# Copyright: Public domain. # Filename: T4RUPT_PROGRAM.agc # Purpose: Part of the source code for Comanche, build 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), Apollo 11. # Assembler: yaYUL # Reference: pp. 133-169 # Contact: Ron Burkey , # Fabrizio Bernardini # Website: http://www.ibiblio.org/apollo. # Mod history: 10/05/09 FB Transcription of Batch FB-1 Assignment. # # The contents of the "Comanche055" files, in general, are transcribed # from scanned documents. # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. April 1, 1969. # # This AGC program shall also be referred to as Colossus 2A # # Prepared by # Massachusetts Institute of Technology # 75 Cambridge Parkway # Cambridge, Massachusetts # # under NASA contract NAS 9-4065. # # Refer directly to the online document mentioned above for further # information. Please report any errors to info@sandroid.org. # Page 133 BANK 12 SETLOC T4RUP BANK COUNT 06/T4RPT T4RUPT TS BANKRUPT EXTEND QXCH QRUPT CCS DSRUPTSW # GOES 7(-1)0 AROUND AND AROUND TCF NORMT4 +1 TCF NORMT4 TCF QUIKDSP NORMT4 CAF SEVEN TS RUPTREG1 TS DSRUPTSW COUNT 02/T4RPT 74K = HIGH4 # RELTAB IS A PACKED TABLE. RELAYWORD CODE IN UPPER 4 BITS, RELAY CODE # IN LOWER 5 BITS. BLOCK 02 SETLOC FFTAG12 BANK RELTAB OCT 04025 OCT 10003 OCT 14031 OCT 20033 OCT 24017 OCT 30036 OCT 34034 OCT 40023 OCT 44035 OCT 50037 OCT 54000 RELTAB11 OCT 60000 # Page 134 # SWITCHED-BANK PORTION BANK 12 SETLOC T4RUP BANK COUNT 06/T4RPT CDRVE CCS DSPTAB +11D TC DSPOUT TC DSPOUT XCH DSPTAB +11D MASK LOW11 TS DSPTAB +11D AD RELTAB11 EXTEND WRITE OUT0 TC HANG20 # Page 135 # DSPOUT PROGRAM, PUTS OUT DISPLAYS DSPOUTSB TS NOUT CS ZERO TS DSRUPTEM # SET TO -0 FOR 1ST PASS THRU DSPTAB XCH DSPCNT AD NEG0 # TO PREVENT +0 TS DSPCNT DSPSCAN INDEX DSPCNT CCS DSPTAB CCS DSPCNT # IF DSPTAB ENTRY +, SKIP TCF DSPSCAN -2 # IF DSPCNT +, AGAIN TCF DSPLAY # IF DSPTAB ENTRY -, DISPLAY TABLNTH OCT 12 # DEC 10 LENGTH OF DSPTAB CCS DSRUPTEM # IF DSRUPTEM=+0, 2ND PASS THRU DSPTAB 120MRUPT DEC 16372 # (DSPCNT = 0). +0 INTO NOUT. TS NOUT TC Q TS DSRUPTEM # IF DSRUPTEM=-0, 1ST PASS THRU DSPTAB CAF TABLNTH # (DSPCNT=0).+0 INTO DSRUPTEM. PASS AGAIN TCF DSPSCAN -1 DSPLAY AD ONE INDEX DSPCNT TS DSPTAB # REPLACE POSITIVELY MASK LOW11 # REMOVE BITS 12 TO 15 TS DSRUPTEM CAF HI5 INDEX DSPCNT MASK RELTAB # PICK UP BITS 12 TO 15 OF RELTAB ENTRY AD DSRUPTEM EXTEND WRITE OUT0 # WRITE CHANNEL 10 TCF Q+1 # *** NORMAL RETURN SKIPS ONE DSPOUT CCS FLAGWRD5 # DON'T DISPLAY UNLESS DSKY FLAG ON CAF ZERO TCF NODSPOUT CCS NOUT TC DSPOUTSB TCF NODSPOUT # NO DISPLAY REQUESTS HANG20 CS 11,14,9 ADS DSRUPTSW CAF 20MRUPT SETTIME4 TS TIME4 # Page 136 # THE STATUS OF THE PROCEED PUSHBUTTON IS MONITORED EVERY 120 MILLISECONDS VIA THE CHANNEL 32 BIT 14 INBIT. # THE STATE OF THIS INBIT IS COMPARED WITH ITS STATE DURING THE PREVIOUS T4RUPT AND IS PROCESSED AS FOLLOWS. # IF PREV ON AND NOW ON -- BYPASS # IF PREV ON AND NOW OFF -- UPDATE IMODES33 # IF PREV OFF AND NOW ON -- UPDATE IMODES33 AND PROCESS VIA PINBALL # IF PREV OFF AND NOW OFF -- BYPASS # THE LOGIC EMPLOYED REQUIRES ONLY 9 MCT (APPROX. 108 MICROSECONDS) OF COMPUTER TIME WHEN NO CHANGES OCCUR. PROCEEDE CA IMODES33 # MONITOR FOR PROCEED BUTTON EXTEND RXOR CHAN32 # CHECK IF BIT 14 DIFFERENT MASK BIT14 EXTEND BZF T4JUMP # NO CHANGE LXCH IMODES33 EXTEND RXOR LCHAN TS IMODES33 # UPDATE IMODES33 MASK BIT14 CCS A TCF T4JUMP # WAS ON -- NOW OFF CAF CHRPRIO # WAS OFF -- NOW ON TC NOVAC EBANK= DSPCOUNT 2CADR PROCKEY # Page 137 # JUMP TO APPROPRIATE ONCE-PER SECOND (0.96 SEC ACTUALLY) ACTIVITY T4JUMP INDEX RUPTREG1 TCF +1 TCF OPTTEST TCF OPTMON TCF IMUMON TCF RESUME TCF OPTTEST TCF OPTMON TCF IMUMON TCF RESUME OPTTEST TC IBNKCALL CADR OPTDRIVE 20MRUPT = OCT37776 # (DEC 16382) NODSPOUT EXTEND # TURN OFF RELAYS WRITE OUT0 CAF 120MRUPT # SET FOR NEXT CDRVE TCF SETTIME4 QUIKDSP CAF BIT14 MASK DSRUPTSW EXTEND BZF QUIKOFF # WROTE LAST TIME, NOW TURN OFF RELAYS. CCS NOUT TC DSPOUTSB TCF NODSPY # NOUT=0 OR BAD RETURN FROM DSPOUTSB CS BIT14 # GOOD RETURN (WE DISPLAYED SOMETHING) QUIKRUPT ADS DSRUPTSW CAF 20MRUPT TS TIME4 CAF BIT9 ADS DSRUPTSW TC RESUME NODSPY EXTEND WRITE OUT0 SYNCT4 CAF 20MRUPT ADS TIME4 CAF BIT9 # Page 138 ADS DSRUPTSW CCS DSRUPTSW TC RESUME OCT37737 OCT 37737 TC SYNCT4 TC RESUME QUIKOFF EXTEND