Source Code
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These source-code files are part of a reconstructed copy of Luminary 98, a
development version of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
The reconstruction began with source code of Luminary 99 revision 1 previously
transcribed from a digitized copy of that program. The code was then updated
by undoing changes described in original Luminary memo 85, using asterisks
indicating changed lines in the listing as a guide. While no listing of this
version is known to exist, nor are the memory-bank checksums available,
the reconstruction is believed to be correct because it was an an intermediate
step in reconstructing Luminary 97 whose reconstruction was
verified by matching memory-bank checksums to those listed in drawing 2021152G.
Note that page numbers in the reconstructed code match those on the Luminary 099
revision 001 printout, although the added code would likely have changed page
numbers for a real Luminary 98 listing.
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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015234,000002: ## Copyright: Public domain.
015235,000003: ## Filename: IMU_PERFORMANCE_TESTS_2.agc
015236,000004: ## Purpose: A section of Luminary revision 98.
015237,000005: ## It is part of the reconstructed source code for the a
015238,000006: ## development version of the flight software for the Lunar
015239,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
015240,000008: ## The code has been recreated from a copy of Luminary 99
015241,000009: ## revision 001, using asterisks indicating changed lines in
015242,000010: ## the listing and Luminary Memo #85, which lists changes between
015243,000011: ## Luminary 98 and 99.
015244,000012: ## Reference: pp. 373-381
015245,000013: ## Assembler: yaYUL
015246,000014: ## Contact: Ron Burkey <info@sandroid.org>.
015247,000015: ## Website: www.ibiblio.org/apollo/index.html
015248,000016: ## Mod history: 2019-07-28 MAS Created from Luminary 99.
015249,000017:
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Page 373
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015251,000019: # NAME - IMU PERFORMANCE TESTS 2
015252,000020:
015253,000021: # DATE - MARCH 20, 1967
015254,000022:
015255,000023: # BY - SYSTEM TEST GROUP 864-6900 EXT. 1274
015256,000024:
015257,000025: # MODNO. - ZERO
015258,000026:
015259,000027: # FUNCTIONAL DESCRIPTION
015260,000028:
015261,000029: # POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF
015262,000030: # THE TESTS THEMSELVES. FOR A DESCRIPTION OF THESE SUBROUTINES AND THE
015263,000031: # OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685. THEORETICAL REF. E-1973
015264,000032:
015265,000033: 33,2045 BANK 33
015266,000034: 37,2000 SETLOC IMU2
015267,000035: 37,2000 BANK
015268,000036: 37,2002 E5,1416 EBANK= POSITON
015269,000037: 37,2002 COUNT* $$/P07
015270,000038:
015271,000039: 37,2002 05311 REDO TC NEWMODEX
015272,000040: 37,2003 00007 MM 07 B-14
015273,000041:
015274,000042: 37,2004 02325 GEOIMUTT TC IMUZERR
015275,000043: 37,2005 34755 IMUBACK CA ZERO
