422 lines
6.8 KiB
ArmAsm
422 lines
6.8 KiB
ArmAsm
|
# Copyright: Public domain.
|
||
|
|
# Filename: IMU_PERFORMANCE_TEST_2.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: 373-381
|
||
|
|
# Mod history: 2009-05-17 RSB Adapted from the corresponding
|
||
|
|
# Luminary131 file, using page
|
||
|
|
# images from Luminary 1A.
|
||
|
|
#
|
||
|
|
# 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 2021112-61
|
||
|
|
# 16:27 JULY 14, 1969
|
||
|
|
|
||
|
|
# Page 373
|
||
|
|
# NAME -- IMU PERFORMANCE TESTS 2
|
||
|
|
#
|
||
|
|
# DATE -- MARCH 20, 1967
|
||
|
|
#
|
||
|
|
# BY -- SYSTEM TEST GROUP 864-6900 EXT. 1274
|
||
|
|
#
|
||
|
|
# MODNO. -- ZERO
|
||
|
|
#
|
||
|
|
# FUNCTIONAL DESCRIPTION
|
||
|
|
#
|
||
|
|
# POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF
|
||
|
|
# THE TESTS THEMSELVES. FOR A DESCRIPTION OF THESE SUBROUTINES AND THE
|
||
|
|
# OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685. THEORETICAL REF. E-1973
|
||
|
|
|
||
|
|
BANK 33
|
||
|
|
SETLOC IMU2
|
||
|
|
BANK
|
||
|
|
EBANK= POSITON
|
||
|
|
COUNT* $$/P07
|
||
|
|
|
||
|
|
REDO TC NEWMODEX
|
||
|
|
MM 07
|
||
|
|
|
||
|
|
GEOIMUTT TC IMUZERR
|
||
|
|
IMUBACK CA ZERO
|
||
|
|
TS NDXCTR
|
||
|
|
TS TORQNDX
|
||
|
|
TS TORQNDX +1
|
||
|
|
TS OVFLOWCK
|
||
|
|
NBPOSPL CA DEC17
|
||
|
|
TS ZERONDX
|
||
|
|
CA XNBADR
|
||
|
|
TC ZEROING
|
||
|
|
CA HALF
|
||
|
|
TS XNB
|
||
|
|
GUESS TC INTPRET
|
||
|
|
LATAZCHK DLOAD SL2
|
||
|
|
LATITUDE
|
||
|
|
STODL DSPTEM1 +1
|
||
|
|
AZIMUTH
|
||
|
|
RTB EXIT
|
||
|
|
1STO2S
|
||
|
|
XCH MPAC
|
||
|
|
TS DSPTEM1
|
||
|
|
CAF VN0641
|
||
|
|
TC BANKCALL
|
||
|
|
CADR GOFLASH
|
||
|
|
TC ENDTEST1
|
||
|
|
TC +2
|
||
|
|
TC -5
|
||
|
|
# Page 374
|
||
|
|
TC INTPRET
|
||
|
|
SLOAD RTB
|
||
|
|
DSPTEM1
|
||
|
|
CDULOGIC
|
||
|
|
STORE AZIMUTH
|
||
|
|
SLOAD SR2
|
||
|
|
DSPTEM1 +1
|
||
|
|
STORE LATITUDE
|
||
|
|
COS DCOMP
|
||
|
|
SL1
|
||
|
|
STODL WANGI
|
||
|
|
LATITUDE
|
||
|
|
SIN SL1
|
||
|
|
STODL WANGO
|
||
|
|
AZIMUTH
|
||
|
|
PUSH SIN
|
||
|
|
STORE YNB +2
|
||
|
|
STODL ZNB +4
|
||
|
|
COS
|
||
|
|
STORE YNB +4
|
||
|
|
DCOMP
|
||
|
|
POSGMBL STCALL ZNB +2
|
||
|
|
CALCGA
|
||
|
|
EXIT
|
||
|
|
TC BANKCALL
|
||
|
|
CADR IMUCOARS
|
||
|
|
CAF BIT14 # IF BIT14 SET, GIMBAL LOCK