WRITE OUT0 CAF BIT14 # RESET DSRUPTSW TO SEND DISPLAY NEXT PASS TCF QUIKRUPT 11,14,9 OCT 22400 # Page 139 # PROGRAM NAME: IMUMON # # FUNCTIONAL DESCRIPTION: THIS PROGRAM IS ENTERED EVERY 480 MS. IT DETECTS CHANGES OF THE IMU STATUS BITS IN # CHANNEL 30 AND CALLS THE APPROPRIATE SUBROUTINES. THE BITS PROCESSED AND THEIR RELEVANT 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 CA IMODES30 # SEE IF THERE HAS BEEN A CHANGE IN THE EXTEND # RELEVANT BITS OF CHAN 30. RXOR CHAN30 # CHECK IF BITS 9,11-15 CHANGED MASK 30RDMSK EXTEND BZF TNONTEST # NO CHANGE IN STATUS TS RUPTREG1 # SAVE BITS WHICH HAVE CHANGED. LXCH IMODES30 # UPDATE IMODES30. EXTEND RXOR LCHAN TS IMODES30 CS ONE XCH RUPTREG1 EXTEND # Page 140 BZMF TLIM # CHANGE IN IMU TEMP. TCF NXTIFBIT # BEGIN BIT SCAN. -1 AD ONE # (RE-ENTERS HERE FROM NXTIFAIL.) NXTIFBIT INCR RUPTREG1 # ADVANCE BIT POSITION NUMBER. +1 DOUBLE TS A # SKIP IF OVERFLOW. TCF NXTIFBIT # LOOK FOR BIT. XCH RUPTREG2 # SAVE OVERFLOW-CORRECTED DATA. INDEX RUPTREG1 # SELECT NEW VALUE OF THIS BIT. CAF BIT14 MASK IMODES30 INDEX RUPTREG1 TC IFAILJMP NXTIFAIL CCS RUPTREG2 # PROCESS ANY ADDITIONAL CHANGES. TCF NXTIFBIT -1 # Page 141 # PROGRAM NAME: TNONTEST. # # FUNCTIONAL DESCRIPTION: THIS PROGRAM HONORS REQUESTS FOR ISS INITIALIZATION. ISS TURN-ON (CHANNEL 30 BIT 14) # AND ISS OPERATE (CHANNEL 30 BIT 9) REQUESTS ARE TREATED AS A PAIR AND PROCESSING TAKES PLACE .480 SECONDS # AFTER EITHER ONE APPEARS. THIS INITIALIZATION TAKES ON ONE OF THE FOLLOWING THREE FORMS: # # 1) ISS TURN-ON: IN THIS SITUATION THE COMPUTER IS OPERATING WHEN THE ISS IS TURNED ON. NOMINALLY, # BOTH ISS TURN-ON AND ISS OPERATE APPEAR. THE PLATFORM IS CAGED FOR 90 SECONDS AND THE ICDU'S ZEROED # SO THAT AT THE END OF THE PROCESS THE GIMBAL LOCK MONITOR WILL FUNCTION PROPERLY. # # 2) ICDU INITIALIZATION: IN THIS CASE THE COMPUTER WAS PROBABLY TURNED ON WITH THE ISS IN OPERATE OR # A FRESH START WAS DONE WIT THE ISS IN OPERATE. IN THIS CASE ONLY ISS OPERATE IS ON. THE ICDU'S ARE # ZEROED SO THE GIMBAL LOCK MONITOR WILL FUNCTION. AN EXCEPTION IS IF THE ISS IS IN GIMBAL LOCK AFTER # A RESTART, THE ICDU'S WILL NOT BE ZEROED. # # 3) RESTART WITH RESTARTABLE PROGRAM USING THE IMU: IN THIS CASE, NO INITIALIZATION TAKES PLACE SINCE # IT IS ASSUMED THAT THE USING PROGRAM DID THE INITIALIZATION AND THEREFORE T4RUPT SHOULD NOT INTERFERE. # # IMODES30 BIT 7 IS SET = 1 BY THE FIRST BIT (CHANNEL 30 BIT 14 OR 9) WHICH ARRIVES. FOLLOWING THIS, TNONTEST IS # ENTERED, FINDS BIT 7 = 1 BUT BIT 8 = 0, SO IT SETS BIT 8 = 1 AND EXITS. THE NEXT TIME IT FINDS BIT 8 = 1 AND # PROCEEDS, SETTING BITS 8 AND 7 = 0. AT PROCTNON, IF ISS TURN-ON REQUEST IS PRESENT, THE ISS IS CAGED (ZERO + # COARSE). IF ISS OPERATE IS NOT PRESENT PROGRAM ALARM 00213 IS ISSUED. AT THE END OF A 90 SECOND CAGE, BIT 2 # OF IMODES30 IS TESTED. IF IT IS = 1, ISS TURN-ON WAS NOT PRESENT FOR THE ENTIRE 90 SECONDS. IN THAT CASE, IF # THE ISS TURN-ON REQUEST IS PRESENT THE 90 SECOND WAIT IS REPEATED, OTHERWISE NO ACTION OCCURS UNLESS A PROGRAM # WAS WAITING FOR THE INITIALIZATION IN WHICH CASE THE PROGRAM IS GIVEN AN IMUSTALL ERROR RETURN. IF THE DELAY # WENT PROPERLY, THE ISS DELAY OUTBIT IS SENT AND THE ICDU'S ZEROED. A TASK IS INITIATED TO REMOVE THE PIPA FAIL # INHIBIT BIT IN 10.24 SECONDS. IF A MISSION PROGRAM WAS WAITING IT IS INFORMED VIA ENDIMU. # # AT PROCTNON, IF ONLY ISS OPERATE IS PRESENT (OPONLY), THE CDU'S ARE ZEROED UNLESS THE PLATFORM IS IN COARSE # ALIGN (= GIMBAL LOCK HERE) OR A MISSION PROGRAM IS USING THE IMU (INUSEFLG = 1). # # CALLING SEQUENCE: T4RUPT EVERY 480 MILLISECONDS AFTER IMUMON. # # JOBS OR TASKS INITIATED: 1) ENDTNON, 90 SECONDS AFTER CAGING STARTED. 2) ISSUP, 4 SECONDS AFTER CAGING DONE. # 3) PFAILOK, 10.24 SECONDS AFTER INITIALIZATION COMPLETED. 