Source Code
016011,000001: # Copyright: Public domain.
016012,000002: # Filename: IMU_PERFORMANCE_TESTS_4.agc
016013,000003: # Purpose: Part of the source code for Luminary 1A build 099.
016014,000004: # It is part of the source code for the Lunar Module's (LM)
016015,000005: # Apollo Guidance Computer (AGC), for Apollo 11.
016016,000006: # Assembler: yaYUL
016017,000007: # Contact: Ron Burkey <info@sandroid.org>.
016018,000008: # Website: www.ibiblio.org/apollo.
016019,000009: # Pages: 382-389
016020,000010: # Mod history: 2009-05-17 RSB Adapted from the corresponding
016021,000011: # Luminary131 file, using page
016022,000012: # images from Luminary 1A.
016023,000013:
016024,000014: # This source code has been transcribed or otherwise adapted from
016025,000015: # digitized images of a hardcopy from the MIT Museum. The digitization
016026,000016: # was performed by Paul Fjeld, and arranged for by Deborah Douglas of
016027,000017: # the Museum. Many thanks to both. The images (with suitable reduction
016028,000018: # in storage size and consequent reduction in image quality as well) are
016029,000019: # available online at www.ibiblio.org/apollo. If for some reason you
016030,000020: # find that the images are illegible, contact me at info@sandroid.org
016031,000021: # about getting access to the (much) higher-quality images which Paul
016032,000022: # actually created.
016033,000023:
016034,000024: # Notations on the hardcopy document read, in part:
016035,000025:
016036,000026: # Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
016037,000027: # 16:27 JULY 14, 1969
016038,000028:
016039,000029: # Page 382
016040,000030: # PROGRAM -- IMU PERFORMANCE TESTS 4
016041,000031: # DATE -- NOV 15, 1966
016042,000032: # BY -- GEORGE SCHMIDT IL7-146 EXT 1126
016043,000033: # MOD NO-ZERO
016044,000034:
016045,000035: # FUNCITONAL DESCRIPTION
016046,000036:
016047,000037: # THIS SECTION CONSISTS OF THE FILTER FOR THE GYRO DRIFT TESTS. NO COMPASS
016048,000038: # IS DONE IN LEM. FOR A DESCRIPTION OF THE FILTER SEE E-1973. THIS
016049,000039: # SECTION IS ENTERED FROM IMU 2. IT RETURNS THERE AT END OF TEST.
016050,000040:
016051,000041: # EARTHR,OGC ZERO,ERTHRVSE
016052,000042:
016053,000043: # NORMAL EXIT
016054,000044:
016055,000045: # LENGTHOT GOES TO ZERO -- RETURN TO IMU PERF TESTS 2 CONTROL
016056,000046:
016057,000047: # ALARMS
016058,000048:
016059,000049: # 1600 OVERFLOW IN DRIFT TEST
016060,000050: # 1601 BAD IMU MODING IN ANY ROUTINE THAT USES IMUSTALL
016061,000051: # OUTPUT
016062,000052:
016063,000053: # FLASHING DISPLAY OF RESULTS -- CONTROLLED IN IMU PERF TESTS 2
016064,000054:
016065,000055: # DEBRIS
016066,000056:
016067,000057: # ALL CENTRALS -- ALL OF EBANK XSM
016068,000058:
016069,000059: # Page 383
016070,000060: 33,2045 BANK 33
016071,000061: 37,2000 SETLOC IMU4
016072,000062: 37,2000 BANK
016073,000063: 37,2500 COUNT* $$/P07
016074,000064:
016075,000065: 37,2500 E5,1642 EBANK= XSM
016076,000066:
