Source Code
|
This is a reconstruction of the AGC program Luminary 99 Rev 0. It was the third release
of the Lunar Module flight software targeted for use in Apollo 11, after Luminary 96 and 97.
A bug (which had been around since at least Apollo 10, Luminary 69) was
discovered in Rev 0 shortly before the Apollo 11 flight, resulting in a last minute
revision into Rev 1,
which is what actually flew rather than
the Rev 0 presented here. A hardcopy of Rev 0 is known to
exist — it belonged to AGC developer Allan Klumpp for many years — but
unfortunately the Virtual AGC Project has not had access to that hardcopy. Thus
the code you see here had been reconstructed (we believe accurately) rather than
transcribed. The first step of the reconstruction of the Rev 0 source code was
the transcription of the Rev 1 source code from a hardcopy in the MIT Museum collection.
The process of reverting the active portion of the source code (i.e., other than
program comments) from Rev 1 to Rev 0 was very minor, consisting
only of moving the position of the STARTSB1 label in
FRESH START AND RESTART. Allan had previously given
us the checksums of the memory banks of Rev 0, and we have verified the program presented here has checksums
identical to all banks of Allan's listing of Rev 0. The notations on Allan's Rev 0 program listing read,
in part:GAP: ASSEMBLE REVISION 099 OF AGC PROGRAM LUMINARY BY NASA 2021112-051 A single program comment is known to differ between Rev 0 and Rev 1, but these are harder to reconstruct and verify than changes to the active portion of the code. Thus it is possible that there are additional differences between the program comments in Rev 0 and Rev 1 that are unknown to us, and therefore are not reflected in the code presented here. |
013894,000002: ## Copyright: Public domain.
013895,000003: ## Filename: IMU_COMPENSATION_PACKAGE.agc
013896,000004: ## Purpose: Part of the reconstructed source code for LMY99 Rev 0,
013897,000005: ## otherwise known as Luminary Rev 99, the third release
013898,000006: ## of the Apollo Guidance Computer (AGC) software for Apollo 11.
013899,000007: ## It differs from LMY99 Rev 1 (the flown version) only in the
013900,000008: ## placement of a single label. The corrections shown here have
013901,000009: ## been verified to have the same bank checksums as AGC developer
013902,000010: ## Allan Klumpp's copy of Luminary Rev 99, and so are believed
013903,000011: ## to be accurate. This file is intended to be a faithful
013904,000012: ## recreation, except that the code format has been changed to
013905,000013: ## conform to the requirements of the yaYUL assembler rather than
013906,000014: ## the original YUL assembler.
013907,000015: ##
013908,000016: ## Assembler: yaYUL
013909,000017: ## Contact: Ron Burkey <info@sandroid.org>.
013910,000018: ## Website: www.ibiblio.org/apollo.
013911,000019: ## Pages: 326-337
013912,000020: ## Mod history: 2009-05-16 RSB Adapted from the corresponding
013913,000021: ## Luminary131 file, using page
013914,000022: ## images from Luminary 1A.
013915,000023: ## 2009-06-07 RSB Corrected a typo.
013916,000024: ## 2016-12-14 RSB Proofed text comments with octopus/ProoferComments
013917,000025: ## and corrected the errors found.
013918,000026: ## 2017-03-07 RSB Comment-text fixes noted in proofing Luminary 116.
013919,000027: ## 2017-08-01 MAS Created from LMY99 Rev 1.
013920,000028:
013921,000029: ## This source code has been transcribed or otherwise adapted from
013922,000030: ## digitized images of a hardcopy from the MIT Museum. The digitization
013923,000031: ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
013924,000032: ## the Museum. Many thanks to both. The images (with suitable reduction
013925,000033: ## in storage size and consequent reduction in image quality as well) are
013926,000034: ## available online at www.ibiblio.org/apollo. If for some reason you
013927,000035: ## find that the images are illegible, contact me at info@sandroid.org
013928,000036: ## about getting access to the (much) higher-quality images which Paul
013929,000037: ## actually created.
013930,000038: ##
013931,000039: ## The code has been modified to match LMY99 Revision 0, otherwise
013932,000040: ## known as Luminary Revision 99, the Apollo 11 software release preceeding
013933,000041: ## the listing from which it was transcribed. It has been verified to
013934,000042: ## contain the same bank checksums as AGC developer Allan Klumpp's listing
013935,000043: ## of Luminary Revision 99 (for which we do not have scans).
