Apollo-11/Luminary099/IMU_COMPENSATION_PACKAGE.agc

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# Copyright: Public domain.
# Filename: IMU_COMPENSATION_PACKAGE.agc
# Purpose: Part of the source code for Luminary 1A build 099.
# It is part of the source code for the Lunar Module's (LM)
# Apollo Guidance Computer (AGC), for Apollo 11.
# Assembler: yaYUL
# Contact: Ron Burkey <info@sandroid.org>.
# Website: www.ibiblio.org/apollo.
# Pages: 326-337
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# Mod history: 2009-05-16 RSB Adapted from the corresponding
# Luminary131 file, using page
# images from Luminary 1A.
# 2009-06-07 RSB Corrected a typo.
#
# This source code has been transcribed or otherwise adapted from
# digitized images of a hardcopy from the MIT Museum. The digitization
# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
# the Museum. Many thanks to both. The images (with suitable reduction
# in storage size and consequent reduction in image quality as well) are
# available online at www.ibiblio.org/apollo. If for some reason you
# find that the images are illegible, contact me at info@sandroid.org
# about getting access to the (much) higher-quality images which Paul
# actually created.
#
# Notations on the hardcopy document read, in part:
#
# Assemble revision 001 of AGC program LMY99 by NASA 2021112-061
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# 16:27 JULY 14, 1969
# Page 326
BANK 7
SETLOC IMUCOMP
BANK
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EBANK= NBDX
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COUNT* $$/ICOMP
1/PIPA CAF LGCOMP # SAVE EBANK OF CALLING PROGRAM
XCH EBANK
TS MODE
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CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
TCF +3
TCF +2
TCF IRIG1 # RETURN
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1/PIPA1 CAF FOUR # PIPAZ, PIPAY, PIPAX
TS BUF +2
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INDEX BUF +2
CA PIPASCF # (P.P.M.) X 2(-9)
EXTEND
INDEX BUF +2
MP DELVX # (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
TS Q # SAVE MAJOR PART
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CA L # MINOR PART
EXTEND
MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
INDEX BUF +2
TS DELVX +1 # FRACTIONAL PIPA PULSES SCALED 2(+14)
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CA Q # MAJOR PART
EXTEND
MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
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INDEX BUF +2
DAS DELVX # (PIPAI) + (PIPAI)(SF)
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INDEX BUF +2
CS PIPABIAS # (PIPA PULSES)/(CS) X 2(-5) * *
EXTEND
MP 1/PIPADT # (CS) X 2(+8) NOW (PIPA PULSES) X 2(+5) *
EXTEND
MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11 *
INDEX BUF +2
DAS DELVX # (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
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CCS BUF +2 # PIPAZ, PIPAY, PIPAX
AD NEG1
TCF 1/PIPA1 +1
# Page 327
NOOP # LESS THAN ZERO IMPOSSIBLE
# Page 328
IRIGCOMP TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
TS BUF # INDEX COUNTER. IRIGX, IRIGY, IRIGZ.
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TC IRIGX # COMPENSATE ACCELERATION TERMS
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CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
TC DRIFTSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
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TC IRIGY # COMPENSATE ACCELERATION TERMS
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CS NBDY # (GYRO PULSES)/(CS) X 2(-5)
TC DRIFTSUB # +(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
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TC IRIGZ # COMPENSATE ACCELERATION TERMS
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CA NBDZ # (GYRO PULSES)/(CS) X 2(-5)
TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
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CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
TCF +2 # YES SEND OUT GYRO TORQUING COMMANDS.
TCF IRIG1 # NO RETURN
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CA PRIO21 # PRIO GREATER THAN SERVICER.
TC NOVAC # SEND OUT GYRO TORQUING COMMANDS.
