# 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 . # Website: www.ibiblio.org/apollo. # Pages: 326-337 # 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 # 16:27 JULY 14, 1969 # Page 326 BANK 7 SETLOC IMUCOMP BANK EBANK= NBDX COUNT* $$/ICOMP 1/PIPA CAF LGCOMP # SAVE EBANK OF CALLING PROGRAM XCH EBANK TS MODE CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE TCF +3 TCF +2 TCF IRIG1 # RETURN 1/PIPA1 CAF FOUR # PIPAZ, PIPAY, PIPAX TS BUF +2 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 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) CA Q # MAJOR PART EXTEND MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9 INDEX BUF +2 DAS DELVX # (PIPAI) + (PIPAI)(SF) 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) 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. TC IRIGX # COMPENSATE ACCELERATION TERMS CS NBDX # (GYRO PULSES)/(CS) X 2(-5) TC DRIFTSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14) TC IRIGY # COMPENSATE ACCELERATION TERMS CS NBDY # (GYRO PULSES)/(CS) X 2(-5) TC DRIFTSUB # +(NBDY)(DELTAT) (GYRO PULSES) X 2(+14) TC IRIGZ # COMPENSATE ACCELERATION TERMS CA NBDZ # (GYRO PULSES)/(CS) X 2(-5) TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14) CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES TCF +2 # YES SEND OUT GYRO TORQUING COMMANDS. TCF IRIG1 # NO RETURN CA PRIO21 # PRIO GREATER THAN SERVICER. TC NOVAC # SEND OUT GYRO TORQUING COMMANDS. EBANK= NBDX 2CADR 1/GYRO RELINT IRIG1 CA MODE # RESTORE CALLER'S EBANK TS EBANK TCF SWRETURN # Page 329 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) EXTEND # DCS DELVY # (PIPA PULSES) X 2(+14) 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) 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) # 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) 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) 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 MASK COMPCHK # DEC -1 CCS A # ARE GYRO COMMANDS GREATER THAN 2 PULSES TS GCOMPSW # YES -- SET GCOMPSW POSITIVE TC BUF +1 # NO # Page 333 1/GYRO CAF FOUR # PIPAZ, PIPAY, PIPAX TS BUF 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 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 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 GCOMP1 CAF FOUR # PIPAZ, PIPAY, PIPAX TS BUF 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 CCS BUF # PIPAZ, PIPAY, PIPAX AD NEG1 TCF GCOMP1 +1 COMPCHK DEC -1 # LESS THAN ZERO IMPOSSIBLE TCF ENDOFJOB # 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 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 TC IBNKCALL # ON THE SURFACE CADR PIPASR +3 # READ PIPAS, BUT DO NOT SCALE THEM 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. NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14) MP BIT10 # SHIFT RIGHT 5 DXCH VBUF +2 CA ZERO TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS. TS BUF # INDEX X, Y, Z. CCS TEM1 # IF SURFACE FLAG IS SET, TC IRIGX # COMPENSATE ACCELERATION TERMS. EXTEND DCA VBUF +2 DXCH MPAC # DELTAT NOW SCALED (CS) X 2(+19) CS NBDX # (GYRO PULSES)/(CS) X 2(-5) TC FBIASSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14) 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) CCS TEM1 # IF SURFACE FLAG IS SET, TC IRIGZ # COMPENSATE ACCELERATION TERMS 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) CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES TCF 1/GYRO # YES TCF ENDOFJOB # NO # Page 336 FBIASSUB XCH Q TS BUF +1 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) CA Q # NOW FRACTIONAL PART EXTEND MP MPAC +1 TS L CAF ZERO INDEX BUF DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14) TCF DRFTSUB2 # CHECK MAGNITUDE OF COMPENSATION LASTBIAS TC BANKCALL CADR PIPUSE1 CCS GCOMPSW TCF +3 TCF +2 TCF ENDOFJOB 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 GCOMPZER CAF LGCOMP # ROUTINE TO ZERO GCOMP BEFORE FIRST XCH EBANK # CALL TO 1/PIPA TS MODE CAF ZERO TS GCOMPSW TS GCOMP TS GCOMP +1 TS GCOMP +2 TS GCOMP +3 TS GCOMP +4 # Page 337 TS GCOMP +5 TCF IRIG1 # RESTORE EBANK AND RETURN