Source Code
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These source-code files are part of a reconstructed copy of Luminary 69/2,
the flown, final release of the Apollo 10 Lunar Module (LM) Apollo Guidance Computer (AGC) software.
The reconstruction is based on the source code of Luminary 69 — i.e., the
initial, unflown version, "revision 0" — of which
a contemporary listing was available. The code was then updated by incorporating the
differences between Luminary 69 and Luminary 69/2, known from other contemporary
documentation. The only such difference is the implementation in
Luminary 69/2 of the "R-2 Lunar Potential Model", the source code for which was taken
from program Luminary 99/1 (Apollo 11 LM), of which a contemporary listing was also available.
Finally, the now-reconstructed Luminary 69/2 was then validated by assembling it to
executable form and verifying that its memory banks had the correct checksums,
known from still other contemporary documentation.
Note that page numbers in the reconstructed code match those in the original Luminary 69
program listing, or in the ORBITAL INTEGRATION log section, in Luminary 99/1. Page numbers
would certainly differ somewhat in a contemporary Luminary 69/2 listing.
Moreover, annotations that were not present in the contemporary source code have been added
to the reconstructed code to justify each change in Luminary 69/2 relative to
Luminary 69. Here's a guide to the Apollo documentation referenced in those annotations:
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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017081,000002: ## Copyright: Public domain.
017082,000003: ## Filename: IMU_PERFORMANCE_TESTS_4.agc
017083,000004: ## Purpose: A section of LUM69 revision 2.
017084,000005: ## It is part of the reconstructed source code for the flown
017085,000006: ## version of the flight software for the Lunar Module's (LM)
017086,000007: ## Apollo Guidance Computer (AGC) for Apollo 10. The code has
017087,000008: ## been recreated from a copy of Luminary revsion 069, using
017088,000009: ## changes present in Luminary 099 which were described in
017089,000010: ## Luminary memos 75 and 78. The code has been adapted such
017090,000011: ## that the resulting bugger words exactly match those specified
017091,000012: ## for LUM69 revision 2 in NASA drawing 2021152B, which gives
017092,000013: ## relatively high confidence that the reconstruction is correct.
017093,000014: ## Reference: pp. 395-402
017094,000015: ## Assembler: yaYUL
017095,000016: ## Contact: Ron Burkey <info@sandroid.org>.
017096,000017: ## Website: www.ibiblio.org/apollo/index.html
017097,000018: ## Mod history: 2019-07-27 MAS Created from Luminary 69.
017098,000019:
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Page 395
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017100,000021: # PROGRAM-IMU PERFORMANCE TESTS 4
017101,000022: # DATE-NOV 15, 1966
017102,000023: # BY-GEORGE SCHMIDT IL7-146 EXT 1126
017103,000024: # MOD NO-ZERO
017104,000025:
017105,000026: # FUNCTIONAL DESCRIPTION
017106,000027:
017107,000028: # THIS SECTION CONSISTS OF THE FILTER FOR THE GYRO DRIFT TESTS. NO COMPASS
017108,000029: # IS DONE IN LEM. FOR A DESCRIPTION OF THE FILTER SEE E-1973. THIS
017109,000030: # SECTION IS ENTERED FROM IMU 2. IT RETURNS THERE AT END OF TEST.
