Source Code
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These source-code files are part of a reconstructed copy of Luminary 98, a
development version of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
The reconstruction began with source code of Luminary 99 revision 1 previously
transcribed from a digitized copy of that program. The code was then updated
by undoing changes described in original Luminary memo 85, using asterisks
indicating changed lines in the listing as a guide. While no listing of this
version is known to exist, nor are the memory-bank checksums available,
the reconstruction is believed to be correct because it was an an intermediate
step in reconstructing Luminary 97 whose reconstruction was
verified by matching memory-bank checksums to those listed in drawing 2021152G.
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 98 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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015240,000002: ## Copyright: Public domain.
015241,000003: ## Filename: IMU_PERFORMANCE_TESTS_2.agc
015242,000004: ## Purpose: A section of Luminary revision 98.
015243,000005: ## It is part of the reconstructed source code for the a
015244,000006: ## development version of the flight software for the Lunar
015245,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
015246,000008: ## The code has been recreated from a copy of Luminary 99
015247,000009: ## revision 001, using asterisks indicating changed lines in
015248,000010: ## the listing and Luminary Memo #85, which lists changes between
015249,000011: ## Luminary 98 and 99.
015250,000012: ## Reference: pp. 373-381
015251,000013: ## Assembler: yaYUL
015252,000014: ## Contact: Ron Burkey <info@sandroid.org>.
015253,000015: ## Website: www.ibiblio.org/apollo/index.html
015254,000016: ## Mod history: 2019-07-28 MAS Created from Luminary 99.
015255,000017:
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Page 373
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015257,000019: # NAME - IMU PERFORMANCE TESTS 2
015258,000020:
015259,000021: # DATE - MARCH 20, 1967
015260,000022:
015261,000023: # BY - SYSTEM TEST GROUP 864-6900 EXT. 1274
015262,000024:
015263,000025: # MODNO. - ZERO
015264,000026:
015265,000027: # FUNCTIONAL DESCRIPTION
015266,000028:
015267,000029: # POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF
015268,000030: # THE TESTS THEMSELVES. FOR A DESCRIPTION OF THESE SUBROUTINES AND THE
015269,000031: # OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685. THEORETICAL REF. E-1973
015270,000032:
015271,000033: 33,2045 BANK 33
015272,000034: 37,2000 SETLOC IMU2
015273,000035: 37,2000 BANK
015274,000036: 37,2002 E5,1416 EBANK= POSITON
015275,000037: 37,2002 COUNT* $$/P07
015276,000038:
015277,000039: 37,2002 05311 REDO TC NEWMODEX
015278,000040: 37,2003 00007 MM 07 B-14
015279,000041:
015280,000042: 37,2004 02325 GEOIMUTT TC IMUZERR
015281,000043: 37,2005 34755 IMUBACK CA ZERO
015282,000044: 37,2006 55414 TS NDXCTR
015283,000045: 37,2007 55440 TS TORQNDX
015284,000046: 37,2010 55441 TS TORQNDX +1