016077,000067: 37,2500 00004 ESTIMS INHINT
016078,000068: 37,2501 31572 CAE 1SECXT
016079,000069: 37,2502 05173 TC TWIDDLE
016080,000070: 37,2503 E5,1642 EBANK= XSM
016081,000071: 37,2503 02536 ADRES ALLOOP
016082,000072: 37,2504 34755 CAF ZERO # ZERO THE PIPAS
016083,000073: 37,2505 54037 TS PIPAX
016084,000074: 37,2506 54040 TS PIPAY
016085,000075: 37,2507 54041 TS PIPAZ
016086,000076: 37,2510 00003 RELINT
016087,000077: 37,2511 33075 CA 77DECML
016088,000078: 37,2512 55571 TS ZERONDX
016089,000079: 37,2513 33076 CA ALXXXZ
016090,000080: 37,2514 02367 TC ZEROING
016091,000081: 37,2515 06037 TC INTPRET
016092,000082: 37,2516 77735 SLOAD
016093,000083: 37,2517 37057 SCHZEROS
016094,000084: 37,2520 25477 STOVL GCOMPSW -1
016095,000085: 37,2521 37070 INTVAL +2
016096,000086: 37,2522 26445 STOVL ALX1S
016097,000087: 37,2523 37057 SCHZEROS
016098,000088: 37,2524 00325 STORE DELVX
016099,000089: 37,2525 01472 STORE GCOMP
016100,000090: 37,2526 77735 SLOAD
016101,000091: 37,2527 02441 TORQNDX
016102,000092: 37,2530 50076 DCOMP BMN
016103,000093: 37,2531 76534 VERTSKIP
016104,000094: 37,2532 77624 CALL
016105,000095: 37,2533 76401 ERTHRVSE
016106,000096: 37,2534 77776 VERTSKIP EXIT
016107,000097: 37,2535 03035 TC SLEEPIE +1
016108,000098:
016109,000099: # Page 384
016110,000100: 37,2536 31576 ALLOOP CA OVFLOWCK
016111,000101: 37,2537 00006 EXTEND
016112,000102: 37,2540 12542 BZF +2
016113,000103: 37,2541 05261 TC TASKOVER
016114,000104: 37,2542 11530 CCS ALTIM
016115,000105: 37,2543 30000 CA A # SHOULD NEVER HIT THIS LOCATION
016116,000106: 37,2544 55531 TS ALTIMS
016117,000107: 37,2545 40000 CS A
016118,000108: 37,2546 55530 TS ALTIM
016119,000109: 37,2547 44753 CS ONE
016120,000110: 37,2550 61562 AD GEOCOMPS
016121,000111: 37,2551 00006 EXTEND
016122,000112: 37,2552 12556 BZF +4
016123,000113: 37,2553 31412 CA LENGTHOT
016124,000114: 37,2554 00006 EXTEND
016125,000115: 37,2555 62562 BZMF +5
016126,000116: 37,2556 31572 CAE 1SECXT
016127,000117: 37,2557 05173 TC TWIDDLE
016128,000118: 37,2560 E5,1642 EBANK= XSM
016129,000119: 37,2560 02536 ADRES ALLOOP
016130,000120: 37,2561 34755 CAF ZERO
016131,000121: 37,2562 56037 XCH PIPAX
016132,000122: 37,2563 54324 TS DELVX
016133,000123: 37,2564 34755 CAF ZERO
016134,000124: 37,2565 56040 XCH PIPAY
016135,000125: 37,2566 54326 TS DELVY
016136,000126: 37,2567 34755 CAF ZERO
016137,000127: 37,2570 56041 XCH PIPAZ
016138,000128: 37,2571 54330 TS DELVZ
016139,000129: 37,2572 34736 SPECSTS CAF PRIO20
016140,000130: 37,2573 05105 TC FINDVAC
016141,000131: 37,2574 E5,1642 EBANK= XSM
016142,000132: 37,2574 02577 76065 2CADR ALFLT # START THE JOB
016143,000133:
016144,000134: 37,2576 05261 TC TASKOVER
016145,000135:
016146,000136: # Page 385
016147,000137: 37,2577 11562 ALFLT CCS GEOCOMPS
016148,000138: 37,2600 02602 TC +2
016149,000139: 37,2601 02604 TC NORMLOP
016150,000140: 37,2602 04616 TC BANKCALL
016151,000141: 37,2603 15263 CADR 1/PIPA
016152,000142: 37,2604 06037 NORMLOP TC INTPRET