013936,000044: ##
013937,000045: ## Notations on Allan Klumpp's listing read, in part:
013938,000046: ##
013939,000047: ## ASSEMBLE REVISION 099 OF AGC PROGRAM LUMINARY BY NASA 2021112-51
013940,000048:
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Page 326 |
013942,000050: 07,2667 BANK 7
013943,000051: 06,2000 SETLOC IMUCOMP
013944,000052: 06,2000 BANK
013945,000053:
013946,000054: 06,3263 E3,1460 EBANK= NBDX
013947,000055:
013948,000056: 06,3263 COUNT* $$/ICOMP
013949,000057: 06,3263 33531 1/PIPA CAF LGCOMP # SAVE EBANK OF CALLING PROGRAM
013950,000058: 06,3264 56003 XCH EBANK
013951,000059: 06,3265 54163 TS MODE
013952,000060:
013953,000061: 06,3266 11477 CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
013954,000062: 06,3267 13272 TCF +3
013955,000063: 06,3270 13272 TCF +2
013956,000064: 06,3271 13353 TCF IRIG1 # RETURN
013957,000065:
013958,000066: 06,3272 34751 1/PIPA1 CAF FOUR # PIPAZ, PIPAY, PIPAX
013959,000067: 06,3273 54132 TS BUF +2
013960,000068:
013961,000069: 06,3274 50132 INDEX BUF +2
013962,000070: 06,3275 31453 CA PIPASCF # (P.P.M.) X 2(-9)
013963,000071: 06,3276 00006 EXTEND
013964,000072: 06,3277 50132 INDEX BUF +2
013965,000073: 06,3300 70324 MP DELVX # (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
013966,000074: 06,3301 54002 TS Q # SAVE MAJOR PART
013967,000075:
013968,000076: 06,3302 30001 CA L # MINOR PART
013969,000077: 06,3303 00006 EXTEND
013970,000078: 06,3304 74746 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
013971,000079: 06,3305 50132 INDEX BUF +2
013972,000080: 06,3306 54325 TS DELVX +1 # FRACTIONAL PIPA PULSES SCALED 2(+14)
013973,000081:
013974,000082: 06,3307 30002 CA Q # MAJOR PART
013975,000083: 06,3310 00006 EXTEND
013976,000084: 06,3311 74746 MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
013977,000085: 06,3312 50132 INDEX BUF +2
013978,000086: 06,3313 20325 DAS DELVX # (PIPAI) + (PIPAI)(SFE)
013979,000087:
013980,000088: 06,3314 50132 INDEX BUF +2
013981,000089: 06,3315 41452 CS PIPABIAS # (PIPA PULSES)/(CS) X 2(-5) *
013982,000090: 06,3316 00006 EXTEND
013983,000091: 06,3317 71075 MP 1/PIPADT # (CS) X 2(+8) NOW (PIPA PULSES) X 2(+3) *
013984,000092: 06,3320 00006 EXTEND
013985,000093: 06,3321 74750 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11 *
013986,000094: 06,3322 50132 INDEX BUF +2
013987,000095: 06,3323 20325 DAS DELVX # (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
013988,000096:
013989,000097: 06,3324 10132 CCS BUF +2 # PIPAZ, PIPAY, PIPAX
013990,000098: 06,3325 67747 AD NEG1
013991,000099: 06,3326 13273 TCF 1/PIPA1 +1
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Page 327 |
013993,000101: 06,3327 13330 NOOP # LESS THAN ZERO IMPOSSIBLE
013994,000102:
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Page 328 |
013996,000104: 06,3330 55477 IRIGCOMP TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
013997,000105: 06,3331 54130 TS BUF # INDEX COUNTER. IRIGX, IRIGY, IRIGZ.
