swh:1:snp:cdcd2bc43331a436e8c659ba93175ef7d7eb339b
Tip revision: 4e5d304eb7cd5589b924ffb8b423b6f15511b35d authored by Ron Burkey on 20 October 2018, 17:47:00 UTC
The sample Block I AGC program TRIVIUM, found at the very end of one of
The sample Block I AGC program TRIVIUM, found at the very end of one of
Tip revision: 4e5d304
T4RUPT_PROGRAM.agc
### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: T4RUPT_PROGRAM.agc
## Purpose: Part of the source code for Aurora (revision 12).
## Assembler: yaYUL
## Contact: Ron Burkey <info@sandroid.org>.
## Website: https://www.ibiblio.org/apollo.
## Pages: 160-188
## Mod history: 2016-09-20 JL Created.
## 2016-10-12 HG fix operand DSPRUPTSW -> DSRUPTSW
## 2016-10-15 HG fix operand DSPRUPTEM -> DSRUPTEM
## SEDTISSW -> SETISSW
## GLOCKKOK -> GLOCKOK
## NCTFL33 -> NXTFL33
## BITS56&15 -> BITS6&15
## COSMSG -> COSMG
## fix label and operand
## NXTIBIT -> NTXIBT
## GLOCKON -> GLOCKOK
## 2016-12-08 RSB Proofed comments with octopus/ProoferComments
## and fixed the errors found.
## This source code has been transcribed or otherwise adapted from
## digitized images of a hardcopy from the private collection of
## Don Eyles. The digitization was performed by archive.org.
## Notations on the hardcopy document read, in part:
## 473423A YUL SYSTEM FOR BLK2: REVISION 12 of PROGRAM AURORA BY DAP GROUP
## NOV 10, 1966
## [Note that this is the date the hardcopy was made, not the
## date of the program revision or the assembly.]
## The scan images (with suitable reduction in storage size and consequent
## reduction in image quality) are available online at
## https://www.ibiblio.org/apollo.
## The original high-quality digital images are available at archive.org:
## https://archive.org/details/aurora00dapg
## Page 160
SETLOC ENDPHMNF
EBANK= M11
T4RUPT EXTEND # ZERO OUT0 EVERY T4RUPT.
WRITE OUT0 # (COMES HERE WITH +0 IN A)
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
## Page 161
ENDT4FF EQUALS
## Page 162
# 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
## Page 163
# 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 164
# JUMP TO APPROPRIATE ONCE-PER SECOND (.96 SEC ACTUALLY) ACTIVITY
T4JUMP INDEX DSRUPTSW
TCF +1
TC ALTOUT
TCF RRAUTCHK
TCF IMUMON
TCF GPMATRIX
TC ALTROUT
TCF RRAUTCHK
TCF IMUMON
TCF GPMATRIX
LDSKYRS ADRES DSKYRSET
LLMPRS ADRES LMPRESET
30MRUPT DEC 16381
20MRUPT DEC 16382
## Page 165
# 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 166
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.
## Page 167
EXTEND
WAND 12 # RESET RR ERROR COUNTER
DONEDID TCF RCSMONIT
ZERODATA CAF ZERO
TS L
TCF ZDATA2
ARTOA DEC .20469 # ALT DUE TO ALTRATE FOR .96 SEC.
BITSET OCT 6004
DIDRESET OCT 202
## Page 168
# 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
## Page 169
# 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
## Page 170
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
## Page 171
# 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
## Page 172
# 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
## Page 173
# 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
## Page 174
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.
## Page 175
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
## Page 176
# 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
## Page 177
# 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 RCSMONIT
NOIMUMON EQUALS GLOCKOK
## Page 178
# 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
## Page 179
# 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 180
# 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
## Page 181
# PROGRAM NAME: GPMATRIX MOD. NO. 0 DATE: OCTOBER 20, 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 ALWAYS EXECUTED 4 TIMES A SECOND BY T4RUPT PROGRAM. IT IS LISTED EXPLICITLY TWICE
