IMU_PERFORMANCE_TESTS_4.agc
### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: IMU_PERFORMANCE_TESTS_4.agc
## Purpose: A section of a reconstructed, mixed version of Sundance
## It is part of the reconstructed source code for the Lunar
## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 9.
## No original listings of this program are available;
## instead, this file was created via disassembly of dumps
## of various revisions of Sundance core rope modules.
## Assembler: yaYUL
## Contact: Ron Burkey <info@sandroid.org>.
## Website: www.ibiblio.org/apollo/index.html
## Mod history: 2020-06-17 MAS Created from Luminary 69.
## Sundance 306
# PROGRAM-IMU PERFORMANCE TESTS 4
# DATE-NOV 15, 1966
# BY-GEORGE SCHMIDT IL7-146 EXT 1126
# MOD NO-ZERO
#
# FUNCTIONAL DESCRIPTION
#
# THIS SECTION CONSISTS OF THE FILTER FOR THE GYRO DRIFT TESTS. NO COMPASS
# IS DONE IN LEM. FOR A DESCRIPTION OF THE FILTER SEE E-1973. THIS
# SECTION IS ENTERED FROM IMU 2. IT RETURNS THERE AT END OF TEST.
#
# EARTHR,OGC ZERO,ERTHRVSE
#
# NORMAL EXIT
#
# LENGTHOT GOES TO ZERO-RETURN TO IMU PERF TESTS 2 CONTROL
#
# ALARMS
#
# 1600 OVERFLOW IN DRIFT TEST
# 1601 BAD IMU MODING IN ANY ROUTINE THAT USES IMUSTALL
# OUTPUT
#
# FLASHING DISPLAY OF RESULTS - CONTROLLED IN IMU PERF TESTS 2
#
# DEBRIS
#
# ALL CENTRALS - ALL OF EBANK XSM
BANK 33
SETLOC IMU4
BANK
COUNT* $$/P07
EBANK= XSM
ESTIMS INHINT
CAE 1SECXT
TC TWIDDLE
EBANK= XSM
ADRES ALLOOP
CAF ZERO # ZERO THE PIPAS
TS PIPAX
TS PIPAY
TS PIPAZ
RELINT
CA 77DECML
TS ZERONDX
CA ALXXXZ
TC ZEROING
TC INTPRET
SLOAD
SCHZEROS
STOVL GCOMPSW -1
INTVAL +2
STOVL ALX1S
SCHZEROS
STORE DELVX
STORE GCOMP
SLOAD
TORQNDX
DCOMP BMN
VERTSKIP
CALL
ERTHRVSE
VERTSKIP EXIT
TC SLEEPIE +1
ALLOOP CCS ALTIM
CA A # SHOULD NEVER HIT THIS LOCATION
TS ALTIMS
CS A
TS ALTIM
CS ONE
AD GEOCOMPS
EXTEND
BZF +4
CA LENGTHOT
EXTEND
BZMF +5
CAE 1SECXT
TC TWIDDLE
EBANK= XSM
ADRES ALLOOP
CAF ZERO
XCH PIPAX
TS DELVX
CAF ZERO
XCH PIPAY
TS DELVY
CAF ZERO
XCH PIPAZ
TS DELVZ
SPECSTS CAF PRIO20
TC FINDVAC
EBANK= XSM
2CADR ALFLT # START THE JOB
TC TASKOVER
ALFLT CCS GEOCOMPS
TC +2
TC NORMLOP
TC BANKCALL
CADR 1/PIPA
NORMLOP TC INTPRET
DLOAD
INTVAL
STOVL S1
DELVX
VXM VSL1
XSM
DLOAD DCOMP
MPAC +3
STODL DPIPAY
MPAC +5
STORE DPIPAZ
SETPD AXT,1
0
8D
SLOAD DCOMP
GEOCOMPS
BMN
PERFERAS
ALCGKK SLOAD BMN
ALTIMS
ALFLT3
ALKCG AXT,2 LXA,1 # LOADS SLOPES AND TIME CONSTANTS AT RQST
12D
