Revision 66d8e606a8d996ded60bc81d5edf319142a5fad9 authored by Ron Burkey on 04 October 2021, 11:49:55 UTC, committed by Ron Burkey on 04 October 2021, 11:49:55 UTC
IMU_PERFORMANCE_TESTS_1.agc
### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: IMU_PERFORMANCE_TESTS_1.agc
## Purpose: This program is designed to extensively test the Apollo Guidance Computer
## (specifically the LM instantiation of it). It is built on top of a heavily
## stripped-down Aurora 12, with all code ostensibly added by the DAP Group
## removed. Instead Borealis expands upon the tests provided by Aurora,
## including corrected tests from Retread 44 and tests from Ron Burkey's
## Validation.
## Assembler: yaYUL
## Contact: Mike Stewart <mastewar1@gmail.com>.
## Website: www.ibiblio.org/apollo/index.html
## Mod history: 2016-12-20 MAS Created from Aurora 12 (with much DAP stuff removed).
BANK 14
EBANK= XSM
AOTNBIMU CAF ONE # AOT-NB-IMU FINE ALIGNMENT TEST
TS EROPTN # ... TEST CAPABILITY ...
TC BANKCALL
CADR IMUZERO # IMU ZERO ENCODER MODE
TC INTPRET
CALL
LATAZCHK # TO LOAD AZIMUTH (SM) AND LATITUDE
CALL
MAKEXSMD # TO SET UP A STABLE MEMBER DESIRED MATRIX
SET CALL
COAROFIN # FOR COARSE OR FINE ALIGN MARKS
ERTHRVSE # TO CALCULATE EARTH RATE VECTOR
EXIT
POSLOAD CAF V24N30E # R1 0000X ENTER POSITION 1,2, OR 3
TC NVSBWAIT # R2 00000 ENTER 00001 FOR LAB OPTION
TC ENDIDLE
TCF ENDTEST
TCF -4
XCH DSPTEM1 # DO NOT USE POSITION 3 WITH NAV BASE AT
TS POSITON # ZERO DEGREE TILT ANGLE. (GIMBAL LOCK)
CCS DSPTEM1 +1
TCF LEMLAB # SPECIAL LAB TEST TO BYPASS MARKS
TC POSNJUMP # SET UP STABLE MEMBER DESIRED COORDINATES
TC OPTDATA # TARGETS 1,2 AZIMUTH AND ELEVATION
TC FINDNAVB # COARSE ALIGN MARKS
TC BANKCALL
CADR IMUSTALL # INSURE IMUZERO COMPLETION
TCF ENDTEST
TC PUTPOSX # TO COARSE ALIGN STABLE MEMBER
TC GMLCKCHK # CHECK FOR GIMBAL LOCK BEFORE FINE ALIGN
TC OGCZERO # FOR EARTH RATE COMPENSATION
TC BANKCALL
CADR IMUFINE # FINE ALIGN MODE
TC BANKCALL
CADR IMUSTALL
TCF ENDTEST
TC FINDNAVB # FINE ALIGN MARKS
TC FREEDSP # FREE DISPLAY SYSTEM
TC SMDCALC # TO FINE ALIGN STABLE MEMBER
ERFINAL TC BANKCALL # LAST EARTH RATE SHOT
CADR EARTHR
CCS EROPTN # IF DESIRED TO COMPENSATE CONTINUALLY
TCF MONSTART # CHANGE BY V21 N02 E XXXXX E 00000 E
TCF ERFINAL
TCF ENDTEST
TS EROPTN
INHINT
CAF PRIO21 # PRIORITY 1 HIGHER THAN SXTNBIMU
TC FINDVAC
2CADR RDR37511
RELINT
TC ERFINAL
MONSTART TC FINETIME # TIME AT INITIAL MISALIGNMENT
DXCH MPAC
RELINT
CAF ZERO # ZERO PIPA COUNTERS
TS PIPAX
TS PIPAY
TS PIPAZ
TS STOREPL
TS NDXCTR
TC STORRSLT # STORE T(INITIAL) AND PIPAI = 0
INHINT
CAF 60SEC # INSURE PIPAI VARIES IN ONE DIRECTION
TC WAITLIST
2CADR PIP1
CAF PIP2ADR
TC JOBSLEEP
PIP1 CAF PIP2ADR
TC JOBWAKE
TC TASKOVER
PIP2 CAE PIPNDX
TS PIPINDEX # POS1 PIPAY POS2 PIPAX POS3 PIPAX
TC BANKCALL
