Source Code
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These source-code files are part of a reconstructed copy of Luminary 96, the
original release of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
The reconstruction began with reconstructed source code for Luminary 97. Changes
between revisions 96 and 97 were backed out, as described by anomal report LNY-59.
transcribed from a digitized copy of that program. The reconstruction was
verified by matching memory-bank checksums to those listed in drawing 2021152D.
Note that page numbers in the reconstructed code match those on the Luminary 099
revision 001 printout, although the added code would likely have changed page
numbers for a real Luminary 96 listing.
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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015290,000002: ## Copyright: Public domain.
015291,000003: ## Filename: IMU_PERFORMANCE_TESTS_2.agc
015292,000004: ## Purpose: A section of Luminary revision 96.
015293,000005: ## It is part of the reconstructed source code for the
015294,000006: ## original release of the flight software for the Lunar
015295,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
015296,000008: ## The code has been recreated from a previously reconstructed
015297,000009: ## copy of Luminary 97 by undoing changes described in anomaly
015298,000010: ## report LNY-59. The code has been adapted such that the
015299,000011: ## resulting bugger words exactly match those specified for
015300,000012: ## Luminary 96 in NASA drawing 2021152D, which gives relatively
015301,000013: ## high confidence that the reconstruction is correct.
015302,000014: ## Reference: pp. 373-381
015303,000015: ## Assembler: yaYUL
015304,000016: ## Contact: Ron Burkey <info@sandroid.org>.
015305,000017: ## Website: www.ibiblio.org/apollo/index.html
015306,000018: ## Mod history: 2019-08-04 MAS Created from Luminary 97.
015307,000019:
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Page 373
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015309,000021: # NAME - IMU PERFORMANCE TESTS 2
015310,000022:
015311,000023: # DATE - MARCH 20, 1967
015312,000024:
015313,000025: # BY - SYSTEM TEST GROUP 864-6900 EXT. 1274
015314,000026:
015315,000027: # MODNO. - ZERO
015316,000028:
015317,000029: # FUNCTIONAL DESCRIPTION
015318,000030:
015319,000031: # POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF
015320,000032: # THE TESTS THEMSELVES. FOR A DESCRIPTION OF THESE SUBROUTINES AND THE
015321,000033: # OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685. THEORETICAL REF. E-1973
015322,000034:
015323,000035: 33,2045 BANK 33
015324,000036: 37,2000 SETLOC IMU2
015325,000037: 37,2000 BANK
015326,000038: 37,2002 E5,1416 EBANK= POSITON
015327,000039: 37,2002 COUNT* $$/P07
015328,000040:
015329,000041: 37,2002 05311 REDO TC NEWMODEX
015330,000042: 37,2003 00007 MM 07 B-14
015331,000043:
015332,000044: 37,2004 02325 GEOIMUTT TC IMUZERR
015333,000045: 37,2005 34755 IMUBACK CA ZERO
015334,000046: 37,2006 55414 TS NDXCTR
015335,000047: 37,2007 55440 TS TORQNDX