EBANK= NBDX
2CADR 1/GYRO
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RELINT
IRIG1 CA MODE # RESTORE CALLER'S EBANK
TS EBANK
TCF SWRETURN
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# Page 329
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IRIGX EXTEND
QXCH MPAC +2 # SAVE Q
EXTEND
DCS DELVX # (PIPA PULSES) X 2(+14)
DXCH MPAC
CA ADIAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
TC GCOMPSUB # -(ADIAX)(PIPAX) (GYRO PULSES) X 2(+14)
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EXTEND #
DCS DELVY # (PIPA PULSES) X 2(+14)
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DXCH MPAC #
CS ADSRAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
TC GCOMPSUB # -(ADSRAX)(PIPAY) (GYRO PULSES) X 2(+14)
# EXTEND # ***
# DCS DELVY # *** (PIPA PULSES) X 2(+14)
# DXCH MPAC # ***
# CA ADOAX # *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
# TC GCOMPSUB # *** -(ADOAX)(PIPAZ) (GYRO PULSES) X 2(+14)
TC MPAC +2
IRIGY EXTEND
QXCH MPAC +2 # SAVE Q
EXTEND
DCS DELVY # (PIPA PULSES) X 2(+14)
DXCH MPAC
CA ADIAY # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
TC GCOMPSUB # -(ADIAY)(PIPAY) (GYRO PULSES) X 2(+14)
EXTEND
DCS DELVZ # (PIPA PULSES) X 2(+14)
DXCH MPAC
CS ADSRAY # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
TC GCOMPSUB # +(ADSRAY)(PIPAZ) (GYRO PULSES) X 2(+14)
# EXTEND # ***
# DCS DELVX # *** (PIPA PULSES) X 2(+14)
# DXCH MPAC # ***
# CA ADOAY # *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
# TC GCOMPSUB # *** -(ADOAY)(/PIPAX) (GYRO PULSES) X 2(+14)
TC MPAC +2
IRIGZ EXTEND
QXCH MPAC +2 # SAVE Q
EXTEND
DCS DELVY # (PIPA PULSES) X 2(+14)
DXCH MPAC
CA ADSRAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
# Page 330
TC GCOMPSUB # -(ADSRAZ)(PIPAY) (GYRO PULSES) X 2(+14)
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EXTEND
DCS DELVZ # (PIPA PULSES) X 2(+14)
DXCH MPAC
CA ADIAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
TC GCOMPSUB # -(ADIAZ)(PIPAZ) (GYRO PULSES) X 2(+14)
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# EXTEND # ***
# DCS DELVX # *** (PIPA PULSE) X 2(+14)
# DXCH MPAC # ***
# CS ADOAZ # *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
# TC GCOMPSUB # *** +(ADOAZ)(PIPAX) (GYRO PULSES) X 2(+14)
TC MPAC +2
# Page 331
GCOMPSUB XCH MPAC # ADIA OR ADSRA COEFFICIENT ARRIVES IN A
EXTEND # C(MPAC) = (PIPA PULSES) X 2(+14)
MP MPAC # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
DXCH VBUF # NOW = (GYRO PULSES) X 2(+8) *
CA MPAC +1 # MINOR PART OF PIPA PULSES
EXTEND
MP MPAC # ADIA OR ADSRA
TS L
CAF ZERO
DAS VBUF # NOW = (GYRO PULSES) X 2(+8) *
CA VBUF # PARTIAL RESULT -- MAJOR
EXTEND
MP BIT9 # SCALE 2(+6) SHIFT RIGHT 6 *
INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
DAS GCOMP # HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI)
CA VBUF +1 # PARTIAL RESULT -- MINOR
EXTEND
MP BIT9 # SCALE 2(+6) SHIFT RIGHT 6 *
TS L
CAF ZERO
INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
DAS GCOMP # (ADIA)(PIPAI) OR (ADSRA)(PIPAI)
TC Q
# Page 332
DRIFTSUB EXTEND
QXCH BUF +1
EXTEND # C(A) = NBD (GYRO PULSES)/(CS) X 2(-5)
MP 1/PIPADT # (CS) X 2(+8) NO (GYRO PULSES) X 2(+3)
LXCH MPAC +1 # SAVE FOR FRACTIONAL COMPENSATION
EXTEND
MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
INDEX BUF
DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
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CA MPAC +1 # NO MINOR PART
EXTEND
MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
TS L
CAF ZERO
INDEX BUF # ADD IN FRACTIONAL COMPENSATION
DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
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DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ
AD BUF
XCH BUF
INDEX A
CCS GCOMP # ARE GYRO COMMANDS 1 PULSE OR GREATER
TCF +2 # YES
TC BUF +1 # NO
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MASK COMPCHK # DEC -1
CCS A # ARE GYRO COMMANDS GREATER THAN 2 PULSES
TS GCOMPSW # YES -- SET GCOMPSW POSITIVE
TC BUF +1 # NO
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# Page 333
1/GYRO CAF FOUR # PIPAZ, PIPAY, PIPAX
TS BUF
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INDEX BUF # SCALE GYRO COMMANDS FOR IMUPULSE
CA GCOMP +1 # FRACTIONAL PULSES
EXTEND
MP BIT8 # SHIFT RIGHT 7
INDEX BUF
TS GCOMP +1 # FRACTIONAL PULSES SCALED
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CAF ZERO # SET GCOMP = 0 FOR DAS INSTRUCTION
INDEX BUF
XCH GCOMP # GYRO PULSES
EXTEND
MP BIT8 # SHIFT RIGHT 7
INDEX BUF
DAS GCOMP # ADD THESE TO FRACTIONAL PULSES ABOVE
