Source Code

015606,000001: # Copyright: Public domain. 015607,000002: # Filename: IMU_PERFORMANCE_TEST_2.agc 015608,000003: # Purpose: Part of the source code for Luminary 1A build 099. 015609,000004: # It is part of the source code for the Lunar Module's (LM) 015610,000005: # Apollo Guidance Computer (AGC), for Apollo 11. 015611,000006: # Assembler: yaYUL 015612,000007: # Contact: Ron Burkey <info@sandroid.org>. 015613,000008: # Website: www.ibiblio.org/apollo. 015614,000009: # Pages: 373-381 015615,000010: # Mod history: 2009-05-17 RSB Adapted from the corresponding 015616,000011: # Luminary131 file, using page 015617,000012: # images from Luminary 1A. 015618,000013: # 2011-01-06 JL Fixed pseudo-label indentation. 015619,000014: 015620,000015: # This source code has been transcribed or otherwise adapted from 015621,000016: # digitized images of a hardcopy from the MIT Museum. The digitization 015622,000017: # was performed by Paul Fjeld, and arranged for by Deborah Douglas of 015623,000018: # the Museum. Many thanks to both. The images (with suitable reduction 015624,000019: # in storage size and consequent reduction in image quality as well) are 015625,000020: # available online at www.ibiblio.org/apollo. If for some reason you 015626,000021: # find that the images are illegible, contact me at info@sandroid.org 015627,000022: # about getting access to the (much) higher-quality images which Paul 015628,000023: # actually created. 015629,000024: 015630,000025: # Notations on the hardcopy document read, in part: 015631,000026: 015632,000027: # Assemble revision 001 of AGC program LMY99 by NASA 2021112-61 015633,000028: # 16:27 JULY 14, 1969 015634,000029: 015635,000030: # Page 373 015636,000031: # NAME -- IMU PERFORMANCE TESTS 2 015637,000032: 015638,000033: # DATE -- MARCH 20, 1967 015639,000034: 015640,000035: # BY -- SYSTEM TEST GROUP 864-6900 EXT. 1274 015641,000036: 015642,000037: # MODNO. -- ZERO 015643,000038: 015644,000039: # FUNCTIONAL DESCRIPTION 015645,000040: 015646,000041: # POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF 015647,000042: # THE TESTS THEMSELVES. FOR A DESCRIPTION OF THESE SUBROUTINES AND THE 015648,000043: # OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685. THEORETICAL REF. E-1973 015649,000044: 015650,000045: 33,2045 BANK 33 015651,000046: 37,2000 SETLOC IMU2 015652,000047: 37,2000 BANK 015653,000048: 37,2002 E5,1416 EBANK= POSITON 015654,000049: 37,2002 COUNT* $$/P07 015655,000050: 015656,000051: 37,2002 05311 REDO TC NEWMODEX 015657,000052: 37,2003 00007 MM 07 B-14 015658,000053: 015659,000054: 37,2004 02325 GEOIMUTT TC IMUZERR 015660,000055: 37,2005 34755 IMUBACK CA ZERO 015661,000056: 37,2006 55414 TS NDXCTR 015662,000057: 37,2007 55440 TS TORQNDX 015663,000058: 37,2010 55441 TS TORQNDX +1 015664,000059: 37,2011 55576 TS OVFLOWCK 015665,000060: 37,2012 34361 NBPOSPL CA DEC17 015666,000061: 37,2013 