CADR CHECKG # SYNC ON PIPA PULSE
RELINT
TC STORRSLT # STORE TIME AND PIPAI
CAE PIPNDX +1
TS PIPINDEX # POS1 PIPAZ POS2 PIPAY POS3 PIPAZ
TC BANKCALL
CADR CHECKG # SYNC ON PIPA PULSE
RELINT
TC STORRSLT # STORE TIME AND PIPAI
INHINT
CAF 30SEC # MONITOR PIPAS AT 30 SECOND INTERVALS
TC WAITLIST
2CADR PIP1
CAF PIP2ADR
TC JOBSLEEP
PIP2ADR CADR PIP2
FINDNAVB EXTEND # MARKS * CALC NB OR SM WRT EARTH REF
QXCH QPLACE
TC BANKCALL
CADR MKRELEAS # RELEASE MARK SYSTEM
CAF ONE
TS DSPTEM1
CAF V01N30E # DISPLAY 00001 IN R1
TC NVSBWAIT
CAF ZERO # TO INDICATE GROUND MARKS
TC BANKCALL
CADR AOTMARK # MARK ON TARGET 1
TC BANKCALL
CADR OPTSTALL # INSURE SUCCESSFUL MARK
TCF ENDTEST
EXTEND
INDEX MARKSTAT
DCA 0
DXCH TMARK # TIME(PRES) FOR EARTH RATE COMPENSATION
TC GIMANGS1
TC INTPRET
LXC,1 CALL
MARKSTAT # BASE ADDRESS VAC AREA FOR AOTNB
AOTNB # OPTICS TO NAV BASE COORDINATE FRAME
BON CALL
COAROFIN # COARSE MARKS = 0 FINE MARKS = 1
+2
NBSM # NAV BASE DIRECT TO STABLE MEMBER
STORE STARAD # TARGET 1 WRT NAV BASE OR STABLE MEMBER
STORE LOS1 # ...FOR K...
EXIT
TC BANKCALL
CADR MKRELEAS # RELEASE MARK SYSTEM
CAF TWO
TS DSPTEM1
CAF V01N30E # DISPLAY 00002 IN R1
TC NVSBWAIT
CAF ZERO # TO INDICATE GROUND MARKS
TC BANKCALL
CADR AOTMARK # MARK ON TARGET 2
CAF BIT10
MASK STATE # BIT10 = COAROFIN
CCS A
TCF EARRTCOM +5 # IF COARSE ALIGN MARKS
EARRTCOM TC BANKCALL # EARTH RATE COMPENSATION BETWEEN MARKS
CADR EARTHR
CCS OPTCADR # +0 IF MARK BUTTON NOT DEPRESSED
TCF +3
TCF EARRTCOM # CONTINUE TO COMPENSATE FOR EARTH RATE
TCF +1
TC BANKCALL
CADR OPTSTALL # INSURE SUCCESSFUL MARK
TCF ENDTEST
TC GIMANGS1
TC INTPRET
LXC,1 CALL
MARKSTAT # BASE ADDRESS VAC AREA FOR AOTNB
AOTNB # OPTICS TO NAV BASE COORDINATE FRAME
BONCLR CALL # SET TO ZERO FOR FINE ALIGN MARKS
COAROFIN # COARSE MARKS = 0 FINE MARKS = 1
+2
NBSM # NAV BASE DIRECT TO STABLE MEMBER
STORE STARAD +6 # TARGET 2 WRT NAV BASE OR STABLE MEMBER
STORE LOS2 # ...FOR K...
MAXDET CALL
TAR/EREF # TARGETS 1,2 WRT EARTH REF FRAME
CALL
AXISGEN # NAV BASE OR SM WRT EARTH REF FRAME
EXIT
TC QPLACE
GIMANGS1 CAF TWO # BASE ADDRESS GIMBAL ANGLES FOR NBSM
AD MARKSTAT
INDEX FIXLOC
TS S1
TC Q
PUTPOSX EXTEND # COARSE ALIGNS STABLE MEMBER
QXCH QPLACE
TC INTPRET
CALL
CALCGA # CALCULATE COARSE ALIGN GIMBAL ANGLES
EXIT
TC BANKCALL
CADR IMUCOARS # COARSE ALIGN MODE
TC BANKCALL
CADR IMUSTALL
TCF ENDTEST
TC QPLACE
SMDCALC EXTEND # FINE ALIGNS STABLE MEMBER
QXCH QPLACE
TC INTPRET
VLOAD MXV
XSM # XSM DESIRED WRT EARTH REF FRAME
STARAD # THEN TO SM PRESENT OR NAV BASE FRAME
VSL1 BOFF
COAROFIN # BIT10 FOR LEMLAB TEST
+3
STCALL 32D
NBSM # THEN TO SM PRESENT FRAME
STOVL XDC
YSM # YSM DESIRED WRT EARTH REF FRAME
MXV VSL1
STARAD # THEN TO SM PRESENT OR NAV BASE FRAME
BOFF
COAROFIN # BIT10 FOR LEMLAB TEST
+3
STCALL 32D
