
DAPT4S EXTEND # GET 2CADR OF GPMATRIX
DCA DAPT4
DTCB # CROSS BANKS
NORRGMON EQUALS DAPT4S
EBANK= M11
DAPT4 2CADR GPMATRIX
## Page 122
# T4RUPT DAP LOGIC:
BANK 20
EBANK= M11
GPMATRIX CAE CDUZ # SINGLE ENTRY POINT
TC SPSIN # SIN(CDUZ) = SIN(MG)
TS M11 # SCALED AT 1
CAE CDUZ
TC SPCOS # COS(CDUZ) = COS(MG)
TS COSMG # SCALED AT 1 (ONLY A FACTOR)
CAE CDUX
TC SPSIN # SIN(CDUX) = SIN(OG)
TS M22 # SCALED AT 1 (ALSO IS MR22)
CS M22
EXTEND
MP COSMG # -SIN(OG)COS(MG)
TS M31 # SCALED AT 1
CAE CDUX
TC SPCOS # COS(CDUX) = COS(OG)
TS M32 # SCALED AT 1 (ALSO IS MR23)
EXTEND
MP COSMG # COS(OG)COS(MG)
TS M21 # SCALED AT 1
CAE COSMG # TEST FOR GIMBAL LOCK (OVERFLOW) REGION
AD NEG1/2 # BY TESTING MIDDLE GIMBAL ANGLE FOR
EXTEND # VALUES EQUAL TO OR GREATER THAN 60 DEGS.
BZMF GPGLOCK
CAE M32
EXTEND
MP BIT14 # SCALE FOR DIVISION
EXTEND
DV COSMG # COS(OG)/COS(MG)
TS MR12 # SCALED AT 2
CS M22
EXTEND
MP BIT14 # SCALE FOR DIVISION
EXTEND
DV COSMG # -SIN(OG)/COS(MG)
TCF MR13STOR
## Page 123
# SPECIAL LOGIC FOR MIDDLE GIMBAL ANGLES GREATER THAN OR EQUAL TO 60 DEGS:
GPGLOCK CCS M32 # SINCE DIVISION BY COS(MG) MIGHT CREATE
CAF POSMAX
TCF +2 # OVERFLOW (I.E. A NUMBER GREATER THAN 2)
CAF NEGMAX
TS MR12 # USE THE VALUE SGN(NUMERATOR)*POSMAX AS
CCS M22
CAF POSMAX # THE CLOSEST APPROXIMATION
TCF +2
CAF NEGMAX
MR13STOR TS MR13 # SCALED AT 2
TCF RESUME
