Source Code
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These source-code files are part of a reconstructed copy of Luminary 178, the
final release of the Apollo 14 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
The reconstruction began with source code of Zerlina 56, Luminary 210, and
Luminary 131, previously transcribed from digitized copies of those programs.
The code was created by combining the three, using Zerlina 56 as a base, since
it was based off of Luminary 183. The differences between the three were
carefully merged using the Luminary memos as a guide, with all changes made
after Luminary 178 being backed out. The reconstruction was verified by matching
memory-bank checksums to those listed in drawing 2021152N. Note that page numbers
in the reconstructed code match those for the baseline log section mentioned in
each file's changelog; the page numbers for a real Luminary 178 listing would
be different.
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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016594,000002: ## Copyright: Public domain.
016595,000003: ## Filename: IMU_PERFORMANCE_TESTS_4.agc
016596,000004: ## Purpose: A section of Luminary revision 178.
016597,000005: ## It is part of the reconstructed source code for the final
016598,000006: ## release of the flight software for the Lunar Module's
016599,000007: ## (LM) Apollo Guidance Computer (AGC) for Apollo 14. The
016600,000008: ## code has been recreated from copies of Zerlina 56, Luminary
016601,000009: ## 210, and Luminary 131, as well as many Luminary memos.
016602,000010: ## It has been adapted such that the resulting bugger words
016603,000011: ## exactly match those specified for Luminary 178 in NASA
016604,000012: ## drawing 2021152N, which gives relatively high confidence
016605,000013: ## that the reconstruction is correct.
016606,000014: ## Reference: pp. 387-394
016607,000015: ## Assembler: yaYUL
016608,000016: ## Contact: Ron Burkey <info@sandroid.org>.
016609,000017: ## Website: www.ibiblio.org/apollo/index.html
016610,000018: ## Mod history: 2019-08-14 MAS Created from Zerlina 56.
016611,000019:
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Page 387
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016613,000021: # PROGRAM-IMU PERFORMANCE TESTS 4
016614,000022: # DATE-NOV 15,1966
016615,000023: # BY- GEORGE SCHMIDT IL7-146 EXT 1126
016616,000024: # MOD NO-ZERO
016617,000025:
016618,000026:
016619,000027: # FUNCTIONAL DESCRIPTION
016620,000028:
016621,000029: # THIS SECTION CONSISTS OF THE FILTER FOR THE GYRO DRIFT TESTS. NO COMPASS
016622,000030: # IS DONE IN LEM. FOR A DESCRIPTION OF THE FILTER SEE E-1973. THIS
016623,000031: # SECTION IS ENTERED FROM IMU 2. IT RETURNS THERE AT END OF TEST.
016624,000032:
016625,000033: # EARTHR,OGC ZERO,ERTHRVSE
016626,000034:
016627,000035: # NORMAL EXIT
016628,000036:
016629,000037: # LENGTHOT GOES TO ZERO-RETURN TO IMU PERF TESTS 2 CONTROL
016630,000038:
016631,000039: # ALARMS
016632,000040:
016633,000041: # 1600 OVERFLOW IN DRIFT TEST
016634,000042: # 1601 BAD IMU MODING IN ANY ROUTINE THAT USES IMUSTALL
016635,000043: # OUTPUT
016636,000044:
016637,000045: # FLASHING DISPLAY OF RESULTS-CONTROLLED IN IMU PERF TESTS 2