017110,000031:
017111,000032: # EARTHR,OGC ZERO,ERTHRVSE
017112,000033:
017113,000034: # NORMAL EXIT
017114,000035:
017115,000036: # LENGTHOT GOES TO ZERO-RETURN TO IMU PERF TESTS 2 CONTROL
017116,000037:
017117,000038: # ALARMS
017118,000039:
017119,000040: # 1600 OVERFLOW IN DRIFT TEST
017120,000041: # 1601 BAD IMU MODING IN ANY ROUTINE THAT USES IMUSTALL
017121,000042: # OUTPUT
017122,000043:
017123,000044: # FLASHING DISPLAY OF RESULTS - CONTROLLED IN IMU PERF TESTS 2
017124,000045:
017125,000046: # DEBRIS
017126,000047:
017127,000048: # ALL CENTRALS - ALL OF EBANK XSM
017128,000049:
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Page 396
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017130,000051: 33,2045 BANK 33
017131,000052: 37,2000 SETLOC IMU4
017132,000053: 37,2000 BANK
017133,000054: 37,2500 COUNT* $$/P07
017134,000055:
017135,000056: 37,2500 E5,1642 EBANK= XSM
017136,000057:
017137,000058: 37,2500 00004 ESTIMS INHINT
017138,000059: 37,2501 31572 CAE 1SECXT
017139,000060: 37,2502 05173 TC TWIDDLE
017140,000061: 37,2503 E5,1642 EBANK= XSM
017141,000062: 37,2503 02536 ADRES ALLOOP
017142,000063: 37,2504 34755 CAF ZERO # ZERO THE PIPAS
017143,000064: 37,2505 54037 TS PIPAX
017144,000065: 37,2506 54040 TS PIPAY
017145,000066: 37,2507 54041 TS PIPAZ
017146,000067: 37,2510 00003 RELINT
017147,000068: 37,2511 33075 CA 77DECML
017148,000069: 37,2512 55571 TS ZERONDX
017149,000070: 37,2513 33076 CA ALXXXZ
017150,000071: 37,2514 02367 TC ZEROING
017151,000072: 37,2515 06036 TC INTPRET
017152,000073: 37,2516 77735 SLOAD
017153,000074: 37,2517 37057 SCHZEROS
017154,000075: 37,2520 25477 STOVL GCOMPSW -1
017155,000076: 37,2521 37070 INTVAL +2
017156,000077: 37,2522 26445 STOVL ALX1S
017157,000078: 37,2523 37057 SCHZEROS
017158,000079: 37,2524 00325 STORE DELVX
017159,000080: 37,2525 01472 STORE GCOMP
017160,000081: 37,2526 77735 SLOAD
017161,000082: 37,2527 02441 TORQNDX
017162,000083: 37,2530 50076 DCOMP BMN
017163,000084: 37,2531 76534 VERTSKIP
017164,000085: 37,2532 77624 CALL
017165,000086: 37,2533 76401 ERTHRVSE
017166,000087: 37,2534 77776 VERTSKIP EXIT
017167,000088: 37,2535 03035 TC SLEEPIE +1
017168,000089:
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Page 397
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017170,000091: 37,2536 31576 ALLOOP CA OVFLOWCK
017171,000092: 37,2537 00006 EXTEND
017172,000093: 37,2540 12542 BZF +2
017173,000094: 37,2541 05261 TC TASKOVER
017174,000095: 37,2542 11530 CCS ALTIM
017175,000096: 37,2543 30000 CA A # SHOULD NEVER HIT THIS LOCATION
017176,000097: 37,2544 55531 TS ALTIMS
017177,000098: 37,2545 40000 CS A
017178,000099: 37,2546 55530 TS ALTIM
017179,000100: 37,2547 44753 CS ONE
017180,000101: 37,2550 61562 AD GEOCOMPS
017181,000102: 37,2551 00006 EXTEND
017182,000103: 37,2552 12556 BZF +4
017183,000104: 37,2553 31412 CA LENGTHOT
017184,000105: 37,2554 00006 EXTEND
017185,000106: 37,2555 62562 BZMF +5
017186,000107: 37,2556 31572 CAE 1SECXT
017187,000108: 37,2557 05173 TC TWIDDLE
017188,000109: 37,2560 E5,1642 EBANK= XSM
017189,000110: 37,2560 02536 ADRES ALLOOP
017190,000111: 37,2561 34755 CAF ZERO
017191,000112: 37,2562 56037 XCH PIPAX
017192,000113: 37,2563 54324 TS DELVX
017193,000114: 37,2564 34755 CAF ZERO
017194,000115: 37,2565 56040 XCH PIPAY
017195,000116: 37,2566 54326 TS DELVY
