Notations on the program listing read, in part:
GAP: ASSEMBLE REVISION 116 OF AGC PROGRAM LUMINARY BY NASA 2021112-071 19:09 AUG. 11,1969Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source-code files derive from a printout of Luminary 116 (the Apollo 12
Lunar Module guidance computer program), from the personal library of
original AGC developer Don Eyles, digitally photographed at archive.org,
financially sponsored by Ron Burkey, and transcribed to source code by a
team of volunteers. This colorized, syntax-highlighted form was created
by assembling that transcribed source code. Note that the full page images
are available on the
Virtual AGC project page at archive.org, while reduced-size images
are presented at the VirtualAGC project website. Report or fix any
transcription errors at
the Virtual AGC project code repository. Notations on the program listing read, in part: GAP: ASSEMBLE REVISION 116 OF AGC PROGRAM LUMINARY BY NASA 2021112-071 19:09 AUG. 11,1969Note that the date is the date of the printout, not the date of the program revision. |
016085,000002: ## Copyright: Public domain.
016086,000003: ## Filename: IMU_PERFORMANCE_TESTS_4.agc
016087,000004: ## Purpose: A section of Luminary revision 116.
016088,000005: ## It is part of the source code for the Lunar Module's (LM)
016089,000006: ## Apollo Guidance Computer (AGC) for Apollo 12.
016090,000007: ## This file is intended to be a faithful transcription, except
016091,000008: ## that the code format has been changed to conform to the
016092,000009: ## requirements of the yaYUL assembler rather than the
016093,000010: ## original YUL assembler.
016094,000011: ## Reference: pp. 383-390
016095,000012: ## Assembler: yaYUL
016096,000013: ## Contact: Ron Burkey <info@sandroid.org>.
016097,000014: ## Website: www.ibiblio.org/apollo/index.html
016098,000015: ## Mod history: 2017-01-22 MAS Created from Luminary 99.
016099,000016: ## 2017-03-07 RSB Transcribed, and then proofed comment-text using
016100,000017: ## 3-way diff vs Luminary 99 and Luminary 131.
016101,000018: ## (Admittedly, the former is more for detecting errors
016102,000019: ## in Luminary 99 than the other way around.)
016103,000020:
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Page 383 |
016105,000022: # PROGRAM - IMU PERFORMANCE TESTS 4
016106,000023: # DATE - NOV 15, 1966
016107,000024: # BY - GEORGE SCHMIDT IL7-146 EXT 1126
016108,000025: # MOD NO-ZERO
016109,000026:
016110,000027: # FUNCTIONAL DESCRIPTION
016111,000028:
016112,000029: # THIS SECTION CONSISTS OF THE FILTER FOR THE GYRO DRIFT TESTS. NO COMPASS
016113,000030: # IS DONE IN LEM. FOR A DESCRIPTION OF THE FILTER SEE E-1973. THIS
016114,000031: # SECTION IS ENTERED FROM IMU 2. IT RETURNS THERE AT END OF TEST.
016115,000032:
016116,000033: # EARTHR,OGC ZERO,ERTHRVSE
016117,000034:
016118,000035: # NORMAL EXIT
016119,000036:
016120,000037: # LENGTHOT GOES TO ZERO - RETURN TO IMU PERF TESTS 2 CONTROL
016121,000038:
016122,000039: # ALARMS
016123,000040:
016124,000041: # 1600 OVERFLOW IN DRIFT TEST
016125,000042: # 1601 BAD IMU MODING IN ANY ROUTINE THAT USES IMUSTALL
016126,000043: # OUTPUT
