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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015703,000002: ## Copyright: Public domain.
015704,000003: ## Filename: IMU_PERFORMANCE_TESTS_4.agc
015705,000004: ## Purpose: A section of Luminary revision 96.
015706,000005: ## It is part of the reconstructed source code for the
015707,000006: ## original release of the flight software for the Lunar
015708,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
015709,000008: ## The code has been recreated from a previously reconstructed
015710,000009: ## copy of Luminary 97 by undoing changes described in anomaly
015711,000010: ## report LNY-59. The code has been adapted such that the
015712,000011: ## resulting bugger words exactly match those specified for
015713,000012: ## Luminary 96 in NASA drawing 2021152D, which gives relatively
015714,000013: ## high confidence that the reconstruction is correct.
015715,000014: ## Reference: pp. 382-389
015716,000015: ## Assembler: yaYUL
015717,000016: ## Contact: Ron Burkey <info@sandroid.org>.
015718,000017: ## Website: www.ibiblio.org/apollo/index.html
015719,000018: ## Mod history: 2019-08-04 MAS Created from Luminary 97.
015720,000019:
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Page 382
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015722,000021: # PROGRAM - IMU PERFORMANCE TESTS 4
015723,000022: # DATE - NOV 15, 1966
015724,000023: # BY - GEORGE SCHMIDT IL7-146 EXT 1126
015725,000024: # MOD NO-ZERO
015726,000025:
015727,000026: # FUNCTIONAL DESCRIPTION
015728,000027:
015729,000028: # THIS SECTION CONSISTS OF THE FILTER FOR THE GYRO DRIFT TESTS. NO COMPASS
015730,000029: # IS DONE IN LEM. FOR A DESCRIPTION OF THE FILTER SEE E-1973. THIS
015731,000030: # SECTION IS ENTERED FROM IMU 2. IT RETURNS THERE AT END OF TEST.
015732,000031:
015733,000032: # EARTHR,OGC ZERO,ERTHRVSE
015734,000033:
015735,000034: # NORMAL EXIT
015736,000035:
015737,000036: # LENGTHOT GOES TO ZERO - RETURN TO IMU PERF TESTS 2 CONTROL
015738,000037:
015739,000038: # ALARMS
015740,000039:
015741,000040: # 1600 OVERFLOW IN DRIFT TEST
015742,000041: # 1601 BAD IMU MODING IN ANY ROUTINE THAT USES IMUSTALL
015743,000042: # OUTPUT
015744,000043:
015745,000044: # FLASHING DISPLAY OF RESULTS - CONTROLLED IN IMU PERF TESTS 2
015746,000045:
015747,000046: # DEBRIS
015748,000047:
015749,000048: # ALL CENTRALS - ALL OF EBANK XSM
015750,000049:
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Page 383
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015752,000051: 33,2045 BANK 33
015753,000052: 37,2000 SETLOC IMU4
015754,000053: 37,2000 BANK
015755,000054: 37,2500 COUNT* $$/P07
015756,000055:
015757,000056: 37,2500 E5,1642 EBANK= XSM
015758,000057:
015759,000058: 37,2500 00004 ESTIMS INHINT
015760,000059: 37,2501 31572 CAE 1SECXT
015761,000060: 37,2502 05173 TC TWIDDLE
015762,000061: 37,2503 E5,1642 EBANK= XSM
015763,000062: 37,2503 02536 ADRES ALLOOP
015764,000063: 37,2504 34755 CAF ZERO # ZERO THE PIPAS
015765,000064: 37,2505 54037 TS PIPAX
