2016-07-07 08:47:26 +00:00
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# Copyright: Public domain.
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# Filename: IMU_PERFORMANCE_TESTS_4.agc
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# Purpose: Part of the source code for Luminary 1A build 099.
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# It is part of the source code for the Lunar Module's (LM)
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# Apollo Guidance Computer (AGC), for Apollo 11.
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# Assembler: yaYUL
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# Contact: Ron Burkey <info@sandroid.org>.
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# Website: www.ibiblio.org/apollo.
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# Pages: 382-389
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# Mod history: 2009-05-17 RSB Adapted from the corresponding
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# Luminary131 file, using page
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# images from Luminary 1A.
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#
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# This source code has been transcribed or otherwise adapted from
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# digitized images of a hardcopy from the MIT Museum. The digitization
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# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
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# the Museum. Many thanks to both. The images (with suitable reduction
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# in storage size and consequent reduction in image quality as well) are
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# available online at www.ibiblio.org/apollo. If for some reason you
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# find that the images are illegible, contact me at info@sandroid.org
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# about getting access to the (much) higher-quality images which Paul
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# actually created.
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#
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# Notations on the hardcopy document read, in part:
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#
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# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
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# 16:27 JULY 14, 1969
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# Page 382
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# PROGRAM -- IMU PERFORMANCE TESTS 4
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# DATE -- NOV 15, 1966
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# BY -- GEORGE SCHMIDT IL7-146 EXT 1126
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# MOD NO-ZERO
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#
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2016-07-08 10:45:31 +00:00
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# FUNCTIONAL DESCRIPTION
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2016-07-07 08:47:26 +00:00
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#
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# THIS SECTION CONSISTS OF THE FILTER FOR THE GYRO DRIFT TESTS. NO COMPASS
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# IS DONE IN LEM. FOR A DESCRIPTION OF THE FILTER SEE E-1973. THIS
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# SECTION IS ENTERED FROM IMU 2. IT RETURNS THERE AT END OF TEST.
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#
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# EARTHR,OGC ZERO,ERTHRVSE
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#
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# NORMAL EXIT
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#
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# LENGTHOT GOES TO ZERO -- RETURN TO IMU PERF TESTS 2 CONTROL
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#
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# ALARMS
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#
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# 1600 OVERFLOW IN DRIFT TEST
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# 1601 BAD IMU MODING IN ANY ROUTINE THAT USES IMUSTALL
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# OUTPUT
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#
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# FLASHING DISPLAY OF RESULTS -- CONTROLLED IN IMU PERF TESTS 2
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#
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# DEBRIS
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#
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# ALL CENTRALS -- ALL OF EBANK XSM
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# Page 383
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BANK 33
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SETLOC IMU4
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BANK
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COUNT* $$/P07
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EBANK= XSM
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ESTIMS INHINT
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CAE 1SECXT
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TC TWIDDLE
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EBANK= XSM
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ADRES ALLOOP
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CAF ZERO # ZERO THE PIPAS
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TS PIPAX
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TS PIPAY
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TS PIPAZ
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RELINT
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CA 77DECML
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TS ZERONDX
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CA ALXXXZ
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TC ZEROING
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TC INTPRET
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SLOAD
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SCHZEROS
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STOVL GCOMPSW -1
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INTVAL +2
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STOVL ALX1S
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SCHZEROS
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STORE DELVX
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STORE GCOMP
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SLOAD
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TORQNDX
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DCOMP BMN
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VERTSKIP
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CALL
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ERTHRVSE
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VERTSKIP EXIT
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TC SLEEPIE +1
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# Page 384
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ALLOOP CA OVFLOWCK
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EXTEND
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BZF +2
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TC TASKOVER
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CCS ALTIM
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CA A # SHOULD NEVER HIT THIS LOCATION
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TS ALTIMS
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CS A
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TS ALTIM
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CS ONE
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AD GEOCOMPS
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EXTEND
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BZF +4
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CA LENGTHOT
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EXTEND
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BZMF +5
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CAE 1SECXT
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TC TWIDDLE
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EBANK= XSM
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ADRES ALLOOP
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CAF ZERO
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XCH PIPAX
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TS DELVX
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CAF ZERO
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XCH PIPAY
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TS DELVY
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CAF ZERO
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XCH PIPAZ
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TS DELVZ
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SPECSTS CAF PRIO20
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TC FINDVAC
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EBANK= XSM
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2CADR ALFLT # START THE JOB
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TC TASKOVER
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# Page 385
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ALFLT CCS GEOCOMPS
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TC +2
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TC NORMLOP
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TC BANKCALL
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CADR 1/PIPA
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NORMLOP TC INTPRET
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DLOAD
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INTVAL
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STOVL S1
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DELVX
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VXM VSL1
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XSM
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DLOAD DCOMP
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MPAC +3
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STODL DPIPAY
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MPAC +5
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STORE DPIPAZ
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SETPD AXT,1
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0
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8D
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SLOAD DCOMP
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GEOCOMPS
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BMN
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PERFERAS
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ALCGKK SLOAD BMN
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ALTIMS
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ALFLT3
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ALKCG AXT,2 LXA,1 # LOADS SLOPES AND TIME CONSTANTS AT RQST
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12D
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ALX1S
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ALKCG2 DLOAD* INCR,1