016127,000044:
016128,000045: # FLASHING DISPLAY OF RESULTS - CONTROLLED IN IMU PERF TESTS 2
016129,000046:
016130,000047: # DEBRIS
016131,000048:
016132,000049: # ALL CENTRALS - ALL OF EBANK XSM
016133,000050:
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Page 384 |
016135,000052: 33,2045 BANK 33
016136,000053: 37,2000 SETLOC IMU4
016137,000054: 37,2000 BANK
016138,000055: 37,2500 COUNT* $$/P07
016139,000056:
016140,000057: 37,2500 E5,1642 EBANK= XSM
016141,000058:
016142,000059: 37,2500 00004 ESTIMS INHINT
016143,000060: 37,2501 31572 CAE 1SECXT
016144,000061: 37,2502 05173 TC TWIDDLE
016145,000062: 37,2503 E5,1642 EBANK= XSM
016146,000063: 37,2503 02536 ADRES ALLOOP
016147,000064: 37,2504 34755 CAF ZERO # ZERO THE PIPAS
016148,000065: 37,2505 54037 TS PIPAX
016149,000066: 37,2506 54040 TS PIPAY
016150,000067: 37,2507 54041 TS PIPAZ
016151,000068: 37,2510 00003 RELINT
016152,000069: 37,2511 33075 CA 77DECML
016153,000070: 37,2512 55571 TS ZERONDX
016154,000071: 37,2513 33076 CA ALXXXZ
016155,000072: 37,2514 02367 TC ZEROING
016156,000073: 37,2515 06042 TC INTPRET
016157,000074: 37,2516 77735 SLOAD
016158,000075: 37,2517 37057 SCHZEROS
016159,000076: 37,2520 25477 STOVL GCOMPSW -1
016160,000077: 37,2521 37070 INTVAL +2
016161,000078: 37,2522 26445 STOVL ALX1S
016162,000079: 37,2523 37057 SCHZEROS
016163,000080: 37,2524 00325 STORE DELVX
016164,000081: 37,2525 01472 STORE GCOMP
016165,000082: 37,2526 77735 SLOAD
016166,000083: 37,2527 02441 TORQNDX
016167,000084: 37,2530 50076 DCOMP BMN
016168,000085: 37,2531 76534 VERTSKIP
016169,000086: 37,2532 77624 CALL
016170,000087: 37,2533 76401 ERTHRVSE
016171,000088: 37,2534 77776 VERTSKIP EXIT
016172,000089: 37,2535 03035 TC SLEEPIE +1
016173,000090:
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Page 385 |
016175,000092: 37,2536 31576 ALLOOP CA OVFLOWCK
016176,000093: 37,2537 00006 EXTEND
016177,000094: 37,2540 12542 BZF +2
016178,000095: 37,2541 05261 TC TASKOVER
016179,000096: 37,2542 11530 CCS ALTIM
016180,000097: 37,2543 30000 CA A # SHOULD NEVER HIT THIS LOCATION
016181,000098: 37,2544 55531 TS ALTIMS
016182,000099: 37,2545 40000 CS A
016183,000100: 37,2546 55530 TS ALTIM
016184,000101: 37,2547 44753 CS ONE
016185,000102: 37,2550 61562 AD GEOCOMPS
016186,000103: 37,2551 00006 EXTEND
016187,000104: 37,2552 12556 BZF +4
016188,000105: 37,2553 31412 CA LENGTHOT
016189,000106: 37,2554 00006 EXTEND
016190,000107: 37,2555 62562 BZMF +5
016191,000108: 37,2556 31572 CAE 1SECXT
016192,000109: 37,2557 05173 TC TWIDDLE
016193,000110: 37,2560 E5,1642 EBANK= XSM
016194,000111: 37,2560 02536 ADRES ALLOOP
016195,000112: 37,2561 34755 CAF ZERO
016196,000113: 37,2562 56037 XCH PIPAX
016197,000114: 37,2563 54324 TS DELVX
016198,000115: 37,2564 34755 CAF ZERO
016199,000116: 37,2565 56040 XCH PIPAY
016200,000117: 37,2566 54326 TS DELVY
016201,000118: 37,2567 34755 CAF ZERO
016202,000119: 37,2570 56041 XCH PIPAZ
016203,000120: 37,2571 54330 TS DELVZ
016204,000121: 37,2572 34736 SPECSTS CAF PRIO20
016205,000122: 37,2573 05105 TC FINDVAC
016206,000123: 37,2574 E5,1642 EBANK= XSM
016207,000124: 37,2574 02577 76065 2CADR ALFLT # START THE JOB
016208,000125:
