Source Code
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This is an attempt to recreate Luminary 99 Rev 2, otherwise known as LUM99R2, from Luminary 99 Rev 1 and ephemeris data from Luminary 116. The differences are confined to the last 10-12 lines of the CONTROLLED CONSTANTS. Luminary 99 Rev 1 source-code was transcribed from a printout in the MIT Museum, while Luminary 116 source code was transcribed from a printout belonging to Don Eyles. AGC developer James Kernan, the "rope mother" for the Apollo 11 Lunar Module's AGC, explains as follows: "At the last minute, Dan Lickly, our chief engineer, appeared with ephemerides updates and it took two tries to get it right. The result was that we created Lum99 Revision 1 and Lum99 Revision 2." It is suspected that the former is what's in the MIT Museum, and the latter is what we are trying to recreate here. As for which revision actually flew in Apollo 11, all of the other available surviving evidence points to Rev 1 rather than to Rev 2, so we're just not sure! |
015331,000002: ## Copyright: Public domain.
015332,000003: ## Filename: IMU_PERFORMANCE_TEST_2.agc
015333,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
015334,000005: ## It is part of the source code for the Lunar Module's (LM)
015335,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
015336,000007: ## Assembler: yaYUL
015337,000008: ## Contact: Ron Burkey <info@sandroid.org>.
015338,000009: ## Website: www.ibiblio.org/apollo.
015339,000010: ## Pages: 373-381
015340,000011: ## Mod history: 2009-05-17 RSB Adapted from the corresponding
015341,000012: ## Luminary131 file, using page
015342,000013: ## images from Luminary 1A.
015343,000014: ## 2011-01-06 JL Fixed pseudo-label indentation.
015344,000015: ## 2016-12-14 RSB Proofed text comments with octopus/ProoferComments
015345,000016: ## and corrected the errors found.
015346,000017: ## 2017-03-03 RSB Snapshot of Luminary 99 Rev 1.
015347,000018:
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Page 373 |
015349,000020: # NAME - IMU PERFORMANCE TESTS 2
015350,000021:
015351,000022: # DATE - MARCH 20, 1967
015352,000023:
015353,000024: # BY - SYSTEM TEST GROUP 864-6900 EXT. 1274
015354,000025:
015355,000026: # MODNO. - ZERO
015356,000027:
015357,000028: # FUNCTIONAL DESCRIPTION
015358,000029:
015359,000030: # POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF
015360,000031: # THE TESTS THEMSELVES. FOR A DESCRIPTION OF THESE SUBROUTINES AND THE
015361,000032: # OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685. THEORETICAL REF. E-1973
015362,000033:
015363,000034: 33,2045 BANK 33
015364,000035: 37,2000 SETLOC IMU2
015365,000036: 37,2000 BANK
015366,000037: 37,2002 E5,1416 EBANK= POSITON
015367,000038: 37,2002 COUNT* $$/P07
015368,000039:
015369,000040: 37,2002 05311 REDO TC NEWMODEX
015370,000041: 37,2003 00007 MM 07 B-14
015371,000042:
015372,000043: 37,2004 02325 GEOIMUTT TC IMUZERR
015373,000044: 37,2005 34755 IMUBACK CA ZERO
015374,000045: 37,2006 55414 TS NDXCTR
