# 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 <info@sandroid.org>, # Fabrizio Bernardini <fabrizio@spacecraft.it> # 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 BANK12 SETLOC T4RUP BANK
COUNT06/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
COUNT02/T4RPT
74K = HIGH4
# RELTAB IS A PACKED TABLE. RELAYWORD CODE IN UPPER 4 BITS, RELAY CODE # IN LOWER 5 BITS.
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 OCT12# DEC 10 LENGTH OF DSPTAB CCS DSRUPTEM # IF DSRUPTEM=+0, 2ND PASS THRU DSPTAB 120MRUPT DEC16372# (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 CS11,14,9 ADS DSRUPTSW
CAF20MRUPT
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
QUIKOFF EXTEND WRITE OUT0 CAF BIT14 # RESET DSRUPTSW TO SEND DISPLAY NEXT PASS TCF QUIKRUPT
11,14,9OCT22400
# 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 MASK30RDMSK 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.
-1AD ONE # (RE-ENTERS HERE FROM NXTIFAIL.)
NXTIFBIT INCR RUPTREG1 # ADVANCE BIT POSITION NUMBER.
+1DOUBLE 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 OCT213
+3TC CAGESUB
CAF90SECS TC WAITLIST EBANK= CDUIND 2CADR ENDTNON
TCF C33TEST
RETNON CAF90SECS 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
CAF4SECS # 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 MASK33RDMSK TS L # CHANGED. CAF33RDMSK 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.
-1AD ONE
NXTIBT INCR RUPTREG1
+1DOUBLE 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 2CADRCA+ECE
-1CAF 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.
# 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 OCT207 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 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 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 OCT214 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 OCT212 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 OCT1105 TCF NXTFL33
UPTMFAST CCS A # SAME AS DNLINK TOO FAST WITH DIFFERENT TCF NXTFL33 # ALARM CODE.
TC ALARM OCT1106 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
# 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
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 OCT00116 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
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 CA200MS # 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 CAF200MS # DELAY 200MS FOR CDUS TO RESYNCHRONIZE TC VARDELAY
CS OPTMODES # SHOW ZOPTICS SINCE LAST FRESH START MASK BIT10 # OR RESTART ADS 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 CS20DEGS 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
OPTDRIVE CA CDUS # GRAB OPTIC SHAFT CDU TS L CCS A # GET ABS(CDUS) AD13,14,15 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* $$/T4RUPT
CONTDRVE CCS OPTIND TC +4# WORK COARS OPTICS TC +3# WORK COARS OPTICS TC RESUME # NO OPT TC RESUME # NO OPT
CA SWSAMPLE # SEE IF SWITCH AT CMC EXTEND BZMF RESUME # ZERO (-1) MANUAL (+0)
CAF BIT10 # SEE IF OCDUS ZEROED SINCE LAST FSTART MASK OPTMODES CCS A TC +3 TC ALARM # OPTICS NOT ZEROED OCT00120
CA BIT2 # SEE IF ERR CNTS ENABLED EXTEND
RAND CHAN12 EXTEND BZF SETBIT # CNTS NOT ENABLED-DO IT AND RESUME
GETOPCMD INDEX OPTIND CA DESOPTT # PICK UP DESIRED OPT ANGLE EXTEND INDEX OPTIND MSU CDUT # GET DIFFERENCE EXTEND MP BIT13 XCH L DOUBLE TS ITEMP1 TCF +2# NO OVFL
ADS L # WITH OVFL
STORCMD INDEX OPTIND LXCH COMMANDO # STORE COMMAND CCS OPTIND TCF OPT2 # GET NEXT COMMAND
TS ITEMP1 # INITIALIZE SEND INDICATOR TO ZERO COUNT* $$/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
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