4) UNZ2, 320 MILLISECONDS AFTER ZEROING # STARTED. # # SUBROUTINES CALLED: CAGESUB, CAGESUB2, ZEROICDU, ENDIMU, IMUBAD, NOATTOFF, SETISSW, VARDELAY. # # ERASABLE INITIALIZATION: SEE IMUMON. # # ALARMS: PROGRAM ALARM 00213 IF ISS TURN-ON REQUESTED WITHOUT ISS OPERATE. # # EXIT: ENDTNON EXITS TO C33TEST. TASKS HAVING TO DO WITH INITIALIZATION EXIT AS FOLLOWS: MISSION PROGRAM # WAITING AND INITIALIZATION COMPLETE, EXIT TO ENDIMU, MISSION PROGRAM WAITING AND INITIALIZATION FAILED, EXIT TO # IMUBAD, IMU NOT IN USE, EXIT TO TASKOVER. # # OUTPUT: ISS INITIALIZED. TNONTEST CS IMODES30 # AFTER PROCESSING ALL CHANGES, SEE IF IT # Page 142 MASK BIT7 # IS TIME TO ACT ON A TURN-ON SEQUENCE. CCS A TCF C33TEST # NO -- EXAMINE CHANNEL 33. CAF BIT8 # SEE IF FIRST SAMPLE OR SECOND. MASK IMODES30 CCS A TCF PROCTNON # REACT AFTER A SECOND SAMPLE. CAF BIT8 # IF FIRST SAMPLE, SET BIT TO REACT NEXT ADS IMODES30 # TIME. TCF C33TEST # PROCESS IMU TURN-ON REQUESTS AFTER WAITING 1 SAMPLE FOR ALL SIGNALS TO ARRIVE. PROCTNON CS BITS7&8 MASK IMODES30 TS IMODES30 MASK BIT14 # SEE IF TURN-ON REQUEST. CCS A TCF OPONLY # OPERATE ON ONLY. CS IMODES30 # IF TURN-ON REQUEST, WE SHOULD HAVE IMU MASK BIT9 # OPERATE. CCS A TCF +3 TC ALARM # ALARM IF NOT OCT 213 +3 TC CAGESUB CAF 90SECS TC WAITLIST EBANK= CDUIND 2CADR ENDTNON TCF C33TEST RETNON CAF 90SECS TC VARDELAY ENDTNON CS BIT2 # RESET TURN-ON REQUEST FAIL BIT. MASK IMODES30 XCH IMODES30 MASK BIT2 # IF IT WAS OFF, SEND ISS DELAY COMPLETE. EXTEND BZF ENDTNON2 # Page 143 CAF BIT14 # IF IT WAS ON AND TURN-ON REQUEST NOW. MASK IMODES30 # PRESENT, RE-ENTER 90 SEC DELAY IN WL. EXTEND BZF RETNON CS STATE # IF IT IS NOT ON NOW, SEE IF A PROG WAS MASK IMUSEFLG # WAITING. CCS A TCF TASKOVER TC POSTJUMP CADR IMUBAD # UNSUCCESSFUL TURN-ON. ENDTNON2 CAF BIT15 # SEND ISS DELAY COMPLETE. EXTEND WOR CHAN12 # TURN OFF ISS DELAY COUNTER TC IBNKCALL # TURN OFF NO ATT LAMP. CADR NOATTOFF UNZ2 TC ZEROICDU CS BITS4&5 # REMOVE ZERO AND COARSE. EXTEND WAND CHAN12 CAF BIT11 # WAIT 10 SECS FOR CTRS TO FIND GIMBALS TC VARDELAY ISSUP CS OCT54 # REMOVE CAGING, IMU FAIL INHIBIT, AND MASK IMODES30 # ICDUFAIL INHIBIT FLAGS. TS IMODES30 CS BIT6 # ENABLE DAP MASK IMODES33 TS IMODES33 TC SETISSW # ISS WARNING MIGHT HAVE BEEN INHIBITED. CS BIT15 # REMOVE IMU DELAY COMPLETE DISCRETE. EXTEND WAND CHAN12 CAF 4SECS # DONT ENABLE PROG ALARM ON PIP FAIL FOR TC WAITLIST # ANOTHER 4 SECS. EBANK= CDUIND 2CADR PFAILOK TCF TASKOVER OPONLY CAF BIT4 # Page 144 EXTEND # IF OPERATE ON ONLY AND WE ARE IN COARSE RAND CHAN12 # ALIGN, DON'T ZERO THE CDUS BECAUSE WE CCS A # MIGHT BE IN GIMBAL LOCK. USE V41N20 TO TCF C33TEST # RECOVER. CAF IMUSEFLG # OTHERWISE, ZERO THE COUNTERS MASK STATE # UNLESS SOMEONE IS USING THE IMU. CCS A TCF C33TEST TC CAGESUB2 # SET TURNON FLAGS. ISSZERO TC IBNKCALL # TURN OFF NO ATT LAMP. CADR NOATTOFF # IMU CAGE OFF ENTRY. CAF BIT5 # ISS CDU ZERO EXTEND WOR CHAN12 TC ZEROICDU CAF BIT6 # WAIT 300 MS FOR AGS TO RECEIVE SIGNAL. TC WAITLIST EBANK= OPTMODES 2CADR UNZ2 TCF C33TEST # Page 145 # PROGRAM NAME: C33TEST # # FUNCTIONAL DESCRIPTION: THIS PROGRAM MONITORS THREE FLIP-FLOP INBITS OF CHANNEL 33 AND CALLS THE APPROPRIATE # SUBROUTINE TO PROCESS A CHANGE. IT IS ANALOGOUS TO IMUMON, WHICH MONITORS CHANNEL 30, EXCEPT THAT IT READS # CHANNEL 33 WITH A WAND INSTRUCTION BECAUSE A `WRITE' PULSE IS REQUIRED TO RESET THE FLIP-FLOPS. THE BITS # PROCESSED AND THE SUBROUTINES CALLED ARE: # BIT FUNCTION SUBROUTINE # --- -------- ---------- # 13 PIPA FAIL PIPFAIL # 12 DOWNLINK TOO FAST DNTMFAST # 11 UPLINK TOO FAST UPTMFAST # # UPON ENTRY TO THE SUBROUTINE, THE NEW BIT STATE IS IN A. # # CALLING SEQUENCE: EVERY 480 MILLISECONDS AFTER TNONTEST. # # JOBS OR TASKS INITIATED: NONE. # # SUBROUTINES CALLED: PIPFAIL, DNTMFAST AND UPTMFAST ON BIT CHANGES. # # ERASABLE INITIALIZATION: C(IMODES33) = OCT 16000 ON A FRESH START OR RESTART, THEREFORE, THESE ALARMS WILL # REAPPEAR IF THE CONDITIONS PERSIST. # # ALARMS: NONE. # # EXIT: GLOCKMON. # # OUTPUT: UPDATED BITS 13, 12, AND 11 OF IMODES33 WITH CHANGES PROCESSED. C33TEST CA IMODES33 # SEE IF RELEVANT CHAN33 BITS HAVE MASK 33RDMSK TS L # CHANGED. CAF 33RDMSK EXTEND WAND CHAN33 # RESETS FLIP-FLOP INPUTS EXTEND RXOR LCHAN EXTEND BZF GLOCKMON # ON NO CHANGE. TS RUPTREG1 # SAVE BITS WHICH HAVE CHANGED LXCH IMODES33 EXTEND RXOR LCHAN TS IMODES33 # UPDATED IMODES33. CAF ZERO XCH RUPTREG1 DOUBLE # Page 146 TCF NXTIBT +1 # SCAN FOR BIT CHANGES. -1 AD ONE NXTIBT INCR RUPTREG1 +1 DOUBLE TS A # (CODING IDENTICAL TO CHAN 30). TCF NXTIBT XCH RUPTREG2 INDEX RUPTREG1 # GET NEW VALUE OF BIT WHICH CHANGED. CAF BIT13 MASK IMODES33 INDEX RUPTREG1 TC C33JMP NXTFL33 CCS RUPTREG2 # PROCESS POSSIBLE ADDITIONAL CHANGES. TCF NXTIBT -1 # Page 147 # PROGRAM NAME: GLOCKMON # # FUNCTIONAL DESCRIPTION: THIS PROGRAM MONITORS THE CDUZ COUNTER TO DETERMINE WHETHER THE ISS IS IN GIMBAL LOCK # AND TAKES ACTION IF IT IS. THREE REGIONS OF MIDDLE GIMBAL ANGLE (MGA) ARE USED: # # 1) ABS(MGA) LESS THAN OR EQUAL TO 70 DEGREES -- NORMAL MODE. # 2) ABS(MGA) GREATER THAN 70 DEGREES AND LESS THAN OR EQUAL TO 85 DEGREES -- GIMBAL LOCK LAMP TURNED ON. # 3) ABS(MGA) GREATER THAN 85 DEGREES -- ISS PUT IN COARSE ALIGN AND NO ATT LAMP TURNED ON. # # CALLING SEQUENCE: EVERY 480 MILLISECONDS AFTER C33TEST. # # JOBS OR TASKS INITIATED: NONE. # # SUBROUTINES CALLED: 1) SETCOARS WHEN ABS(MGA) GREATER THEN 85 DEGREES AND ISS NOT IN COARSE ALIGN. # 2) LAMPTEST BEFORE TURNING OFF GIMBAL LOCK LAMP. # # ERASABLE INITIALIZATION: # 1) FRESH START OR RESTART WITH NO GROUPS ACTIVE: C(CDUZ) = 0, IMODES30 BIT 6 = 0, IMODES33 BIT 1 = 0. # 2) RESTART 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 CHAN12 CCS A TCF NOGIMRUN TC IBNKCALL # GO INTO COARSE ALIGN. CADR SETCOARS CAF SIX # ENABLE ISS ERROR COUNTERS IN 60 MS. TC WAITLIST # Page 148 EBANK= CDUIND 2CADR CA+ECE NOGIMRUN CAF BIT6 # TURN ON GIMBAL LOCK LAMP. TCF SETGLOCK -1 CAF ZERO SETGLOCK AD DSPTAB +11D # SEE IF PRESENT STATE OF GIMBAL LOCK LAMP MASK BIT6 # AGREES WITH DESIRED STATE BY HALF ADDING EXTEND # THE TWO. BZF GLOCKOK # OK AS IS. MASK DSPTAB +11D # IF OFF, DON'T TURN ON IF IMU BEING CAGED. CCS A TCF GLAMPTST # TURN OFF UNLESS LAMP TEST IN PROGRESS. CAF BIT6 MASK IMODES30 CCS A TCF GLOCKOK GLINVERT CS DSPTAB +11D # INVERT GIMBAL LOCK LAMP. MASK BIT6 AD BIT15 # TO INDICATE CHANGE IN DSPTAB +11D. XCH DSPTAB +11D MASK OCT37737 ADS DSPTAB +11D TCF GLOCKOK GLAMPTST TC LAMPTEST # TURN OFF UNLESS LAMP TEST IN PROGRESS. TCF GLOCKOK TCF GLINVERT -70DEGS DEC -.38888 # -70 DEGREES SCALED IN HALF-REVOLUTIONS. -15DEGS DEC -.08333 # Page 149 # PROGRAM NAME: TLIM. # # FUNCTIONAL DESCRIPTION: THIS PROGRAM MAINTAINS THE TEMP LAMP (BIT 4 OF CHANNEL 11) ON THE DSKY TO AGREE WITH # THE TEMP SIGNAL FROM THE ISS (BIT 15 OF CHANNEL 30). HOWEVER, THE LIGHT WILL NOT BE TURNED OFF IF A LAMP TEST # IS IN PROGRESS. # # CALLING SEQUENCE: CALLED BY IMUMON ON A CHANGE OF BIT 15 OF CHANNEL 30. # # JOBS OR TASKS INITIATED: NONE. # # SUBROUTINES CALLED: LAMPTEST. # # ERASABLE INITIALIZATION: FRESH START AND RESTART TURN THE TEMP LAMP OFF. # # ALARMS: TEMP LAMP TURNED ON WHEN THE IMU TEMP GOES OUT OF LIMITS. # # EXIT: NXTIFAIL. # # OUTPUT: SERVICE OF TEMP LAMP. IN A, EXCEPT FOR TLIM. TLIM MASK POSMAX # REMOVE BIT FROM WORD OF CHANGES AND SET TS RUPTREG2 # DSKY TEMP LAMP ACCORDINGLY. CCS IMODES30 TCF TEMPOK TCF TEMPOK CAF BIT4 # TURN ON LAMP. EXTEND WOR DSALMOUT TCF NXTIFAIL TEMPOK TC LAMPTEST # IF TEMP NOW OK, DON'T TURN OFF LAMP IF TCF NXTIFAIL # LAMP TEST IN PROGRESS. CS BIT4 EXTEND WAND DSALMOUT # TURN OFF LAMP TCF NXTIFAIL # Page 150 # PROGRAM NAME: ITURNON. # # FUNCTIONAL DESCRIPTION: THIS PROGRAM IS CALLED BY IMUMON WHEN A CHANGE OF BIT 14 OF CHANNEL 30 (ISS TURN-ON # REQUEST) IS DETECTED. UPON ENTRY, ITURNON CHECKS IF A TURN-ON DELAY SEQUENCE HAS FAILED, AND IF SO, IT EXITS. # IF NOT, IT CHECKS WHETHER THE TURN-ON REQUEST CHANGE IS TO ON OR OFF. IF ON, IT SETS BIT 7 OF IMODES30 TO 1 SO # THAT TNONTEST WILL INITIATE THE ISS INITIALIZATION SEQUENCE. IF OFF, THE TURN-ON DELAY SIGNAL, CHANNEL 12 BIT # 15, IS CHECKED AND IF IT IS ON, ITURNON EXITS. IF THE DELAY SIGNAL IS OFF, PROGRAM ALARM 00207 IS ISSUED, BIT 2 # OF IMODES30 IS SET TO 1 AND THE PROGRAM EXITS. # # THE SETTING OF BIT 2 OF IMODES30 (ISS DELAY SEQUENCE FAIL) INHIBITS THIS ROUTINE AND IMUOP FROM # PROCESSING ANY CHANGES. THIS BIT WILL BE RESET BY THE ENDTNON ROUTINE WHEN THE CURRENT 90 SECOND DELAY PERIOD # ENDS. # # CALLING SEQUENCE: FROM IMUMON WHEN ISS TURN-ON REQUEST CHANGES STATE. # # JOBS OR TASKS INITIATED: NONE. # # SUBROUTINES CALLED: ALARM, IF THE ISS TURN-ON REQUEST IS NOT PRESENT FOR 90 SECONDS. # # ERASABLE INITIALIZATION: FRESH START AND RESTART SET BIT 15 OF CHANNEL 12 AND BITS 2 AND 7 OF IMODES30 TO 0, # AND BIT 14 OF IMODES30 TO 1. # # ALARMS: PROGRAM ALARM 00207 IS ISSUED IF THE ISS TURN-ON REQUEST SIGNAL IS NOT PRESENT FOR 90 SECONDS. # # EXIT: NXTIFAIL. # # OUTPUT: BIT 7 OF IMODES30 TO START ISS INITIALIZATION, OR BIT 2 OF IMODES30 AND PROGRAM ALARM 00207 TO INDICATE # A FAILED