55571 TS ZERONDX 015667,000062: 37,2014 32476 CA XNBADR 015668,000063: 37,2015 02367 TC ZEROING 015669,000064: 37,2016 34736 CA HALF 015670,000065: 37,2017 55664 TS XNB 015671,000066: 37,2020 06037 GUESS TC INTPRET 015672,000067: 37,2021 62545 LATAZCHK DLOAD SL2 015673,000068: 37,2022 02403 LATITUDE 015674,000069: 37,2023 15047 STODL DSPTEM1 +1 015675,000070: 37,2024 02401 AZIMUTH 015676,000071: 37,2025 77434 RTB EXIT 015677,000072: 37,2026 21614 1STO2S 015678,000073: 37,2027 56154 XCH MPAC 015679,000074: 37,2030 55045 TS DSPTEM1 015680,000075: 37,2031 32473 CAF VN0641 015681,000076: 37,2032 04616 TC BANKCALL 015682,000077: 37,2033 20476 CADR GOFLASH 015683,000078: 37,2034 02270 TC ENDTEST1 015684,000079: 37,2035 02037 TC +2 015685,000080: 37,2036 02031 TC -5 015686,000081: # Page 374 015687,000082: 37,2037 06037 TC INTPRET 015688,000083: 37,2040 47135 SLOAD RTB 015689,000084: 37,2041 01046 DSPTEM1 015690,000085: 37,2042 21576 CDULOGIC 015691,000086: 37,2043 02401 STORE AZIMUTH 015692,000087: 37,2044 60535 SLOAD SR2 015693,000088: 37,2045 01047 DSPTEM1 +1 015694,000089: 37,2046 02403 STORE LATITUDE 015695,000090: 37,2047 57546 COS DCOMP 015696,000091: 37,2050 77752 SL1 015697,000092: 37,2051 16437 STODL WANGI 015698,000093: 37,2052 02403 LATITUDE 015699,000094: 37,2053 72556 SIN SL1 015700,000095: 37,2054 16435 STODL WANGO 015701,000096: 37,2055 02401 AZIMUTH 015702,000097: 37,2056 73406 PUSH SIN 015703,000098: 37,2057 02675 STORE YNB +2 015704,000099: 37,2060 16705 STODL ZNB +4 015705,000100: 37,2061 77746 COS 015706,000101: 37,2062 02677 STORE YNB +4 015707,000102: 37,2063 77676 DCOMP 015708,000103: 37,2064 36703 POSGMBL STCALL ZNB +2 015709,000104: 37,2065 47353 CALCGA 015710,000105: 37,2066 77776 EXIT 015711,000106: 37,2067 04616 TC BANKCALL 015712,000107: 37,2070 17000 CADR IMUCOARS 015713,000108: 37,2071 34736 CAF BIT14 # IF BIT14 SET, GIMBAL LOCK 015714,000109: 37,2072 70077 MASK FLAGWRD3 015715,000110: 37,2073 00006 EXTEND 015716,000111: 37,2074 12076 BZF +2 015717,000112: 37,2075 25414 INCR NDXCTR # +1 IF IN GIMBAL LOCK, OTHERWISE 0 015718,000113: 37,2076 05516 TC DOWNFLAG 015719,000114: 37,2077 00056 ADRES GLOKFAIL # RESET GIMBAL LOCK FLAG 015720,000115: 37,2100 02315 TC IMUSLLLG 015721,000116: 37,2101 11414 CCS NDXCTR # IF ONE GO AND DO A PIPA TEST ONLY 015722,000117: 37,2102 02126 TC PIPACHK # ALIGN AND MEASURE VERTICAL PIPA RATE 015723,000118: 37,2103 02320 TC FINIMUDD 015724,000119: 37,2104 00006 EXTEND 015725,000120: 37,2105 31575 DCA PERFDLAY 015726,000121: 37,2106 05277 TC LONGCALL # DELAY WHILE SUSPENSION STABILIZES 015727,000122: 37,2107 E5,1416 EBANK= POSITON 015728,000123: 37,2107 02113 76065 2CADR GOESTIMS 015729,000124: 015730,000125: 37,2111 32116 CA ESTICADR 015731,000126: 37,2112 05133 TC JOBSLEEP 015732,000127: 37,2113 32116 GOESTIMS CA ESTICADR 015733,000128: 37,2114 05137 TC JOBWAKE 015734,000129: 37,2115 05261 TC TASKOVER 