015375,000046: 37,2007 55440 TS TORQNDX
015376,000047: 37,2010 55441 TS TORQNDX +1
015377,000048: 37,2011 55576 TS OVFLOWCK
015378,000049: 37,2012 34361 NBPOSPL CA DEC17
015379,000050: 37,2013 55571 TS ZERONDX
015380,000051: 37,2014 32476 CA XNBADR
015381,000052: 37,2015 02367 TC ZEROING
015382,000053: 37,2016 34736 CA HALF
015383,000054: 37,2017 55664 TS XNB
015384,000055: 37,2020 06037 GUESS TC INTPRET
015385,000056: 37,2021 62545 LATAZCHK DLOAD SL2
015386,000057: 37,2022 02403 LATITUDE
015387,000058: 37,2023 15047 STODL DSPTEM1 +1
015388,000059: 37,2024 02401 AZIMUTH
015389,000060: 37,2025 77434 RTB EXIT
015390,000061: 37,2026 21614 1STO2S
015391,000062: 37,2027 56154 XCH MPAC
015392,000063: 37,2030 55045 TS DSPTEM1
015393,000064: 37,2031 32473 CAF VN0641
015394,000065: 37,2032 04616 TC BANKCALL
015395,000066: 37,2033 20476 CADR GOFLASH
015396,000067: 37,2034 02270 TC ENDTEST1
015397,000068: 37,2035 02037 TC +2
015398,000069: 37,2036 02031 TC -5
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Page 374 |
015400,000071: 37,2037 06037 TC INTPRET
015401,000072: 37,2040 47135 SLOAD RTB
015402,000073: 37,2041 01046 DSPTEM1
015403,000074: 37,2042 21576 CDULOGIC
015404,000075: 37,2043 02401 STORE AZIMUTH
015405,000076: 37,2044 60535 SLOAD SR2
015406,000077: 37,2045 01047 DSPTEM1 +1
015407,000078: 37,2046 02403 STORE LATITUDE
015408,000079: 37,2047 57546 COS DCOMP
015409,000080: 37,2050 77752 SL1
015410,000081: 37,2051 16437 STODL WANGI
015411,000082: 37,2052 02403 LATITUDE
015412,000083: 37,2053 72556 SIN SL1
015413,000084: 37,2054 16435 STODL WANGO
015414,000085: 37,2055 02401 AZIMUTH
015415,000086: 37,2056 73406 PUSH SIN
015416,000087: 37,2057 02675 STORE YNB +2
015417,000088: 37,2060 16705 STODL ZNB +4
015418,000089: 37,2061 77746 COS
015419,000090: 37,2062 02677 STORE YNB +4
015420,000091: 37,2063 77676 DCOMP
015421,000092: 37,2064 36703 POSGMBL STCALL ZNB +2
015422,000093: 37,2065 47353 CALCGA
015423,000094: 37,2066 77776 EXIT
015424,000095: 37,2067 04616 TC BANKCALL
015425,000096: 37,2070 17000 CADR IMUCOARS
015426,000097: 37,2071 34736 CAF BIT14 # IF BIT14 SET, GIMBAL LOCK
015427,000098: 37,2072 70077 MASK FLAGWRD3
015428,000099: 37,2073 00006 EXTEND
015429,000100: 37,2074 12076 BZF +2
015430,000101: 37,2075 25414 INCR NDXCTR # +1 IF IN GIMBAL LOCK, OTHERWISE 0
015431,000102: 37,2076 05516 TC DOWNFLAG
015432,000103: 37,2077 00056 ADRES GLOKFAIL # RESET GIMBAL LOCK FLAG
015433,000104: 37,2100 02315 TC IMUSLLLG
015434,000105: 37,2101 11414 CCS NDXCTR # IF ONE GO AND DO A PIPA TEST ONLY
015435,000106: 37,2102 02126 TC PIPACHK # ALIGN AND MEASURE VERTICAL PIPA RATE
015436,000107: 37,2103 02320 TC FINIMUDD
015437,000108: 37,2104 00006 EXTEND
015438,000109: 37,2105 31575 DCA PERFDLAY
015439,000110: 37,2106 05277 TC LONGCALL # DELAY WHILE SUSPENSION STABILIZES
015440,000111: 37,2107 E5,1416 EBANK= POSITON
015441,000112: 37,2107 02113 76065 2CADR GOESTIMS
015442,000113:
015443,000114: 37,2111 32116 CA ESTICADR
