Source Code

015589,000001: 015590,000002: 015591,000003: 015592,000004: 015593,000005: 015594,000006: 015595,000007: 015596,000008: 015597,000009: 015598,000010: 015599,000011: 015600,000012: 015601,000013: 015602,000014: 015603,000015: 015604,000016: 015605,000017: 015606,000018: 015607,000019: 015608,000020: 015609,000021: 015610,000022: 015611,000023: 015612,000024: 015613,000025: 015614,000026: 015615,000027: 015616,000028: 015617,000029: 015618,000030: 015619,000031: 015620,000032: 015621,000033: 015622,000034: 015623,000035: 015624,000036: 015625,000037: 015626,000038: 015627,000039: 015628,000040: 015629,000041: 015630,000042: 015631,000043: 015632,000044: 33,2045 015633,000045: 37,2000 015634,000046: 37,2000 015635,000047: 37,2002 E5,1416 015636,000048: 37,2002 015637,000049: < 015818,000230: 015819,000231: 015820,000232: 37,2252 015821,000233: 37,2253 015822,000234: 37,2254 < 015945,000357: 37,2432 015946,000358: 37,2433 015947,000359: 37,2434 015948,000360: 37,2435 015949,000361: 37,2436 015950,000362: 37,2437 015951,000363: 37,2440 015952,000364: 37,2441 015953,000365: 37,2442 015954,000366: 37,2443 015955,000367: 37,2444 015956,000368: 37,2445 015957,000369: 37,2446 015958,000370: < 015972,000384: 37,2462 015973,000385: 37,2463 015974,000386: 37,2464 015975,000387: 37,2465 015976,000388: 37,2466 015977,000389: 37,2467 015978,000390: 37,2470 015979,000391: < < < < # Copyright: Public domain. # Filename: IMU_PERFORMANCE_TEST_2.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey <info@sandroid.org>. # Website: www.ibiblio.org/apollo. # Pages: 373-381 # Mod history: 2009-05-17 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # Notations on the hardcopy document read, in part: # Assemble revision 001 of AGC program LMY99 by NASA 2021112-61 # 16:27 JULY 14, 1969 # Page 373 # NAME -- IMU PERFORMANCE TESTS 2 # DATE -- MARCH 20, 1967 # BY -- SYSTEM TEST GROUP 864-6900 EXT. 1274 # MODNO. -- ZERO # FUNCTIONAL DESCRIPTION # POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF # THE TESTS THEMSELVES. FOR A DESCRIPTION OF THESE SUBROUTINES AND THE # OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685. THEORETICAL REF. E-1973 BANK 33 SETLOC IMU2 BANK EBANK= POSITON COUNT* $$/P07 >015638,000050: 37,2002 05311 REDO TC NEWMODEX 00007 MM 07 B-14 454">015641,000053: 37,2004 02325 GEOIMUTT TC IMUZERR B">015642,000054: 37,2005 34755 IMUBACK CA ZERO 55414 TS NDXCTR 55440 TS TORQNDX 55441 TS TORQNDX +1 55576 TS OVFLOWCK C">015647,000059: 37,2012 34361 NBPOSPL CA DEC17 55571 TS ZERONDX 