Pre-launch Review
IMU PERFORMANCE TEST 2
Scanned pages: 373-381
# Copyright: Public domain.# Filename: IMU_PERFORMANCE_TEST_2.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 <info@sandroid.org>.# Website: www.ibiblio.org/apollo.# Pages: 373-381# Mod history: 2009-05-17 RSB Adapted from the corresponding# Luminary131 file, using page# images from Luminary 1A.## 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 373# 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 IMUZERRIMUBACK CA ZERO TS NDXCTR TS TORQNDX TS TORQNDX +1 TS OVFLOWCKNBPOSPL CA DEC17 TS ZERONDX CA XNBADR TC ZEROING CA HALF TS XNBGUESS TC INTPRETLATAZCHK 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 374 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 DCOMPPOSGMBL 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 JOBSLEEPGOESTIMS CA ESTICADR TC JOBWAKE TC TASKOVERESTICADR CADR ESTIMSTORQUE CA ZERO# Page 375 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 ALLOTTED 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 PIPATASKSTARTPIP CAF PRIO20 TC FINDVAC EBANK= XSM 2CADR PIPJOBB
TC TASKOVER
PIPJOBB INDEX NDXCTR TC +1 TC EARTHR* CA LENGTHOT# Page 376 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 OVERFFIXAINGOTN 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 SHOWVERTDRFT 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 4PON2 CS BIT5 # X-UP ADS ERCOMP +2 CA BIT5 ADS ERCOMP +4 TCF PONPON4 CS BIT5 ADS ERCOMP +2 CA BIT5 ADS ERCOMPPON TC EARTHR*# Page 377 CA ZERO # ALLOW ONLY SOUTH GYRO EARTH RATE COMPENS TS ERVECTOR TS ERVECTOR +1GUESS1 CAF POSMAX TS TORQNDX TS TORQNDX +1 CA CDUX TS LOSVEC TC ESTIMSVALMIS CA DRIFTO TS DSPTEM2 +1 CA ZERO TS DSPTEM2 TC SHOW
ENDTEST1 TC DOWNFLAG ADRES IMUSE CS ZERO TC NEWMODEA TC ENDEXT
# Page 378OVERFFIX 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 IMUCOARSALIGNCOA 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 +6CHECKG1 RELINT CA NEWJOB EXTEND BZMF +6 TC CHANG1 INHINT INDEX PIPINDEX CS PIPAX TS ZERONDX INHINT# Page 379 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 RELINTENDCHKG TC QPLACE
ZEROING TS L TCF +2ZEROING1 TS ZERONDX CAF ZERO INDEX L TS 0 INCR L CCS ZERONDX TCF ZEROING1 TC Q
# Page 380ERTHRVSE 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 OVERFFIXERTHR 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 381 QXCH QPLACESHOW1 CA POSITON TS DSPTEM2 +2 CA VB06N98 TC BANKCALL CADR GOFLASH TC ENDTEST1 # V34 TC QPLACE # V33 TCF SHOW1
3990DEC DEC 3990VB06N98 VN 0698VN0641 VN 0641DEC17 = ND1DEC58 DEC 58OGCPL ECADR OGC1SECX = 1SECXNBADR GENADR XNBXSMADR GENADR XSM BLOCK 2 COUNT* $$/P07FINETIME 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