015444,000115: 37,2112 05133 TC JOBSLEEP
015445,000116: 37,2113 32116 GOESTIMS CA ESTICADR
015446,000117: 37,2114 05137 TC JOBWAKE
015447,000118: 37,2115 05261 TC TASKOVER
015448,000119: 37,2116 76500 ESTICADR CADR ESTIMS
015449,000120: 37,2117 34755 TORQUE CA ZERO
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015451,000122: 37,2120 55050 TS DSPTEM2
015452,000123: 37,2121 31504 CA DRIFTI
015453,000124: 37,2122 55051 TS DSPTEM2 +1
015454,000125: 37,2123 51416 INDEX POSITON
015455,000126: 37,2124 55420 TS SOUTHDR -1
015456,000127: 37,2125 02457 TC SHOW
015457,000128:
015458,000129: 37,2126 51414 PIPACHK INDEX NDXCTR # PIPA TEST
015459,000130: 37,2127 02130 TC +1
015460,000131: 37,2130 02447 TC EARTHR*
015461,000132: 37,2131 34361 CA DEC17 # ALLOW PIP COUNTER TO OVERFLOW 17 TIMES
015462,000133: 37,2132 55476 TS DATAPL +4 # IN THE ALLOTED TIME INTERVAL
015463,000134: 37,2133 32474 CA DEC58
015464,000135: 37,2134 55412 TS LENGTHOT
015465,000136: 37,2135 34753 CA ONE
015466,000137: 37,2136 55537 TS RESULTCT
015467,000138: 37,2137 34755 CA ZERO
015468,000139: 37,2140 51415 INDEX PIPINDEX
015469,000140: 37,2141 54037 TS PIPAX
015470,000141: 37,2142 55472 TS DATAPL
015471,000142: 37,2143 02332 TC CHECKG
015472,000143: 37,2144 00004 INHINT
015473,000144: 37,2145 34752 CAF TWO
015474,000145: 37,2146 05173 TC TWIDDLE
015475,000146: 37,2147 E5,1642 EBANK= XSM
015476,000147: 37,2147 02151 ADRES PIPATASK
015477,000148: 37,2150 05155 TC ENDOFJOB
015478,000149:
015479,000150: 37,2151 00006 PIPATASK EXTEND
015480,000151: 37,2152 27412 DIM LENGTHOT
015481,000152: 37,2153 31412 CA LENGTHOT
015482,000153: 37,2154 00006 EXTEND
015483,000154: 37,2155 62161 BZMF STARTPIP
015484,000155: 37,2156 34742 CAF BIT10
015485,000156: 37,2157 05173 TC TWIDDLE
015486,000157: 37,2160 E5,1642 EBANK= XSM
015487,000158: 37,2160 02151 ADRES PIPATASK
015488,000159: 37,2161 34736 STARTPIP CAF PRIO20
015489,000160: 37,2162 05105 TC FINDVAC
015490,000161: 37,2163 E5,1642 EBANK= XSM
015491,000162: 37,2163 02166 76065 2CADR PIPJOBB
015492,000163:
015493,000164: 37,2165 05261 TC TASKOVER
015494,000165:
015495,000166: 37,2166 51414 PIPJOBB INDEX NDXCTR
015496,000167: 37,2167 02170 TC +1
015497,000168: 37,2170 02447 TC EARTHR*
015498,000169: 37,2171 31412 CA LENGTHOT
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015500,000171: 37,2172 00006 EXTEND
015501,000172: 37,2173 62175 BZMF +2
015502,000173: 37,2174 05155 TC ENDOFJOB
015503,000174:
015504,000175: 37,2175 34756 CA FIVE
015505,000176: 37,2176 55537 TS RESULTCT
015506,000177: 37,2177 02332 TC CHECKG
015507,000178: 37,2200 11473 CCS DATAPL +1
015508,000179: 37,2201 02205 TC +4
015509,000180: 37,2202 05705 TC CCSHOLE
015510,000181: 37,2203 41476 CS DATAPL +4
015511,000182: 37,2204 55476 TS DATAPL +4
015512,000183: 37,2205 00006 EXTEND
015513,000184: 37,2206 41473 DCS DATAPL
015514,000185: 37,2207 21477 DAS DATAPL +4
015515,000186:
015516,000187: 37,2210 06037 TC INTPRET
015517,000188: 37,2211 45345 DLOAD DSU
015518,000189: 37,2212 02501 DATAPL +6