NBSM # THEN TO SM PRESENT FRAME
STOVL YDC
XDC
VXV VSL1
YDC
STCALL ZDC # ZSM DESIRED WRT SM PRESENT FRAME
CALCGTA # CALCULATE FINE ALIGN TORQUING ANGLES
AXT,1 RTB
ECADR OGC # X1 = BASE ADDRESS OF TORQUING ANGLES
PULSEIMU # TO PUT OUT GYRO TORQUING PULSES
EXIT
TC BANKCALL
CADR IMUSTALL # WAIT FOR PULSES TO GET OUT
TCF ENDTEST
TC QPLACE
MAKEXSMD EXIT # XSM V YSM SW ZSM SE
CAF 17DEC # ZERO XSM, YSM, AND ZSM
TS ZERONDX
CAF XSMADRX
TC BANKCALL
CADR ZEROING # VERT SOUTH EAST
CAF HALF # XSM * +1 0 0 *
TS XSM # * *
TC INTPRET # * *
DLOAD SIN # YSM * 0 +SIN(AZ) +COS(AZ) *
AZIMUTH # * *
STORE XSM +8D # * *
STODL XSM +16D # ZSM * 0 -COS(AZ) +SIN(AZ) *
AZIMUTH
COS
STORE XSM +10D
DCOMP
STORE XSM +14D
RVQ
TAR/EREF AXT,1 AXT,2 # TARGET VECTOR
2 # SIN(EL) -COS(AZ)COS(EL) SIN(AZ)COS(EL)
12D
SSP
S2
6 # TARGET 1 TARGET 2
TAR1 SLOAD* SR2 # X1=2 X2=12 S2=6 . X1=0 X2=6 S2=6
TAZEL1 +3,1
STORE 0 # PD00 ELEVATION PD00
SIN
STODL 18D,2 # PD06 *** SIN(EL) *** PD12
0
COS PUSH # PDOO COS(EL) PD00
SLOAD* RTB
TAZEL1 +2,1
CDULOGIC
STORE 2 # PD02 AZIMUTH PD02
SIN DMP
0
SL1
STODL 22D,2 # PD10 *** +SIN(AZ)COS(EL) *** PD16
2
COS DMP
SL1 DCOMP
STORE 20D,2 # PD08 *** -COS(AZ)COS(EL) *** PD14
AXT,1 TIX,2
0
TAR1
RVQ
ERTHRVSE DLOAD PDDL
ZERODP # PD24 = (SIN -COS 0)(OMEG/MS)
LATITUDE
COS DCOMP
PDDL SIN
LATITUDE # EARTH RATE = .1504 ARCSEC / 10 MSEC
VDEF VXSC # 1.618 GYRO PULSES = 1 ARCSEC
OMEG/MS # OMEG/MS = .243... GYRO PULSES / 10 MSEC
STORE ERVECTOR
RTB
LOADTIME
STORE TMARK # TIME FOR GYRO DRIFT - PIPA SCALE FACTOR
RVQ
EARTHR TC MAKECADR # CLACULATES AND COMPENSATES EARTH RATE
TS QPLACES
TC INTPRET
RTB
LOADTIME # T(PRESENT)
STORE TEMPTIME
DSU SL
TMARK # T(PRES) - T(PREV) = DT SCALED 10 MSEC
9D # 2 TO 21ST POWER = 1 REVOLUTION
VXSC MXV
ERVECTOR # VT = (SIN -COS 0)(OMEG/MS)(DT)
XSM # (XSM)(VT) = EARTH RATE COMPENSATION
VAD
ERCOMP
STODL ERCOMP
TEMPTIME
STORE TMARK # T(PREVIOUS)
AXT,1 RTB
ECADR ERCOMP
PULSEIMU # TO PUT OUT GYRO TORQUING PULSES
EXIT
TC BANKCALL
CADR IMUSTALL # WAIT FOR PULSES TO GET OUT
TCF ENDTEST
CAE QPLACES
TCF BANKJUMP
STORRSLT EXTEND
QXCH QPLACE
TC INTPRET # DP TIME IN MPAC SCALED .312(5) MSEC
LXC,1 SL
NDXCTR
3
DMP RTB
SCALFTR
SGNAGREE
STORE GENPL,1 # STORE DP TIME
EXIT
XCH STOREPL # CONTAINS C(PIPAI)
INDEX NDXCTR
TS GENPL +2 # STORE PIPA COUNTER READING
CS NDXCTR
AD 72DEC
EXTEND
BZMF MISALIGN # TO CALCULATE MISALIGNMENT
CAF THREE
ADS NDXCTR
TC QPLACE
OPTDATA EXTEND # CALLS FOR AZIMUTH AND ELEVATION OF
QXCH QPLACE # TARGET 1, THEN TARGET 2
CAF BIT1 # AZIMUTH CLOCKWISE FROM NORTH TO TARGET
ZL # ELEVATION MEASURED FROM HORIZONTAL
LXCH RUN
TS DSPTEM1 +2
CAF V05N30E # DISPLAY TARGET NUMBER IN R3
TC NVSBWAIT
INDEX RUN
DXCH TAZEL1
DXCH DSPTEM1
TC CHECKLD # R1 +- XXX.XX AZIMUTH IN DEGREES
OCT 00661 # R2 +- XX.XXX ELEVATION IN DEGREES
TCF ENDTEST # R3 0000X TARGET NUMBER 1 OR 2