|
||
|
|
MASK FLAGWRD3
|
||
|
|
EXTEND
|
||
|
|
BZF +2
|
||
|
|
INCR NDXCTR # +1 IF IN GIMBAL LOCK, OTHERWISE 0
|
||
|
|
TC DOWNFLAG
|
||
|
|
ADRES GLOKFAIL # RESET GIMBAL LOCK FLAG
|
||
|
|
TC IMUSLLLG
|
||
|
|
CCS NDXCTR # IF ONE GO AND DO A PIPA TEST ONLY
|
||
|
|
TC PIPACHK # ALIGN AND MEASURE VERTICAL PIPA RATE
|
||
|
|
TC FINIMUDD
|
||
|
|
EXTEND
|
||
|
|
DCA PERFDLAY
|
||
|
|
TC LONGCALL # DELAY WHILE SUSPENSION STABILIZES
|
||
|
|
EBANK= POSITON
|
||
|
|
2CADR GOESTIMS
|
||
|
|
|
||
|
|
CA ESTICADR
|
||
|
|
TC JOBSLEEP
|
||
|
|
GOESTIMS CA ESTICADR
|
||
|
|
TC JOBWAKE
|
||
|
|
TC TASKOVER
|
||
|
|
ESTICADR CADR ESTIMS
|
||
|
|
TORQUE CA ZERO
|
||
|
|
# Page 375
|
||
|
|
TS DSPTEM2
|
||
|
|
CA DRIFTI
|
||
|
|
TS DSPTEM2 +1
|
||
|
|
INDEX POSITON
|
||
|
|
TS SOUTHDR -1
|
||
|
|
TC SHOW
|
||
|
|
|
||
|
|
PIPACHK INDEX NDXCTR # PIPA TEST
|
||
|
|
TC +1
|
||
|
|
TC EARTHR*
|
||
|
|
CA DEC17 # ALLOW PIP COUNTER TO OVERFLOW 17 TIMES
|
||
|
|
TS DATAPL +4 # IN THE ALLOTTED TIME INTERVAL
|
||
|
|
CA DEC58
|
||
|
|
TS LENGTHOT
|
||
|
|
CA ONE
|
||
|
|
TS RESULTCT
|
||
|
|
CA ZERO
|
||
|
|
INDEX PIPINDEX
|
||
|
|
TS PIPAX
|
||
|
|
TS DATAPL
|
||
|
|
TC CHECKG
|
||
|
|
INHINT
|
||
|
|
CAF TWO
|
||
|
|
TC TWIDDLE
|
||
|
|
EBANK= XSM
|
||
|
|
ADRES PIPATASK
|
||
|
|
TC ENDOFJOB
|
||
|
|
|
||
|
|
PIPATASK EXTEND
|
||
|
|
DIM LENGTHOT
|
||
|
|
CA LENGTHOT
|
||
|
|
EXTEND
|
||
|
|
BZMF STARTPIP
|
||
|
|
CAF BIT10
|
||
|
|
TC TWIDDLE
|
||
|
|
EBANK= XSM
|
||
|
|
ADRES PIPATASK
|
||
|
|
STARTPIP CAF PRIO20
|
||
|
|
TC FINDVAC
|
||
|
|
EBANK= XSM
|
||
|
|
2CADR PIPJOBB
|
||
|
|
|
||
|
|
TC TASKOVER
|
||
|
|
|
||
|
|
PIPJOBB INDEX NDXCTR
|
||
|
|
TC +1
|
||
|
|
TC EARTHR*
|
||
|
|
CA LENGTHOT
|
||
|
|
# Page 376
|
||
|
|
EXTEND
|
||
|
|
BZMF +2
|
||
|
|
TC ENDOFJOB
|
||
|
|
|
||
|
|
CA FIVE
|
||
|
|
TS RESULTCT
|
||
|
|
TC CHECKG
|
||
|
|
CCS DATAPL +1
|
||
|
|
TC +4
|
||
|
|
TC CCSHOLE
|
||
|
|
CS DATAPL +4
|
||
|
|
TS DATAPL +4
|
||
|
|
EXTEND
|
||
|
|
DCS DATAPL
|
||
|
|
DAS DATAPL +4
|
||
|
|
|
||
|
|
TC INTPRET
|
||
|
|
DLOAD DSU
|
||
|
|
DATAPL +6
|
||
|
|
DATAPL +2
|
||
|
|
BPL CALL
|
||
|
|
AINGOTN
|
||
|
|
OVERFFIX
|
||
|
|
AINGOTN PDDL DDV
|
||
|
|
DATAPL +4
|
||
|
|
DMPR RTB
|
||
|
|