TURN-ON SEQUENCE. ITURNON CAF BIT2 # IF DELAY REQUEST HAS GONE OFF MASK IMODES30 # PREMATURELY, DO NOT PROCESS ANY CHANGES CCS A # UNTIL THE CURRENT 90 SEC WAIT EXPIRES. TCF NXTIFAIL CAF BIT14 # SEE IF JUST ON OR OFF. MASK IMODES30 EXTEND BZF ITURNON2 # IF JUST ON. CAF BIT15 EXTEND # SEE IF DELAY PRESENT DISCRETE HAS BEEN RAND CHAN12 # SENT. IF SO, ACTION COMPLETE EXTEND BZF +2 TCF NXTIFAIL CAF BIT2 # IF NOT, SET BIT TO INDICATE REQUEST NOT ADS IMODES30 # PRESENT FOR FULL DURATION. TC ALARM OCT 207 TCF NXTIFAIL # Page 151 ITURNON2 CS IMODES30 # SET BIT7 TO INDICATE WAIT OF 1 SAMPLE MASK BIT7 ADS IMODES30 TCF NXTIFAIL # Page 152 # PROGRAM NAME: IMUCAGE. # # FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES OF THE IMUCAGE INBIT, CHANNEL 30 BITS 11. IF THE BIT # CHANGES TO 0 (CAGE BUTTON PRESSED), THE ISS IS CAGED (ICDU ZERO + COARSE ALIGN + NO ATT LAMP) UNTIL THE # ASTRONAUT SELECTS ANOTHER PROGRAM TO ALIGN THE ISS. ANY PULSE TRAINS TO THE ICDU'S AND GYRO'S ARE TERMINATED, # THE ASSOCIATE OUTCOUNTERS ARE ZEROED AND THE GYRO'S ARE DE-SELECTED. NO ACTION OCCURS WHEN THE BUTTON IS # RELEASED (INBIT CHANGES TO 1). # # CALLING SEQUENCE: BY IMUMON WHEN IMU CAGE BIT CHANGES. # # JOBS OR TASKS INITIATED: NONE. # # SUBROUTINES CALLED: CAGESUB. # # ERASABLE INITIALZATION: FRESH START AND RESTART SET BIT 11 OF IMODES30 TO 1. # # ALARMS: NONE. # # EXIT: NXTIFAIL. # # OUTPUT: ISS CAGED, COUNTERS ZEROED, PULSE TRAINS TERMINATED AND NO ATT LAMP LIT. IMUCAGE CCS A # NO ACTION IF GOING OFF. TCF ISSZERO CS OCT77000 # TERMINATE ICDU, OPTICS, GYRO PULSE TRAINS EXTEND WAND CHAN14 CS OCT272 # KNOCK DOWN TVC ENABLE, IMU ERROR COUNTER EXTEND # ENABLE, ZERO ICDU, COARSE ALIGN WAND CHAN12 # ENABLE, OPTICS ERR CNTR ENABLE CS BIT13 # TURN OFF ENGINE EXTEND WAND DSALMOUT TC CAGESUB1 TC IBNKCALL # KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS CADR RNDREFDR CS ZERO # ZERO COMMAND OUT-COUNTERS TS CDUXCMD TS CDUYCMD TS CDUZCMD TS GYROCMD CS OCT740 # HAVING WAITED AT LEAST 27 MCT FROM EXTEND # GYRO PULSE TRAIN TERMINATION, WE CAN WAND CHAN14 # DE-SELECT THE GYROS. # Page 153 TCF NXTIFAIL # Page 154 # PROGRAM NAME: IMUOP. # # FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES IN THE ISS OPERATE DISCRETE, BIT 9 OF CHANNEL 30. # IF THE INBIT CHANGES TO 0, INDICATING ISS ON, IMUOP GENERALLY SETS BIT 7 OF IMODES30 TO 1 TO REQUEST ISS # INITIALIZATION VIA TNONTEST. AN EXCEPTION IS DURING A FAILED ISS DELAY DURING WHICH BIT 2 OF IMODES30 IS SET # TO 1 AND NO FURTHER INITIALIZATION IS REQUIRED. WHEN THE INBIT CHANGES TO 1, INDICATING ISS OFF, IMUSEFLG IS # TESTED TO SEE IF ANY PROGRAM WAS USING THE ISS. IF SO, PROGRAM ALARM 00214 IS ISSUED. # # CALLING SEQUENCE: BY IMUMON WHEN BIT 9 OF CHANNEL 30 CHANGES. # # JOBS OR TASKS INITIATED: NONE. # # SUBROUTINES CALLED: ALARM, IF ISS IS TURNED OFF WHILE IN USE. # # ERASABLE INITIALIZATION: ON FRESH START AND RESTART, BIT 9 OF IMODES30 IS SET TO 1 EXCEPT WHEN THE GIMBAL LOCK # LAMP IS ON, IN WHICH CASE IT IS SET TO 0. THIS PREVENTS ICDU ZERO BY TNONTEST WITH THE ISS IN GIMBAL LOCK. # # ALARMS: PROGRAM ALARM 00214 IF THE ISS IS TURNED OFF WHILE IN USE. # # EXIT: NXTIFAIL. # # OUTPUT: ISS INITIALIZATION REQUEST (IMODES30 BIT 7) OR PROGRAM ALARM 00214. IMUOP EXTEND # IF OPERATE JUST ON, WAIT 1 SAMPLE. BZF IMUOP2 CS IMODES33 # DISABLE DAP MASK BIT6 ADS IMODES33 TC IBNKCALL # KNOCK DOWN TRACK, REFSMMAT, DRIFT FLAGS CADR RNDREFDR CS BITS7&8 # KNOCK DOWN RENDEZVOUS, IMUUSE FLAGS MASK STATE XCH STATE # IF GOING OFF, ALARM IF PROG USING IMU. COM MASK IMUSEFLG CCS A TCF NXTIFAIL TC ALARM OCT 214 TCF NXTIFAIL IMUOP2 CAF BIT2 # SEE IF FAILED ISS TURN-ON SEQ IN PROG. MASK IMODES30 CCS A TCF NXTIFAIL # IF SO, DON'T PROCESS UNTIL PRESENT 90 TCF ITURNON2 # SECONDS EXPIRES # Page 155 # PROGRAM NAME: PIPFAIL # # FUNCTIONAL DESCRIPTION: THIS PROGRAM PROCESSES CHANGES OF BIT 13 OF CHANNEL 33, PIPA FAIL. IT SETS BIT 10 OF # IMODES30 TO AGREE. IT CALLS SETISSW IN CASE A PIPA FAIL NECESSITATES AN ISS WARNING. IF NOT, I.E., IMODES30 # BIT 1 = 1, AND A PIPA FAIL IS PRESENT AND THE ISS NOT BEING INITIALIZED, PROGRAM ALARM 0212 IS ISSUED. # # CALLING SEQUENCE: BY C33TEST ON CHANGES OF CHANNEL 33 BIT 13. # # JOBS OR TASKS INITIATED: NONE. # # SUBROUTINES CALLED: 1) SETISSW, AND 2) ALARM (SEE