016209,000126: 37,2576 05261 TC TASKOVER
016210,000127:
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Page 386 |
016212,000129: 37,2577 11562 ALFLT CCS GEOCOMPS
016213,000130: 37,2600 02602 TC +2
016214,000131: 37,2601 02604 TC NORMLOP
016215,000132: 37,2602 04616 TC BANKCALL
016216,000133: 37,2603 15271 CADR 1/PIPA
016217,000134: 37,2604 06042 NORMLOP TC INTPRET
016218,000135: 37,2605 77745 DLOAD
016219,000136: 37,2606 37066 INTVAL
016220,000137: 37,2607 24051 STOVL S1
016221,000138: 37,2610 00325 DELVX
016222,000139: 37,2611 76505 VXM VSL1
016223,000140: 37,2612 02643 XSM
016224,000141: 37,2613 57545 DLOAD DCOMP
016225,000142: 37,2614 00160 MPAC +3
016226,000143: 37,2615 16523 STODL DPIPAY
016227,000144: 37,2616 00162 MPAC +5
016228,000145: 37,2617 02527 STORE DPIPAZ
016229,000146:
016230,000147: 37,2620 76001 SETPD AXT,1
016231,000148: 37,2621 00001 0
016232,000149: 37,2622 00010 8D
016233,000150: 37,2623 57535 SLOAD DCOMP
016234,000151: 37,2624 02563 GEOCOMPS
016235,000152: 37,2625 77640 BMN
016236,000153: 37,2626 76772 PERFERAS
016237,000154: 37,2627 50135 ALCGKK SLOAD BMN
016238,000155: 37,2630 02532 ALTIMS
016239,000156: 37,2631 76644 ALFLT3
016240,000157: 37,2632 72174 ALKCG AXT,2 LXA,1 # LOADS SLOPES AND TIME CONSTANTS AT RQST
016241,000158: 37,2633 00014 12D
016242,000159: 37,2634 02444 ALX1S
016243,000160: 37,2635 62143 ALKCG2 DLOAD* INCR,1
016244,000161: 37,2636 02243 ALFDK +144D,1
016245,000162: 37,2637 77775 DEC -2 B-14
016246,000163: 37,2640 12545 STORE ALDK +10D,2
016247,000164: 37,2641 66104 TIX,2 SXA,1
016248,000165: 37,2642 76635 ALKCG2
016249,000166: 37,2643 02444 ALX1S
016250,000167:
016251,000168: 37,2644 77770 ALFLT3 AXT,1
016252,000169: 37,2645 00010 8D
016253,000170: 37,2646 41343 DELMLP DLOAD* DMP
016254,000171: 37,2647 02533 DPIPAY +8D,1
016255,000172: 37,2650 37100 PIPASC
016256,000173: 37,2651 43661 SLR BDSU*
016257,000174: 37,2652 21212 9D
016258,000175: 37,2653 02501 INTY +8D,1
016259,000176: 37,2654 06501 STORE INTY +8D,1
016260,000177: 37,2655 40725 PDDL DMP*
016261,000178: 37,2656 37102 VELSC
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Page 387 |
016263,000180: 37,2657 02521 VLAUN +8D,1
016264,000181: 37,2660 77732 SL2R
016265,000182: 37,2661 45425 DSU STADR
016266,000183: 37,2662 71216 STORE DELM +8D,1
016267,000184: 37,2663 06563 STORE DELM +10D,1
016268,000185: 37,2664 77100 TIX,1 AXT,2
016269,000186: 37,2665 76646 DELMLP
016270,000187: 37,2666 00004 4
016271,000188: 37,2667 56743 ALILP DLOAD* DMPR*
016272,000189: 37,2670 75324 ALK +4,2
016273,000190: 37,2671 75240 ALDK +4,2
016274,000191: 37,2672 12453 STORE ALK +4,2
016275,000192: 37,2673 77104 TIX,2 AXT,2
016276,000193: 37,2674 76667 ALILP
016277,000194: 37,2675 00010 8D
016278,000195: 37,2676 66140 ALKLP LXC,1 SXA,1
016279,000196: 37,2677 02445 CMPX1
016280,000197: 37,2700 02445 CMPX1
016281,000198: 37,2701 56743 DLOAD* DMPR*
016282,000199: 37,2702 02450 ALK +1,1
016283,000200: 37,2703 75216 DELM +8D,2
016284,000201: 37,2704 77613 DAD*
016285,000202: 37,2705 75276 INTY +8D,2
016286,000203: 37,2706 12501 STORE INTY +8D,2
016287,000204: 37,2707 42743 DLOAD* DAD*