015336,000048: 37,2010 55441 TS TORQNDX +1
015337,000049: 37,2011 55576 TS OVFLOWCK
015338,000050: 37,2012 34361 NBPOSPL CA DEC17
015339,000051: 37,2013 55571 TS ZERONDX
015340,000052: 37,2014 32476 CA XNBADR
015341,000053: 37,2015 02367 TC ZEROING
015342,000054: 37,2016 34736 CA HALF
015343,000055: 37,2017 55664 TS XNB
015344,000056: 37,2020 06037 GUESS TC INTPRET
015345,000057: 37,2021 62545 LATAZCHK DLOAD SL2
015346,000058: 37,2022 02403 LATITUDE
015347,000059: 37,2023 15047 STODL DSPTEM1 +1
015348,000060: 37,2024 02401 AZIMUTH
015349,000061: 37,2025 77434 RTB EXIT
015350,000062: 37,2026 21614 1STO2S
015351,000063: 37,2027 56154 XCH MPAC
015352,000064: 37,2030 55045 TS DSPTEM1
015353,000065: 37,2031 32473 CAF VN0641
015354,000066: 37,2032 04616 TC BANKCALL
015355,000067: 37,2033 20476 CADR GOFLASH
015356,000068: 37,2034 02270 TC ENDTEST1
015357,000069: 37,2035 02037 TC +2
015358,000070: 37,2036 02031 TC -5
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Page 374
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015360,000072: 37,2037 06037 TC INTPRET
015361,000073: 37,2040 47135 SLOAD RTB
015362,000074: 37,2041 01046 DSPTEM1
015363,000075: 37,2042 21576 CDULOGIC
015364,000076: 37,2043 02401 STORE AZIMUTH
015365,000077: 37,2044 60535 SLOAD SR2
015366,000078: 37,2045 01047 DSPTEM1 +1
015367,000079: 37,2046 02403 STORE LATITUDE
015368,000080: 37,2047 57546 COS DCOMP
015369,000081: 37,2050 77752 SL1
015370,000082: 37,2051 16437 STODL WANGI
015371,000083: 37,2052 02403 LATITUDE
015372,000084: 37,2053 72556 SIN SL1
015373,000085: 37,2054 16435 STODL WANGO
015374,000086: 37,2055 02401 AZIMUTH
015375,000087: 37,2056 73406 PUSH SIN
015376,000088: 37,2057 02675 STORE YNB +2
015377,000089: 37,2060 16705 STODL ZNB +4
015378,000090: 37,2061 77746 COS
015379,000091: 37,2062 02677 STORE YNB +4
015380,000092: 37,2063 77676 DCOMP
015381,000093: 37,2064 36703 POSGMBL STCALL ZNB +2
015382,000094: 37,2065 47353 CALCGA
015383,000095: 37,2066 77776 EXIT
015384,000096: 37,2067 04616 TC BANKCALL
015385,000097: 37,2070 17000 CADR IMUCOARS
015386,000098: 37,2071 34736 CAF BIT14 # IF BIT14 SET, GIMBAL LOCK
015387,000099: 37,2072 70077 MASK FLAGWRD3
015388,000100: 37,2073 00006 EXTEND
015389,000101: 37,2074 12076 BZF +2
015390,000102: 37,2075 25414 INCR NDXCTR # +1 IF IN GIMBAL LOCK, OTHERWISE 0
015391,000103: 37,2076 05516 TC DOWNFLAG
015392,000104: 37,2077 00056 ADRES GLOKFAIL # RESET GIMBAL LOCK FLAG
015393,000105: 37,2100 02315 TC IMUSLLLG
015394,000106: 37,2101 11414 CCS NDXCTR # IF ONE GO AND DO A PIPA TEST ONLY
015395,000107: 37,2102 02126 TC PIPACHK # ALIGN AND MEASURE VERTICAL PIPA RATE
015396,000108: 37,2103 02320 TC FINIMUDD
015397,000109: 37,2104 00006 EXTEND
015398,000110: 37,2105 31575 DCA PERFDLAY
015399,000111: 37,2106 05277 TC LONGCALL # DELAY WHILE SUSPENSION STABILIZES
015400,000112: 37,2107 E5,1416 EBANK= POSITON
015401,000113: 37,2107 02113 76065 2CADR GOESTIMS
015402,000114:
015403,000115: 37,2111 32116 CA ESTICADR
015404,000116: 37,2112 05133 TC JOBSLEEP
015405,000117: 37,2113 32116 GOESTIMS CA ESTICADR
