Source Code

016029,000001: # Copyright: Public domain. 016030,000002: # Filename: IMU_PERFORMANCE_TESTS_4.agc 016031,000003: # Purpose: Part of the source code for Luminary 1A build 099. 016032,000004: # It is part of the source code for the Lunar Module's (LM) 016033,000005: # Apollo Guidance Computer (AGC), for Apollo 11. 016034,000006: # Assembler: yaYUL 016035,000007: # Contact: Ron Burkey <info@sandroid.org>. 016036,000008: # Website: www.ibiblio.org/apollo. 016037,000009: # Pages: 382-389 016038,000010: # Mod history: 2009-05-17 RSB Adapted from the corresponding 016039,000011: # Luminary131 file, using page 016040,000012: # images from Luminary 1A. 016041,000013: 016042,000014: # This source code has been transcribed or otherwise adapted from 016043,000015: # digitized images of a hardcopy from the MIT Museum. The digitization 016044,000016: # was performed by Paul Fjeld, and arranged for by Deborah Douglas of 016045,000017: # the Museum. Many thanks to both. The images (with suitable reduction 016046,000018: # in storage size and consequent reduction in image quality as well) are 016047,000019: # available online at www.ibiblio.org/apollo. If for some reason you 016048,000020: # find that the images are illegible, contact me at info@sandroid.org 016049,000021: # about getting access to the (much) higher-quality images which Paul 016050,000022: # actually created. 016051,000023: 016052,000024: # Notations on the hardcopy document read, in part: 016053,000025: 016054,000026: # Assemble revision 001 of AGC program LMY99 by NASA 2021112-61 016055,000027: # 16:27 JULY 14, 1969 016056,000028: 016057,000029: # Page 382 016058,000030: # PROGRAM -- IMU PERFORMANCE TESTS 4 016059,000031: # DATE -- NOV 15, 1966 016060,000032: # BY -- GEORGE SCHMIDT IL7-146 EXT 1126 016061,000033: # MOD NO-ZERO 016062,000034: 016063,000035: # FUNCITONAL DESCRIPTION 016064,000036: 016065,000037: # THIS SECTION CONSISTS OF THE FILTER FOR THE GYRO DRIFT TESTS. NO COMPASS 016066,000038: # IS DONE IN LEM. FOR A DESCRIPTION OF THE FILTER SEE E-1973. THIS 016067,000039: # SECTION IS ENTERED FROM IMU 2. IT RETURNS THERE AT END OF TEST. 016068,000040: 016069,000041: # EARTHR,OGC ZERO,ERTHRVSE 016070,000042: 016071,000043: # NORMAL EXIT 016072,000044: 016073,000045: # LENGTHOT GOES TO ZERO -- RETURN TO IMU PERF TESTS 2 CONTROL 016074,000046: 016075,000047: # ALARMS 016076,000048: 016077,000049: # 1600 OVERFLOW IN DRIFT TEST 016078,000050: # 1601 BAD IMU MODING IN ANY ROUTINE THAT USES IMUSTALL 016079,000051: # OUTPUT 016080,000052: 016081,000053: # FLASHING DISPLAY OF RESULTS -- CONTROLLED IN IMU PERF TESTS 2 016082,000054: 016083,000055: # DEBRIS 016084,000056: 016085,000057: # ALL CENTRALS -- ALL OF EBANK XSM 016086,000058: 016087,000059: # Page 383 016088,000060: 33,2045 BANK 33 016089,000061: 37,2000 SETLOC IMU4 016090,000062: 37,2000 BANK 016091,000063: 37,2500 COUNT* $$/P07 016092,000064: 016093,000065: 37,2500 E5,1642 EBANK= XSM 016094,000066: 