016638,000046:
016639,000047: # DEBRIS
016640,000048:
016641,000049: # ALL CENTRALS-ALL OF EBANK XSM
016642,000050:
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Page 388
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016644,000052: 33,2113 BANK 33
016645,000053: 37,2000 SETLOC IMU4
016646,000054: 37,2000 BANK
016647,000055: 37,2500 COUNT* $$/P07
016648,000056:
016649,000057: 37,2500 E5,1642 EBANK= XSM
016650,000058:
016651,000059:
016652,000060: 37,2500 00004 ESTIMS INHINT
016653,000061: 37,2501 31572 CAE 1SECXT
016654,000062: 37,2502 05204 TC TWIDDLE
016655,000063: 37,2503 E5,1642 EBANK= XSM
016656,000064: 37,2503 02536 ADRES ALLOOP
016657,000065: 37,2504 34755 CAF ZERO # ZERO THE PIPAS
016658,000066: 37,2505 54037 TS PIPAX
016659,000067: 37,2506 54040 TS PIPAY
016660,000068: 37,2507 54041 TS PIPAZ
016661,000069: 37,2510 00003 RELINT
016662,000070: 37,2511 33075 CA 77DECML
016663,000071: 37,2512 55571 TS ZERONDX
016664,000072: 37,2513 33076 CA ALXXXZ
016665,000073: 37,2514 02367 TC ZEROING
016666,000074: 37,2515 06042 TC INTPRET
016667,000075: 37,2516 77735 SLOAD
016668,000076: 37,2517 37057 SCHZEROS
016669,000077: 37,2520 25477 STOVL GCOMPSW -1
016670,000078: 37,2521 37070 INTVAL +2
016671,000079: 37,2522 26445 STOVL ALX1S
016672,000080: 37,2523 37057 SCHZEROS
016673,000081: 37,2524 00325 STORE DELVX
016674,000082: 37,2525 01472 STORE GCOMP
016675,000083: 37,2526 77735 SLOAD
016676,000084: 37,2527 02441 TORQNDX
016677,000085: 37,2530 50076 DCOMP BMN
016678,000086: 37,2531 76534 VERTSKIP
016679,000087: 37,2532 77624 CALL
016680,000088: 37,2533 76401 ERTHRVSE
016681,000089: 37,2534 77776 VERTSKIP EXIT
016682,000090: 37,2535 03035 TC SLEEPIE +1
016683,000091:
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Page 389
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016685,000093: 37,2536 31576 ALLOOP CA OVFLOWCK
016686,000094: 37,2537 00006 EXTEND
016687,000095: 37,2540 12542 BZF +2
016688,000096: 37,2541 05272 TC TASKOVER
016689,000097: 37,2542 11530 CCS ALTIM
016690,000098: 37,2543 30000 CA A # SHOULD NEVER HIT THIS LOCATION
016691,000099: 37,2544 55531 TS ALTIMS
016692,000100: 37,2545 40000 CS A
016693,000101: 37,2546 55530 TS ALTIM
016694,000102: 37,2547 44753 CS ONE
016695,000103: 37,2550 61562 AD GEOCOMPS
016696,000104: 37,2551 00006 EXTEND
016697,000105: 37,2552 12556 BZF +4
016698,000106: 37,2553 31412 CA LENGTHOT
016699,000107: 37,2554 00006 EXTEND
016700,000108: 37,2555 62562 BZMF +5
016701,000109: 37,2556 31572 CAE 1SECXT
016702,000110: 37,2557 05204 TC TWIDDLE
016703,000111: 37,2560 E5,1642 EBANK= XSM
016704,000112: 37,2560 02536 ADRES ALLOOP
016705,000113: 37,2561 34755 CAF ZERO
016706,000114: 37,2562 56037 XCH PIPAX
016707,000115: 37,2563 54324 TS DELVX
016708,000116: 37,2564 34755 CAF ZERO
016709,000117: 37,2565 56040 XCH PIPAY
016710,000118: 37,2566 54326 TS DELVY
016711,000119: 37,2567 34755 CAF ZERO
016712,000120: 37,2570 56041 XCH PIPAZ
016713,000121: 37,2571 54330 TS DELVZ
016714,000122: 37,2572 34736 SPECSTS CAF PRIO20
016715,000123: 37,2573 05105 TC FINDVAC
016716,000124: 37,2574 E5,1642 EBANK= XSM
016717,000125: 37,2574 02577 76065 2CADR ALFLT # START THE JOB
016718,000126:
016719,000127: 37,2576 05272 TC TASKOVER