015519,000190: 37,2213 02475 DATAPL +2
015520,000191: 37,2214 45044 BPL CALL
015521,000192: 37,2215 76217 AINGOTN
015522,000193: 37,2216 76275 OVERFFIX
015523,000194: 37,2217 56325 AINGOTN PDDL DDV
015524,000195: 37,2220 02477 DATAPL +4
015525,000196: 37,2221 47075 DMPR RTB
015526,000197: 37,2222 37056 DEC585 # DEC585 HAS BEEN REDEFINED FOR LEM
015527,000198: 37,2223 21612 SGNAGREE
015528,000199: 37,2224 01051 STORE DSPTEM2
015529,000200: 37,2225 77776 EXIT
015530,000201: 37,2226 11414 CCS NDXCTR
015531,000202: 37,2227 02301 TC COAALIGN # TAKE PLATFORM OUT OF GIMBAL LOCK
015532,000203: 37,2230 02457 TC SHOW
015533,000204: 37,2231 32471 VERTDRFT CA 3990DEC # ABOUT 1 HOUR VERTICAL DRIFT TEST
015534,000205: 37,2232 55412 TS LENGTHOT
015535,000206: 37,2233 51416 INDEX POSITON
015536,000207: 37,2234 41417 CS SOUTHDR -2
015537,000208: 37,2235 55442 TS DRIFTT
015538,000209: 37,2236 11415 CCS PIPINDEX # OFFSET PLATFORM TO MISS PIP DEAD-ZONES
015539,000210: 37,2237 12245 TCF PON4 # Z UP IN POS 4
015540,000211: 37,2240 44747 PON2 CS BIT5 # X UP
015541,000212: 37,2241 27565 ADS ERCOMP +2
015542,000213: 37,2242 34747 CA BIT5
015543,000214: 37,2243 27567 ADS ERCOMP +4
015544,000215: 37,2244 12251 TCF PON
015545,000216: 37,2245 44747 PON4 CS BIT5
015546,000217: 37,2246 27565 ADS ERCOMP +2
015547,000218: 37,2247 34747 CA BIT5
015548,000219: 37,2250 27563 ADS ERCOMP
015549,000220: 37,2251 02447 PON TC EARTHR*
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015551,000222: 37,2252 34755 CA ZERO # ALLOW ONLY SOUTH GYRO EARTH RATE COMPENS
015552,000223: 37,2253 55404 TS ERVECTOR
015553,000224: 37,2254 55405 TS ERVECTOR +1
015554,000225: 37,2255 34733 GUESS1 CAF POSMAX
015555,000226: 37,2256 55440 TS TORQNDX
015556,000227: 37,2257 55441 TS TORQNDX +1
015557,000228: 37,2260 30032 CA CDUX
015558,000229: 37,2261 55413 TS LOSVEC
015559,000230: 37,2262 02500 TC ESTIMS
015560,000231: 37,2263 31502 VALMIS CA DRIFTO
015561,000232: 37,2264 55051 TS DSPTEM2 +1
015562,000233: 37,2265 34755 CA ZERO
015563,000234: 37,2266 55050 TS DSPTEM2
015564,000235: 37,2267 02457 TC SHOW
015565,000236:
015566,000237: 37,2270 05516 ENDTEST1 TC DOWNFLAG
015567,000238: 37,2271 00007 ADRES IMUSE
015568,000239: 37,2272 44755 CS ZERO
015569,000240: 37,2273 05314 TC NEWMODEA
015570,000241: 37,2274 05472 TC ENDEXT
015571,000242:
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015573,000244: 37,2275 43215 OVERFFIX DAD DAD
015574,000245: 37,2276 06530 DPPOSMAX
015575,000246: 37,2277 37064 ONEDPP
015576,000247: 37,2300 77616 RVQ
015577,000248:
015578,000249: 37,2301 00006 COAALIGN EXTEND # COARSE ALIGN SUBROUTINE
015579,000250: 37,2302 23571 QXCH ZERONDX
015580,000251: 37,2303 34755 CA ZERO
015581,000252: 37,2304 54321 TS THETAD
015582,000253: 37,2305 54322 TS THETAD +1
015583,000254: 37,2306 54323 TS THETAD +2
015584,000255: 37,2307 04616 TC BANKCALL
015585,000256: 37,2310 17000 CADR IMUCOARS
015586,000257: 37,2311 04616 ALIGNCOA TC BANKCALL
015587,000258: 37,2312 17716 CADR IMUSTALL