DXCH DSPTEM1 # TAZEL1 TARGET 1 AZIMUTH
INDEX RUN
DXCH TAZEL1 # TAZEL1 +2 TARGET 2 AZIMUTH
CCS RUN
TCF +4
OPTRDRIN CAF TWO # SPECIAL ENTRY FOR RDR37511
TS L
TCF OPTDATA +4 # MPAC 1ST PASS = 0 2ND PASS = 2
TC QPLACE
LATAZCHK DLOAD SL2 # CALLS FOR AZIMUTH (SM) AND LATITUDE
LATITUDE
STODL DSPTEM1 +1
AZIMUTH # ...NOT REALLY...
RTB EXIT
1STO2S # FRACTION OF REVOLUTION TO 2S COMPLEMENT
XCH MPAC # AZIMUTH MUST BE 135 DEGREES R1 = .13500
TS DSPTEM1 # FOR SXT-NB-IMU FINE ALIGNMENT TEST
TC CHECKLD # R1 +- XXX.XX AZIMUTH IN DEGREES (SM)
OCT 00661 # R2 +- XX.XXX LATITUDE IN DEGREES
TCF ENDTEST # R3 NOT USED
TC INTPRET
SLOAD RTB
DSPTEM1
CDULOGIC # BACK TO FRACTION OF REVOLUTION
STORE AZIMUTH
SLOAD SR2
DSPTEM1 +1
STORE LATITUDE
RVQ
CHECKLD EXTEND
QXCH QPLAC
INDEX QPLAC
CA A
TC NVSUB
TCF CHECKLD1
TC FLASHON
TC ENDIDLE # CHANGE R1 V21 N61 E +- XXX.XX E
TCF +3 # CHANGE R2 V22 N61 E +- XX.XXX E
TCF +4 # VERIFY, THEN PROCEED WITH VERB 33 ENTER
TCF CHECKLD +2
INDEX QPLAC
TC 1
INDEX QPLAC
TC 2
CHECKLD1 CAF CHECKLD2
TC NVSUBUSY
CHECKLD2 CADR CHECKLD +2
POSNJUMP EXTEND # POSITIONS FOR SXTNBIMU
QXCH QPLACE
INDEX POSITON
TCF +1
TCF ENDTEST
TCF POS1
TCF POS2
TCF POS3
TCF POS4
TCF POS5
POS1 CAF ONE # XSM = V YSM = SW ZSM = SE
TS PIPNDX
CAF TWO
TS PIPNDX +1 # MONITOR PIPAY AND PIPAZ
TC QPLACE
POS2 TC INTPRET # XSM = SE YSM = SW ZSM = -V
VLOAD VCOMP
XSM
PDVL
ZSM
STOVL XSM
STADR
STORE ZSM
EXIT
CAF ZERO
TS PIPNDX
CAF ONE
TS PIPNDX +1 # MONITOR PIPAX AND PIPAY
TC QPLACE
POS3 TC INTPRET # XSM = SE YSM = V ZSM = SW
VLOAD PDVL
XSM
YSM
PDVL
ZSM
STOVL XSM
STADR
STOVL ZSM
STADR
STORE YSM
EXIT
CAF ZERO
TS PIPNDX
CAF TWO
TS PIPNDX +1 # MONITOR PIPAX AND PIPAZ
TC QPLACE
POS4 CAF BIT5 # OPTION TO ALIGN SM TO SPECIFIED ANGLES
AD FIXLOC
INDEX FIXLOC
TS S1 # BASE ADDRESS GIMBAL ANGLES
CAF V25N22E # R1 +- XXX.XX OUTER GIMBAL ANGLE
TC NVSBWAIT # R2 +- XXX.XX INNER GIMBAL ANGLE
TC ENDIDLE # R3 +- XXX.XX MIDDLE GIMBAL ANGLE
TCF ENDTEST
TCF -4
CA THETAD # SET UP ANGLES FOR SMNB
INDEX FIXLOC
TS 24
CA THETAD +1
INDEX FIXLOC
TS 20
CA THETAD +2
INDEX FIXLOC
TS 22
TC INTPRET
RTB CALL
TRANSPSE # EARTH REF WRT NAV BASE
SMD/EREF # STABLE MEMBER DESIRED WRT EARTH REF
RTB
TRANSPSE # BACK TO NAV BASE WRT TO EARTH REF
EXIT
TC QPLACE
POS5 CA QPLACE # OPTION TO ALIGN SM TO ANY ORIENTATION
TS STOREPL # WRT EARTH REFERENCE FRAME
TC OPTDATA # LOAD YSM AND ZSM AZIMUTH AND ELEVATION
TC INTPRET
CALL
TAR/EREF # CALC YSM AND ZSM WRT EARTH REF. FRAME
VLOAD PUSH
6D
STORE YSM
VXV VSL1
12D
STORE XSM # XSM = (YSM) X (ZSM)
VXV VSL1
STADR
STORE ZSM # ZSM = (XSM) X (YSM)
EXIT
TC STOREPL
OGCZERO EXTEND # ZERO EARTH RATE TORQUING ANGLES
QXCH QPLACE
TC INTPRET
VLOAD
ZERODP # VECTOR IN THIS CASE
STORE ERCOMP
EXIT
TC QPLACE
GMLCKCHK CAF BIT6 # CHECK FOR GIMBAL LOCK (MGA GREATER 70)