015406,000118: 37,2114 05137 TC JOBWAKE
015407,000119: 37,2115 05261 TC TASKOVER
015408,000120: 37,2116 76500 ESTICADR CADR ESTIMS
015409,000121: 37,2117 34755 TORQUE CA ZERO
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Page 375
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015411,000123: 37,2120 55050 TS DSPTEM2
015412,000124: 37,2121 31504 CA DRIFTI
015413,000125: 37,2122 55051 TS DSPTEM2 +1
015414,000126: 37,2123 51416 INDEX POSITON
015415,000127: 37,2124 55420 TS SOUTHDR -1
015416,000128: 37,2125 02457 TC SHOW
015417,000129:
015418,000130: 37,2126 51414 PIPACHK INDEX NDXCTR # PIPA TEST
015419,000131: 37,2127 02130 TC +1
015420,000132: 37,2130 02447 TC EARTHR*
015421,000133: 37,2131 34361 CA DEC17 # ALLOW PIP COUNTER TO OVERFLOW 17 TIMES
015422,000134: 37,2132 55476 TS DATAPL +4 # IN THE ALLOTED TIME INTERVAL
015423,000135: 37,2133 32474 CA DEC58
015424,000136: 37,2134 55412 TS LENGTHOT
015425,000137: 37,2135 34753 CA ONE
015426,000138: 37,2136 55537 TS RESULTCT
015427,000139: 37,2137 34755 CA ZERO
015428,000140: 37,2140 51415 INDEX PIPINDEX
015429,000141: 37,2141 54037 TS PIPAX
015430,000142: 37,2142 55472 TS DATAPL
015431,000143: 37,2143 02332 TC CHECKG
015432,000144: 37,2144 00004 INHINT
015433,000145: 37,2145 34752 CAF TWO
015434,000146: 37,2146 05173 TC TWIDDLE
015435,000147: 37,2147 E5,1642 EBANK= XSM
015436,000148: 37,2147 02151 ADRES PIPATASK
015437,000149: 37,2150 05155 TC ENDOFJOB
015438,000150:
015439,000151: 37,2151 00006 PIPATASK EXTEND
015440,000152: 37,2152 27412 DIM LENGTHOT
015441,000153: 37,2153 31412 CA LENGTHOT
015442,000154: 37,2154 00006 EXTEND
015443,000155: 37,2155 62161 BZMF STARTPIP
015444,000156: 37,2156 34742 CAF BIT10
015445,000157: 37,2157 05173 TC TWIDDLE
015446,000158: 37,2160 E5,1642 EBANK= XSM
015447,000159: 37,2160 02151 ADRES PIPATASK
015448,000160: 37,2161 34736 STARTPIP CAF PRIO20
015449,000161: 37,2162 05105 TC FINDVAC
015450,000162: 37,2163 E5,1642 EBANK= XSM
015451,000163: 37,2163 02166 76065 2CADR PIPJOBB
015452,000164:
015453,000165: 37,2165 05261 TC TASKOVER
015454,000166:
015455,000167: 37,2166 51414 PIPJOBB INDEX NDXCTR
015456,000168: 37,2167 02170 TC +1
015457,000169: 37,2170 02447 TC EARTHR*
015458,000170: 37,2171 31412 CA LENGTHOT
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Page 376
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015460,000172: 37,2172 00006 EXTEND
015461,000173: 37,2173 62175 BZMF +2
015462,000174: 37,2174 05155 TC ENDOFJOB
015463,000175:
015464,000176: 37,2175 34756 CA FIVE
015465,000177: 37,2176 55537 TS RESULTCT
015466,000178: 37,2177 02332 TC CHECKG
015467,000179: 37,2200 11473 CCS DATAPL +1
015468,000180: 37,2201 02205 TC +4
015469,000181: 37,2202 05705 TC CCSHOLE
015470,000182: 37,2203 41476 CS DATAPL +4
015471,000183: 37,2204 55476 TS DATAPL +4
015472,000184: 37,2205 00006 EXTEND
015473,000185: 37,2206 41473 DCS DATAPL
015474,000186: 37,2207 21477 DAS DATAPL +4
015475,000187:
015476,000188: 37,2210 06037 TC INTPRET
015477,000189: 37,2211 45345 DLOAD DSU
015478,000190: 37,2212 02501 DATAPL +6
015479,000191: 37,2213 02475 DATAPL +2
