### FILE="Main.annotation"

## Copyright: Public domain.

## Filename: IMU_PERFORMANCE_TESTS_3.agc

## Purpose: Part of the source code for Aurora (revision 12).

## Assembler: yaYUL

## Contact: Ron Burkey <info@sandroid.org>.

## Website: https://www.ibiblio.org/apollo.

## Pages: 0500-0513

## Mod history: 2016-09-20 JL Created.

## 2016-10-03 OH Initial Transcription from images

## 2016-10-16 HG Fix operand OGCECADR -> OGC

## 2016-10-18 HG Fix label DEG/SECC -> DEG/SEC

## Fix operand modifier TS TANG + -> TS TANG +1

## Fix instruction TC -> TCF

## 2021-05-30 ABS Removed 2F typo text in code.

## Removed leading whitespace from a page marker

## comment.

## This source code has been transcribed or otherwise adapted from

## digitized images of a hardcopy from the private collection of

## Don Eyles. The digitization was performed by archive.org.

## Notations on the hardcopy document read, in part:

## 473423A YUL SYSTEM FOR BLK2: REVISION 12 of PROGRAM AURORA BY DAP GROUP

## NOV 10, 1966

## [Note that this is the date the hardcopy was made, not the

## date of the program revision or the assembly.]

## The scan images (with suitable reduction in storage size and consequent

## reduction in image quality) are available online at

## https://www.ibiblio.org/apollo.

## The original high-quality digital images are available at archive.org:

## https://archive.org/details/aurora00dapg

## Page 0500

SETLOC ENDPINS3

EBANK= XSM

SILVER EXTEND

QXCH QPLACE # SHOULD BE ADDRESS OF STRTWACH

CCS CALCDIR # 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

## Page 0501

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

## Page 0502

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

## Page 0503

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

## Page 0504

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

## Page 0505

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

## Page 0506

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

## Page 0507

EXIT

RATEDSP CAF V06N66X

TC NVSBWAIT

TC FLASHON

TC ENDIDLE

TCF ENDTST03

TCF +2

TCF RATEDSP

INCR RUN

TC QPLACE

## Page 0508

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

## Page 0509

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

## Page 0510

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

## Page 0512

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

## Page 0513

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