016153,000143: 37,2605 77745 DLOAD
016154,000144: 37,2606 37066 INTVAL
016155,000145: 37,2607 24051 STOVL S1
016156,000146: 37,2610 00325 DELVX
016157,000147: 37,2611 76505 VXM VSL1
016158,000148: 37,2612 02643 XSM
016159,000149: 37,2613 57545 DLOAD DCOMP
016160,000150: 37,2614 00160 MPAC +3
016161,000151: 37,2615 16523 STODL DPIPAY
016162,000152: 37,2616 00162 MPAC +5
016163,000153: 37,2617 02527 STORE DPIPAZ
016164,000154:
016165,000155: 37,2620 76001 SETPD AXT,1
016166,000156: 37,2621 00001 0
016167,000157: 37,2622 00010 8D
016168,000158: 37,2623 57535 SLOAD DCOMP
016169,000159: 37,2624 02563 GEOCOMPS
016170,000160: 37,2625 77640 BMN
016171,000161: 37,2626 76772 PERFERAS
016172,000162: 37,2627 50135 ALCGKK SLOAD BMN
016173,000163: 37,2630 02532 ALTIMS
016174,000164: 37,2631 76644 ALFLT3
016175,000165: 37,2632 72174 ALKCG AXT,2 LXA,1 # LOADS SLOPES AND TIME CONSTANTS AT RQST
016176,000166: 37,2633 00014 12D
016177,000167: 37,2634 02444 ALX1S
016178,000168: 37,2635 62143 ALKCG2 DLOAD* INCR,1
016179,000169: 37,2636 02243 ALFDK +144D,1
016180,000170: 37,2637 77775 DEC -2 B-14
016181,000171: 37,2640 12545 STORE ALDK +10D,2
016182,000172: 37,2641 66104 TIX,2 SXA,1
016183,000173: 37,2642 76635 ALKCG2
016184,000174: 37,2643 02444 ALX1S
016185,000175:
016186,000176: 37,2644 77770 ALFLT3 AXT,1
016187,000177: 37,2645 00010 8D
016188,000178: 37,2646 41343 DELMLP DLOAD* DMP
016189,000179: 37,2647 02533 DPIPAY +8D,1
016190,000180: 37,2650 37100 PIPASC
016191,000181: 37,2651 43661 SLR BDSU*
016192,000182: 37,2652 21212 9D
016193,000183: 37,2653 02501 INTY +8D,1
016194,000184: 37,2654 06501 STORE INTY +8D,1
016195,000185: 37,2655 40725 PDDL DMP*
016196,000186: 37,2656 37102 VELSC
016197,000187: # Page 386
016198,000188: 37,2657 02521 VLAUN +8D,1
016199,000189: 37,2660 77732 SL2R
016200,000190: 37,2661 45425 DSU STADR
016201,000191: 37,2662 71216 STORE DELM +8D,1
016202,000192: 37,2663 06563 STORE DELM +10D,1
016203,000193: 37,2664 77100 TIX,1 AXT,2
016204,000194: 37,2665 76646 DELMLP
016205,000195: 37,2666 00004 4
016206,000196: 37,2667 56743 ALILP DLOAD* DMPR*
016207,000197: 37,2670 75324 ALK +4,2
016208,000198: 37,2671 75240 ALDK +4,2
016209,000199: 37,2672 12453 STORE ALK +4,2
016210,000200: 37,2673 77104 TIX,2 AXT,2
016211,000201: 37,2674 76667 ALILP
016212,000202: 37,2675 00010 8D
016213,000203: 37,2676 66140 ALKLP LXC,1 SXA,1
016214,000204: 37,2677 02445 CMPX1
016215,000205: 37,2700 02445 CMPX1
016216,000206: 37,2701 56743 DLOAD* DMPR*
016217,000207: 37,2702 02450 ALK +1,1
016218,000208: 37,2703 75216 DELM +8D,2
016219,000209: 37,2704 77613 DAD*
016220,000210: 37,2705 75276 INTY +8D,2
016221,000211: 37,2706 12501 STORE INTY +8D,2
016222,000212: 37,2707 42743 DLOAD* DAD*
016223,000213: 37,2710 75314 ALK +12D,2
016224,000214: 37,2711 75230 ALDK +12D,2
016225,000215: 37,2712 12463 STORE ALK +12D,2
016226,000216: 37,2713 42673 DMPR* DAD*
016227,000217: 37,2714 75216 DELM +8D,2
016228,000218: 37,2715 75266 INTY +16D,2