015588,000259: 37,2313 03047 TC SOMERR2
015589,000260: 37,2314 01571 TC ZERONDX
015590,000261:
015591,000262: 37,2315 00006 IMUSLLLG EXTEND
015592,000263: 37,2316 23571 QXCH ZERONDX
015593,000264: 37,2317 02311 TC ALIGNCOA
015594,000265:
015595,000266: 37,2320 00006 FINIMUDD EXTEND
015596,000267: 37,2321 23571 QXCH ZERONDX
015597,000268: 37,2322 04616 TC BANKCALL
015598,000269: 37,2323 17210 CADR IMUFINE
015599,000270: 37,2324 02311 TC ALIGNCOA
015600,000271:
015601,000272: 37,2325 00006 IMUZERR EXTEND
015602,000273: 37,2326 23571 QXCH ZERONDX
015603,000274: 37,2327 04616 TC BANKCALL
015604,000275: 37,2330 16714 CADR IMUZERO
015605,000276: 37,2331 02311 TC ALIGNCOA
015606,000277:
015607,000278: 37,2332 00006 CHECKG EXTEND # PIP PULSE CATCHING ROUTINE
015608,000279: 37,2333 23417 QXCH QPLACE
015609,000280: 37,2334 02342 TC +6
015610,000281: 37,2335 00003 CHECKG1 RELINT
015611,000282: 37,2336 30067 CA NEWJOB
015612,000283: 37,2337 00006 EXTEND
015613,000284: 37,2340 62346 BZMF +6
015614,000285: 37,2341 05122 TC CHANG1
015615,000286: 37,2342 00004 INHINT
015616,000287: 37,2343 51415 INDEX PIPINDEX
015617,000288: 37,2344 40037 CS PIPAX
015618,000289: 37,2345 55571 TS ZERONDX
015619,000290: 37,2346 00004 INHINT
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015621,000292: 37,2347 51415 INDEX PIPINDEX
015622,000293: 37,2350 30037 CA PIPAX
015623,000294: 37,2351 61571 AD ZERONDX
015624,000295: 37,2352 00006 EXTEND
015625,000296: 37,2353 12335 BZF CHECKG1
015626,000297: 37,2354 51415 INDEX PIPINDEX
015627,000298: 37,2355 30037 CA PIPAX
015628,000299: 37,2356 51537 INDEX RESULTCT
015629,000300: 37,2357 55472 TS DATAPL
015630,000301: 37,2360 04102 TC FINETIME
015631,000302: 37,2361 51537 INDEX RESULTCT
015632,000303: 37,2362 55473 TS DATAPL +1
015633,000304: 37,2363 51537 INDEX RESULTCT
015634,000305: 37,2364 23474 LXCH DATAPL +2
015635,000306: 37,2365 00003 RELINT
015636,000307: 37,2366 01417 ENDCHKG TC QPLACE
015637,000308:
015638,000309: 37,2367 54001 ZEROING TS L
015639,000310: 37,2370 12372 TCF +2
015640,000311: 37,2371 55571 ZEROING1 TS ZERONDX
015641,000312: 37,2372 34755 CAF ZERO
015642,000313: 37,2373 50001 INDEX L
015643,000314: 37,2374 54000 TS 0
015644,000315: 37,2375 24001 INCR L
015645,000316: 37,2376 11571 CCS ZERONDX
015646,000317: 37,2377 12371 TCF ZEROING1
015647,000318: 37,2400 00002 TC Q
015648,000319:
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Page 380 |
015650,000321: 37,2401 65345 ERTHRVSE DLOAD PDDL
015651,000322: 37,2402 37057 SCHZEROS # PD24 = (SIN -COS 0)(OMEG/MS)
015652,000323: 37,2403 02403 LATITUDE
015653,000324: 37,2404 57546 COS DCOMP
015654,000325: 37,2405 73525 PDDL SIN
015655,000326: 37,2406 02403 LATITUDE
015656,000327: 37,2407 74266 VDEF VXSC
015657,000328: 37,2410 36001 OMEG/MS
015658,000329: 37,2411 02405 STORE ERVECTOR
015659,000330: 37,2412 77634 RTB
015660,000331: 37,2413 21573 LOADTIME
015661,000332: 37,2414 26433 STOVL TMARK
015662,000333: 37,2415 37057 SCHZEROS
015663,000334: 37,2416 02564 STORE ERCOMP