MASK DSPTAB +11D
EXTEND
BZF +2
TCF ENDTEST
TC Q
ENDTEST CA IMUSEFLG # BIT8
AD RRUSEFLG # BIT7
CS A
INHINT
MASK STATE
TS STATE
TC NEWMODEX
OCT 00000
TC BANKCALL
CADR MKRELEAS # RELEASE MARK SYSTEM
TC EJFREE
LEMLAB TC INTPRET
VLOAD VCOMP
YUNIT
STORE ZNB # XNB MATRIX USED IN CALCGA
STOVL STARAD +12D # STARAD MATRIX USED IN AXISGEN * SMDCALC
XUNIT
STORE XNB # *XNB* *1 0 0* *V*
STOVL STARAD # * * * * * *
ZUNIT # *YNB* = *0 0 1* *S*
STORE YNB # * * * * * *
STORE STARAD +6 # *ZNB* *0 -1 0* *E*
EXIT
CS POSITON
AD THREE
EXTEND
BZF +2
TCF LEMLAB1
TC INTPRET
VLOAD VCOMP
XNB
PDVL # *XNB* * 0 -1 0* *V*
ZNB # * * * * * *
STORE XNB # *YNB* = * 0 0 1* *S*
STOVL STARAD # * * * * * *
STADR # *ZNB* *-1 0 0* * *
STORE ZNB
STORE STARAD +12D
EXIT
LEMLAB1 TC BANKCALL
CADR IMUSTALL # INSURE IMUZERO COMPLETION
TCF ENDTEST
TC POSNJUMP # SET UP STABLE MEMBER DESIRED COORDINATES
TC FREEDSP # FREE DISPLAY SYSTEM
TC PUTPOSX # TO COARSE ALIGN STABLE MEMBER
TC GMLCKCHK
TC BANKCALL
CADR IMUFINE # FINE ALIGN MODE
TC BANKCALL
CADR IMUSTALL
TCF ENDTEST
CA CDUX
INDEX FIXLOC
TS 24
CA CDUY
INDEX FIXLOC
TS 20
CA CDUZ
INDEX FIXLOC
TS 22
CAF BIT5
AD FIXLOC
INDEX FIXLOC
TS S1
TC SMDCALC # TO FINE ALIGN STABLE MEMBER
TC INTPRET # IF EARTH RATE COMPENSATION DESIRED
RTB
LOADTIME
STORE TMARK
EXIT
CS EROPTN
AD TWO
EXTEND
BZF +2
TCF ERFINAL +2
TC BANKCALL
CADR SAMODRTN # RETURN TO SEMI-AUTOMATIC MODING TEST
RDR37511 CAF RDRRETN # RENDEZVOUS RADAR AND ANTENNA TRACKING
TS QPLACE # TO RETURN FROM OPTDATA
TC BANKCALL
CADR RRZERO
TC BANKCALL
CADR AURLOKON # OPERATOR DECISION TO LOCK ON OR NOT
RDR1 TCF OPTRDRIN # CALL FOR AZIMUTH AND ELEVATION
TC BANKCALL
CADR RADSTALL
TCF ENDOFJOB
TC INTPRET
AXT,1 AXT,2 # SET UP X1 AND X2 FOR TAR/EREF
0
6
CALL
TAR/EREF +3 # LINE-OF-SIGHT WRT EARTH REF FRAME
VLOAD MXV
12D # LINE-OF-SIGHT WRT EARTH REF FRAME
XSM # TO STABLE MEMBER PRESENT FRAME
VSL1
STCALL RRTARGET
RRDESSM
TCF 37511ALM
TC BANKCALL
CADR RADSTALL
TCF ENDOFJOB
TCF ENDOFJOB
37511ALM TC ALARM
OCT 524
TCF ENDOFJOB
RDRINIT CS ZERO
TS EROPTN
TCF AOTNBIMU +2
MISALIGN TC GRABWAIT # DISPLAY SYSTEM WAS FREED
CAF ZERO
TS NDXCTR
BBBB INDEX NDXCTR
CS GENPL +68D
INDEX NDXCTR
ADS GENPL +74D
CAF 63DEC
AD NDXCTR
CCS A
CS THREE
ADS NDXCTR