015285,000047: 37,2011 55576 TS OVFLOWCK
015286,000048: 37,2012 34361 NBPOSPL CA DEC17
015287,000049: 37,2013 55571 TS ZERONDX
015288,000050: 37,2014 32476 CA XNBADR
015289,000051: 37,2015 02367 TC ZEROING
015290,000052: 37,2016 34736 CA HALF
015291,000053: 37,2017 55664 TS XNB
015292,000054: 37,2020 06037 GUESS TC INTPRET
015293,000055: 37,2021 62545 LATAZCHK DLOAD SL2
015294,000056: 37,2022 02403 LATITUDE
015295,000057: 37,2023 15047 STODL DSPTEM1 +1
015296,000058: 37,2024 02401 AZIMUTH
015297,000059: 37,2025 77434 RTB EXIT
015298,000060: 37,2026 21614 1STO2S
015299,000061: 37,2027 56154 XCH MPAC
015300,000062: 37,2030 55045 TS DSPTEM1
015301,000063: 37,2031 32473 CAF VN0641
015302,000064: 37,2032 04616 TC BANKCALL
015303,000065: 37,2033 20476 CADR GOFLASH
015304,000066: 37,2034 02270 TC ENDTEST1
015305,000067: 37,2035 02037 TC +2
015306,000068: 37,2036 02031 TC -5
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Page 374
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015308,000070: 37,2037 06037 TC INTPRET
015309,000071: 37,2040 47135 SLOAD RTB
015310,000072: 37,2041 01046 DSPTEM1
015311,000073: 37,2042 21576 CDULOGIC
015312,000074: 37,2043 02401 STORE AZIMUTH
015313,000075: 37,2044 60535 SLOAD SR2
015314,000076: 37,2045 01047 DSPTEM1 +1
015315,000077: 37,2046 02403 STORE LATITUDE
015316,000078: 37,2047 57546 COS DCOMP
015317,000079: 37,2050 77752 SL1
015318,000080: 37,2051 16437 STODL WANGI
015319,000081: 37,2052 02403 LATITUDE
015320,000082: 37,2053 72556 SIN SL1
015321,000083: 37,2054 16435 STODL WANGO
015322,000084: 37,2055 02401 AZIMUTH
015323,000085: 37,2056 73406 PUSH SIN
015324,000086: 37,2057 02675 STORE YNB +2
015325,000087: 37,2060 16705 STODL ZNB +4
015326,000088: 37,2061 77746 COS
015327,000089: 37,2062 02677 STORE YNB +4
015328,000090: 37,2063 77676 DCOMP
015329,000091: 37,2064 36703 POSGMBL STCALL ZNB +2
015330,000092: 37,2065 47353 CALCGA
015331,000093: 37,2066 77776 EXIT
015332,000094: 37,2067 04616 TC BANKCALL
015333,000095: 37,2070 17000 CADR IMUCOARS
015334,000096: 37,2071 34736 CAF BIT14 # IF BIT14 SET, GIMBAL LOCK
015335,000097: 37,2072 70077 MASK FLAGWRD3
015336,000098: 37,2073 00006 EXTEND
015337,000099: 37,2074 12076 BZF +2
015338,000100: 37,2075 25414 INCR NDXCTR # +1 IF IN GIMBAL LOCK, OTHERWISE 0
015339,000101: 37,2076 05516 TC DOWNFLAG
015340,000102: 37,2077 00056 ADRES GLOKFAIL # RESET GIMBAL LOCK FLAG
015341,000103: 37,2100 02315 TC IMUSLLLG
015342,000104: 37,2101 11414 CCS NDXCTR # IF ONE GO AND DO A PIPA TEST ONLY
015343,000105: 37,2102 02126 TC PIPACHK # ALIGN AND MEASURE VERTICAL PIPA RATE
015344,000106: 37,2103 02320 TC FINIMUDD
015345,000107: 37,2104 00006 EXTEND
015346,000108: 37,2105 31575 DCA PERFDLAY
015347,000109: 37,2106 05277 TC LONGCALL # DELAY WHILE SUSPENSION STABILIZES
015348,000110: 37,2107 E5,1416 EBANK= POSITON
015349,000111: 37,2107 02113 76065 2CADR GOESTIMS
015350,000112:
015351,000113: 37,2111 32116 CA ESTICADR
015352,000114: 37,2112 05133 TC JOBSLEEP
015353,000115: 37,2113 32116 GOESTIMS CA ESTICADR
015354,000116: 37,2114 05137 TC JOBWAKE
