IMU_PERFORMANCE_TESTS_2.agc
### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: IMU_PERFORMANCE_TESTS_2.agc
## Purpose: A section of Luminary revision 116.
## It is part of the source code for the Lunar Module's (LM)
## Apollo Guidance Computer (AGC) for Apollo 12.
## This file is intended to be a faithful transcription, except
## that the code format has been changed to conform to the
## requirements of the yaYUL assembler rather than the
## original YUL assembler.
## Reference: pp. 374-382
## Assembler: yaYUL
## Contact: Ron Burkey <info@sandroid.org>.
## Website: www.ibiblio.org/apollo/index.html
## Mod history: 2017-01-22 MAS Created from Luminary 99.
## 2017-03-07 RSB Transcribed, and then proofed comment-text using
## 3-way diff vs Luminary 99 and Luminary 131.
## (Admittedly, the former is more for detecting errors
## in Luminary 99 than the other way around.)
## Page 374
# 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 375
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 376
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 ALLOTED 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 377
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 378
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 379
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 380
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 381
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 382
QXCH QPLACE
SHOW1 CA POSITON
TS DSPTEM2 +2
CA VB06N98
TC BANKCALL
CADR GOFLASH
TC ENDTEST1 # V 34
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