TCF BBBB
TS NDXCTR
CCCC TC INTPRET
LXA,1 DLOAD*
NDXCTR
GENPL +72D,1
DSU
GENPL
STORE GENPL +72D,1
EXIT
CS NDXCTR
AD 69DEC
CCS A
CAF THREE
ADS NDXCTR
TCF CCCC
TS RUN
CAF THREE
TS NDXCTR
DDDD TC INTPRET
VLOAD
ZERODP
STORE 24D
STORE 30D
SLOAD
11DEC
STORE 32D
EXIT
DDDD1 TC INTPRET
LXA,1 DLOAD*
NDXCTR
GENPL +72D,1
DSU* PUSH
GENPL +66D,1
SR1 DAD*
GENPL +66D,1
STORE GENPL +72D,1
SL2 DAD
24D
STODL* 24D
GENPL +72D,1
SL4 DSQ
DAD
26D
STORE 26D
EXIT
CAE RUN
AD NDXCTR
COM
AD 63DEC
CCS A
CAF SIX
ADS NDXCTR
TCF DDDD1
AD RUN
TS NDXCTR
EEEE TC INTPRET
LXC,1 SLOAD*
NDXCTR
GENPL +11D,1
STORE 34D
DLOAD
PUSH SL
8D
BDDV DAD
34D
28D
STODL 28D
SL BDDV
6
34D
PDDL* SL4
GENPL +9D,1
DMP
DAD
30D
STORE 30D
EXIT
CS NDXCTR
AD 60DEC
AD RUN
CCS A
CAF SIX
ADS NDXCTR
TCF EEEE
TC INTPRET
DLOAD DMP
24D
30D
PDDL DMP
26D
28D
DSU
PDDL DSQ
24D
SR1 PDDL
32D
SL DMP
11
26D
DSU BDDV
DMP SL
KKKK
3
STORE DSPTEM2
EXIT
CA POSITON
TS DSPTEM2 +2
CAF V06N66E
TC NVSBWAIT
TC FLASHON
TC ENDIDLE
TCF ENDTEST
CAF THREE
TS RUN
CAF ZERO
TCF DDDD -1
# THIS REVISION REFLECTS CHANGES AS OF
# 1/31/66
# ENGINE ON/OFF NOW IN CHANNEL ELEVEN. THE BITS FOR EACH CHANNEL GET TURNED ON ALL AT ONCE. THEY STAY ON UNTIL
# :ENTER:IS PUSHED. THEN THEY ALL GO OUT AND THE NEXT CHANNEL:S BITS ARE TURNED ON.
# CHANNEL 5 BITS 1-8
# CHANNEL 6 BITS 1-8
# CHANNEL 11 BITS 13,14
# CHANNEL 12 BITS 9-14
# FOLLOWING THE CHANNEL 12 TESTS ENTER IS PRESSED. CHANNEL 12 IS SET TO ZERO AND THE NEXT TEST BEGUN. LOW9
# GOES IN LOCATION (COUNTER) 55.
# INCREASE THROTTLE RATE DESCENT ENGINE
# :ENTER: NOW CAUSES THE CONTENTS OF 55 TO BE MADE NEGATIVE
# DECREASE THROTTLE RATE DESCENT ENGINE
# THE NEXT :ENTER: ZEROS THE REGISTER AND SENDS A PULSE TRAIN (HERE ALTERN
# ZEROS FOR CLARITY) TO THE ALTITUDE METER.
# THE NEXT :ENTER: WILL ADVANCE THE TEST TO THE ALTITUDE RATE METER TEST.
# THE NEXT :ENTER : WILL TERMINATE THE TEST.
SAUTOIFS CA POSMAX
TS NOBITS
CA ZERO
TS CHAN
TS TEMP
TC DINO
BACK1 INCR CHAN
DINO INDEX CHAN
CA SAUTLOCS
TCF SWCALL
SAUTLOCS CADR CHAN5D
CADR CHAN6D
CADR CHAN11D
CADR CHAN12D
CADR PTITRDE
CADR PTDTRDE
CADR ALTMET
CADR ALTRMET
CADR ENDTEST
THROTADD CADR PTDTRDE +5
METERADD CADR ALTMET +3
MRATEADD CADR ALTRMET +3
CHAN5D CA FIVE
TS DSPTEM1