ALX1S
ALKCG2 DLOAD* INCR,1
ALFDK +144D,1
DEC -2
STORE ALDK +10D,2
TIX,2 SXA,1
ALKCG2
ALX1S
ALFLT3 AXT,1
8D
DELMLP DLOAD* DMP
DPIPAY +8D,1
PIPASC
SLR BDSU*
9D
INTY +8D,1
STORE INTY +8D,1
PDDL DMP*
VELSC
VLAUN +8D,1
SL2R
DSU STADR
STORE DELM +8D,1
STORE DELM +10D,1
TIX,1 AXT,2
DELMLP
4
ALILP DLOAD* DMPR*
ALK +4,2
ALDK +4,2
STORE ALK +4,2
TIX,2 AXT,2
ALILP
8D
ALKLP LXC,1 SXA,1
CMPX1
CMPX1
DLOAD* DMPR*
ALK +1,1
DELM +8D,2
DAD*
INTY +8D,2
STORE INTY +8D,2
DLOAD* DAD*
ALK +12D,2
ALDK +12D,2
STORE ALK +12D,2
DMPR* DAD*
DELM +8D,2
INTY +16D,2
STORE INTY +16D,2
DLOAD* DMP*
ALSK +1,1
DELM +8D,2
SL1R DAD*
VLAUN +8D,2
STORE VLAUN +8D,2
TIX,2 AXT,1
ALKLP
8D
LOOSE DLOAD* PDDL*
ACCWD +8D,1
VLAUN +8D,1
PDDL* VDEF
POSNV +8D,1
MXV VSL1
TRANSM1
DLOAD
MPAC
STORE POSNV +8D,1
DLOAD
MPAC +3
STORE VLAUN +8D,1
DLOAD
MPAC +5
STORE ACCWD +8D,1
TIX,1
LOOSE
AXT,2 AXT,1 # EVALUATE SINES AND COSINES
6
2
BOOP DLOAD* DMPR
ANGX +2,1
GEORGEJ
SR2R
PUSH SIN
SL3R XAD,1
X1
STORE 16D,2
DLOAD
COS
STORE 22D,2 # COSINES
TIX,2
BOOP
PERFERAS EXIT
CA EBANK7
TS EBANK
EBANK= ATIGINC
TC ATIGINC # GOTO ERASABLE TO CALCULATE ONLY TO RETN
# CAUTION
#
# THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED
# BEFORE ANY ATTEMPT IS MADE TO RUN THE IMU PERFORMANCE TEST
EBANK= AZIMUTH
CCS LENGTHOT
TC SLEEPIE
CCS TORQNDX
TCF +2
TC SETUPER1
CA CDUX
TS LOSVEC +1 # FOR TROUBLESHOOTING VD POSNS 2$4
SETUPER1 TC INTPRET
DLOAD PDDL # ANGLES FROM DRIFT TEST ONLY
ANGZ
ANGY
PDDL VDEF
ANGX
VCOMP VXSC
GEORGEJ
MXV VSR1
XSM
STORE OGC
EXIT
CA OGCPL
TC BANKCALL
CADR IMUPULSE
TC IMUSLLLG
GEOSTRT4 CCS TORQNDX # ONLY POSITIVE IF IN VERTICAL DRIFT TEST
TC VALMIS
TC INTPRET
CALL
ERTHRVSE
EXIT
TC TORQUE
SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGTHOT
CCS TORQNDX # ARE WE DOING VERTDRIFT
TC EARTHR*
TC ENDOFJOB
SOMEERRR TC ALARM
OCT 1600
TC ENDTEST1
SOMERR2 TC ALARM
OCT 1601
TC ENDTEST1
DEC585 OCT 06200 # 3200 B+14 ORDER IS IMPORTANT
SCHZEROS 2DEC .00000000
2DEC .00000000
OCT 00000
ONEDPP OCT 00000 # ORDER IS IMPORTANT
OCT 00001
INTVAL OCT 4
OCT 2
DEC 144
DEC -1
SOUPLY 2DEC .93505870 # INITIAL GAINS FOR PIP OUTPUTS
2DEC .26266423 # INITIAL GAINS/4 FOR ERECTION ANGLES
77DECML DEC 77
ALXXXZ GENADR ALX1S -1
PIPASC 2DEC .13055869
VELSC 2DEC -.52223476 # 512/980.402
ALSK 2DEC .17329931 # SSWAY VEL GAIN X 980.402/4096
2DEC -.00835370 # SSWAY ACCEL GAIN X 980.402/4096
GEORGEJ 2DEC .63661977
GEORGEK 2DEC .59737013