013998,000106:
013999,000107: 06,3332 03356 TC IRIGX # COMPENSATE ACCELERATION TERMS
014000,000108:
014001,000109: 06,3333 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
014002,000110: 06,3334 03454 TC DRIFTSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
014003,000111:
014004,000112: 06,3335 03373 TC IRIGY # COMPENSATE ACCELERATION TERMS
014005,000113:
014006,000114: 06,3336 41461 CS NBDY # (GYRO PULSES)/(CS) X 2(-5)
014007,000115: 06,3337 03454 TC DRIFTSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
014008,000116:
014009,000117: 06,3340 03410 TC IRIGZ # COMPENSATE ACCELERATION TERMS
014010,000118:
014011,000119: 06,3341 31462 CA NBDZ # (GYRO PULSES)/(CS) X 2(-5)
014012,000120: 06,3342 03454 TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
014013,000121:
014014,000122: 06,3343 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
014015,000123: 06,3344 13346 TCF +2 # YES SEND OUT GYRO TORQUING COMMANDS.
014016,000124: 06,3345 13353 TCF IRIG1 # NO RETURN
014017,000125:
014018,000126: 06,3346 35031 CA PRIO21 # PRIO GREATER THAN SERVICER
014019,000127: 06,3347 05072 TC NOVAC # SEND OUT GYRO TORQUING COMMANDS.
014020,000128: 06,3350 E3,1460 EBANK= NBDX
014021,000129: 06,3350 03507 14063 2CADR 1/GYRO
014022,000130:
014023,000131: 06,3352 00003 RELINT
014024,000132: 06,3353 30163 IRIG1 CA MODE # RESTORE CALLERS EBANK
014025,000133: 06,3354 54003 TS EBANK
014026,000134: 06,3355 14631 TCF SWRETURN
014027,000135:
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Page 329 |
014029,000137: 06,3356 00006 IRIGX EXTEND
014030,000138: 06,3357 22156 QXCH MPAC +2 # SAVE Q
014031,000139: 06,3360 00006 EXTEND
014032,000140: 06,3361 40325 DCS DELVX # (PIPA PULSES) X 2(+14)
014033,000141: 06,3362 52155 DXCH MPAC
014034,000142: 06,3363 31463 CA ADIAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014035,000143: 06,3364 03425 TC GCOMPSUB # -(ADIAX)(PIPAX) (GYRO PULSES) X 2(+14)
014036,000144:
014037,000145: 06,3365 00006 EXTEND #
014038,000146: 06,3366 40327 DCS DELVY # (PIPA PULSES) X 2(+14)
014039,000147: 06,3367 52155 DXCH MPAC #
014040,000148: 06,3370 41466 CS ADSRAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014041,000149: 06,3371 03425 TC GCOMPSUB # -(ADSRAX)(PIPAY) (GYRO PULSES) X 2(+14)
014042,000150:
014043,000151: # EXTEND ***
014044,000152: # DCS DELVZ *** (PIPA PULSES) X 2(+14)
014045,000153: # DXCH MPAC ***
014046,000154: # CA ADOAX *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014047,000155: # TC GCOMPSUB *** -(ADOAX)(PIPAZ) (GYRO PULSES) X 2(+14)
014048,000156:
014049,000157: 06,3372 00156 TC MPAC +2
014050,000158:
014051,000159: 06,3373 00006 IRIGY EXTEND
014052,000160: 06,3374 22156 QXCH MPAC +2 # SAVE Q
014053,000161: 06,3375 00006 EXTEND
014054,000162: 06,3376 40327 DCS DELVY # (PIPA PULSES) X 2(+14)
014055,000163: 06,3377 52155 DXCH MPAC
014056,000164: 06,3400 31464 CA ADIAY # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014057,000165: 06,3401 03425 TC GCOMPSUB # -(ADIAY)(PIPAY) (GYRO PULSES) X 2(+14)
014058,000166:
014059,000167: 06,3402 00006 EXTEND
014060,000168: 06,3403 40331 DCS DELVZ # (PIPA PULSES) X 2(+14)
014061,000169: 06,3404 52155 DXCH MPAC