FUNCTIONAL DESCRIPTION). # # ERASABLE INITIALIZATION: SEE IMUMON FOR INITIALIZATION OF IMODES30. THE RELEVANT BITS ARE 5, 7, 8, 9, AND 10. # # ALARMS: PROGRAM ALARM 00212 IF PIPA FAIL IS PRESENT BUT NEITHER ISS WARNING IS TO BE ISSUED NOR THE ISS IS # BEING INITIALIZED. # # EXIT: NXTFL33. # # OUTPUT: PROGRAM ALARM 00212 AND ISS WARNING MAINTENANCE. PIPFAIL CCS A # SET BIT10 IN IMODES30 SO ALL ISS WARNING CAF BIT10 # INFO IS IN ONE REGISTER. XCH IMODES30 MASK -BIT10 ADS IMODES30 TC SETISSW CS IMODES30 # IF PIP FAIL DOESN'T LIGHT ISS WARNING, DO MASK BIT1 # A PROGRAM ALARM IF IMU OPERATING BUT NOT CCS A # CAGED OR BEING TURNED ON. TCF NXTFL33 CA IMODES30 MASK OCT1720 CCS A TCF NXTFL33 # ABOVE CONDITION NOT MET. TC ALARM OCT 212 TCF NXTFL33 # Page 156 # PROGRAM NAMES: DNTMFAST, UPTMFAST # # FUNCTIONAL DESCRIPTION: THESE PROGRAMS PROCESS CHANGES OF BITS 12 AND 11 OF CHANNEL 33. IF A BIT CHANGES TO A # 0, A PROGRAM ALARM IS ISSUED. THE ALARMS ARE: # # BIT ALARM CAUSE # --- ----- ----- # 12 01105 DOWNLINK TOO FAST # 11 01106 UPLINK TOO FAST # # CALLING SEQUENCE: BY C33TEST ON A BIT CHANGE. # # SUBROUTINES CALLED: ALARM, IF A BIT CHANGES TO A 0. # # ERASABLE INITIALIZATION: FRESH START OR RESTART, BITS 12 AND 11 OF IMODES33 ARE SET TO 1. # # ALARMS: SEE FUNCTIONAL DESCRIPTION. # # EXIT: NXTFL33. # # OUTPUT: PROGRAM ALARM ON A BIT CHANGE TO 0. DNTMFAST CCS A # DO PROG ALARM IF TM TOO FAST. TCF NXTFL33 TC ALARM OCT 1105 TCF NXTFL33 UPTMFAST CCS A # SAME AS DNLINK TOO FAST WITH DIFFERENT TCF NXTFL33 # ALARM CODE. TC ALARM OCT 1106 TCF NXTFL33 # Page 157 # PROGRAM NAME: SETISSW # # FUNCTIONAL DESCRIPTION: THIS PROGRAM TURNS THE ISS WARNING LAMP ON AND OFF (CHANNEL 11 BIT 1 = 1 FOR ON, # 0 FOR OFF) DEPENDING ON THE STATUS OF IMODES30 BITS 13 (IMU FAIL) AND 4 (INHIBIT IMU FAIL), 12 (ICDU FAIL) AND # 3 (INHIBIT ICDU FAIL), AND 10 (PIPA FAIL) AND 1 (INHIBIT PIPA FAIL). THE LAMP IS LEFT ON IF A LAMP TEST IS IN # PROGRESS. # # CALLING SEQUENCE: CALLED BY IMUMON ON CHANGES TO IMU FAIL AND ICDU FAIL. CALLED BY IFAILOK AND PFAILOK UPON # REMOVAL OF THE FAIL INHIBITS. CALLED BY PIPFAIL WHEN THE PIPA FAIL DISCRETE CHANGES. IT IS CALLED BY PIPUSE # SINCE THE PIPA FAIL PROGRAM ALARM MAY NECESSITATE AN ISS WARNING, AND LIKEWISE BY PIPFREE WHEN THE ALARM DEPARTS # AND IT IS CALLED BY IMUZERO3 AND ISSUP AFTER THE FAIL INHIBITS HAVE BEEN REMOVED. # # JOBS OR TASKS INITIATED: NONE. # # SUBROUTINES CALLED: NONE. # # ERASABLE INITIALIZATION: # # 1) IMODES30 -- SEE IMUMON. # 2) IMODES33 BIT 1 = 0 (LAMP TEST NOT IN PROGRESS). # # ALARMS: ISS WARNING. # # EXIT: VIA Q. # # OUTPUT: ISS WARNING LAMP SET PROPERLY. SETISSW CAF OCT15 # SET ISS WARNING USING THE FAIL BITS IN MASK IMODES30 # BITS 13, 12, AND 10 OF IMODES30 AND THE EXTEND # FAILURE INHIBIT BITS IN POSITIONS MP BIT10 # 4, 3, AND 1. CA IMODES30 EXTEND ROR LCHAN # 0 INDICATES FAILURE COM MASK OCT15000 CCS A TCF ISSWON # FAILURE. ISSWOFF CAF BIT1 # DON'T TURN OFF ISS WARNING IF LAMP TEST MASK IMODES33 # IN PROGRESS. CCS A TC Q CS BIT1 EXTEND WAND DSALMOUT # TURN OFF ISS WARNING. TC Q ISSWON EXTEND # Page 158 QXCH ITEMP6 TC VARALARM # TELL EVERYONE WHAT CAUSED THE ISS WARNING CAF BIT1 EXTEND WOR DSALMOUT # TURN ON ISS WARNING TC ITEMP6 CAGESUB CS BIT15+6 # SET OUTBITS + INTERNAL FLAGS FOR EXTEND # SYSTEM TURN-ON OR CAGE. DISABLE THE WAND CHAN12 # ERROR COUNTER AND REMOVE THE IMU DELAY COMP. CAF BITS4&5 # SEND ZERO AND COARSE. EXTEND WOR CHAN12 CAGESUB1 CS DSPTAB +11D # TURN ON NO ATT LAMP MASK OC40010 ADS DSPTAB +11D CAGESUB2 CS IMODES30 # SET FLAGS TO INDICATE CAGING OR TURN-ON MASK OCT75 # AND INHIBIT ALL ISS WARNING INFO ADS IMODES30 CS IMODES33 # DISABLE DAP AUTO AND HOLD MODES MASK BIT6 ADS IMODES33 TC Q IMUFAIL EQUALS SETISSW ICDUFAIL EQUALS SETISSW # Page 159 # JUMP TABLES AND CONSTANTS. IFAILJMP TCF ITURNON # CHANNEL 30 DISPATCH. TCF IMUFAIL TCF ICDUFAIL TCF IMUCAGE 30RDMSK OCT 76400 # (BIT 10 NOT SAMPLED HERE). TCF IMUOP C33JMP TCF PIPFAIL # CHANNEL 33 DISPATCH. TCF DNTMFAST TCF UPTMFAST # SUBROUTINE TO SKIP IF LAMP TEST NOT IN PROGRESS. LAMPTEST CS IMODES33 # BIT 1 OF IMODES33 = 1 IF LAMP TEST IN MASK BIT1 # PROGRESS. TCF ZOPFIN3 33RDMSK EQUALS PRIO16 OC40010 OCT 40010 OCT54 OCT 54 OCT75 OCT 75 OCT272 OCT 00272 BITS7&8 OCT 300 OCT1720 OCT 1720 OCT740 OCT 00740 