32476 CA XNBADR 02367 TC ZEROING 34736 CA HALF 55664 TS XNB /a>015653,000065: 37,2020 06037 GUESS TC INTPRET 84B">015654,000066: 37,2021 62545 LATAZCHK DLOAD SL2 02403 LATITUDE 15047 STODL DSPTEM1 +1 02401 AZIMUTH 77434 RTB EXIT 21614 1STO2S 56154 XCH MPAC 55045 TS DSPTEM1 32473 CAF VN0641 04616 TC BANKCALL 20476 CADR GOFLASH 02270 TC ENDTEST1 02037 TC +2 02031 TC -5 # Page 374 06037 TC INTPRET 47135 SLOAD RTB 01046 DSPTEM1 21576 CDULOGIC 02401 STORE AZIMUTH 60535 SLOAD SR2 01047 DSPTEM1 +1 02403 STORE LATITUDE 57546 COS DCOMP 77752 SL1 16437 STODL WANGI 02403 LATITUDE 72556 SIN SL1 16435 STODL WANGO 02401 AZIMUTH 73406 PUSH SIN 02675 STORE YNB +2 16705 STODL ZNB +4 77746 COS 02677 STORE YNB +4 77676 DCOMP C">015690,000102: 37,2064 36703 POSGMBL STCALL ZNB +2 47353 CALCGA 77776 EXIT 04616 TC BANKCALL 17000 CADR IMUCOARS 34736 CAF BIT14 # IF BIT14 SET, GIMBAL LOCK 70077 MASK FLAGWRD3 00006 EXTEND 12076 BZF +2 25414 INCR NDXCTR # +1 IF IN GIMBAL LOCK, OTHERWISE 0 05516 TC DOWNFLAG 00056 ADRES GLOKFAIL # RESET GIMBAL LOCK FLAG 02315 TC IMUSLLLG 11414 CCS NDXCTR # IF ONE GO AND DO A PIPA TEST ONLY 02126 TC PIPACHK # ALIGN AND MEASURE VERTICAL PIPA RATE 02320 TC FINIMUDD 00006 EXTEND 31575 DCA PERFDLAY 05277 TC LONGCALL # DELAY WHILE SUSPENSION STABILIZES EBANK= POSITON 02113 76065 2CADR GOESTIMS 32116 CA ESTICADR 05133 TC JOBSLEEP D53">015714,000126: 37,2113 32116 GOESTIMS CA ESTICADR 05137 TC JOBWAKE 05261 TC TASKOVER 452">015717,000129: 37,2116 76500 ESTICADR CADR ESTIMS >015718,000130: 37,2117 34755 TORQUE CA ZERO # Page 375 55050 TS DSPTEM2 31504 CA DRIFTI 55051 TS DSPTEM2 +1 51416 INDEX POSITON 55420 TS SOUTHDR -1 02457 TC SHOW B">015727,000139: 37,2126 51414 PIPACHK INDEX NDXCTR # PIPA TEST 02130 TC +1 02447 TC EARTHR* 34361 CA DEC17 # ALLOW PIP COUNTER TO OVERFLOW 17 TIMES 55476 TS DATAPL +4 # IN THE ALLOTTED TIME INTERVAL 32474 CA DEC58 55412 TS LENGTHOT 34753 CA ONE 55537 TS RESULTCT 34755 CA ZERO 51415 INDEX PIPINDEX 54037 TS PIPAX 55472 TS DATAPL 02332 TC CHECKG 00004 INHINT 34752 CAF TWO 05173 TC TWIDDLE EBANK= XSM 02151 ADRES PIPATASK 05155 TC ENDOFJOB 34B">015748,000160: 37,2151 00006 PIPATASK EXTEND 27412 DIM LENGTHOT 31412 CA LENGTHOT 00006 EXTEND 62161 BZMF STARTPIP 34742 CAF BIT10 05173 TC TWIDDLE EBANK= XSM 02151 ADRES PIPATASK 950">015757,000169: 37,2161 34736 STARTPIP CAF PRIO20 05105 TC FINDVAC EBANK= XSM 02166 76065 2CADR PIPJOBB 05261 TC TASKOVER 2">015764,000176: 37,2166 51414 PIPJOBB INDEX NDXCTR 02170 TC +1 02447 TC EARTHR* 31412 CA LENGTHOT # Page 376 00006 EXTEND 