014062,000170: 06,3405 41467 CS ADSRAY # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014063,000171: 06,3406 03425 TC GCOMPSUB # +(ADSRAY)(PIPAZ) (GYRO PULSES) X 2(+14)
014064,000172:
014065,000173: # EXTEND ***
014066,000174: # DCS DELVX *** (PIPA PULSES) X 2(+14)
014067,000175: # DXCH MPAC ***
014068,000176: # CA ADOAY *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014069,000177: # TC GCOMPSUB *** -(ADOAY)(PIPAX) (GYRO PULSES) X 2(+14)
014070,000178:
014071,000179: 06,3407 00156 TC MPAC +2
014072,000180:
014073,000181: 06,3410 00006 IRIGZ EXTEND
014074,000182: 06,3411 22156 QXCH MPAC +2 # SAVE Q
014075,000183: 06,3412 00006 EXTEND
014076,000184: 06,3413 40327 DCS DELVY # (PIPA PULSES) X 2(+14)
014077,000185: 06,3414 52155 DXCH MPAC
014078,000186: 06,3415 31470 CA ADSRAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
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Page 330 |
014080,000188: 06,3416 03425 TC GCOMPSUB # -(ADSRAZ)(PIPAY) (GYRO PULSES) X 2(+14)
014081,000189:
014082,000190: 06,3417 00006 EXTEND
014083,000191: 06,3420 40331 DCS DELVZ # (PIPA PULSES) X 2(+14)
014084,000192: 06,3421 52155 DXCH MPAC
014085,000193: 06,3422 31465 CA ADIAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014086,000194: 06,3423 03425 TC GCOMPSUB # -(ADIAZ)(PIPAZ) (GYRO PULSES) X 2(+14)
014087,000195:
014088,000196: # EXTEND ***
014089,000197: # DCS DELVX *** (PIPA PULSE) X 2(+14)
014090,000198: # DXCH MPAC ***
014091,000199: # CS ADOAZ *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014092,000200: # TC GCOMPSUB *** +(ADOAZ)(PIPAX) (GYRO PULSES) X 2(+14)
014093,000201:
014094,000202: 06,3424 00156 TC MPAC +2
014095,000203:
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Page 331 |
014097,000205: 06,3425 56154 GCOMPSUB XCH MPAC # ADIA OR ADSRA COEFFICIENT ARRIVES IN A
014098,000206: 06,3426 00006 EXTEND # C(MPAC) = (PIPA PULSES) X 2(+14)
014099,000207: 06,3427 70154 MP MPAC # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
014100,000208: 06,3430 52123 DXCH VBUF # NOW = (GYRO PULSES) X 2(+8) *
014101,000209:
014102,000210: 06,3431 30155 CA MPAC +1 # MINOR PART PIPA PULSES
014103,000211: 06,3432 00006 EXTEND
014104,000212: 06,3433 70154 MP MPAC # ADIA OR ADSRA
014105,000213: 06,3434 54001 TS L
014106,000214: 06,3435 34755 CAF ZERO
014107,000215: 06,3436 20123 DAS VBUF # NOW = (GYRO PULSES) X 2(+8) *
014108,000216:
014109,000217: 06,3437 30122 CA VBUF # PARTIAL RESULT - MAJOR
014110,000218: 06,3440 00006 EXTEND
014111,000219: 06,3441 74743 MP BIT9 # SCALE 2(+6) SHIFT RIGHT 6 *
014112,000220: 06,3442 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
014113,000221: 06,3443 21472 DAS GCOMP # HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI)
014114,000222:
014115,000223: 06,3444 30123 CA VBUF +1 # PARTIAL RESULT - MINOR
014116,000224: 06,3445 00006 EXTEND
014117,000225: 06,3446 74743 MP BIT9 # SCALE 2(+6) SHIFT RIGHT 6 *
014118,000226: 06,3447 54001 TS L
014119,000227: 06,3450 34755 CAF ZERO
014120,000228: 06,3451 50130 INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
014121,000229: 06,3452 21472 DAS GCOMP # (ADIA)(PIPAI) OR (ADSRA)(PIPAI)
014122,000230:
014123,000231: 06,3453 00002 TC Q
014124,000232:
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Page 332 |
