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IMU_PERFORMANCE_TESTS_3.agc
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### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: IMU_PERFORMANCE_TESTS_3.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 <[email protected]>.
## Website: www.ibiblio.org/apollo/index.html
## Mod history: 2016-12-20 MAS Created from Aurora 12 (with much DAP stuff removed).
SETLOC ENDPINS3
EBANK= XSM
SILVER EXTEND
QXCH QPLACE # SHOULD BE ADDRESS OF STRTWACH
CCS CALCDIR 2F # 2F COMMAND IS POSITIVE THE MINUS TORQ
CAF BIT9 # WINDING IS TO BE ENERGIZED
TC +2
TC TORK # COMMAND IS NEG SO USE PLUS WINDING
EXTEND
WOR 14C # SELECTS THE MINUS WINDING
TORK CAF POSMAX
TS GYROCTR # 16383 PULSES =2.8125 DEG LESS ONE PULSE
CCS GYTOBETQ # C(K)= 1 FOR X, -0 FOR y, -1FOR Z.
TC SELECTX
TC CCSHOLE
TC SELECTZ
TC SELECTY
SELECTX CAF TORKX # BBITS 7AND 10 IN CHANNEL 14 WILL
EXTEND # SELECT X GYRO AND TURN ON BCSW 1/3200
WOR 14C # SSEC LATER BY CHANNEL OUTPUT DESIGN.....
TC QPLACE
SELECTY CAF TORKY # BBITS 8 AND 10 TO TORQ Y GYRO
EXTEND
WOR 14C
TC QPLACE
SELECTZ CAF TORKZ # BBITS 7,8AND 10 TO TORQZ GYRO
EXTEND
WOR 14C
TC QPLACE
TORKX OCT 01100
TORKY OCT 01200
TORKZ OCT 01300
SAMODCHK CAF ZERO
TS TESTNO
TS RUN
TC ZEROMODE
TC OPRTRDLY
TC COARZERO
TC ZEROMAIN
TC OPRTRDLY
TC ZEROMODE
CAF ZERO
TC THETADLD
CAF 45ANG
TC THETADLD
TC FNZEROFN
CAF 90ANG
TC THETADLD
CAF 135ANG
TC THETADLD
CAF 45ANG
TC THETADLD +2
TC FNZEROFN
CAF 180ANG
TS THETAD
TS THETAD +1
CAF 71ANG
TC THETADLD +2
CAF 225ANG
TC THETADLD
CAF ZERO
TC THETADLD
CAF TWO
CHK2 TS CDUNDX
CAF 170ANG
INDEX CDUNDX
TS THETAD
TC BANKCALL
CADR IMUCOARS
CAF 10ANG
TC CDURATE
CAF 160ANG
TC CDURATE
TC CALCRATE
TC BANKCALL
CADR IMUSTALL
TCF ENDTST03
TC COARZERO
CCS CDUNDX
TCF CHK2
CS 45ANG
TC THETADLD
TC FNZEROFN
CS 135ANG
TS THETAD
TS THETAD +1
CS 71ANG
TC THETADLD +2
TC FNZEROFN
TC COARZERO
TC FINEZERO
TC FINEZERO
CHK5 CS 4+6BITS
EXTEND
WAND 12
CAF FOUR
TC WAITLIST
2CADR ECE1
CAF ECE2CADR
TC JOBSLEEP
ECE1 CAF ECE2CADR
TC JOBWAKE
TC TASKOVER
ECE2 CS SIX
AD TESTNO
EXTEND
BZMF +2
TCF CHKX
INDEX TESTNO
CAF ERCTRANG
TS THETAD
TS THETAD +1
TS THETAD +2
CAF BIT6
EXTEND
WOR 12
INHINT
CAF TWO
TC WAITLIST
2CADR ATTCK2
RELINT
TC OPRTRDLY
INCR TESTNO
TCF CHK5
CHKX TC COARZERO
CAF ZERO
TS TESTNO
TC BANKCALL
CADR RRZERO
TC BANKCALL
CADR RADSTALL
TCF ENDTST03
CHK6 INDEX TESTNO
CAF RADECNTR
TS TANG +1
TS TANG
TC INTPRET
CALL
RRDESNB
TC BANKCALL
CADR RADSTALL
TCF ENDTST03
TC RROPRDLY
INCR TESTNO
CS FOUR
AD TESTNO
EXTEND
BZMF CHK6
CAF ZERO
TS TESTNO
TS ALTRATE
TS ALT
TS ALT +1
CS ONE
TS DIDFLG
CHK7 INDEX TESTNO
CAF RRRATFPS
TS FORVEL
TS LATVEL
TC RROPRDLY
INCR TESTNO
CS BIT5
AD TWO
AD TESTNO
EXTEND
BZMF CHK7
ENDTST03 TC BANKCALL
CADR ENDTEST
ERCTRANG OCT 03013
OCT 02660
OCT 01042
OCT 00000
OCT 76736
OCT 75120
OCT 74765
RADECNTR OCT 01463
OCT 01042
OCT 00000
OCT 76736
OCT 76315
RRRATFPS OCT 00000
OCT 00001
OCT 00002
OCT 00004