016095,000067: 37,2500 00004 ESTIMS INHINT 016096,000068: 37,2501 31572 CAE 1SECXT 016097,000069: 37,2502 05173 TC TWIDDLE 016098,000070: 37,2503 E5,1642 EBANK= XSM 016099,000071: 37,2503 02536 ADRES ALLOOP 016100,000072: 37,2504 34755 CAF ZERO # ZERO THE PIPAS 016101,000073: 37,2505 54037 TS PIPAX 016102,000074: 37,2506 54040 TS PIPAY 016103,000075: 37,2507 54041 TS PIPAZ 016104,000076: 37,2510 00003 RELINT 016105,000077: 37,2511 33075 CA 77DECML 016106,000078: 37,2512 55571 TS ZERONDX 016107,000079: 37,2513 33076 CA ALXXXZ 016108,000080: 37,2514 02367 TC ZEROING 016109,000081: 37,2515 06037 TC INTPRET 016110,000082: 37,2516 77735 SLOAD 016111,000083: 37,2517 37057 SCHZEROS 016112,000084: 37,2520 25477 STOVL GCOMPSW -1 016113,000085: 37,2521 37070 INTVAL +2 016114,000086: 37,2522 26445 STOVL ALX1S 016115,000087: 37,2523 37057 SCHZEROS 016116,000088: 37,2524 00325 STORE DELVX 016117,000089: 37,2525 01472 STORE GCOMP 016118,000090: 37,2526 77735 SLOAD 016119,000091: 37,2527 02441 TORQNDX 016120,000092: 37,2530 50076 DCOMP BMN 016121,000093: 37,2531 76534 VERTSKIP 016122,000094: 37,2532 77624 CALL 016123,000095: 37,2533 76401 ERTHRVSE 016124,000096: 37,2534 77776 VERTSKIP EXIT 016125,000097: 37,2535 03035 TC SLEEPIE +1 016126,000098: 016127,000099: # Page 384 016128,000100: 37,2536 31576 ALLOOP CA OVFLOWCK 016129,000101: 37,2537 00006 EXTEND 016130,000102: 37,2540 12542 BZF +2 016131,000103: 37,2541 05261 TC TASKOVER 016132,000104: 37,2542 11530 CCS ALTIM 016133,000105: 37,2543 30000 CA A # SHOULD NEVER HIT THIS LOCATION 016134,000106: 37,2544 55531 TS ALTIMS 016135,000107: 37,2545 40000 CS A 016136,000108: 37,2546 55530 TS ALTIM 016137,000109: 37,2547 44753 CS ONE 016138,000110: 37,2550 61562 AD GEOCOMPS 016139,000111: 37,2551 00006 EXTEND 016140,000112: 37,2552 12556 BZF +4 016141,000113: 37,2553 31412 CA LENGTHOT 016142,000114: 37,2554 00006 EXTEND 016143,000115: 37,2555 62562 BZMF +5 016144,000116: 37,2556 31572 CAE 1SECXT 016145,000117: 37,2557 05173 TC TWIDDLE 016146,000118: 37,2560 E5,1642 EBANK= XSM 016147,000119: 37,2560 02536 ADRES ALLOOP 016148,000120: 37,2561 34755 CAF ZERO 016149,000121: 37,2562 56037 XCH PIPAX 016150,000122: 37,2563 54324 TS DELVX 016151,000123: 37,2564 34755 CAF ZERO 016152,000124: 37,2565 56040 XCH PIPAY 016153,000125: 37,2566 54326 TS DELVY 016154,000126: 37,2567 34755 CAF ZERO 016155,000127: 37,2570 56041 XCH PIPAZ 016156,000128: 37,2571 54330 TS DELVZ 016157,000129: 37,2572 34736 SPECSTS CAF PRIO20 016158,000130: 37,2573 05105 TC FINDVAC 016159,000131: 37,2574 E5,1642 EBANK= XSM 016160,000132: 37,2574 02577 76065 2CADR ALFLT # START THE JOB 016161,000133: 016162,000134: 37,2576 05261 TC TASKOVER 016163,000135: 016164,000136: # Page 385 016165,000137: 37,2577 11562 ALFLT CCS GEOCOMPS 016166,000138: 37,2600 02602 TC +2 016167,000139: 37,2601 02604 TC NORMLOP 016168,000140: 37,2602 04616 TC BANKCALL 016169,000141: 37,2603 15263 CADR 1/PIPA 016170,000142: 37,2604 06037 NORMLOP TC