- B1 — Revision 292
- B2 — Revision 302
- B3 — Revision 302
- B4 — Revision 302
- B5 — Revision 292
- B6 — Revision 306
Source Code
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These source code files are an attempted reconstruction of Sundance revision 306, the Apollo 9
LM (Lunar Module) AGC (Apollo Guidance Computer) flight software, created from binary dumps of
original core rope program modules, as follows:
|
014220,000002: ## Copyright: Public domain.
014221,000003: ## Filename: IMU_PERFORMANCE_TESTS_4.agc
014222,000004: ## Purpose: A section of an attempt to reconstruct Sundance revision 306
014223,000005: ## as closely as possible with available information. Sundance
014224,000006: ## 306 is the source code for the Lunar Module's (LM) Apollo
014225,000007: ## Guidance Computer (AGC) for Apollo 9. This program was created
014226,000008: ## using the mixed-revision SundanceXXX as a starting point, and
014227,000009: ## pulling back features from Luminary 69 believed to have been
014228,000010: ## added based on memos, checklists, observed address changes,
014229,000011: ## or the Sundance GSOPs.
014230,000012: ## Assembler: yaYUL
014231,000013: ## Contact: Ron Burkey <info@sandroid.org>.
014232,000014: ## Website: www.ibiblio.org/apollo/index.html
014233,000015: ## Mod history: 2020-07-24 MAS Created from SundanceXXX.
014234,000016:
014235,000017:
014236,000018:
014237,000019: # PROGRAM-IMU PERFORMANCE TESTS 4
014238,000020: # DATE-NOV 15, 1966
014239,000021: # BY-GEORGE SCHMIDT IL7-146 EXT 1126
014240,000022: # MOD NO-ZERO
014241,000023:
014242,000024: # FUNCTIONAL DESCRIPTION
014243,000025:
014244,000026: # THIS SECTION CONSISTS OF THE FILTER FOR THE GYRO DRIFT TESTS. NO COMPASS
014245,000027: # IS DONE IN LEM. FOR A DESCRIPTION OF THE FILTER SEE E-1973. THIS
014246,000028: # SECTION IS ENTERED FROM IMU 2. IT RETURNS THERE AT END OF TEST.
014247,000029:
014248,000030: # EARTHR,OGC ZERO,ERTHRVSE
014249,000031:
014250,000032: # NORMAL EXIT
014251,000033:
014252,000034: # LENGTHOT GOES TO ZERO-RETURN TO IMU PERF TESTS 2 CONTROL
014253,000035:
014254,000036: # ALARMS
014255,000037:
014256,000038: # 1600 OVERFLOW IN DRIFT TEST
014257,000039: # 1601 BAD IMU MODING IN ANY ROUTINE THAT USES IMUSTALL
014258,000040: # OUTPUT
014259,000041:
014260,000042: # FLASHING DISPLAY OF RESULTS - CONTROLLED IN IMU PERF TESTS 2
014261,000043:
014262,000044: # DEBRIS
014263,000045:
014264,000046: # ALL CENTRALS - ALL OF EBANK XSM
014265,000047:
014266,000048: 33,2000 BANK 33
014267,000049: 37,2000 SETLOC IMU4
014268,000050: 37,2000 BANK
014269,000051: 37,2477 COUNT* $$/P07
014270,000052:
014271,000053: 37,2477 E5,1642 EBANK= XSM
014272,000054:
014273,000055: 37,2477 00004 ESTIMS INHINT
014274,000056: 37,2500 31572 CAE 1SECXT