OCT 00010
OCT 00020
OCT 00040
OCT 00100
OCT 00200
OCT 00237
OCT 00400
OCT 00545
OCT 00544
OCT 77540
OCT 77232
CDURATE EXTEND
QXCH QPLACE
TS CDULIMIT
CCS NEWJOB
TC CHANG1
CS CDULIMIT
INDEX CDUNDX
AD CDUX # CATCH FIRST PULSE
EXTEND
BZMF CDURATE +3 # LOOK AGAIN
INDEX CDUNDX
CAE CDUX
XCH CDUREADF # CDU FINAL READING
XCH CDUREADI # CDU INITIAL READING
TC FINETIME
DXCH CDUTIMEF # DP FINAL TIME
DXCH CDUTIMEI # DP INITIAL READING
RELINT
TC QPLACE
CALCRATE EXTEND
QXCH QPLACE
DXCH CDUREADF
EXTEND
MSU L
TS CDUANG
TC INTPRET
DLOAD DSU
CDUTIMEF
CDUTIMEI
PUSH SLOAD
CDUANG
SR DDV
14D
DMP RTB
DEG/SEC
SGNAGREE
STORE DSPTEM2
EXIT
RATEDSP CAF V06N66X
TC NVSBWAIT
TC FLASHON
TC ENDIDLE
TCF ENDTST03
TCF +2
TCF RATEDSP
INCR RUN
TC QPLACE
THETADLD TS THETAD
TS THETAD +1
TS THETAD +2
EXTEND
QXCH QPLACE
CAF SEVEN
THLD1 TS STOREPL
TC BANKCALL
CADR IMUCOARS
TC BANKCALL
CADR IMUSTALL
TCF ENDTST03
CCS STOREPL
TC THLD1
TC OPRTRDLY
TC QPLACE
FINEALGN EXTEND
QXCH QPLACE
TC BANKCALL
CADR IMUFINE
TC BANKCALL
CADR IMUSTALL
TCF ENDTST03
TC QPLACE
CH30DSPY EXTEND
QXCH QPLACE
CAF OCT30
TS MPAC +2
CAF V01N10X
TC NVSBWAIT
TC FLASHON
TC ENDIDLE
TCF ENDTST03
TCF +2
TCF CH30DSPY +2
TC FLASHOFF
INCR RUN
TC QPLACE
ZEROMODE EXTEND
QXCH QPLACE
TC BANKCALL
CADR IMUZERO
TC BANKCALL
CADR IMUSTALL
TCF ENDTST03
TC QPLACE
ZEROMAIN CS 4+6BITS
EXTEND
WAND 12
CAF BIT5
EXTEND
WOR 12
TC Q
RROPRDLY EXTEND
QXCH QPLAC
INCR RUN
CAF V06N40X
TCF OPRTRDLY +4
OPRTRDLY EXTEND
QXCH QPLAC
INCR RUN
CAF V06N20X
TC NVSBWAIT
CAF V33N00X
TC NVSBWAIT
CA RUN
MASK 6LOW
TC NVSBWAIT
TC FLASHON
TC ENDIDLE
TCF ENDTST03
TCF +2
TCF OPRTRDLY +3
TC FLASHOFF
TC QPLAC
FINEZERO EXTEND
QXCH QPLAC
TC BANKCALL
CADR IMUZERO
CAF TWO
TS EROPTN
CAF FOUR
TS POSITON
INHINT
CS BIT10
MASK STATE
AD BIT10
TS STATE
RELINT
# Page 0511
TC BANKCALL
CADR LEMLAB
SAMODRTN TC GRABWAIT
CAF V06N20X
TC NVSBWAIT
TC ZEROMAIN
TC CH30DSPY
TC ZEROMODE
TC QPLAC
COARZERO CAF ZERO
TS THETAD
TS THETAD +1
TS THETAD +2
EXTEND
QXCH QPLACE
TC BANKCALL
CADR IMUCOARS
TC BANKCALL
CADR IMUSTALL
TCF ENDTST03
TC QPLACE
FNZEROFN EXTEND
QXCH QPLAC
TC FINEALGN
CAE CDUX
TS CDUREADF
CAE CDUY
TS CDUREADI
CAE CDUZ
TS CDULIMIT
TC ZEROMODE
CAF 3SEC
TC WAITLIST
2CADR FZF1
CAF FZF2CADR
TC JOBSLEEP
FZF1 CAF FZF2CADR
TC JOBWAKE
TC TASKOVER
FZF2 CAE CDUREADF
EXTEND
MSU CDUX
TS DSPTEM1
CAE CDUREADI
EXTEND
MSU CDUY
TS DSPTEM1 +1
CAE CDULIMIT
EXTEND
MSU CDUZ
TS DSPTEM1 +2
FZFDSP CAF V05N30X
TC NVSBWAIT
TC FLASHON
TC ENDIDLE
TCF ENDTST03
TCF +2
TCF FZFDSP
INCR RUN
TC QPLAC
1ANG OCT 00133
33.75ANG OCT 06000
45ANG OCT 10000
71ANG OCT 14477
90ANG OCT 20000
135ANG OCT 30000
10ANG OCT 01616
160ANG OCT 34344
180ANG OCT 40000
225ANG OCT 50000
170ANG OCT 36162
6LOW OCT 77
OCT30 OCT 30
3SEC DEC 300
4+6BITS OCT 00050
V01N10X OCT 00110
V05N30X OCT 00530
V06N20X OCT 00620
V06N40X OCT 00640
V06N66X OCT 00666
V33N00X OCT 03300
ECE2CADR CADR ECE2
FZF2CADR CADR FZF2
OGCECADR ECADR OGC
DEG/SEC 2DEC 576000 B-28
ENDIMUS3 EQUALS