015735,000130: 37,2116 76500 ESTICADR CADR ESTIMS 015736,000131: 37,2117 34755 TORQUE CA ZERO 015737,000132: # Page 375 015738,000133: 37,2120 55050 TS DSPTEM2 015739,000134: 37,2121 31504 CA DRIFTI 015740,000135: 37,2122 55051 TS DSPTEM2 +1 015741,000136: 37,2123 51416 INDEX POSITON 015742,000137: 37,2124 55420 TS SOUTHDR -1 015743,000138: 37,2125 02457 TC SHOW 015744,000139: 015745,000140: 37,2126 51414 PIPACHK INDEX NDXCTR # PIPA TEST 015746,000141: 37,2127 02130 TC +1 015747,000142: 37,2130 02447 TC EARTHR* 015748,000143: 37,2131 34361 CA DEC17 # ALLOW PIP COUNTER TO OVERFLOW 17 TIMES 015749,000144: 37,2132 55476 TS DATAPL +4 # IN THE ALLOTTED TIME INTERVAL 015750,000145: 37,2133 32474 CA DEC58 015751,000146: 37,2134 55412 TS LENGTHOT 015752,000147: 37,2135 34753 CA ONE 015753,000148: 37,2136 55537 TS RESULTCT 015754,000149: 37,2137 34755 CA ZERO 015755,000150: 37,2140 51415 INDEX PIPINDEX 015756,000151: 37,2141 54037 TS PIPAX 015757,000152: 37,2142 55472 TS DATAPL 015758,000153: 37,2143 02332 TC CHECKG 015759,000154: 37,2144 00004 INHINT 015760,000155: 37,2145 34752 CAF TWO 015761,000156: 37,2146 05173 TC TWIDDLE 015762,000157: 37,2147 E5,1642 EBANK= XSM 015763,000158: 37,2147 02151 ADRES PIPATASK 015764,000159: 37,2150 05155 TC ENDOFJOB 015765,000160: 015766,000161: 37,2151 00006 PIPATASK EXTEND 015767,000162: 37,2152 27412 DIM LENGTHOT 015768,000163: 37,2153 31412 CA LENGTHOT 015769,000164: 37,2154 00006 EXTEND 015770,000165: 37,2155 62161 BZMF STARTPIP 015771,000166: 37,2156 34742 CAF BIT10 015772,000167: 37,2157 05173 TC TWIDDLE 015773,000168: 37,2160 E5,1642 EBANK= XSM 015774,000169: 37,2160 02151 ADRES PIPATASK 015775,000170: 37,2161 34736 STARTPIP CAF PRIO20 015776,000171: 37,2162 05105 TC FINDVAC 015777,000172: 37,2163 E5,1642 EBANK= XSM 015778,000173: 37,2163 02166 76065 2CADR PIPJOBB 015779,000174: 015780,000175: 37,2165 05261 TC TASKOVER 015781,000176: 015782,000177: 37,2166 51414 PIPJOBB INDEX NDXCTR 015783,000178: 37,2167 02170 TC +1 015784,000179: 37,2170 02447 TC EARTHR* 015785,000180: 37,2171 31412 CA LENGTHOT 015786,000181: # Page 376 015787,000182: 37,2172 00006 EXTEND 015788,000183: 37,2173 62175 BZMF +2 015789,000184: 37,2174 05155 TC ENDOFJOB 015790,000185: 015791,000186: 37,2175 34756 CA FIVE 015792,000187: 37,2176 55537 TS RESULTCT 015793,000188: 37,2177 02332 TC CHECKG 015794,000189: 37,2200 11473 CCS DATAPL +1 015795,000190: 37,2201 02205 TC +4 015796,000191: 37,2202 05705 TC CCSHOLE 015797,000192: 37,2203 41476 CS DATAPL +4 015798,000193: 37,2204 55476 TS DATAPL +4 015799,000194: 37,2205 00006 EXTEND 015800,000195: 37,2206 41473 DCS DATAPL 015801,000196: 37,2207 21477 DAS DATAPL +4 015802,000197: 015803,000198: 37,2210 06037 TC INTPRET 015804,000199: 37,2211 45345 DLOAD DSU 015805,000200: 37,2212 02501 DATAPL +6 015806,000201: 37,2213 02475 DATAPL +2 015807,000202: 37,2214 45044 BPL CALL 015808,000203: 37,2215 76217 AINGOTN 