014126,000234: 06,3454 00006 DRIFTSUB EXTEND
014127,000235: 06,3455 22131 QXCH BUF +1
014128,000236:
014129,000237: 06,3456 00006 EXTEND # C(A) = NBD (GYRO PULSES)/(CS) X 2(-5)
014130,000238: 06,3457 71075 MP 1/PIPADT # (CS) X 2(+8) NOW (GYRO PULSES) X 2(+3)
014131,000239: 06,3460 22155 LXCH MPAC +1 # SAVE FOR FRACTIONAL COMPENSATION
014132,000240: 06,3461 00006 EXTEND
014133,000241: 06,3462 74750 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
014134,000242: 06,3463 50130 INDEX BUF
014135,000243: 06,3464 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
014136,000244:
014137,000245: 06,3465 30155 CA MPAC +1 # NOW MINOR PART
014138,000246: 06,3466 00006 EXTEND
014139,000247: 06,3467 74750 MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
014140,000248: 06,3470 54001 TS L
014141,000249: 06,3471 34755 CAF ZERO
014142,000250: 06,3472 50130 INDEX BUF # ADD IN FRACTIONAL COMPENSATION
014143,000251: 06,3473 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
014144,000252:
014145,000253: 06,3474 34752 DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ
014146,000254: 06,3475 60130 AD BUF
014147,000255: 06,3476 56130 XCH BUF
014148,000256: 06,3477 50000 INDEX A
014149,000257: 06,3500 11471 CCS GCOMP # ARE GYRO COMMANDS 1 PULSE OR GREATER
014150,000258: 06,3501 13503 TCF +2 # YES
014151,000259: 06,3502 00131 TC BUF +1 # NO
014152,000260:
014153,000261: 06,3503 73553 MASK COMPCHK # DEC -1
014154,000262: 06,3504 10000 CCS A # ARE GYRO COMMANDS GREATER THAN 2 PULSES
014155,000263: 06,3505 55477 TS GCOMPSW # YES - SET GCOMPSW POSITIVE
014156,000264: 06,3506 00131 TC BUF +1 # NO
014157,000265:
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Page 333 |
014159,000267: 06,3507 34751 1/GYRO CAF FOUR # PIPAZ, PIPAY, PIPAX
014160,000268: 06,3510 54130 TS BUF
014161,000269:
014162,000270: 06,3511 50130 INDEX BUF # SCALE GYRO COMMANDS FOR IMUPULSE
014163,000271: 06,3512 31472 CA GCOMP +1 # FRACTIONAL PULSES
014164,000272: 06,3513 00006 EXTEND
014165,000273: 06,3514 74744 MP BIT8 # SHIFT RIGHT 7
014166,000274: 06,3515 50130 INDEX BUF
014167,000275: 06,3516 55472 TS GCOMP +1 # FRACTIONAL PULSES SCALED
014168,000276:
014169,000277: 06,3517 34755 CAF ZERO # SET GCOMP = 0 FOR DAS INSTRUCTION
014170,000278: 06,3520 50130 INDEX BUF
014171,000279: 06,3521 57471 XCH GCOMP # GYRO PULSES
014172,000280: 06,3522 00006 EXTEND
014173,000281: 06,3523 74744 MP BIT8 # SHIFT RIGHT 7
014174,000282: 06,3524 50130 INDEX BUF
014175,000283: 06,3525 21472 DAS GCOMP # ADD THESE TO FRACTIONAL PULSES ABOVE
014176,000284:
014177,000285: 06,3526 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
014178,000286: 06,3527 67747 AD NEG1
014179,000287: 06,3530 13510 TCF 1/GYRO +1
014180,000288: 06,3531 01471 LGCOMP ECADR GCOMP # LESS THAN ZERO IMPOSSIBLE
014181,000289:
014182,000290: 06,3532 33531 CAF LGCOMP
014183,000291: 06,3533 04616 TC BANKCALL
014184,000292: 06,3534 17323 CADR IMUPULSE # CALL GYRO TORQUING ROUTINE
014185,000293: 06,3535 04616 TC BANKCALL
014186,000294: 06,3536 17716 CADR IMUSTALL # WAIT FOR PULSES TO GET OUT
014187,000295: 06,3537 15155 TCF ENDOFJOB # TEMPORARY
014188,000296:
014189,000297: 06,3540 34751 GCOMP1 CAF FOUR # PIPAZ, PIPAY, PIPAX