014275,000057: 37,2501 05243 TC TWIDDLE
014276,000058: 37,2502 E5,1642 EBANK= XSM
014277,000059: 37,2502 02535 ADRES ALLOOP
014278,000060: 37,2503 35030 CAF ZERO # ZERO THE PIPAS
014279,000061: 37,2504 54037 TS PIPAX
014280,000062: 37,2505 54040 TS PIPAY
014281,000063: 37,2506 54041 TS PIPAZ
014282,000064: 37,2507 00003 RELINT
014283,000065: 37,2510 33061 CA 77DECML
014284,000066: 37,2511 55571 TS ZERONDX
014285,000067: 37,2512 33062 CA ALXXXZ
014286,000068: 37,2513 02364 TC ZEROING
014287,000069: 37,2514 06014 TC INTPRET
014288,000070: 37,2515 77735 SLOAD
014289,000071: 37,2516 37043 SCHZEROS
014290,000072: 37,2517 25477 STOVL GCOMPSW -1
014291,000073: 37,2520 37054 INTVAL +2
014292,000074: 37,2521 26445 STOVL ALX1S
014293,000075: 37,2522 37043 SCHZEROS
014294,000076: 37,2523 01212 STORE DELVX
014295,000077: 37,2524 01472 STORE GCOMP
014296,000078: 37,2525 77735 SLOAD
014297,000079: 37,2526 02441 TORQNDX
014298,000080: 37,2527 50076 DCOMP BMN
014299,000081: 37,2530 76533 VERTSKIP
014300,000082: 37,2531 77624 CALL
014301,000083: 37,2532 76376 ERTHRVSE
014302,000084: 37,2533 77776 VERTSKIP EXIT
014303,000085: 37,2534 03030 TC SLEEPIE +1
014304,000086:
014305,000087: 37,2535 11530 ALLOOP CCS ALTIM
014306,000088: 37,2536 30000 CA A # SHOULD NEVER HIT THIS LOCATION
014307,000089: 37,2537 55531 TS ALTIMS
014308,000090: 37,2540 40000 CS A
014309,000091: 37,2541 55530 TS ALTIM
014310,000092: 37,2542 45026 CS ONE
014311,000093: 37,2543 61562 AD GEOCOMPS
014312,000094: 37,2544 00006 EXTEND
014313,000095: 37,2545 12551 BZF +4
014314,000096: 37,2546 31412 CA LENGTHOT
014315,000097: 37,2547 00006 EXTEND
014316,000098: 37,2550 62555 BZMF +5
014317,000099: 37,2551 31572 CAE 1SECXT
014318,000100: 37,2552 05243 TC TWIDDLE
014319,000101: 37,2553 E5,1642 EBANK= XSM
014320,000102: 37,2553 02535 ADRES ALLOOP
014321,000103: 37,2554 35030 CAF ZERO
014322,000104: 37,2555 56037 XCH PIPAX
014323,000105: 37,2556 55211 TS DELVX
014324,000106: 37,2557 35030 CAF ZERO
014325,000107: 37,2560 56040 XCH PIPAY
014326,000108: 37,2561 55213 TS DELVY
014327,000109: 37,2562 35030 CAF ZERO
014328,000110: 37,2563 56041 XCH PIPAZ
014329,000111: 37,2564 55215 TS DELVZ
014330,000112: 37,2565 35011 SPECSTS CAF PRIO20
014331,000113: 37,2566 05155 TC FINDVAC
014332,000114: 37,2567 E5,1642 EBANK= XSM
014333,000115: 37,2567 02572 76065 2CADR ALFLT # START THE JOB
014334,000116:
014335,000117: 37,2571 05331 TC TASKOVER
014336,000118:
014337,000119: 37,2572 11562 ALFLT CCS GEOCOMPS
014338,000120: 37,2573 02575 TC +2
014339,000121: 37,2574 02577 TC NORMLOP
014340,000122: 37,2575 04655 TC BANKCALL
014341,000123: 37,2576 15277 CADR 1/PIPA
014342,000124: 37,2577 06014 NORMLOP TC INTPRET
014343,000125: 37,2600 77745 DLOAD
014344,000126: 37,2601 37052 INTVAL
014345,000127: 37,2602 24051 STOVL S1