62175 BZMF +2 05155 TC ENDOFJOB 34756 CA FIVE 55537 TS RESULTCT 02332 TC CHECKG 11473 CCS DATAPL +1 02205 TC +4 05705 TC CCSHOLE 41476 CS DATAPL +4 55476 TS DATAPL +4 00006 EXTEND 41473 DCS DATAPL 21477 DAS DATAPL +4 06037 TC INTPRET 45345 DLOAD DSU 02501 DATAPL +6 02475 DATAPL +2 45044 BPL CALL 76217 AINGOTN 76275 OVERFFIX E">015792,000204: 37,2217 56325 AINGOTN PDDL DDV 02477 DATAPL +4 47075 DMPR RTB 37056 DEC585 # DEC585 HAS BEEN REDEFINED FOR LEM 21612 SGNAGREE 01051 STORE DSPTEM2 77776 EXIT 11414 CCS NDXCTR 02301 TC COAALIGN # TAKE PLATFORM OUT OF GIMBAL LOCK 02457 TC SHOW 654">015802,000214: 37,2231 32471 VERTDRFT CA 3990DEC # ABOUT 1 HOUR VERTICAL DRIFT TEST 55412 TS LENGTHOT 51416 INDEX POSITON 41417 CS SOUTHDR -2 55442 TS DRIFTT 11415 CCS PIPINDEX # OFFSET PLATFORM TO MISS PIP DEAD-ZONES 12245 TCF PON4 # Z-UP IN POS 4 >015809,000221: 37,2240 44747 PON2 CS BIT5 # X-UP 27565 ADS ERCOMP +2 34747 CA BIT5 27567 ADS ERCOMP +4 12251 TCF PON >015814,000226: 37,2245 44747 PON4 CS BIT5 27565 ADS ERCOMP +2 34747 CA BIT5 27563 ADS ERCOMP 37,2251 02447 PON TC EARTHR* # Page 377 34755 CA ZERO # ALLOW ONLY SOUTH GYRO EARTH RATE COMPENS 55404 TS ERVECTOR 55405 TS ERVECTOR +1 >015823,000235: 37,2255 34733 GUESS1 CAF POSMAX 55440 TS TORQNDX 55441 TS TORQNDX +1 30032 CA CDUX 55413 TS LOSVEC 02500 TC ESTIMS >015829,000241: 37,2263 31502 VALMIS CA DRIFTO 55051 TS DSPTEM2 +1 34755 CA ZERO 55050 TS DSPTEM2 02457 TC SHOW 431">015835,000247: 37,2270 05516 ENDTEST1 TC DOWNFLAG 00007 ADRES IMUSE 44755 CS ZERO 05314 TC NEWMODEA 05472 TC ENDEXT # Page 378 958">015842,000254: 37,2275 43215 OVERFFIX DAD DAD 06530 DPPOSMAX 37064 ONEDPP 77616 RVQ 74E">015847,000259: 37,2301 00006 COAALIGN EXTEND # COARSE ALIGN SUBROUTINE 23571 QXCH ZERONDX 34755 CA ZERO 54321 TS THETAD 54322 TS THETAD +1 54323 TS THETAD +2 04616 TC BANKCALL 17000 CADR IMUCOARS F41">015855,000267: 37,2311 04616 ALIGNCOA TC BANKCALL 17716 CADR IMUSTALL 03047 TC SOMERR2 01571 TC ZERONDX C47">015860,000272: 37,2315 00006 IMUSLLLG EXTEND 23571 QXCH ZERONDX 02311 TC ALIGNCOA 444">015864,000276: 37,2320 00006 FINIMUDD EXTEND 23571 QXCH ZERONDX 04616 TC BANKCALL 17210 CADR IMUFINE 02311 TC ALIGNCOA 2">015870,000282: 37,2325 00006 IMUZERR EXTEND 23571 QXCH ZERONDX 04616 TC BANKCALL 16714 CADR IMUZERO 02311 TC ALIGNCOA >015876,000288: 37,2332 00006 CHECKG EXTEND # PIP PULSE CATCHING ROUTINE 23417 QXCH QPLACE 02342 TC +6 1">015879,000291: 37,2335 00003 CHECKG1 RELINT 30067 CA NEWJOB 00006 EXTEND 62346 BZMF +6 05122 TC CHANG1 00004 INHINT 51415 INDEX PIPINDEX 