016720,000128:
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Page 390
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016722,000130: 37,2577 11562 ALFLT CCS GEOCOMPS
016723,000131: 37,2600 02602 TC +2
016724,000132: 37,2601 02604 TC NORMLOP
016725,000133: 37,2602 04616 TC BANKCALL
016726,000134: 37,2603 15271 CADR 1/PIPA
016727,000135: 37,2604 06042 NORMLOP TC INTPRET
016728,000136: 37,2605 77745 DLOAD
016729,000137: 37,2606 37066 INTVAL
016730,000138: 37,2607 24051 STOVL S1
016731,000139: 37,2610 00325 DELVX
016732,000140: 37,2611 76505 VXM VSL1
016733,000141: 37,2612 02643 XSM
016734,000142: 37,2613 57545 DLOAD DCOMP
016735,000143: 37,2614 00160 MPAC +3
016736,000144: 37,2615 16523 STODL DPIPAY
016737,000145: 37,2616 00162 MPAC +5
016738,000146: 37,2617 02527 STORE DPIPAZ
016739,000147:
016740,000148: 37,2620 76001 SETPD AXT,1
016741,000149: 37,2621 00001 0
016742,000150: 37,2622 00010 8D
016743,000151: 37,2623 57535 SLOAD DCOMP
016744,000152: 37,2624 02563 GEOCOMPS
016745,000153: 37,2625 77640 BMN
016746,000154: 37,2626 76772 PERFERAS
016747,000155: 37,2627 50135 ALCGKK SLOAD BMN
016748,000156: 37,2630 02532 ALTIMS
016749,000157: 37,2631 76644 ALFLT3
016750,000158: 37,2632 72174 ALKCG AXT,2 LXA,1 # LOADS SLOPES AND TIME CONSTANTS AT RQST
016751,000159: 37,2633 00014 12D
016752,000160: 37,2634 02444 ALX1S
016753,000161: 37,2635 62143 ALKCG2 DLOAD* INCR,1
016754,000162: 37,2636 02243 ALFDK +144D,1
016755,000163: 37,2637 77775 DEC -2 B-14
016756,000164: 37,2640 12545 STORE ALDK +10D,2
016757,000165: 37,2641 66104 TIX,2 SXA,1
016758,000166: 37,2642 76635 ALKCG2
016759,000167: 37,2643 02444 ALX1S
016760,000168:
016761,000169: 37,2644 77770 ALFLT3 AXT,1
016762,000170: 37,2645 00010 8D
016763,000171: 37,2646 41343 DELMLP DLOAD* DMP
016764,000172: 37,2647 02533 DPIPAY +8D,1
016765,000173: 37,2650 37100 PIPASC
016766,000174: 37,2651 43661 SLR BDSU*
016767,000175: 37,2652 21212 9D
016768,000176: 37,2653 02501 INTY +8D,1
016769,000177: 37,2654 06501 STORE INTY +8D,1
016770,000178: 37,2655 40725 PDDL DMP*
016771,000179: 37,2656 37102 VELSC
016772,000180:
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Page 391
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016774,000182: 37,2657 02521 VLAUN +8D,1
016775,000183: 37,2660 77732 SL2R
016776,000184: 37,2661 45425 DSU STADR
016777,000185: 37,2662 71216 STORE DELM +8D,1
016778,000186: 37,2663 06563 STORE DELM +10D,1
016779,000187: 37,2664 77100 TIX,1 AXT,2
016780,000188: 37,2665 76646 DELMLP
016781,000189: 37,2666 00004 4
016782,000190: 37,2667 56743 ALILP DLOAD* DMPR*
016783,000191: 37,2670 75324 ALK +4,2
016784,000192: 37,2671 75240 ALDK +4,2
016785,000193: 37,2672 12453 STORE ALK +4,2
016786,000194: 37,2673 77104 TIX,2 AXT,2
016787,000195: 37,2674 76667 ALILP
016788,000196: 37,2675 00010 8D
016789,000197: 37,2676 66140 ALKLP LXC,1 SXA,1
016790,000198: 37,2677 02445 CMPX1
016791,000199: 37,2700 02445 CMPX1
016792,000200: 37,2701 56743 DLOAD* DMPR*
016793,000201: 37,2702 02450 ALK +1,1
016794,000202: 37,2703 75216 DELM +8D,2
016795,000203: 37,2704 77613 DAD*
016796,000204: 37,2705 75276 INTY +8D,2
016797,000205: 37,2706 12501 STORE INTY +8D,2
016798,000206: 37,2707 42743 DLOAD* DAD*