015480,000192: 37,2214 45044 BPL CALL
015481,000193: 37,2215 76217 AINGOTN
015482,000194: 37,2216 76275 OVERFFIX
015483,000195: 37,2217 56325 AINGOTN PDDL DDV
015484,000196: 37,2220 02477 DATAPL +4
015485,000197: 37,2221 47075 DMPR RTB
015486,000198: 37,2222 37056 DEC585 # DEC585 HAS BEEN REDEFINED FOR LEM
015487,000199: 37,2223 21612 SGNAGREE
015488,000200: 37,2224 01051 STORE DSPTEM2
015489,000201: 37,2225 77776 EXIT
015490,000202: 37,2226 11414 CCS NDXCTR
015491,000203: 37,2227 02301 TC COAALIGN # TAKE PLATFORM OUT OF GIMBAL LOCK
015492,000204: 37,2230 02457 TC SHOW
015493,000205: 37,2231 32471 VERTDRFT CA 3990DEC # ABOUT 1 HOUR VERTICAL DRIFT TEST
015494,000206: 37,2232 55412 TS LENGTHOT
015495,000207: 37,2233 51416 INDEX POSITON
015496,000208: 37,2234 41417 CS SOUTHDR -2
015497,000209: 37,2235 55442 TS DRIFTT
015498,000210: 37,2236 11415 CCS PIPINDEX # OFFSET PLATFORM TO MISS PIP DEAD-ZONES
015499,000211: 37,2237 12245 TCF PON4 # Z UP IN POS 4
015500,000212: 37,2240 44747 PON2 CS BIT5 # X UP
015501,000213: 37,2241 27565 ADS ERCOMP +2
015502,000214: 37,2242 34747 CA BIT5
015503,000215: 37,2243 27567 ADS ERCOMP +4
015504,000216: 37,2244 12251 TCF PON
015505,000217: 37,2245 44747 PON4 CS BIT5
015506,000218: 37,2246 27565 ADS ERCOMP +2
015507,000219: 37,2247 34747 CA BIT5
015508,000220: 37,2250 27563 ADS ERCOMP
015509,000221: 37,2251 02447 PON TC EARTHR*
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Page 377
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015511,000223: 37,2252 34755 CA ZERO # ALLOW ONLY SOUTH GYRO EARTH RATE COMPENS
015512,000224: 37,2253 55404 TS ERVECTOR
015513,000225: 37,2254 55405 TS ERVECTOR +1
015514,000226: 37,2255 34733 GUESS1 CAF POSMAX
015515,000227: 37,2256 55440 TS TORQNDX
015516,000228: 37,2257 55441 TS TORQNDX +1
015517,000229: 37,2260 30032 CA CDUX
015518,000230: 37,2261 55413 TS LOSVEC
015519,000231: 37,2262 02500 TC ESTIMS
015520,000232: 37,2263 31502 VALMIS CA DRIFTO
015521,000233: 37,2264 55051 TS DSPTEM2 +1
015522,000234: 37,2265 34755 CA ZERO
015523,000235: 37,2266 55050 TS DSPTEM2
015524,000236: 37,2267 02457 TC SHOW
015525,000237:
015526,000238: 37,2270 05516 ENDTEST1 TC DOWNFLAG
015527,000239: 37,2271 00007 ADRES IMUSE
015528,000240: 37,2272 44755 CS ZERO
015529,000241: 37,2273 05314 TC NEWMODEA
015530,000242: 37,2274 05472 TC ENDEXT
015531,000243:
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Page 378
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015533,000245: 37,2275 43215 OVERFFIX DAD DAD
015534,000246: 37,2276 06530 DPPOSMAX
015535,000247: 37,2277 37064 ONEDPP
015536,000248: 37,2300 77616 RVQ
015537,000249:
015538,000250: 37,2301 00006 COAALIGN EXTEND # COARSE ALIGN SUBROUTINE
015539,000251: 37,2302 23571 QXCH ZERONDX
015540,000252: 37,2303 34755 CA ZERO
015541,000253: 37,2304 54321 TS THETAD
015542,000254: 37,2305 54322 TS THETAD +1
015543,000255: 37,2306 54323 TS THETAD +2
015544,000256: 37,2307 04616 TC BANKCALL
015545,000257: 37,2310 17000 CADR IMUCOARS
015546,000258: 37,2311 04616 ALIGNCOA TC BANKCALL
015547,000259: 37,2312 17716 CADR IMUSTALL
