IMU_COMPENSATION_PACKAGE.agc
### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: IMU_COMPENSATION_PACKAGE.agc
## Purpose: Part of the source code for Artemis (i.e., Colossus 3),
## build 072. This is for the Command Module's (CM)
## Apollo Guidance Computer (AGC), for
## Apollo 15-17.
## Assembler: yaYUL
## Contact: Jim Lawton <jim DOT lawton AT gmail DOT com>
## Website: www.ibiblio.org/apollo/index.html
## Page Scans: www.ibiblio.org/apollo/ScansForConversion/Artemis072/
## Mod history: 2009-08-09 JL Adapted from corresponding Comanche 055 file.
## 2010-02-11 JL Fixed error on p315.
## 2010-02-20 RSB Un-##'d this header.
## 2017-02-05 RSB Proofed comment text by diff'ing vs Comanche 55
## and corrected errors found.
## Page 308
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
INHINT # ASSURE COMPLETE COMPENSATION OF DELV'S
# FOR DOWNLINK.
1/PIPA1 CAF FOUR # PIPAZ, PIPAY, PIPAX
+1 MASK NEGONE
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)(SFE)
INDEX BUF +2
CS PIPABIAS # (PIPA PULSES)/(CS) X 2(-6)
EXTEND
MP 1/PIPADT # (CS) X 2(+8) NOW (PIPA PULSES) X 2(+2)
EXTEND
MP BIT3 # SCALE 2(+12) SHIFT RIGHT 12
INDEX BUF +2
DAS DELVX # (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
CCS BUF +2 # PIPAZ, PIPAY, PIPAX
TCF 1/PIPA1 +1
## Page 309
RELINT
## Page 310
IRIGCOMP TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS
TS BUF # INDEX COUNTER - IRIGX, IRIGY, IRIGZ
IRIGX EXTEND
DCS DELVX # (PIPA PULSES) X 2(+14)
DXCH MPAC
CA ADIAX # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
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(-3) *
TC GCOMPSUB # +(ADSRAX)(PIPAY) (GYRO PULSES) X 2(+14)
# EXTEND ***
# DCS DELVZ *** (PIPA PULSES) X 2(+14)
# DXCH MPAC ***
# CA ADOAX *** (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
# TC GCOMPSUB *** -(ADOAX)(PIPAZ) (GYRO PULSES) X 2(+14)
CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
TC DRIFTSUB # -(NBDX)(DELTAT) (GYRO PULSES) X 2(+14)
IRIGY EXTEND
DCS DELVY # (PIPA PULSES) X 2(+14)
DXCH MPAC
CA ADIAY # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
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(-3) *
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(-3) *
# TC GCOMPSUB *** -(ADOAY)(PIPAX) (GYRO PULSES) X 2(+14)
CS NBDY # (GYRO PULSES)/(CS) X 2(-5)
TC DRIFTSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
IRIGZ EXTEND
DCS DELVY # (PIPA PULSES) X 2(+14)
DXCH MPAC
CA ADSRAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-3) *
## Page 311
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(-3) *
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(-3) *
# TC GCOMPSUB *** +(ADOAZ)(PIPAX) (GYRO PULSES) X 2(+14)
CA NBDZ # (GYRO PULSES)/(CS) X 2(-5)
TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
## Page 312
CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
TCF +2 # YES
TCF IRIG1 # NO
CA PRIO21 # HIGHER THAN SERVICER-LESS THAN PRELAUNCH
TC NOVAC
EBANK= NBDX
2CADR 1/CHECK
RELINT
IRIG1 CA MODE # SET EBANK FOR RETURN
TS EBANK
TCF SWRETURN
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(-3) *
DXCH VBUF # NOW = (GYRO PULSES) X 2(+11) *
CA MPAC +1 # MINOR PART PIPA PULSES
EXTEND
MP MPAC # ADIA OR ADSRA
TS L
CAF ZERO
DAS VBUF # NOW = (GYRO PULSES) X 2(+11) *
CA VBUF # PARTIAL RESULT - MAJOR
EXTEND
MP BIT12 # SCALE 2(+3) SHIFT RIGHT 3 *
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 BIT12 # SCALE 2(+3) SHIFT RIGHT 3 *
TS L
CAF ZERO
INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
DAS GCOMP # (ADIA)(PIPAI) OR (ADSRA)(PIPAI)
TC Q
## Page 313
DRIFTSUB EXTEND
QXCH BUF +1
EXTEND # C(A) = NBD (GYRO PULSES)/(CS) X 2(-5)
MP 1/PIPADT # (CS) X 2(+8) NOW (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 # NOW 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 NEGONE
CCS A # ARE GYRO COMMANDS GREATER THAN 2 PULSES
TS GCOMPSW # YES - SET GCOMPSW POSITIVE
TC BUF +1 # NO
## Page 314
1/CHECK CA MODECADR
EXTEND
BZF 1/GYRO
TCF ENDOFJOB
1/GYRO CAF FOUR # PIPAZ, PIPAY, PIPAX
+1 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 +1
GCOMP1 CAF FOUR # PIPAZ, PIPAY, PIPAX
+1 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
OCT75252 OCT 75252 # -15 DEGREES USED BY T4RUPT
TCF ENDOFJOB
## Page 315
NBDONLY CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
TCF +3
TCF +2
TCF ENDOFJOB
INHINT
CA FLAGWRD2
MASK DRFTBIT
EXTEND
BZF ENDOFJOB
CA TIME1 # (CS) X 2(+14)
XCH 1/PIPADT # PREVIOUS TIME
RELINT
COM
AD 1/PIPADT
NBD2 CCS A # CALCULATE ELAPSED TIME
AD ONE # NO TIME1 OVERFLOW
TCF NBD3 # RESTORE TIME DIFFERENCE AND JUMP
TCF +2 # TIME1 OVERFLOW
TCF ENDOFJOB # IF ELAPSED TIME = 0 (DIFFERENCE = -0)
COM # CALCULATE ABSOLUTE DIFFERENCE
AD POSMAX
NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14)
MP BIT10 # SHIFT RIGHT 5
DXCH VBUF
EXTEND
DCA VBUF
DXCH MPAC # DELTAT NOW SCALED (CS) X 2(+19)
CAF ZERO
TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS
TS BUF # PIPAX, PIPAY, PIPAZ
CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
TC FBIASSUB # -(NBDX)(DELTAT) (GYRO PULSES) X 2(+14)
EXTEND
DCS VBUF
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)
EXTEND
DCS VBUF
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)
## Page 316
CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
TCF 1/GYRO # YES
TCF ENDOFJOB # NO
## Page 317
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 PIPUSE
CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
TCF +3
TCF +2
TCF ENDOFJOB
CAF PRIO31 # 2 SECONDS SCALED (CS) X 2(+8)
XCH 1/PIPADT
COM
AD PIPTIME1 +1 # TIME AT PIPA1 =0
TCF NBD2
90SECS DEC 9000
20DEGS DEC 7199