014190,000298: 06,3541 54130 TS BUF
014191,000299:
014192,000300: 06,3542 50130 INDEX BUF # RESCALE
014193,000301: 06,3543 31472 CA GCOMP +1
014194,000302: 06,3544 00006 EXTEND
014195,000303: 06,3545 74744 MP BIT8 # SHIFT MINOR PART LEFT 7 - MAJOR PART = 0
014196,000304: 06,3546 50130 INDEX BUF
014197,000305: 06,3547 23472 LXCH GCOMP +1 # BITS 8-14 OF MINOR PART WERE = 0
014198,000306:
014199,000307: 06,3550 10130 CCS BUF # PIPAZ, PIPAY, PIPAX
014200,000308: 06,3551 67747 AD NEG1
014201,000309: 06,3552 13541 TCF GCOMP1 +1
014202,000310: 06,3553 77776 COMPCHK DEC -1 B-14 # LESS THAN ZERO IMPOSSIBLE
014203,000311: 06,3554 15155 TCF ENDOFJOB
014204,000312:
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Page 334 |
014206,000314: 06,3555 11477 NBDONLY CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
014207,000315: 06,3556 13561 TCF +3
014208,000316: 06,3557 13561 TCF +2
014209,000317: 06,3560 15155 TCF ENDOFJOB
014210,000318:
014211,000319: 06,3561 00004 INHINT
014212,000320: 06,3562 10076 CCS FLAGWRD2 # PREREAD T3RUPT MAY COINCIDE
014213,000321: 06,3563 15155 TCF ENDOFJOB
014214,000322: 06,3564 15155 TCF ENDOFJOB
014215,000323: 06,3565 13566 TCF +1
014216,000324:
014217,000325: 06,3566 30104 CA FLAGWRD8 # IF SURFACE FLAG IS SET, SET TEM1
014218,000326: 06,3567 74744 MASK BIT8 # POSITIVE SO THAT THE ACCELERATION TERMS
014219,000327: 06,3570 54141 TS TEM1 # WILL BE COMPENSATED.
014220,000328: 06,3571 00006 EXTEND
014221,000329: 06,3572 13575 BZF +3 # ARE WE ON THE SURFACE
014222,000330:
014223,000331: 06,3573 04674 TC IBNKCALL # ON THE SURFACE
014224,000332: 06,3574 77544 CADR PIPASR +3 # READ PIPAS, BUT DO NOT SCALE THEM
014225,000333:
014226,000334: 06,3575 30025 CA TIME1 # (CS) X 2(+14)
014227,000335: 06,3576 57075 XCH 1/PIPADT # PREVIOUS TIME
014228,000336: 06,3577 00003 RELINT
014229,000337: 06,3600 40000 COM
014230,000338: 06,3601 61075 AD 1/PIPADT # PRESENT TIME - PREVIOUS TIME
014231,000339: 06,3602 64736 NBD2 AD HALF # CORRECT FOR POSSIBLE TIME1 TICK
014232,000340: 06,3603 64736 AD HALF
014233,000341: 06,3604 56001 XCH L # IF TIME1 DID NOT TICK, REMOVE RESULTING
014234,000342: 06,3605 56001 XCH L # OVERFLOW.
014235,000343:
014236,000344: 06,3606 00006 NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14)
014237,000345: 06,3607 74742 MP BIT10 # SHIFT RIGHT 5
014238,000346: 06,3610 52125 DXCH VBUF +2
014239,000347:
014240,000348: 06,3611 34755 CA ZERO
014241,000349: 06,3612 55477 TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
014242,000350: 06,3613 54130 TS BUF # INDEX X, Y, Z.
014243,000351:
014244,000352: 06,3614 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
014245,000353: 06,3615 03356 TC IRIGX # COMPENSATE ACCELERATION TERMS.
014246,000354:
014247,000355: 06,3616 00006 EXTEND
014248,000356: 06,3617 30125 DCA VBUF +2
014249,000357: 06,3620 52155 DXCH MPAC # DELTAT NOW SCALED (CS) X 2(+19)
014250,000358:
014251,000359: 06,3621 41460 CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
014252,000360: 06,3622 03644 TC FBIASSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
014253,000361:
014254,000362: 06,3623 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
014255,000363: 06,3624 03373 TC IRIGY # COMPENSATE ACCELERATION TERMS.