015766,000065: 37,2506 54040 TS PIPAY
015767,000066: 37,2507 54041 TS PIPAZ
015768,000067: 37,2510 00003 RELINT
015769,000068: 37,2511 33075 CA 77DECML
015770,000069: 37,2512 55571 TS ZERONDX
015771,000070: 37,2513 33076 CA ALXXXZ
015772,000071: 37,2514 02367 TC ZEROING
015773,000072: 37,2515 06037 TC INTPRET
015774,000073: 37,2516 77735 SLOAD
015775,000074: 37,2517 37057 SCHZEROS
015776,000075: 37,2520 25477 STOVL GCOMPSW -1
015777,000076: 37,2521 37070 INTVAL +2
015778,000077: 37,2522 26445 STOVL ALX1S
015779,000078: 37,2523 37057 SCHZEROS
015780,000079: 37,2524 00325 STORE DELVX
015781,000080: 37,2525 01472 STORE GCOMP
015782,000081: 37,2526 77735 SLOAD
015783,000082: 37,2527 02441 TORQNDX
015784,000083: 37,2530 50076 DCOMP BMN
015785,000084: 37,2531 76534 VERTSKIP
015786,000085: 37,2532 77624 CALL
015787,000086: 37,2533 76401 ERTHRVSE
015788,000087: 37,2534 77776 VERTSKIP EXIT
015789,000088: 37,2535 03035 TC SLEEPIE +1
015790,000089:
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Page 384
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015792,000091: 37,2536 31576 ALLOOP CA OVFLOWCK
015793,000092: 37,2537 00006 EXTEND
015794,000093: 37,2540 12542 BZF +2
015795,000094: 37,2541 05261 TC TASKOVER
015796,000095: 37,2542 11530 CCS ALTIM
015797,000096: 37,2543 30000 CA A # SHOULD NEVER HIT THIS LOCATION
015798,000097: 37,2544 55531 TS ALTIMS
015799,000098: 37,2545 40000 CS A
015800,000099: 37,2546 55530 TS ALTIM
015801,000100: 37,2547 44753 CS ONE
015802,000101: 37,2550 61562 AD GEOCOMPS
015803,000102: 37,2551 00006 EXTEND
015804,000103: 37,2552 12556 BZF +4
015805,000104: 37,2553 31412 CA LENGTHOT
015806,000105: 37,2554 00006 EXTEND
015807,000106: 37,2555 62562 BZMF +5
015808,000107: 37,2556 31572 CAE 1SECXT
015809,000108: 37,2557 05173 TC TWIDDLE
015810,000109: 37,2560 E5,1642 EBANK= XSM
015811,000110: 37,2560 02536 ADRES ALLOOP
015812,000111: 37,2561 34755 CAF ZERO
015813,000112: 37,2562 56037 XCH PIPAX
015814,000113: 37,2563 54324 TS DELVX
015815,000114: 37,2564 34755 CAF ZERO
015816,000115: 37,2565 56040 XCH PIPAY
015817,000116: 37,2566 54326 TS DELVY
015818,000117: 37,2567 34755 CAF ZERO
015819,000118: 37,2570 56041 XCH PIPAZ
015820,000119: 37,2571 54330 TS DELVZ
015821,000120: 37,2572 34736 SPECSTS CAF PRIO20
015822,000121: 37,2573 05105 TC FINDVAC
015823,000122: 37,2574 E5,1642 EBANK= XSM
015824,000123: 37,2574 02577 76065 2CADR ALFLT # START THE JOB
015825,000124:
015826,000125: 37,2576 05261 TC TASKOVER
015827,000126:
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Page 385
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015829,000128: 37,2577 11562 ALFLT CCS GEOCOMPS
015830,000129: 37,2600 02602 TC +2
015831,000130: 37,2601 02604 TC NORMLOP
015832,000131: 37,2602 04616 TC BANKCALL
015833,000132: 37,2603 15263 CADR 1/PIPA
015834,000133: 37,2604 06037 NORMLOP TC INTPRET
015835,000134: 37,2605 77745 DLOAD
015836,000135: 37,2606 37066 INTVAL
015837,000136: 37,2607 24051 STOVL S1
015838,000137: 37,2610 00325 DELVX
015839,000138: 37,2611 76505 VXM VSL1