OCT15000 EQUALS PRIO15 OCT77000 OCT 77000 -BIT10 OCT -1000 90SECS DEC 9000 120MS = OCT14 # (DEC12) GLOCKOK EQUALS RESUME # Page 160 # OPTICS MONITORING AND ZERO ROUTINES OPTMON CA OPTMODES # MONITOR OPTICS INBITS IN CHAN 30 AND 33 EXTEND RXOR CHAN30 # LOOK FOR OCDU FAIL BIT CHANGE MASK BIT7 TS RUPTREG1 # STORE CHANGE BIT CCS A TC OCDUFTST # PROCESS OCDUFAIL BIT CHANGE 33OPTMON CCS OPTIND # BYPASS IF TVC TAKEOVER TCF +4 TCF +3 TCF +2 TCF RESUME CA OPTMODES # LOOK FOR OPTICS MODE SWITCH CHANGE EXTEND RXOR CHAN33 MASK OCTHIRTY ADS RUPTREG1 # STORE INBIT CHANGES LXCH OPTMODES EXTEND RXOR LCHAN TS OPTMODES # UPDATE OPTMODES TO SHOW BIT CHANGES COM # SAMPLE CURRENT SWITCH SETTING MASK OCTHIRTY EXTEND BZF SETSAMP # MANUAL-SET ZERO IN SWSAMPLE MASK BIT5 # SEE IF CSC CCS A TC +2 # CSC-SET SWSAMPLE POS CAF NEGONE # ZOPTICS-SET SWSAMPLE (-1) SETSAMP TS SWSAMPLE # CURRENT OPTICS SWITCH SETTING PROCESSW CCS DESOPMOD # BRANCH ON PREVIOUS SETTING TC CSCDES # CSC TC MANUDES # MANUAL TC ZOPTDES # ZERO OPTICS # Page 161 ZOPTDES CCS SWSAMPLE # IS SWITCH STILL AT ZOPTICS TC ZTOCSC # NOW AT CSC TC ZTOMAN # MANUAL TC ZOPFIN1 # ZOPTICS-SEE IF ZOPT PROCESSING // Should be TC ZOPFINI TC SETDESMD # ZOPT NOT PROCESSING-NO ACTION CCS ZOPTCNT # ZOPT PROCESSING-CHECK COUNTER TC SETCNT # 32 SAMPLE NOT FINISHED-SET COUNTER TC SETZOEND # 32 SAMPLE WAIT COMPLETED-SET UP ZOP END ZTOMAN TC ZOPFIN1 # ZOP TO MANUAL-IS ZOPT DONE // Should be TC ZOPFINI TC SETDESMD # YES-NORMAL EXIT ZOPALARM TC ALARM # ALARM-SWITCHED ALTERED WHILE ZOPTICS OCT 00116 CAF OCT13 # PROCESSING-SET RETURN OPTION TS WTOPTION TC CANZOPT # CANCEL ZOPT TC SETDESMD ZTOCSC TC ZOPFIN1 # SEE IF ZOPT PROCESSING // Should be TC ZOPFINI TC MANTOCSC +3 # NO-CHECK RETURN TO COARS OPT TC ALARM # ZOPT PROCESSING-ALARM OCT 00116 TC CANZOPT # CANCEL ZOPT TC MANTOCSC # ZERO CNT-LOOK FOR COARS OPT RETURN COARSLOK CAF BIT9 # IF COARS OPT SINCE FSTART GO TO L+2 TCF ZOPFIN2 # IF NOT GO TO L+1 ZOPFIN1 CAF BIT1 # SEE IF END ZOPT TASK WORKING // Label should be ZOPFINI MASK OPTMODES CCS A TC RESUME # ZOPT TASK WORKING-WAIT ONE SAMPLE PERIOD CAF BIT3 # TEST IF ZOPTICS PROCESSING ZOPFIN2 MASK OPTMODES # RETURNS TO L+1 PROCESSING AND ZOPFIN3 CCS A INCR Q # L+2 IF NOT TC Q CANZOPT CS SIX # CANCEL ZERO OPTICS MASK OPTMODES # ZERO ZOPT PROCESSING BIT-ENABLE OCDUFAIL TS OPTMODES CS BIT1 # MAKE SURE ZERO OCDU IS OFF EXTEND WAND CHAN12 TC Q # Page 162 MANUDES CCS SWSAMPLE # SEE IF SWITCH STILL IN MANUAL MODE TC MANTOCSC # NOW AT CSC TC MANTOMAN # STILL MANUAL CCS WTOPTION # ZOPTICS-LOOK AT ZOPTICS RETURN OPTION TC +2 # 5 SEC RETURN GOOD-CONTINUE ZOPTICS TC OPTZERO # ZOPTICS MUST START ANEW TC INITZOPT # SHOW ZERO OPTICS PROCESSING TC SETDESMD # NORMAL EXIT MANTOMAN CCS WTOPTION # DECREMENT RETURN OPTION TIME TS WTOPTION TC SETDESMD MANTOCSC CAF ZERO # CANCEL ZOPT RETURN OPTION IF SET TS WTOPTION TS ZOPTCNT TC COARSLOK # CHECK FOR COARS OPT RETURN TC SETDESMD # NO COARS TASK-NO ACTION CAF ONE # SET COARS OPT WORKING TS OPTIND CAF BIT2 # ENABLE OPTICS CDU ERROR CNTS EXTEND WOR CHAN12 TC SETDESMD CSCDES CCS SWSAMPLE # SEE IF SWITCH STILL AT CSC TC SETDESMD # STILL AT CSC TC CSCTOMAN # MANUAL CSCTOZOP CAF OCT40 # ZOPTICS-INITIALIZE FOR ZOPT TS ZOPTCNT TC INITZOPT CSCTOMAN CCS OPTIND # SEE IF COARS WORKING TC CANCOARS # COARS WORKING-SWITCH NOT CSC-KILL COARS TC CANCOARS TC +1 # NO COARS-NORMAL EXIT TC SETDESMD # Page 163 CANCOARS CA NEGONE TS OPTIND # SET OPTIND (-1) TO SHOW NOT WORKING CS BIT2 # DISABLE OCDU ERR CNTS EXTEND WAND CHAN12 CS OPTMODES # SET RETURN-TO-COARS BIT MASK BIT9 ADS OPTMODES TC SETDESMD OPTZERO TC INITZOPT # INITIALIZE ZERO OPTICS CA OCT40 # SET UP 32 SAMPLE WAIT SETCNT TS ZOPTCNT SETDESMD CA SWSAMPLE # SET CURRENT SWITCH INDICATION-RESUME TS DESOPMOD TC RESUME SETZOEND CAF BIT1 # SEND ZERO OPTICS CDU EXTEND WOR CHAN12 CA 200MS # HOLD ZERO CDU FOR 200 MS TC WAITLIST EBANK= OPTMODES 2CADR ENDZOPT CS OPTMODES # SHOW ZOPTICS TASK WORKING MASK BIT1 ADS OPTMODES TC SETDESMD ENDZOPT TC ZEROPCDU # ZERO OCDU COUNTERS CS BIT1 # TURN OFF ZERO OCDU EXTEND WAND CHAN12 CAF 200MS # DELAY 200MS FOR CDUS TO RESYNCHRONIZE TC VARDELAY CS OPTMODES # SHOW ZOPTICS SINCE LAST FRESH START MASK BIT10 # OR RESTART ADS OPTMODES CS SEVEN # ENABLE OCDUFAIL-SHOW OPTICS COMPLETE MASK OPTMODES