### FILE="Main.annotation"
## Copyright:   Public domain.
## Filename:    IMU_COMPENSATION_PACKAGE.agc
## Purpose:     A section of LUM69 revision 2.
##              It is part of the reconstructed source code for the flown
##              version of the flight software for the Lunar Module's (LM)
##              Apollo Guidance Computer (AGC) for Apollo 10. The code has
##              been recreated from a copy of Luminary revsion 069, using
##              changes present in Luminary 099 which were described in
##              Luminary memos 75 and 78. The code has been adapted such
##              that the resulting bugger words exactly match those specified
##              for LUM69 revision 2 in NASA drawing 2021152B, which gives
##              relatively high confidence that the reconstruction is correct.
## Reference:   pp. 339-350
## Assembler:   yaYUL
## Contact:     Ron Burkey <info@sandroid.org>.
## Website:     www.ibiblio.org/apollo/index.html
## Mod history: 2019-07-27 MAS  Created from Luminary 69.

## Page 339
		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)(SFE)

## Lines from here to the bottom of the page angle and start to overlap. The code until the MP BIT4 is legible.
## It is assumed that the illegible portions are identical to their Luminary 99 counterparts. - RRB 2017
## <br>The comments are legible, except that the last line is rather tricky, and can be verified directly. - RSB 2017
		INDEX	BUF +2
		CS	PIPABIAS	# (PIPA PULSES)/(CS) X 2(-5)		 *
		EXTEND
		MP	1/PIPADT	# (CS) X 2(+8) NOW (PIPA PULSES) X 2(+3) *
		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 340
		NOOP			# LESS THAN ZERO IMPOSSIBLE

## Page 341
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 CALLERS EBANK
		TS	EBANK
		TCF	SWRETURN
		
## Page 342
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	DELVZ		***	(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 343
		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 344
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 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 345
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	COMPCHK		# DEC -1
		CCS	A		# ARE GYRO COMMANDS GREATER THAN 2 PULSES
		TS	GCOMPSW		# YES - SET GCOMPSW POSITIVE
		TC	BUF +1		# NO
		
## Page 346
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 347
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 TICK, 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 348
		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 349
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 350
		TS	GCOMP +5
		
		TCF	IRIG1		# RESTORE EBANK AND RETURN