015840,000139: 37,2612 02643 XSM
015841,000140: 37,2613 57545 DLOAD DCOMP
015842,000141: 37,2614 00160 MPAC +3
015843,000142: 37,2615 16523 STODL DPIPAY
015844,000143: 37,2616 00162 MPAC +5
015845,000144: 37,2617 02527 STORE DPIPAZ
015846,000145:
015847,000146: 37,2620 76001 SETPD AXT,1
015848,000147: 37,2621 00001 0
015849,000148: 37,2622 00010 8D
015850,000149: 37,2623 57535 SLOAD DCOMP
015851,000150: 37,2624 02563 GEOCOMPS
015852,000151: 37,2625 77640 BMN
015853,000152: 37,2626 76772 PERFERAS
015854,000153: 37,2627 50135 ALCGKK SLOAD BMN
015855,000154: 37,2630 02532 ALTIMS
015856,000155: 37,2631 76644 ALFLT3
015857,000156: 37,2632 72174 ALKCG AXT,2 LXA,1 # LOADS SLOPES AND TIME CONSTANTS AT RQST
015858,000157: 37,2633 00014 12D
015859,000158: 37,2634 02444 ALX1S
015860,000159: 37,2635 62143 ALKCG2 DLOAD* INCR,1
015861,000160: 37,2636 02243 ALFDK +144D,1
015862,000161: 37,2637 77775 DEC -2 B-14
015863,000162: 37,2640 12545 STORE ALDK +10D,2
015864,000163: 37,2641 66104 TIX,2 SXA,1
015865,000164: 37,2642 76635 ALKCG2
015866,000165: 37,2643 02444 ALX1S
015867,000166:
015868,000167: 37,2644 77770 ALFLT3 AXT,1
015869,000168: 37,2645 00010 8D
015870,000169: 37,2646 41343 DELMLP DLOAD* DMP
015871,000170: 37,2647 02533 DPIPAY +8D,1
015872,000171: 37,2650 37100 PIPASC
015873,000172: 37,2651 43661 SLR BDSU*
015874,000173: 37,2652 21212 9D
015875,000174: 37,2653 02501 INTY +8D,1
015876,000175: 37,2654 06501 STORE INTY +8D,1
015877,000176: 37,2655 40725 PDDL DMP*
015878,000177: 37,2656 37102 VELSC
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Page 386
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015880,000179: 37,2657 02521 VLAUN +8D,1
015881,000180: 37,2660 77732 SL2R
015882,000181: 37,2661 45425 DSU STADR
015883,000182: 37,2662 71216 STORE DELM +8D,1
015884,000183: 37,2663 06563 STORE DELM +10D,1
015885,000184: 37,2664 77100 TIX,1 AXT,2
015886,000185: 37,2665 76646 DELMLP
015887,000186: 37,2666 00004 4
015888,000187: 37,2667 56743 ALILP DLOAD* DMPR*
015889,000188: 37,2670 75324 ALK +4,2
015890,000189: 37,2671 75240 ALDK +4,2
015891,000190: 37,2672 12453 STORE ALK +4,2
015892,000191: 37,2673 77104 TIX,2 AXT,2
015893,000192: 37,2674 76667 ALILP
015894,000193: 37,2675 00010 8D
015895,000194: 37,2676 66140 ALKLP LXC,1 SXA,1
015896,000195: 37,2677 02445 CMPX1
015897,000196: 37,2700 02445 CMPX1
015898,000197: 37,2701 56743 DLOAD* DMPR*
015899,000198: 37,2702 02450 ALK +1,1
015900,000199: 37,2703 75216 DELM +8D,2
015901,000200: 37,2704 77613 DAD*
015902,000201: 37,2705 75276 INTY +8D,2
015903,000202: 37,2706 12501 STORE INTY +8D,2
015904,000203: 37,2707 42743 DLOAD* DAD*
015905,000204: 37,2710 75314 ALK +12D,2
015906,000205: 37,2711 75230 ALDK +12D,2
015907,000206: 37,2712 12463 STORE ALK +12D,2
015908,000207: 37,2713 42673 DMPR* DAD*
015909,000208: 37,2714 75216 DELM +8D,2
015910,000209: 37,2715 75266 INTY +16D,2
015911,000210: 37,2716 12511 STORE INTY +16D,2
015912,000211: 37,2717 40743 DLOAD* DMP*
015913,000212: 37,2720 37105 ALSK +1,1
015914,000213: 37,2721 75216 DELM +8D,2