016288,000205: 37,2710 75314 ALK +12D,2
016289,000206: 37,2711 75230 ALDK +12D,2
016290,000207: 37,2712 12463 STORE ALK +12D,2
016291,000208: 37,2713 42673 DMPR* DAD*
016292,000209: 37,2714 75216 DELM +8D,2
016293,000210: 37,2715 75266 INTY +16D,2
016294,000211: 37,2716 12511 STORE INTY +16D,2
016295,000212: 37,2717 40743 DLOAD* DMP*
016296,000213: 37,2720 37105 ALSK +1,1
016297,000214: 37,2721 75216 DELM +8D,2
016298,000215: 37,2722 42772 SL1R DAD*
016299,000216: 37,2723 75256 VLAUN +8D,2
016300,000217: 37,2724 12521 STORE VLAUN +8D,2
016301,000218: 37,2725 76104 TIX,2 AXT,1
016302,000219: 37,2726 76676 ALKLP
016303,000220: 37,2727 00010 8D
016304,000221:
016305,000222: 37,2730 64743 LOOSE DLOAD* PDDL*
016306,000223: 37,2731 02523 ACCWD +8D,1
016307,000224: 37,2732 02521 VLAUN +8D,1
016308,000225: 37,2733 55523 PDDL* VDEF
016309,000226: 37,2734 02531 POSNV +8D,1
016310,000227: 37,2735 76521 MXV VSL1
016311,000228: 37,2736 02001 TRANSM1
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Page 388 |
016313,000230: 37,2737 77745 DLOAD
016314,000231: 37,2740 00155 MPAC
016315,000232: 37,2741 06531 STORE POSNV +8D,1
016316,000233: 37,2742 77745 DLOAD
016317,000234: 37,2743 00160 MPAC +3
016318,000235: 37,2744 06521 STORE VLAUN +8D,1
016319,000236: 37,2745 77745 DLOAD
016320,000237: 37,2746 00162 MPAC +5
016321,000238: 37,2747 06523 STORE ACCWD +8D,1
016322,000239: 37,2750 77700 TIX,1
016323,000240: 37,2751 76730 LOOSE
016324,000241:
016325,000242: 37,2752 76174 AXT,2 AXT,1 # EVALUATE SINES AND COSINES
016326,000243: 37,2753 00006 6
016327,000244: 37,2754 00002 2
016328,000245: 37,2755 57343 BOOP DLOAD* DMPR
016329,000246: 37,2756 02503 ANGX +2,1
016330,000247: 37,2757 37110 GEORGEJ
016331,000248: 37,2760 77722 SR2R
016332,000249: 37,2761 73406 PUSH SIN
016333,000250: 37,2762 56072 SL3R XAD,1
016334,000251: 37,2763 00046 X1
016335,000252: 37,2764 10021 STORE 16D,2
016336,000253: 37,2765 77745 DLOAD
016337,000254: 37,2766 77746 COS
016338,000255: 37,2767 10027 STORE 22D,2 # COSINES
016339,000256: 37,2770 77704 TIX,2
016340,000257: 37,2771 76755 BOOP
016341,000258:
016342,000259: 37,2772 77776 PERFERAS EXIT
016343,000260: 37,2773 35016 CA EBANK7
016344,000261: 37,2774 54003 TS EBANK
016345,000262: 37,2775 E7,1400 EBANK= ATIGINC
016346,000263: 37,2775 01400 TC ATIGINC # GOTO ERASABLE TO CALCULATE ONLY TO RETN
016347,000264:
016348,000265: # CAUTION
016349,000266:
016350,000267: # THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED
016351,000268: # BEFORE ANY ATTEMPT IS MADE TO RUN THE IMU PERFORMANCE TEST
016352,000269:
016353,000270: 37,2776 E5,1400 EBANK= AZIMUTH
016354,000271: 37,2776 11412 CCS LENGTHOT
016355,000272: 37,2777 03034 TC SLEEPIE
016356,000273: 37,3000 11440 CCS TORQNDX
016357,000274: 37,3001 13003 TCF +2
016358,000275: 37,3002 03005 TC SETUPER1
016359,000276: 37,3003 30032 CA CDUX
016360,000277: 37,3004 55414 TS LOSVEC +1 # FOR TROUBLESHOOTING VD POSNS 2$4
016361,000278:
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Page 389 |
016363,000280: 37,3005 06042 SETUPER1 TC INTPRET
016364,000281: 37,3006 65345 DLOAD PDDL # ANGLES FROM DRIFT TEST ONLY
016365,000282: 37,3007 02473 ANGZ