015355,000117: 37,2115 05261 TC TASKOVER
015356,000118: 37,2116 76500 ESTICADR CADR ESTIMS
015357,000119: 37,2117 34755 TORQUE CA ZERO
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Page 375
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015359,000121: 37,2120 55050 TS DSPTEM2
015360,000122: 37,2121 31504 CA DRIFTI
015361,000123: 37,2122 55051 TS DSPTEM2 +1
015362,000124: 37,2123 51416 INDEX POSITON
015363,000125: 37,2124 55420 TS SOUTHDR -1
015364,000126: 37,2125 02457 TC SHOW
015365,000127:
015366,000128: 37,2126 51414 PIPACHK INDEX NDXCTR # PIPA TEST
015367,000129: 37,2127 02130 TC +1
015368,000130: 37,2130 02447 TC EARTHR*
015369,000131: 37,2131 34361 CA DEC17 # ALLOW PIP COUNTER TO OVERFLOW 17 TIMES
015370,000132: 37,2132 55476 TS DATAPL +4 # IN THE ALLOTED TIME INTERVAL
015371,000133: 37,2133 32474 CA DEC58
015372,000134: 37,2134 55412 TS LENGTHOT
015373,000135: 37,2135 34753 CA ONE
015374,000136: 37,2136 55537 TS RESULTCT
015375,000137: 37,2137 34755 CA ZERO
015376,000138: 37,2140 51415 INDEX PIPINDEX
015377,000139: 37,2141 54037 TS PIPAX
015378,000140: 37,2142 55472 TS DATAPL
015379,000141: 37,2143 02332 TC CHECKG
015380,000142: 37,2144 00004 INHINT
015381,000143: 37,2145 34752 CAF TWO
015382,000144: 37,2146 05173 TC TWIDDLE
015383,000145: 37,2147 E5,1642 EBANK= XSM
015384,000146: 37,2147 02151 ADRES PIPATASK
015385,000147: 37,2150 05155 TC ENDOFJOB
015386,000148:
015387,000149: 37,2151 00006 PIPATASK EXTEND
015388,000150: 37,2152 27412 DIM LENGTHOT
015389,000151: 37,2153 31412 CA LENGTHOT
015390,000152: 37,2154 00006 EXTEND
015391,000153: 37,2155 62161 BZMF STARTPIP
015392,000154: 37,2156 34742 CAF BIT10
015393,000155: 37,2157 05173 TC TWIDDLE
015394,000156: 37,2160 E5,1642 EBANK= XSM
015395,000157: 37,2160 02151 ADRES PIPATASK
015396,000158: 37,2161 34736 STARTPIP CAF PRIO20
015397,000159: 37,2162 05105 TC FINDVAC
015398,000160: 37,2163 E5,1642 EBANK= XSM
015399,000161: 37,2163 02166 76065 2CADR PIPJOBB
015400,000162:
015401,000163: 37,2165 05261 TC TASKOVER
015402,000164:
015403,000165: 37,2166 51414 PIPJOBB INDEX NDXCTR
015404,000166: 37,2167 02170 TC +1
015405,000167: 37,2170 02447 TC EARTHR*
015406,000168: 37,2171 31412 CA LENGTHOT
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Page 376
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015408,000170: 37,2172 00006 EXTEND
015409,000171: 37,2173 62175 BZMF +2
015410,000172: 37,2174 05155 TC ENDOFJOB
015411,000173:
015412,000174: 37,2175 34756 CA FIVE
015413,000175: 37,2176 55537 TS RESULTCT
015414,000176: 37,2177 02332 TC CHECKG
015415,000177: 37,2200 11473 CCS DATAPL +1
015416,000178: 37,2201 02205 TC +4
015417,000179: 37,2202 05705 TC CCSHOLE
015418,000180: 37,2203 41476 CS DATAPL +4
015419,000181: 37,2204 55476 TS DATAPL +4
015420,000182: 37,2205 00006 EXTEND
015421,000183: 37,2206 41473 DCS DATAPL
015422,000184: 37,2207 21477 DAS DATAPL +4
015423,000185:
015424,000186: 37,2210 06037 TC INTPRET
015425,000187: 37,2211 45345 DLOAD DSU
015426,000188: 37,2212 02501 DATAPL +6
015427,000189: 37,2213 02475 DATAPL +2