014346,000128: 37,2603 01212 DELVX
014347,000129: 37,2604 76505 VXM VSL1
014348,000130: 37,2605 02643 XSM
014349,000131: 37,2606 57545 DLOAD DCOMP
014350,000132: 37,2607 00160 MPAC +3
014351,000133: 37,2610 16523 STODL DPIPAY
014352,000134: 37,2611 00162 MPAC +5
014353,000135: 37,2612 02527 STORE DPIPAZ
014354,000136:
014355,000137: 37,2613 76001 SETPD AXT,1
014356,000138: 37,2614 00001 0
014357,000139: 37,2615 00010 8D
014358,000140: 37,2616 57535 SLOAD DCOMP
014359,000141: 37,2617 02563 GEOCOMPS
014360,000142: 37,2620 77640 BMN
014361,000143: 37,2621 76765 PERFERAS
014362,000144: 37,2622 50135 ALCGKK SLOAD BMN
014363,000145: 37,2623 02532 ALTIMS
014364,000146: 37,2624 76637 ALFLT3
014365,000147: 37,2625 72174 ALKCG AXT,2 LXA,1 # LOADS SLOPES AND TIME CONSTANTS AT RQST
014366,000148: 37,2626 00014 12D
014367,000149: 37,2627 02444 ALX1S
014368,000150: 37,2630 62143 ALKCG2 DLOAD* INCR,1
014369,000151: 37,2631 02243 ALFDK +144D,1
014370,000152: 37,2632 77775 DEC -2 B-14
014371,000153: 37,2633 12545 STORE ALDK +10D,2
014372,000154: 37,2634 66104 TIX,2 SXA,1
014373,000155: 37,2635 76630 ALKCG2
014374,000156: 37,2636 02444 ALX1S
014375,000157:
014376,000158: 37,2637 77770 ALFLT3 AXT,1
014377,000159: 37,2640 00010 8D
014378,000160: 37,2641 41343 DELMLP DLOAD* DMP
014379,000161: 37,2642 02533 DPIPAY +8D,1
014380,000162: 37,2643 37064 PIPASC
014381,000163: 37,2644 43661 SLR BDSU*
014382,000164: 37,2645 21212 9D
014383,000165: 37,2646 02501 INTY +8D,1
014384,000166: 37,2647 06501 STORE INTY +8D,1
014385,000167: 37,2650 40725 PDDL DMP*
014386,000168: 37,2651 37066 VELSC
014387,000169: 37,2652 02521 VLAUN +8D,1
014388,000170: 37,2653 77732 SL2R
014389,000171: 37,2654 45425 DSU STADR
014390,000172: 37,2655 71216 STORE DELM +8D,1
014391,000173: 37,2656 06563 STORE DELM +10D,1
014392,000174: 37,2657 77100 TIX,1 AXT,2
014393,000175: 37,2660 76641 DELMLP
014394,000176: 37,2661 00004 4
014395,000177: 37,2662 56743 ALILP DLOAD* DMPR*
014396,000178: 37,2663 75324 ALK +4,2
014397,000179: 37,2664 75240 ALDK +4,2
014398,000180: 37,2665 12453 STORE ALK +4,2
014399,000181: 37,2666 77104 TIX,2 AXT,2
014400,000182: 37,2667 76662 ALILP
014401,000183: 37,2670 00010 8D
014402,000184: 37,2671 66140 ALKLP LXC,1 SXA,1
014403,000185: 37,2672 02445 CMPX1
014404,000186: 37,2673 02445 CMPX1
014405,000187: 37,2674 56743 DLOAD* DMPR*
014406,000188: 37,2675 02450 ALK +1,1
014407,000189: 37,2676 75216 DELM +8D,2
014408,000190: 37,2677 77613 DAD*
014409,000191: 37,2700 75276 INTY +8D,2
014410,000192: 37,2701 12501 STORE INTY +8D,2
014411,000193: 37,2702 42743 DLOAD* DAD*
014412,000194: 37,2703 75314 ALK +12D,2
014413,000195: 37,2704 75230 ALDK +12D,2
014414,000196: 37,2705 12463 STORE ALK +12D,2
014415,000197: 37,2706 42673 DMPR* DAD*
014416,000198: 37,2707 75216 DELM +8D,2
