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