015276,000044: 37,2006 55414 TS NDXCTR
015277,000045: 37,2007 55440 TS TORQNDX
015278,000046: 37,2010 55441 TS TORQNDX +1
015279,000047: 37,2011 55576 TS OVFLOWCK
015280,000048: 37,2012 34361 NBPOSPL CA DEC17
015281,000049: 37,2013 55571 TS ZERONDX
015282,000050: 37,2014 32476 CA XNBADR
015283,000051: 37,2015 02367 TC ZEROING
015284,000052: 37,2016 34736 CA HALF
015285,000053: 37,2017 55664 TS XNB
015286,000054: 37,2020 06037 GUESS TC INTPRET
015287,000055: 37,2021 62545 LATAZCHK DLOAD SL2
015288,000056: 37,2022 02403 LATITUDE
015289,000057: 37,2023 15047 STODL DSPTEM1 +1
015290,000058: 37,2024 02401 AZIMUTH
015291,000059: 37,2025 77434 RTB EXIT
015292,000060: 37,2026 21614 1STO2S
015293,000061: 37,2027 56154 XCH MPAC
015294,000062: 37,2030 55045 TS DSPTEM1
015295,000063: 37,2031 32473 CAF VN0641
015296,000064: 37,2032 04616 TC BANKCALL
015297,000065: 37,2033 20476 CADR GOFLASH
015298,000066: 37,2034 02270 TC ENDTEST1
015299,000067: 37,2035 02037 TC +2
015300,000068: 37,2036 02031 TC -5
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Page 374
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015302,000070: 37,2037 06037 TC INTPRET
015303,000071: 37,2040 47135 SLOAD RTB
015304,000072: 37,2041 01046 DSPTEM1
015305,000073: 37,2042 21576 CDULOGIC
015306,000074: 37,2043 02401 STORE AZIMUTH
015307,000075: 37,2044 60535 SLOAD SR2
015308,000076: 37,2045 01047 DSPTEM1 +1
015309,000077: 37,2046 02403 STORE LATITUDE
015310,000078: 37,2047 57546 COS DCOMP
015311,000079: 37,2050 77752 SL1
015312,000080: 37,2051 16437 STODL WANGI
015313,000081: 37,2052 02403 LATITUDE
015314,000082: 37,2053 72556 SIN SL1
015315,000083: 37,2054 16435 STODL WANGO
015316,000084: 37,2055 02401 AZIMUTH
015317,000085: 37,2056 73406 PUSH SIN
015318,000086: 37,2057 02675 STORE YNB +2
015319,000087: 37,2060 16705 STODL ZNB +4
015320,000088: 37,2061 77746 COS
015321,000089: 37,2062 02677 STORE YNB +4
015322,000090: 37,2063 77676 DCOMP
015323,000091: 37,2064 36703 POSGMBL STCALL ZNB +2
015324,000092: 37,2065 47353 CALCGA
015325,000093: 37,2066 77776 EXIT
015326,000094: 37,2067 04616 TC BANKCALL
015327,000095: 37,2070 17000 CADR IMUCOARS
015328,000096: 37,2071 34736 CAF BIT14 # IF BIT14 SET, GIMBAL LOCK
015329,000097: 37,2072 70077 MASK FLAGWRD3
015330,000098: 37,2073 00006 EXTEND
015331,000099: 37,2074 12076 BZF +2
015332,000100: 37,2075 25414 INCR NDXCTR # +1 IF IN GIMBAL LOCK, OTHERWISE 0
015333,000101: 37,2076 05516 TC DOWNFLAG
015334,000102: 37,2077 00056 ADRES GLOKFAIL # RESET GIMBAL LOCK FLAG
015335,000103: 37,2100 02315 TC IMUSLLLG
015336,000104: 37,2101 11414 CCS NDXCTR # IF ONE GO AND DO A PIPA TEST ONLY
015337,000105: 37,2102 02126 TC PIPACHK # ALIGN AND MEASURE VERTICAL PIPA RATE
015338,000106: 37,2103 02320 TC FINIMUDD
015339,000107: 37,2104 00006 EXTEND
015340,000108: 37,2105 31575 DCA PERFDLAY
015341,000109: 37,2106 05277 TC LONGCALL # DELAY WHILE SUSPENSION STABILIZES
015342,000110: 37,2107 E5,1416 EBANK= POSITON
015343,000111: 37,2107 02113 76065 2CADR GOESTIMS
015344,000112:
015345,000113: 37,2111 32116 CA ESTICADR
015346,000114: 37,2112 05133 TC JOBSLEEP