015664,000335: 37,2417 77616 RVQ
015665,000336:
015666,000337: 37,2420 47020 EARTHR ITA RTB
015667,000338: 37,2421 00051 S2
015668,000339: 37,2422 21573 LOADTIME
015669,000340: 37,2423 02431 STORE TEMPTIME
015670,000341: 37,2424 51025 DSU BPL
015671,000342: 37,2425 02433 TMARK
015672,000343: 37,2426 76431 ERTHR
015673,000344: 37,2427 77624 CALL
015674,000345: 37,2430 76275 OVERFFIX
015675,000346: 37,2431 74261 ERTHR SL VXSC
015676,000347: 37,2432 20212 9D
015677,000348: 37,2433 02405 ERVECTOR
015678,000349: 37,2434 53321 MXV VAD
015679,000350: 37,2435 02643 XSM
015680,000351: 37,2436 02564 ERCOMP
015681,000352: 37,2437 16564 STODL ERCOMP
015682,000353: 37,2440 02431 TEMPTIME
015683,000354: 37,2441 02433 STORE TMARK
015684,000355: 37,2442 47170 AXT,1 RTB
015685,000356: 37,2443 02563 ECADR ERCOMP
015686,000357: 37,2444 21705 PULSEIMU
015687,000358: 37,2445 77650 GOTO
015688,000359: 37,2446 00051 S2
015689,000360:
015690,000361: 37,2447 00006 EARTHR* EXTEND
015691,000362: 37,2450 23420 QXCH QPLACES
015692,000363: 37,2451 06037 TC INTPRET
015693,000364: 37,2452 77624 CALL
015694,000365: 37,2453 76420 EARTHR
015695,000366: 37,2454 77776 EXIT
015696,000367: 37,2455 02315 TC IMUSLLLG
015697,000368: 37,2456 01420 TC QPLACES
015698,000369:
015699,000370: 37,2457 00006 SHOW EXTEND
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015701,000372: 37,2460 23417 QXCH QPLACE
015702,000373: 37,2461 31416 SHOW1 CA POSITON
015703,000374: 37,2462 55052 TS DSPTEM2 +2
015704,000375: 37,2463 32472 CA VB06N98
015705,000376: 37,2464 04616 TC BANKCALL
015706,000377: 37,2465 20476 CADR GOFLASH
015707,000378: 37,2466 02270 TC ENDTEST1 # V34
015708,000379: 37,2467 01417 TC QPLACE # V33
015709,000380: 37,2470 12461 TCF SHOW1
015710,000381:
015711,000382: 37,2471 07626 3990DEC DEC 3990 B-14
015712,000383: 37,2472 01542 VB06N98 VN 0698
015713,000384: 37,2473 01451 VN0641 VN 0641
015714,000385: 37,2474 4361 DEC17 = ND1
015715,000386: 37,2474 00072 DEC58 DEC 58 B-14
015716,000387: 37,2475 02737 OGCPL ECADR OGC
015717,000388: 37,2476 4777 1SECX = 1SEC
015718,000389: 37,2476 01664 XNBADR GENADR XNB
015719,000390: 37,2477 01642 XSMADR GENADR XSM
015720,000391: 4102 BLOCK 2
015721,000392: 4102 COUNT* $$/P07
015722,000393: 4102 00004 FINETIME INHINT # RETURNS WITH INTERRUPT INHIBITED
015723,000394: 4103 00006 EXTEND
015724,000395: 4104 00004 READ LOSCALAR
015725,000396: 4105 54001 TS L
015726,000397: 4106 00006 EXTEND
015727,000398: 4107 06004 RXOR LOSCALAR
015728,000399: 4110 00006 EXTEND
015729,000400: 4111 14115 BZF +4
015730,000401: 4112 00006 EXTEND
015731,000402: 4113 00004 READ LOSCALAR
015732,000403: 4114 54001 TS L
015733,000404: 4115 44733 +4 CS POSMAX
015734,000405: 4116 60001 AD L
015735,000406: 4117 00006 EXTEND
015736,000407: 4120 14103 BZF FINETIME +1
015737,000408: 4121 00006 EXTEND
015738,000409: 4122 00003 READ HISCALAR
015739,000410: 4123 00002 TC Q
015740,000411:
End of include-file IMU_PERFORMANCE_TESTS_2.agc. Parent file is MAIN.agc