015809,000204: 37,2216 76275 OVERFFIX 015810,000205: 37,2217 56325 AINGOTN PDDL DDV 015811,000206: 37,2220 02477 DATAPL +4 015812,000207: 37,2221 47075 DMPR RTB 015813,000208: 37,2222 37056 DEC585 # DEC585 HAS BEEN REDEFINED FOR LEM 015814,000209: 37,2223 21612 SGNAGREE 015815,000210: 37,2224 01051 STORE DSPTEM2 015816,000211: 37,2225 77776 EXIT 015817,000212: 37,2226 11414 CCS NDXCTR 015818,000213: 37,2227 02301 TC COAALIGN # TAKE PLATFORM OUT OF GIMBAL LOCK 015819,000214: 37,2230 02457 TC SHOW 015820,000215: 37,2231 32471 VERTDRFT CA 3990DEC # ABOUT 1 HOUR VERTICAL DRIFT TEST 015821,000216: 37,2232 55412 TS LENGTHOT 015822,000217: 37,2233 51416 INDEX POSITON 015823,000218: 37,2234 41417 CS SOUTHDR -2 015824,000219: 37,2235 55442 TS DRIFTT 015825,000220: 37,2236 11415 CCS PIPINDEX # OFFSET PLATFORM TO MISS PIP DEAD-ZONES 015826,000221: 37,2237 12245 TCF PON4 # Z-UP IN POS 4 015827,000222: 37,2240 44747 PON2 CS BIT5 # X-UP 015828,000223: 37,2241 27565 ADS ERCOMP +2 015829,000224: 37,2242 34747 CA BIT5 015830,000225: 37,2243 27567 ADS ERCOMP +4 015831,000226: 37,2244 12251 TCF PON 015832,000227: 37,2245 44747 PON4 CS BIT5 015833,000228: 37,2246 27565 ADS ERCOMP +2 015834,000229: 37,2247 34747 CA BIT5 015835,000230: 37,2250 27563 ADS ERCOMP 015836,000231: 37,2251 02447 PON TC EARTHR* 015837,000232: # Page 377 015838,000233: 37,2252 34755 CA ZERO # ALLOW ONLY SOUTH GYRO EARTH RATE COMPENS 015839,000234: 37,2253 55404 TS ERVECTOR 015840,000235: 37,2254 55405 TS ERVECTOR +1 015841,000236: 37,2255 34733 GUESS1 CAF POSMAX 015842,000237: 37,2256 55440 TS TORQNDX 015843,000238: 37,2257 55441 TS TORQNDX +1 015844,000239: 37,2260 30032 CA CDUX 015845,000240: 37,2261 55413 TS LOSVEC 015846,000241: 37,2262 02500 TC ESTIMS 015847,000242: 37,2263 31502 VALMIS CA DRIFTO 015848,000243: 37,2264 55051 TS DSPTEM2 +1 015849,000244: 37,2265 34755 CA ZERO 015850,000245: 37,2266 55050 TS DSPTEM2 015851,000246: 37,2267 02457 TC SHOW 015852,000247: 015853,000248: 37,2270 05516 ENDTEST1 TC DOWNFLAG 015854,000249: 37,2271 00007 ADRES IMUSE 015855,000250: 37,2272 44755 CS ZERO 015856,000251: 37,2273 05314 TC NEWMODEA 015857,000252: 37,2274 05472 TC ENDEXT 015858,000253: 015859,000254: # Page 378 015860,000255: 37,2275 43215 OVERFFIX DAD DAD 015861,000256: 37,2276 06530 DPPOSMAX 015862,000257: 37,2277 37064 ONEDPP 015863,000258: 37,2300 77616 RVQ 015864,000259: 015865,000260: 37,2301 00006 COAALIGN EXTEND # COARSE ALIGN SUBROUTINE 015866,000261: 37,2302 23571 QXCH ZERONDX 015867,000262: 37,2303 34755 CA ZERO 015868,000263: 37,2304 54321 TS THETAD 015869,000264: 37,2305 54322 TS THETAD +1 015870,000265: 37,2306 54323 TS THETAD +2 015871,000266: 37,2307 04616 TC BANKCALL 015872,000267: 37,2310 17000 CADR IMUCOARS 015873,000268: 37,2311 04616 ALIGNCOA TC BANKCALL 015874,000269: 37,2312 17716 CADR IMUSTALL 015875,000270: 37,2313 03047 TC SOMERR2 015876,000271: 37,2314 01571 TC ZERONDX 