017196,000117: 37,2567 34755 CAF ZERO
017197,000118: 37,2570 56041 XCH PIPAZ
017198,000119: 37,2571 54330 TS DELVZ
017199,000120: 37,2572 34736 SPECSTS CAF PRIO20
017200,000121: 37,2573 05105 TC FINDVAC
017201,000122: 37,2574 E5,1642 EBANK= XSM
017202,000123: 37,2574 02577 76065 2CADR ALFLT # START THE JOB
017203,000124:
017204,000125: 37,2576 05261 TC TASKOVER
017205,000126:
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Page 398
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017207,000128: 37,2577 11562 ALFLT CCS GEOCOMPS
017208,000129: 37,2600 02602 TC +2
017209,000130: 37,2601 02604 TC NORMLOP
017210,000131: 37,2602 04616 TC BANKCALL
017211,000132: 37,2603 15263 CADR 1/PIPA
017212,000133: 37,2604 06036 NORMLOP TC INTPRET
017213,000134: 37,2605 77745 DLOAD
017214,000135: 37,2606 37066 INTVAL
017215,000136: 37,2607 24051 STOVL S1
017216,000137: 37,2610 00325 DELVX
017217,000138: 37,2611 76505 VXM VSL1
017218,000139: 37,2612 02643 XSM
017219,000140: 37,2613 57545 DLOAD DCOMP
017220,000141: 37,2614 00160 MPAC +3
017221,000142: 37,2615 16523 STODL DPIPAY
017222,000143: 37,2616 00162 MPAC +5
017223,000144: 37,2617 02527 STORE DPIPAZ
017224,000145:
017225,000146: 37,2620 76001 SETPD AXT,1
017226,000147: 37,2621 00001 0
017227,000148: 37,2622 00010 8D
017228,000149: 37,2623 57535 SLOAD DCOMP
017229,000150: 37,2624 02563 GEOCOMPS
017230,000151: 37,2625 77640 BMN
017231,000152: 37,2626 76772 PERFERAS
017232,000153: 37,2627 50135 ALCGKK SLOAD BMN
017233,000154: 37,2630 02532 ALTIMS
017234,000155: 37,2631 76644 ALFLT3
017235,000156: 37,2632 72174 ALKCG AXT,2 LXA,1 # LOADS SLOPES AND TIME CONSTANTS AT RQST
017236,000157: 37,2633 00014 12D
017237,000158: 37,2634 02444 ALX1S
017238,000159: 37,2635 62143 ALKCG2 DLOAD* INCR,1
017239,000160: 37,2636 02243 ALFDK +144D,1
017240,000161: 37,2637 77775 DEC -2 B-14
017241,000162: 37,2640 12545 STORE ALDK +10D,2
017242,000163: 37,2641 66104 TIX,2 SXA,1
017243,000164: 37,2642 76635 ALKCG2
017244,000165: 37,2643 02444 ALX1S
017245,000166:
017246,000167: 37,2644 77770 ALFLT3 AXT,1
017247,000168: 37,2645 00010 8D
017248,000169: 37,2646 41343 DELMLP DLOAD* DMP
017249,000170: 37,2647 02533 DPIPAY +8D,1
017250,000171: 37,2650 37100 PIPASC
017251,000172: 37,2651 43661 SLR BDSU*
017252,000173: 37,2652 21212 9D
017253,000174: 37,2653 02501 INTY +8D,1
017254,000175: 37,2654 06501 STORE INTY +8D,1
017255,000176: 37,2655 40725 PDDL DMP*
017256,000177: 37,2656 37102 VELSC
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Page 399
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017258,000179: 37,2657 02521 VLAUN +8D,1
017259,000180: 37,2660 77732 SL2R
017260,000181: 37,2661 45425 DSU STADR
017261,000182: 37,2662 71216 STORE DELM +8D,1
017262,000183: 37,2663 06563 STORE DELM +10D,1
017263,000184: 37,2664 77100 TIX,1 AXT,2
017264,000185: 37,2665 76646 DELMLP
017265,000186: 37,2666 00004 4
017266,000187: 37,2667 56743 ALILP DLOAD* DMPR*
017267,000188: 37,2670 75324 ALK +4,2
017268,000189: 37,2671 75240 ALDK +4,2
017269,000190: 37,2672 12453 STORE ALK +4,2
017270,000191: 37,2673 77104 TIX,2 AXT,2
017271,000192: 37,2674 76667 ALILP
017272,000193: 37,2675 00010 8D
017273,000194: 37,2676 66140 ALKLP LXC,1 SXA,1
017274,000195: 37,2677 02445 CMPX1
017275,000196: 37,2700 02445 CMPX1
017276,000197: 37,2701 56743 DLOAD* DMPR*
017277,000198: 37,2702 02450 ALK +1,1