015428,000190: 37,2214 45044 BPL CALL
015429,000191: 37,2215 76217 AINGOTN
015430,000192: 37,2216 76275 OVERFFIX
015431,000193: 37,2217 56325 AINGOTN PDDL DDV
015432,000194: 37,2220 02477 DATAPL +4
015433,000195: 37,2221 47075 DMPR RTB
015434,000196: 37,2222 37056 DEC585 # DEC585 HAS BEEN REDEFINED FOR LEM
015435,000197: 37,2223 21612 SGNAGREE
015436,000198: 37,2224 01051 STORE DSPTEM2
015437,000199: 37,2225 77776 EXIT
015438,000200: 37,2226 11414 CCS NDXCTR
015439,000201: 37,2227 02301 TC COAALIGN # TAKE PLATFORM OUT OF GIMBAL LOCK
015440,000202: 37,2230 02457 TC SHOW
015441,000203: 37,2231 32471 VERTDRFT CA 3990DEC # ABOUT 1 HOUR VERTICAL DRIFT TEST
015442,000204: 37,2232 55412 TS LENGTHOT
015443,000205: 37,2233 51416 INDEX POSITON
015444,000206: 37,2234 41417 CS SOUTHDR -2
015445,000207: 37,2235 55442 TS DRIFTT
015446,000208: 37,2236 11415 CCS PIPINDEX # OFFSET PLATFORM TO MISS PIP DEAD-ZONES
015447,000209: 37,2237 12245 TCF PON4 # Z UP IN POS 4
015448,000210: 37,2240 44747 PON2 CS BIT5 # X UP
015449,000211: 37,2241 27565 ADS ERCOMP +2
015450,000212: 37,2242 34747 CA BIT5
015451,000213: 37,2243 27567 ADS ERCOMP +4
015452,000214: 37,2244 12251 TCF PON
015453,000215: 37,2245 44747 PON4 CS BIT5
015454,000216: 37,2246 27565 ADS ERCOMP +2
015455,000217: 37,2247 34747 CA BIT5
015456,000218: 37,2250 27563 ADS ERCOMP
015457,000219: 37,2251 02447 PON TC EARTHR*
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Page 377
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015459,000221: 37,2252 34755 CA ZERO # ALLOW ONLY SOUTH GYRO EARTH RATE COMPENS
015460,000222: 37,2253 55404 TS ERVECTOR
015461,000223: 37,2254 55405 TS ERVECTOR +1
015462,000224: 37,2255 34733 GUESS1 CAF POSMAX
015463,000225: 37,2256 55440 TS TORQNDX
015464,000226: 37,2257 55441 TS TORQNDX +1
015465,000227: 37,2260 30032 CA CDUX
015466,000228: 37,2261 55413 TS LOSVEC
015467,000229: 37,2262 02500 TC ESTIMS
015468,000230: 37,2263 31502 VALMIS CA DRIFTO
015469,000231: 37,2264 55051 TS DSPTEM2 +1
015470,000232: 37,2265 34755 CA ZERO
015471,000233: 37,2266 55050 TS DSPTEM2
015472,000234: 37,2267 02457 TC SHOW
015473,000235:
015474,000236: 37,2270 05516 ENDTEST1 TC DOWNFLAG
015475,000237: 37,2271 00007 ADRES IMUSE
015476,000238: 37,2272 44755 CS ZERO
015477,000239: 37,2273 05314 TC NEWMODEA
015478,000240: 37,2274 05472 TC ENDEXT
015479,000241:
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Page 378
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015481,000243: 37,2275 43215 OVERFFIX DAD DAD
015482,000244: 37,2276 06530 DPPOSMAX
015483,000245: 37,2277 37064 ONEDPP
015484,000246: 37,2300 77616 RVQ
015485,000247:
015486,000248: 37,2301 00006 COAALIGN EXTEND # COARSE ALIGN SUBROUTINE
015487,000249: 37,2302 23571 QXCH ZERONDX
015488,000250: 37,2303 34755 CA ZERO
015489,000251: 37,2304 54321 TS THETAD
015490,000252: 37,2305 54322 TS THETAD +1
015491,000253: 37,2306 54323 TS THETAD +2
015492,000254: 37,2307 04616 TC BANKCALL
015493,000255: 37,2310 17000 CADR IMUCOARS
015494,000256: 37,2311 04616 ALIGNCOA TC BANKCALL
015495,000257: 37,2312 17716 CADR IMUSTALL