015877,000272: 015878,000273: 37,2315 00006 IMUSLLLG EXTEND 015879,000274: 37,2316 23571 QXCH ZERONDX 015880,000275: 37,2317 02311 TC ALIGNCOA 015881,000276: 015882,000277: 37,2320 00006 FINIMUDD EXTEND 015883,000278: 37,2321 23571 QXCH ZERONDX 015884,000279: 37,2322 04616 TC BANKCALL 015885,000280: 37,2323 17210 CADR IMUFINE 015886,000281: 37,2324 02311 TC ALIGNCOA 015887,000282: 015888,000283: 37,2325 00006 IMUZERR EXTEND 015889,000284: 37,2326 23571 QXCH ZERONDX 015890,000285: 37,2327 04616 TC BANKCALL 015891,000286: 37,2330 16714 CADR IMUZERO 015892,000287: 37,2331 02311 TC ALIGNCOA 015893,000288: 015894,000289: 37,2332 00006 CHECKG EXTEND # PIP PULSE CATCHING ROUTINE 015895,000290: 37,2333 23417 QXCH QPLACE 015896,000291: 37,2334 02342 TC +6 015897,000292: 37,2335 00003 CHECKG1 RELINT 015898,000293: 37,2336 30067 CA NEWJOB 015899,000294: 37,2337 00006 EXTEND 015900,000295: 37,2340 62346 BZMF +6 015901,000296: 37,2341 05122 TC CHANG1 015902,000297: 37,2342 00004 INHINT 015903,000298: 37,2343 51415 INDEX PIPINDEX 015904,000299: 37,2344 40037 CS PIPAX 015905,000300: 37,2345 55571 TS ZERONDX 015906,000301: 37,2346 00004 INHINT 015907,000302: # Page 379 015908,000303: 37,2347 51415 INDEX PIPINDEX 015909,000304: 37,2350 30037 CA PIPAX 015910,000305: 37,2351 61571 AD ZERONDX 015911,000306: 37,2352 00006 EXTEND 015912,000307: 37,2353 12335 BZF CHECKG1 015913,000308: 37,2354 51415 INDEX PIPINDEX 015914,000309: 37,2355 30037 CA PIPAX 015915,000310: 37,2356 51537 INDEX RESULTCT 015916,000311: 37,2357 55472 TS DATAPL 015917,000312: 37,2360 04102 TC FINETIME 015918,000313: 37,2361 51537 INDEX RESULTCT 015919,000314: 37,2362 55473 TS DATAPL +1 015920,000315: 37,2363 51537 INDEX RESULTCT 015921,000316: 37,2364 23474 LXCH DATAPL +2 015922,000317: 37,2365 00003 RELINT 015923,000318: 37,2366 01417 ENDCHKG TC QPLACE 015924,000319: 015925,000320: 37,2367 54001 ZEROING TS L 015926,000321: 37,2370 12372 TCF +2 015927,000322: 37,2371 55571 ZEROING1 TS ZERONDX 015928,000323: 37,2372 34755 CAF ZERO 015929,000324: 37,2373 50001 INDEX L 015930,000325: 37,2374 54000 TS 0 015931,000326: 37,2375 24001 INCR L 015932,000327: 37,2376 11571 CCS ZERONDX 015933,000328: 37,2377 12371 TCF ZEROING1 015934,000329: 37,2400 00002 TC Q 015935,000330: 015936,000331: # Page 380 015937,000332: 37,2401 65345 ERTHRVSE DLOAD PDDL 015938,000333: 37,2402 37057 SCHZEROS # PD24 = (SIN -COS 0)(OMEG/MS) 015939,000334: 37,2403 02403 LATITUDE 015940,000335: 37,2404 57546 COS DCOMP 015941,000336: 37,2405 73525 PDDL SIN 015942,000337: 37,2406 02403 LATITUDE 015943,000338: 37,2407 74266 VDEF VXSC 015944,000339: 37,2410 36001 OMEG/MS 015945,000340: 37,2411 02405 STORE ERVECTOR 015946,000341: 37,2412 77634 RTB 015947,000342: 37,2413 21573 LOADTIME 015948,000343: 37,2414 26433 STOVL TMARK 015949,000344: 37,2415 37057 SCHZEROS 015950,000345: 37,2416 02564 STORE ERCOMP 015951,000346: 37,2417 77616 RVQ 015952,000347: 