INTPRET 016171,000143: 37,2605 77745 DLOAD 016172,000144: 37,2606 37066 INTVAL 016173,000145: 37,2607 24051 STOVL S1 016174,000146: 37,2610 00325 DELVX 016175,000147: 37,2611 76505 VXM VSL1 016176,000148: 37,2612 02643 XSM 016177,000149: 37,2613 57545 DLOAD DCOMP 016178,000150: 37,2614 00160 MPAC +3 016179,000151: 37,2615 16523 STODL DPIPAY 016180,000152: 37,2616 00162 MPAC +5 016181,000153: 37,2617 02527 STORE DPIPAZ 016182,000154: 016183,000155: 37,2620 76001 SETPD AXT,1 016184,000156: 37,2621 00001 0 016185,000157: 37,2622 00010 8D 016186,000158: 37,2623 57535 SLOAD DCOMP 016187,000159: 37,2624 02563 GEOCOMPS 016188,000160: 37,2625 77640 BMN 016189,000161: 37,2626 76772 PERFERAS 016190,000162: 37,2627 50135 ALCGKK SLOAD BMN 016191,000163: 37,2630 02532 ALTIMS 016192,000164: 37,2631 76644 ALFLT3 016193,000165: 37,2632 72174 ALKCG AXT,2 LXA,1 # LOADS SLOPES AND TIME CONSTANTS AT RQST 016194,000166: 37,2633 00014 12D 016195,000167: 37,2634 02444 ALX1S 016196,000168: 37,2635 62143 ALKCG2 DLOAD* INCR,1 016197,000169: 37,2636 02243 ALFDK +144D,1 016198,000170: 37,2637 77775 DEC -2 B-14 016199,000171: 37,2640 12545 STORE ALDK +10D,2 016200,000172: 37,2641 66104 TIX,2 SXA,1 016201,000173: 37,2642 76635 ALKCG2 016202,000174: 37,2643 02444 ALX1S 016203,000175: 016204,000176: 37,2644 77770 ALFLT3 AXT,1 016205,000177: 37,2645 00010 8D 016206,000178: 37,2646 41343 DELMLP DLOAD* DMP 016207,000179: 37,2647 02533 DPIPAY +8D,1 016208,000180: 37,2650 37100 PIPASC 016209,000181: 37,2651 43661 SLR BDSU* 016210,000182: 37,2652 21212 9D 016211,000183: 37,2653 02501 INTY +8D,1 016212,000184: 37,2654 06501 STORE INTY +8D,1 016213,000185: 37,2655 40725 PDDL DMP* 016214,000186: 37,2656 37102 VELSC 016215,000187: # Page 386 016216,000188: 37,2657 02521 VLAUN +8D,1 016217,000189: 37,2660 77732 SL2R 016218,000190: 37,2661 45425 DSU STADR 016219,000191: 37,2662 71216 STORE DELM +8D,1 016220,000192: 37,2663 06563 STORE DELM +10D,1 016221,000193: 37,2664 77100 TIX,1 AXT,2 016222,000194: 37,2665 76646 DELMLP 016223,000195: 37,2666 00004 4 016224,000196: 37,2667 56743 ALILP DLOAD* DMPR* 016225,000197: 37,2670 75324 ALK +4,2 016226,000198: 37,2671 75240 ALDK +4,2 016227,000199: 37,2672 12453 STORE ALK +4,2 016228,000200: 37,2673 77104 TIX,2 AXT,2 016229,000201: 37,2674 76667 ALILP 016230,000202: 37,2675 00010 8D 016231,000203: 37,2676 66140 ALKLP LXC,1 SXA,1 016232,000204: 37,2677 02445 CMPX1 016233,000205: 37,2700 02445 CMPX1 016234,000206: 37,2701 56743 DLOAD* DMPR* 016235,000207: 37,2702 02450 ALK +1,1 016236,000208: 37,2703 75216 DELM +8D,2 016237,000209: 37,2704 77613 DAD* 016238,000210: 37,2705 75276 INTY +8D,2 016239,000211: 37,2706 12501 STORE INTY +8D,2 016240,000212: 37,2707 42743 DLOAD* DAD* 016241,000213: 37,2710 75314 ALK +12D,2 016242,000214: 37,2711 75230 ALDK +12D,2 016243,000215: 37,2712 12463 STORE ALK +12D,2 016244,000216: 37,2713 42673 DMPR* DAD* 016245,000217: 37,2714 75216 DELM +8D,2 016246,000218: 37,2715 75266 INTY +16D,2 