015496,000258: 37,2313 03047 TC SOMERR2
015497,000259: 37,2314 01571 TC ZERONDX
015498,000260:
015499,000261: 37,2315 00006 IMUSLLLG EXTEND
015500,000262: 37,2316 23571 QXCH ZERONDX
015501,000263: 37,2317 02311 TC ALIGNCOA
015502,000264:
015503,000265: 37,2320 00006 FINIMUDD EXTEND
015504,000266: 37,2321 23571 QXCH ZERONDX
015505,000267: 37,2322 04616 TC BANKCALL
015506,000268: 37,2323 17210 CADR IMUFINE
015507,000269: 37,2324 02311 TC ALIGNCOA
015508,000270:
015509,000271: 37,2325 00006 IMUZERR EXTEND
015510,000272: 37,2326 23571 QXCH ZERONDX
015511,000273: 37,2327 04616 TC BANKCALL
015512,000274: 37,2330 16714 CADR IMUZERO
015513,000275: 37,2331 02311 TC ALIGNCOA
015514,000276:
015515,000277: 37,2332 00006 CHECKG EXTEND # PIP PULSE CATCHING ROUTINE
015516,000278: 37,2333 23417 QXCH QPLACE
015517,000279: 37,2334 02342 TC +6
015518,000280: 37,2335 00003 CHECKG1 RELINT
015519,000281: 37,2336 30067 CA NEWJOB
015520,000282: 37,2337 00006 EXTEND
015521,000283: 37,2340 62346 BZMF +6
015522,000284: 37,2341 05122 TC CHANG1
015523,000285: 37,2342 00004 INHINT
015524,000286: 37,2343 51415 INDEX PIPINDEX
015525,000287: 37,2344 40037 CS PIPAX
015526,000288: 37,2345 55571 TS ZERONDX
015527,000289: 37,2346 00004 INHINT
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Page 379
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015529,000291: 37,2347 51415 INDEX PIPINDEX
015530,000292: 37,2350 30037 CA PIPAX
015531,000293: 37,2351 61571 AD ZERONDX
015532,000294: 37,2352 00006 EXTEND
015533,000295: 37,2353 12335 BZF CHECKG1
015534,000296: 37,2354 51415 INDEX PIPINDEX
015535,000297: 37,2355 30037 CA PIPAX
015536,000298: 37,2356 51537 INDEX RESULTCT
015537,000299: 37,2357 55472 TS DATAPL
015538,000300: 37,2360 04102 TC FINETIME
015539,000301: 37,2361 51537 INDEX RESULTCT
015540,000302: 37,2362 55473 TS DATAPL +1
015541,000303: 37,2363 51537 INDEX RESULTCT
015542,000304: 37,2364 23474 LXCH DATAPL +2
015543,000305: 37,2365 00003 RELINT
015544,000306: 37,2366 01417 ENDCHKG TC QPLACE
015545,000307:
015546,000308: 37,2367 54001 ZEROING TS L
015547,000309: 37,2370 12372 TCF +2
015548,000310: 37,2371 55571 ZEROING1 TS ZERONDX
015549,000311: 37,2372 34755 CAF ZERO
015550,000312: 37,2373 50001 INDEX L
015551,000313: 37,2374 54000 TS 0
015552,000314: 37,2375 24001 INCR L
015553,000315: 37,2376 11571 CCS ZERONDX
015554,000316: 37,2377 12371 TCF ZEROING1
015555,000317: 37,2400 00002 TC Q
015556,000318:
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Page 380
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015558,000320: 37,2401 65345 ERTHRVSE DLOAD PDDL
015559,000321: 37,2402 37057 SCHZEROS # PD24 = (SIN -COS 0)(OMEG/MS)
015560,000322: 37,2403 02403 LATITUDE
015561,000323: 37,2404 57546 COS DCOMP
015562,000324: 37,2405 73525 PDDL SIN
015563,000325: 37,2406 02403 LATITUDE
015564,000326: 37,2407 74266 VDEF VXSC
015565,000327: 37,2410 36001 OMEG/MS
015566,000328: 37,2411 02405 STORE ERVECTOR
015567,000329: 37,2412 77634 RTB
015568,000330: 37,2413 21573 LOADTIME
015569,000331: 37,2414 26433 STOVL TMARK
015570,000332: 37,2415 37057 SCHZEROS