016229,000219: 37,2716 12511 STORE INTY +16D,2
016230,000220: 37,2717 40743 DLOAD* DMP*
016231,000221: 37,2720 37105 ALSK +1,1
016232,000222: 37,2721 75216 DELM +8D,2
016233,000223: 37,2722 42772 SL1R DAD*
016234,000224: 37,2723 75256 VLAUN +8D,2
016235,000225: 37,2724 12521 STORE VLAUN +8D,2
016236,000226: 37,2725 76104 TIX,2 AXT,1
016237,000227: 37,2726 76676 ALKLP
016238,000228: 37,2727 00010 8D
016239,000229:
016240,000230: 37,2730 64743 LOOSE DLOAD* PDDL*
016241,000231: 37,2731 02523 ACCWD +8D,1
016242,000232: 37,2732 02521 VLAUN +8D,1
016243,000233: 37,2733 55523 PDDL* VDEF
016244,000234: 37,2734 02531 POSNV +8D,1
016245,000235: 37,2735 76521 MXV VSL1
016246,000236: 37,2736 02001 TRANSM1
016247,000237: # Page 387
016248,000238: 37,2737 77745 DLOAD
016249,000239: 37,2740 00155 MPAC
016250,000240: 37,2741 06531 STORE POSNV +8D,1
016251,000241: 37,2742 77745 DLOAD
016252,000242: 37,2743 00160 MPAC +3
016253,000243: 37,2744 06521 STORE VLAUN +8D,1
016254,000244: 37,2745 77745 DLOAD
016255,000245: 37,2746 00162 MPAC +5
016256,000246: 37,2747 06523 STORE ACCWD +8D,1
016257,000247: 37,2750 77700 TIX,1
016258,000248: 37,2751 76730 LOOSE
016259,000249:
016260,000250: 37,2752 76174 AXT,2 AXT,1 # EVALUATE SINES AND COSINES
016261,000251: 37,2753 00006 6
016262,000252: 37,2754 00002 2
016263,000253: 37,2755 57343 BOOP DLOAD* DMPR
016264,000254: 37,2756 02503 ANGX +2,1
016265,000255: 37,2757 37110 GEORGEJ
016266,000256: 37,2760 77722 SR2R
016267,000257: 37,2761 73406 PUSH SIN
016268,000258: 37,2762 56072 SL3R XAD,1
016269,000259: 37,2763 00046 X1
016270,000260: 37,2764 10021 STORE 16D,2
016271,000261: 37,2765 77745 DLOAD
016272,000262: 37,2766 77746 COS
016273,000263: 37,2767 10027 STORE 22D,2 # COSINES
016274,000264: 37,2770 77704 TIX,2
016275,000265: 37,2771 76755 BOOP
016276,000266:
016277,000267: 37,2772 77776 PERFERAS EXIT
016278,000268: 37,2773 35016 CA EBANK7
016279,000269: 37,2774 54003 TS EBANK
016280,000270: 37,2775 E7,1400 EBANK= ATIGINC
016281,000271: 37,2775 01400 TC ATIGINC # GOTO ERASABLE TO CALCULATE ONLY TO RETN
016282,000272:
016283,000273: # CAUTION
016284,000274:
016285,000275: # THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED
016286,000276: # BEFORE ANY ATTEMPT IS MAKE TO RUN THE IMU PERFORMANCE TEST
016287,000277:
016288,000278: 37,2776 E5,1400 EBANK= AZIMUTH
016289,000279: 37,2776 11412 CCS LENGTHOT
016290,000280: 37,2777 03034 TC SLEEPIE
016291,000281: 37,3000 11440 CCS TORQNDX
016292,000282: 37,3001 13003 TCF +2
016293,000283: 37,3002 03005 TC SETUPER1
016294,000284: 37,3003 30032 CA CDUX
016295,000285: 37,3004 55414 TS LOSVEC +1 # FOR TROUBLESHOOTING VD POSNS 2$4
016296,000286:
016297,000287: # Page 388
016298,000288: 37,3005 06037 SETUPER1 TC INTPRET
016299,000289: 37,3006 65345 DLOAD PDDL # ANGLES FROM DRIFT TEST ONLY
016300,000290: 37,3007 02473 ANGZ
016301,000291: 37,3010 02477 ANGY
016302,000292: 37,3011 55525 PDDL VDEF
016303,000293: 37,3012 02501 ANGX
016304,000294: 37,3013 74276 VCOMP VXSC