014417,000199: 37,2710 75266 INTY +16D,2
014418,000200: 37,2711 12511 STORE INTY +16D,2
014419,000201: 37,2712 40743 DLOAD* DMP*
014420,000202: 37,2713 37071 ALSK +1,1
014421,000203: 37,2714 75216 DELM +8D,2
014422,000204: 37,2715 42772 SL1R DAD*
014423,000205: 37,2716 75256 VLAUN +8D,2
014424,000206: 37,2717 12521 STORE VLAUN +8D,2
014425,000207: 37,2720 76104 TIX,2 AXT,1
014426,000208: 37,2721 76671 ALKLP
014427,000209: 37,2722 00010 8D
014428,000210:
014429,000211: 37,2723 64743 LOOSE DLOAD* PDDL*
014430,000212: 37,2724 02523 ACCWD +8D,1
014431,000213: 37,2725 02521 VLAUN +8D,1
014432,000214: 37,2726 55523 PDDL* VDEF
014433,000215: 37,2727 02531 POSNV +8D,1
014434,000216: 37,2730 76521 MXV VSL1
014435,000217: 37,2731 02001 TRANSM1
014436,000218: 37,2732 77745 DLOAD
014437,000219: 37,2733 00155 MPAC
014438,000220: 37,2734 06531 STORE POSNV +8D,1
014439,000221: 37,2735 77745 DLOAD
014440,000222: 37,2736 00160 MPAC +3
014441,000223: 37,2737 06521 STORE VLAUN +8D,1
014442,000224: 37,2740 77745 DLOAD
014443,000225: 37,2741 00162 MPAC +5
014444,000226: 37,2742 06523 STORE ACCWD +8D,1
014445,000227: 37,2743 77700 TIX,1
014446,000228: 37,2744 76723 LOOSE
014447,000229:
014448,000230: 37,2745 76174 AXT,2 AXT,1 # EVALUATE SINES AND COSINES
014449,000231: 37,2746 00006 6
014450,000232: 37,2747 00002 2
014451,000233: 37,2750 57343 BOOP DLOAD* DMPR
014452,000234: 37,2751 02503 ANGX +2,1
014453,000235: 37,2752 37074 GEORGEJ
014454,000236: 37,2753 77722 SR2R
014455,000237: 37,2754 73406 PUSH SIN
014456,000238: 37,2755 56072 SL3R XAD,1
014457,000239: 37,2756 00046 X1
014458,000240: 37,2757 10021 STORE 16D,2
014459,000241: 37,2760 77745 DLOAD
014460,000242: 37,2761 77746 COS
014461,000243: 37,2762 10027 STORE 22D,2 # COSINES
014462,000244: 37,2763 77704 TIX,2
014463,000245: 37,2764 76750 BOOP
014464,000246:
014465,000247: 37,2765 77776 PERFERAS EXIT
014466,000248: 37,2766 35066 CA EBANK7
014467,000249: 37,2767 54003 TS EBANK
014468,000250: 37,2770 E7,1400 EBANK= ATIGINC
014469,000251: 37,2770 01400 TC ATIGINC # GOTO ERASABLE TO CALCULATE ONLY TO RETN
014470,000252:
014471,000253: # CAUTION
014472,000254:
014473,000255: # THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED
014474,000256: # BEFORE ANY ATTEMPT IS MADE TO RUN THE IMU PERFORMANCE TEST
014475,000257:
014476,000258: 37,2771 E5,1400 EBANK= AZIMUTH
014477,000259: 37,2771 11412 CCS LENGTHOT
014478,000260: 37,2772 03027 TC SLEEPIE
014479,000261: 37,2773 11440 CCS TORQNDX
014480,000262: 37,2774 12776 TCF +2
014481,000263: 37,2775 03000 TC SETUPER1
014482,000264: 37,2776 30032 CA CDUX
014483,000265: 37,2777 55414 TS LOSVEC +1 # FOR TROUBLESHOOTING VD POSNS 2$4
014484,000266:
014485,000267: 37,3000 06014 SETUPER1 TC INTPRET
014486,000268: 37,3001 65345 DLOAD PDDL # ANGLES FROM DRIFT TEST ONLY