2ENTRY CA LOW8 # CHANNEL 6 RETURNS HERE
TS DSPTEM1 +1
EXTEND
INDEX TEMP
WRITE 5
3ENTRY CA V04N30D # CH11,12 RETURN HERE TO USE THE DISPLAY
TC NVSBWAIT
4ENTRY CAF WAITER # WAITER IS 03300
TC NVSBWAIT
TC ENDIDLE
TC ENDTEST
TC BACK1
CHAN6D INCR TEMP
INCR DSPTEM1
CAF ZERO
EXTEND
WRITE 5 # GET RID OF CHANNEL 5 BITS
TC 2ENTRY
CHAN11D CA OCT11
TS DSPTEM1
CA BIT13-14
TS DSPTEM1 +1
EXTEND
WOR 11 # WOR IS NON EXCLUSIVE OR
CAF ZERO
EXTEND
WRITE 6
TC 3ENTRY
CHAN12D CA OCT12
TS DSPTEM1
CS BIT13-14
EXTEND
WAND 11
CA CH12BITS
TS DSPTEM1 +1
EXTEND
WOR 12
TC 3ENTRY
PTITRDE CS CH12BITS
EXTEND
WAND 12
CA ZERO
TS DSPTEM1
TS DSPTEM1 +1
TS TEMP
CA BIT1
TS NOBITS
PIT INHINT
TC WAITLIST
2CADR THROTASK
RELINT
CA WAITER
TC NVSBWAIT
TC ENDIDLE
TC ENDTEST
CA ZERO
TS NOBITS
TC BACK1
PTDTRDE CA ZERO
TS THRUST
CA THROTADD
TS TEMPADD
TC JOBSLEEP # THIS INHIBITS THE NEXT TASK UNTIL
# CURRENT TASK HAS BEEN COMPLETED
CA POSMAX
TS TEMP
CA BIT7
TC PIT
THROTASK CCS NOBITS # IS THIS TASK STILL REQ
TC +5 # YES
CA TEMPADD # NO
TS NOBITS
TC JOBWAKE
TC TASKOVER
CCS TEMP
TC SOMETIME
CA LOW11
ALWAYS TS THRUST
CA BIT4
EXTEND # A SMERZH FIX.
WOR 14
CA BIT6 # 320 MS.DELAY
TC WAITLIST
2CADR THROTASK
TC TASKOVER
SOMETIME CS LOW11
TC ALWAYS
ALTASK CCS NOBITS # IS TASK STILL REQ
TC +5
CA TEMPADD # NO
TS NOBITS # ENABLES NEXT TASK
TC JOBWAKE
TC TASKOVER
CA ALBITS # ACTUAL TASK STARTS HERE
TS ALTM
CA BIT3
EXTEND
WOR 14
CA BIT6 # 320 MS. DELAY
TC WAITLIST
2CADR ALTASK
TC TASKOVER
ALTMET CA METERADD
TS TEMPADD
TC JOBSLEEP
CA ZERO
TS TEMP
CS BIT4
EXTEND
WAND 14
INHINT
CA ONE
TC WAITLIST
2CADR ALTASK
RELINT
CA WAITER
TC NVSBWAIT
TC ENDIDLE
TC ENDTEST
CA ZERO
TS NOBITS
TC BACK1
ALTRMET CA MRATEADD
TS TEMPADD
TC JOBSLEEP
CA ONE
TS TEMP # TEMP WILL BE INDEXED TO ACQUIRE BIT2 INS
# TEAD OF BIT3
CA BIT2
EXTEND
WOR 14
TC ALTMET +8D
# THE AOT ANGLE CHECKING PROGRAM PROVIDES A SIMPLE VERIFICATION OF THE ACCURACY OF THE AOT, THE IDEA IS TO
# COMPUTE THE ANGLE BETWEEN TWO LINES OF SIGHT AS INDICATED BY THE AOT, WHICH IS WHAT THIS PROGRAM DOES.
# INDEPENDENT KNOWLEDGE OF THE INCLUDED ANGLE PROVIDES A COMPARISON AND THUS A MEASURE OF THE AOT ACCURACY.
# THE ISS NEED NOT BE ON TO RUN THIS PROGRAM.
AOTANGCK TC INTPRET
SET EXIT # IN CASE THE ISS IS OFF.