016247,000219: 37,2716 12511 STORE INTY +16D,2 016248,000220: 37,2717 40743 DLOAD* DMP* 016249,000221: 37,2720 37105 ALSK +1,1 016250,000222: 37,2721 75216 DELM +8D,2 016251,000223: 37,2722 42772 SL1R DAD* 016252,000224: 37,2723 75256 VLAUN +8D,2 016253,000225: 37,2724 12521 STORE VLAUN +8D,2 016254,000226: 37,2725 76104 TIX,2 AXT,1 016255,000227: 37,2726 76676 ALKLP 016256,000228: 37,2727 00010 8D 016257,000229: 016258,000230: 37,2730 64743 LOOSE DLOAD* PDDL* 016259,000231: 37,2731 02523 ACCWD +8D,1 016260,000232: 37,2732 02521 VLAUN +8D,1 016261,000233: 37,2733 55523 PDDL* VDEF 016262,000234: 37,2734 02531 POSNV +8D,1 016263,000235: 37,2735 76521 MXV VSL1 016264,000236: 37,2736 02001 TRANSM1 016265,000237: # Page 387 016266,000238: 37,2737 77745 DLOAD 016267,000239: 37,2740 00155 MPAC 016268,000240: 37,2741 06531 STORE POSNV +8D,1 016269,000241: 37,2742 77745 DLOAD 016270,000242: 37,2743 00160 MPAC +3 016271,000243: 37,2744 06521 STORE VLAUN +8D,1 016272,000244: 37,2745 77745 DLOAD 016273,000245: 37,2746 00162 MPAC +5 016274,000246: 37,2747 06523 STORE ACCWD +8D,1 016275,000247: 37,2750 77700 TIX,1 016276,000248: 37,2751 76730 LOOSE 016277,000249: 016278,000250: 37,2752 76174 AXT,2 AXT,1 # EVALUATE SINES AND COSINES 016279,000251: 37,2753 00006 6 016280,000252: 37,2754 00002 2 016281,000253: 37,2755 57343 BOOP DLOAD* DMPR 016282,000254: 37,2756 02503 ANGX +2,1 016283,000255: 37,2757 37110 GEORGEJ 016284,000256: 37,2760 77722 SR2R 016285,000257: 37,2761 73406 PUSH SIN 016286,000258: 37,2762 56072 SL3R XAD,1 016287,000259: 37,2763 00046 X1 016288,000260: 37,2764 10021 STORE 16D,2 016289,000261: 37,2765 77745 DLOAD 016290,000262: 37,2766 77746 COS 016291,000263: 37,2767 10027 STORE 22D,2 # COSINES 016292,000264: 37,2770 77704 TIX,2 016293,000265: 37,2771 76755 BOOP 016294,000266: 016295,000267: 37,2772 77776 PERFERAS EXIT 016296,000268: 37,2773 35016 CA EBANK7 016297,000269: 37,2774 54003 TS EBANK 016298,000270: 37,2775 E7,1400 EBANK= ATIGINC 016299,000271: 37,2775 01400 TC ATIGINC # GOTO ERASABLE TO CALCULATE ONLY TO RETN 016300,000272: 016301,000273: # CAUTION 016302,000274: 016303,000275: # THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED 016304,000276: # BEFORE ANY ATTEMPT IS MAKE TO RUN THE IMU PERFORMANCE TEST 016305,000277: 016306,000278: 37,2776 E5,1400 EBANK= AZIMUTH 016307,000279: 37,2776 11412 CCS LENGTHOT 016308,000280: 37,2777 03034 TC SLEEPIE 016309,000281: 37,3000 11440 CCS TORQNDX 016310,000282: 37,3001 13003 TCF +2 016311,000283: 37,3002 03005 TC SETUPER1 016312,000284: 37,3003 30032 CA CDUX 016313,000285: 37,3004 55414 TS LOSVEC +1 # FOR TROUBLESHOOTING VD POSNS 2$4 016314,000286: 016315,000287: # Page 388 016316,000288: 37,3005 06037 SETUPER1 TC INTPRET 016317,000289: 37,3006 65345 DLOAD PDDL # ANGLES FROM DRIFT TEST ONLY 016318,000290: 37,3007 02473 ANGZ 016319,000291: 37,3010 02477 ANGY 016320,000292: 37,3011 55525 PDDL VDEF 016321,000293: 37,3012 02501 ANGX 016322,000294: 37,3013 74276 VCOMP