015347,000115: 37,2113 32116 GOESTIMS CA ESTICADR
015348,000116: 37,2114 05137 TC JOBWAKE
015349,000117: 37,2115 05261 TC TASKOVER
015350,000118: 37,2116 76500 ESTICADR CADR ESTIMS
015351,000119: 37,2117 34755 TORQUE CA ZERO
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Page 375
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015353,000121: 37,2120 55050 TS DSPTEM2
015354,000122: 37,2121 31504 CA DRIFTI
015355,000123: 37,2122 55051 TS DSPTEM2 +1
015356,000124: 37,2123 51416 INDEX POSITON
015357,000125: 37,2124 55420 TS SOUTHDR -1
015358,000126: 37,2125 02457 TC SHOW
015359,000127:
015360,000128: 37,2126 51414 PIPACHK INDEX NDXCTR # PIPA TEST
015361,000129: 37,2127 02130 TC +1
015362,000130: 37,2130 02447 TC EARTHR*
015363,000131: 37,2131 34361 CA DEC17 # ALLOW PIP COUNTER TO OVERFLOW 17 TIMES
015364,000132: 37,2132 55476 TS DATAPL +4 # IN THE ALLOTED TIME INTERVAL
015365,000133: 37,2133 32474 CA DEC58
015366,000134: 37,2134 55412 TS LENGTHOT
015367,000135: 37,2135 34753 CA ONE
015368,000136: 37,2136 55537 TS RESULTCT
015369,000137: 37,2137 34755 CA ZERO
015370,000138: 37,2140 51415 INDEX PIPINDEX
015371,000139: 37,2141 54037 TS PIPAX
015372,000140: 37,2142 55472 TS DATAPL
015373,000141: 37,2143 02332 TC CHECKG
015374,000142: 37,2144 00004 INHINT
015375,000143: 37,2145 34752 CAF TWO
015376,000144: 37,2146 05173 TC TWIDDLE
015377,000145: 37,2147 E5,1642 EBANK= XSM
015378,000146: 37,2147 02151 ADRES PIPATASK
015379,000147: 37,2150 05155 TC ENDOFJOB
015380,000148:
015381,000149: 37,2151 00006 PIPATASK EXTEND
015382,000150: 37,2152 27412 DIM LENGTHOT
015383,000151: 37,2153 31412 CA LENGTHOT
015384,000152: 37,2154 00006 EXTEND
015385,000153: 37,2155 62161 BZMF STARTPIP
015386,000154: 37,2156 34742 CAF BIT10
015387,000155: 37,2157 05173 TC TWIDDLE
015388,000156: 37,2160 E5,1642 EBANK= XSM
015389,000157: 37,2160 02151 ADRES PIPATASK
015390,000158: 37,2161 34736 STARTPIP CAF PRIO20
015391,000159: 37,2162 05105 TC FINDVAC
015392,000160: 37,2163 E5,1642 EBANK= XSM
015393,000161: 37,2163 02166 76065 2CADR PIPJOBB
015394,000162:
015395,000163: 37,2165 05261 TC TASKOVER
015396,000164:
015397,000165: 37,2166 51414 PIPJOBB INDEX NDXCTR
015398,000166: 37,2167 02170 TC +1
015399,000167: 37,2170 02447 TC EARTHR*
015400,000168: 37,2171 31412 CA LENGTHOT
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Page 376
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015402,000170: 37,2172 00006 EXTEND
015403,000171: 37,2173 62175 BZMF +2
015404,000172: 37,2174 05155 TC ENDOFJOB
015405,000173:
015406,000174: 37,2175 34756 CA FIVE
015407,000175: 37,2176 55537 TS RESULTCT
015408,000176: 37,2177 02332 TC CHECKG
015409,000177: 37,2200 11473 CCS DATAPL +1
015410,000178: 37,2201 02205 TC +4
015411,000179: 37,2202 05705 TC CCSHOLE
015412,000180: 37,2203 41476 CS DATAPL +4
015413,000181: 37,2204 55476 TS DATAPL +4
015414,000182: 37,2205 00006 EXTEND
015415,000183: 37,2206 41473 DCS DATAPL
015416,000184: 37,2207 21477 DAS DATAPL +4
015417,000185:
015418,000186: 37,2210 06037 TC INTPRET
015419,000187: 37,2211 45345 DLOAD DSU
015420,000188: 37,2212 02501 DATAPL +6