015953,000348: 37,2420 47020 EARTHR ITA RTB 015954,000349: 37,2421 00051 S2 015955,000350: 37,2422 21573 LOADTIME 015956,000351: 37,2423 02431 STORE TEMPTIME 015957,000352: 37,2424 51025 DSU BPL 015958,000353: 37,2425 02433 TMARK 015959,000354: 37,2426 76431 ERTHR 015960,000355: 37,2427 77624 CALL 015961,000356: 37,2430 76275 OVERFFIX 015962,000357: 37,2431 74261 ERTHR SL VXSC 015963,000358: 37,2432 20212 9D 015964,000359: 37,2433 02405 ERVECTOR 015965,000360: 37,2434 53321 MXV VAD 015966,000361: 37,2435 02643 XSM 015967,000362: 37,2436 02564 ERCOMP 015968,000363: 37,2437 16564 STODL ERCOMP 015969,000364: 37,2440 02431 TEMPTIME 015970,000365: 37,2441 02433 STORE TMARK 015971,000366: 37,2442 47170 AXT,1 RTB 015972,000367: 37,2443 02563 ECADR ERCOMP 015973,000368: 37,2444 21705 PULSEIMU 015974,000369: 37,2445 77650 GOTO 015975,000370: 37,2446 00051 S2 015976,000371: 015977,000372: 37,2447 00006 EARTHR* EXTEND 015978,000373: 37,2450 23420 QXCH QPLACES 015979,000374: 37,2451 06037 TC INTPRET 015980,000375: 37,2452 77624 CALL 015981,000376: 37,2453 76420 EARTHR 015982,000377: 37,2454 77776 EXIT 015983,000378: 37,2455 02315 TC IMUSLLLG 015984,000379: 37,2456 01420 TC QPLACES 015985,000380: 015986,000381: 37,2457 00006 SHOW EXTEND 015987,000382: # Page 381 015988,000383: 37,2460 23417 QXCH QPLACE 015989,000384: 37,2461 31416 SHOW1 CA POSITON 015990,000385: 37,2462 55052 TS DSPTEM2 +2 015991,000386: 37,2463 32472 CA VB06N98 015992,000387: 37,2464 04616 TC BANKCALL 015993,000388: 37,2465 20476 CADR GOFLASH 015994,000389: 37,2466 02270 TC ENDTEST1 # V34 015995,000390: 37,2467 01417 TC QPLACE # V33 015996,000391: 37,2470 12461 TCF SHOW1 015997,000392: 015998,000393: 37,2471 07626 3990DEC DEC 3990 B-14 015999,000394: 37,2472 01542 VB06N98 VN 0698 016000,000395: 37,2473 01451 VN0641 VN 0641 016001,000396: 37,2474 4361 DEC17 = ND1 016002,000397: 37,2474 00072 DEC58 DEC 58 B-14 016003,000398: 37,2475 02737 OGCPL ECADR OGC 016004,000399: 37,2476 4777 1SECX = 1SEC 016005,000400: 37,2476 01664 XNBADR GENADR XNB 016006,000401: 37,2477 01642 XSMADR GENADR XSM 016007,000402: 4102 BLOCK 2 016008,000403: 4102 COUNT* $$/P07 016009,000404: 4102 00004 FINETIME INHINT # RETURNS WITH INTERRUPT INHIBITED 016010,000405: 4103 00006 EXTEND 016011,000406: 4104 00004 READ LOSCALAR 016012,000407: 4105 54001 TS L 016013,000408: 4106 00006 EXTEND 016014,000409: 4107 06004 RXOR LOSCALAR 016015,000410: 4110 00006 EXTEND 016016,000411: 4111 14115 BZF +4 016017,000412: 4112 00006 EXTEND 016018,000413: 4113 00004 READ LOSCALAR 016019,000414: 4114 54001 TS L 016020,000415: 4115 44733 +4 CS POSMAX 016021,000416: 4116 60001 AD L 016022,000417: 4117 00006 EXTEND 016023,000418: 4120 14103 BZF FINETIME +1 016024,000419: 4121 00006 EXTEND 016025,000420: 4122 00003 READ HISCALAR 016026,000421: 4123 00002 TC Q 016027,000422: End of include-file IMU_PERFORMANCE_TEST_2.agc. Parent file is MAIN.agc