015915,000214: 37,2722 42772 SL1R DAD*
015916,000215: 37,2723 75256 VLAUN +8D,2
015917,000216: 37,2724 12521 STORE VLAUN +8D,2
015918,000217: 37,2725 76104 TIX,2 AXT,1
015919,000218: 37,2726 76676 ALKLP
015920,000219: 37,2727 00010 8D
015921,000220:
015922,000221: 37,2730 64743 LOOSE DLOAD* PDDL*
015923,000222: 37,2731 02523 ACCWD +8D,1
015924,000223: 37,2732 02521 VLAUN +8D,1
015925,000224: 37,2733 55523 PDDL* VDEF
015926,000225: 37,2734 02531 POSNV +8D,1
015927,000226: 37,2735 76521 MXV VSL1
015928,000227: 37,2736 02001 TRANSM1
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Page 387
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015930,000229: 37,2737 77745 DLOAD
015931,000230: 37,2740 00155 MPAC
015932,000231: 37,2741 06531 STORE POSNV +8D,1
015933,000232: 37,2742 77745 DLOAD
015934,000233: 37,2743 00160 MPAC +3
015935,000234: 37,2744 06521 STORE VLAUN +8D,1
015936,000235: 37,2745 77745 DLOAD
015937,000236: 37,2746 00162 MPAC +5
015938,000237: 37,2747 06523 STORE ACCWD +8D,1
015939,000238: 37,2750 77700 TIX,1
015940,000239: 37,2751 76730 LOOSE
015941,000240:
015942,000241: 37,2752 76174 AXT,2 AXT,1 # EVALUATE SINES AND COSINES
015943,000242: 37,2753 00006 6
015944,000243: 37,2754 00002 2
015945,000244: 37,2755 57343 BOOP DLOAD* DMPR
015946,000245: 37,2756 02503 ANGX +2,1
015947,000246: 37,2757 37110 GEORGEJ
015948,000247: 37,2760 77722 SR2R
015949,000248: 37,2761 73406 PUSH SIN
015950,000249: 37,2762 56072 SL3R XAD,1
015951,000250: 37,2763 00046 X1
015952,000251: 37,2764 10021 STORE 16D,2
015953,000252: 37,2765 77745 DLOAD
015954,000253: 37,2766 77746 COS
015955,000254: 37,2767 10027 STORE 22D,2 # COSINES
015956,000255: 37,2770 77704 TIX,2
015957,000256: 37,2771 76755 BOOP
015958,000257:
015959,000258: 37,2772 77776 PERFERAS EXIT
015960,000259: 37,2773 35016 CA EBANK7
015961,000260: 37,2774 54003 TS EBANK
015962,000261: 37,2775 E7,1400 EBANK= ATIGINC
015963,000262: 37,2775 01400 TC ATIGINC # GOTO ERASABLE TO CALCULATE ONLY TO RETN
015964,000263:
015965,000264: # CAUTION
015966,000265:
015967,000266: # THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED
015968,000267: # BEFORE ANY ATTEMPT IS MADE TO RUN THE IMU PERFORMANCE TEST
015969,000268:
015970,000269: 37,2776 E5,1400 EBANK= AZIMUTH
015971,000270: 37,2776 11412 CCS LENGTHOT
015972,000271: 37,2777 03034 TC SLEEPIE
015973,000272: 37,3000 11440 CCS TORQNDX
015974,000273: 37,3001 13003 TCF +2
015975,000274: 37,3002 03005 TC SETUPER1
015976,000275: 37,3003 30032 CA CDUX
015977,000276: 37,3004 55414 TS LOSVEC +1 # FOR TROUBLESHOOTING VD POSNS 2$4
015978,000277:
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Page 388
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015980,000279: 37,3005 06037 SETUPER1 TC INTPRET
015981,000280: 37,3006 65345 DLOAD PDDL # ANGLES FROM DRIFT TEST ONLY
015982,000281: 37,3007 02473 ANGZ
015983,000282: 37,3010 02477 ANGY
015984,000283: 37,3011 55525 PDDL VDEF
015985,000284: 37,3012 02501 ANGX
015986,000285: 37,3013 74276 VCOMP VXSC
015987,000286: 37,3014 37110 GEORGEJ