# IN THE T4JUMP TABLE, BUT IT ALSO OCCURS AFTER RRAUTCHK (TWICE).
# SUBROUTINES CALLED: SPSIN, SPCOS.
# NORMAL EXIT MODE: CONTROL IS ALWAYS TRANSFERRED TO DBSELECT.
# 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 QUANTITITIES.
# INPUT: CDUX,CDUY,CDUZ. OUTPUT: M11,M21,M31,M22,M32,MR12,MR13.
# (ALSO MR22=M22,MR23=M32) AM DOES NOT DETECT IT.
# *** WARNING ** IT DIES ON DV OVERFLOW.
# 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) *
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
## Page 182
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
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
## Page 183
# THE FOLLOWING SECTION TESTS THE ATTITUDE HOLD BIT TO DETERMINE WHICH DEA
## Page 184
# PROGRAM NAME: DB SELECT MOD. NO. 1 DATE: OCTOBER 24, 1966
# AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
# THIS PROGRAM SETS THE ERASABLE REGISTER DB TO ONE OF THE THREE VALUES:
# 1) O.3 DEGREES IF IN ATTITUDE HOLD MODE OR IF IN AUTO WITH THE DEADBAND SELECT BIT OF DAPBOOLS SET
# TO MINIMUM.
# 2) 5.0 DEGREES IF IN AUTO WITH DEADBAND SELECT BIT SET TO MAXIMUM.
# 3) 1.0 DEGREES IF IN POWERED FLIGHT (ASCENT OR DESCENT) AND OVERRIDING ANY SETTITING OF SCSMODE OR THE
# DEADBAND SELECT BIT. (*** SEE COMMENT AFTER CODING. ***)
# ***** NOTICE *****
# THE ABOVE CAPABILITY FULFILLS ALL THE KNOWN DEADBAND REQUIREMENTS FOR AS206, AS208B, AND AS278 (GIVEN THE
# APPROPRIATE MISSION PROGRAMS).
# (ALSO FOR MANNED FLIGHTS A DSKY ENTRY MUST BE SET UP TO SET THE DEADBAND SELECT BIT OF DAPBOOLS. - NOT DONE AS
# OF 10/24/66.)
# ***** DEADBAND SELECT BIT IS BIT13 OF DAPBOOLS. *****
# 0: MEANS MINIMUM DEADBAND
# 1: MEANS MAXIMUM DEADBAND
# CALLING SEQUENCE: CONTROL FALLS THROUGH FROM GPMATRIX. (4 TIMES/SECOND)
# SUBROUTINES CALLED: NONE.
# NORMAL EXIT MODE: CONTROL IS ALWAYS TRANSFERRED TO UP/DOWN.
# ALARM/ABORT MODE: NONE.
# INPUT: BIT13/CHNL11,BIT13/CHNL31,BIT13/DAPBOOLS. (SPOOKY, ISN'T IT?)
# OUTPUT: DB (SCALED AT PI RADIANS). (NO DEBRIS EXCEPT A)
DBSELECT CAF BIT13 # ATTITUDE HOLD BIT OF CHANNEL 31
EXTEND # 0 MEANS ATTITUDE HOLD
RAND 31 # 1 MEANS EITHER OFF OR AUTO
EXTEND
BZF ATTHLDDB # (ATTITUDE HOLD BRANCH)
CS DAPBOOLS # DEADBAND SELECT BIT OF DAPBOOLS
MASK BIT13 # 0 MEANS MINIMUM DEADBAND
CCS A # 1 MEANS MAXIMUM DEADBAND
TCF ATTHLDDB # (MINIMUM DEADBAND BRANCH)