014487,000269: 37,3002 02473 ANGZ
014488,000270: 37,3003 02477 ANGY
014489,000271: 37,3004 55525 PDDL VDEF
014490,000272: 37,3005 02501 ANGX
014491,000273: 37,3006 74276 VCOMP VXSC
014492,000274: 37,3007 37074 GEORGEJ
014493,000275: 37,3010 74521 MXV VSR1
014494,000276: 37,3011 02643 XSM
014495,000277: 37,3012 02740 STORE OGC
014496,000278: 37,3013 77776 EXIT
014497,000279:
014498,000280: 37,3014 32472 CA OGCPL
014499,000281: 37,3015 04655 TC BANKCALL
014500,000282: 37,3016 17234 CADR IMUPULSE
014501,000283: 37,3017 02312 TC IMUSLLLG
014502,000284: 37,3020 11440 GEOSTRT4 CCS TORQNDX # ONLY POSITIVE IF IN VERTICAL DRIFT TEST
014503,000285: 37,3021 02260 TC VALMIS
014504,000286: 37,3022 06014 TC INTPRET
014505,000287: 37,3023 77624 CALL
014506,000288: 37,3024 76376 ERTHRVSE
014507,000289: 37,3025 77776 EXIT
014508,000290: 37,3026 02114 TC TORQUE
014509,000291:
014510,000292: 37,3027 55412 SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGTHOT
014511,000293: 37,3030 11440 CCS TORQNDX # ARE WE DOING VERTDRIFT
014512,000294: 37,3031 02444 TC EARTHR*
014513,000295: 37,3032 05225 TC ENDOFJOB
014514,000296:
014515,000297: 37,3033 05651 SOMEERRR TC ALARM
014516,000298: 37,3034 01600 OCT 1600
014517,000299: 37,3035 02265 TC ENDTEST1
014518,000300: 37,3036 05651 SOMERR2 TC ALARM
014519,000301: 37,3037 01601 OCT 1601
014520,000302: 37,3040 02265 TC ENDTEST1
014521,000303:
014522,000304: 37,3041 06200 DEC585 OCT 06200 # 3200 B+14 ORDER IS IMPORTANT
014523,000305: 37,3042 00000 00000 SCHZEROS 2DEC .00000000
014524,000306: 37,3044 00000 00000 2DEC .00000000
014525,000307:
014526,000308: 37,3046 00000 OCT 00000
014527,000309: 37,3047 00000 ONEDPP OCT 00000 # ORDER IS IMPORTANT
014528,000310: 37,3050 00001 OCT 00001
014529,000311:
014530,000312: 37,3051 00004 INTVAL OCT 4
014531,000313: 37,3052 00002 OCT 2
014532,000314: 37,3053 00220 DEC 144 B-14
014533,000315: 37,3054 77776 DEC -1 B-14
014534,000316: 37,3055 35730 00035 SOUPLY 2DEC .93505870 # INITIAL GAINS FOR PIP OUTPUTS
014535,000317:
014536,000318: 37,3057 10317 17550 2DEC .26266423 # INITIAL GAINS/4 FOR ERECTION ANGLES
014537,000319:
014538,000320: 37,3061 00115 77DECML DEC 77 B-14
014539,000321: 37,3062 01443 ALXXXZ GENADR ALX1S -1
014540,000322: 37,3063 04133 02265 PIPASC 2DEC .13055869
014541,000323:
014542,000324: 37,3065 57223 66451 VELSC 2DEC -.52223476 # 512/980.402
014543,000325:
014544,000326: 37,3067 05427 12577 ALSK 2DEC .17329931 # SSWAY VEL GAIN X 980.402/4096
014545,000327:
014546,000328: 37,3071 77567 44202 2DEC -.00835370 # SSWAY ACCEL GAIN X 980.402/4096
014547,000329:
014548,000330: 37,3073 24276 14066 GEORGEJ 2DEC .63661977
014549,000331:
014550,000332: 37,3075 23073 11773 GEORGEK 2DEC .59737013
014551,000333:
End of include-file IMU_PERFORMANCE_TESTS_4.agc. Parent file is MAIN.agc