DEC585 # DEC585 HAS BEEN REDEFINED FOR LEM
|
||
|
|
SGNAGREE
|
||
|
|
STORE DSPTEM2
|
||
|
|
EXIT
|
||
|
|
CCS NDXCTR
|
||
|
|
TC COAALIGN # TAKE PLATFORM OUT OF GIMBAL LOCK
|
||
|
|
TC SHOW
|
||
|
|
VERTDRFT CA 3990DEC # ABOUT 1 HOUR VERTICAL DRIFT TEST
|
||
|
|
TS LENGTHOT
|
||
|
|
INDEX POSITON
|
||
|
|
CS SOUTHDR -2
|
||
|
|
TS DRIFTT
|
||
|
|
CCS PIPINDEX # OFFSET PLATFORM TO MISS PIP DEAD-ZONES
|
||
|
|
TCF PON4 # Z-UP IN POS 4
|
||
|
|
PON2 CS BIT5 # X-UP
|
||
|
|
ADS ERCOMP +2
|
||
|
|
CA BIT5
|
||
|
|
ADS ERCOMP +4
|
||
|
|
TCF PON
|
||
|
|
PON4 CS BIT5
|
||
|
|
ADS ERCOMP +2
|
||
|
|
CA BIT5
|
||
|
|
ADS ERCOMP
|
||
|
|
PON TC EARTHR*
|
||
|
|
# Page 377
|
||
|
|
CA ZERO # ALLOW ONLY SOUTH GYRO EARTH RATE COMPENS
|
||
|
|
TS ERVECTOR
|
||
|
|
TS ERVECTOR +1
|
||
|
|
GUESS1 CAF POSMAX
|
||
|
|
TS TORQNDX
|
||
|
|
TS TORQNDX +1
|
||
|
|
CA CDUX
|
||
|
|
TS LOSVEC
|
||
|
|
TC ESTIMS
|
||
|
|
VALMIS CA DRIFTO
|
||
|
|
TS DSPTEM2 +1
|
||
|
|
CA ZERO
|
||
|
|
TS DSPTEM2
|
||
|
|
TC SHOW
|
||
|
|
|
||
|
|
ENDTEST1 TC DOWNFLAG
|
||
|
|
ADRES IMUSE
|
||
|
|
CS ZERO
|
||
|
|
TC NEWMODEA
|
||
|
|
TC ENDEXT
|
||
|
|
|
||
|
|
# Page 378
|
||
|
|
OVERFFIX DAD DAD
|
||
|
|
DPPOSMAX
|
||
|
|
ONEDPP
|
||
|
|
RVQ
|
||
|
|
|
||
|
|
COAALIGN EXTEND # COARSE ALIGN SUBROUTINE
|
||
|
|
QXCH ZERONDX
|
||
|
|
CA ZERO
|
||
|
|
TS THETAD
|
||
|
|
TS THETAD +1
|
||
|
|
TS THETAD +2
|
||
|
|
TC BANKCALL
|
||
|
|
CADR IMUCOARS
|
||
|
|
ALIGNCOA TC BANKCALL
|
||
|
|
CADR IMUSTALL
|
||
|
|
TC SOMERR2
|
||
|
|
TC ZERONDX
|
||
|
|
|
||
|
|
IMUSLLLG EXTEND
|
||
|
|
QXCH ZERONDX
|
||
|
|
TC ALIGNCOA
|
||
|
|
|
||
|
|
FINIMUDD EXTEND
|
||
|
|
QXCH ZERONDX
|
||
|
|
TC BANKCALL
|
||
|
|
CADR IMUFINE
|
||
|
|
TC ALIGNCOA
|
||
|
|
|
||
|
|
IMUZERR EXTEND
|
||
|
|
QXCH ZERONDX
|
||
|
|
TC BANKCALL
|
||
|
|
CADR IMUZERO
|
||
|
|
TC ALIGNCOA
|
||
|
|
|
||
|
|
CHECKG EXTEND # PIP PULSE CATCHING ROUTINE
|
||
|
|
QXCH QPLACE
|
||
|
|
TC +6
|
||
|
|
CHECKG1 RELINT
|
||
|
|
CA NEWJOB
|
||
|
|
EXTEND
|
||
|
|
BZMF +6
|
||
|
|
TC CHANG1
|
||
|
|
INHINT
|
||
|
|
INDEX PIPINDEX
|
||
|
|
CS PIPAX
|
||
|
|
TS ZERONDX
|
||
|
|
INHINT
|
||
|
|
# Page 379
|
||
|
|
INDEX PIPINDEX
|
||
|
|
CA PIPAX
|
||
|
|
AD ZERONDX
|
||
|
|
EXTEND
|
||
|
|
BZF CHECKG1
|
||
|
|