CAF DBMAXUM # SET MAXIMUM DEADBAND
TCF +2
ATTHLDDB CAF DBATTHLD # SET MINUMUM (ATTITUDE HOLD) DEADBAND
## Page 185
TS DB
# ***** IMPORTANT NOTICE *****
# FOR EFFICIENCY, THE OVERRIDING 1 DEGREE DEADBAND DURING POWERED FLIGHT IS NOT TESTED FOR ABOVE. THE PROGRAM
# FOLLOWING (I.E. UP/DOWN) PERFORMS THIS FUNCTION AFTER THE APPROPRIATE TESTS. THEREFORE, DB MAY TRANSIENTLY BEP
# INVALID, BUT THE DAP CANNOT USE IT THEN DUE TO T4RUPT MODE.
## Page 186
# PROGRAM NAME: UP/DOWN MOD. NO. 1 DATE: OCTOBER 25, 1966
# AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
# THIS PROGRAM MONITORS THE STAGE OF THE LEM AND THE ENGINE ON BIT IN ORDER TO DETERMINE WHEN ASCENT, DESCENT, AND
# COAST PHASES MUST BE SET UP FOR THE DAP. (DONE 4 TIMES A SECOND.)
# CALLING SEQUENCE: NONE. SUBROUTINES CALLED: WAITLIST.
# NORMAL EXIT MODE: CONTROL IS ALWAYS TRANSFERRED TO ENDDAPT4.
# ALARM/ABORT MODE: NONE.
# INPUT:BIT2/CHNL30,BIT13/CHNL11,BIT8/DAPBOOLS.
# OUTPUT: A) ASCENT COAST:
# 1) BIT8/DAPBOOLS SET TO ZERO, MEANING COAST.
# 2) MINIMPDB AND DBMINIMP SET TO 0.3 DEGREES.
# B) ASCENT BURN:
# 1) INITIALIZATION PASS:
# I) BIT8/DAPBOOLS SET FROM 0 TO 1, MEANING THAT THE AOSTASK HAS BEEN STARTED UP AND THAT
# INITIALIZATION HAS OCCURRED.
# II) MINIMPDB SET TO -DB.
# III) DBMINIMP SET TO ZERO.
# IV) SUMRATEQ AND SUMRATER ZEROED FOR FIRST TWO SECOND AOSTASK SAMPLE PERIOD.
# V) KCOEFCTR ZEROED TO RECORD INITIAL TIME.
# VI) OMEGAQ AND OMEGAR RECORDED IN OLDWFORQ AND OLDWFORR AS LAST OMEGA VECTOR FOR AOSTASK.
# VII) AOSTASK SET IN WAITLIST FOR TWO SECONDS.
# VIII) DB SET TO DBAUTO.
# IX) ****** CHECKOUT ONLY **** IXXTASK, IYYTASK, AND IZZTASK SET IN WAITLIST FOR TEN MS.
# 2) NORMAL PASS VOID.
# C) DESCENT COAST:
# 1) BIT2/DAPBOOLS SET TO 1, MEANING THAT TRIM GIMBAL CONTROL OF DESCENT IS IMPOSSIBLE SINCE
# DESCENT ENGINE OFF.
# 2) AOSQTERM AND AOSRTERM ZEROED.
# D) DESCENT BURN:
# 1) DB SET TO DBAUTO.
# 2) BIT2/DAPBOOLS CANNOT NOW BE ZEROED (EVEN THOUGH THE DESCENT ENGINE IS ON), SINCE IT IS NOT
# NECESSARILY TRUE THAT THIS IMPLIES AN OPERATIVE TRIM GIMBAL SYSTEM.
UP/DOWN CAF BIT2 # STAGE VERIFY BIT OF CHANNEL 30: INVERTED
EXTEND # 0 MEANS ASCENT STAGE
RAND 30 # 1 MEANS DESCENT STAGE
CCS A
TCF DESCLEM # (DESCENT STAGE BRANCH)
ASCLEM CAF BIT13 # ENGINE ON BIT OF CHANNEL 11
EXTEND # 0 MEANS OFF
RAND 11 # 1 MEANS ON
CCS A
## Page 187
TCF ASCDAP # (ASCENT BURN BRANCH)
ASCCOAST CS BIT8 # SET BIT8 OF DAPBOOLS TO COAST DAP LOGIC
MASK DAPBOOLS # LEM IS STAGED FOR ASCENT, BUT THE ASCENT
TS DAPBOOLS # ENGINE IS NOT ON.
CAF DBATTHLD # FOR ASCENT COAST SET BOTH MINIMUM PULSE
TS MINIMPDB # DEADBANDS TO THE DESCENT PHASE VALUE OF
TS DBMINIMP # 0.3 DEGREES SCALED AT PI RADIANS.