016305,000295: 37,3014 37110 GEORGEJ
016306,000296: 37,3015 74521 MXV VSR1
016307,000297: 37,3016 02643 XSM
016308,000298: 37,3017 02740 STORE OGC
016309,000299: 37,3020 77776 EXIT
016310,000300:
016311,000301: 37,3021 32475 CA OGCPL
016312,000302: 37,3022 04616 TC BANKCALL
016313,000303: 37,3023 17323 CADR IMUPULSE
016314,000304: 37,3024 02315 TC IMUSLLLG
016315,000305: 37,3025 11440 GEOSTRT4 CCS TORQNDX # ONLY POSITIVE IF IN VERTICAL DRIFT TEST
016316,000306: 37,3026 02263 TC VALMIS
016317,000307: 37,3027 06037 TC INTPRET
016318,000308: 37,3030 77624 CALL
016319,000309: 37,3031 76401 ERTHRVSE
016320,000310: 37,3032 77776 EXIT
016321,000311: 37,3033 02117 TC TORQUE
016322,000312:
016323,000313: 37,3034 55412 SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGTHOT
016324,000314: 37,3035 11440 CCS TORQNDX # ARE WE DOING VERTDRIFT
016325,000315: 37,3036 02447 TC EARTHR*
016326,000316: 37,3037 05155 TC ENDOFJOB
016327,000317:
016328,000318: 37,3040 35014 SOMEERRR CA EBANK5
016329,000319: 37,3041 54003 TS EBANK
016330,000320: 37,3042 34753 CA ONE
016331,000321: 37,3043 55576 TS OVFLOWCK # STOP ALLOOP FROM CALLING ITSELF
016332,000322: 37,3044 05567 TC ALARM
016333,000323: 37,3045 01600 OCT 1600
016334,000324: 37,3046 02270 TC ENDTEST1
016335,000325: 37,3047 33054 SOMERR2 CAF OCT1601
016336,000326: 37,3050 05744 TC VARALARM
016337,000327: 37,3051 05516 TC DOWNFLAG
016338,000328: 37,3052 00007 ADRES IMUSE
016339,000329: 37,3053 05155 TC ENDOFJOB
016340,000330:
016341,000331: 37,3054 01601 OCT1601 OCT 01601
016342,000332: 37,3055 06200 DEC585 OCT 06200 # 3200 B+14 ORDER IS IMPORTANT
016343,000333: 37,3056 00000 00000 SCHZEROS 2DEC .00000000
016344,000334: # Page 389
016345,000335: 37,3060 00000 00000 2DEC .00000000
016346,000336:
016347,000337: 37,3062 00000 OCT 00000
016348,000338: 37,3063 00000 ONEDPP OCT 00000 # ORDER IS IMPORTANT
016349,000339: 37,3064 00001 OCT 00001
016350,000340:
016351,000341: 37,3065 00004 INTVAL OCT 4
016352,000342: 37,3066 00002 OCT 2
016353,000343: 37,3067 00220 DEC 144 B-14
016354,000344: 37,3070 77776 DEC -1 B-14
016355,000345: 37,3071 35730 00035 SOUPLY 2DEC .93505870 # INITIAL GAINS FOR PIP OUTPUTS
016356,000346:
016357,000347: 37,3073 10317 17550 2DEC .26266423 # INITIAL GAINS/4 FOR ERECTION ANGLES
016358,000348:
016359,000349: 37,3075 00115 77DECML DEC 77 B-14
016360,000350: 37,3076 01443 ALXXXZ GENADR ALX1S -1
016361,000351: 37,3077 04133 02265 PIPASC 2DEC .13055869
016362,000352:
016363,000353: 37,3101 57223 66451 VELSC 2DEC -.52223476 # 512/980.402
016364,000354:
016365,000355: 37,3103 05427 12577 ALSK 2DEC .17329931 # SSWAY VEL GAIN X 980.402/4096
016366,000356:
016367,000357: 37,3105 77567 44202 2DEC -.00835370 # SSWAY ACCEL GAIN X 980.402/4096
016368,000358:
016369,000359: 37,3107 24276 14066 GEORGEJ 2DEC .63661977
016370,000360:
016371,000361: 37,3111 23073 11773 GEORGEK 2DEC .59737013
016372,000362:
End of include-file IMU_PERFORMANCE_TESTS_4.agc. Parent file is MAIN.agc