015548,000260: 37,2313 03047 TC SOMERR2
015549,000261: 37,2314 01571 TC ZERONDX
015550,000262:
015551,000263: 37,2315 00006 IMUSLLLG EXTEND
015552,000264: 37,2316 23571 QXCH ZERONDX
015553,000265: 37,2317 02311 TC ALIGNCOA
015554,000266:
015555,000267: 37,2320 00006 FINIMUDD EXTEND
015556,000268: 37,2321 23571 QXCH ZERONDX
015557,000269: 37,2322 04616 TC BANKCALL
015558,000270: 37,2323 17210 CADR IMUFINE
015559,000271: 37,2324 02311 TC ALIGNCOA
015560,000272:
015561,000273: 37,2325 00006 IMUZERR EXTEND
015562,000274: 37,2326 23571 QXCH ZERONDX
015563,000275: 37,2327 04616 TC BANKCALL
015564,000276: 37,2330 16714 CADR IMUZERO
015565,000277: 37,2331 02311 TC ALIGNCOA
015566,000278:
015567,000279: 37,2332 00006 CHECKG EXTEND # PIP PULSE CATCHING ROUTINE
015568,000280: 37,2333 23417 QXCH QPLACE
015569,000281: 37,2334 02342 TC +6
015570,000282: 37,2335 00003 CHECKG1 RELINT
015571,000283: 37,2336 30067 CA NEWJOB
015572,000284: 37,2337 00006 EXTEND
015573,000285: 37,2340 62346 BZMF +6
015574,000286: 37,2341 05122 TC CHANG1
015575,000287: 37,2342 00004 INHINT
015576,000288: 37,2343 51415 INDEX PIPINDEX
015577,000289: 37,2344 40037 CS PIPAX
015578,000290: 37,2345 55571 TS ZERONDX
015579,000291: 37,2346 00004 INHINT
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Page 379
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015581,000293: 37,2347 51415 INDEX PIPINDEX
015582,000294: 37,2350 30037 CA PIPAX
015583,000295: 37,2351 61571 AD ZERONDX
015584,000296: 37,2352 00006 EXTEND
015585,000297: 37,2353 12335 BZF CHECKG1
015586,000298: 37,2354 51415 INDEX PIPINDEX
015587,000299: 37,2355 30037 CA PIPAX
015588,000300: 37,2356 51537 INDEX RESULTCT
015589,000301: 37,2357 55472 TS DATAPL
015590,000302: 37,2360 04102 TC FINETIME
015591,000303: 37,2361 51537 INDEX RESULTCT
015592,000304: 37,2362 55473 TS DATAPL +1
015593,000305: 37,2363 51537 INDEX RESULTCT
015594,000306: 37,2364 23474 LXCH DATAPL +2
015595,000307: 37,2365 00003 RELINT
015596,000308: 37,2366 01417 ENDCHKG TC QPLACE
015597,000309:
015598,000310: 37,2367 54001 ZEROING TS L
015599,000311: 37,2370 12372 TCF +2
015600,000312: 37,2371 55571 ZEROING1 TS ZERONDX
015601,000313: 37,2372 34755 CAF ZERO
015602,000314: 37,2373 50001 INDEX L
015603,000315: 37,2374 54000 TS 0
015604,000316: 37,2375 24001 INCR L
015605,000317: 37,2376 11571 CCS ZERONDX
015606,000318: 37,2377 12371 TCF ZEROING1
015607,000319: 37,2400 00002 TC Q
015608,000320:
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Page 380
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015610,000322: 37,2401 65345 ERTHRVSE DLOAD PDDL
015611,000323: 37,2402 37057 SCHZEROS # PD24 = (SIN -COS 0)(OMEG/MS)
015612,000324: 37,2403 02403 LATITUDE
015613,000325: 37,2404 57546 COS DCOMP
015614,000326: 37,2405 73525 PDDL SIN
015615,000327: 37,2406 02403 LATITUDE
015616,000328: 37,2407 74266 VDEF VXSC
015617,000329: 37,2410 36001 OMEG/MS
015618,000330: 37,2411 02405 STORE ERVECTOR
015619,000331: 37,2412 77634 RTB
015620,000332: 37,2413 21573 LOADTIME
015621,000333: 37,2414 26433 STOVL TMARK
015622,000334: 37,2415 37057 SCHZEROS