015421,000189: 37,2213 02475 DATAPL +2
015422,000190: 37,2214 45044 BPL CALL
015423,000191: 37,2215 76217 AINGOTN
015424,000192: 37,2216 76275 OVERFFIX
015425,000193: 37,2217 56325 AINGOTN PDDL DDV
015426,000194: 37,2220 02477 DATAPL +4
015427,000195: 37,2221 47075 DMPR RTB
015428,000196: 37,2222 37056 DEC585 # DEC585 HAS BEEN REDEFINED FOR LEM
015429,000197: 37,2223 21612 SGNAGREE
015430,000198: 37,2224 01051 STORE DSPTEM2
015431,000199: 37,2225 77776 EXIT
015432,000200: 37,2226 11414 CCS NDXCTR
015433,000201: 37,2227 02301 TC COAALIGN # TAKE PLATFORM OUT OF GIMBAL LOCK
015434,000202: 37,2230 02457 TC SHOW
015435,000203: 37,2231 32471 VERTDRFT CA 3990DEC # ABOUT 1 HOUR VERTICAL DRIFT TEST
015436,000204: 37,2232 55412 TS LENGTHOT
015437,000205: 37,2233 51416 INDEX POSITON
015438,000206: 37,2234 41417 CS SOUTHDR -2
015439,000207: 37,2235 55442 TS DRIFTT
015440,000208: 37,2236 11415 CCS PIPINDEX # OFFSET PLATFORM TO MISS PIP DEAD-ZONES
015441,000209: 37,2237 12245 TCF PON4 # Z UP IN POS 4
015442,000210: 37,2240 44747 PON2 CS BIT5 # X UP
015443,000211: 37,2241 27565 ADS ERCOMP +2
015444,000212: 37,2242 34747 CA BIT5
015445,000213: 37,2243 27567 ADS ERCOMP +4
015446,000214: 37,2244 12251 TCF PON
015447,000215: 37,2245 44747 PON4 CS BIT5
015448,000216: 37,2246 27565 ADS ERCOMP +2
015449,000217: 37,2247 34747 CA BIT5
015450,000218: 37,2250 27563 ADS ERCOMP
015451,000219: 37,2251 02447 PON TC EARTHR*
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Page 377
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015453,000221: 37,2252 34755 CA ZERO # ALLOW ONLY SOUTH GYRO EARTH RATE COMPENS
015454,000222: 37,2253 55404 TS ERVECTOR
015455,000223: 37,2254 55405 TS ERVECTOR +1
015456,000224: 37,2255 34733 GUESS1 CAF POSMAX
015457,000225: 37,2256 55440 TS TORQNDX
015458,000226: 37,2257 55441 TS TORQNDX +1
015459,000227: 37,2260 30032 CA CDUX
015460,000228: 37,2261 55413 TS LOSVEC
015461,000229: 37,2262 02500 TC ESTIMS
015462,000230: 37,2263 31502 VALMIS CA DRIFTO
015463,000231: 37,2264 55051 TS DSPTEM2 +1
015464,000232: 37,2265 34755 CA ZERO
015465,000233: 37,2266 55050 TS DSPTEM2
015466,000234: 37,2267 02457 TC SHOW
015467,000235:
015468,000236: 37,2270 05516 ENDTEST1 TC DOWNFLAG
015469,000237: 37,2271 00007 ADRES IMUSE
015470,000238: 37,2272 44755 CS ZERO
015471,000239: 37,2273 05314 TC NEWMODEA
015472,000240: 37,2274 05472 TC ENDEXT
015473,000241:
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Page 378
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015475,000243: 37,2275 43215 OVERFFIX DAD DAD
015476,000244: 37,2276 06530 DPPOSMAX
015477,000245: 37,2277 37064 ONEDPP
015478,000246: 37,2300 77616 RVQ
015479,000247:
015480,000248: 37,2301 00006 COAALIGN EXTEND # COARSE ALIGN SUBROUTINE
015481,000249: 37,2302 23571 QXCH ZERONDX
015482,000250: 37,2303 34755 CA ZERO
015483,000251: 37,2304 54321 TS THETAD
015484,000252: 37,2305 54322 TS THETAD +1
015485,000253: 37,2306 54323 TS THETAD +2
015486,000254: 37,2307 04616 TC BANKCALL
015487,000255: 37,2310 17000 CADR IMUCOARS
015488,000256: 37,2311 04616 ALIGNCOA TC BANKCALL