INDEX PIPINDEX
|
||
|
|
CA PIPAX
|
||
|
|
INDEX RESULTCT
|
||
|
|
TS DATAPL
|
||
|
|
TC FINETIME
|
||
|
|
INDEX RESULTCT
|
||
|
|
TS DATAPL +1
|
||
|
|
INDEX RESULTCT
|
||
|
|
LXCH DATAPL +2
|
||
|
|
RELINT
|
||
|
|
ENDCHKG TC QPLACE
|
||
|
|
|
||
|
|
ZEROING TS L
|
||
|
|
TCF +2
|
||
|
|
ZEROING1 TS ZERONDX
|
||
|
|
CAF ZERO
|
||
|
|
INDEX L
|
||
|
|
TS 0
|
||
|
|
INCR L
|
||
|
|
CCS ZERONDX
|
||
|
|
TCF ZEROING1
|
||
|
|
TC Q
|
||
|
|
|
||
|
|
# Page 380
|
||
|
|
ERTHRVSE DLOAD PDDL
|
||
|
|
SCHZEROS # PD24 = (SIN -COS 0)(OMEG/MS)
|
||
|
|
LATITUDE
|
||
|
|
COS DCOMP
|
||
|
|
PDDL SIN
|
||
|
|
LATITUDE
|
||
|
|
VDEF VXSC
|
||
|
|
OMEG/MS
|
||
|
|
STORE ERVECTOR
|
||
|
|
RTB
|
||
|
|
LOADTIME
|
||
|
|
STOVL TMARK
|
||
|
|
SCHZEROS
|
||
|
|
STORE ERCOMP
|
||
|
|
RVQ
|
||
|
|
|
||
|
|
EARTHR ITA RTB
|
||
|
|
S2
|
||
|
|
LOADTIME
|
||
|
|
STORE TEMPTIME
|
||
|
|
DSU BPL
|
||
|
|
TMARK
|
||
|
|
ERTHR
|
||
|
|
CALL
|
||
|
|
OVERFFIX
|
||
|
|
ERTHR SL VXSC
|
||
|
|
9D
|
||
|
|
ERVECTOR
|
||
|
|
MXV VAD
|
||
|
|
XSM
|
||
|
|
ERCOMP
|
||
|
|
STODL ERCOMP
|
||
|
|
TEMPTIME
|
||
|
|
STORE TMARK
|
||
|
|
AXT,1 RTB
|
||
|
|
ECADR ERCOMP
|
||
|
|
PULSEIMU
|
||
|
|
GOTO
|
||
|
|
S2
|
||
|
|
|
||
|
|
EARTHR* EXTEND
|
||
|
|
QXCH QPLACES
|
||
|
|
TC INTPRET
|
||
|
|
CALL
|
||
|
|
EARTHR
|
||
|
|
EXIT
|
||
|
|
TC IMUSLLLG
|
||
|
|
TC QPLACES
|
||
|
|
|
||
|
|
SHOW EXTEND
|
||
|
|
# Page 381
|
||
|
|
QXCH QPLACE
|
||
|
|
SHOW1 CA POSITON
|
||
|
|
TS DSPTEM2 +2
|
||
|
|
CA VB06N98
|
||
|
|
TC BANKCALL
|
||
|
|
CADR GOFLASH
|
||
|
|
TC ENDTEST1 # V34
|
||
|
|
TC QPLACE # V33
|
||
|
|
TCF SHOW1
|
||
|
|
|
||
|
|
3990DEC DEC 3990
|
||
|
|
VB06N98 VN 0698
|
||
|
|
VN0641 VN 0641
|
||
|
|
DEC17 = ND1
|
||
|
|
DEC58 DEC 58
|
||
|
|
OGCPL ECADR OGC
|
||
|
|
1SECX = 1SEC
|
||
|
|
XNBADR GENADR XNB
|
||
|
|
XSMADR GENADR XSM
|
||
|
|
BLOCK 2
|
||
|
|
COUNT* $$/P07
|
||
|
|
FINETIME INHINT # RETURNS WITH INTERRUPT INHIBITED
|
||
|
|
EXTEND
|
||
|
|
READ LOSCALAR
|
||
|
|
TS L
|
||
|
|
EXTEND
|
||
|
|
RXOR LOSCALAR
|
||
|
|
EXTEND
|
||
|
|
BZF +4
|
||
|
|
EXTEND
|
||
|
|
READ LOSCALAR
|
||
|
|
TS L
|
||
|
|
+4 CS POSMAX
|
||
|
|
AD L
|
||
|
|
EXTEND
|
||
|
|
BZF FINETIME +1
|
||
|
|
EXTEND
|
||
|
|
READ HISCALAR
|
||
|
|
TC Q
|
||
|
|
|