016799,000207: 37,2710 75314 ALK +12D,2
016800,000208: 37,2711 75230 ALDK +12D,2
016801,000209: 37,2712 12463 STORE ALK +12D,2
016802,000210: 37,2713 42673 DMPR* DAD*
016803,000211: 37,2714 75216 DELM +8D,2
016804,000212: 37,2715 75266 INTY +16D,2
016805,000213: 37,2716 12511 STORE INTY +16D,2
016806,000214: 37,2717 40743 DLOAD* DMP*
016807,000215: 37,2720 37105 ALSK +1,1
016808,000216: 37,2721 75216 DELM +8D,2
016809,000217: 37,2722 42772 SL1R DAD*
016810,000218: 37,2723 75256 VLAUN +8D,2
016811,000219: 37,2724 12521 STORE VLAUN +8D,2
016812,000220: 37,2725 76104 TIX,2 AXT,1
016813,000221: 37,2726 76676 ALKLP
016814,000222: 37,2727 00010 8D
016815,000223:
016816,000224:
016817,000225: 37,2730 64743 LOOSE DLOAD* PDDL*
016818,000226: 37,2731 02523 ACCWD +8D,1
016819,000227: 37,2732 02521 VLAUN +8D,1
016820,000228: 37,2733 55523 PDDL* VDEF
016821,000229: 37,2734 02531 POSNV +8D,1
016822,000230: 37,2735 76521 MXV VSL1
016823,000231: 37,2736 02001 TRANSM1
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Page 392
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016825,000233: 37,2737 77745 DLOAD
016826,000234: 37,2740 00155 MPAC
016827,000235: 37,2741 06531 STORE POSNV +8D,1
016828,000236: 37,2742 77745 DLOAD
016829,000237: 37,2743 00160 MPAC +3
016830,000238: 37,2744 06521 STORE VLAUN +8D,1
016831,000239: 37,2745 77745 DLOAD
016832,000240: 37,2746 00162 MPAC +5
016833,000241: 37,2747 06523 STORE ACCWD +8D,1
016834,000242: 37,2750 77700 TIX,1
016835,000243: 37,2751 76730 LOOSE
016836,000244:
016837,000245:
016838,000246: 37,2752 76174 AXT,2 AXT,1 # EVALUATE SINES AND COSINES
016839,000247: 37,2753 00006 6
016840,000248: 37,2754 00002 2
016841,000249: 37,2755 57343 BOOP DLOAD* DMPR
016842,000250: 37,2756 02503 ANGX +2,1
016843,000251: 37,2757 37110 GEORGEJ
016844,000252: 37,2760 77722 SR2R
016845,000253: 37,2761 73406 PUSH SIN
016846,000254: 37,2762 56072 SL3R XAD,1
016847,000255: 37,2763 00046 X1
016848,000256: 37,2764 10021 STORE 16D,2
016849,000257: 37,2765 77745 DLOAD
016850,000258: 37,2766 77746 COS
016851,000259: 37,2767 10027 STORE 22D,2 # COSINES
016852,000260: 37,2770 77704 TIX,2
016853,000261: 37,2771 76755 BOOP
016854,000262:
016855,000263: 37,2772 77776 PERFERAS EXIT
016856,000264: 37,2773 35016 CA EBANK7
016857,000265: 37,2774 54003 TS EBANK
016858,000266: 37,2775 E7,1400 EBANK= ATIGINC
016859,000267: 37,2775 01400 TC ATIGINC # GOTO ERASABLE TO CALCULATE ONLY TO RETN
016860,000268:
016861,000269: # CAUTION
016862,000270:
016863,000271: # THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED
016864,000272: # BEFORE ANY ATTEMPT IS MADE TO RUN THE IMU PERFORMANCE TEST
016865,000273:
016866,000274: 37,2776 E5,1400 EBANK= AZIMUTH
016867,000275: 37,2776 11412 CCS LENGTHOT
016868,000276: 37,2777 03034 TC SLEEPIE
016869,000277: 37,3000 11440 CCS TORQNDX
016870,000278: 37,3001 13003 TCF +2
016871,000279: 37,3002 03005 TC SETUPER1
016872,000280: 37,3003 30032 CA CDUX
016873,000281: 37,3004 55414 TS LOSVEC +1 # FOR TROUBLESHOOTING VD POSNS 2$4
016874,000282:
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Page 393
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016876,000284: 37,3005 06042 SETUPER1 TC INTPRET
016877,000285: 37,3006 65345 DLOAD PDDL # ANGLES FROM DRIFT TEST ONLY