015489,000257: 37,2312 17716 CADR IMUSTALL
015490,000258: 37,2313 03047 TC SOMERR2
015491,000259: 37,2314 01571 TC ZERONDX
015492,000260:
015493,000261: 37,2315 00006 IMUSLLLG EXTEND
015494,000262: 37,2316 23571 QXCH ZERONDX
015495,000263: 37,2317 02311 TC ALIGNCOA
015496,000264:
015497,000265: 37,2320 00006 FINIMUDD EXTEND
015498,000266: 37,2321 23571 QXCH ZERONDX
015499,000267: 37,2322 04616 TC BANKCALL
015500,000268: 37,2323 17210 CADR IMUFINE
015501,000269: 37,2324 02311 TC ALIGNCOA
015502,000270:
015503,000271: 37,2325 00006 IMUZERR EXTEND
015504,000272: 37,2326 23571 QXCH ZERONDX
015505,000273: 37,2327 04616 TC BANKCALL
015506,000274: 37,2330 16714 CADR IMUZERO
015507,000275: 37,2331 02311 TC ALIGNCOA
015508,000276:
015509,000277: 37,2332 00006 CHECKG EXTEND # PIP PULSE CATCHING ROUTINE
015510,000278: 37,2333 23417 QXCH QPLACE
015511,000279: 37,2334 02342 TC +6
015512,000280: 37,2335 00003 CHECKG1 RELINT
015513,000281: 37,2336 30067 CA NEWJOB
015514,000282: 37,2337 00006 EXTEND
015515,000283: 37,2340 62346 BZMF +6
015516,000284: 37,2341 05122 TC CHANG1
015517,000285: 37,2342 00004 INHINT
015518,000286: 37,2343 51415 INDEX PIPINDEX
015519,000287: 37,2344 40037 CS PIPAX
015520,000288: 37,2345 55571 TS ZERONDX
015521,000289: 37,2346 00004 INHINT
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Page 379
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015523,000291: 37,2347 51415 INDEX PIPINDEX
015524,000292: 37,2350 30037 CA PIPAX
015525,000293: 37,2351 61571 AD ZERONDX
015526,000294: 37,2352 00006 EXTEND
015527,000295: 37,2353 12335 BZF CHECKG1
015528,000296: 37,2354 51415 INDEX PIPINDEX
015529,000297: 37,2355 30037 CA PIPAX
015530,000298: 37,2356 51537 INDEX RESULTCT
015531,000299: 37,2357 55472 TS DATAPL
015532,000300: 37,2360 04102 TC FINETIME
015533,000301: 37,2361 51537 INDEX RESULTCT
015534,000302: 37,2362 55473 TS DATAPL +1
015535,000303: 37,2363 51537 INDEX RESULTCT
015536,000304: 37,2364 23474 LXCH DATAPL +2
015537,000305: 37,2365 00003 RELINT
015538,000306: 37,2366 01417 ENDCHKG TC QPLACE
015539,000307:
015540,000308: 37,2367 54001 ZEROING TS L
015541,000309: 37,2370 12372 TCF +2
015542,000310: 37,2371 55571 ZEROING1 TS ZERONDX
015543,000311: 37,2372 34755 CAF ZERO
015544,000312: 37,2373 50001 INDEX L
015545,000313: 37,2374 54000 TS 0
015546,000314: 37,2375 24001 INCR L
015547,000315: 37,2376 11571 CCS ZERONDX
015548,000316: 37,2377 12371 TCF ZEROING1
015549,000317: 37,2400 00002 TC Q
015550,000318:
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Page 380
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015552,000320: 37,2401 65345 ERTHRVSE DLOAD PDDL
015553,000321: 37,2402 37057 SCHZEROS # PD24 = (SIN -COS 0)(OMEG/MS)
015554,000322: 37,2403 02403 LATITUDE
015555,000323: 37,2404 57546 COS DCOMP
015556,000324: 37,2405 73525 PDDL SIN
015557,000325: 37,2406 02403 LATITUDE
015558,000326: 37,2407 74266 VDEF VXSC
015559,000327: 37,2410 36001 OMEG/MS
015560,000328: 37,2411 02405 STORE ERVECTOR
015561,000329: 37,2412 77634 RTB
015562,000330: 37,2413 21573 LOADTIME
015563,000331: 37,2414 26433 STOVL TMARK