40037 CS PIPAX 55571 TS ZERONDX 00004 INHINT # Page 379 51415 INDEX PIPINDEX 30037 CA PIPAX 61571 AD ZERONDX 00006 EXTEND 12335 BZF CHECKG1 51415 INDEX PIPINDEX 30037 CA PIPAX 51537 INDEX RESULTCT 55472 TS DATAPL 04102 TC FINETIME 51537 INDEX RESULTCT 55473 TS DATAPL +1 51537 INDEX RESULTCT 23474 LXCH DATAPL +2 00003 RELINT 7">015905,000317: 37,2366 01417 ENDCHKG TC QPLACE 7">015907,000319: 37,2367 54001 ZEROING TS L 12372 TCF +2 731">015909,000321: 37,2371 55571 ZEROING1 TS ZERONDX 34755 CAF ZERO 50001 INDEX L 54000 TS 0 24001 INCR L 11571 CCS ZERONDX 12371 TCF ZEROING1 00002 TC Q # Page 380 345">015919,000331: 37,2401 65345 ERTHRVSE DLOAD PDDL 37057 SCHZEROS # PD24 = (SIN -COS 0)(OMEG/MS) 02403 LATITUDE 57546 COS DCOMP 73525 PDDL SIN 02403 LATITUDE 74266 VDEF VXSC 36001 OMEG/MS 02405 STORE ERVECTOR 77634 RTB 21573 LOADTIME 26433 STOVL TMARK 37057 SCHZEROS 02564 STORE ERCOMP 77616 RVQ >015935,000347: 37,2420 47020 EARTHR ITA RTB 00051 S2 21573 LOADTIME 02431 STORE TEMPTIME 51025 DSU BPL 02433 TMARK 76431 ERTHR 77624 CALL 76275 OVERFFIX /a>015944,000356: 37,2431 74261 ERTHR SL VXSC 20212 9D 02405 ERVECTOR 53321 MXV VAD 02643 XSM 02564 ERCOMP 16564 STODL ERCOMP 02431 TEMPTIME 02433 STORE TMARK 47170 AXT,1 RTB 02563 ECADR ERCOMP 21705 PULSEIMU 77650 GOTO 00051 S2 A">015959,000371: 37,2447 00006 EARTHR* EXTEND 23420 QXCH QPLACES 06037 TC INTPRET 77624 CALL 76420 EARTHR 77776 EXIT 02315 TC IMUSLLLG 01420 TC QPLACES >015968,000380: 37,2457 00006 SHOW EXTEND # Page 381 23417 QXCH QPLACE /a>015971,000383: 37,2461 31416 SHOW1 CA POSITON 55052 TS DSPTEM2 +2 32472 CA VB06N98 04616 TC BANKCALL 20476 CADR GOFLASH 02270 TC ENDTEST1 # V34 01417 TC QPLACE # V33 12461 TCF SHOW1 3">015980,000392: 37,2471 07626 3990DEC DEC 3990 B-14 8">015981,000393: 37,2472 01542 VB06N98 VN 0698 >015982,000394: 37,2473 01451 VN0641 VN 0641 /a>015983,000395: 37,2474 4361 DEC17 = ND1 /a>015984,000396: 37,2474 00072 DEC58 DEC 58 B-14 /a>015985,000397: 37,2475 02737 OGCPL ECADR OGC /a>015986,000398: 37,2476 4777 1SECX = 1SEC >015987,000399: 37,2476 01664 XNBADR GENADR XNB >015988,000400: 37,2477 01642 XSMADR GENADR XSM BLOCK 2 COUNT* $$/P07 D45">015991,000403: 4102 00004 FINETIME INHINT # RETURNS WITH INTERRUPT INHIBITED 00006 EXTEND 00004 READ LOSCALAR 54001 TS L 00006 EXTEND 06004 RXOR LOSCALAR 00006 EXTEND 14115 BZF +4 00006 EXTEND 00004 READ LOSCALAR 54001 TS L 44733 +4 CS POSMAX 60001 AD L 00006 EXTEND 14103 BZF FINETIME +1 00006 EXTEND 00003 READ HISCALAR 00002 TC Q IMU_PERFORMANCE_TEST_2.agc. Parent file is MAIN.agc