VXSC 016323,000295: 37,3014 37110 GEORGEJ 016324,000296: 37,3015 74521 MXV VSR1 016325,000297: 37,3016 02643 XSM 016326,000298: 37,3017 02740 STORE OGC 016327,000299: 37,3020 77776 EXIT 016328,000300: 016329,000301: 37,3021 32475 CA OGCPL 016330,000302: 37,3022 04616 TC BANKCALL 016331,000303: 37,3023 17323 CADR IMUPULSE 016332,000304: 37,3024 02315 TC IMUSLLLG 016333,000305: 37,3025 11440 GEOSTRT4 CCS TORQNDX # ONLY POSITIVE IF IN VERTICAL DRIFT TEST 016334,000306: 37,3026 02263 TC VALMIS 016335,000307: 37,3027 06037 TC INTPRET 016336,000308: 37,3030 77624 CALL 016337,000309: 37,3031 76401 ERTHRVSE 016338,000310: 37,3032 77776 EXIT 016339,000311: 37,3033 02117 TC TORQUE 016340,000312: 016341,000313: 37,3034 55412 SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGTHOT 016342,000314: 37,3035 11440 CCS TORQNDX # ARE WE DOING VERTDRIFT 016343,000315: 37,3036 02447 TC EARTHR* 016344,000316: 37,3037 05155 TC ENDOFJOB 016345,000317: 016346,000318: 37,3040 35014 SOMEERRR CA EBANK5 016347,000319: 37,3041 54003 TS EBANK 016348,000320: 37,3042 34753 CA ONE 016349,000321: 37,3043 55576 TS OVFLOWCK # STOP ALLOOP FROM CALLING ITSELF 016350,000322: 37,3044 05567 TC ALARM 016351,000323: 37,3045 01600 OCT 1600 016352,000324: 37,3046 02270 TC ENDTEST1 016353,000325: 37,3047 33054 SOMERR2 CAF OCT1601 016354,000326: 37,3050 05744 TC VARALARM 016355,000327: 37,3051 05516 TC DOWNFLAG 016356,000328: 37,3052 00007 ADRES IMUSE 016357,000329: 37,3053 05155 TC ENDOFJOB 016358,000330: 016359,000331: 37,3054 01601 OCT1601 OCT 01601 016360,000332: 37,3055 06200 DEC585 OCT 06200 # 3200 B+14 ORDER IS IMPORTANT 016361,000333: 37,3056 00000 00000 SCHZEROS 2DEC .00000000 016362,000334: # Page 389 016363,000335: 37,3060 00000 00000 2DEC .00000000 016364,000336: 016365,000337: 37,3062 00000 OCT 00000 016366,000338: 37,3063 00000 ONEDPP OCT 00000 # ORDER IS IMPORTANT 016367,000339: 37,3064 00001 OCT 00001 016368,000340: 016369,000341: 37,3065 00004 INTVAL OCT 4 016370,000342: 37,3066 00002 OCT 2 016371,000343: 37,3067 00220 DEC 144 B-14 016372,000344: 37,3070 77776 DEC -1 B-14 016373,000345: 37,3071 35730 00035 SOUPLY 2DEC .93505870 # INITIAL GAINS FOR PIP OUTPUTS 016374,000346: 016375,000347: 37,3073 10317 17550 2DEC .26266423 # INITIAL GAINS/4 FOR ERECTION ANGLES 016376,000348: 016377,000349: 37,3075 00115 77DECML DEC 77 B-14 016378,000350: 37,3076 01443 ALXXXZ GENADR ALX1S -1 016379,000351: 37,3077 04133 02265 PIPASC 2DEC .13055869 016380,000352: 016381,000353: 37,3101 57223 66451 VELSC 2DEC -.52223476 # 512/980.402 016382,000354: 016383,000355: 37,3103 05427 12577 ALSK 2DEC .17329931 # SSWAY VEL GAIN X 980.402/4096 016384,000356: 016385,000357: 37,3105 77567 44202 2DEC -.00835370 # SSWAY ACCEL GAIN X 980.402/4096 016386,000358: 016387,000359: 37,3107 24276 14066 GEORGEJ 2DEC .63661977 016388,000360: 016389,000361: 37,3111 23073 11773 GEORGEK 2DEC .59737013 016390,000362: End of include-file IMU_PERFORMANCE_TESTS_4.agc. Parent file is MAIN.agc