017278,000199: 37,2703 75216 DELM +8D,2
017279,000200: 37,2704 77613 DAD*
017280,000201: 37,2705 75276 INTY +8D,2
017281,000202: 37,2706 12501 STORE INTY +8D,2
017282,000203: 37,2707 42743 DLOAD* DAD*
017283,000204: 37,2710 75314 ALK +12D,2
017284,000205: 37,2711 75230 ALDK +12D,2
017285,000206: 37,2712 12463 STORE ALK +12D,2
017286,000207: 37,2713 42673 DMPR* DAD*
017287,000208: 37,2714 75216 DELM +8D,2
017288,000209: 37,2715 75266 INTY +16D,2
017289,000210: 37,2716 12511 STORE INTY +16D,2
017290,000211: 37,2717 40743 DLOAD* DMP*
017291,000212: 37,2720 37105 ALSK +1,1
017292,000213: 37,2721 75216 DELM +8D,2
017293,000214: 37,2722 42772 SL1R DAD*
017294,000215: 37,2723 75256 VLAUN +8D,2
017295,000216: 37,2724 12521 STORE VLAUN +8D,2
017296,000217: 37,2725 76104 TIX,2 AXT,1
017297,000218: 37,2726 76676 ALKLP
017298,000219: 37,2727 00010 8D
017299,000220:
017300,000221: 37,2730 64743 LOOSE DLOAD* PDDL*
017301,000222: 37,2731 02523 ACCWD +8D,1
017302,000223: 37,2732 02521 VLAUN +8D,1
017303,000224: 37,2733 55523 PDDL* VDEF
017304,000225: 37,2734 02531 POSNV +8D,1
017305,000226: 37,2735 76521 MXV VSL1
017306,000227: 37,2736 02001 TRANSM1
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Page 400
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017308,000229: 37,2737 77745 DLOAD
017309,000230: 37,2740 00155 MPAC
017310,000231: 37,2741 06531 STORE POSNV +8D,1
017311,000232: 37,2742 77745 DLOAD
017312,000233: 37,2743 00160 MPAC +3
017313,000234: 37,2744 06521 STORE VLAUN +8D,1
017314,000235: 37,2745 77745 DLOAD
017315,000236: 37,2746 00162 MPAC +5
017316,000237: 37,2747 06523 STORE ACCWD +8D,1
017317,000238: 37,2750 77700 TIX,1
017318,000239: 37,2751 76730 LOOSE
017319,000240:
017320,000241: 37,2752 76174 AXT,2 AXT,1 # EVALUATE SINES AND COSINES
017321,000242: 37,2753 00006 6
017322,000243: 37,2754 00002 2
017323,000244: 37,2755 57343 BOOP DLOAD* DMPR
017324,000245: 37,2756 02503 ANGX +2,1
017325,000246: 37,2757 37110 GEORGEJ
017326,000247: 37,2760 77722 SR2R
017327,000248: 37,2761 73406 PUSH SIN
017328,000249: 37,2762 56072 SL3R XAD,1
017329,000250: 37,2763 00046 X1
017330,000251: 37,2764 10021 STORE 16D,2
017331,000252: 37,2765 77745 DLOAD
017332,000253: 37,2766 77746 COS
017333,000254: 37,2767 10027 STORE 22D,2 # COSINES
017334,000255: 37,2770 77704 TIX,2
017335,000256: 37,2771 76755 BOOP
017336,000257:
017337,000258: 37,2772 77776 PERFERAS EXIT
017338,000259: 37,2773 35016 CA EBANK7
017339,000260: 37,2774 54003 TS EBANK
017340,000261: 37,2775 E7,1400 EBANK= ATIGINC
017341,000262: 37,2775 01400 TC ATIGINC # GOTO ERASABLE TO CALCULATE ONLY TO RETN
017342,000263:
017343,000264: # CAUTION
017344,000265:
017345,000266: # THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED
017346,000267: # BEFORE ANY ATTEMPT IS MADE TO RUN THE IMU PERFORMANCE TEST
017347,000268:
017348,000269: 37,2776 E5,1400 EBANK= AZIMUTH
017349,000270: 37,2776 11412 CCS LENGTHOT
017350,000271: 37,2777 03034 TC SLEEPIE
017351,000272: 37,3000 11440 CCS TORQNDX
017352,000273: 37,3001 13003 TCF +2
017353,000274: 37,3002 03005 TC SETUPER1
017354,000275: 37,3003 30032 CA CDUX
017355,000276: 37,3004 55414 TS LOSVEC +1 # FOR TROUBLESHOOTING VD POSNS 2$4
017356,000277:
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Page 401
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017358,000279: 37,3005 06036 SETUPER1 TC INTPRET