TCF ENDDAPT4 # (END OF UP/DOWN)
ASCDAP CAF BIT8 # CHECK AOSTASK BIT OF DAPBOOLS
MASK DAPBOOLS # IF 0, SET BIT AND INITIATE WAITLIST TASK
CCS A # IF 1, THEN TASK LOOP ALREADY BEGUN
TCF ENDDAPT4 # (END OF UP/DOWN)
CAF DBAUTO # SINCE ASCENT ENGINE IS ON -
TS DB # SET DEADBAND TO 1.0 DEGREES
CAF BIT8 # SET BIT TO INDICATE AOSTASK SET UP AND
ADS DAPBOOLS # ASCENT LOGIC. BIT CLEARLY NOT SET YET.
CS DB # MODIFY THE TJETLAW FOR ASCENT:
TS MINIMPDB # (IN ONE EQUATION DELETE MINIMPDB AND
CAF ZERO # SHIFT THE SWITCHING CURVE TO THE ORIGIN)
TS DBMINIMP # MINIMPDB = -DB, DBMINIMP = 0
CAF ZERO # INITIALIZE SUM RATES
TS SUMRATEQ
TS SUMRATER
TS KCOEFCTR # INITIALIZE TIME COUNTER
CAE OMEGAQ # CREATE OLD OMEGAQ
TS OLDWFORQ
CAE OMEGAR # CREATE OLD OMEGAR
TS OLDWFORR
# ***** EVENTUALLY, USE 2SECWLT4 FROMM FIXED-FIXED AND NEW NAME. *****
CAF 2SECWLT4 # SET UP AOSTASK TO BEGIN IN 2 SECONDS
TC WAITLIST # IT THEN SETS UP A LOOP ON WAITLIST FOR
2CADR AOSTASK # 2 SECOND INTERVALS AND CHECKS FOR THE
# SHUTDOWN CONDITION IN BIT8 OF DAPBOOLS
# ****************************************************************************************************************
# REMOVE THIS AND THE TASKS WHEN THE INERTIA ESTIMATOR WORKS.
CAF ONE # *** SPECIAL DAP CHECKOUT SEQUENCE ***
TC WAITLIST # THESE THREE CALLS TO WAITLIST BEGIN A
## Page 188
2CADR IXXTASK # COMPLICATED PROCEDURE TO DECREMENT THE
CAF ONE # INERTIA MATRIX DIAGONAL ELEMENTS (EACH
TC WAITLIST # SCALED AT 2(+18) SLUG FEET(2) ) BY ONE
2CADR IYYTASK # BIT AS SOON AS APPROPRIATE BY A NOMINAL
CAF ONE # LINEAR APPROXIMATION TO INERTIAL CHANGE.
TC WAITLIST
2CADR IZZTASK # *** NOT TO BE USED IN MISSIONS ***
# ****************************************************************************************************************
TCF ENDDAPT4 # (END OF UP/DOWN)
DESCLEM CAF BIT13 # ENGINE ON BIT OF CHANNEL 11
EXTEND # 0 MEANS OFF
RAND 11 # 1 MEANS ON
CCS A
TCF DESCDAP # (DESCENT BURN BRANCH)
DESCOAST CS BIT2 # SET BIT2 OF DAPBOOLS TO INDICATE THAT
MASK DAPBOOLS # TRIM GIMBAL CANNOT BE USED SINCE THE
AD BIT2 # STAGE IS DESCENT, BUT THE ENGINE IS NOT
TS DAPBOOLS # ON.
CAF ZERO # ZERO TRIM GIMBAL OFFSET ACCELERATION
TS AOSQTERM # TERMS IN THE DESCENT RATE DERIVATION
TS AOSRTERM # SINCE THE THRUST IS ZERO (ENGINE OFF).
TCF ENDDAPT4 # (END OF UP/DOWN)
DESCDAP CAF DBAUTO # SINCE DESCENT ENGINE IS ON -
TS DB # SET DEADBAND TO 1.0 DEGREES
TCF ENDDAPT4 # (END OF UP/DOWN)
TCF ENDDAPT4
2SECWLT4 DEC 200 # 2 SECONDS WAITLIST DT
DBMAXUM DEC 0.02778 # 5.0 DEGREES SCALED AT PI RADIANS
DBAUTO DEC 0.00555 # 1.0 DEGREES SCALED AT PI RADIANS
DBATTHLD DEC 0.00167 # 0.3 DEGREES SCALED AT PI RADIANS
NORRGMON EQUALS GPMATRIX
ENDDAPT4 EQUALS RESUME