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014257,000365: 06,3625 00006 EXTEND
014258,000366: 06,3626 40125 DCS VBUF +2
014259,000367: 06,3627 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
014260,000368: 06,3630 31461 CA NBDY # (GYRO PULSES)/(CS) X 2(-5)
014261,000369: 06,3631 03644 TC FBIASSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
014262,000370:
014263,000371: 06,3632 10141 CCS TEM1 # IF SURFACE FLAG IS SET,
014264,000372: 06,3633 03410 TC IRIGZ # COMPENSATE ACCELERATION TERMS
014265,000373:
014266,000374: 06,3634 00006 EXTEND
014267,000375: 06,3635 40125 DCS VBUF +2
014268,000376: 06,3636 52155 DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
014269,000377: 06,3637 41462 CS NBDZ # (GYRO PULSES)/(CS) X 2(-5)
014270,000378: 06,3640 03644 TC FBIASSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
014271,000379:
014272,000380: 06,3641 11477 CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
014273,000381: 06,3642 13507 TCF 1/GYRO # YES
014274,000382: 06,3643 15155 TCF ENDOFJOB # NO
014275,000383:
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014277,000385: 06,3644 56002 FBIASSUB XCH Q
014278,000386: 06,3645 54131 TS BUF +1
014279,000387:
014280,000388: 06,3646 30002 CA Q # NBD SCALED (GYRO PULSES)/(CS) X 2(-5)
014281,000389: 06,3647 00006 EXTEND
014282,000390: 06,3650 70154 MP MPAC # DELTAT SCALED (CS) X 2(+19)
014283,000391: 06,3651 50130 INDEX BUF
014284,000392: 06,3652 21472 DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
014285,000393:
014286,000394: 06,3653 30002 CA Q # NOW FRACTIONAL PART
014287,000395: 06,3654 00006 EXTEND
014288,000396: 06,3655 70155 MP MPAC +1
014289,000397: 06,3656 54001 TS L
014290,000398: 06,3657 34755 CAF ZERO
014291,000399: 06,3660 50130 INDEX BUF
014292,000400: 06,3661 21472 DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
014293,000401:
014294,000402: 06,3662 13474 TCF DRFTSUB2 # CHECK MAGNITUDE OF COMPENSATION
014295,000403:
014296,000404: 06,3663 04616 LASTBIAS TC BANKCALL
014297,000405: 06,3664 17277 CADR PIPUSE1
014298,000406:
014299,000407: 06,3665 11477 CCS GCOMPSW
014300,000408: 06,3666 13671 TCF +3
014301,000409: 06,3667 13671 TCF +2
014302,000410: 06,3670 15155 TCF ENDOFJOB
014303,000411:
014304,000412: 06,3671 30104 CA FLAGWRD8 # IF SURFACE FLAG IS SET, SET TEM1
014305,000413: 06,3672 74744 MASK SURFFBIT # POSITIVE SO THAT THE ACCELERATION TERMS
014306,000414: 06,3673 54141 TS TEM1 # WILL BE COMPENSATED.
014307,000415:
014308,000416: 06,3674 37716 CAF PRIO31 # 2 SECONDS SCALED (CS) X 2(+8)
014309,000417: 06,3675 57075 XCH 1/PIPADT
014310,000418: 06,3676 40000 COM
014311,000419: 06,3677 61235 AD PIPTIME +1
014312,000420: 06,3700 13602 TCF NBD2
014313,000421:
014314,000422: 06,3701 33531 GCOMPZER CAF LGCOMP # ROUTINE TO ZERO GCOMP BEFORE FIRST
014315,000423: 06,3702 56003 XCH EBANK # CALL TO 1/PIPA
014316,000424: 06,3703 54163 TS MODE
014317,000425:
014318,000426: 06,3704 34755 CAF ZERO
014319,000427: 06,3705 55477 TS GCOMPSW
014320,000428: 06,3706 55471 TS GCOMP
014321,000429: 06,3707 55472 TS GCOMP +1
014322,000430: 06,3710 55473 TS GCOMP +2
014323,000431: 06,3711 55474 TS GCOMP +3
014324,000432: 06,3712 55475 TS GCOMP +4
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014326,000434: 06,3713 55476 TS GCOMP +5
014327,000435:
014328,000436: 06,3714 13353 TCF IRIG1 # RESTORE EBANK AND RETURN
014329,000437:
End of include-file IMU_COMPENSATION_PACKAGE.agc. Parent file is MAIN.agc