015988,000287: 37,3015 74521 MXV VSR1
015989,000288: 37,3016 02643 XSM
015990,000289: 37,3017 02740 STORE OGC
015991,000290: 37,3020 77776 EXIT
015992,000291:
015993,000292: 37,3021 32475 CA OGCPL
015994,000293: 37,3022 04616 TC BANKCALL
015995,000294: 37,3023 17323 CADR IMUPULSE
015996,000295: 37,3024 02315 TC IMUSLLLG
015997,000296: 37,3025 11440 GEOSTRT4 CCS TORQNDX # ONLY POSITIVE IF IN VERTICAL DRIFT TEST
015998,000297: 37,3026 02263 TC VALMIS
015999,000298: 37,3027 06037 TC INTPRET
016000,000299: 37,3030 77624 CALL
016001,000300: 37,3031 76401 ERTHRVSE
016002,000301: 37,3032 77776 EXIT
016003,000302: 37,3033 02117 TC TORQUE
016004,000303:
016005,000304: 37,3034 55412 SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGTHOT
016006,000305: 37,3035 11440 CCS TORQNDX # ARE WE DOING VERTDRIFT
016007,000306: 37,3036 02447 TC EARTHR*
016008,000307: 37,3037 05155 TC ENDOFJOB
016009,000308:
016010,000309: 37,3040 35014 SOMEERRR CA EBANK5
016011,000310: 37,3041 54003 TS EBANK
016012,000311: 37,3042 34753 CA ONE
016013,000312: 37,3043 55576 TS OVFLOWCK # STOP ALLOOP FROM CALLING ITSELF
016014,000313: 37,3044 05567 TC ALARM
016015,000314: 37,3045 01600 OCT 1600
016016,000315: 37,3046 02270 TC ENDTEST1
016017,000316: 37,3047 33054 SOMERR2 CAF OCT1601
016018,000317: 37,3050 05744 TC VARALARM
016019,000318: 37,3051 05516 TC DOWNFLAG
016020,000319: 37,3052 00007 ADRES IMUSE
016021,000320: 37,3053 05155 TC ENDOFJOB
016022,000321:
016023,000322: 37,3054 01601 OCT1601 OCT 01601
016024,000323: 37,3055 06200 DEC585 OCT 06200 # 3200 B+14 ORDER IS IMPORTANT
016025,000324: 37,3056 00000 00000 SCHZEROS 2DEC .00000000
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Page 389
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016027,000326: 37,3060 00000 00000 2DEC .00000000
016028,000327:
016029,000328: 37,3062 00000 OCT 00000
016030,000329: 37,3063 00000 ONEDPP OCT 00000 # ORDER IS IMPORTANT
016031,000330: 37,3064 00001 OCT 00001
016032,000331:
016033,000332: 37,3065 00004 INTVAL OCT 4
016034,000333: 37,3066 00002 OCT 2
016035,000334: 37,3067 00220 DEC 144 B-14
016036,000335: 37,3070 77776 DEC -1 B-14
016037,000336: 37,3071 35730 00035 SOUPLY 2DEC .93505870 # INITIAL GAINS FOR PIP OUTPUTS
016038,000337:
016039,000338: 37,3073 10317 17550 2DEC .26266423 # INITIAL GAINS/4 FOR ERECTION ANGLES
016040,000339:
016041,000340: 37,3075 00115 77DECML DEC 77 B-14
016042,000341: 37,3076 01443 ALXXXZ GENADR ALX1S -1
016043,000342: 37,3077 04133 02265 PIPASC 2DEC .13055869
016044,000343:
016045,000344: 37,3101 57223 66451 VELSC 2DEC -.52223476 # 512/980.402
016046,000345:
016047,000346: 37,3103 05427 12577 ALSK 2DEC .17329931 # SSWAY VEL GAIN X 980.402/4096
016048,000347:
016049,000348: 37,3105 77567 44202 2DEC -.00835370 # SSWAY ACCEL GAIN X 980.402/4096
016050,000349:
016051,000350: 37,3107 24276 14066 GEORGEJ 2DEC .63661977
016052,000351:
016053,000352: 37,3111 23073 11773 GEORGEK 2DEC .59737013
016054,000353:
End of include-file IMU_PERFORMANCE_TESTS_4.agc. Parent file is MAIN.agc