017359,000280: 37,3006 65345 DLOAD PDDL # ANGLES FROM DRIFT TEST ONLY
017360,000281: 37,3007 02473 ANGZ
017361,000282: 37,3010 02477 ANGY
017362,000283: 37,3011 55525 PDDL VDEF
017363,000284: 37,3012 02501 ANGX
017364,000285: 37,3013 74276 VCOMP VXSC
017365,000286: 37,3014 37110 GEORGEJ
017366,000287: 37,3015 74521 MXV VSR1
017367,000288: 37,3016 02643 XSM
017368,000289: 37,3017 02740 STORE OGC
017369,000290: 37,3020 77776 EXIT
017370,000291:
017371,000292: 37,3021 32475 CA OGCPL
017372,000293: 37,3022 04616 TC BANKCALL
017373,000294: 37,3023 17276 CADR IMUPULSE
017374,000295: 37,3024 02315 TC IMUSLLLG
017375,000296: 37,3025 11440 GEOSTRT4 CCS TORQNDX # ONLY POSITIVE IF IN VERTICAL DRIFT TEST
017376,000297: 37,3026 02263 TC VALMIS
017377,000298: 37,3027 06036 TC INTPRET
017378,000299: 37,3030 77624 CALL
017379,000300: 37,3031 76401 ERTHRVSE
017380,000301: 37,3032 77776 EXIT
017381,000302: 37,3033 02117 TC TORQUE
017382,000303:
017383,000304: 37,3034 55412 SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGTHOT
017384,000305: 37,3035 11440 CCS TORQNDX # ARE WE DOING VERTDRIFT
017385,000306: 37,3036 02447 TC EARTHR*
017386,000307: 37,3037 05155 TC ENDOFJOB
017387,000308:
017388,000309: 37,3040 35014 SOMEERRR CA EBANK5
017389,000310: 37,3041 54003 TS EBANK
017390,000311: 37,3042 34753 CA ONE
017391,000312: 37,3043 55576 TS OVFLOWCK # STOP ALLOOP FROM CALLING ITSELF
017392,000313: 37,3044 05567 TC ALARM
017393,000314: 37,3045 01600 OCT 1600
017394,000315: 37,3046 02270 TC ENDTEST1
017395,000316: 37,3047 33054 SOMERR2 CAF OCT1601
017396,000317: 37,3050 05735 TC VARALARM
017397,000318: 37,3051 05516 TC DOWNFLAG
017398,000319: 37,3052 00007 ADRES IMUSE
017399,000320: 37,3053 05155 TC ENDOFJOB
017400,000321:
017401,000322: 37,3054 01601 OCT1601 OCT 01601
017402,000323: 37,3055 06200 DEC585 OCT 06200 # 3200 B+14 ORDER IS IMPORTANT
017403,000324: 37,3056 00000 00000 SCHZEROS 2DEC .00000000
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Page 402
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017405,000326: 37,3060 00000 00000 2DEC .00000000
017406,000327:
017407,000328: 37,3062 00000 OCT 00000
017408,000329: 37,3063 00000 ONEDPP OCT 00000 # ORDER IS IMPORTANT
017409,000330: 37,3064 00001 OCT 00001
017410,000331:
017411,000332: 37,3065 00004 INTVAL OCT 4
017412,000333: 37,3066 00002 OCT 2
017413,000334: 37,3067 00220 DEC 144 B-14
017414,000335: 37,3070 77776 DEC -1 B-14
017415,000336: 37,3071 35730 00035 SOUPLY 2DEC .93505870 # INITIAL GAINS FOR PIP OUTPUTS
017416,000337:
017417,000338: 37,3073 10317 17550 2DEC .26266423 # INITIAL GAINS/4 FOR ERECTION ANGLES
017418,000339:
017419,000340: 37,3075 00115 77DECML DEC 77 B-14
017420,000341: 37,3076 01443 ALXXXZ GENADR ALX1S -1
017421,000342: 37,3077 04133 02265 PIPASC 2DEC .13055869
017422,000343:
017423,000344: 37,3101 57223 66451 VELSC 2DEC -.52223476 # 512/980.402
017424,000345:
017425,000346: 37,3103 05427 12577 ALSK 2DEC .17329931 # SSWAY VEL GAIN X 980.402/4096
017426,000347:
017427,000348: 37,3105 77567 44202 2DEC -.00835370 # SSWAY ACCEL GAIN X 980.402/4096
017428,000349:
017429,000350: 37,3107 24276 14066 GEORGEJ 2DEC .63661977
017430,000351:
017431,000352: 37,3111 23073 11773 GEORGEK 2DEC .59737013
017432,000353:
End of include-file IMU_PERFORMANCE_TESTS_4.agc. Parent file is MAIN.agc