015623,000335: 37,2416 02564 STORE ERCOMP
015624,000336: 37,2417 77616 RVQ
015625,000337:
015626,000338: 37,2420 47020 EARTHR ITA RTB
015627,000339: 37,2421 00051 S2
015628,000340: 37,2422 21573 LOADTIME
015629,000341: 37,2423 02431 STORE TEMPTIME
015630,000342: 37,2424 51025 DSU BPL
015631,000343: 37,2425 02433 TMARK
015632,000344: 37,2426 76431 ERTHR
015633,000345: 37,2427 77624 CALL
015634,000346: 37,2430 76275 OVERFFIX
015635,000347: 37,2431 74261 ERTHR SL VXSC
015636,000348: 37,2432 20212 9D
015637,000349: 37,2433 02405 ERVECTOR
015638,000350: 37,2434 53321 MXV VAD
015639,000351: 37,2435 02643 XSM
015640,000352: 37,2436 02564 ERCOMP
015641,000353: 37,2437 16564 STODL ERCOMP
015642,000354: 37,2440 02431 TEMPTIME
015643,000355: 37,2441 02433 STORE TMARK
015644,000356: 37,2442 47170 AXT,1 RTB
015645,000357: 37,2443 02563 ECADR ERCOMP
015646,000358: 37,2444 21705 PULSEIMU
015647,000359: 37,2445 77650 GOTO
015648,000360: 37,2446 00051 S2
015649,000361:
015650,000362: 37,2447 00006 EARTHR* EXTEND
015651,000363: 37,2450 23420 QXCH QPLACES
015652,000364: 37,2451 06037 TC INTPRET
015653,000365: 37,2452 77624 CALL
015654,000366: 37,2453 76420 EARTHR
015655,000367: 37,2454 77776 EXIT
015656,000368: 37,2455 02315 TC IMUSLLLG
015657,000369: 37,2456 01420 TC QPLACES
015658,000370:
015659,000371: 37,2457 00006 SHOW EXTEND
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Page 381
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015661,000373: 37,2460 23417 QXCH QPLACE
015662,000374: 37,2461 31416 SHOW1 CA POSITON
015663,000375: 37,2462 55052 TS DSPTEM2 +2
015664,000376: 37,2463 32472 CA VB06N98
015665,000377: 37,2464 04616 TC BANKCALL
015666,000378: 37,2465 20476 CADR GOFLASH
015667,000379: 37,2466 02270 TC ENDTEST1 # V34
015668,000380: 37,2467 01417 TC QPLACE # V33
015669,000381: 37,2470 12461 TCF SHOW1
015670,000382:
015671,000383: 37,2471 07626 3990DEC DEC 3990 B-14
015672,000384: 37,2472 01542 VB06N98 VN 0698
015673,000385: 37,2473 01451 VN0641 VN 0641
015674,000386: 37,2474 4361 DEC17 = ND1
015675,000387: 37,2474 00072 DEC58 DEC 58 B-14
015676,000388: 37,2475 02737 OGCPL ECADR OGC
015677,000389: 37,2476 4777 1SECX = 1SEC
015678,000390: 37,2476 01664 XNBADR GENADR XNB
015679,000391: 37,2477 01642 XSMADR GENADR XSM
015680,000392: 4102 BLOCK 2
015681,000393: 4102 COUNT* $$/P07
015682,000394: 4102 00004 FINETIME INHINT # RETURNS WITH INTERRUPT INHIBITED
015683,000395: 4103 00006 EXTEND
015684,000396: 4104 00004 READ LOSCALAR
015685,000397: 4105 54001 TS L
015686,000398: 4106 00006 EXTEND
015687,000399: 4107 06004 RXOR LOSCALAR
015688,000400: 4110 00006 EXTEND
015689,000401: 4111 14115 BZF +4
015690,000402: 4112 00006 EXTEND
015691,000403: 4113 00004 READ LOSCALAR
015692,000404: 4114 54001 TS L
015693,000405: 4115 44733 +4 CS POSMAX
015694,000406: 4116 60001 AD L
015695,000407: 4117 00006 EXTEND
015696,000408: 4120 14103 BZF FINETIME +1
015697,000409: 4121 00006 EXTEND
015698,000410: 4122 00003 READ HISCALAR
015699,000411: 4123 00002 TC Q
015700,000412:
End of include-file IMU_PERFORMANCE_TESTS_2.agc. Parent file is MAIN.agc