COAROFIN
TC FINDNAVB # FOR LOS1 AND LOS2.
TC INTPRET
VLOAD VXV
LOS1
LOS2
ABVAL
STOVL SINTH # SINTH = ABVAL (VXV ).
LOS1
DOT
LOS2
STCALL COSTH # COSTH = V.V
ARCTRIG
RTB
1STO2S # DP 1S COMP TO SP 2S COMP.
STORE THETA
EXIT
CAF THETAADR
AD FIXLOC
TS MPAC +2
CAF V06N03E # XXX.XX DEGREES IN R1.
TC NVSBWAIT
TCF ENDTEST
EBANK= 1400
ZEROERAS INHINT # PROGRAM BY MUNTZ TO ZERO ERASEABLE
CAF ZERO
TS TIME3
CAF OCT27
TS EBANK
ZEROLP ZL
INDEX A
LXCH 1401
AD TWO
ADS EBANK
MASK LOW8
CCS A
TCF ZEROLP
CCS EBANK
TCF ZEROLP1
TC POSTJUMP
CADR SLAP1
ZEROLP1 RELINT
CAF ZERO # KEEP T4RUPT GOING, BUT NOT CYCLING.
TS DSRUPTSW
INHINT
CS ONE
TCF ZEROLP
OCT27 OCT 27
EBANK= OGC
V04N30D OCT 00430
ALBITS OCT 52525
THRSBITS OCT 70707
OCT12 = TEN
OCT11 = NINE
CH12BITS OCT 37400
V01N30D OCT 00130
WAITER OCT 03300
V01N30E OCT 00130 # FOR FINDNAVB
V05N30E OCT 00530 # FOR OPTDATA
V06N03E OCT 00603
V06N66E OCT 00666
V24N30E OCT 02430 # FOR POSITION LOAD
V25N22E OCT 02522 # FOR POS4
11DEC DEC 11
17DEC DEC 17
60DEC DEC 60
63DEC DEC 63
69DEC DEC 69 # FOR MISALIGN
72DEC DEC 72 # FOR STORRSLT
30SEC DEC 3000 # 3000 X 10 MSEC
60SEC DEC 6000 # 6000 X 10 MSEC
OGCADR ADRES OGC # FOR ZEROING
GENPLAD1 ADRES GENPL
GENPLADR ECADR GENPL # FOR POS4
KKKK 2DEC 210.39 B-14 # 1230 B-14 FOR CSM
RDRRETN ADRES RDR1 +1 # FOR RDR37511
THETAADR ECADR THETA
XSMADRX ADRES XSM # FOR MAKEXSMD
SCALFTR 2DEC .64 # FOR STORRSLT
OMEG/MS 2DEC .24339048 # GYRO PULSES / 10 MSEC
# THE FOLLOWING ROUTINE READS THE CLOCK AND SCALAR (CHANNELS 3 AND 4) INTO A AND L, INSURING THAT THE
# DATA WAS NOT IN TRANSITION WHEN IT WAS READ.
SETLOC ENDFAILF
FINETIME INHINT # RETURNS WITH INTERRUPT INHIBITED.
EXTEND
READ LOSCALAR
TS L
EXTEND # SEE IF 2 READINGS AGREE. IF NOT, READ
RXOR LOSCALAR # LOSCALAR AGAIN.
EXTEND
BZF +4
EXTEND # IF CLOCK RIPPLED BEFORE, IT WONT NOW.
READ LOSCALAR
TS L
+4 CS POSMAX # IF LOW PART CONTAINS SOMETHING LESS THAN
AD L # POSMAX, THE HIGH PART CAN BE READ SAFELY
EXTEND
BZF FINETIME +1 # TRY AGAIN - CONDITION WILL DISAPPEAR.
EXTEND
READ HISCALAR
TC Q
ENDIMUF =
SETLOC OMEG/MS +2
REDYTORK TC BANKCALL
CADR IMUSTALL
TCF ENDTEST
TC OGCZERO
TC INTPRET
CALL
ERTHRVSE # SETS UP EARTHRATE ANGLES AND TIME
EXIT
CA OPTNREG # INITIALIZE CDUNDX FOR PULSE CATCHING
AD NEG2 # C(K) WAS 4 2 1 NOW C(A) IS 2 0 -1
TS GYTOBETQ # C(K) = 2,0,-1 FOR X,Y,Z.
EXTEND
BZF +3
CAF TWO
TC +2
CAF ONE
TS CDUNDX # C(K) = 1 FOR Y, 2 FOR Z CDU SELECT
TC BANKCALL
CADR ENABLE
ENDIMUS1 EQUALS
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