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ALFDK +144D,1
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DEC -2
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STORE ALDK +10D,2
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TIX,2 SXA,1
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ALKCG2
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ALX1S
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ALFLT3 AXT,1
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8D
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DELMLP DLOAD* DMP
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DPIPAY +8D,1
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PIPASC
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SLR BDSU*
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9D
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INTY +8D,1
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STORE INTY +8D,1
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PDDL DMP*
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VELSC
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# Page 386
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VLAUN +8D,1
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SL2R
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DSU STADR
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STORE DELM +8D,1
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STORE DELM +10D,1
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TIX,1 AXT,2
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DELMLP
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4
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ALILP DLOAD* DMPR*
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ALK +4,2
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ALDK +4,2
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STORE ALK +4,2
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TIX,2 AXT,2
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ALILP
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8D
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ALKLP LXC,1 SXA,1
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CMPX1
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CMPX1
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DLOAD* DMPR*
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ALK +1,1
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DELM +8D,2
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DAD*
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INTY +8D,2
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STORE INTY +8D,2
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DLOAD* DAD*
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ALK +12D,2
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ALDK +12D,2
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STORE ALK +12D,2
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DMPR* DAD*
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DELM +8D,2
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INTY +16D,2
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STORE INTY +16D,2
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DLOAD* DMP*
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ALSK +1,1
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DELM +8D,2
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SL1R DAD*
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VLAUN +8D,2
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STORE VLAUN +8D,2
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TIX,2 AXT,1
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ALKLP
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8D
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LOOSE DLOAD* PDDL*
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ACCWD +8D,1
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VLAUN +8D,1
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PDDL* VDEF
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POSNV +8D,1
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MXV VSL1
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TRANSM1
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# Page 387
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DLOAD
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MPAC
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STORE POSNV +8D,1
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DLOAD
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MPAC +3
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STORE VLAUN +8D,1
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DLOAD
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MPAC +5
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STORE ACCWD +8D,1
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TIX,1
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LOOSE
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AXT,2 AXT,1 # EVALUATE SINES AND COSINES
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6
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2
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BOOP DLOAD* DMPR
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ANGX +2,1
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GEORGEJ
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SR2R
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PUSH SIN
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SL3R XAD,1
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X1
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STORE 16D,2
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DLOAD
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COS
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STORE 22D,2 # COSINES
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TIX,2
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BOOP
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PERFERAS EXIT
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CA EBANK7
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TS EBANK
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EBANK= ATIGINC
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TC ATIGINC # GOTO ERASABLE TO CALCULATE ONLY TO RETN
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# CAUTION
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#
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# THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED
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# BEFORE ANY ATTEMPT IS MAKE TO RUN THE IMU PERFORMANCE TEST
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EBANK= AZIMUTH
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CCS LENGTHOT
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TC SLEEPIE
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CCS TORQNDX
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TCF +2
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TC SETUPER1
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CA CDUX
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TS LOSVEC +1 # FOR TROUBLESHOOTING VD POSNS 2$4
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# Page 388
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SETUPER1 TC INTPRET
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DLOAD PDDL # ANGLES FROM DRIFT TEST ONLY
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ANGZ
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ANGY
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PDDL VDEF
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ANGX
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VCOMP VXSC
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GEORGEJ
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MXV VSR1
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XSM
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STORE OGC
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EXIT
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CA OGCPL
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TC BANKCALL
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CADR IMUPULSE
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TC IMUSLLLG
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GEOSTRT4 CCS TORQNDX # ONLY POSITIVE IF IN VERTICAL DRIFT TEST
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TC VALMIS
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TC INTPRET
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CALL
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ERTHRVSE
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EXIT
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TC TORQUE
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SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGTHOT
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CCS TORQNDX # ARE WE DOING VERTDRIFT
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TC EARTHR*
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TC ENDOFJOB
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SOMEERRR CA EBANK5
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TS EBANK
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CA ONE
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TS OVFLOWCK # STOP ALLOOP FROM CALLING ITSELF
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TC ALARM
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OCT 1600
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TC ENDTEST1
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SOMERR2 CAF OCT1601
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TC VARALARM
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TC DOWNFLAG
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ADRES IMUSE
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TC ENDOFJOB
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OCT1601 OCT 01601
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DEC585 OCT 06200 # 3200 B+14 ORDER IS IMPORTANT
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SCHZEROS 2DEC .00000000
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# Page 389
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2DEC .00000000
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OCT 00000
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ONEDPP OCT 00000 # ORDER IS IMPORTANT
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OCT 00001
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INTVAL OCT 4
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OCT 2
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DEC 144
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DEC -1
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SOUPLY 2DEC .93505870 # INITIAL GAINS FOR PIP OUTPUTS
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2DEC .26266423 # INITIAL GAINS/4 FOR ERECTION ANGLES
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77DECML DEC 77
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ALXXXZ GENADR ALX1S -1
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PIPASC 2DEC .13055869
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VELSC 2DEC -.52223476 # 512/980.402
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ALSK 2DEC .17329931 # SSWAY VEL GAIN X 980.402/4096
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2DEC -.00835370 # SSWAY ACCEL GAIN X 980.402/4096
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GEORGEJ 2DEC .63661977
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GEORGEK 2DEC .59737013
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