016878,000286: 37,3007 02473 ANGZ
016879,000287: 37,3010 02477 ANGY
016880,000288: 37,3011 55525 PDDL VDEF
016881,000289: 37,3012 02501 ANGX
016882,000290: 37,3013 74276 VCOMP VXSC
016883,000291: 37,3014 37110 GEORGEJ
016884,000292: 37,3015 74521 MXV VSR1
016885,000293: 37,3016 02643 XSM
016886,000294: 37,3017 02740 STORE OGC
016887,000295: 37,3020 77776 EXIT
016888,000296:
016889,000297:
016890,000298: 37,3021 32475 CA OGCPL
016891,000299: 37,3022 04616 TC BANKCALL
016892,000300: 37,3023 17307 CADR IMUPULSE
016893,000301: 37,3024 02315 TC IMUSLLLG
016894,000302: 37,3025 11440 GEOSTRT4 CCS TORQNDX # ONLY POSITIVE IF IN VERTICAL DRIFT TEST
016895,000303: 37,3026 02263 TC VALMIS
016896,000304: 37,3027 06042 TC INTPRET
016897,000305: 37,3030 77624 CALL
016898,000306: 37,3031 76401 ERTHRVSE
016899,000307: 37,3032 77776 EXIT
016900,000308: 37,3033 02117 TC TORQUE
016901,000309:
016902,000310:
016903,000311: 37,3034 55412 SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGTHOT
016904,000312: 37,3035 11440 CCS TORQNDX # ARE WE DOING VERTDRIFT
016905,000313: 37,3036 02447 TC EARTHR*
016906,000314: 37,3037 05155 TC ENDOFJOB
016907,000315:
016908,000316:
016909,000317: 37,3040 35014 SOMEERRR CA EBANK5
016910,000318: 37,3041 54003 TS EBANK
016911,000319: 37,3042 34753 CA ONE
016912,000320: 37,3043 55576 TS OVFLOWCK # STOP ALLOOP FROM CALLING ITSELF
016913,000321: 37,3044 05600 TC ALARM
016914,000322: 37,3045 01600 OCT 1600
016915,000323: 37,3046 02270 TC ENDTEST1
016916,000324: 37,3047 33054 SOMERR2 CAF OCT1601
016917,000325: 37,3050 05745 TC VARALARM
016918,000326: 37,3051 05527 TC DOWNFLAG
016919,000327: 37,3052 00007 ADRES IMUSE
016920,000328: 37,3053 05155 TC ENDOFJOB
016921,000329:
016922,000330: 37,3054 01601 OCT1601 OCT 01601
016923,000331: 37,3055 06200 DEC585 OCT 06200 # 3200 B+14 ORDER IS IMPORTANT
016924,000332: 37,3056 00000 00000 SCHZEROS 2DEC .00000000
016925,000333:
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Page 394
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016927,000335: 37,3060 00000 00000 2DEC .00000000
016928,000336: 37,3062 00000 OCT 00000
016929,000337: 37,3063 00000 ONEDPP OCT 00000 # ORDER IS IMPORTANT
016930,000338: 37,3064 00001 OCT 00001
016931,000339:
016932,000340: 37,3065 00004 INTVAL OCT 4
016933,000341: 37,3066 00002 OCT 2
016934,000342: 37,3067 00220 DEC 144 B-14
016935,000343: 37,3070 77776 DEC -1 B-14
016936,000344: 37,3071 35730 00035 SOUPLY 2DEC .93505870 # INITIAL GAINS FOR PIP OUTPUTS
016937,000345: 37,3073 10317 17550 2DEC .26266423 # INITIAL GAINS/4 FOR ERECTION ANGLES
016938,000346:
016939,000347: 37,3075 00115 77DECML DEC 77 B-14
016940,000348: 37,3076 01443 ALXXXZ GENADR ALX1S -1
016941,000349: 37,3077 04133 02265 PIPASC 2DEC .13055869
016942,000350: 37,3101 57223 66451 VELSC 2DEC -.52223476 # 512/980.402
016943,000351: 37,3103 05427 12577 ALSK 2DEC .17329931 # SSWAY VEL GAIN X 980.402/4096
016944,000352: 37,3105 77567 44202 2DEC -.00835370 # SSWAY ACCEL GAIN X 980.402/4096
016945,000353:
016946,000354:
016947,000355: 37,3107 24276 14066 GEORGEJ 2DEC .63661977
016948,000356: 37,3111 23073 11773 GEORGEK 2DEC .59737013
End of include-file IMU_PERFORMANCE_TESTS_4.agc. Parent file is MAIN.agc