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CCS BUF # PIPAZ, PIPAY, PIPAX
AD NEG1
TCF 1/GYRO +1
LGCOMP ECADR GCOMP # LESS THAN ZERO IMPOSSIBLE
CAF LGCOMP
TC BANKCALL
CADR IMUPULSE # CALL GYRO TORQUING ROUTINE
TC BANKCALL
CADR IMUSTALL # WAIT FOR PULSES TO GET OUT
TCF ENDOFJOB # TEMPORARY
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GCOMP1 CAF FOUR # PIPAZ, PIPAY, PIPAX
TS BUF
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INDEX BUF # RESCALE
CA GCOMP +1
EXTEND
MP BIT8 # SHIFT MINOR PART LEFT 7 -- MAJOR PART = 0
INDEX BUF
LXCH GCOMP +1 # BITS 8-14 OF MINOR PART WERE = 0
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CCS BUF # PIPAZ, PIPAY, PIPAX
AD NEG1
TCF GCOMP1 +1
COMPCHK DEC -1 # LESS THAN ZERO IMPOSSIBLE
TCF ENDOFJOB
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# Page 334
NBDONLY CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
TCF +3
TCF +2
TCF ENDOFJOB
INHINT
CCS FLAGWRD2 # PREREAD T3RUPT MAY COINCIDE
TCF ENDOFJOB
TCF ENDOFJOB
TCF +1
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CA FLAGWRD8 # IF SURFACE FLAG IS SET, SET TEM1
MASK BIT8 # POSITIVE SO THAT THE ACCELERATION TERMS
TS TEM1 # WILL BE COMPENSATED.
EXTEND
BZF +3 # ARE WE ON THE SURFACE
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TC IBNKCALL # ON THE SURFACE
CADR PIPASR +3 # READ PIPAS, BUT DO NOT SCALE THEM
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CA TIME1 # (CS) X 2(+14)
XCH 1/PIPADT # PREVIOUS TIME
RELINT
COM
AD 1/PIPADT # PRESENT TIME - PREVIOUS TIME
NBD2 AD HALF # CORRECT FOR POSSIBLE TIME1 TICK
AD HALF
XCH L # IF TIME1 DID NOT DICK, REMOVE RESULTING
XCH L # OVERFLOW.
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NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14)
MP BIT10 # SHIFT RIGHT 5
DXCH VBUF +2
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CA ZERO
TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
TS BUF # INDEX X, Y, Z.
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CCS TEM1 # IF SURFACE FLAG IS SET,
TC IRIGX # COMPENSATE ACCELERATION TERMS.
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EXTEND
DCA VBUF +2
DXCH MPAC # DELTAT NOW SCALED (CS) X 2(+19)
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CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
TC FBIASSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
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CCS TEM1 # IF SURFACE FLAG IS SET,
TC IRIGY # COMPENSATE ACCELERATION TERMS.
# Page 335
EXTEND
DCS VBUF +2
DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
CA NBDY # (GYRO PULSES)/(CS) X 2(-5)
TC FBIASSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
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CCS TEM1 # IF SURFACE FLAG IS SET,
TC IRIGZ # COMPENSATE ACCELERATION TERMS
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EXTEND
DCS VBUF +2
DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
CS NBDZ # (GYRO PULSES)/(CS) X 2(-5)
TC FBIASSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
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CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
TCF 1/GYRO # YES
TCF ENDOFJOB # NO
# Page 336
FBIASSUB XCH Q
TS BUF +1
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CA Q # NBD SCALED (GYRO PULSES)/(CS) X 2(-5)
EXTEND
MP MPAC # DELTAT SCALED (CS) X 2(+19)
INDEX BUF
DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
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CA Q # NOW FRACTIONAL PART
EXTEND
MP MPAC +1
TS L
CAF ZERO
INDEX BUF
DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
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TCF DRFTSUB2 # CHECK MAGNITUDE OF COMPENSATION
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LASTBIAS TC BANKCALL
CADR PIPUSE1
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CCS GCOMPSW
TCF +3
TCF +2
TCF ENDOFJOB
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CA FLAGWRD8 # IF SURFACE FLAG IS SET, SET TEM1
MASK SURFFBIT # POSITIVE SO THAT THE ACCELERATION TERMS
TS TEM1 # WILL BE COMPENSATED.
CAF PRIO31 # 2 SECONDS SCALED (CS) X 2(+8)
XCH 1/PIPADT
COM
AD PIPTIME +1
TCF NBD2
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GCOMPZER CAF LGCOMP # ROUTINE TO ZERO GCOMP BEFORE FIRST
XCH EBANK # CALL TO 1/PIPA
TS MODE
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CAF ZERO
TS GCOMPSW
TS GCOMP
TS GCOMP +1
TS GCOMP +2
TS GCOMP +3
TS GCOMP +4
# Page 337
TS GCOMP +5
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TCF IRIG1 # RESTORE EBANK AND RETURN
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