015564,000332: 37,2415 37057 SCHZEROS
015565,000333: 37,2416 02564 STORE ERCOMP
015566,000334: 37,2417 77616 RVQ
015567,000335:
015568,000336: 37,2420 47020 EARTHR ITA RTB
015569,000337: 37,2421 00051 S2
015570,000338: 37,2422 21573 LOADTIME
015571,000339: 37,2423 02431 STORE TEMPTIME
015572,000340: 37,2424 51025 DSU BPL
015573,000341: 37,2425 02433 TMARK
015574,000342: 37,2426 76431 ERTHR
015575,000343: 37,2427 77624 CALL
015576,000344: 37,2430 76275 OVERFFIX
015577,000345: 37,2431 74261 ERTHR SL VXSC
015578,000346: 37,2432 20212 9D
015579,000347: 37,2433 02405 ERVECTOR
015580,000348: 37,2434 53321 MXV VAD
015581,000349: 37,2435 02643 XSM
015582,000350: 37,2436 02564 ERCOMP
015583,000351: 37,2437 16564 STODL ERCOMP
015584,000352: 37,2440 02431 TEMPTIME
015585,000353: 37,2441 02433 STORE TMARK
015586,000354: 37,2442 47170 AXT,1 RTB
015587,000355: 37,2443 02563 ECADR ERCOMP
015588,000356: 37,2444 21705 PULSEIMU
015589,000357: 37,2445 77650 GOTO
015590,000358: 37,2446 00051 S2
015591,000359:
015592,000360: 37,2447 00006 EARTHR* EXTEND
015593,000361: 37,2450 23420 QXCH QPLACES
015594,000362: 37,2451 06037 TC INTPRET
015595,000363: 37,2452 77624 CALL
015596,000364: 37,2453 76420 EARTHR
015597,000365: 37,2454 77776 EXIT
015598,000366: 37,2455 02315 TC IMUSLLLG
015599,000367: 37,2456 01420 TC QPLACES
015600,000368:
015601,000369: 37,2457 00006 SHOW EXTEND
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Page 381
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015603,000371: 37,2460 23417 QXCH QPLACE
015604,000372: 37,2461 31416 SHOW1 CA POSITON
015605,000373: 37,2462 55052 TS DSPTEM2 +2
015606,000374: 37,2463 32472 CA VB06N98
015607,000375: 37,2464 04616 TC BANKCALL
015608,000376: 37,2465 20476 CADR GOFLASH
015609,000377: 37,2466 02270 TC ENDTEST1 # V34
015610,000378: 37,2467 01417 TC QPLACE # V33
015611,000379: 37,2470 12461 TCF SHOW1
015612,000380:
015613,000381: 37,2471 07626 3990DEC DEC 3990 B-14
015614,000382: 37,2472 01542 VB06N98 VN 0698
015615,000383: 37,2473 01451 VN0641 VN 0641
015616,000384: 37,2474 4361 DEC17 = ND1
015617,000385: 37,2474 00072 DEC58 DEC 58 B-14
015618,000386: 37,2475 02737 OGCPL ECADR OGC
015619,000387: 37,2476 4777 1SECX = 1SEC
015620,000388: 37,2476 01664 XNBADR GENADR XNB
015621,000389: 37,2477 01642 XSMADR GENADR XSM
015622,000390: 4102 BLOCK 2
015623,000391: 4102 COUNT* $$/P07
015624,000392: 4102 00004 FINETIME INHINT # RETURNS WITH INTERRUPT INHIBITED
015625,000393: 4103 00006 EXTEND
015626,000394: 4104 00004 READ LOSCALAR
015627,000395: 4105 54001 TS L
015628,000396: 4106 00006 EXTEND
015629,000397: 4107 06004 RXOR LOSCALAR
015630,000398: 4110 00006 EXTEND
015631,000399: 4111 14115 BZF +4
015632,000400: 4112 00006 EXTEND
015633,000401: 4113 00004 READ LOSCALAR
015634,000402: 4114 54001 TS L
015635,000403: 4115 44733 +4 CS POSMAX
015636,000404: 4116 60001 AD L
015637,000405: 4117 00006 EXTEND
015638,000406: 4120 14103 BZF FINETIME +1
015639,000407: 4121 00006 EXTEND
015640,000408: 4122 00003 READ HISCALAR
015641,000409: 4123 00002 TC Q
015642,000410:
End of include-file IMU_PERFORMANCE_TESTS_2.agc. Parent file is MAIN.agc