016366,000283: 37,3010 02477 ANGY
016367,000284: 37,3011 55525 PDDL VDEF
016368,000285: 37,3012 02501 ANGX
016369,000286: 37,3013 74276 VCOMP VXSC
016370,000287: 37,3014 37110 GEORGEJ
016371,000288: 37,3015 74521 MXV VSR1
016372,000289: 37,3016 02643 XSM
016373,000290: 37,3017 02740 STORE OGC
016374,000291: 37,3020 77776 EXIT
016375,000292:
016376,000293: 37,3021 32475 CA OGCPL
016377,000294: 37,3022 04616 TC BANKCALL
016378,000295: 37,3023 17315 CADR IMUPULSE
016379,000296: 37,3024 02315 TC IMUSLLLG
016380,000297: 37,3025 11440 GEOSTRT4 CCS TORQNDX # ONLY POSITIVE IF IN VERTICAL DRIFT TEST
016381,000298: 37,3026 02263 TC VALMIS
016382,000299: 37,3027 06042 TC INTPRET
016383,000300: 37,3030 77624 CALL
016384,000301: 37,3031 76401 ERTHRVSE
016385,000302: 37,3032 77776 EXIT
016386,000303: 37,3033 02117 TC TORQUE
016387,000304:
016388,000305: 37,3034 55412 SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGTHOT
016389,000306: 37,3035 11440 CCS TORQNDX # ARE WE DOING VERTDRIFT
016390,000307: 37,3036 02447 TC EARTHR*
016391,000308: 37,3037 05155 TC ENDOFJOB
016392,000309:
016393,000310: 37,3040 35014 SOMEERRR CA EBANK5
016394,000311: 37,3041 54003 TS EBANK
016395,000312: 37,3042 34753 CA ONE
016396,000313: 37,3043 55576 TS OVFLOWCK # STOP ALLOOP FROM CALLING ITSELF
016397,000314: 37,3044 05567 TC ALARM
016398,000315: 37,3045 01600 OCT 1600
016399,000316: 37,3046 02270 TC ENDTEST1
016400,000317: 37,3047 33054 SOMERR2 CAF OCT1601
016401,000318: 37,3050 05734 TC VARALARM
016402,000319: 37,3051 05516 TC DOWNFLAG
016403,000320: 37,3052 00007 ADRES IMUSE
016404,000321: 37,3053 05155 TC ENDOFJOB
016405,000322:
016406,000323: 37,3054 01601 OCT1601 OCT 01601
016407,000324: 37,3055 06200 DEC585 OCT 06200 # 3200 B+14 ORDER IS IMPORTANT
016408,000325: 37,3056 00000 00000 SCHZEROS 2DEC .00000000
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Page 390 |
016410,000327: 37,3060 00000 00000 2DEC .00000000
016411,000328:
016412,000329: 37,3062 00000 OCT 00000
016413,000330: 37,3063 00000 ONEDPP OCT 00000 # ORDER IS IMPORTANT
016414,000331: 37,3064 00001 OCT 00001
016415,000332:
016416,000333: 37,3065 00004 INTVAL OCT 4
016417,000334: 37,3066 00002 OCT 2
016418,000335: 37,3067 00220 DEC 144 B-14
016419,000336: 37,3070 77776 DEC -1 B-14
016420,000337: 37,3071 35730 00035 SOUPLY 2DEC .93505870 # INITIAL GAINS FOR PIP OUTPUTS
016421,000338:
016422,000339: 37,3073 10317 17550 2DEC .26266423 # INITIAL GAINS/4 FOR ERECTION ANGLES
016423,000340:
016424,000341: 37,3075 00115 77DECML DEC 77 B-14
016425,000342: 37,3076 01443 ALXXXZ GENADR ALX1S -1
016426,000343: 37,3077 04133 02265 PIPASC 2DEC .13055869
016427,000344:
016428,000345: 37,3101 57223 66451 VELSC 2DEC -.52223476 # 512/980.402
016429,000346:
016430,000347: 37,3103 05427 12577 ALSK 2DEC .17329931 # SSWAY VEL GAIN X 980.402/4096
016431,000348:
016432,000349: 37,3105 77567 44202 2DEC -.00835370 # SSWAY ACCEL GAIN X 980.402/4096
016433,000350:
016434,000351: 37,3107 24276 14066 GEORGEJ 2DEC .63661977
016435,000352:
016436,000353: 37,3111 23073 11773 GEORGEK 2DEC .59737013
016437,000354:
End of include-file IMU_PERFORMANCE_TESTS_4.agc. Parent file is MAIN.agc