015571,000333: 37,2416 02564 STORE ERCOMP
015572,000334: 37,2417 77616 RVQ
015573,000335:
015574,000336: 37,2420 47020 EARTHR ITA RTB
015575,000337: 37,2421 00051 S2
015576,000338: 37,2422 21573 LOADTIME
015577,000339: 37,2423 02431 STORE TEMPTIME
015578,000340: 37,2424 51025 DSU BPL
015579,000341: 37,2425 02433 TMARK
015580,000342: 37,2426 76431 ERTHR
015581,000343: 37,2427 77624 CALL
015582,000344: 37,2430 76275 OVERFFIX
015583,000345: 37,2431 74261 ERTHR SL VXSC
015584,000346: 37,2432 20212 9D
015585,000347: 37,2433 02405 ERVECTOR
015586,000348: 37,2434 53321 MXV VAD
015587,000349: 37,2435 02643 XSM
015588,000350: 37,2436 02564 ERCOMP
015589,000351: 37,2437 16564 STODL ERCOMP
015590,000352: 37,2440 02431 TEMPTIME
015591,000353: 37,2441 02433 STORE TMARK
015592,000354: 37,2442 47170 AXT,1 RTB
015593,000355: 37,2443 02563 ECADR ERCOMP
015594,000356: 37,2444 21705 PULSEIMU
015595,000357: 37,2445 77650 GOTO
015596,000358: 37,2446 00051 S2
015597,000359:
015598,000360: 37,2447 00006 EARTHR* EXTEND
015599,000361: 37,2450 23420 QXCH QPLACES
015600,000362: 37,2451 06037 TC INTPRET
015601,000363: 37,2452 77624 CALL
015602,000364: 37,2453 76420 EARTHR
015603,000365: 37,2454 77776 EXIT
015604,000366: 37,2455 02315 TC IMUSLLLG
015605,000367: 37,2456 01420 TC QPLACES
015606,000368:
015607,000369: 37,2457 00006 SHOW EXTEND
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Page 381
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015609,000371: 37,2460 23417 QXCH QPLACE
015610,000372: 37,2461 31416 SHOW1 CA POSITON
015611,000373: 37,2462 55052 TS DSPTEM2 +2
015612,000374: 37,2463 32472 CA VB06N98
015613,000375: 37,2464 04616 TC BANKCALL
015614,000376: 37,2465 20476 CADR GOFLASH
015615,000377: 37,2466 02270 TC ENDTEST1 # V34
015616,000378: 37,2467 01417 TC QPLACE # V33
015617,000379: 37,2470 12461 TCF SHOW1
015618,000380:
015619,000381: 37,2471 07626 3990DEC DEC 3990 B-14
015620,000382: 37,2472 01542 VB06N98 VN 0698
015621,000383: 37,2473 01451 VN0641 VN 0641
015622,000384: 37,2474 4361 DEC17 = ND1
015623,000385: 37,2474 00072 DEC58 DEC 58 B-14
015624,000386: 37,2475 02737 OGCPL ECADR OGC
015625,000387: 37,2476 4777 1SECX = 1SEC
015626,000388: 37,2476 01664 XNBADR GENADR XNB
015627,000389: 37,2477 01642 XSMADR GENADR XSM
015628,000390: 4102 BLOCK 2
015629,000391: 4102 COUNT* $$/P07
015630,000392: 4102 00004 FINETIME INHINT # RETURNS WITH INTERRUPT INHIBITED
015631,000393: 4103 00006 EXTEND
015632,000394: 4104 00004 READ LOSCALAR
015633,000395: 4105 54001 TS L
015634,000396: 4106 00006 EXTEND
015635,000397: 4107 06004 RXOR LOSCALAR
015636,000398: 4110 00006 EXTEND
015637,000399: 4111 14115 BZF +4
015638,000400: 4112 00006 EXTEND
015639,000401: 4113 00004 READ LOSCALAR
015640,000402: 4114 54001 TS L
015641,000403: 4115 44733 +4 CS POSMAX
015642,000404: 4116 60001 AD L
015643,000405: 4117 00006 EXTEND
015644,000406: 4120 14103 BZF FINETIME +1
015645,000407: 4121 00006 EXTEND
015646,000408: 4122 00003 READ HISCALAR
015647,000409: 4123 00002 TC Q
015648,000410:
End of include-file IMU_PERFORMANCE_TESTS_2.agc. Parent file is MAIN.agc