TS OPTMODES TC OCDUFTST # CHECK OCDU FAIL BIT AFTER ENABLE. # Page 164 TC TASKOVER ZEROPCDU CAF ZERO TS CDUS # ZERO IN CDUS, -20 IN CDUT TS ZONE # INITIALIZE SHAFT MONITOR ZONE CS 20DEGS TS CDUT TC Q INITZOPT CAF ZERO # INITIALIZE ZOPTICS-INHIBIT OCDUFAIL TS WTOPTION # AND SHOW OPTICS PROCESSING CS OPTMODES # SET ZERO OPTICS PROCESSING MASK SIX # OPTICS CDU FAIL INHIBITED ADS OPTMODES TC Q # Page 165 OCDUFTST CAF BIT7 # SEE IF OCDUFAIL ON OR OFF EXTEND RAND CHAN30 CCS A TCF OPFAILOF # OCDUFAIL LIGHT OFF CAF BIT2 # OCDUFAIL LIGHT ON UNLESS INHIBITED MASK OPTMODES CCS A TC Q # OCDUFAIL INHIBITED OPFAILON CAF BIT8 # ON BIT AD DSPTAB +11D MASK BIT8 SETOFF EXTEND BZF TCQ # NO CHANGE TS L CA DSPTAB +11D EXTEND RXOR LCHAN MASK POSMAX AD BIT15 # SHOW ACTION WANTED TS DSPTAB +11D TC Q OPFAILOF CAF BIT1 # DON'T TURN OFF IF LAMP TEST MASK IMODES33 CCS A TC Q # LAMP TEST IN PROGRESS CAF BIT8 # TURN OFF OCDUFAIL LIGHT MASK DSPTAB +11D TCF SETOFF OCT13 = ELEVEN OCTHIRTY EQUALS BITS4&5 20DEGS DEC 7199 OCT40 EQUALS BIT6 200MS EQUALS OCT24 # Page 166 # OPTICS CDU DRIVING PROGRAM BANK 10 SETLOC OPTDRV BANK COUNT* $$/SXT # SHAFT STOP MONITOR-ZONE UPDATE OPTDRIVE CA CDUS # GRAB OPTIC SHAFT CDU TS L CCS A # GET ABS(CDUS) AD 13,14,15 TCF +2 # ABS(CDUS) - 45 DEG TCF -2 EXTEND BZMF OZONE # LESS THAN 45 DEG-SET ZONE 0 CA ZONE # IF ZONE ZERO, CHANGE TO + OR - OTHERWISE EXTEND # DON'T MESS WITH ZONE BZF +2 TCF CONTDRVE # JUST CONTINUE XCH L # GREATER THAN 45 DEG-SET ZONE TO SIGN CDU TCF OZONE +1 OZONE CAF ZERO # ABS(CDUS) LESS THAN 90 DEG-ZONE ZERO TS ZONE COUNT* $$/T4RUPT CONTDRVE CCS OPTIND TC +4 # WORK COARS OPTICS TC +3 # WORK COARS OPTICS TC RESUME # NO OPT TC RESUME # NO OPT CA SWSAMPLE # SEE IF SWITCH AT CMC EXTEND BZMF RESUME # ZERO (-1) MANUAL (+0) CAF BIT10 # SEE IF OCDUS ZEROED SINCE LAST FSTART MASK OPTMODES CCS A TC +3 TC ALARM # OPTICS NOT ZEROED OCT 00120 CA BIT2 # SEE IF ERR CNTS ENABLED EXTEND RAND CHAN12 EXTEND BZF SETBIT # CNTS NOT ENABLED-DO IT AND RESUME CAF ONE # INITIALIZE OPTIND # Page 167 OPT2 TS OPTIND EXTEND BZF TRUNCMD # CHECK TRUNION COMMAND GETOPCMD INDEX OPTIND CA DESOPTT # PICK UP DESIRED OPT ANGLE EXTEND INDEX OPTIND MSU CDUT # GET DIFFERENCE EXTEND MP BIT13 XCH L DOUBLE TS ITEMP1 TCF +2 # NO OVFL ADS L # WITH OVFL STORCMD INDEX OPTIND LXCH COMMANDO # STORE COMMAND CCS OPTIND TCF OPT2 # GET NEXT COMMAND TS ITEMP1 # INITIALIZE SEND INDICATOR TO ZERO COUNT* $$/SXT # SHAFT STOP AVOIDANCE CCS CDUS # IF CDUS GREATER THAN + OR - 90 DEG CHECK AD NEG1/2 # FOR POSSIBLE STOP PROBLEM TCF +2 TCF -2 EXTEND BZMF CMDSETUP # CDU LESS THAN 90 DEG, NO PROBLEMS CA ZONE EXTEND BZF CMDSETUP # ZONE=3, NORMAL COMMAND MASK BIT15 # GRAB SIGN OF ZONE TS L CA COMMANDO +1 MASK BIT15 # GRAB SIGN OF SHAFT COMMAND EXTEND RXOR LCHAN CCS A TCF CMDSETUP # SIGN ZONE NOT EQUAL TO SIGN COMMAND CCS DESOPTS # SEE IF DESOPTS BETWEEN -90 AND +90 AD NEG1/2 TCF +2 # ABS(DESOPTS) - 90 DEG TCF -2 EXTEND # Page 168 BZMF +2 # DESOPTS IN FIRST OR FOURTH QUAD TCF CMDSETUP CS COMMANDO +1 # REVERSE REGULAR COMMAND TS COMMANDO +1 COUNT* $$/T4RPT CMDSETUP CAF ONE # SET OPTIND TS OPTIND INDEX A CCS COMMANDO # GET SIGN OF COMMAND TC POSOPCMD TC NEXTOPT +1 # ZERO COMMAND-SKIP SEND INDICATOR TC NEGOPCMD TC NEXTOPT +1 # ZERO COMMAND TRUNCMD CS CDUT # IF COMMAND GREATER THAN 45 DEG-COMMAND AD DESOPTT # 45 DEG TS Q TC GETOPCMD # LESS THAN 45 DEG-NORMAL OPERATION CCS A # GREATER THAN 45 DEG-USE OPSMAX WITH CA POSMAX # CORRECT SIGN TC +2 CS POSMAX TS L TC STORCMD POSOPCMD AD MAXPLS1 EXTEND BZMF DELOPCMD # COMMAND LESS THAN MAX PULSE CS MAXPLS # GREATER THAN MAX PULSE-USE MAX PULSE NEXTOPT INCR ITEMP1 # SET SEND INDICATOR AD NEG0 # MAKE SURE ZERO COMMAND IS -ZERO INDEX OPTIND TS CDUTCMD # STORE PULSE IN SEND REG CCS OPTIND TC CMDSETUP +1 # GET NEXT OPT CCS ITEMP1 # ARE ANY PULSES TO GO TCF SENDOCMD # YES-SEND EM TC RESUME # NO NEGOPCMD AD MAXPLS1 EXTEND BZMF DELOPCMD # LESS THAN MAX PULSE CA MAXPLS # MAX PULSES TCF NEXTOPT # Page 169 DELOPCMD INDEX OPTIND XCH COMMANDO # SET UP SMALL COMMAND TCF NEXTOPT SENDOCMD CAF 11,12 # SEND OCDU DRIVE COMMANDS EXTEND WOR CHAN14 TC RESUME SETBIT CAF BIT2 # ENABLE OCDU ERR CNTS EXTEND WOR CHAN12 TC RESUME # START COARS NEXT TIME AROUND MAXPLS DEC -165 # WAS -80 MAXPLS1 DEC -164 # WAS -79 11,12 EQUALS PRIO6